Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 186 * 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 186 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 558.0575 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -79649.109 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 558.0575

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 -79649.109

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 26 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 186 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 234408,6245.089,-1232.230,34,0.9,34,-11.6 TGT_NAME HW

_CALLS 4 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.171,0.120

_SM_DEPTHo 4.05 KALMAN_X 231118.8,705.3,170.7,-445714.8,2180.0

_SM_ANGLEo -50.1 KALMAN_Y 55373.9,1345.5,1460.4,74994.3,-12732.3

GPS2 000126,6245.078,-1232.276,13,1.6,13,-11.6 MHEAD_RNG_PITCHd_Wd 316.8,29134,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22369,0.00,0.000,0,0,602,558.30 ALTIM_BOTTOM_PING 725.8,44.4

SM_GC 3.68,12.23,0.00,0.00,0.031,0.000,0.000,27,1883,602,-11.27,-0.48,558.30 _24V_AH 23.3,42.606

IRIDIUM_FIX 6216.53,-1323.55,231207,030336 _10V_AH 10.1,20.357

TT8_MAMPS 0.026078 DATA_FILE_SIZE 53750,1061

HUMID 2029 CFSIZE 260165632,246910976

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 16.60 GPS 231207,061627,6246.469,-1240.584,24,2.1,43,-11.7

XPDR_PINGS 9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 108 65.33 SBE_CT 779 24 436.15

Roll_motor 103 78 187.89 SBE_O2 716 19 317.10

VBD_pump_during_apogee 541 1327 16746.59 WL_BB2F 660 105 1615.79

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 148 103 355.84 nil 0 0 0.00

Iridium_during_connect 424 160 1583.04 nil 0 0 0.00

Iridium_during_xfer 176 223 915.78

Transponder_ping 8 420 85.63

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.40

TT8 1863 19 372.58

LPSleep 17620 2 389.75

TT8_Active 709 19 141.89

TT8_Sampling 2251 39 905.21

TT8_CF8 961 45 444.79

TT8_Kalman 33 81 27.56

Analog_circuits 1821 12 220.74

GPS_charging 0 0 0.00

Compass 2214 8 178.94

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

20 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -21.20 0.000 2 0.000 0.000 30 1881 1094

46 -0.95 -146.6 4.1 -0.0 1 211 11.20 2.55 -145.52 0.000 4 0.108 0.074 2286 499 3476

464 -0.95 -146.6 26.5 -6.5 20 469 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1919 3476

791 -0.95 -146.6 56.2 -11.8 36 793 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1924 3476

1101 -0.95 -146.6 83.4 -9.1 51 1102 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1924 3476

1410 -0.95 -146.6 104.8 -6.4 66 1411 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1924 3476

1719 -0.95 -146.6 128.1 -8.4 81 1720 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1924 3476

2028 -0.95 -146.6 154.6 -8.1 96 2030 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1924 3476

2339 -0.95 -146.6 176.2 -7.0 111 2343 0.00 2.47 0.00 0.000 4 0.000 0.049 2286 3295 3476

2389 -0.95 -146.6 179.7 -7.2 113 2394 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1898 3476

2710 -0.95 -146.6 201.0 -6.5 129 2711 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3476

3019 -0.95 -146.6 223.4 -7.6 144 3023 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3298 3476

3096 -0.95 -146.6 229.5 -7.3 147 3102 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1901 3476

3411 -0.95 -146.6 253.5 -7.9 163 3412 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

3722 -0.95 -146.6 275.9 -7.0 178 3723 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

4030 -0.95 -146.6 297.1 -6.8 193 4034 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3299 3476

4117 -0.95 -146.6 303.3 -6.7 197 4122 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1901 3476

4445 -0.95 -146.6 325.6 -6.7 213 4447 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

4753 -0.95 -146.6 346.9 -6.9 228 4758 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3298 3476

4825 -0.95 -146.6 352.1 -7.7 231 4830 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1902 3476

5147 -0.95 -146.6 375.7 -7.6 247 5148 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

5455 -0.95 -146.6 399.2 -7.8 262 5460 0.00 2.53 0.00 0.000 4 0.000 0.050 2286 3302 3476

5540 -0.95 -146.6 405.6 -7.7 266 5544 0.00 2.50 0.00 0.000 6 0.000 0.046 2286 1902 3476

5865 -0.95 -146.6 431.0 -7.9 282 5866 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3475

6174 -0.95 -146.6 455.5 -7.9 297 6179 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3297 3475

6276 -0.95 -146.6 463.7 -8.3 301 6282 0.00 2.53 0.00 0.000 6 0.000 0.046 2286 1891 3475

6590 -0.95 -146.6 487.5 -7.2 317 6595 0.00 2.55 0.00 0.000 4 0.000 0.051 2286 3296 3475

6645 -0.95 -146.6 491.9 -8.1 319 6652 0.00 2.55 0.00 0.000 6 0.000 0.047 2286 1901 3475

6961 -0.95 -146.6 514.9 -7.2 335 6962 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3474

7270 -0.95 -146.6 537.3 -7.3 350 7274 0.00 2.55 0.00 0.000 4 0.000 0.053 2286 3303 3474

7346 -0.95 -146.6 543.1 -7.7 353 7353 0.00 2.55 0.00 0.000 6 0.000 0.048 2286 1893 3474

7662 -0.95 -146.6 563.7 -6.3 369 7663 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3474

7972 -0.95 -146.6 581.8 -5.7 384 7973 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3474

8281 -0.95 -146.6 601.3 -6.5 399 8282 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3474

8590 -0.95 -146.6 621.1 -6.1 414 8594 0.00 2.58 0.00 0.000 4 0.000 0.057 2286 3295 3474

8689 -0.95 -146.6 628.0 -7.1 418 8696 0.00 2.53 0.00 0.000 6 0.000 0.049 2286 1901 3474

9006 -0.95 -146.6 646.8 -5.5 434 9007 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

9314 -0.95 -146.6 663.1 -5.5 449 9318 0.00 2.58 0.00 0.000 4 0.000 0.058 2287 3301 3474

9385 -0.95 -146.6 667.8 -6.5 452 9389 0.00 2.55 0.00 0.000 6 0.000 0.051 2286 1900 3473

9706 -0.95 -146.6 688.9 -6.8 468 9708 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3473

10016 -0.95 -146.6 707.3 -5.4 483 10017 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3473

10325 -0.95 -146.6 724.6 -6.0 498 10326 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3473

10635 -0.95 -146.6 742.3 -5.5 513 10639 0.00 2.60 0.00 0.000 4 0.000 0.064 2286 3299 3472

10696 -0.95 -146.6 746.6 -7.5 516 10700 0.00 2.58 0.00 0.000 6 0.000 0.057 2286 1899 3472

10896 end dive: BOTTOM_OBSTACLE_DETECTED

state 10896 begin apogee

10902 -0.36 0.0 760.3 6.6 526 11029 0.60 0.00 124.15 1.317 6 0.076 0.000 2415 2092 2878

11030 end apogee: CONTROL_FINISHED_OK

state 11030 begin climb

11032 0.95 146.6 764.7 0.0 532 11160 1.27 0.00 123.03 1.293 6 0.054 0.000 2700 2092 2280

11469 0.98 171.1 748.3 5.3 554 11497 0.00 2.75 21.40 1.305 4 0.000 0.067 2699 3500 2179

11578 0.98 171.1 741.9 6.1 559 11582 0.00 2.60 0.00 0.000 6 0.000 0.057 2700 2101 2179

11903 0.99 180.4 722.7 5.7 575 11913 0.00 0.00 8.62 1.306 6 0.000 0.000 2699 2101 2142

12213 1.00 193.4 705.6 5.6 590 12234 0.00 2.72 11.95 1.328 4 0.000 0.064 2700 3500 2089

12340 1.00 193.4 697.1 6.4 595 12347 0.00 2.60 0.00 0.000 6 0.000 0.057 2700 2108 2088

12656 1.00 193.4 676.9 6.0 611 12661 0.00 2.70 0.00 0.000 4 0.000 0.078 2700 691 2088

12735 1.02 202.7 672.1 5.7 614 12749 0.00 2.55 8.65 1.325 6 0.000 0.052 2699 2099 2051

13072 1.02 202.7 650.9 6.7 631 13076 0.00 2.60 0.00 0.000 4 0.000 0.063 2699 3502 2050

13133 1.02 202.7 646.2 8.5 634 13137 0.00 2.58 0.00 0.000 6 0.000 0.055 2700 2099 2050

13458 1.05 233.4 626.0 5.1 650 13487 0.12 0.00 26.17 1.298 6 0.050 0.000 2740 2099 1926

13788 1.05 233.4 603.0 8.2 666 13789 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1926

14097 1.05 233.4 573.3 9.4 681 14098 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1926

14406 1.05 233.4 548.9 7.2 696 14407 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2100 1926

14716 1.05 233.4 523.0 8.8 711 14717 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1927

15025 1.05 233.4 495.2 8.9 726 15026 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1927

15334 1.05 233.4 468.4 8.4 741 15335 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1928

15643 1.05 233.4 443.4 8.1 756 15647 0.00 2.55 0.00 0.000 4 0.000 0.052 2741 3507 1929

15720 1.05 233.4 436.9 8.0 759 15727 0.00 2.53 0.00 0.000 6 0.000 0.044 2741 2095 1929

16035 1.05 233.4 409.4 9.2 775 16036 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1929

16345 1.05 233.4 380.2 9.3 790 16346 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1930

16654 1.05 233.4 353.2 8.2 805 16655 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1930

16963 1.05 233.4 329.3 7.2 820 16964 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1930

17272 1.05 233.4 307.9 6.6 835 17273 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1930

17582 1.05 233.4 285.5 7.2 850 17583 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1931

17891 1.05 233.4 262.6 7.6 865 17892 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1931

18200 1.05 233.4 236.3 8.7 880 18201 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1931

18510 1.05 233.4 211.7 7.8 895 18511 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1931

18819 1.05 233.4 188.3 7.5 910 18820 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1931

19128 1.05 233.4 167.5 6.1 925 19129 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1932

19438 1.05 233.4 148.3 6.5 940 19439 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1932

19749 1.14 300.3 130.8 4.0 955 19808 0.00 0.00 54.40 0.892 6 0.000 0.000 2741 2094 1652

20118 1.25 393.5 108.6 3.2 973 20197 0.12 0.00 72.50 0.847 6 0.048 0.000 2783 2094 1272

20507 1.25 393.5 71.3 12.2 992 20512 0.00 2.58 0.00 0.000 4 0.000 0.063 2783 692 1272

20592 1.25 393.5 61.6 9.6 996 20596 0.00 2.53 0.00 0.000 6 0.000 0.039 2783 2116 1272

20918 1.25 393.5 27.9 11.6 1012 20922 0.00 2.65 0.00 0.000 4 0.000 0.061 2783 692 1272

20988 1.25 393.5 20.8 8.1 1015 20993 0.00 2.47 0.00 0.000 6 0.000 0.039 2783 2107 1272

21312 1.50 593.4 3.2 0.0 1031 21408 0.15 2.70 89.45 0.763 4 0.061 0.061 2822 698 602

21662 1.71 763.3 3.1 0.9 1047 21669 0.22 2.47 1.02 0.867 6 0.106 0.040 2863 2101 603

21947 end climb: NO_VERTICAL_VELOCITY

state 21947 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	186	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	558.0575	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-79649.109	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	234408,6245.089,-1232.230,34,0.9,34,-11.6	TGT_NAME	HW
_CALLS	4	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.171,0.120
_SM_DEPTHo	4.05	KALMAN_X	231118.8,705.3,170.7,-445714.8,2180.0
_SM_ANGLEo	-50.1	KALMAN_Y	55373.9,1345.5,1460.4,74994.3,-12732.3
GPS2	000126,6245.078,-1232.276,13,1.6,13,-11.6	MHEAD_RNG_PITCHd_Wd	316.8,29134,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22369,0.00,0.000,0,0,602,558.30	ALTIM_BOTTOM_PING	725.8,44.4
SM_GC	3.68,12.23,0.00,0.00,0.031,0.000,0.000,27,1883,602,-11.27,-0.48,558.30	_24V_AH	23.3,42.606
IRIDIUM_FIX	6216.53,-1323.55,231207,030336	_10V_AH	10.1,20.357
TT8_MAMPS	0.026078	DATA_FILE_SIZE	53750,1061
HUMID	2029	CFSIZE	260165632,246910976
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	16.60	GPS	231207,061627,6246.469,-1240.584,24,2.1,43,-11.7
XPDR_PINGS	9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	108	65.33	SBE_CT	779	24	436.15
Roll_motor	103	78	187.89	SBE_O2	716	19	317.10
VBD_pump_during_apogee	541	1327	16746.59	WL_BB2F	660	105	1615.79
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	148	103	355.84	nil	0	0	0.00
Iridium_during_connect	424	160	1583.04	nil	0	0	0.00
Iridium_during_xfer	176	223	915.78
Transponder_ping	8	420	85.63
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.40
TT8	1863	19	372.58
LPSleep	17620	2	389.75
TT8_Active	709	19	141.89
TT8_Sampling	2251	39	905.21
TT8_CF8	961	45	444.79
TT8_Kalman	33	81	27.56
Analog_circuits	1821	12	220.74
GPS_charging	0	0	0.00
Compass	2214	8	178.94
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
20	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-21.20	0.000	2	0.000	0.000	30	1881	1094
46	-0.95	-146.6	4.1	-0.0	1	211	11.20	2.55	-145.52	0.000	4	0.108	0.074	2286	499	3476
464	-0.95	-146.6	26.5	-6.5	20	469	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1919	3476
791	-0.95	-146.6	56.2	-11.8	36	793	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1924	3476
1101	-0.95	-146.6	83.4	-9.1	51	1102	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1924	3476
1410	-0.95	-146.6	104.8	-6.4	66	1411	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1924	3476
1719	-0.95	-146.6	128.1	-8.4	81	1720	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1924	3476
2028	-0.95	-146.6	154.6	-8.1	96	2030	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1924	3476
2339	-0.95	-146.6	176.2	-7.0	111	2343	0.00	2.47	0.00	0.000	4	0.000	0.049	2286	3295	3476
2389	-0.95	-146.6	179.7	-7.2	113	2394	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1898	3476
2710	-0.95	-146.6	201.0	-6.5	129	2711	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3476
3019	-0.95	-146.6	223.4	-7.6	144	3023	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3298	3476
3096	-0.95	-146.6	229.5	-7.3	147	3102	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1901	3476
3411	-0.95	-146.6	253.5	-7.9	163	3412	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
3722	-0.95	-146.6	275.9	-7.0	178	3723	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
4030	-0.95	-146.6	297.1	-6.8	193	4034	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3299	3476
4117	-0.95	-146.6	303.3	-6.7	197	4122	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1901	3476
4445	-0.95	-146.6	325.6	-6.7	213	4447	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
4753	-0.95	-146.6	346.9	-6.9	228	4758	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3298	3476
4825	-0.95	-146.6	352.1	-7.7	231	4830	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1902	3476
5147	-0.95	-146.6	375.7	-7.6	247	5148	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
5455	-0.95	-146.6	399.2	-7.8	262	5460	0.00	2.53	0.00	0.000	4	0.000	0.050	2286	3302	3476
5540	-0.95	-146.6	405.6	-7.7	266	5544	0.00	2.50	0.00	0.000	6	0.000	0.046	2286	1902	3476
5865	-0.95	-146.6	431.0	-7.9	282	5866	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3475
6174	-0.95	-146.6	455.5	-7.9	297	6179	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3297	3475
6276	-0.95	-146.6	463.7	-8.3	301	6282	0.00	2.53	0.00	0.000	6	0.000	0.046	2286	1891	3475
6590	-0.95	-146.6	487.5	-7.2	317	6595	0.00	2.55	0.00	0.000	4	0.000	0.051	2286	3296	3475
6645	-0.95	-146.6	491.9	-8.1	319	6652	0.00	2.55	0.00	0.000	6	0.000	0.047	2286	1901	3475
6961	-0.95	-146.6	514.9	-7.2	335	6962	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3474
7270	-0.95	-146.6	537.3	-7.3	350	7274	0.00	2.55	0.00	0.000	4	0.000	0.053	2286	3303	3474
7346	-0.95	-146.6	543.1	-7.7	353	7353	0.00	2.55	0.00	0.000	6	0.000	0.048	2286	1893	3474
7662	-0.95	-146.6	563.7	-6.3	369	7663	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3474
7972	-0.95	-146.6	581.8	-5.7	384	7973	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3474
8281	-0.95	-146.6	601.3	-6.5	399	8282	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3474
8590	-0.95	-146.6	621.1	-6.1	414	8594	0.00	2.58	0.00	0.000	4	0.000	0.057	2286	3295	3474
8689	-0.95	-146.6	628.0	-7.1	418	8696	0.00	2.53	0.00	0.000	6	0.000	0.049	2286	1901	3474
9006	-0.95	-146.6	646.8	-5.5	434	9007	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
9314	-0.95	-146.6	663.1	-5.5	449	9318	0.00	2.58	0.00	0.000	4	0.000	0.058	2287	3301	3474
9385	-0.95	-146.6	667.8	-6.5	452	9389	0.00	2.55	0.00	0.000	6	0.000	0.051	2286	1900	3473
9706	-0.95	-146.6	688.9	-6.8	468	9708	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3473
10016	-0.95	-146.6	707.3	-5.4	483	10017	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3473
10325	-0.95	-146.6	724.6	-6.0	498	10326	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3473
10635	-0.95	-146.6	742.3	-5.5	513	10639	0.00	2.60	0.00	0.000	4	0.000	0.064	2286	3299	3472
10696	-0.95	-146.6	746.6	-7.5	516	10700	0.00	2.58	0.00	0.000	6	0.000	0.057	2286	1899	3472
10896	end dive: BOTTOM_OBSTACLE_DETECTED
state	10896	begin apogee
10902	-0.36	0.0	760.3	6.6	526	11029	0.60	0.00	124.15	1.317	6	0.076	0.000	2415	2092	2878
11030	end apogee: CONTROL_FINISHED_OK
state	11030	begin climb
11032	0.95	146.6	764.7	0.0	532	11160	1.27	0.00	123.03	1.293	6	0.054	0.000	2700	2092	2280
11469	0.98	171.1	748.3	5.3	554	11497	0.00	2.75	21.40	1.305	4	0.000	0.067	2699	3500	2179
11578	0.98	171.1	741.9	6.1	559	11582	0.00	2.60	0.00	0.000	6	0.000	0.057	2700	2101	2179
11903	0.99	180.4	722.7	5.7	575	11913	0.00	0.00	8.62	1.306	6	0.000	0.000	2699	2101	2142
12213	1.00	193.4	705.6	5.6	590	12234	0.00	2.72	11.95	1.328	4	0.000	0.064	2700	3500	2089
12340	1.00	193.4	697.1	6.4	595	12347	0.00	2.60	0.00	0.000	6	0.000	0.057	2700	2108	2088
12656	1.00	193.4	676.9	6.0	611	12661	0.00	2.70	0.00	0.000	4	0.000	0.078	2700	691	2088
12735	1.02	202.7	672.1	5.7	614	12749	0.00	2.55	8.65	1.325	6	0.000	0.052	2699	2099	2051
13072	1.02	202.7	650.9	6.7	631	13076	0.00	2.60	0.00	0.000	4	0.000	0.063	2699	3502	2050
13133	1.02	202.7	646.2	8.5	634	13137	0.00	2.58	0.00	0.000	6	0.000	0.055	2700	2099	2050
13458	1.05	233.4	626.0	5.1	650	13487	0.12	0.00	26.17	1.298	6	0.050	0.000	2740	2099	1926
13788	1.05	233.4	603.0	8.2	666	13789	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1926
14097	1.05	233.4	573.3	9.4	681	14098	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1926
14406	1.05	233.4	548.9	7.2	696	14407	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2100	1926
14716	1.05	233.4	523.0	8.8	711	14717	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1927
15025	1.05	233.4	495.2	8.9	726	15026	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1927
15334	1.05	233.4	468.4	8.4	741	15335	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1928
15643	1.05	233.4	443.4	8.1	756	15647	0.00	2.55	0.00	0.000	4	0.000	0.052	2741	3507	1929
15720	1.05	233.4	436.9	8.0	759	15727	0.00	2.53	0.00	0.000	6	0.000	0.044	2741	2095	1929
16035	1.05	233.4	409.4	9.2	775	16036	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1929
16345	1.05	233.4	380.2	9.3	790	16346	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1930
16654	1.05	233.4	353.2	8.2	805	16655	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1930
16963	1.05	233.4	329.3	7.2	820	16964	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1930
17272	1.05	233.4	307.9	6.6	835	17273	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1930
17582	1.05	233.4	285.5	7.2	850	17583	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1931
17891	1.05	233.4	262.6	7.6	865	17892	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1931
18200	1.05	233.4	236.3	8.7	880	18201	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1931
18510	1.05	233.4	211.7	7.8	895	18511	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1931
18819	1.05	233.4	188.3	7.5	910	18820	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1931
19128	1.05	233.4	167.5	6.1	925	19129	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1932
19438	1.05	233.4	148.3	6.5	940	19439	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1932
19749	1.14	300.3	130.8	4.0	955	19808	0.00	0.00	54.40	0.892	6	0.000	0.000	2741	2094	1652
20118	1.25	393.5	108.6	3.2	973	20197	0.12	0.00	72.50	0.847	6	0.048	0.000	2783	2094	1272
20507	1.25	393.5	71.3	12.2	992	20512	0.00	2.58	0.00	0.000	4	0.000	0.063	2783	692	1272
20592	1.25	393.5	61.6	9.6	996	20596	0.00	2.53	0.00	0.000	6	0.000	0.039	2783	2116	1272
20918	1.25	393.5	27.9	11.6	1012	20922	0.00	2.65	0.00	0.000	4	0.000	0.061	2783	692	1272
20988	1.25	393.5	20.8	8.1	1015	20993	0.00	2.47	0.00	0.000	6	0.000	0.039	2783	2107	1272
21312	1.50	593.4	3.2	0.0	1031	21408	0.15	2.70	89.45	0.763	4	0.061	0.061	2822	698	602
21662	1.71	763.3	3.1	0.9	1047	21669	0.22	2.47	1.02	0.867	6	0.106	0.040	2863	2101	603
21947	end climb: NO_VERTICAL_VELOCITY
state	21947	begin surface