Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 233 * 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 233 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 14 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 -147429.86 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 -147429.86

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 14 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 233 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 091607,6353.036,-1321.955,37,1.1,37,-12.6 TGT_NAME LW

_CALLS 2 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.182,0.121

_SM_DEPTHo 1.38 KALMAN_X -75952.6,1478.9,2248.1,1759.7,-37833.5

_SM_ANGLEo -59.7 KALMAN_Y -46384.4,363.3,-1700.3,141706.0,-8145.3

GPS2 092619,6353.107,-1322.105,11,1.1,15,-12.6 MHEAD_RNG_PITCHd_Wd 68.8,14285,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.021277 ALTIM_BOTTOM_PING 725.3,65.3

SM_CCo 19619,0.00,0.000,0,0,1339,383.40 _24V_AH 23.3,42.003

SM_GC 1.24,11.93,0.00,0.00,0.031,0.000,0.000,47,2638,1339,-10.93,-0.34,383.40 _10V_AH 10.1,23.865

IRIDIUM_FIX 6327.46,-1323.10,090798,090907 DATA_FILE_SIZE 47409,938

TT8_MAMPS 0.028379 CAP_FILE_SIZE 139436,0

HUMID 1792 CFSIZE 260165632,243302400

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

TCM_TEMP 16.90 GPS 140409,145531,6355.973,-1315.949,42,1.0,42,-12.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 98.40 SBE_CT 661 24 369.76

Roll_motor 159 106 395.34 SBE_O2 693 19 307.13

VBD_pump_during_apogee 465 1203 13045.50 WL_BB2F 516 105 1264.23

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 59 103 142.39 nil 0 0 0.00

Iridium_during_connect 61 160 229.17 nil 0 0 0.00

Iridium_during_xfer 250 223 1299.39

Transponder_ping 6 420 61.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.24

TT8 1699 19 339.94

LPSleep 15133 2 334.75

TT8_Active 534 19 106.87

TT8_Sampling 2076 39 834.72

TT8_CF8 779 45 360.63

TT8_Kalman 33 81 27.56

Analog_circuits 1608 12 194.91

GPS_charging 0 0 0.00

Compass 2031 8 164.17

RAFOS 0 0 0.00

Transponder 44 30 13.56

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 53 2653 3036

62 -1.10 -146.6 3.6 -10.2 2 88 12.15 2.22 -8.50 0.000 4 0.159 0.107 2195 3783 3502

251 -1.10 -146.6 28.5 -8.8 10 255 0.00 2.10 0.00 0.000 6 0.000 0.064 2195 2647 3502

573 -1.10 -146.6 54.1 -7.8 26 574 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2647 3502

882 -1.10 -146.6 81.4 -9.2 41 883 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2647 3502

1192 -1.10 -146.6 110.7 -10.1 56 1195 0.00 2.22 0.00 0.000 4 0.000 0.092 2195 3785 3501

1253 -1.10 -146.6 117.6 -10.5 58 1260 0.00 2.08 0.00 0.000 6 0.000 0.061 2195 2648 3501

1571 -1.10 -146.6 145.7 -8.9 74 1572 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

1879 -1.10 -146.6 172.0 -8.5 89 1880 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

2188 -1.10 -146.6 196.5 -7.3 104 2192 0.00 2.22 0.00 0.000 4 0.000 0.091 2195 3790 3501

2238 -1.10 -146.6 200.9 -9.0 106 2242 0.00 2.10 0.00 0.000 6 0.000 0.060 2195 2644 3501

2559 -1.10 -146.6 222.7 -6.0 122 2561 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3501

2869 -1.10 -146.6 242.1 -6.7 137 2870 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3501

3178 -1.10 -146.6 262.9 -7.0 152 3181 0.00 2.22 0.00 0.000 4 0.000 0.091 2195 3786 3501

3228 -1.10 -146.6 266.5 -6.9 154 3232 0.00 2.08 0.00 0.000 6 0.000 0.059 2195 2654 3501

3555 -1.10 -146.6 288.6 -6.6 170 3557 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2653 3501

3864 -1.10 -146.6 309.3 -6.8 185 3865 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2653 3501

4174 -1.10 -146.6 331.4 -8.4 200 4175 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2653 3501

4483 -1.10 -146.6 357.3 -7.1 215 4487 0.00 2.17 0.00 0.000 4 0.000 0.087 2195 3782 3501

4556 -1.10 -146.6 362.8 -7.4 218 4560 0.00 2.08 0.00 0.000 6 0.000 0.058 2195 2644 3501

4883 -1.10 -146.6 388.8 -7.8 234 4884 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2644 3501

5192 -1.10 -146.6 416.0 -9.5 249 5196 0.00 2.20 0.00 0.000 4 0.000 0.088 2195 3782 3501

5231 -1.10 -146.6 420.3 -11.0 250 5238 0.00 2.05 0.00 0.000 6 0.000 0.057 2195 2646 3501

5548 -1.10 -146.6 458.5 -12.2 266 5549 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2646 3501

5858 -1.10 -146.6 493.3 -10.1 281 5861 0.00 2.20 0.00 0.000 4 0.000 0.087 2195 3783 3501

5892 -1.10 -146.6 497.2 -11.3 282 5895 0.00 2.05 0.00 0.000 6 0.000 0.055 2195 2650 3501

6213 -1.10 -146.6 538.7 -12.6 298 6214 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3501

6523 -1.10 -146.6 572.6 -10.4 313 6524 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3501

6831 -1.10 -146.6 609.0 -11.5 328 6836 0.00 2.60 0.00 0.000 4 0.000 0.067 2195 1224 3501

6872 -1.10 -146.6 613.3 -10.9 330 6876 0.00 2.62 0.00 0.000 6 0.000 0.061 2195 2656 3501

7199 -1.10 -146.6 641.7 -7.8 346 7200 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2657 3501

7508 -1.10 -146.6 664.0 -5.9 361 7512 0.00 2.15 0.00 0.000 4 0.000 0.088 2195 3785 3501

7626 -1.10 -146.6 671.2 -6.4 366 7630 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2643 3501

7954 -1.10 -146.6 689.2 -5.1 382 7955 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3501

8263 -1.10 -146.6 700.8 -2.2 397 8267 0.00 2.22 0.00 0.000 4 0.000 0.088 2195 3792 3501

8342 -1.10 -146.6 703.4 -4.8 400 8346 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2650 3501

8665 -1.10 -146.6 715.9 -3.8 416 8666 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3501

8974 -1.10 -146.6 722.5 -2.4 431 8978 0.00 2.60 0.00 0.000 4 0.000 0.068 2195 1226 3501

9064 -1.10 -146.6 724.7 -1.6 435 9068 0.00 2.62 0.00 0.000 6 0.000 0.062 2195 2653 3500

9385 -1.10 -146.6 736.7 -5.0 451 9389 0.00 2.17 0.00 0.000 4 0.000 0.093 2195 3783 3500

9425 -1.10 -146.6 738.5 -5.2 452 9431 0.00 2.05 0.00 0.000 6 0.000 0.051 2196 2643 3500

9741 -1.10 -146.6 751.0 -6.1 468 9745 0.00 2.58 0.00 0.000 4 0.000 0.069 2195 1235 3499

9797 -1.10 -146.6 754.2 -5.5 470 9801 0.00 2.62 0.00 0.000 6 0.000 0.064 2195 2654 3499

10113 -1.10 -146.6 774.1 -6.9 485 10116 0.00 2.20 0.00 0.000 4 0.000 0.095 2196 3790 3498

10205 end dive: BOTTOM_OBSTACLE_DETECTED

state 10205 begin apogee

10216 -0.42 0.0 781.1 7.7 489 10346 0.73 0.00 125.93 1.203 6 0.097 0.000 2343 1996 2902

10346 end apogee: CONTROL_FINISHED_OK

state 10346 begin climb

10350 1.10 146.6 786.9 0.0 495 10483 1.58 2.70 125.12 1.169 4 0.058 0.066 2679 578 2304

10736 1.17 203.2 775.3 4.4 512 10791 0.00 2.55 49.47 1.149 6 0.000 0.038 2679 2017 2073

11120 1.18 211.3 753.8 5.8 531 11134 0.00 2.65 8.52 1.001 4 0.000 0.067 2679 3400 2040

11164 1.18 211.3 751.0 6.4 533 11169 0.00 2.58 0.00 0.000 6 0.000 0.048 2679 1983 2040

11491 1.18 211.3 728.8 7.0 549 11492 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1983 2039

11800 1.18 211.3 706.0 6.9 564 11804 0.00 2.65 0.00 0.000 4 0.000 0.064 2679 3405 2038

11923 1.19 215.7 698.2 5.9 569 11933 0.00 2.55 5.18 0.871 6 0.000 0.047 2679 1988 2022

12256 1.21 237.7 677.8 5.4 586 12282 0.12 2.65 19.95 1.105 4 0.044 0.064 2721 586 1932

12310 1.21 237.7 673.7 7.7 588 12316 0.00 2.53 0.00 0.000 6 0.000 0.038 2721 2006 1932

12626 1.31 311.8 655.0 3.9 604 12696 0.00 2.67 63.62 1.124 4 0.000 0.067 2721 3405 1630

12736 1.34 341.3 650.1 5.2 609 12773 0.00 2.58 26.52 1.075 6 0.000 0.050 2721 1994 1510

13083 1.37 361.4 631.9 5.4 626 13107 0.00 2.75 18.62 1.052 4 0.000 0.068 2720 3400 1428

13148 1.37 361.4 628.1 6.1 629 13153 0.00 2.58 0.00 0.000 6 0.000 0.051 2721 1990 1428

13475 1.37 361.4 607.7 6.5 645 13480 0.00 2.65 0.00 0.000 4 0.000 0.066 2721 3405 1428

13526 1.37 361.4 604.2 6.6 647 13530 0.00 2.55 0.00 0.000 6 0.000 0.048 2720 1994 1427

13842 1.37 361.4 583.4 6.9 662 13846 0.00 2.62 0.00 0.000 4 0.000 0.066 2720 3406 1428

13887 1.37 361.4 579.9 7.9 664 13892 0.00 2.55 0.00 0.000 6 0.000 0.048 2721 1990 1428

14209 1.38 374.7 559.0 5.6 680 14231 0.00 2.75 13.00 0.983 4 0.000 0.069 2720 3403 1374

14255 1.38 374.7 555.8 6.7 682 14259 0.00 2.55 0.00 0.000 6 0.000 0.048 2721 2002 1374

14581 1.39 383.8 536.2 5.7 698 14596 0.10 2.67 9.30 0.922 4 0.049 0.067 2752 3407 1337

14625 1.39 383.8 533.1 6.8 699 14630 0.00 2.55 0.00 0.000 6 0.000 0.047 2752 1998 1337

14946 1.39 383.8 506.2 9.9 715 14950 0.00 2.62 0.00 0.000 4 0.000 0.067 2752 3410 1337

14990 1.39 383.8 501.9 9.6 717 14994 0.00 2.55 0.00 0.000 6 0.000 0.048 2752 1996 1337

15311 1.39 383.8 469.2 11.1 733 15312 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 1996 1337

15620 1.39 383.8 432.1 12.3 748 15625 0.00 2.62 0.00 0.000 4 0.000 0.067 2752 3407 1337

15660 1.39 383.8 427.1 12.5 750 15664 0.00 2.53 0.00 0.000 6 0.000 0.051 2752 2003 1337

15987 1.39 383.8 386.8 11.6 766 15988 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2003 1338

16296 1.39 383.8 350.4 12.1 781 16300 0.00 2.62 0.00 0.000 4 0.000 0.068 2752 3406 1338

16351 1.39 383.8 343.0 13.1 783 16357 0.00 2.58 0.00 0.000 6 0.000 0.053 2752 1989 1338

16667 1.39 383.8 305.4 11.6 799 16669 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 1989 1338

16976 1.39 383.8 269.6 11.4 814 16981 0.00 2.65 0.00 0.000 4 0.000 0.070 2752 3405 1339

17032 1.39 383.8 263.2 11.6 816 17038 0.00 2.55 0.00 0.000 6 0.000 0.054 2752 2000 1338

17348 1.39 383.8 229.5 10.5 832 17350 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2000 1338

17657 1.39 383.8 196.1 11.4 847 17662 0.00 2.62 0.00 0.000 4 0.000 0.071 2752 3405 1339

17679 1.39 383.8 193.5 12.0 848 17684 0.00 2.55 0.00 0.000 6 0.000 0.052 2752 1997 1339

18001 1.39 383.8 160.9 9.7 864 18006 0.00 2.65 0.00 0.000 4 0.000 0.070 2752 3415 1339

18023 1.39 383.8 158.5 10.5 865 18028 0.00 2.58 0.00 0.000 6 0.000 0.054 2752 1998 1339

18345 1.39 383.8 126.2 10.0 881 18346 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 1997 1339

18655 1.39 383.8 94.5 10.5 896 18659 0.00 2.65 0.00 0.000 4 0.000 0.070 2752 3414 1339

18705 1.39 383.8 88.5 10.7 898 18709 0.00 2.60 0.00 0.000 6 0.000 0.055 2752 1989 1339

19021 1.39 383.8 53.4 9.9 913 19022 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 1989 1339

19331 1.39 383.8 21.4 11.0 928 19335 0.00 2.67 0.00 0.000 4 0.000 0.072 2752 3412 1339

19364 1.39 383.8 17.6 10.5 929 19370 0.00 2.58 0.00 0.000 6 0.000 0.058 2752 1998 1339

19512 end climb: SURFACE_DEPTH_REACHED

state 19512 begin surface coast

19534 end surface coast: CONTROL_FINISHED_OK

state 19534 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	233	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	14	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	-147429.86	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	091607,6353.036,-1321.955,37,1.1,37,-12.6	TGT_NAME	LW
_CALLS	2	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.182,0.121
_SM_DEPTHo	1.38	KALMAN_X	-75952.6,1478.9,2248.1,1759.7,-37833.5
_SM_ANGLEo	-59.7	KALMAN_Y	-46384.4,363.3,-1700.3,141706.0,-8145.3
GPS2	092619,6353.107,-1322.105,11,1.1,15,-12.6	MHEAD_RNG_PITCHd_Wd	68.8,14285,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.021277	ALTIM_BOTTOM_PING	725.3,65.3
SM_CCo	19619,0.00,0.000,0,0,1339,383.40	_24V_AH	23.3,42.003
SM_GC	1.24,11.93,0.00,0.00,0.031,0.000,0.000,47,2638,1339,-10.93,-0.34,383.40	_10V_AH	10.1,23.865
IRIDIUM_FIX	6327.46,-1323.10,090798,090907	DATA_FILE_SIZE	47409,938
TT8_MAMPS	0.028379	CAP_FILE_SIZE	139436,0
HUMID	1792	CFSIZE	260165632,243302400
INTERNAL_PRESSURE	8.52572	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	140409,145531,6355.973,-1315.949,42,1.0,42,-12.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	98.40	SBE_CT	661	24	369.76
Roll_motor	159	106	395.34	SBE_O2	693	19	307.13
VBD_pump_during_apogee	465	1203	13045.50	WL_BB2F	516	105	1264.23
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	59	103	142.39	nil	0	0	0.00
Iridium_during_connect	61	160	229.17	nil	0	0	0.00
Iridium_during_xfer	250	223	1299.39
Transponder_ping	6	420	61.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.24
TT8	1699	19	339.94
LPSleep	15133	2	334.75
TT8_Active	534	19	106.87
TT8_Sampling	2076	39	834.72
TT8_CF8	779	45	360.63
TT8_Kalman	33	81	27.56
Analog_circuits	1608	12	194.91
GPS_charging	0	0	0.00
Compass	2031	8	164.17
RAFOS	0	0	0.00
Transponder	44	30	13.56

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	53	2653	3036
62	-1.10	-146.6	3.6	-10.2	2	88	12.15	2.22	-8.50	0.000	4	0.159	0.107	2195	3783	3502
251	-1.10	-146.6	28.5	-8.8	10	255	0.00	2.10	0.00	0.000	6	0.000	0.064	2195	2647	3502
573	-1.10	-146.6	54.1	-7.8	26	574	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2647	3502
882	-1.10	-146.6	81.4	-9.2	41	883	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2647	3502
1192	-1.10	-146.6	110.7	-10.1	56	1195	0.00	2.22	0.00	0.000	4	0.000	0.092	2195	3785	3501
1253	-1.10	-146.6	117.6	-10.5	58	1260	0.00	2.08	0.00	0.000	6	0.000	0.061	2195	2648	3501
1571	-1.10	-146.6	145.7	-8.9	74	1572	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
1879	-1.10	-146.6	172.0	-8.5	89	1880	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
2188	-1.10	-146.6	196.5	-7.3	104	2192	0.00	2.22	0.00	0.000	4	0.000	0.091	2195	3790	3501
2238	-1.10	-146.6	200.9	-9.0	106	2242	0.00	2.10	0.00	0.000	6	0.000	0.060	2195	2644	3501
2559	-1.10	-146.6	222.7	-6.0	122	2561	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3501
2869	-1.10	-146.6	242.1	-6.7	137	2870	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3501
3178	-1.10	-146.6	262.9	-7.0	152	3181	0.00	2.22	0.00	0.000	4	0.000	0.091	2195	3786	3501
3228	-1.10	-146.6	266.5	-6.9	154	3232	0.00	2.08	0.00	0.000	6	0.000	0.059	2195	2654	3501
3555	-1.10	-146.6	288.6	-6.6	170	3557	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2653	3501
3864	-1.10	-146.6	309.3	-6.8	185	3865	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2653	3501
4174	-1.10	-146.6	331.4	-8.4	200	4175	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2653	3501
4483	-1.10	-146.6	357.3	-7.1	215	4487	0.00	2.17	0.00	0.000	4	0.000	0.087	2195	3782	3501
4556	-1.10	-146.6	362.8	-7.4	218	4560	0.00	2.08	0.00	0.000	6	0.000	0.058	2195	2644	3501
4883	-1.10	-146.6	388.8	-7.8	234	4884	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2644	3501
5192	-1.10	-146.6	416.0	-9.5	249	5196	0.00	2.20	0.00	0.000	4	0.000	0.088	2195	3782	3501
5231	-1.10	-146.6	420.3	-11.0	250	5238	0.00	2.05	0.00	0.000	6	0.000	0.057	2195	2646	3501
5548	-1.10	-146.6	458.5	-12.2	266	5549	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2646	3501
5858	-1.10	-146.6	493.3	-10.1	281	5861	0.00	2.20	0.00	0.000	4	0.000	0.087	2195	3783	3501
5892	-1.10	-146.6	497.2	-11.3	282	5895	0.00	2.05	0.00	0.000	6	0.000	0.055	2195	2650	3501
6213	-1.10	-146.6	538.7	-12.6	298	6214	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3501
6523	-1.10	-146.6	572.6	-10.4	313	6524	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3501
6831	-1.10	-146.6	609.0	-11.5	328	6836	0.00	2.60	0.00	0.000	4	0.000	0.067	2195	1224	3501
6872	-1.10	-146.6	613.3	-10.9	330	6876	0.00	2.62	0.00	0.000	6	0.000	0.061	2195	2656	3501
7199	-1.10	-146.6	641.7	-7.8	346	7200	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2657	3501
7508	-1.10	-146.6	664.0	-5.9	361	7512	0.00	2.15	0.00	0.000	4	0.000	0.088	2195	3785	3501
7626	-1.10	-146.6	671.2	-6.4	366	7630	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2643	3501
7954	-1.10	-146.6	689.2	-5.1	382	7955	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3501
8263	-1.10	-146.6	700.8	-2.2	397	8267	0.00	2.22	0.00	0.000	4	0.000	0.088	2195	3792	3501
8342	-1.10	-146.6	703.4	-4.8	400	8346	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2650	3501
8665	-1.10	-146.6	715.9	-3.8	416	8666	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3501
8974	-1.10	-146.6	722.5	-2.4	431	8978	0.00	2.60	0.00	0.000	4	0.000	0.068	2195	1226	3501
9064	-1.10	-146.6	724.7	-1.6	435	9068	0.00	2.62	0.00	0.000	6	0.000	0.062	2195	2653	3500
9385	-1.10	-146.6	736.7	-5.0	451	9389	0.00	2.17	0.00	0.000	4	0.000	0.093	2195	3783	3500
9425	-1.10	-146.6	738.5	-5.2	452	9431	0.00	2.05	0.00	0.000	6	0.000	0.051	2196	2643	3500
9741	-1.10	-146.6	751.0	-6.1	468	9745	0.00	2.58	0.00	0.000	4	0.000	0.069	2195	1235	3499
9797	-1.10	-146.6	754.2	-5.5	470	9801	0.00	2.62	0.00	0.000	6	0.000	0.064	2195	2654	3499
10113	-1.10	-146.6	774.1	-6.9	485	10116	0.00	2.20	0.00	0.000	4	0.000	0.095	2196	3790	3498
10205	end dive: BOTTOM_OBSTACLE_DETECTED
state	10205	begin apogee
10216	-0.42	0.0	781.1	7.7	489	10346	0.73	0.00	125.93	1.203	6	0.097	0.000	2343	1996	2902
10346	end apogee: CONTROL_FINISHED_OK
state	10346	begin climb
10350	1.10	146.6	786.9	0.0	495	10483	1.58	2.70	125.12	1.169	4	0.058	0.066	2679	578	2304
10736	1.17	203.2	775.3	4.4	512	10791	0.00	2.55	49.47	1.149	6	0.000	0.038	2679	2017	2073
11120	1.18	211.3	753.8	5.8	531	11134	0.00	2.65	8.52	1.001	4	0.000	0.067	2679	3400	2040
11164	1.18	211.3	751.0	6.4	533	11169	0.00	2.58	0.00	0.000	6	0.000	0.048	2679	1983	2040
11491	1.18	211.3	728.8	7.0	549	11492	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1983	2039
11800	1.18	211.3	706.0	6.9	564	11804	0.00	2.65	0.00	0.000	4	0.000	0.064	2679	3405	2038
11923	1.19	215.7	698.2	5.9	569	11933	0.00	2.55	5.18	0.871	6	0.000	0.047	2679	1988	2022
12256	1.21	237.7	677.8	5.4	586	12282	0.12	2.65	19.95	1.105	4	0.044	0.064	2721	586	1932
12310	1.21	237.7	673.7	7.7	588	12316	0.00	2.53	0.00	0.000	6	0.000	0.038	2721	2006	1932
12626	1.31	311.8	655.0	3.9	604	12696	0.00	2.67	63.62	1.124	4	0.000	0.067	2721	3405	1630
12736	1.34	341.3	650.1	5.2	609	12773	0.00	2.58	26.52	1.075	6	0.000	0.050	2721	1994	1510
13083	1.37	361.4	631.9	5.4	626	13107	0.00	2.75	18.62	1.052	4	0.000	0.068	2720	3400	1428
13148	1.37	361.4	628.1	6.1	629	13153	0.00	2.58	0.00	0.000	6	0.000	0.051	2721	1990	1428
13475	1.37	361.4	607.7	6.5	645	13480	0.00	2.65	0.00	0.000	4	0.000	0.066	2721	3405	1428
13526	1.37	361.4	604.2	6.6	647	13530	0.00	2.55	0.00	0.000	6	0.000	0.048	2720	1994	1427
13842	1.37	361.4	583.4	6.9	662	13846	0.00	2.62	0.00	0.000	4	0.000	0.066	2720	3406	1428
13887	1.37	361.4	579.9	7.9	664	13892	0.00	2.55	0.00	0.000	6	0.000	0.048	2721	1990	1428
14209	1.38	374.7	559.0	5.6	680	14231	0.00	2.75	13.00	0.983	4	0.000	0.069	2720	3403	1374
14255	1.38	374.7	555.8	6.7	682	14259	0.00	2.55	0.00	0.000	6	0.000	0.048	2721	2002	1374
14581	1.39	383.8	536.2	5.7	698	14596	0.10	2.67	9.30	0.922	4	0.049	0.067	2752	3407	1337
14625	1.39	383.8	533.1	6.8	699	14630	0.00	2.55	0.00	0.000	6	0.000	0.047	2752	1998	1337
14946	1.39	383.8	506.2	9.9	715	14950	0.00	2.62	0.00	0.000	4	0.000	0.067	2752	3410	1337
14990	1.39	383.8	501.9	9.6	717	14994	0.00	2.55	0.00	0.000	6	0.000	0.048	2752	1996	1337
15311	1.39	383.8	469.2	11.1	733	15312	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	1996	1337
15620	1.39	383.8	432.1	12.3	748	15625	0.00	2.62	0.00	0.000	4	0.000	0.067	2752	3407	1337
15660	1.39	383.8	427.1	12.5	750	15664	0.00	2.53	0.00	0.000	6	0.000	0.051	2752	2003	1337
15987	1.39	383.8	386.8	11.6	766	15988	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2003	1338
16296	1.39	383.8	350.4	12.1	781	16300	0.00	2.62	0.00	0.000	4	0.000	0.068	2752	3406	1338
16351	1.39	383.8	343.0	13.1	783	16357	0.00	2.58	0.00	0.000	6	0.000	0.053	2752	1989	1338
16667	1.39	383.8	305.4	11.6	799	16669	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	1989	1338
16976	1.39	383.8	269.6	11.4	814	16981	0.00	2.65	0.00	0.000	4	0.000	0.070	2752	3405	1339
17032	1.39	383.8	263.2	11.6	816	17038	0.00	2.55	0.00	0.000	6	0.000	0.054	2752	2000	1338
17348	1.39	383.8	229.5	10.5	832	17350	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2000	1338
17657	1.39	383.8	196.1	11.4	847	17662	0.00	2.62	0.00	0.000	4	0.000	0.071	2752	3405	1339
17679	1.39	383.8	193.5	12.0	848	17684	0.00	2.55	0.00	0.000	6	0.000	0.052	2752	1997	1339
18001	1.39	383.8	160.9	9.7	864	18006	0.00	2.65	0.00	0.000	4	0.000	0.070	2752	3415	1339
18023	1.39	383.8	158.5	10.5	865	18028	0.00	2.58	0.00	0.000	6	0.000	0.054	2752	1998	1339
18345	1.39	383.8	126.2	10.0	881	18346	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	1997	1339
18655	1.39	383.8	94.5	10.5	896	18659	0.00	2.65	0.00	0.000	4	0.000	0.070	2752	3414	1339
18705	1.39	383.8	88.5	10.7	898	18709	0.00	2.60	0.00	0.000	6	0.000	0.055	2752	1989	1339
19021	1.39	383.8	53.4	9.9	913	19022	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	1989	1339
19331	1.39	383.8	21.4	11.0	928	19335	0.00	2.67	0.00	0.000	4	0.000	0.072	2752	3412	1339
19364	1.39	383.8	17.6	10.5	929	19370	0.00	2.58	0.00	0.000	6	0.000	0.058	2752	1998	1339
19512	end climb: SURFACE_DEPTH_REACHED
state	19512	begin surface coast
19534	end surface coast: CONTROL_FINISHED_OK
state	19534	begin surface