Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 245 * 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 245 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 37 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 -1632397.6 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 -1632397.6

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 37 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 245 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 013130,6157.934,-938.684,43,1.2,43,-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 1.12 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -63.8 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 013656,6157.941,-938.771,15,1.5,15,-9.7 MHEAD_RNG_PITCHd_Wd 163.6,78256,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.015202 ALTIM_BOTTOM_PING 625.8,105.4

SM_CCo 19600,15.65,0.734,0,0,1609,300.00 _24V_AH 23.1,53.434

SM_GC 1.14,0.00,0.00,15.65,0.000,0.000,0.734,389,2247,1609,-11.09,-0.08,300.00 _10V_AH 10.1,32.567

IRIDIUM_FIX 6130.75,-933.75,011198,202004 DATA_FILE_SIZE 47452,942

TT8_MAMPS 0.027612 CAP_FILE_SIZE 141129,0

HUMID 1890 CFSIZE 260165632,239927296

INTERNAL_PRESSURE 8.15785 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

TCM_TEMP 18.20 GPS 080809,070537,6158.143,-940.339,43,0.9,43,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 78.60 SBE_CT 850 24 471.32

Roll_motor 166 67 259.64 SBE_O2 654 19 287.22

VBD_pump_during_apogee 377 1312 11456.03 WL_BB2F 563 105 1365.76

VBD_pump_during_surface 15 734 265.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.19 nil 0 0 0.00

Iridium_during_connect 26 160 96.94 nil 0 0 0.00

Iridium_during_xfer 145 223 748.51

Transponder_ping 5 420 50.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.65

TT8 1752 19 350.38

LPSleep 14843 2 328.32

TT8_Active 495 19 99.17

TT8_Sampling 2055 39 826.33

TT8_CF8 796 45 368.32

TT8_Kalman 0 81 0.00

Analog_circuits 1590 12 192.77

GPS_charging 0 0 0.00

Compass 2216 8 179.10

RAFOS 0 0 0.00

Transponder 36 30 11.03

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 -57.58 0.000 6 0.000 0.000 398 2242 3431

80 -0.96 -146.6 5.3 -9.8 3 98 11.82 0.00 0.00 0.000 6 0.134 0.000 2581 2242 3433

408 -0.96 -146.6 47.6 -9.8 19 410 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2242 3434

716 -0.96 -146.6 78.5 -10.8 34 721 0.00 2.47 0.00 0.000 4 0.000 0.041 2581 836 3435

767 -0.96 -146.6 84.0 -10.7 36 772 0.00 2.45 0.00 0.000 6 0.000 0.033 2581 2243 3434

1083 -0.96 -146.6 116.4 -9.7 51 1085 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2243 3435

1392 -0.96 -146.6 143.5 -7.5 66 1394 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2243 3435

1704 -0.96 -146.6 162.1 -6.4 81 1708 0.00 2.55 0.00 0.000 4 0.000 0.057 2581 3651 3435

1828 -0.96 -146.6 170.6 -5.9 86 1834 0.00 2.42 0.00 0.000 6 0.000 0.030 2581 2228 3435

2143 -0.96 -146.6 186.6 -5.6 102 2148 0.00 2.58 0.00 0.000 4 0.000 0.051 2581 3655 3435

2251 -0.96 -146.6 194.0 -7.0 107 2256 0.00 2.42 0.00 0.000 6 0.000 0.031 2581 2253 3435

2583 -0.96 -146.6 220.1 -8.8 123 2587 0.00 2.53 0.00 0.000 4 0.000 0.052 2581 3654 3435

2728 -0.96 -146.6 234.6 -11.3 129 2735 0.00 2.40 0.00 0.000 6 0.000 0.031 2581 2248 3435

3044 -0.96 -146.6 267.8 -11.0 145 3048 0.00 2.55 0.00 0.000 4 0.000 0.051 2581 3658 3435

3138 -0.96 -146.6 278.5 -10.6 149 3143 0.00 2.45 0.00 0.000 6 0.000 0.031 2581 2249 3435

3459 -0.96 -146.6 311.0 -10.0 165 3460 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2248 3435

3768 -0.96 -146.6 341.2 -8.8 180 3772 0.00 2.53 0.00 0.000 4 0.000 0.051 2581 3654 3435

3944 -0.96 -146.6 355.2 -6.6 188 3949 0.00 2.40 0.00 0.000 6 0.000 0.031 2581 2249 3435

4272 -0.96 -146.6 372.5 -4.8 204 4276 0.00 2.53 0.00 0.000 4 0.000 0.053 2581 3651 3434

4317 -0.96 -146.6 375.0 -5.1 206 4322 0.00 2.42 0.00 0.000 6 0.000 0.031 2581 2251 3434

4643 -0.96 -146.6 392.7 -6.1 222 4647 0.00 2.53 0.00 0.000 4 0.000 0.053 2581 3651 3434

4687 -0.96 -146.6 395.9 -7.3 224 4691 0.00 2.40 0.00 0.000 6 0.000 0.031 2581 2249 3434

5007 -0.96 -146.6 416.7 -6.8 240 5009 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2248 3433

5317 -0.96 -146.6 443.4 -9.3 255 5321 0.00 2.55 0.00 0.000 4 0.000 0.053 2581 3661 3432

5446 -0.96 -146.6 456.3 -10.2 261 5451 0.00 2.42 0.00 0.000 6 0.000 0.031 2581 2247 3432

5773 -0.96 -146.6 485.5 -9.3 277 5777 0.00 2.55 0.00 0.000 4 0.000 0.054 2581 3655 3432

5841 -0.96 -146.6 491.6 -8.5 280 5845 0.00 2.42 0.00 0.000 6 0.000 0.032 2581 2245 3432

6163 -0.96 -146.6 511.2 -4.7 296 6168 0.00 2.45 0.00 0.000 4 0.000 0.046 2582 849 3432

6214 -0.96 -146.6 513.7 -4.6 298 6218 0.00 2.45 0.00 0.000 6 0.000 0.035 2581 2261 3431

6532 -0.96 -146.6 526.9 -3.6 313 6534 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2261 3431

6839 -0.96 -146.6 536.4 -3.1 328 6840 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2261 3431

7148 -0.96 -146.6 553.9 -6.6 343 7153 0.00 2.50 0.00 0.000 4 0.000 0.055 2581 3650 3431

7226 -0.96 -146.6 560.0 -8.4 346 7232 0.00 2.40 0.00 0.000 6 0.000 0.032 2581 2253 3431

7541 -0.96 -146.6 581.5 -6.7 362 7542 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2253 3430

7852 -0.96 -146.6 598.1 -4.9 377 7856 0.00 2.55 0.00 0.000 4 0.000 0.056 2581 3656 3429

7918 -0.96 -146.6 601.5 -5.2 380 7923 0.00 2.45 0.00 0.000 6 0.000 0.034 2581 2256 3429

8245 -0.96 -146.6 613.4 -3.5 396 8250 0.00 2.50 0.00 0.000 4 0.000 0.048 2581 841 3428

8290 -0.96 -146.6 615.2 -4.6 398 8295 0.00 2.47 0.00 0.000 6 0.000 0.038 2581 2255 3428

8612 -0.96 -146.6 632.5 -1.5 414 8613 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2255 3427

8921 -0.96 -146.6 644.7 -5.1 429 8922 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2255 3426

9233 -0.96 -146.6 659.5 -5.3 444 9234 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2255 3425

9539 -0.96 -146.6 673.2 -5.1 459 9541 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2255 3423

9849 -0.96 -146.6 690.8 -5.9 474 9853 0.00 2.55 0.00 0.000 4 0.000 0.063 2581 3652 3422

9870 -0.96 -146.6 692.3 -6.1 475 9875 0.00 2.45 0.00 0.000 6 0.000 0.039 2581 2254 3422

10194 -0.96 -146.6 711.9 -6.2 491 10199 0.00 2.53 0.00 0.000 4 0.000 0.052 2581 840 3420

10239 -0.96 -146.6 715.2 -6.9 493 10243 0.00 2.45 0.00 0.000 6 0.000 0.041 2581 2244 3420

10330 end dive: BOTTOM_OBSTACLE_DETECTED

state 10330 begin apogee

10339 -0.36 0.0 721.2 6.5 498 10474 0.65 0.00 127.80 1.312 6 0.071 0.000 2718 1456 2831

10474 end apogee: CONTROL_FINISHED_OK

state 10474 begin climb

10477 0.96 146.6 726.2 0.0 505 10617 1.33 2.33 130.00 1.260 4 0.056 0.067 3005 264 2233

10686 0.96 146.6 718.9 6.5 514 10692 0.00 2.10 0.00 0.000 6 0.000 0.038 3005 1472 2226

11002 0.98 158.2 700.6 5.7 530 11017 0.00 2.55 9.77 1.108 4 0.000 0.051 3005 2854 2187

11079 1.00 172.3 696.0 5.6 532 11100 0.00 2.53 14.60 1.168 6 0.000 0.044 3005 1451 2129

11417 1.00 172.3 673.7 7.7 549 11420 0.00 2.20 0.00 0.000 4 0.000 0.067 3005 262 2124

11444 1.00 172.3 671.4 8.3 550 11449 0.00 2.08 0.00 0.000 6 0.000 0.038 3005 1450 2123

11771 1.00 172.3 645.3 9.3 566 11775 0.00 2.53 0.00 0.000 4 0.000 0.051 3005 2852 2122

11792 1.00 172.3 643.1 9.2 567 11797 0.00 2.50 0.00 0.000 6 0.000 0.045 3005 1449 2121

12113 1.00 172.3 613.8 9.2 583 12118 0.00 2.55 0.00 0.000 4 0.000 0.050 3005 2846 2120

12226 1.00 172.3 603.7 8.5 588 12231 0.00 2.50 0.00 0.000 6 0.000 0.044 3005 1448 2120

12554 1.00 172.3 580.3 6.4 604 12558 0.00 2.17 0.00 0.000 4 0.000 0.066 3005 264 2119

12645 1.08 241.2 575.4 4.1 608 12713 0.12 2.05 62.15 1.243 6 0.049 0.036 3047 1455 1848

13035 1.11 268.6 555.5 5.2 627 13062 0.00 0.00 25.40 1.180 6 0.000 0.000 3048 1455 1736

13368 1.11 268.6 532.3 8.4 643 13372 0.00 2.53 0.00 0.000 4 0.000 0.048 3047 2859 1728

13412 1.11 268.6 527.7 9.8 645 13417 0.00 2.50 0.00 0.000 6 0.000 0.041 3047 1454 1728

13736 1.11 268.6 492.7 11.7 661 13740 0.00 2.17 0.00 0.000 4 0.000 0.062 3047 264 1728

13782 1.11 268.6 486.9 12.2 663 13786 0.00 2.03 0.00 0.000 6 0.000 0.033 3048 1458 1728

14114 1.11 268.6 452.2 9.5 679 14119 0.00 2.50 0.00 0.000 4 0.000 0.046 3048 2846 1727

14141 1.11 268.6 449.6 8.7 680 14146 0.00 2.47 0.00 0.000 6 0.000 0.039 3048 1445 1726

14464 1.11 268.6 423.3 8.2 696 14465 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1445 1727

14772 1.11 268.6 396.5 8.8 711 14777 0.00 2.47 0.00 0.000 4 0.000 0.042 3048 2854 1726

14822 1.11 268.6 391.9 9.1 713 14827 0.00 2.47 0.00 0.000 6 0.000 0.038 3048 1447 1726

15141 1.11 268.6 361.9 9.9 728 15145 0.00 2.45 0.00 0.000 4 0.000 0.041 3048 2850 1726

15180 1.11 268.6 357.7 9.3 730 15185 0.00 2.45 0.00 0.000 6 0.000 0.038 3048 1454 1726

15510 1.11 268.6 324.6 9.8 746 15514 0.00 2.15 0.00 0.000 4 0.000 0.058 3048 262 1727

15578 1.11 268.6 317.6 9.8 749 15582 0.00 2.03 0.00 0.000 6 0.000 0.031 3048 1459 1727

15910 1.11 268.6 287.9 8.5 765 15915 0.00 2.47 0.00 0.000 4 0.000 0.044 3048 2860 1727

15960 1.11 268.6 283.6 8.4 767 15964 0.00 2.45 0.00 0.000 6 0.000 0.037 3047 1453 1726

16278 1.11 268.6 261.0 7.1 782 16282 0.00 2.45 0.00 0.000 4 0.000 0.042 3048 2852 1727

16306 1.11 268.6 258.7 8.0 783 16311 0.00 2.47 0.00 0.000 6 0.000 0.038 3048 1461 1727

16627 1.13 277.9 239.9 5.7 799 16642 0.00 2.22 8.18 0.825 4 0.000 0.058 3048 264 1699

16659 1.13 277.9 237.9 7.1 800 16663 0.00 2.03 0.00 0.000 6 0.000 0.031 3048 1458 1698

16982 1.13 277.9 215.1 7.6 816 16987 0.00 2.47 0.00 0.000 4 0.000 0.046 3048 2849 1698

17015 1.13 277.9 211.8 9.4 817 17022 0.00 2.45 0.00 0.000 6 0.000 0.037 3048 1450 1698

17331 1.13 277.9 180.9 10.3 833 17333 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1449 1698

17641 1.13 277.9 145.5 10.7 848 17642 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1450 1699

17951 1.13 277.9 119.0 8.1 863 17952 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1450 1699

18260 1.13 277.9 94.2 7.7 878 18264 0.00 2.47 0.00 0.000 4 0.000 0.041 3048 2850 1699

18281 1.13 277.9 92.4 6.9 879 18285 0.00 2.45 0.00 0.000 6 0.000 0.036 3048 1446 1698

18603 1.13 278.4 71.9 6.0 895 18605 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1447 1699

18912 1.13 278.4 53.0 6.7 910 18913 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1446 1699

19220 1.13 278.4 30.6 8.0 925 19225 0.00 2.12 0.00 0.000 4 0.000 0.054 3048 269 1700

19281 1.13 278.4 25.3 8.1 927 19288 0.00 2.00 0.00 0.000 6 0.000 0.031 3048 1451 1700

19553 end climb: SURFACE_DEPTH_REACHED

state 19553 begin surface coast

19575 end surface coast: CONTROL_FINISHED_OK

state 19575 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	245	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	37	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	-1632397.6	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	013130,6157.934,-938.684,43,1.2,43,-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	1.12	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-63.8	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	013656,6157.941,-938.771,15,1.5,15,-9.7	MHEAD_RNG_PITCHd_Wd	163.6,78256,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.015202	ALTIM_BOTTOM_PING	625.8,105.4
SM_CCo	19600,15.65,0.734,0,0,1609,300.00	_24V_AH	23.1,53.434
SM_GC	1.14,0.00,0.00,15.65,0.000,0.000,0.734,389,2247,1609,-11.09,-0.08,300.00	_10V_AH	10.1,32.567
IRIDIUM_FIX	6130.75,-933.75,011198,202004	DATA_FILE_SIZE	47452,942
TT8_MAMPS	0.027612	CAP_FILE_SIZE	141129,0
HUMID	1890	CFSIZE	260165632,239927296
INTERNAL_PRESSURE	8.15785	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
TCM_TEMP	18.20	GPS	080809,070537,6158.143,-940.339,43,0.9,43,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	78.60	SBE_CT	850	24	471.32
Roll_motor	166	67	259.64	SBE_O2	654	19	287.22
VBD_pump_during_apogee	377	1312	11456.03	WL_BB2F	563	105	1365.76
VBD_pump_during_surface	15	734	265.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.19	nil	0	0	0.00
Iridium_during_connect	26	160	96.94	nil	0	0	0.00
Iridium_during_xfer	145	223	748.51
Transponder_ping	5	420	50.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.65
TT8	1752	19	350.38
LPSleep	14843	2	328.32
TT8_Active	495	19	99.17
TT8_Sampling	2055	39	826.33
TT8_CF8	796	45	368.32
TT8_Kalman	0	81	0.00
Analog_circuits	1590	12	192.77
GPS_charging	0	0	0.00
Compass	2216	8	179.10
RAFOS	0	0	0.00
Transponder	36	30	11.03

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	-57.58	0.000	6	0.000	0.000	398	2242	3431
80	-0.96	-146.6	5.3	-9.8	3	98	11.82	0.00	0.00	0.000	6	0.134	0.000	2581	2242	3433
408	-0.96	-146.6	47.6	-9.8	19	410	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2242	3434
716	-0.96	-146.6	78.5	-10.8	34	721	0.00	2.47	0.00	0.000	4	0.000	0.041	2581	836	3435
767	-0.96	-146.6	84.0	-10.7	36	772	0.00	2.45	0.00	0.000	6	0.000	0.033	2581	2243	3434
1083	-0.96	-146.6	116.4	-9.7	51	1085	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2243	3435
1392	-0.96	-146.6	143.5	-7.5	66	1394	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2243	3435
1704	-0.96	-146.6	162.1	-6.4	81	1708	0.00	2.55	0.00	0.000	4	0.000	0.057	2581	3651	3435
1828	-0.96	-146.6	170.6	-5.9	86	1834	0.00	2.42	0.00	0.000	6	0.000	0.030	2581	2228	3435
2143	-0.96	-146.6	186.6	-5.6	102	2148	0.00	2.58	0.00	0.000	4	0.000	0.051	2581	3655	3435
2251	-0.96	-146.6	194.0	-7.0	107	2256	0.00	2.42	0.00	0.000	6	0.000	0.031	2581	2253	3435
2583	-0.96	-146.6	220.1	-8.8	123	2587	0.00	2.53	0.00	0.000	4	0.000	0.052	2581	3654	3435
2728	-0.96	-146.6	234.6	-11.3	129	2735	0.00	2.40	0.00	0.000	6	0.000	0.031	2581	2248	3435
3044	-0.96	-146.6	267.8	-11.0	145	3048	0.00	2.55	0.00	0.000	4	0.000	0.051	2581	3658	3435
3138	-0.96	-146.6	278.5	-10.6	149	3143	0.00	2.45	0.00	0.000	6	0.000	0.031	2581	2249	3435
3459	-0.96	-146.6	311.0	-10.0	165	3460	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2248	3435
3768	-0.96	-146.6	341.2	-8.8	180	3772	0.00	2.53	0.00	0.000	4	0.000	0.051	2581	3654	3435
3944	-0.96	-146.6	355.2	-6.6	188	3949	0.00	2.40	0.00	0.000	6	0.000	0.031	2581	2249	3435
4272	-0.96	-146.6	372.5	-4.8	204	4276	0.00	2.53	0.00	0.000	4	0.000	0.053	2581	3651	3434
4317	-0.96	-146.6	375.0	-5.1	206	4322	0.00	2.42	0.00	0.000	6	0.000	0.031	2581	2251	3434
4643	-0.96	-146.6	392.7	-6.1	222	4647	0.00	2.53	0.00	0.000	4	0.000	0.053	2581	3651	3434
4687	-0.96	-146.6	395.9	-7.3	224	4691	0.00	2.40	0.00	0.000	6	0.000	0.031	2581	2249	3434
5007	-0.96	-146.6	416.7	-6.8	240	5009	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2248	3433
5317	-0.96	-146.6	443.4	-9.3	255	5321	0.00	2.55	0.00	0.000	4	0.000	0.053	2581	3661	3432
5446	-0.96	-146.6	456.3	-10.2	261	5451	0.00	2.42	0.00	0.000	6	0.000	0.031	2581	2247	3432
5773	-0.96	-146.6	485.5	-9.3	277	5777	0.00	2.55	0.00	0.000	4	0.000	0.054	2581	3655	3432
5841	-0.96	-146.6	491.6	-8.5	280	5845	0.00	2.42	0.00	0.000	6	0.000	0.032	2581	2245	3432
6163	-0.96	-146.6	511.2	-4.7	296	6168	0.00	2.45	0.00	0.000	4	0.000	0.046	2582	849	3432
6214	-0.96	-146.6	513.7	-4.6	298	6218	0.00	2.45	0.00	0.000	6	0.000	0.035	2581	2261	3431
6532	-0.96	-146.6	526.9	-3.6	313	6534	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2261	3431
6839	-0.96	-146.6	536.4	-3.1	328	6840	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2261	3431
7148	-0.96	-146.6	553.9	-6.6	343	7153	0.00	2.50	0.00	0.000	4	0.000	0.055	2581	3650	3431
7226	-0.96	-146.6	560.0	-8.4	346	7232	0.00	2.40	0.00	0.000	6	0.000	0.032	2581	2253	3431
7541	-0.96	-146.6	581.5	-6.7	362	7542	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2253	3430
7852	-0.96	-146.6	598.1	-4.9	377	7856	0.00	2.55	0.00	0.000	4	0.000	0.056	2581	3656	3429
7918	-0.96	-146.6	601.5	-5.2	380	7923	0.00	2.45	0.00	0.000	6	0.000	0.034	2581	2256	3429
8245	-0.96	-146.6	613.4	-3.5	396	8250	0.00	2.50	0.00	0.000	4	0.000	0.048	2581	841	3428
8290	-0.96	-146.6	615.2	-4.6	398	8295	0.00	2.47	0.00	0.000	6	0.000	0.038	2581	2255	3428
8612	-0.96	-146.6	632.5	-1.5	414	8613	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2255	3427
8921	-0.96	-146.6	644.7	-5.1	429	8922	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2255	3426
9233	-0.96	-146.6	659.5	-5.3	444	9234	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2255	3425
9539	-0.96	-146.6	673.2	-5.1	459	9541	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2255	3423
9849	-0.96	-146.6	690.8	-5.9	474	9853	0.00	2.55	0.00	0.000	4	0.000	0.063	2581	3652	3422
9870	-0.96	-146.6	692.3	-6.1	475	9875	0.00	2.45	0.00	0.000	6	0.000	0.039	2581	2254	3422
10194	-0.96	-146.6	711.9	-6.2	491	10199	0.00	2.53	0.00	0.000	4	0.000	0.052	2581	840	3420
10239	-0.96	-146.6	715.2	-6.9	493	10243	0.00	2.45	0.00	0.000	6	0.000	0.041	2581	2244	3420
10330	end dive: BOTTOM_OBSTACLE_DETECTED
state	10330	begin apogee
10339	-0.36	0.0	721.2	6.5	498	10474	0.65	0.00	127.80	1.312	6	0.071	0.000	2718	1456	2831
10474	end apogee: CONTROL_FINISHED_OK
state	10474	begin climb
10477	0.96	146.6	726.2	0.0	505	10617	1.33	2.33	130.00	1.260	4	0.056	0.067	3005	264	2233
10686	0.96	146.6	718.9	6.5	514	10692	0.00	2.10	0.00	0.000	6	0.000	0.038	3005	1472	2226
11002	0.98	158.2	700.6	5.7	530	11017	0.00	2.55	9.77	1.108	4	0.000	0.051	3005	2854	2187
11079	1.00	172.3	696.0	5.6	532	11100	0.00	2.53	14.60	1.168	6	0.000	0.044	3005	1451	2129
11417	1.00	172.3	673.7	7.7	549	11420	0.00	2.20	0.00	0.000	4	0.000	0.067	3005	262	2124
11444	1.00	172.3	671.4	8.3	550	11449	0.00	2.08	0.00	0.000	6	0.000	0.038	3005	1450	2123
11771	1.00	172.3	645.3	9.3	566	11775	0.00	2.53	0.00	0.000	4	0.000	0.051	3005	2852	2122
11792	1.00	172.3	643.1	9.2	567	11797	0.00	2.50	0.00	0.000	6	0.000	0.045	3005	1449	2121
12113	1.00	172.3	613.8	9.2	583	12118	0.00	2.55	0.00	0.000	4	0.000	0.050	3005	2846	2120
12226	1.00	172.3	603.7	8.5	588	12231	0.00	2.50	0.00	0.000	6	0.000	0.044	3005	1448	2120
12554	1.00	172.3	580.3	6.4	604	12558	0.00	2.17	0.00	0.000	4	0.000	0.066	3005	264	2119
12645	1.08	241.2	575.4	4.1	608	12713	0.12	2.05	62.15	1.243	6	0.049	0.036	3047	1455	1848
13035	1.11	268.6	555.5	5.2	627	13062	0.00	0.00	25.40	1.180	6	0.000	0.000	3048	1455	1736
13368	1.11	268.6	532.3	8.4	643	13372	0.00	2.53	0.00	0.000	4	0.000	0.048	3047	2859	1728
13412	1.11	268.6	527.7	9.8	645	13417	0.00	2.50	0.00	0.000	6	0.000	0.041	3047	1454	1728
13736	1.11	268.6	492.7	11.7	661	13740	0.00	2.17	0.00	0.000	4	0.000	0.062	3047	264	1728
13782	1.11	268.6	486.9	12.2	663	13786	0.00	2.03	0.00	0.000	6	0.000	0.033	3048	1458	1728
14114	1.11	268.6	452.2	9.5	679	14119	0.00	2.50	0.00	0.000	4	0.000	0.046	3048	2846	1727
14141	1.11	268.6	449.6	8.7	680	14146	0.00	2.47	0.00	0.000	6	0.000	0.039	3048	1445	1726
14464	1.11	268.6	423.3	8.2	696	14465	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1445	1727
14772	1.11	268.6	396.5	8.8	711	14777	0.00	2.47	0.00	0.000	4	0.000	0.042	3048	2854	1726
14822	1.11	268.6	391.9	9.1	713	14827	0.00	2.47	0.00	0.000	6	0.000	0.038	3048	1447	1726
15141	1.11	268.6	361.9	9.9	728	15145	0.00	2.45	0.00	0.000	4	0.000	0.041	3048	2850	1726
15180	1.11	268.6	357.7	9.3	730	15185	0.00	2.45	0.00	0.000	6	0.000	0.038	3048	1454	1726
15510	1.11	268.6	324.6	9.8	746	15514	0.00	2.15	0.00	0.000	4	0.000	0.058	3048	262	1727
15578	1.11	268.6	317.6	9.8	749	15582	0.00	2.03	0.00	0.000	6	0.000	0.031	3048	1459	1727
15910	1.11	268.6	287.9	8.5	765	15915	0.00	2.47	0.00	0.000	4	0.000	0.044	3048	2860	1727
15960	1.11	268.6	283.6	8.4	767	15964	0.00	2.45	0.00	0.000	6	0.000	0.037	3047	1453	1726
16278	1.11	268.6	261.0	7.1	782	16282	0.00	2.45	0.00	0.000	4	0.000	0.042	3048	2852	1727
16306	1.11	268.6	258.7	8.0	783	16311	0.00	2.47	0.00	0.000	6	0.000	0.038	3048	1461	1727
16627	1.13	277.9	239.9	5.7	799	16642	0.00	2.22	8.18	0.825	4	0.000	0.058	3048	264	1699
16659	1.13	277.9	237.9	7.1	800	16663	0.00	2.03	0.00	0.000	6	0.000	0.031	3048	1458	1698
16982	1.13	277.9	215.1	7.6	816	16987	0.00	2.47	0.00	0.000	4	0.000	0.046	3048	2849	1698
17015	1.13	277.9	211.8	9.4	817	17022	0.00	2.45	0.00	0.000	6	0.000	0.037	3048	1450	1698
17331	1.13	277.9	180.9	10.3	833	17333	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1449	1698
17641	1.13	277.9	145.5	10.7	848	17642	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1450	1699
17951	1.13	277.9	119.0	8.1	863	17952	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1450	1699
18260	1.13	277.9	94.2	7.7	878	18264	0.00	2.47	0.00	0.000	4	0.000	0.041	3048	2850	1699
18281	1.13	277.9	92.4	6.9	879	18285	0.00	2.45	0.00	0.000	6	0.000	0.036	3048	1446	1698
18603	1.13	278.4	71.9	6.0	895	18605	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1447	1699
18912	1.13	278.4	53.0	6.7	910	18913	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1446	1699
19220	1.13	278.4	30.6	8.0	925	19225	0.00	2.12	0.00	0.000	4	0.000	0.054	3048	269	1700
19281	1.13	278.4	25.3	8.1	927	19288	0.00	2.00	0.00	0.000	6	0.000	0.031	3048	1451	1700
19553	end climb: SURFACE_DEPTH_REACHED
state	19553	begin surface coast
19575	end surface coast: CONTROL_FINISHED_OK
state	19575	begin surface