Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 221 * 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 221 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -1631947 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 -1631947

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 221 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 152336,6159.061,-935.478,34,2.0,34,-9.7 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.88 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -60.9 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 152928,6159.038,-935.402,15,2.6,34,-9.7 MHEAD_RNG_PITCHd_Wd 155.2,31555,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.003005 ALTIM_BOTTOM_PING 575.6,99.0

SM_CCo 18384,0.00,0.000,0,0,1601,301.96 _24V_AH 23.2,49.423

SM_GC 1.08,11.38,0.00,0.00,0.021,0.000,0.000,383,2248,1601,-10.99,-0.06,301.96 _10V_AH 10.1,30.336

IRIDIUM_FIX 6139.81,-1101.47,271098,090922 DATA_FILE_SIZE 44345,872

TT8_MAMPS 0.026845 CAP_FILE_SIZE 141581,0

HUMID 1905 CFSIZE 260165632,241516544

INTERNAL_PRESSURE 8.13832 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

TCM_TEMP 17.50 GPS 020809,203736,6157.653,-932.331,42,1.2,47,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 131 77.13 SBE_CT 690 24 384.19

Roll_motor 195 59 271.17 SBE_O2 686 19 302.40

VBD_pump_during_apogee 393 1202 10979.98 WL_BB2F 519 105 1264.53

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 28 103 67.79 nil 0 0 0.00

Iridium_during_connect 28 160 106.14 nil 0 0 0.00

Iridium_during_xfer 144 223 749.22

Transponder_ping 4 420 46.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.94

TT8 1678 19 335.57

LPSleep 13622 2 301.31

TT8_Active 506 19 101.26

TT8_Sampling 2141 39 860.68

TT8_CF8 782 45 361.93

TT8_Kalman 0 81 0.00

Analog_circuits 1642 12 199.01

GPS_charging 0 0 0.00

Compass 2257 8 182.39

RAFOS 0 0 0.00

Transponder 33 30 10.05

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 13 begin dive

16 -0.96 -146.6 0.0 0.0 0 85 0.00 0.00 -67.97 0.000 6 0.000 0.000 389 2228 3431

89 -0.96 -146.6 3.2 -5.6 3 110 11.65 2.62 0.00 0.000 4 0.132 0.051 2583 3660 3433

447 -0.96 -146.6 53.0 -11.3 19 452 0.00 2.47 0.00 0.000 6 0.000 0.030 2584 2230 3434

779 -0.96 -146.6 90.2 -11.7 35 784 0.00 2.60 0.00 0.000 4 0.000 0.051 2584 3651 3435

1030 -0.96 -146.6 122.0 -11.8 46 1034 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2249 3434

1351 -0.96 -146.6 154.2 -9.9 62 1356 0.00 2.53 0.00 0.000 4 0.000 0.051 2584 3654 3435

1401 -0.96 -146.6 159.2 -9.7 64 1406 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2248 3435

1720 -0.96 -146.6 167.4 1.9 79 1724 0.00 2.53 0.00 0.000 4 0.000 0.050 2584 3654 3435

1787 -0.96 -146.6 166.1 1.8 82 1791 0.00 2.42 0.00 0.000 6 0.000 0.030 2584 2251 3435

2113 -0.96 -146.6 170.9 -3.2 98 2117 0.00 2.53 0.00 0.000 4 0.000 0.050 2584 3654 3435

2185 -0.96 -146.6 174.0 -4.7 101 2189 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2249 3435

2501 -0.96 -146.6 188.3 -5.2 116 2506 0.00 2.55 0.00 0.000 4 0.000 0.051 2583 3650 3435

2546 -0.96 -146.6 191.2 -6.3 118 2551 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2249 3434

2878 -0.96 -146.6 211.2 -5.9 134 2883 0.00 2.53 0.00 0.000 4 0.000 0.051 2584 3653 3434

2951 -0.96 -146.6 216.0 -6.9 137 2955 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2249 3434

3269 -0.96 -146.6 236.9 -6.5 152 3273 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3654 3434

3346 -0.96 -146.6 242.8 -7.3 155 3353 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2247 3434

3662 -0.96 -146.6 265.0 -7.7 171 3667 0.00 2.58 0.00 0.000 4 0.000 0.053 2584 3651 3434

3775 -0.96 -146.6 274.7 -9.2 176 3780 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2249 3434

4107 -0.96 -146.6 302.7 -8.3 192 4111 0.00 2.55 0.00 0.000 4 0.000 0.052 2584 3661 3433

4184 -0.96 -146.6 309.7 -9.0 195 4191 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2247 3433

4501 -0.96 -146.6 335.6 -8.0 211 4506 0.00 2.58 0.00 0.000 4 0.000 0.052 2584 3654 3434

4584 -0.96 -146.6 342.5 -8.5 214 4590 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2235 3433

4900 -0.96 -146.6 363.3 -6.3 230 4904 0.00 2.58 0.00 0.000 4 0.000 0.054 2584 3657 3433

4995 -0.96 -146.6 370.0 -6.8 234 4999 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2253 3433

5313 -0.96 -146.6 388.4 -5.5 249 5317 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3653 3432

5398 -0.96 -146.6 393.3 -5.6 253 5402 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3432

5727 -0.96 -146.6 410.5 -5.2 269 5732 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3654 3432

5800 -0.96 -146.6 415.1 -6.0 272 5805 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2253 3432

6121 -0.96 -146.6 432.3 -5.6 288 6125 0.00 2.53 0.00 0.000 4 0.000 0.054 2583 3652 3431

6209 -0.96 -146.6 438.0 -6.4 292 6213 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3431

6530 -0.96 -146.6 458.3 -6.7 308 6534 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3654 3431

6602 -0.96 -146.6 463.7 -7.7 311 6606 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3431

6918 -0.96 -146.6 488.8 -8.3 326 6923 0.00 2.58 0.00 0.000 4 0.000 0.054 2584 3654 3431

7040 -0.96 -146.6 500.6 -10.1 331 7045 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2252 3431

7358 -0.96 -146.6 532.8 -10.4 346 7362 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3653 3430

7424 -0.96 -146.6 540.4 -11.6 349 7428 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2242 3430

7746 -0.96 -146.6 572.4 -9.7 365 7750 0.00 2.58 0.00 0.000 4 0.000 0.057 2583 3657 3430

7822 -0.96 -146.6 580.1 -10.5 368 7829 0.00 2.42 0.00 0.000 6 0.000 0.033 2583 2249 3430

8140 -0.96 -146.6 609.5 -8.7 384 8145 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3654 3430

8241 -0.96 -146.6 618.2 -8.1 388 8247 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2240 3430

8557 -0.96 -146.6 640.1 -6.3 404 8558 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2240 3430

8868 -0.96 -146.6 659.2 -6.0 419 8873 0.00 2.58 0.00 0.000 4 0.000 0.056 2583 3658 3430

8952 end dive: BOTTOM_OBSTACLE_DETECTED

state 8952 begin apogee

8962 -0.36 0.0 664.9 6.2 423 9094 0.65 0.00 127.68 1.203 6 0.066 0.000 2723 1468 2832

9095 end apogee: CONTROL_FINISHED_OK

state 9095 begin climb

9098 0.96 146.6 669.1 0.0 430 9233 1.30 2.25 128.05 1.165 4 0.054 0.060 3008 262 2234

9293 0.96 146.6 659.7 7.8 439 9296 0.00 2.08 0.00 0.000 6 0.000 0.033 3008 1477 2230

9619 0.96 146.6 632.1 7.2 455 9623 0.00 2.45 0.00 0.000 4 0.000 0.044 3008 2849 2226

9714 0.96 146.6 625.5 6.5 459 9718 0.00 2.45 0.00 0.000 6 0.000 0.038 3008 1450 2225

10032 1.03 199.2 608.9 4.6 474 10083 0.00 2.58 46.22 1.140 4 0.000 0.044 3008 2855 2020

10123 1.07 232.9 604.3 5.1 478 10160 0.10 2.50 31.35 1.106 6 0.047 0.038 3058 1446 1882

10490 1.07 232.9 579.2 7.3 496 10492 0.12 0.00 0.00 0.000 6 0.080 0.000 3031 1446 1875

10797 1.07 232.9 557.9 6.8 511 10802 0.00 2.53 0.00 0.000 4 0.000 0.044 3032 2852 1874

10852 1.07 232.9 554.2 6.6 513 10857 0.00 2.47 0.00 0.000 6 0.000 0.038 3031 1447 1873

11168 1.07 232.9 533.6 6.4 528 11172 0.00 2.47 0.00 0.000 4 0.000 0.042 3031 2850 1872

11189 1.07 232.9 532.1 6.7 529 11193 0.00 2.45 0.00 0.000 6 0.000 0.038 3031 1447 1872

11510 1.07 232.9 509.6 7.8 545 11511 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1447 1872

11819 1.07 232.9 486.1 7.7 560 11823 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2852 1871

11891 1.07 232.9 480.2 7.9 563 11895 0.00 2.45 0.00 0.000 6 0.000 0.038 3031 1455 1870

12206 1.07 232.9 452.9 8.7 578 12211 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2847 1870

12233 1.07 232.9 450.5 8.0 579 12238 0.00 2.42 0.00 0.000 6 0.000 0.038 3031 1454 1870

12555 1.07 232.9 421.9 9.0 595 12557 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1454 1870

12864 1.07 232.9 394.1 8.9 610 12868 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2855 1870

12914 1.07 232.9 389.6 9.1 612 12918 0.00 2.47 0.00 0.000 6 0.000 0.038 3031 1445 1870

13232 1.07 232.9 362.5 8.4 627 13236 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2857 1870

13272 1.07 232.9 359.0 8.5 629 13277 0.00 2.45 0.00 0.000 6 0.000 0.037 3031 1453 1870

13599 1.07 232.9 334.5 7.2 645 13603 0.00 2.45 0.00 0.000 4 0.000 0.041 3031 2852 1870

13638 1.07 232.9 331.6 7.1 647 13642 0.00 2.45 0.00 0.000 6 0.000 0.038 3031 1451 1870

13965 1.07 232.9 309.0 6.6 663 13966 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1450 1870

14273 1.07 232.9 287.9 7.0 678 14278 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2857 1870

14340 1.07 232.9 282.9 7.5 681 14344 0.00 2.45 0.00 0.000 6 0.000 0.037 3031 1454 1870

14661 1.07 232.9 258.5 7.7 697 14665 0.00 2.45 0.00 0.000 4 0.000 0.041 3031 2851 1870

14688 1.07 232.9 256.2 7.6 698 14692 0.00 2.42 0.00 0.000 6 0.000 0.038 3031 1454 1870

15003 1.07 232.9 232.5 7.1 713 15008 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2849 1870

15049 1.07 232.9 229.4 6.6 715 15053 0.00 2.47 0.00 0.000 6 0.000 0.038 3031 1450 1870

15381 1.07 232.9 207.5 6.3 731 15386 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2848 1870

15419 1.07 232.9 204.9 6.4 732 15425 0.00 2.42 0.00 0.000 6 0.000 0.037 3031 1454 1870

15738 1.10 253.2 186.9 5.4 748 15757 0.00 0.00 17.15 0.869 6 0.000 0.000 3031 1454 1799

16067 1.13 281.3 170.9 5.2 764 16098 0.00 2.53 25.85 0.876 4 0.000 0.041 3031 2848 1684

16150 1.13 281.3 165.2 7.9 768 16154 0.00 2.45 0.00 0.000 6 0.000 0.038 3031 1451 1681

16477 1.13 281.3 138.4 8.5 784 16478 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1452 1680

16787 1.13 281.3 114.6 7.8 799 16791 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2857 1680

16827 1.13 281.3 111.1 7.8 801 16831 0.00 2.45 0.00 0.000 6 0.000 0.037 3031 1454 1679

17153 1.13 281.3 81.7 8.0 817 17155 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1454 1679

17462 1.13 281.3 61.1 7.0 832 17467 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2857 1679

17512 1.13 281.3 56.9 9.1 834 17516 0.00 2.45 0.00 0.000 6 0.000 0.037 3031 1454 1678

17829 1.15 300.3 35.0 5.5 849 17849 0.00 0.00 17.23 0.775 6 0.000 0.000 3031 1455 1607

18159 1.15 300.3 9.7 7.7 865 18163 0.00 2.47 0.00 0.000 4 0.000 0.040 3031 2860 1604

18191 1.15 300.3 7.3 6.5 866 18198 0.00 2.45 0.00 0.000 6 0.000 0.036 3031 1453 1604

18257 end climb: SURFACE_DEPTH_REACHED

state 18257 begin surface coast

18300 end surface coast: CONTROL_FINISHED_OK

state 18300 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	221	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-1631947	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	152336,6159.061,-935.478,34,2.0,34,-9.7	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.88	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-60.9	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	152928,6159.038,-935.402,15,2.6,34,-9.7	MHEAD_RNG_PITCHd_Wd	155.2,31555,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.003005	ALTIM_BOTTOM_PING	575.6,99.0
SM_CCo	18384,0.00,0.000,0,0,1601,301.96	_24V_AH	23.2,49.423
SM_GC	1.08,11.38,0.00,0.00,0.021,0.000,0.000,383,2248,1601,-10.99,-0.06,301.96	_10V_AH	10.1,30.336
IRIDIUM_FIX	6139.81,-1101.47,271098,090922	DATA_FILE_SIZE	44345,872
TT8_MAMPS	0.026845	CAP_FILE_SIZE	141581,0
HUMID	1905	CFSIZE	260165632,241516544
INTERNAL_PRESSURE	8.13832	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
TCM_TEMP	17.50	GPS	020809,203736,6157.653,-932.331,42,1.2,47,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	131	77.13	SBE_CT	690	24	384.19
Roll_motor	195	59	271.17	SBE_O2	686	19	302.40
VBD_pump_during_apogee	393	1202	10979.98	WL_BB2F	519	105	1264.53
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	28	103	67.79	nil	0	0	0.00
Iridium_during_connect	28	160	106.14	nil	0	0	0.00
Iridium_during_xfer	144	223	749.22
Transponder_ping	4	420	46.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.94
TT8	1678	19	335.57
LPSleep	13622	2	301.31
TT8_Active	506	19	101.26
TT8_Sampling	2141	39	860.68
TT8_CF8	782	45	361.93
TT8_Kalman	0	81	0.00
Analog_circuits	1642	12	199.01
GPS_charging	0	0	0.00
Compass	2257	8	182.39
RAFOS	0	0	0.00
Transponder	33	30	10.05

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	13	begin dive
16	-0.96	-146.6	0.0	0.0	0	85	0.00	0.00	-67.97	0.000	6	0.000	0.000	389	2228	3431
89	-0.96	-146.6	3.2	-5.6	3	110	11.65	2.62	0.00	0.000	4	0.132	0.051	2583	3660	3433
447	-0.96	-146.6	53.0	-11.3	19	452	0.00	2.47	0.00	0.000	6	0.000	0.030	2584	2230	3434
779	-0.96	-146.6	90.2	-11.7	35	784	0.00	2.60	0.00	0.000	4	0.000	0.051	2584	3651	3435
1030	-0.96	-146.6	122.0	-11.8	46	1034	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2249	3434
1351	-0.96	-146.6	154.2	-9.9	62	1356	0.00	2.53	0.00	0.000	4	0.000	0.051	2584	3654	3435
1401	-0.96	-146.6	159.2	-9.7	64	1406	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2248	3435
1720	-0.96	-146.6	167.4	1.9	79	1724	0.00	2.53	0.00	0.000	4	0.000	0.050	2584	3654	3435
1787	-0.96	-146.6	166.1	1.8	82	1791	0.00	2.42	0.00	0.000	6	0.000	0.030	2584	2251	3435
2113	-0.96	-146.6	170.9	-3.2	98	2117	0.00	2.53	0.00	0.000	4	0.000	0.050	2584	3654	3435
2185	-0.96	-146.6	174.0	-4.7	101	2189	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2249	3435
2501	-0.96	-146.6	188.3	-5.2	116	2506	0.00	2.55	0.00	0.000	4	0.000	0.051	2583	3650	3435
2546	-0.96	-146.6	191.2	-6.3	118	2551	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2249	3434
2878	-0.96	-146.6	211.2	-5.9	134	2883	0.00	2.53	0.00	0.000	4	0.000	0.051	2584	3653	3434
2951	-0.96	-146.6	216.0	-6.9	137	2955	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2249	3434
3269	-0.96	-146.6	236.9	-6.5	152	3273	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3654	3434
3346	-0.96	-146.6	242.8	-7.3	155	3353	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2247	3434
3662	-0.96	-146.6	265.0	-7.7	171	3667	0.00	2.58	0.00	0.000	4	0.000	0.053	2584	3651	3434
3775	-0.96	-146.6	274.7	-9.2	176	3780	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2249	3434
4107	-0.96	-146.6	302.7	-8.3	192	4111	0.00	2.55	0.00	0.000	4	0.000	0.052	2584	3661	3433
4184	-0.96	-146.6	309.7	-9.0	195	4191	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2247	3433
4501	-0.96	-146.6	335.6	-8.0	211	4506	0.00	2.58	0.00	0.000	4	0.000	0.052	2584	3654	3434
4584	-0.96	-146.6	342.5	-8.5	214	4590	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2235	3433
4900	-0.96	-146.6	363.3	-6.3	230	4904	0.00	2.58	0.00	0.000	4	0.000	0.054	2584	3657	3433
4995	-0.96	-146.6	370.0	-6.8	234	4999	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2253	3433
5313	-0.96	-146.6	388.4	-5.5	249	5317	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3653	3432
5398	-0.96	-146.6	393.3	-5.6	253	5402	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3432
5727	-0.96	-146.6	410.5	-5.2	269	5732	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3654	3432
5800	-0.96	-146.6	415.1	-6.0	272	5805	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2253	3432
6121	-0.96	-146.6	432.3	-5.6	288	6125	0.00	2.53	0.00	0.000	4	0.000	0.054	2583	3652	3431
6209	-0.96	-146.6	438.0	-6.4	292	6213	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3431
6530	-0.96	-146.6	458.3	-6.7	308	6534	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3654	3431
6602	-0.96	-146.6	463.7	-7.7	311	6606	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3431
6918	-0.96	-146.6	488.8	-8.3	326	6923	0.00	2.58	0.00	0.000	4	0.000	0.054	2584	3654	3431
7040	-0.96	-146.6	500.6	-10.1	331	7045	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2252	3431
7358	-0.96	-146.6	532.8	-10.4	346	7362	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3653	3430
7424	-0.96	-146.6	540.4	-11.6	349	7428	0.00	2.42	0.00	0.000	6	0.000	0.032	2583	2242	3430
7746	-0.96	-146.6	572.4	-9.7	365	7750	0.00	2.58	0.00	0.000	4	0.000	0.057	2583	3657	3430
7822	-0.96	-146.6	580.1	-10.5	368	7829	0.00	2.42	0.00	0.000	6	0.000	0.033	2583	2249	3430
8140	-0.96	-146.6	609.5	-8.7	384	8145	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3654	3430
8241	-0.96	-146.6	618.2	-8.1	388	8247	0.00	2.42	0.00	0.000	6	0.000	0.032	2583	2240	3430
8557	-0.96	-146.6	640.1	-6.3	404	8558	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2240	3430
8868	-0.96	-146.6	659.2	-6.0	419	8873	0.00	2.58	0.00	0.000	4	0.000	0.056	2583	3658	3430
8952	end dive: BOTTOM_OBSTACLE_DETECTED
state	8952	begin apogee
8962	-0.36	0.0	664.9	6.2	423	9094	0.65	0.00	127.68	1.203	6	0.066	0.000	2723	1468	2832
9095	end apogee: CONTROL_FINISHED_OK
state	9095	begin climb
9098	0.96	146.6	669.1	0.0	430	9233	1.30	2.25	128.05	1.165	4	0.054	0.060	3008	262	2234
9293	0.96	146.6	659.7	7.8	439	9296	0.00	2.08	0.00	0.000	6	0.000	0.033	3008	1477	2230
9619	0.96	146.6	632.1	7.2	455	9623	0.00	2.45	0.00	0.000	4	0.000	0.044	3008	2849	2226
9714	0.96	146.6	625.5	6.5	459	9718	0.00	2.45	0.00	0.000	6	0.000	0.038	3008	1450	2225
10032	1.03	199.2	608.9	4.6	474	10083	0.00	2.58	46.22	1.140	4	0.000	0.044	3008	2855	2020
10123	1.07	232.9	604.3	5.1	478	10160	0.10	2.50	31.35	1.106	6	0.047	0.038	3058	1446	1882
10490	1.07	232.9	579.2	7.3	496	10492	0.12	0.00	0.00	0.000	6	0.080	0.000	3031	1446	1875
10797	1.07	232.9	557.9	6.8	511	10802	0.00	2.53	0.00	0.000	4	0.000	0.044	3032	2852	1874
10852	1.07	232.9	554.2	6.6	513	10857	0.00	2.47	0.00	0.000	6	0.000	0.038	3031	1447	1873
11168	1.07	232.9	533.6	6.4	528	11172	0.00	2.47	0.00	0.000	4	0.000	0.042	3031	2850	1872
11189	1.07	232.9	532.1	6.7	529	11193	0.00	2.45	0.00	0.000	6	0.000	0.038	3031	1447	1872
11510	1.07	232.9	509.6	7.8	545	11511	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1447	1872
11819	1.07	232.9	486.1	7.7	560	11823	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2852	1871
11891	1.07	232.9	480.2	7.9	563	11895	0.00	2.45	0.00	0.000	6	0.000	0.038	3031	1455	1870
12206	1.07	232.9	452.9	8.7	578	12211	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2847	1870
12233	1.07	232.9	450.5	8.0	579	12238	0.00	2.42	0.00	0.000	6	0.000	0.038	3031	1454	1870
12555	1.07	232.9	421.9	9.0	595	12557	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1454	1870
12864	1.07	232.9	394.1	8.9	610	12868	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2855	1870
12914	1.07	232.9	389.6	9.1	612	12918	0.00	2.47	0.00	0.000	6	0.000	0.038	3031	1445	1870
13232	1.07	232.9	362.5	8.4	627	13236	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2857	1870
13272	1.07	232.9	359.0	8.5	629	13277	0.00	2.45	0.00	0.000	6	0.000	0.037	3031	1453	1870
13599	1.07	232.9	334.5	7.2	645	13603	0.00	2.45	0.00	0.000	4	0.000	0.041	3031	2852	1870
13638	1.07	232.9	331.6	7.1	647	13642	0.00	2.45	0.00	0.000	6	0.000	0.038	3031	1451	1870
13965	1.07	232.9	309.0	6.6	663	13966	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1450	1870
14273	1.07	232.9	287.9	7.0	678	14278	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2857	1870
14340	1.07	232.9	282.9	7.5	681	14344	0.00	2.45	0.00	0.000	6	0.000	0.037	3031	1454	1870
14661	1.07	232.9	258.5	7.7	697	14665	0.00	2.45	0.00	0.000	4	0.000	0.041	3031	2851	1870
14688	1.07	232.9	256.2	7.6	698	14692	0.00	2.42	0.00	0.000	6	0.000	0.038	3031	1454	1870
15003	1.07	232.9	232.5	7.1	713	15008	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2849	1870
15049	1.07	232.9	229.4	6.6	715	15053	0.00	2.47	0.00	0.000	6	0.000	0.038	3031	1450	1870
15381	1.07	232.9	207.5	6.3	731	15386	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2848	1870
15419	1.07	232.9	204.9	6.4	732	15425	0.00	2.42	0.00	0.000	6	0.000	0.037	3031	1454	1870
15738	1.10	253.2	186.9	5.4	748	15757	0.00	0.00	17.15	0.869	6	0.000	0.000	3031	1454	1799
16067	1.13	281.3	170.9	5.2	764	16098	0.00	2.53	25.85	0.876	4	0.000	0.041	3031	2848	1684
16150	1.13	281.3	165.2	7.9	768	16154	0.00	2.45	0.00	0.000	6	0.000	0.038	3031	1451	1681
16477	1.13	281.3	138.4	8.5	784	16478	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1452	1680
16787	1.13	281.3	114.6	7.8	799	16791	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2857	1680
16827	1.13	281.3	111.1	7.8	801	16831	0.00	2.45	0.00	0.000	6	0.000	0.037	3031	1454	1679
17153	1.13	281.3	81.7	8.0	817	17155	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1454	1679
17462	1.13	281.3	61.1	7.0	832	17467	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2857	1679
17512	1.13	281.3	56.9	9.1	834	17516	0.00	2.45	0.00	0.000	6	0.000	0.037	3031	1454	1678
17829	1.15	300.3	35.0	5.5	849	17849	0.00	0.00	17.23	0.775	6	0.000	0.000	3031	1455	1607
18159	1.15	300.3	9.7	7.7	865	18163	0.00	2.47	0.00	0.000	4	0.000	0.040	3031	2860	1604
18191	1.15	300.3	7.3	6.5	866	18198	0.00	2.45	0.00	0.000	6	0.000	0.036	3031	1453	1604
18257	end climb: SURFACE_DEPTH_REACHED
state	18257	begin surface coast
18300	end surface coast: CONTROL_FINISHED_OK
state	18300	begin surface