Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 248 * 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 248 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 2675 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2025 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 10 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -147696.98 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 -147696.98

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 2025 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2675 MASS 52000 R_PORT_OVSHOOT 19 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 10 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

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

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

DIVE 248 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 012855,6350.602,-1317.602,41,1.4,41,-12.5 TGT_NAME KE

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.013,-0.169

_SM_DEPTHo 1.37 KALMAN_X 7218.8,-332.6,-216.7,-28206.8,6446.4

_SM_ANGLEo -64.7 KALMAN_Y 8568.9,-1190.4,-394.8,-17863.9,4439.0

GPS2 013456,6350.585,-1317.414,14,1.5,14,-12.5 MHEAD_RNG_PITCHd_Wd 197.0,6152,-15.8,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.005762 ALTIM_BOTTOM_PING 826.5,27.7

SM_CCo 19173,21.20,0.687,0,0,1984,225.19 _24V_AH 23.2,43.852

SM_GC 2.74,0.00,0.00,21.20,0.000,0.000,0.687,50,2672,1984,-10.99,-0.08,225.19 _10V_AH 10.1,24.935

IRIDIUM_FIX 6327.46,-1313.59,110798,191959 DATA_FILE_SIZE 47418,914

TT8_MAMPS 0.029146 CAP_FILE_SIZE 143720,0

HUMID 1765 CFSIZE 260165632,242503680

INTERNAL_PRESSURE 8.58431 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 170409,065706,6347.882,-1314.325,39,1.9,39,-12.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 98.70 SBE_CT 637 24 355.17

Roll_motor 190 97 431.07 SBE_O2 680 19 299.84

VBD_pump_during_apogee 243 1243 7022.97 WL_BB2F 511 105 1245.98

VBD_pump_during_surface 21 687 338.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.47 nil 0 0 0.00

Iridium_during_connect 27 160 100.78 nil 0 0 0.00

Iridium_during_xfer 165 223 853.81

Transponder_ping 7 420 73.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.26

TT8 1733 19 346.62

LPSleep 14629 2 323.60

TT8_Active 401 19 80.31

TT8_Sampling 2196 39 882.76

TT8_CF8 590 45 273.24

TT8_Kalman 33 81 27.56

Analog_circuits 1504 12 182.29

GPS_charging 0 0 0.00

Compass 2144 8 173.30

RAFOS 0 0 0.00

Transponder 55 30 16.77

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 -1.42 -80.9 0.0 0.0 0 59 0.00 0.00 -41.53 0.000 2 0.000 0.000 50 2665 3196

62 -1.42 -80.9 4.0 -11.3 2 85 11.73 2.22 -0.65 0.000 4 0.158 0.097 2126 3793 3234

124 -1.42 -80.9 17.6 -14.0 4 131 0.00 2.05 0.00 0.000 6 0.000 0.051 2126 2677 3234

441 -1.42 -80.9 56.5 -11.7 20 442 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2677 3234

750 -1.42 -80.9 91.8 -11.4 35 751 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2677 3234

1059 -1.42 -80.9 123.9 -10.1 50 1061 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2677 3234

1368 -1.42 -80.9 155.4 -10.7 65 1372 0.00 2.12 0.00 0.000 4 0.000 0.082 2126 3785 3234

1407 -1.42 -80.9 159.8 -11.3 66 1413 0.00 2.00 0.00 0.000 6 0.000 0.050 2126 2669 3234

1723 -1.42 -80.9 193.6 -10.9 82 1727 0.00 2.60 0.00 0.000 4 0.000 0.069 2126 1252 3234

1767 -1.42 -80.9 198.6 -11.1 84 1771 0.00 2.67 0.00 0.000 6 0.000 0.071 2126 2680 3234

2088 -1.42 -80.9 232.6 -11.0 100 2091 0.00 2.10 0.00 0.000 4 0.000 0.082 2126 3791 3234

2121 -1.42 -80.9 236.4 -11.4 101 2125 0.00 2.03 0.00 0.000 6 0.000 0.051 2126 2666 3234

2443 -1.42 -80.9 269.9 -10.2 117 2447 0.00 2.58 0.00 0.000 4 0.000 0.067 2126 1254 3234

2470 -1.42 -80.9 273.0 -10.9 118 2474 0.00 2.65 0.00 0.000 6 0.000 0.067 2126 2678 3234

2786 -1.42 -80.9 305.7 -10.3 133 2787 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2678 3234

3095 -1.42 -80.9 337.9 -10.4 148 3099 0.00 2.10 0.00 0.000 4 0.000 0.082 2126 3793 3234

3123 -1.42 -80.9 341.0 -10.8 149 3127 0.00 2.00 0.00 0.000 6 0.000 0.049 2126 2672 3234

3453 -1.42 -80.9 375.7 -10.5 165 3456 0.00 2.12 0.00 0.000 4 0.000 0.082 2126 3789 3234

3492 -1.42 -80.9 379.9 -10.2 166 3498 0.00 2.00 0.00 0.000 6 0.000 0.049 2126 2667 3234

3808 -1.42 -80.9 412.6 -10.4 182 3809 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2667 3234

4117 -1.42 -80.9 442.6 -9.2 197 4121 0.00 2.58 0.00 0.000 4 0.000 0.066 2126 1251 3234

4150 -1.42 -80.9 445.7 -9.4 198 4157 0.00 2.65 0.00 0.000 6 0.000 0.067 2126 2678 3234

4466 -1.42 -80.9 474.9 -9.0 214 4474 0.00 2.08 0.00 0.000 4 0.000 0.083 2126 3784 3234

4547 -1.42 -80.9 482.3 -8.8 217 4551 0.00 1.98 0.00 0.000 6 0.000 0.047 2126 2672 3234

4869 -1.42 -80.9 509.1 -8.5 233 4873 0.00 2.58 0.00 0.000 4 0.000 0.064 2126 1252 3234

4924 -1.42 -80.9 513.9 -8.9 235 4930 0.00 2.62 0.00 0.000 6 0.000 0.065 2126 2678 3234

5241 -1.42 -80.9 540.7 -8.4 251 5242 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2678 3234

5550 -1.42 -80.9 568.5 -9.3 266 5553 0.00 2.10 0.00 0.000 4 0.000 0.083 2126 3792 3234

5620 -1.42 -80.9 575.4 -9.5 269 5624 0.00 2.00 0.00 0.000 6 0.000 0.047 2126 2663 3234

5953 -1.42 -80.9 604.7 -8.9 285 5958 0.00 2.55 0.00 0.000 4 0.000 0.063 2126 1249 3234

6021 -1.42 -80.9 611.1 -9.7 288 6025 0.00 2.65 0.00 0.000 6 0.000 0.065 2126 2682 3234

6341 -1.42 -80.9 641.0 -9.6 304 6345 0.00 2.08 0.00 0.000 4 0.000 0.083 2126 3786 3234

6455 -1.42 -80.9 652.2 -10.2 309 6459 0.00 2.00 0.00 0.000 6 0.000 0.051 2126 2664 3234

6787 -1.42 -80.9 681.4 -8.3 325 6791 0.00 2.55 0.00 0.000 4 0.000 0.064 2126 1248 3234

6866 -1.42 -80.9 687.8 -7.8 328 6872 0.00 2.65 0.00 0.000 6 0.000 0.067 2126 2680 3234

7182 -1.42 -80.9 714.1 -8.9 344 7185 0.00 2.10 0.00 0.000 4 0.000 0.084 2126 3792 3233

7255 -1.42 -80.9 720.9 -8.9 347 7258 0.00 2.00 0.00 0.000 6 0.000 0.051 2126 2666 3233

7582 -1.42 -80.9 747.1 -7.9 363 7583 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2665 3233

7891 -1.42 -80.9 769.1 -7.3 378 7895 0.00 2.15 0.00 0.000 4 0.000 0.087 2126 3783 3232

8009 -1.42 -80.9 779.5 -9.5 383 8013 0.00 2.03 0.00 0.000 6 0.000 0.051 2126 2648 3232

8337 -1.42 -80.9 808.9 -8.7 399 8341 0.00 2.53 0.00 0.000 4 0.000 0.067 2125 1260 3232

8426 -1.42 -80.9 817.0 -8.8 403 8430 0.00 2.65 0.00 0.000 6 0.000 0.070 2126 2679 3232

8744 end dive: BOTTOM_OBSTACLE_DETECTED

state 8744 begin apogee

8753 -0.42 0.0 844.3 9.0 419 8828 1.15 0.00 71.32 1.243 6 0.109 0.000 2347 2025 2902

8828 end apogee: CONTROL_FINISHED_OK

state 8829 begin climb

8832 1.42 80.9 847.4 0.0 423 8909 1.88 2.65 69.60 1.218 4 0.057 0.061 2748 614 2572

8959 1.57 200.4 849.2 0.0 428 9068 0.15 2.53 102.55 1.206 6 0.044 0.036 2791 2059 2085

9390 1.57 200.4 819.3 8.4 449 9394 0.00 2.50 0.00 0.000 4 0.000 0.061 2791 3415 2085

9464 1.57 200.4 812.6 9.0 452 9468 0.00 2.50 0.00 0.000 6 0.000 0.041 2791 2008 2085

9780 1.57 200.4 785.3 8.8 467 9784 0.00 2.55 0.00 0.000 4 0.000 0.062 2791 615 2084

9875 1.57 200.4 776.3 9.2 471 9879 0.00 2.47 0.00 0.000 6 0.000 0.038 2791 2028 2084

10191 1.57 200.4 750.1 8.3 486 10193 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2029 2083

10500 1.57 200.4 725.0 7.4 501 10501 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2029 2083

10810 1.57 200.4 703.3 7.1 516 10813 0.00 2.58 0.00 0.000 4 0.000 0.060 2791 617 2083

10871 1.57 200.4 698.1 8.7 518 10878 0.00 2.47 0.00 0.000 6 0.000 0.038 2791 2036 2082

11187 1.57 200.4 671.9 8.8 534 11192 0.00 2.60 0.00 0.000 4 0.000 0.059 2791 615 2082

11250 1.57 200.4 666.0 9.4 537 11254 0.00 2.47 0.00 0.000 6 0.000 0.037 2791 2037 2082

11577 1.57 200.4 639.2 8.3 553 11581 0.00 2.53 0.00 0.000 4 0.000 0.059 2791 3429 2082

11604 1.57 200.4 636.6 9.7 554 11608 0.00 2.47 0.00 0.000 6 0.000 0.039 2791 2023 2082

11920 1.57 200.4 609.2 9.4 569 11924 0.00 2.53 0.00 0.000 4 0.000 0.059 2791 622 2082

12086 1.57 200.4 594.3 9.0 576 12090 0.00 2.45 0.00 0.000 6 0.000 0.035 2791 2038 2082

12402 1.57 200.4 568.1 8.0 591 12407 0.00 2.58 0.00 0.000 4 0.000 0.057 2791 619 2082

12543 1.57 200.4 556.4 8.1 597 12547 0.00 2.45 0.00 0.000 6 0.000 0.035 2791 2031 2082

12859 1.57 200.4 530.8 8.1 612 12863 0.00 2.55 0.00 0.000 4 0.000 0.056 2791 622 2082

12966 1.57 200.4 521.5 8.6 617 12970 0.00 2.45 0.00 0.000 6 0.000 0.035 2791 2037 2083

13299 1.57 200.4 494.7 8.3 633 13300 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2037 2083

13608 1.57 200.4 471.4 7.4 648 13612 0.00 2.58 0.00 0.000 4 0.000 0.057 2791 613 2083

13716 1.57 200.4 463.4 7.8 653 13720 0.00 2.45 0.00 0.000 6 0.000 0.035 2791 2029 2083

14048 1.57 200.4 440.7 6.8 669 14052 0.00 2.55 0.00 0.000 4 0.000 0.056 2791 618 2084

14178 1.57 200.4 430.6 7.7 675 14182 0.00 2.45 0.00 0.000 6 0.000 0.035 2791 2035 2084

14506 1.57 200.4 404.9 8.3 691 14510 0.00 2.53 0.00 0.000 4 0.000 0.060 2791 3436 2084

14545 1.57 200.4 401.4 8.8 692 14551 0.00 2.47 0.00 0.000 6 0.000 0.040 2791 2020 2085

14861 1.57 200.4 374.6 9.0 708 14865 0.00 2.50 0.00 0.000 4 0.000 0.058 2791 621 2085

14945 1.57 200.4 366.3 9.9 712 14950 0.00 2.45 0.00 0.000 6 0.000 0.036 2791 2035 2085

15272 1.57 200.4 335.6 9.4 728 15277 0.00 2.58 0.00 0.000 4 0.000 0.057 2791 611 2086

15336 1.57 200.4 329.5 10.2 731 15340 0.00 2.45 0.00 0.000 6 0.000 0.037 2791 2026 2085

15663 1.57 200.4 299.9 9.1 747 15667 0.00 2.55 0.00 0.000 4 0.000 0.058 2791 616 2086

15707 1.57 200.4 295.5 9.4 749 15712 0.00 2.45 0.00 0.000 6 0.000 0.037 2791 2026 2086

16029 1.57 200.4 267.8 8.0 765 16033 0.00 2.55 0.00 0.000 4 0.000 0.057 2791 616 2086

16119 1.57 200.4 260.5 8.1 769 16123 0.00 2.45 0.00 0.000 6 0.000 0.037 2791 2026 2086

16440 1.57 200.4 233.2 8.9 785 16441 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2025 2086

16749 1.57 200.4 205.0 9.2 800 16754 0.00 2.55 0.00 0.000 4 0.000 0.058 2791 615 2086

16850 1.57 200.4 195.6 10.0 804 16856 0.00 2.45 0.00 0.000 6 0.000 0.038 2791 2024 2086

17166 1.57 200.4 167.8 9.2 820 17170 0.00 2.55 0.00 0.000 4 0.000 0.058 2791 610 2086

17234 1.57 200.4 161.5 8.3 823 17239 0.00 2.47 0.00 0.000 6 0.000 0.038 2791 2032 2086

17561 1.57 200.4 131.9 9.0 839 17565 0.00 2.58 0.00 0.000 4 0.000 0.058 2791 615 2086

17662 1.57 200.4 122.2 10.0 843 17668 0.00 2.45 0.00 0.000 6 0.000 0.038 2791 2029 2086

17978 1.57 200.4 94.4 8.8 859 17982 0.00 2.58 0.00 0.000 4 0.000 0.059 2791 609 2087

18050 1.57 200.4 88.1 8.2 862 18054 0.00 2.47 0.00 0.000 6 0.000 0.038 2791 2028 2087

18368 1.57 200.4 62.3 8.1 877 18373 0.00 2.58 0.00 0.000 4 0.000 0.060 2791 611 2087

18464 1.57 200.4 53.6 8.6 881 18468 0.00 2.47 0.00 0.000 6 0.000 0.037 2791 2038 2087

18782 1.57 200.4 28.3 7.8 896 18786 0.00 2.58 0.00 0.000 4 0.000 0.061 2791 621 2087

18849 1.57 200.4 22.6 7.9 899 18853 0.00 2.45 0.00 0.000 6 0.000 0.038 2791 2028 2087

19126 end climb: SURFACE_DEPTH_REACHED

state 19126 begin surface coast

19148 end surface coast: CONTROL_FINISHED_OK

state 19148 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	248	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	2675	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2025	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	10	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-147696.98	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	012855,6350.602,-1317.602,41,1.4,41,-12.5	TGT_NAME	KE
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.013,-0.169
_SM_DEPTHo	1.37	KALMAN_X	7218.8,-332.6,-216.7,-28206.8,6446.4
_SM_ANGLEo	-64.7	KALMAN_Y	8568.9,-1190.4,-394.8,-17863.9,4439.0
GPS2	013456,6350.585,-1317.414,14,1.5,14,-12.5	MHEAD_RNG_PITCHd_Wd	197.0,6152,-15.8,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.005762	ALTIM_BOTTOM_PING	826.5,27.7
SM_CCo	19173,21.20,0.687,0,0,1984,225.19	_24V_AH	23.2,43.852
SM_GC	2.74,0.00,0.00,21.20,0.000,0.000,0.687,50,2672,1984,-10.99,-0.08,225.19	_10V_AH	10.1,24.935
IRIDIUM_FIX	6327.46,-1313.59,110798,191959	DATA_FILE_SIZE	47418,914
TT8_MAMPS	0.029146	CAP_FILE_SIZE	143720,0
HUMID	1765	CFSIZE	260165632,242503680
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	170409,065706,6347.882,-1314.325,39,1.9,39,-12.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	98.70	SBE_CT	637	24	355.17
Roll_motor	190	97	431.07	SBE_O2	680	19	299.84
VBD_pump_during_apogee	243	1243	7022.97	WL_BB2F	511	105	1245.98
VBD_pump_during_surface	21	687	338.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.47	nil	0	0	0.00
Iridium_during_connect	27	160	100.78	nil	0	0	0.00
Iridium_during_xfer	165	223	853.81
Transponder_ping	7	420	73.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.26
TT8	1733	19	346.62
LPSleep	14629	2	323.60
TT8_Active	401	19	80.31
TT8_Sampling	2196	39	882.76
TT8_CF8	590	45	273.24
TT8_Kalman	33	81	27.56
Analog_circuits	1504	12	182.29
GPS_charging	0	0	0.00
Compass	2144	8	173.30
RAFOS	0	0	0.00
Transponder	55	30	16.77

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	-1.42	-80.9	0.0	0.0	0	59	0.00	0.00	-41.53	0.000	2	0.000	0.000	50	2665	3196
62	-1.42	-80.9	4.0	-11.3	2	85	11.73	2.22	-0.65	0.000	4	0.158	0.097	2126	3793	3234
124	-1.42	-80.9	17.6	-14.0	4	131	0.00	2.05	0.00	0.000	6	0.000	0.051	2126	2677	3234
441	-1.42	-80.9	56.5	-11.7	20	442	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2677	3234
750	-1.42	-80.9	91.8	-11.4	35	751	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2677	3234
1059	-1.42	-80.9	123.9	-10.1	50	1061	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2677	3234
1368	-1.42	-80.9	155.4	-10.7	65	1372	0.00	2.12	0.00	0.000	4	0.000	0.082	2126	3785	3234
1407	-1.42	-80.9	159.8	-11.3	66	1413	0.00	2.00	0.00	0.000	6	0.000	0.050	2126	2669	3234
1723	-1.42	-80.9	193.6	-10.9	82	1727	0.00	2.60	0.00	0.000	4	0.000	0.069	2126	1252	3234
1767	-1.42	-80.9	198.6	-11.1	84	1771	0.00	2.67	0.00	0.000	6	0.000	0.071	2126	2680	3234
2088	-1.42	-80.9	232.6	-11.0	100	2091	0.00	2.10	0.00	0.000	4	0.000	0.082	2126	3791	3234
2121	-1.42	-80.9	236.4	-11.4	101	2125	0.00	2.03	0.00	0.000	6	0.000	0.051	2126	2666	3234
2443	-1.42	-80.9	269.9	-10.2	117	2447	0.00	2.58	0.00	0.000	4	0.000	0.067	2126	1254	3234
2470	-1.42	-80.9	273.0	-10.9	118	2474	0.00	2.65	0.00	0.000	6	0.000	0.067	2126	2678	3234
2786	-1.42	-80.9	305.7	-10.3	133	2787	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2678	3234
3095	-1.42	-80.9	337.9	-10.4	148	3099	0.00	2.10	0.00	0.000	4	0.000	0.082	2126	3793	3234
3123	-1.42	-80.9	341.0	-10.8	149	3127	0.00	2.00	0.00	0.000	6	0.000	0.049	2126	2672	3234
3453	-1.42	-80.9	375.7	-10.5	165	3456	0.00	2.12	0.00	0.000	4	0.000	0.082	2126	3789	3234
3492	-1.42	-80.9	379.9	-10.2	166	3498	0.00	2.00	0.00	0.000	6	0.000	0.049	2126	2667	3234
3808	-1.42	-80.9	412.6	-10.4	182	3809	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2667	3234
4117	-1.42	-80.9	442.6	-9.2	197	4121	0.00	2.58	0.00	0.000	4	0.000	0.066	2126	1251	3234
4150	-1.42	-80.9	445.7	-9.4	198	4157	0.00	2.65	0.00	0.000	6	0.000	0.067	2126	2678	3234
4466	-1.42	-80.9	474.9	-9.0	214	4474	0.00	2.08	0.00	0.000	4	0.000	0.083	2126	3784	3234
4547	-1.42	-80.9	482.3	-8.8	217	4551	0.00	1.98	0.00	0.000	6	0.000	0.047	2126	2672	3234
4869	-1.42	-80.9	509.1	-8.5	233	4873	0.00	2.58	0.00	0.000	4	0.000	0.064	2126	1252	3234
4924	-1.42	-80.9	513.9	-8.9	235	4930	0.00	2.62	0.00	0.000	6	0.000	0.065	2126	2678	3234
5241	-1.42	-80.9	540.7	-8.4	251	5242	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2678	3234
5550	-1.42	-80.9	568.5	-9.3	266	5553	0.00	2.10	0.00	0.000	4	0.000	0.083	2126	3792	3234
5620	-1.42	-80.9	575.4	-9.5	269	5624	0.00	2.00	0.00	0.000	6	0.000	0.047	2126	2663	3234
5953	-1.42	-80.9	604.7	-8.9	285	5958	0.00	2.55	0.00	0.000	4	0.000	0.063	2126	1249	3234
6021	-1.42	-80.9	611.1	-9.7	288	6025	0.00	2.65	0.00	0.000	6	0.000	0.065	2126	2682	3234
6341	-1.42	-80.9	641.0	-9.6	304	6345	0.00	2.08	0.00	0.000	4	0.000	0.083	2126	3786	3234
6455	-1.42	-80.9	652.2	-10.2	309	6459	0.00	2.00	0.00	0.000	6	0.000	0.051	2126	2664	3234
6787	-1.42	-80.9	681.4	-8.3	325	6791	0.00	2.55	0.00	0.000	4	0.000	0.064	2126	1248	3234
6866	-1.42	-80.9	687.8	-7.8	328	6872	0.00	2.65	0.00	0.000	6	0.000	0.067	2126	2680	3234
7182	-1.42	-80.9	714.1	-8.9	344	7185	0.00	2.10	0.00	0.000	4	0.000	0.084	2126	3792	3233
7255	-1.42	-80.9	720.9	-8.9	347	7258	0.00	2.00	0.00	0.000	6	0.000	0.051	2126	2666	3233
7582	-1.42	-80.9	747.1	-7.9	363	7583	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2665	3233
7891	-1.42	-80.9	769.1	-7.3	378	7895	0.00	2.15	0.00	0.000	4	0.000	0.087	2126	3783	3232
8009	-1.42	-80.9	779.5	-9.5	383	8013	0.00	2.03	0.00	0.000	6	0.000	0.051	2126	2648	3232
8337	-1.42	-80.9	808.9	-8.7	399	8341	0.00	2.53	0.00	0.000	4	0.000	0.067	2125	1260	3232
8426	-1.42	-80.9	817.0	-8.8	403	8430	0.00	2.65	0.00	0.000	6	0.000	0.070	2126	2679	3232
8744	end dive: BOTTOM_OBSTACLE_DETECTED
state	8744	begin apogee
8753	-0.42	0.0	844.3	9.0	419	8828	1.15	0.00	71.32	1.243	6	0.109	0.000	2347	2025	2902
8828	end apogee: CONTROL_FINISHED_OK
state	8829	begin climb
8832	1.42	80.9	847.4	0.0	423	8909	1.88	2.65	69.60	1.218	4	0.057	0.061	2748	614	2572
8959	1.57	200.4	849.2	0.0	428	9068	0.15	2.53	102.55	1.206	6	0.044	0.036	2791	2059	2085
9390	1.57	200.4	819.3	8.4	449	9394	0.00	2.50	0.00	0.000	4	0.000	0.061	2791	3415	2085
9464	1.57	200.4	812.6	9.0	452	9468	0.00	2.50	0.00	0.000	6	0.000	0.041	2791	2008	2085
9780	1.57	200.4	785.3	8.8	467	9784	0.00	2.55	0.00	0.000	4	0.000	0.062	2791	615	2084
9875	1.57	200.4	776.3	9.2	471	9879	0.00	2.47	0.00	0.000	6	0.000	0.038	2791	2028	2084
10191	1.57	200.4	750.1	8.3	486	10193	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2029	2083
10500	1.57	200.4	725.0	7.4	501	10501	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2029	2083
10810	1.57	200.4	703.3	7.1	516	10813	0.00	2.58	0.00	0.000	4	0.000	0.060	2791	617	2083
10871	1.57	200.4	698.1	8.7	518	10878	0.00	2.47	0.00	0.000	6	0.000	0.038	2791	2036	2082
11187	1.57	200.4	671.9	8.8	534	11192	0.00	2.60	0.00	0.000	4	0.000	0.059	2791	615	2082
11250	1.57	200.4	666.0	9.4	537	11254	0.00	2.47	0.00	0.000	6	0.000	0.037	2791	2037	2082
11577	1.57	200.4	639.2	8.3	553	11581	0.00	2.53	0.00	0.000	4	0.000	0.059	2791	3429	2082
11604	1.57	200.4	636.6	9.7	554	11608	0.00	2.47	0.00	0.000	6	0.000	0.039	2791	2023	2082
11920	1.57	200.4	609.2	9.4	569	11924	0.00	2.53	0.00	0.000	4	0.000	0.059	2791	622	2082
12086	1.57	200.4	594.3	9.0	576	12090	0.00	2.45	0.00	0.000	6	0.000	0.035	2791	2038	2082
12402	1.57	200.4	568.1	8.0	591	12407	0.00	2.58	0.00	0.000	4	0.000	0.057	2791	619	2082
12543	1.57	200.4	556.4	8.1	597	12547	0.00	2.45	0.00	0.000	6	0.000	0.035	2791	2031	2082
12859	1.57	200.4	530.8	8.1	612	12863	0.00	2.55	0.00	0.000	4	0.000	0.056	2791	622	2082
12966	1.57	200.4	521.5	8.6	617	12970	0.00	2.45	0.00	0.000	6	0.000	0.035	2791	2037	2083
13299	1.57	200.4	494.7	8.3	633	13300	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2037	2083
13608	1.57	200.4	471.4	7.4	648	13612	0.00	2.58	0.00	0.000	4	0.000	0.057	2791	613	2083
13716	1.57	200.4	463.4	7.8	653	13720	0.00	2.45	0.00	0.000	6	0.000	0.035	2791	2029	2083
14048	1.57	200.4	440.7	6.8	669	14052	0.00	2.55	0.00	0.000	4	0.000	0.056	2791	618	2084
14178	1.57	200.4	430.6	7.7	675	14182	0.00	2.45	0.00	0.000	6	0.000	0.035	2791	2035	2084
14506	1.57	200.4	404.9	8.3	691	14510	0.00	2.53	0.00	0.000	4	0.000	0.060	2791	3436	2084
14545	1.57	200.4	401.4	8.8	692	14551	0.00	2.47	0.00	0.000	6	0.000	0.040	2791	2020	2085
14861	1.57	200.4	374.6	9.0	708	14865	0.00	2.50	0.00	0.000	4	0.000	0.058	2791	621	2085
14945	1.57	200.4	366.3	9.9	712	14950	0.00	2.45	0.00	0.000	6	0.000	0.036	2791	2035	2085
15272	1.57	200.4	335.6	9.4	728	15277	0.00	2.58	0.00	0.000	4	0.000	0.057	2791	611	2086
15336	1.57	200.4	329.5	10.2	731	15340	0.00	2.45	0.00	0.000	6	0.000	0.037	2791	2026	2085
15663	1.57	200.4	299.9	9.1	747	15667	0.00	2.55	0.00	0.000	4	0.000	0.058	2791	616	2086
15707	1.57	200.4	295.5	9.4	749	15712	0.00	2.45	0.00	0.000	6	0.000	0.037	2791	2026	2086
16029	1.57	200.4	267.8	8.0	765	16033	0.00	2.55	0.00	0.000	4	0.000	0.057	2791	616	2086
16119	1.57	200.4	260.5	8.1	769	16123	0.00	2.45	0.00	0.000	6	0.000	0.037	2791	2026	2086
16440	1.57	200.4	233.2	8.9	785	16441	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2025	2086
16749	1.57	200.4	205.0	9.2	800	16754	0.00	2.55	0.00	0.000	4	0.000	0.058	2791	615	2086
16850	1.57	200.4	195.6	10.0	804	16856	0.00	2.45	0.00	0.000	6	0.000	0.038	2791	2024	2086
17166	1.57	200.4	167.8	9.2	820	17170	0.00	2.55	0.00	0.000	4	0.000	0.058	2791	610	2086
17234	1.57	200.4	161.5	8.3	823	17239	0.00	2.47	0.00	0.000	6	0.000	0.038	2791	2032	2086
17561	1.57	200.4	131.9	9.0	839	17565	0.00	2.58	0.00	0.000	4	0.000	0.058	2791	615	2086
17662	1.57	200.4	122.2	10.0	843	17668	0.00	2.45	0.00	0.000	6	0.000	0.038	2791	2029	2086
17978	1.57	200.4	94.4	8.8	859	17982	0.00	2.58	0.00	0.000	4	0.000	0.059	2791	609	2087
18050	1.57	200.4	88.1	8.2	862	18054	0.00	2.47	0.00	0.000	6	0.000	0.038	2791	2028	2087
18368	1.57	200.4	62.3	8.1	877	18373	0.00	2.58	0.00	0.000	4	0.000	0.060	2791	611	2087
18464	1.57	200.4	53.6	8.6	881	18468	0.00	2.47	0.00	0.000	6	0.000	0.037	2791	2038	2087
18782	1.57	200.4	28.3	7.8	896	18786	0.00	2.58	0.00	0.000	4	0.000	0.061	2791	621	2087
18849	1.57	200.4	22.6	7.9	899	18853	0.00	2.45	0.00	0.000	6	0.000	0.038	2791	2028	2087
19126	end climb: SURFACE_DEPTH_REACHED
state	19126	begin surface coast
19148	end surface coast: CONTROL_FINISHED_OK
state	19148	begin surface