Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 246 * 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 246 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 8 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 -147666.83 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 -147666.83

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 8 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 246 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 131237,6353.353,-1305.223,35,1.7,35,-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 -0.169,-0.139

_SM_DEPTHo 1.46 KALMAN_X 5534.8,-510.0,946.7,-17666.2,4627.9

_SM_ANGLEo -62.6 KALMAN_Y 3245.1,719.7,-64.5,-9640.9,3045.3

GPS2 131814,6353.404,-1305.286,13,1.7,13,-12.4 MHEAD_RNG_PITCHd_Wd 243.0,7387,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.004002 ALTIM_BOTTOM_PING 725.3,51.4

SM_CCo 19894,0.00,0.000,0,0,1727,288.23 _24V_AH 23.3,43.611

SM_GC 1.41,11.85,0.00,0.00,0.033,0.000,0.000,51,2650,1727,-10.93,0.00,288.23 _10V_AH 10.1,24.746

IRIDIUM_FIX 6327.46,-1301.87,110798,080835 DATA_FILE_SIZE 47400,952

TT8_MAMPS 0.029146 CAP_FILE_SIZE 139435,0

HUMID 1779 CFSIZE 260165632,242647040

INTERNAL_PRESSURE 8.55502 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 160409,185200,6353.359,-1311.260,36,1.2,41,-12.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 154 95.21 SBE_CT 668 24 373.67

Roll_motor 169 105 418.58 SBE_O2 707 19 313.31

VBD_pump_during_apogee 371 1201 10403.85 WL_BB2F 557 105 1364.37

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 30 103 72.08 nil 0 0 0.00

Iridium_during_connect 28 160 106.92 nil 0 0 0.00

Iridium_during_xfer 145 223 754.23

Transponder_ping 6 420 61.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.64

TT8 1742 19 348.40

LPSleep 15337 2 339.26

TT8_Active 467 19 93.56

TT8_Sampling 2109 39 848.10

TT8_CF8 571 45 264.45

TT8_Kalman 32 81 26.74

Analog_circuits 1538 12 186.42

GPS_charging 0 0 0.00

Compass 2066 8 166.98

RAFOS 0 0 0.00

Transponder 43 30 13.26

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 -41.35 0.000 2 0.000 0.000 51 2638 3213

62 -1.10 -146.6 4.2 -11.6 2 85 12.05 2.25 -4.78 0.000 4 0.155 0.106 2194 3794 3500

339 -1.10 -146.6 34.2 -9.2 14 342 0.00 2.12 0.00 0.000 6 0.000 0.069 2194 2658 3500

666 -1.10 -146.6 60.3 -8.0 30 670 0.00 2.22 0.00 0.000 4 0.000 0.095 2193 3787 3500

783 -1.10 -146.6 70.1 -8.3 35 787 0.00 2.12 0.00 0.000 6 0.000 0.066 2194 2642 3500

1105 -1.10 -146.6 95.1 -8.0 51 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3500

1415 -1.10 -146.6 120.9 -8.4 66 1416 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3500

1724 -1.10 -146.6 147.4 -9.0 81 1728 0.00 2.25 0.00 0.000 4 0.000 0.096 2194 3786 3500

1769 -1.10 -146.6 151.9 -9.0 83 1773 0.00 2.10 0.00 0.000 6 0.000 0.065 2194 2652 3500

2096 -1.10 -146.6 181.4 -9.1 99 2097 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3500

2406 -1.10 -146.6 209.4 -9.2 114 2409 0.00 2.22 0.00 0.000 4 0.000 0.094 2194 3788 3500

2440 -1.10 -146.6 212.6 -9.7 115 2443 0.00 2.10 0.00 0.000 6 0.000 0.064 2194 2650 3500

2761 -1.10 -146.6 241.9 -9.4 131 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3500

3071 -1.10 -146.6 268.2 -8.2 146 3075 0.00 2.22 0.00 0.000 4 0.000 0.093 2194 3789 3500

3117 -1.10 -146.6 272.3 -8.8 148 3121 0.00 2.10 0.00 0.000 6 0.000 0.063 2194 2644 3500

3450 -1.10 -146.6 304.4 -10.1 164 3451 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3500

3760 -1.10 -146.6 334.6 -9.2 179 3761 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3500

4068 -1.10 -146.6 362.0 -8.7 194 4070 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2644 3500

4378 -1.10 -146.6 389.9 -9.3 209 4381 0.00 2.22 0.00 0.000 4 0.000 0.091 2194 3787 3500

4440 -1.10 -146.6 395.7 -9.4 211 4446 0.00 2.08 0.00 0.000 6 0.000 0.058 2194 2647 3500

4755 -1.10 -146.6 422.7 -8.6 227 4757 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3500

5065 -1.10 -146.6 448.0 -7.7 242 5066 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3500

5374 -1.10 -146.6 470.2 -7.1 257 5376 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3500

5683 -1.10 -146.6 490.7 -6.6 272 5684 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3500

5993 -1.10 -146.6 512.0 -7.0 287 5994 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3500

6302 -1.10 -146.6 534.0 -7.1 302 6307 0.00 2.60 0.00 0.000 4 0.000 0.069 2194 1223 3500

6330 -1.10 -146.6 536.2 -7.6 303 6335 0.00 2.65 0.00 0.000 6 0.000 0.065 2194 2658 3500

6646 -1.10 -146.6 562.7 -9.3 318 6650 0.00 2.15 0.00 0.000 4 0.000 0.091 2194 3789 3500

6737 -1.10 -146.6 572.1 -10.8 322 6741 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2646 3500

7069 -1.10 -146.6 602.8 -8.3 338 7073 0.00 2.58 0.00 0.000 4 0.000 0.068 2194 1230 3500

7109 -1.10 -146.6 606.4 -9.2 340 7113 0.00 2.62 0.00 0.000 6 0.000 0.063 2194 2659 3500

7436 -1.10 -146.6 630.4 -7.3 356 7440 0.00 2.17 0.00 0.000 4 0.000 0.092 2194 3790 3500

7470 -1.10 -146.6 632.8 -6.6 357 7473 0.00 2.05 0.00 0.000 6 0.000 0.053 2194 2650 3500

7791 -1.10 -146.6 646.5 -3.1 373 7792 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3499

8101 -1.10 -146.6 655.6 -4.2 388 8102 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3500

8409 -1.10 -146.6 673.6 -6.9 403 8413 0.00 2.22 0.00 0.000 4 0.000 0.094 2194 3792 3499

8471 -1.10 -146.6 678.7 -8.6 405 8477 0.00 2.08 0.00 0.000 6 0.000 0.056 2194 2643 3499

8788 -1.10 -146.6 705.5 -8.9 421 8789 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3498

9097 -1.10 -146.6 731.7 -7.7 436 9098 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3498

9406 -1.10 -146.6 755.0 -7.3 451 9410 0.00 2.25 0.00 0.000 4 0.000 0.096 2194 3790 3497

9490 -1.10 -146.6 761.4 -7.6 454 9496 0.00 2.08 0.00 0.000 6 0.000 0.057 2194 2644 3497

9576 end dive: BOTTOM_OBSTACLE_DETECTED

state 9576 begin apogee

9585 -0.42 0.0 768.1 7.6 459 9714 0.77 0.00 125.60 1.201 6 0.097 0.000 2347 2000 2902

9714 end apogee: CONTROL_FINISHED_OK

state 9715 begin climb

9718 1.10 146.6 773.7 0.0 465 9851 1.55 2.70 123.22 1.184 4 0.057 0.065 2678 590 2304

10110 1.17 200.8 766.7 4.5 482 10162 0.00 2.53 46.88 1.160 6 0.000 0.039 2678 2020 2083

10484 1.17 200.8 746.0 6.4 501 10485 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2020 2082

10793 1.17 200.8 727.8 6.2 516 10798 0.00 2.58 0.00 0.000 4 0.000 0.069 2678 3403 2082

10856 1.17 200.8 723.7 6.2 519 10861 0.00 2.55 0.00 0.000 6 0.000 0.048 2678 1984 2082

11183 1.17 200.8 702.8 6.2 535 11188 0.00 2.67 0.00 0.000 4 0.000 0.067 2678 3412 2081

11250 1.17 200.8 698.8 6.2 538 11255 0.00 2.55 0.00 0.000 6 0.000 0.048 2678 1995 2081

11572 1.24 260.7 683.4 4.3 554 11629 0.15 2.72 50.62 1.152 4 0.040 0.067 2724 3409 1839

11658 1.28 288.7 678.8 5.2 557 11689 0.00 2.58 25.42 1.100 6 0.000 0.045 2724 1988 1725

12000 1.28 289.4 658.8 6.0 573 12004 0.00 2.65 0.00 0.000 4 0.000 0.069 2724 3400 1724

12046 1.28 289.4 656.0 6.2 575 12050 0.00 2.53 0.00 0.000 6 0.000 0.046 2724 1996 1724

12367 1.28 289.4 634.0 8.5 591 12368 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1996 1724

12676 1.28 289.4 605.0 9.3 606 12680 0.00 2.62 0.00 0.000 4 0.000 0.067 2724 3405 1724

12776 1.28 289.4 595.7 8.8 610 12783 0.00 2.50 0.00 0.000 6 0.000 0.045 2724 1998 1724

13093 1.28 289.4 567.4 9.2 626 13097 0.00 2.58 0.00 0.000 4 0.000 0.063 2724 589 1723

13137 1.28 289.4 563.0 10.3 628 13141 0.00 2.47 0.00 0.000 6 0.000 0.038 2724 1996 1723

13458 1.28 289.4 534.4 8.3 644 13462 0.00 2.60 0.00 0.000 4 0.000 0.067 2724 3406 1723

13475 1.28 289.4 532.9 8.4 645 13480 0.00 2.53 0.00 0.000 6 0.000 0.046 2724 1990 1724

13803 1.28 289.4 505.7 8.6 661 13807 0.00 2.55 0.00 0.000 4 0.000 0.062 2724 590 1723

13897 1.28 289.4 496.8 8.8 665 13902 0.00 2.47 0.00 0.000 6 0.000 0.038 2724 2004 1724

14213 1.28 289.4 469.1 8.8 680 14218 0.00 2.60 0.00 0.000 4 0.000 0.068 2724 3413 1724

14258 1.28 289.4 464.9 9.7 682 14262 0.00 2.53 0.00 0.000 6 0.000 0.047 2724 1998 1724

14579 1.28 289.4 435.4 9.4 698 14580 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1998 1724

14889 1.28 289.4 408.3 8.4 713 14893 0.00 2.62 0.00 0.000 4 0.000 0.067 2724 3412 1725

14938 1.28 289.4 403.8 8.8 715 14943 0.00 2.55 0.00 0.000 6 0.000 0.049 2724 1991 1725

15254 1.28 289.4 379.5 7.2 730 15258 0.00 2.62 0.00 0.000 4 0.000 0.066 2724 3409 1725

15298 1.28 289.4 376.1 7.8 732 15303 0.00 2.55 0.00 0.000 6 0.000 0.049 2724 1989 1725

15620 1.28 289.4 351.2 7.9 748 15621 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1989 1725

15929 1.28 289.4 326.2 8.2 763 15934 0.00 2.62 0.00 0.000 4 0.000 0.067 2724 3405 1726

15970 1.28 289.4 322.7 8.7 765 15974 0.00 2.53 0.00 0.000 6 0.000 0.051 2724 1996 1726

16303 1.28 289.4 295.1 8.2 781 16304 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1996 1726

16612 1.28 289.4 269.9 8.2 796 16616 0.00 2.62 0.00 0.000 4 0.000 0.069 2724 3405 1727

16645 1.28 289.4 266.9 7.7 797 16652 0.00 2.53 0.00 0.000 6 0.000 0.051 2724 2003 1726

16961 1.28 289.4 240.3 8.3 813 16965 0.00 2.62 0.00 0.000 4 0.000 0.070 2724 3416 1727

16983 1.28 289.4 238.2 9.3 814 16987 0.00 2.55 0.00 0.000 6 0.000 0.051 2724 1998 1727

17304 1.28 289.4 210.4 8.7 830 17308 0.00 2.62 0.00 0.000 4 0.000 0.070 2724 3405 1726

17326 1.28 289.4 208.4 8.7 831 17330 0.00 2.55 0.00 0.000 6 0.000 0.051 2724 1987 1727

17647 1.28 289.4 179.9 8.9 847 17651 0.00 2.65 0.00 0.000 4 0.000 0.070 2724 3405 1727

17687 1.28 289.4 176.3 8.5 849 17691 0.00 2.55 0.00 0.000 6 0.000 0.051 2724 1987 1727

18013 1.28 289.4 147.7 8.6 865 18018 0.00 2.65 0.00 0.000 4 0.000 0.067 2724 3410 1727

18054 1.28 289.4 144.0 9.2 867 18058 0.00 2.55 0.00 0.000 6 0.000 0.052 2724 1998 1727

18381 1.28 289.4 114.7 8.8 883 18386 0.00 2.62 0.00 0.000 4 0.000 0.071 2724 3405 1727

18409 1.28 289.4 112.0 10.0 884 18413 0.00 2.55 0.00 0.000 6 0.000 0.053 2724 1994 1727

18725 1.28 289.4 86.5 7.9 899 18730 0.00 2.65 0.00 0.000 4 0.000 0.070 2724 3412 1727

18759 1.28 289.4 83.6 7.8 900 18765 0.00 2.55 0.00 0.000 6 0.000 0.053 2724 1990 1728

19077 1.28 289.4 58.3 8.1 916 19081 0.00 2.65 0.00 0.000 4 0.000 0.069 2724 3413 1727

19117 1.28 289.4 54.9 8.7 918 19121 0.00 2.58 0.00 0.000 6 0.000 0.054 2724 1991 1728

19444 1.28 289.4 28.1 8.4 934 19449 0.00 2.65 0.00 0.000 4 0.000 0.071 2724 3407 1728

19484 1.28 289.4 24.8 7.9 936 19488 0.00 2.55 0.00 0.000 6 0.000 0.055 2724 1998 1728

19787 end climb: SURFACE_DEPTH_REACHED

state 19787 begin surface coast

19809 end surface coast: CONTROL_FINISHED_OK

state 19809 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	246	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	8	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	-147666.83	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	131237,6353.353,-1305.223,35,1.7,35,-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	-0.169,-0.139
_SM_DEPTHo	1.46	KALMAN_X	5534.8,-510.0,946.7,-17666.2,4627.9
_SM_ANGLEo	-62.6	KALMAN_Y	3245.1,719.7,-64.5,-9640.9,3045.3
GPS2	131814,6353.404,-1305.286,13,1.7,13,-12.4	MHEAD_RNG_PITCHd_Wd	243.0,7387,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.004002	ALTIM_BOTTOM_PING	725.3,51.4
SM_CCo	19894,0.00,0.000,0,0,1727,288.23	_24V_AH	23.3,43.611
SM_GC	1.41,11.85,0.00,0.00,0.033,0.000,0.000,51,2650,1727,-10.93,0.00,288.23	_10V_AH	10.1,24.746
IRIDIUM_FIX	6327.46,-1301.87,110798,080835	DATA_FILE_SIZE	47400,952
TT8_MAMPS	0.029146	CAP_FILE_SIZE	139435,0
HUMID	1779	CFSIZE	260165632,242647040
INTERNAL_PRESSURE	8.55502	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	160409,185200,6353.359,-1311.260,36,1.2,41,-12.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	154	95.21	SBE_CT	668	24	373.67
Roll_motor	169	105	418.58	SBE_O2	707	19	313.31
VBD_pump_during_apogee	371	1201	10403.85	WL_BB2F	557	105	1364.37
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	30	103	72.08	nil	0	0	0.00
Iridium_during_connect	28	160	106.92	nil	0	0	0.00
Iridium_during_xfer	145	223	754.23
Transponder_ping	6	420	61.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.64
TT8	1742	19	348.40
LPSleep	15337	2	339.26
TT8_Active	467	19	93.56
TT8_Sampling	2109	39	848.10
TT8_CF8	571	45	264.45
TT8_Kalman	32	81	26.74
Analog_circuits	1538	12	186.42
GPS_charging	0	0	0.00
Compass	2066	8	166.98
RAFOS	0	0	0.00
Transponder	43	30	13.26

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	-41.35	0.000	2	0.000	0.000	51	2638	3213
62	-1.10	-146.6	4.2	-11.6	2	85	12.05	2.25	-4.78	0.000	4	0.155	0.106	2194	3794	3500
339	-1.10	-146.6	34.2	-9.2	14	342	0.00	2.12	0.00	0.000	6	0.000	0.069	2194	2658	3500
666	-1.10	-146.6	60.3	-8.0	30	670	0.00	2.22	0.00	0.000	4	0.000	0.095	2193	3787	3500
783	-1.10	-146.6	70.1	-8.3	35	787	0.00	2.12	0.00	0.000	6	0.000	0.066	2194	2642	3500
1105	-1.10	-146.6	95.1	-8.0	51	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3500
1415	-1.10	-146.6	120.9	-8.4	66	1416	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3500
1724	-1.10	-146.6	147.4	-9.0	81	1728	0.00	2.25	0.00	0.000	4	0.000	0.096	2194	3786	3500
1769	-1.10	-146.6	151.9	-9.0	83	1773	0.00	2.10	0.00	0.000	6	0.000	0.065	2194	2652	3500
2096	-1.10	-146.6	181.4	-9.1	99	2097	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3500
2406	-1.10	-146.6	209.4	-9.2	114	2409	0.00	2.22	0.00	0.000	4	0.000	0.094	2194	3788	3500
2440	-1.10	-146.6	212.6	-9.7	115	2443	0.00	2.10	0.00	0.000	6	0.000	0.064	2194	2650	3500
2761	-1.10	-146.6	241.9	-9.4	131	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3500
3071	-1.10	-146.6	268.2	-8.2	146	3075	0.00	2.22	0.00	0.000	4	0.000	0.093	2194	3789	3500
3117	-1.10	-146.6	272.3	-8.8	148	3121	0.00	2.10	0.00	0.000	6	0.000	0.063	2194	2644	3500
3450	-1.10	-146.6	304.4	-10.1	164	3451	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3500
3760	-1.10	-146.6	334.6	-9.2	179	3761	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3500
4068	-1.10	-146.6	362.0	-8.7	194	4070	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2644	3500
4378	-1.10	-146.6	389.9	-9.3	209	4381	0.00	2.22	0.00	0.000	4	0.000	0.091	2194	3787	3500
4440	-1.10	-146.6	395.7	-9.4	211	4446	0.00	2.08	0.00	0.000	6	0.000	0.058	2194	2647	3500
4755	-1.10	-146.6	422.7	-8.6	227	4757	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3500
5065	-1.10	-146.6	448.0	-7.7	242	5066	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3500
5374	-1.10	-146.6	470.2	-7.1	257	5376	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3500
5683	-1.10	-146.6	490.7	-6.6	272	5684	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3500
5993	-1.10	-146.6	512.0	-7.0	287	5994	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3500
6302	-1.10	-146.6	534.0	-7.1	302	6307	0.00	2.60	0.00	0.000	4	0.000	0.069	2194	1223	3500
6330	-1.10	-146.6	536.2	-7.6	303	6335	0.00	2.65	0.00	0.000	6	0.000	0.065	2194	2658	3500
6646	-1.10	-146.6	562.7	-9.3	318	6650	0.00	2.15	0.00	0.000	4	0.000	0.091	2194	3789	3500
6737	-1.10	-146.6	572.1	-10.8	322	6741	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2646	3500
7069	-1.10	-146.6	602.8	-8.3	338	7073	0.00	2.58	0.00	0.000	4	0.000	0.068	2194	1230	3500
7109	-1.10	-146.6	606.4	-9.2	340	7113	0.00	2.62	0.00	0.000	6	0.000	0.063	2194	2659	3500
7436	-1.10	-146.6	630.4	-7.3	356	7440	0.00	2.17	0.00	0.000	4	0.000	0.092	2194	3790	3500
7470	-1.10	-146.6	632.8	-6.6	357	7473	0.00	2.05	0.00	0.000	6	0.000	0.053	2194	2650	3500
7791	-1.10	-146.6	646.5	-3.1	373	7792	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3499
8101	-1.10	-146.6	655.6	-4.2	388	8102	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3500
8409	-1.10	-146.6	673.6	-6.9	403	8413	0.00	2.22	0.00	0.000	4	0.000	0.094	2194	3792	3499
8471	-1.10	-146.6	678.7	-8.6	405	8477	0.00	2.08	0.00	0.000	6	0.000	0.056	2194	2643	3499
8788	-1.10	-146.6	705.5	-8.9	421	8789	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3498
9097	-1.10	-146.6	731.7	-7.7	436	9098	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3498
9406	-1.10	-146.6	755.0	-7.3	451	9410	0.00	2.25	0.00	0.000	4	0.000	0.096	2194	3790	3497
9490	-1.10	-146.6	761.4	-7.6	454	9496	0.00	2.08	0.00	0.000	6	0.000	0.057	2194	2644	3497
9576	end dive: BOTTOM_OBSTACLE_DETECTED
state	9576	begin apogee
9585	-0.42	0.0	768.1	7.6	459	9714	0.77	0.00	125.60	1.201	6	0.097	0.000	2347	2000	2902
9714	end apogee: CONTROL_FINISHED_OK
state	9715	begin climb
9718	1.10	146.6	773.7	0.0	465	9851	1.55	2.70	123.22	1.184	4	0.057	0.065	2678	590	2304
10110	1.17	200.8	766.7	4.5	482	10162	0.00	2.53	46.88	1.160	6	0.000	0.039	2678	2020	2083
10484	1.17	200.8	746.0	6.4	501	10485	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2020	2082
10793	1.17	200.8	727.8	6.2	516	10798	0.00	2.58	0.00	0.000	4	0.000	0.069	2678	3403	2082
10856	1.17	200.8	723.7	6.2	519	10861	0.00	2.55	0.00	0.000	6	0.000	0.048	2678	1984	2082
11183	1.17	200.8	702.8	6.2	535	11188	0.00	2.67	0.00	0.000	4	0.000	0.067	2678	3412	2081
11250	1.17	200.8	698.8	6.2	538	11255	0.00	2.55	0.00	0.000	6	0.000	0.048	2678	1995	2081
11572	1.24	260.7	683.4	4.3	554	11629	0.15	2.72	50.62	1.152	4	0.040	0.067	2724	3409	1839
11658	1.28	288.7	678.8	5.2	557	11689	0.00	2.58	25.42	1.100	6	0.000	0.045	2724	1988	1725
12000	1.28	289.4	658.8	6.0	573	12004	0.00	2.65	0.00	0.000	4	0.000	0.069	2724	3400	1724
12046	1.28	289.4	656.0	6.2	575	12050	0.00	2.53	0.00	0.000	6	0.000	0.046	2724	1996	1724
12367	1.28	289.4	634.0	8.5	591	12368	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1996	1724
12676	1.28	289.4	605.0	9.3	606	12680	0.00	2.62	0.00	0.000	4	0.000	0.067	2724	3405	1724
12776	1.28	289.4	595.7	8.8	610	12783	0.00	2.50	0.00	0.000	6	0.000	0.045	2724	1998	1724
13093	1.28	289.4	567.4	9.2	626	13097	0.00	2.58	0.00	0.000	4	0.000	0.063	2724	589	1723
13137	1.28	289.4	563.0	10.3	628	13141	0.00	2.47	0.00	0.000	6	0.000	0.038	2724	1996	1723
13458	1.28	289.4	534.4	8.3	644	13462	0.00	2.60	0.00	0.000	4	0.000	0.067	2724	3406	1723
13475	1.28	289.4	532.9	8.4	645	13480	0.00	2.53	0.00	0.000	6	0.000	0.046	2724	1990	1724
13803	1.28	289.4	505.7	8.6	661	13807	0.00	2.55	0.00	0.000	4	0.000	0.062	2724	590	1723
13897	1.28	289.4	496.8	8.8	665	13902	0.00	2.47	0.00	0.000	6	0.000	0.038	2724	2004	1724
14213	1.28	289.4	469.1	8.8	680	14218	0.00	2.60	0.00	0.000	4	0.000	0.068	2724	3413	1724
14258	1.28	289.4	464.9	9.7	682	14262	0.00	2.53	0.00	0.000	6	0.000	0.047	2724	1998	1724
14579	1.28	289.4	435.4	9.4	698	14580	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1998	1724
14889	1.28	289.4	408.3	8.4	713	14893	0.00	2.62	0.00	0.000	4	0.000	0.067	2724	3412	1725
14938	1.28	289.4	403.8	8.8	715	14943	0.00	2.55	0.00	0.000	6	0.000	0.049	2724	1991	1725
15254	1.28	289.4	379.5	7.2	730	15258	0.00	2.62	0.00	0.000	4	0.000	0.066	2724	3409	1725
15298	1.28	289.4	376.1	7.8	732	15303	0.00	2.55	0.00	0.000	6	0.000	0.049	2724	1989	1725
15620	1.28	289.4	351.2	7.9	748	15621	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1989	1725
15929	1.28	289.4	326.2	8.2	763	15934	0.00	2.62	0.00	0.000	4	0.000	0.067	2724	3405	1726
15970	1.28	289.4	322.7	8.7	765	15974	0.00	2.53	0.00	0.000	6	0.000	0.051	2724	1996	1726
16303	1.28	289.4	295.1	8.2	781	16304	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1996	1726
16612	1.28	289.4	269.9	8.2	796	16616	0.00	2.62	0.00	0.000	4	0.000	0.069	2724	3405	1727
16645	1.28	289.4	266.9	7.7	797	16652	0.00	2.53	0.00	0.000	6	0.000	0.051	2724	2003	1726
16961	1.28	289.4	240.3	8.3	813	16965	0.00	2.62	0.00	0.000	4	0.000	0.070	2724	3416	1727
16983	1.28	289.4	238.2	9.3	814	16987	0.00	2.55	0.00	0.000	6	0.000	0.051	2724	1998	1727
17304	1.28	289.4	210.4	8.7	830	17308	0.00	2.62	0.00	0.000	4	0.000	0.070	2724	3405	1726
17326	1.28	289.4	208.4	8.7	831	17330	0.00	2.55	0.00	0.000	6	0.000	0.051	2724	1987	1727
17647	1.28	289.4	179.9	8.9	847	17651	0.00	2.65	0.00	0.000	4	0.000	0.070	2724	3405	1727
17687	1.28	289.4	176.3	8.5	849	17691	0.00	2.55	0.00	0.000	6	0.000	0.051	2724	1987	1727
18013	1.28	289.4	147.7	8.6	865	18018	0.00	2.65	0.00	0.000	4	0.000	0.067	2724	3410	1727
18054	1.28	289.4	144.0	9.2	867	18058	0.00	2.55	0.00	0.000	6	0.000	0.052	2724	1998	1727
18381	1.28	289.4	114.7	8.8	883	18386	0.00	2.62	0.00	0.000	4	0.000	0.071	2724	3405	1727
18409	1.28	289.4	112.0	10.0	884	18413	0.00	2.55	0.00	0.000	6	0.000	0.053	2724	1994	1727
18725	1.28	289.4	86.5	7.9	899	18730	0.00	2.65	0.00	0.000	4	0.000	0.070	2724	3412	1727
18759	1.28	289.4	83.6	7.8	900	18765	0.00	2.55	0.00	0.000	6	0.000	0.053	2724	1990	1728
19077	1.28	289.4	58.3	8.1	916	19081	0.00	2.65	0.00	0.000	4	0.000	0.069	2724	3413	1727
19117	1.28	289.4	54.9	8.7	918	19121	0.00	2.58	0.00	0.000	6	0.000	0.054	2724	1991	1728
19444	1.28	289.4	28.1	8.4	934	19449	0.00	2.65	0.00	0.000	4	0.000	0.071	2724	3407	1728
19484	1.28	289.4	24.8	7.9	936	19488	0.00	2.55	0.00	0.000	6	0.000	0.055	2724	1998	1728
19787	end climb: SURFACE_DEPTH_REACHED
state	19787	begin surface coast
19809	end surface coast: CONTROL_FINISHED_OK
state	19809	begin surface