Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 107 * 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 107 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 18 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 -145123.69 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 -145123.69

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 18 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 107 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 052257,6242.363,-1102.005,41,2.6,60,-10.8 TGT_NAME FW

_CALLS 2 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.164,-0.145

_SM_DEPTHo 1.62 KALMAN_X 118829.9,-2054.3,-456.2,-183497.1,37550.7

_SM_ANGLEo -59.4 KALMAN_Y 38288.3,-2335.2,-394.7,45513.5,39360.4

GPS2 053131,6242.559,-1101.819,10,1.6,15,-10.8 MHEAD_RNG_PITCHd_Wd 239.3,40088,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027463 ALTIM_BOTTOM_PING 550.1,38.2

SM_CCo 15787,0.00,0.000,0,0,1885,249.47 _24V_AH 23.5,24.742

SM_GC 2.30,11.70,0.00,0.00,0.027,0.000,0.000,47,2653,1885,-10.94,0.08,249.47 _10V_AH 10.1,13.149

IRIDIUM_FIX 6216.53,-1100.21,110698,050535 DATA_FILE_SIZE 38023,752

TT8_MAMPS 0.029146 CAP_FILE_SIZE 116909,0

HUMID 1777 CFSIZE 260165632,251072512

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 170309,095701,6246.902,-1102.774,54,1.0,54,-10.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 99.36 SBE_CT 530 24 299.09

Roll_motor 150 103 365.48 SBE_O2 557 19 249.01

VBD_pump_during_apogee 334 1042 8204.70 WL_BB2F 493 105 1218.94

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 55 103 134.49 nil 0 0 0.00

Iridium_during_connect 61 160 230.46 nil 0 0 0.00

Iridium_during_xfer 208 223 1095.06

Transponder_ping 4 420 44.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.94

TT8 1396 19 279.29

LPSleep 12157 2 268.92

TT8_Active 431 19 86.37

TT8_Sampling 1675 39 673.33

TT8_CF8 637 45 294.92

TT8_Kalman 33 81 27.57

Analog_circuits 1300 12 157.67

GPS_charging 0 0 0.00

Compass 1645 8 132.98

RAFOS 0 0 0.00

Transponder 32 30 9.72

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.10 -146.6 0.0 0.0 0 61 0.00 0.00 -41.62 0.000 2 0.000 0.000 49 2652 3255

64 -1.10 -146.6 4.3 -12.2 2 87 12.18 2.20 -3.95 0.000 4 0.160 0.104 2193 3786 3503

171 -1.10 -146.6 24.2 -13.3 6 178 0.00 2.08 0.00 0.000 6 0.000 0.061 2193 2650 3503

487 -1.10 -146.6 49.1 -8.3 22 491 0.00 2.20 0.00 0.000 4 0.000 0.088 2193 3786 3502

560 -1.10 -146.6 55.5 -9.6 25 564 0.00 2.08 0.00 0.000 6 0.000 0.056 2193 2641 3502

888 -1.10 -146.6 85.8 -8.5 41 892 0.00 2.22 0.00 0.000 4 0.000 0.090 2193 3786 3502

943 -1.10 -146.6 89.6 -6.5 43 950 0.00 2.05 0.00 0.000 6 0.000 0.059 2193 2656 3503

1260 -1.10 -146.6 115.5 -7.4 59 1261 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2656 3502

1569 -1.10 -146.6 139.7 -7.5 74 1572 0.00 2.20 0.00 0.000 4 0.000 0.087 2193 3793 3502

1608 -1.10 -146.6 143.0 -8.0 75 1615 0.00 2.12 0.00 0.000 6 0.000 0.060 2193 2642 3502

1925 -1.10 -146.6 169.2 -8.3 91 1926 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3502

2233 -1.10 -146.6 193.8 -8.1 106 2234 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3502

2543 -1.10 -146.6 217.5 -7.4 121 2544 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3502

2852 -1.10 -146.6 240.0 -7.4 136 2854 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3502

3161 -1.10 -146.6 263.1 -7.5 151 3165 0.00 2.20 0.00 0.000 4 0.000 0.086 2193 3786 3503

3200 -1.10 -146.6 266.1 -8.2 152 3206 0.00 2.05 0.00 0.000 6 0.000 0.056 2193 2653 3502

3516 -1.10 -146.6 288.9 -7.6 168 3517 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2653 3502

3825 -1.10 -146.6 313.4 -8.1 183 3826 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2653 3502

4134 -1.10 -146.6 340.3 -8.4 198 4138 0.00 2.20 0.00 0.000 4 0.000 0.087 2193 3793 3502

4191 -1.10 -146.6 345.3 -8.6 200 4195 0.00 2.08 0.00 0.000 6 0.000 0.056 2193 2640 3502

4512 -1.10 -146.6 371.4 -8.0 216 4513 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3502

4822 -1.10 -146.6 395.4 -7.6 231 4826 0.00 2.58 0.00 0.000 4 0.000 0.071 2193 1233 3502

4855 -1.10 -146.6 398.0 -8.0 232 4860 0.00 2.62 0.00 0.000 6 0.000 0.063 2193 2663 3502

5171 -1.10 -146.6 420.8 -7.1 247 5175 0.00 2.15 0.00 0.000 4 0.000 0.089 2193 3792 3502

5221 -1.10 -146.6 424.8 -7.7 249 5226 0.00 2.05 0.00 0.000 6 0.000 0.052 2193 2645 3502

5548 -1.10 -146.6 447.9 -7.1 265 5552 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3785 3502

5598 -1.10 -146.6 452.0 -8.2 267 5602 0.00 2.03 0.00 0.000 6 0.000 0.052 2193 2646 3502

5926 -1.10 -146.6 475.4 -6.7 283 5930 0.00 2.20 0.00 0.000 4 0.000 0.090 2193 3786 3502

5960 -1.10 -146.6 477.9 -7.8 284 5964 0.00 2.03 0.00 0.000 6 0.000 0.050 2193 2647 3502

6281 -1.10 -146.6 499.7 -7.8 300 6289 0.00 2.58 0.00 0.000 4 0.000 0.067 2193 1229 3502

6319 -1.10 -146.6 502.5 -8.4 301 6323 0.00 2.60 0.00 0.000 6 0.000 0.061 2193 2652 3502

6636 -1.10 -146.6 525.6 -7.3 316 6637 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2652 3502

6944 -1.10 -146.6 549.3 -8.0 331 6948 0.00 2.17 0.00 0.000 4 0.000 0.091 2193 3792 3502

7061 -1.10 -146.6 558.2 -7.3 336 7065 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2651 3502

7388 -1.10 -146.6 577.8 -6.1 352 7392 0.00 2.60 0.00 0.000 4 0.000 0.071 2193 1229 3501

7402 end dive: BOTTOM_OBSTACLE_DETECTED

state 7402 begin apogee

7411 -0.42 0.0 578.6 5.5 353 7538 0.80 0.00 123.57 1.042 6 0.108 0.000 2347 2017 2902

7539 end apogee: CONTROL_FINISHED_OK

state 7539 begin climb

7542 1.10 146.6 583.7 0.0 359 7671 1.58 2.72 120.85 1.012 4 0.064 0.065 2679 587 2304

7764 1.11 155.5 578.4 5.8 369 7779 0.00 2.53 9.12 0.871 6 0.000 0.036 2678 2022 2269

8108 1.21 237.4 561.8 3.7 386 8184 0.12 2.75 68.32 1.007 4 0.043 0.063 2720 594 1934

8286 1.21 237.4 550.8 7.0 394 8290 0.00 2.50 0.00 0.000 6 0.000 0.038 2720 2009 1934

8607 1.21 237.4 528.0 6.7 410 8611 0.00 2.60 0.00 0.000 4 0.000 0.067 2720 3411 1933

8701 1.21 237.4 521.9 6.7 414 8706 0.00 2.55 0.00 0.000 6 0.000 0.048 2720 1995 1933

9017 1.21 237.4 501.7 6.6 429 9018 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1995 1932

9327 1.21 237.4 480.9 6.6 444 9331 0.00 2.58 0.00 0.000 4 0.000 0.064 2720 589 1932

9405 1.21 237.4 475.3 6.7 447 9409 0.00 2.50 0.00 0.000 6 0.000 0.039 2720 2006 1932

9721 1.21 237.4 454.5 7.1 462 9725 0.00 2.58 0.00 0.000 4 0.000 0.067 2720 3412 1932

9748 1.21 237.4 452.3 8.3 463 9752 0.00 2.55 0.00 0.000 6 0.000 0.048 2720 1994 1932

10064 1.21 237.4 430.1 7.3 478 10065 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1994 1932

10373 1.21 237.4 405.4 8.2 493 10377 0.00 2.62 0.00 0.000 4 0.000 0.066 2720 3407 1931

10424 1.21 237.4 400.8 9.3 495 10429 0.00 2.53 0.00 0.000 6 0.000 0.048 2720 2002 1932

10745 1.21 237.4 373.6 8.5 511 10750 0.00 2.58 0.00 0.000 4 0.000 0.064 2720 587 1931

10786 1.21 237.4 369.8 9.4 513 10790 0.00 2.50 0.00 0.000 6 0.000 0.038 2720 2011 1931

11112 1.21 237.4 342.2 8.1 529 11117 0.00 2.62 0.00 0.000 4 0.000 0.064 2720 586 1932

11179 1.21 237.4 336.3 8.8 532 11184 0.00 2.47 0.00 0.000 6 0.000 0.039 2720 1997 1932

11506 1.21 237.4 311.0 7.1 548 11511 0.00 2.60 0.00 0.000 4 0.000 0.063 2720 584 1932

11540 1.21 237.4 308.3 7.0 549 11546 0.00 2.50 0.00 0.000 6 0.000 0.039 2720 2009 1932

11856 1.21 237.4 286.3 6.7 565 11860 0.00 2.58 0.00 0.000 4 0.000 0.067 2720 3413 1932

11889 1.21 237.4 284.0 6.3 566 11895 0.00 2.55 0.00 0.000 6 0.000 0.049 2720 1989 1932

12205 1.21 237.4 261.7 7.3 582 12209 0.00 2.55 0.00 0.000 4 0.000 0.064 2720 587 1933

12232 1.21 237.4 259.5 7.5 583 12237 0.00 2.47 0.00 0.000 6 0.000 0.038 2720 2003 1933

12554 1.21 237.4 234.9 7.4 599 12555 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2003 1933

12863 1.21 237.4 211.8 7.4 614 12867 0.00 2.58 0.00 0.000 4 0.000 0.067 2720 3408 1934

12886 1.21 237.4 210.0 7.6 615 12890 0.00 2.53 0.00 0.000 6 0.000 0.050 2720 2000 1934

13207 1.21 237.4 186.6 7.1 631 13211 0.00 2.55 0.00 0.000 4 0.000 0.063 2720 589 1934

13240 1.21 237.4 184.0 6.7 632 13246 0.00 2.47 0.00 0.000 6 0.000 0.038 2720 2008 1934

13556 1.21 237.4 162.6 6.6 648 13560 0.00 2.58 0.00 0.000 4 0.000 0.067 2720 3415 1934

13583 1.21 237.4 160.6 7.5 649 13587 0.00 2.55 0.00 0.000 6 0.000 0.050 2720 1990 1934

13905 1.21 237.4 139.4 6.9 665 13909 0.00 2.55 0.00 0.000 4 0.000 0.064 2720 585 1934

13950 1.21 237.4 136.1 7.4 667 13954 0.00 2.47 0.00 0.000 6 0.000 0.038 2720 2000 1935

14271 1.22 240.8 113.3 5.9 683 14278 0.00 0.00 4.95 0.588 6 0.000 0.000 2720 2000 1919

14582 1.22 240.8 90.7 8.4 698 14586 0.00 2.58 0.00 0.000 4 0.000 0.067 2720 3406 1920

14605 1.22 240.8 88.5 8.6 699 14609 0.00 2.55 0.00 0.000 6 0.000 0.052 2720 1993 1919

14927 1.23 249.1 68.0 5.8 715 14941 0.00 2.62 8.12 0.651 4 0.000 0.065 2720 589 1885

15004 1.23 249.1 61.5 10.7 718 15008 0.00 2.47 0.00 0.000 6 0.000 0.038 2720 2000 1885

15322 1.23 249.1 33.4 9.3 733 15323 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2000 1885

15629 1.23 249.1 7.2 7.7 748 15633 0.00 2.58 0.00 0.000 4 0.000 0.059 2720 586 1886

15651 1.23 249.1 5.0 9.6 749 15655 0.00 2.50 0.00 0.000 6 0.000 0.044 2720 1998 1886

15681 end climb: SURFACE_DEPTH_REACHED

state 15681 begin surface coast

15702 end surface coast: CONTROL_FINISHED_OK

state 15702 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	107	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	18	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	-145123.69	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	052257,6242.363,-1102.005,41,2.6,60,-10.8	TGT_NAME	FW
_CALLS	2	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.164,-0.145
_SM_DEPTHo	1.62	KALMAN_X	118829.9,-2054.3,-456.2,-183497.1,37550.7
_SM_ANGLEo	-59.4	KALMAN_Y	38288.3,-2335.2,-394.7,45513.5,39360.4
GPS2	053131,6242.559,-1101.819,10,1.6,15,-10.8	MHEAD_RNG_PITCHd_Wd	239.3,40088,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.8,1.027463	ALTIM_BOTTOM_PING	550.1,38.2
SM_CCo	15787,0.00,0.000,0,0,1885,249.47	_24V_AH	23.5,24.742
SM_GC	2.30,11.70,0.00,0.00,0.027,0.000,0.000,47,2653,1885,-10.94,0.08,249.47	_10V_AH	10.1,13.149
IRIDIUM_FIX	6216.53,-1100.21,110698,050535	DATA_FILE_SIZE	38023,752
TT8_MAMPS	0.029146	CAP_FILE_SIZE	116909,0
HUMID	1777	CFSIZE	260165632,251072512
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	170309,095701,6246.902,-1102.774,54,1.0,54,-10.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	99.36	SBE_CT	530	24	299.09
Roll_motor	150	103	365.48	SBE_O2	557	19	249.01
VBD_pump_during_apogee	334	1042	8204.70	WL_BB2F	493	105	1218.94
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	55	103	134.49	nil	0	0	0.00
Iridium_during_connect	61	160	230.46	nil	0	0	0.00
Iridium_during_xfer	208	223	1095.06
Transponder_ping	4	420	44.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.94
TT8	1396	19	279.29
LPSleep	12157	2	268.92
TT8_Active	431	19	86.37
TT8_Sampling	1675	39	673.33
TT8_CF8	637	45	294.92
TT8_Kalman	33	81	27.57
Analog_circuits	1300	12	157.67
GPS_charging	0	0	0.00
Compass	1645	8	132.98
RAFOS	0	0	0.00
Transponder	32	30	9.72

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.10	-146.6	0.0	0.0	0	61	0.00	0.00	-41.62	0.000	2	0.000	0.000	49	2652	3255
64	-1.10	-146.6	4.3	-12.2	2	87	12.18	2.20	-3.95	0.000	4	0.160	0.104	2193	3786	3503
171	-1.10	-146.6	24.2	-13.3	6	178	0.00	2.08	0.00	0.000	6	0.000	0.061	2193	2650	3503
487	-1.10	-146.6	49.1	-8.3	22	491	0.00	2.20	0.00	0.000	4	0.000	0.088	2193	3786	3502
560	-1.10	-146.6	55.5	-9.6	25	564	0.00	2.08	0.00	0.000	6	0.000	0.056	2193	2641	3502
888	-1.10	-146.6	85.8	-8.5	41	892	0.00	2.22	0.00	0.000	4	0.000	0.090	2193	3786	3502
943	-1.10	-146.6	89.6	-6.5	43	950	0.00	2.05	0.00	0.000	6	0.000	0.059	2193	2656	3503
1260	-1.10	-146.6	115.5	-7.4	59	1261	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2656	3502
1569	-1.10	-146.6	139.7	-7.5	74	1572	0.00	2.20	0.00	0.000	4	0.000	0.087	2193	3793	3502
1608	-1.10	-146.6	143.0	-8.0	75	1615	0.00	2.12	0.00	0.000	6	0.000	0.060	2193	2642	3502
1925	-1.10	-146.6	169.2	-8.3	91	1926	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3502
2233	-1.10	-146.6	193.8	-8.1	106	2234	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3502
2543	-1.10	-146.6	217.5	-7.4	121	2544	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3502
2852	-1.10	-146.6	240.0	-7.4	136	2854	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3502
3161	-1.10	-146.6	263.1	-7.5	151	3165	0.00	2.20	0.00	0.000	4	0.000	0.086	2193	3786	3503
3200	-1.10	-146.6	266.1	-8.2	152	3206	0.00	2.05	0.00	0.000	6	0.000	0.056	2193	2653	3502
3516	-1.10	-146.6	288.9	-7.6	168	3517	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2653	3502
3825	-1.10	-146.6	313.4	-8.1	183	3826	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2653	3502
4134	-1.10	-146.6	340.3	-8.4	198	4138	0.00	2.20	0.00	0.000	4	0.000	0.087	2193	3793	3502
4191	-1.10	-146.6	345.3	-8.6	200	4195	0.00	2.08	0.00	0.000	6	0.000	0.056	2193	2640	3502
4512	-1.10	-146.6	371.4	-8.0	216	4513	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3502
4822	-1.10	-146.6	395.4	-7.6	231	4826	0.00	2.58	0.00	0.000	4	0.000	0.071	2193	1233	3502
4855	-1.10	-146.6	398.0	-8.0	232	4860	0.00	2.62	0.00	0.000	6	0.000	0.063	2193	2663	3502
5171	-1.10	-146.6	420.8	-7.1	247	5175	0.00	2.15	0.00	0.000	4	0.000	0.089	2193	3792	3502
5221	-1.10	-146.6	424.8	-7.7	249	5226	0.00	2.05	0.00	0.000	6	0.000	0.052	2193	2645	3502
5548	-1.10	-146.6	447.9	-7.1	265	5552	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3785	3502
5598	-1.10	-146.6	452.0	-8.2	267	5602	0.00	2.03	0.00	0.000	6	0.000	0.052	2193	2646	3502
5926	-1.10	-146.6	475.4	-6.7	283	5930	0.00	2.20	0.00	0.000	4	0.000	0.090	2193	3786	3502
5960	-1.10	-146.6	477.9	-7.8	284	5964	0.00	2.03	0.00	0.000	6	0.000	0.050	2193	2647	3502
6281	-1.10	-146.6	499.7	-7.8	300	6289	0.00	2.58	0.00	0.000	4	0.000	0.067	2193	1229	3502
6319	-1.10	-146.6	502.5	-8.4	301	6323	0.00	2.60	0.00	0.000	6	0.000	0.061	2193	2652	3502
6636	-1.10	-146.6	525.6	-7.3	316	6637	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2652	3502
6944	-1.10	-146.6	549.3	-8.0	331	6948	0.00	2.17	0.00	0.000	4	0.000	0.091	2193	3792	3502
7061	-1.10	-146.6	558.2	-7.3	336	7065	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2651	3502
7388	-1.10	-146.6	577.8	-6.1	352	7392	0.00	2.60	0.00	0.000	4	0.000	0.071	2193	1229	3501
7402	end dive: BOTTOM_OBSTACLE_DETECTED
state	7402	begin apogee
7411	-0.42	0.0	578.6	5.5	353	7538	0.80	0.00	123.57	1.042	6	0.108	0.000	2347	2017	2902
7539	end apogee: CONTROL_FINISHED_OK
state	7539	begin climb
7542	1.10	146.6	583.7	0.0	359	7671	1.58	2.72	120.85	1.012	4	0.064	0.065	2679	587	2304
7764	1.11	155.5	578.4	5.8	369	7779	0.00	2.53	9.12	0.871	6	0.000	0.036	2678	2022	2269
8108	1.21	237.4	561.8	3.7	386	8184	0.12	2.75	68.32	1.007	4	0.043	0.063	2720	594	1934
8286	1.21	237.4	550.8	7.0	394	8290	0.00	2.50	0.00	0.000	6	0.000	0.038	2720	2009	1934
8607	1.21	237.4	528.0	6.7	410	8611	0.00	2.60	0.00	0.000	4	0.000	0.067	2720	3411	1933
8701	1.21	237.4	521.9	6.7	414	8706	0.00	2.55	0.00	0.000	6	0.000	0.048	2720	1995	1933
9017	1.21	237.4	501.7	6.6	429	9018	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1995	1932
9327	1.21	237.4	480.9	6.6	444	9331	0.00	2.58	0.00	0.000	4	0.000	0.064	2720	589	1932
9405	1.21	237.4	475.3	6.7	447	9409	0.00	2.50	0.00	0.000	6	0.000	0.039	2720	2006	1932
9721	1.21	237.4	454.5	7.1	462	9725	0.00	2.58	0.00	0.000	4	0.000	0.067	2720	3412	1932
9748	1.21	237.4	452.3	8.3	463	9752	0.00	2.55	0.00	0.000	6	0.000	0.048	2720	1994	1932
10064	1.21	237.4	430.1	7.3	478	10065	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1994	1932
10373	1.21	237.4	405.4	8.2	493	10377	0.00	2.62	0.00	0.000	4	0.000	0.066	2720	3407	1931
10424	1.21	237.4	400.8	9.3	495	10429	0.00	2.53	0.00	0.000	6	0.000	0.048	2720	2002	1932
10745	1.21	237.4	373.6	8.5	511	10750	0.00	2.58	0.00	0.000	4	0.000	0.064	2720	587	1931
10786	1.21	237.4	369.8	9.4	513	10790	0.00	2.50	0.00	0.000	6	0.000	0.038	2720	2011	1931
11112	1.21	237.4	342.2	8.1	529	11117	0.00	2.62	0.00	0.000	4	0.000	0.064	2720	586	1932
11179	1.21	237.4	336.3	8.8	532	11184	0.00	2.47	0.00	0.000	6	0.000	0.039	2720	1997	1932
11506	1.21	237.4	311.0	7.1	548	11511	0.00	2.60	0.00	0.000	4	0.000	0.063	2720	584	1932
11540	1.21	237.4	308.3	7.0	549	11546	0.00	2.50	0.00	0.000	6	0.000	0.039	2720	2009	1932
11856	1.21	237.4	286.3	6.7	565	11860	0.00	2.58	0.00	0.000	4	0.000	0.067	2720	3413	1932
11889	1.21	237.4	284.0	6.3	566	11895	0.00	2.55	0.00	0.000	6	0.000	0.049	2720	1989	1932
12205	1.21	237.4	261.7	7.3	582	12209	0.00	2.55	0.00	0.000	4	0.000	0.064	2720	587	1933
12232	1.21	237.4	259.5	7.5	583	12237	0.00	2.47	0.00	0.000	6	0.000	0.038	2720	2003	1933
12554	1.21	237.4	234.9	7.4	599	12555	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2003	1933
12863	1.21	237.4	211.8	7.4	614	12867	0.00	2.58	0.00	0.000	4	0.000	0.067	2720	3408	1934
12886	1.21	237.4	210.0	7.6	615	12890	0.00	2.53	0.00	0.000	6	0.000	0.050	2720	2000	1934
13207	1.21	237.4	186.6	7.1	631	13211	0.00	2.55	0.00	0.000	4	0.000	0.063	2720	589	1934
13240	1.21	237.4	184.0	6.7	632	13246	0.00	2.47	0.00	0.000	6	0.000	0.038	2720	2008	1934
13556	1.21	237.4	162.6	6.6	648	13560	0.00	2.58	0.00	0.000	4	0.000	0.067	2720	3415	1934
13583	1.21	237.4	160.6	7.5	649	13587	0.00	2.55	0.00	0.000	6	0.000	0.050	2720	1990	1934
13905	1.21	237.4	139.4	6.9	665	13909	0.00	2.55	0.00	0.000	4	0.000	0.064	2720	585	1934
13950	1.21	237.4	136.1	7.4	667	13954	0.00	2.47	0.00	0.000	6	0.000	0.038	2720	2000	1935
14271	1.22	240.8	113.3	5.9	683	14278	0.00	0.00	4.95	0.588	6	0.000	0.000	2720	2000	1919
14582	1.22	240.8	90.7	8.4	698	14586	0.00	2.58	0.00	0.000	4	0.000	0.067	2720	3406	1920
14605	1.22	240.8	88.5	8.6	699	14609	0.00	2.55	0.00	0.000	6	0.000	0.052	2720	1993	1919
14927	1.23	249.1	68.0	5.8	715	14941	0.00	2.62	8.12	0.651	4	0.000	0.065	2720	589	1885
15004	1.23	249.1	61.5	10.7	718	15008	0.00	2.47	0.00	0.000	6	0.000	0.038	2720	2000	1885
15322	1.23	249.1	33.4	9.3	733	15323	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2000	1885
15629	1.23	249.1	7.2	7.7	748	15633	0.00	2.58	0.00	0.000	4	0.000	0.059	2720	586	1886
15651	1.23	249.1	5.0	9.6	749	15655	0.00	2.50	0.00	0.000	6	0.000	0.044	2720	1998	1886
15681	end climb: SURFACE_DEPTH_REACHED
state	15681	begin surface coast
15702	end surface coast: CONTROL_FINISHED_OK
state	15702	begin surface