Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 224 * 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 224 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -1631992.9 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 -1631992.9

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 22 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 224 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 065907,6150.960,-939.262,40,1.4,40,-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 0.87 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -60.1 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 070438,6150.963,-939.421,15,1.5,15,-9.7 MHEAD_RNG_PITCHd_Wd 127.0,24088,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.014692 XPDR_PINGS 0

SM_CCo 16666,0.00,0.000,0,0,1063,433.94 _24V_AH 23.3,49.913

SM_GC 1.04,11.60,0.00,0.00,0.021,0.000,0.000,387,2236,1063,-10.99,-0.40,433.94 _10V_AH 10.1,30.601

IRIDIUM_FIX 6130.75,-928.49,281098,010155 DATA_FILE_SIZE 41130,792

TT8_MAMPS 0.026845 CAP_FILE_SIZE 132600,0

HUMID 1906 CFSIZE 260165632,241328128

INTERNAL_PRESSURE 8.09926 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 17.50 GPS 030809,114400,6146.132,-943.258,37,1.5,37,-9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 79.77 SBE_CT 640 24 358.45

Roll_motor 178 59 245.63 SBE_O2 606 19 268.38

VBD_pump_during_apogee 505 1181 13928.72 WL_BB2F 463 105 1133.43

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 68.09 nil 0 0 0.00

Iridium_during_connect 27 160 102.23 nil 0 0 0.00

Iridium_during_xfer 147 223 764.61

Transponder_ping 5 420 51.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.92

TT8 1523 19 304.74

LPSleep 12133 2 268.38

TT8_Active 579 19 115.97

TT8_Sampling 2003 39 805.55

TT8_CF8 754 45 348.82

TT8_Kalman 0 81 0.00

Analog_circuits 1674 12 202.97

GPS_charging 0 0 0.00

Compass 2127 8 171.87

RAFOS 0 0 0.00

Transponder 34 30 10.58

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 93 0.00 0.00 -74.03 0.000 6 0.000 0.000 393 2241 3431

96 -0.96 -146.6 5.0 -5.8 4 117 11.65 2.60 0.00 0.000 4 0.133 0.050 2583 3657 3433

380 -0.96 -146.6 43.5 -13.1 16 386 0.00 2.45 0.00 0.000 6 0.000 0.029 2583 2226 3434

696 -0.96 -146.6 75.7 -10.2 32 697 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2226 3435

1005 -0.96 -146.6 106.1 -8.1 47 1010 0.00 2.60 0.00 0.000 4 0.000 0.051 2583 3645 3435

1234 -0.96 -146.6 119.8 -4.5 57 1238 0.00 2.38 0.00 0.000 6 0.000 0.030 2583 2253 3435

1555 -0.96 -146.6 137.4 -6.3 73 1560 0.00 2.55 0.00 0.000 4 0.000 0.051 2583 3648 3435

1611 -0.96 -146.6 140.9 -6.2 75 1615 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2245 3435

1927 -0.96 -146.6 159.5 -5.6 90 1931 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3648 3435

1999 -0.96 -146.6 163.7 -5.0 93 2003 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2248 3435

2315 -0.96 -146.6 172.6 -1.8 108 2319 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3649 3435

2404 -0.96 -146.6 174.2 -2.0 112 2408 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2247 3435

2724 -0.96 -146.6 189.2 -7.6 128 2729 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3648 3435

2819 -0.96 -146.6 197.2 -8.2 132 2823 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2249 3434

3137 -0.96 -146.6 226.5 -9.6 147 3141 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3649 3434

3231 -0.96 -146.6 235.8 -9.8 151 3235 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3434

3548 -0.96 -146.6 263.7 -8.1 166 3553 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3648 3434

3611 -0.96 -146.6 269.2 -9.0 169 3615 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2246 3434

3937 -0.96 -146.6 297.5 -9.1 185 3938 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2245 3433

4247 -0.96 -146.6 327.5 -9.6 200 4252 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3642 3433

4359 -0.96 -146.6 339.1 -10.7 205 4363 0.00 2.38 0.00 0.000 6 0.000 0.031 2583 2250 3433

4687 -0.96 -146.6 369.1 -8.4 221 4691 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3650 3432

4737 -0.96 -146.6 373.4 -8.3 223 4741 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2248 3432

5053 -0.96 -146.6 393.8 -6.0 238 5057 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3656 3432

5133 -0.96 -146.6 398.9 -6.1 241 5139 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2238 3432

5448 -0.96 -146.6 417.3 -6.9 257 5452 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3648 3432

5548 -0.96 -146.6 424.5 -7.6 261 5555 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2227 3432

5864 -0.96 -146.6 448.4 -7.9 277 5868 0.00 2.58 0.00 0.000 4 0.000 0.052 2583 3654 3432

5948 -0.96 -146.6 455.3 -8.0 281 5953 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3432

6275 -0.96 -146.6 479.3 -7.5 297 6279 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3650 3432

6343 -0.96 -146.6 484.6 -7.9 300 6347 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2249 3432

6666 -0.96 -146.6 508.4 -6.5 316 6671 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3650 3432

6733 -0.96 -146.6 513.6 -7.7 319 6737 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3431

7055 -0.96 -146.6 538.1 -8.1 335 7059 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3654 3432

7132 -0.96 -146.6 545.1 -8.7 338 7138 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3431

7448 -0.96 -146.6 570.2 -6.8 354 7453 0.00 2.55 0.00 0.000 4 0.000 0.052 2583 3645 3431

7494 -0.96 -146.6 574.0 -8.6 356 7499 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2247 3431

7821 -0.96 -146.6 589.0 -4.1 372 7826 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3642 3431

7890 -0.96 -146.6 591.8 -3.7 375 7894 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2243 3431

8217 -0.96 -146.6 602.7 -2.8 391 8221 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3651 3431

8376 -0.96 -146.6 608.5 -4.7 398 8380 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2252 3431

8696 -0.96 -146.6 628.8 -6.8 414 8700 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3650 3432

8780 -0.96 -146.6 634.1 -6.5 418 8784 0.00 2.40 0.00 0.000 6 0.000 0.032 2582 2250 3431

9108 -0.96 -146.6 647.1 -2.5 434 9109 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2250 3431

9416 -0.96 -146.6 651.5 -0.7 449 9420 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3653 3431

9576 -0.96 -146.6 651.6 0.2 456 9580 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2236 3431

9750 end dive: NO_VERTICAL_VELOCITY

state 9750 begin apogee

9758 -0.36 0.0 651.1 0.0 465 9892 0.65 0.00 127.15 1.182 6 0.066 0.000 2722 1464 2831

9893 end apogee: CONTROL_FINISHED_OK

state 9893 begin climb

9896 0.96 146.6 647.6 0.0 472 10031 1.30 2.22 127.57 1.147 4 0.054 0.058 3007 268 2233

10078 0.96 146.6 633.9 9.4 480 10086 0.00 2.05 0.00 0.000 6 0.000 0.032 3006 1456 2229

10394 0.96 146.6 606.0 9.3 496 10398 0.00 2.47 0.00 0.000 4 0.000 0.044 3007 2847 2225

10466 0.96 146.6 599.3 8.9 499 10471 0.00 2.47 0.00 0.000 6 0.000 0.038 3006 1450 2225

10787 0.96 146.6 571.9 8.0 515 10791 0.00 2.47 0.00 0.000 4 0.000 0.044 3007 2848 2223

10842 0.96 146.6 567.3 8.0 517 10848 0.00 2.45 0.00 0.000 6 0.000 0.038 3007 1454 2223

11160 0.96 146.6 541.6 8.5 533 11164 0.00 2.47 0.00 0.000 4 0.000 0.043 3006 2856 2222

11226 0.96 146.6 535.7 8.3 536 11230 0.00 2.47 0.00 0.000 6 0.000 0.037 3007 1445 2222

11548 0.96 146.6 510.9 6.8 552 11553 0.00 2.47 0.00 0.000 4 0.000 0.042 3007 2849 2222

11598 0.96 146.6 507.8 6.0 554 11602 0.00 2.42 0.00 0.000 6 0.000 0.038 3007 1453 2221

11914 1.10 259.7 493.1 2.9 569 12019 0.15 2.58 98.20 1.083 4 0.041 0.043 3075 2846 1771

12045 1.12 276.6 486.8 5.5 575 12068 0.15 2.47 16.08 0.978 6 0.077 0.039 3044 1447 1703

12379 1.20 336.2 474.0 4.4 591 12436 0.00 0.00 53.65 1.045 6 0.000 0.000 3044 1447 1461

12748 1.31 429.3 460.6 3.5 609 12840 0.17 2.60 83.12 1.039 4 0.034 0.041 3113 2849 1080

12857 1.31 429.3 451.6 11.0 614 12862 0.12 2.47 0.00 0.000 6 0.081 0.040 3086 1456 1078

13178 1.31 429.3 419.7 10.1 630 13181 0.00 2.17 0.00 0.000 4 0.000 0.059 3086 263 1071

13256 1.31 429.3 411.6 9.2 633 13260 0.00 2.00 0.00 0.000 6 0.000 0.031 3086 1457 1069

13579 1.31 429.3 380.8 9.9 649 13583 0.00 2.17 0.00 0.000 4 0.000 0.058 3086 264 1068

13652 1.31 429.3 372.9 11.1 652 13657 0.00 2.05 0.00 0.000 6 0.000 0.031 3086 1453 1068

13978 1.31 429.3 342.0 8.9 668 13982 0.00 2.17 0.00 0.000 4 0.000 0.058 3086 259 1067

14024 1.31 429.3 337.4 9.9 670 14027 0.00 2.03 0.00 0.000 6 0.000 0.031 3086 1455 1067

14357 1.31 429.3 310.2 10.2 686 14360 0.00 2.17 0.00 0.000 4 0.000 0.057 3086 258 1067

14406 1.31 429.3 303.8 12.5 688 14410 0.00 2.03 0.00 0.000 6 0.000 0.031 3086 1454 1066

14733 1.31 429.3 266.1 11.0 704 14737 0.00 2.17 0.00 0.000 4 0.000 0.058 3086 258 1067

14779 1.31 429.3 261.3 11.0 706 14783 0.00 2.03 0.00 0.000 6 0.000 0.031 3086 1454 1066

15112 1.31 429.3 227.3 12.4 722 15116 0.00 2.15 0.00 0.000 4 0.000 0.057 3086 263 1066

15158 1.31 429.3 219.9 16.6 724 15161 0.00 2.03 0.00 0.000 6 0.000 0.031 3086 1456 1066

15491 1.31 429.3 158.0 19.7 740 15495 0.00 2.15 0.00 0.000 4 0.000 0.056 3086 262 1066

15518 1.31 429.3 152.4 19.5 741 15522 0.00 2.03 0.00 0.000 6 0.000 0.031 3086 1457 1066

15845 1.31 429.3 92.5 17.5 757 15846 0.00 0.00 0.00 0.000 6 0.000 0.000 3086 1457 1065

16156 1.31 429.3 45.5 12.7 772 16159 0.00 2.15 0.00 0.000 4 0.000 0.054 3086 262 1066

16206 1.31 429.3 39.1 12.1 774 16209 0.00 2.00 0.00 0.000 6 0.000 0.031 3086 1455 1065

16533 1.31 429.3 5.5 9.8 790 16536 0.00 2.15 0.00 0.000 4 0.000 0.054 3086 262 1065

16554 end climb: SURFACE_DEPTH_REACHED

state 16554 begin surface coast

16580 end surface coast: CONTROL_FINISHED_OK

state 16580 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	224	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-1631992.9	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	065907,6150.960,-939.262,40,1.4,40,-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	0.87	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-60.1	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	070438,6150.963,-939.421,15,1.5,15,-9.7	MHEAD_RNG_PITCHd_Wd	127.0,24088,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.014692	XPDR_PINGS	0
SM_CCo	16666,0.00,0.000,0,0,1063,433.94	_24V_AH	23.3,49.913
SM_GC	1.04,11.60,0.00,0.00,0.021,0.000,0.000,387,2236,1063,-10.99,-0.40,433.94	_10V_AH	10.1,30.601
IRIDIUM_FIX	6130.75,-928.49,281098,010155	DATA_FILE_SIZE	41130,792
TT8_MAMPS	0.026845	CAP_FILE_SIZE	132600,0
HUMID	1906	CFSIZE	260165632,241328128
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	17.50	GPS	030809,114400,6146.132,-943.258,37,1.5,37,-9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	79.77	SBE_CT	640	24	358.45
Roll_motor	178	59	245.63	SBE_O2	606	19	268.38
VBD_pump_during_apogee	505	1181	13928.72	WL_BB2F	463	105	1133.43
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	68.09	nil	0	0	0.00
Iridium_during_connect	27	160	102.23	nil	0	0	0.00
Iridium_during_xfer	147	223	764.61
Transponder_ping	5	420	51.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.92
TT8	1523	19	304.74
LPSleep	12133	2	268.38
TT8_Active	579	19	115.97
TT8_Sampling	2003	39	805.55
TT8_CF8	754	45	348.82
TT8_Kalman	0	81	0.00
Analog_circuits	1674	12	202.97
GPS_charging	0	0	0.00
Compass	2127	8	171.87
RAFOS	0	0	0.00
Transponder	34	30	10.58

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	93	0.00	0.00	-74.03	0.000	6	0.000	0.000	393	2241	3431
96	-0.96	-146.6	5.0	-5.8	4	117	11.65	2.60	0.00	0.000	4	0.133	0.050	2583	3657	3433
380	-0.96	-146.6	43.5	-13.1	16	386	0.00	2.45	0.00	0.000	6	0.000	0.029	2583	2226	3434
696	-0.96	-146.6	75.7	-10.2	32	697	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2226	3435
1005	-0.96	-146.6	106.1	-8.1	47	1010	0.00	2.60	0.00	0.000	4	0.000	0.051	2583	3645	3435
1234	-0.96	-146.6	119.8	-4.5	57	1238	0.00	2.38	0.00	0.000	6	0.000	0.030	2583	2253	3435
1555	-0.96	-146.6	137.4	-6.3	73	1560	0.00	2.55	0.00	0.000	4	0.000	0.051	2583	3648	3435
1611	-0.96	-146.6	140.9	-6.2	75	1615	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2245	3435
1927	-0.96	-146.6	159.5	-5.6	90	1931	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3648	3435
1999	-0.96	-146.6	163.7	-5.0	93	2003	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2248	3435
2315	-0.96	-146.6	172.6	-1.8	108	2319	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3649	3435
2404	-0.96	-146.6	174.2	-2.0	112	2408	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2247	3435
2724	-0.96	-146.6	189.2	-7.6	128	2729	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3648	3435
2819	-0.96	-146.6	197.2	-8.2	132	2823	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2249	3434
3137	-0.96	-146.6	226.5	-9.6	147	3141	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3649	3434
3231	-0.96	-146.6	235.8	-9.8	151	3235	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3434
3548	-0.96	-146.6	263.7	-8.1	166	3553	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3648	3434
3611	-0.96	-146.6	269.2	-9.0	169	3615	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2246	3434
3937	-0.96	-146.6	297.5	-9.1	185	3938	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2245	3433
4247	-0.96	-146.6	327.5	-9.6	200	4252	0.00	2.55	0.00	0.000	4	0.000	0.053	2583	3642	3433
4359	-0.96	-146.6	339.1	-10.7	205	4363	0.00	2.38	0.00	0.000	6	0.000	0.031	2583	2250	3433
4687	-0.96	-146.6	369.1	-8.4	221	4691	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3650	3432
4737	-0.96	-146.6	373.4	-8.3	223	4741	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2248	3432
5053	-0.96	-146.6	393.8	-6.0	238	5057	0.00	2.55	0.00	0.000	4	0.000	0.053	2583	3656	3432
5133	-0.96	-146.6	398.9	-6.1	241	5139	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2238	3432
5448	-0.96	-146.6	417.3	-6.9	257	5452	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3648	3432
5548	-0.96	-146.6	424.5	-7.6	261	5555	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2227	3432
5864	-0.96	-146.6	448.4	-7.9	277	5868	0.00	2.58	0.00	0.000	4	0.000	0.052	2583	3654	3432
5948	-0.96	-146.6	455.3	-8.0	281	5953	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3432
6275	-0.96	-146.6	479.3	-7.5	297	6279	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3650	3432
6343	-0.96	-146.6	484.6	-7.9	300	6347	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2249	3432
6666	-0.96	-146.6	508.4	-6.5	316	6671	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3650	3432
6733	-0.96	-146.6	513.6	-7.7	319	6737	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3431
7055	-0.96	-146.6	538.1	-8.1	335	7059	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3654	3432
7132	-0.96	-146.6	545.1	-8.7	338	7138	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3431
7448	-0.96	-146.6	570.2	-6.8	354	7453	0.00	2.55	0.00	0.000	4	0.000	0.052	2583	3645	3431
7494	-0.96	-146.6	574.0	-8.6	356	7499	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2247	3431
7821	-0.96	-146.6	589.0	-4.1	372	7826	0.00	2.55	0.00	0.000	4	0.000	0.053	2583	3642	3431
7890	-0.96	-146.6	591.8	-3.7	375	7894	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2243	3431
8217	-0.96	-146.6	602.7	-2.8	391	8221	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3651	3431
8376	-0.96	-146.6	608.5	-4.7	398	8380	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2252	3431
8696	-0.96	-146.6	628.8	-6.8	414	8700	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3650	3432
8780	-0.96	-146.6	634.1	-6.5	418	8784	0.00	2.40	0.00	0.000	6	0.000	0.032	2582	2250	3431
9108	-0.96	-146.6	647.1	-2.5	434	9109	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2250	3431
9416	-0.96	-146.6	651.5	-0.7	449	9420	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3653	3431
9576	-0.96	-146.6	651.6	0.2	456	9580	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2236	3431
9750	end dive: NO_VERTICAL_VELOCITY
state	9750	begin apogee
9758	-0.36	0.0	651.1	0.0	465	9892	0.65	0.00	127.15	1.182	6	0.066	0.000	2722	1464	2831
9893	end apogee: CONTROL_FINISHED_OK
state	9893	begin climb
9896	0.96	146.6	647.6	0.0	472	10031	1.30	2.22	127.57	1.147	4	0.054	0.058	3007	268	2233
10078	0.96	146.6	633.9	9.4	480	10086	0.00	2.05	0.00	0.000	6	0.000	0.032	3006	1456	2229
10394	0.96	146.6	606.0	9.3	496	10398	0.00	2.47	0.00	0.000	4	0.000	0.044	3007	2847	2225
10466	0.96	146.6	599.3	8.9	499	10471	0.00	2.47	0.00	0.000	6	0.000	0.038	3006	1450	2225
10787	0.96	146.6	571.9	8.0	515	10791	0.00	2.47	0.00	0.000	4	0.000	0.044	3007	2848	2223
10842	0.96	146.6	567.3	8.0	517	10848	0.00	2.45	0.00	0.000	6	0.000	0.038	3007	1454	2223
11160	0.96	146.6	541.6	8.5	533	11164	0.00	2.47	0.00	0.000	4	0.000	0.043	3006	2856	2222
11226	0.96	146.6	535.7	8.3	536	11230	0.00	2.47	0.00	0.000	6	0.000	0.037	3007	1445	2222
11548	0.96	146.6	510.9	6.8	552	11553	0.00	2.47	0.00	0.000	4	0.000	0.042	3007	2849	2222
11598	0.96	146.6	507.8	6.0	554	11602	0.00	2.42	0.00	0.000	6	0.000	0.038	3007	1453	2221
11914	1.10	259.7	493.1	2.9	569	12019	0.15	2.58	98.20	1.083	4	0.041	0.043	3075	2846	1771
12045	1.12	276.6	486.8	5.5	575	12068	0.15	2.47	16.08	0.978	6	0.077	0.039	3044	1447	1703
12379	1.20	336.2	474.0	4.4	591	12436	0.00	0.00	53.65	1.045	6	0.000	0.000	3044	1447	1461
12748	1.31	429.3	460.6	3.5	609	12840	0.17	2.60	83.12	1.039	4	0.034	0.041	3113	2849	1080
12857	1.31	429.3	451.6	11.0	614	12862	0.12	2.47	0.00	0.000	6	0.081	0.040	3086	1456	1078
13178	1.31	429.3	419.7	10.1	630	13181	0.00	2.17	0.00	0.000	4	0.000	0.059	3086	263	1071
13256	1.31	429.3	411.6	9.2	633	13260	0.00	2.00	0.00	0.000	6	0.000	0.031	3086	1457	1069
13579	1.31	429.3	380.8	9.9	649	13583	0.00	2.17	0.00	0.000	4	0.000	0.058	3086	264	1068
13652	1.31	429.3	372.9	11.1	652	13657	0.00	2.05	0.00	0.000	6	0.000	0.031	3086	1453	1068
13978	1.31	429.3	342.0	8.9	668	13982	0.00	2.17	0.00	0.000	4	0.000	0.058	3086	259	1067
14024	1.31	429.3	337.4	9.9	670	14027	0.00	2.03	0.00	0.000	6	0.000	0.031	3086	1455	1067
14357	1.31	429.3	310.2	10.2	686	14360	0.00	2.17	0.00	0.000	4	0.000	0.057	3086	258	1067
14406	1.31	429.3	303.8	12.5	688	14410	0.00	2.03	0.00	0.000	6	0.000	0.031	3086	1454	1066
14733	1.31	429.3	266.1	11.0	704	14737	0.00	2.17	0.00	0.000	4	0.000	0.058	3086	258	1067
14779	1.31	429.3	261.3	11.0	706	14783	0.00	2.03	0.00	0.000	6	0.000	0.031	3086	1454	1066
15112	1.31	429.3	227.3	12.4	722	15116	0.00	2.15	0.00	0.000	4	0.000	0.057	3086	263	1066
15158	1.31	429.3	219.9	16.6	724	15161	0.00	2.03	0.00	0.000	6	0.000	0.031	3086	1456	1066
15491	1.31	429.3	158.0	19.7	740	15495	0.00	2.15	0.00	0.000	4	0.000	0.056	3086	262	1066
15518	1.31	429.3	152.4	19.5	741	15522	0.00	2.03	0.00	0.000	6	0.000	0.031	3086	1457	1066
15845	1.31	429.3	92.5	17.5	757	15846	0.00	0.00	0.00	0.000	6	0.000	0.000	3086	1457	1065
16156	1.31	429.3	45.5	12.7	772	16159	0.00	2.15	0.00	0.000	4	0.000	0.054	3086	262	1066
16206	1.31	429.3	39.1	12.1	774	16209	0.00	2.00	0.00	0.000	6	0.000	0.031	3086	1455	1065
16533	1.31	429.3	5.5	9.8	790	16536	0.00	2.15	0.00	0.000	4	0.000	0.054	3086	262	1065
16554	end climb: SURFACE_DEPTH_REACHED
state	16554	begin surface coast
16580	end surface coast: CONTROL_FINISHED_OK
state	16580	begin surface