Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 11 * 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 11 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 2425 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1350 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 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 -1628293.9 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 1 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 20 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 20 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 440

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 -1628293.9

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

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 1 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1350 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2425 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 11 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 103336,6134.369,-835.091,32,1.2,32,-9.0 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.234,-0.051

_SM_DEPTHo 0.71 KALMAN_X -38084.4,-64.2,503.0,21387.7,-15927.0

_SM_ANGLEo -60.9 KALMAN_Y 23347.1,-643.0,-132.5,-4810.7,10061.4

GPS2 103901,6134.341,-835.125,11,1.2,16,-9.0 MHEAD_RNG_PITCHd_Wd 111.4,12029,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027201 ALTIM_TOP_PING 18.1,18.1

SM_CCo 18171,0.00,0.000,0,0,1581,306.87 ALTIM_BOTTOM_PING 776.8,86.2

SM_GC 0.75,11.65,0.00,0.00,0.025,0.000,0.000,394,2401,1581,-10.99,-0.71,306.87 _24V_AH 23.2,19.350

IRIDIUM_FIX 6108.28,-832.07,010998,050517 _10V_AH 10.1,7.963

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44376,863

HUMID 1803 CAP_FILE_SIZE 131498,0

INTERNAL_PRESSURE 8.08949 CFSIZE 260165632,257306624

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 GPS 070609,154401,6134.485,-835.927,38,1.4,38,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 79.49 SBE_CT 770 24 429.01

Roll_motor 150 70 247.00 SBE_O2 592 19 261.11

VBD_pump_during_apogee 402 1353 12650.79 WL_BB2F 498 105 1214.16

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 27 103 65.24 nil 0 0 0.00

Iridium_during_connect 33 160 125.50 nil 0 0 0.00

Iridium_during_xfer 143 223 743.54

Transponder_ping 7 420 68.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.33

TT8 1622 19 324.39

LPSleep 13660 2 302.16

TT8_Active 490 19 98.10

TT8_Sampling 1991 39 800.47

TT8_CF8 730 45 338.05

TT8_Kalman 33 81 27.57

Analog_circuits 1545 12 187.25

GPS_charging 0 0 0.00

Compass 2121 8 171.38

RAFOS 0 0 0.00

Transponder 47 30 14.44

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

15 -1.17 -146.6 0.0 0.0 0 81 0.00 0.00 -64.10 0.000 6 0.000 0.000 393 2485 3431

84 -1.17 -146.6 3.8 -7.6 3 105 11.43 2.58 0.00 0.000 4 0.134 0.035 2535 1005 3432

279 -1.17 -146.6 34.0 -11.3 11 286 0.00 2.45 0.00 0.000 6 0.000 0.031 2536 2430 3433

596 -1.17 -146.6 67.6 -10.3 27 598 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2429 3433

904 -1.17 -146.6 97.2 -9.7 42 909 0.00 2.47 0.00 0.000 4 0.000 0.037 2535 1006 3432

955 -1.17 -146.6 102.1 -8.8 44 960 0.00 2.45 0.00 0.000 6 0.000 0.031 2536 2429 3432

1271 -1.17 -146.6 128.4 -7.7 59 1272 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2429 3433

1580 -1.17 -146.6 155.2 -9.3 74 1581 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2428 3433

1890 -1.17 -146.6 184.3 -8.6 89 1891 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2429 3433

2199 -1.17 -146.6 210.7 -8.8 104 2200 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2428 3433

2508 -1.17 -146.6 239.7 -9.5 119 2513 0.00 2.50 0.00 0.000 4 0.000 0.038 2536 1013 3433

2546 -1.17 -146.6 243.5 -10.4 120 2554 0.00 2.47 0.00 0.000 6 0.000 0.035 2536 2420 3433

2862 -1.17 -146.6 272.2 -8.7 136 2863 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2420 3433

3174 -1.17 -146.6 301.0 -9.3 151 3179 0.00 2.47 0.00 0.000 4 0.000 0.041 2536 1006 3433

3241 -1.17 -146.6 308.2 -10.1 154 3246 0.00 2.47 0.00 0.000 6 0.000 0.035 2535 2431 3433

3562 -1.17 -146.6 340.2 -9.5 170 3567 0.00 2.50 0.00 0.000 4 0.000 0.041 2535 1003 3433

3595 -1.17 -146.6 343.5 -9.8 171 3601 0.00 2.47 0.00 0.000 6 0.000 0.036 2535 2426 3433

3911 -1.17 -146.6 374.5 -9.2 187 3916 0.00 2.50 0.00 0.000 4 0.000 0.042 2535 1003 3433

3951 -1.17 -146.6 378.1 -9.3 189 3955 0.00 2.47 0.00 0.000 6 0.000 0.037 2536 2425 3433

4277 -1.17 -146.6 409.1 -10.2 205 4278 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2425 3433

4587 -1.17 -146.6 439.1 -9.5 220 4591 0.00 2.50 0.00 0.000 4 0.000 0.044 2535 1006 3433

4653 -1.17 -146.6 446.1 -10.1 223 4658 0.00 2.50 0.00 0.000 6 0.000 0.037 2535 2424 3433

4980 -1.17 -146.6 475.4 -8.6 239 4981 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2424 3433

5288 -1.17 -146.6 502.6 -9.3 254 5293 0.00 2.50 0.00 0.000 4 0.000 0.043 2535 1004 3432

5362 -1.17 -146.6 510.2 -9.0 257 5366 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2425 3433

5678 -1.17 -146.6 551.5 -9.6 272 5683 0.00 2.53 0.00 0.000 4 0.000 0.044 2536 1010 3433

5723 -1.17 -146.6 556.2 -10.1 274 5728 0.00 2.47 0.00 0.000 6 0.000 0.037 2535 2419 3433

6055 -1.17 -146.6 584.7 -7.6 290 6059 0.00 2.55 0.00 0.000 4 0.000 0.063 2535 3826 3432

6236 -1.17 -146.6 600.2 -9.2 298 6240 0.00 2.42 0.00 0.000 6 0.000 0.031 2535 2395 3432

6557 -1.17 -146.6 617.4 -3.4 314 6561 0.00 2.38 0.00 0.000 4 0.000 0.043 2535 1030 3432

6643 -1.17 -146.6 620.5 -3.9 318 6647 0.00 2.42 0.00 0.000 6 0.000 0.037 2535 2426 3432

6972 -1.17 -146.6 640.5 -6.0 334 6976 0.00 2.45 0.00 0.000 4 0.000 0.042 2536 1026 3431

7083 -1.17 -146.6 648.9 -7.9 339 7087 0.00 2.45 0.00 0.000 6 0.000 0.039 2536 2428 3431

7404 -1.17 -146.6 669.9 -6.7 355 7408 0.00 2.47 0.00 0.000 4 0.000 0.045 2535 1026 3429

7533 -1.17 -146.6 678.9 -8.1 361 7537 0.00 2.45 0.00 0.000 6 0.000 0.040 2535 2424 3429

7859 -1.17 -146.6 705.0 -6.4 377 7864 0.00 2.47 0.00 0.000 4 0.000 0.046 2535 1028 3428

7967 -1.17 -146.6 712.1 -7.3 382 7971 0.00 2.45 0.00 0.000 6 0.000 0.041 2535 2424 3427

8293 -1.17 -146.6 737.9 -8.0 398 8294 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2424 3426

8602 -1.17 -146.6 759.1 -6.0 413 8607 0.00 2.60 0.00 0.000 4 0.000 0.070 2535 3818 3426

8663 -1.17 -146.6 765.1 -7.2 415 8670 0.00 2.40 0.00 0.000 6 0.000 0.035 2535 2424 3425

8979 -1.17 -146.6 794.4 -12.1 431 8983 0.00 2.50 0.00 0.000 4 0.000 0.052 2536 1020 3424

9096 -1.17 -146.6 806.1 -6.5 436 9101 0.00 2.50 0.00 0.000 6 0.000 0.044 2535 2428 3423

9412 -1.17 -146.6 846.8 -6.3 451 9417 0.00 2.58 0.00 0.000 4 0.000 0.067 2535 3828 3422

9480 -1.17 -146.6 852.7 -12.1 454 9485 0.00 2.42 0.00 0.000 6 0.000 0.038 2536 2431 3422

9489 end dive: BOTTOM_OBSTACLE_DETECTED

state 9490 begin apogee

9498 -0.36 0.0 853.2 8.8 455 9633 0.85 0.00 129.10 1.354 6 0.054 0.000 2726 1356 2832

9634 end apogee: CONTROL_FINISHED_OK

state 9634 begin climb

9636 1.17 146.6 850.5 0.0 462 9773 1.50 0.00 131.98 1.299 6 0.053 0.000 3054 1356 2234

10073 1.21 174.9 819.7 6.5 483 10100 0.00 0.00 25.08 1.243 6 0.000 0.000 3055 1356 2119

10404 1.28 230.4 799.9 5.6 499 10461 0.10 2.62 51.25 1.282 4 0.050 0.049 3092 2767 1891

10629 1.28 230.4 774.1 12.0 508 10634 0.00 2.58 0.00 0.000 6 0.000 0.047 3091 1344 1883

10945 1.28 230.4 764.4 9.6 523 10950 0.00 2.60 0.00 0.000 4 0.000 0.053 3091 2751 1881

11202 1.28 230.4 735.1 8.2 534 11207 0.00 2.53 0.00 0.000 6 0.000 0.048 3091 1345 1878

11518 1.28 230.4 705.9 10.3 549 11519 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 1345 1878

11827 1.28 230.4 675.6 9.2 564 11832 0.00 2.03 0.00 0.000 4 0.000 0.071 3092 271 1877

11916 1.28 230.4 665.0 13.0 568 11921 0.00 1.90 0.00 0.000 6 0.000 0.035 3092 1367 1877

12248 1.28 230.4 621.3 13.9 584 12252 0.00 2.05 0.00 0.000 4 0.000 0.064 3092 259 1876

12310 1.28 230.4 613.0 13.5 586 12316 0.00 1.88 0.00 0.000 6 0.000 0.034 3091 1361 1876

12626 1.28 230.4 578.2 9.7 602 12630 0.00 2.47 0.00 0.000 4 0.000 0.048 3092 2748 1876

12675 1.28 230.4 572.1 12.1 604 12680 0.00 2.50 0.00 0.000 6 0.000 0.041 3091 1340 1875

12994 1.37 304.2 550.6 5.0 619 13066 0.00 2.05 65.40 1.170 4 0.000 0.061 3091 262 1590

13100 1.37 304.2 536.8 17.1 624 13104 0.00 1.85 0.00 0.000 6 0.000 0.031 3092 1358 1588

13432 1.37 304.2 498.9 10.9 640 13436 0.00 2.00 0.00 0.000 4 0.000 0.059 3091 264 1582

13507 1.37 304.2 489.1 12.9 643 13511 0.00 1.83 0.00 0.000 6 0.000 0.030 3092 1351 1582

13834 1.37 304.2 453.2 11.7 659 13838 0.00 2.45 0.00 0.000 4 0.000 0.042 3091 2740 1581

13855 1.37 304.2 450.7 10.8 660 13859 0.00 2.45 0.00 0.000 6 0.000 0.038 3092 1348 1581

14179 1.37 304.2 413.5 10.3 676 14181 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 1348 1581

14488 1.37 304.2 376.5 12.4 691 14489 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 1348 1581

14796 1.37 304.2 341.9 10.5 706 14797 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 1348 1581

15105 1.37 304.2 308.7 9.8 721 15106 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 1348 1581

15414 1.37 304.2 276.9 10.1 736 15415 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 1348 1581

15723 1.37 304.2 246.0 10.1 751 15724 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 1348 1581

16035 1.37 304.2 215.2 10.0 766 16039 0.00 2.42 0.00 0.000 4 0.000 0.036 3092 2739 1582

16084 1.37 304.2 209.9 10.6 768 16089 0.00 2.42 0.00 0.000 6 0.000 0.035 3091 1346 1581

16400 1.37 304.2 175.7 11.2 783 16405 0.00 2.45 0.00 0.000 4 0.000 0.036 3092 2740 1582

16456 1.37 304.2 169.4 12.0 785 16460 0.00 2.42 0.00 0.000 6 0.000 0.035 3091 1344 1582

16772 1.37 304.2 135.9 11.5 800 16776 0.00 2.42 0.00 0.000 4 0.000 0.035 3092 2744 1583

16798 1.37 304.2 133.0 10.2 801 16803 0.00 2.42 0.00 0.000 6 0.000 0.035 3091 1343 1582

17114 1.37 304.2 100.0 9.9 816 17119 0.00 2.42 0.00 0.000 4 0.000 0.035 3091 2745 1583

17136 1.37 304.2 97.8 9.6 817 17140 0.00 2.42 0.00 0.000 6 0.000 0.035 3092 1350 1582

17459 1.37 304.2 67.0 10.0 833 17463 0.00 1.92 0.00 0.000 4 0.000 0.054 3091 264 1583

17492 1.37 304.2 63.1 10.7 834 17496 0.00 1.83 0.00 0.000 6 0.000 0.028 3092 1367 1583

17814 1.37 304.2 29.8 10.8 850 17819 0.00 2.00 0.00 0.000 4 0.000 0.052 3092 264 1583

17859 1.37 304.2 24.9 10.8 852 17863 0.00 1.80 0.00 0.000 6 0.000 0.029 3091 1356 1583

18066 end climb: SURFACE_DEPTH_REACHED

state 18066 begin surface coast

18088 end surface coast: CONTROL_FINISHED_OK

state 18088 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	11	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	2425	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1350	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	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	-1628293.9	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	1	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	20	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	103336,6134.369,-835.091,32,1.2,32,-9.0	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.234,-0.051
_SM_DEPTHo	0.71	KALMAN_X	-38084.4,-64.2,503.0,21387.7,-15927.0
_SM_ANGLEo	-60.9	KALMAN_Y	23347.1,-643.0,-132.5,-4810.7,10061.4
GPS2	103901,6134.341,-835.125,11,1.2,16,-9.0	MHEAD_RNG_PITCHd_Wd	111.4,12029,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.2,1.027201	ALTIM_TOP_PING	18.1,18.1
SM_CCo	18171,0.00,0.000,0,0,1581,306.87	ALTIM_BOTTOM_PING	776.8,86.2
SM_GC	0.75,11.65,0.00,0.00,0.025,0.000,0.000,394,2401,1581,-10.99,-0.71,306.87	_24V_AH	23.2,19.350
IRIDIUM_FIX	6108.28,-832.07,010998,050517	_10V_AH	10.1,7.963
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44376,863
HUMID	1803	CAP_FILE_SIZE	131498,0
INTERNAL_PRESSURE	8.08949	CFSIZE	260165632,257306624
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	GPS	070609,154401,6134.485,-835.927,38,1.4,38,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	79.49	SBE_CT	770	24	429.01
Roll_motor	150	70	247.00	SBE_O2	592	19	261.11
VBD_pump_during_apogee	402	1353	12650.79	WL_BB2F	498	105	1214.16
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	27	103	65.24	nil	0	0	0.00
Iridium_during_connect	33	160	125.50	nil	0	0	0.00
Iridium_during_xfer	143	223	743.54
Transponder_ping	7	420	68.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.33
TT8	1622	19	324.39
LPSleep	13660	2	302.16
TT8_Active	490	19	98.10
TT8_Sampling	1991	39	800.47
TT8_CF8	730	45	338.05
TT8_Kalman	33	81	27.57
Analog_circuits	1545	12	187.25
GPS_charging	0	0	0.00
Compass	2121	8	171.38
RAFOS	0	0	0.00
Transponder	47	30	14.44

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
15	-1.17	-146.6	0.0	0.0	0	81	0.00	0.00	-64.10	0.000	6	0.000	0.000	393	2485	3431
84	-1.17	-146.6	3.8	-7.6	3	105	11.43	2.58	0.00	0.000	4	0.134	0.035	2535	1005	3432
279	-1.17	-146.6	34.0	-11.3	11	286	0.00	2.45	0.00	0.000	6	0.000	0.031	2536	2430	3433
596	-1.17	-146.6	67.6	-10.3	27	598	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2429	3433
904	-1.17	-146.6	97.2	-9.7	42	909	0.00	2.47	0.00	0.000	4	0.000	0.037	2535	1006	3432
955	-1.17	-146.6	102.1	-8.8	44	960	0.00	2.45	0.00	0.000	6	0.000	0.031	2536	2429	3432
1271	-1.17	-146.6	128.4	-7.7	59	1272	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2429	3433
1580	-1.17	-146.6	155.2	-9.3	74	1581	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2428	3433
1890	-1.17	-146.6	184.3	-8.6	89	1891	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2429	3433
2199	-1.17	-146.6	210.7	-8.8	104	2200	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2428	3433
2508	-1.17	-146.6	239.7	-9.5	119	2513	0.00	2.50	0.00	0.000	4	0.000	0.038	2536	1013	3433
2546	-1.17	-146.6	243.5	-10.4	120	2554	0.00	2.47	0.00	0.000	6	0.000	0.035	2536	2420	3433
2862	-1.17	-146.6	272.2	-8.7	136	2863	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2420	3433
3174	-1.17	-146.6	301.0	-9.3	151	3179	0.00	2.47	0.00	0.000	4	0.000	0.041	2536	1006	3433
3241	-1.17	-146.6	308.2	-10.1	154	3246	0.00	2.47	0.00	0.000	6	0.000	0.035	2535	2431	3433
3562	-1.17	-146.6	340.2	-9.5	170	3567	0.00	2.50	0.00	0.000	4	0.000	0.041	2535	1003	3433
3595	-1.17	-146.6	343.5	-9.8	171	3601	0.00	2.47	0.00	0.000	6	0.000	0.036	2535	2426	3433
3911	-1.17	-146.6	374.5	-9.2	187	3916	0.00	2.50	0.00	0.000	4	0.000	0.042	2535	1003	3433
3951	-1.17	-146.6	378.1	-9.3	189	3955	0.00	2.47	0.00	0.000	6	0.000	0.037	2536	2425	3433
4277	-1.17	-146.6	409.1	-10.2	205	4278	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2425	3433
4587	-1.17	-146.6	439.1	-9.5	220	4591	0.00	2.50	0.00	0.000	4	0.000	0.044	2535	1006	3433
4653	-1.17	-146.6	446.1	-10.1	223	4658	0.00	2.50	0.00	0.000	6	0.000	0.037	2535	2424	3433
4980	-1.17	-146.6	475.4	-8.6	239	4981	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2424	3433
5288	-1.17	-146.6	502.6	-9.3	254	5293	0.00	2.50	0.00	0.000	4	0.000	0.043	2535	1004	3432
5362	-1.17	-146.6	510.2	-9.0	257	5366	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2425	3433
5678	-1.17	-146.6	551.5	-9.6	272	5683	0.00	2.53	0.00	0.000	4	0.000	0.044	2536	1010	3433
5723	-1.17	-146.6	556.2	-10.1	274	5728	0.00	2.47	0.00	0.000	6	0.000	0.037	2535	2419	3433
6055	-1.17	-146.6	584.7	-7.6	290	6059	0.00	2.55	0.00	0.000	4	0.000	0.063	2535	3826	3432
6236	-1.17	-146.6	600.2	-9.2	298	6240	0.00	2.42	0.00	0.000	6	0.000	0.031	2535	2395	3432
6557	-1.17	-146.6	617.4	-3.4	314	6561	0.00	2.38	0.00	0.000	4	0.000	0.043	2535	1030	3432
6643	-1.17	-146.6	620.5	-3.9	318	6647	0.00	2.42	0.00	0.000	6	0.000	0.037	2535	2426	3432
6972	-1.17	-146.6	640.5	-6.0	334	6976	0.00	2.45	0.00	0.000	4	0.000	0.042	2536	1026	3431
7083	-1.17	-146.6	648.9	-7.9	339	7087	0.00	2.45	0.00	0.000	6	0.000	0.039	2536	2428	3431
7404	-1.17	-146.6	669.9	-6.7	355	7408	0.00	2.47	0.00	0.000	4	0.000	0.045	2535	1026	3429
7533	-1.17	-146.6	678.9	-8.1	361	7537	0.00	2.45	0.00	0.000	6	0.000	0.040	2535	2424	3429
7859	-1.17	-146.6	705.0	-6.4	377	7864	0.00	2.47	0.00	0.000	4	0.000	0.046	2535	1028	3428
7967	-1.17	-146.6	712.1	-7.3	382	7971	0.00	2.45	0.00	0.000	6	0.000	0.041	2535	2424	3427
8293	-1.17	-146.6	737.9	-8.0	398	8294	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2424	3426
8602	-1.17	-146.6	759.1	-6.0	413	8607	0.00	2.60	0.00	0.000	4	0.000	0.070	2535	3818	3426
8663	-1.17	-146.6	765.1	-7.2	415	8670	0.00	2.40	0.00	0.000	6	0.000	0.035	2535	2424	3425
8979	-1.17	-146.6	794.4	-12.1	431	8983	0.00	2.50	0.00	0.000	4	0.000	0.052	2536	1020	3424
9096	-1.17	-146.6	806.1	-6.5	436	9101	0.00	2.50	0.00	0.000	6	0.000	0.044	2535	2428	3423
9412	-1.17	-146.6	846.8	-6.3	451	9417	0.00	2.58	0.00	0.000	4	0.000	0.067	2535	3828	3422
9480	-1.17	-146.6	852.7	-12.1	454	9485	0.00	2.42	0.00	0.000	6	0.000	0.038	2536	2431	3422
9489	end dive: BOTTOM_OBSTACLE_DETECTED
state	9490	begin apogee
9498	-0.36	0.0	853.2	8.8	455	9633	0.85	0.00	129.10	1.354	6	0.054	0.000	2726	1356	2832
9634	end apogee: CONTROL_FINISHED_OK
state	9634	begin climb
9636	1.17	146.6	850.5	0.0	462	9773	1.50	0.00	131.98	1.299	6	0.053	0.000	3054	1356	2234
10073	1.21	174.9	819.7	6.5	483	10100	0.00	0.00	25.08	1.243	6	0.000	0.000	3055	1356	2119
10404	1.28	230.4	799.9	5.6	499	10461	0.10	2.62	51.25	1.282	4	0.050	0.049	3092	2767	1891
10629	1.28	230.4	774.1	12.0	508	10634	0.00	2.58	0.00	0.000	6	0.000	0.047	3091	1344	1883
10945	1.28	230.4	764.4	9.6	523	10950	0.00	2.60	0.00	0.000	4	0.000	0.053	3091	2751	1881
11202	1.28	230.4	735.1	8.2	534	11207	0.00	2.53	0.00	0.000	6	0.000	0.048	3091	1345	1878
11518	1.28	230.4	705.9	10.3	549	11519	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	1345	1878
11827	1.28	230.4	675.6	9.2	564	11832	0.00	2.03	0.00	0.000	4	0.000	0.071	3092	271	1877
11916	1.28	230.4	665.0	13.0	568	11921	0.00	1.90	0.00	0.000	6	0.000	0.035	3092	1367	1877
12248	1.28	230.4	621.3	13.9	584	12252	0.00	2.05	0.00	0.000	4	0.000	0.064	3092	259	1876
12310	1.28	230.4	613.0	13.5	586	12316	0.00	1.88	0.00	0.000	6	0.000	0.034	3091	1361	1876
12626	1.28	230.4	578.2	9.7	602	12630	0.00	2.47	0.00	0.000	4	0.000	0.048	3092	2748	1876
12675	1.28	230.4	572.1	12.1	604	12680	0.00	2.50	0.00	0.000	6	0.000	0.041	3091	1340	1875
12994	1.37	304.2	550.6	5.0	619	13066	0.00	2.05	65.40	1.170	4	0.000	0.061	3091	262	1590
13100	1.37	304.2	536.8	17.1	624	13104	0.00	1.85	0.00	0.000	6	0.000	0.031	3092	1358	1588
13432	1.37	304.2	498.9	10.9	640	13436	0.00	2.00	0.00	0.000	4	0.000	0.059	3091	264	1582
13507	1.37	304.2	489.1	12.9	643	13511	0.00	1.83	0.00	0.000	6	0.000	0.030	3092	1351	1582
13834	1.37	304.2	453.2	11.7	659	13838	0.00	2.45	0.00	0.000	4	0.000	0.042	3091	2740	1581
13855	1.37	304.2	450.7	10.8	660	13859	0.00	2.45	0.00	0.000	6	0.000	0.038	3092	1348	1581
14179	1.37	304.2	413.5	10.3	676	14181	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	1348	1581
14488	1.37	304.2	376.5	12.4	691	14489	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	1348	1581
14796	1.37	304.2	341.9	10.5	706	14797	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	1348	1581
15105	1.37	304.2	308.7	9.8	721	15106	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	1348	1581
15414	1.37	304.2	276.9	10.1	736	15415	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	1348	1581
15723	1.37	304.2	246.0	10.1	751	15724	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	1348	1581
16035	1.37	304.2	215.2	10.0	766	16039	0.00	2.42	0.00	0.000	4	0.000	0.036	3092	2739	1582
16084	1.37	304.2	209.9	10.6	768	16089	0.00	2.42	0.00	0.000	6	0.000	0.035	3091	1346	1581
16400	1.37	304.2	175.7	11.2	783	16405	0.00	2.45	0.00	0.000	4	0.000	0.036	3092	2740	1582
16456	1.37	304.2	169.4	12.0	785	16460	0.00	2.42	0.00	0.000	6	0.000	0.035	3091	1344	1582
16772	1.37	304.2	135.9	11.5	800	16776	0.00	2.42	0.00	0.000	4	0.000	0.035	3092	2744	1583
16798	1.37	304.2	133.0	10.2	801	16803	0.00	2.42	0.00	0.000	6	0.000	0.035	3091	1343	1582
17114	1.37	304.2	100.0	9.9	816	17119	0.00	2.42	0.00	0.000	4	0.000	0.035	3091	2745	1583
17136	1.37	304.2	97.8	9.6	817	17140	0.00	2.42	0.00	0.000	6	0.000	0.035	3092	1350	1582
17459	1.37	304.2	67.0	10.0	833	17463	0.00	1.92	0.00	0.000	4	0.000	0.054	3091	264	1583
17492	1.37	304.2	63.1	10.7	834	17496	0.00	1.83	0.00	0.000	6	0.000	0.028	3092	1367	1583
17814	1.37	304.2	29.8	10.8	850	17819	0.00	2.00	0.00	0.000	4	0.000	0.052	3092	264	1583
17859	1.37	304.2	24.9	10.8	852	17863	0.00	1.80	0.00	0.000	6	0.000	0.029	3091	1356	1583
18066	end climb: SURFACE_DEPTH_REACHED
state	18066	begin surface coast
18088	end surface coast: CONTROL_FINISHED_OK
state	18088	begin surface