Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 54 * 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 54 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2476 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1629015.9 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 -1629015.9

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2476 MASS 52000 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 34 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 54 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 040207,6207.743,-950.841,31,1.1,31,-9.9 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6207.708,-1013.844

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.95 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 041102,6207.708,-950.743,13,1.1,13,-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 1.3,1.027133 ALTIM_BOTTOM_PING 651.4,84.9

SM_CCo 17419,54.45,0.749,0,0,1608,300.00 _24V_AH 23.3,25.716

SM_GC 0.68,0.00,0.00,54.45,0.000,0.000,0.749,396,2463,1608,-11.06,-0.40,300.00 _10V_AH 10.1,11.247

IRIDIUM_FIX 6139.81,-951.16,090998,040446 DATA_FILE_SIZE 41175,836

TT8_MAMPS 0.027612 CAP_FILE_SIZE 134735,0

HUMID 1828 CFSIZE 260165632,254894080

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

TCM_TEMP 17.20 GPS 150609,090355,6205.768,-953.717,38,2.0,38,-9.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 131 77.92 SBE_CT 697 24 390.27

Roll_motor 172 56 228.19 SBE_O2 611 19 270.75

VBD_pump_during_apogee 322 1211 9112.57 WL_BB2F 507 105 1242.36

VBD_pump_during_surface 54 749 950.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 57 103 138.19 nil 0 0 0.00

Iridium_during_connect 53 160 199.69 nil 0 0 0.00

Iridium_during_xfer 241 223 1254.85

Transponder_ping 5 420 53.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.93

TT8 1585 19 317.09

LPSleep 13154 2 290.96

TT8_Active 488 19 97.79

TT8_Sampling 1908 39 767.01

TT8_CF8 874 45 404.74

TT8_Kalman 0 81 0.00

Analog_circuits 1504 12 182.34

GPS_charging 0 0 0.00

Compass 2040 8 164.91

RAFOS 0 0 0.00

Transponder 37 30 11.51

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.17 -146.6 0.0 0.0 0 77 0.00 0.00 -58.70 0.000 6 0.000 0.000 396 2467 3431

80 -1.17 -146.6 5.2 -10.4 3 101 11.40 2.45 0.00 0.000 4 0.132 0.051 2537 3828 3432

438 -1.17 -146.6 52.7 -10.3 19 443 0.00 2.35 0.00 0.000 6 0.000 0.026 2537 2442 3433

770 -1.17 -146.6 84.4 -9.8 35 774 0.00 2.50 0.00 0.000 4 0.000 0.053 2538 3824 3434

999 -1.17 -146.6 107.9 -10.1 45 1004 0.00 2.28 0.00 0.000 6 0.000 0.026 2537 2485 3434

1320 -1.17 -146.6 138.0 -9.3 61 1324 0.00 2.42 0.00 0.000 4 0.000 0.038 2538 1088 3434

1359 -1.17 -146.6 141.7 -9.5 63 1364 0.00 2.42 0.00 0.000 6 0.000 0.035 2538 2465 3434

1691 -1.17 -146.6 173.3 -9.2 79 1695 0.00 2.40 0.00 0.000 4 0.000 0.038 2538 1086 3433

1742 -1.17 -146.6 178.0 -8.8 81 1746 0.00 2.42 0.00 0.000 6 0.000 0.035 2537 2478 3433

2058 -1.17 -146.6 206.0 -8.8 96 2062 0.00 2.42 0.00 0.000 4 0.000 0.038 2538 1087 3434

2122 -1.17 -146.6 211.7 -9.4 99 2126 0.00 2.42 0.00 0.000 6 0.000 0.036 2537 2475 3434

2448 -1.17 -146.6 241.0 -8.7 115 2452 0.00 2.42 0.00 0.000 4 0.000 0.038 2537 1082 3433

2526 -1.17 -146.6 247.5 -8.2 118 2532 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2481 3433

2842 -1.17 -146.6 273.9 -8.1 134 2846 0.00 2.42 0.00 0.000 4 0.000 0.039 2538 1088 3433

2904 -1.17 -146.6 278.9 -7.8 137 2909 0.00 2.45 0.00 0.000 6 0.000 0.038 2538 2470 3433

3236 -1.17 -146.6 305.9 -8.2 153 3240 0.00 2.42 0.00 0.000 4 0.000 0.039 2537 1081 3433

3280 -1.17 -146.6 309.5 -8.1 155 3284 0.00 2.45 0.00 0.000 6 0.000 0.038 2538 2482 3433

3601 -1.17 -146.6 335.5 -8.3 171 3605 0.00 2.45 0.00 0.000 4 0.000 0.040 2538 1079 3433

3663 -1.17 -146.6 340.9 -8.7 174 3668 0.00 2.47 0.00 0.000 6 0.000 0.038 2538 2477 3433

3995 -1.17 -146.6 368.7 -8.4 190 3999 0.00 2.42 0.00 0.000 4 0.000 0.040 2538 1088 3433

4061 -1.17 -146.6 374.5 -8.5 193 4065 0.00 2.42 0.00 0.000 6 0.000 0.037 2537 2476 3433

4385 -1.17 -146.6 399.1 -7.6 209 4389 0.00 2.42 0.00 0.000 4 0.000 0.040 2538 1085 3433

4446 -1.17 -146.6 404.2 -7.7 212 4450 0.00 2.42 0.00 0.000 6 0.000 0.038 2538 2477 3433

4773 -1.17 -146.6 430.2 -8.3 228 4777 0.00 2.42 0.00 0.000 4 0.000 0.040 2537 1089 3432

4817 -1.17 -146.6 434.0 -8.2 230 4821 0.00 2.42 0.00 0.000 6 0.000 0.038 2538 2480 3433

5138 -1.17 -146.6 461.8 -8.9 246 5142 0.00 2.42 0.00 0.000 4 0.000 0.040 2538 1088 3432

5200 -1.17 -146.6 467.4 -8.7 249 5205 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2478 3432

5527 -1.17 -146.6 495.3 -8.3 265 5531 0.00 2.42 0.00 0.000 4 0.000 0.040 2538 1089 3432

5593 -1.17 -146.6 501.3 -9.2 268 5597 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2474 3432

5915 -1.17 -146.6 528.1 -8.2 284 5920 0.00 2.42 0.00 0.000 4 0.000 0.040 2537 1087 3432

5982 -1.17 -146.6 533.7 -7.6 287 5986 0.00 2.42 0.00 0.000 6 0.000 0.037 2538 2477 3432

6303 -1.17 -146.6 561.6 -8.8 303 6307 0.00 2.42 0.00 0.000 4 0.000 0.040 2537 1089 3432

6353 -1.17 -146.6 565.9 -8.1 305 6357 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2480 3432

6671 -1.17 -146.6 591.6 -7.9 320 6675 0.00 2.42 0.00 0.000 4 0.000 0.040 2537 1089 3432

6720 -1.17 -146.6 596.1 -8.7 322 6725 0.00 2.42 0.00 0.000 6 0.000 0.038 2538 2476 3432

7038 -1.17 -146.6 624.4 -8.9 337 7043 0.00 2.42 0.00 0.000 4 0.000 0.040 2537 1084 3432

7077 -1.17 -146.6 628.1 -9.0 338 7083 0.00 2.45 0.00 0.000 6 0.000 0.038 2538 2485 3432

7393 -1.17 -146.6 653.0 -7.8 354 7395 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2484 3432

7701 -1.17 -146.6 679.9 -9.1 369 7702 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2485 3432

8011 -1.17 -146.6 707.9 -8.8 384 8015 0.00 2.45 0.00 0.000 4 0.000 0.042 2538 1091 3431

8060 -1.17 -146.6 712.2 -8.4 386 8065 0.00 2.45 0.00 0.000 6 0.000 0.040 2538 2470 3431

8257 end dive: BOTTOM_OBSTACLE_DETECTED

state 8257 begin apogee

8265 -0.36 0.0 727.7 7.9 396 8398 0.85 0.00 128.00 1.212 6 0.068 0.000 2720 1481 2832

8399 end apogee: CONTROL_FINISHED_OK

state 8399 begin climb

8401 1.17 146.6 732.0 0.0 403 8536 1.52 0.00 129.62 1.177 6 0.050 0.000 3057 1481 2234

8838 1.23 195.4 708.8 5.8 424 8889 0.00 2.53 43.75 1.154 4 0.000 0.049 3056 2860 2033

8957 1.26 213.6 700.8 6.9 429 8983 0.00 2.50 17.10 1.085 6 0.000 0.040 3056 1456 1961

9299 1.26 213.6 674.7 8.3 446 9303 0.00 2.53 0.00 0.000 4 0.000 0.048 3057 2864 1956

9348 1.26 213.6 670.4 8.9 448 9352 0.00 2.47 0.00 0.000 6 0.000 0.039 3056 1452 1955

9666 1.26 218.0 646.4 7.3 463 9675 0.00 2.53 4.25 0.751 4 0.000 0.044 3057 2863 1942

9716 1.26 218.0 642.4 7.9 465 9720 0.00 2.50 0.00 0.000 6 0.000 0.037 3056 1446 1942

10037 1.26 218.0 618.0 7.8 481 10039 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1446 1941

10346 1.26 218.0 593.1 7.8 496 10351 0.00 2.50 0.00 0.000 4 0.000 0.041 3057 2864 1940

10396 1.26 218.0 589.1 7.9 498 10401 0.00 2.47 0.00 0.000 6 0.000 0.036 3057 1448 1940

10714 1.26 218.0 564.2 8.1 513 10718 0.00 2.12 0.00 0.000 4 0.000 0.057 3057 267 1940

10760 1.26 218.0 560.0 9.1 515 10763 0.00 2.03 0.00 0.000 6 0.000 0.030 3057 1482 1940

11095 1.26 218.0 532.7 7.9 531 11099 0.00 2.40 0.00 0.000 4 0.000 0.044 3057 2845 1940

11139 1.26 218.0 529.0 8.3 533 11143 0.00 2.42 0.00 0.000 6 0.000 0.035 3057 1453 1940

11459 1.26 218.0 503.0 8.4 549 11461 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1454 1940

11769 1.26 218.0 476.3 8.5 564 11773 0.00 2.47 0.00 0.000 4 0.000 0.039 3057 2845 1940

11815 1.26 218.0 472.2 8.7 566 11819 0.00 2.42 0.00 0.000 6 0.000 0.035 3056 1448 1940

12141 1.26 218.0 443.3 8.8 582 12142 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1448 1939

12450 1.26 218.0 415.8 8.7 597 12452 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1448 1940

12762 1.26 218.0 389.3 8.8 612 12766 0.00 2.45 0.00 0.000 4 0.000 0.039 3057 2845 1940

12824 1.26 218.0 384.0 8.3 615 12828 0.00 2.42 0.00 0.000 6 0.000 0.035 3057 1448 1940

13150 1.26 218.0 356.1 8.8 631 13152 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1448 1940

13459 1.26 218.0 329.6 8.5 646 13464 0.00 2.45 0.00 0.000 4 0.000 0.039 3057 2846 1940

13499 1.26 218.0 326.3 8.0 648 13503 0.00 2.42 0.00 0.000 6 0.000 0.035 3057 1448 1940

13826 1.26 218.0 299.0 8.4 664 13830 0.00 2.45 0.00 0.000 4 0.000 0.038 3057 2848 1940

13861 1.26 218.0 296.3 7.9 665 13867 0.00 2.42 0.00 0.000 6 0.000 0.034 3057 1449 1940

14176 1.26 218.0 270.6 8.1 681 14178 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1449 1941

14486 1.26 218.0 243.7 9.0 696 14487 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1448 1940

14797 1.26 218.0 216.5 8.5 711 14801 0.00 2.45 0.00 0.000 4 0.000 0.039 3057 2848 1941

14842 1.26 218.0 212.2 8.3 713 14846 0.00 2.42 0.00 0.000 6 0.000 0.034 3057 1446 1940

15163 1.26 218.0 185.7 7.8 729 15167 0.00 2.45 0.00 0.000 4 0.000 0.040 3056 2844 1941

15190 1.26 218.0 183.5 8.0 730 15194 0.00 2.40 0.00 0.000 6 0.000 0.034 3056 1454 1941

15505 1.26 218.0 159.3 7.8 745 15507 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1454 1941

15815 1.26 218.0 134.3 8.2 760 15819 0.00 2.42 0.00 0.000 4 0.000 0.038 3057 2843 1941

15861 1.26 218.0 130.6 8.2 762 15865 0.00 2.40 0.00 0.000 6 0.000 0.034 3057 1453 1941

16182 1.26 218.0 103.6 8.6 778 16186 0.00 2.42 0.00 0.000 4 0.000 0.038 3057 2847 1941

16209 1.26 218.0 101.0 8.9 779 16213 0.00 2.42 0.00 0.000 6 0.000 0.033 3057 1445 1941

16526 1.26 218.0 73.5 8.6 794 16530 0.00 2.10 0.00 0.000 4 0.000 0.055 3057 264 1942

16572 1.26 218.0 69.1 9.3 796 16576 0.00 1.98 0.00 0.000 6 0.000 0.028 3057 1467 1941

16904 1.26 218.0 39.8 8.9 812 16909 0.00 2.38 0.00 0.000 4 0.000 0.038 3057 2842 1941

16967 1.26 218.0 34.4 8.4 815 16971 0.00 2.40 0.00 0.000 6 0.000 0.033 3057 1448 1941

17294 1.26 218.0 9.3 7.8 831 17295 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1448 1941

17374 end climb: SURFACE_DEPTH_REACHED

state 17375 begin surface coast

17395 end surface coast: CONTROL_FINISHED_OK

state 17395 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	54	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2476	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1629015.9	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	040207,6207.743,-950.841,31,1.1,31,-9.9	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6207.708,-1013.844
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.95	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	041102,6207.708,-950.743,13,1.1,13,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	1.3,1.027133	ALTIM_BOTTOM_PING	651.4,84.9
SM_CCo	17419,54.45,0.749,0,0,1608,300.00	_24V_AH	23.3,25.716
SM_GC	0.68,0.00,0.00,54.45,0.000,0.000,0.749,396,2463,1608,-11.06,-0.40,300.00	_10V_AH	10.1,11.247
IRIDIUM_FIX	6139.81,-951.16,090998,040446	DATA_FILE_SIZE	41175,836
TT8_MAMPS	0.027612	CAP_FILE_SIZE	134735,0
HUMID	1828	CFSIZE	260165632,254894080
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	17.20	GPS	150609,090355,6205.768,-953.717,38,2.0,38,-9.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	131	77.92	SBE_CT	697	24	390.27
Roll_motor	172	56	228.19	SBE_O2	611	19	270.75
VBD_pump_during_apogee	322	1211	9112.57	WL_BB2F	507	105	1242.36
VBD_pump_during_surface	54	749	950.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	57	103	138.19	nil	0	0	0.00
Iridium_during_connect	53	160	199.69	nil	0	0	0.00
Iridium_during_xfer	241	223	1254.85
Transponder_ping	5	420	53.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.93
TT8	1585	19	317.09
LPSleep	13154	2	290.96
TT8_Active	488	19	97.79
TT8_Sampling	1908	39	767.01
TT8_CF8	874	45	404.74
TT8_Kalman	0	81	0.00
Analog_circuits	1504	12	182.34
GPS_charging	0	0	0.00
Compass	2040	8	164.91
RAFOS	0	0	0.00
Transponder	37	30	11.51

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.17	-146.6	0.0	0.0	0	77	0.00	0.00	-58.70	0.000	6	0.000	0.000	396	2467	3431
80	-1.17	-146.6	5.2	-10.4	3	101	11.40	2.45	0.00	0.000	4	0.132	0.051	2537	3828	3432
438	-1.17	-146.6	52.7	-10.3	19	443	0.00	2.35	0.00	0.000	6	0.000	0.026	2537	2442	3433
770	-1.17	-146.6	84.4	-9.8	35	774	0.00	2.50	0.00	0.000	4	0.000	0.053	2538	3824	3434
999	-1.17	-146.6	107.9	-10.1	45	1004	0.00	2.28	0.00	0.000	6	0.000	0.026	2537	2485	3434
1320	-1.17	-146.6	138.0	-9.3	61	1324	0.00	2.42	0.00	0.000	4	0.000	0.038	2538	1088	3434
1359	-1.17	-146.6	141.7	-9.5	63	1364	0.00	2.42	0.00	0.000	6	0.000	0.035	2538	2465	3434
1691	-1.17	-146.6	173.3	-9.2	79	1695	0.00	2.40	0.00	0.000	4	0.000	0.038	2538	1086	3433
1742	-1.17	-146.6	178.0	-8.8	81	1746	0.00	2.42	0.00	0.000	6	0.000	0.035	2537	2478	3433
2058	-1.17	-146.6	206.0	-8.8	96	2062	0.00	2.42	0.00	0.000	4	0.000	0.038	2538	1087	3434
2122	-1.17	-146.6	211.7	-9.4	99	2126	0.00	2.42	0.00	0.000	6	0.000	0.036	2537	2475	3434
2448	-1.17	-146.6	241.0	-8.7	115	2452	0.00	2.42	0.00	0.000	4	0.000	0.038	2537	1082	3433
2526	-1.17	-146.6	247.5	-8.2	118	2532	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2481	3433
2842	-1.17	-146.6	273.9	-8.1	134	2846	0.00	2.42	0.00	0.000	4	0.000	0.039	2538	1088	3433
2904	-1.17	-146.6	278.9	-7.8	137	2909	0.00	2.45	0.00	0.000	6	0.000	0.038	2538	2470	3433
3236	-1.17	-146.6	305.9	-8.2	153	3240	0.00	2.42	0.00	0.000	4	0.000	0.039	2537	1081	3433
3280	-1.17	-146.6	309.5	-8.1	155	3284	0.00	2.45	0.00	0.000	6	0.000	0.038	2538	2482	3433
3601	-1.17	-146.6	335.5	-8.3	171	3605	0.00	2.45	0.00	0.000	4	0.000	0.040	2538	1079	3433
3663	-1.17	-146.6	340.9	-8.7	174	3668	0.00	2.47	0.00	0.000	6	0.000	0.038	2538	2477	3433
3995	-1.17	-146.6	368.7	-8.4	190	3999	0.00	2.42	0.00	0.000	4	0.000	0.040	2538	1088	3433
4061	-1.17	-146.6	374.5	-8.5	193	4065	0.00	2.42	0.00	0.000	6	0.000	0.037	2537	2476	3433
4385	-1.17	-146.6	399.1	-7.6	209	4389	0.00	2.42	0.00	0.000	4	0.000	0.040	2538	1085	3433
4446	-1.17	-146.6	404.2	-7.7	212	4450	0.00	2.42	0.00	0.000	6	0.000	0.038	2538	2477	3433
4773	-1.17	-146.6	430.2	-8.3	228	4777	0.00	2.42	0.00	0.000	4	0.000	0.040	2537	1089	3432
4817	-1.17	-146.6	434.0	-8.2	230	4821	0.00	2.42	0.00	0.000	6	0.000	0.038	2538	2480	3433
5138	-1.17	-146.6	461.8	-8.9	246	5142	0.00	2.42	0.00	0.000	4	0.000	0.040	2538	1088	3432
5200	-1.17	-146.6	467.4	-8.7	249	5205	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2478	3432
5527	-1.17	-146.6	495.3	-8.3	265	5531	0.00	2.42	0.00	0.000	4	0.000	0.040	2538	1089	3432
5593	-1.17	-146.6	501.3	-9.2	268	5597	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2474	3432
5915	-1.17	-146.6	528.1	-8.2	284	5920	0.00	2.42	0.00	0.000	4	0.000	0.040	2537	1087	3432
5982	-1.17	-146.6	533.7	-7.6	287	5986	0.00	2.42	0.00	0.000	6	0.000	0.037	2538	2477	3432
6303	-1.17	-146.6	561.6	-8.8	303	6307	0.00	2.42	0.00	0.000	4	0.000	0.040	2537	1089	3432
6353	-1.17	-146.6	565.9	-8.1	305	6357	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2480	3432
6671	-1.17	-146.6	591.6	-7.9	320	6675	0.00	2.42	0.00	0.000	4	0.000	0.040	2537	1089	3432
6720	-1.17	-146.6	596.1	-8.7	322	6725	0.00	2.42	0.00	0.000	6	0.000	0.038	2538	2476	3432
7038	-1.17	-146.6	624.4	-8.9	337	7043	0.00	2.42	0.00	0.000	4	0.000	0.040	2537	1084	3432
7077	-1.17	-146.6	628.1	-9.0	338	7083	0.00	2.45	0.00	0.000	6	0.000	0.038	2538	2485	3432
7393	-1.17	-146.6	653.0	-7.8	354	7395	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2484	3432
7701	-1.17	-146.6	679.9	-9.1	369	7702	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2485	3432
8011	-1.17	-146.6	707.9	-8.8	384	8015	0.00	2.45	0.00	0.000	4	0.000	0.042	2538	1091	3431
8060	-1.17	-146.6	712.2	-8.4	386	8065	0.00	2.45	0.00	0.000	6	0.000	0.040	2538	2470	3431
8257	end dive: BOTTOM_OBSTACLE_DETECTED
state	8257	begin apogee
8265	-0.36	0.0	727.7	7.9	396	8398	0.85	0.00	128.00	1.212	6	0.068	0.000	2720	1481	2832
8399	end apogee: CONTROL_FINISHED_OK
state	8399	begin climb
8401	1.17	146.6	732.0	0.0	403	8536	1.52	0.00	129.62	1.177	6	0.050	0.000	3057	1481	2234
8838	1.23	195.4	708.8	5.8	424	8889	0.00	2.53	43.75	1.154	4	0.000	0.049	3056	2860	2033
8957	1.26	213.6	700.8	6.9	429	8983	0.00	2.50	17.10	1.085	6	0.000	0.040	3056	1456	1961
9299	1.26	213.6	674.7	8.3	446	9303	0.00	2.53	0.00	0.000	4	0.000	0.048	3057	2864	1956
9348	1.26	213.6	670.4	8.9	448	9352	0.00	2.47	0.00	0.000	6	0.000	0.039	3056	1452	1955
9666	1.26	218.0	646.4	7.3	463	9675	0.00	2.53	4.25	0.751	4	0.000	0.044	3057	2863	1942
9716	1.26	218.0	642.4	7.9	465	9720	0.00	2.50	0.00	0.000	6	0.000	0.037	3056	1446	1942
10037	1.26	218.0	618.0	7.8	481	10039	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1446	1941
10346	1.26	218.0	593.1	7.8	496	10351	0.00	2.50	0.00	0.000	4	0.000	0.041	3057	2864	1940
10396	1.26	218.0	589.1	7.9	498	10401	0.00	2.47	0.00	0.000	6	0.000	0.036	3057	1448	1940
10714	1.26	218.0	564.2	8.1	513	10718	0.00	2.12	0.00	0.000	4	0.000	0.057	3057	267	1940
10760	1.26	218.0	560.0	9.1	515	10763	0.00	2.03	0.00	0.000	6	0.000	0.030	3057	1482	1940
11095	1.26	218.0	532.7	7.9	531	11099	0.00	2.40	0.00	0.000	4	0.000	0.044	3057	2845	1940
11139	1.26	218.0	529.0	8.3	533	11143	0.00	2.42	0.00	0.000	6	0.000	0.035	3057	1453	1940
11459	1.26	218.0	503.0	8.4	549	11461	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1454	1940
11769	1.26	218.0	476.3	8.5	564	11773	0.00	2.47	0.00	0.000	4	0.000	0.039	3057	2845	1940
11815	1.26	218.0	472.2	8.7	566	11819	0.00	2.42	0.00	0.000	6	0.000	0.035	3056	1448	1940
12141	1.26	218.0	443.3	8.8	582	12142	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1448	1939
12450	1.26	218.0	415.8	8.7	597	12452	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1448	1940
12762	1.26	218.0	389.3	8.8	612	12766	0.00	2.45	0.00	0.000	4	0.000	0.039	3057	2845	1940
12824	1.26	218.0	384.0	8.3	615	12828	0.00	2.42	0.00	0.000	6	0.000	0.035	3057	1448	1940
13150	1.26	218.0	356.1	8.8	631	13152	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1448	1940
13459	1.26	218.0	329.6	8.5	646	13464	0.00	2.45	0.00	0.000	4	0.000	0.039	3057	2846	1940
13499	1.26	218.0	326.3	8.0	648	13503	0.00	2.42	0.00	0.000	6	0.000	0.035	3057	1448	1940
13826	1.26	218.0	299.0	8.4	664	13830	0.00	2.45	0.00	0.000	4	0.000	0.038	3057	2848	1940
13861	1.26	218.0	296.3	7.9	665	13867	0.00	2.42	0.00	0.000	6	0.000	0.034	3057	1449	1940
14176	1.26	218.0	270.6	8.1	681	14178	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1449	1941
14486	1.26	218.0	243.7	9.0	696	14487	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1448	1940
14797	1.26	218.0	216.5	8.5	711	14801	0.00	2.45	0.00	0.000	4	0.000	0.039	3057	2848	1941
14842	1.26	218.0	212.2	8.3	713	14846	0.00	2.42	0.00	0.000	6	0.000	0.034	3057	1446	1940
15163	1.26	218.0	185.7	7.8	729	15167	0.00	2.45	0.00	0.000	4	0.000	0.040	3056	2844	1941
15190	1.26	218.0	183.5	8.0	730	15194	0.00	2.40	0.00	0.000	6	0.000	0.034	3056	1454	1941
15505	1.26	218.0	159.3	7.8	745	15507	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1454	1941
15815	1.26	218.0	134.3	8.2	760	15819	0.00	2.42	0.00	0.000	4	0.000	0.038	3057	2843	1941
15861	1.26	218.0	130.6	8.2	762	15865	0.00	2.40	0.00	0.000	6	0.000	0.034	3057	1453	1941
16182	1.26	218.0	103.6	8.6	778	16186	0.00	2.42	0.00	0.000	4	0.000	0.038	3057	2847	1941
16209	1.26	218.0	101.0	8.9	779	16213	0.00	2.42	0.00	0.000	6	0.000	0.033	3057	1445	1941
16526	1.26	218.0	73.5	8.6	794	16530	0.00	2.10	0.00	0.000	4	0.000	0.055	3057	264	1942
16572	1.26	218.0	69.1	9.3	796	16576	0.00	1.98	0.00	0.000	6	0.000	0.028	3057	1467	1941
16904	1.26	218.0	39.8	8.9	812	16909	0.00	2.38	0.00	0.000	4	0.000	0.038	3057	2842	1941
16967	1.26	218.0	34.4	8.4	815	16971	0.00	2.40	0.00	0.000	6	0.000	0.033	3057	1448	1941
17294	1.26	218.0	9.3	7.8	831	17295	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1448	1941
17374	end climb: SURFACE_DEPTH_REACHED
state	17375	begin surface coast
17395	end surface coast: CONTROL_FINISHED_OK
state	17395	begin surface