Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 235 * 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 235 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 -1632177.9 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 -1632177.9

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 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 235 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 144424,6141.297,-922.935,51,0.9,51,-9.5 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 5 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 -55.6 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 145026,6141.269,-923.013,12,1.4,12,-9.5 MHEAD_RNG_PITCHd_Wd 55.0,9854,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.026857 ALTIM_BOTTOM_PING 850.9,55.1

SM_CCo 21722,9.88,0.708,0,0,1609,300.00 _24V_AH 23.1,51.722

SM_GC 1.06,0.00,0.00,9.88,0.000,0.000,0.708,392,2245,1609,-11.08,-0.14,300.00 _10V_AH 10.1,31.583

IRIDIUM_FIX 6121.73,-925.50,301098,090911 DATA_FILE_SIZE 53668,1042

TT8_MAMPS 0.027612 CAP_FILE_SIZE 141643,0

HUMID 1918 CFSIZE 260165632,240623616

INTERNAL_PRESSURE 8.13832 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 14.70 GPS 050809,205427,6141.271,-925.394,29,2.6,48,-9.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 131 76.95 SBE_CT 896 24 496.91

Roll_motor 132 69 214.16 SBE_O2 756 19 332.19

VBD_pump_during_apogee 385 1427 12709.30 WL_BB2F 577 105 1399.98

VBD_pump_during_surface 9 707 161.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.54 nil 0 0 0.00

Iridium_during_connect 26 160 99.59 nil 0 0 0.00

Iridium_during_xfer 172 223 889.39

Transponder_ping 7 420 75.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.50

TT8 1885 19 377.15

LPSleep 16653 2 368.35

TT8_Active 477 19 95.55

TT8_Sampling 2240 39 900.77

TT8_CF8 833 45 385.56

TT8_Kalman 0 81 0.00

Analog_circuits 1637 12 198.47

GPS_charging 0 0 0.00

Compass 2407 8 194.49

RAFOS 0 0 0.00

Transponder 53 30 16.29

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 77 0.00 0.00 -58.33 0.000 6 0.000 0.000 388 2244 3431

81 -0.96 -146.6 5.4 -11.5 3 102 11.68 2.58 0.00 0.000 4 0.132 0.049 2584 3648 3433

439 -0.96 -146.6 46.3 -9.4 19 444 0.00 2.45 0.00 0.000 6 0.000 0.029 2584 2231 3434

771 -0.96 -146.6 76.6 -10.0 35 776 0.00 2.42 0.00 0.000 4 0.000 0.041 2584 865 3435

804 -0.96 -146.6 80.3 -10.5 36 809 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2243 3435

1125 -0.96 -146.6 116.5 -11.5 52 1129 0.00 2.55 0.00 0.000 4 0.000 0.056 2584 3650 3435

1180 -0.96 -146.6 123.3 -12.0 54 1187 0.00 2.38 0.00 0.000 6 0.000 0.029 2584 2254 3435

1495 -0.96 -146.6 157.2 -10.4 70 1497 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2254 3435

1807 -0.96 -146.6 185.3 -8.1 85 1811 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3650 3435

1919 -0.96 -146.6 194.3 -7.6 90 1923 0.00 2.40 0.00 0.000 6 0.000 0.029 2584 2242 3435

2240 -0.96 -146.6 212.7 -5.0 106 2245 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3650 3435

2296 -0.96 -146.6 216.0 -5.9 108 2303 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3435

2612 -0.96 -146.6 233.9 -5.9 124 2616 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3650 3435

2674 -0.96 -146.6 237.9 -6.5 127 2678 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2247 3435

3003 -0.96 -146.6 261.2 -7.5 143 3004 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2246 3435

3309 -0.96 -146.6 285.0 -8.1 158 3314 0.00 2.55 0.00 0.000 4 0.000 0.053 2584 3657 3435

3404 -0.96 -146.6 293.4 -9.0 162 3408 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2242 3434

3719 -0.96 -146.6 319.1 -8.1 177 3721 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2241 3434

4028 -0.96 -146.6 345.1 -8.2 192 4033 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3652 3434

4124 -0.96 -146.6 353.6 -9.1 196 4129 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2251 3434

4445 -0.96 -146.6 380.6 -8.7 212 4449 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3651 3434

4522 -0.96 -146.6 387.8 -9.2 215 4529 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3434

4841 -0.96 -146.6 413.1 -7.9 231 4845 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3656 3434

4907 -0.96 -146.6 418.9 -8.7 234 4911 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2250 3433

5227 -0.96 -146.6 444.3 -7.9 250 5232 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3650 3434

5311 -0.96 -146.6 451.5 -8.8 254 5316 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2240 3433

5639 -0.96 -146.6 478.5 -8.4 270 5643 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3652 3433

5705 -0.96 -146.6 484.6 -9.5 273 5710 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2253 3433

6031 -0.96 -146.6 514.7 -9.5 289 6033 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2252 3433

6343 -0.96 -146.6 544.5 -9.5 304 6347 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3650 3433

6549 -0.96 -146.6 565.6 -10.3 313 6554 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2247 3432

6866 -0.96 -146.6 593.4 -8.7 328 6867 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2247 3432

7174 -0.96 -146.6 621.6 -9.2 343 7175 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2247 3433

7484 -0.96 -146.6 645.9 -7.4 358 7489 0.00 2.58 0.00 0.000 4 0.000 0.054 2584 3650 3432

7529 -0.96 -146.6 649.3 -7.5 360 7534 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2251 3432

7861 -0.96 -146.6 670.3 -6.7 376 7862 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2251 3431

8172 -0.96 -146.6 697.9 -9.5 391 8173 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2250 3431

8479 -0.96 -146.6 727.1 -9.1 406 8484 0.00 2.47 0.00 0.000 4 0.000 0.045 2584 843 3430

8574 -0.96 -146.6 734.7 -7.2 410 8578 0.00 2.45 0.00 0.000 6 0.000 0.036 2584 2249 3431

8891 -0.96 -146.6 753.1 -5.5 425 8892 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2249 3430

9200 -0.96 -146.6 775.3 -8.2 440 9204 0.00 2.50 0.00 0.000 4 0.000 0.048 2584 850 3429

9257 -0.96 -146.6 779.8 -7.8 442 9263 0.00 2.42 0.00 0.000 6 0.000 0.038 2584 2246 3429

9573 -0.96 -146.6 798.8 -3.8 458 9574 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2246 3429

9883 -0.96 -146.6 813.0 -2.9 473 9884 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2249 3428

10191 -0.96 -146.6 834.4 -8.7 488 10192 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2249 3426

10501 -0.96 -146.6 861.3 -6.9 503 10506 0.00 2.58 0.00 0.000 4 0.000 0.064 2584 3652 3425

10609 -0.96 -146.6 864.8 -2.5 508 10613 0.00 2.42 0.00 0.000 6 0.000 0.036 2584 2254 3424

10935 -0.96 -146.6 880.1 -6.3 524 10936 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2254 3423

11242 end dive: BOTTOM_OBSTACLE_DETECTED

state 11242 begin apogee

11250 -0.36 0.0 896.5 6.1 539 11385 0.65 0.00 130.35 1.427 6 0.069 0.000 2722 1458 2832

11386 end apogee: CONTROL_FINISHED_OK

state 11386 begin climb

11389 0.96 146.6 898.9 0.0 546 11530 1.33 2.60 132.60 1.375 4 0.058 0.051 3008 2861 2233

11723 1.05 218.5 885.2 4.0 560 11798 0.08 2.55 64.80 1.355 6 0.058 0.045 3049 1450 1940

12107 1.05 218.5 846.1 10.0 579 12109 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1450 1931

12416 1.05 218.5 821.4 7.1 594 12420 0.00 2.58 0.00 0.000 4 0.000 0.051 3049 2866 1928

12484 1.05 218.5 815.5 7.7 597 12488 0.00 2.53 0.00 0.000 6 0.000 0.045 3048 1455 1928

12804 1.05 218.5 788.3 9.2 613 12805 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1455 1927

13114 1.13 281.7 764.1 4.3 628 13177 0.00 2.67 57.70 1.353 4 0.000 0.053 3049 2862 1683

13228 1.13 281.7 757.0 8.3 633 13233 0.00 2.58 0.00 0.000 6 0.000 0.046 3049 1453 1678

13554 1.13 281.7 733.6 7.1 649 13558 0.00 2.22 0.00 0.000 4 0.000 0.070 3048 259 1673

13593 1.13 281.7 730.8 8.1 650 13599 0.00 2.08 0.00 0.000 6 0.000 0.036 3049 1462 1673

13912 1.13 281.7 710.6 6.7 666 13915 0.00 2.22 0.00 0.000 4 0.000 0.065 3048 264 1672

14029 1.13 281.7 700.4 8.1 671 14033 0.00 2.05 0.00 0.000 6 0.000 0.035 3049 1456 1671

14357 1.13 281.7 674.8 8.1 687 14360 0.00 2.20 0.00 0.000 4 0.000 0.062 3048 263 1670

14395 1.13 281.7 671.2 8.5 688 14401 0.00 2.05 0.00 0.000 6 0.000 0.035 3048 1462 1670

14711 1.13 281.7 640.9 9.8 704 14714 0.00 2.20 0.00 0.000 4 0.000 0.060 3048 262 1670

14757 1.13 281.7 635.9 10.4 706 14762 0.00 2.08 0.00 0.000 6 0.000 0.034 3049 1457 1670

15088 1.13 281.7 601.3 10.3 722 15090 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1457 1670

15398 1.13 281.7 568.4 10.9 737 15399 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1457 1670

15707 1.13 281.7 535.8 10.2 752 15712 0.00 2.20 0.00 0.000 4 0.000 0.058 3049 262 1671

15768 1.13 281.7 529.3 10.3 754 15774 0.00 2.03 0.00 0.000 6 0.000 0.031 3049 1458 1671

16083 1.13 281.7 498.4 9.9 770 16084 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1458 1671

16393 1.13 281.7 468.1 9.8 785 16394 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1458 1671

16704 1.13 281.7 438.3 8.9 800 16708 0.00 2.17 0.00 0.000 4 0.000 0.058 3049 259 1671

16750 1.13 281.7 433.8 10.1 802 16753 0.00 2.03 0.00 0.000 6 0.000 0.031 3049 1456 1672

17084 1.13 281.7 404.2 9.0 818 17085 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1456 1672

17391 1.13 281.7 376.2 9.2 833 17393 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1456 1672

17700 1.13 281.7 347.0 9.4 848 17701 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1457 1673

18010 1.13 281.7 319.1 8.9 863 18011 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1457 1673

18319 1.13 281.7 289.3 10.0 878 18320 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1457 1673

18631 1.13 281.7 256.8 10.9 893 18632 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1457 1673

18937 1.13 281.7 225.2 9.7 908 18939 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1456 1674

19247 1.13 281.7 197.6 8.5 923 19248 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1457 1674

19556 1.13 281.7 174.9 7.1 938 19557 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1457 1674

19865 1.13 281.7 154.7 6.7 953 19866 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1457 1674

20175 1.13 281.7 129.2 9.2 968 20176 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1456 1674

20484 1.13 281.7 96.9 10.2 983 20485 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1457 1674

20795 1.13 281.7 71.5 6.2 998 20796 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1457 1675

21103 1.13 281.7 50.7 9.4 1013 21107 0.00 2.45 0.00 0.000 4 0.000 0.043 3049 2849 1675

21191 1.13 281.7 40.7 13.0 1017 21195 0.00 2.42 0.00 0.000 6 0.000 0.035 3049 1449 1674

21512 1.13 281.7 12.5 8.0 1033 21513 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1449 1674

21654 end climb: SURFACE_DEPTH_REACHED

state 21654 begin surface coast

21697 end surface coast: CONTROL_FINISHED_OK

state 21698 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	235	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	-1632177.9	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	144424,6141.297,-922.935,51,0.9,51,-9.5	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	5	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	-55.6	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	145026,6141.269,-923.013,12,1.4,12,-9.5	MHEAD_RNG_PITCHd_Wd	55.0,9854,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.026857	ALTIM_BOTTOM_PING	850.9,55.1
SM_CCo	21722,9.88,0.708,0,0,1609,300.00	_24V_AH	23.1,51.722
SM_GC	1.06,0.00,0.00,9.88,0.000,0.000,0.708,392,2245,1609,-11.08,-0.14,300.00	_10V_AH	10.1,31.583
IRIDIUM_FIX	6121.73,-925.50,301098,090911	DATA_FILE_SIZE	53668,1042
TT8_MAMPS	0.027612	CAP_FILE_SIZE	141643,0
HUMID	1918	CFSIZE	260165632,240623616
INTERNAL_PRESSURE	8.13832	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	14.70	GPS	050809,205427,6141.271,-925.394,29,2.6,48,-9.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	131	76.95	SBE_CT	896	24	496.91
Roll_motor	132	69	214.16	SBE_O2	756	19	332.19
VBD_pump_during_apogee	385	1427	12709.30	WL_BB2F	577	105	1399.98
VBD_pump_during_surface	9	707	161.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.54	nil	0	0	0.00
Iridium_during_connect	26	160	99.59	nil	0	0	0.00
Iridium_during_xfer	172	223	889.39
Transponder_ping	7	420	75.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.50
TT8	1885	19	377.15
LPSleep	16653	2	368.35
TT8_Active	477	19	95.55
TT8_Sampling	2240	39	900.77
TT8_CF8	833	45	385.56
TT8_Kalman	0	81	0.00
Analog_circuits	1637	12	198.47
GPS_charging	0	0	0.00
Compass	2407	8	194.49
RAFOS	0	0	0.00
Transponder	53	30	16.29

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	77	0.00	0.00	-58.33	0.000	6	0.000	0.000	388	2244	3431
81	-0.96	-146.6	5.4	-11.5	3	102	11.68	2.58	0.00	0.000	4	0.132	0.049	2584	3648	3433
439	-0.96	-146.6	46.3	-9.4	19	444	0.00	2.45	0.00	0.000	6	0.000	0.029	2584	2231	3434
771	-0.96	-146.6	76.6	-10.0	35	776	0.00	2.42	0.00	0.000	4	0.000	0.041	2584	865	3435
804	-0.96	-146.6	80.3	-10.5	36	809	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2243	3435
1125	-0.96	-146.6	116.5	-11.5	52	1129	0.00	2.55	0.00	0.000	4	0.000	0.056	2584	3650	3435
1180	-0.96	-146.6	123.3	-12.0	54	1187	0.00	2.38	0.00	0.000	6	0.000	0.029	2584	2254	3435
1495	-0.96	-146.6	157.2	-10.4	70	1497	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2254	3435
1807	-0.96	-146.6	185.3	-8.1	85	1811	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3650	3435
1919	-0.96	-146.6	194.3	-7.6	90	1923	0.00	2.40	0.00	0.000	6	0.000	0.029	2584	2242	3435
2240	-0.96	-146.6	212.7	-5.0	106	2245	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3650	3435
2296	-0.96	-146.6	216.0	-5.9	108	2303	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3435
2612	-0.96	-146.6	233.9	-5.9	124	2616	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3650	3435
2674	-0.96	-146.6	237.9	-6.5	127	2678	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2247	3435
3003	-0.96	-146.6	261.2	-7.5	143	3004	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2246	3435
3309	-0.96	-146.6	285.0	-8.1	158	3314	0.00	2.55	0.00	0.000	4	0.000	0.053	2584	3657	3435
3404	-0.96	-146.6	293.4	-9.0	162	3408	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2242	3434
3719	-0.96	-146.6	319.1	-8.1	177	3721	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2241	3434
4028	-0.96	-146.6	345.1	-8.2	192	4033	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3652	3434
4124	-0.96	-146.6	353.6	-9.1	196	4129	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2251	3434
4445	-0.96	-146.6	380.6	-8.7	212	4449	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3651	3434
4522	-0.96	-146.6	387.8	-9.2	215	4529	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3434
4841	-0.96	-146.6	413.1	-7.9	231	4845	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3656	3434
4907	-0.96	-146.6	418.9	-8.7	234	4911	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2250	3433
5227	-0.96	-146.6	444.3	-7.9	250	5232	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3650	3434
5311	-0.96	-146.6	451.5	-8.8	254	5316	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2240	3433
5639	-0.96	-146.6	478.5	-8.4	270	5643	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3652	3433
5705	-0.96	-146.6	484.6	-9.5	273	5710	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2253	3433
6031	-0.96	-146.6	514.7	-9.5	289	6033	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2252	3433
6343	-0.96	-146.6	544.5	-9.5	304	6347	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3650	3433
6549	-0.96	-146.6	565.6	-10.3	313	6554	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2247	3432
6866	-0.96	-146.6	593.4	-8.7	328	6867	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2247	3432
7174	-0.96	-146.6	621.6	-9.2	343	7175	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2247	3433
7484	-0.96	-146.6	645.9	-7.4	358	7489	0.00	2.58	0.00	0.000	4	0.000	0.054	2584	3650	3432
7529	-0.96	-146.6	649.3	-7.5	360	7534	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2251	3432
7861	-0.96	-146.6	670.3	-6.7	376	7862	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2251	3431
8172	-0.96	-146.6	697.9	-9.5	391	8173	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2250	3431
8479	-0.96	-146.6	727.1	-9.1	406	8484	0.00	2.47	0.00	0.000	4	0.000	0.045	2584	843	3430
8574	-0.96	-146.6	734.7	-7.2	410	8578	0.00	2.45	0.00	0.000	6	0.000	0.036	2584	2249	3431
8891	-0.96	-146.6	753.1	-5.5	425	8892	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2249	3430
9200	-0.96	-146.6	775.3	-8.2	440	9204	0.00	2.50	0.00	0.000	4	0.000	0.048	2584	850	3429
9257	-0.96	-146.6	779.8	-7.8	442	9263	0.00	2.42	0.00	0.000	6	0.000	0.038	2584	2246	3429
9573	-0.96	-146.6	798.8	-3.8	458	9574	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2246	3429
9883	-0.96	-146.6	813.0	-2.9	473	9884	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2249	3428
10191	-0.96	-146.6	834.4	-8.7	488	10192	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2249	3426
10501	-0.96	-146.6	861.3	-6.9	503	10506	0.00	2.58	0.00	0.000	4	0.000	0.064	2584	3652	3425
10609	-0.96	-146.6	864.8	-2.5	508	10613	0.00	2.42	0.00	0.000	6	0.000	0.036	2584	2254	3424
10935	-0.96	-146.6	880.1	-6.3	524	10936	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2254	3423
11242	end dive: BOTTOM_OBSTACLE_DETECTED
state	11242	begin apogee
11250	-0.36	0.0	896.5	6.1	539	11385	0.65	0.00	130.35	1.427	6	0.069	0.000	2722	1458	2832
11386	end apogee: CONTROL_FINISHED_OK
state	11386	begin climb
11389	0.96	146.6	898.9	0.0	546	11530	1.33	2.60	132.60	1.375	4	0.058	0.051	3008	2861	2233
11723	1.05	218.5	885.2	4.0	560	11798	0.08	2.55	64.80	1.355	6	0.058	0.045	3049	1450	1940
12107	1.05	218.5	846.1	10.0	579	12109	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1450	1931
12416	1.05	218.5	821.4	7.1	594	12420	0.00	2.58	0.00	0.000	4	0.000	0.051	3049	2866	1928
12484	1.05	218.5	815.5	7.7	597	12488	0.00	2.53	0.00	0.000	6	0.000	0.045	3048	1455	1928
12804	1.05	218.5	788.3	9.2	613	12805	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1455	1927
13114	1.13	281.7	764.1	4.3	628	13177	0.00	2.67	57.70	1.353	4	0.000	0.053	3049	2862	1683
13228	1.13	281.7	757.0	8.3	633	13233	0.00	2.58	0.00	0.000	6	0.000	0.046	3049	1453	1678
13554	1.13	281.7	733.6	7.1	649	13558	0.00	2.22	0.00	0.000	4	0.000	0.070	3048	259	1673
13593	1.13	281.7	730.8	8.1	650	13599	0.00	2.08	0.00	0.000	6	0.000	0.036	3049	1462	1673
13912	1.13	281.7	710.6	6.7	666	13915	0.00	2.22	0.00	0.000	4	0.000	0.065	3048	264	1672
14029	1.13	281.7	700.4	8.1	671	14033	0.00	2.05	0.00	0.000	6	0.000	0.035	3049	1456	1671
14357	1.13	281.7	674.8	8.1	687	14360	0.00	2.20	0.00	0.000	4	0.000	0.062	3048	263	1670
14395	1.13	281.7	671.2	8.5	688	14401	0.00	2.05	0.00	0.000	6	0.000	0.035	3048	1462	1670
14711	1.13	281.7	640.9	9.8	704	14714	0.00	2.20	0.00	0.000	4	0.000	0.060	3048	262	1670
14757	1.13	281.7	635.9	10.4	706	14762	0.00	2.08	0.00	0.000	6	0.000	0.034	3049	1457	1670
15088	1.13	281.7	601.3	10.3	722	15090	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1457	1670
15398	1.13	281.7	568.4	10.9	737	15399	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1457	1670
15707	1.13	281.7	535.8	10.2	752	15712	0.00	2.20	0.00	0.000	4	0.000	0.058	3049	262	1671
15768	1.13	281.7	529.3	10.3	754	15774	0.00	2.03	0.00	0.000	6	0.000	0.031	3049	1458	1671
16083	1.13	281.7	498.4	9.9	770	16084	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1458	1671
16393	1.13	281.7	468.1	9.8	785	16394	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1458	1671
16704	1.13	281.7	438.3	8.9	800	16708	0.00	2.17	0.00	0.000	4	0.000	0.058	3049	259	1671
16750	1.13	281.7	433.8	10.1	802	16753	0.00	2.03	0.00	0.000	6	0.000	0.031	3049	1456	1672
17084	1.13	281.7	404.2	9.0	818	17085	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1456	1672
17391	1.13	281.7	376.2	9.2	833	17393	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1456	1672
17700	1.13	281.7	347.0	9.4	848	17701	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1457	1673
18010	1.13	281.7	319.1	8.9	863	18011	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1457	1673
18319	1.13	281.7	289.3	10.0	878	18320	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1457	1673
18631	1.13	281.7	256.8	10.9	893	18632	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1457	1673
18937	1.13	281.7	225.2	9.7	908	18939	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1456	1674
19247	1.13	281.7	197.6	8.5	923	19248	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1457	1674
19556	1.13	281.7	174.9	7.1	938	19557	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1457	1674
19865	1.13	281.7	154.7	6.7	953	19866	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1457	1674
20175	1.13	281.7	129.2	9.2	968	20176	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1456	1674
20484	1.13	281.7	96.9	10.2	983	20485	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1457	1674
20795	1.13	281.7	71.5	6.2	998	20796	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1457	1675
21103	1.13	281.7	50.7	9.4	1013	21107	0.00	2.45	0.00	0.000	4	0.000	0.043	3049	2849	1675
21191	1.13	281.7	40.7	13.0	1017	21195	0.00	2.42	0.00	0.000	6	0.000	0.035	3049	1449	1674
21512	1.13	281.7	12.5	8.0	1033	21513	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1449	1674
21654	end climb: SURFACE_DEPTH_REACHED
state	21654	begin surface coast
21697	end surface coast: CONTROL_FINISHED_OK
state	21698	begin surface