Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 198 * 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 198 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1631559.5 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -1631559.5

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 198 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 005324,6218.234,-1145.664,43,1.8,62,-11.0 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6217.000,-1145.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.82 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -51.0 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 010000,6218.271,-1145.580,10,1.5,14,-11.0 MHEAD_RNG_PITCHd_Wd 179.0,2406,-27.3,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027100 ALTIM_BOTTOM_PING 875.1,74.4

SM_CCo 22916,138.25,0.763,0,0,1609,300.00 _24V_AH 23.2,45.846

SM_GC 0.78,0.00,0.00,138.25,0.000,0.000,0.763,389,2243,1609,-11.09,-0.20,300.00 _10V_AH 10.1,27.723

IRIDIUM_FIX 6153.50,-1142.14,201098,171736 DATA_FILE_SIZE 56975,1086

TT8_MAMPS 0.027612 CAP_FILE_SIZE 169053,0

HUMID 1843 CFSIZE 260165632,243331072

INTERNAL_PRESSURE 8.11879 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 17.60 GPS 270709,072554,6216.774,-1146.267,38,1.2,38,-11.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 128 80.42 SBE_CT 829 24 461.66

Roll_motor 161 62 235.98 SBE_O2 884 19 389.82

VBD_pump_during_apogee 138 1377 4410.31 WL_BB2F 618 105 1505.89

VBD_pump_during_surface 138 763 2447.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.27 nil 0 0 0.00

Iridium_during_connect 27 160 100.43 nil 0 0 0.00

Iridium_during_xfer 200 223 1036.69

Transponder_ping 7 420 75.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.19

TT8 2144 19 428.86

LPSleep 16904 2 373.92

TT8_Active 430 19 86.01

TT8_Sampling 3002 39 1206.76

TT8_CF8 961 45 444.71

TT8_Kalman 0 81 0.00

Analog_circuits 1858 12 225.31

GPS_charging 0 0 0.00

Compass 3150 8 254.53

RAFOS 0 0 0.00

Transponder 54 30 16.46

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

17 -1.99 -28.8 0.0 0.0 0 68 0.00 0.00 -46.72 0.000 6 0.000 0.000 394 2244 2949

72 -2.01 -49.3 2.5 -3.2 3 94 10.38 2.55 -1.95 0.000 4 0.129 0.053 2354 837 3035

324 -2.01 -49.3 43.7 -15.4 14 329 0.00 2.47 0.00 0.000 6 0.000 0.034 2354 2258 3036

646 -2.01 -49.3 80.2 -11.4 30 651 0.00 2.53 0.00 0.000 4 0.000 0.051 2354 3648 3037

938 -2.01 -49.3 116.9 -12.3 43 943 0.00 2.45 0.00 0.000 6 0.000 0.031 2354 2231 3037

1270 -2.01 -49.3 157.8 -12.5 59 1274 0.00 2.55 0.00 0.000 4 0.000 0.050 2354 3649 3037

1528 -2.01 -49.3 190.8 -12.7 70 1534 0.00 2.40 0.00 0.000 6 0.000 0.030 2354 2248 3037

1846 -2.01 -49.3 228.6 -12.1 86 1850 0.00 2.53 0.00 0.000 4 0.000 0.051 2354 3648 3037

2055 -2.01 -49.3 254.7 -12.5 95 2059 0.00 2.40 0.00 0.000 6 0.000 0.031 2354 2246 3037

2371 -2.01 -49.3 290.8 -11.5 110 2375 0.00 2.53 0.00 0.000 4 0.000 0.050 2354 3651 3037

2567 -2.01 -49.3 315.6 -12.8 119 2571 0.00 2.40 0.00 0.000 6 0.000 0.031 2354 2249 3036

2893 -2.01 -49.3 354.6 -11.8 135 2897 0.00 2.50 0.00 0.000 4 0.000 0.050 2355 3648 3036

3077 -2.01 -49.3 378.1 -12.9 143 3082 0.00 2.40 0.00 0.000 6 0.000 0.031 2354 2248 3036

3393 -2.01 -49.3 415.3 -11.7 158 3397 0.00 2.53 0.00 0.000 4 0.000 0.050 2355 3655 3036

3527 -2.01 -49.3 431.9 -11.8 164 3531 0.00 2.40 0.00 0.000 6 0.000 0.031 2354 2250 3036

3851 -2.01 -49.3 470.0 -11.9 180 3855 0.00 2.50 0.00 0.000 4 0.000 0.050 2354 3648 3035

3984 -2.01 -49.3 487.1 -12.5 186 3988 0.00 2.40 0.00 0.000 6 0.000 0.031 2354 2249 3035

4306 -2.01 -49.3 524.1 -11.3 202 4311 0.00 2.50 0.00 0.000 4 0.000 0.050 2354 3646 3035

4496 -2.01 -49.3 547.0 -11.7 210 4503 0.00 2.40 0.00 0.000 6 0.000 0.031 2354 2247 3035

4814 -2.01 -49.3 581.4 -10.9 226 4818 0.00 2.53 0.00 0.000 4 0.000 0.051 2354 3654 3034

4997 -2.01 -49.3 602.7 -11.2 234 5001 0.00 2.40 0.00 0.000 6 0.000 0.032 2354 2249 3034

5313 -2.01 -49.3 635.0 -10.1 249 5317 0.00 2.50 0.00 0.000 4 0.000 0.051 2354 3647 3035

5442 -2.01 -49.3 649.1 -11.4 255 5446 0.00 2.40 0.00 0.000 6 0.000 0.032 2354 2247 3034

5769 -2.01 -49.3 683.5 -10.9 271 5773 0.00 2.53 0.00 0.000 4 0.000 0.051 2354 3653 3035

5932 -2.01 -49.3 702.2 -10.9 278 5936 0.00 2.42 0.00 0.000 6 0.000 0.033 2354 2241 3034

6247 -2.01 -49.3 735.2 -10.0 293 6252 0.00 2.58 0.00 0.000 4 0.000 0.054 2354 3648 3034

6338 -2.01 -49.3 744.3 -10.2 297 6343 0.00 2.42 0.00 0.000 6 0.000 0.033 2354 2251 3034

6673 -2.01 -49.3 775.3 -8.9 313 6677 0.00 2.53 0.00 0.000 4 0.000 0.051 2354 3654 3034

6874 -2.01 -49.3 797.4 -12.0 322 6878 0.00 2.42 0.00 0.000 6 0.000 0.033 2354 2247 3034

7194 -2.01 -49.3 830.7 -10.6 338 7199 0.00 2.53 0.00 0.000 4 0.000 0.053 2354 3650 3033

7372 -2.01 -49.3 848.3 -9.3 346 7376 0.00 2.40 0.00 0.000 6 0.000 0.034 2354 2250 3033

7701 -2.01 -49.3 875.1 -8.7 362 7706 0.00 2.53 0.00 0.000 4 0.000 0.054 2354 3650 3033

8043 -2.01 -49.3 909.8 -9.7 377 8047 0.00 2.42 0.00 0.000 6 0.000 0.035 2354 2248 3032

8361 -2.01 -49.3 936.6 -8.8 392 8365 0.00 2.53 0.00 0.000 4 0.000 0.057 2354 3647 3032

8394 end dive: BOTTOM_OBSTACLE_DETECTED

state 8394 begin apogee

8404 -0.36 0.0 939.8 9.4 393 8454 1.73 0.00 45.33 1.378 6 0.084 0.000 2720 1467 2832

8454 end apogee: CONTROL_FINISHED_OK

state 8454 begin climb

8457 2.01 49.3 941.9 0.0 396 8514 2.35 2.30 45.90 1.347 4 0.046 0.063 3239 261 2631

8755 2.01 49.3 921.2 7.0 409 8759 0.00 2.05 0.00 0.000 6 0.000 0.036 3239 1455 2628

9077 2.01 49.3 899.8 6.6 425 9081 0.00 2.53 0.00 0.000 4 0.000 0.051 3239 2859 2627

9233 2.01 49.3 890.8 6.0 432 9237 0.00 2.50 0.00 0.000 6 0.000 0.041 3239 1451 2626

9554 2.01 49.3 870.1 7.1 448 9558 0.00 2.50 0.00 0.000 4 0.000 0.048 3239 2854 2625

9895 2.01 49.3 845.0 6.8 463 9899 0.00 2.50 0.00 0.000 6 0.000 0.042 3239 1448 2624

10210 2.01 49.3 823.7 7.1 478 10215 0.00 2.50 0.00 0.000 4 0.000 0.048 3239 2855 2623

10452 2.01 49.3 805.9 6.7 489 10457 0.00 2.47 0.00 0.000 6 0.000 0.042 3239 1454 2622

10780 2.01 52.2 786.9 5.6 505 10784 0.00 2.47 0.00 0.000 4 0.000 0.047 3239 2856 2622

11099 2.04 69.5 772.6 3.6 519 11123 0.00 2.50 17.67 1.256 6 0.000 0.040 3239 1453 2548

11442 2.04 73.1 753.6 5.5 536 11451 0.00 2.53 4.82 0.917 4 0.000 0.046 3239 2860 2534

11788 2.04 73.1 733.2 6.2 551 11794 0.00 2.50 0.00 0.000 6 0.000 0.040 3239 1448 2533

12103 2.04 73.1 712.9 6.9 567 12107 0.00 2.15 0.00 0.000 4 0.000 0.060 3239 258 2534

12338 2.04 73.1 695.1 6.9 577 12342 0.00 2.05 0.00 0.000 6 0.000 0.031 3239 1458 2534

12659 2.04 73.1 671.6 7.4 593 12661 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1458 2534

12971 2.04 73.1 649.6 6.9 608 12975 0.00 2.15 0.00 0.000 4 0.000 0.054 3239 262 2534

13040 2.04 73.1 644.1 7.7 611 13044 0.00 2.03 0.00 0.000 6 0.000 0.033 3239 1458 2534

13372 2.04 73.1 620.4 6.8 627 13373 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1458 2535

13681 2.04 73.1 600.7 6.7 642 13682 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1458 2535

13991 2.04 73.1 579.7 7.0 657 13992 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1458 2536

14300 2.04 73.1 558.1 7.0 672 14301 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1458 2536

14612 2.04 73.1 536.5 7.1 687 14613 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1458 2536

14919 2.04 73.1 515.5 6.7 702 14920 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1458 2536

15227 2.04 73.1 495.5 6.3 717 15229 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1458 2536

15537 2.04 73.1 476.0 6.4 732 15541 0.00 2.45 0.00 0.000 4 0.000 0.044 3239 2854 2537

15601 2.04 73.1 471.9 6.2 735 15606 0.00 2.45 0.00 0.000 6 0.000 0.037 3239 1445 2537

15931 2.04 73.1 449.6 7.0 751 15932 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1445 2537

16239 2.04 73.1 428.6 6.8 766 16240 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1445 2537

16547 2.04 73.1 407.2 7.0 781 16549 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1445 2537

16856 2.04 73.1 385.5 6.8 796 16860 0.00 2.47 0.00 0.000 4 0.000 0.043 3239 2858 2537

16895 2.04 73.1 383.0 6.2 798 16899 0.00 2.45 0.00 0.000 6 0.000 0.037 3239 1450 2537

17223 2.04 73.1 361.6 6.4 814 17224 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1451 2537

17531 2.04 74.6 343.0 5.8 829 17537 0.00 0.00 4.03 0.648 6 0.000 0.000 3239 1451 2528

17843 2.04 74.6 324.0 6.1 844 17847 0.00 2.47 0.00 0.000 4 0.000 0.044 3239 2857 2528

17876 2.04 74.9 321.8 6.0 845 17883 0.00 2.42 0.00 0.000 6 0.000 0.037 3239 1456 2528

18192 2.04 75.4 303.1 5.9 861 18193 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1456 2528

18501 2.04 75.4 284.5 6.2 876 18502 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1456 2529

18813 2.04 75.4 263.9 7.0 891 18814 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1456 2528

19120 2.04 75.4 242.3 6.9 906 19121 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1456 2529

19429 2.04 75.4 221.1 7.0 921 19433 0.00 2.45 0.00 0.000 4 0.000 0.044 3239 2856 2528

19551 2.04 75.4 212.5 6.8 926 19557 0.00 2.45 0.00 0.000 6 0.000 0.038 3239 1448 2529

19867 2.04 75.4 190.8 6.7 942 19868 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1448 2529

20176 2.04 75.4 170.3 6.4 957 20177 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1447 2529

20488 2.04 75.4 150.7 6.4 972 20489 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1447 2529

20796 2.04 75.4 131.2 6.2 987 20800 0.00 2.10 0.00 0.000 4 0.000 0.056 3239 264 2529

20947 2.04 75.4 120.5 7.3 993 20953 0.00 2.03 0.00 0.000 6 0.000 0.032 3239 1466 2529

21263 2.04 75.4 99.4 6.7 1009 21266 0.00 2.15 0.00 0.000 4 0.000 0.054 3239 262 2530

21413 2.04 75.4 88.5 7.6 1015 21420 0.00 2.03 0.00 0.000 6 0.000 0.033 3239 1452 2530

21730 2.05 80.4 70.5 5.3 1031 21743 0.00 2.55 7.00 0.705 4 0.000 0.046 3239 2854 2504

21779 2.05 80.4 67.6 6.1 1033 21784 0.00 2.45 0.00 0.000 6 0.000 0.036 3240 1452 2504

22101 2.05 84.6 47.2 5.4 1049 22108 0.00 0.00 5.35 0.634 6 0.000 0.000 3239 1452 2486

22412 2.06 92.3 32.3 4.9 1064 22426 0.00 2.17 7.90 0.703 4 0.000 0.054 3239 268 2455

22763 2.06 92.3 10.2 7.1 1079 22769 0.00 2.05 0.00 0.000 6 0.000 0.032 3239 1455 2454

22870 end climb: SURFACE_DEPTH_REACHED

state 22870 begin surface coast

22892 end surface coast: CONTROL_FINISHED_OK

state 22892 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	198	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1631559.5	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	005324,6218.234,-1145.664,43,1.8,62,-11.0	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6217.000,-1145.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.82	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-51.0	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	010000,6218.271,-1145.580,10,1.5,14,-11.0	MHEAD_RNG_PITCHd_Wd	179.0,2406,-27.3,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027100	ALTIM_BOTTOM_PING	875.1,74.4
SM_CCo	22916,138.25,0.763,0,0,1609,300.00	_24V_AH	23.2,45.846
SM_GC	0.78,0.00,0.00,138.25,0.000,0.000,0.763,389,2243,1609,-11.09,-0.20,300.00	_10V_AH	10.1,27.723
IRIDIUM_FIX	6153.50,-1142.14,201098,171736	DATA_FILE_SIZE	56975,1086
TT8_MAMPS	0.027612	CAP_FILE_SIZE	169053,0
HUMID	1843	CFSIZE	260165632,243331072
INTERNAL_PRESSURE	8.11879	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	17.60	GPS	270709,072554,6216.774,-1146.267,38,1.2,38,-11.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	128	80.42	SBE_CT	829	24	461.66
Roll_motor	161	62	235.98	SBE_O2	884	19	389.82
VBD_pump_during_apogee	138	1377	4410.31	WL_BB2F	618	105	1505.89
VBD_pump_during_surface	138	763	2447.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.27	nil	0	0	0.00
Iridium_during_connect	27	160	100.43	nil	0	0	0.00
Iridium_during_xfer	200	223	1036.69
Transponder_ping	7	420	75.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.19
TT8	2144	19	428.86
LPSleep	16904	2	373.92
TT8_Active	430	19	86.01
TT8_Sampling	3002	39	1206.76
TT8_CF8	961	45	444.71
TT8_Kalman	0	81	0.00
Analog_circuits	1858	12	225.31
GPS_charging	0	0	0.00
Compass	3150	8	254.53
RAFOS	0	0	0.00
Transponder	54	30	16.46

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
17	-1.99	-28.8	0.0	0.0	0	68	0.00	0.00	-46.72	0.000	6	0.000	0.000	394	2244	2949
72	-2.01	-49.3	2.5	-3.2	3	94	10.38	2.55	-1.95	0.000	4	0.129	0.053	2354	837	3035
324	-2.01	-49.3	43.7	-15.4	14	329	0.00	2.47	0.00	0.000	6	0.000	0.034	2354	2258	3036
646	-2.01	-49.3	80.2	-11.4	30	651	0.00	2.53	0.00	0.000	4	0.000	0.051	2354	3648	3037
938	-2.01	-49.3	116.9	-12.3	43	943	0.00	2.45	0.00	0.000	6	0.000	0.031	2354	2231	3037
1270	-2.01	-49.3	157.8	-12.5	59	1274	0.00	2.55	0.00	0.000	4	0.000	0.050	2354	3649	3037
1528	-2.01	-49.3	190.8	-12.7	70	1534	0.00	2.40	0.00	0.000	6	0.000	0.030	2354	2248	3037
1846	-2.01	-49.3	228.6	-12.1	86	1850	0.00	2.53	0.00	0.000	4	0.000	0.051	2354	3648	3037
2055	-2.01	-49.3	254.7	-12.5	95	2059	0.00	2.40	0.00	0.000	6	0.000	0.031	2354	2246	3037
2371	-2.01	-49.3	290.8	-11.5	110	2375	0.00	2.53	0.00	0.000	4	0.000	0.050	2354	3651	3037
2567	-2.01	-49.3	315.6	-12.8	119	2571	0.00	2.40	0.00	0.000	6	0.000	0.031	2354	2249	3036
2893	-2.01	-49.3	354.6	-11.8	135	2897	0.00	2.50	0.00	0.000	4	0.000	0.050	2355	3648	3036
3077	-2.01	-49.3	378.1	-12.9	143	3082	0.00	2.40	0.00	0.000	6	0.000	0.031	2354	2248	3036
3393	-2.01	-49.3	415.3	-11.7	158	3397	0.00	2.53	0.00	0.000	4	0.000	0.050	2355	3655	3036
3527	-2.01	-49.3	431.9	-11.8	164	3531	0.00	2.40	0.00	0.000	6	0.000	0.031	2354	2250	3036
3851	-2.01	-49.3	470.0	-11.9	180	3855	0.00	2.50	0.00	0.000	4	0.000	0.050	2354	3648	3035
3984	-2.01	-49.3	487.1	-12.5	186	3988	0.00	2.40	0.00	0.000	6	0.000	0.031	2354	2249	3035
4306	-2.01	-49.3	524.1	-11.3	202	4311	0.00	2.50	0.00	0.000	4	0.000	0.050	2354	3646	3035
4496	-2.01	-49.3	547.0	-11.7	210	4503	0.00	2.40	0.00	0.000	6	0.000	0.031	2354	2247	3035
4814	-2.01	-49.3	581.4	-10.9	226	4818	0.00	2.53	0.00	0.000	4	0.000	0.051	2354	3654	3034
4997	-2.01	-49.3	602.7	-11.2	234	5001	0.00	2.40	0.00	0.000	6	0.000	0.032	2354	2249	3034
5313	-2.01	-49.3	635.0	-10.1	249	5317	0.00	2.50	0.00	0.000	4	0.000	0.051	2354	3647	3035
5442	-2.01	-49.3	649.1	-11.4	255	5446	0.00	2.40	0.00	0.000	6	0.000	0.032	2354	2247	3034
5769	-2.01	-49.3	683.5	-10.9	271	5773	0.00	2.53	0.00	0.000	4	0.000	0.051	2354	3653	3035
5932	-2.01	-49.3	702.2	-10.9	278	5936	0.00	2.42	0.00	0.000	6	0.000	0.033	2354	2241	3034
6247	-2.01	-49.3	735.2	-10.0	293	6252	0.00	2.58	0.00	0.000	4	0.000	0.054	2354	3648	3034
6338	-2.01	-49.3	744.3	-10.2	297	6343	0.00	2.42	0.00	0.000	6	0.000	0.033	2354	2251	3034
6673	-2.01	-49.3	775.3	-8.9	313	6677	0.00	2.53	0.00	0.000	4	0.000	0.051	2354	3654	3034
6874	-2.01	-49.3	797.4	-12.0	322	6878	0.00	2.42	0.00	0.000	6	0.000	0.033	2354	2247	3034
7194	-2.01	-49.3	830.7	-10.6	338	7199	0.00	2.53	0.00	0.000	4	0.000	0.053	2354	3650	3033
7372	-2.01	-49.3	848.3	-9.3	346	7376	0.00	2.40	0.00	0.000	6	0.000	0.034	2354	2250	3033
7701	-2.01	-49.3	875.1	-8.7	362	7706	0.00	2.53	0.00	0.000	4	0.000	0.054	2354	3650	3033
8043	-2.01	-49.3	909.8	-9.7	377	8047	0.00	2.42	0.00	0.000	6	0.000	0.035	2354	2248	3032
8361	-2.01	-49.3	936.6	-8.8	392	8365	0.00	2.53	0.00	0.000	4	0.000	0.057	2354	3647	3032
8394	end dive: BOTTOM_OBSTACLE_DETECTED
state	8394	begin apogee
8404	-0.36	0.0	939.8	9.4	393	8454	1.73	0.00	45.33	1.378	6	0.084	0.000	2720	1467	2832
8454	end apogee: CONTROL_FINISHED_OK
state	8454	begin climb
8457	2.01	49.3	941.9	0.0	396	8514	2.35	2.30	45.90	1.347	4	0.046	0.063	3239	261	2631
8755	2.01	49.3	921.2	7.0	409	8759	0.00	2.05	0.00	0.000	6	0.000	0.036	3239	1455	2628
9077	2.01	49.3	899.8	6.6	425	9081	0.00	2.53	0.00	0.000	4	0.000	0.051	3239	2859	2627
9233	2.01	49.3	890.8	6.0	432	9237	0.00	2.50	0.00	0.000	6	0.000	0.041	3239	1451	2626
9554	2.01	49.3	870.1	7.1	448	9558	0.00	2.50	0.00	0.000	4	0.000	0.048	3239	2854	2625
9895	2.01	49.3	845.0	6.8	463	9899	0.00	2.50	0.00	0.000	6	0.000	0.042	3239	1448	2624
10210	2.01	49.3	823.7	7.1	478	10215	0.00	2.50	0.00	0.000	4	0.000	0.048	3239	2855	2623
10452	2.01	49.3	805.9	6.7	489	10457	0.00	2.47	0.00	0.000	6	0.000	0.042	3239	1454	2622
10780	2.01	52.2	786.9	5.6	505	10784	0.00	2.47	0.00	0.000	4	0.000	0.047	3239	2856	2622
11099	2.04	69.5	772.6	3.6	519	11123	0.00	2.50	17.67	1.256	6	0.000	0.040	3239	1453	2548
11442	2.04	73.1	753.6	5.5	536	11451	0.00	2.53	4.82	0.917	4	0.000	0.046	3239	2860	2534
11788	2.04	73.1	733.2	6.2	551	11794	0.00	2.50	0.00	0.000	6	0.000	0.040	3239	1448	2533
12103	2.04	73.1	712.9	6.9	567	12107	0.00	2.15	0.00	0.000	4	0.000	0.060	3239	258	2534
12338	2.04	73.1	695.1	6.9	577	12342	0.00	2.05	0.00	0.000	6	0.000	0.031	3239	1458	2534
12659	2.04	73.1	671.6	7.4	593	12661	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1458	2534
12971	2.04	73.1	649.6	6.9	608	12975	0.00	2.15	0.00	0.000	4	0.000	0.054	3239	262	2534
13040	2.04	73.1	644.1	7.7	611	13044	0.00	2.03	0.00	0.000	6	0.000	0.033	3239	1458	2534
13372	2.04	73.1	620.4	6.8	627	13373	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1458	2535
13681	2.04	73.1	600.7	6.7	642	13682	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1458	2535
13991	2.04	73.1	579.7	7.0	657	13992	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1458	2536
14300	2.04	73.1	558.1	7.0	672	14301	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1458	2536
14612	2.04	73.1	536.5	7.1	687	14613	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1458	2536
14919	2.04	73.1	515.5	6.7	702	14920	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1458	2536
15227	2.04	73.1	495.5	6.3	717	15229	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1458	2536
15537	2.04	73.1	476.0	6.4	732	15541	0.00	2.45	0.00	0.000	4	0.000	0.044	3239	2854	2537
15601	2.04	73.1	471.9	6.2	735	15606	0.00	2.45	0.00	0.000	6	0.000	0.037	3239	1445	2537
15931	2.04	73.1	449.6	7.0	751	15932	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1445	2537
16239	2.04	73.1	428.6	6.8	766	16240	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1445	2537
16547	2.04	73.1	407.2	7.0	781	16549	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1445	2537
16856	2.04	73.1	385.5	6.8	796	16860	0.00	2.47	0.00	0.000	4	0.000	0.043	3239	2858	2537
16895	2.04	73.1	383.0	6.2	798	16899	0.00	2.45	0.00	0.000	6	0.000	0.037	3239	1450	2537
17223	2.04	73.1	361.6	6.4	814	17224	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1451	2537
17531	2.04	74.6	343.0	5.8	829	17537	0.00	0.00	4.03	0.648	6	0.000	0.000	3239	1451	2528
17843	2.04	74.6	324.0	6.1	844	17847	0.00	2.47	0.00	0.000	4	0.000	0.044	3239	2857	2528
17876	2.04	74.9	321.8	6.0	845	17883	0.00	2.42	0.00	0.000	6	0.000	0.037	3239	1456	2528
18192	2.04	75.4	303.1	5.9	861	18193	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1456	2528
18501	2.04	75.4	284.5	6.2	876	18502	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1456	2529
18813	2.04	75.4	263.9	7.0	891	18814	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1456	2528
19120	2.04	75.4	242.3	6.9	906	19121	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1456	2529
19429	2.04	75.4	221.1	7.0	921	19433	0.00	2.45	0.00	0.000	4	0.000	0.044	3239	2856	2528
19551	2.04	75.4	212.5	6.8	926	19557	0.00	2.45	0.00	0.000	6	0.000	0.038	3239	1448	2529
19867	2.04	75.4	190.8	6.7	942	19868	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1448	2529
20176	2.04	75.4	170.3	6.4	957	20177	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1447	2529
20488	2.04	75.4	150.7	6.4	972	20489	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	1447	2529
20796	2.04	75.4	131.2	6.2	987	20800	0.00	2.10	0.00	0.000	4	0.000	0.056	3239	264	2529
20947	2.04	75.4	120.5	7.3	993	20953	0.00	2.03	0.00	0.000	6	0.000	0.032	3239	1466	2529
21263	2.04	75.4	99.4	6.7	1009	21266	0.00	2.15	0.00	0.000	4	0.000	0.054	3239	262	2530
21413	2.04	75.4	88.5	7.6	1015	21420	0.00	2.03	0.00	0.000	6	0.000	0.033	3239	1452	2530
21730	2.05	80.4	70.5	5.3	1031	21743	0.00	2.55	7.00	0.705	4	0.000	0.046	3239	2854	2504
21779	2.05	80.4	67.6	6.1	1033	21784	0.00	2.45	0.00	0.000	6	0.000	0.036	3240	1452	2504
22101	2.05	84.6	47.2	5.4	1049	22108	0.00	0.00	5.35	0.634	6	0.000	0.000	3239	1452	2486
22412	2.06	92.3	32.3	4.9	1064	22426	0.00	2.17	7.90	0.703	4	0.000	0.054	3239	268	2455
22763	2.06	92.3	10.2	7.1	1079	22769	0.00	2.05	0.00	0.000	6	0.000	0.032	3239	1455	2454
22870	end climb: SURFACE_DEPTH_REACHED
state	22870	begin surface coast
22892	end surface coast: CONTROL_FINISHED_OK
state	22892	begin surface