Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 358 * 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 20

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 358 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 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 32 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -2 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 -84276.984 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 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 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 20 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 -84276.984

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 32 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 358 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 015607,6231.058,-1140.023,47,0.9,47,-11.1 TGT_NAME EE

_CALLS 5 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.179,-0.157

_SM_DEPTHo 1.71 KALMAN_X 519043.9,-827.8,407.7,-685856.5,2299.4

_SM_ANGLEo -54.8 KALMAN_Y 76728.4,-1752.2,-56.7,32326.5,1166.4

GPS2 021639,6231.024,-1139.640,11,1.5,11,-11.1 MHEAD_RNG_PITCHd_Wd 142.3,35777,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 766

Post-dive calculations and measurements:

FINISH 1.0,1.025615 XPDR_PINGS 5

SM_CCo 15591,50.55,0.805,6,0,1655,300.00 ALTIM_TOP_PING 19.8,999.0

SM_GC 1.69,0.00,0.00,50.55,0.000,0.000,0.805,35,1887,1655,-11.32,-0.37,300.00 _24V_AH 23.1,71.624

IRIDIUM_FIX 6207.28,-1135.06,230497,020209 _10V_AH 10.1,34.655

TT8_MAMPS 0.026845 DATA_FILE_SIZE 37909,750

HUMID 2048 CFSIZE 260165632,236916736

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,6,0

TCM_TEMP 15.10 GPS 280108,064055,6228.229,-1136.918,24,1.1,41,-11.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 84.34 SBE_CT 560 24 310.78

Roll_motor 183 69 291.93 SBE_O2 507 19 222.70

VBD_pump_during_apogee 339 1300 10197.95 WL_BB2F 442 105 1072.87

VBD_pump_during_surface 50 804 939.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 191 103 456.07 nil 0 0 0.00

Iridium_during_connect 342 160 1267.62 nil 0 0 0.00

Iridium_during_xfer 299 223 1542.33

Transponder_ping 7 420 75.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.61

TT8 1451 19 290.27

LPSleep 11901 2 263.24

TT8_Active 567 19 113.51

TT8_Sampling 1846 39 742.36

TT8_CF8 1192 45 551.67

TT8_Kalman 33 81 27.57

Analog_circuits 1529 12 185.34

GPS_charging 0 0 0.00

Compass 1809 8 146.17

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.23 -146.6 0.0 0.0 0 88 0.00 0.00 -60.70 0.000 2 0.000 0.000 34 1883 2850

92 -1.23 -146.6 3.1 -2.4 3 134 11.57 2.65 -20.45 0.000 4 0.139 0.061 2222 3307 3476

387 -1.23 -146.6 39.8 -9.2 16 391 0.00 2.50 0.00 0.000 6 0.000 0.041 2222 1909 3477

708 -1.23 -146.6 78.7 -11.6 32 712 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3310 3477

747 -1.23 -146.6 82.7 -9.8 34 752 0.00 2.53 0.00 0.000 6 0.000 0.043 2222 1899 3477

1075 -1.23 -146.6 114.5 -9.2 50 1079 0.00 2.62 0.00 0.000 4 0.000 0.069 2223 491 3477

1092 -1.23 -146.6 116.2 -10.0 51 1096 0.00 2.47 0.00 0.000 6 0.000 0.040 2222 1913 3477

1418 -1.23 -146.6 157.2 -13.4 67 1422 0.00 2.47 0.00 0.000 4 0.000 0.048 2223 3295 3477

1473 -1.23 -146.6 163.7 -12.5 69 1479 0.00 2.50 0.00 0.000 6 0.000 0.043 2223 1898 3477

1788 -1.23 -146.6 202.7 -11.8 85 1789 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3477

2097 -1.23 -146.6 241.7 -12.5 100 2102 0.00 2.53 0.00 0.000 4 0.000 0.047 2223 3303 3477

2153 -1.23 -146.6 248.0 -10.7 102 2159 0.00 2.50 0.00 0.000 6 0.000 0.043 2222 1899 3477

2468 -1.23 -146.6 280.4 -10.2 118 2470 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1899 3477

2778 -1.23 -146.6 311.2 -9.8 133 2782 0.00 2.53 0.00 0.000 4 0.000 0.047 2223 3300 3477

2822 -1.23 -146.6 315.8 -10.1 135 2826 0.00 2.50 0.00 0.000 6 0.000 0.044 2223 1901 3477

3143 -1.23 -146.6 347.4 -9.9 151 3147 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3299 3477

3192 -1.23 -146.6 352.5 -9.6 153 3196 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1900 3477

3508 -1.23 -146.6 382.8 -9.8 168 3512 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3303 3477

3574 -1.23 -146.6 389.5 -10.4 171 3578 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1900 3477

3894 -1.23 -146.6 422.3 -10.5 187 3899 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3299 3477

3912 -1.23 -146.6 424.0 -10.6 188 3916 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1896 3477

4238 -1.23 -146.6 457.3 -10.1 204 4242 0.00 2.53 0.00 0.000 4 0.000 0.049 2222 3298 3477

4294 -1.23 -146.6 463.0 -10.3 206 4300 0.00 2.50 0.00 0.000 6 0.000 0.046 2223 1902 3477

4610 -1.23 -146.6 492.7 -9.1 222 4614 0.00 2.53 0.00 0.000 4 0.000 0.050 2223 3297 3477

4637 -1.23 -146.6 495.4 -9.3 223 4641 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1893 3477

4952 -1.23 -146.6 524.6 -9.6 238 4957 0.00 2.55 0.00 0.000 4 0.000 0.051 2223 3297 3477

5013 -1.23 -146.6 530.5 -9.5 240 5020 0.00 2.53 0.00 0.000 6 0.000 0.047 2223 1893 3477

5329 -1.23 -146.6 562.4 -10.1 256 5330 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1891 3476

5638 -1.23 -146.6 593.4 -9.5 271 5642 0.00 2.58 0.00 0.000 4 0.000 0.054 2222 3302 3476

5713 -1.23 -146.6 600.1 -9.2 274 5717 0.00 2.53 0.00 0.000 6 0.000 0.048 2222 1900 3477

6029 -1.23 -146.6 625.4 -7.8 289 6033 0.00 2.55 0.00 0.000 4 0.000 0.054 2222 3296 3476

6096 -1.23 -146.6 630.6 -7.5 292 6100 0.00 2.53 0.00 0.000 6 0.000 0.048 2222 1898 3476

6416 -1.23 -146.6 658.5 -9.4 308 6417 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1898 3476

6725 -1.23 -146.6 687.8 -9.5 323 6730 0.00 2.58 0.00 0.000 4 0.000 0.057 2222 3298 3476

6792 -1.23 -146.6 694.3 -9.6 326 6797 0.00 2.53 0.00 0.000 6 0.000 0.051 2222 1901 3476

7113 -1.23 -146.6 723.4 -8.8 342 7117 0.00 2.58 0.00 0.000 4 0.000 0.058 2223 3301 3476

7201 -1.23 -146.6 731.3 -9.0 346 7205 0.00 2.58 0.00 0.000 6 0.000 0.055 2223 1897 3476

7522 -1.23 -146.6 759.5 -9.5 362 7526 0.00 2.60 0.00 0.000 4 0.000 0.063 2222 3301 3476

7591 end dive: TARGET_DEPTH_EXCEEDED

state 7591 begin apogee

7599 -0.36 0.0 766.3 9.7 365 7731 0.90 0.00 126.32 1.301 6 0.083 0.000 2415 2098 2878

7731 end apogee: CONTROL_FINISHED_OK

state 7731 begin climb

7734 1.23 146.6 771.7 0.0 372 7867 1.58 2.70 124.68 1.270 4 0.054 0.065 2765 3491 2280

7936 1.28 187.0 764.8 6.5 381 7977 0.00 2.58 35.00 1.268 6 0.000 0.054 2764 2100 2115

8290 1.29 196.3 738.4 7.6 398 8304 0.00 2.65 8.88 1.250 4 0.000 0.064 2765 3491 2077

8379 1.29 196.3 730.6 9.4 402 8383 0.00 2.58 0.00 0.000 6 0.000 0.055 2765 2100 2076

8705 1.29 196.3 703.1 8.5 418 8709 0.00 2.62 0.00 0.000 4 0.000 0.064 2765 3494 2075

8760 1.29 196.3 698.4 8.6 420 8766 0.00 2.58 0.00 0.000 6 0.000 0.054 2765 2096 2075

9076 1.34 233.8 676.3 6.6 436 9117 0.00 2.67 31.98 1.283 4 0.000 0.061 2765 3493 1924

9168 1.35 242.2 669.4 7.7 440 9185 0.10 2.58 8.25 1.253 6 0.060 0.052 2794 2099 1889

9494 1.35 242.2 639.7 9.9 456 9495 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2099 1888

9803 1.35 242.2 605.3 11.7 471 9807 0.00 2.58 0.00 0.000 4 0.000 0.057 2794 3499 1888

9932 1.35 242.2 589.0 13.2 477 9937 0.00 2.55 0.00 0.000 6 0.000 0.048 2794 2091 1888

10258 1.35 242.2 553.0 10.6 493 10262 0.00 2.58 0.00 0.000 4 0.000 0.054 2794 3494 1888

10297 1.35 242.2 548.6 11.4 495 10301 0.00 2.55 0.00 0.000 6 0.000 0.048 2794 2093 1888

10624 1.35 242.2 512.6 11.2 511 10628 0.00 2.55 0.00 0.000 4 0.000 0.054 2795 3494 1888

10656 1.35 242.2 508.5 12.1 512 10662 0.00 2.53 0.00 0.000 6 0.000 0.047 2794 2101 1888

10972 1.35 242.2 474.1 11.1 528 10976 0.00 2.53 0.00 0.000 4 0.000 0.052 2794 3494 1888

11083 1.35 242.2 461.0 11.8 533 11087 0.00 2.53 0.00 0.000 6 0.000 0.045 2794 2098 1888

11404 1.35 242.2 426.9 10.1 549 11408 0.00 2.55 0.00 0.000 4 0.000 0.052 2794 3501 1888

11489 1.35 242.2 417.9 10.4 553 11493 0.00 2.53 0.00 0.000 6 0.000 0.044 2794 2099 1888

11815 1.35 242.2 386.9 8.9 569 11819 0.00 2.55 0.00 0.000 4 0.000 0.051 2794 3495 1889

11870 1.35 242.2 381.6 9.8 571 11876 0.00 2.53 0.00 0.000 6 0.000 0.044 2794 2093 1889

12186 1.35 242.2 353.9 8.6 587 12190 0.00 2.55 0.00 0.000 4 0.000 0.051 2795 3499 1890

12302 1.35 242.2 342.3 9.6 592 12307 0.00 2.50 0.00 0.000 6 0.000 0.043 2794 2095 1890

12618 1.35 242.2 310.3 10.7 607 12623 0.00 2.55 0.00 0.000 4 0.000 0.051 2794 3495 1891

12690 1.35 242.2 302.2 10.9 610 12695 0.00 2.50 0.00 0.000 6 0.000 0.042 2794 2099 1890

13006 1.35 242.2 268.8 10.5 625 13010 0.00 2.55 0.00 0.000 4 0.000 0.051 2794 3501 1891

13068 1.35 242.2 262.1 10.5 628 13072 0.00 2.50 0.00 0.000 6 0.000 0.042 2795 2094 1891

13394 1.35 242.2 225.6 11.5 644 13398 0.00 2.55 0.00 0.000 4 0.000 0.050 2795 3498 1891

13437 1.35 242.2 220.1 12.1 646 13442 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2097 1891

13759 1.35 242.2 183.9 10.8 662 13763 0.00 2.55 0.00 0.000 4 0.000 0.051 2794 3501 1891

13780 1.35 242.2 181.4 11.0 663 13784 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2098 1891

14101 1.35 242.2 151.6 10.1 679 14105 0.00 2.55 0.00 0.000 4 0.000 0.051 2795 3501 1892

14213 1.35 245.5 142.3 7.9 684 14222 0.00 2.50 4.28 0.919 6 0.000 0.041 2794 2098 1877

14540 1.35 245.5 111.1 11.0 700 14544 0.00 2.53 0.00 0.000 4 0.000 0.048 2794 3495 1877

14624 1.35 245.5 102.5 10.3 704 14629 0.00 2.47 0.00 0.000 6 0.000 0.039 2794 2095 1877

14952 1.35 245.5 67.4 11.5 720 14956 0.00 2.55 0.00 0.000 4 0.000 0.050 2795 3499 1878

14984 1.35 245.5 63.3 11.7 721 14991 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2094 1877

15302 1.35 245.5 26.0 12.5 737 15306 0.00 2.55 0.00 0.000 4 0.000 0.048 2794 3501 1877

15386 1.35 245.5 15.9 10.8 741 15391 0.00 2.50 0.00 0.000 6 0.000 0.040 2794 2098 1877

15546 end climb: SURFACE_DEPTH_REACHED

state 15546 begin surface coast

15568 end surface coast: CONTROL_FINISHED_OK

state 15568 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	358	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	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	32	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-2	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	-84276.984	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	015607,6231.058,-1140.023,47,0.9,47,-11.1	TGT_NAME	EE
_CALLS	5	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.179,-0.157
_SM_DEPTHo	1.71	KALMAN_X	519043.9,-827.8,407.7,-685856.5,2299.4
_SM_ANGLEo	-54.8	KALMAN_Y	76728.4,-1752.2,-56.7,32326.5,1166.4
GPS2	021639,6231.024,-1139.640,11,1.5,11,-11.1	MHEAD_RNG_PITCHd_Wd	142.3,35777,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	766

FINISH	1.0,1.025615	XPDR_PINGS	5
SM_CCo	15591,50.55,0.805,6,0,1655,300.00	ALTIM_TOP_PING	19.8,999.0
SM_GC	1.69,0.00,0.00,50.55,0.000,0.000,0.805,35,1887,1655,-11.32,-0.37,300.00	_24V_AH	23.1,71.624
IRIDIUM_FIX	6207.28,-1135.06,230497,020209	_10V_AH	10.1,34.655
TT8_MAMPS	0.026845	DATA_FILE_SIZE	37909,750
HUMID	2048	CFSIZE	260165632,236916736
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,6,0
TCM_TEMP	15.10	GPS	280108,064055,6228.229,-1136.918,24,1.1,41,-11.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	84.34	SBE_CT	560	24	310.78
Roll_motor	183	69	291.93	SBE_O2	507	19	222.70
VBD_pump_during_apogee	339	1300	10197.95	WL_BB2F	442	105	1072.87
VBD_pump_during_surface	50	804	939.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	191	103	456.07	nil	0	0	0.00
Iridium_during_connect	342	160	1267.62	nil	0	0	0.00
Iridium_during_xfer	299	223	1542.33
Transponder_ping	7	420	75.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.61
TT8	1451	19	290.27
LPSleep	11901	2	263.24
TT8_Active	567	19	113.51
TT8_Sampling	1846	39	742.36
TT8_CF8	1192	45	551.67
TT8_Kalman	33	81	27.57
Analog_circuits	1529	12	185.34
GPS_charging	0	0	0.00
Compass	1809	8	146.17
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.23	-146.6	0.0	0.0	0	88	0.00	0.00	-60.70	0.000	2	0.000	0.000	34	1883	2850
92	-1.23	-146.6	3.1	-2.4	3	134	11.57	2.65	-20.45	0.000	4	0.139	0.061	2222	3307	3476
387	-1.23	-146.6	39.8	-9.2	16	391	0.00	2.50	0.00	0.000	6	0.000	0.041	2222	1909	3477
708	-1.23	-146.6	78.7	-11.6	32	712	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3310	3477
747	-1.23	-146.6	82.7	-9.8	34	752	0.00	2.53	0.00	0.000	6	0.000	0.043	2222	1899	3477
1075	-1.23	-146.6	114.5	-9.2	50	1079	0.00	2.62	0.00	0.000	4	0.000	0.069	2223	491	3477
1092	-1.23	-146.6	116.2	-10.0	51	1096	0.00	2.47	0.00	0.000	6	0.000	0.040	2222	1913	3477
1418	-1.23	-146.6	157.2	-13.4	67	1422	0.00	2.47	0.00	0.000	4	0.000	0.048	2223	3295	3477
1473	-1.23	-146.6	163.7	-12.5	69	1479	0.00	2.50	0.00	0.000	6	0.000	0.043	2223	1898	3477
1788	-1.23	-146.6	202.7	-11.8	85	1789	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3477
2097	-1.23	-146.6	241.7	-12.5	100	2102	0.00	2.53	0.00	0.000	4	0.000	0.047	2223	3303	3477
2153	-1.23	-146.6	248.0	-10.7	102	2159	0.00	2.50	0.00	0.000	6	0.000	0.043	2222	1899	3477
2468	-1.23	-146.6	280.4	-10.2	118	2470	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1899	3477
2778	-1.23	-146.6	311.2	-9.8	133	2782	0.00	2.53	0.00	0.000	4	0.000	0.047	2223	3300	3477
2822	-1.23	-146.6	315.8	-10.1	135	2826	0.00	2.50	0.00	0.000	6	0.000	0.044	2223	1901	3477
3143	-1.23	-146.6	347.4	-9.9	151	3147	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3299	3477
3192	-1.23	-146.6	352.5	-9.6	153	3196	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1900	3477
3508	-1.23	-146.6	382.8	-9.8	168	3512	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3303	3477
3574	-1.23	-146.6	389.5	-10.4	171	3578	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1900	3477
3894	-1.23	-146.6	422.3	-10.5	187	3899	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3299	3477
3912	-1.23	-146.6	424.0	-10.6	188	3916	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1896	3477
4238	-1.23	-146.6	457.3	-10.1	204	4242	0.00	2.53	0.00	0.000	4	0.000	0.049	2222	3298	3477
4294	-1.23	-146.6	463.0	-10.3	206	4300	0.00	2.50	0.00	0.000	6	0.000	0.046	2223	1902	3477
4610	-1.23	-146.6	492.7	-9.1	222	4614	0.00	2.53	0.00	0.000	4	0.000	0.050	2223	3297	3477
4637	-1.23	-146.6	495.4	-9.3	223	4641	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1893	3477
4952	-1.23	-146.6	524.6	-9.6	238	4957	0.00	2.55	0.00	0.000	4	0.000	0.051	2223	3297	3477
5013	-1.23	-146.6	530.5	-9.5	240	5020	0.00	2.53	0.00	0.000	6	0.000	0.047	2223	1893	3477
5329	-1.23	-146.6	562.4	-10.1	256	5330	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1891	3476
5638	-1.23	-146.6	593.4	-9.5	271	5642	0.00	2.58	0.00	0.000	4	0.000	0.054	2222	3302	3476
5713	-1.23	-146.6	600.1	-9.2	274	5717	0.00	2.53	0.00	0.000	6	0.000	0.048	2222	1900	3477
6029	-1.23	-146.6	625.4	-7.8	289	6033	0.00	2.55	0.00	0.000	4	0.000	0.054	2222	3296	3476
6096	-1.23	-146.6	630.6	-7.5	292	6100	0.00	2.53	0.00	0.000	6	0.000	0.048	2222	1898	3476
6416	-1.23	-146.6	658.5	-9.4	308	6417	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1898	3476
6725	-1.23	-146.6	687.8	-9.5	323	6730	0.00	2.58	0.00	0.000	4	0.000	0.057	2222	3298	3476
6792	-1.23	-146.6	694.3	-9.6	326	6797	0.00	2.53	0.00	0.000	6	0.000	0.051	2222	1901	3476
7113	-1.23	-146.6	723.4	-8.8	342	7117	0.00	2.58	0.00	0.000	4	0.000	0.058	2223	3301	3476
7201	-1.23	-146.6	731.3	-9.0	346	7205	0.00	2.58	0.00	0.000	6	0.000	0.055	2223	1897	3476
7522	-1.23	-146.6	759.5	-9.5	362	7526	0.00	2.60	0.00	0.000	4	0.000	0.063	2222	3301	3476
7591	end dive: TARGET_DEPTH_EXCEEDED
state	7591	begin apogee
7599	-0.36	0.0	766.3	9.7	365	7731	0.90	0.00	126.32	1.301	6	0.083	0.000	2415	2098	2878
7731	end apogee: CONTROL_FINISHED_OK
state	7731	begin climb
7734	1.23	146.6	771.7	0.0	372	7867	1.58	2.70	124.68	1.270	4	0.054	0.065	2765	3491	2280
7936	1.28	187.0	764.8	6.5	381	7977	0.00	2.58	35.00	1.268	6	0.000	0.054	2764	2100	2115
8290	1.29	196.3	738.4	7.6	398	8304	0.00	2.65	8.88	1.250	4	0.000	0.064	2765	3491	2077
8379	1.29	196.3	730.6	9.4	402	8383	0.00	2.58	0.00	0.000	6	0.000	0.055	2765	2100	2076
8705	1.29	196.3	703.1	8.5	418	8709	0.00	2.62	0.00	0.000	4	0.000	0.064	2765	3494	2075
8760	1.29	196.3	698.4	8.6	420	8766	0.00	2.58	0.00	0.000	6	0.000	0.054	2765	2096	2075
9076	1.34	233.8	676.3	6.6	436	9117	0.00	2.67	31.98	1.283	4	0.000	0.061	2765	3493	1924
9168	1.35	242.2	669.4	7.7	440	9185	0.10	2.58	8.25	1.253	6	0.060	0.052	2794	2099	1889
9494	1.35	242.2	639.7	9.9	456	9495	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2099	1888
9803	1.35	242.2	605.3	11.7	471	9807	0.00	2.58	0.00	0.000	4	0.000	0.057	2794	3499	1888
9932	1.35	242.2	589.0	13.2	477	9937	0.00	2.55	0.00	0.000	6	0.000	0.048	2794	2091	1888
10258	1.35	242.2	553.0	10.6	493	10262	0.00	2.58	0.00	0.000	4	0.000	0.054	2794	3494	1888
10297	1.35	242.2	548.6	11.4	495	10301	0.00	2.55	0.00	0.000	6	0.000	0.048	2794	2093	1888
10624	1.35	242.2	512.6	11.2	511	10628	0.00	2.55	0.00	0.000	4	0.000	0.054	2795	3494	1888
10656	1.35	242.2	508.5	12.1	512	10662	0.00	2.53	0.00	0.000	6	0.000	0.047	2794	2101	1888
10972	1.35	242.2	474.1	11.1	528	10976	0.00	2.53	0.00	0.000	4	0.000	0.052	2794	3494	1888
11083	1.35	242.2	461.0	11.8	533	11087	0.00	2.53	0.00	0.000	6	0.000	0.045	2794	2098	1888
11404	1.35	242.2	426.9	10.1	549	11408	0.00	2.55	0.00	0.000	4	0.000	0.052	2794	3501	1888
11489	1.35	242.2	417.9	10.4	553	11493	0.00	2.53	0.00	0.000	6	0.000	0.044	2794	2099	1888
11815	1.35	242.2	386.9	8.9	569	11819	0.00	2.55	0.00	0.000	4	0.000	0.051	2794	3495	1889
11870	1.35	242.2	381.6	9.8	571	11876	0.00	2.53	0.00	0.000	6	0.000	0.044	2794	2093	1889
12186	1.35	242.2	353.9	8.6	587	12190	0.00	2.55	0.00	0.000	4	0.000	0.051	2795	3499	1890
12302	1.35	242.2	342.3	9.6	592	12307	0.00	2.50	0.00	0.000	6	0.000	0.043	2794	2095	1890
12618	1.35	242.2	310.3	10.7	607	12623	0.00	2.55	0.00	0.000	4	0.000	0.051	2794	3495	1891
12690	1.35	242.2	302.2	10.9	610	12695	0.00	2.50	0.00	0.000	6	0.000	0.042	2794	2099	1890
13006	1.35	242.2	268.8	10.5	625	13010	0.00	2.55	0.00	0.000	4	0.000	0.051	2794	3501	1891
13068	1.35	242.2	262.1	10.5	628	13072	0.00	2.50	0.00	0.000	6	0.000	0.042	2795	2094	1891
13394	1.35	242.2	225.6	11.5	644	13398	0.00	2.55	0.00	0.000	4	0.000	0.050	2795	3498	1891
13437	1.35	242.2	220.1	12.1	646	13442	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2097	1891
13759	1.35	242.2	183.9	10.8	662	13763	0.00	2.55	0.00	0.000	4	0.000	0.051	2794	3501	1891
13780	1.35	242.2	181.4	11.0	663	13784	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2098	1891
14101	1.35	242.2	151.6	10.1	679	14105	0.00	2.55	0.00	0.000	4	0.000	0.051	2795	3501	1892
14213	1.35	245.5	142.3	7.9	684	14222	0.00	2.50	4.28	0.919	6	0.000	0.041	2794	2098	1877
14540	1.35	245.5	111.1	11.0	700	14544	0.00	2.53	0.00	0.000	4	0.000	0.048	2794	3495	1877
14624	1.35	245.5	102.5	10.3	704	14629	0.00	2.47	0.00	0.000	6	0.000	0.039	2794	2095	1877
14952	1.35	245.5	67.4	11.5	720	14956	0.00	2.55	0.00	0.000	4	0.000	0.050	2795	3499	1878
14984	1.35	245.5	63.3	11.7	721	14991	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2094	1877
15302	1.35	245.5	26.0	12.5	737	15306	0.00	2.55	0.00	0.000	4	0.000	0.048	2794	3501	1877
15386	1.35	245.5	15.9	10.8	741	15391	0.00	2.50	0.00	0.000	6	0.000	0.040	2794	2098	1877
15546	end climb: SURFACE_DEPTH_REACHED
state	15546	begin surface coast
15568	end surface coast: CONTROL_FINISHED_OK
state	15568	begin surface