Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 135 * 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 135 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -78714.555 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 -78714.555

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 24 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 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 135 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 030137,6214.188,-1032.970,38,1.1,38,-10.3 TGT_NAME EW

_CALLS 2 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,0.042

_SM_DEPTHo 3.86 KALMAN_X 131026.9,531.9,-1734.7,-238520.0,2814.1

_SM_ANGLEo -53.2 KALMAN_Y 146796.8,-548.7,-1127.9,-69255.2,1967.9

GPS2 031414,6214.099,-1033.250,13,1.6,13,-10.3 MHEAD_RNG_PITCHd_Wd 292.0,30559,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21904,12.15,0.782,0,0,602,558.06 ALTIM_BOTTOM_PING 725.2,81.4

SM_GC 3.98,11.88,0.00,0.00,0.025,0.000,0.000,28,1911,603,-11.27,0.31,558.06 _24V_AH 23.3,33.332

IRIDIUM_FIX 6148.92,-1036.05,091207,070728 _10V_AH 10.1,15.235

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53858,1057

HUMID 2034 CFSIZE 260165632,250372096

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

TCM_TEMP 18.90 GPS 091207,092837,6215.273,-1041.990,35,1.3,35,-10.4

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 104 61.31 SBE_CT 774 24 432.96

Roll_motor 107 65 162.54 SBE_O2 714 19 316.52

VBD_pump_during_apogee 511 1318 15727.32 WL_BB2F 631 105 1543.84

VBD_pump_during_surface 12 782 221.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 184.07 nil 0 0 0.00

Iridium_during_connect 78 160 293.67 nil 0 0 0.00

Iridium_during_xfer 433 223 2253.61

Transponder_ping 7 420 68.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.55

TT8 1873 19 374.74

LPSleep 17447 2 385.92

TT8_Active 666 19 133.29

TT8_Sampling 2322 39 933.74

TT8_CF8 786 45 363.70

TT8_Kalman 33 81 27.56

Analog_circuits 1827 12 221.48

GPS_charging 0 0 0.00

Compass 2285 8 184.71

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 28 0.00 0.00 -6.62 0.000 2 0.000 0.000 33 1877 761

31 -0.95 -146.6 3.8 -0.0 1 225 11.07 2.58 -172.35 0.000 4 0.104 0.058 2286 3298 3476

416 -0.95 -146.6 22.6 -9.2 19 420 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1900 3476

742 -0.95 -146.6 47.8 -7.3 35 743 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

1051 -0.95 -146.6 74.9 -8.1 50 1052 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

1361 -0.95 -146.6 97.7 -5.0 65 1365 0.00 2.50 0.00 0.000 4 0.000 0.044 2286 3298 3476

1427 -0.95 -146.6 101.0 -3.6 68 1431 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1893 3476

1754 -0.95 -146.6 126.1 -10.0 84 1755 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3476

2063 -0.95 -146.6 146.8 -6.0 99 2064 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3476

2372 -0.95 -146.6 164.9 -6.6 114 2376 0.00 2.53 0.00 0.000 4 0.000 0.045 2286 3300 3476

2460 -0.95 -146.6 171.4 -7.2 118 2464 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1901 3476

2787 -0.95 -146.6 195.4 -6.8 134 2788 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

3096 -0.95 -146.6 214.4 -6.5 149 3097 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

3405 -0.95 -146.6 235.1 -6.8 164 3406 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

3715 -0.95 -146.6 251.7 -5.1 179 3716 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

4024 -0.95 -146.6 266.5 -4.8 194 4028 0.00 2.50 0.00 0.000 4 0.000 0.046 2286 3301 3476

4085 -0.95 -146.6 269.5 -4.8 197 4089 0.00 2.50 0.00 0.000 6 0.000 0.042 2286 1900 3476

4410 -0.95 -146.6 289.5 -7.7 213 4411 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

4719 -0.95 -146.6 320.6 -11.5 228 4720 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

5028 -0.95 -146.6 359.3 -12.0 243 5033 0.00 2.50 0.00 0.000 4 0.000 0.047 2286 3302 3476

5100 -0.95 -146.6 367.6 -11.5 246 5104 0.00 2.50 0.00 0.000 6 0.000 0.043 2286 1900 3476

5421 -0.95 -146.6 393.0 -6.0 262 5422 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

5731 -0.95 -146.6 404.4 -3.0 277 5732 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

6040 -0.95 -146.6 409.9 -1.2 292 6041 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

6349 -0.95 -146.6 410.6 0.3 307 6350 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

6658 -0.95 -146.6 421.8 -6.5 322 6662 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3304 3476

6746 -0.95 -146.6 428.7 -8.8 326 6750 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1906 3475

7072 -0.95 -146.6 454.8 -7.0 342 7074 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

7383 -0.95 -146.6 475.0 -7.6 357 7384 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3475

7691 -0.95 -146.6 503.1 -10.0 372 7692 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3475

8000 -0.95 -146.6 537.0 -11.0 387 8001 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3475

8310 -0.95 -146.6 569.8 -9.5 402 8314 0.00 2.50 0.00 0.000 4 0.000 0.051 2285 3295 3474

8381 -0.95 -146.6 575.9 -7.6 405 8386 0.00 2.53 0.00 0.000 6 0.000 0.045 2285 1905 3474

8709 -0.95 -146.6 595.5 -5.1 421 8710 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3475

9018 -0.95 -146.6 613.9 -6.3 436 9022 0.00 2.53 0.00 0.000 4 0.000 0.054 2285 3295 3474

9072 -0.95 -146.6 618.3 -8.6 438 9079 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1902 3474

9387 -0.95 -146.6 642.0 -6.8 454 9388 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3474

9697 -0.95 -146.6 651.1 -0.9 469 9698 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3474

10006 -0.95 -146.6 662.5 -5.7 484 10007 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3474

10315 -0.95 -146.6 686.6 -7.0 499 10319 0.00 2.55 0.00 0.000 4 0.000 0.055 2286 3297 3474

10427 -0.95 -146.6 694.1 -6.8 504 10431 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1897 3474

10746 -0.95 -146.6 716.2 -6.3 520 10747 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3474

11056 -0.95 -146.6 728.3 -2.2 535 11060 0.00 2.55 0.00 0.000 4 0.000 0.057 2286 3293 3474

11128 -0.95 -146.6 730.8 -4.0 538 11133 0.00 2.53 0.00 0.000 6 0.000 0.050 2286 1899 3474

11443 -0.95 -146.6 748.4 -6.9 553 11447 0.00 2.55 0.00 0.000 4 0.000 0.059 2286 3294 3473

11514 -0.95 -146.6 754.0 -8.2 556 11518 0.00 2.53 0.00 0.000 6 0.000 0.051 2286 1899 3474

11835 -0.95 -146.6 783.8 -8.8 572 11836 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3473

12040 end dive: BOTTOM_OBSTACLE_DETECTED

state 12040 begin apogee

12045 -0.36 0.0 797.3 6.2 582 12172 0.60 0.00 124.25 1.318 6 0.072 0.000 2417 2090 2878

12173 end apogee: CONTROL_FINISHED_OK

state 12173 begin climb

12175 0.95 146.6 801.5 0.0 588 12306 1.27 2.72 122.75 1.279 4 0.052 0.065 2703 3495 2280

12560 0.95 146.6 781.9 6.4 605 12566 0.00 2.58 0.00 0.000 6 0.000 0.054 2702 2102 2280

12874 0.95 146.6 760.0 7.9 621 12879 0.00 2.60 0.00 0.000 4 0.000 0.062 2702 3499 2278

13131 0.95 146.6 737.2 6.0 632 13138 0.00 2.58 0.00 0.000 6 0.000 0.051 2703 2101 2277

13447 0.97 165.6 721.7 5.4 648 13469 0.00 2.70 16.50 1.308 4 0.000 0.058 2702 3503 2201

13564 1.07 248.5 716.7 3.5 653 13642 0.12 2.55 69.25 1.277 6 0.051 0.051 2743 2099 1865

13949 1.07 248.5 688.6 8.6 672 13950 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2099 1864

14259 1.07 248.5 645.1 16.9 687 14263 0.00 2.58 0.00 0.000 4 0.000 0.054 2743 3504 1864

14335 1.07 248.5 634.9 9.5 690 14342 0.00 2.58 0.00 0.000 6 0.000 0.048 2743 2099 1864

14651 1.07 248.5 601.2 6.6 706 14652 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2100 1864

14961 1.08 250.5 587.8 5.9 721 14962 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2099 1864

15270 1.08 250.5 555.0 10.5 736 15271 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2099 1864

15579 1.08 250.5 519.5 11.4 751 15580 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2100 1864

15888 1.08 250.5 484.6 9.4 766 15890 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2099 1864

16197 1.08 250.5 464.8 6.2 781 16199 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2099 1864

16507 1.09 263.0 447.4 5.6 796 16522 0.00 0.00 13.05 1.120 6 0.000 0.000 2743 2099 1805

16817 1.09 263.0 424.2 8.3 811 16818 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2099 1805

17125 1.09 263.0 393.9 10.7 826 17127 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2100 1805

17435 1.09 263.0 359.3 11.1 841 17436 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2100 1806

17744 1.09 263.0 327.9 9.5 856 17745 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2099 1806

18053 1.09 263.0 301.2 8.9 871 18058 0.00 2.58 0.00 0.000 4 0.000 0.064 2743 689 1807

18114 1.09 263.0 295.2 9.7 874 18119 0.00 2.50 0.00 0.000 6 0.000 0.039 2744 2110 1807

18440 1.09 263.0 263.6 9.7 890 18442 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2115 1807

18749 1.09 263.0 238.7 7.0 905 18751 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2114 1808

19059 1.12 284.3 219.0 5.4 920 19084 0.00 2.70 18.27 0.963 4 0.000 0.061 2743 695 1718

19135 1.14 299.9 214.8 5.5 923 19155 0.00 2.47 13.30 0.946 6 0.000 0.038 2743 2113 1654

19476 1.14 299.9 193.4 8.0 940 19477 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2113 1654

19785 1.14 299.9 165.4 8.8 955 19790 0.00 2.62 0.00 0.000 4 0.000 0.061 2743 690 1654

19891 1.14 299.9 154.5 11.6 960 19895 0.00 2.45 0.00 0.000 6 0.000 0.038 2744 2097 1654

20218 1.14 299.9 119.6 12.2 976 20219 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2100 1654

20526 1.14 299.9 86.5 10.1 991 20531 0.00 2.60 0.00 0.000 4 0.000 0.060 2743 689 1654

20598 1.14 299.9 78.2 11.9 994 20602 0.00 2.50 0.00 0.000 6 0.000 0.038 2743 2104 1654

20920 1.18 334.2 54.8 5.0 1010 20949 0.00 0.00 27.35 0.842 6 0.000 0.000 2743 2105 1514

21250 1.18 334.2 24.8 8.4 1026 21254 0.00 2.62 0.00 0.000 4 0.000 0.061 2744 687 1514

21338 1.18 334.2 17.3 8.0 1030 21342 0.00 2.47 0.00 0.000 6 0.000 0.038 2743 2094 1514

21666 1.43 536.7 3.4 -0.0 1046 21780 0.28 2.65 107.22 0.755 4 0.061 0.059 2805 696 689

21901 end climb: NO_VERTICAL_VELOCITY

state 21901 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	135	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-78714.555	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	030137,6214.188,-1032.970,38,1.1,38,-10.3	TGT_NAME	EW
_CALLS	2	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,0.042
_SM_DEPTHo	3.86	KALMAN_X	131026.9,531.9,-1734.7,-238520.0,2814.1
_SM_ANGLEo	-53.2	KALMAN_Y	146796.8,-548.7,-1127.9,-69255.2,1967.9
GPS2	031414,6214.099,-1033.250,13,1.6,13,-10.3	MHEAD_RNG_PITCHd_Wd	292.0,30559,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21904,12.15,0.782,0,0,602,558.06	ALTIM_BOTTOM_PING	725.2,81.4
SM_GC	3.98,11.88,0.00,0.00,0.025,0.000,0.000,28,1911,603,-11.27,0.31,558.06	_24V_AH	23.3,33.332
IRIDIUM_FIX	6148.92,-1036.05,091207,070728	_10V_AH	10.1,15.235
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53858,1057
HUMID	2034	CFSIZE	260165632,250372096
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	18.90	GPS	091207,092837,6215.273,-1041.990,35,1.3,35,-10.4
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	104	61.31	SBE_CT	774	24	432.96
Roll_motor	107	65	162.54	SBE_O2	714	19	316.52
VBD_pump_during_apogee	511	1318	15727.32	WL_BB2F	631	105	1543.84
VBD_pump_during_surface	12	782	221.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	184.07	nil	0	0	0.00
Iridium_during_connect	78	160	293.67	nil	0	0	0.00
Iridium_during_xfer	433	223	2253.61
Transponder_ping	7	420	68.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.55
TT8	1873	19	374.74
LPSleep	17447	2	385.92
TT8_Active	666	19	133.29
TT8_Sampling	2322	39	933.74
TT8_CF8	786	45	363.70
TT8_Kalman	33	81	27.56
Analog_circuits	1827	12	221.48
GPS_charging	0	0	0.00
Compass	2285	8	184.71
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	28	0.00	0.00	-6.62	0.000	2	0.000	0.000	33	1877	761
31	-0.95	-146.6	3.8	-0.0	1	225	11.07	2.58	-172.35	0.000	4	0.104	0.058	2286	3298	3476
416	-0.95	-146.6	22.6	-9.2	19	420	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1900	3476
742	-0.95	-146.6	47.8	-7.3	35	743	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
1051	-0.95	-146.6	74.9	-8.1	50	1052	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
1361	-0.95	-146.6	97.7	-5.0	65	1365	0.00	2.50	0.00	0.000	4	0.000	0.044	2286	3298	3476
1427	-0.95	-146.6	101.0	-3.6	68	1431	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1893	3476
1754	-0.95	-146.6	126.1	-10.0	84	1755	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3476
2063	-0.95	-146.6	146.8	-6.0	99	2064	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3476
2372	-0.95	-146.6	164.9	-6.6	114	2376	0.00	2.53	0.00	0.000	4	0.000	0.045	2286	3300	3476
2460	-0.95	-146.6	171.4	-7.2	118	2464	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1901	3476
2787	-0.95	-146.6	195.4	-6.8	134	2788	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
3096	-0.95	-146.6	214.4	-6.5	149	3097	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
3405	-0.95	-146.6	235.1	-6.8	164	3406	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
3715	-0.95	-146.6	251.7	-5.1	179	3716	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
4024	-0.95	-146.6	266.5	-4.8	194	4028	0.00	2.50	0.00	0.000	4	0.000	0.046	2286	3301	3476
4085	-0.95	-146.6	269.5	-4.8	197	4089	0.00	2.50	0.00	0.000	6	0.000	0.042	2286	1900	3476
4410	-0.95	-146.6	289.5	-7.7	213	4411	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
4719	-0.95	-146.6	320.6	-11.5	228	4720	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
5028	-0.95	-146.6	359.3	-12.0	243	5033	0.00	2.50	0.00	0.000	4	0.000	0.047	2286	3302	3476
5100	-0.95	-146.6	367.6	-11.5	246	5104	0.00	2.50	0.00	0.000	6	0.000	0.043	2286	1900	3476
5421	-0.95	-146.6	393.0	-6.0	262	5422	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
5731	-0.95	-146.6	404.4	-3.0	277	5732	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
6040	-0.95	-146.6	409.9	-1.2	292	6041	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
6349	-0.95	-146.6	410.6	0.3	307	6350	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
6658	-0.95	-146.6	421.8	-6.5	322	6662	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3304	3476
6746	-0.95	-146.6	428.7	-8.8	326	6750	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1906	3475
7072	-0.95	-146.6	454.8	-7.0	342	7074	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
7383	-0.95	-146.6	475.0	-7.6	357	7384	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3475
7691	-0.95	-146.6	503.1	-10.0	372	7692	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3475
8000	-0.95	-146.6	537.0	-11.0	387	8001	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3475
8310	-0.95	-146.6	569.8	-9.5	402	8314	0.00	2.50	0.00	0.000	4	0.000	0.051	2285	3295	3474
8381	-0.95	-146.6	575.9	-7.6	405	8386	0.00	2.53	0.00	0.000	6	0.000	0.045	2285	1905	3474
8709	-0.95	-146.6	595.5	-5.1	421	8710	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3475
9018	-0.95	-146.6	613.9	-6.3	436	9022	0.00	2.53	0.00	0.000	4	0.000	0.054	2285	3295	3474
9072	-0.95	-146.6	618.3	-8.6	438	9079	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1902	3474
9387	-0.95	-146.6	642.0	-6.8	454	9388	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3474
9697	-0.95	-146.6	651.1	-0.9	469	9698	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3474
10006	-0.95	-146.6	662.5	-5.7	484	10007	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3474
10315	-0.95	-146.6	686.6	-7.0	499	10319	0.00	2.55	0.00	0.000	4	0.000	0.055	2286	3297	3474
10427	-0.95	-146.6	694.1	-6.8	504	10431	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1897	3474
10746	-0.95	-146.6	716.2	-6.3	520	10747	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3474
11056	-0.95	-146.6	728.3	-2.2	535	11060	0.00	2.55	0.00	0.000	4	0.000	0.057	2286	3293	3474
11128	-0.95	-146.6	730.8	-4.0	538	11133	0.00	2.53	0.00	0.000	6	0.000	0.050	2286	1899	3474
11443	-0.95	-146.6	748.4	-6.9	553	11447	0.00	2.55	0.00	0.000	4	0.000	0.059	2286	3294	3473
11514	-0.95	-146.6	754.0	-8.2	556	11518	0.00	2.53	0.00	0.000	6	0.000	0.051	2286	1899	3474
11835	-0.95	-146.6	783.8	-8.8	572	11836	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3473
12040	end dive: BOTTOM_OBSTACLE_DETECTED
state	12040	begin apogee
12045	-0.36	0.0	797.3	6.2	582	12172	0.60	0.00	124.25	1.318	6	0.072	0.000	2417	2090	2878
12173	end apogee: CONTROL_FINISHED_OK
state	12173	begin climb
12175	0.95	146.6	801.5	0.0	588	12306	1.27	2.72	122.75	1.279	4	0.052	0.065	2703	3495	2280
12560	0.95	146.6	781.9	6.4	605	12566	0.00	2.58	0.00	0.000	6	0.000	0.054	2702	2102	2280
12874	0.95	146.6	760.0	7.9	621	12879	0.00	2.60	0.00	0.000	4	0.000	0.062	2702	3499	2278
13131	0.95	146.6	737.2	6.0	632	13138	0.00	2.58	0.00	0.000	6	0.000	0.051	2703	2101	2277
13447	0.97	165.6	721.7	5.4	648	13469	0.00	2.70	16.50	1.308	4	0.000	0.058	2702	3503	2201
13564	1.07	248.5	716.7	3.5	653	13642	0.12	2.55	69.25	1.277	6	0.051	0.051	2743	2099	1865
13949	1.07	248.5	688.6	8.6	672	13950	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2099	1864
14259	1.07	248.5	645.1	16.9	687	14263	0.00	2.58	0.00	0.000	4	0.000	0.054	2743	3504	1864
14335	1.07	248.5	634.9	9.5	690	14342	0.00	2.58	0.00	0.000	6	0.000	0.048	2743	2099	1864
14651	1.07	248.5	601.2	6.6	706	14652	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2100	1864
14961	1.08	250.5	587.8	5.9	721	14962	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2099	1864
15270	1.08	250.5	555.0	10.5	736	15271	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2099	1864
15579	1.08	250.5	519.5	11.4	751	15580	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2100	1864
15888	1.08	250.5	484.6	9.4	766	15890	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2099	1864
16197	1.08	250.5	464.8	6.2	781	16199	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2099	1864
16507	1.09	263.0	447.4	5.6	796	16522	0.00	0.00	13.05	1.120	6	0.000	0.000	2743	2099	1805
16817	1.09	263.0	424.2	8.3	811	16818	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2099	1805
17125	1.09	263.0	393.9	10.7	826	17127	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2100	1805
17435	1.09	263.0	359.3	11.1	841	17436	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2100	1806
17744	1.09	263.0	327.9	9.5	856	17745	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2099	1806
18053	1.09	263.0	301.2	8.9	871	18058	0.00	2.58	0.00	0.000	4	0.000	0.064	2743	689	1807
18114	1.09	263.0	295.2	9.7	874	18119	0.00	2.50	0.00	0.000	6	0.000	0.039	2744	2110	1807
18440	1.09	263.0	263.6	9.7	890	18442	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2115	1807
18749	1.09	263.0	238.7	7.0	905	18751	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2114	1808
19059	1.12	284.3	219.0	5.4	920	19084	0.00	2.70	18.27	0.963	4	0.000	0.061	2743	695	1718
19135	1.14	299.9	214.8	5.5	923	19155	0.00	2.47	13.30	0.946	6	0.000	0.038	2743	2113	1654
19476	1.14	299.9	193.4	8.0	940	19477	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2113	1654
19785	1.14	299.9	165.4	8.8	955	19790	0.00	2.62	0.00	0.000	4	0.000	0.061	2743	690	1654
19891	1.14	299.9	154.5	11.6	960	19895	0.00	2.45	0.00	0.000	6	0.000	0.038	2744	2097	1654
20218	1.14	299.9	119.6	12.2	976	20219	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2100	1654
20526	1.14	299.9	86.5	10.1	991	20531	0.00	2.60	0.00	0.000	4	0.000	0.060	2743	689	1654
20598	1.14	299.9	78.2	11.9	994	20602	0.00	2.50	0.00	0.000	6	0.000	0.038	2743	2104	1654
20920	1.18	334.2	54.8	5.0	1010	20949	0.00	0.00	27.35	0.842	6	0.000	0.000	2743	2105	1514
21250	1.18	334.2	24.8	8.4	1026	21254	0.00	2.62	0.00	0.000	4	0.000	0.061	2744	687	1514
21338	1.18	334.2	17.3	8.0	1030	21342	0.00	2.47	0.00	0.000	6	0.000	0.038	2743	2094	1514
21666	1.43	536.7	3.4	-0.0	1046	21780	0.28	2.65	107.22	0.755	4	0.061	0.059	2805	696	689
21901	end climb: NO_VERTICAL_VELOCITY
state	21901	begin surface