Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 98 * 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 98 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 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 -64011.23 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 -64011.23

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 24 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 9 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 98 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 231137,6151.815,-912.341,36,1.2,36,-9.5 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.056,0.211

_SM_DEPTHo -0.03 KALMAN_X -76997.5,642.8,1284.7,41714.2,-1384.4

_SM_ANGLEo -61.0 KALMAN_Y 94155.0,-238.7,515.0,-61351.3,-357.1

GPS2 231732,6151.851,-912.222,14,1.2,31,-9.5 MHEAD_RNG_PITCHd_Wd 354.5,61426,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 617

Post-dive calculations and measurements:

FINISH -0.7,1.027239 XPDR_PINGS 2

SM_CCo 16265,33.88,0.704,1,0,1678,300.00 ALTIM_BOTTOM_PING 500.2,89.7

SM_GC 0.36,0.00,0.00,33.88,0.000,0.000,0.704,36,2886,1678,-10.92,-0.40,300.00 _24V_AH 23.5,20.949

IRIDIUM_FIX 6126.23,-914.24,271107,212119 _10V_AH 10.1,8.807

TT8_MAMPS 0.029146 DATA_FILE_SIZE 41139,786

HUMID 2082 CFSIZE 260165632,253308928

INTERNAL_PRESSURE 8.87729 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,46,1,0

TCM_TEMP 17.50 GPS 281107,035137,6152.732,-910.426,37,0.9,43,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 159 97.38 SBE_CT 558 24 314.97

Roll_motor 183 111 479.78 SBE_O2 556 19 248.55

VBD_pump_during_apogee 341 1125 9030.79 WL_BB2F 499 105 1232.04

VBD_pump_during_surface 33 704 560.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 100.07 nil 0 0 0.00

Iridium_during_connect 38 160 143.90 nil 0 0 0.00

Iridium_during_xfer 163 223 854.47

Transponder_ping 4 420 44.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.86

TT8 1519 19 303.81

LPSleep 12213 2 270.15

TT8_Active 520 19 104.16

TT8_Sampling 2012 39 808.96

TT8_CF8 404 45 186.91

TT8_Kalman 33 81 27.56

Analog_circuits 1525 12 184.91

GPS_charging 0 0 0.00

Compass 1958 8 158.24

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.10 -146.6 0.0 0.0 0 84 0.00 0.00 -62.33 0.000 2 0.000 0.000 46 2893 3472

86 -1.10 -146.6 4.1 -9.7 3 108 12.00 1.77 -0.50 0.000 4 0.160 0.111 2164 3787 3501

332 -1.10 -146.6 31.0 -7.1 14 336 0.00 1.55 0.00 0.000 6 0.000 0.035 2164 2898 3502

664 -1.10 -146.6 51.9 -6.5 30 665 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2898 3502

974 -1.10 -146.6 74.1 -7.1 45 975 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2898 3502

1283 -1.10 -146.6 97.7 -8.9 60 1287 0.00 2.60 0.00 0.000 4 0.000 0.070 2164 1484 3502

1353 -1.10 -146.6 104.0 -8.5 63 1358 0.00 2.70 0.00 0.000 6 0.000 0.074 2164 2901 3503

1675 -1.10 -146.6 131.9 -8.3 79 1679 0.00 2.60 0.00 0.000 4 0.000 0.066 2164 1492 3503

1706 -1.10 -146.6 134.8 -8.3 80 1714 0.00 2.67 0.00 0.000 6 0.000 0.072 2164 2906 3503

2022 -1.10 -146.6 157.5 -7.2 96 2026 0.00 2.60 0.00 0.000 4 0.000 0.066 2164 1493 3503

2048 -1.10 -146.6 159.5 -7.1 97 2052 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2893 3503

2369 -1.10 -146.6 179.2 -5.3 113 2373 0.00 2.58 0.00 0.000 4 0.000 0.067 2164 1492 3503

2395 -1.10 -146.6 181.0 -7.0 114 2399 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2893 3503

2717 -1.10 -146.6 200.5 -5.9 130 2722 0.00 2.58 0.00 0.000 4 0.000 0.065 2164 1492 3503

2760 -1.10 -146.6 203.4 -6.1 132 2765 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2894 3503

3087 -1.10 -146.6 221.6 -5.7 148 3089 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2894 3503

3396 -1.10 -146.6 240.9 -6.4 163 3398 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2894 3503

3706 -1.10 -146.6 258.5 -5.3 178 3710 0.00 2.58 0.00 0.000 4 0.000 0.066 2164 1493 3503

3783 -1.10 -146.6 262.7 -5.5 181 3789 0.00 2.62 0.00 0.000 6 0.000 0.072 2164 2902 3503

4098 -1.10 -146.6 281.7 -6.4 197 4102 0.00 2.60 0.00 0.000 4 0.000 0.065 2164 1487 3503

4158 -1.10 -146.6 285.9 -7.1 200 4163 0.00 2.62 0.00 0.000 6 0.000 0.073 2164 2900 3503

4484 -1.10 -146.6 308.1 -7.0 216 4489 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1493 3503

4511 -1.10 -146.6 310.2 -7.1 217 4515 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2904 3503

4832 -1.10 -146.6 333.4 -7.2 233 4836 0.00 2.58 0.00 0.000 4 0.000 0.065 2164 1490 3503

4870 -1.10 -146.6 336.2 -7.0 235 4874 0.00 2.62 0.00 0.000 6 0.000 0.072 2164 2902 3503

5195 -1.10 -146.6 359.3 -7.1 251 5200 0.00 2.60 0.00 0.000 4 0.000 0.065 2164 1489 3503

5244 -1.10 -146.6 362.8 -6.8 253 5249 0.00 2.65 0.00 0.000 6 0.000 0.071 2164 2900 3503

5565 -1.10 -146.6 383.3 -6.1 269 5567 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

5875 -1.10 -146.6 399.4 -4.6 284 5879 0.00 2.58 0.00 0.000 4 0.000 0.065 2164 1493 3503

5936 -1.10 -146.6 402.1 -4.5 287 5940 0.00 2.62 0.00 0.000 6 0.000 0.072 2164 2900 3503

6261 -1.10 -146.6 415.1 -3.9 303 6265 0.00 2.58 0.00 0.000 4 0.000 0.067 2164 1492 3503

6327 -1.10 -146.6 417.8 -4.1 306 6331 0.00 2.62 0.00 0.000 6 0.000 0.072 2164 2904 3503

6653 -1.10 -146.6 436.8 -7.4 322 6657 0.00 2.55 0.00 0.000 4 0.000 0.065 2164 1490 3503

6707 -1.10 -146.6 440.7 -7.0 324 6714 0.00 2.65 0.00 0.000 6 0.000 0.072 2164 2914 3503

7023 -1.10 -146.6 458.8 -5.1 340 7027 0.00 2.60 0.00 0.000 4 0.000 0.066 2164 1490 3503

7078 -1.10 -146.6 461.5 -4.9 342 7084 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2900 3503

7392 -1.10 -146.6 482.5 -7.5 358 7397 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1483 3503

7454 -1.10 -146.6 487.1 -8.2 361 7459 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2900 3503

7780 -1.10 -146.6 509.5 -6.1 377 7784 0.00 2.55 0.00 0.000 4 0.000 0.064 2164 1490 3503

7841 -1.10 -146.6 513.1 -5.9 380 7845 0.00 2.62 0.00 0.000 6 0.000 0.070 2164 2903 3503

8166 -1.10 -146.6 540.5 -8.3 396 8170 0.00 2.58 0.00 0.000 4 0.000 0.063 2164 1485 3503

8282 -1.10 -146.6 549.4 -7.8 401 8286 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2894 3503

8603 -1.10 -146.6 573.3 -6.0 417 8604 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2894 3503

8725 end dive: BOTTOM_OBSTACLE_DETECTED

state 8725 begin apogee

8732 -0.42 0.0 580.8 6.2 423 8859 0.75 0.00 123.90 1.126 6 0.084 0.000 2317 1778 2901

8859 end apogee: CONTROL_FINISHED_OK

state 8860 begin climb

8861 1.10 146.6 585.6 0.0 429 8993 1.58 2.72 121.90 1.096 4 0.062 0.069 2648 370 2303

9194 1.10 146.6 574.6 7.2 444 9198 0.00 2.55 0.00 0.000 6 0.000 0.041 2648 1788 2302

9515 1.23 251.1 557.3 3.1 460 9608 0.12 2.62 86.65 1.102 4 0.041 0.066 2694 3174 1877

9703 1.23 251.1 545.8 7.9 469 9708 0.00 2.50 0.00 0.000 6 0.000 0.048 2694 1774 1877

10029 1.23 251.1 521.1 7.0 485 10033 0.00 2.60 0.00 0.000 4 0.000 0.067 2694 3174 1875

10113 1.23 251.1 515.5 6.7 489 10117 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 1766 1875

10438 1.23 251.1 492.5 6.8 505 10442 0.00 2.60 0.00 0.000 4 0.000 0.064 2694 3176 1874

10549 1.23 251.1 484.6 6.4 510 10554 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 1774 1874

10870 1.23 251.1 460.9 7.3 526 10874 0.00 2.60 0.00 0.000 4 0.000 0.066 2694 3179 1873

10940 1.23 251.1 455.4 8.0 529 10945 0.00 2.53 0.00 0.000 6 0.000 0.049 2694 1780 1873

11262 1.24 260.4 434.8 5.7 545 11276 0.00 2.65 8.85 0.917 4 0.000 0.064 2694 3178 1839

11378 1.24 260.4 427.5 7.0 550 11382 0.00 2.53 0.00 0.000 6 0.000 0.049 2694 1776 1839

11697 1.24 260.4 403.7 8.3 566 11702 0.00 2.60 0.00 0.000 4 0.000 0.064 2694 3180 1839

11781 1.24 260.4 396.3 8.2 570 11785 0.00 2.50 0.00 0.000 6 0.000 0.050 2694 1775 1839

12107 1.24 260.4 367.6 9.0 586 12111 0.00 2.60 0.00 0.000 4 0.000 0.064 2694 3181 1839

12196 1.24 260.4 359.1 9.5 590 12200 0.00 2.53 0.00 0.000 6 0.000 0.050 2694 1776 1839

12515 1.24 260.4 328.3 9.3 606 12520 0.00 2.60 0.00 0.000 4 0.000 0.066 2694 3177 1839

12622 1.24 260.4 318.1 9.4 611 12626 0.00 2.50 0.00 0.000 6 0.000 0.049 2694 1768 1839

12947 1.24 260.4 289.7 8.3 627 12951 0.00 2.60 0.00 0.000 4 0.000 0.065 2694 3182 1839

13030 1.24 260.4 282.5 8.8 631 13035 0.00 2.53 0.00 0.000 6 0.000 0.051 2694 1770 1840

13356 1.24 260.4 255.4 8.4 647 13360 0.00 2.58 0.00 0.000 4 0.000 0.067 2695 3177 1839

13433 1.24 260.4 248.6 8.8 650 13437 0.00 2.53 0.00 0.000 6 0.000 0.050 2694 1776 1840

13755 1.24 260.4 221.7 8.7 666 13759 0.00 2.60 0.00 0.000 4 0.000 0.068 2695 3176 1840

13854 1.24 260.4 212.7 8.9 670 13861 0.00 2.53 0.00 0.000 6 0.000 0.053 2694 1778 1840

14170 1.24 260.4 185.8 8.5 686 14174 0.00 2.60 0.00 0.000 4 0.000 0.069 2695 3175 1841

14240 1.24 260.4 179.6 8.6 689 14245 0.00 2.53 0.00 0.000 6 0.000 0.052 2694 1776 1841

14561 1.24 260.4 152.9 8.5 705 14566 0.00 2.60 0.00 0.000 4 0.000 0.071 2694 3182 1841

14661 1.24 260.4 144.1 9.1 709 14668 0.00 2.55 0.00 0.000 6 0.000 0.056 2694 1778 1841

14977 1.24 260.4 115.0 9.5 725 14981 0.00 2.60 0.00 0.000 4 0.000 0.071 2694 3174 1841

15070 1.24 260.4 105.8 9.5 729 15074 0.00 2.53 0.00 0.000 6 0.000 0.054 2694 1780 1841

15393 1.24 260.4 77.5 8.8 745 15397 0.00 2.60 0.00 0.000 4 0.000 0.071 2694 3174 1841

15486 1.24 260.4 68.9 9.1 749 15491 0.00 2.55 0.00 0.000 6 0.000 0.055 2694 1774 1841

15808 1.24 260.4 37.7 9.7 765 15812 0.00 2.62 0.00 0.000 4 0.000 0.074 2695 3175 1842

15895 1.24 260.4 29.6 9.1 769 15900 0.00 2.55 0.00 0.000 6 0.000 0.057 2694 1777 1842

16221 end climb: SURFACE_DEPTH_REACHED

state 16221 begin surface coast

16244 end surface coast: CONTROL_FINISHED_OK

state 16244 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	98	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	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	-64011.23	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	231137,6151.815,-912.341,36,1.2,36,-9.5	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.056,0.211
_SM_DEPTHo	-0.03	KALMAN_X	-76997.5,642.8,1284.7,41714.2,-1384.4
_SM_ANGLEo	-61.0	KALMAN_Y	94155.0,-238.7,515.0,-61351.3,-357.1
GPS2	231732,6151.851,-912.222,14,1.2,31,-9.5	MHEAD_RNG_PITCHd_Wd	354.5,61426,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	617

FINISH	-0.7,1.027239	XPDR_PINGS	2
SM_CCo	16265,33.88,0.704,1,0,1678,300.00	ALTIM_BOTTOM_PING	500.2,89.7
SM_GC	0.36,0.00,0.00,33.88,0.000,0.000,0.704,36,2886,1678,-10.92,-0.40,300.00	_24V_AH	23.5,20.949
IRIDIUM_FIX	6126.23,-914.24,271107,212119	_10V_AH	10.1,8.807
TT8_MAMPS	0.029146	DATA_FILE_SIZE	41139,786
HUMID	2082	CFSIZE	260165632,253308928
INTERNAL_PRESSURE	8.87729	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,46,1,0
TCM_TEMP	17.50	GPS	281107,035137,6152.732,-910.426,37,0.9,43,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	159	97.38	SBE_CT	558	24	314.97
Roll_motor	183	111	479.78	SBE_O2	556	19	248.55
VBD_pump_during_apogee	341	1125	9030.79	WL_BB2F	499	105	1232.04
VBD_pump_during_surface	33	704	560.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	100.07	nil	0	0	0.00
Iridium_during_connect	38	160	143.90	nil	0	0	0.00
Iridium_during_xfer	163	223	854.47
Transponder_ping	4	420	44.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.86
TT8	1519	19	303.81
LPSleep	12213	2	270.15
TT8_Active	520	19	104.16
TT8_Sampling	2012	39	808.96
TT8_CF8	404	45	186.91
TT8_Kalman	33	81	27.56
Analog_circuits	1525	12	184.91
GPS_charging	0	0	0.00
Compass	1958	8	158.24
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.10	-146.6	0.0	0.0	0	84	0.00	0.00	-62.33	0.000	2	0.000	0.000	46	2893	3472
86	-1.10	-146.6	4.1	-9.7	3	108	12.00	1.77	-0.50	0.000	4	0.160	0.111	2164	3787	3501
332	-1.10	-146.6	31.0	-7.1	14	336	0.00	1.55	0.00	0.000	6	0.000	0.035	2164	2898	3502
664	-1.10	-146.6	51.9	-6.5	30	665	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2898	3502
974	-1.10	-146.6	74.1	-7.1	45	975	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2898	3502
1283	-1.10	-146.6	97.7	-8.9	60	1287	0.00	2.60	0.00	0.000	4	0.000	0.070	2164	1484	3502
1353	-1.10	-146.6	104.0	-8.5	63	1358	0.00	2.70	0.00	0.000	6	0.000	0.074	2164	2901	3503
1675	-1.10	-146.6	131.9	-8.3	79	1679	0.00	2.60	0.00	0.000	4	0.000	0.066	2164	1492	3503
1706	-1.10	-146.6	134.8	-8.3	80	1714	0.00	2.67	0.00	0.000	6	0.000	0.072	2164	2906	3503
2022	-1.10	-146.6	157.5	-7.2	96	2026	0.00	2.60	0.00	0.000	4	0.000	0.066	2164	1493	3503
2048	-1.10	-146.6	159.5	-7.1	97	2052	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2893	3503
2369	-1.10	-146.6	179.2	-5.3	113	2373	0.00	2.58	0.00	0.000	4	0.000	0.067	2164	1492	3503
2395	-1.10	-146.6	181.0	-7.0	114	2399	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2893	3503
2717	-1.10	-146.6	200.5	-5.9	130	2722	0.00	2.58	0.00	0.000	4	0.000	0.065	2164	1492	3503
2760	-1.10	-146.6	203.4	-6.1	132	2765	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2894	3503
3087	-1.10	-146.6	221.6	-5.7	148	3089	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2894	3503
3396	-1.10	-146.6	240.9	-6.4	163	3398	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2894	3503
3706	-1.10	-146.6	258.5	-5.3	178	3710	0.00	2.58	0.00	0.000	4	0.000	0.066	2164	1493	3503
3783	-1.10	-146.6	262.7	-5.5	181	3789	0.00	2.62	0.00	0.000	6	0.000	0.072	2164	2902	3503
4098	-1.10	-146.6	281.7	-6.4	197	4102	0.00	2.60	0.00	0.000	4	0.000	0.065	2164	1487	3503
4158	-1.10	-146.6	285.9	-7.1	200	4163	0.00	2.62	0.00	0.000	6	0.000	0.073	2164	2900	3503
4484	-1.10	-146.6	308.1	-7.0	216	4489	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1493	3503
4511	-1.10	-146.6	310.2	-7.1	217	4515	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2904	3503
4832	-1.10	-146.6	333.4	-7.2	233	4836	0.00	2.58	0.00	0.000	4	0.000	0.065	2164	1490	3503
4870	-1.10	-146.6	336.2	-7.0	235	4874	0.00	2.62	0.00	0.000	6	0.000	0.072	2164	2902	3503
5195	-1.10	-146.6	359.3	-7.1	251	5200	0.00	2.60	0.00	0.000	4	0.000	0.065	2164	1489	3503
5244	-1.10	-146.6	362.8	-6.8	253	5249	0.00	2.65	0.00	0.000	6	0.000	0.071	2164	2900	3503
5565	-1.10	-146.6	383.3	-6.1	269	5567	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
5875	-1.10	-146.6	399.4	-4.6	284	5879	0.00	2.58	0.00	0.000	4	0.000	0.065	2164	1493	3503
5936	-1.10	-146.6	402.1	-4.5	287	5940	0.00	2.62	0.00	0.000	6	0.000	0.072	2164	2900	3503
6261	-1.10	-146.6	415.1	-3.9	303	6265	0.00	2.58	0.00	0.000	4	0.000	0.067	2164	1492	3503
6327	-1.10	-146.6	417.8	-4.1	306	6331	0.00	2.62	0.00	0.000	6	0.000	0.072	2164	2904	3503
6653	-1.10	-146.6	436.8	-7.4	322	6657	0.00	2.55	0.00	0.000	4	0.000	0.065	2164	1490	3503
6707	-1.10	-146.6	440.7	-7.0	324	6714	0.00	2.65	0.00	0.000	6	0.000	0.072	2164	2914	3503
7023	-1.10	-146.6	458.8	-5.1	340	7027	0.00	2.60	0.00	0.000	4	0.000	0.066	2164	1490	3503
7078	-1.10	-146.6	461.5	-4.9	342	7084	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2900	3503
7392	-1.10	-146.6	482.5	-7.5	358	7397	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1483	3503
7454	-1.10	-146.6	487.1	-8.2	361	7459	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2900	3503
7780	-1.10	-146.6	509.5	-6.1	377	7784	0.00	2.55	0.00	0.000	4	0.000	0.064	2164	1490	3503
7841	-1.10	-146.6	513.1	-5.9	380	7845	0.00	2.62	0.00	0.000	6	0.000	0.070	2164	2903	3503
8166	-1.10	-146.6	540.5	-8.3	396	8170	0.00	2.58	0.00	0.000	4	0.000	0.063	2164	1485	3503
8282	-1.10	-146.6	549.4	-7.8	401	8286	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2894	3503
8603	-1.10	-146.6	573.3	-6.0	417	8604	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2894	3503
8725	end dive: BOTTOM_OBSTACLE_DETECTED
state	8725	begin apogee
8732	-0.42	0.0	580.8	6.2	423	8859	0.75	0.00	123.90	1.126	6	0.084	0.000	2317	1778	2901
8859	end apogee: CONTROL_FINISHED_OK
state	8860	begin climb
8861	1.10	146.6	585.6	0.0	429	8993	1.58	2.72	121.90	1.096	4	0.062	0.069	2648	370	2303
9194	1.10	146.6	574.6	7.2	444	9198	0.00	2.55	0.00	0.000	6	0.000	0.041	2648	1788	2302
9515	1.23	251.1	557.3	3.1	460	9608	0.12	2.62	86.65	1.102	4	0.041	0.066	2694	3174	1877
9703	1.23	251.1	545.8	7.9	469	9708	0.00	2.50	0.00	0.000	6	0.000	0.048	2694	1774	1877
10029	1.23	251.1	521.1	7.0	485	10033	0.00	2.60	0.00	0.000	4	0.000	0.067	2694	3174	1875
10113	1.23	251.1	515.5	6.7	489	10117	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	1766	1875
10438	1.23	251.1	492.5	6.8	505	10442	0.00	2.60	0.00	0.000	4	0.000	0.064	2694	3176	1874
10549	1.23	251.1	484.6	6.4	510	10554	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	1774	1874
10870	1.23	251.1	460.9	7.3	526	10874	0.00	2.60	0.00	0.000	4	0.000	0.066	2694	3179	1873
10940	1.23	251.1	455.4	8.0	529	10945	0.00	2.53	0.00	0.000	6	0.000	0.049	2694	1780	1873
11262	1.24	260.4	434.8	5.7	545	11276	0.00	2.65	8.85	0.917	4	0.000	0.064	2694	3178	1839
11378	1.24	260.4	427.5	7.0	550	11382	0.00	2.53	0.00	0.000	6	0.000	0.049	2694	1776	1839
11697	1.24	260.4	403.7	8.3	566	11702	0.00	2.60	0.00	0.000	4	0.000	0.064	2694	3180	1839
11781	1.24	260.4	396.3	8.2	570	11785	0.00	2.50	0.00	0.000	6	0.000	0.050	2694	1775	1839
12107	1.24	260.4	367.6	9.0	586	12111	0.00	2.60	0.00	0.000	4	0.000	0.064	2694	3181	1839
12196	1.24	260.4	359.1	9.5	590	12200	0.00	2.53	0.00	0.000	6	0.000	0.050	2694	1776	1839
12515	1.24	260.4	328.3	9.3	606	12520	0.00	2.60	0.00	0.000	4	0.000	0.066	2694	3177	1839
12622	1.24	260.4	318.1	9.4	611	12626	0.00	2.50	0.00	0.000	6	0.000	0.049	2694	1768	1839
12947	1.24	260.4	289.7	8.3	627	12951	0.00	2.60	0.00	0.000	4	0.000	0.065	2694	3182	1839
13030	1.24	260.4	282.5	8.8	631	13035	0.00	2.53	0.00	0.000	6	0.000	0.051	2694	1770	1840
13356	1.24	260.4	255.4	8.4	647	13360	0.00	2.58	0.00	0.000	4	0.000	0.067	2695	3177	1839
13433	1.24	260.4	248.6	8.8	650	13437	0.00	2.53	0.00	0.000	6	0.000	0.050	2694	1776	1840
13755	1.24	260.4	221.7	8.7	666	13759	0.00	2.60	0.00	0.000	4	0.000	0.068	2695	3176	1840
13854	1.24	260.4	212.7	8.9	670	13861	0.00	2.53	0.00	0.000	6	0.000	0.053	2694	1778	1840
14170	1.24	260.4	185.8	8.5	686	14174	0.00	2.60	0.00	0.000	4	0.000	0.069	2695	3175	1841
14240	1.24	260.4	179.6	8.6	689	14245	0.00	2.53	0.00	0.000	6	0.000	0.052	2694	1776	1841
14561	1.24	260.4	152.9	8.5	705	14566	0.00	2.60	0.00	0.000	4	0.000	0.071	2694	3182	1841
14661	1.24	260.4	144.1	9.1	709	14668	0.00	2.55	0.00	0.000	6	0.000	0.056	2694	1778	1841
14977	1.24	260.4	115.0	9.5	725	14981	0.00	2.60	0.00	0.000	4	0.000	0.071	2694	3174	1841
15070	1.24	260.4	105.8	9.5	729	15074	0.00	2.53	0.00	0.000	6	0.000	0.054	2694	1780	1841
15393	1.24	260.4	77.5	8.8	745	15397	0.00	2.60	0.00	0.000	4	0.000	0.071	2694	3174	1841
15486	1.24	260.4	68.9	9.1	749	15491	0.00	2.55	0.00	0.000	6	0.000	0.055	2694	1774	1841
15808	1.24	260.4	37.7	9.7	765	15812	0.00	2.62	0.00	0.000	4	0.000	0.074	2695	3175	1842
15895	1.24	260.4	29.6	9.1	769	15900	0.00	2.55	0.00	0.000	6	0.000	0.057	2694	1777	1842
16221	end climb: SURFACE_DEPTH_REACHED
state	16221	begin surface coast
16244	end surface coast: CONTROL_FINISHED_OK
state	16244	begin surface