Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 39 * 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 39 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 19 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -143706.06 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 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 -143706.06

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 1700 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2750 MASS 52000 R_PORT_OVSHOOT 19 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 39 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 084500,6154.488,-914.110,39,1.6,44,-9.5 TGT_NAME CW

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.202,0.082

_SM_DEPTHo 1.06 KALMAN_X -20.0,-442.9,-595.1,14780.5,17245.9

_SM_ANGLEo -58.8 KALMAN_Y -55363.2,846.0,1083.6,133784.9,-888.1

GPS2 085319,6154.643,-913.979,14,1.5,14,-9.5 MHEAD_RNG_PITCHd_Wd 301.6,36653,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.007009 ALTIM_BOTTOM_PING 526.3,31.0

SM_CCo 15587,20.52,0.715,0,0,1679,300.00 _24V_AH 23.4,15.520

SM_GC 0.95,0.00,0.00,20.52,0.000,0.000,0.715,47,2744,1679,-11.01,-0.17,300.00 _10V_AH 10.1,7.096

IRIDIUM_FIX 6130.75,-910.47,260598,080844 DATA_FILE_SIZE 38010,741

TT8_MAMPS 0.029146 CAP_FILE_SIZE 125606,0

HUMID 1775 CFSIZE 260165632,255451136

INTERNAL_PRESSURE 8.55502 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 010309,131537,6158.526,-913.847,38,1.1,38,-9.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 164 101.97 SBE_CT 523 24 294.07

Roll_motor 175 75 308.29 SBE_O2 547 19 243.46

VBD_pump_during_apogee 346 1095 8888.94 WL_BB2F 492 105 1210.41

VBD_pump_during_surface 20 714 343.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 143.02 nil 0 0 0.00

Iridium_during_connect 58 160 220.31 nil 0 0 0.00

Iridium_during_xfer 195 223 1018.62

Transponder_ping 4 420 41.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.57

TT8 1440 19 288.08

LPSleep 11620 2 257.04

TT8_Active 495 19 99.01

TT8_Sampling 1930 39 776.18

TT8_CF8 619 45 286.63

TT8_Kalman 33 81 27.57

Analog_circuits 1480 12 179.38

GPS_charging 0 0 0.00

Compass 1888 8 152.62

RAFOS 0 0 0.00

Transponder 30 30 9.22

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

13 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -1.10 -146.6 0.0 0.0 0 78 0.00 0.00 -53.53 0.000 6 0.000 0.000 48 2749 3501

82 -1.10 -146.6 7.0 -14.2 3 96 12.30 0.00 0.00 0.000 6 0.165 0.000 2193 2749 3501

409 -1.10 -146.6 44.3 -7.8 18 411 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2749 3501

717 -1.10 -146.6 72.2 -8.7 33 722 0.00 2.62 0.00 0.000 4 0.000 0.069 2193 1337 3501

773 -1.10 -146.6 77.2 -8.7 35 779 0.00 2.60 0.00 0.000 6 0.000 0.061 2193 2753 3501

1089 -1.10 -146.6 101.7 -7.4 51 1093 0.00 2.62 0.00 0.000 4 0.000 0.067 2193 1340 3501

1116 -1.10 -146.6 103.7 -7.2 52 1120 0.00 2.60 0.00 0.000 6 0.000 0.060 2193 2750 3502

1434 -1.10 -146.6 127.5 -7.9 67 1435 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2750 3502

1741 -1.10 -146.6 149.8 -7.2 82 1746 0.00 2.62 0.00 0.000 4 0.000 0.067 2193 1332 3501

1791 -1.10 -146.6 153.6 -7.7 84 1795 0.00 2.60 0.00 0.000 6 0.000 0.061 2193 2753 3501

2112 -1.10 -146.6 176.6 -7.1 100 2116 0.00 2.62 0.00 0.000 4 0.000 0.066 2193 1334 3501

2145 -1.10 -146.6 178.6 -6.2 101 2151 0.00 2.62 0.00 0.000 6 0.000 0.061 2193 2760 3502

2460 -1.10 -146.6 198.2 -6.2 117 2462 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2760 3502

2770 -1.10 -146.6 219.2 -6.7 132 2774 0.00 2.65 0.00 0.000 4 0.000 0.066 2193 1328 3501

2837 -1.10 -146.6 224.0 -7.3 135 2841 0.00 2.62 0.00 0.000 6 0.000 0.061 2193 2752 3501

3158 -1.10 -146.6 249.2 -8.2 151 3162 0.00 2.62 0.00 0.000 4 0.000 0.066 2193 1332 3501

3208 -1.10 -146.6 253.4 -7.7 153 3212 0.00 2.60 0.00 0.000 6 0.000 0.059 2193 2750 3502

3526 -1.10 -146.6 275.4 -6.7 168 3527 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2751 3501

3833 -1.10 -146.6 291.8 -5.4 183 3837 0.00 2.62 0.00 0.000 4 0.000 0.067 2193 1330 3502

3896 -1.10 -146.6 295.7 -6.8 186 3900 0.00 2.60 0.00 0.000 6 0.000 0.061 2193 2757 3501

4222 -1.10 -146.6 315.1 -6.6 202 4226 0.00 2.62 0.00 0.000 4 0.000 0.066 2193 1332 3501

4272 -1.10 -146.6 318.6 -6.6 204 4276 0.00 2.62 0.00 0.000 6 0.000 0.062 2193 2757 3501

4588 -1.10 -146.6 341.1 -7.5 219 4589 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2757 3502

4897 -1.10 -146.6 362.8 -7.3 234 4901 0.00 2.62 0.00 0.000 4 0.000 0.066 2193 1332 3501

4924 -1.10 -146.6 364.4 -5.7 235 4929 0.00 2.62 0.00 0.000 6 0.000 0.061 2193 2759 3502

5240 -1.10 -146.6 383.4 -6.8 250 5245 0.00 2.62 0.00 0.000 4 0.000 0.065 2193 1333 3502

5295 -1.10 -146.6 387.5 -7.4 252 5302 0.00 2.60 0.00 0.000 6 0.000 0.060 2193 2754 3501

5611 -1.10 -146.6 415.6 -10.1 268 5616 0.00 2.60 0.00 0.000 4 0.000 0.065 2193 1334 3501

5701 -1.10 -146.6 424.6 -9.6 272 5706 0.00 2.58 0.00 0.000 6 0.000 0.058 2193 2757 3501

6028 -1.10 -146.6 449.6 -5.2 288 6032 0.00 2.62 0.00 0.000 4 0.000 0.064 2193 1329 3501

6068 -1.10 -146.6 452.3 -7.2 290 6072 0.00 2.60 0.00 0.000 6 0.000 0.059 2193 2749 3501

6395 -1.10 -146.6 474.0 -5.5 306 6399 0.00 2.60 0.00 0.000 4 0.000 0.065 2193 1335 3502

6445 -1.10 -146.6 476.7 -5.5 308 6449 0.00 2.60 0.00 0.000 6 0.000 0.060 2193 2754 3502

6761 -1.10 -146.6 496.8 -7.2 323 6765 0.00 2.62 0.00 0.000 4 0.000 0.066 2193 1332 3502

6816 -1.10 -146.6 500.8 -6.6 325 6821 0.00 2.62 0.00 0.000 6 0.000 0.062 2193 2756 3501

7132 -1.10 -146.6 517.9 -4.8 340 7137 0.00 2.65 0.00 0.000 4 0.000 0.069 2193 1330 3501

7190 -1.10 -146.6 521.1 -6.2 342 7196 0.00 2.65 0.00 0.000 6 0.000 0.064 2193 2761 3501

7505 -1.10 -146.6 543.6 -7.9 358 7510 0.00 2.65 0.00 0.000 4 0.000 0.071 2193 1340 3499

7561 -1.10 -146.6 545.9 -4.4 360 7568 0.00 2.62 0.00 0.000 6 0.000 0.066 2193 2761 3498

7585 end dive: BOTTOM_OBSTACLE_DETECTED

state 7586 begin apogee

7595 -0.42 0.0 548.1 8.2 362 7719 0.77 0.00 120.18 1.092 6 0.093 0.000 2348 1699 2902

7719 end apogee: CONTROL_FINISHED_OK

state 7719 begin climb

7722 1.10 146.6 554.5 0.0 368 7850 1.55 2.78 118.35 1.095 4 0.057 0.074 2679 290 2304

7974 1.10 146.6 547.2 9.9 379 7981 0.00 2.55 0.00 0.000 6 0.000 0.039 2679 1732 2304

8291 1.15 186.9 530.7 4.9 395 8333 0.00 2.60 34.38 1.052 4 0.000 0.063 2679 3096 2140

8552 1.19 214.1 520.9 5.2 406 8582 0.00 2.58 23.30 1.025 6 0.000 0.058 2679 1698 2029

8910 1.19 214.1 497.3 7.4 424 8915 0.00 2.60 0.00 0.000 4 0.000 0.062 2679 3100 2028

8989 1.19 214.1 491.4 7.3 427 8995 0.00 2.60 0.00 0.000 6 0.000 0.060 2679 1695 2028

9304 1.19 214.1 467.1 6.5 443 9309 0.00 2.60 0.00 0.000 4 0.000 0.062 2679 3099 2028

9551 1.20 226.7 452.7 5.7 454 9569 0.10 2.60 11.88 1.015 6 0.053 0.060 2710 1693 1977

9877 1.20 226.7 423.7 8.9 470 9881 0.00 2.58 0.00 0.000 4 0.000 0.059 2710 3098 1976

10000 1.20 226.7 415.3 6.1 475 10006 0.00 2.58 0.00 0.000 6 0.000 0.058 2710 1689 1976

10316 1.20 226.7 395.7 6.7 491 10317 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 1689 1976

10625 1.20 226.7 371.4 8.2 506 10629 0.00 2.58 0.00 0.000 4 0.000 0.058 2710 3108 1976

10765 1.20 226.7 359.8 8.9 512 10770 0.00 2.58 0.00 0.000 6 0.000 0.054 2710 1692 1976

11087 1.20 226.7 331.5 8.4 528 11091 0.00 2.58 0.00 0.000 4 0.000 0.056 2710 3105 1976

11232 1.20 226.7 320.0 7.6 534 11239 0.00 2.55 0.00 0.000 6 0.000 0.054 2710 1702 1976

11548 1.22 244.5 300.8 5.5 550 11571 0.00 2.60 15.80 0.924 4 0.000 0.057 2710 3102 1905

11678 1.26 271.4 293.7 5.3 555 11706 0.00 2.58 22.95 0.877 6 0.000 0.055 2710 1695 1795

12015 1.26 271.4 269.6 7.4 572 12019 0.00 2.55 0.00 0.000 4 0.000 0.056 2710 3097 1795

12143 1.26 271.4 260.4 7.3 577 12150 0.00 2.55 0.00 0.000 6 0.000 0.056 2709 1701 1795

12459 1.26 271.4 237.0 7.5 593 12463 0.00 2.55 0.00 0.000 4 0.000 0.057 2710 3097 1795

12582 1.26 271.4 227.5 7.9 598 12587 0.00 2.55 0.00 0.000 6 0.000 0.055 2709 1696 1795

12898 1.26 271.4 204.0 8.0 613 12903 0.00 2.55 0.00 0.000 4 0.000 0.055 2710 3097 1795

12999 1.26 271.4 195.9 8.2 617 13005 0.00 2.55 0.00 0.000 6 0.000 0.054 2710 1692 1796

13315 1.26 271.4 172.8 6.8 633 13319 0.00 2.55 0.00 0.000 4 0.000 0.057 2710 3098 1796

13410 1.26 271.4 165.8 8.1 637 13414 0.00 2.53 0.00 0.000 6 0.000 0.054 2710 1696 1796

13733 1.26 271.4 140.6 8.4 653 13737 0.00 2.58 0.00 0.000 4 0.000 0.058 2710 3109 1796

13833 1.26 271.4 133.1 6.8 657 13840 0.00 2.55 0.00 0.000 6 0.000 0.054 2710 1701 1797

14150 1.26 271.4 107.0 9.4 673 14154 0.00 2.55 0.00 0.000 4 0.000 0.056 2710 3105 1797

14272 1.26 271.4 97.0 7.8 678 14279 0.00 2.53 0.00 0.000 6 0.000 0.053 2710 1700 1797

14590 1.26 271.4 74.4 7.2 694 14594 0.00 2.55 0.00 0.000 4 0.000 0.058 2710 3102 1797

14698 1.26 271.4 66.6 7.0 699 14702 0.00 2.55 0.00 0.000 6 0.000 0.054 2710 1693 1797

15026 1.26 271.4 38.6 9.0 715 15030 0.00 2.58 0.00 0.000 4 0.000 0.058 2710 3105 1797

15111 1.26 271.4 31.7 6.7 719 15116 0.00 2.55 0.00 0.000 6 0.000 0.054 2710 1693 1797

15439 1.26 271.4 10.1 8.1 735 15443 0.00 2.58 0.00 0.000 4 0.000 0.062 2710 3096 1797

15525 1.26 271.4 2.8 9.2 739 15530 0.00 2.55 0.00 0.000 6 0.000 0.058 2710 1696 1798

15532 end climb: SURFACE_DEPTH_REACHED

state 15533 begin surface coast

15562 end surface coast: CONTROL_FINISHED_OK

state 15562 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	39	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	19	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-143706.06	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	084500,6154.488,-914.110,39,1.6,44,-9.5	TGT_NAME	CW
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.202,0.082
_SM_DEPTHo	1.06	KALMAN_X	-20.0,-442.9,-595.1,14780.5,17245.9
_SM_ANGLEo	-58.8	KALMAN_Y	-55363.2,846.0,1083.6,133784.9,-888.1
GPS2	085319,6154.643,-913.979,14,1.5,14,-9.5	MHEAD_RNG_PITCHd_Wd	301.6,36653,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.1,1.007009	ALTIM_BOTTOM_PING	526.3,31.0
SM_CCo	15587,20.52,0.715,0,0,1679,300.00	_24V_AH	23.4,15.520
SM_GC	0.95,0.00,0.00,20.52,0.000,0.000,0.715,47,2744,1679,-11.01,-0.17,300.00	_10V_AH	10.1,7.096
IRIDIUM_FIX	6130.75,-910.47,260598,080844	DATA_FILE_SIZE	38010,741
TT8_MAMPS	0.029146	CAP_FILE_SIZE	125606,0
HUMID	1775	CFSIZE	260165632,255451136
INTERNAL_PRESSURE	8.55502	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	010309,131537,6158.526,-913.847,38,1.1,38,-9.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	164	101.97	SBE_CT	523	24	294.07
Roll_motor	175	75	308.29	SBE_O2	547	19	243.46
VBD_pump_during_apogee	346	1095	8888.94	WL_BB2F	492	105	1210.41
VBD_pump_during_surface	20	714	343.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	143.02	nil	0	0	0.00
Iridium_during_connect	58	160	220.31	nil	0	0	0.00
Iridium_during_xfer	195	223	1018.62
Transponder_ping	4	420	41.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.57
TT8	1440	19	288.08
LPSleep	11620	2	257.04
TT8_Active	495	19	99.01
TT8_Sampling	1930	39	776.18
TT8_CF8	619	45	286.63
TT8_Kalman	33	81	27.57
Analog_circuits	1480	12	179.38
GPS_charging	0	0	0.00
Compass	1888	8	152.62
RAFOS	0	0	0.00
Transponder	30	30	9.22

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
13	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-1.10	-146.6	0.0	0.0	0	78	0.00	0.00	-53.53	0.000	6	0.000	0.000	48	2749	3501
82	-1.10	-146.6	7.0	-14.2	3	96	12.30	0.00	0.00	0.000	6	0.165	0.000	2193	2749	3501
409	-1.10	-146.6	44.3	-7.8	18	411	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2749	3501
717	-1.10	-146.6	72.2	-8.7	33	722	0.00	2.62	0.00	0.000	4	0.000	0.069	2193	1337	3501
773	-1.10	-146.6	77.2	-8.7	35	779	0.00	2.60	0.00	0.000	6	0.000	0.061	2193	2753	3501
1089	-1.10	-146.6	101.7	-7.4	51	1093	0.00	2.62	0.00	0.000	4	0.000	0.067	2193	1340	3501
1116	-1.10	-146.6	103.7	-7.2	52	1120	0.00	2.60	0.00	0.000	6	0.000	0.060	2193	2750	3502
1434	-1.10	-146.6	127.5	-7.9	67	1435	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2750	3502
1741	-1.10	-146.6	149.8	-7.2	82	1746	0.00	2.62	0.00	0.000	4	0.000	0.067	2193	1332	3501
1791	-1.10	-146.6	153.6	-7.7	84	1795	0.00	2.60	0.00	0.000	6	0.000	0.061	2193	2753	3501
2112	-1.10	-146.6	176.6	-7.1	100	2116	0.00	2.62	0.00	0.000	4	0.000	0.066	2193	1334	3501
2145	-1.10	-146.6	178.6	-6.2	101	2151	0.00	2.62	0.00	0.000	6	0.000	0.061	2193	2760	3502
2460	-1.10	-146.6	198.2	-6.2	117	2462	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2760	3502
2770	-1.10	-146.6	219.2	-6.7	132	2774	0.00	2.65	0.00	0.000	4	0.000	0.066	2193	1328	3501
2837	-1.10	-146.6	224.0	-7.3	135	2841	0.00	2.62	0.00	0.000	6	0.000	0.061	2193	2752	3501
3158	-1.10	-146.6	249.2	-8.2	151	3162	0.00	2.62	0.00	0.000	4	0.000	0.066	2193	1332	3501
3208	-1.10	-146.6	253.4	-7.7	153	3212	0.00	2.60	0.00	0.000	6	0.000	0.059	2193	2750	3502
3526	-1.10	-146.6	275.4	-6.7	168	3527	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2751	3501
3833	-1.10	-146.6	291.8	-5.4	183	3837	0.00	2.62	0.00	0.000	4	0.000	0.067	2193	1330	3502
3896	-1.10	-146.6	295.7	-6.8	186	3900	0.00	2.60	0.00	0.000	6	0.000	0.061	2193	2757	3501
4222	-1.10	-146.6	315.1	-6.6	202	4226	0.00	2.62	0.00	0.000	4	0.000	0.066	2193	1332	3501
4272	-1.10	-146.6	318.6	-6.6	204	4276	0.00	2.62	0.00	0.000	6	0.000	0.062	2193	2757	3501
4588	-1.10	-146.6	341.1	-7.5	219	4589	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2757	3502
4897	-1.10	-146.6	362.8	-7.3	234	4901	0.00	2.62	0.00	0.000	4	0.000	0.066	2193	1332	3501
4924	-1.10	-146.6	364.4	-5.7	235	4929	0.00	2.62	0.00	0.000	6	0.000	0.061	2193	2759	3502
5240	-1.10	-146.6	383.4	-6.8	250	5245	0.00	2.62	0.00	0.000	4	0.000	0.065	2193	1333	3502
5295	-1.10	-146.6	387.5	-7.4	252	5302	0.00	2.60	0.00	0.000	6	0.000	0.060	2193	2754	3501
5611	-1.10	-146.6	415.6	-10.1	268	5616	0.00	2.60	0.00	0.000	4	0.000	0.065	2193	1334	3501
5701	-1.10	-146.6	424.6	-9.6	272	5706	0.00	2.58	0.00	0.000	6	0.000	0.058	2193	2757	3501
6028	-1.10	-146.6	449.6	-5.2	288	6032	0.00	2.62	0.00	0.000	4	0.000	0.064	2193	1329	3501
6068	-1.10	-146.6	452.3	-7.2	290	6072	0.00	2.60	0.00	0.000	6	0.000	0.059	2193	2749	3501
6395	-1.10	-146.6	474.0	-5.5	306	6399	0.00	2.60	0.00	0.000	4	0.000	0.065	2193	1335	3502
6445	-1.10	-146.6	476.7	-5.5	308	6449	0.00	2.60	0.00	0.000	6	0.000	0.060	2193	2754	3502
6761	-1.10	-146.6	496.8	-7.2	323	6765	0.00	2.62	0.00	0.000	4	0.000	0.066	2193	1332	3502
6816	-1.10	-146.6	500.8	-6.6	325	6821	0.00	2.62	0.00	0.000	6	0.000	0.062	2193	2756	3501
7132	-1.10	-146.6	517.9	-4.8	340	7137	0.00	2.65	0.00	0.000	4	0.000	0.069	2193	1330	3501
7190	-1.10	-146.6	521.1	-6.2	342	7196	0.00	2.65	0.00	0.000	6	0.000	0.064	2193	2761	3501
7505	-1.10	-146.6	543.6	-7.9	358	7510	0.00	2.65	0.00	0.000	4	0.000	0.071	2193	1340	3499
7561	-1.10	-146.6	545.9	-4.4	360	7568	0.00	2.62	0.00	0.000	6	0.000	0.066	2193	2761	3498
7585	end dive: BOTTOM_OBSTACLE_DETECTED
state	7586	begin apogee
7595	-0.42	0.0	548.1	8.2	362	7719	0.77	0.00	120.18	1.092	6	0.093	0.000	2348	1699	2902
7719	end apogee: CONTROL_FINISHED_OK
state	7719	begin climb
7722	1.10	146.6	554.5	0.0	368	7850	1.55	2.78	118.35	1.095	4	0.057	0.074	2679	290	2304
7974	1.10	146.6	547.2	9.9	379	7981	0.00	2.55	0.00	0.000	6	0.000	0.039	2679	1732	2304
8291	1.15	186.9	530.7	4.9	395	8333	0.00	2.60	34.38	1.052	4	0.000	0.063	2679	3096	2140
8552	1.19	214.1	520.9	5.2	406	8582	0.00	2.58	23.30	1.025	6	0.000	0.058	2679	1698	2029
8910	1.19	214.1	497.3	7.4	424	8915	0.00	2.60	0.00	0.000	4	0.000	0.062	2679	3100	2028
8989	1.19	214.1	491.4	7.3	427	8995	0.00	2.60	0.00	0.000	6	0.000	0.060	2679	1695	2028
9304	1.19	214.1	467.1	6.5	443	9309	0.00	2.60	0.00	0.000	4	0.000	0.062	2679	3099	2028
9551	1.20	226.7	452.7	5.7	454	9569	0.10	2.60	11.88	1.015	6	0.053	0.060	2710	1693	1977
9877	1.20	226.7	423.7	8.9	470	9881	0.00	2.58	0.00	0.000	4	0.000	0.059	2710	3098	1976
10000	1.20	226.7	415.3	6.1	475	10006	0.00	2.58	0.00	0.000	6	0.000	0.058	2710	1689	1976
10316	1.20	226.7	395.7	6.7	491	10317	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	1689	1976
10625	1.20	226.7	371.4	8.2	506	10629	0.00	2.58	0.00	0.000	4	0.000	0.058	2710	3108	1976
10765	1.20	226.7	359.8	8.9	512	10770	0.00	2.58	0.00	0.000	6	0.000	0.054	2710	1692	1976
11087	1.20	226.7	331.5	8.4	528	11091	0.00	2.58	0.00	0.000	4	0.000	0.056	2710	3105	1976
11232	1.20	226.7	320.0	7.6	534	11239	0.00	2.55	0.00	0.000	6	0.000	0.054	2710	1702	1976
11548	1.22	244.5	300.8	5.5	550	11571	0.00	2.60	15.80	0.924	4	0.000	0.057	2710	3102	1905
11678	1.26	271.4	293.7	5.3	555	11706	0.00	2.58	22.95	0.877	6	0.000	0.055	2710	1695	1795
12015	1.26	271.4	269.6	7.4	572	12019	0.00	2.55	0.00	0.000	4	0.000	0.056	2710	3097	1795
12143	1.26	271.4	260.4	7.3	577	12150	0.00	2.55	0.00	0.000	6	0.000	0.056	2709	1701	1795
12459	1.26	271.4	237.0	7.5	593	12463	0.00	2.55	0.00	0.000	4	0.000	0.057	2710	3097	1795
12582	1.26	271.4	227.5	7.9	598	12587	0.00	2.55	0.00	0.000	6	0.000	0.055	2709	1696	1795
12898	1.26	271.4	204.0	8.0	613	12903	0.00	2.55	0.00	0.000	4	0.000	0.055	2710	3097	1795
12999	1.26	271.4	195.9	8.2	617	13005	0.00	2.55	0.00	0.000	6	0.000	0.054	2710	1692	1796
13315	1.26	271.4	172.8	6.8	633	13319	0.00	2.55	0.00	0.000	4	0.000	0.057	2710	3098	1796
13410	1.26	271.4	165.8	8.1	637	13414	0.00	2.53	0.00	0.000	6	0.000	0.054	2710	1696	1796
13733	1.26	271.4	140.6	8.4	653	13737	0.00	2.58	0.00	0.000	4	0.000	0.058	2710	3109	1796
13833	1.26	271.4	133.1	6.8	657	13840	0.00	2.55	0.00	0.000	6	0.000	0.054	2710	1701	1797
14150	1.26	271.4	107.0	9.4	673	14154	0.00	2.55	0.00	0.000	4	0.000	0.056	2710	3105	1797
14272	1.26	271.4	97.0	7.8	678	14279	0.00	2.53	0.00	0.000	6	0.000	0.053	2710	1700	1797
14590	1.26	271.4	74.4	7.2	694	14594	0.00	2.55	0.00	0.000	4	0.000	0.058	2710	3102	1797
14698	1.26	271.4	66.6	7.0	699	14702	0.00	2.55	0.00	0.000	6	0.000	0.054	2710	1693	1797
15026	1.26	271.4	38.6	9.0	715	15030	0.00	2.58	0.00	0.000	4	0.000	0.058	2710	3105	1797
15111	1.26	271.4	31.7	6.7	719	15116	0.00	2.55	0.00	0.000	6	0.000	0.054	2710	1693	1797
15439	1.26	271.4	10.1	8.1	735	15443	0.00	2.58	0.00	0.000	4	0.000	0.062	2710	3096	1797
15525	1.26	271.4	2.8	9.2	739	15530	0.00	2.55	0.00	0.000	6	0.000	0.058	2710	1696	1798
15532	end climb: SURFACE_DEPTH_REACHED
state	15533	begin surface coast
15562	end surface coast: CONTROL_FINISHED_OK
state	15562	begin surface