Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 190 * 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 190 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -146754.62 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 -146754.62

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 21 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 14 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 190 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 110531,6254.681,-1247.266,41,1.2,41,-11.9 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.208,-0.067

_SM_DEPTHo 1.45 KALMAN_X -12870.3,277.0,262.2,-28905.3,-934.3

_SM_ANGLEo -62.8 KALMAN_Y -18739.2,426.6,-17.0,4176.3,-2371.3

GPS2 111143,6254.756,-1247.303,12,1.3,29,-11.9 MHEAD_RNG_PITCHd_Wd 263.9,17364,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.007114 ALTIM_BOTTOM_PING 675.2,29.1

SM_CCo 18547,0.00,0.000,0,0,1720,289.70 _24V_AH 23.3,35.648

SM_GC 1.04,11.85,0.00,0.00,0.034,0.000,0.000,51,2649,1720,-10.94,-0.03,289.70 _10V_AH 10.1,19.811

IRIDIUM_FIX 6230.49,-1245.54,280698,050530 DATA_FILE_SIZE 44282,887

TT8_MAMPS 0.028379 CAP_FILE_SIZE 127631,0

HUMID 1777 CFSIZE 260165632,246218752

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

TCM_TEMP 16.70 GPS 030409,162301,6254.389,-1250.910,40,1.2,40,-11.9

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 96.81 SBE_CT 625 24 349.80

Roll_motor 145 96 327.91 SBE_O2 656 19 290.52

VBD_pump_during_apogee 370 1155 9984.95 WL_BB2F 540 105 1322.48

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 61.07 nil 0 0 0.00

Iridium_during_connect 27 160 101.75 nil 0 0 0.00

Iridium_during_xfer 171 223 890.22

Transponder_ping 6 420 61.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 14.73

TT8 1613 19 322.61

LPSleep 14317 2 316.70

TT8_Active 462 19 92.51

TT8_Sampling 1956 39 786.64

TT8_CF8 563 45 260.85

TT8_Kalman 33 81 27.56

Analog_circuits 1446 12 175.31

GPS_charging 0 0 0.00

Compass 1901 8 153.60

RAFOS 0 0 0.00

Transponder 43 30 13.13

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 -41.70 0.000 2 0.000 0.000 51 2648 3391

62 -1.10 -146.6 4.7 -13.7 2 85 12.07 2.70 -1.73 0.000 4 0.157 0.089 2196 1250 3502

236 -1.10 -146.6 26.7 -7.6 9 243 0.00 2.60 0.00 0.000 6 0.000 0.068 2196 2650 3501

554 -1.10 -146.6 51.2 -7.9 25 555 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2650 3501

862 -1.10 -146.6 73.8 -7.0 40 866 0.00 2.22 0.00 0.000 4 0.000 0.097 2196 3793 3501

925 -1.10 -146.6 78.9 -7.5 43 929 0.00 2.10 0.00 0.000 6 0.000 0.063 2196 2653 3502

1258 -1.10 -146.6 101.9 -7.1 59 1259 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2653 3501

1567 -1.10 -146.6 124.7 -7.9 74 1569 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2653 3502

1876 -1.10 -146.6 148.5 -8.5 89 1878 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2653 3501

2185 -1.10 -146.6 174.8 -8.1 104 2186 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2653 3502

2495 -1.10 -146.6 194.5 -5.7 119 2499 0.00 2.20 0.00 0.000 4 0.000 0.091 2196 3785 3502

2534 -1.10 -146.6 197.1 -6.7 120 2541 0.00 2.08 0.00 0.000 6 0.000 0.060 2196 2639 3502

2851 -1.10 -146.6 214.7 -5.8 136 2852 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2639 3502

3160 -1.10 -146.6 232.3 -7.0 151 3161 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2639 3501

3469 -1.10 -146.6 257.8 -8.6 166 3470 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2639 3502

3778 -1.10 -146.6 285.2 -8.9 181 3779 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2637 3502

4088 -1.10 -146.6 316.3 -10.5 196 4089 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2637 3502

4397 -1.10 -146.6 348.5 -9.7 211 4400 0.00 2.22 0.00 0.000 4 0.000 0.091 2196 3786 3502

4442 -1.10 -146.6 352.0 -7.5 213 4446 0.00 2.08 0.00 0.000 6 0.000 0.058 2196 2643 3502

4775 -1.10 -146.6 380.4 -9.3 229 4777 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2642 3502

5085 -1.10 -146.6 400.5 -7.7 244 5086 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2642 3502

5396 -1.10 -146.6 425.1 -10.5 259 5400 0.00 2.22 0.00 0.000 4 0.000 0.089 2196 3791 3501

5487 -1.10 -146.6 435.0 -9.8 263 5491 0.00 2.08 0.00 0.000 6 0.000 0.056 2196 2643 3502

5820 -1.10 -146.6 462.2 -8.1 279 5821 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2643 3502

6129 -1.10 -146.6 480.4 -6.8 294 6130 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2642 3502

6439 -1.10 -146.6 505.2 -9.8 309 6443 0.00 2.58 0.00 0.000 4 0.000 0.071 2196 1236 3502

6488 -1.10 -146.6 510.8 -11.4 311 6493 0.00 2.60 0.00 0.000 6 0.000 0.061 2196 2662 3502

6805 -1.10 -146.6 539.2 -7.9 326 6806 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2662 3502

7115 -1.10 -146.6 561.8 -5.9 341 7116 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2662 3502

7424 -1.10 -146.6 573.6 -0.3 356 7427 0.00 2.12 0.00 0.000 4 0.000 0.087 2196 3790 3501

7492 -1.10 -146.6 579.2 -7.8 359 7495 0.00 2.05 0.00 0.000 6 0.000 0.054 2196 2651 3501

7825 -1.10 -146.6 609.3 -10.0 375 7826 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2647 3501

8134 -1.10 -146.6 634.4 -10.0 390 8137 0.00 2.20 0.00 0.000 4 0.000 0.091 2196 3790 3501

8196 -1.10 -146.6 641.4 -11.4 392 8201 0.00 2.05 0.00 0.000 6 0.000 0.054 2196 2650 3501

8512 -1.10 -146.6 671.8 -12.2 408 8516 0.00 2.20 0.00 0.000 4 0.000 0.092 2196 3786 3500

8642 -1.10 -146.6 675.2 2.7 413 8648 0.00 2.05 0.00 0.000 6 0.000 0.054 2196 2643 3500

8958 -1.10 -146.6 654.1 4.3 429 8962 0.00 2.60 0.00 0.000 4 0.000 0.074 2196 1228 3499

9076 -1.10 -146.6 658.2 -9.7 434 9080 0.00 2.62 0.00 0.000 6 0.000 0.063 2196 2657 3499

9396 -1.10 -146.6 678.7 -6.7 450 9400 0.00 2.15 0.00 0.000 4 0.000 0.096 2196 3782 3499

9430 -1.10 -146.6 683.8 -14.4 451 9434 0.00 2.05 0.00 0.000 6 0.000 0.058 2196 2648 3499

9522 end dive: BOTTOM_OBSTACLE_DETECTED

state 9522 begin apogee

9531 -0.42 0.0 694.6 11.0 456 9658 0.77 0.00 124.53 1.156 6 0.110 0.000 2345 1997 2902

9659 end apogee: CONTROL_FINISHED_OK

state 9659 begin climb

9662 1.10 146.6 699.0 0.0 462 9795 1.58 2.72 122.45 1.116 4 0.061 0.063 2679 583 2304

9849 1.15 182.1 695.5 5.0 470 9885 0.00 2.53 31.40 1.068 6 0.000 0.037 2679 2027 2159

10204 1.25 263.6 683.9 3.7 488 10281 0.15 2.78 68.68 1.115 4 0.038 0.061 2727 587 1827

10329 1.25 263.6 673.2 12.4 493 10335 0.00 2.50 0.00 0.000 6 0.000 0.037 2726 2006 1827

10645 1.25 263.6 637.2 12.8 509 10649 0.00 2.65 0.00 0.000 4 0.000 0.064 2727 577 1826

10797 1.25 263.6 625.4 6.7 516 10802 0.00 2.50 0.00 0.000 6 0.000 0.038 2727 1999 1826

11125 1.28 290.6 610.0 5.3 532 11154 0.00 2.70 23.70 1.072 4 0.000 0.066 2726 3404 1717

11228 1.28 290.6 603.6 7.2 536 11234 0.00 2.58 0.00 0.000 6 0.000 0.048 2726 1982 1717

11544 1.28 290.6 579.3 7.8 552 11545 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1982 1716

11853 1.28 290.6 553.7 6.9 567 11854 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1981 1716

12163 1.28 290.6 527.6 9.9 582 12167 0.00 2.65 0.00 0.000 4 0.000 0.064 2727 3407 1716

12196 1.28 290.6 524.1 10.7 583 12202 0.00 2.55 0.00 0.000 6 0.000 0.048 2727 1989 1716

12511 1.28 290.6 496.6 7.5 599 12512 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1989 1716

12821 1.28 290.6 472.9 8.2 614 12825 0.00 2.62 0.00 0.000 4 0.000 0.065 2727 3405 1716

12871 1.28 290.6 468.6 8.4 616 12875 0.00 2.53 0.00 0.000 6 0.000 0.049 2726 2000 1716

13187 1.28 290.6 441.8 8.6 631 13191 0.00 2.60 0.00 0.000 4 0.000 0.066 2727 3402 1716

13242 1.28 290.6 436.8 9.2 633 13248 0.00 2.53 0.00 0.000 6 0.000 0.050 2727 1998 1716

13558 1.28 290.6 408.7 9.1 649 13563 0.00 2.62 0.00 0.000 4 0.000 0.066 2727 3412 1716

13592 1.28 290.6 405.5 8.6 650 13598 0.00 2.53 0.00 0.000 6 0.000 0.050 2726 2001 1716

13908 1.28 290.6 380.8 7.5 666 13913 0.00 2.60 0.00 0.000 4 0.000 0.067 2726 3402 1716

13941 1.28 290.6 378.0 7.7 667 13947 0.00 2.53 0.00 0.000 6 0.000 0.050 2727 1997 1716

14257 1.28 290.6 354.0 7.3 683 14261 0.00 2.62 0.00 0.000 4 0.000 0.067 2726 3409 1717

14301 1.28 290.6 350.4 7.8 685 14305 0.00 2.55 0.00 0.000 6 0.000 0.051 2726 1995 1717

14629 1.28 290.6 322.1 9.1 701 14633 0.00 2.62 0.00 0.000 4 0.000 0.067 2727 3407 1717

14691 1.28 290.6 316.4 9.0 704 14695 0.00 2.53 0.00 0.000 6 0.000 0.052 2727 1998 1717

15018 1.28 290.6 290.9 7.2 720 15022 0.00 2.62 0.00 0.000 4 0.000 0.068 2727 3407 1718

15084 1.28 290.6 286.0 7.9 723 15088 0.00 2.55 0.00 0.000 6 0.000 0.053 2727 1998 1718

15405 1.28 290.6 264.5 6.5 739 15406 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1998 1718

15715 1.28 290.6 241.3 8.1 754 15719 0.00 2.62 0.00 0.000 4 0.000 0.068 2727 3406 1719

15761 1.28 290.6 237.1 9.1 756 15765 0.00 2.55 0.00 0.000 6 0.000 0.052 2727 1992 1719

16088 1.28 290.6 206.4 9.8 772 16093 0.00 2.62 0.00 0.000 4 0.000 0.067 2727 3405 1720

16133 1.28 290.6 201.8 10.4 774 16137 0.00 2.55 0.00 0.000 6 0.000 0.053 2727 1992 1720

16453 1.28 290.6 172.6 8.9 790 16455 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1992 1719

16763 1.28 290.6 145.6 8.9 805 16767 0.00 2.62 0.00 0.000 4 0.000 0.069 2726 3400 1719

16808 1.28 290.6 141.2 10.5 807 16812 0.00 2.55 0.00 0.000 6 0.000 0.054 2727 1993 1720

17129 1.28 290.6 111.8 9.3 823 17130 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1993 1720

17440 1.28 290.6 84.3 8.6 838 17444 0.00 2.65 0.00 0.000 4 0.000 0.071 2727 3411 1720

17490 1.28 290.6 79.6 9.1 840 17494 0.00 2.58 0.00 0.000 6 0.000 0.055 2726 1993 1720

17808 1.28 290.6 53.5 8.2 855 17812 0.00 2.65 0.00 0.000 4 0.000 0.071 2727 3409 1721

17848 1.28 290.6 50.0 8.7 857 17852 0.00 2.58 0.00 0.000 6 0.000 0.057 2726 1995 1721

18175 1.28 290.6 24.0 8.3 873 18179 0.00 2.65 0.00 0.000 4 0.000 0.072 2726 3407 1721

18208 1.28 290.6 21.0 7.9 874 18214 0.00 2.55 0.00 0.000 6 0.000 0.055 2727 1996 1721

18438 end climb: SURFACE_DEPTH_REACHED

state 18438 begin surface coast

18462 end surface coast: CONTROL_FINISHED_OK

state 18462 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	190	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-146754.62	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	110531,6254.681,-1247.266,41,1.2,41,-11.9	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.208,-0.067
_SM_DEPTHo	1.45	KALMAN_X	-12870.3,277.0,262.2,-28905.3,-934.3
_SM_ANGLEo	-62.8	KALMAN_Y	-18739.2,426.6,-17.0,4176.3,-2371.3
GPS2	111143,6254.756,-1247.303,12,1.3,29,-11.9	MHEAD_RNG_PITCHd_Wd	263.9,17364,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.2,1.007114	ALTIM_BOTTOM_PING	675.2,29.1
SM_CCo	18547,0.00,0.000,0,0,1720,289.70	_24V_AH	23.3,35.648
SM_GC	1.04,11.85,0.00,0.00,0.034,0.000,0.000,51,2649,1720,-10.94,-0.03,289.70	_10V_AH	10.1,19.811
IRIDIUM_FIX	6230.49,-1245.54,280698,050530	DATA_FILE_SIZE	44282,887
TT8_MAMPS	0.028379	CAP_FILE_SIZE	127631,0
HUMID	1777	CFSIZE	260165632,246218752
INTERNAL_PRESSURE	8.55502	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.70	GPS	030409,162301,6254.389,-1250.910,40,1.2,40,-11.9
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	96.81	SBE_CT	625	24	349.80
Roll_motor	145	96	327.91	SBE_O2	656	19	290.52
VBD_pump_during_apogee	370	1155	9984.95	WL_BB2F	540	105	1322.48
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	61.07	nil	0	0	0.00
Iridium_during_connect	27	160	101.75	nil	0	0	0.00
Iridium_during_xfer	171	223	890.22
Transponder_ping	6	420	61.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	14.73
TT8	1613	19	322.61
LPSleep	14317	2	316.70
TT8_Active	462	19	92.51
TT8_Sampling	1956	39	786.64
TT8_CF8	563	45	260.85
TT8_Kalman	33	81	27.56
Analog_circuits	1446	12	175.31
GPS_charging	0	0	0.00
Compass	1901	8	153.60
RAFOS	0	0	0.00
Transponder	43	30	13.13

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	-41.70	0.000	2	0.000	0.000	51	2648	3391
62	-1.10	-146.6	4.7	-13.7	2	85	12.07	2.70	-1.73	0.000	4	0.157	0.089	2196	1250	3502
236	-1.10	-146.6	26.7	-7.6	9	243	0.00	2.60	0.00	0.000	6	0.000	0.068	2196	2650	3501
554	-1.10	-146.6	51.2	-7.9	25	555	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2650	3501
862	-1.10	-146.6	73.8	-7.0	40	866	0.00	2.22	0.00	0.000	4	0.000	0.097	2196	3793	3501
925	-1.10	-146.6	78.9	-7.5	43	929	0.00	2.10	0.00	0.000	6	0.000	0.063	2196	2653	3502
1258	-1.10	-146.6	101.9	-7.1	59	1259	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2653	3501
1567	-1.10	-146.6	124.7	-7.9	74	1569	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2653	3502
1876	-1.10	-146.6	148.5	-8.5	89	1878	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2653	3501
2185	-1.10	-146.6	174.8	-8.1	104	2186	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2653	3502
2495	-1.10	-146.6	194.5	-5.7	119	2499	0.00	2.20	0.00	0.000	4	0.000	0.091	2196	3785	3502
2534	-1.10	-146.6	197.1	-6.7	120	2541	0.00	2.08	0.00	0.000	6	0.000	0.060	2196	2639	3502
2851	-1.10	-146.6	214.7	-5.8	136	2852	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2639	3502
3160	-1.10	-146.6	232.3	-7.0	151	3161	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2639	3501
3469	-1.10	-146.6	257.8	-8.6	166	3470	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2639	3502
3778	-1.10	-146.6	285.2	-8.9	181	3779	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2637	3502
4088	-1.10	-146.6	316.3	-10.5	196	4089	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2637	3502
4397	-1.10	-146.6	348.5	-9.7	211	4400	0.00	2.22	0.00	0.000	4	0.000	0.091	2196	3786	3502
4442	-1.10	-146.6	352.0	-7.5	213	4446	0.00	2.08	0.00	0.000	6	0.000	0.058	2196	2643	3502
4775	-1.10	-146.6	380.4	-9.3	229	4777	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2642	3502
5085	-1.10	-146.6	400.5	-7.7	244	5086	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2642	3502
5396	-1.10	-146.6	425.1	-10.5	259	5400	0.00	2.22	0.00	0.000	4	0.000	0.089	2196	3791	3501
5487	-1.10	-146.6	435.0	-9.8	263	5491	0.00	2.08	0.00	0.000	6	0.000	0.056	2196	2643	3502
5820	-1.10	-146.6	462.2	-8.1	279	5821	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2643	3502
6129	-1.10	-146.6	480.4	-6.8	294	6130	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2642	3502
6439	-1.10	-146.6	505.2	-9.8	309	6443	0.00	2.58	0.00	0.000	4	0.000	0.071	2196	1236	3502
6488	-1.10	-146.6	510.8	-11.4	311	6493	0.00	2.60	0.00	0.000	6	0.000	0.061	2196	2662	3502
6805	-1.10	-146.6	539.2	-7.9	326	6806	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2662	3502
7115	-1.10	-146.6	561.8	-5.9	341	7116	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2662	3502
7424	-1.10	-146.6	573.6	-0.3	356	7427	0.00	2.12	0.00	0.000	4	0.000	0.087	2196	3790	3501
7492	-1.10	-146.6	579.2	-7.8	359	7495	0.00	2.05	0.00	0.000	6	0.000	0.054	2196	2651	3501
7825	-1.10	-146.6	609.3	-10.0	375	7826	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2647	3501
8134	-1.10	-146.6	634.4	-10.0	390	8137	0.00	2.20	0.00	0.000	4	0.000	0.091	2196	3790	3501
8196	-1.10	-146.6	641.4	-11.4	392	8201	0.00	2.05	0.00	0.000	6	0.000	0.054	2196	2650	3501
8512	-1.10	-146.6	671.8	-12.2	408	8516	0.00	2.20	0.00	0.000	4	0.000	0.092	2196	3786	3500
8642	-1.10	-146.6	675.2	2.7	413	8648	0.00	2.05	0.00	0.000	6	0.000	0.054	2196	2643	3500
8958	-1.10	-146.6	654.1	4.3	429	8962	0.00	2.60	0.00	0.000	4	0.000	0.074	2196	1228	3499
9076	-1.10	-146.6	658.2	-9.7	434	9080	0.00	2.62	0.00	0.000	6	0.000	0.063	2196	2657	3499
9396	-1.10	-146.6	678.7	-6.7	450	9400	0.00	2.15	0.00	0.000	4	0.000	0.096	2196	3782	3499
9430	-1.10	-146.6	683.8	-14.4	451	9434	0.00	2.05	0.00	0.000	6	0.000	0.058	2196	2648	3499
9522	end dive: BOTTOM_OBSTACLE_DETECTED
state	9522	begin apogee
9531	-0.42	0.0	694.6	11.0	456	9658	0.77	0.00	124.53	1.156	6	0.110	0.000	2345	1997	2902
9659	end apogee: CONTROL_FINISHED_OK
state	9659	begin climb
9662	1.10	146.6	699.0	0.0	462	9795	1.58	2.72	122.45	1.116	4	0.061	0.063	2679	583	2304
9849	1.15	182.1	695.5	5.0	470	9885	0.00	2.53	31.40	1.068	6	0.000	0.037	2679	2027	2159
10204	1.25	263.6	683.9	3.7	488	10281	0.15	2.78	68.68	1.115	4	0.038	0.061	2727	587	1827
10329	1.25	263.6	673.2	12.4	493	10335	0.00	2.50	0.00	0.000	6	0.000	0.037	2726	2006	1827
10645	1.25	263.6	637.2	12.8	509	10649	0.00	2.65	0.00	0.000	4	0.000	0.064	2727	577	1826
10797	1.25	263.6	625.4	6.7	516	10802	0.00	2.50	0.00	0.000	6	0.000	0.038	2727	1999	1826
11125	1.28	290.6	610.0	5.3	532	11154	0.00	2.70	23.70	1.072	4	0.000	0.066	2726	3404	1717
11228	1.28	290.6	603.6	7.2	536	11234	0.00	2.58	0.00	0.000	6	0.000	0.048	2726	1982	1717
11544	1.28	290.6	579.3	7.8	552	11545	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1982	1716
11853	1.28	290.6	553.7	6.9	567	11854	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1981	1716
12163	1.28	290.6	527.6	9.9	582	12167	0.00	2.65	0.00	0.000	4	0.000	0.064	2727	3407	1716
12196	1.28	290.6	524.1	10.7	583	12202	0.00	2.55	0.00	0.000	6	0.000	0.048	2727	1989	1716
12511	1.28	290.6	496.6	7.5	599	12512	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1989	1716
12821	1.28	290.6	472.9	8.2	614	12825	0.00	2.62	0.00	0.000	4	0.000	0.065	2727	3405	1716
12871	1.28	290.6	468.6	8.4	616	12875	0.00	2.53	0.00	0.000	6	0.000	0.049	2726	2000	1716
13187	1.28	290.6	441.8	8.6	631	13191	0.00	2.60	0.00	0.000	4	0.000	0.066	2727	3402	1716
13242	1.28	290.6	436.8	9.2	633	13248	0.00	2.53	0.00	0.000	6	0.000	0.050	2727	1998	1716
13558	1.28	290.6	408.7	9.1	649	13563	0.00	2.62	0.00	0.000	4	0.000	0.066	2727	3412	1716
13592	1.28	290.6	405.5	8.6	650	13598	0.00	2.53	0.00	0.000	6	0.000	0.050	2726	2001	1716
13908	1.28	290.6	380.8	7.5	666	13913	0.00	2.60	0.00	0.000	4	0.000	0.067	2726	3402	1716
13941	1.28	290.6	378.0	7.7	667	13947	0.00	2.53	0.00	0.000	6	0.000	0.050	2727	1997	1716
14257	1.28	290.6	354.0	7.3	683	14261	0.00	2.62	0.00	0.000	4	0.000	0.067	2726	3409	1717
14301	1.28	290.6	350.4	7.8	685	14305	0.00	2.55	0.00	0.000	6	0.000	0.051	2726	1995	1717
14629	1.28	290.6	322.1	9.1	701	14633	0.00	2.62	0.00	0.000	4	0.000	0.067	2727	3407	1717
14691	1.28	290.6	316.4	9.0	704	14695	0.00	2.53	0.00	0.000	6	0.000	0.052	2727	1998	1717
15018	1.28	290.6	290.9	7.2	720	15022	0.00	2.62	0.00	0.000	4	0.000	0.068	2727	3407	1718
15084	1.28	290.6	286.0	7.9	723	15088	0.00	2.55	0.00	0.000	6	0.000	0.053	2727	1998	1718
15405	1.28	290.6	264.5	6.5	739	15406	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1998	1718
15715	1.28	290.6	241.3	8.1	754	15719	0.00	2.62	0.00	0.000	4	0.000	0.068	2727	3406	1719
15761	1.28	290.6	237.1	9.1	756	15765	0.00	2.55	0.00	0.000	6	0.000	0.052	2727	1992	1719
16088	1.28	290.6	206.4	9.8	772	16093	0.00	2.62	0.00	0.000	4	0.000	0.067	2727	3405	1720
16133	1.28	290.6	201.8	10.4	774	16137	0.00	2.55	0.00	0.000	6	0.000	0.053	2727	1992	1720
16453	1.28	290.6	172.6	8.9	790	16455	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1992	1719
16763	1.28	290.6	145.6	8.9	805	16767	0.00	2.62	0.00	0.000	4	0.000	0.069	2726	3400	1719
16808	1.28	290.6	141.2	10.5	807	16812	0.00	2.55	0.00	0.000	6	0.000	0.054	2727	1993	1720
17129	1.28	290.6	111.8	9.3	823	17130	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1993	1720
17440	1.28	290.6	84.3	8.6	838	17444	0.00	2.65	0.00	0.000	4	0.000	0.071	2727	3411	1720
17490	1.28	290.6	79.6	9.1	840	17494	0.00	2.58	0.00	0.000	6	0.000	0.055	2726	1993	1720
17808	1.28	290.6	53.5	8.2	855	17812	0.00	2.65	0.00	0.000	4	0.000	0.071	2727	3409	1721
17848	1.28	290.6	50.0	8.7	857	17852	0.00	2.58	0.00	0.000	6	0.000	0.057	2726	1995	1721
18175	1.28	290.6	24.0	8.3	873	18179	0.00	2.65	0.00	0.000	4	0.000	0.072	2726	3407	1721
18208	1.28	290.6	21.0	7.9	874	18214	0.00	2.55	0.00	0.000	6	0.000	0.055	2727	1996	1721
18438	end climb: SURFACE_DEPTH_REACHED
state	18438	begin surface coast
18462	end surface coast: CONTROL_FINISHED_OK
state	18462	begin surface