Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 36 * 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 36 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 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 -143660.25 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 -143660.25

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 18 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 36 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 190036,6148.038,-912.478,27,1.9,27,-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 -0.088,0.200

_SM_DEPTHo 1.18 KALMAN_X -14653.3,678.0,324.4,28818.3,2010.1

_SM_ANGLEo -62.2 KALMAN_Y -60584.9,-123.2,-34.4,128839.1,-5758.2

GPS2 190601,6147.997,-912.292,10,1.8,15,-9.4 MHEAD_RNG_PITCHd_Wd 345.6,45394,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027451 ALTIM_BOTTOM_PING 600.2,92.1

SM_CCo 17980,33.15,0.736,0,0,1678,300.00 _24V_AH 23.3,15.124

SM_GC 1.52,0.00,0.00,33.15,0.000,0.000,0.736,49,2738,1678,-11.00,-0.34,300.00 _10V_AH 10.1,6.867

IRIDIUM_FIX 6126.23,-908.29,250598,141426 DATA_FILE_SIZE 44215,857

TT8_MAMPS 0.029146 CAP_FILE_SIZE 140009,0

HUMID 1767 CFSIZE 260165632,255598592

INTERNAL_PRESSURE 8.55502 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 010309,000830,6151.945,-911.160,40,1.5,40,-9.4

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 98.80 SBE_CT 609 24 341.08

Roll_motor 206 72 350.76 SBE_O2 620 19 274.76

VBD_pump_during_apogee 335 1175 9179.85 WL_BB2F 519 105 1271.99

VBD_pump_during_surface 33 735 568.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.74 nil 0 0 0.00

Iridium_during_connect 28 160 105.83 nil 0 0 0.00

Iridium_during_xfer 138 223 720.13

Transponder_ping 6 420 61.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.06

TT8 1642 19 328.53

LPSleep 13454 2 297.59

TT8_Active 545 19 109.09

TT8_Sampling 2164 39 870.17

TT8_CF8 533 45 246.68

TT8_Kalman 33 81 27.56

Analog_circuits 1627 12 197.28

GPS_charging 0 0 0.00

Compass 2116 8 171.02

RAFOS 0 0 0.00

Transponder 35 30 10.65

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 -1.10 -146.6 0.0 0.0 0 71 0.00 0.00 -53.50 0.000 6 0.000 0.000 48 2741 3502

75 -1.10 -146.6 2.9 -7.2 2 96 12.15 2.62 0.00 0.000 4 0.161 0.061 2193 1337 3502

349 -1.10 -146.6 37.8 -7.8 14 354 0.00 2.60 0.00 0.000 6 0.000 0.060 2193 2749 3501

671 -1.10 -146.6 62.1 -8.4 30 675 0.00 2.62 0.00 0.000 4 0.000 0.068 2193 1337 3501

720 -1.10 -146.6 65.8 -6.8 32 725 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2754 3501

1037 -1.10 -146.6 91.8 -8.6 47 1038 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2754 3502

1346 -1.10 -146.6 116.7 -7.0 62 1350 0.00 2.62 0.00 0.000 4 0.000 0.064 2193 1332 3501

1396 -1.10 -146.6 120.2 -7.1 64 1400 0.00 2.60 0.00 0.000 6 0.000 0.057 2193 2753 3501

1712 -1.10 -146.6 145.9 -9.2 79 1713 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2753 3502

2021 -1.10 -146.6 169.7 -8.5 94 2025 0.00 2.62 0.00 0.000 4 0.000 0.066 2193 1333 3501

2061 -1.10 -146.6 173.6 -10.2 96 2065 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2760 3501

2388 -1.10 -146.6 201.3 -9.1 112 2389 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2760 3502

2697 -1.10 -146.6 225.3 -8.0 127 2702 0.00 2.62 0.00 0.000 4 0.000 0.065 2193 1335 3501

2742 -1.10 -146.6 229.0 -7.7 129 2746 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2759 3502

3063 -1.10 -146.6 254.4 -7.8 145 3064 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2759 3501

3372 -1.10 -146.6 277.2 -7.1 160 3376 0.00 2.62 0.00 0.000 4 0.000 0.065 2193 1332 3502

3444 -1.10 -146.6 282.6 -7.3 163 3449 0.00 2.60 0.00 0.000 6 0.000 0.057 2193 2760 3501

3760 -1.10 -146.6 305.0 -7.0 178 3764 0.00 2.62 0.00 0.000 4 0.000 0.064 2193 1323 3501

3800 -1.10 -146.6 307.8 -6.9 180 3804 0.00 2.60 0.00 0.000 6 0.000 0.055 2193 2756 3501

4127 -1.10 -146.6 332.0 -7.7 196 4128 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2756 3502

4436 -1.10 -146.6 355.9 -7.9 211 4440 0.00 2.60 0.00 0.000 4 0.000 0.063 2193 1336 3502

4498 -1.10 -146.6 360.8 -7.7 214 4502 0.00 2.60 0.00 0.000 6 0.000 0.059 2193 2760 3502

4825 -1.10 -146.6 385.4 -7.4 230 4826 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2760 3502

5134 -1.10 -146.6 408.5 -7.5 245 5138 0.00 2.62 0.00 0.000 4 0.000 0.064 2193 1331 3502

5166 -1.10 -146.6 411.2 -7.9 246 5173 0.00 2.58 0.00 0.000 6 0.000 0.058 2193 2746 3502

5482 -1.10 -146.6 436.5 -8.3 262 5487 0.00 2.58 0.00 0.000 4 0.000 0.063 2193 1330 3502

5510 -1.10 -146.6 438.9 -8.5 263 5514 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2757 3502

5826 -1.10 -146.6 465.0 -7.7 278 5827 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2757 3502

6135 -1.10 -146.6 488.0 -7.1 293 6139 0.00 2.60 0.00 0.000 4 0.000 0.064 2193 1336 3502

6191 -1.10 -146.6 492.3 -8.0 295 6197 0.00 2.58 0.00 0.000 6 0.000 0.059 2193 2752 3502

6507 -1.10 -146.6 514.5 -7.0 311 6512 0.00 2.58 0.00 0.000 4 0.000 0.062 2193 1333 3502

6548 -1.10 -146.6 517.7 -8.1 313 6552 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2760 3502

6874 -1.10 -146.6 542.6 -6.9 329 6878 0.00 2.62 0.00 0.000 4 0.000 0.063 2193 1329 3502

6924 -1.10 -146.6 546.4 -7.7 331 6928 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2754 3502

7240 -1.10 -146.6 570.7 -7.9 346 7245 0.00 2.60 0.00 0.000 4 0.000 0.062 2192 1332 3502

7313 -1.10 -146.6 576.3 -7.7 349 7317 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2758 3502

7629 -1.10 -146.6 596.0 -6.1 364 7633 0.00 2.60 0.00 0.000 4 0.000 0.060 2192 1330 3502

7684 -1.10 -146.6 599.9 -6.7 366 7697 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2751 3502

8000 -1.10 -146.6 621.4 -6.9 382 8004 0.00 2.60 0.00 0.000 4 0.000 0.064 2192 1331 3502

8067 -1.10 -146.6 625.6 -5.6 385 8072 0.00 2.62 0.00 0.000 6 0.000 0.062 2193 2756 3502

8388 -1.10 -146.6 647.0 -7.6 401 8393 0.00 2.62 0.00 0.000 4 0.000 0.065 2192 1332 3501

8451 -1.10 -146.6 651.0 -4.9 404 8456 0.00 2.62 0.00 0.000 6 0.000 0.063 2193 2754 3501

8778 -1.10 -146.6 674.2 -8.4 420 8783 0.00 2.65 0.00 0.000 4 0.000 0.071 2193 1331 3499

8874 -1.10 -146.6 679.8 -6.8 424 8878 0.00 2.65 0.00 0.000 6 0.000 0.067 2193 2753 3498

8919 end dive: BOTTOM_OBSTACLE_DETECTED

state 8919 begin apogee

8929 -0.42 0.0 683.8 8.4 426 9055 0.77 0.00 122.85 1.176 6 0.090 0.000 2349 1702 2902

9056 end apogee: CONTROL_FINISHED_OK

state 9056 begin climb

9059 1.10 146.6 687.5 0.0 432 9189 1.55 2.72 122.53 1.126 4 0.057 0.061 2679 3114 2304

9437 1.11 149.7 681.3 5.9 449 9449 0.00 2.62 4.20 0.793 6 0.000 0.056 2679 1693 2291

9758 1.20 225.1 665.6 3.9 465 9829 0.00 2.75 62.92 1.168 4 0.000 0.059 2679 3118 1984

9928 1.20 225.1 654.8 8.0 472 9934 0.00 2.62 0.00 0.000 6 0.000 0.056 2679 1696 1984

10244 1.23 250.7 635.6 5.3 488 10274 0.12 2.72 22.58 1.151 4 0.045 0.058 2718 3117 1879

10347 1.23 250.7 626.8 10.2 492 10353 0.00 2.62 0.00 0.000 6 0.000 0.056 2718 1693 1879

10663 1.23 250.7 602.4 7.8 508 10668 0.00 2.65 0.00 0.000 4 0.000 0.061 2718 3124 1878

10696 1.23 250.7 599.5 8.2 509 10702 0.00 2.62 0.00 0.000 6 0.000 0.058 2718 1700 1878

11012 1.23 250.7 571.8 8.4 525 11016 0.00 2.60 0.00 0.000 4 0.000 0.058 2718 3122 1878

11052 1.23 250.7 568.4 9.0 527 11056 0.00 2.60 0.00 0.000 6 0.000 0.054 2718 1698 1878

11378 1.23 250.7 544.7 8.1 543 11382 0.00 2.65 0.00 0.000 4 0.000 0.073 2718 289 1877

11507 1.23 250.7 533.1 9.3 549 11512 0.00 2.53 0.00 0.000 6 0.000 0.038 2718 1720 1877

11834 1.23 250.7 507.0 7.9 565 11838 0.00 2.53 0.00 0.000 4 0.000 0.060 2718 3111 1877

12000 1.23 250.7 494.6 7.4 572 12004 0.00 2.58 0.00 0.000 6 0.000 0.053 2718 1694 1877

12316 1.23 250.7 470.0 8.0 587 12320 0.00 2.58 0.00 0.000 4 0.000 0.055 2718 3109 1877

12411 1.23 250.7 462.0 8.0 591 12415 0.00 2.55 0.00 0.000 6 0.000 0.051 2718 1700 1877

12727 1.23 250.7 435.9 8.4 606 12731 0.00 2.58 0.00 0.000 4 0.000 0.056 2718 3116 1877

12822 1.23 250.7 427.9 7.9 610 12826 0.00 2.58 0.00 0.000 6 0.000 0.051 2718 1691 1877

13143 1.23 250.7 401.9 8.1 626 13148 0.00 2.58 0.00 0.000 4 0.000 0.055 2718 3109 1878

13251 1.23 250.7 393.3 8.2 631 13256 0.00 2.55 0.00 0.000 6 0.000 0.049 2718 1689 1878

13578 1.23 250.7 367.7 7.8 647 13583 0.00 2.60 0.00 0.000 4 0.000 0.058 2718 3114 1878

13645 1.23 250.7 362.0 8.5 650 13650 0.00 2.58 0.00 0.000 6 0.000 0.051 2718 1688 1878

13967 1.23 250.7 336.6 8.0 666 13972 0.00 2.60 0.00 0.000 4 0.000 0.058 2718 3113 1879

14068 1.23 250.7 328.3 8.3 670 14075 0.00 2.55 0.00 0.000 6 0.000 0.054 2718 1699 1879

14384 1.23 250.7 302.1 8.7 686 14389 0.00 2.58 0.00 0.000 4 0.000 0.058 2718 3114 1880

14491 1.23 250.7 292.4 8.5 690 14497 0.00 2.55 0.00 0.000 6 0.000 0.053 2719 1698 1880

14807 1.23 250.7 265.6 8.3 706 14811 0.00 2.58 0.00 0.000 4 0.000 0.059 2718 3109 1880

14896 1.23 250.7 258.2 7.8 710 14901 0.00 2.55 0.00 0.000 6 0.000 0.053 2718 1698 1881

15218 1.23 250.7 229.8 9.1 726 15223 0.00 2.58 0.00 0.000 4 0.000 0.056 2718 3117 1881

15291 1.23 250.7 223.0 9.3 729 15295 0.00 2.58 0.00 0.000 6 0.000 0.054 2719 1696 1881

15607 1.23 250.7 196.2 8.3 744 15611 0.00 2.58 0.00 0.000 4 0.000 0.059 2718 3112 1881

15709 1.23 250.7 187.5 8.2 748 15715 0.00 2.58 0.00 0.000 6 0.000 0.053 2718 1688 1881

16025 1.23 250.7 162.4 7.5 764 16029 0.00 2.58 0.00 0.000 4 0.000 0.058 2718 3104 1881

16110 1.23 250.7 155.5 8.7 768 16114 0.00 2.55 0.00 0.000 6 0.000 0.054 2719 1693 1882

16437 1.23 250.7 128.5 8.6 784 16441 0.00 2.58 0.00 0.000 4 0.000 0.058 2718 3110 1882

16515 1.23 250.7 121.6 9.1 787 16522 0.00 2.55 0.00 0.000 6 0.000 0.054 2718 1693 1882

16831 1.23 250.7 94.3 8.3 803 16835 0.00 2.58 0.00 0.000 4 0.000 0.059 2718 3107 1882

16931 1.23 250.7 85.4 9.1 807 16938 0.00 2.55 0.00 0.000 6 0.000 0.054 2718 1690 1882

17248 1.23 250.7 58.8 8.6 823 17252 0.00 2.58 0.00 0.000 4 0.000 0.058 2719 3107 1883

17348 1.23 250.7 49.9 7.6 827 17354 0.00 2.53 0.00 0.000 6 0.000 0.054 2718 1699 1883

17665 1.23 250.7 23.2 8.8 843 17670 0.00 2.58 0.00 0.000 4 0.000 0.059 2718 3112 1883

17773 1.23 250.7 14.9 8.1 848 17778 0.00 2.58 0.00 0.000 6 0.000 0.055 2719 1691 1883

17933 end climb: SURFACE_DEPTH_REACHED

state 17933 begin surface coast

17955 end surface coast: CONTROL_FINISHED_OK

state 17955 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	36	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	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	-143660.25	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	190036,6148.038,-912.478,27,1.9,27,-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	-0.088,0.200
_SM_DEPTHo	1.18	KALMAN_X	-14653.3,678.0,324.4,28818.3,2010.1
_SM_ANGLEo	-62.2	KALMAN_Y	-60584.9,-123.2,-34.4,128839.1,-5758.2
GPS2	190601,6147.997,-912.292,10,1.8,15,-9.4	MHEAD_RNG_PITCHd_Wd	345.6,45394,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.2,1.027451	ALTIM_BOTTOM_PING	600.2,92.1
SM_CCo	17980,33.15,0.736,0,0,1678,300.00	_24V_AH	23.3,15.124
SM_GC	1.52,0.00,0.00,33.15,0.000,0.000,0.736,49,2738,1678,-11.00,-0.34,300.00	_10V_AH	10.1,6.867
IRIDIUM_FIX	6126.23,-908.29,250598,141426	DATA_FILE_SIZE	44215,857
TT8_MAMPS	0.029146	CAP_FILE_SIZE	140009,0
HUMID	1767	CFSIZE	260165632,255598592
INTERNAL_PRESSURE	8.55502	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	010309,000830,6151.945,-911.160,40,1.5,40,-9.4
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	98.80	SBE_CT	609	24	341.08
Roll_motor	206	72	350.76	SBE_O2	620	19	274.76
VBD_pump_during_apogee	335	1175	9179.85	WL_BB2F	519	105	1271.99
VBD_pump_during_surface	33	735	568.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.74	nil	0	0	0.00
Iridium_during_connect	28	160	105.83	nil	0	0	0.00
Iridium_during_xfer	138	223	720.13
Transponder_ping	6	420	61.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.06
TT8	1642	19	328.53
LPSleep	13454	2	297.59
TT8_Active	545	19	109.09
TT8_Sampling	2164	39	870.17
TT8_CF8	533	45	246.68
TT8_Kalman	33	81	27.56
Analog_circuits	1627	12	197.28
GPS_charging	0	0	0.00
Compass	2116	8	171.02
RAFOS	0	0	0.00
Transponder	35	30	10.65

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	-1.10	-146.6	0.0	0.0	0	71	0.00	0.00	-53.50	0.000	6	0.000	0.000	48	2741	3502
75	-1.10	-146.6	2.9	-7.2	2	96	12.15	2.62	0.00	0.000	4	0.161	0.061	2193	1337	3502
349	-1.10	-146.6	37.8	-7.8	14	354	0.00	2.60	0.00	0.000	6	0.000	0.060	2193	2749	3501
671	-1.10	-146.6	62.1	-8.4	30	675	0.00	2.62	0.00	0.000	4	0.000	0.068	2193	1337	3501
720	-1.10	-146.6	65.8	-6.8	32	725	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2754	3501
1037	-1.10	-146.6	91.8	-8.6	47	1038	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2754	3502
1346	-1.10	-146.6	116.7	-7.0	62	1350	0.00	2.62	0.00	0.000	4	0.000	0.064	2193	1332	3501
1396	-1.10	-146.6	120.2	-7.1	64	1400	0.00	2.60	0.00	0.000	6	0.000	0.057	2193	2753	3501
1712	-1.10	-146.6	145.9	-9.2	79	1713	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2753	3502
2021	-1.10	-146.6	169.7	-8.5	94	2025	0.00	2.62	0.00	0.000	4	0.000	0.066	2193	1333	3501
2061	-1.10	-146.6	173.6	-10.2	96	2065	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2760	3501
2388	-1.10	-146.6	201.3	-9.1	112	2389	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2760	3502
2697	-1.10	-146.6	225.3	-8.0	127	2702	0.00	2.62	0.00	0.000	4	0.000	0.065	2193	1335	3501
2742	-1.10	-146.6	229.0	-7.7	129	2746	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2759	3502
3063	-1.10	-146.6	254.4	-7.8	145	3064	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2759	3501
3372	-1.10	-146.6	277.2	-7.1	160	3376	0.00	2.62	0.00	0.000	4	0.000	0.065	2193	1332	3502
3444	-1.10	-146.6	282.6	-7.3	163	3449	0.00	2.60	0.00	0.000	6	0.000	0.057	2193	2760	3501
3760	-1.10	-146.6	305.0	-7.0	178	3764	0.00	2.62	0.00	0.000	4	0.000	0.064	2193	1323	3501
3800	-1.10	-146.6	307.8	-6.9	180	3804	0.00	2.60	0.00	0.000	6	0.000	0.055	2193	2756	3501
4127	-1.10	-146.6	332.0	-7.7	196	4128	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2756	3502
4436	-1.10	-146.6	355.9	-7.9	211	4440	0.00	2.60	0.00	0.000	4	0.000	0.063	2193	1336	3502
4498	-1.10	-146.6	360.8	-7.7	214	4502	0.00	2.60	0.00	0.000	6	0.000	0.059	2193	2760	3502
4825	-1.10	-146.6	385.4	-7.4	230	4826	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2760	3502
5134	-1.10	-146.6	408.5	-7.5	245	5138	0.00	2.62	0.00	0.000	4	0.000	0.064	2193	1331	3502
5166	-1.10	-146.6	411.2	-7.9	246	5173	0.00	2.58	0.00	0.000	6	0.000	0.058	2193	2746	3502
5482	-1.10	-146.6	436.5	-8.3	262	5487	0.00	2.58	0.00	0.000	4	0.000	0.063	2193	1330	3502
5510	-1.10	-146.6	438.9	-8.5	263	5514	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2757	3502
5826	-1.10	-146.6	465.0	-7.7	278	5827	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2757	3502
6135	-1.10	-146.6	488.0	-7.1	293	6139	0.00	2.60	0.00	0.000	4	0.000	0.064	2193	1336	3502
6191	-1.10	-146.6	492.3	-8.0	295	6197	0.00	2.58	0.00	0.000	6	0.000	0.059	2193	2752	3502
6507	-1.10	-146.6	514.5	-7.0	311	6512	0.00	2.58	0.00	0.000	4	0.000	0.062	2193	1333	3502
6548	-1.10	-146.6	517.7	-8.1	313	6552	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2760	3502
6874	-1.10	-146.6	542.6	-6.9	329	6878	0.00	2.62	0.00	0.000	4	0.000	0.063	2193	1329	3502
6924	-1.10	-146.6	546.4	-7.7	331	6928	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2754	3502
7240	-1.10	-146.6	570.7	-7.9	346	7245	0.00	2.60	0.00	0.000	4	0.000	0.062	2192	1332	3502
7313	-1.10	-146.6	576.3	-7.7	349	7317	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2758	3502
7629	-1.10	-146.6	596.0	-6.1	364	7633	0.00	2.60	0.00	0.000	4	0.000	0.060	2192	1330	3502
7684	-1.10	-146.6	599.9	-6.7	366	7697	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2751	3502
8000	-1.10	-146.6	621.4	-6.9	382	8004	0.00	2.60	0.00	0.000	4	0.000	0.064	2192	1331	3502
8067	-1.10	-146.6	625.6	-5.6	385	8072	0.00	2.62	0.00	0.000	6	0.000	0.062	2193	2756	3502
8388	-1.10	-146.6	647.0	-7.6	401	8393	0.00	2.62	0.00	0.000	4	0.000	0.065	2192	1332	3501
8451	-1.10	-146.6	651.0	-4.9	404	8456	0.00	2.62	0.00	0.000	6	0.000	0.063	2193	2754	3501
8778	-1.10	-146.6	674.2	-8.4	420	8783	0.00	2.65	0.00	0.000	4	0.000	0.071	2193	1331	3499
8874	-1.10	-146.6	679.8	-6.8	424	8878	0.00	2.65	0.00	0.000	6	0.000	0.067	2193	2753	3498
8919	end dive: BOTTOM_OBSTACLE_DETECTED
state	8919	begin apogee
8929	-0.42	0.0	683.8	8.4	426	9055	0.77	0.00	122.85	1.176	6	0.090	0.000	2349	1702	2902
9056	end apogee: CONTROL_FINISHED_OK
state	9056	begin climb
9059	1.10	146.6	687.5	0.0	432	9189	1.55	2.72	122.53	1.126	4	0.057	0.061	2679	3114	2304
9437	1.11	149.7	681.3	5.9	449	9449	0.00	2.62	4.20	0.793	6	0.000	0.056	2679	1693	2291
9758	1.20	225.1	665.6	3.9	465	9829	0.00	2.75	62.92	1.168	4	0.000	0.059	2679	3118	1984
9928	1.20	225.1	654.8	8.0	472	9934	0.00	2.62	0.00	0.000	6	0.000	0.056	2679	1696	1984
10244	1.23	250.7	635.6	5.3	488	10274	0.12	2.72	22.58	1.151	4	0.045	0.058	2718	3117	1879
10347	1.23	250.7	626.8	10.2	492	10353	0.00	2.62	0.00	0.000	6	0.000	0.056	2718	1693	1879
10663	1.23	250.7	602.4	7.8	508	10668	0.00	2.65	0.00	0.000	4	0.000	0.061	2718	3124	1878
10696	1.23	250.7	599.5	8.2	509	10702	0.00	2.62	0.00	0.000	6	0.000	0.058	2718	1700	1878
11012	1.23	250.7	571.8	8.4	525	11016	0.00	2.60	0.00	0.000	4	0.000	0.058	2718	3122	1878
11052	1.23	250.7	568.4	9.0	527	11056	0.00	2.60	0.00	0.000	6	0.000	0.054	2718	1698	1878
11378	1.23	250.7	544.7	8.1	543	11382	0.00	2.65	0.00	0.000	4	0.000	0.073	2718	289	1877
11507	1.23	250.7	533.1	9.3	549	11512	0.00	2.53	0.00	0.000	6	0.000	0.038	2718	1720	1877
11834	1.23	250.7	507.0	7.9	565	11838	0.00	2.53	0.00	0.000	4	0.000	0.060	2718	3111	1877
12000	1.23	250.7	494.6	7.4	572	12004	0.00	2.58	0.00	0.000	6	0.000	0.053	2718	1694	1877
12316	1.23	250.7	470.0	8.0	587	12320	0.00	2.58	0.00	0.000	4	0.000	0.055	2718	3109	1877
12411	1.23	250.7	462.0	8.0	591	12415	0.00	2.55	0.00	0.000	6	0.000	0.051	2718	1700	1877
12727	1.23	250.7	435.9	8.4	606	12731	0.00	2.58	0.00	0.000	4	0.000	0.056	2718	3116	1877
12822	1.23	250.7	427.9	7.9	610	12826	0.00	2.58	0.00	0.000	6	0.000	0.051	2718	1691	1877
13143	1.23	250.7	401.9	8.1	626	13148	0.00	2.58	0.00	0.000	4	0.000	0.055	2718	3109	1878
13251	1.23	250.7	393.3	8.2	631	13256	0.00	2.55	0.00	0.000	6	0.000	0.049	2718	1689	1878
13578	1.23	250.7	367.7	7.8	647	13583	0.00	2.60	0.00	0.000	4	0.000	0.058	2718	3114	1878
13645	1.23	250.7	362.0	8.5	650	13650	0.00	2.58	0.00	0.000	6	0.000	0.051	2718	1688	1878
13967	1.23	250.7	336.6	8.0	666	13972	0.00	2.60	0.00	0.000	4	0.000	0.058	2718	3113	1879
14068	1.23	250.7	328.3	8.3	670	14075	0.00	2.55	0.00	0.000	6	0.000	0.054	2718	1699	1879
14384	1.23	250.7	302.1	8.7	686	14389	0.00	2.58	0.00	0.000	4	0.000	0.058	2718	3114	1880
14491	1.23	250.7	292.4	8.5	690	14497	0.00	2.55	0.00	0.000	6	0.000	0.053	2719	1698	1880
14807	1.23	250.7	265.6	8.3	706	14811	0.00	2.58	0.00	0.000	4	0.000	0.059	2718	3109	1880
14896	1.23	250.7	258.2	7.8	710	14901	0.00	2.55	0.00	0.000	6	0.000	0.053	2718	1698	1881
15218	1.23	250.7	229.8	9.1	726	15223	0.00	2.58	0.00	0.000	4	0.000	0.056	2718	3117	1881
15291	1.23	250.7	223.0	9.3	729	15295	0.00	2.58	0.00	0.000	6	0.000	0.054	2719	1696	1881
15607	1.23	250.7	196.2	8.3	744	15611	0.00	2.58	0.00	0.000	4	0.000	0.059	2718	3112	1881
15709	1.23	250.7	187.5	8.2	748	15715	0.00	2.58	0.00	0.000	6	0.000	0.053	2718	1688	1881
16025	1.23	250.7	162.4	7.5	764	16029	0.00	2.58	0.00	0.000	4	0.000	0.058	2718	3104	1881
16110	1.23	250.7	155.5	8.7	768	16114	0.00	2.55	0.00	0.000	6	0.000	0.054	2719	1693	1882
16437	1.23	250.7	128.5	8.6	784	16441	0.00	2.58	0.00	0.000	4	0.000	0.058	2718	3110	1882
16515	1.23	250.7	121.6	9.1	787	16522	0.00	2.55	0.00	0.000	6	0.000	0.054	2718	1693	1882
16831	1.23	250.7	94.3	8.3	803	16835	0.00	2.58	0.00	0.000	4	0.000	0.059	2718	3107	1882
16931	1.23	250.7	85.4	9.1	807	16938	0.00	2.55	0.00	0.000	6	0.000	0.054	2718	1690	1882
17248	1.23	250.7	58.8	8.6	823	17252	0.00	2.58	0.00	0.000	4	0.000	0.058	2719	3107	1883
17348	1.23	250.7	49.9	7.6	827	17354	0.00	2.53	0.00	0.000	6	0.000	0.054	2718	1699	1883
17665	1.23	250.7	23.2	8.8	843	17670	0.00	2.58	0.00	0.000	4	0.000	0.059	2718	3112	1883
17773	1.23	250.7	14.9	8.1	848	17778	0.00	2.58	0.00	0.000	6	0.000	0.055	2719	1691	1883
17933	end climb: SURFACE_DEPTH_REACHED
state	17933	begin surface coast
17955	end surface coast: CONTROL_FINISHED_OK
state	17955	begin surface