Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 52 * 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 52 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -1628985.5 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 -1628985.5

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 29 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 52 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 180737,6209.895,-948.450,39,1.4,45,-9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6209.852,-1011.535

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.83 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -61.2 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 181255,6209.852,-948.408,10,0.9,15,-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 0.9,1.027121 ALTIM_BOTTOM_PING 675.9,43.3

SM_CCo 17002,45.20,0.745,0,0,1609,300.00 _24V_AH 23.3,25.447

SM_GC 0.82,0.00,0.00,45.20,0.000,0.000,0.745,397,2462,1609,-11.05,-0.40,300.00 _10V_AH 10.1,11.075

IRIDIUM_FIX 6148.92,-948.20,080998,131306 DATA_FILE_SIZE 41016,815

TT8_MAMPS 0.027612 CAP_FILE_SIZE 128388,0

HUMID 1811 CFSIZE 260165632,255025152

INTERNAL_PRESSURE 8.09926 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 13.90 GPS 140609,225837,6208.233,-951.134,33,1.2,33,-9.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 131 77.70 SBE_CT 710 24 397.26

Roll_motor 172 62 253.37 SBE_O2 582 19 257.77

VBD_pump_during_apogee 337 1206 9479.81 WL_BB2F 509 105 1245.95

VBD_pump_during_surface 45 744 784.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.29 nil 0 0 0.00

Iridium_during_connect 27 160 103.58 nil 0 0 0.00

Iridium_during_xfer 144 223 752.00

Transponder_ping 5 420 56.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.00

TT8 1545 19 309.09

LPSleep 12737 2 281.74

TT8_Active 515 19 103.19

TT8_Sampling 1862 39 748.55

TT8_CF8 709 45 328.29

TT8_Kalman 0 81 0.00

Analog_circuits 1502 12 182.11

GPS_charging 0 0 0.00

Compass 1993 8 161.10

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 -1.17 -146.6 0.0 0.0 0 78 0.00 0.00 -58.92 0.000 6 0.000 0.000 392 2457 3432

81 -1.17 -146.6 4.9 -9.9 3 97 11.38 2.45 0.00 0.000 4 0.131 0.034 2533 1053 3433

103 -1.17 -146.6 14.5 -39.1 3 108 0.00 2.47 0.00 0.000 6 0.000 0.032 2534 2474 3433

425 -1.17 -146.6 46.1 -8.9 19 429 0.00 2.45 0.00 0.000 4 0.000 0.057 2534 3827 3433

766 -1.17 -146.6 78.6 -10.4 34 771 0.00 2.33 0.00 0.000 6 0.000 0.027 2533 2461 3434

1087 -1.17 -146.6 110.1 -9.7 50 1091 0.00 2.47 0.00 0.000 4 0.000 0.055 2533 3825 3434

1284 -1.17 -146.6 130.0 -10.0 59 1289 0.00 2.28 0.00 0.000 6 0.000 0.028 2533 2475 3434

1611 -1.17 -146.6 159.8 -9.1 75 1615 0.00 2.42 0.00 0.000 4 0.000 0.038 2533 1075 3434

1649 -1.17 -146.6 163.2 -8.6 77 1654 0.00 2.42 0.00 0.000 6 0.000 0.033 2533 2478 3434

1976 -1.17 -146.6 190.8 -8.3 93 1980 0.00 2.45 0.00 0.000 4 0.000 0.038 2533 1074 3434

2038 -1.17 -146.6 196.3 -8.5 96 2043 0.00 2.45 0.00 0.000 6 0.000 0.035 2534 2467 3434

2370 -1.17 -146.6 224.5 -8.4 112 2374 0.00 2.42 0.00 0.000 4 0.000 0.038 2534 1077 3434

2419 -1.17 -146.6 228.9 -8.8 114 2424 0.00 2.45 0.00 0.000 6 0.000 0.036 2533 2466 3433

2739 -1.17 -146.6 257.0 -8.9 130 2744 0.00 2.42 0.00 0.000 4 0.000 0.039 2533 1078 3434

2784 -1.17 -146.6 261.1 -9.3 132 2789 0.00 2.47 0.00 0.000 6 0.000 0.037 2533 2474 3434

3110 -1.17 -146.6 290.6 -9.2 148 3114 0.00 2.42 0.00 0.000 4 0.000 0.039 2533 1081 3433

3165 -1.17 -146.6 296.1 -10.1 150 3172 0.00 2.42 0.00 0.000 6 0.000 0.038 2533 2483 3433

3484 -1.17 -146.6 325.5 -9.5 166 3488 0.00 2.45 0.00 0.000 4 0.000 0.040 2533 1078 3434

3546 -1.17 -146.6 331.5 -8.7 169 3551 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2477 3434

3873 -1.17 -146.6 360.4 -8.8 185 3877 0.00 2.45 0.00 0.000 4 0.000 0.040 2533 1076 3433

3923 -1.17 -146.6 364.7 -8.3 187 3927 0.00 2.45 0.00 0.000 6 0.000 0.037 2533 2477 3434

4239 -1.17 -146.6 391.7 -8.5 202 4243 0.00 2.45 0.00 0.000 4 0.000 0.040 2533 1075 3433

4289 -1.17 -146.6 396.1 -8.8 204 4293 0.00 2.45 0.00 0.000 6 0.000 0.038 2533 2477 3433

4605 -1.17 -146.6 422.8 -8.7 219 4610 0.00 2.47 0.00 0.000 4 0.000 0.041 2533 1082 3433

4660 -1.17 -146.6 428.0 -9.4 221 4664 0.00 2.42 0.00 0.000 6 0.000 0.038 2533 2479 3433

4977 -1.17 -146.6 455.5 -8.7 236 4981 0.00 2.45 0.00 0.000 4 0.000 0.041 2533 1076 3433

5032 -1.17 -146.6 460.8 -9.0 238 5038 0.00 2.45 0.00 0.000 6 0.000 0.038 2533 2483 3433

5350 -1.17 -146.6 488.6 -9.0 254 5354 0.00 2.45 0.00 0.000 4 0.000 0.041 2533 1082 3433

5405 -1.17 -146.6 493.9 -8.5 256 5411 0.00 2.42 0.00 0.000 6 0.000 0.037 2533 2477 3433

5721 -1.17 -146.6 520.5 -8.1 272 5725 0.00 2.45 0.00 0.000 4 0.000 0.040 2533 1075 3433

5760 -1.17 -146.6 523.8 -8.2 274 5764 0.00 2.45 0.00 0.000 6 0.000 0.037 2533 2484 3433

6087 -1.17 -146.6 552.3 -8.9 290 6088 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2484 3432

6396 -1.17 -146.6 581.0 -9.3 305 6400 0.00 2.45 0.00 0.000 4 0.000 0.041 2534 1081 3432

6448 -1.17 -146.6 585.6 -8.7 307 6452 0.00 2.45 0.00 0.000 6 0.000 0.038 2533 2485 3433

6763 -1.17 -146.6 613.5 -9.3 322 6767 0.00 2.45 0.00 0.000 4 0.000 0.041 2533 1082 3432

6807 -1.17 -146.6 617.7 -9.3 324 6812 0.00 2.42 0.00 0.000 6 0.000 0.038 2533 2473 3432

7128 -1.17 -146.6 646.3 -8.7 340 7133 0.00 2.45 0.00 0.000 4 0.000 0.041 2533 1076 3432

7172 -1.17 -146.6 650.8 -9.5 342 7176 0.00 2.45 0.00 0.000 6 0.000 0.038 2533 2477 3432

7497 -1.17 -146.6 675.9 -7.8 358 7501 0.00 2.45 0.00 0.000 4 0.000 0.063 2533 3828 3432

7626 -1.17 -146.6 687.5 -8.7 364 7630 0.00 2.30 0.00 0.000 6 0.000 0.031 2533 2470 3432

7929 end dive: BOTTOM_OBSTACLE_DETECTED

state 7929 begin apogee

7937 -0.36 0.0 710.0 7.7 379 8072 0.88 0.00 128.38 1.206 6 0.070 0.000 2719 1471 2831

8073 end apogee: CONTROL_FINISHED_OK

state 8073 begin climb

8076 1.17 146.6 714.5 0.0 386 8214 1.55 0.00 129.43 1.175 6 0.050 0.000 3058 1471 2232

8524 1.18 148.4 687.6 7.4 408 8527 0.00 2.22 0.00 0.000 4 0.000 0.063 3058 260 2225

8585 1.18 148.4 682.6 8.7 410 8591 0.00 2.10 0.00 0.000 6 0.000 0.035 3058 1470 2224

8903 1.22 185.1 660.8 6.2 426 8945 0.00 2.58 33.83 1.154 4 0.000 0.051 3058 2846 2076

9113 1.22 185.1 644.7 7.7 435 9117 0.00 2.47 0.00 0.000 6 0.000 0.039 3058 1450 2071

9429 1.22 185.1 618.3 8.5 450 9433 0.00 2.50 0.00 0.000 4 0.000 0.045 3058 2848 2070

9461 1.22 185.1 615.2 9.1 451 9467 0.00 2.45 0.00 0.000 6 0.000 0.038 3058 1446 2070

9779 1.22 185.1 588.8 8.4 467 9783 0.00 2.47 0.00 0.000 4 0.000 0.043 3058 2849 2069

9841 1.22 185.1 583.2 9.1 470 9845 0.00 2.42 0.00 0.000 6 0.000 0.037 3058 1453 2069

10167 1.22 185.1 555.1 8.6 486 10172 0.00 2.45 0.00 0.000 4 0.000 0.041 3058 2854 2068

10246 1.22 185.1 548.2 8.4 489 10252 0.00 2.45 0.00 0.000 6 0.000 0.035 3058 1450 2068

10562 1.22 185.1 522.3 8.2 505 10563 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1450 2067

10871 1.22 185.1 498.0 7.9 520 10875 0.00 2.47 0.00 0.000 4 0.000 0.040 3058 2854 2067

10898 1.22 185.1 495.6 8.1 521 10902 0.00 2.45 0.00 0.000 6 0.000 0.035 3058 1449 2067

11216 1.22 185.1 469.9 8.0 536 11217 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1449 2068

11524 1.22 185.1 445.0 8.0 551 11529 0.00 2.45 0.00 0.000 4 0.000 0.039 3058 2857 2068

11565 1.22 185.1 441.8 8.2 553 11569 0.00 2.45 0.00 0.000 6 0.000 0.035 3058 1447 2067

11891 1.22 185.1 416.1 7.8 569 11892 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1446 2067

12203 1.22 185.1 391.9 7.8 584 12207 0.00 2.47 0.00 0.000 4 0.000 0.038 3058 2860 2068

12236 1.22 186.6 389.1 7.4 585 12242 0.00 2.42 0.00 0.000 6 0.000 0.034 3058 1451 2067

12551 1.22 186.6 365.1 7.8 601 12555 0.00 2.45 0.00 0.000 4 0.000 0.038 3058 2854 2068

12579 1.23 190.8 362.8 7.4 602 12590 0.00 2.42 5.18 0.738 6 0.000 0.034 3058 1455 2053

12902 1.23 190.8 337.0 8.2 618 12903 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1455 2053

13208 1.23 190.8 311.8 8.1 633 13213 0.00 2.45 0.00 0.000 4 0.000 0.038 3058 2855 2053

13248 1.23 190.8 308.5 8.5 635 13252 0.00 2.42 0.00 0.000 6 0.000 0.034 3058 1455 2052

13577 1.23 190.8 281.5 8.4 651 13581 0.00 2.12 0.00 0.000 4 0.000 0.055 3058 265 2053

13610 1.23 190.8 278.1 9.2 652 13615 0.00 2.00 0.00 0.000 6 0.000 0.028 3058 1464 2053

13931 1.23 190.8 250.2 8.5 668 13935 0.00 2.40 0.00 0.000 4 0.000 0.041 3058 2840 2052

13959 1.23 190.8 247.7 8.3 669 13963 0.00 2.40 0.00 0.000 6 0.000 0.034 3058 1453 2052

14275 1.23 190.8 220.3 8.8 684 14276 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1453 2053

14584 1.23 190.8 193.1 8.7 699 14588 0.00 2.42 0.00 0.000 4 0.000 0.037 3058 2846 2053

14627 1.23 190.8 189.3 8.4 701 14633 0.00 2.42 0.00 0.000 6 0.000 0.034 3058 1463 2053

14954 1.23 190.8 161.8 8.6 717 14955 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1463 2053

15263 1.23 190.8 135.9 8.1 732 15268 0.00 2.40 0.00 0.000 4 0.000 0.037 3058 2843 2053

15304 1.23 190.8 132.7 8.4 734 15309 0.00 2.42 0.00 0.000 6 0.000 0.034 3058 1455 2053

15636 1.23 190.8 106.6 7.6 750 15637 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1455 2053

15947 1.23 194.6 83.4 7.4 765 15957 0.00 2.42 5.20 0.625 4 0.000 0.037 3058 2839 2037

16013 1.26 214.1 78.6 6.8 768 16037 0.00 2.40 18.08 0.779 6 0.000 0.033 3058 1453 1959

16361 1.26 214.1 50.3 8.4 785 16362 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1454 1957

16670 1.26 214.1 25.4 7.7 800 16674 0.00 2.42 0.00 0.000 4 0.000 0.036 3058 2845 1956

16710 1.28 233.1 22.6 6.9 802 16732 0.00 2.42 17.15 0.742 6 0.000 0.034 3058 1462 1881

16955 end climb: SURFACE_DEPTH_REACHED

state 16956 begin surface coast

16979 end surface coast: CONTROL_FINISHED_OK

state 16979 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	52	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-1628985.5	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	180737,6209.895,-948.450,39,1.4,45,-9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6209.852,-1011.535
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.83	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-61.2	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	181255,6209.852,-948.408,10,0.9,15,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.9,1.027121	ALTIM_BOTTOM_PING	675.9,43.3
SM_CCo	17002,45.20,0.745,0,0,1609,300.00	_24V_AH	23.3,25.447
SM_GC	0.82,0.00,0.00,45.20,0.000,0.000,0.745,397,2462,1609,-11.05,-0.40,300.00	_10V_AH	10.1,11.075
IRIDIUM_FIX	6148.92,-948.20,080998,131306	DATA_FILE_SIZE	41016,815
TT8_MAMPS	0.027612	CAP_FILE_SIZE	128388,0
HUMID	1811	CFSIZE	260165632,255025152
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	13.90	GPS	140609,225837,6208.233,-951.134,33,1.2,33,-9.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	131	77.70	SBE_CT	710	24	397.26
Roll_motor	172	62	253.37	SBE_O2	582	19	257.77
VBD_pump_during_apogee	337	1206	9479.81	WL_BB2F	509	105	1245.95
VBD_pump_during_surface	45	744	784.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.29	nil	0	0	0.00
Iridium_during_connect	27	160	103.58	nil	0	0	0.00
Iridium_during_xfer	144	223	752.00
Transponder_ping	5	420	56.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.00
TT8	1545	19	309.09
LPSleep	12737	2	281.74
TT8_Active	515	19	103.19
TT8_Sampling	1862	39	748.55
TT8_CF8	709	45	328.29
TT8_Kalman	0	81	0.00
Analog_circuits	1502	12	182.11
GPS_charging	0	0	0.00
Compass	1993	8	161.10
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	-1.17	-146.6	0.0	0.0	0	78	0.00	0.00	-58.92	0.000	6	0.000	0.000	392	2457	3432
81	-1.17	-146.6	4.9	-9.9	3	97	11.38	2.45	0.00	0.000	4	0.131	0.034	2533	1053	3433
103	-1.17	-146.6	14.5	-39.1	3	108	0.00	2.47	0.00	0.000	6	0.000	0.032	2534	2474	3433
425	-1.17	-146.6	46.1	-8.9	19	429	0.00	2.45	0.00	0.000	4	0.000	0.057	2534	3827	3433
766	-1.17	-146.6	78.6	-10.4	34	771	0.00	2.33	0.00	0.000	6	0.000	0.027	2533	2461	3434
1087	-1.17	-146.6	110.1	-9.7	50	1091	0.00	2.47	0.00	0.000	4	0.000	0.055	2533	3825	3434
1284	-1.17	-146.6	130.0	-10.0	59	1289	0.00	2.28	0.00	0.000	6	0.000	0.028	2533	2475	3434
1611	-1.17	-146.6	159.8	-9.1	75	1615	0.00	2.42	0.00	0.000	4	0.000	0.038	2533	1075	3434
1649	-1.17	-146.6	163.2	-8.6	77	1654	0.00	2.42	0.00	0.000	6	0.000	0.033	2533	2478	3434
1976	-1.17	-146.6	190.8	-8.3	93	1980	0.00	2.45	0.00	0.000	4	0.000	0.038	2533	1074	3434
2038	-1.17	-146.6	196.3	-8.5	96	2043	0.00	2.45	0.00	0.000	6	0.000	0.035	2534	2467	3434
2370	-1.17	-146.6	224.5	-8.4	112	2374	0.00	2.42	0.00	0.000	4	0.000	0.038	2534	1077	3434
2419	-1.17	-146.6	228.9	-8.8	114	2424	0.00	2.45	0.00	0.000	6	0.000	0.036	2533	2466	3433
2739	-1.17	-146.6	257.0	-8.9	130	2744	0.00	2.42	0.00	0.000	4	0.000	0.039	2533	1078	3434
2784	-1.17	-146.6	261.1	-9.3	132	2789	0.00	2.47	0.00	0.000	6	0.000	0.037	2533	2474	3434
3110	-1.17	-146.6	290.6	-9.2	148	3114	0.00	2.42	0.00	0.000	4	0.000	0.039	2533	1081	3433
3165	-1.17	-146.6	296.1	-10.1	150	3172	0.00	2.42	0.00	0.000	6	0.000	0.038	2533	2483	3433
3484	-1.17	-146.6	325.5	-9.5	166	3488	0.00	2.45	0.00	0.000	4	0.000	0.040	2533	1078	3434
3546	-1.17	-146.6	331.5	-8.7	169	3551	0.00	2.45	0.00	0.000	6	0.000	0.038	2534	2477	3434
3873	-1.17	-146.6	360.4	-8.8	185	3877	0.00	2.45	0.00	0.000	4	0.000	0.040	2533	1076	3433
3923	-1.17	-146.6	364.7	-8.3	187	3927	0.00	2.45	0.00	0.000	6	0.000	0.037	2533	2477	3434
4239	-1.17	-146.6	391.7	-8.5	202	4243	0.00	2.45	0.00	0.000	4	0.000	0.040	2533	1075	3433
4289	-1.17	-146.6	396.1	-8.8	204	4293	0.00	2.45	0.00	0.000	6	0.000	0.038	2533	2477	3433
4605	-1.17	-146.6	422.8	-8.7	219	4610	0.00	2.47	0.00	0.000	4	0.000	0.041	2533	1082	3433
4660	-1.17	-146.6	428.0	-9.4	221	4664	0.00	2.42	0.00	0.000	6	0.000	0.038	2533	2479	3433
4977	-1.17	-146.6	455.5	-8.7	236	4981	0.00	2.45	0.00	0.000	4	0.000	0.041	2533	1076	3433
5032	-1.17	-146.6	460.8	-9.0	238	5038	0.00	2.45	0.00	0.000	6	0.000	0.038	2533	2483	3433
5350	-1.17	-146.6	488.6	-9.0	254	5354	0.00	2.45	0.00	0.000	4	0.000	0.041	2533	1082	3433
5405	-1.17	-146.6	493.9	-8.5	256	5411	0.00	2.42	0.00	0.000	6	0.000	0.037	2533	2477	3433
5721	-1.17	-146.6	520.5	-8.1	272	5725	0.00	2.45	0.00	0.000	4	0.000	0.040	2533	1075	3433
5760	-1.17	-146.6	523.8	-8.2	274	5764	0.00	2.45	0.00	0.000	6	0.000	0.037	2533	2484	3433
6087	-1.17	-146.6	552.3	-8.9	290	6088	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2484	3432
6396	-1.17	-146.6	581.0	-9.3	305	6400	0.00	2.45	0.00	0.000	4	0.000	0.041	2534	1081	3432
6448	-1.17	-146.6	585.6	-8.7	307	6452	0.00	2.45	0.00	0.000	6	0.000	0.038	2533	2485	3433
6763	-1.17	-146.6	613.5	-9.3	322	6767	0.00	2.45	0.00	0.000	4	0.000	0.041	2533	1082	3432
6807	-1.17	-146.6	617.7	-9.3	324	6812	0.00	2.42	0.00	0.000	6	0.000	0.038	2533	2473	3432
7128	-1.17	-146.6	646.3	-8.7	340	7133	0.00	2.45	0.00	0.000	4	0.000	0.041	2533	1076	3432
7172	-1.17	-146.6	650.8	-9.5	342	7176	0.00	2.45	0.00	0.000	6	0.000	0.038	2533	2477	3432
7497	-1.17	-146.6	675.9	-7.8	358	7501	0.00	2.45	0.00	0.000	4	0.000	0.063	2533	3828	3432
7626	-1.17	-146.6	687.5	-8.7	364	7630	0.00	2.30	0.00	0.000	6	0.000	0.031	2533	2470	3432
7929	end dive: BOTTOM_OBSTACLE_DETECTED
state	7929	begin apogee
7937	-0.36	0.0	710.0	7.7	379	8072	0.88	0.00	128.38	1.206	6	0.070	0.000	2719	1471	2831
8073	end apogee: CONTROL_FINISHED_OK
state	8073	begin climb
8076	1.17	146.6	714.5	0.0	386	8214	1.55	0.00	129.43	1.175	6	0.050	0.000	3058	1471	2232
8524	1.18	148.4	687.6	7.4	408	8527	0.00	2.22	0.00	0.000	4	0.000	0.063	3058	260	2225
8585	1.18	148.4	682.6	8.7	410	8591	0.00	2.10	0.00	0.000	6	0.000	0.035	3058	1470	2224
8903	1.22	185.1	660.8	6.2	426	8945	0.00	2.58	33.83	1.154	4	0.000	0.051	3058	2846	2076
9113	1.22	185.1	644.7	7.7	435	9117	0.00	2.47	0.00	0.000	6	0.000	0.039	3058	1450	2071
9429	1.22	185.1	618.3	8.5	450	9433	0.00	2.50	0.00	0.000	4	0.000	0.045	3058	2848	2070
9461	1.22	185.1	615.2	9.1	451	9467	0.00	2.45	0.00	0.000	6	0.000	0.038	3058	1446	2070
9779	1.22	185.1	588.8	8.4	467	9783	0.00	2.47	0.00	0.000	4	0.000	0.043	3058	2849	2069
9841	1.22	185.1	583.2	9.1	470	9845	0.00	2.42	0.00	0.000	6	0.000	0.037	3058	1453	2069
10167	1.22	185.1	555.1	8.6	486	10172	0.00	2.45	0.00	0.000	4	0.000	0.041	3058	2854	2068
10246	1.22	185.1	548.2	8.4	489	10252	0.00	2.45	0.00	0.000	6	0.000	0.035	3058	1450	2068
10562	1.22	185.1	522.3	8.2	505	10563	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1450	2067
10871	1.22	185.1	498.0	7.9	520	10875	0.00	2.47	0.00	0.000	4	0.000	0.040	3058	2854	2067
10898	1.22	185.1	495.6	8.1	521	10902	0.00	2.45	0.00	0.000	6	0.000	0.035	3058	1449	2067
11216	1.22	185.1	469.9	8.0	536	11217	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1449	2068
11524	1.22	185.1	445.0	8.0	551	11529	0.00	2.45	0.00	0.000	4	0.000	0.039	3058	2857	2068
11565	1.22	185.1	441.8	8.2	553	11569	0.00	2.45	0.00	0.000	6	0.000	0.035	3058	1447	2067
11891	1.22	185.1	416.1	7.8	569	11892	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1446	2067
12203	1.22	185.1	391.9	7.8	584	12207	0.00	2.47	0.00	0.000	4	0.000	0.038	3058	2860	2068
12236	1.22	186.6	389.1	7.4	585	12242	0.00	2.42	0.00	0.000	6	0.000	0.034	3058	1451	2067
12551	1.22	186.6	365.1	7.8	601	12555	0.00	2.45	0.00	0.000	4	0.000	0.038	3058	2854	2068
12579	1.23	190.8	362.8	7.4	602	12590	0.00	2.42	5.18	0.738	6	0.000	0.034	3058	1455	2053
12902	1.23	190.8	337.0	8.2	618	12903	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1455	2053
13208	1.23	190.8	311.8	8.1	633	13213	0.00	2.45	0.00	0.000	4	0.000	0.038	3058	2855	2053
13248	1.23	190.8	308.5	8.5	635	13252	0.00	2.42	0.00	0.000	6	0.000	0.034	3058	1455	2052
13577	1.23	190.8	281.5	8.4	651	13581	0.00	2.12	0.00	0.000	4	0.000	0.055	3058	265	2053
13610	1.23	190.8	278.1	9.2	652	13615	0.00	2.00	0.00	0.000	6	0.000	0.028	3058	1464	2053
13931	1.23	190.8	250.2	8.5	668	13935	0.00	2.40	0.00	0.000	4	0.000	0.041	3058	2840	2052
13959	1.23	190.8	247.7	8.3	669	13963	0.00	2.40	0.00	0.000	6	0.000	0.034	3058	1453	2052
14275	1.23	190.8	220.3	8.8	684	14276	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1453	2053
14584	1.23	190.8	193.1	8.7	699	14588	0.00	2.42	0.00	0.000	4	0.000	0.037	3058	2846	2053
14627	1.23	190.8	189.3	8.4	701	14633	0.00	2.42	0.00	0.000	6	0.000	0.034	3058	1463	2053
14954	1.23	190.8	161.8	8.6	717	14955	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1463	2053
15263	1.23	190.8	135.9	8.1	732	15268	0.00	2.40	0.00	0.000	4	0.000	0.037	3058	2843	2053
15304	1.23	190.8	132.7	8.4	734	15309	0.00	2.42	0.00	0.000	6	0.000	0.034	3058	1455	2053
15636	1.23	190.8	106.6	7.6	750	15637	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1455	2053
15947	1.23	194.6	83.4	7.4	765	15957	0.00	2.42	5.20	0.625	4	0.000	0.037	3058	2839	2037
16013	1.26	214.1	78.6	6.8	768	16037	0.00	2.40	18.08	0.779	6	0.000	0.033	3058	1453	1959
16361	1.26	214.1	50.3	8.4	785	16362	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1454	1957
16670	1.26	214.1	25.4	7.7	800	16674	0.00	2.42	0.00	0.000	4	0.000	0.036	3058	2845	1956
16710	1.28	233.1	22.6	6.9	802	16732	0.00	2.42	17.15	0.742	6	0.000	0.034	3058	1462	1881
16955	end climb: SURFACE_DEPTH_REACHED
state	16956	begin surface coast
16979	end surface coast: CONTROL_FINISHED_OK
state	16979	begin surface