Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 245 * 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 245 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 11 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -147653.05 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 -147653.05

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 11 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 245 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 080837,6351.938,-1258.484,40,1.0,40,-12.4 TGT_NAME KE

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.212,-0.055

_SM_DEPTHo 1.40 KALMAN_X 2948.2,-133.0,1581.6,-10674.0,1906.3

_SM_ANGLEo -62.7 KALMAN_Y -268.4,12.9,-144.2,-8002.5,-173.8

GPS2 081431,6351.945,-1258.593,13,1.1,13,-12.4 MHEAD_RNG_PITCHd_Wd 267.9,9989,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.017501 ALTIM_BOTTOM_PING 676.1,56.6

SM_CCo 17761,0.00,0.000,0,0,1810,267.87 _24V_AH 23.3,43.474

SM_GC 1.48,11.75,0.00,0.00,0.029,0.000,0.000,51,2635,1810,-10.93,-0.42,267.87 _10V_AH 10.1,24.657

IRIDIUM_FIX 6327.46,-1304.07,110798,030319 DATA_FILE_SIZE 44268,848

TT8_MAMPS 0.028379 CAP_FILE_SIZE 125680,0

HUMID 1774 CFSIZE 260165632,242733056

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

TCM_TEMP 16.90 GPS 160409,131237,6353.353,-1305.223,35,1.7,35,-12.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 98.70 SBE_CT 594 24 332.64

Roll_motor 156 109 400.71 SBE_O2 623 19 275.91

VBD_pump_during_apogee 354 1165 9629.66 WL_BB2F 520 105 1272.37

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 31 103 75.72 nil 0 0 0.00

Iridium_during_connect 33 160 123.03 nil 0 0 0.00

Iridium_during_xfer 156 223 814.25

Transponder_ping 5 420 56.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.07

TT8 1558 19 311.70

LPSleep 13652 2 301.98

TT8_Active 442 19 88.49

TT8_Sampling 1900 39 764.05

TT8_CF8 557 45 258.04

TT8_Kalman 31 81 25.96

Analog_circuits 1410 12 170.97

GPS_charging 0 0 0.00

Compass 1856 8 149.99

RAFOS 0 0 0.00

Transponder 40 30 12.28

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 -41.10 0.000 2 0.000 0.000 48 2643 3049

62 -1.10 -146.6 3.5 -9.1 2 88 12.20 2.25 -8.12 0.000 4 0.160 0.110 2193 3783 3501

341 -1.10 -146.6 32.4 -8.5 14 344 0.00 2.10 0.00 0.000 6 0.000 0.067 2193 2657 3501

662 -1.10 -146.6 57.9 -8.1 30 666 0.00 2.22 0.00 0.000 4 0.000 0.095 2193 3786 3501

842 -1.10 -146.6 73.3 -7.7 38 846 0.00 2.10 0.00 0.000 6 0.000 0.064 2193 2647 3501

1171 -1.10 -146.6 97.2 -7.2 54 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2647 3501

1479 -1.10 -146.6 120.3 -7.7 69 1483 0.00 2.22 0.00 0.000 4 0.000 0.093 2193 3783 3501

1513 -1.10 -146.6 123.3 -8.4 70 1516 0.00 2.10 0.00 0.000 6 0.000 0.064 2193 2645 3501

1835 -1.10 -146.6 148.8 -8.0 86 1836 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3501

2144 -1.10 -146.6 174.7 -8.7 101 2145 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3501

2454 -1.10 -146.6 201.7 -8.6 116 2457 0.00 2.22 0.00 0.000 4 0.000 0.092 2193 3786 3501

2493 -1.10 -146.6 205.2 -8.6 117 2499 0.00 2.10 0.00 0.000 6 0.000 0.062 2193 2644 3501

2809 -1.10 -146.6 233.2 -8.8 133 2810 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3501

3118 -1.10 -146.6 260.3 -8.9 148 3122 0.00 2.22 0.00 0.000 4 0.000 0.091 2193 3786 3501

3164 -1.10 -146.6 264.6 -9.6 150 3168 0.00 2.08 0.00 0.000 6 0.000 0.061 2193 2650 3501

3497 -1.10 -146.6 294.4 -8.8 166 3498 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2649 3501

3807 -1.10 -146.6 321.5 -9.5 181 3808 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3501

4118 -1.10 -146.6 350.2 -9.3 196 4121 0.00 2.20 0.00 0.000 4 0.000 0.090 2193 3787 3501

4168 -1.10 -146.6 355.7 -10.8 198 4172 0.00 2.08 0.00 0.000 6 0.000 0.060 2193 2651 3501

4496 -1.10 -146.6 387.9 -9.8 214 4500 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3790 3501

4542 -1.10 -146.6 392.5 -10.3 216 4546 0.00 2.08 0.00 0.000 6 0.000 0.059 2193 2650 3501

4875 -1.10 -146.6 423.7 -7.8 232 4876 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3501

5185 -1.10 -146.6 448.7 -7.3 247 5186 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3501

5493 -1.10 -146.6 471.7 -7.4 262 5497 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3787 3501

5566 -1.10 -146.6 477.7 -8.0 265 5570 0.00 2.08 0.00 0.000 6 0.000 0.056 2193 2641 3501

5894 -1.10 -146.6 503.3 -8.2 281 5898 0.00 2.22 0.00 0.000 4 0.000 0.089 2193 3792 3501

5922 -1.10 -146.6 506.0 -9.1 282 5926 0.00 2.05 0.00 0.000 6 0.000 0.056 2193 2652 3501

6249 -1.10 -146.6 530.9 -7.3 298 6250 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2652 3501

6559 -1.10 -146.6 556.9 -9.6 313 6563 0.00 2.17 0.00 0.000 4 0.000 0.088 2193 3784 3501

6621 -1.10 -146.6 562.9 -9.4 315 6627 0.00 2.05 0.00 0.000 6 0.000 0.055 2193 2637 3501

6937 -1.10 -146.6 589.9 -8.0 331 6941 0.00 2.53 0.00 0.000 4 0.000 0.065 2193 1235 3501

6965 -1.10 -146.6 592.1 -7.3 332 6969 0.00 2.62 0.00 0.000 6 0.000 0.064 2193 2660 3501

7286 -1.10 -146.6 612.7 -6.1 348 7289 0.00 2.15 0.00 0.000 4 0.000 0.091 2193 3785 3501

7386 -1.10 -146.6 618.7 -6.2 352 7390 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2644 3501

7709 -1.10 -146.6 634.9 -4.9 368 7713 0.00 2.58 0.00 0.000 4 0.000 0.070 2193 1235 3501

7749 -1.10 -146.6 636.9 -5.5 370 7753 0.00 2.60 0.00 0.000 6 0.000 0.064 2193 2651 3501

8076 -1.10 -146.6 654.7 -6.1 386 8080 0.00 2.20 0.00 0.000 4 0.000 0.094 2193 3792 3501

8138 -1.10 -146.6 659.1 -7.8 388 8144 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2654 3501

8454 -1.10 -146.6 680.6 -7.3 404 8455 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2654 3500

8763 -1.10 -146.6 704.2 -8.5 419 8764 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2654 3499

8987 end dive: BOTTOM_OBSTACLE_DETECTED

state 8987 begin apogee

8995 -0.42 0.0 722.7 8.3 430 9124 0.77 0.00 125.68 1.166 6 0.097 0.000 2346 1997 2902

9125 end apogee: CONTROL_FINISHED_OK

state 9125 begin climb

9128 1.10 146.6 729.3 0.0 436 9261 1.55 2.70 124.07 1.134 4 0.055 0.065 2679 588 2304

9309 1.17 198.6 731.7 4.6 444 9362 0.00 2.53 45.55 1.101 6 0.000 0.038 2679 2019 2092

9672 1.17 198.6 713.0 6.6 462 9676 0.00 2.58 0.00 0.000 4 0.000 0.068 2679 3403 2091

9740 1.25 268.0 709.3 4.1 465 9807 0.15 2.55 59.20 1.123 6 0.044 0.048 2721 1989 1809

10134 1.25 268.0 673.9 9.9 484 10139 0.00 2.58 0.00 0.000 4 0.000 0.064 2721 592 1808

10179 1.25 268.0 669.3 10.6 486 10184 0.00 2.50 0.00 0.000 6 0.000 0.040 2721 2004 1808

10500 1.25 268.0 636.8 10.7 502 10505 0.00 2.62 0.00 0.000 4 0.000 0.071 2721 3409 1807

10530 1.25 268.0 633.5 11.4 503 10534 0.00 2.55 0.00 0.000 6 0.000 0.048 2721 1993 1807

10846 1.25 268.0 601.2 10.0 518 10850 0.00 2.58 0.00 0.000 4 0.000 0.064 2721 590 1807

10890 1.25 268.0 596.6 9.9 520 10894 0.00 2.50 0.00 0.000 6 0.000 0.040 2721 2006 1807

11211 1.25 268.0 570.9 8.1 536 11215 0.00 2.60 0.00 0.000 4 0.000 0.070 2721 3406 1806

11278 1.25 268.0 565.1 8.2 539 11282 0.00 2.53 0.00 0.000 6 0.000 0.048 2721 1993 1806

11604 1.25 268.0 538.3 8.1 555 11609 0.00 2.55 0.00 0.000 4 0.000 0.061 2721 586 1806

11667 1.25 268.0 533.0 8.4 558 11671 0.00 2.47 0.00 0.000 6 0.000 0.038 2721 2001 1806

11994 1.25 268.0 506.7 8.3 574 11998 0.00 2.58 0.00 0.000 4 0.000 0.064 2721 3405 1806

12021 1.25 268.0 504.4 9.1 575 12025 0.00 2.53 0.00 0.000 6 0.000 0.045 2721 1989 1806

12337 1.25 268.0 475.5 8.8 590 12341 0.00 2.62 0.00 0.000 4 0.000 0.065 2721 3405 1806

12370 1.25 268.0 472.3 8.7 591 12376 0.00 2.53 0.00 0.000 6 0.000 0.046 2721 1988 1806

12686 1.25 268.0 444.3 8.6 607 12687 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1988 1806

12995 1.25 268.0 416.6 9.4 622 12999 0.00 2.62 0.00 0.000 4 0.000 0.065 2721 3405 1807

13023 1.25 268.0 414.0 9.3 623 13027 0.00 2.53 0.00 0.000 6 0.000 0.046 2721 1988 1807

13338 1.25 268.0 386.6 9.2 638 13340 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1989 1808

13648 1.25 268.0 358.0 8.8 653 13652 0.00 2.62 0.00 0.000 4 0.000 0.066 2721 3405 1808

13688 1.25 268.0 354.8 8.1 655 13692 0.00 2.53 0.00 0.000 6 0.000 0.049 2721 1994 1808

14014 1.25 268.0 328.7 9.0 671 14016 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1994 1809

14324 1.25 268.0 300.8 8.6 686 14328 0.00 2.62 0.00 0.000 4 0.000 0.067 2721 3405 1809

14374 1.25 268.0 296.4 8.2 688 14378 0.00 2.53 0.00 0.000 6 0.000 0.051 2721 2000 1809

14690 1.25 268.0 271.0 8.1 703 14694 0.00 2.62 0.00 0.000 4 0.000 0.068 2721 3412 1809

14722 1.25 268.0 267.9 9.3 704 14729 0.00 2.55 0.00 0.000 6 0.000 0.050 2721 1991 1809

15039 1.25 268.0 238.2 9.4 720 15043 0.00 2.62 0.00 0.000 4 0.000 0.068 2721 3405 1809

15078 1.25 268.0 234.4 10.1 722 15082 0.00 2.53 0.00 0.000 6 0.000 0.051 2721 1998 1809

15405 1.25 268.0 205.0 8.8 738 15406 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1998 1810

15714 1.25 268.0 177.5 9.9 753 15719 0.00 2.62 0.00 0.000 4 0.000 0.069 2721 3408 1810

15765 1.25 268.0 172.8 9.1 755 15769 0.00 2.55 0.00 0.000 6 0.000 0.051 2721 1993 1810

16081 1.25 268.0 141.3 10.1 770 16086 0.00 2.65 0.00 0.000 4 0.000 0.069 2721 3410 1810

16122 1.25 268.0 137.2 10.0 772 16127 0.00 2.55 0.00 0.000 6 0.000 0.052 2721 1997 1810

16450 1.25 268.0 107.2 9.2 788 16451 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1997 1810

16759 1.25 268.0 77.8 10.0 803 16763 0.00 2.62 0.00 0.000 4 0.000 0.069 2721 3405 1810

16804 1.25 268.0 73.1 12.1 805 16808 0.00 2.55 0.00 0.000 6 0.000 0.054 2721 1998 1810

17125 1.25 268.0 43.5 8.5 821 17129 0.00 2.62 0.00 0.000 4 0.000 0.069 2721 3405 1810

17165 1.25 268.0 40.0 8.8 823 17169 0.00 2.53 0.00 0.000 6 0.000 0.054 2721 2000 1811

17492 1.25 268.0 14.4 7.6 839 17493 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1999 1811

17654 end climb: SURFACE_DEPTH_REACHED

state 17654 begin surface coast

17676 end surface coast: CONTROL_FINISHED_OK

state 17676 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	245	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	11	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-147653.05	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	080837,6351.938,-1258.484,40,1.0,40,-12.4	TGT_NAME	KE
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.212,-0.055
_SM_DEPTHo	1.40	KALMAN_X	2948.2,-133.0,1581.6,-10674.0,1906.3
_SM_ANGLEo	-62.7	KALMAN_Y	-268.4,12.9,-144.2,-8002.5,-173.8
GPS2	081431,6351.945,-1258.593,13,1.1,13,-12.4	MHEAD_RNG_PITCHd_Wd	267.9,9989,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.017501	ALTIM_BOTTOM_PING	676.1,56.6
SM_CCo	17761,0.00,0.000,0,0,1810,267.87	_24V_AH	23.3,43.474
SM_GC	1.48,11.75,0.00,0.00,0.029,0.000,0.000,51,2635,1810,-10.93,-0.42,267.87	_10V_AH	10.1,24.657
IRIDIUM_FIX	6327.46,-1304.07,110798,030319	DATA_FILE_SIZE	44268,848
TT8_MAMPS	0.028379	CAP_FILE_SIZE	125680,0
HUMID	1774	CFSIZE	260165632,242733056
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	160409,131237,6353.353,-1305.223,35,1.7,35,-12.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	98.70	SBE_CT	594	24	332.64
Roll_motor	156	109	400.71	SBE_O2	623	19	275.91
VBD_pump_during_apogee	354	1165	9629.66	WL_BB2F	520	105	1272.37
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	31	103	75.72	nil	0	0	0.00
Iridium_during_connect	33	160	123.03	nil	0	0	0.00
Iridium_during_xfer	156	223	814.25
Transponder_ping	5	420	56.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.07
TT8	1558	19	311.70
LPSleep	13652	2	301.98
TT8_Active	442	19	88.49
TT8_Sampling	1900	39	764.05
TT8_CF8	557	45	258.04
TT8_Kalman	31	81	25.96
Analog_circuits	1410	12	170.97
GPS_charging	0	0	0.00
Compass	1856	8	149.99
RAFOS	0	0	0.00
Transponder	40	30	12.28

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	-41.10	0.000	2	0.000	0.000	48	2643	3049
62	-1.10	-146.6	3.5	-9.1	2	88	12.20	2.25	-8.12	0.000	4	0.160	0.110	2193	3783	3501
341	-1.10	-146.6	32.4	-8.5	14	344	0.00	2.10	0.00	0.000	6	0.000	0.067	2193	2657	3501
662	-1.10	-146.6	57.9	-8.1	30	666	0.00	2.22	0.00	0.000	4	0.000	0.095	2193	3786	3501
842	-1.10	-146.6	73.3	-7.7	38	846	0.00	2.10	0.00	0.000	6	0.000	0.064	2193	2647	3501
1171	-1.10	-146.6	97.2	-7.2	54	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2647	3501
1479	-1.10	-146.6	120.3	-7.7	69	1483	0.00	2.22	0.00	0.000	4	0.000	0.093	2193	3783	3501
1513	-1.10	-146.6	123.3	-8.4	70	1516	0.00	2.10	0.00	0.000	6	0.000	0.064	2193	2645	3501
1835	-1.10	-146.6	148.8	-8.0	86	1836	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3501
2144	-1.10	-146.6	174.7	-8.7	101	2145	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3501
2454	-1.10	-146.6	201.7	-8.6	116	2457	0.00	2.22	0.00	0.000	4	0.000	0.092	2193	3786	3501
2493	-1.10	-146.6	205.2	-8.6	117	2499	0.00	2.10	0.00	0.000	6	0.000	0.062	2193	2644	3501
2809	-1.10	-146.6	233.2	-8.8	133	2810	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3501
3118	-1.10	-146.6	260.3	-8.9	148	3122	0.00	2.22	0.00	0.000	4	0.000	0.091	2193	3786	3501
3164	-1.10	-146.6	264.6	-9.6	150	3168	0.00	2.08	0.00	0.000	6	0.000	0.061	2193	2650	3501
3497	-1.10	-146.6	294.4	-8.8	166	3498	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2649	3501
3807	-1.10	-146.6	321.5	-9.5	181	3808	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3501
4118	-1.10	-146.6	350.2	-9.3	196	4121	0.00	2.20	0.00	0.000	4	0.000	0.090	2193	3787	3501
4168	-1.10	-146.6	355.7	-10.8	198	4172	0.00	2.08	0.00	0.000	6	0.000	0.060	2193	2651	3501
4496	-1.10	-146.6	387.9	-9.8	214	4500	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3790	3501
4542	-1.10	-146.6	392.5	-10.3	216	4546	0.00	2.08	0.00	0.000	6	0.000	0.059	2193	2650	3501
4875	-1.10	-146.6	423.7	-7.8	232	4876	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3501
5185	-1.10	-146.6	448.7	-7.3	247	5186	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3501
5493	-1.10	-146.6	471.7	-7.4	262	5497	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3787	3501
5566	-1.10	-146.6	477.7	-8.0	265	5570	0.00	2.08	0.00	0.000	6	0.000	0.056	2193	2641	3501
5894	-1.10	-146.6	503.3	-8.2	281	5898	0.00	2.22	0.00	0.000	4	0.000	0.089	2193	3792	3501
5922	-1.10	-146.6	506.0	-9.1	282	5926	0.00	2.05	0.00	0.000	6	0.000	0.056	2193	2652	3501
6249	-1.10	-146.6	530.9	-7.3	298	6250	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2652	3501
6559	-1.10	-146.6	556.9	-9.6	313	6563	0.00	2.17	0.00	0.000	4	0.000	0.088	2193	3784	3501
6621	-1.10	-146.6	562.9	-9.4	315	6627	0.00	2.05	0.00	0.000	6	0.000	0.055	2193	2637	3501
6937	-1.10	-146.6	589.9	-8.0	331	6941	0.00	2.53	0.00	0.000	4	0.000	0.065	2193	1235	3501
6965	-1.10	-146.6	592.1	-7.3	332	6969	0.00	2.62	0.00	0.000	6	0.000	0.064	2193	2660	3501
7286	-1.10	-146.6	612.7	-6.1	348	7289	0.00	2.15	0.00	0.000	4	0.000	0.091	2193	3785	3501
7386	-1.10	-146.6	618.7	-6.2	352	7390	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2644	3501
7709	-1.10	-146.6	634.9	-4.9	368	7713	0.00	2.58	0.00	0.000	4	0.000	0.070	2193	1235	3501
7749	-1.10	-146.6	636.9	-5.5	370	7753	0.00	2.60	0.00	0.000	6	0.000	0.064	2193	2651	3501
8076	-1.10	-146.6	654.7	-6.1	386	8080	0.00	2.20	0.00	0.000	4	0.000	0.094	2193	3792	3501
8138	-1.10	-146.6	659.1	-7.8	388	8144	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2654	3501
8454	-1.10	-146.6	680.6	-7.3	404	8455	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2654	3500
8763	-1.10	-146.6	704.2	-8.5	419	8764	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2654	3499
8987	end dive: BOTTOM_OBSTACLE_DETECTED
state	8987	begin apogee
8995	-0.42	0.0	722.7	8.3	430	9124	0.77	0.00	125.68	1.166	6	0.097	0.000	2346	1997	2902
9125	end apogee: CONTROL_FINISHED_OK
state	9125	begin climb
9128	1.10	146.6	729.3	0.0	436	9261	1.55	2.70	124.07	1.134	4	0.055	0.065	2679	588	2304
9309	1.17	198.6	731.7	4.6	444	9362	0.00	2.53	45.55	1.101	6	0.000	0.038	2679	2019	2092
9672	1.17	198.6	713.0	6.6	462	9676	0.00	2.58	0.00	0.000	4	0.000	0.068	2679	3403	2091
9740	1.25	268.0	709.3	4.1	465	9807	0.15	2.55	59.20	1.123	6	0.044	0.048	2721	1989	1809
10134	1.25	268.0	673.9	9.9	484	10139	0.00	2.58	0.00	0.000	4	0.000	0.064	2721	592	1808
10179	1.25	268.0	669.3	10.6	486	10184	0.00	2.50	0.00	0.000	6	0.000	0.040	2721	2004	1808
10500	1.25	268.0	636.8	10.7	502	10505	0.00	2.62	0.00	0.000	4	0.000	0.071	2721	3409	1807
10530	1.25	268.0	633.5	11.4	503	10534	0.00	2.55	0.00	0.000	6	0.000	0.048	2721	1993	1807
10846	1.25	268.0	601.2	10.0	518	10850	0.00	2.58	0.00	0.000	4	0.000	0.064	2721	590	1807
10890	1.25	268.0	596.6	9.9	520	10894	0.00	2.50	0.00	0.000	6	0.000	0.040	2721	2006	1807
11211	1.25	268.0	570.9	8.1	536	11215	0.00	2.60	0.00	0.000	4	0.000	0.070	2721	3406	1806
11278	1.25	268.0	565.1	8.2	539	11282	0.00	2.53	0.00	0.000	6	0.000	0.048	2721	1993	1806
11604	1.25	268.0	538.3	8.1	555	11609	0.00	2.55	0.00	0.000	4	0.000	0.061	2721	586	1806
11667	1.25	268.0	533.0	8.4	558	11671	0.00	2.47	0.00	0.000	6	0.000	0.038	2721	2001	1806
11994	1.25	268.0	506.7	8.3	574	11998	0.00	2.58	0.00	0.000	4	0.000	0.064	2721	3405	1806
12021	1.25	268.0	504.4	9.1	575	12025	0.00	2.53	0.00	0.000	6	0.000	0.045	2721	1989	1806
12337	1.25	268.0	475.5	8.8	590	12341	0.00	2.62	0.00	0.000	4	0.000	0.065	2721	3405	1806
12370	1.25	268.0	472.3	8.7	591	12376	0.00	2.53	0.00	0.000	6	0.000	0.046	2721	1988	1806
12686	1.25	268.0	444.3	8.6	607	12687	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1988	1806
12995	1.25	268.0	416.6	9.4	622	12999	0.00	2.62	0.00	0.000	4	0.000	0.065	2721	3405	1807
13023	1.25	268.0	414.0	9.3	623	13027	0.00	2.53	0.00	0.000	6	0.000	0.046	2721	1988	1807
13338	1.25	268.0	386.6	9.2	638	13340	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1989	1808
13648	1.25	268.0	358.0	8.8	653	13652	0.00	2.62	0.00	0.000	4	0.000	0.066	2721	3405	1808
13688	1.25	268.0	354.8	8.1	655	13692	0.00	2.53	0.00	0.000	6	0.000	0.049	2721	1994	1808
14014	1.25	268.0	328.7	9.0	671	14016	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1994	1809
14324	1.25	268.0	300.8	8.6	686	14328	0.00	2.62	0.00	0.000	4	0.000	0.067	2721	3405	1809
14374	1.25	268.0	296.4	8.2	688	14378	0.00	2.53	0.00	0.000	6	0.000	0.051	2721	2000	1809
14690	1.25	268.0	271.0	8.1	703	14694	0.00	2.62	0.00	0.000	4	0.000	0.068	2721	3412	1809
14722	1.25	268.0	267.9	9.3	704	14729	0.00	2.55	0.00	0.000	6	0.000	0.050	2721	1991	1809
15039	1.25	268.0	238.2	9.4	720	15043	0.00	2.62	0.00	0.000	4	0.000	0.068	2721	3405	1809
15078	1.25	268.0	234.4	10.1	722	15082	0.00	2.53	0.00	0.000	6	0.000	0.051	2721	1998	1809
15405	1.25	268.0	205.0	8.8	738	15406	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1998	1810
15714	1.25	268.0	177.5	9.9	753	15719	0.00	2.62	0.00	0.000	4	0.000	0.069	2721	3408	1810
15765	1.25	268.0	172.8	9.1	755	15769	0.00	2.55	0.00	0.000	6	0.000	0.051	2721	1993	1810
16081	1.25	268.0	141.3	10.1	770	16086	0.00	2.65	0.00	0.000	4	0.000	0.069	2721	3410	1810
16122	1.25	268.0	137.2	10.0	772	16127	0.00	2.55	0.00	0.000	6	0.000	0.052	2721	1997	1810
16450	1.25	268.0	107.2	9.2	788	16451	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1997	1810
16759	1.25	268.0	77.8	10.0	803	16763	0.00	2.62	0.00	0.000	4	0.000	0.069	2721	3405	1810
16804	1.25	268.0	73.1	12.1	805	16808	0.00	2.55	0.00	0.000	6	0.000	0.054	2721	1998	1810
17125	1.25	268.0	43.5	8.5	821	17129	0.00	2.62	0.00	0.000	4	0.000	0.069	2721	3405	1810
17165	1.25	268.0	40.0	8.8	823	17169	0.00	2.53	0.00	0.000	6	0.000	0.054	2721	2000	1811
17492	1.25	268.0	14.4	7.6	839	17493	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1999	1811
17654	end climb: SURFACE_DEPTH_REACHED
state	17654	begin surface coast
17676	end surface coast: CONTROL_FINISHED_OK
state	17676	begin surface