Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 348 * 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 348 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -656844.94 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 2675 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 -656844.94

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 2675 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 26 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 348 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 215301,6351.619,-1323.196,36,1.2,41,-12.6 TGT_NAME BT4

_CALLS 1 TGT_LATLONG 6339.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.33 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -56.0 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 215903,6351.645,-1323.070,9,1.9,9,-12.6 MHEAD_RNG_PITCHd_Wd 176.8,24340,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.018467 ALTIM_BOTTOM_PING 800.4,85.6

SM_CCo 17392,0.00,0.000,0,0,1051,365.01 _24V_AH 23.5,46.152

SM_GC 1.43,11.23,0.00,0.00,0.054,0.000,0.000,374,1598,1051,-10.50,-0.06,365.01 _10V_AH 10.2,23.059

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41096,823

TT8_MAMPS 0.02301 CAP_FILE_SIZE 131329,0

HUMID 1894 CFSIZE 254472192,236302336

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,28,1,0

XPDR_PINGS 0 GPS 171008,025037,6349.821,-1320.631,35,1.2,40,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 179 107.13 SBE_CT 609 24 343.75

Roll_motor 166 102 399.56 SBE_O2 560 19 250.43

VBD_pump_during_apogee 448 1283 13535.82 WL_BB2F 463 105 1143.51

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 39 103 94.45 nil 0 0 0.00

Iridium_during_connect 26 160 99.25 nil 0 0 0.00

Iridium_during_xfer 160 223 842.97

Transponder_ping 7 420 69.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.44

TT8 1559 19 314.97

LPSleep 12975 2 289.85

TT8_Active 578 19 116.81

TT8_Sampling 2024 39 821.91

TT8_CF8 614 45 287.18

TT8_Kalman 0 81 0.00

Analog_circuits 1615 12 197.75

GPS_charging 0 0 0.00

Compass 1972 8 160.97

RAFOS 0 0 0.00

Transponder 47 30 14.61

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -1.16 -146.6 0.0 0.0 0 99 0.00 0.00 -80.07 0.000 2 0.000 0.000 373 1590 3103

103 -1.16 -146.6 5.1 -5.6 4 125 11.45 2.60 -0.65 0.000 4 0.179 0.084 2413 3008 3141

182 -1.16 -146.6 22.3 -10.7 7 187 0.00 2.45 0.00 0.000 6 0.000 0.062 2413 1599 3142

499 -1.16 -146.6 55.0 -10.1 22 503 0.00 2.50 0.00 0.000 4 0.000 0.079 2413 206 3142

566 -1.16 -146.6 62.9 -11.8 25 570 0.00 2.42 0.00 0.000 6 0.000 0.058 2413 1624 3142

888 -1.16 -146.6 94.7 -9.1 41 890 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1629 3142

1197 -1.16 -146.6 120.6 -8.2 56 1201 0.00 2.58 0.00 0.000 4 0.000 0.077 2413 202 3143

1369 -1.16 -146.6 132.8 -6.9 63 1375 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1614 3143

1686 -1.16 -146.6 153.8 -7.1 79 1690 0.00 2.53 0.00 0.000 4 0.000 0.076 2412 201 3143

1733 -1.16 -146.6 157.4 -7.9 81 1737 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1602 3143

2061 -1.16 -146.6 182.8 -9.0 97 2065 0.00 2.47 0.00 0.000 4 0.000 0.076 2413 2998 3143

2107 -1.16 -146.6 187.3 -9.7 99 2111 0.00 2.42 0.00 0.000 6 0.000 0.065 2413 1597 3144

2439 -1.16 -146.6 218.5 -9.2 115 2444 0.00 2.47 0.00 0.000 4 0.000 0.078 2413 211 3144

2530 -1.16 -146.6 227.7 -10.0 119 2534 0.00 2.35 0.00 0.000 6 0.000 0.058 2413 1598 3144

2852 -1.16 -146.6 257.9 -9.6 135 2856 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 209 3144

2937 -1.16 -146.6 267.3 -11.2 139 2941 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1608 3145

3265 -1.16 -146.6 303.2 -11.0 155 3269 0.00 2.53 0.00 0.000 4 0.000 0.077 2413 206 3144

3327 -1.16 -146.6 310.9 -12.5 158 3331 0.00 2.35 0.00 0.000 6 0.000 0.058 2413 1595 3144

3661 -1.16 -146.6 349.3 -11.3 174 3662 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1599 3144

3970 -1.16 -146.6 384.7 -11.3 189 3974 0.00 2.50 0.00 0.000 4 0.000 0.079 2413 208 3145

4055 -1.16 -146.6 395.0 -11.7 193 4059 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1602 3144

4382 -1.16 -146.6 430.6 -10.5 209 4387 0.00 2.50 0.00 0.000 4 0.000 0.079 2413 211 3144

4433 -1.16 -146.6 436.3 -11.0 211 4438 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1604 3144

4750 -1.16 -146.6 464.4 -8.1 226 4751 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1608 3144

5060 -1.16 -146.6 486.2 -6.2 241 5064 0.00 2.53 0.00 0.000 4 0.000 0.078 2413 205 3144

5125 -1.16 -146.6 490.4 -6.7 244 5130 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1596 3145

5454 -1.16 -146.6 506.9 -4.1 260 5455 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1599 3144

5763 -1.16 -146.6 519.2 -3.9 275 5764 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1600 3144

6072 -1.16 -146.6 533.8 -5.4 290 6073 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1600 3144

6381 -1.16 -146.6 555.4 -8.2 305 6386 0.00 2.50 0.00 0.000 4 0.000 0.078 2413 208 3144

6427 -1.16 -146.6 560.1 -9.9 307 6430 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1600 3144

6754 -1.16 -146.6 597.5 -12.5 323 6758 0.00 2.55 0.00 0.000 4 0.000 0.090 2413 2999 3144

6833 -1.16 -146.6 607.6 -12.5 326 6839 0.00 2.45 0.00 0.000 6 0.000 0.068 2413 1598 3144

7150 -1.16 -146.6 652.7 -14.8 342 7155 0.00 2.55 0.00 0.000 4 0.000 0.082 2413 3000 3144

7179 -1.16 -146.6 657.4 -16.7 343 7183 0.00 2.45 0.00 0.000 6 0.000 0.068 2413 1599 3143

7495 -1.16 -146.6 708.6 -16.4 358 7497 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1599 3144

7804 -1.16 -146.6 753.7 -13.7 373 7805 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1598 3144

8113 -1.16 -146.6 789.9 -11.1 388 8118 0.00 2.53 0.00 0.000 4 0.000 0.084 2413 2994 3144

8165 -1.16 -146.6 795.5 -11.0 390 8169 0.00 2.45 0.00 0.000 6 0.000 0.071 2413 1601 3144

8481 -1.16 -146.6 829.4 -11.0 405 8486 0.00 2.55 0.00 0.000 4 0.000 0.087 2413 201 3144

8555 -1.16 -146.6 838.0 -11.7 408 8559 0.00 2.42 0.00 0.000 6 0.000 0.061 2413 1604 3144

8871 -1.16 -146.6 869.0 -9.7 423 8875 0.00 2.50 0.00 0.000 4 0.000 0.084 2413 2995 3143

8934 -1.16 -146.6 875.4 -10.3 425 8941 0.00 2.45 0.00 0.000 6 0.000 0.069 2413 1599 3143

8958 end dive: BOTTOM_OBSTACLE_DETECTED

state 8958 begin apogee

8967 -0.32 0.0 877.9 9.9 427 9109 0.95 0.00 133.00 1.283 6 0.127 0.000 2601 2204 2538

9110 end apogee: CONTROL_FINISHED_OK

state 9110 begin climb

9114 1.16 146.6 883.7 0.0 434 9247 1.52 2.75 124.12 1.271 4 0.084 0.102 2926 3605 1941

9467 1.18 155.1 861.9 7.7 450 9484 0.00 2.53 8.52 1.048 6 0.000 0.069 2926 2194 1906

9794 1.21 177.4 838.3 7.2 466 9816 0.00 0.00 20.05 1.196 6 0.000 0.000 2927 2194 1814

10123 1.29 227.0 815.6 6.1 482 10169 0.12 0.00 43.00 1.237 6 0.067 0.000 2964 2194 1613

10472 1.29 227.0 788.6 8.3 499 10473 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2194 1610

10781 1.35 265.3 766.7 6.5 514 10824 0.00 2.80 32.45 1.205 4 0.000 0.096 2963 3615 1456

10837 1.45 325.1 763.6 5.7 516 10894 0.12 2.55 50.80 1.203 6 0.067 0.068 2999 2202 1213

11216 1.45 325.1 728.2 9.7 535 11217 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2202 1209

11527 1.49 353.7 703.8 6.9 550 11556 0.00 2.67 24.38 1.150 4 0.000 0.082 2998 796 1097

11598 1.50 360.6 698.4 7.7 553 11614 0.00 2.50 7.80 0.977 6 0.000 0.062 2998 2207 1067

11925 1.51 364.3 675.9 7.9 569 11935 0.00 2.58 4.75 0.818 4 0.000 0.075 2999 792 1053

12003 1.51 364.3 669.2 9.4 572 12009 0.00 2.50 0.00 0.000 6 0.000 0.064 2997 2208 1052

12320 1.51 364.3 639.0 10.7 588 12324 0.00 2.55 0.00 0.000 4 0.000 0.074 2998 790 1051

12366 1.51 364.3 633.5 12.2 590 12370 0.00 2.47 0.00 0.000 6 0.000 0.063 3000 2201 1051

12700 1.51 364.3 593.1 11.9 606 12704 0.00 2.53 0.00 0.000 4 0.000 0.074 2998 790 1051

12784 1.51 364.3 582.9 11.1 609 12790 0.00 2.47 0.00 0.000 6 0.000 0.062 2999 2202 1050

13101 1.51 364.3 547.6 11.7 625 13105 0.00 2.53 0.00 0.000 4 0.000 0.074 2998 790 1051

13202 1.51 364.3 534.0 13.6 629 13207 0.00 2.47 0.00 0.000 6 0.000 0.062 2998 2199 1051

13519 1.51 364.3 494.2 12.4 644 13523 0.00 2.53 0.00 0.000 4 0.000 0.074 2999 789 1050

13627 1.51 364.3 480.1 12.5 649 13631 0.00 2.45 0.00 0.000 6 0.000 0.063 2999 2200 1051

13960 1.51 364.3 439.1 12.9 665 13964 0.00 2.53 0.00 0.000 4 0.000 0.074 2998 788 1051

14055 1.51 364.3 425.0 15.2 669 14059 0.00 2.47 0.00 0.000 6 0.000 0.062 2998 2201 1051

14372 1.51 364.3 382.0 13.7 684 14376 0.00 2.50 0.00 0.000 4 0.000 0.073 2999 791 1051

14456 1.51 364.3 369.4 15.7 687 14462 0.00 2.47 0.00 0.000 6 0.000 0.062 2998 2201 1051

14773 1.51 364.3 324.0 13.9 703 14777 0.00 2.50 0.00 0.000 4 0.000 0.072 2999 789 1051

14864 1.51 364.3 311.6 13.2 707 14868 0.00 2.45 0.00 0.000 6 0.000 0.062 2998 2200 1051

15197 1.51 364.3 267.3 13.3 723 15201 0.00 2.53 0.00 0.000 4 0.000 0.072 2998 789 1051

15298 1.51 364.3 253.2 14.6 727 15304 0.00 2.47 0.00 0.000 6 0.000 0.062 2998 2204 1051

15615 1.51 364.3 214.6 12.0 743 15619 0.00 2.53 0.00 0.000 4 0.000 0.073 2998 788 1051

15727 1.51 364.3 201.0 12.1 748 15731 0.00 2.47 0.00 0.000 6 0.000 0.062 2999 2203 1051

16049 1.51 364.3 160.6 13.1 764 16053 0.00 2.53 0.00 0.000 4 0.000 0.073 2999 784 1051

16150 1.51 364.3 146.4 13.8 768 16154 0.00 2.47 0.00 0.000 6 0.000 0.062 2999 2200 1051

16468 1.51 364.3 105.3 12.7 783 16472 0.00 2.53 0.00 0.000 4 0.000 0.074 2999 790 1051

16598 1.51 364.3 87.9 12.1 789 16603 0.00 2.47 0.00 0.000 6 0.000 0.062 2999 2208 1051

16928 1.51 364.3 47.1 12.1 805 16932 0.00 2.53 0.00 0.000 4 0.000 0.073 2998 789 1051

17052 1.51 364.3 31.6 10.8 810 17058 0.00 2.45 0.00 0.000 6 0.000 0.062 2998 2200 1050

17282 end climb: SURFACE_DEPTH_REACHED

state 17282 begin surface coast

17306 end surface coast: CONTROL_FINISHED_OK

state 17306 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	348	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-656844.94	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	2675	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	215301,6351.619,-1323.196,36,1.2,41,-12.6	TGT_NAME	BT4
_CALLS	1	TGT_LATLONG	6339.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.33	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-56.0	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	215903,6351.645,-1323.070,9,1.9,9,-12.6	MHEAD_RNG_PITCHd_Wd	176.8,24340,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.5,1.018467	ALTIM_BOTTOM_PING	800.4,85.6
SM_CCo	17392,0.00,0.000,0,0,1051,365.01	_24V_AH	23.5,46.152
SM_GC	1.43,11.23,0.00,0.00,0.054,0.000,0.000,374,1598,1051,-10.50,-0.06,365.01	_10V_AH	10.2,23.059
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41096,823
TT8_MAMPS	0.02301	CAP_FILE_SIZE	131329,0
HUMID	1894	CFSIZE	254472192,236302336
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
XPDR_PINGS	0	GPS	171008,025037,6349.821,-1320.631,35,1.2,40,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	179	107.13	SBE_CT	609	24	343.75
Roll_motor	166	102	399.56	SBE_O2	560	19	250.43
VBD_pump_during_apogee	448	1283	13535.82	WL_BB2F	463	105	1143.51
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	39	103	94.45	nil	0	0	0.00
Iridium_during_connect	26	160	99.25	nil	0	0	0.00
Iridium_during_xfer	160	223	842.97
Transponder_ping	7	420	69.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.44
TT8	1559	19	314.97
LPSleep	12975	2	289.85
TT8_Active	578	19	116.81
TT8_Sampling	2024	39	821.91
TT8_CF8	614	45	287.18
TT8_Kalman	0	81	0.00
Analog_circuits	1615	12	197.75
GPS_charging	0	0	0.00
Compass	1972	8	160.97
RAFOS	0	0	0.00
Transponder	47	30	14.61

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-1.16	-146.6	0.0	0.0	0	99	0.00	0.00	-80.07	0.000	2	0.000	0.000	373	1590	3103
103	-1.16	-146.6	5.1	-5.6	4	125	11.45	2.60	-0.65	0.000	4	0.179	0.084	2413	3008	3141
182	-1.16	-146.6	22.3	-10.7	7	187	0.00	2.45	0.00	0.000	6	0.000	0.062	2413	1599	3142
499	-1.16	-146.6	55.0	-10.1	22	503	0.00	2.50	0.00	0.000	4	0.000	0.079	2413	206	3142
566	-1.16	-146.6	62.9	-11.8	25	570	0.00	2.42	0.00	0.000	6	0.000	0.058	2413	1624	3142
888	-1.16	-146.6	94.7	-9.1	41	890	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1629	3142
1197	-1.16	-146.6	120.6	-8.2	56	1201	0.00	2.58	0.00	0.000	4	0.000	0.077	2413	202	3143
1369	-1.16	-146.6	132.8	-6.9	63	1375	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1614	3143
1686	-1.16	-146.6	153.8	-7.1	79	1690	0.00	2.53	0.00	0.000	4	0.000	0.076	2412	201	3143
1733	-1.16	-146.6	157.4	-7.9	81	1737	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1602	3143
2061	-1.16	-146.6	182.8	-9.0	97	2065	0.00	2.47	0.00	0.000	4	0.000	0.076	2413	2998	3143
2107	-1.16	-146.6	187.3	-9.7	99	2111	0.00	2.42	0.00	0.000	6	0.000	0.065	2413	1597	3144
2439	-1.16	-146.6	218.5	-9.2	115	2444	0.00	2.47	0.00	0.000	4	0.000	0.078	2413	211	3144
2530	-1.16	-146.6	227.7	-10.0	119	2534	0.00	2.35	0.00	0.000	6	0.000	0.058	2413	1598	3144
2852	-1.16	-146.6	257.9	-9.6	135	2856	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	209	3144
2937	-1.16	-146.6	267.3	-11.2	139	2941	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1608	3145
3265	-1.16	-146.6	303.2	-11.0	155	3269	0.00	2.53	0.00	0.000	4	0.000	0.077	2413	206	3144
3327	-1.16	-146.6	310.9	-12.5	158	3331	0.00	2.35	0.00	0.000	6	0.000	0.058	2413	1595	3144
3661	-1.16	-146.6	349.3	-11.3	174	3662	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1599	3144
3970	-1.16	-146.6	384.7	-11.3	189	3974	0.00	2.50	0.00	0.000	4	0.000	0.079	2413	208	3145
4055	-1.16	-146.6	395.0	-11.7	193	4059	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1602	3144
4382	-1.16	-146.6	430.6	-10.5	209	4387	0.00	2.50	0.00	0.000	4	0.000	0.079	2413	211	3144
4433	-1.16	-146.6	436.3	-11.0	211	4438	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1604	3144
4750	-1.16	-146.6	464.4	-8.1	226	4751	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1608	3144
5060	-1.16	-146.6	486.2	-6.2	241	5064	0.00	2.53	0.00	0.000	4	0.000	0.078	2413	205	3144
5125	-1.16	-146.6	490.4	-6.7	244	5130	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1596	3145
5454	-1.16	-146.6	506.9	-4.1	260	5455	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1599	3144
5763	-1.16	-146.6	519.2	-3.9	275	5764	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1600	3144
6072	-1.16	-146.6	533.8	-5.4	290	6073	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1600	3144
6381	-1.16	-146.6	555.4	-8.2	305	6386	0.00	2.50	0.00	0.000	4	0.000	0.078	2413	208	3144
6427	-1.16	-146.6	560.1	-9.9	307	6430	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1600	3144
6754	-1.16	-146.6	597.5	-12.5	323	6758	0.00	2.55	0.00	0.000	4	0.000	0.090	2413	2999	3144
6833	-1.16	-146.6	607.6	-12.5	326	6839	0.00	2.45	0.00	0.000	6	0.000	0.068	2413	1598	3144
7150	-1.16	-146.6	652.7	-14.8	342	7155	0.00	2.55	0.00	0.000	4	0.000	0.082	2413	3000	3144
7179	-1.16	-146.6	657.4	-16.7	343	7183	0.00	2.45	0.00	0.000	6	0.000	0.068	2413	1599	3143
7495	-1.16	-146.6	708.6	-16.4	358	7497	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1599	3144
7804	-1.16	-146.6	753.7	-13.7	373	7805	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1598	3144
8113	-1.16	-146.6	789.9	-11.1	388	8118	0.00	2.53	0.00	0.000	4	0.000	0.084	2413	2994	3144
8165	-1.16	-146.6	795.5	-11.0	390	8169	0.00	2.45	0.00	0.000	6	0.000	0.071	2413	1601	3144
8481	-1.16	-146.6	829.4	-11.0	405	8486	0.00	2.55	0.00	0.000	4	0.000	0.087	2413	201	3144
8555	-1.16	-146.6	838.0	-11.7	408	8559	0.00	2.42	0.00	0.000	6	0.000	0.061	2413	1604	3144
8871	-1.16	-146.6	869.0	-9.7	423	8875	0.00	2.50	0.00	0.000	4	0.000	0.084	2413	2995	3143
8934	-1.16	-146.6	875.4	-10.3	425	8941	0.00	2.45	0.00	0.000	6	0.000	0.069	2413	1599	3143
8958	end dive: BOTTOM_OBSTACLE_DETECTED
state	8958	begin apogee
8967	-0.32	0.0	877.9	9.9	427	9109	0.95	0.00	133.00	1.283	6	0.127	0.000	2601	2204	2538
9110	end apogee: CONTROL_FINISHED_OK
state	9110	begin climb
9114	1.16	146.6	883.7	0.0	434	9247	1.52	2.75	124.12	1.271	4	0.084	0.102	2926	3605	1941
9467	1.18	155.1	861.9	7.7	450	9484	0.00	2.53	8.52	1.048	6	0.000	0.069	2926	2194	1906
9794	1.21	177.4	838.3	7.2	466	9816	0.00	0.00	20.05	1.196	6	0.000	0.000	2927	2194	1814
10123	1.29	227.0	815.6	6.1	482	10169	0.12	0.00	43.00	1.237	6	0.067	0.000	2964	2194	1613
10472	1.29	227.0	788.6	8.3	499	10473	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2194	1610
10781	1.35	265.3	766.7	6.5	514	10824	0.00	2.80	32.45	1.205	4	0.000	0.096	2963	3615	1456
10837	1.45	325.1	763.6	5.7	516	10894	0.12	2.55	50.80	1.203	6	0.067	0.068	2999	2202	1213
11216	1.45	325.1	728.2	9.7	535	11217	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	2202	1209
11527	1.49	353.7	703.8	6.9	550	11556	0.00	2.67	24.38	1.150	4	0.000	0.082	2998	796	1097
11598	1.50	360.6	698.4	7.7	553	11614	0.00	2.50	7.80	0.977	6	0.000	0.062	2998	2207	1067
11925	1.51	364.3	675.9	7.9	569	11935	0.00	2.58	4.75	0.818	4	0.000	0.075	2999	792	1053
12003	1.51	364.3	669.2	9.4	572	12009	0.00	2.50	0.00	0.000	6	0.000	0.064	2997	2208	1052
12320	1.51	364.3	639.0	10.7	588	12324	0.00	2.55	0.00	0.000	4	0.000	0.074	2998	790	1051
12366	1.51	364.3	633.5	12.2	590	12370	0.00	2.47	0.00	0.000	6	0.000	0.063	3000	2201	1051
12700	1.51	364.3	593.1	11.9	606	12704	0.00	2.53	0.00	0.000	4	0.000	0.074	2998	790	1051
12784	1.51	364.3	582.9	11.1	609	12790	0.00	2.47	0.00	0.000	6	0.000	0.062	2999	2202	1050
13101	1.51	364.3	547.6	11.7	625	13105	0.00	2.53	0.00	0.000	4	0.000	0.074	2998	790	1051
13202	1.51	364.3	534.0	13.6	629	13207	0.00	2.47	0.00	0.000	6	0.000	0.062	2998	2199	1051
13519	1.51	364.3	494.2	12.4	644	13523	0.00	2.53	0.00	0.000	4	0.000	0.074	2999	789	1050
13627	1.51	364.3	480.1	12.5	649	13631	0.00	2.45	0.00	0.000	6	0.000	0.063	2999	2200	1051
13960	1.51	364.3	439.1	12.9	665	13964	0.00	2.53	0.00	0.000	4	0.000	0.074	2998	788	1051
14055	1.51	364.3	425.0	15.2	669	14059	0.00	2.47	0.00	0.000	6	0.000	0.062	2998	2201	1051
14372	1.51	364.3	382.0	13.7	684	14376	0.00	2.50	0.00	0.000	4	0.000	0.073	2999	791	1051
14456	1.51	364.3	369.4	15.7	687	14462	0.00	2.47	0.00	0.000	6	0.000	0.062	2998	2201	1051
14773	1.51	364.3	324.0	13.9	703	14777	0.00	2.50	0.00	0.000	4	0.000	0.072	2999	789	1051
14864	1.51	364.3	311.6	13.2	707	14868	0.00	2.45	0.00	0.000	6	0.000	0.062	2998	2200	1051
15197	1.51	364.3	267.3	13.3	723	15201	0.00	2.53	0.00	0.000	4	0.000	0.072	2998	789	1051
15298	1.51	364.3	253.2	14.6	727	15304	0.00	2.47	0.00	0.000	6	0.000	0.062	2998	2204	1051
15615	1.51	364.3	214.6	12.0	743	15619	0.00	2.53	0.00	0.000	4	0.000	0.073	2998	788	1051
15727	1.51	364.3	201.0	12.1	748	15731	0.00	2.47	0.00	0.000	6	0.000	0.062	2999	2203	1051
16049	1.51	364.3	160.6	13.1	764	16053	0.00	2.53	0.00	0.000	4	0.000	0.073	2999	784	1051
16150	1.51	364.3	146.4	13.8	768	16154	0.00	2.47	0.00	0.000	6	0.000	0.062	2999	2200	1051
16468	1.51	364.3	105.3	12.7	783	16472	0.00	2.53	0.00	0.000	4	0.000	0.074	2999	790	1051
16598	1.51	364.3	87.9	12.1	789	16603	0.00	2.47	0.00	0.000	6	0.000	0.062	2999	2208	1051
16928	1.51	364.3	47.1	12.1	805	16932	0.00	2.53	0.00	0.000	4	0.000	0.073	2998	789	1051
17052	1.51	364.3	31.6	10.8	810	17058	0.00	2.45	0.00	0.000	6	0.000	0.062	2998	2200	1050
17282	end climb: SURFACE_DEPTH_REACHED
state	17282	begin surface coast
17306	end surface coast: CONTROL_FINISHED_OK
state	17306	begin surface