Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 172 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 172 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -79394.336 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -79394.336

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 20 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 172 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 032907,6232.770,-1128.570,33,1.5,33,-11.0 TGT_NAME GW

_CALLS 4 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.205,0.041

_SM_DEPTHo 4.30 KALMAN_X 242371.2,842.8,-18228.6,-382370.3,171147.8

_SM_ANGLEo -48.2 KALMAN_Y 88288.3,-55.8,3455.7,18934.3,-30102.2

GPS2 034433,6232.866,-1128.427,10,1.6,10,-11.0 MHEAD_RNG_PITCHd_Wd 292.3,45803,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21306,17.85,0.781,0,0,603,558.06 ALTIM_BOTTOM_PING 701.3,30.6

SM_GC 4.37,11.95,0.00,0.00,0.029,0.000,0.000,29,1884,604,-11.26,-0.45,557.81 _24V_AH 23.3,40.074

IRIDIUM_FIX 6207.28,-1130.49,191207,070757 _10V_AH 10.1,18.937

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50498,1032

HUMID 2038 CFSIZE 260165632,247873536

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 16.40 GPS 191207,094907,6232.499,-1134.851,41,1.6,41,-11.0

XPDR_PINGS 9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 102 60.13 SBE_CT 757 24 423.73

Roll_motor 82 76 147.62 SBE_O2 695 19 308.11

VBD_pump_during_apogee 503 1301 15281.15 WL_BB2F 668 105 1635.87

VBD_pump_during_surface 17 780 324.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 147 103 354.76 nil 0 0 0.00

Iridium_during_connect 237 160 886.70 nil 0 0 0.00

Iridium_during_xfer 246 223 1279.93

Transponder_ping 8 420 83.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.24

TT8 1785 19 357.02

LPSleep 17276 2 382.15

TT8_Active 678 19 135.68

TT8_Sampling 2089 39 839.84

TT8_CF8 837 45 387.52

TT8_Kalman 33 81 27.57

Analog_circuits 1699 12 206.03

GPS_charging 0 0 0.00

Compass 2067 8 167.03

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.95 -146.6 0.0 0.0 0 28 0.00 0.00 -5.53 0.000 2 0.000 0.000 32 1896 738

31 -0.95 -146.6 4.4 -0.0 1 205 11.05 2.62 -156.05 0.000 4 0.102 0.077 2289 495 3476

289 -0.95 -146.6 9.7 -4.1 13 294 0.00 2.50 0.00 0.000 6 0.000 0.042 2289 1902 3476

611 -0.95 -146.6 33.9 -7.7 29 612 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1906 3476

920 -0.95 -146.6 56.2 -7.6 44 921 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1906 3476

1231 -0.95 -146.6 79.7 -7.5 59 1235 0.00 2.53 0.00 0.000 4 0.000 0.049 2289 3301 3476

1307 -0.95 -146.6 86.3 -8.8 62 1314 0.00 2.55 0.00 0.000 6 0.000 0.044 2289 1902 3476

1623 -0.95 -146.6 110.4 -7.5 78 1624 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

1934 -0.95 -146.6 134.1 -7.3 93 1935 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1902 3476

2241 -0.95 -146.6 156.9 -7.2 108 2245 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3300 3476

2335 -0.95 -146.6 164.1 -7.8 112 2340 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1894 3476

2656 -0.95 -146.6 188.1 -7.3 128 2657 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1894 3476

2965 -0.95 -146.6 209.5 -7.2 143 2970 0.00 2.55 0.00 0.000 4 0.000 0.049 2290 3305 3476

3020 -0.95 -146.6 213.5 -7.4 145 3027 0.00 2.55 0.00 0.000 6 0.000 0.045 2289 1906 3476

3336 -0.95 -146.6 234.8 -6.8 161 3337 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1906 3476

3645 -0.95 -146.6 256.4 -6.9 176 3646 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1906 3476

3955 -0.95 -146.6 276.8 -6.2 191 3959 0.00 2.53 0.00 0.000 4 0.000 0.051 2290 3300 3476

4026 -0.95 -146.6 281.4 -6.8 194 4030 0.00 2.55 0.00 0.000 6 0.000 0.046 2289 1903 3476

4348 -0.95 -146.6 300.9 -6.0 210 4349 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1903 3476

4656 -0.95 -146.6 320.1 -6.7 225 4657 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1903 3476

4965 -0.95 -146.6 341.6 -7.0 240 4970 0.00 2.53 0.00 0.000 4 0.000 0.051 2290 3298 3476

5059 -0.95 -146.6 348.2 -6.2 244 5064 0.00 2.53 0.00 0.000 6 0.000 0.047 2289 1899 3476

5381 -0.95 -146.6 369.3 -6.7 260 5382 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1898 3476

5690 -0.95 -146.6 389.9 -6.5 275 5691 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3476

5999 -0.95 -146.6 409.1 -6.3 290 6003 0.00 2.55 0.00 0.000 4 0.000 0.051 2289 3305 3476

6098 -0.95 -146.6 415.7 -6.4 294 6105 0.00 2.55 0.00 0.000 6 0.000 0.048 2289 1895 3476

6413 -0.95 -146.6 437.0 -6.9 310 6414 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1894 3475

6723 -0.95 -146.6 458.3 -6.7 325 6724 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1894 3475

7032 -0.95 -146.6 480.5 -7.9 340 7036 0.00 2.55 0.00 0.000 4 0.000 0.053 2288 3298 3475

7108 -0.95 -146.6 487.0 -8.4 343 7115 0.00 2.55 0.00 0.000 6 0.000 0.048 2289 1905 3475

7424 -0.95 -146.6 509.4 -6.0 359 7426 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1905 3475

7733 -0.95 -146.6 527.4 -5.9 374 7738 0.00 2.53 0.00 0.000 4 0.000 0.054 2289 3297 3475

7788 -0.95 -146.6 530.8 -6.8 376 7795 0.00 2.55 0.00 0.000 6 0.000 0.048 2289 1887 3475

8106 -0.95 -146.6 550.4 -6.3 392 8107 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1887 3475

8413 -0.95 -146.6 568.1 -5.9 407 8417 0.00 2.60 0.00 0.000 4 0.000 0.057 2289 3302 3474

8581 -0.95 -146.6 578.3 -5.7 414 8587 0.00 2.55 0.00 0.000 6 0.000 0.051 2289 1897 3474

8896 -0.95 -146.6 596.2 -6.0 430 8897 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3474

9205 -0.95 -146.6 613.9 -5.7 445 9210 0.00 2.58 0.00 0.000 4 0.000 0.060 2289 3299 3474

9271 -0.95 -146.6 618.2 -7.0 448 9276 0.00 2.55 0.00 0.000 6 0.000 0.052 2289 1901 3474

9598 -0.95 -146.6 639.1 -6.9 464 9599 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3473

9907 -0.95 -146.6 659.5 -6.3 479 9908 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3473

10219 -0.95 -146.6 679.0 -5.8 494 10223 0.00 2.60 0.00 0.000 4 0.000 0.064 2289 3298 3473

10302 -0.95 -146.6 684.9 -7.4 498 10307 0.00 2.58 0.00 0.000 6 0.000 0.058 2289 1898 3473

10628 -0.95 -146.6 707.0 -7.0 514 10629 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3473

10874 end dive: BOTTOM_OBSTACLE_DETECTED

state 10875 begin apogee

10880 -0.36 0.0 722.9 6.8 526 11006 0.60 0.00 123.32 1.302 6 0.074 0.000 2418 2093 2878

11007 end apogee: CONTROL_FINISHED_OK

state 11007 begin climb

11009 0.95 146.6 726.4 0.0 532 11137 1.30 0.00 123.20 1.256 6 0.057 0.000 2704 2092 2280

11448 0.95 146.6 703.2 6.6 554 11449 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2093 2279

11755 1.02 202.3 687.3 4.3 569 11804 0.00 0.00 47.22 1.272 6 0.000 0.000 2704 2093 2053

12105 1.02 202.3 663.3 6.7 586 12109 0.00 2.62 0.00 0.000 4 0.000 0.066 2704 3500 2052

12226 1.02 202.3 655.1 6.1 591 12233 0.00 2.60 0.00 0.000 6 0.000 0.058 2703 2094 2052

12542 1.02 202.3 634.5 7.6 607 12543 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 2051

12851 1.02 204.5 612.2 5.9 622 12856 0.00 2.62 0.00 0.000 4 0.000 0.064 2704 3501 2049

12951 1.06 241.9 606.7 4.9 626 12991 0.10 2.58 33.17 1.271 6 0.059 0.056 2737 2096 1890

13308 1.06 241.9 581.7 6.8 644 13309 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1890

13616 1.06 241.9 559.6 8.2 659 13617 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1890

13925 1.06 241.9 533.6 8.2 674 13926 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1890

14234 1.06 241.9 505.5 9.1 689 14236 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1890

14543 1.06 241.9 481.4 7.6 704 14544 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1891

14853 1.06 241.9 458.0 6.6 719 14854 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1891

15162 1.06 241.9 433.8 8.2 734 15163 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1892

15471 1.06 241.9 406.0 9.2 749 15472 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2096 1892

15780 1.06 241.9 378.9 8.0 764 15782 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1894

16090 1.06 241.9 356.3 7.4 779 16091 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1893

16399 1.06 241.9 332.8 7.1 794 16400 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1894

16708 1.06 241.9 309.3 8.0 809 16709 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2096 1894

17017 1.06 241.9 283.2 8.5 824 17019 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1895

17327 1.06 241.9 257.4 8.1 839 17328 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1895

17636 1.06 241.9 232.0 8.1 854 17637 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1895

17945 1.06 241.9 207.5 7.8 869 17946 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2097 1895

18255 1.06 241.9 183.6 7.5 884 18256 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2096 1896

18564 1.06 241.9 161.6 6.7 899 18568 0.00 2.58 0.00 0.000 4 0.000 0.051 2737 3507 1896

18640 1.06 241.9 155.6 7.8 902 18647 0.00 2.53 0.00 0.000 6 0.000 0.041 2737 2082 1896

18957 1.06 241.9 132.5 7.4 918 18958 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2083 1896

19265 1.06 241.9 108.9 7.6 933 19267 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2083 1897

19575 1.06 241.9 84.6 8.2 948 19576 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2082 1897

19884 1.06 241.9 61.6 6.3 963 19885 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2082 1897

20193 1.07 249.1 45.7 5.8 978 20203 0.00 0.00 7.75 0.891 6 0.000 0.000 2737 2082 1862

20519 1.16 323.2 31.6 3.8 994 20582 0.00 2.67 57.58 0.808 4 0.000 0.048 2737 3502 1560

20678 1.16 323.2 21.4 8.1 1001 20682 0.00 2.50 0.00 0.000 6 0.000 0.041 2737 2101 1559

20998 1.41 526.0 3.9 -0.0 1017 21113 0.30 0.00 111.62 0.754 6 0.064 0.000 2802 2095 733

21302 end climb: NO_VERTICAL_VELOCITY

state 21303 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	172	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-79394.336	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	032907,6232.770,-1128.570,33,1.5,33,-11.0	TGT_NAME	GW
_CALLS	4	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.205,0.041
_SM_DEPTHo	4.30	KALMAN_X	242371.2,842.8,-18228.6,-382370.3,171147.8
_SM_ANGLEo	-48.2	KALMAN_Y	88288.3,-55.8,3455.7,18934.3,-30102.2
GPS2	034433,6232.866,-1128.427,10,1.6,10,-11.0	MHEAD_RNG_PITCHd_Wd	292.3,45803,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21306,17.85,0.781,0,0,603,558.06	ALTIM_BOTTOM_PING	701.3,30.6
SM_GC	4.37,11.95,0.00,0.00,0.029,0.000,0.000,29,1884,604,-11.26,-0.45,557.81	_24V_AH	23.3,40.074
IRIDIUM_FIX	6207.28,-1130.49,191207,070757	_10V_AH	10.1,18.937
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50498,1032
HUMID	2038	CFSIZE	260165632,247873536
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.40	GPS	191207,094907,6232.499,-1134.851,41,1.6,41,-11.0
XPDR_PINGS	9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	102	60.13	SBE_CT	757	24	423.73
Roll_motor	82	76	147.62	SBE_O2	695	19	308.11
VBD_pump_during_apogee	503	1301	15281.15	WL_BB2F	668	105	1635.87
VBD_pump_during_surface	17	780	324.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	147	103	354.76	nil	0	0	0.00
Iridium_during_connect	237	160	886.70	nil	0	0	0.00
Iridium_during_xfer	246	223	1279.93
Transponder_ping	8	420	83.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.24
TT8	1785	19	357.02
LPSleep	17276	2	382.15
TT8_Active	678	19	135.68
TT8_Sampling	2089	39	839.84
TT8_CF8	837	45	387.52
TT8_Kalman	33	81	27.57
Analog_circuits	1699	12	206.03
GPS_charging	0	0	0.00
Compass	2067	8	167.03
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.95	-146.6	0.0	0.0	0	28	0.00	0.00	-5.53	0.000	2	0.000	0.000	32	1896	738
31	-0.95	-146.6	4.4	-0.0	1	205	11.05	2.62	-156.05	0.000	4	0.102	0.077	2289	495	3476
289	-0.95	-146.6	9.7	-4.1	13	294	0.00	2.50	0.00	0.000	6	0.000	0.042	2289	1902	3476
611	-0.95	-146.6	33.9	-7.7	29	612	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1906	3476
920	-0.95	-146.6	56.2	-7.6	44	921	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1906	3476
1231	-0.95	-146.6	79.7	-7.5	59	1235	0.00	2.53	0.00	0.000	4	0.000	0.049	2289	3301	3476
1307	-0.95	-146.6	86.3	-8.8	62	1314	0.00	2.55	0.00	0.000	6	0.000	0.044	2289	1902	3476
1623	-0.95	-146.6	110.4	-7.5	78	1624	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
1934	-0.95	-146.6	134.1	-7.3	93	1935	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1902	3476
2241	-0.95	-146.6	156.9	-7.2	108	2245	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3300	3476
2335	-0.95	-146.6	164.1	-7.8	112	2340	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1894	3476
2656	-0.95	-146.6	188.1	-7.3	128	2657	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1894	3476
2965	-0.95	-146.6	209.5	-7.2	143	2970	0.00	2.55	0.00	0.000	4	0.000	0.049	2290	3305	3476
3020	-0.95	-146.6	213.5	-7.4	145	3027	0.00	2.55	0.00	0.000	6	0.000	0.045	2289	1906	3476
3336	-0.95	-146.6	234.8	-6.8	161	3337	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1906	3476
3645	-0.95	-146.6	256.4	-6.9	176	3646	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1906	3476
3955	-0.95	-146.6	276.8	-6.2	191	3959	0.00	2.53	0.00	0.000	4	0.000	0.051	2290	3300	3476
4026	-0.95	-146.6	281.4	-6.8	194	4030	0.00	2.55	0.00	0.000	6	0.000	0.046	2289	1903	3476
4348	-0.95	-146.6	300.9	-6.0	210	4349	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1903	3476
4656	-0.95	-146.6	320.1	-6.7	225	4657	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1903	3476
4965	-0.95	-146.6	341.6	-7.0	240	4970	0.00	2.53	0.00	0.000	4	0.000	0.051	2290	3298	3476
5059	-0.95	-146.6	348.2	-6.2	244	5064	0.00	2.53	0.00	0.000	6	0.000	0.047	2289	1899	3476
5381	-0.95	-146.6	369.3	-6.7	260	5382	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1898	3476
5690	-0.95	-146.6	389.9	-6.5	275	5691	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3476
5999	-0.95	-146.6	409.1	-6.3	290	6003	0.00	2.55	0.00	0.000	4	0.000	0.051	2289	3305	3476
6098	-0.95	-146.6	415.7	-6.4	294	6105	0.00	2.55	0.00	0.000	6	0.000	0.048	2289	1895	3476
6413	-0.95	-146.6	437.0	-6.9	310	6414	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1894	3475
6723	-0.95	-146.6	458.3	-6.7	325	6724	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1894	3475
7032	-0.95	-146.6	480.5	-7.9	340	7036	0.00	2.55	0.00	0.000	4	0.000	0.053	2288	3298	3475
7108	-0.95	-146.6	487.0	-8.4	343	7115	0.00	2.55	0.00	0.000	6	0.000	0.048	2289	1905	3475
7424	-0.95	-146.6	509.4	-6.0	359	7426	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1905	3475
7733	-0.95	-146.6	527.4	-5.9	374	7738	0.00	2.53	0.00	0.000	4	0.000	0.054	2289	3297	3475
7788	-0.95	-146.6	530.8	-6.8	376	7795	0.00	2.55	0.00	0.000	6	0.000	0.048	2289	1887	3475
8106	-0.95	-146.6	550.4	-6.3	392	8107	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1887	3475
8413	-0.95	-146.6	568.1	-5.9	407	8417	0.00	2.60	0.00	0.000	4	0.000	0.057	2289	3302	3474
8581	-0.95	-146.6	578.3	-5.7	414	8587	0.00	2.55	0.00	0.000	6	0.000	0.051	2289	1897	3474
8896	-0.95	-146.6	596.2	-6.0	430	8897	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3474
9205	-0.95	-146.6	613.9	-5.7	445	9210	0.00	2.58	0.00	0.000	4	0.000	0.060	2289	3299	3474
9271	-0.95	-146.6	618.2	-7.0	448	9276	0.00	2.55	0.00	0.000	6	0.000	0.052	2289	1901	3474
9598	-0.95	-146.6	639.1	-6.9	464	9599	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3473
9907	-0.95	-146.6	659.5	-6.3	479	9908	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3473
10219	-0.95	-146.6	679.0	-5.8	494	10223	0.00	2.60	0.00	0.000	4	0.000	0.064	2289	3298	3473
10302	-0.95	-146.6	684.9	-7.4	498	10307	0.00	2.58	0.00	0.000	6	0.000	0.058	2289	1898	3473
10628	-0.95	-146.6	707.0	-7.0	514	10629	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3473
10874	end dive: BOTTOM_OBSTACLE_DETECTED
state	10875	begin apogee
10880	-0.36	0.0	722.9	6.8	526	11006	0.60	0.00	123.32	1.302	6	0.074	0.000	2418	2093	2878
11007	end apogee: CONTROL_FINISHED_OK
state	11007	begin climb
11009	0.95	146.6	726.4	0.0	532	11137	1.30	0.00	123.20	1.256	6	0.057	0.000	2704	2092	2280
11448	0.95	146.6	703.2	6.6	554	11449	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2093	2279
11755	1.02	202.3	687.3	4.3	569	11804	0.00	0.00	47.22	1.272	6	0.000	0.000	2704	2093	2053
12105	1.02	202.3	663.3	6.7	586	12109	0.00	2.62	0.00	0.000	4	0.000	0.066	2704	3500	2052
12226	1.02	202.3	655.1	6.1	591	12233	0.00	2.60	0.00	0.000	6	0.000	0.058	2703	2094	2052
12542	1.02	202.3	634.5	7.6	607	12543	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	2051
12851	1.02	204.5	612.2	5.9	622	12856	0.00	2.62	0.00	0.000	4	0.000	0.064	2704	3501	2049
12951	1.06	241.9	606.7	4.9	626	12991	0.10	2.58	33.17	1.271	6	0.059	0.056	2737	2096	1890
13308	1.06	241.9	581.7	6.8	644	13309	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1890
13616	1.06	241.9	559.6	8.2	659	13617	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1890
13925	1.06	241.9	533.6	8.2	674	13926	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1890
14234	1.06	241.9	505.5	9.1	689	14236	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1890
14543	1.06	241.9	481.4	7.6	704	14544	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1891
14853	1.06	241.9	458.0	6.6	719	14854	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1891
15162	1.06	241.9	433.8	8.2	734	15163	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1892
15471	1.06	241.9	406.0	9.2	749	15472	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2096	1892
15780	1.06	241.9	378.9	8.0	764	15782	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1894
16090	1.06	241.9	356.3	7.4	779	16091	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1893
16399	1.06	241.9	332.8	7.1	794	16400	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1894
16708	1.06	241.9	309.3	8.0	809	16709	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2096	1894
17017	1.06	241.9	283.2	8.5	824	17019	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1895
17327	1.06	241.9	257.4	8.1	839	17328	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1895
17636	1.06	241.9	232.0	8.1	854	17637	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1895
17945	1.06	241.9	207.5	7.8	869	17946	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2097	1895
18255	1.06	241.9	183.6	7.5	884	18256	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2096	1896
18564	1.06	241.9	161.6	6.7	899	18568	0.00	2.58	0.00	0.000	4	0.000	0.051	2737	3507	1896
18640	1.06	241.9	155.6	7.8	902	18647	0.00	2.53	0.00	0.000	6	0.000	0.041	2737	2082	1896
18957	1.06	241.9	132.5	7.4	918	18958	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2083	1896
19265	1.06	241.9	108.9	7.6	933	19267	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2083	1897
19575	1.06	241.9	84.6	8.2	948	19576	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2082	1897
19884	1.06	241.9	61.6	6.3	963	19885	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2082	1897
20193	1.07	249.1	45.7	5.8	978	20203	0.00	0.00	7.75	0.891	6	0.000	0.000	2737	2082	1862
20519	1.16	323.2	31.6	3.8	994	20582	0.00	2.67	57.58	0.808	4	0.000	0.048	2737	3502	1560
20678	1.16	323.2	21.4	8.1	1001	20682	0.00	2.50	0.00	0.000	6	0.000	0.041	2737	2101	1559
20998	1.41	526.0	3.9	-0.0	1017	21113	0.30	0.00	111.62	0.754	6	0.064	0.000	2802	2095	733
21302	end climb: NO_VERTICAL_VELOCITY
state	21303	begin surface