Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 55 * 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 55 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 -1629030.2 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 -1629030.2

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 55 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 090355,6205.768,-953.717,38,2.0,38,-9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6205.760,-1016.783

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.93 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -63.4 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 090920,6205.760,-953.707,13,1.1,13,-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 0.3,1.026944 ALTIM_BOTTOM_PING 676.1,89.1

SM_CCo 18485,47.05,0.750,0,0,1609,300.00 _24V_AH 23.3,25.850

SM_GC 0.71,0.00,0.00,47.05,0.000,0.000,0.750,397,2480,1609,-11.05,0.11,300.00 _10V_AH 10.1,11.336

IRIDIUM_FIX 6144.36,-951.16,090998,040440 DATA_FILE_SIZE 44281,890

TT8_MAMPS 0.027612 CAP_FILE_SIZE 139680,0

HUMID 1807 CFSIZE 260165632,254816256

INTERNAL_PRESSURE 8.09926 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 17.30 GPS 150609,141955,6205.842,-956.934,42,1.0,42,-9.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 78.30 SBE_CT 746 24 417.33

Roll_motor 184 65 279.66 SBE_O2 668 19 295.94

VBD_pump_during_apogee 334 1241 9683.78 WL_BB2F 535 105 1309.30

VBD_pump_during_surface 47 750 822.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 67.19 nil 0 0 0.00

Iridium_during_connect 28 160 104.59 nil 0 0 0.00

Iridium_during_xfer 150 223 781.58

Transponder_ping 5 420 56.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.93

TT8 1682 19 336.39

LPSleep 13888 2 307.20

TT8_Active 499 19 99.88

TT8_Sampling 2038 39 819.32

TT8_CF8 752 45 348.05

TT8_Kalman 0 81 0.00

Analog_circuits 1583 12 191.95

GPS_charging 0 0 0.00

Compass 2175 8 175.78

RAFOS 0 0 0.00

Transponder 39 30 12.00

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 -58.97 0.000 6 0.000 0.000 396 2464 3432

80 -1.17 -146.6 5.0 -9.9 3 101 11.40 2.45 0.00 0.000 4 0.133 0.052 2534 3822 3433

438 -1.17 -146.6 50.0 -9.3 19 443 0.00 2.33 0.00 0.000 6 0.000 0.026 2534 2455 3433

770 -1.17 -146.6 79.9 -9.6 35 774 0.00 2.47 0.00 0.000 4 0.000 0.053 2534 3826 3434

1011 -1.17 -146.6 104.5 -10.0 46 1016 0.00 2.28 0.00 0.000 6 0.000 0.027 2534 2470 3434

1340 -1.17 -146.6 133.5 -8.9 62 1344 0.00 2.40 0.00 0.000 4 0.000 0.038 2534 1084 3434

1379 -1.17 -146.6 137.1 -9.2 64 1384 0.00 2.40 0.00 0.000 6 0.000 0.033 2534 2472 3434

1706 -1.17 -146.6 166.1 -9.0 80 1710 0.00 2.42 0.00 0.000 4 0.000 0.037 2534 1079 3434

1755 -1.17 -146.6 170.7 -9.7 82 1760 0.00 2.45 0.00 0.000 6 0.000 0.034 2534 2473 3434

2076 -1.17 -146.6 200.8 -9.6 98 2081 0.00 2.42 0.00 0.000 4 0.000 0.038 2534 1081 3434

2116 -1.17 -146.6 204.5 -9.1 100 2120 0.00 2.42 0.00 0.000 6 0.000 0.035 2534 2483 3434

2443 -1.17 -146.6 234.1 -9.0 116 2447 0.00 2.45 0.00 0.000 4 0.000 0.038 2534 1077 3434

2487 -1.17 -146.6 238.4 -9.4 118 2491 0.00 2.45 0.00 0.000 6 0.000 0.036 2534 2482 3434

2807 -1.17 -146.6 267.5 -8.8 134 2811 0.00 2.45 0.00 0.000 4 0.000 0.038 2534 1078 3434

2869 -1.17 -146.6 273.2 -8.7 137 2874 0.00 2.47 0.00 0.000 6 0.000 0.038 2534 2475 3434

3201 -1.17 -146.6 302.4 -8.9 153 3206 0.00 2.45 0.00 0.000 4 0.000 0.039 2534 1087 3434

3257 -1.17 -146.6 307.3 -8.2 155 3262 0.00 2.42 0.00 0.000 6 0.000 0.038 2534 2477 3433

3573 -1.17 -146.6 334.9 -9.0 170 3577 0.00 2.42 0.00 0.000 4 0.000 0.040 2534 1086 3433

3629 -1.17 -146.6 340.0 -9.1 172 3635 0.00 2.42 0.00 0.000 6 0.000 0.038 2534 2478 3433

3944 -1.17 -146.6 368.1 -9.0 188 3948 0.00 2.42 0.00 0.000 4 0.000 0.040 2534 1087 3433

3988 -1.17 -146.6 372.2 -8.9 190 3992 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2485 3433

4310 -1.17 -146.6 400.1 -8.6 206 4314 0.00 2.45 0.00 0.000 4 0.000 0.040 2534 1084 3433

4354 -1.17 -146.6 404.2 -8.8 208 4358 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2484 3433

4674 -1.17 -146.6 431.0 -8.4 224 4679 0.00 2.45 0.00 0.000 4 0.000 0.040 2534 1082 3433

4719 -1.17 -146.6 434.8 -8.8 226 4723 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2486 3433

5040 -1.17 -146.6 461.3 -8.6 242 5044 0.00 2.45 0.00 0.000 4 0.000 0.040 2534 1084 3433

5089 -1.17 -146.6 465.7 -9.1 244 5093 0.00 2.42 0.00 0.000 6 0.000 0.037 2534 2475 3433

5407 -1.17 -146.6 491.2 -7.7 259 5411 0.00 2.42 0.00 0.000 4 0.000 0.040 2534 1085 3433

5473 -1.17 -146.6 496.6 -7.6 262 5477 0.00 2.42 0.00 0.000 6 0.000 0.037 2534 2483 3433

5795 -1.17 -146.6 519.2 -6.4 278 5799 0.00 2.45 0.00 0.000 4 0.000 0.040 2534 1078 3433

5845 -1.17 -146.6 522.5 -6.5 280 5849 0.00 2.42 0.00 0.000 6 0.000 0.036 2534 2473 3433

6163 -1.17 -146.6 545.8 -8.4 295 6167 0.00 2.42 0.00 0.000 4 0.000 0.041 2534 1087 3433

6225 -1.17 -146.6 551.7 -9.2 298 6230 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2475 3433

6556 -1.17 -146.6 583.1 -9.5 314 6560 0.00 2.42 0.00 0.000 4 0.000 0.040 2534 1088 3432

6613 -1.17 -146.6 588.8 -10.3 316 6619 0.00 2.42 0.00 0.000 6 0.000 0.038 2534 2477 3432

6928 -1.17 -146.6 618.7 -8.9 332 6933 0.00 2.42 0.00 0.000 4 0.000 0.041 2534 1086 3432

6973 -1.17 -146.6 622.6 -8.6 334 6977 0.00 2.42 0.00 0.000 6 0.000 0.038 2534 2477 3432

7295 -1.17 -146.6 650.3 -9.2 350 7299 0.00 2.45 0.00 0.000 4 0.000 0.041 2534 1078 3432

7357 -1.17 -146.6 656.2 -9.2 353 7362 0.00 2.42 0.00 0.000 6 0.000 0.038 2534 2477 3432

7685 -1.17 -146.6 684.6 -8.3 369 7686 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2477 3432

7994 -1.17 -146.6 707.8 -7.2 384 7998 0.00 2.45 0.00 0.000 4 0.000 0.042 2534 1080 3432

8043 -1.17 -146.6 711.5 -7.6 386 8047 0.00 2.45 0.00 0.000 6 0.000 0.041 2534 2475 3432

8362 -1.17 -146.6 733.8 -7.4 401 8366 0.00 2.45 0.00 0.000 4 0.000 0.043 2534 1083 3431

8428 -1.17 -146.6 737.9 -5.9 404 8433 0.00 2.45 0.00 0.000 6 0.000 0.041 2534 2474 3431

8685 end dive: BOTTOM_OBSTACLE_DETECTED

state 8685 begin apogee

8693 -0.36 0.0 756.8 7.8 417 8828 0.88 0.00 129.25 1.241 6 0.071 0.000 2720 1476 2831

8829 end apogee: CONTROL_FINISHED_OK

state 8829 begin climb

8832 1.17 146.6 759.7 0.0 424 8971 1.52 2.33 129.88 1.202 4 0.051 0.065 3056 269 2234

9208 1.17 146.6 731.2 9.8 441 9213 0.00 2.08 0.00 0.000 6 0.000 0.035 3055 1467 2226

9534 1.17 146.6 703.1 7.9 457 9539 0.00 2.47 0.00 0.000 4 0.000 0.049 3055 2846 2223

9579 1.17 146.6 699.5 8.0 459 9583 0.00 2.45 0.00 0.000 6 0.000 0.041 3055 1455 2223

9901 1.21 174.2 676.8 6.6 475 9932 0.00 2.60 24.25 1.158 4 0.000 0.047 3055 2846 2120

10040 1.21 174.2 666.8 7.5 481 10045 0.00 2.45 0.00 0.000 6 0.000 0.040 3055 1455 2118

10361 1.21 174.2 639.5 8.5 497 10362 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1454 2115

10670 1.21 174.2 615.5 7.6 512 10674 0.00 2.50 0.00 0.000 4 0.000 0.044 3056 2856 2115

10737 1.21 174.2 610.4 7.9 515 10742 0.00 2.47 0.00 0.000 6 0.000 0.038 3055 1448 2114

11058 1.21 174.2 586.1 7.8 531 11059 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1448 2114

11370 1.21 174.2 561.2 7.9 546 11374 0.00 2.50 0.00 0.000 4 0.000 0.042 3055 2858 2114

11442 1.23 192.2 555.4 6.9 549 11463 0.00 2.45 16.35 1.075 6 0.000 0.036 3055 1454 2048

11779 1.23 192.2 529.5 7.7 566 11780 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1453 2046

12088 1.24 197.8 507.0 7.3 581 12103 0.00 2.53 6.50 0.885 4 0.000 0.041 3056 2851 2024

12132 1.25 208.7 503.8 7.1 583 12148 0.00 2.45 11.30 0.987 6 0.000 0.035 3055 1445 1981

12460 1.25 208.7 478.8 7.7 598 12464 0.00 2.47 0.00 0.000 4 0.000 0.039 3056 2852 1979

12487 1.25 208.7 476.4 7.5 599 12492 0.00 2.47 0.00 0.000 6 0.000 0.035 3055 1451 1979

12807 1.25 208.7 452.0 7.9 615 12809 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1451 1978

13117 1.25 208.7 428.3 8.0 630 13121 0.00 2.47 0.00 0.000 4 0.000 0.039 3055 2860 1979

13156 1.25 208.7 424.9 8.4 632 13161 0.00 2.45 0.00 0.000 6 0.000 0.035 3056 1450 1978

13483 1.25 208.7 397.5 8.4 648 13487 0.00 2.47 0.00 0.000 4 0.000 0.038 3056 2858 1978

13522 1.25 208.7 394.1 9.0 650 13526 0.00 2.45 0.00 0.000 6 0.000 0.035 3055 1448 1978

13851 1.25 208.7 366.9 8.3 666 13852 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1448 1979

14159 1.25 208.7 341.8 7.8 681 14160 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1448 1979

14468 1.25 211.1 318.3 7.4 696 14472 0.00 2.47 0.00 0.000 4 0.000 0.040 3056 2858 1979

14512 1.26 212.8 314.8 7.4 698 14522 0.00 2.45 5.38 0.728 6 0.000 0.035 3055 1448 1964

14835 1.27 224.5 291.4 7.1 713 14852 0.00 0.00 12.00 0.871 6 0.000 0.000 3055 1448 1915

15164 1.27 224.5 266.8 7.6 729 15168 0.00 2.47 0.00 0.000 4 0.000 0.039 3055 2857 1914

15208 1.27 224.5 263.0 8.1 731 15212 0.00 2.45 0.00 0.000 6 0.000 0.034 3055 1449 1914

15531 1.27 224.5 238.4 7.8 747 15535 0.00 2.47 0.00 0.000 4 0.000 0.039 3055 2858 1913

15558 1.27 224.5 236.1 7.7 748 15563 0.00 2.47 0.00 0.000 6 0.000 0.034 3055 1453 1913

15878 1.27 224.5 211.1 7.7 764 15879 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1453 1914

16188 1.27 224.5 187.0 7.9 779 16189 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1453 1914

16497 1.27 224.5 162.4 8.1 794 16501 0.00 2.45 0.00 0.000 4 0.000 0.039 3055 2852 1914

16563 1.27 224.5 157.0 8.3 797 16567 0.00 2.42 0.00 0.000 6 0.000 0.035 3055 1454 1913

16884 1.27 224.5 131.2 7.8 813 16885 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1453 1913

17193 1.27 224.5 106.5 8.2 828 17197 0.00 2.45 0.00 0.000 4 0.000 0.037 3055 2859 1914

17238 1.27 224.5 102.9 8.1 830 17242 0.00 2.42 0.00 0.000 6 0.000 0.033 3056 1453 1913

17559 1.27 224.5 75.7 8.3 846 17564 0.00 2.45 0.00 0.000 4 0.000 0.036 3056 2852 1913

17582 1.27 224.5 73.6 8.3 847 17586 0.00 2.42 0.00 0.000 6 0.000 0.033 3056 1448 1913

17908 1.27 224.5 45.2 8.5 863 17912 0.00 2.45 0.00 0.000 4 0.000 0.037 3055 2859 1913

17940 1.27 224.5 42.4 7.6 864 17947 0.00 2.42 0.00 0.000 6 0.000 0.033 3055 1449 1914

18258 1.27 224.5 16.8 8.4 880 18259 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1449 1914

18439 end climb: SURFACE_DEPTH_REACHED

state 18439 begin surface coast

18461 end surface coast: CONTROL_FINISHED_OK

state 18461 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	55	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	-1629030.2	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	090355,6205.768,-953.717,38,2.0,38,-9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6205.760,-1016.783
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.93	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-63.4	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	090920,6205.760,-953.707,13,1.1,13,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.3,1.026944	ALTIM_BOTTOM_PING	676.1,89.1
SM_CCo	18485,47.05,0.750,0,0,1609,300.00	_24V_AH	23.3,25.850
SM_GC	0.71,0.00,0.00,47.05,0.000,0.000,0.750,397,2480,1609,-11.05,0.11,300.00	_10V_AH	10.1,11.336
IRIDIUM_FIX	6144.36,-951.16,090998,040440	DATA_FILE_SIZE	44281,890
TT8_MAMPS	0.027612	CAP_FILE_SIZE	139680,0
HUMID	1807	CFSIZE	260165632,254816256
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	17.30	GPS	150609,141955,6205.842,-956.934,42,1.0,42,-9.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	78.30	SBE_CT	746	24	417.33
Roll_motor	184	65	279.66	SBE_O2	668	19	295.94
VBD_pump_during_apogee	334	1241	9683.78	WL_BB2F	535	105	1309.30
VBD_pump_during_surface	47	750	822.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	67.19	nil	0	0	0.00
Iridium_during_connect	28	160	104.59	nil	0	0	0.00
Iridium_during_xfer	150	223	781.58
Transponder_ping	5	420	56.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.93
TT8	1682	19	336.39
LPSleep	13888	2	307.20
TT8_Active	499	19	99.88
TT8_Sampling	2038	39	819.32
TT8_CF8	752	45	348.05
TT8_Kalman	0	81	0.00
Analog_circuits	1583	12	191.95
GPS_charging	0	0	0.00
Compass	2175	8	175.78
RAFOS	0	0	0.00
Transponder	39	30	12.00

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	-58.97	0.000	6	0.000	0.000	396	2464	3432
80	-1.17	-146.6	5.0	-9.9	3	101	11.40	2.45	0.00	0.000	4	0.133	0.052	2534	3822	3433
438	-1.17	-146.6	50.0	-9.3	19	443	0.00	2.33	0.00	0.000	6	0.000	0.026	2534	2455	3433
770	-1.17	-146.6	79.9	-9.6	35	774	0.00	2.47	0.00	0.000	4	0.000	0.053	2534	3826	3434
1011	-1.17	-146.6	104.5	-10.0	46	1016	0.00	2.28	0.00	0.000	6	0.000	0.027	2534	2470	3434
1340	-1.17	-146.6	133.5	-8.9	62	1344	0.00	2.40	0.00	0.000	4	0.000	0.038	2534	1084	3434
1379	-1.17	-146.6	137.1	-9.2	64	1384	0.00	2.40	0.00	0.000	6	0.000	0.033	2534	2472	3434
1706	-1.17	-146.6	166.1	-9.0	80	1710	0.00	2.42	0.00	0.000	4	0.000	0.037	2534	1079	3434
1755	-1.17	-146.6	170.7	-9.7	82	1760	0.00	2.45	0.00	0.000	6	0.000	0.034	2534	2473	3434
2076	-1.17	-146.6	200.8	-9.6	98	2081	0.00	2.42	0.00	0.000	4	0.000	0.038	2534	1081	3434
2116	-1.17	-146.6	204.5	-9.1	100	2120	0.00	2.42	0.00	0.000	6	0.000	0.035	2534	2483	3434
2443	-1.17	-146.6	234.1	-9.0	116	2447	0.00	2.45	0.00	0.000	4	0.000	0.038	2534	1077	3434
2487	-1.17	-146.6	238.4	-9.4	118	2491	0.00	2.45	0.00	0.000	6	0.000	0.036	2534	2482	3434
2807	-1.17	-146.6	267.5	-8.8	134	2811	0.00	2.45	0.00	0.000	4	0.000	0.038	2534	1078	3434
2869	-1.17	-146.6	273.2	-8.7	137	2874	0.00	2.47	0.00	0.000	6	0.000	0.038	2534	2475	3434
3201	-1.17	-146.6	302.4	-8.9	153	3206	0.00	2.45	0.00	0.000	4	0.000	0.039	2534	1087	3434
3257	-1.17	-146.6	307.3	-8.2	155	3262	0.00	2.42	0.00	0.000	6	0.000	0.038	2534	2477	3433
3573	-1.17	-146.6	334.9	-9.0	170	3577	0.00	2.42	0.00	0.000	4	0.000	0.040	2534	1086	3433
3629	-1.17	-146.6	340.0	-9.1	172	3635	0.00	2.42	0.00	0.000	6	0.000	0.038	2534	2478	3433
3944	-1.17	-146.6	368.1	-9.0	188	3948	0.00	2.42	0.00	0.000	4	0.000	0.040	2534	1087	3433
3988	-1.17	-146.6	372.2	-8.9	190	3992	0.00	2.45	0.00	0.000	6	0.000	0.038	2534	2485	3433
4310	-1.17	-146.6	400.1	-8.6	206	4314	0.00	2.45	0.00	0.000	4	0.000	0.040	2534	1084	3433
4354	-1.17	-146.6	404.2	-8.8	208	4358	0.00	2.45	0.00	0.000	6	0.000	0.038	2534	2484	3433
4674	-1.17	-146.6	431.0	-8.4	224	4679	0.00	2.45	0.00	0.000	4	0.000	0.040	2534	1082	3433
4719	-1.17	-146.6	434.8	-8.8	226	4723	0.00	2.45	0.00	0.000	6	0.000	0.038	2534	2486	3433
5040	-1.17	-146.6	461.3	-8.6	242	5044	0.00	2.45	0.00	0.000	4	0.000	0.040	2534	1084	3433
5089	-1.17	-146.6	465.7	-9.1	244	5093	0.00	2.42	0.00	0.000	6	0.000	0.037	2534	2475	3433
5407	-1.17	-146.6	491.2	-7.7	259	5411	0.00	2.42	0.00	0.000	4	0.000	0.040	2534	1085	3433
5473	-1.17	-146.6	496.6	-7.6	262	5477	0.00	2.42	0.00	0.000	6	0.000	0.037	2534	2483	3433
5795	-1.17	-146.6	519.2	-6.4	278	5799	0.00	2.45	0.00	0.000	4	0.000	0.040	2534	1078	3433
5845	-1.17	-146.6	522.5	-6.5	280	5849	0.00	2.42	0.00	0.000	6	0.000	0.036	2534	2473	3433
6163	-1.17	-146.6	545.8	-8.4	295	6167	0.00	2.42	0.00	0.000	4	0.000	0.041	2534	1087	3433
6225	-1.17	-146.6	551.7	-9.2	298	6230	0.00	2.45	0.00	0.000	6	0.000	0.038	2534	2475	3433
6556	-1.17	-146.6	583.1	-9.5	314	6560	0.00	2.42	0.00	0.000	4	0.000	0.040	2534	1088	3432
6613	-1.17	-146.6	588.8	-10.3	316	6619	0.00	2.42	0.00	0.000	6	0.000	0.038	2534	2477	3432
6928	-1.17	-146.6	618.7	-8.9	332	6933	0.00	2.42	0.00	0.000	4	0.000	0.041	2534	1086	3432
6973	-1.17	-146.6	622.6	-8.6	334	6977	0.00	2.42	0.00	0.000	6	0.000	0.038	2534	2477	3432
7295	-1.17	-146.6	650.3	-9.2	350	7299	0.00	2.45	0.00	0.000	4	0.000	0.041	2534	1078	3432
7357	-1.17	-146.6	656.2	-9.2	353	7362	0.00	2.42	0.00	0.000	6	0.000	0.038	2534	2477	3432
7685	-1.17	-146.6	684.6	-8.3	369	7686	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2477	3432
7994	-1.17	-146.6	707.8	-7.2	384	7998	0.00	2.45	0.00	0.000	4	0.000	0.042	2534	1080	3432
8043	-1.17	-146.6	711.5	-7.6	386	8047	0.00	2.45	0.00	0.000	6	0.000	0.041	2534	2475	3432
8362	-1.17	-146.6	733.8	-7.4	401	8366	0.00	2.45	0.00	0.000	4	0.000	0.043	2534	1083	3431
8428	-1.17	-146.6	737.9	-5.9	404	8433	0.00	2.45	0.00	0.000	6	0.000	0.041	2534	2474	3431
8685	end dive: BOTTOM_OBSTACLE_DETECTED
state	8685	begin apogee
8693	-0.36	0.0	756.8	7.8	417	8828	0.88	0.00	129.25	1.241	6	0.071	0.000	2720	1476	2831
8829	end apogee: CONTROL_FINISHED_OK
state	8829	begin climb
8832	1.17	146.6	759.7	0.0	424	8971	1.52	2.33	129.88	1.202	4	0.051	0.065	3056	269	2234
9208	1.17	146.6	731.2	9.8	441	9213	0.00	2.08	0.00	0.000	6	0.000	0.035	3055	1467	2226
9534	1.17	146.6	703.1	7.9	457	9539	0.00	2.47	0.00	0.000	4	0.000	0.049	3055	2846	2223
9579	1.17	146.6	699.5	8.0	459	9583	0.00	2.45	0.00	0.000	6	0.000	0.041	3055	1455	2223
9901	1.21	174.2	676.8	6.6	475	9932	0.00	2.60	24.25	1.158	4	0.000	0.047	3055	2846	2120
10040	1.21	174.2	666.8	7.5	481	10045	0.00	2.45	0.00	0.000	6	0.000	0.040	3055	1455	2118
10361	1.21	174.2	639.5	8.5	497	10362	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1454	2115
10670	1.21	174.2	615.5	7.6	512	10674	0.00	2.50	0.00	0.000	4	0.000	0.044	3056	2856	2115
10737	1.21	174.2	610.4	7.9	515	10742	0.00	2.47	0.00	0.000	6	0.000	0.038	3055	1448	2114
11058	1.21	174.2	586.1	7.8	531	11059	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1448	2114
11370	1.21	174.2	561.2	7.9	546	11374	0.00	2.50	0.00	0.000	4	0.000	0.042	3055	2858	2114
11442	1.23	192.2	555.4	6.9	549	11463	0.00	2.45	16.35	1.075	6	0.000	0.036	3055	1454	2048
11779	1.23	192.2	529.5	7.7	566	11780	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1453	2046
12088	1.24	197.8	507.0	7.3	581	12103	0.00	2.53	6.50	0.885	4	0.000	0.041	3056	2851	2024
12132	1.25	208.7	503.8	7.1	583	12148	0.00	2.45	11.30	0.987	6	0.000	0.035	3055	1445	1981
12460	1.25	208.7	478.8	7.7	598	12464	0.00	2.47	0.00	0.000	4	0.000	0.039	3056	2852	1979
12487	1.25	208.7	476.4	7.5	599	12492	0.00	2.47	0.00	0.000	6	0.000	0.035	3055	1451	1979
12807	1.25	208.7	452.0	7.9	615	12809	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1451	1978
13117	1.25	208.7	428.3	8.0	630	13121	0.00	2.47	0.00	0.000	4	0.000	0.039	3055	2860	1979
13156	1.25	208.7	424.9	8.4	632	13161	0.00	2.45	0.00	0.000	6	0.000	0.035	3056	1450	1978
13483	1.25	208.7	397.5	8.4	648	13487	0.00	2.47	0.00	0.000	4	0.000	0.038	3056	2858	1978
13522	1.25	208.7	394.1	9.0	650	13526	0.00	2.45	0.00	0.000	6	0.000	0.035	3055	1448	1978
13851	1.25	208.7	366.9	8.3	666	13852	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1448	1979
14159	1.25	208.7	341.8	7.8	681	14160	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1448	1979
14468	1.25	211.1	318.3	7.4	696	14472	0.00	2.47	0.00	0.000	4	0.000	0.040	3056	2858	1979
14512	1.26	212.8	314.8	7.4	698	14522	0.00	2.45	5.38	0.728	6	0.000	0.035	3055	1448	1964
14835	1.27	224.5	291.4	7.1	713	14852	0.00	0.00	12.00	0.871	6	0.000	0.000	3055	1448	1915
15164	1.27	224.5	266.8	7.6	729	15168	0.00	2.47	0.00	0.000	4	0.000	0.039	3055	2857	1914
15208	1.27	224.5	263.0	8.1	731	15212	0.00	2.45	0.00	0.000	6	0.000	0.034	3055	1449	1914
15531	1.27	224.5	238.4	7.8	747	15535	0.00	2.47	0.00	0.000	4	0.000	0.039	3055	2858	1913
15558	1.27	224.5	236.1	7.7	748	15563	0.00	2.47	0.00	0.000	6	0.000	0.034	3055	1453	1913
15878	1.27	224.5	211.1	7.7	764	15879	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1453	1914
16188	1.27	224.5	187.0	7.9	779	16189	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1453	1914
16497	1.27	224.5	162.4	8.1	794	16501	0.00	2.45	0.00	0.000	4	0.000	0.039	3055	2852	1914
16563	1.27	224.5	157.0	8.3	797	16567	0.00	2.42	0.00	0.000	6	0.000	0.035	3055	1454	1913
16884	1.27	224.5	131.2	7.8	813	16885	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1453	1913
17193	1.27	224.5	106.5	8.2	828	17197	0.00	2.45	0.00	0.000	4	0.000	0.037	3055	2859	1914
17238	1.27	224.5	102.9	8.1	830	17242	0.00	2.42	0.00	0.000	6	0.000	0.033	3056	1453	1913
17559	1.27	224.5	75.7	8.3	846	17564	0.00	2.45	0.00	0.000	4	0.000	0.036	3056	2852	1913
17582	1.27	224.5	73.6	8.3	847	17586	0.00	2.42	0.00	0.000	6	0.000	0.033	3056	1448	1913
17908	1.27	224.5	45.2	8.5	863	17912	0.00	2.45	0.00	0.000	4	0.000	0.037	3055	2859	1913
17940	1.27	224.5	42.4	7.6	864	17947	0.00	2.42	0.00	0.000	6	0.000	0.033	3055	1449	1914
18258	1.27	224.5	16.8	8.4	880	18259	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1449	1914
18439	end climb: SURFACE_DEPTH_REACHED
state	18439	begin surface coast
18461	end surface coast: CONTROL_FINISHED_OK
state	18461	begin surface