Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 34 * 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 34 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -143630.22 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 -143630.22

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 29 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 34 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 082827,6143.875,-910.395,33,2.1,52,-9.4 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.117,0.184

_SM_DEPTHo 1.06 KALMAN_X -22505.0,106.0,552.2,38832.0,-5928.0

_SM_ANGLEo -58.9 KALMAN_Y -58594.2,495.4,812.1,117799.9,-7520.8

GPS2 083401,6143.920,-910.260,14,1.9,14,-9.4 MHEAD_RNG_PITCHd_Wd 337.0,52072,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027449 ALTIM_BOTTOM_PING 676.8,32.2

SM_CCo 19319,28.42,0.732,0,0,1679,300.00 _24V_AH 23.3,14.861

SM_GC 1.16,0.00,0.00,28.42,0.000,0.000,0.732,51,2740,1679,-10.99,-0.28,300.00 _10V_AH 10.1,6.698

IRIDIUM_FIX 6117.23,-910.61,250598,030355 DATA_FILE_SIZE 47525,923

TT8_MAMPS 0.029913 CAP_FILE_SIZE 145493,0

HUMID 1770 CFSIZE 260165632,255725568

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

TCM_TEMP 18.90 GPS 280209,135837,6147.342,-909.731,34,1.2,34,-9.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 98.33 SBE_CT 649 24 363.05

Roll_motor 195 76 349.20 SBE_O2 682 19 302.06

VBD_pump_during_apogee 339 1186 9377.72 WL_BB2F 559 105 1367.99

VBD_pump_during_surface 28 732 485.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.80 nil 0 0 0.00

Iridium_during_connect 28 160 106.50 nil 0 0 0.00

Iridium_during_xfer 145 223 758.13

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.13

TT8 1745 19 349.16

LPSleep 14607 2 323.10

TT8_Active 501 19 100.22

TT8_Sampling 2272 39 913.32

TT8_CF8 554 45 256.63

TT8_Kalman 33 81 27.56

Analog_circuits 1640 12 198.87

GPS_charging 0 0 0.00

Compass 2223 8 179.69

RAFOS 0 0 0.00

Transponder 42 30 12.96

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 74 0.00 0.00 -56.25 0.000 2 0.000 0.000 51 2733 3318

77 -1.10 -146.6 4.2 -6.2 3 100 12.12 2.58 -2.88 0.000 4 0.160 0.075 2193 1339 3501

239 -1.10 -146.6 26.0 -8.7 10 244 0.00 2.60 0.00 0.000 6 0.000 0.061 2193 2745 3501

567 -1.10 -146.6 53.5 -7.2 26 569 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2746 3501

875 -1.10 -146.6 76.6 -7.2 41 877 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2746 3501

1185 -1.10 -146.6 98.5 -7.3 56 1189 0.00 2.60 0.00 0.000 4 0.000 0.066 2193 1341 3501

1217 -1.10 -146.6 101.0 -7.3 57 1224 0.00 2.58 0.00 0.000 6 0.000 0.058 2193 2753 3501

1535 -1.10 -146.6 124.2 -7.3 73 1539 0.00 2.60 0.00 0.000 4 0.000 0.066 2193 1351 3501

1562 -1.10 -146.6 126.3 -6.8 74 1567 0.00 2.58 0.00 0.000 6 0.000 0.058 2193 2755 3501

1879 -1.10 -146.6 147.6 -7.2 89 1880 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2756 3501

2188 -1.10 -146.6 171.1 -7.8 104 2192 0.00 2.60 0.00 0.000 4 0.000 0.065 2193 1347 3501

2232 -1.10 -146.6 174.7 -8.1 106 2237 0.00 2.58 0.00 0.000 6 0.000 0.059 2193 2750 3501

2558 -1.10 -146.6 199.0 -7.1 122 2559 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2750 3501

2868 -1.10 -146.6 221.3 -7.1 137 2872 0.00 2.60 0.00 0.000 4 0.000 0.065 2193 1337 3501

2919 -1.10 -146.6 225.1 -7.3 139 2923 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2757 3501

3234 -1.10 -146.6 246.6 -6.6 154 3236 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2757 3501

3544 -1.10 -146.6 267.7 -6.9 169 3548 0.00 2.60 0.00 0.000 4 0.000 0.064 2193 1344 3501

3616 -1.10 -146.6 272.9 -6.9 172 3620 0.00 2.58 0.00 0.000 6 0.000 0.057 2193 2757 3501

3932 -1.10 -146.6 293.4 -6.0 187 3933 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2757 3501

4241 -1.10 -146.6 312.3 -5.9 202 4246 0.00 2.60 0.00 0.000 4 0.000 0.063 2193 1340 3501

4298 -1.10 -146.6 315.9 -5.9 204 4304 0.00 2.58 0.00 0.000 6 0.000 0.058 2193 2750 3501

4613 -1.10 -146.6 336.7 -7.2 220 4615 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2750 3501

4923 -1.10 -146.6 357.3 -6.2 235 4927 0.00 2.58 0.00 0.000 4 0.000 0.064 2193 1345 3501

4967 -1.10 -146.6 360.1 -6.2 237 4971 0.00 2.58 0.00 0.000 6 0.000 0.055 2193 2765 3501

5288 -1.10 -146.6 378.9 -6.1 253 5292 0.00 2.60 0.00 0.000 4 0.000 0.062 2193 1343 3501

5321 -1.10 -146.6 381.1 -6.2 254 5327 0.00 2.55 0.00 0.000 6 0.000 0.055 2193 2747 3501

5637 -1.10 -146.6 398.6 -5.0 270 5638 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2747 3501

5946 -1.10 -146.6 417.3 -7.0 285 5950 0.00 2.58 0.00 0.000 4 0.000 0.063 2193 1340 3501

6018 -1.10 -146.6 422.0 -7.1 288 6022 0.00 2.58 0.00 0.000 6 0.000 0.056 2193 2761 3501

6334 -1.10 -146.6 443.7 -7.5 303 6335 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2761 3501

6643 -1.10 -146.6 462.3 -6.2 318 6644 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2761 3501

6952 -1.10 -146.6 483.4 -5.9 333 6954 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2761 3500

7261 -1.10 -146.6 503.3 -6.4 348 7266 0.00 2.58 0.00 0.000 4 0.000 0.059 2193 1345 3500

7317 -1.10 -146.6 507.3 -7.4 350 7324 0.00 2.53 0.00 0.000 6 0.000 0.054 2193 2751 3500

7633 -1.10 -146.6 531.4 -7.4 366 7638 0.00 2.58 0.00 0.000 4 0.000 0.061 2193 1339 3501

7678 -1.10 -146.6 534.9 -8.0 368 7682 0.00 2.58 0.00 0.000 6 0.000 0.058 2193 2750 3501

7999 -1.10 -146.6 560.6 -7.5 384 8000 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2751 3501

8308 -1.10 -146.6 586.5 -10.0 399 8313 0.00 2.58 0.00 0.000 4 0.000 0.060 2193 1334 3501

8398 -1.10 -146.6 596.0 -10.3 403 8402 0.00 2.58 0.00 0.000 6 0.000 0.054 2193 2753 3501

8719 -1.10 -146.6 627.5 -3.5 419 8723 0.00 2.58 0.00 0.000 4 0.000 0.062 2193 1342 3501

8781 -1.10 -146.6 630.6 -6.7 422 8785 0.00 2.58 0.00 0.000 6 0.000 0.058 2193 2753 3501

9107 -1.10 -146.6 647.1 -8.4 438 9112 0.00 2.58 0.00 0.000 4 0.000 0.060 2193 1337 3501

9215 -1.10 -146.6 654.2 -8.2 443 9219 0.00 2.58 0.00 0.000 6 0.000 0.058 2193 2750 3501

9542 -1.10 -146.6 683.6 -11.1 459 9546 0.00 2.60 0.00 0.000 4 0.000 0.067 2193 1340 3500

9604 -1.10 -146.6 687.6 -5.3 462 9609 0.00 2.58 0.00 0.000 6 0.000 0.061 2193 2751 3500

9723 end dive: BOTTOM_OBSTACLE_DETECTED

state 9723 begin apogee

9732 -0.42 0.0 702.1 15.4 468 9859 0.75 0.00 123.60 1.187 6 0.078 0.000 2348 1709 2902

9860 end apogee: CONTROL_FINISHED_OK

state 9860 begin climb

9863 1.10 146.6 707.7 0.0 474 9995 1.55 2.80 122.03 1.132 4 0.057 0.074 2680 291 2304

10250 1.14 174.7 694.1 5.2 491 10281 0.00 2.53 24.90 1.124 6 0.000 0.038 2680 1725 2189

10611 1.14 174.7 667.3 8.5 509 10615 0.00 2.53 0.00 0.000 4 0.000 0.064 2680 3094 2187

10781 1.24 257.3 659.1 3.7 516 10857 0.12 2.60 68.68 1.175 6 0.049 0.060 2719 1691 1852

11180 1.24 257.3 634.2 6.3 536 11184 0.00 2.65 0.00 0.000 4 0.000 0.077 2719 290 1851

11242 1.24 257.3 628.1 9.7 539 11246 0.00 2.47 0.00 0.000 6 0.000 0.040 2719 1701 1851

11574 1.24 257.3 599.0 11.4 555 11575 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 1705 1850

11884 1.24 257.3 572.1 7.2 570 11888 0.00 2.65 0.00 0.000 4 0.000 0.067 2719 289 1850

11933 1.24 257.3 568.2 7.1 572 11937 0.00 2.47 0.00 0.000 6 0.000 0.036 2719 1704 1850

12255 1.24 257.3 542.5 8.5 588 12259 0.00 2.53 0.00 0.000 4 0.000 0.057 2719 3103 1850

12366 1.24 257.3 532.9 8.1 593 12371 0.00 2.55 0.00 0.000 6 0.000 0.052 2719 1696 1849

12688 1.24 257.3 508.3 7.7 609 12692 0.00 2.55 0.00 0.000 4 0.000 0.053 2719 3106 1850

12788 1.24 257.3 500.7 7.7 613 12794 0.00 2.53 0.00 0.000 6 0.000 0.048 2719 1700 1850

13104 1.24 257.3 476.2 8.1 629 13108 0.00 2.55 0.00 0.000 4 0.000 0.054 2719 3111 1850

13166 1.24 257.3 471.0 8.5 632 13170 0.00 2.55 0.00 0.000 6 0.000 0.049 2719 1692 1850

13492 1.24 257.3 446.3 7.6 648 13497 0.00 2.58 0.00 0.000 4 0.000 0.054 2719 3112 1851

13582 1.24 257.3 439.4 7.4 652 13586 0.00 2.55 0.00 0.000 6 0.000 0.049 2719 1693 1851

13903 1.24 257.3 415.1 7.8 668 13907 0.00 2.55 0.00 0.000 4 0.000 0.055 2718 3104 1851

13998 1.24 257.3 407.1 8.5 672 14002 0.00 2.53 0.00 0.000 6 0.000 0.050 2719 1701 1852

14313 1.24 257.3 381.9 7.9 687 14318 0.00 2.55 0.00 0.000 4 0.000 0.056 2719 3110 1852

14399 1.24 257.3 374.6 8.3 691 14403 0.00 2.55 0.00 0.000 6 0.000 0.050 2719 1691 1853

14725 1.24 257.3 350.1 7.2 707 14730 0.00 2.58 0.00 0.000 4 0.000 0.056 2719 3108 1853

14826 1.24 257.3 342.8 7.0 711 14832 0.00 2.55 0.00 0.000 6 0.000 0.051 2719 1694 1853

15142 1.24 257.3 320.9 6.8 727 15147 0.00 2.58 0.00 0.000 4 0.000 0.058 2719 3110 1854

15232 1.24 257.3 314.8 6.7 731 15236 0.00 2.55 0.00 0.000 6 0.000 0.051 2719 1696 1854

15553 1.24 257.3 292.4 7.4 747 15557 0.00 2.58 0.00 0.000 4 0.000 0.059 2719 3107 1854

15653 1.24 257.3 284.1 8.6 751 15659 0.00 2.55 0.00 0.000 6 0.000 0.053 2719 1696 1854

15969 1.24 257.3 259.5 7.6 767 15973 0.00 2.58 0.00 0.000 4 0.000 0.058 2719 3110 1854

16064 1.24 257.3 252.6 7.3 771 16068 0.00 2.55 0.00 0.000 6 0.000 0.053 2719 1699 1855

16380 1.24 257.3 229.5 7.6 786 16384 0.00 2.58 0.00 0.000 4 0.000 0.060 2719 3111 1855

16503 1.24 257.3 220.0 8.5 791 16507 0.00 2.55 0.00 0.000 6 0.000 0.053 2719 1699 1855

16819 1.24 257.3 195.4 7.8 806 16824 0.00 2.58 0.00 0.000 4 0.000 0.058 2719 3111 1855

16904 1.24 257.3 188.7 7.6 810 16909 0.00 2.55 0.00 0.000 6 0.000 0.053 2719 1700 1855

17232 1.24 257.3 164.5 7.6 826 17237 0.00 2.55 0.00 0.000 4 0.000 0.060 2719 3100 1855

17328 1.24 257.3 156.9 8.1 830 17332 0.00 2.55 0.00 0.000 6 0.000 0.053 2719 1689 1855

17646 1.24 257.3 132.3 7.9 845 17650 0.00 2.58 0.00 0.000 4 0.000 0.060 2719 3101 1855

17735 1.24 257.3 125.0 8.2 849 17739 0.00 2.53 0.00 0.000 6 0.000 0.052 2719 1700 1855

18056 1.24 257.3 97.2 9.0 865 18060 0.00 2.55 0.00 0.000 4 0.000 0.060 2719 3100 1855

18151 1.24 257.3 89.2 6.4 869 18155 0.00 2.53 0.00 0.000 6 0.000 0.053 2719 1696 1855

18467 1.24 257.3 63.1 8.2 884 18471 0.00 2.58 0.00 0.000 4 0.000 0.061 2719 3102 1855

18539 1.24 257.3 57.6 6.8 887 18544 0.00 2.55 0.00 0.000 6 0.000 0.053 2719 1691 1855

18856 1.24 257.3 34.8 7.8 902 18860 0.00 2.60 0.00 0.000 4 0.000 0.062 2719 3109 1856

18941 1.24 257.3 28.2 7.4 906 18945 0.00 2.55 0.00 0.000 6 0.000 0.054 2719 1699 1855

19269 1.24 257.3 3.0 7.6 922 19273 0.00 2.60 0.00 0.000 4 0.000 0.067 2719 3109 1856

19284 end climb: SURFACE_DEPTH_REACHED

state 19284 begin surface coast

19295 end surface coast: CONTROL_FINISHED_OK

state 19295 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	34	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-143630.22	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	082827,6143.875,-910.395,33,2.1,52,-9.4	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.117,0.184
_SM_DEPTHo	1.06	KALMAN_X	-22505.0,106.0,552.2,38832.0,-5928.0
_SM_ANGLEo	-58.9	KALMAN_Y	-58594.2,495.4,812.1,117799.9,-7520.8
GPS2	083401,6143.920,-910.260,14,1.9,14,-9.4	MHEAD_RNG_PITCHd_Wd	337.0,52072,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.027449	ALTIM_BOTTOM_PING	676.8,32.2
SM_CCo	19319,28.42,0.732,0,0,1679,300.00	_24V_AH	23.3,14.861
SM_GC	1.16,0.00,0.00,28.42,0.000,0.000,0.732,51,2740,1679,-10.99,-0.28,300.00	_10V_AH	10.1,6.698
IRIDIUM_FIX	6117.23,-910.61,250598,030355	DATA_FILE_SIZE	47525,923
TT8_MAMPS	0.029913	CAP_FILE_SIZE	145493,0
HUMID	1770	CFSIZE	260165632,255725568
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.90	GPS	280209,135837,6147.342,-909.731,34,1.2,34,-9.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	98.33	SBE_CT	649	24	363.05
Roll_motor	195	76	349.20	SBE_O2	682	19	302.06
VBD_pump_during_apogee	339	1186	9377.72	WL_BB2F	559	105	1367.99
VBD_pump_during_surface	28	732	485.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.80	nil	0	0	0.00
Iridium_during_connect	28	160	106.50	nil	0	0	0.00
Iridium_during_xfer	145	223	758.13
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.13
TT8	1745	19	349.16
LPSleep	14607	2	323.10
TT8_Active	501	19	100.22
TT8_Sampling	2272	39	913.32
TT8_CF8	554	45	256.63
TT8_Kalman	33	81	27.56
Analog_circuits	1640	12	198.87
GPS_charging	0	0	0.00
Compass	2223	8	179.69
RAFOS	0	0	0.00
Transponder	42	30	12.96

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	74	0.00	0.00	-56.25	0.000	2	0.000	0.000	51	2733	3318
77	-1.10	-146.6	4.2	-6.2	3	100	12.12	2.58	-2.88	0.000	4	0.160	0.075	2193	1339	3501
239	-1.10	-146.6	26.0	-8.7	10	244	0.00	2.60	0.00	0.000	6	0.000	0.061	2193	2745	3501
567	-1.10	-146.6	53.5	-7.2	26	569	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2746	3501
875	-1.10	-146.6	76.6	-7.2	41	877	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2746	3501
1185	-1.10	-146.6	98.5	-7.3	56	1189	0.00	2.60	0.00	0.000	4	0.000	0.066	2193	1341	3501
1217	-1.10	-146.6	101.0	-7.3	57	1224	0.00	2.58	0.00	0.000	6	0.000	0.058	2193	2753	3501
1535	-1.10	-146.6	124.2	-7.3	73	1539	0.00	2.60	0.00	0.000	4	0.000	0.066	2193	1351	3501
1562	-1.10	-146.6	126.3	-6.8	74	1567	0.00	2.58	0.00	0.000	6	0.000	0.058	2193	2755	3501
1879	-1.10	-146.6	147.6	-7.2	89	1880	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2756	3501
2188	-1.10	-146.6	171.1	-7.8	104	2192	0.00	2.60	0.00	0.000	4	0.000	0.065	2193	1347	3501
2232	-1.10	-146.6	174.7	-8.1	106	2237	0.00	2.58	0.00	0.000	6	0.000	0.059	2193	2750	3501
2558	-1.10	-146.6	199.0	-7.1	122	2559	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2750	3501
2868	-1.10	-146.6	221.3	-7.1	137	2872	0.00	2.60	0.00	0.000	4	0.000	0.065	2193	1337	3501
2919	-1.10	-146.6	225.1	-7.3	139	2923	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2757	3501
3234	-1.10	-146.6	246.6	-6.6	154	3236	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2757	3501
3544	-1.10	-146.6	267.7	-6.9	169	3548	0.00	2.60	0.00	0.000	4	0.000	0.064	2193	1344	3501
3616	-1.10	-146.6	272.9	-6.9	172	3620	0.00	2.58	0.00	0.000	6	0.000	0.057	2193	2757	3501
3932	-1.10	-146.6	293.4	-6.0	187	3933	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2757	3501
4241	-1.10	-146.6	312.3	-5.9	202	4246	0.00	2.60	0.00	0.000	4	0.000	0.063	2193	1340	3501
4298	-1.10	-146.6	315.9	-5.9	204	4304	0.00	2.58	0.00	0.000	6	0.000	0.058	2193	2750	3501
4613	-1.10	-146.6	336.7	-7.2	220	4615	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2750	3501
4923	-1.10	-146.6	357.3	-6.2	235	4927	0.00	2.58	0.00	0.000	4	0.000	0.064	2193	1345	3501
4967	-1.10	-146.6	360.1	-6.2	237	4971	0.00	2.58	0.00	0.000	6	0.000	0.055	2193	2765	3501
5288	-1.10	-146.6	378.9	-6.1	253	5292	0.00	2.60	0.00	0.000	4	0.000	0.062	2193	1343	3501
5321	-1.10	-146.6	381.1	-6.2	254	5327	0.00	2.55	0.00	0.000	6	0.000	0.055	2193	2747	3501
5637	-1.10	-146.6	398.6	-5.0	270	5638	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2747	3501
5946	-1.10	-146.6	417.3	-7.0	285	5950	0.00	2.58	0.00	0.000	4	0.000	0.063	2193	1340	3501
6018	-1.10	-146.6	422.0	-7.1	288	6022	0.00	2.58	0.00	0.000	6	0.000	0.056	2193	2761	3501
6334	-1.10	-146.6	443.7	-7.5	303	6335	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2761	3501
6643	-1.10	-146.6	462.3	-6.2	318	6644	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2761	3501
6952	-1.10	-146.6	483.4	-5.9	333	6954	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2761	3500
7261	-1.10	-146.6	503.3	-6.4	348	7266	0.00	2.58	0.00	0.000	4	0.000	0.059	2193	1345	3500
7317	-1.10	-146.6	507.3	-7.4	350	7324	0.00	2.53	0.00	0.000	6	0.000	0.054	2193	2751	3500
7633	-1.10	-146.6	531.4	-7.4	366	7638	0.00	2.58	0.00	0.000	4	0.000	0.061	2193	1339	3501
7678	-1.10	-146.6	534.9	-8.0	368	7682	0.00	2.58	0.00	0.000	6	0.000	0.058	2193	2750	3501
7999	-1.10	-146.6	560.6	-7.5	384	8000	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2751	3501
8308	-1.10	-146.6	586.5	-10.0	399	8313	0.00	2.58	0.00	0.000	4	0.000	0.060	2193	1334	3501
8398	-1.10	-146.6	596.0	-10.3	403	8402	0.00	2.58	0.00	0.000	6	0.000	0.054	2193	2753	3501
8719	-1.10	-146.6	627.5	-3.5	419	8723	0.00	2.58	0.00	0.000	4	0.000	0.062	2193	1342	3501
8781	-1.10	-146.6	630.6	-6.7	422	8785	0.00	2.58	0.00	0.000	6	0.000	0.058	2193	2753	3501
9107	-1.10	-146.6	647.1	-8.4	438	9112	0.00	2.58	0.00	0.000	4	0.000	0.060	2193	1337	3501
9215	-1.10	-146.6	654.2	-8.2	443	9219	0.00	2.58	0.00	0.000	6	0.000	0.058	2193	2750	3501
9542	-1.10	-146.6	683.6	-11.1	459	9546	0.00	2.60	0.00	0.000	4	0.000	0.067	2193	1340	3500
9604	-1.10	-146.6	687.6	-5.3	462	9609	0.00	2.58	0.00	0.000	6	0.000	0.061	2193	2751	3500
9723	end dive: BOTTOM_OBSTACLE_DETECTED
state	9723	begin apogee
9732	-0.42	0.0	702.1	15.4	468	9859	0.75	0.00	123.60	1.187	6	0.078	0.000	2348	1709	2902
9860	end apogee: CONTROL_FINISHED_OK
state	9860	begin climb
9863	1.10	146.6	707.7	0.0	474	9995	1.55	2.80	122.03	1.132	4	0.057	0.074	2680	291	2304
10250	1.14	174.7	694.1	5.2	491	10281	0.00	2.53	24.90	1.124	6	0.000	0.038	2680	1725	2189
10611	1.14	174.7	667.3	8.5	509	10615	0.00	2.53	0.00	0.000	4	0.000	0.064	2680	3094	2187
10781	1.24	257.3	659.1	3.7	516	10857	0.12	2.60	68.68	1.175	6	0.049	0.060	2719	1691	1852
11180	1.24	257.3	634.2	6.3	536	11184	0.00	2.65	0.00	0.000	4	0.000	0.077	2719	290	1851
11242	1.24	257.3	628.1	9.7	539	11246	0.00	2.47	0.00	0.000	6	0.000	0.040	2719	1701	1851
11574	1.24	257.3	599.0	11.4	555	11575	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	1705	1850
11884	1.24	257.3	572.1	7.2	570	11888	0.00	2.65	0.00	0.000	4	0.000	0.067	2719	289	1850
11933	1.24	257.3	568.2	7.1	572	11937	0.00	2.47	0.00	0.000	6	0.000	0.036	2719	1704	1850
12255	1.24	257.3	542.5	8.5	588	12259	0.00	2.53	0.00	0.000	4	0.000	0.057	2719	3103	1850
12366	1.24	257.3	532.9	8.1	593	12371	0.00	2.55	0.00	0.000	6	0.000	0.052	2719	1696	1849
12688	1.24	257.3	508.3	7.7	609	12692	0.00	2.55	0.00	0.000	4	0.000	0.053	2719	3106	1850
12788	1.24	257.3	500.7	7.7	613	12794	0.00	2.53	0.00	0.000	6	0.000	0.048	2719	1700	1850
13104	1.24	257.3	476.2	8.1	629	13108	0.00	2.55	0.00	0.000	4	0.000	0.054	2719	3111	1850
13166	1.24	257.3	471.0	8.5	632	13170	0.00	2.55	0.00	0.000	6	0.000	0.049	2719	1692	1850
13492	1.24	257.3	446.3	7.6	648	13497	0.00	2.58	0.00	0.000	4	0.000	0.054	2719	3112	1851
13582	1.24	257.3	439.4	7.4	652	13586	0.00	2.55	0.00	0.000	6	0.000	0.049	2719	1693	1851
13903	1.24	257.3	415.1	7.8	668	13907	0.00	2.55	0.00	0.000	4	0.000	0.055	2718	3104	1851
13998	1.24	257.3	407.1	8.5	672	14002	0.00	2.53	0.00	0.000	6	0.000	0.050	2719	1701	1852
14313	1.24	257.3	381.9	7.9	687	14318	0.00	2.55	0.00	0.000	4	0.000	0.056	2719	3110	1852
14399	1.24	257.3	374.6	8.3	691	14403	0.00	2.55	0.00	0.000	6	0.000	0.050	2719	1691	1853
14725	1.24	257.3	350.1	7.2	707	14730	0.00	2.58	0.00	0.000	4	0.000	0.056	2719	3108	1853
14826	1.24	257.3	342.8	7.0	711	14832	0.00	2.55	0.00	0.000	6	0.000	0.051	2719	1694	1853
15142	1.24	257.3	320.9	6.8	727	15147	0.00	2.58	0.00	0.000	4	0.000	0.058	2719	3110	1854
15232	1.24	257.3	314.8	6.7	731	15236	0.00	2.55	0.00	0.000	6	0.000	0.051	2719	1696	1854
15553	1.24	257.3	292.4	7.4	747	15557	0.00	2.58	0.00	0.000	4	0.000	0.059	2719	3107	1854
15653	1.24	257.3	284.1	8.6	751	15659	0.00	2.55	0.00	0.000	6	0.000	0.053	2719	1696	1854
15969	1.24	257.3	259.5	7.6	767	15973	0.00	2.58	0.00	0.000	4	0.000	0.058	2719	3110	1854
16064	1.24	257.3	252.6	7.3	771	16068	0.00	2.55	0.00	0.000	6	0.000	0.053	2719	1699	1855
16380	1.24	257.3	229.5	7.6	786	16384	0.00	2.58	0.00	0.000	4	0.000	0.060	2719	3111	1855
16503	1.24	257.3	220.0	8.5	791	16507	0.00	2.55	0.00	0.000	6	0.000	0.053	2719	1699	1855
16819	1.24	257.3	195.4	7.8	806	16824	0.00	2.58	0.00	0.000	4	0.000	0.058	2719	3111	1855
16904	1.24	257.3	188.7	7.6	810	16909	0.00	2.55	0.00	0.000	6	0.000	0.053	2719	1700	1855
17232	1.24	257.3	164.5	7.6	826	17237	0.00	2.55	0.00	0.000	4	0.000	0.060	2719	3100	1855
17328	1.24	257.3	156.9	8.1	830	17332	0.00	2.55	0.00	0.000	6	0.000	0.053	2719	1689	1855
17646	1.24	257.3	132.3	7.9	845	17650	0.00	2.58	0.00	0.000	4	0.000	0.060	2719	3101	1855
17735	1.24	257.3	125.0	8.2	849	17739	0.00	2.53	0.00	0.000	6	0.000	0.052	2719	1700	1855
18056	1.24	257.3	97.2	9.0	865	18060	0.00	2.55	0.00	0.000	4	0.000	0.060	2719	3100	1855
18151	1.24	257.3	89.2	6.4	869	18155	0.00	2.53	0.00	0.000	6	0.000	0.053	2719	1696	1855
18467	1.24	257.3	63.1	8.2	884	18471	0.00	2.58	0.00	0.000	4	0.000	0.061	2719	3102	1855
18539	1.24	257.3	57.6	6.8	887	18544	0.00	2.55	0.00	0.000	6	0.000	0.053	2719	1691	1855
18856	1.24	257.3	34.8	7.8	902	18860	0.00	2.60	0.00	0.000	4	0.000	0.062	2719	3109	1856
18941	1.24	257.3	28.2	7.4	906	18945	0.00	2.55	0.00	0.000	6	0.000	0.054	2719	1699	1855
19269	1.24	257.3	3.0	7.6	922	19273	0.00	2.60	0.00	0.000	4	0.000	0.067	2719	3109	1856
19284	end climb: SURFACE_DEPTH_REACHED
state	19284	begin surface coast
19295	end surface coast: CONTROL_FINISHED_OK
state	19295	begin surface