Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 129 * 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 129 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 38 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 -78631.609 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 -78631.609

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 38 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 129 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 111439,6214.648,-953.912,45,2.7,64,-10.0 TGT_NAME DW

_CALLS 2 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.043

_SM_DEPTHo 3.69 KALMAN_X 133234.1,-355.3,162.5,-206963.8,17521.0

_SM_ANGLEo -59.5 KALMAN_Y 152267.2,-30.3,16.5,-75358.2,12033.7

GPS2 112351,6214.660,-953.859,12,1.3,12,-10.0 MHEAD_RNG_PITCHd_Wd 268.0,35482,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 20383,0.00,0.000,0,0,604,557.81 ALTIM_BOTTOM_PING 625.1,103.4

SM_GC 3.84,12.15,0.00,0.00,0.027,0.000,0.000,35,1895,604,-11.25,-0.11,557.81 _24V_AH 23.3,32.208

IRIDIUM_FIX 6148.92,-958.87,071207,151526 _10V_AH 10.1,14.618

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47517,967

HUMID 2040 CFSIZE 260165632,250818560

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 16.70 GPS 071207,170538,6214.260,-1000.131,37,1.0,37,-10.0

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 104 62.52 SBE_CT 712 24 398.23

Roll_motor 91 64 137.96 SBE_O2 652 19 289.04

VBD_pump_during_apogee 505 1277 15036.24 WL_BB2F 634 105 1551.67

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 77 103 186.38 nil 0 0 0.00

Iridium_during_connect 76 160 286.50 nil 0 0 0.00

Iridium_during_xfer 235 223 1223.76

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.98

TT8 1688 19 337.65

LPSleep 16023 2 354.42

TT8_Active 648 19 129.65

TT8_Sampling 2021 39 812.42

TT8_CF8 557 45 258.07

TT8_Kalman 33 81 27.57

Analog_circuits 1671 12 202.58

GPS_charging 0 0 0.00

Compass 1989 8 160.74

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 26 0.00 0.00 -4.40 0.000 2 0.000 0.000 28 1905 711

29 -0.95 -146.6 3.8 -0.0 0 228 11.12 2.50 -178.35 0.000 4 0.104 0.057 2291 3294 3475

481 -0.95 -146.6 22.0 -6.6 21 487 0.00 2.50 0.00 0.000 6 0.000 0.041 2290 1896 3475

796 -0.95 -146.6 45.2 -8.2 37 797 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3475

1105 -0.95 -146.6 65.8 -6.0 52 1106 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3475

1414 -0.95 -146.6 88.7 -7.8 67 1418 0.00 2.50 0.00 0.000 4 0.000 0.044 2290 3295 3475

1490 -0.95 -146.6 94.7 -8.0 70 1498 0.00 2.50 0.00 0.000 6 0.000 0.041 2290 1906 3475

1808 -0.95 -146.6 116.5 -6.7 86 1809 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1906 3475

2116 -0.95 -146.6 137.3 -6.7 101 2117 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1907 3475

2425 -0.95 -146.6 155.2 -5.7 116 2429 0.00 2.50 0.00 0.000 4 0.000 0.046 2290 3300 3475

2480 -0.95 -146.6 158.7 -5.5 118 2487 0.00 2.50 0.00 0.000 6 0.000 0.042 2290 1901 3475

2796 -0.95 -146.6 176.3 -5.8 134 2797 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1901 3475

3105 -0.95 -146.6 200.3 -8.5 149 3109 0.00 2.50 0.00 0.000 4 0.000 0.045 2290 3299 3475

3189 -0.95 -146.6 207.2 -8.2 153 3193 0.00 2.50 0.00 0.000 6 0.000 0.043 2290 1900 3475

3514 -0.95 -146.6 231.0 -7.1 169 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3475

3823 -0.95 -146.6 251.6 -6.7 184 3824 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3475

4133 -0.95 -146.6 273.1 -7.4 199 4134 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3475

4442 -0.95 -146.6 294.8 -6.8 214 4446 0.00 2.50 0.00 0.000 4 0.000 0.046 2290 3300 3475

4490 -0.95 -146.6 298.1 -6.6 216 4495 0.00 2.53 0.00 0.000 6 0.000 0.043 2290 1900 3474

4811 -0.95 -146.6 319.2 -6.8 232 4812 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3475

5120 -0.95 -146.6 341.1 -7.1 247 5121 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3475

5430 -0.95 -146.6 363.7 -7.2 262 5434 0.00 2.50 0.00 0.000 4 0.000 0.047 2290 3294 3475

5484 -0.95 -146.6 368.1 -7.8 264 5491 0.00 2.50 0.00 0.000 6 0.000 0.043 2290 1896 3475

5799 -0.95 -146.6 392.8 -8.1 280 5801 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3475

6109 -0.95 -146.6 416.7 -7.3 295 6113 0.00 2.53 0.00 0.000 4 0.000 0.049 2290 3300 3475

6170 -0.95 -146.6 420.8 -6.8 298 6174 0.00 2.53 0.00 0.000 6 0.000 0.046 2290 1898 3475

6495 -0.95 -146.6 439.4 -5.8 314 6496 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3475

6804 -0.95 -146.6 458.0 -6.1 329 6805 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3475

7114 -0.95 -146.6 476.2 -5.2 344 7118 0.00 2.53 0.00 0.000 4 0.000 0.050 2290 3297 3475

7207 -0.95 -146.6 480.5 -4.9 348 7212 0.00 2.50 0.00 0.000 6 0.000 0.044 2290 1898 3475

7528 -0.95 -146.6 500.0 -7.2 364 7529 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1898 3474

7838 -0.95 -146.6 523.6 -7.5 379 7839 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1898 3474

8147 -0.95 -146.6 544.1 -6.3 394 8151 0.00 2.53 0.00 0.000 4 0.000 0.052 2290 3300 3474

8253 -0.95 -146.6 549.6 -4.2 399 8257 0.00 2.53 0.00 0.000 6 0.000 0.047 2290 1898 3474

8578 -0.95 -146.6 567.3 -6.2 415 8579 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1898 3474

8887 -0.95 -146.6 586.2 -6.3 430 8892 0.00 2.55 0.00 0.000 4 0.000 0.054 2290 3297 3474

8964 -0.95 -146.6 591.9 -7.2 433 8971 0.00 2.55 0.00 0.000 6 0.000 0.048 2290 1884 3474

9280 -0.95 -146.6 614.1 -7.1 449 9281 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1883 3474

9589 -0.95 -146.6 631.3 -3.7 464 9594 0.00 2.58 0.00 0.000 4 0.000 0.057 2290 3294 3474

9678 -0.95 -146.6 635.2 -5.4 468 9682 0.00 2.53 0.00 0.000 6 0.000 0.050 2290 1900 3473

10004 -0.95 -146.6 656.9 -7.0 484 10005 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3473

10314 -0.95 -146.6 672.0 -3.7 499 10315 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3473

10623 -0.95 -146.6 689.3 -7.7 514 10627 0.00 2.55 0.00 0.000 4 0.000 0.059 2290 3291 3473

10683 -0.95 -146.6 694.5 -8.5 517 10688 0.00 2.53 0.00 0.000 6 0.000 0.052 2290 1899 3473

11009 -0.95 -146.6 717.9 -6.1 533 11010 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3472

11028 end dive: BOTTOM_OBSTACLE_DETECTED

state 11028 begin apogee

11033 -0.36 0.0 719.2 6.2 534 11159 0.60 0.00 122.53 1.278 6 0.074 0.000 2420 2093 2878

11159 end apogee: CONTROL_FINISHED_OK

state 11159 begin climb

11161 0.95 146.6 724.3 0.0 540 11292 1.25 2.70 121.95 1.236 4 0.051 0.064 2702 3496 2279

11359 0.95 146.6 718.7 6.0 549 11364 0.00 2.58 0.00 0.000 6 0.000 0.051 2702 2107 2279

11681 0.95 146.6 696.3 7.4 565 11682 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2107 2279

11990 1.00 190.1 678.0 4.7 580 12031 0.00 0.00 36.62 1.249 6 0.000 0.000 2702 2107 2103

12340 1.13 292.8 666.9 2.9 597 12428 0.17 0.00 85.38 1.239 6 0.045 0.000 2755 2107 1684

12729 1.13 292.8 628.4 11.0 616 12731 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2107 1683

13038 1.13 292.8 595.2 10.4 631 13040 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2107 1683

13348 1.13 292.8 563.7 9.8 646 13349 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2107 1683

13657 1.13 292.8 535.7 8.6 661 13658 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2107 1683

13966 1.13 292.8 507.4 9.1 676 13968 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2107 1683

14275 1.13 292.8 478.5 9.1 691 14277 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2107 1683

14585 1.13 292.8 449.6 9.4 706 14586 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2107 1683

14894 1.13 292.8 421.2 9.5 721 14895 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2107 1683

15203 1.13 292.8 389.1 9.6 736 15204 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2107 1683

15513 1.13 292.8 356.6 11.0 751 15517 0.00 2.60 0.00 0.000 4 0.000 0.064 2755 690 1684

15555 1.13 292.8 351.6 11.7 753 15560 0.00 2.50 0.00 0.000 6 0.000 0.038 2755 2098 1684

15882 1.13 292.8 315.1 11.0 769 15883 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2102 1684

16191 1.13 292.8 284.1 9.2 784 16192 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2102 1684

16501 1.13 292.8 256.3 8.7 799 16502 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2102 1685

16810 1.13 292.8 230.8 8.3 814 16814 0.00 2.60 0.00 0.000 4 0.000 0.061 2755 690 1686

16876 1.13 292.8 224.7 8.5 817 16881 0.00 2.47 0.00 0.000 6 0.000 0.038 2755 2104 1686

17196 1.13 292.8 195.1 9.4 833 17201 0.00 2.62 0.00 0.000 4 0.000 0.061 2755 684 1686

17240 1.13 292.8 190.7 9.9 835 17244 0.00 2.50 0.00 0.000 6 0.000 0.039 2755 2099 1686

17567 1.13 292.8 161.3 8.2 851 17568 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2103 1686

17877 1.13 292.8 135.0 9.0 866 17881 0.00 2.60 0.00 0.000 4 0.000 0.061 2755 690 1686

17964 1.13 292.8 125.7 10.9 870 17969 0.00 2.50 0.00 0.000 6 0.000 0.038 2755 2100 1687

18291 1.13 292.8 93.1 9.9 886 18292 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2104 1687

18601 1.13 292.8 62.8 9.3 901 18602 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2104 1687

18910 1.13 292.8 34.9 8.4 916 18911 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2104 1686

19219 1.13 292.8 8.0 8.7 931 19220 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2104 1687

19529 1.37 492.2 3.1 0.1 946 19641 0.15 2.60 104.40 0.772 4 0.058 0.048 2801 3491 870

19654 1.67 737.1 3.0 -1.3 952 19697 0.28 2.53 34.15 0.752 6 0.054 0.039 2866 2089 602

19962 end climb: NO_VERTICAL_VELOCITY

state 19962 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	129	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	38	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	-78631.609	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	111439,6214.648,-953.912,45,2.7,64,-10.0	TGT_NAME	DW
_CALLS	2	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.043
_SM_DEPTHo	3.69	KALMAN_X	133234.1,-355.3,162.5,-206963.8,17521.0
_SM_ANGLEo	-59.5	KALMAN_Y	152267.2,-30.3,16.5,-75358.2,12033.7
GPS2	112351,6214.660,-953.859,12,1.3,12,-10.0	MHEAD_RNG_PITCHd_Wd	268.0,35482,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	20383,0.00,0.000,0,0,604,557.81	ALTIM_BOTTOM_PING	625.1,103.4
SM_GC	3.84,12.15,0.00,0.00,0.027,0.000,0.000,35,1895,604,-11.25,-0.11,557.81	_24V_AH	23.3,32.208
IRIDIUM_FIX	6148.92,-958.87,071207,151526	_10V_AH	10.1,14.618
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47517,967
HUMID	2040	CFSIZE	260165632,250818560
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	16.70	GPS	071207,170538,6214.260,-1000.131,37,1.0,37,-10.0
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	104	62.52	SBE_CT	712	24	398.23
Roll_motor	91	64	137.96	SBE_O2	652	19	289.04
VBD_pump_during_apogee	505	1277	15036.24	WL_BB2F	634	105	1551.67
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	77	103	186.38	nil	0	0	0.00
Iridium_during_connect	76	160	286.50	nil	0	0	0.00
Iridium_during_xfer	235	223	1223.76
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.98
TT8	1688	19	337.65
LPSleep	16023	2	354.42
TT8_Active	648	19	129.65
TT8_Sampling	2021	39	812.42
TT8_CF8	557	45	258.07
TT8_Kalman	33	81	27.57
Analog_circuits	1671	12	202.58
GPS_charging	0	0	0.00
Compass	1989	8	160.74
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	26	0.00	0.00	-4.40	0.000	2	0.000	0.000	28	1905	711
29	-0.95	-146.6	3.8	-0.0	0	228	11.12	2.50	-178.35	0.000	4	0.104	0.057	2291	3294	3475
481	-0.95	-146.6	22.0	-6.6	21	487	0.00	2.50	0.00	0.000	6	0.000	0.041	2290	1896	3475
796	-0.95	-146.6	45.2	-8.2	37	797	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3475
1105	-0.95	-146.6	65.8	-6.0	52	1106	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3475
1414	-0.95	-146.6	88.7	-7.8	67	1418	0.00	2.50	0.00	0.000	4	0.000	0.044	2290	3295	3475
1490	-0.95	-146.6	94.7	-8.0	70	1498	0.00	2.50	0.00	0.000	6	0.000	0.041	2290	1906	3475
1808	-0.95	-146.6	116.5	-6.7	86	1809	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1906	3475
2116	-0.95	-146.6	137.3	-6.7	101	2117	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1907	3475
2425	-0.95	-146.6	155.2	-5.7	116	2429	0.00	2.50	0.00	0.000	4	0.000	0.046	2290	3300	3475
2480	-0.95	-146.6	158.7	-5.5	118	2487	0.00	2.50	0.00	0.000	6	0.000	0.042	2290	1901	3475
2796	-0.95	-146.6	176.3	-5.8	134	2797	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1901	3475
3105	-0.95	-146.6	200.3	-8.5	149	3109	0.00	2.50	0.00	0.000	4	0.000	0.045	2290	3299	3475
3189	-0.95	-146.6	207.2	-8.2	153	3193	0.00	2.50	0.00	0.000	6	0.000	0.043	2290	1900	3475
3514	-0.95	-146.6	231.0	-7.1	169	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3475
3823	-0.95	-146.6	251.6	-6.7	184	3824	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3475
4133	-0.95	-146.6	273.1	-7.4	199	4134	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3475
4442	-0.95	-146.6	294.8	-6.8	214	4446	0.00	2.50	0.00	0.000	4	0.000	0.046	2290	3300	3475
4490	-0.95	-146.6	298.1	-6.6	216	4495	0.00	2.53	0.00	0.000	6	0.000	0.043	2290	1900	3474
4811	-0.95	-146.6	319.2	-6.8	232	4812	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3475
5120	-0.95	-146.6	341.1	-7.1	247	5121	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3475
5430	-0.95	-146.6	363.7	-7.2	262	5434	0.00	2.50	0.00	0.000	4	0.000	0.047	2290	3294	3475
5484	-0.95	-146.6	368.1	-7.8	264	5491	0.00	2.50	0.00	0.000	6	0.000	0.043	2290	1896	3475
5799	-0.95	-146.6	392.8	-8.1	280	5801	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3475
6109	-0.95	-146.6	416.7	-7.3	295	6113	0.00	2.53	0.00	0.000	4	0.000	0.049	2290	3300	3475
6170	-0.95	-146.6	420.8	-6.8	298	6174	0.00	2.53	0.00	0.000	6	0.000	0.046	2290	1898	3475
6495	-0.95	-146.6	439.4	-5.8	314	6496	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3475
6804	-0.95	-146.6	458.0	-6.1	329	6805	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3475
7114	-0.95	-146.6	476.2	-5.2	344	7118	0.00	2.53	0.00	0.000	4	0.000	0.050	2290	3297	3475
7207	-0.95	-146.6	480.5	-4.9	348	7212	0.00	2.50	0.00	0.000	6	0.000	0.044	2290	1898	3475
7528	-0.95	-146.6	500.0	-7.2	364	7529	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1898	3474
7838	-0.95	-146.6	523.6	-7.5	379	7839	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1898	3474
8147	-0.95	-146.6	544.1	-6.3	394	8151	0.00	2.53	0.00	0.000	4	0.000	0.052	2290	3300	3474
8253	-0.95	-146.6	549.6	-4.2	399	8257	0.00	2.53	0.00	0.000	6	0.000	0.047	2290	1898	3474
8578	-0.95	-146.6	567.3	-6.2	415	8579	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1898	3474
8887	-0.95	-146.6	586.2	-6.3	430	8892	0.00	2.55	0.00	0.000	4	0.000	0.054	2290	3297	3474
8964	-0.95	-146.6	591.9	-7.2	433	8971	0.00	2.55	0.00	0.000	6	0.000	0.048	2290	1884	3474
9280	-0.95	-146.6	614.1	-7.1	449	9281	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1883	3474
9589	-0.95	-146.6	631.3	-3.7	464	9594	0.00	2.58	0.00	0.000	4	0.000	0.057	2290	3294	3474
9678	-0.95	-146.6	635.2	-5.4	468	9682	0.00	2.53	0.00	0.000	6	0.000	0.050	2290	1900	3473
10004	-0.95	-146.6	656.9	-7.0	484	10005	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3473
10314	-0.95	-146.6	672.0	-3.7	499	10315	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3473
10623	-0.95	-146.6	689.3	-7.7	514	10627	0.00	2.55	0.00	0.000	4	0.000	0.059	2290	3291	3473
10683	-0.95	-146.6	694.5	-8.5	517	10688	0.00	2.53	0.00	0.000	6	0.000	0.052	2290	1899	3473
11009	-0.95	-146.6	717.9	-6.1	533	11010	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3472
11028	end dive: BOTTOM_OBSTACLE_DETECTED
state	11028	begin apogee
11033	-0.36	0.0	719.2	6.2	534	11159	0.60	0.00	122.53	1.278	6	0.074	0.000	2420	2093	2878
11159	end apogee: CONTROL_FINISHED_OK
state	11159	begin climb
11161	0.95	146.6	724.3	0.0	540	11292	1.25	2.70	121.95	1.236	4	0.051	0.064	2702	3496	2279
11359	0.95	146.6	718.7	6.0	549	11364	0.00	2.58	0.00	0.000	6	0.000	0.051	2702	2107	2279
11681	0.95	146.6	696.3	7.4	565	11682	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2107	2279
11990	1.00	190.1	678.0	4.7	580	12031	0.00	0.00	36.62	1.249	6	0.000	0.000	2702	2107	2103
12340	1.13	292.8	666.9	2.9	597	12428	0.17	0.00	85.38	1.239	6	0.045	0.000	2755	2107	1684
12729	1.13	292.8	628.4	11.0	616	12731	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2107	1683
13038	1.13	292.8	595.2	10.4	631	13040	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2107	1683
13348	1.13	292.8	563.7	9.8	646	13349	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2107	1683
13657	1.13	292.8	535.7	8.6	661	13658	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2107	1683
13966	1.13	292.8	507.4	9.1	676	13968	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2107	1683
14275	1.13	292.8	478.5	9.1	691	14277	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2107	1683
14585	1.13	292.8	449.6	9.4	706	14586	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2107	1683
14894	1.13	292.8	421.2	9.5	721	14895	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2107	1683
15203	1.13	292.8	389.1	9.6	736	15204	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2107	1683
15513	1.13	292.8	356.6	11.0	751	15517	0.00	2.60	0.00	0.000	4	0.000	0.064	2755	690	1684
15555	1.13	292.8	351.6	11.7	753	15560	0.00	2.50	0.00	0.000	6	0.000	0.038	2755	2098	1684
15882	1.13	292.8	315.1	11.0	769	15883	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2102	1684
16191	1.13	292.8	284.1	9.2	784	16192	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2102	1684
16501	1.13	292.8	256.3	8.7	799	16502	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2102	1685
16810	1.13	292.8	230.8	8.3	814	16814	0.00	2.60	0.00	0.000	4	0.000	0.061	2755	690	1686
16876	1.13	292.8	224.7	8.5	817	16881	0.00	2.47	0.00	0.000	6	0.000	0.038	2755	2104	1686
17196	1.13	292.8	195.1	9.4	833	17201	0.00	2.62	0.00	0.000	4	0.000	0.061	2755	684	1686
17240	1.13	292.8	190.7	9.9	835	17244	0.00	2.50	0.00	0.000	6	0.000	0.039	2755	2099	1686
17567	1.13	292.8	161.3	8.2	851	17568	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2103	1686
17877	1.13	292.8	135.0	9.0	866	17881	0.00	2.60	0.00	0.000	4	0.000	0.061	2755	690	1686
17964	1.13	292.8	125.7	10.9	870	17969	0.00	2.50	0.00	0.000	6	0.000	0.038	2755	2100	1687
18291	1.13	292.8	93.1	9.9	886	18292	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2104	1687
18601	1.13	292.8	62.8	9.3	901	18602	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2104	1687
18910	1.13	292.8	34.9	8.4	916	18911	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2104	1686
19219	1.13	292.8	8.0	8.7	931	19220	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2104	1687
19529	1.37	492.2	3.1	0.1	946	19641	0.15	2.60	104.40	0.772	4	0.058	0.048	2801	3491	870
19654	1.67	737.1	3.0	-1.3	952	19697	0.28	2.53	34.15	0.752	6	0.054	0.039	2866	2089	602
19962	end climb: NO_VERTICAL_VELOCITY
state	19962	begin surface