Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 60 * 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 60 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 28 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 -1629104.5 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 -1629104.5

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 28 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 60 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 124436,6207.099,-1030.247,32,1.0,32,-10.3 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6207.231,-1053.474

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.84 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -60.2 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 125625,6207.231,-1030.380,12,1.4,17,-10.3 MHEAD_RNG_PITCHd_Wd 280.3,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.013584 ALTIM_BOTTOM_PING 801.2,108.8

SM_CCo 16677,0.00,0.000,0,0,1158,410.88 _24V_AH 23.2,26.659

SM_GC 0.88,11.82,0.00,0.00,0.025,0.000,0.000,394,2464,1158,-10.99,-0.31,410.88 _10V_AH 10.1,11.797

IRIDIUM_FIX 6139.81,-1028.15,100998,131334 DATA_FILE_SIZE 41026,792

TT8_MAMPS 0.026845 CAP_FILE_SIZE 141151,0

HUMID 1847 CFSIZE 260165632,254480384

INTERNAL_PRESSURE 8.06019 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 17.30 GPS 160609,173620,6208.555,-1041.327,40,2.3,59,-10.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 136 82.67 SBE_CT 680 24 379.14

Roll_motor 187 70 307.61 SBE_O2 566 19 249.84

VBD_pump_during_apogee 494 1352 15520.45 WL_BB2F 446 105 1087.35

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 183.10 nil 0 0 0.00

Iridium_during_connect 88 160 327.98 nil 0 0 0.00

Iridium_during_xfer 289 223 1497.74

Transponder_ping 7 420 68.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.74

TT8 1543 19 308.60

LPSleep 12301 2 272.09

TT8_Active 533 19 106.62

TT8_Sampling 2009 39 807.76

TT8_CF8 997 45 461.51

TT8_Kalman 0 81 0.00

Analog_circuits 1650 12 199.99

GPS_charging 0 0 0.00

Compass 2117 8 171.06

RAFOS 0 0 0.00

Transponder 47 30 14.46

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 76 0.00 0.00 -59.10 0.000 6 0.000 0.000 392 2462 3431

80 -1.17 -146.6 3.8 -5.7 3 101 11.48 2.47 0.00 0.000 4 0.137 0.033 2538 1057 3433

223 -1.17 -146.6 27.3 -10.3 9 228 0.00 2.47 0.00 0.000 6 0.000 0.032 2537 2483 3433

539 -1.17 -146.6 60.2 -8.9 24 544 0.00 2.47 0.00 0.000 4 0.000 0.035 2538 1058 3433

580 -1.17 -146.6 64.0 -8.9 26 584 0.00 2.47 0.00 0.000 6 0.000 0.033 2537 2466 3433

912 -1.17 -146.6 91.5 -8.2 42 913 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2466 3433

1222 -1.17 -146.6 117.4 -8.7 57 1227 0.00 2.45 0.00 0.000 4 0.000 0.037 2538 1058 3434

1286 -1.17 -146.6 123.5 -9.7 60 1291 0.00 2.47 0.00 0.000 6 0.000 0.035 2537 2480 3434

1613 -1.17 -146.6 156.7 -10.2 76 1618 0.00 2.47 0.00 0.000 4 0.000 0.037 2538 1060 3433

1678 -1.17 -146.6 163.1 -10.0 79 1683 0.00 2.47 0.00 0.000 6 0.000 0.036 2537 2475 3433

2004 -1.17 -146.6 195.4 -9.4 95 2008 0.00 2.47 0.00 0.000 4 0.000 0.038 2538 1057 3433

2066 -1.17 -146.6 200.7 -8.8 98 2070 0.00 2.47 0.00 0.000 6 0.000 0.036 2537 2476 3433

2392 -1.17 -146.6 230.0 -9.2 114 2397 0.00 2.47 0.00 0.000 4 0.000 0.038 2538 1056 3433

2433 -1.17 -146.6 233.9 -9.8 116 2437 0.00 2.50 0.00 0.000 6 0.000 0.037 2537 2484 3433

2760 -1.17 -146.6 264.6 -9.6 132 2764 0.00 2.50 0.00 0.000 4 0.000 0.039 2537 1055 3433

2809 -1.17 -146.6 269.6 -9.0 134 2814 0.00 2.50 0.00 0.000 6 0.000 0.037 2538 2482 3433

3128 -1.17 -146.6 300.9 -10.2 149 3132 0.00 2.47 0.00 0.000 4 0.000 0.039 2537 1063 3433

3173 -1.17 -146.6 306.0 -11.0 151 3177 0.00 2.47 0.00 0.000 6 0.000 0.037 2538 2477 3433

3493 -1.17 -146.6 339.1 -10.2 167 3497 0.00 2.47 0.00 0.000 4 0.000 0.039 2538 1060 3433

3565 -1.17 -146.6 346.3 -9.7 170 3570 0.00 2.50 0.00 0.000 6 0.000 0.038 2537 2474 3433

3889 -1.17 -146.6 375.8 -8.7 186 3893 0.00 2.47 0.00 0.000 4 0.000 0.040 2538 1056 3433

3939 -1.17 -146.6 380.5 -8.4 188 3943 0.00 2.50 0.00 0.000 6 0.000 0.038 2538 2484 3432

4255 -1.17 -146.6 405.7 -7.6 203 4259 0.00 2.47 0.00 0.000 4 0.000 0.040 2537 1064 3432

4288 -1.17 -146.6 408.2 -7.9 204 4294 0.00 2.47 0.00 0.000 6 0.000 0.038 2538 2477 3433

4604 -1.17 -146.6 433.2 -8.6 220 4608 0.00 2.47 0.00 0.000 4 0.000 0.040 2538 1061 3432

4643 -1.17 -146.6 436.5 -8.4 222 4647 0.00 2.47 0.00 0.000 6 0.000 0.037 2537 2480 3432

4970 -1.17 -146.6 465.7 -9.1 238 4974 0.00 2.47 0.00 0.000 4 0.000 0.040 2538 1065 3432

5036 -1.17 -146.6 472.1 -9.1 241 5041 0.00 2.50 0.00 0.000 6 0.000 0.037 2538 2476 3432

5362 -1.17 -146.6 503.2 -9.9 257 5367 0.00 2.50 0.00 0.000 4 0.000 0.040 2538 1065 3432

5419 -1.17 -146.6 509.0 -9.8 259 5423 0.00 2.47 0.00 0.000 6 0.000 0.037 2538 2484 3432

5734 -1.17 -146.6 539.9 -9.1 274 5738 0.00 2.50 0.00 0.000 4 0.000 0.040 2537 1057 3432

5778 -1.17 -146.6 544.1 -9.5 276 5783 0.00 2.50 0.00 0.000 6 0.000 0.036 2537 2477 3432

6104 -1.17 -146.6 573.7 -8.6 292 6108 0.00 2.47 0.00 0.000 4 0.000 0.040 2537 1060 3432

6153 -1.17 -146.6 578.0 -7.9 294 6158 0.00 2.47 0.00 0.000 6 0.000 0.036 2537 2469 3432

6474 -1.17 -146.6 604.2 -8.6 310 6478 0.00 2.45 0.00 0.000 4 0.000 0.040 2537 1065 3432

6517 -1.17 -146.6 608.2 -8.9 312 6522 0.00 2.47 0.00 0.000 6 0.000 0.037 2538 2481 3432

6838 -1.17 -146.6 642.4 -11.0 328 6843 0.00 2.47 0.00 0.000 4 0.000 0.039 2538 1064 3432

6866 -1.17 -146.6 645.4 -10.8 329 6870 0.00 2.47 0.00 0.000 6 0.000 0.037 2537 2484 3432

7182 -1.17 -146.6 672.5 -7.3 344 7186 0.00 2.47 0.00 0.000 4 0.000 0.039 2537 1065 3432

7266 -1.17 -146.6 678.3 -6.4 348 7271 0.00 2.45 0.00 0.000 6 0.000 0.037 2538 2473 3431

7593 -1.17 -146.6 701.7 -7.3 364 7597 0.00 2.47 0.00 0.000 4 0.000 0.040 2538 1059 3431

7637 -1.17 -146.6 704.8 -6.8 366 7641 0.00 2.50 0.00 0.000 6 0.000 0.038 2538 2472 3431

7963 -1.17 -146.6 720.4 -4.1 382 7967 0.00 2.47 0.00 0.000 4 0.000 0.041 2538 1059 3431

8053 -1.17 -146.6 725.5 -7.0 386 8058 0.00 2.50 0.00 0.000 6 0.000 0.038 2538 2470 3431

8379 -1.17 -146.6 757.3 -12.5 402 8380 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2470 3431

8691 -1.17 -146.6 792.7 -8.6 417 8695 0.00 2.47 0.00 0.000 4 0.000 0.063 2538 3830 3431

8763 -1.17 -146.6 797.6 -5.2 420 8767 0.00 2.33 0.00 0.000 6 0.000 0.031 2538 2457 3431

9078 -1.17 -146.6 808.5 -11.1 435 9082 0.00 2.40 0.00 0.000 4 0.000 0.041 2538 1079 3430

9123 -1.17 -146.6 814.6 -13.7 437 9128 0.00 2.47 0.00 0.000 6 0.000 0.039 2537 2474 3431

9449 -1.17 -146.6 828.2 -0.2 453 9453 0.00 2.47 0.00 0.000 4 0.000 0.065 2537 3828 3430

9493 -1.17 -146.6 830.0 -4.7 455 9497 0.00 2.30 0.00 0.000 6 0.000 0.033 2537 2480 3430

9814 -1.17 -146.6 869.4 -14.7 471 9819 0.00 2.47 0.00 0.000 4 0.000 0.047 2538 1077 3430

9909 -1.17 -146.6 879.3 -6.9 475 9914 0.00 2.47 0.00 0.000 6 0.000 0.042 2537 2475 3430

10225 -1.17 -146.6 892.9 -6.2 490 10229 0.00 2.50 0.00 0.000 4 0.000 0.048 2538 1075 3429

10247 -1.17 -146.6 894.7 -8.7 491 10251 0.00 2.50 0.00 0.000 6 0.000 0.046 2538 2478 3429

10381 end dive: BOTTOM_OBSTACLE_DETECTED

state 10381 begin apogee

10389 -0.36 0.0 900.4 2.4 498 10523 0.88 0.00 130.02 1.353 6 0.071 0.000 2723 1469 2832

10524 end apogee: CONTROL_FINISHED_OK

state 10524 begin climb

10527 1.17 146.6 908.1 0.0 505 10667 1.52 2.35 131.73 1.315 4 0.056 0.071 3055 266 2234

10677 1.50 406.9 913.7 -1.4 512 10919 0.32 2.10 232.70 1.302 6 0.031 0.038 3146 1466 1173

11235 1.50 406.9 847.9 12.0 539 11239 0.00 2.25 0.00 0.000 4 0.000 0.065 3146 261 1162

11454 1.50 406.9 797.7 23.5 548 11461 0.08 2.10 0.00 0.000 6 0.087 0.035 3128 1458 1160

11769 1.50 406.9 747.1 18.5 564 11774 0.00 2.53 0.00 0.000 4 0.000 0.048 3128 2861 1159

11797 1.50 406.9 741.3 19.7 565 11801 0.00 2.47 0.00 0.000 6 0.000 0.040 3128 1455 1158

12112 1.50 406.9 689.9 15.4 580 12116 0.00 2.17 0.00 0.000 4 0.000 0.058 3128 260 1158

12280 1.50 406.9 658.3 18.3 587 12284 0.00 2.08 0.00 0.000 6 0.000 0.031 3128 1474 1158

12601 1.50 406.9 609.4 13.9 603 12606 0.00 2.22 0.00 0.000 4 0.000 0.056 3128 265 1158

12718 1.50 406.9 592.5 13.6 608 12722 0.00 2.03 0.00 0.000 6 0.000 0.030 3128 1461 1157

13048 1.50 406.9 547.7 13.9 624 13051 0.00 2.17 0.00 0.000 4 0.000 0.055 3128 262 1157

13142 1.50 406.9 531.9 16.4 628 13146 0.00 2.03 0.00 0.000 6 0.000 0.030 3127 1460 1157

13469 1.50 406.9 478.9 16.7 644 13474 0.00 2.20 0.00 0.000 4 0.000 0.054 3128 260 1157

13565 1.50 406.9 462.3 18.1 648 13569 0.00 2.03 0.00 0.000 6 0.000 0.030 3128 1460 1157

13892 1.50 406.9 406.5 17.0 664 13896 0.00 2.17 0.00 0.000 4 0.000 0.054 3128 257 1157

13987 1.50 406.9 389.5 17.9 668 13991 0.00 2.03 0.00 0.000 6 0.000 0.029 3128 1462 1158

14314 1.50 406.9 338.5 14.9 684 14318 0.00 2.17 0.00 0.000 4 0.000 0.054 3128 260 1158

14431 1.50 406.9 319.9 15.0 689 14436 0.00 2.05 0.00 0.000 6 0.000 0.031 3128 1452 1158

14757 1.50 406.9 273.8 13.5 705 14761 0.00 2.15 0.00 0.000 4 0.000 0.054 3127 259 1158

14841 1.50 406.9 261.5 15.6 708 14847 0.00 2.00 0.00 0.000 6 0.000 0.030 3128 1453 1158

15159 1.50 406.9 217.6 14.3 724 15163 0.00 2.15 0.00 0.000 4 0.000 0.054 3128 262 1158

15259 1.50 406.9 200.9 16.3 728 15263 0.00 2.00 0.00 0.000 6 0.000 0.030 3128 1456 1158

15581 1.50 406.9 152.1 15.8 744 15586 0.00 2.17 0.00 0.000 4 0.000 0.054 3128 263 1158

15671 1.50 406.9 136.6 16.7 748 15674 0.00 2.00 0.00 0.000 6 0.000 0.029 3128 1458 1159

16005 1.50 406.9 85.5 15.1 764 16008 0.00 2.15 0.00 0.000 4 0.000 0.053 3128 262 1159

16118 1.50 406.9 66.8 15.9 769 16121 0.00 2.00 0.00 0.000 6 0.000 0.029 3128 1461 1159

16451 1.50 406.9 19.0 14.4 785 16453 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 1464 1158

16571 end climb: SURFACE_DEPTH_REACHED

state 16571 begin surface coast

16593 end surface coast: CONTROL_FINISHED_OK

state 16593 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	60	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	28	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	-1629104.5	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	124436,6207.099,-1030.247,32,1.0,32,-10.3	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6207.231,-1053.474
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.84	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-60.2	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	125625,6207.231,-1030.380,12,1.4,17,-10.3	MHEAD_RNG_PITCHd_Wd	280.3,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.0,1.013584	ALTIM_BOTTOM_PING	801.2,108.8
SM_CCo	16677,0.00,0.000,0,0,1158,410.88	_24V_AH	23.2,26.659
SM_GC	0.88,11.82,0.00,0.00,0.025,0.000,0.000,394,2464,1158,-10.99,-0.31,410.88	_10V_AH	10.1,11.797
IRIDIUM_FIX	6139.81,-1028.15,100998,131334	DATA_FILE_SIZE	41026,792
TT8_MAMPS	0.026845	CAP_FILE_SIZE	141151,0
HUMID	1847	CFSIZE	260165632,254480384
INTERNAL_PRESSURE	8.06019	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	17.30	GPS	160609,173620,6208.555,-1041.327,40,2.3,59,-10.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	136	82.67	SBE_CT	680	24	379.14
Roll_motor	187	70	307.61	SBE_O2	566	19	249.84
VBD_pump_during_apogee	494	1352	15520.45	WL_BB2F	446	105	1087.35
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	183.10	nil	0	0	0.00
Iridium_during_connect	88	160	327.98	nil	0	0	0.00
Iridium_during_xfer	289	223	1497.74
Transponder_ping	7	420	68.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.74
TT8	1543	19	308.60
LPSleep	12301	2	272.09
TT8_Active	533	19	106.62
TT8_Sampling	2009	39	807.76
TT8_CF8	997	45	461.51
TT8_Kalman	0	81	0.00
Analog_circuits	1650	12	199.99
GPS_charging	0	0	0.00
Compass	2117	8	171.06
RAFOS	0	0	0.00
Transponder	47	30	14.46

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	76	0.00	0.00	-59.10	0.000	6	0.000	0.000	392	2462	3431
80	-1.17	-146.6	3.8	-5.7	3	101	11.48	2.47	0.00	0.000	4	0.137	0.033	2538	1057	3433
223	-1.17	-146.6	27.3	-10.3	9	228	0.00	2.47	0.00	0.000	6	0.000	0.032	2537	2483	3433
539	-1.17	-146.6	60.2	-8.9	24	544	0.00	2.47	0.00	0.000	4	0.000	0.035	2538	1058	3433
580	-1.17	-146.6	64.0	-8.9	26	584	0.00	2.47	0.00	0.000	6	0.000	0.033	2537	2466	3433
912	-1.17	-146.6	91.5	-8.2	42	913	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2466	3433
1222	-1.17	-146.6	117.4	-8.7	57	1227	0.00	2.45	0.00	0.000	4	0.000	0.037	2538	1058	3434
1286	-1.17	-146.6	123.5	-9.7	60	1291	0.00	2.47	0.00	0.000	6	0.000	0.035	2537	2480	3434
1613	-1.17	-146.6	156.7	-10.2	76	1618	0.00	2.47	0.00	0.000	4	0.000	0.037	2538	1060	3433
1678	-1.17	-146.6	163.1	-10.0	79	1683	0.00	2.47	0.00	0.000	6	0.000	0.036	2537	2475	3433
2004	-1.17	-146.6	195.4	-9.4	95	2008	0.00	2.47	0.00	0.000	4	0.000	0.038	2538	1057	3433
2066	-1.17	-146.6	200.7	-8.8	98	2070	0.00	2.47	0.00	0.000	6	0.000	0.036	2537	2476	3433
2392	-1.17	-146.6	230.0	-9.2	114	2397	0.00	2.47	0.00	0.000	4	0.000	0.038	2538	1056	3433
2433	-1.17	-146.6	233.9	-9.8	116	2437	0.00	2.50	0.00	0.000	6	0.000	0.037	2537	2484	3433
2760	-1.17	-146.6	264.6	-9.6	132	2764	0.00	2.50	0.00	0.000	4	0.000	0.039	2537	1055	3433
2809	-1.17	-146.6	269.6	-9.0	134	2814	0.00	2.50	0.00	0.000	6	0.000	0.037	2538	2482	3433
3128	-1.17	-146.6	300.9	-10.2	149	3132	0.00	2.47	0.00	0.000	4	0.000	0.039	2537	1063	3433
3173	-1.17	-146.6	306.0	-11.0	151	3177	0.00	2.47	0.00	0.000	6	0.000	0.037	2538	2477	3433
3493	-1.17	-146.6	339.1	-10.2	167	3497	0.00	2.47	0.00	0.000	4	0.000	0.039	2538	1060	3433
3565	-1.17	-146.6	346.3	-9.7	170	3570	0.00	2.50	0.00	0.000	6	0.000	0.038	2537	2474	3433
3889	-1.17	-146.6	375.8	-8.7	186	3893	0.00	2.47	0.00	0.000	4	0.000	0.040	2538	1056	3433
3939	-1.17	-146.6	380.5	-8.4	188	3943	0.00	2.50	0.00	0.000	6	0.000	0.038	2538	2484	3432
4255	-1.17	-146.6	405.7	-7.6	203	4259	0.00	2.47	0.00	0.000	4	0.000	0.040	2537	1064	3432
4288	-1.17	-146.6	408.2	-7.9	204	4294	0.00	2.47	0.00	0.000	6	0.000	0.038	2538	2477	3433
4604	-1.17	-146.6	433.2	-8.6	220	4608	0.00	2.47	0.00	0.000	4	0.000	0.040	2538	1061	3432
4643	-1.17	-146.6	436.5	-8.4	222	4647	0.00	2.47	0.00	0.000	6	0.000	0.037	2537	2480	3432
4970	-1.17	-146.6	465.7	-9.1	238	4974	0.00	2.47	0.00	0.000	4	0.000	0.040	2538	1065	3432
5036	-1.17	-146.6	472.1	-9.1	241	5041	0.00	2.50	0.00	0.000	6	0.000	0.037	2538	2476	3432
5362	-1.17	-146.6	503.2	-9.9	257	5367	0.00	2.50	0.00	0.000	4	0.000	0.040	2538	1065	3432
5419	-1.17	-146.6	509.0	-9.8	259	5423	0.00	2.47	0.00	0.000	6	0.000	0.037	2538	2484	3432
5734	-1.17	-146.6	539.9	-9.1	274	5738	0.00	2.50	0.00	0.000	4	0.000	0.040	2537	1057	3432
5778	-1.17	-146.6	544.1	-9.5	276	5783	0.00	2.50	0.00	0.000	6	0.000	0.036	2537	2477	3432
6104	-1.17	-146.6	573.7	-8.6	292	6108	0.00	2.47	0.00	0.000	4	0.000	0.040	2537	1060	3432
6153	-1.17	-146.6	578.0	-7.9	294	6158	0.00	2.47	0.00	0.000	6	0.000	0.036	2537	2469	3432
6474	-1.17	-146.6	604.2	-8.6	310	6478	0.00	2.45	0.00	0.000	4	0.000	0.040	2537	1065	3432
6517	-1.17	-146.6	608.2	-8.9	312	6522	0.00	2.47	0.00	0.000	6	0.000	0.037	2538	2481	3432
6838	-1.17	-146.6	642.4	-11.0	328	6843	0.00	2.47	0.00	0.000	4	0.000	0.039	2538	1064	3432
6866	-1.17	-146.6	645.4	-10.8	329	6870	0.00	2.47	0.00	0.000	6	0.000	0.037	2537	2484	3432
7182	-1.17	-146.6	672.5	-7.3	344	7186	0.00	2.47	0.00	0.000	4	0.000	0.039	2537	1065	3432
7266	-1.17	-146.6	678.3	-6.4	348	7271	0.00	2.45	0.00	0.000	6	0.000	0.037	2538	2473	3431
7593	-1.17	-146.6	701.7	-7.3	364	7597	0.00	2.47	0.00	0.000	4	0.000	0.040	2538	1059	3431
7637	-1.17	-146.6	704.8	-6.8	366	7641	0.00	2.50	0.00	0.000	6	0.000	0.038	2538	2472	3431
7963	-1.17	-146.6	720.4	-4.1	382	7967	0.00	2.47	0.00	0.000	4	0.000	0.041	2538	1059	3431
8053	-1.17	-146.6	725.5	-7.0	386	8058	0.00	2.50	0.00	0.000	6	0.000	0.038	2538	2470	3431
8379	-1.17	-146.6	757.3	-12.5	402	8380	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2470	3431
8691	-1.17	-146.6	792.7	-8.6	417	8695	0.00	2.47	0.00	0.000	4	0.000	0.063	2538	3830	3431
8763	-1.17	-146.6	797.6	-5.2	420	8767	0.00	2.33	0.00	0.000	6	0.000	0.031	2538	2457	3431
9078	-1.17	-146.6	808.5	-11.1	435	9082	0.00	2.40	0.00	0.000	4	0.000	0.041	2538	1079	3430
9123	-1.17	-146.6	814.6	-13.7	437	9128	0.00	2.47	0.00	0.000	6	0.000	0.039	2537	2474	3431
9449	-1.17	-146.6	828.2	-0.2	453	9453	0.00	2.47	0.00	0.000	4	0.000	0.065	2537	3828	3430
9493	-1.17	-146.6	830.0	-4.7	455	9497	0.00	2.30	0.00	0.000	6	0.000	0.033	2537	2480	3430
9814	-1.17	-146.6	869.4	-14.7	471	9819	0.00	2.47	0.00	0.000	4	0.000	0.047	2538	1077	3430
9909	-1.17	-146.6	879.3	-6.9	475	9914	0.00	2.47	0.00	0.000	6	0.000	0.042	2537	2475	3430
10225	-1.17	-146.6	892.9	-6.2	490	10229	0.00	2.50	0.00	0.000	4	0.000	0.048	2538	1075	3429
10247	-1.17	-146.6	894.7	-8.7	491	10251	0.00	2.50	0.00	0.000	6	0.000	0.046	2538	2478	3429
10381	end dive: BOTTOM_OBSTACLE_DETECTED
state	10381	begin apogee
10389	-0.36	0.0	900.4	2.4	498	10523	0.88	0.00	130.02	1.353	6	0.071	0.000	2723	1469	2832
10524	end apogee: CONTROL_FINISHED_OK
state	10524	begin climb
10527	1.17	146.6	908.1	0.0	505	10667	1.52	2.35	131.73	1.315	4	0.056	0.071	3055	266	2234
10677	1.50	406.9	913.7	-1.4	512	10919	0.32	2.10	232.70	1.302	6	0.031	0.038	3146	1466	1173
11235	1.50	406.9	847.9	12.0	539	11239	0.00	2.25	0.00	0.000	4	0.000	0.065	3146	261	1162
11454	1.50	406.9	797.7	23.5	548	11461	0.08	2.10	0.00	0.000	6	0.087	0.035	3128	1458	1160
11769	1.50	406.9	747.1	18.5	564	11774	0.00	2.53	0.00	0.000	4	0.000	0.048	3128	2861	1159
11797	1.50	406.9	741.3	19.7	565	11801	0.00	2.47	0.00	0.000	6	0.000	0.040	3128	1455	1158
12112	1.50	406.9	689.9	15.4	580	12116	0.00	2.17	0.00	0.000	4	0.000	0.058	3128	260	1158
12280	1.50	406.9	658.3	18.3	587	12284	0.00	2.08	0.00	0.000	6	0.000	0.031	3128	1474	1158
12601	1.50	406.9	609.4	13.9	603	12606	0.00	2.22	0.00	0.000	4	0.000	0.056	3128	265	1158
12718	1.50	406.9	592.5	13.6	608	12722	0.00	2.03	0.00	0.000	6	0.000	0.030	3128	1461	1157
13048	1.50	406.9	547.7	13.9	624	13051	0.00	2.17	0.00	0.000	4	0.000	0.055	3128	262	1157
13142	1.50	406.9	531.9	16.4	628	13146	0.00	2.03	0.00	0.000	6	0.000	0.030	3127	1460	1157
13469	1.50	406.9	478.9	16.7	644	13474	0.00	2.20	0.00	0.000	4	0.000	0.054	3128	260	1157
13565	1.50	406.9	462.3	18.1	648	13569	0.00	2.03	0.00	0.000	6	0.000	0.030	3128	1460	1157
13892	1.50	406.9	406.5	17.0	664	13896	0.00	2.17	0.00	0.000	4	0.000	0.054	3128	257	1157
13987	1.50	406.9	389.5	17.9	668	13991	0.00	2.03	0.00	0.000	6	0.000	0.029	3128	1462	1158
14314	1.50	406.9	338.5	14.9	684	14318	0.00	2.17	0.00	0.000	4	0.000	0.054	3128	260	1158
14431	1.50	406.9	319.9	15.0	689	14436	0.00	2.05	0.00	0.000	6	0.000	0.031	3128	1452	1158
14757	1.50	406.9	273.8	13.5	705	14761	0.00	2.15	0.00	0.000	4	0.000	0.054	3127	259	1158
14841	1.50	406.9	261.5	15.6	708	14847	0.00	2.00	0.00	0.000	6	0.000	0.030	3128	1453	1158
15159	1.50	406.9	217.6	14.3	724	15163	0.00	2.15	0.00	0.000	4	0.000	0.054	3128	262	1158
15259	1.50	406.9	200.9	16.3	728	15263	0.00	2.00	0.00	0.000	6	0.000	0.030	3128	1456	1158
15581	1.50	406.9	152.1	15.8	744	15586	0.00	2.17	0.00	0.000	4	0.000	0.054	3128	263	1158
15671	1.50	406.9	136.6	16.7	748	15674	0.00	2.00	0.00	0.000	6	0.000	0.029	3128	1458	1159
16005	1.50	406.9	85.5	15.1	764	16008	0.00	2.15	0.00	0.000	4	0.000	0.053	3128	262	1159
16118	1.50	406.9	66.8	15.9	769	16121	0.00	2.00	0.00	0.000	6	0.000	0.029	3128	1461	1159
16451	1.50	406.9	19.0	14.4	785	16453	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	1464	1158
16571	end climb: SURFACE_DEPTH_REACHED
state	16571	begin surface coast
16593	end surface coast: CONTROL_FINISHED_OK
state	16593	begin surface