Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 56 * 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 56 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 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 16 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -144041.2 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 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 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 -144041.2

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 16 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 56 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 231836,6200.604,-936.604,39,1.7,50,-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 -0.198,0.092

_SM_DEPTHo 1.00 KALMAN_X 38669.1,53.4,921.7,-46027.0,13055.7

_SM_ANGLEo -58.0 KALMAN_Y -89362.5,-449.0,-694.4,181874.7,-7455.4

GPS2 232431,6200.568,-936.454,16,1.3,33,-9.7 MHEAD_RNG_PITCHd_Wd 304.6,14329,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027433 ALTIM_BOTTOM_PING 600.5,79.8

SM_CCo 18823,0.00,0.000,0,0,1877,251.43 _24V_AH 23.4,17.800

SM_GC 1.34,11.75,0.00,0.00,0.031,0.000,0.000,51,2645,1877,-10.93,-0.14,251.43 _10V_AH 10.1,8.535

IRIDIUM_FIX 6139.81,-936.03,290598,181838 DATA_FILE_SIZE 44300,898

TT8_MAMPS 0.028379 CAP_FILE_SIZE 130384,0

HUMID 1766 CFSIZE 260165632,254394368

INTERNAL_PRESSURE 8.59408 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 GPS 050309,044055,6201.354,-935.356,71,1.0,71,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 100.74 SBE_CT 626 24 352.10

Roll_motor 149 97 341.68 SBE_O2 661 19 294.29

VBD_pump_during_apogee 338 1091 8634.98 WL_BB2F 547 105 1344.42

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 61.97 nil 0 0 0.00

Iridium_during_connect 35 160 133.67 nil 0 0 0.00

Iridium_during_xfer 145 223 759.28

Transponder_ping 5 420 49.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.98

TT8 1638 19 327.66

LPSleep 14533 2 321.47

TT8_Active 453 19 90.67

TT8_Sampling 2006 39 806.38

TT8_CF8 544 45 251.72

TT8_Kalman 33 81 27.56

Analog_circuits 1456 12 176.48

GPS_charging 0 0 0.00

Compass 1948 8 157.44

RAFOS 0 0 0.00

Transponder 35 30 10.63

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 79 0.00 0.00 -61.55 0.000 2 0.000 0.000 43 2640 3396

82 -1.10 -146.6 4.3 -7.9 3 104 12.27 2.22 -1.73 0.000 4 0.163 0.097 2193 3775 3502

155 -1.10 -146.6 16.9 -6.6 6 159 0.00 2.08 0.00 0.000 6 0.000 0.063 2193 2654 3502

484 -1.10 -146.6 46.3 -11.0 22 485 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2653 3502

792 -1.10 -146.6 67.2 -3.7 37 796 0.00 2.20 0.00 0.000 4 0.000 0.090 2193 3782 3502

876 -1.10 -146.6 72.3 -7.3 40 883 0.00 2.10 0.00 0.000 6 0.000 0.056 2193 2643 3502

1193 -1.10 -146.6 88.0 -4.7 56 1194 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3502

1502 -1.10 -146.6 114.1 -12.0 71 1505 0.00 2.22 0.00 0.000 4 0.000 0.091 2193 3783 3502

1530 -1.10 -146.6 117.2 -10.9 72 1533 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2649 3502

1857 -1.10 -146.6 140.7 -6.0 88 1858 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2649 3502

2166 -1.10 -146.6 165.0 -6.6 103 2169 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3783 3501

2199 -1.10 -146.6 167.3 -6.6 104 2203 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2647 3502

2521 -1.10 -146.6 189.6 -7.4 120 2525 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3783 3501

2567 -1.10 -146.6 192.3 -5.3 122 2571 0.00 2.05 0.00 0.000 6 0.000 0.055 2193 2648 3502

2900 -1.10 -146.6 217.8 -7.4 138 2901 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2648 3502

3209 -1.10 -146.6 240.1 -6.6 153 3210 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2648 3501

3518 -1.10 -146.6 263.5 -6.9 168 3522 0.00 2.20 0.00 0.000 4 0.000 0.092 2193 3779 3502

3574 -1.10 -146.6 267.5 -6.4 170 3578 0.00 2.03 0.00 0.000 6 0.000 0.054 2193 2645 3501

3896 -1.10 -146.6 288.8 -6.8 186 3897 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2644 3502

4205 -1.10 -146.6 308.4 -6.5 201 4206 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2644 3501

4515 -1.10 -146.6 329.5 -7.1 216 4519 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3782 3502

4549 -1.10 -146.6 332.1 -6.8 217 4553 0.00 2.05 0.00 0.000 6 0.000 0.052 2193 2639 3502

4870 -1.10 -146.6 354.1 -7.1 233 4871 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2639 3502

5180 -1.10 -146.6 377.5 -8.0 248 5184 0.00 2.20 0.00 0.000 4 0.000 0.086 2193 3786 3502

5225 -1.10 -146.6 381.1 -8.2 250 5229 0.00 2.05 0.00 0.000 6 0.000 0.051 2193 2641 3502

5558 -1.10 -146.6 405.7 -7.6 266 5562 0.00 2.20 0.00 0.000 4 0.000 0.085 2193 3786 3502

5604 -1.10 -146.6 409.5 -8.2 268 5608 0.00 2.05 0.00 0.000 6 0.000 0.052 2193 2641 3502

5937 -1.10 -146.6 436.7 -8.3 284 5938 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2641 3502

6246 -1.10 -146.6 460.8 -7.7 299 6249 0.00 2.17 0.00 0.000 4 0.000 0.084 2193 3779 3502

6292 -1.10 -146.6 464.5 -7.8 301 6296 0.00 2.00 0.00 0.000 6 0.000 0.049 2193 2646 3502

6624 -1.10 -146.6 492.1 -8.3 317 6625 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3502

6933 -1.10 -146.6 518.3 -8.6 332 6935 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3502

7243 -1.10 -146.6 543.9 -8.4 347 7244 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3502

7552 -1.10 -146.6 567.9 -7.7 362 7553 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3502

7862 -1.10 -146.6 589.2 -5.2 377 7865 0.00 2.17 0.00 0.000 4 0.000 0.084 2193 3780 3502

7985 -1.10 -146.6 595.4 -5.3 382 7989 0.00 2.03 0.00 0.000 6 0.000 0.051 2193 2647 3502

8307 -1.10 -146.6 614.9 -6.8 398 8308 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2647 3501

8616 -1.10 -146.6 636.1 -6.2 413 8620 0.00 2.17 0.00 0.000 4 0.000 0.087 2193 3779 3502

8723 -1.10 -146.6 643.0 -6.5 417 8729 0.00 2.03 0.00 0.000 6 0.000 0.052 2193 2646 3501

9039 -1.10 -146.6 664.4 -7.1 433 9043 0.00 2.20 0.00 0.000 4 0.000 0.088 2193 3786 3501

9078 -1.10 -146.6 667.1 -7.3 434 9084 0.00 2.05 0.00 0.000 6 0.000 0.051 2193 2635 3501

9122 end dive: BOTTOM_OBSTACLE_DETECTED

state 9123 begin apogee

9132 -0.42 0.0 670.3 7.0 437 9258 0.77 0.00 123.10 1.091 6 0.099 0.000 2346 1904 2902

9259 end apogee: CONTROL_FINISHED_OK

state 9259 begin climb

9262 1.10 146.6 675.7 0.0 443 9391 1.55 2.70 121.03 1.058 4 0.055 0.064 2679 481 2304

9535 1.12 158.4 672.3 5.7 455 9551 0.00 2.50 11.57 0.951 6 0.000 0.036 2679 1922 2256

9867 1.12 158.4 652.6 6.6 472 9869 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1922 2255

10177 1.12 158.4 632.4 6.1 487 10181 0.00 2.53 0.00 0.000 4 0.000 0.061 2679 3308 2254

10331 1.13 170.4 624.3 5.7 494 10352 0.00 2.53 11.40 0.978 6 0.000 0.047 2679 1894 2207

10662 1.13 171.9 605.2 6.0 510 10666 0.00 2.58 0.00 0.000 4 0.000 0.058 2679 3302 2206

10763 1.13 171.9 598.9 6.1 514 10770 0.00 2.53 0.00 0.000 6 0.000 0.046 2679 1889 2206

11079 1.13 171.9 580.2 6.1 530 11084 0.00 2.55 0.00 0.000 4 0.000 0.064 2679 493 2206

11181 1.17 199.6 574.5 5.2 534 11211 0.00 2.45 24.85 1.028 6 0.000 0.038 2679 1895 2088

11542 1.22 242.4 556.9 4.8 552 11585 0.12 2.62 36.47 1.025 4 0.044 0.060 2722 3306 1913

11647 1.22 242.4 549.8 7.3 556 11653 0.00 2.53 0.00 0.000 6 0.000 0.045 2722 1896 1913

11963 1.22 242.4 526.7 7.0 572 11967 0.00 2.58 0.00 0.000 4 0.000 0.061 2722 483 1913

12035 1.22 242.4 521.6 6.6 575 12039 0.00 2.47 0.00 0.000 6 0.000 0.036 2722 1900 1913

12351 1.23 251.9 502.1 5.7 590 12366 0.00 2.60 9.68 0.903 4 0.000 0.061 2722 3306 1874

12423 1.23 251.9 497.4 6.5 593 12427 0.00 2.53 0.00 0.000 6 0.000 0.045 2722 1893 1874

12744 1.23 251.9 475.7 7.0 609 12748 0.00 2.58 0.00 0.000 4 0.000 0.059 2722 3303 1874

12777 1.23 251.9 473.3 6.9 610 12783 0.00 2.50 0.00 0.000 6 0.000 0.045 2722 1889 1874

13093 1.23 251.9 449.9 7.6 626 13094 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1889 1874

13402 1.23 251.9 426.1 7.6 641 13406 0.00 2.60 0.00 0.000 4 0.000 0.062 2722 3311 1874

13474 1.23 251.9 420.8 6.9 644 13479 0.00 2.53 0.00 0.000 6 0.000 0.047 2722 1894 1874

13796 1.23 251.9 399.6 6.7 660 13800 0.00 2.55 0.00 0.000 4 0.000 0.060 2722 485 1874

13841 1.23 251.9 396.4 7.1 662 13846 0.00 2.47 0.00 0.000 6 0.000 0.036 2722 1905 1875

14169 1.23 251.9 375.3 6.5 678 14173 0.00 2.55 0.00 0.000 4 0.000 0.062 2722 3312 1875

14241 1.23 251.9 370.1 7.0 681 14245 0.00 2.53 0.00 0.000 6 0.000 0.047 2722 1894 1875

14557 1.23 251.9 346.8 7.6 696 14558 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1894 1875

14866 1.23 251.9 323.4 7.3 711 14871 0.00 2.60 0.00 0.000 4 0.000 0.062 2722 3312 1876

14922 1.23 251.9 319.0 7.4 713 14928 0.00 2.53 0.00 0.000 6 0.000 0.048 2722 1898 1876

15238 1.23 251.9 295.1 7.9 729 15239 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1898 1876

15547 1.23 251.9 267.8 9.1 744 15551 0.00 2.60 0.00 0.000 4 0.000 0.063 2722 3315 1876

15597 1.23 251.9 263.5 8.3 746 15601 0.00 2.53 0.00 0.000 6 0.000 0.048 2722 1896 1876

15918 1.23 251.9 239.2 7.5 762 15923 0.00 2.60 0.00 0.000 4 0.000 0.064 2722 3312 1876

15942 1.23 251.9 237.3 8.4 763 15946 0.00 2.53 0.00 0.000 6 0.000 0.048 2722 1896 1876

16263 1.23 251.9 210.2 8.0 779 16267 0.00 2.60 0.00 0.000 4 0.000 0.065 2722 3308 1877

16290 1.23 251.9 207.8 8.3 780 16294 0.00 2.53 0.00 0.000 6 0.000 0.049 2722 1896 1876

16606 1.23 251.9 182.9 7.3 795 16610 0.00 2.60 0.00 0.000 4 0.000 0.064 2722 3309 1877

16639 1.23 251.9 180.0 8.4 796 16645 0.00 2.53 0.00 0.000 6 0.000 0.050 2722 1896 1877

16954 1.23 251.9 154.9 7.4 812 16956 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1895 1877

17264 1.23 251.9 128.5 9.4 827 17266 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1896 1877

17573 1.23 251.9 98.1 10.5 842 17578 0.00 2.60 0.00 0.000 4 0.000 0.064 2722 3309 1877

17613 1.23 251.9 93.9 10.0 844 17618 0.00 2.53 0.00 0.000 6 0.000 0.051 2722 1898 1877

17941 1.23 251.9 63.4 8.9 860 17942 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1898 1877

18250 1.23 251.9 37.2 7.9 875 18254 0.00 2.60 0.00 0.000 4 0.000 0.066 2722 3311 1877

18300 1.23 251.9 33.2 7.6 877 18304 0.00 2.55 0.00 0.000 6 0.000 0.052 2722 1892 1877

18616 1.23 251.9 9.4 7.5 892 18617 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1892 1878

18716 end climb: SURFACE_DEPTH_REACHED

state 18716 begin surface coast

18738 end surface coast: CONTROL_FINISHED_OK

state 18738 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	56	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	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	16	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-144041.2	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	231836,6200.604,-936.604,39,1.7,50,-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	-0.198,0.092
_SM_DEPTHo	1.00	KALMAN_X	38669.1,53.4,921.7,-46027.0,13055.7
_SM_ANGLEo	-58.0	KALMAN_Y	-89362.5,-449.0,-694.4,181874.7,-7455.4
GPS2	232431,6200.568,-936.454,16,1.3,33,-9.7	MHEAD_RNG_PITCHd_Wd	304.6,14329,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.027433	ALTIM_BOTTOM_PING	600.5,79.8
SM_CCo	18823,0.00,0.000,0,0,1877,251.43	_24V_AH	23.4,17.800
SM_GC	1.34,11.75,0.00,0.00,0.031,0.000,0.000,51,2645,1877,-10.93,-0.14,251.43	_10V_AH	10.1,8.535
IRIDIUM_FIX	6139.81,-936.03,290598,181838	DATA_FILE_SIZE	44300,898
TT8_MAMPS	0.028379	CAP_FILE_SIZE	130384,0
HUMID	1766	CFSIZE	260165632,254394368
INTERNAL_PRESSURE	8.59408	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	050309,044055,6201.354,-935.356,71,1.0,71,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	100.74	SBE_CT	626	24	352.10
Roll_motor	149	97	341.68	SBE_O2	661	19	294.29
VBD_pump_during_apogee	338	1091	8634.98	WL_BB2F	547	105	1344.42
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	61.97	nil	0	0	0.00
Iridium_during_connect	35	160	133.67	nil	0	0	0.00
Iridium_during_xfer	145	223	759.28
Transponder_ping	5	420	49.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.98
TT8	1638	19	327.66
LPSleep	14533	2	321.47
TT8_Active	453	19	90.67
TT8_Sampling	2006	39	806.38
TT8_CF8	544	45	251.72
TT8_Kalman	33	81	27.56
Analog_circuits	1456	12	176.48
GPS_charging	0	0	0.00
Compass	1948	8	157.44
RAFOS	0	0	0.00
Transponder	35	30	10.63

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	79	0.00	0.00	-61.55	0.000	2	0.000	0.000	43	2640	3396
82	-1.10	-146.6	4.3	-7.9	3	104	12.27	2.22	-1.73	0.000	4	0.163	0.097	2193	3775	3502
155	-1.10	-146.6	16.9	-6.6	6	159	0.00	2.08	0.00	0.000	6	0.000	0.063	2193	2654	3502
484	-1.10	-146.6	46.3	-11.0	22	485	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2653	3502
792	-1.10	-146.6	67.2	-3.7	37	796	0.00	2.20	0.00	0.000	4	0.000	0.090	2193	3782	3502
876	-1.10	-146.6	72.3	-7.3	40	883	0.00	2.10	0.00	0.000	6	0.000	0.056	2193	2643	3502
1193	-1.10	-146.6	88.0	-4.7	56	1194	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3502
1502	-1.10	-146.6	114.1	-12.0	71	1505	0.00	2.22	0.00	0.000	4	0.000	0.091	2193	3783	3502
1530	-1.10	-146.6	117.2	-10.9	72	1533	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2649	3502
1857	-1.10	-146.6	140.7	-6.0	88	1858	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2649	3502
2166	-1.10	-146.6	165.0	-6.6	103	2169	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3783	3501
2199	-1.10	-146.6	167.3	-6.6	104	2203	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2647	3502
2521	-1.10	-146.6	189.6	-7.4	120	2525	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3783	3501
2567	-1.10	-146.6	192.3	-5.3	122	2571	0.00	2.05	0.00	0.000	6	0.000	0.055	2193	2648	3502
2900	-1.10	-146.6	217.8	-7.4	138	2901	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2648	3502
3209	-1.10	-146.6	240.1	-6.6	153	3210	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2648	3501
3518	-1.10	-146.6	263.5	-6.9	168	3522	0.00	2.20	0.00	0.000	4	0.000	0.092	2193	3779	3502
3574	-1.10	-146.6	267.5	-6.4	170	3578	0.00	2.03	0.00	0.000	6	0.000	0.054	2193	2645	3501
3896	-1.10	-146.6	288.8	-6.8	186	3897	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2644	3502
4205	-1.10	-146.6	308.4	-6.5	201	4206	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2644	3501
4515	-1.10	-146.6	329.5	-7.1	216	4519	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3782	3502
4549	-1.10	-146.6	332.1	-6.8	217	4553	0.00	2.05	0.00	0.000	6	0.000	0.052	2193	2639	3502
4870	-1.10	-146.6	354.1	-7.1	233	4871	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2639	3502
5180	-1.10	-146.6	377.5	-8.0	248	5184	0.00	2.20	0.00	0.000	4	0.000	0.086	2193	3786	3502
5225	-1.10	-146.6	381.1	-8.2	250	5229	0.00	2.05	0.00	0.000	6	0.000	0.051	2193	2641	3502
5558	-1.10	-146.6	405.7	-7.6	266	5562	0.00	2.20	0.00	0.000	4	0.000	0.085	2193	3786	3502
5604	-1.10	-146.6	409.5	-8.2	268	5608	0.00	2.05	0.00	0.000	6	0.000	0.052	2193	2641	3502
5937	-1.10	-146.6	436.7	-8.3	284	5938	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2641	3502
6246	-1.10	-146.6	460.8	-7.7	299	6249	0.00	2.17	0.00	0.000	4	0.000	0.084	2193	3779	3502
6292	-1.10	-146.6	464.5	-7.8	301	6296	0.00	2.00	0.00	0.000	6	0.000	0.049	2193	2646	3502
6624	-1.10	-146.6	492.1	-8.3	317	6625	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3502
6933	-1.10	-146.6	518.3	-8.6	332	6935	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3502
7243	-1.10	-146.6	543.9	-8.4	347	7244	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3502
7552	-1.10	-146.6	567.9	-7.7	362	7553	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3502
7862	-1.10	-146.6	589.2	-5.2	377	7865	0.00	2.17	0.00	0.000	4	0.000	0.084	2193	3780	3502
7985	-1.10	-146.6	595.4	-5.3	382	7989	0.00	2.03	0.00	0.000	6	0.000	0.051	2193	2647	3502
8307	-1.10	-146.6	614.9	-6.8	398	8308	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2647	3501
8616	-1.10	-146.6	636.1	-6.2	413	8620	0.00	2.17	0.00	0.000	4	0.000	0.087	2193	3779	3502
8723	-1.10	-146.6	643.0	-6.5	417	8729	0.00	2.03	0.00	0.000	6	0.000	0.052	2193	2646	3501
9039	-1.10	-146.6	664.4	-7.1	433	9043	0.00	2.20	0.00	0.000	4	0.000	0.088	2193	3786	3501
9078	-1.10	-146.6	667.1	-7.3	434	9084	0.00	2.05	0.00	0.000	6	0.000	0.051	2193	2635	3501
9122	end dive: BOTTOM_OBSTACLE_DETECTED
state	9123	begin apogee
9132	-0.42	0.0	670.3	7.0	437	9258	0.77	0.00	123.10	1.091	6	0.099	0.000	2346	1904	2902
9259	end apogee: CONTROL_FINISHED_OK
state	9259	begin climb
9262	1.10	146.6	675.7	0.0	443	9391	1.55	2.70	121.03	1.058	4	0.055	0.064	2679	481	2304
9535	1.12	158.4	672.3	5.7	455	9551	0.00	2.50	11.57	0.951	6	0.000	0.036	2679	1922	2256
9867	1.12	158.4	652.6	6.6	472	9869	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1922	2255
10177	1.12	158.4	632.4	6.1	487	10181	0.00	2.53	0.00	0.000	4	0.000	0.061	2679	3308	2254
10331	1.13	170.4	624.3	5.7	494	10352	0.00	2.53	11.40	0.978	6	0.000	0.047	2679	1894	2207
10662	1.13	171.9	605.2	6.0	510	10666	0.00	2.58	0.00	0.000	4	0.000	0.058	2679	3302	2206
10763	1.13	171.9	598.9	6.1	514	10770	0.00	2.53	0.00	0.000	6	0.000	0.046	2679	1889	2206
11079	1.13	171.9	580.2	6.1	530	11084	0.00	2.55	0.00	0.000	4	0.000	0.064	2679	493	2206
11181	1.17	199.6	574.5	5.2	534	11211	0.00	2.45	24.85	1.028	6	0.000	0.038	2679	1895	2088
11542	1.22	242.4	556.9	4.8	552	11585	0.12	2.62	36.47	1.025	4	0.044	0.060	2722	3306	1913
11647	1.22	242.4	549.8	7.3	556	11653	0.00	2.53	0.00	0.000	6	0.000	0.045	2722	1896	1913
11963	1.22	242.4	526.7	7.0	572	11967	0.00	2.58	0.00	0.000	4	0.000	0.061	2722	483	1913
12035	1.22	242.4	521.6	6.6	575	12039	0.00	2.47	0.00	0.000	6	0.000	0.036	2722	1900	1913
12351	1.23	251.9	502.1	5.7	590	12366	0.00	2.60	9.68	0.903	4	0.000	0.061	2722	3306	1874
12423	1.23	251.9	497.4	6.5	593	12427	0.00	2.53	0.00	0.000	6	0.000	0.045	2722	1893	1874
12744	1.23	251.9	475.7	7.0	609	12748	0.00	2.58	0.00	0.000	4	0.000	0.059	2722	3303	1874
12777	1.23	251.9	473.3	6.9	610	12783	0.00	2.50	0.00	0.000	6	0.000	0.045	2722	1889	1874
13093	1.23	251.9	449.9	7.6	626	13094	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1889	1874
13402	1.23	251.9	426.1	7.6	641	13406	0.00	2.60	0.00	0.000	4	0.000	0.062	2722	3311	1874
13474	1.23	251.9	420.8	6.9	644	13479	0.00	2.53	0.00	0.000	6	0.000	0.047	2722	1894	1874
13796	1.23	251.9	399.6	6.7	660	13800	0.00	2.55	0.00	0.000	4	0.000	0.060	2722	485	1874
13841	1.23	251.9	396.4	7.1	662	13846	0.00	2.47	0.00	0.000	6	0.000	0.036	2722	1905	1875
14169	1.23	251.9	375.3	6.5	678	14173	0.00	2.55	0.00	0.000	4	0.000	0.062	2722	3312	1875
14241	1.23	251.9	370.1	7.0	681	14245	0.00	2.53	0.00	0.000	6	0.000	0.047	2722	1894	1875
14557	1.23	251.9	346.8	7.6	696	14558	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1894	1875
14866	1.23	251.9	323.4	7.3	711	14871	0.00	2.60	0.00	0.000	4	0.000	0.062	2722	3312	1876
14922	1.23	251.9	319.0	7.4	713	14928	0.00	2.53	0.00	0.000	6	0.000	0.048	2722	1898	1876
15238	1.23	251.9	295.1	7.9	729	15239	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1898	1876
15547	1.23	251.9	267.8	9.1	744	15551	0.00	2.60	0.00	0.000	4	0.000	0.063	2722	3315	1876
15597	1.23	251.9	263.5	8.3	746	15601	0.00	2.53	0.00	0.000	6	0.000	0.048	2722	1896	1876
15918	1.23	251.9	239.2	7.5	762	15923	0.00	2.60	0.00	0.000	4	0.000	0.064	2722	3312	1876
15942	1.23	251.9	237.3	8.4	763	15946	0.00	2.53	0.00	0.000	6	0.000	0.048	2722	1896	1876
16263	1.23	251.9	210.2	8.0	779	16267	0.00	2.60	0.00	0.000	4	0.000	0.065	2722	3308	1877
16290	1.23	251.9	207.8	8.3	780	16294	0.00	2.53	0.00	0.000	6	0.000	0.049	2722	1896	1876
16606	1.23	251.9	182.9	7.3	795	16610	0.00	2.60	0.00	0.000	4	0.000	0.064	2722	3309	1877
16639	1.23	251.9	180.0	8.4	796	16645	0.00	2.53	0.00	0.000	6	0.000	0.050	2722	1896	1877
16954	1.23	251.9	154.9	7.4	812	16956	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1895	1877
17264	1.23	251.9	128.5	9.4	827	17266	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1896	1877
17573	1.23	251.9	98.1	10.5	842	17578	0.00	2.60	0.00	0.000	4	0.000	0.064	2722	3309	1877
17613	1.23	251.9	93.9	10.0	844	17618	0.00	2.53	0.00	0.000	6	0.000	0.051	2722	1898	1877
17941	1.23	251.9	63.4	8.9	860	17942	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1898	1877
18250	1.23	251.9	37.2	7.9	875	18254	0.00	2.60	0.00	0.000	4	0.000	0.066	2722	3311	1877
18300	1.23	251.9	33.2	7.6	877	18304	0.00	2.55	0.00	0.000	6	0.000	0.052	2722	1892	1877
18616	1.23	251.9	9.4	7.5	892	18617	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1892	1878
18716	end climb: SURFACE_DEPTH_REACHED
state	18716	begin surface coast
18738	end surface coast: CONTROL_FINISHED_OK
state	18738	begin surface