Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 238 * 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 238 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 33 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 -1632237.8 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 -1632237.8

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 33 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 238 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 093131,6138.022,-922.534,42,1.3,42,-9.5 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.95 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -56.5 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 093756,6137.972,-922.516,13,1.7,13,-9.5 MHEAD_RNG_PITCHd_Wd 36.3,14588,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026842 ALTIM_BOTTOM_PING 776.1,77.7

SM_CCo 20952,0.00,0.000,0,0,1477,332.38 _24V_AH 23.1,52.309

SM_GC 1.03,11.52,0.00,0.00,0.022,0.000,0.000,392,2232,1477,-10.98,-0.54,332.38 _10V_AH 10.1,31.895

IRIDIUM_FIX 6112.75,-928.48,311098,020251 DATA_FILE_SIZE 50529,1000

TT8_MAMPS 0.026845 CAP_FILE_SIZE 146401,0

HUMID 1881 CFSIZE 260165632,240410624

INTERNAL_PRESSURE 8.13832 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 18.20 GPS 060809,152837,6139.380,-913.722,32,1.0,32,-9.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 77.78 SBE_CT 892 24 494.64

Roll_motor 160 70 262.35 SBE_O2 714 19 313.77

VBD_pump_during_apogee 422 1402 13683.10 WL_BB2F 585 105 1419.36

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 27 103 65.68 nil 0 0 0.00

Iridium_during_connect 42 160 155.90 nil 0 0 0.00

Iridium_during_xfer 178 223 920.79

Transponder_ping 6 420 65.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.65

TT8 1846 19 369.26

LPSleep 15816 2 349.86

TT8_Active 500 19 100.10

TT8_Sampling 2292 39 921.35

TT8_CF8 871 45 403.37

TT8_Kalman 0 81 0.00

Analog_circuits 1706 12 206.84

GPS_charging 0 0 0.00

Compass 2466 8 199.28

RAFOS 0 0 0.00

Transponder 46 30 13.95

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 -60.35 0.000 6 0.000 0.000 391 2242 3431

81 -0.96 -146.6 4.4 -7.8 3 102 11.68 2.60 0.00 0.000 4 0.133 0.051 2584 3653 3432

439 -0.96 -146.6 42.4 -8.5 19 444 0.00 2.45 0.00 0.000 6 0.000 0.028 2584 2229 3434

771 -0.96 -146.6 67.3 -7.1 35 776 0.00 2.58 0.00 0.000 4 0.000 0.052 2584 3650 3434

929 -0.96 -146.6 80.7 -8.6 42 933 0.00 2.38 0.00 0.000 6 0.000 0.028 2584 2251 3434

1250 -0.96 -146.6 109.0 -8.9 58 1255 0.00 2.55 0.00 0.000 4 0.000 0.052 2584 3644 3435

1333 -0.96 -146.6 117.7 -10.7 61 1339 0.00 2.38 0.00 0.000 6 0.000 0.028 2584 2247 3435

1649 -0.96 -146.6 145.8 -8.9 77 1650 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2247 3435

1958 -0.96 -146.6 173.5 -8.8 92 1963 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3638 3435

2074 -0.96 -146.6 185.3 -9.9 97 2079 0.00 2.35 0.00 0.000 6 0.000 0.029 2584 2254 3435

2395 -0.96 -146.6 215.1 -9.0 113 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2254 3434

2705 -0.96 -146.6 244.5 -9.7 128 2709 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3648 3434

2801 -0.96 -146.6 254.2 -10.3 132 2806 0.00 2.38 0.00 0.000 6 0.000 0.028 2584 2251 3434

3117 -0.96 -146.6 282.5 -8.3 147 3121 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3650 3434

3202 -0.96 -146.6 290.1 -9.3 151 3206 0.00 2.38 0.00 0.000 6 0.000 0.028 2584 2251 3434

3529 -0.96 -146.6 317.2 -8.1 167 3533 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3650 3434

3601 -0.96 -146.6 322.6 -7.1 170 3606 0.00 2.42 0.00 0.000 6 0.000 0.029 2584 2248 3433

3922 -0.96 -146.6 340.3 -5.0 186 3927 0.00 2.55 0.00 0.000 4 0.000 0.053 2584 3638 3433

3990 -0.96 -146.6 343.9 -5.7 189 3994 0.00 2.38 0.00 0.000 6 0.000 0.029 2584 2245 3433

4317 -0.96 -146.6 359.5 -4.7 205 4322 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3650 3432

4390 -0.96 -146.6 363.6 -5.7 208 4395 0.00 2.42 0.00 0.000 6 0.000 0.030 2584 2251 3432

4711 -0.96 -146.6 381.0 -5.8 224 4716 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3648 3432

4778 -0.96 -146.6 385.5 -6.4 227 4782 0.00 2.40 0.00 0.000 6 0.000 0.029 2584 2238 3432

5102 -0.96 -146.6 402.7 -5.0 243 5106 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3647 3432

5188 -0.96 -146.6 407.0 -5.2 247 5192 0.00 2.38 0.00 0.000 6 0.000 0.029 2584 2253 3431

5514 -0.96 -146.6 422.5 -4.9 263 5515 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2253 3431

5824 -0.96 -146.6 438.8 -5.4 278 5828 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3648 3431

5880 -0.96 -146.6 442.2 -6.5 280 5887 0.00 2.40 0.00 0.000 6 0.000 0.029 2584 2237 3431

6198 -0.96 -146.6 459.7 -5.2 296 6202 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3652 3431

6247 -0.96 -146.6 462.3 -5.6 298 6252 0.00 2.38 0.00 0.000 6 0.000 0.029 2584 2253 3431

6563 -0.96 -146.6 477.9 -4.9 313 6564 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2253 3431

6875 -0.96 -146.6 493.1 -5.0 328 6879 0.00 2.50 0.00 0.000 4 0.000 0.052 2584 3646 3431

6941 -0.96 -146.6 497.1 -6.0 331 6946 0.00 2.40 0.00 0.000 6 0.000 0.029 2584 2253 3431

7268 -0.96 -146.6 511.8 -4.2 347 7272 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3651 3431

7368 -0.96 -146.6 516.7 -5.6 351 7375 0.00 2.38 0.00 0.000 6 0.000 0.029 2584 2250 3431

7684 -0.96 -146.6 535.7 -7.2 367 7688 0.00 2.45 0.00 0.000 4 0.000 0.043 2585 848 3430

7716 -0.96 -146.6 538.1 -6.8 368 7722 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2247 3430

8034 -0.96 -146.6 559.6 -6.9 384 8035 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2247 3431

8342 -0.96 -146.6 578.7 -5.7 399 8346 0.00 2.45 0.00 0.000 4 0.000 0.044 2584 852 3430

8385 -0.96 -146.6 581.8 -7.1 401 8391 0.00 2.45 0.00 0.000 6 0.000 0.035 2584 2247 3431

8712 -0.96 -146.6 601.5 -5.8 417 8716 0.00 2.47 0.00 0.000 4 0.000 0.044 2584 846 3430

8756 -0.96 -146.6 604.1 -5.6 419 8761 0.00 2.45 0.00 0.000 6 0.000 0.035 2584 2259 3430

9077 -0.96 -146.6 624.7 -7.1 435 9079 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2259 3430

9387 -0.96 -146.6 646.2 -6.8 450 9391 0.00 2.50 0.00 0.000 4 0.000 0.044 2585 847 3429

9459 -0.96 -146.6 651.1 -6.0 453 9463 0.00 2.45 0.00 0.000 6 0.000 0.035 2584 2258 3429

9777 -0.96 -146.6 667.2 -5.4 468 9781 0.00 2.50 0.00 0.000 4 0.000 0.045 2584 847 3429

9832 -0.96 -146.6 670.7 -5.6 470 9839 0.00 2.42 0.00 0.000 6 0.000 0.035 2584 2246 3429

10150 -0.96 -146.6 687.9 -5.3 486 10154 0.00 2.47 0.00 0.000 4 0.000 0.044 2584 846 3429

10347 -0.96 -146.6 700.9 -7.6 495 10351 0.00 2.45 0.00 0.000 6 0.000 0.036 2584 2252 3429

10675 -0.96 -146.6 723.5 -6.6 511 10676 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2253 3428

10983 -0.96 -146.6 742.4 -5.9 526 10987 0.00 2.50 0.00 0.000 4 0.000 0.048 2584 853 3428

11016 -0.96 -146.6 744.2 -5.7 527 11023 0.00 2.45 0.00 0.000 6 0.000 0.039 2584 2246 3428

11332 -0.96 -146.6 762.1 -6.3 543 11334 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2246 3427

11641 -0.96 -146.6 781.5 -5.1 558 11643 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2246 3425

11953 -0.96 -146.6 801.1 -6.4 573 11954 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2246 3423

12260 -0.96 -146.6 822.5 -7.8 588 12261 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2249 3421

12569 -0.96 -146.6 842.0 -7.0 603 12573 0.00 2.60 0.00 0.000 4 0.000 0.067 2584 3660 3420

12599 end dive: BOTTOM_OBSTACLE_DETECTED

state 12599 begin apogee

12610 -0.36 0.0 844.1 5.2 604 12742 0.60 0.00 129.43 1.402 6 0.073 0.000 2715 1467 2832

12743 end apogee: CONTROL_FINISHED_OK

state 12743 begin climb

12746 0.96 146.6 855.7 0.0 611 12887 1.35 2.33 131.40 1.359 4 0.055 0.068 3008 267 2233

13098 1.19 328.0 843.2 1.0 627 13270 0.22 2.08 161.65 1.345 6 0.036 0.037 3071 1472 1493

13597 1.19 328.0 796.2 9.9 651 13601 0.00 2.50 0.00 0.000 4 0.000 0.052 3071 2849 1480

13652 1.19 328.0 789.7 12.1 653 13659 0.00 2.53 0.00 0.000 6 0.000 0.047 3071 1450 1479

13968 1.19 328.0 755.3 9.6 669 13969 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1449 1478

14277 1.19 328.0 724.8 10.0 684 14278 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1450 1476

14586 1.19 328.0 688.0 12.5 699 14590 0.00 2.22 0.00 0.000 4 0.000 0.071 3071 257 1475

14686 1.19 328.0 675.4 12.8 703 14692 0.00 2.08 0.00 0.000 6 0.000 0.035 3071 1453 1475

15008 1.19 328.0 638.7 11.4 719 15011 0.00 2.20 0.00 0.000 4 0.000 0.065 3070 262 1474

15098 1.19 328.0 627.4 12.1 723 15102 0.00 2.03 0.00 0.000 6 0.000 0.034 3071 1455 1474

15430 1.19 328.0 587.9 13.1 739 15434 0.00 2.20 0.00 0.000 4 0.000 0.062 3070 258 1473

15486 1.19 328.0 579.9 14.0 741 15491 0.00 2.08 0.00 0.000 6 0.000 0.031 3071 1456 1473

15807 1.19 328.0 541.7 11.8 757 15808 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1456 1473

16116 1.19 328.0 502.5 12.3 772 16120 0.00 2.17 0.00 0.000 4 0.000 0.059 3071 261 1473

16207 1.19 328.0 490.8 12.8 776 16211 0.00 2.03 0.00 0.000 6 0.000 0.031 3070 1458 1474

16540 1.19 328.0 454.2 11.0 792 16541 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1458 1474

16849 1.19 328.0 419.0 11.8 807 16850 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1458 1474

17158 1.19 328.0 380.7 12.8 822 17159 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1458 1475

17467 1.19 328.0 341.3 12.9 837 17468 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1458 1475

17777 1.19 328.0 303.1 12.8 852 17778 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1458 1476

18088 1.19 328.0 261.9 13.3 867 18092 0.00 2.17 0.00 0.000 4 0.000 0.057 3071 258 1476

18171 1.19 328.0 250.0 13.8 870 18178 0.00 2.05 0.00 0.000 6 0.000 0.031 3071 1453 1476

18488 1.19 328.0 209.1 13.9 886 18492 0.00 2.47 0.00 0.000 4 0.000 0.045 3071 2849 1477

18520 1.19 328.0 204.6 13.4 887 18526 0.00 2.45 0.00 0.000 6 0.000 0.037 3071 1445 1477

18836 1.19 328.0 169.8 11.3 903 18837 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1445 1477

19146 1.19 328.0 140.3 8.7 918 19151 0.00 2.47 0.00 0.000 4 0.000 0.041 3071 2842 1477

19201 1.19 328.0 135.2 9.1 920 19205 0.00 2.42 0.00 0.000 6 0.000 0.036 3071 1451 1477

19518 1.19 328.0 107.5 7.8 935 19519 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1451 1478

19826 1.19 328.0 83.0 8.4 950 19830 0.00 2.12 0.00 0.000 4 0.000 0.055 3070 267 1478

19918 1.19 328.0 75.8 8.3 954 19922 0.00 2.00 0.00 0.000 6 0.000 0.030 3071 1455 1478

20252 1.19 328.0 52.9 6.9 970 20254 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1455 1478

20561 1.19 328.0 28.9 8.4 985 20562 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1455 1478

20846 end climb: SURFACE_DEPTH_REACHED

state 20846 begin surface coast

20868 end surface coast: CONTROL_FINISHED_OK

state 20868 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	238	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	33	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	-1632237.8	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	093131,6138.022,-922.534,42,1.3,42,-9.5	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.95	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-56.5	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	093756,6137.972,-922.516,13,1.7,13,-9.5	MHEAD_RNG_PITCHd_Wd	36.3,14588,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.026842	ALTIM_BOTTOM_PING	776.1,77.7
SM_CCo	20952,0.00,0.000,0,0,1477,332.38	_24V_AH	23.1,52.309
SM_GC	1.03,11.52,0.00,0.00,0.022,0.000,0.000,392,2232,1477,-10.98,-0.54,332.38	_10V_AH	10.1,31.895
IRIDIUM_FIX	6112.75,-928.48,311098,020251	DATA_FILE_SIZE	50529,1000
TT8_MAMPS	0.026845	CAP_FILE_SIZE	146401,0
HUMID	1881	CFSIZE	260165632,240410624
INTERNAL_PRESSURE	8.13832	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	18.20	GPS	060809,152837,6139.380,-913.722,32,1.0,32,-9.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	77.78	SBE_CT	892	24	494.64
Roll_motor	160	70	262.35	SBE_O2	714	19	313.77
VBD_pump_during_apogee	422	1402	13683.10	WL_BB2F	585	105	1419.36
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	27	103	65.68	nil	0	0	0.00
Iridium_during_connect	42	160	155.90	nil	0	0	0.00
Iridium_during_xfer	178	223	920.79
Transponder_ping	6	420	65.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.65
TT8	1846	19	369.26
LPSleep	15816	2	349.86
TT8_Active	500	19	100.10
TT8_Sampling	2292	39	921.35
TT8_CF8	871	45	403.37
TT8_Kalman	0	81	0.00
Analog_circuits	1706	12	206.84
GPS_charging	0	0	0.00
Compass	2466	8	199.28
RAFOS	0	0	0.00
Transponder	46	30	13.95

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	-60.35	0.000	6	0.000	0.000	391	2242	3431
81	-0.96	-146.6	4.4	-7.8	3	102	11.68	2.60	0.00	0.000	4	0.133	0.051	2584	3653	3432
439	-0.96	-146.6	42.4	-8.5	19	444	0.00	2.45	0.00	0.000	6	0.000	0.028	2584	2229	3434
771	-0.96	-146.6	67.3	-7.1	35	776	0.00	2.58	0.00	0.000	4	0.000	0.052	2584	3650	3434
929	-0.96	-146.6	80.7	-8.6	42	933	0.00	2.38	0.00	0.000	6	0.000	0.028	2584	2251	3434
1250	-0.96	-146.6	109.0	-8.9	58	1255	0.00	2.55	0.00	0.000	4	0.000	0.052	2584	3644	3435
1333	-0.96	-146.6	117.7	-10.7	61	1339	0.00	2.38	0.00	0.000	6	0.000	0.028	2584	2247	3435
1649	-0.96	-146.6	145.8	-8.9	77	1650	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2247	3435
1958	-0.96	-146.6	173.5	-8.8	92	1963	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3638	3435
2074	-0.96	-146.6	185.3	-9.9	97	2079	0.00	2.35	0.00	0.000	6	0.000	0.029	2584	2254	3435
2395	-0.96	-146.6	215.1	-9.0	113	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2254	3434
2705	-0.96	-146.6	244.5	-9.7	128	2709	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3648	3434
2801	-0.96	-146.6	254.2	-10.3	132	2806	0.00	2.38	0.00	0.000	6	0.000	0.028	2584	2251	3434
3117	-0.96	-146.6	282.5	-8.3	147	3121	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3650	3434
3202	-0.96	-146.6	290.1	-9.3	151	3206	0.00	2.38	0.00	0.000	6	0.000	0.028	2584	2251	3434
3529	-0.96	-146.6	317.2	-8.1	167	3533	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3650	3434
3601	-0.96	-146.6	322.6	-7.1	170	3606	0.00	2.42	0.00	0.000	6	0.000	0.029	2584	2248	3433
3922	-0.96	-146.6	340.3	-5.0	186	3927	0.00	2.55	0.00	0.000	4	0.000	0.053	2584	3638	3433
3990	-0.96	-146.6	343.9	-5.7	189	3994	0.00	2.38	0.00	0.000	6	0.000	0.029	2584	2245	3433
4317	-0.96	-146.6	359.5	-4.7	205	4322	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3650	3432
4390	-0.96	-146.6	363.6	-5.7	208	4395	0.00	2.42	0.00	0.000	6	0.000	0.030	2584	2251	3432
4711	-0.96	-146.6	381.0	-5.8	224	4716	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3648	3432
4778	-0.96	-146.6	385.5	-6.4	227	4782	0.00	2.40	0.00	0.000	6	0.000	0.029	2584	2238	3432
5102	-0.96	-146.6	402.7	-5.0	243	5106	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3647	3432
5188	-0.96	-146.6	407.0	-5.2	247	5192	0.00	2.38	0.00	0.000	6	0.000	0.029	2584	2253	3431
5514	-0.96	-146.6	422.5	-4.9	263	5515	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2253	3431
5824	-0.96	-146.6	438.8	-5.4	278	5828	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3648	3431
5880	-0.96	-146.6	442.2	-6.5	280	5887	0.00	2.40	0.00	0.000	6	0.000	0.029	2584	2237	3431
6198	-0.96	-146.6	459.7	-5.2	296	6202	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3652	3431
6247	-0.96	-146.6	462.3	-5.6	298	6252	0.00	2.38	0.00	0.000	6	0.000	0.029	2584	2253	3431
6563	-0.96	-146.6	477.9	-4.9	313	6564	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2253	3431
6875	-0.96	-146.6	493.1	-5.0	328	6879	0.00	2.50	0.00	0.000	4	0.000	0.052	2584	3646	3431
6941	-0.96	-146.6	497.1	-6.0	331	6946	0.00	2.40	0.00	0.000	6	0.000	0.029	2584	2253	3431
7268	-0.96	-146.6	511.8	-4.2	347	7272	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3651	3431
7368	-0.96	-146.6	516.7	-5.6	351	7375	0.00	2.38	0.00	0.000	6	0.000	0.029	2584	2250	3431
7684	-0.96	-146.6	535.7	-7.2	367	7688	0.00	2.45	0.00	0.000	4	0.000	0.043	2585	848	3430
7716	-0.96	-146.6	538.1	-6.8	368	7722	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2247	3430
8034	-0.96	-146.6	559.6	-6.9	384	8035	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2247	3431
8342	-0.96	-146.6	578.7	-5.7	399	8346	0.00	2.45	0.00	0.000	4	0.000	0.044	2584	852	3430
8385	-0.96	-146.6	581.8	-7.1	401	8391	0.00	2.45	0.00	0.000	6	0.000	0.035	2584	2247	3431
8712	-0.96	-146.6	601.5	-5.8	417	8716	0.00	2.47	0.00	0.000	4	0.000	0.044	2584	846	3430
8756	-0.96	-146.6	604.1	-5.6	419	8761	0.00	2.45	0.00	0.000	6	0.000	0.035	2584	2259	3430
9077	-0.96	-146.6	624.7	-7.1	435	9079	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2259	3430
9387	-0.96	-146.6	646.2	-6.8	450	9391	0.00	2.50	0.00	0.000	4	0.000	0.044	2585	847	3429
9459	-0.96	-146.6	651.1	-6.0	453	9463	0.00	2.45	0.00	0.000	6	0.000	0.035	2584	2258	3429
9777	-0.96	-146.6	667.2	-5.4	468	9781	0.00	2.50	0.00	0.000	4	0.000	0.045	2584	847	3429
9832	-0.96	-146.6	670.7	-5.6	470	9839	0.00	2.42	0.00	0.000	6	0.000	0.035	2584	2246	3429
10150	-0.96	-146.6	687.9	-5.3	486	10154	0.00	2.47	0.00	0.000	4	0.000	0.044	2584	846	3429
10347	-0.96	-146.6	700.9	-7.6	495	10351	0.00	2.45	0.00	0.000	6	0.000	0.036	2584	2252	3429
10675	-0.96	-146.6	723.5	-6.6	511	10676	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2253	3428
10983	-0.96	-146.6	742.4	-5.9	526	10987	0.00	2.50	0.00	0.000	4	0.000	0.048	2584	853	3428
11016	-0.96	-146.6	744.2	-5.7	527	11023	0.00	2.45	0.00	0.000	6	0.000	0.039	2584	2246	3428
11332	-0.96	-146.6	762.1	-6.3	543	11334	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2246	3427
11641	-0.96	-146.6	781.5	-5.1	558	11643	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2246	3425
11953	-0.96	-146.6	801.1	-6.4	573	11954	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2246	3423
12260	-0.96	-146.6	822.5	-7.8	588	12261	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2249	3421
12569	-0.96	-146.6	842.0	-7.0	603	12573	0.00	2.60	0.00	0.000	4	0.000	0.067	2584	3660	3420
12599	end dive: BOTTOM_OBSTACLE_DETECTED
state	12599	begin apogee
12610	-0.36	0.0	844.1	5.2	604	12742	0.60	0.00	129.43	1.402	6	0.073	0.000	2715	1467	2832
12743	end apogee: CONTROL_FINISHED_OK
state	12743	begin climb
12746	0.96	146.6	855.7	0.0	611	12887	1.35	2.33	131.40	1.359	4	0.055	0.068	3008	267	2233
13098	1.19	328.0	843.2	1.0	627	13270	0.22	2.08	161.65	1.345	6	0.036	0.037	3071	1472	1493
13597	1.19	328.0	796.2	9.9	651	13601	0.00	2.50	0.00	0.000	4	0.000	0.052	3071	2849	1480
13652	1.19	328.0	789.7	12.1	653	13659	0.00	2.53	0.00	0.000	6	0.000	0.047	3071	1450	1479
13968	1.19	328.0	755.3	9.6	669	13969	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1449	1478
14277	1.19	328.0	724.8	10.0	684	14278	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1450	1476
14586	1.19	328.0	688.0	12.5	699	14590	0.00	2.22	0.00	0.000	4	0.000	0.071	3071	257	1475
14686	1.19	328.0	675.4	12.8	703	14692	0.00	2.08	0.00	0.000	6	0.000	0.035	3071	1453	1475
15008	1.19	328.0	638.7	11.4	719	15011	0.00	2.20	0.00	0.000	4	0.000	0.065	3070	262	1474
15098	1.19	328.0	627.4	12.1	723	15102	0.00	2.03	0.00	0.000	6	0.000	0.034	3071	1455	1474
15430	1.19	328.0	587.9	13.1	739	15434	0.00	2.20	0.00	0.000	4	0.000	0.062	3070	258	1473
15486	1.19	328.0	579.9	14.0	741	15491	0.00	2.08	0.00	0.000	6	0.000	0.031	3071	1456	1473
15807	1.19	328.0	541.7	11.8	757	15808	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1456	1473
16116	1.19	328.0	502.5	12.3	772	16120	0.00	2.17	0.00	0.000	4	0.000	0.059	3071	261	1473
16207	1.19	328.0	490.8	12.8	776	16211	0.00	2.03	0.00	0.000	6	0.000	0.031	3070	1458	1474
16540	1.19	328.0	454.2	11.0	792	16541	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1458	1474
16849	1.19	328.0	419.0	11.8	807	16850	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1458	1474
17158	1.19	328.0	380.7	12.8	822	17159	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1458	1475
17467	1.19	328.0	341.3	12.9	837	17468	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1458	1475
17777	1.19	328.0	303.1	12.8	852	17778	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1458	1476
18088	1.19	328.0	261.9	13.3	867	18092	0.00	2.17	0.00	0.000	4	0.000	0.057	3071	258	1476
18171	1.19	328.0	250.0	13.8	870	18178	0.00	2.05	0.00	0.000	6	0.000	0.031	3071	1453	1476
18488	1.19	328.0	209.1	13.9	886	18492	0.00	2.47	0.00	0.000	4	0.000	0.045	3071	2849	1477
18520	1.19	328.0	204.6	13.4	887	18526	0.00	2.45	0.00	0.000	6	0.000	0.037	3071	1445	1477
18836	1.19	328.0	169.8	11.3	903	18837	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1445	1477
19146	1.19	328.0	140.3	8.7	918	19151	0.00	2.47	0.00	0.000	4	0.000	0.041	3071	2842	1477
19201	1.19	328.0	135.2	9.1	920	19205	0.00	2.42	0.00	0.000	6	0.000	0.036	3071	1451	1477
19518	1.19	328.0	107.5	7.8	935	19519	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1451	1478
19826	1.19	328.0	83.0	8.4	950	19830	0.00	2.12	0.00	0.000	4	0.000	0.055	3070	267	1478
19918	1.19	328.0	75.8	8.3	954	19922	0.00	2.00	0.00	0.000	6	0.000	0.030	3071	1455	1478
20252	1.19	328.0	52.9	6.9	970	20254	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1455	1478
20561	1.19	328.0	28.9	8.4	985	20562	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1455	1478
20846	end climb: SURFACE_DEPTH_REACHED
state	20846	begin surface coast
20868	end surface coast: CONTROL_FINISHED_OK
state	20868	begin surface