Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 222 * 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 222 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 18 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 -147263.12 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 -147263.12

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 18 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 222 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 152205,6339.055,-1317.487,40,2.0,51,-12.4 TGT_NAME KW

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.169,0.139

_SM_DEPTHo 1.13 KALMAN_X -16940.3,151.8,305.5,-50258.2,-8029.8

_SM_ANGLEo -55.8 KALMAN_Y -29299.1,244.1,-3573.6,100467.6,8472.3

GPS2 152744,6338.983,-1317.653,15,1.6,15,-12.5 MHEAD_RNG_PITCHd_Wd 63.1,21338,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027464 ALTIM_BOTTOM_PING 825.6,33.8

SM_CCo 20477,0.00,0.000,0,0,1719,290.19 _24V_AH 23.3,40.326

SM_GC 1.26,11.65,0.00,0.00,0.022,0.000,0.000,47,2651,1719,-10.94,0.03,290.19 _10V_AH 10.1,22.843

IRIDIUM_FIX 6313.04,-1325.79,060798,101034 DATA_FILE_SIZE 50644,978

TT8_MAMPS 0.029146 CAP_FILE_SIZE 132295,0

HUMID 1780 CFSIZE 260165632,244039680

INTERNAL_PRESSURE 8.56478 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.50 GPS 110409,211111,6339.668,-1319.681,33,2.0,38,-12.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 154 94.49 SBE_CT 683 24 382.14

Roll_motor 144 94 317.47 SBE_O2 729 19 322.95

VBD_pump_during_apogee 376 1224 10742.20 WL_BB2F 560 105 1372.15

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 59.19 nil 0 0 0.00

Iridium_during_connect 25 160 95.41 nil 0 0 0.00

Iridium_during_xfer 154 223 803.46

Transponder_ping 7 420 73.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.92

TT8 1727 19 345.49

LPSleep 16017 2 354.29

TT8_Active 488 19 97.75

TT8_Sampling 2010 39 807.99

TT8_CF8 570 45 263.84

TT8_Kalman 33 81 27.55

Analog_circuits 1510 12 183.07

GPS_charging 0 0 0.00

Compass 1970 8 159.24

RAFOS 0 0 0.00

Transponder 53 30 16.09

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 79 0.00 0.00 -61.05 0.000 2 0.000 0.000 52 2662 3407

82 -1.10 -146.6 4.9 -9.1 3 104 12.02 2.75 -1.45 0.000 4 0.155 0.090 2195 1242 3503

253 -1.10 -146.6 30.8 -9.5 10 258 0.00 2.62 0.00 0.000 6 0.000 0.068 2195 2648 3503

569 -1.10 -146.6 53.9 -6.7 25 573 0.00 2.22 0.00 0.000 4 0.000 0.094 2195 3793 3503

610 -1.10 -146.6 56.9 -7.9 27 614 0.00 2.10 0.00 0.000 6 0.000 0.062 2195 2650 3503

943 -1.10 -146.6 84.7 -8.4 43 944 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3503

1254 -1.10 -146.6 111.5 -8.6 58 1255 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3503

1561 -1.10 -146.6 136.4 -8.3 73 1565 0.00 2.20 0.00 0.000 4 0.000 0.091 2194 3785 3503

1601 -1.10 -146.6 139.7 -8.6 74 1607 0.00 2.08 0.00 0.000 6 0.000 0.061 2195 2646 3503

1917 -1.10 -146.6 163.5 -8.2 90 1918 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2646 3503

2226 -1.10 -146.6 191.0 -9.0 105 2227 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2646 3503

2535 -1.10 -146.6 217.6 -8.5 120 2539 0.00 2.22 0.00 0.000 4 0.000 0.089 2195 3792 3503

2581 -1.10 -146.6 221.6 -8.5 122 2585 0.00 2.10 0.00 0.000 6 0.000 0.060 2195 2644 3503

2914 -1.10 -146.6 248.1 -8.0 138 2915 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3503

3223 -1.10 -146.6 272.3 -7.8 153 3227 0.00 2.22 0.00 0.000 4 0.000 0.087 2195 3793 3503

3281 -1.10 -146.6 276.9 -8.8 155 3287 0.00 2.08 0.00 0.000 6 0.000 0.060 2195 2650 3503

3597 -1.10 -146.6 301.6 -7.7 171 3598 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3503

3907 -1.10 -146.6 324.2 -7.0 186 3908 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3503

4216 -1.10 -146.6 347.6 -7.8 201 4217 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2651 3503

4525 -1.10 -146.6 372.2 -8.2 216 4526 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3503

4835 -1.10 -146.6 398.0 -8.3 231 4836 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2651 3503

5144 -1.10 -146.6 422.6 -7.4 246 5145 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3503

5453 -1.10 -146.6 449.7 -9.1 261 5454 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3503

5763 -1.10 -146.6 476.2 -8.1 276 5764 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3503

6071 -1.10 -146.6 497.1 -6.2 291 6075 0.00 2.17 0.00 0.000 4 0.000 0.086 2195 3789 3503

6110 -1.10 -146.6 499.7 -6.5 292 6117 0.00 2.08 0.00 0.000 6 0.000 0.054 2195 2640 3503

6427 -1.10 -146.6 519.5 -6.1 308 6428 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2640 3503

6735 -1.10 -146.6 537.9 -6.2 323 6740 0.00 2.58 0.00 0.000 4 0.000 0.067 2195 1223 3503

6769 -1.10 -146.6 540.1 -6.4 324 6775 0.00 2.60 0.00 0.000 6 0.000 0.057 2195 2654 3503

7085 -1.10 -146.6 561.8 -6.9 340 7086 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2654 3503

7394 -1.10 -146.6 585.6 -7.6 355 7398 0.00 2.15 0.00 0.000 4 0.000 0.087 2195 3786 3503

7457 -1.10 -146.6 590.6 -8.1 357 7463 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2645 3503

7773 -1.10 -146.6 620.1 -11.0 373 7775 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3503

8082 -1.10 -146.6 652.9 -10.7 388 8084 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3503

8392 -1.10 -146.6 686.8 -10.0 403 8393 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3503

8701 -1.10 -146.6 718.7 -8.9 418 8702 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3503

9010 -1.10 -146.6 744.4 -7.5 433 9014 0.00 2.20 0.00 0.000 4 0.000 0.088 2195 3785 3503

9060 -1.10 -146.6 748.5 -8.3 435 9064 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2641 3503

9388 -1.10 -146.6 778.9 -7.9 451 9389 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3503

9697 -1.10 -146.6 797.0 -7.6 466 9701 0.00 2.22 0.00 0.000 4 0.000 0.091 2195 3787 3503

9737 -1.10 -146.6 798.8 -2.8 467 9743 0.00 2.05 0.00 0.000 6 0.000 0.055 2195 2652 3503

10053 -1.10 -146.6 822.7 -7.1 483 10054 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2649 3503

10359 end dive: BOTTOM_OBSTACLE_DETECTED

state 10359 begin apogee

10368 -0.42 0.0 850.0 9.2 498 10502 0.75 0.00 128.20 1.224 6 0.093 0.000 2344 1995 2902

10502 end apogee: CONTROL_FINISHED_OK

state 10502 begin climb

10506 1.10 146.6 855.7 0.0 505 10639 1.58 2.67 125.35 1.193 4 0.058 0.064 2680 583 2304

10676 1.28 289.8 856.3 2.0 513 10808 0.17 2.55 123.07 1.180 6 0.040 0.035 2731 2038 1720

11127 1.28 289.8 820.5 8.6 535 11131 0.00 2.70 0.00 0.000 4 0.000 0.061 2731 576 1719

11227 1.28 289.8 811.8 9.2 539 11233 0.00 2.53 0.00 0.000 6 0.000 0.041 2731 1995 1719

11543 1.28 289.8 785.3 8.8 555 11548 0.00 2.62 0.00 0.000 4 0.000 0.062 2731 577 1718

11594 1.28 289.8 781.1 7.3 557 11598 0.00 2.53 0.00 0.000 6 0.000 0.040 2731 2005 1718

11909 1.28 289.8 754.3 8.3 572 11914 0.00 2.60 0.00 0.000 4 0.000 0.065 2731 3414 1718

12004 1.28 289.8 746.3 8.4 576 12009 0.00 2.55 0.00 0.000 6 0.000 0.045 2731 1989 1718

12321 1.28 289.8 717.3 9.7 591 12325 0.00 2.65 0.00 0.000 4 0.000 0.064 2731 3416 1718

12370 1.28 289.8 711.7 11.7 593 12375 0.00 2.55 0.00 0.000 6 0.000 0.044 2731 1988 1718

12687 1.28 289.8 675.5 12.0 608 12691 0.00 2.55 0.00 0.000 4 0.000 0.060 2731 586 1718

12720 1.28 289.8 671.3 12.1 609 12724 0.00 2.50 0.00 0.000 6 0.000 0.037 2731 2010 1718

13036 1.28 289.8 630.9 12.5 624 13040 0.00 2.58 0.00 0.000 4 0.000 0.059 2731 595 1718

13125 1.28 289.8 619.6 12.3 628 13129 0.00 2.47 0.00 0.000 6 0.000 0.036 2731 2012 1718

13452 1.28 289.8 583.7 9.7 644 13457 0.00 2.55 0.00 0.000 4 0.000 0.063 2731 3406 1718

13486 1.28 289.8 580.3 9.0 645 13492 0.00 2.47 0.00 0.000 6 0.000 0.042 2731 1999 1718

13802 1.28 289.8 553.5 7.6 661 13806 0.00 2.55 0.00 0.000 4 0.000 0.058 2731 588 1718

13836 1.28 289.8 550.8 7.9 662 13840 0.00 2.47 0.00 0.000 6 0.000 0.036 2731 2008 1718

14152 1.28 289.8 527.6 7.3 677 14155 0.00 2.55 0.00 0.000 4 0.000 0.064 2731 3412 1718

14203 1.28 289.8 523.6 8.0 679 14207 0.00 2.53 0.00 0.000 6 0.000 0.042 2731 1988 1718

14524 1.28 289.8 498.0 8.2 695 14528 0.00 2.53 0.00 0.000 4 0.000 0.059 2731 590 1719

14563 1.28 289.8 494.5 8.2 697 14568 0.00 2.47 0.00 0.000 6 0.000 0.035 2731 2012 1719

14891 1.28 289.8 467.6 7.6 713 14892 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2013 1719

15200 1.28 289.8 446.3 6.4 728 15204 0.00 2.55 0.00 0.000 4 0.000 0.064 2731 3409 1719

15250 1.28 289.8 442.7 6.9 730 15254 0.00 2.53 0.00 0.000 6 0.000 0.044 2731 1989 1719

15566 1.28 289.8 420.8 8.0 745 15567 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1988 1719

15875 1.28 289.8 394.2 8.5 760 15879 0.00 2.62 0.00 0.000 4 0.000 0.063 2731 3412 1719

15914 1.28 289.8 390.5 9.6 762 15919 0.00 2.53 0.00 0.000 6 0.000 0.047 2731 1998 1719

16241 1.28 289.8 361.1 9.4 778 16245 0.00 2.60 0.00 0.000 4 0.000 0.064 2731 3408 1719

16268 1.28 289.8 358.4 9.9 779 16272 0.00 2.53 0.00 0.000 6 0.000 0.048 2731 1996 1719

16584 1.28 289.8 328.5 9.8 794 16585 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1996 1719

16893 1.28 289.8 299.7 9.4 809 16897 0.00 2.60 0.00 0.000 4 0.000 0.066 2731 3405 1719

16933 1.28 289.8 295.6 9.4 810 16939 0.00 2.53 0.00 0.000 6 0.000 0.050 2731 1991 1719

17249 1.28 289.8 264.4 9.8 826 17250 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1991 1719

17558 1.28 289.8 238.1 7.5 841 17562 0.00 2.62 0.00 0.000 4 0.000 0.067 2731 3403 1719

17603 1.28 289.8 234.4 7.5 843 17607 0.00 2.53 0.00 0.000 6 0.000 0.050 2731 1999 1719

17923 1.28 289.8 209.0 7.9 859 17925 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1999 1719

18233 1.28 289.8 183.0 8.8 874 18234 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1999 1720

18542 1.28 289.8 156.0 9.1 889 18547 0.00 2.62 0.00 0.000 4 0.000 0.067 2731 3409 1720

18576 1.28 289.8 152.9 8.6 890 18582 0.00 2.53 0.00 0.000 6 0.000 0.050 2731 1998 1720

18892 1.28 289.8 127.7 7.9 906 18893 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1997 1720

19202 1.28 289.8 99.3 9.1 921 19206 0.00 2.62 0.00 0.000 4 0.000 0.068 2731 3406 1720

19235 1.28 289.8 95.9 10.1 922 19241 0.00 2.53 0.00 0.000 6 0.000 0.051 2731 1998 1720

19552 1.28 289.8 66.5 10.8 938 19557 0.00 2.58 0.00 0.000 4 0.000 0.067 2731 590 1720

19603 1.28 289.8 60.9 10.1 940 19607 0.00 2.47 0.00 0.000 6 0.000 0.041 2731 1998 1720

19921 1.28 289.8 34.9 6.9 955 19922 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1998 1720

20228 1.28 289.8 14.7 7.4 970 20229 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 1999 1720

20369 end climb: SURFACE_DEPTH_REACHED

state 20369 begin surface coast

20392 end surface coast: CONTROL_FINISHED_OK

state 20392 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	222	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	18	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	-147263.12	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	152205,6339.055,-1317.487,40,2.0,51,-12.4	TGT_NAME	KW
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.169,0.139
_SM_DEPTHo	1.13	KALMAN_X	-16940.3,151.8,305.5,-50258.2,-8029.8
_SM_ANGLEo	-55.8	KALMAN_Y	-29299.1,244.1,-3573.6,100467.6,8472.3
GPS2	152744,6338.983,-1317.653,15,1.6,15,-12.5	MHEAD_RNG_PITCHd_Wd	63.1,21338,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.027464	ALTIM_BOTTOM_PING	825.6,33.8
SM_CCo	20477,0.00,0.000,0,0,1719,290.19	_24V_AH	23.3,40.326
SM_GC	1.26,11.65,0.00,0.00,0.022,0.000,0.000,47,2651,1719,-10.94,0.03,290.19	_10V_AH	10.1,22.843
IRIDIUM_FIX	6313.04,-1325.79,060798,101034	DATA_FILE_SIZE	50644,978
TT8_MAMPS	0.029146	CAP_FILE_SIZE	132295,0
HUMID	1780	CFSIZE	260165632,244039680
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.50	GPS	110409,211111,6339.668,-1319.681,33,2.0,38,-12.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	154	94.49	SBE_CT	683	24	382.14
Roll_motor	144	94	317.47	SBE_O2	729	19	322.95
VBD_pump_during_apogee	376	1224	10742.20	WL_BB2F	560	105	1372.15
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	59.19	nil	0	0	0.00
Iridium_during_connect	25	160	95.41	nil	0	0	0.00
Iridium_during_xfer	154	223	803.46
Transponder_ping	7	420	73.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.92
TT8	1727	19	345.49
LPSleep	16017	2	354.29
TT8_Active	488	19	97.75
TT8_Sampling	2010	39	807.99
TT8_CF8	570	45	263.84
TT8_Kalman	33	81	27.55
Analog_circuits	1510	12	183.07
GPS_charging	0	0	0.00
Compass	1970	8	159.24
RAFOS	0	0	0.00
Transponder	53	30	16.09

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	79	0.00	0.00	-61.05	0.000	2	0.000	0.000	52	2662	3407
82	-1.10	-146.6	4.9	-9.1	3	104	12.02	2.75	-1.45	0.000	4	0.155	0.090	2195	1242	3503
253	-1.10	-146.6	30.8	-9.5	10	258	0.00	2.62	0.00	0.000	6	0.000	0.068	2195	2648	3503
569	-1.10	-146.6	53.9	-6.7	25	573	0.00	2.22	0.00	0.000	4	0.000	0.094	2195	3793	3503
610	-1.10	-146.6	56.9	-7.9	27	614	0.00	2.10	0.00	0.000	6	0.000	0.062	2195	2650	3503
943	-1.10	-146.6	84.7	-8.4	43	944	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3503
1254	-1.10	-146.6	111.5	-8.6	58	1255	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3503
1561	-1.10	-146.6	136.4	-8.3	73	1565	0.00	2.20	0.00	0.000	4	0.000	0.091	2194	3785	3503
1601	-1.10	-146.6	139.7	-8.6	74	1607	0.00	2.08	0.00	0.000	6	0.000	0.061	2195	2646	3503
1917	-1.10	-146.6	163.5	-8.2	90	1918	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2646	3503
2226	-1.10	-146.6	191.0	-9.0	105	2227	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2646	3503
2535	-1.10	-146.6	217.6	-8.5	120	2539	0.00	2.22	0.00	0.000	4	0.000	0.089	2195	3792	3503
2581	-1.10	-146.6	221.6	-8.5	122	2585	0.00	2.10	0.00	0.000	6	0.000	0.060	2195	2644	3503
2914	-1.10	-146.6	248.1	-8.0	138	2915	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3503
3223	-1.10	-146.6	272.3	-7.8	153	3227	0.00	2.22	0.00	0.000	4	0.000	0.087	2195	3793	3503
3281	-1.10	-146.6	276.9	-8.8	155	3287	0.00	2.08	0.00	0.000	6	0.000	0.060	2195	2650	3503
3597	-1.10	-146.6	301.6	-7.7	171	3598	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3503
3907	-1.10	-146.6	324.2	-7.0	186	3908	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3503
4216	-1.10	-146.6	347.6	-7.8	201	4217	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2651	3503
4525	-1.10	-146.6	372.2	-8.2	216	4526	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3503
4835	-1.10	-146.6	398.0	-8.3	231	4836	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2651	3503
5144	-1.10	-146.6	422.6	-7.4	246	5145	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3503
5453	-1.10	-146.6	449.7	-9.1	261	5454	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3503
5763	-1.10	-146.6	476.2	-8.1	276	5764	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3503
6071	-1.10	-146.6	497.1	-6.2	291	6075	0.00	2.17	0.00	0.000	4	0.000	0.086	2195	3789	3503
6110	-1.10	-146.6	499.7	-6.5	292	6117	0.00	2.08	0.00	0.000	6	0.000	0.054	2195	2640	3503
6427	-1.10	-146.6	519.5	-6.1	308	6428	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2640	3503
6735	-1.10	-146.6	537.9	-6.2	323	6740	0.00	2.58	0.00	0.000	4	0.000	0.067	2195	1223	3503
6769	-1.10	-146.6	540.1	-6.4	324	6775	0.00	2.60	0.00	0.000	6	0.000	0.057	2195	2654	3503
7085	-1.10	-146.6	561.8	-6.9	340	7086	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2654	3503
7394	-1.10	-146.6	585.6	-7.6	355	7398	0.00	2.15	0.00	0.000	4	0.000	0.087	2195	3786	3503
7457	-1.10	-146.6	590.6	-8.1	357	7463	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2645	3503
7773	-1.10	-146.6	620.1	-11.0	373	7775	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3503
8082	-1.10	-146.6	652.9	-10.7	388	8084	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3503
8392	-1.10	-146.6	686.8	-10.0	403	8393	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3503
8701	-1.10	-146.6	718.7	-8.9	418	8702	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3503
9010	-1.10	-146.6	744.4	-7.5	433	9014	0.00	2.20	0.00	0.000	4	0.000	0.088	2195	3785	3503
9060	-1.10	-146.6	748.5	-8.3	435	9064	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2641	3503
9388	-1.10	-146.6	778.9	-7.9	451	9389	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3503
9697	-1.10	-146.6	797.0	-7.6	466	9701	0.00	2.22	0.00	0.000	4	0.000	0.091	2195	3787	3503
9737	-1.10	-146.6	798.8	-2.8	467	9743	0.00	2.05	0.00	0.000	6	0.000	0.055	2195	2652	3503
10053	-1.10	-146.6	822.7	-7.1	483	10054	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2649	3503
10359	end dive: BOTTOM_OBSTACLE_DETECTED
state	10359	begin apogee
10368	-0.42	0.0	850.0	9.2	498	10502	0.75	0.00	128.20	1.224	6	0.093	0.000	2344	1995	2902
10502	end apogee: CONTROL_FINISHED_OK
state	10502	begin climb
10506	1.10	146.6	855.7	0.0	505	10639	1.58	2.67	125.35	1.193	4	0.058	0.064	2680	583	2304
10676	1.28	289.8	856.3	2.0	513	10808	0.17	2.55	123.07	1.180	6	0.040	0.035	2731	2038	1720
11127	1.28	289.8	820.5	8.6	535	11131	0.00	2.70	0.00	0.000	4	0.000	0.061	2731	576	1719
11227	1.28	289.8	811.8	9.2	539	11233	0.00	2.53	0.00	0.000	6	0.000	0.041	2731	1995	1719
11543	1.28	289.8	785.3	8.8	555	11548	0.00	2.62	0.00	0.000	4	0.000	0.062	2731	577	1718
11594	1.28	289.8	781.1	7.3	557	11598	0.00	2.53	0.00	0.000	6	0.000	0.040	2731	2005	1718
11909	1.28	289.8	754.3	8.3	572	11914	0.00	2.60	0.00	0.000	4	0.000	0.065	2731	3414	1718
12004	1.28	289.8	746.3	8.4	576	12009	0.00	2.55	0.00	0.000	6	0.000	0.045	2731	1989	1718
12321	1.28	289.8	717.3	9.7	591	12325	0.00	2.65	0.00	0.000	4	0.000	0.064	2731	3416	1718
12370	1.28	289.8	711.7	11.7	593	12375	0.00	2.55	0.00	0.000	6	0.000	0.044	2731	1988	1718
12687	1.28	289.8	675.5	12.0	608	12691	0.00	2.55	0.00	0.000	4	0.000	0.060	2731	586	1718
12720	1.28	289.8	671.3	12.1	609	12724	0.00	2.50	0.00	0.000	6	0.000	0.037	2731	2010	1718
13036	1.28	289.8	630.9	12.5	624	13040	0.00	2.58	0.00	0.000	4	0.000	0.059	2731	595	1718
13125	1.28	289.8	619.6	12.3	628	13129	0.00	2.47	0.00	0.000	6	0.000	0.036	2731	2012	1718
13452	1.28	289.8	583.7	9.7	644	13457	0.00	2.55	0.00	0.000	4	0.000	0.063	2731	3406	1718
13486	1.28	289.8	580.3	9.0	645	13492	0.00	2.47	0.00	0.000	6	0.000	0.042	2731	1999	1718
13802	1.28	289.8	553.5	7.6	661	13806	0.00	2.55	0.00	0.000	4	0.000	0.058	2731	588	1718
13836	1.28	289.8	550.8	7.9	662	13840	0.00	2.47	0.00	0.000	6	0.000	0.036	2731	2008	1718
14152	1.28	289.8	527.6	7.3	677	14155	0.00	2.55	0.00	0.000	4	0.000	0.064	2731	3412	1718
14203	1.28	289.8	523.6	8.0	679	14207	0.00	2.53	0.00	0.000	6	0.000	0.042	2731	1988	1718
14524	1.28	289.8	498.0	8.2	695	14528	0.00	2.53	0.00	0.000	4	0.000	0.059	2731	590	1719
14563	1.28	289.8	494.5	8.2	697	14568	0.00	2.47	0.00	0.000	6	0.000	0.035	2731	2012	1719
14891	1.28	289.8	467.6	7.6	713	14892	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2013	1719
15200	1.28	289.8	446.3	6.4	728	15204	0.00	2.55	0.00	0.000	4	0.000	0.064	2731	3409	1719
15250	1.28	289.8	442.7	6.9	730	15254	0.00	2.53	0.00	0.000	6	0.000	0.044	2731	1989	1719
15566	1.28	289.8	420.8	8.0	745	15567	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1988	1719
15875	1.28	289.8	394.2	8.5	760	15879	0.00	2.62	0.00	0.000	4	0.000	0.063	2731	3412	1719
15914	1.28	289.8	390.5	9.6	762	15919	0.00	2.53	0.00	0.000	6	0.000	0.047	2731	1998	1719
16241	1.28	289.8	361.1	9.4	778	16245	0.00	2.60	0.00	0.000	4	0.000	0.064	2731	3408	1719
16268	1.28	289.8	358.4	9.9	779	16272	0.00	2.53	0.00	0.000	6	0.000	0.048	2731	1996	1719
16584	1.28	289.8	328.5	9.8	794	16585	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1996	1719
16893	1.28	289.8	299.7	9.4	809	16897	0.00	2.60	0.00	0.000	4	0.000	0.066	2731	3405	1719
16933	1.28	289.8	295.6	9.4	810	16939	0.00	2.53	0.00	0.000	6	0.000	0.050	2731	1991	1719
17249	1.28	289.8	264.4	9.8	826	17250	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1991	1719
17558	1.28	289.8	238.1	7.5	841	17562	0.00	2.62	0.00	0.000	4	0.000	0.067	2731	3403	1719
17603	1.28	289.8	234.4	7.5	843	17607	0.00	2.53	0.00	0.000	6	0.000	0.050	2731	1999	1719
17923	1.28	289.8	209.0	7.9	859	17925	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1999	1719
18233	1.28	289.8	183.0	8.8	874	18234	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1999	1720
18542	1.28	289.8	156.0	9.1	889	18547	0.00	2.62	0.00	0.000	4	0.000	0.067	2731	3409	1720
18576	1.28	289.8	152.9	8.6	890	18582	0.00	2.53	0.00	0.000	6	0.000	0.050	2731	1998	1720
18892	1.28	289.8	127.7	7.9	906	18893	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1997	1720
19202	1.28	289.8	99.3	9.1	921	19206	0.00	2.62	0.00	0.000	4	0.000	0.068	2731	3406	1720
19235	1.28	289.8	95.9	10.1	922	19241	0.00	2.53	0.00	0.000	6	0.000	0.051	2731	1998	1720
19552	1.28	289.8	66.5	10.8	938	19557	0.00	2.58	0.00	0.000	4	0.000	0.067	2731	590	1720
19603	1.28	289.8	60.9	10.1	940	19607	0.00	2.47	0.00	0.000	6	0.000	0.041	2731	1998	1720
19921	1.28	289.8	34.9	6.9	955	19922	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1998	1720
20228	1.28	289.8	14.7	7.4	970	20229	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1999	1720
20369	end climb: SURFACE_DEPTH_REACHED
state	20369	begin surface coast
20392	end surface coast: CONTROL_FINISHED_OK
state	20392	begin surface