Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 143 * 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 143 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 43 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 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 -78832.609 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 -78832.609

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 43 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 42 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 143 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 054208,6223.485,-1051.037,57,1.1,57,-10.6 TGT_NAME EW

_CALLS 3 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.205,0.038

_SM_DEPTHo 4.15 KALMAN_X 156125.6,718.9,-6283.6,-274989.2,45351.5

_SM_ANGLEo -48.1 KALMAN_Y 129960.8,-255.7,-367.2,-36019.9,-7232.3

GPS2 055621,6223.533,-1051.112,11,1.2,11,-10.6 MHEAD_RNG_PITCHd_Wd 291.2,8092,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 20409,0.00,0.000,0,0,604,558.06 ALTIM_BOTTOM_PING 675.8,81.9

SM_GC 4.40,12.12,0.00,0.00,0.029,0.000,0.000,28,1892,604,-11.26,-0.23,558.06 _24V_AH 23.3,34.801

IRIDIUM_FIX 6202.67,-1049.45,111207,090938 _10V_AH 10.1,16.007

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47465,966

HUMID 2046 CFSIZE 260165632,249872384

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 16.70 GPS 111207,113831,6224.095,-1054.780,34,1.6,34,-10.6

XPDR_PINGS 10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 108 65.35 SBE_CT 706 24 395.29

Roll_motor 102 73 176.37 SBE_O2 652 19 288.99

VBD_pump_during_apogee 508 1312 15537.93 WL_BB2F 626 105 1531.89

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 109 103 263.29 nil 0 0 0.00

Iridium_during_connect 125 160 469.66 nil 0 0 0.00

Iridium_during_xfer 338 223 1760.05

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.73

TT8 1697 19 339.47

LPSleep 16068 2 355.41

TT8_Active 645 19 129.18

TT8_Sampling 2042 39 821.00

TT8_CF8 808 45 374.06

TT8_Kalman 33 81 27.56

Analog_circuits 1673 12 202.86

GPS_charging 0 0 0.00

Compass 2009 8 162.36

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 43 0.00 0.00 -21.98 0.000 2 0.000 0.000 28 1876 1118

46 -0.95 -146.6 4.1 -0.0 1 205 11.20 2.53 -140.80 0.000 4 0.109 0.071 2282 510 3477

395 -0.95 -146.6 27.4 -8.3 16 400 0.00 2.45 0.00 0.000 6 0.000 0.040 2282 1894 3477

719 -0.95 -146.6 45.3 -5.6 32 720 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1896 3477

1027 -0.95 -146.6 64.8 -7.3 47 1028 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1895 3477

1336 -0.95 -146.6 95.1 -12.7 62 1337 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1896 3477

1645 -0.95 -146.6 123.0 -9.1 77 1646 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1895 3477

1955 -0.95 -146.6 146.5 -8.3 92 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1896 3477

2263 -0.95 -146.6 170.1 -6.4 107 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1896 3477

2572 -0.95 -146.6 192.9 -7.2 122 2573 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1895 3477

2882 -0.95 -146.6 213.6 -6.7 137 2883 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1895 3476

3191 -0.95 -146.6 237.7 -8.3 152 3195 0.00 2.53 0.00 0.000 4 0.000 0.048 2282 3298 3477

3274 -0.95 -146.6 245.0 -9.0 156 3279 0.00 2.47 0.00 0.000 6 0.000 0.043 2282 1915 3477

3600 -0.95 -146.6 269.8 -7.0 172 3601 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1915 3477

3910 -0.95 -146.6 289.6 -6.4 187 3911 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1915 3477

4218 -0.95 -146.6 309.9 -6.8 202 4220 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1915 3477

4528 -0.95 -146.6 332.4 -7.3 217 4532 0.00 2.50 0.00 0.000 4 0.000 0.048 2282 3302 3477

4606 -0.95 -146.6 338.4 -7.5 220 4612 0.00 2.50 0.00 0.000 6 0.000 0.045 2282 1902 3477

4921 -0.95 -146.6 362.4 -7.6 236 4922 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1902 3477

5231 -0.95 -146.6 385.2 -7.5 251 5235 0.00 2.53 0.00 0.000 4 0.000 0.049 2282 3304 3476

5291 -0.95 -146.6 390.0 -8.3 254 5296 0.00 2.53 0.00 0.000 6 0.000 0.045 2282 1898 3476

5617 -0.95 -146.6 413.8 -7.3 270 5618 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3477

5927 -0.95 -146.6 435.9 -7.0 285 5928 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1898 3477

6236 -0.95 -146.6 458.3 -7.3 300 6240 0.00 2.50 0.00 0.000 4 0.000 0.050 2282 3295 3476

6301 -0.95 -146.6 463.3 -7.3 303 6305 0.00 2.53 0.00 0.000 6 0.000 0.045 2283 1905 3476

6628 -0.95 -146.6 484.7 -6.0 319 6629 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1905 3476

6937 -0.95 -146.6 505.0 -7.2 334 6938 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1903 3476

7246 -0.95 -146.6 530.5 -8.5 349 7251 0.00 2.53 0.00 0.000 4 0.000 0.051 2282 3300 3475

7314 -0.95 -146.6 536.7 -9.8 352 7318 0.00 2.53 0.00 0.000 6 0.000 0.046 2282 1896 3475

7633 -0.95 -146.6 561.4 -6.8 368 7635 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1896 3475

7943 -0.95 -146.6 583.0 -7.6 383 7944 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1895 3476

8252 -0.95 -146.6 605.2 -6.9 398 8256 0.00 2.55 0.00 0.000 4 0.000 0.055 2282 3293 3475

8328 -0.95 -146.6 611.4 -8.0 401 8335 0.00 2.55 0.00 0.000 6 0.000 0.048 2282 1900 3476

8644 -0.95 -146.6 635.7 -8.3 417 8645 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1900 3475

8953 -0.95 -146.6 660.4 -7.4 432 8954 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1900 3475

9263 -0.95 -146.6 680.7 -5.8 447 9267 0.00 2.55 0.00 0.000 4 0.000 0.057 2282 3294 3475

9357 -0.95 -146.6 686.0 -5.9 451 9361 0.00 2.53 0.00 0.000 6 0.000 0.049 2282 1897 3475

9677 -0.95 -146.6 703.6 -5.6 467 9679 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1897 3474

9986 -0.95 -146.6 725.6 -7.3 482 9991 0.00 2.58 0.00 0.000 4 0.000 0.060 2282 3301 3474

10075 -0.95 -146.6 732.2 -7.7 486 10080 0.00 2.58 0.00 0.000 6 0.000 0.053 2282 1904 3474

10277 end dive: BOTTOM_OBSTACLE_DETECTED

state 10277 begin apogee

10282 -0.36 0.0 747.8 7.0 496 10408 0.62 0.00 123.53 1.312 6 0.076 0.000 2418 2098 2878

10409 end apogee: CONTROL_FINISHED_OK

state 10409 begin climb

10411 0.95 146.6 751.9 0.0 502 10538 1.25 0.00 122.72 1.260 6 0.050 0.000 2701 2098 2280

10842 1.00 189.2 728.9 4.7 523 10884 0.00 2.78 36.40 1.254 4 0.000 0.074 2701 687 2105

10985 1.00 189.2 719.0 8.5 529 10990 0.00 2.55 0.00 0.000 6 0.000 0.051 2700 2093 2105

11300 1.00 189.2 692.8 7.8 544 11304 0.00 2.62 0.00 0.000 4 0.000 0.061 2701 3510 2104

11370 1.00 189.2 688.2 7.1 547 11375 0.00 2.60 0.00 0.000 6 0.000 0.052 2700 2104 2104

11692 1.01 199.2 666.7 5.7 563 11703 0.00 0.00 9.18 1.258 6 0.000 0.000 2701 2104 2065

12001 1.13 293.0 655.0 3.2 578 12083 0.17 0.00 77.50 1.240 6 0.043 0.000 2757 2104 1683

12393 1.13 293.0 615.1 10.5 597 12395 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2104 1683

12700 1.13 293.0 588.4 8.3 612 12701 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2104 1682

13009 1.13 293.0 562.4 8.3 627 13014 0.00 2.65 0.00 0.000 4 0.000 0.070 2758 688 1682

13063 1.13 293.0 557.5 8.9 629 13070 0.00 2.50 0.00 0.000 6 0.000 0.043 2757 2108 1682

13379 1.13 293.0 531.3 8.1 645 13380 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2113 1682

13688 1.13 293.0 506.5 8.3 660 13692 0.00 2.65 0.00 0.000 4 0.000 0.067 2757 690 1682

13731 1.13 293.0 502.8 9.1 662 13735 0.00 2.50 0.00 0.000 6 0.000 0.043 2758 2106 1682

14057 1.13 293.0 474.7 8.4 678 14058 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2111 1683

14367 1.13 293.0 451.5 7.1 693 14368 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2110 1683

14676 1.13 293.0 426.5 9.1 708 14680 0.00 2.65 0.00 0.000 4 0.000 0.065 2758 686 1683

14737 1.13 293.0 420.6 10.4 711 14742 0.00 2.50 0.00 0.000 6 0.000 0.041 2758 2102 1683

15062 1.13 293.0 387.1 10.8 727 15063 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2105 1684

15372 1.13 293.0 356.8 9.2 742 15376 0.00 2.62 0.00 0.000 4 0.000 0.064 2758 685 1685

15420 1.13 293.0 352.0 9.4 744 15424 0.00 2.47 0.00 0.000 6 0.000 0.041 2758 2102 1685

15741 1.13 293.0 324.0 8.7 760 15742 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2105 1685

16050 1.13 293.0 293.5 9.8 775 16055 0.00 2.62 0.00 0.000 4 0.000 0.063 2758 685 1685

16099 1.13 293.0 288.3 10.8 777 16104 0.00 2.53 0.00 0.000 6 0.000 0.040 2758 2102 1685

16420 1.13 293.0 255.9 10.0 793 16421 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2105 1686

16729 1.13 293.0 226.8 8.9 808 16734 0.00 2.62 0.00 0.000 4 0.000 0.063 2758 687 1686

16773 1.13 293.0 222.8 9.2 810 16777 0.00 2.53 0.00 0.000 6 0.000 0.040 2758 2105 1685

17100 1.13 293.0 192.6 10.2 826 17101 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2108 1686

17409 1.13 293.0 161.9 10.5 841 17411 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2108 1686

17718 1.13 293.0 134.1 8.0 856 17719 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2108 1686

18028 1.13 293.0 109.4 8.4 871 18029 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2108 1686

18337 1.13 293.0 81.3 9.7 886 18341 0.00 2.62 0.00 0.000 4 0.000 0.061 2758 687 1686

18398 1.13 293.0 74.5 11.2 889 18403 0.00 2.47 0.00 0.000 6 0.000 0.038 2758 2108 1686

18724 1.13 293.0 39.6 12.0 905 18729 0.00 2.62 0.00 0.000 4 0.000 0.061 2757 688 1687

18779 1.13 293.0 33.7 8.5 907 18786 0.00 2.50 0.00 0.000 6 0.000 0.038 2758 2104 1687

19095 1.13 293.0 5.2 11.0 923 19096 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2107 1687

19404 1.38 497.4 3.6 -0.1 938 19518 0.15 2.55 107.47 0.786 4 0.071 0.044 2796 3499 849

19637 1.61 688.7 3.5 0.3 949 19679 0.22 2.53 31.35 0.774 6 0.057 0.041 2848 2082 602

19988 end climb: NO_VERTICAL_VELOCITY

state 19988 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	143	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	43	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	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	-78832.609	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	054208,6223.485,-1051.037,57,1.1,57,-10.6	TGT_NAME	EW
_CALLS	3	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.205,0.038
_SM_DEPTHo	4.15	KALMAN_X	156125.6,718.9,-6283.6,-274989.2,45351.5
_SM_ANGLEo	-48.1	KALMAN_Y	129960.8,-255.7,-367.2,-36019.9,-7232.3
GPS2	055621,6223.533,-1051.112,11,1.2,11,-10.6	MHEAD_RNG_PITCHd_Wd	291.2,8092,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	20409,0.00,0.000,0,0,604,558.06	ALTIM_BOTTOM_PING	675.8,81.9
SM_GC	4.40,12.12,0.00,0.00,0.029,0.000,0.000,28,1892,604,-11.26,-0.23,558.06	_24V_AH	23.3,34.801
IRIDIUM_FIX	6202.67,-1049.45,111207,090938	_10V_AH	10.1,16.007
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47465,966
HUMID	2046	CFSIZE	260165632,249872384
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.70	GPS	111207,113831,6224.095,-1054.780,34,1.6,34,-10.6
XPDR_PINGS	10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	108	65.35	SBE_CT	706	24	395.29
Roll_motor	102	73	176.37	SBE_O2	652	19	288.99
VBD_pump_during_apogee	508	1312	15537.93	WL_BB2F	626	105	1531.89
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	109	103	263.29	nil	0	0	0.00
Iridium_during_connect	125	160	469.66	nil	0	0	0.00
Iridium_during_xfer	338	223	1760.05
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.73
TT8	1697	19	339.47
LPSleep	16068	2	355.41
TT8_Active	645	19	129.18
TT8_Sampling	2042	39	821.00
TT8_CF8	808	45	374.06
TT8_Kalman	33	81	27.56
Analog_circuits	1673	12	202.86
GPS_charging	0	0	0.00
Compass	2009	8	162.36
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	43	0.00	0.00	-21.98	0.000	2	0.000	0.000	28	1876	1118
46	-0.95	-146.6	4.1	-0.0	1	205	11.20	2.53	-140.80	0.000	4	0.109	0.071	2282	510	3477
395	-0.95	-146.6	27.4	-8.3	16	400	0.00	2.45	0.00	0.000	6	0.000	0.040	2282	1894	3477
719	-0.95	-146.6	45.3	-5.6	32	720	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1896	3477
1027	-0.95	-146.6	64.8	-7.3	47	1028	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1895	3477
1336	-0.95	-146.6	95.1	-12.7	62	1337	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1896	3477
1645	-0.95	-146.6	123.0	-9.1	77	1646	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1895	3477
1955	-0.95	-146.6	146.5	-8.3	92	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1896	3477
2263	-0.95	-146.6	170.1	-6.4	107	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1896	3477
2572	-0.95	-146.6	192.9	-7.2	122	2573	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1895	3477
2882	-0.95	-146.6	213.6	-6.7	137	2883	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1895	3476
3191	-0.95	-146.6	237.7	-8.3	152	3195	0.00	2.53	0.00	0.000	4	0.000	0.048	2282	3298	3477
3274	-0.95	-146.6	245.0	-9.0	156	3279	0.00	2.47	0.00	0.000	6	0.000	0.043	2282	1915	3477
3600	-0.95	-146.6	269.8	-7.0	172	3601	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1915	3477
3910	-0.95	-146.6	289.6	-6.4	187	3911	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1915	3477
4218	-0.95	-146.6	309.9	-6.8	202	4220	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1915	3477
4528	-0.95	-146.6	332.4	-7.3	217	4532	0.00	2.50	0.00	0.000	4	0.000	0.048	2282	3302	3477
4606	-0.95	-146.6	338.4	-7.5	220	4612	0.00	2.50	0.00	0.000	6	0.000	0.045	2282	1902	3477
4921	-0.95	-146.6	362.4	-7.6	236	4922	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1902	3477
5231	-0.95	-146.6	385.2	-7.5	251	5235	0.00	2.53	0.00	0.000	4	0.000	0.049	2282	3304	3476
5291	-0.95	-146.6	390.0	-8.3	254	5296	0.00	2.53	0.00	0.000	6	0.000	0.045	2282	1898	3476
5617	-0.95	-146.6	413.8	-7.3	270	5618	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3477
5927	-0.95	-146.6	435.9	-7.0	285	5928	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1898	3477
6236	-0.95	-146.6	458.3	-7.3	300	6240	0.00	2.50	0.00	0.000	4	0.000	0.050	2282	3295	3476
6301	-0.95	-146.6	463.3	-7.3	303	6305	0.00	2.53	0.00	0.000	6	0.000	0.045	2283	1905	3476
6628	-0.95	-146.6	484.7	-6.0	319	6629	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1905	3476
6937	-0.95	-146.6	505.0	-7.2	334	6938	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1903	3476
7246	-0.95	-146.6	530.5	-8.5	349	7251	0.00	2.53	0.00	0.000	4	0.000	0.051	2282	3300	3475
7314	-0.95	-146.6	536.7	-9.8	352	7318	0.00	2.53	0.00	0.000	6	0.000	0.046	2282	1896	3475
7633	-0.95	-146.6	561.4	-6.8	368	7635	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1896	3475
7943	-0.95	-146.6	583.0	-7.6	383	7944	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1895	3476
8252	-0.95	-146.6	605.2	-6.9	398	8256	0.00	2.55	0.00	0.000	4	0.000	0.055	2282	3293	3475
8328	-0.95	-146.6	611.4	-8.0	401	8335	0.00	2.55	0.00	0.000	6	0.000	0.048	2282	1900	3476
8644	-0.95	-146.6	635.7	-8.3	417	8645	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1900	3475
8953	-0.95	-146.6	660.4	-7.4	432	8954	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1900	3475
9263	-0.95	-146.6	680.7	-5.8	447	9267	0.00	2.55	0.00	0.000	4	0.000	0.057	2282	3294	3475
9357	-0.95	-146.6	686.0	-5.9	451	9361	0.00	2.53	0.00	0.000	6	0.000	0.049	2282	1897	3475
9677	-0.95	-146.6	703.6	-5.6	467	9679	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1897	3474
9986	-0.95	-146.6	725.6	-7.3	482	9991	0.00	2.58	0.00	0.000	4	0.000	0.060	2282	3301	3474
10075	-0.95	-146.6	732.2	-7.7	486	10080	0.00	2.58	0.00	0.000	6	0.000	0.053	2282	1904	3474
10277	end dive: BOTTOM_OBSTACLE_DETECTED
state	10277	begin apogee
10282	-0.36	0.0	747.8	7.0	496	10408	0.62	0.00	123.53	1.312	6	0.076	0.000	2418	2098	2878
10409	end apogee: CONTROL_FINISHED_OK
state	10409	begin climb
10411	0.95	146.6	751.9	0.0	502	10538	1.25	0.00	122.72	1.260	6	0.050	0.000	2701	2098	2280
10842	1.00	189.2	728.9	4.7	523	10884	0.00	2.78	36.40	1.254	4	0.000	0.074	2701	687	2105
10985	1.00	189.2	719.0	8.5	529	10990	0.00	2.55	0.00	0.000	6	0.000	0.051	2700	2093	2105
11300	1.00	189.2	692.8	7.8	544	11304	0.00	2.62	0.00	0.000	4	0.000	0.061	2701	3510	2104
11370	1.00	189.2	688.2	7.1	547	11375	0.00	2.60	0.00	0.000	6	0.000	0.052	2700	2104	2104
11692	1.01	199.2	666.7	5.7	563	11703	0.00	0.00	9.18	1.258	6	0.000	0.000	2701	2104	2065
12001	1.13	293.0	655.0	3.2	578	12083	0.17	0.00	77.50	1.240	6	0.043	0.000	2757	2104	1683
12393	1.13	293.0	615.1	10.5	597	12395	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2104	1683
12700	1.13	293.0	588.4	8.3	612	12701	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2104	1682
13009	1.13	293.0	562.4	8.3	627	13014	0.00	2.65	0.00	0.000	4	0.000	0.070	2758	688	1682
13063	1.13	293.0	557.5	8.9	629	13070	0.00	2.50	0.00	0.000	6	0.000	0.043	2757	2108	1682
13379	1.13	293.0	531.3	8.1	645	13380	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2113	1682
13688	1.13	293.0	506.5	8.3	660	13692	0.00	2.65	0.00	0.000	4	0.000	0.067	2757	690	1682
13731	1.13	293.0	502.8	9.1	662	13735	0.00	2.50	0.00	0.000	6	0.000	0.043	2758	2106	1682
14057	1.13	293.0	474.7	8.4	678	14058	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2111	1683
14367	1.13	293.0	451.5	7.1	693	14368	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2110	1683
14676	1.13	293.0	426.5	9.1	708	14680	0.00	2.65	0.00	0.000	4	0.000	0.065	2758	686	1683
14737	1.13	293.0	420.6	10.4	711	14742	0.00	2.50	0.00	0.000	6	0.000	0.041	2758	2102	1683
15062	1.13	293.0	387.1	10.8	727	15063	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2105	1684
15372	1.13	293.0	356.8	9.2	742	15376	0.00	2.62	0.00	0.000	4	0.000	0.064	2758	685	1685
15420	1.13	293.0	352.0	9.4	744	15424	0.00	2.47	0.00	0.000	6	0.000	0.041	2758	2102	1685
15741	1.13	293.0	324.0	8.7	760	15742	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2105	1685
16050	1.13	293.0	293.5	9.8	775	16055	0.00	2.62	0.00	0.000	4	0.000	0.063	2758	685	1685
16099	1.13	293.0	288.3	10.8	777	16104	0.00	2.53	0.00	0.000	6	0.000	0.040	2758	2102	1685
16420	1.13	293.0	255.9	10.0	793	16421	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2105	1686
16729	1.13	293.0	226.8	8.9	808	16734	0.00	2.62	0.00	0.000	4	0.000	0.063	2758	687	1686
16773	1.13	293.0	222.8	9.2	810	16777	0.00	2.53	0.00	0.000	6	0.000	0.040	2758	2105	1685
17100	1.13	293.0	192.6	10.2	826	17101	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2108	1686
17409	1.13	293.0	161.9	10.5	841	17411	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2108	1686
17718	1.13	293.0	134.1	8.0	856	17719	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2108	1686
18028	1.13	293.0	109.4	8.4	871	18029	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2108	1686
18337	1.13	293.0	81.3	9.7	886	18341	0.00	2.62	0.00	0.000	4	0.000	0.061	2758	687	1686
18398	1.13	293.0	74.5	11.2	889	18403	0.00	2.47	0.00	0.000	6	0.000	0.038	2758	2108	1686
18724	1.13	293.0	39.6	12.0	905	18729	0.00	2.62	0.00	0.000	4	0.000	0.061	2757	688	1687
18779	1.13	293.0	33.7	8.5	907	18786	0.00	2.50	0.00	0.000	6	0.000	0.038	2758	2104	1687
19095	1.13	293.0	5.2	11.0	923	19096	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2107	1687
19404	1.38	497.4	3.6	-0.1	938	19518	0.15	2.55	107.47	0.786	4	0.071	0.044	2796	3499	849
19637	1.61	688.7	3.5	0.3	949	19679	0.22	2.53	31.35	0.774	6	0.057	0.041	2848	2082	602
19988	end climb: NO_VERTICAL_VELOCITY
state	19988	begin surface