Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 348 * 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 348 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 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 -150623.92 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 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 -150623.92

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 11 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 348 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 112508,6220.210,-1134.585,59,1.7,59,-10.9 TGT_NAME P1

_CALLS 5 TGT_LATLONG 6215.000,-1130.000

_XMS_NAKs 8 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.200,-0.139

_SM_DEPTHo 1.47 KALMAN_X -121132.5,-460.2,559.8,193920.7,-1666.0

_SM_ANGLEo -60.4 KALMAN_Y 2212.1,691.4,197.6,-59675.7,-4615.0

GPS2 114553,6219.979,-1134.432,13,2.0,15,-10.9 MHEAD_RNG_PITCHd_Wd 135.7,9983,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.019779 ALTIM_BOTTOM_PING 825.1,102.3

SM_CCo 18573,0.00,0.000,0,0,1834,261.98 _24V_AH 23.1,57.965

SM_GC 1.22,12.02,0.00,0.00,0.031,0.000,0.000,48,2659,1834,-10.94,-0.45,261.98 _10V_AH 10.1,33.401

IRIDIUM_FIX 6153.50,-1134.95,020898,111105 DATA_FILE_SIZE 44278,885

TT8_MAMPS 0.028379 CAP_FILE_SIZE 153648,0

HUMID 1771 CFSIZE 260165632,236355584

INTERNAL_PRESSURE 8.59408 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 080509,165741,6216.226,-1134.473,42,1.8,46,-10.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 97.34 SBE_CT 617 24 342.20

Roll_motor 181 100 420.92 SBE_O2 655 19 287.53

VBD_pump_during_apogee 359 1271 10558.45 WL_BB2F 481 105 1167.97

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 149 103 356.45 nil 0 0 0.00

Iridium_during_connect 158 160 586.72 nil 0 0 0.00

Iridium_during_xfer 529 223 2727.69

Transponder_ping 7 420 70.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.87

TT8 1689 19 337.78

LPSleep 14211 2 314.35

TT8_Active 460 19 92.09

TT8_Sampling 2218 39 891.79

TT8_CF8 1229 45 568.79

TT8_Kalman 33 81 27.56

Analog_circuits 1584 12 192.02

GPS_charging 0 0 0.00

Compass 2158 8 174.41

RAFOS 0 0 0.00

Transponder 54 30 16.49

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

15 -1.42 -146.6 0.0 0.0 0 68 0.00 0.00 -45.92 0.000 6 0.000 0.000 53 2675 3501

72 -1.42 -146.6 6.7 -11.5 3 93 11.68 2.65 0.00 0.000 4 0.157 0.064 2125 1261 3501

346 -1.42 -146.6 49.3 -10.6 15 350 0.00 2.62 0.00 0.000 6 0.000 0.065 2124 2674 3501

667 -1.42 -146.6 83.6 -10.5 31 672 0.00 2.60 0.00 0.000 4 0.000 0.064 2124 1268 3501

763 -1.42 -146.6 93.4 -9.6 35 767 0.00 2.65 0.00 0.000 6 0.000 0.071 2125 2678 3501

1079 -1.42 -146.6 128.5 -11.0 50 1080 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2678 3501

1388 -1.42 -146.6 160.4 -10.7 65 1389 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2678 3501

1697 -1.42 -146.6 193.4 -10.2 80 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2678 3501

2006 -1.42 -146.6 227.4 -11.3 95 2010 0.00 2.08 0.00 0.000 4 0.000 0.080 2125 3785 3501

2075 -1.42 -146.6 235.3 -11.4 98 2079 0.00 1.95 0.00 0.000 6 0.000 0.044 2124 2674 3501

2407 -1.42 -146.6 271.6 -10.4 114 2408 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2674 3501

2716 -1.42 -146.6 303.1 -10.3 129 2720 0.00 2.10 0.00 0.000 4 0.000 0.077 2124 3785 3501

2812 -1.42 -146.6 313.6 -10.6 133 2816 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2663 3501

3139 -1.42 -146.6 348.2 -10.7 149 3143 0.00 2.12 0.00 0.000 4 0.000 0.077 2125 3787 3501

3212 -1.42 -146.6 356.4 -11.6 152 3216 0.00 1.98 0.00 0.000 6 0.000 0.044 2125 2669 3501

3540 -1.42 -146.6 391.2 -10.5 168 3543 0.00 2.12 0.00 0.000 4 0.000 0.078 2124 3790 3501

3614 -1.42 -146.6 399.3 -11.0 171 3619 0.00 1.98 0.00 0.000 6 0.000 0.043 2124 2666 3501

3941 -1.42 -146.6 432.6 -10.1 187 3944 0.00 2.12 0.00 0.000 4 0.000 0.080 2125 3787 3501

4009 -1.42 -146.6 439.7 -10.4 190 4012 0.00 1.98 0.00 0.000 6 0.000 0.044 2124 2664 3501

4342 -1.42 -146.6 472.8 -10.3 206 4346 0.00 2.12 0.00 0.000 4 0.000 0.077 2125 3786 3501

4398 -1.42 -146.6 479.1 -11.2 208 4402 0.00 1.95 0.00 0.000 6 0.000 0.042 2125 2673 3501

4719 -1.42 -146.6 515.0 -11.2 224 4723 0.00 2.10 0.00 0.000 4 0.000 0.075 2124 3790 3501

4798 -1.42 -146.6 524.3 -11.3 227 4802 0.00 1.98 0.00 0.000 6 0.000 0.043 2125 2664 3501

5120 -1.42 -146.6 558.9 -10.6 243 5124 0.00 2.15 0.00 0.000 4 0.000 0.078 2124 3795 3501

5176 -1.42 -146.6 565.2 -11.0 245 5180 0.00 1.98 0.00 0.000 6 0.000 0.042 2125 2666 3501

5497 -1.42 -146.6 598.6 -10.7 261 5501 0.00 2.12 0.00 0.000 4 0.000 0.077 2124 3789 3501

5571 -1.42 -146.6 606.9 -10.6 264 5575 0.00 1.95 0.00 0.000 6 0.000 0.041 2124 2669 3501

5898 -1.42 -146.6 641.8 -10.1 280 5902 0.00 2.10 0.00 0.000 4 0.000 0.075 2124 3794 3501

5944 -1.42 -146.6 646.3 -10.6 282 5947 0.00 1.95 0.00 0.000 6 0.000 0.040 2124 2673 3501

6277 -1.42 -146.6 677.1 -9.5 298 6280 0.00 2.10 0.00 0.000 4 0.000 0.075 2124 3789 3501

6350 -1.42 -146.6 684.9 -10.5 301 6354 0.00 1.92 0.00 0.000 6 0.000 0.040 2125 2676 3501

6677 -1.42 -146.6 720.9 -11.1 317 6681 0.00 2.12 0.00 0.000 4 0.000 0.081 2125 3790 3501

6740 -1.42 -146.6 727.7 -10.6 319 6746 0.00 1.95 0.00 0.000 6 0.000 0.038 2124 2669 3500

7056 -1.42 -146.6 756.9 -9.0 335 7057 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2670 3501

7366 -1.42 -146.6 784.9 -9.4 350 7367 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2669 3501

7675 -1.42 -146.6 820.9 -12.5 365 7678 0.00 2.15 0.00 0.000 4 0.000 0.083 2124 3793 3500

7803 -1.42 -146.6 836.0 -10.8 370 7811 0.00 2.00 0.00 0.000 6 0.000 0.041 2125 2641 3500

8120 -1.42 -146.6 863.6 -8.6 386 8124 0.00 2.20 0.00 0.000 4 0.000 0.083 2124 3792 3500

8334 -1.42 -146.6 886.8 -11.4 395 8337 0.00 1.98 0.00 0.000 6 0.000 0.042 2125 2666 3500

8653 end dive: BOTTOM_OBSTACLE_DETECTED

state 8653 begin apogee

8662 -0.42 0.0 918.9 10.7 411 8795 1.12 0.00 129.25 1.272 6 0.094 0.000 2349 2074 2902

8796 end apogee: CONTROL_FINISHED_OK

state 8796 begin climb

8799 1.42 146.6 926.1 0.0 418 8936 1.88 2.67 126.75 1.243 4 0.059 0.061 2748 654 2304

9198 1.43 155.3 912.5 7.7 436 9212 0.00 2.55 9.23 1.065 6 0.000 0.038 2748 2100 2268

9530 1.52 225.5 892.7 5.4 452 9598 0.10 2.75 61.30 1.251 4 0.054 0.061 2779 652 1982

9706 1.56 262.3 880.7 6.7 460 9744 0.00 2.53 32.90 1.212 6 0.000 0.039 2779 2072 1832

10053 1.56 262.3 853.8 9.8 477 10057 0.00 2.60 0.00 0.000 4 0.000 0.064 2779 3481 1831

10138 1.56 262.3 844.2 10.9 481 10142 0.00 2.53 0.00 0.000 6 0.000 0.041 2779 2063 1830

10465 1.56 262.3 809.7 9.7 497 10466 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2063 1829

10773 1.56 262.3 780.1 9.2 512 10778 0.00 2.53 0.00 0.000 4 0.000 0.056 2779 664 1829

10841 1.56 262.3 773.3 9.4 515 10845 0.00 2.47 0.00 0.000 6 0.000 0.035 2779 2081 1829

11163 1.56 262.3 741.8 9.7 531 11167 0.00 2.58 0.00 0.000 4 0.000 0.054 2779 661 1829

11202 1.56 262.3 737.6 10.2 533 11207 0.00 2.47 0.00 0.000 6 0.000 0.035 2779 2080 1829

11530 1.56 262.3 704.8 10.2 549 11534 0.00 2.58 0.00 0.000 4 0.000 0.053 2779 658 1830

11603 1.56 262.3 697.2 10.2 552 11607 0.00 2.47 0.00 0.000 6 0.000 0.034 2779 2082 1830

11924 1.56 262.3 665.8 9.8 568 11928 0.00 2.55 0.00 0.000 4 0.000 0.052 2779 668 1830

11986 1.56 262.3 659.3 10.2 571 11990 0.00 2.47 0.00 0.000 6 0.000 0.035 2779 2084 1830

12319 1.56 262.3 626.7 9.8 587 12324 0.00 2.58 0.00 0.000 4 0.000 0.053 2779 659 1830

12353 1.56 262.3 623.1 10.3 588 12359 0.00 2.47 0.00 0.000 6 0.000 0.036 2779 2080 1830

12669 1.56 262.3 590.9 10.0 604 12673 0.00 2.55 0.00 0.000 4 0.000 0.054 2779 668 1831

12719 1.56 262.3 585.8 10.4 606 12723 0.00 2.47 0.00 0.000 6 0.000 0.036 2779 2085 1831

13040 1.56 262.3 555.6 9.2 622 13044 0.00 2.58 0.00 0.000 4 0.000 0.054 2779 661 1831

13102 1.56 262.3 549.3 10.3 625 13106 0.00 2.47 0.00 0.000 6 0.000 0.037 2779 2080 1831

13429 1.56 262.3 517.3 10.0 641 13434 0.00 2.55 0.00 0.000 4 0.000 0.054 2779 668 1832

13492 1.56 262.3 510.6 10.0 644 13496 0.00 2.45 0.00 0.000 6 0.000 0.036 2779 2076 1832

13818 1.56 262.3 478.0 10.1 660 13820 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2076 1832

14128 1.56 262.3 447.1 9.9 675 14132 0.00 2.55 0.00 0.000 4 0.000 0.054 2779 667 1833

14201 1.56 262.3 439.7 9.2 678 14206 0.00 2.47 0.00 0.000 6 0.000 0.037 2779 2083 1833

14517 1.56 262.3 407.9 10.5 693 14521 0.00 2.58 0.00 0.000 4 0.000 0.055 2779 661 1833

14584 1.56 262.3 400.7 10.1 696 14589 0.00 2.47 0.00 0.000 6 0.000 0.038 2779 2075 1833

14906 1.56 262.3 368.3 10.4 712 14910 0.00 2.55 0.00 0.000 4 0.000 0.055 2779 663 1833

14961 1.56 262.3 362.3 10.6 714 14967 0.00 2.47 0.00 0.000 6 0.000 0.038 2779 2076 1833

15277 1.56 262.3 329.4 10.5 730 15282 0.00 2.55 0.00 0.000 4 0.000 0.056 2779 668 1833

15345 1.56 262.3 321.9 10.1 733 15349 0.00 2.45 0.00 0.000 6 0.000 0.038 2779 2075 1833

15672 1.56 262.3 288.3 10.4 749 15676 0.00 2.55 0.00 0.000 4 0.000 0.057 2779 666 1834

15716 1.56 262.3 283.3 11.3 751 15721 0.00 2.47 0.00 0.000 6 0.000 0.038 2779 2078 1834

16038 1.56 262.3 248.3 11.2 767 16042 0.00 2.58 0.00 0.000 4 0.000 0.057 2779 657 1834

16105 1.56 262.3 240.9 10.4 770 16109 0.00 2.50 0.00 0.000 6 0.000 0.038 2779 2083 1834

16426 1.56 262.3 208.5 9.7 786 16427 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2082 1834

16735 1.56 262.3 177.1 10.3 801 16740 0.00 2.58 0.00 0.000 4 0.000 0.058 2779 665 1834

16826 1.56 262.3 167.3 11.6 805 16830 0.00 2.47 0.00 0.000 6 0.000 0.039 2779 2076 1834

17149 1.56 262.3 134.0 10.2 821 17153 0.00 2.58 0.00 0.000 4 0.000 0.058 2779 660 1834

17199 1.56 262.3 128.2 10.9 823 17203 0.00 2.50 0.00 0.000 6 0.000 0.039 2779 2084 1834

17517 1.56 262.3 95.7 9.7 838 17522 0.00 2.60 0.00 0.000 4 0.000 0.059 2779 658 1834

17551 1.56 262.3 92.3 10.2 839 17557 0.00 2.47 0.00 0.000 6 0.000 0.041 2779 2077 1834

17867 1.56 262.3 60.3 9.6 855 17871 0.00 2.58 0.00 0.000 4 0.000 0.061 2779 669 1834

17953 1.56 262.3 52.4 8.2 859 17957 0.00 2.47 0.00 0.000 6 0.000 0.040 2779 2078 1834

18281 1.56 262.3 20.1 10.4 875 18286 0.00 2.55 0.00 0.000 4 0.000 0.054 2779 662 1835

18337 1.56 262.3 14.5 10.0 877 18344 0.00 2.45 0.00 0.000 6 0.000 0.036 2779 2082 1835

18465 end climb: SURFACE_DEPTH_REACHED

state 18465 begin surface coast

18487 end surface coast: CONTROL_FINISHED_OK

state 18487 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	348	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	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	-150623.92	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	112508,6220.210,-1134.585,59,1.7,59,-10.9	TGT_NAME	P1
_CALLS	5	TGT_LATLONG	6215.000,-1130.000
_XMS_NAKs	8	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.200,-0.139
_SM_DEPTHo	1.47	KALMAN_X	-121132.5,-460.2,559.8,193920.7,-1666.0
_SM_ANGLEo	-60.4	KALMAN_Y	2212.1,691.4,197.6,-59675.7,-4615.0
GPS2	114553,6219.979,-1134.432,13,2.0,15,-10.9	MHEAD_RNG_PITCHd_Wd	135.7,9983,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.3,1.019779	ALTIM_BOTTOM_PING	825.1,102.3
SM_CCo	18573,0.00,0.000,0,0,1834,261.98	_24V_AH	23.1,57.965
SM_GC	1.22,12.02,0.00,0.00,0.031,0.000,0.000,48,2659,1834,-10.94,-0.45,261.98	_10V_AH	10.1,33.401
IRIDIUM_FIX	6153.50,-1134.95,020898,111105	DATA_FILE_SIZE	44278,885
TT8_MAMPS	0.028379	CAP_FILE_SIZE	153648,0
HUMID	1771	CFSIZE	260165632,236355584
INTERNAL_PRESSURE	8.59408	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	080509,165741,6216.226,-1134.473,42,1.8,46,-10.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	97.34	SBE_CT	617	24	342.20
Roll_motor	181	100	420.92	SBE_O2	655	19	287.53
VBD_pump_during_apogee	359	1271	10558.45	WL_BB2F	481	105	1167.97
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	149	103	356.45	nil	0	0	0.00
Iridium_during_connect	158	160	586.72	nil	0	0	0.00
Iridium_during_xfer	529	223	2727.69
Transponder_ping	7	420	70.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.87
TT8	1689	19	337.78
LPSleep	14211	2	314.35
TT8_Active	460	19	92.09
TT8_Sampling	2218	39	891.79
TT8_CF8	1229	45	568.79
TT8_Kalman	33	81	27.56
Analog_circuits	1584	12	192.02
GPS_charging	0	0	0.00
Compass	2158	8	174.41
RAFOS	0	0	0.00
Transponder	54	30	16.49

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
15	-1.42	-146.6	0.0	0.0	0	68	0.00	0.00	-45.92	0.000	6	0.000	0.000	53	2675	3501
72	-1.42	-146.6	6.7	-11.5	3	93	11.68	2.65	0.00	0.000	4	0.157	0.064	2125	1261	3501
346	-1.42	-146.6	49.3	-10.6	15	350	0.00	2.62	0.00	0.000	6	0.000	0.065	2124	2674	3501
667	-1.42	-146.6	83.6	-10.5	31	672	0.00	2.60	0.00	0.000	4	0.000	0.064	2124	1268	3501
763	-1.42	-146.6	93.4	-9.6	35	767	0.00	2.65	0.00	0.000	6	0.000	0.071	2125	2678	3501
1079	-1.42	-146.6	128.5	-11.0	50	1080	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2678	3501
1388	-1.42	-146.6	160.4	-10.7	65	1389	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2678	3501
1697	-1.42	-146.6	193.4	-10.2	80	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2678	3501
2006	-1.42	-146.6	227.4	-11.3	95	2010	0.00	2.08	0.00	0.000	4	0.000	0.080	2125	3785	3501
2075	-1.42	-146.6	235.3	-11.4	98	2079	0.00	1.95	0.00	0.000	6	0.000	0.044	2124	2674	3501
2407	-1.42	-146.6	271.6	-10.4	114	2408	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2674	3501
2716	-1.42	-146.6	303.1	-10.3	129	2720	0.00	2.10	0.00	0.000	4	0.000	0.077	2124	3785	3501
2812	-1.42	-146.6	313.6	-10.6	133	2816	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2663	3501
3139	-1.42	-146.6	348.2	-10.7	149	3143	0.00	2.12	0.00	0.000	4	0.000	0.077	2125	3787	3501
3212	-1.42	-146.6	356.4	-11.6	152	3216	0.00	1.98	0.00	0.000	6	0.000	0.044	2125	2669	3501
3540	-1.42	-146.6	391.2	-10.5	168	3543	0.00	2.12	0.00	0.000	4	0.000	0.078	2124	3790	3501
3614	-1.42	-146.6	399.3	-11.0	171	3619	0.00	1.98	0.00	0.000	6	0.000	0.043	2124	2666	3501
3941	-1.42	-146.6	432.6	-10.1	187	3944	0.00	2.12	0.00	0.000	4	0.000	0.080	2125	3787	3501
4009	-1.42	-146.6	439.7	-10.4	190	4012	0.00	1.98	0.00	0.000	6	0.000	0.044	2124	2664	3501
4342	-1.42	-146.6	472.8	-10.3	206	4346	0.00	2.12	0.00	0.000	4	0.000	0.077	2125	3786	3501
4398	-1.42	-146.6	479.1	-11.2	208	4402	0.00	1.95	0.00	0.000	6	0.000	0.042	2125	2673	3501
4719	-1.42	-146.6	515.0	-11.2	224	4723	0.00	2.10	0.00	0.000	4	0.000	0.075	2124	3790	3501
4798	-1.42	-146.6	524.3	-11.3	227	4802	0.00	1.98	0.00	0.000	6	0.000	0.043	2125	2664	3501
5120	-1.42	-146.6	558.9	-10.6	243	5124	0.00	2.15	0.00	0.000	4	0.000	0.078	2124	3795	3501
5176	-1.42	-146.6	565.2	-11.0	245	5180	0.00	1.98	0.00	0.000	6	0.000	0.042	2125	2666	3501
5497	-1.42	-146.6	598.6	-10.7	261	5501	0.00	2.12	0.00	0.000	4	0.000	0.077	2124	3789	3501
5571	-1.42	-146.6	606.9	-10.6	264	5575	0.00	1.95	0.00	0.000	6	0.000	0.041	2124	2669	3501
5898	-1.42	-146.6	641.8	-10.1	280	5902	0.00	2.10	0.00	0.000	4	0.000	0.075	2124	3794	3501
5944	-1.42	-146.6	646.3	-10.6	282	5947	0.00	1.95	0.00	0.000	6	0.000	0.040	2124	2673	3501
6277	-1.42	-146.6	677.1	-9.5	298	6280	0.00	2.10	0.00	0.000	4	0.000	0.075	2124	3789	3501
6350	-1.42	-146.6	684.9	-10.5	301	6354	0.00	1.92	0.00	0.000	6	0.000	0.040	2125	2676	3501
6677	-1.42	-146.6	720.9	-11.1	317	6681	0.00	2.12	0.00	0.000	4	0.000	0.081	2125	3790	3501
6740	-1.42	-146.6	727.7	-10.6	319	6746	0.00	1.95	0.00	0.000	6	0.000	0.038	2124	2669	3500
7056	-1.42	-146.6	756.9	-9.0	335	7057	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2670	3501
7366	-1.42	-146.6	784.9	-9.4	350	7367	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2669	3501
7675	-1.42	-146.6	820.9	-12.5	365	7678	0.00	2.15	0.00	0.000	4	0.000	0.083	2124	3793	3500
7803	-1.42	-146.6	836.0	-10.8	370	7811	0.00	2.00	0.00	0.000	6	0.000	0.041	2125	2641	3500
8120	-1.42	-146.6	863.6	-8.6	386	8124	0.00	2.20	0.00	0.000	4	0.000	0.083	2124	3792	3500
8334	-1.42	-146.6	886.8	-11.4	395	8337	0.00	1.98	0.00	0.000	6	0.000	0.042	2125	2666	3500
8653	end dive: BOTTOM_OBSTACLE_DETECTED
state	8653	begin apogee
8662	-0.42	0.0	918.9	10.7	411	8795	1.12	0.00	129.25	1.272	6	0.094	0.000	2349	2074	2902
8796	end apogee: CONTROL_FINISHED_OK
state	8796	begin climb
8799	1.42	146.6	926.1	0.0	418	8936	1.88	2.67	126.75	1.243	4	0.059	0.061	2748	654	2304
9198	1.43	155.3	912.5	7.7	436	9212	0.00	2.55	9.23	1.065	6	0.000	0.038	2748	2100	2268
9530	1.52	225.5	892.7	5.4	452	9598	0.10	2.75	61.30	1.251	4	0.054	0.061	2779	652	1982
9706	1.56	262.3	880.7	6.7	460	9744	0.00	2.53	32.90	1.212	6	0.000	0.039	2779	2072	1832
10053	1.56	262.3	853.8	9.8	477	10057	0.00	2.60	0.00	0.000	4	0.000	0.064	2779	3481	1831
10138	1.56	262.3	844.2	10.9	481	10142	0.00	2.53	0.00	0.000	6	0.000	0.041	2779	2063	1830
10465	1.56	262.3	809.7	9.7	497	10466	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2063	1829
10773	1.56	262.3	780.1	9.2	512	10778	0.00	2.53	0.00	0.000	4	0.000	0.056	2779	664	1829
10841	1.56	262.3	773.3	9.4	515	10845	0.00	2.47	0.00	0.000	6	0.000	0.035	2779	2081	1829
11163	1.56	262.3	741.8	9.7	531	11167	0.00	2.58	0.00	0.000	4	0.000	0.054	2779	661	1829
11202	1.56	262.3	737.6	10.2	533	11207	0.00	2.47	0.00	0.000	6	0.000	0.035	2779	2080	1829
11530	1.56	262.3	704.8	10.2	549	11534	0.00	2.58	0.00	0.000	4	0.000	0.053	2779	658	1830
11603	1.56	262.3	697.2	10.2	552	11607	0.00	2.47	0.00	0.000	6	0.000	0.034	2779	2082	1830
11924	1.56	262.3	665.8	9.8	568	11928	0.00	2.55	0.00	0.000	4	0.000	0.052	2779	668	1830
11986	1.56	262.3	659.3	10.2	571	11990	0.00	2.47	0.00	0.000	6	0.000	0.035	2779	2084	1830
12319	1.56	262.3	626.7	9.8	587	12324	0.00	2.58	0.00	0.000	4	0.000	0.053	2779	659	1830
12353	1.56	262.3	623.1	10.3	588	12359	0.00	2.47	0.00	0.000	6	0.000	0.036	2779	2080	1830
12669	1.56	262.3	590.9	10.0	604	12673	0.00	2.55	0.00	0.000	4	0.000	0.054	2779	668	1831
12719	1.56	262.3	585.8	10.4	606	12723	0.00	2.47	0.00	0.000	6	0.000	0.036	2779	2085	1831
13040	1.56	262.3	555.6	9.2	622	13044	0.00	2.58	0.00	0.000	4	0.000	0.054	2779	661	1831
13102	1.56	262.3	549.3	10.3	625	13106	0.00	2.47	0.00	0.000	6	0.000	0.037	2779	2080	1831
13429	1.56	262.3	517.3	10.0	641	13434	0.00	2.55	0.00	0.000	4	0.000	0.054	2779	668	1832
13492	1.56	262.3	510.6	10.0	644	13496	0.00	2.45	0.00	0.000	6	0.000	0.036	2779	2076	1832
13818	1.56	262.3	478.0	10.1	660	13820	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2076	1832
14128	1.56	262.3	447.1	9.9	675	14132	0.00	2.55	0.00	0.000	4	0.000	0.054	2779	667	1833
14201	1.56	262.3	439.7	9.2	678	14206	0.00	2.47	0.00	0.000	6	0.000	0.037	2779	2083	1833
14517	1.56	262.3	407.9	10.5	693	14521	0.00	2.58	0.00	0.000	4	0.000	0.055	2779	661	1833
14584	1.56	262.3	400.7	10.1	696	14589	0.00	2.47	0.00	0.000	6	0.000	0.038	2779	2075	1833
14906	1.56	262.3	368.3	10.4	712	14910	0.00	2.55	0.00	0.000	4	0.000	0.055	2779	663	1833
14961	1.56	262.3	362.3	10.6	714	14967	0.00	2.47	0.00	0.000	6	0.000	0.038	2779	2076	1833
15277	1.56	262.3	329.4	10.5	730	15282	0.00	2.55	0.00	0.000	4	0.000	0.056	2779	668	1833
15345	1.56	262.3	321.9	10.1	733	15349	0.00	2.45	0.00	0.000	6	0.000	0.038	2779	2075	1833
15672	1.56	262.3	288.3	10.4	749	15676	0.00	2.55	0.00	0.000	4	0.000	0.057	2779	666	1834
15716	1.56	262.3	283.3	11.3	751	15721	0.00	2.47	0.00	0.000	6	0.000	0.038	2779	2078	1834
16038	1.56	262.3	248.3	11.2	767	16042	0.00	2.58	0.00	0.000	4	0.000	0.057	2779	657	1834
16105	1.56	262.3	240.9	10.4	770	16109	0.00	2.50	0.00	0.000	6	0.000	0.038	2779	2083	1834
16426	1.56	262.3	208.5	9.7	786	16427	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2082	1834
16735	1.56	262.3	177.1	10.3	801	16740	0.00	2.58	0.00	0.000	4	0.000	0.058	2779	665	1834
16826	1.56	262.3	167.3	11.6	805	16830	0.00	2.47	0.00	0.000	6	0.000	0.039	2779	2076	1834
17149	1.56	262.3	134.0	10.2	821	17153	0.00	2.58	0.00	0.000	4	0.000	0.058	2779	660	1834
17199	1.56	262.3	128.2	10.9	823	17203	0.00	2.50	0.00	0.000	6	0.000	0.039	2779	2084	1834
17517	1.56	262.3	95.7	9.7	838	17522	0.00	2.60	0.00	0.000	4	0.000	0.059	2779	658	1834
17551	1.56	262.3	92.3	10.2	839	17557	0.00	2.47	0.00	0.000	6	0.000	0.041	2779	2077	1834
17867	1.56	262.3	60.3	9.6	855	17871	0.00	2.58	0.00	0.000	4	0.000	0.061	2779	669	1834
17953	1.56	262.3	52.4	8.2	859	17957	0.00	2.47	0.00	0.000	6	0.000	0.040	2779	2078	1834
18281	1.56	262.3	20.1	10.4	875	18286	0.00	2.55	0.00	0.000	4	0.000	0.054	2779	662	1835
18337	1.56	262.3	14.5	10.0	877	18344	0.00	2.45	0.00	0.000	6	0.000	0.036	2779	2082	1835
18465	end climb: SURFACE_DEPTH_REACHED
state	18465	begin surface coast
18487	end surface coast: CONTROL_FINISHED_OK
state	18487	begin surface