Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 190 * 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 190 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -79744.859 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 -79744.859

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 190 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 005008,6254.845,-1246.161,28,1.8,28,-11.8 TGT_NAME HW

_CALLS 5 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.071,-0.196

_SM_DEPTHo 3.70 KALMAN_X 241568.3,-71.9,-388.7,-467005.8,9744.8

_SM_ANGLEo -56.2 KALMAN_Y 62860.8,-31.3,-13.3,88390.9,10421.8

GPS2 011226,6254.789,-1246.107,12,1.2,12,-11.8 MHEAD_RNG_PITCHd_Wd 211.6,18273,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21085,45.42,0.755,0,0,603,558.06 ALTIM_BOTTOM_PING 625.0,85.6

SM_GC 3.91,11.90,0.00,0.00,0.028,0.000,0.000,29,1913,603,-11.26,0.34,558.06 _24V_AH 23.3,43.386

IRIDIUM_FIX 6230.49,-1251.19,241207,050552 _10V_AH 10.1,20.754

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50470,1021

HUMID 2037 CFSIZE 260165632,246640640

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,0,0

TCM_TEMP 18.70 GPS 241207,071338,6252.075,-1246.966,30,0.9,30,-11.8

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 114 67.77 SBE_CT 756 24 423.12

Roll_motor 148 77 268.04 SBE_O2 689 19 305.20

VBD_pump_during_apogee 458 1285 13746.45 WL_BB2F 658 105 1610.43

VBD_pump_during_surface 45 754 798.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 188 103 451.28 nil 0 0 0.00

Iridium_during_connect 179 160 670.26 nil 0 0 0.00

Iridium_during_xfer 598 223 3109.43

Transponder_ping 5 420 56.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.10

TT8 1836 19 367.26

LPSleep 16918 2 374.22

TT8_Active 688 19 137.65

TT8_Sampling 2243 39 901.87

TT8_CF8 1206 45 558.05

TT8_Kalman 33 81 27.57

Analog_circuits 1834 12 222.37

GPS_charging 0 0 0.00

Compass 2206 8 178.26

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 44 0.00 0.00 -22.10 0.000 2 0.000 0.000 28 1891 1100

47 -0.95 -146.6 3.8 -0.0 1 226 11.35 2.58 -158.95 0.000 4 0.114 0.061 2285 3299 3476

349 -0.95 -146.6 14.3 -7.6 15 353 0.00 2.53 0.00 0.000 6 0.000 0.043 2285 1890 3476

678 -0.95 -146.6 37.8 -7.5 31 679 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1890 3476

985 -0.95 -146.6 60.8 -7.5 46 990 0.00 2.55 0.00 0.000 4 0.000 0.047 2285 3304 3476

1074 -0.95 -146.6 67.0 -6.6 50 1078 0.00 2.53 0.00 0.000 6 0.000 0.042 2285 1895 3476

1401 -0.95 -146.6 89.0 -7.0 66 1402 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3476

1710 -0.95 -146.6 111.2 -7.2 81 1714 0.00 2.55 0.00 0.000 4 0.000 0.048 2285 3308 3476

1759 -0.95 -146.6 114.8 -7.7 83 1764 0.00 2.53 0.00 0.000 6 0.000 0.042 2285 1897 3476

2081 -0.95 -146.6 138.5 -7.2 99 2082 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3476

2390 -0.95 -146.6 159.9 -6.9 114 2394 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3304 3476

2444 -0.95 -146.6 163.9 -7.1 116 2450 0.00 2.50 0.00 0.000 6 0.000 0.042 2285 1899 3476

2760 -0.95 -146.6 185.6 -7.1 132 2764 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3304 3476

2798 -0.95 -146.6 188.5 -7.0 134 2803 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1895 3476

3124 -0.95 -146.6 213.6 -8.0 150 3125 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3476

3434 -0.95 -146.6 236.2 -7.1 165 3435 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1895 3476

3743 -0.95 -146.6 256.9 -6.6 180 3744 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3476

4053 -0.95 -146.6 276.2 -6.4 195 4054 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3475

4362 -0.95 -146.6 295.9 -6.5 210 4366 0.00 2.55 0.00 0.000 4 0.000 0.049 2285 3305 3476

4427 -0.95 -146.6 300.4 -6.7 213 4431 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1898 3476

4754 -0.95 -146.6 321.4 -6.4 229 4755 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

5063 -0.95 -146.6 341.7 -6.8 244 5067 0.00 2.55 0.00 0.000 4 0.000 0.050 2285 3304 3476

5112 -0.95 -146.6 345.2 -7.3 246 5117 0.00 2.53 0.00 0.000 6 0.000 0.045 2285 1900 3475

5433 -0.95 -146.6 367.4 -6.8 262 5435 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3476

5743 -0.95 -146.6 389.4 -7.3 277 5744 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

6052 -0.95 -146.6 411.8 -7.1 292 6056 0.00 2.55 0.00 0.000 4 0.000 0.051 2285 3308 3475

6113 -0.95 -146.6 416.4 -7.7 295 6117 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1902 3475

6439 -0.95 -146.6 441.4 -8.0 311 6440 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

6748 -0.95 -146.6 461.7 -6.5 326 6752 0.00 2.55 0.00 0.000 4 0.000 0.051 2285 3310 3474

6791 -0.95 -146.6 464.7 -6.4 328 6795 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1901 3475

7117 -0.95 -146.6 484.8 -6.4 344 7121 0.00 2.60 0.00 0.000 4 0.000 0.068 2285 495 3475

7149 -0.95 -146.6 486.7 -6.4 345 7156 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1897 3474

7466 -0.95 -146.6 504.7 -5.5 361 7470 0.00 2.53 0.00 0.000 4 0.000 0.053 2285 3300 3474

7527 -0.95 -146.6 508.4 -6.2 364 7531 0.00 2.53 0.00 0.000 6 0.000 0.049 2285 1901 3474

7852 -0.95 -146.6 529.3 -6.7 380 7853 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3474

8162 -0.95 -146.6 552.6 -7.7 395 8166 0.00 2.55 0.00 0.000 4 0.000 0.054 2285 3301 3474

8268 -0.95 -146.6 561.2 -8.9 400 8272 0.00 2.55 0.00 0.000 6 0.000 0.049 2285 1895 3474

8593 -0.95 -146.6 584.8 -6.8 416 8595 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3474

8903 -0.95 -146.6 603.7 -6.1 431 8904 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3474

9212 -0.95 -146.6 621.6 -6.4 446 9216 0.00 2.60 0.00 0.000 4 0.000 0.061 2285 3301 3473

9346 -0.95 -146.6 631.0 -6.7 452 9350 0.00 2.55 0.00 0.000 6 0.000 0.053 2285 1901 3473

9672 -0.95 -146.6 650.1 -5.1 468 9677 0.00 2.65 0.00 0.000 4 0.000 0.076 2285 491 3473

9757 -0.95 -146.6 654.3 -5.1 472 9761 0.00 2.50 0.00 0.000 6 0.000 0.052 2285 1896 3473

10083 -0.95 -146.6 669.1 -4.9 488 10087 0.00 2.60 0.00 0.000 4 0.000 0.063 2285 3304 3472

10148 -0.95 -146.6 673.1 -6.6 491 10152 0.00 2.58 0.00 0.000 6 0.000 0.059 2285 1904 3472

10475 -0.95 -146.6 693.8 -6.7 507 10476 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1904 3471

10576 end dive: BOTTOM_OBSTACLE_DETECTED

state 10576 begin apogee

10581 -0.36 0.0 700.8 6.8 512 10708 0.62 0.00 123.68 1.285 6 0.074 0.000 2421 2098 2878

10709 end apogee: CONTROL_FINISHED_OK

state 10709 begin climb

10711 0.95 146.6 705.2 0.0 518 10842 1.25 2.78 122.82 1.246 4 0.054 0.076 2699 694 2280

11097 0.97 162.3 690.1 5.5 535 11117 0.00 2.58 14.10 1.243 6 0.000 0.053 2699 2103 2215

11433 0.97 162.3 668.9 6.5 552 11437 0.00 2.70 0.00 0.000 4 0.000 0.077 2699 690 2214

11543 0.99 179.5 662.6 5.5 557 11563 0.00 2.55 15.05 1.268 6 0.000 0.054 2699 2101 2147

11890 0.99 183.3 642.5 5.9 574 11897 0.00 0.00 4.62 1.208 6 0.000 0.000 2699 2101 2130

12199 0.99 183.3 624.3 6.3 589 12200 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2101 2129

12509 0.99 183.3 601.3 7.8 604 12513 0.00 2.60 0.00 0.000 4 0.000 0.065 2699 3502 2128

12574 0.99 183.3 595.6 9.2 607 12578 0.00 2.58 0.00 0.000 6 0.000 0.056 2699 2098 2128

12900 0.99 183.3 568.9 8.4 623 12905 0.00 2.62 0.00 0.000 4 0.000 0.061 2699 3505 2127

12955 0.99 183.3 564.2 8.0 625 12962 0.00 2.60 0.00 0.000 6 0.000 0.053 2699 2098 2127

13271 0.99 183.3 541.4 6.8 641 13275 0.00 2.60 0.00 0.000 4 0.000 0.061 2699 3509 2127

13302 0.99 183.3 539.1 6.4 642 13309 0.00 2.55 0.00 0.000 6 0.000 0.051 2699 2099 2127

13618 1.02 207.4 520.5 5.3 658 13644 0.00 2.67 20.30 1.216 4 0.000 0.058 2699 3507 2031

13682 1.05 232.3 516.9 5.3 661 13711 0.12 2.58 21.67 1.187 6 0.053 0.049 2738 2098 1931

14028 1.05 232.3 494.6 6.2 678 14032 0.00 2.60 0.00 0.000 4 0.000 0.056 2738 3510 1931

14048 1.05 232.3 493.0 7.4 679 14052 0.00 2.58 0.00 0.000 6 0.000 0.048 2738 2092 1931

14375 1.05 232.3 470.6 7.0 695 14379 0.00 2.60 0.00 0.000 4 0.000 0.071 2738 690 1931

14406 1.05 232.3 468.3 6.6 696 14413 0.00 2.50 0.00 0.000 6 0.000 0.044 2738 2106 1931

14722 1.05 232.3 445.6 7.5 712 14723 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2106 1931

15031 1.05 232.3 421.0 8.1 727 15035 0.00 2.55 0.00 0.000 4 0.000 0.054 2738 3504 1932

15063 1.05 232.3 418.2 8.7 728 15070 0.00 2.53 0.00 0.000 6 0.000 0.047 2738 2098 1932

15378 1.05 232.3 391.8 8.3 744 15379 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1933

15688 1.05 232.3 366.1 8.2 759 15689 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1932

15997 1.05 232.3 341.3 8.0 774 16001 0.00 2.55 0.00 0.000 4 0.000 0.053 2738 3504 1933

16028 1.05 232.3 338.7 7.7 775 16036 0.00 2.53 0.00 0.000 6 0.000 0.044 2738 2105 1933

16344 1.05 232.3 315.9 6.8 791 16346 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2105 1933

16653 1.05 232.3 294.8 6.9 806 16655 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2105 1934

16963 1.05 232.3 272.7 7.4 821 16964 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2105 1934

17272 1.05 232.3 249.3 7.6 836 17273 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2105 1934

17581 1.05 232.3 224.8 7.9 851 17582 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2105 1935

17891 1.05 232.3 201.3 7.4 866 17892 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2105 1935

18200 1.05 232.3 178.7 7.0 881 18201 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2106 1935

18509 1.07 246.5 160.5 5.6 896 18528 0.00 0.00 13.05 0.940 6 0.000 0.000 2738 2105 1873

18839 1.07 246.5 139.0 6.7 912 18843 0.00 2.55 0.00 0.000 4 0.000 0.049 2738 3503 1873

18871 1.07 246.5 136.3 7.8 913 18878 0.00 2.50 0.00 0.000 6 0.000 0.042 2738 2098 1873

19187 1.07 246.5 110.5 8.9 929 19188 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1873

19496 1.07 246.5 85.3 8.7 944 19500 0.00 2.55 0.00 0.000 4 0.000 0.048 2738 3503 1873

19522 1.07 246.5 82.9 10.4 945 19526 0.00 2.50 0.00 0.000 6 0.000 0.041 2738 2094 1873

19844 1.09 265.8 64.5 5.4 961 19864 0.00 0.00 16.58 0.871 6 0.000 0.000 2738 2094 1794

20174 1.09 265.8 44.1 6.1 977 20175 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2094 1794

20483 1.09 265.8 19.6 8.7 992 20487 0.00 2.58 0.00 0.000 4 0.000 0.049 2738 3507 1794

20522 1.09 265.8 16.4 7.5 994 20526 0.00 2.50 0.00 0.000 6 0.000 0.042 2738 2100 1793

20848 1.35 470.3 3.2 -0.1 1010 20962 0.20 2.65 107.07 0.764 4 0.058 0.061 2791 694 959

21082 end climb: NO_VERTICAL_VELOCITY

state 21082 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	190	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-79744.859	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	005008,6254.845,-1246.161,28,1.8,28,-11.8	TGT_NAME	HW
_CALLS	5	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.071,-0.196
_SM_DEPTHo	3.70	KALMAN_X	241568.3,-71.9,-388.7,-467005.8,9744.8
_SM_ANGLEo	-56.2	KALMAN_Y	62860.8,-31.3,-13.3,88390.9,10421.8
GPS2	011226,6254.789,-1246.107,12,1.2,12,-11.8	MHEAD_RNG_PITCHd_Wd	211.6,18273,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21085,45.42,0.755,0,0,603,558.06	ALTIM_BOTTOM_PING	625.0,85.6
SM_GC	3.91,11.90,0.00,0.00,0.028,0.000,0.000,29,1913,603,-11.26,0.34,558.06	_24V_AH	23.3,43.386
IRIDIUM_FIX	6230.49,-1251.19,241207,050552	_10V_AH	10.1,20.754
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50470,1021
HUMID	2037	CFSIZE	260165632,246640640
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
TCM_TEMP	18.70	GPS	241207,071338,6252.075,-1246.966,30,0.9,30,-11.8
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	114	67.77	SBE_CT	756	24	423.12
Roll_motor	148	77	268.04	SBE_O2	689	19	305.20
VBD_pump_during_apogee	458	1285	13746.45	WL_BB2F	658	105	1610.43
VBD_pump_during_surface	45	754	798.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	188	103	451.28	nil	0	0	0.00
Iridium_during_connect	179	160	670.26	nil	0	0	0.00
Iridium_during_xfer	598	223	3109.43
Transponder_ping	5	420	56.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.10
TT8	1836	19	367.26
LPSleep	16918	2	374.22
TT8_Active	688	19	137.65
TT8_Sampling	2243	39	901.87
TT8_CF8	1206	45	558.05
TT8_Kalman	33	81	27.57
Analog_circuits	1834	12	222.37
GPS_charging	0	0	0.00
Compass	2206	8	178.26
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	44	0.00	0.00	-22.10	0.000	2	0.000	0.000	28	1891	1100
47	-0.95	-146.6	3.8	-0.0	1	226	11.35	2.58	-158.95	0.000	4	0.114	0.061	2285	3299	3476
349	-0.95	-146.6	14.3	-7.6	15	353	0.00	2.53	0.00	0.000	6	0.000	0.043	2285	1890	3476
678	-0.95	-146.6	37.8	-7.5	31	679	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1890	3476
985	-0.95	-146.6	60.8	-7.5	46	990	0.00	2.55	0.00	0.000	4	0.000	0.047	2285	3304	3476
1074	-0.95	-146.6	67.0	-6.6	50	1078	0.00	2.53	0.00	0.000	6	0.000	0.042	2285	1895	3476
1401	-0.95	-146.6	89.0	-7.0	66	1402	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3476
1710	-0.95	-146.6	111.2	-7.2	81	1714	0.00	2.55	0.00	0.000	4	0.000	0.048	2285	3308	3476
1759	-0.95	-146.6	114.8	-7.7	83	1764	0.00	2.53	0.00	0.000	6	0.000	0.042	2285	1897	3476
2081	-0.95	-146.6	138.5	-7.2	99	2082	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3476
2390	-0.95	-146.6	159.9	-6.9	114	2394	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3304	3476
2444	-0.95	-146.6	163.9	-7.1	116	2450	0.00	2.50	0.00	0.000	6	0.000	0.042	2285	1899	3476
2760	-0.95	-146.6	185.6	-7.1	132	2764	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3304	3476
2798	-0.95	-146.6	188.5	-7.0	134	2803	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1895	3476
3124	-0.95	-146.6	213.6	-8.0	150	3125	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3476
3434	-0.95	-146.6	236.2	-7.1	165	3435	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1895	3476
3743	-0.95	-146.6	256.9	-6.6	180	3744	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3476
4053	-0.95	-146.6	276.2	-6.4	195	4054	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3475
4362	-0.95	-146.6	295.9	-6.5	210	4366	0.00	2.55	0.00	0.000	4	0.000	0.049	2285	3305	3476
4427	-0.95	-146.6	300.4	-6.7	213	4431	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1898	3476
4754	-0.95	-146.6	321.4	-6.4	229	4755	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
5063	-0.95	-146.6	341.7	-6.8	244	5067	0.00	2.55	0.00	0.000	4	0.000	0.050	2285	3304	3476
5112	-0.95	-146.6	345.2	-7.3	246	5117	0.00	2.53	0.00	0.000	6	0.000	0.045	2285	1900	3475
5433	-0.95	-146.6	367.4	-6.8	262	5435	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3476
5743	-0.95	-146.6	389.4	-7.3	277	5744	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
6052	-0.95	-146.6	411.8	-7.1	292	6056	0.00	2.55	0.00	0.000	4	0.000	0.051	2285	3308	3475
6113	-0.95	-146.6	416.4	-7.7	295	6117	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1902	3475
6439	-0.95	-146.6	441.4	-8.0	311	6440	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
6748	-0.95	-146.6	461.7	-6.5	326	6752	0.00	2.55	0.00	0.000	4	0.000	0.051	2285	3310	3474
6791	-0.95	-146.6	464.7	-6.4	328	6795	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1901	3475
7117	-0.95	-146.6	484.8	-6.4	344	7121	0.00	2.60	0.00	0.000	4	0.000	0.068	2285	495	3475
7149	-0.95	-146.6	486.7	-6.4	345	7156	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1897	3474
7466	-0.95	-146.6	504.7	-5.5	361	7470	0.00	2.53	0.00	0.000	4	0.000	0.053	2285	3300	3474
7527	-0.95	-146.6	508.4	-6.2	364	7531	0.00	2.53	0.00	0.000	6	0.000	0.049	2285	1901	3474
7852	-0.95	-146.6	529.3	-6.7	380	7853	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3474
8162	-0.95	-146.6	552.6	-7.7	395	8166	0.00	2.55	0.00	0.000	4	0.000	0.054	2285	3301	3474
8268	-0.95	-146.6	561.2	-8.9	400	8272	0.00	2.55	0.00	0.000	6	0.000	0.049	2285	1895	3474
8593	-0.95	-146.6	584.8	-6.8	416	8595	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3474
8903	-0.95	-146.6	603.7	-6.1	431	8904	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3474
9212	-0.95	-146.6	621.6	-6.4	446	9216	0.00	2.60	0.00	0.000	4	0.000	0.061	2285	3301	3473
9346	-0.95	-146.6	631.0	-6.7	452	9350	0.00	2.55	0.00	0.000	6	0.000	0.053	2285	1901	3473
9672	-0.95	-146.6	650.1	-5.1	468	9677	0.00	2.65	0.00	0.000	4	0.000	0.076	2285	491	3473
9757	-0.95	-146.6	654.3	-5.1	472	9761	0.00	2.50	0.00	0.000	6	0.000	0.052	2285	1896	3473
10083	-0.95	-146.6	669.1	-4.9	488	10087	0.00	2.60	0.00	0.000	4	0.000	0.063	2285	3304	3472
10148	-0.95	-146.6	673.1	-6.6	491	10152	0.00	2.58	0.00	0.000	6	0.000	0.059	2285	1904	3472
10475	-0.95	-146.6	693.8	-6.7	507	10476	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1904	3471
10576	end dive: BOTTOM_OBSTACLE_DETECTED
state	10576	begin apogee
10581	-0.36	0.0	700.8	6.8	512	10708	0.62	0.00	123.68	1.285	6	0.074	0.000	2421	2098	2878
10709	end apogee: CONTROL_FINISHED_OK
state	10709	begin climb
10711	0.95	146.6	705.2	0.0	518	10842	1.25	2.78	122.82	1.246	4	0.054	0.076	2699	694	2280
11097	0.97	162.3	690.1	5.5	535	11117	0.00	2.58	14.10	1.243	6	0.000	0.053	2699	2103	2215
11433	0.97	162.3	668.9	6.5	552	11437	0.00	2.70	0.00	0.000	4	0.000	0.077	2699	690	2214
11543	0.99	179.5	662.6	5.5	557	11563	0.00	2.55	15.05	1.268	6	0.000	0.054	2699	2101	2147
11890	0.99	183.3	642.5	5.9	574	11897	0.00	0.00	4.62	1.208	6	0.000	0.000	2699	2101	2130
12199	0.99	183.3	624.3	6.3	589	12200	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2101	2129
12509	0.99	183.3	601.3	7.8	604	12513	0.00	2.60	0.00	0.000	4	0.000	0.065	2699	3502	2128
12574	0.99	183.3	595.6	9.2	607	12578	0.00	2.58	0.00	0.000	6	0.000	0.056	2699	2098	2128
12900	0.99	183.3	568.9	8.4	623	12905	0.00	2.62	0.00	0.000	4	0.000	0.061	2699	3505	2127
12955	0.99	183.3	564.2	8.0	625	12962	0.00	2.60	0.00	0.000	6	0.000	0.053	2699	2098	2127
13271	0.99	183.3	541.4	6.8	641	13275	0.00	2.60	0.00	0.000	4	0.000	0.061	2699	3509	2127
13302	0.99	183.3	539.1	6.4	642	13309	0.00	2.55	0.00	0.000	6	0.000	0.051	2699	2099	2127
13618	1.02	207.4	520.5	5.3	658	13644	0.00	2.67	20.30	1.216	4	0.000	0.058	2699	3507	2031
13682	1.05	232.3	516.9	5.3	661	13711	0.12	2.58	21.67	1.187	6	0.053	0.049	2738	2098	1931
14028	1.05	232.3	494.6	6.2	678	14032	0.00	2.60	0.00	0.000	4	0.000	0.056	2738	3510	1931
14048	1.05	232.3	493.0	7.4	679	14052	0.00	2.58	0.00	0.000	6	0.000	0.048	2738	2092	1931
14375	1.05	232.3	470.6	7.0	695	14379	0.00	2.60	0.00	0.000	4	0.000	0.071	2738	690	1931
14406	1.05	232.3	468.3	6.6	696	14413	0.00	2.50	0.00	0.000	6	0.000	0.044	2738	2106	1931
14722	1.05	232.3	445.6	7.5	712	14723	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2106	1931
15031	1.05	232.3	421.0	8.1	727	15035	0.00	2.55	0.00	0.000	4	0.000	0.054	2738	3504	1932
15063	1.05	232.3	418.2	8.7	728	15070	0.00	2.53	0.00	0.000	6	0.000	0.047	2738	2098	1932
15378	1.05	232.3	391.8	8.3	744	15379	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1933
15688	1.05	232.3	366.1	8.2	759	15689	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1932
15997	1.05	232.3	341.3	8.0	774	16001	0.00	2.55	0.00	0.000	4	0.000	0.053	2738	3504	1933
16028	1.05	232.3	338.7	7.7	775	16036	0.00	2.53	0.00	0.000	6	0.000	0.044	2738	2105	1933
16344	1.05	232.3	315.9	6.8	791	16346	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2105	1933
16653	1.05	232.3	294.8	6.9	806	16655	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2105	1934
16963	1.05	232.3	272.7	7.4	821	16964	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2105	1934
17272	1.05	232.3	249.3	7.6	836	17273	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2105	1934
17581	1.05	232.3	224.8	7.9	851	17582	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2105	1935
17891	1.05	232.3	201.3	7.4	866	17892	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2105	1935
18200	1.05	232.3	178.7	7.0	881	18201	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2106	1935
18509	1.07	246.5	160.5	5.6	896	18528	0.00	0.00	13.05	0.940	6	0.000	0.000	2738	2105	1873
18839	1.07	246.5	139.0	6.7	912	18843	0.00	2.55	0.00	0.000	4	0.000	0.049	2738	3503	1873
18871	1.07	246.5	136.3	7.8	913	18878	0.00	2.50	0.00	0.000	6	0.000	0.042	2738	2098	1873
19187	1.07	246.5	110.5	8.9	929	19188	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1873
19496	1.07	246.5	85.3	8.7	944	19500	0.00	2.55	0.00	0.000	4	0.000	0.048	2738	3503	1873
19522	1.07	246.5	82.9	10.4	945	19526	0.00	2.50	0.00	0.000	6	0.000	0.041	2738	2094	1873
19844	1.09	265.8	64.5	5.4	961	19864	0.00	0.00	16.58	0.871	6	0.000	0.000	2738	2094	1794
20174	1.09	265.8	44.1	6.1	977	20175	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2094	1794
20483	1.09	265.8	19.6	8.7	992	20487	0.00	2.58	0.00	0.000	4	0.000	0.049	2738	3507	1794
20522	1.09	265.8	16.4	7.5	994	20526	0.00	2.50	0.00	0.000	6	0.000	0.042	2738	2100	1793
20848	1.35	470.3	3.2	-0.1	1010	20962	0.20	2.65	107.07	0.764	4	0.058	0.061	2791	694	959
21082	end climb: NO_VERTICAL_VELOCITY
state	21082	begin surface