Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 249 * 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 249 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 2675 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2025 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 25 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 -147711.66 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 -147711.66

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 2025 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2675 MASS 52000 R_PORT_OVSHOOT 25 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 249 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 065706,6347.882,-1314.325,39,1.9,39,-12.5 TGT_NAME KE

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.136,-0.016

_SM_DEPTHo 1.84 KALMAN_X 7805.6,-416.7,1867.0,-28217.1,7925.2

_SM_ANGLEo -64.8 KALMAN_Y 10241.8,-430.6,-2881.6,-22928.1,4535.0

GPS2 070302,6347.834,-1314.235,14,1.7,14,-12.5 MHEAD_RNG_PITCHd_Wd 275.6,5296,-20.4,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027469 ALTIM_BOTTOM_PING 800.8,58.6

SM_CCo 18674,59.05,0.697,0,0,1984,225.19 _24V_AH 23.3,43.961

SM_GC 1.22,0.00,0.00,59.05,0.000,0.000,0.697,49,2669,1984,-11.00,-0.17,225.19 _10V_AH 10.1,25.028

IRIDIUM_FIX 6322.64,-1316.10,120798,010155 DATA_FILE_SIZE 44181,882

TT8_MAMPS 0.029146 CAP_FILE_SIZE 145793,0

HUMID 1764 CFSIZE 260165632,242442240

INTERNAL_PRESSURE 8.58431 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 170409,121731,6347.113,-1316.653,41,1.4,41,-12.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 158 101.73 SBE_CT 615 24 344.36

Roll_motor 168 83 329.15 SBE_O2 645 19 285.92

VBD_pump_during_apogee 242 1235 6975.18 WL_BB2F 509 105 1247.19

VBD_pump_during_surface 59 697 959.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.18 nil 0 0 0.00

Iridium_during_connect 30 160 114.30 nil 0 0 0.00

Iridium_during_xfer 161 223 836.67

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.09

TT8 1761 19 352.19

LPSleep 13719 2 303.47

TT8_Active 426 19 85.28

TT8_Sampling 2594 39 1042.77

TT8_CF8 587 45 271.70

TT8_Kalman 33 81 27.55

Analog_circuits 1655 12 200.64

GPS_charging 0 0 0.00

Compass 2529 8 204.40

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 -1.76 -51.0 0.0 0.0 0 51 0.00 0.00 -33.40 0.000 6 0.000 0.000 50 2672 3112

54 -1.85 -127.1 2.3 -0.0 1 77 11.25 2.62 -5.53 0.000 4 0.159 0.078 2029 1259 3420

192 -1.85 -127.1 27.1 -14.5 7 196 0.00 2.65 0.00 0.000 6 0.000 0.067 2029 2679 3421

519 -1.85 -127.1 73.7 -14.5 23 522 0.00 2.10 0.00 0.000 4 0.000 0.083 2029 3785 3421

587 -1.85 -127.1 83.9 -14.5 26 591 0.00 1.98 0.00 0.000 6 0.000 0.050 2029 2681 3421

921 -1.85 -127.1 132.1 -14.5 42 922 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2681 3421

1230 -1.85 -127.1 176.6 -14.4 57 1234 0.00 2.10 0.00 0.000 4 0.000 0.079 2029 3786 3421

1280 -1.85 -127.1 184.1 -14.5 59 1283 0.00 2.00 0.00 0.000 6 0.000 0.048 2029 2664 3421

1607 -1.85 -127.1 230.0 -14.2 75 1608 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2663 3422

1916 -1.85 -127.1 273.5 -14.1 90 1920 0.00 2.15 0.00 0.000 4 0.000 0.079 2028 3792 3421

1985 -1.85 -127.1 283.4 -15.0 93 1988 0.00 2.00 0.00 0.000 6 0.000 0.047 2029 2666 3421

2317 -1.85 -127.1 330.7 -13.9 109 2319 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2665 3421

2627 -1.85 -127.1 373.4 -13.8 124 2630 0.00 2.12 0.00 0.000 4 0.000 0.079 2029 3786 3421

2695 -1.85 -127.1 383.2 -14.1 127 2699 0.00 1.98 0.00 0.000 6 0.000 0.044 2029 2662 3421

3028 -1.85 -127.1 428.9 -13.8 143 3032 0.00 2.12 0.00 0.000 4 0.000 0.077 2029 3786 3421

3074 -1.85 -127.1 435.5 -14.3 145 3078 0.00 1.98 0.00 0.000 6 0.000 0.044 2029 2662 3421

3407 -1.85 -127.1 479.5 -12.9 161 3411 0.00 2.12 0.00 0.000 4 0.000 0.077 2029 3785 3421

3486 -1.85 -127.1 490.3 -13.4 164 3490 0.00 1.95 0.00 0.000 6 0.000 0.043 2029 2672 3421

3808 -1.85 -127.1 532.1 -13.2 180 3809 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2672 3421

4117 -1.85 -127.1 572.4 -13.1 195 4118 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2672 3421

4426 -1.85 -127.1 614.6 -13.7 210 4429 0.00 2.10 0.00 0.000 4 0.000 0.077 2029 3786 3421

4494 -1.85 -127.1 624.3 -14.6 213 4499 0.00 1.95 0.00 0.000 6 0.000 0.042 2029 2673 3421

4827 -1.85 -127.1 673.3 -15.3 229 4831 0.00 2.58 0.00 0.000 4 0.000 0.064 2029 1255 3421

4882 -1.85 -127.1 682.1 -16.3 231 4889 0.00 2.62 0.00 0.000 6 0.000 0.065 2029 2681 3421

5200 -1.85 -127.1 726.9 -13.8 247 5203 0.00 2.08 0.00 0.000 4 0.000 0.080 2029 3790 3421

5323 -1.85 -127.1 744.6 -13.5 252 5326 0.00 1.98 0.00 0.000 6 0.000 0.044 2029 2667 3421

5644 -1.85 -127.1 784.0 -11.9 268 5648 0.00 2.12 0.00 0.000 4 0.000 0.081 2029 3783 3421

5791 -1.85 -127.1 802.4 -13.2 274 5795 0.00 1.98 0.00 0.000 6 0.000 0.045 2029 2666 3421

6113 -1.85 -127.1 843.5 -13.1 290 6116 0.00 2.15 0.00 0.000 4 0.000 0.084 2029 3790 3420

6156 end dive: BOTTOM_OBSTACLE_DETECTED

state 6156 begin apogee

6167 -0.42 0.0 849.8 13.6 292 6282 1.65 0.00 110.88 1.236 6 0.119 0.000 2343 2021 2902

6282 end apogee: CONTROL_FINISHED_OK

state 6282 begin climb

6286 1.85 127.1 856.1 0.0 298 6404 2.30 2.67 108.07 1.205 4 0.056 0.061 2843 617 2384

6657 1.85 127.1 841.3 7.1 315 6662 0.00 2.53 0.00 0.000 6 0.000 0.038 2843 2056 2383

6984 1.85 127.1 819.3 7.1 331 6988 0.00 2.67 0.00 0.000 4 0.000 0.061 2843 607 2383

7130 1.85 127.1 807.4 8.0 337 7136 0.00 2.50 0.00 0.000 6 0.000 0.038 2843 2033 2383

7446 1.85 127.1 783.0 7.9 353 7450 0.00 2.55 0.00 0.000 4 0.000 0.059 2843 3434 2382

7519 1.85 127.1 777.1 8.2 356 7523 0.00 2.53 0.00 0.000 6 0.000 0.040 2843 2007 2382

7835 1.85 127.1 752.0 7.8 371 7839 0.00 2.53 0.00 0.000 4 0.000 0.061 2843 620 2381

7935 1.85 127.1 744.2 7.7 375 7942 0.00 2.45 0.00 0.000 6 0.000 0.038 2843 2032 2381

8252 1.85 127.1 723.6 6.3 391 8253 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2032 2381

8561 1.87 143.6 707.1 4.7 406 8583 0.00 2.65 15.00 1.108 4 0.000 0.059 2843 618 2316

8737 1.87 143.6 696.1 6.1 413 8744 0.00 2.47 0.00 0.000 6 0.000 0.038 2843 2035 2316

9053 1.87 143.6 678.6 6.2 429 9057 0.00 2.60 0.00 0.000 4 0.000 0.059 2843 615 2316

9236 1.87 143.6 666.2 7.3 437 9240 0.00 2.45 0.00 0.000 6 0.000 0.036 2843 2027 2316

9557 1.87 143.6 646.1 6.1 453 9561 0.00 2.58 0.00 0.000 4 0.000 0.058 2843 612 2316

9636 1.88 151.2 641.6 5.4 456 9650 0.00 2.45 8.32 0.981 6 0.000 0.035 2843 2029 2285

9974 1.88 151.2 618.7 7.7 473 9978 0.00 2.53 0.00 0.000 4 0.000 0.056 2843 3430 2285

10053 1.88 151.2 613.0 7.4 476 10059 0.00 2.47 0.00 0.000 6 0.000 0.037 2843 2014 2285

10369 1.88 151.2 591.3 6.7 492 10373 0.00 2.53 0.00 0.000 4 0.000 0.058 2843 616 2285

10620 1.88 151.2 573.0 6.8 503 10625 0.00 2.42 0.00 0.000 6 0.000 0.034 2843 2028 2285

10936 1.88 151.2 550.6 7.7 518 10937 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2028 2285

11246 1.88 151.2 528.2 6.8 533 11250 0.00 2.53 0.00 0.000 4 0.000 0.055 2843 624 2285

11409 1.88 151.2 516.3 6.9 540 11413 0.00 2.40 0.00 0.000 6 0.000 0.033 2843 2027 2285

11730 1.88 151.2 493.3 6.9 556 11735 0.00 2.53 0.00 0.000 4 0.000 0.054 2843 622 2285

11888 1.88 151.2 481.7 6.5 563 11892 0.00 2.40 0.00 0.000 6 0.000 0.033 2843 2026 2285

12209 1.88 151.2 459.7 6.9 579 12214 0.00 2.55 0.00 0.000 4 0.000 0.055 2843 615 2286

12345 1.88 151.2 449.5 6.7 585 12350 0.00 2.42 0.00 0.000 6 0.000 0.034 2843 2027 2286

12667 1.88 151.2 426.6 7.2 601 12671 0.00 2.53 0.00 0.000 4 0.000 0.054 2843 622 2286

12925 1.88 151.2 406.6 7.7 612 12931 0.00 2.40 0.00 0.000 6 0.000 0.033 2843 2022 2286

13241 1.88 151.2 384.7 7.0 628 13245 0.00 2.53 0.00 0.000 4 0.000 0.055 2843 616 2286

13499 1.88 151.2 364.6 8.0 639 13503 0.00 2.42 0.00 0.000 6 0.000 0.034 2843 2023 2286

13820 1.88 151.2 341.0 7.8 655 13825 0.00 2.53 0.00 0.000 4 0.000 0.056 2843 622 2287

14079 1.88 151.2 319.2 8.8 666 14085 0.00 2.42 0.00 0.000 6 0.000 0.034 2843 2031 2287

14395 1.88 151.2 294.3 7.9 682 14399 0.00 2.55 0.00 0.000 4 0.000 0.056 2844 618 2288

14652 1.88 151.2 273.6 7.9 693 14659 0.00 2.45 0.00 0.000 6 0.000 0.035 2843 2040 2288

14969 1.88 151.2 250.5 7.1 709 14973 0.00 2.55 0.00 0.000 4 0.000 0.055 2843 624 2288

15187 1.88 151.2 233.9 7.0 718 15194 0.00 2.42 0.00 0.000 6 0.000 0.035 2843 2031 2288

15504 1.88 151.2 212.1 6.8 734 15508 0.00 2.55 0.00 0.000 4 0.000 0.055 2843 618 2288

15732 1.88 151.2 195.9 7.0 744 15737 0.00 2.45 0.00 0.000 6 0.000 0.035 2843 2036 2288

16049 1.88 151.2 175.1 6.7 759 16053 0.00 2.55 0.00 0.000 4 0.000 0.055 2843 618 2288

16272 1.88 151.2 159.3 6.7 769 16277 0.00 2.42 0.00 0.000 6 0.000 0.035 2843 2024 2288

16595 1.88 151.2 138.0 6.5 785 16599 0.00 2.53 0.00 0.000 4 0.000 0.055 2843 619 2289

16779 1.88 151.2 124.6 7.1 793 16783 0.00 2.42 0.00 0.000 6 0.000 0.035 2843 2025 2289

17096 1.88 151.2 103.3 6.8 808 17100 0.00 2.53 0.00 0.000 4 0.000 0.055 2843 619 2289

17325 1.88 151.2 87.1 7.0 818 17329 0.00 2.42 0.00 0.000 6 0.000 0.035 2843 2029 2289

17648 1.88 151.2 65.7 6.6 834 17652 0.00 2.55 0.00 0.000 4 0.000 0.055 2843 615 2289

17804 1.88 151.2 55.0 6.0 841 17808 0.00 2.45 0.00 0.000 6 0.000 0.035 2843 2032 2289

18126 1.88 151.2 34.6 6.5 857 18130 0.00 2.55 0.00 0.000 4 0.000 0.055 2843 618 2289

18323 1.88 151.2 21.2 6.9 866 18327 0.00 2.45 0.00 0.000 6 0.000 0.036 2843 2033 2289

18626 end climb: SURFACE_DEPTH_REACHED

state 18627 begin surface coast

18648 end surface coast: CONTROL_FINISHED_OK

state 18648 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	249	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	2675	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2025	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	25	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	-147711.66	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	065706,6347.882,-1314.325,39,1.9,39,-12.5	TGT_NAME	KE
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.136,-0.016
_SM_DEPTHo	1.84	KALMAN_X	7805.6,-416.7,1867.0,-28217.1,7925.2
_SM_ANGLEo	-64.8	KALMAN_Y	10241.8,-430.6,-2881.6,-22928.1,4535.0
GPS2	070302,6347.834,-1314.235,14,1.7,14,-12.5	MHEAD_RNG_PITCHd_Wd	275.6,5296,-20.4,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.027469	ALTIM_BOTTOM_PING	800.8,58.6
SM_CCo	18674,59.05,0.697,0,0,1984,225.19	_24V_AH	23.3,43.961
SM_GC	1.22,0.00,0.00,59.05,0.000,0.000,0.697,49,2669,1984,-11.00,-0.17,225.19	_10V_AH	10.1,25.028
IRIDIUM_FIX	6322.64,-1316.10,120798,010155	DATA_FILE_SIZE	44181,882
TT8_MAMPS	0.029146	CAP_FILE_SIZE	145793,0
HUMID	1764	CFSIZE	260165632,242442240
INTERNAL_PRESSURE	8.58431	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	170409,121731,6347.113,-1316.653,41,1.4,41,-12.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	158	101.73	SBE_CT	615	24	344.36
Roll_motor	168	83	329.15	SBE_O2	645	19	285.92
VBD_pump_during_apogee	242	1235	6975.18	WL_BB2F	509	105	1247.19
VBD_pump_during_surface	59	697	959.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.18	nil	0	0	0.00
Iridium_during_connect	30	160	114.30	nil	0	0	0.00
Iridium_during_xfer	161	223	836.67
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.09
TT8	1761	19	352.19
LPSleep	13719	2	303.47
TT8_Active	426	19	85.28
TT8_Sampling	2594	39	1042.77
TT8_CF8	587	45	271.70
TT8_Kalman	33	81	27.55
Analog_circuits	1655	12	200.64
GPS_charging	0	0	0.00
Compass	2529	8	204.40
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	-1.76	-51.0	0.0	0.0	0	51	0.00	0.00	-33.40	0.000	6	0.000	0.000	50	2672	3112
54	-1.85	-127.1	2.3	-0.0	1	77	11.25	2.62	-5.53	0.000	4	0.159	0.078	2029	1259	3420
192	-1.85	-127.1	27.1	-14.5	7	196	0.00	2.65	0.00	0.000	6	0.000	0.067	2029	2679	3421
519	-1.85	-127.1	73.7	-14.5	23	522	0.00	2.10	0.00	0.000	4	0.000	0.083	2029	3785	3421
587	-1.85	-127.1	83.9	-14.5	26	591	0.00	1.98	0.00	0.000	6	0.000	0.050	2029	2681	3421
921	-1.85	-127.1	132.1	-14.5	42	922	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2681	3421
1230	-1.85	-127.1	176.6	-14.4	57	1234	0.00	2.10	0.00	0.000	4	0.000	0.079	2029	3786	3421
1280	-1.85	-127.1	184.1	-14.5	59	1283	0.00	2.00	0.00	0.000	6	0.000	0.048	2029	2664	3421
1607	-1.85	-127.1	230.0	-14.2	75	1608	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2663	3422
1916	-1.85	-127.1	273.5	-14.1	90	1920	0.00	2.15	0.00	0.000	4	0.000	0.079	2028	3792	3421
1985	-1.85	-127.1	283.4	-15.0	93	1988	0.00	2.00	0.00	0.000	6	0.000	0.047	2029	2666	3421
2317	-1.85	-127.1	330.7	-13.9	109	2319	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2665	3421
2627	-1.85	-127.1	373.4	-13.8	124	2630	0.00	2.12	0.00	0.000	4	0.000	0.079	2029	3786	3421
2695	-1.85	-127.1	383.2	-14.1	127	2699	0.00	1.98	0.00	0.000	6	0.000	0.044	2029	2662	3421
3028	-1.85	-127.1	428.9	-13.8	143	3032	0.00	2.12	0.00	0.000	4	0.000	0.077	2029	3786	3421
3074	-1.85	-127.1	435.5	-14.3	145	3078	0.00	1.98	0.00	0.000	6	0.000	0.044	2029	2662	3421
3407	-1.85	-127.1	479.5	-12.9	161	3411	0.00	2.12	0.00	0.000	4	0.000	0.077	2029	3785	3421
3486	-1.85	-127.1	490.3	-13.4	164	3490	0.00	1.95	0.00	0.000	6	0.000	0.043	2029	2672	3421
3808	-1.85	-127.1	532.1	-13.2	180	3809	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2672	3421
4117	-1.85	-127.1	572.4	-13.1	195	4118	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2672	3421
4426	-1.85	-127.1	614.6	-13.7	210	4429	0.00	2.10	0.00	0.000	4	0.000	0.077	2029	3786	3421
4494	-1.85	-127.1	624.3	-14.6	213	4499	0.00	1.95	0.00	0.000	6	0.000	0.042	2029	2673	3421
4827	-1.85	-127.1	673.3	-15.3	229	4831	0.00	2.58	0.00	0.000	4	0.000	0.064	2029	1255	3421
4882	-1.85	-127.1	682.1	-16.3	231	4889	0.00	2.62	0.00	0.000	6	0.000	0.065	2029	2681	3421
5200	-1.85	-127.1	726.9	-13.8	247	5203	0.00	2.08	0.00	0.000	4	0.000	0.080	2029	3790	3421
5323	-1.85	-127.1	744.6	-13.5	252	5326	0.00	1.98	0.00	0.000	6	0.000	0.044	2029	2667	3421
5644	-1.85	-127.1	784.0	-11.9	268	5648	0.00	2.12	0.00	0.000	4	0.000	0.081	2029	3783	3421
5791	-1.85	-127.1	802.4	-13.2	274	5795	0.00	1.98	0.00	0.000	6	0.000	0.045	2029	2666	3421
6113	-1.85	-127.1	843.5	-13.1	290	6116	0.00	2.15	0.00	0.000	4	0.000	0.084	2029	3790	3420
6156	end dive: BOTTOM_OBSTACLE_DETECTED
state	6156	begin apogee
6167	-0.42	0.0	849.8	13.6	292	6282	1.65	0.00	110.88	1.236	6	0.119	0.000	2343	2021	2902
6282	end apogee: CONTROL_FINISHED_OK
state	6282	begin climb
6286	1.85	127.1	856.1	0.0	298	6404	2.30	2.67	108.07	1.205	4	0.056	0.061	2843	617	2384
6657	1.85	127.1	841.3	7.1	315	6662	0.00	2.53	0.00	0.000	6	0.000	0.038	2843	2056	2383
6984	1.85	127.1	819.3	7.1	331	6988	0.00	2.67	0.00	0.000	4	0.000	0.061	2843	607	2383
7130	1.85	127.1	807.4	8.0	337	7136	0.00	2.50	0.00	0.000	6	0.000	0.038	2843	2033	2383
7446	1.85	127.1	783.0	7.9	353	7450	0.00	2.55	0.00	0.000	4	0.000	0.059	2843	3434	2382
7519	1.85	127.1	777.1	8.2	356	7523	0.00	2.53	0.00	0.000	6	0.000	0.040	2843	2007	2382
7835	1.85	127.1	752.0	7.8	371	7839	0.00	2.53	0.00	0.000	4	0.000	0.061	2843	620	2381
7935	1.85	127.1	744.2	7.7	375	7942	0.00	2.45	0.00	0.000	6	0.000	0.038	2843	2032	2381
8252	1.85	127.1	723.6	6.3	391	8253	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	2032	2381
8561	1.87	143.6	707.1	4.7	406	8583	0.00	2.65	15.00	1.108	4	0.000	0.059	2843	618	2316
8737	1.87	143.6	696.1	6.1	413	8744	0.00	2.47	0.00	0.000	6	0.000	0.038	2843	2035	2316
9053	1.87	143.6	678.6	6.2	429	9057	0.00	2.60	0.00	0.000	4	0.000	0.059	2843	615	2316
9236	1.87	143.6	666.2	7.3	437	9240	0.00	2.45	0.00	0.000	6	0.000	0.036	2843	2027	2316
9557	1.87	143.6	646.1	6.1	453	9561	0.00	2.58	0.00	0.000	4	0.000	0.058	2843	612	2316
9636	1.88	151.2	641.6	5.4	456	9650	0.00	2.45	8.32	0.981	6	0.000	0.035	2843	2029	2285
9974	1.88	151.2	618.7	7.7	473	9978	0.00	2.53	0.00	0.000	4	0.000	0.056	2843	3430	2285
10053	1.88	151.2	613.0	7.4	476	10059	0.00	2.47	0.00	0.000	6	0.000	0.037	2843	2014	2285
10369	1.88	151.2	591.3	6.7	492	10373	0.00	2.53	0.00	0.000	4	0.000	0.058	2843	616	2285
10620	1.88	151.2	573.0	6.8	503	10625	0.00	2.42	0.00	0.000	6	0.000	0.034	2843	2028	2285
10936	1.88	151.2	550.6	7.7	518	10937	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	2028	2285
11246	1.88	151.2	528.2	6.8	533	11250	0.00	2.53	0.00	0.000	4	0.000	0.055	2843	624	2285
11409	1.88	151.2	516.3	6.9	540	11413	0.00	2.40	0.00	0.000	6	0.000	0.033	2843	2027	2285
11730	1.88	151.2	493.3	6.9	556	11735	0.00	2.53	0.00	0.000	4	0.000	0.054	2843	622	2285
11888	1.88	151.2	481.7	6.5	563	11892	0.00	2.40	0.00	0.000	6	0.000	0.033	2843	2026	2285
12209	1.88	151.2	459.7	6.9	579	12214	0.00	2.55	0.00	0.000	4	0.000	0.055	2843	615	2286
12345	1.88	151.2	449.5	6.7	585	12350	0.00	2.42	0.00	0.000	6	0.000	0.034	2843	2027	2286
12667	1.88	151.2	426.6	7.2	601	12671	0.00	2.53	0.00	0.000	4	0.000	0.054	2843	622	2286
12925	1.88	151.2	406.6	7.7	612	12931	0.00	2.40	0.00	0.000	6	0.000	0.033	2843	2022	2286
13241	1.88	151.2	384.7	7.0	628	13245	0.00	2.53	0.00	0.000	4	0.000	0.055	2843	616	2286
13499	1.88	151.2	364.6	8.0	639	13503	0.00	2.42	0.00	0.000	6	0.000	0.034	2843	2023	2286
13820	1.88	151.2	341.0	7.8	655	13825	0.00	2.53	0.00	0.000	4	0.000	0.056	2843	622	2287
14079	1.88	151.2	319.2	8.8	666	14085	0.00	2.42	0.00	0.000	6	0.000	0.034	2843	2031	2287
14395	1.88	151.2	294.3	7.9	682	14399	0.00	2.55	0.00	0.000	4	0.000	0.056	2844	618	2288
14652	1.88	151.2	273.6	7.9	693	14659	0.00	2.45	0.00	0.000	6	0.000	0.035	2843	2040	2288
14969	1.88	151.2	250.5	7.1	709	14973	0.00	2.55	0.00	0.000	4	0.000	0.055	2843	624	2288
15187	1.88	151.2	233.9	7.0	718	15194	0.00	2.42	0.00	0.000	6	0.000	0.035	2843	2031	2288
15504	1.88	151.2	212.1	6.8	734	15508	0.00	2.55	0.00	0.000	4	0.000	0.055	2843	618	2288
15732	1.88	151.2	195.9	7.0	744	15737	0.00	2.45	0.00	0.000	6	0.000	0.035	2843	2036	2288
16049	1.88	151.2	175.1	6.7	759	16053	0.00	2.55	0.00	0.000	4	0.000	0.055	2843	618	2288
16272	1.88	151.2	159.3	6.7	769	16277	0.00	2.42	0.00	0.000	6	0.000	0.035	2843	2024	2288
16595	1.88	151.2	138.0	6.5	785	16599	0.00	2.53	0.00	0.000	4	0.000	0.055	2843	619	2289
16779	1.88	151.2	124.6	7.1	793	16783	0.00	2.42	0.00	0.000	6	0.000	0.035	2843	2025	2289
17096	1.88	151.2	103.3	6.8	808	17100	0.00	2.53	0.00	0.000	4	0.000	0.055	2843	619	2289
17325	1.88	151.2	87.1	7.0	818	17329	0.00	2.42	0.00	0.000	6	0.000	0.035	2843	2029	2289
17648	1.88	151.2	65.7	6.6	834	17652	0.00	2.55	0.00	0.000	4	0.000	0.055	2843	615	2289
17804	1.88	151.2	55.0	6.0	841	17808	0.00	2.45	0.00	0.000	6	0.000	0.035	2843	2032	2289
18126	1.88	151.2	34.6	6.5	857	18130	0.00	2.55	0.00	0.000	4	0.000	0.055	2843	618	2289
18323	1.88	151.2	21.2	6.9	866	18327	0.00	2.45	0.00	0.000	6	0.000	0.036	2843	2033	2289
18626	end climb: SURFACE_DEPTH_REACHED
state	18627	begin surface coast
18648	end surface coast: CONTROL_FINISHED_OK
state	18648	begin surface