Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 427 * 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 427 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 33 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -3 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 -86963.164 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 -86963.164

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 33 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 427 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 211738,6134.501,-915.747,56,1.0,56,-9.4 TGT_NAME AW

_CALLS 5 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,-0.087

_SM_DEPTHo 2.06 KALMAN_X 598544.1,182.8,697.6,-639186.7,-3624.4

_SM_ANGLEo -53.3 KALMAN_Y 133664.5,-761.6,129.3,-130499.7,368.8

GPS2 213832,6134.497,-915.104,10,1.4,10,-9.4 MHEAD_RNG_PITCHd_Wd 120.9,30015,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 773

Post-dive calculations and measurements:

FINISH 1.8,1.027380 XPDR_PINGS 5

SM_CCo 15302,0.00,0.000,0,0,1614,309.81 ALTIM_TOP_PING 19.4,999.0

SM_GC 2.33,11.88,0.00,0.00,0.028,0.000,0.000,28,1889,1614,-11.27,-0.31,309.81 _24V_AH 23.0,83.074

IRIDIUM_FIX 6112.75,-909.17,050597,212138 _10V_AH 10.1,40.005

TT8_MAMPS 0.026845 DATA_FILE_SIZE 37943,734

HUMID 2066 CFSIZE 260165632,233000960

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 16.50 GPS 100208,015701,6131.708,-907.913,69,1.5,69,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 136 81.64 SBE_CT 536 24 296.11

Roll_motor 167 70 271.20 SBE_O2 493 19 215.66

VBD_pump_during_apogee 392 1280 11564.41 WL_BB2F 423 105 1022.65

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 193 103 458.44 nil 0 0 0.00

Iridium_during_connect 263 160 970.42 nil 0 0 0.00

Iridium_during_xfer 403 223 2070.50

Transponder_ping 7 420 74.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.03

TT8 1366 19 273.36

LPSleep 11846 2 262.03

TT8_Active 529 19 105.95

TT8_Sampling 1636 39 657.88

TT8_CF8 1220 45 564.71

TT8_Kalman 33 81 27.57

Analog_circuits 1400 12 169.78

GPS_charging 0 0 0.00

Compass 1599 8 129.24

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 89 0.00 0.00 -60.97 0.000 2 0.000 0.000 34 1885 2663

93 -1.23 -146.6 3.3 -2.8 3 138 11.55 2.60 -27.15 0.000 4 0.137 0.060 2223 3293 3477

236 -1.23 -146.6 17.0 -14.2 9 241 0.00 2.47 0.00 0.000 6 0.000 0.040 2222 1908 3477

552 -1.23 -146.6 55.1 -12.8 24 557 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3298 3477

608 -1.23 -146.6 62.6 -13.3 26 615 0.00 2.50 0.00 0.000 6 0.000 0.041 2223 1900 3477

924 -1.23 -146.6 96.2 -8.8 42 929 0.00 2.53 0.00 0.000 4 0.000 0.045 2223 3303 3477

991 -1.23 -146.6 104.7 -12.5 45 995 0.00 2.50 0.00 0.000 6 0.000 0.040 2223 1899 3477

1313 -1.23 -146.6 138.1 -10.8 61 1314 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1899 3477

1622 -1.23 -146.6 172.2 -11.2 76 1626 0.00 2.53 0.00 0.000 4 0.000 0.045 2222 3304 3477

1643 -1.23 -146.6 174.5 -10.4 77 1648 0.00 2.50 0.00 0.000 6 0.000 0.039 2223 1901 3477

1970 -1.23 -146.6 211.6 -11.4 93 1974 0.00 2.60 0.00 0.000 4 0.000 0.067 2222 500 3477

1999 -1.23 -146.6 215.3 -12.9 94 2003 0.00 2.45 0.00 0.000 6 0.000 0.038 2222 1906 3476

2314 -1.23 -146.6 248.7 -10.8 109 2318 0.00 2.50 0.00 0.000 4 0.000 0.047 2223 3299 3477

2376 -1.23 -146.6 255.1 -10.4 112 2380 0.00 2.50 0.00 0.000 6 0.000 0.041 2222 1900 3477

2702 -1.23 -146.6 290.4 -10.9 128 2707 0.00 2.50 0.00 0.000 4 0.000 0.046 2222 3295 3477

2736 -1.23 -146.6 294.1 -10.6 129 2742 0.00 2.47 0.00 0.000 6 0.000 0.041 2223 1902 3477

3052 -1.23 -146.6 326.7 -10.4 145 3057 0.00 2.50 0.00 0.000 4 0.000 0.046 2223 3297 3477

3085 -1.23 -146.6 330.4 -10.2 146 3091 0.00 2.50 0.00 0.000 6 0.000 0.041 2223 1894 3477

3401 -1.23 -146.6 363.8 -10.4 162 3405 0.00 2.53 0.00 0.000 4 0.000 0.047 2223 3302 3477

3434 -1.23 -146.6 367.3 -10.2 163 3440 0.00 2.50 0.00 0.000 6 0.000 0.041 2223 1898 3477

3750 -1.23 -146.6 399.9 -10.2 179 3751 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3477

4058 -1.23 -146.6 430.1 -9.5 194 4063 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3295 3477

4121 -1.23 -146.6 435.9 -9.5 197 4125 0.00 2.50 0.00 0.000 6 0.000 0.041 2223 1898 3476

4447 -1.23 -146.6 464.4 -8.8 213 4449 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3477

4756 -1.23 -146.6 492.3 -9.9 228 4757 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3477

5066 -1.23 -146.6 532.6 -14.1 243 5070 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3294 3476

5211 -1.23 -146.6 551.7 -12.0 249 5217 0.00 2.50 0.00 0.000 6 0.000 0.042 2223 1895 3476

5526 -1.23 -146.6 584.6 -9.7 265 5531 0.00 2.60 0.00 0.000 4 0.000 0.071 2223 498 3476

5554 -1.23 -146.6 587.3 -10.5 266 5559 0.00 2.45 0.00 0.000 6 0.000 0.040 2223 1897 3476

5870 -1.23 -146.6 614.6 -8.2 281 5871 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1901 3476

6180 -1.23 -146.6 640.8 -8.5 296 6181 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1904 3476

6490 -1.23 -146.6 662.4 -7.3 311 6491 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1904 3475

6798 -1.23 -146.6 689.2 -9.1 326 6802 0.00 2.55 0.00 0.000 4 0.000 0.054 2223 3298 3475

6876 -1.23 -146.6 696.7 -9.4 329 6882 0.00 2.53 0.00 0.000 6 0.000 0.048 2223 1902 3476

7193 -1.23 -146.6 725.6 -10.1 345 7197 0.00 2.53 0.00 0.000 4 0.000 0.051 2223 3297 3475

7316 -1.23 -146.6 739.2 -10.9 350 7322 0.00 2.53 0.00 0.000 6 0.000 0.048 2223 1898 3475

7632 -1.23 -146.6 771.4 -9.6 366 7637 0.00 2.55 0.00 0.000 4 0.000 0.054 2223 3298 3476

7647 end dive: TARGET_DEPTH_EXCEEDED

state 7647 begin apogee

7656 -0.36 0.0 773.0 9.0 367 7790 0.93 0.00 126.97 1.280 6 0.081 0.000 2419 2092 2878

7791 end apogee: CONTROL_FINISHED_OK

state 7791 begin climb

7794 1.23 146.6 777.5 0.0 374 7929 1.55 2.72 125.28 1.249 4 0.052 0.069 2764 694 2280

7961 1.35 241.9 773.8 4.4 382 8048 0.10 2.53 80.85 1.236 6 0.054 0.044 2796 2092 1891

8370 1.36 256.6 746.7 7.4 402 8392 0.00 2.67 13.27 1.228 4 0.000 0.056 2796 3501 1831

8476 1.36 256.6 737.0 8.8 406 8482 0.00 2.58 0.00 0.000 6 0.000 0.048 2796 2095 1830

8791 1.36 256.6 707.5 9.8 422 8796 0.00 2.60 0.00 0.000 4 0.000 0.054 2796 3508 1829

8864 1.36 256.6 700.1 9.9 425 8869 0.00 2.55 0.00 0.000 6 0.000 0.046 2797 2103 1830

9180 1.36 256.6 671.8 8.4 440 9184 0.00 2.55 0.00 0.000 4 0.000 0.053 2796 3503 1829

9236 1.36 256.6 667.0 8.4 442 9242 0.00 2.55 0.00 0.000 6 0.000 0.044 2796 2095 1829

9552 1.39 281.4 643.1 7.1 458 9579 0.00 2.67 21.48 1.220 4 0.000 0.051 2796 3505 1730

9598 1.43 309.9 639.8 6.9 460 9627 0.00 2.58 24.92 1.190 6 0.000 0.044 2796 2096 1614

9945 1.43 309.9 609.9 9.1 477 9946 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2096 1614

10254 1.43 309.9 577.4 11.3 492 10258 0.00 2.65 0.00 0.000 4 0.000 0.071 2796 689 1614

10286 1.43 309.9 574.3 8.4 493 10293 0.00 2.50 0.00 0.000 6 0.000 0.039 2796 2106 1614

10602 1.43 309.9 541.2 10.2 509 10606 0.00 2.53 0.00 0.000 4 0.000 0.050 2796 3498 1614

10629 1.43 309.9 538.3 10.6 510 10634 0.00 2.53 0.00 0.000 6 0.000 0.043 2796 2099 1614

10945 1.43 309.9 505.1 10.9 525 10949 0.00 2.53 0.00 0.000 4 0.000 0.048 2796 3499 1614

10962 1.43 309.9 503.1 11.8 526 10966 0.00 2.53 0.00 0.000 6 0.000 0.042 2796 2099 1614

11289 1.43 309.9 464.6 12.2 542 11293 0.00 2.62 0.00 0.000 4 0.000 0.070 2796 689 1614

11305 1.43 309.9 462.5 11.9 543 11310 0.00 2.47 0.00 0.000 6 0.000 0.038 2796 2102 1614

11632 1.43 309.9 424.7 11.1 559 11636 0.00 2.53 0.00 0.000 4 0.000 0.049 2797 3499 1614

11653 1.43 309.9 422.2 11.3 560 11658 0.00 2.50 0.00 0.000 6 0.000 0.041 2796 2098 1614

11975 1.43 309.9 384.9 12.2 576 11979 0.00 2.62 0.00 0.000 4 0.000 0.068 2796 688 1614

11996 1.43 309.9 382.2 12.4 577 12001 0.00 2.47 0.00 0.000 6 0.000 0.038 2796 2101 1614

12318 1.43 309.9 344.6 11.6 593 12322 0.00 2.53 0.00 0.000 4 0.000 0.048 2797 3497 1613

12339 1.43 309.9 341.8 12.0 594 12344 0.00 2.50 0.00 0.000 6 0.000 0.040 2796 2097 1614

12660 1.43 309.9 305.6 11.4 610 12664 0.00 2.60 0.00 0.000 4 0.000 0.067 2796 695 1614

12687 1.43 309.9 302.3 12.6 611 12691 0.00 2.47 0.00 0.000 6 0.000 0.038 2796 2106 1614

13003 1.43 309.9 268.9 10.7 626 13007 0.00 2.50 0.00 0.000 4 0.000 0.048 2796 3498 1615

13030 1.43 309.9 265.9 10.2 627 13034 0.00 2.50 0.00 0.000 6 0.000 0.041 2796 2100 1615

13346 1.43 309.9 232.1 11.0 642 13347 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2100 1615

13655 1.43 309.9 197.9 11.9 657 13656 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2100 1615

13964 1.43 309.9 158.9 12.7 672 13968 0.00 2.58 0.00 0.000 4 0.000 0.064 2796 695 1615

13997 1.43 309.9 155.0 11.4 673 14003 0.00 2.45 0.00 0.000 6 0.000 0.036 2797 2101 1615

14313 1.43 309.9 113.7 12.3 689 14317 0.00 2.50 0.00 0.000 4 0.000 0.046 2797 3495 1615

14357 1.43 309.9 109.1 10.2 691 14362 0.00 2.47 0.00 0.000 6 0.000 0.037 2796 2096 1615

14678 1.43 309.9 68.1 13.8 707 14682 0.00 2.60 0.00 0.000 4 0.000 0.064 2796 694 1615

14700 1.43 309.9 64.9 14.1 708 14704 0.00 2.45 0.00 0.000 6 0.000 0.036 2796 2101 1615

15021 1.43 309.9 21.0 13.8 724 15025 0.00 2.50 0.00 0.000 4 0.000 0.047 2796 3495 1615

15043 1.43 309.9 18.0 13.0 725 15047 0.00 2.47 0.00 0.000 6 0.000 0.037 2796 2093 1615

15196 end climb: SURFACE_DEPTH_REACHED

state 15196 begin surface coast

15218 end surface coast: CONTROL_FINISHED_OK

state 15218 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	427	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	33	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-3	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	-86963.164	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	211738,6134.501,-915.747,56,1.0,56,-9.4	TGT_NAME	AW
_CALLS	5	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,-0.087
_SM_DEPTHo	2.06	KALMAN_X	598544.1,182.8,697.6,-639186.7,-3624.4
_SM_ANGLEo	-53.3	KALMAN_Y	133664.5,-761.6,129.3,-130499.7,368.8
GPS2	213832,6134.497,-915.104,10,1.4,10,-9.4	MHEAD_RNG_PITCHd_Wd	120.9,30015,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	773

FINISH	1.8,1.027380	XPDR_PINGS	5
SM_CCo	15302,0.00,0.000,0,0,1614,309.81	ALTIM_TOP_PING	19.4,999.0
SM_GC	2.33,11.88,0.00,0.00,0.028,0.000,0.000,28,1889,1614,-11.27,-0.31,309.81	_24V_AH	23.0,83.074
IRIDIUM_FIX	6112.75,-909.17,050597,212138	_10V_AH	10.1,40.005
TT8_MAMPS	0.026845	DATA_FILE_SIZE	37943,734
HUMID	2066	CFSIZE	260165632,233000960
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.50	GPS	100208,015701,6131.708,-907.913,69,1.5,69,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	136	81.64	SBE_CT	536	24	296.11
Roll_motor	167	70	271.20	SBE_O2	493	19	215.66
VBD_pump_during_apogee	392	1280	11564.41	WL_BB2F	423	105	1022.65
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	193	103	458.44	nil	0	0	0.00
Iridium_during_connect	263	160	970.42	nil	0	0	0.00
Iridium_during_xfer	403	223	2070.50
Transponder_ping	7	420	74.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.03
TT8	1366	19	273.36
LPSleep	11846	2	262.03
TT8_Active	529	19	105.95
TT8_Sampling	1636	39	657.88
TT8_CF8	1220	45	564.71
TT8_Kalman	33	81	27.57
Analog_circuits	1400	12	169.78
GPS_charging	0	0	0.00
Compass	1599	8	129.24
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	89	0.00	0.00	-60.97	0.000	2	0.000	0.000	34	1885	2663
93	-1.23	-146.6	3.3	-2.8	3	138	11.55	2.60	-27.15	0.000	4	0.137	0.060	2223	3293	3477
236	-1.23	-146.6	17.0	-14.2	9	241	0.00	2.47	0.00	0.000	6	0.000	0.040	2222	1908	3477
552	-1.23	-146.6	55.1	-12.8	24	557	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3298	3477
608	-1.23	-146.6	62.6	-13.3	26	615	0.00	2.50	0.00	0.000	6	0.000	0.041	2223	1900	3477
924	-1.23	-146.6	96.2	-8.8	42	929	0.00	2.53	0.00	0.000	4	0.000	0.045	2223	3303	3477
991	-1.23	-146.6	104.7	-12.5	45	995	0.00	2.50	0.00	0.000	6	0.000	0.040	2223	1899	3477
1313	-1.23	-146.6	138.1	-10.8	61	1314	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1899	3477
1622	-1.23	-146.6	172.2	-11.2	76	1626	0.00	2.53	0.00	0.000	4	0.000	0.045	2222	3304	3477
1643	-1.23	-146.6	174.5	-10.4	77	1648	0.00	2.50	0.00	0.000	6	0.000	0.039	2223	1901	3477
1970	-1.23	-146.6	211.6	-11.4	93	1974	0.00	2.60	0.00	0.000	4	0.000	0.067	2222	500	3477
1999	-1.23	-146.6	215.3	-12.9	94	2003	0.00	2.45	0.00	0.000	6	0.000	0.038	2222	1906	3476
2314	-1.23	-146.6	248.7	-10.8	109	2318	0.00	2.50	0.00	0.000	4	0.000	0.047	2223	3299	3477
2376	-1.23	-146.6	255.1	-10.4	112	2380	0.00	2.50	0.00	0.000	6	0.000	0.041	2222	1900	3477
2702	-1.23	-146.6	290.4	-10.9	128	2707	0.00	2.50	0.00	0.000	4	0.000	0.046	2222	3295	3477
2736	-1.23	-146.6	294.1	-10.6	129	2742	0.00	2.47	0.00	0.000	6	0.000	0.041	2223	1902	3477
3052	-1.23	-146.6	326.7	-10.4	145	3057	0.00	2.50	0.00	0.000	4	0.000	0.046	2223	3297	3477
3085	-1.23	-146.6	330.4	-10.2	146	3091	0.00	2.50	0.00	0.000	6	0.000	0.041	2223	1894	3477
3401	-1.23	-146.6	363.8	-10.4	162	3405	0.00	2.53	0.00	0.000	4	0.000	0.047	2223	3302	3477
3434	-1.23	-146.6	367.3	-10.2	163	3440	0.00	2.50	0.00	0.000	6	0.000	0.041	2223	1898	3477
3750	-1.23	-146.6	399.9	-10.2	179	3751	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3477
4058	-1.23	-146.6	430.1	-9.5	194	4063	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3295	3477
4121	-1.23	-146.6	435.9	-9.5	197	4125	0.00	2.50	0.00	0.000	6	0.000	0.041	2223	1898	3476
4447	-1.23	-146.6	464.4	-8.8	213	4449	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3477
4756	-1.23	-146.6	492.3	-9.9	228	4757	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3477
5066	-1.23	-146.6	532.6	-14.1	243	5070	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3294	3476
5211	-1.23	-146.6	551.7	-12.0	249	5217	0.00	2.50	0.00	0.000	6	0.000	0.042	2223	1895	3476
5526	-1.23	-146.6	584.6	-9.7	265	5531	0.00	2.60	0.00	0.000	4	0.000	0.071	2223	498	3476
5554	-1.23	-146.6	587.3	-10.5	266	5559	0.00	2.45	0.00	0.000	6	0.000	0.040	2223	1897	3476
5870	-1.23	-146.6	614.6	-8.2	281	5871	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1901	3476
6180	-1.23	-146.6	640.8	-8.5	296	6181	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1904	3476
6490	-1.23	-146.6	662.4	-7.3	311	6491	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1904	3475
6798	-1.23	-146.6	689.2	-9.1	326	6802	0.00	2.55	0.00	0.000	4	0.000	0.054	2223	3298	3475
6876	-1.23	-146.6	696.7	-9.4	329	6882	0.00	2.53	0.00	0.000	6	0.000	0.048	2223	1902	3476
7193	-1.23	-146.6	725.6	-10.1	345	7197	0.00	2.53	0.00	0.000	4	0.000	0.051	2223	3297	3475
7316	-1.23	-146.6	739.2	-10.9	350	7322	0.00	2.53	0.00	0.000	6	0.000	0.048	2223	1898	3475
7632	-1.23	-146.6	771.4	-9.6	366	7637	0.00	2.55	0.00	0.000	4	0.000	0.054	2223	3298	3476
7647	end dive: TARGET_DEPTH_EXCEEDED
state	7647	begin apogee
7656	-0.36	0.0	773.0	9.0	367	7790	0.93	0.00	126.97	1.280	6	0.081	0.000	2419	2092	2878
7791	end apogee: CONTROL_FINISHED_OK
state	7791	begin climb
7794	1.23	146.6	777.5	0.0	374	7929	1.55	2.72	125.28	1.249	4	0.052	0.069	2764	694	2280
7961	1.35	241.9	773.8	4.4	382	8048	0.10	2.53	80.85	1.236	6	0.054	0.044	2796	2092	1891
8370	1.36	256.6	746.7	7.4	402	8392	0.00	2.67	13.27	1.228	4	0.000	0.056	2796	3501	1831
8476	1.36	256.6	737.0	8.8	406	8482	0.00	2.58	0.00	0.000	6	0.000	0.048	2796	2095	1830
8791	1.36	256.6	707.5	9.8	422	8796	0.00	2.60	0.00	0.000	4	0.000	0.054	2796	3508	1829
8864	1.36	256.6	700.1	9.9	425	8869	0.00	2.55	0.00	0.000	6	0.000	0.046	2797	2103	1830
9180	1.36	256.6	671.8	8.4	440	9184	0.00	2.55	0.00	0.000	4	0.000	0.053	2796	3503	1829
9236	1.36	256.6	667.0	8.4	442	9242	0.00	2.55	0.00	0.000	6	0.000	0.044	2796	2095	1829
9552	1.39	281.4	643.1	7.1	458	9579	0.00	2.67	21.48	1.220	4	0.000	0.051	2796	3505	1730
9598	1.43	309.9	639.8	6.9	460	9627	0.00	2.58	24.92	1.190	6	0.000	0.044	2796	2096	1614
9945	1.43	309.9	609.9	9.1	477	9946	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2096	1614
10254	1.43	309.9	577.4	11.3	492	10258	0.00	2.65	0.00	0.000	4	0.000	0.071	2796	689	1614
10286	1.43	309.9	574.3	8.4	493	10293	0.00	2.50	0.00	0.000	6	0.000	0.039	2796	2106	1614
10602	1.43	309.9	541.2	10.2	509	10606	0.00	2.53	0.00	0.000	4	0.000	0.050	2796	3498	1614
10629	1.43	309.9	538.3	10.6	510	10634	0.00	2.53	0.00	0.000	6	0.000	0.043	2796	2099	1614
10945	1.43	309.9	505.1	10.9	525	10949	0.00	2.53	0.00	0.000	4	0.000	0.048	2796	3499	1614
10962	1.43	309.9	503.1	11.8	526	10966	0.00	2.53	0.00	0.000	6	0.000	0.042	2796	2099	1614
11289	1.43	309.9	464.6	12.2	542	11293	0.00	2.62	0.00	0.000	4	0.000	0.070	2796	689	1614
11305	1.43	309.9	462.5	11.9	543	11310	0.00	2.47	0.00	0.000	6	0.000	0.038	2796	2102	1614
11632	1.43	309.9	424.7	11.1	559	11636	0.00	2.53	0.00	0.000	4	0.000	0.049	2797	3499	1614
11653	1.43	309.9	422.2	11.3	560	11658	0.00	2.50	0.00	0.000	6	0.000	0.041	2796	2098	1614
11975	1.43	309.9	384.9	12.2	576	11979	0.00	2.62	0.00	0.000	4	0.000	0.068	2796	688	1614
11996	1.43	309.9	382.2	12.4	577	12001	0.00	2.47	0.00	0.000	6	0.000	0.038	2796	2101	1614
12318	1.43	309.9	344.6	11.6	593	12322	0.00	2.53	0.00	0.000	4	0.000	0.048	2797	3497	1613
12339	1.43	309.9	341.8	12.0	594	12344	0.00	2.50	0.00	0.000	6	0.000	0.040	2796	2097	1614
12660	1.43	309.9	305.6	11.4	610	12664	0.00	2.60	0.00	0.000	4	0.000	0.067	2796	695	1614
12687	1.43	309.9	302.3	12.6	611	12691	0.00	2.47	0.00	0.000	6	0.000	0.038	2796	2106	1614
13003	1.43	309.9	268.9	10.7	626	13007	0.00	2.50	0.00	0.000	4	0.000	0.048	2796	3498	1615
13030	1.43	309.9	265.9	10.2	627	13034	0.00	2.50	0.00	0.000	6	0.000	0.041	2796	2100	1615
13346	1.43	309.9	232.1	11.0	642	13347	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2100	1615
13655	1.43	309.9	197.9	11.9	657	13656	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2100	1615
13964	1.43	309.9	158.9	12.7	672	13968	0.00	2.58	0.00	0.000	4	0.000	0.064	2796	695	1615
13997	1.43	309.9	155.0	11.4	673	14003	0.00	2.45	0.00	0.000	6	0.000	0.036	2797	2101	1615
14313	1.43	309.9	113.7	12.3	689	14317	0.00	2.50	0.00	0.000	4	0.000	0.046	2797	3495	1615
14357	1.43	309.9	109.1	10.2	691	14362	0.00	2.47	0.00	0.000	6	0.000	0.037	2796	2096	1615
14678	1.43	309.9	68.1	13.8	707	14682	0.00	2.60	0.00	0.000	4	0.000	0.064	2796	694	1615
14700	1.43	309.9	64.9	14.1	708	14704	0.00	2.45	0.00	0.000	6	0.000	0.036	2796	2101	1615
15021	1.43	309.9	21.0	13.8	724	15025	0.00	2.50	0.00	0.000	4	0.000	0.047	2796	3495	1615
15043	1.43	309.9	18.0	13.0	725	15047	0.00	2.47	0.00	0.000	6	0.000	0.037	2796	2093	1615
15196	end climb: SURFACE_DEPTH_REACHED
state	15196	begin surface coast
15218	end surface coast: CONTROL_FINISHED_OK
state	15218	begin surface