Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 74 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 74 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 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 1775 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 18 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 120 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -63524.062 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

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 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 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 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -63524.062

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

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 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1775 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 18 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 11 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 74 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 185038,6132.420,-907.531,51,1.0,51,-9.3 TGT_NAME FB

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.169,-0.139

_SM_DEPTHo -0.10 KALMAN_X -102750.8,155.0,670.1,72870.4,-1380.4

_SM_ANGLEo -56.3 KALMAN_Y 98545.3,1000.3,933.9,-103392.0,-5483.6

GPS2 185532,6132.428,-907.359,12,1.0,17,-9.3 MHEAD_RNG_PITCHd_Wd 138.7,23928,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 678

Post-dive calculations and measurements:

FINISH 1.1,1.027225 XPDR_PINGS 2

SM_CCo 16619,0.00,0.000,0,0,1557,329.68 ALTIM_BOTTOM_PING 525.1,97.0

SM_GC -0.07,11.98,0.00,0.00,0.045,0.000,0.000,46,2903,1557,-10.80,0.08,329.68 _24V_AH 23.5,17.883

IRIDIUM_FIX 6112.75,-909.17,231107,171743 _10V_AH 10.1,7.064

TT8_MAMPS 0.028379 DATA_FILE_SIZE 41078,797

HUMID 2073 CFSIZE 260165632,254595072

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,52,0,0

TCM_TEMP 17.60 GPS 231107,233438,6129.975,-858.988,31,1.1,31,-9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 100.69 SBE_CT 572 24 322.63

Roll_motor 178 121 509.20 SBE_O2 564 19 252.03

VBD_pump_during_apogee 400 1204 11332.12 WL_BB2F 547 105 1350.56

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 32 103 79.35 nil 0 0 0.00

Iridium_during_connect 35 160 135.00 nil 0 0 0.00

Iridium_during_xfer 129 223 677.59

Transponder_ping 4 420 46.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.06

TT8 1532 19 306.38

LPSleep 12480 2 276.06

TT8_Active 527 19 105.43

TT8_Sampling 2021 39 812.80

TT8_CF8 360 45 166.71

TT8_Kalman 33 81 27.56

Analog_circuits 1552 12 188.10

GPS_charging 0 0 0.00

Compass 1989 8 160.76

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -1.10 -146.6 0.0 0.0 0 83 0.00 0.00 -61.78 0.000 2 0.000 0.000 46 2888 3410

85 -1.10 -146.6 3.7 -9.4 3 107 12.05 1.80 -1.60 0.000 4 0.162 0.121 2163 3783 3502

359 -1.10 -146.6 21.6 -3.9 15 363 0.00 1.58 0.00 0.000 6 0.000 0.048 2163 2907 3502

686 -1.10 -146.6 49.3 -9.5 31 687 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2907 3502

995 -1.10 -146.6 68.8 -5.1 46 997 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2907 3502

1304 -1.10 -146.6 90.2 -7.6 61 1308 0.00 1.70 0.00 0.000 4 0.000 0.091 2163 3785 3502

1353 -1.10 -146.6 94.7 -9.9 63 1358 0.00 1.58 0.00 0.000 6 0.000 0.046 2163 2904 3502

1681 -1.10 -146.6 118.0 -3.1 79 1685 0.00 2.65 0.00 0.000 4 0.000 0.075 2163 1475 3502

1707 -1.10 -146.6 118.6 -2.4 80 1711 0.00 2.70 0.00 0.000 6 0.000 0.077 2163 2906 3502

2028 -1.10 -146.6 132.4 -3.8 96 2029 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2906 3502

2337 -1.10 -146.6 151.7 -7.2 111 2342 0.00 2.65 0.00 0.000 4 0.000 0.071 2163 1482 3502

2380 -1.10 -146.6 155.1 -8.0 113 2385 0.00 2.70 0.00 0.000 6 0.000 0.078 2163 2893 3502

2707 -1.10 -146.6 178.8 -6.8 129 2711 0.00 2.62 0.00 0.000 4 0.000 0.075 2163 1480 3502

2739 -1.10 -146.6 181.0 -6.7 130 2746 0.00 2.70 0.00 0.000 6 0.000 0.075 2163 2901 3502

3054 -1.10 -146.6 204.5 -8.2 146 3059 0.00 2.65 0.00 0.000 4 0.000 0.074 2163 1479 3502

3120 -1.10 -146.6 209.8 -7.8 149 3124 0.00 2.70 0.00 0.000 6 0.000 0.077 2163 2900 3502

3447 -1.10 -146.6 234.3 -7.3 165 3448 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

3756 -1.10 -146.6 258.7 -8.5 180 3757 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

4065 -1.10 -146.6 285.2 -8.7 195 4069 0.00 2.62 0.00 0.000 4 0.000 0.071 2163 1477 3502

4114 -1.10 -146.6 289.7 -8.9 197 4119 0.00 2.70 0.00 0.000 6 0.000 0.075 2163 2899 3502

4435 -1.10 -146.6 317.7 -8.6 213 4439 0.00 2.62 0.00 0.000 4 0.000 0.071 2163 1470 3502

4473 -1.10 -146.6 320.9 -8.2 215 4478 0.00 2.67 0.00 0.000 6 0.000 0.075 2163 2901 3502

4799 -1.10 -146.6 346.7 -7.9 231 4804 0.00 2.65 0.00 0.000 4 0.000 0.072 2163 1472 3502

4843 -1.10 -146.6 350.1 -7.6 233 4848 0.00 2.67 0.00 0.000 6 0.000 0.073 2163 2905 3502

5163 -1.10 -146.6 373.4 -6.8 249 5168 0.00 2.60 0.00 0.000 4 0.000 0.068 2163 1478 3502

5212 -1.10 -146.6 376.7 -6.7 251 5217 0.00 2.67 0.00 0.000 6 0.000 0.074 2163 2892 3502

5533 -1.10 -146.6 394.5 -4.9 267 5537 0.00 2.60 0.00 0.000 4 0.000 0.071 2163 1480 3502

5576 -1.10 -146.6 396.5 -4.8 269 5581 0.00 2.65 0.00 0.000 6 0.000 0.073 2163 2898 3502

5903 -1.10 -146.6 408.9 -3.5 285 5904 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2898 3502

6212 -1.10 -146.6 421.3 -4.3 300 6216 0.00 2.62 0.00 0.000 4 0.000 0.069 2163 1478 3502

6260 -1.10 -146.6 423.8 -5.0 302 6265 0.00 2.67 0.00 0.000 6 0.000 0.074 2163 2909 3502

6581 -1.10 -146.6 444.8 -7.2 318 6585 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1479 3502

6607 -1.10 -146.6 447.0 -8.3 319 6612 0.00 2.65 0.00 0.000 6 0.000 0.071 2163 2889 3502

6929 -1.10 -146.6 472.3 -8.4 335 6933 0.00 2.58 0.00 0.000 4 0.000 0.067 2163 1477 3502

6991 -1.10 -146.6 477.7 -8.9 338 6996 0.00 2.62 0.00 0.000 6 0.000 0.069 2163 2898 3502

7316 -1.10 -146.6 504.3 -7.6 354 7317 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2898 3502

7630 -1.10 -146.6 525.1 -5.9 369 7634 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1478 3502

7684 -1.10 -146.6 528.8 -5.9 371 7691 0.00 2.65 0.00 0.000 6 0.000 0.069 2163 2908 3502

7999 -1.10 -146.6 546.2 -5.1 387 8003 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1478 3502

8082 -1.10 -146.6 550.9 -6.3 390 8089 0.00 2.65 0.00 0.000 6 0.000 0.068 2163 2898 3502

8398 -1.10 -146.6 571.1 -7.0 406 8399 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2898 3502

8707 -1.10 -146.6 592.5 -6.4 421 8711 0.00 2.55 0.00 0.000 4 0.000 0.061 2163 1478 3502

8795 -1.10 -146.6 597.4 -1.9 425 8799 0.00 2.60 0.00 0.000 6 0.000 0.058 2163 2903 3502

8935 end dive: NO_VERTICAL_VELOCITY

state 8935 begin apogee

8941 -0.42 0.0 597.3 0.0 432 9067 0.75 0.00 122.80 1.204 6 0.079 0.000 2319 1766 2901

9068 end apogee: CONTROL_FINISHED_OK

state 9068 begin climb

9069 1.10 146.6 597.0 0.0 438 9198 1.55 2.80 119.97 1.173 4 0.059 0.080 2650 3184 2304

9338 1.13 165.8 589.7 5.5 450 9360 0.00 2.58 17.33 1.090 6 0.000 0.051 2650 1778 2224

9669 1.13 171.0 570.4 5.9 466 9680 0.00 2.70 6.00 0.891 4 0.000 0.074 2650 3184 2203

9802 1.13 171.2 562.2 6.0 472 9807 0.00 2.58 0.00 0.000 6 0.000 0.053 2650 1777 2203

10129 1.13 171.2 541.1 6.5 488 10133 0.00 2.67 0.00 0.000 4 0.000 0.077 2650 3185 2203

10228 1.13 171.2 534.3 7.1 492 10235 0.00 2.58 0.00 0.000 6 0.000 0.055 2650 1778 2203

10544 1.18 212.6 517.2 4.9 508 10586 0.00 2.75 35.00 1.122 4 0.000 0.076 2650 3186 2034

10692 1.20 223.3 509.0 5.7 514 10708 0.00 2.58 10.40 1.026 6 0.000 0.057 2650 1776 1990

11023 1.27 280.7 493.0 4.4 531 11078 0.15 2.70 47.85 1.092 4 0.038 0.065 2698 3178 1756

11228 1.27 280.7 476.5 9.3 540 11233 0.00 2.58 0.00 0.000 6 0.000 0.053 2698 1774 1756

11550 1.27 280.7 443.5 10.8 556 11554 0.00 2.65 0.00 0.000 4 0.000 0.068 2698 3191 1755

11621 1.27 280.7 435.1 11.7 559 11625 0.00 2.58 0.00 0.000 6 0.000 0.052 2698 1780 1755

11942 1.27 280.7 396.8 12.0 575 11946 0.00 2.60 0.00 0.000 4 0.000 0.068 2698 3187 1755

12035 1.27 280.7 386.1 10.9 579 12039 0.00 2.58 0.00 0.000 6 0.000 0.053 2698 1775 1755

12356 1.27 280.7 351.7 10.8 595 12360 0.00 2.62 0.00 0.000 4 0.000 0.070 2698 3189 1755

12455 1.27 280.7 342.1 9.0 599 12462 0.00 2.58 0.00 0.000 6 0.000 0.054 2698 1776 1755

12770 1.27 280.7 313.6 9.3 615 12775 0.00 2.60 0.00 0.000 4 0.000 0.069 2698 3186 1755

12842 1.27 280.7 306.3 9.6 618 12846 0.00 2.58 0.00 0.000 6 0.000 0.052 2698 1770 1755

13163 1.27 280.7 278.3 8.0 634 13167 0.00 2.62 0.00 0.000 4 0.000 0.070 2698 3188 1755

13256 1.27 280.7 270.6 8.4 638 13261 0.00 2.58 0.00 0.000 6 0.000 0.053 2698 1771 1755

13577 1.27 280.7 243.2 9.4 654 13581 0.00 2.62 0.00 0.000 4 0.000 0.070 2698 3188 1755

13661 1.27 280.7 234.9 9.4 658 13665 0.00 2.53 0.00 0.000 6 0.000 0.052 2698 1773 1755

13986 1.27 280.7 202.0 9.7 674 13990 0.00 2.62 0.00 0.000 4 0.000 0.069 2698 3186 1755

14069 1.27 280.7 194.3 9.3 678 14073 0.00 2.53 0.00 0.000 6 0.000 0.052 2698 1774 1755

14394 1.27 280.7 166.6 8.1 694 14398 0.00 2.60 0.00 0.000 4 0.000 0.069 2698 3186 1755

14506 1.27 280.7 158.2 7.2 699 14510 0.00 2.55 0.00 0.000 6 0.000 0.053 2698 1771 1755

14828 1.29 296.2 138.2 5.6 715 14849 0.00 2.70 13.70 0.860 4 0.000 0.070 2698 3176 1693

14921 1.33 329.1 133.3 5.1 719 14954 0.00 2.53 27.40 0.855 6 0.000 0.053 2698 1774 1559

15264 1.33 329.1 111.3 7.3 735 15268 0.00 2.65 0.00 0.000 4 0.000 0.071 2698 3185 1559

15363 1.33 329.1 103.5 7.3 739 15370 0.00 2.58 0.00 0.000 6 0.000 0.052 2698 1774 1558

15678 1.33 329.1 72.0 11.0 755 15683 0.00 2.65 0.00 0.000 4 0.000 0.069 2698 3188 1558

15762 1.33 329.1 63.6 10.5 759 15766 0.00 2.55 0.00 0.000 6 0.000 0.053 2698 1774 1559

16087 1.33 329.1 34.3 10.8 775 16091 0.00 2.65 0.00 0.000 4 0.000 0.073 2698 3185 1558

16172 1.33 329.1 24.3 11.3 779 16176 0.00 2.55 0.00 0.000 6 0.000 0.053 2698 1768 1558

16497 1.33 329.1 2.1 7.0 795 16501 0.00 2.10 0.00 0.000 3 0.000 0.070 2698 2901 1558

16502 end climb: SURFACE_DEPTH_REACHED

state 16502 begin surface coast

16540 end surface coast: CONTROL_FINISHED_OK

state 16540 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	74	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	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	1775	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	18	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	120	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-63524.062	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	185038,6132.420,-907.531,51,1.0,51,-9.3	TGT_NAME	FB
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.169,-0.139
_SM_DEPTHo	-0.10	KALMAN_X	-102750.8,155.0,670.1,72870.4,-1380.4
_SM_ANGLEo	-56.3	KALMAN_Y	98545.3,1000.3,933.9,-103392.0,-5483.6
GPS2	185532,6132.428,-907.359,12,1.0,17,-9.3	MHEAD_RNG_PITCHd_Wd	138.7,23928,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	678

FINISH	1.1,1.027225	XPDR_PINGS	2
SM_CCo	16619,0.00,0.000,0,0,1557,329.68	ALTIM_BOTTOM_PING	525.1,97.0
SM_GC	-0.07,11.98,0.00,0.00,0.045,0.000,0.000,46,2903,1557,-10.80,0.08,329.68	_24V_AH	23.5,17.883
IRIDIUM_FIX	6112.75,-909.17,231107,171743	_10V_AH	10.1,7.064
TT8_MAMPS	0.028379	DATA_FILE_SIZE	41078,797
HUMID	2073	CFSIZE	260165632,254595072
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,52,0,0
TCM_TEMP	17.60	GPS	231107,233438,6129.975,-858.988,31,1.1,31,-9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	100.69	SBE_CT	572	24	322.63
Roll_motor	178	121	509.20	SBE_O2	564	19	252.03
VBD_pump_during_apogee	400	1204	11332.12	WL_BB2F	547	105	1350.56
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	32	103	79.35	nil	0	0	0.00
Iridium_during_connect	35	160	135.00	nil	0	0	0.00
Iridium_during_xfer	129	223	677.59
Transponder_ping	4	420	46.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.06
TT8	1532	19	306.38
LPSleep	12480	2	276.06
TT8_Active	527	19	105.43
TT8_Sampling	2021	39	812.80
TT8_CF8	360	45	166.71
TT8_Kalman	33	81	27.56
Analog_circuits	1552	12	188.10
GPS_charging	0	0	0.00
Compass	1989	8	160.76
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-1.10	-146.6	0.0	0.0	0	83	0.00	0.00	-61.78	0.000	2	0.000	0.000	46	2888	3410
85	-1.10	-146.6	3.7	-9.4	3	107	12.05	1.80	-1.60	0.000	4	0.162	0.121	2163	3783	3502
359	-1.10	-146.6	21.6	-3.9	15	363	0.00	1.58	0.00	0.000	6	0.000	0.048	2163	2907	3502
686	-1.10	-146.6	49.3	-9.5	31	687	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2907	3502
995	-1.10	-146.6	68.8	-5.1	46	997	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2907	3502
1304	-1.10	-146.6	90.2	-7.6	61	1308	0.00	1.70	0.00	0.000	4	0.000	0.091	2163	3785	3502
1353	-1.10	-146.6	94.7	-9.9	63	1358	0.00	1.58	0.00	0.000	6	0.000	0.046	2163	2904	3502
1681	-1.10	-146.6	118.0	-3.1	79	1685	0.00	2.65	0.00	0.000	4	0.000	0.075	2163	1475	3502
1707	-1.10	-146.6	118.6	-2.4	80	1711	0.00	2.70	0.00	0.000	6	0.000	0.077	2163	2906	3502
2028	-1.10	-146.6	132.4	-3.8	96	2029	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2906	3502
2337	-1.10	-146.6	151.7	-7.2	111	2342	0.00	2.65	0.00	0.000	4	0.000	0.071	2163	1482	3502
2380	-1.10	-146.6	155.1	-8.0	113	2385	0.00	2.70	0.00	0.000	6	0.000	0.078	2163	2893	3502
2707	-1.10	-146.6	178.8	-6.8	129	2711	0.00	2.62	0.00	0.000	4	0.000	0.075	2163	1480	3502
2739	-1.10	-146.6	181.0	-6.7	130	2746	0.00	2.70	0.00	0.000	6	0.000	0.075	2163	2901	3502
3054	-1.10	-146.6	204.5	-8.2	146	3059	0.00	2.65	0.00	0.000	4	0.000	0.074	2163	1479	3502
3120	-1.10	-146.6	209.8	-7.8	149	3124	0.00	2.70	0.00	0.000	6	0.000	0.077	2163	2900	3502
3447	-1.10	-146.6	234.3	-7.3	165	3448	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
3756	-1.10	-146.6	258.7	-8.5	180	3757	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
4065	-1.10	-146.6	285.2	-8.7	195	4069	0.00	2.62	0.00	0.000	4	0.000	0.071	2163	1477	3502
4114	-1.10	-146.6	289.7	-8.9	197	4119	0.00	2.70	0.00	0.000	6	0.000	0.075	2163	2899	3502
4435	-1.10	-146.6	317.7	-8.6	213	4439	0.00	2.62	0.00	0.000	4	0.000	0.071	2163	1470	3502
4473	-1.10	-146.6	320.9	-8.2	215	4478	0.00	2.67	0.00	0.000	6	0.000	0.075	2163	2901	3502
4799	-1.10	-146.6	346.7	-7.9	231	4804	0.00	2.65	0.00	0.000	4	0.000	0.072	2163	1472	3502
4843	-1.10	-146.6	350.1	-7.6	233	4848	0.00	2.67	0.00	0.000	6	0.000	0.073	2163	2905	3502
5163	-1.10	-146.6	373.4	-6.8	249	5168	0.00	2.60	0.00	0.000	4	0.000	0.068	2163	1478	3502
5212	-1.10	-146.6	376.7	-6.7	251	5217	0.00	2.67	0.00	0.000	6	0.000	0.074	2163	2892	3502
5533	-1.10	-146.6	394.5	-4.9	267	5537	0.00	2.60	0.00	0.000	4	0.000	0.071	2163	1480	3502
5576	-1.10	-146.6	396.5	-4.8	269	5581	0.00	2.65	0.00	0.000	6	0.000	0.073	2163	2898	3502
5903	-1.10	-146.6	408.9	-3.5	285	5904	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2898	3502
6212	-1.10	-146.6	421.3	-4.3	300	6216	0.00	2.62	0.00	0.000	4	0.000	0.069	2163	1478	3502
6260	-1.10	-146.6	423.8	-5.0	302	6265	0.00	2.67	0.00	0.000	6	0.000	0.074	2163	2909	3502
6581	-1.10	-146.6	444.8	-7.2	318	6585	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1479	3502
6607	-1.10	-146.6	447.0	-8.3	319	6612	0.00	2.65	0.00	0.000	6	0.000	0.071	2163	2889	3502
6929	-1.10	-146.6	472.3	-8.4	335	6933	0.00	2.58	0.00	0.000	4	0.000	0.067	2163	1477	3502
6991	-1.10	-146.6	477.7	-8.9	338	6996	0.00	2.62	0.00	0.000	6	0.000	0.069	2163	2898	3502
7316	-1.10	-146.6	504.3	-7.6	354	7317	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2898	3502
7630	-1.10	-146.6	525.1	-5.9	369	7634	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1478	3502
7684	-1.10	-146.6	528.8	-5.9	371	7691	0.00	2.65	0.00	0.000	6	0.000	0.069	2163	2908	3502
7999	-1.10	-146.6	546.2	-5.1	387	8003	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1478	3502
8082	-1.10	-146.6	550.9	-6.3	390	8089	0.00	2.65	0.00	0.000	6	0.000	0.068	2163	2898	3502
8398	-1.10	-146.6	571.1	-7.0	406	8399	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2898	3502
8707	-1.10	-146.6	592.5	-6.4	421	8711	0.00	2.55	0.00	0.000	4	0.000	0.061	2163	1478	3502
8795	-1.10	-146.6	597.4	-1.9	425	8799	0.00	2.60	0.00	0.000	6	0.000	0.058	2163	2903	3502
8935	end dive: NO_VERTICAL_VELOCITY
state	8935	begin apogee
8941	-0.42	0.0	597.3	0.0	432	9067	0.75	0.00	122.80	1.204	6	0.079	0.000	2319	1766	2901
9068	end apogee: CONTROL_FINISHED_OK
state	9068	begin climb
9069	1.10	146.6	597.0	0.0	438	9198	1.55	2.80	119.97	1.173	4	0.059	0.080	2650	3184	2304
9338	1.13	165.8	589.7	5.5	450	9360	0.00	2.58	17.33	1.090	6	0.000	0.051	2650	1778	2224
9669	1.13	171.0	570.4	5.9	466	9680	0.00	2.70	6.00	0.891	4	0.000	0.074	2650	3184	2203
9802	1.13	171.2	562.2	6.0	472	9807	0.00	2.58	0.00	0.000	6	0.000	0.053	2650	1777	2203
10129	1.13	171.2	541.1	6.5	488	10133	0.00	2.67	0.00	0.000	4	0.000	0.077	2650	3185	2203
10228	1.13	171.2	534.3	7.1	492	10235	0.00	2.58	0.00	0.000	6	0.000	0.055	2650	1778	2203
10544	1.18	212.6	517.2	4.9	508	10586	0.00	2.75	35.00	1.122	4	0.000	0.076	2650	3186	2034
10692	1.20	223.3	509.0	5.7	514	10708	0.00	2.58	10.40	1.026	6	0.000	0.057	2650	1776	1990
11023	1.27	280.7	493.0	4.4	531	11078	0.15	2.70	47.85	1.092	4	0.038	0.065	2698	3178	1756
11228	1.27	280.7	476.5	9.3	540	11233	0.00	2.58	0.00	0.000	6	0.000	0.053	2698	1774	1756
11550	1.27	280.7	443.5	10.8	556	11554	0.00	2.65	0.00	0.000	4	0.000	0.068	2698	3191	1755
11621	1.27	280.7	435.1	11.7	559	11625	0.00	2.58	0.00	0.000	6	0.000	0.052	2698	1780	1755
11942	1.27	280.7	396.8	12.0	575	11946	0.00	2.60	0.00	0.000	4	0.000	0.068	2698	3187	1755
12035	1.27	280.7	386.1	10.9	579	12039	0.00	2.58	0.00	0.000	6	0.000	0.053	2698	1775	1755
12356	1.27	280.7	351.7	10.8	595	12360	0.00	2.62	0.00	0.000	4	0.000	0.070	2698	3189	1755
12455	1.27	280.7	342.1	9.0	599	12462	0.00	2.58	0.00	0.000	6	0.000	0.054	2698	1776	1755
12770	1.27	280.7	313.6	9.3	615	12775	0.00	2.60	0.00	0.000	4	0.000	0.069	2698	3186	1755
12842	1.27	280.7	306.3	9.6	618	12846	0.00	2.58	0.00	0.000	6	0.000	0.052	2698	1770	1755
13163	1.27	280.7	278.3	8.0	634	13167	0.00	2.62	0.00	0.000	4	0.000	0.070	2698	3188	1755
13256	1.27	280.7	270.6	8.4	638	13261	0.00	2.58	0.00	0.000	6	0.000	0.053	2698	1771	1755
13577	1.27	280.7	243.2	9.4	654	13581	0.00	2.62	0.00	0.000	4	0.000	0.070	2698	3188	1755
13661	1.27	280.7	234.9	9.4	658	13665	0.00	2.53	0.00	0.000	6	0.000	0.052	2698	1773	1755
13986	1.27	280.7	202.0	9.7	674	13990	0.00	2.62	0.00	0.000	4	0.000	0.069	2698	3186	1755
14069	1.27	280.7	194.3	9.3	678	14073	0.00	2.53	0.00	0.000	6	0.000	0.052	2698	1774	1755
14394	1.27	280.7	166.6	8.1	694	14398	0.00	2.60	0.00	0.000	4	0.000	0.069	2698	3186	1755
14506	1.27	280.7	158.2	7.2	699	14510	0.00	2.55	0.00	0.000	6	0.000	0.053	2698	1771	1755
14828	1.29	296.2	138.2	5.6	715	14849	0.00	2.70	13.70	0.860	4	0.000	0.070	2698	3176	1693
14921	1.33	329.1	133.3	5.1	719	14954	0.00	2.53	27.40	0.855	6	0.000	0.053	2698	1774	1559
15264	1.33	329.1	111.3	7.3	735	15268	0.00	2.65	0.00	0.000	4	0.000	0.071	2698	3185	1559
15363	1.33	329.1	103.5	7.3	739	15370	0.00	2.58	0.00	0.000	6	0.000	0.052	2698	1774	1558
15678	1.33	329.1	72.0	11.0	755	15683	0.00	2.65	0.00	0.000	4	0.000	0.069	2698	3188	1558
15762	1.33	329.1	63.6	10.5	759	15766	0.00	2.55	0.00	0.000	6	0.000	0.053	2698	1774	1559
16087	1.33	329.1	34.3	10.8	775	16091	0.00	2.65	0.00	0.000	4	0.000	0.073	2698	3185	1558
16172	1.33	329.1	24.3	11.3	779	16176	0.00	2.55	0.00	0.000	6	0.000	0.053	2698	1768	1558
16497	1.33	329.1	2.1	7.0	795	16501	0.00	2.10	0.00	0.000	3	0.000	0.070	2698	2901	1558
16502	end climb: SURFACE_DEPTH_REACHED
state	16502	begin surface coast
16540	end surface coast: CONTROL_FINISHED_OK
state	16540	begin surface