Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 193 * 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 193 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 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 -146800.44 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 -146800.44

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 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 193 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 030406,6252.037,-1253.384,32,1.5,32,-11.9 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.118,0.184

_SM_DEPTHo 1.10 KALMAN_X 993.9,-646.1,-810.8,-45685.4,10478.0

_SM_ANGLEo -58.3 KALMAN_Y -21273.5,-579.2,-1585.1,4277.0,-2204.2

GPS2 030944,6252.007,-1253.213,16,1.7,16,-11.9 MHEAD_RNG_PITCHd_Wd 339.1,46294,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.009737 ALTIM_BOTTOM_PING 650.7,87.4

SM_CCo 20316,0.00,0.000,0,0,1887,248.98 _24V_AH 23.3,36.034

SM_GC 1.46,11.62,0.00,0.00,0.025,0.000,0.000,46,2665,1887,-10.94,0.42,248.98 _10V_AH 10.1,20.071

IRIDIUM_FIX 6225.82,-1250.14,280698,222202 DATA_FILE_SIZE 47441,974

TT8_MAMPS 0.028379 CAP_FILE_SIZE 132784,0

HUMID 1782 CFSIZE 260165632,246022144

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 040409,085031,6252.502,-1254.422,39,2.0,39,-11.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 95.06 SBE_CT 680 24 380.81

Roll_motor 144 95 323.52 SBE_O2 719 19 318.39

VBD_pump_during_apogee 336 1176 9236.55 WL_BB2F 586 105 1435.10

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 72.06 nil 0 0 0.00

Iridium_during_connect 29 160 111.28 nil 0 0 0.00

Iridium_during_xfer 144 223 752.38

Transponder_ping 5 420 53.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.16

TT8 1739 19 347.95

LPSleep 15869 2 351.01

TT8_Active 454 19 90.81

TT8_Sampling 2040 39 820.43

TT8_CF8 547 45 253.21

TT8_Kalman 33 81 27.56

Analog_circuits 1469 12 178.05

GPS_charging 0 0 0.00

Compass 1996 8 161.32

RAFOS 0 0 0.00

Transponder 38 30 11.82

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 71 0.00 0.00 -53.25 0.000 6 0.000 0.000 54 2651 3501

74 -1.10 -146.6 2.9 -6.3 2 96 12.05 2.72 0.00 0.000 4 0.156 0.080 2195 1243 3502

299 -1.10 -146.6 31.4 -7.6 12 303 0.00 2.62 0.00 0.000 6 0.000 0.069 2195 2648 3502

626 -1.10 -146.6 54.7 -7.9 28 630 0.00 2.22 0.00 0.000 4 0.000 0.096 2195 3790 3502

659 -1.10 -146.6 57.9 -9.1 29 666 0.00 2.12 0.00 0.000 6 0.000 0.064 2195 2657 3502

975 -1.10 -146.6 84.0 -7.7 45 977 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2657 3502

1285 -1.10 -146.6 107.8 -7.7 60 1286 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2656 3502

1594 -1.10 -146.6 131.3 -7.6 75 1595 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2657 3502

1903 -1.10 -146.6 156.0 -8.2 90 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2657 3502

2212 -1.10 -146.6 181.8 -8.4 105 2216 0.00 2.20 0.00 0.000 4 0.000 0.091 2195 3787 3502

2258 -1.10 -146.6 185.7 -8.6 107 2262 0.00 2.10 0.00 0.000 6 0.000 0.061 2195 2635 3502

2591 -1.10 -146.6 210.7 -7.2 123 2592 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2634 3502

2900 -1.10 -146.6 233.7 -7.7 138 2904 0.00 2.22 0.00 0.000 4 0.000 0.089 2195 3784 3502

2945 -1.10 -146.6 237.5 -8.4 140 2949 0.00 2.08 0.00 0.000 6 0.000 0.061 2195 2645 3502

3279 -1.10 -146.6 264.2 -7.8 156 3280 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3501

3588 -1.10 -146.6 289.6 -8.1 171 3589 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3501

3897 -1.10 -146.6 316.1 -8.5 186 3901 0.00 2.22 0.00 0.000 4 0.000 0.091 2195 3789 3501

3931 -1.10 -146.6 319.3 -9.1 187 3934 0.00 2.10 0.00 0.000 6 0.000 0.061 2195 2641 3501

4252 -1.10 -146.6 345.1 -7.6 203 4253 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3502

4561 -1.10 -146.6 369.2 -7.9 218 4563 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3501

4871 -1.10 -146.6 392.5 -7.8 233 4874 0.00 2.20 0.00 0.000 4 0.000 0.087 2195 3783 3501

4904 -1.10 -146.6 395.3 -7.8 234 4908 0.00 2.08 0.00 0.000 6 0.000 0.058 2195 2640 3501

5226 -1.10 -146.6 420.9 -7.8 250 5227 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2640 3501

5535 -1.10 -146.6 443.5 -7.4 265 5536 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2640 3501

5844 -1.10 -146.6 466.5 -7.4 280 5848 0.00 2.22 0.00 0.000 4 0.000 0.087 2195 3791 3501

5907 -1.10 -146.6 471.2 -7.5 282 5913 0.00 2.08 0.00 0.000 6 0.000 0.056 2195 2643 3501

6223 -1.10 -146.6 493.6 -6.9 298 6225 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3501

6532 -1.10 -146.6 515.4 -7.0 313 6534 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

6842 -1.10 -146.6 536.5 -6.4 328 6843 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3501

7151 -1.10 -146.6 556.9 -6.8 343 7152 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3501

7460 -1.10 -146.6 583.8 -9.7 358 7464 0.00 2.20 0.00 0.000 4 0.000 0.088 2195 3783 3501

7529 -1.10 -146.6 590.6 -10.2 361 7533 0.00 2.05 0.00 0.000 6 0.000 0.054 2195 2644 3501

7862 -1.10 -146.6 615.9 -6.6 377 7863 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3501

8171 -1.10 -146.6 631.6 -4.2 392 8173 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3501

8481 -1.10 -146.6 642.6 -4.3 407 8485 0.00 2.60 0.00 0.000 4 0.000 0.071 2195 1226 3501

8531 -1.10 -146.6 645.6 -6.1 409 8535 0.00 2.62 0.00 0.000 6 0.000 0.064 2195 2652 3500

8847 -1.10 -146.6 665.8 -7.2 424 8848 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2652 3500

9156 -1.10 -146.6 688.2 -6.9 439 9160 0.00 2.17 0.00 0.000 4 0.000 0.095 2195 3783 3500

9190 -1.10 -146.6 690.7 -7.2 440 9194 0.00 2.05 0.00 0.000 6 0.000 0.055 2195 2647 3500

9512 -1.10 -146.6 713.1 -7.2 456 9513 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2647 3499

9735 end dive: BOTTOM_OBSTACLE_DETECTED

state 9736 begin apogee

9744 -0.42 0.0 728.7 6.4 467 9872 0.77 0.00 124.80 1.177 6 0.100 0.000 2348 2000 2902

9873 end apogee: CONTROL_FINISHED_OK

state 9873 begin climb

9876 1.10 146.6 733.8 0.0 473 10009 1.52 2.75 122.43 1.148 4 0.053 0.065 2678 577 2304

10120 1.17 197.7 732.3 4.6 484 10171 0.00 2.55 44.08 1.127 6 0.000 0.038 2678 2028 2095

10490 1.20 226.1 712.5 5.2 502 10517 0.10 0.00 24.88 1.123 6 0.051 0.000 2714 2028 1980

10817 1.20 226.1 689.6 6.9 518 10821 0.00 2.55 0.00 0.000 4 0.000 0.067 2715 3403 1980

10850 1.20 226.1 687.2 6.9 519 10856 0.00 2.55 0.00 0.000 6 0.000 0.048 2715 1988 1980

11166 1.20 226.1 666.4 6.7 535 11167 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1988 1979

11475 1.23 249.9 648.2 5.3 550 11501 0.00 2.70 20.75 1.107 4 0.000 0.068 2715 3393 1883

11574 1.23 249.9 642.0 6.8 554 11581 0.00 2.53 0.00 0.000 6 0.000 0.048 2715 1997 1883

11890 1.23 249.9 623.2 6.2 570 11895 0.00 2.58 0.00 0.000 4 0.000 0.064 2715 594 1882

11968 1.23 249.9 618.1 6.1 573 11975 0.00 2.47 0.00 0.000 6 0.000 0.041 2715 1994 1882

12284 1.23 249.9 595.6 7.4 589 12288 0.00 2.60 0.00 0.000 4 0.000 0.063 2715 586 1881

12346 1.23 249.9 590.7 8.3 592 12350 0.00 2.50 0.00 0.000 6 0.000 0.040 2715 2004 1881

12673 1.23 249.9 566.5 7.5 608 12677 0.00 2.60 0.00 0.000 4 0.000 0.068 2715 3409 1881

12780 1.23 249.9 557.8 7.9 613 12784 0.00 2.53 0.00 0.000 6 0.000 0.048 2715 1997 1881

13107 1.23 249.9 532.7 7.8 629 13111 0.00 2.55 0.00 0.000 4 0.000 0.060 2715 590 1881

13140 1.23 249.9 529.8 8.4 630 13146 0.00 2.47 0.00 0.000 6 0.000 0.038 2715 2007 1881

13456 1.23 249.9 506.3 7.4 646 13460 0.00 2.58 0.00 0.000 4 0.000 0.067 2715 3409 1881

13524 1.23 249.9 500.9 7.7 649 13528 0.00 2.53 0.00 0.000 6 0.000 0.046 2715 1992 1881

13851 1.23 249.9 475.0 8.2 665 13854 0.00 2.55 0.00 0.000 4 0.000 0.059 2714 584 1882

13891 1.23 249.9 471.5 8.4 666 13897 0.00 2.47 0.00 0.000 6 0.000 0.037 2715 2002 1881

14207 1.23 249.9 445.3 8.1 682 14211 0.00 2.58 0.00 0.000 4 0.000 0.065 2715 3403 1882

14269 1.23 249.9 440.1 8.1 685 14273 0.00 2.50 0.00 0.000 6 0.000 0.047 2715 1998 1882

14602 1.23 249.9 415.0 7.3 701 14603 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1998 1883

14911 1.23 249.9 393.2 6.8 716 14915 0.00 2.60 0.00 0.000 4 0.000 0.065 2715 3404 1883

14961 1.23 249.9 389.7 7.1 718 14965 0.00 2.53 0.00 0.000 6 0.000 0.048 2715 1990 1883

15277 1.23 249.9 368.4 7.0 733 15278 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1990 1884

15586 1.23 249.9 347.0 7.1 748 15590 0.00 2.62 0.00 0.000 4 0.000 0.066 2715 3414 1884

15619 1.23 249.9 344.3 7.7 749 15625 0.00 2.55 0.00 0.000 6 0.000 0.050 2715 1992 1884

15935 1.23 249.9 320.3 7.7 765 15939 0.00 2.62 0.00 0.000 4 0.000 0.067 2715 3406 1885

15974 1.23 249.9 317.1 8.5 767 15979 0.00 2.53 0.00 0.000 6 0.000 0.048 2715 1995 1884

16301 1.23 249.9 291.2 8.1 783 16303 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1995 1885

16611 1.23 249.9 265.5 8.4 798 16615 0.00 2.62 0.00 0.000 4 0.000 0.067 2715 3408 1886

16643 1.23 249.9 262.6 9.0 799 16649 0.00 2.53 0.00 0.000 6 0.000 0.050 2715 1999 1886

16959 1.23 249.9 237.8 7.6 815 16961 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2000 1886

17268 1.23 249.9 214.7 7.5 830 17273 0.00 2.60 0.00 0.000 4 0.000 0.068 2715 3409 1886

17302 1.23 249.9 212.1 7.6 831 17308 0.00 2.55 0.00 0.000 6 0.000 0.051 2715 1992 1886

17618 1.23 249.9 189.4 7.1 847 17619 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1992 1887

17927 1.23 249.9 167.7 6.9 862 17931 0.00 2.62 0.00 0.000 4 0.000 0.067 2715 3403 1886

17966 1.23 249.9 164.7 8.6 864 17971 0.00 2.53 0.00 0.000 6 0.000 0.051 2715 1999 1887

18296 1.23 249.9 141.1 7.0 880 18297 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1998 1887

18603 1.23 249.9 119.2 6.9 895 18604 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1998 1887

18912 1.23 249.9 96.5 7.3 910 18917 0.00 2.62 0.00 0.000 4 0.000 0.070 2714 3406 1887

18953 1.23 249.9 93.3 7.7 912 18957 0.00 2.55 0.00 0.000 6 0.000 0.054 2715 1990 1887

19286 1.23 249.9 68.6 7.2 928 19288 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1990 1887

19597 1.23 249.9 46.4 7.2 943 19602 0.00 2.65 0.00 0.000 4 0.000 0.073 2715 3403 1888

19637 1.23 249.9 43.2 7.7 945 19642 0.00 2.55 0.00 0.000 6 0.000 0.056 2715 1999 1888

19965 1.23 249.9 20.8 6.7 961 19969 0.00 2.55 0.00 0.000 4 0.000 0.062 2715 591 1888

20015 1.23 249.9 16.6 8.6 963 20019 0.00 2.47 0.00 0.000 6 0.000 0.041 2715 1997 1888

20210 end climb: SURFACE_DEPTH_REACHED

state 20210 begin surface coast

20232 end surface coast: CONTROL_FINISHED_OK

state 20232 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	193	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	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	-146800.44	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	030406,6252.037,-1253.384,32,1.5,32,-11.9	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.118,0.184
_SM_DEPTHo	1.10	KALMAN_X	993.9,-646.1,-810.8,-45685.4,10478.0
_SM_ANGLEo	-58.3	KALMAN_Y	-21273.5,-579.2,-1585.1,4277.0,-2204.2
GPS2	030944,6252.007,-1253.213,16,1.7,16,-11.9	MHEAD_RNG_PITCHd_Wd	339.1,46294,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.009737	ALTIM_BOTTOM_PING	650.7,87.4
SM_CCo	20316,0.00,0.000,0,0,1887,248.98	_24V_AH	23.3,36.034
SM_GC	1.46,11.62,0.00,0.00,0.025,0.000,0.000,46,2665,1887,-10.94,0.42,248.98	_10V_AH	10.1,20.071
IRIDIUM_FIX	6225.82,-1250.14,280698,222202	DATA_FILE_SIZE	47441,974
TT8_MAMPS	0.028379	CAP_FILE_SIZE	132784,0
HUMID	1782	CFSIZE	260165632,246022144
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	040409,085031,6252.502,-1254.422,39,2.0,39,-11.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	95.06	SBE_CT	680	24	380.81
Roll_motor	144	95	323.52	SBE_O2	719	19	318.39
VBD_pump_during_apogee	336	1176	9236.55	WL_BB2F	586	105	1435.10
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	72.06	nil	0	0	0.00
Iridium_during_connect	29	160	111.28	nil	0	0	0.00
Iridium_during_xfer	144	223	752.38
Transponder_ping	5	420	53.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.16
TT8	1739	19	347.95
LPSleep	15869	2	351.01
TT8_Active	454	19	90.81
TT8_Sampling	2040	39	820.43
TT8_CF8	547	45	253.21
TT8_Kalman	33	81	27.56
Analog_circuits	1469	12	178.05
GPS_charging	0	0	0.00
Compass	1996	8	161.32
RAFOS	0	0	0.00
Transponder	38	30	11.82

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	71	0.00	0.00	-53.25	0.000	6	0.000	0.000	54	2651	3501
74	-1.10	-146.6	2.9	-6.3	2	96	12.05	2.72	0.00	0.000	4	0.156	0.080	2195	1243	3502
299	-1.10	-146.6	31.4	-7.6	12	303	0.00	2.62	0.00	0.000	6	0.000	0.069	2195	2648	3502
626	-1.10	-146.6	54.7	-7.9	28	630	0.00	2.22	0.00	0.000	4	0.000	0.096	2195	3790	3502
659	-1.10	-146.6	57.9	-9.1	29	666	0.00	2.12	0.00	0.000	6	0.000	0.064	2195	2657	3502
975	-1.10	-146.6	84.0	-7.7	45	977	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2657	3502
1285	-1.10	-146.6	107.8	-7.7	60	1286	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2656	3502
1594	-1.10	-146.6	131.3	-7.6	75	1595	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2657	3502
1903	-1.10	-146.6	156.0	-8.2	90	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2657	3502
2212	-1.10	-146.6	181.8	-8.4	105	2216	0.00	2.20	0.00	0.000	4	0.000	0.091	2195	3787	3502
2258	-1.10	-146.6	185.7	-8.6	107	2262	0.00	2.10	0.00	0.000	6	0.000	0.061	2195	2635	3502
2591	-1.10	-146.6	210.7	-7.2	123	2592	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2634	3502
2900	-1.10	-146.6	233.7	-7.7	138	2904	0.00	2.22	0.00	0.000	4	0.000	0.089	2195	3784	3502
2945	-1.10	-146.6	237.5	-8.4	140	2949	0.00	2.08	0.00	0.000	6	0.000	0.061	2195	2645	3502
3279	-1.10	-146.6	264.2	-7.8	156	3280	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3501
3588	-1.10	-146.6	289.6	-8.1	171	3589	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3501
3897	-1.10	-146.6	316.1	-8.5	186	3901	0.00	2.22	0.00	0.000	4	0.000	0.091	2195	3789	3501
3931	-1.10	-146.6	319.3	-9.1	187	3934	0.00	2.10	0.00	0.000	6	0.000	0.061	2195	2641	3501
4252	-1.10	-146.6	345.1	-7.6	203	4253	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3502
4561	-1.10	-146.6	369.2	-7.9	218	4563	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3501
4871	-1.10	-146.6	392.5	-7.8	233	4874	0.00	2.20	0.00	0.000	4	0.000	0.087	2195	3783	3501
4904	-1.10	-146.6	395.3	-7.8	234	4908	0.00	2.08	0.00	0.000	6	0.000	0.058	2195	2640	3501
5226	-1.10	-146.6	420.9	-7.8	250	5227	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2640	3501
5535	-1.10	-146.6	443.5	-7.4	265	5536	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2640	3501
5844	-1.10	-146.6	466.5	-7.4	280	5848	0.00	2.22	0.00	0.000	4	0.000	0.087	2195	3791	3501
5907	-1.10	-146.6	471.2	-7.5	282	5913	0.00	2.08	0.00	0.000	6	0.000	0.056	2195	2643	3501
6223	-1.10	-146.6	493.6	-6.9	298	6225	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3501
6532	-1.10	-146.6	515.4	-7.0	313	6534	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
6842	-1.10	-146.6	536.5	-6.4	328	6843	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3501
7151	-1.10	-146.6	556.9	-6.8	343	7152	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3501
7460	-1.10	-146.6	583.8	-9.7	358	7464	0.00	2.20	0.00	0.000	4	0.000	0.088	2195	3783	3501
7529	-1.10	-146.6	590.6	-10.2	361	7533	0.00	2.05	0.00	0.000	6	0.000	0.054	2195	2644	3501
7862	-1.10	-146.6	615.9	-6.6	377	7863	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3501
8171	-1.10	-146.6	631.6	-4.2	392	8173	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3501
8481	-1.10	-146.6	642.6	-4.3	407	8485	0.00	2.60	0.00	0.000	4	0.000	0.071	2195	1226	3501
8531	-1.10	-146.6	645.6	-6.1	409	8535	0.00	2.62	0.00	0.000	6	0.000	0.064	2195	2652	3500
8847	-1.10	-146.6	665.8	-7.2	424	8848	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2652	3500
9156	-1.10	-146.6	688.2	-6.9	439	9160	0.00	2.17	0.00	0.000	4	0.000	0.095	2195	3783	3500
9190	-1.10	-146.6	690.7	-7.2	440	9194	0.00	2.05	0.00	0.000	6	0.000	0.055	2195	2647	3500
9512	-1.10	-146.6	713.1	-7.2	456	9513	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2647	3499
9735	end dive: BOTTOM_OBSTACLE_DETECTED
state	9736	begin apogee
9744	-0.42	0.0	728.7	6.4	467	9872	0.77	0.00	124.80	1.177	6	0.100	0.000	2348	2000	2902
9873	end apogee: CONTROL_FINISHED_OK
state	9873	begin climb
9876	1.10	146.6	733.8	0.0	473	10009	1.52	2.75	122.43	1.148	4	0.053	0.065	2678	577	2304
10120	1.17	197.7	732.3	4.6	484	10171	0.00	2.55	44.08	1.127	6	0.000	0.038	2678	2028	2095
10490	1.20	226.1	712.5	5.2	502	10517	0.10	0.00	24.88	1.123	6	0.051	0.000	2714	2028	1980
10817	1.20	226.1	689.6	6.9	518	10821	0.00	2.55	0.00	0.000	4	0.000	0.067	2715	3403	1980
10850	1.20	226.1	687.2	6.9	519	10856	0.00	2.55	0.00	0.000	6	0.000	0.048	2715	1988	1980
11166	1.20	226.1	666.4	6.7	535	11167	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1988	1979
11475	1.23	249.9	648.2	5.3	550	11501	0.00	2.70	20.75	1.107	4	0.000	0.068	2715	3393	1883
11574	1.23	249.9	642.0	6.8	554	11581	0.00	2.53	0.00	0.000	6	0.000	0.048	2715	1997	1883
11890	1.23	249.9	623.2	6.2	570	11895	0.00	2.58	0.00	0.000	4	0.000	0.064	2715	594	1882
11968	1.23	249.9	618.1	6.1	573	11975	0.00	2.47	0.00	0.000	6	0.000	0.041	2715	1994	1882
12284	1.23	249.9	595.6	7.4	589	12288	0.00	2.60	0.00	0.000	4	0.000	0.063	2715	586	1881
12346	1.23	249.9	590.7	8.3	592	12350	0.00	2.50	0.00	0.000	6	0.000	0.040	2715	2004	1881
12673	1.23	249.9	566.5	7.5	608	12677	0.00	2.60	0.00	0.000	4	0.000	0.068	2715	3409	1881
12780	1.23	249.9	557.8	7.9	613	12784	0.00	2.53	0.00	0.000	6	0.000	0.048	2715	1997	1881
13107	1.23	249.9	532.7	7.8	629	13111	0.00	2.55	0.00	0.000	4	0.000	0.060	2715	590	1881
13140	1.23	249.9	529.8	8.4	630	13146	0.00	2.47	0.00	0.000	6	0.000	0.038	2715	2007	1881
13456	1.23	249.9	506.3	7.4	646	13460	0.00	2.58	0.00	0.000	4	0.000	0.067	2715	3409	1881
13524	1.23	249.9	500.9	7.7	649	13528	0.00	2.53	0.00	0.000	6	0.000	0.046	2715	1992	1881
13851	1.23	249.9	475.0	8.2	665	13854	0.00	2.55	0.00	0.000	4	0.000	0.059	2714	584	1882
13891	1.23	249.9	471.5	8.4	666	13897	0.00	2.47	0.00	0.000	6	0.000	0.037	2715	2002	1881
14207	1.23	249.9	445.3	8.1	682	14211	0.00	2.58	0.00	0.000	4	0.000	0.065	2715	3403	1882
14269	1.23	249.9	440.1	8.1	685	14273	0.00	2.50	0.00	0.000	6	0.000	0.047	2715	1998	1882
14602	1.23	249.9	415.0	7.3	701	14603	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1998	1883
14911	1.23	249.9	393.2	6.8	716	14915	0.00	2.60	0.00	0.000	4	0.000	0.065	2715	3404	1883
14961	1.23	249.9	389.7	7.1	718	14965	0.00	2.53	0.00	0.000	6	0.000	0.048	2715	1990	1883
15277	1.23	249.9	368.4	7.0	733	15278	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1990	1884
15586	1.23	249.9	347.0	7.1	748	15590	0.00	2.62	0.00	0.000	4	0.000	0.066	2715	3414	1884
15619	1.23	249.9	344.3	7.7	749	15625	0.00	2.55	0.00	0.000	6	0.000	0.050	2715	1992	1884
15935	1.23	249.9	320.3	7.7	765	15939	0.00	2.62	0.00	0.000	4	0.000	0.067	2715	3406	1885
15974	1.23	249.9	317.1	8.5	767	15979	0.00	2.53	0.00	0.000	6	0.000	0.048	2715	1995	1884
16301	1.23	249.9	291.2	8.1	783	16303	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1995	1885
16611	1.23	249.9	265.5	8.4	798	16615	0.00	2.62	0.00	0.000	4	0.000	0.067	2715	3408	1886
16643	1.23	249.9	262.6	9.0	799	16649	0.00	2.53	0.00	0.000	6	0.000	0.050	2715	1999	1886
16959	1.23	249.9	237.8	7.6	815	16961	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	2000	1886
17268	1.23	249.9	214.7	7.5	830	17273	0.00	2.60	0.00	0.000	4	0.000	0.068	2715	3409	1886
17302	1.23	249.9	212.1	7.6	831	17308	0.00	2.55	0.00	0.000	6	0.000	0.051	2715	1992	1886
17618	1.23	249.9	189.4	7.1	847	17619	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1992	1887
17927	1.23	249.9	167.7	6.9	862	17931	0.00	2.62	0.00	0.000	4	0.000	0.067	2715	3403	1886
17966	1.23	249.9	164.7	8.6	864	17971	0.00	2.53	0.00	0.000	6	0.000	0.051	2715	1999	1887
18296	1.23	249.9	141.1	7.0	880	18297	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1998	1887
18603	1.23	249.9	119.2	6.9	895	18604	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1998	1887
18912	1.23	249.9	96.5	7.3	910	18917	0.00	2.62	0.00	0.000	4	0.000	0.070	2714	3406	1887
18953	1.23	249.9	93.3	7.7	912	18957	0.00	2.55	0.00	0.000	6	0.000	0.054	2715	1990	1887
19286	1.23	249.9	68.6	7.2	928	19288	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	1990	1887
19597	1.23	249.9	46.4	7.2	943	19602	0.00	2.65	0.00	0.000	4	0.000	0.073	2715	3403	1888
19637	1.23	249.9	43.2	7.7	945	19642	0.00	2.55	0.00	0.000	6	0.000	0.056	2715	1999	1888
19965	1.23	249.9	20.8	6.7	961	19969	0.00	2.55	0.00	0.000	4	0.000	0.062	2715	591	1888
20015	1.23	249.9	16.6	8.6	963	20019	0.00	2.47	0.00	0.000	6	0.000	0.041	2715	1997	1888
20210	end climb: SURFACE_DEPTH_REACHED
state	20210	begin surface coast
20232	end surface coast: CONTROL_FINISHED_OK
state	20232	begin surface