Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 243 * 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 243 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 26 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 -1632349.1 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 -1632349.1

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 26 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 243 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 151706,6151.479,-931.333,28,1.4,28,-9.6 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.96 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -58.9 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 152238,6151.516,-931.406,11,1.4,11,-9.6 MHEAD_RNG_PITCHd_Wd 164.1,64694,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026708 ALTIM_BOTTOM_PING 676.2,41.9

SM_CCo 18896,0.00,0.000,0,0,1325,369.67 _24V_AH 23.2,53.146

SM_GC 1.10,11.52,0.00,0.00,0.024,0.000,0.000,394,2240,1325,-10.98,-0.28,369.67 _10V_AH 10.1,32.391

IRIDIUM_FIX 6126.23,-922.50,011198,101002 DATA_FILE_SIZE 47380,898

TT8_MAMPS 0.026845 CAP_FILE_SIZE 141360,0

HUMID 1882 CFSIZE 260165632,240062464

INTERNAL_PRESSURE 8.13832 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 15.20 GPS 070809,203907,6154.935,-937.993,36,1.3,36,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 78.86 SBE_CT 798 24 444.37

Roll_motor 175 59 244.25 SBE_O2 622 19 274.26

VBD_pump_during_apogee 458 1275 13579.07 WL_BB2F 555 105 1353.41

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 24 103 57.83 nil 0 0 0.00

Iridium_during_connect 27 160 102.12 nil 0 0 0.00

Iridium_during_xfer 155 223 802.97

Transponder_ping 5 420 56.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.83

TT8 1709 19 341.78

LPSleep 13979 2 309.20

TT8_Active 590 19 118.15

TT8_Sampling 2146 39 863.02

TT8_CF8 800 45 370.22

TT8_Kalman 0 81 0.00

Analog_circuits 1723 12 208.93

GPS_charging 0 0 0.00

Compass 2295 8 185.44

RAFOS 0 0 0.00

Transponder 39 30 11.96

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 98 0.00 0.00 -81.25 0.000 6 0.000 0.000 389 2241 3431

101 -0.96 -146.6 4.8 -6.1 4 123 11.75 2.55 0.00 0.000 4 0.134 0.051 2582 3654 3432

252 -0.96 -146.6 25.2 -7.0 10 258 0.00 2.42 0.00 0.000 6 0.000 0.030 2583 2228 3433

567 -0.96 -146.6 45.4 -6.5 26 572 0.00 2.58 0.00 0.000 4 0.000 0.051 2582 3653 3434

618 -0.96 -146.6 49.7 -8.4 28 622 0.00 2.40 0.00 0.000 6 0.000 0.028 2583 2244 3433

934 -0.96 -146.6 71.5 -5.9 43 938 0.00 2.55 0.00 0.000 4 0.000 0.052 2583 3653 3434

1019 -0.96 -146.6 76.2 -6.1 47 1024 0.00 2.40 0.00 0.000 6 0.000 0.029 2583 2243 3434

1347 -0.96 -146.6 96.7 -7.0 63 1352 0.00 2.58 0.00 0.000 4 0.000 0.051 2583 3652 3435

1396 -0.96 -146.6 101.0 -8.6 65 1400 0.00 2.40 0.00 0.000 6 0.000 0.029 2583 2246 3434

1719 -0.96 -146.6 125.7 -7.4 81 1723 0.00 2.45 0.00 0.000 4 0.000 0.043 2583 847 3435

1752 -0.96 -146.6 128.5 -8.1 82 1758 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2257 3434

2067 -0.96 -146.6 155.3 -8.6 98 2068 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2257 3435

2376 -0.96 -146.6 183.5 -10.0 113 2381 0.00 2.55 0.00 0.000 4 0.000 0.057 2583 3647 3434

2499 -0.96 -146.6 196.1 -10.0 118 2503 0.00 2.38 0.00 0.000 6 0.000 0.029 2583 2251 3434

2815 -0.96 -146.6 223.4 -8.2 133 2819 0.00 2.53 0.00 0.000 4 0.000 0.052 2582 3650 3434

2864 -0.96 -146.6 227.4 -7.4 135 2868 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2242 3434

3182 -0.96 -146.6 242.6 -3.5 150 3184 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2242 3434

3489 -0.96 -146.6 251.6 -3.3 165 3493 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3647 3433

3561 -0.96 -146.6 255.4 -5.4 168 3565 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2242 3433

3877 -0.96 -146.6 276.8 -8.2 183 3882 0.00 2.55 0.00 0.000 4 0.000 0.052 2583 3640 3432

3945 -0.96 -146.6 283.0 -9.3 186 3949 0.00 2.38 0.00 0.000 6 0.000 0.031 2583 2252 3432

4271 -0.96 -146.6 310.9 -7.7 202 4276 0.00 2.53 0.00 0.000 4 0.000 0.052 2582 3653 3432

4333 -0.96 -146.6 315.0 -6.8 205 4338 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3432

4661 -0.96 -146.6 333.5 -5.9 221 4665 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3651 3432

4817 -0.96 -146.6 344.6 -7.7 228 4822 0.00 2.42 0.00 0.000 6 0.000 0.031 2582 2251 3431

5143 -0.96 -146.6 370.7 -8.6 244 5147 0.00 2.50 0.00 0.000 4 0.000 0.051 2583 3647 3431

5221 -0.96 -146.6 378.0 -9.5 247 5227 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2242 3431

5537 -0.96 -146.6 405.1 -8.1 263 5541 0.00 2.55 0.00 0.000 4 0.000 0.054 2582 3649 3431

5644 -0.96 -146.6 414.2 -8.0 268 5649 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2249 3431

5972 -0.96 -146.6 431.8 -3.9 284 5976 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3650 3431

6056 -0.96 -146.6 435.8 -4.8 288 6060 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3431

6383 -0.96 -146.6 452.4 -6.1 304 6387 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3647 3430

6472 -0.96 -146.6 458.5 -6.8 308 6477 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2250 3430

6796 -0.96 -146.6 481.1 -7.5 324 6800 0.00 2.53 0.00 0.000 4 0.000 0.054 2583 3650 3430

6896 -0.96 -146.6 489.4 -8.1 328 6902 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2249 3430

7215 -0.96 -146.6 505.9 -4.2 344 7219 0.00 2.47 0.00 0.000 4 0.000 0.045 2583 841 3429

7255 -0.96 -146.6 507.7 -4.5 346 7260 0.00 2.45 0.00 0.000 6 0.000 0.035 2583 2252 3429

7586 -0.96 -146.6 525.0 -6.6 362 7590 0.00 2.53 0.00 0.000 4 0.000 0.056 2582 3651 3429

7761 -0.96 -146.6 539.0 -7.8 370 7766 0.00 2.45 0.00 0.000 6 0.000 0.033 2583 2251 3429

8096 -0.96 -146.6 565.1 -7.2 386 8100 0.00 2.53 0.00 0.000 4 0.000 0.055 2583 3650 3428

8191 -0.96 -146.6 570.8 -4.7 390 8195 0.00 2.42 0.00 0.000 6 0.000 0.032 2582 2237 3428

8507 -0.96 -146.6 575.6 -0.2 405 8511 0.00 2.58 0.00 0.000 4 0.000 0.057 2583 3649 3427

8637 -0.96 -146.6 577.1 -2.1 411 8641 0.00 2.40 0.00 0.000 6 0.000 0.033 2583 2254 3427

8964 -0.96 -146.6 588.4 -3.2 427 8966 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2254 3426

9272 -0.96 -146.6 607.0 -7.7 442 9276 0.00 2.50 0.00 0.000 4 0.000 0.048 2583 844 3425

9300 -0.96 -146.6 609.6 -9.8 443 9304 0.00 2.47 0.00 0.000 6 0.000 0.038 2583 2255 3426

9618 -0.96 -146.6 634.6 -7.0 458 9622 0.00 2.53 0.00 0.000 4 0.000 0.060 2583 3648 3425

9673 -0.96 -146.6 639.4 -9.0 460 9679 0.00 2.42 0.00 0.000 6 0.000 0.035 2583 2252 3425

9990 -0.96 -146.6 670.5 -12.3 476 9991 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2246 3423

10298 -0.96 -146.6 704.6 -8.6 491 10303 0.00 2.53 0.00 0.000 4 0.000 0.051 2582 851 3422

10329 end dive: BOTTOM_OBSTACLE_DETECTED

state 10329 begin apogee

10336 -0.36 0.0 708.2 9.4 492 10469 0.60 0.00 127.30 1.276 6 0.064 0.000 2715 1462 2832

10470 end apogee: CONTROL_FINISHED_OK

state 10470 begin climb

10473 0.96 146.6 713.0 0.0 499 10611 1.33 2.60 129.73 1.235 4 0.047 0.051 3011 2850 2232

10950 0.96 146.6 689.7 11.8 520 10956 0.00 2.47 0.00 0.000 6 0.000 0.045 3011 1457 2222

11266 1.00 176.2 670.9 5.2 536 11297 0.00 2.60 25.90 1.204 4 0.000 0.048 3011 2860 2112

11500 1.04 209.0 661.2 5.1 546 11536 0.00 2.53 30.25 1.214 6 0.000 0.043 3011 1448 1980

11860 1.11 267.0 647.4 4.4 564 11919 0.12 0.00 53.75 1.234 6 0.044 0.000 3062 1448 1743

12230 1.11 267.0 604.6 14.5 582 12232 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1448 1734

12537 1.11 267.0 557.0 15.0 597 12541 0.00 2.53 0.00 0.000 4 0.000 0.048 3062 2858 1732

12614 1.11 267.0 544.7 16.1 600 12621 0.00 2.50 0.00 0.000 6 0.000 0.042 3062 1454 1731

12930 1.11 267.0 495.0 13.7 616 12935 0.00 2.50 0.00 0.000 4 0.000 0.045 3062 2860 1731

12963 1.11 267.0 490.3 13.6 617 12970 0.00 2.50 0.00 0.000 6 0.000 0.041 3062 1451 1730

13281 1.11 267.0 454.3 10.5 633 13283 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1451 1729

13589 1.11 267.0 418.0 11.2 648 13593 0.00 2.50 0.00 0.000 4 0.000 0.042 3062 2862 1729

13638 1.11 267.0 412.6 10.9 650 13642 0.00 2.47 0.00 0.000 6 0.000 0.038 3062 1454 1729

13956 1.11 267.0 386.8 6.5 665 13957 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1454 1729

14263 1.14 289.0 368.8 5.4 680 14285 0.00 0.00 18.90 1.014 6 0.000 0.000 3062 1454 1653

14595 1.14 289.0 346.5 7.8 696 14599 0.00 2.50 0.00 0.000 4 0.000 0.041 3062 2862 1650

14644 1.14 289.0 342.3 7.8 698 14648 0.00 2.47 0.00 0.000 6 0.000 0.037 3062 1454 1649

14960 1.14 289.0 316.1 8.8 713 14961 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1454 1649

15269 1.14 289.0 286.8 9.8 728 15274 0.00 2.17 0.00 0.000 4 0.000 0.059 3062 266 1650

15296 1.14 289.0 283.9 10.0 729 15300 0.00 2.00 0.00 0.000 6 0.000 0.030 3062 1467 1650

15623 1.14 289.0 257.1 6.9 745 15627 0.00 2.42 0.00 0.000 4 0.000 0.044 3062 2843 1650

15650 1.14 289.0 255.2 7.0 746 15654 0.00 2.42 0.00 0.000 6 0.000 0.037 3062 1454 1650

15966 1.15 301.0 236.0 5.7 761 15987 0.00 2.53 12.05 0.873 4 0.000 0.040 3062 2842 1603

16037 1.15 301.0 231.6 6.1 764 16042 0.00 2.47 0.00 0.000 6 0.000 0.037 3062 1456 1603

16364 1.23 359.5 214.4 4.4 780 16424 0.00 0.00 53.15 0.919 6 0.000 0.000 3062 1456 1365

16736 1.23 362.2 197.1 5.9 798 16740 0.00 2.45 0.00 0.000 4 0.000 0.041 3062 2845 1359

16769 1.23 362.2 194.7 6.1 799 16775 0.00 2.45 0.00 0.000 6 0.000 0.037 3062 1451 1359

17084 1.23 362.2 163.7 12.8 815 17088 0.00 2.15 0.00 0.000 4 0.000 0.058 3062 259 1357

17168 1.23 362.2 151.4 14.6 818 17174 0.00 2.00 0.00 0.000 6 0.000 0.028 3062 1463 1356

17484 1.23 362.2 113.9 9.6 834 17485 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1463 1356

17794 1.24 368.2 92.6 5.8 849 17804 0.00 0.00 7.85 0.720 6 0.000 0.000 3062 1463 1330

18103 1.24 368.2 70.5 7.6 864 18107 0.00 2.17 0.00 0.000 4 0.000 0.054 3062 258 1328

18173 1.24 368.2 63.4 11.1 867 18177 0.00 2.03 0.00 0.000 6 0.000 0.031 3062 1455 1328

18507 1.24 368.2 29.1 9.7 883 18512 0.00 2.45 0.00 0.000 4 0.000 0.041 3062 2847 1328

18532 1.24 368.2 26.6 9.2 884 18536 0.00 2.42 0.00 0.000 6 0.000 0.035 3062 1451 1327

18788 end climb: SURFACE_DEPTH_REACHED

state 18788 begin surface coast

18811 end surface coast: CONTROL_FINISHED_OK

state 18811 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	243	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	26	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	-1632349.1	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	151706,6151.479,-931.333,28,1.4,28,-9.6	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.96	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-58.9	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	152238,6151.516,-931.406,11,1.4,11,-9.6	MHEAD_RNG_PITCHd_Wd	164.1,64694,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.026708	ALTIM_BOTTOM_PING	676.2,41.9
SM_CCo	18896,0.00,0.000,0,0,1325,369.67	_24V_AH	23.2,53.146
SM_GC	1.10,11.52,0.00,0.00,0.024,0.000,0.000,394,2240,1325,-10.98,-0.28,369.67	_10V_AH	10.1,32.391
IRIDIUM_FIX	6126.23,-922.50,011198,101002	DATA_FILE_SIZE	47380,898
TT8_MAMPS	0.026845	CAP_FILE_SIZE	141360,0
HUMID	1882	CFSIZE	260165632,240062464
INTERNAL_PRESSURE	8.13832	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	15.20	GPS	070809,203907,6154.935,-937.993,36,1.3,36,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	78.86	SBE_CT	798	24	444.37
Roll_motor	175	59	244.25	SBE_O2	622	19	274.26
VBD_pump_during_apogee	458	1275	13579.07	WL_BB2F	555	105	1353.41
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	24	103	57.83	nil	0	0	0.00
Iridium_during_connect	27	160	102.12	nil	0	0	0.00
Iridium_during_xfer	155	223	802.97
Transponder_ping	5	420	56.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.83
TT8	1709	19	341.78
LPSleep	13979	2	309.20
TT8_Active	590	19	118.15
TT8_Sampling	2146	39	863.02
TT8_CF8	800	45	370.22
TT8_Kalman	0	81	0.00
Analog_circuits	1723	12	208.93
GPS_charging	0	0	0.00
Compass	2295	8	185.44
RAFOS	0	0	0.00
Transponder	39	30	11.96

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	98	0.00	0.00	-81.25	0.000	6	0.000	0.000	389	2241	3431
101	-0.96	-146.6	4.8	-6.1	4	123	11.75	2.55	0.00	0.000	4	0.134	0.051	2582	3654	3432
252	-0.96	-146.6	25.2	-7.0	10	258	0.00	2.42	0.00	0.000	6	0.000	0.030	2583	2228	3433
567	-0.96	-146.6	45.4	-6.5	26	572	0.00	2.58	0.00	0.000	4	0.000	0.051	2582	3653	3434
618	-0.96	-146.6	49.7	-8.4	28	622	0.00	2.40	0.00	0.000	6	0.000	0.028	2583	2244	3433
934	-0.96	-146.6	71.5	-5.9	43	938	0.00	2.55	0.00	0.000	4	0.000	0.052	2583	3653	3434
1019	-0.96	-146.6	76.2	-6.1	47	1024	0.00	2.40	0.00	0.000	6	0.000	0.029	2583	2243	3434
1347	-0.96	-146.6	96.7	-7.0	63	1352	0.00	2.58	0.00	0.000	4	0.000	0.051	2583	3652	3435
1396	-0.96	-146.6	101.0	-8.6	65	1400	0.00	2.40	0.00	0.000	6	0.000	0.029	2583	2246	3434
1719	-0.96	-146.6	125.7	-7.4	81	1723	0.00	2.45	0.00	0.000	4	0.000	0.043	2583	847	3435
1752	-0.96	-146.6	128.5	-8.1	82	1758	0.00	2.42	0.00	0.000	6	0.000	0.032	2583	2257	3434
2067	-0.96	-146.6	155.3	-8.6	98	2068	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2257	3435
2376	-0.96	-146.6	183.5	-10.0	113	2381	0.00	2.55	0.00	0.000	4	0.000	0.057	2583	3647	3434
2499	-0.96	-146.6	196.1	-10.0	118	2503	0.00	2.38	0.00	0.000	6	0.000	0.029	2583	2251	3434
2815	-0.96	-146.6	223.4	-8.2	133	2819	0.00	2.53	0.00	0.000	4	0.000	0.052	2582	3650	3434
2864	-0.96	-146.6	227.4	-7.4	135	2868	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2242	3434
3182	-0.96	-146.6	242.6	-3.5	150	3184	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2242	3434
3489	-0.96	-146.6	251.6	-3.3	165	3493	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3647	3433
3561	-0.96	-146.6	255.4	-5.4	168	3565	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2242	3433
3877	-0.96	-146.6	276.8	-8.2	183	3882	0.00	2.55	0.00	0.000	4	0.000	0.052	2583	3640	3432
3945	-0.96	-146.6	283.0	-9.3	186	3949	0.00	2.38	0.00	0.000	6	0.000	0.031	2583	2252	3432
4271	-0.96	-146.6	310.9	-7.7	202	4276	0.00	2.53	0.00	0.000	4	0.000	0.052	2582	3653	3432
4333	-0.96	-146.6	315.0	-6.8	205	4338	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3432
4661	-0.96	-146.6	333.5	-5.9	221	4665	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3651	3432
4817	-0.96	-146.6	344.6	-7.7	228	4822	0.00	2.42	0.00	0.000	6	0.000	0.031	2582	2251	3431
5143	-0.96	-146.6	370.7	-8.6	244	5147	0.00	2.50	0.00	0.000	4	0.000	0.051	2583	3647	3431
5221	-0.96	-146.6	378.0	-9.5	247	5227	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2242	3431
5537	-0.96	-146.6	405.1	-8.1	263	5541	0.00	2.55	0.00	0.000	4	0.000	0.054	2582	3649	3431
5644	-0.96	-146.6	414.2	-8.0	268	5649	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2249	3431
5972	-0.96	-146.6	431.8	-3.9	284	5976	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3650	3431
6056	-0.96	-146.6	435.8	-4.8	288	6060	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3431
6383	-0.96	-146.6	452.4	-6.1	304	6387	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3647	3430
6472	-0.96	-146.6	458.5	-6.8	308	6477	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2250	3430
6796	-0.96	-146.6	481.1	-7.5	324	6800	0.00	2.53	0.00	0.000	4	0.000	0.054	2583	3650	3430
6896	-0.96	-146.6	489.4	-8.1	328	6902	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2249	3430
7215	-0.96	-146.6	505.9	-4.2	344	7219	0.00	2.47	0.00	0.000	4	0.000	0.045	2583	841	3429
7255	-0.96	-146.6	507.7	-4.5	346	7260	0.00	2.45	0.00	0.000	6	0.000	0.035	2583	2252	3429
7586	-0.96	-146.6	525.0	-6.6	362	7590	0.00	2.53	0.00	0.000	4	0.000	0.056	2582	3651	3429
7761	-0.96	-146.6	539.0	-7.8	370	7766	0.00	2.45	0.00	0.000	6	0.000	0.033	2583	2251	3429
8096	-0.96	-146.6	565.1	-7.2	386	8100	0.00	2.53	0.00	0.000	4	0.000	0.055	2583	3650	3428
8191	-0.96	-146.6	570.8	-4.7	390	8195	0.00	2.42	0.00	0.000	6	0.000	0.032	2582	2237	3428
8507	-0.96	-146.6	575.6	-0.2	405	8511	0.00	2.58	0.00	0.000	4	0.000	0.057	2583	3649	3427
8637	-0.96	-146.6	577.1	-2.1	411	8641	0.00	2.40	0.00	0.000	6	0.000	0.033	2583	2254	3427
8964	-0.96	-146.6	588.4	-3.2	427	8966	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2254	3426
9272	-0.96	-146.6	607.0	-7.7	442	9276	0.00	2.50	0.00	0.000	4	0.000	0.048	2583	844	3425
9300	-0.96	-146.6	609.6	-9.8	443	9304	0.00	2.47	0.00	0.000	6	0.000	0.038	2583	2255	3426
9618	-0.96	-146.6	634.6	-7.0	458	9622	0.00	2.53	0.00	0.000	4	0.000	0.060	2583	3648	3425
9673	-0.96	-146.6	639.4	-9.0	460	9679	0.00	2.42	0.00	0.000	6	0.000	0.035	2583	2252	3425
9990	-0.96	-146.6	670.5	-12.3	476	9991	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2246	3423
10298	-0.96	-146.6	704.6	-8.6	491	10303	0.00	2.53	0.00	0.000	4	0.000	0.051	2582	851	3422
10329	end dive: BOTTOM_OBSTACLE_DETECTED
state	10329	begin apogee
10336	-0.36	0.0	708.2	9.4	492	10469	0.60	0.00	127.30	1.276	6	0.064	0.000	2715	1462	2832
10470	end apogee: CONTROL_FINISHED_OK
state	10470	begin climb
10473	0.96	146.6	713.0	0.0	499	10611	1.33	2.60	129.73	1.235	4	0.047	0.051	3011	2850	2232
10950	0.96	146.6	689.7	11.8	520	10956	0.00	2.47	0.00	0.000	6	0.000	0.045	3011	1457	2222
11266	1.00	176.2	670.9	5.2	536	11297	0.00	2.60	25.90	1.204	4	0.000	0.048	3011	2860	2112
11500	1.04	209.0	661.2	5.1	546	11536	0.00	2.53	30.25	1.214	6	0.000	0.043	3011	1448	1980
11860	1.11	267.0	647.4	4.4	564	11919	0.12	0.00	53.75	1.234	6	0.044	0.000	3062	1448	1743
12230	1.11	267.0	604.6	14.5	582	12232	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1448	1734
12537	1.11	267.0	557.0	15.0	597	12541	0.00	2.53	0.00	0.000	4	0.000	0.048	3062	2858	1732
12614	1.11	267.0	544.7	16.1	600	12621	0.00	2.50	0.00	0.000	6	0.000	0.042	3062	1454	1731
12930	1.11	267.0	495.0	13.7	616	12935	0.00	2.50	0.00	0.000	4	0.000	0.045	3062	2860	1731
12963	1.11	267.0	490.3	13.6	617	12970	0.00	2.50	0.00	0.000	6	0.000	0.041	3062	1451	1730
13281	1.11	267.0	454.3	10.5	633	13283	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1451	1729
13589	1.11	267.0	418.0	11.2	648	13593	0.00	2.50	0.00	0.000	4	0.000	0.042	3062	2862	1729
13638	1.11	267.0	412.6	10.9	650	13642	0.00	2.47	0.00	0.000	6	0.000	0.038	3062	1454	1729
13956	1.11	267.0	386.8	6.5	665	13957	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1454	1729
14263	1.14	289.0	368.8	5.4	680	14285	0.00	0.00	18.90	1.014	6	0.000	0.000	3062	1454	1653
14595	1.14	289.0	346.5	7.8	696	14599	0.00	2.50	0.00	0.000	4	0.000	0.041	3062	2862	1650
14644	1.14	289.0	342.3	7.8	698	14648	0.00	2.47	0.00	0.000	6	0.000	0.037	3062	1454	1649
14960	1.14	289.0	316.1	8.8	713	14961	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1454	1649
15269	1.14	289.0	286.8	9.8	728	15274	0.00	2.17	0.00	0.000	4	0.000	0.059	3062	266	1650
15296	1.14	289.0	283.9	10.0	729	15300	0.00	2.00	0.00	0.000	6	0.000	0.030	3062	1467	1650
15623	1.14	289.0	257.1	6.9	745	15627	0.00	2.42	0.00	0.000	4	0.000	0.044	3062	2843	1650
15650	1.14	289.0	255.2	7.0	746	15654	0.00	2.42	0.00	0.000	6	0.000	0.037	3062	1454	1650
15966	1.15	301.0	236.0	5.7	761	15987	0.00	2.53	12.05	0.873	4	0.000	0.040	3062	2842	1603
16037	1.15	301.0	231.6	6.1	764	16042	0.00	2.47	0.00	0.000	6	0.000	0.037	3062	1456	1603
16364	1.23	359.5	214.4	4.4	780	16424	0.00	0.00	53.15	0.919	6	0.000	0.000	3062	1456	1365
16736	1.23	362.2	197.1	5.9	798	16740	0.00	2.45	0.00	0.000	4	0.000	0.041	3062	2845	1359
16769	1.23	362.2	194.7	6.1	799	16775	0.00	2.45	0.00	0.000	6	0.000	0.037	3062	1451	1359
17084	1.23	362.2	163.7	12.8	815	17088	0.00	2.15	0.00	0.000	4	0.000	0.058	3062	259	1357
17168	1.23	362.2	151.4	14.6	818	17174	0.00	2.00	0.00	0.000	6	0.000	0.028	3062	1463	1356
17484	1.23	362.2	113.9	9.6	834	17485	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1463	1356
17794	1.24	368.2	92.6	5.8	849	17804	0.00	0.00	7.85	0.720	6	0.000	0.000	3062	1463	1330
18103	1.24	368.2	70.5	7.6	864	18107	0.00	2.17	0.00	0.000	4	0.000	0.054	3062	258	1328
18173	1.24	368.2	63.4	11.1	867	18177	0.00	2.03	0.00	0.000	6	0.000	0.031	3062	1455	1328
18507	1.24	368.2	29.1	9.7	883	18512	0.00	2.45	0.00	0.000	4	0.000	0.041	3062	2847	1328
18532	1.24	368.2	26.6	9.2	884	18536	0.00	2.42	0.00	0.000	6	0.000	0.035	3062	1451	1327
18788	end climb: SURFACE_DEPTH_REACHED
state	18788	begin surface coast
18811	end surface coast: CONTROL_FINISHED_OK
state	18811	begin surface