Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 167 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 167 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 6 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 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 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 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 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -146301.5 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 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 -146301.5

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 17 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 6 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 167 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 033156,6242.389,-1155.989,27,2.1,46,-11.3 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.022,-0.217

_SM_DEPTHo 0.93 KALMAN_X 73125.6,-663.5,5704.9,-114458.0,1283.3

_SM_ANGLEo -58.1 KALMAN_Y -78271.8,139.8,2713.8,104957.6,7577.9

GPS2 033804,6242.259,-1155.938,13,2.2,32,-11.3 MHEAD_RNG_PITCHd_Wd 185.6,20885,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.007007 ALTIM_BOTTOM_PING 700.3,29.8

SM_CCo 19259,0.00,0.000,0,0,922,485.69 _24V_AH 23.3,32.883

SM_GC 0.77,12.10,0.00,0.00,0.028,0.000,0.000,50,2645,922,-10.92,-0.14,485.69 _10V_AH 10.1,18.091

IRIDIUM_FIX 6216.53,-1143.42,230698,222201 DATA_FILE_SIZE 47329,923

TT8_MAMPS 0.028379 CAP_FILE_SIZE 135536,0

HUMID 1755 CFSIZE 260165632,247459840

INTERNAL_PRESSURE 8.46712 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.60 GPS 300309,090107,6240.901,-1153.743,34,1.1,34,-11.3

XPDR_PINGS 21

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 162 102.67 SBE_CT 679 24 379.70

Roll_motor 154 98 352.73 SBE_O2 650 19 287.90

VBD_pump_during_apogee 529 1189 14680.19 WL_BB2F 534 105 1306.63

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 31 103 75.53 nil 0 0 0.00

Iridium_during_connect 32 160 120.33 nil 0 0 0.00

Iridium_during_xfer 152 223 790.50

Transponder_ping 11 420 110.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.86

TT8 1687 19 337.38

LPSleep 14646 2 323.98

TT8_Active 621 19 124.35

TT8_Sampling 2099 39 844.06

TT8_CF8 566 45 261.93

TT8_Kalman 33 81 27.56

Analog_circuits 1683 12 204.07

GPS_charging 0 0 0.00

Compass 2035 8 164.44

RAFOS 0 0 0.00

Transponder 42 30 12.75

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.10 -146.6 0.0 0.0 0 78 0.00 0.00 -58.08 0.000 6 0.000 0.000 38 2647 3501

82 -1.10 -146.6 5.7 -12.0 3 103 12.30 2.25 0.00 0.000 4 0.163 0.084 2196 3794 3502

356 -1.10 -146.6 41.6 -8.3 15 360 0.00 2.12 0.00 0.000 6 0.000 0.065 2196 2651 3503

684 -1.10 -146.6 72.5 -7.8 31 688 0.00 2.25 0.00 0.000 4 0.000 0.096 2196 3794 3502

802 -1.10 -146.6 81.4 -7.8 36 805 0.00 2.12 0.00 0.000 6 0.000 0.063 2196 2643 3503

1124 -1.10 -146.6 103.5 -6.6 52 1125 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2643 3502

1433 -1.10 -146.6 125.3 -8.1 67 1437 0.00 2.28 0.00 0.000 4 0.000 0.095 2196 3797 3502

1473 -1.10 -146.6 128.7 -8.4 69 1477 0.00 2.10 0.00 0.000 6 0.000 0.062 2196 2649 3502

1805 -1.10 -146.6 155.8 -8.1 85 1809 0.00 2.25 0.00 0.000 4 0.000 0.095 2196 3792 3502

1845 -1.10 -146.6 159.3 -8.9 87 1849 0.00 2.10 0.00 0.000 6 0.000 0.062 2196 2649 3502

2178 -1.10 -146.6 186.7 -8.1 103 2179 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3503

2487 -1.10 -146.6 210.0 -7.0 118 2488 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3502

2797 -1.10 -146.6 229.0 -5.6 133 2801 0.00 2.20 0.00 0.000 4 0.000 0.091 2196 3789 3502

2843 -1.10 -146.6 231.6 -5.5 135 2847 0.00 2.10 0.00 0.000 6 0.000 0.063 2196 2643 3502

3176 -1.10 -146.6 252.3 -7.0 151 3180 0.00 2.25 0.00 0.000 4 0.000 0.091 2196 3796 3502

3210 -1.10 -146.6 254.8 -7.0 152 3213 0.00 2.10 0.00 0.000 6 0.000 0.061 2196 2649 3502

3531 -1.10 -146.6 276.6 -7.3 168 3533 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3503

3841 -1.10 -146.6 301.5 -8.7 183 3842 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3503

4151 -1.10 -146.6 326.2 -7.3 198 4152 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2647 3503

4459 -1.10 -146.6 348.6 -7.8 213 4463 0.00 2.20 0.00 0.000 4 0.000 0.090 2196 3789 3503

4521 -1.10 -146.6 354.2 -9.3 215 4527 0.00 2.08 0.00 0.000 6 0.000 0.060 2196 2642 3503

4837 -1.10 -146.6 381.7 -8.5 231 4839 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2642 3503

5147 -1.10 -146.6 404.2 -5.8 246 5148 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2642 3502

5456 -1.10 -146.6 418.8 -4.4 261 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2642 3502

5765 -1.10 -146.6 436.8 -6.9 276 5769 0.00 2.20 0.00 0.000 4 0.000 0.087 2196 3793 3502

5873 -1.10 -146.6 445.1 -7.7 280 5879 0.00 2.05 0.00 0.000 6 0.000 0.056 2196 2647 3503

6190 -1.10 -146.6 461.3 -4.5 296 6191 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2647 3503

6500 -1.10 -146.6 479.1 -5.4 311 6503 0.00 2.22 0.00 0.000 4 0.000 0.091 2196 3789 3503

6561 -1.10 -146.6 483.9 -8.2 313 6567 0.00 2.08 0.00 0.000 6 0.000 0.057 2196 2642 3503

6877 -1.10 -146.6 507.6 -7.1 329 6881 0.00 2.58 0.00 0.000 4 0.000 0.069 2196 1230 3502

6899 -1.10 -146.6 509.0 -6.4 330 6903 0.00 2.65 0.00 0.000 6 0.000 0.067 2196 2660 3503

7221 -1.10 -146.6 525.9 -5.0 346 7223 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2660 3502

7529 -1.10 -146.6 545.5 -7.7 361 7530 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2660 3502

7840 -1.10 -146.6 576.2 -10.1 376 7843 0.00 2.17 0.00 0.000 4 0.000 0.094 2196 3786 3502

7924 -1.10 -146.6 585.0 -9.8 379 7930 0.00 2.08 0.00 0.000 6 0.000 0.058 2196 2641 3502

8240 -1.10 -146.6 603.6 -5.1 395 8244 0.00 2.25 0.00 0.000 4 0.000 0.097 2196 3787 3501

8341 -1.10 -146.6 609.4 -7.1 399 8348 0.00 2.08 0.00 0.000 6 0.000 0.059 2196 2643 3501

8657 -1.10 -146.6 632.3 -7.4 415 8661 0.00 2.25 0.00 0.000 4 0.000 0.098 2196 3789 3501

8737 -1.10 -146.6 638.8 -9.3 418 8743 0.00 2.08 0.00 0.000 6 0.000 0.060 2196 2651 3501

9053 -1.10 -146.6 665.6 -7.3 434 9058 0.00 2.62 0.00 0.000 4 0.000 0.077 2196 1236 3500

9094 -1.10 -146.6 668.5 -7.6 436 9098 0.00 2.65 0.00 0.000 6 0.000 0.072 2196 2654 3500

9420 -1.10 -146.6 689.9 -6.3 452 9425 0.00 2.65 0.00 0.000 4 0.000 0.074 2196 1237 3499

9448 -1.10 -146.6 691.9 -7.2 453 9453 0.00 2.65 0.00 0.000 6 0.000 0.071 2196 2655 3499

9764 -1.10 -146.6 712.4 -6.5 468 9769 0.00 2.65 0.00 0.000 4 0.000 0.075 2196 1230 3498

9811 -1.10 -146.6 714.9 -5.2 470 9815 0.00 2.67 0.00 0.000 6 0.000 0.072 2196 2657 3498

9881 end dive: BOTTOM_OBSTACLE_DETECTED

state 9881 begin apogee

9890 -0.42 0.0 720.3 7.3 474 10018 0.77 0.00 125.25 1.190 6 0.103 0.000 2348 1996 2902

10019 end apogee: CONTROL_FINISHED_OK

state 10019 begin climb

10023 1.10 146.6 726.3 0.0 480 10156 1.55 2.80 123.93 1.150 4 0.061 0.071 2677 3420 2304

10412 1.11 154.2 718.9 5.8 497 10427 0.00 2.60 8.00 0.986 6 0.000 0.049 2677 1986 2273

10750 1.11 154.9 699.3 6.0 514 10755 0.00 2.72 0.00 0.000 4 0.000 0.072 2677 3426 2272

10846 1.13 169.4 694.0 5.6 518 10866 0.00 2.60 14.38 1.104 6 0.000 0.053 2677 2001 2211

11188 1.17 205.2 676.0 5.0 535 11221 0.00 0.00 31.40 1.159 6 0.000 0.000 2677 2001 2065

11517 1.17 205.2 656.1 6.3 551 11518 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2001 2064

11826 1.17 205.2 636.4 6.1 566 11831 0.00 2.70 0.00 0.000 4 0.000 0.075 2677 3426 2064

11939 1.25 269.0 630.4 4.2 571 11999 0.15 2.62 53.90 1.158 6 0.042 0.054 2723 1991 1805

12327 1.25 269.0 598.9 10.2 590 12331 0.00 2.72 0.00 0.000 4 0.000 0.074 2723 3426 1805

12367 1.25 269.0 594.4 11.5 592 12371 0.00 2.62 0.00 0.000 6 0.000 0.055 2723 1995 1804

12693 1.25 269.0 552.9 11.5 608 12698 0.00 2.70 0.00 0.000 4 0.000 0.073 2723 3425 1804

12773 1.25 269.0 546.1 6.9 611 12779 0.00 2.60 0.00 0.000 6 0.000 0.053 2723 1997 1804

13089 1.25 269.0 528.2 6.2 627 13094 0.00 2.67 0.00 0.000 4 0.000 0.071 2723 3420 1804

13140 1.25 269.0 524.5 7.9 629 13144 0.00 2.58 0.00 0.000 6 0.000 0.051 2723 2001 1804

13455 1.25 269.0 497.6 9.3 644 13459 0.00 2.60 0.00 0.000 4 0.000 0.067 2723 588 1804

13529 1.25 269.0 491.0 9.2 647 13533 0.00 2.53 0.00 0.000 6 0.000 0.041 2723 2016 1804

13849 1.25 269.0 465.4 7.3 663 13854 0.00 2.58 0.00 0.000 4 0.000 0.069 2723 3406 1804

13872 1.25 269.0 463.4 8.2 664 13876 0.00 2.53 0.00 0.000 6 0.000 0.050 2723 1993 1804

14193 1.25 269.0 435.8 8.8 680 14197 0.00 2.65 0.00 0.000 4 0.000 0.070 2723 3406 1805

14214 1.25 269.0 433.6 10.1 681 14219 0.00 2.55 0.00 0.000 6 0.000 0.050 2723 1989 1804

14536 1.25 269.0 404.0 8.7 697 14537 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1989 1806

14845 1.25 269.0 378.1 8.4 712 14850 0.00 2.65 0.00 0.000 4 0.000 0.070 2723 3406 1806

14885 1.25 269.0 374.7 8.8 714 14890 0.00 2.53 0.00 0.000 6 0.000 0.051 2723 2002 1806

15218 1.25 269.0 348.3 7.8 730 15219 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2002 1806

15528 1.25 269.0 326.0 6.5 745 15532 0.00 2.65 0.00 0.000 4 0.000 0.071 2723 3412 1807

15572 1.25 269.0 322.9 7.0 747 15576 0.00 2.55 0.00 0.000 6 0.000 0.052 2723 1996 1807

15893 1.25 269.0 296.8 8.5 763 15894 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1996 1807

16202 1.25 269.0 272.3 7.5 778 16207 0.00 2.65 0.00 0.000 4 0.000 0.071 2723 3409 1808

16247 1.25 269.0 269.1 7.0 780 16251 0.00 2.55 0.00 0.000 6 0.000 0.053 2723 1999 1809

16568 1.25 269.0 245.4 7.4 796 16569 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1999 1809

16878 1.25 269.0 219.9 8.7 811 16882 0.00 2.65 0.00 0.000 4 0.000 0.071 2723 3415 1810

16917 1.25 269.0 216.1 9.1 813 16922 0.00 2.58 0.00 0.000 6 0.000 0.053 2723 1989 1809

17244 1.25 269.0 182.0 11.2 829 17246 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1989 1810

17554 1.25 269.0 149.1 9.8 844 17558 0.00 2.65 0.00 0.000 4 0.000 0.072 2723 3406 1810

17598 1.25 269.0 144.4 10.4 846 17602 0.00 2.55 0.00 0.000 6 0.000 0.052 2723 1993 1810

17920 1.31 312.9 119.0 4.8 862 17962 0.00 0.00 36.97 0.762 6 0.000 0.000 2723 1993 1626

18274 1.31 312.9 84.1 10.0 879 18275 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1993 1625

18581 1.31 312.9 51.0 10.5 894 18586 0.00 2.67 0.00 0.000 4 0.000 0.074 2723 3409 1626

18644 1.31 312.9 43.4 14.2 897 18648 0.00 2.58 0.00 0.000 6 0.000 0.057 2723 1998 1626

18972 1.52 485.4 22.8 1.2 913 19112 0.22 0.00 135.80 0.683 6 0.048 0.000 2777 1994 923

19150 end climb: SURFACE_DEPTH_REACHED

state 19150 begin surface coast

19173 end surface coast: CONTROL_FINISHED_OK

state 19174 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	167	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	6	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	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	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	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	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-146301.5	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	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	033156,6242.389,-1155.989,27,2.1,46,-11.3	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.022,-0.217
_SM_DEPTHo	0.93	KALMAN_X	73125.6,-663.5,5704.9,-114458.0,1283.3
_SM_ANGLEo	-58.1	KALMAN_Y	-78271.8,139.8,2713.8,104957.6,7577.9
GPS2	033804,6242.259,-1155.938,13,2.2,32,-11.3	MHEAD_RNG_PITCHd_Wd	185.6,20885,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.1,1.007007	ALTIM_BOTTOM_PING	700.3,29.8
SM_CCo	19259,0.00,0.000,0,0,922,485.69	_24V_AH	23.3,32.883
SM_GC	0.77,12.10,0.00,0.00,0.028,0.000,0.000,50,2645,922,-10.92,-0.14,485.69	_10V_AH	10.1,18.091
IRIDIUM_FIX	6216.53,-1143.42,230698,222201	DATA_FILE_SIZE	47329,923
TT8_MAMPS	0.028379	CAP_FILE_SIZE	135536,0
HUMID	1755	CFSIZE	260165632,247459840
INTERNAL_PRESSURE	8.46712	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.60	GPS	300309,090107,6240.901,-1153.743,34,1.1,34,-11.3
XPDR_PINGS	21

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	162	102.67	SBE_CT	679	24	379.70
Roll_motor	154	98	352.73	SBE_O2	650	19	287.90
VBD_pump_during_apogee	529	1189	14680.19	WL_BB2F	534	105	1306.63
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	31	103	75.53	nil	0	0	0.00
Iridium_during_connect	32	160	120.33	nil	0	0	0.00
Iridium_during_xfer	152	223	790.50
Transponder_ping	11	420	110.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.86
TT8	1687	19	337.38
LPSleep	14646	2	323.98
TT8_Active	621	19	124.35
TT8_Sampling	2099	39	844.06
TT8_CF8	566	45	261.93
TT8_Kalman	33	81	27.56
Analog_circuits	1683	12	204.07
GPS_charging	0	0	0.00
Compass	2035	8	164.44
RAFOS	0	0	0.00
Transponder	42	30	12.75

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.10	-146.6	0.0	0.0	0	78	0.00	0.00	-58.08	0.000	6	0.000	0.000	38	2647	3501
82	-1.10	-146.6	5.7	-12.0	3	103	12.30	2.25	0.00	0.000	4	0.163	0.084	2196	3794	3502
356	-1.10	-146.6	41.6	-8.3	15	360	0.00	2.12	0.00	0.000	6	0.000	0.065	2196	2651	3503
684	-1.10	-146.6	72.5	-7.8	31	688	0.00	2.25	0.00	0.000	4	0.000	0.096	2196	3794	3502
802	-1.10	-146.6	81.4	-7.8	36	805	0.00	2.12	0.00	0.000	6	0.000	0.063	2196	2643	3503
1124	-1.10	-146.6	103.5	-6.6	52	1125	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2643	3502
1433	-1.10	-146.6	125.3	-8.1	67	1437	0.00	2.28	0.00	0.000	4	0.000	0.095	2196	3797	3502
1473	-1.10	-146.6	128.7	-8.4	69	1477	0.00	2.10	0.00	0.000	6	0.000	0.062	2196	2649	3502
1805	-1.10	-146.6	155.8	-8.1	85	1809	0.00	2.25	0.00	0.000	4	0.000	0.095	2196	3792	3502
1845	-1.10	-146.6	159.3	-8.9	87	1849	0.00	2.10	0.00	0.000	6	0.000	0.062	2196	2649	3502
2178	-1.10	-146.6	186.7	-8.1	103	2179	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3503
2487	-1.10	-146.6	210.0	-7.0	118	2488	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3502
2797	-1.10	-146.6	229.0	-5.6	133	2801	0.00	2.20	0.00	0.000	4	0.000	0.091	2196	3789	3502
2843	-1.10	-146.6	231.6	-5.5	135	2847	0.00	2.10	0.00	0.000	6	0.000	0.063	2196	2643	3502
3176	-1.10	-146.6	252.3	-7.0	151	3180	0.00	2.25	0.00	0.000	4	0.000	0.091	2196	3796	3502
3210	-1.10	-146.6	254.8	-7.0	152	3213	0.00	2.10	0.00	0.000	6	0.000	0.061	2196	2649	3502
3531	-1.10	-146.6	276.6	-7.3	168	3533	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3503
3841	-1.10	-146.6	301.5	-8.7	183	3842	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3503
4151	-1.10	-146.6	326.2	-7.3	198	4152	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2647	3503
4459	-1.10	-146.6	348.6	-7.8	213	4463	0.00	2.20	0.00	0.000	4	0.000	0.090	2196	3789	3503
4521	-1.10	-146.6	354.2	-9.3	215	4527	0.00	2.08	0.00	0.000	6	0.000	0.060	2196	2642	3503
4837	-1.10	-146.6	381.7	-8.5	231	4839	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2642	3503
5147	-1.10	-146.6	404.2	-5.8	246	5148	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2642	3502
5456	-1.10	-146.6	418.8	-4.4	261	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2642	3502
5765	-1.10	-146.6	436.8	-6.9	276	5769	0.00	2.20	0.00	0.000	4	0.000	0.087	2196	3793	3502
5873	-1.10	-146.6	445.1	-7.7	280	5879	0.00	2.05	0.00	0.000	6	0.000	0.056	2196	2647	3503
6190	-1.10	-146.6	461.3	-4.5	296	6191	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2647	3503
6500	-1.10	-146.6	479.1	-5.4	311	6503	0.00	2.22	0.00	0.000	4	0.000	0.091	2196	3789	3503
6561	-1.10	-146.6	483.9	-8.2	313	6567	0.00	2.08	0.00	0.000	6	0.000	0.057	2196	2642	3503
6877	-1.10	-146.6	507.6	-7.1	329	6881	0.00	2.58	0.00	0.000	4	0.000	0.069	2196	1230	3502
6899	-1.10	-146.6	509.0	-6.4	330	6903	0.00	2.65	0.00	0.000	6	0.000	0.067	2196	2660	3503
7221	-1.10	-146.6	525.9	-5.0	346	7223	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2660	3502
7529	-1.10	-146.6	545.5	-7.7	361	7530	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2660	3502
7840	-1.10	-146.6	576.2	-10.1	376	7843	0.00	2.17	0.00	0.000	4	0.000	0.094	2196	3786	3502
7924	-1.10	-146.6	585.0	-9.8	379	7930	0.00	2.08	0.00	0.000	6	0.000	0.058	2196	2641	3502
8240	-1.10	-146.6	603.6	-5.1	395	8244	0.00	2.25	0.00	0.000	4	0.000	0.097	2196	3787	3501
8341	-1.10	-146.6	609.4	-7.1	399	8348	0.00	2.08	0.00	0.000	6	0.000	0.059	2196	2643	3501
8657	-1.10	-146.6	632.3	-7.4	415	8661	0.00	2.25	0.00	0.000	4	0.000	0.098	2196	3789	3501
8737	-1.10	-146.6	638.8	-9.3	418	8743	0.00	2.08	0.00	0.000	6	0.000	0.060	2196	2651	3501
9053	-1.10	-146.6	665.6	-7.3	434	9058	0.00	2.62	0.00	0.000	4	0.000	0.077	2196	1236	3500
9094	-1.10	-146.6	668.5	-7.6	436	9098	0.00	2.65	0.00	0.000	6	0.000	0.072	2196	2654	3500
9420	-1.10	-146.6	689.9	-6.3	452	9425	0.00	2.65	0.00	0.000	4	0.000	0.074	2196	1237	3499
9448	-1.10	-146.6	691.9	-7.2	453	9453	0.00	2.65	0.00	0.000	6	0.000	0.071	2196	2655	3499
9764	-1.10	-146.6	712.4	-6.5	468	9769	0.00	2.65	0.00	0.000	4	0.000	0.075	2196	1230	3498
9811	-1.10	-146.6	714.9	-5.2	470	9815	0.00	2.67	0.00	0.000	6	0.000	0.072	2196	2657	3498
9881	end dive: BOTTOM_OBSTACLE_DETECTED
state	9881	begin apogee
9890	-0.42	0.0	720.3	7.3	474	10018	0.77	0.00	125.25	1.190	6	0.103	0.000	2348	1996	2902
10019	end apogee: CONTROL_FINISHED_OK
state	10019	begin climb
10023	1.10	146.6	726.3	0.0	480	10156	1.55	2.80	123.93	1.150	4	0.061	0.071	2677	3420	2304
10412	1.11	154.2	718.9	5.8	497	10427	0.00	2.60	8.00	0.986	6	0.000	0.049	2677	1986	2273
10750	1.11	154.9	699.3	6.0	514	10755	0.00	2.72	0.00	0.000	4	0.000	0.072	2677	3426	2272
10846	1.13	169.4	694.0	5.6	518	10866	0.00	2.60	14.38	1.104	6	0.000	0.053	2677	2001	2211
11188	1.17	205.2	676.0	5.0	535	11221	0.00	0.00	31.40	1.159	6	0.000	0.000	2677	2001	2065
11517	1.17	205.2	656.1	6.3	551	11518	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2001	2064
11826	1.17	205.2	636.4	6.1	566	11831	0.00	2.70	0.00	0.000	4	0.000	0.075	2677	3426	2064
11939	1.25	269.0	630.4	4.2	571	11999	0.15	2.62	53.90	1.158	6	0.042	0.054	2723	1991	1805
12327	1.25	269.0	598.9	10.2	590	12331	0.00	2.72	0.00	0.000	4	0.000	0.074	2723	3426	1805
12367	1.25	269.0	594.4	11.5	592	12371	0.00	2.62	0.00	0.000	6	0.000	0.055	2723	1995	1804
12693	1.25	269.0	552.9	11.5	608	12698	0.00	2.70	0.00	0.000	4	0.000	0.073	2723	3425	1804
12773	1.25	269.0	546.1	6.9	611	12779	0.00	2.60	0.00	0.000	6	0.000	0.053	2723	1997	1804
13089	1.25	269.0	528.2	6.2	627	13094	0.00	2.67	0.00	0.000	4	0.000	0.071	2723	3420	1804
13140	1.25	269.0	524.5	7.9	629	13144	0.00	2.58	0.00	0.000	6	0.000	0.051	2723	2001	1804
13455	1.25	269.0	497.6	9.3	644	13459	0.00	2.60	0.00	0.000	4	0.000	0.067	2723	588	1804
13529	1.25	269.0	491.0	9.2	647	13533	0.00	2.53	0.00	0.000	6	0.000	0.041	2723	2016	1804
13849	1.25	269.0	465.4	7.3	663	13854	0.00	2.58	0.00	0.000	4	0.000	0.069	2723	3406	1804
13872	1.25	269.0	463.4	8.2	664	13876	0.00	2.53	0.00	0.000	6	0.000	0.050	2723	1993	1804
14193	1.25	269.0	435.8	8.8	680	14197	0.00	2.65	0.00	0.000	4	0.000	0.070	2723	3406	1805
14214	1.25	269.0	433.6	10.1	681	14219	0.00	2.55	0.00	0.000	6	0.000	0.050	2723	1989	1804
14536	1.25	269.0	404.0	8.7	697	14537	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1989	1806
14845	1.25	269.0	378.1	8.4	712	14850	0.00	2.65	0.00	0.000	4	0.000	0.070	2723	3406	1806
14885	1.25	269.0	374.7	8.8	714	14890	0.00	2.53	0.00	0.000	6	0.000	0.051	2723	2002	1806
15218	1.25	269.0	348.3	7.8	730	15219	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2002	1806
15528	1.25	269.0	326.0	6.5	745	15532	0.00	2.65	0.00	0.000	4	0.000	0.071	2723	3412	1807
15572	1.25	269.0	322.9	7.0	747	15576	0.00	2.55	0.00	0.000	6	0.000	0.052	2723	1996	1807
15893	1.25	269.0	296.8	8.5	763	15894	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1996	1807
16202	1.25	269.0	272.3	7.5	778	16207	0.00	2.65	0.00	0.000	4	0.000	0.071	2723	3409	1808
16247	1.25	269.0	269.1	7.0	780	16251	0.00	2.55	0.00	0.000	6	0.000	0.053	2723	1999	1809
16568	1.25	269.0	245.4	7.4	796	16569	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1999	1809
16878	1.25	269.0	219.9	8.7	811	16882	0.00	2.65	0.00	0.000	4	0.000	0.071	2723	3415	1810
16917	1.25	269.0	216.1	9.1	813	16922	0.00	2.58	0.00	0.000	6	0.000	0.053	2723	1989	1809
17244	1.25	269.0	182.0	11.2	829	17246	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1989	1810
17554	1.25	269.0	149.1	9.8	844	17558	0.00	2.65	0.00	0.000	4	0.000	0.072	2723	3406	1810
17598	1.25	269.0	144.4	10.4	846	17602	0.00	2.55	0.00	0.000	6	0.000	0.052	2723	1993	1810
17920	1.31	312.9	119.0	4.8	862	17962	0.00	0.00	36.97	0.762	6	0.000	0.000	2723	1993	1626
18274	1.31	312.9	84.1	10.0	879	18275	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1993	1625
18581	1.31	312.9	51.0	10.5	894	18586	0.00	2.67	0.00	0.000	4	0.000	0.074	2723	3409	1626
18644	1.31	312.9	43.4	14.2	897	18648	0.00	2.58	0.00	0.000	6	0.000	0.057	2723	1998	1626
18972	1.52	485.4	22.8	1.2	913	19112	0.22	0.00	135.80	0.683	6	0.048	0.000	2777	1994	923
19150	end climb: SURFACE_DEPTH_REACHED
state	19150	begin surface coast
19173	end surface coast: CONTROL_FINISHED_OK
state	19174	begin surface