Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 59 * 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 59 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 29 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 -1629086.6 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 -1629086.6

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 29 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 59 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 072430,6206.716,-1017.603,39,1.9,44,-10.1 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6206.716,-1040.818

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.80 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -60.0 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 073314,6206.716,-1017.731,10,1.8,10,-10.1 MHEAD_RNG_PITCHd_Wd 280.1,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027138 ALTIM_BOTTOM_PING 750.2,98.9

SM_CCo 18581,9.30,0.688,0,0,1609,300.00 _24V_AH 23.2,26.450

SM_GC 1.48,0.00,0.00,9.30,0.000,0.000,0.688,392,2461,1609,-11.08,-0.45,300.00 _10V_AH 10.1,11.711

IRIDIUM_FIX 6139.81,-1019.11,100998,070706 DATA_FILE_SIZE 44347,888

TT8_MAMPS 0.026845 CAP_FILE_SIZE 139249,0

HUMID 1825 CFSIZE 260165632,254550016

INTERNAL_PRESSURE 8.09926 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 19.10 GPS 160609,124436,6207.099,-1030.247,32,1.0,32,-10.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 80.41 SBE_CT 762 24 424.83

Roll_motor 180 66 279.12 SBE_O2 636 19 280.64

VBD_pump_during_apogee 382 1293 11485.33 WL_BB2F 525 105 1281.02

VBD_pump_during_surface 9 687 148.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 103 133.33 nil 0 0 0.00

Iridium_during_connect 130 160 483.28 nil 0 0 0.00

Iridium_during_xfer 155 223 804.25

Transponder_ping 6 420 63.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.44

TT8 1662 19 332.52

LPSleep 14002 2 309.73

TT8_Active 502 19 100.46

TT8_Sampling 2036 39 818.44

TT8_CF8 907 45 419.97

TT8_Kalman 0 81 0.00

Analog_circuits 1597 12 193.57

GPS_charging 0 0 0.00

Compass 2185 8 176.62

RAFOS 0 0 0.00

Transponder 44 30 13.47

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 -59.33 0.000 6 0.000 0.000 392 2452 3431

81 -1.17 -146.6 4.8 -9.4 3 102 11.48 2.47 0.00 0.000 4 0.135 0.034 2544 1052 3432

275 -1.17 -146.6 30.9 -7.5 11 281 0.00 2.47 0.00 0.000 6 0.000 0.033 2544 2483 3432

593 -1.17 -146.6 52.2 -6.3 27 597 0.00 2.47 0.00 0.000 4 0.000 0.035 2544 1057 3433

700 -1.17 -146.6 59.5 -6.6 32 704 0.00 2.47 0.00 0.000 6 0.000 0.034 2544 2482 3433

1028 -1.17 -146.6 86.9 -9.1 48 1029 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2481 3433

1336 -1.17 -146.6 115.4 -9.2 63 1340 0.00 2.47 0.00 0.000 4 0.000 0.037 2544 1059 3433

1391 -1.17 -146.6 120.6 -9.1 65 1397 0.00 2.47 0.00 0.000 6 0.000 0.035 2544 2477 3433

1707 -1.17 -146.6 148.6 -8.8 81 1711 0.00 2.47 0.00 0.000 4 0.000 0.037 2544 1055 3433

1769 -1.17 -146.6 154.0 -8.7 84 1773 0.00 2.47 0.00 0.000 6 0.000 0.035 2545 2484 3433

2096 -1.17 -146.6 182.3 -8.5 100 2100 0.00 2.47 0.00 0.000 4 0.000 0.038 2544 1061 3433

2151 -1.17 -146.6 187.0 -8.3 102 2157 0.00 2.47 0.00 0.000 6 0.000 0.036 2544 2474 3433

2467 -1.17 -146.6 210.5 -7.2 118 2471 0.00 2.47 0.00 0.000 4 0.000 0.038 2544 1055 3433

2517 -1.17 -146.6 214.3 -7.4 120 2521 0.00 2.47 0.00 0.000 6 0.000 0.036 2544 2475 3433

2834 -1.17 -146.6 239.0 -8.1 135 2839 0.00 2.47 0.00 0.000 4 0.000 0.038 2544 1058 3433

2868 -1.17 -146.6 242.1 -8.1 136 2874 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2475 3433

3183 -1.17 -146.6 267.8 -8.3 152 3188 0.00 2.50 0.00 0.000 4 0.000 0.039 2544 1062 3432

3239 -1.17 -146.6 272.4 -8.3 154 3243 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2475 3433

3555 -1.17 -146.6 297.7 -7.8 169 3559 0.00 2.47 0.00 0.000 4 0.000 0.039 2544 1058 3432

3610 -1.17 -146.6 302.3 -8.1 171 3616 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2475 3432

3926 -1.17 -146.6 326.7 -7.8 187 3930 0.00 2.50 0.00 0.000 4 0.000 0.039 2544 1062 3432

3978 -1.17 -146.6 330.7 -7.8 189 3982 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2476 3432

4299 -1.17 -146.6 355.7 -7.8 205 4303 0.00 2.47 0.00 0.000 4 0.000 0.040 2544 1055 3432

4355 -1.17 -146.6 360.3 -8.5 207 4361 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2476 3432

4671 -1.17 -146.6 386.0 -8.2 223 4675 0.00 2.47 0.00 0.000 4 0.000 0.041 2544 1059 3432

4714 -1.17 -146.6 389.6 -8.0 225 4719 0.00 2.47 0.00 0.000 6 0.000 0.038 2545 2475 3432

5036 -1.17 -146.6 415.7 -8.3 241 5040 0.00 2.47 0.00 0.000 4 0.000 0.040 2544 1062 3432

5085 -1.17 -146.6 420.1 -8.4 243 5090 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2477 3432

5401 -1.17 -146.6 447.7 -9.0 258 5406 0.00 2.47 0.00 0.000 4 0.000 0.040 2544 1060 3431

5456 -1.17 -146.6 452.9 -9.1 260 5463 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2476 3431

5774 -1.17 -146.6 481.3 -9.2 276 5778 0.00 2.47 0.00 0.000 4 0.000 0.041 2544 1058 3431

5846 -1.17 -146.6 488.1 -9.5 279 5850 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2477 3431

6162 -1.17 -146.6 515.8 -8.8 294 6166 0.00 2.47 0.00 0.000 4 0.000 0.040 2544 1061 3431

6217 -1.17 -146.6 520.8 -8.7 296 6223 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2477 3431

6534 -1.17 -146.6 550.9 -10.5 312 6538 0.00 2.47 0.00 0.000 4 0.000 0.040 2544 1060 3431

6578 -1.17 -146.6 555.9 -11.4 314 6582 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2478 3431

6901 -1.17 -146.6 595.1 -13.3 330 6905 0.00 2.47 0.00 0.000 4 0.000 0.040 2544 1061 3431

6967 -1.17 -146.6 604.3 -13.4 333 6972 0.00 2.50 0.00 0.000 6 0.000 0.038 2544 2472 3431

7293 -1.17 -146.6 640.2 -9.5 349 7297 0.00 2.47 0.00 0.000 4 0.000 0.041 2544 1058 3431

7343 -1.17 -146.6 644.7 -8.5 351 7348 0.00 2.50 0.00 0.000 6 0.000 0.038 2544 2474 3431

7664 -1.17 -146.6 663.2 -5.0 367 7668 0.00 2.47 0.00 0.000 4 0.000 0.040 2544 1059 3431

7726 -1.17 -146.6 666.6 -5.8 370 7731 0.00 2.50 0.00 0.000 6 0.000 0.038 2544 2472 3431

8060 -1.17 -146.6 693.4 -8.7 386 8065 0.00 2.47 0.00 0.000 4 0.000 0.041 2544 1060 3430

8110 -1.17 -146.6 697.7 -7.5 388 8115 0.00 2.47 0.00 0.000 6 0.000 0.038 2544 2477 3431

8426 -1.17 -146.6 716.7 -7.9 403 8427 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2477 3430

8735 -1.17 -146.6 744.6 -6.9 418 8740 0.00 2.47 0.00 0.000 4 0.000 0.041 2545 1064 3431

8830 -1.17 -146.6 752.0 -8.1 422 8835 0.00 2.50 0.00 0.000 6 0.000 0.039 2544 2472 3430

9151 -1.17 -146.6 782.6 -10.1 438 9152 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2472 3430

9461 -1.17 -146.6 807.6 -5.4 453 9465 0.00 2.47 0.00 0.000 4 0.000 0.043 2544 1066 3429

9525 -1.17 -146.6 810.4 -4.4 456 9529 0.00 2.47 0.00 0.000 6 0.000 0.041 2544 2475 3430

9851 -1.17 -146.6 826.4 -6.7 472 9856 0.00 2.53 0.00 0.000 4 0.000 0.044 2544 1061 3429

10019 -1.17 -146.6 836.7 -7.9 479 10024 0.00 2.53 0.00 0.000 6 0.000 0.046 2544 2476 3429

10044 end dive: BOTTOM_OBSTACLE_DETECTED

state 10044 begin apogee

10052 -0.36 0.0 839.5 10.5 480 10187 0.82 0.00 129.30 1.294 6 0.069 0.000 2720 1457 2832

10188 end apogee: CONTROL_FINISHED_OK

state 10188 begin climb

10191 1.17 146.6 846.9 0.0 487 10330 1.52 2.30 130.30 1.257 4 0.049 0.067 3058 265 2234

10489 1.17 146.6 830.7 7.7 500 10496 0.00 2.10 0.00 0.000 6 0.000 0.037 3058 1467 2226

10805 1.27 225.1 812.1 4.8 516 10881 0.00 2.58 70.32 1.258 4 0.000 0.053 3058 2851 1913

10946 1.34 282.6 804.6 5.5 522 11007 0.15 2.50 52.67 1.246 6 0.040 0.042 3113 1451 1680

11329 1.34 282.6 765.5 10.7 541 11334 0.00 2.55 0.00 0.000 4 0.000 0.048 3113 2860 1669

11385 1.34 282.6 759.3 11.3 543 11392 0.12 2.50 0.00 0.000 6 0.085 0.041 3088 1454 1668

11700 1.34 282.6 729.9 9.6 559 11704 0.00 2.17 0.00 0.000 4 0.000 0.059 3089 258 1667

11829 1.34 282.6 714.4 11.7 564 11835 0.00 2.05 0.00 0.000 6 0.000 0.031 3088 1461 1666

12144 1.34 282.6 674.7 12.4 580 12145 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1461 1665

12454 1.34 282.6 641.3 10.4 595 12455 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1461 1665

12765 1.34 282.6 604.7 12.0 610 12767 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 1461 1665

13072 1.34 282.6 567.0 12.0 625 13076 0.00 2.17 0.00 0.000 4 0.000 0.054 3088 258 1665

13110 1.34 282.6 562.2 12.8 626 13116 0.00 2.03 0.00 0.000 6 0.000 0.030 3088 1461 1665

13426 1.34 282.6 530.2 8.9 642 13427 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1461 1665

13737 1.34 282.6 504.3 8.6 657 13741 0.00 2.17 0.00 0.000 4 0.000 0.053 3089 256 1665

13783 1.34 282.6 499.7 9.5 659 13786 0.00 2.03 0.00 0.000 6 0.000 0.029 3089 1460 1665

14115 1.34 282.6 468.8 9.6 675 14116 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1460 1665

14426 1.34 282.6 435.0 11.6 690 14431 0.00 2.42 0.00 0.000 4 0.000 0.044 3088 2839 1665

14448 1.34 282.6 432.1 11.4 691 14453 0.00 2.45 0.00 0.000 6 0.000 0.035 3088 1449 1664

14775 1.34 282.6 391.4 12.7 707 14778 0.00 2.12 0.00 0.000 4 0.000 0.054 3088 261 1665

14820 1.34 282.6 385.2 14.0 709 14824 0.00 2.00 0.00 0.000 6 0.000 0.030 3089 1459 1665

15152 1.34 282.6 341.7 13.4 725 15156 0.00 2.15 0.00 0.000 4 0.000 0.053 3088 264 1665

15184 1.34 282.6 337.4 14.4 726 15188 0.00 2.00 0.00 0.000 6 0.000 0.030 3089 1453 1665

15506 1.34 282.6 297.1 12.1 742 15507 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1454 1665

15817 1.34 282.6 262.7 10.5 757 15819 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 1455 1665

16124 1.34 282.6 233.4 8.9 772 16128 0.00 2.15 0.00 0.000 4 0.000 0.054 3088 259 1665

16157 1.34 282.6 230.2 8.7 773 16161 0.00 2.00 0.00 0.000 6 0.000 0.030 3088 1453 1665

16479 1.35 286.9 205.6 7.4 789 16480 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1454 1665

16788 1.35 286.9 179.0 9.7 804 16792 0.00 2.15 0.00 0.000 4 0.000 0.053 3088 271 1665

16826 1.35 286.9 174.7 10.7 805 16834 0.00 2.00 0.00 0.000 6 0.000 0.029 3089 1455 1666

17142 1.35 286.9 140.1 11.2 821 17143 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 1455 1666

17452 1.35 286.9 108.5 10.2 836 17454 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 1456 1666

17760 1.35 286.9 75.4 9.7 851 17762 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1456 1666

18070 1.35 286.9 47.9 8.8 866 18074 0.00 2.42 0.00 0.000 4 0.000 0.041 3089 2846 1666

18097 1.35 286.9 45.5 9.4 867 18101 0.00 2.42 0.00 0.000 6 0.000 0.034 3088 1445 1665

18414 1.35 286.9 15.7 9.8 882 18418 0.00 2.10 0.00 0.000 4 0.000 0.054 3088 266 1665

18529 end climb: SURFACE_DEPTH_REACHED

state 18529 begin surface coast

18555 end surface coast: CONTROL_FINISHED_OK

state 18555 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	59	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	29	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	-1629086.6	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	072430,6206.716,-1017.603,39,1.9,44,-10.1	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6206.716,-1040.818
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.80	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-60.0	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	073314,6206.716,-1017.731,10,1.8,10,-10.1	MHEAD_RNG_PITCHd_Wd	280.1,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.5,1.027138	ALTIM_BOTTOM_PING	750.2,98.9
SM_CCo	18581,9.30,0.688,0,0,1609,300.00	_24V_AH	23.2,26.450
SM_GC	1.48,0.00,0.00,9.30,0.000,0.000,0.688,392,2461,1609,-11.08,-0.45,300.00	_10V_AH	10.1,11.711
IRIDIUM_FIX	6139.81,-1019.11,100998,070706	DATA_FILE_SIZE	44347,888
TT8_MAMPS	0.026845	CAP_FILE_SIZE	139249,0
HUMID	1825	CFSIZE	260165632,254550016
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	19.10	GPS	160609,124436,6207.099,-1030.247,32,1.0,32,-10.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	80.41	SBE_CT	762	24	424.83
Roll_motor	180	66	279.12	SBE_O2	636	19	280.64
VBD_pump_during_apogee	382	1293	11485.33	WL_BB2F	525	105	1281.02
VBD_pump_during_surface	9	687	148.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	103	133.33	nil	0	0	0.00
Iridium_during_connect	130	160	483.28	nil	0	0	0.00
Iridium_during_xfer	155	223	804.25
Transponder_ping	6	420	63.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.44
TT8	1662	19	332.52
LPSleep	14002	2	309.73
TT8_Active	502	19	100.46
TT8_Sampling	2036	39	818.44
TT8_CF8	907	45	419.97
TT8_Kalman	0	81	0.00
Analog_circuits	1597	12	193.57
GPS_charging	0	0	0.00
Compass	2185	8	176.62
RAFOS	0	0	0.00
Transponder	44	30	13.47

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	-59.33	0.000	6	0.000	0.000	392	2452	3431
81	-1.17	-146.6	4.8	-9.4	3	102	11.48	2.47	0.00	0.000	4	0.135	0.034	2544	1052	3432
275	-1.17	-146.6	30.9	-7.5	11	281	0.00	2.47	0.00	0.000	6	0.000	0.033	2544	2483	3432
593	-1.17	-146.6	52.2	-6.3	27	597	0.00	2.47	0.00	0.000	4	0.000	0.035	2544	1057	3433
700	-1.17	-146.6	59.5	-6.6	32	704	0.00	2.47	0.00	0.000	6	0.000	0.034	2544	2482	3433
1028	-1.17	-146.6	86.9	-9.1	48	1029	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2481	3433
1336	-1.17	-146.6	115.4	-9.2	63	1340	0.00	2.47	0.00	0.000	4	0.000	0.037	2544	1059	3433
1391	-1.17	-146.6	120.6	-9.1	65	1397	0.00	2.47	0.00	0.000	6	0.000	0.035	2544	2477	3433
1707	-1.17	-146.6	148.6	-8.8	81	1711	0.00	2.47	0.00	0.000	4	0.000	0.037	2544	1055	3433
1769	-1.17	-146.6	154.0	-8.7	84	1773	0.00	2.47	0.00	0.000	6	0.000	0.035	2545	2484	3433
2096	-1.17	-146.6	182.3	-8.5	100	2100	0.00	2.47	0.00	0.000	4	0.000	0.038	2544	1061	3433
2151	-1.17	-146.6	187.0	-8.3	102	2157	0.00	2.47	0.00	0.000	6	0.000	0.036	2544	2474	3433
2467	-1.17	-146.6	210.5	-7.2	118	2471	0.00	2.47	0.00	0.000	4	0.000	0.038	2544	1055	3433
2517	-1.17	-146.6	214.3	-7.4	120	2521	0.00	2.47	0.00	0.000	6	0.000	0.036	2544	2475	3433
2834	-1.17	-146.6	239.0	-8.1	135	2839	0.00	2.47	0.00	0.000	4	0.000	0.038	2544	1058	3433
2868	-1.17	-146.6	242.1	-8.1	136	2874	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2475	3433
3183	-1.17	-146.6	267.8	-8.3	152	3188	0.00	2.50	0.00	0.000	4	0.000	0.039	2544	1062	3432
3239	-1.17	-146.6	272.4	-8.3	154	3243	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2475	3433
3555	-1.17	-146.6	297.7	-7.8	169	3559	0.00	2.47	0.00	0.000	4	0.000	0.039	2544	1058	3432
3610	-1.17	-146.6	302.3	-8.1	171	3616	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2475	3432
3926	-1.17	-146.6	326.7	-7.8	187	3930	0.00	2.50	0.00	0.000	4	0.000	0.039	2544	1062	3432
3978	-1.17	-146.6	330.7	-7.8	189	3982	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2476	3432
4299	-1.17	-146.6	355.7	-7.8	205	4303	0.00	2.47	0.00	0.000	4	0.000	0.040	2544	1055	3432
4355	-1.17	-146.6	360.3	-8.5	207	4361	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2476	3432
4671	-1.17	-146.6	386.0	-8.2	223	4675	0.00	2.47	0.00	0.000	4	0.000	0.041	2544	1059	3432
4714	-1.17	-146.6	389.6	-8.0	225	4719	0.00	2.47	0.00	0.000	6	0.000	0.038	2545	2475	3432
5036	-1.17	-146.6	415.7	-8.3	241	5040	0.00	2.47	0.00	0.000	4	0.000	0.040	2544	1062	3432
5085	-1.17	-146.6	420.1	-8.4	243	5090	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2477	3432
5401	-1.17	-146.6	447.7	-9.0	258	5406	0.00	2.47	0.00	0.000	4	0.000	0.040	2544	1060	3431
5456	-1.17	-146.6	452.9	-9.1	260	5463	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2476	3431
5774	-1.17	-146.6	481.3	-9.2	276	5778	0.00	2.47	0.00	0.000	4	0.000	0.041	2544	1058	3431
5846	-1.17	-146.6	488.1	-9.5	279	5850	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2477	3431
6162	-1.17	-146.6	515.8	-8.8	294	6166	0.00	2.47	0.00	0.000	4	0.000	0.040	2544	1061	3431
6217	-1.17	-146.6	520.8	-8.7	296	6223	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2477	3431
6534	-1.17	-146.6	550.9	-10.5	312	6538	0.00	2.47	0.00	0.000	4	0.000	0.040	2544	1060	3431
6578	-1.17	-146.6	555.9	-11.4	314	6582	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2478	3431
6901	-1.17	-146.6	595.1	-13.3	330	6905	0.00	2.47	0.00	0.000	4	0.000	0.040	2544	1061	3431
6967	-1.17	-146.6	604.3	-13.4	333	6972	0.00	2.50	0.00	0.000	6	0.000	0.038	2544	2472	3431
7293	-1.17	-146.6	640.2	-9.5	349	7297	0.00	2.47	0.00	0.000	4	0.000	0.041	2544	1058	3431
7343	-1.17	-146.6	644.7	-8.5	351	7348	0.00	2.50	0.00	0.000	6	0.000	0.038	2544	2474	3431
7664	-1.17	-146.6	663.2	-5.0	367	7668	0.00	2.47	0.00	0.000	4	0.000	0.040	2544	1059	3431
7726	-1.17	-146.6	666.6	-5.8	370	7731	0.00	2.50	0.00	0.000	6	0.000	0.038	2544	2472	3431
8060	-1.17	-146.6	693.4	-8.7	386	8065	0.00	2.47	0.00	0.000	4	0.000	0.041	2544	1060	3430
8110	-1.17	-146.6	697.7	-7.5	388	8115	0.00	2.47	0.00	0.000	6	0.000	0.038	2544	2477	3431
8426	-1.17	-146.6	716.7	-7.9	403	8427	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2477	3430
8735	-1.17	-146.6	744.6	-6.9	418	8740	0.00	2.47	0.00	0.000	4	0.000	0.041	2545	1064	3431
8830	-1.17	-146.6	752.0	-8.1	422	8835	0.00	2.50	0.00	0.000	6	0.000	0.039	2544	2472	3430
9151	-1.17	-146.6	782.6	-10.1	438	9152	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2472	3430
9461	-1.17	-146.6	807.6	-5.4	453	9465	0.00	2.47	0.00	0.000	4	0.000	0.043	2544	1066	3429
9525	-1.17	-146.6	810.4	-4.4	456	9529	0.00	2.47	0.00	0.000	6	0.000	0.041	2544	2475	3430
9851	-1.17	-146.6	826.4	-6.7	472	9856	0.00	2.53	0.00	0.000	4	0.000	0.044	2544	1061	3429
10019	-1.17	-146.6	836.7	-7.9	479	10024	0.00	2.53	0.00	0.000	6	0.000	0.046	2544	2476	3429
10044	end dive: BOTTOM_OBSTACLE_DETECTED
state	10044	begin apogee
10052	-0.36	0.0	839.5	10.5	480	10187	0.82	0.00	129.30	1.294	6	0.069	0.000	2720	1457	2832
10188	end apogee: CONTROL_FINISHED_OK
state	10188	begin climb
10191	1.17	146.6	846.9	0.0	487	10330	1.52	2.30	130.30	1.257	4	0.049	0.067	3058	265	2234
10489	1.17	146.6	830.7	7.7	500	10496	0.00	2.10	0.00	0.000	6	0.000	0.037	3058	1467	2226
10805	1.27	225.1	812.1	4.8	516	10881	0.00	2.58	70.32	1.258	4	0.000	0.053	3058	2851	1913
10946	1.34	282.6	804.6	5.5	522	11007	0.15	2.50	52.67	1.246	6	0.040	0.042	3113	1451	1680
11329	1.34	282.6	765.5	10.7	541	11334	0.00	2.55	0.00	0.000	4	0.000	0.048	3113	2860	1669
11385	1.34	282.6	759.3	11.3	543	11392	0.12	2.50	0.00	0.000	6	0.085	0.041	3088	1454	1668
11700	1.34	282.6	729.9	9.6	559	11704	0.00	2.17	0.00	0.000	4	0.000	0.059	3089	258	1667
11829	1.34	282.6	714.4	11.7	564	11835	0.00	2.05	0.00	0.000	6	0.000	0.031	3088	1461	1666
12144	1.34	282.6	674.7	12.4	580	12145	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	1461	1665
12454	1.34	282.6	641.3	10.4	595	12455	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	1461	1665
12765	1.34	282.6	604.7	12.0	610	12767	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	1461	1665
13072	1.34	282.6	567.0	12.0	625	13076	0.00	2.17	0.00	0.000	4	0.000	0.054	3088	258	1665
13110	1.34	282.6	562.2	12.8	626	13116	0.00	2.03	0.00	0.000	6	0.000	0.030	3088	1461	1665
13426	1.34	282.6	530.2	8.9	642	13427	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	1461	1665
13737	1.34	282.6	504.3	8.6	657	13741	0.00	2.17	0.00	0.000	4	0.000	0.053	3089	256	1665
13783	1.34	282.6	499.7	9.5	659	13786	0.00	2.03	0.00	0.000	6	0.000	0.029	3089	1460	1665
14115	1.34	282.6	468.8	9.6	675	14116	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	1460	1665
14426	1.34	282.6	435.0	11.6	690	14431	0.00	2.42	0.00	0.000	4	0.000	0.044	3088	2839	1665
14448	1.34	282.6	432.1	11.4	691	14453	0.00	2.45	0.00	0.000	6	0.000	0.035	3088	1449	1664
14775	1.34	282.6	391.4	12.7	707	14778	0.00	2.12	0.00	0.000	4	0.000	0.054	3088	261	1665
14820	1.34	282.6	385.2	14.0	709	14824	0.00	2.00	0.00	0.000	6	0.000	0.030	3089	1459	1665
15152	1.34	282.6	341.7	13.4	725	15156	0.00	2.15	0.00	0.000	4	0.000	0.053	3088	264	1665
15184	1.34	282.6	337.4	14.4	726	15188	0.00	2.00	0.00	0.000	6	0.000	0.030	3089	1453	1665
15506	1.34	282.6	297.1	12.1	742	15507	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	1454	1665
15817	1.34	282.6	262.7	10.5	757	15819	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	1455	1665
16124	1.34	282.6	233.4	8.9	772	16128	0.00	2.15	0.00	0.000	4	0.000	0.054	3088	259	1665
16157	1.34	282.6	230.2	8.7	773	16161	0.00	2.00	0.00	0.000	6	0.000	0.030	3088	1453	1665
16479	1.35	286.9	205.6	7.4	789	16480	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	1454	1665
16788	1.35	286.9	179.0	9.7	804	16792	0.00	2.15	0.00	0.000	4	0.000	0.053	3088	271	1665
16826	1.35	286.9	174.7	10.7	805	16834	0.00	2.00	0.00	0.000	6	0.000	0.029	3089	1455	1666
17142	1.35	286.9	140.1	11.2	821	17143	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	1455	1666
17452	1.35	286.9	108.5	10.2	836	17454	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	1456	1666
17760	1.35	286.9	75.4	9.7	851	17762	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	1456	1666
18070	1.35	286.9	47.9	8.8	866	18074	0.00	2.42	0.00	0.000	4	0.000	0.041	3089	2846	1666
18097	1.35	286.9	45.5	9.4	867	18101	0.00	2.42	0.00	0.000	6	0.000	0.034	3088	1445	1665
18414	1.35	286.9	15.7	9.8	882	18418	0.00	2.10	0.00	0.000	4	0.000	0.054	3088	266	1665
18529	end climb: SURFACE_DEPTH_REACHED
state	18529	begin surface coast
18555	end surface coast: CONTROL_FINISHED_OK
state	18555	begin surface