Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 31 * 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 31 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 2750 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 1700 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 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 21 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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 440 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 -143586.28 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 300

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 412.5

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 -143586.28

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 440

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 1700 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2750 MASS 52000 R_PORT_OVSHOOT 21 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 31 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 170926,6135.482,-914.922,26,3.2,45,-9.4 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.041,0.242

_SM_DEPTHo 1.03 KALMAN_X -18226.8,-84.0,-365.7,31488.1,-1023.1

_SM_ANGLEo -52.0 KALMAN_Y -56241.5,166.8,-148.6,101093.5,-5408.2

GPS2 171456,6135.461,-914.936,15,1.7,21,-9.4 MHEAD_RNG_PITCHd_Wd 19.1,17666,-14.7,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.010015 ALTIM_BOTTOM_PING 775.2,52.8

SM_CCo 17095,41.40,0.731,0,0,1679,300.00 _24V_AH 23.3,14.391

SM_GC 1.50,0.00,0.00,41.40,0.000,0.000,0.731,52,2729,1679,-10.98,-0.59,300.00 _10V_AH 10.1,6.434

IRIDIUM_FIX 6112.75,-914.35,240598,121258 DATA_FILE_SIZE 41121,825

TT8_MAMPS 0.029146 CAP_FILE_SIZE 127391,0

HUMID 1760 CFSIZE 260165632,255934464

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

TCM_TEMP 17.20 GPS 270209,220237,6138.556,-914.104,32,2.0,32,-9.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 163 102.87 SBE_CT 578 24 323.64

Roll_motor 177 78 323.24 SBE_O2 608 19 269.30

VBD_pump_during_apogee 325 1237 9372.80 WL_BB2F 488 105 1196.09

VBD_pump_during_surface 41 730 705.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.45 nil 0 0 0.00

Iridium_during_connect 26 160 98.78 nil 0 0 0.00

Iridium_during_xfer 147 223 768.00

Transponder_ping 6 420 66.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 21 50 10.75

TT8 1523 19 304.69

LPSleep 13003 2 287.62

TT8_Active 520 19 104.16

TT8_Sampling 1893 39 761.06

TT8_CF8 527 45 244.20

TT8_Kalman 33 81 27.55

Analog_circuits 1490 12 180.66

GPS_charging 0 0 0.00

Compass 1847 8 149.25

RAFOS 0 0 0.00

Transponder 46 30 14.05

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

15 -1.41 -146.6 0.0 0.0 0 99 0.00 0.00 -81.53 0.000 2 0.000 0.000 47 2735 3232

103 -1.41 -146.6 4.1 -4.5 4 125 11.90 2.60 -4.43 0.000 4 0.163 0.077 2128 1334 3501

131 -1.41 -146.6 13.1 -26.7 5 136 0.00 2.67 0.00 0.000 6 0.000 0.066 2128 2761 3501

452 -1.41 -146.6 44.9 -10.5 21 457 0.00 2.65 0.00 0.000 4 0.000 0.067 2128 1328 3500

470 -1.41 -146.6 46.6 -10.2 22 475 0.00 2.65 0.00 0.000 6 0.000 0.061 2128 2756 3500

798 -1.41 -146.6 77.1 -8.4 38 803 0.00 2.65 0.00 0.000 4 0.000 0.067 2128 1334 3500

1056 -1.41 -146.6 102.0 -9.7 49 1063 0.00 2.62 0.00 0.000 6 0.000 0.064 2128 2753 3500

1374 -1.41 -146.6 132.9 -10.3 65 1378 0.00 2.62 0.00 0.000 4 0.000 0.068 2128 1340 3500

1459 -1.41 -146.6 142.6 -12.1 69 1463 0.00 2.60 0.00 0.000 6 0.000 0.061 2128 2750 3500

1788 -1.41 -146.6 176.7 -11.3 85 1792 0.00 2.62 0.00 0.000 4 0.000 0.067 2128 1331 3500

1820 -1.41 -146.6 180.8 -11.8 86 1826 0.00 2.62 0.00 0.000 6 0.000 0.061 2128 2750 3500

2136 -1.41 -146.6 216.8 -11.3 102 2137 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2750 3500

2446 -1.41 -146.6 251.8 -11.4 117 2451 0.00 2.62 0.00 0.000 4 0.000 0.067 2128 1331 3500

2487 -1.41 -146.6 256.4 -11.4 119 2491 0.00 2.62 0.00 0.000 6 0.000 0.061 2128 2759 3500

2813 -1.41 -146.6 293.3 -11.4 135 2814 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2759 3500

3122 -1.41 -146.6 329.5 -11.7 150 3123 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2759 3500

3432 -1.41 -146.6 365.1 -11.6 165 3436 0.00 2.60 0.00 0.000 4 0.000 0.067 2128 1337 3501

3471 -1.41 -146.6 369.6 -11.3 167 3476 0.00 2.60 0.00 0.000 6 0.000 0.059 2128 2757 3500

3798 -1.41 -146.6 405.5 -11.0 183 3799 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2757 3500

4108 -1.41 -146.6 439.2 -11.3 198 4112 0.00 2.60 0.00 0.000 4 0.000 0.063 2128 1338 3500

4147 -1.41 -146.6 443.8 -11.4 200 4152 0.00 2.58 0.00 0.000 6 0.000 0.058 2128 2750 3500

4475 -1.41 -146.6 479.3 -10.8 216 4476 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2750 3500

4784 -1.41 -146.6 512.9 -11.1 231 4788 0.00 2.60 0.00 0.000 4 0.000 0.064 2128 1332 3500

4828 -1.41 -146.6 518.1 -11.5 233 4832 0.00 2.60 0.00 0.000 6 0.000 0.059 2128 2754 3500

5150 -1.41 -146.6 551.8 -10.0 249 5151 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2754 3500

5458 -1.41 -146.6 582.4 -9.9 264 5462 0.00 2.58 0.00 0.000 4 0.000 0.062 2128 1332 3500

5502 -1.41 -146.6 587.0 -9.8 266 5507 0.00 2.60 0.00 0.000 6 0.000 0.057 2128 2759 3500

5823 -1.41 -146.6 616.9 -9.0 282 5824 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2759 3500

6132 -1.41 -146.6 644.3 -8.7 297 6137 0.00 2.60 0.00 0.000 4 0.000 0.064 2128 1333 3500

6172 -1.41 -146.6 648.0 -9.2 299 6177 0.00 2.60 0.00 0.000 6 0.000 0.059 2128 2757 3500

6500 -1.41 -146.6 674.0 -7.8 315 6501 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2759 3500

6809 -1.41 -146.6 701.6 -10.3 330 6814 0.00 2.60 0.00 0.000 4 0.000 0.063 2128 1335 3500

6854 -1.41 -146.6 706.4 -10.3 332 6859 0.00 2.60 0.00 0.000 6 0.000 0.059 2128 2760 3500

7175 -1.41 -146.6 738.7 -9.6 348 7176 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2760 3500

7484 -1.41 -146.6 767.9 -9.0 363 7489 0.00 2.62 0.00 0.000 4 0.000 0.065 2128 1326 3500

7572 -1.41 -146.6 775.2 -9.1 367 7577 0.00 2.60 0.00 0.000 6 0.000 0.059 2128 2752 3500

7899 -1.41 -146.6 804.8 -9.2 383 7903 0.00 2.60 0.00 0.000 4 0.000 0.064 2128 1332 3500

7938 -1.41 -146.6 808.5 -9.0 385 7943 0.00 2.58 0.00 0.000 6 0.000 0.056 2128 2750 3500

8036 end dive: BOTTOM_OBSTACLE_DETECTED

state 8036 begin apogee

8045 -0.42 0.0 818.3 10.0 390 8178 1.10 0.00 124.97 1.237 6 0.091 0.000 2348 1699 2902

8178 end apogee: CONTROL_FINISHED_OK

state 8179 begin climb

8182 1.41 146.6 825.8 0.0 397 8315 1.83 2.72 122.53 1.236 4 0.054 0.063 2744 289 2304

8568 1.41 146.6 804.9 8.3 414 8574 0.00 2.50 0.00 0.000 6 0.000 0.033 2744 1741 2304

8884 1.49 219.5 784.4 5.4 430 8952 0.00 2.75 62.00 1.206 4 0.000 0.063 2744 294 2007

9103 1.52 236.3 768.7 7.4 440 9125 0.12 2.42 15.65 1.124 6 0.044 0.032 2784 1704 1938

9449 1.52 236.3 735.6 10.7 457 9450 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1705 1938

9756 1.52 236.3 702.5 10.3 472 9760 0.00 2.50 0.00 0.000 4 0.000 0.049 2783 3101 1938

9795 1.52 236.3 698.8 9.7 474 9800 0.00 2.50 0.00 0.000 6 0.000 0.041 2784 1691 1938

10122 1.52 236.3 667.8 9.6 490 10126 0.00 2.50 0.00 0.000 4 0.000 0.046 2783 3093 1938

10155 1.52 236.3 664.5 9.1 491 10161 0.00 2.47 0.00 0.000 6 0.000 0.039 2784 1688 1938

10471 1.52 236.3 633.6 10.0 507 10475 0.00 2.53 0.00 0.000 4 0.000 0.047 2784 3101 1938

10516 1.52 236.3 628.9 10.2 509 10520 0.00 2.47 0.00 0.000 6 0.000 0.039 2784 1691 1938

10849 1.52 236.3 594.9 10.1 525 10853 0.00 2.50 0.00 0.000 4 0.000 0.047 2783 3092 1938

10899 1.52 236.3 589.7 10.5 527 10903 0.00 2.45 0.00 0.000 6 0.000 0.040 2784 1699 1938

11220 1.52 236.3 556.8 10.2 543 11224 0.00 2.47 0.00 0.000 4 0.000 0.046 2784 3093 1938

11264 1.52 236.3 552.3 10.4 545 11268 0.00 2.45 0.00 0.000 6 0.000 0.040 2784 1700 1938

11586 1.52 236.3 519.5 10.6 561 11587 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1700 1938

11895 1.52 236.3 486.4 10.4 576 11899 0.00 2.47 0.00 0.000 4 0.000 0.048 2783 3094 1938

11973 1.52 236.3 477.7 10.5 579 11977 0.00 2.47 0.00 0.000 6 0.000 0.042 2784 1692 1938

12289 1.52 236.3 443.9 10.6 594 12293 0.00 2.53 0.00 0.000 4 0.000 0.051 2784 3100 1938

12333 1.52 236.3 439.1 11.2 596 12337 0.00 2.47 0.00 0.000 6 0.000 0.043 2784 1697 1938

12659 1.52 236.3 405.9 9.8 612 12664 0.00 2.50 0.00 0.000 4 0.000 0.051 2783 3091 1938

12715 1.52 236.3 400.4 9.3 614 12721 0.00 2.47 0.00 0.000 6 0.000 0.044 2784 1692 1938

13031 1.52 236.3 372.1 9.0 630 13035 0.00 2.50 0.00 0.000 4 0.000 0.052 2784 3092 1938

13065 1.52 236.3 369.0 8.5 631 13069 0.00 2.45 0.00 0.000 6 0.000 0.044 2784 1702 1938

13386 1.52 236.3 341.9 8.3 647 13387 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1702 1938

13695 1.52 236.3 316.5 8.5 662 13699 0.00 2.50 0.00 0.000 4 0.000 0.053 2784 3094 1938

13773 1.52 236.3 309.5 9.4 665 13779 0.00 2.47 0.00 0.000 6 0.000 0.046 2783 1693 1938

14089 1.52 236.3 279.3 9.2 681 14093 0.00 2.53 0.00 0.000 4 0.000 0.054 2784 3093 1938

14134 1.52 236.3 275.0 8.9 683 14138 0.00 2.47 0.00 0.000 6 0.000 0.046 2784 1700 1938

14455 1.52 236.3 243.3 10.5 699 14459 0.00 2.50 0.00 0.000 4 0.000 0.053 2784 3094 1938

14477 1.52 236.3 240.9 10.3 700 14481 0.00 2.50 0.00 0.000 6 0.000 0.048 2784 1692 1938

14804 1.52 236.3 207.3 9.9 716 14808 0.00 2.53 0.00 0.000 4 0.000 0.054 2783 3096 1938

14860 1.52 236.3 201.5 10.3 718 14866 0.00 2.50 0.00 0.000 6 0.000 0.048 2783 1693 1938

15176 1.52 236.3 171.6 9.6 734 15180 0.00 2.53 0.00 0.000 4 0.000 0.054 2784 3093 1938

15216 1.52 236.3 167.8 9.2 736 15220 0.00 2.47 0.00 0.000 6 0.000 0.048 2784 1699 1938

15544 1.52 236.3 137.1 10.3 752 15549 0.00 2.53 0.00 0.000 4 0.000 0.056 2783 3096 1938

15589 1.52 236.3 132.2 10.1 754 15593 0.00 2.50 0.00 0.000 6 0.000 0.048 2784 1695 1938

15910 1.52 236.3 102.3 8.8 770 15915 0.00 2.53 0.00 0.000 4 0.000 0.057 2784 3091 1938

15955 1.52 236.3 97.9 8.8 772 15959 0.00 2.50 0.00 0.000 6 0.000 0.049 2783 1693 1938

16276 1.52 236.3 67.2 10.3 788 16281 0.00 2.53 0.00 0.000 4 0.000 0.054 2783 3094 1938

16304 1.52 236.3 64.5 9.9 789 16308 0.00 2.50 0.00 0.000 6 0.000 0.050 2783 1696 1938

16620 1.52 236.3 37.2 9.8 804 16621 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1695 1938

16930 1.52 236.3 13.2 8.9 819 16934 0.00 2.50 0.00 0.000 4 0.000 0.052 2784 3093 1938

16979 1.52 236.3 8.4 9.5 821 16984 0.00 2.53 0.00 0.000 6 0.000 0.057 2784 1700 1938

17045 end climb: SURFACE_DEPTH_REACHED

state 17045 begin surface coast

17069 end surface coast: CONTROL_FINISHED_OK

state 17069 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	31	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	2750	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	1700	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	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	21	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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	440	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	-143586.28	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	170926,6135.482,-914.922,26,3.2,45,-9.4	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.041,0.242
_SM_DEPTHo	1.03	KALMAN_X	-18226.8,-84.0,-365.7,31488.1,-1023.1
_SM_ANGLEo	-52.0	KALMAN_Y	-56241.5,166.8,-148.6,101093.5,-5408.2
GPS2	171456,6135.461,-914.936,15,1.7,21,-9.4	MHEAD_RNG_PITCHd_Wd	19.1,17666,-14.7,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.4,1.010015	ALTIM_BOTTOM_PING	775.2,52.8
SM_CCo	17095,41.40,0.731,0,0,1679,300.00	_24V_AH	23.3,14.391
SM_GC	1.50,0.00,0.00,41.40,0.000,0.000,0.731,52,2729,1679,-10.98,-0.59,300.00	_10V_AH	10.1,6.434
IRIDIUM_FIX	6112.75,-914.35,240598,121258	DATA_FILE_SIZE	41121,825
TT8_MAMPS	0.029146	CAP_FILE_SIZE	127391,0
HUMID	1760	CFSIZE	260165632,255934464
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	270209,220237,6138.556,-914.104,32,2.0,32,-9.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	163	102.87	SBE_CT	578	24	323.64
Roll_motor	177	78	323.24	SBE_O2	608	19	269.30
VBD_pump_during_apogee	325	1237	9372.80	WL_BB2F	488	105	1196.09
VBD_pump_during_surface	41	730	705.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.45	nil	0	0	0.00
Iridium_during_connect	26	160	98.78	nil	0	0	0.00
Iridium_during_xfer	147	223	768.00
Transponder_ping	6	420	66.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	21	50	10.75
TT8	1523	19	304.69
LPSleep	13003	2	287.62
TT8_Active	520	19	104.16
TT8_Sampling	1893	39	761.06
TT8_CF8	527	45	244.20
TT8_Kalman	33	81	27.55
Analog_circuits	1490	12	180.66
GPS_charging	0	0	0.00
Compass	1847	8	149.25
RAFOS	0	0	0.00
Transponder	46	30	14.05

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
15	-1.41	-146.6	0.0	0.0	0	99	0.00	0.00	-81.53	0.000	2	0.000	0.000	47	2735	3232
103	-1.41	-146.6	4.1	-4.5	4	125	11.90	2.60	-4.43	0.000	4	0.163	0.077	2128	1334	3501
131	-1.41	-146.6	13.1	-26.7	5	136	0.00	2.67	0.00	0.000	6	0.000	0.066	2128	2761	3501
452	-1.41	-146.6	44.9	-10.5	21	457	0.00	2.65	0.00	0.000	4	0.000	0.067	2128	1328	3500
470	-1.41	-146.6	46.6	-10.2	22	475	0.00	2.65	0.00	0.000	6	0.000	0.061	2128	2756	3500
798	-1.41	-146.6	77.1	-8.4	38	803	0.00	2.65	0.00	0.000	4	0.000	0.067	2128	1334	3500
1056	-1.41	-146.6	102.0	-9.7	49	1063	0.00	2.62	0.00	0.000	6	0.000	0.064	2128	2753	3500
1374	-1.41	-146.6	132.9	-10.3	65	1378	0.00	2.62	0.00	0.000	4	0.000	0.068	2128	1340	3500
1459	-1.41	-146.6	142.6	-12.1	69	1463	0.00	2.60	0.00	0.000	6	0.000	0.061	2128	2750	3500
1788	-1.41	-146.6	176.7	-11.3	85	1792	0.00	2.62	0.00	0.000	4	0.000	0.067	2128	1331	3500
1820	-1.41	-146.6	180.8	-11.8	86	1826	0.00	2.62	0.00	0.000	6	0.000	0.061	2128	2750	3500
2136	-1.41	-146.6	216.8	-11.3	102	2137	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2750	3500
2446	-1.41	-146.6	251.8	-11.4	117	2451	0.00	2.62	0.00	0.000	4	0.000	0.067	2128	1331	3500
2487	-1.41	-146.6	256.4	-11.4	119	2491	0.00	2.62	0.00	0.000	6	0.000	0.061	2128	2759	3500
2813	-1.41	-146.6	293.3	-11.4	135	2814	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2759	3500
3122	-1.41	-146.6	329.5	-11.7	150	3123	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2759	3500
3432	-1.41	-146.6	365.1	-11.6	165	3436	0.00	2.60	0.00	0.000	4	0.000	0.067	2128	1337	3501
3471	-1.41	-146.6	369.6	-11.3	167	3476	0.00	2.60	0.00	0.000	6	0.000	0.059	2128	2757	3500
3798	-1.41	-146.6	405.5	-11.0	183	3799	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2757	3500
4108	-1.41	-146.6	439.2	-11.3	198	4112	0.00	2.60	0.00	0.000	4	0.000	0.063	2128	1338	3500
4147	-1.41	-146.6	443.8	-11.4	200	4152	0.00	2.58	0.00	0.000	6	0.000	0.058	2128	2750	3500
4475	-1.41	-146.6	479.3	-10.8	216	4476	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2750	3500
4784	-1.41	-146.6	512.9	-11.1	231	4788	0.00	2.60	0.00	0.000	4	0.000	0.064	2128	1332	3500
4828	-1.41	-146.6	518.1	-11.5	233	4832	0.00	2.60	0.00	0.000	6	0.000	0.059	2128	2754	3500
5150	-1.41	-146.6	551.8	-10.0	249	5151	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2754	3500
5458	-1.41	-146.6	582.4	-9.9	264	5462	0.00	2.58	0.00	0.000	4	0.000	0.062	2128	1332	3500
5502	-1.41	-146.6	587.0	-9.8	266	5507	0.00	2.60	0.00	0.000	6	0.000	0.057	2128	2759	3500
5823	-1.41	-146.6	616.9	-9.0	282	5824	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2759	3500
6132	-1.41	-146.6	644.3	-8.7	297	6137	0.00	2.60	0.00	0.000	4	0.000	0.064	2128	1333	3500
6172	-1.41	-146.6	648.0	-9.2	299	6177	0.00	2.60	0.00	0.000	6	0.000	0.059	2128	2757	3500
6500	-1.41	-146.6	674.0	-7.8	315	6501	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2759	3500
6809	-1.41	-146.6	701.6	-10.3	330	6814	0.00	2.60	0.00	0.000	4	0.000	0.063	2128	1335	3500
6854	-1.41	-146.6	706.4	-10.3	332	6859	0.00	2.60	0.00	0.000	6	0.000	0.059	2128	2760	3500
7175	-1.41	-146.6	738.7	-9.6	348	7176	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2760	3500
7484	-1.41	-146.6	767.9	-9.0	363	7489	0.00	2.62	0.00	0.000	4	0.000	0.065	2128	1326	3500
7572	-1.41	-146.6	775.2	-9.1	367	7577	0.00	2.60	0.00	0.000	6	0.000	0.059	2128	2752	3500
7899	-1.41	-146.6	804.8	-9.2	383	7903	0.00	2.60	0.00	0.000	4	0.000	0.064	2128	1332	3500
7938	-1.41	-146.6	808.5	-9.0	385	7943	0.00	2.58	0.00	0.000	6	0.000	0.056	2128	2750	3500
8036	end dive: BOTTOM_OBSTACLE_DETECTED
state	8036	begin apogee
8045	-0.42	0.0	818.3	10.0	390	8178	1.10	0.00	124.97	1.237	6	0.091	0.000	2348	1699	2902
8178	end apogee: CONTROL_FINISHED_OK
state	8179	begin climb
8182	1.41	146.6	825.8	0.0	397	8315	1.83	2.72	122.53	1.236	4	0.054	0.063	2744	289	2304
8568	1.41	146.6	804.9	8.3	414	8574	0.00	2.50	0.00	0.000	6	0.000	0.033	2744	1741	2304
8884	1.49	219.5	784.4	5.4	430	8952	0.00	2.75	62.00	1.206	4	0.000	0.063	2744	294	2007
9103	1.52	236.3	768.7	7.4	440	9125	0.12	2.42	15.65	1.124	6	0.044	0.032	2784	1704	1938
9449	1.52	236.3	735.6	10.7	457	9450	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1705	1938
9756	1.52	236.3	702.5	10.3	472	9760	0.00	2.50	0.00	0.000	4	0.000	0.049	2783	3101	1938
9795	1.52	236.3	698.8	9.7	474	9800	0.00	2.50	0.00	0.000	6	0.000	0.041	2784	1691	1938
10122	1.52	236.3	667.8	9.6	490	10126	0.00	2.50	0.00	0.000	4	0.000	0.046	2783	3093	1938
10155	1.52	236.3	664.5	9.1	491	10161	0.00	2.47	0.00	0.000	6	0.000	0.039	2784	1688	1938
10471	1.52	236.3	633.6	10.0	507	10475	0.00	2.53	0.00	0.000	4	0.000	0.047	2784	3101	1938
10516	1.52	236.3	628.9	10.2	509	10520	0.00	2.47	0.00	0.000	6	0.000	0.039	2784	1691	1938
10849	1.52	236.3	594.9	10.1	525	10853	0.00	2.50	0.00	0.000	4	0.000	0.047	2783	3092	1938
10899	1.52	236.3	589.7	10.5	527	10903	0.00	2.45	0.00	0.000	6	0.000	0.040	2784	1699	1938
11220	1.52	236.3	556.8	10.2	543	11224	0.00	2.47	0.00	0.000	4	0.000	0.046	2784	3093	1938
11264	1.52	236.3	552.3	10.4	545	11268	0.00	2.45	0.00	0.000	6	0.000	0.040	2784	1700	1938
11586	1.52	236.3	519.5	10.6	561	11587	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1700	1938
11895	1.52	236.3	486.4	10.4	576	11899	0.00	2.47	0.00	0.000	4	0.000	0.048	2783	3094	1938
11973	1.52	236.3	477.7	10.5	579	11977	0.00	2.47	0.00	0.000	6	0.000	0.042	2784	1692	1938
12289	1.52	236.3	443.9	10.6	594	12293	0.00	2.53	0.00	0.000	4	0.000	0.051	2784	3100	1938
12333	1.52	236.3	439.1	11.2	596	12337	0.00	2.47	0.00	0.000	6	0.000	0.043	2784	1697	1938
12659	1.52	236.3	405.9	9.8	612	12664	0.00	2.50	0.00	0.000	4	0.000	0.051	2783	3091	1938
12715	1.52	236.3	400.4	9.3	614	12721	0.00	2.47	0.00	0.000	6	0.000	0.044	2784	1692	1938
13031	1.52	236.3	372.1	9.0	630	13035	0.00	2.50	0.00	0.000	4	0.000	0.052	2784	3092	1938
13065	1.52	236.3	369.0	8.5	631	13069	0.00	2.45	0.00	0.000	6	0.000	0.044	2784	1702	1938
13386	1.52	236.3	341.9	8.3	647	13387	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1702	1938
13695	1.52	236.3	316.5	8.5	662	13699	0.00	2.50	0.00	0.000	4	0.000	0.053	2784	3094	1938
13773	1.52	236.3	309.5	9.4	665	13779	0.00	2.47	0.00	0.000	6	0.000	0.046	2783	1693	1938
14089	1.52	236.3	279.3	9.2	681	14093	0.00	2.53	0.00	0.000	4	0.000	0.054	2784	3093	1938
14134	1.52	236.3	275.0	8.9	683	14138	0.00	2.47	0.00	0.000	6	0.000	0.046	2784	1700	1938
14455	1.52	236.3	243.3	10.5	699	14459	0.00	2.50	0.00	0.000	4	0.000	0.053	2784	3094	1938
14477	1.52	236.3	240.9	10.3	700	14481	0.00	2.50	0.00	0.000	6	0.000	0.048	2784	1692	1938
14804	1.52	236.3	207.3	9.9	716	14808	0.00	2.53	0.00	0.000	4	0.000	0.054	2783	3096	1938
14860	1.52	236.3	201.5	10.3	718	14866	0.00	2.50	0.00	0.000	6	0.000	0.048	2783	1693	1938
15176	1.52	236.3	171.6	9.6	734	15180	0.00	2.53	0.00	0.000	4	0.000	0.054	2784	3093	1938
15216	1.52	236.3	167.8	9.2	736	15220	0.00	2.47	0.00	0.000	6	0.000	0.048	2784	1699	1938
15544	1.52	236.3	137.1	10.3	752	15549	0.00	2.53	0.00	0.000	4	0.000	0.056	2783	3096	1938
15589	1.52	236.3	132.2	10.1	754	15593	0.00	2.50	0.00	0.000	6	0.000	0.048	2784	1695	1938
15910	1.52	236.3	102.3	8.8	770	15915	0.00	2.53	0.00	0.000	4	0.000	0.057	2784	3091	1938
15955	1.52	236.3	97.9	8.8	772	15959	0.00	2.50	0.00	0.000	6	0.000	0.049	2783	1693	1938
16276	1.52	236.3	67.2	10.3	788	16281	0.00	2.53	0.00	0.000	4	0.000	0.054	2783	3094	1938
16304	1.52	236.3	64.5	9.9	789	16308	0.00	2.50	0.00	0.000	6	0.000	0.050	2783	1696	1938
16620	1.52	236.3	37.2	9.8	804	16621	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1695	1938
16930	1.52	236.3	13.2	8.9	819	16934	0.00	2.50	0.00	0.000	4	0.000	0.052	2784	3093	1938
16979	1.52	236.3	8.4	9.5	821	16984	0.00	2.53	0.00	0.000	6	0.000	0.057	2784	1700	1938
17045	end climb: SURFACE_DEPTH_REACHED
state	17045	begin surface coast
17069	end surface coast: CONTROL_FINISHED_OK
state	17069	begin surface