Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 158 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 158 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 2250 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 25 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 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 -1630833.4 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 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 550

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 -1630833.4

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

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 2250 MASS 52000 R_PORT_OVSHOOT 25 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 158 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 050937,6216.894,-1141.435,41,1.0,41,-11.0 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6217.000,-1145.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.97 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -55.3 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 051544,6216.844,-1141.400,16,1.0,16,-11.0 MHEAD_RNG_PITCHd_Wd 286.3,3115,-27.3,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026834 ALTIM_BOTTOM_PING 875.4,94.2

SM_CCo 23989,120.60,0.757,0,0,1608,300.00 _24V_AH 23.2,41.542

SM_GC 1.06,0.00,0.00,120.60,0.000,0.000,0.757,394,2226,1608,-11.07,-0.68,300.00 _10V_AH 10.1,22.962

IRIDIUM_FIX 6153.50,-1147.61,081098,222232 DATA_FILE_SIZE 56973,1132

TT8_MAMPS 0.026845 CAP_FILE_SIZE 172063,0

HUMID 1822 CFSIZE 260165632,246632448

INTERNAL_PRESSURE 8.13832 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 19.60 GPS 150709,115906,6215.949,-1143.334,31,1.4,31,-11.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 130 81.68 SBE_CT 871 24 485.32

Roll_motor 156 65 237.28 SBE_O2 923 19 407.07

VBD_pump_during_apogee 152 1377 4860.92 WL_BB2F 636 105 1550.13

VBD_pump_during_surface 120 757 2118.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.26 nil 0 0 0.00

Iridium_during_connect 31 160 118.06 nil 0 0 0.00

Iridium_during_xfer 166 223 862.82

Transponder_ping 7 420 75.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.45

TT8 2214 19 442.92

LPSleep 17831 2 394.41

TT8_Active 409 19 81.93

TT8_Sampling 3076 39 1236.68

TT8_CF8 937 45 433.52

TT8_Kalman 0 81 0.00

Analog_circuits 1870 12 226.69

GPS_charging 0 0 0.00

Compass 3235 8 261.40

RAFOS 0 0 0.00

Transponder 52 30 15.92

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 -1.99 -28.8 0.0 0.0 0 63 0.00 0.00 -46.03 0.000 6 0.000 0.000 394 2250 2951

67 -2.00 -37.8 2.0 -4.8 2 83 10.43 2.53 -0.77 0.000 4 0.130 0.062 2358 3652 2987

420 -2.00 -37.8 52.4 -11.6 17 425 0.00 2.45 0.00 0.000 6 0.000 0.029 2358 2228 2988

753 -2.00 -37.8 88.1 -10.5 33 757 0.00 2.58 0.00 0.000 4 0.000 0.048 2358 3645 2989

1093 -2.00 -37.8 126.6 -11.9 48 1098 0.00 2.38 0.00 0.000 6 0.000 0.030 2357 2253 2989

1414 -2.00 -37.8 161.1 -11.0 64 1418 0.00 2.53 0.00 0.000 4 0.000 0.049 2358 3658 2989

1754 -2.00 -37.8 201.5 -11.8 79 1759 0.00 2.42 0.00 0.000 6 0.000 0.031 2358 2257 2989

2075 -2.00 -37.8 237.1 -11.1 95 2080 0.00 2.53 0.00 0.000 4 0.000 0.051 2358 3658 2989

2245 -2.00 -37.8 257.4 -12.1 102 2251 0.00 2.40 0.00 0.000 6 0.000 0.031 2358 2252 2989

2561 -2.00 -37.8 293.0 -11.1 118 2565 0.00 2.53 0.00 0.000 4 0.000 0.051 2358 3657 2989

2634 -2.00 -37.8 301.5 -11.3 121 2638 0.00 2.40 0.00 0.000 6 0.000 0.031 2358 2249 2989

2949 -2.00 -37.8 335.7 -10.8 136 2954 0.00 2.53 0.00 0.000 4 0.000 0.050 2358 3654 2988

3022 -2.00 -37.8 344.3 -11.7 139 3026 0.00 2.40 0.00 0.000 6 0.000 0.031 2358 2249 2988

3338 -2.00 -37.8 378.1 -10.6 154 3342 0.00 2.53 0.00 0.000 4 0.000 0.050 2358 3658 2987

3472 -2.00 -37.8 393.0 -10.9 160 3476 0.00 2.42 0.00 0.000 6 0.000 0.031 2358 2240 2987

3794 -2.00 -37.8 424.3 -9.5 176 3798 0.00 2.55 0.00 0.000 4 0.000 0.052 2358 3658 2987

3906 -2.00 -37.8 435.6 -9.9 181 3910 0.00 2.42 0.00 0.000 6 0.000 0.031 2358 2238 2987

4226 -2.00 -37.8 464.5 -8.8 197 4231 0.00 2.58 0.00 0.000 4 0.000 0.052 2358 3652 2986

4326 -2.00 -37.8 474.3 -9.6 201 4331 0.00 2.40 0.00 0.000 6 0.000 0.031 2358 2245 2987

4642 -2.00 -37.8 502.4 -9.0 216 4647 0.00 2.55 0.00 0.000 4 0.000 0.051 2358 3650 2987

4737 -2.00 -37.8 511.6 -9.8 220 4742 0.00 2.42 0.00 0.000 6 0.000 0.031 2358 2249 2987

5063 -2.00 -37.8 541.6 -9.3 236 5068 0.00 2.55 0.00 0.000 4 0.000 0.051 2358 3652 2986

5192 -2.00 -37.8 554.9 -10.5 241 5198 0.00 2.40 0.00 0.000 6 0.000 0.032 2358 2250 2986

5507 -2.00 -37.8 585.1 -9.6 257 5508 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2249 2986

5816 -2.00 -37.8 615.8 -9.8 272 5817 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2249 2986

6126 -2.00 -37.8 646.8 -9.9 287 6130 0.00 2.53 0.00 0.000 4 0.000 0.052 2357 3660 2986

6221 -2.00 -37.8 656.8 -10.4 291 6226 0.00 2.42 0.00 0.000 6 0.000 0.032 2358 2246 2986

6538 -2.00 -37.8 688.6 -10.0 306 6540 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2246 2985

6847 -2.00 -37.8 719.8 -10.0 321 6848 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2245 2985

7156 -2.00 -37.8 748.4 -9.2 336 7160 0.00 2.47 0.00 0.000 4 0.000 0.046 2358 854 2985

7201 -2.00 -37.8 752.6 -9.6 338 7206 0.00 2.45 0.00 0.000 6 0.000 0.038 2358 2262 2985

7530 -2.00 -37.8 780.0 -8.1 354 7535 0.00 2.47 0.00 0.000 4 0.000 0.053 2358 3650 2985

7738 -2.00 -37.8 798.1 -8.8 363 7742 0.00 2.40 0.00 0.000 6 0.000 0.033 2358 2250 2985

8054 -2.00 -37.8 824.0 -8.5 378 8058 0.00 2.50 0.00 0.000 4 0.000 0.052 2358 3650 2985

8232 -2.00 -37.8 839.6 -9.5 386 8236 0.00 2.40 0.00 0.000 6 0.000 0.033 2357 2249 2984

8561 -2.00 -37.8 864.7 -7.6 402 8565 0.00 2.53 0.00 0.000 4 0.000 0.054 2358 3654 2984

8836 -2.00 -37.8 885.0 -7.5 414 8841 0.00 2.45 0.00 0.000 6 0.000 0.035 2358 2251 2984

9156 -2.00 -37.8 909.1 -8.4 430 9158 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2251 2984

9465 -2.00 -37.8 936.1 -8.6 445 9470 0.00 2.53 0.00 0.000 4 0.000 0.056 2358 3649 2983

9738 end dive: BOTTOM_OBSTACLE_DETECTED

state 9738 begin apogee

9748 -0.36 0.0 960.0 9.9 457 9787 1.73 0.00 34.60 1.378 6 0.088 0.000 2714 1469 2832

9788 end apogee: CONTROL_FINISHED_OK

state 9788 begin climb

9791 2.00 37.8 961.4 0.0 459 9834 2.38 2.33 35.40 1.351 4 0.047 0.065 3237 263 2678

10015 2.00 37.8 950.6 6.0 469 10018 0.00 2.08 0.00 0.000 6 0.000 0.038 3237 1458 2677

10347 2.01 47.8 933.8 4.6 485 10362 0.00 2.58 10.27 1.220 4 0.000 0.050 3237 2859 2636

10543 2.02 60.9 924.2 4.2 493 10565 0.00 2.53 13.43 1.272 6 0.000 0.042 3237 1447 2582

10876 2.03 65.2 906.7 5.4 509 10887 0.00 2.58 5.30 1.005 4 0.000 0.050 3237 2854 2565

10943 2.03 68.4 902.8 5.5 512 10952 0.00 2.53 4.53 0.917 6 0.000 0.044 3237 1447 2553

11266 2.03 68.4 881.1 7.4 527 11267 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1448 2552

11573 2.03 68.4 857.9 7.2 542 11577 0.00 2.53 0.00 0.000 4 0.000 0.048 3237 2856 2551

11914 2.03 68.6 834.0 6.0 557 11918 0.00 2.50 0.00 0.000 6 0.000 0.042 3237 1449 2550

12229 2.03 68.6 812.7 7.3 572 12234 0.00 2.53 0.00 0.000 4 0.000 0.048 3237 2852 2550

12573 2.03 68.6 787.7 7.5 587 12577 0.00 2.47 0.00 0.000 6 0.000 0.041 3237 1450 2549

12894 2.04 74.5 769.5 5.2 603 12907 0.00 2.55 6.75 1.068 4 0.000 0.045 3237 2863 2527

13244 2.04 74.5 743.8 8.4 618 13250 0.00 2.50 0.00 0.000 6 0.000 0.040 3237 1448 2527

13562 2.04 74.5 717.4 8.2 634 13566 0.00 2.12 0.00 0.000 4 0.000 0.059 3237 264 2527

13653 2.04 74.5 709.5 8.8 638 13656 0.00 2.03 0.00 0.000 6 0.000 0.034 3237 1459 2527

13985 2.04 74.5 686.2 6.9 654 13990 0.00 2.17 0.00 0.000 4 0.000 0.056 3237 267 2527

14326 2.04 74.5 661.0 7.2 669 14331 0.00 2.05 0.00 0.000 6 0.000 0.033 3237 1454 2527

14652 2.04 74.5 637.8 7.6 685 14653 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1454 2528

14962 2.04 74.5 613.8 7.7 700 14965 0.00 2.15 0.00 0.000 4 0.000 0.055 3237 257 2527

15197 2.04 74.5 593.8 8.8 710 15201 0.00 2.05 0.00 0.000 6 0.000 0.033 3237 1457 2528

15520 2.04 74.5 569.1 7.4 726 15524 0.00 2.45 0.00 0.000 4 0.000 0.046 3238 2849 2529

15676 2.04 74.5 557.0 7.6 733 15681 0.00 2.45 0.00 0.000 6 0.000 0.038 3237 1447 2529

16000 2.04 74.5 532.6 7.5 749 16001 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1447 2529

16306 2.04 74.5 509.6 7.4 764 16308 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1447 2530

16616 2.04 74.5 486.8 7.5 779 16617 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1447 2530

16925 2.04 74.5 464.2 7.2 794 16929 0.00 2.10 0.00 0.000 4 0.000 0.058 3237 267 2531

17016 2.04 74.5 457.1 7.5 798 17019 0.00 2.00 0.00 0.000 6 0.000 0.034 3237 1455 2531

17348 2.04 74.5 433.3 7.0 814 17349 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1455 2532

17657 2.04 74.5 411.8 6.9 829 17658 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1455 2532

17966 2.04 74.5 391.4 6.4 844 17967 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1455 2532

18276 2.04 74.5 371.4 6.4 859 18277 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1455 2532

18587 2.04 74.5 352.0 6.2 874 18588 0.00 0.00 0.00 0.000 6 0.000 0.000 3238 1456 2532

18895 2.04 77.1 333.8 5.6 889 18902 0.00 0.00 5.15 0.739 6 0.000 0.000 3237 1456 2517

19206 2.04 77.1 314.9 6.0 904 19207 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1455 2517

19513 2.04 77.1 296.0 6.2 919 19514 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1456 2517

19822 2.04 77.1 276.9 6.2 934 19825 0.00 2.12 0.00 0.000 4 0.000 0.055 3237 267 2518

19884 2.04 77.1 272.8 6.5 936 19890 0.00 2.00 0.00 0.000 6 0.000 0.033 3237 1455 2518

20200 2.04 77.1 253.7 6.0 952 20201 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1455 2517

20509 2.04 77.1 234.2 6.2 967 20513 0.00 2.12 0.00 0.000 4 0.000 0.055 3237 266 2518

20587 2.04 77.1 228.9 7.1 970 20591 0.00 2.03 0.00 0.000 6 0.000 0.033 3237 1455 2518

20911 2.04 77.1 208.2 6.5 986 20913 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1455 2517

21218 2.04 77.1 187.2 7.1 1001 21222 0.00 2.12 0.00 0.000 4 0.000 0.055 3237 267 2518

21297 2.04 77.1 180.8 7.7 1004 21300 0.00 2.00 0.00 0.000 6 0.000 0.033 3238 1454 2518

21618 2.04 77.1 152.6 9.5 1020 21619 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1454 2518

21927 2.04 77.1 123.9 8.9 1035 21929 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1454 2518

22238 2.04 77.1 99.2 7.3 1050 22242 0.00 2.12 0.00 0.000 4 0.000 0.054 3237 264 2518

22517 2.04 77.1 77.6 7.3 1062 22521 0.00 2.03 0.00 0.000 6 0.000 0.032 3237 1459 2518

22839 2.04 77.1 56.3 6.8 1078 22840 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 1459 2518

23148 2.06 86.5 38.5 4.7 1093 23160 0.00 0.00 9.57 0.733 6 0.000 0.000 3237 1459 2479

23459 2.09 117.7 32.9 1.7 1108 23488 0.00 0.00 27.10 0.788 6 0.000 0.000 3237 1459 2352

23788 2.09 117.7 10.5 8.2 1124 23792 0.00 2.47 0.00 0.000 4 0.000 0.047 3237 2853 2349

23896 end climb: SURFACE_DEPTH_REACHED

state 23896 begin surface coast

23965 end surface coast: CONTROL_FINISHED_OK

state 23965 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	158	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	2250	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	25	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	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	-1630833.4	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	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	050937,6216.894,-1141.435,41,1.0,41,-11.0	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6217.000,-1145.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.97	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-55.3	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	051544,6216.844,-1141.400,16,1.0,16,-11.0	MHEAD_RNG_PITCHd_Wd	286.3,3115,-27.3,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.026834	ALTIM_BOTTOM_PING	875.4,94.2
SM_CCo	23989,120.60,0.757,0,0,1608,300.00	_24V_AH	23.2,41.542
SM_GC	1.06,0.00,0.00,120.60,0.000,0.000,0.757,394,2226,1608,-11.07,-0.68,300.00	_10V_AH	10.1,22.962
IRIDIUM_FIX	6153.50,-1147.61,081098,222232	DATA_FILE_SIZE	56973,1132
TT8_MAMPS	0.026845	CAP_FILE_SIZE	172063,0
HUMID	1822	CFSIZE	260165632,246632448
INTERNAL_PRESSURE	8.13832	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	19.60	GPS	150709,115906,6215.949,-1143.334,31,1.4,31,-11.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	130	81.68	SBE_CT	871	24	485.32
Roll_motor	156	65	237.28	SBE_O2	923	19	407.07
VBD_pump_during_apogee	152	1377	4860.92	WL_BB2F	636	105	1550.13
VBD_pump_during_surface	120	757	2118.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.26	nil	0	0	0.00
Iridium_during_connect	31	160	118.06	nil	0	0	0.00
Iridium_during_xfer	166	223	862.82
Transponder_ping	7	420	75.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.45
TT8	2214	19	442.92
LPSleep	17831	2	394.41
TT8_Active	409	19	81.93
TT8_Sampling	3076	39	1236.68
TT8_CF8	937	45	433.52
TT8_Kalman	0	81	0.00
Analog_circuits	1870	12	226.69
GPS_charging	0	0	0.00
Compass	3235	8	261.40
RAFOS	0	0	0.00
Transponder	52	30	15.92

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	-1.99	-28.8	0.0	0.0	0	63	0.00	0.00	-46.03	0.000	6	0.000	0.000	394	2250	2951
67	-2.00	-37.8	2.0	-4.8	2	83	10.43	2.53	-0.77	0.000	4	0.130	0.062	2358	3652	2987
420	-2.00	-37.8	52.4	-11.6	17	425	0.00	2.45	0.00	0.000	6	0.000	0.029	2358	2228	2988
753	-2.00	-37.8	88.1	-10.5	33	757	0.00	2.58	0.00	0.000	4	0.000	0.048	2358	3645	2989
1093	-2.00	-37.8	126.6	-11.9	48	1098	0.00	2.38	0.00	0.000	6	0.000	0.030	2357	2253	2989
1414	-2.00	-37.8	161.1	-11.0	64	1418	0.00	2.53	0.00	0.000	4	0.000	0.049	2358	3658	2989
1754	-2.00	-37.8	201.5	-11.8	79	1759	0.00	2.42	0.00	0.000	6	0.000	0.031	2358	2257	2989
2075	-2.00	-37.8	237.1	-11.1	95	2080	0.00	2.53	0.00	0.000	4	0.000	0.051	2358	3658	2989
2245	-2.00	-37.8	257.4	-12.1	102	2251	0.00	2.40	0.00	0.000	6	0.000	0.031	2358	2252	2989
2561	-2.00	-37.8	293.0	-11.1	118	2565	0.00	2.53	0.00	0.000	4	0.000	0.051	2358	3657	2989
2634	-2.00	-37.8	301.5	-11.3	121	2638	0.00	2.40	0.00	0.000	6	0.000	0.031	2358	2249	2989
2949	-2.00	-37.8	335.7	-10.8	136	2954	0.00	2.53	0.00	0.000	4	0.000	0.050	2358	3654	2988
3022	-2.00	-37.8	344.3	-11.7	139	3026	0.00	2.40	0.00	0.000	6	0.000	0.031	2358	2249	2988
3338	-2.00	-37.8	378.1	-10.6	154	3342	0.00	2.53	0.00	0.000	4	0.000	0.050	2358	3658	2987
3472	-2.00	-37.8	393.0	-10.9	160	3476	0.00	2.42	0.00	0.000	6	0.000	0.031	2358	2240	2987
3794	-2.00	-37.8	424.3	-9.5	176	3798	0.00	2.55	0.00	0.000	4	0.000	0.052	2358	3658	2987
3906	-2.00	-37.8	435.6	-9.9	181	3910	0.00	2.42	0.00	0.000	6	0.000	0.031	2358	2238	2987
4226	-2.00	-37.8	464.5	-8.8	197	4231	0.00	2.58	0.00	0.000	4	0.000	0.052	2358	3652	2986
4326	-2.00	-37.8	474.3	-9.6	201	4331	0.00	2.40	0.00	0.000	6	0.000	0.031	2358	2245	2987
4642	-2.00	-37.8	502.4	-9.0	216	4647	0.00	2.55	0.00	0.000	4	0.000	0.051	2358	3650	2987
4737	-2.00	-37.8	511.6	-9.8	220	4742	0.00	2.42	0.00	0.000	6	0.000	0.031	2358	2249	2987
5063	-2.00	-37.8	541.6	-9.3	236	5068	0.00	2.55	0.00	0.000	4	0.000	0.051	2358	3652	2986
5192	-2.00	-37.8	554.9	-10.5	241	5198	0.00	2.40	0.00	0.000	6	0.000	0.032	2358	2250	2986
5507	-2.00	-37.8	585.1	-9.6	257	5508	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2249	2986
5816	-2.00	-37.8	615.8	-9.8	272	5817	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2249	2986
6126	-2.00	-37.8	646.8	-9.9	287	6130	0.00	2.53	0.00	0.000	4	0.000	0.052	2357	3660	2986
6221	-2.00	-37.8	656.8	-10.4	291	6226	0.00	2.42	0.00	0.000	6	0.000	0.032	2358	2246	2986
6538	-2.00	-37.8	688.6	-10.0	306	6540	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2246	2985
6847	-2.00	-37.8	719.8	-10.0	321	6848	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2245	2985
7156	-2.00	-37.8	748.4	-9.2	336	7160	0.00	2.47	0.00	0.000	4	0.000	0.046	2358	854	2985
7201	-2.00	-37.8	752.6	-9.6	338	7206	0.00	2.45	0.00	0.000	6	0.000	0.038	2358	2262	2985
7530	-2.00	-37.8	780.0	-8.1	354	7535	0.00	2.47	0.00	0.000	4	0.000	0.053	2358	3650	2985
7738	-2.00	-37.8	798.1	-8.8	363	7742	0.00	2.40	0.00	0.000	6	0.000	0.033	2358	2250	2985
8054	-2.00	-37.8	824.0	-8.5	378	8058	0.00	2.50	0.00	0.000	4	0.000	0.052	2358	3650	2985
8232	-2.00	-37.8	839.6	-9.5	386	8236	0.00	2.40	0.00	0.000	6	0.000	0.033	2357	2249	2984
8561	-2.00	-37.8	864.7	-7.6	402	8565	0.00	2.53	0.00	0.000	4	0.000	0.054	2358	3654	2984
8836	-2.00	-37.8	885.0	-7.5	414	8841	0.00	2.45	0.00	0.000	6	0.000	0.035	2358	2251	2984
9156	-2.00	-37.8	909.1	-8.4	430	9158	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2251	2984
9465	-2.00	-37.8	936.1	-8.6	445	9470	0.00	2.53	0.00	0.000	4	0.000	0.056	2358	3649	2983
9738	end dive: BOTTOM_OBSTACLE_DETECTED
state	9738	begin apogee
9748	-0.36	0.0	960.0	9.9	457	9787	1.73	0.00	34.60	1.378	6	0.088	0.000	2714	1469	2832
9788	end apogee: CONTROL_FINISHED_OK
state	9788	begin climb
9791	2.00	37.8	961.4	0.0	459	9834	2.38	2.33	35.40	1.351	4	0.047	0.065	3237	263	2678
10015	2.00	37.8	950.6	6.0	469	10018	0.00	2.08	0.00	0.000	6	0.000	0.038	3237	1458	2677
10347	2.01	47.8	933.8	4.6	485	10362	0.00	2.58	10.27	1.220	4	0.000	0.050	3237	2859	2636
10543	2.02	60.9	924.2	4.2	493	10565	0.00	2.53	13.43	1.272	6	0.000	0.042	3237	1447	2582
10876	2.03	65.2	906.7	5.4	509	10887	0.00	2.58	5.30	1.005	4	0.000	0.050	3237	2854	2565
10943	2.03	68.4	902.8	5.5	512	10952	0.00	2.53	4.53	0.917	6	0.000	0.044	3237	1447	2553
11266	2.03	68.4	881.1	7.4	527	11267	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1448	2552
11573	2.03	68.4	857.9	7.2	542	11577	0.00	2.53	0.00	0.000	4	0.000	0.048	3237	2856	2551
11914	2.03	68.6	834.0	6.0	557	11918	0.00	2.50	0.00	0.000	6	0.000	0.042	3237	1449	2550
12229	2.03	68.6	812.7	7.3	572	12234	0.00	2.53	0.00	0.000	4	0.000	0.048	3237	2852	2550
12573	2.03	68.6	787.7	7.5	587	12577	0.00	2.47	0.00	0.000	6	0.000	0.041	3237	1450	2549
12894	2.04	74.5	769.5	5.2	603	12907	0.00	2.55	6.75	1.068	4	0.000	0.045	3237	2863	2527
13244	2.04	74.5	743.8	8.4	618	13250	0.00	2.50	0.00	0.000	6	0.000	0.040	3237	1448	2527
13562	2.04	74.5	717.4	8.2	634	13566	0.00	2.12	0.00	0.000	4	0.000	0.059	3237	264	2527
13653	2.04	74.5	709.5	8.8	638	13656	0.00	2.03	0.00	0.000	6	0.000	0.034	3237	1459	2527
13985	2.04	74.5	686.2	6.9	654	13990	0.00	2.17	0.00	0.000	4	0.000	0.056	3237	267	2527
14326	2.04	74.5	661.0	7.2	669	14331	0.00	2.05	0.00	0.000	6	0.000	0.033	3237	1454	2527
14652	2.04	74.5	637.8	7.6	685	14653	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1454	2528
14962	2.04	74.5	613.8	7.7	700	14965	0.00	2.15	0.00	0.000	4	0.000	0.055	3237	257	2527
15197	2.04	74.5	593.8	8.8	710	15201	0.00	2.05	0.00	0.000	6	0.000	0.033	3237	1457	2528
15520	2.04	74.5	569.1	7.4	726	15524	0.00	2.45	0.00	0.000	4	0.000	0.046	3238	2849	2529
15676	2.04	74.5	557.0	7.6	733	15681	0.00	2.45	0.00	0.000	6	0.000	0.038	3237	1447	2529
16000	2.04	74.5	532.6	7.5	749	16001	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1447	2529
16306	2.04	74.5	509.6	7.4	764	16308	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1447	2530
16616	2.04	74.5	486.8	7.5	779	16617	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1447	2530
16925	2.04	74.5	464.2	7.2	794	16929	0.00	2.10	0.00	0.000	4	0.000	0.058	3237	267	2531
17016	2.04	74.5	457.1	7.5	798	17019	0.00	2.00	0.00	0.000	6	0.000	0.034	3237	1455	2531
17348	2.04	74.5	433.3	7.0	814	17349	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1455	2532
17657	2.04	74.5	411.8	6.9	829	17658	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1455	2532
17966	2.04	74.5	391.4	6.4	844	17967	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1455	2532
18276	2.04	74.5	371.4	6.4	859	18277	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1455	2532
18587	2.04	74.5	352.0	6.2	874	18588	0.00	0.00	0.00	0.000	6	0.000	0.000	3238	1456	2532
18895	2.04	77.1	333.8	5.6	889	18902	0.00	0.00	5.15	0.739	6	0.000	0.000	3237	1456	2517
19206	2.04	77.1	314.9	6.0	904	19207	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1455	2517
19513	2.04	77.1	296.0	6.2	919	19514	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1456	2517
19822	2.04	77.1	276.9	6.2	934	19825	0.00	2.12	0.00	0.000	4	0.000	0.055	3237	267	2518
19884	2.04	77.1	272.8	6.5	936	19890	0.00	2.00	0.00	0.000	6	0.000	0.033	3237	1455	2518
20200	2.04	77.1	253.7	6.0	952	20201	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1455	2517
20509	2.04	77.1	234.2	6.2	967	20513	0.00	2.12	0.00	0.000	4	0.000	0.055	3237	266	2518
20587	2.04	77.1	228.9	7.1	970	20591	0.00	2.03	0.00	0.000	6	0.000	0.033	3237	1455	2518
20911	2.04	77.1	208.2	6.5	986	20913	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1455	2517
21218	2.04	77.1	187.2	7.1	1001	21222	0.00	2.12	0.00	0.000	4	0.000	0.055	3237	267	2518
21297	2.04	77.1	180.8	7.7	1004	21300	0.00	2.00	0.00	0.000	6	0.000	0.033	3238	1454	2518
21618	2.04	77.1	152.6	9.5	1020	21619	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1454	2518
21927	2.04	77.1	123.9	8.9	1035	21929	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1454	2518
22238	2.04	77.1	99.2	7.3	1050	22242	0.00	2.12	0.00	0.000	4	0.000	0.054	3237	264	2518
22517	2.04	77.1	77.6	7.3	1062	22521	0.00	2.03	0.00	0.000	6	0.000	0.032	3237	1459	2518
22839	2.04	77.1	56.3	6.8	1078	22840	0.00	0.00	0.00	0.000	6	0.000	0.000	3237	1459	2518
23148	2.06	86.5	38.5	4.7	1093	23160	0.00	0.00	9.57	0.733	6	0.000	0.000	3237	1459	2479
23459	2.09	117.7	32.9	1.7	1108	23488	0.00	0.00	27.10	0.788	6	0.000	0.000	3237	1459	2352
23788	2.09	117.7	10.5	8.2	1124	23792	0.00	2.47	0.00	0.000	4	0.000	0.047	3237	2853	2349
23896	end climb: SURFACE_DEPTH_REACHED
state	23896	begin surface coast
23965	end surface coast: CONTROL_FINISHED_OK
state	23965	begin surface