Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 175 * 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 175 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -79439.547 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 -79439.547

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 31 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 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 175 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 232107,6229.976,-1140.288,34,1.0,34,-11.1 TGT_NAME GW

_CALLS 4 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.175,0.114

_SM_DEPTHo 4.37 KALMAN_X 232497.8,-348.5,1707.4,-401319.2,576.5

_SM_ANGLEo -50.3 KALMAN_Y 82973.2,241.6,-1640.0,23564.8,-1035.1

GPS2 233757,6229.905,-1139.850,14,1.9,14,-11.1 MHEAD_RNG_PITCHd_Wd 314.3,38927,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21470,79.75,0.738,0,0,603,558.06 ALTIM_BOTTOM_PING 751.4,36.5

SM_GC 4.49,11.93,0.00,0.00,0.028,0.000,0.000,27,1890,603,-11.27,-0.28,558.06 _24V_AH 23.3,40.617

IRIDIUM_FIX 6202.67,-1142.30,201207,030351 _10V_AH 10.1,19.242

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50566,1038

HUMID 2031 CFSIZE 260165632,247672832

INTERNAL_PRESSURE 9.12144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 18.60 GPS 201207,054607,6231.830,-1142.792,31,1.6,31,-11.1

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 102 59.78 SBE_CT 770 24 431.03

Roll_motor 66 77 120.84 SBE_O2 701 19 310.54

VBD_pump_during_apogee 416 1340 13007.01 WL_BB2F 651 105 1593.66

VBD_pump_during_surface 79 737 1371.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 154 103 371.65 nil 0 0 0.00

Iridium_during_connect 166 160 621.79 nil 0 0 0.00

Iridium_during_xfer 373 223 1938.49

Transponder_ping 7 420 68.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.85

TT8 1776 19 355.36

LPSleep 17637 2 390.11

TT8_Active 659 19 131.84

TT8_Sampling 1996 39 802.45

TT8_CF8 909 45 420.74

TT8_Kalman 33 81 27.56

Analog_circuits 1628 12 197.36

GPS_charging 0 0 0.00

Compass 1965 8 158.81

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -20.17 0.000 2 0.000 0.000 27 1878 1085

46 -0.95 -146.6 4.3 -0.0 1 212 11.07 2.60 -148.43 0.000 4 0.102 0.074 2286 499 3476

358 -0.95 -146.6 14.3 -10.3 15 363 0.00 2.47 0.00 0.000 6 0.000 0.040 2286 1904 3476

681 -0.95 -146.6 37.4 -7.3 31 682 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

989 -0.95 -146.6 56.2 -6.5 46 990 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

1299 -0.95 -146.6 75.3 -5.9 61 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3476

1608 -0.95 -146.6 97.3 -8.5 76 1609 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3476

1917 -0.95 -146.6 120.5 -6.9 91 1918 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

2226 -0.95 -146.6 144.3 -7.9 106 2230 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3297 3476

2298 -0.95 -146.6 150.1 -8.0 109 2302 0.00 2.47 0.00 0.000 6 0.000 0.044 2286 1908 3476

2612 -0.95 -146.6 173.8 -7.5 124 2614 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

2922 -0.95 -146.6 196.6 -7.5 139 2923 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

3231 -0.95 -146.6 220.0 -7.4 154 3232 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

3540 -0.95 -146.6 242.5 -7.3 169 3545 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3305 3476

3629 -0.95 -146.6 249.4 -7.7 173 3633 0.00 2.55 0.00 0.000 6 0.000 0.044 2286 1887 3476

3956 -0.95 -146.6 275.0 -8.2 189 3957 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1887 3476

4265 -0.95 -146.6 299.8 -7.9 204 4269 0.00 2.55 0.00 0.000 4 0.000 0.050 2287 3298 3475

4358 -0.95 -146.6 307.6 -8.2 208 4363 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1894 3476

4685 -0.95 -146.6 331.5 -6.9 224 4686 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3475

4994 -0.95 -146.6 351.6 -6.4 239 4998 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3298 3475

5048 -0.95 -146.6 355.2 -7.0 241 5055 0.00 2.53 0.00 0.000 6 0.000 0.046 2286 1898 3475

5366 -0.95 -146.6 375.5 -6.5 257 5367 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3475

5673 -0.95 -146.6 396.7 -7.0 272 5677 0.00 2.55 0.00 0.000 4 0.000 0.051 2286 3304 3475

5744 -0.95 -146.6 401.9 -7.4 275 5748 0.00 2.55 0.00 0.000 6 0.000 0.046 2286 1903 3475

6065 -0.95 -146.6 423.9 -6.7 291 6066 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3475

6375 -0.95 -146.6 445.0 -6.9 306 6379 0.00 2.53 0.00 0.000 4 0.000 0.051 2287 3298 3475

6429 -0.95 -146.6 449.0 -7.8 308 6436 0.00 2.55 0.00 0.000 6 0.000 0.047 2287 1902 3475

6745 -0.95 -146.6 470.7 -6.7 324 6746 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

7054 -0.95 -146.6 491.4 -6.6 339 7055 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3474

7363 -0.95 -146.6 513.9 -7.5 354 7365 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3474

7672 -0.95 -146.6 534.8 -6.6 369 7677 0.00 2.55 0.00 0.000 4 0.000 0.052 2286 3304 3474

7744 -0.95 -146.6 539.7 -6.2 372 7749 0.00 2.55 0.00 0.000 6 0.000 0.047 2286 1903 3474

8065 -0.95 -146.6 560.6 -6.8 388 8066 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3474

8374 -0.95 -146.6 581.6 -6.8 403 8375 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3474

8684 -0.95 -146.6 602.2 -6.5 418 8688 0.00 2.53 0.00 0.000 4 0.000 0.055 2286 3297 3474

8755 -0.95 -146.6 607.3 -7.1 421 8759 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1900 3474

9076 -0.95 -146.6 628.6 -6.5 437 9077 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

9385 -0.95 -146.6 647.9 -5.9 452 9386 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

9695 -0.95 -146.6 665.7 -5.4 467 9696 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

10004 -0.95 -146.6 681.5 -5.2 482 10005 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

10313 -0.95 -146.6 701.3 -6.9 497 10314 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

10622 -0.95 -146.6 721.1 -7.2 512 10626 0.00 2.60 0.00 0.000 4 0.000 0.063 2286 3297 3473

10715 -0.95 -146.6 728.1 -7.3 516 10720 0.00 2.58 0.00 0.000 6 0.000 0.058 2286 1895 3473

11037 -0.95 -146.6 748.3 -5.8 532 11038 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3472

11346 -0.95 -146.6 769.6 -6.8 547 11347 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3470

11509 end dive: BOTTOM_OBSTACLE_DETECTED

state 11509 begin apogee

11514 -0.36 0.0 778.3 5.5 555 11642 0.60 0.00 124.35 1.341 6 0.074 0.000 2416 2099 2878

11642 end apogee: CONTROL_FINISHED_OK

state 11643 begin climb

11645 0.95 146.6 781.0 0.0 561 11773 1.27 0.00 124.30 1.295 6 0.054 0.000 2701 2099 2280

12081 1.06 240.7 764.4 3.2 583 12163 0.12 0.00 79.80 1.298 6 0.051 0.000 2741 2098 1896

12470 1.06 240.7 732.1 9.8 602 12471 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2099 1895

12779 1.06 240.7 704.3 8.5 617 12780 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1894

13088 1.06 240.7 677.4 8.7 632 13089 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1894

13398 1.06 240.7 653.1 7.5 647 13402 0.00 2.67 0.00 0.000 4 0.000 0.077 2741 693 1894

13486 1.06 240.7 645.9 8.3 651 13490 0.00 2.55 0.00 0.000 6 0.000 0.052 2741 2090 1894

13812 1.06 240.7 619.2 8.5 667 13813 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2090 1892

14122 1.06 240.7 592.8 8.0 682 14123 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2091 1892

14431 1.06 240.7 568.0 8.0 697 14432 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2093 1891

14740 1.06 240.7 543.7 7.9 712 14741 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2093 1892

15050 1.06 240.7 518.3 8.3 727 15051 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2093 1891

15359 1.06 240.7 491.6 8.8 742 15360 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2094 1892

15668 1.06 240.7 464.2 8.6 757 15669 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1894

15977 1.06 240.7 438.1 8.5 772 15979 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2094 1894

16286 1.06 240.7 412.4 8.5 787 16288 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1895

16596 1.06 240.7 384.6 9.2 802 16597 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2094 1895

16905 1.06 240.7 357.0 8.7 817 16906 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2094 1895

17214 1.06 240.7 329.3 9.2 832 17215 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1896

17523 1.06 240.7 301.2 9.0 847 17528 0.00 2.60 0.00 0.000 4 0.000 0.062 2742 690 1897

17585 1.06 240.7 295.4 9.0 850 17589 0.00 2.50 0.00 0.000 6 0.000 0.038 2741 2113 1897

17911 1.06 240.7 265.0 9.3 866 17912 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2117 1898

18220 1.06 240.7 237.3 8.8 881 18221 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2117 1898

18529 1.06 240.7 211.7 8.0 896 18531 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2117 1898

18838 1.06 240.7 186.2 8.4 911 18843 0.00 2.62 0.00 0.000 4 0.000 0.060 2742 690 1898

18893 1.06 240.7 181.3 8.4 913 18900 0.00 2.50 0.00 0.000 6 0.000 0.039 2741 2097 1899

19209 1.06 240.7 154.6 8.7 929 19210 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2100 1899

19518 1.06 240.7 128.9 7.7 944 19519 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2100 1899

19827 1.06 240.7 101.2 9.2 959 19829 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2100 1898

20137 1.06 240.7 77.1 7.3 974 20138 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2100 1899

20446 1.06 240.7 54.2 7.6 989 20447 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2100 1899

20755 1.06 240.7 28.4 9.5 1004 20756 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2100 1900

21065 1.06 240.7 5.5 7.9 1019 21066 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2100 1900

21376 1.31 440.9 3.8 0.0 1034 21467 0.15 0.00 87.93 0.775 2 0.054 0.000 2792 2103 1230

21468 end climb: NO_VERTICAL_VELOCITY

state 21468 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	175	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-79439.547	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	232107,6229.976,-1140.288,34,1.0,34,-11.1	TGT_NAME	GW
_CALLS	4	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.175,0.114
_SM_DEPTHo	4.37	KALMAN_X	232497.8,-348.5,1707.4,-401319.2,576.5
_SM_ANGLEo	-50.3	KALMAN_Y	82973.2,241.6,-1640.0,23564.8,-1035.1
GPS2	233757,6229.905,-1139.850,14,1.9,14,-11.1	MHEAD_RNG_PITCHd_Wd	314.3,38927,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21470,79.75,0.738,0,0,603,558.06	ALTIM_BOTTOM_PING	751.4,36.5
SM_GC	4.49,11.93,0.00,0.00,0.028,0.000,0.000,27,1890,603,-11.27,-0.28,558.06	_24V_AH	23.3,40.617
IRIDIUM_FIX	6202.67,-1142.30,201207,030351	_10V_AH	10.1,19.242
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50566,1038
HUMID	2031	CFSIZE	260165632,247672832
INTERNAL_PRESSURE	9.12144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	18.60	GPS	201207,054607,6231.830,-1142.792,31,1.6,31,-11.1
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	102	59.78	SBE_CT	770	24	431.03
Roll_motor	66	77	120.84	SBE_O2	701	19	310.54
VBD_pump_during_apogee	416	1340	13007.01	WL_BB2F	651	105	1593.66
VBD_pump_during_surface	79	737	1371.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	154	103	371.65	nil	0	0	0.00
Iridium_during_connect	166	160	621.79	nil	0	0	0.00
Iridium_during_xfer	373	223	1938.49
Transponder_ping	7	420	68.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.85
TT8	1776	19	355.36
LPSleep	17637	2	390.11
TT8_Active	659	19	131.84
TT8_Sampling	1996	39	802.45
TT8_CF8	909	45	420.74
TT8_Kalman	33	81	27.56
Analog_circuits	1628	12	197.36
GPS_charging	0	0	0.00
Compass	1965	8	158.81
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-20.17	0.000	2	0.000	0.000	27	1878	1085
46	-0.95	-146.6	4.3	-0.0	1	212	11.07	2.60	-148.43	0.000	4	0.102	0.074	2286	499	3476
358	-0.95	-146.6	14.3	-10.3	15	363	0.00	2.47	0.00	0.000	6	0.000	0.040	2286	1904	3476
681	-0.95	-146.6	37.4	-7.3	31	682	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
989	-0.95	-146.6	56.2	-6.5	46	990	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
1299	-0.95	-146.6	75.3	-5.9	61	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3476
1608	-0.95	-146.6	97.3	-8.5	76	1609	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3476
1917	-0.95	-146.6	120.5	-6.9	91	1918	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
2226	-0.95	-146.6	144.3	-7.9	106	2230	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3297	3476
2298	-0.95	-146.6	150.1	-8.0	109	2302	0.00	2.47	0.00	0.000	6	0.000	0.044	2286	1908	3476
2612	-0.95	-146.6	173.8	-7.5	124	2614	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
2922	-0.95	-146.6	196.6	-7.5	139	2923	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
3231	-0.95	-146.6	220.0	-7.4	154	3232	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
3540	-0.95	-146.6	242.5	-7.3	169	3545	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3305	3476
3629	-0.95	-146.6	249.4	-7.7	173	3633	0.00	2.55	0.00	0.000	6	0.000	0.044	2286	1887	3476
3956	-0.95	-146.6	275.0	-8.2	189	3957	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1887	3476
4265	-0.95	-146.6	299.8	-7.9	204	4269	0.00	2.55	0.00	0.000	4	0.000	0.050	2287	3298	3475
4358	-0.95	-146.6	307.6	-8.2	208	4363	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1894	3476
4685	-0.95	-146.6	331.5	-6.9	224	4686	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3475
4994	-0.95	-146.6	351.6	-6.4	239	4998	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3298	3475
5048	-0.95	-146.6	355.2	-7.0	241	5055	0.00	2.53	0.00	0.000	6	0.000	0.046	2286	1898	3475
5366	-0.95	-146.6	375.5	-6.5	257	5367	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3475
5673	-0.95	-146.6	396.7	-7.0	272	5677	0.00	2.55	0.00	0.000	4	0.000	0.051	2286	3304	3475
5744	-0.95	-146.6	401.9	-7.4	275	5748	0.00	2.55	0.00	0.000	6	0.000	0.046	2286	1903	3475
6065	-0.95	-146.6	423.9	-6.7	291	6066	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3475
6375	-0.95	-146.6	445.0	-6.9	306	6379	0.00	2.53	0.00	0.000	4	0.000	0.051	2287	3298	3475
6429	-0.95	-146.6	449.0	-7.8	308	6436	0.00	2.55	0.00	0.000	6	0.000	0.047	2287	1902	3475
6745	-0.95	-146.6	470.7	-6.7	324	6746	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
7054	-0.95	-146.6	491.4	-6.6	339	7055	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3474
7363	-0.95	-146.6	513.9	-7.5	354	7365	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3474
7672	-0.95	-146.6	534.8	-6.6	369	7677	0.00	2.55	0.00	0.000	4	0.000	0.052	2286	3304	3474
7744	-0.95	-146.6	539.7	-6.2	372	7749	0.00	2.55	0.00	0.000	6	0.000	0.047	2286	1903	3474
8065	-0.95	-146.6	560.6	-6.8	388	8066	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3474
8374	-0.95	-146.6	581.6	-6.8	403	8375	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3474
8684	-0.95	-146.6	602.2	-6.5	418	8688	0.00	2.53	0.00	0.000	4	0.000	0.055	2286	3297	3474
8755	-0.95	-146.6	607.3	-7.1	421	8759	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1900	3474
9076	-0.95	-146.6	628.6	-6.5	437	9077	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
9385	-0.95	-146.6	647.9	-5.9	452	9386	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
9695	-0.95	-146.6	665.7	-5.4	467	9696	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
10004	-0.95	-146.6	681.5	-5.2	482	10005	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
10313	-0.95	-146.6	701.3	-6.9	497	10314	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
10622	-0.95	-146.6	721.1	-7.2	512	10626	0.00	2.60	0.00	0.000	4	0.000	0.063	2286	3297	3473
10715	-0.95	-146.6	728.1	-7.3	516	10720	0.00	2.58	0.00	0.000	6	0.000	0.058	2286	1895	3473
11037	-0.95	-146.6	748.3	-5.8	532	11038	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3472
11346	-0.95	-146.6	769.6	-6.8	547	11347	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3470
11509	end dive: BOTTOM_OBSTACLE_DETECTED
state	11509	begin apogee
11514	-0.36	0.0	778.3	5.5	555	11642	0.60	0.00	124.35	1.341	6	0.074	0.000	2416	2099	2878
11642	end apogee: CONTROL_FINISHED_OK
state	11643	begin climb
11645	0.95	146.6	781.0	0.0	561	11773	1.27	0.00	124.30	1.295	6	0.054	0.000	2701	2099	2280
12081	1.06	240.7	764.4	3.2	583	12163	0.12	0.00	79.80	1.298	6	0.051	0.000	2741	2098	1896
12470	1.06	240.7	732.1	9.8	602	12471	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2099	1895
12779	1.06	240.7	704.3	8.5	617	12780	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1894
13088	1.06	240.7	677.4	8.7	632	13089	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1894
13398	1.06	240.7	653.1	7.5	647	13402	0.00	2.67	0.00	0.000	4	0.000	0.077	2741	693	1894
13486	1.06	240.7	645.9	8.3	651	13490	0.00	2.55	0.00	0.000	6	0.000	0.052	2741	2090	1894
13812	1.06	240.7	619.2	8.5	667	13813	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2090	1892
14122	1.06	240.7	592.8	8.0	682	14123	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2091	1892
14431	1.06	240.7	568.0	8.0	697	14432	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2093	1891
14740	1.06	240.7	543.7	7.9	712	14741	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2093	1892
15050	1.06	240.7	518.3	8.3	727	15051	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2093	1891
15359	1.06	240.7	491.6	8.8	742	15360	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2094	1892
15668	1.06	240.7	464.2	8.6	757	15669	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1894
15977	1.06	240.7	438.1	8.5	772	15979	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2094	1894
16286	1.06	240.7	412.4	8.5	787	16288	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1895
16596	1.06	240.7	384.6	9.2	802	16597	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2094	1895
16905	1.06	240.7	357.0	8.7	817	16906	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2094	1895
17214	1.06	240.7	329.3	9.2	832	17215	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1896
17523	1.06	240.7	301.2	9.0	847	17528	0.00	2.60	0.00	0.000	4	0.000	0.062	2742	690	1897
17585	1.06	240.7	295.4	9.0	850	17589	0.00	2.50	0.00	0.000	6	0.000	0.038	2741	2113	1897
17911	1.06	240.7	265.0	9.3	866	17912	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2117	1898
18220	1.06	240.7	237.3	8.8	881	18221	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2117	1898
18529	1.06	240.7	211.7	8.0	896	18531	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2117	1898
18838	1.06	240.7	186.2	8.4	911	18843	0.00	2.62	0.00	0.000	4	0.000	0.060	2742	690	1898
18893	1.06	240.7	181.3	8.4	913	18900	0.00	2.50	0.00	0.000	6	0.000	0.039	2741	2097	1899
19209	1.06	240.7	154.6	8.7	929	19210	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2100	1899
19518	1.06	240.7	128.9	7.7	944	19519	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2100	1899
19827	1.06	240.7	101.2	9.2	959	19829	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2100	1898
20137	1.06	240.7	77.1	7.3	974	20138	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2100	1899
20446	1.06	240.7	54.2	7.6	989	20447	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2100	1899
20755	1.06	240.7	28.4	9.5	1004	20756	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2100	1900
21065	1.06	240.7	5.5	7.9	1019	21066	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2100	1900
21376	1.31	440.9	3.8	0.0	1034	21467	0.15	0.00	87.93	0.775	2	0.054	0.000	2792	2103	1230
21468	end climb: NO_VERTICAL_VELOCITY
state	21468	begin surface