Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 275 * 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 275 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 10 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 -148263.38 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 -148263.38

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 10 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 275 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 215936,6316.399,-1259.378,27,1.2,27,-12.1 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.064,-0.209

_SM_DEPTHo 1.61 KALMAN_X -1944.3,143.6,178.4,-5110.5,13642.3

_SM_ANGLEo -62.0 KALMAN_Y 46306.4,-196.6,578.2,-120908.8,11374.4

GPS2 220722,6316.410,-1259.156,18,3.2,37,-12.1 MHEAD_RNG_PITCHd_Wd 209.1,49160,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026700 ALTIM_BOTTOM_PING 575.0,53.3

SM_CCo 16186,0.00,0.000,0,0,1906,244.32 _24V_AH 23.3,47.607

SM_GC 1.62,11.65,0.00,0.00,0.026,0.000,0.000,46,2669,1906,-10.92,-0.17,244.32 _10V_AH 10.1,27.181

IRIDIUM_FIX 6249.28,-1305.41,170798,181818 DATA_FILE_SIZE 38017,771

TT8_MAMPS 0.029146 CAP_FILE_SIZE 114919,0

HUMID 1778 CFSIZE 260165632,240906240

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

TCM_TEMP 16.90 GPS 230409,023927,6314.747,-1301.360,31,3.0,50,-12.1

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 97.58 SBE_CT 534 24 299.02

Roll_motor 143 92 308.28 SBE_O2 573 19 253.78

VBD_pump_during_apogee 330 1078 8296.23 WL_BB2F 504 105 1235.06

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 31 103 75.10 nil 0 0 0.00

Iridium_during_connect 31 160 118.57 nil 0 0 0.00

Iridium_during_xfer 254 223 1322.78

Transponder_ping 4 420 46.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 38 50 19.22

TT8 1412 19 282.56

LPSleep 12500 2 276.50

TT8_Active 416 19 83.34

TT8_Sampling 1693 39 680.60

TT8_CF8 624 45 289.04

TT8_Kalman 33 81 27.55

Analog_circuits 1278 12 154.94

GPS_charging 0 0 0.00

Compass 1634 8 132.06

RAFOS 0 0 0.00

Transponder 34 30 10.32

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.10 -146.6 0.0 0.0 0 57 0.00 0.00 -36.25 0.000 2 0.000 0.000 53 2659 3180

61 -1.10 -146.6 3.3 -6.4 2 84 12.15 2.67 -5.60 0.000 4 0.160 0.086 2196 1276 3502

95 -1.10 -146.6 12.6 -19.8 3 100 0.00 2.60 0.00 0.000 6 0.000 0.062 2196 2677 3503

411 -1.10 -146.6 42.5 -10.9 18 415 0.00 2.12 0.00 0.000 4 0.000 0.089 2196 3785 3502

473 -1.10 -146.6 47.1 -7.3 20 480 0.00 2.00 0.00 0.000 6 0.000 0.055 2196 2676 3502

789 -1.10 -146.6 70.1 -7.4 36 793 0.00 2.15 0.00 0.000 4 0.000 0.089 2196 3783 3502

837 -1.10 -146.6 73.7 -8.3 38 841 0.00 2.03 0.00 0.000 6 0.000 0.056 2196 2669 3502

1171 -1.10 -146.6 98.6 -7.0 54 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2669 3502

1479 -1.10 -146.6 121.6 -7.3 69 1483 0.00 2.17 0.00 0.000 4 0.000 0.091 2197 3783 3502

1525 -1.10 -146.6 125.2 -7.4 71 1529 0.00 2.03 0.00 0.000 6 0.000 0.058 2196 2668 3502

1859 -1.10 -146.6 150.5 -7.9 87 1864 0.00 2.60 0.00 0.000 4 0.000 0.073 2196 1259 3502

1888 -1.10 -146.6 153.1 -8.6 88 1892 0.00 2.62 0.00 0.000 6 0.000 0.062 2196 2682 3502

2203 -1.10 -146.6 179.1 -8.2 103 2207 0.00 2.10 0.00 0.000 4 0.000 0.088 2196 3783 3502

2249 -1.10 -146.6 183.0 -8.9 105 2253 0.00 2.03 0.00 0.000 6 0.000 0.057 2196 2668 3502

2582 -1.10 -146.6 209.0 -7.6 121 2583 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2667 3502

2891 -1.10 -146.6 232.8 -7.8 136 2892 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2668 3502

3200 -1.10 -146.6 255.9 -7.4 151 3201 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2668 3502

3510 -1.10 -146.6 278.9 -7.4 166 3511 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2667 3502

3819 -1.10 -146.6 301.9 -7.3 181 3820 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2667 3502

4128 -1.10 -146.6 323.7 -7.0 196 4129 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2667 3502

4438 -1.10 -146.6 345.4 -7.1 211 4439 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2667 3502

4747 -1.10 -146.6 369.9 -8.2 226 4748 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2667 3502

5056 -1.10 -146.6 395.0 -8.4 241 5060 0.00 2.60 0.00 0.000 4 0.000 0.069 2197 1245 3502

5084 -1.10 -146.6 397.4 -8.2 242 5088 0.00 2.62 0.00 0.000 6 0.000 0.062 2196 2675 3502

5399 -1.10 -146.6 423.5 -8.0 257 5403 0.00 2.10 0.00 0.000 4 0.000 0.089 2197 3785 3502

5450 -1.10 -146.6 427.8 -8.0 259 5453 0.00 2.03 0.00 0.000 6 0.000 0.055 2197 2664 3502

5777 -1.10 -146.6 454.6 -8.7 275 5778 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2664 3502

6086 -1.10 -146.6 480.2 -8.2 290 6087 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2664 3502

6395 -1.10 -146.6 504.5 -7.8 305 6397 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2664 3502

6705 -1.10 -146.6 528.4 -7.8 320 6709 0.00 2.55 0.00 0.000 4 0.000 0.067 2196 1256 3502

6755 -1.10 -146.6 532.4 -8.0 322 6759 0.00 2.60 0.00 0.000 6 0.000 0.061 2197 2676 3502

7071 -1.10 -146.6 557.4 -8.2 337 7074 0.00 2.12 0.00 0.000 4 0.000 0.090 2197 3790 3502

7117 -1.10 -146.6 561.3 -9.0 339 7120 0.00 2.00 0.00 0.000 6 0.000 0.053 2197 2672 3501

7449 -1.10 -146.6 592.5 -8.9 355 7453 0.00 2.15 0.00 0.000 4 0.000 0.092 2196 3783 3501

7488 -1.10 -146.6 595.9 -8.3 356 7494 0.00 2.00 0.00 0.000 6 0.000 0.054 2197 2668 3501

7760 end dive: BOTTOM_OBSTACLE_DETECTED

state 7760 begin apogee

7769 -0.42 0.0 619.6 9.1 370 7897 0.75 0.00 124.53 1.078 6 0.097 0.000 2345 2069 2902

7897 end apogee: CONTROL_FINISHED_OK

state 7897 begin climb

7901 1.10 146.6 626.0 0.0 376 8031 1.58 2.62 121.95 1.052 4 0.059 0.058 2680 659 2304

8204 1.17 204.0 621.9 4.4 390 8260 0.00 2.53 49.33 1.029 6 0.000 0.038 2680 2095 2070

8580 1.22 243.9 603.3 4.9 408 8623 0.12 2.62 34.38 1.024 4 0.043 0.063 2723 3486 1906

8647 1.22 243.9 598.6 7.4 411 8651 0.00 2.55 0.00 0.000 6 0.000 0.042 2723 2063 1907

8973 1.22 243.9 576.3 6.2 427 8974 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2063 1906

9283 1.22 243.9 558.1 6.4 442 9287 0.00 2.65 0.00 0.000 4 0.000 0.065 2723 3485 1906

9345 1.22 243.9 553.7 6.9 445 9349 0.00 2.53 0.00 0.000 6 0.000 0.044 2723 2071 1906

9672 1.22 243.9 530.9 7.3 461 9676 0.00 2.55 0.00 0.000 4 0.000 0.059 2723 661 1905

9722 1.22 243.9 526.7 8.0 463 9727 0.00 2.50 0.00 0.000 6 0.000 0.039 2723 2082 1905

10038 1.22 243.9 500.4 8.8 478 10042 0.00 2.58 0.00 0.000 4 0.000 0.058 2723 666 1905

10116 1.22 243.9 492.3 11.2 481 10122 0.00 2.47 0.00 0.000 6 0.000 0.038 2723 2076 1905

10432 1.22 243.9 464.5 8.0 497 10436 0.00 2.55 0.00 0.000 4 0.000 0.057 2723 669 1905

10459 1.22 243.9 462.0 8.6 498 10464 0.00 2.47 0.00 0.000 6 0.000 0.038 2723 2080 1905

10781 1.22 243.9 434.8 8.9 514 10785 0.00 2.58 0.00 0.000 4 0.000 0.066 2723 3484 1905

10808 1.22 243.9 432.2 9.6 515 10812 0.00 2.50 0.00 0.000 6 0.000 0.044 2723 2069 1905

11129 1.22 243.9 402.7 9.1 531 11134 0.00 2.53 0.00 0.000 4 0.000 0.059 2723 667 1905

11185 1.22 243.9 397.0 10.1 533 11191 0.00 2.47 0.00 0.000 6 0.000 0.038 2723 2080 1905

11502 1.22 243.9 367.6 8.9 549 11506 0.00 2.60 0.00 0.000 4 0.000 0.067 2723 3493 1905

11529 1.22 243.9 364.8 9.5 550 11533 0.00 2.53 0.00 0.000 6 0.000 0.045 2723 2076 1905

11845 1.22 243.9 338.0 8.4 565 11849 0.00 2.55 0.00 0.000 4 0.000 0.061 2723 659 1905

11913 1.22 243.9 332.4 7.5 568 11918 0.00 2.50 0.00 0.000 6 0.000 0.040 2723 2085 1905

12240 1.22 243.9 307.7 7.6 584 12245 0.00 2.60 0.00 0.000 4 0.000 0.060 2723 659 1905

12263 1.22 243.9 306.1 7.5 585 12267 0.00 2.47 0.00 0.000 6 0.000 0.039 2723 2078 1905

12590 1.22 243.9 280.1 8.5 601 12595 0.00 2.58 0.00 0.000 4 0.000 0.059 2723 664 1905

12624 1.22 243.9 277.1 8.6 602 12630 0.00 2.50 0.00 0.000 6 0.000 0.041 2723 2085 1905

12940 1.22 243.9 250.4 8.6 618 12944 0.00 2.60 0.00 0.000 4 0.000 0.060 2723 658 1906

12973 1.22 243.9 247.4 9.2 619 12979 0.00 2.50 0.00 0.000 6 0.000 0.041 2723 2080 1906

13289 1.22 243.9 221.0 8.4 635 13293 0.00 2.58 0.00 0.000 4 0.000 0.060 2723 664 1906

13322 1.22 243.9 218.0 8.3 636 13328 0.00 2.50 0.00 0.000 6 0.000 0.040 2723 2085 1906

13638 1.22 243.9 193.6 7.5 652 13639 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2085 1906

13947 1.22 243.9 169.8 7.7 667 13952 0.00 2.60 0.00 0.000 4 0.000 0.061 2723 662 1906

13975 1.22 243.9 167.7 7.7 668 13979 0.00 2.50 0.00 0.000 6 0.000 0.040 2723 2084 1906

14293 1.22 243.9 146.8 6.9 683 14294 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2084 1906

14601 1.22 243.9 123.2 7.6 698 14605 0.00 2.60 0.00 0.000 4 0.000 0.061 2723 662 1907

14651 1.22 243.9 118.9 8.1 700 14655 0.00 2.47 0.00 0.000 6 0.000 0.041 2723 2076 1907

14972 1.22 243.9 93.8 7.9 716 14974 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2076 1907

15282 1.22 243.9 68.2 8.4 731 15286 0.00 2.60 0.00 0.000 4 0.000 0.062 2723 658 1907

15326 1.22 243.9 64.2 8.5 733 15330 0.00 2.50 0.00 0.000 6 0.000 0.041 2723 2076 1907

15648 1.22 243.9 38.5 8.6 749 15652 0.00 2.60 0.00 0.000 4 0.000 0.064 2723 662 1907

15704 1.22 243.9 33.1 9.8 751 15710 0.00 2.50 0.00 0.000 6 0.000 0.044 2723 2080 1907

16022 1.22 243.9 6.5 8.3 767 16023 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2081 1907

16079 end climb: SURFACE_DEPTH_REACHED

state 16079 begin surface coast

16101 end surface coast: CONTROL_FINISHED_OK

state 16101 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	275	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	10	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	-148263.38	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	215936,6316.399,-1259.378,27,1.2,27,-12.1	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.064,-0.209
_SM_DEPTHo	1.61	KALMAN_X	-1944.3,143.6,178.4,-5110.5,13642.3
_SM_ANGLEo	-62.0	KALMAN_Y	46306.4,-196.6,578.2,-120908.8,11374.4
GPS2	220722,6316.410,-1259.156,18,3.2,37,-12.1	MHEAD_RNG_PITCHd_Wd	209.1,49160,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.026700	ALTIM_BOTTOM_PING	575.0,53.3
SM_CCo	16186,0.00,0.000,0,0,1906,244.32	_24V_AH	23.3,47.607
SM_GC	1.62,11.65,0.00,0.00,0.026,0.000,0.000,46,2669,1906,-10.92,-0.17,244.32	_10V_AH	10.1,27.181
IRIDIUM_FIX	6249.28,-1305.41,170798,181818	DATA_FILE_SIZE	38017,771
TT8_MAMPS	0.029146	CAP_FILE_SIZE	114919,0
HUMID	1778	CFSIZE	260165632,240906240
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	230409,023927,6314.747,-1301.360,31,3.0,50,-12.1
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	97.58	SBE_CT	534	24	299.02
Roll_motor	143	92	308.28	SBE_O2	573	19	253.78
VBD_pump_during_apogee	330	1078	8296.23	WL_BB2F	504	105	1235.06
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	31	103	75.10	nil	0	0	0.00
Iridium_during_connect	31	160	118.57	nil	0	0	0.00
Iridium_during_xfer	254	223	1322.78
Transponder_ping	4	420	46.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	38	50	19.22
TT8	1412	19	282.56
LPSleep	12500	2	276.50
TT8_Active	416	19	83.34
TT8_Sampling	1693	39	680.60
TT8_CF8	624	45	289.04
TT8_Kalman	33	81	27.55
Analog_circuits	1278	12	154.94
GPS_charging	0	0	0.00
Compass	1634	8	132.06
RAFOS	0	0	0.00
Transponder	34	30	10.32

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.10	-146.6	0.0	0.0	0	57	0.00	0.00	-36.25	0.000	2	0.000	0.000	53	2659	3180
61	-1.10	-146.6	3.3	-6.4	2	84	12.15	2.67	-5.60	0.000	4	0.160	0.086	2196	1276	3502
95	-1.10	-146.6	12.6	-19.8	3	100	0.00	2.60	0.00	0.000	6	0.000	0.062	2196	2677	3503
411	-1.10	-146.6	42.5	-10.9	18	415	0.00	2.12	0.00	0.000	4	0.000	0.089	2196	3785	3502
473	-1.10	-146.6	47.1	-7.3	20	480	0.00	2.00	0.00	0.000	6	0.000	0.055	2196	2676	3502
789	-1.10	-146.6	70.1	-7.4	36	793	0.00	2.15	0.00	0.000	4	0.000	0.089	2196	3783	3502
837	-1.10	-146.6	73.7	-8.3	38	841	0.00	2.03	0.00	0.000	6	0.000	0.056	2196	2669	3502
1171	-1.10	-146.6	98.6	-7.0	54	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2669	3502
1479	-1.10	-146.6	121.6	-7.3	69	1483	0.00	2.17	0.00	0.000	4	0.000	0.091	2197	3783	3502
1525	-1.10	-146.6	125.2	-7.4	71	1529	0.00	2.03	0.00	0.000	6	0.000	0.058	2196	2668	3502
1859	-1.10	-146.6	150.5	-7.9	87	1864	0.00	2.60	0.00	0.000	4	0.000	0.073	2196	1259	3502
1888	-1.10	-146.6	153.1	-8.6	88	1892	0.00	2.62	0.00	0.000	6	0.000	0.062	2196	2682	3502
2203	-1.10	-146.6	179.1	-8.2	103	2207	0.00	2.10	0.00	0.000	4	0.000	0.088	2196	3783	3502
2249	-1.10	-146.6	183.0	-8.9	105	2253	0.00	2.03	0.00	0.000	6	0.000	0.057	2196	2668	3502
2582	-1.10	-146.6	209.0	-7.6	121	2583	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2667	3502
2891	-1.10	-146.6	232.8	-7.8	136	2892	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2668	3502
3200	-1.10	-146.6	255.9	-7.4	151	3201	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2668	3502
3510	-1.10	-146.6	278.9	-7.4	166	3511	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2667	3502
3819	-1.10	-146.6	301.9	-7.3	181	3820	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2667	3502
4128	-1.10	-146.6	323.7	-7.0	196	4129	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2667	3502
4438	-1.10	-146.6	345.4	-7.1	211	4439	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2667	3502
4747	-1.10	-146.6	369.9	-8.2	226	4748	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2667	3502
5056	-1.10	-146.6	395.0	-8.4	241	5060	0.00	2.60	0.00	0.000	4	0.000	0.069	2197	1245	3502
5084	-1.10	-146.6	397.4	-8.2	242	5088	0.00	2.62	0.00	0.000	6	0.000	0.062	2196	2675	3502
5399	-1.10	-146.6	423.5	-8.0	257	5403	0.00	2.10	0.00	0.000	4	0.000	0.089	2197	3785	3502
5450	-1.10	-146.6	427.8	-8.0	259	5453	0.00	2.03	0.00	0.000	6	0.000	0.055	2197	2664	3502
5777	-1.10	-146.6	454.6	-8.7	275	5778	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2664	3502
6086	-1.10	-146.6	480.2	-8.2	290	6087	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2664	3502
6395	-1.10	-146.6	504.5	-7.8	305	6397	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2664	3502
6705	-1.10	-146.6	528.4	-7.8	320	6709	0.00	2.55	0.00	0.000	4	0.000	0.067	2196	1256	3502
6755	-1.10	-146.6	532.4	-8.0	322	6759	0.00	2.60	0.00	0.000	6	0.000	0.061	2197	2676	3502
7071	-1.10	-146.6	557.4	-8.2	337	7074	0.00	2.12	0.00	0.000	4	0.000	0.090	2197	3790	3502
7117	-1.10	-146.6	561.3	-9.0	339	7120	0.00	2.00	0.00	0.000	6	0.000	0.053	2197	2672	3501
7449	-1.10	-146.6	592.5	-8.9	355	7453	0.00	2.15	0.00	0.000	4	0.000	0.092	2196	3783	3501
7488	-1.10	-146.6	595.9	-8.3	356	7494	0.00	2.00	0.00	0.000	6	0.000	0.054	2197	2668	3501
7760	end dive: BOTTOM_OBSTACLE_DETECTED
state	7760	begin apogee
7769	-0.42	0.0	619.6	9.1	370	7897	0.75	0.00	124.53	1.078	6	0.097	0.000	2345	2069	2902
7897	end apogee: CONTROL_FINISHED_OK
state	7897	begin climb
7901	1.10	146.6	626.0	0.0	376	8031	1.58	2.62	121.95	1.052	4	0.059	0.058	2680	659	2304
8204	1.17	204.0	621.9	4.4	390	8260	0.00	2.53	49.33	1.029	6	0.000	0.038	2680	2095	2070
8580	1.22	243.9	603.3	4.9	408	8623	0.12	2.62	34.38	1.024	4	0.043	0.063	2723	3486	1906
8647	1.22	243.9	598.6	7.4	411	8651	0.00	2.55	0.00	0.000	6	0.000	0.042	2723	2063	1907
8973	1.22	243.9	576.3	6.2	427	8974	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2063	1906
9283	1.22	243.9	558.1	6.4	442	9287	0.00	2.65	0.00	0.000	4	0.000	0.065	2723	3485	1906
9345	1.22	243.9	553.7	6.9	445	9349	0.00	2.53	0.00	0.000	6	0.000	0.044	2723	2071	1906
9672	1.22	243.9	530.9	7.3	461	9676	0.00	2.55	0.00	0.000	4	0.000	0.059	2723	661	1905
9722	1.22	243.9	526.7	8.0	463	9727	0.00	2.50	0.00	0.000	6	0.000	0.039	2723	2082	1905
10038	1.22	243.9	500.4	8.8	478	10042	0.00	2.58	0.00	0.000	4	0.000	0.058	2723	666	1905
10116	1.22	243.9	492.3	11.2	481	10122	0.00	2.47	0.00	0.000	6	0.000	0.038	2723	2076	1905
10432	1.22	243.9	464.5	8.0	497	10436	0.00	2.55	0.00	0.000	4	0.000	0.057	2723	669	1905
10459	1.22	243.9	462.0	8.6	498	10464	0.00	2.47	0.00	0.000	6	0.000	0.038	2723	2080	1905
10781	1.22	243.9	434.8	8.9	514	10785	0.00	2.58	0.00	0.000	4	0.000	0.066	2723	3484	1905
10808	1.22	243.9	432.2	9.6	515	10812	0.00	2.50	0.00	0.000	6	0.000	0.044	2723	2069	1905
11129	1.22	243.9	402.7	9.1	531	11134	0.00	2.53	0.00	0.000	4	0.000	0.059	2723	667	1905
11185	1.22	243.9	397.0	10.1	533	11191	0.00	2.47	0.00	0.000	6	0.000	0.038	2723	2080	1905
11502	1.22	243.9	367.6	8.9	549	11506	0.00	2.60	0.00	0.000	4	0.000	0.067	2723	3493	1905
11529	1.22	243.9	364.8	9.5	550	11533	0.00	2.53	0.00	0.000	6	0.000	0.045	2723	2076	1905
11845	1.22	243.9	338.0	8.4	565	11849	0.00	2.55	0.00	0.000	4	0.000	0.061	2723	659	1905
11913	1.22	243.9	332.4	7.5	568	11918	0.00	2.50	0.00	0.000	6	0.000	0.040	2723	2085	1905
12240	1.22	243.9	307.7	7.6	584	12245	0.00	2.60	0.00	0.000	4	0.000	0.060	2723	659	1905
12263	1.22	243.9	306.1	7.5	585	12267	0.00	2.47	0.00	0.000	6	0.000	0.039	2723	2078	1905
12590	1.22	243.9	280.1	8.5	601	12595	0.00	2.58	0.00	0.000	4	0.000	0.059	2723	664	1905
12624	1.22	243.9	277.1	8.6	602	12630	0.00	2.50	0.00	0.000	6	0.000	0.041	2723	2085	1905
12940	1.22	243.9	250.4	8.6	618	12944	0.00	2.60	0.00	0.000	4	0.000	0.060	2723	658	1906
12973	1.22	243.9	247.4	9.2	619	12979	0.00	2.50	0.00	0.000	6	0.000	0.041	2723	2080	1906
13289	1.22	243.9	221.0	8.4	635	13293	0.00	2.58	0.00	0.000	4	0.000	0.060	2723	664	1906
13322	1.22	243.9	218.0	8.3	636	13328	0.00	2.50	0.00	0.000	6	0.000	0.040	2723	2085	1906
13638	1.22	243.9	193.6	7.5	652	13639	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2085	1906
13947	1.22	243.9	169.8	7.7	667	13952	0.00	2.60	0.00	0.000	4	0.000	0.061	2723	662	1906
13975	1.22	243.9	167.7	7.7	668	13979	0.00	2.50	0.00	0.000	6	0.000	0.040	2723	2084	1906
14293	1.22	243.9	146.8	6.9	683	14294	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2084	1906
14601	1.22	243.9	123.2	7.6	698	14605	0.00	2.60	0.00	0.000	4	0.000	0.061	2723	662	1907
14651	1.22	243.9	118.9	8.1	700	14655	0.00	2.47	0.00	0.000	6	0.000	0.041	2723	2076	1907
14972	1.22	243.9	93.8	7.9	716	14974	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2076	1907
15282	1.22	243.9	68.2	8.4	731	15286	0.00	2.60	0.00	0.000	4	0.000	0.062	2723	658	1907
15326	1.22	243.9	64.2	8.5	733	15330	0.00	2.50	0.00	0.000	6	0.000	0.041	2723	2076	1907
15648	1.22	243.9	38.5	8.6	749	15652	0.00	2.60	0.00	0.000	4	0.000	0.064	2723	662	1907
15704	1.22	243.9	33.1	9.8	751	15710	0.00	2.50	0.00	0.000	6	0.000	0.044	2723	2080	1907
16022	1.22	243.9	6.5	8.3	767	16023	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2081	1907
16079	end climb: SURFACE_DEPTH_REACHED
state	16079	begin surface coast
16101	end surface coast: CONTROL_FINISHED_OK
state	16101	begin surface