Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 399 * 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 399 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 34 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -86418.969 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 -86418.969

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 34 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 399 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 010826,6155.602,-946.459,38,1.2,38,-9.8 TGT_NAME BE

_CALLS 3 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.233,0.046

_SM_DEPTHo 1.38 KALMAN_X 581314.6,-1645.4,-853.0,-646335.9,3051.7

_SM_ANGLEo -65.0 KALMAN_Y 92890.3,1394.4,185.3,-53037.2,-6163.7

GPS2 012009,6155.526,-946.642,10,1.9,10,-9.8 MHEAD_RNG_PITCHd_Wd 88.7,33902,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 773

Post-dive calculations and measurements:

FINISH 0.6,1.017088 XPDR_PINGS 3

SM_CCo 16562,45.12,0.804,5,0,1655,300.00 ALTIM_TOP_PING 18.4,999.0

SM_GC 1.42,0.00,0.00,45.12,0.000,0.000,0.804,35,1892,1655,-11.32,-0.25,300.00 _24V_AH 23.0,78.378

IRIDIUM_FIX 6130.75,-943.53,010597,010130 _10V_AH 10.1,37.967

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41040,793

HUMID 2069 CFSIZE 260165632,234475520

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,5,0

TCM_TEMP 15.20 GPS 050208,060025,6155.017,-945.704,25,1.5,42,-9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 140 84.66 SBE_CT 584 24 322.45

Roll_motor 193 77 344.90 SBE_O2 535 19 233.91

VBD_pump_during_apogee 339 1326 10350.61 WL_BB2F 459 105 1109.42

VBD_pump_during_surface 45 803 834.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 115 103 272.52 nil 0 0 0.00

Iridium_during_connect 107 160 395.38 nil 0 0 0.00

Iridium_during_xfer 229 223 1177.62

Transponder_ping 7 420 70.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.83

TT8 1537 19 307.42

LPSleep 12562 2 277.86

TT8_Active 565 19 113.18

TT8_Sampling 1913 39 769.18

TT8_CF8 806 45 373.26

TT8_Kalman 33 81 27.57

Analog_circuits 1557 12 188.76

GPS_charging 0 0 0.00

Compass 1868 8 150.98

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 -1.23 -146.6 0.0 0.0 0 107 0.00 0.00 -80.95 0.000 2 0.000 0.000 31 1882 3258

111 -1.23 -146.6 4.9 -5.7 4 132 11.65 0.00 -4.90 0.000 6 0.140 0.000 2221 1881 3477

444 -1.23 -146.6 48.5 -10.4 20 448 0.00 2.58 0.00 0.000 4 0.000 0.048 2221 3305 3477

493 -1.23 -146.6 53.9 -9.9 22 498 0.00 2.50 0.00 0.000 6 0.000 0.041 2222 1911 3477

811 -1.23 -146.6 87.4 -10.4 37 815 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3308 3477

844 -1.23 -146.6 91.1 -10.3 38 850 0.00 2.53 0.00 0.000 6 0.000 0.042 2221 1898 3477

1160 -1.23 -146.6 125.4 -11.2 54 1164 0.00 2.62 0.00 0.000 4 0.000 0.069 2222 492 3477

1181 -1.23 -146.6 127.7 -9.7 55 1186 0.00 2.47 0.00 0.000 6 0.000 0.039 2221 1913 3477

1502 -1.23 -146.6 163.3 -9.9 71 1506 0.00 2.47 0.00 0.000 4 0.000 0.048 2222 3295 3477

1542 -1.23 -146.6 166.9 -8.9 73 1546 0.00 2.50 0.00 0.000 6 0.000 0.042 2222 1898 3477

1868 -1.23 -146.6 198.1 -9.2 89 1869 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3477

2178 -1.23 -146.6 226.6 -9.3 104 2182 0.00 2.53 0.00 0.000 4 0.000 0.047 2221 3298 3477

2228 -1.23 -146.6 231.0 -7.8 106 2232 0.00 2.47 0.00 0.000 6 0.000 0.041 2221 1904 3477

2544 -1.23 -146.6 257.0 -7.8 121 2548 0.00 2.53 0.00 0.000 4 0.000 0.046 2221 3301 3477

2572 -1.23 -146.6 259.4 -8.2 122 2576 0.00 2.50 0.00 0.000 6 0.000 0.041 2222 1897 3477

2888 -1.23 -146.6 287.5 -9.3 137 2889 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1897 3477

3197 -1.23 -146.6 316.2 -9.0 152 3201 0.00 2.53 0.00 0.000 4 0.000 0.047 2221 3302 3477

3236 -1.23 -146.6 320.3 -10.9 154 3241 0.00 2.50 0.00 0.000 6 0.000 0.041 2221 1900 3477

3564 -1.23 -146.6 351.6 -9.9 170 3569 0.00 2.62 0.00 0.000 4 0.000 0.069 2221 493 3477

3582 -1.23 -146.6 353.5 -9.9 171 3586 0.00 2.45 0.00 0.000 6 0.000 0.040 2221 1902 3477

3908 -1.23 -146.6 382.9 -8.2 187 3913 0.00 2.50 0.00 0.000 4 0.000 0.049 2222 3293 3477

3953 -1.23 -146.6 387.1 -9.6 189 3957 0.00 2.50 0.00 0.000 6 0.000 0.043 2221 1894 3477

4273 -1.23 -146.6 419.7 -11.0 205 4278 0.00 2.60 0.00 0.000 4 0.000 0.071 2221 495 3477

4320 -1.23 -146.6 425.0 -11.7 207 4325 0.00 2.45 0.00 0.000 6 0.000 0.040 2221 1900 3477

4641 -1.23 -146.6 458.8 -9.7 223 4646 0.00 2.53 0.00 0.000 4 0.000 0.051 2222 3295 3477

4674 -1.23 -146.6 462.2 -9.8 224 4680 0.00 2.50 0.00 0.000 6 0.000 0.045 2221 1901 3476

4993 -1.23 -146.6 502.0 -14.4 240 4997 0.00 2.53 0.00 0.000 4 0.000 0.049 2221 3295 3477

5055 -1.23 -146.6 509.8 -11.4 243 5059 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1901 3477

5381 -1.23 -146.6 546.0 -11.4 259 5385 0.00 2.53 0.00 0.000 4 0.000 0.050 2221 3298 3477

5423 -1.23 -146.6 550.3 -11.3 261 5427 0.00 2.53 0.00 0.000 6 0.000 0.045 2222 1894 3477

5749 -1.23 -146.6 580.2 -7.6 277 5753 0.00 2.55 0.00 0.000 4 0.000 0.052 2221 3294 3477

5811 -1.23 -146.6 585.3 -8.3 280 5816 0.00 2.53 0.00 0.000 6 0.000 0.046 2221 1896 3477

6139 -1.23 -146.6 611.6 -7.8 296 6141 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1896 3477

6448 -1.23 -146.6 638.9 -8.8 311 6452 0.00 2.62 0.00 0.000 4 0.000 0.074 2222 497 3476

6588 -1.23 -146.6 650.5 -7.4 317 6593 0.00 2.47 0.00 0.000 6 0.000 0.042 2221 1902 3477

6904 -1.23 -146.6 668.6 -5.3 332 6908 0.00 2.55 0.00 0.000 4 0.000 0.055 2222 3304 3477

6972 -1.23 -146.6 673.0 -6.8 335 6977 0.00 2.55 0.00 0.000 6 0.000 0.050 2221 1896 3476

7296 -1.23 -146.6 701.8 -9.5 351 7300 0.00 2.58 0.00 0.000 4 0.000 0.057 2222 3302 3476

7340 -1.23 -146.6 706.5 -9.8 353 7344 0.00 2.55 0.00 0.000 6 0.000 0.052 2221 1901 3476

7660 -1.23 -146.6 735.7 -9.2 369 7665 0.00 2.58 0.00 0.000 4 0.000 0.059 2221 3301 3476

7716 -1.23 -146.6 740.8 -9.1 371 7723 0.00 2.58 0.00 0.000 6 0.000 0.055 2221 1895 3476

8032 -1.23 -146.6 764.2 -6.8 387 8037 0.00 2.60 0.00 0.000 4 0.000 0.061 2221 3301 3475

8099 -1.23 -146.6 769.2 -7.6 390 8104 0.00 2.58 0.00 0.000 6 0.000 0.058 2221 1901 3475

8170 end dive: TARGET_DEPTH_EXCEEDED

state 8170 begin apogee

8178 -0.36 0.0 774.4 7.2 394 8308 0.93 0.00 127.10 1.326 6 0.082 0.000 2416 2101 2878

8309 end apogee: CONTROL_FINISHED_OK

state 8309 begin climb

8312 1.23 146.6 776.5 0.0 400 8447 1.58 2.70 125.50 1.287 4 0.056 0.064 2765 3497 2279

8456 1.32 218.0 773.6 5.3 407 8525 0.00 2.60 61.33 1.270 6 0.000 0.053 2765 2101 1989

8850 1.32 218.0 737.7 9.9 426 8854 0.00 2.62 0.00 0.000 4 0.000 0.063 2764 3497 1988

8967 1.32 222.2 727.5 7.8 431 8978 0.00 2.58 4.53 1.203 6 0.000 0.053 2765 2098 1972

9287 1.32 222.2 699.9 9.6 447 9289 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2098 1972

9597 1.32 222.2 669.1 10.7 462 9601 0.00 2.62 0.00 0.000 4 0.000 0.063 2765 3497 1971

9754 1.32 222.2 650.4 12.1 469 9758 0.00 2.58 0.00 0.000 6 0.000 0.051 2764 2093 1970

10074 1.32 222.2 615.0 9.1 485 10079 0.00 2.65 0.00 0.000 4 0.000 0.077 2764 694 1969

10147 1.32 222.2 607.5 9.4 488 10151 0.00 2.53 0.00 0.000 6 0.000 0.046 2765 2103 1969

10462 1.32 222.2 574.6 11.0 503 10467 0.00 2.55 0.00 0.000 4 0.000 0.057 2765 3498 1969

10653 1.32 222.2 554.3 10.0 511 10659 0.00 2.53 0.00 0.000 6 0.000 0.047 2765 2100 1968

10969 1.32 222.2 521.7 10.7 527 10973 0.00 2.58 0.00 0.000 4 0.000 0.054 2764 3502 1968

11040 1.32 222.2 513.5 11.6 530 11045 0.00 2.53 0.00 0.000 6 0.000 0.044 2764 2094 1968

11356 1.32 222.2 482.9 8.8 545 11361 0.00 2.58 0.00 0.000 4 0.000 0.052 2764 3499 1969

11401 1.32 222.2 478.9 8.9 547 11405 0.00 2.50 0.00 0.000 6 0.000 0.043 2765 2094 1969

11721 1.32 222.2 451.0 9.4 563 11726 0.00 2.55 0.00 0.000 4 0.000 0.052 2765 3499 1970

11796 1.32 222.2 445.1 8.3 566 11800 0.00 2.53 0.00 0.000 6 0.000 0.043 2764 2093 1970

12111 1.32 222.2 413.9 8.7 581 12116 0.00 2.58 0.00 0.000 4 0.000 0.052 2765 3501 1970

12189 1.32 222.2 406.9 8.3 584 12195 0.00 2.50 0.00 0.000 6 0.000 0.042 2765 2094 1971

12505 1.32 222.2 376.4 8.6 600 12510 0.00 2.58 0.00 0.000 4 0.000 0.051 2765 3505 1971

12568 1.32 222.2 370.1 10.6 603 12572 0.00 2.53 0.00 0.000 6 0.000 0.041 2764 2095 1972

12894 1.32 222.2 342.4 10.0 619 12895 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2095 1971

13203 1.32 222.2 319.9 8.4 634 13208 0.00 2.58 0.00 0.000 4 0.000 0.051 2765 3505 1972

13337 1.32 222.2 306.9 9.0 640 13342 0.00 2.47 0.00 0.000 6 0.000 0.040 2765 2098 1972

13659 1.32 222.2 280.0 8.9 656 13663 0.00 2.55 0.00 0.000 4 0.000 0.051 2765 3504 1972

13714 1.32 222.2 274.0 10.3 658 13720 0.00 2.50 0.00 0.000 6 0.000 0.039 2765 2098 1972

14030 1.32 222.2 245.8 8.8 674 14034 0.00 2.60 0.00 0.000 4 0.000 0.067 2765 693 1973

14046 1.32 222.2 244.1 9.0 675 14051 0.00 2.47 0.00 0.000 6 0.000 0.039 2765 2110 1973

14374 1.32 222.2 212.8 10.3 691 14378 0.00 2.50 0.00 0.000 4 0.000 0.050 2765 3494 1973

14446 1.32 222.2 204.4 11.7 694 14450 0.00 2.47 0.00 0.000 6 0.000 0.039 2764 2098 1973

14762 1.32 222.2 174.8 8.1 709 14766 0.00 2.55 0.00 0.000 4 0.000 0.049 2765 3501 1973

14811 1.35 247.4 171.2 7.0 711 14838 0.12 2.47 20.90 0.946 6 0.054 0.039 2801 2099 1869

15150 1.35 247.4 140.2 8.7 727 15154 0.00 2.55 0.00 0.000 4 0.000 0.048 2801 3497 1869

15245 1.35 247.4 131.6 9.2 731 15249 0.00 2.50 0.00 0.000 6 0.000 0.038 2801 2093 1869

15560 1.35 247.4 101.5 9.9 746 15565 0.00 2.55 0.00 0.000 4 0.000 0.048 2801 3494 1869

15646 1.35 247.4 91.8 11.7 750 15650 0.00 2.50 0.00 0.000 6 0.000 0.039 2801 2094 1869

15973 1.35 247.4 57.9 11.3 766 15977 0.00 2.55 0.00 0.000 4 0.000 0.048 2801 3498 1869

16022 1.35 247.4 52.2 11.3 768 16026 0.00 2.47 0.00 0.000 6 0.000 0.038 2801 2100 1869

16339 1.35 247.4 18.4 10.0 783 16344 0.00 2.53 0.00 0.000 4 0.000 0.049 2801 3494 1869

16384 1.35 247.4 13.2 10.3 785 16388 0.00 2.47 0.00 0.000 6 0.000 0.038 2801 2098 1869

16517 end climb: SURFACE_DEPTH_REACHED

state 16517 begin surface coast

16539 end surface coast: CONTROL_FINISHED_OK

state 16539 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	399	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	34	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-86418.969	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	010826,6155.602,-946.459,38,1.2,38,-9.8	TGT_NAME	BE
_CALLS	3	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.233,0.046
_SM_DEPTHo	1.38	KALMAN_X	581314.6,-1645.4,-853.0,-646335.9,3051.7
_SM_ANGLEo	-65.0	KALMAN_Y	92890.3,1394.4,185.3,-53037.2,-6163.7
GPS2	012009,6155.526,-946.642,10,1.9,10,-9.8	MHEAD_RNG_PITCHd_Wd	88.7,33902,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	773

FINISH	0.6,1.017088	XPDR_PINGS	3
SM_CCo	16562,45.12,0.804,5,0,1655,300.00	ALTIM_TOP_PING	18.4,999.0
SM_GC	1.42,0.00,0.00,45.12,0.000,0.000,0.804,35,1892,1655,-11.32,-0.25,300.00	_24V_AH	23.0,78.378
IRIDIUM_FIX	6130.75,-943.53,010597,010130	_10V_AH	10.1,37.967
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41040,793
HUMID	2069	CFSIZE	260165632,234475520
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,5,0
TCM_TEMP	15.20	GPS	050208,060025,6155.017,-945.704,25,1.5,42,-9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	140	84.66	SBE_CT	584	24	322.45
Roll_motor	193	77	344.90	SBE_O2	535	19	233.91
VBD_pump_during_apogee	339	1326	10350.61	WL_BB2F	459	105	1109.42
VBD_pump_during_surface	45	803	834.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	115	103	272.52	nil	0	0	0.00
Iridium_during_connect	107	160	395.38	nil	0	0	0.00
Iridium_during_xfer	229	223	1177.62
Transponder_ping	7	420	70.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.83
TT8	1537	19	307.42
LPSleep	12562	2	277.86
TT8_Active	565	19	113.18
TT8_Sampling	1913	39	769.18
TT8_CF8	806	45	373.26
TT8_Kalman	33	81	27.57
Analog_circuits	1557	12	188.76
GPS_charging	0	0	0.00
Compass	1868	8	150.98
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	-1.23	-146.6	0.0	0.0	0	107	0.00	0.00	-80.95	0.000	2	0.000	0.000	31	1882	3258
111	-1.23	-146.6	4.9	-5.7	4	132	11.65	0.00	-4.90	0.000	6	0.140	0.000	2221	1881	3477
444	-1.23	-146.6	48.5	-10.4	20	448	0.00	2.58	0.00	0.000	4	0.000	0.048	2221	3305	3477
493	-1.23	-146.6	53.9	-9.9	22	498	0.00	2.50	0.00	0.000	6	0.000	0.041	2222	1911	3477
811	-1.23	-146.6	87.4	-10.4	37	815	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3308	3477
844	-1.23	-146.6	91.1	-10.3	38	850	0.00	2.53	0.00	0.000	6	0.000	0.042	2221	1898	3477
1160	-1.23	-146.6	125.4	-11.2	54	1164	0.00	2.62	0.00	0.000	4	0.000	0.069	2222	492	3477
1181	-1.23	-146.6	127.7	-9.7	55	1186	0.00	2.47	0.00	0.000	6	0.000	0.039	2221	1913	3477
1502	-1.23	-146.6	163.3	-9.9	71	1506	0.00	2.47	0.00	0.000	4	0.000	0.048	2222	3295	3477
1542	-1.23	-146.6	166.9	-8.9	73	1546	0.00	2.50	0.00	0.000	6	0.000	0.042	2222	1898	3477
1868	-1.23	-146.6	198.1	-9.2	89	1869	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3477
2178	-1.23	-146.6	226.6	-9.3	104	2182	0.00	2.53	0.00	0.000	4	0.000	0.047	2221	3298	3477
2228	-1.23	-146.6	231.0	-7.8	106	2232	0.00	2.47	0.00	0.000	6	0.000	0.041	2221	1904	3477
2544	-1.23	-146.6	257.0	-7.8	121	2548	0.00	2.53	0.00	0.000	4	0.000	0.046	2221	3301	3477
2572	-1.23	-146.6	259.4	-8.2	122	2576	0.00	2.50	0.00	0.000	6	0.000	0.041	2222	1897	3477
2888	-1.23	-146.6	287.5	-9.3	137	2889	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1897	3477
3197	-1.23	-146.6	316.2	-9.0	152	3201	0.00	2.53	0.00	0.000	4	0.000	0.047	2221	3302	3477
3236	-1.23	-146.6	320.3	-10.9	154	3241	0.00	2.50	0.00	0.000	6	0.000	0.041	2221	1900	3477
3564	-1.23	-146.6	351.6	-9.9	170	3569	0.00	2.62	0.00	0.000	4	0.000	0.069	2221	493	3477
3582	-1.23	-146.6	353.5	-9.9	171	3586	0.00	2.45	0.00	0.000	6	0.000	0.040	2221	1902	3477
3908	-1.23	-146.6	382.9	-8.2	187	3913	0.00	2.50	0.00	0.000	4	0.000	0.049	2222	3293	3477
3953	-1.23	-146.6	387.1	-9.6	189	3957	0.00	2.50	0.00	0.000	6	0.000	0.043	2221	1894	3477
4273	-1.23	-146.6	419.7	-11.0	205	4278	0.00	2.60	0.00	0.000	4	0.000	0.071	2221	495	3477
4320	-1.23	-146.6	425.0	-11.7	207	4325	0.00	2.45	0.00	0.000	6	0.000	0.040	2221	1900	3477
4641	-1.23	-146.6	458.8	-9.7	223	4646	0.00	2.53	0.00	0.000	4	0.000	0.051	2222	3295	3477
4674	-1.23	-146.6	462.2	-9.8	224	4680	0.00	2.50	0.00	0.000	6	0.000	0.045	2221	1901	3476
4993	-1.23	-146.6	502.0	-14.4	240	4997	0.00	2.53	0.00	0.000	4	0.000	0.049	2221	3295	3477
5055	-1.23	-146.6	509.8	-11.4	243	5059	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1901	3477
5381	-1.23	-146.6	546.0	-11.4	259	5385	0.00	2.53	0.00	0.000	4	0.000	0.050	2221	3298	3477
5423	-1.23	-146.6	550.3	-11.3	261	5427	0.00	2.53	0.00	0.000	6	0.000	0.045	2222	1894	3477
5749	-1.23	-146.6	580.2	-7.6	277	5753	0.00	2.55	0.00	0.000	4	0.000	0.052	2221	3294	3477
5811	-1.23	-146.6	585.3	-8.3	280	5816	0.00	2.53	0.00	0.000	6	0.000	0.046	2221	1896	3477
6139	-1.23	-146.6	611.6	-7.8	296	6141	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1896	3477
6448	-1.23	-146.6	638.9	-8.8	311	6452	0.00	2.62	0.00	0.000	4	0.000	0.074	2222	497	3476
6588	-1.23	-146.6	650.5	-7.4	317	6593	0.00	2.47	0.00	0.000	6	0.000	0.042	2221	1902	3477
6904	-1.23	-146.6	668.6	-5.3	332	6908	0.00	2.55	0.00	0.000	4	0.000	0.055	2222	3304	3477
6972	-1.23	-146.6	673.0	-6.8	335	6977	0.00	2.55	0.00	0.000	6	0.000	0.050	2221	1896	3476
7296	-1.23	-146.6	701.8	-9.5	351	7300	0.00	2.58	0.00	0.000	4	0.000	0.057	2222	3302	3476
7340	-1.23	-146.6	706.5	-9.8	353	7344	0.00	2.55	0.00	0.000	6	0.000	0.052	2221	1901	3476
7660	-1.23	-146.6	735.7	-9.2	369	7665	0.00	2.58	0.00	0.000	4	0.000	0.059	2221	3301	3476
7716	-1.23	-146.6	740.8	-9.1	371	7723	0.00	2.58	0.00	0.000	6	0.000	0.055	2221	1895	3476
8032	-1.23	-146.6	764.2	-6.8	387	8037	0.00	2.60	0.00	0.000	4	0.000	0.061	2221	3301	3475
8099	-1.23	-146.6	769.2	-7.6	390	8104	0.00	2.58	0.00	0.000	6	0.000	0.058	2221	1901	3475
8170	end dive: TARGET_DEPTH_EXCEEDED
state	8170	begin apogee
8178	-0.36	0.0	774.4	7.2	394	8308	0.93	0.00	127.10	1.326	6	0.082	0.000	2416	2101	2878
8309	end apogee: CONTROL_FINISHED_OK
state	8309	begin climb
8312	1.23	146.6	776.5	0.0	400	8447	1.58	2.70	125.50	1.287	4	0.056	0.064	2765	3497	2279
8456	1.32	218.0	773.6	5.3	407	8525	0.00	2.60	61.33	1.270	6	0.000	0.053	2765	2101	1989
8850	1.32	218.0	737.7	9.9	426	8854	0.00	2.62	0.00	0.000	4	0.000	0.063	2764	3497	1988
8967	1.32	222.2	727.5	7.8	431	8978	0.00	2.58	4.53	1.203	6	0.000	0.053	2765	2098	1972
9287	1.32	222.2	699.9	9.6	447	9289	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2098	1972
9597	1.32	222.2	669.1	10.7	462	9601	0.00	2.62	0.00	0.000	4	0.000	0.063	2765	3497	1971
9754	1.32	222.2	650.4	12.1	469	9758	0.00	2.58	0.00	0.000	6	0.000	0.051	2764	2093	1970
10074	1.32	222.2	615.0	9.1	485	10079	0.00	2.65	0.00	0.000	4	0.000	0.077	2764	694	1969
10147	1.32	222.2	607.5	9.4	488	10151	0.00	2.53	0.00	0.000	6	0.000	0.046	2765	2103	1969
10462	1.32	222.2	574.6	11.0	503	10467	0.00	2.55	0.00	0.000	4	0.000	0.057	2765	3498	1969
10653	1.32	222.2	554.3	10.0	511	10659	0.00	2.53	0.00	0.000	6	0.000	0.047	2765	2100	1968
10969	1.32	222.2	521.7	10.7	527	10973	0.00	2.58	0.00	0.000	4	0.000	0.054	2764	3502	1968
11040	1.32	222.2	513.5	11.6	530	11045	0.00	2.53	0.00	0.000	6	0.000	0.044	2764	2094	1968
11356	1.32	222.2	482.9	8.8	545	11361	0.00	2.58	0.00	0.000	4	0.000	0.052	2764	3499	1969
11401	1.32	222.2	478.9	8.9	547	11405	0.00	2.50	0.00	0.000	6	0.000	0.043	2765	2094	1969
11721	1.32	222.2	451.0	9.4	563	11726	0.00	2.55	0.00	0.000	4	0.000	0.052	2765	3499	1970
11796	1.32	222.2	445.1	8.3	566	11800	0.00	2.53	0.00	0.000	6	0.000	0.043	2764	2093	1970
12111	1.32	222.2	413.9	8.7	581	12116	0.00	2.58	0.00	0.000	4	0.000	0.052	2765	3501	1970
12189	1.32	222.2	406.9	8.3	584	12195	0.00	2.50	0.00	0.000	6	0.000	0.042	2765	2094	1971
12505	1.32	222.2	376.4	8.6	600	12510	0.00	2.58	0.00	0.000	4	0.000	0.051	2765	3505	1971
12568	1.32	222.2	370.1	10.6	603	12572	0.00	2.53	0.00	0.000	6	0.000	0.041	2764	2095	1972
12894	1.32	222.2	342.4	10.0	619	12895	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2095	1971
13203	1.32	222.2	319.9	8.4	634	13208	0.00	2.58	0.00	0.000	4	0.000	0.051	2765	3505	1972
13337	1.32	222.2	306.9	9.0	640	13342	0.00	2.47	0.00	0.000	6	0.000	0.040	2765	2098	1972
13659	1.32	222.2	280.0	8.9	656	13663	0.00	2.55	0.00	0.000	4	0.000	0.051	2765	3504	1972
13714	1.32	222.2	274.0	10.3	658	13720	0.00	2.50	0.00	0.000	6	0.000	0.039	2765	2098	1972
14030	1.32	222.2	245.8	8.8	674	14034	0.00	2.60	0.00	0.000	4	0.000	0.067	2765	693	1973
14046	1.32	222.2	244.1	9.0	675	14051	0.00	2.47	0.00	0.000	6	0.000	0.039	2765	2110	1973
14374	1.32	222.2	212.8	10.3	691	14378	0.00	2.50	0.00	0.000	4	0.000	0.050	2765	3494	1973
14446	1.32	222.2	204.4	11.7	694	14450	0.00	2.47	0.00	0.000	6	0.000	0.039	2764	2098	1973
14762	1.32	222.2	174.8	8.1	709	14766	0.00	2.55	0.00	0.000	4	0.000	0.049	2765	3501	1973
14811	1.35	247.4	171.2	7.0	711	14838	0.12	2.47	20.90	0.946	6	0.054	0.039	2801	2099	1869
15150	1.35	247.4	140.2	8.7	727	15154	0.00	2.55	0.00	0.000	4	0.000	0.048	2801	3497	1869
15245	1.35	247.4	131.6	9.2	731	15249	0.00	2.50	0.00	0.000	6	0.000	0.038	2801	2093	1869
15560	1.35	247.4	101.5	9.9	746	15565	0.00	2.55	0.00	0.000	4	0.000	0.048	2801	3494	1869
15646	1.35	247.4	91.8	11.7	750	15650	0.00	2.50	0.00	0.000	6	0.000	0.039	2801	2094	1869
15973	1.35	247.4	57.9	11.3	766	15977	0.00	2.55	0.00	0.000	4	0.000	0.048	2801	3498	1869
16022	1.35	247.4	52.2	11.3	768	16026	0.00	2.47	0.00	0.000	6	0.000	0.038	2801	2100	1869
16339	1.35	247.4	18.4	10.0	783	16344	0.00	2.53	0.00	0.000	4	0.000	0.049	2801	3494	1869
16384	1.35	247.4	13.2	10.3	785	16388	0.00	2.47	0.00	0.000	6	0.000	0.038	2801	2098	1869
16517	end climb: SURFACE_DEPTH_REACHED
state	16517	begin surface coast
16539	end surface coast: CONTROL_FINISHED_OK
state	16539	begin surface