Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 128 * 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 128 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 11 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 -145525.38 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 -145525.38

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 11 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 128 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 025231,6230.759,-1131.723,40,1.5,40,-11.0 TGT_NAME FW

_CALLS 1 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.218,0.015

_SM_DEPTHo 1.44 KALMAN_X -28470.0,1474.9,996.5,-15409.0,-27304.8

_SM_ANGLEo -60.7 KALMAN_Y -5982.0,47.6,-109.0,-10724.6,-4523.4

GPS2 025802,6230.747,-1131.823,10,1.6,10,-11.0 MHEAD_RNG_PITCHd_Wd 97.0,7128,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.010788 ALTIM_BOTTOM_PING 726.4,75.5

SM_CCo 21282,0.00,0.000,0,0,1705,293.62 _24V_AH 23.3,27.145

SM_GC 1.39,11.77,0.00,0.00,0.033,0.000,0.000,52,2643,1705,-10.92,-0.20,293.62 _10V_AH 10.1,14.385

IRIDIUM_FIX 6211.90,-1125.92,130698,212154 DATA_FILE_SIZE 50581,1015

TT8_MAMPS 0.028379 CAP_FILE_SIZE 136710,0

HUMID 1759 CFSIZE 260165632,250126336

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

TCM_TEMP 17.00 GPS 200309,085455,6226.281,-1130.481,41,1.3,41,-10.9

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 100.40 SBE_CT 718 24 401.54

Roll_motor 134 102 322.45 SBE_O2 750 19 332.46

VBD_pump_during_apogee 378 1211 10674.04 WL_BB2F 574 105 1406.05

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 23 103 57.17 nil 0 0 0.00

Iridium_during_connect 35 160 131.31 nil 0 0 0.00

Iridium_during_xfer 146 223 759.58

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.24

TT8 1809 19 361.95

LPSleep 16646 2 368.21

TT8_Active 468 19 93.64

TT8_Sampling 2122 39 853.02

TT8_CF8 563 45 260.68

TT8_Kalman 33 81 27.57

Analog_circuits 1529 12 185.43

GPS_charging 0 0 0.00

Compass 2089 8 168.84

RAFOS 0 0 0.00

Transponder 43 30 13.28

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 -41.65 0.000 2 0.000 0.000 42 2653 3091

62 -1.10 -146.6 3.5 -9.3 2 88 12.27 2.22 -7.32 0.000 4 0.163 0.103 2195 3779 3501

336 -1.10 -146.6 32.8 -10.0 14 339 0.00 2.08 0.00 0.000 6 0.000 0.060 2194 2645 3501

663 -1.10 -146.6 62.7 -8.4 30 667 0.00 2.22 0.00 0.000 4 0.000 0.087 2195 3793 3501

709 -1.10 -146.6 66.6 -9.0 32 712 0.00 2.10 0.00 0.000 6 0.000 0.058 2194 2642 3501

1036 -1.10 -146.6 90.9 -7.2 48 1037 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

1347 -1.10 -146.6 115.5 -8.2 63 1351 0.00 2.22 0.00 0.000 4 0.000 0.087 2195 3793 3501

1403 -1.10 -146.6 120.2 -7.7 65 1406 0.00 2.10 0.00 0.000 6 0.000 0.059 2195 2642 3501

1724 -1.10 -146.6 146.9 -8.0 81 1726 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

2034 -1.10 -146.6 172.4 -8.3 96 2035 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

2344 -1.10 -146.6 197.7 -8.0 111 2347 0.00 2.22 0.00 0.000 4 0.000 0.087 2195 3793 3501

2389 -1.10 -146.6 201.3 -7.8 113 2392 0.00 2.08 0.00 0.000 6 0.000 0.058 2194 2652 3501

2722 -1.10 -146.6 225.7 -7.5 129 2723 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3501

3032 -1.10 -146.6 250.9 -8.5 144 3033 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2652 3501

3341 -1.10 -146.6 276.1 -7.5 159 3345 0.00 2.17 0.00 0.000 4 0.000 0.083 2195 3790 3502

3391 -1.10 -146.6 280.2 -8.0 161 3394 0.00 2.08 0.00 0.000 6 0.000 0.058 2195 2647 3502

3718 -1.10 -146.6 305.9 -7.4 177 3719 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2645 3502

4027 -1.10 -146.6 328.7 -7.3 192 4028 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2646 3502

4336 -1.10 -146.6 352.0 -7.3 207 4340 0.00 2.17 0.00 0.000 4 0.000 0.082 2195 3790 3502

4398 -1.10 -146.6 356.7 -7.6 209 4404 0.00 2.08 0.00 0.000 6 0.000 0.054 2194 2638 3502

4714 -1.10 -146.6 377.6 -6.0 225 4718 0.00 2.20 0.00 0.000 4 0.000 0.084 2194 3789 3502

4760 -1.10 -146.6 380.3 -6.0 227 4763 0.00 2.05 0.00 0.000 6 0.000 0.052 2194 2647 3502

5093 -1.10 -146.6 401.1 -6.5 243 5095 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2647 3502

5402 -1.10 -146.6 421.6 -6.3 258 5405 0.00 2.20 0.00 0.000 4 0.000 0.085 2195 3793 3502

5441 -1.10 -146.6 424.2 -6.3 259 5447 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2650 3502

5757 -1.10 -146.6 442.0 -5.6 275 5758 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3502

6066 -1.10 -146.6 460.3 -6.4 290 6067 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3502

6375 -1.10 -146.6 483.5 -7.5 305 6379 0.00 2.55 0.00 0.000 4 0.000 0.062 2195 1230 3502

6408 -1.10 -146.6 486.4 -8.7 306 6414 0.00 2.62 0.00 0.000 6 0.000 0.062 2195 2662 3502

6724 -1.10 -146.6 515.6 -9.1 322 6727 0.00 2.12 0.00 0.000 4 0.000 0.086 2195 3787 3502

6808 -1.10 -146.6 523.7 -8.9 325 6814 0.00 2.03 0.00 0.000 6 0.000 0.051 2195 2650 3502

7125 -1.10 -146.6 550.6 -7.7 341 7129 0.00 2.17 0.00 0.000 4 0.000 0.086 2195 3785 3502

7187 -1.10 -146.6 555.2 -6.5 343 7192 0.00 2.05 0.00 0.000 6 0.000 0.053 2194 2642 3502

7502 -1.10 -146.6 573.3 -6.0 359 7506 0.00 2.20 0.00 0.000 4 0.000 0.086 2195 3789 3501

7541 -1.10 -146.6 576.4 -8.0 360 7547 0.00 2.03 0.00 0.000 6 0.000 0.053 2194 2650 3502

7861 -1.10 -146.6 601.2 -7.4 376 7864 0.00 2.17 0.00 0.000 4 0.000 0.084 2194 3789 3501

7916 -1.10 -146.6 605.4 -7.1 378 7920 0.00 2.05 0.00 0.000 6 0.000 0.055 2195 2648 3501

8238 -1.10 -146.6 633.0 -9.5 394 8239 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

8547 -1.10 -146.6 657.1 -6.7 409 8551 0.00 2.17 0.00 0.000 4 0.000 0.085 2195 3785 3501

8598 -1.10 -146.6 660.7 -6.5 411 8601 0.00 2.05 0.00 0.000 6 0.000 0.052 2194 2635 3501

8925 -1.10 -146.6 681.1 -5.9 427 8926 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2635 3501

9234 -1.10 -146.6 698.7 -5.9 442 9238 0.00 2.20 0.00 0.000 4 0.000 0.086 2195 3783 3500

9285 -1.10 -146.6 702.3 -7.4 444 9289 0.00 2.03 0.00 0.000 6 0.000 0.055 2195 2654 3500

9615 -1.10 -146.6 726.4 -7.9 460 9616 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2653 3500

9921 -1.10 -146.6 753.8 -9.0 475 9922 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2653 3499

10230 -1.10 -146.6 777.5 -5.9 490 10232 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2653 3498

10454 end dive: BOTTOM_OBSTACLE_DETECTED

state 10455 begin apogee

10463 -0.42 0.0 792.7 6.7 501 10592 0.75 0.00 125.07 1.212 6 0.092 0.000 2346 1995 2902

10592 end apogee: CONTROL_FINISHED_OK

state 10592 begin climb

10595 1.10 146.6 796.1 0.0 507 10728 1.58 2.75 123.62 1.180 4 0.062 0.072 2678 587 2304

10986 1.13 168.0 788.5 5.4 525 11011 0.00 2.55 19.55 1.128 6 0.000 0.043 2678 2011 2217

11329 1.23 252.1 764.7 3.7 542 11407 0.12 2.75 71.45 1.182 4 0.045 0.069 2720 588 1874

11588 1.23 252.1 744.8 6.5 553 11593 0.00 2.53 0.00 0.000 6 0.000 0.042 2720 2002 1873

11916 1.25 264.6 723.8 5.7 569 11934 0.00 0.00 12.23 1.098 6 0.000 0.000 2719 2004 1823

12244 1.25 264.6 701.6 7.4 585 12249 0.00 2.67 0.00 0.000 4 0.000 0.071 2720 577 1822

12272 1.25 264.6 699.3 7.7 586 12276 0.00 2.55 0.00 0.000 6 0.000 0.043 2720 2010 1821

12589 1.25 264.6 670.5 9.8 601 12593 0.00 2.67 0.00 0.000 4 0.000 0.068 2720 580 1821

12622 1.25 264.6 667.0 9.3 602 12628 0.00 2.53 0.00 0.000 6 0.000 0.041 2720 2003 1821

12938 1.25 264.6 641.6 7.2 618 12942 0.00 2.60 0.00 0.000 4 0.000 0.070 2720 3406 1821

12982 1.25 264.6 638.5 6.8 620 12987 0.00 2.55 0.00 0.000 6 0.000 0.048 2720 1988 1821

13303 1.25 264.6 616.9 6.9 636 13308 0.00 2.55 0.00 0.000 4 0.000 0.064 2720 592 1820

13331 1.25 264.6 614.8 7.3 637 13335 0.00 2.47 0.00 0.000 6 0.000 0.037 2720 2004 1820

13647 1.25 264.6 592.1 6.9 652 13648 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2004 1820

13956 1.25 264.6 568.2 8.2 667 13960 0.00 2.58 0.00 0.000 4 0.000 0.066 2720 3405 1821

13996 1.25 264.6 564.5 9.9 669 14000 0.00 2.53 0.00 0.000 6 0.000 0.046 2720 1990 1821

14322 1.25 264.6 531.8 9.6 685 14323 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1989 1822

14631 1.25 264.6 502.0 10.3 700 14632 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1989 1822

14941 1.25 264.6 480.0 6.2 715 14945 0.00 2.62 0.00 0.000 4 0.000 0.064 2720 3408 1823

14991 1.28 294.5 477.1 5.2 717 15023 0.00 2.53 26.10 0.985 6 0.000 0.048 2720 1996 1701

15332 1.28 294.5 458.2 6.3 734 15333 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1701

15641 1.28 294.5 437.2 7.3 749 15642 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1702

15951 1.28 294.5 415.4 7.2 764 15952 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1702

16260 1.28 294.5 393.5 8.1 779 16261 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1703

16569 1.28 294.5 364.1 8.9 794 16570 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1703

16879 1.28 294.5 337.4 8.1 809 16880 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1703

17188 1.28 294.5 314.3 6.6 824 17189 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1703

17497 1.28 294.5 295.5 6.1 839 17498 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1703

17806 1.28 294.5 274.6 6.7 854 17811 0.00 2.62 0.00 0.000 4 0.000 0.067 2720 3408 1703

17834 1.28 294.5 272.6 6.8 855 17838 0.00 2.55 0.00 0.000 6 0.000 0.053 2720 1996 1703

18150 1.28 294.5 250.2 7.2 870 18151 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1703

18459 1.28 294.5 227.6 7.4 885 18461 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1996 1704

18768 1.28 294.5 204.0 7.9 900 18773 0.00 2.62 0.00 0.000 4 0.000 0.068 2720 3412 1704

18796 1.28 294.5 201.6 8.3 901 18801 0.00 2.58 0.00 0.000 6 0.000 0.054 2720 1989 1704

19112 1.28 294.5 176.1 8.0 916 19114 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1989 1705

19422 1.28 294.5 148.9 8.4 931 19426 0.00 2.65 0.00 0.000 4 0.000 0.068 2720 3415 1705

19449 1.28 294.5 146.3 9.6 932 19454 0.00 2.58 0.00 0.000 6 0.000 0.055 2720 1994 1705

19767 1.28 294.5 119.4 8.5 947 19768 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1994 1705

20075 1.28 294.5 91.9 9.5 962 20079 0.00 2.62 0.00 0.000 4 0.000 0.069 2720 3403 1705

20102 1.28 294.5 89.0 10.5 963 20106 0.00 2.55 0.00 0.000 6 0.000 0.056 2720 1999 1705

20418 1.28 294.5 62.6 7.5 978 20419 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1999 1705

20728 1.28 294.5 39.9 7.8 993 20729 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1998 1705

21038 1.28 294.5 12.2 8.9 1008 21043 0.00 2.62 0.00 0.000 4 0.000 0.067 2720 3413 1706

21089 1.28 294.5 7.7 7.3 1010 21093 0.00 2.60 0.00 0.000 6 0.000 0.062 2720 1997 1705

21175 end climb: SURFACE_DEPTH_REACHED

state 21175 begin surface coast

21197 end surface coast: CONTROL_FINISHED_OK

state 21197 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	128	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	11	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	-145525.38	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	025231,6230.759,-1131.723,40,1.5,40,-11.0	TGT_NAME	FW
_CALLS	1	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.218,0.015
_SM_DEPTHo	1.44	KALMAN_X	-28470.0,1474.9,996.5,-15409.0,-27304.8
_SM_ANGLEo	-60.7	KALMAN_Y	-5982.0,47.6,-109.0,-10724.6,-4523.4
GPS2	025802,6230.747,-1131.823,10,1.6,10,-11.0	MHEAD_RNG_PITCHd_Wd	97.0,7128,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.010788	ALTIM_BOTTOM_PING	726.4,75.5
SM_CCo	21282,0.00,0.000,0,0,1705,293.62	_24V_AH	23.3,27.145
SM_GC	1.39,11.77,0.00,0.00,0.033,0.000,0.000,52,2643,1705,-10.92,-0.20,293.62	_10V_AH	10.1,14.385
IRIDIUM_FIX	6211.90,-1125.92,130698,212154	DATA_FILE_SIZE	50581,1015
TT8_MAMPS	0.028379	CAP_FILE_SIZE	136710,0
HUMID	1759	CFSIZE	260165632,250126336
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	200309,085455,6226.281,-1130.481,41,1.3,41,-10.9
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	100.40	SBE_CT	718	24	401.54
Roll_motor	134	102	322.45	SBE_O2	750	19	332.46
VBD_pump_during_apogee	378	1211	10674.04	WL_BB2F	574	105	1406.05
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	23	103	57.17	nil	0	0	0.00
Iridium_during_connect	35	160	131.31	nil	0	0	0.00
Iridium_during_xfer	146	223	759.58
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.24
TT8	1809	19	361.95
LPSleep	16646	2	368.21
TT8_Active	468	19	93.64
TT8_Sampling	2122	39	853.02
TT8_CF8	563	45	260.68
TT8_Kalman	33	81	27.57
Analog_circuits	1529	12	185.43
GPS_charging	0	0	0.00
Compass	2089	8	168.84
RAFOS	0	0	0.00
Transponder	43	30	13.28

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	-41.65	0.000	2	0.000	0.000	42	2653	3091
62	-1.10	-146.6	3.5	-9.3	2	88	12.27	2.22	-7.32	0.000	4	0.163	0.103	2195	3779	3501
336	-1.10	-146.6	32.8	-10.0	14	339	0.00	2.08	0.00	0.000	6	0.000	0.060	2194	2645	3501
663	-1.10	-146.6	62.7	-8.4	30	667	0.00	2.22	0.00	0.000	4	0.000	0.087	2195	3793	3501
709	-1.10	-146.6	66.6	-9.0	32	712	0.00	2.10	0.00	0.000	6	0.000	0.058	2194	2642	3501
1036	-1.10	-146.6	90.9	-7.2	48	1037	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
1347	-1.10	-146.6	115.5	-8.2	63	1351	0.00	2.22	0.00	0.000	4	0.000	0.087	2195	3793	3501
1403	-1.10	-146.6	120.2	-7.7	65	1406	0.00	2.10	0.00	0.000	6	0.000	0.059	2195	2642	3501
1724	-1.10	-146.6	146.9	-8.0	81	1726	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
2034	-1.10	-146.6	172.4	-8.3	96	2035	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
2344	-1.10	-146.6	197.7	-8.0	111	2347	0.00	2.22	0.00	0.000	4	0.000	0.087	2195	3793	3501
2389	-1.10	-146.6	201.3	-7.8	113	2392	0.00	2.08	0.00	0.000	6	0.000	0.058	2194	2652	3501
2722	-1.10	-146.6	225.7	-7.5	129	2723	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3501
3032	-1.10	-146.6	250.9	-8.5	144	3033	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2652	3501
3341	-1.10	-146.6	276.1	-7.5	159	3345	0.00	2.17	0.00	0.000	4	0.000	0.083	2195	3790	3502
3391	-1.10	-146.6	280.2	-8.0	161	3394	0.00	2.08	0.00	0.000	6	0.000	0.058	2195	2647	3502
3718	-1.10	-146.6	305.9	-7.4	177	3719	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2645	3502
4027	-1.10	-146.6	328.7	-7.3	192	4028	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2646	3502
4336	-1.10	-146.6	352.0	-7.3	207	4340	0.00	2.17	0.00	0.000	4	0.000	0.082	2195	3790	3502
4398	-1.10	-146.6	356.7	-7.6	209	4404	0.00	2.08	0.00	0.000	6	0.000	0.054	2194	2638	3502
4714	-1.10	-146.6	377.6	-6.0	225	4718	0.00	2.20	0.00	0.000	4	0.000	0.084	2194	3789	3502
4760	-1.10	-146.6	380.3	-6.0	227	4763	0.00	2.05	0.00	0.000	6	0.000	0.052	2194	2647	3502
5093	-1.10	-146.6	401.1	-6.5	243	5095	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2647	3502
5402	-1.10	-146.6	421.6	-6.3	258	5405	0.00	2.20	0.00	0.000	4	0.000	0.085	2195	3793	3502
5441	-1.10	-146.6	424.2	-6.3	259	5447	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2650	3502
5757	-1.10	-146.6	442.0	-5.6	275	5758	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3502
6066	-1.10	-146.6	460.3	-6.4	290	6067	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3502
6375	-1.10	-146.6	483.5	-7.5	305	6379	0.00	2.55	0.00	0.000	4	0.000	0.062	2195	1230	3502
6408	-1.10	-146.6	486.4	-8.7	306	6414	0.00	2.62	0.00	0.000	6	0.000	0.062	2195	2662	3502
6724	-1.10	-146.6	515.6	-9.1	322	6727	0.00	2.12	0.00	0.000	4	0.000	0.086	2195	3787	3502
6808	-1.10	-146.6	523.7	-8.9	325	6814	0.00	2.03	0.00	0.000	6	0.000	0.051	2195	2650	3502
7125	-1.10	-146.6	550.6	-7.7	341	7129	0.00	2.17	0.00	0.000	4	0.000	0.086	2195	3785	3502
7187	-1.10	-146.6	555.2	-6.5	343	7192	0.00	2.05	0.00	0.000	6	0.000	0.053	2194	2642	3502
7502	-1.10	-146.6	573.3	-6.0	359	7506	0.00	2.20	0.00	0.000	4	0.000	0.086	2195	3789	3501
7541	-1.10	-146.6	576.4	-8.0	360	7547	0.00	2.03	0.00	0.000	6	0.000	0.053	2194	2650	3502
7861	-1.10	-146.6	601.2	-7.4	376	7864	0.00	2.17	0.00	0.000	4	0.000	0.084	2194	3789	3501
7916	-1.10	-146.6	605.4	-7.1	378	7920	0.00	2.05	0.00	0.000	6	0.000	0.055	2195	2648	3501
8238	-1.10	-146.6	633.0	-9.5	394	8239	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
8547	-1.10	-146.6	657.1	-6.7	409	8551	0.00	2.17	0.00	0.000	4	0.000	0.085	2195	3785	3501
8598	-1.10	-146.6	660.7	-6.5	411	8601	0.00	2.05	0.00	0.000	6	0.000	0.052	2194	2635	3501
8925	-1.10	-146.6	681.1	-5.9	427	8926	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2635	3501
9234	-1.10	-146.6	698.7	-5.9	442	9238	0.00	2.20	0.00	0.000	4	0.000	0.086	2195	3783	3500
9285	-1.10	-146.6	702.3	-7.4	444	9289	0.00	2.03	0.00	0.000	6	0.000	0.055	2195	2654	3500
9615	-1.10	-146.6	726.4	-7.9	460	9616	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2653	3500
9921	-1.10	-146.6	753.8	-9.0	475	9922	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2653	3499
10230	-1.10	-146.6	777.5	-5.9	490	10232	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2653	3498
10454	end dive: BOTTOM_OBSTACLE_DETECTED
state	10455	begin apogee
10463	-0.42	0.0	792.7	6.7	501	10592	0.75	0.00	125.07	1.212	6	0.092	0.000	2346	1995	2902
10592	end apogee: CONTROL_FINISHED_OK
state	10592	begin climb
10595	1.10	146.6	796.1	0.0	507	10728	1.58	2.75	123.62	1.180	4	0.062	0.072	2678	587	2304
10986	1.13	168.0	788.5	5.4	525	11011	0.00	2.55	19.55	1.128	6	0.000	0.043	2678	2011	2217
11329	1.23	252.1	764.7	3.7	542	11407	0.12	2.75	71.45	1.182	4	0.045	0.069	2720	588	1874
11588	1.23	252.1	744.8	6.5	553	11593	0.00	2.53	0.00	0.000	6	0.000	0.042	2720	2002	1873
11916	1.25	264.6	723.8	5.7	569	11934	0.00	0.00	12.23	1.098	6	0.000	0.000	2719	2004	1823
12244	1.25	264.6	701.6	7.4	585	12249	0.00	2.67	0.00	0.000	4	0.000	0.071	2720	577	1822
12272	1.25	264.6	699.3	7.7	586	12276	0.00	2.55	0.00	0.000	6	0.000	0.043	2720	2010	1821
12589	1.25	264.6	670.5	9.8	601	12593	0.00	2.67	0.00	0.000	4	0.000	0.068	2720	580	1821
12622	1.25	264.6	667.0	9.3	602	12628	0.00	2.53	0.00	0.000	6	0.000	0.041	2720	2003	1821
12938	1.25	264.6	641.6	7.2	618	12942	0.00	2.60	0.00	0.000	4	0.000	0.070	2720	3406	1821
12982	1.25	264.6	638.5	6.8	620	12987	0.00	2.55	0.00	0.000	6	0.000	0.048	2720	1988	1821
13303	1.25	264.6	616.9	6.9	636	13308	0.00	2.55	0.00	0.000	4	0.000	0.064	2720	592	1820
13331	1.25	264.6	614.8	7.3	637	13335	0.00	2.47	0.00	0.000	6	0.000	0.037	2720	2004	1820
13647	1.25	264.6	592.1	6.9	652	13648	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2004	1820
13956	1.25	264.6	568.2	8.2	667	13960	0.00	2.58	0.00	0.000	4	0.000	0.066	2720	3405	1821
13996	1.25	264.6	564.5	9.9	669	14000	0.00	2.53	0.00	0.000	6	0.000	0.046	2720	1990	1821
14322	1.25	264.6	531.8	9.6	685	14323	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1989	1822
14631	1.25	264.6	502.0	10.3	700	14632	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1989	1822
14941	1.25	264.6	480.0	6.2	715	14945	0.00	2.62	0.00	0.000	4	0.000	0.064	2720	3408	1823
14991	1.28	294.5	477.1	5.2	717	15023	0.00	2.53	26.10	0.985	6	0.000	0.048	2720	1996	1701
15332	1.28	294.5	458.2	6.3	734	15333	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1701
15641	1.28	294.5	437.2	7.3	749	15642	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1702
15951	1.28	294.5	415.4	7.2	764	15952	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1702
16260	1.28	294.5	393.5	8.1	779	16261	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1703
16569	1.28	294.5	364.1	8.9	794	16570	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1703
16879	1.28	294.5	337.4	8.1	809	16880	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1703
17188	1.28	294.5	314.3	6.6	824	17189	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1703
17497	1.28	294.5	295.5	6.1	839	17498	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1703
17806	1.28	294.5	274.6	6.7	854	17811	0.00	2.62	0.00	0.000	4	0.000	0.067	2720	3408	1703
17834	1.28	294.5	272.6	6.8	855	17838	0.00	2.55	0.00	0.000	6	0.000	0.053	2720	1996	1703
18150	1.28	294.5	250.2	7.2	870	18151	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1703
18459	1.28	294.5	227.6	7.4	885	18461	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1996	1704
18768	1.28	294.5	204.0	7.9	900	18773	0.00	2.62	0.00	0.000	4	0.000	0.068	2720	3412	1704
18796	1.28	294.5	201.6	8.3	901	18801	0.00	2.58	0.00	0.000	6	0.000	0.054	2720	1989	1704
19112	1.28	294.5	176.1	8.0	916	19114	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1989	1705
19422	1.28	294.5	148.9	8.4	931	19426	0.00	2.65	0.00	0.000	4	0.000	0.068	2720	3415	1705
19449	1.28	294.5	146.3	9.6	932	19454	0.00	2.58	0.00	0.000	6	0.000	0.055	2720	1994	1705
19767	1.28	294.5	119.4	8.5	947	19768	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1994	1705
20075	1.28	294.5	91.9	9.5	962	20079	0.00	2.62	0.00	0.000	4	0.000	0.069	2720	3403	1705
20102	1.28	294.5	89.0	10.5	963	20106	0.00	2.55	0.00	0.000	6	0.000	0.056	2720	1999	1705
20418	1.28	294.5	62.6	7.5	978	20419	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1999	1705
20728	1.28	294.5	39.9	7.8	993	20729	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1998	1705
21038	1.28	294.5	12.2	8.9	1008	21043	0.00	2.62	0.00	0.000	4	0.000	0.067	2720	3413	1706
21089	1.28	294.5	7.7	7.3	1010	21093	0.00	2.60	0.00	0.000	6	0.000	0.062	2720	1997	1705
21175	end climb: SURFACE_DEPTH_REACHED
state	21175	begin surface coast
21197	end surface coast: CONTROL_FINISHED_OK
state	21197	begin surface