Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 51 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING 270 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 51 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 2476 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 34 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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 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 -1628969 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 440

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 -1628969

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

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 2476 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 51 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 133107,6211.879,-946.568,27,1.6,27,-9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6211.874,-1009.646

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.88 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -60.4 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 133638,6211.874,-946.492,13,1.7,13,-9.9 MHEAD_RNG_PITCHd_Wd 279.9,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.0,1.027123 ALTIM_BOTTOM_PING 600.1,66.6

SM_CCo 16105,48.05,0.750,0,0,1609,300.00 _24V_AH 23.3,25.318

SM_GC 0.70,0.00,0.00,48.05,0.000,0.000,0.750,393,2457,1609,-11.07,-0.54,300.00 _10V_AH 10.1,10.992

IRIDIUM_FIX 6148.92,-943.65,080998,090935 DATA_FILE_SIZE 38002,772

TT8_MAMPS 0.027612 CAP_FILE_SIZE 119970,0

HUMID 1815 CFSIZE 260165632,255098880

INTERNAL_PRESSURE 8.09926 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 17.20 GPS 140609,180737,6209.895,-948.450,39,1.4,45,-9.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 133 78.75 SBE_CT 662 24 370.31

Roll_motor 149 62 219.67 SBE_O2 544 19 241.01

VBD_pump_during_apogee 329 1174 9025.60 WL_BB2F 496 105 1215.44

VBD_pump_during_surface 48 750 839.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.19 nil 0 0 0.00

Iridium_during_connect 48 160 181.76 nil 0 0 0.00

Iridium_during_xfer 137 223 713.43

Transponder_ping 5 420 48.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.87

TT8 1453 19 290.67

LPSleep 12079 2 267.19

TT8_Active 480 19 96.03

TT8_Sampling 1768 39 710.85

TT8_CF8 709 45 328.00

TT8_Kalman 0 81 0.00

Analog_circuits 1420 12 172.15

GPS_charging 0 0 0.00

Compass 1904 8 153.92

RAFOS 0 0 0.00

Transponder 34 30 10.51

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 -1.17 -146.6 0.0 0.0 0 78 0.00 0.00 -59.42 0.000 6 0.000 0.000 396 2454 3432

81 -1.17 -146.6 4.9 -9.8 3 101 11.40 2.47 0.00 0.000 4 0.133 0.051 2537 3828 3433

438 -1.17 -146.6 46.6 -9.2 19 443 0.00 2.35 0.00 0.000 6 0.000 0.026 2537 2448 3434

770 -1.17 -146.6 70.3 -8.0 35 775 0.00 2.50 0.00 0.000 4 0.000 0.054 2537 3828 3434

887 -1.17 -146.6 81.8 -10.5 40 892 0.00 2.30 0.00 0.000 6 0.000 0.026 2537 2480 3434

1208 -1.17 -146.6 110.9 -8.3 56 1212 0.00 2.42 0.00 0.000 4 0.000 0.035 2537 1074 3434

1240 -1.17 -146.6 113.6 -8.0 57 1246 0.00 2.42 0.00 0.000 6 0.000 0.031 2537 2477 3434

1557 -1.17 -146.6 137.7 -7.4 73 1561 0.00 2.42 0.00 0.000 4 0.000 0.035 2537 1079 3434

1597 -1.17 -146.6 141.0 -8.0 75 1602 0.00 2.42 0.00 0.000 6 0.000 0.033 2537 2481 3434

1926 -1.17 -146.6 170.1 -9.6 91 1930 0.00 2.42 0.00 0.000 4 0.000 0.036 2536 1084 3434

1976 -1.17 -146.6 175.2 -9.9 93 1980 0.00 2.42 0.00 0.000 6 0.000 0.035 2537 2476 3433

2293 -1.17 -146.6 204.0 -9.1 108 2298 0.00 2.42 0.00 0.000 4 0.000 0.037 2537 1078 3434

2343 -1.17 -146.6 208.7 -8.9 110 2348 0.00 2.42 0.00 0.000 6 0.000 0.035 2537 2474 3434

2659 -1.17 -146.6 237.8 -9.3 125 2663 0.00 2.42 0.00 0.000 4 0.000 0.037 2537 1081 3434

2702 -1.17 -146.6 241.9 -9.1 127 2707 0.00 2.47 0.00 0.000 6 0.000 0.036 2537 2480 3434

3029 -1.17 -146.6 270.8 -8.6 143 3033 0.00 2.45 0.00 0.000 4 0.000 0.038 2537 1075 3434

3078 -1.17 -146.6 275.0 -8.5 145 3087 0.00 2.45 0.00 0.000 6 0.000 0.036 2537 2477 3434

3404 -1.17 -146.6 300.3 -7.9 161 3409 0.00 2.45 0.00 0.000 4 0.000 0.038 2537 1090 3434

3460 -1.17 -146.6 304.8 -7.8 163 3464 0.00 2.42 0.00 0.000 6 0.000 0.036 2537 2478 3434

3775 -1.17 -146.6 329.9 -8.2 178 3779 0.00 2.42 0.00 0.000 4 0.000 0.038 2537 1084 3434

3839 -1.17 -146.6 335.3 -8.7 181 3843 0.00 2.42 0.00 0.000 6 0.000 0.037 2537 2475 3434

4168 -1.17 -146.6 362.0 -8.4 197 4172 0.00 2.42 0.00 0.000 4 0.000 0.039 2537 1084 3434

4223 -1.17 -146.6 367.3 -9.3 199 4229 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2486 3434

4540 -1.17 -146.6 393.8 -8.2 215 4545 0.00 2.45 0.00 0.000 4 0.000 0.039 2537 1081 3433

4616 -1.17 -146.6 400.5 -9.0 218 4620 0.00 2.42 0.00 0.000 6 0.000 0.037 2537 2477 3434

4931 -1.17 -146.6 427.5 -8.6 233 4936 0.00 2.42 0.00 0.000 4 0.000 0.040 2537 1084 3433

4976 -1.17 -146.6 431.8 -9.6 235 4980 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2486 3433

5297 -1.17 -146.6 459.0 -7.8 251 5301 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1087 3433

5352 -1.17 -146.6 463.4 -7.3 253 5359 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2477 3433

5667 -1.17 -146.6 489.7 -8.2 269 5672 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1078 3433

5700 -1.17 -146.6 492.5 -8.5 270 5707 0.00 2.45 0.00 0.000 6 0.000 0.037 2537 2482 3433

6018 -1.17 -146.6 518.0 -8.1 286 6022 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1082 3433

6061 -1.17 -146.6 521.9 -8.5 288 6065 0.00 2.42 0.00 0.000 6 0.000 0.037 2537 2476 3433

6385 -1.17 -146.6 548.9 -8.5 304 6389 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1076 3433

6429 -1.17 -146.6 553.3 -9.1 306 6433 0.00 2.45 0.00 0.000 6 0.000 0.037 2537 2479 3433

6750 -1.17 -146.6 579.6 -7.6 322 6751 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2479 3433

7059 -1.17 -146.6 602.9 -7.3 337 7061 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2479 3432

7369 -1.17 -146.6 624.7 -6.6 352 7374 0.00 2.47 0.00 0.000 4 0.000 0.063 2537 3819 3432

7441 -1.17 -146.6 629.9 -7.1 355 7445 0.00 2.28 0.00 0.000 6 0.000 0.032 2537 2484 3432

7764 -1.17 -146.6 654.9 -8.0 371 7768 0.00 2.47 0.00 0.000 4 0.000 0.044 2537 1070 3432

7788 end dive: BOTTOM_OBSTACLE_DETECTED

state 7789 begin apogee

7795 -0.36 0.0 657.0 7.2 372 7928 0.82 0.00 127.32 1.174 6 0.067 0.000 2715 1475 2832

7928 end apogee: CONTROL_FINISHED_OK

state 7929 begin climb

7931 1.17 146.6 660.7 0.0 379 8069 1.55 2.30 128.35 1.137 4 0.052 0.063 3058 280 2233

8149 1.17 146.6 650.5 7.8 389 8153 0.00 2.03 0.00 0.000 6 0.000 0.034 3058 1460 2228

8477 1.19 160.7 626.9 7.0 405 8491 0.00 0.00 12.45 1.030 6 0.000 0.000 3058 1460 2176

8805 1.19 160.7 603.4 7.5 420 8809 0.00 2.50 0.00 0.000 4 0.000 0.049 3058 2854 2172

9045 1.21 177.0 586.7 6.9 431 9068 0.00 2.45 15.25 1.071 6 0.000 0.040 3058 1468 2110

9378 1.21 177.0 563.9 7.7 447 9380 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1468 2106

9686 1.23 192.2 541.4 7.0 462 9708 0.00 2.50 14.57 1.055 4 0.000 0.042 3058 2856 2048

9758 1.23 192.2 536.0 8.0 465 9763 0.00 2.50 0.00 0.000 6 0.000 0.038 3058 1458 2046

10084 1.23 192.2 509.9 8.1 481 10086 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1458 2045

10394 1.23 192.2 484.4 8.5 496 10399 0.00 2.50 0.00 0.000 4 0.000 0.041 3058 2857 2044

10426 1.23 192.2 481.3 8.8 497 10431 0.00 2.45 0.00 0.000 6 0.000 0.035 3058 1453 2044

10744 1.23 192.2 452.8 8.5 512 10746 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1453 2044

11051 1.23 192.2 426.8 8.4 527 11056 0.00 2.47 0.00 0.000 4 0.000 0.038 3057 2863 2044

11085 1.24 198.0 424.1 7.3 528 11096 0.00 2.47 6.15 0.828 6 0.000 0.035 3058 1443 2024

11417 1.24 199.6 399.2 7.4 545 11419 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1443 2023

11727 1.24 199.6 375.9 7.6 560 11731 0.00 2.47 0.00 0.000 4 0.000 0.038 3058 2858 2023

11766 1.27 225.3 373.0 6.6 562 11797 0.00 2.45 25.77 0.978 6 0.000 0.035 3058 1450 1913

12114 1.27 225.3 344.4 8.4 579 12115 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1449 1909

12422 1.27 225.3 318.5 8.6 594 12427 0.00 2.47 0.00 0.000 4 0.000 0.039 3058 2857 1909

12478 1.27 225.3 313.6 8.7 596 12484 0.00 2.45 0.00 0.000 6 0.000 0.035 3058 1453 1909

12796 1.27 225.3 287.1 8.4 612 12797 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1453 1909

13103 1.27 225.3 260.8 8.6 627 13104 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1453 1909

13412 1.27 225.3 233.4 8.5 642 13416 0.00 2.47 0.00 0.000 4 0.000 0.038 3058 2864 1909

13455 1.27 225.3 229.6 8.1 644 13460 0.00 2.45 0.00 0.000 6 0.000 0.034 3058 1453 1909

13777 1.27 225.3 202.2 8.7 660 13779 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1453 1909

14086 1.27 225.3 174.7 8.7 675 14090 0.00 2.45 0.00 0.000 4 0.000 0.038 3058 2858 1909

14140 1.27 225.3 169.8 9.2 677 14146 0.00 2.42 0.00 0.000 6 0.000 0.034 3058 1454 1909

14456 1.27 225.3 141.7 8.7 693 14460 0.00 2.12 0.00 0.000 4 0.000 0.054 3058 262 1909

14479 1.27 225.3 139.5 9.9 694 14483 0.00 2.00 0.00 0.000 6 0.000 0.028 3058 1474 1909

14813 1.27 225.3 110.6 8.8 710 14817 0.00 2.35 0.00 0.000 4 0.000 0.039 3058 2838 1909

14854 1.27 225.3 106.8 9.7 712 14858 0.00 2.40 0.00 0.000 6 0.000 0.034 3058 1449 1909

15181 1.27 225.3 78.4 8.4 728 15182 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1449 1909

15490 1.27 225.3 53.5 8.2 743 15494 0.00 2.42 0.00 0.000 4 0.000 0.038 3058 2839 1909

15535 1.27 225.3 49.1 9.6 745 15539 0.00 2.40 0.00 0.000 6 0.000 0.034 3057 1450 1909

15856 1.27 225.3 18.9 8.3 761 15857 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1450 1909

16059 end climb: SURFACE_DEPTH_REACHED

state 16059 begin surface coast

16081 end surface coast: CONTROL_FINISHED_OK

state 16081 begin surface

ID	105	HEADING	270	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	51	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	2476	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	34	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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	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	-1628969	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	133107,6211.879,-946.568,27,1.6,27,-9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6211.874,-1009.646
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.88	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-60.4	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	133638,6211.874,-946.492,13,1.7,13,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	1.0,1.027123	ALTIM_BOTTOM_PING	600.1,66.6
SM_CCo	16105,48.05,0.750,0,0,1609,300.00	_24V_AH	23.3,25.318
SM_GC	0.70,0.00,0.00,48.05,0.000,0.000,0.750,393,2457,1609,-11.07,-0.54,300.00	_10V_AH	10.1,10.992
IRIDIUM_FIX	6148.92,-943.65,080998,090935	DATA_FILE_SIZE	38002,772
TT8_MAMPS	0.027612	CAP_FILE_SIZE	119970,0
HUMID	1815	CFSIZE	260165632,255098880
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	17.20	GPS	140609,180737,6209.895,-948.450,39,1.4,45,-9.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	133	78.75	SBE_CT	662	24	370.31
Roll_motor	149	62	219.67	SBE_O2	544	19	241.01
VBD_pump_during_apogee	329	1174	9025.60	WL_BB2F	496	105	1215.44
VBD_pump_during_surface	48	750	839.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.19	nil	0	0	0.00
Iridium_during_connect	48	160	181.76	nil	0	0	0.00
Iridium_during_xfer	137	223	713.43
Transponder_ping	5	420	48.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.87
TT8	1453	19	290.67
LPSleep	12079	2	267.19
TT8_Active	480	19	96.03
TT8_Sampling	1768	39	710.85
TT8_CF8	709	45	328.00
TT8_Kalman	0	81	0.00
Analog_circuits	1420	12	172.15
GPS_charging	0	0	0.00
Compass	1904	8	153.92
RAFOS	0	0	0.00
Transponder	34	30	10.51

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	-1.17	-146.6	0.0	0.0	0	78	0.00	0.00	-59.42	0.000	6	0.000	0.000	396	2454	3432
81	-1.17	-146.6	4.9	-9.8	3	101	11.40	2.47	0.00	0.000	4	0.133	0.051	2537	3828	3433
438	-1.17	-146.6	46.6	-9.2	19	443	0.00	2.35	0.00	0.000	6	0.000	0.026	2537	2448	3434
770	-1.17	-146.6	70.3	-8.0	35	775	0.00	2.50	0.00	0.000	4	0.000	0.054	2537	3828	3434
887	-1.17	-146.6	81.8	-10.5	40	892	0.00	2.30	0.00	0.000	6	0.000	0.026	2537	2480	3434
1208	-1.17	-146.6	110.9	-8.3	56	1212	0.00	2.42	0.00	0.000	4	0.000	0.035	2537	1074	3434
1240	-1.17	-146.6	113.6	-8.0	57	1246	0.00	2.42	0.00	0.000	6	0.000	0.031	2537	2477	3434
1557	-1.17	-146.6	137.7	-7.4	73	1561	0.00	2.42	0.00	0.000	4	0.000	0.035	2537	1079	3434
1597	-1.17	-146.6	141.0	-8.0	75	1602	0.00	2.42	0.00	0.000	6	0.000	0.033	2537	2481	3434
1926	-1.17	-146.6	170.1	-9.6	91	1930	0.00	2.42	0.00	0.000	4	0.000	0.036	2536	1084	3434
1976	-1.17	-146.6	175.2	-9.9	93	1980	0.00	2.42	0.00	0.000	6	0.000	0.035	2537	2476	3433
2293	-1.17	-146.6	204.0	-9.1	108	2298	0.00	2.42	0.00	0.000	4	0.000	0.037	2537	1078	3434
2343	-1.17	-146.6	208.7	-8.9	110	2348	0.00	2.42	0.00	0.000	6	0.000	0.035	2537	2474	3434
2659	-1.17	-146.6	237.8	-9.3	125	2663	0.00	2.42	0.00	0.000	4	0.000	0.037	2537	1081	3434
2702	-1.17	-146.6	241.9	-9.1	127	2707	0.00	2.47	0.00	0.000	6	0.000	0.036	2537	2480	3434
3029	-1.17	-146.6	270.8	-8.6	143	3033	0.00	2.45	0.00	0.000	4	0.000	0.038	2537	1075	3434
3078	-1.17	-146.6	275.0	-8.5	145	3087	0.00	2.45	0.00	0.000	6	0.000	0.036	2537	2477	3434
3404	-1.17	-146.6	300.3	-7.9	161	3409	0.00	2.45	0.00	0.000	4	0.000	0.038	2537	1090	3434
3460	-1.17	-146.6	304.8	-7.8	163	3464	0.00	2.42	0.00	0.000	6	0.000	0.036	2537	2478	3434
3775	-1.17	-146.6	329.9	-8.2	178	3779	0.00	2.42	0.00	0.000	4	0.000	0.038	2537	1084	3434
3839	-1.17	-146.6	335.3	-8.7	181	3843	0.00	2.42	0.00	0.000	6	0.000	0.037	2537	2475	3434
4168	-1.17	-146.6	362.0	-8.4	197	4172	0.00	2.42	0.00	0.000	4	0.000	0.039	2537	1084	3434
4223	-1.17	-146.6	367.3	-9.3	199	4229	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2486	3434
4540	-1.17	-146.6	393.8	-8.2	215	4545	0.00	2.45	0.00	0.000	4	0.000	0.039	2537	1081	3433
4616	-1.17	-146.6	400.5	-9.0	218	4620	0.00	2.42	0.00	0.000	6	0.000	0.037	2537	2477	3434
4931	-1.17	-146.6	427.5	-8.6	233	4936	0.00	2.42	0.00	0.000	4	0.000	0.040	2537	1084	3433
4976	-1.17	-146.6	431.8	-9.6	235	4980	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2486	3433
5297	-1.17	-146.6	459.0	-7.8	251	5301	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1087	3433
5352	-1.17	-146.6	463.4	-7.3	253	5359	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2477	3433
5667	-1.17	-146.6	489.7	-8.2	269	5672	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1078	3433
5700	-1.17	-146.6	492.5	-8.5	270	5707	0.00	2.45	0.00	0.000	6	0.000	0.037	2537	2482	3433
6018	-1.17	-146.6	518.0	-8.1	286	6022	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1082	3433
6061	-1.17	-146.6	521.9	-8.5	288	6065	0.00	2.42	0.00	0.000	6	0.000	0.037	2537	2476	3433
6385	-1.17	-146.6	548.9	-8.5	304	6389	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1076	3433
6429	-1.17	-146.6	553.3	-9.1	306	6433	0.00	2.45	0.00	0.000	6	0.000	0.037	2537	2479	3433
6750	-1.17	-146.6	579.6	-7.6	322	6751	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2479	3433
7059	-1.17	-146.6	602.9	-7.3	337	7061	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2479	3432
7369	-1.17	-146.6	624.7	-6.6	352	7374	0.00	2.47	0.00	0.000	4	0.000	0.063	2537	3819	3432
7441	-1.17	-146.6	629.9	-7.1	355	7445	0.00	2.28	0.00	0.000	6	0.000	0.032	2537	2484	3432
7764	-1.17	-146.6	654.9	-8.0	371	7768	0.00	2.47	0.00	0.000	4	0.000	0.044	2537	1070	3432
7788	end dive: BOTTOM_OBSTACLE_DETECTED
state	7789	begin apogee
7795	-0.36	0.0	657.0	7.2	372	7928	0.82	0.00	127.32	1.174	6	0.067	0.000	2715	1475	2832
7928	end apogee: CONTROL_FINISHED_OK
state	7929	begin climb
7931	1.17	146.6	660.7	0.0	379	8069	1.55	2.30	128.35	1.137	4	0.052	0.063	3058	280	2233
8149	1.17	146.6	650.5	7.8	389	8153	0.00	2.03	0.00	0.000	6	0.000	0.034	3058	1460	2228
8477	1.19	160.7	626.9	7.0	405	8491	0.00	0.00	12.45	1.030	6	0.000	0.000	3058	1460	2176
8805	1.19	160.7	603.4	7.5	420	8809	0.00	2.50	0.00	0.000	4	0.000	0.049	3058	2854	2172
9045	1.21	177.0	586.7	6.9	431	9068	0.00	2.45	15.25	1.071	6	0.000	0.040	3058	1468	2110
9378	1.21	177.0	563.9	7.7	447	9380	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1468	2106
9686	1.23	192.2	541.4	7.0	462	9708	0.00	2.50	14.57	1.055	4	0.000	0.042	3058	2856	2048
9758	1.23	192.2	536.0	8.0	465	9763	0.00	2.50	0.00	0.000	6	0.000	0.038	3058	1458	2046
10084	1.23	192.2	509.9	8.1	481	10086	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1458	2045
10394	1.23	192.2	484.4	8.5	496	10399	0.00	2.50	0.00	0.000	4	0.000	0.041	3058	2857	2044
10426	1.23	192.2	481.3	8.8	497	10431	0.00	2.45	0.00	0.000	6	0.000	0.035	3058	1453	2044
10744	1.23	192.2	452.8	8.5	512	10746	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1453	2044
11051	1.23	192.2	426.8	8.4	527	11056	0.00	2.47	0.00	0.000	4	0.000	0.038	3057	2863	2044
11085	1.24	198.0	424.1	7.3	528	11096	0.00	2.47	6.15	0.828	6	0.000	0.035	3058	1443	2024
11417	1.24	199.6	399.2	7.4	545	11419	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1443	2023
11727	1.24	199.6	375.9	7.6	560	11731	0.00	2.47	0.00	0.000	4	0.000	0.038	3058	2858	2023
11766	1.27	225.3	373.0	6.6	562	11797	0.00	2.45	25.77	0.978	6	0.000	0.035	3058	1450	1913
12114	1.27	225.3	344.4	8.4	579	12115	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1449	1909
12422	1.27	225.3	318.5	8.6	594	12427	0.00	2.47	0.00	0.000	4	0.000	0.039	3058	2857	1909
12478	1.27	225.3	313.6	8.7	596	12484	0.00	2.45	0.00	0.000	6	0.000	0.035	3058	1453	1909
12796	1.27	225.3	287.1	8.4	612	12797	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1453	1909
13103	1.27	225.3	260.8	8.6	627	13104	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1453	1909
13412	1.27	225.3	233.4	8.5	642	13416	0.00	2.47	0.00	0.000	4	0.000	0.038	3058	2864	1909
13455	1.27	225.3	229.6	8.1	644	13460	0.00	2.45	0.00	0.000	6	0.000	0.034	3058	1453	1909
13777	1.27	225.3	202.2	8.7	660	13779	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1453	1909
14086	1.27	225.3	174.7	8.7	675	14090	0.00	2.45	0.00	0.000	4	0.000	0.038	3058	2858	1909
14140	1.27	225.3	169.8	9.2	677	14146	0.00	2.42	0.00	0.000	6	0.000	0.034	3058	1454	1909
14456	1.27	225.3	141.7	8.7	693	14460	0.00	2.12	0.00	0.000	4	0.000	0.054	3058	262	1909
14479	1.27	225.3	139.5	9.9	694	14483	0.00	2.00	0.00	0.000	6	0.000	0.028	3058	1474	1909
14813	1.27	225.3	110.6	8.8	710	14817	0.00	2.35	0.00	0.000	4	0.000	0.039	3058	2838	1909
14854	1.27	225.3	106.8	9.7	712	14858	0.00	2.40	0.00	0.000	6	0.000	0.034	3058	1449	1909
15181	1.27	225.3	78.4	8.4	728	15182	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1449	1909
15490	1.27	225.3	53.5	8.2	743	15494	0.00	2.42	0.00	0.000	4	0.000	0.038	3058	2839	1909
15535	1.27	225.3	49.1	9.6	745	15539	0.00	2.40	0.00	0.000	6	0.000	0.034	3057	1450	1909
15856	1.27	225.3	18.9	8.3	761	15857	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1450	1909
16059	end climb: SURFACE_DEPTH_REACHED
state	16059	begin surface coast
16081	end surface coast: CONTROL_FINISHED_OK
state	16081	begin surface