Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 258 * 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 258 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 7 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 -147916.42 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 -147916.42

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 18 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 7 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 258 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 084607,6334.262,-1308.609,30,0.9,30,-12.3 TGT_NAME IE

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.041,-0.215

_SM_DEPTHo 1.34 KALMAN_X 3445.7,593.9,-153.0,-18296.8,-1912.7

_SM_ANGLEo -61.7 KALMAN_Y 5625.9,937.0,-1273.3,-46430.9,3178.0

GPS2 085156,6334.280,-1308.585,14,1.0,14,-12.3 MHEAD_RNG_PITCHd_Wd 181.5,36105,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027450 ALTIM_BOTTOM_PING 675.0,41.4

SM_CCo 19693,0.00,0.000,0,0,1889,248.49 _24V_AH 23.3,45.183

SM_GC 1.81,11.60,0.00,0.00,0.026,0.000,0.000,44,2672,1889,-10.94,-0.08,248.49 _10V_AH 10.1,25.814

IRIDIUM_FIX 6308.26,-1310.55,140798,030307 DATA_FILE_SIZE 47401,937

TT8_MAMPS 0.028379 CAP_FILE_SIZE 133164,0

HUMID 1786 CFSIZE 260165632,241876992

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 190409,142224,6332.919,-1308.286,25,0.9,43,-12.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 154 93.95 SBE_CT 654 24 365.80

Roll_motor 154 93 337.62 SBE_O2 698 19 309.44

VBD_pump_during_apogee 338 1144 9027.66 WL_BB2F 566 105 1385.05

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 53.26 nil 0 0 0.00

Iridium_during_connect 36 160 136.12 nil 0 0 0.00

Iridium_during_xfer 156 223 811.27

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.35

TT8 1696 19 339.31

LPSleep 15334 2 339.18

TT8_Active 450 19 90.07

TT8_Sampling 1974 39 793.64

TT8_CF8 583 45 269.97

TT8_Kalman 33 81 27.56

Analog_circuits 1453 12 176.14

GPS_charging 0 0 0.00

Compass 1940 8 156.77

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 -41.20 0.000 2 0.000 0.000 50 2676 3073

62 -1.10 -146.6 3.4 -8.6 2 88 12.02 2.75 -7.62 0.000 4 0.155 0.091 2195 1262 3501

179 -1.10 -146.6 19.3 -11.1 7 183 0.00 2.65 0.00 0.000 6 0.000 0.067 2195 2677 3502

501 -1.10 -146.6 44.2 -6.6 23 505 0.00 2.15 0.00 0.000 4 0.000 0.094 2195 3789 3502

597 -1.10 -146.6 51.7 -8.3 27 601 0.00 2.03 0.00 0.000 6 0.000 0.058 2195 2678 3502

925 -1.10 -146.6 75.9 -7.6 43 926 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2678 3502

1234 -1.10 -146.6 100.7 -8.2 58 1235 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2678 3502

1543 -1.10 -146.6 125.7 -8.0 73 1544 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2678 3502

1855 -1.10 -146.6 151.3 -8.5 88 1859 0.00 2.15 0.00 0.000 4 0.000 0.090 2194 3789 3501

1894 -1.10 -146.6 155.0 -8.3 89 1900 0.00 2.03 0.00 0.000 6 0.000 0.058 2194 2675 3502

2210 -1.10 -146.6 180.4 -8.1 105 2214 0.00 2.62 0.00 0.000 4 0.000 0.074 2195 1257 3502

2238 -1.10 -146.6 182.9 -8.4 106 2242 0.00 2.62 0.00 0.000 6 0.000 0.064 2195 2676 3502

2554 -1.10 -146.6 208.6 -8.0 121 2558 0.00 2.12 0.00 0.000 4 0.000 0.092 2195 3785 3501

2616 -1.10 -146.6 214.4 -9.6 123 2622 0.00 2.03 0.00 0.000 6 0.000 0.060 2195 2675 3502

2932 -1.10 -146.6 241.4 -8.3 139 2933 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2675 3501

3241 -1.10 -146.6 269.0 -9.0 154 3245 0.00 2.62 0.00 0.000 4 0.000 0.074 2195 1256 3502

3274 -1.10 -146.6 272.0 -8.9 155 3280 0.00 2.62 0.00 0.000 6 0.000 0.067 2195 2676 3502

3591 -1.10 -146.6 298.3 -8.4 171 3594 0.00 2.15 0.00 0.000 4 0.000 0.092 2195 3794 3502

3652 -1.10 -146.6 303.8 -8.7 173 3658 0.00 2.05 0.00 0.000 6 0.000 0.058 2194 2672 3502

3969 -1.10 -146.6 329.9 -8.1 189 3973 0.00 2.62 0.00 0.000 4 0.000 0.074 2194 1248 3502

3998 -1.10 -146.6 332.3 -8.1 190 4002 0.00 2.65 0.00 0.000 6 0.000 0.063 2195 2685 3502

4314 -1.10 -146.6 355.2 -7.1 205 4317 0.00 2.10 0.00 0.000 4 0.000 0.091 2195 3784 3502

4382 -1.10 -146.6 360.0 -7.0 208 4386 0.00 2.03 0.00 0.000 6 0.000 0.058 2195 2669 3502

4715 -1.10 -146.6 381.1 -6.3 224 4716 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2669 3502

5026 -1.10 -146.6 401.2 -6.4 239 5027 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2669 3502

5333 -1.10 -146.6 423.2 -7.2 254 5334 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2669 3502

5643 -1.10 -146.6 443.5 -6.5 269 5644 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2669 3502

5952 -1.10 -146.6 466.5 -7.5 284 5953 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2669 3502

6261 -1.10 -146.6 489.9 -7.6 299 6262 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2669 3502

6571 -1.10 -146.6 515.1 -8.4 314 6572 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2669 3502

6880 -1.10 -146.6 540.7 -8.2 329 6881 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2669 3502

7189 -1.10 -146.6 567.2 -8.7 344 7190 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2669 3502

7499 -1.10 -146.6 590.9 -7.8 359 7500 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2669 3502

7807 -1.10 -146.6 614.2 -6.7 374 7811 0.00 2.15 0.00 0.000 4 0.000 0.087 2195 3783 3502

7876 -1.10 -146.6 618.7 -7.1 377 7879 0.00 2.00 0.00 0.000 6 0.000 0.051 2194 2665 3502

8209 -1.10 -146.6 642.6 -7.6 393 8212 0.00 2.17 0.00 0.000 4 0.000 0.089 2195 3792 3502

8255 -1.10 -146.6 646.1 -7.4 395 8258 0.00 2.00 0.00 0.000 6 0.000 0.051 2195 2673 3502

8588 -1.10 -146.6 668.3 -5.9 411 8592 0.00 2.58 0.00 0.000 4 0.000 0.067 2194 1260 3502

8731 -1.10 -146.6 675.9 -5.5 417 8736 0.00 2.60 0.00 0.000 6 0.000 0.060 2195 2680 3502

9047 -1.10 -146.6 697.1 -6.8 432 9051 0.00 2.12 0.00 0.000 4 0.000 0.092 2195 3790 3502

9099 -1.10 -146.6 700.6 -5.7 434 9102 0.00 2.00 0.00 0.000 6 0.000 0.050 2194 2672 3502

9196 end dive: BOTTOM_OBSTACLE_DETECTED

state 9196 begin apogee

9205 -0.42 0.0 706.7 6.0 439 9333 0.77 0.00 124.90 1.144 6 0.095 0.000 2349 2024 2902

9334 end apogee: CONTROL_FINISHED_OK

state 9334 begin climb

9337 1.10 146.6 710.4 0.0 445 9469 1.52 2.72 122.65 1.110 4 0.057 0.063 2677 607 2304

9568 1.10 146.6 702.3 7.7 455 9575 0.00 2.53 0.00 0.000 6 0.000 0.037 2677 2052 2304

9885 1.17 204.1 688.7 4.4 471 9940 0.00 2.62 49.17 1.100 4 0.000 0.065 2677 3419 2070

10053 1.20 225.8 679.9 5.4 478 10081 0.10 2.53 19.52 1.053 6 0.051 0.045 2709 2017 1981

10393 1.22 246.0 660.3 5.4 495 10418 0.00 2.67 18.40 1.055 4 0.000 0.064 2709 617 1899

10475 1.22 246.0 654.9 6.4 498 10481 0.00 2.50 0.00 0.000 6 0.000 0.039 2709 2029 1898

10791 1.22 246.0 634.9 6.6 514 10792 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2029 1897

11101 1.22 246.0 613.7 7.2 529 11105 0.00 2.58 0.00 0.000 4 0.000 0.065 2709 3427 1897

11173 1.22 246.0 608.5 7.4 532 11177 0.00 2.53 0.00 0.000 6 0.000 0.047 2709 2021 1897

11489 1.22 246.0 585.9 7.3 547 11493 0.00 2.62 0.00 0.000 4 0.000 0.064 2709 3435 1896

11516 1.22 246.0 583.9 7.1 548 11521 0.00 2.53 0.00 0.000 6 0.000 0.045 2709 2024 1897

11832 1.22 246.0 561.0 7.7 563 11833 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2024 1896

12141 1.22 246.0 537.4 7.7 578 12143 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2024 1896

12451 1.22 246.0 515.6 6.6 593 12455 0.00 2.60 0.00 0.000 4 0.000 0.062 2710 3434 1897

12490 1.22 246.0 512.5 7.5 594 12496 0.00 2.53 0.00 0.000 6 0.000 0.045 2709 2021 1897

12805 1.22 246.0 491.7 6.4 610 12807 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2021 1897

13115 1.22 246.0 472.0 6.5 625 13119 0.00 2.60 0.00 0.000 4 0.000 0.063 2709 3429 1897

13159 1.23 247.9 469.2 5.9 627 13164 0.00 2.53 0.00 0.000 6 0.000 0.046 2709 2017 1897

13481 1.23 248.8 449.9 6.0 643 13490 0.00 2.65 3.92 0.643 4 0.000 0.065 2709 3432 1887

13520 1.23 248.8 447.3 6.5 644 13526 0.00 2.53 0.00 0.000 6 0.000 0.047 2709 2025 1887

13836 1.23 248.8 426.3 6.8 660 13837 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2025 1887

14145 1.23 248.8 405.1 6.6 675 14146 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2025 1888

14455 1.23 248.8 383.2 6.9 690 14459 0.00 2.60 0.00 0.000 4 0.000 0.067 2709 3429 1887

14488 1.23 248.8 380.8 7.0 691 14492 0.00 2.50 0.00 0.000 6 0.000 0.049 2709 2027 1888

14810 1.23 248.8 360.3 6.2 707 14814 0.00 2.62 0.00 0.000 4 0.000 0.067 2709 3438 1888

14837 1.23 248.8 358.4 6.8 708 14842 0.00 2.55 0.00 0.000 6 0.000 0.049 2709 2018 1888

15153 1.23 248.8 338.0 6.6 723 15158 0.00 2.62 0.00 0.000 4 0.000 0.067 2709 3429 1888

15176 1.23 248.8 336.3 6.8 724 15180 0.00 2.53 0.00 0.000 6 0.000 0.049 2709 2024 1888

15497 1.23 248.8 312.8 7.4 740 15498 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2024 1888

15807 1.23 248.8 288.4 8.2 755 15811 0.00 2.62 0.00 0.000 4 0.000 0.069 2710 3430 1889

15847 1.23 248.8 285.0 8.1 756 15853 0.00 2.55 0.00 0.000 6 0.000 0.051 2709 2015 1888

16163 1.23 248.8 259.2 8.6 772 16164 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2015 1888

16473 1.23 248.8 233.5 8.1 787 16477 0.00 2.65 0.00 0.000 4 0.000 0.068 2709 3438 1889

16506 1.23 248.8 230.7 8.0 788 16512 0.00 2.55 0.00 0.000 6 0.000 0.051 2709 2020 1888

16821 1.23 248.8 205.9 7.8 804 16823 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2020 1889

17131 1.23 248.8 183.3 6.8 819 17135 0.00 2.62 0.00 0.000 4 0.000 0.067 2710 3430 1889

17170 1.23 248.8 180.6 7.3 820 17176 0.00 2.53 0.00 0.000 6 0.000 0.051 2709 2022 1888

17486 1.23 248.8 159.5 6.6 836 17487 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2022 1889

17795 1.23 248.8 138.8 7.1 851 17800 0.00 2.62 0.00 0.000 4 0.000 0.067 2710 3435 1889

17840 1.23 248.8 135.1 7.9 853 17844 0.00 2.55 0.00 0.000 6 0.000 0.052 2709 2021 1890

18161 1.23 248.8 108.4 8.5 869 18166 0.00 2.62 0.00 0.000 4 0.000 0.067 2709 3434 1889

18189 1.23 248.8 106.0 8.9 870 18194 0.00 2.55 0.00 0.000 6 0.000 0.053 2709 2023 1889

18507 1.23 248.8 82.9 7.7 885 18512 0.00 2.55 0.00 0.000 4 0.000 0.063 2709 616 1889

18536 1.23 248.8 79.9 9.3 886 18540 0.00 2.47 0.00 0.000 6 0.000 0.038 2709 2032 1890

18852 1.23 248.8 55.5 7.4 901 18853 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2032 1889

19162 1.23 248.8 34.3 7.7 916 19166 0.00 2.60 0.00 0.000 4 0.000 0.070 2709 3439 1889

19189 1.23 248.8 31.9 8.6 917 19193 0.00 2.58 0.00 0.000 6 0.000 0.054 2709 2013 1889

19507 1.23 248.8 8.1 7.4 932 19508 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2013 1890

19585 end climb: SURFACE_DEPTH_REACHED

state 19585 begin surface coast

19608 end surface coast: CONTROL_FINISHED_OK

state 19608 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	258	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	7	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	-147916.42	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	084607,6334.262,-1308.609,30,0.9,30,-12.3	TGT_NAME	IE
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.041,-0.215
_SM_DEPTHo	1.34	KALMAN_X	3445.7,593.9,-153.0,-18296.8,-1912.7
_SM_ANGLEo	-61.7	KALMAN_Y	5625.9,937.0,-1273.3,-46430.9,3178.0
GPS2	085156,6334.280,-1308.585,14,1.0,14,-12.3	MHEAD_RNG_PITCHd_Wd	181.5,36105,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.6,1.027450	ALTIM_BOTTOM_PING	675.0,41.4
SM_CCo	19693,0.00,0.000,0,0,1889,248.49	_24V_AH	23.3,45.183
SM_GC	1.81,11.60,0.00,0.00,0.026,0.000,0.000,44,2672,1889,-10.94,-0.08,248.49	_10V_AH	10.1,25.814
IRIDIUM_FIX	6308.26,-1310.55,140798,030307	DATA_FILE_SIZE	47401,937
TT8_MAMPS	0.028379	CAP_FILE_SIZE	133164,0
HUMID	1786	CFSIZE	260165632,241876992
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	190409,142224,6332.919,-1308.286,25,0.9,43,-12.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	154	93.95	SBE_CT	654	24	365.80
Roll_motor	154	93	337.62	SBE_O2	698	19	309.44
VBD_pump_during_apogee	338	1144	9027.66	WL_BB2F	566	105	1385.05
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	53.26	nil	0	0	0.00
Iridium_during_connect	36	160	136.12	nil	0	0	0.00
Iridium_during_xfer	156	223	811.27
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.35
TT8	1696	19	339.31
LPSleep	15334	2	339.18
TT8_Active	450	19	90.07
TT8_Sampling	1974	39	793.64
TT8_CF8	583	45	269.97
TT8_Kalman	33	81	27.56
Analog_circuits	1453	12	176.14
GPS_charging	0	0	0.00
Compass	1940	8	156.77
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	-41.20	0.000	2	0.000	0.000	50	2676	3073
62	-1.10	-146.6	3.4	-8.6	2	88	12.02	2.75	-7.62	0.000	4	0.155	0.091	2195	1262	3501
179	-1.10	-146.6	19.3	-11.1	7	183	0.00	2.65	0.00	0.000	6	0.000	0.067	2195	2677	3502
501	-1.10	-146.6	44.2	-6.6	23	505	0.00	2.15	0.00	0.000	4	0.000	0.094	2195	3789	3502
597	-1.10	-146.6	51.7	-8.3	27	601	0.00	2.03	0.00	0.000	6	0.000	0.058	2195	2678	3502
925	-1.10	-146.6	75.9	-7.6	43	926	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2678	3502
1234	-1.10	-146.6	100.7	-8.2	58	1235	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2678	3502
1543	-1.10	-146.6	125.7	-8.0	73	1544	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2678	3502
1855	-1.10	-146.6	151.3	-8.5	88	1859	0.00	2.15	0.00	0.000	4	0.000	0.090	2194	3789	3501
1894	-1.10	-146.6	155.0	-8.3	89	1900	0.00	2.03	0.00	0.000	6	0.000	0.058	2194	2675	3502
2210	-1.10	-146.6	180.4	-8.1	105	2214	0.00	2.62	0.00	0.000	4	0.000	0.074	2195	1257	3502
2238	-1.10	-146.6	182.9	-8.4	106	2242	0.00	2.62	0.00	0.000	6	0.000	0.064	2195	2676	3502
2554	-1.10	-146.6	208.6	-8.0	121	2558	0.00	2.12	0.00	0.000	4	0.000	0.092	2195	3785	3501
2616	-1.10	-146.6	214.4	-9.6	123	2622	0.00	2.03	0.00	0.000	6	0.000	0.060	2195	2675	3502
2932	-1.10	-146.6	241.4	-8.3	139	2933	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2675	3501
3241	-1.10	-146.6	269.0	-9.0	154	3245	0.00	2.62	0.00	0.000	4	0.000	0.074	2195	1256	3502
3274	-1.10	-146.6	272.0	-8.9	155	3280	0.00	2.62	0.00	0.000	6	0.000	0.067	2195	2676	3502
3591	-1.10	-146.6	298.3	-8.4	171	3594	0.00	2.15	0.00	0.000	4	0.000	0.092	2195	3794	3502
3652	-1.10	-146.6	303.8	-8.7	173	3658	0.00	2.05	0.00	0.000	6	0.000	0.058	2194	2672	3502
3969	-1.10	-146.6	329.9	-8.1	189	3973	0.00	2.62	0.00	0.000	4	0.000	0.074	2194	1248	3502
3998	-1.10	-146.6	332.3	-8.1	190	4002	0.00	2.65	0.00	0.000	6	0.000	0.063	2195	2685	3502
4314	-1.10	-146.6	355.2	-7.1	205	4317	0.00	2.10	0.00	0.000	4	0.000	0.091	2195	3784	3502
4382	-1.10	-146.6	360.0	-7.0	208	4386	0.00	2.03	0.00	0.000	6	0.000	0.058	2195	2669	3502
4715	-1.10	-146.6	381.1	-6.3	224	4716	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2669	3502
5026	-1.10	-146.6	401.2	-6.4	239	5027	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2669	3502
5333	-1.10	-146.6	423.2	-7.2	254	5334	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2669	3502
5643	-1.10	-146.6	443.5	-6.5	269	5644	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2669	3502
5952	-1.10	-146.6	466.5	-7.5	284	5953	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2669	3502
6261	-1.10	-146.6	489.9	-7.6	299	6262	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2669	3502
6571	-1.10	-146.6	515.1	-8.4	314	6572	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2669	3502
6880	-1.10	-146.6	540.7	-8.2	329	6881	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2669	3502
7189	-1.10	-146.6	567.2	-8.7	344	7190	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2669	3502
7499	-1.10	-146.6	590.9	-7.8	359	7500	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2669	3502
7807	-1.10	-146.6	614.2	-6.7	374	7811	0.00	2.15	0.00	0.000	4	0.000	0.087	2195	3783	3502
7876	-1.10	-146.6	618.7	-7.1	377	7879	0.00	2.00	0.00	0.000	6	0.000	0.051	2194	2665	3502
8209	-1.10	-146.6	642.6	-7.6	393	8212	0.00	2.17	0.00	0.000	4	0.000	0.089	2195	3792	3502
8255	-1.10	-146.6	646.1	-7.4	395	8258	0.00	2.00	0.00	0.000	6	0.000	0.051	2195	2673	3502
8588	-1.10	-146.6	668.3	-5.9	411	8592	0.00	2.58	0.00	0.000	4	0.000	0.067	2194	1260	3502
8731	-1.10	-146.6	675.9	-5.5	417	8736	0.00	2.60	0.00	0.000	6	0.000	0.060	2195	2680	3502
9047	-1.10	-146.6	697.1	-6.8	432	9051	0.00	2.12	0.00	0.000	4	0.000	0.092	2195	3790	3502
9099	-1.10	-146.6	700.6	-5.7	434	9102	0.00	2.00	0.00	0.000	6	0.000	0.050	2194	2672	3502
9196	end dive: BOTTOM_OBSTACLE_DETECTED
state	9196	begin apogee
9205	-0.42	0.0	706.7	6.0	439	9333	0.77	0.00	124.90	1.144	6	0.095	0.000	2349	2024	2902
9334	end apogee: CONTROL_FINISHED_OK
state	9334	begin climb
9337	1.10	146.6	710.4	0.0	445	9469	1.52	2.72	122.65	1.110	4	0.057	0.063	2677	607	2304
9568	1.10	146.6	702.3	7.7	455	9575	0.00	2.53	0.00	0.000	6	0.000	0.037	2677	2052	2304
9885	1.17	204.1	688.7	4.4	471	9940	0.00	2.62	49.17	1.100	4	0.000	0.065	2677	3419	2070
10053	1.20	225.8	679.9	5.4	478	10081	0.10	2.53	19.52	1.053	6	0.051	0.045	2709	2017	1981
10393	1.22	246.0	660.3	5.4	495	10418	0.00	2.67	18.40	1.055	4	0.000	0.064	2709	617	1899
10475	1.22	246.0	654.9	6.4	498	10481	0.00	2.50	0.00	0.000	6	0.000	0.039	2709	2029	1898
10791	1.22	246.0	634.9	6.6	514	10792	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2029	1897
11101	1.22	246.0	613.7	7.2	529	11105	0.00	2.58	0.00	0.000	4	0.000	0.065	2709	3427	1897
11173	1.22	246.0	608.5	7.4	532	11177	0.00	2.53	0.00	0.000	6	0.000	0.047	2709	2021	1897
11489	1.22	246.0	585.9	7.3	547	11493	0.00	2.62	0.00	0.000	4	0.000	0.064	2709	3435	1896
11516	1.22	246.0	583.9	7.1	548	11521	0.00	2.53	0.00	0.000	6	0.000	0.045	2709	2024	1897
11832	1.22	246.0	561.0	7.7	563	11833	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2024	1896
12141	1.22	246.0	537.4	7.7	578	12143	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2024	1896
12451	1.22	246.0	515.6	6.6	593	12455	0.00	2.60	0.00	0.000	4	0.000	0.062	2710	3434	1897
12490	1.22	246.0	512.5	7.5	594	12496	0.00	2.53	0.00	0.000	6	0.000	0.045	2709	2021	1897
12805	1.22	246.0	491.7	6.4	610	12807	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2021	1897
13115	1.22	246.0	472.0	6.5	625	13119	0.00	2.60	0.00	0.000	4	0.000	0.063	2709	3429	1897
13159	1.23	247.9	469.2	5.9	627	13164	0.00	2.53	0.00	0.000	6	0.000	0.046	2709	2017	1897
13481	1.23	248.8	449.9	6.0	643	13490	0.00	2.65	3.92	0.643	4	0.000	0.065	2709	3432	1887
13520	1.23	248.8	447.3	6.5	644	13526	0.00	2.53	0.00	0.000	6	0.000	0.047	2709	2025	1887
13836	1.23	248.8	426.3	6.8	660	13837	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2025	1887
14145	1.23	248.8	405.1	6.6	675	14146	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2025	1888
14455	1.23	248.8	383.2	6.9	690	14459	0.00	2.60	0.00	0.000	4	0.000	0.067	2709	3429	1887
14488	1.23	248.8	380.8	7.0	691	14492	0.00	2.50	0.00	0.000	6	0.000	0.049	2709	2027	1888
14810	1.23	248.8	360.3	6.2	707	14814	0.00	2.62	0.00	0.000	4	0.000	0.067	2709	3438	1888
14837	1.23	248.8	358.4	6.8	708	14842	0.00	2.55	0.00	0.000	6	0.000	0.049	2709	2018	1888
15153	1.23	248.8	338.0	6.6	723	15158	0.00	2.62	0.00	0.000	4	0.000	0.067	2709	3429	1888
15176	1.23	248.8	336.3	6.8	724	15180	0.00	2.53	0.00	0.000	6	0.000	0.049	2709	2024	1888
15497	1.23	248.8	312.8	7.4	740	15498	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2024	1888
15807	1.23	248.8	288.4	8.2	755	15811	0.00	2.62	0.00	0.000	4	0.000	0.069	2710	3430	1889
15847	1.23	248.8	285.0	8.1	756	15853	0.00	2.55	0.00	0.000	6	0.000	0.051	2709	2015	1888
16163	1.23	248.8	259.2	8.6	772	16164	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2015	1888
16473	1.23	248.8	233.5	8.1	787	16477	0.00	2.65	0.00	0.000	4	0.000	0.068	2709	3438	1889
16506	1.23	248.8	230.7	8.0	788	16512	0.00	2.55	0.00	0.000	6	0.000	0.051	2709	2020	1888
16821	1.23	248.8	205.9	7.8	804	16823	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2020	1889
17131	1.23	248.8	183.3	6.8	819	17135	0.00	2.62	0.00	0.000	4	0.000	0.067	2710	3430	1889
17170	1.23	248.8	180.6	7.3	820	17176	0.00	2.53	0.00	0.000	6	0.000	0.051	2709	2022	1888
17486	1.23	248.8	159.5	6.6	836	17487	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2022	1889
17795	1.23	248.8	138.8	7.1	851	17800	0.00	2.62	0.00	0.000	4	0.000	0.067	2710	3435	1889
17840	1.23	248.8	135.1	7.9	853	17844	0.00	2.55	0.00	0.000	6	0.000	0.052	2709	2021	1890
18161	1.23	248.8	108.4	8.5	869	18166	0.00	2.62	0.00	0.000	4	0.000	0.067	2709	3434	1889
18189	1.23	248.8	106.0	8.9	870	18194	0.00	2.55	0.00	0.000	6	0.000	0.053	2709	2023	1889
18507	1.23	248.8	82.9	7.7	885	18512	0.00	2.55	0.00	0.000	4	0.000	0.063	2709	616	1889
18536	1.23	248.8	79.9	9.3	886	18540	0.00	2.47	0.00	0.000	6	0.000	0.038	2709	2032	1890
18852	1.23	248.8	55.5	7.4	901	18853	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2032	1889
19162	1.23	248.8	34.3	7.7	916	19166	0.00	2.60	0.00	0.000	4	0.000	0.070	2709	3439	1889
19189	1.23	248.8	31.9	8.6	917	19193	0.00	2.58	0.00	0.000	6	0.000	0.054	2709	2013	1889
19507	1.23	248.8	8.1	7.4	932	19508	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2013	1890
19585	end climb: SURFACE_DEPTH_REACHED
state	19585	begin surface coast
19608	end surface coast: CONTROL_FINISHED_OK
state	19608	begin surface