Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 267 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 267 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1632793.8 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -1632793.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 32 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 267 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 084155,6148.835,-930.833,42,1.9,42,-9.6 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.98 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -60.4 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 084738,6148.923,-930.777,11,1.7,11,-9.6 MHEAD_RNG_PITCHd_Wd 162.6,60141,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.026528 ALTIM_BOTTOM_PING 700.8,42.6

SM_CCo 19754,0.00,0.000,0,0,1536,317.66 _24V_AH 23.1,56.932

SM_GC 0.98,11.55,0.00,0.00,0.028,0.000,0.000,394,2235,1536,-10.99,-0.42,317.66 _10V_AH 10.1,34.404

IRIDIUM_FIX 6121.73,-935.21,061198,020237 DATA_FILE_SIZE 47403,939

TT8_MAMPS 0.026845 CAP_FILE_SIZE 144647,0

HUMID 1935 CFSIZE 260165632,238579712

INTERNAL_PRESSURE 8.15785 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 17.90 GPS 120809,141831,6150.353,-927.312,42,1.1,42,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 79.22 SBE_CT 765 24 424.67

Roll_motor 170 57 226.47 SBE_O2 724 19 317.83

VBD_pump_during_apogee 405 1273 11924.84 WL_BB2F 580 105 1407.58

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 28 103 68.08 nil 0 0 0.00

Iridium_during_connect 30 160 111.33 nil 0 0 0.00

Iridium_during_xfer 156 223 808.36

Transponder_ping 6 420 58.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.99

TT8 1759 19 351.91

LPSleep 14756 2 326.40

TT8_Active 517 19 103.50

TT8_Sampling 2226 39 895.14

TT8_CF8 830 45 384.21

TT8_Kalman 0 81 0.00

Analog_circuits 1686 12 204.41

GPS_charging 0 0 0.00

Compass 2389 8 193.10

RAFOS 0 0 0.00

Transponder 41 30 12.45

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.96 -146.6 0.0 0.0 0 85 0.00 0.00 -67.53 0.000 6 0.000 0.000 387 2241 3431

88 -0.96 -146.6 3.5 -6.1 3 109 11.73 2.50 0.00 0.000 4 0.134 0.037 2584 836 3433

274 -0.96 -146.6 28.1 -4.4 11 278 0.00 2.47 0.00 0.000 6 0.000 0.034 2584 2252 3434

596 -0.96 -146.6 46.6 -7.0 27 597 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2252 3434

904 -0.96 -146.6 66.7 -6.1 42 908 0.00 2.55 0.00 0.000 4 0.000 0.058 2584 3653 3435

976 -0.96 -146.6 71.8 -7.1 45 980 0.00 2.42 0.00 0.000 6 0.000 0.030 2584 2234 3435

1293 -0.96 -146.6 92.3 -6.7 60 1298 0.00 2.58 0.00 0.000 4 0.000 0.052 2584 3655 3435

1404 -0.96 -146.6 100.9 -7.8 65 1408 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2250 3435

1726 -0.96 -146.6 125.1 -7.3 81 1730 0.00 2.53 0.00 0.000 4 0.000 0.051 2584 3652 3435

1782 -0.96 -146.6 129.8 -8.2 83 1788 0.00 2.40 0.00 0.000 6 0.000 0.029 2584 2241 3435

2098 -0.96 -146.6 152.7 -7.3 99 2102 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3651 3435

2154 -0.96 -146.6 157.1 -7.7 101 2160 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2247 3435

2469 -0.96 -146.6 181.4 -8.0 117 2473 0.00 2.55 0.00 0.000 4 0.000 0.053 2584 3653 3435

2570 -0.96 -146.6 190.4 -9.2 121 2577 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2248 3435

2885 -0.96 -146.6 215.2 -7.6 137 2890 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3651 3434

3003 -0.96 -146.6 224.6 -8.4 142 3007 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2245 3434

3318 -0.96 -146.6 247.4 -7.4 157 3323 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3651 3434

3385 -0.96 -146.6 252.8 -8.0 160 3390 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3434

3708 -0.96 -146.6 278.0 -7.9 176 3713 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3651 3434

3753 -0.96 -146.6 282.1 -9.1 178 3757 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2247 3433

4074 -0.96 -146.6 307.6 -7.9 194 4078 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3651 3434

4158 -0.96 -146.6 314.6 -8.6 198 4163 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2245 3433

4488 -0.96 -146.6 338.2 -7.0 214 4492 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3653 3433

4555 -0.96 -146.6 343.2 -6.9 217 4560 0.00 2.42 0.00 0.000 6 0.000 0.031 2585 2252 3433

4881 -0.96 -146.6 363.4 -6.1 233 4885 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3653 3433

4953 -0.96 -146.6 367.8 -6.5 236 4957 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2249 3433

5272 -0.96 -146.6 385.9 -5.8 251 5273 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2248 3433

5578 -0.96 -146.6 403.7 -5.7 266 5583 0.00 2.55 0.00 0.000 4 0.000 0.053 2584 3660 3433

5673 -0.96 -146.6 409.8 -6.5 270 5677 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2241 3432

5990 -0.96 -146.6 428.5 -5.8 285 5994 0.00 2.58 0.00 0.000 4 0.000 0.054 2584 3660 3432

6069 -0.96 -146.6 433.7 -6.1 288 6075 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2247 3432

6385 -0.96 -146.6 451.4 -5.3 304 6389 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3656 3432

6485 -0.96 -146.6 457.4 -6.2 308 6491 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2231 3432

6801 -0.96 -146.6 473.3 -4.9 324 6805 0.00 2.58 0.00 0.000 4 0.000 0.053 2584 3652 3432

6896 -0.96 -146.6 478.5 -5.6 328 6900 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3432

7214 -0.96 -146.6 493.7 -4.9 343 7218 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3651 3432

7295 -0.96 -146.6 498.0 -5.4 346 7301 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2249 3431

7610 -0.96 -146.6 515.7 -5.9 362 7615 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3647 3431

7678 -0.96 -146.6 520.6 -7.4 365 7682 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2242 3431

8005 -0.96 -146.6 541.6 -6.6 381 8006 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2242 3431

8314 -0.96 -146.6 565.2 -7.5 396 8318 0.00 2.58 0.00 0.000 4 0.000 0.055 2584 3658 3430

8458 -0.96 -146.6 578.1 -8.6 402 8466 0.00 2.45 0.00 0.000 6 0.000 0.032 2584 2250 3430

8775 -0.96 -146.6 597.1 -5.5 418 8779 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3651 3430

8897 -0.96 -146.6 603.8 -4.9 423 8904 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2251 3429

9214 -0.96 -146.6 617.6 -5.0 439 9218 0.00 2.47 0.00 0.000 4 0.000 0.044 2584 841 3429

9247 -0.96 -146.6 619.7 -6.3 440 9253 0.00 2.45 0.00 0.000 6 0.000 0.035 2584 2254 3429

9564 -0.96 -146.6 646.5 -10.2 456 9568 0.00 2.50 0.00 0.000 4 0.000 0.044 2585 841 3429

9600 -0.96 -146.6 650.0 -10.2 457 9606 0.00 2.45 0.00 0.000 6 0.000 0.034 2584 2260 3430

9915 -0.96 -146.6 679.8 -7.8 473 9920 0.00 2.50 0.00 0.000 4 0.000 0.056 2584 3645 3429

10161 -0.96 -146.6 698.6 -8.6 484 10166 0.00 2.40 0.00 0.000 6 0.000 0.032 2584 2252 3429

10483 -0.96 -146.6 717.1 -3.9 500 10487 0.00 2.53 0.00 0.000 4 0.000 0.056 2584 3644 3429

10647 -0.96 -146.6 727.2 -5.6 507 10652 0.00 2.42 0.00 0.000 6 0.000 0.034 2584 2238 3429

10754 end dive: BOTTOM_OBSTACLE_DETECTED

state 10754 begin apogee

10762 -0.36 0.0 734.2 6.0 512 10898 0.65 0.00 127.88 1.273 6 0.069 0.000 2722 1460 2832

10898 end apogee: CONTROL_FINISHED_OK

state 10898 begin climb

10901 0.96 146.6 741.0 0.0 519 11040 1.33 2.58 128.88 1.237 4 0.064 0.046 3005 2851 2232

11379 1.01 184.0 728.9 5.0 540 11418 0.00 2.47 33.28 1.217 6 0.000 0.044 3005 1457 2081

11736 1.17 312.4 724.3 2.5 558 11861 0.17 2.60 115.43 1.257 4 0.037 0.048 3077 2850 1556

12091 1.17 312.4 697.9 12.3 574 12096 0.12 2.50 0.00 0.000 6 0.078 0.044 3050 1448 1546

12413 1.17 312.4 659.8 10.2 590 12414 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1447 1543

12721 1.17 312.4 640.5 6.1 605 12725 0.00 2.50 0.00 0.000 4 0.000 0.044 3050 2854 1541

12753 1.17 312.4 638.2 7.0 606 12759 0.00 2.50 0.00 0.000 6 0.000 0.040 3050 1444 1541

13069 1.17 312.4 610.2 9.7 622 13074 0.00 2.53 0.00 0.000 4 0.000 0.043 3050 2854 1540

13107 1.17 312.4 607.0 7.4 623 13114 0.00 2.50 0.00 0.000 6 0.000 0.038 3050 1451 1540

13422 1.17 312.4 578.0 9.4 639 13424 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1539

13732 1.17 312.4 548.5 10.3 654 13733 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1540

14041 1.17 312.4 515.2 10.0 669 14042 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1539

14350 1.17 312.4 482.2 10.7 684 14351 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1540

14662 1.17 312.4 451.2 9.5 699 14664 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1540

14969 1.17 312.4 422.4 9.0 714 14973 0.00 2.47 0.00 0.000 4 0.000 0.041 3050 2860 1540

14997 1.17 312.4 419.9 9.1 715 15001 0.00 2.45 0.00 0.000 6 0.000 0.037 3050 1456 1539

15312 1.17 312.4 395.4 6.8 730 15313 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1456 1539

15622 1.17 312.4 376.3 6.3 745 15623 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1456 1539

15931 1.17 312.4 353.2 8.1 760 15932 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1455 1539

16242 1.17 312.4 324.3 10.0 775 16244 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1455 1540

16550 1.17 312.4 292.1 10.7 790 16551 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1455 1540

16858 1.17 312.4 259.4 10.4 805 16863 0.00 2.47 0.00 0.000 4 0.000 0.041 3050 2863 1541

16886 1.17 312.4 256.4 9.9 806 16890 0.00 2.47 0.00 0.000 6 0.000 0.037 3050 1448 1540

17205 1.17 312.4 225.1 9.6 821 17206 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1448 1541

17511 1.17 312.4 198.2 8.1 836 17516 0.00 2.47 0.00 0.000 4 0.000 0.040 3050 2860 1541

17539 1.17 312.4 195.8 8.3 837 17543 0.00 2.45 0.00 0.000 6 0.000 0.036 3050 1455 1540

17855 1.17 312.4 166.6 10.5 852 17858 0.00 2.15 0.00 0.000 4 0.000 0.057 3050 258 1541

17877 1.17 312.4 163.9 11.4 853 17881 0.00 2.03 0.00 0.000 6 0.000 0.028 3050 1471 1541

18211 1.17 312.4 124.7 10.9 869 18213 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1473 1541

18520 1.17 312.4 93.9 10.4 884 18521 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1473 1541

18829 1.17 312.4 61.6 9.6 899 18830 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1473 1541

19139 1.17 312.4 36.4 6.4 914 19143 0.00 2.40 0.00 0.000 4 0.000 0.042 3050 2845 1541

19168 1.17 312.4 34.3 6.8 915 19172 0.00 2.42 0.00 0.000 6 0.000 0.035 3050 1446 1540

19484 1.17 312.4 13.9 6.5 930 19488 0.00 2.42 0.00 0.000 4 0.000 0.038 3050 2843 1541

19524 1.17 312.4 11.2 6.7 932 19529 0.00 2.42 0.00 0.000 6 0.000 0.035 3050 1460 1540

19647 end climb: SURFACE_DEPTH_REACHED

state 19647 begin surface coast

19669 end surface coast: CONTROL_FINISHED_OK

state 19669 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	267	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1632793.8	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	084155,6148.835,-930.833,42,1.9,42,-9.6	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.98	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-60.4	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	084738,6148.923,-930.777,11,1.7,11,-9.6	MHEAD_RNG_PITCHd_Wd	162.6,60141,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.026528	ALTIM_BOTTOM_PING	700.8,42.6
SM_CCo	19754,0.00,0.000,0,0,1536,317.66	_24V_AH	23.1,56.932
SM_GC	0.98,11.55,0.00,0.00,0.028,0.000,0.000,394,2235,1536,-10.99,-0.42,317.66	_10V_AH	10.1,34.404
IRIDIUM_FIX	6121.73,-935.21,061198,020237	DATA_FILE_SIZE	47403,939
TT8_MAMPS	0.026845	CAP_FILE_SIZE	144647,0
HUMID	1935	CFSIZE	260165632,238579712
INTERNAL_PRESSURE	8.15785	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	17.90	GPS	120809,141831,6150.353,-927.312,42,1.1,42,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	79.22	SBE_CT	765	24	424.67
Roll_motor	170	57	226.47	SBE_O2	724	19	317.83
VBD_pump_during_apogee	405	1273	11924.84	WL_BB2F	580	105	1407.58
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	28	103	68.08	nil	0	0	0.00
Iridium_during_connect	30	160	111.33	nil	0	0	0.00
Iridium_during_xfer	156	223	808.36
Transponder_ping	6	420	58.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.99
TT8	1759	19	351.91
LPSleep	14756	2	326.40
TT8_Active	517	19	103.50
TT8_Sampling	2226	39	895.14
TT8_CF8	830	45	384.21
TT8_Kalman	0	81	0.00
Analog_circuits	1686	12	204.41
GPS_charging	0	0	0.00
Compass	2389	8	193.10
RAFOS	0	0	0.00
Transponder	41	30	12.45

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.96	-146.6	0.0	0.0	0	85	0.00	0.00	-67.53	0.000	6	0.000	0.000	387	2241	3431
88	-0.96	-146.6	3.5	-6.1	3	109	11.73	2.50	0.00	0.000	4	0.134	0.037	2584	836	3433
274	-0.96	-146.6	28.1	-4.4	11	278	0.00	2.47	0.00	0.000	6	0.000	0.034	2584	2252	3434
596	-0.96	-146.6	46.6	-7.0	27	597	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2252	3434
904	-0.96	-146.6	66.7	-6.1	42	908	0.00	2.55	0.00	0.000	4	0.000	0.058	2584	3653	3435
976	-0.96	-146.6	71.8	-7.1	45	980	0.00	2.42	0.00	0.000	6	0.000	0.030	2584	2234	3435
1293	-0.96	-146.6	92.3	-6.7	60	1298	0.00	2.58	0.00	0.000	4	0.000	0.052	2584	3655	3435
1404	-0.96	-146.6	100.9	-7.8	65	1408	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2250	3435
1726	-0.96	-146.6	125.1	-7.3	81	1730	0.00	2.53	0.00	0.000	4	0.000	0.051	2584	3652	3435
1782	-0.96	-146.6	129.8	-8.2	83	1788	0.00	2.40	0.00	0.000	6	0.000	0.029	2584	2241	3435
2098	-0.96	-146.6	152.7	-7.3	99	2102	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3651	3435
2154	-0.96	-146.6	157.1	-7.7	101	2160	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2247	3435
2469	-0.96	-146.6	181.4	-8.0	117	2473	0.00	2.55	0.00	0.000	4	0.000	0.053	2584	3653	3435
2570	-0.96	-146.6	190.4	-9.2	121	2577	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2248	3435
2885	-0.96	-146.6	215.2	-7.6	137	2890	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3651	3434
3003	-0.96	-146.6	224.6	-8.4	142	3007	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2245	3434
3318	-0.96	-146.6	247.4	-7.4	157	3323	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3651	3434
3385	-0.96	-146.6	252.8	-8.0	160	3390	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3434
3708	-0.96	-146.6	278.0	-7.9	176	3713	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3651	3434
3753	-0.96	-146.6	282.1	-9.1	178	3757	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2247	3433
4074	-0.96	-146.6	307.6	-7.9	194	4078	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3651	3434
4158	-0.96	-146.6	314.6	-8.6	198	4163	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2245	3433
4488	-0.96	-146.6	338.2	-7.0	214	4492	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3653	3433
4555	-0.96	-146.6	343.2	-6.9	217	4560	0.00	2.42	0.00	0.000	6	0.000	0.031	2585	2252	3433
4881	-0.96	-146.6	363.4	-6.1	233	4885	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3653	3433
4953	-0.96	-146.6	367.8	-6.5	236	4957	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2249	3433
5272	-0.96	-146.6	385.9	-5.8	251	5273	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2248	3433
5578	-0.96	-146.6	403.7	-5.7	266	5583	0.00	2.55	0.00	0.000	4	0.000	0.053	2584	3660	3433
5673	-0.96	-146.6	409.8	-6.5	270	5677	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2241	3432
5990	-0.96	-146.6	428.5	-5.8	285	5994	0.00	2.58	0.00	0.000	4	0.000	0.054	2584	3660	3432
6069	-0.96	-146.6	433.7	-6.1	288	6075	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2247	3432
6385	-0.96	-146.6	451.4	-5.3	304	6389	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3656	3432
6485	-0.96	-146.6	457.4	-6.2	308	6491	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2231	3432
6801	-0.96	-146.6	473.3	-4.9	324	6805	0.00	2.58	0.00	0.000	4	0.000	0.053	2584	3652	3432
6896	-0.96	-146.6	478.5	-5.6	328	6900	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3432
7214	-0.96	-146.6	493.7	-4.9	343	7218	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3651	3432
7295	-0.96	-146.6	498.0	-5.4	346	7301	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2249	3431
7610	-0.96	-146.6	515.7	-5.9	362	7615	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3647	3431
7678	-0.96	-146.6	520.6	-7.4	365	7682	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2242	3431
8005	-0.96	-146.6	541.6	-6.6	381	8006	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2242	3431
8314	-0.96	-146.6	565.2	-7.5	396	8318	0.00	2.58	0.00	0.000	4	0.000	0.055	2584	3658	3430
8458	-0.96	-146.6	578.1	-8.6	402	8466	0.00	2.45	0.00	0.000	6	0.000	0.032	2584	2250	3430
8775	-0.96	-146.6	597.1	-5.5	418	8779	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3651	3430
8897	-0.96	-146.6	603.8	-4.9	423	8904	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2251	3429
9214	-0.96	-146.6	617.6	-5.0	439	9218	0.00	2.47	0.00	0.000	4	0.000	0.044	2584	841	3429
9247	-0.96	-146.6	619.7	-6.3	440	9253	0.00	2.45	0.00	0.000	6	0.000	0.035	2584	2254	3429
9564	-0.96	-146.6	646.5	-10.2	456	9568	0.00	2.50	0.00	0.000	4	0.000	0.044	2585	841	3429
9600	-0.96	-146.6	650.0	-10.2	457	9606	0.00	2.45	0.00	0.000	6	0.000	0.034	2584	2260	3430
9915	-0.96	-146.6	679.8	-7.8	473	9920	0.00	2.50	0.00	0.000	4	0.000	0.056	2584	3645	3429
10161	-0.96	-146.6	698.6	-8.6	484	10166	0.00	2.40	0.00	0.000	6	0.000	0.032	2584	2252	3429
10483	-0.96	-146.6	717.1	-3.9	500	10487	0.00	2.53	0.00	0.000	4	0.000	0.056	2584	3644	3429
10647	-0.96	-146.6	727.2	-5.6	507	10652	0.00	2.42	0.00	0.000	6	0.000	0.034	2584	2238	3429
10754	end dive: BOTTOM_OBSTACLE_DETECTED
state	10754	begin apogee
10762	-0.36	0.0	734.2	6.0	512	10898	0.65	0.00	127.88	1.273	6	0.069	0.000	2722	1460	2832
10898	end apogee: CONTROL_FINISHED_OK
state	10898	begin climb
10901	0.96	146.6	741.0	0.0	519	11040	1.33	2.58	128.88	1.237	4	0.064	0.046	3005	2851	2232
11379	1.01	184.0	728.9	5.0	540	11418	0.00	2.47	33.28	1.217	6	0.000	0.044	3005	1457	2081
11736	1.17	312.4	724.3	2.5	558	11861	0.17	2.60	115.43	1.257	4	0.037	0.048	3077	2850	1556
12091	1.17	312.4	697.9	12.3	574	12096	0.12	2.50	0.00	0.000	6	0.078	0.044	3050	1448	1546
12413	1.17	312.4	659.8	10.2	590	12414	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1447	1543
12721	1.17	312.4	640.5	6.1	605	12725	0.00	2.50	0.00	0.000	4	0.000	0.044	3050	2854	1541
12753	1.17	312.4	638.2	7.0	606	12759	0.00	2.50	0.00	0.000	6	0.000	0.040	3050	1444	1541
13069	1.17	312.4	610.2	9.7	622	13074	0.00	2.53	0.00	0.000	4	0.000	0.043	3050	2854	1540
13107	1.17	312.4	607.0	7.4	623	13114	0.00	2.50	0.00	0.000	6	0.000	0.038	3050	1451	1540
13422	1.17	312.4	578.0	9.4	639	13424	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1539
13732	1.17	312.4	548.5	10.3	654	13733	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1540
14041	1.17	312.4	515.2	10.0	669	14042	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1539
14350	1.17	312.4	482.2	10.7	684	14351	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1540
14662	1.17	312.4	451.2	9.5	699	14664	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1540
14969	1.17	312.4	422.4	9.0	714	14973	0.00	2.47	0.00	0.000	4	0.000	0.041	3050	2860	1540
14997	1.17	312.4	419.9	9.1	715	15001	0.00	2.45	0.00	0.000	6	0.000	0.037	3050	1456	1539
15312	1.17	312.4	395.4	6.8	730	15313	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1456	1539
15622	1.17	312.4	376.3	6.3	745	15623	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1456	1539
15931	1.17	312.4	353.2	8.1	760	15932	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1455	1539
16242	1.17	312.4	324.3	10.0	775	16244	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1455	1540
16550	1.17	312.4	292.1	10.7	790	16551	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1455	1540
16858	1.17	312.4	259.4	10.4	805	16863	0.00	2.47	0.00	0.000	4	0.000	0.041	3050	2863	1541
16886	1.17	312.4	256.4	9.9	806	16890	0.00	2.47	0.00	0.000	6	0.000	0.037	3050	1448	1540
17205	1.17	312.4	225.1	9.6	821	17206	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1448	1541
17511	1.17	312.4	198.2	8.1	836	17516	0.00	2.47	0.00	0.000	4	0.000	0.040	3050	2860	1541
17539	1.17	312.4	195.8	8.3	837	17543	0.00	2.45	0.00	0.000	6	0.000	0.036	3050	1455	1540
17855	1.17	312.4	166.6	10.5	852	17858	0.00	2.15	0.00	0.000	4	0.000	0.057	3050	258	1541
17877	1.17	312.4	163.9	11.4	853	17881	0.00	2.03	0.00	0.000	6	0.000	0.028	3050	1471	1541
18211	1.17	312.4	124.7	10.9	869	18213	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1473	1541
18520	1.17	312.4	93.9	10.4	884	18521	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1473	1541
18829	1.17	312.4	61.6	9.6	899	18830	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1473	1541
19139	1.17	312.4	36.4	6.4	914	19143	0.00	2.40	0.00	0.000	4	0.000	0.042	3050	2845	1541
19168	1.17	312.4	34.3	6.8	915	19172	0.00	2.42	0.00	0.000	6	0.000	0.035	3050	1446	1540
19484	1.17	312.4	13.9	6.5	930	19488	0.00	2.42	0.00	0.000	4	0.000	0.038	3050	2843	1541
19524	1.17	312.4	11.2	6.7	932	19529	0.00	2.42	0.00	0.000	6	0.000	0.035	3050	1460	1540
19647	end climb: SURFACE_DEPTH_REACHED
state	19647	begin surface coast
19669	end surface coast: CONTROL_FINISHED_OK
state	19669	begin surface