Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 88 * 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 88 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 2000 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 19 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -144729.41 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 -144729.41

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 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 19 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 14 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 88 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 000827,6222.614,-1045.559,29,2.5,48,-10.5 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.118,0.184

_SM_DEPTHo 1.40 KALMAN_X 40354.5,227.7,-2765.7,-90891.2,5103.7

_SM_ANGLEo -60.0 KALMAN_Y -13414.3,1153.3,-2940.7,59213.6,-6505.4

GPS2 001431,6222.612,-1045.473,12,1.3,30,-10.5 MHEAD_RNG_PITCHd_Wd 337.9,13219,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.019596 ALTIM_BOTTOM_PING 625.7,99.0

SM_CCo 17668,0.00,0.000,0,0,1527,337.29 _24V_AH 23.4,22.170

SM_GC 1.37,11.73,0.00,0.00,0.024,0.000,0.000,40,2640,1527,-10.94,-0.25,337.29 _10V_AH 10.1,11.539

IRIDIUM_FIX 6153.50,-1052.26,060698,181847 DATA_FILE_SIZE 41094,846

TT8_MAMPS 0.028379 CAP_FILE_SIZE 118346,0

HUMID 1771 CFSIZE 260165632,252243968

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

TCM_TEMP 16.90 GPS 130309,051107,6222.922,-1048.437,38,1.5,38,-10.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 100.17 SBE_CT 595 24 334.61

Roll_motor 125 104 306.33 SBE_O2 626 19 278.38

VBD_pump_during_apogee 408 1124 10739.03 WL_BB2F 502 105 1235.58

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 22 103 55.32 nil 0 0 0.00

Iridium_during_connect 29 160 110.07 nil 0 0 0.00

Iridium_during_xfer 163 223 853.15

Transponder_ping 5 420 51.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.75

TT8 1512 19 302.50

LPSleep 13708 2 303.22

TT8_Active 475 19 95.04

TT8_Sampling 1788 39 719.03

TT8_CF8 542 45 250.73

TT8_Kalman 33 81 27.56

Analog_circuits 1389 12 168.37

GPS_charging 0 0 0.00

Compass 1747 8 141.21

RAFOS 0 0 0.00

Transponder 36 30 11.14

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 59 0.00 0.00 -41.80 0.000 2 0.000 0.000 48 2656 3222

62 -1.10 -146.6 3.9 -10.0 2 86 12.23 2.20 -4.70 0.000 4 0.162 0.104 2195 3788 3502

181 -1.10 -146.6 23.2 -11.1 7 185 0.00 2.10 0.00 0.000 6 0.000 0.061 2195 2651 3502

510 -1.10 -146.6 54.8 -9.0 23 511 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3502

818 -1.10 -146.6 79.0 -7.9 38 819 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3502

1127 -1.10 -146.6 100.7 -6.7 53 1128 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3502

1436 -1.10 -146.6 123.2 -7.3 68 1440 0.00 2.20 0.00 0.000 4 0.000 0.091 2195 3783 3502

1487 -1.10 -146.6 127.3 -7.4 70 1491 0.00 2.08 0.00 0.000 6 0.000 0.058 2195 2642 3502

1815 -1.10 -146.6 150.3 -6.6 86 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3502

2124 -1.10 -146.6 170.7 -6.1 101 2125 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

2433 -1.10 -146.6 192.5 -7.5 116 2437 0.00 2.22 0.00 0.000 4 0.000 0.090 2195 3789 3501

2467 -1.10 -146.6 195.1 -7.6 117 2471 0.00 2.08 0.00 0.000 6 0.000 0.056 2195 2642 3502

2789 -1.10 -146.6 215.0 -5.8 133 2790 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3502

3098 -1.10 -146.6 233.8 -6.3 148 3099 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3502

3408 -1.10 -146.6 253.4 -5.9 163 3409 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3502

3717 -1.10 -146.6 272.5 -5.9 178 3720 0.00 2.20 0.00 0.000 4 0.000 0.089 2195 3782 3502

3762 -1.10 -146.6 275.5 -6.4 180 3766 0.00 2.05 0.00 0.000 6 0.000 0.057 2195 2643 3501

4096 -1.10 -146.6 295.2 -5.1 196 4097 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

4405 -1.10 -146.6 315.7 -6.7 211 4406 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3502

4714 -1.10 -146.6 337.7 -7.0 226 4715 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3502

5023 -1.10 -146.6 359.5 -7.4 241 5025 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3502

5333 -1.10 -146.6 383.6 -7.9 256 5336 0.00 2.22 0.00 0.000 4 0.000 0.091 2195 3789 3502

5378 -1.10 -146.6 387.6 -8.7 258 5382 0.00 2.05 0.00 0.000 6 0.000 0.056 2195 2651 3502

5711 -1.10 -146.6 413.8 -8.0 274 5712 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2651 3502

6020 -1.10 -146.6 440.4 -8.4 289 6021 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2651 3502

6329 -1.10 -146.6 467.5 -9.2 304 6331 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2651 3502

6639 -1.10 -146.6 493.9 -8.2 319 6640 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2651 3502

6948 -1.10 -146.6 519.1 -8.2 334 6952 0.00 2.60 0.00 0.000 4 0.000 0.069 2195 1224 3502

6988 -1.10 -146.6 522.5 -8.8 336 6993 0.00 2.60 0.00 0.000 6 0.000 0.059 2195 2655 3502

7315 -1.10 -146.6 553.8 -10.3 352 7316 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2655 3502

7624 -1.10 -146.6 579.7 -8.0 367 7625 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2655 3502

7933 -1.10 -146.6 602.7 -6.6 382 7937 0.00 2.15 0.00 0.000 4 0.000 0.087 2195 3790 3501

7995 -1.10 -146.6 607.3 -7.8 384 8001 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2643 3501

8315 -1.10 -146.6 625.7 -5.6 400 8316 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3501

8620 -1.10 -146.6 650.8 -9.3 415 8621 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

8929 -1.10 -146.6 673.6 -6.5 430 8930 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3500

9239 -1.10 -146.6 691.2 -5.8 445 9240 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3500

9548 -1.10 -146.6 707.0 -3.9 460 9549 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3500

9689 end dive: BOTTOM_OBSTACLE_DETECTED

state 9689 begin apogee

9697 -0.42 0.0 715.7 6.6 467 9825 0.75 0.00 124.38 1.124 6 0.089 0.000 2346 1990 2903

9826 end apogee: CONTROL_FINISHED_OK

state 9826 begin climb

9829 1.10 146.6 720.4 0.0 473 9962 1.55 2.75 122.53 1.094 4 0.053 0.058 2680 3425 2304

10132 1.14 176.9 709.1 5.2 487 10166 0.00 2.58 26.80 1.050 6 0.000 0.044 2680 1990 2180

10486 1.34 337.2 693.2 1.6 504 10632 0.20 2.80 134.45 1.095 4 0.035 0.065 2744 3422 1527

10770 1.34 337.2 678.1 8.3 517 10775 0.00 2.60 0.00 0.000 6 0.000 0.049 2744 1992 1526

11097 1.34 337.2 650.0 10.1 533 11101 0.00 2.60 0.00 0.000 4 0.000 0.065 2744 586 1526

11130 1.34 337.2 646.4 10.5 534 11136 0.00 2.53 0.00 0.000 6 0.000 0.039 2744 2013 1526

11446 1.34 337.2 616.8 9.3 550 11447 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2013 1526

11755 1.34 337.2 586.6 10.2 565 11760 0.00 2.58 0.00 0.000 4 0.000 0.065 2744 3411 1525

11783 1.34 337.2 583.6 11.0 566 11788 0.00 2.55 0.00 0.000 6 0.000 0.045 2744 1989 1525

12099 1.34 337.2 550.2 10.7 581 12103 0.00 2.55 0.00 0.000 4 0.000 0.061 2744 589 1525

12208 1.34 337.2 538.1 11.3 585 12214 0.00 2.47 0.00 0.000 6 0.000 0.038 2744 2007 1525

12524 1.34 337.2 506.3 10.2 601 12528 0.00 2.58 0.00 0.000 4 0.000 0.064 2744 3412 1525

12563 1.34 337.2 501.9 10.6 603 12568 0.00 2.53 0.00 0.000 6 0.000 0.045 2744 1998 1525

12891 1.34 337.2 467.2 10.4 619 12895 0.00 2.55 0.00 0.000 4 0.000 0.061 2744 591 1526

12935 1.34 337.2 462.2 10.4 621 12939 0.00 2.47 0.00 0.000 6 0.000 0.038 2744 2002 1526

13256 1.34 337.2 429.1 10.1 637 13260 0.00 2.58 0.00 0.000 4 0.000 0.064 2744 3408 1526

13296 1.34 337.2 424.9 10.7 639 13300 0.00 2.53 0.00 0.000 6 0.000 0.048 2744 1997 1526

13623 1.34 337.2 391.8 10.4 655 13627 0.00 2.55 0.00 0.000 4 0.000 0.061 2744 591 1526

13667 1.34 337.2 387.1 10.5 657 13671 0.00 2.47 0.00 0.000 6 0.000 0.039 2744 2001 1526

13994 1.34 337.2 355.4 9.8 673 13998 0.00 2.60 0.00 0.000 4 0.000 0.065 2744 3420 1526

14027 1.34 337.2 352.0 9.8 674 14033 0.00 2.55 0.00 0.000 6 0.000 0.048 2744 1997 1526

14342 1.34 337.2 322.0 9.5 690 14347 0.00 2.58 0.00 0.000 4 0.000 0.063 2744 583 1526

14370 1.34 337.2 319.2 10.5 691 14375 0.00 2.50 0.00 0.000 6 0.000 0.039 2744 2007 1526

14687 1.34 337.2 288.3 9.9 706 14691 0.00 2.58 0.00 0.000 4 0.000 0.067 2744 3412 1527

14714 1.34 337.2 285.3 10.7 707 14719 0.00 2.55 0.00 0.000 6 0.000 0.050 2744 1994 1527

15036 1.34 337.2 254.1 9.7 723 15040 0.00 2.55 0.00 0.000 4 0.000 0.064 2744 591 1527

15063 1.34 337.2 251.2 10.0 724 15067 0.00 2.47 0.00 0.000 6 0.000 0.041 2744 1998 1527

15385 1.34 337.2 219.3 10.2 740 15389 0.00 2.60 0.00 0.000 4 0.000 0.067 2744 3412 1527

15412 1.34 337.2 216.5 10.9 741 15417 0.00 2.55 0.00 0.000 6 0.000 0.051 2744 1997 1527

15728 1.34 337.2 185.0 10.1 756 15730 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 1997 1527

16038 1.34 337.2 155.9 9.6 771 16042 0.00 2.62 0.00 0.000 4 0.000 0.068 2744 3408 1528

16071 1.34 337.2 152.2 10.8 772 16077 0.00 2.55 0.00 0.000 6 0.000 0.052 2744 1996 1528

16387 1.34 337.2 121.1 10.3 788 16391 0.00 2.58 0.00 0.000 4 0.000 0.064 2744 585 1528

16427 1.34 337.2 116.9 11.3 790 16431 0.00 2.50 0.00 0.000 6 0.000 0.041 2744 2007 1528

16760 1.34 337.2 83.5 10.1 806 16764 0.00 2.60 0.00 0.000 4 0.000 0.069 2744 3419 1527

16793 1.34 337.2 79.8 10.2 807 16799 0.00 2.55 0.00 0.000 6 0.000 0.053 2744 1999 1528

17110 1.34 337.2 48.0 11.2 823 17115 0.00 2.58 0.00 0.000 4 0.000 0.064 2744 587 1527

17144 1.34 337.2 44.0 11.9 824 17150 0.00 2.47 0.00 0.000 6 0.000 0.041 2744 2003 1527

17460 1.34 337.2 11.6 10.3 840 17461 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2004 1527

17560 end climb: SURFACE_DEPTH_REACHED

state 17560 begin surface coast

17584 end surface coast: CONTROL_FINISHED_OK

state 17584 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	88	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	2000	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	19	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-144729.41	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	000827,6222.614,-1045.559,29,2.5,48,-10.5	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.118,0.184
_SM_DEPTHo	1.40	KALMAN_X	40354.5,227.7,-2765.7,-90891.2,5103.7
_SM_ANGLEo	-60.0	KALMAN_Y	-13414.3,1153.3,-2940.7,59213.6,-6505.4
GPS2	001431,6222.612,-1045.473,12,1.3,30,-10.5	MHEAD_RNG_PITCHd_Wd	337.9,13219,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.019596	ALTIM_BOTTOM_PING	625.7,99.0
SM_CCo	17668,0.00,0.000,0,0,1527,337.29	_24V_AH	23.4,22.170
SM_GC	1.37,11.73,0.00,0.00,0.024,0.000,0.000,40,2640,1527,-10.94,-0.25,337.29	_10V_AH	10.1,11.539
IRIDIUM_FIX	6153.50,-1052.26,060698,181847	DATA_FILE_SIZE	41094,846
TT8_MAMPS	0.028379	CAP_FILE_SIZE	118346,0
HUMID	1771	CFSIZE	260165632,252243968
INTERNAL_PRESSURE	8.54525	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	130309,051107,6222.922,-1048.437,38,1.5,38,-10.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	100.17	SBE_CT	595	24	334.61
Roll_motor	125	104	306.33	SBE_O2	626	19	278.38
VBD_pump_during_apogee	408	1124	10739.03	WL_BB2F	502	105	1235.58
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	22	103	55.32	nil	0	0	0.00
Iridium_during_connect	29	160	110.07	nil	0	0	0.00
Iridium_during_xfer	163	223	853.15
Transponder_ping	5	420	51.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.75
TT8	1512	19	302.50
LPSleep	13708	2	303.22
TT8_Active	475	19	95.04
TT8_Sampling	1788	39	719.03
TT8_CF8	542	45	250.73
TT8_Kalman	33	81	27.56
Analog_circuits	1389	12	168.37
GPS_charging	0	0	0.00
Compass	1747	8	141.21
RAFOS	0	0	0.00
Transponder	36	30	11.14

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	59	0.00	0.00	-41.80	0.000	2	0.000	0.000	48	2656	3222
62	-1.10	-146.6	3.9	-10.0	2	86	12.23	2.20	-4.70	0.000	4	0.162	0.104	2195	3788	3502
181	-1.10	-146.6	23.2	-11.1	7	185	0.00	2.10	0.00	0.000	6	0.000	0.061	2195	2651	3502
510	-1.10	-146.6	54.8	-9.0	23	511	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3502
818	-1.10	-146.6	79.0	-7.9	38	819	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3502
1127	-1.10	-146.6	100.7	-6.7	53	1128	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3502
1436	-1.10	-146.6	123.2	-7.3	68	1440	0.00	2.20	0.00	0.000	4	0.000	0.091	2195	3783	3502
1487	-1.10	-146.6	127.3	-7.4	70	1491	0.00	2.08	0.00	0.000	6	0.000	0.058	2195	2642	3502
1815	-1.10	-146.6	150.3	-6.6	86	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3502
2124	-1.10	-146.6	170.7	-6.1	101	2125	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
2433	-1.10	-146.6	192.5	-7.5	116	2437	0.00	2.22	0.00	0.000	4	0.000	0.090	2195	3789	3501
2467	-1.10	-146.6	195.1	-7.6	117	2471	0.00	2.08	0.00	0.000	6	0.000	0.056	2195	2642	3502
2789	-1.10	-146.6	215.0	-5.8	133	2790	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3502
3098	-1.10	-146.6	233.8	-6.3	148	3099	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3502
3408	-1.10	-146.6	253.4	-5.9	163	3409	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3502
3717	-1.10	-146.6	272.5	-5.9	178	3720	0.00	2.20	0.00	0.000	4	0.000	0.089	2195	3782	3502
3762	-1.10	-146.6	275.5	-6.4	180	3766	0.00	2.05	0.00	0.000	6	0.000	0.057	2195	2643	3501
4096	-1.10	-146.6	295.2	-5.1	196	4097	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
4405	-1.10	-146.6	315.7	-6.7	211	4406	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3502
4714	-1.10	-146.6	337.7	-7.0	226	4715	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3502
5023	-1.10	-146.6	359.5	-7.4	241	5025	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3502
5333	-1.10	-146.6	383.6	-7.9	256	5336	0.00	2.22	0.00	0.000	4	0.000	0.091	2195	3789	3502
5378	-1.10	-146.6	387.6	-8.7	258	5382	0.00	2.05	0.00	0.000	6	0.000	0.056	2195	2651	3502
5711	-1.10	-146.6	413.8	-8.0	274	5712	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2651	3502
6020	-1.10	-146.6	440.4	-8.4	289	6021	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2651	3502
6329	-1.10	-146.6	467.5	-9.2	304	6331	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2651	3502
6639	-1.10	-146.6	493.9	-8.2	319	6640	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2651	3502
6948	-1.10	-146.6	519.1	-8.2	334	6952	0.00	2.60	0.00	0.000	4	0.000	0.069	2195	1224	3502
6988	-1.10	-146.6	522.5	-8.8	336	6993	0.00	2.60	0.00	0.000	6	0.000	0.059	2195	2655	3502
7315	-1.10	-146.6	553.8	-10.3	352	7316	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2655	3502
7624	-1.10	-146.6	579.7	-8.0	367	7625	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2655	3502
7933	-1.10	-146.6	602.7	-6.6	382	7937	0.00	2.15	0.00	0.000	4	0.000	0.087	2195	3790	3501
7995	-1.10	-146.6	607.3	-7.8	384	8001	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2643	3501
8315	-1.10	-146.6	625.7	-5.6	400	8316	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3501
8620	-1.10	-146.6	650.8	-9.3	415	8621	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
8929	-1.10	-146.6	673.6	-6.5	430	8930	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3500
9239	-1.10	-146.6	691.2	-5.8	445	9240	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3500
9548	-1.10	-146.6	707.0	-3.9	460	9549	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3500
9689	end dive: BOTTOM_OBSTACLE_DETECTED
state	9689	begin apogee
9697	-0.42	0.0	715.7	6.6	467	9825	0.75	0.00	124.38	1.124	6	0.089	0.000	2346	1990	2903
9826	end apogee: CONTROL_FINISHED_OK
state	9826	begin climb
9829	1.10	146.6	720.4	0.0	473	9962	1.55	2.75	122.53	1.094	4	0.053	0.058	2680	3425	2304
10132	1.14	176.9	709.1	5.2	487	10166	0.00	2.58	26.80	1.050	6	0.000	0.044	2680	1990	2180
10486	1.34	337.2	693.2	1.6	504	10632	0.20	2.80	134.45	1.095	4	0.035	0.065	2744	3422	1527
10770	1.34	337.2	678.1	8.3	517	10775	0.00	2.60	0.00	0.000	6	0.000	0.049	2744	1992	1526
11097	1.34	337.2	650.0	10.1	533	11101	0.00	2.60	0.00	0.000	4	0.000	0.065	2744	586	1526
11130	1.34	337.2	646.4	10.5	534	11136	0.00	2.53	0.00	0.000	6	0.000	0.039	2744	2013	1526
11446	1.34	337.2	616.8	9.3	550	11447	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2013	1526
11755	1.34	337.2	586.6	10.2	565	11760	0.00	2.58	0.00	0.000	4	0.000	0.065	2744	3411	1525
11783	1.34	337.2	583.6	11.0	566	11788	0.00	2.55	0.00	0.000	6	0.000	0.045	2744	1989	1525
12099	1.34	337.2	550.2	10.7	581	12103	0.00	2.55	0.00	0.000	4	0.000	0.061	2744	589	1525
12208	1.34	337.2	538.1	11.3	585	12214	0.00	2.47	0.00	0.000	6	0.000	0.038	2744	2007	1525
12524	1.34	337.2	506.3	10.2	601	12528	0.00	2.58	0.00	0.000	4	0.000	0.064	2744	3412	1525
12563	1.34	337.2	501.9	10.6	603	12568	0.00	2.53	0.00	0.000	6	0.000	0.045	2744	1998	1525
12891	1.34	337.2	467.2	10.4	619	12895	0.00	2.55	0.00	0.000	4	0.000	0.061	2744	591	1526
12935	1.34	337.2	462.2	10.4	621	12939	0.00	2.47	0.00	0.000	6	0.000	0.038	2744	2002	1526
13256	1.34	337.2	429.1	10.1	637	13260	0.00	2.58	0.00	0.000	4	0.000	0.064	2744	3408	1526
13296	1.34	337.2	424.9	10.7	639	13300	0.00	2.53	0.00	0.000	6	0.000	0.048	2744	1997	1526
13623	1.34	337.2	391.8	10.4	655	13627	0.00	2.55	0.00	0.000	4	0.000	0.061	2744	591	1526
13667	1.34	337.2	387.1	10.5	657	13671	0.00	2.47	0.00	0.000	6	0.000	0.039	2744	2001	1526
13994	1.34	337.2	355.4	9.8	673	13998	0.00	2.60	0.00	0.000	4	0.000	0.065	2744	3420	1526
14027	1.34	337.2	352.0	9.8	674	14033	0.00	2.55	0.00	0.000	6	0.000	0.048	2744	1997	1526
14342	1.34	337.2	322.0	9.5	690	14347	0.00	2.58	0.00	0.000	4	0.000	0.063	2744	583	1526
14370	1.34	337.2	319.2	10.5	691	14375	0.00	2.50	0.00	0.000	6	0.000	0.039	2744	2007	1526
14687	1.34	337.2	288.3	9.9	706	14691	0.00	2.58	0.00	0.000	4	0.000	0.067	2744	3412	1527
14714	1.34	337.2	285.3	10.7	707	14719	0.00	2.55	0.00	0.000	6	0.000	0.050	2744	1994	1527
15036	1.34	337.2	254.1	9.7	723	15040	0.00	2.55	0.00	0.000	4	0.000	0.064	2744	591	1527
15063	1.34	337.2	251.2	10.0	724	15067	0.00	2.47	0.00	0.000	6	0.000	0.041	2744	1998	1527
15385	1.34	337.2	219.3	10.2	740	15389	0.00	2.60	0.00	0.000	4	0.000	0.067	2744	3412	1527
15412	1.34	337.2	216.5	10.9	741	15417	0.00	2.55	0.00	0.000	6	0.000	0.051	2744	1997	1527
15728	1.34	337.2	185.0	10.1	756	15730	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	1997	1527
16038	1.34	337.2	155.9	9.6	771	16042	0.00	2.62	0.00	0.000	4	0.000	0.068	2744	3408	1528
16071	1.34	337.2	152.2	10.8	772	16077	0.00	2.55	0.00	0.000	6	0.000	0.052	2744	1996	1528
16387	1.34	337.2	121.1	10.3	788	16391	0.00	2.58	0.00	0.000	4	0.000	0.064	2744	585	1528
16427	1.34	337.2	116.9	11.3	790	16431	0.00	2.50	0.00	0.000	6	0.000	0.041	2744	2007	1528
16760	1.34	337.2	83.5	10.1	806	16764	0.00	2.60	0.00	0.000	4	0.000	0.069	2744	3419	1527
16793	1.34	337.2	79.8	10.2	807	16799	0.00	2.55	0.00	0.000	6	0.000	0.053	2744	1999	1528
17110	1.34	337.2	48.0	11.2	823	17115	0.00	2.58	0.00	0.000	4	0.000	0.064	2744	587	1527
17144	1.34	337.2	44.0	11.9	824	17150	0.00	2.47	0.00	0.000	6	0.000	0.041	2744	2003	1527
17460	1.34	337.2	11.6	10.3	840	17461	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2004	1527
17560	end climb: SURFACE_DEPTH_REACHED
state	17560	begin surface coast
17584	end surface coast: CONTROL_FINISHED_OK
state	17584	begin surface