Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 187 * 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 187 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 12 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 -146676.72 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 -146676.72

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 12 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 187 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 183107,6247.552,-1228.276,33,1.6,33,-11.6 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.146,0.163

_SM_DEPTHo 1.28 KALMAN_X -16234.4,880.6,-149.6,-9785.8,-7667.0

_SM_ANGLEo -59.3 KALMAN_Y -28573.2,1571.0,1250.1,-1828.9,-21098.9

GPS2 183638,6247.538,-1228.277,13,1.5,13,-11.6 MHEAD_RNG_PITCHd_Wd 329.7,31386,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027358 ALTIM_BOTTOM_PING 676.3,41.4

SM_CCo 20181,0.00,0.000,0,0,1916,241.87 _24V_AH 23.3,35.279

SM_GC 1.87,11.75,0.00,0.00,0.031,0.000,0.000,50,2656,1916,-10.93,0.17,241.87 _10V_AH 10.1,19.554

IRIDIUM_FIX 6221.17,-1218.48,270698,131318 DATA_FILE_SIZE 47429,966

TT8_MAMPS 0.028379 CAP_FILE_SIZE 130311,0

HUMID 1770 CFSIZE 260165632,246407168

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 030409,001507,6249.649,-1236.515,37,1.8,37,-11.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 99.08 SBE_CT 677 24 378.99

Roll_motor 131 90 276.83 SBE_O2 714 19 316.47

VBD_pump_during_apogee 325 1165 8833.76 WL_BB2F 583 105 1426.51

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 22 103 53.39 nil 0 0 0.00

Iridium_during_connect 32 160 120.00 nil 0 0 0.00

Iridium_during_xfer 145 223 753.94

Transponder_ping 5 420 56.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.92

TT8 1726 19 345.22

LPSleep 15811 2 349.73

TT8_Active 418 19 83.65

TT8_Sampling 2009 39 807.66

TT8_CF8 545 45 252.35

TT8_Kalman 33 81 27.56

Analog_circuits 1417 12 171.86

GPS_charging 0 0 0.00

Compass 1973 8 159.49

RAFOS 0 0 0.00

Transponder 40 30 12.27

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

16 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -41.38 0.000 2 0.000 0.000 47 2647 3143

62 -1.10 -146.6 3.5 -10.9 2 88 12.23 2.75 -6.15 0.000 4 0.161 0.089 2195 1229 3501

333 -1.10 -146.6 32.4 -8.5 14 338 0.00 2.65 0.00 0.000 6 0.000 0.069 2196 2648 3501

661 -1.10 -146.6 58.0 -7.8 30 665 0.00 2.20 0.00 0.000 4 0.000 0.091 2196 3793 3501

723 -1.10 -146.6 63.4 -7.6 32 730 0.00 2.12 0.00 0.000 6 0.000 0.059 2196 2649 3501

1039 -1.10 -146.6 88.0 -7.6 48 1041 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3501

1349 -1.10 -146.6 111.7 -7.7 63 1350 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2649 3501

1658 -1.10 -146.6 136.2 -8.2 78 1662 0.00 2.20 0.00 0.000 4 0.000 0.088 2195 3785 3501

1709 -1.10 -146.6 140.4 -8.2 80 1713 0.00 2.08 0.00 0.000 6 0.000 0.058 2196 2644 3501

2036 -1.10 -146.6 166.0 -7.6 96 2037 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3501

2346 -1.10 -146.6 189.7 -7.6 111 2350 0.00 2.22 0.00 0.000 4 0.000 0.088 2195 3790 3501

2402 -1.10 -146.6 194.2 -7.8 113 2406 0.00 2.08 0.00 0.000 6 0.000 0.058 2196 2652 3501

2723 -1.10 -146.6 218.0 -7.3 129 2724 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2651 3501

3033 -1.10 -146.6 239.4 -7.0 144 3034 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2651 3501

3342 -1.10 -146.6 261.3 -7.0 159 3345 0.00 2.20 0.00 0.000 4 0.000 0.086 2196 3792 3501

3392 -1.10 -146.6 265.1 -7.5 161 3396 0.00 2.08 0.00 0.000 6 0.000 0.058 2196 2643 3501

3719 -1.10 -146.6 287.8 -7.3 177 3720 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3502

4028 -1.10 -146.6 309.7 -6.9 192 4032 0.00 2.20 0.00 0.000 4 0.000 0.087 2196 3790 3502

4074 -1.10 -146.6 313.0 -7.4 194 4077 0.00 2.08 0.00 0.000 6 0.000 0.058 2196 2641 3502

4406 -1.10 -146.6 335.2 -6.7 210 4408 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2640 3502

4715 -1.10 -146.6 359.0 -8.2 225 4717 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2640 3502

5025 -1.10 -146.6 384.3 -8.0 240 5028 0.00 2.20 0.00 0.000 4 0.000 0.086 2195 3785 3502

5075 -1.10 -146.6 388.3 -7.2 242 5079 0.00 2.05 0.00 0.000 6 0.000 0.055 2196 2648 3502

5403 -1.10 -146.6 410.8 -5.9 258 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3502

5712 -1.10 -146.6 430.0 -6.4 273 5715 0.00 2.20 0.00 0.000 4 0.000 0.086 2195 3792 3502

5758 -1.10 -146.6 432.8 -6.1 275 5761 0.00 2.08 0.00 0.000 6 0.000 0.054 2195 2640 3502

6091 -1.10 -146.6 456.0 -7.9 291 6092 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2639 3502

6400 -1.10 -146.6 481.5 -8.0 306 6401 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2639 3502

6710 -1.10 -146.6 504.7 -7.4 321 6713 0.00 2.20 0.00 0.000 4 0.000 0.084 2195 3790 3502

6749 -1.10 -146.6 507.6 -7.3 322 6755 0.00 2.05 0.00 0.000 6 0.000 0.053 2195 2645 3502

7065 -1.10 -146.6 527.3 -5.4 338 7069 0.00 2.20 0.00 0.000 4 0.000 0.087 2196 3787 3502

7116 -1.10 -146.6 530.2 -5.8 340 7120 0.00 2.05 0.00 0.000 6 0.000 0.053 2195 2644 3502

7444 -1.10 -146.6 547.8 -5.5 356 7445 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2644 3502

7753 -1.10 -146.6 566.7 -6.2 371 7756 0.00 2.20 0.00 0.000 4 0.000 0.087 2196 3787 3502

7815 -1.10 -146.6 570.6 -6.5 373 7821 0.00 2.05 0.00 0.000 6 0.000 0.054 2196 2644 3502

8131 -1.10 -146.6 588.3 -5.8 389 8132 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3502

8440 -1.10 -146.6 609.3 -7.0 404 8444 0.00 2.55 0.00 0.000 4 0.000 0.065 2196 1235 3502

8473 -1.10 -146.6 612.0 -7.9 405 8480 0.00 2.58 0.00 0.000 6 0.000 0.059 2195 2658 3502

8790 -1.10 -146.6 636.0 -6.3 421 8791 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2658 3501

9099 -1.10 -146.6 654.3 -6.3 436 9100 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2658 3501

9412 -1.10 -146.6 676.3 -6.5 451 9416 0.00 2.15 0.00 0.000 4 0.000 0.090 2196 3786 3501

9497 -1.10 -146.6 681.6 -5.9 454 9503 0.00 2.05 0.00 0.000 6 0.000 0.054 2195 2642 3501

9813 -1.10 -146.6 701.3 -6.7 470 9814 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3500

9913 end dive: BOTTOM_OBSTACLE_DETECTED

state 9913 begin apogee

9922 -0.42 0.0 708.8 7.1 475 10049 0.75 0.00 123.97 1.166 6 0.091 0.000 2346 1992 2902

10050 end apogee: CONTROL_FINISHED_OK

state 10050 begin climb

10053 1.10 146.6 714.2 0.0 481 10182 1.55 2.65 121.20 1.140 4 0.056 0.064 2679 590 2304

10225 1.22 242.0 711.9 3.4 489 10312 0.12 2.53 80.03 1.108 6 0.044 0.038 2722 2020 1915

10633 1.22 242.0 682.0 8.1 509 10635 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2020 1914

10943 1.22 242.0 658.6 7.6 524 10947 0.00 2.58 0.00 0.000 4 0.000 0.067 2722 3405 1913

11060 1.22 242.0 649.4 8.1 529 11065 0.00 2.55 0.00 0.000 6 0.000 0.047 2722 1985 1913

11376 1.22 242.0 624.7 7.5 544 11380 0.00 2.55 0.00 0.000 4 0.000 0.064 2722 595 1912

11421 1.22 242.0 621.2 8.5 546 11426 0.00 2.47 0.00 0.000 6 0.000 0.039 2722 1997 1912

11743 1.22 242.0 599.0 7.1 562 11747 0.00 2.60 0.00 0.000 4 0.000 0.061 2722 584 1911

11798 1.22 242.0 594.7 7.8 564 11804 0.00 2.50 0.00 0.000 6 0.000 0.038 2722 2007 1911

12114 1.22 242.0 573.5 6.7 580 12118 0.00 2.58 0.00 0.000 4 0.000 0.065 2722 3408 1910

12186 1.22 242.0 568.9 6.4 583 12190 0.00 2.53 0.00 0.000 6 0.000 0.044 2722 1988 1911

12502 1.22 242.0 550.0 6.6 598 12503 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1988 1910

12812 1.22 242.0 526.6 7.8 613 12816 0.00 2.62 0.00 0.000 4 0.000 0.064 2722 3407 1911

12856 1.22 242.0 522.8 7.7 615 12860 0.00 2.50 0.00 0.000 6 0.000 0.043 2722 1997 1911

13177 1.22 242.0 499.1 7.7 631 13182 0.00 2.55 0.00 0.000 4 0.000 0.058 2722 586 1911

13222 1.22 242.0 495.4 8.1 633 13226 0.00 2.47 0.00 0.000 6 0.000 0.035 2722 2007 1911

13543 1.22 242.0 474.5 6.4 649 13547 0.00 2.55 0.00 0.000 4 0.000 0.064 2722 3411 1912

13593 1.22 242.0 471.1 6.9 651 13597 0.00 2.53 0.00 0.000 6 0.000 0.045 2722 1990 1912

13914 1.22 242.0 448.8 6.6 667 13918 0.00 2.53 0.00 0.000 4 0.000 0.058 2722 588 1912

13954 1.22 242.0 445.9 7.1 669 13958 0.00 2.47 0.00 0.000 6 0.000 0.036 2722 2009 1912

14280 1.22 242.0 421.5 7.6 685 14282 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2009 1912

14589 1.22 242.0 396.3 8.2 700 14591 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2009 1913

14899 1.22 242.0 371.2 8.4 715 14903 0.00 2.58 0.00 0.000 4 0.000 0.066 2722 3414 1913

14943 1.22 242.0 367.1 9.1 717 14947 0.00 2.53 0.00 0.000 6 0.000 0.047 2722 2000 1913

15264 1.22 242.0 340.6 8.3 733 15265 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2000 1914

15573 1.22 242.0 316.3 7.3 748 15577 0.00 2.55 0.00 0.000 4 0.000 0.061 2722 589 1914

15612 1.22 242.0 313.4 7.5 750 15617 0.00 2.47 0.00 0.000 6 0.000 0.038 2722 2007 1914

15940 1.22 242.0 291.8 6.3 766 15944 0.00 2.58 0.00 0.000 4 0.000 0.067 2722 3409 1914

15974 1.22 243.4 289.6 6.0 767 15978 0.00 2.53 0.00 0.000 6 0.000 0.048 2722 1998 1915

16290 1.22 243.4 270.0 6.5 782 16291 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1998 1915

16599 1.22 243.4 248.0 7.5 797 16600 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1998 1915

16908 1.22 243.4 226.7 6.5 812 16913 0.00 2.62 0.00 0.000 4 0.000 0.067 2722 3412 1915

16959 1.22 243.4 223.2 6.2 814 16963 0.00 2.55 0.00 0.000 6 0.000 0.050 2722 1989 1914

17275 1.22 243.4 202.7 6.5 829 17276 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1989 1915

17584 1.22 243.4 181.3 6.9 844 17585 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1989 1916

17893 1.22 243.4 159.3 6.9 859 17894 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1989 1916

18203 1.22 243.4 137.9 7.1 874 18205 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1989 1916

18512 1.22 243.4 115.3 7.4 889 18516 0.00 2.65 0.00 0.000 4 0.000 0.069 2722 3414 1916

18545 1.22 243.4 112.6 8.1 890 18551 0.00 2.55 0.00 0.000 6 0.000 0.052 2722 1989 1916

18863 1.22 243.4 88.9 7.5 906 18864 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1989 1916

19170 1.22 243.4 66.1 7.4 921 19172 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1989 1916

19480 1.22 243.4 42.7 8.0 936 19481 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1989 1916

19789 1.22 243.4 22.4 6.8 951 19790 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1989 1916

20074 end climb: SURFACE_DEPTH_REACHED

state 20075 begin surface coast

20096 end surface coast: CONTROL_FINISHED_OK

state 20097 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	187	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	12	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	-146676.72	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	183107,6247.552,-1228.276,33,1.6,33,-11.6	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.146,0.163
_SM_DEPTHo	1.28	KALMAN_X	-16234.4,880.6,-149.6,-9785.8,-7667.0
_SM_ANGLEo	-59.3	KALMAN_Y	-28573.2,1571.0,1250.1,-1828.9,-21098.9
GPS2	183638,6247.538,-1228.277,13,1.5,13,-11.6	MHEAD_RNG_PITCHd_Wd	329.7,31386,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.2,1.027358	ALTIM_BOTTOM_PING	676.3,41.4
SM_CCo	20181,0.00,0.000,0,0,1916,241.87	_24V_AH	23.3,35.279
SM_GC	1.87,11.75,0.00,0.00,0.031,0.000,0.000,50,2656,1916,-10.93,0.17,241.87	_10V_AH	10.1,19.554
IRIDIUM_FIX	6221.17,-1218.48,270698,131318	DATA_FILE_SIZE	47429,966
TT8_MAMPS	0.028379	CAP_FILE_SIZE	130311,0
HUMID	1770	CFSIZE	260165632,246407168
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	030409,001507,6249.649,-1236.515,37,1.8,37,-11.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	99.08	SBE_CT	677	24	378.99
Roll_motor	131	90	276.83	SBE_O2	714	19	316.47
VBD_pump_during_apogee	325	1165	8833.76	WL_BB2F	583	105	1426.51
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	22	103	53.39	nil	0	0	0.00
Iridium_during_connect	32	160	120.00	nil	0	0	0.00
Iridium_during_xfer	145	223	753.94
Transponder_ping	5	420	56.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.92
TT8	1726	19	345.22
LPSleep	15811	2	349.73
TT8_Active	418	19	83.65
TT8_Sampling	2009	39	807.66
TT8_CF8	545	45	252.35
TT8_Kalman	33	81	27.56
Analog_circuits	1417	12	171.86
GPS_charging	0	0	0.00
Compass	1973	8	159.49
RAFOS	0	0	0.00
Transponder	40	30	12.27

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
16	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-41.38	0.000	2	0.000	0.000	47	2647	3143
62	-1.10	-146.6	3.5	-10.9	2	88	12.23	2.75	-6.15	0.000	4	0.161	0.089	2195	1229	3501
333	-1.10	-146.6	32.4	-8.5	14	338	0.00	2.65	0.00	0.000	6	0.000	0.069	2196	2648	3501
661	-1.10	-146.6	58.0	-7.8	30	665	0.00	2.20	0.00	0.000	4	0.000	0.091	2196	3793	3501
723	-1.10	-146.6	63.4	-7.6	32	730	0.00	2.12	0.00	0.000	6	0.000	0.059	2196	2649	3501
1039	-1.10	-146.6	88.0	-7.6	48	1041	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3501
1349	-1.10	-146.6	111.7	-7.7	63	1350	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2649	3501
1658	-1.10	-146.6	136.2	-8.2	78	1662	0.00	2.20	0.00	0.000	4	0.000	0.088	2195	3785	3501
1709	-1.10	-146.6	140.4	-8.2	80	1713	0.00	2.08	0.00	0.000	6	0.000	0.058	2196	2644	3501
2036	-1.10	-146.6	166.0	-7.6	96	2037	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3501
2346	-1.10	-146.6	189.7	-7.6	111	2350	0.00	2.22	0.00	0.000	4	0.000	0.088	2195	3790	3501
2402	-1.10	-146.6	194.2	-7.8	113	2406	0.00	2.08	0.00	0.000	6	0.000	0.058	2196	2652	3501
2723	-1.10	-146.6	218.0	-7.3	129	2724	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2651	3501
3033	-1.10	-146.6	239.4	-7.0	144	3034	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2651	3501
3342	-1.10	-146.6	261.3	-7.0	159	3345	0.00	2.20	0.00	0.000	4	0.000	0.086	2196	3792	3501
3392	-1.10	-146.6	265.1	-7.5	161	3396	0.00	2.08	0.00	0.000	6	0.000	0.058	2196	2643	3501
3719	-1.10	-146.6	287.8	-7.3	177	3720	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3502
4028	-1.10	-146.6	309.7	-6.9	192	4032	0.00	2.20	0.00	0.000	4	0.000	0.087	2196	3790	3502
4074	-1.10	-146.6	313.0	-7.4	194	4077	0.00	2.08	0.00	0.000	6	0.000	0.058	2196	2641	3502
4406	-1.10	-146.6	335.2	-6.7	210	4408	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2640	3502
4715	-1.10	-146.6	359.0	-8.2	225	4717	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2640	3502
5025	-1.10	-146.6	384.3	-8.0	240	5028	0.00	2.20	0.00	0.000	4	0.000	0.086	2195	3785	3502
5075	-1.10	-146.6	388.3	-7.2	242	5079	0.00	2.05	0.00	0.000	6	0.000	0.055	2196	2648	3502
5403	-1.10	-146.6	410.8	-5.9	258	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3502
5712	-1.10	-146.6	430.0	-6.4	273	5715	0.00	2.20	0.00	0.000	4	0.000	0.086	2195	3792	3502
5758	-1.10	-146.6	432.8	-6.1	275	5761	0.00	2.08	0.00	0.000	6	0.000	0.054	2195	2640	3502
6091	-1.10	-146.6	456.0	-7.9	291	6092	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2639	3502
6400	-1.10	-146.6	481.5	-8.0	306	6401	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2639	3502
6710	-1.10	-146.6	504.7	-7.4	321	6713	0.00	2.20	0.00	0.000	4	0.000	0.084	2195	3790	3502
6749	-1.10	-146.6	507.6	-7.3	322	6755	0.00	2.05	0.00	0.000	6	0.000	0.053	2195	2645	3502
7065	-1.10	-146.6	527.3	-5.4	338	7069	0.00	2.20	0.00	0.000	4	0.000	0.087	2196	3787	3502
7116	-1.10	-146.6	530.2	-5.8	340	7120	0.00	2.05	0.00	0.000	6	0.000	0.053	2195	2644	3502
7444	-1.10	-146.6	547.8	-5.5	356	7445	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2644	3502
7753	-1.10	-146.6	566.7	-6.2	371	7756	0.00	2.20	0.00	0.000	4	0.000	0.087	2196	3787	3502
7815	-1.10	-146.6	570.6	-6.5	373	7821	0.00	2.05	0.00	0.000	6	0.000	0.054	2196	2644	3502
8131	-1.10	-146.6	588.3	-5.8	389	8132	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3502
8440	-1.10	-146.6	609.3	-7.0	404	8444	0.00	2.55	0.00	0.000	4	0.000	0.065	2196	1235	3502
8473	-1.10	-146.6	612.0	-7.9	405	8480	0.00	2.58	0.00	0.000	6	0.000	0.059	2195	2658	3502
8790	-1.10	-146.6	636.0	-6.3	421	8791	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2658	3501
9099	-1.10	-146.6	654.3	-6.3	436	9100	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2658	3501
9412	-1.10	-146.6	676.3	-6.5	451	9416	0.00	2.15	0.00	0.000	4	0.000	0.090	2196	3786	3501
9497	-1.10	-146.6	681.6	-5.9	454	9503	0.00	2.05	0.00	0.000	6	0.000	0.054	2195	2642	3501
9813	-1.10	-146.6	701.3	-6.7	470	9814	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3500
9913	end dive: BOTTOM_OBSTACLE_DETECTED
state	9913	begin apogee
9922	-0.42	0.0	708.8	7.1	475	10049	0.75	0.00	123.97	1.166	6	0.091	0.000	2346	1992	2902
10050	end apogee: CONTROL_FINISHED_OK
state	10050	begin climb
10053	1.10	146.6	714.2	0.0	481	10182	1.55	2.65	121.20	1.140	4	0.056	0.064	2679	590	2304
10225	1.22	242.0	711.9	3.4	489	10312	0.12	2.53	80.03	1.108	6	0.044	0.038	2722	2020	1915
10633	1.22	242.0	682.0	8.1	509	10635	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2020	1914
10943	1.22	242.0	658.6	7.6	524	10947	0.00	2.58	0.00	0.000	4	0.000	0.067	2722	3405	1913
11060	1.22	242.0	649.4	8.1	529	11065	0.00	2.55	0.00	0.000	6	0.000	0.047	2722	1985	1913
11376	1.22	242.0	624.7	7.5	544	11380	0.00	2.55	0.00	0.000	4	0.000	0.064	2722	595	1912
11421	1.22	242.0	621.2	8.5	546	11426	0.00	2.47	0.00	0.000	6	0.000	0.039	2722	1997	1912
11743	1.22	242.0	599.0	7.1	562	11747	0.00	2.60	0.00	0.000	4	0.000	0.061	2722	584	1911
11798	1.22	242.0	594.7	7.8	564	11804	0.00	2.50	0.00	0.000	6	0.000	0.038	2722	2007	1911
12114	1.22	242.0	573.5	6.7	580	12118	0.00	2.58	0.00	0.000	4	0.000	0.065	2722	3408	1910
12186	1.22	242.0	568.9	6.4	583	12190	0.00	2.53	0.00	0.000	6	0.000	0.044	2722	1988	1911
12502	1.22	242.0	550.0	6.6	598	12503	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1988	1910
12812	1.22	242.0	526.6	7.8	613	12816	0.00	2.62	0.00	0.000	4	0.000	0.064	2722	3407	1911
12856	1.22	242.0	522.8	7.7	615	12860	0.00	2.50	0.00	0.000	6	0.000	0.043	2722	1997	1911
13177	1.22	242.0	499.1	7.7	631	13182	0.00	2.55	0.00	0.000	4	0.000	0.058	2722	586	1911
13222	1.22	242.0	495.4	8.1	633	13226	0.00	2.47	0.00	0.000	6	0.000	0.035	2722	2007	1911
13543	1.22	242.0	474.5	6.4	649	13547	0.00	2.55	0.00	0.000	4	0.000	0.064	2722	3411	1912
13593	1.22	242.0	471.1	6.9	651	13597	0.00	2.53	0.00	0.000	6	0.000	0.045	2722	1990	1912
13914	1.22	242.0	448.8	6.6	667	13918	0.00	2.53	0.00	0.000	4	0.000	0.058	2722	588	1912
13954	1.22	242.0	445.9	7.1	669	13958	0.00	2.47	0.00	0.000	6	0.000	0.036	2722	2009	1912
14280	1.22	242.0	421.5	7.6	685	14282	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2009	1912
14589	1.22	242.0	396.3	8.2	700	14591	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2009	1913
14899	1.22	242.0	371.2	8.4	715	14903	0.00	2.58	0.00	0.000	4	0.000	0.066	2722	3414	1913
14943	1.22	242.0	367.1	9.1	717	14947	0.00	2.53	0.00	0.000	6	0.000	0.047	2722	2000	1913
15264	1.22	242.0	340.6	8.3	733	15265	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2000	1914
15573	1.22	242.0	316.3	7.3	748	15577	0.00	2.55	0.00	0.000	4	0.000	0.061	2722	589	1914
15612	1.22	242.0	313.4	7.5	750	15617	0.00	2.47	0.00	0.000	6	0.000	0.038	2722	2007	1914
15940	1.22	242.0	291.8	6.3	766	15944	0.00	2.58	0.00	0.000	4	0.000	0.067	2722	3409	1914
15974	1.22	243.4	289.6	6.0	767	15978	0.00	2.53	0.00	0.000	6	0.000	0.048	2722	1998	1915
16290	1.22	243.4	270.0	6.5	782	16291	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1998	1915
16599	1.22	243.4	248.0	7.5	797	16600	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1998	1915
16908	1.22	243.4	226.7	6.5	812	16913	0.00	2.62	0.00	0.000	4	0.000	0.067	2722	3412	1915
16959	1.22	243.4	223.2	6.2	814	16963	0.00	2.55	0.00	0.000	6	0.000	0.050	2722	1989	1914
17275	1.22	243.4	202.7	6.5	829	17276	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1989	1915
17584	1.22	243.4	181.3	6.9	844	17585	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1989	1916
17893	1.22	243.4	159.3	6.9	859	17894	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1989	1916
18203	1.22	243.4	137.9	7.1	874	18205	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1989	1916
18512	1.22	243.4	115.3	7.4	889	18516	0.00	2.65	0.00	0.000	4	0.000	0.069	2722	3414	1916
18545	1.22	243.4	112.6	8.1	890	18551	0.00	2.55	0.00	0.000	6	0.000	0.052	2722	1989	1916
18863	1.22	243.4	88.9	7.5	906	18864	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1989	1916
19170	1.22	243.4	66.1	7.4	921	19172	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1989	1916
19480	1.22	243.4	42.7	8.0	936	19481	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1989	1916
19789	1.22	243.4	22.4	6.8	951	19790	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1989	1916
20074	end climb: SURFACE_DEPTH_REACHED
state	20075	begin surface coast
20096	end surface coast: CONTROL_FINISHED_OK
state	20097	begin surface