Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 53 * 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 53 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 27 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 -1629001.5 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 -1629001.5

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 27 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 53 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 225837,6208.233,-951.134,33,1.2,33,-9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6208.220,-1014.156

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.81 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -62.9 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 230414,6208.220,-951.049,15,1.2,15,-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 0.1,1.002651 ALTIM_BOTTOM_PING 625.3,103.3

SM_CCo 17750,29.90,0.733,0,0,1609,300.00 _24V_AH 23.3,25.577

SM_GC 1.22,0.00,0.00,29.90,0.000,0.000,0.733,396,2466,1609,-11.06,-0.31,300.00 _10V_AH 10.1,11.161

IRIDIUM_FIX 6144.36,-952.74,080998,181813 DATA_FILE_SIZE 44286,853

TT8_MAMPS 0.027612 CAP_FILE_SIZE 130630,0

HUMID 1822 CFSIZE 260165632,254959616

INTERNAL_PRESSURE 8.09926 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 13.70 GPS 150609,040207,6207.743,-950.841,31,1.1,31,-9.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 133 79.92 SBE_CT 735 24 411.22

Roll_motor 162 62 235.88 SBE_O2 610 19 270.08

VBD_pump_during_apogee 354 1211 9991.45 WL_BB2F 532 105 1302.07

VBD_pump_during_surface 29 733 510.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.27 nil 0 0 0.00

Iridium_during_connect 38 160 143.16 nil 0 0 0.00

Iridium_during_xfer 148 223 771.51

Transponder_ping 5 420 51.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.74

TT8 1598 19 319.60

LPSleep 13337 2 295.01

TT8_Active 511 19 102.20

TT8_Sampling 1925 39 773.87

TT8_CF8 750 45 346.99

TT8_Kalman 0 81 0.00

Analog_circuits 1522 12 184.53

GPS_charging 0 0 0.00

Compass 2082 8 168.28

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 -1.17 -146.6 0.0 0.0 0 77 0.00 0.00 -59.10 0.000 6 0.000 0.000 396 2464 3432

80 -1.17 -146.6 4.7 -9.2 3 100 11.43 2.45 0.00 0.000 4 0.133 0.051 2537 3822 3433

437 -1.17 -146.6 51.6 -10.3 19 442 0.00 2.33 0.00 0.000 6 0.000 0.026 2537 2456 3433

769 -1.17 -146.6 79.8 -8.4 35 773 0.00 2.47 0.00 0.000 4 0.000 0.053 2537 3825 3434

997 -1.17 -146.6 101.7 -9.9 45 1002 0.00 2.30 0.00 0.000 6 0.000 0.027 2537 2480 3434

1318 -1.17 -146.6 130.1 -8.5 61 1322 0.00 2.42 0.00 0.000 4 0.000 0.037 2537 1078 3435

1364 -1.17 -146.6 134.0 -8.8 63 1368 0.00 2.42 0.00 0.000 6 0.000 0.033 2537 2476 3434

1684 -1.17 -146.6 162.4 -9.2 79 1688 0.00 2.42 0.00 0.000 4 0.000 0.038 2537 1079 3434

1734 -1.17 -146.6 167.0 -8.6 81 1739 0.00 2.42 0.00 0.000 6 0.000 0.034 2537 2484 3434

2051 -1.17 -146.6 195.5 -9.2 96 2056 0.00 2.45 0.00 0.000 4 0.000 0.038 2537 1076 3434

2114 -1.17 -146.6 201.4 -9.3 99 2118 0.00 2.42 0.00 0.000 6 0.000 0.035 2537 2476 3434

2440 -1.17 -146.6 230.2 -9.0 115 2444 0.00 2.42 0.00 0.000 4 0.000 0.038 2537 1082 3434

2490 -1.17 -146.6 235.0 -9.1 117 2494 0.00 2.45 0.00 0.000 6 0.000 0.036 2537 2483 3434

2806 -1.17 -146.6 263.1 -9.0 132 2810 0.00 2.45 0.00 0.000 4 0.000 0.038 2537 1077 3434

2861 -1.17 -146.6 268.2 -9.4 134 2867 0.00 2.45 0.00 0.000 6 0.000 0.037 2537 2478 3434

3179 -1.17 -146.6 295.7 -8.4 150 3183 0.00 2.45 0.00 0.000 4 0.000 0.039 2537 1076 3434

3241 -1.17 -146.6 301.1 -8.6 153 3246 0.00 2.47 0.00 0.000 6 0.000 0.038 2537 2474 3433

3572 -1.17 -146.6 328.0 -8.0 169 3577 0.00 2.42 0.00 0.000 4 0.000 0.040 2537 1081 3433

3639 -1.17 -146.6 333.8 -8.5 172 3643 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2479 3433

3961 -1.17 -146.6 359.6 -7.7 188 3965 0.00 2.45 0.00 0.000 4 0.000 0.040 2537 1077 3433

4016 -1.17 -146.6 364.2 -8.4 190 4022 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2479 3433

4333 -1.17 -146.6 389.6 -8.2 206 4337 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1078 3433

4388 -1.17 -146.6 394.4 -8.3 208 4394 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2479 3433

4706 -1.17 -146.6 418.4 -7.4 224 4711 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1080 3433

4762 -1.17 -146.6 422.8 -7.6 226 4768 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2483 3433

5078 -1.17 -146.6 446.6 -7.8 242 5082 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1083 3433

5134 -1.17 -146.6 451.4 -8.9 244 5140 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2476 3433

5449 -1.17 -146.6 478.1 -8.6 260 5453 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1076 3433

5504 -1.17 -146.6 483.0 -8.8 262 5510 0.00 2.45 0.00 0.000 6 0.000 0.037 2537 2481 3433

5820 -1.17 -146.6 509.8 -8.5 278 5824 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1080 3433

5869 -1.17 -146.6 514.5 -9.2 280 5874 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2486 3433

6185 -1.17 -146.6 542.8 -8.6 295 6189 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1083 3432

6217 -1.17 -146.6 545.5 -8.0 296 6224 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2485 3433

6534 -1.17 -146.6 569.7 -7.1 312 6538 0.00 2.45 0.00 0.000 4 0.000 0.040 2537 1082 3432

6574 -1.17 -146.6 572.6 -7.2 314 6579 0.00 2.42 0.00 0.000 6 0.000 0.037 2537 2477 3432

6903 -1.17 -146.6 597.3 -8.0 330 6908 0.00 2.45 0.00 0.000 4 0.000 0.040 2537 1076 3432

6953 -1.17 -146.6 601.7 -7.8 332 6957 0.00 2.45 0.00 0.000 6 0.000 0.037 2537 2477 3432

7274 -1.17 -146.6 625.3 -7.6 347 7275 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2477 3432

7578 -1.17 -146.6 649.4 -8.0 362 7582 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1078 3432

7617 -1.17 -146.6 652.6 -8.6 364 7621 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2476 3432

7944 -1.17 -146.6 678.2 -7.4 380 7945 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2476 3432

8255 -1.17 -146.6 702.0 -7.7 395 8259 0.00 2.45 0.00 0.000 4 0.000 0.043 2537 1078 3432

8298 -1.17 -146.6 705.7 -7.9 397 8303 0.00 2.45 0.00 0.000 6 0.000 0.039 2537 2480 3432

8473 end dive: BOTTOM_OBSTACLE_DETECTED

state 8473 begin apogee

8482 -0.36 0.0 719.0 7.8 406 8616 0.88 0.00 128.65 1.211 6 0.071 0.000 2723 1468 2831

8617 end apogee: CONTROL_FINISHED_OK

state 8617 begin climb

8620 1.17 146.6 723.4 0.0 413 8758 1.50 2.30 129.20 1.174 4 0.049 0.062 3056 266 2233

8889 1.17 146.6 709.5 8.5 425 8893 0.00 2.05 0.00 0.000 6 0.000 0.035 3055 1463 2228

9212 1.19 155.6 686.3 7.2 441 9226 0.00 2.55 7.82 0.974 4 0.000 0.049 3055 2846 2197

9371 1.19 156.6 675.2 7.5 448 9376 0.00 2.50 0.00 0.000 6 0.000 0.041 3055 1455 2195

9703 1.22 186.5 652.1 6.5 464 9737 0.00 2.25 28.98 1.157 4 0.000 0.060 3055 266 2070

9767 1.22 186.5 647.2 7.9 467 9771 0.00 2.05 0.00 0.000 6 0.000 0.033 3056 1458 2069

10100 1.22 186.5 619.9 7.9 483 10101 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1459 2065

10409 1.22 186.5 595.4 8.0 498 10413 0.00 2.47 0.00 0.000 4 0.000 0.047 3055 2849 2064

10497 1.22 186.5 588.1 8.1 502 10502 0.00 2.45 0.00 0.000 6 0.000 0.037 3056 1445 2063

10819 1.22 186.5 562.5 7.5 518 10820 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1444 2063

11128 1.22 186.5 538.5 8.0 533 11132 0.00 2.50 0.00 0.000 4 0.000 0.040 3056 2859 2062

11171 1.22 186.5 534.9 7.9 535 11176 0.00 2.45 0.00 0.000 6 0.000 0.035 3056 1452 2062

11494 1.22 186.5 508.2 8.3 551 11495 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1452 2062

11802 1.22 186.5 482.6 8.4 566 11804 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1452 2062

12112 1.22 186.5 456.5 8.3 581 12113 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1452 2062

12421 1.22 186.5 430.7 8.1 596 12425 0.00 2.45 0.00 0.000 4 0.000 0.039 3055 2860 2063

12460 1.22 186.5 427.4 8.4 598 12464 0.00 2.45 0.00 0.000 6 0.000 0.034 3056 1448 2063

12786 1.22 186.5 399.8 8.8 614 12790 0.00 2.45 0.00 0.000 4 0.000 0.038 3056 2858 2063

12818 1.22 186.5 396.8 8.0 615 12825 0.00 2.45 0.00 0.000 6 0.000 0.034 3056 1446 2063

13134 1.22 186.5 368.2 9.1 631 13135 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1446 2063

13446 1.22 186.5 340.6 9.0 646 13447 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1446 2063

13754 1.22 186.5 312.2 9.3 661 13758 0.00 2.47 0.00 0.000 4 0.000 0.038 3056 2861 2063

13794 1.22 186.5 308.4 8.9 663 13798 0.00 2.45 0.00 0.000 6 0.000 0.034 3056 1446 2063

14120 1.22 186.5 278.6 8.9 679 14121 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1446 2063

14432 1.22 186.5 252.1 8.3 694 14436 0.00 2.45 0.00 0.000 4 0.000 0.038 3056 2858 2063

14487 1.22 186.5 247.2 9.1 696 14493 0.00 2.42 0.00 0.000 6 0.000 0.034 3055 1455 2063

14805 1.22 186.5 222.3 7.6 712 14809 0.00 2.42 0.00 0.000 4 0.000 0.039 3056 2856 2063

14838 1.22 187.1 219.6 7.5 713 14844 0.00 2.42 0.00 0.000 6 0.000 0.034 3056 1454 2063

15153 1.24 203.2 197.8 7.0 729 15175 0.00 2.20 14.55 0.839 4 0.000 0.055 3056 267 2003

15203 1.24 203.2 193.8 8.1 731 15207 0.00 2.00 0.00 0.000 6 0.000 0.028 3056 1470 2003

15531 1.24 203.2 169.3 7.6 747 15532 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1473 2001

15840 1.24 203.2 144.9 7.7 762 15844 0.00 2.40 0.00 0.000 4 0.000 0.041 3056 2842 2001

15867 1.24 203.2 142.5 8.4 763 15871 0.00 2.40 0.00 0.000 6 0.000 0.033 3056 1453 2001

16185 1.26 216.9 118.8 7.0 778 16203 0.00 0.00 13.35 0.786 6 0.000 0.000 3056 1454 1946

16513 1.26 216.9 93.8 7.8 794 16515 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1453 1945

16822 1.26 216.9 70.4 7.9 809 16826 0.00 2.42 0.00 0.000 4 0.000 0.038 3056 2842 1945

16884 1.26 216.9 65.2 9.1 812 16888 0.00 2.40 0.00 0.000 6 0.000 0.033 3056 1453 1945

17211 1.26 219.6 37.8 7.4 828 17213 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1453 1944

17521 1.31 252.6 19.2 6.4 843 17555 0.12 0.00 31.52 0.760 6 0.046 0.000 3097 1454 1802

17703 end climb: SURFACE_DEPTH_REACHED

state 17704 begin surface coast

17727 end surface coast: CONTROL_FINISHED_OK

state 17727 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	53	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	27	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	-1629001.5	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	225837,6208.233,-951.134,33,1.2,33,-9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6208.220,-1014.156
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.81	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-62.9	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	230414,6208.220,-951.049,15,1.2,15,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.1,1.002651	ALTIM_BOTTOM_PING	625.3,103.3
SM_CCo	17750,29.90,0.733,0,0,1609,300.00	_24V_AH	23.3,25.577
SM_GC	1.22,0.00,0.00,29.90,0.000,0.000,0.733,396,2466,1609,-11.06,-0.31,300.00	_10V_AH	10.1,11.161
IRIDIUM_FIX	6144.36,-952.74,080998,181813	DATA_FILE_SIZE	44286,853
TT8_MAMPS	0.027612	CAP_FILE_SIZE	130630,0
HUMID	1822	CFSIZE	260165632,254959616
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	13.70	GPS	150609,040207,6207.743,-950.841,31,1.1,31,-9.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	133	79.92	SBE_CT	735	24	411.22
Roll_motor	162	62	235.88	SBE_O2	610	19	270.08
VBD_pump_during_apogee	354	1211	9991.45	WL_BB2F	532	105	1302.07
VBD_pump_during_surface	29	733	510.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.27	nil	0	0	0.00
Iridium_during_connect	38	160	143.16	nil	0	0	0.00
Iridium_during_xfer	148	223	771.51
Transponder_ping	5	420	51.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.74
TT8	1598	19	319.60
LPSleep	13337	2	295.01
TT8_Active	511	19	102.20
TT8_Sampling	1925	39	773.87
TT8_CF8	750	45	346.99
TT8_Kalman	0	81	0.00
Analog_circuits	1522	12	184.53
GPS_charging	0	0	0.00
Compass	2082	8	168.28
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	-1.17	-146.6	0.0	0.0	0	77	0.00	0.00	-59.10	0.000	6	0.000	0.000	396	2464	3432
80	-1.17	-146.6	4.7	-9.2	3	100	11.43	2.45	0.00	0.000	4	0.133	0.051	2537	3822	3433
437	-1.17	-146.6	51.6	-10.3	19	442	0.00	2.33	0.00	0.000	6	0.000	0.026	2537	2456	3433
769	-1.17	-146.6	79.8	-8.4	35	773	0.00	2.47	0.00	0.000	4	0.000	0.053	2537	3825	3434
997	-1.17	-146.6	101.7	-9.9	45	1002	0.00	2.30	0.00	0.000	6	0.000	0.027	2537	2480	3434
1318	-1.17	-146.6	130.1	-8.5	61	1322	0.00	2.42	0.00	0.000	4	0.000	0.037	2537	1078	3435
1364	-1.17	-146.6	134.0	-8.8	63	1368	0.00	2.42	0.00	0.000	6	0.000	0.033	2537	2476	3434
1684	-1.17	-146.6	162.4	-9.2	79	1688	0.00	2.42	0.00	0.000	4	0.000	0.038	2537	1079	3434
1734	-1.17	-146.6	167.0	-8.6	81	1739	0.00	2.42	0.00	0.000	6	0.000	0.034	2537	2484	3434
2051	-1.17	-146.6	195.5	-9.2	96	2056	0.00	2.45	0.00	0.000	4	0.000	0.038	2537	1076	3434
2114	-1.17	-146.6	201.4	-9.3	99	2118	0.00	2.42	0.00	0.000	6	0.000	0.035	2537	2476	3434
2440	-1.17	-146.6	230.2	-9.0	115	2444	0.00	2.42	0.00	0.000	4	0.000	0.038	2537	1082	3434
2490	-1.17	-146.6	235.0	-9.1	117	2494	0.00	2.45	0.00	0.000	6	0.000	0.036	2537	2483	3434
2806	-1.17	-146.6	263.1	-9.0	132	2810	0.00	2.45	0.00	0.000	4	0.000	0.038	2537	1077	3434
2861	-1.17	-146.6	268.2	-9.4	134	2867	0.00	2.45	0.00	0.000	6	0.000	0.037	2537	2478	3434
3179	-1.17	-146.6	295.7	-8.4	150	3183	0.00	2.45	0.00	0.000	4	0.000	0.039	2537	1076	3434
3241	-1.17	-146.6	301.1	-8.6	153	3246	0.00	2.47	0.00	0.000	6	0.000	0.038	2537	2474	3433
3572	-1.17	-146.6	328.0	-8.0	169	3577	0.00	2.42	0.00	0.000	4	0.000	0.040	2537	1081	3433
3639	-1.17	-146.6	333.8	-8.5	172	3643	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2479	3433
3961	-1.17	-146.6	359.6	-7.7	188	3965	0.00	2.45	0.00	0.000	4	0.000	0.040	2537	1077	3433
4016	-1.17	-146.6	364.2	-8.4	190	4022	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2479	3433
4333	-1.17	-146.6	389.6	-8.2	206	4337	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1078	3433
4388	-1.17	-146.6	394.4	-8.3	208	4394	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2479	3433
4706	-1.17	-146.6	418.4	-7.4	224	4711	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1080	3433
4762	-1.17	-146.6	422.8	-7.6	226	4768	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2483	3433
5078	-1.17	-146.6	446.6	-7.8	242	5082	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1083	3433
5134	-1.17	-146.6	451.4	-8.9	244	5140	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2476	3433
5449	-1.17	-146.6	478.1	-8.6	260	5453	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1076	3433
5504	-1.17	-146.6	483.0	-8.8	262	5510	0.00	2.45	0.00	0.000	6	0.000	0.037	2537	2481	3433
5820	-1.17	-146.6	509.8	-8.5	278	5824	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1080	3433
5869	-1.17	-146.6	514.5	-9.2	280	5874	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2486	3433
6185	-1.17	-146.6	542.8	-8.6	295	6189	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1083	3432
6217	-1.17	-146.6	545.5	-8.0	296	6224	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2485	3433
6534	-1.17	-146.6	569.7	-7.1	312	6538	0.00	2.45	0.00	0.000	4	0.000	0.040	2537	1082	3432
6574	-1.17	-146.6	572.6	-7.2	314	6579	0.00	2.42	0.00	0.000	6	0.000	0.037	2537	2477	3432
6903	-1.17	-146.6	597.3	-8.0	330	6908	0.00	2.45	0.00	0.000	4	0.000	0.040	2537	1076	3432
6953	-1.17	-146.6	601.7	-7.8	332	6957	0.00	2.45	0.00	0.000	6	0.000	0.037	2537	2477	3432
7274	-1.17	-146.6	625.3	-7.6	347	7275	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2477	3432
7578	-1.17	-146.6	649.4	-8.0	362	7582	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1078	3432
7617	-1.17	-146.6	652.6	-8.6	364	7621	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2476	3432
7944	-1.17	-146.6	678.2	-7.4	380	7945	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2476	3432
8255	-1.17	-146.6	702.0	-7.7	395	8259	0.00	2.45	0.00	0.000	4	0.000	0.043	2537	1078	3432
8298	-1.17	-146.6	705.7	-7.9	397	8303	0.00	2.45	0.00	0.000	6	0.000	0.039	2537	2480	3432
8473	end dive: BOTTOM_OBSTACLE_DETECTED
state	8473	begin apogee
8482	-0.36	0.0	719.0	7.8	406	8616	0.88	0.00	128.65	1.211	6	0.071	0.000	2723	1468	2831
8617	end apogee: CONTROL_FINISHED_OK
state	8617	begin climb
8620	1.17	146.6	723.4	0.0	413	8758	1.50	2.30	129.20	1.174	4	0.049	0.062	3056	266	2233
8889	1.17	146.6	709.5	8.5	425	8893	0.00	2.05	0.00	0.000	6	0.000	0.035	3055	1463	2228
9212	1.19	155.6	686.3	7.2	441	9226	0.00	2.55	7.82	0.974	4	0.000	0.049	3055	2846	2197
9371	1.19	156.6	675.2	7.5	448	9376	0.00	2.50	0.00	0.000	6	0.000	0.041	3055	1455	2195
9703	1.22	186.5	652.1	6.5	464	9737	0.00	2.25	28.98	1.157	4	0.000	0.060	3055	266	2070
9767	1.22	186.5	647.2	7.9	467	9771	0.00	2.05	0.00	0.000	6	0.000	0.033	3056	1458	2069
10100	1.22	186.5	619.9	7.9	483	10101	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1459	2065
10409	1.22	186.5	595.4	8.0	498	10413	0.00	2.47	0.00	0.000	4	0.000	0.047	3055	2849	2064
10497	1.22	186.5	588.1	8.1	502	10502	0.00	2.45	0.00	0.000	6	0.000	0.037	3056	1445	2063
10819	1.22	186.5	562.5	7.5	518	10820	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1444	2063
11128	1.22	186.5	538.5	8.0	533	11132	0.00	2.50	0.00	0.000	4	0.000	0.040	3056	2859	2062
11171	1.22	186.5	534.9	7.9	535	11176	0.00	2.45	0.00	0.000	6	0.000	0.035	3056	1452	2062
11494	1.22	186.5	508.2	8.3	551	11495	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1452	2062
11802	1.22	186.5	482.6	8.4	566	11804	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1452	2062
12112	1.22	186.5	456.5	8.3	581	12113	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1452	2062
12421	1.22	186.5	430.7	8.1	596	12425	0.00	2.45	0.00	0.000	4	0.000	0.039	3055	2860	2063
12460	1.22	186.5	427.4	8.4	598	12464	0.00	2.45	0.00	0.000	6	0.000	0.034	3056	1448	2063
12786	1.22	186.5	399.8	8.8	614	12790	0.00	2.45	0.00	0.000	4	0.000	0.038	3056	2858	2063
12818	1.22	186.5	396.8	8.0	615	12825	0.00	2.45	0.00	0.000	6	0.000	0.034	3056	1446	2063
13134	1.22	186.5	368.2	9.1	631	13135	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1446	2063
13446	1.22	186.5	340.6	9.0	646	13447	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1446	2063
13754	1.22	186.5	312.2	9.3	661	13758	0.00	2.47	0.00	0.000	4	0.000	0.038	3056	2861	2063
13794	1.22	186.5	308.4	8.9	663	13798	0.00	2.45	0.00	0.000	6	0.000	0.034	3056	1446	2063
14120	1.22	186.5	278.6	8.9	679	14121	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1446	2063
14432	1.22	186.5	252.1	8.3	694	14436	0.00	2.45	0.00	0.000	4	0.000	0.038	3056	2858	2063
14487	1.22	186.5	247.2	9.1	696	14493	0.00	2.42	0.00	0.000	6	0.000	0.034	3055	1455	2063
14805	1.22	186.5	222.3	7.6	712	14809	0.00	2.42	0.00	0.000	4	0.000	0.039	3056	2856	2063
14838	1.22	187.1	219.6	7.5	713	14844	0.00	2.42	0.00	0.000	6	0.000	0.034	3056	1454	2063
15153	1.24	203.2	197.8	7.0	729	15175	0.00	2.20	14.55	0.839	4	0.000	0.055	3056	267	2003
15203	1.24	203.2	193.8	8.1	731	15207	0.00	2.00	0.00	0.000	6	0.000	0.028	3056	1470	2003
15531	1.24	203.2	169.3	7.6	747	15532	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1473	2001
15840	1.24	203.2	144.9	7.7	762	15844	0.00	2.40	0.00	0.000	4	0.000	0.041	3056	2842	2001
15867	1.24	203.2	142.5	8.4	763	15871	0.00	2.40	0.00	0.000	6	0.000	0.033	3056	1453	2001
16185	1.26	216.9	118.8	7.0	778	16203	0.00	0.00	13.35	0.786	6	0.000	0.000	3056	1454	1946
16513	1.26	216.9	93.8	7.8	794	16515	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1453	1945
16822	1.26	216.9	70.4	7.9	809	16826	0.00	2.42	0.00	0.000	4	0.000	0.038	3056	2842	1945
16884	1.26	216.9	65.2	9.1	812	16888	0.00	2.40	0.00	0.000	6	0.000	0.033	3056	1453	1945
17211	1.26	219.6	37.8	7.4	828	17213	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1453	1944
17521	1.31	252.6	19.2	6.4	843	17555	0.12	0.00	31.52	0.760	6	0.046	0.000	3097	1454	1802
17703	end climb: SURFACE_DEPTH_REACHED
state	17704	begin surface coast
17727	end surface coast: CONTROL_FINISHED_OK
state	17727	begin surface