Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 134 * 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 134 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 32 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -78698.984 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 -78698.984

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 32 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 134 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 203645,6212.208,-1029.521,42,2.6,61,-10.3 TGT_NAME DW

_CALLS 2 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.115,0.174

_SM_DEPTHo 3.73 KALMAN_X 129453.6,-206.9,-133.4,-234604.3,-811.0

_SM_ANGLEo -50.4 KALMAN_Y 147703.6,127.0,-414.2,-75140.0,-655.0

GPS2 204927,6212.165,-1029.671,9,2.0,9,-10.3 MHEAD_RNG_PITCHd_Wd 336.9,6977,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21749,33.67,0.745,0,0,602,558.06 ALTIM_BOTTOM_PING 700.4,85.8

SM_GC 3.90,12.07,0.00,0.00,0.030,0.000,0.000,34,1883,601,-11.26,-0.48,558.30 _24V_AH 23.3,33.133

IRIDIUM_FIX 6148.92,-1030.66,091207,000029 _10V_AH 10.1,15.133

TT8_MAMPS 0.026078 DATA_FILE_SIZE 53678,1052

HUMID 2035 CFSIZE 260165632,250437632

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 18.70 GPS 091207,030137,6214.188,-1032.970,38,1.1,38,-10.3

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 97 57.42 SBE_CT 770 24 430.90

Roll_motor 133 77 241.82 SBE_O2 711 19 315.01

VBD_pump_during_apogee 499 1313 15298.18 WL_BB2F 618 105 1514.05

VBD_pump_during_surface 33 744 584.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 70 103 168.19 nil 0 0 0.00

Iridium_during_connect 78 160 293.91 nil 0 0 0.00

Iridium_during_xfer 448 223 2331.97

Transponder_ping 7 420 73.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.37

TT8 1875 19 375.02

LPSleep 17338 2 383.52

TT8_Active 676 19 135.28

TT8_Sampling 2282 39 917.64

TT8_CF8 793 45 366.91

TT8_Kalman 33 81 27.57

Analog_circuits 1842 12 223.31

GPS_charging 0 0 0.00

Compass 2244 8 181.36

RAFOS 0 0 0.00

Guidance and control:

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.95 -146.6 0.0 0.0 0 28 0.00 0.00 -6.97 0.000 2 0.000 0.000 30 1885 770

31 -0.95 -146.6 3.6 -0.0 1 211 10.95 2.58 -161.60 0.000 4 0.097 0.058 2290 3307 3476

368 -0.95 -146.6 16.2 -8.6 16 373 0.00 2.50 0.00 0.000 6 0.000 0.041 2290 1906 3476

695 -0.95 -146.6 36.1 -4.1 32 696 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1906 3476

1004 -0.95 -146.6 56.2 -6.2 47 1008 0.00 2.53 0.00 0.000 4 0.000 0.046 2290 3310 3476

1092 -0.95 -146.6 62.0 -5.6 51 1096 0.00 2.53 0.00 0.000 6 0.000 0.041 2290 1897 3476

1420 -0.95 -146.6 85.6 -7.5 67 1421 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3476

1728 -0.95 -146.6 111.9 -9.1 82 1729 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3476

2037 -0.95 -146.6 139.1 -8.4 97 2041 0.00 2.53 0.00 0.000 4 0.000 0.045 2290 3305 3476

2099 -0.95 -146.6 144.5 -8.6 100 2103 0.00 2.50 0.00 0.000 6 0.000 0.041 2290 1899 3476

2424 -0.95 -146.6 169.7 -7.1 116 2426 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3476

2734 -0.95 -146.6 191.1 -7.0 131 2738 0.00 2.53 0.00 0.000 4 0.000 0.046 2290 3305 3476

2794 -0.95 -146.6 195.3 -6.5 134 2798 0.00 2.50 0.00 0.000 6 0.000 0.041 2290 1895 3476

3126 -0.95 -146.6 218.5 -7.1 150 3127 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3476

3435 -0.95 -146.6 238.5 -6.4 165 3436 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3476

3745 -0.95 -146.6 256.8 -5.5 180 3749 0.00 2.53 0.00 0.000 4 0.000 0.047 2290 3312 3476

3806 -0.95 -146.6 260.5 -5.7 183 3810 0.00 2.53 0.00 0.000 6 0.000 0.041 2290 1896 3476

4131 -0.95 -146.6 276.2 -4.8 199 4132 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1895 3476

4440 -0.95 -146.6 291.9 -5.2 214 4445 0.00 2.53 0.00 0.000 4 0.000 0.048 2290 3305 3476

4495 -0.95 -146.6 295.0 -5.5 216 4502 0.00 2.50 0.00 0.000 6 0.000 0.043 2290 1900 3476

4811 -0.95 -146.6 312.6 -5.9 232 4812 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3476

5119 -0.95 -146.6 331.7 -6.6 247 5121 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3476

5429 -0.95 -146.6 351.7 -6.1 262 5433 0.00 2.53 0.00 0.000 4 0.000 0.048 2290 3304 3476

5490 -0.95 -146.6 355.2 -5.2 265 5494 0.00 2.53 0.00 0.000 6 0.000 0.043 2290 1894 3476

5816 -0.95 -146.6 372.8 -5.5 281 5817 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3476

6125 -0.95 -146.6 391.0 -6.4 296 6129 0.00 2.55 0.00 0.000 4 0.000 0.049 2290 3307 3476

6190 -0.95 -146.6 395.4 -6.5 299 6195 0.00 2.53 0.00 0.000 6 0.000 0.045 2290 1897 3476

6517 -0.95 -146.6 415.4 -6.3 315 6518 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3476

6826 -0.95 -146.6 435.2 -6.1 330 6831 0.00 2.53 0.00 0.000 4 0.000 0.050 2290 3307 3476

6892 -0.95 -146.6 439.8 -7.6 333 6896 0.00 2.55 0.00 0.000 6 0.000 0.044 2290 1901 3475

7219 -0.95 -146.6 461.1 -6.5 349 7220 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1901 3475

7529 -0.95 -146.6 479.0 -5.2 364 7533 0.00 2.53 0.00 0.000 4 0.000 0.050 2289 3304 3476

7590 -0.95 -146.6 482.2 -5.3 367 7594 0.00 2.53 0.00 0.000 6 0.000 0.046 2290 1894 3476

7916 -0.95 -146.6 501.0 -5.5 383 7917 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1894 3475

8225 -0.95 -146.6 518.8 -6.5 398 8226 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1894 3475

8534 -0.95 -146.6 544.5 -8.6 413 8535 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1894 3475

8843 -0.95 -146.6 569.4 -7.8 428 8847 0.00 2.58 0.00 0.000 4 0.000 0.054 2290 3307 3475

8916 -0.95 -146.6 575.2 -8.1 431 8921 0.00 2.53 0.00 0.000 6 0.000 0.048 2290 1903 3475

9231 -0.95 -146.6 593.9 -4.2 446 9233 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1903 3475

9540 -0.95 -146.6 616.4 -8.9 461 9541 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3474

9850 -0.95 -146.6 640.2 -6.9 476 9851 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3475

10159 -0.95 -146.6 663.0 -7.9 491 10160 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3474

10468 -0.95 -146.6 691.3 -9.8 506 10469 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3474

10778 -0.95 -146.6 712.0 -4.9 521 10779 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3474

11087 -0.95 -146.6 725.6 -4.2 536 11089 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3473

11397 -0.95 -146.6 737.9 -3.6 551 11398 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3473

11706 -0.95 -146.6 756.9 -8.3 566 11710 0.00 2.58 0.00 0.000 4 0.000 0.059 2290 3301 3473

11789 -0.95 -146.6 763.7 -7.7 570 11793 0.00 2.55 0.00 0.000 6 0.000 0.054 2290 1898 3473

11975 end dive: BOTTOM_OBSTACLE_DETECTED

state 11975 begin apogee

11980 -0.36 0.0 776.5 6.6 579 12107 0.60 0.00 123.80 1.314 6 0.072 0.000 2421 2098 2878

12108 end apogee: CONTROL_FINISHED_OK

state 12108 begin climb

12109 0.95 146.6 778.7 0.0 585 12240 1.27 2.75 122.50 1.275 4 0.051 0.066 2705 3507 2279

12493 0.95 148.7 757.7 5.9 603 12498 0.00 2.62 0.00 0.000 6 0.000 0.056 2705 2097 2279

12813 1.14 303.3 744.1 1.4 619 12950 0.15 2.70 129.90 1.280 4 0.044 0.064 2759 3503 1641

13034 1.17 330.3 736.4 5.2 629 13067 0.00 2.60 23.23 1.258 6 0.000 0.058 2759 2102 1531

13375 1.17 330.3 702.9 11.3 646 13379 0.00 2.67 0.00 0.000 4 0.000 0.077 2759 691 1530

13423 1.17 330.3 697.4 10.2 648 13428 0.00 2.55 0.00 0.000 6 0.000 0.049 2759 2109 1530

13744 1.17 330.3 664.5 11.1 664 13745 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2114 1530

14054 1.17 330.3 632.1 9.8 679 14055 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2114 1530

14363 1.17 330.3 600.8 9.8 694 14367 0.00 2.67 0.00 0.000 4 0.000 0.068 2759 689 1530

14450 1.17 330.3 591.7 10.9 698 14455 0.00 2.53 0.00 0.000 6 0.000 0.044 2759 2100 1529

14777 1.17 330.3 558.8 10.1 714 14778 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2104 1530

15086 1.17 330.3 531.4 8.5 729 15091 0.00 2.65 0.00 0.000 4 0.000 0.067 2759 688 1530

15130 1.17 330.3 527.4 8.9 731 15134 0.00 2.53 0.00 0.000 6 0.000 0.043 2759 2094 1530

15456 1.17 330.3 501.7 7.4 747 15458 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2098 1530

15766 1.17 330.3 478.7 7.9 762 15770 0.00 2.62 0.00 0.000 4 0.000 0.065 2759 689 1531

15819 1.17 330.3 474.2 8.3 764 15826 0.00 2.53 0.00 0.000 6 0.000 0.041 2759 2101 1531

16135 1.17 330.3 450.9 7.2 780 16136 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2105 1531

16444 1.17 330.3 428.0 6.9 795 16449 0.00 2.65 0.00 0.000 4 0.000 0.066 2759 687 1532

16492 1.17 330.3 423.9 8.0 797 16497 0.00 2.50 0.00 0.000 6 0.000 0.041 2759 2097 1532

16814 1.17 330.3 401.3 7.1 813 16815 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2101 1533

17123 1.17 330.3 380.9 6.7 828 17124 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2101 1533

17432 1.17 330.3 360.3 6.6 843 17436 0.00 2.62 0.00 0.000 4 0.000 0.064 2759 686 1533

17497 1.17 330.3 355.5 7.3 846 17502 0.00 2.53 0.00 0.000 6 0.000 0.040 2759 2104 1533

17824 1.17 330.3 333.3 7.0 862 17825 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2106 1533

18133 1.17 330.3 311.8 6.6 877 18137 0.00 2.65 0.00 0.000 4 0.000 0.064 2759 679 1534

18181 1.17 330.3 308.4 7.1 879 18186 0.00 2.53 0.00 0.000 6 0.000 0.040 2759 2116 1533

18502 1.17 330.3 284.5 8.7 895 18504 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2119 1533

18812 1.17 330.3 255.4 9.7 910 18816 0.00 2.65 0.00 0.000 4 0.000 0.062 2759 687 1534

18866 1.17 330.3 249.7 11.9 912 18873 0.00 2.47 0.00 0.000 6 0.000 0.039 2759 2110 1534

19181 1.17 330.3 220.2 10.4 928 19182 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2114 1534

19490 1.17 330.3 195.7 6.8 943 19495 0.00 2.62 0.00 0.000 4 0.000 0.061 2759 687 1534

19545 1.22 367.0 192.4 4.9 945 19581 0.00 2.50 30.25 0.925 6 0.000 0.039 2759 2104 1381

19903 1.22 367.0 161.1 10.9 963 19907 0.00 2.62 0.00 0.000 4 0.000 0.062 2759 685 1380

19951 1.22 367.0 154.9 11.3 965 19956 0.00 2.45 0.00 0.000 6 0.000 0.038 2759 2097 1380

20273 1.22 367.0 119.8 10.3 981 20274 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2098 1380

20582 1.22 367.0 86.7 7.6 996 20586 0.00 2.62 0.00 0.000 4 0.000 0.062 2760 680 1381

20659 1.22 367.0 79.6 11.2 999 20666 0.00 2.53 0.00 0.000 6 0.000 0.038 2759 2107 1381

20974 1.22 367.0 41.1 12.5 1015 20979 0.00 2.62 0.00 0.000 4 0.000 0.061 2759 684 1381

21036 1.22 367.0 32.5 13.7 1018 21041 0.00 2.47 0.00 0.000 6 0.000 0.039 2759 2105 1381

21362 1.22 367.0 3.4 8.6 1034 21363 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2108 1380

21673 1.46 566.0 3.3 0.1 1049 21746 0.25 0.00 70.05 0.773 2 0.042 0.000 2830 2110 866

21746 end climb: NO_VERTICAL_VELOCITY

state 21746 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	134	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	32	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-78698.984	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	203645,6212.208,-1029.521,42,2.6,61,-10.3	TGT_NAME	DW
_CALLS	2	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.115,0.174
_SM_DEPTHo	3.73	KALMAN_X	129453.6,-206.9,-133.4,-234604.3,-811.0
_SM_ANGLEo	-50.4	KALMAN_Y	147703.6,127.0,-414.2,-75140.0,-655.0
GPS2	204927,6212.165,-1029.671,9,2.0,9,-10.3	MHEAD_RNG_PITCHd_Wd	336.9,6977,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21749,33.67,0.745,0,0,602,558.06	ALTIM_BOTTOM_PING	700.4,85.8
SM_GC	3.90,12.07,0.00,0.00,0.030,0.000,0.000,34,1883,601,-11.26,-0.48,558.30	_24V_AH	23.3,33.133
IRIDIUM_FIX	6148.92,-1030.66,091207,000029	_10V_AH	10.1,15.133
TT8_MAMPS	0.026078	DATA_FILE_SIZE	53678,1052
HUMID	2035	CFSIZE	260165632,250437632
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	18.70	GPS	091207,030137,6214.188,-1032.970,38,1.1,38,-10.3
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	97	57.42	SBE_CT	770	24	430.90
Roll_motor	133	77	241.82	SBE_O2	711	19	315.01
VBD_pump_during_apogee	499	1313	15298.18	WL_BB2F	618	105	1514.05
VBD_pump_during_surface	33	744	584.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	70	103	168.19	nil	0	0	0.00
Iridium_during_connect	78	160	293.91	nil	0	0	0.00
Iridium_during_xfer	448	223	2331.97
Transponder_ping	7	420	73.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.37
TT8	1875	19	375.02
LPSleep	17338	2	383.52
TT8_Active	676	19	135.28
TT8_Sampling	2282	39	917.64
TT8_CF8	793	45	366.91
TT8_Kalman	33	81	27.57
Analog_circuits	1842	12	223.31
GPS_charging	0	0	0.00
Compass	2244	8	181.36
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.95	-146.6	0.0	0.0	0	28	0.00	0.00	-6.97	0.000	2	0.000	0.000	30	1885	770
31	-0.95	-146.6	3.6	-0.0	1	211	10.95	2.58	-161.60	0.000	4	0.097	0.058	2290	3307	3476
368	-0.95	-146.6	16.2	-8.6	16	373	0.00	2.50	0.00	0.000	6	0.000	0.041	2290	1906	3476
695	-0.95	-146.6	36.1	-4.1	32	696	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1906	3476
1004	-0.95	-146.6	56.2	-6.2	47	1008	0.00	2.53	0.00	0.000	4	0.000	0.046	2290	3310	3476
1092	-0.95	-146.6	62.0	-5.6	51	1096	0.00	2.53	0.00	0.000	6	0.000	0.041	2290	1897	3476
1420	-0.95	-146.6	85.6	-7.5	67	1421	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3476
1728	-0.95	-146.6	111.9	-9.1	82	1729	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3476
2037	-0.95	-146.6	139.1	-8.4	97	2041	0.00	2.53	0.00	0.000	4	0.000	0.045	2290	3305	3476
2099	-0.95	-146.6	144.5	-8.6	100	2103	0.00	2.50	0.00	0.000	6	0.000	0.041	2290	1899	3476
2424	-0.95	-146.6	169.7	-7.1	116	2426	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3476
2734	-0.95	-146.6	191.1	-7.0	131	2738	0.00	2.53	0.00	0.000	4	0.000	0.046	2290	3305	3476
2794	-0.95	-146.6	195.3	-6.5	134	2798	0.00	2.50	0.00	0.000	6	0.000	0.041	2290	1895	3476
3126	-0.95	-146.6	218.5	-7.1	150	3127	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3476
3435	-0.95	-146.6	238.5	-6.4	165	3436	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3476
3745	-0.95	-146.6	256.8	-5.5	180	3749	0.00	2.53	0.00	0.000	4	0.000	0.047	2290	3312	3476
3806	-0.95	-146.6	260.5	-5.7	183	3810	0.00	2.53	0.00	0.000	6	0.000	0.041	2290	1896	3476
4131	-0.95	-146.6	276.2	-4.8	199	4132	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1895	3476
4440	-0.95	-146.6	291.9	-5.2	214	4445	0.00	2.53	0.00	0.000	4	0.000	0.048	2290	3305	3476
4495	-0.95	-146.6	295.0	-5.5	216	4502	0.00	2.50	0.00	0.000	6	0.000	0.043	2290	1900	3476
4811	-0.95	-146.6	312.6	-5.9	232	4812	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3476
5119	-0.95	-146.6	331.7	-6.6	247	5121	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3476
5429	-0.95	-146.6	351.7	-6.1	262	5433	0.00	2.53	0.00	0.000	4	0.000	0.048	2290	3304	3476
5490	-0.95	-146.6	355.2	-5.2	265	5494	0.00	2.53	0.00	0.000	6	0.000	0.043	2290	1894	3476
5816	-0.95	-146.6	372.8	-5.5	281	5817	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3476
6125	-0.95	-146.6	391.0	-6.4	296	6129	0.00	2.55	0.00	0.000	4	0.000	0.049	2290	3307	3476
6190	-0.95	-146.6	395.4	-6.5	299	6195	0.00	2.53	0.00	0.000	6	0.000	0.045	2290	1897	3476
6517	-0.95	-146.6	415.4	-6.3	315	6518	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3476
6826	-0.95	-146.6	435.2	-6.1	330	6831	0.00	2.53	0.00	0.000	4	0.000	0.050	2290	3307	3476
6892	-0.95	-146.6	439.8	-7.6	333	6896	0.00	2.55	0.00	0.000	6	0.000	0.044	2290	1901	3475
7219	-0.95	-146.6	461.1	-6.5	349	7220	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1901	3475
7529	-0.95	-146.6	479.0	-5.2	364	7533	0.00	2.53	0.00	0.000	4	0.000	0.050	2289	3304	3476
7590	-0.95	-146.6	482.2	-5.3	367	7594	0.00	2.53	0.00	0.000	6	0.000	0.046	2290	1894	3476
7916	-0.95	-146.6	501.0	-5.5	383	7917	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1894	3475
8225	-0.95	-146.6	518.8	-6.5	398	8226	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1894	3475
8534	-0.95	-146.6	544.5	-8.6	413	8535	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1894	3475
8843	-0.95	-146.6	569.4	-7.8	428	8847	0.00	2.58	0.00	0.000	4	0.000	0.054	2290	3307	3475
8916	-0.95	-146.6	575.2	-8.1	431	8921	0.00	2.53	0.00	0.000	6	0.000	0.048	2290	1903	3475
9231	-0.95	-146.6	593.9	-4.2	446	9233	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1903	3475
9540	-0.95	-146.6	616.4	-8.9	461	9541	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3474
9850	-0.95	-146.6	640.2	-6.9	476	9851	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3475
10159	-0.95	-146.6	663.0	-7.9	491	10160	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3474
10468	-0.95	-146.6	691.3	-9.8	506	10469	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3474
10778	-0.95	-146.6	712.0	-4.9	521	10779	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3474
11087	-0.95	-146.6	725.6	-4.2	536	11089	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3473
11397	-0.95	-146.6	737.9	-3.6	551	11398	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3473
11706	-0.95	-146.6	756.9	-8.3	566	11710	0.00	2.58	0.00	0.000	4	0.000	0.059	2290	3301	3473
11789	-0.95	-146.6	763.7	-7.7	570	11793	0.00	2.55	0.00	0.000	6	0.000	0.054	2290	1898	3473
11975	end dive: BOTTOM_OBSTACLE_DETECTED
state	11975	begin apogee
11980	-0.36	0.0	776.5	6.6	579	12107	0.60	0.00	123.80	1.314	6	0.072	0.000	2421	2098	2878
12108	end apogee: CONTROL_FINISHED_OK
state	12108	begin climb
12109	0.95	146.6	778.7	0.0	585	12240	1.27	2.75	122.50	1.275	4	0.051	0.066	2705	3507	2279
12493	0.95	148.7	757.7	5.9	603	12498	0.00	2.62	0.00	0.000	6	0.000	0.056	2705	2097	2279
12813	1.14	303.3	744.1	1.4	619	12950	0.15	2.70	129.90	1.280	4	0.044	0.064	2759	3503	1641
13034	1.17	330.3	736.4	5.2	629	13067	0.00	2.60	23.23	1.258	6	0.000	0.058	2759	2102	1531
13375	1.17	330.3	702.9	11.3	646	13379	0.00	2.67	0.00	0.000	4	0.000	0.077	2759	691	1530
13423	1.17	330.3	697.4	10.2	648	13428	0.00	2.55	0.00	0.000	6	0.000	0.049	2759	2109	1530
13744	1.17	330.3	664.5	11.1	664	13745	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2114	1530
14054	1.17	330.3	632.1	9.8	679	14055	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2114	1530
14363	1.17	330.3	600.8	9.8	694	14367	0.00	2.67	0.00	0.000	4	0.000	0.068	2759	689	1530
14450	1.17	330.3	591.7	10.9	698	14455	0.00	2.53	0.00	0.000	6	0.000	0.044	2759	2100	1529
14777	1.17	330.3	558.8	10.1	714	14778	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2104	1530
15086	1.17	330.3	531.4	8.5	729	15091	0.00	2.65	0.00	0.000	4	0.000	0.067	2759	688	1530
15130	1.17	330.3	527.4	8.9	731	15134	0.00	2.53	0.00	0.000	6	0.000	0.043	2759	2094	1530
15456	1.17	330.3	501.7	7.4	747	15458	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2098	1530
15766	1.17	330.3	478.7	7.9	762	15770	0.00	2.62	0.00	0.000	4	0.000	0.065	2759	689	1531
15819	1.17	330.3	474.2	8.3	764	15826	0.00	2.53	0.00	0.000	6	0.000	0.041	2759	2101	1531
16135	1.17	330.3	450.9	7.2	780	16136	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2105	1531
16444	1.17	330.3	428.0	6.9	795	16449	0.00	2.65	0.00	0.000	4	0.000	0.066	2759	687	1532
16492	1.17	330.3	423.9	8.0	797	16497	0.00	2.50	0.00	0.000	6	0.000	0.041	2759	2097	1532
16814	1.17	330.3	401.3	7.1	813	16815	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2101	1533
17123	1.17	330.3	380.9	6.7	828	17124	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2101	1533
17432	1.17	330.3	360.3	6.6	843	17436	0.00	2.62	0.00	0.000	4	0.000	0.064	2759	686	1533
17497	1.17	330.3	355.5	7.3	846	17502	0.00	2.53	0.00	0.000	6	0.000	0.040	2759	2104	1533
17824	1.17	330.3	333.3	7.0	862	17825	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2106	1533
18133	1.17	330.3	311.8	6.6	877	18137	0.00	2.65	0.00	0.000	4	0.000	0.064	2759	679	1534
18181	1.17	330.3	308.4	7.1	879	18186	0.00	2.53	0.00	0.000	6	0.000	0.040	2759	2116	1533
18502	1.17	330.3	284.5	8.7	895	18504	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2119	1533
18812	1.17	330.3	255.4	9.7	910	18816	0.00	2.65	0.00	0.000	4	0.000	0.062	2759	687	1534
18866	1.17	330.3	249.7	11.9	912	18873	0.00	2.47	0.00	0.000	6	0.000	0.039	2759	2110	1534
19181	1.17	330.3	220.2	10.4	928	19182	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2114	1534
19490	1.17	330.3	195.7	6.8	943	19495	0.00	2.62	0.00	0.000	4	0.000	0.061	2759	687	1534
19545	1.22	367.0	192.4	4.9	945	19581	0.00	2.50	30.25	0.925	6	0.000	0.039	2759	2104	1381
19903	1.22	367.0	161.1	10.9	963	19907	0.00	2.62	0.00	0.000	4	0.000	0.062	2759	685	1380
19951	1.22	367.0	154.9	11.3	965	19956	0.00	2.45	0.00	0.000	6	0.000	0.038	2759	2097	1380
20273	1.22	367.0	119.8	10.3	981	20274	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2098	1380
20582	1.22	367.0	86.7	7.6	996	20586	0.00	2.62	0.00	0.000	4	0.000	0.062	2760	680	1381
20659	1.22	367.0	79.6	11.2	999	20666	0.00	2.53	0.00	0.000	6	0.000	0.038	2759	2107	1381
20974	1.22	367.0	41.1	12.5	1015	20979	0.00	2.62	0.00	0.000	4	0.000	0.061	2759	684	1381
21036	1.22	367.0	32.5	13.7	1018	21041	0.00	2.47	0.00	0.000	6	0.000	0.039	2759	2105	1381
21362	1.22	367.0	3.4	8.6	1034	21363	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2108	1380
21673	1.46	566.0	3.3	0.1	1049	21746	0.25	0.00	70.05	0.773	2	0.042	0.000	2830	2110	866
21746	end climb: NO_VERTICAL_VELOCITY
state	21746	begin surface