Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 144 * 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 144 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -145852.89 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 -145852.89

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 20 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 144 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 221436,6230.965,-1151.918,41,1.3,52,-11.2 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.209,0.063

_SM_DEPTHo 1.35 KALMAN_X 19569.4,437.5,5713.9,-58477.2,13234.9

_SM_ANGLEo -60.8 KALMAN_Y -9345.1,-1296.4,3087.7,16074.5,5584.0

GPS2 222037,6230.900,-1151.760,11,1.3,11,-11.2 MHEAD_RNG_PITCHd_Wd 297.9,29338,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027464 ALTIM_BOTTOM_PING 775.1,58.6

SM_CCo 21336,0.00,0.000,0,0,1927,239.17 _24V_AH 23.3,29.407

SM_GC 1.92,11.80,0.00,0.00,0.035,0.000,0.000,52,2642,1927,-10.93,-0.23,239.17 _10V_AH 10.1,15.825

IRIDIUM_FIX 6211.90,-1223.62,170698,161634 DATA_FILE_SIZE 50543,1021

TT8_MAMPS 0.026845 CAP_FILE_SIZE 134322,0

HUMID 1762 CFSIZE 260165632,249085952

INTERNAL_PRESSURE 8.58431 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 240309,041836,6228.496,-1153.777,46,1.4,51,-11.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 96.44 SBE_CT 713 24 398.84

Roll_motor 130 92 280.24 SBE_O2 754 19 334.12

VBD_pump_during_apogee 331 1206 9309.04 WL_BB2F 583 105 1426.58

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.27 nil 0 0 0.00

Iridium_during_connect 27 160 100.79 nil 0 0 0.00

Iridium_during_xfer 171 223 891.11

Transponder_ping 6 420 66.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.58

TT8 1806 19 361.19

LPSleep 16808 2 371.79

TT8_Active 428 19 85.76

TT8_Sampling 2057 39 827.24

TT8_CF8 589 45 272.49

TT8_Kalman 33 81 27.56

Analog_circuits 1453 12 176.15

GPS_charging 0 0 0.00

Compass 2024 8 163.55

RAFOS 0 0 0.00

Transponder 47 30 14.25

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 77 0.00 0.00 -55.38 0.000 6 0.000 0.000 43 2645 3501

81 -1.10 -146.6 7.4 -14.5 3 102 12.10 2.67 0.00 0.000 4 0.157 0.072 2194 1244 3501

273 -1.10 -146.6 37.1 -9.2 11 278 0.00 2.62 0.00 0.000 6 0.000 0.065 2194 2658 3501

589 -1.10 -146.6 60.0 -6.7 26 593 0.00 2.17 0.00 0.000 4 0.000 0.092 2194 3783 3501

636 -1.10 -146.6 63.8 -7.8 28 640 0.00 2.08 0.00 0.000 6 0.000 0.064 2194 2654 3501

968 -1.10 -146.6 88.2 -7.4 44 972 0.00 2.20 0.00 0.000 4 0.000 0.089 2194 3786 3501

1007 -1.10 -146.6 91.4 -8.3 45 1014 0.00 2.12 0.00 0.000 6 0.000 0.063 2194 2649 3501

1324 -1.10 -146.6 116.7 -9.1 61 1325 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3501

1633 -1.10 -146.6 141.0 -7.6 76 1634 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2649 3501

1942 -1.10 -146.6 166.7 -9.6 91 1946 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3785 3501

1988 -1.10 -146.6 171.0 -9.4 93 1991 0.00 2.08 0.00 0.000 6 0.000 0.061 2194 2648 3501

2321 -1.10 -146.6 197.7 -8.8 109 2322 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3501

2630 -1.10 -146.6 223.0 -8.2 124 2631 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3501

2939 -1.10 -146.6 249.1 -8.5 139 2942 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3786 3501

2989 -1.10 -146.6 253.9 -9.2 141 2993 0.00 2.08 0.00 0.000 6 0.000 0.061 2194 2649 3501

3316 -1.10 -146.6 282.0 -8.6 157 3318 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2649 3501

3626 -1.10 -146.6 306.8 -8.2 172 3629 0.00 2.17 0.00 0.000 4 0.000 0.087 2194 3782 3501

3672 -1.10 -146.6 310.5 -8.3 174 3675 0.00 2.08 0.00 0.000 6 0.000 0.061 2194 2645 3501

4004 -1.10 -146.6 336.7 -7.8 190 4005 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3501

4314 -1.10 -146.6 360.3 -7.5 205 4315 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3501

4623 -1.10 -146.6 384.1 -8.1 220 4624 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3501

4932 -1.10 -146.6 410.8 -8.9 235 4936 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3786 3501

4988 -1.10 -146.6 415.9 -9.5 237 4992 0.00 2.08 0.00 0.000 6 0.000 0.058 2194 2642 3501

5309 -1.10 -146.6 443.5 -8.6 253 5310 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2641 3501

5618 -1.10 -146.6 466.5 -6.9 268 5619 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

5927 -1.10 -146.6 486.0 -6.0 283 5929 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

6237 -1.10 -146.6 508.8 -7.6 298 6238 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

6546 -1.10 -146.6 534.8 -8.6 313 6547 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2641 3501

6855 -1.10 -146.6 560.4 -8.4 328 6859 0.00 2.20 0.00 0.000 4 0.000 0.086 2194 3786 3501

6895 -1.10 -146.6 563.5 -7.9 329 6901 0.00 2.05 0.00 0.000 6 0.000 0.057 2194 2647 3501

7210 -1.10 -146.6 585.2 -6.5 345 7215 0.00 2.58 0.00 0.000 4 0.000 0.069 2194 1235 3501

7228 -1.10 -146.6 586.3 -6.6 346 7233 0.00 2.58 0.00 0.000 6 0.000 0.056 2194 2658 3501

7556 -1.10 -146.6 608.2 -7.3 362 7559 0.00 2.15 0.00 0.000 4 0.000 0.090 2194 3786 3501

7624 -1.10 -146.6 613.4 -7.6 365 7628 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2642 3502

7957 -1.10 -146.6 641.2 -8.6 381 7958 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

8267 -1.10 -146.6 664.4 -7.7 396 8271 0.00 2.17 0.00 0.000 4 0.000 0.088 2194 3783 3501

8335 -1.10 -146.6 670.3 -9.1 399 8339 0.00 2.03 0.00 0.000 6 0.000 0.053 2194 2650 3501

8668 -1.10 -146.6 695.8 -8.4 415 8669 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3501

8978 -1.10 -146.6 717.6 -5.9 430 8979 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3501

9286 -1.10 -146.6 736.5 -7.4 445 9290 0.00 2.17 0.00 0.000 4 0.000 0.087 2194 3783 3501

9320 -1.10 -146.6 739.6 -8.9 446 9323 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2641 3501

9641 -1.10 -146.6 764.0 -7.3 462 9645 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3787 3501

9697 -1.10 -146.6 768.0 -6.8 464 9701 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2644 3500

10019 -1.10 -146.6 786.7 -5.4 480 10023 0.00 2.20 0.00 0.000 4 0.000 0.090 2194 3783 3500

10053 -1.10 -146.6 788.8 -6.4 481 10056 0.00 2.05 0.00 0.000 6 0.000 0.058 2194 2650 3500

10375 -1.10 -146.6 811.3 -7.8 497 10376 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3499

10536 end dive: BOTTOM_OBSTACLE_DETECTED

state 10536 begin apogee

10545 -0.42 0.0 823.7 7.4 505 10679 0.75 0.00 126.53 1.206 6 0.088 0.000 2346 2000 2902

10679 end apogee: CONTROL_FINISHED_OK

state 10679 begin climb

10683 1.10 146.6 829.4 0.0 512 10818 1.55 2.72 124.50 1.177 4 0.055 0.070 2679 593 2304

10877 1.22 239.6 827.7 3.4 521 10964 0.12 2.53 80.12 1.159 6 0.042 0.041 2723 2014 1925

11292 1.22 239.6 801.3 6.6 541 11296 0.00 2.60 0.00 0.000 4 0.000 0.070 2723 3406 1923

11341 1.22 239.6 797.2 8.5 543 11346 0.00 2.58 0.00 0.000 6 0.000 0.050 2723 1985 1923

11657 1.22 239.6 774.3 6.3 558 11659 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1985 1923

11966 1.22 239.6 754.6 7.7 573 11971 0.00 2.65 0.00 0.000 4 0.000 0.069 2723 3400 1922

12029 1.22 239.6 748.9 8.8 576 12034 0.00 2.55 0.00 0.000 6 0.000 0.049 2723 1989 1922

12357 1.22 239.6 723.0 7.2 592 12358 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1989 1921

12666 1.22 239.6 698.1 8.3 607 12667 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1989 1921

12975 1.22 239.6 675.3 7.0 622 12980 0.00 2.62 0.00 0.000 4 0.000 0.062 2723 3412 1920

13044 1.22 239.6 670.0 8.5 625 13048 0.00 2.53 0.00 0.000 6 0.000 0.044 2723 1995 1921

13365 1.22 239.6 645.9 6.9 641 13366 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1995 1921

13675 1.22 239.6 623.3 7.6 656 13679 0.00 2.60 0.00 0.000 4 0.000 0.061 2723 3414 1921

13725 1.22 239.6 619.1 7.5 658 13730 0.00 2.53 0.00 0.000 6 0.000 0.042 2723 1987 1922

14047 1.22 239.6 593.9 7.9 674 14051 0.00 2.53 0.00 0.000 4 0.000 0.060 2723 590 1922

14087 1.22 239.6 590.7 8.7 676 14091 0.00 2.45 0.00 0.000 6 0.000 0.035 2723 2006 1921

14414 1.22 239.6 562.5 8.9 692 14415 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2006 1922

14723 1.22 239.6 534.8 9.0 707 14727 0.00 2.55 0.00 0.000 4 0.000 0.062 2723 3406 1922

14750 1.22 239.6 532.2 9.2 708 14755 0.00 2.50 0.00 0.000 6 0.000 0.044 2723 1996 1922

15067 1.22 239.6 505.0 8.6 723 15071 0.00 2.60 0.00 0.000 4 0.000 0.063 2723 3405 1923

15106 1.22 239.6 501.5 8.2 725 15110 0.00 2.50 0.00 0.000 6 0.000 0.044 2723 1995 1923

15433 1.22 239.6 474.0 8.6 741 15434 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1994 1923

15742 1.22 239.6 448.4 8.4 756 15743 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1995 1924

16051 1.22 239.6 424.0 7.8 771 16053 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1995 1925

16361 1.22 239.6 399.1 8.0 786 16362 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1995 1925

16670 1.22 239.6 374.0 8.2 801 16674 0.00 2.60 0.00 0.000 4 0.000 0.065 2723 3403 1925

16716 1.22 239.6 369.9 8.3 803 16720 0.00 2.50 0.00 0.000 6 0.000 0.048 2723 1995 1925

17048 1.22 239.6 341.1 8.6 819 17049 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1994 1925

17358 1.22 239.6 313.5 9.2 834 17359 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1994 1926

17667 1.22 239.6 287.6 8.1 849 17671 0.00 2.62 0.00 0.000 4 0.000 0.066 2723 3415 1926

17694 1.22 239.6 285.2 9.0 850 17698 0.00 2.55 0.00 0.000 6 0.000 0.051 2723 1994 1926

18010 1.22 239.6 260.4 7.5 865 18011 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1994 1926

18319 1.22 239.6 237.6 7.2 880 18320 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1994 1927

18628 1.22 239.6 213.7 8.0 895 18632 0.00 2.60 0.00 0.000 4 0.000 0.067 2723 3402 1927

18656 1.22 239.6 211.3 7.6 896 18660 0.00 2.53 0.00 0.000 6 0.000 0.051 2723 1998 1927

18972 1.22 239.6 183.3 8.9 911 18973 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1998 1927

19281 1.22 239.6 156.2 8.8 926 19282 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1998 1927

19591 1.22 239.6 129.2 8.7 941 19595 0.00 2.60 0.00 0.000 4 0.000 0.067 2723 3403 1927

19631 1.22 239.6 125.5 9.5 943 19635 0.00 2.53 0.00 0.000 6 0.000 0.054 2723 1995 1927

19957 1.22 239.6 96.4 8.8 959 19959 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1995 1927

20267 1.22 239.6 69.5 8.9 974 20268 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1995 1927

20577 1.22 239.6 45.8 6.4 989 20582 0.00 2.60 0.00 0.000 4 0.000 0.067 2723 3402 1928

20606 1.22 239.6 43.6 8.0 990 20610 0.00 2.55 0.00 0.000 6 0.000 0.054 2723 1992 1928

20922 1.22 239.6 22.2 7.2 1005 20923 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1990 1928

21228 end climb: SURFACE_DEPTH_REACHED

state 21228 begin surface coast

21251 end surface coast: CONTROL_FINISHED_OK

state 21252 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	144	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-145852.89	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	221436,6230.965,-1151.918,41,1.3,52,-11.2	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.209,0.063
_SM_DEPTHo	1.35	KALMAN_X	19569.4,437.5,5713.9,-58477.2,13234.9
_SM_ANGLEo	-60.8	KALMAN_Y	-9345.1,-1296.4,3087.7,16074.5,5584.0
GPS2	222037,6230.900,-1151.760,11,1.3,11,-11.2	MHEAD_RNG_PITCHd_Wd	297.9,29338,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.7,1.027464	ALTIM_BOTTOM_PING	775.1,58.6
SM_CCo	21336,0.00,0.000,0,0,1927,239.17	_24V_AH	23.3,29.407
SM_GC	1.92,11.80,0.00,0.00,0.035,0.000,0.000,52,2642,1927,-10.93,-0.23,239.17	_10V_AH	10.1,15.825
IRIDIUM_FIX	6211.90,-1223.62,170698,161634	DATA_FILE_SIZE	50543,1021
TT8_MAMPS	0.026845	CAP_FILE_SIZE	134322,0
HUMID	1762	CFSIZE	260165632,249085952
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	240309,041836,6228.496,-1153.777,46,1.4,51,-11.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	96.44	SBE_CT	713	24	398.84
Roll_motor	130	92	280.24	SBE_O2	754	19	334.12
VBD_pump_during_apogee	331	1206	9309.04	WL_BB2F	583	105	1426.58
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.27	nil	0	0	0.00
Iridium_during_connect	27	160	100.79	nil	0	0	0.00
Iridium_during_xfer	171	223	891.11
Transponder_ping	6	420	66.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.58
TT8	1806	19	361.19
LPSleep	16808	2	371.79
TT8_Active	428	19	85.76
TT8_Sampling	2057	39	827.24
TT8_CF8	589	45	272.49
TT8_Kalman	33	81	27.56
Analog_circuits	1453	12	176.15
GPS_charging	0	0	0.00
Compass	2024	8	163.55
RAFOS	0	0	0.00
Transponder	47	30	14.25

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	77	0.00	0.00	-55.38	0.000	6	0.000	0.000	43	2645	3501
81	-1.10	-146.6	7.4	-14.5	3	102	12.10	2.67	0.00	0.000	4	0.157	0.072	2194	1244	3501
273	-1.10	-146.6	37.1	-9.2	11	278	0.00	2.62	0.00	0.000	6	0.000	0.065	2194	2658	3501
589	-1.10	-146.6	60.0	-6.7	26	593	0.00	2.17	0.00	0.000	4	0.000	0.092	2194	3783	3501
636	-1.10	-146.6	63.8	-7.8	28	640	0.00	2.08	0.00	0.000	6	0.000	0.064	2194	2654	3501
968	-1.10	-146.6	88.2	-7.4	44	972	0.00	2.20	0.00	0.000	4	0.000	0.089	2194	3786	3501
1007	-1.10	-146.6	91.4	-8.3	45	1014	0.00	2.12	0.00	0.000	6	0.000	0.063	2194	2649	3501
1324	-1.10	-146.6	116.7	-9.1	61	1325	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3501
1633	-1.10	-146.6	141.0	-7.6	76	1634	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2649	3501
1942	-1.10	-146.6	166.7	-9.6	91	1946	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3785	3501
1988	-1.10	-146.6	171.0	-9.4	93	1991	0.00	2.08	0.00	0.000	6	0.000	0.061	2194	2648	3501
2321	-1.10	-146.6	197.7	-8.8	109	2322	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3501
2630	-1.10	-146.6	223.0	-8.2	124	2631	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3501
2939	-1.10	-146.6	249.1	-8.5	139	2942	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3786	3501
2989	-1.10	-146.6	253.9	-9.2	141	2993	0.00	2.08	0.00	0.000	6	0.000	0.061	2194	2649	3501
3316	-1.10	-146.6	282.0	-8.6	157	3318	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2649	3501
3626	-1.10	-146.6	306.8	-8.2	172	3629	0.00	2.17	0.00	0.000	4	0.000	0.087	2194	3782	3501
3672	-1.10	-146.6	310.5	-8.3	174	3675	0.00	2.08	0.00	0.000	6	0.000	0.061	2194	2645	3501
4004	-1.10	-146.6	336.7	-7.8	190	4005	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3501
4314	-1.10	-146.6	360.3	-7.5	205	4315	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3501
4623	-1.10	-146.6	384.1	-8.1	220	4624	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3501
4932	-1.10	-146.6	410.8	-8.9	235	4936	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3786	3501
4988	-1.10	-146.6	415.9	-9.5	237	4992	0.00	2.08	0.00	0.000	6	0.000	0.058	2194	2642	3501
5309	-1.10	-146.6	443.5	-8.6	253	5310	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2641	3501
5618	-1.10	-146.6	466.5	-6.9	268	5619	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
5927	-1.10	-146.6	486.0	-6.0	283	5929	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
6237	-1.10	-146.6	508.8	-7.6	298	6238	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
6546	-1.10	-146.6	534.8	-8.6	313	6547	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2641	3501
6855	-1.10	-146.6	560.4	-8.4	328	6859	0.00	2.20	0.00	0.000	4	0.000	0.086	2194	3786	3501
6895	-1.10	-146.6	563.5	-7.9	329	6901	0.00	2.05	0.00	0.000	6	0.000	0.057	2194	2647	3501
7210	-1.10	-146.6	585.2	-6.5	345	7215	0.00	2.58	0.00	0.000	4	0.000	0.069	2194	1235	3501
7228	-1.10	-146.6	586.3	-6.6	346	7233	0.00	2.58	0.00	0.000	6	0.000	0.056	2194	2658	3501
7556	-1.10	-146.6	608.2	-7.3	362	7559	0.00	2.15	0.00	0.000	4	0.000	0.090	2194	3786	3501
7624	-1.10	-146.6	613.4	-7.6	365	7628	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2642	3502
7957	-1.10	-146.6	641.2	-8.6	381	7958	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
8267	-1.10	-146.6	664.4	-7.7	396	8271	0.00	2.17	0.00	0.000	4	0.000	0.088	2194	3783	3501
8335	-1.10	-146.6	670.3	-9.1	399	8339	0.00	2.03	0.00	0.000	6	0.000	0.053	2194	2650	3501
8668	-1.10	-146.6	695.8	-8.4	415	8669	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3501
8978	-1.10	-146.6	717.6	-5.9	430	8979	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3501
9286	-1.10	-146.6	736.5	-7.4	445	9290	0.00	2.17	0.00	0.000	4	0.000	0.087	2194	3783	3501
9320	-1.10	-146.6	739.6	-8.9	446	9323	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2641	3501
9641	-1.10	-146.6	764.0	-7.3	462	9645	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3787	3501
9697	-1.10	-146.6	768.0	-6.8	464	9701	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2644	3500
10019	-1.10	-146.6	786.7	-5.4	480	10023	0.00	2.20	0.00	0.000	4	0.000	0.090	2194	3783	3500
10053	-1.10	-146.6	788.8	-6.4	481	10056	0.00	2.05	0.00	0.000	6	0.000	0.058	2194	2650	3500
10375	-1.10	-146.6	811.3	-7.8	497	10376	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3499
10536	end dive: BOTTOM_OBSTACLE_DETECTED
state	10536	begin apogee
10545	-0.42	0.0	823.7	7.4	505	10679	0.75	0.00	126.53	1.206	6	0.088	0.000	2346	2000	2902
10679	end apogee: CONTROL_FINISHED_OK
state	10679	begin climb
10683	1.10	146.6	829.4	0.0	512	10818	1.55	2.72	124.50	1.177	4	0.055	0.070	2679	593	2304
10877	1.22	239.6	827.7	3.4	521	10964	0.12	2.53	80.12	1.159	6	0.042	0.041	2723	2014	1925
11292	1.22	239.6	801.3	6.6	541	11296	0.00	2.60	0.00	0.000	4	0.000	0.070	2723	3406	1923
11341	1.22	239.6	797.2	8.5	543	11346	0.00	2.58	0.00	0.000	6	0.000	0.050	2723	1985	1923
11657	1.22	239.6	774.3	6.3	558	11659	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1985	1923
11966	1.22	239.6	754.6	7.7	573	11971	0.00	2.65	0.00	0.000	4	0.000	0.069	2723	3400	1922
12029	1.22	239.6	748.9	8.8	576	12034	0.00	2.55	0.00	0.000	6	0.000	0.049	2723	1989	1922
12357	1.22	239.6	723.0	7.2	592	12358	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1989	1921
12666	1.22	239.6	698.1	8.3	607	12667	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1989	1921
12975	1.22	239.6	675.3	7.0	622	12980	0.00	2.62	0.00	0.000	4	0.000	0.062	2723	3412	1920
13044	1.22	239.6	670.0	8.5	625	13048	0.00	2.53	0.00	0.000	6	0.000	0.044	2723	1995	1921
13365	1.22	239.6	645.9	6.9	641	13366	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1995	1921
13675	1.22	239.6	623.3	7.6	656	13679	0.00	2.60	0.00	0.000	4	0.000	0.061	2723	3414	1921
13725	1.22	239.6	619.1	7.5	658	13730	0.00	2.53	0.00	0.000	6	0.000	0.042	2723	1987	1922
14047	1.22	239.6	593.9	7.9	674	14051	0.00	2.53	0.00	0.000	4	0.000	0.060	2723	590	1922
14087	1.22	239.6	590.7	8.7	676	14091	0.00	2.45	0.00	0.000	6	0.000	0.035	2723	2006	1921
14414	1.22	239.6	562.5	8.9	692	14415	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2006	1922
14723	1.22	239.6	534.8	9.0	707	14727	0.00	2.55	0.00	0.000	4	0.000	0.062	2723	3406	1922
14750	1.22	239.6	532.2	9.2	708	14755	0.00	2.50	0.00	0.000	6	0.000	0.044	2723	1996	1922
15067	1.22	239.6	505.0	8.6	723	15071	0.00	2.60	0.00	0.000	4	0.000	0.063	2723	3405	1923
15106	1.22	239.6	501.5	8.2	725	15110	0.00	2.50	0.00	0.000	6	0.000	0.044	2723	1995	1923
15433	1.22	239.6	474.0	8.6	741	15434	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1994	1923
15742	1.22	239.6	448.4	8.4	756	15743	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1995	1924
16051	1.22	239.6	424.0	7.8	771	16053	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1995	1925
16361	1.22	239.6	399.1	8.0	786	16362	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1995	1925
16670	1.22	239.6	374.0	8.2	801	16674	0.00	2.60	0.00	0.000	4	0.000	0.065	2723	3403	1925
16716	1.22	239.6	369.9	8.3	803	16720	0.00	2.50	0.00	0.000	6	0.000	0.048	2723	1995	1925
17048	1.22	239.6	341.1	8.6	819	17049	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1994	1925
17358	1.22	239.6	313.5	9.2	834	17359	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1994	1926
17667	1.22	239.6	287.6	8.1	849	17671	0.00	2.62	0.00	0.000	4	0.000	0.066	2723	3415	1926
17694	1.22	239.6	285.2	9.0	850	17698	0.00	2.55	0.00	0.000	6	0.000	0.051	2723	1994	1926
18010	1.22	239.6	260.4	7.5	865	18011	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1994	1926
18319	1.22	239.6	237.6	7.2	880	18320	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1994	1927
18628	1.22	239.6	213.7	8.0	895	18632	0.00	2.60	0.00	0.000	4	0.000	0.067	2723	3402	1927
18656	1.22	239.6	211.3	7.6	896	18660	0.00	2.53	0.00	0.000	6	0.000	0.051	2723	1998	1927
18972	1.22	239.6	183.3	8.9	911	18973	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1998	1927
19281	1.22	239.6	156.2	8.8	926	19282	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1998	1927
19591	1.22	239.6	129.2	8.7	941	19595	0.00	2.60	0.00	0.000	4	0.000	0.067	2723	3403	1927
19631	1.22	239.6	125.5	9.5	943	19635	0.00	2.53	0.00	0.000	6	0.000	0.054	2723	1995	1927
19957	1.22	239.6	96.4	8.8	959	19959	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1995	1927
20267	1.22	239.6	69.5	8.9	974	20268	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1995	1927
20577	1.22	239.6	45.8	6.4	989	20582	0.00	2.60	0.00	0.000	4	0.000	0.067	2723	3402	1928
20606	1.22	239.6	43.6	8.0	990	20610	0.00	2.55	0.00	0.000	6	0.000	0.054	2723	1992	1928
20922	1.22	239.6	22.2	7.2	1005	20923	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1990	1928
21228	end climb: SURFACE_DEPTH_REACHED
state	21228	begin surface coast
21251	end surface coast: CONTROL_FINISHED_OK
state	21252	begin surface