Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 33 * 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 33 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 2750 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 1700 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 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 -143615.47 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 300

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 -143615.47

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 1700 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2750 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 33 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 031807,6140.961,-910.841,36,1.5,36,-9.4 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.064,0.209

_SM_DEPTHo 1.07 KALMAN_X -20433.2,406.1,-371.1,36890.9,-2936.7

_SM_ANGLEo -61.1 KALMAN_Y -57410.9,1084.8,-76.9,111382.9,-5212.6

GPS2 032344,6140.937,-910.807,13,2.0,13,-9.4 MHEAD_RNG_PITCHd_Wd 26.4,8375,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027431 ALTIM_BOTTOM_PING 725.7,71.5

SM_CCo 18139,0.00,0.000,0,0,1470,351.51 _24V_AH 23.3,14.731

SM_GC 1.15,11.90,0.00,0.00,0.034,0.000,0.000,51,2735,1470,-10.93,-0.42,351.51 _10V_AH 10.1,6.606

IRIDIUM_FIX 6112.75,-909.88,240598,222221 DATA_FILE_SIZE 44275,859

TT8_MAMPS 0.028379 CAP_FILE_SIZE 138933,0

HUMID 1786 CFSIZE 260165632,255803392

INTERNAL_PRESSURE 8.54525 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.10 GPS 280209,082827,6143.875,-910.395,33,2.1,52,-9.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 100.30 SBE_CT 605 24 338.47

Roll_motor 195 92 423.18 SBE_O2 629 19 278.52

VBD_pump_during_apogee 418 1269 12374.88 WL_BB2F 506 105 1238.74

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 29 103 70.69 nil 0 0 0.00

Iridium_during_connect 28 160 104.82 nil 0 0 0.00

Iridium_during_xfer 152 223 794.60

Transponder_ping 6 420 63.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.66

TT8 1633 19 326.69

LPSleep 13584 2 300.48

TT8_Active 531 19 106.19

TT8_Sampling 2171 39 873.01

TT8_CF8 552 45 255.38

TT8_Kalman 33 81 27.56

Analog_circuits 1641 12 198.91

GPS_charging 0 0 0.00

Compass 2123 8 171.58

RAFOS 0 0 0.00

Transponder 46 30 13.98

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.10 -146.6 0.0 0.0 0 79 0.00 0.00 -61.20 0.000 2 0.000 0.000 48 2743 3213

82 -1.10 -146.6 3.5 -5.6 3 106 12.20 2.70 -4.97 0.000 4 0.162 0.080 2195 1333 3503

359 -1.10 -146.6 32.7 -8.2 15 363 0.00 2.62 0.00 0.000 6 0.000 0.061 2195 2754 3503

680 -1.10 -146.6 58.8 -8.5 31 684 0.00 2.62 0.00 0.000 4 0.000 0.065 2195 1333 3503

775 -1.10 -146.6 66.8 -8.2 35 779 0.00 2.62 0.00 0.000 6 0.000 0.060 2195 2760 3503

1091 -1.10 -146.6 92.0 -8.1 50 1092 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2760 3503

1400 -1.10 -146.6 116.8 -8.1 65 1404 0.00 2.62 0.00 0.000 4 0.000 0.064 2195 1336 3503

1445 -1.10 -146.6 120.5 -8.6 67 1449 0.00 2.60 0.00 0.000 6 0.000 0.058 2195 2756 3503

1766 -1.10 -146.6 144.8 -7.5 83 1767 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2756 3503

2075 -1.10 -146.6 167.6 -7.1 98 2079 0.00 2.60 0.00 0.000 4 0.000 0.062 2195 1339 3503

2119 -1.10 -146.6 170.9 -7.2 100 2123 0.00 2.58 0.00 0.000 6 0.000 0.055 2195 2751 3502

2440 -1.10 -146.6 193.4 -7.1 116 2441 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2751 3503

2749 -1.10 -146.6 214.9 -7.0 131 2750 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2752 3503

3059 -1.10 -146.6 239.5 -8.6 146 3063 0.00 2.60 0.00 0.000 4 0.000 0.064 2195 1338 3503

3099 -1.10 -146.6 243.1 -9.0 148 3103 0.00 2.60 0.00 0.000 6 0.000 0.060 2195 2757 3503

3425 -1.10 -146.6 271.2 -9.0 164 3426 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2757 3503

3735 -1.10 -146.6 300.0 -9.2 179 3740 0.00 2.60 0.00 0.000 4 0.000 0.062 2195 1339 3503

3776 -1.10 -146.6 303.6 -8.9 181 3780 0.00 2.58 0.00 0.000 6 0.000 0.057 2195 2750 3503

4102 -1.10 -146.6 330.6 -8.7 197 4103 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2750 3503

4412 -1.10 -146.6 355.1 -7.8 212 4416 0.00 2.60 0.00 0.000 4 0.000 0.064 2195 1333 3502

4461 -1.10 -146.6 359.2 -8.1 214 4466 0.00 2.60 0.00 0.000 6 0.000 0.061 2195 2750 3503

4777 -1.10 -146.6 383.7 -7.2 229 4781 0.00 2.58 0.00 0.000 4 0.000 0.061 2195 1338 3503

4804 -1.10 -146.6 385.8 -6.6 230 4809 0.00 2.58 0.00 0.000 6 0.000 0.056 2195 2760 3503

5120 -1.10 -146.6 410.6 -8.2 245 5121 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2760 3503

5429 -1.10 -146.6 437.0 -8.1 260 5434 0.00 2.60 0.00 0.000 4 0.000 0.061 2195 1336 3503

5474 -1.10 -146.6 440.7 -8.4 262 5479 0.00 2.60 0.00 0.000 6 0.000 0.059 2195 2759 3503

5796 -1.10 -146.6 469.2 -9.4 278 5800 0.00 2.62 0.00 0.000 4 0.000 0.063 2195 1324 3503

5845 -1.10 -146.6 473.7 -9.1 280 5850 0.00 2.62 0.00 0.000 6 0.000 0.059 2195 2758 3503

6162 -1.10 -146.6 501.7 -9.2 295 6163 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2758 3503

6470 -1.10 -146.6 531.1 -9.0 310 6475 0.00 2.60 0.00 0.000 4 0.000 0.061 2195 1332 3502

6520 -1.10 -146.6 535.6 -8.8 312 6525 0.00 2.60 0.00 0.000 6 0.000 0.058 2195 2756 3502

6842 -1.10 -146.6 560.8 -7.6 328 6843 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2756 3502

7151 -1.10 -146.6 584.5 -7.8 343 7155 0.00 2.60 0.00 0.000 4 0.000 0.061 2195 1329 3502

7191 -1.10 -146.6 587.5 -7.4 345 7195 0.00 2.60 0.00 0.000 6 0.000 0.057 2195 2757 3502

7518 -1.10 -146.6 612.6 -7.7 361 7522 0.00 2.58 0.00 0.000 4 0.000 0.059 2195 1331 3502

7567 -1.10 -146.6 616.6 -7.9 363 7572 0.00 2.60 0.00 0.000 6 0.000 0.055 2195 2762 3502

7883 -1.10 -146.6 639.8 -7.2 378 7887 0.00 2.58 0.00 0.000 4 0.000 0.059 2195 1333 3502

7927 -1.10 -146.6 643.2 -7.6 380 7932 0.00 2.58 0.00 0.000 6 0.000 0.055 2195 2753 3502

8250 -1.10 -146.6 664.1 -6.2 396 8254 0.00 2.58 0.00 0.000 4 0.000 0.059 2195 1332 3502

8289 -1.10 -146.6 666.6 -6.2 398 8293 0.00 2.58 0.00 0.000 6 0.000 0.054 2195 2754 3502

8616 -1.10 -146.6 694.1 -9.7 414 8620 0.00 2.58 0.00 0.000 4 0.000 0.060 2195 1329 3502

8690 -1.10 -146.6 701.1 -9.6 417 8694 0.00 2.60 0.00 0.000 6 0.000 0.056 2195 2757 3502

9016 -1.10 -146.6 725.7 -9.4 433 9020 0.00 2.60 0.00 0.000 4 0.000 0.059 2195 1326 3502

9273 -1.10 -146.6 745.7 -2.4 444 9280 0.00 2.62 0.00 0.000 6 0.000 0.063 2195 2750 3502

9590 -1.10 -146.6 749.4 -4.2 460 9594 0.00 2.62 0.00 0.000 4 0.000 0.066 2195 1329 3501

9640 -1.10 -146.6 751.7 -4.3 462 9644 0.00 2.62 0.00 0.000 6 0.000 0.062 2195 2749 3501

9956 -1.10 -146.6 768.1 -6.5 477 9959 0.00 2.00 0.00 0.000 4 0.000 0.093 2195 3792 3499

9972 -1.10 -146.6 770.4 -8.9 477 9978 0.00 1.85 0.00 0.000 6 0.000 0.046 2195 2743 3500

10079 end dive: BOTTOM_OBSTACLE_DETECTED

state 10079 begin apogee

10088 -0.42 0.0 787.7 17.1 483 10216 0.75 0.00 124.38 1.269 6 0.083 0.000 2349 1699 2902

10217 end apogee: CONTROL_FINISHED_OK

state 10217 begin climb

10220 1.10 146.6 802.9 0.0 489 10356 1.52 2.70 122.90 1.245 4 0.056 0.060 2676 3121 2304

10558 1.10 146.6 772.9 9.9 504 10563 0.00 2.62 0.00 0.000 6 0.000 0.055 2676 1696 2303

10874 1.36 351.9 761.8 0.3 519 11056 0.22 2.78 171.12 1.233 4 0.038 0.077 2741 294 1467

11146 1.36 351.9 731.4 10.9 531 11153 0.00 2.55 0.00 0.000 6 0.000 0.039 2741 1726 1467

11462 1.36 351.9 708.0 8.8 547 11467 0.00 2.78 0.00 0.000 4 0.000 0.078 2741 288 1466

11639 1.36 351.9 692.4 9.9 555 11644 0.00 2.53 0.00 0.000 6 0.000 0.041 2741 1704 1466

11967 1.36 351.9 655.1 11.4 571 11971 0.00 2.58 0.00 0.000 4 0.000 0.061 2741 3112 1465

12062 1.36 351.9 643.3 12.6 575 12066 0.00 2.58 0.00 0.000 6 0.000 0.052 2741 1697 1465

12378 1.36 351.9 604.6 11.5 590 12382 0.00 2.58 0.00 0.000 4 0.000 0.055 2741 3111 1465

12455 1.36 351.9 597.0 9.5 593 12462 0.00 2.55 0.00 0.000 6 0.000 0.049 2741 1694 1465

12771 1.36 351.9 563.4 11.4 609 12775 0.00 2.58 0.00 0.000 4 0.000 0.054 2741 3114 1465

12821 1.36 351.9 557.1 12.1 611 12825 0.00 2.55 0.00 0.000 6 0.000 0.047 2741 1692 1465

13138 1.36 351.9 525.4 8.2 626 13142 0.00 2.58 0.00 0.000 4 0.000 0.054 2741 3110 1466

13210 1.36 351.9 518.8 9.4 629 13215 0.00 2.53 0.00 0.000 6 0.000 0.048 2741 1700 1466

13526 1.36 351.9 484.7 11.5 644 13530 0.00 2.55 0.00 0.000 4 0.000 0.056 2741 3113 1466

13604 1.36 351.9 475.2 12.0 647 13608 0.00 2.55 0.00 0.000 6 0.000 0.048 2741 1693 1466

13920 1.36 351.9 439.4 11.2 662 13924 0.00 2.58 0.00 0.000 4 0.000 0.056 2741 3113 1466

14004 1.36 351.9 429.9 11.1 665 14010 0.00 2.53 0.00 0.000 6 0.000 0.050 2741 1701 1466

14320 1.36 351.9 396.3 10.3 681 14324 0.00 2.55 0.00 0.000 4 0.000 0.057 2741 3107 1467

14410 1.36 351.9 387.0 10.1 685 14414 0.00 2.55 0.00 0.000 6 0.000 0.051 2741 1693 1467

14737 1.36 351.9 354.2 10.2 701 14741 0.00 2.58 0.00 0.000 4 0.000 0.057 2741 3108 1467

14832 1.36 351.9 344.2 10.0 705 14836 0.00 2.55 0.00 0.000 6 0.000 0.053 2741 1698 1467

15148 1.36 351.9 309.3 11.4 720 15152 0.00 2.58 0.00 0.000 4 0.000 0.059 2741 3108 1468

15232 1.36 351.9 299.7 11.3 724 15236 0.00 2.55 0.00 0.000 6 0.000 0.052 2741 1699 1468

15559 1.36 351.9 263.3 11.2 740 15563 0.00 2.58 0.00 0.000 4 0.000 0.058 2741 3110 1469

15626 1.36 351.9 255.7 10.9 743 15631 0.00 2.55 0.00 0.000 6 0.000 0.053 2741 1700 1469

15948 1.36 351.9 219.7 11.4 759 15952 0.00 2.58 0.00 0.000 4 0.000 0.060 2741 3113 1469

16042 1.36 351.9 209.1 11.0 763 16047 0.00 2.58 0.00 0.000 6 0.000 0.054 2741 1691 1469

16358 1.36 351.9 174.4 11.2 778 16363 0.00 2.60 0.00 0.000 4 0.000 0.060 2741 3113 1469

16454 1.36 351.9 163.7 10.5 782 16458 0.00 2.58 0.00 0.000 6 0.000 0.054 2741 1691 1469

16771 1.36 351.9 131.8 10.1 797 16776 0.00 2.60 0.00 0.000 4 0.000 0.060 2741 3116 1469

16857 1.36 351.9 122.8 10.7 801 16861 0.00 2.58 0.00 0.000 6 0.000 0.054 2741 1694 1469

17184 1.36 351.9 88.3 10.9 817 17188 0.00 2.58 0.00 0.000 4 0.000 0.059 2741 3108 1469

17262 1.36 351.9 79.8 10.6 820 17268 0.00 2.55 0.00 0.000 6 0.000 0.054 2741 1698 1470

17578 1.36 351.9 47.9 10.5 836 17582 0.00 2.60 0.00 0.000 4 0.000 0.061 2741 3117 1470

17663 1.36 351.9 39.5 10.8 840 17667 0.00 2.58 0.00 0.000 6 0.000 0.055 2741 1698 1470

17990 1.36 351.9 6.8 10.3 856 17994 0.00 2.60 0.00 0.000 4 0.000 0.064 2741 3108 1470

18037 end climb: SURFACE_DEPTH_REACHED

state 18037 begin surface coast

18055 end surface coast: CONTROL_FINISHED_OK

state 18055 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	33	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	2750	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	1700	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	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	-143615.47	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	031807,6140.961,-910.841,36,1.5,36,-9.4	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.064,0.209
_SM_DEPTHo	1.07	KALMAN_X	-20433.2,406.1,-371.1,36890.9,-2936.7
_SM_ANGLEo	-61.1	KALMAN_Y	-57410.9,1084.8,-76.9,111382.9,-5212.6
GPS2	032344,6140.937,-910.807,13,2.0,13,-9.4	MHEAD_RNG_PITCHd_Wd	26.4,8375,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.027431	ALTIM_BOTTOM_PING	725.7,71.5
SM_CCo	18139,0.00,0.000,0,0,1470,351.51	_24V_AH	23.3,14.731
SM_GC	1.15,11.90,0.00,0.00,0.034,0.000,0.000,51,2735,1470,-10.93,-0.42,351.51	_10V_AH	10.1,6.606
IRIDIUM_FIX	6112.75,-909.88,240598,222221	DATA_FILE_SIZE	44275,859
TT8_MAMPS	0.028379	CAP_FILE_SIZE	138933,0
HUMID	1786	CFSIZE	260165632,255803392
INTERNAL_PRESSURE	8.54525	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.10	GPS	280209,082827,6143.875,-910.395,33,2.1,52,-9.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	100.30	SBE_CT	605	24	338.47
Roll_motor	195	92	423.18	SBE_O2	629	19	278.52
VBD_pump_during_apogee	418	1269	12374.88	WL_BB2F	506	105	1238.74
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	29	103	70.69	nil	0	0	0.00
Iridium_during_connect	28	160	104.82	nil	0	0	0.00
Iridium_during_xfer	152	223	794.60
Transponder_ping	6	420	63.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.66
TT8	1633	19	326.69
LPSleep	13584	2	300.48
TT8_Active	531	19	106.19
TT8_Sampling	2171	39	873.01
TT8_CF8	552	45	255.38
TT8_Kalman	33	81	27.56
Analog_circuits	1641	12	198.91
GPS_charging	0	0	0.00
Compass	2123	8	171.58
RAFOS	0	0	0.00
Transponder	46	30	13.98

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.10	-146.6	0.0	0.0	0	79	0.00	0.00	-61.20	0.000	2	0.000	0.000	48	2743	3213
82	-1.10	-146.6	3.5	-5.6	3	106	12.20	2.70	-4.97	0.000	4	0.162	0.080	2195	1333	3503
359	-1.10	-146.6	32.7	-8.2	15	363	0.00	2.62	0.00	0.000	6	0.000	0.061	2195	2754	3503
680	-1.10	-146.6	58.8	-8.5	31	684	0.00	2.62	0.00	0.000	4	0.000	0.065	2195	1333	3503
775	-1.10	-146.6	66.8	-8.2	35	779	0.00	2.62	0.00	0.000	6	0.000	0.060	2195	2760	3503
1091	-1.10	-146.6	92.0	-8.1	50	1092	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2760	3503
1400	-1.10	-146.6	116.8	-8.1	65	1404	0.00	2.62	0.00	0.000	4	0.000	0.064	2195	1336	3503
1445	-1.10	-146.6	120.5	-8.6	67	1449	0.00	2.60	0.00	0.000	6	0.000	0.058	2195	2756	3503
1766	-1.10	-146.6	144.8	-7.5	83	1767	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2756	3503
2075	-1.10	-146.6	167.6	-7.1	98	2079	0.00	2.60	0.00	0.000	4	0.000	0.062	2195	1339	3503
2119	-1.10	-146.6	170.9	-7.2	100	2123	0.00	2.58	0.00	0.000	6	0.000	0.055	2195	2751	3502
2440	-1.10	-146.6	193.4	-7.1	116	2441	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2751	3503
2749	-1.10	-146.6	214.9	-7.0	131	2750	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2752	3503
3059	-1.10	-146.6	239.5	-8.6	146	3063	0.00	2.60	0.00	0.000	4	0.000	0.064	2195	1338	3503
3099	-1.10	-146.6	243.1	-9.0	148	3103	0.00	2.60	0.00	0.000	6	0.000	0.060	2195	2757	3503
3425	-1.10	-146.6	271.2	-9.0	164	3426	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2757	3503
3735	-1.10	-146.6	300.0	-9.2	179	3740	0.00	2.60	0.00	0.000	4	0.000	0.062	2195	1339	3503
3776	-1.10	-146.6	303.6	-8.9	181	3780	0.00	2.58	0.00	0.000	6	0.000	0.057	2195	2750	3503
4102	-1.10	-146.6	330.6	-8.7	197	4103	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2750	3503
4412	-1.10	-146.6	355.1	-7.8	212	4416	0.00	2.60	0.00	0.000	4	0.000	0.064	2195	1333	3502
4461	-1.10	-146.6	359.2	-8.1	214	4466	0.00	2.60	0.00	0.000	6	0.000	0.061	2195	2750	3503
4777	-1.10	-146.6	383.7	-7.2	229	4781	0.00	2.58	0.00	0.000	4	0.000	0.061	2195	1338	3503
4804	-1.10	-146.6	385.8	-6.6	230	4809	0.00	2.58	0.00	0.000	6	0.000	0.056	2195	2760	3503
5120	-1.10	-146.6	410.6	-8.2	245	5121	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2760	3503
5429	-1.10	-146.6	437.0	-8.1	260	5434	0.00	2.60	0.00	0.000	4	0.000	0.061	2195	1336	3503
5474	-1.10	-146.6	440.7	-8.4	262	5479	0.00	2.60	0.00	0.000	6	0.000	0.059	2195	2759	3503
5796	-1.10	-146.6	469.2	-9.4	278	5800	0.00	2.62	0.00	0.000	4	0.000	0.063	2195	1324	3503
5845	-1.10	-146.6	473.7	-9.1	280	5850	0.00	2.62	0.00	0.000	6	0.000	0.059	2195	2758	3503
6162	-1.10	-146.6	501.7	-9.2	295	6163	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2758	3503
6470	-1.10	-146.6	531.1	-9.0	310	6475	0.00	2.60	0.00	0.000	4	0.000	0.061	2195	1332	3502
6520	-1.10	-146.6	535.6	-8.8	312	6525	0.00	2.60	0.00	0.000	6	0.000	0.058	2195	2756	3502
6842	-1.10	-146.6	560.8	-7.6	328	6843	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2756	3502
7151	-1.10	-146.6	584.5	-7.8	343	7155	0.00	2.60	0.00	0.000	4	0.000	0.061	2195	1329	3502
7191	-1.10	-146.6	587.5	-7.4	345	7195	0.00	2.60	0.00	0.000	6	0.000	0.057	2195	2757	3502
7518	-1.10	-146.6	612.6	-7.7	361	7522	0.00	2.58	0.00	0.000	4	0.000	0.059	2195	1331	3502
7567	-1.10	-146.6	616.6	-7.9	363	7572	0.00	2.60	0.00	0.000	6	0.000	0.055	2195	2762	3502
7883	-1.10	-146.6	639.8	-7.2	378	7887	0.00	2.58	0.00	0.000	4	0.000	0.059	2195	1333	3502
7927	-1.10	-146.6	643.2	-7.6	380	7932	0.00	2.58	0.00	0.000	6	0.000	0.055	2195	2753	3502
8250	-1.10	-146.6	664.1	-6.2	396	8254	0.00	2.58	0.00	0.000	4	0.000	0.059	2195	1332	3502
8289	-1.10	-146.6	666.6	-6.2	398	8293	0.00	2.58	0.00	0.000	6	0.000	0.054	2195	2754	3502
8616	-1.10	-146.6	694.1	-9.7	414	8620	0.00	2.58	0.00	0.000	4	0.000	0.060	2195	1329	3502
8690	-1.10	-146.6	701.1	-9.6	417	8694	0.00	2.60	0.00	0.000	6	0.000	0.056	2195	2757	3502
9016	-1.10	-146.6	725.7	-9.4	433	9020	0.00	2.60	0.00	0.000	4	0.000	0.059	2195	1326	3502
9273	-1.10	-146.6	745.7	-2.4	444	9280	0.00	2.62	0.00	0.000	6	0.000	0.063	2195	2750	3502
9590	-1.10	-146.6	749.4	-4.2	460	9594	0.00	2.62	0.00	0.000	4	0.000	0.066	2195	1329	3501
9640	-1.10	-146.6	751.7	-4.3	462	9644	0.00	2.62	0.00	0.000	6	0.000	0.062	2195	2749	3501
9956	-1.10	-146.6	768.1	-6.5	477	9959	0.00	2.00	0.00	0.000	4	0.000	0.093	2195	3792	3499
9972	-1.10	-146.6	770.4	-8.9	477	9978	0.00	1.85	0.00	0.000	6	0.000	0.046	2195	2743	3500
10079	end dive: BOTTOM_OBSTACLE_DETECTED
state	10079	begin apogee
10088	-0.42	0.0	787.7	17.1	483	10216	0.75	0.00	124.38	1.269	6	0.083	0.000	2349	1699	2902
10217	end apogee: CONTROL_FINISHED_OK
state	10217	begin climb
10220	1.10	146.6	802.9	0.0	489	10356	1.52	2.70	122.90	1.245	4	0.056	0.060	2676	3121	2304
10558	1.10	146.6	772.9	9.9	504	10563	0.00	2.62	0.00	0.000	6	0.000	0.055	2676	1696	2303
10874	1.36	351.9	761.8	0.3	519	11056	0.22	2.78	171.12	1.233	4	0.038	0.077	2741	294	1467
11146	1.36	351.9	731.4	10.9	531	11153	0.00	2.55	0.00	0.000	6	0.000	0.039	2741	1726	1467
11462	1.36	351.9	708.0	8.8	547	11467	0.00	2.78	0.00	0.000	4	0.000	0.078	2741	288	1466
11639	1.36	351.9	692.4	9.9	555	11644	0.00	2.53	0.00	0.000	6	0.000	0.041	2741	1704	1466
11967	1.36	351.9	655.1	11.4	571	11971	0.00	2.58	0.00	0.000	4	0.000	0.061	2741	3112	1465
12062	1.36	351.9	643.3	12.6	575	12066	0.00	2.58	0.00	0.000	6	0.000	0.052	2741	1697	1465
12378	1.36	351.9	604.6	11.5	590	12382	0.00	2.58	0.00	0.000	4	0.000	0.055	2741	3111	1465
12455	1.36	351.9	597.0	9.5	593	12462	0.00	2.55	0.00	0.000	6	0.000	0.049	2741	1694	1465
12771	1.36	351.9	563.4	11.4	609	12775	0.00	2.58	0.00	0.000	4	0.000	0.054	2741	3114	1465
12821	1.36	351.9	557.1	12.1	611	12825	0.00	2.55	0.00	0.000	6	0.000	0.047	2741	1692	1465
13138	1.36	351.9	525.4	8.2	626	13142	0.00	2.58	0.00	0.000	4	0.000	0.054	2741	3110	1466
13210	1.36	351.9	518.8	9.4	629	13215	0.00	2.53	0.00	0.000	6	0.000	0.048	2741	1700	1466
13526	1.36	351.9	484.7	11.5	644	13530	0.00	2.55	0.00	0.000	4	0.000	0.056	2741	3113	1466
13604	1.36	351.9	475.2	12.0	647	13608	0.00	2.55	0.00	0.000	6	0.000	0.048	2741	1693	1466
13920	1.36	351.9	439.4	11.2	662	13924	0.00	2.58	0.00	0.000	4	0.000	0.056	2741	3113	1466
14004	1.36	351.9	429.9	11.1	665	14010	0.00	2.53	0.00	0.000	6	0.000	0.050	2741	1701	1466
14320	1.36	351.9	396.3	10.3	681	14324	0.00	2.55	0.00	0.000	4	0.000	0.057	2741	3107	1467
14410	1.36	351.9	387.0	10.1	685	14414	0.00	2.55	0.00	0.000	6	0.000	0.051	2741	1693	1467
14737	1.36	351.9	354.2	10.2	701	14741	0.00	2.58	0.00	0.000	4	0.000	0.057	2741	3108	1467
14832	1.36	351.9	344.2	10.0	705	14836	0.00	2.55	0.00	0.000	6	0.000	0.053	2741	1698	1467
15148	1.36	351.9	309.3	11.4	720	15152	0.00	2.58	0.00	0.000	4	0.000	0.059	2741	3108	1468
15232	1.36	351.9	299.7	11.3	724	15236	0.00	2.55	0.00	0.000	6	0.000	0.052	2741	1699	1468
15559	1.36	351.9	263.3	11.2	740	15563	0.00	2.58	0.00	0.000	4	0.000	0.058	2741	3110	1469
15626	1.36	351.9	255.7	10.9	743	15631	0.00	2.55	0.00	0.000	6	0.000	0.053	2741	1700	1469
15948	1.36	351.9	219.7	11.4	759	15952	0.00	2.58	0.00	0.000	4	0.000	0.060	2741	3113	1469
16042	1.36	351.9	209.1	11.0	763	16047	0.00	2.58	0.00	0.000	6	0.000	0.054	2741	1691	1469
16358	1.36	351.9	174.4	11.2	778	16363	0.00	2.60	0.00	0.000	4	0.000	0.060	2741	3113	1469
16454	1.36	351.9	163.7	10.5	782	16458	0.00	2.58	0.00	0.000	6	0.000	0.054	2741	1691	1469
16771	1.36	351.9	131.8	10.1	797	16776	0.00	2.60	0.00	0.000	4	0.000	0.060	2741	3116	1469
16857	1.36	351.9	122.8	10.7	801	16861	0.00	2.58	0.00	0.000	6	0.000	0.054	2741	1694	1469
17184	1.36	351.9	88.3	10.9	817	17188	0.00	2.58	0.00	0.000	4	0.000	0.059	2741	3108	1469
17262	1.36	351.9	79.8	10.6	820	17268	0.00	2.55	0.00	0.000	6	0.000	0.054	2741	1698	1470
17578	1.36	351.9	47.9	10.5	836	17582	0.00	2.60	0.00	0.000	4	0.000	0.061	2741	3117	1470
17663	1.36	351.9	39.5	10.8	840	17667	0.00	2.58	0.00	0.000	6	0.000	0.055	2741	1698	1470
17990	1.36	351.9	6.8	10.3	856	17994	0.00	2.60	0.00	0.000	4	0.000	0.064	2741	3108	1470
18037	end climb: SURFACE_DEPTH_REACHED
state	18037	begin surface coast
18055	end surface coast: CONTROL_FINISHED_OK
state	18055	begin surface