Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 52 * 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 52 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 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 1900 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 16 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 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 -143940.09 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 -143940.09

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 1900 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 16 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 9 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 52 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 021906,6152.963,-942.715,38,1.7,43,-9.7 TGT_NAME CW

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.040,0.215

_SM_DEPTHo 1.05 KALMAN_X 21783.8,-130.3,863.5,-34417.5,2825.7

_SM_ANGLEo -59.5 KALMAN_Y -86369.1,633.5,1424.1,161599.1,-12213.7

GPS2 022644,6152.999,-942.655,12,1.7,12,-9.7 MHEAD_RNG_PITCHd_Wd 359.2,23120,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.007739 ALTIM_BOTTOM_PING 700.1,61.4

SM_CCo 19488,0.00,0.000,0,0,1660,304.66 _24V_AH 23.4,17.269

SM_GC 1.02,11.70,0.00,0.00,0.028,0.000,0.000,40,2651,1660,-10.93,0.03,304.66 _10V_AH 10.1,8.203

IRIDIUM_FIX 6126.23,-941.99,280598,202003 DATA_FILE_SIZE 47392,931

TT8_MAMPS 0.029146 CAP_FILE_SIZE 133434,0

HUMID 1769 CFSIZE 260165632,254631936

INTERNAL_PRESSURE 8.56478 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 040309,075337,6156.091,-941.626,36,1.2,36,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 98.37 SBE_CT 653 24 366.80

Roll_motor 153 110 395.49 SBE_O2 684 19 304.43

VBD_pump_during_apogee 383 1138 10210.57 WL_BB2F 535 105 1315.14

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 61 103 148.97 nil 0 0 0.00

Iridium_during_connect 56 160 209.93 nil 0 0 0.00

Iridium_during_xfer 150 223 784.18

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.33

TT8 1689 19 337.85

LPSleep 15113 2 334.30

TT8_Active 493 19 98.68

TT8_Sampling 2039 39 819.67

TT8_CF8 603 45 278.98

TT8_Kalman 33 81 27.56

Analog_circuits 1525 12 184.94

GPS_charging 0 0 0.00

Compass 1995 8 161.25

RAFOS 0 0 0.00

Transponder 41 30 12.58

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.10 -146.6 0.0 0.0 0 79 0.00 0.00 -60.62 0.000 2 0.000 0.000 48 2630 3318

82 -1.10 -146.6 4.4 -8.2 3 104 12.18 2.28 -2.92 0.000 4 0.160 0.110 2196 3783 3503

178 -1.10 -146.6 21.6 -9.8 7 181 0.00 2.08 0.00 0.000 6 0.000 0.054 2197 2639 3503

505 -1.10 -146.6 49.7 -8.8 23 509 0.00 2.22 0.00 0.000 4 0.000 0.087 2197 3785 3503

568 -1.10 -146.6 54.8 -8.1 26 571 0.00 2.05 0.00 0.000 6 0.000 0.053 2197 2652 3503

901 -1.10 -146.6 82.1 -9.4 42 904 0.00 2.20 0.00 0.000 4 0.000 0.085 2197 3789 3503

928 -1.10 -146.6 84.7 -8.8 43 932 0.00 2.05 0.00 0.000 6 0.000 0.050 2197 2647 3503

1257 -1.10 -146.6 116.4 -10.9 59 1258 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2647 3503

1565 -1.10 -146.6 145.6 -8.0 74 1569 0.00 2.20 0.00 0.000 4 0.000 0.087 2197 3786 3503

1633 -1.10 -146.6 151.8 -8.5 77 1637 0.00 2.05 0.00 0.000 6 0.000 0.052 2197 2649 3503

1967 -1.10 -146.6 175.3 -6.6 93 1968 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2648 3503

2275 -1.10 -146.6 197.9 -8.0 108 2276 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2649 3503

2585 -1.10 -146.6 220.9 -5.7 123 2588 0.00 2.20 0.00 0.000 4 0.000 0.087 2197 3787 3503

2624 -1.10 -146.6 223.8 -7.7 124 2630 0.00 2.05 0.00 0.000 6 0.000 0.053 2197 2650 3503

2939 -1.10 -146.6 247.4 -7.1 140 2941 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2650 3503

3249 -1.10 -146.6 271.0 -7.8 155 3250 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2650 3503

3558 -1.10 -146.6 291.5 -6.8 170 3561 0.00 2.17 0.00 0.000 4 0.000 0.086 2197 3786 3503

3620 -1.10 -146.6 295.8 -7.1 172 3626 0.00 2.05 0.00 0.000 6 0.000 0.053 2197 2646 3503

3936 -1.10 -146.6 317.5 -6.3 188 3937 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2646 3503

4245 -1.10 -146.6 342.2 -7.7 203 4249 0.00 2.20 0.00 0.000 4 0.000 0.084 2197 3791 3502

4301 -1.10 -146.6 346.6 -7.6 205 4304 0.00 2.08 0.00 0.000 6 0.000 0.054 2197 2639 3502

4622 -1.10 -146.6 368.6 -6.3 221 4623 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2639 3502

4932 -1.10 -146.6 389.7 -7.7 236 4936 0.00 2.20 0.00 0.000 4 0.000 0.084 2197 3787 3502

4978 -1.10 -146.6 393.9 -9.2 238 4982 0.00 2.05 0.00 0.000 6 0.000 0.052 2197 2650 3502

5310 -1.10 -146.6 422.6 -8.9 254 5312 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2650 3502

5621 -1.10 -146.6 450.5 -9.0 269 5622 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2650 3502

5930 -1.10 -146.6 475.5 -7.9 284 5934 0.00 2.17 0.00 0.000 4 0.000 0.083 2197 3787 3502

5980 -1.10 -146.6 479.8 -8.8 286 5984 0.00 2.05 0.00 0.000 6 0.000 0.051 2197 2642 3502

6307 -1.10 -146.6 502.9 -6.9 302 6309 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2642 3502

6617 -1.10 -146.6 523.9 -6.6 317 6618 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2642 3502

6926 -1.10 -146.6 543.5 -6.4 332 6927 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2642 3502

7235 -1.10 -146.6 564.7 -7.3 347 7236 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2642 3502

7545 -1.10 -146.6 590.5 -8.9 362 7546 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2642 3502

7854 -1.10 -146.6 616.9 -8.0 377 7855 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2639 3502

8163 -1.10 -146.6 640.6 -6.9 392 8167 0.00 2.20 0.00 0.000 4 0.000 0.083 2197 3793 3502

8231 -1.10 -146.6 646.1 -8.1 395 8235 0.00 2.05 0.00 0.000 6 0.000 0.051 2197 2641 3502

8565 -1.10 -146.6 666.7 -4.4 411 8566 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2640 3502

8874 -1.10 -146.6 687.3 -7.9 426 8878 0.00 2.20 0.00 0.000 4 0.000 0.082 2197 3792 3502

8936 -1.10 -146.6 692.2 -7.0 428 8942 0.00 2.05 0.00 0.000 6 0.000 0.051 2197 2642 3502

9251 -1.10 -146.6 714.5 -7.0 444 9256 0.00 2.55 0.00 0.000 4 0.000 0.064 2197 1230 3502

9296 -1.10 -146.6 717.5 -6.9 446 9301 0.00 2.62 0.00 0.000 6 0.000 0.062 2197 2664 3502

9617 -1.10 -146.6 738.8 -7.0 462 9621 0.00 2.62 0.00 0.000 4 0.000 0.067 2197 1238 3502

9667 -1.10 -146.6 742.6 -8.4 464 9672 0.00 2.60 0.00 0.000 6 0.000 0.062 2197 2655 3502

9794 end dive: BOTTOM_OBSTACLE_DETECTED

state 9794 begin apogee

9803 -0.42 0.0 752.3 7.9 470 9931 0.75 0.00 124.68 1.139 6 0.094 0.000 2346 1896 2901

9932 end apogee: CONTROL_FINISHED_OK

state 9932 begin climb

9935 1.10 146.6 756.4 0.0 476 10068 1.58 2.80 122.30 1.111 4 0.060 0.069 2679 3324 2304

10326 1.17 201.2 750.3 4.5 493 10378 0.00 2.58 46.85 1.102 6 0.000 0.048 2679 1891 2081

10700 1.17 201.2 731.0 6.9 512 10704 0.00 2.65 0.00 0.000 4 0.000 0.061 2679 3322 2079

10766 1.17 201.2 726.5 6.9 515 10771 0.00 2.58 0.00 0.000 6 0.000 0.049 2679 1900 2079

11088 1.20 221.9 708.8 5.4 531 11113 0.00 2.72 18.33 1.074 4 0.000 0.069 2679 492 1997

11232 1.20 221.9 699.6 6.1 537 11236 0.00 2.53 0.00 0.000 6 0.000 0.038 2679 1918 1997

11548 1.25 263.1 683.1 4.9 552 11591 0.15 2.60 35.62 1.101 4 0.044 0.064 2725 3304 1829

11692 1.25 263.1 672.4 8.8 558 11697 0.00 2.55 0.00 0.000 6 0.000 0.050 2725 1889 1829

12008 1.25 263.1 643.2 9.1 573 12009 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1889 1829

12317 1.25 263.1 617.3 7.9 588 12321 0.00 2.58 0.00 0.000 4 0.000 0.064 2725 489 1829

12381 1.25 263.1 611.6 8.5 591 12385 0.00 2.47 0.00 0.000 6 0.000 0.035 2725 1907 1829

12708 1.25 263.1 583.6 8.7 607 12712 0.00 2.55 0.00 0.000 4 0.000 0.060 2725 3312 1829

12741 1.25 263.1 580.5 8.7 608 12747 0.00 2.53 0.00 0.000 6 0.000 0.045 2725 1896 1829

13057 1.25 263.1 552.1 8.5 624 13058 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1896 1829

13366 1.25 263.1 527.5 7.8 639 13370 0.00 2.58 0.00 0.000 4 0.000 0.058 2725 3309 1829

13421 1.25 263.1 522.9 7.7 641 13427 0.00 2.53 0.00 0.000 6 0.000 0.045 2725 1894 1829

13737 1.25 263.1 496.2 8.8 657 13741 0.00 2.58 0.00 0.000 4 0.000 0.059 2725 3305 1829

13781 1.25 263.1 491.9 9.4 659 13786 0.00 2.53 0.00 0.000 6 0.000 0.047 2725 1894 1829

14102 1.25 263.1 461.8 9.8 675 14106 0.00 2.60 0.00 0.000 4 0.000 0.061 2725 3310 1829

14146 1.25 263.1 457.2 10.0 677 14150 0.00 2.53 0.00 0.000 6 0.000 0.048 2725 1898 1829

14467 1.25 263.1 426.3 9.3 693 14471 0.00 2.58 0.00 0.000 4 0.000 0.061 2725 3304 1829

14512 1.25 263.1 422.1 9.8 695 14516 0.00 2.53 0.00 0.000 6 0.000 0.048 2725 1893 1829

14839 1.25 263.1 391.8 9.1 711 14843 0.00 2.60 0.00 0.000 4 0.000 0.063 2725 3308 1830

14883 1.25 263.1 387.4 9.7 713 14887 0.00 2.55 0.00 0.000 6 0.000 0.051 2725 1890 1830

15204 1.30 304.6 366.1 4.9 729 15244 0.00 0.00 35.33 0.879 6 0.000 0.000 2725 1890 1660

15554 1.30 304.6 347.0 8.5 746 15558 0.00 2.62 0.00 0.000 4 0.000 0.064 2725 3312 1660

15616 1.30 304.6 341.2 7.9 749 15620 0.00 2.55 0.00 0.000 6 0.000 0.050 2725 1897 1660

15942 1.30 304.6 314.1 9.6 765 15946 0.00 2.60 0.00 0.000 4 0.000 0.064 2725 3306 1660

15969 1.30 304.6 311.2 10.4 766 15974 0.00 2.53 0.00 0.000 6 0.000 0.051 2725 1900 1660

16286 1.30 304.6 279.7 10.2 781 16287 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1900 1660

16595 1.30 304.6 249.5 7.8 796 16599 0.00 2.60 0.00 0.000 4 0.000 0.065 2725 3309 1660

16667 1.30 304.6 243.8 8.2 799 16672 0.00 2.55 0.00 0.000 6 0.000 0.054 2725 1893 1660

16983 1.30 304.6 218.6 8.0 814 16984 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1892 1660

17292 1.30 304.6 187.6 10.9 829 17296 0.00 2.62 0.00 0.000 4 0.000 0.067 2725 3309 1660

17364 1.30 304.6 179.5 11.3 832 17369 0.00 2.55 0.00 0.000 6 0.000 0.054 2725 1898 1660

17680 1.30 304.6 150.5 6.8 847 17681 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1898 1660

17990 1.30 304.6 127.7 7.5 862 17994 0.00 2.60 0.00 0.000 4 0.000 0.067 2725 3303 1660

18030 1.30 304.6 124.4 7.9 864 18034 0.00 2.55 0.00 0.000 6 0.000 0.054 2725 1894 1660

18357 1.30 304.6 96.1 8.5 880 18361 0.00 2.62 0.00 0.000 4 0.000 0.067 2725 3314 1660

18412 1.30 304.6 90.9 8.2 882 18418 0.00 2.55 0.00 0.000 6 0.000 0.054 2725 1894 1660

18728 1.30 304.6 62.4 9.5 898 18729 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 1894 1660

19039 1.30 304.6 31.9 10.7 913 19043 0.00 2.60 0.00 0.000 4 0.000 0.066 2725 3304 1660

19083 1.30 304.6 26.1 12.6 915 19087 0.00 2.58 0.00 0.000 6 0.000 0.061 2725 1897 1660

19382 end climb: SURFACE_DEPTH_REACHED

state 19382 begin surface coast

19402 end surface coast: CONTROL_FINISHED_OK

state 19403 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	52	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	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	1900	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	16	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	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	-143940.09	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	021906,6152.963,-942.715,38,1.7,43,-9.7	TGT_NAME	CW
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.040,0.215
_SM_DEPTHo	1.05	KALMAN_X	21783.8,-130.3,863.5,-34417.5,2825.7
_SM_ANGLEo	-59.5	KALMAN_Y	-86369.1,633.5,1424.1,161599.1,-12213.7
GPS2	022644,6152.999,-942.655,12,1.7,12,-9.7	MHEAD_RNG_PITCHd_Wd	359.2,23120,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.1,1.007739	ALTIM_BOTTOM_PING	700.1,61.4
SM_CCo	19488,0.00,0.000,0,0,1660,304.66	_24V_AH	23.4,17.269
SM_GC	1.02,11.70,0.00,0.00,0.028,0.000,0.000,40,2651,1660,-10.93,0.03,304.66	_10V_AH	10.1,8.203
IRIDIUM_FIX	6126.23,-941.99,280598,202003	DATA_FILE_SIZE	47392,931
TT8_MAMPS	0.029146	CAP_FILE_SIZE	133434,0
HUMID	1769	CFSIZE	260165632,254631936
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	040309,075337,6156.091,-941.626,36,1.2,36,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	98.37	SBE_CT	653	24	366.80
Roll_motor	153	110	395.49	SBE_O2	684	19	304.43
VBD_pump_during_apogee	383	1138	10210.57	WL_BB2F	535	105	1315.14
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	148.97	nil	0	0	0.00
Iridium_during_connect	56	160	209.93	nil	0	0	0.00
Iridium_during_xfer	150	223	784.18
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.33
TT8	1689	19	337.85
LPSleep	15113	2	334.30
TT8_Active	493	19	98.68
TT8_Sampling	2039	39	819.67
TT8_CF8	603	45	278.98
TT8_Kalman	33	81	27.56
Analog_circuits	1525	12	184.94
GPS_charging	0	0	0.00
Compass	1995	8	161.25
RAFOS	0	0	0.00
Transponder	41	30	12.58

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.10	-146.6	0.0	0.0	0	79	0.00	0.00	-60.62	0.000	2	0.000	0.000	48	2630	3318
82	-1.10	-146.6	4.4	-8.2	3	104	12.18	2.28	-2.92	0.000	4	0.160	0.110	2196	3783	3503
178	-1.10	-146.6	21.6	-9.8	7	181	0.00	2.08	0.00	0.000	6	0.000	0.054	2197	2639	3503
505	-1.10	-146.6	49.7	-8.8	23	509	0.00	2.22	0.00	0.000	4	0.000	0.087	2197	3785	3503
568	-1.10	-146.6	54.8	-8.1	26	571	0.00	2.05	0.00	0.000	6	0.000	0.053	2197	2652	3503
901	-1.10	-146.6	82.1	-9.4	42	904	0.00	2.20	0.00	0.000	4	0.000	0.085	2197	3789	3503
928	-1.10	-146.6	84.7	-8.8	43	932	0.00	2.05	0.00	0.000	6	0.000	0.050	2197	2647	3503
1257	-1.10	-146.6	116.4	-10.9	59	1258	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2647	3503
1565	-1.10	-146.6	145.6	-8.0	74	1569	0.00	2.20	0.00	0.000	4	0.000	0.087	2197	3786	3503
1633	-1.10	-146.6	151.8	-8.5	77	1637	0.00	2.05	0.00	0.000	6	0.000	0.052	2197	2649	3503
1967	-1.10	-146.6	175.3	-6.6	93	1968	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2648	3503
2275	-1.10	-146.6	197.9	-8.0	108	2276	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2649	3503
2585	-1.10	-146.6	220.9	-5.7	123	2588	0.00	2.20	0.00	0.000	4	0.000	0.087	2197	3787	3503
2624	-1.10	-146.6	223.8	-7.7	124	2630	0.00	2.05	0.00	0.000	6	0.000	0.053	2197	2650	3503
2939	-1.10	-146.6	247.4	-7.1	140	2941	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2650	3503
3249	-1.10	-146.6	271.0	-7.8	155	3250	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2650	3503
3558	-1.10	-146.6	291.5	-6.8	170	3561	0.00	2.17	0.00	0.000	4	0.000	0.086	2197	3786	3503
3620	-1.10	-146.6	295.8	-7.1	172	3626	0.00	2.05	0.00	0.000	6	0.000	0.053	2197	2646	3503
3936	-1.10	-146.6	317.5	-6.3	188	3937	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2646	3503
4245	-1.10	-146.6	342.2	-7.7	203	4249	0.00	2.20	0.00	0.000	4	0.000	0.084	2197	3791	3502
4301	-1.10	-146.6	346.6	-7.6	205	4304	0.00	2.08	0.00	0.000	6	0.000	0.054	2197	2639	3502
4622	-1.10	-146.6	368.6	-6.3	221	4623	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2639	3502
4932	-1.10	-146.6	389.7	-7.7	236	4936	0.00	2.20	0.00	0.000	4	0.000	0.084	2197	3787	3502
4978	-1.10	-146.6	393.9	-9.2	238	4982	0.00	2.05	0.00	0.000	6	0.000	0.052	2197	2650	3502
5310	-1.10	-146.6	422.6	-8.9	254	5312	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2650	3502
5621	-1.10	-146.6	450.5	-9.0	269	5622	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2650	3502
5930	-1.10	-146.6	475.5	-7.9	284	5934	0.00	2.17	0.00	0.000	4	0.000	0.083	2197	3787	3502
5980	-1.10	-146.6	479.8	-8.8	286	5984	0.00	2.05	0.00	0.000	6	0.000	0.051	2197	2642	3502
6307	-1.10	-146.6	502.9	-6.9	302	6309	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2642	3502
6617	-1.10	-146.6	523.9	-6.6	317	6618	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2642	3502
6926	-1.10	-146.6	543.5	-6.4	332	6927	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2642	3502
7235	-1.10	-146.6	564.7	-7.3	347	7236	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2642	3502
7545	-1.10	-146.6	590.5	-8.9	362	7546	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2642	3502
7854	-1.10	-146.6	616.9	-8.0	377	7855	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2639	3502
8163	-1.10	-146.6	640.6	-6.9	392	8167	0.00	2.20	0.00	0.000	4	0.000	0.083	2197	3793	3502
8231	-1.10	-146.6	646.1	-8.1	395	8235	0.00	2.05	0.00	0.000	6	0.000	0.051	2197	2641	3502
8565	-1.10	-146.6	666.7	-4.4	411	8566	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2640	3502
8874	-1.10	-146.6	687.3	-7.9	426	8878	0.00	2.20	0.00	0.000	4	0.000	0.082	2197	3792	3502
8936	-1.10	-146.6	692.2	-7.0	428	8942	0.00	2.05	0.00	0.000	6	0.000	0.051	2197	2642	3502
9251	-1.10	-146.6	714.5	-7.0	444	9256	0.00	2.55	0.00	0.000	4	0.000	0.064	2197	1230	3502
9296	-1.10	-146.6	717.5	-6.9	446	9301	0.00	2.62	0.00	0.000	6	0.000	0.062	2197	2664	3502
9617	-1.10	-146.6	738.8	-7.0	462	9621	0.00	2.62	0.00	0.000	4	0.000	0.067	2197	1238	3502
9667	-1.10	-146.6	742.6	-8.4	464	9672	0.00	2.60	0.00	0.000	6	0.000	0.062	2197	2655	3502
9794	end dive: BOTTOM_OBSTACLE_DETECTED
state	9794	begin apogee
9803	-0.42	0.0	752.3	7.9	470	9931	0.75	0.00	124.68	1.139	6	0.094	0.000	2346	1896	2901
9932	end apogee: CONTROL_FINISHED_OK
state	9932	begin climb
9935	1.10	146.6	756.4	0.0	476	10068	1.58	2.80	122.30	1.111	4	0.060	0.069	2679	3324	2304
10326	1.17	201.2	750.3	4.5	493	10378	0.00	2.58	46.85	1.102	6	0.000	0.048	2679	1891	2081
10700	1.17	201.2	731.0	6.9	512	10704	0.00	2.65	0.00	0.000	4	0.000	0.061	2679	3322	2079
10766	1.17	201.2	726.5	6.9	515	10771	0.00	2.58	0.00	0.000	6	0.000	0.049	2679	1900	2079
11088	1.20	221.9	708.8	5.4	531	11113	0.00	2.72	18.33	1.074	4	0.000	0.069	2679	492	1997
11232	1.20	221.9	699.6	6.1	537	11236	0.00	2.53	0.00	0.000	6	0.000	0.038	2679	1918	1997
11548	1.25	263.1	683.1	4.9	552	11591	0.15	2.60	35.62	1.101	4	0.044	0.064	2725	3304	1829
11692	1.25	263.1	672.4	8.8	558	11697	0.00	2.55	0.00	0.000	6	0.000	0.050	2725	1889	1829
12008	1.25	263.1	643.2	9.1	573	12009	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1889	1829
12317	1.25	263.1	617.3	7.9	588	12321	0.00	2.58	0.00	0.000	4	0.000	0.064	2725	489	1829
12381	1.25	263.1	611.6	8.5	591	12385	0.00	2.47	0.00	0.000	6	0.000	0.035	2725	1907	1829
12708	1.25	263.1	583.6	8.7	607	12712	0.00	2.55	0.00	0.000	4	0.000	0.060	2725	3312	1829
12741	1.25	263.1	580.5	8.7	608	12747	0.00	2.53	0.00	0.000	6	0.000	0.045	2725	1896	1829
13057	1.25	263.1	552.1	8.5	624	13058	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1896	1829
13366	1.25	263.1	527.5	7.8	639	13370	0.00	2.58	0.00	0.000	4	0.000	0.058	2725	3309	1829
13421	1.25	263.1	522.9	7.7	641	13427	0.00	2.53	0.00	0.000	6	0.000	0.045	2725	1894	1829
13737	1.25	263.1	496.2	8.8	657	13741	0.00	2.58	0.00	0.000	4	0.000	0.059	2725	3305	1829
13781	1.25	263.1	491.9	9.4	659	13786	0.00	2.53	0.00	0.000	6	0.000	0.047	2725	1894	1829
14102	1.25	263.1	461.8	9.8	675	14106	0.00	2.60	0.00	0.000	4	0.000	0.061	2725	3310	1829
14146	1.25	263.1	457.2	10.0	677	14150	0.00	2.53	0.00	0.000	6	0.000	0.048	2725	1898	1829
14467	1.25	263.1	426.3	9.3	693	14471	0.00	2.58	0.00	0.000	4	0.000	0.061	2725	3304	1829
14512	1.25	263.1	422.1	9.8	695	14516	0.00	2.53	0.00	0.000	6	0.000	0.048	2725	1893	1829
14839	1.25	263.1	391.8	9.1	711	14843	0.00	2.60	0.00	0.000	4	0.000	0.063	2725	3308	1830
14883	1.25	263.1	387.4	9.7	713	14887	0.00	2.55	0.00	0.000	6	0.000	0.051	2725	1890	1830
15204	1.30	304.6	366.1	4.9	729	15244	0.00	0.00	35.33	0.879	6	0.000	0.000	2725	1890	1660
15554	1.30	304.6	347.0	8.5	746	15558	0.00	2.62	0.00	0.000	4	0.000	0.064	2725	3312	1660
15616	1.30	304.6	341.2	7.9	749	15620	0.00	2.55	0.00	0.000	6	0.000	0.050	2725	1897	1660
15942	1.30	304.6	314.1	9.6	765	15946	0.00	2.60	0.00	0.000	4	0.000	0.064	2725	3306	1660
15969	1.30	304.6	311.2	10.4	766	15974	0.00	2.53	0.00	0.000	6	0.000	0.051	2725	1900	1660
16286	1.30	304.6	279.7	10.2	781	16287	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1900	1660
16595	1.30	304.6	249.5	7.8	796	16599	0.00	2.60	0.00	0.000	4	0.000	0.065	2725	3309	1660
16667	1.30	304.6	243.8	8.2	799	16672	0.00	2.55	0.00	0.000	6	0.000	0.054	2725	1893	1660
16983	1.30	304.6	218.6	8.0	814	16984	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1892	1660
17292	1.30	304.6	187.6	10.9	829	17296	0.00	2.62	0.00	0.000	4	0.000	0.067	2725	3309	1660
17364	1.30	304.6	179.5	11.3	832	17369	0.00	2.55	0.00	0.000	6	0.000	0.054	2725	1898	1660
17680	1.30	304.6	150.5	6.8	847	17681	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1898	1660
17990	1.30	304.6	127.7	7.5	862	17994	0.00	2.60	0.00	0.000	4	0.000	0.067	2725	3303	1660
18030	1.30	304.6	124.4	7.9	864	18034	0.00	2.55	0.00	0.000	6	0.000	0.054	2725	1894	1660
18357	1.30	304.6	96.1	8.5	880	18361	0.00	2.62	0.00	0.000	4	0.000	0.067	2725	3314	1660
18412	1.30	304.6	90.9	8.2	882	18418	0.00	2.55	0.00	0.000	6	0.000	0.054	2725	1894	1660
18728	1.30	304.6	62.4	9.5	898	18729	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	1894	1660
19039	1.30	304.6	31.9	10.7	913	19043	0.00	2.60	0.00	0.000	4	0.000	0.066	2725	3304	1660
19083	1.30	304.6	26.1	12.6	915	19087	0.00	2.58	0.00	0.000	6	0.000	0.061	2725	1897	1660
19382	end climb: SURFACE_DEPTH_REACHED
state	19382	begin surface coast
19402	end surface coast: CONTROL_FINISHED_OK
state	19403	begin surface