Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 267 * 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 267 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 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 -81721.398 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 57 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 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 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 412.5

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 -81721.398

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 57

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 29 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 267 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 221156,6352.377,-1328.397,38,1.1,38,-12.6 TGT_NAME KE

_CALLS 5 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.238,-0.009

_SM_DEPTHo 2.77 KALMAN_X 290058.0,6065.3,2081.6,-561034.6,-23101.4

_SM_ANGLEo -54.6 KALMAN_Y -39814.8,1523.4,384.8,296698.8,-3887.3

GPS2 224009,6352.891,-1327.896,10,2.0,10,-12.6 MHEAD_RNG_PITCHd_Wd 104.7,15566,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.1,1.021585 XPDR_PINGS 5

SM_CCo 18183,0.30,1.228,0,0,602,558.06 _24V_AH 23.2,57.322

SM_GC 2.92,0.00,0.00,0.30,0.000,0.000,1.228,34,1898,602,-11.32,-0.06,558.06 _10V_AH 10.1,27.971

IRIDIUM_FIX 6327.46,-1327.85,120108,020240 DATA_FILE_SIZE 44366,851

TT8_MAMPS 0.026845 CFSIZE 260165632,241676288

HUMID 2058 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,28,0,0

INTERNAL_PRESSURE 9.12144 GPS 120108,034525,6355.110,-1319.725,24,1.2,41,-12.6

TCM_TEMP 18.70

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 134 81.59 SBE_CT 626 24 349.06

Roll_motor 211 82 401.79 SBE_O2 573 19 252.90

VBD_pump_during_apogee 454 1349 14226.27 WL_BB2F 524 105 1278.56

VBD_pump_during_surface 62 1227 1790.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 189 103 453.93 nil 0 0 0.00

Iridium_during_connect 277 160 1028.98 nil 0 0 0.00

Iridium_during_xfer 845 223 4376.85

Transponder_ping 7 420 75.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.00

TT8 1666 19 333.35

LPSleep 13605 2 300.94

TT8_Active 706 19 141.25

TT8_Sampling 2303 39 925.90

TT8_CF8 1594 45 737.39

TT8_Kalman 33 81 27.56

Analog_circuits 1897 12 229.98

GPS_charging 0 0 0.00

Compass 2251 8 181.94

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.23 -146.6 0.0 0.0 0 104 0.00 0.00 -80.82 0.000 2 0.000 0.000 28 1881 2220

107 -1.23 -146.6 3.2 -0.8 4 200 11.50 2.58 -74.38 0.000 4 0.134 0.075 2224 500 3477

311 -1.23 -146.6 17.6 -11.4 13 318 0.00 2.53 0.00 0.000 6 0.000 0.042 2224 1906 3477

627 -1.23 -146.6 51.6 -10.3 29 631 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3298 3477

682 -1.23 -146.6 57.5 -11.5 31 689 0.00 2.55 0.00 0.000 6 0.000 0.045 2224 1906 3476

998 -1.23 -146.6 87.8 -9.1 47 1003 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3296 3476

1042 -1.23 -146.6 92.0 -8.8 49 1046 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1898 3477

1369 -1.23 -146.6 123.9 -9.9 65 1374 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3303 3476

1419 -1.23 -146.6 129.5 -11.2 67 1423 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1901 3476

1734 -1.23 -146.6 164.4 -10.4 82 1738 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3296 3476

1773 -1.23 -146.6 168.4 -10.3 84 1778 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1896 3476

2102 -1.23 -146.6 201.7 -9.9 100 2107 0.00 2.55 0.00 0.000 4 0.000 0.049 2224 3298 3476

2135 -1.23 -146.6 205.4 -10.1 101 2141 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1898 3476

2450 -1.23 -146.6 239.3 -11.7 117 2455 0.00 2.55 0.00 0.000 4 0.000 0.049 2224 3301 3476

2477 -1.23 -146.6 242.4 -11.4 118 2482 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1901 3476

2793 -1.23 -146.6 277.7 -11.1 133 2797 0.00 2.55 0.00 0.000 4 0.000 0.049 2224 3304 3476

2836 -1.23 -146.6 282.5 -11.3 135 2840 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1902 3476

3164 -1.23 -146.6 318.5 -10.8 151 3165 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1902 3476

3472 -1.23 -146.6 349.5 -9.6 166 3477 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3297 3476

3521 -1.23 -146.6 354.7 -10.1 168 3525 0.00 2.53 0.00 0.000 6 0.000 0.045 2224 1899 3476

3848 -1.23 -146.6 387.4 -10.0 184 3852 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3297 3476

3875 -1.23 -146.6 390.3 -11.2 185 3879 0.00 2.53 0.00 0.000 6 0.000 0.045 2224 1898 3476

4190 -1.23 -146.6 423.8 -10.5 200 4194 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3299 3476

4267 -1.23 -146.6 431.8 -9.7 203 4273 0.00 2.53 0.00 0.000 6 0.000 0.047 2224 1901 3476

4582 -1.23 -146.6 461.5 -8.5 219 4586 0.00 2.53 0.00 0.000 4 0.000 0.051 2224 3297 3475

4625 -1.23 -146.6 465.0 -8.2 221 4629 0.00 2.53 0.00 0.000 6 0.000 0.047 2224 1901 3475

4952 -1.23 -146.6 492.0 -9.3 237 4954 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1901 3475

5261 -1.23 -146.6 521.7 -9.7 252 5266 0.00 2.55 0.00 0.000 4 0.000 0.053 2224 3294 3475

5288 -1.23 -146.6 524.4 -10.1 253 5292 0.00 2.53 0.00 0.000 6 0.000 0.048 2224 1901 3475

5610 -1.23 -146.6 555.7 -10.0 269 5614 0.00 2.58 0.00 0.000 4 0.000 0.054 2224 3301 3475

5785 -1.23 -146.6 574.1 -10.8 277 5789 0.00 2.55 0.00 0.000 6 0.000 0.050 2224 1900 3475

6111 -1.23 -146.6 606.9 -10.0 293 6115 0.00 2.58 0.00 0.000 4 0.000 0.057 2224 3296 3475

6182 -1.23 -146.6 614.2 -10.2 296 6186 0.00 2.55 0.00 0.000 6 0.000 0.050 2224 1898 3475

6503 -1.23 -146.6 642.7 -8.3 312 6508 0.00 2.60 0.00 0.000 4 0.000 0.060 2224 3300 3475

6615 -1.23 -146.6 652.0 -8.7 317 6619 0.00 2.55 0.00 0.000 6 0.000 0.052 2224 1895 3475

6941 -1.23 -146.6 681.6 -9.6 333 6946 0.00 2.60 0.00 0.000 4 0.000 0.061 2224 3293 3475

7064 -1.23 -146.6 693.9 -9.3 338 7070 0.00 2.55 0.00 0.000 6 0.000 0.054 2224 1901 3475

7379 -1.23 -146.6 722.9 -8.8 354 7384 0.00 2.58 0.00 0.000 4 0.000 0.062 2224 3294 3474

7445 -1.23 -146.6 728.8 -8.9 357 7450 0.00 2.55 0.00 0.000 6 0.000 0.056 2224 1896 3474

7773 -1.23 -146.6 755.4 -8.0 373 7777 0.00 2.60 0.00 0.000 4 0.000 0.064 2224 3293 3473

7872 -1.23 -146.6 763.9 -9.0 377 7879 0.00 2.58 0.00 0.000 6 0.000 0.058 2224 1900 3473

8188 -1.23 -146.6 791.5 -10.0 393 8192 0.00 2.60 0.00 0.000 4 0.000 0.067 2224 3292 3472

8209 -1.23 -146.6 793.9 -11.0 394 8214 0.00 2.58 0.00 0.000 6 0.000 0.058 2224 1896 3472

8537 -1.23 -146.6 796.2 -0.0 410 8541 0.00 2.67 0.00 0.000 4 0.000 0.082 2224 489 3472

8606 end dive: NO_VERTICAL_VELOCITY

state 8606 begin apogee

8615 -0.36 0.0 796.2 0.0 413 8746 0.82 0.00 125.25 1.350 6 0.048 0.000 2418 2094 2878

8747 end apogee: CONTROL_FINISHED_OK

state 8747 begin climb

8749 1.23 146.6 795.9 0.0 420 8882 1.52 2.72 124.00 1.302 4 0.045 0.069 2767 3503 2280

9138 1.27 181.9 773.3 6.7 438 9174 0.00 2.60 30.48 1.302 6 0.000 0.057 2767 2101 2136

9484 1.27 181.9 743.6 9.0 454 9488 0.00 2.62 0.00 0.000 4 0.000 0.064 2767 3501 2135

9740 1.27 181.9 717.7 9.4 465 9747 0.00 2.60 0.00 0.000 6 0.000 0.056 2767 2091 2134

10057 1.27 181.9 690.7 8.3 481 10061 0.00 2.65 0.00 0.000 4 0.000 0.064 2767 3499 2133

10111 1.27 181.9 685.9 8.4 483 10118 0.00 2.58 0.00 0.000 6 0.000 0.054 2767 2095 2133

10427 1.27 182.4 660.5 8.0 499 10431 0.00 2.62 0.00 0.000 4 0.000 0.064 2767 3506 2133

10533 1.27 182.4 651.3 8.5 504 10538 0.00 2.58 0.00 0.000 6 0.000 0.054 2767 2103 2133

10859 1.27 182.4 623.6 8.6 520 10863 0.00 2.62 0.00 0.000 4 0.000 0.061 2767 3506 2132

11101 1.28 188.1 605.1 7.8 531 11111 0.00 2.58 5.62 1.256 6 0.000 0.052 2767 2098 2111

11427 1.31 210.9 581.2 7.1 547 11452 0.00 2.65 19.83 1.255 4 0.000 0.061 2767 3501 2018

11582 1.36 252.3 571.1 6.4 554 11623 0.10 2.58 35.12 1.226 6 0.062 0.051 2796 2099 1849

11944 1.36 252.3 541.1 9.0 572 11949 0.00 2.60 0.00 0.000 4 0.000 0.058 2796 3505 1849

12033 1.36 252.3 532.4 10.2 576 12038 0.00 2.55 0.00 0.000 6 0.000 0.049 2796 2099 1849

12354 1.36 252.3 502.5 9.3 592 12355 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2099 1849

12663 1.36 252.3 472.3 9.7 607 12668 0.00 2.60 0.00 0.000 4 0.000 0.055 2795 3500 1849

12776 1.36 252.3 460.5 11.0 612 12781 0.00 2.55 0.00 0.000 6 0.000 0.047 2796 2098 1849

13097 1.36 252.3 425.6 10.6 628 13101 0.00 2.60 0.00 0.000 4 0.000 0.054 2795 3506 1849

13181 1.36 252.3 416.0 11.5 632 13185 0.00 2.55 0.00 0.000 6 0.000 0.046 2796 2092 1849

13506 1.36 252.3 380.0 11.2 648 13511 0.00 2.60 0.00 0.000 4 0.000 0.054 2796 3504 1850

13591 1.36 252.3 370.0 12.0 652 13595 0.00 2.53 0.00 0.000 6 0.000 0.045 2796 2098 1850

13917 1.36 252.3 331.7 12.1 668 13921 0.00 2.58 0.00 0.000 4 0.000 0.052 2796 3502 1851

13979 1.36 252.3 324.0 12.5 671 13983 0.00 2.53 0.00 0.000 6 0.000 0.044 2795 2092 1851

14305 1.36 252.3 287.1 10.6 687 14309 0.00 2.60 0.00 0.000 4 0.000 0.053 2796 3507 1851

14399 1.36 252.3 276.1 11.2 691 14403 0.00 2.50 0.00 0.000 6 0.000 0.044 2795 2102 1851

14720 1.36 252.3 243.0 9.9 707 14724 0.00 2.58 0.00 0.000 4 0.000 0.051 2796 3508 1852

14769 1.36 252.3 237.8 10.8 709 14773 0.00 2.53 0.00 0.000 6 0.000 0.043 2796 2095 1851

15084 1.36 252.3 209.0 9.2 724 15088 0.00 2.58 0.00 0.000 4 0.000 0.051 2796 3502 1852

15133 1.36 252.3 204.2 8.9 726 15137 0.00 2.47 0.00 0.000 6 0.000 0.042 2796 2098 1852

15454 1.36 252.3 175.2 8.3 742 15459 0.00 2.58 0.00 0.000 4 0.000 0.051 2796 3504 1853

15516 1.36 254.9 170.8 7.9 745 15525 0.00 2.50 4.22 0.950 6 0.000 0.042 2796 2098 1838

15848 1.36 254.9 141.7 9.5 761 15852 0.00 2.58 0.00 0.000 4 0.000 0.050 2795 3505 1837

15897 1.36 254.9 136.9 9.3 763 15901 0.00 2.50 0.00 0.000 6 0.000 0.042 2796 2099 1837

16213 1.36 254.9 104.7 11.2 778 16217 0.00 2.58 0.00 0.000 4 0.000 0.050 2796 3507 1837

16245 1.36 254.9 100.5 11.7 779 16251 0.00 2.53 0.00 0.000 6 0.000 0.041 2796 2087 1837

16563 1.38 271.0 71.0 7.4 795 16584 0.00 2.65 13.50 0.891 4 0.000 0.050 2796 3504 1773

16631 1.41 296.6 65.8 7.0 798 16656 0.00 2.53 20.77 0.855 6 0.000 0.041 2796 2096 1668

16978 1.41 296.6 29.9 12.5 815 16982 0.00 2.58 0.00 0.000 4 0.000 0.049 2795 3501 1668

17004 1.41 296.6 26.4 12.8 816 17009 0.00 2.53 0.00 0.000 6 0.000 0.042 2796 2093 1668

17328 1.58 436.0 2.1 2.7 832 17409 0.20 2.67 75.45 0.772 4 0.085 0.050 2838 3503 1099

17413 end climb: SURFACE_DEPTH_REACHED

state 17413 begin surface coast

17750 end surface coast: CONTROL_FINISHED_OK

state 17751 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	267	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	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	-81721.398	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	57	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	221156,6352.377,-1328.397,38,1.1,38,-12.6	TGT_NAME	KE
_CALLS	5	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.238,-0.009
_SM_DEPTHo	2.77	KALMAN_X	290058.0,6065.3,2081.6,-561034.6,-23101.4
_SM_ANGLEo	-54.6	KALMAN_Y	-39814.8,1523.4,384.8,296698.8,-3887.3
GPS2	224009,6352.891,-1327.896,10,2.0,10,-12.6	MHEAD_RNG_PITCHd_Wd	104.7,15566,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	2.1,1.021585	XPDR_PINGS	5
SM_CCo	18183,0.30,1.228,0,0,602,558.06	_24V_AH	23.2,57.322
SM_GC	2.92,0.00,0.00,0.30,0.000,0.000,1.228,34,1898,602,-11.32,-0.06,558.06	_10V_AH	10.1,27.971
IRIDIUM_FIX	6327.46,-1327.85,120108,020240	DATA_FILE_SIZE	44366,851
TT8_MAMPS	0.026845	CFSIZE	260165632,241676288
HUMID	2058	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
INTERNAL_PRESSURE	9.12144	GPS	120108,034525,6355.110,-1319.725,24,1.2,41,-12.6
TCM_TEMP	18.70

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	134	81.59	SBE_CT	626	24	349.06
Roll_motor	211	82	401.79	SBE_O2	573	19	252.90
VBD_pump_during_apogee	454	1349	14226.27	WL_BB2F	524	105	1278.56
VBD_pump_during_surface	62	1227	1790.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	189	103	453.93	nil	0	0	0.00
Iridium_during_connect	277	160	1028.98	nil	0	0	0.00
Iridium_during_xfer	845	223	4376.85
Transponder_ping	7	420	75.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.00
TT8	1666	19	333.35
LPSleep	13605	2	300.94
TT8_Active	706	19	141.25
TT8_Sampling	2303	39	925.90
TT8_CF8	1594	45	737.39
TT8_Kalman	33	81	27.56
Analog_circuits	1897	12	229.98
GPS_charging	0	0	0.00
Compass	2251	8	181.94
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.23	-146.6	0.0	0.0	0	104	0.00	0.00	-80.82	0.000	2	0.000	0.000	28	1881	2220
107	-1.23	-146.6	3.2	-0.8	4	200	11.50	2.58	-74.38	0.000	4	0.134	0.075	2224	500	3477
311	-1.23	-146.6	17.6	-11.4	13	318	0.00	2.53	0.00	0.000	6	0.000	0.042	2224	1906	3477
627	-1.23	-146.6	51.6	-10.3	29	631	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3298	3477
682	-1.23	-146.6	57.5	-11.5	31	689	0.00	2.55	0.00	0.000	6	0.000	0.045	2224	1906	3476
998	-1.23	-146.6	87.8	-9.1	47	1003	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3296	3476
1042	-1.23	-146.6	92.0	-8.8	49	1046	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1898	3477
1369	-1.23	-146.6	123.9	-9.9	65	1374	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3303	3476
1419	-1.23	-146.6	129.5	-11.2	67	1423	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1901	3476
1734	-1.23	-146.6	164.4	-10.4	82	1738	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3296	3476
1773	-1.23	-146.6	168.4	-10.3	84	1778	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1896	3476
2102	-1.23	-146.6	201.7	-9.9	100	2107	0.00	2.55	0.00	0.000	4	0.000	0.049	2224	3298	3476
2135	-1.23	-146.6	205.4	-10.1	101	2141	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1898	3476
2450	-1.23	-146.6	239.3	-11.7	117	2455	0.00	2.55	0.00	0.000	4	0.000	0.049	2224	3301	3476
2477	-1.23	-146.6	242.4	-11.4	118	2482	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1901	3476
2793	-1.23	-146.6	277.7	-11.1	133	2797	0.00	2.55	0.00	0.000	4	0.000	0.049	2224	3304	3476
2836	-1.23	-146.6	282.5	-11.3	135	2840	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1902	3476
3164	-1.23	-146.6	318.5	-10.8	151	3165	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1902	3476
3472	-1.23	-146.6	349.5	-9.6	166	3477	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3297	3476
3521	-1.23	-146.6	354.7	-10.1	168	3525	0.00	2.53	0.00	0.000	6	0.000	0.045	2224	1899	3476
3848	-1.23	-146.6	387.4	-10.0	184	3852	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3297	3476
3875	-1.23	-146.6	390.3	-11.2	185	3879	0.00	2.53	0.00	0.000	6	0.000	0.045	2224	1898	3476
4190	-1.23	-146.6	423.8	-10.5	200	4194	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3299	3476
4267	-1.23	-146.6	431.8	-9.7	203	4273	0.00	2.53	0.00	0.000	6	0.000	0.047	2224	1901	3476
4582	-1.23	-146.6	461.5	-8.5	219	4586	0.00	2.53	0.00	0.000	4	0.000	0.051	2224	3297	3475
4625	-1.23	-146.6	465.0	-8.2	221	4629	0.00	2.53	0.00	0.000	6	0.000	0.047	2224	1901	3475
4952	-1.23	-146.6	492.0	-9.3	237	4954	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1901	3475
5261	-1.23	-146.6	521.7	-9.7	252	5266	0.00	2.55	0.00	0.000	4	0.000	0.053	2224	3294	3475
5288	-1.23	-146.6	524.4	-10.1	253	5292	0.00	2.53	0.00	0.000	6	0.000	0.048	2224	1901	3475
5610	-1.23	-146.6	555.7	-10.0	269	5614	0.00	2.58	0.00	0.000	4	0.000	0.054	2224	3301	3475
5785	-1.23	-146.6	574.1	-10.8	277	5789	0.00	2.55	0.00	0.000	6	0.000	0.050	2224	1900	3475
6111	-1.23	-146.6	606.9	-10.0	293	6115	0.00	2.58	0.00	0.000	4	0.000	0.057	2224	3296	3475
6182	-1.23	-146.6	614.2	-10.2	296	6186	0.00	2.55	0.00	0.000	6	0.000	0.050	2224	1898	3475
6503	-1.23	-146.6	642.7	-8.3	312	6508	0.00	2.60	0.00	0.000	4	0.000	0.060	2224	3300	3475
6615	-1.23	-146.6	652.0	-8.7	317	6619	0.00	2.55	0.00	0.000	6	0.000	0.052	2224	1895	3475
6941	-1.23	-146.6	681.6	-9.6	333	6946	0.00	2.60	0.00	0.000	4	0.000	0.061	2224	3293	3475
7064	-1.23	-146.6	693.9	-9.3	338	7070	0.00	2.55	0.00	0.000	6	0.000	0.054	2224	1901	3475
7379	-1.23	-146.6	722.9	-8.8	354	7384	0.00	2.58	0.00	0.000	4	0.000	0.062	2224	3294	3474
7445	-1.23	-146.6	728.8	-8.9	357	7450	0.00	2.55	0.00	0.000	6	0.000	0.056	2224	1896	3474
7773	-1.23	-146.6	755.4	-8.0	373	7777	0.00	2.60	0.00	0.000	4	0.000	0.064	2224	3293	3473
7872	-1.23	-146.6	763.9	-9.0	377	7879	0.00	2.58	0.00	0.000	6	0.000	0.058	2224	1900	3473
8188	-1.23	-146.6	791.5	-10.0	393	8192	0.00	2.60	0.00	0.000	4	0.000	0.067	2224	3292	3472
8209	-1.23	-146.6	793.9	-11.0	394	8214	0.00	2.58	0.00	0.000	6	0.000	0.058	2224	1896	3472
8537	-1.23	-146.6	796.2	-0.0	410	8541	0.00	2.67	0.00	0.000	4	0.000	0.082	2224	489	3472
8606	end dive: NO_VERTICAL_VELOCITY
state	8606	begin apogee
8615	-0.36	0.0	796.2	0.0	413	8746	0.82	0.00	125.25	1.350	6	0.048	0.000	2418	2094	2878
8747	end apogee: CONTROL_FINISHED_OK
state	8747	begin climb
8749	1.23	146.6	795.9	0.0	420	8882	1.52	2.72	124.00	1.302	4	0.045	0.069	2767	3503	2280
9138	1.27	181.9	773.3	6.7	438	9174	0.00	2.60	30.48	1.302	6	0.000	0.057	2767	2101	2136
9484	1.27	181.9	743.6	9.0	454	9488	0.00	2.62	0.00	0.000	4	0.000	0.064	2767	3501	2135
9740	1.27	181.9	717.7	9.4	465	9747	0.00	2.60	0.00	0.000	6	0.000	0.056	2767	2091	2134
10057	1.27	181.9	690.7	8.3	481	10061	0.00	2.65	0.00	0.000	4	0.000	0.064	2767	3499	2133
10111	1.27	181.9	685.9	8.4	483	10118	0.00	2.58	0.00	0.000	6	0.000	0.054	2767	2095	2133
10427	1.27	182.4	660.5	8.0	499	10431	0.00	2.62	0.00	0.000	4	0.000	0.064	2767	3506	2133
10533	1.27	182.4	651.3	8.5	504	10538	0.00	2.58	0.00	0.000	6	0.000	0.054	2767	2103	2133
10859	1.27	182.4	623.6	8.6	520	10863	0.00	2.62	0.00	0.000	4	0.000	0.061	2767	3506	2132
11101	1.28	188.1	605.1	7.8	531	11111	0.00	2.58	5.62	1.256	6	0.000	0.052	2767	2098	2111
11427	1.31	210.9	581.2	7.1	547	11452	0.00	2.65	19.83	1.255	4	0.000	0.061	2767	3501	2018
11582	1.36	252.3	571.1	6.4	554	11623	0.10	2.58	35.12	1.226	6	0.062	0.051	2796	2099	1849
11944	1.36	252.3	541.1	9.0	572	11949	0.00	2.60	0.00	0.000	4	0.000	0.058	2796	3505	1849
12033	1.36	252.3	532.4	10.2	576	12038	0.00	2.55	0.00	0.000	6	0.000	0.049	2796	2099	1849
12354	1.36	252.3	502.5	9.3	592	12355	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2099	1849
12663	1.36	252.3	472.3	9.7	607	12668	0.00	2.60	0.00	0.000	4	0.000	0.055	2795	3500	1849
12776	1.36	252.3	460.5	11.0	612	12781	0.00	2.55	0.00	0.000	6	0.000	0.047	2796	2098	1849
13097	1.36	252.3	425.6	10.6	628	13101	0.00	2.60	0.00	0.000	4	0.000	0.054	2795	3506	1849
13181	1.36	252.3	416.0	11.5	632	13185	0.00	2.55	0.00	0.000	6	0.000	0.046	2796	2092	1849
13506	1.36	252.3	380.0	11.2	648	13511	0.00	2.60	0.00	0.000	4	0.000	0.054	2796	3504	1850
13591	1.36	252.3	370.0	12.0	652	13595	0.00	2.53	0.00	0.000	6	0.000	0.045	2796	2098	1850
13917	1.36	252.3	331.7	12.1	668	13921	0.00	2.58	0.00	0.000	4	0.000	0.052	2796	3502	1851
13979	1.36	252.3	324.0	12.5	671	13983	0.00	2.53	0.00	0.000	6	0.000	0.044	2795	2092	1851
14305	1.36	252.3	287.1	10.6	687	14309	0.00	2.60	0.00	0.000	4	0.000	0.053	2796	3507	1851
14399	1.36	252.3	276.1	11.2	691	14403	0.00	2.50	0.00	0.000	6	0.000	0.044	2795	2102	1851
14720	1.36	252.3	243.0	9.9	707	14724	0.00	2.58	0.00	0.000	4	0.000	0.051	2796	3508	1852
14769	1.36	252.3	237.8	10.8	709	14773	0.00	2.53	0.00	0.000	6	0.000	0.043	2796	2095	1851
15084	1.36	252.3	209.0	9.2	724	15088	0.00	2.58	0.00	0.000	4	0.000	0.051	2796	3502	1852
15133	1.36	252.3	204.2	8.9	726	15137	0.00	2.47	0.00	0.000	6	0.000	0.042	2796	2098	1852
15454	1.36	252.3	175.2	8.3	742	15459	0.00	2.58	0.00	0.000	4	0.000	0.051	2796	3504	1853
15516	1.36	254.9	170.8	7.9	745	15525	0.00	2.50	4.22	0.950	6	0.000	0.042	2796	2098	1838
15848	1.36	254.9	141.7	9.5	761	15852	0.00	2.58	0.00	0.000	4	0.000	0.050	2795	3505	1837
15897	1.36	254.9	136.9	9.3	763	15901	0.00	2.50	0.00	0.000	6	0.000	0.042	2796	2099	1837
16213	1.36	254.9	104.7	11.2	778	16217	0.00	2.58	0.00	0.000	4	0.000	0.050	2796	3507	1837
16245	1.36	254.9	100.5	11.7	779	16251	0.00	2.53	0.00	0.000	6	0.000	0.041	2796	2087	1837
16563	1.38	271.0	71.0	7.4	795	16584	0.00	2.65	13.50	0.891	4	0.000	0.050	2796	3504	1773
16631	1.41	296.6	65.8	7.0	798	16656	0.00	2.53	20.77	0.855	6	0.000	0.041	2796	2096	1668
16978	1.41	296.6	29.9	12.5	815	16982	0.00	2.58	0.00	0.000	4	0.000	0.049	2795	3501	1668
17004	1.41	296.6	26.4	12.8	816	17009	0.00	2.53	0.00	0.000	6	0.000	0.042	2796	2093	1668
17328	1.58	436.0	2.1	2.7	832	17409	0.20	2.67	75.45	0.772	4	0.085	0.050	2838	3503	1099
17413	end climb: SURFACE_DEPTH_REACHED
state	17413	begin surface coast
17750	end surface coast: CONTROL_FINISHED_OK
state	17751	begin surface