Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 269 * 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 269 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 2075 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 19 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 -148100.8 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 -148100.8

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 2075 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2675 MASS 52000 R_PORT_OVSHOOT 17 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 269 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 135537,6325.170,-1317.552,37,1.2,37,-12.4 TGT_NAME IE

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.092,-0.198

_SM_DEPTHo 1.05 KALMAN_X -17260.4,605.4,234.0,-5249.0,-15685.2

_SM_ANGLEo -49.7 KALMAN_Y 43355.7,-1833.2,-1844.5,-97570.9,19334.0

GPS2 140338,6325.167,-1317.520,14,1.4,14,-12.4 MHEAD_RNG_PITCHd_Wd 167.5,18947,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.4,1.027439 ALTIM_BOTTOM_PING 701.6,105.0

SM_CCo 19410,0.00,0.000,0,0,1345,381.93 _24V_AH 23.3,46.915

SM_GC 1.17,12.00,0.00,0.00,0.029,0.000,0.000,50,2669,1345,-10.94,-0.17,381.93 _10V_AH 10.1,26.677

IRIDIUM_FIX 6303.50,-1321.32,160798,090940 DATA_FILE_SIZE 47439,926

TT8_MAMPS 0.028379 CAP_FILE_SIZE 128349,0

HUMID 1788 CFSIZE 260165632,241254400

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

TCM_TEMP 18.90 GPS 210409,192906,6323.322,-1319.022,28,1.3,28,-12.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 100.02 SBE_CT 646 24 361.76

Roll_motor 130 102 313.11 SBE_O2 683 19 302.63

VBD_pump_during_apogee 444 1197 12400.12 WL_BB2F 513 105 1256.27

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 50 103 121.41 nil 0 0 0.00

Iridium_during_connect 120 160 448.28 nil 0 0 0.00

Iridium_during_xfer 129 223 671.95

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.31

TT8 1651 19 330.25

LPSleep 15073 2 333.42

TT8_Active 540 19 108.00

TT8_Sampling 1988 39 799.29

TT8_CF8 636 45 294.49

TT8_Kalman 33 81 27.56

Analog_circuits 1557 12 188.73

GPS_charging 0 0 0.00

Compass 1946 8 157.25

RAFOS 0 0 0.00

Transponder 42 30 12.81

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -1.10 -146.6 0.0 0.0 0 101 0.00 0.00 -80.95 0.000 2 0.000 0.000 48 2684 3283

105 -1.10 -146.6 4.1 -4.8 4 127 12.18 2.10 -3.58 0.000 4 0.161 0.103 2195 3778 3502

346 -1.10 -146.6 36.5 -10.5 14 353 0.00 2.05 0.00 0.000 6 0.000 0.069 2196 2676 3502

664 -1.10 -146.6 62.9 -9.5 30 665 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2676 3502

972 -1.10 -146.6 85.9 -6.6 45 976 0.00 2.15 0.00 0.000 4 0.000 0.090 2196 3782 3502

1034 -1.10 -146.6 90.8 -7.8 47 1040 0.00 2.05 0.00 0.000 6 0.000 0.066 2196 2669 3502

1350 -1.10 -146.6 118.4 -8.5 63 1353 0.00 2.17 0.00 0.000 4 0.000 0.091 2195 3783 3502

1389 -1.10 -146.6 122.0 -8.7 64 1395 0.00 2.08 0.00 0.000 6 0.000 0.064 2196 2677 3502

1705 -1.10 -146.6 152.5 -9.8 80 1709 0.00 2.15 0.00 0.000 4 0.000 0.089 2196 3785 3502

1738 -1.10 -146.6 155.9 -10.2 81 1742 0.00 2.08 0.00 0.000 6 0.000 0.066 2195 2666 3502

2060 -1.10 -146.6 186.6 -9.5 97 2064 0.00 2.15 0.00 0.000 4 0.000 0.088 2195 3776 3502

2093 -1.10 -146.6 190.1 -10.7 98 2097 0.00 2.05 0.00 0.000 6 0.000 0.064 2195 2668 3502

2415 -1.10 -146.6 222.0 -10.0 114 2416 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2667 3501

2725 -1.10 -146.6 251.4 -9.3 129 2726 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2667 3501

3034 -1.10 -146.6 278.3 -8.3 144 3035 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2668 3502

3343 -1.10 -146.6 302.1 -7.3 159 3346 0.00 2.15 0.00 0.000 4 0.000 0.086 2195 3781 3502

3382 -1.10 -146.6 305.1 -7.6 160 3388 0.00 2.03 0.00 0.000 6 0.000 0.061 2195 2672 3502

3699 -1.10 -146.6 327.0 -6.9 176 3700 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2672 3502

4007 -1.10 -146.6 349.4 -7.2 191 4008 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2672 3502

4317 -1.10 -146.6 371.6 -7.3 206 4318 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2672 3502

4626 -1.10 -146.6 393.8 -7.1 221 4627 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2672 3501

4935 -1.10 -146.6 416.3 -7.2 236 4936 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2672 3502

5244 -1.10 -146.6 439.1 -7.2 251 5246 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2671 3502

5554 -1.10 -146.6 460.8 -6.9 266 5555 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2671 3502

5863 -1.10 -146.6 482.2 -6.9 281 5867 0.00 2.58 0.00 0.000 4 0.000 0.064 2195 1255 3502

5890 -1.10 -146.6 484.3 -6.8 282 5895 0.00 2.60 0.00 0.000 6 0.000 0.060 2196 2678 3502

6207 -1.10 -146.6 504.2 -6.2 297 6210 0.00 2.10 0.00 0.000 4 0.000 0.087 2195 3783 3502

6291 -1.10 -146.6 510.1 -6.9 300 6297 0.00 2.00 0.00 0.000 6 0.000 0.054 2195 2666 3502

6607 -1.10 -146.6 532.8 -6.9 316 6608 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2666 3501

6917 -1.10 -146.6 552.2 -7.4 331 6920 0.00 2.17 0.00 0.000 4 0.000 0.087 2196 3790 3502

6985 -1.10 -146.6 558.9 -7.5 334 6989 0.00 2.00 0.00 0.000 6 0.000 0.051 2195 2673 3502

7318 -1.10 -146.6 581.2 -7.0 350 7322 0.00 2.60 0.00 0.000 4 0.000 0.067 2195 1253 3502

7362 -1.10 -146.6 584.3 -7.1 352 7366 0.00 2.62 0.00 0.000 6 0.000 0.062 2195 2677 3502

7683 -1.10 -146.6 606.1 -6.4 368 7684 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2677 3501

7993 -1.10 -146.6 625.0 -5.4 383 7997 0.00 2.10 0.00 0.000 4 0.000 0.087 2195 3783 3502

8027 -1.10 -146.6 627.1 -5.4 384 8031 0.00 2.00 0.00 0.000 6 0.000 0.052 2196 2669 3502

8349 -1.10 -146.6 639.2 -3.2 400 8354 0.00 2.60 0.00 0.000 4 0.000 0.069 2195 1248 3502

8400 -1.10 -146.6 640.8 -3.1 402 8404 0.00 2.65 0.00 0.000 6 0.000 0.063 2195 2686 3502

8717 -1.10 -146.6 649.7 -2.4 417 8718 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2686 3501

9026 -1.10 -146.6 654.1 -1.7 432 9027 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2686 3501

9335 -1.10 -146.6 669.7 -7.4 447 9339 0.00 2.65 0.00 0.000 4 0.000 0.066 2196 1247 3501

9368 -1.10 -146.6 672.3 -7.9 448 9374 0.00 2.62 0.00 0.000 6 0.000 0.062 2196 2675 3500

9688 -1.10 -146.6 701.6 -10.5 464 9692 0.00 2.12 0.00 0.000 4 0.000 0.089 2196 3785 3501

9738 -1.10 -146.6 707.8 -11.1 466 9742 0.00 2.00 0.00 0.000 6 0.000 0.051 2196 2670 3501

10066 -1.10 -146.6 751.1 -15.2 482 10067 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2670 3500

10375 -1.10 -146.6 795.1 -9.8 497 10379 0.00 2.17 0.00 0.000 4 0.000 0.092 2195 3785 3500

10389 end dive: BOTTOM_OBSTACLE_DETECTED

state 10389 begin apogee

10400 -0.42 0.0 796.5 9.3 497 10529 0.73 0.00 125.68 1.197 6 0.089 0.000 2345 2071 2902

10529 end apogee: CONTROL_FINISHED_OK

state 10529 begin climb

10533 1.10 146.6 798.5 0.0 504 10665 1.55 2.70 123.93 1.162 4 0.054 0.063 2679 658 2304

10923 1.10 146.6 790.9 9.8 521 10930 0.00 2.53 0.00 0.000 6 0.000 0.038 2679 2092 2303

11240 1.14 177.9 780.1 5.1 537 11274 0.00 2.65 28.00 1.141 4 0.000 0.063 2679 3474 2176

11528 1.14 177.9 752.8 11.9 550 11533 0.00 2.53 0.00 0.000 6 0.000 0.046 2680 2068 2176

11856 1.14 177.9 708.1 12.7 566 11860 0.00 2.58 0.00 0.000 4 0.000 0.063 2679 659 2175

11896 1.14 177.9 704.5 8.2 568 11900 0.00 2.50 0.00 0.000 6 0.000 0.041 2679 2074 2174

12222 1.30 303.8 690.8 2.5 584 12334 0.20 2.70 105.28 1.144 4 0.038 0.067 2742 3491 1663

12374 1.30 303.8 684.2 6.2 591 12378 0.00 2.55 0.00 0.000 6 0.000 0.043 2741 2072 1663

12695 1.30 303.8 660.8 8.0 607 12696 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2071 1663

13004 1.30 303.8 638.3 7.1 622 13009 0.00 2.58 0.00 0.000 4 0.000 0.060 2741 656 1662

13038 1.30 303.8 635.5 8.4 623 13044 0.00 2.53 0.00 0.000 6 0.000 0.040 2741 2085 1662

13354 1.30 303.8 608.9 8.7 639 13355 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2086 1662

13663 1.30 303.8 578.4 10.3 654 13667 0.00 2.60 0.00 0.000 4 0.000 0.058 2741 658 1662

13719 1.30 303.8 571.8 11.4 656 13723 0.00 2.50 0.00 0.000 6 0.000 0.038 2742 2080 1663

14035 1.30 303.8 534.5 11.4 671 14036 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2080 1662

14344 1.30 303.8 501.6 10.5 686 14345 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2081 1663

14654 1.30 303.8 467.3 11.1 701 14658 0.00 2.58 0.00 0.000 4 0.000 0.059 2741 666 1663

14692 1.30 303.8 462.8 11.3 702 14699 0.00 2.47 0.00 0.000 6 0.000 0.039 2741 2078 1663

15008 1.30 303.8 430.2 10.2 718 15009 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2078 1663

15318 1.30 303.8 400.6 9.2 733 15322 0.00 2.58 0.00 0.000 4 0.000 0.059 2742 667 1663

15345 1.30 303.8 397.8 10.3 734 15349 0.00 2.50 0.00 0.000 6 0.000 0.040 2742 2083 1663

15661 1.30 303.8 368.7 9.1 749 15665 0.00 2.60 0.00 0.000 4 0.000 0.059 2742 659 1663

15683 1.30 303.8 366.7 9.1 750 15687 0.00 2.50 0.00 0.000 6 0.000 0.041 2742 2076 1663

16004 1.30 303.8 338.1 8.7 766 16005 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2076 1664

16313 1.30 303.8 311.0 8.6 781 16314 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2076 1664

16623 1.30 303.8 283.8 8.7 796 16624 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2076 1664

16932 1.30 303.8 255.8 9.4 811 16933 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2076 1664

17241 1.30 303.8 225.7 9.9 826 17242 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2076 1664

17551 1.30 303.8 192.6 10.9 841 17552 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2076 1665

17860 1.30 303.8 157.7 11.2 856 17861 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2075 1665

18169 1.30 303.8 121.7 11.5 871 18173 0.00 2.60 0.00 0.000 4 0.000 0.062 2742 661 1665

18219 1.30 303.8 115.1 13.6 873 18223 0.00 2.50 0.00 0.000 6 0.000 0.044 2742 2078 1665

18535 1.30 303.8 79.8 11.0 888 18536 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2078 1665

18844 1.30 303.8 48.5 8.3 903 18848 0.00 2.62 0.00 0.000 4 0.000 0.066 2742 658 1665

18907 1.30 303.8 41.4 11.2 906 18911 0.00 2.53 0.00 0.000 6 0.000 0.045 2742 2081 1665

19234 1.30 303.8 9.2 9.9 922 19238 0.00 2.60 0.00 0.000 4 0.000 0.067 2741 3497 1665

19252 1.40 388.2 8.4 3.7 923 19319 0.00 2.53 61.62 0.689 2 0.000 0.041 2742 2056 1348

19320 end climb: SURFACE_DEPTH_REACHED

state 19320 begin surface coast

19324 end surface coast: CONTROL_FINISHED_OK

state 19324 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	269	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	2075	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	19	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	-148100.8	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	135537,6325.170,-1317.552,37,1.2,37,-12.4	TGT_NAME	IE
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.092,-0.198
_SM_DEPTHo	1.05	KALMAN_X	-17260.4,605.4,234.0,-5249.0,-15685.2
_SM_ANGLEo	-49.7	KALMAN_Y	43355.7,-1833.2,-1844.5,-97570.9,19334.0
GPS2	140338,6325.167,-1317.520,14,1.4,14,-12.4	MHEAD_RNG_PITCHd_Wd	167.5,18947,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	1.4,1.027439	ALTIM_BOTTOM_PING	701.6,105.0
SM_CCo	19410,0.00,0.000,0,0,1345,381.93	_24V_AH	23.3,46.915
SM_GC	1.17,12.00,0.00,0.00,0.029,0.000,0.000,50,2669,1345,-10.94,-0.17,381.93	_10V_AH	10.1,26.677
IRIDIUM_FIX	6303.50,-1321.32,160798,090940	DATA_FILE_SIZE	47439,926
TT8_MAMPS	0.028379	CAP_FILE_SIZE	128349,0
HUMID	1788	CFSIZE	260165632,241254400
INTERNAL_PRESSURE	8.53548	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.90	GPS	210409,192906,6323.322,-1319.022,28,1.3,28,-12.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	100.02	SBE_CT	646	24	361.76
Roll_motor	130	102	313.11	SBE_O2	683	19	302.63
VBD_pump_during_apogee	444	1197	12400.12	WL_BB2F	513	105	1256.27
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	50	103	121.41	nil	0	0	0.00
Iridium_during_connect	120	160	448.28	nil	0	0	0.00
Iridium_during_xfer	129	223	671.95
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.31
TT8	1651	19	330.25
LPSleep	15073	2	333.42
TT8_Active	540	19	108.00
TT8_Sampling	1988	39	799.29
TT8_CF8	636	45	294.49
TT8_Kalman	33	81	27.56
Analog_circuits	1557	12	188.73
GPS_charging	0	0	0.00
Compass	1946	8	157.25
RAFOS	0	0	0.00
Transponder	42	30	12.81

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-1.10	-146.6	0.0	0.0	0	101	0.00	0.00	-80.95	0.000	2	0.000	0.000	48	2684	3283
105	-1.10	-146.6	4.1	-4.8	4	127	12.18	2.10	-3.58	0.000	4	0.161	0.103	2195	3778	3502
346	-1.10	-146.6	36.5	-10.5	14	353	0.00	2.05	0.00	0.000	6	0.000	0.069	2196	2676	3502
664	-1.10	-146.6	62.9	-9.5	30	665	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2676	3502
972	-1.10	-146.6	85.9	-6.6	45	976	0.00	2.15	0.00	0.000	4	0.000	0.090	2196	3782	3502
1034	-1.10	-146.6	90.8	-7.8	47	1040	0.00	2.05	0.00	0.000	6	0.000	0.066	2196	2669	3502
1350	-1.10	-146.6	118.4	-8.5	63	1353	0.00	2.17	0.00	0.000	4	0.000	0.091	2195	3783	3502
1389	-1.10	-146.6	122.0	-8.7	64	1395	0.00	2.08	0.00	0.000	6	0.000	0.064	2196	2677	3502
1705	-1.10	-146.6	152.5	-9.8	80	1709	0.00	2.15	0.00	0.000	4	0.000	0.089	2196	3785	3502
1738	-1.10	-146.6	155.9	-10.2	81	1742	0.00	2.08	0.00	0.000	6	0.000	0.066	2195	2666	3502
2060	-1.10	-146.6	186.6	-9.5	97	2064	0.00	2.15	0.00	0.000	4	0.000	0.088	2195	3776	3502
2093	-1.10	-146.6	190.1	-10.7	98	2097	0.00	2.05	0.00	0.000	6	0.000	0.064	2195	2668	3502
2415	-1.10	-146.6	222.0	-10.0	114	2416	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2667	3501
2725	-1.10	-146.6	251.4	-9.3	129	2726	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2667	3501
3034	-1.10	-146.6	278.3	-8.3	144	3035	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2668	3502
3343	-1.10	-146.6	302.1	-7.3	159	3346	0.00	2.15	0.00	0.000	4	0.000	0.086	2195	3781	3502
3382	-1.10	-146.6	305.1	-7.6	160	3388	0.00	2.03	0.00	0.000	6	0.000	0.061	2195	2672	3502
3699	-1.10	-146.6	327.0	-6.9	176	3700	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2672	3502
4007	-1.10	-146.6	349.4	-7.2	191	4008	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2672	3502
4317	-1.10	-146.6	371.6	-7.3	206	4318	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2672	3502
4626	-1.10	-146.6	393.8	-7.1	221	4627	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2672	3501
4935	-1.10	-146.6	416.3	-7.2	236	4936	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2672	3502
5244	-1.10	-146.6	439.1	-7.2	251	5246	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2671	3502
5554	-1.10	-146.6	460.8	-6.9	266	5555	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2671	3502
5863	-1.10	-146.6	482.2	-6.9	281	5867	0.00	2.58	0.00	0.000	4	0.000	0.064	2195	1255	3502
5890	-1.10	-146.6	484.3	-6.8	282	5895	0.00	2.60	0.00	0.000	6	0.000	0.060	2196	2678	3502
6207	-1.10	-146.6	504.2	-6.2	297	6210	0.00	2.10	0.00	0.000	4	0.000	0.087	2195	3783	3502
6291	-1.10	-146.6	510.1	-6.9	300	6297	0.00	2.00	0.00	0.000	6	0.000	0.054	2195	2666	3502
6607	-1.10	-146.6	532.8	-6.9	316	6608	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2666	3501
6917	-1.10	-146.6	552.2	-7.4	331	6920	0.00	2.17	0.00	0.000	4	0.000	0.087	2196	3790	3502
6985	-1.10	-146.6	558.9	-7.5	334	6989	0.00	2.00	0.00	0.000	6	0.000	0.051	2195	2673	3502
7318	-1.10	-146.6	581.2	-7.0	350	7322	0.00	2.60	0.00	0.000	4	0.000	0.067	2195	1253	3502
7362	-1.10	-146.6	584.3	-7.1	352	7366	0.00	2.62	0.00	0.000	6	0.000	0.062	2195	2677	3502
7683	-1.10	-146.6	606.1	-6.4	368	7684	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2677	3501
7993	-1.10	-146.6	625.0	-5.4	383	7997	0.00	2.10	0.00	0.000	4	0.000	0.087	2195	3783	3502
8027	-1.10	-146.6	627.1	-5.4	384	8031	0.00	2.00	0.00	0.000	6	0.000	0.052	2196	2669	3502
8349	-1.10	-146.6	639.2	-3.2	400	8354	0.00	2.60	0.00	0.000	4	0.000	0.069	2195	1248	3502
8400	-1.10	-146.6	640.8	-3.1	402	8404	0.00	2.65	0.00	0.000	6	0.000	0.063	2195	2686	3502
8717	-1.10	-146.6	649.7	-2.4	417	8718	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2686	3501
9026	-1.10	-146.6	654.1	-1.7	432	9027	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2686	3501
9335	-1.10	-146.6	669.7	-7.4	447	9339	0.00	2.65	0.00	0.000	4	0.000	0.066	2196	1247	3501
9368	-1.10	-146.6	672.3	-7.9	448	9374	0.00	2.62	0.00	0.000	6	0.000	0.062	2196	2675	3500
9688	-1.10	-146.6	701.6	-10.5	464	9692	0.00	2.12	0.00	0.000	4	0.000	0.089	2196	3785	3501
9738	-1.10	-146.6	707.8	-11.1	466	9742	0.00	2.00	0.00	0.000	6	0.000	0.051	2196	2670	3501
10066	-1.10	-146.6	751.1	-15.2	482	10067	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2670	3500
10375	-1.10	-146.6	795.1	-9.8	497	10379	0.00	2.17	0.00	0.000	4	0.000	0.092	2195	3785	3500
10389	end dive: BOTTOM_OBSTACLE_DETECTED
state	10389	begin apogee
10400	-0.42	0.0	796.5	9.3	497	10529	0.73	0.00	125.68	1.197	6	0.089	0.000	2345	2071	2902
10529	end apogee: CONTROL_FINISHED_OK
state	10529	begin climb
10533	1.10	146.6	798.5	0.0	504	10665	1.55	2.70	123.93	1.162	4	0.054	0.063	2679	658	2304
10923	1.10	146.6	790.9	9.8	521	10930	0.00	2.53	0.00	0.000	6	0.000	0.038	2679	2092	2303
11240	1.14	177.9	780.1	5.1	537	11274	0.00	2.65	28.00	1.141	4	0.000	0.063	2679	3474	2176
11528	1.14	177.9	752.8	11.9	550	11533	0.00	2.53	0.00	0.000	6	0.000	0.046	2680	2068	2176
11856	1.14	177.9	708.1	12.7	566	11860	0.00	2.58	0.00	0.000	4	0.000	0.063	2679	659	2175
11896	1.14	177.9	704.5	8.2	568	11900	0.00	2.50	0.00	0.000	6	0.000	0.041	2679	2074	2174
12222	1.30	303.8	690.8	2.5	584	12334	0.20	2.70	105.28	1.144	4	0.038	0.067	2742	3491	1663
12374	1.30	303.8	684.2	6.2	591	12378	0.00	2.55	0.00	0.000	6	0.000	0.043	2741	2072	1663
12695	1.30	303.8	660.8	8.0	607	12696	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2071	1663
13004	1.30	303.8	638.3	7.1	622	13009	0.00	2.58	0.00	0.000	4	0.000	0.060	2741	656	1662
13038	1.30	303.8	635.5	8.4	623	13044	0.00	2.53	0.00	0.000	6	0.000	0.040	2741	2085	1662
13354	1.30	303.8	608.9	8.7	639	13355	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2086	1662
13663	1.30	303.8	578.4	10.3	654	13667	0.00	2.60	0.00	0.000	4	0.000	0.058	2741	658	1662
13719	1.30	303.8	571.8	11.4	656	13723	0.00	2.50	0.00	0.000	6	0.000	0.038	2742	2080	1663
14035	1.30	303.8	534.5	11.4	671	14036	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2080	1662
14344	1.30	303.8	501.6	10.5	686	14345	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2081	1663
14654	1.30	303.8	467.3	11.1	701	14658	0.00	2.58	0.00	0.000	4	0.000	0.059	2741	666	1663
14692	1.30	303.8	462.8	11.3	702	14699	0.00	2.47	0.00	0.000	6	0.000	0.039	2741	2078	1663
15008	1.30	303.8	430.2	10.2	718	15009	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2078	1663
15318	1.30	303.8	400.6	9.2	733	15322	0.00	2.58	0.00	0.000	4	0.000	0.059	2742	667	1663
15345	1.30	303.8	397.8	10.3	734	15349	0.00	2.50	0.00	0.000	6	0.000	0.040	2742	2083	1663
15661	1.30	303.8	368.7	9.1	749	15665	0.00	2.60	0.00	0.000	4	0.000	0.059	2742	659	1663
15683	1.30	303.8	366.7	9.1	750	15687	0.00	2.50	0.00	0.000	6	0.000	0.041	2742	2076	1663
16004	1.30	303.8	338.1	8.7	766	16005	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2076	1664
16313	1.30	303.8	311.0	8.6	781	16314	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2076	1664
16623	1.30	303.8	283.8	8.7	796	16624	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2076	1664
16932	1.30	303.8	255.8	9.4	811	16933	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2076	1664
17241	1.30	303.8	225.7	9.9	826	17242	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2076	1664
17551	1.30	303.8	192.6	10.9	841	17552	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2076	1665
17860	1.30	303.8	157.7	11.2	856	17861	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2075	1665
18169	1.30	303.8	121.7	11.5	871	18173	0.00	2.60	0.00	0.000	4	0.000	0.062	2742	661	1665
18219	1.30	303.8	115.1	13.6	873	18223	0.00	2.50	0.00	0.000	6	0.000	0.044	2742	2078	1665
18535	1.30	303.8	79.8	11.0	888	18536	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2078	1665
18844	1.30	303.8	48.5	8.3	903	18848	0.00	2.62	0.00	0.000	4	0.000	0.066	2742	658	1665
18907	1.30	303.8	41.4	11.2	906	18911	0.00	2.53	0.00	0.000	6	0.000	0.045	2742	2081	1665
19234	1.30	303.8	9.2	9.9	922	19238	0.00	2.60	0.00	0.000	4	0.000	0.067	2741	3497	1665
19252	1.40	388.2	8.4	3.7	923	19319	0.00	2.53	61.62	0.689	2	0.000	0.041	2742	2056	1348
19320	end climb: SURFACE_DEPTH_REACHED
state	19320	begin surface coast
19324	end surface coast: CONTROL_FINISHED_OK
state	19324	begin surface