Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 244 * 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 244 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 26 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 -1632381.9 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 -1632381.9

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 26 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 244 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 203907,6154.935,-937.993,36,1.3,36,-9.7 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 1.05 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -61.8 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 204519,6155.065,-938.062,13,1.3,30,-9.7 MHEAD_RNG_PITCHd_Wd 162.2,73218,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.026722 ALTIM_BOTTOM_PING 625.1,84.5

SM_CCo 17031,35.75,0.762,0,0,1609,300.00 _24V_AH 23.2,53.285

SM_GC 1.17,0.00,0.00,35.75,0.000,0.000,0.762,397,2242,1609,-11.05,-0.23,300.00 _10V_AH 10.1,32.475

IRIDIUM_FIX 6126.23,-932.23,011198,151546 DATA_FILE_SIZE 41256,816

TT8_MAMPS 0.026845 CAP_FILE_SIZE 127772,0

HUMID 1896 CFSIZE 260165632,240017408

INTERNAL_PRESSURE 8.15785 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 18.00 GPS 080809,013130,6157.934,-938.684,43,1.2,43,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 77.73 SBE_CT 739 24 411.95

Roll_motor 154 65 233.19 SBE_O2 573 19 252.90

VBD_pump_during_apogee 341 1278 10124.81 WL_BB2F 502 105 1223.37

VBD_pump_during_surface 35 762 632.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 75.09 nil 0 0 0.00

Iridium_during_connect 33 160 125.18 nil 0 0 0.00

Iridium_during_xfer 162 223 841.44

Transponder_ping 5 420 53.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.21

TT8 1548 19 309.61

LPSleep 12671 2 280.27

TT8_Active 504 19 100.81

TT8_Sampling 1943 39 781.36

TT8_CF8 771 45 356.80

TT8_Kalman 0 81 0.00

Analog_circuits 1507 12 182.70

GPS_charging 0 0 0.00

Compass 2063 8 166.70

RAFOS 0 0 0.00

Transponder 39 30 11.91

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.96 -146.6 0.0 0.0 0 85 0.00 0.00 -67.43 0.000 6 0.000 0.000 394 2241 3432

88 -0.96 -146.6 3.4 -6.0 3 109 11.65 2.58 0.00 0.000 4 0.133 0.050 2584 3647 3433

164 -0.96 -146.6 18.9 -7.6 6 169 0.00 2.42 0.00 0.000 6 0.000 0.029 2584 2231 3434

480 -0.96 -146.6 45.8 -10.4 21 484 0.00 2.58 0.00 0.000 4 0.000 0.051 2584 3652 3435

542 -0.96 -146.6 52.3 -10.7 24 546 0.00 2.38 0.00 0.000 6 0.000 0.028 2584 2253 3435

869 -0.96 -146.6 85.7 -10.8 40 870 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2253 3435

1178 -0.96 -146.6 114.5 -8.9 55 1182 0.00 2.53 0.00 0.000 4 0.000 0.051 2584 3650 3436

1240 -0.96 -146.6 120.4 -8.6 58 1244 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2241 3436

1567 -0.96 -146.6 144.2 -6.3 74 1571 0.00 2.55 0.00 0.000 4 0.000 0.053 2584 3650 3436

1744 -0.96 -146.6 156.4 -7.1 82 1748 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2242 3436

2067 -0.96 -146.6 181.6 -8.3 98 2072 0.00 2.55 0.00 0.000 4 0.000 0.052 2584 3651 3436

2130 -0.96 -146.6 188.0 -10.1 101 2134 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2246 3436

2456 -0.96 -146.6 220.8 -9.8 117 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2246 3436

2766 -0.96 -146.6 250.7 -10.0 132 2771 0.00 2.55 0.00 0.000 4 0.000 0.051 2584 3646 3435

3018 -0.96 -146.6 277.4 -10.2 143 3022 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2243 3435

3339 -0.96 -146.6 306.4 -8.3 159 3340 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2242 3435

3648 -0.96 -146.6 326.4 -5.5 174 3652 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3647 3435

3749 -0.96 -146.6 331.6 -5.1 178 3755 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2241 3435

4065 -0.96 -146.6 343.3 -3.7 194 4066 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2241 3434

4374 -0.96 -146.6 356.7 -4.3 209 4378 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3651 3433

4560 -0.96 -146.6 366.9 -6.9 217 4565 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2248 3433

4876 -0.96 -146.6 391.2 -8.9 232 4880 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3651 3433

4926 -0.96 -146.6 396.3 -10.4 234 4931 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2251 3433

5242 -0.96 -146.6 428.9 -11.1 249 5246 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3651 3432

5423 -0.96 -146.6 450.4 -12.7 257 5428 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2248 3432

5745 -0.96 -146.6 485.3 -9.3 273 5749 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3647 3432

5800 -0.96 -146.6 490.4 -8.3 275 5807 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2248 3431

6118 -0.96 -146.6 514.7 -6.0 291 6122 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3647 3432

6184 -0.96 -146.6 518.7 -6.0 294 6188 0.00 2.40 0.00 0.000 6 0.000 0.032 2584 2251 3432

6505 -0.96 -146.6 527.6 -1.9 310 6509 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3652 3431

6675 -0.96 -146.6 531.5 -2.5 317 6681 0.00 2.42 0.00 0.000 6 0.000 0.033 2584 2247 3431

6990 -0.96 -146.6 542.5 -4.7 333 6995 0.00 2.58 0.00 0.000 4 0.000 0.056 2584 3645 3430

7131 -0.96 -146.6 554.5 -10.9 339 7136 0.00 2.40 0.00 0.000 6 0.000 0.034 2584 2253 3430

7452 -0.96 -146.6 587.7 -10.6 355 7457 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3647 3429

7531 -0.96 -146.6 595.9 -10.5 358 7537 0.00 2.42 0.00 0.000 6 0.000 0.034 2584 2243 3429

7846 -0.96 -146.6 620.0 -5.9 374 7851 0.00 2.47 0.00 0.000 4 0.000 0.051 2584 851 3428

7874 -0.96 -146.6 621.5 -5.5 375 7879 0.00 2.45 0.00 0.000 6 0.000 0.040 2584 2252 3428

8190 -0.96 -146.6 638.9 -6.0 390 8191 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2252 3426

8499 -0.96 -146.6 657.7 -5.2 405 8500 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2252 3425

8808 -0.96 -146.6 681.0 -8.4 420 8812 0.00 2.53 0.00 0.000 4 0.000 0.051 2584 844 3424

8841 -0.96 -146.6 683.7 -7.7 421 8847 0.00 2.47 0.00 0.000 6 0.000 0.039 2584 2249 3423

8968 end dive: BOTTOM_OBSTACLE_DETECTED

state 8968 begin apogee

8976 -0.36 0.0 700.1 13.1 428 9111 0.62 0.00 127.28 1.279 6 0.064 0.000 2719 1465 2832

9112 end apogee: CONTROL_FINISHED_OK

state 9112 begin climb

9115 0.96 146.6 704.5 0.0 435 9252 1.33 2.30 129.30 1.232 4 0.057 0.065 3006 270 2233

9288 0.96 146.6 696.7 12.2 443 9291 0.00 2.08 0.00 0.000 6 0.000 0.037 3007 1459 2229

9615 1.05 212.9 667.4 4.2 459 9680 0.00 2.58 58.42 1.208 4 0.000 0.048 3007 2858 1961

9860 1.05 212.9 651.5 9.4 470 9864 0.00 2.50 0.00 0.000 6 0.000 0.041 3007 1454 1955

10186 1.05 212.9 626.8 9.4 486 10190 0.00 2.20 0.00 0.000 4 0.000 0.064 3007 261 1952

10255 1.05 212.9 620.8 8.1 489 10260 0.00 2.10 0.00 0.000 6 0.000 0.036 3007 1461 1952

10587 1.05 212.9 581.7 13.0 505 10591 0.00 2.50 0.00 0.000 4 0.000 0.049 3007 2860 1951

10676 1.05 212.9 571.5 10.5 509 10680 0.00 2.50 0.00 0.000 6 0.000 0.041 3006 1451 1950

10998 1.06 226.8 544.7 5.6 525 11012 0.10 0.00 11.65 1.095 6 0.054 0.000 3047 1451 1907

11329 1.06 226.8 521.9 7.2 541 11334 0.00 2.50 0.00 0.000 4 0.000 0.047 3047 2854 1903

11415 1.06 226.8 516.3 7.1 545 11419 0.00 2.47 0.00 0.000 6 0.000 0.042 3047 1456 1902

11744 1.06 226.8 494.9 6.8 561 11748 0.00 2.47 0.00 0.000 4 0.000 0.046 3047 2855 1902

11770 1.06 226.8 492.6 7.3 562 11775 0.00 2.50 0.00 0.000 6 0.000 0.041 3047 1463 1902

12091 1.06 226.8 463.9 9.9 578 12096 0.00 2.47 0.00 0.000 4 0.000 0.044 3048 2859 1901

12154 1.06 226.8 457.5 10.1 581 12159 0.00 2.50 0.00 0.000 6 0.000 0.039 3048 1457 1902

12486 1.06 226.8 420.7 11.6 597 12490 0.00 2.47 0.00 0.000 4 0.000 0.043 3048 2861 1902

12526 1.06 226.8 416.0 13.3 599 12530 0.00 2.47 0.00 0.000 6 0.000 0.038 3048 1453 1901

12853 1.06 226.8 373.9 12.6 615 12854 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1453 1901

13161 1.06 226.8 334.3 11.2 630 13165 0.00 2.15 0.00 0.000 4 0.000 0.059 3047 261 1902

13223 1.06 226.8 327.8 9.9 632 13229 0.00 2.03 0.00 0.000 6 0.000 0.030 3048 1474 1902

13541 1.08 242.5 306.0 5.6 648 13563 0.00 2.47 14.68 0.957 4 0.000 0.044 3048 2843 1843

13614 1.08 242.5 300.7 6.6 651 13618 0.00 2.45 0.00 0.000 6 0.000 0.038 3048 1454 1841

13936 1.08 242.5 273.8 9.9 667 13940 0.00 2.45 0.00 0.000 4 0.000 0.041 3048 2842 1841

13969 1.08 242.5 270.3 9.8 668 13975 0.00 2.45 0.00 0.000 6 0.000 0.038 3048 1446 1841

14287 1.08 242.5 241.8 9.7 684 14288 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1446 1841

14594 1.08 242.5 213.1 8.5 699 14595 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1446 1841

14903 1.08 242.5 190.3 7.0 714 14904 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 1446 1841

15212 1.08 242.5 166.9 7.6 729 15216 0.00 2.47 0.00 0.000 4 0.000 0.040 3048 2846 1842

15256 1.08 242.5 163.6 7.4 731 15261 0.00 2.45 0.00 0.000 6 0.000 0.037 3048 1461 1842

15582 1.08 242.5 134.5 9.3 747 15584 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 1462 1842

15892 1.08 242.5 102.6 11.1 762 15893 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1462 1842

16203 1.08 242.5 69.0 10.9 777 16207 0.00 2.42 0.00 0.000 4 0.000 0.040 3048 2843 1843

16242 1.08 242.5 64.4 11.0 779 16247 0.00 2.42 0.00 0.000 6 0.000 0.035 3048 1445 1843

16569 1.08 242.5 32.8 9.1 795 16570 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1445 1843

16879 1.08 242.5 8.0 7.4 810 16884 0.00 2.47 0.00 0.000 4 0.000 0.038 3048 2840 1844

16912 1.08 242.5 5.6 6.3 811 16917 0.00 2.42 0.00 0.000 6 0.000 0.035 3048 1459 1844

16962 end climb: SURFACE_DEPTH_REACHED

state 16962 begin surface coast

17007 end surface coast: CONTROL_FINISHED_OK

state 17007 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	244	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	26	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	-1632381.9	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	203907,6154.935,-937.993,36,1.3,36,-9.7	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	1.05	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-61.8	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	204519,6155.065,-938.062,13,1.3,30,-9.7	MHEAD_RNG_PITCHd_Wd	162.2,73218,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.026722	ALTIM_BOTTOM_PING	625.1,84.5
SM_CCo	17031,35.75,0.762,0,0,1609,300.00	_24V_AH	23.2,53.285
SM_GC	1.17,0.00,0.00,35.75,0.000,0.000,0.762,397,2242,1609,-11.05,-0.23,300.00	_10V_AH	10.1,32.475
IRIDIUM_FIX	6126.23,-932.23,011198,151546	DATA_FILE_SIZE	41256,816
TT8_MAMPS	0.026845	CAP_FILE_SIZE	127772,0
HUMID	1896	CFSIZE	260165632,240017408
INTERNAL_PRESSURE	8.15785	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	18.00	GPS	080809,013130,6157.934,-938.684,43,1.2,43,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	77.73	SBE_CT	739	24	411.95
Roll_motor	154	65	233.19	SBE_O2	573	19	252.90
VBD_pump_during_apogee	341	1278	10124.81	WL_BB2F	502	105	1223.37
VBD_pump_during_surface	35	762	632.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	75.09	nil	0	0	0.00
Iridium_during_connect	33	160	125.18	nil	0	0	0.00
Iridium_during_xfer	162	223	841.44
Transponder_ping	5	420	53.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.21
TT8	1548	19	309.61
LPSleep	12671	2	280.27
TT8_Active	504	19	100.81
TT8_Sampling	1943	39	781.36
TT8_CF8	771	45	356.80
TT8_Kalman	0	81	0.00
Analog_circuits	1507	12	182.70
GPS_charging	0	0	0.00
Compass	2063	8	166.70
RAFOS	0	0	0.00
Transponder	39	30	11.91

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.96	-146.6	0.0	0.0	0	85	0.00	0.00	-67.43	0.000	6	0.000	0.000	394	2241	3432
88	-0.96	-146.6	3.4	-6.0	3	109	11.65	2.58	0.00	0.000	4	0.133	0.050	2584	3647	3433
164	-0.96	-146.6	18.9	-7.6	6	169	0.00	2.42	0.00	0.000	6	0.000	0.029	2584	2231	3434
480	-0.96	-146.6	45.8	-10.4	21	484	0.00	2.58	0.00	0.000	4	0.000	0.051	2584	3652	3435
542	-0.96	-146.6	52.3	-10.7	24	546	0.00	2.38	0.00	0.000	6	0.000	0.028	2584	2253	3435
869	-0.96	-146.6	85.7	-10.8	40	870	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2253	3435
1178	-0.96	-146.6	114.5	-8.9	55	1182	0.00	2.53	0.00	0.000	4	0.000	0.051	2584	3650	3436
1240	-0.96	-146.6	120.4	-8.6	58	1244	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2241	3436
1567	-0.96	-146.6	144.2	-6.3	74	1571	0.00	2.55	0.00	0.000	4	0.000	0.053	2584	3650	3436
1744	-0.96	-146.6	156.4	-7.1	82	1748	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2242	3436
2067	-0.96	-146.6	181.6	-8.3	98	2072	0.00	2.55	0.00	0.000	4	0.000	0.052	2584	3651	3436
2130	-0.96	-146.6	188.0	-10.1	101	2134	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2246	3436
2456	-0.96	-146.6	220.8	-9.8	117	2457	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2246	3436
2766	-0.96	-146.6	250.7	-10.0	132	2771	0.00	2.55	0.00	0.000	4	0.000	0.051	2584	3646	3435
3018	-0.96	-146.6	277.4	-10.2	143	3022	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2243	3435
3339	-0.96	-146.6	306.4	-8.3	159	3340	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2242	3435
3648	-0.96	-146.6	326.4	-5.5	174	3652	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3647	3435
3749	-0.96	-146.6	331.6	-5.1	178	3755	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2241	3435
4065	-0.96	-146.6	343.3	-3.7	194	4066	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2241	3434
4374	-0.96	-146.6	356.7	-4.3	209	4378	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3651	3433
4560	-0.96	-146.6	366.9	-6.9	217	4565	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2248	3433
4876	-0.96	-146.6	391.2	-8.9	232	4880	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3651	3433
4926	-0.96	-146.6	396.3	-10.4	234	4931	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2251	3433
5242	-0.96	-146.6	428.9	-11.1	249	5246	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3651	3432
5423	-0.96	-146.6	450.4	-12.7	257	5428	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2248	3432
5745	-0.96	-146.6	485.3	-9.3	273	5749	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3647	3432
5800	-0.96	-146.6	490.4	-8.3	275	5807	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2248	3431
6118	-0.96	-146.6	514.7	-6.0	291	6122	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3647	3432
6184	-0.96	-146.6	518.7	-6.0	294	6188	0.00	2.40	0.00	0.000	6	0.000	0.032	2584	2251	3432
6505	-0.96	-146.6	527.6	-1.9	310	6509	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3652	3431
6675	-0.96	-146.6	531.5	-2.5	317	6681	0.00	2.42	0.00	0.000	6	0.000	0.033	2584	2247	3431
6990	-0.96	-146.6	542.5	-4.7	333	6995	0.00	2.58	0.00	0.000	4	0.000	0.056	2584	3645	3430
7131	-0.96	-146.6	554.5	-10.9	339	7136	0.00	2.40	0.00	0.000	6	0.000	0.034	2584	2253	3430
7452	-0.96	-146.6	587.7	-10.6	355	7457	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3647	3429
7531	-0.96	-146.6	595.9	-10.5	358	7537	0.00	2.42	0.00	0.000	6	0.000	0.034	2584	2243	3429
7846	-0.96	-146.6	620.0	-5.9	374	7851	0.00	2.47	0.00	0.000	4	0.000	0.051	2584	851	3428
7874	-0.96	-146.6	621.5	-5.5	375	7879	0.00	2.45	0.00	0.000	6	0.000	0.040	2584	2252	3428
8190	-0.96	-146.6	638.9	-6.0	390	8191	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2252	3426
8499	-0.96	-146.6	657.7	-5.2	405	8500	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2252	3425
8808	-0.96	-146.6	681.0	-8.4	420	8812	0.00	2.53	0.00	0.000	4	0.000	0.051	2584	844	3424
8841	-0.96	-146.6	683.7	-7.7	421	8847	0.00	2.47	0.00	0.000	6	0.000	0.039	2584	2249	3423
8968	end dive: BOTTOM_OBSTACLE_DETECTED
state	8968	begin apogee
8976	-0.36	0.0	700.1	13.1	428	9111	0.62	0.00	127.28	1.279	6	0.064	0.000	2719	1465	2832
9112	end apogee: CONTROL_FINISHED_OK
state	9112	begin climb
9115	0.96	146.6	704.5	0.0	435	9252	1.33	2.30	129.30	1.232	4	0.057	0.065	3006	270	2233
9288	0.96	146.6	696.7	12.2	443	9291	0.00	2.08	0.00	0.000	6	0.000	0.037	3007	1459	2229
9615	1.05	212.9	667.4	4.2	459	9680	0.00	2.58	58.42	1.208	4	0.000	0.048	3007	2858	1961
9860	1.05	212.9	651.5	9.4	470	9864	0.00	2.50	0.00	0.000	6	0.000	0.041	3007	1454	1955
10186	1.05	212.9	626.8	9.4	486	10190	0.00	2.20	0.00	0.000	4	0.000	0.064	3007	261	1952
10255	1.05	212.9	620.8	8.1	489	10260	0.00	2.10	0.00	0.000	6	0.000	0.036	3007	1461	1952
10587	1.05	212.9	581.7	13.0	505	10591	0.00	2.50	0.00	0.000	4	0.000	0.049	3007	2860	1951
10676	1.05	212.9	571.5	10.5	509	10680	0.00	2.50	0.00	0.000	6	0.000	0.041	3006	1451	1950
10998	1.06	226.8	544.7	5.6	525	11012	0.10	0.00	11.65	1.095	6	0.054	0.000	3047	1451	1907
11329	1.06	226.8	521.9	7.2	541	11334	0.00	2.50	0.00	0.000	4	0.000	0.047	3047	2854	1903
11415	1.06	226.8	516.3	7.1	545	11419	0.00	2.47	0.00	0.000	6	0.000	0.042	3047	1456	1902
11744	1.06	226.8	494.9	6.8	561	11748	0.00	2.47	0.00	0.000	4	0.000	0.046	3047	2855	1902
11770	1.06	226.8	492.6	7.3	562	11775	0.00	2.50	0.00	0.000	6	0.000	0.041	3047	1463	1902
12091	1.06	226.8	463.9	9.9	578	12096	0.00	2.47	0.00	0.000	4	0.000	0.044	3048	2859	1901
12154	1.06	226.8	457.5	10.1	581	12159	0.00	2.50	0.00	0.000	6	0.000	0.039	3048	1457	1902
12486	1.06	226.8	420.7	11.6	597	12490	0.00	2.47	0.00	0.000	4	0.000	0.043	3048	2861	1902
12526	1.06	226.8	416.0	13.3	599	12530	0.00	2.47	0.00	0.000	6	0.000	0.038	3048	1453	1901
12853	1.06	226.8	373.9	12.6	615	12854	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1453	1901
13161	1.06	226.8	334.3	11.2	630	13165	0.00	2.15	0.00	0.000	4	0.000	0.059	3047	261	1902
13223	1.06	226.8	327.8	9.9	632	13229	0.00	2.03	0.00	0.000	6	0.000	0.030	3048	1474	1902
13541	1.08	242.5	306.0	5.6	648	13563	0.00	2.47	14.68	0.957	4	0.000	0.044	3048	2843	1843
13614	1.08	242.5	300.7	6.6	651	13618	0.00	2.45	0.00	0.000	6	0.000	0.038	3048	1454	1841
13936	1.08	242.5	273.8	9.9	667	13940	0.00	2.45	0.00	0.000	4	0.000	0.041	3048	2842	1841
13969	1.08	242.5	270.3	9.8	668	13975	0.00	2.45	0.00	0.000	6	0.000	0.038	3048	1446	1841
14287	1.08	242.5	241.8	9.7	684	14288	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1446	1841
14594	1.08	242.5	213.1	8.5	699	14595	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1446	1841
14903	1.08	242.5	190.3	7.0	714	14904	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	1446	1841
15212	1.08	242.5	166.9	7.6	729	15216	0.00	2.47	0.00	0.000	4	0.000	0.040	3048	2846	1842
15256	1.08	242.5	163.6	7.4	731	15261	0.00	2.45	0.00	0.000	6	0.000	0.037	3048	1461	1842
15582	1.08	242.5	134.5	9.3	747	15584	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	1462	1842
15892	1.08	242.5	102.6	11.1	762	15893	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1462	1842
16203	1.08	242.5	69.0	10.9	777	16207	0.00	2.42	0.00	0.000	4	0.000	0.040	3048	2843	1843
16242	1.08	242.5	64.4	11.0	779	16247	0.00	2.42	0.00	0.000	6	0.000	0.035	3048	1445	1843
16569	1.08	242.5	32.8	9.1	795	16570	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1445	1843
16879	1.08	242.5	8.0	7.4	810	16884	0.00	2.47	0.00	0.000	4	0.000	0.038	3048	2840	1844
16912	1.08	242.5	5.6	6.3	811	16917	0.00	2.42	0.00	0.000	6	0.000	0.035	3048	1459	1844
16962	end climb: SURFACE_DEPTH_REACHED
state	16962	begin surface coast
17007	end surface coast: CONTROL_FINISHED_OK
state	17007	begin surface