Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 431 * 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 431 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 2000 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 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 -152159 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 0 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 -152159

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 0 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2750 MASS 52000 R_PORT_OVSHOOT 17 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 8 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 431 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 035506,6345.360,-803.856,24,1.5,25,-9.5 TGT_NAME P5

_CALLS 1 TGT_LATLONG 6430.000,-600.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.123,0.210

_SM_DEPTHo 0.68 KALMAN_X -20366.6,202.8,-481.7,138722.8,872.0

_SM_ANGLEo -64.1 KALMAN_Y -48339.7,384.9,-21.6,162188.4,-2108.4

GPS2 040101,6345.361,-803.845,11,1.4,11,-9.5 MHEAD_RNG_PITCHd_Wd 39.9,128782,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.4,1.014011 XPDR_PINGS 75

SM_CCo 21906,0.00,0.000,0,0,1720,289.94 _24V_AH 22.5,68.756

SM_GC 0.51,12.30,0.00,0.00,0.038,0.000,0.000,50,2748,1720,-10.93,-0.06,289.94 _10V_AH 10.0,38.589

IRIDIUM_FIX 6322.64,-807.81,140898,212107 DATA_FILE_SIZE 53788,1056

TT8_MAMPS 0.028379 CAP_FILE_SIZE 134837,0

HUMID 1874 CFSIZE 260165632,232607744

INTERNAL_PRESSURE 8.43782 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 15.10 GPS 210509,100807,6349.009,-757.325,29,1.0,30,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 165 102.70 SBE_CT 789 24 426.48

Roll_motor 124 102 287.16 SBE_O2 742 19 317.39

VBD_pump_during_apogee 398 1422 12746.17 WL_BB2F 547 105 1294.37

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 25 103 59.61 nil 0 0 0.00

Iridium_during_connect 26 160 94.10 nil 0 0 0.00

Iridium_during_xfer 163 223 821.47

Transponder_ping 27 420 257.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.97

TT8 1844 19 365.15

LPSleep 17252 2 377.83

TT8_Active 496 19 98.23

TT8_Sampling 2077 39 826.94

TT8_CF8 583 45 267.15

TT8_Kalman 33 81 27.29

Analog_circuits 1525 12 183.10

GPS_charging 0 0 0.00

Compass 2034 8 162.73

RAFOS 0 0 0.00

Transponder 59 30 17.78

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 -41.05 0.000 2 0.000 0.000 47 2754 3146

63 -1.42 -146.6 3.3 -11.1 2 83 12.10 0.00 -6.18 0.000 6 0.166 0.000 2128 2754 3503

390 -1.42 -146.6 46.3 -11.4 18 394 0.00 2.67 0.00 0.000 4 0.000 0.071 2127 1338 3503

430 -1.42 -146.6 51.2 -11.5 20 434 0.00 2.72 0.00 0.000 6 0.000 0.076 2127 2758 3503

757 -1.42 -146.6 90.0 -12.2 36 758 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2758 3504

1066 -1.42 -146.6 126.3 -11.5 51 1071 0.00 2.70 0.00 0.000 4 0.000 0.071 2127 1330 3505

1111 -1.42 -146.6 131.6 -11.5 53 1116 0.00 2.72 0.00 0.000 6 0.000 0.074 2127 2754 3505

1432 -1.42 -146.6 168.2 -11.2 69 1436 0.00 2.03 0.00 0.000 4 0.000 0.101 2127 3783 3505

1506 -1.42 -146.6 176.8 -12.2 72 1509 0.00 1.90 0.00 0.000 6 0.000 0.060 2127 2751 3505

1833 -1.42 -146.6 214.3 -11.5 88 1834 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2751 3505

2142 -1.42 -146.6 248.0 -10.5 103 2147 0.00 2.67 0.00 0.000 4 0.000 0.075 2127 1332 3505

2210 -1.42 -146.6 255.2 -10.7 106 2214 0.00 2.75 0.00 0.000 6 0.000 0.079 2127 2758 3505

2531 -1.42 -146.6 287.1 -9.7 122 2532 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2760 3505

2840 -1.42 -146.6 317.1 -9.7 137 2841 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2760 3505

3150 -1.42 -146.6 346.8 -9.7 152 3154 0.00 2.72 0.00 0.000 4 0.000 0.074 2127 1329 3504

3194 -1.42 -146.6 351.2 -9.4 154 3199 0.00 2.78 0.00 0.000 6 0.000 0.084 2127 2756 3504

3515 -1.42 -146.6 381.8 -9.5 170 3516 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2756 3503

3824 -1.42 -146.6 411.8 -9.8 185 3825 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2756 3503

4133 -1.42 -146.6 442.9 -10.2 200 4138 0.00 2.72 0.00 0.000 4 0.000 0.077 2127 1329 3502

4178 -1.42 -146.6 447.5 -10.9 202 4182 0.00 2.78 0.00 0.000 6 0.000 0.084 2127 2756 3502

4499 -1.42 -146.6 480.5 -10.5 218 4500 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2756 3502

4808 -1.42 -146.6 513.4 -10.5 233 4809 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2756 3501

5118 -1.42 -146.6 545.5 -10.0 248 5122 0.00 2.70 0.00 0.000 4 0.000 0.073 2127 1332 3500

5146 -1.42 -146.6 548.4 -10.2 249 5151 0.00 2.75 0.00 0.000 6 0.000 0.083 2127 2746 3500

5462 -1.42 -146.6 580.3 -10.5 264 5464 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2747 3500

5772 -1.42 -146.6 611.3 -9.8 279 5773 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2746 3499

6081 -1.42 -146.6 641.4 -9.7 294 6082 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2747 3499

6390 -1.42 -146.6 671.6 -9.8 309 6392 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2747 3498

6701 -1.42 -146.6 701.8 -9.9 324 6702 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2747 3498

7009 -1.42 -146.6 731.8 -9.7 339 7010 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2746 3497

7318 -1.42 -146.6 761.6 -9.4 354 7319 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2747 3497

7628 -1.42 -146.6 791.6 -9.7 369 7632 0.00 2.67 0.00 0.000 4 0.000 0.075 2127 1339 3497

7661 -1.42 -146.6 794.8 -9.5 370 7668 0.00 2.72 0.00 0.000 6 0.000 0.080 2127 2757 3497

7977 -1.42 -146.6 824.7 -9.5 386 7979 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2757 3497

8287 -1.42 -146.6 854.6 -9.7 401 8288 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2757 3497

8596 -1.42 -146.6 884.2 -9.5 416 8597 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2757 3497

8905 -1.42 -146.6 913.9 -9.7 431 8910 0.00 2.70 0.00 0.000 4 0.000 0.075 2127 1339 3496

8939 -1.42 -146.6 917.2 -9.6 432 8945 0.00 2.75 0.00 0.000 6 0.000 0.082 2127 2754 3496

9255 -1.42 -146.6 947.3 -9.6 448 9256 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2754 3496

9565 -1.42 -146.6 976.1 -9.4 463 9566 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2754 3496

9726 end dive: TARGET_DEPTH_EXCEEDED

state 9726 begin apogee

9736 -0.42 0.0 991.9 9.4 471 9874 1.10 0.00 134.23 1.422 6 0.094 0.000 2345 1997 2902

9874 end apogee: CONTROL_FINISHED_OK

state 9874 begin climb

9878 1.42 146.6 999.2 0.0 478 10023 1.92 2.83 132.10 1.381 4 0.060 0.071 2749 581 2305

10278 1.52 225.7 990.2 5.1 496 10357 0.00 2.60 72.25 1.364 6 0.000 0.044 2749 2029 1981

10667 1.55 253.4 964.8 7.0 515 10696 0.12 0.00 26.58 1.326 6 0.049 0.000 2786 2029 1868

10996 1.55 253.4 936.0 8.7 531 10997 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2029 1867

11305 1.55 253.4 909.3 8.5 546 11309 0.00 2.75 0.00 0.000 4 0.000 0.071 2786 577 1867

11345 1.55 253.4 905.6 9.3 548 11350 0.00 2.55 0.00 0.000 6 0.000 0.045 2785 1994 1866

11672 1.55 253.4 877.6 8.5 564 11676 0.00 2.67 0.00 0.000 4 0.000 0.074 2785 3407 1867

11705 1.55 253.4 874.6 8.1 565 11711 0.00 2.58 0.00 0.000 6 0.000 0.051 2786 1990 1867

12021 1.55 253.4 847.2 8.7 581 12022 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1989 1867

12330 1.55 253.4 820.0 8.8 596 12331 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1989 1866

12639 1.55 253.4 793.0 8.7 611 12641 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1989 1866

12949 1.55 253.4 766.5 8.4 626 12953 0.00 2.70 0.00 0.000 4 0.000 0.073 2786 3404 1866

12976 1.55 253.4 764.0 8.9 627 12981 0.00 2.58 0.00 0.000 6 0.000 0.051 2786 1993 1866

13292 1.55 253.4 736.9 8.6 642 13293 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1993 1866

13601 1.55 253.4 710.1 8.7 657 13603 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1993 1866

13911 1.55 253.4 683.3 8.9 672 13912 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1993 1866

14220 1.55 253.4 656.0 8.6 687 14221 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1993 1865

14529 1.55 253.4 629.9 8.2 702 14530 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1992 1866

14839 1.55 253.4 604.4 8.3 717 14840 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1993 1866

15148 1.55 253.4 578.2 8.5 732 15149 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1993 1866

15457 1.55 253.4 551.3 8.9 747 15461 0.00 2.70 0.00 0.000 4 0.000 0.075 2786 3409 1866

15490 1.55 253.4 548.2 8.4 748 15497 0.00 2.58 0.00 0.000 6 0.000 0.052 2786 1998 1866

15806 1.55 253.4 521.5 8.4 764 15807 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1998 1866

16116 1.55 253.4 496.1 8.2 779 16117 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 1998 1866

16425 1.55 253.4 470.9 8.2 794 16430 0.00 2.65 0.00 0.000 4 0.000 0.073 2786 585 1866

16466 1.55 253.4 467.4 8.6 796 16470 0.00 2.55 0.00 0.000 6 0.000 0.046 2786 1998 1867

16793 1.55 253.4 439.9 8.3 812 16797 0.00 2.67 0.00 0.000 4 0.000 0.077 2786 3408 1866

16837 1.55 253.4 436.0 8.3 814 16842 0.00 2.60 0.00 0.000 6 0.000 0.054 2786 1990 1867

17158 1.55 253.4 409.1 8.4 830 17162 0.00 2.62 0.00 0.000 4 0.000 0.073 2786 591 1867

17225 1.55 253.4 402.9 10.6 833 17229 0.00 2.55 0.00 0.000 6 0.000 0.048 2786 2002 1866

17546 1.55 253.4 376.1 8.1 849 17551 0.00 2.65 0.00 0.000 4 0.000 0.071 2786 593 1866

17596 1.55 253.4 371.7 8.4 851 17600 0.00 2.55 0.00 0.000 6 0.000 0.048 2786 2004 1866

17912 1.55 253.4 346.0 8.5 866 17917 0.00 2.67 0.00 0.000 4 0.000 0.078 2786 3408 1866

17975 1.55 253.4 340.4 8.8 869 17979 0.00 2.60 0.00 0.000 6 0.000 0.057 2786 1991 1866

18302 1.55 253.4 313.7 8.4 885 18303 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1991 1866

18611 1.55 253.4 287.7 8.4 900 18612 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1991 1866

18921 1.55 253.4 261.9 8.3 915 18922 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1991 1866

19229 1.55 253.4 236.2 8.0 930 19234 0.00 2.72 0.00 0.000 4 0.000 0.078 2786 3414 1867

19274 1.55 253.4 232.4 9.4 932 19278 0.00 2.62 0.00 0.000 6 0.000 0.058 2786 1995 1867

19595 1.57 266.7 208.8 7.5 948 19613 0.00 0.00 12.43 0.907 6 0.000 0.000 2786 1995 1814

19924 1.57 266.7 181.1 8.8 964 19925 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1995 1814

20233 1.57 266.7 151.7 9.9 979 20237 0.00 2.65 0.00 0.000 4 0.000 0.074 2786 585 1814

20355 1.57 266.7 139.4 11.0 984 20362 0.00 2.55 0.00 0.000 6 0.000 0.049 2786 2002 1814

20672 1.57 266.7 111.1 8.1 1000 20676 0.00 2.67 0.00 0.000 4 0.000 0.077 2786 3410 1814

20738 1.60 290.0 105.9 7.1 1003 20765 0.00 2.62 20.80 0.852 6 0.000 0.058 2786 1990 1719

21082 1.60 290.0 75.2 10.2 1020 21086 0.00 2.62 0.00 0.000 4 0.000 0.071 2786 590 1720

21171 1.60 290.0 64.9 11.5 1024 21175 0.00 2.55 0.00 0.000 6 0.000 0.048 2786 1997 1720

21493 1.60 290.0 30.4 10.2 1040 21494 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1997 1720

21798 end climb: SURFACE_DEPTH_REACHED

state 21798 begin surface coast

21820 end surface coast: CONTROL_FINISHED_OK

state 21820 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	431	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	2000	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	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	-152159	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	0	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	035506,6345.360,-803.856,24,1.5,25,-9.5	TGT_NAME	P5
_CALLS	1	TGT_LATLONG	6430.000,-600.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.123,0.210
_SM_DEPTHo	0.68	KALMAN_X	-20366.6,202.8,-481.7,138722.8,872.0
_SM_ANGLEo	-64.1	KALMAN_Y	-48339.7,384.9,-21.6,162188.4,-2108.4
GPS2	040101,6345.361,-803.845,11,1.4,11,-9.5	MHEAD_RNG_PITCHd_Wd	39.9,128782,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	-0.4,1.014011	XPDR_PINGS	75
SM_CCo	21906,0.00,0.000,0,0,1720,289.94	_24V_AH	22.5,68.756
SM_GC	0.51,12.30,0.00,0.00,0.038,0.000,0.000,50,2748,1720,-10.93,-0.06,289.94	_10V_AH	10.0,38.589
IRIDIUM_FIX	6322.64,-807.81,140898,212107	DATA_FILE_SIZE	53788,1056
TT8_MAMPS	0.028379	CAP_FILE_SIZE	134837,0
HUMID	1874	CFSIZE	260165632,232607744
INTERNAL_PRESSURE	8.43782	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	15.10	GPS	210509,100807,6349.009,-757.325,29,1.0,30,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	165	102.70	SBE_CT	789	24	426.48
Roll_motor	124	102	287.16	SBE_O2	742	19	317.39
VBD_pump_during_apogee	398	1422	12746.17	WL_BB2F	547	105	1294.37
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	25	103	59.61	nil	0	0	0.00
Iridium_during_connect	26	160	94.10	nil	0	0	0.00
Iridium_during_xfer	163	223	821.47
Transponder_ping	27	420	257.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.97
TT8	1844	19	365.15
LPSleep	17252	2	377.83
TT8_Active	496	19	98.23
TT8_Sampling	2077	39	826.94
TT8_CF8	583	45	267.15
TT8_Kalman	33	81	27.29
Analog_circuits	1525	12	183.10
GPS_charging	0	0	0.00
Compass	2034	8	162.73
RAFOS	0	0	0.00
Transponder	59	30	17.78

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	-41.05	0.000	2	0.000	0.000	47	2754	3146
63	-1.42	-146.6	3.3	-11.1	2	83	12.10	0.00	-6.18	0.000	6	0.166	0.000	2128	2754	3503
390	-1.42	-146.6	46.3	-11.4	18	394	0.00	2.67	0.00	0.000	4	0.000	0.071	2127	1338	3503
430	-1.42	-146.6	51.2	-11.5	20	434	0.00	2.72	0.00	0.000	6	0.000	0.076	2127	2758	3503
757	-1.42	-146.6	90.0	-12.2	36	758	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2758	3504
1066	-1.42	-146.6	126.3	-11.5	51	1071	0.00	2.70	0.00	0.000	4	0.000	0.071	2127	1330	3505
1111	-1.42	-146.6	131.6	-11.5	53	1116	0.00	2.72	0.00	0.000	6	0.000	0.074	2127	2754	3505
1432	-1.42	-146.6	168.2	-11.2	69	1436	0.00	2.03	0.00	0.000	4	0.000	0.101	2127	3783	3505
1506	-1.42	-146.6	176.8	-12.2	72	1509	0.00	1.90	0.00	0.000	6	0.000	0.060	2127	2751	3505
1833	-1.42	-146.6	214.3	-11.5	88	1834	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2751	3505
2142	-1.42	-146.6	248.0	-10.5	103	2147	0.00	2.67	0.00	0.000	4	0.000	0.075	2127	1332	3505
2210	-1.42	-146.6	255.2	-10.7	106	2214	0.00	2.75	0.00	0.000	6	0.000	0.079	2127	2758	3505
2531	-1.42	-146.6	287.1	-9.7	122	2532	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2760	3505
2840	-1.42	-146.6	317.1	-9.7	137	2841	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2760	3505
3150	-1.42	-146.6	346.8	-9.7	152	3154	0.00	2.72	0.00	0.000	4	0.000	0.074	2127	1329	3504
3194	-1.42	-146.6	351.2	-9.4	154	3199	0.00	2.78	0.00	0.000	6	0.000	0.084	2127	2756	3504
3515	-1.42	-146.6	381.8	-9.5	170	3516	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2756	3503
3824	-1.42	-146.6	411.8	-9.8	185	3825	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2756	3503
4133	-1.42	-146.6	442.9	-10.2	200	4138	0.00	2.72	0.00	0.000	4	0.000	0.077	2127	1329	3502
4178	-1.42	-146.6	447.5	-10.9	202	4182	0.00	2.78	0.00	0.000	6	0.000	0.084	2127	2756	3502
4499	-1.42	-146.6	480.5	-10.5	218	4500	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2756	3502
4808	-1.42	-146.6	513.4	-10.5	233	4809	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2756	3501
5118	-1.42	-146.6	545.5	-10.0	248	5122	0.00	2.70	0.00	0.000	4	0.000	0.073	2127	1332	3500
5146	-1.42	-146.6	548.4	-10.2	249	5151	0.00	2.75	0.00	0.000	6	0.000	0.083	2127	2746	3500
5462	-1.42	-146.6	580.3	-10.5	264	5464	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2747	3500
5772	-1.42	-146.6	611.3	-9.8	279	5773	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2746	3499
6081	-1.42	-146.6	641.4	-9.7	294	6082	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2747	3499
6390	-1.42	-146.6	671.6	-9.8	309	6392	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2747	3498
6701	-1.42	-146.6	701.8	-9.9	324	6702	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2747	3498
7009	-1.42	-146.6	731.8	-9.7	339	7010	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2746	3497
7318	-1.42	-146.6	761.6	-9.4	354	7319	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2747	3497
7628	-1.42	-146.6	791.6	-9.7	369	7632	0.00	2.67	0.00	0.000	4	0.000	0.075	2127	1339	3497
7661	-1.42	-146.6	794.8	-9.5	370	7668	0.00	2.72	0.00	0.000	6	0.000	0.080	2127	2757	3497
7977	-1.42	-146.6	824.7	-9.5	386	7979	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2757	3497
8287	-1.42	-146.6	854.6	-9.7	401	8288	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2757	3497
8596	-1.42	-146.6	884.2	-9.5	416	8597	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2757	3497
8905	-1.42	-146.6	913.9	-9.7	431	8910	0.00	2.70	0.00	0.000	4	0.000	0.075	2127	1339	3496
8939	-1.42	-146.6	917.2	-9.6	432	8945	0.00	2.75	0.00	0.000	6	0.000	0.082	2127	2754	3496
9255	-1.42	-146.6	947.3	-9.6	448	9256	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2754	3496
9565	-1.42	-146.6	976.1	-9.4	463	9566	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2754	3496
9726	end dive: TARGET_DEPTH_EXCEEDED
state	9726	begin apogee
9736	-0.42	0.0	991.9	9.4	471	9874	1.10	0.00	134.23	1.422	6	0.094	0.000	2345	1997	2902
9874	end apogee: CONTROL_FINISHED_OK
state	9874	begin climb
9878	1.42	146.6	999.2	0.0	478	10023	1.92	2.83	132.10	1.381	4	0.060	0.071	2749	581	2305
10278	1.52	225.7	990.2	5.1	496	10357	0.00	2.60	72.25	1.364	6	0.000	0.044	2749	2029	1981
10667	1.55	253.4	964.8	7.0	515	10696	0.12	0.00	26.58	1.326	6	0.049	0.000	2786	2029	1868
10996	1.55	253.4	936.0	8.7	531	10997	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2029	1867
11305	1.55	253.4	909.3	8.5	546	11309	0.00	2.75	0.00	0.000	4	0.000	0.071	2786	577	1867
11345	1.55	253.4	905.6	9.3	548	11350	0.00	2.55	0.00	0.000	6	0.000	0.045	2785	1994	1866
11672	1.55	253.4	877.6	8.5	564	11676	0.00	2.67	0.00	0.000	4	0.000	0.074	2785	3407	1867
11705	1.55	253.4	874.6	8.1	565	11711	0.00	2.58	0.00	0.000	6	0.000	0.051	2786	1990	1867
12021	1.55	253.4	847.2	8.7	581	12022	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1989	1867
12330	1.55	253.4	820.0	8.8	596	12331	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1989	1866
12639	1.55	253.4	793.0	8.7	611	12641	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1989	1866
12949	1.55	253.4	766.5	8.4	626	12953	0.00	2.70	0.00	0.000	4	0.000	0.073	2786	3404	1866
12976	1.55	253.4	764.0	8.9	627	12981	0.00	2.58	0.00	0.000	6	0.000	0.051	2786	1993	1866
13292	1.55	253.4	736.9	8.6	642	13293	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1993	1866
13601	1.55	253.4	710.1	8.7	657	13603	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1993	1866
13911	1.55	253.4	683.3	8.9	672	13912	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1993	1866
14220	1.55	253.4	656.0	8.6	687	14221	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1993	1865
14529	1.55	253.4	629.9	8.2	702	14530	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1992	1866
14839	1.55	253.4	604.4	8.3	717	14840	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1993	1866
15148	1.55	253.4	578.2	8.5	732	15149	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1993	1866
15457	1.55	253.4	551.3	8.9	747	15461	0.00	2.70	0.00	0.000	4	0.000	0.075	2786	3409	1866
15490	1.55	253.4	548.2	8.4	748	15497	0.00	2.58	0.00	0.000	6	0.000	0.052	2786	1998	1866
15806	1.55	253.4	521.5	8.4	764	15807	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1998	1866
16116	1.55	253.4	496.1	8.2	779	16117	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	1998	1866
16425	1.55	253.4	470.9	8.2	794	16430	0.00	2.65	0.00	0.000	4	0.000	0.073	2786	585	1866
16466	1.55	253.4	467.4	8.6	796	16470	0.00	2.55	0.00	0.000	6	0.000	0.046	2786	1998	1867
16793	1.55	253.4	439.9	8.3	812	16797	0.00	2.67	0.00	0.000	4	0.000	0.077	2786	3408	1866
16837	1.55	253.4	436.0	8.3	814	16842	0.00	2.60	0.00	0.000	6	0.000	0.054	2786	1990	1867
17158	1.55	253.4	409.1	8.4	830	17162	0.00	2.62	0.00	0.000	4	0.000	0.073	2786	591	1867
17225	1.55	253.4	402.9	10.6	833	17229	0.00	2.55	0.00	0.000	6	0.000	0.048	2786	2002	1866
17546	1.55	253.4	376.1	8.1	849	17551	0.00	2.65	0.00	0.000	4	0.000	0.071	2786	593	1866
17596	1.55	253.4	371.7	8.4	851	17600	0.00	2.55	0.00	0.000	6	0.000	0.048	2786	2004	1866
17912	1.55	253.4	346.0	8.5	866	17917	0.00	2.67	0.00	0.000	4	0.000	0.078	2786	3408	1866
17975	1.55	253.4	340.4	8.8	869	17979	0.00	2.60	0.00	0.000	6	0.000	0.057	2786	1991	1866
18302	1.55	253.4	313.7	8.4	885	18303	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1991	1866
18611	1.55	253.4	287.7	8.4	900	18612	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1991	1866
18921	1.55	253.4	261.9	8.3	915	18922	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1991	1866
19229	1.55	253.4	236.2	8.0	930	19234	0.00	2.72	0.00	0.000	4	0.000	0.078	2786	3414	1867
19274	1.55	253.4	232.4	9.4	932	19278	0.00	2.62	0.00	0.000	6	0.000	0.058	2786	1995	1867
19595	1.57	266.7	208.8	7.5	948	19613	0.00	0.00	12.43	0.907	6	0.000	0.000	2786	1995	1814
19924	1.57	266.7	181.1	8.8	964	19925	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1995	1814
20233	1.57	266.7	151.7	9.9	979	20237	0.00	2.65	0.00	0.000	4	0.000	0.074	2786	585	1814
20355	1.57	266.7	139.4	11.0	984	20362	0.00	2.55	0.00	0.000	6	0.000	0.049	2786	2002	1814
20672	1.57	266.7	111.1	8.1	1000	20676	0.00	2.67	0.00	0.000	4	0.000	0.077	2786	3410	1814
20738	1.60	290.0	105.9	7.1	1003	20765	0.00	2.62	20.80	0.852	6	0.000	0.058	2786	1990	1719
21082	1.60	290.0	75.2	10.2	1020	21086	0.00	2.62	0.00	0.000	4	0.000	0.071	2786	590	1720
21171	1.60	290.0	64.9	11.5	1024	21175	0.00	2.55	0.00	0.000	6	0.000	0.048	2786	1997	1720
21493	1.60	290.0	30.4	10.2	1040	21494	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1997	1720
21798	end climb: SURFACE_DEPTH_REACHED
state	21798	begin surface coast
21820	end surface coast: CONTROL_FINISHED_OK
state	21820	begin surface