Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 133 * 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 133 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 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 -145638.86 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 0 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 -145638.86

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 0 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 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 133 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 091500,6235.011,-1106.567,38,1.3,38,-10.8 TGT_NAME FW

_CALLS 1 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.177,-0.128

_SM_DEPTHo 1.63 KALMAN_X 5514.6,-1814.9,860.5,1430.8,7193.4

_SM_ANGLEo -61.1 KALMAN_Y 2353.3,-736.8,6917.0,7730.1,16512.3

GPS2 092044,6235.096,-1106.514,14,2.0,14,-10.8 MHEAD_RNG_PITCHd_Wd 244.9,30152,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.016651 ALTIM_BOTTOM_PING 651.3,18.4

SM_CCo 18142,0.00,0.000,0,0,1927,239.17 _24V_AH 23.4,27.841

SM_GC 1.90,11.77,0.00,0.00,0.032,0.000,0.000,49,2642,1927,-10.93,-0.23,239.17 _10V_AH 10.1,14.841

IRIDIUM_FIX 6207.28,-1110.37,150698,030319 DATA_FILE_SIZE 44290,866

TT8_MAMPS 0.029146 CAP_FILE_SIZE 124556,0

HUMID 1770 CFSIZE 260165632,249810944

INTERNAL_PRESSURE 8.55502 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.60 GPS 210309,142507,6236.795,-1119.167,32,1.9,32,-10.9

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 96.67 SBE_CT 613 24 344.47

Roll_motor 149 104 365.59 SBE_O2 634 19 282.16

VBD_pump_during_apogee 326 1128 8628.58 WL_BB2F 547 105 1345.03

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 27 103 66.59 nil 0 0 0.00

Iridium_during_connect 34 160 127.94 nil 0 0 0.00

Iridium_during_xfer 151 223 789.66

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.11

TT8 1577 19 315.55

LPSleep 14067 2 311.16

TT8_Active 426 19 85.21

TT8_Sampling 1870 39 752.05

TT8_CF8 541 45 250.32

TT8_Kalman 31 81 25.98

Analog_circuits 1372 12 166.36

GPS_charging 0 0 0.00

Compass 1833 8 148.17

RAFOS 0 0 0.00

Transponder 41 30 12.64

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

16 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -41.40 0.000 2 0.000 0.000 51 2646 3339

62 -1.10 -146.6 4.2 -10.1 2 85 12.07 2.25 -2.65 0.000 4 0.157 0.104 2197 3781 3502

158 -1.10 -146.6 20.7 -9.1 6 162 0.00 2.10 0.00 0.000 6 0.000 0.064 2197 2649 3502

486 -1.10 -146.6 46.4 -7.7 22 490 0.00 2.22 0.00 0.000 4 0.000 0.089 2197 3792 3502

530 -1.10 -146.6 49.9 -7.5 24 534 0.00 2.10 0.00 0.000 6 0.000 0.062 2197 2642 3502

858 -1.10 -146.6 75.8 -7.4 40 862 0.00 2.25 0.00 0.000 4 0.000 0.090 2197 3794 3502

891 -1.10 -146.6 78.3 -7.6 41 897 0.00 2.10 0.00 0.000 6 0.000 0.061 2197 2644 3502

1208 -1.10 -146.6 100.9 -7.6 57 1209 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2644 3502

1516 -1.10 -146.6 122.7 -6.8 72 1518 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2644 3502

1825 -1.10 -146.6 143.1 -7.1 87 1829 0.00 2.22 0.00 0.000 4 0.000 0.087 2197 3793 3502

1871 -1.10 -146.6 146.7 -8.7 89 1875 0.00 2.08 0.00 0.000 6 0.000 0.061 2197 2652 3502

2204 -1.10 -146.6 171.6 -7.5 105 2206 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2651 3502

2513 -1.10 -146.6 197.4 -8.3 120 2514 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2651 3503

2823 -1.10 -146.6 219.4 -6.7 135 2826 0.00 2.20 0.00 0.000 4 0.000 0.087 2197 3792 3503

2868 -1.10 -146.6 222.5 -6.7 137 2872 0.00 2.10 0.00 0.000 6 0.000 0.062 2197 2646 3503

3201 -1.10 -146.6 247.6 -8.6 153 3205 0.00 2.20 0.00 0.000 4 0.000 0.087 2197 3787 3503

3251 -1.10 -146.6 252.5 -9.4 155 3255 0.00 2.08 0.00 0.000 6 0.000 0.061 2197 2647 3503

3579 -1.10 -146.6 283.9 -9.6 171 3580 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2647 3503

3889 -1.10 -146.6 311.6 -8.4 186 3890 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2647 3503

4197 -1.10 -146.6 335.9 -7.6 201 4201 0.00 2.20 0.00 0.000 4 0.000 0.085 2197 3790 3503

4254 -1.10 -146.6 340.6 -8.9 203 4257 0.00 2.08 0.00 0.000 6 0.000 0.059 2197 2650 3503

4575 -1.10 -146.6 364.3 -7.1 219 4576 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2650 3503

4884 -1.10 -146.6 386.6 -7.0 234 4888 0.00 2.17 0.00 0.000 4 0.000 0.084 2197 3790 3503

4923 -1.10 -146.6 389.6 -7.5 235 4929 0.00 2.05 0.00 0.000 6 0.000 0.058 2197 2650 3503

5240 -1.10 -146.6 413.2 -7.8 251 5241 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2650 3503

5549 -1.10 -146.6 437.7 -8.0 266 5552 0.00 2.17 0.00 0.000 4 0.000 0.084 2197 3787 3503

5588 -1.10 -146.6 441.1 -8.2 267 5594 0.00 2.08 0.00 0.000 6 0.000 0.058 2197 2644 3503

5904 -1.10 -146.6 466.7 -8.3 283 5907 0.00 2.20 0.00 0.000 4 0.000 0.084 2197 3790 3503

5960 -1.10 -146.6 471.7 -8.8 285 5963 0.00 2.08 0.00 0.000 6 0.000 0.056 2197 2641 3503

6281 -1.10 -146.6 499.6 -8.6 301 6286 0.00 2.55 0.00 0.000 4 0.000 0.066 2197 1236 3503

6327 -1.10 -146.6 503.6 -8.8 303 6332 0.00 2.62 0.00 0.000 6 0.000 0.064 2197 2667 3502

6653 -1.10 -146.6 528.9 -7.1 319 6657 0.00 2.10 0.00 0.000 4 0.000 0.084 2197 3779 3502

6700 -1.10 -146.6 532.2 -7.7 321 6703 0.00 2.05 0.00 0.000 6 0.000 0.054 2197 2640 3502

7033 -1.10 -146.6 556.0 -6.8 337 7036 0.00 2.20 0.00 0.000 4 0.000 0.087 2197 3780 3502

7078 -1.10 -146.6 559.0 -6.5 339 7082 0.00 2.05 0.00 0.000 6 0.000 0.055 2197 2642 3502

7414 -1.10 -146.6 575.7 -4.1 355 7417 0.00 2.20 0.00 0.000 4 0.000 0.088 2197 3783 3501

7460 -1.10 -146.6 578.1 -5.6 357 7464 0.00 2.05 0.00 0.000 6 0.000 0.055 2197 2645 3501

7793 -1.10 -146.6 593.0 -4.6 373 7794 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2645 3501

8102 -1.10 -146.6 613.9 -7.9 388 8106 0.00 2.20 0.00 0.000 4 0.000 0.089 2197 3783 3500

8130 -1.10 -146.6 616.2 -8.0 389 8134 0.00 2.08 0.00 0.000 6 0.000 0.058 2197 2636 3500

8457 -1.10 -146.6 642.0 -7.5 405 8461 0.00 2.60 0.00 0.000 4 0.000 0.077 2197 1235 3500

8501 -1.10 -146.6 645.1 -6.4 407 8506 0.00 2.62 0.00 0.000 6 0.000 0.064 2197 2658 3500

8695 end dive: BOTTOM_OBSTACLE_DETECTED

state 8695 begin apogee

8704 -0.42 0.0 660.3 7.5 417 8832 0.73 0.00 124.50 1.128 6 0.075 0.000 2347 1996 2902

8832 end apogee: CONTROL_FINISHED_OK

state 8832 begin climb

8836 1.10 146.6 664.6 0.0 423 8968 1.58 2.75 122.18 1.098 4 0.061 0.068 2680 587 2304

9187 1.19 219.6 662.0 4.0 439 9255 0.00 2.55 62.28 1.086 6 0.000 0.041 2680 2019 2006

9571 1.22 239.5 638.5 5.4 458 9595 0.12 2.75 17.88 1.044 4 0.044 0.067 2724 588 1925

9623 1.22 239.5 635.1 6.7 460 9630 0.00 2.53 0.00 0.000 6 0.000 0.038 2724 2008 1925

9940 1.22 239.5 610.4 7.0 476 9941 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2010 1924

10249 1.22 239.5 584.4 9.0 491 10253 0.00 2.60 0.00 0.000 4 0.000 0.069 2724 3412 1924

10281 1.22 239.5 581.3 9.1 492 10288 0.00 2.58 0.00 0.000 6 0.000 0.050 2724 1989 1924

10597 1.22 239.5 556.4 7.7 508 10601 0.00 2.60 0.00 0.000 4 0.000 0.069 2724 586 1923

10621 1.22 239.5 554.6 7.9 509 10625 0.00 2.50 0.00 0.000 6 0.000 0.040 2724 2000 1923

10947 1.22 239.5 528.9 7.9 525 10951 0.00 2.60 0.00 0.000 4 0.000 0.067 2724 3407 1923

11019 1.22 239.5 522.9 8.5 528 11023 0.00 2.55 0.00 0.000 6 0.000 0.050 2724 1994 1923

11341 1.22 239.5 498.6 7.5 544 11345 0.00 2.62 0.00 0.000 4 0.000 0.066 2724 3407 1922

11368 1.22 239.5 496.3 8.0 545 11372 0.00 2.55 0.00 0.000 6 0.000 0.049 2724 1993 1922

11684 1.22 239.5 474.7 6.3 560 11688 0.00 2.58 0.00 0.000 4 0.000 0.066 2724 589 1922

11807 1.22 239.5 466.5 6.5 565 11813 0.00 2.47 0.00 0.000 6 0.000 0.040 2724 2005 1922

12123 1.22 239.5 447.7 6.3 581 12127 0.00 2.58 0.00 0.000 4 0.000 0.067 2724 3406 1922

12173 1.22 239.5 444.3 6.4 583 12178 0.00 2.53 0.00 0.000 6 0.000 0.048 2724 1998 1922

12489 1.22 239.5 424.2 6.6 598 12493 0.00 2.58 0.00 0.000 4 0.000 0.065 2724 593 1922

12528 1.22 239.5 421.3 7.0 599 12534 0.00 2.47 0.00 0.000 6 0.000 0.038 2724 2005 1922

12844 1.22 239.5 397.3 7.8 615 12848 0.00 2.58 0.00 0.000 4 0.000 0.067 2724 3406 1923

12871 1.22 239.5 394.9 8.9 616 12875 0.00 2.53 0.00 0.000 6 0.000 0.048 2724 1999 1923

13187 1.22 239.5 368.6 8.3 631 13188 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1999 1923

13496 1.22 239.5 343.9 7.5 646 13497 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1999 1923

13806 1.22 239.5 319.6 7.6 661 13810 0.00 2.58 0.00 0.000 4 0.000 0.064 2724 588 1924

13829 1.22 239.5 317.7 8.0 662 13833 0.00 2.47 0.00 0.000 6 0.000 0.039 2724 2002 1924

14155 1.22 239.5 292.9 7.5 678 14156 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2002 1924

14465 1.22 239.5 269.6 7.6 693 14466 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2002 1925

14774 1.22 239.5 245.5 7.7 708 14778 0.00 2.60 0.00 0.000 4 0.000 0.064 2724 587 1925

14806 1.22 239.5 242.8 8.2 709 14812 0.00 2.47 0.00 0.000 6 0.000 0.039 2724 2000 1925

15122 1.22 239.5 219.8 7.3 725 15123 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2000 1925

15431 1.22 239.5 197.0 7.6 740 15433 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2000 1925

15741 1.22 239.5 174.3 7.2 755 15742 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2000 1926

16050 1.22 239.5 152.3 6.7 770 16055 0.00 2.60 0.00 0.000 4 0.000 0.069 2724 3415 1926

16078 1.22 239.5 150.2 7.2 771 16083 0.00 2.55 0.00 0.000 6 0.000 0.052 2724 1994 1926

16395 1.22 239.5 128.2 6.9 786 16396 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1994 1927

16704 1.22 239.5 106.0 7.3 801 16705 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1994 1927

17013 1.22 239.5 82.3 7.7 816 17017 0.00 2.58 0.00 0.000 4 0.000 0.066 2724 586 1927

17085 1.22 239.5 76.4 8.2 819 17089 0.00 2.50 0.00 0.000 6 0.000 0.039 2724 2011 1927

17403 1.22 239.5 52.1 8.0 834 17407 0.00 2.58 0.00 0.000 4 0.000 0.067 2724 3415 1927

17443 1.22 239.5 48.8 7.7 836 17447 0.00 2.55 0.00 0.000 6 0.000 0.052 2724 2000 1928

17770 1.22 239.5 23.0 8.2 852 17771 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1999 1928

18035 end climb: SURFACE_DEPTH_REACHED

state 18035 begin surface coast

18057 end surface coast: CONTROL_FINISHED_OK

state 18057 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	133	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	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	-145638.86	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	0	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	091500,6235.011,-1106.567,38,1.3,38,-10.8	TGT_NAME	FW
_CALLS	1	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.177,-0.128
_SM_DEPTHo	1.63	KALMAN_X	5514.6,-1814.9,860.5,1430.8,7193.4
_SM_ANGLEo	-61.1	KALMAN_Y	2353.3,-736.8,6917.0,7730.1,16512.3
GPS2	092044,6235.096,-1106.514,14,2.0,14,-10.8	MHEAD_RNG_PITCHd_Wd	244.9,30152,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.016651	ALTIM_BOTTOM_PING	651.3,18.4
SM_CCo	18142,0.00,0.000,0,0,1927,239.17	_24V_AH	23.4,27.841
SM_GC	1.90,11.77,0.00,0.00,0.032,0.000,0.000,49,2642,1927,-10.93,-0.23,239.17	_10V_AH	10.1,14.841
IRIDIUM_FIX	6207.28,-1110.37,150698,030319	DATA_FILE_SIZE	44290,866
TT8_MAMPS	0.029146	CAP_FILE_SIZE	124556,0
HUMID	1770	CFSIZE	260165632,249810944
INTERNAL_PRESSURE	8.55502	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.60	GPS	210309,142507,6236.795,-1119.167,32,1.9,32,-10.9
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	96.67	SBE_CT	613	24	344.47
Roll_motor	149	104	365.59	SBE_O2	634	19	282.16
VBD_pump_during_apogee	326	1128	8628.58	WL_BB2F	547	105	1345.03
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	27	103	66.59	nil	0	0	0.00
Iridium_during_connect	34	160	127.94	nil	0	0	0.00
Iridium_during_xfer	151	223	789.66
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.11
TT8	1577	19	315.55
LPSleep	14067	2	311.16
TT8_Active	426	19	85.21
TT8_Sampling	1870	39	752.05
TT8_CF8	541	45	250.32
TT8_Kalman	31	81	25.98
Analog_circuits	1372	12	166.36
GPS_charging	0	0	0.00
Compass	1833	8	148.17
RAFOS	0	0	0.00
Transponder	41	30	12.64

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
16	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-41.40	0.000	2	0.000	0.000	51	2646	3339
62	-1.10	-146.6	4.2	-10.1	2	85	12.07	2.25	-2.65	0.000	4	0.157	0.104	2197	3781	3502
158	-1.10	-146.6	20.7	-9.1	6	162	0.00	2.10	0.00	0.000	6	0.000	0.064	2197	2649	3502
486	-1.10	-146.6	46.4	-7.7	22	490	0.00	2.22	0.00	0.000	4	0.000	0.089	2197	3792	3502
530	-1.10	-146.6	49.9	-7.5	24	534	0.00	2.10	0.00	0.000	6	0.000	0.062	2197	2642	3502
858	-1.10	-146.6	75.8	-7.4	40	862	0.00	2.25	0.00	0.000	4	0.000	0.090	2197	3794	3502
891	-1.10	-146.6	78.3	-7.6	41	897	0.00	2.10	0.00	0.000	6	0.000	0.061	2197	2644	3502
1208	-1.10	-146.6	100.9	-7.6	57	1209	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2644	3502
1516	-1.10	-146.6	122.7	-6.8	72	1518	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2644	3502
1825	-1.10	-146.6	143.1	-7.1	87	1829	0.00	2.22	0.00	0.000	4	0.000	0.087	2197	3793	3502
1871	-1.10	-146.6	146.7	-8.7	89	1875	0.00	2.08	0.00	0.000	6	0.000	0.061	2197	2652	3502
2204	-1.10	-146.6	171.6	-7.5	105	2206	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2651	3502
2513	-1.10	-146.6	197.4	-8.3	120	2514	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2651	3503
2823	-1.10	-146.6	219.4	-6.7	135	2826	0.00	2.20	0.00	0.000	4	0.000	0.087	2197	3792	3503
2868	-1.10	-146.6	222.5	-6.7	137	2872	0.00	2.10	0.00	0.000	6	0.000	0.062	2197	2646	3503
3201	-1.10	-146.6	247.6	-8.6	153	3205	0.00	2.20	0.00	0.000	4	0.000	0.087	2197	3787	3503
3251	-1.10	-146.6	252.5	-9.4	155	3255	0.00	2.08	0.00	0.000	6	0.000	0.061	2197	2647	3503
3579	-1.10	-146.6	283.9	-9.6	171	3580	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2647	3503
3889	-1.10	-146.6	311.6	-8.4	186	3890	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2647	3503
4197	-1.10	-146.6	335.9	-7.6	201	4201	0.00	2.20	0.00	0.000	4	0.000	0.085	2197	3790	3503
4254	-1.10	-146.6	340.6	-8.9	203	4257	0.00	2.08	0.00	0.000	6	0.000	0.059	2197	2650	3503
4575	-1.10	-146.6	364.3	-7.1	219	4576	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2650	3503
4884	-1.10	-146.6	386.6	-7.0	234	4888	0.00	2.17	0.00	0.000	4	0.000	0.084	2197	3790	3503
4923	-1.10	-146.6	389.6	-7.5	235	4929	0.00	2.05	0.00	0.000	6	0.000	0.058	2197	2650	3503
5240	-1.10	-146.6	413.2	-7.8	251	5241	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2650	3503
5549	-1.10	-146.6	437.7	-8.0	266	5552	0.00	2.17	0.00	0.000	4	0.000	0.084	2197	3787	3503
5588	-1.10	-146.6	441.1	-8.2	267	5594	0.00	2.08	0.00	0.000	6	0.000	0.058	2197	2644	3503
5904	-1.10	-146.6	466.7	-8.3	283	5907	0.00	2.20	0.00	0.000	4	0.000	0.084	2197	3790	3503
5960	-1.10	-146.6	471.7	-8.8	285	5963	0.00	2.08	0.00	0.000	6	0.000	0.056	2197	2641	3503
6281	-1.10	-146.6	499.6	-8.6	301	6286	0.00	2.55	0.00	0.000	4	0.000	0.066	2197	1236	3503
6327	-1.10	-146.6	503.6	-8.8	303	6332	0.00	2.62	0.00	0.000	6	0.000	0.064	2197	2667	3502
6653	-1.10	-146.6	528.9	-7.1	319	6657	0.00	2.10	0.00	0.000	4	0.000	0.084	2197	3779	3502
6700	-1.10	-146.6	532.2	-7.7	321	6703	0.00	2.05	0.00	0.000	6	0.000	0.054	2197	2640	3502
7033	-1.10	-146.6	556.0	-6.8	337	7036	0.00	2.20	0.00	0.000	4	0.000	0.087	2197	3780	3502
7078	-1.10	-146.6	559.0	-6.5	339	7082	0.00	2.05	0.00	0.000	6	0.000	0.055	2197	2642	3502
7414	-1.10	-146.6	575.7	-4.1	355	7417	0.00	2.20	0.00	0.000	4	0.000	0.088	2197	3783	3501
7460	-1.10	-146.6	578.1	-5.6	357	7464	0.00	2.05	0.00	0.000	6	0.000	0.055	2197	2645	3501
7793	-1.10	-146.6	593.0	-4.6	373	7794	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2645	3501
8102	-1.10	-146.6	613.9	-7.9	388	8106	0.00	2.20	0.00	0.000	4	0.000	0.089	2197	3783	3500
8130	-1.10	-146.6	616.2	-8.0	389	8134	0.00	2.08	0.00	0.000	6	0.000	0.058	2197	2636	3500
8457	-1.10	-146.6	642.0	-7.5	405	8461	0.00	2.60	0.00	0.000	4	0.000	0.077	2197	1235	3500
8501	-1.10	-146.6	645.1	-6.4	407	8506	0.00	2.62	0.00	0.000	6	0.000	0.064	2197	2658	3500
8695	end dive: BOTTOM_OBSTACLE_DETECTED
state	8695	begin apogee
8704	-0.42	0.0	660.3	7.5	417	8832	0.73	0.00	124.50	1.128	6	0.075	0.000	2347	1996	2902
8832	end apogee: CONTROL_FINISHED_OK
state	8832	begin climb
8836	1.10	146.6	664.6	0.0	423	8968	1.58	2.75	122.18	1.098	4	0.061	0.068	2680	587	2304
9187	1.19	219.6	662.0	4.0	439	9255	0.00	2.55	62.28	1.086	6	0.000	0.041	2680	2019	2006
9571	1.22	239.5	638.5	5.4	458	9595	0.12	2.75	17.88	1.044	4	0.044	0.067	2724	588	1925
9623	1.22	239.5	635.1	6.7	460	9630	0.00	2.53	0.00	0.000	6	0.000	0.038	2724	2008	1925
9940	1.22	239.5	610.4	7.0	476	9941	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2010	1924
10249	1.22	239.5	584.4	9.0	491	10253	0.00	2.60	0.00	0.000	4	0.000	0.069	2724	3412	1924
10281	1.22	239.5	581.3	9.1	492	10288	0.00	2.58	0.00	0.000	6	0.000	0.050	2724	1989	1924
10597	1.22	239.5	556.4	7.7	508	10601	0.00	2.60	0.00	0.000	4	0.000	0.069	2724	586	1923
10621	1.22	239.5	554.6	7.9	509	10625	0.00	2.50	0.00	0.000	6	0.000	0.040	2724	2000	1923
10947	1.22	239.5	528.9	7.9	525	10951	0.00	2.60	0.00	0.000	4	0.000	0.067	2724	3407	1923
11019	1.22	239.5	522.9	8.5	528	11023	0.00	2.55	0.00	0.000	6	0.000	0.050	2724	1994	1923
11341	1.22	239.5	498.6	7.5	544	11345	0.00	2.62	0.00	0.000	4	0.000	0.066	2724	3407	1922
11368	1.22	239.5	496.3	8.0	545	11372	0.00	2.55	0.00	0.000	6	0.000	0.049	2724	1993	1922
11684	1.22	239.5	474.7	6.3	560	11688	0.00	2.58	0.00	0.000	4	0.000	0.066	2724	589	1922
11807	1.22	239.5	466.5	6.5	565	11813	0.00	2.47	0.00	0.000	6	0.000	0.040	2724	2005	1922
12123	1.22	239.5	447.7	6.3	581	12127	0.00	2.58	0.00	0.000	4	0.000	0.067	2724	3406	1922
12173	1.22	239.5	444.3	6.4	583	12178	0.00	2.53	0.00	0.000	6	0.000	0.048	2724	1998	1922
12489	1.22	239.5	424.2	6.6	598	12493	0.00	2.58	0.00	0.000	4	0.000	0.065	2724	593	1922
12528	1.22	239.5	421.3	7.0	599	12534	0.00	2.47	0.00	0.000	6	0.000	0.038	2724	2005	1922
12844	1.22	239.5	397.3	7.8	615	12848	0.00	2.58	0.00	0.000	4	0.000	0.067	2724	3406	1923
12871	1.22	239.5	394.9	8.9	616	12875	0.00	2.53	0.00	0.000	6	0.000	0.048	2724	1999	1923
13187	1.22	239.5	368.6	8.3	631	13188	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1999	1923
13496	1.22	239.5	343.9	7.5	646	13497	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1999	1923
13806	1.22	239.5	319.6	7.6	661	13810	0.00	2.58	0.00	0.000	4	0.000	0.064	2724	588	1924
13829	1.22	239.5	317.7	8.0	662	13833	0.00	2.47	0.00	0.000	6	0.000	0.039	2724	2002	1924
14155	1.22	239.5	292.9	7.5	678	14156	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2002	1924
14465	1.22	239.5	269.6	7.6	693	14466	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2002	1925
14774	1.22	239.5	245.5	7.7	708	14778	0.00	2.60	0.00	0.000	4	0.000	0.064	2724	587	1925
14806	1.22	239.5	242.8	8.2	709	14812	0.00	2.47	0.00	0.000	6	0.000	0.039	2724	2000	1925
15122	1.22	239.5	219.8	7.3	725	15123	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2000	1925
15431	1.22	239.5	197.0	7.6	740	15433	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2000	1925
15741	1.22	239.5	174.3	7.2	755	15742	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2000	1926
16050	1.22	239.5	152.3	6.7	770	16055	0.00	2.60	0.00	0.000	4	0.000	0.069	2724	3415	1926
16078	1.22	239.5	150.2	7.2	771	16083	0.00	2.55	0.00	0.000	6	0.000	0.052	2724	1994	1926
16395	1.22	239.5	128.2	6.9	786	16396	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1994	1927
16704	1.22	239.5	106.0	7.3	801	16705	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1994	1927
17013	1.22	239.5	82.3	7.7	816	17017	0.00	2.58	0.00	0.000	4	0.000	0.066	2724	586	1927
17085	1.22	239.5	76.4	8.2	819	17089	0.00	2.50	0.00	0.000	6	0.000	0.039	2724	2011	1927
17403	1.22	239.5	52.1	8.0	834	17407	0.00	2.58	0.00	0.000	4	0.000	0.067	2724	3415	1927
17443	1.22	239.5	48.8	7.7	836	17447	0.00	2.55	0.00	0.000	6	0.000	0.052	2724	2000	1928
17770	1.22	239.5	23.0	8.2	852	17771	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1999	1928
18035	end climb: SURFACE_DEPTH_REACHED
state	18035	begin surface coast
18057	end surface coast: CONTROL_FINISHED_OK
state	18057	begin surface