Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 213 * 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 213 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 -147128.34 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 -147128.34

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 213 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 040407,6328.238,-1341.222,44,1.3,45,-12.6 TGT_NAME JW

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.217,0.022

_SM_DEPTHo 1.18 KALMAN_X 21511.2,-860.5,203.0,-107431.6,-3507.7

_SM_ANGLEo -60.7 KALMAN_Y -44442.9,-421.8,192.9,92595.1,1337.9

GPS2 041046,6328.249,-1341.341,9,2.3,28,-12.6 MHEAD_RNG_PITCHd_Wd 96.7,25047,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025808 XPDR_PINGS 0

SM_CCo 21191,0.00,0.000,0,0,1181,422.16 _24V_AH 23.3,38.798

SM_GC 1.17,11.98,0.00,0.00,0.031,0.000,0.000,49,2638,1181,-10.93,-0.34,422.16 _10V_AH 10.1,21.945

IRIDIUM_FIX 6258.74,-1338.89,030798,212143 DATA_FILE_SIZE 50535,1017

TT8_MAMPS 0.028379 CAP_FILE_SIZE 132860,0

HUMID 1782 CFSIZE 260165632,244674560

INTERNAL_PRESSURE 8.52572 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 090409,100607,6329.096,-1335.793,43,1.0,43,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 97.25 SBE_CT 713 24 398.99

Roll_motor 121 105 299.71 SBE_O2 744 19 329.39

VBD_pump_during_apogee 494 1276 14716.35 WL_BB2F 535 105 1309.31

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 59.62 nil 0 0 0.00

Iridium_during_connect 35 160 131.08 nil 0 0 0.00

Iridium_during_xfer 173 223 902.09

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.10

TT8 1777 19 355.45

LPSleep 16601 2 367.20

TT8_Active 574 19 114.92

TT8_Sampling 2034 39 817.66

TT8_CF8 589 45 272.53

TT8_Kalman 33 81 27.56

Analog_circuits 1584 12 192.09

GPS_charging 0 0 0.00

Compass 1973 8 159.43

RAFOS 0 0 0.00

Transponder 55 30 16.78

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.10 -146.6 0.0 0.0 0 60 0.00 0.00 -41.70 0.000 2 0.000 0.000 47 2644 3157

63 -1.10 -146.6 3.7 -10.2 2 87 12.07 2.30 -5.95 0.000 4 0.156 0.106 2194 3792 3501

219 -1.10 -146.6 22.1 -7.3 8 225 0.00 2.10 0.00 0.000 6 0.000 0.068 2194 2656 3501

535 -1.10 -146.6 48.6 -9.0 24 536 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2656 3501

844 -1.10 -146.6 76.8 -8.7 39 846 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2656 3501

1155 -1.10 -146.6 103.9 -9.3 54 1159 0.00 2.22 0.00 0.000 4 0.000 0.093 2194 3793 3501

1188 -1.10 -146.6 107.4 -9.5 55 1192 0.00 2.12 0.00 0.000 6 0.000 0.064 2194 2644 3501

1510 -1.10 -146.6 137.2 -8.9 71 1514 0.00 2.25 0.00 0.000 4 0.000 0.093 2194 3794 3501

1555 -1.10 -146.6 141.4 -9.2 73 1558 0.00 2.12 0.00 0.000 6 0.000 0.064 2194 2641 3501

1882 -1.10 -146.6 171.6 -9.0 89 1883 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

2191 -1.10 -146.6 198.2 -8.5 104 2192 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

2501 -1.10 -146.6 222.8 -7.8 119 2502 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2641 3501

2810 -1.10 -146.6 245.9 -7.5 134 2814 0.00 2.25 0.00 0.000 4 0.000 0.095 2194 3789 3501

2854 -1.10 -146.6 249.5 -8.3 136 2858 0.00 2.10 0.00 0.000 6 0.000 0.061 2194 2643 3501

3182 -1.10 -146.6 273.6 -7.6 152 3183 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

3491 -1.10 -146.6 297.6 -7.8 167 3492 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

3800 -1.10 -146.6 323.4 -8.5 182 3804 0.00 2.22 0.00 0.000 4 0.000 0.091 2194 3792 3501

3840 -1.10 -146.6 326.8 -8.9 183 3846 0.00 2.10 0.00 0.000 6 0.000 0.060 2194 2641 3501

4156 -1.10 -146.6 353.9 -8.5 199 4157 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2641 3501

4465 -1.10 -146.6 380.5 -8.7 214 4466 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2641 3501

4775 -1.10 -146.6 405.1 -7.7 229 4778 0.00 2.22 0.00 0.000 4 0.000 0.088 2194 3792 3501

4825 -1.10 -146.6 408.9 -7.8 231 4829 0.00 2.05 0.00 0.000 6 0.000 0.057 2194 2649 3501

5152 -1.10 -146.6 434.1 -7.8 247 5153 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3501

5461 -1.10 -146.6 458.5 -7.7 262 5462 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2649 3501

5770 -1.10 -146.6 481.7 -7.2 277 5771 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2649 3501

6079 -1.10 -146.6 504.2 -7.2 292 6083 0.00 2.20 0.00 0.000 4 0.000 0.087 2193 3792 3501

6136 -1.10 -146.6 508.5 -7.7 294 6139 0.00 2.08 0.00 0.000 6 0.000 0.054 2194 2638 3501

6457 -1.10 -146.6 531.8 -7.4 310 6458 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2638 3501

6766 -1.10 -146.6 555.1 -7.7 325 6767 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2638 3501

7076 -1.10 -146.6 580.3 -8.4 340 7080 0.00 2.20 0.00 0.000 4 0.000 0.084 2194 3790 3501

7116 -1.10 -146.6 583.4 -7.8 341 7123 0.00 2.05 0.00 0.000 6 0.000 0.051 2194 2643 3501

7432 -1.10 -146.6 607.8 -7.8 357 7433 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

7742 -1.10 -146.6 632.6 -8.0 372 7743 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

8051 -1.10 -146.6 656.7 -7.8 387 8052 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

8360 -1.10 -146.6 680.2 -7.1 402 8364 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3789 3501

8399 -1.10 -146.6 683.3 -7.6 403 8405 0.00 2.03 0.00 0.000 6 0.000 0.051 2194 2651 3501

8715 -1.10 -146.6 706.5 -7.3 419 8716 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2651 3501

9024 -1.10 -146.6 729.4 -7.3 434 9028 0.00 2.17 0.00 0.000 4 0.000 0.085 2194 3786 3501

9075 -1.10 -146.6 733.5 -8.8 436 9079 0.00 2.03 0.00 0.000 6 0.000 0.051 2194 2649 3501

9402 -1.10 -146.6 758.8 -7.9 452 9403 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3501

9711 -1.10 -146.6 782.6 -7.5 467 9712 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2649 3501

10021 -1.10 -146.6 808.0 -8.7 482 10025 0.00 2.58 0.00 0.000 4 0.000 0.068 2194 1230 3501

10054 -1.10 -146.6 811.0 -9.1 483 10060 0.00 2.60 0.00 0.000 6 0.000 0.061 2194 2656 3501

10370 -1.10 -146.6 837.2 -8.1 499 10371 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2657 3501

10679 -1.10 -146.6 860.3 -7.5 514 10681 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2656 3501

10988 -1.10 -146.6 882.5 -6.5 529 10992 0.00 2.15 0.00 0.000 4 0.000 0.088 2194 3787 3501

11079 -1.10 -146.6 888.7 -6.5 533 11083 0.00 2.03 0.00 0.000 6 0.000 0.051 2194 2650 3501

11412 -1.10 -146.6 912.9 -7.6 549 11413 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3501

11721 -1.10 -146.6 935.5 -7.5 564 11725 0.00 2.58 0.00 0.000 4 0.000 0.068 2194 1231 3501

11761 -1.10 -146.6 938.6 -7.6 566 11766 0.00 2.60 0.00 0.000 6 0.000 0.061 2193 2656 3501

12088 -1.10 -146.6 956.9 -4.6 582 12089 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2656 3501

12397 -1.10 -146.6 964.2 -2.2 597 12398 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2656 3501

12683 end dive: NO_VERTICAL_VELOCITY

state 12683 begin apogee

12692 -0.42 0.0 966.7 0.0 611 12826 0.77 0.00 129.62 1.276 6 0.100 0.000 2346 1989 2902

12827 end apogee: CONTROL_FINISHED_OK

state 12827 begin climb

12830 1.10 146.6 964.6 0.0 618 12965 1.55 2.62 126.62 1.253 4 0.058 0.060 2678 587 2303

13159 1.10 146.6 933.4 13.8 633 13163 0.00 2.50 0.00 0.000 6 0.000 0.035 2678 2017 2303

13480 1.12 157.0 907.5 5.7 649 13495 0.00 2.58 10.62 1.078 4 0.000 0.060 2678 3403 2262

13575 1.19 213.8 903.6 4.4 652 13630 0.00 2.53 49.75 1.218 6 0.000 0.041 2678 1986 2030

13958 1.44 421.7 897.2 0.2 671 14141 0.30 0.00 178.25 1.233 6 0.030 0.000 2766 1986 1183

14454 1.44 421.7 854.8 11.8 695 14458 0.00 2.62 0.00 0.000 4 0.000 0.062 2766 3400 1182

14477 1.44 421.7 851.2 13.3 696 14481 0.00 2.50 0.00 0.000 6 0.000 0.041 2766 1995 1182

14798 1.44 421.7 807.3 13.4 712 14802 0.00 2.55 0.00 0.000 4 0.000 0.058 2766 586 1182

14838 1.44 421.7 801.9 14.2 714 14842 0.00 2.47 0.00 0.000 6 0.000 0.038 2766 1998 1182

15164 1.44 421.7 758.5 13.1 730 15165 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1998 1182

15473 1.44 421.7 716.1 13.5 745 15478 0.00 2.58 0.00 0.000 4 0.000 0.061 2766 3412 1182

15501 1.44 421.7 712.1 14.5 746 15506 0.00 2.50 0.00 0.000 6 0.000 0.040 2766 1996 1182

15817 1.44 421.7 670.5 13.3 761 15819 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1996 1182

16127 1.44 421.7 630.0 12.8 776 16131 0.00 2.60 0.00 0.000 4 0.000 0.061 2766 3409 1182

16160 1.44 421.7 625.6 12.1 777 16166 0.00 2.50 0.00 0.000 6 0.000 0.041 2766 1995 1182

16476 1.44 421.7 585.8 12.8 793 16477 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1994 1182

16785 1.44 421.7 547.1 12.0 808 16789 0.00 2.60 0.00 0.000 4 0.000 0.063 2766 3409 1182

16825 1.44 421.7 542.2 12.1 810 16829 0.00 2.50 0.00 0.000 6 0.000 0.043 2766 1994 1182

17152 1.44 421.7 502.9 12.1 826 17153 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1994 1182

17461 1.44 421.7 464.2 12.8 841 17465 0.00 2.60 0.00 0.000 4 0.000 0.064 2766 3406 1182

17488 1.44 421.7 460.4 13.2 842 17493 0.00 2.50 0.00 0.000 6 0.000 0.045 2766 1999 1182

17804 1.44 421.7 417.5 14.0 857 17805 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2000 1182

18113 1.44 421.7 374.6 13.7 872 18118 0.00 2.60 0.00 0.000 4 0.000 0.067 2766 3405 1182

18142 1.44 421.7 370.5 14.5 873 18146 0.00 2.53 0.00 0.000 6 0.000 0.048 2766 1993 1182

18457 1.44 421.7 326.8 13.7 888 18459 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1993 1182

18767 1.44 421.7 286.4 12.5 903 18771 0.00 2.62 0.00 0.000 4 0.000 0.067 2766 3406 1182

18806 1.44 421.7 281.3 14.1 905 18811 0.00 2.53 0.00 0.000 6 0.000 0.051 2766 2000 1182

19134 1.44 421.7 240.1 12.8 921 19135 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2000 1182

19443 1.44 421.7 201.4 12.5 936 19447 0.00 2.62 0.00 0.000 4 0.000 0.069 2766 3410 1182

19476 1.44 421.7 197.4 12.3 937 19482 0.00 2.55 0.00 0.000 6 0.000 0.051 2766 1992 1182

19792 1.44 421.7 158.6 12.3 953 19793 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1992 1182

20101 1.44 421.7 120.7 12.3 968 20103 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1992 1182

20411 1.44 421.7 82.7 11.9 983 20412 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1992 1182

20720 1.44 421.7 46.8 11.5 998 20721 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1992 1182

21031 1.44 421.7 8.8 12.6 1013 21035 0.00 2.65 0.00 0.000 4 0.000 0.071 2766 3409 1182

21054 1.44 421.7 5.5 12.4 1014 21058 0.00 2.55 0.00 0.000 6 0.000 0.052 2766 1995 1182

21083 end climb: SURFACE_DEPTH_REACHED

state 21084 begin surface coast

21105 end surface coast: CONTROL_FINISHED_OK

state 21105 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	213	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	-147128.34	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	040407,6328.238,-1341.222,44,1.3,45,-12.6	TGT_NAME	JW
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.217,0.022
_SM_DEPTHo	1.18	KALMAN_X	21511.2,-860.5,203.0,-107431.6,-3507.7
_SM_ANGLEo	-60.7	KALMAN_Y	-44442.9,-421.8,192.9,92595.1,1337.9
GPS2	041046,6328.249,-1341.341,9,2.3,28,-12.6	MHEAD_RNG_PITCHd_Wd	96.7,25047,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.025808	XPDR_PINGS	0
SM_CCo	21191,0.00,0.000,0,0,1181,422.16	_24V_AH	23.3,38.798
SM_GC	1.17,11.98,0.00,0.00,0.031,0.000,0.000,49,2638,1181,-10.93,-0.34,422.16	_10V_AH	10.1,21.945
IRIDIUM_FIX	6258.74,-1338.89,030798,212143	DATA_FILE_SIZE	50535,1017
TT8_MAMPS	0.028379	CAP_FILE_SIZE	132860,0
HUMID	1782	CFSIZE	260165632,244674560
INTERNAL_PRESSURE	8.52572	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	090409,100607,6329.096,-1335.793,43,1.0,43,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	97.25	SBE_CT	713	24	398.99
Roll_motor	121	105	299.71	SBE_O2	744	19	329.39
VBD_pump_during_apogee	494	1276	14716.35	WL_BB2F	535	105	1309.31
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	59.62	nil	0	0	0.00
Iridium_during_connect	35	160	131.08	nil	0	0	0.00
Iridium_during_xfer	173	223	902.09
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.10
TT8	1777	19	355.45
LPSleep	16601	2	367.20
TT8_Active	574	19	114.92
TT8_Sampling	2034	39	817.66
TT8_CF8	589	45	272.53
TT8_Kalman	33	81	27.56
Analog_circuits	1584	12	192.09
GPS_charging	0	0	0.00
Compass	1973	8	159.43
RAFOS	0	0	0.00
Transponder	55	30	16.78

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.10	-146.6	0.0	0.0	0	60	0.00	0.00	-41.70	0.000	2	0.000	0.000	47	2644	3157
63	-1.10	-146.6	3.7	-10.2	2	87	12.07	2.30	-5.95	0.000	4	0.156	0.106	2194	3792	3501
219	-1.10	-146.6	22.1	-7.3	8	225	0.00	2.10	0.00	0.000	6	0.000	0.068	2194	2656	3501
535	-1.10	-146.6	48.6	-9.0	24	536	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2656	3501
844	-1.10	-146.6	76.8	-8.7	39	846	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2656	3501
1155	-1.10	-146.6	103.9	-9.3	54	1159	0.00	2.22	0.00	0.000	4	0.000	0.093	2194	3793	3501
1188	-1.10	-146.6	107.4	-9.5	55	1192	0.00	2.12	0.00	0.000	6	0.000	0.064	2194	2644	3501
1510	-1.10	-146.6	137.2	-8.9	71	1514	0.00	2.25	0.00	0.000	4	0.000	0.093	2194	3794	3501
1555	-1.10	-146.6	141.4	-9.2	73	1558	0.00	2.12	0.00	0.000	6	0.000	0.064	2194	2641	3501
1882	-1.10	-146.6	171.6	-9.0	89	1883	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
2191	-1.10	-146.6	198.2	-8.5	104	2192	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
2501	-1.10	-146.6	222.8	-7.8	119	2502	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2641	3501
2810	-1.10	-146.6	245.9	-7.5	134	2814	0.00	2.25	0.00	0.000	4	0.000	0.095	2194	3789	3501
2854	-1.10	-146.6	249.5	-8.3	136	2858	0.00	2.10	0.00	0.000	6	0.000	0.061	2194	2643	3501
3182	-1.10	-146.6	273.6	-7.6	152	3183	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
3491	-1.10	-146.6	297.6	-7.8	167	3492	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
3800	-1.10	-146.6	323.4	-8.5	182	3804	0.00	2.22	0.00	0.000	4	0.000	0.091	2194	3792	3501
3840	-1.10	-146.6	326.8	-8.9	183	3846	0.00	2.10	0.00	0.000	6	0.000	0.060	2194	2641	3501
4156	-1.10	-146.6	353.9	-8.5	199	4157	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2641	3501
4465	-1.10	-146.6	380.5	-8.7	214	4466	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2641	3501
4775	-1.10	-146.6	405.1	-7.7	229	4778	0.00	2.22	0.00	0.000	4	0.000	0.088	2194	3792	3501
4825	-1.10	-146.6	408.9	-7.8	231	4829	0.00	2.05	0.00	0.000	6	0.000	0.057	2194	2649	3501
5152	-1.10	-146.6	434.1	-7.8	247	5153	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3501
5461	-1.10	-146.6	458.5	-7.7	262	5462	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2649	3501
5770	-1.10	-146.6	481.7	-7.2	277	5771	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2649	3501
6079	-1.10	-146.6	504.2	-7.2	292	6083	0.00	2.20	0.00	0.000	4	0.000	0.087	2193	3792	3501
6136	-1.10	-146.6	508.5	-7.7	294	6139	0.00	2.08	0.00	0.000	6	0.000	0.054	2194	2638	3501
6457	-1.10	-146.6	531.8	-7.4	310	6458	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2638	3501
6766	-1.10	-146.6	555.1	-7.7	325	6767	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2638	3501
7076	-1.10	-146.6	580.3	-8.4	340	7080	0.00	2.20	0.00	0.000	4	0.000	0.084	2194	3790	3501
7116	-1.10	-146.6	583.4	-7.8	341	7123	0.00	2.05	0.00	0.000	6	0.000	0.051	2194	2643	3501
7432	-1.10	-146.6	607.8	-7.8	357	7433	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
7742	-1.10	-146.6	632.6	-8.0	372	7743	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
8051	-1.10	-146.6	656.7	-7.8	387	8052	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
8360	-1.10	-146.6	680.2	-7.1	402	8364	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3789	3501
8399	-1.10	-146.6	683.3	-7.6	403	8405	0.00	2.03	0.00	0.000	6	0.000	0.051	2194	2651	3501
8715	-1.10	-146.6	706.5	-7.3	419	8716	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2651	3501
9024	-1.10	-146.6	729.4	-7.3	434	9028	0.00	2.17	0.00	0.000	4	0.000	0.085	2194	3786	3501
9075	-1.10	-146.6	733.5	-8.8	436	9079	0.00	2.03	0.00	0.000	6	0.000	0.051	2194	2649	3501
9402	-1.10	-146.6	758.8	-7.9	452	9403	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3501
9711	-1.10	-146.6	782.6	-7.5	467	9712	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2649	3501
10021	-1.10	-146.6	808.0	-8.7	482	10025	0.00	2.58	0.00	0.000	4	0.000	0.068	2194	1230	3501
10054	-1.10	-146.6	811.0	-9.1	483	10060	0.00	2.60	0.00	0.000	6	0.000	0.061	2194	2656	3501
10370	-1.10	-146.6	837.2	-8.1	499	10371	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2657	3501
10679	-1.10	-146.6	860.3	-7.5	514	10681	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2656	3501
10988	-1.10	-146.6	882.5	-6.5	529	10992	0.00	2.15	0.00	0.000	4	0.000	0.088	2194	3787	3501
11079	-1.10	-146.6	888.7	-6.5	533	11083	0.00	2.03	0.00	0.000	6	0.000	0.051	2194	2650	3501
11412	-1.10	-146.6	912.9	-7.6	549	11413	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3501
11721	-1.10	-146.6	935.5	-7.5	564	11725	0.00	2.58	0.00	0.000	4	0.000	0.068	2194	1231	3501
11761	-1.10	-146.6	938.6	-7.6	566	11766	0.00	2.60	0.00	0.000	6	0.000	0.061	2193	2656	3501
12088	-1.10	-146.6	956.9	-4.6	582	12089	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2656	3501
12397	-1.10	-146.6	964.2	-2.2	597	12398	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2656	3501
12683	end dive: NO_VERTICAL_VELOCITY
state	12683	begin apogee
12692	-0.42	0.0	966.7	0.0	611	12826	0.77	0.00	129.62	1.276	6	0.100	0.000	2346	1989	2902
12827	end apogee: CONTROL_FINISHED_OK
state	12827	begin climb
12830	1.10	146.6	964.6	0.0	618	12965	1.55	2.62	126.62	1.253	4	0.058	0.060	2678	587	2303
13159	1.10	146.6	933.4	13.8	633	13163	0.00	2.50	0.00	0.000	6	0.000	0.035	2678	2017	2303
13480	1.12	157.0	907.5	5.7	649	13495	0.00	2.58	10.62	1.078	4	0.000	0.060	2678	3403	2262
13575	1.19	213.8	903.6	4.4	652	13630	0.00	2.53	49.75	1.218	6	0.000	0.041	2678	1986	2030
13958	1.44	421.7	897.2	0.2	671	14141	0.30	0.00	178.25	1.233	6	0.030	0.000	2766	1986	1183
14454	1.44	421.7	854.8	11.8	695	14458	0.00	2.62	0.00	0.000	4	0.000	0.062	2766	3400	1182
14477	1.44	421.7	851.2	13.3	696	14481	0.00	2.50	0.00	0.000	6	0.000	0.041	2766	1995	1182
14798	1.44	421.7	807.3	13.4	712	14802	0.00	2.55	0.00	0.000	4	0.000	0.058	2766	586	1182
14838	1.44	421.7	801.9	14.2	714	14842	0.00	2.47	0.00	0.000	6	0.000	0.038	2766	1998	1182
15164	1.44	421.7	758.5	13.1	730	15165	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1998	1182
15473	1.44	421.7	716.1	13.5	745	15478	0.00	2.58	0.00	0.000	4	0.000	0.061	2766	3412	1182
15501	1.44	421.7	712.1	14.5	746	15506	0.00	2.50	0.00	0.000	6	0.000	0.040	2766	1996	1182
15817	1.44	421.7	670.5	13.3	761	15819	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1996	1182
16127	1.44	421.7	630.0	12.8	776	16131	0.00	2.60	0.00	0.000	4	0.000	0.061	2766	3409	1182
16160	1.44	421.7	625.6	12.1	777	16166	0.00	2.50	0.00	0.000	6	0.000	0.041	2766	1995	1182
16476	1.44	421.7	585.8	12.8	793	16477	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1994	1182
16785	1.44	421.7	547.1	12.0	808	16789	0.00	2.60	0.00	0.000	4	0.000	0.063	2766	3409	1182
16825	1.44	421.7	542.2	12.1	810	16829	0.00	2.50	0.00	0.000	6	0.000	0.043	2766	1994	1182
17152	1.44	421.7	502.9	12.1	826	17153	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1994	1182
17461	1.44	421.7	464.2	12.8	841	17465	0.00	2.60	0.00	0.000	4	0.000	0.064	2766	3406	1182
17488	1.44	421.7	460.4	13.2	842	17493	0.00	2.50	0.00	0.000	6	0.000	0.045	2766	1999	1182
17804	1.44	421.7	417.5	14.0	857	17805	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2000	1182
18113	1.44	421.7	374.6	13.7	872	18118	0.00	2.60	0.00	0.000	4	0.000	0.067	2766	3405	1182
18142	1.44	421.7	370.5	14.5	873	18146	0.00	2.53	0.00	0.000	6	0.000	0.048	2766	1993	1182
18457	1.44	421.7	326.8	13.7	888	18459	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1993	1182
18767	1.44	421.7	286.4	12.5	903	18771	0.00	2.62	0.00	0.000	4	0.000	0.067	2766	3406	1182
18806	1.44	421.7	281.3	14.1	905	18811	0.00	2.53	0.00	0.000	6	0.000	0.051	2766	2000	1182
19134	1.44	421.7	240.1	12.8	921	19135	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2000	1182
19443	1.44	421.7	201.4	12.5	936	19447	0.00	2.62	0.00	0.000	4	0.000	0.069	2766	3410	1182
19476	1.44	421.7	197.4	12.3	937	19482	0.00	2.55	0.00	0.000	6	0.000	0.051	2766	1992	1182
19792	1.44	421.7	158.6	12.3	953	19793	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1992	1182
20101	1.44	421.7	120.7	12.3	968	20103	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1992	1182
20411	1.44	421.7	82.7	11.9	983	20412	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1992	1182
20720	1.44	421.7	46.8	11.5	998	20721	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	1992	1182
21031	1.44	421.7	8.8	12.6	1013	21035	0.00	2.65	0.00	0.000	4	0.000	0.071	2766	3409	1182
21054	1.44	421.7	5.5	12.4	1014	21058	0.00	2.55	0.00	0.000	6	0.000	0.052	2766	1995	1182
21083	end climb: SURFACE_DEPTH_REACHED
state	21084	begin surface coast
21105	end surface coast: CONTROL_FINISHED_OK
state	21105	begin surface