Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 207 * 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 207 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 19 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -147025.7 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 -147025.7

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 19 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 207 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 140700,6312.033,-1309.480,62,0.8,62,-12.2 TGT_NAME IW

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.208,0.067

_SM_DEPTHo 0.97 KALMAN_X 40479.5,-126.0,-3372.3,-96870.6,25590.7

_SM_ANGLEo -58.1 KALMAN_Y -47705.6,-241.1,386.1,65431.6,-4201.9

GPS2 141608,6312.014,-1309.605,14,1.0,14,-12.2 MHEAD_RNG_PITCHd_Wd 300.1,7127,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027450 ALTIM_BOTTOM_PING 700.1,44.4

SM_CCo 19971,0.00,0.000,0,0,1877,251.43 _24V_AH 23.3,37.840

SM_GC 1.33,11.73,0.00,0.00,0.031,0.000,0.000,53,2649,1877,-10.92,-0.03,251.43 _10V_AH 10.1,21.358

IRIDIUM_FIX 6244.56,-1308.97,020798,141456 DATA_FILE_SIZE 47438,954

TT8_MAMPS 0.028379 CAP_FILE_SIZE 137738,0

HUMID 1768 CFSIZE 260165632,245096448

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

TCM_TEMP 15.80 GPS 070409,195106,6313.505,-1312.989,35,0.9,35,-12.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 95.05 SBE_CT 666 24 372.71

Roll_motor 151 110 389.30 SBE_O2 702 19 311.18

VBD_pump_during_apogee 345 1179 9492.89 WL_BB2F 576 105 1409.53

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 60 103 145.36 nil 0 0 0.00

Iridium_during_connect 58 160 217.77 nil 0 0 0.00

Iridium_during_xfer 228 223 1185.98

Transponder_ping 6 420 61.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.41

TT8 1738 19 347.64

LPSleep 15514 2 343.16

TT8_Active 445 19 89.15

TT8_Sampling 2111 39 848.61

TT8_CF8 705 45 326.54

TT8_Kalman 33 81 27.56

Analog_circuits 1496 12 181.33

GPS_charging 0 0 0.00

Compass 2063 8 166.73

RAFOS 0 0 0.00

Transponder 46 30 13.94

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 -41.17 0.000 2 0.000 0.000 49 2654 3152

62 -1.10 -146.6 3.3 -10.0 2 86 12.05 2.28 -6.25 0.000 4 0.156 0.110 2192 3778 3503

339 -1.10 -146.6 32.5 -7.0 14 343 0.00 2.10 0.00 0.000 6 0.000 0.066 2193 2647 3503

667 -1.10 -146.6 56.5 -7.3 30 671 0.00 2.22 0.00 0.000 4 0.000 0.091 2193 3785 3503

820 -1.10 -146.6 70.5 -9.9 37 823 0.00 2.10 0.00 0.000 6 0.000 0.062 2193 2643 3503

1153 -1.10 -146.6 96.8 -6.8 53 1154 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3503

1462 -1.10 -146.6 122.5 -8.5 68 1466 0.00 2.22 0.00 0.000 4 0.000 0.091 2193 3783 3503

1495 -1.10 -146.6 125.7 -9.3 69 1499 0.00 2.08 0.00 0.000 6 0.000 0.061 2193 2650 3503

1817 -1.10 -146.6 151.9 -7.9 85 1818 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3503

2127 -1.10 -146.6 175.3 -7.3 100 2130 0.00 2.20 0.00 0.000 4 0.000 0.090 2193 3785 3503

2166 -1.10 -146.6 178.4 -7.6 101 2172 0.00 2.08 0.00 0.000 6 0.000 0.061 2193 2649 3503

2482 -1.10 -146.6 202.9 -8.0 117 2483 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2649 3503

2791 -1.10 -146.6 227.6 -7.9 132 2792 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2649 3503

3100 -1.10 -146.6 251.9 -7.9 147 3104 0.00 2.20 0.00 0.000 4 0.000 0.091 2193 3780 3502

3139 -1.10 -146.6 255.2 -8.1 148 3145 0.00 2.08 0.00 0.000 6 0.000 0.061 2193 2643 3502

3455 -1.10 -146.6 278.5 -7.3 164 3457 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3502

3765 -1.10 -146.6 300.5 -7.0 179 3766 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3502

4074 -1.10 -146.6 321.4 -6.6 194 4077 0.00 2.22 0.00 0.000 4 0.000 0.092 2193 3785 3501

4124 -1.10 -146.6 324.9 -6.2 196 4129 0.00 2.05 0.00 0.000 6 0.000 0.059 2193 2650 3502

4451 -1.10 -146.6 344.4 -5.9 212 4452 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3502

4761 -1.10 -146.6 361.9 -5.7 227 4765 0.00 2.17 0.00 0.000 4 0.000 0.092 2193 3779 3502

4800 -1.10 -146.6 364.2 -5.9 228 4806 0.00 2.05 0.00 0.000 6 0.000 0.058 2193 2647 3502

5117 -1.10 -146.6 380.8 -5.4 244 5118 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2648 3502

5426 -1.10 -146.6 399.8 -7.0 259 5427 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2648 3502

5735 -1.10 -146.6 422.6 -7.7 274 5739 0.00 2.20 0.00 0.000 4 0.000 0.090 2193 3786 3502

5785 -1.10 -146.6 426.7 -7.8 276 5789 0.00 2.05 0.00 0.000 6 0.000 0.057 2193 2650 3502

6112 -1.10 -146.6 452.0 -8.0 292 6113 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3502

6421 -1.10 -146.6 478.6 -9.0 307 6425 0.00 2.17 0.00 0.000 4 0.000 0.089 2193 3779 3502

6455 -1.10 -146.6 481.8 -9.0 308 6458 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2640 3502

6776 -1.10 -146.6 510.7 -9.0 324 6777 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3502

7085 -1.10 -146.6 540.1 -9.6 339 7087 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3502

7395 -1.10 -146.6 569.9 -9.6 354 7396 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2640 3502

7704 -1.10 -146.6 598.4 -9.0 369 7708 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3779 3502

7760 -1.10 -146.6 603.8 -9.6 371 7764 0.00 2.03 0.00 0.000 6 0.000 0.053 2193 2647 3502

8082 -1.10 -146.6 630.9 -8.0 387 8085 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3786 3502

8173 -1.10 -146.6 638.6 -9.2 391 8177 0.00 2.03 0.00 0.000 6 0.000 0.052 2193 2652 3502

8506 -1.10 -146.6 663.1 -7.2 407 8507 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2651 3502

8815 -1.10 -146.6 685.9 -7.3 422 8818 0.00 2.17 0.00 0.000 4 0.000 0.087 2193 3785 3501

8849 -1.10 -146.6 688.6 -7.7 423 8853 0.00 2.03 0.00 0.000 6 0.000 0.052 2193 2649 3501

9171 -1.10 -146.6 711.5 -6.8 439 9175 0.00 2.17 0.00 0.000 4 0.000 0.087 2193 3785 3501

9221 -1.10 -146.6 715.4 -7.2 441 9225 0.00 2.03 0.00 0.000 6 0.000 0.051 2193 2648 3501

9504 end dive: BOTTOM_OBSTACLE_DETECTED

state 9504 begin apogee

9512 -0.42 0.0 734.8 6.7 455 9640 0.75 0.00 124.72 1.180 6 0.083 0.000 2346 1985 2902

9641 end apogee: CONTROL_FINISHED_OK

state 9641 begin climb

9644 1.10 146.6 738.9 0.0 461 9777 1.58 2.72 123.22 1.123 4 0.062 0.061 2679 3406 2304

10019 1.17 202.5 724.3 4.5 478 10077 0.00 2.53 48.42 1.106 6 0.000 0.043 2679 1993 2076

10391 1.17 202.6 702.5 6.0 496 10396 0.00 2.65 0.00 0.000 4 0.000 0.064 2679 3418 2075

10436 1.17 202.6 699.2 7.0 498 10440 0.00 2.53 0.00 0.000 6 0.000 0.042 2679 2002 2075

10757 1.18 207.8 679.9 5.9 514 10771 0.00 2.65 6.38 0.896 4 0.000 0.064 2679 3414 2054

10824 1.19 217.4 676.0 5.7 517 10839 0.00 2.55 9.65 0.983 6 0.000 0.044 2678 1990 2015

11150 1.20 226.0 656.4 5.8 532 11165 0.10 2.70 8.80 0.969 4 0.050 0.063 2713 3423 1980

11204 1.20 226.0 652.5 7.2 534 11209 0.00 2.55 0.00 0.000 6 0.000 0.042 2713 1993 1980

11521 1.20 226.0 630.9 6.7 549 11525 0.00 2.62 0.00 0.000 4 0.000 0.061 2713 3416 1979

11576 1.20 226.0 627.0 6.8 551 11582 0.00 2.53 0.00 0.000 6 0.000 0.042 2713 1993 1979

11892 1.22 243.9 607.7 5.5 567 11911 0.00 0.00 16.42 1.035 6 0.000 0.000 2713 1993 1907

12221 1.22 243.9 584.2 7.6 583 12225 0.00 2.62 0.00 0.000 4 0.000 0.063 2713 3414 1907

12310 1.22 243.9 577.0 8.6 587 12314 0.00 2.53 0.00 0.000 6 0.000 0.044 2713 1998 1907

12637 1.22 243.9 547.9 10.0 603 12638 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1998 1907

12946 1.22 243.9 516.3 8.6 618 12950 0.00 2.62 0.00 0.000 4 0.000 0.063 2713 3420 1907

13018 1.22 243.9 510.1 8.4 621 13023 0.00 2.53 0.00 0.000 6 0.000 0.044 2713 2002 1907

13335 1.22 243.9 483.8 7.7 636 13336 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2002 1907

13643 1.22 243.9 460.1 7.4 651 13645 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2002 1907

13953 1.22 243.9 438.2 6.9 666 13957 0.00 2.60 0.00 0.000 4 0.000 0.066 2713 3411 1907

14020 1.22 243.9 433.1 7.3 669 14024 0.00 2.53 0.00 0.000 6 0.000 0.048 2713 2000 1907

14341 1.22 243.9 410.6 6.9 685 14345 0.00 2.62 0.00 0.000 4 0.000 0.065 2713 3418 1907

14374 1.22 243.9 408.2 7.2 686 14380 0.00 2.55 0.00 0.000 6 0.000 0.048 2713 1990 1907

14690 1.22 243.9 386.7 6.8 702 14691 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1990 1908

14999 1.22 243.9 366.2 6.9 717 15003 0.00 2.65 0.00 0.000 4 0.000 0.067 2713 3414 1908

15067 1.22 243.9 361.1 8.1 720 15071 0.00 2.55 0.00 0.000 6 0.000 0.049 2713 1991 1908

15388 1.22 243.9 338.6 7.1 736 15390 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1990 1908

15697 1.22 243.9 316.0 7.2 751 15702 0.00 2.62 0.00 0.000 4 0.000 0.068 2713 3409 1908

15764 1.22 243.9 310.8 7.6 754 15769 0.00 2.53 0.00 0.000 6 0.000 0.050 2713 2002 1908

16086 1.22 243.9 286.6 7.7 770 16087 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2002 1909

16395 1.22 243.9 262.9 7.8 785 16399 0.00 2.62 0.00 0.000 4 0.000 0.069 2713 3422 1908

16450 1.22 243.9 258.4 8.4 787 16457 0.00 2.58 0.00 0.000 6 0.000 0.051 2713 1990 1909

16767 1.22 243.9 233.3 8.2 803 16768 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1990 1909

17076 1.22 243.9 208.1 8.2 818 17080 0.00 2.62 0.00 0.000 4 0.000 0.068 2713 3409 1909

17121 1.22 243.9 204.3 8.6 820 17126 0.00 2.55 0.00 0.000 6 0.000 0.051 2713 1991 1909

17443 1.22 243.9 178.3 8.2 836 17445 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1991 1909

17752 1.22 243.9 153.5 8.1 851 17757 0.00 2.65 0.00 0.000 4 0.000 0.070 2713 3420 1909

17799 1.22 243.9 149.7 8.1 853 17803 0.00 2.58 0.00 0.000 6 0.000 0.053 2713 1992 1909

18120 1.22 243.9 123.6 8.2 869 18125 0.00 2.65 0.00 0.000 4 0.000 0.068 2713 3416 1909

18161 1.22 243.9 120.0 7.3 871 18165 0.00 2.55 0.00 0.000 6 0.000 0.054 2713 1996 1909

18488 1.22 243.9 95.6 7.2 887 18489 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1996 1909

18797 1.22 243.9 74.6 6.8 902 18802 0.00 2.65 0.00 0.000 4 0.000 0.070 2713 3418 1909

18853 1.22 243.9 70.7 6.5 904 18860 0.00 2.55 0.00 0.000 6 0.000 0.055 2713 2001 1909

19171 1.22 243.9 50.1 6.5 920 19175 0.00 2.62 0.00 0.000 4 0.000 0.069 2713 3414 1909

19204 1.23 251.0 47.7 5.8 921 19219 0.00 2.55 7.75 0.645 6 0.000 0.056 2713 2002 1878

19542 1.23 251.0 24.4 7.2 938 19546 0.00 2.65 0.00 0.000 4 0.000 0.069 2713 3420 1878

19592 1.23 251.0 20.5 8.5 940 19596 0.00 2.60 0.00 0.000 6 0.000 0.055 2713 1989 1878

19864 end climb: SURFACE_DEPTH_REACHED

state 19864 begin surface coast

19886 end surface coast: CONTROL_FINISHED_OK

state 19886 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	207	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	19	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-147025.7	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	140700,6312.033,-1309.480,62,0.8,62,-12.2	TGT_NAME	IW
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.208,0.067
_SM_DEPTHo	0.97	KALMAN_X	40479.5,-126.0,-3372.3,-96870.6,25590.7
_SM_ANGLEo	-58.1	KALMAN_Y	-47705.6,-241.1,386.1,65431.6,-4201.9
GPS2	141608,6312.014,-1309.605,14,1.0,14,-12.2	MHEAD_RNG_PITCHd_Wd	300.1,7127,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.1,1.027450	ALTIM_BOTTOM_PING	700.1,44.4
SM_CCo	19971,0.00,0.000,0,0,1877,251.43	_24V_AH	23.3,37.840
SM_GC	1.33,11.73,0.00,0.00,0.031,0.000,0.000,53,2649,1877,-10.92,-0.03,251.43	_10V_AH	10.1,21.358
IRIDIUM_FIX	6244.56,-1308.97,020798,141456	DATA_FILE_SIZE	47438,954
TT8_MAMPS	0.028379	CAP_FILE_SIZE	137738,0
HUMID	1768	CFSIZE	260165632,245096448
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.80	GPS	070409,195106,6313.505,-1312.989,35,0.9,35,-12.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	95.05	SBE_CT	666	24	372.71
Roll_motor	151	110	389.30	SBE_O2	702	19	311.18
VBD_pump_during_apogee	345	1179	9492.89	WL_BB2F	576	105	1409.53
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	60	103	145.36	nil	0	0	0.00
Iridium_during_connect	58	160	217.77	nil	0	0	0.00
Iridium_during_xfer	228	223	1185.98
Transponder_ping	6	420	61.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.41
TT8	1738	19	347.64
LPSleep	15514	2	343.16
TT8_Active	445	19	89.15
TT8_Sampling	2111	39	848.61
TT8_CF8	705	45	326.54
TT8_Kalman	33	81	27.56
Analog_circuits	1496	12	181.33
GPS_charging	0	0	0.00
Compass	2063	8	166.73
RAFOS	0	0	0.00
Transponder	46	30	13.94

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	-41.17	0.000	2	0.000	0.000	49	2654	3152
62	-1.10	-146.6	3.3	-10.0	2	86	12.05	2.28	-6.25	0.000	4	0.156	0.110	2192	3778	3503
339	-1.10	-146.6	32.5	-7.0	14	343	0.00	2.10	0.00	0.000	6	0.000	0.066	2193	2647	3503
667	-1.10	-146.6	56.5	-7.3	30	671	0.00	2.22	0.00	0.000	4	0.000	0.091	2193	3785	3503
820	-1.10	-146.6	70.5	-9.9	37	823	0.00	2.10	0.00	0.000	6	0.000	0.062	2193	2643	3503
1153	-1.10	-146.6	96.8	-6.8	53	1154	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3503
1462	-1.10	-146.6	122.5	-8.5	68	1466	0.00	2.22	0.00	0.000	4	0.000	0.091	2193	3783	3503
1495	-1.10	-146.6	125.7	-9.3	69	1499	0.00	2.08	0.00	0.000	6	0.000	0.061	2193	2650	3503
1817	-1.10	-146.6	151.9	-7.9	85	1818	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3503
2127	-1.10	-146.6	175.3	-7.3	100	2130	0.00	2.20	0.00	0.000	4	0.000	0.090	2193	3785	3503
2166	-1.10	-146.6	178.4	-7.6	101	2172	0.00	2.08	0.00	0.000	6	0.000	0.061	2193	2649	3503
2482	-1.10	-146.6	202.9	-8.0	117	2483	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2649	3503
2791	-1.10	-146.6	227.6	-7.9	132	2792	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2649	3503
3100	-1.10	-146.6	251.9	-7.9	147	3104	0.00	2.20	0.00	0.000	4	0.000	0.091	2193	3780	3502
3139	-1.10	-146.6	255.2	-8.1	148	3145	0.00	2.08	0.00	0.000	6	0.000	0.061	2193	2643	3502
3455	-1.10	-146.6	278.5	-7.3	164	3457	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3502
3765	-1.10	-146.6	300.5	-7.0	179	3766	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3502
4074	-1.10	-146.6	321.4	-6.6	194	4077	0.00	2.22	0.00	0.000	4	0.000	0.092	2193	3785	3501
4124	-1.10	-146.6	324.9	-6.2	196	4129	0.00	2.05	0.00	0.000	6	0.000	0.059	2193	2650	3502
4451	-1.10	-146.6	344.4	-5.9	212	4452	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3502
4761	-1.10	-146.6	361.9	-5.7	227	4765	0.00	2.17	0.00	0.000	4	0.000	0.092	2193	3779	3502
4800	-1.10	-146.6	364.2	-5.9	228	4806	0.00	2.05	0.00	0.000	6	0.000	0.058	2193	2647	3502
5117	-1.10	-146.6	380.8	-5.4	244	5118	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2648	3502
5426	-1.10	-146.6	399.8	-7.0	259	5427	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2648	3502
5735	-1.10	-146.6	422.6	-7.7	274	5739	0.00	2.20	0.00	0.000	4	0.000	0.090	2193	3786	3502
5785	-1.10	-146.6	426.7	-7.8	276	5789	0.00	2.05	0.00	0.000	6	0.000	0.057	2193	2650	3502
6112	-1.10	-146.6	452.0	-8.0	292	6113	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3502
6421	-1.10	-146.6	478.6	-9.0	307	6425	0.00	2.17	0.00	0.000	4	0.000	0.089	2193	3779	3502
6455	-1.10	-146.6	481.8	-9.0	308	6458	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2640	3502
6776	-1.10	-146.6	510.7	-9.0	324	6777	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3502
7085	-1.10	-146.6	540.1	-9.6	339	7087	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3502
7395	-1.10	-146.6	569.9	-9.6	354	7396	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2640	3502
7704	-1.10	-146.6	598.4	-9.0	369	7708	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3779	3502
7760	-1.10	-146.6	603.8	-9.6	371	7764	0.00	2.03	0.00	0.000	6	0.000	0.053	2193	2647	3502
8082	-1.10	-146.6	630.9	-8.0	387	8085	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3786	3502
8173	-1.10	-146.6	638.6	-9.2	391	8177	0.00	2.03	0.00	0.000	6	0.000	0.052	2193	2652	3502
8506	-1.10	-146.6	663.1	-7.2	407	8507	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2651	3502
8815	-1.10	-146.6	685.9	-7.3	422	8818	0.00	2.17	0.00	0.000	4	0.000	0.087	2193	3785	3501
8849	-1.10	-146.6	688.6	-7.7	423	8853	0.00	2.03	0.00	0.000	6	0.000	0.052	2193	2649	3501
9171	-1.10	-146.6	711.5	-6.8	439	9175	0.00	2.17	0.00	0.000	4	0.000	0.087	2193	3785	3501
9221	-1.10	-146.6	715.4	-7.2	441	9225	0.00	2.03	0.00	0.000	6	0.000	0.051	2193	2648	3501
9504	end dive: BOTTOM_OBSTACLE_DETECTED
state	9504	begin apogee
9512	-0.42	0.0	734.8	6.7	455	9640	0.75	0.00	124.72	1.180	6	0.083	0.000	2346	1985	2902
9641	end apogee: CONTROL_FINISHED_OK
state	9641	begin climb
9644	1.10	146.6	738.9	0.0	461	9777	1.58	2.72	123.22	1.123	4	0.062	0.061	2679	3406	2304
10019	1.17	202.5	724.3	4.5	478	10077	0.00	2.53	48.42	1.106	6	0.000	0.043	2679	1993	2076
10391	1.17	202.6	702.5	6.0	496	10396	0.00	2.65	0.00	0.000	4	0.000	0.064	2679	3418	2075
10436	1.17	202.6	699.2	7.0	498	10440	0.00	2.53	0.00	0.000	6	0.000	0.042	2679	2002	2075
10757	1.18	207.8	679.9	5.9	514	10771	0.00	2.65	6.38	0.896	4	0.000	0.064	2679	3414	2054
10824	1.19	217.4	676.0	5.7	517	10839	0.00	2.55	9.65	0.983	6	0.000	0.044	2678	1990	2015
11150	1.20	226.0	656.4	5.8	532	11165	0.10	2.70	8.80	0.969	4	0.050	0.063	2713	3423	1980
11204	1.20	226.0	652.5	7.2	534	11209	0.00	2.55	0.00	0.000	6	0.000	0.042	2713	1993	1980
11521	1.20	226.0	630.9	6.7	549	11525	0.00	2.62	0.00	0.000	4	0.000	0.061	2713	3416	1979
11576	1.20	226.0	627.0	6.8	551	11582	0.00	2.53	0.00	0.000	6	0.000	0.042	2713	1993	1979
11892	1.22	243.9	607.7	5.5	567	11911	0.00	0.00	16.42	1.035	6	0.000	0.000	2713	1993	1907
12221	1.22	243.9	584.2	7.6	583	12225	0.00	2.62	0.00	0.000	4	0.000	0.063	2713	3414	1907
12310	1.22	243.9	577.0	8.6	587	12314	0.00	2.53	0.00	0.000	6	0.000	0.044	2713	1998	1907
12637	1.22	243.9	547.9	10.0	603	12638	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1998	1907
12946	1.22	243.9	516.3	8.6	618	12950	0.00	2.62	0.00	0.000	4	0.000	0.063	2713	3420	1907
13018	1.22	243.9	510.1	8.4	621	13023	0.00	2.53	0.00	0.000	6	0.000	0.044	2713	2002	1907
13335	1.22	243.9	483.8	7.7	636	13336	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2002	1907
13643	1.22	243.9	460.1	7.4	651	13645	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2002	1907
13953	1.22	243.9	438.2	6.9	666	13957	0.00	2.60	0.00	0.000	4	0.000	0.066	2713	3411	1907
14020	1.22	243.9	433.1	7.3	669	14024	0.00	2.53	0.00	0.000	6	0.000	0.048	2713	2000	1907
14341	1.22	243.9	410.6	6.9	685	14345	0.00	2.62	0.00	0.000	4	0.000	0.065	2713	3418	1907
14374	1.22	243.9	408.2	7.2	686	14380	0.00	2.55	0.00	0.000	6	0.000	0.048	2713	1990	1907
14690	1.22	243.9	386.7	6.8	702	14691	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1990	1908
14999	1.22	243.9	366.2	6.9	717	15003	0.00	2.65	0.00	0.000	4	0.000	0.067	2713	3414	1908
15067	1.22	243.9	361.1	8.1	720	15071	0.00	2.55	0.00	0.000	6	0.000	0.049	2713	1991	1908
15388	1.22	243.9	338.6	7.1	736	15390	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1990	1908
15697	1.22	243.9	316.0	7.2	751	15702	0.00	2.62	0.00	0.000	4	0.000	0.068	2713	3409	1908
15764	1.22	243.9	310.8	7.6	754	15769	0.00	2.53	0.00	0.000	6	0.000	0.050	2713	2002	1908
16086	1.22	243.9	286.6	7.7	770	16087	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2002	1909
16395	1.22	243.9	262.9	7.8	785	16399	0.00	2.62	0.00	0.000	4	0.000	0.069	2713	3422	1908
16450	1.22	243.9	258.4	8.4	787	16457	0.00	2.58	0.00	0.000	6	0.000	0.051	2713	1990	1909
16767	1.22	243.9	233.3	8.2	803	16768	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1990	1909
17076	1.22	243.9	208.1	8.2	818	17080	0.00	2.62	0.00	0.000	4	0.000	0.068	2713	3409	1909
17121	1.22	243.9	204.3	8.6	820	17126	0.00	2.55	0.00	0.000	6	0.000	0.051	2713	1991	1909
17443	1.22	243.9	178.3	8.2	836	17445	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1991	1909
17752	1.22	243.9	153.5	8.1	851	17757	0.00	2.65	0.00	0.000	4	0.000	0.070	2713	3420	1909
17799	1.22	243.9	149.7	8.1	853	17803	0.00	2.58	0.00	0.000	6	0.000	0.053	2713	1992	1909
18120	1.22	243.9	123.6	8.2	869	18125	0.00	2.65	0.00	0.000	4	0.000	0.068	2713	3416	1909
18161	1.22	243.9	120.0	7.3	871	18165	0.00	2.55	0.00	0.000	6	0.000	0.054	2713	1996	1909
18488	1.22	243.9	95.6	7.2	887	18489	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1996	1909
18797	1.22	243.9	74.6	6.8	902	18802	0.00	2.65	0.00	0.000	4	0.000	0.070	2713	3418	1909
18853	1.22	243.9	70.7	6.5	904	18860	0.00	2.55	0.00	0.000	6	0.000	0.055	2713	2001	1909
19171	1.22	243.9	50.1	6.5	920	19175	0.00	2.62	0.00	0.000	4	0.000	0.069	2713	3414	1909
19204	1.23	251.0	47.7	5.8	921	19219	0.00	2.55	7.75	0.645	6	0.000	0.056	2713	2002	1878
19542	1.23	251.0	24.4	7.2	938	19546	0.00	2.65	0.00	0.000	4	0.000	0.069	2713	3420	1878
19592	1.23	251.0	20.5	8.5	940	19596	0.00	2.60	0.00	0.000	6	0.000	0.055	2713	1989	1878
19864	end climb: SURFACE_DEPTH_REACHED
state	19864	begin surface coast
19886	end surface coast: CONTROL_FINISHED_OK
state	19886	begin surface