Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 140 * 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 140 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 16 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -145781.38 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 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 -145781.38

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 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 16 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 140 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 234255,6235.070,-1130.933,42,1.9,42,-11.0 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.023,0.217

_SM_DEPTHo 1.20 KALMAN_X 30667.6,-986.1,-3255.6,-41281.3,22281.1

_SM_ANGLEo -61.2 KALMAN_Y -9366.8,1025.2,20880.3,3702.7,-11828.7

GPS2 234950,6235.088,-1130.872,16,1.7,16,-11.0 MHEAD_RNG_PITCHd_Wd 5.1,42756,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.024867 ALTIM_BOTTOM_PING 626.2,66.3

SM_CCo 19049,0.00,0.000,0,0,1066,450.37 _24V_AH 23.3,28.861

SM_GC 1.11,12.10,0.00,0.00,0.032,0.000,0.000,53,2640,1066,-10.92,-0.31,450.37 _10V_AH 10.1,15.463

IRIDIUM_FIX 6207.28,-1135.06,160698,181848 DATA_FILE_SIZE 47484,910

TT8_MAMPS 0.028379 CAP_FILE_SIZE 132500,0

HUMID 1766 CFSIZE 260165632,249352192

INTERNAL_PRESSURE 8.47689 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.30 GPS 230309,050924,6239.639,-1135.257,36,1.6,36,-11.1

XPDR_PINGS 17

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 160 100.94 SBE_CT 662 24 370.36

Roll_motor 158 96 356.57 SBE_O2 654 19 289.57

VBD_pump_during_apogee 504 1152 13561.75 WL_BB2F 552 105 1351.94

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 25 103 61.32 nil 0 0 0.00

Iridium_during_connect 24 160 92.83 nil 0 0 0.00

Iridium_during_xfer 231 223 1200.96

Transponder_ping 9 420 92.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.23

TT8 1644 19 328.81

LPSleep 14608 2 323.12

TT8_Active 600 19 120.06

TT8_Sampling 1973 39 793.44

TT8_CF8 631 45 292.30

TT8_Kalman 33 81 27.56

Analog_circuits 1613 12 195.52

GPS_charging 0 0 0.00

Compass 1939 8 156.69

RAFOS 0 0 0.00

Transponder 37 30 11.31

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -1.10 -146.6 0.0 0.0 0 62 0.00 0.00 -41.38 0.000 2 0.000 0.000 46 2662 3059

66 -1.10 -146.6 3.3 -9.0 2 88 12.27 0.00 -8.23 0.000 6 0.160 0.000 2194 2662 3501

392 -1.10 -146.6 35.5 -9.0 18 393 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2662 3501

700 -1.10 -146.6 61.9 -8.4 33 703 0.00 2.17 0.00 0.000 4 0.000 0.094 2194 3776 3501

761 -1.10 -146.6 67.0 -7.1 35 768 0.00 2.08 0.00 0.000 6 0.000 0.063 2194 2642 3501

1078 -1.10 -146.6 93.4 -9.1 51 1079 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

1388 -1.10 -146.6 120.5 -8.2 66 1392 0.00 2.25 0.00 0.000 4 0.000 0.097 2194 3780 3501

1474 -1.10 -146.6 128.0 -9.2 70 1478 0.00 2.08 0.00 0.000 6 0.000 0.062 2194 2651 3501

1807 -1.10 -146.6 156.1 -8.2 86 1808 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2651 3501

2116 -1.10 -146.6 180.5 -7.8 101 2121 0.00 2.62 0.00 0.000 4 0.000 0.073 2194 1229 3501

2144 -1.10 -146.6 182.8 -7.8 102 2149 0.00 2.62 0.00 0.000 6 0.000 0.066 2194 2641 3501

2460 -1.10 -146.6 206.0 -7.1 117 2464 0.00 2.20 0.00 0.000 4 0.000 0.091 2195 3786 3501

2506 -1.10 -146.6 209.4 -6.8 119 2510 0.00 2.08 0.00 0.000 6 0.000 0.061 2194 2646 3501

2839 -1.10 -146.6 234.2 -7.7 135 2840 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2646 3501

3148 -1.10 -146.6 257.5 -7.5 150 3152 0.00 2.25 0.00 0.000 4 0.000 0.094 2194 3795 3501

3194 -1.10 -146.6 261.1 -8.4 152 3197 0.00 2.10 0.00 0.000 6 0.000 0.061 2195 2645 3501

3527 -1.10 -146.6 286.6 -7.8 168 3528 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3501

3836 -1.10 -146.6 308.9 -7.0 183 3837 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3501

4145 -1.10 -146.6 329.3 -6.8 198 4146 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3501

4454 -1.10 -146.6 352.8 -7.1 213 4458 0.00 2.22 0.00 0.000 4 0.000 0.092 2194 3787 3502

4500 -1.10 -146.6 355.9 -6.7 215 4504 0.00 2.08 0.00 0.000 6 0.000 0.059 2194 2650 3502

4835 -1.10 -146.6 376.1 -6.0 231 4836 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3502

5143 -1.10 -146.6 395.8 -7.1 246 5147 0.00 2.60 0.00 0.000 4 0.000 0.071 2194 1231 3502

5187 -1.10 -146.6 399.2 -7.8 248 5191 0.00 2.62 0.00 0.000 6 0.000 0.066 2194 2651 3502

5508 -1.10 -146.6 423.3 -8.0 264 5509 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2651 3502

5817 -1.10 -146.6 445.4 -7.4 279 5819 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3502

6126 -1.10 -146.6 466.2 -6.6 294 6127 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2651 3501

6436 -1.10 -146.6 490.4 -8.4 309 6439 0.00 2.17 0.00 0.000 4 0.000 0.093 2194 3783 3501

6516 -1.10 -146.6 497.1 -8.5 312 6519 0.00 2.05 0.00 0.000 6 0.000 0.056 2194 2645 3501

6837 -1.10 -146.6 522.3 -8.6 328 6842 0.00 2.60 0.00 0.000 4 0.000 0.071 2194 1227 3501

6872 -1.10 -146.6 525.0 -7.7 329 6878 0.00 2.62 0.00 0.000 6 0.000 0.064 2194 2650 3501

7187 -1.10 -146.6 549.5 -7.5 345 7191 0.00 2.17 0.00 0.000 4 0.000 0.094 2194 3785 3500

7301 -1.10 -146.6 558.1 -7.5 350 7305 0.00 2.05 0.00 0.000 6 0.000 0.058 2194 2652 3500

7634 -1.10 -146.6 584.1 -8.5 366 7635 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3499

7943 -1.10 -146.6 611.9 -9.0 381 7945 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3498

8252 -1.10 -146.6 635.1 -7.2 396 8254 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3497

8562 -1.10 -146.6 657.5 -7.2 411 8563 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3497

8871 -1.10 -146.6 678.8 -7.0 426 8872 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3497

8930 end dive: BOTTOM_OBSTACLE_DETECTED

state 8930 begin apogee

8938 -0.42 0.0 682.9 6.7 429 9065 0.77 0.00 124.30 1.153 6 0.098 0.000 2349 1989 2902

9066 end apogee: CONTROL_FINISHED_OK

state 9066 begin climb

9069 1.10 146.6 688.0 0.0 435 9203 1.55 2.83 123.22 1.121 4 0.060 0.074 2678 3418 2304

9458 1.17 199.4 683.1 4.5 452 9509 0.00 2.60 45.83 1.108 6 0.000 0.051 2678 1989 2088

9834 1.19 215.4 662.8 5.6 471 9856 0.00 2.78 14.93 1.065 4 0.000 0.071 2678 3425 2023

9935 1.19 215.4 656.5 6.5 475 9939 0.00 2.62 0.00 0.000 6 0.000 0.053 2678 1992 2022

10251 1.20 222.1 638.8 5.8 490 10261 0.10 0.00 7.20 0.960 6 0.051 0.000 2712 1992 1996

10560 1.20 222.1 617.5 7.0 505 10564 0.00 2.70 0.00 0.000 4 0.000 0.072 2712 3420 1996

10604 1.20 222.1 614.3 7.5 507 10608 0.00 2.60 0.00 0.000 6 0.000 0.052 2712 1990 1996

10925 1.20 222.1 594.0 6.3 523 10929 0.00 2.60 0.00 0.000 4 0.000 0.070 2712 590 1995

10980 1.20 222.1 590.4 6.2 525 10987 0.00 2.53 0.00 0.000 6 0.000 0.043 2712 2019 1995

11296 1.20 222.1 568.6 6.9 541 11301 0.00 2.60 0.00 0.000 4 0.000 0.073 2712 3407 1995

11352 1.20 222.1 564.8 6.4 543 11358 0.00 2.55 0.00 0.000 6 0.000 0.051 2712 2000 1995

11668 1.20 222.1 542.0 8.1 559 11669 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2000 1994

11977 1.20 222.1 517.5 6.9 574 11979 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2000 1994

12287 1.23 247.3 499.3 5.3 589 12316 0.00 2.78 22.12 1.051 4 0.000 0.071 2712 3406 1893

12363 1.23 247.3 494.6 6.1 592 12367 0.00 2.55 0.00 0.000 6 0.000 0.052 2712 2002 1893

12679 1.26 272.6 476.0 5.3 607 12703 0.00 0.00 22.58 1.023 6 0.000 0.000 2712 2003 1790

13008 1.26 272.6 456.6 6.0 623 13013 0.00 2.65 0.00 0.000 4 0.000 0.072 2712 3407 1790

13054 1.26 272.6 453.7 6.3 625 13058 0.00 2.58 0.00 0.000 6 0.000 0.053 2712 1993 1790

13376 1.33 327.9 436.4 4.5 641 13425 0.00 0.00 47.28 1.002 6 0.000 0.000 2712 1993 1565

13724 1.33 327.9 413.3 8.0 658 13728 0.00 2.67 0.00 0.000 4 0.000 0.071 2712 3409 1565

13774 1.33 327.9 409.0 8.1 660 13778 0.00 2.60 0.00 0.000 6 0.000 0.055 2712 1989 1565

14090 1.33 327.9 382.8 7.7 675 14094 0.00 2.67 0.00 0.000 4 0.000 0.073 2712 3405 1565

14145 1.33 327.9 378.1 8.5 677 14151 0.00 2.58 0.00 0.000 6 0.000 0.055 2712 1996 1565

14461 1.33 327.9 353.2 7.8 693 14465 0.00 2.65 0.00 0.000 4 0.000 0.071 2712 3404 1566

14505 1.33 327.9 349.6 7.8 695 14510 0.00 2.58 0.00 0.000 6 0.000 0.055 2712 1996 1566

14827 1.33 327.9 326.2 7.1 711 14832 0.00 2.65 0.00 0.000 4 0.000 0.070 2712 3406 1567

14861 1.33 327.9 323.3 8.2 712 14867 0.00 2.58 0.00 0.000 6 0.000 0.056 2712 1996 1566

15177 1.33 327.9 299.0 7.9 728 15181 0.00 2.65 0.00 0.000 4 0.000 0.070 2712 3409 1567

15216 1.33 327.9 295.7 9.0 730 15221 0.00 2.60 0.00 0.000 6 0.000 0.056 2712 1988 1567

15544 1.33 327.9 268.4 8.6 746 15548 0.00 2.65 0.00 0.000 4 0.000 0.069 2712 3406 1567

15588 1.33 327.9 264.1 9.9 748 15592 0.00 2.58 0.00 0.000 6 0.000 0.058 2712 2003 1567

15909 1.33 327.9 235.5 9.0 764 15913 0.00 2.62 0.00 0.000 4 0.000 0.067 2712 3410 1568

15948 1.33 327.9 231.6 9.6 765 15954 0.00 2.58 0.00 0.000 6 0.000 0.058 2712 1991 1568

16264 1.33 327.9 204.0 8.3 781 16268 0.00 2.65 0.00 0.000 4 0.000 0.069 2712 3411 1568

16314 1.33 327.9 199.7 8.4 783 16318 0.00 2.58 0.00 0.000 6 0.000 0.057 2712 2004 1568

16630 1.33 327.9 176.4 6.7 798 16634 0.00 2.60 0.00 0.000 4 0.000 0.069 2712 3403 1568

16669 1.33 327.9 173.6 6.3 800 16674 0.00 2.58 0.00 0.000 6 0.000 0.058 2712 1989 1568

16997 1.33 327.9 148.8 8.3 816 17001 0.00 2.65 0.00 0.000 4 0.000 0.070 2712 3403 1569

17038 1.33 327.9 145.1 9.1 818 17042 0.00 2.58 0.00 0.000 6 0.000 0.058 2712 1988 1569

17365 1.33 327.9 118.5 7.7 834 17369 0.00 2.65 0.00 0.000 4 0.000 0.067 2712 3410 1569

17398 1.33 327.9 115.5 8.6 835 17404 0.00 2.58 0.00 0.000 6 0.000 0.058 2712 1994 1569

17714 1.33 327.9 90.7 8.2 851 17718 0.00 2.65 0.00 0.000 4 0.000 0.070 2712 3411 1570

17769 1.33 327.9 85.7 9.4 853 17776 0.00 2.58 0.00 0.000 6 0.000 0.060 2712 1997 1570

18086 1.33 327.9 61.4 8.4 869 18087 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 1997 1570

18395 1.33 327.9 34.7 10.8 884 18399 0.00 2.62 0.00 0.000 4 0.000 0.071 2712 3405 1570

18489 1.33 327.9 26.3 9.1 888 18494 0.00 2.58 0.00 0.000 6 0.000 0.061 2712 2000 1570

18806 1.48 449.8 11.4 2.6 903 18911 0.22 2.65 97.45 0.683 4 0.049 0.053 2765 3403 1067

18917 1.48 449.8 4.4 8.0 908 18922 0.00 2.62 0.00 0.000 6 0.000 0.059 2765 2002 1067

18942 end climb: SURFACE_DEPTH_REACHED

state 18942 begin surface coast

18964 end surface coast: CONTROL_FINISHED_OK

state 18964 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	140	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	16	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-145781.38	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	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	234255,6235.070,-1130.933,42,1.9,42,-11.0	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.023,0.217
_SM_DEPTHo	1.20	KALMAN_X	30667.6,-986.1,-3255.6,-41281.3,22281.1
_SM_ANGLEo	-61.2	KALMAN_Y	-9366.8,1025.2,20880.3,3702.7,-11828.7
GPS2	234950,6235.088,-1130.872,16,1.7,16,-11.0	MHEAD_RNG_PITCHd_Wd	5.1,42756,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.024867	ALTIM_BOTTOM_PING	626.2,66.3
SM_CCo	19049,0.00,0.000,0,0,1066,450.37	_24V_AH	23.3,28.861
SM_GC	1.11,12.10,0.00,0.00,0.032,0.000,0.000,53,2640,1066,-10.92,-0.31,450.37	_10V_AH	10.1,15.463
IRIDIUM_FIX	6207.28,-1135.06,160698,181848	DATA_FILE_SIZE	47484,910
TT8_MAMPS	0.028379	CAP_FILE_SIZE	132500,0
HUMID	1766	CFSIZE	260165632,249352192
INTERNAL_PRESSURE	8.47689	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.30	GPS	230309,050924,6239.639,-1135.257,36,1.6,36,-11.1
XPDR_PINGS	17

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	160	100.94	SBE_CT	662	24	370.36
Roll_motor	158	96	356.57	SBE_O2	654	19	289.57
VBD_pump_during_apogee	504	1152	13561.75	WL_BB2F	552	105	1351.94
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	25	103	61.32	nil	0	0	0.00
Iridium_during_connect	24	160	92.83	nil	0	0	0.00
Iridium_during_xfer	231	223	1200.96
Transponder_ping	9	420	92.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.23
TT8	1644	19	328.81
LPSleep	14608	2	323.12
TT8_Active	600	19	120.06
TT8_Sampling	1973	39	793.44
TT8_CF8	631	45	292.30
TT8_Kalman	33	81	27.56
Analog_circuits	1613	12	195.52
GPS_charging	0	0	0.00
Compass	1939	8	156.69
RAFOS	0	0	0.00
Transponder	37	30	11.31

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-1.10	-146.6	0.0	0.0	0	62	0.00	0.00	-41.38	0.000	2	0.000	0.000	46	2662	3059
66	-1.10	-146.6	3.3	-9.0	2	88	12.27	0.00	-8.23	0.000	6	0.160	0.000	2194	2662	3501
392	-1.10	-146.6	35.5	-9.0	18	393	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2662	3501
700	-1.10	-146.6	61.9	-8.4	33	703	0.00	2.17	0.00	0.000	4	0.000	0.094	2194	3776	3501
761	-1.10	-146.6	67.0	-7.1	35	768	0.00	2.08	0.00	0.000	6	0.000	0.063	2194	2642	3501
1078	-1.10	-146.6	93.4	-9.1	51	1079	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
1388	-1.10	-146.6	120.5	-8.2	66	1392	0.00	2.25	0.00	0.000	4	0.000	0.097	2194	3780	3501
1474	-1.10	-146.6	128.0	-9.2	70	1478	0.00	2.08	0.00	0.000	6	0.000	0.062	2194	2651	3501
1807	-1.10	-146.6	156.1	-8.2	86	1808	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2651	3501
2116	-1.10	-146.6	180.5	-7.8	101	2121	0.00	2.62	0.00	0.000	4	0.000	0.073	2194	1229	3501
2144	-1.10	-146.6	182.8	-7.8	102	2149	0.00	2.62	0.00	0.000	6	0.000	0.066	2194	2641	3501
2460	-1.10	-146.6	206.0	-7.1	117	2464	0.00	2.20	0.00	0.000	4	0.000	0.091	2195	3786	3501
2506	-1.10	-146.6	209.4	-6.8	119	2510	0.00	2.08	0.00	0.000	6	0.000	0.061	2194	2646	3501
2839	-1.10	-146.6	234.2	-7.7	135	2840	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2646	3501
3148	-1.10	-146.6	257.5	-7.5	150	3152	0.00	2.25	0.00	0.000	4	0.000	0.094	2194	3795	3501
3194	-1.10	-146.6	261.1	-8.4	152	3197	0.00	2.10	0.00	0.000	6	0.000	0.061	2195	2645	3501
3527	-1.10	-146.6	286.6	-7.8	168	3528	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3501
3836	-1.10	-146.6	308.9	-7.0	183	3837	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3501
4145	-1.10	-146.6	329.3	-6.8	198	4146	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3501
4454	-1.10	-146.6	352.8	-7.1	213	4458	0.00	2.22	0.00	0.000	4	0.000	0.092	2194	3787	3502
4500	-1.10	-146.6	355.9	-6.7	215	4504	0.00	2.08	0.00	0.000	6	0.000	0.059	2194	2650	3502
4835	-1.10	-146.6	376.1	-6.0	231	4836	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3502
5143	-1.10	-146.6	395.8	-7.1	246	5147	0.00	2.60	0.00	0.000	4	0.000	0.071	2194	1231	3502
5187	-1.10	-146.6	399.2	-7.8	248	5191	0.00	2.62	0.00	0.000	6	0.000	0.066	2194	2651	3502
5508	-1.10	-146.6	423.3	-8.0	264	5509	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2651	3502
5817	-1.10	-146.6	445.4	-7.4	279	5819	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3502
6126	-1.10	-146.6	466.2	-6.6	294	6127	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2651	3501
6436	-1.10	-146.6	490.4	-8.4	309	6439	0.00	2.17	0.00	0.000	4	0.000	0.093	2194	3783	3501
6516	-1.10	-146.6	497.1	-8.5	312	6519	0.00	2.05	0.00	0.000	6	0.000	0.056	2194	2645	3501
6837	-1.10	-146.6	522.3	-8.6	328	6842	0.00	2.60	0.00	0.000	4	0.000	0.071	2194	1227	3501
6872	-1.10	-146.6	525.0	-7.7	329	6878	0.00	2.62	0.00	0.000	6	0.000	0.064	2194	2650	3501
7187	-1.10	-146.6	549.5	-7.5	345	7191	0.00	2.17	0.00	0.000	4	0.000	0.094	2194	3785	3500
7301	-1.10	-146.6	558.1	-7.5	350	7305	0.00	2.05	0.00	0.000	6	0.000	0.058	2194	2652	3500
7634	-1.10	-146.6	584.1	-8.5	366	7635	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3499
7943	-1.10	-146.6	611.9	-9.0	381	7945	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3498
8252	-1.10	-146.6	635.1	-7.2	396	8254	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3497
8562	-1.10	-146.6	657.5	-7.2	411	8563	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3497
8871	-1.10	-146.6	678.8	-7.0	426	8872	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3497
8930	end dive: BOTTOM_OBSTACLE_DETECTED
state	8930	begin apogee
8938	-0.42	0.0	682.9	6.7	429	9065	0.77	0.00	124.30	1.153	6	0.098	0.000	2349	1989	2902
9066	end apogee: CONTROL_FINISHED_OK
state	9066	begin climb
9069	1.10	146.6	688.0	0.0	435	9203	1.55	2.83	123.22	1.121	4	0.060	0.074	2678	3418	2304
9458	1.17	199.4	683.1	4.5	452	9509	0.00	2.60	45.83	1.108	6	0.000	0.051	2678	1989	2088
9834	1.19	215.4	662.8	5.6	471	9856	0.00	2.78	14.93	1.065	4	0.000	0.071	2678	3425	2023
9935	1.19	215.4	656.5	6.5	475	9939	0.00	2.62	0.00	0.000	6	0.000	0.053	2678	1992	2022
10251	1.20	222.1	638.8	5.8	490	10261	0.10	0.00	7.20	0.960	6	0.051	0.000	2712	1992	1996
10560	1.20	222.1	617.5	7.0	505	10564	0.00	2.70	0.00	0.000	4	0.000	0.072	2712	3420	1996
10604	1.20	222.1	614.3	7.5	507	10608	0.00	2.60	0.00	0.000	6	0.000	0.052	2712	1990	1996
10925	1.20	222.1	594.0	6.3	523	10929	0.00	2.60	0.00	0.000	4	0.000	0.070	2712	590	1995
10980	1.20	222.1	590.4	6.2	525	10987	0.00	2.53	0.00	0.000	6	0.000	0.043	2712	2019	1995
11296	1.20	222.1	568.6	6.9	541	11301	0.00	2.60	0.00	0.000	4	0.000	0.073	2712	3407	1995
11352	1.20	222.1	564.8	6.4	543	11358	0.00	2.55	0.00	0.000	6	0.000	0.051	2712	2000	1995
11668	1.20	222.1	542.0	8.1	559	11669	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2000	1994
11977	1.20	222.1	517.5	6.9	574	11979	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2000	1994
12287	1.23	247.3	499.3	5.3	589	12316	0.00	2.78	22.12	1.051	4	0.000	0.071	2712	3406	1893
12363	1.23	247.3	494.6	6.1	592	12367	0.00	2.55	0.00	0.000	6	0.000	0.052	2712	2002	1893
12679	1.26	272.6	476.0	5.3	607	12703	0.00	0.00	22.58	1.023	6	0.000	0.000	2712	2003	1790
13008	1.26	272.6	456.6	6.0	623	13013	0.00	2.65	0.00	0.000	4	0.000	0.072	2712	3407	1790
13054	1.26	272.6	453.7	6.3	625	13058	0.00	2.58	0.00	0.000	6	0.000	0.053	2712	1993	1790
13376	1.33	327.9	436.4	4.5	641	13425	0.00	0.00	47.28	1.002	6	0.000	0.000	2712	1993	1565
13724	1.33	327.9	413.3	8.0	658	13728	0.00	2.67	0.00	0.000	4	0.000	0.071	2712	3409	1565
13774	1.33	327.9	409.0	8.1	660	13778	0.00	2.60	0.00	0.000	6	0.000	0.055	2712	1989	1565
14090	1.33	327.9	382.8	7.7	675	14094	0.00	2.67	0.00	0.000	4	0.000	0.073	2712	3405	1565
14145	1.33	327.9	378.1	8.5	677	14151	0.00	2.58	0.00	0.000	6	0.000	0.055	2712	1996	1565
14461	1.33	327.9	353.2	7.8	693	14465	0.00	2.65	0.00	0.000	4	0.000	0.071	2712	3404	1566
14505	1.33	327.9	349.6	7.8	695	14510	0.00	2.58	0.00	0.000	6	0.000	0.055	2712	1996	1566
14827	1.33	327.9	326.2	7.1	711	14832	0.00	2.65	0.00	0.000	4	0.000	0.070	2712	3406	1567
14861	1.33	327.9	323.3	8.2	712	14867	0.00	2.58	0.00	0.000	6	0.000	0.056	2712	1996	1566
15177	1.33	327.9	299.0	7.9	728	15181	0.00	2.65	0.00	0.000	4	0.000	0.070	2712	3409	1567
15216	1.33	327.9	295.7	9.0	730	15221	0.00	2.60	0.00	0.000	6	0.000	0.056	2712	1988	1567
15544	1.33	327.9	268.4	8.6	746	15548	0.00	2.65	0.00	0.000	4	0.000	0.069	2712	3406	1567
15588	1.33	327.9	264.1	9.9	748	15592	0.00	2.58	0.00	0.000	6	0.000	0.058	2712	2003	1567
15909	1.33	327.9	235.5	9.0	764	15913	0.00	2.62	0.00	0.000	4	0.000	0.067	2712	3410	1568
15948	1.33	327.9	231.6	9.6	765	15954	0.00	2.58	0.00	0.000	6	0.000	0.058	2712	1991	1568
16264	1.33	327.9	204.0	8.3	781	16268	0.00	2.65	0.00	0.000	4	0.000	0.069	2712	3411	1568
16314	1.33	327.9	199.7	8.4	783	16318	0.00	2.58	0.00	0.000	6	0.000	0.057	2712	2004	1568
16630	1.33	327.9	176.4	6.7	798	16634	0.00	2.60	0.00	0.000	4	0.000	0.069	2712	3403	1568
16669	1.33	327.9	173.6	6.3	800	16674	0.00	2.58	0.00	0.000	6	0.000	0.058	2712	1989	1568
16997	1.33	327.9	148.8	8.3	816	17001	0.00	2.65	0.00	0.000	4	0.000	0.070	2712	3403	1569
17038	1.33	327.9	145.1	9.1	818	17042	0.00	2.58	0.00	0.000	6	0.000	0.058	2712	1988	1569
17365	1.33	327.9	118.5	7.7	834	17369	0.00	2.65	0.00	0.000	4	0.000	0.067	2712	3410	1569
17398	1.33	327.9	115.5	8.6	835	17404	0.00	2.58	0.00	0.000	6	0.000	0.058	2712	1994	1569
17714	1.33	327.9	90.7	8.2	851	17718	0.00	2.65	0.00	0.000	4	0.000	0.070	2712	3411	1570
17769	1.33	327.9	85.7	9.4	853	17776	0.00	2.58	0.00	0.000	6	0.000	0.060	2712	1997	1570
18086	1.33	327.9	61.4	8.4	869	18087	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	1997	1570
18395	1.33	327.9	34.7	10.8	884	18399	0.00	2.62	0.00	0.000	4	0.000	0.071	2712	3405	1570
18489	1.33	327.9	26.3	9.1	888	18494	0.00	2.58	0.00	0.000	6	0.000	0.061	2712	2000	1570
18806	1.48	449.8	11.4	2.6	903	18911	0.22	2.65	97.45	0.683	4	0.049	0.053	2765	3403	1067
18917	1.48	449.8	4.4	8.0	908	18922	0.00	2.62	0.00	0.000	6	0.000	0.059	2765	2002	1067
18942	end climb: SURFACE_DEPTH_REACHED
state	18942	begin surface coast
18964	end surface coast: CONTROL_FINISHED_OK
state	18964	begin surface