Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 53 * 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 53 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 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 1900 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 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 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 -143956.02 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 -143956.02

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 1900 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 17 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 53 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 075337,6156.091,-941.626,36,1.2,36,-9.7 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,0.202

_SM_DEPTHo 1.07 KALMAN_X 22101.2,244.4,2331.1,-35661.6,3017.3

_SM_ANGLEo -55.9 KALMAN_Y -85616.0,1025.4,103.9,167447.9,-7246.4

GPS2 075920,6156.061,-941.607,15,1.3,15,-9.7 MHEAD_RNG_PITCHd_Wd 347.2,18085,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.013986 ALTIM_BOTTOM_PING 701.2,34.5

SM_CCo 18776,1.30,0.140,0,0,1679,300.00 _24V_AH 23.4,17.400

SM_GC 1.18,0.00,0.00,1.30,0.000,0.000,0.140,47,2650,1679,-11.01,0.00,300.00 _10V_AH 10.1,8.288

IRIDIUM_FIX 6130.75,-947.25,290598,020200 DATA_FILE_SIZE 44313,900

TT8_MAMPS 0.029146 CAP_FILE_SIZE 133719,0

HUMID 1787 CFSIZE 260165632,254570496

INTERNAL_PRESSURE 8.56478 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 040309,131506,6159.409,-940.031,63,1.5,74,-9.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.33 SBE_CT 631 24 354.41

Roll_motor 166 108 420.78 SBE_O2 664 19 295.47

VBD_pump_during_apogee 377 1125 9939.36 WL_BB2F 526 105 1294.16

VBD_pump_during_surface 1 139 4.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.38 nil 0 0 0.00

Iridium_during_connect 32 160 120.76 nil 0 0 0.00

Iridium_during_xfer 152 223 795.15

Transponder_ping 6 420 63.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.73

TT8 1651 19 330.18

LPSleep 14445 2 319.53

TT8_Active 475 19 95.13

TT8_Sampling 1989 39 799.75

TT8_CF8 559 45 258.70

TT8_Kalman 33 81 27.56

Analog_circuits 1495 12 181.29

GPS_charging 0 0 0.00

Compass 1945 8 157.20

RAFOS 0 0 0.00

Transponder 47 30 14.32

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 59 0.00 0.00 -41.65 0.000 2 0.000 0.000 40 2655 2969

62 -1.10 -146.6 3.0 -8.8 2 92 12.18 2.28 -10.57 0.000 4 0.158 0.108 2197 3783 3501

250 -1.10 -146.6 22.9 -9.2 10 254 0.00 2.05 0.00 0.000 6 0.000 0.053 2197 2647 3501

571 -1.10 -146.6 49.7 -7.7 26 575 0.00 2.20 0.00 0.000 4 0.000 0.088 2197 3779 3501

623 -1.10 -146.6 54.4 -8.7 28 627 0.00 2.05 0.00 0.000 6 0.000 0.051 2197 2640 3501

951 -1.10 -146.6 79.8 -9.7 44 954 0.00 2.20 0.00 0.000 4 0.000 0.087 2197 3779 3501

1001 -1.10 -146.6 83.7 -7.1 46 1004 0.00 2.05 0.00 0.000 6 0.000 0.053 2197 2643 3501

1322 -1.10 -146.6 104.9 -6.6 62 1324 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2643 3501

1634 -1.10 -146.6 126.9 -7.4 77 1635 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2643 3501

1941 -1.10 -146.6 151.6 -6.2 92 1944 0.00 2.20 0.00 0.000 4 0.000 0.086 2197 3783 3501

1986 -1.10 -146.6 154.6 -6.6 94 1990 0.00 2.05 0.00 0.000 6 0.000 0.053 2197 2643 3501

2319 -1.10 -146.6 179.0 -8.2 110 2320 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2643 3501

2628 -1.10 -146.6 204.3 -8.1 125 2632 0.00 2.20 0.00 0.000 4 0.000 0.085 2197 3786 3501

2684 -1.10 -146.6 209.4 -8.7 127 2688 0.00 2.05 0.00 0.000 6 0.000 0.053 2197 2641 3501

3006 -1.10 -146.6 232.3 -7.5 143 3009 0.00 2.20 0.00 0.000 4 0.000 0.087 2197 3780 3501

3033 -1.10 -146.6 234.6 -8.0 144 3037 0.00 2.05 0.00 0.000 6 0.000 0.053 2197 2643 3501

3360 -1.10 -146.6 261.8 -7.4 160 3364 0.00 2.20 0.00 0.000 4 0.000 0.087 2197 3787 3501

3411 -1.10 -146.6 265.3 -6.0 162 3414 0.00 2.08 0.00 0.000 6 0.000 0.054 2197 2640 3501

3738 -1.10 -146.6 283.5 -4.4 178 3739 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2640 3501

4047 -1.10 -146.6 307.6 -6.1 193 4051 0.00 2.20 0.00 0.000 4 0.000 0.088 2197 3777 3501

4098 -1.10 -146.6 311.8 -9.6 195 4101 0.00 2.05 0.00 0.000 6 0.000 0.056 2197 2646 3501

4425 -1.10 -146.6 336.1 -7.2 211 4426 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2646 3501

4734 -1.10 -146.6 357.6 -6.7 226 4735 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2646 3501

5044 -1.10 -146.6 377.1 -6.0 241 5045 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2645 3501

5353 -1.10 -146.6 397.5 -6.5 256 5354 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2645 3501

5662 -1.10 -146.6 417.0 -6.4 271 5663 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2645 3501

5972 -1.10 -146.6 436.6 -6.0 286 5975 0.00 2.20 0.00 0.000 4 0.000 0.087 2197 3786 3501

6018 -1.10 -146.6 439.6 -6.6 288 6021 0.00 2.05 0.00 0.000 6 0.000 0.052 2197 2641 3501

6350 -1.10 -146.6 458.5 -6.3 304 6351 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2640 3501

6660 -1.10 -146.6 481.7 -7.8 319 6661 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2640 3500

6969 -1.10 -146.6 507.4 -8.6 334 6970 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2640 3500

7278 -1.10 -146.6 534.7 -8.4 349 7279 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2640 3501

7588 -1.10 -146.6 556.2 -6.7 364 7591 0.00 2.17 0.00 0.000 4 0.000 0.084 2197 3779 3501

7656 -1.10 -146.6 560.9 -6.5 367 7659 0.00 2.03 0.00 0.000 6 0.000 0.051 2197 2643 3500

7988 -1.10 -146.6 585.5 -7.1 383 7989 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2643 3501

8298 -1.10 -146.6 605.7 -5.6 398 8302 0.00 2.17 0.00 0.000 4 0.000 0.084 2197 3779 3501

8383 -1.10 -146.6 610.3 -5.3 401 8389 0.00 2.03 0.00 0.000 6 0.000 0.052 2197 2646 3501

8700 -1.10 -146.6 626.0 -5.8 417 8704 0.00 2.58 0.00 0.000 4 0.000 0.067 2197 1227 3500

8767 -1.10 -146.6 629.8 -5.7 420 8772 0.00 2.60 0.00 0.000 6 0.000 0.061 2197 2651 3500

9089 -1.10 -146.6 649.2 -5.0 436 9090 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2651 3500

9398 -1.10 -146.6 667.7 -6.1 451 9402 0.00 2.15 0.00 0.000 4 0.000 0.086 2197 3788 3497

9444 -1.10 -146.6 670.3 -7.2 453 9447 0.00 2.03 0.00 0.000 6 0.000 0.051 2197 2651 3497

9777 -1.10 -146.6 686.6 -4.6 469 9780 0.00 2.17 0.00 0.000 4 0.000 0.086 2197 3782 3497

9828 -1.10 -146.6 689.0 -4.8 471 9832 0.00 2.05 0.00 0.000 6 0.000 0.051 2197 2626 3497

10155 -1.10 -146.6 709.2 -6.2 487 10159 0.00 2.55 0.00 0.000 4 0.000 0.071 2197 1235 3497

10195 -1.10 -146.6 711.8 -5.1 489 10199 0.00 2.60 0.00 0.000 6 0.000 0.061 2197 2657 3497

10395 end dive: BOTTOM_OBSTACLE_DETECTED

state 10395 begin apogee

10404 -0.42 0.0 726.1 6.9 499 10530 0.75 0.00 123.40 1.125 6 0.100 0.000 2345 1890 2902

10531 end apogee: CONTROL_FINISHED_OK

state 10531 begin climb

10534 1.10 146.6 730.2 0.0 505 10664 1.58 2.67 121.82 1.098 4 0.060 0.064 2678 481 2304

10690 1.15 182.3 728.2 5.0 512 10727 0.00 2.55 31.52 1.056 6 0.000 0.036 2679 1923 2158

11051 1.15 182.3 707.4 6.4 530 11055 0.00 2.70 0.00 0.000 4 0.000 0.065 2679 481 2158

11129 1.23 252.2 703.0 4.1 533 11198 0.12 2.53 59.03 1.124 6 0.045 0.039 2722 1904 1873

11507 1.23 252.2 678.6 8.6 552 11511 0.00 2.58 0.00 0.000 4 0.000 0.061 2722 3310 1873

11557 1.23 252.2 674.3 9.1 554 11562 0.00 2.55 0.00 0.000 6 0.000 0.046 2722 1890 1873

11873 1.23 252.2 641.1 11.5 569 11878 0.00 2.62 0.00 0.000 4 0.000 0.062 2722 3306 1873

11931 1.23 252.2 634.2 12.4 571 11937 0.00 2.53 0.00 0.000 6 0.000 0.048 2722 1902 1872

12247 1.27 283.7 607.2 5.1 587 12281 0.00 2.72 27.20 1.056 4 0.000 0.064 2722 487 1745

12339 1.29 299.3 603.2 5.6 591 12359 0.00 2.53 14.52 0.992 6 0.000 0.038 2722 1907 1682

12687 1.29 299.3 579.2 6.5 608 12691 0.00 2.58 0.00 0.000 4 0.000 0.063 2722 3316 1682

12761 1.29 299.3 574.3 7.1 611 12765 0.00 2.55 0.00 0.000 6 0.000 0.048 2722 1897 1682

13077 1.29 299.3 550.5 7.4 626 13078 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1897 1682

13386 1.29 299.3 525.0 9.0 641 13391 0.00 2.60 0.00 0.000 4 0.000 0.061 2722 3310 1683

13420 1.29 299.3 521.6 10.0 642 13426 0.00 2.55 0.00 0.000 6 0.000 0.048 2722 1889 1682

13736 1.29 299.3 494.2 8.4 658 13740 0.00 2.62 0.00 0.000 4 0.000 0.063 2722 3317 1683

13769 1.29 299.3 491.3 8.1 659 13775 0.00 2.55 0.00 0.000 6 0.000 0.047 2722 1892 1683

14084 1.29 299.3 462.4 9.5 675 14086 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1892 1683

14394 1.29 299.3 433.4 9.3 690 14398 0.00 2.60 0.00 0.000 4 0.000 0.063 2722 3308 1683

14456 1.29 299.3 427.7 9.1 693 14460 0.00 2.53 0.00 0.000 6 0.000 0.049 2722 1901 1683

14782 1.29 299.3 398.2 9.0 709 14787 0.00 2.60 0.00 0.000 4 0.000 0.063 2722 3312 1683

14816 1.29 299.3 395.1 8.8 710 14822 0.00 2.53 0.00 0.000 6 0.000 0.050 2722 1900 1683

15132 1.29 299.3 365.9 9.3 726 15133 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1900 1683

15442 1.29 299.3 337.7 8.9 741 15446 0.00 2.58 0.00 0.000 4 0.000 0.064 2722 3309 1683

15487 1.29 299.3 333.5 8.2 743 15492 0.00 2.53 0.00 0.000 6 0.000 0.049 2722 1892 1683

15814 1.29 299.3 300.8 10.1 759 15819 0.00 2.62 0.00 0.000 4 0.000 0.065 2722 3312 1683

15842 1.29 299.3 297.8 10.8 760 15847 0.00 2.55 0.00 0.000 6 0.000 0.051 2722 1897 1683

16158 1.29 299.3 267.8 9.6 775 16162 0.00 2.62 0.00 0.000 4 0.000 0.067 2721 3315 1683

16202 1.29 299.3 263.6 9.5 777 16206 0.00 2.55 0.00 0.000 6 0.000 0.051 2722 1896 1683

16523 1.29 299.3 230.6 10.3 793 16527 0.00 2.62 0.00 0.000 4 0.000 0.067 2722 3314 1683

16556 1.29 299.3 227.3 8.8 794 16562 0.00 2.55 0.00 0.000 6 0.000 0.052 2722 1898 1683

16872 1.29 299.3 194.4 10.7 810 16876 0.00 2.62 0.00 0.000 4 0.000 0.066 2722 3318 1683

16911 1.29 299.3 190.3 9.9 812 16916 0.00 2.58 0.00 0.000 6 0.000 0.052 2722 1887 1683

17238 1.29 299.3 151.9 12.1 828 17242 0.00 2.62 0.00 0.000 4 0.000 0.065 2722 3311 1683

17310 1.29 299.3 144.1 9.2 831 17314 0.00 2.55 0.00 0.000 6 0.000 0.054 2722 1899 1683

17626 1.29 299.3 115.9 6.7 846 17631 0.00 2.58 0.00 0.000 4 0.000 0.065 2722 489 1683

17693 1.29 299.3 112.5 9.1 849 17698 0.00 2.47 0.00 0.000 6 0.000 0.039 2722 1899 1683

18015 1.29 299.3 85.3 7.0 865 18019 0.00 2.58 0.00 0.000 4 0.000 0.066 2722 3311 1684

18065 1.29 299.3 77.6 15.0 867 18069 0.00 2.55 0.00 0.000 6 0.000 0.055 2722 1899 1684

18381 1.29 299.3 36.5 13.5 882 18385 0.00 2.58 0.00 0.000 4 0.000 0.064 2722 489 1684

18436 1.29 299.3 29.5 11.1 884 18442 0.00 2.47 0.00 0.000 6 0.000 0.041 2722 1902 1684

18729 end climb: SURFACE_DEPTH_REACHED

state 18729 begin surface coast

18750 end surface coast: CONTROL_FINISHED_OK

state 18751 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	53	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	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	1900	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	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	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	-143956.02	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	075337,6156.091,-941.626,36,1.2,36,-9.7	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,0.202
_SM_DEPTHo	1.07	KALMAN_X	22101.2,244.4,2331.1,-35661.6,3017.3
_SM_ANGLEo	-55.9	KALMAN_Y	-85616.0,1025.4,103.9,167447.9,-7246.4
GPS2	075920,6156.061,-941.607,15,1.3,15,-9.7	MHEAD_RNG_PITCHd_Wd	347.2,18085,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.1,1.013986	ALTIM_BOTTOM_PING	701.2,34.5
SM_CCo	18776,1.30,0.140,0,0,1679,300.00	_24V_AH	23.4,17.400
SM_GC	1.18,0.00,0.00,1.30,0.000,0.000,0.140,47,2650,1679,-11.01,0.00,300.00	_10V_AH	10.1,8.288
IRIDIUM_FIX	6130.75,-947.25,290598,020200	DATA_FILE_SIZE	44313,900
TT8_MAMPS	0.029146	CAP_FILE_SIZE	133719,0
HUMID	1787	CFSIZE	260165632,254570496
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	040309,131506,6159.409,-940.031,63,1.5,74,-9.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.33	SBE_CT	631	24	354.41
Roll_motor	166	108	420.78	SBE_O2	664	19	295.47
VBD_pump_during_apogee	377	1125	9939.36	WL_BB2F	526	105	1294.16
VBD_pump_during_surface	1	139	4.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.38	nil	0	0	0.00
Iridium_during_connect	32	160	120.76	nil	0	0	0.00
Iridium_during_xfer	152	223	795.15
Transponder_ping	6	420	63.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.73
TT8	1651	19	330.18
LPSleep	14445	2	319.53
TT8_Active	475	19	95.13
TT8_Sampling	1989	39	799.75
TT8_CF8	559	45	258.70
TT8_Kalman	33	81	27.56
Analog_circuits	1495	12	181.29
GPS_charging	0	0	0.00
Compass	1945	8	157.20
RAFOS	0	0	0.00
Transponder	47	30	14.32

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	59	0.00	0.00	-41.65	0.000	2	0.000	0.000	40	2655	2969
62	-1.10	-146.6	3.0	-8.8	2	92	12.18	2.28	-10.57	0.000	4	0.158	0.108	2197	3783	3501
250	-1.10	-146.6	22.9	-9.2	10	254	0.00	2.05	0.00	0.000	6	0.000	0.053	2197	2647	3501
571	-1.10	-146.6	49.7	-7.7	26	575	0.00	2.20	0.00	0.000	4	0.000	0.088	2197	3779	3501
623	-1.10	-146.6	54.4	-8.7	28	627	0.00	2.05	0.00	0.000	6	0.000	0.051	2197	2640	3501
951	-1.10	-146.6	79.8	-9.7	44	954	0.00	2.20	0.00	0.000	4	0.000	0.087	2197	3779	3501
1001	-1.10	-146.6	83.7	-7.1	46	1004	0.00	2.05	0.00	0.000	6	0.000	0.053	2197	2643	3501
1322	-1.10	-146.6	104.9	-6.6	62	1324	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2643	3501
1634	-1.10	-146.6	126.9	-7.4	77	1635	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2643	3501
1941	-1.10	-146.6	151.6	-6.2	92	1944	0.00	2.20	0.00	0.000	4	0.000	0.086	2197	3783	3501
1986	-1.10	-146.6	154.6	-6.6	94	1990	0.00	2.05	0.00	0.000	6	0.000	0.053	2197	2643	3501
2319	-1.10	-146.6	179.0	-8.2	110	2320	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2643	3501
2628	-1.10	-146.6	204.3	-8.1	125	2632	0.00	2.20	0.00	0.000	4	0.000	0.085	2197	3786	3501
2684	-1.10	-146.6	209.4	-8.7	127	2688	0.00	2.05	0.00	0.000	6	0.000	0.053	2197	2641	3501
3006	-1.10	-146.6	232.3	-7.5	143	3009	0.00	2.20	0.00	0.000	4	0.000	0.087	2197	3780	3501
3033	-1.10	-146.6	234.6	-8.0	144	3037	0.00	2.05	0.00	0.000	6	0.000	0.053	2197	2643	3501
3360	-1.10	-146.6	261.8	-7.4	160	3364	0.00	2.20	0.00	0.000	4	0.000	0.087	2197	3787	3501
3411	-1.10	-146.6	265.3	-6.0	162	3414	0.00	2.08	0.00	0.000	6	0.000	0.054	2197	2640	3501
3738	-1.10	-146.6	283.5	-4.4	178	3739	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2640	3501
4047	-1.10	-146.6	307.6	-6.1	193	4051	0.00	2.20	0.00	0.000	4	0.000	0.088	2197	3777	3501
4098	-1.10	-146.6	311.8	-9.6	195	4101	0.00	2.05	0.00	0.000	6	0.000	0.056	2197	2646	3501
4425	-1.10	-146.6	336.1	-7.2	211	4426	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2646	3501
4734	-1.10	-146.6	357.6	-6.7	226	4735	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2646	3501
5044	-1.10	-146.6	377.1	-6.0	241	5045	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2645	3501
5353	-1.10	-146.6	397.5	-6.5	256	5354	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2645	3501
5662	-1.10	-146.6	417.0	-6.4	271	5663	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2645	3501
5972	-1.10	-146.6	436.6	-6.0	286	5975	0.00	2.20	0.00	0.000	4	0.000	0.087	2197	3786	3501
6018	-1.10	-146.6	439.6	-6.6	288	6021	0.00	2.05	0.00	0.000	6	0.000	0.052	2197	2641	3501
6350	-1.10	-146.6	458.5	-6.3	304	6351	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2640	3501
6660	-1.10	-146.6	481.7	-7.8	319	6661	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2640	3500
6969	-1.10	-146.6	507.4	-8.6	334	6970	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2640	3500
7278	-1.10	-146.6	534.7	-8.4	349	7279	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2640	3501
7588	-1.10	-146.6	556.2	-6.7	364	7591	0.00	2.17	0.00	0.000	4	0.000	0.084	2197	3779	3501
7656	-1.10	-146.6	560.9	-6.5	367	7659	0.00	2.03	0.00	0.000	6	0.000	0.051	2197	2643	3500
7988	-1.10	-146.6	585.5	-7.1	383	7989	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2643	3501
8298	-1.10	-146.6	605.7	-5.6	398	8302	0.00	2.17	0.00	0.000	4	0.000	0.084	2197	3779	3501
8383	-1.10	-146.6	610.3	-5.3	401	8389	0.00	2.03	0.00	0.000	6	0.000	0.052	2197	2646	3501
8700	-1.10	-146.6	626.0	-5.8	417	8704	0.00	2.58	0.00	0.000	4	0.000	0.067	2197	1227	3500
8767	-1.10	-146.6	629.8	-5.7	420	8772	0.00	2.60	0.00	0.000	6	0.000	0.061	2197	2651	3500
9089	-1.10	-146.6	649.2	-5.0	436	9090	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2651	3500
9398	-1.10	-146.6	667.7	-6.1	451	9402	0.00	2.15	0.00	0.000	4	0.000	0.086	2197	3788	3497
9444	-1.10	-146.6	670.3	-7.2	453	9447	0.00	2.03	0.00	0.000	6	0.000	0.051	2197	2651	3497
9777	-1.10	-146.6	686.6	-4.6	469	9780	0.00	2.17	0.00	0.000	4	0.000	0.086	2197	3782	3497
9828	-1.10	-146.6	689.0	-4.8	471	9832	0.00	2.05	0.00	0.000	6	0.000	0.051	2197	2626	3497
10155	-1.10	-146.6	709.2	-6.2	487	10159	0.00	2.55	0.00	0.000	4	0.000	0.071	2197	1235	3497
10195	-1.10	-146.6	711.8	-5.1	489	10199	0.00	2.60	0.00	0.000	6	0.000	0.061	2197	2657	3497
10395	end dive: BOTTOM_OBSTACLE_DETECTED
state	10395	begin apogee
10404	-0.42	0.0	726.1	6.9	499	10530	0.75	0.00	123.40	1.125	6	0.100	0.000	2345	1890	2902
10531	end apogee: CONTROL_FINISHED_OK
state	10531	begin climb
10534	1.10	146.6	730.2	0.0	505	10664	1.58	2.67	121.82	1.098	4	0.060	0.064	2678	481	2304
10690	1.15	182.3	728.2	5.0	512	10727	0.00	2.55	31.52	1.056	6	0.000	0.036	2679	1923	2158
11051	1.15	182.3	707.4	6.4	530	11055	0.00	2.70	0.00	0.000	4	0.000	0.065	2679	481	2158
11129	1.23	252.2	703.0	4.1	533	11198	0.12	2.53	59.03	1.124	6	0.045	0.039	2722	1904	1873
11507	1.23	252.2	678.6	8.6	552	11511	0.00	2.58	0.00	0.000	4	0.000	0.061	2722	3310	1873
11557	1.23	252.2	674.3	9.1	554	11562	0.00	2.55	0.00	0.000	6	0.000	0.046	2722	1890	1873
11873	1.23	252.2	641.1	11.5	569	11878	0.00	2.62	0.00	0.000	4	0.000	0.062	2722	3306	1873
11931	1.23	252.2	634.2	12.4	571	11937	0.00	2.53	0.00	0.000	6	0.000	0.048	2722	1902	1872
12247	1.27	283.7	607.2	5.1	587	12281	0.00	2.72	27.20	1.056	4	0.000	0.064	2722	487	1745
12339	1.29	299.3	603.2	5.6	591	12359	0.00	2.53	14.52	0.992	6	0.000	0.038	2722	1907	1682
12687	1.29	299.3	579.2	6.5	608	12691	0.00	2.58	0.00	0.000	4	0.000	0.063	2722	3316	1682
12761	1.29	299.3	574.3	7.1	611	12765	0.00	2.55	0.00	0.000	6	0.000	0.048	2722	1897	1682
13077	1.29	299.3	550.5	7.4	626	13078	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1897	1682
13386	1.29	299.3	525.0	9.0	641	13391	0.00	2.60	0.00	0.000	4	0.000	0.061	2722	3310	1683
13420	1.29	299.3	521.6	10.0	642	13426	0.00	2.55	0.00	0.000	6	0.000	0.048	2722	1889	1682
13736	1.29	299.3	494.2	8.4	658	13740	0.00	2.62	0.00	0.000	4	0.000	0.063	2722	3317	1683
13769	1.29	299.3	491.3	8.1	659	13775	0.00	2.55	0.00	0.000	6	0.000	0.047	2722	1892	1683
14084	1.29	299.3	462.4	9.5	675	14086	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1892	1683
14394	1.29	299.3	433.4	9.3	690	14398	0.00	2.60	0.00	0.000	4	0.000	0.063	2722	3308	1683
14456	1.29	299.3	427.7	9.1	693	14460	0.00	2.53	0.00	0.000	6	0.000	0.049	2722	1901	1683
14782	1.29	299.3	398.2	9.0	709	14787	0.00	2.60	0.00	0.000	4	0.000	0.063	2722	3312	1683
14816	1.29	299.3	395.1	8.8	710	14822	0.00	2.53	0.00	0.000	6	0.000	0.050	2722	1900	1683
15132	1.29	299.3	365.9	9.3	726	15133	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1900	1683
15442	1.29	299.3	337.7	8.9	741	15446	0.00	2.58	0.00	0.000	4	0.000	0.064	2722	3309	1683
15487	1.29	299.3	333.5	8.2	743	15492	0.00	2.53	0.00	0.000	6	0.000	0.049	2722	1892	1683
15814	1.29	299.3	300.8	10.1	759	15819	0.00	2.62	0.00	0.000	4	0.000	0.065	2722	3312	1683
15842	1.29	299.3	297.8	10.8	760	15847	0.00	2.55	0.00	0.000	6	0.000	0.051	2722	1897	1683
16158	1.29	299.3	267.8	9.6	775	16162	0.00	2.62	0.00	0.000	4	0.000	0.067	2721	3315	1683
16202	1.29	299.3	263.6	9.5	777	16206	0.00	2.55	0.00	0.000	6	0.000	0.051	2722	1896	1683
16523	1.29	299.3	230.6	10.3	793	16527	0.00	2.62	0.00	0.000	4	0.000	0.067	2722	3314	1683
16556	1.29	299.3	227.3	8.8	794	16562	0.00	2.55	0.00	0.000	6	0.000	0.052	2722	1898	1683
16872	1.29	299.3	194.4	10.7	810	16876	0.00	2.62	0.00	0.000	4	0.000	0.066	2722	3318	1683
16911	1.29	299.3	190.3	9.9	812	16916	0.00	2.58	0.00	0.000	6	0.000	0.052	2722	1887	1683
17238	1.29	299.3	151.9	12.1	828	17242	0.00	2.62	0.00	0.000	4	0.000	0.065	2722	3311	1683
17310	1.29	299.3	144.1	9.2	831	17314	0.00	2.55	0.00	0.000	6	0.000	0.054	2722	1899	1683
17626	1.29	299.3	115.9	6.7	846	17631	0.00	2.58	0.00	0.000	4	0.000	0.065	2722	489	1683
17693	1.29	299.3	112.5	9.1	849	17698	0.00	2.47	0.00	0.000	6	0.000	0.039	2722	1899	1683
18015	1.29	299.3	85.3	7.0	865	18019	0.00	2.58	0.00	0.000	4	0.000	0.066	2722	3311	1684
18065	1.29	299.3	77.6	15.0	867	18069	0.00	2.55	0.00	0.000	6	0.000	0.055	2722	1899	1684
18381	1.29	299.3	36.5	13.5	882	18385	0.00	2.58	0.00	0.000	4	0.000	0.064	2722	489	1684
18436	1.29	299.3	29.5	11.1	884	18442	0.00	2.47	0.00	0.000	6	0.000	0.041	2722	1902	1684
18729	end climb: SURFACE_DEPTH_REACHED
state	18729	begin surface coast
18750	end surface coast: CONTROL_FINISHED_OK
state	18751	begin surface