Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 344 * 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 344 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 25 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 -150514.92 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 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 -150514.92

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 2075 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2675 MASS 52000 R_PORT_OVSHOOT 25 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 344 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 140136,6228.179,-1159.129,31,1.1,31,-11.2 TGT_NAME P1

_CALLS 2 TGT_LATLONG 6215.000,-1130.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.235,-0.061

_SM_DEPTHo 1.10 KALMAN_X -121551.1,547.1,190.0,172773.8,-2872.6

_SM_ANGLEo -60.5 KALMAN_Y 11943.5,141.9,-649.6,-52936.4,-1395.7

GPS2 140949,6228.112,-1159.144,9,1.1,14,-11.2 MHEAD_RNG_PITCHd_Wd 115.7,34946,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.002634 ALTIM_BOTTOM_PING 825.4,41.6

SM_CCo 18485,0.00,0.000,0,0,1899,246.04 _24V_AH 23.1,57.325

SM_GC 1.70,12.02,0.00,0.00,0.030,0.000,0.000,48,2680,1899,-10.94,0.14,246.04 _10V_AH 10.1,33.029

IRIDIUM_FIX 6207.28,-1202.43,010898,090908 DATA_FILE_SIZE 44265,869

TT8_MAMPS 0.028379 CAP_FILE_SIZE 146305,0

HUMID 1771 CFSIZE 260165632,236638208

INTERNAL_PRESSURE 8.59408 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 GPS 070509,192000,6226.198,-1153.276,38,2.0,38,-11.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 100.84 SBE_CT 605 24 335.79

Roll_motor 195 82 370.49 SBE_O2 645 19 283.25

VBD_pump_during_apogee 343 1232 9770.28 WL_BB2F 491 105 1192.80

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 61 103 146.81 nil 0 0 0.00

Iridium_during_connect 56 160 210.38 nil 0 0 0.00

Iridium_during_xfer 173 223 893.77

Transponder_ping 7 420 70.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.49

TT8 1709 19 341.95

LPSleep 13759 2 304.34

TT8_Active 463 19 92.62

TT8_Sampling 2363 39 950.17

TT8_CF8 675 45 312.41

TT8_Kalman 33 81 27.56

Analog_circuits 1652 12 200.33

GPS_charging 0 0 0.00

Compass 2307 8 186.47

RAFOS 0 0 0.00

Transponder 50 30 15.22

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 -1.42 -146.6 0.0 0.0 0 58 0.00 0.00 -40.72 0.000 2 0.000 0.000 48 2680 3134

62 -1.42 -146.6 3.3 -8.6 2 88 11.82 2.70 -6.68 0.000 4 0.162 0.080 2126 1268 3503

287 -1.42 -146.6 32.5 -10.2 12 292 0.00 2.65 0.00 0.000 6 0.000 0.068 2126 2682 3503

617 -1.42 -146.6 68.0 -10.3 28 620 0.00 2.10 0.00 0.000 4 0.000 0.082 2126 3793 3503

656 -1.42 -146.6 73.2 -12.4 29 662 0.00 2.00 0.00 0.000 6 0.000 0.047 2126 2661 3503

972 -1.42 -146.6 107.5 -10.2 45 973 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2661 3503

1283 -1.42 -146.6 139.2 -11.1 60 1284 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2661 3503

1591 -1.42 -146.6 172.0 -10.4 75 1594 0.00 2.15 0.00 0.000 4 0.000 0.078 2126 3787 3503

1660 -1.42 -146.6 179.2 -10.3 78 1664 0.00 2.00 0.00 0.000 6 0.000 0.048 2126 2665 3503

1994 -1.42 -146.6 214.6 -10.7 94 1998 0.00 2.15 0.00 0.000 4 0.000 0.081 2126 3792 3503

2095 -1.42 -146.6 225.9 -11.2 98 2098 0.00 2.00 0.00 0.000 6 0.000 0.045 2126 2664 3503

2416 -1.42 -146.6 259.1 -10.4 114 2420 0.00 2.15 0.00 0.000 4 0.000 0.081 2126 3789 3503

2489 -1.42 -146.6 267.4 -11.2 117 2493 0.00 1.98 0.00 0.000 6 0.000 0.044 2126 2665 3503

2819 -1.42 -146.6 301.8 -10.5 133 2822 0.00 2.15 0.00 0.000 4 0.000 0.081 2126 3791 3503

2888 -1.42 -146.6 309.5 -10.8 136 2891 0.00 1.98 0.00 0.000 6 0.000 0.044 2126 2672 3502

3221 -1.42 -146.6 345.3 -10.8 152 3224 0.00 2.15 0.00 0.000 4 0.000 0.081 2126 3796 3502

3312 -1.42 -146.6 355.4 -11.7 156 3316 0.00 2.00 0.00 0.000 6 0.000 0.044 2126 2663 3502

3645 -1.42 -146.6 389.8 -10.3 172 3649 0.00 2.15 0.00 0.000 4 0.000 0.080 2126 3790 3503

3736 -1.42 -146.6 399.6 -10.9 176 3744 0.00 1.98 0.00 0.000 6 0.000 0.044 2126 2664 3502

4072 -1.42 -146.6 434.5 -10.6 192 4075 0.00 2.15 0.00 0.000 4 0.000 0.081 2126 3792 3502

4141 -1.42 -146.6 441.9 -11.0 195 4145 0.00 1.98 0.00 0.000 6 0.000 0.044 2126 2668 3503

4474 -1.42 -146.6 477.3 -10.8 211 4478 0.00 2.12 0.00 0.000 4 0.000 0.078 2126 3787 3503

4536 -1.42 -146.6 484.3 -11.1 213 4542 0.00 1.95 0.00 0.000 6 0.000 0.043 2126 2677 3503

4852 -1.42 -146.6 518.6 -10.8 229 4856 0.00 2.12 0.00 0.000 4 0.000 0.081 2125 3793 3502

4922 -1.42 -146.6 526.5 -11.5 232 4926 0.00 1.98 0.00 0.000 6 0.000 0.044 2126 2671 3502

5256 -1.42 -146.6 562.1 -10.5 248 5259 0.00 2.12 0.00 0.000 4 0.000 0.082 2126 3790 3503

5312 -1.42 -146.6 568.3 -11.2 250 5316 0.00 1.98 0.00 0.000 6 0.000 0.042 2126 2665 3502

5636 -1.42 -146.6 600.3 -9.7 266 5640 0.00 2.15 0.00 0.000 4 0.000 0.081 2126 3792 3502

5720 -1.42 -146.6 609.1 -10.3 269 5727 0.00 1.98 0.00 0.000 6 0.000 0.044 2126 2665 3502

6037 -1.42 -146.6 638.4 -9.5 285 6041 0.00 2.15 0.00 0.000 4 0.000 0.082 2126 3792 3502

6110 -1.42 -146.6 645.6 -9.6 288 6113 0.00 1.98 0.00 0.000 6 0.000 0.042 2126 2664 3502

6440 -1.42 -146.6 675.6 -8.8 304 6444 0.00 2.15 0.00 0.000 4 0.000 0.081 2126 3793 3502

6546 -1.42 -146.6 685.7 -9.2 308 6552 0.00 1.98 0.00 0.000 6 0.000 0.044 2126 2670 3502

6862 -1.42 -146.6 716.0 -10.2 324 6866 0.00 2.12 0.00 0.000 4 0.000 0.080 2126 3789 3502

6931 -1.42 -146.6 723.4 -10.9 327 6935 0.00 1.98 0.00 0.000 6 0.000 0.043 2126 2676 3502

7264 -1.42 -146.6 755.9 -9.4 343 7265 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2676 3502

7573 -1.42 -146.6 787.6 -10.4 358 7577 0.00 2.12 0.00 0.000 4 0.000 0.081 2126 3791 3502

7643 -1.42 -146.6 794.6 -10.7 361 7647 0.00 2.00 0.00 0.000 6 0.000 0.046 2126 2652 3502

7975 -1.42 -146.6 824.9 -9.0 377 7985 0.00 2.50 0.00 0.000 4 0.000 0.061 2126 1265 3501

8036 -1.42 -146.6 830.5 -9.5 379 8040 0.00 2.62 0.00 0.000 6 0.000 0.067 2126 2677 3501

8349 end dive: BOTTOM_OBSTACLE_DETECTED

state 8349 begin apogee

8358 -0.42 0.0 858.9 9.6 394 8492 1.12 0.00 128.62 1.233 6 0.110 0.000 2344 2067 2902

8493 end apogee: CONTROL_FINISHED_OK

state 8493 begin climb

8496 1.42 146.6 864.8 0.0 401 8631 1.90 2.65 125.65 1.205 4 0.058 0.059 2750 656 2304

8890 1.52 228.1 848.0 5.0 419 8967 0.00 2.55 70.68 1.200 6 0.000 0.038 2749 2103 1972

9278 1.53 231.7 818.9 7.9 437 9289 0.10 2.70 4.78 0.834 4 0.052 0.060 2784 660 1957

9543 1.53 231.7 793.6 9.2 449 9547 0.00 2.50 0.00 0.000 6 0.000 0.039 2784 2079 1956

9876 1.53 231.7 764.6 9.0 465 9880 0.00 2.62 0.00 0.000 4 0.000 0.058 2784 652 1955

9954 1.53 231.7 757.0 9.7 468 9960 0.00 2.53 0.00 0.000 6 0.000 0.038 2784 2088 1955

10271 1.53 231.7 728.1 9.0 484 10274 0.00 2.60 0.00 0.000 4 0.000 0.057 2784 660 1955

10473 1.53 231.7 710.1 8.3 493 10477 0.00 2.47 0.00 0.000 6 0.000 0.036 2784 2080 1954

10806 1.53 231.7 682.4 8.3 509 10810 0.00 2.58 0.00 0.000 4 0.000 0.054 2784 662 1954

10890 1.53 231.7 675.2 9.2 513 10895 0.00 2.47 0.00 0.000 6 0.000 0.035 2784 2086 1954

11218 1.53 231.7 647.1 9.0 529 11222 0.00 2.60 0.00 0.000 4 0.000 0.054 2784 652 1955

11307 1.53 231.7 638.4 9.6 533 11311 0.00 2.47 0.00 0.000 6 0.000 0.034 2784 2078 1955

11628 1.53 231.7 610.7 8.5 549 11632 0.00 2.58 0.00 0.000 4 0.000 0.054 2784 655 1955

11741 1.53 231.7 600.9 8.8 554 11746 0.00 2.47 0.00 0.000 6 0.000 0.033 2784 2084 1955

12063 1.53 231.7 573.4 8.8 570 12067 0.00 2.58 0.00 0.000 4 0.000 0.053 2784 654 1955

12164 1.53 231.7 563.6 9.4 574 12170 0.00 2.47 0.00 0.000 6 0.000 0.034 2784 2082 1955

12480 1.53 231.7 535.2 9.1 590 12484 0.00 2.55 0.00 0.000 4 0.000 0.054 2784 662 1956

12558 1.53 231.7 527.7 8.8 593 12562 0.00 2.45 0.00 0.000 6 0.000 0.033 2784 2077 1956

12874 1.53 231.7 500.1 8.7 608 12878 0.00 2.55 0.00 0.000 4 0.000 0.053 2784 659 1956

12965 1.53 231.7 491.8 9.2 612 12969 0.00 2.45 0.00 0.000 6 0.000 0.035 2784 2078 1956

13297 1.53 231.7 463.6 8.6 628 13302 0.00 2.58 0.00 0.000 4 0.000 0.053 2784 652 1956

13417 1.53 231.7 452.8 9.6 633 13421 0.00 2.47 0.00 0.000 6 0.000 0.034 2784 2079 1956

13733 1.53 231.7 425.8 8.4 648 13737 0.00 2.58 0.00 0.000 4 0.000 0.054 2784 652 1957

13834 1.53 231.7 416.7 9.4 652 13840 0.00 2.47 0.00 0.000 6 0.000 0.035 2784 2078 1957

14150 1.53 231.7 390.4 8.3 668 14154 0.00 2.58 0.00 0.000 4 0.000 0.054 2784 650 1957

14263 1.53 231.7 380.9 8.2 673 14267 0.00 2.47 0.00 0.000 6 0.000 0.035 2784 2076 1957

14590 1.54 246.1 355.7 7.5 689 14612 0.00 2.65 13.43 0.871 4 0.000 0.054 2784 660 1898

14718 1.54 246.1 345.0 8.6 694 14725 0.00 2.47 0.00 0.000 6 0.000 0.036 2784 2074 1898

15035 1.54 246.1 318.6 8.7 710 15039 0.00 2.58 0.00 0.000 4 0.000 0.056 2784 655 1898

15090 1.54 246.1 313.3 9.4 712 15096 0.00 2.47 0.00 0.000 6 0.000 0.036 2784 2074 1898

15406 1.54 246.1 284.5 9.5 728 15410 0.00 2.58 0.00 0.000 4 0.000 0.056 2784 652 1898

15484 1.54 246.1 276.8 9.7 731 15489 0.00 2.50 0.00 0.000 6 0.000 0.037 2784 2080 1898

15801 1.54 246.1 247.3 9.2 746 15805 0.00 2.58 0.00 0.000 4 0.000 0.056 2784 656 1898

15907 1.54 246.1 236.8 9.4 750 15914 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2081 1898

16224 1.54 246.1 206.5 9.8 766 16228 0.00 2.58 0.00 0.000 4 0.000 0.056 2784 660 1898

16319 1.54 246.1 196.6 10.1 770 16323 0.00 2.47 0.00 0.000 6 0.000 0.037 2784 2076 1899

16634 1.54 246.1 165.6 9.8 785 16639 0.00 2.58 0.00 0.000 4 0.000 0.057 2784 656 1899

16730 1.54 246.1 156.0 8.6 789 16735 0.00 2.50 0.00 0.000 6 0.000 0.038 2784 2084 1899

17047 1.54 246.1 126.4 9.2 804 17051 0.00 2.60 0.00 0.000 4 0.000 0.058 2784 652 1899

17109 1.54 246.1 120.3 10.0 807 17114 0.00 2.50 0.00 0.000 6 0.000 0.038 2784 2078 1899

17437 1.54 246.1 89.7 9.2 823 17441 0.00 2.60 0.00 0.000 4 0.000 0.060 2784 654 1899

17492 1.54 246.1 84.2 9.0 825 17498 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2076 1899

17809 1.54 246.1 56.2 9.0 841 17813 0.00 2.60 0.00 0.000 4 0.000 0.060 2784 652 1899

17875 1.54 246.1 49.6 10.2 844 17880 0.00 2.50 0.00 0.000 6 0.000 0.039 2784 2076 1899

18197 1.54 246.1 19.0 10.6 860 18201 0.00 2.58 0.00 0.000 4 0.000 0.059 2784 662 1899

18270 1.54 246.1 11.5 8.1 863 18275 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2078 1899

18377 end climb: SURFACE_DEPTH_REACHED

state 18377 begin surface coast

18399 end surface coast: CONTROL_FINISHED_OK

state 18399 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	344	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	25	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	-150514.92	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	140136,6228.179,-1159.129,31,1.1,31,-11.2	TGT_NAME	P1
_CALLS	2	TGT_LATLONG	6215.000,-1130.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.235,-0.061
_SM_DEPTHo	1.10	KALMAN_X	-121551.1,547.1,190.0,172773.8,-2872.6
_SM_ANGLEo	-60.5	KALMAN_Y	11943.5,141.9,-649.6,-52936.4,-1395.7
GPS2	140949,6228.112,-1159.144,9,1.1,14,-11.2	MHEAD_RNG_PITCHd_Wd	115.7,34946,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.2,1.002634	ALTIM_BOTTOM_PING	825.4,41.6
SM_CCo	18485,0.00,0.000,0,0,1899,246.04	_24V_AH	23.1,57.325
SM_GC	1.70,12.02,0.00,0.00,0.030,0.000,0.000,48,2680,1899,-10.94,0.14,246.04	_10V_AH	10.1,33.029
IRIDIUM_FIX	6207.28,-1202.43,010898,090908	DATA_FILE_SIZE	44265,869
TT8_MAMPS	0.028379	CAP_FILE_SIZE	146305,0
HUMID	1771	CFSIZE	260165632,236638208
INTERNAL_PRESSURE	8.59408	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	070509,192000,6226.198,-1153.276,38,2.0,38,-11.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	100.84	SBE_CT	605	24	335.79
Roll_motor	195	82	370.49	SBE_O2	645	19	283.25
VBD_pump_during_apogee	343	1232	9770.28	WL_BB2F	491	105	1192.80
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	61	103	146.81	nil	0	0	0.00
Iridium_during_connect	56	160	210.38	nil	0	0	0.00
Iridium_during_xfer	173	223	893.77
Transponder_ping	7	420	70.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.49
TT8	1709	19	341.95
LPSleep	13759	2	304.34
TT8_Active	463	19	92.62
TT8_Sampling	2363	39	950.17
TT8_CF8	675	45	312.41
TT8_Kalman	33	81	27.56
Analog_circuits	1652	12	200.33
GPS_charging	0	0	0.00
Compass	2307	8	186.47
RAFOS	0	0	0.00
Transponder	50	30	15.22

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	-1.42	-146.6	0.0	0.0	0	58	0.00	0.00	-40.72	0.000	2	0.000	0.000	48	2680	3134
62	-1.42	-146.6	3.3	-8.6	2	88	11.82	2.70	-6.68	0.000	4	0.162	0.080	2126	1268	3503
287	-1.42	-146.6	32.5	-10.2	12	292	0.00	2.65	0.00	0.000	6	0.000	0.068	2126	2682	3503
617	-1.42	-146.6	68.0	-10.3	28	620	0.00	2.10	0.00	0.000	4	0.000	0.082	2126	3793	3503
656	-1.42	-146.6	73.2	-12.4	29	662	0.00	2.00	0.00	0.000	6	0.000	0.047	2126	2661	3503
972	-1.42	-146.6	107.5	-10.2	45	973	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2661	3503
1283	-1.42	-146.6	139.2	-11.1	60	1284	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2661	3503
1591	-1.42	-146.6	172.0	-10.4	75	1594	0.00	2.15	0.00	0.000	4	0.000	0.078	2126	3787	3503
1660	-1.42	-146.6	179.2	-10.3	78	1664	0.00	2.00	0.00	0.000	6	0.000	0.048	2126	2665	3503
1994	-1.42	-146.6	214.6	-10.7	94	1998	0.00	2.15	0.00	0.000	4	0.000	0.081	2126	3792	3503
2095	-1.42	-146.6	225.9	-11.2	98	2098	0.00	2.00	0.00	0.000	6	0.000	0.045	2126	2664	3503
2416	-1.42	-146.6	259.1	-10.4	114	2420	0.00	2.15	0.00	0.000	4	0.000	0.081	2126	3789	3503
2489	-1.42	-146.6	267.4	-11.2	117	2493	0.00	1.98	0.00	0.000	6	0.000	0.044	2126	2665	3503
2819	-1.42	-146.6	301.8	-10.5	133	2822	0.00	2.15	0.00	0.000	4	0.000	0.081	2126	3791	3503
2888	-1.42	-146.6	309.5	-10.8	136	2891	0.00	1.98	0.00	0.000	6	0.000	0.044	2126	2672	3502
3221	-1.42	-146.6	345.3	-10.8	152	3224	0.00	2.15	0.00	0.000	4	0.000	0.081	2126	3796	3502
3312	-1.42	-146.6	355.4	-11.7	156	3316	0.00	2.00	0.00	0.000	6	0.000	0.044	2126	2663	3502
3645	-1.42	-146.6	389.8	-10.3	172	3649	0.00	2.15	0.00	0.000	4	0.000	0.080	2126	3790	3503
3736	-1.42	-146.6	399.6	-10.9	176	3744	0.00	1.98	0.00	0.000	6	0.000	0.044	2126	2664	3502
4072	-1.42	-146.6	434.5	-10.6	192	4075	0.00	2.15	0.00	0.000	4	0.000	0.081	2126	3792	3502
4141	-1.42	-146.6	441.9	-11.0	195	4145	0.00	1.98	0.00	0.000	6	0.000	0.044	2126	2668	3503
4474	-1.42	-146.6	477.3	-10.8	211	4478	0.00	2.12	0.00	0.000	4	0.000	0.078	2126	3787	3503
4536	-1.42	-146.6	484.3	-11.1	213	4542	0.00	1.95	0.00	0.000	6	0.000	0.043	2126	2677	3503
4852	-1.42	-146.6	518.6	-10.8	229	4856	0.00	2.12	0.00	0.000	4	0.000	0.081	2125	3793	3502
4922	-1.42	-146.6	526.5	-11.5	232	4926	0.00	1.98	0.00	0.000	6	0.000	0.044	2126	2671	3502
5256	-1.42	-146.6	562.1	-10.5	248	5259	0.00	2.12	0.00	0.000	4	0.000	0.082	2126	3790	3503
5312	-1.42	-146.6	568.3	-11.2	250	5316	0.00	1.98	0.00	0.000	6	0.000	0.042	2126	2665	3502
5636	-1.42	-146.6	600.3	-9.7	266	5640	0.00	2.15	0.00	0.000	4	0.000	0.081	2126	3792	3502
5720	-1.42	-146.6	609.1	-10.3	269	5727	0.00	1.98	0.00	0.000	6	0.000	0.044	2126	2665	3502
6037	-1.42	-146.6	638.4	-9.5	285	6041	0.00	2.15	0.00	0.000	4	0.000	0.082	2126	3792	3502
6110	-1.42	-146.6	645.6	-9.6	288	6113	0.00	1.98	0.00	0.000	6	0.000	0.042	2126	2664	3502
6440	-1.42	-146.6	675.6	-8.8	304	6444	0.00	2.15	0.00	0.000	4	0.000	0.081	2126	3793	3502
6546	-1.42	-146.6	685.7	-9.2	308	6552	0.00	1.98	0.00	0.000	6	0.000	0.044	2126	2670	3502
6862	-1.42	-146.6	716.0	-10.2	324	6866	0.00	2.12	0.00	0.000	4	0.000	0.080	2126	3789	3502
6931	-1.42	-146.6	723.4	-10.9	327	6935	0.00	1.98	0.00	0.000	6	0.000	0.043	2126	2676	3502
7264	-1.42	-146.6	755.9	-9.4	343	7265	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2676	3502
7573	-1.42	-146.6	787.6	-10.4	358	7577	0.00	2.12	0.00	0.000	4	0.000	0.081	2126	3791	3502
7643	-1.42	-146.6	794.6	-10.7	361	7647	0.00	2.00	0.00	0.000	6	0.000	0.046	2126	2652	3502
7975	-1.42	-146.6	824.9	-9.0	377	7985	0.00	2.50	0.00	0.000	4	0.000	0.061	2126	1265	3501
8036	-1.42	-146.6	830.5	-9.5	379	8040	0.00	2.62	0.00	0.000	6	0.000	0.067	2126	2677	3501
8349	end dive: BOTTOM_OBSTACLE_DETECTED
state	8349	begin apogee
8358	-0.42	0.0	858.9	9.6	394	8492	1.12	0.00	128.62	1.233	6	0.110	0.000	2344	2067	2902
8493	end apogee: CONTROL_FINISHED_OK
state	8493	begin climb
8496	1.42	146.6	864.8	0.0	401	8631	1.90	2.65	125.65	1.205	4	0.058	0.059	2750	656	2304
8890	1.52	228.1	848.0	5.0	419	8967	0.00	2.55	70.68	1.200	6	0.000	0.038	2749	2103	1972
9278	1.53	231.7	818.9	7.9	437	9289	0.10	2.70	4.78	0.834	4	0.052	0.060	2784	660	1957
9543	1.53	231.7	793.6	9.2	449	9547	0.00	2.50	0.00	0.000	6	0.000	0.039	2784	2079	1956
9876	1.53	231.7	764.6	9.0	465	9880	0.00	2.62	0.00	0.000	4	0.000	0.058	2784	652	1955
9954	1.53	231.7	757.0	9.7	468	9960	0.00	2.53	0.00	0.000	6	0.000	0.038	2784	2088	1955
10271	1.53	231.7	728.1	9.0	484	10274	0.00	2.60	0.00	0.000	4	0.000	0.057	2784	660	1955
10473	1.53	231.7	710.1	8.3	493	10477	0.00	2.47	0.00	0.000	6	0.000	0.036	2784	2080	1954
10806	1.53	231.7	682.4	8.3	509	10810	0.00	2.58	0.00	0.000	4	0.000	0.054	2784	662	1954
10890	1.53	231.7	675.2	9.2	513	10895	0.00	2.47	0.00	0.000	6	0.000	0.035	2784	2086	1954
11218	1.53	231.7	647.1	9.0	529	11222	0.00	2.60	0.00	0.000	4	0.000	0.054	2784	652	1955
11307	1.53	231.7	638.4	9.6	533	11311	0.00	2.47	0.00	0.000	6	0.000	0.034	2784	2078	1955
11628	1.53	231.7	610.7	8.5	549	11632	0.00	2.58	0.00	0.000	4	0.000	0.054	2784	655	1955
11741	1.53	231.7	600.9	8.8	554	11746	0.00	2.47	0.00	0.000	6	0.000	0.033	2784	2084	1955
12063	1.53	231.7	573.4	8.8	570	12067	0.00	2.58	0.00	0.000	4	0.000	0.053	2784	654	1955
12164	1.53	231.7	563.6	9.4	574	12170	0.00	2.47	0.00	0.000	6	0.000	0.034	2784	2082	1955
12480	1.53	231.7	535.2	9.1	590	12484	0.00	2.55	0.00	0.000	4	0.000	0.054	2784	662	1956
12558	1.53	231.7	527.7	8.8	593	12562	0.00	2.45	0.00	0.000	6	0.000	0.033	2784	2077	1956
12874	1.53	231.7	500.1	8.7	608	12878	0.00	2.55	0.00	0.000	4	0.000	0.053	2784	659	1956
12965	1.53	231.7	491.8	9.2	612	12969	0.00	2.45	0.00	0.000	6	0.000	0.035	2784	2078	1956
13297	1.53	231.7	463.6	8.6	628	13302	0.00	2.58	0.00	0.000	4	0.000	0.053	2784	652	1956
13417	1.53	231.7	452.8	9.6	633	13421	0.00	2.47	0.00	0.000	6	0.000	0.034	2784	2079	1956
13733	1.53	231.7	425.8	8.4	648	13737	0.00	2.58	0.00	0.000	4	0.000	0.054	2784	652	1957
13834	1.53	231.7	416.7	9.4	652	13840	0.00	2.47	0.00	0.000	6	0.000	0.035	2784	2078	1957
14150	1.53	231.7	390.4	8.3	668	14154	0.00	2.58	0.00	0.000	4	0.000	0.054	2784	650	1957
14263	1.53	231.7	380.9	8.2	673	14267	0.00	2.47	0.00	0.000	6	0.000	0.035	2784	2076	1957
14590	1.54	246.1	355.7	7.5	689	14612	0.00	2.65	13.43	0.871	4	0.000	0.054	2784	660	1898
14718	1.54	246.1	345.0	8.6	694	14725	0.00	2.47	0.00	0.000	6	0.000	0.036	2784	2074	1898
15035	1.54	246.1	318.6	8.7	710	15039	0.00	2.58	0.00	0.000	4	0.000	0.056	2784	655	1898
15090	1.54	246.1	313.3	9.4	712	15096	0.00	2.47	0.00	0.000	6	0.000	0.036	2784	2074	1898
15406	1.54	246.1	284.5	9.5	728	15410	0.00	2.58	0.00	0.000	4	0.000	0.056	2784	652	1898
15484	1.54	246.1	276.8	9.7	731	15489	0.00	2.50	0.00	0.000	6	0.000	0.037	2784	2080	1898
15801	1.54	246.1	247.3	9.2	746	15805	0.00	2.58	0.00	0.000	4	0.000	0.056	2784	656	1898
15907	1.54	246.1	236.8	9.4	750	15914	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2081	1898
16224	1.54	246.1	206.5	9.8	766	16228	0.00	2.58	0.00	0.000	4	0.000	0.056	2784	660	1898
16319	1.54	246.1	196.6	10.1	770	16323	0.00	2.47	0.00	0.000	6	0.000	0.037	2784	2076	1899
16634	1.54	246.1	165.6	9.8	785	16639	0.00	2.58	0.00	0.000	4	0.000	0.057	2784	656	1899
16730	1.54	246.1	156.0	8.6	789	16735	0.00	2.50	0.00	0.000	6	0.000	0.038	2784	2084	1899
17047	1.54	246.1	126.4	9.2	804	17051	0.00	2.60	0.00	0.000	4	0.000	0.058	2784	652	1899
17109	1.54	246.1	120.3	10.0	807	17114	0.00	2.50	0.00	0.000	6	0.000	0.038	2784	2078	1899
17437	1.54	246.1	89.7	9.2	823	17441	0.00	2.60	0.00	0.000	4	0.000	0.060	2784	654	1899
17492	1.54	246.1	84.2	9.0	825	17498	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2076	1899
17809	1.54	246.1	56.2	9.0	841	17813	0.00	2.60	0.00	0.000	4	0.000	0.060	2784	652	1899
17875	1.54	246.1	49.6	10.2	844	17880	0.00	2.50	0.00	0.000	6	0.000	0.039	2784	2076	1899
18197	1.54	246.1	19.0	10.6	860	18201	0.00	2.58	0.00	0.000	4	0.000	0.059	2784	662	1899
18270	1.54	246.1	11.5	8.1	863	18275	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2078	1899
18377	end climb: SURFACE_DEPTH_REACHED
state	18377	begin surface coast
18399	end surface coast: CONTROL_FINISHED_OK
state	18399	begin surface