Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 204 * 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 204 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 11 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 -146965.02 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 -146965.02

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 11 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 204 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 215055,6309.778,-1308.693,41,1.3,41,-12.2 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.182,0.121

_SM_DEPTHo 1.22 KALMAN_X 22492.2,203.8,-784.1,-80998.6,13968.3

_SM_ANGLEo -62.1 KALMAN_Y -43033.9,440.6,-366.0,56683.1,-3160.1

GPS2 215626,6309.775,-1308.579,14,1.9,14,-12.2 MHEAD_RNG_PITCHd_Wd 315.8,11058,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027462 ALTIM_BOTTOM_PING 625.7,67.6

SM_CCo 18679,0.00,0.000,0,0,1878,251.43 _24V_AH 23.3,37.470

SM_GC 1.20,11.98,0.00,0.00,0.042,0.000,0.000,52,2650,1878,-10.93,0.00,251.43 _10V_AH 10.1,21.094

IRIDIUM_FIX 6244.56,-1322.89,010798,171704 DATA_FILE_SIZE 44208,889

TT8_MAMPS 0.028379 CAP_FILE_SIZE 128818,0

HUMID 1774 CFSIZE 260165632,245305344

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 070409,031000,6310.109,-1308.982,38,2.0,43,-12.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 97.08 SBE_CT 620 24 347.00

Roll_motor 147 105 363.40 SBE_O2 662 19 293.50

VBD_pump_during_apogee 335 1153 9010.89 WL_BB2F 542 105 1326.15

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 24 103 59.01 nil 0 0 0.00

Iridium_during_connect 26 160 97.19 nil 0 0 0.00

Iridium_during_xfer 155 223 805.40

Transponder_ping 5 420 51.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.33

TT8 1640 19 328.00

LPSleep 14343 2 317.26

TT8_Active 424 19 84.96

TT8_Sampling 2047 39 823.06

TT8_CF8 553 45 256.16

TT8_Kalman 33 81 27.56

Analog_circuits 1444 12 175.10

GPS_charging 0 0 0.00

Compass 2014 8 162.74

RAFOS 0 0 0.00

Transponder 36 30 11.21

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 -41.22 0.000 2 0.000 0.000 51 2636 3218

62 -1.10 -146.6 3.8 -11.0 2 85 12.07 2.25 -4.85 0.000 4 0.157 0.106 2193 3792 3501

338 -1.10 -146.6 33.1 -8.1 14 342 0.00 2.12 0.00 0.000 6 0.000 0.065 2194 2647 3501

667 -1.10 -146.6 59.2 -8.3 30 671 0.00 2.25 0.00 0.000 4 0.000 0.094 2193 3789 3501

925 -1.10 -146.6 81.1 -8.2 41 932 0.00 2.10 0.00 0.000 6 0.000 0.064 2194 2642 3501

1242 -1.10 -146.6 106.0 -7.8 57 1246 0.00 2.25 0.00 0.000 4 0.000 0.095 2193 3783 3501

1350 -1.10 -146.6 115.2 -8.3 62 1354 0.00 2.10 0.00 0.000 6 0.000 0.063 2193 2643 3501

1683 -1.10 -146.6 142.9 -8.4 78 1684 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

1992 -1.10 -146.6 169.0 -8.7 93 1993 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

2302 -1.10 -146.6 196.1 -8.8 108 2303 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

2611 -1.10 -146.6 223.3 -8.9 123 2612 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

2921 -1.10 -146.6 250.7 -8.8 138 2925 0.00 2.25 0.00 0.000 4 0.000 0.093 2194 3790 3501

2971 -1.10 -146.6 255.3 -9.4 140 2975 0.00 2.10 0.00 0.000 6 0.000 0.060 2194 2640 3501

3293 -1.10 -146.6 284.0 -9.0 156 3294 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2640 3501

3603 -1.10 -146.6 313.3 -9.6 171 3606 0.00 2.22 0.00 0.000 4 0.000 0.090 2194 3786 3501

3649 -1.10 -146.6 317.9 -9.9 173 3652 0.00 2.08 0.00 0.000 6 0.000 0.058 2193 2644 3501

3982 -1.10 -146.6 350.3 -9.6 189 3983 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2644 3501

4290 -1.10 -146.6 379.4 -9.3 204 4292 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3501

4600 -1.10 -146.6 407.8 -9.2 219 4601 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3501

4909 -1.10 -146.6 434.1 -8.1 234 4913 0.00 2.20 0.00 0.000 4 0.000 0.086 2194 3786 3501

4993 -1.10 -146.6 441.3 -8.5 237 4999 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2647 3501

5310 -1.10 -146.6 464.5 -6.9 253 5311 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3501

5618 -1.10 -146.6 486.7 -7.0 268 5622 0.00 2.20 0.00 0.000 4 0.000 0.085 2194 3792 3501

5664 -1.10 -146.6 489.9 -6.5 270 5667 0.00 2.05 0.00 0.000 6 0.000 0.053 2194 2650 3501

5997 -1.10 -146.6 514.2 -7.5 286 6002 0.00 2.58 0.00 0.000 4 0.000 0.066 2194 1227 3501

6025 -1.10 -146.6 516.7 -8.2 287 6030 0.00 2.62 0.00 0.000 6 0.000 0.062 2194 2658 3501

6341 -1.10 -146.6 541.6 -8.0 302 6345 0.00 2.15 0.00 0.000 4 0.000 0.087 2193 3790 3501

6387 -1.10 -146.6 545.4 -8.5 304 6391 0.00 2.05 0.00 0.000 6 0.000 0.050 2194 2639 3501

6720 -1.10 -146.6 571.6 -8.0 320 6721 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2639 3501

7029 -1.10 -146.6 595.2 -7.3 335 7033 0.00 2.22 0.00 0.000 4 0.000 0.087 2194 3793 3501

7120 -1.10 -146.6 601.6 -7.1 339 7124 0.00 2.05 0.00 0.000 6 0.000 0.051 2194 2643 3501

7453 -1.10 -146.6 623.1 -6.5 355 7454 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

7763 -1.10 -146.6 641.5 -5.0 370 7766 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3785 3500

7841 -1.10 -146.6 645.7 -4.9 373 7845 0.00 2.03 0.00 0.000 6 0.000 0.051 2194 2651 3501

8163 -1.10 -146.6 658.8 -4.8 389 8167 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3793 3500

8277 -1.10 -146.6 667.3 -5.1 394 8281 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2646 3500

8525 end dive: BOTTOM_OBSTACLE_DETECTED

state 8525 begin apogee

8533 -0.42 0.0 684.7 9.1 406 8660 0.77 0.00 123.60 1.154 6 0.097 0.000 2347 1991 2902

8661 end apogee: CONTROL_FINISHED_OK

state 8661 begin climb

8665 1.10 146.6 691.3 0.0 412 8797 1.55 2.65 122.20 1.104 4 0.061 0.062 2677 585 2304

8977 1.21 233.4 683.9 3.6 426 9058 0.12 2.53 73.32 1.090 6 0.044 0.036 2717 2025 1950

9381 1.21 233.4 657.1 6.7 446 9382 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2027 1949

9690 1.21 233.4 634.5 7.3 461 9694 0.00 2.55 0.00 0.000 4 0.000 0.064 2717 3407 1948

9779 1.21 233.4 627.5 8.5 465 9784 0.00 2.53 0.00 0.000 6 0.000 0.044 2717 1993 1948

10101 1.21 233.4 603.1 7.1 481 10106 0.00 2.62 0.00 0.000 4 0.000 0.064 2717 3406 1948

10179 1.21 233.4 597.5 6.6 484 10185 0.00 2.53 0.00 0.000 6 0.000 0.045 2717 1994 1947

10495 1.21 233.4 576.4 6.4 500 10499 0.00 2.60 0.00 0.000 4 0.000 0.063 2718 3403 1947

10564 1.21 233.4 571.9 6.5 503 10568 0.00 2.50 0.00 0.000 6 0.000 0.044 2717 1999 1947

10891 1.23 251.6 553.3 5.5 519 10913 0.00 2.65 16.12 1.012 4 0.000 0.063 2717 3400 1875

10937 1.23 251.6 550.6 6.2 521 10941 0.00 2.53 0.00 0.000 6 0.000 0.044 2717 1993 1875

11264 1.23 251.6 530.3 6.2 537 11265 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1992 1875

11573 1.23 251.6 510.0 6.5 552 11578 0.00 2.60 0.00 0.000 4 0.000 0.064 2717 3396 1875

11617 1.23 251.6 506.7 7.2 554 11622 0.00 2.50 0.00 0.000 6 0.000 0.044 2717 1992 1875

11939 1.23 251.6 485.6 6.9 570 11940 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1992 1875

12248 1.23 251.6 465.3 6.5 585 12253 0.00 2.60 0.00 0.000 4 0.000 0.064 2717 3402 1875

12327 1.23 251.6 459.5 7.3 588 12331 0.00 2.50 0.00 0.000 6 0.000 0.046 2717 2002 1875

12643 1.23 251.6 436.5 7.6 603 12647 0.00 2.55 0.00 0.000 4 0.000 0.061 2717 589 1876

12694 1.23 251.6 432.3 7.8 605 12698 0.00 2.45 0.00 0.000 6 0.000 0.037 2717 1995 1876

13015 1.23 251.6 408.9 7.2 621 13019 0.00 2.60 0.00 0.000 4 0.000 0.067 2717 3415 1876

13099 1.23 251.6 402.4 8.3 625 13104 0.00 2.55 0.00 0.000 6 0.000 0.048 2717 1989 1876

13428 1.23 251.6 378.3 7.4 641 13429 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1989 1876

13736 1.23 251.6 356.1 7.0 656 13741 0.00 2.62 0.00 0.000 4 0.000 0.067 2717 3405 1876

13792 1.23 251.6 351.9 7.6 658 13798 0.00 2.53 0.00 0.000 6 0.000 0.049 2717 1994 1876

14108 1.23 251.6 329.3 7.3 674 14112 0.00 2.62 0.00 0.000 4 0.000 0.067 2717 3415 1877

14135 1.23 251.6 327.0 7.7 675 14139 0.00 2.55 0.00 0.000 6 0.000 0.050 2717 1995 1877

14451 1.23 251.6 303.3 7.4 690 14455 0.00 2.62 0.00 0.000 4 0.000 0.068 2718 3408 1877

14501 1.23 251.6 299.4 8.0 692 14506 0.00 2.55 0.00 0.000 6 0.000 0.051 2717 1989 1877

14823 1.23 251.6 275.6 7.3 708 14827 0.00 2.65 0.00 0.000 4 0.000 0.069 2717 3410 1877

14850 1.23 251.6 273.6 7.7 709 14854 0.00 2.55 0.00 0.000 6 0.000 0.051 2717 1995 1877

15166 1.23 251.6 251.5 6.9 724 15167 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1995 1877

15475 1.23 251.6 230.1 6.9 739 15479 0.00 2.65 0.00 0.000 4 0.000 0.071 2718 3412 1877

15530 1.23 251.6 226.0 7.1 741 15535 0.00 2.55 0.00 0.000 6 0.000 0.052 2717 1996 1877

15847 1.23 251.6 204.7 6.8 756 15848 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1996 1877

16156 1.23 251.6 184.6 6.4 771 16157 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1996 1877

16465 1.23 251.6 164.3 6.6 786 16469 0.00 2.62 0.00 0.000 4 0.000 0.071 2718 3403 1878

16513 1.23 251.6 161.2 6.8 788 16517 0.00 2.55 0.00 0.000 6 0.000 0.053 2717 1988 1878

16840 1.23 251.6 139.5 7.1 804 16841 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 1988 1878

17149 1.23 251.6 117.5 7.3 819 17154 0.00 2.65 0.00 0.000 4 0.000 0.072 2717 3404 1878

17205 1.23 251.6 113.0 7.0 821 17211 0.00 2.53 0.00 0.000 6 0.000 0.054 2718 2000 1878

17523 1.23 251.6 88.1 7.8 837 17524 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2000 1878

17830 1.23 251.6 62.8 8.2 852 17835 0.00 2.62 0.00 0.000 4 0.000 0.071 2717 3405 1878

17871 1.23 251.6 59.3 9.3 854 17875 0.00 2.55 0.00 0.000 6 0.000 0.055 2717 1996 1878

18198 1.23 251.6 33.0 7.1 870 18203 0.00 2.58 0.00 0.000 4 0.000 0.068 2717 589 1878

18239 1.23 251.6 29.5 8.9 872 18243 0.00 2.47 0.00 0.000 6 0.000 0.043 2717 1995 1878

18568 end climb: SURFACE_DEPTH_REACHED

state 18568 begin surface coast

18592 end surface coast: CONTROL_FINISHED_OK

state 18595 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	204	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	11	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	-146965.02	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	215055,6309.778,-1308.693,41,1.3,41,-12.2	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.182,0.121
_SM_DEPTHo	1.22	KALMAN_X	22492.2,203.8,-784.1,-80998.6,13968.3
_SM_ANGLEo	-62.1	KALMAN_Y	-43033.9,440.6,-366.0,56683.1,-3160.1
GPS2	215626,6309.775,-1308.579,14,1.9,14,-12.2	MHEAD_RNG_PITCHd_Wd	315.8,11058,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.2,1.027462	ALTIM_BOTTOM_PING	625.7,67.6
SM_CCo	18679,0.00,0.000,0,0,1878,251.43	_24V_AH	23.3,37.470
SM_GC	1.20,11.98,0.00,0.00,0.042,0.000,0.000,52,2650,1878,-10.93,0.00,251.43	_10V_AH	10.1,21.094
IRIDIUM_FIX	6244.56,-1322.89,010798,171704	DATA_FILE_SIZE	44208,889
TT8_MAMPS	0.028379	CAP_FILE_SIZE	128818,0
HUMID	1774	CFSIZE	260165632,245305344
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	070409,031000,6310.109,-1308.982,38,2.0,43,-12.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	97.08	SBE_CT	620	24	347.00
Roll_motor	147	105	363.40	SBE_O2	662	19	293.50
VBD_pump_during_apogee	335	1153	9010.89	WL_BB2F	542	105	1326.15
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	24	103	59.01	nil	0	0	0.00
Iridium_during_connect	26	160	97.19	nil	0	0	0.00
Iridium_during_xfer	155	223	805.40
Transponder_ping	5	420	51.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.33
TT8	1640	19	328.00
LPSleep	14343	2	317.26
TT8_Active	424	19	84.96
TT8_Sampling	2047	39	823.06
TT8_CF8	553	45	256.16
TT8_Kalman	33	81	27.56
Analog_circuits	1444	12	175.10
GPS_charging	0	0	0.00
Compass	2014	8	162.74
RAFOS	0	0	0.00
Transponder	36	30	11.21

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	-41.22	0.000	2	0.000	0.000	51	2636	3218
62	-1.10	-146.6	3.8	-11.0	2	85	12.07	2.25	-4.85	0.000	4	0.157	0.106	2193	3792	3501
338	-1.10	-146.6	33.1	-8.1	14	342	0.00	2.12	0.00	0.000	6	0.000	0.065	2194	2647	3501
667	-1.10	-146.6	59.2	-8.3	30	671	0.00	2.25	0.00	0.000	4	0.000	0.094	2193	3789	3501
925	-1.10	-146.6	81.1	-8.2	41	932	0.00	2.10	0.00	0.000	6	0.000	0.064	2194	2642	3501
1242	-1.10	-146.6	106.0	-7.8	57	1246	0.00	2.25	0.00	0.000	4	0.000	0.095	2193	3783	3501
1350	-1.10	-146.6	115.2	-8.3	62	1354	0.00	2.10	0.00	0.000	6	0.000	0.063	2193	2643	3501
1683	-1.10	-146.6	142.9	-8.4	78	1684	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
1992	-1.10	-146.6	169.0	-8.7	93	1993	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
2302	-1.10	-146.6	196.1	-8.8	108	2303	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
2611	-1.10	-146.6	223.3	-8.9	123	2612	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
2921	-1.10	-146.6	250.7	-8.8	138	2925	0.00	2.25	0.00	0.000	4	0.000	0.093	2194	3790	3501
2971	-1.10	-146.6	255.3	-9.4	140	2975	0.00	2.10	0.00	0.000	6	0.000	0.060	2194	2640	3501
3293	-1.10	-146.6	284.0	-9.0	156	3294	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2640	3501
3603	-1.10	-146.6	313.3	-9.6	171	3606	0.00	2.22	0.00	0.000	4	0.000	0.090	2194	3786	3501
3649	-1.10	-146.6	317.9	-9.9	173	3652	0.00	2.08	0.00	0.000	6	0.000	0.058	2193	2644	3501
3982	-1.10	-146.6	350.3	-9.6	189	3983	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2644	3501
4290	-1.10	-146.6	379.4	-9.3	204	4292	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3501
4600	-1.10	-146.6	407.8	-9.2	219	4601	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3501
4909	-1.10	-146.6	434.1	-8.1	234	4913	0.00	2.20	0.00	0.000	4	0.000	0.086	2194	3786	3501
4993	-1.10	-146.6	441.3	-8.5	237	4999	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2647	3501
5310	-1.10	-146.6	464.5	-6.9	253	5311	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3501
5618	-1.10	-146.6	486.7	-7.0	268	5622	0.00	2.20	0.00	0.000	4	0.000	0.085	2194	3792	3501
5664	-1.10	-146.6	489.9	-6.5	270	5667	0.00	2.05	0.00	0.000	6	0.000	0.053	2194	2650	3501
5997	-1.10	-146.6	514.2	-7.5	286	6002	0.00	2.58	0.00	0.000	4	0.000	0.066	2194	1227	3501
6025	-1.10	-146.6	516.7	-8.2	287	6030	0.00	2.62	0.00	0.000	6	0.000	0.062	2194	2658	3501
6341	-1.10	-146.6	541.6	-8.0	302	6345	0.00	2.15	0.00	0.000	4	0.000	0.087	2193	3790	3501
6387	-1.10	-146.6	545.4	-8.5	304	6391	0.00	2.05	0.00	0.000	6	0.000	0.050	2194	2639	3501
6720	-1.10	-146.6	571.6	-8.0	320	6721	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2639	3501
7029	-1.10	-146.6	595.2	-7.3	335	7033	0.00	2.22	0.00	0.000	4	0.000	0.087	2194	3793	3501
7120	-1.10	-146.6	601.6	-7.1	339	7124	0.00	2.05	0.00	0.000	6	0.000	0.051	2194	2643	3501
7453	-1.10	-146.6	623.1	-6.5	355	7454	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
7763	-1.10	-146.6	641.5	-5.0	370	7766	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3785	3500
7841	-1.10	-146.6	645.7	-4.9	373	7845	0.00	2.03	0.00	0.000	6	0.000	0.051	2194	2651	3501
8163	-1.10	-146.6	658.8	-4.8	389	8167	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3793	3500
8277	-1.10	-146.6	667.3	-5.1	394	8281	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2646	3500
8525	end dive: BOTTOM_OBSTACLE_DETECTED
state	8525	begin apogee
8533	-0.42	0.0	684.7	9.1	406	8660	0.77	0.00	123.60	1.154	6	0.097	0.000	2347	1991	2902
8661	end apogee: CONTROL_FINISHED_OK
state	8661	begin climb
8665	1.10	146.6	691.3	0.0	412	8797	1.55	2.65	122.20	1.104	4	0.061	0.062	2677	585	2304
8977	1.21	233.4	683.9	3.6	426	9058	0.12	2.53	73.32	1.090	6	0.044	0.036	2717	2025	1950
9381	1.21	233.4	657.1	6.7	446	9382	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2027	1949
9690	1.21	233.4	634.5	7.3	461	9694	0.00	2.55	0.00	0.000	4	0.000	0.064	2717	3407	1948
9779	1.21	233.4	627.5	8.5	465	9784	0.00	2.53	0.00	0.000	6	0.000	0.044	2717	1993	1948
10101	1.21	233.4	603.1	7.1	481	10106	0.00	2.62	0.00	0.000	4	0.000	0.064	2717	3406	1948
10179	1.21	233.4	597.5	6.6	484	10185	0.00	2.53	0.00	0.000	6	0.000	0.045	2717	1994	1947
10495	1.21	233.4	576.4	6.4	500	10499	0.00	2.60	0.00	0.000	4	0.000	0.063	2718	3403	1947
10564	1.21	233.4	571.9	6.5	503	10568	0.00	2.50	0.00	0.000	6	0.000	0.044	2717	1999	1947
10891	1.23	251.6	553.3	5.5	519	10913	0.00	2.65	16.12	1.012	4	0.000	0.063	2717	3400	1875
10937	1.23	251.6	550.6	6.2	521	10941	0.00	2.53	0.00	0.000	6	0.000	0.044	2717	1993	1875
11264	1.23	251.6	530.3	6.2	537	11265	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1992	1875
11573	1.23	251.6	510.0	6.5	552	11578	0.00	2.60	0.00	0.000	4	0.000	0.064	2717	3396	1875
11617	1.23	251.6	506.7	7.2	554	11622	0.00	2.50	0.00	0.000	6	0.000	0.044	2717	1992	1875
11939	1.23	251.6	485.6	6.9	570	11940	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1992	1875
12248	1.23	251.6	465.3	6.5	585	12253	0.00	2.60	0.00	0.000	4	0.000	0.064	2717	3402	1875
12327	1.23	251.6	459.5	7.3	588	12331	0.00	2.50	0.00	0.000	6	0.000	0.046	2717	2002	1875
12643	1.23	251.6	436.5	7.6	603	12647	0.00	2.55	0.00	0.000	4	0.000	0.061	2717	589	1876
12694	1.23	251.6	432.3	7.8	605	12698	0.00	2.45	0.00	0.000	6	0.000	0.037	2717	1995	1876
13015	1.23	251.6	408.9	7.2	621	13019	0.00	2.60	0.00	0.000	4	0.000	0.067	2717	3415	1876
13099	1.23	251.6	402.4	8.3	625	13104	0.00	2.55	0.00	0.000	6	0.000	0.048	2717	1989	1876
13428	1.23	251.6	378.3	7.4	641	13429	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1989	1876
13736	1.23	251.6	356.1	7.0	656	13741	0.00	2.62	0.00	0.000	4	0.000	0.067	2717	3405	1876
13792	1.23	251.6	351.9	7.6	658	13798	0.00	2.53	0.00	0.000	6	0.000	0.049	2717	1994	1876
14108	1.23	251.6	329.3	7.3	674	14112	0.00	2.62	0.00	0.000	4	0.000	0.067	2717	3415	1877
14135	1.23	251.6	327.0	7.7	675	14139	0.00	2.55	0.00	0.000	6	0.000	0.050	2717	1995	1877
14451	1.23	251.6	303.3	7.4	690	14455	0.00	2.62	0.00	0.000	4	0.000	0.068	2718	3408	1877
14501	1.23	251.6	299.4	8.0	692	14506	0.00	2.55	0.00	0.000	6	0.000	0.051	2717	1989	1877
14823	1.23	251.6	275.6	7.3	708	14827	0.00	2.65	0.00	0.000	4	0.000	0.069	2717	3410	1877
14850	1.23	251.6	273.6	7.7	709	14854	0.00	2.55	0.00	0.000	6	0.000	0.051	2717	1995	1877
15166	1.23	251.6	251.5	6.9	724	15167	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1995	1877
15475	1.23	251.6	230.1	6.9	739	15479	0.00	2.65	0.00	0.000	4	0.000	0.071	2718	3412	1877
15530	1.23	251.6	226.0	7.1	741	15535	0.00	2.55	0.00	0.000	6	0.000	0.052	2717	1996	1877
15847	1.23	251.6	204.7	6.8	756	15848	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1996	1877
16156	1.23	251.6	184.6	6.4	771	16157	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1996	1877
16465	1.23	251.6	164.3	6.6	786	16469	0.00	2.62	0.00	0.000	4	0.000	0.071	2718	3403	1878
16513	1.23	251.6	161.2	6.8	788	16517	0.00	2.55	0.00	0.000	6	0.000	0.053	2717	1988	1878
16840	1.23	251.6	139.5	7.1	804	16841	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	1988	1878
17149	1.23	251.6	117.5	7.3	819	17154	0.00	2.65	0.00	0.000	4	0.000	0.072	2717	3404	1878
17205	1.23	251.6	113.0	7.0	821	17211	0.00	2.53	0.00	0.000	6	0.000	0.054	2718	2000	1878
17523	1.23	251.6	88.1	7.8	837	17524	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2000	1878
17830	1.23	251.6	62.8	8.2	852	17835	0.00	2.62	0.00	0.000	4	0.000	0.071	2717	3405	1878
17871	1.23	251.6	59.3	9.3	854	17875	0.00	2.55	0.00	0.000	6	0.000	0.055	2717	1996	1878
18198	1.23	251.6	33.0	7.1	870	18203	0.00	2.58	0.00	0.000	4	0.000	0.068	2717	589	1878
18239	1.23	251.6	29.5	8.9	872	18243	0.00	2.47	0.00	0.000	6	0.000	0.043	2717	1995	1878
18568	end climb: SURFACE_DEPTH_REACHED
state	18568	begin surface coast
18592	end surface coast: CONTROL_FINISHED_OK
state	18595	begin surface