Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 109 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 109 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 22 INT_PRESSURE_YINT 0

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 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00159 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -652156.5 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2705 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 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 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 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 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -652156.5

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2705 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 109 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 012538,6443.003,-1003.196,40,0.9,40,-11.0 TGT_NAME NV

_CALLS 1 TGT_LATLONG 6454.000,-1040.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.46 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -65.4 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 013203,6442.998,-1003.049,13,1.8,13,-11.0 MHEAD_RNG_PITCHd_Wd 316.1,35467,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.026923 ALTIM_BOTTOM_PING 801.5,31.1

SM_CCo 19518,39.47,0.741,0,0,1316,300.00 _24V_AH 23.4,18.690

SM_GC 1.38,0.00,0.00,39.47,0.000,0.000,0.741,377,1604,1316,-10.71,0.11,300.00 _10V_AH 10.1,10.986

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47381,936

TT8_MAMPS 0.023777 CAP_FILE_SIZE 125630,0

HUMID 1943 CFSIZE 254472192,245174272

TCM_TEMP 14.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,1,0

XPDR_PINGS 0 GPS 210908,070008,6442.562,-1010.016,61,1.6,61,-11.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 179 108.04 SBE_CT 706 24 396.51

Roll_motor 101 109 260.57 SBE_O2 639 19 284.51

VBD_pump_during_apogee 339 1217 9655.79 WL_BB2F 552 105 1356.67

VBD_pump_during_surface 39 740 684.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.05 nil 0 0 0.00

Iridium_during_connect 28 160 105.18 nil 0 0 0.00

Iridium_during_xfer 175 223 915.14

Transponder_ping 7 420 71.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.77

TT8 1679 19 335.94

LPSleep 15199 2 336.21

TT8_Active 493 19 98.70

TT8_Sampling 1956 39 786.44

TT8_CF8 615 45 284.67

TT8_Kalman 0 81 0.00

Analog_circuits 1447 12 175.41

GPS_charging 0 0 0.00

Compass 1913 8 154.64

RAFOS 0 0 0.00

Transponder 50 30 15.28

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 12 begin dive

16 -1.16 -146.6 0.0 0.0 0 79 0.00 0.00 -60.72 0.000 2 0.000 0.000 382 1594 2655

83 -1.16 -146.6 3.7 -5.3 3 114 11.60 2.55 -12.10 0.000 4 0.179 0.094 2445 221 3138

299 -1.16 -146.6 36.0 -13.1 12 306 0.00 2.38 0.00 0.000 6 0.000 0.054 2445 1629 3139

616 -1.16 -146.6 73.8 -12.2 28 620 0.00 2.58 0.00 0.000 4 0.000 0.077 2445 211 3140

712 -1.16 -146.6 85.8 -11.0 32 716 0.00 2.35 0.00 0.000 6 0.000 0.054 2445 1611 3141

1029 -1.16 -146.6 109.2 -5.2 47 1030 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1615 3143

1338 -1.16 -146.6 120.2 -3.0 62 1339 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1615 3147

1648 -1.16 -146.6 130.2 -3.8 77 1651 0.00 2.55 0.00 0.000 4 0.000 0.080 2445 212 3147

1710 -1.16 -146.6 133.9 -6.3 79 1717 0.00 2.35 0.00 0.000 6 0.000 0.055 2445 1612 3147

2027 -1.16 -146.6 152.6 -6.2 95 2031 0.00 2.55 0.00 0.000 4 0.000 0.079 2445 213 3148

2094 -1.16 -146.6 157.7 -7.7 98 2098 0.00 2.33 0.00 0.000 6 0.000 0.055 2445 1596 3147

2422 -1.16 -146.6 183.6 -8.6 114 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1600 3148

2731 -1.16 -146.6 211.8 -9.9 129 2732 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1600 3148

3040 -1.16 -146.6 245.5 -11.2 144 3045 0.00 2.55 0.00 0.000 4 0.000 0.083 2445 209 3148

3103 -1.16 -146.6 253.2 -12.5 147 3107 0.00 2.35 0.00 0.000 6 0.000 0.055 2445 1600 3148

3430 -1.16 -146.6 291.9 -11.6 163 3431 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1603 3148

3739 -1.16 -146.6 323.8 -10.1 178 3740 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1603 3148

4048 -1.16 -146.6 353.2 -8.7 193 4050 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1604 3148

4358 -1.16 -146.6 381.5 -8.8 208 4362 0.00 2.58 0.00 0.000 4 0.000 0.087 2445 212 3148

4421 -1.16 -146.6 387.5 -9.2 211 4425 0.00 2.35 0.00 0.000 6 0.000 0.057 2445 1597 3148

4753 -1.16 -146.6 417.9 -8.8 227 4755 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1600 3148

5063 -1.16 -146.6 443.4 -7.6 242 5065 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1599 3147

5372 -1.16 -146.6 466.4 -7.6 257 5374 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1600 3146

5682 -1.16 -146.6 488.7 -6.7 272 5683 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1601 3145

5991 -1.16 -146.6 510.9 -7.3 287 5995 0.00 2.55 0.00 0.000 4 0.000 0.087 2446 213 3144

6047 -1.16 -146.6 515.4 -8.2 289 6053 0.00 2.38 0.00 0.000 6 0.000 0.056 2445 1604 3144

6364 -1.16 -146.6 538.2 -7.7 305 6365 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1603 3143

6673 -1.16 -146.6 560.0 -6.8 320 6677 0.00 2.55 0.00 0.000 4 0.000 0.087 2444 215 3143

6723 -1.16 -146.6 564.1 -8.2 322 6727 0.00 2.38 0.00 0.000 6 0.000 0.055 2445 1606 3143

7040 -1.16 -146.6 586.6 -7.9 337 7041 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1605 3141

7349 -1.16 -146.6 608.5 -7.1 352 7350 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1605 3141

7658 -1.16 -146.6 630.8 -7.7 367 7662 0.00 2.58 0.00 0.000 4 0.000 0.087 2445 210 3140

7708 -1.16 -146.6 635.1 -8.6 369 7713 0.00 2.38 0.00 0.000 6 0.000 0.054 2445 1598 3140

8025 -1.16 -146.6 659.4 -7.9 384 8026 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1598 3139

8334 -1.16 -146.6 680.8 -6.6 399 8339 0.00 2.55 0.00 0.000 4 0.000 0.085 2445 210 3138

8369 -1.16 -146.6 683.1 -6.7 400 8375 0.00 2.38 0.00 0.000 6 0.000 0.054 2445 1605 3139

8686 -1.16 -146.6 704.0 -6.4 416 8687 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1605 3138

8996 -1.16 -146.6 723.5 -6.2 431 8997 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1606 3138

9305 -1.16 -146.6 742.7 -6.2 446 9306 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1605 3138

9614 -1.16 -146.6 763.2 -6.4 461 9615 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1605 3137

9923 -1.16 -146.6 784.7 -7.1 476 9924 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1605 3137

10232 -1.16 -146.6 807.4 -7.0 491 10233 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1605 3137

10435 end dive: BOTTOM_OBSTACLE_DETECTED

state 10435 begin apogee

10444 -0.32 0.0 822.8 7.8 501 10584 0.93 0.00 131.82 1.217 6 0.117 0.000 2631 2195 2539

10585 end apogee: CONTROL_FINISHED_OK

state 10585 begin climb

10589 1.16 146.6 827.7 0.0 508 10722 1.52 2.80 124.68 1.197 4 0.082 0.110 2958 3596 1941

10941 1.16 146.6 803.1 9.9 524 10945 0.00 2.47 0.00 0.000 6 0.000 0.066 2958 2200 1939

11273 1.16 146.6 771.1 9.6 540 11275 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1939

11583 1.16 146.6 740.4 10.2 555 11584 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1939

11892 1.16 146.6 707.8 10.9 570 11893 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1939

12201 1.16 146.6 674.5 10.7 585 12202 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1939

12510 1.16 146.6 643.1 9.7 600 12512 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1939

12820 1.16 146.6 612.8 9.8 615 12821 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1939

13129 1.16 146.6 585.3 8.1 630 13130 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1939

13438 1.16 146.6 558.0 8.8 645 13439 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1938

13748 1.16 146.6 532.2 8.2 660 13749 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1938

14057 1.17 147.3 507.8 8.0 675 14058 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2200 1938

14366 1.18 159.1 484.0 7.6 690 14387 0.00 2.60 11.40 0.971 4 0.000 0.081 2958 798 1889

14434 1.18 159.1 478.4 8.5 693 14439 0.00 2.42 0.00 0.000 6 0.000 0.054 2958 2201 1889

14762 1.24 195.7 454.9 6.6 709 14803 0.00 2.65 31.45 0.984 4 0.000 0.074 2958 789 1739

14867 1.24 195.7 447.3 8.4 713 14874 0.00 2.45 0.00 0.000 6 0.000 0.055 2958 2201 1739

15184 1.30 232.1 426.2 6.6 729 15217 0.12 0.00 30.50 0.959 6 0.072 0.000 2991 2201 1593

15513 1.30 232.1 399.7 8.2 745 15517 0.00 2.55 0.00 0.000 4 0.000 0.075 2991 792 1591

15581 1.30 232.1 393.8 8.3 748 15586 0.00 2.45 0.00 0.000 6 0.000 0.056 2990 2202 1589

15909 1.30 232.1 365.8 8.8 764 15913 0.00 2.55 0.00 0.000 4 0.000 0.074 2991 792 1590

15954 1.30 232.1 361.7 9.3 766 15958 0.00 2.45 0.00 0.000 6 0.000 0.055 2991 2206 1590

16276 1.30 232.1 329.7 10.4 782 16277 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2205 1590

16585 1.30 232.1 295.7 11.8 797 16589 0.00 2.55 0.00 0.000 4 0.000 0.074 2990 790 1590

16676 1.30 232.1 285.3 10.6 801 16680 0.00 2.42 0.00 0.000 6 0.000 0.056 2990 2199 1590

17010 1.30 232.1 249.6 10.5 817 17014 0.00 2.53 0.00 0.000 4 0.000 0.074 2991 793 1590

17050 1.30 232.1 244.9 12.4 819 17054 0.00 2.42 0.00 0.000 6 0.000 0.056 2991 2199 1590

17377 1.30 232.1 210.5 10.9 835 17378 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2200 1588

17687 1.30 232.1 177.2 10.9 850 17688 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2200 1588

17996 1.30 232.1 143.2 11.0 865 18000 0.00 2.53 0.00 0.000 4 0.000 0.075 2991 794 1588

18040 1.30 232.1 138.0 12.0 867 18045 0.00 2.42 0.00 0.000 6 0.000 0.056 2991 2200 1588

18363 1.30 232.1 100.6 11.5 883 18368 0.00 2.53 0.00 0.000 4 0.000 0.074 2991 794 1588

18437 1.30 232.1 92.3 10.9 886 18441 0.00 2.42 0.00 0.000 6 0.000 0.056 2991 2200 1588

18753 1.30 232.1 63.6 8.2 901 18754 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2199 1588

19063 1.30 232.1 40.2 8.1 916 19067 0.00 2.53 0.00 0.000 4 0.000 0.074 2991 787 1587

19231 1.32 242.4 22.6 7.6 923 19247 0.00 2.45 9.15 0.701 6 0.000 0.057 2991 2208 1548

19469 end climb: SURFACE_DEPTH_REACHED

state 19469 begin surface coast

19491 end surface coast: CONTROL_FINISHED_OK

state 19492 begin surface

ID	14	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	109	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	22	INT_PRESSURE_YINT	0
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	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00159	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-652156.5	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2705	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	012538,6443.003,-1003.196,40,0.9,40,-11.0	TGT_NAME	NV
_CALLS	1	TGT_LATLONG	6454.000,-1040.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.46	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-65.4	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	013203,6442.998,-1003.049,13,1.8,13,-11.0	MHEAD_RNG_PITCHd_Wd	316.1,35467,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.9,1.026923	ALTIM_BOTTOM_PING	801.5,31.1
SM_CCo	19518,39.47,0.741,0,0,1316,300.00	_24V_AH	23.4,18.690
SM_GC	1.38,0.00,0.00,39.47,0.000,0.000,0.741,377,1604,1316,-10.71,0.11,300.00	_10V_AH	10.1,10.986
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47381,936
TT8_MAMPS	0.023777	CAP_FILE_SIZE	125630,0
HUMID	1943	CFSIZE	254472192,245174272
TCM_TEMP	14.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
XPDR_PINGS	0	GPS	210908,070008,6442.562,-1010.016,61,1.6,61,-11.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	179	108.04	SBE_CT	706	24	396.51
Roll_motor	101	109	260.57	SBE_O2	639	19	284.51
VBD_pump_during_apogee	339	1217	9655.79	WL_BB2F	552	105	1356.67
VBD_pump_during_surface	39	740	684.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.05	nil	0	0	0.00
Iridium_during_connect	28	160	105.18	nil	0	0	0.00
Iridium_during_xfer	175	223	915.14
Transponder_ping	7	420	71.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.77
TT8	1679	19	335.94
LPSleep	15199	2	336.21
TT8_Active	493	19	98.70
TT8_Sampling	1956	39	786.44
TT8_CF8	615	45	284.67
TT8_Kalman	0	81	0.00
Analog_circuits	1447	12	175.41
GPS_charging	0	0	0.00
Compass	1913	8	154.64
RAFOS	0	0	0.00
Transponder	50	30	15.28

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	12	begin dive
16	-1.16	-146.6	0.0	0.0	0	79	0.00	0.00	-60.72	0.000	2	0.000	0.000	382	1594	2655
83	-1.16	-146.6	3.7	-5.3	3	114	11.60	2.55	-12.10	0.000	4	0.179	0.094	2445	221	3138
299	-1.16	-146.6	36.0	-13.1	12	306	0.00	2.38	0.00	0.000	6	0.000	0.054	2445	1629	3139
616	-1.16	-146.6	73.8	-12.2	28	620	0.00	2.58	0.00	0.000	4	0.000	0.077	2445	211	3140
712	-1.16	-146.6	85.8	-11.0	32	716	0.00	2.35	0.00	0.000	6	0.000	0.054	2445	1611	3141
1029	-1.16	-146.6	109.2	-5.2	47	1030	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1615	3143
1338	-1.16	-146.6	120.2	-3.0	62	1339	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1615	3147
1648	-1.16	-146.6	130.2	-3.8	77	1651	0.00	2.55	0.00	0.000	4	0.000	0.080	2445	212	3147
1710	-1.16	-146.6	133.9	-6.3	79	1717	0.00	2.35	0.00	0.000	6	0.000	0.055	2445	1612	3147
2027	-1.16	-146.6	152.6	-6.2	95	2031	0.00	2.55	0.00	0.000	4	0.000	0.079	2445	213	3148
2094	-1.16	-146.6	157.7	-7.7	98	2098	0.00	2.33	0.00	0.000	6	0.000	0.055	2445	1596	3147
2422	-1.16	-146.6	183.6	-8.6	114	2423	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1600	3148
2731	-1.16	-146.6	211.8	-9.9	129	2732	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1600	3148
3040	-1.16	-146.6	245.5	-11.2	144	3045	0.00	2.55	0.00	0.000	4	0.000	0.083	2445	209	3148
3103	-1.16	-146.6	253.2	-12.5	147	3107	0.00	2.35	0.00	0.000	6	0.000	0.055	2445	1600	3148
3430	-1.16	-146.6	291.9	-11.6	163	3431	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1603	3148
3739	-1.16	-146.6	323.8	-10.1	178	3740	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1603	3148
4048	-1.16	-146.6	353.2	-8.7	193	4050	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1604	3148
4358	-1.16	-146.6	381.5	-8.8	208	4362	0.00	2.58	0.00	0.000	4	0.000	0.087	2445	212	3148
4421	-1.16	-146.6	387.5	-9.2	211	4425	0.00	2.35	0.00	0.000	6	0.000	0.057	2445	1597	3148
4753	-1.16	-146.6	417.9	-8.8	227	4755	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1600	3148
5063	-1.16	-146.6	443.4	-7.6	242	5065	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1599	3147
5372	-1.16	-146.6	466.4	-7.6	257	5374	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1600	3146
5682	-1.16	-146.6	488.7	-6.7	272	5683	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1601	3145
5991	-1.16	-146.6	510.9	-7.3	287	5995	0.00	2.55	0.00	0.000	4	0.000	0.087	2446	213	3144
6047	-1.16	-146.6	515.4	-8.2	289	6053	0.00	2.38	0.00	0.000	6	0.000	0.056	2445	1604	3144
6364	-1.16	-146.6	538.2	-7.7	305	6365	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1603	3143
6673	-1.16	-146.6	560.0	-6.8	320	6677	0.00	2.55	0.00	0.000	4	0.000	0.087	2444	215	3143
6723	-1.16	-146.6	564.1	-8.2	322	6727	0.00	2.38	0.00	0.000	6	0.000	0.055	2445	1606	3143
7040	-1.16	-146.6	586.6	-7.9	337	7041	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1605	3141
7349	-1.16	-146.6	608.5	-7.1	352	7350	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1605	3141
7658	-1.16	-146.6	630.8	-7.7	367	7662	0.00	2.58	0.00	0.000	4	0.000	0.087	2445	210	3140
7708	-1.16	-146.6	635.1	-8.6	369	7713	0.00	2.38	0.00	0.000	6	0.000	0.054	2445	1598	3140
8025	-1.16	-146.6	659.4	-7.9	384	8026	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1598	3139
8334	-1.16	-146.6	680.8	-6.6	399	8339	0.00	2.55	0.00	0.000	4	0.000	0.085	2445	210	3138
8369	-1.16	-146.6	683.1	-6.7	400	8375	0.00	2.38	0.00	0.000	6	0.000	0.054	2445	1605	3139
8686	-1.16	-146.6	704.0	-6.4	416	8687	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1605	3138
8996	-1.16	-146.6	723.5	-6.2	431	8997	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1606	3138
9305	-1.16	-146.6	742.7	-6.2	446	9306	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1605	3138
9614	-1.16	-146.6	763.2	-6.4	461	9615	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1605	3137
9923	-1.16	-146.6	784.7	-7.1	476	9924	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1605	3137
10232	-1.16	-146.6	807.4	-7.0	491	10233	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1605	3137
10435	end dive: BOTTOM_OBSTACLE_DETECTED
state	10435	begin apogee
10444	-0.32	0.0	822.8	7.8	501	10584	0.93	0.00	131.82	1.217	6	0.117	0.000	2631	2195	2539
10585	end apogee: CONTROL_FINISHED_OK
state	10585	begin climb
10589	1.16	146.6	827.7	0.0	508	10722	1.52	2.80	124.68	1.197	4	0.082	0.110	2958	3596	1941
10941	1.16	146.6	803.1	9.9	524	10945	0.00	2.47	0.00	0.000	6	0.000	0.066	2958	2200	1939
11273	1.16	146.6	771.1	9.6	540	11275	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1939
11583	1.16	146.6	740.4	10.2	555	11584	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1939
11892	1.16	146.6	707.8	10.9	570	11893	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1939
12201	1.16	146.6	674.5	10.7	585	12202	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1939
12510	1.16	146.6	643.1	9.7	600	12512	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1939
12820	1.16	146.6	612.8	9.8	615	12821	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1939
13129	1.16	146.6	585.3	8.1	630	13130	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1939
13438	1.16	146.6	558.0	8.8	645	13439	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1938
13748	1.16	146.6	532.2	8.2	660	13749	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1938
14057	1.17	147.3	507.8	8.0	675	14058	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2200	1938
14366	1.18	159.1	484.0	7.6	690	14387	0.00	2.60	11.40	0.971	4	0.000	0.081	2958	798	1889
14434	1.18	159.1	478.4	8.5	693	14439	0.00	2.42	0.00	0.000	6	0.000	0.054	2958	2201	1889
14762	1.24	195.7	454.9	6.6	709	14803	0.00	2.65	31.45	0.984	4	0.000	0.074	2958	789	1739
14867	1.24	195.7	447.3	8.4	713	14874	0.00	2.45	0.00	0.000	6	0.000	0.055	2958	2201	1739
15184	1.30	232.1	426.2	6.6	729	15217	0.12	0.00	30.50	0.959	6	0.072	0.000	2991	2201	1593
15513	1.30	232.1	399.7	8.2	745	15517	0.00	2.55	0.00	0.000	4	0.000	0.075	2991	792	1591
15581	1.30	232.1	393.8	8.3	748	15586	0.00	2.45	0.00	0.000	6	0.000	0.056	2990	2202	1589
15909	1.30	232.1	365.8	8.8	764	15913	0.00	2.55	0.00	0.000	4	0.000	0.074	2991	792	1590
15954	1.30	232.1	361.7	9.3	766	15958	0.00	2.45	0.00	0.000	6	0.000	0.055	2991	2206	1590
16276	1.30	232.1	329.7	10.4	782	16277	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2205	1590
16585	1.30	232.1	295.7	11.8	797	16589	0.00	2.55	0.00	0.000	4	0.000	0.074	2990	790	1590
16676	1.30	232.1	285.3	10.6	801	16680	0.00	2.42	0.00	0.000	6	0.000	0.056	2990	2199	1590
17010	1.30	232.1	249.6	10.5	817	17014	0.00	2.53	0.00	0.000	4	0.000	0.074	2991	793	1590
17050	1.30	232.1	244.9	12.4	819	17054	0.00	2.42	0.00	0.000	6	0.000	0.056	2991	2199	1590
17377	1.30	232.1	210.5	10.9	835	17378	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2200	1588
17687	1.30	232.1	177.2	10.9	850	17688	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2200	1588
17996	1.30	232.1	143.2	11.0	865	18000	0.00	2.53	0.00	0.000	4	0.000	0.075	2991	794	1588
18040	1.30	232.1	138.0	12.0	867	18045	0.00	2.42	0.00	0.000	6	0.000	0.056	2991	2200	1588
18363	1.30	232.1	100.6	11.5	883	18368	0.00	2.53	0.00	0.000	4	0.000	0.074	2991	794	1588
18437	1.30	232.1	92.3	10.9	886	18441	0.00	2.42	0.00	0.000	6	0.000	0.056	2991	2200	1588
18753	1.30	232.1	63.6	8.2	901	18754	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2199	1588
19063	1.30	232.1	40.2	8.1	916	19067	0.00	2.53	0.00	0.000	4	0.000	0.074	2991	787	1587
19231	1.32	242.4	22.6	7.6	923	19247	0.00	2.45	9.15	0.701	6	0.000	0.057	2991	2208	1548
19469	end climb: SURFACE_DEPTH_REACHED
state	19469	begin surface coast
19491	end surface coast: CONTROL_FINISHED_OK
state	19492	begin surface