Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 312 * 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 312 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 22 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 -149011.11 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 0 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 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 -149011.11

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 0 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 22 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 312 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 112900,6247.438,-1303.641,48,1.7,48,-12.0 TGT_NAME GE

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.222,0.100

_SM_DEPTHo 0.83 KALMAN_X -38058.3,1867.8,524.5,33023.2,-19273.6

_SM_ANGLEo -49.4 KALMAN_Y 7221.3,-554.1,-150.3,-12063.9,2717.3

GPS2 113608,6247.506,-1303.738,14,1.6,14,-12.0 MHEAD_RNG_PITCHd_Wd 77.7,39707,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027304 ALTIM_BOTTOM_PING 750.0,36.2

SM_CCo 16870,0.00,0.000,0,0,1848,258.55 _24V_AH 23.2,52.798

SM_GC 1.51,12.07,0.00,0.00,0.034,0.000,0.000,53,2679,1848,-10.92,0.11,258.55 _10V_AH 10.1,30.440

IRIDIUM_FIX 6221.17,-1301.79,260798,070701 DATA_FILE_SIZE 41192,798

TT8_MAMPS 0.028379 CAP_FILE_SIZE 126072,0

HUMID 1795 CFSIZE 260165632,238538752

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 010509,162006,6249.058,-1302.485,68,1.1,79,-12.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 97.83 SBE_CT 558 24 311.02

Roll_motor 155 95 345.99 SBE_O2 586 19 258.73

VBD_pump_during_apogee 349 1194 9690.81 WL_BB2F 459 105 1118.26

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 67.15 nil 0 0 0.00

Iridium_during_connect 26 160 98.40 nil 0 0 0.00

Iridium_during_xfer 241 223 1250.79

Transponder_ping 6 420 63.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.50

TT8 1507 19 301.47

LPSleep 12707 2 281.08

TT8_Active 506 19 101.21

TT8_Sampling 1951 39 784.53

TT8_CF8 620 45 287.14

TT8_Kalman 33 81 27.55

Analog_circuits 1484 12 179.98

GPS_charging 0 0 0.00

Compass 1901 8 153.62

RAFOS 0 0 0.00

Transponder 45 30 13.74

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 -1.42 -146.6 0.0 0.0 0 100 0.00 0.00 -81.40 0.000 2 0.000 0.000 50 2675 3203

104 -1.42 -146.6 4.1 -5.2 4 126 11.73 2.12 -4.88 0.000 4 0.156 0.096 2123 3787 3502

380 -1.42 -146.6 42.5 -10.6 16 384 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2675 3502

707 -1.42 -146.6 76.6 -10.2 32 711 0.00 2.12 0.00 0.000 4 0.000 0.081 2124 3786 3501

808 -1.42 -146.6 87.8 -11.2 36 812 0.00 1.98 0.00 0.000 6 0.000 0.044 2123 2675 3501

1132 -1.42 -146.6 122.2 -10.8 52 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2675 3501

1439 -1.42 -146.6 154.4 -10.3 67 1440 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2675 3501

1748 -1.42 -146.6 185.0 -10.5 82 1749 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2675 3501

2058 -1.42 -146.6 216.4 -10.4 97 2059 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2675 3500

2367 -1.42 -146.6 245.6 -9.0 112 2370 0.00 2.15 0.00 0.000 4 0.000 0.082 2123 3794 3501

2406 -1.42 -146.6 249.4 -9.5 113 2412 0.00 2.00 0.00 0.000 6 0.000 0.044 2124 2667 3501

2722 -1.42 -146.6 279.2 -10.0 129 2723 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2666 3500

3031 -1.42 -146.6 310.4 -10.1 144 3035 0.00 2.15 0.00 0.000 4 0.000 0.081 2123 3790 3500

3081 -1.42 -146.6 316.0 -10.8 146 3085 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2672 3500

3409 -1.42 -146.6 347.6 -9.3 162 3410 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2672 3500

3718 -1.42 -146.6 376.6 -9.7 177 3722 0.00 2.12 0.00 0.000 4 0.000 0.080 2124 3787 3500

3757 -1.42 -146.6 380.6 -10.1 178 3764 0.00 1.98 0.00 0.000 6 0.000 0.046 2124 2669 3500

4074 -1.42 -146.6 410.8 -10.1 194 4075 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2669 3500

4383 -1.42 -146.6 441.0 -10.0 209 4384 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2669 3500

4692 -1.42 -146.6 471.7 -9.8 224 4696 0.00 2.15 0.00 0.000 4 0.000 0.081 2124 3794 3500

4743 -1.42 -146.6 476.7 -10.3 226 4747 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2672 3500

5070 -1.42 -146.6 510.0 -10.6 242 5071 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2672 3500

5379 -1.42 -146.6 542.0 -9.7 257 5383 0.00 2.12 0.00 0.000 4 0.000 0.078 2124 3793 3500

5414 -1.42 -146.6 545.5 -10.1 258 5418 0.00 1.98 0.00 0.000 6 0.000 0.043 2124 2667 3500

5736 -1.42 -146.6 577.9 -10.2 274 5737 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2667 3500

6045 -1.42 -146.6 607.5 -9.8 289 6046 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2667 3500

6355 -1.42 -146.6 640.1 -10.4 304 6358 0.00 2.12 0.00 0.000 4 0.000 0.078 2124 3789 3500

6394 -1.42 -146.6 644.3 -10.7 305 6400 0.00 2.00 0.00 0.000 6 0.000 0.044 2124 2645 3500

6711 -1.42 -146.6 675.0 -9.6 321 6715 0.00 2.17 0.00 0.000 4 0.000 0.081 2124 3786 3500

6744 -1.42 -146.6 678.7 -10.6 322 6748 0.00 1.98 0.00 0.000 6 0.000 0.043 2124 2661 3500

7066 -1.42 -146.6 710.4 -9.5 338 7071 0.00 2.53 0.00 0.000 4 0.000 0.062 2124 1266 3500

7111 -1.42 -146.6 714.9 -10.3 340 7115 0.00 2.62 0.00 0.000 6 0.000 0.066 2124 2678 3500

7432 -1.42 -146.6 745.2 -9.1 356 7436 0.00 2.10 0.00 0.000 4 0.000 0.081 2124 3796 3499

7617 -1.42 -146.6 763.9 -10.5 364 7621 0.00 2.00 0.00 0.000 6 0.000 0.049 2124 2670 3499

7756 end dive: BOTTOM_OBSTACLE_DETECTED

state 7757 begin apogee

7765 -0.42 0.0 776.8 8.8 371 7899 1.15 0.00 126.38 1.195 6 0.114 0.000 2344 2074 2902

7899 end apogee: CONTROL_FINISHED_OK

state 7899 begin climb

7903 1.42 146.6 782.5 0.0 378 8034 1.90 2.67 123.43 1.193 4 0.051 0.062 2751 661 2304

8170 1.42 146.6 776.4 9.0 390 8175 0.00 2.55 0.00 0.000 6 0.000 0.041 2751 2090 2303

8498 1.50 213.6 759.9 5.5 406 8562 0.00 2.70 56.97 1.184 4 0.000 0.064 2751 3485 2031

8619 1.53 235.6 752.4 7.2 411 8645 0.10 2.58 20.10 1.101 6 0.053 0.045 2783 2064 1941

8958 1.55 247.9 727.3 7.5 427 8979 0.00 2.67 11.68 1.051 4 0.000 0.064 2784 669 1891

9007 1.55 247.9 722.9 8.4 429 9011 0.00 2.53 0.00 0.000 6 0.000 0.041 2784 2079 1891

9328 1.56 258.8 698.2 7.6 445 9345 0.00 2.67 11.00 1.043 4 0.000 0.061 2783 659 1846

9458 1.56 258.8 687.0 9.1 450 9463 0.00 2.53 0.00 0.000 6 0.000 0.040 2784 2082 1846

9786 1.56 258.8 658.7 8.4 466 9790 0.00 2.60 0.00 0.000 4 0.000 0.059 2784 665 1845

9858 1.56 258.8 652.0 9.3 469 9863 0.00 2.50 0.00 0.000 6 0.000 0.038 2784 2082 1845

10174 1.56 258.8 626.0 8.1 484 10179 0.00 2.60 0.00 0.000 4 0.000 0.058 2784 666 1845

10282 1.56 258.8 616.9 8.7 489 10286 0.00 2.47 0.00 0.000 6 0.000 0.037 2784 2080 1845

10614 1.56 258.8 586.3 9.6 505 10618 0.00 2.58 0.00 0.000 4 0.000 0.058 2784 668 1845

10721 1.56 258.8 575.3 10.3 510 10725 0.00 2.45 0.00 0.000 6 0.000 0.037 2783 2075 1845

11054 1.56 258.8 544.1 9.4 526 11055 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2076 1845

11363 1.56 258.8 514.1 9.5 541 11367 0.00 2.58 0.00 0.000 4 0.000 0.056 2784 660 1845

11463 1.56 258.8 503.9 10.2 545 11470 0.00 2.47 0.00 0.000 6 0.000 0.037 2783 2083 1845

11780 1.56 258.8 473.4 9.7 561 11784 0.00 2.58 0.00 0.000 4 0.000 0.056 2783 666 1846

11870 1.56 258.8 464.3 10.7 565 11874 0.00 2.47 0.00 0.000 6 0.000 0.037 2784 2082 1846

12198 1.56 258.8 435.2 8.7 581 12202 0.00 2.58 0.00 0.000 4 0.000 0.056 2784 666 1846

12254 1.56 258.8 430.2 9.1 583 12260 0.00 2.47 0.00 0.000 6 0.000 0.037 2783 2081 1846

12569 1.56 258.8 402.4 8.8 599 12573 0.00 2.58 0.00 0.000 4 0.000 0.058 2783 660 1846

12648 1.56 258.8 394.9 9.1 602 12652 0.00 2.47 0.00 0.000 6 0.000 0.037 2784 2075 1846

12964 1.56 258.8 367.8 8.8 617 12968 0.00 2.58 0.00 0.000 4 0.000 0.058 2783 658 1846

13020 1.56 258.8 362.4 10.4 619 13024 0.00 2.47 0.00 0.000 6 0.000 0.037 2784 2073 1846

13336 1.56 258.8 333.4 9.1 634 13340 0.00 2.58 0.00 0.000 4 0.000 0.058 2784 659 1847

13408 1.56 258.8 326.5 9.2 637 13413 0.00 2.50 0.00 0.000 6 0.000 0.038 2784 2085 1847

13724 1.56 258.8 298.5 8.8 652 13728 0.00 2.60 0.00 0.000 4 0.000 0.058 2783 658 1847

13803 1.56 258.8 291.0 9.2 655 13809 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2078 1847

14119 1.56 258.8 262.7 9.0 671 14124 0.00 2.58 0.00 0.000 4 0.000 0.058 2783 666 1847

14175 1.56 258.8 257.2 9.5 673 14181 0.00 2.47 0.00 0.000 6 0.000 0.038 2783 2079 1847

14491 1.56 258.8 227.0 9.6 689 14496 0.00 2.58 0.00 0.000 4 0.000 0.059 2784 666 1848

14570 1.56 258.8 218.7 10.7 692 14576 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2078 1848

14886 1.56 258.8 187.7 9.6 708 14890 0.00 2.58 0.00 0.000 4 0.000 0.058 2784 665 1848

14964 1.56 258.8 179.8 10.2 711 14970 0.00 2.47 0.00 0.000 6 0.000 0.038 2783 2076 1848

15281 1.56 258.8 149.4 10.0 727 15284 0.00 2.58 0.00 0.000 4 0.000 0.059 2784 666 1848

15336 1.56 258.8 143.8 9.2 729 15341 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2079 1848

15653 1.56 258.8 111.9 10.5 744 15658 0.00 2.60 0.00 0.000 4 0.000 0.060 2783 655 1848

15799 1.56 258.8 96.3 10.8 750 15806 0.00 2.47 0.00 0.000 6 0.000 0.039 2783 2075 1848

16117 1.56 258.8 66.5 9.5 766 16121 0.00 2.58 0.00 0.000 4 0.000 0.058 2784 657 1848

16225 1.56 258.8 55.2 10.4 771 16229 0.00 2.50 0.00 0.000 6 0.000 0.039 2784 2081 1848

16554 1.56 258.8 23.9 9.9 787 16559 0.00 2.60 0.00 0.000 4 0.000 0.060 2784 658 1848

16656 1.56 258.8 13.9 14.1 791 16662 0.00 2.50 0.00 0.000 6 0.000 0.042 2784 2083 1848

16763 end climb: SURFACE_DEPTH_REACHED

state 16763 begin surface coast

16784 end surface coast: CONTROL_FINISHED_OK

state 16785 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	312	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	22	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	-149011.11	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	0	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	112900,6247.438,-1303.641,48,1.7,48,-12.0	TGT_NAME	GE
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.222,0.100
_SM_DEPTHo	0.83	KALMAN_X	-38058.3,1867.8,524.5,33023.2,-19273.6
_SM_ANGLEo	-49.4	KALMAN_Y	7221.3,-554.1,-150.3,-12063.9,2717.3
GPS2	113608,6247.506,-1303.738,14,1.6,14,-12.0	MHEAD_RNG_PITCHd_Wd	77.7,39707,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.2,1.027304	ALTIM_BOTTOM_PING	750.0,36.2
SM_CCo	16870,0.00,0.000,0,0,1848,258.55	_24V_AH	23.2,52.798
SM_GC	1.51,12.07,0.00,0.00,0.034,0.000,0.000,53,2679,1848,-10.92,0.11,258.55	_10V_AH	10.1,30.440
IRIDIUM_FIX	6221.17,-1301.79,260798,070701	DATA_FILE_SIZE	41192,798
TT8_MAMPS	0.028379	CAP_FILE_SIZE	126072,0
HUMID	1795	CFSIZE	260165632,238538752
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	010509,162006,6249.058,-1302.485,68,1.1,79,-12.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	97.83	SBE_CT	558	24	311.02
Roll_motor	155	95	345.99	SBE_O2	586	19	258.73
VBD_pump_during_apogee	349	1194	9690.81	WL_BB2F	459	105	1118.26
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	67.15	nil	0	0	0.00
Iridium_during_connect	26	160	98.40	nil	0	0	0.00
Iridium_during_xfer	241	223	1250.79
Transponder_ping	6	420	63.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.50
TT8	1507	19	301.47
LPSleep	12707	2	281.08
TT8_Active	506	19	101.21
TT8_Sampling	1951	39	784.53
TT8_CF8	620	45	287.14
TT8_Kalman	33	81	27.55
Analog_circuits	1484	12	179.98
GPS_charging	0	0	0.00
Compass	1901	8	153.62
RAFOS	0	0	0.00
Transponder	45	30	13.74

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	-1.42	-146.6	0.0	0.0	0	100	0.00	0.00	-81.40	0.000	2	0.000	0.000	50	2675	3203
104	-1.42	-146.6	4.1	-5.2	4	126	11.73	2.12	-4.88	0.000	4	0.156	0.096	2123	3787	3502
380	-1.42	-146.6	42.5	-10.6	16	384	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2675	3502
707	-1.42	-146.6	76.6	-10.2	32	711	0.00	2.12	0.00	0.000	4	0.000	0.081	2124	3786	3501
808	-1.42	-146.6	87.8	-11.2	36	812	0.00	1.98	0.00	0.000	6	0.000	0.044	2123	2675	3501
1132	-1.42	-146.6	122.2	-10.8	52	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2675	3501
1439	-1.42	-146.6	154.4	-10.3	67	1440	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2675	3501
1748	-1.42	-146.6	185.0	-10.5	82	1749	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2675	3501
2058	-1.42	-146.6	216.4	-10.4	97	2059	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2675	3500
2367	-1.42	-146.6	245.6	-9.0	112	2370	0.00	2.15	0.00	0.000	4	0.000	0.082	2123	3794	3501
2406	-1.42	-146.6	249.4	-9.5	113	2412	0.00	2.00	0.00	0.000	6	0.000	0.044	2124	2667	3501
2722	-1.42	-146.6	279.2	-10.0	129	2723	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2666	3500
3031	-1.42	-146.6	310.4	-10.1	144	3035	0.00	2.15	0.00	0.000	4	0.000	0.081	2123	3790	3500
3081	-1.42	-146.6	316.0	-10.8	146	3085	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2672	3500
3409	-1.42	-146.6	347.6	-9.3	162	3410	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2672	3500
3718	-1.42	-146.6	376.6	-9.7	177	3722	0.00	2.12	0.00	0.000	4	0.000	0.080	2124	3787	3500
3757	-1.42	-146.6	380.6	-10.1	178	3764	0.00	1.98	0.00	0.000	6	0.000	0.046	2124	2669	3500
4074	-1.42	-146.6	410.8	-10.1	194	4075	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2669	3500
4383	-1.42	-146.6	441.0	-10.0	209	4384	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2669	3500
4692	-1.42	-146.6	471.7	-9.8	224	4696	0.00	2.15	0.00	0.000	4	0.000	0.081	2124	3794	3500
4743	-1.42	-146.6	476.7	-10.3	226	4747	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2672	3500
5070	-1.42	-146.6	510.0	-10.6	242	5071	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2672	3500
5379	-1.42	-146.6	542.0	-9.7	257	5383	0.00	2.12	0.00	0.000	4	0.000	0.078	2124	3793	3500
5414	-1.42	-146.6	545.5	-10.1	258	5418	0.00	1.98	0.00	0.000	6	0.000	0.043	2124	2667	3500
5736	-1.42	-146.6	577.9	-10.2	274	5737	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2667	3500
6045	-1.42	-146.6	607.5	-9.8	289	6046	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2667	3500
6355	-1.42	-146.6	640.1	-10.4	304	6358	0.00	2.12	0.00	0.000	4	0.000	0.078	2124	3789	3500
6394	-1.42	-146.6	644.3	-10.7	305	6400	0.00	2.00	0.00	0.000	6	0.000	0.044	2124	2645	3500
6711	-1.42	-146.6	675.0	-9.6	321	6715	0.00	2.17	0.00	0.000	4	0.000	0.081	2124	3786	3500
6744	-1.42	-146.6	678.7	-10.6	322	6748	0.00	1.98	0.00	0.000	6	0.000	0.043	2124	2661	3500
7066	-1.42	-146.6	710.4	-9.5	338	7071	0.00	2.53	0.00	0.000	4	0.000	0.062	2124	1266	3500
7111	-1.42	-146.6	714.9	-10.3	340	7115	0.00	2.62	0.00	0.000	6	0.000	0.066	2124	2678	3500
7432	-1.42	-146.6	745.2	-9.1	356	7436	0.00	2.10	0.00	0.000	4	0.000	0.081	2124	3796	3499
7617	-1.42	-146.6	763.9	-10.5	364	7621	0.00	2.00	0.00	0.000	6	0.000	0.049	2124	2670	3499
7756	end dive: BOTTOM_OBSTACLE_DETECTED
state	7757	begin apogee
7765	-0.42	0.0	776.8	8.8	371	7899	1.15	0.00	126.38	1.195	6	0.114	0.000	2344	2074	2902
7899	end apogee: CONTROL_FINISHED_OK
state	7899	begin climb
7903	1.42	146.6	782.5	0.0	378	8034	1.90	2.67	123.43	1.193	4	0.051	0.062	2751	661	2304
8170	1.42	146.6	776.4	9.0	390	8175	0.00	2.55	0.00	0.000	6	0.000	0.041	2751	2090	2303
8498	1.50	213.6	759.9	5.5	406	8562	0.00	2.70	56.97	1.184	4	0.000	0.064	2751	3485	2031
8619	1.53	235.6	752.4	7.2	411	8645	0.10	2.58	20.10	1.101	6	0.053	0.045	2783	2064	1941
8958	1.55	247.9	727.3	7.5	427	8979	0.00	2.67	11.68	1.051	4	0.000	0.064	2784	669	1891
9007	1.55	247.9	722.9	8.4	429	9011	0.00	2.53	0.00	0.000	6	0.000	0.041	2784	2079	1891
9328	1.56	258.8	698.2	7.6	445	9345	0.00	2.67	11.00	1.043	4	0.000	0.061	2783	659	1846
9458	1.56	258.8	687.0	9.1	450	9463	0.00	2.53	0.00	0.000	6	0.000	0.040	2784	2082	1846
9786	1.56	258.8	658.7	8.4	466	9790	0.00	2.60	0.00	0.000	4	0.000	0.059	2784	665	1845
9858	1.56	258.8	652.0	9.3	469	9863	0.00	2.50	0.00	0.000	6	0.000	0.038	2784	2082	1845
10174	1.56	258.8	626.0	8.1	484	10179	0.00	2.60	0.00	0.000	4	0.000	0.058	2784	666	1845
10282	1.56	258.8	616.9	8.7	489	10286	0.00	2.47	0.00	0.000	6	0.000	0.037	2784	2080	1845
10614	1.56	258.8	586.3	9.6	505	10618	0.00	2.58	0.00	0.000	4	0.000	0.058	2784	668	1845
10721	1.56	258.8	575.3	10.3	510	10725	0.00	2.45	0.00	0.000	6	0.000	0.037	2783	2075	1845
11054	1.56	258.8	544.1	9.4	526	11055	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2076	1845
11363	1.56	258.8	514.1	9.5	541	11367	0.00	2.58	0.00	0.000	4	0.000	0.056	2784	660	1845
11463	1.56	258.8	503.9	10.2	545	11470	0.00	2.47	0.00	0.000	6	0.000	0.037	2783	2083	1845
11780	1.56	258.8	473.4	9.7	561	11784	0.00	2.58	0.00	0.000	4	0.000	0.056	2783	666	1846
11870	1.56	258.8	464.3	10.7	565	11874	0.00	2.47	0.00	0.000	6	0.000	0.037	2784	2082	1846
12198	1.56	258.8	435.2	8.7	581	12202	0.00	2.58	0.00	0.000	4	0.000	0.056	2784	666	1846
12254	1.56	258.8	430.2	9.1	583	12260	0.00	2.47	0.00	0.000	6	0.000	0.037	2783	2081	1846
12569	1.56	258.8	402.4	8.8	599	12573	0.00	2.58	0.00	0.000	4	0.000	0.058	2783	660	1846
12648	1.56	258.8	394.9	9.1	602	12652	0.00	2.47	0.00	0.000	6	0.000	0.037	2784	2075	1846
12964	1.56	258.8	367.8	8.8	617	12968	0.00	2.58	0.00	0.000	4	0.000	0.058	2783	658	1846
13020	1.56	258.8	362.4	10.4	619	13024	0.00	2.47	0.00	0.000	6	0.000	0.037	2784	2073	1846
13336	1.56	258.8	333.4	9.1	634	13340	0.00	2.58	0.00	0.000	4	0.000	0.058	2784	659	1847
13408	1.56	258.8	326.5	9.2	637	13413	0.00	2.50	0.00	0.000	6	0.000	0.038	2784	2085	1847
13724	1.56	258.8	298.5	8.8	652	13728	0.00	2.60	0.00	0.000	4	0.000	0.058	2783	658	1847
13803	1.56	258.8	291.0	9.2	655	13809	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2078	1847
14119	1.56	258.8	262.7	9.0	671	14124	0.00	2.58	0.00	0.000	4	0.000	0.058	2783	666	1847
14175	1.56	258.8	257.2	9.5	673	14181	0.00	2.47	0.00	0.000	6	0.000	0.038	2783	2079	1847
14491	1.56	258.8	227.0	9.6	689	14496	0.00	2.58	0.00	0.000	4	0.000	0.059	2784	666	1848
14570	1.56	258.8	218.7	10.7	692	14576	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2078	1848
14886	1.56	258.8	187.7	9.6	708	14890	0.00	2.58	0.00	0.000	4	0.000	0.058	2784	665	1848
14964	1.56	258.8	179.8	10.2	711	14970	0.00	2.47	0.00	0.000	6	0.000	0.038	2783	2076	1848
15281	1.56	258.8	149.4	10.0	727	15284	0.00	2.58	0.00	0.000	4	0.000	0.059	2784	666	1848
15336	1.56	258.8	143.8	9.2	729	15341	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2079	1848
15653	1.56	258.8	111.9	10.5	744	15658	0.00	2.60	0.00	0.000	4	0.000	0.060	2783	655	1848
15799	1.56	258.8	96.3	10.8	750	15806	0.00	2.47	0.00	0.000	6	0.000	0.039	2783	2075	1848
16117	1.56	258.8	66.5	9.5	766	16121	0.00	2.58	0.00	0.000	4	0.000	0.058	2784	657	1848
16225	1.56	258.8	55.2	10.4	771	16229	0.00	2.50	0.00	0.000	6	0.000	0.039	2784	2081	1848
16554	1.56	258.8	23.9	9.9	787	16559	0.00	2.60	0.00	0.000	4	0.000	0.060	2784	658	1848
16656	1.56	258.8	13.9	14.1	791	16662	0.00	2.50	0.00	0.000	6	0.000	0.042	2784	2083	1848
16763	end climb: SURFACE_DEPTH_REACHED
state	16763	begin surface coast
16784	end surface coast: CONTROL_FINISHED_OK
state	16785	begin surface