Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 283 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 283 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2675 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2075 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 10 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 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 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 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 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -148461.39 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 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 -148461.39

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2075 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2675 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 10 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 283 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 182536,6305.192,-1305.314,46,1.5,46,-12.1 TGT_NAME HE

_CALLS 2 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.116,-0.147

_SM_DEPTHo 1.45 KALMAN_X -28182.7,909.7,7638.3,8141.3,3828.1

_SM_ANGLEo -62.2 KALMAN_Y 67865.8,-200.6,-2282.2,-160219.3,4917.5

GPS2 183501,6305.258,-1304.985,12,1.4,18,-12.1 MHEAD_RNG_PITCHd_Wd 230.5,28258,-13.9,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.001385 ALTIM_BOTTOM_PING 625.8,38.3

SM_CCo 17408,14.23,0.673,0,0,1983,225.19 _24V_AH 23.2,48.760

SM_GC 2.60,0.00,0.00,14.23,0.000,0.000,0.673,48,2680,1983,-11.00,0.14,225.19 _10V_AH 10.1,27.909

IRIDIUM_FIX 6239.86,-1305.73,190798,181833 DATA_FILE_SIZE 41183,829

TT8_MAMPS 0.029146 CAP_FILE_SIZE 132000,0

HUMID 1777 CFSIZE 260165632,240365568

INTERNAL_PRESSURE 8.57455 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 240409,232833,6306.536,-1300.545,96,1.2,96,-12.1

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 99.21 SBE_CT 575 24 320.62

Roll_motor 163 85 322.10 SBE_O2 620 19 273.56

VBD_pump_during_apogee 262 1148 7003.85 WL_BB2F 530 105 1292.71

VBD_pump_during_surface 14 672 221.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 143.04 nil 0 0 0.00

Iridium_during_connect 56 160 208.14 nil 0 0 0.00

Iridium_during_xfer 241 223 1250.13

Transponder_ping 5 420 53.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.11

TT8 1563 19 312.62

LPSleep 13346 2 295.22

TT8_Active 401 19 80.26

TT8_Sampling 1965 39 789.94

TT8_CF8 708 45 327.81

TT8_Kalman 33 81 27.56

Analog_circuits 1387 12 168.13

GPS_charging 0 0 0.00

Compass 1919 8 155.06

RAFOS 0 0 0.00

Transponder 41 30 12.54

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -1.28 -101.5 0.0 0.0 0 60 0.00 0.00 -40.28 0.000 6 0.000 0.000 48 2678 3317

64 -1.28 -101.5 4.2 -11.4 2 86 11.95 2.70 0.00 0.000 4 0.160 0.071 2156 1266 3317

165 -1.28 -101.5 21.7 -10.1 6 169 0.00 2.62 0.00 0.000 6 0.000 0.063 2156 2682 3317

481 -1.28 -101.5 52.1 -9.5 21 484 0.00 2.08 0.00 0.000 4 0.000 0.080 2156 3783 3317

542 -1.28 -101.5 57.2 -9.1 23 549 0.00 2.00 0.00 0.000 6 0.000 0.046 2156 2651 3317

859 -1.28 -101.5 84.5 -9.1 39 860 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2651 3317

1168 -1.28 -101.5 111.7 -8.4 54 1171 0.00 2.17 0.00 0.000 4 0.000 0.077 2156 3793 3317

1216 -1.28 -101.5 115.7 -8.7 56 1219 0.00 1.98 0.00 0.000 6 0.000 0.044 2156 2672 3317

1551 -1.28 -101.5 144.1 -8.6 72 1554 0.00 2.12 0.00 0.000 4 0.000 0.079 2156 3787 3317

1590 -1.28 -101.5 147.8 -9.0 73 1596 0.00 2.00 0.00 0.000 6 0.000 0.043 2156 2646 3317

1905 -1.28 -101.5 173.8 -8.3 89 1907 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2646 3317

2216 -1.28 -101.5 200.5 -8.8 104 2219 0.00 2.17 0.00 0.000 4 0.000 0.079 2156 3787 3317

2284 -1.28 -101.5 207.1 -10.1 107 2288 0.00 1.98 0.00 0.000 6 0.000 0.043 2156 2665 3317

2617 -1.28 -101.5 237.9 -9.4 123 2618 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2664 3317

2926 -1.28 -101.5 267.4 -9.5 138 2930 0.00 2.12 0.00 0.000 4 0.000 0.078 2156 3783 3318

2972 -1.28 -101.5 272.2 -10.4 140 2976 0.00 1.95 0.00 0.000 6 0.000 0.043 2156 2672 3318

3305 -1.28 -101.5 304.8 -9.5 156 3307 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2672 3318

3615 -1.28 -101.5 335.1 -9.9 171 3616 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2672 3318

3924 -1.28 -101.5 365.4 -9.8 186 3928 0.00 2.12 0.00 0.000 4 0.000 0.078 2156 3791 3318

3980 -1.28 -101.5 371.2 -10.5 188 3984 0.00 1.98 0.00 0.000 6 0.000 0.041 2156 2664 3318

4304 -1.28 -101.5 401.4 -8.9 204 4306 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2664 3318

4612 -1.28 -101.5 425.9 -7.8 219 4615 0.00 2.12 0.00 0.000 4 0.000 0.080 2156 3783 3318

4651 -1.28 -101.5 429.1 -7.9 220 4657 0.00 1.98 0.00 0.000 6 0.000 0.041 2156 2672 3318

4970 -1.28 -101.5 450.3 -6.3 236 4973 0.00 2.12 0.00 0.000 4 0.000 0.081 2156 3786 3318

5031 -1.28 -101.5 454.7 -6.2 238 5037 0.00 1.95 0.00 0.000 6 0.000 0.041 2156 2670 3318

5347 -1.29 -103.6 472.5 -5.9 254 5351 0.00 2.12 0.00 0.000 4 0.000 0.080 2156 3790 3318

5466 -1.29 -103.6 482.2 -8.7 259 5469 0.00 1.98 0.00 0.000 6 0.000 0.042 2156 2665 3318

5793 -1.29 -103.6 505.0 -7.0 275 5797 0.00 2.50 0.00 0.000 4 0.000 0.058 2156 1260 3318

5820 -1.29 -103.6 507.2 -7.9 276 5825 0.00 2.60 0.00 0.000 6 0.000 0.059 2156 2681 3318

6142 -1.29 -103.6 528.3 -6.3 292 6146 0.00 2.08 0.00 0.000 4 0.000 0.081 2156 3790 3318

6204 -1.29 -103.6 533.1 -7.6 294 6210 0.00 1.98 0.00 0.000 6 0.000 0.043 2156 2666 3318

6520 -1.29 -103.6 557.0 -7.6 310 6524 0.00 2.12 0.00 0.000 4 0.000 0.082 2156 3783 3317

6582 -1.29 -103.6 562.0 -8.2 312 6588 0.00 1.95 0.00 0.000 6 0.000 0.044 2156 2672 3318

6898 -1.29 -103.6 586.2 -8.3 328 6899 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2672 3317

7207 -1.29 -103.6 610.3 -7.4 343 7211 0.00 2.15 0.00 0.000 4 0.000 0.084 2156 3792 3317

7258 -1.29 -103.6 614.2 -7.9 345 7261 0.00 1.98 0.00 0.000 6 0.000 0.044 2156 2669 3316

7585 -1.29 -103.6 638.6 -7.3 361 7586 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2669 3315

7829 end dive: BOTTOM_OBSTACLE_DETECTED

state 7829 begin apogee

7838 -0.42 0.0 654.8 6.7 373 7932 0.98 0.00 86.65 1.148 6 0.100 0.000 2348 2071 2902

7933 end apogee: CONTROL_FINISHED_OK

state 7933 begin climb

7936 1.29 103.6 658.5 0.0 378 8030 1.75 2.65 85.72 1.144 4 0.062 0.060 2720 657 2478

8067 1.38 182.7 657.9 2.8 384 8139 0.00 2.55 66.47 1.106 6 0.000 0.036 2720 2108 2157

8450 1.38 182.7 632.7 7.0 402 8454 0.00 2.53 0.00 0.000 4 0.000 0.065 2720 3471 2156

8708 1.40 195.6 617.2 5.5 413 8729 0.10 2.53 12.38 0.999 6 0.051 0.044 2753 2060 2104

9045 1.40 195.6 595.8 6.2 430 9049 0.00 2.55 0.00 0.000 4 0.000 0.060 2753 662 2104

9162 1.40 195.6 588.5 6.9 435 9166 0.00 2.47 0.00 0.000 6 0.000 0.037 2753 2076 2103

9478 1.40 195.6 568.5 6.6 450 9482 0.00 2.58 0.00 0.000 4 0.000 0.062 2753 3483 2103

9524 1.40 195.6 565.1 7.5 452 9528 0.00 2.50 0.00 0.000 6 0.000 0.041 2753 2074 2103

9850 1.40 195.6 542.5 7.3 468 9855 0.00 2.55 0.00 0.000 4 0.000 0.060 2753 671 2103

9918 1.40 195.6 537.1 8.1 471 9922 0.00 2.47 0.00 0.000 6 0.000 0.038 2753 2083 2103

10239 1.40 195.6 511.6 8.9 487 10243 0.00 2.55 0.00 0.000 4 0.000 0.062 2753 3478 2102

10289 1.40 195.6 506.5 10.0 489 10293 0.00 2.50 0.00 0.000 6 0.000 0.041 2753 2069 2102

10605 1.40 195.6 477.7 8.4 504 10609 0.00 2.55 0.00 0.000 4 0.000 0.059 2753 661 2102

10734 1.40 195.6 465.3 9.4 509 10740 0.00 2.47 0.00 0.000 6 0.000 0.037 2753 2077 2102

11050 1.40 195.6 438.4 8.5 525 11051 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2077 2102

11359 1.40 195.6 413.1 7.8 540 11360 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2077 2102

11668 1.40 195.6 389.3 7.6 555 11672 0.00 2.58 0.00 0.000 4 0.000 0.057 2753 662 2102

11701 1.40 195.6 386.8 7.9 556 11708 0.00 2.47 0.00 0.000 6 0.000 0.037 2753 2077 2102

12017 1.40 195.6 364.9 6.6 572 12018 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2077 2102

12327 1.40 195.6 345.6 6.2 587 12328 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2077 2103

12636 1.40 195.6 326.2 6.4 602 12641 0.00 2.55 0.00 0.000 4 0.000 0.056 2754 668 2103

12681 1.40 195.6 322.9 7.0 604 12685 0.00 2.47 0.00 0.000 6 0.000 0.037 2753 2086 2103

13002 1.40 195.6 302.1 6.6 620 13006 0.00 2.58 0.00 0.000 4 0.000 0.057 2753 666 2104

13082 1.40 195.6 296.3 6.8 623 13088 0.00 2.47 0.00 0.000 6 0.000 0.038 2753 2084 2103

13398 1.40 195.6 274.2 7.2 639 13399 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2084 2104

13707 1.40 195.6 251.9 7.4 654 13711 0.00 2.58 0.00 0.000 4 0.000 0.057 2753 665 2104

13802 1.40 195.6 244.4 7.9 658 13806 0.00 2.47 0.00 0.000 6 0.000 0.038 2753 2082 2105

14118 1.40 195.6 221.6 7.0 673 14122 0.00 2.55 0.00 0.000 4 0.000 0.056 2753 668 2104

14174 1.40 195.6 217.3 7.6 675 14178 0.00 2.47 0.00 0.000 6 0.000 0.038 2753 2083 2105

14490 1.40 195.6 196.0 6.6 690 14495 0.00 2.58 0.00 0.000 4 0.000 0.057 2753 662 2105

14553 1.40 195.6 191.5 6.6 693 14557 0.00 2.47 0.00 0.000 6 0.000 0.038 2753 2077 2105

14879 1.40 195.6 168.8 7.0 709 14884 0.00 2.58 0.00 0.000 4 0.000 0.058 2753 658 2105

14965 1.40 195.6 162.7 7.1 713 14969 0.00 2.50 0.00 0.000 6 0.000 0.039 2753 2087 2105

15294 1.40 195.6 140.8 6.4 729 15298 0.00 2.58 0.00 0.000 4 0.000 0.058 2753 668 2106

15327 1.40 195.6 138.3 7.0 730 15333 0.00 2.45 0.00 0.000 6 0.000 0.038 2753 2077 2106

15644 1.40 195.6 118.4 6.3 746 15648 0.00 2.58 0.00 0.000 4 0.000 0.058 2753 661 2106

15706 1.40 195.6 114.2 6.7 749 15710 0.00 2.50 0.00 0.000 6 0.000 0.039 2753 2088 2106

16033 1.40 195.6 91.9 6.7 765 16037 0.00 2.60 0.00 0.000 4 0.000 0.059 2753 659 2107

16111 1.40 195.6 86.4 6.6 768 16118 0.00 2.47 0.00 0.000 6 0.000 0.038 2753 2083 2107

16429 1.40 195.6 65.0 6.7 784 16433 0.00 2.58 0.00 0.000 4 0.000 0.060 2753 669 2106

16497 1.41 207.5 60.9 5.5 787 16514 0.00 2.47 11.70 0.691 6 0.000 0.038 2753 2083 2055

16824 1.41 207.5 39.8 6.5 803 16829 0.00 2.60 0.00 0.000 4 0.000 0.060 2753 663 2055

16919 1.41 207.5 32.6 7.3 807 16924 0.00 2.50 0.00 0.000 6 0.000 0.040 2753 2082 2055

17238 1.41 207.5 10.5 6.8 822 17242 0.00 2.58 0.00 0.000 4 0.000 0.056 2753 663 2055

17316 1.41 207.5 4.3 7.4 825 17322 0.00 2.50 0.00 0.000 6 0.000 0.044 2753 2081 2055

17361 end climb: SURFACE_DEPTH_REACHED

state 17361 begin surface coast

17383 end surface coast: CONTROL_FINISHED_OK

state 17383 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	283	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2675	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2075	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	10	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	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	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	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	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-148461.39	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	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	182536,6305.192,-1305.314,46,1.5,46,-12.1	TGT_NAME	HE
_CALLS	2	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.116,-0.147
_SM_DEPTHo	1.45	KALMAN_X	-28182.7,909.7,7638.3,8141.3,3828.1
_SM_ANGLEo	-62.2	KALMAN_Y	67865.8,-200.6,-2282.2,-160219.3,4917.5
GPS2	183501,6305.258,-1304.985,12,1.4,18,-12.1	MHEAD_RNG_PITCHd_Wd	230.5,28258,-13.9,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.001385	ALTIM_BOTTOM_PING	625.8,38.3
SM_CCo	17408,14.23,0.673,0,0,1983,225.19	_24V_AH	23.2,48.760
SM_GC	2.60,0.00,0.00,14.23,0.000,0.000,0.673,48,2680,1983,-11.00,0.14,225.19	_10V_AH	10.1,27.909
IRIDIUM_FIX	6239.86,-1305.73,190798,181833	DATA_FILE_SIZE	41183,829
TT8_MAMPS	0.029146	CAP_FILE_SIZE	132000,0
HUMID	1777	CFSIZE	260165632,240365568
INTERNAL_PRESSURE	8.57455	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	240409,232833,6306.536,-1300.545,96,1.2,96,-12.1
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	99.21	SBE_CT	575	24	320.62
Roll_motor	163	85	322.10	SBE_O2	620	19	273.56
VBD_pump_during_apogee	262	1148	7003.85	WL_BB2F	530	105	1292.71
VBD_pump_during_surface	14	672	221.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	143.04	nil	0	0	0.00
Iridium_during_connect	56	160	208.14	nil	0	0	0.00
Iridium_during_xfer	241	223	1250.13
Transponder_ping	5	420	53.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.11
TT8	1563	19	312.62
LPSleep	13346	2	295.22
TT8_Active	401	19	80.26
TT8_Sampling	1965	39	789.94
TT8_CF8	708	45	327.81
TT8_Kalman	33	81	27.56
Analog_circuits	1387	12	168.13
GPS_charging	0	0	0.00
Compass	1919	8	155.06
RAFOS	0	0	0.00
Transponder	41	30	12.54

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-1.28	-101.5	0.0	0.0	0	60	0.00	0.00	-40.28	0.000	6	0.000	0.000	48	2678	3317
64	-1.28	-101.5	4.2	-11.4	2	86	11.95	2.70	0.00	0.000	4	0.160	0.071	2156	1266	3317
165	-1.28	-101.5	21.7	-10.1	6	169	0.00	2.62	0.00	0.000	6	0.000	0.063	2156	2682	3317
481	-1.28	-101.5	52.1	-9.5	21	484	0.00	2.08	0.00	0.000	4	0.000	0.080	2156	3783	3317
542	-1.28	-101.5	57.2	-9.1	23	549	0.00	2.00	0.00	0.000	6	0.000	0.046	2156	2651	3317
859	-1.28	-101.5	84.5	-9.1	39	860	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2651	3317
1168	-1.28	-101.5	111.7	-8.4	54	1171	0.00	2.17	0.00	0.000	4	0.000	0.077	2156	3793	3317
1216	-1.28	-101.5	115.7	-8.7	56	1219	0.00	1.98	0.00	0.000	6	0.000	0.044	2156	2672	3317
1551	-1.28	-101.5	144.1	-8.6	72	1554	0.00	2.12	0.00	0.000	4	0.000	0.079	2156	3787	3317
1590	-1.28	-101.5	147.8	-9.0	73	1596	0.00	2.00	0.00	0.000	6	0.000	0.043	2156	2646	3317
1905	-1.28	-101.5	173.8	-8.3	89	1907	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2646	3317
2216	-1.28	-101.5	200.5	-8.8	104	2219	0.00	2.17	0.00	0.000	4	0.000	0.079	2156	3787	3317
2284	-1.28	-101.5	207.1	-10.1	107	2288	0.00	1.98	0.00	0.000	6	0.000	0.043	2156	2665	3317
2617	-1.28	-101.5	237.9	-9.4	123	2618	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2664	3317
2926	-1.28	-101.5	267.4	-9.5	138	2930	0.00	2.12	0.00	0.000	4	0.000	0.078	2156	3783	3318
2972	-1.28	-101.5	272.2	-10.4	140	2976	0.00	1.95	0.00	0.000	6	0.000	0.043	2156	2672	3318
3305	-1.28	-101.5	304.8	-9.5	156	3307	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2672	3318
3615	-1.28	-101.5	335.1	-9.9	171	3616	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2672	3318
3924	-1.28	-101.5	365.4	-9.8	186	3928	0.00	2.12	0.00	0.000	4	0.000	0.078	2156	3791	3318
3980	-1.28	-101.5	371.2	-10.5	188	3984	0.00	1.98	0.00	0.000	6	0.000	0.041	2156	2664	3318
4304	-1.28	-101.5	401.4	-8.9	204	4306	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2664	3318
4612	-1.28	-101.5	425.9	-7.8	219	4615	0.00	2.12	0.00	0.000	4	0.000	0.080	2156	3783	3318
4651	-1.28	-101.5	429.1	-7.9	220	4657	0.00	1.98	0.00	0.000	6	0.000	0.041	2156	2672	3318
4970	-1.28	-101.5	450.3	-6.3	236	4973	0.00	2.12	0.00	0.000	4	0.000	0.081	2156	3786	3318
5031	-1.28	-101.5	454.7	-6.2	238	5037	0.00	1.95	0.00	0.000	6	0.000	0.041	2156	2670	3318
5347	-1.29	-103.6	472.5	-5.9	254	5351	0.00	2.12	0.00	0.000	4	0.000	0.080	2156	3790	3318
5466	-1.29	-103.6	482.2	-8.7	259	5469	0.00	1.98	0.00	0.000	6	0.000	0.042	2156	2665	3318
5793	-1.29	-103.6	505.0	-7.0	275	5797	0.00	2.50	0.00	0.000	4	0.000	0.058	2156	1260	3318
5820	-1.29	-103.6	507.2	-7.9	276	5825	0.00	2.60	0.00	0.000	6	0.000	0.059	2156	2681	3318
6142	-1.29	-103.6	528.3	-6.3	292	6146	0.00	2.08	0.00	0.000	4	0.000	0.081	2156	3790	3318
6204	-1.29	-103.6	533.1	-7.6	294	6210	0.00	1.98	0.00	0.000	6	0.000	0.043	2156	2666	3318
6520	-1.29	-103.6	557.0	-7.6	310	6524	0.00	2.12	0.00	0.000	4	0.000	0.082	2156	3783	3317
6582	-1.29	-103.6	562.0	-8.2	312	6588	0.00	1.95	0.00	0.000	6	0.000	0.044	2156	2672	3318
6898	-1.29	-103.6	586.2	-8.3	328	6899	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2672	3317
7207	-1.29	-103.6	610.3	-7.4	343	7211	0.00	2.15	0.00	0.000	4	0.000	0.084	2156	3792	3317
7258	-1.29	-103.6	614.2	-7.9	345	7261	0.00	1.98	0.00	0.000	6	0.000	0.044	2156	2669	3316
7585	-1.29	-103.6	638.6	-7.3	361	7586	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2669	3315
7829	end dive: BOTTOM_OBSTACLE_DETECTED
state	7829	begin apogee
7838	-0.42	0.0	654.8	6.7	373	7932	0.98	0.00	86.65	1.148	6	0.100	0.000	2348	2071	2902
7933	end apogee: CONTROL_FINISHED_OK
state	7933	begin climb
7936	1.29	103.6	658.5	0.0	378	8030	1.75	2.65	85.72	1.144	4	0.062	0.060	2720	657	2478
8067	1.38	182.7	657.9	2.8	384	8139	0.00	2.55	66.47	1.106	6	0.000	0.036	2720	2108	2157
8450	1.38	182.7	632.7	7.0	402	8454	0.00	2.53	0.00	0.000	4	0.000	0.065	2720	3471	2156
8708	1.40	195.6	617.2	5.5	413	8729	0.10	2.53	12.38	0.999	6	0.051	0.044	2753	2060	2104
9045	1.40	195.6	595.8	6.2	430	9049	0.00	2.55	0.00	0.000	4	0.000	0.060	2753	662	2104
9162	1.40	195.6	588.5	6.9	435	9166	0.00	2.47	0.00	0.000	6	0.000	0.037	2753	2076	2103
9478	1.40	195.6	568.5	6.6	450	9482	0.00	2.58	0.00	0.000	4	0.000	0.062	2753	3483	2103
9524	1.40	195.6	565.1	7.5	452	9528	0.00	2.50	0.00	0.000	6	0.000	0.041	2753	2074	2103
9850	1.40	195.6	542.5	7.3	468	9855	0.00	2.55	0.00	0.000	4	0.000	0.060	2753	671	2103
9918	1.40	195.6	537.1	8.1	471	9922	0.00	2.47	0.00	0.000	6	0.000	0.038	2753	2083	2103
10239	1.40	195.6	511.6	8.9	487	10243	0.00	2.55	0.00	0.000	4	0.000	0.062	2753	3478	2102
10289	1.40	195.6	506.5	10.0	489	10293	0.00	2.50	0.00	0.000	6	0.000	0.041	2753	2069	2102
10605	1.40	195.6	477.7	8.4	504	10609	0.00	2.55	0.00	0.000	4	0.000	0.059	2753	661	2102
10734	1.40	195.6	465.3	9.4	509	10740	0.00	2.47	0.00	0.000	6	0.000	0.037	2753	2077	2102
11050	1.40	195.6	438.4	8.5	525	11051	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2077	2102
11359	1.40	195.6	413.1	7.8	540	11360	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2077	2102
11668	1.40	195.6	389.3	7.6	555	11672	0.00	2.58	0.00	0.000	4	0.000	0.057	2753	662	2102
11701	1.40	195.6	386.8	7.9	556	11708	0.00	2.47	0.00	0.000	6	0.000	0.037	2753	2077	2102
12017	1.40	195.6	364.9	6.6	572	12018	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2077	2102
12327	1.40	195.6	345.6	6.2	587	12328	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2077	2103
12636	1.40	195.6	326.2	6.4	602	12641	0.00	2.55	0.00	0.000	4	0.000	0.056	2754	668	2103
12681	1.40	195.6	322.9	7.0	604	12685	0.00	2.47	0.00	0.000	6	0.000	0.037	2753	2086	2103
13002	1.40	195.6	302.1	6.6	620	13006	0.00	2.58	0.00	0.000	4	0.000	0.057	2753	666	2104
13082	1.40	195.6	296.3	6.8	623	13088	0.00	2.47	0.00	0.000	6	0.000	0.038	2753	2084	2103
13398	1.40	195.6	274.2	7.2	639	13399	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2084	2104
13707	1.40	195.6	251.9	7.4	654	13711	0.00	2.58	0.00	0.000	4	0.000	0.057	2753	665	2104
13802	1.40	195.6	244.4	7.9	658	13806	0.00	2.47	0.00	0.000	6	0.000	0.038	2753	2082	2105
14118	1.40	195.6	221.6	7.0	673	14122	0.00	2.55	0.00	0.000	4	0.000	0.056	2753	668	2104
14174	1.40	195.6	217.3	7.6	675	14178	0.00	2.47	0.00	0.000	6	0.000	0.038	2753	2083	2105
14490	1.40	195.6	196.0	6.6	690	14495	0.00	2.58	0.00	0.000	4	0.000	0.057	2753	662	2105
14553	1.40	195.6	191.5	6.6	693	14557	0.00	2.47	0.00	0.000	6	0.000	0.038	2753	2077	2105
14879	1.40	195.6	168.8	7.0	709	14884	0.00	2.58	0.00	0.000	4	0.000	0.058	2753	658	2105
14965	1.40	195.6	162.7	7.1	713	14969	0.00	2.50	0.00	0.000	6	0.000	0.039	2753	2087	2105
15294	1.40	195.6	140.8	6.4	729	15298	0.00	2.58	0.00	0.000	4	0.000	0.058	2753	668	2106
15327	1.40	195.6	138.3	7.0	730	15333	0.00	2.45	0.00	0.000	6	0.000	0.038	2753	2077	2106
15644	1.40	195.6	118.4	6.3	746	15648	0.00	2.58	0.00	0.000	4	0.000	0.058	2753	661	2106
15706	1.40	195.6	114.2	6.7	749	15710	0.00	2.50	0.00	0.000	6	0.000	0.039	2753	2088	2106
16033	1.40	195.6	91.9	6.7	765	16037	0.00	2.60	0.00	0.000	4	0.000	0.059	2753	659	2107
16111	1.40	195.6	86.4	6.6	768	16118	0.00	2.47	0.00	0.000	6	0.000	0.038	2753	2083	2107
16429	1.40	195.6	65.0	6.7	784	16433	0.00	2.58	0.00	0.000	4	0.000	0.060	2753	669	2106
16497	1.41	207.5	60.9	5.5	787	16514	0.00	2.47	11.70	0.691	6	0.000	0.038	2753	2083	2055
16824	1.41	207.5	39.8	6.5	803	16829	0.00	2.60	0.00	0.000	4	0.000	0.060	2753	663	2055
16919	1.41	207.5	32.6	7.3	807	16924	0.00	2.50	0.00	0.000	6	0.000	0.040	2753	2082	2055
17238	1.41	207.5	10.5	6.8	822	17242	0.00	2.58	0.00	0.000	4	0.000	0.056	2753	663	2055
17316	1.41	207.5	4.3	7.4	825	17322	0.00	2.50	0.00	0.000	6	0.000	0.044	2753	2081	2055
17361	end climb: SURFACE_DEPTH_REACHED
state	17361	begin surface coast
17383	end surface coast: CONTROL_FINISHED_OK
state	17383	begin surface