Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 303 * 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 303 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 -148823.05 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 -148823.05

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 20 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 8 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 303 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 112455,6246.202,-1301.268,50,1.6,50,-11.9 TGT_NAME GE

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.217,-0.021

_SM_DEPTHo 1.47 KALMAN_X -41103.7,712.8,3028.2,28916.8,-18717.6

_SM_ANGLEo -61.7 KALMAN_Y 111010.5,-450.0,-3069.4,-237465.7,-6658.3

GPS2 113143,6246.294,-1301.252,12,1.7,17,-11.9 MHEAD_RNG_PITCHd_Wd 107.4,36966,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.021949 ALTIM_BOTTOM_PING 725.4,53.2

SM_CCo 20609,0.00,0.000,0,0,1805,269.09 _24V_AH 23.2,51.519

SM_GC 1.67,11.60,0.00,0.00,0.025,0.000,0.000,46,2669,1805,-10.93,-0.17,269.09 _10V_AH 10.1,29.683

IRIDIUM_FIX 6221.17,-1258.27,240798,050552 DATA_FILE_SIZE 50527,988

TT8_MAMPS 0.029146 CAP_FILE_SIZE 130894,0

HUMID 1794 CFSIZE 260165632,239071232

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

TCM_TEMP 17.00 GPS 290409,171727,6247.022,-1256.196,26,2.2,45,-11.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 94.10 SBE_CT 686 24 382.36

Roll_motor 123 93 267.67 SBE_O2 745 19 328.63

VBD_pump_during_apogee 357 1198 9934.58 WL_BB2F 595 105 1450.31

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 28 103 67.20 nil 0 0 0.00

Iridium_during_connect 27 160 100.45 nil 0 0 0.00

Iridium_during_xfer 210 223 1089.04

Transponder_ping 6 420 60.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.71

TT8 1740 19 348.06

LPSleep 16178 2 357.86

TT8_Active 446 19 89.35

TT8_Sampling 2004 39 805.78

TT8_CF8 637 45 294.83

TT8_Kalman 33 81 27.57

Analog_circuits 1451 12 175.95

GPS_charging 0 0 0.00

Compass 1975 8 159.61

RAFOS 0 0 0.00

Transponder 43 30 13.26

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.10 -146.6 0.0 0.0 0 60 0.00 0.00 -41.75 0.000 2 0.000 0.000 55 2672 3259

64 -1.10 -146.6 4.1 -11.5 2 86 12.00 0.00 -3.95 0.000 6 0.156 0.000 2194 2672 3502

397 -1.10 -146.6 42.6 -9.3 18 400 0.00 2.17 0.00 0.000 4 0.000 0.092 2194 3790 3503

503 -1.10 -146.6 53.7 -10.6 22 510 0.00 2.05 0.00 0.000 6 0.000 0.064 2194 2675 3503

820 -1.10 -146.6 81.9 -8.5 38 821 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2675 3503

1129 -1.10 -146.6 108.0 -8.5 53 1130 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2675 3503

1438 -1.10 -146.6 133.3 -8.1 68 1439 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2675 3503

1747 -1.10 -146.6 156.3 -6.9 83 1748 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2675 3503

2056 -1.10 -146.6 178.6 -7.1 98 2057 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2675 3502

2368 -1.10 -146.6 201.3 -7.5 113 2369 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2675 3503

2676 -1.10 -146.6 225.9 -8.2 128 2679 0.00 2.15 0.00 0.000 4 0.000 0.089 2194 3787 3502

2715 -1.10 -146.6 229.5 -8.6 129 2721 0.00 2.05 0.00 0.000 6 0.000 0.061 2194 2668 3503

3031 -1.10 -146.6 255.1 -8.2 145 3032 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2668 3502

3340 -1.10 -146.6 280.5 -8.1 160 3342 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2668 3502

3649 -1.10 -146.6 306.0 -8.3 175 3653 0.00 2.17 0.00 0.000 4 0.000 0.088 2194 3792 3503

3688 -1.10 -146.6 309.4 -8.5 176 3694 0.00 2.05 0.00 0.000 6 0.000 0.060 2194 2672 3503

4004 -1.10 -146.6 334.8 -7.9 192 4006 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2672 3503

4313 -1.10 -146.6 359.0 -7.9 207 4315 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2672 3503

4623 -1.10 -146.6 383.7 -8.2 222 4624 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2672 3503

4932 -1.10 -146.6 408.6 -8.2 237 4933 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2672 3503

5241 -1.10 -146.6 433.0 -7.7 252 5242 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2672 3503

5550 -1.10 -146.6 457.1 -7.8 267 5554 0.00 2.15 0.00 0.000 4 0.000 0.086 2195 3789 3503

5606 -1.10 -146.6 461.9 -8.7 269 5610 0.00 2.03 0.00 0.000 6 0.000 0.054 2194 2665 3502

5928 -1.10 -146.6 488.2 -8.3 285 5929 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2665 3502

6237 -1.10 -146.6 515.6 -8.8 300 6238 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2665 3502

6547 -1.10 -146.6 541.6 -8.1 315 6551 0.00 2.17 0.00 0.000 4 0.000 0.088 2194 3792 3503

6593 -1.10 -146.6 545.7 -8.8 317 6596 0.00 2.03 0.00 0.000 6 0.000 0.053 2194 2664 3503

6925 -1.10 -146.6 571.5 -7.6 333 6927 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2664 3503

7235 -1.10 -146.6 594.9 -7.6 348 7236 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2664 3503

7544 -1.10 -146.6 617.0 -7.1 363 7545 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2664 3503

7853 -1.10 -146.6 640.8 -8.1 378 7857 0.00 2.17 0.00 0.000 4 0.000 0.086 2194 3796 3503

7904 -1.10 -146.6 645.3 -8.9 380 7907 0.00 2.03 0.00 0.000 6 0.000 0.053 2194 2668 3502

8231 -1.10 -146.6 671.5 -7.7 396 8236 0.00 2.58 0.00 0.000 4 0.000 0.067 2194 1256 3502

8276 -1.10 -146.6 675.0 -7.2 398 8281 0.00 2.62 0.00 0.000 6 0.000 0.061 2194 2687 3502

8603 -1.10 -146.6 699.4 -7.9 414 8607 0.00 2.08 0.00 0.000 4 0.000 0.086 2194 3783 3502

8642 -1.10 -146.6 702.6 -8.5 415 8649 0.00 2.00 0.00 0.000 6 0.000 0.050 2194 2657 3502

8959 -1.10 -146.6 728.8 -8.4 431 8963 0.00 2.53 0.00 0.000 4 0.000 0.062 2194 1258 3502

8998 -1.10 -146.6 732.0 -7.8 433 9003 0.00 2.60 0.00 0.000 6 0.000 0.062 2194 2674 3502

9326 -1.10 -146.6 755.3 -7.3 449 9330 0.00 2.12 0.00 0.000 4 0.000 0.092 2194 3789 3502

9421 -1.10 -146.6 762.2 -7.9 453 9425 0.00 2.03 0.00 0.000 6 0.000 0.051 2194 2675 3502

9518 end dive: BOTTOM_OBSTACLE_DETECTED

state 9518 begin apogee

9527 -0.42 0.0 769.2 7.1 458 9660 0.77 0.00 125.47 1.198 6 0.104 0.000 2345 2065 2902

9660 end apogee: CONTROL_FINISHED_OK

state 9660 begin climb

9664 1.10 146.6 774.4 0.0 465 9797 1.55 2.75 123.20 1.163 4 0.055 0.061 2680 3491 2304

10055 1.16 196.2 763.8 4.6 482 10106 0.00 2.55 43.42 1.124 6 0.000 0.041 2680 2064 2102

10438 1.20 226.1 742.3 5.2 501 10471 0.00 2.80 26.65 1.111 4 0.000 0.064 2680 3497 1980

10531 1.24 258.8 737.2 5.1 505 10569 0.12 2.58 29.02 1.107 6 0.046 0.044 2719 2070 1846

10882 1.24 258.8 710.4 9.3 522 10886 0.00 2.58 0.00 0.000 4 0.000 0.061 2720 663 1845

10967 1.24 258.8 701.9 9.7 526 10972 0.00 2.53 0.00 0.000 6 0.000 0.040 2719 2088 1845

11294 1.24 258.8 672.6 8.7 542 11295 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2088 1844

11604 1.24 258.8 647.9 7.5 557 11605 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2088 1844

11913 1.24 258.8 625.0 7.4 572 11914 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2088 1844

12222 1.24 258.8 602.2 7.4 587 12226 0.00 2.60 0.00 0.000 4 0.000 0.057 2719 658 1844

12249 1.24 258.8 600.0 8.0 588 12254 0.00 2.50 0.00 0.000 6 0.000 0.037 2719 2082 1844

12571 1.24 258.8 574.7 8.0 604 12572 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2082 1844

12880 1.24 258.8 548.9 8.4 619 12881 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2082 1844

13189 1.24 258.8 522.3 8.7 634 13194 0.00 2.58 0.00 0.000 4 0.000 0.066 2719 3484 1844

13218 1.24 258.8 519.9 9.5 635 13222 0.00 2.53 0.00 0.000 6 0.000 0.043 2719 2064 1844

13533 1.24 258.8 493.1 8.5 650 13538 0.00 2.53 0.00 0.000 4 0.000 0.057 2719 658 1845

13567 1.24 258.8 490.2 8.1 651 13573 0.00 2.50 0.00 0.000 6 0.000 0.038 2719 2082 1845

13883 1.24 258.8 464.1 8.1 667 13884 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2082 1845

14192 1.24 258.8 439.8 7.7 682 14196 0.00 2.58 0.00 0.000 4 0.000 0.066 2719 3485 1845

14219 1.24 258.8 437.5 8.5 683 14223 0.00 2.53 0.00 0.000 6 0.000 0.044 2719 2069 1845

14540 1.24 258.8 412.7 7.7 699 14542 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2070 1845

14849 1.24 258.8 388.7 7.8 714 14854 0.00 2.62 0.00 0.000 4 0.000 0.065 2719 3484 1845

14877 1.24 258.8 386.3 8.5 715 14882 0.00 2.53 0.00 0.000 6 0.000 0.046 2719 2072 1845

15193 1.24 258.8 362.2 7.5 730 15195 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2072 1845

15502 1.24 258.8 339.9 7.2 745 15503 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2072 1846

15811 1.24 258.8 316.6 7.6 760 15813 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2072 1846

16121 1.24 258.8 292.6 7.9 775 16126 0.00 2.62 0.00 0.000 4 0.000 0.068 2719 3482 1846

16149 1.24 258.8 290.3 8.5 776 16153 0.00 2.53 0.00 0.000 6 0.000 0.048 2719 2075 1846

16470 1.24 258.8 267.1 6.9 792 16471 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2075 1846

16779 1.24 258.8 245.6 6.9 807 16780 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2075 1846

17089 1.24 258.8 224.3 6.9 822 17093 0.00 2.62 0.00 0.000 4 0.000 0.069 2719 3481 1846

17122 1.24 258.8 221.9 6.8 823 17128 0.00 2.53 0.00 0.000 6 0.000 0.048 2720 2074 1846

17438 1.24 258.8 200.3 6.9 839 17439 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2073 1846

17747 1.24 258.8 180.0 6.4 854 17751 0.00 2.62 0.00 0.000 4 0.000 0.069 2720 3481 1846

17775 1.24 258.8 178.1 6.8 855 17780 0.00 2.55 0.00 0.000 6 0.000 0.050 2719 2063 1846

18097 1.24 258.8 158.0 6.3 871 18098 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2063 1847

18407 1.24 260.4 139.7 6.0 886 18412 0.00 2.67 0.00 0.000 4 0.000 0.070 2719 3492 1847

18457 1.24 260.4 136.6 6.7 888 18461 0.00 2.55 0.00 0.000 6 0.000 0.049 2719 2074 1847

18773 1.24 260.4 118.1 6.0 903 18777 0.00 2.55 0.00 0.000 4 0.000 0.061 2720 665 1847

18829 1.25 268.5 114.3 5.8 905 18845 0.00 2.47 9.65 0.700 6 0.000 0.041 2719 2077 1806

19167 1.25 268.5 92.2 6.2 922 19172 0.00 2.62 0.00 0.000 4 0.000 0.070 2719 3492 1806

19201 1.25 268.5 89.7 6.4 923 19207 0.00 2.55 0.00 0.000 6 0.000 0.050 2719 2070 1806

19519 1.25 268.5 69.6 7.3 939 19520 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2070 1806

19826 1.25 268.5 49.4 6.1 954 19827 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2070 1806

20135 1.25 268.5 30.2 7.1 969 20140 0.00 2.55 0.00 0.000 4 0.000 0.063 2720 666 1806

20199 1.25 268.5 25.2 8.6 972 20203 0.00 2.50 0.00 0.000 6 0.000 0.041 2719 2082 1806

20504 end climb: SURFACE_DEPTH_REACHED

state 20504 begin surface coast

20524 end surface coast: CONTROL_FINISHED_OK

state 20524 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	303	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	-148823.05	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	112455,6246.202,-1301.268,50,1.6,50,-11.9	TGT_NAME	GE
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.217,-0.021
_SM_DEPTHo	1.47	KALMAN_X	-41103.7,712.8,3028.2,28916.8,-18717.6
_SM_ANGLEo	-61.7	KALMAN_Y	111010.5,-450.0,-3069.4,-237465.7,-6658.3
GPS2	113143,6246.294,-1301.252,12,1.7,17,-11.9	MHEAD_RNG_PITCHd_Wd	107.4,36966,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.021949	ALTIM_BOTTOM_PING	725.4,53.2
SM_CCo	20609,0.00,0.000,0,0,1805,269.09	_24V_AH	23.2,51.519
SM_GC	1.67,11.60,0.00,0.00,0.025,0.000,0.000,46,2669,1805,-10.93,-0.17,269.09	_10V_AH	10.1,29.683
IRIDIUM_FIX	6221.17,-1258.27,240798,050552	DATA_FILE_SIZE	50527,988
TT8_MAMPS	0.029146	CAP_FILE_SIZE	130894,0
HUMID	1794	CFSIZE	260165632,239071232
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	290409,171727,6247.022,-1256.196,26,2.2,45,-11.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	94.10	SBE_CT	686	24	382.36
Roll_motor	123	93	267.67	SBE_O2	745	19	328.63
VBD_pump_during_apogee	357	1198	9934.58	WL_BB2F	595	105	1450.31
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	28	103	67.20	nil	0	0	0.00
Iridium_during_connect	27	160	100.45	nil	0	0	0.00
Iridium_during_xfer	210	223	1089.04
Transponder_ping	6	420	60.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.71
TT8	1740	19	348.06
LPSleep	16178	2	357.86
TT8_Active	446	19	89.35
TT8_Sampling	2004	39	805.78
TT8_CF8	637	45	294.83
TT8_Kalman	33	81	27.57
Analog_circuits	1451	12	175.95
GPS_charging	0	0	0.00
Compass	1975	8	159.61
RAFOS	0	0	0.00
Transponder	43	30	13.26

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.10	-146.6	0.0	0.0	0	60	0.00	0.00	-41.75	0.000	2	0.000	0.000	55	2672	3259
64	-1.10	-146.6	4.1	-11.5	2	86	12.00	0.00	-3.95	0.000	6	0.156	0.000	2194	2672	3502
397	-1.10	-146.6	42.6	-9.3	18	400	0.00	2.17	0.00	0.000	4	0.000	0.092	2194	3790	3503
503	-1.10	-146.6	53.7	-10.6	22	510	0.00	2.05	0.00	0.000	6	0.000	0.064	2194	2675	3503
820	-1.10	-146.6	81.9	-8.5	38	821	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2675	3503
1129	-1.10	-146.6	108.0	-8.5	53	1130	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2675	3503
1438	-1.10	-146.6	133.3	-8.1	68	1439	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2675	3503
1747	-1.10	-146.6	156.3	-6.9	83	1748	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2675	3503
2056	-1.10	-146.6	178.6	-7.1	98	2057	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2675	3502
2368	-1.10	-146.6	201.3	-7.5	113	2369	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2675	3503
2676	-1.10	-146.6	225.9	-8.2	128	2679	0.00	2.15	0.00	0.000	4	0.000	0.089	2194	3787	3502
2715	-1.10	-146.6	229.5	-8.6	129	2721	0.00	2.05	0.00	0.000	6	0.000	0.061	2194	2668	3503
3031	-1.10	-146.6	255.1	-8.2	145	3032	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2668	3502
3340	-1.10	-146.6	280.5	-8.1	160	3342	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2668	3502
3649	-1.10	-146.6	306.0	-8.3	175	3653	0.00	2.17	0.00	0.000	4	0.000	0.088	2194	3792	3503
3688	-1.10	-146.6	309.4	-8.5	176	3694	0.00	2.05	0.00	0.000	6	0.000	0.060	2194	2672	3503
4004	-1.10	-146.6	334.8	-7.9	192	4006	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2672	3503
4313	-1.10	-146.6	359.0	-7.9	207	4315	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2672	3503
4623	-1.10	-146.6	383.7	-8.2	222	4624	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2672	3503
4932	-1.10	-146.6	408.6	-8.2	237	4933	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2672	3503
5241	-1.10	-146.6	433.0	-7.7	252	5242	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2672	3503
5550	-1.10	-146.6	457.1	-7.8	267	5554	0.00	2.15	0.00	0.000	4	0.000	0.086	2195	3789	3503
5606	-1.10	-146.6	461.9	-8.7	269	5610	0.00	2.03	0.00	0.000	6	0.000	0.054	2194	2665	3502
5928	-1.10	-146.6	488.2	-8.3	285	5929	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2665	3502
6237	-1.10	-146.6	515.6	-8.8	300	6238	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2665	3502
6547	-1.10	-146.6	541.6	-8.1	315	6551	0.00	2.17	0.00	0.000	4	0.000	0.088	2194	3792	3503
6593	-1.10	-146.6	545.7	-8.8	317	6596	0.00	2.03	0.00	0.000	6	0.000	0.053	2194	2664	3503
6925	-1.10	-146.6	571.5	-7.6	333	6927	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2664	3503
7235	-1.10	-146.6	594.9	-7.6	348	7236	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2664	3503
7544	-1.10	-146.6	617.0	-7.1	363	7545	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2664	3503
7853	-1.10	-146.6	640.8	-8.1	378	7857	0.00	2.17	0.00	0.000	4	0.000	0.086	2194	3796	3503
7904	-1.10	-146.6	645.3	-8.9	380	7907	0.00	2.03	0.00	0.000	6	0.000	0.053	2194	2668	3502
8231	-1.10	-146.6	671.5	-7.7	396	8236	0.00	2.58	0.00	0.000	4	0.000	0.067	2194	1256	3502
8276	-1.10	-146.6	675.0	-7.2	398	8281	0.00	2.62	0.00	0.000	6	0.000	0.061	2194	2687	3502
8603	-1.10	-146.6	699.4	-7.9	414	8607	0.00	2.08	0.00	0.000	4	0.000	0.086	2194	3783	3502
8642	-1.10	-146.6	702.6	-8.5	415	8649	0.00	2.00	0.00	0.000	6	0.000	0.050	2194	2657	3502
8959	-1.10	-146.6	728.8	-8.4	431	8963	0.00	2.53	0.00	0.000	4	0.000	0.062	2194	1258	3502
8998	-1.10	-146.6	732.0	-7.8	433	9003	0.00	2.60	0.00	0.000	6	0.000	0.062	2194	2674	3502
9326	-1.10	-146.6	755.3	-7.3	449	9330	0.00	2.12	0.00	0.000	4	0.000	0.092	2194	3789	3502
9421	-1.10	-146.6	762.2	-7.9	453	9425	0.00	2.03	0.00	0.000	6	0.000	0.051	2194	2675	3502
9518	end dive: BOTTOM_OBSTACLE_DETECTED
state	9518	begin apogee
9527	-0.42	0.0	769.2	7.1	458	9660	0.77	0.00	125.47	1.198	6	0.104	0.000	2345	2065	2902
9660	end apogee: CONTROL_FINISHED_OK
state	9660	begin climb
9664	1.10	146.6	774.4	0.0	465	9797	1.55	2.75	123.20	1.163	4	0.055	0.061	2680	3491	2304
10055	1.16	196.2	763.8	4.6	482	10106	0.00	2.55	43.42	1.124	6	0.000	0.041	2680	2064	2102
10438	1.20	226.1	742.3	5.2	501	10471	0.00	2.80	26.65	1.111	4	0.000	0.064	2680	3497	1980
10531	1.24	258.8	737.2	5.1	505	10569	0.12	2.58	29.02	1.107	6	0.046	0.044	2719	2070	1846
10882	1.24	258.8	710.4	9.3	522	10886	0.00	2.58	0.00	0.000	4	0.000	0.061	2720	663	1845
10967	1.24	258.8	701.9	9.7	526	10972	0.00	2.53	0.00	0.000	6	0.000	0.040	2719	2088	1845
11294	1.24	258.8	672.6	8.7	542	11295	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2088	1844
11604	1.24	258.8	647.9	7.5	557	11605	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2088	1844
11913	1.24	258.8	625.0	7.4	572	11914	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2088	1844
12222	1.24	258.8	602.2	7.4	587	12226	0.00	2.60	0.00	0.000	4	0.000	0.057	2719	658	1844
12249	1.24	258.8	600.0	8.0	588	12254	0.00	2.50	0.00	0.000	6	0.000	0.037	2719	2082	1844
12571	1.24	258.8	574.7	8.0	604	12572	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2082	1844
12880	1.24	258.8	548.9	8.4	619	12881	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2082	1844
13189	1.24	258.8	522.3	8.7	634	13194	0.00	2.58	0.00	0.000	4	0.000	0.066	2719	3484	1844
13218	1.24	258.8	519.9	9.5	635	13222	0.00	2.53	0.00	0.000	6	0.000	0.043	2719	2064	1844
13533	1.24	258.8	493.1	8.5	650	13538	0.00	2.53	0.00	0.000	4	0.000	0.057	2719	658	1845
13567	1.24	258.8	490.2	8.1	651	13573	0.00	2.50	0.00	0.000	6	0.000	0.038	2719	2082	1845
13883	1.24	258.8	464.1	8.1	667	13884	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2082	1845
14192	1.24	258.8	439.8	7.7	682	14196	0.00	2.58	0.00	0.000	4	0.000	0.066	2719	3485	1845
14219	1.24	258.8	437.5	8.5	683	14223	0.00	2.53	0.00	0.000	6	0.000	0.044	2719	2069	1845
14540	1.24	258.8	412.7	7.7	699	14542	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2070	1845
14849	1.24	258.8	388.7	7.8	714	14854	0.00	2.62	0.00	0.000	4	0.000	0.065	2719	3484	1845
14877	1.24	258.8	386.3	8.5	715	14882	0.00	2.53	0.00	0.000	6	0.000	0.046	2719	2072	1845
15193	1.24	258.8	362.2	7.5	730	15195	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2072	1845
15502	1.24	258.8	339.9	7.2	745	15503	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2072	1846
15811	1.24	258.8	316.6	7.6	760	15813	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2072	1846
16121	1.24	258.8	292.6	7.9	775	16126	0.00	2.62	0.00	0.000	4	0.000	0.068	2719	3482	1846
16149	1.24	258.8	290.3	8.5	776	16153	0.00	2.53	0.00	0.000	6	0.000	0.048	2719	2075	1846
16470	1.24	258.8	267.1	6.9	792	16471	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2075	1846
16779	1.24	258.8	245.6	6.9	807	16780	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2075	1846
17089	1.24	258.8	224.3	6.9	822	17093	0.00	2.62	0.00	0.000	4	0.000	0.069	2719	3481	1846
17122	1.24	258.8	221.9	6.8	823	17128	0.00	2.53	0.00	0.000	6	0.000	0.048	2720	2074	1846
17438	1.24	258.8	200.3	6.9	839	17439	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2073	1846
17747	1.24	258.8	180.0	6.4	854	17751	0.00	2.62	0.00	0.000	4	0.000	0.069	2720	3481	1846
17775	1.24	258.8	178.1	6.8	855	17780	0.00	2.55	0.00	0.000	6	0.000	0.050	2719	2063	1846
18097	1.24	258.8	158.0	6.3	871	18098	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2063	1847
18407	1.24	260.4	139.7	6.0	886	18412	0.00	2.67	0.00	0.000	4	0.000	0.070	2719	3492	1847
18457	1.24	260.4	136.6	6.7	888	18461	0.00	2.55	0.00	0.000	6	0.000	0.049	2719	2074	1847
18773	1.24	260.4	118.1	6.0	903	18777	0.00	2.55	0.00	0.000	4	0.000	0.061	2720	665	1847
18829	1.25	268.5	114.3	5.8	905	18845	0.00	2.47	9.65	0.700	6	0.000	0.041	2719	2077	1806
19167	1.25	268.5	92.2	6.2	922	19172	0.00	2.62	0.00	0.000	4	0.000	0.070	2719	3492	1806
19201	1.25	268.5	89.7	6.4	923	19207	0.00	2.55	0.00	0.000	6	0.000	0.050	2719	2070	1806
19519	1.25	268.5	69.6	7.3	939	19520	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2070	1806
19826	1.25	268.5	49.4	6.1	954	19827	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2070	1806
20135	1.25	268.5	30.2	7.1	969	20140	0.00	2.55	0.00	0.000	4	0.000	0.063	2720	666	1806
20199	1.25	268.5	25.2	8.6	972	20203	0.00	2.50	0.00	0.000	6	0.000	0.041	2719	2082	1806
20504	end climb: SURFACE_DEPTH_REACHED
state	20504	begin surface coast
20524	end surface coast: CONTROL_FINISHED_OK
state	20524	begin surface