Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 60 * 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 60 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 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 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 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 -144142.11 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 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 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 -144142.11

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 17 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 60 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 210531,6158.267,-940.497,41,1.9,41,-9.8 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.182,0.121

_SM_DEPTHo 1.19 KALMAN_X 58776.8,-1785.6,-2503.2,-64422.6,19701.6

_SM_ANGLEo -60.0 KALMAN_Y -93750.2,833.9,862.7,179016.4,-6118.4

GPS2 211113,6158.212,-940.524,14,1.3,14,-9.8 MHEAD_RNG_PITCHd_Wd 313.3,15018,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.010057 ALTIM_BOTTOM_PING 675.5,73.1

SM_CCo 19849,0.00,0.000,0,0,1372,375.55 _24V_AH 23.4,18.326

SM_GC 0.97,11.93,0.00,0.00,0.029,0.000,0.000,50,2648,1372,-10.93,-0.06,375.55 _10V_AH 10.1,8.893

IRIDIUM_FIX 6135.28,-935.27,300598,151557 DATA_FILE_SIZE 47387,946

TT8_MAMPS 0.028379 CAP_FILE_SIZE 137591,0

HUMID 1775 CFSIZE 260165632,254119936

INTERNAL_PRESSURE 8.54525 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 060309,024407,6158.835,-944.581,34,1.2,34,-9.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 99.30 SBE_CT 660 24 371.13

Roll_motor 163 91 349.36 SBE_O2 694 19 308.58

VBD_pump_during_apogee 437 1165 11936.98 WL_BB2F 519 105 1277.40

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 29 103 71.06 nil 0 0 0.00

Iridium_during_connect 26 160 99.97 nil 0 0 0.00

Iridium_during_xfer 156 223 815.03

Transponder_ping 5 420 56.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.11

TT8 1723 19 344.59

LPSleep 15248 2 337.29

TT8_Active 545 19 109.05

TT8_Sampling 2113 39 849.38

TT8_CF8 555 45 257.18

TT8_Kalman 33 81 27.57

Analog_circuits 1622 12 196.68

GPS_charging 0 0 0.00

Compass 2067 8 167.02

RAFOS 0 0 0.00

Transponder 42 30 12.77

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 -1.10 -146.6 0.0 0.0 0 77 0.00 0.00 -55.88 0.000 6 0.000 0.000 53 2647 3501

81 -1.10 -146.6 7.2 -14.3 3 102 12.12 2.22 0.00 0.000 4 0.160 0.082 2194 3786 3502

355 -1.10 -146.6 48.3 -9.2 15 359 0.00 2.08 0.00 0.000 6 0.000 0.060 2194 2653 3502

682 -1.10 -146.6 70.9 -7.0 31 686 0.00 2.20 0.00 0.000 4 0.000 0.088 2195 3783 3502

751 -1.10 -146.6 76.2 -8.6 34 755 0.00 2.08 0.00 0.000 6 0.000 0.058 2194 2643 3502

1084 -1.10 -146.6 98.1 -6.4 50 1085 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3502

1393 -1.10 -146.6 118.6 -7.7 65 1394 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

1704 -1.10 -146.6 151.2 -10.0 80 1708 0.00 2.22 0.00 0.000 4 0.000 0.091 2195 3787 3501

1754 -1.10 -146.6 157.0 -11.3 82 1758 0.00 2.08 0.00 0.000 6 0.000 0.056 2194 2645 3502

2081 -1.10 -146.6 190.6 -9.0 98 2082 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3502

2391 -1.10 -146.6 217.1 -8.0 113 2394 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3779 3501

2452 -1.10 -146.6 222.2 -8.4 115 2458 0.00 2.03 0.00 0.000 6 0.000 0.056 2194 2652 3501

2769 -1.10 -146.6 245.7 -7.8 131 2770 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2652 3502

3078 -1.10 -146.6 270.5 -7.7 146 3081 0.00 2.20 0.00 0.000 4 0.000 0.088 2195 3787 3501

3117 -1.10 -146.6 273.6 -7.8 147 3123 0.00 2.08 0.00 0.000 6 0.000 0.057 2195 2644 3502

3432 -1.10 -146.6 295.0 -6.3 163 3434 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3502

3742 -1.10 -146.6 316.5 -6.9 178 3743 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3502

4051 -1.10 -146.6 340.1 -7.7 193 4055 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3780 3502

4101 -1.10 -146.6 344.0 -7.8 195 4105 0.00 2.05 0.00 0.000 6 0.000 0.055 2195 2648 3502

4429 -1.10 -146.6 368.4 -7.9 211 4430 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3502

4738 -1.10 -146.6 393.2 -8.0 226 4739 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2646 3502

5048 -1.10 -146.6 416.8 -7.2 241 5049 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2646 3502

5357 -1.10 -146.6 439.5 -7.2 256 5358 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2646 3502

5666 -1.10 -146.6 462.2 -6.8 271 5669 0.00 2.17 0.00 0.000 4 0.000 0.086 2194 3782 3502

5727 -1.10 -146.6 466.4 -7.0 273 5733 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2641 3502

6043 -1.10 -146.6 489.2 -8.1 289 6044 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3502

6352 -1.10 -146.6 514.7 -7.9 304 6353 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3502

6662 -1.10 -146.6 537.7 -7.6 319 6665 0.00 2.17 0.00 0.000 4 0.000 0.084 2195 3780 3502

6752 -1.10 -146.6 545.0 -8.4 323 6756 0.00 2.03 0.00 0.000 6 0.000 0.053 2194 2650 3502

7085 -1.10 -146.6 570.6 -7.8 339 7089 0.00 2.17 0.00 0.000 4 0.000 0.087 2194 3781 3502

7147 -1.10 -146.6 575.6 -8.9 341 7153 0.00 2.05 0.00 0.000 6 0.000 0.053 2194 2641 3502

7465 -1.10 -146.6 600.4 -7.7 357 7466 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2641 3502

7772 -1.10 -146.6 623.5 -6.8 372 7775 0.00 2.20 0.00 0.000 4 0.000 0.084 2195 3789 3502

7846 -1.10 -146.6 628.2 -6.1 375 7850 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2650 3502

8174 -1.10 -146.6 648.1 -6.3 391 8178 0.00 2.58 0.00 0.000 4 0.000 0.065 2194 1226 3502

8213 -1.10 -146.6 650.7 -6.7 393 8218 0.00 2.60 0.00 0.000 6 0.000 0.061 2194 2650 3502

8540 -1.10 -146.6 673.7 -7.4 409 8544 0.00 2.15 0.00 0.000 4 0.000 0.086 2194 3784 3502

8604 -1.10 -146.6 678.7 -8.6 411 8610 0.00 2.05 0.00 0.000 6 0.000 0.052 2194 2640 3502

8919 -1.10 -146.6 702.6 -7.5 427 8921 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2640 3502

9229 -1.10 -146.6 722.3 -6.6 442 9230 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3501

9494 end dive: BOTTOM_OBSTACLE_DETECTED

state 9494 begin apogee

9503 -0.42 0.0 738.7 6.2 455 9630 0.77 0.00 123.18 1.165 6 0.093 0.000 2350 1899 2902

9630 end apogee: CONTROL_FINISHED_OK

state 9630 begin climb

9633 1.10 146.6 743.4 0.0 461 9765 1.55 2.78 121.72 1.111 4 0.058 0.068 2680 478 2304

9969 1.16 192.3 735.8 4.7 476 10014 0.00 2.55 39.62 1.086 6 0.000 0.039 2680 1910 2117

10334 1.19 219.3 716.9 5.3 494 10363 0.00 2.67 24.10 1.076 4 0.000 0.066 2680 3302 2007

10480 1.19 219.3 708.5 6.4 500 10484 0.00 2.58 0.00 0.000 6 0.000 0.051 2680 1887 2006

10795 1.19 219.3 688.0 6.6 515 10800 0.00 2.65 0.00 0.000 4 0.000 0.066 2679 3307 2005

10846 1.19 219.3 684.3 7.3 517 10850 0.00 2.55 0.00 0.000 6 0.000 0.050 2680 1894 2005

11161 1.19 219.3 661.1 6.8 532 11166 0.00 2.62 0.00 0.000 4 0.000 0.064 2680 3305 2005

11228 1.19 219.3 656.7 6.7 535 11232 0.00 2.55 0.00 0.000 6 0.000 0.051 2680 1900 2004

11550 1.21 234.3 638.8 5.6 551 11572 0.10 2.70 13.43 1.036 4 0.049 0.062 2716 3310 1946

11589 1.21 234.3 636.0 7.3 552 11595 0.00 2.58 0.00 0.000 6 0.000 0.048 2715 1894 1946

11905 1.21 234.3 613.0 8.0 568 11906 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1894 1946

12214 1.21 234.3 589.9 6.8 583 12218 0.00 2.60 0.00 0.000 4 0.000 0.059 2716 3312 1946

12314 1.21 234.3 582.9 6.8 587 12320 0.00 2.53 0.00 0.000 6 0.000 0.046 2716 1899 1946

12630 1.21 234.3 559.9 7.7 603 12634 0.00 2.58 0.00 0.000 4 0.000 0.059 2716 3309 1946

12697 1.21 234.3 554.5 7.8 606 12701 0.00 2.53 0.00 0.000 6 0.000 0.045 2716 1894 1946

13018 1.21 234.3 529.6 7.6 622 13022 0.00 2.60 0.00 0.000 4 0.000 0.059 2716 3318 1946

13073 1.21 234.3 525.0 8.2 624 13079 0.00 2.53 0.00 0.000 6 0.000 0.045 2715 1899 1946

13389 1.21 234.3 499.6 8.6 640 13393 0.00 2.58 0.00 0.000 4 0.000 0.059 2716 3310 1946

13431 1.21 234.3 496.0 9.2 642 13435 0.00 2.53 0.00 0.000 6 0.000 0.046 2716 1892 1947

13757 1.21 234.3 469.3 7.6 658 13758 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1892 1947

14066 1.21 234.3 447.0 7.3 673 14071 0.00 2.60 0.00 0.000 4 0.000 0.062 2716 3309 1948

14139 1.21 234.3 441.7 7.2 676 14143 0.00 2.53 0.00 0.000 6 0.000 0.048 2716 1897 1948

14455 1.21 234.3 418.6 7.7 691 14459 0.00 2.60 0.00 0.000 4 0.000 0.062 2716 3315 1948

14494 1.21 234.3 415.4 7.6 693 14499 0.00 2.53 0.00 0.000 6 0.000 0.048 2716 1900 1948

14822 1.21 234.3 390.0 7.7 709 14823 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1900 1949

15131 1.21 234.3 366.5 7.3 724 15135 0.00 2.60 0.00 0.000 4 0.000 0.064 2716 3316 1949

15186 1.21 234.3 362.2 7.9 726 15193 0.00 2.55 0.00 0.000 6 0.000 0.050 2716 1888 1949

15502 1.21 234.3 339.8 6.9 742 15506 0.00 2.60 0.00 0.000 4 0.000 0.064 2715 3307 1950

15541 1.21 234.3 336.9 7.3 744 15545 0.00 2.53 0.00 0.000 6 0.000 0.051 2716 1897 1950

15874 1.21 234.3 312.1 7.5 760 15875 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1897 1950

16183 1.21 234.3 290.1 7.1 775 16188 0.00 2.60 0.00 0.000 4 0.000 0.064 2716 3308 1950

16246 1.21 234.3 285.5 7.8 778 16250 0.00 2.55 0.00 0.000 6 0.000 0.053 2716 1891 1950

16572 1.21 234.3 263.9 6.6 794 16577 0.00 2.62 0.00 0.000 4 0.000 0.066 2716 3313 1950

16600 1.21 234.3 262.0 7.6 795 16604 0.00 2.55 0.00 0.000 6 0.000 0.051 2716 1894 1950

16916 1.21 237.4 243.1 5.9 810 16926 0.00 2.62 4.97 0.635 4 0.000 0.066 2716 3309 1934

16966 1.21 237.4 239.7 6.1 812 16970 0.00 2.55 0.00 0.000 6 0.000 0.052 2716 1898 1934

17282 1.21 237.4 217.6 7.3 827 17286 0.00 2.60 0.00 0.000 4 0.000 0.065 2716 3306 1934

17314 1.21 237.4 215.2 6.4 828 17320 0.00 2.55 0.00 0.000 6 0.000 0.051 2716 1891 1934

17630 1.21 237.4 193.7 7.0 844 17631 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1891 1934

17940 1.26 275.1 175.4 5.0 859 17973 0.00 0.00 31.42 0.759 6 0.000 0.000 2716 1891 1779

18269 1.38 375.2 160.9 3.2 875 18356 0.12 2.75 79.40 0.742 4 0.046 0.067 2761 3307 1372

18405 1.38 375.2 151.0 8.9 881 18409 0.00 2.58 0.00 0.000 6 0.000 0.052 2761 1896 1372

18726 1.38 375.2 121.5 12.2 897 18730 0.00 2.62 0.00 0.000 4 0.000 0.067 2761 3306 1372

18753 1.38 375.2 117.8 12.7 898 18757 0.00 2.55 0.00 0.000 6 0.000 0.051 2761 1898 1372

19071 1.38 375.2 80.7 11.4 913 19075 0.00 2.62 0.00 0.000 4 0.000 0.067 2761 3306 1372

19098 1.38 375.2 77.7 10.1 914 19103 0.00 2.58 0.00 0.000 6 0.000 0.054 2761 1890 1372

19415 1.38 375.2 40.6 11.9 929 19419 0.00 2.67 0.00 0.000 4 0.000 0.071 2761 3314 1372

19447 1.38 375.2 37.0 10.4 930 19454 0.00 2.55 0.00 0.000 6 0.000 0.054 2761 1898 1372

19740 end climb: SURFACE_DEPTH_REACHED

state 19740 begin surface coast

19763 end surface coast: CONTROL_FINISHED_OK

state 19764 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	60	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	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	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	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	-144142.11	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	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	210531,6158.267,-940.497,41,1.9,41,-9.8	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.182,0.121
_SM_DEPTHo	1.19	KALMAN_X	58776.8,-1785.6,-2503.2,-64422.6,19701.6
_SM_ANGLEo	-60.0	KALMAN_Y	-93750.2,833.9,862.7,179016.4,-6118.4
GPS2	211113,6158.212,-940.524,14,1.3,14,-9.8	MHEAD_RNG_PITCHd_Wd	313.3,15018,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.010057	ALTIM_BOTTOM_PING	675.5,73.1
SM_CCo	19849,0.00,0.000,0,0,1372,375.55	_24V_AH	23.4,18.326
SM_GC	0.97,11.93,0.00,0.00,0.029,0.000,0.000,50,2648,1372,-10.93,-0.06,375.55	_10V_AH	10.1,8.893
IRIDIUM_FIX	6135.28,-935.27,300598,151557	DATA_FILE_SIZE	47387,946
TT8_MAMPS	0.028379	CAP_FILE_SIZE	137591,0
HUMID	1775	CFSIZE	260165632,254119936
INTERNAL_PRESSURE	8.54525	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	060309,024407,6158.835,-944.581,34,1.2,34,-9.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	99.30	SBE_CT	660	24	371.13
Roll_motor	163	91	349.36	SBE_O2	694	19	308.58
VBD_pump_during_apogee	437	1165	11936.98	WL_BB2F	519	105	1277.40
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	29	103	71.06	nil	0	0	0.00
Iridium_during_connect	26	160	99.97	nil	0	0	0.00
Iridium_during_xfer	156	223	815.03
Transponder_ping	5	420	56.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.11
TT8	1723	19	344.59
LPSleep	15248	2	337.29
TT8_Active	545	19	109.05
TT8_Sampling	2113	39	849.38
TT8_CF8	555	45	257.18
TT8_Kalman	33	81	27.57
Analog_circuits	1622	12	196.68
GPS_charging	0	0	0.00
Compass	2067	8	167.02
RAFOS	0	0	0.00
Transponder	42	30	12.77

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	-1.10	-146.6	0.0	0.0	0	77	0.00	0.00	-55.88	0.000	6	0.000	0.000	53	2647	3501
81	-1.10	-146.6	7.2	-14.3	3	102	12.12	2.22	0.00	0.000	4	0.160	0.082	2194	3786	3502
355	-1.10	-146.6	48.3	-9.2	15	359	0.00	2.08	0.00	0.000	6	0.000	0.060	2194	2653	3502
682	-1.10	-146.6	70.9	-7.0	31	686	0.00	2.20	0.00	0.000	4	0.000	0.088	2195	3783	3502
751	-1.10	-146.6	76.2	-8.6	34	755	0.00	2.08	0.00	0.000	6	0.000	0.058	2194	2643	3502
1084	-1.10	-146.6	98.1	-6.4	50	1085	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3502
1393	-1.10	-146.6	118.6	-7.7	65	1394	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
1704	-1.10	-146.6	151.2	-10.0	80	1708	0.00	2.22	0.00	0.000	4	0.000	0.091	2195	3787	3501
1754	-1.10	-146.6	157.0	-11.3	82	1758	0.00	2.08	0.00	0.000	6	0.000	0.056	2194	2645	3502
2081	-1.10	-146.6	190.6	-9.0	98	2082	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3502
2391	-1.10	-146.6	217.1	-8.0	113	2394	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3779	3501
2452	-1.10	-146.6	222.2	-8.4	115	2458	0.00	2.03	0.00	0.000	6	0.000	0.056	2194	2652	3501
2769	-1.10	-146.6	245.7	-7.8	131	2770	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2652	3502
3078	-1.10	-146.6	270.5	-7.7	146	3081	0.00	2.20	0.00	0.000	4	0.000	0.088	2195	3787	3501
3117	-1.10	-146.6	273.6	-7.8	147	3123	0.00	2.08	0.00	0.000	6	0.000	0.057	2195	2644	3502
3432	-1.10	-146.6	295.0	-6.3	163	3434	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3502
3742	-1.10	-146.6	316.5	-6.9	178	3743	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3502
4051	-1.10	-146.6	340.1	-7.7	193	4055	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3780	3502
4101	-1.10	-146.6	344.0	-7.8	195	4105	0.00	2.05	0.00	0.000	6	0.000	0.055	2195	2648	3502
4429	-1.10	-146.6	368.4	-7.9	211	4430	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3502
4738	-1.10	-146.6	393.2	-8.0	226	4739	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2646	3502
5048	-1.10	-146.6	416.8	-7.2	241	5049	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2646	3502
5357	-1.10	-146.6	439.5	-7.2	256	5358	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2646	3502
5666	-1.10	-146.6	462.2	-6.8	271	5669	0.00	2.17	0.00	0.000	4	0.000	0.086	2194	3782	3502
5727	-1.10	-146.6	466.4	-7.0	273	5733	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2641	3502
6043	-1.10	-146.6	489.2	-8.1	289	6044	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3502
6352	-1.10	-146.6	514.7	-7.9	304	6353	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3502
6662	-1.10	-146.6	537.7	-7.6	319	6665	0.00	2.17	0.00	0.000	4	0.000	0.084	2195	3780	3502
6752	-1.10	-146.6	545.0	-8.4	323	6756	0.00	2.03	0.00	0.000	6	0.000	0.053	2194	2650	3502
7085	-1.10	-146.6	570.6	-7.8	339	7089	0.00	2.17	0.00	0.000	4	0.000	0.087	2194	3781	3502
7147	-1.10	-146.6	575.6	-8.9	341	7153	0.00	2.05	0.00	0.000	6	0.000	0.053	2194	2641	3502
7465	-1.10	-146.6	600.4	-7.7	357	7466	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2641	3502
7772	-1.10	-146.6	623.5	-6.8	372	7775	0.00	2.20	0.00	0.000	4	0.000	0.084	2195	3789	3502
7846	-1.10	-146.6	628.2	-6.1	375	7850	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2650	3502
8174	-1.10	-146.6	648.1	-6.3	391	8178	0.00	2.58	0.00	0.000	4	0.000	0.065	2194	1226	3502
8213	-1.10	-146.6	650.7	-6.7	393	8218	0.00	2.60	0.00	0.000	6	0.000	0.061	2194	2650	3502
8540	-1.10	-146.6	673.7	-7.4	409	8544	0.00	2.15	0.00	0.000	4	0.000	0.086	2194	3784	3502
8604	-1.10	-146.6	678.7	-8.6	411	8610	0.00	2.05	0.00	0.000	6	0.000	0.052	2194	2640	3502
8919	-1.10	-146.6	702.6	-7.5	427	8921	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2640	3502
9229	-1.10	-146.6	722.3	-6.6	442	9230	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3501
9494	end dive: BOTTOM_OBSTACLE_DETECTED
state	9494	begin apogee
9503	-0.42	0.0	738.7	6.2	455	9630	0.77	0.00	123.18	1.165	6	0.093	0.000	2350	1899	2902
9630	end apogee: CONTROL_FINISHED_OK
state	9630	begin climb
9633	1.10	146.6	743.4	0.0	461	9765	1.55	2.78	121.72	1.111	4	0.058	0.068	2680	478	2304
9969	1.16	192.3	735.8	4.7	476	10014	0.00	2.55	39.62	1.086	6	0.000	0.039	2680	1910	2117
10334	1.19	219.3	716.9	5.3	494	10363	0.00	2.67	24.10	1.076	4	0.000	0.066	2680	3302	2007
10480	1.19	219.3	708.5	6.4	500	10484	0.00	2.58	0.00	0.000	6	0.000	0.051	2680	1887	2006
10795	1.19	219.3	688.0	6.6	515	10800	0.00	2.65	0.00	0.000	4	0.000	0.066	2679	3307	2005
10846	1.19	219.3	684.3	7.3	517	10850	0.00	2.55	0.00	0.000	6	0.000	0.050	2680	1894	2005
11161	1.19	219.3	661.1	6.8	532	11166	0.00	2.62	0.00	0.000	4	0.000	0.064	2680	3305	2005
11228	1.19	219.3	656.7	6.7	535	11232	0.00	2.55	0.00	0.000	6	0.000	0.051	2680	1900	2004
11550	1.21	234.3	638.8	5.6	551	11572	0.10	2.70	13.43	1.036	4	0.049	0.062	2716	3310	1946
11589	1.21	234.3	636.0	7.3	552	11595	0.00	2.58	0.00	0.000	6	0.000	0.048	2715	1894	1946
11905	1.21	234.3	613.0	8.0	568	11906	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1894	1946
12214	1.21	234.3	589.9	6.8	583	12218	0.00	2.60	0.00	0.000	4	0.000	0.059	2716	3312	1946
12314	1.21	234.3	582.9	6.8	587	12320	0.00	2.53	0.00	0.000	6	0.000	0.046	2716	1899	1946
12630	1.21	234.3	559.9	7.7	603	12634	0.00	2.58	0.00	0.000	4	0.000	0.059	2716	3309	1946
12697	1.21	234.3	554.5	7.8	606	12701	0.00	2.53	0.00	0.000	6	0.000	0.045	2716	1894	1946
13018	1.21	234.3	529.6	7.6	622	13022	0.00	2.60	0.00	0.000	4	0.000	0.059	2716	3318	1946
13073	1.21	234.3	525.0	8.2	624	13079	0.00	2.53	0.00	0.000	6	0.000	0.045	2715	1899	1946
13389	1.21	234.3	499.6	8.6	640	13393	0.00	2.58	0.00	0.000	4	0.000	0.059	2716	3310	1946
13431	1.21	234.3	496.0	9.2	642	13435	0.00	2.53	0.00	0.000	6	0.000	0.046	2716	1892	1947
13757	1.21	234.3	469.3	7.6	658	13758	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1892	1947
14066	1.21	234.3	447.0	7.3	673	14071	0.00	2.60	0.00	0.000	4	0.000	0.062	2716	3309	1948
14139	1.21	234.3	441.7	7.2	676	14143	0.00	2.53	0.00	0.000	6	0.000	0.048	2716	1897	1948
14455	1.21	234.3	418.6	7.7	691	14459	0.00	2.60	0.00	0.000	4	0.000	0.062	2716	3315	1948
14494	1.21	234.3	415.4	7.6	693	14499	0.00	2.53	0.00	0.000	6	0.000	0.048	2716	1900	1948
14822	1.21	234.3	390.0	7.7	709	14823	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1900	1949
15131	1.21	234.3	366.5	7.3	724	15135	0.00	2.60	0.00	0.000	4	0.000	0.064	2716	3316	1949
15186	1.21	234.3	362.2	7.9	726	15193	0.00	2.55	0.00	0.000	6	0.000	0.050	2716	1888	1949
15502	1.21	234.3	339.8	6.9	742	15506	0.00	2.60	0.00	0.000	4	0.000	0.064	2715	3307	1950
15541	1.21	234.3	336.9	7.3	744	15545	0.00	2.53	0.00	0.000	6	0.000	0.051	2716	1897	1950
15874	1.21	234.3	312.1	7.5	760	15875	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1897	1950
16183	1.21	234.3	290.1	7.1	775	16188	0.00	2.60	0.00	0.000	4	0.000	0.064	2716	3308	1950
16246	1.21	234.3	285.5	7.8	778	16250	0.00	2.55	0.00	0.000	6	0.000	0.053	2716	1891	1950
16572	1.21	234.3	263.9	6.6	794	16577	0.00	2.62	0.00	0.000	4	0.000	0.066	2716	3313	1950
16600	1.21	234.3	262.0	7.6	795	16604	0.00	2.55	0.00	0.000	6	0.000	0.051	2716	1894	1950
16916	1.21	237.4	243.1	5.9	810	16926	0.00	2.62	4.97	0.635	4	0.000	0.066	2716	3309	1934
16966	1.21	237.4	239.7	6.1	812	16970	0.00	2.55	0.00	0.000	6	0.000	0.052	2716	1898	1934
17282	1.21	237.4	217.6	7.3	827	17286	0.00	2.60	0.00	0.000	4	0.000	0.065	2716	3306	1934
17314	1.21	237.4	215.2	6.4	828	17320	0.00	2.55	0.00	0.000	6	0.000	0.051	2716	1891	1934
17630	1.21	237.4	193.7	7.0	844	17631	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1891	1934
17940	1.26	275.1	175.4	5.0	859	17973	0.00	0.00	31.42	0.759	6	0.000	0.000	2716	1891	1779
18269	1.38	375.2	160.9	3.2	875	18356	0.12	2.75	79.40	0.742	4	0.046	0.067	2761	3307	1372
18405	1.38	375.2	151.0	8.9	881	18409	0.00	2.58	0.00	0.000	6	0.000	0.052	2761	1896	1372
18726	1.38	375.2	121.5	12.2	897	18730	0.00	2.62	0.00	0.000	4	0.000	0.067	2761	3306	1372
18753	1.38	375.2	117.8	12.7	898	18757	0.00	2.55	0.00	0.000	6	0.000	0.051	2761	1898	1372
19071	1.38	375.2	80.7	11.4	913	19075	0.00	2.62	0.00	0.000	4	0.000	0.067	2761	3306	1372
19098	1.38	375.2	77.7	10.1	914	19103	0.00	2.58	0.00	0.000	6	0.000	0.054	2761	1890	1372
19415	1.38	375.2	40.6	11.9	929	19419	0.00	2.67	0.00	0.000	4	0.000	0.071	2761	3314	1372
19447	1.38	375.2	37.0	10.4	930	19454	0.00	2.55	0.00	0.000	6	0.000	0.054	2761	1898	1372
19740	end climb: SURFACE_DEPTH_REACHED
state	19740	begin surface coast
19763	end surface coast: CONTROL_FINISHED_OK
state	19764	begin surface