Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 226 * 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 226 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 19 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 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 -147324.97 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 -147324.97

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 19 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 9 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 226 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 161530,6344.241,-1316.014,38,1.2,43,-12.5 TGT_NAME KW

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.198,0.092

_SM_DEPTHo 1.27 KALMAN_X -38072.6,-406.3,3555.1,-30609.0,-20998.3

_SM_ANGLEo -55.5 KALMAN_Y -41455.8,-159.4,-642.3,119678.1,-1472.6

GPS2 162108,6344.177,-1316.233,15,1.6,15,-12.5 MHEAD_RNG_PITCHd_Wd 77.5,11926,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027463 ALTIM_BOTTOM_PING 800.7,54.5

SM_CCo 21009,0.00,0.000,0,0,1377,374.08 _24V_AH 23.3,40.916

SM_GC 1.28,11.98,0.00,0.00,0.035,0.000,0.000,53,2659,1377,-10.93,0.25,374.08 _10V_AH 10.1,23.226

IRIDIUM_FIX 6317.84,-1323.32,070798,101018 DATA_FILE_SIZE 50547,1008

TT8_MAMPS 0.028379 CAP_FILE_SIZE 135895,0

HUMID 1785 CFSIZE 260165632,243761152

INTERNAL_PRESSURE 8.53548 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 120409,221330,6343.543,-1316.498,41,1.1,41,-12.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 97.43 SBE_CT 704 24 394.21

Roll_motor 131 92 285.33 SBE_O2 750 19 332.32

VBD_pump_during_apogee 458 1236 13219.37 WL_BB2F 552 105 1351.52

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 54.23 nil 0 0 0.00

Iridium_during_connect 25 160 94.84 nil 0 0 0.00

Iridium_during_xfer 152 223 790.95

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.08

TT8 1786 19 357.28

LPSleep 16375 2 362.22

TT8_Active 539 19 107.92

TT8_Sampling 2078 39 835.59

TT8_CF8 560 45 259.45

TT8_Kalman 33 81 27.57

Analog_circuits 1584 12 192.05

GPS_charging 0 0 0.00

Compass 2033 8 164.34

RAFOS 0 0 0.00

Transponder 51 30 15.62

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 -41.45 0.000 2 0.000 0.000 50 2655 3065

62 -1.10 -146.6 3.5 -8.9 2 88 12.20 2.70 -7.72 0.000 4 0.156 0.088 2197 1238 3500

122 -1.10 -146.6 14.1 -10.3 5 126 0.00 2.65 0.00 0.000 6 0.000 0.071 2196 2651 3500

443 -1.10 -146.6 40.1 -7.8 21 447 0.00 2.20 0.00 0.000 4 0.000 0.093 2197 3789 3500

489 -1.10 -146.6 43.4 -7.8 23 493 0.00 2.08 0.00 0.000 6 0.000 0.058 2197 2653 3500

817 -1.10 -146.6 66.4 -7.2 39 818 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2653 3500

1128 -1.10 -146.6 88.8 -7.3 54 1129 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2653 3500

1435 -1.10 -146.6 115.9 -8.6 69 1437 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2653 3500

1745 -1.10 -146.6 142.5 -6.7 84 1749 0.00 2.20 0.00 0.000 4 0.000 0.088 2196 3788 3500

1818 -1.10 -146.6 147.9 -6.9 87 1821 0.00 2.08 0.00 0.000 6 0.000 0.057 2196 2649 3500

2145 -1.10 -146.6 177.0 -7.2 103 2146 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2649 3500

2454 -1.10 -146.6 199.5 -6.4 118 2456 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3500

2764 -1.10 -146.6 218.8 -5.9 133 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2648 3500

3073 -1.10 -146.6 237.6 -7.1 148 3077 0.00 2.22 0.00 0.000 4 0.000 0.092 2196 3790 3501

3136 -1.10 -146.6 242.7 -8.7 151 3140 0.00 2.08 0.00 0.000 6 0.000 0.057 2196 2649 3500

3469 -1.10 -146.6 267.9 -7.5 167 3470 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2648 3500

3778 -1.10 -146.6 292.1 -7.8 182 3779 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2647 3500

4088 -1.10 -146.6 317.9 -8.8 197 4092 0.00 2.22 0.00 0.000 4 0.000 0.090 2196 3794 3500

4127 -1.10 -146.6 321.6 -9.6 198 4133 0.00 2.08 0.00 0.000 6 0.000 0.056 2196 2649 3500

4443 -1.10 -146.6 349.2 -8.6 214 4444 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3500

4752 -1.10 -146.6 377.7 -9.4 229 4754 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2649 3500

5061 -1.10 -146.6 407.3 -9.6 244 5063 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3500

5371 -1.10 -146.6 435.6 -9.5 259 5372 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3500

5680 -1.10 -146.6 468.2 -11.0 274 5681 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3500

5990 -1.10 -146.6 501.1 -10.6 289 5991 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3500

6298 -1.10 -146.6 536.7 -12.3 304 6300 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3500

6608 -1.10 -146.6 574.9 -11.9 319 6609 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2649 3500

6917 -1.10 -146.6 610.7 -11.4 334 6918 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2648 3500

7226 -1.10 -146.6 646.4 -12.3 349 7227 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2648 3500

7536 -1.10 -146.6 681.7 -11.1 364 7540 0.00 2.60 0.00 0.000 4 0.000 0.070 2196 1227 3500

7598 -1.10 -146.6 688.4 -10.5 367 7603 0.00 2.60 0.00 0.000 6 0.000 0.059 2197 2654 3500

7924 -1.10 -146.6 717.2 -7.1 383 7926 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2654 3500

8234 -1.10 -146.6 741.1 -7.1 398 8238 0.00 2.62 0.00 0.000 4 0.000 0.066 2196 1225 3500

8274 -1.10 -146.6 743.5 -6.1 400 8278 0.00 2.62 0.00 0.000 6 0.000 0.063 2197 2653 3500

8601 -1.10 -146.6 760.5 -6.6 416 8605 0.00 2.15 0.00 0.000 4 0.000 0.089 2197 3783 3500

8663 -1.10 -146.6 765.0 -7.1 418 8669 0.00 2.05 0.00 0.000 6 0.000 0.054 2196 2641 3500

8979 -1.10 -146.6 788.5 -6.8 434 8983 0.00 2.60 0.00 0.000 4 0.000 0.073 2196 1230 3499

9012 -1.10 -146.6 790.6 -6.4 435 9019 0.00 2.60 0.00 0.000 6 0.000 0.064 2197 2651 3499

9328 -1.10 -146.6 813.0 -7.9 451 9329 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2651 3498

9637 -1.10 -146.6 836.8 -7.4 466 9641 0.00 2.17 0.00 0.000 4 0.000 0.091 2197 3787 3497

9699 -1.10 -146.6 841.0 -6.6 468 9705 0.00 2.05 0.00 0.000 6 0.000 0.056 2197 2653 3497

9766 end dive: BOTTOM_OBSTACLE_DETECTED

state 9766 begin apogee

9775 -0.42 0.0 845.7 6.9 472 9907 0.77 0.00 127.05 1.236 6 0.099 0.000 2349 2000 2902

9908 end apogee: CONTROL_FINISHED_OK

state 9908 begin climb

9911 1.10 146.6 852.4 0.0 479 10045 1.52 2.72 125.30 1.206 4 0.057 0.064 2677 3424 2304

10306 1.16 191.6 842.3 4.8 497 10351 0.00 2.58 39.85 1.184 6 0.000 0.044 2677 1989 2120

10682 1.21 234.7 824.0 4.8 515 10726 0.12 2.80 37.45 1.177 4 0.044 0.067 2717 3418 1945

10844 1.21 234.7 812.7 8.2 522 10848 0.00 2.58 0.00 0.000 6 0.000 0.048 2717 1996 1945

11165 1.21 234.7 789.1 8.0 538 11169 0.00 2.60 0.00 0.000 4 0.000 0.064 2717 587 1945

11249 1.21 234.7 781.9 8.2 542 11254 0.00 2.53 0.00 0.000 6 0.000 0.041 2717 2011 1945

11576 1.21 234.7 755.2 6.7 558 11580 0.00 2.60 0.00 0.000 4 0.000 0.067 2717 3414 1944

11626 1.21 234.7 751.8 8.1 560 11630 0.00 2.55 0.00 0.000 6 0.000 0.048 2717 2000 1943

11942 1.21 234.7 723.7 9.4 575 11946 0.00 2.60 0.00 0.000 4 0.000 0.065 2717 586 1943

12008 1.21 234.7 717.1 9.1 578 12013 0.00 2.50 0.00 0.000 6 0.000 0.039 2717 2002 1943

12330 1.21 234.7 692.4 7.0 594 12331 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2002 1943

12639 1.27 284.1 673.1 4.6 609 12687 0.00 2.67 42.25 1.130 4 0.000 0.061 2717 590 1743

12744 1.27 284.1 666.8 6.4 614 12749 0.00 2.50 0.00 0.000 6 0.000 0.039 2717 2000 1743

13072 1.28 294.2 646.6 5.7 630 13084 0.00 0.00 10.45 1.006 6 0.000 0.000 2717 2000 1702

13380 1.30 303.7 627.7 5.7 645 13392 0.00 0.00 9.85 0.985 6 0.000 0.000 2717 2000 1663

13690 1.30 303.7 608.1 7.0 660 13694 0.00 2.60 0.00 0.000 4 0.000 0.067 2717 3406 1663

13739 1.30 303.7 604.2 8.1 662 13744 0.00 2.53 0.00 0.000 6 0.000 0.046 2717 1998 1663

14055 1.30 303.7 578.1 9.0 677 14060 0.00 2.58 0.00 0.000 4 0.000 0.062 2717 588 1663

14118 1.30 303.7 571.8 10.1 680 14122 0.00 2.50 0.00 0.000 6 0.000 0.038 2717 2010 1663

14445 1.30 303.7 542.1 8.9 696 14449 0.00 2.58 0.00 0.000 4 0.000 0.066 2717 3408 1664

14500 1.30 303.7 537.0 9.5 698 14506 0.00 2.53 0.00 0.000 6 0.000 0.046 2717 1997 1664

14816 1.30 303.7 512.1 7.5 714 14818 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1997 1664

15125 1.30 303.7 491.3 6.9 729 15127 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1997 1664

15435 1.31 316.1 471.4 5.7 744 15453 0.00 0.00 12.35 0.921 6 0.000 0.000 2717 1997 1613

15764 1.31 316.1 451.0 6.6 760 15765 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1997 1612

16073 1.31 318.7 431.5 5.9 775 16082 0.00 2.65 4.15 0.653 4 0.000 0.065 2717 3407 1602

16140 1.31 318.7 427.2 6.4 778 16144 0.00 2.55 0.00 0.000 6 0.000 0.049 2717 1992 1602

16467 1.33 334.9 408.0 5.5 794 16489 0.00 2.70 15.15 0.895 4 0.000 0.067 2717 3410 1536

16513 1.36 353.4 405.5 5.5 796 16535 0.00 2.58 16.67 0.890 6 0.000 0.049 2717 1994 1461

16845 1.38 373.8 386.3 5.4 812 16865 0.12 0.00 18.35 0.888 6 0.048 0.000 2750 1994 1378

17173 1.38 373.8 366.2 6.3 828 17178 0.00 2.65 0.00 0.000 4 0.000 0.067 2750 3412 1378

17201 1.38 373.8 364.2 7.4 829 17206 0.00 2.58 0.00 0.000 6 0.000 0.051 2750 1994 1378

17517 1.38 373.8 339.8 8.2 844 17518 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1994 1378

17826 1.38 373.8 312.5 8.6 859 17827 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1994 1378

18136 1.38 373.8 287.7 8.1 874 18140 0.00 2.65 0.00 0.000 4 0.000 0.068 2750 3414 1378

18163 1.38 373.8 285.4 9.6 875 18167 0.00 2.58 0.00 0.000 6 0.000 0.052 2750 1996 1378

18479 1.38 373.8 259.6 8.3 890 18480 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1996 1378

18788 1.38 373.8 234.7 8.1 905 18792 0.00 2.65 0.00 0.000 4 0.000 0.070 2750 3416 1378

18821 1.38 373.8 231.5 8.5 906 18827 0.00 2.58 0.00 0.000 6 0.000 0.051 2751 1992 1378

19137 1.38 373.8 198.9 10.8 922 19138 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1992 1378

19446 1.38 373.8 167.2 10.1 937 19447 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1992 1378

19756 1.38 373.8 130.4 10.7 952 19760 0.00 2.58 0.00 0.000 4 0.000 0.067 2750 587 1378

19796 1.38 373.8 125.2 13.9 954 19800 0.00 2.50 0.00 0.000 6 0.000 0.044 2750 2000 1378

20123 1.38 373.8 87.3 11.9 970 20125 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2000 1378

20432 1.38 373.8 53.9 12.1 985 20433 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2000 1378

20743 1.38 373.8 19.1 11.1 1000 20748 0.00 2.62 0.00 0.000 4 0.000 0.070 2750 590 1378

20794 1.38 373.8 12.4 13.0 1002 20798 0.00 2.53 0.00 0.000 6 0.000 0.047 2750 2005 1378

20900 end climb: SURFACE_DEPTH_REACHED

state 20901 begin surface coast

20924 end surface coast: CONTROL_FINISHED_OK

state 20924 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	226	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	19	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	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	-147324.97	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	161530,6344.241,-1316.014,38,1.2,43,-12.5	TGT_NAME	KW
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.198,0.092
_SM_DEPTHo	1.27	KALMAN_X	-38072.6,-406.3,3555.1,-30609.0,-20998.3
_SM_ANGLEo	-55.5	KALMAN_Y	-41455.8,-159.4,-642.3,119678.1,-1472.6
GPS2	162108,6344.177,-1316.233,15,1.6,15,-12.5	MHEAD_RNG_PITCHd_Wd	77.5,11926,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.6,1.027463	ALTIM_BOTTOM_PING	800.7,54.5
SM_CCo	21009,0.00,0.000,0,0,1377,374.08	_24V_AH	23.3,40.916
SM_GC	1.28,11.98,0.00,0.00,0.035,0.000,0.000,53,2659,1377,-10.93,0.25,374.08	_10V_AH	10.1,23.226
IRIDIUM_FIX	6317.84,-1323.32,070798,101018	DATA_FILE_SIZE	50547,1008
TT8_MAMPS	0.028379	CAP_FILE_SIZE	135895,0
HUMID	1785	CFSIZE	260165632,243761152
INTERNAL_PRESSURE	8.53548	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	120409,221330,6343.543,-1316.498,41,1.1,41,-12.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	97.43	SBE_CT	704	24	394.21
Roll_motor	131	92	285.33	SBE_O2	750	19	332.32
VBD_pump_during_apogee	458	1236	13219.37	WL_BB2F	552	105	1351.52
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	54.23	nil	0	0	0.00
Iridium_during_connect	25	160	94.84	nil	0	0	0.00
Iridium_during_xfer	152	223	790.95
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.08
TT8	1786	19	357.28
LPSleep	16375	2	362.22
TT8_Active	539	19	107.92
TT8_Sampling	2078	39	835.59
TT8_CF8	560	45	259.45
TT8_Kalman	33	81	27.57
Analog_circuits	1584	12	192.05
GPS_charging	0	0	0.00
Compass	2033	8	164.34
RAFOS	0	0	0.00
Transponder	51	30	15.62

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	-41.45	0.000	2	0.000	0.000	50	2655	3065
62	-1.10	-146.6	3.5	-8.9	2	88	12.20	2.70	-7.72	0.000	4	0.156	0.088	2197	1238	3500
122	-1.10	-146.6	14.1	-10.3	5	126	0.00	2.65	0.00	0.000	6	0.000	0.071	2196	2651	3500
443	-1.10	-146.6	40.1	-7.8	21	447	0.00	2.20	0.00	0.000	4	0.000	0.093	2197	3789	3500
489	-1.10	-146.6	43.4	-7.8	23	493	0.00	2.08	0.00	0.000	6	0.000	0.058	2197	2653	3500
817	-1.10	-146.6	66.4	-7.2	39	818	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2653	3500
1128	-1.10	-146.6	88.8	-7.3	54	1129	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2653	3500
1435	-1.10	-146.6	115.9	-8.6	69	1437	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2653	3500
1745	-1.10	-146.6	142.5	-6.7	84	1749	0.00	2.20	0.00	0.000	4	0.000	0.088	2196	3788	3500
1818	-1.10	-146.6	147.9	-6.9	87	1821	0.00	2.08	0.00	0.000	6	0.000	0.057	2196	2649	3500
2145	-1.10	-146.6	177.0	-7.2	103	2146	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2649	3500
2454	-1.10	-146.6	199.5	-6.4	118	2456	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3500
2764	-1.10	-146.6	218.8	-5.9	133	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2648	3500
3073	-1.10	-146.6	237.6	-7.1	148	3077	0.00	2.22	0.00	0.000	4	0.000	0.092	2196	3790	3501
3136	-1.10	-146.6	242.7	-8.7	151	3140	0.00	2.08	0.00	0.000	6	0.000	0.057	2196	2649	3500
3469	-1.10	-146.6	267.9	-7.5	167	3470	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2648	3500
3778	-1.10	-146.6	292.1	-7.8	182	3779	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2647	3500
4088	-1.10	-146.6	317.9	-8.8	197	4092	0.00	2.22	0.00	0.000	4	0.000	0.090	2196	3794	3500
4127	-1.10	-146.6	321.6	-9.6	198	4133	0.00	2.08	0.00	0.000	6	0.000	0.056	2196	2649	3500
4443	-1.10	-146.6	349.2	-8.6	214	4444	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3500
4752	-1.10	-146.6	377.7	-9.4	229	4754	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2649	3500
5061	-1.10	-146.6	407.3	-9.6	244	5063	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3500
5371	-1.10	-146.6	435.6	-9.5	259	5372	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3500
5680	-1.10	-146.6	468.2	-11.0	274	5681	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3500
5990	-1.10	-146.6	501.1	-10.6	289	5991	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3500
6298	-1.10	-146.6	536.7	-12.3	304	6300	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3500
6608	-1.10	-146.6	574.9	-11.9	319	6609	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2649	3500
6917	-1.10	-146.6	610.7	-11.4	334	6918	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2648	3500
7226	-1.10	-146.6	646.4	-12.3	349	7227	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2648	3500
7536	-1.10	-146.6	681.7	-11.1	364	7540	0.00	2.60	0.00	0.000	4	0.000	0.070	2196	1227	3500
7598	-1.10	-146.6	688.4	-10.5	367	7603	0.00	2.60	0.00	0.000	6	0.000	0.059	2197	2654	3500
7924	-1.10	-146.6	717.2	-7.1	383	7926	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2654	3500
8234	-1.10	-146.6	741.1	-7.1	398	8238	0.00	2.62	0.00	0.000	4	0.000	0.066	2196	1225	3500
8274	-1.10	-146.6	743.5	-6.1	400	8278	0.00	2.62	0.00	0.000	6	0.000	0.063	2197	2653	3500
8601	-1.10	-146.6	760.5	-6.6	416	8605	0.00	2.15	0.00	0.000	4	0.000	0.089	2197	3783	3500
8663	-1.10	-146.6	765.0	-7.1	418	8669	0.00	2.05	0.00	0.000	6	0.000	0.054	2196	2641	3500
8979	-1.10	-146.6	788.5	-6.8	434	8983	0.00	2.60	0.00	0.000	4	0.000	0.073	2196	1230	3499
9012	-1.10	-146.6	790.6	-6.4	435	9019	0.00	2.60	0.00	0.000	6	0.000	0.064	2197	2651	3499
9328	-1.10	-146.6	813.0	-7.9	451	9329	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2651	3498
9637	-1.10	-146.6	836.8	-7.4	466	9641	0.00	2.17	0.00	0.000	4	0.000	0.091	2197	3787	3497
9699	-1.10	-146.6	841.0	-6.6	468	9705	0.00	2.05	0.00	0.000	6	0.000	0.056	2197	2653	3497
9766	end dive: BOTTOM_OBSTACLE_DETECTED
state	9766	begin apogee
9775	-0.42	0.0	845.7	6.9	472	9907	0.77	0.00	127.05	1.236	6	0.099	0.000	2349	2000	2902
9908	end apogee: CONTROL_FINISHED_OK
state	9908	begin climb
9911	1.10	146.6	852.4	0.0	479	10045	1.52	2.72	125.30	1.206	4	0.057	0.064	2677	3424	2304
10306	1.16	191.6	842.3	4.8	497	10351	0.00	2.58	39.85	1.184	6	0.000	0.044	2677	1989	2120
10682	1.21	234.7	824.0	4.8	515	10726	0.12	2.80	37.45	1.177	4	0.044	0.067	2717	3418	1945
10844	1.21	234.7	812.7	8.2	522	10848	0.00	2.58	0.00	0.000	6	0.000	0.048	2717	1996	1945
11165	1.21	234.7	789.1	8.0	538	11169	0.00	2.60	0.00	0.000	4	0.000	0.064	2717	587	1945
11249	1.21	234.7	781.9	8.2	542	11254	0.00	2.53	0.00	0.000	6	0.000	0.041	2717	2011	1945
11576	1.21	234.7	755.2	6.7	558	11580	0.00	2.60	0.00	0.000	4	0.000	0.067	2717	3414	1944
11626	1.21	234.7	751.8	8.1	560	11630	0.00	2.55	0.00	0.000	6	0.000	0.048	2717	2000	1943
11942	1.21	234.7	723.7	9.4	575	11946	0.00	2.60	0.00	0.000	4	0.000	0.065	2717	586	1943
12008	1.21	234.7	717.1	9.1	578	12013	0.00	2.50	0.00	0.000	6	0.000	0.039	2717	2002	1943
12330	1.21	234.7	692.4	7.0	594	12331	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2002	1943
12639	1.27	284.1	673.1	4.6	609	12687	0.00	2.67	42.25	1.130	4	0.000	0.061	2717	590	1743
12744	1.27	284.1	666.8	6.4	614	12749	0.00	2.50	0.00	0.000	6	0.000	0.039	2717	2000	1743
13072	1.28	294.2	646.6	5.7	630	13084	0.00	0.00	10.45	1.006	6	0.000	0.000	2717	2000	1702
13380	1.30	303.7	627.7	5.7	645	13392	0.00	0.00	9.85	0.985	6	0.000	0.000	2717	2000	1663
13690	1.30	303.7	608.1	7.0	660	13694	0.00	2.60	0.00	0.000	4	0.000	0.067	2717	3406	1663
13739	1.30	303.7	604.2	8.1	662	13744	0.00	2.53	0.00	0.000	6	0.000	0.046	2717	1998	1663
14055	1.30	303.7	578.1	9.0	677	14060	0.00	2.58	0.00	0.000	4	0.000	0.062	2717	588	1663
14118	1.30	303.7	571.8	10.1	680	14122	0.00	2.50	0.00	0.000	6	0.000	0.038	2717	2010	1663
14445	1.30	303.7	542.1	8.9	696	14449	0.00	2.58	0.00	0.000	4	0.000	0.066	2717	3408	1664
14500	1.30	303.7	537.0	9.5	698	14506	0.00	2.53	0.00	0.000	6	0.000	0.046	2717	1997	1664
14816	1.30	303.7	512.1	7.5	714	14818	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1997	1664
15125	1.30	303.7	491.3	6.9	729	15127	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1997	1664
15435	1.31	316.1	471.4	5.7	744	15453	0.00	0.00	12.35	0.921	6	0.000	0.000	2717	1997	1613
15764	1.31	316.1	451.0	6.6	760	15765	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1997	1612
16073	1.31	318.7	431.5	5.9	775	16082	0.00	2.65	4.15	0.653	4	0.000	0.065	2717	3407	1602
16140	1.31	318.7	427.2	6.4	778	16144	0.00	2.55	0.00	0.000	6	0.000	0.049	2717	1992	1602
16467	1.33	334.9	408.0	5.5	794	16489	0.00	2.70	15.15	0.895	4	0.000	0.067	2717	3410	1536
16513	1.36	353.4	405.5	5.5	796	16535	0.00	2.58	16.67	0.890	6	0.000	0.049	2717	1994	1461
16845	1.38	373.8	386.3	5.4	812	16865	0.12	0.00	18.35	0.888	6	0.048	0.000	2750	1994	1378
17173	1.38	373.8	366.2	6.3	828	17178	0.00	2.65	0.00	0.000	4	0.000	0.067	2750	3412	1378
17201	1.38	373.8	364.2	7.4	829	17206	0.00	2.58	0.00	0.000	6	0.000	0.051	2750	1994	1378
17517	1.38	373.8	339.8	8.2	844	17518	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1994	1378
17826	1.38	373.8	312.5	8.6	859	17827	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1994	1378
18136	1.38	373.8	287.7	8.1	874	18140	0.00	2.65	0.00	0.000	4	0.000	0.068	2750	3414	1378
18163	1.38	373.8	285.4	9.6	875	18167	0.00	2.58	0.00	0.000	6	0.000	0.052	2750	1996	1378
18479	1.38	373.8	259.6	8.3	890	18480	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1996	1378
18788	1.38	373.8	234.7	8.1	905	18792	0.00	2.65	0.00	0.000	4	0.000	0.070	2750	3416	1378
18821	1.38	373.8	231.5	8.5	906	18827	0.00	2.58	0.00	0.000	6	0.000	0.051	2751	1992	1378
19137	1.38	373.8	198.9	10.8	922	19138	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1992	1378
19446	1.38	373.8	167.2	10.1	937	19447	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1992	1378
19756	1.38	373.8	130.4	10.7	952	19760	0.00	2.58	0.00	0.000	4	0.000	0.067	2750	587	1378
19796	1.38	373.8	125.2	13.9	954	19800	0.00	2.50	0.00	0.000	6	0.000	0.044	2750	2000	1378
20123	1.38	373.8	87.3	11.9	970	20125	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2000	1378
20432	1.38	373.8	53.9	12.1	985	20433	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2000	1378
20743	1.38	373.8	19.1	11.1	1000	20748	0.00	2.62	0.00	0.000	4	0.000	0.070	2750	590	1378
20794	1.38	373.8	12.4	13.0	1002	20798	0.00	2.53	0.00	0.000	6	0.000	0.047	2750	2005	1378
20900	end climb: SURFACE_DEPTH_REACHED
state	20901	begin surface coast
20924	end surface coast: CONTROL_FINISHED_OK
state	20924	begin surface