Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 446 * 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 446 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 63 C_ROLL_DIVE 2750 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6 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 200 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 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 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 -152374.61 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 200

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 63

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6

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 -152374.61

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 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 446 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 015606,6409.214,-655.111,33,1.3,34,-9.0 TGT_NAME P5

_CALLS 3 TGT_LATLONG 6430.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.032,0.241

_SM_DEPTHo 0.63 KALMAN_X -14402.7,-128.7,32.1,190941.3,1015.5

_SM_ANGLEo -61.0 KALMAN_Y -71194.0,-163.2,712.0,228913.4,-5751.3

GPS2 020856,6409.146,-655.079,17,2.0,17,-9.0 MHEAD_RNG_PITCHd_Wd 1.5,55550,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.4,1.027589 XPDR_PINGS 77

SM_CCo 22155,0.00,0.000,0,0,1732,287.00 _24V_AH 22.5,71.292

SM_GC 0.76,12.18,0.00,0.00,0.033,0.000,0.000,49,2742,1732,-10.93,-0.23,287.00 _10V_AH 10.0,40.001

IRIDIUM_FIX 6346.88,-655.86,190898,020239 DATA_FILE_SIZE 53734,1060

TT8_MAMPS 0.029146 CAP_FILE_SIZE 141891,0

HUMID 1837 CFSIZE 260165632,231604224

INTERNAL_PRESSURE 8.39876 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.40 GPS 250509,082024,6411.170,-655.902,25,0.9,43,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 165 101.67 SBE_CT 795 24 429.74

Roll_motor 122 98 273.32 SBE_O2 747 19 319.46

VBD_pump_during_apogee 401 1427 12886.63 WL_BB2F 562 105 1329.99

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 86 103 201.14 nil 0 0 0.00

Iridium_during_connect 96 160 347.15 nil 0 0 0.00

Iridium_during_xfer 307 223 1542.75

Transponder_ping 27 420 262.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.49

TT8 1859 19 368.11

LPSleep 17565 2 384.68

TT8_Active 499 19 98.90

TT8_Sampling 2101 39 836.23

TT8_CF8 891 45 408.42

TT8_Kalman 33 81 27.30

Analog_circuits 1540 12 184.88

GPS_charging 0 0 0.00

Compass 2056 8 164.55

RAFOS 0 0 0.00

Transponder 59 30 17.73

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

16 -1.42 -146.6 0.0 0.0 0 73 0.00 0.00 -52.30 0.000 6 0.000 0.000 51 2753 3501

76 -1.42 -146.6 6.8 -11.7 3 98 11.95 2.70 0.00 0.000 4 0.166 0.064 2123 1333 3501

352 -1.42 -146.6 48.5 -11.1 15 356 0.00 2.70 0.00 0.000 6 0.000 0.071 2123 2754 3500

673 -1.42 -146.6 83.7 -11.3 31 677 0.00 2.65 0.00 0.000 4 0.000 0.064 2123 1333 3501

700 -1.42 -146.6 87.1 -11.6 32 705 0.00 2.70 0.00 0.000 6 0.000 0.070 2123 2757 3501

1018 -1.42 -146.6 121.6 -10.5 47 1023 0.00 2.65 0.00 0.000 4 0.000 0.064 2123 1328 3501

1052 -1.42 -146.6 125.4 -10.5 48 1059 0.00 2.70 0.00 0.000 6 0.000 0.074 2123 2748 3501

1368 -1.42 -146.6 158.0 -10.3 64 1369 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2748 3501

1677 -1.42 -146.6 190.1 -10.7 79 1678 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2748 3501

1987 -1.42 -146.6 219.9 -9.4 94 1991 0.00 2.62 0.00 0.000 4 0.000 0.068 2123 1338 3501

2009 -1.42 -146.6 222.0 -8.8 95 2013 0.00 2.72 0.00 0.000 6 0.000 0.077 2123 2762 3501

2330 -1.42 -146.6 252.4 -9.4 111 2331 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2762 3501

2640 -1.42 -146.6 281.5 -9.2 126 2641 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2762 3502

2949 -1.42 -146.6 310.2 -9.6 141 2950 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2762 3502

3258 -1.42 -146.6 341.2 -10.2 156 3262 0.00 2.72 0.00 0.000 4 0.000 0.075 2123 1331 3501

3291 -1.42 -146.6 344.9 -10.8 157 3298 0.00 2.75 0.00 0.000 6 0.000 0.081 2123 2751 3501

3607 -1.42 -146.6 378.4 -10.8 173 3611 0.00 2.05 0.00 0.000 4 0.000 0.099 2123 3792 3501

3653 -1.42 -146.6 383.3 -10.4 175 3657 0.00 1.92 0.00 0.000 6 0.000 0.056 2123 2742 3501

3987 -1.42 -146.6 418.9 -10.6 191 3988 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2742 3500

4296 -1.42 -146.6 452.0 -10.5 206 4298 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2742 3500

4605 -1.42 -146.6 485.3 -10.9 221 4606 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2742 3499

4915 -1.42 -146.6 516.6 -9.8 236 4916 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2742 3499

5223 -1.42 -146.6 546.3 -9.6 251 5225 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2741 3498

5534 -1.42 -146.6 575.6 -9.6 266 5535 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2742 3498

5843 -1.42 -146.6 605.5 -9.8 281 5844 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2741 3497

6151 -1.42 -146.6 634.8 -9.5 296 6156 0.00 2.65 0.00 0.000 4 0.000 0.073 2123 1330 3497

6179 -1.42 -146.6 637.6 -9.9 297 6184 0.00 2.75 0.00 0.000 6 0.000 0.077 2123 2758 3496

6496 -1.42 -146.6 668.4 -10.0 312 6497 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2758 3496

6804 -1.42 -146.6 698.5 -9.7 327 6806 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2758 3496

7114 -1.42 -146.6 728.6 -9.7 342 7115 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2758 3496

7423 -1.42 -146.6 758.9 -9.7 357 7425 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2758 3495

7732 -1.42 -146.6 788.2 -9.3 372 7737 0.00 2.67 0.00 0.000 4 0.000 0.071 2123 1332 3495

7760 -1.42 -146.6 791.0 -9.5 373 7765 0.00 2.72 0.00 0.000 6 0.000 0.077 2123 2751 3495

8076 -1.42 -146.6 820.1 -9.3 388 8078 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2751 3495

8385 -1.42 -146.6 852.4 -10.7 403 8386 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2751 3495

8695 -1.42 -146.6 885.1 -10.4 418 8696 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2751 3495

9004 -1.42 -146.6 915.7 -9.9 433 9009 0.00 2.65 0.00 0.000 4 0.000 0.071 2123 1337 3494

9038 -1.42 -146.6 919.3 -9.7 434 9044 0.00 2.72 0.00 0.000 6 0.000 0.077 2123 2758 3495

9355 -1.42 -146.6 950.6 -10.0 450 9356 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2758 3494

9664 -1.42 -146.6 980.4 -9.5 465 9665 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2758 3494

9784 end dive: TARGET_DEPTH_EXCEEDED

state 9784 begin apogee

9793 -0.42 0.0 991.6 9.0 471 9930 1.15 0.00 133.25 1.427 6 0.104 0.000 2347 1990 2902

9931 end apogee: CONTROL_FINISHED_OK

state 9931 begin climb

9934 1.42 146.6 998.7 0.0 478 10079 1.90 2.80 132.23 1.384 4 0.061 0.071 2746 586 2304

10306 1.52 223.7 991.1 5.2 494 10384 0.10 2.60 70.18 1.370 6 0.056 0.044 2777 2030 1989

10706 1.52 224.1 960.5 8.0 514 10707 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2031 1988

11015 1.52 224.1 935.9 8.1 529 11019 0.00 2.75 0.00 0.000 4 0.000 0.070 2777 581 1988

11065 1.52 224.1 931.4 8.8 531 11070 0.00 2.55 0.00 0.000 6 0.000 0.044 2777 1998 1988

11387 1.52 224.1 904.4 8.7 547 11391 0.00 2.62 0.00 0.000 4 0.000 0.068 2777 3402 1988

11420 1.52 224.1 901.5 8.2 548 11426 0.00 2.58 0.00 0.000 6 0.000 0.048 2777 1985 1988

11737 1.53 232.4 876.4 7.7 564 11751 0.00 2.67 9.10 1.206 4 0.000 0.071 2777 589 1954

11813 1.53 232.4 869.7 8.6 567 11818 0.00 2.55 0.00 0.000 6 0.000 0.044 2777 2002 1954

12129 1.53 232.4 843.7 8.2 582 12130 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2002 1954

12439 1.54 239.9 819.1 7.7 597 12450 0.00 0.00 8.70 1.176 6 0.000 0.000 2777 2004 1923

12748 1.54 239.9 795.0 8.0 612 12749 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2004 1922

13057 1.54 239.9 769.9 8.1 627 13061 0.00 2.65 0.00 0.000 4 0.000 0.070 2777 592 1922

13097 1.54 239.9 766.4 8.9 629 13101 0.00 2.53 0.00 0.000 6 0.000 0.044 2777 2010 1922

13429 1.54 239.9 738.5 8.6 645 13430 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2011 1922

13739 1.54 239.9 712.3 8.4 660 13740 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2011 1922

14048 1.54 239.9 686.9 8.2 675 14053 0.00 2.67 0.00 0.000 4 0.000 0.070 2777 593 1922

14093 1.54 239.9 682.7 9.3 677 14097 0.00 2.53 0.00 0.000 6 0.000 0.045 2777 1999 1922

14414 1.54 239.9 655.1 8.8 693 14415 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2000 1921

14724 1.54 239.9 627.5 8.9 708 14725 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2001 1921

15033 1.54 239.9 600.1 9.0 723 15034 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2001 1921

15342 1.54 239.9 571.9 9.1 738 15346 0.00 2.65 0.00 0.000 4 0.000 0.069 2777 594 1921

15392 1.54 239.9 566.9 9.8 740 15397 0.00 2.53 0.00 0.000 6 0.000 0.045 2777 2002 1922

15708 1.54 239.9 538.3 8.7 755 15709 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2003 1921

16017 1.54 239.9 512.0 8.3 770 16019 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2004 1921

16327 1.54 239.9 487.4 8.1 785 16328 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2004 1921

16636 1.55 249.6 462.7 7.6 800 16651 0.00 2.72 9.77 1.028 4 0.000 0.070 2777 593 1885

16708 1.55 249.6 456.8 8.1 802 16712 0.00 2.55 0.00 0.000 6 0.000 0.046 2777 1994 1884

17024 1.55 249.6 431.4 8.1 817 17028 0.00 2.67 0.00 0.000 4 0.000 0.073 2777 3412 1884

17064 1.55 249.6 427.8 8.6 819 17068 0.00 2.60 0.00 0.000 6 0.000 0.053 2777 1990 1884

17390 1.55 249.6 398.9 8.9 835 17395 0.00 2.62 0.00 0.000 4 0.000 0.071 2777 590 1884

17441 1.55 249.6 393.9 9.3 837 17446 0.00 2.55 0.00 0.000 6 0.000 0.047 2777 2004 1884

17757 1.55 249.6 366.1 8.7 852 17758 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2004 1884

18066 1.55 249.6 338.7 8.8 867 18071 0.00 2.67 0.00 0.000 4 0.000 0.070 2777 587 1884

18134 1.55 249.6 332.5 8.8 870 18138 0.00 2.58 0.00 0.000 6 0.000 0.048 2777 2007 1884

18456 1.55 249.6 304.8 8.5 886 18457 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2007 1884

18765 1.56 256.4 280.0 7.7 901 18774 0.00 0.00 7.65 0.897 6 0.000 0.000 2777 2006 1856

19075 1.56 256.4 255.3 8.1 916 19076 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2006 1856

19383 1.56 256.4 229.5 8.8 931 19388 0.00 2.67 0.00 0.000 4 0.000 0.071 2778 589 1856

19439 1.56 256.4 224.2 8.9 933 19446 0.00 2.58 0.00 0.000 6 0.000 0.048 2777 2006 1856

19756 1.56 256.4 195.5 9.2 949 19757 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2006 1856

20064 1.56 256.4 166.4 9.5 964 20066 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2006 1856

20374 1.56 256.4 139.0 8.8 979 20375 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2007 1856

20686 1.57 266.7 114.3 7.6 994 20701 0.00 2.72 10.45 0.828 4 0.000 0.071 2777 588 1813

20748 1.57 266.7 108.9 8.6 996 20753 0.00 2.58 0.00 0.000 6 0.000 0.048 2777 2002 1814

21078 1.57 270.2 82.0 7.9 1012 21085 0.00 0.00 4.65 0.674 6 0.000 0.000 2777 2003 1800

21387 1.59 286.7 58.7 7.4 1027 21405 0.00 0.00 15.27 0.807 6 0.000 0.000 2777 2003 1733

21716 1.59 286.7 30.6 9.4 1043 21717 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2003 1733

22024 1.59 286.7 2.2 9.7 1058 22028 0.00 2.20 0.00 0.000 3 0.000 0.071 2777 836 1733

22029 end climb: SURFACE_DEPTH_REACHED

state 22029 begin surface coast

22067 end surface coast: CONTROL_FINISHED_OK

state 22067 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	446	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	63	C_ROLL_DIVE	2750	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6	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	200	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	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	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	-152374.61	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	015606,6409.214,-655.111,33,1.3,34,-9.0	TGT_NAME	P5
_CALLS	3	TGT_LATLONG	6430.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.032,0.241
_SM_DEPTHo	0.63	KALMAN_X	-14402.7,-128.7,32.1,190941.3,1015.5
_SM_ANGLEo	-61.0	KALMAN_Y	-71194.0,-163.2,712.0,228913.4,-5751.3
GPS2	020856,6409.146,-655.079,17,2.0,17,-9.0	MHEAD_RNG_PITCHd_Wd	1.5,55550,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	-0.4,1.027589	XPDR_PINGS	77
SM_CCo	22155,0.00,0.000,0,0,1732,287.00	_24V_AH	22.5,71.292
SM_GC	0.76,12.18,0.00,0.00,0.033,0.000,0.000,49,2742,1732,-10.93,-0.23,287.00	_10V_AH	10.0,40.001
IRIDIUM_FIX	6346.88,-655.86,190898,020239	DATA_FILE_SIZE	53734,1060
TT8_MAMPS	0.029146	CAP_FILE_SIZE	141891,0
HUMID	1837	CFSIZE	260165632,231604224
INTERNAL_PRESSURE	8.39876	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.40	GPS	250509,082024,6411.170,-655.902,25,0.9,43,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	165	101.67	SBE_CT	795	24	429.74
Roll_motor	122	98	273.32	SBE_O2	747	19	319.46
VBD_pump_during_apogee	401	1427	12886.63	WL_BB2F	562	105	1329.99
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	86	103	201.14	nil	0	0	0.00
Iridium_during_connect	96	160	347.15	nil	0	0	0.00
Iridium_during_xfer	307	223	1542.75
Transponder_ping	27	420	262.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.49
TT8	1859	19	368.11
LPSleep	17565	2	384.68
TT8_Active	499	19	98.90
TT8_Sampling	2101	39	836.23
TT8_CF8	891	45	408.42
TT8_Kalman	33	81	27.30
Analog_circuits	1540	12	184.88
GPS_charging	0	0	0.00
Compass	2056	8	164.55
RAFOS	0	0	0.00
Transponder	59	30	17.73

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
16	-1.42	-146.6	0.0	0.0	0	73	0.00	0.00	-52.30	0.000	6	0.000	0.000	51	2753	3501
76	-1.42	-146.6	6.8	-11.7	3	98	11.95	2.70	0.00	0.000	4	0.166	0.064	2123	1333	3501
352	-1.42	-146.6	48.5	-11.1	15	356	0.00	2.70	0.00	0.000	6	0.000	0.071	2123	2754	3500
673	-1.42	-146.6	83.7	-11.3	31	677	0.00	2.65	0.00	0.000	4	0.000	0.064	2123	1333	3501
700	-1.42	-146.6	87.1	-11.6	32	705	0.00	2.70	0.00	0.000	6	0.000	0.070	2123	2757	3501
1018	-1.42	-146.6	121.6	-10.5	47	1023	0.00	2.65	0.00	0.000	4	0.000	0.064	2123	1328	3501
1052	-1.42	-146.6	125.4	-10.5	48	1059	0.00	2.70	0.00	0.000	6	0.000	0.074	2123	2748	3501
1368	-1.42	-146.6	158.0	-10.3	64	1369	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2748	3501
1677	-1.42	-146.6	190.1	-10.7	79	1678	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2748	3501
1987	-1.42	-146.6	219.9	-9.4	94	1991	0.00	2.62	0.00	0.000	4	0.000	0.068	2123	1338	3501
2009	-1.42	-146.6	222.0	-8.8	95	2013	0.00	2.72	0.00	0.000	6	0.000	0.077	2123	2762	3501
2330	-1.42	-146.6	252.4	-9.4	111	2331	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2762	3501
2640	-1.42	-146.6	281.5	-9.2	126	2641	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2762	3502
2949	-1.42	-146.6	310.2	-9.6	141	2950	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2762	3502
3258	-1.42	-146.6	341.2	-10.2	156	3262	0.00	2.72	0.00	0.000	4	0.000	0.075	2123	1331	3501
3291	-1.42	-146.6	344.9	-10.8	157	3298	0.00	2.75	0.00	0.000	6	0.000	0.081	2123	2751	3501
3607	-1.42	-146.6	378.4	-10.8	173	3611	0.00	2.05	0.00	0.000	4	0.000	0.099	2123	3792	3501
3653	-1.42	-146.6	383.3	-10.4	175	3657	0.00	1.92	0.00	0.000	6	0.000	0.056	2123	2742	3501
3987	-1.42	-146.6	418.9	-10.6	191	3988	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2742	3500
4296	-1.42	-146.6	452.0	-10.5	206	4298	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2742	3500
4605	-1.42	-146.6	485.3	-10.9	221	4606	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2742	3499
4915	-1.42	-146.6	516.6	-9.8	236	4916	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2742	3499
5223	-1.42	-146.6	546.3	-9.6	251	5225	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2741	3498
5534	-1.42	-146.6	575.6	-9.6	266	5535	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2742	3498
5843	-1.42	-146.6	605.5	-9.8	281	5844	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2741	3497
6151	-1.42	-146.6	634.8	-9.5	296	6156	0.00	2.65	0.00	0.000	4	0.000	0.073	2123	1330	3497
6179	-1.42	-146.6	637.6	-9.9	297	6184	0.00	2.75	0.00	0.000	6	0.000	0.077	2123	2758	3496
6496	-1.42	-146.6	668.4	-10.0	312	6497	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2758	3496
6804	-1.42	-146.6	698.5	-9.7	327	6806	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2758	3496
7114	-1.42	-146.6	728.6	-9.7	342	7115	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2758	3496
7423	-1.42	-146.6	758.9	-9.7	357	7425	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2758	3495
7732	-1.42	-146.6	788.2	-9.3	372	7737	0.00	2.67	0.00	0.000	4	0.000	0.071	2123	1332	3495
7760	-1.42	-146.6	791.0	-9.5	373	7765	0.00	2.72	0.00	0.000	6	0.000	0.077	2123	2751	3495
8076	-1.42	-146.6	820.1	-9.3	388	8078	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2751	3495
8385	-1.42	-146.6	852.4	-10.7	403	8386	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2751	3495
8695	-1.42	-146.6	885.1	-10.4	418	8696	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2751	3495
9004	-1.42	-146.6	915.7	-9.9	433	9009	0.00	2.65	0.00	0.000	4	0.000	0.071	2123	1337	3494
9038	-1.42	-146.6	919.3	-9.7	434	9044	0.00	2.72	0.00	0.000	6	0.000	0.077	2123	2758	3495
9355	-1.42	-146.6	950.6	-10.0	450	9356	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2758	3494
9664	-1.42	-146.6	980.4	-9.5	465	9665	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2758	3494
9784	end dive: TARGET_DEPTH_EXCEEDED
state	9784	begin apogee
9793	-0.42	0.0	991.6	9.0	471	9930	1.15	0.00	133.25	1.427	6	0.104	0.000	2347	1990	2902
9931	end apogee: CONTROL_FINISHED_OK
state	9931	begin climb
9934	1.42	146.6	998.7	0.0	478	10079	1.90	2.80	132.23	1.384	4	0.061	0.071	2746	586	2304
10306	1.52	223.7	991.1	5.2	494	10384	0.10	2.60	70.18	1.370	6	0.056	0.044	2777	2030	1989
10706	1.52	224.1	960.5	8.0	514	10707	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2031	1988
11015	1.52	224.1	935.9	8.1	529	11019	0.00	2.75	0.00	0.000	4	0.000	0.070	2777	581	1988
11065	1.52	224.1	931.4	8.8	531	11070	0.00	2.55	0.00	0.000	6	0.000	0.044	2777	1998	1988
11387	1.52	224.1	904.4	8.7	547	11391	0.00	2.62	0.00	0.000	4	0.000	0.068	2777	3402	1988
11420	1.52	224.1	901.5	8.2	548	11426	0.00	2.58	0.00	0.000	6	0.000	0.048	2777	1985	1988
11737	1.53	232.4	876.4	7.7	564	11751	0.00	2.67	9.10	1.206	4	0.000	0.071	2777	589	1954
11813	1.53	232.4	869.7	8.6	567	11818	0.00	2.55	0.00	0.000	6	0.000	0.044	2777	2002	1954
12129	1.53	232.4	843.7	8.2	582	12130	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2002	1954
12439	1.54	239.9	819.1	7.7	597	12450	0.00	0.00	8.70	1.176	6	0.000	0.000	2777	2004	1923
12748	1.54	239.9	795.0	8.0	612	12749	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2004	1922
13057	1.54	239.9	769.9	8.1	627	13061	0.00	2.65	0.00	0.000	4	0.000	0.070	2777	592	1922
13097	1.54	239.9	766.4	8.9	629	13101	0.00	2.53	0.00	0.000	6	0.000	0.044	2777	2010	1922
13429	1.54	239.9	738.5	8.6	645	13430	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2011	1922
13739	1.54	239.9	712.3	8.4	660	13740	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2011	1922
14048	1.54	239.9	686.9	8.2	675	14053	0.00	2.67	0.00	0.000	4	0.000	0.070	2777	593	1922
14093	1.54	239.9	682.7	9.3	677	14097	0.00	2.53	0.00	0.000	6	0.000	0.045	2777	1999	1922
14414	1.54	239.9	655.1	8.8	693	14415	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2000	1921
14724	1.54	239.9	627.5	8.9	708	14725	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2001	1921
15033	1.54	239.9	600.1	9.0	723	15034	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2001	1921
15342	1.54	239.9	571.9	9.1	738	15346	0.00	2.65	0.00	0.000	4	0.000	0.069	2777	594	1921
15392	1.54	239.9	566.9	9.8	740	15397	0.00	2.53	0.00	0.000	6	0.000	0.045	2777	2002	1922
15708	1.54	239.9	538.3	8.7	755	15709	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2003	1921
16017	1.54	239.9	512.0	8.3	770	16019	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2004	1921
16327	1.54	239.9	487.4	8.1	785	16328	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2004	1921
16636	1.55	249.6	462.7	7.6	800	16651	0.00	2.72	9.77	1.028	4	0.000	0.070	2777	593	1885
16708	1.55	249.6	456.8	8.1	802	16712	0.00	2.55	0.00	0.000	6	0.000	0.046	2777	1994	1884
17024	1.55	249.6	431.4	8.1	817	17028	0.00	2.67	0.00	0.000	4	0.000	0.073	2777	3412	1884
17064	1.55	249.6	427.8	8.6	819	17068	0.00	2.60	0.00	0.000	6	0.000	0.053	2777	1990	1884
17390	1.55	249.6	398.9	8.9	835	17395	0.00	2.62	0.00	0.000	4	0.000	0.071	2777	590	1884
17441	1.55	249.6	393.9	9.3	837	17446	0.00	2.55	0.00	0.000	6	0.000	0.047	2777	2004	1884
17757	1.55	249.6	366.1	8.7	852	17758	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2004	1884
18066	1.55	249.6	338.7	8.8	867	18071	0.00	2.67	0.00	0.000	4	0.000	0.070	2777	587	1884
18134	1.55	249.6	332.5	8.8	870	18138	0.00	2.58	0.00	0.000	6	0.000	0.048	2777	2007	1884
18456	1.55	249.6	304.8	8.5	886	18457	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2007	1884
18765	1.56	256.4	280.0	7.7	901	18774	0.00	0.00	7.65	0.897	6	0.000	0.000	2777	2006	1856
19075	1.56	256.4	255.3	8.1	916	19076	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2006	1856
19383	1.56	256.4	229.5	8.8	931	19388	0.00	2.67	0.00	0.000	4	0.000	0.071	2778	589	1856
19439	1.56	256.4	224.2	8.9	933	19446	0.00	2.58	0.00	0.000	6	0.000	0.048	2777	2006	1856
19756	1.56	256.4	195.5	9.2	949	19757	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2006	1856
20064	1.56	256.4	166.4	9.5	964	20066	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2006	1856
20374	1.56	256.4	139.0	8.8	979	20375	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2007	1856
20686	1.57	266.7	114.3	7.6	994	20701	0.00	2.72	10.45	0.828	4	0.000	0.071	2777	588	1813
20748	1.57	266.7	108.9	8.6	996	20753	0.00	2.58	0.00	0.000	6	0.000	0.048	2777	2002	1814
21078	1.57	270.2	82.0	7.9	1012	21085	0.00	0.00	4.65	0.674	6	0.000	0.000	2777	2003	1800
21387	1.59	286.7	58.7	7.4	1027	21405	0.00	0.00	15.27	0.807	6	0.000	0.000	2777	2003	1733
21716	1.59	286.7	30.6	9.4	1043	21717	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2003	1733
22024	1.59	286.7	2.2	9.7	1058	22028	0.00	2.20	0.00	0.000	3	0.000	0.071	2777	836	1733
22029	end climb: SURFACE_DEPTH_REACHED
state	22029	begin surface coast
22067	end surface coast: CONTROL_FINISHED_OK
state	22067	begin surface