Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 169 * 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 169 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 40 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -79351.266 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 -79351.266

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 40 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 169 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 084938,6236.348,-1127.607,31,1.2,31,-11.0 TGT_NAME GW

_CALLS 2 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.198,0.068

_SM_DEPTHo 4.33 KALMAN_X 235805.8,-586.0,-4655.2,-387145.5,42610.2

_SM_ANGLEo -50.4 KALMAN_Y 84504.6,766.6,2597.8,29280.6,-23735.8

GPS2 085927,6236.405,-1127.574,12,1.3,12,-11.0 MHEAD_RNG_PITCHd_Wd 299.9,45076,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 20917,62.75,0.738,0,0,603,558.06 ALTIM_BOTTOM_PING 625.3,71.3

SM_GC 4.40,11.95,0.00,0.00,0.031,0.000,0.000,32,1896,605,-11.26,-0.11,557.57 _24V_AH 23.3,39.530

IRIDIUM_FIX 6211.90,-1117.68,181207,121234 _10V_AH 10.1,18.635

TT8_MAMPS 0.026078 DATA_FILE_SIZE 50495,1010

HUMID 2021 CFSIZE 260165632,248094720

INTERNAL_PRESSURE 9.12144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 16.50 GPS 181207,145807,6237.857,-1134.103,27,1.4,27,-11.1

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 114 67.77 SBE_CT 749 24 418.89

Roll_motor 66 74 115.88 SBE_O2 682 19 302.09

VBD_pump_during_apogee 431 1270 12770.35 WL_BB2F 625 105 1531.17

VBD_pump_during_surface 62 737 1078.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 73 103 176.18 nil 0 0 0.00

Iridium_during_connect 77 160 290.54 nil 0 0 0.00

Iridium_during_xfer 263 223 1371.57

Transponder_ping 5 420 53.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.97

TT8 1738 19 347.57

LPSleep 17046 2 377.04

TT8_Active 641 19 128.33

TT8_Sampling 1959 39 787.73

TT8_CF8 610 45 282.48

TT8_Kalman 33 81 27.55

Analog_circuits 1603 12 194.31

GPS_charging 0 0 0.00

Compass 1937 8 156.57

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 44 0.00 0.00 -22.00 0.000 2 0.000 0.000 31 1875 1128

47 -0.95 -146.6 4.5 -0.0 1 206 11.35 2.55 -140.48 0.000 4 0.114 0.074 2285 510 3476

419 -0.95 -146.6 29.7 -14.5 17 424 0.00 2.47 0.00 0.000 6 0.000 0.040 2285 1904 3476

741 -0.95 -146.6 49.3 -6.7 33 742 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

1050 -0.95 -146.6 73.6 -6.0 48 1051 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

1359 -0.95 -146.6 96.1 -8.7 63 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

1668 -0.95 -146.6 120.1 -7.0 78 1670 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

1978 -0.95 -146.6 142.9 -8.6 93 1979 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

2286 -0.95 -146.6 165.8 -6.3 108 2288 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

2596 -0.95 -146.6 186.1 -6.3 123 2597 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

2905 -0.95 -146.6 206.8 -6.9 138 2909 0.00 2.50 0.00 0.000 4 0.000 0.049 2285 3291 3476

2967 -0.95 -146.6 211.2 -6.9 141 2971 0.00 2.45 0.00 0.000 6 0.000 0.044 2285 1917 3476

3292 -0.95 -146.6 233.1 -6.9 157 3293 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1917 3476

3602 -0.95 -146.6 253.3 -6.4 172 3603 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1917 3476

3911 -0.95 -146.6 272.9 -6.1 187 3912 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1917 3476

4220 -0.95 -146.6 292.8 -6.5 202 4221 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1917 3476

4529 -0.95 -146.6 311.9 -6.2 217 4531 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1917 3476

4838 -0.95 -146.6 330.7 -6.0 232 4840 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1917 3476

5148 -0.95 -146.6 350.0 -6.2 247 5149 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1917 3476

5457 -0.95 -146.6 369.6 -6.2 262 5458 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1917 3476

5766 -0.95 -146.6 389.1 -6.5 277 5767 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1917 3475

6076 -0.95 -146.6 409.1 -6.6 292 6080 0.00 2.50 0.00 0.000 4 0.000 0.050 2285 3297 3476

6142 -0.95 -146.6 413.5 -6.5 295 6146 0.00 2.50 0.00 0.000 6 0.000 0.045 2285 1902 3475

6469 -0.95 -146.6 434.9 -6.7 311 6470 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

6778 -0.95 -146.6 455.3 -6.4 326 6779 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3475

7087 -0.95 -146.6 474.3 -6.2 341 7092 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3294 3475

7153 -0.95 -146.6 479.0 -7.5 344 7158 0.00 2.53 0.00 0.000 6 0.000 0.045 2285 1904 3475

7481 -0.95 -146.6 501.3 -7.0 360 7482 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3474

7789 -0.95 -146.6 523.8 -7.6 375 7790 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

8098 -0.95 -146.6 547.0 -7.3 390 8100 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3474

8408 -0.95 -146.6 569.3 -7.0 405 8412 0.00 2.55 0.00 0.000 4 0.000 0.054 2285 3298 3474

8479 -0.95 -146.6 574.3 -7.0 408 8483 0.00 2.53 0.00 0.000 6 0.000 0.048 2285 1898 3474

8794 -0.95 -146.6 594.4 -6.0 423 8795 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3474

9104 -0.95 -146.6 611.0 -5.5 438 9105 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3474

9413 -0.95 -146.6 627.5 -5.3 453 9414 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3474

9722 -0.95 -146.6 645.8 -6.0 468 9726 0.00 2.58 0.00 0.000 4 0.000 0.061 2285 3293 3474

9805 -0.95 -146.6 651.3 -7.1 472 9809 0.00 2.53 0.00 0.000 6 0.000 0.053 2285 1902 3474

10131 -0.95 -146.6 670.8 -6.0 488 10132 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3473

10376 end dive: BOTTOM_OBSTACLE_DETECTED

state 10376 begin apogee

10381 -0.36 0.0 687.4 6.2 500 10507 0.62 0.00 123.00 1.271 6 0.074 0.000 2421 2095 2878

10508 end apogee: CONTROL_FINISHED_OK

state 10508 begin climb

10510 0.95 146.6 690.1 0.0 506 10637 1.25 0.00 122.78 1.226 6 0.054 0.000 2699 2095 2280

10941 1.00 190.2 673.3 4.7 527 10984 0.00 2.78 36.92 1.238 4 0.000 0.073 2699 691 2102

11045 1.00 190.2 666.7 6.9 531 11051 0.00 2.55 0.00 0.000 6 0.000 0.051 2699 2096 2102

11360 1.00 190.2 647.6 6.4 547 11361 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2096 2101

11669 1.00 190.2 627.4 6.3 562 11673 0.00 2.62 0.00 0.000 4 0.000 0.064 2700 3502 2100

11757 1.00 190.2 621.3 6.7 566 11762 0.00 2.58 0.00 0.000 6 0.000 0.054 2699 2101 2100

12084 1.03 210.1 603.2 5.4 582 12104 0.00 0.00 17.00 1.268 6 0.000 0.000 2700 2101 2021

12413 1.03 217.7 584.3 5.8 598 12422 0.00 0.00 7.60 1.256 6 0.000 0.000 2700 2101 1990

12722 1.03 217.7 565.6 6.2 613 12724 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2101 1989

13031 1.03 217.7 544.2 7.5 628 13033 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2101 1989

13341 1.03 217.7 519.8 7.9 643 13342 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2101 1989

13650 1.03 217.7 496.5 7.4 658 13651 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2101 1989

13960 1.03 217.7 475.3 6.8 673 13961 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2101 1989

14269 1.04 219.9 456.1 5.9 688 14270 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2101 1990

14578 1.04 221.3 437.7 6.0 703 14584 0.00 0.00 4.18 1.118 6 0.000 0.000 2700 2101 1975

14887 1.04 221.3 417.9 6.6 718 14888 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2101 1976

15196 1.04 221.3 398.2 6.3 733 15201 0.00 2.62 0.00 0.000 4 0.000 0.067 2700 688 1976

15251 1.04 221.3 394.4 6.5 735 15258 0.00 2.53 0.00 0.000 6 0.000 0.041 2700 2110 1976

15567 1.04 221.3 374.7 6.0 751 15568 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2110 1976

15876 1.06 235.3 356.2 5.6 766 15891 0.12 0.00 12.68 1.088 6 0.051 0.000 2745 2115 1919

16186 1.06 235.3 332.7 7.8 781 16187 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2115 1918

16495 1.06 235.3 308.5 7.7 796 16496 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2115 1919

16805 1.06 235.3 285.0 7.5 811 16806 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2115 1919

17114 1.06 235.3 262.3 7.1 826 17115 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2115 1919

17423 1.06 235.3 240.4 6.9 841 17424 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2115 1919

17733 1.06 235.3 219.3 6.8 856 17737 0.00 2.50 0.00 0.000 4 0.000 0.050 2745 3506 1919

17804 1.06 235.3 214.0 8.5 859 17809 0.00 2.53 0.00 0.000 6 0.000 0.041 2745 2100 1920

18131 1.06 235.3 192.0 6.9 875 18132 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2099 1920

18440 1.06 235.3 170.3 7.1 890 18442 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2100 1920

18750 1.06 235.3 148.0 7.4 905 18751 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2100 1920

19059 1.06 235.3 122.9 7.8 920 19061 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2099 1920

19369 1.06 235.3 100.4 7.4 935 19373 0.00 2.55 0.00 0.000 4 0.000 0.048 2745 3506 1921

19468 1.06 235.3 91.5 9.9 939 19475 0.00 2.50 0.00 0.000 6 0.000 0.041 2745 2104 1921

19784 1.06 235.3 64.3 8.7 955 19785 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2104 1921

20093 1.06 235.3 38.7 8.3 970 20097 0.00 2.53 0.00 0.000 4 0.000 0.048 2745 3503 1921

20164 1.06 235.3 32.5 8.2 973 20168 0.00 2.50 0.00 0.000 6 0.000 0.041 2745 2104 1921

20486 1.06 235.3 7.0 7.6 989 20487 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2104 1920

20796 1.30 437.4 3.8 -0.0 1004 20909 0.15 2.60 107.10 0.770 4 0.058 0.045 2788 3505 1093

20915 end climb: NO_VERTICAL_VELOCITY

state 20915 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	169	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	40	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-79351.266	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	084938,6236.348,-1127.607,31,1.2,31,-11.0	TGT_NAME	GW
_CALLS	2	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.198,0.068
_SM_DEPTHo	4.33	KALMAN_X	235805.8,-586.0,-4655.2,-387145.5,42610.2
_SM_ANGLEo	-50.4	KALMAN_Y	84504.6,766.6,2597.8,29280.6,-23735.8
GPS2	085927,6236.405,-1127.574,12,1.3,12,-11.0	MHEAD_RNG_PITCHd_Wd	299.9,45076,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	20917,62.75,0.738,0,0,603,558.06	ALTIM_BOTTOM_PING	625.3,71.3
SM_GC	4.40,11.95,0.00,0.00,0.031,0.000,0.000,32,1896,605,-11.26,-0.11,557.57	_24V_AH	23.3,39.530
IRIDIUM_FIX	6211.90,-1117.68,181207,121234	_10V_AH	10.1,18.635
TT8_MAMPS	0.026078	DATA_FILE_SIZE	50495,1010
HUMID	2021	CFSIZE	260165632,248094720
INTERNAL_PRESSURE	9.12144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.50	GPS	181207,145807,6237.857,-1134.103,27,1.4,27,-11.1
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	114	67.77	SBE_CT	749	24	418.89
Roll_motor	66	74	115.88	SBE_O2	682	19	302.09
VBD_pump_during_apogee	431	1270	12770.35	WL_BB2F	625	105	1531.17
VBD_pump_during_surface	62	737	1078.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	73	103	176.18	nil	0	0	0.00
Iridium_during_connect	77	160	290.54	nil	0	0	0.00
Iridium_during_xfer	263	223	1371.57
Transponder_ping	5	420	53.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.97
TT8	1738	19	347.57
LPSleep	17046	2	377.04
TT8_Active	641	19	128.33
TT8_Sampling	1959	39	787.73
TT8_CF8	610	45	282.48
TT8_Kalman	33	81	27.55
Analog_circuits	1603	12	194.31
GPS_charging	0	0	0.00
Compass	1937	8	156.57
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	44	0.00	0.00	-22.00	0.000	2	0.000	0.000	31	1875	1128
47	-0.95	-146.6	4.5	-0.0	1	206	11.35	2.55	-140.48	0.000	4	0.114	0.074	2285	510	3476
419	-0.95	-146.6	29.7	-14.5	17	424	0.00	2.47	0.00	0.000	6	0.000	0.040	2285	1904	3476
741	-0.95	-146.6	49.3	-6.7	33	742	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
1050	-0.95	-146.6	73.6	-6.0	48	1051	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
1359	-0.95	-146.6	96.1	-8.7	63	1360	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
1668	-0.95	-146.6	120.1	-7.0	78	1670	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
1978	-0.95	-146.6	142.9	-8.6	93	1979	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
2286	-0.95	-146.6	165.8	-6.3	108	2288	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
2596	-0.95	-146.6	186.1	-6.3	123	2597	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
2905	-0.95	-146.6	206.8	-6.9	138	2909	0.00	2.50	0.00	0.000	4	0.000	0.049	2285	3291	3476
2967	-0.95	-146.6	211.2	-6.9	141	2971	0.00	2.45	0.00	0.000	6	0.000	0.044	2285	1917	3476
3292	-0.95	-146.6	233.1	-6.9	157	3293	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1917	3476
3602	-0.95	-146.6	253.3	-6.4	172	3603	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1917	3476
3911	-0.95	-146.6	272.9	-6.1	187	3912	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1917	3476
4220	-0.95	-146.6	292.8	-6.5	202	4221	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1917	3476
4529	-0.95	-146.6	311.9	-6.2	217	4531	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1917	3476
4838	-0.95	-146.6	330.7	-6.0	232	4840	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1917	3476
5148	-0.95	-146.6	350.0	-6.2	247	5149	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1917	3476
5457	-0.95	-146.6	369.6	-6.2	262	5458	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1917	3476
5766	-0.95	-146.6	389.1	-6.5	277	5767	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1917	3475
6076	-0.95	-146.6	409.1	-6.6	292	6080	0.00	2.50	0.00	0.000	4	0.000	0.050	2285	3297	3476
6142	-0.95	-146.6	413.5	-6.5	295	6146	0.00	2.50	0.00	0.000	6	0.000	0.045	2285	1902	3475
6469	-0.95	-146.6	434.9	-6.7	311	6470	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
6778	-0.95	-146.6	455.3	-6.4	326	6779	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3475
7087	-0.95	-146.6	474.3	-6.2	341	7092	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3294	3475
7153	-0.95	-146.6	479.0	-7.5	344	7158	0.00	2.53	0.00	0.000	6	0.000	0.045	2285	1904	3475
7481	-0.95	-146.6	501.3	-7.0	360	7482	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3474
7789	-0.95	-146.6	523.8	-7.6	375	7790	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
8098	-0.95	-146.6	547.0	-7.3	390	8100	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3474
8408	-0.95	-146.6	569.3	-7.0	405	8412	0.00	2.55	0.00	0.000	4	0.000	0.054	2285	3298	3474
8479	-0.95	-146.6	574.3	-7.0	408	8483	0.00	2.53	0.00	0.000	6	0.000	0.048	2285	1898	3474
8794	-0.95	-146.6	594.4	-6.0	423	8795	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3474
9104	-0.95	-146.6	611.0	-5.5	438	9105	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3474
9413	-0.95	-146.6	627.5	-5.3	453	9414	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3474
9722	-0.95	-146.6	645.8	-6.0	468	9726	0.00	2.58	0.00	0.000	4	0.000	0.061	2285	3293	3474
9805	-0.95	-146.6	651.3	-7.1	472	9809	0.00	2.53	0.00	0.000	6	0.000	0.053	2285	1902	3474
10131	-0.95	-146.6	670.8	-6.0	488	10132	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3473
10376	end dive: BOTTOM_OBSTACLE_DETECTED
state	10376	begin apogee
10381	-0.36	0.0	687.4	6.2	500	10507	0.62	0.00	123.00	1.271	6	0.074	0.000	2421	2095	2878
10508	end apogee: CONTROL_FINISHED_OK
state	10508	begin climb
10510	0.95	146.6	690.1	0.0	506	10637	1.25	0.00	122.78	1.226	6	0.054	0.000	2699	2095	2280
10941	1.00	190.2	673.3	4.7	527	10984	0.00	2.78	36.92	1.238	4	0.000	0.073	2699	691	2102
11045	1.00	190.2	666.7	6.9	531	11051	0.00	2.55	0.00	0.000	6	0.000	0.051	2699	2096	2102
11360	1.00	190.2	647.6	6.4	547	11361	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2096	2101
11669	1.00	190.2	627.4	6.3	562	11673	0.00	2.62	0.00	0.000	4	0.000	0.064	2700	3502	2100
11757	1.00	190.2	621.3	6.7	566	11762	0.00	2.58	0.00	0.000	6	0.000	0.054	2699	2101	2100
12084	1.03	210.1	603.2	5.4	582	12104	0.00	0.00	17.00	1.268	6	0.000	0.000	2700	2101	2021
12413	1.03	217.7	584.3	5.8	598	12422	0.00	0.00	7.60	1.256	6	0.000	0.000	2700	2101	1990
12722	1.03	217.7	565.6	6.2	613	12724	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2101	1989
13031	1.03	217.7	544.2	7.5	628	13033	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2101	1989
13341	1.03	217.7	519.8	7.9	643	13342	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2101	1989
13650	1.03	217.7	496.5	7.4	658	13651	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2101	1989
13960	1.03	217.7	475.3	6.8	673	13961	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2101	1989
14269	1.04	219.9	456.1	5.9	688	14270	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2101	1990
14578	1.04	221.3	437.7	6.0	703	14584	0.00	0.00	4.18	1.118	6	0.000	0.000	2700	2101	1975
14887	1.04	221.3	417.9	6.6	718	14888	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2101	1976
15196	1.04	221.3	398.2	6.3	733	15201	0.00	2.62	0.00	0.000	4	0.000	0.067	2700	688	1976
15251	1.04	221.3	394.4	6.5	735	15258	0.00	2.53	0.00	0.000	6	0.000	0.041	2700	2110	1976
15567	1.04	221.3	374.7	6.0	751	15568	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2110	1976
15876	1.06	235.3	356.2	5.6	766	15891	0.12	0.00	12.68	1.088	6	0.051	0.000	2745	2115	1919
16186	1.06	235.3	332.7	7.8	781	16187	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2115	1918
16495	1.06	235.3	308.5	7.7	796	16496	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2115	1919
16805	1.06	235.3	285.0	7.5	811	16806	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2115	1919
17114	1.06	235.3	262.3	7.1	826	17115	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2115	1919
17423	1.06	235.3	240.4	6.9	841	17424	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2115	1919
17733	1.06	235.3	219.3	6.8	856	17737	0.00	2.50	0.00	0.000	4	0.000	0.050	2745	3506	1919
17804	1.06	235.3	214.0	8.5	859	17809	0.00	2.53	0.00	0.000	6	0.000	0.041	2745	2100	1920
18131	1.06	235.3	192.0	6.9	875	18132	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2099	1920
18440	1.06	235.3	170.3	7.1	890	18442	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2100	1920
18750	1.06	235.3	148.0	7.4	905	18751	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2100	1920
19059	1.06	235.3	122.9	7.8	920	19061	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2099	1920
19369	1.06	235.3	100.4	7.4	935	19373	0.00	2.55	0.00	0.000	4	0.000	0.048	2745	3506	1921
19468	1.06	235.3	91.5	9.9	939	19475	0.00	2.50	0.00	0.000	6	0.000	0.041	2745	2104	1921
19784	1.06	235.3	64.3	8.7	955	19785	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2104	1921
20093	1.06	235.3	38.7	8.3	970	20097	0.00	2.53	0.00	0.000	4	0.000	0.048	2745	3503	1921
20164	1.06	235.3	32.5	8.2	973	20168	0.00	2.50	0.00	0.000	6	0.000	0.041	2745	2104	1921
20486	1.06	235.3	7.0	7.6	989	20487	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2104	1920
20796	1.30	437.4	3.8	-0.0	1004	20909	0.15	2.60	107.10	0.770	4	0.058	0.045	2788	3505	1093
20915	end climb: NO_VERTICAL_VELOCITY
state	20915	begin surface