Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 138 * 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 138 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -78761.492 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 -78761.492

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 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 138 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 222001,6219.220,-1049.290,40,1.2,40,-10.5 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.062,0.199

_SM_DEPTHo 4.13 KALMAN_X 129311.7,501.7,1031.2,-253628.4,-2802.8

_SM_ANGLEo -57.0 KALMAN_Y 141258.9,-487.6,2769.2,-58182.2,-10972.1

GPS2 222620,6219.229,-1049.231,16,1.2,16,-10.5 MHEAD_RNG_PITCHd_Wd 353.3,14126,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23211,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 700.5,94.0

SM_GC 4.30,12.18,0.00,0.00,0.030,0.000,0.000,27,1896,603,-11.27,-0.11,558.06 _24V_AH 23.3,33.874

IRIDIUM_FIX 6148.92,-1026.97,091207,202001 _10V_AH 10.1,15.527

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56862,1101

HUMID 2050 CFSIZE 260165632,250175488

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.80 GPS 101207,045508,6220.286,-1047.274,29,1.0,29,-10.5

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 112 68.24 SBE_CT 812 24 454.19

Roll_motor 87 72 148.04 SBE_O2 744 19 329.40

VBD_pump_during_apogee 510 1306 15538.31 WL_BB2F 677 105 1656.55

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 38 103 93.55 nil 0 0 0.00

Iridium_during_connect 39 160 146.14 nil 0 0 0.00

Iridium_during_xfer 179 223 934.21

Transponder_ping 7 420 75.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.93

TT8 1902 19 380.40

LPSleep 18319 2 405.21

TT8_Active 670 19 134.17

TT8_Sampling 2235 39 898.47

TT8_CF8 463 45 214.55

TT8_Kalman 33 81 27.56

Analog_circuits 1775 12 215.22

GPS_charging 0 0 0.00

Compass 2202 8 177.94

RAFOS 0 0 0.00

Guidance and control:

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 26 0.00 0.00 -4.38 0.000 2 0.000 0.000 26 1915 710

29 -0.95 -146.6 4.2 -0.0 0 214 11.38 0.00 -167.95 0.000 6 0.113 0.000 2295 1917 3477

531 -0.95 -146.6 30.5 -9.6 25 532 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1917 3477

839 -0.95 -146.6 62.5 -10.2 40 841 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1917 3477

1149 -0.95 -146.6 80.6 -4.6 55 1150 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1917 3477

1458 -0.95 -146.6 96.7 -5.0 70 1460 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1917 3477

1767 -0.95 -146.6 127.0 -8.6 85 1768 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1917 3477

2076 -0.95 -146.6 146.7 -6.6 100 2078 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1917 3477

2385 -0.95 -146.6 171.6 -7.7 115 2387 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1917 3477

2695 -0.95 -146.6 195.3 -7.7 130 2699 0.00 2.47 0.00 0.000 4 0.000 0.047 2294 3300 3477

2738 -0.95 -146.6 198.7 -7.4 132 2742 0.00 2.55 0.00 0.000 6 0.000 0.041 2294 1885 3477

3065 -0.95 -146.6 221.5 -6.8 148 3066 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1885 3477

3374 -0.95 -146.6 242.7 -6.7 163 3378 0.00 2.55 0.00 0.000 4 0.000 0.047 2294 3304 3477

3445 -0.95 -146.6 247.8 -6.7 166 3449 0.00 2.50 0.00 0.000 6 0.000 0.042 2294 1902 3477

3766 -0.95 -146.6 268.4 -6.3 182 3767 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1902 3477

4075 -0.95 -146.6 287.8 -6.3 197 4079 0.00 2.50 0.00 0.000 4 0.000 0.046 2294 3298 3477

4123 -0.95 -146.6 290.8 -6.4 199 4128 0.00 2.50 0.00 0.000 6 0.000 0.042 2295 1906 3477

4444 -0.95 -146.6 311.7 -6.9 215 4446 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1906 3477

4753 -0.95 -146.6 333.1 -6.7 230 4758 0.00 2.50 0.00 0.000 4 0.000 0.048 2294 3298 3477

4847 -0.95 -146.6 339.5 -6.3 234 4852 0.00 2.53 0.00 0.000 6 0.000 0.044 2294 1899 3477

5169 -0.95 -146.6 360.2 -6.5 250 5170 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1900 3477

5478 -0.95 -146.6 379.8 -6.1 265 5479 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1900 3477

5787 -0.95 -146.6 398.0 -5.6 280 5788 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1900 3477

6097 -0.95 -146.6 415.1 -5.4 295 6098 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1900 3476

6406 -0.95 -146.6 431.2 -5.7 310 6407 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1900 3477

6715 -0.95 -146.6 450.0 -6.2 325 6722 0.00 2.53 0.00 0.000 4 0.000 0.048 2294 3302 3476

6789 -0.95 -146.6 455.1 -7.1 328 6793 0.00 2.50 0.00 0.000 6 0.000 0.044 2294 1901 3477

7116 -0.95 -146.6 474.9 -5.9 344 7117 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1900 3477

7425 -0.95 -146.6 492.0 -5.9 359 7426 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1900 3477

7734 -0.95 -146.6 510.4 -5.9 374 7735 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1901 3477

8043 -0.95 -146.6 528.7 -6.0 389 8047 0.00 2.53 0.00 0.000 4 0.000 0.050 2294 3300 3477

8099 -0.95 -146.6 532.1 -6.4 391 8105 0.00 2.50 0.00 0.000 6 0.000 0.045 2294 1900 3477

8413 -0.95 -146.6 551.6 -6.3 407 8414 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1900 3476

8722 -0.95 -146.6 572.3 -6.8 422 8723 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1897 3476

9032 -0.95 -146.6 594.1 -6.5 437 9033 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1897 3476

9341 -0.95 -146.6 613.9 -6.4 452 9345 0.00 2.53 0.00 0.000 4 0.000 0.052 2294 3295 3476

9440 -0.95 -146.6 620.8 -7.4 456 9446 0.00 2.53 0.00 0.000 6 0.000 0.045 2294 1903 3476

9755 -0.95 -146.6 643.4 -7.1 472 9757 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1903 3476

10064 -0.95 -146.6 663.7 -6.5 487 10066 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1904 3476

10374 -0.95 -146.6 681.9 -5.8 502 10375 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1903 3476

10688 -0.95 -146.6 700.5 -6.0 517 10692 0.00 2.53 0.00 0.000 4 0.000 0.055 2294 3295 3475

10787 -0.95 -146.6 707.5 -7.0 521 10794 0.00 2.53 0.00 0.000 6 0.000 0.048 2294 1907 3475

11102 -0.95 -146.6 727.8 -6.4 537 11106 0.00 2.53 0.00 0.000 4 0.000 0.057 2295 3294 3475

11201 -0.95 -146.6 735.0 -7.5 541 11208 0.00 2.53 0.00 0.000 6 0.000 0.050 2294 1901 3475

11516 -0.95 -146.6 753.5 -6.1 557 11521 0.00 2.62 0.00 0.000 4 0.000 0.071 2295 488 3474

11612 -0.95 -146.6 759.7 -5.9 561 11616 0.00 2.50 0.00 0.000 6 0.000 0.049 2294 1895 3474

11927 -0.95 -146.6 778.2 -5.5 576 11931 0.00 2.62 0.00 0.000 4 0.000 0.073 2294 490 3474

11975 -0.95 -146.6 781.8 -6.5 578 11980 0.00 2.53 0.00 0.000 6 0.000 0.051 2294 1900 3474

12027 end dive: BOTTOM_OBSTACLE_DETECTED

state 12028 begin apogee

12033 -0.36 0.0 784.7 5.7 581 12160 0.57 0.00 123.95 1.307 6 0.071 0.000 2420 2103 2878

12160 end apogee: CONTROL_FINISHED_OK

state 12160 begin climb

12162 0.95 146.6 786.0 0.0 587 12293 1.25 2.70 122.60 1.269 4 0.054 0.064 2700 3496 2280

12547 1.06 241.8 770.0 3.2 604 12635 0.12 2.58 79.43 1.262 6 0.052 0.052 2738 2100 1892

12942 1.06 241.8 737.3 7.9 624 12947 0.00 2.60 0.00 0.000 4 0.000 0.060 2738 3498 1891

13199 1.06 241.8 713.6 8.5 635 13206 0.00 2.58 0.00 0.000 6 0.000 0.051 2738 2106 1890

13515 1.06 241.8 686.3 8.2 651 13520 0.00 2.55 0.00 0.000 4 0.000 0.056 2738 3500 1889

13622 1.06 241.8 676.9 8.1 656 13626 0.00 2.55 0.00 0.000 6 0.000 0.049 2739 2096 1889

13947 1.06 241.8 650.3 8.2 672 13948 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2096 1888

14256 1.06 241.8 623.2 8.3 687 14257 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2096 1888

14565 1.06 241.8 600.4 7.3 702 14566 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2096 1888

14875 1.06 241.8 575.6 7.7 717 14879 0.00 2.58 0.00 0.000 4 0.000 0.053 2739 3505 1888

14935 1.06 241.8 570.7 7.7 720 14940 0.00 2.53 0.00 0.000 6 0.000 0.047 2738 2099 1888

15262 1.06 241.8 543.5 8.4 736 15263 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2100 1888

15571 1.06 241.8 516.8 8.7 751 15572 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2100 1888

15880 1.06 241.8 492.4 7.4 766 15881 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2099 1889

16189 1.06 241.8 467.6 7.9 781 16190 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2099 1889

16499 1.06 241.8 443.1 7.8 796 16500 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1889

16808 1.06 241.8 419.0 8.0 811 16809 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2100 1889

17117 1.06 241.8 392.1 8.8 826 17118 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2100 1890

17427 1.06 241.8 364.9 8.6 841 17428 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2100 1890

17736 1.06 241.8 338.9 8.4 856 17737 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2100 1891

18045 1.06 241.8 313.4 8.3 871 18046 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2100 1891

18354 1.06 241.8 291.1 6.8 886 18355 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2099 1891

18664 1.06 241.8 271.4 6.8 901 18665 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2099 1891

18973 1.06 241.8 249.8 7.2 916 18974 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1891

19282 1.06 241.8 226.5 7.5 931 19283 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2100 1891

19591 1.06 241.8 203.0 6.8 946 19593 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2099 1891

19900 1.06 241.8 181.3 7.9 961 19902 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2099 1891

20210 1.09 261.6 160.6 5.4 976 20230 0.00 0.00 16.67 0.927 6 0.000 0.000 2738 2099 1810

20539 1.09 261.6 141.6 6.1 992 20540 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2099 1810

20850 1.09 261.6 120.3 6.9 1007 20851 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1810

21158 1.14 302.4 101.8 4.8 1022 21199 0.00 2.60 32.47 0.866 4 0.000 0.046 2738 3498 1645

21232 1.14 302.4 96.1 9.9 1025 21236 0.00 2.50 0.00 0.000 6 0.000 0.039 2738 2094 1645

21553 1.14 302.4 71.4 7.7 1041 21554 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2094 1645

21863 1.14 302.4 47.9 7.8 1056 21864 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2094 1645

22172 1.14 302.4 23.4 8.4 1071 22173 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2093 1645

22481 1.37 486.9 3.5 0.5 1086 22587 0.25 2.65 98.62 0.764 4 0.051 0.064 2800 701 891

22605 1.63 703.9 3.5 -0.5 1092 22648 0.22 2.50 36.50 0.746 6 0.060 0.039 2850 2107 602

22789 end climb: NO_VERTICAL_VELOCITY

state 22789 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	138	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-78761.492	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	222001,6219.220,-1049.290,40,1.2,40,-10.5	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.062,0.199
_SM_DEPTHo	4.13	KALMAN_X	129311.7,501.7,1031.2,-253628.4,-2802.8
_SM_ANGLEo	-57.0	KALMAN_Y	141258.9,-487.6,2769.2,-58182.2,-10972.1
GPS2	222620,6219.229,-1049.231,16,1.2,16,-10.5	MHEAD_RNG_PITCHd_Wd	353.3,14126,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23211,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	700.5,94.0
SM_GC	4.30,12.18,0.00,0.00,0.030,0.000,0.000,27,1896,603,-11.27,-0.11,558.06	_24V_AH	23.3,33.874
IRIDIUM_FIX	6148.92,-1026.97,091207,202001	_10V_AH	10.1,15.527
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56862,1101
HUMID	2050	CFSIZE	260165632,250175488
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.80	GPS	101207,045508,6220.286,-1047.274,29,1.0,29,-10.5
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	112	68.24	SBE_CT	812	24	454.19
Roll_motor	87	72	148.04	SBE_O2	744	19	329.40
VBD_pump_during_apogee	510	1306	15538.31	WL_BB2F	677	105	1656.55
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	38	103	93.55	nil	0	0	0.00
Iridium_during_connect	39	160	146.14	nil	0	0	0.00
Iridium_during_xfer	179	223	934.21
Transponder_ping	7	420	75.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.93
TT8	1902	19	380.40
LPSleep	18319	2	405.21
TT8_Active	670	19	134.17
TT8_Sampling	2235	39	898.47
TT8_CF8	463	45	214.55
TT8_Kalman	33	81	27.56
Analog_circuits	1775	12	215.22
GPS_charging	0	0	0.00
Compass	2202	8	177.94
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	26	0.00	0.00	-4.38	0.000	2	0.000	0.000	26	1915	710
29	-0.95	-146.6	4.2	-0.0	0	214	11.38	0.00	-167.95	0.000	6	0.113	0.000	2295	1917	3477
531	-0.95	-146.6	30.5	-9.6	25	532	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1917	3477
839	-0.95	-146.6	62.5	-10.2	40	841	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1917	3477
1149	-0.95	-146.6	80.6	-4.6	55	1150	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1917	3477
1458	-0.95	-146.6	96.7	-5.0	70	1460	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1917	3477
1767	-0.95	-146.6	127.0	-8.6	85	1768	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1917	3477
2076	-0.95	-146.6	146.7	-6.6	100	2078	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1917	3477
2385	-0.95	-146.6	171.6	-7.7	115	2387	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1917	3477
2695	-0.95	-146.6	195.3	-7.7	130	2699	0.00	2.47	0.00	0.000	4	0.000	0.047	2294	3300	3477
2738	-0.95	-146.6	198.7	-7.4	132	2742	0.00	2.55	0.00	0.000	6	0.000	0.041	2294	1885	3477
3065	-0.95	-146.6	221.5	-6.8	148	3066	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1885	3477
3374	-0.95	-146.6	242.7	-6.7	163	3378	0.00	2.55	0.00	0.000	4	0.000	0.047	2294	3304	3477
3445	-0.95	-146.6	247.8	-6.7	166	3449	0.00	2.50	0.00	0.000	6	0.000	0.042	2294	1902	3477
3766	-0.95	-146.6	268.4	-6.3	182	3767	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1902	3477
4075	-0.95	-146.6	287.8	-6.3	197	4079	0.00	2.50	0.00	0.000	4	0.000	0.046	2294	3298	3477
4123	-0.95	-146.6	290.8	-6.4	199	4128	0.00	2.50	0.00	0.000	6	0.000	0.042	2295	1906	3477
4444	-0.95	-146.6	311.7	-6.9	215	4446	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1906	3477
4753	-0.95	-146.6	333.1	-6.7	230	4758	0.00	2.50	0.00	0.000	4	0.000	0.048	2294	3298	3477
4847	-0.95	-146.6	339.5	-6.3	234	4852	0.00	2.53	0.00	0.000	6	0.000	0.044	2294	1899	3477
5169	-0.95	-146.6	360.2	-6.5	250	5170	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1900	3477
5478	-0.95	-146.6	379.8	-6.1	265	5479	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1900	3477
5787	-0.95	-146.6	398.0	-5.6	280	5788	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1900	3477
6097	-0.95	-146.6	415.1	-5.4	295	6098	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1900	3476
6406	-0.95	-146.6	431.2	-5.7	310	6407	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1900	3477
6715	-0.95	-146.6	450.0	-6.2	325	6722	0.00	2.53	0.00	0.000	4	0.000	0.048	2294	3302	3476
6789	-0.95	-146.6	455.1	-7.1	328	6793	0.00	2.50	0.00	0.000	6	0.000	0.044	2294	1901	3477
7116	-0.95	-146.6	474.9	-5.9	344	7117	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1900	3477
7425	-0.95	-146.6	492.0	-5.9	359	7426	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1900	3477
7734	-0.95	-146.6	510.4	-5.9	374	7735	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1901	3477
8043	-0.95	-146.6	528.7	-6.0	389	8047	0.00	2.53	0.00	0.000	4	0.000	0.050	2294	3300	3477
8099	-0.95	-146.6	532.1	-6.4	391	8105	0.00	2.50	0.00	0.000	6	0.000	0.045	2294	1900	3477
8413	-0.95	-146.6	551.6	-6.3	407	8414	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1900	3476
8722	-0.95	-146.6	572.3	-6.8	422	8723	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1897	3476
9032	-0.95	-146.6	594.1	-6.5	437	9033	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1897	3476
9341	-0.95	-146.6	613.9	-6.4	452	9345	0.00	2.53	0.00	0.000	4	0.000	0.052	2294	3295	3476
9440	-0.95	-146.6	620.8	-7.4	456	9446	0.00	2.53	0.00	0.000	6	0.000	0.045	2294	1903	3476
9755	-0.95	-146.6	643.4	-7.1	472	9757	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1903	3476
10064	-0.95	-146.6	663.7	-6.5	487	10066	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1904	3476
10374	-0.95	-146.6	681.9	-5.8	502	10375	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1903	3476
10688	-0.95	-146.6	700.5	-6.0	517	10692	0.00	2.53	0.00	0.000	4	0.000	0.055	2294	3295	3475
10787	-0.95	-146.6	707.5	-7.0	521	10794	0.00	2.53	0.00	0.000	6	0.000	0.048	2294	1907	3475
11102	-0.95	-146.6	727.8	-6.4	537	11106	0.00	2.53	0.00	0.000	4	0.000	0.057	2295	3294	3475
11201	-0.95	-146.6	735.0	-7.5	541	11208	0.00	2.53	0.00	0.000	6	0.000	0.050	2294	1901	3475
11516	-0.95	-146.6	753.5	-6.1	557	11521	0.00	2.62	0.00	0.000	4	0.000	0.071	2295	488	3474
11612	-0.95	-146.6	759.7	-5.9	561	11616	0.00	2.50	0.00	0.000	6	0.000	0.049	2294	1895	3474
11927	-0.95	-146.6	778.2	-5.5	576	11931	0.00	2.62	0.00	0.000	4	0.000	0.073	2294	490	3474
11975	-0.95	-146.6	781.8	-6.5	578	11980	0.00	2.53	0.00	0.000	6	0.000	0.051	2294	1900	3474
12027	end dive: BOTTOM_OBSTACLE_DETECTED
state	12028	begin apogee
12033	-0.36	0.0	784.7	5.7	581	12160	0.57	0.00	123.95	1.307	6	0.071	0.000	2420	2103	2878
12160	end apogee: CONTROL_FINISHED_OK
state	12160	begin climb
12162	0.95	146.6	786.0	0.0	587	12293	1.25	2.70	122.60	1.269	4	0.054	0.064	2700	3496	2280
12547	1.06	241.8	770.0	3.2	604	12635	0.12	2.58	79.43	1.262	6	0.052	0.052	2738	2100	1892
12942	1.06	241.8	737.3	7.9	624	12947	0.00	2.60	0.00	0.000	4	0.000	0.060	2738	3498	1891
13199	1.06	241.8	713.6	8.5	635	13206	0.00	2.58	0.00	0.000	6	0.000	0.051	2738	2106	1890
13515	1.06	241.8	686.3	8.2	651	13520	0.00	2.55	0.00	0.000	4	0.000	0.056	2738	3500	1889
13622	1.06	241.8	676.9	8.1	656	13626	0.00	2.55	0.00	0.000	6	0.000	0.049	2739	2096	1889
13947	1.06	241.8	650.3	8.2	672	13948	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2096	1888
14256	1.06	241.8	623.2	8.3	687	14257	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2096	1888
14565	1.06	241.8	600.4	7.3	702	14566	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2096	1888
14875	1.06	241.8	575.6	7.7	717	14879	0.00	2.58	0.00	0.000	4	0.000	0.053	2739	3505	1888
14935	1.06	241.8	570.7	7.7	720	14940	0.00	2.53	0.00	0.000	6	0.000	0.047	2738	2099	1888
15262	1.06	241.8	543.5	8.4	736	15263	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2100	1888
15571	1.06	241.8	516.8	8.7	751	15572	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2100	1888
15880	1.06	241.8	492.4	7.4	766	15881	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2099	1889
16189	1.06	241.8	467.6	7.9	781	16190	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2099	1889
16499	1.06	241.8	443.1	7.8	796	16500	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1889
16808	1.06	241.8	419.0	8.0	811	16809	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2100	1889
17117	1.06	241.8	392.1	8.8	826	17118	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2100	1890
17427	1.06	241.8	364.9	8.6	841	17428	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2100	1890
17736	1.06	241.8	338.9	8.4	856	17737	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2100	1891
18045	1.06	241.8	313.4	8.3	871	18046	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2100	1891
18354	1.06	241.8	291.1	6.8	886	18355	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2099	1891
18664	1.06	241.8	271.4	6.8	901	18665	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2099	1891
18973	1.06	241.8	249.8	7.2	916	18974	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1891
19282	1.06	241.8	226.5	7.5	931	19283	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2100	1891
19591	1.06	241.8	203.0	6.8	946	19593	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2099	1891
19900	1.06	241.8	181.3	7.9	961	19902	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2099	1891
20210	1.09	261.6	160.6	5.4	976	20230	0.00	0.00	16.67	0.927	6	0.000	0.000	2738	2099	1810
20539	1.09	261.6	141.6	6.1	992	20540	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2099	1810
20850	1.09	261.6	120.3	6.9	1007	20851	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1810
21158	1.14	302.4	101.8	4.8	1022	21199	0.00	2.60	32.47	0.866	4	0.000	0.046	2738	3498	1645
21232	1.14	302.4	96.1	9.9	1025	21236	0.00	2.50	0.00	0.000	6	0.000	0.039	2738	2094	1645
21553	1.14	302.4	71.4	7.7	1041	21554	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2094	1645
21863	1.14	302.4	47.9	7.8	1056	21864	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2094	1645
22172	1.14	302.4	23.4	8.4	1071	22173	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2093	1645
22481	1.37	486.9	3.5	0.5	1086	22587	0.25	2.65	98.62	0.764	4	0.051	0.064	2800	701	891
22605	1.63	703.9	3.5	-0.5	1092	22648	0.22	2.50	36.50	0.746	6	0.060	0.039	2850	2107	602
22789	end climb: NO_VERTICAL_VELOCITY
state	22789	begin surface