Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 379 * 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 379 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 2100 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 11 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -69882.172 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 2 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 -69882.172

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

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 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 11 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 379 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 071038,6255.051,-1246.557,30,1.0,30,-11.8 TGT_NAME FE

_CALLS 1 TGT_LATLONG 6252.000,-1230.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.26 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -58.3 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 071621,6255.011,-1246.481,13,1.3,13,-11.8 MHEAD_RNG_PITCHd_Wd 123.6,14996,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 657

Post-dive calculations and measurements:

FINISH 0.1,1.027349 XPDR_PINGS 2

SM_CCo 17311,54.60,0.801,1,0,1678,300.00 ALTIM_BOTTOM_PING 601.7,87.5

SM_GC -0.41,0.00,0.00,54.60,0.000,0.000,0.801,46,2906,1678,-10.87,0.17,300.00 _24V_AH 23.2,63.804

IRIDIUM_FIX 6235.17,-1253.29,160108,060602 _10V_AH 10.1,29.144

TT8_MAMPS 0.028379 DATA_FILE_SIZE 41051,828

HUMID 2060 CFSIZE 260165632,238452736

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,29,1,0

TCM_TEMP 17.00 GPS 160108,120738,6252.861,-1241.687,36,1.1,36,-11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 155 93.65 SBE_CT 608 24 338.97

Roll_motor 175 89 365.23 SBE_O2 583 19 257.15

VBD_pump_during_apogee 325 1262 9538.15 WL_BB2F 497 105 1212.54

VBD_pump_during_surface 54 800 1014.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 93.44 nil 0 0 0.00

Iridium_during_connect 34 160 126.82 nil 0 0 0.00

Iridium_during_xfer 148 223 769.80

Transponder_ping 5 420 53.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.89

TT8 1558 19 311.64

LPSleep 13188 2 291.71

TT8_Active 522 19 104.57

TT8_Sampling 1912 39 768.75

TT8_CF8 546 45 253.03

TT8_Kalman 0 81 0.00

Analog_circuits 1506 12 182.53

GPS_charging 0 0 0.00

Compass 1884 8 152.23

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.10 -146.6 0.0 0.0 0 92 0.00 0.00 -65.75 0.000 6 0.000 0.000 38 2901 3501

95 -1.10 -146.6 2.8 -7.4 3 111 11.93 1.75 0.00 0.000 4 0.156 0.090 2163 3782 3503

301 -1.10 -146.6 31.4 -8.2 11 305 0.00 1.58 0.00 0.000 6 0.000 0.046 2163 2889 3503

623 -1.10 -146.6 62.8 -11.7 27 627 0.00 2.58 0.00 0.000 4 0.000 0.068 2163 1491 3503

650 -1.10 -146.6 65.4 -8.7 28 655 0.00 2.67 0.00 0.000 6 0.000 0.076 2163 2896 3503

966 -1.10 -146.6 85.8 -10.4 43 970 0.00 1.67 0.00 0.000 4 0.000 0.087 2163 3787 3503

1012 -1.10 -146.6 91.4 -13.3 45 1016 0.00 1.55 0.00 0.000 6 0.000 0.038 2163 2898 3503

1345 -1.10 -146.6 119.5 -8.7 61 1349 0.00 2.58 0.00 0.000 4 0.000 0.069 2163 1496 3503

1377 -1.10 -146.6 122.3 -8.2 62 1384 0.00 2.65 0.00 0.000 6 0.000 0.075 2163 2904 3503

1695 -1.10 -146.6 146.1 -6.7 78 1698 0.00 1.67 0.00 0.000 4 0.000 0.087 2163 3793 3503

1740 -1.10 -146.6 149.5 -7.4 80 1744 0.00 1.55 0.00 0.000 6 0.000 0.036 2163 2899 3503

2073 -1.10 -146.6 171.9 -6.7 96 2078 0.00 2.58 0.00 0.000 4 0.000 0.066 2163 1489 3503

2123 -1.10 -146.6 175.5 -6.6 98 2128 0.00 2.65 0.00 0.000 6 0.000 0.075 2163 2900 3504

2439 -1.10 -146.6 194.2 -6.7 113 2440 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3504

2749 -1.10 -146.6 214.8 -5.5 128 2753 0.00 2.58 0.00 0.000 4 0.000 0.062 2163 1493 3503

2781 -1.10 -146.6 216.6 -4.8 129 2788 0.00 2.67 0.00 0.000 6 0.000 0.077 2163 2907 3503

3097 -1.10 -146.6 236.0 -5.5 145 3098 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2906 3503

3406 -1.10 -146.6 256.3 -7.4 160 3408 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2907 3503

3715 -1.10 -146.6 277.9 -7.0 175 3720 0.00 2.60 0.00 0.000 4 0.000 0.066 2163 1490 3504

3748 -1.10 -146.6 280.5 -7.7 176 3755 0.00 2.62 0.00 0.000 6 0.000 0.075 2163 2898 3503

4064 -1.10 -146.6 302.5 -7.1 192 4065 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2898 3504

4374 -1.10 -146.6 325.1 -7.6 207 4378 0.00 2.58 0.00 0.000 4 0.000 0.066 2163 1489 3504

4413 -1.10 -146.6 328.1 -8.2 209 4418 0.00 2.65 0.00 0.000 6 0.000 0.075 2163 2903 3503

4740 -1.10 -146.6 351.5 -7.0 225 4744 0.00 2.58 0.00 0.000 4 0.000 0.065 2163 1490 3504

4772 -1.10 -146.6 353.9 -7.3 226 4778 0.00 2.65 0.00 0.000 6 0.000 0.076 2163 2903 3504

5088 -1.10 -146.6 375.8 -7.2 242 5089 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3504

5397 -1.10 -146.6 397.5 -7.3 257 5402 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1484 3503

5561 -1.10 -146.6 410.1 -7.3 264 5566 0.00 2.65 0.00 0.000 6 0.000 0.071 2163 2903 3504

5877 -1.10 -146.6 434.4 -7.4 279 5881 0.00 2.55 0.00 0.000 4 0.000 0.062 2163 1492 3504

5955 -1.10 -146.6 440.4 -7.7 282 5959 0.00 2.62 0.00 0.000 6 0.000 0.071 2163 2900 3504

6270 -1.10 -146.6 463.3 -7.2 297 6274 0.00 2.55 0.00 0.000 4 0.000 0.061 2163 1490 3504

6332 -1.10 -146.6 467.7 -7.2 300 6336 0.00 2.62 0.00 0.000 6 0.000 0.070 2163 2908 3503

6659 -1.10 -146.6 487.8 -5.9 316 6663 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1489 3503

6727 -1.10 -146.6 491.8 -6.0 319 6731 0.00 2.62 0.00 0.000 6 0.000 0.070 2163 2900 3504

7048 -1.10 -146.6 512.8 -7.2 335 7052 0.00 2.53 0.00 0.000 4 0.000 0.056 2163 1491 3504

7114 -1.10 -146.6 517.8 -7.2 338 7119 0.00 2.62 0.00 0.000 6 0.000 0.071 2163 2908 3503

7435 -1.10 -146.6 544.3 -9.1 354 7440 0.00 2.55 0.00 0.000 4 0.000 0.058 2163 1486 3504

7463 -1.10 -146.6 546.7 -9.4 355 7467 0.00 2.62 0.00 0.000 6 0.000 0.070 2163 2900 3503

7778 -1.10 -146.6 570.7 -6.8 370 7782 0.00 2.53 0.00 0.000 4 0.000 0.056 2163 1490 3503

7890 -1.10 -146.6 579.7 -9.2 375 7894 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2903 3504

8211 -1.10 -146.6 603.8 -7.7 391 8215 0.00 1.65 0.00 0.000 4 0.000 0.086 2163 3783 3503

8404 -1.10 -146.6 621.0 -9.3 399 8407 0.00 1.52 0.00 0.000 6 0.000 0.038 2163 2909 3503

8725 -1.10 -146.6 641.7 -5.6 415 8730 0.00 2.55 0.00 0.000 4 0.000 0.058 2163 1477 3504

8810 -1.10 -146.6 647.6 -6.8 419 8815 0.00 2.62 0.00 0.000 6 0.000 0.070 2163 2899 3504

8949 end dive: TARGET_DEPTH_EXCEEDED

state 8949 begin apogee

8958 -0.42 0.0 657.9 8.1 426 9091 0.77 0.00 127.15 1.262 6 0.099 0.000 2316 2096 2901

9092 end apogee: CONTROL_FINISHED_OK

state 9092 begin climb

9095 1.10 146.6 663.8 0.0 433 9226 1.55 2.62 122.97 1.224 4 0.057 0.058 2649 698 2303

9465 1.20 224.0 652.9 3.9 450 9537 0.00 2.47 66.07 1.222 6 0.000 0.038 2649 2112 1987

9853 1.20 224.0 628.9 6.3 469 9857 0.00 2.62 0.00 0.000 4 0.000 0.073 2649 3510 1986

9932 1.20 224.0 622.8 8.3 472 9938 0.00 2.53 0.00 0.000 6 0.000 0.041 2649 2087 1985

10247 1.20 224.0 598.9 7.5 488 10251 0.00 2.53 0.00 0.000 4 0.000 0.061 2649 697 1985

10265 1.20 224.0 597.8 6.9 489 10269 0.00 2.47 0.00 0.000 6 0.000 0.041 2649 2101 1985

10591 1.21 234.1 580.4 5.7 505 10607 0.12 2.67 9.45 1.117 4 0.045 0.073 2690 3508 1946

10674 1.21 234.1 574.1 8.2 508 10680 0.00 2.50 0.00 0.000 6 0.000 0.044 2690 2097 1945

10990 1.21 234.1 550.3 7.5 524 10994 0.00 2.53 0.00 0.000 4 0.000 0.059 2690 696 1944

11079 1.21 234.1 543.1 8.9 528 11083 0.00 2.45 0.00 0.000 6 0.000 0.039 2690 2099 1944

11399 1.21 234.1 516.9 8.4 544 11404 0.00 2.65 0.00 0.000 4 0.000 0.074 2690 3512 1944

11440 1.21 234.1 513.5 8.8 546 11444 0.00 2.50 0.00 0.000 6 0.000 0.042 2690 2095 1944

11766 1.21 234.1 486.5 8.4 562 11770 0.00 2.53 0.00 0.000 4 0.000 0.058 2690 692 1944

11798 1.21 234.1 483.5 8.9 563 11804 0.00 2.47 0.00 0.000 6 0.000 0.041 2690 2102 1944

12114 1.21 234.1 456.3 8.9 579 12119 0.00 2.62 0.00 0.000 4 0.000 0.074 2690 3516 1944

12169 1.21 234.1 451.0 10.1 581 12175 0.00 2.50 0.00 0.000 6 0.000 0.044 2690 2097 1944

12485 1.21 234.1 423.8 8.5 597 12486 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2097 1944

12794 1.21 234.1 396.9 8.8 612 12795 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2097 1944

13103 1.21 234.1 371.1 8.2 627 13108 0.00 2.65 0.00 0.000 4 0.000 0.074 2690 3514 1945

13130 1.21 234.1 368.7 8.3 628 13134 0.00 2.50 0.00 0.000 6 0.000 0.044 2690 2095 1944

13446 1.21 234.1 342.2 8.5 643 13450 0.00 2.53 0.00 0.000 4 0.000 0.060 2690 692 1945

13489 1.21 234.1 338.4 8.7 645 13494 0.00 2.47 0.00 0.000 6 0.000 0.044 2690 2102 1945

13817 1.21 234.1 311.0 8.7 661 13821 0.00 2.62 0.00 0.000 4 0.000 0.071 2690 3518 1946

13844 1.21 234.1 308.4 10.2 662 13848 0.00 2.53 0.00 0.000 6 0.000 0.045 2690 2097 1946

14159 1.21 234.1 280.2 9.3 677 14160 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2097 1946

14468 1.21 234.1 252.7 8.7 692 14473 0.00 2.65 0.00 0.000 4 0.000 0.074 2690 3511 1946

14496 1.21 234.1 250.2 8.6 693 14500 0.00 2.50 0.00 0.000 6 0.000 0.046 2690 2093 1946

14812 1.21 234.1 224.1 8.3 708 14816 0.00 2.53 0.00 0.000 4 0.000 0.062 2690 687 1946

14839 1.21 234.1 221.7 8.3 709 14843 0.00 2.47 0.00 0.000 6 0.000 0.043 2690 2100 1946

15160 1.21 234.1 193.8 8.7 725 15161 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2100 1946

15470 1.21 234.1 166.6 8.5 740 15471 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2100 1947

15780 1.21 234.1 140.6 8.6 755 15781 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2100 1947

16089 1.21 234.1 110.4 10.2 770 16093 0.00 2.62 0.00 0.000 4 0.000 0.071 2690 3516 1947

16110 1.21 234.1 107.9 11.0 771 16115 0.00 2.53 0.00 0.000 6 0.000 0.045 2690 2094 1947

16433 1.21 234.1 77.6 8.9 787 16434 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2094 1948

16740 1.21 234.1 49.6 9.1 802 16744 0.00 2.55 0.00 0.000 4 0.000 0.064 2690 691 1948

16768 1.21 234.1 46.8 9.1 803 16772 0.00 2.50 0.00 0.000 6 0.000 0.048 2690 2099 1948

17084 1.21 234.1 18.3 8.2 818 17088 0.00 2.62 0.00 0.000 4 0.000 0.074 2690 3511 1948

17116 1.21 234.1 15.5 7.6 819 17123 0.00 2.50 0.00 0.000 6 0.000 0.051 2690 2098 1948

17264 end climb: SURFACE_DEPTH_REACHED

state 17264 begin surface coast

17286 end surface coast: CONTROL_FINISHED_OK

state 17286 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	379	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	2100	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	11	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-69882.172	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	2	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	071038,6255.051,-1246.557,30,1.0,30,-11.8	TGT_NAME	FE
_CALLS	1	TGT_LATLONG	6252.000,-1230.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.26	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-58.3	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	071621,6255.011,-1246.481,13,1.3,13,-11.8	MHEAD_RNG_PITCHd_Wd	123.6,14996,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	657

FINISH	0.1,1.027349	XPDR_PINGS	2
SM_CCo	17311,54.60,0.801,1,0,1678,300.00	ALTIM_BOTTOM_PING	601.7,87.5
SM_GC	-0.41,0.00,0.00,54.60,0.000,0.000,0.801,46,2906,1678,-10.87,0.17,300.00	_24V_AH	23.2,63.804
IRIDIUM_FIX	6235.17,-1253.29,160108,060602	_10V_AH	10.1,29.144
TT8_MAMPS	0.028379	DATA_FILE_SIZE	41051,828
HUMID	2060	CFSIZE	260165632,238452736
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
TCM_TEMP	17.00	GPS	160108,120738,6252.861,-1241.687,36,1.1,36,-11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	155	93.65	SBE_CT	608	24	338.97
Roll_motor	175	89	365.23	SBE_O2	583	19	257.15
VBD_pump_during_apogee	325	1262	9538.15	WL_BB2F	497	105	1212.54
VBD_pump_during_surface	54	800	1014.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	93.44	nil	0	0	0.00
Iridium_during_connect	34	160	126.82	nil	0	0	0.00
Iridium_during_xfer	148	223	769.80
Transponder_ping	5	420	53.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.89
TT8	1558	19	311.64
LPSleep	13188	2	291.71
TT8_Active	522	19	104.57
TT8_Sampling	1912	39	768.75
TT8_CF8	546	45	253.03
TT8_Kalman	0	81	0.00
Analog_circuits	1506	12	182.53
GPS_charging	0	0	0.00
Compass	1884	8	152.23
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.10	-146.6	0.0	0.0	0	92	0.00	0.00	-65.75	0.000	6	0.000	0.000	38	2901	3501
95	-1.10	-146.6	2.8	-7.4	3	111	11.93	1.75	0.00	0.000	4	0.156	0.090	2163	3782	3503
301	-1.10	-146.6	31.4	-8.2	11	305	0.00	1.58	0.00	0.000	6	0.000	0.046	2163	2889	3503
623	-1.10	-146.6	62.8	-11.7	27	627	0.00	2.58	0.00	0.000	4	0.000	0.068	2163	1491	3503
650	-1.10	-146.6	65.4	-8.7	28	655	0.00	2.67	0.00	0.000	6	0.000	0.076	2163	2896	3503
966	-1.10	-146.6	85.8	-10.4	43	970	0.00	1.67	0.00	0.000	4	0.000	0.087	2163	3787	3503
1012	-1.10	-146.6	91.4	-13.3	45	1016	0.00	1.55	0.00	0.000	6	0.000	0.038	2163	2898	3503
1345	-1.10	-146.6	119.5	-8.7	61	1349	0.00	2.58	0.00	0.000	4	0.000	0.069	2163	1496	3503
1377	-1.10	-146.6	122.3	-8.2	62	1384	0.00	2.65	0.00	0.000	6	0.000	0.075	2163	2904	3503
1695	-1.10	-146.6	146.1	-6.7	78	1698	0.00	1.67	0.00	0.000	4	0.000	0.087	2163	3793	3503
1740	-1.10	-146.6	149.5	-7.4	80	1744	0.00	1.55	0.00	0.000	6	0.000	0.036	2163	2899	3503
2073	-1.10	-146.6	171.9	-6.7	96	2078	0.00	2.58	0.00	0.000	4	0.000	0.066	2163	1489	3503
2123	-1.10	-146.6	175.5	-6.6	98	2128	0.00	2.65	0.00	0.000	6	0.000	0.075	2163	2900	3504
2439	-1.10	-146.6	194.2	-6.7	113	2440	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3504
2749	-1.10	-146.6	214.8	-5.5	128	2753	0.00	2.58	0.00	0.000	4	0.000	0.062	2163	1493	3503
2781	-1.10	-146.6	216.6	-4.8	129	2788	0.00	2.67	0.00	0.000	6	0.000	0.077	2163	2907	3503
3097	-1.10	-146.6	236.0	-5.5	145	3098	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2906	3503
3406	-1.10	-146.6	256.3	-7.4	160	3408	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2907	3503
3715	-1.10	-146.6	277.9	-7.0	175	3720	0.00	2.60	0.00	0.000	4	0.000	0.066	2163	1490	3504
3748	-1.10	-146.6	280.5	-7.7	176	3755	0.00	2.62	0.00	0.000	6	0.000	0.075	2163	2898	3503
4064	-1.10	-146.6	302.5	-7.1	192	4065	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2898	3504
4374	-1.10	-146.6	325.1	-7.6	207	4378	0.00	2.58	0.00	0.000	4	0.000	0.066	2163	1489	3504
4413	-1.10	-146.6	328.1	-8.2	209	4418	0.00	2.65	0.00	0.000	6	0.000	0.075	2163	2903	3503
4740	-1.10	-146.6	351.5	-7.0	225	4744	0.00	2.58	0.00	0.000	4	0.000	0.065	2163	1490	3504
4772	-1.10	-146.6	353.9	-7.3	226	4778	0.00	2.65	0.00	0.000	6	0.000	0.076	2163	2903	3504
5088	-1.10	-146.6	375.8	-7.2	242	5089	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3504
5397	-1.10	-146.6	397.5	-7.3	257	5402	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1484	3503
5561	-1.10	-146.6	410.1	-7.3	264	5566	0.00	2.65	0.00	0.000	6	0.000	0.071	2163	2903	3504
5877	-1.10	-146.6	434.4	-7.4	279	5881	0.00	2.55	0.00	0.000	4	0.000	0.062	2163	1492	3504
5955	-1.10	-146.6	440.4	-7.7	282	5959	0.00	2.62	0.00	0.000	6	0.000	0.071	2163	2900	3504
6270	-1.10	-146.6	463.3	-7.2	297	6274	0.00	2.55	0.00	0.000	4	0.000	0.061	2163	1490	3504
6332	-1.10	-146.6	467.7	-7.2	300	6336	0.00	2.62	0.00	0.000	6	0.000	0.070	2163	2908	3503
6659	-1.10	-146.6	487.8	-5.9	316	6663	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1489	3503
6727	-1.10	-146.6	491.8	-6.0	319	6731	0.00	2.62	0.00	0.000	6	0.000	0.070	2163	2900	3504
7048	-1.10	-146.6	512.8	-7.2	335	7052	0.00	2.53	0.00	0.000	4	0.000	0.056	2163	1491	3504
7114	-1.10	-146.6	517.8	-7.2	338	7119	0.00	2.62	0.00	0.000	6	0.000	0.071	2163	2908	3503
7435	-1.10	-146.6	544.3	-9.1	354	7440	0.00	2.55	0.00	0.000	4	0.000	0.058	2163	1486	3504
7463	-1.10	-146.6	546.7	-9.4	355	7467	0.00	2.62	0.00	0.000	6	0.000	0.070	2163	2900	3503
7778	-1.10	-146.6	570.7	-6.8	370	7782	0.00	2.53	0.00	0.000	4	0.000	0.056	2163	1490	3503
7890	-1.10	-146.6	579.7	-9.2	375	7894	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2903	3504
8211	-1.10	-146.6	603.8	-7.7	391	8215	0.00	1.65	0.00	0.000	4	0.000	0.086	2163	3783	3503
8404	-1.10	-146.6	621.0	-9.3	399	8407	0.00	1.52	0.00	0.000	6	0.000	0.038	2163	2909	3503
8725	-1.10	-146.6	641.7	-5.6	415	8730	0.00	2.55	0.00	0.000	4	0.000	0.058	2163	1477	3504
8810	-1.10	-146.6	647.6	-6.8	419	8815	0.00	2.62	0.00	0.000	6	0.000	0.070	2163	2899	3504
8949	end dive: TARGET_DEPTH_EXCEEDED
state	8949	begin apogee
8958	-0.42	0.0	657.9	8.1	426	9091	0.77	0.00	127.15	1.262	6	0.099	0.000	2316	2096	2901
9092	end apogee: CONTROL_FINISHED_OK
state	9092	begin climb
9095	1.10	146.6	663.8	0.0	433	9226	1.55	2.62	122.97	1.224	4	0.057	0.058	2649	698	2303
9465	1.20	224.0	652.9	3.9	450	9537	0.00	2.47	66.07	1.222	6	0.000	0.038	2649	2112	1987
9853	1.20	224.0	628.9	6.3	469	9857	0.00	2.62	0.00	0.000	4	0.000	0.073	2649	3510	1986
9932	1.20	224.0	622.8	8.3	472	9938	0.00	2.53	0.00	0.000	6	0.000	0.041	2649	2087	1985
10247	1.20	224.0	598.9	7.5	488	10251	0.00	2.53	0.00	0.000	4	0.000	0.061	2649	697	1985
10265	1.20	224.0	597.8	6.9	489	10269	0.00	2.47	0.00	0.000	6	0.000	0.041	2649	2101	1985
10591	1.21	234.1	580.4	5.7	505	10607	0.12	2.67	9.45	1.117	4	0.045	0.073	2690	3508	1946
10674	1.21	234.1	574.1	8.2	508	10680	0.00	2.50	0.00	0.000	6	0.000	0.044	2690	2097	1945
10990	1.21	234.1	550.3	7.5	524	10994	0.00	2.53	0.00	0.000	4	0.000	0.059	2690	696	1944
11079	1.21	234.1	543.1	8.9	528	11083	0.00	2.45	0.00	0.000	6	0.000	0.039	2690	2099	1944
11399	1.21	234.1	516.9	8.4	544	11404	0.00	2.65	0.00	0.000	4	0.000	0.074	2690	3512	1944
11440	1.21	234.1	513.5	8.8	546	11444	0.00	2.50	0.00	0.000	6	0.000	0.042	2690	2095	1944
11766	1.21	234.1	486.5	8.4	562	11770	0.00	2.53	0.00	0.000	4	0.000	0.058	2690	692	1944
11798	1.21	234.1	483.5	8.9	563	11804	0.00	2.47	0.00	0.000	6	0.000	0.041	2690	2102	1944
12114	1.21	234.1	456.3	8.9	579	12119	0.00	2.62	0.00	0.000	4	0.000	0.074	2690	3516	1944
12169	1.21	234.1	451.0	10.1	581	12175	0.00	2.50	0.00	0.000	6	0.000	0.044	2690	2097	1944
12485	1.21	234.1	423.8	8.5	597	12486	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2097	1944
12794	1.21	234.1	396.9	8.8	612	12795	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2097	1944
13103	1.21	234.1	371.1	8.2	627	13108	0.00	2.65	0.00	0.000	4	0.000	0.074	2690	3514	1945
13130	1.21	234.1	368.7	8.3	628	13134	0.00	2.50	0.00	0.000	6	0.000	0.044	2690	2095	1944
13446	1.21	234.1	342.2	8.5	643	13450	0.00	2.53	0.00	0.000	4	0.000	0.060	2690	692	1945
13489	1.21	234.1	338.4	8.7	645	13494	0.00	2.47	0.00	0.000	6	0.000	0.044	2690	2102	1945
13817	1.21	234.1	311.0	8.7	661	13821	0.00	2.62	0.00	0.000	4	0.000	0.071	2690	3518	1946
13844	1.21	234.1	308.4	10.2	662	13848	0.00	2.53	0.00	0.000	6	0.000	0.045	2690	2097	1946
14159	1.21	234.1	280.2	9.3	677	14160	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2097	1946
14468	1.21	234.1	252.7	8.7	692	14473	0.00	2.65	0.00	0.000	4	0.000	0.074	2690	3511	1946
14496	1.21	234.1	250.2	8.6	693	14500	0.00	2.50	0.00	0.000	6	0.000	0.046	2690	2093	1946
14812	1.21	234.1	224.1	8.3	708	14816	0.00	2.53	0.00	0.000	4	0.000	0.062	2690	687	1946
14839	1.21	234.1	221.7	8.3	709	14843	0.00	2.47	0.00	0.000	6	0.000	0.043	2690	2100	1946
15160	1.21	234.1	193.8	8.7	725	15161	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2100	1946
15470	1.21	234.1	166.6	8.5	740	15471	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2100	1947
15780	1.21	234.1	140.6	8.6	755	15781	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2100	1947
16089	1.21	234.1	110.4	10.2	770	16093	0.00	2.62	0.00	0.000	4	0.000	0.071	2690	3516	1947
16110	1.21	234.1	107.9	11.0	771	16115	0.00	2.53	0.00	0.000	6	0.000	0.045	2690	2094	1947
16433	1.21	234.1	77.6	8.9	787	16434	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2094	1948
16740	1.21	234.1	49.6	9.1	802	16744	0.00	2.55	0.00	0.000	4	0.000	0.064	2690	691	1948
16768	1.21	234.1	46.8	9.1	803	16772	0.00	2.50	0.00	0.000	6	0.000	0.048	2690	2099	1948
17084	1.21	234.1	18.3	8.2	818	17088	0.00	2.62	0.00	0.000	4	0.000	0.074	2690	3511	1948
17116	1.21	234.1	15.5	7.6	819	17123	0.00	2.50	0.00	0.000	6	0.000	0.051	2690	2098	1948
17264	end climb: SURFACE_DEPTH_REACHED
state	17264	begin surface coast
17286	end surface coast: CONTROL_FINISHED_OK
state	17286	begin surface