Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 38 * 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 38 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 10 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -143690.45 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 -143690.45

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 10 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 38 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 040306,6153.163,-912.186,36,0.9,36,-9.5 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.205,-0.075

_SM_DEPTHo 0.97 KALMAN_X -3060.2,-659.5,-594.2,19662.1,18597.1

_SM_ANGLEo -56.8 KALMAN_Y -60666.5,620.7,-5.4,137705.2,-5198.0

GPS2 040755,6153.173,-912.114,9,1.0,14,-9.5 MHEAD_RNG_PITCHd_Wd 259.5,39483,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.004806 ALTIM_BOTTOM_PING 575.1,34.2

SM_CCo 16467,20.88,0.729,0,0,1679,300.00 _24V_AH 23.4,15.393

SM_GC 0.90,0.00,0.00,20.88,0.000,0.000,0.729,48,2747,1679,-11.00,-0.08,300.00 _10V_AH 10.1,7.016

IRIDIUM_FIX 6126.23,-904.52,260598,000014 DATA_FILE_SIZE 41130,791

TT8_MAMPS 0.029146 CAP_FILE_SIZE 127732,0

HUMID 1774 CFSIZE 260165632,255500288

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

TCM_TEMP 17.10 GPS 010309,084500,6154.488,-914.110,39,1.6,44,-9.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 99.60 SBE_CT 559 24 314.04

Roll_motor 184 82 354.60 SBE_O2 581 19 258.35

VBD_pump_during_apogee 348 1102 9002.16 WL_BB2F 513 105 1260.68

VBD_pump_during_surface 20 729 356.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.39 nil 0 0 0.00

Iridium_during_connect 27 160 102.67 nil 0 0 0.00

Iridium_during_xfer 118 223 618.03

Transponder_ping 4 420 46.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.44

TT8 1504 19 300.96

LPSleep 12346 2 273.10

TT8_Active 496 19 99.28

TT8_Sampling 1956 39 786.67

TT8_CF8 475 45 220.16

TT8_Kalman 33 81 27.57

Analog_circuits 1493 12 181.00

GPS_charging 0 0 0.00

Compass 1914 8 154.71

RAFOS 0 0 0.00

Transponder 33 30 10.11

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 -1.10 -146.6 0.0 0.0 0 78 0.00 0.00 -60.67 0.000 2 0.000 0.000 46 2744 3204

81 -1.10 -146.6 4.0 -7.3 3 104 12.20 2.70 -4.93 0.000 4 0.161 0.081 2194 1337 3502

160 -1.10 -146.6 17.2 -8.3 6 165 0.00 2.65 0.00 0.000 6 0.000 0.065 2194 2756 3502

477 -1.10 -146.6 43.1 -8.4 21 478 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2756 3502

787 -1.10 -146.6 67.6 -7.0 36 792 0.00 2.65 0.00 0.000 4 0.000 0.068 2194 1331 3502

815 -1.10 -146.6 69.9 -7.3 37 820 0.00 2.65 0.00 0.000 6 0.000 0.064 2194 2758 3502

1132 -1.10 -146.6 93.9 -7.9 52 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2759 3502

1441 -1.10 -146.6 118.3 -7.6 67 1445 0.00 2.65 0.00 0.000 4 0.000 0.067 2194 1331 3502

1481 -1.10 -146.6 121.6 -8.4 69 1485 0.00 2.62 0.00 0.000 6 0.000 0.063 2194 2760 3502

1808 -1.10 -146.6 145.9 -7.3 85 1812 0.00 2.65 0.00 0.000 4 0.000 0.067 2194 1332 3502

1848 -1.10 -146.6 148.8 -7.6 87 1852 0.00 2.60 0.00 0.000 6 0.000 0.061 2194 2751 3502

2174 -1.10 -146.6 172.1 -7.0 103 2175 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2751 3502

2483 -1.10 -146.6 194.0 -7.1 118 2488 0.00 2.62 0.00 0.000 4 0.000 0.064 2194 1327 3502

2524 -1.10 -146.6 197.0 -7.7 120 2528 0.00 2.62 0.00 0.000 6 0.000 0.060 2194 2757 3502

2851 -1.10 -146.6 221.2 -7.8 136 2855 0.00 2.62 0.00 0.000 4 0.000 0.065 2194 1333 3502

2878 -1.10 -146.6 223.4 -7.1 137 2883 0.00 2.58 0.00 0.000 6 0.000 0.058 2194 2752 3502

3194 -1.10 -146.6 247.3 -7.6 152 3198 0.00 2.60 0.00 0.000 4 0.000 0.061 2194 1332 3502

3234 -1.10 -146.6 250.3 -7.5 154 3239 0.00 2.60 0.00 0.000 6 0.000 0.056 2194 2760 3502

3561 -1.10 -146.6 274.3 -7.2 170 3565 0.00 2.60 0.00 0.000 4 0.000 0.061 2194 1337 3502

3588 -1.10 -146.6 276.4 -7.3 171 3592 0.00 2.58 0.00 0.000 6 0.000 0.055 2194 2753 3502

3904 -1.10 -146.6 297.2 -6.6 186 3905 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2753 3502

4213 -1.10 -146.6 317.5 -6.5 201 4217 0.00 2.60 0.00 0.000 4 0.000 0.062 2193 1335 3502

4264 -1.10 -146.6 321.1 -6.6 203 4269 0.00 2.60 0.00 0.000 6 0.000 0.058 2194 2757 3502

4585 -1.10 -146.6 341.5 -5.9 219 4590 0.00 2.62 0.00 0.000 4 0.000 0.064 2194 1328 3502

4619 -1.10 -146.6 343.9 -6.9 220 4625 0.00 2.60 0.00 0.000 6 0.000 0.059 2194 2756 3502

4936 -1.10 -146.6 362.6 -5.9 236 4940 0.00 2.62 0.00 0.000 4 0.000 0.064 2194 1331 3502

4963 -1.10 -146.6 364.5 -6.4 237 4967 0.00 2.60 0.00 0.000 6 0.000 0.059 2194 2756 3502

5279 -1.10 -146.6 383.1 -5.8 252 5283 0.00 2.60 0.00 0.000 4 0.000 0.063 2194 1337 3502

5318 -1.10 -146.6 385.6 -6.2 254 5323 0.00 2.60 0.00 0.000 6 0.000 0.063 2194 2749 3502

5645 -1.10 -146.6 406.1 -6.3 270 5649 0.00 2.60 0.00 0.000 4 0.000 0.064 2194 1335 3502

5678 -1.10 -146.6 408.4 -6.6 271 5684 0.00 2.60 0.00 0.000 6 0.000 0.061 2194 2753 3502

5994 -1.10 -146.6 429.6 -7.1 287 5998 0.00 2.62 0.00 0.000 4 0.000 0.066 2194 1327 3502

6033 -1.10 -146.6 432.5 -7.1 289 6038 0.00 2.60 0.00 0.000 6 0.000 0.060 2194 2750 3502

6360 -1.10 -146.6 456.3 -7.2 305 6361 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2750 3502

6669 -1.10 -146.6 478.9 -7.6 320 6670 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2750 3502

6978 -1.10 -146.6 502.7 -7.3 335 6982 0.00 2.60 0.00 0.000 4 0.000 0.063 2194 1328 3502

7011 -1.10 -146.6 505.3 -7.9 336 7017 0.00 2.60 0.00 0.000 6 0.000 0.058 2194 2750 3502

7327 -1.10 -146.6 528.2 -6.7 352 7331 0.00 1.95 0.00 0.000 4 0.000 0.082 2194 3790 3502

7418 -1.10 -146.6 534.2 -6.6 356 7422 0.00 1.85 0.00 0.000 6 0.000 0.041 2194 2749 3502

7751 -1.10 -146.6 557.0 -5.5 372 7755 0.00 2.58 0.00 0.000 4 0.000 0.067 2194 1337 3501

7795 -1.10 -146.6 559.1 -5.0 374 7800 0.00 2.60 0.00 0.000 6 0.000 0.059 2194 2756 3501

8117 -1.10 -146.6 573.8 -4.1 390 8121 0.00 2.62 0.00 0.000 4 0.000 0.067 2194 1332 3501

8201 -1.10 -146.6 577.8 -6.1 394 8206 0.00 2.62 0.00 0.000 6 0.000 0.062 2194 2761 3501

8505 end dive: BOTTOM_OBSTACLE_DETECTED

state 8505 begin apogee

8514 -0.42 0.0 600.4 8.2 409 8640 0.77 0.00 122.38 1.103 6 0.095 0.000 2348 1704 2902

8641 end apogee: CONTROL_FINISHED_OK

state 8641 begin climb

8644 1.10 146.6 605.9 0.0 415 8770 1.55 0.00 120.80 1.053 6 0.057 0.000 2678 1704 2304

9078 1.10 146.6 599.2 6.0 436 9082 0.00 2.62 0.00 0.000 4 0.000 0.061 2678 3121 2303

9218 1.16 192.1 591.2 4.7 442 9263 0.00 2.60 38.80 1.083 6 0.000 0.050 2678 1689 2118

9580 1.16 192.1 566.1 8.0 460 9584 0.00 2.65 0.00 0.000 4 0.000 0.059 2678 3124 2117

9769 1.25 262.9 555.7 4.0 468 9838 0.15 2.62 58.33 1.092 6 0.041 0.058 2724 1702 1830

10148 1.25 262.9 529.8 7.6 487 10152 0.00 2.62 0.00 0.000 4 0.000 0.060 2724 3122 1830

10304 1.25 262.9 518.7 7.3 494 10309 0.00 2.62 0.00 0.000 6 0.000 0.057 2724 1694 1830

10626 1.25 262.9 492.4 7.7 510 10630 0.00 2.62 0.00 0.000 4 0.000 0.061 2724 3119 1829

10688 1.26 271.2 488.3 5.8 513 10703 0.00 2.60 8.50 0.976 6 0.000 0.054 2724 1695 1796

11020 1.26 271.2 464.4 7.2 529 11024 0.00 2.62 0.00 0.000 4 0.000 0.071 2724 290 1796

11109 1.26 271.2 457.5 8.3 533 11113 0.00 2.50 0.00 0.000 6 0.000 0.036 2724 1714 1796

11430 1.26 271.2 431.5 8.3 549 11434 0.00 2.55 0.00 0.000 4 0.000 0.061 2724 3110 1796

11514 1.26 271.2 424.3 8.5 553 11518 0.00 2.58 0.00 0.000 6 0.000 0.054 2724 1696 1796

11841 1.26 271.2 396.4 8.6 569 11845 0.00 2.60 0.00 0.000 4 0.000 0.059 2724 3114 1796

11935 1.26 271.2 387.9 9.5 573 11940 0.00 2.58 0.00 0.000 6 0.000 0.054 2724 1700 1796

12251 1.26 271.2 359.0 9.0 588 12255 0.00 2.58 0.00 0.000 4 0.000 0.059 2724 3110 1796

12336 1.26 271.2 351.4 9.6 592 12340 0.00 2.58 0.00 0.000 6 0.000 0.054 2724 1692 1796

12662 1.26 271.2 321.8 9.2 608 12666 0.00 2.60 0.00 0.000 4 0.000 0.060 2724 3110 1796

12792 1.26 271.2 310.0 9.7 614 12796 0.00 2.58 0.00 0.000 6 0.000 0.054 2724 1693 1797

13118 1.26 271.2 279.6 9.5 630 13122 0.00 2.60 0.00 0.000 4 0.000 0.060 2724 3112 1797

13207 1.26 271.2 271.0 9.2 634 13211 0.00 2.58 0.00 0.000 6 0.000 0.054 2724 1696 1797

13528 1.26 271.2 239.0 10.1 650 13532 0.00 2.58 0.00 0.000 4 0.000 0.059 2724 3103 1798

13628 1.26 271.2 228.8 10.4 654 13634 0.00 2.55 0.00 0.000 6 0.000 0.055 2724 1699 1798

13944 1.26 271.2 200.8 9.2 670 13948 0.00 2.58 0.00 0.000 4 0.000 0.058 2724 3110 1798

14033 1.26 271.2 192.2 8.8 674 14037 0.00 2.58 0.00 0.000 6 0.000 0.054 2724 1692 1798

14354 1.26 271.2 165.3 8.0 690 14358 0.00 2.60 0.00 0.000 4 0.000 0.060 2724 3110 1798

14466 1.26 271.2 156.4 8.0 695 14470 0.00 2.58 0.00 0.000 6 0.000 0.056 2724 1694 1799

14787 1.26 271.2 131.1 7.9 711 14792 0.00 2.58 0.00 0.000 4 0.000 0.059 2724 3103 1799

14900 1.26 271.2 121.6 8.6 716 14904 0.00 2.55 0.00 0.000 6 0.000 0.055 2724 1698 1799

15221 1.26 271.2 96.3 8.0 732 15225 0.00 2.58 0.00 0.000 4 0.000 0.060 2724 3107 1799

15321 1.26 271.2 87.9 8.6 736 15327 0.00 2.55 0.00 0.000 6 0.000 0.057 2724 1696 1799

15637 1.26 271.2 61.9 7.9 752 15642 0.00 2.60 0.00 0.000 4 0.000 0.061 2724 3114 1800

15723 1.26 271.2 55.4 7.8 756 15727 0.00 2.58 0.00 0.000 6 0.000 0.058 2724 1700 1800

16052 1.26 271.2 30.8 8.6 772 16056 0.00 2.58 0.00 0.000 4 0.000 0.062 2724 3106 1800

16163 1.26 271.2 21.0 7.8 777 16168 0.00 2.58 0.00 0.000 6 0.000 0.057 2724 1691 1800

16421 end climb: SURFACE_DEPTH_REACHED

state 16421 begin surface coast

16441 end surface coast: CONTROL_FINISHED_OK

state 16442 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	38	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	10	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-143690.45	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	040306,6153.163,-912.186,36,0.9,36,-9.5	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.205,-0.075
_SM_DEPTHo	0.97	KALMAN_X	-3060.2,-659.5,-594.2,19662.1,18597.1
_SM_ANGLEo	-56.8	KALMAN_Y	-60666.5,620.7,-5.4,137705.2,-5198.0
GPS2	040755,6153.173,-912.114,9,1.0,14,-9.5	MHEAD_RNG_PITCHd_Wd	259.5,39483,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.2,1.004806	ALTIM_BOTTOM_PING	575.1,34.2
SM_CCo	16467,20.88,0.729,0,0,1679,300.00	_24V_AH	23.4,15.393
SM_GC	0.90,0.00,0.00,20.88,0.000,0.000,0.729,48,2747,1679,-11.00,-0.08,300.00	_10V_AH	10.1,7.016
IRIDIUM_FIX	6126.23,-904.52,260598,000014	DATA_FILE_SIZE	41130,791
TT8_MAMPS	0.029146	CAP_FILE_SIZE	127732,0
HUMID	1774	CFSIZE	260165632,255500288
INTERNAL_PRESSURE	8.55502	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	010309,084500,6154.488,-914.110,39,1.6,44,-9.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	99.60	SBE_CT	559	24	314.04
Roll_motor	184	82	354.60	SBE_O2	581	19	258.35
VBD_pump_during_apogee	348	1102	9002.16	WL_BB2F	513	105	1260.68
VBD_pump_during_surface	20	729	356.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.39	nil	0	0	0.00
Iridium_during_connect	27	160	102.67	nil	0	0	0.00
Iridium_during_xfer	118	223	618.03
Transponder_ping	4	420	46.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.44
TT8	1504	19	300.96
LPSleep	12346	2	273.10
TT8_Active	496	19	99.28
TT8_Sampling	1956	39	786.67
TT8_CF8	475	45	220.16
TT8_Kalman	33	81	27.57
Analog_circuits	1493	12	181.00
GPS_charging	0	0	0.00
Compass	1914	8	154.71
RAFOS	0	0	0.00
Transponder	33	30	10.11

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	-1.10	-146.6	0.0	0.0	0	78	0.00	0.00	-60.67	0.000	2	0.000	0.000	46	2744	3204
81	-1.10	-146.6	4.0	-7.3	3	104	12.20	2.70	-4.93	0.000	4	0.161	0.081	2194	1337	3502
160	-1.10	-146.6	17.2	-8.3	6	165	0.00	2.65	0.00	0.000	6	0.000	0.065	2194	2756	3502
477	-1.10	-146.6	43.1	-8.4	21	478	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2756	3502
787	-1.10	-146.6	67.6	-7.0	36	792	0.00	2.65	0.00	0.000	4	0.000	0.068	2194	1331	3502
815	-1.10	-146.6	69.9	-7.3	37	820	0.00	2.65	0.00	0.000	6	0.000	0.064	2194	2758	3502
1132	-1.10	-146.6	93.9	-7.9	52	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2759	3502
1441	-1.10	-146.6	118.3	-7.6	67	1445	0.00	2.65	0.00	0.000	4	0.000	0.067	2194	1331	3502
1481	-1.10	-146.6	121.6	-8.4	69	1485	0.00	2.62	0.00	0.000	6	0.000	0.063	2194	2760	3502
1808	-1.10	-146.6	145.9	-7.3	85	1812	0.00	2.65	0.00	0.000	4	0.000	0.067	2194	1332	3502
1848	-1.10	-146.6	148.8	-7.6	87	1852	0.00	2.60	0.00	0.000	6	0.000	0.061	2194	2751	3502
2174	-1.10	-146.6	172.1	-7.0	103	2175	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2751	3502
2483	-1.10	-146.6	194.0	-7.1	118	2488	0.00	2.62	0.00	0.000	4	0.000	0.064	2194	1327	3502
2524	-1.10	-146.6	197.0	-7.7	120	2528	0.00	2.62	0.00	0.000	6	0.000	0.060	2194	2757	3502
2851	-1.10	-146.6	221.2	-7.8	136	2855	0.00	2.62	0.00	0.000	4	0.000	0.065	2194	1333	3502
2878	-1.10	-146.6	223.4	-7.1	137	2883	0.00	2.58	0.00	0.000	6	0.000	0.058	2194	2752	3502
3194	-1.10	-146.6	247.3	-7.6	152	3198	0.00	2.60	0.00	0.000	4	0.000	0.061	2194	1332	3502
3234	-1.10	-146.6	250.3	-7.5	154	3239	0.00	2.60	0.00	0.000	6	0.000	0.056	2194	2760	3502
3561	-1.10	-146.6	274.3	-7.2	170	3565	0.00	2.60	0.00	0.000	4	0.000	0.061	2194	1337	3502
3588	-1.10	-146.6	276.4	-7.3	171	3592	0.00	2.58	0.00	0.000	6	0.000	0.055	2194	2753	3502
3904	-1.10	-146.6	297.2	-6.6	186	3905	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2753	3502
4213	-1.10	-146.6	317.5	-6.5	201	4217	0.00	2.60	0.00	0.000	4	0.000	0.062	2193	1335	3502
4264	-1.10	-146.6	321.1	-6.6	203	4269	0.00	2.60	0.00	0.000	6	0.000	0.058	2194	2757	3502
4585	-1.10	-146.6	341.5	-5.9	219	4590	0.00	2.62	0.00	0.000	4	0.000	0.064	2194	1328	3502
4619	-1.10	-146.6	343.9	-6.9	220	4625	0.00	2.60	0.00	0.000	6	0.000	0.059	2194	2756	3502
4936	-1.10	-146.6	362.6	-5.9	236	4940	0.00	2.62	0.00	0.000	4	0.000	0.064	2194	1331	3502
4963	-1.10	-146.6	364.5	-6.4	237	4967	0.00	2.60	0.00	0.000	6	0.000	0.059	2194	2756	3502
5279	-1.10	-146.6	383.1	-5.8	252	5283	0.00	2.60	0.00	0.000	4	0.000	0.063	2194	1337	3502
5318	-1.10	-146.6	385.6	-6.2	254	5323	0.00	2.60	0.00	0.000	6	0.000	0.063	2194	2749	3502
5645	-1.10	-146.6	406.1	-6.3	270	5649	0.00	2.60	0.00	0.000	4	0.000	0.064	2194	1335	3502
5678	-1.10	-146.6	408.4	-6.6	271	5684	0.00	2.60	0.00	0.000	6	0.000	0.061	2194	2753	3502
5994	-1.10	-146.6	429.6	-7.1	287	5998	0.00	2.62	0.00	0.000	4	0.000	0.066	2194	1327	3502
6033	-1.10	-146.6	432.5	-7.1	289	6038	0.00	2.60	0.00	0.000	6	0.000	0.060	2194	2750	3502
6360	-1.10	-146.6	456.3	-7.2	305	6361	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2750	3502
6669	-1.10	-146.6	478.9	-7.6	320	6670	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2750	3502
6978	-1.10	-146.6	502.7	-7.3	335	6982	0.00	2.60	0.00	0.000	4	0.000	0.063	2194	1328	3502
7011	-1.10	-146.6	505.3	-7.9	336	7017	0.00	2.60	0.00	0.000	6	0.000	0.058	2194	2750	3502
7327	-1.10	-146.6	528.2	-6.7	352	7331	0.00	1.95	0.00	0.000	4	0.000	0.082	2194	3790	3502
7418	-1.10	-146.6	534.2	-6.6	356	7422	0.00	1.85	0.00	0.000	6	0.000	0.041	2194	2749	3502
7751	-1.10	-146.6	557.0	-5.5	372	7755	0.00	2.58	0.00	0.000	4	0.000	0.067	2194	1337	3501
7795	-1.10	-146.6	559.1	-5.0	374	7800	0.00	2.60	0.00	0.000	6	0.000	0.059	2194	2756	3501
8117	-1.10	-146.6	573.8	-4.1	390	8121	0.00	2.62	0.00	0.000	4	0.000	0.067	2194	1332	3501
8201	-1.10	-146.6	577.8	-6.1	394	8206	0.00	2.62	0.00	0.000	6	0.000	0.062	2194	2761	3501
8505	end dive: BOTTOM_OBSTACLE_DETECTED
state	8505	begin apogee
8514	-0.42	0.0	600.4	8.2	409	8640	0.77	0.00	122.38	1.103	6	0.095	0.000	2348	1704	2902
8641	end apogee: CONTROL_FINISHED_OK
state	8641	begin climb
8644	1.10	146.6	605.9	0.0	415	8770	1.55	0.00	120.80	1.053	6	0.057	0.000	2678	1704	2304
9078	1.10	146.6	599.2	6.0	436	9082	0.00	2.62	0.00	0.000	4	0.000	0.061	2678	3121	2303
9218	1.16	192.1	591.2	4.7	442	9263	0.00	2.60	38.80	1.083	6	0.000	0.050	2678	1689	2118
9580	1.16	192.1	566.1	8.0	460	9584	0.00	2.65	0.00	0.000	4	0.000	0.059	2678	3124	2117
9769	1.25	262.9	555.7	4.0	468	9838	0.15	2.62	58.33	1.092	6	0.041	0.058	2724	1702	1830
10148	1.25	262.9	529.8	7.6	487	10152	0.00	2.62	0.00	0.000	4	0.000	0.060	2724	3122	1830
10304	1.25	262.9	518.7	7.3	494	10309	0.00	2.62	0.00	0.000	6	0.000	0.057	2724	1694	1830
10626	1.25	262.9	492.4	7.7	510	10630	0.00	2.62	0.00	0.000	4	0.000	0.061	2724	3119	1829
10688	1.26	271.2	488.3	5.8	513	10703	0.00	2.60	8.50	0.976	6	0.000	0.054	2724	1695	1796
11020	1.26	271.2	464.4	7.2	529	11024	0.00	2.62	0.00	0.000	4	0.000	0.071	2724	290	1796
11109	1.26	271.2	457.5	8.3	533	11113	0.00	2.50	0.00	0.000	6	0.000	0.036	2724	1714	1796
11430	1.26	271.2	431.5	8.3	549	11434	0.00	2.55	0.00	0.000	4	0.000	0.061	2724	3110	1796
11514	1.26	271.2	424.3	8.5	553	11518	0.00	2.58	0.00	0.000	6	0.000	0.054	2724	1696	1796
11841	1.26	271.2	396.4	8.6	569	11845	0.00	2.60	0.00	0.000	4	0.000	0.059	2724	3114	1796
11935	1.26	271.2	387.9	9.5	573	11940	0.00	2.58	0.00	0.000	6	0.000	0.054	2724	1700	1796
12251	1.26	271.2	359.0	9.0	588	12255	0.00	2.58	0.00	0.000	4	0.000	0.059	2724	3110	1796
12336	1.26	271.2	351.4	9.6	592	12340	0.00	2.58	0.00	0.000	6	0.000	0.054	2724	1692	1796
12662	1.26	271.2	321.8	9.2	608	12666	0.00	2.60	0.00	0.000	4	0.000	0.060	2724	3110	1796
12792	1.26	271.2	310.0	9.7	614	12796	0.00	2.58	0.00	0.000	6	0.000	0.054	2724	1693	1797
13118	1.26	271.2	279.6	9.5	630	13122	0.00	2.60	0.00	0.000	4	0.000	0.060	2724	3112	1797
13207	1.26	271.2	271.0	9.2	634	13211	0.00	2.58	0.00	0.000	6	0.000	0.054	2724	1696	1797
13528	1.26	271.2	239.0	10.1	650	13532	0.00	2.58	0.00	0.000	4	0.000	0.059	2724	3103	1798
13628	1.26	271.2	228.8	10.4	654	13634	0.00	2.55	0.00	0.000	6	0.000	0.055	2724	1699	1798
13944	1.26	271.2	200.8	9.2	670	13948	0.00	2.58	0.00	0.000	4	0.000	0.058	2724	3110	1798
14033	1.26	271.2	192.2	8.8	674	14037	0.00	2.58	0.00	0.000	6	0.000	0.054	2724	1692	1798
14354	1.26	271.2	165.3	8.0	690	14358	0.00	2.60	0.00	0.000	4	0.000	0.060	2724	3110	1798
14466	1.26	271.2	156.4	8.0	695	14470	0.00	2.58	0.00	0.000	6	0.000	0.056	2724	1694	1799
14787	1.26	271.2	131.1	7.9	711	14792	0.00	2.58	0.00	0.000	4	0.000	0.059	2724	3103	1799
14900	1.26	271.2	121.6	8.6	716	14904	0.00	2.55	0.00	0.000	6	0.000	0.055	2724	1698	1799
15221	1.26	271.2	96.3	8.0	732	15225	0.00	2.58	0.00	0.000	4	0.000	0.060	2724	3107	1799
15321	1.26	271.2	87.9	8.6	736	15327	0.00	2.55	0.00	0.000	6	0.000	0.057	2724	1696	1799
15637	1.26	271.2	61.9	7.9	752	15642	0.00	2.60	0.00	0.000	4	0.000	0.061	2724	3114	1800
15723	1.26	271.2	55.4	7.8	756	15727	0.00	2.58	0.00	0.000	6	0.000	0.058	2724	1700	1800
16052	1.26	271.2	30.8	8.6	772	16056	0.00	2.58	0.00	0.000	4	0.000	0.062	2724	3106	1800
16163	1.26	271.2	21.0	7.8	777	16168	0.00	2.58	0.00	0.000	6	0.000	0.057	2724	1691	1800
16421	end climb: SURFACE_DEPTH_REACHED
state	16421	begin surface coast
16441	end surface coast: CONTROL_FINISHED_OK
state	16442	begin surface