Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 246 * 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 246 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 558.0575 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -80894.383 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 558.0575

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 -80894.383

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 19 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 246 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 212307,6340.025,-1305.825,31,0.8,31,-12.3 TGT_NAME KW

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.113,0.175

_SM_DEPTHo 2.86 KALMAN_X 328739.1,61.1,-1302.7,-570621.4,11935.4

_SM_ANGLEo -53.6 KALMAN_Y -37374.0,-158.8,991.7,271425.7,-5842.9

GPS2 212850,6339.966,-1305.655,11,1.6,11,-12.3 MHEAD_RNG_PITCHd_Wd 339.4,18918,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.2,1.004196 XPDR_PINGS 9

SM_CCo 19673,85.53,0.775,0,0,602,558.06 ALTIM_BOTTOM_PING 626.3,71.5

SM_GC 2.90,11.93,0.00,0.00,0.028,0.000,0.000,26,1887,603,-11.27,-0.37,558.06 _24V_AH 23.3,53.267

IRIDIUM_FIX 6313.04,-1310.55,060108,191933 _10V_AH 10.1,26.024

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47405,953

HUMID 2040 CFSIZE 260165632,243089408

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

TCM_TEMP 15.30 GPS 070108,030707,6340.478,-1307.353,27,1.5,27,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 113 67.18 SBE_CT 705 24 394.71

Roll_motor 87 75 152.59 SBE_O2 643 19 284.70

VBD_pump_during_apogee 418 1263 12307.70 WL_BB2F 618 105 1514.08

VBD_pump_during_surface 85 775 1545.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 93.25 nil 0 0 0.00

Iridium_during_connect 33 160 126.35 nil 0 0 0.00

Iridium_during_xfer 158 223 821.37

Transponder_ping 7 420 73.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.56

TT8 1668 19 333.71

LPSleep 15788 2 349.23

TT8_Active 677 19 135.57

TT8_Sampling 1931 39 776.48

TT8_CF8 458 45 211.95

TT8_Kalman 33 81 27.57

Analog_circuits 1637 12 198.44

GPS_charging 0 0 0.00

Compass 1909 8 154.29

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

23 -0.95 -146.6 0.0 0.0 0 75 0.00 0.00 -50.40 0.000 2 0.000 0.000 27 1896 1684

78 -0.95 -146.6 3.0 -0.3 3 226 11.32 2.62 -129.50 0.000 4 0.114 0.075 2284 496 3475

358 -0.95 -146.6 17.6 -13.1 16 362 0.00 2.50 0.00 0.000 6 0.000 0.041 2283 1910 3475

684 -0.95 -146.6 41.1 -8.1 32 685 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1914 3475

995 -0.95 -146.6 67.3 -7.2 47 996 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1914 3475

1302 -0.95 -146.6 91.0 -8.1 62 1304 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1914 3475

1611 -0.95 -146.6 115.7 -7.7 77 1613 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1914 3475

1921 -0.95 -146.6 139.6 -7.8 92 1925 0.00 2.50 0.00 0.000 4 0.000 0.049 2283 3297 3475

1987 -0.95 -146.6 144.7 -7.1 95 1991 0.00 2.53 0.00 0.000 6 0.000 0.043 2284 1892 3475

2314 -0.95 -146.6 167.7 -6.8 111 2315 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1892 3475

2624 -0.95 -146.6 187.7 -6.5 126 2628 0.00 2.55 0.00 0.000 4 0.000 0.048 2284 3301 3475

2713 -0.95 -146.6 193.4 -6.3 130 2718 0.00 2.53 0.00 0.000 6 0.000 0.043 2284 1893 3475

3034 -0.95 -146.6 216.1 -7.7 146 3035 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1893 3475

3344 -0.95 -146.6 238.5 -6.8 161 3345 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1893 3475

3653 -0.95 -146.6 261.2 -7.6 176 3657 0.00 2.55 0.00 0.000 4 0.000 0.048 2284 3300 3475

3729 -0.95 -146.6 267.5 -8.3 179 3736 0.00 2.50 0.00 0.000 6 0.000 0.044 2284 1900 3475

4045 -0.95 -146.6 291.3 -7.6 195 4046 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1899 3475

4354 -0.95 -146.6 314.0 -7.2 210 4358 0.00 2.53 0.00 0.000 4 0.000 0.048 2283 3299 3475

4415 -0.95 -146.6 318.8 -8.2 213 4419 0.00 2.53 0.00 0.000 6 0.000 0.044 2284 1892 3475

4741 -0.95 -146.6 343.3 -7.8 229 4742 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1893 3475

5050 -0.95 -146.6 365.9 -7.1 244 5054 0.00 2.55 0.00 0.000 4 0.000 0.050 2284 3300 3475

5104 -0.95 -146.6 370.2 -8.2 246 5111 0.00 2.53 0.00 0.000 6 0.000 0.045 2283 1897 3475

5420 -0.95 -146.6 396.4 -7.8 262 5421 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3475

5729 -0.95 -146.6 420.4 -7.7 277 5733 0.00 2.53 0.00 0.000 4 0.000 0.051 2284 3297 3475

5800 -0.95 -146.6 426.1 -7.6 280 5804 0.00 2.53 0.00 0.000 6 0.000 0.046 2283 1895 3475

6115 -0.95 -146.6 448.4 -6.9 295 6116 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1895 3475

6424 -0.95 -146.6 471.4 -7.8 310 6426 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1891 3474

6734 -0.95 -146.6 495.0 -7.4 325 6738 0.00 2.55 0.00 0.000 4 0.000 0.051 2283 3305 3474

6818 -0.95 -146.6 501.1 -7.5 329 6822 0.00 2.53 0.00 0.000 6 0.000 0.046 2283 1895 3474

7143 -0.95 -146.6 521.7 -5.8 345 7145 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1895 3474

7453 -0.95 -146.6 541.9 -6.6 360 7457 0.00 2.55 0.00 0.000 4 0.000 0.053 2283 3297 3474

7501 -0.95 -146.6 545.3 -7.1 362 7506 0.00 2.55 0.00 0.000 6 0.000 0.048 2283 1902 3474

7822 -0.95 -146.6 566.3 -6.8 378 7823 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1902 3474

8132 -0.95 -146.6 586.9 -6.2 393 8136 0.00 2.55 0.00 0.000 4 0.000 0.054 2283 3297 3474

8209 -0.95 -146.6 592.0 -6.3 396 8216 0.00 2.53 0.00 0.000 6 0.000 0.048 2283 1898 3474

8524 -0.95 -146.6 615.2 -8.1 412 8526 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3474

8834 -0.95 -146.6 636.6 -6.1 427 8835 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3474

9143 -0.95 -146.6 653.7 -5.5 442 9144 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3474

9452 -0.95 -146.6 673.4 -7.6 457 9453 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3474

9657 end dive: BOTTOM_OBSTACLE_DETECTED

state 9657 begin apogee

9663 -0.36 0.0 687.8 6.7 467 9790 0.62 0.00 124.07 1.246 6 0.068 0.000 2422 2096 2878

9791 end apogee: CONTROL_FINISHED_OK

state 9791 begin climb

9793 0.95 146.6 691.3 0.0 473 9924 1.23 2.70 121.93 1.230 4 0.051 0.064 2699 3493 2280

9990 0.95 146.6 686.3 6.1 483 9995 0.00 2.55 0.00 0.000 6 0.000 0.050 2699 2101 2279

10317 0.97 166.3 669.6 5.4 499 10337 0.00 0.00 17.00 1.257 6 0.000 0.000 2700 2101 2200

10647 1.00 187.7 651.4 5.4 515 10668 0.00 0.00 19.02 1.263 6 0.000 0.000 2700 2101 2112

10976 1.00 187.7 629.5 6.4 531 10977 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2101 2111

11286 1.00 191.5 610.9 5.9 546 11295 0.00 2.60 4.07 1.180 4 0.000 0.058 2700 3497 2097

11398 1.00 191.5 603.7 6.8 551 11402 0.00 2.53 0.00 0.000 6 0.000 0.048 2699 2099 2097

11724 1.02 209.3 585.8 5.5 567 11744 0.00 0.00 15.68 1.227 6 0.000 0.000 2700 2099 2023

12053 1.06 239.7 569.4 5.1 583 12082 0.12 0.00 26.30 1.213 6 0.050 0.000 2741 2099 1900

12382 1.06 239.7 542.3 9.4 599 12383 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1900

12691 1.06 239.7 513.9 8.4 614 12696 0.00 2.60 0.00 0.000 4 0.000 0.053 2741 3504 1900

12757 1.06 239.7 507.9 8.8 617 12762 0.00 2.53 0.00 0.000 6 0.000 0.044 2741 2098 1900

13078 1.06 239.7 478.5 9.0 633 13079 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1900

13387 1.06 239.7 450.8 9.0 648 13388 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1900

13697 1.06 239.7 422.7 8.6 663 13698 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1900

14006 1.06 239.7 399.1 7.0 678 14010 0.00 2.53 0.00 0.000 4 0.000 0.051 2741 3499 1900

14067 1.06 239.7 394.6 8.5 681 14071 0.00 2.50 0.00 0.000 6 0.000 0.044 2741 2099 1900

14393 1.06 239.7 371.4 6.5 697 14394 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1901

14702 1.06 239.7 352.9 6.7 712 14703 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1901

15011 1.06 239.7 327.0 7.6 727 15015 0.00 2.55 0.00 0.000 4 0.000 0.051 2741 3506 1901

15072 1.06 239.7 322.6 6.6 730 15077 0.00 2.53 0.00 0.000 6 0.000 0.042 2741 2090 1901

15398 1.06 239.7 296.4 6.5 746 15399 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2090 1901

15708 1.09 259.6 280.4 5.4 761 15728 0.00 0.00 17.52 1.022 6 0.000 0.000 2741 2090 1819

16037 1.09 259.6 256.3 9.0 777 16038 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2090 1819

16346 1.09 259.6 231.6 8.7 792 16350 0.00 2.58 0.00 0.000 4 0.000 0.051 2741 3504 1819

16417 1.09 259.6 225.1 9.2 795 16421 0.00 2.50 0.00 0.000 6 0.000 0.041 2741 2098 1818

16739 1.09 259.6 194.9 9.6 811 16740 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1818

17048 1.09 259.6 168.8 8.1 826 17049 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1818

17358 1.09 263.1 147.2 5.9 841 17363 0.00 0.00 4.10 0.950 6 0.000 0.000 2741 2098 1804

17668 1.09 263.1 124.2 8.5 856 17669 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1804

17976 1.09 263.1 100.7 7.4 871 17977 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1804

18285 1.09 263.1 74.4 8.3 886 18286 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1804

18594 1.09 263.1 52.8 8.1 901 18599 0.00 2.55 0.00 0.000 4 0.000 0.049 2741 3500 1805

18672 1.09 263.1 46.0 8.3 904 18678 0.00 2.50 0.00 0.000 6 0.000 0.041 2741 2101 1805

18989 1.09 263.1 16.5 11.1 920 18990 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2101 1804

19298 1.34 466.6 2.3 -0.1 935 19369 0.17 0.00 68.45 0.794 2 0.045 0.000 2793 2095 1284

19370 end climb: SURFACE_DEPTH_REACHED

state 19370 begin surface coast

19670 end surface coast: NO_VERTICAL_VELOCITY

state 19670 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	246	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	558.0575	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-80894.383	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	212307,6340.025,-1305.825,31,0.8,31,-12.3	TGT_NAME	KW
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.113,0.175
_SM_DEPTHo	2.86	KALMAN_X	328739.1,61.1,-1302.7,-570621.4,11935.4
_SM_ANGLEo	-53.6	KALMAN_Y	-37374.0,-158.8,991.7,271425.7,-5842.9
GPS2	212850,6339.966,-1305.655,11,1.6,11,-12.3	MHEAD_RNG_PITCHd_Wd	339.4,18918,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	2.2,1.004196	XPDR_PINGS	9
SM_CCo	19673,85.53,0.775,0,0,602,558.06	ALTIM_BOTTOM_PING	626.3,71.5
SM_GC	2.90,11.93,0.00,0.00,0.028,0.000,0.000,26,1887,603,-11.27,-0.37,558.06	_24V_AH	23.3,53.267
IRIDIUM_FIX	6313.04,-1310.55,060108,191933	_10V_AH	10.1,26.024
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47405,953
HUMID	2040	CFSIZE	260165632,243089408
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
TCM_TEMP	15.30	GPS	070108,030707,6340.478,-1307.353,27,1.5,27,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	113	67.18	SBE_CT	705	24	394.71
Roll_motor	87	75	152.59	SBE_O2	643	19	284.70
VBD_pump_during_apogee	418	1263	12307.70	WL_BB2F	618	105	1514.08
VBD_pump_during_surface	85	775	1545.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	93.25	nil	0	0	0.00
Iridium_during_connect	33	160	126.35	nil	0	0	0.00
Iridium_during_xfer	158	223	821.37
Transponder_ping	7	420	73.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.56
TT8	1668	19	333.71
LPSleep	15788	2	349.23
TT8_Active	677	19	135.57
TT8_Sampling	1931	39	776.48
TT8_CF8	458	45	211.95
TT8_Kalman	33	81	27.57
Analog_circuits	1637	12	198.44
GPS_charging	0	0	0.00
Compass	1909	8	154.29
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
23	-0.95	-146.6	0.0	0.0	0	75	0.00	0.00	-50.40	0.000	2	0.000	0.000	27	1896	1684
78	-0.95	-146.6	3.0	-0.3	3	226	11.32	2.62	-129.50	0.000	4	0.114	0.075	2284	496	3475
358	-0.95	-146.6	17.6	-13.1	16	362	0.00	2.50	0.00	0.000	6	0.000	0.041	2283	1910	3475
684	-0.95	-146.6	41.1	-8.1	32	685	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1914	3475
995	-0.95	-146.6	67.3	-7.2	47	996	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1914	3475
1302	-0.95	-146.6	91.0	-8.1	62	1304	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1914	3475
1611	-0.95	-146.6	115.7	-7.7	77	1613	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1914	3475
1921	-0.95	-146.6	139.6	-7.8	92	1925	0.00	2.50	0.00	0.000	4	0.000	0.049	2283	3297	3475
1987	-0.95	-146.6	144.7	-7.1	95	1991	0.00	2.53	0.00	0.000	6	0.000	0.043	2284	1892	3475
2314	-0.95	-146.6	167.7	-6.8	111	2315	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1892	3475
2624	-0.95	-146.6	187.7	-6.5	126	2628	0.00	2.55	0.00	0.000	4	0.000	0.048	2284	3301	3475
2713	-0.95	-146.6	193.4	-6.3	130	2718	0.00	2.53	0.00	0.000	6	0.000	0.043	2284	1893	3475
3034	-0.95	-146.6	216.1	-7.7	146	3035	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1893	3475
3344	-0.95	-146.6	238.5	-6.8	161	3345	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1893	3475
3653	-0.95	-146.6	261.2	-7.6	176	3657	0.00	2.55	0.00	0.000	4	0.000	0.048	2284	3300	3475
3729	-0.95	-146.6	267.5	-8.3	179	3736	0.00	2.50	0.00	0.000	6	0.000	0.044	2284	1900	3475
4045	-0.95	-146.6	291.3	-7.6	195	4046	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1899	3475
4354	-0.95	-146.6	314.0	-7.2	210	4358	0.00	2.53	0.00	0.000	4	0.000	0.048	2283	3299	3475
4415	-0.95	-146.6	318.8	-8.2	213	4419	0.00	2.53	0.00	0.000	6	0.000	0.044	2284	1892	3475
4741	-0.95	-146.6	343.3	-7.8	229	4742	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1893	3475
5050	-0.95	-146.6	365.9	-7.1	244	5054	0.00	2.55	0.00	0.000	4	0.000	0.050	2284	3300	3475
5104	-0.95	-146.6	370.2	-8.2	246	5111	0.00	2.53	0.00	0.000	6	0.000	0.045	2283	1897	3475
5420	-0.95	-146.6	396.4	-7.8	262	5421	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3475
5729	-0.95	-146.6	420.4	-7.7	277	5733	0.00	2.53	0.00	0.000	4	0.000	0.051	2284	3297	3475
5800	-0.95	-146.6	426.1	-7.6	280	5804	0.00	2.53	0.00	0.000	6	0.000	0.046	2283	1895	3475
6115	-0.95	-146.6	448.4	-6.9	295	6116	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1895	3475
6424	-0.95	-146.6	471.4	-7.8	310	6426	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1891	3474
6734	-0.95	-146.6	495.0	-7.4	325	6738	0.00	2.55	0.00	0.000	4	0.000	0.051	2283	3305	3474
6818	-0.95	-146.6	501.1	-7.5	329	6822	0.00	2.53	0.00	0.000	6	0.000	0.046	2283	1895	3474
7143	-0.95	-146.6	521.7	-5.8	345	7145	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1895	3474
7453	-0.95	-146.6	541.9	-6.6	360	7457	0.00	2.55	0.00	0.000	4	0.000	0.053	2283	3297	3474
7501	-0.95	-146.6	545.3	-7.1	362	7506	0.00	2.55	0.00	0.000	6	0.000	0.048	2283	1902	3474
7822	-0.95	-146.6	566.3	-6.8	378	7823	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1902	3474
8132	-0.95	-146.6	586.9	-6.2	393	8136	0.00	2.55	0.00	0.000	4	0.000	0.054	2283	3297	3474
8209	-0.95	-146.6	592.0	-6.3	396	8216	0.00	2.53	0.00	0.000	6	0.000	0.048	2283	1898	3474
8524	-0.95	-146.6	615.2	-8.1	412	8526	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3474
8834	-0.95	-146.6	636.6	-6.1	427	8835	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3474
9143	-0.95	-146.6	653.7	-5.5	442	9144	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3474
9452	-0.95	-146.6	673.4	-7.6	457	9453	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3474
9657	end dive: BOTTOM_OBSTACLE_DETECTED
state	9657	begin apogee
9663	-0.36	0.0	687.8	6.7	467	9790	0.62	0.00	124.07	1.246	6	0.068	0.000	2422	2096	2878
9791	end apogee: CONTROL_FINISHED_OK
state	9791	begin climb
9793	0.95	146.6	691.3	0.0	473	9924	1.23	2.70	121.93	1.230	4	0.051	0.064	2699	3493	2280
9990	0.95	146.6	686.3	6.1	483	9995	0.00	2.55	0.00	0.000	6	0.000	0.050	2699	2101	2279
10317	0.97	166.3	669.6	5.4	499	10337	0.00	0.00	17.00	1.257	6	0.000	0.000	2700	2101	2200
10647	1.00	187.7	651.4	5.4	515	10668	0.00	0.00	19.02	1.263	6	0.000	0.000	2700	2101	2112
10976	1.00	187.7	629.5	6.4	531	10977	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2101	2111
11286	1.00	191.5	610.9	5.9	546	11295	0.00	2.60	4.07	1.180	4	0.000	0.058	2700	3497	2097
11398	1.00	191.5	603.7	6.8	551	11402	0.00	2.53	0.00	0.000	6	0.000	0.048	2699	2099	2097
11724	1.02	209.3	585.8	5.5	567	11744	0.00	0.00	15.68	1.227	6	0.000	0.000	2700	2099	2023
12053	1.06	239.7	569.4	5.1	583	12082	0.12	0.00	26.30	1.213	6	0.050	0.000	2741	2099	1900
12382	1.06	239.7	542.3	9.4	599	12383	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1900
12691	1.06	239.7	513.9	8.4	614	12696	0.00	2.60	0.00	0.000	4	0.000	0.053	2741	3504	1900
12757	1.06	239.7	507.9	8.8	617	12762	0.00	2.53	0.00	0.000	6	0.000	0.044	2741	2098	1900
13078	1.06	239.7	478.5	9.0	633	13079	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1900
13387	1.06	239.7	450.8	9.0	648	13388	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1900
13697	1.06	239.7	422.7	8.6	663	13698	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1900
14006	1.06	239.7	399.1	7.0	678	14010	0.00	2.53	0.00	0.000	4	0.000	0.051	2741	3499	1900
14067	1.06	239.7	394.6	8.5	681	14071	0.00	2.50	0.00	0.000	6	0.000	0.044	2741	2099	1900
14393	1.06	239.7	371.4	6.5	697	14394	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1901
14702	1.06	239.7	352.9	6.7	712	14703	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1901
15011	1.06	239.7	327.0	7.6	727	15015	0.00	2.55	0.00	0.000	4	0.000	0.051	2741	3506	1901
15072	1.06	239.7	322.6	6.6	730	15077	0.00	2.53	0.00	0.000	6	0.000	0.042	2741	2090	1901
15398	1.06	239.7	296.4	6.5	746	15399	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2090	1901
15708	1.09	259.6	280.4	5.4	761	15728	0.00	0.00	17.52	1.022	6	0.000	0.000	2741	2090	1819
16037	1.09	259.6	256.3	9.0	777	16038	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2090	1819
16346	1.09	259.6	231.6	8.7	792	16350	0.00	2.58	0.00	0.000	4	0.000	0.051	2741	3504	1819
16417	1.09	259.6	225.1	9.2	795	16421	0.00	2.50	0.00	0.000	6	0.000	0.041	2741	2098	1818
16739	1.09	259.6	194.9	9.6	811	16740	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1818
17048	1.09	259.6	168.8	8.1	826	17049	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1818
17358	1.09	263.1	147.2	5.9	841	17363	0.00	0.00	4.10	0.950	6	0.000	0.000	2741	2098	1804
17668	1.09	263.1	124.2	8.5	856	17669	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1804
17976	1.09	263.1	100.7	7.4	871	17977	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1804
18285	1.09	263.1	74.4	8.3	886	18286	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1804
18594	1.09	263.1	52.8	8.1	901	18599	0.00	2.55	0.00	0.000	4	0.000	0.049	2741	3500	1805
18672	1.09	263.1	46.0	8.3	904	18678	0.00	2.50	0.00	0.000	6	0.000	0.041	2741	2101	1805
18989	1.09	263.1	16.5	11.1	920	18990	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2101	1804
19298	1.34	466.6	2.3	-0.1	935	19369	0.17	0.00	68.45	0.794	2	0.045	0.000	2793	2095	1284
19370	end climb: SURFACE_DEPTH_REACHED
state	19370	begin surface coast
19670	end surface coast: NO_VERTICAL_VELOCITY
state	19670	begin surface