Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 222 * 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 222 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 31 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 -1631962.2 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 -1631962.2

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 31 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 222 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 203736,6157.653,-932.331,42,1.2,47,-9.7 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.90 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -62.4 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 204350,6157.636,-932.278,14,1.3,14,-9.7 MHEAD_RNG_PITCHd_Wd 156.8,27876,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.010896 ALTIM_BOTTOM_PING 576.2,66.9

SM_CCo 17412,29.80,0.769,0,0,1609,300.00 _24V_AH 23.3,49.557

SM_GC 1.11,0.00,0.00,29.80,0.000,0.000,0.769,395,2252,1609,-11.06,0.06,300.00 _10V_AH 10.1,30.425

IRIDIUM_FIX 6135.28,-935.27,271098,151527 DATA_FILE_SIZE 41256,833

TT8_MAMPS 0.027612 CAP_FILE_SIZE 138773,0

HUMID 1869 CFSIZE 260165632,241455104

INTERNAL_PRESSURE 8.11879 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 14.00 GPS 030809,013606,6154.170,-933.043,33,1.3,33,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 78.14 SBE_CT 664 24 371.82

Roll_motor 195 58 264.85 SBE_O2 655 19 290.03

VBD_pump_during_apogee 354 1176 9725.90 WL_BB2F 554 105 1356.40

VBD_pump_during_surface 29 768 533.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.75 nil 0 0 0.00

Iridium_during_connect 31 160 115.89 nil 0 0 0.00

Iridium_during_xfer 186 223 971.12

Transponder_ping 5 420 48.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.36

TT8 1612 19 322.40

LPSleep 12858 2 284.42

TT8_Active 521 19 104.25

TT8_Sampling 2008 39 807.35

TT8_CF8 815 45 377.14

TT8_Kalman 0 81 0.00

Analog_circuits 1581 12 191.69

GPS_charging 0 0 0.00

Compass 2157 8 174.36

RAFOS 0 0 0.00

Transponder 35 30 10.91

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 -0.96 -146.6 0.0 0.0 0 78 0.00 0.00 -59.30 0.000 6 0.000 0.000 383 2249 3431

81 -0.96 -146.6 5.0 -9.9 3 102 11.70 2.58 0.00 0.000 4 0.133 0.050 2586 3652 3433

439 -0.96 -146.6 55.5 -10.7 19 444 0.00 2.45 0.00 0.000 6 0.000 0.030 2587 2233 3434

772 -0.96 -146.6 61.7 2.7 35 777 0.00 2.58 0.00 0.000 4 0.000 0.051 2586 3638 3435

1074 -0.96 -146.6 68.4 -4.6 48 1079 0.00 2.38 0.00 0.000 6 0.000 0.029 2586 2248 3435

1390 -0.96 -146.6 86.0 -6.3 63 1394 0.00 2.53 0.00 0.000 4 0.000 0.051 2586 3648 3435

1439 -0.96 -146.6 89.8 -7.4 65 1444 0.00 2.40 0.00 0.000 6 0.000 0.029 2586 2239 3435

1756 -0.96 -146.6 118.8 -10.8 80 1760 0.00 2.55 0.00 0.000 4 0.000 0.052 2586 3649 3435

1822 -0.96 -146.6 126.4 -10.9 83 1826 0.00 2.38 0.00 0.000 6 0.000 0.029 2586 2251 3435

2143 -0.96 -146.6 147.3 -3.8 99 2147 0.00 2.53 0.00 0.000 4 0.000 0.050 2586 3656 3435

2255 -0.96 -146.6 152.9 -5.6 104 2259 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2248 3435

2576 -0.96 -146.6 171.6 -6.6 120 2577 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2248 3435

2885 -0.96 -146.6 195.2 -8.1 135 2889 0.00 2.53 0.00 0.000 4 0.000 0.050 2586 3652 3434

2957 -0.96 -146.6 201.7 -8.5 138 2961 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2247 3435

3272 -0.96 -146.6 224.3 -6.5 153 3277 0.00 2.55 0.00 0.000 4 0.000 0.051 2587 3647 3435

3327 -0.96 -146.6 228.0 -6.8 155 3332 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2237 3435

3643 -0.96 -146.6 246.6 -5.8 170 3648 0.00 2.55 0.00 0.000 4 0.000 0.052 2586 3650 3434

3693 -0.96 -146.6 249.7 -6.2 172 3698 0.00 2.42 0.00 0.000 6 0.000 0.030 2586 2250 3434

4014 -0.96 -146.6 267.2 -5.5 188 4018 0.00 2.53 0.00 0.000 4 0.000 0.051 2586 3653 3434

4081 -0.96 -146.6 271.1 -5.7 191 4086 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3434

4402 -0.96 -146.6 290.5 -6.6 207 4407 0.00 2.55 0.00 0.000 4 0.000 0.052 2586 3648 3434

4470 -0.96 -146.6 295.5 -7.7 210 4474 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2236 3433

4797 -0.96 -146.6 318.3 -7.1 226 4801 0.00 2.55 0.00 0.000 4 0.000 0.053 2586 3648 3433

4852 -0.96 -146.6 322.8 -8.2 228 4858 0.00 2.40 0.00 0.000 6 0.000 0.031 2587 2246 3434

5168 -0.96 -146.6 343.2 -6.4 244 5172 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3648 3433

5257 -0.96 -146.6 349.4 -6.9 248 5261 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2240 3433

5580 -0.96 -146.6 373.3 -8.4 264 5584 0.00 2.55 0.00 0.000 4 0.000 0.054 2586 3651 3433

5652 -0.96 -146.6 379.9 -8.9 267 5656 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2249 3432

5968 -0.96 -146.6 408.3 -9.6 282 5972 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3651 3432

6032 -0.96 -146.6 414.7 -10.6 285 6036 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2248 3432

6360 -0.96 -146.6 447.6 -9.9 301 6364 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3652 3432

6466 -0.96 -146.6 458.1 -9.6 306 6471 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3432

6793 -0.96 -146.6 485.9 -8.3 322 6798 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3650 3432

6901 -0.96 -146.6 495.6 -9.3 327 6905 0.00 2.42 0.00 0.000 6 0.000 0.031 2586 2251 3431

7233 -0.96 -146.6 523.0 -8.3 343 7238 0.00 2.55 0.00 0.000 4 0.000 0.053 2586 3651 3431

7300 -0.96 -146.6 528.8 -8.9 346 7305 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3431

7627 -0.96 -146.6 554.3 -7.5 362 7628 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2250 3431

7942 -0.96 -146.6 576.2 -6.5 377 7946 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3654 3431

8004 -0.96 -146.6 580.7 -6.7 380 8008 0.00 2.40 0.00 0.000 6 0.000 0.032 2586 2251 3431

8332 -0.96 -146.6 599.5 -6.0 396 8336 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3656 3430

8403 -0.96 -146.6 604.9 -7.9 399 8408 0.00 2.45 0.00 0.000 6 0.000 0.032 2587 2248 3431

8724 -0.96 -146.6 627.4 -6.8 415 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2248 3430

8825 end dive: BOTTOM_OBSTACLE_DETECTED

state 8825 begin apogee

8833 -0.36 0.0 633.6 6.0 420 8968 0.62 0.00 126.93 1.177 6 0.054 0.000 2725 1464 2832

8969 end apogee: CONTROL_FINISHED_OK

state 8969 begin climb

8971 0.96 146.6 633.5 0.0 427 9106 1.30 2.22 127.53 1.142 4 0.048 0.058 3011 265 2233

9178 0.96 146.6 628.2 6.4 436 9182 0.00 2.03 0.00 0.000 6 0.000 0.032 3011 1459 2228

9507 0.98 158.7 611.5 5.7 452 9519 0.00 0.00 10.93 1.002 6 0.000 0.000 3010 1459 2183

9817 1.04 208.1 595.4 4.6 467 9868 0.00 2.55 44.92 1.123 4 0.000 0.044 3011 2841 1982

9892 1.06 220.4 590.8 5.7 470 9911 0.00 2.47 12.30 1.005 6 0.000 0.038 3011 1448 1933

10229 1.06 220.4 566.9 7.4 487 10233 0.00 2.53 0.00 0.000 4 0.000 0.044 3011 2860 1927

10284 1.06 220.4 562.8 6.7 489 10290 0.00 2.47 0.00 0.000 6 0.000 0.037 3011 1452 1927

10603 1.06 220.4 542.1 6.1 505 10604 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 1453 1927

10909 1.06 222.4 524.0 5.9 520 10913 0.00 2.50 0.00 0.000 4 0.000 0.043 3010 2855 1925

10994 1.06 222.4 518.8 6.3 524 10998 0.00 2.47 0.00 0.000 6 0.000 0.038 3011 1448 1925

11321 1.07 230.0 499.5 5.8 540 11335 0.00 2.55 8.70 0.949 4 0.000 0.041 3011 2853 1893

11388 1.08 241.8 495.6 5.7 543 11410 0.10 2.47 12.20 0.999 6 0.047 0.037 3064 1446 1846

11722 1.08 241.8 468.6 8.4 559 11726 0.15 2.53 0.00 0.000 4 0.072 0.041 3032 2860 1843

11765 1.08 241.8 464.9 7.1 561 11770 0.00 2.47 0.00 0.000 6 0.000 0.038 3032 1452 1843

12089 1.08 241.8 441.0 8.0 577 12093 0.00 2.47 0.00 0.000 4 0.000 0.041 3032 2853 1842

12133 1.08 241.8 436.9 8.6 579 12137 0.00 2.45 0.00 0.000 6 0.000 0.037 3032 1452 1842

12454 1.08 241.8 405.2 10.1 595 12458 0.00 2.47 0.00 0.000 4 0.000 0.041 3032 2854 1842

12481 1.08 241.8 402.3 10.5 596 12485 0.00 2.45 0.00 0.000 6 0.000 0.037 3032 1454 1842

12800 1.08 241.8 372.3 8.9 611 12804 0.00 2.45 0.00 0.000 4 0.000 0.041 3032 2854 1842

12832 1.08 241.8 369.1 8.6 612 12839 0.00 2.42 0.00 0.000 6 0.000 0.037 3032 1455 1842

13148 1.08 241.8 342.2 8.8 628 13152 0.00 2.45 0.00 0.000 4 0.000 0.042 3032 2854 1842

13181 1.08 241.8 339.2 8.7 629 13187 0.00 2.45 0.00 0.000 6 0.000 0.037 3032 1452 1842

13496 1.08 241.8 310.8 8.8 645 13500 0.00 2.50 0.00 0.000 4 0.000 0.042 3032 2861 1842

13535 1.08 241.8 307.5 8.9 647 13539 0.00 2.45 0.00 0.000 6 0.000 0.038 3033 1457 1842

13861 1.08 241.8 280.7 8.2 663 13866 0.00 2.45 0.00 0.000 4 0.000 0.042 3032 2854 1842

13889 1.08 241.8 278.3 8.3 664 13893 0.00 2.45 0.00 0.000 6 0.000 0.038 3032 1453 1842

14204 1.08 241.8 255.8 6.3 679 14209 0.00 2.47 0.00 0.000 4 0.000 0.041 3032 2854 1842

14245 1.08 241.8 253.2 7.2 681 14249 0.00 2.45 0.00 0.000 6 0.000 0.038 3032 1453 1841

14571 1.08 241.8 229.4 8.2 697 14575 0.00 2.47 0.00 0.000 4 0.000 0.041 3032 2853 1842

14599 1.08 241.8 227.0 8.4 698 14603 0.00 2.45 0.00 0.000 6 0.000 0.037 3032 1453 1842

14915 1.08 241.8 199.7 8.2 713 14919 0.00 2.47 0.00 0.000 4 0.000 0.041 3032 2857 1842

14936 1.08 241.8 197.7 8.0 714 14940 0.00 2.45 0.00 0.000 6 0.000 0.037 3032 1454 1842

15257 1.10 253.7 176.1 5.7 730 15273 0.00 2.50 11.27 0.826 4 0.000 0.040 3032 2855 1797

15301 1.10 253.7 173.6 6.2 731 15305 0.00 2.47 0.00 0.000 6 0.000 0.037 3032 1450 1796

15622 1.10 253.7 145.7 9.8 747 15626 0.00 2.47 0.00 0.000 4 0.000 0.040 3032 2854 1795

15661 1.10 253.7 142.0 9.6 749 15666 0.00 2.45 0.00 0.000 6 0.000 0.036 3032 1449 1795

15988 1.10 253.7 114.4 8.3 765 15989 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 1449 1795

16297 1.10 253.7 91.3 7.1 780 16301 0.00 2.47 0.00 0.000 4 0.000 0.041 3032 2854 1795

16352 1.10 253.7 86.9 7.4 782 16358 0.00 2.45 0.00 0.000 6 0.000 0.036 3032 1452 1794

16668 1.10 253.7 62.9 7.4 798 16673 0.00 2.50 0.00 0.000 4 0.000 0.041 3032 2853 1795

16714 1.10 253.7 59.1 9.4 800 16718 0.00 2.45 0.00 0.000 6 0.000 0.036 3032 1445 1794

17042 1.10 253.7 22.4 10.4 816 17046 0.00 2.47 0.00 0.000 4 0.000 0.039 3032 2855 1795

17081 1.10 253.7 19.5 7.8 818 17086 0.00 2.45 0.00 0.000 6 0.000 0.035 3032 1445 1794

17344 end climb: SURFACE_DEPTH_REACHED

state 17344 begin surface coast

17388 end surface coast: CONTROL_FINISHED_OK

state 17388 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	222	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	31	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	-1631962.2	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	203736,6157.653,-932.331,42,1.2,47,-9.7	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.90	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-62.4	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	204350,6157.636,-932.278,14,1.3,14,-9.7	MHEAD_RNG_PITCHd_Wd	156.8,27876,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.010896	ALTIM_BOTTOM_PING	576.2,66.9
SM_CCo	17412,29.80,0.769,0,0,1609,300.00	_24V_AH	23.3,49.557
SM_GC	1.11,0.00,0.00,29.80,0.000,0.000,0.769,395,2252,1609,-11.06,0.06,300.00	_10V_AH	10.1,30.425
IRIDIUM_FIX	6135.28,-935.27,271098,151527	DATA_FILE_SIZE	41256,833
TT8_MAMPS	0.027612	CAP_FILE_SIZE	138773,0
HUMID	1869	CFSIZE	260165632,241455104
INTERNAL_PRESSURE	8.11879	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	14.00	GPS	030809,013606,6154.170,-933.043,33,1.3,33,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	78.14	SBE_CT	664	24	371.82
Roll_motor	195	58	264.85	SBE_O2	655	19	290.03
VBD_pump_during_apogee	354	1176	9725.90	WL_BB2F	554	105	1356.40
VBD_pump_during_surface	29	768	533.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.75	nil	0	0	0.00
Iridium_during_connect	31	160	115.89	nil	0	0	0.00
Iridium_during_xfer	186	223	971.12
Transponder_ping	5	420	48.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.36
TT8	1612	19	322.40
LPSleep	12858	2	284.42
TT8_Active	521	19	104.25
TT8_Sampling	2008	39	807.35
TT8_CF8	815	45	377.14
TT8_Kalman	0	81	0.00
Analog_circuits	1581	12	191.69
GPS_charging	0	0	0.00
Compass	2157	8	174.36
RAFOS	0	0	0.00
Transponder	35	30	10.91

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	-0.96	-146.6	0.0	0.0	0	78	0.00	0.00	-59.30	0.000	6	0.000	0.000	383	2249	3431
81	-0.96	-146.6	5.0	-9.9	3	102	11.70	2.58	0.00	0.000	4	0.133	0.050	2586	3652	3433
439	-0.96	-146.6	55.5	-10.7	19	444	0.00	2.45	0.00	0.000	6	0.000	0.030	2587	2233	3434
772	-0.96	-146.6	61.7	2.7	35	777	0.00	2.58	0.00	0.000	4	0.000	0.051	2586	3638	3435
1074	-0.96	-146.6	68.4	-4.6	48	1079	0.00	2.38	0.00	0.000	6	0.000	0.029	2586	2248	3435
1390	-0.96	-146.6	86.0	-6.3	63	1394	0.00	2.53	0.00	0.000	4	0.000	0.051	2586	3648	3435
1439	-0.96	-146.6	89.8	-7.4	65	1444	0.00	2.40	0.00	0.000	6	0.000	0.029	2586	2239	3435
1756	-0.96	-146.6	118.8	-10.8	80	1760	0.00	2.55	0.00	0.000	4	0.000	0.052	2586	3649	3435
1822	-0.96	-146.6	126.4	-10.9	83	1826	0.00	2.38	0.00	0.000	6	0.000	0.029	2586	2251	3435
2143	-0.96	-146.6	147.3	-3.8	99	2147	0.00	2.53	0.00	0.000	4	0.000	0.050	2586	3656	3435
2255	-0.96	-146.6	152.9	-5.6	104	2259	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2248	3435
2576	-0.96	-146.6	171.6	-6.6	120	2577	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2248	3435
2885	-0.96	-146.6	195.2	-8.1	135	2889	0.00	2.53	0.00	0.000	4	0.000	0.050	2586	3652	3434
2957	-0.96	-146.6	201.7	-8.5	138	2961	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2247	3435
3272	-0.96	-146.6	224.3	-6.5	153	3277	0.00	2.55	0.00	0.000	4	0.000	0.051	2587	3647	3435
3327	-0.96	-146.6	228.0	-6.8	155	3332	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2237	3435
3643	-0.96	-146.6	246.6	-5.8	170	3648	0.00	2.55	0.00	0.000	4	0.000	0.052	2586	3650	3434
3693	-0.96	-146.6	249.7	-6.2	172	3698	0.00	2.42	0.00	0.000	6	0.000	0.030	2586	2250	3434
4014	-0.96	-146.6	267.2	-5.5	188	4018	0.00	2.53	0.00	0.000	4	0.000	0.051	2586	3653	3434
4081	-0.96	-146.6	271.1	-5.7	191	4086	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3434
4402	-0.96	-146.6	290.5	-6.6	207	4407	0.00	2.55	0.00	0.000	4	0.000	0.052	2586	3648	3434
4470	-0.96	-146.6	295.5	-7.7	210	4474	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2236	3433
4797	-0.96	-146.6	318.3	-7.1	226	4801	0.00	2.55	0.00	0.000	4	0.000	0.053	2586	3648	3433
4852	-0.96	-146.6	322.8	-8.2	228	4858	0.00	2.40	0.00	0.000	6	0.000	0.031	2587	2246	3434
5168	-0.96	-146.6	343.2	-6.4	244	5172	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3648	3433
5257	-0.96	-146.6	349.4	-6.9	248	5261	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2240	3433
5580	-0.96	-146.6	373.3	-8.4	264	5584	0.00	2.55	0.00	0.000	4	0.000	0.054	2586	3651	3433
5652	-0.96	-146.6	379.9	-8.9	267	5656	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2249	3432
5968	-0.96	-146.6	408.3	-9.6	282	5972	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3651	3432
6032	-0.96	-146.6	414.7	-10.6	285	6036	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2248	3432
6360	-0.96	-146.6	447.6	-9.9	301	6364	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3652	3432
6466	-0.96	-146.6	458.1	-9.6	306	6471	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3432
6793	-0.96	-146.6	485.9	-8.3	322	6798	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3650	3432
6901	-0.96	-146.6	495.6	-9.3	327	6905	0.00	2.42	0.00	0.000	6	0.000	0.031	2586	2251	3431
7233	-0.96	-146.6	523.0	-8.3	343	7238	0.00	2.55	0.00	0.000	4	0.000	0.053	2586	3651	3431
7300	-0.96	-146.6	528.8	-8.9	346	7305	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3431
7627	-0.96	-146.6	554.3	-7.5	362	7628	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2250	3431
7942	-0.96	-146.6	576.2	-6.5	377	7946	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3654	3431
8004	-0.96	-146.6	580.7	-6.7	380	8008	0.00	2.40	0.00	0.000	6	0.000	0.032	2586	2251	3431
8332	-0.96	-146.6	599.5	-6.0	396	8336	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3656	3430
8403	-0.96	-146.6	604.9	-7.9	399	8408	0.00	2.45	0.00	0.000	6	0.000	0.032	2587	2248	3431
8724	-0.96	-146.6	627.4	-6.8	415	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2248	3430
8825	end dive: BOTTOM_OBSTACLE_DETECTED
state	8825	begin apogee
8833	-0.36	0.0	633.6	6.0	420	8968	0.62	0.00	126.93	1.177	6	0.054	0.000	2725	1464	2832
8969	end apogee: CONTROL_FINISHED_OK
state	8969	begin climb
8971	0.96	146.6	633.5	0.0	427	9106	1.30	2.22	127.53	1.142	4	0.048	0.058	3011	265	2233
9178	0.96	146.6	628.2	6.4	436	9182	0.00	2.03	0.00	0.000	6	0.000	0.032	3011	1459	2228
9507	0.98	158.7	611.5	5.7	452	9519	0.00	0.00	10.93	1.002	6	0.000	0.000	3010	1459	2183
9817	1.04	208.1	595.4	4.6	467	9868	0.00	2.55	44.92	1.123	4	0.000	0.044	3011	2841	1982
9892	1.06	220.4	590.8	5.7	470	9911	0.00	2.47	12.30	1.005	6	0.000	0.038	3011	1448	1933
10229	1.06	220.4	566.9	7.4	487	10233	0.00	2.53	0.00	0.000	4	0.000	0.044	3011	2860	1927
10284	1.06	220.4	562.8	6.7	489	10290	0.00	2.47	0.00	0.000	6	0.000	0.037	3011	1452	1927
10603	1.06	220.4	542.1	6.1	505	10604	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	1453	1927
10909	1.06	222.4	524.0	5.9	520	10913	0.00	2.50	0.00	0.000	4	0.000	0.043	3010	2855	1925
10994	1.06	222.4	518.8	6.3	524	10998	0.00	2.47	0.00	0.000	6	0.000	0.038	3011	1448	1925
11321	1.07	230.0	499.5	5.8	540	11335	0.00	2.55	8.70	0.949	4	0.000	0.041	3011	2853	1893
11388	1.08	241.8	495.6	5.7	543	11410	0.10	2.47	12.20	0.999	6	0.047	0.037	3064	1446	1846
11722	1.08	241.8	468.6	8.4	559	11726	0.15	2.53	0.00	0.000	4	0.072	0.041	3032	2860	1843
11765	1.08	241.8	464.9	7.1	561	11770	0.00	2.47	0.00	0.000	6	0.000	0.038	3032	1452	1843
12089	1.08	241.8	441.0	8.0	577	12093	0.00	2.47	0.00	0.000	4	0.000	0.041	3032	2853	1842
12133	1.08	241.8	436.9	8.6	579	12137	0.00	2.45	0.00	0.000	6	0.000	0.037	3032	1452	1842
12454	1.08	241.8	405.2	10.1	595	12458	0.00	2.47	0.00	0.000	4	0.000	0.041	3032	2854	1842
12481	1.08	241.8	402.3	10.5	596	12485	0.00	2.45	0.00	0.000	6	0.000	0.037	3032	1454	1842
12800	1.08	241.8	372.3	8.9	611	12804	0.00	2.45	0.00	0.000	4	0.000	0.041	3032	2854	1842
12832	1.08	241.8	369.1	8.6	612	12839	0.00	2.42	0.00	0.000	6	0.000	0.037	3032	1455	1842
13148	1.08	241.8	342.2	8.8	628	13152	0.00	2.45	0.00	0.000	4	0.000	0.042	3032	2854	1842
13181	1.08	241.8	339.2	8.7	629	13187	0.00	2.45	0.00	0.000	6	0.000	0.037	3032	1452	1842
13496	1.08	241.8	310.8	8.8	645	13500	0.00	2.50	0.00	0.000	4	0.000	0.042	3032	2861	1842
13535	1.08	241.8	307.5	8.9	647	13539	0.00	2.45	0.00	0.000	6	0.000	0.038	3033	1457	1842
13861	1.08	241.8	280.7	8.2	663	13866	0.00	2.45	0.00	0.000	4	0.000	0.042	3032	2854	1842
13889	1.08	241.8	278.3	8.3	664	13893	0.00	2.45	0.00	0.000	6	0.000	0.038	3032	1453	1842
14204	1.08	241.8	255.8	6.3	679	14209	0.00	2.47	0.00	0.000	4	0.000	0.041	3032	2854	1842
14245	1.08	241.8	253.2	7.2	681	14249	0.00	2.45	0.00	0.000	6	0.000	0.038	3032	1453	1841
14571	1.08	241.8	229.4	8.2	697	14575	0.00	2.47	0.00	0.000	4	0.000	0.041	3032	2853	1842
14599	1.08	241.8	227.0	8.4	698	14603	0.00	2.45	0.00	0.000	6	0.000	0.037	3032	1453	1842
14915	1.08	241.8	199.7	8.2	713	14919	0.00	2.47	0.00	0.000	4	0.000	0.041	3032	2857	1842
14936	1.08	241.8	197.7	8.0	714	14940	0.00	2.45	0.00	0.000	6	0.000	0.037	3032	1454	1842
15257	1.10	253.7	176.1	5.7	730	15273	0.00	2.50	11.27	0.826	4	0.000	0.040	3032	2855	1797
15301	1.10	253.7	173.6	6.2	731	15305	0.00	2.47	0.00	0.000	6	0.000	0.037	3032	1450	1796
15622	1.10	253.7	145.7	9.8	747	15626	0.00	2.47	0.00	0.000	4	0.000	0.040	3032	2854	1795
15661	1.10	253.7	142.0	9.6	749	15666	0.00	2.45	0.00	0.000	6	0.000	0.036	3032	1449	1795
15988	1.10	253.7	114.4	8.3	765	15989	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	1449	1795
16297	1.10	253.7	91.3	7.1	780	16301	0.00	2.47	0.00	0.000	4	0.000	0.041	3032	2854	1795
16352	1.10	253.7	86.9	7.4	782	16358	0.00	2.45	0.00	0.000	6	0.000	0.036	3032	1452	1794
16668	1.10	253.7	62.9	7.4	798	16673	0.00	2.50	0.00	0.000	4	0.000	0.041	3032	2853	1795
16714	1.10	253.7	59.1	9.4	800	16718	0.00	2.45	0.00	0.000	6	0.000	0.036	3032	1445	1794
17042	1.10	253.7	22.4	10.4	816	17046	0.00	2.47	0.00	0.000	4	0.000	0.039	3032	2855	1795
17081	1.10	253.7	19.5	7.8	818	17086	0.00	2.45	0.00	0.000	6	0.000	0.035	3032	1445	1794
17344	end climb: SURFACE_DEPTH_REACHED
state	17344	begin surface coast
17388	end surface coast: CONTROL_FINISHED_OK
state	17388	begin surface