Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 346 * 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 346 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 2075 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 571.54901 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 440 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 -150589.7 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 571.54901

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 412.5

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 -150589.7

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 440

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 2075 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2675 MASS 52000 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 9 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 346 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 002406,6225.734,-1143.925,100,1.1,100,-11.1 TGT_NAME P1

_CALLS 5 TGT_LATLONG 6215.000,-1130.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.191,-0.150

_SM_DEPTHo 1.26 KALMAN_X -119713.2,389.2,492.1,183792.0,-562.2

_SM_ANGLEo -57.6 KALMAN_Y 6583.5,55.3,-249.0,-52695.4,-3219.7

GPS2 004500,6225.518,-1143.774,19,2.3,38,-11.1 MHEAD_RNG_PITCHd_Wd 139.3,22815,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027402 ALTIM_BOTTOM_PING 825.3,36.2

SM_CCo 18262,232.20,0.665,0,0,572,571.55 _24V_AH 23.1,57.659

SM_GC 0.70,0.00,0.00,232.20,0.000,0.000,0.665,54,2667,572,-10.98,-0.23,571.55 _10V_AH 10.1,33.214

IRIDIUM_FIX 6158.08,-1145.91,020898,000004 DATA_FILE_SIZE 44213,872

TT8_MAMPS 0.029146 CAP_FILE_SIZE 154715,0

HUMID 1754 CFSIZE 260165632,236486656

INTERNAL_PRESSURE 8.48665 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.00 GPS 080509,055537,6222.491,-1140.519,53,1.1,53,-11.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 158 99.39 SBE_CT 607 24 336.75

Roll_motor 187 86 375.24 SBE_O2 645 19 283.15

VBD_pump_during_apogee 337 1238 9668.70 WL_BB2F 495 105 1201.05

VBD_pump_during_surface 232 664 3566.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 132 103 316.34 nil 0 0 0.00

Iridium_during_connect 191 160 706.89 nil 0 0 0.00

Iridium_during_xfer 487 223 2513.72

Transponder_ping 7 420 70.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 39 50 19.78

TT8 1687 19 337.39

LPSleep 13848 2 306.31

TT8_Active 689 19 137.81

TT8_Sampling 2303 39 926.12

TT8_CF8 1214 45 561.59

TT8_Kalman 33 81 27.56

Analog_circuits 1831 12 221.92

GPS_charging 0 0 0.00

Compass 2214 8 178.95

RAFOS 0 0 0.00

Transponder 54 30 16.37

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 13 begin dive

16 -1.42 -146.6 0.0 0.0 0 59 0.00 0.00 -41.00 0.000 2 0.000 0.000 44 2678 3295

63 -1.42 -146.6 4.3 -12.5 2 85 11.77 2.60 -3.28 0.000 4 0.159 0.075 2127 1272 3501

338 -1.42 -146.6 39.2 -9.5 14 342 0.00 2.67 0.00 0.000 6 0.000 0.074 2127 2683 3502

660 -1.42 -146.6 71.9 -11.4 30 665 0.00 2.65 0.00 0.000 4 0.000 0.067 2127 1258 3502

679 -1.42 -146.6 74.3 -13.8 31 683 0.00 2.67 0.00 0.000 6 0.000 0.071 2127 2681 3502

1006 -1.42 -146.6 115.7 -12.8 47 1007 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2681 3502

1316 -1.42 -146.6 150.1 -11.0 62 1317 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2681 3501

1624 -1.42 -146.6 189.3 -13.5 77 1627 0.00 2.08 0.00 0.000 4 0.000 0.080 2127 3786 3501

1702 -1.42 -146.6 199.6 -12.7 80 1710 0.00 1.98 0.00 0.000 6 0.000 0.048 2127 2677 3502

2027 -1.42 -146.6 233.9 -10.0 96 2030 0.00 2.12 0.00 0.000 4 0.000 0.077 2127 3797 3501

2105 -1.42 -146.6 242.1 -10.2 99 2109 0.00 2.00 0.00 0.000 6 0.000 0.050 2127 2675 3501

2429 -1.42 -146.6 276.7 -11.2 115 2433 0.00 2.12 0.00 0.000 4 0.000 0.078 2127 3793 3501

2515 -1.42 -146.6 287.0 -11.9 118 2521 0.00 2.00 0.00 0.000 6 0.000 0.048 2127 2670 3501

2831 -1.42 -146.6 322.5 -11.2 134 2835 0.00 2.15 0.00 0.000 4 0.000 0.082 2127 3796 3501

2910 -1.42 -146.6 331.7 -11.5 137 2914 0.00 2.00 0.00 0.000 6 0.000 0.048 2127 2669 3501

3231 -1.42 -146.6 367.1 -10.9 153 3235 0.00 2.12 0.00 0.000 4 0.000 0.080 2127 3789 3501

3307 -1.42 -146.6 375.3 -11.1 156 3311 0.00 1.98 0.00 0.000 6 0.000 0.043 2127 2669 3501

3634 -1.42 -146.6 409.5 -10.4 172 3638 0.00 2.12 0.00 0.000 4 0.000 0.078 2127 3792 3501

3729 -1.42 -146.6 419.8 -10.8 176 3733 0.00 1.98 0.00 0.000 6 0.000 0.043 2127 2662 3501

4057 -1.42 -146.6 452.1 -9.9 192 4061 0.00 2.12 0.00 0.000 4 0.000 0.078 2127 3787 3501

4130 -1.42 -146.6 459.9 -10.6 195 4134 0.00 1.95 0.00 0.000 6 0.000 0.045 2127 2679 3501

4458 -1.42 -146.6 493.2 -10.5 211 4462 0.00 2.08 0.00 0.000 4 0.000 0.077 2127 3790 3501

4542 -1.42 -146.6 502.2 -10.7 214 4548 0.00 1.98 0.00 0.000 6 0.000 0.044 2127 2662 3501

4858 -1.42 -146.6 534.6 -10.6 230 4862 0.00 2.12 0.00 0.000 4 0.000 0.078 2127 3789 3501

4944 -1.42 -146.6 543.8 -11.2 233 4950 0.00 1.95 0.00 0.000 6 0.000 0.042 2127 2672 3501

5261 -1.42 -146.6 575.1 -9.7 249 5262 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2672 3501

5569 -1.42 -146.6 606.5 -10.0 264 5573 0.00 2.12 0.00 0.000 4 0.000 0.078 2127 3797 3501

5683 -1.42 -146.6 618.5 -11.5 269 5687 0.00 1.98 0.00 0.000 6 0.000 0.043 2127 2667 3501

6016 -1.42 -146.6 652.7 -10.0 285 6020 0.00 2.12 0.00 0.000 4 0.000 0.081 2127 3787 3501

6062 -1.42 -146.6 657.5 -10.3 287 6066 0.00 1.95 0.00 0.000 6 0.000 0.044 2127 2666 3501

6395 -1.42 -146.6 691.6 -10.2 303 6396 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2666 3500

6704 -1.42 -146.6 721.8 -9.1 318 6708 0.00 2.15 0.00 0.000 4 0.000 0.082 2127 3797 3500

6840 -1.42 -146.6 734.4 -9.4 324 6844 0.00 1.98 0.00 0.000 6 0.000 0.044 2127 2669 3500

7173 -1.42 -146.6 765.8 -10.1 340 7174 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2668 3500

7482 -1.42 -146.6 795.1 -9.3 355 7483 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2668 3500

7792 -1.42 -146.6 824.7 -9.4 370 7798 0.00 2.15 0.00 0.000 4 0.000 0.086 2127 3787 3499

7839 -1.42 -146.6 829.3 -10.0 372 7843 0.00 1.98 0.00 0.000 6 0.000 0.048 2127 2665 3499

8086 end dive: BOTTOM_OBSTACLE_DETECTED

state 8086 begin apogee

8095 -0.42 0.0 852.1 8.9 384 8230 1.15 0.00 127.93 1.239 6 0.113 0.000 2347 2074 2902

8230 end apogee: CONTROL_FINISHED_OK

state 8230 begin climb

8234 1.42 146.6 858.9 0.0 391 8368 1.90 2.67 125.78 1.204 4 0.061 0.061 2750 654 2304

8628 1.50 207.6 847.0 5.8 409 8690 0.00 2.55 53.40 1.203 6 0.000 0.040 2750 2099 2055

9004 1.53 230.8 820.0 7.1 427 9031 0.00 2.72 21.12 1.160 4 0.000 0.062 2750 653 1960

9152 1.53 235.5 807.8 7.8 433 9163 0.10 2.53 5.70 0.913 6 0.051 0.041 2784 2077 1941

9485 1.53 235.5 777.8 9.3 450 9489 0.00 2.62 0.00 0.000 4 0.000 0.061 2784 655 1940

9552 1.53 235.5 771.1 9.8 453 9557 0.00 2.50 0.00 0.000 6 0.000 0.040 2784 2077 1940

9874 1.53 235.5 741.5 9.1 469 9878 0.00 2.60 0.00 0.000 4 0.000 0.059 2784 660 1939

9981 1.53 235.5 731.4 9.2 474 9985 0.00 2.50 0.00 0.000 6 0.000 0.040 2784 2076 1938

10308 1.53 235.5 701.5 9.0 490 10313 0.00 2.58 0.00 0.000 4 0.000 0.061 2784 3485 1938

10348 1.53 235.5 697.7 9.9 492 10353 0.00 2.53 0.00 0.000 6 0.000 0.039 2784 2052 1938

10676 1.54 239.1 670.7 7.9 508 10685 0.00 2.53 3.97 0.738 4 0.000 0.057 2784 666 1927

10781 1.54 239.1 661.9 8.5 512 10787 0.00 2.47 0.00 0.000 6 0.000 0.036 2784 2082 1928

11097 1.54 239.1 635.8 8.4 528 11101 0.00 2.58 0.00 0.000 4 0.000 0.054 2784 660 1928

11215 1.54 239.1 624.4 10.0 533 11219 0.00 2.47 0.00 0.000 6 0.000 0.035 2784 2081 1928

11536 1.54 239.1 594.0 9.6 549 11540 0.00 2.55 0.00 0.000 4 0.000 0.054 2784 669 1928

11576 1.54 239.1 590.1 10.6 551 11580 0.00 2.45 0.00 0.000 6 0.000 0.035 2784 2081 1928

11903 1.54 239.1 557.8 9.8 567 11907 0.00 2.55 0.00 0.000 4 0.000 0.054 2784 669 1928

11981 1.54 239.1 549.8 10.2 570 11987 0.00 2.42 0.00 0.000 6 0.000 0.035 2784 2076 1928

12297 1.54 239.1 517.9 10.3 586 12302 0.00 2.55 0.00 0.000 4 0.000 0.053 2784 661 1929

12405 1.54 239.1 506.7 9.7 591 12410 0.00 2.47 0.00 0.000 6 0.000 0.036 2784 2085 1929

12738 1.54 239.1 475.8 9.0 607 12742 0.00 2.58 0.00 0.000 4 0.000 0.054 2784 659 1930

12807 1.54 239.1 469.5 9.6 610 12811 0.00 2.47 0.00 0.000 6 0.000 0.035 2784 2082 1930

13128 1.54 239.1 441.1 8.5 626 13132 0.00 2.55 0.00 0.000 4 0.000 0.054 2784 669 1930

13242 1.54 239.1 430.8 8.1 631 13246 0.00 2.45 0.00 0.000 6 0.000 0.035 2784 2078 1930

13563 1.54 239.1 402.6 8.6 647 13567 0.00 2.55 0.00 0.000 4 0.000 0.054 2784 666 1931

13625 1.54 239.1 397.2 8.7 650 13629 0.00 2.47 0.00 0.000 6 0.000 0.036 2784 2086 1931

13959 1.54 239.1 368.1 8.8 666 13963 0.00 2.58 0.00 0.000 4 0.000 0.055 2785 661 1931

14048 1.54 239.1 359.8 9.3 670 14052 0.00 2.47 0.00 0.000 6 0.000 0.037 2784 2079 1931

14370 1.54 239.1 332.8 8.1 686 14374 0.00 2.55 0.00 0.000 4 0.000 0.056 2784 672 1932

14471 1.54 239.1 324.4 8.2 690 14477 0.00 2.45 0.00 0.000 6 0.000 0.038 2784 2082 1932

14787 1.54 239.1 298.8 8.3 706 14791 0.00 2.58 0.00 0.000 4 0.000 0.055 2784 659 1932

14865 1.54 239.1 291.7 8.3 709 14871 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2077 1932

15181 1.54 239.1 264.8 8.5 725 15185 0.00 2.55 0.00 0.000 4 0.000 0.057 2784 670 1932

15231 1.54 239.1 260.3 8.8 727 15235 0.00 2.45 0.00 0.000 6 0.000 0.037 2784 2081 1932

15552 1.54 239.1 233.0 8.8 743 15556 0.00 2.58 0.00 0.000 4 0.000 0.057 2784 661 1932

15637 1.54 239.1 225.2 9.0 747 15641 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2075 1932

15963 1.54 239.1 195.4 9.0 763 15968 0.00 2.55 0.00 0.000 4 0.000 0.057 2784 668 1933

16027 1.54 239.1 189.5 9.5 766 16032 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2084 1933

16354 1.54 239.1 161.8 8.1 782 16359 0.00 2.58 0.00 0.000 4 0.000 0.056 2784 661 1933

16394 1.54 239.1 158.2 9.6 784 16399 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2076 1933

16721 1.54 239.1 129.5 9.0 800 16726 0.00 2.58 0.00 0.000 4 0.000 0.059 2784 662 1933

16755 1.54 239.1 126.3 9.3 801 16762 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2082 1933

17071 1.54 239.1 97.2 8.5 817 17076 0.00 2.58 0.00 0.000 4 0.000 0.058 2784 664 1933

17195 1.54 239.1 83.8 10.0 822 17201 0.00 2.45 0.00 0.000 6 0.000 0.038 2784 2075 1933

17513 1.54 239.1 57.6 8.7 838 17517 0.00 2.55 0.00 0.000 4 0.000 0.057 2784 664 1933

17630 1.54 239.1 47.4 8.8 843 17634 0.00 2.47 0.00 0.000 6 0.000 0.038 2784 2078 1934

17947 1.54 239.1 29.0 8.7 858 17951 0.00 2.58 0.00 0.000 4 0.000 0.058 2784 660 1934

18054 1.54 239.1 18.0 10.3 863 18059 0.00 2.47 0.00 0.000 6 0.000 0.038 2785 2080 1934

18214 end climb: SURFACE_DEPTH_REACHED

state 18214 begin surface coast

18236 end surface coast: CONTROL_FINISHED_OK

state 18236 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	346	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	2075	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	571.54901	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	440	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	-150589.7	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	002406,6225.734,-1143.925,100,1.1,100,-11.1	TGT_NAME	P1
_CALLS	5	TGT_LATLONG	6215.000,-1130.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.191,-0.150
_SM_DEPTHo	1.26	KALMAN_X	-119713.2,389.2,492.1,183792.0,-562.2
_SM_ANGLEo	-57.6	KALMAN_Y	6583.5,55.3,-249.0,-52695.4,-3219.7
GPS2	004500,6225.518,-1143.774,19,2.3,38,-11.1	MHEAD_RNG_PITCHd_Wd	139.3,22815,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.3,1.027402	ALTIM_BOTTOM_PING	825.3,36.2
SM_CCo	18262,232.20,0.665,0,0,572,571.55	_24V_AH	23.1,57.659
SM_GC	0.70,0.00,0.00,232.20,0.000,0.000,0.665,54,2667,572,-10.98,-0.23,571.55	_10V_AH	10.1,33.214
IRIDIUM_FIX	6158.08,-1145.91,020898,000004	DATA_FILE_SIZE	44213,872
TT8_MAMPS	0.029146	CAP_FILE_SIZE	154715,0
HUMID	1754	CFSIZE	260165632,236486656
INTERNAL_PRESSURE	8.48665	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.00	GPS	080509,055537,6222.491,-1140.519,53,1.1,53,-11.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	158	99.39	SBE_CT	607	24	336.75
Roll_motor	187	86	375.24	SBE_O2	645	19	283.15
VBD_pump_during_apogee	337	1238	9668.70	WL_BB2F	495	105	1201.05
VBD_pump_during_surface	232	664	3566.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	132	103	316.34	nil	0	0	0.00
Iridium_during_connect	191	160	706.89	nil	0	0	0.00
Iridium_during_xfer	487	223	2513.72
Transponder_ping	7	420	70.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	39	50	19.78
TT8	1687	19	337.39
LPSleep	13848	2	306.31
TT8_Active	689	19	137.81
TT8_Sampling	2303	39	926.12
TT8_CF8	1214	45	561.59
TT8_Kalman	33	81	27.56
Analog_circuits	1831	12	221.92
GPS_charging	0	0	0.00
Compass	2214	8	178.95
RAFOS	0	0	0.00
Transponder	54	30	16.37

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	13	begin dive
16	-1.42	-146.6	0.0	0.0	0	59	0.00	0.00	-41.00	0.000	2	0.000	0.000	44	2678	3295
63	-1.42	-146.6	4.3	-12.5	2	85	11.77	2.60	-3.28	0.000	4	0.159	0.075	2127	1272	3501
338	-1.42	-146.6	39.2	-9.5	14	342	0.00	2.67	0.00	0.000	6	0.000	0.074	2127	2683	3502
660	-1.42	-146.6	71.9	-11.4	30	665	0.00	2.65	0.00	0.000	4	0.000	0.067	2127	1258	3502
679	-1.42	-146.6	74.3	-13.8	31	683	0.00	2.67	0.00	0.000	6	0.000	0.071	2127	2681	3502
1006	-1.42	-146.6	115.7	-12.8	47	1007	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2681	3502
1316	-1.42	-146.6	150.1	-11.0	62	1317	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2681	3501
1624	-1.42	-146.6	189.3	-13.5	77	1627	0.00	2.08	0.00	0.000	4	0.000	0.080	2127	3786	3501
1702	-1.42	-146.6	199.6	-12.7	80	1710	0.00	1.98	0.00	0.000	6	0.000	0.048	2127	2677	3502
2027	-1.42	-146.6	233.9	-10.0	96	2030	0.00	2.12	0.00	0.000	4	0.000	0.077	2127	3797	3501
2105	-1.42	-146.6	242.1	-10.2	99	2109	0.00	2.00	0.00	0.000	6	0.000	0.050	2127	2675	3501
2429	-1.42	-146.6	276.7	-11.2	115	2433	0.00	2.12	0.00	0.000	4	0.000	0.078	2127	3793	3501
2515	-1.42	-146.6	287.0	-11.9	118	2521	0.00	2.00	0.00	0.000	6	0.000	0.048	2127	2670	3501
2831	-1.42	-146.6	322.5	-11.2	134	2835	0.00	2.15	0.00	0.000	4	0.000	0.082	2127	3796	3501
2910	-1.42	-146.6	331.7	-11.5	137	2914	0.00	2.00	0.00	0.000	6	0.000	0.048	2127	2669	3501
3231	-1.42	-146.6	367.1	-10.9	153	3235	0.00	2.12	0.00	0.000	4	0.000	0.080	2127	3789	3501
3307	-1.42	-146.6	375.3	-11.1	156	3311	0.00	1.98	0.00	0.000	6	0.000	0.043	2127	2669	3501
3634	-1.42	-146.6	409.5	-10.4	172	3638	0.00	2.12	0.00	0.000	4	0.000	0.078	2127	3792	3501
3729	-1.42	-146.6	419.8	-10.8	176	3733	0.00	1.98	0.00	0.000	6	0.000	0.043	2127	2662	3501
4057	-1.42	-146.6	452.1	-9.9	192	4061	0.00	2.12	0.00	0.000	4	0.000	0.078	2127	3787	3501
4130	-1.42	-146.6	459.9	-10.6	195	4134	0.00	1.95	0.00	0.000	6	0.000	0.045	2127	2679	3501
4458	-1.42	-146.6	493.2	-10.5	211	4462	0.00	2.08	0.00	0.000	4	0.000	0.077	2127	3790	3501
4542	-1.42	-146.6	502.2	-10.7	214	4548	0.00	1.98	0.00	0.000	6	0.000	0.044	2127	2662	3501
4858	-1.42	-146.6	534.6	-10.6	230	4862	0.00	2.12	0.00	0.000	4	0.000	0.078	2127	3789	3501
4944	-1.42	-146.6	543.8	-11.2	233	4950	0.00	1.95	0.00	0.000	6	0.000	0.042	2127	2672	3501
5261	-1.42	-146.6	575.1	-9.7	249	5262	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2672	3501
5569	-1.42	-146.6	606.5	-10.0	264	5573	0.00	2.12	0.00	0.000	4	0.000	0.078	2127	3797	3501
5683	-1.42	-146.6	618.5	-11.5	269	5687	0.00	1.98	0.00	0.000	6	0.000	0.043	2127	2667	3501
6016	-1.42	-146.6	652.7	-10.0	285	6020	0.00	2.12	0.00	0.000	4	0.000	0.081	2127	3787	3501
6062	-1.42	-146.6	657.5	-10.3	287	6066	0.00	1.95	0.00	0.000	6	0.000	0.044	2127	2666	3501
6395	-1.42	-146.6	691.6	-10.2	303	6396	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2666	3500
6704	-1.42	-146.6	721.8	-9.1	318	6708	0.00	2.15	0.00	0.000	4	0.000	0.082	2127	3797	3500
6840	-1.42	-146.6	734.4	-9.4	324	6844	0.00	1.98	0.00	0.000	6	0.000	0.044	2127	2669	3500
7173	-1.42	-146.6	765.8	-10.1	340	7174	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2668	3500
7482	-1.42	-146.6	795.1	-9.3	355	7483	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2668	3500
7792	-1.42	-146.6	824.7	-9.4	370	7798	0.00	2.15	0.00	0.000	4	0.000	0.086	2127	3787	3499
7839	-1.42	-146.6	829.3	-10.0	372	7843	0.00	1.98	0.00	0.000	6	0.000	0.048	2127	2665	3499
8086	end dive: BOTTOM_OBSTACLE_DETECTED
state	8086	begin apogee
8095	-0.42	0.0	852.1	8.9	384	8230	1.15	0.00	127.93	1.239	6	0.113	0.000	2347	2074	2902
8230	end apogee: CONTROL_FINISHED_OK
state	8230	begin climb
8234	1.42	146.6	858.9	0.0	391	8368	1.90	2.67	125.78	1.204	4	0.061	0.061	2750	654	2304
8628	1.50	207.6	847.0	5.8	409	8690	0.00	2.55	53.40	1.203	6	0.000	0.040	2750	2099	2055
9004	1.53	230.8	820.0	7.1	427	9031	0.00	2.72	21.12	1.160	4	0.000	0.062	2750	653	1960
9152	1.53	235.5	807.8	7.8	433	9163	0.10	2.53	5.70	0.913	6	0.051	0.041	2784	2077	1941
9485	1.53	235.5	777.8	9.3	450	9489	0.00	2.62	0.00	0.000	4	0.000	0.061	2784	655	1940
9552	1.53	235.5	771.1	9.8	453	9557	0.00	2.50	0.00	0.000	6	0.000	0.040	2784	2077	1940
9874	1.53	235.5	741.5	9.1	469	9878	0.00	2.60	0.00	0.000	4	0.000	0.059	2784	660	1939
9981	1.53	235.5	731.4	9.2	474	9985	0.00	2.50	0.00	0.000	6	0.000	0.040	2784	2076	1938
10308	1.53	235.5	701.5	9.0	490	10313	0.00	2.58	0.00	0.000	4	0.000	0.061	2784	3485	1938
10348	1.53	235.5	697.7	9.9	492	10353	0.00	2.53	0.00	0.000	6	0.000	0.039	2784	2052	1938
10676	1.54	239.1	670.7	7.9	508	10685	0.00	2.53	3.97	0.738	4	0.000	0.057	2784	666	1927
10781	1.54	239.1	661.9	8.5	512	10787	0.00	2.47	0.00	0.000	6	0.000	0.036	2784	2082	1928
11097	1.54	239.1	635.8	8.4	528	11101	0.00	2.58	0.00	0.000	4	0.000	0.054	2784	660	1928
11215	1.54	239.1	624.4	10.0	533	11219	0.00	2.47	0.00	0.000	6	0.000	0.035	2784	2081	1928
11536	1.54	239.1	594.0	9.6	549	11540	0.00	2.55	0.00	0.000	4	0.000	0.054	2784	669	1928
11576	1.54	239.1	590.1	10.6	551	11580	0.00	2.45	0.00	0.000	6	0.000	0.035	2784	2081	1928
11903	1.54	239.1	557.8	9.8	567	11907	0.00	2.55	0.00	0.000	4	0.000	0.054	2784	669	1928
11981	1.54	239.1	549.8	10.2	570	11987	0.00	2.42	0.00	0.000	6	0.000	0.035	2784	2076	1928
12297	1.54	239.1	517.9	10.3	586	12302	0.00	2.55	0.00	0.000	4	0.000	0.053	2784	661	1929
12405	1.54	239.1	506.7	9.7	591	12410	0.00	2.47	0.00	0.000	6	0.000	0.036	2784	2085	1929
12738	1.54	239.1	475.8	9.0	607	12742	0.00	2.58	0.00	0.000	4	0.000	0.054	2784	659	1930
12807	1.54	239.1	469.5	9.6	610	12811	0.00	2.47	0.00	0.000	6	0.000	0.035	2784	2082	1930
13128	1.54	239.1	441.1	8.5	626	13132	0.00	2.55	0.00	0.000	4	0.000	0.054	2784	669	1930
13242	1.54	239.1	430.8	8.1	631	13246	0.00	2.45	0.00	0.000	6	0.000	0.035	2784	2078	1930
13563	1.54	239.1	402.6	8.6	647	13567	0.00	2.55	0.00	0.000	4	0.000	0.054	2784	666	1931
13625	1.54	239.1	397.2	8.7	650	13629	0.00	2.47	0.00	0.000	6	0.000	0.036	2784	2086	1931
13959	1.54	239.1	368.1	8.8	666	13963	0.00	2.58	0.00	0.000	4	0.000	0.055	2785	661	1931
14048	1.54	239.1	359.8	9.3	670	14052	0.00	2.47	0.00	0.000	6	0.000	0.037	2784	2079	1931
14370	1.54	239.1	332.8	8.1	686	14374	0.00	2.55	0.00	0.000	4	0.000	0.056	2784	672	1932
14471	1.54	239.1	324.4	8.2	690	14477	0.00	2.45	0.00	0.000	6	0.000	0.038	2784	2082	1932
14787	1.54	239.1	298.8	8.3	706	14791	0.00	2.58	0.00	0.000	4	0.000	0.055	2784	659	1932
14865	1.54	239.1	291.7	8.3	709	14871	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2077	1932
15181	1.54	239.1	264.8	8.5	725	15185	0.00	2.55	0.00	0.000	4	0.000	0.057	2784	670	1932
15231	1.54	239.1	260.3	8.8	727	15235	0.00	2.45	0.00	0.000	6	0.000	0.037	2784	2081	1932
15552	1.54	239.1	233.0	8.8	743	15556	0.00	2.58	0.00	0.000	4	0.000	0.057	2784	661	1932
15637	1.54	239.1	225.2	9.0	747	15641	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2075	1932
15963	1.54	239.1	195.4	9.0	763	15968	0.00	2.55	0.00	0.000	4	0.000	0.057	2784	668	1933
16027	1.54	239.1	189.5	9.5	766	16032	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2084	1933
16354	1.54	239.1	161.8	8.1	782	16359	0.00	2.58	0.00	0.000	4	0.000	0.056	2784	661	1933
16394	1.54	239.1	158.2	9.6	784	16399	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2076	1933
16721	1.54	239.1	129.5	9.0	800	16726	0.00	2.58	0.00	0.000	4	0.000	0.059	2784	662	1933
16755	1.54	239.1	126.3	9.3	801	16762	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2082	1933
17071	1.54	239.1	97.2	8.5	817	17076	0.00	2.58	0.00	0.000	4	0.000	0.058	2784	664	1933
17195	1.54	239.1	83.8	10.0	822	17201	0.00	2.45	0.00	0.000	6	0.000	0.038	2784	2075	1933
17513	1.54	239.1	57.6	8.7	838	17517	0.00	2.55	0.00	0.000	4	0.000	0.057	2784	664	1933
17630	1.54	239.1	47.4	8.8	843	17634	0.00	2.47	0.00	0.000	6	0.000	0.038	2784	2078	1934
17947	1.54	239.1	29.0	8.7	858	17951	0.00	2.58	0.00	0.000	4	0.000	0.058	2784	660	1934
18054	1.54	239.1	18.0	10.3	863	18059	0.00	2.47	0.00	0.000	6	0.000	0.038	2785	2080	1934
18214	end climb: SURFACE_DEPTH_REACHED
state	18214	begin surface coast
18236	end surface coast: CONTROL_FINISHED_OK
state	18236	begin surface