Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 203 * 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 203 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 10 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 -146949.88 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 -146949.88

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 10 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 203 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 165507,6307.846,-1313.506,29,1.3,29,-12.2 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.177,0.128

_SM_DEPTHo 1.26 KALMAN_X 12843.0,-360.7,-666.4,-74902.6,5448.2

_SM_ANGLEo -61.6 KALMAN_Y -41769.1,-880.7,373.8,52437.2,-495.3

GPS2 170056,6307.852,-1313.338,14,1.2,14,-12.2 MHEAD_RNG_PITCHd_Wd 318.2,13311,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027463 ALTIM_BOTTOM_PING 651.2,66.4

SM_CCo 17267,0.00,0.000,0,0,1868,253.64 _24V_AH 23.3,37.350

SM_GC 1.47,11.73,0.00,0.00,0.029,0.000,0.000,51,2632,1868,-10.93,-0.51,253.64 _10V_AH 10.1,21.008

IRIDIUM_FIX 6239.86,-1314.97,010798,101000 DATA_FILE_SIZE 41022,827

TT8_MAMPS 0.029146 CAP_FILE_SIZE 117707,0

HUMID 1794 CFSIZE 260165632,245379072

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

TCM_TEMP 15.60 GPS 060409,215055,6309.778,-1308.693,41,1.3,41,-12.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.20 SBE_CT 576 24 322.47

Roll_motor 127 102 305.33 SBE_O2 613 19 271.75

VBD_pump_during_apogee 336 1177 9241.89 WL_BB2F 531 105 1301.10

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 73.40 nil 0 0 0.00

Iridium_during_connect 27 160 102.80 nil 0 0 0.00

Iridium_during_xfer 155 223 809.81

Transponder_ping 5 420 53.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.27

TT8 1506 19 301.25

LPSleep 13337 2 295.02

TT8_Active 421 19 84.28

TT8_Sampling 1816 39 730.16

TT8_CF8 528 45 244.62

TT8_Kalman 33 81 27.57

Analog_circuits 1327 12 160.90

GPS_charging 0 0 0.00

Compass 1778 8 143.74

RAFOS 0 0 0.00

Transponder 38 30 11.80

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -41.38 0.000 2 0.000 0.000 47 2645 3256

62 -1.10 -146.6 4.2 -12.4 2 85 12.15 2.20 -3.97 0.000 4 0.159 0.103 2194 3784 3500

338 -1.10 -146.6 37.0 -10.1 14 342 0.00 2.10 0.00 0.000 6 0.000 0.066 2194 2655 3500

665 -1.10 -146.6 65.7 -8.3 30 669 0.00 2.22 0.00 0.000 4 0.000 0.092 2194 3790 3500

923 -1.10 -146.6 85.8 -6.9 41 930 0.00 2.10 0.00 0.000 6 0.000 0.063 2194 2642 3500

1241 -1.10 -146.6 107.2 -6.6 57 1245 0.00 2.25 0.00 0.000 4 0.000 0.094 2194 3789 3500

1286 -1.10 -146.6 110.5 -7.1 59 1290 0.00 2.10 0.00 0.000 6 0.000 0.061 2194 2645 3500

1614 -1.10 -146.6 133.8 -7.2 75 1615 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3500

1923 -1.10 -146.6 155.2 -6.9 90 1924 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3500

2232 -1.10 -146.6 178.4 -7.7 105 2233 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3500

2541 -1.10 -146.6 202.3 -7.4 120 2542 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3500

2850 -1.10 -146.6 227.5 -8.4 135 2854 0.00 2.25 0.00 0.000 4 0.000 0.094 2194 3793 3500

2901 -1.10 -146.6 231.9 -8.1 137 2905 0.00 2.10 0.00 0.000 6 0.000 0.061 2194 2646 3500

3222 -1.10 -146.6 258.2 -8.1 153 3224 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3500

3532 -1.10 -146.6 284.3 -8.8 168 3533 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2646 3500

3841 -1.10 -146.6 312.4 -9.3 183 3842 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2646 3500

4150 -1.10 -146.6 340.4 -8.9 198 4154 0.00 2.22 0.00 0.000 4 0.000 0.090 2194 3793 3500

4196 -1.10 -146.6 344.7 -9.4 200 4200 0.00 2.08 0.00 0.000 6 0.000 0.058 2194 2650 3500

4529 -1.10 -146.6 373.8 -8.9 216 4531 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3500

4838 -1.10 -146.6 399.2 -7.9 231 4839 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3500

5150 -1.10 -146.6 425.0 -8.8 246 5151 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3500

5458 -1.10 -146.6 451.2 -8.0 261 5462 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3795 3500

5509 -1.10 -146.6 455.5 -7.5 263 5512 0.00 2.08 0.00 0.000 6 0.000 0.053 2194 2640 3500

5836 -1.10 -146.6 478.7 -6.8 279 5837 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2639 3500

6145 -1.10 -146.6 499.5 -6.6 294 6149 0.00 2.20 0.00 0.000 4 0.000 0.084 2194 3787 3500

6201 -1.10 -146.6 503.4 -7.0 296 6205 0.00 2.05 0.00 0.000 6 0.000 0.052 2194 2643 3500

6523 -1.10 -146.6 524.3 -6.5 312 6524 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3500

6833 -1.10 -146.6 546.0 -7.1 327 6836 0.00 2.22 0.00 0.000 4 0.000 0.088 2194 3794 3500

6878 -1.10 -146.6 549.6 -7.8 329 6883 0.00 2.03 0.00 0.000 6 0.000 0.052 2194 2652 3500

7212 -1.10 -146.6 576.6 -8.8 345 7213 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3500

7520 -1.10 -146.6 605.1 -9.0 360 7524 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3792 3500

7571 -1.10 -146.6 610.0 -9.1 362 7574 0.00 2.05 0.00 0.000 6 0.000 0.051 2194 2644 3500

7898 -1.10 -146.6 636.6 -8.1 378 7899 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3500

8207 -1.10 -146.6 660.8 -7.8 393 8208 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3500

8517 -1.10 -146.6 682.4 -5.6 408 8520 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3792 3500

8586 -1.10 -146.6 686.0 -5.3 411 8589 0.00 2.05 0.00 0.000 6 0.000 0.051 2194 2644 3500

8916 end dive: BOTTOM_OBSTACLE_DETECTED

state 8916 begin apogee

8924 -0.42 0.0 708.6 7.4 427 9051 0.75 0.00 123.18 1.177 6 0.086 0.000 2347 1988 2902

9052 end apogee: CONTROL_FINISHED_OK

state 9052 begin climb

9055 1.10 146.6 713.1 0.0 433 9187 1.52 2.70 121.88 1.121 4 0.049 0.063 2679 586 2304

9202 1.19 219.7 707.8 4.0 440 9270 0.00 2.55 62.28 1.089 6 0.000 0.036 2679 2032 2006

9592 1.23 253.5 688.9 5.1 459 9627 0.12 2.60 29.58 1.083 4 0.044 0.064 2719 3406 1868

9706 1.23 253.5 681.5 6.3 464 9711 0.00 2.55 0.00 0.000 6 0.000 0.043 2719 1982 1867

10027 1.23 253.5 661.1 6.6 480 10032 0.00 2.65 0.00 0.000 4 0.000 0.064 2719 3406 1866

10055 1.23 253.5 659.0 7.5 481 10060 0.00 2.53 0.00 0.000 6 0.000 0.043 2719 1989 1866

10372 1.23 253.5 634.3 8.0 496 10376 0.00 2.62 0.00 0.000 4 0.000 0.064 2720 3405 1866

10411 1.23 253.5 630.9 8.1 498 10415 0.00 2.50 0.00 0.000 6 0.000 0.043 2719 2000 1866

10738 1.23 253.5 597.3 10.7 514 10742 0.00 2.60 0.00 0.000 4 0.000 0.064 2719 3407 1865

10810 1.23 253.5 589.1 12.0 517 10814 0.00 2.50 0.00 0.000 6 0.000 0.042 2719 1999 1866

11131 1.23 253.5 551.1 12.0 533 11135 0.00 2.58 0.00 0.000 4 0.000 0.062 2719 3397 1865

11164 1.23 253.5 546.8 12.5 534 11170 0.00 2.47 0.00 0.000 6 0.000 0.042 2719 2000 1865

11480 1.23 253.5 507.6 12.3 550 11484 0.00 2.58 0.00 0.000 4 0.000 0.064 2719 3398 1865

11519 1.23 253.5 502.5 12.7 552 11524 0.00 2.50 0.00 0.000 6 0.000 0.044 2719 1988 1865

11847 1.23 253.5 462.8 12.3 568 11851 0.00 2.60 0.00 0.000 4 0.000 0.064 2719 3397 1866

11926 1.23 253.5 452.4 13.0 571 11932 0.00 2.50 0.00 0.000 6 0.000 0.045 2719 1994 1865

12242 1.23 253.5 413.5 12.7 587 12246 0.00 2.60 0.00 0.000 4 0.000 0.065 2719 3399 1865

12282 1.23 253.5 408.3 12.9 589 12286 0.00 2.50 0.00 0.000 6 0.000 0.047 2719 1999 1865

12608 1.23 253.5 366.0 12.9 605 12609 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 1999 1866

12917 1.23 253.5 329.2 11.3 620 12922 0.00 2.60 0.00 0.000 4 0.000 0.067 2719 3396 1866

12958 1.23 253.5 324.7 12.0 622 12962 0.00 2.50 0.00 0.000 6 0.000 0.048 2719 2000 1866

13284 1.23 253.5 292.0 9.4 638 13285 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2000 1866

13594 1.23 253.5 264.7 8.3 653 13598 0.00 2.60 0.00 0.000 4 0.000 0.069 2719 3396 1866

13633 1.23 253.5 261.3 8.5 655 13638 0.00 2.53 0.00 0.000 6 0.000 0.050 2719 1990 1866

13961 1.23 253.5 236.1 7.4 671 13962 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 1990 1867

14270 1.23 253.5 214.0 7.2 686 14275 0.00 2.65 0.00 0.000 4 0.000 0.071 2719 3405 1867

14337 1.23 253.5 208.9 7.3 689 14341 0.00 2.53 0.00 0.000 6 0.000 0.051 2720 1998 1867

14658 1.23 253.5 185.5 7.4 705 14659 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 1998 1867

14967 1.23 253.5 163.6 7.0 720 14971 0.00 2.62 0.00 0.000 4 0.000 0.070 2719 3403 1867

15012 1.24 255.2 160.4 6.0 722 15016 0.00 2.53 0.00 0.000 6 0.000 0.051 2719 2001 1867

15333 1.24 255.2 136.9 7.5 738 15334 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2000 1867

15642 1.24 255.2 113.7 7.6 753 15647 0.00 2.62 0.00 0.000 4 0.000 0.072 2719 3399 1868

15693 1.24 255.2 109.7 7.5 755 15697 0.00 2.53 0.00 0.000 6 0.000 0.053 2720 1998 1868

16009 1.24 255.2 86.2 7.4 770 16013 0.00 2.62 0.00 0.000 4 0.000 0.071 2719 3402 1868

16042 1.24 255.2 83.7 7.7 771 16048 0.00 2.53 0.00 0.000 6 0.000 0.054 2719 1996 1868

16360 1.24 255.2 61.6 7.1 787 16361 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 1996 1868

16667 1.24 255.2 40.1 6.9 802 16672 0.00 2.62 0.00 0.000 4 0.000 0.071 2719 3399 1868

16723 1.24 255.2 35.9 7.2 804 16730 0.00 2.53 0.00 0.000 6 0.000 0.057 2719 2002 1868

17040 1.24 255.2 11.0 7.9 820 17041 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2002 1868

17160 end climb: SURFACE_DEPTH_REACHED

state 17160 begin surface coast

17182 end surface coast: CONTROL_FINISHED_OK

state 17182 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	203	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	10	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	-146949.88	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	165507,6307.846,-1313.506,29,1.3,29,-12.2	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.177,0.128
_SM_DEPTHo	1.26	KALMAN_X	12843.0,-360.7,-666.4,-74902.6,5448.2
_SM_ANGLEo	-61.6	KALMAN_Y	-41769.1,-880.7,373.8,52437.2,-495.3
GPS2	170056,6307.852,-1313.338,14,1.2,14,-12.2	MHEAD_RNG_PITCHd_Wd	318.2,13311,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.027463	ALTIM_BOTTOM_PING	651.2,66.4
SM_CCo	17267,0.00,0.000,0,0,1868,253.64	_24V_AH	23.3,37.350
SM_GC	1.47,11.73,0.00,0.00,0.029,0.000,0.000,51,2632,1868,-10.93,-0.51,253.64	_10V_AH	10.1,21.008
IRIDIUM_FIX	6239.86,-1314.97,010798,101000	DATA_FILE_SIZE	41022,827
TT8_MAMPS	0.029146	CAP_FILE_SIZE	117707,0
HUMID	1794	CFSIZE	260165632,245379072
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.60	GPS	060409,215055,6309.778,-1308.693,41,1.3,41,-12.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.20	SBE_CT	576	24	322.47
Roll_motor	127	102	305.33	SBE_O2	613	19	271.75
VBD_pump_during_apogee	336	1177	9241.89	WL_BB2F	531	105	1301.10
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	73.40	nil	0	0	0.00
Iridium_during_connect	27	160	102.80	nil	0	0	0.00
Iridium_during_xfer	155	223	809.81
Transponder_ping	5	420	53.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.27
TT8	1506	19	301.25
LPSleep	13337	2	295.02
TT8_Active	421	19	84.28
TT8_Sampling	1816	39	730.16
TT8_CF8	528	45	244.62
TT8_Kalman	33	81	27.57
Analog_circuits	1327	12	160.90
GPS_charging	0	0	0.00
Compass	1778	8	143.74
RAFOS	0	0	0.00
Transponder	38	30	11.80

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-41.38	0.000	2	0.000	0.000	47	2645	3256
62	-1.10	-146.6	4.2	-12.4	2	85	12.15	2.20	-3.97	0.000	4	0.159	0.103	2194	3784	3500
338	-1.10	-146.6	37.0	-10.1	14	342	0.00	2.10	0.00	0.000	6	0.000	0.066	2194	2655	3500
665	-1.10	-146.6	65.7	-8.3	30	669	0.00	2.22	0.00	0.000	4	0.000	0.092	2194	3790	3500
923	-1.10	-146.6	85.8	-6.9	41	930	0.00	2.10	0.00	0.000	6	0.000	0.063	2194	2642	3500
1241	-1.10	-146.6	107.2	-6.6	57	1245	0.00	2.25	0.00	0.000	4	0.000	0.094	2194	3789	3500
1286	-1.10	-146.6	110.5	-7.1	59	1290	0.00	2.10	0.00	0.000	6	0.000	0.061	2194	2645	3500
1614	-1.10	-146.6	133.8	-7.2	75	1615	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3500
1923	-1.10	-146.6	155.2	-6.9	90	1924	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3500
2232	-1.10	-146.6	178.4	-7.7	105	2233	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3500
2541	-1.10	-146.6	202.3	-7.4	120	2542	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3500
2850	-1.10	-146.6	227.5	-8.4	135	2854	0.00	2.25	0.00	0.000	4	0.000	0.094	2194	3793	3500
2901	-1.10	-146.6	231.9	-8.1	137	2905	0.00	2.10	0.00	0.000	6	0.000	0.061	2194	2646	3500
3222	-1.10	-146.6	258.2	-8.1	153	3224	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3500
3532	-1.10	-146.6	284.3	-8.8	168	3533	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2646	3500
3841	-1.10	-146.6	312.4	-9.3	183	3842	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2646	3500
4150	-1.10	-146.6	340.4	-8.9	198	4154	0.00	2.22	0.00	0.000	4	0.000	0.090	2194	3793	3500
4196	-1.10	-146.6	344.7	-9.4	200	4200	0.00	2.08	0.00	0.000	6	0.000	0.058	2194	2650	3500
4529	-1.10	-146.6	373.8	-8.9	216	4531	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3500
4838	-1.10	-146.6	399.2	-7.9	231	4839	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3500
5150	-1.10	-146.6	425.0	-8.8	246	5151	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3500
5458	-1.10	-146.6	451.2	-8.0	261	5462	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3795	3500
5509	-1.10	-146.6	455.5	-7.5	263	5512	0.00	2.08	0.00	0.000	6	0.000	0.053	2194	2640	3500
5836	-1.10	-146.6	478.7	-6.8	279	5837	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2639	3500
6145	-1.10	-146.6	499.5	-6.6	294	6149	0.00	2.20	0.00	0.000	4	0.000	0.084	2194	3787	3500
6201	-1.10	-146.6	503.4	-7.0	296	6205	0.00	2.05	0.00	0.000	6	0.000	0.052	2194	2643	3500
6523	-1.10	-146.6	524.3	-6.5	312	6524	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3500
6833	-1.10	-146.6	546.0	-7.1	327	6836	0.00	2.22	0.00	0.000	4	0.000	0.088	2194	3794	3500
6878	-1.10	-146.6	549.6	-7.8	329	6883	0.00	2.03	0.00	0.000	6	0.000	0.052	2194	2652	3500
7212	-1.10	-146.6	576.6	-8.8	345	7213	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3500
7520	-1.10	-146.6	605.1	-9.0	360	7524	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3792	3500
7571	-1.10	-146.6	610.0	-9.1	362	7574	0.00	2.05	0.00	0.000	6	0.000	0.051	2194	2644	3500
7898	-1.10	-146.6	636.6	-8.1	378	7899	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3500
8207	-1.10	-146.6	660.8	-7.8	393	8208	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3500
8517	-1.10	-146.6	682.4	-5.6	408	8520	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3792	3500
8586	-1.10	-146.6	686.0	-5.3	411	8589	0.00	2.05	0.00	0.000	6	0.000	0.051	2194	2644	3500
8916	end dive: BOTTOM_OBSTACLE_DETECTED
state	8916	begin apogee
8924	-0.42	0.0	708.6	7.4	427	9051	0.75	0.00	123.18	1.177	6	0.086	0.000	2347	1988	2902
9052	end apogee: CONTROL_FINISHED_OK
state	9052	begin climb
9055	1.10	146.6	713.1	0.0	433	9187	1.52	2.70	121.88	1.121	4	0.049	0.063	2679	586	2304
9202	1.19	219.7	707.8	4.0	440	9270	0.00	2.55	62.28	1.089	6	0.000	0.036	2679	2032	2006
9592	1.23	253.5	688.9	5.1	459	9627	0.12	2.60	29.58	1.083	4	0.044	0.064	2719	3406	1868
9706	1.23	253.5	681.5	6.3	464	9711	0.00	2.55	0.00	0.000	6	0.000	0.043	2719	1982	1867
10027	1.23	253.5	661.1	6.6	480	10032	0.00	2.65	0.00	0.000	4	0.000	0.064	2719	3406	1866
10055	1.23	253.5	659.0	7.5	481	10060	0.00	2.53	0.00	0.000	6	0.000	0.043	2719	1989	1866
10372	1.23	253.5	634.3	8.0	496	10376	0.00	2.62	0.00	0.000	4	0.000	0.064	2720	3405	1866
10411	1.23	253.5	630.9	8.1	498	10415	0.00	2.50	0.00	0.000	6	0.000	0.043	2719	2000	1866
10738	1.23	253.5	597.3	10.7	514	10742	0.00	2.60	0.00	0.000	4	0.000	0.064	2719	3407	1865
10810	1.23	253.5	589.1	12.0	517	10814	0.00	2.50	0.00	0.000	6	0.000	0.042	2719	1999	1866
11131	1.23	253.5	551.1	12.0	533	11135	0.00	2.58	0.00	0.000	4	0.000	0.062	2719	3397	1865
11164	1.23	253.5	546.8	12.5	534	11170	0.00	2.47	0.00	0.000	6	0.000	0.042	2719	2000	1865
11480	1.23	253.5	507.6	12.3	550	11484	0.00	2.58	0.00	0.000	4	0.000	0.064	2719	3398	1865
11519	1.23	253.5	502.5	12.7	552	11524	0.00	2.50	0.00	0.000	6	0.000	0.044	2719	1988	1865
11847	1.23	253.5	462.8	12.3	568	11851	0.00	2.60	0.00	0.000	4	0.000	0.064	2719	3397	1866
11926	1.23	253.5	452.4	13.0	571	11932	0.00	2.50	0.00	0.000	6	0.000	0.045	2719	1994	1865
12242	1.23	253.5	413.5	12.7	587	12246	0.00	2.60	0.00	0.000	4	0.000	0.065	2719	3399	1865
12282	1.23	253.5	408.3	12.9	589	12286	0.00	2.50	0.00	0.000	6	0.000	0.047	2719	1999	1865
12608	1.23	253.5	366.0	12.9	605	12609	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	1999	1866
12917	1.23	253.5	329.2	11.3	620	12922	0.00	2.60	0.00	0.000	4	0.000	0.067	2719	3396	1866
12958	1.23	253.5	324.7	12.0	622	12962	0.00	2.50	0.00	0.000	6	0.000	0.048	2719	2000	1866
13284	1.23	253.5	292.0	9.4	638	13285	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2000	1866
13594	1.23	253.5	264.7	8.3	653	13598	0.00	2.60	0.00	0.000	4	0.000	0.069	2719	3396	1866
13633	1.23	253.5	261.3	8.5	655	13638	0.00	2.53	0.00	0.000	6	0.000	0.050	2719	1990	1866
13961	1.23	253.5	236.1	7.4	671	13962	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	1990	1867
14270	1.23	253.5	214.0	7.2	686	14275	0.00	2.65	0.00	0.000	4	0.000	0.071	2719	3405	1867
14337	1.23	253.5	208.9	7.3	689	14341	0.00	2.53	0.00	0.000	6	0.000	0.051	2720	1998	1867
14658	1.23	253.5	185.5	7.4	705	14659	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	1998	1867
14967	1.23	253.5	163.6	7.0	720	14971	0.00	2.62	0.00	0.000	4	0.000	0.070	2719	3403	1867
15012	1.24	255.2	160.4	6.0	722	15016	0.00	2.53	0.00	0.000	6	0.000	0.051	2719	2001	1867
15333	1.24	255.2	136.9	7.5	738	15334	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2000	1867
15642	1.24	255.2	113.7	7.6	753	15647	0.00	2.62	0.00	0.000	4	0.000	0.072	2719	3399	1868
15693	1.24	255.2	109.7	7.5	755	15697	0.00	2.53	0.00	0.000	6	0.000	0.053	2720	1998	1868
16009	1.24	255.2	86.2	7.4	770	16013	0.00	2.62	0.00	0.000	4	0.000	0.071	2719	3402	1868
16042	1.24	255.2	83.7	7.7	771	16048	0.00	2.53	0.00	0.000	6	0.000	0.054	2719	1996	1868
16360	1.24	255.2	61.6	7.1	787	16361	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	1996	1868
16667	1.24	255.2	40.1	6.9	802	16672	0.00	2.62	0.00	0.000	4	0.000	0.071	2719	3399	1868
16723	1.24	255.2	35.9	7.2	804	16730	0.00	2.53	0.00	0.000	6	0.000	0.057	2719	2002	1868
17040	1.24	255.2	11.0	7.9	820	17041	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2002	1868
17160	end climb: SURFACE_DEPTH_REACHED
state	17160	begin surface coast
17182	end surface coast: CONTROL_FINISHED_OK
state	17182	begin surface