Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 57 * 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 57 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 15 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 -144071.98 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 -144071.98

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 15 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 57 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 044055,6201.354,-935.356,71,1.0,71,-9.7 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.215,0.038

_SM_DEPTHo 1.20 KALMAN_X 47921.3,-690.8,-576.8,-51968.9,22086.4

_SM_ANGLEo -58.4 KALMAN_Y -91885.4,705.6,-321.7,184272.8,-9010.3

GPS2 044701,6201.343,-935.282,13,2.0,30,-9.7 MHEAD_RNG_PITCHd_Wd 289.8,14447,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.013075 ALTIM_BOTTOM_PING 601.2,61.3

SM_CCo 17682,0.00,0.000,0,0,1753,281.85 _24V_AH 23.4,17.919

SM_GC 1.10,12.12,0.00,0.00,0.035,0.000,0.000,51,2652,1753,-10.93,0.06,281.85 _10V_AH 10.1,8.620

IRIDIUM_FIX 6139.81,-931.51,290598,232325 DATA_FILE_SIZE 44198,844

TT8_MAMPS 0.028379 CAP_FILE_SIZE 129277,0

HUMID 1755 CFSIZE 260165632,254328832

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 GPS 050309,094445,6200.088,-936.345,72,2.1,91,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 100.33 SBE_CT 591 24 332.32

Roll_motor 160 106 399.53 SBE_O2 619 19 275.65

VBD_pump_during_apogee 362 1072 9095.50 WL_BB2F 548 105 1348.54

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 31 103 74.86 nil 0 0 0.00

Iridium_during_connect 29 160 109.30 nil 0 0 0.00

Iridium_during_xfer 161 223 841.50

Transponder_ping 5 420 51.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.23

TT8 1572 19 314.45

LPSleep 13457 2 297.68

TT8_Active 458 19 91.73

TT8_Sampling 2005 39 806.34

TT8_CF8 549 45 254.00

TT8_Kalman 33 81 27.59

Analog_circuits 1465 12 177.66

GPS_charging 0 0 0.00

Compass 1949 8 157.49

RAFOS 0 0 0.00

Transponder 38 30 11.51

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 -41.80 0.000 2 0.000 0.000 50 2650 3242

62 -1.10 -146.6 3.8 -10.9 2 85 12.12 2.20 -4.43 0.000 4 0.160 0.107 2192 3779 3501

338 -1.10 -146.6 33.9 -9.0 14 342 0.00 2.08 0.00 0.000 6 0.000 0.061 2192 2653 3501

666 -1.10 -146.6 58.9 -9.4 30 670 0.00 2.20 0.00 0.000 4 0.000 0.092 2193 3779 3501

923 -1.10 -146.6 80.9 -7.5 41 930 0.00 2.05 0.00 0.000 6 0.000 0.057 2192 2642 3501

1239 -1.10 -146.6 102.3 -8.1 57 1243 0.00 2.22 0.00 0.000 4 0.000 0.090 2192 3786 3501

1376 -1.10 -146.6 112.3 -7.5 63 1380 0.00 2.05 0.00 0.000 6 0.000 0.054 2192 2652 3501

1709 -1.10 -146.6 140.0 -9.4 79 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2651 3501

2018 -1.10 -146.6 165.4 -8.9 94 2019 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2651 3501

2327 -1.10 -146.6 192.5 -9.6 109 2328 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2651 3501

2637 -1.10 -146.6 220.2 -8.9 124 2641 0.00 2.17 0.00 0.000 4 0.000 0.089 2192 3784 3501

2670 -1.10 -146.6 223.4 -9.5 125 2674 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2646 3501

2992 -1.10 -146.6 248.5 -7.9 141 2993 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3501

3301 -1.10 -146.6 274.4 -8.5 156 3305 0.00 2.20 0.00 0.000 4 0.000 0.087 2192 3786 3501

3340 -1.10 -146.6 277.8 -8.7 157 3346 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2647 3501

3656 -1.10 -146.6 302.1 -7.0 173 3657 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2646 3502

3965 -1.10 -146.6 323.4 -6.9 188 3969 0.00 2.20 0.00 0.000 4 0.000 0.089 2192 3782 3502

4004 -1.10 -146.6 326.2 -7.4 189 4010 0.00 2.05 0.00 0.000 6 0.000 0.054 2192 2635 3502

4320 -1.10 -146.6 349.2 -7.3 205 4321 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2635 3502

4629 -1.10 -146.6 373.4 -8.1 220 4633 0.00 2.20 0.00 0.000 4 0.000 0.084 2193 3782 3502

4680 -1.10 -146.6 377.7 -8.1 222 4683 0.00 2.03 0.00 0.000 6 0.000 0.052 2193 2652 3502

5007 -1.10 -146.6 404.7 -8.2 238 5008 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3502

5316 -1.10 -146.6 428.8 -7.5 253 5319 0.00 2.17 0.00 0.000 4 0.000 0.084 2192 3789 3502

5366 -1.10 -146.6 433.2 -8.9 255 5370 0.00 2.05 0.00 0.000 6 0.000 0.054 2192 2647 3502

5694 -1.10 -146.6 459.8 -7.7 271 5695 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2648 3502

6003 -1.10 -146.6 483.3 -8.0 286 6006 0.00 2.17 0.00 0.000 4 0.000 0.085 2193 3782 3502

6042 -1.10 -146.6 486.7 -8.8 287 6048 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2640 3502

6358 -1.10 -146.6 510.8 -7.4 303 6361 0.00 2.20 0.00 0.000 4 0.000 0.085 2193 3787 3502

6427 -1.10 -146.6 516.1 -8.4 306 6430 0.00 2.05 0.00 0.000 6 0.000 0.053 2193 2643 3502

6759 -1.10 -146.6 539.9 -7.0 322 6763 0.00 2.17 0.00 0.000 4 0.000 0.084 2193 3780 3502

6798 -1.10 -146.6 542.8 -7.8 323 6804 0.00 2.03 0.00 0.000 6 0.000 0.051 2193 2642 3502

7114 -1.10 -146.6 564.2 -6.6 339 7118 0.00 2.17 0.00 0.000 4 0.000 0.085 2193 3779 3502

7176 -1.10 -146.6 568.4 -6.8 341 7182 0.00 2.03 0.00 0.000 6 0.000 0.054 2193 2653 3502

7492 -1.10 -146.6 590.5 -7.2 357 7496 0.00 2.58 0.00 0.000 4 0.000 0.067 2192 1233 3502

7541 -1.10 -146.6 594.4 -7.5 359 7546 0.00 2.58 0.00 0.000 6 0.000 0.060 2192 2647 3502

7857 -1.10 -146.6 619.5 -8.3 374 7858 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2648 3502

8167 -1.10 -146.6 643.3 -7.0 389 8170 0.00 2.17 0.00 0.000 4 0.000 0.090 2193 3785 3502

8245 -1.10 -146.6 648.6 -5.9 392 8249 0.00 2.05 0.00 0.000 6 0.000 0.052 2192 2641 3501

8317 end dive: BOTTOM_OBSTACLE_DETECTED

state 8317 begin apogee

8326 -0.42 0.0 653.7 7.3 396 8452 0.77 0.00 123.07 1.072 6 0.095 0.000 2346 1893 2902

8453 end apogee: CONTROL_FINISHED_OK

state 8453 begin climb

8456 1.10 146.6 657.8 0.0 402 8588 1.55 2.67 121.35 1.045 4 0.059 0.064 2678 479 2303

8690 1.15 188.2 654.7 4.9 413 8733 0.00 2.53 35.58 1.013 6 0.000 0.035 2678 1921 2134

9042 1.15 188.2 631.6 6.9 430 9046 0.00 2.53 0.00 0.000 4 0.000 0.060 2678 3303 2133

9204 1.15 188.2 620.7 6.5 437 9209 0.00 2.55 0.00 0.000 6 0.000 0.046 2678 1884 2133

9526 1.19 214.8 602.0 5.3 453 9555 0.00 2.67 22.98 1.020 4 0.000 0.066 2678 491 2026

9609 1.21 231.1 597.4 5.5 456 9630 0.12 2.50 14.98 0.986 6 0.044 0.039 2721 1899 1959

9943 1.24 255.6 578.2 5.3 472 9972 0.00 2.62 21.52 1.012 4 0.000 0.061 2721 3304 1859

9990 1.24 255.6 575.2 6.0 474 9994 0.00 2.55 0.00 0.000 6 0.000 0.046 2721 1896 1859

10311 1.24 255.6 554.3 7.2 490 10315 0.00 2.60 0.00 0.000 4 0.000 0.058 2721 3314 1858

10389 1.24 255.6 548.6 7.2 493 10395 0.00 2.53 0.00 0.000 6 0.000 0.044 2721 1896 1858

10704 1.24 255.6 525.5 7.9 509 10706 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1896 1858

11014 1.24 255.6 501.1 7.7 524 11018 0.00 2.58 0.00 0.000 4 0.000 0.060 2722 3304 1858

11082 1.24 255.6 495.4 8.2 527 11086 0.00 2.50 0.00 0.000 6 0.000 0.045 2721 1897 1859

11409 1.24 255.6 471.0 7.5 543 11413 0.00 2.58 0.00 0.000 4 0.000 0.060 2721 3303 1859

11471 1.24 255.6 466.2 7.3 546 11476 0.00 2.50 0.00 0.000 6 0.000 0.047 2721 1901 1859

11798 1.24 255.6 441.8 7.7 562 11803 0.00 2.58 0.00 0.000 4 0.000 0.061 2721 3305 1859

11843 1.24 255.6 438.0 7.9 564 11847 0.00 2.50 0.00 0.000 6 0.000 0.047 2721 1901 1859

12164 1.24 255.6 411.2 8.2 580 12168 0.00 2.58 0.00 0.000 4 0.000 0.062 2721 3304 1859

12208 1.24 255.6 407.4 8.1 582 12212 0.00 2.50 0.00 0.000 6 0.000 0.047 2721 1899 1859

12534 1.24 255.6 380.6 8.4 598 12539 0.00 2.58 0.00 0.000 4 0.000 0.062 2721 3305 1859

12579 1.24 255.6 376.7 8.8 600 12584 0.00 2.53 0.00 0.000 6 0.000 0.048 2721 1894 1859

12901 1.24 255.6 350.9 8.0 616 12902 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1894 1860

13210 1.24 255.6 328.3 7.5 631 13215 0.00 2.60 0.00 0.000 4 0.000 0.064 2721 3306 1860

13255 1.24 255.6 325.1 7.6 633 13260 0.00 2.53 0.00 0.000 6 0.000 0.050 2721 1900 1860

13577 1.24 255.6 299.9 8.2 649 13581 0.00 2.58 0.00 0.000 4 0.000 0.064 2721 3304 1860

13617 1.24 255.6 296.4 9.2 651 13621 0.00 2.53 0.00 0.000 6 0.000 0.051 2721 1896 1860

13943 1.24 255.6 267.4 8.6 667 13948 0.00 2.60 0.00 0.000 4 0.000 0.065 2721 3305 1861

13965 1.24 255.6 265.4 8.7 668 13970 0.00 2.53 0.00 0.000 6 0.000 0.050 2721 1898 1861

14287 1.24 255.6 239.3 8.4 684 14291 0.00 2.60 0.00 0.000 4 0.000 0.064 2721 3309 1861

14320 1.24 255.6 236.6 7.6 685 14326 0.00 2.53 0.00 0.000 6 0.000 0.051 2721 1892 1861

14636 1.24 255.6 211.4 8.0 701 14637 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1892 1861

14946 1.24 255.6 185.6 8.5 716 14950 0.00 2.60 0.00 0.000 4 0.000 0.067 2721 3303 1861

14990 1.24 255.6 182.1 7.1 718 14994 0.00 2.53 0.00 0.000 6 0.000 0.052 2721 1901 1861

15316 1.24 255.6 156.1 8.3 734 15317 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1901 1861

15626 1.24 255.6 130.3 7.9 749 15631 0.00 2.60 0.00 0.000 4 0.000 0.066 2721 3311 1861

15660 1.24 255.6 128.0 6.7 750 15666 0.00 2.53 0.00 0.000 6 0.000 0.049 2721 1890 1861

15978 1.24 255.6 106.0 6.1 766 15982 0.00 2.55 0.00 0.000 4 0.000 0.064 2721 489 1862

16022 1.24 255.6 102.0 8.3 768 16027 0.00 2.47 0.00 0.000 6 0.000 0.039 2722 1900 1862

16344 1.24 255.6 74.9 8.4 784 16345 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1901 1862

16653 1.24 255.6 52.6 8.6 799 16657 0.00 2.58 0.00 0.000 4 0.000 0.065 2721 3314 1862

16680 1.24 255.6 50.4 9.0 800 16684 0.00 2.58 0.00 0.000 6 0.000 0.055 2721 1888 1862

16996 1.24 255.6 25.1 6.5 815 17000 0.00 2.53 0.00 0.000 4 0.000 0.057 2721 482 1862

17114 1.26 273.8 18.5 5.5 820 17135 0.00 2.50 16.17 0.659 6 0.000 0.038 2721 1911 1785

17452 1.49 460.0 2.5 0.8 837 17461 0.17 0.00 6.85 0.589 2 0.048 0.000 2778 1917 1753

17462 end climb: SURFACE_DEPTH_REACHED

state 17462 begin surface coast

17596 end surface coast: CONTROL_FINISHED_OK

state 17597 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	57	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	15	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	-144071.98	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	044055,6201.354,-935.356,71,1.0,71,-9.7	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.215,0.038
_SM_DEPTHo	1.20	KALMAN_X	47921.3,-690.8,-576.8,-51968.9,22086.4
_SM_ANGLEo	-58.4	KALMAN_Y	-91885.4,705.6,-321.7,184272.8,-9010.3
GPS2	044701,6201.343,-935.282,13,2.0,30,-9.7	MHEAD_RNG_PITCHd_Wd	289.8,14447,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.013075	ALTIM_BOTTOM_PING	601.2,61.3
SM_CCo	17682,0.00,0.000,0,0,1753,281.85	_24V_AH	23.4,17.919
SM_GC	1.10,12.12,0.00,0.00,0.035,0.000,0.000,51,2652,1753,-10.93,0.06,281.85	_10V_AH	10.1,8.620
IRIDIUM_FIX	6139.81,-931.51,290598,232325	DATA_FILE_SIZE	44198,844
TT8_MAMPS	0.028379	CAP_FILE_SIZE	129277,0
HUMID	1755	CFSIZE	260165632,254328832
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	050309,094445,6200.088,-936.345,72,2.1,91,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	100.33	SBE_CT	591	24	332.32
Roll_motor	160	106	399.53	SBE_O2	619	19	275.65
VBD_pump_during_apogee	362	1072	9095.50	WL_BB2F	548	105	1348.54
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	31	103	74.86	nil	0	0	0.00
Iridium_during_connect	29	160	109.30	nil	0	0	0.00
Iridium_during_xfer	161	223	841.50
Transponder_ping	5	420	51.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.23
TT8	1572	19	314.45
LPSleep	13457	2	297.68
TT8_Active	458	19	91.73
TT8_Sampling	2005	39	806.34
TT8_CF8	549	45	254.00
TT8_Kalman	33	81	27.59
Analog_circuits	1465	12	177.66
GPS_charging	0	0	0.00
Compass	1949	8	157.49
RAFOS	0	0	0.00
Transponder	38	30	11.51

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	-41.80	0.000	2	0.000	0.000	50	2650	3242
62	-1.10	-146.6	3.8	-10.9	2	85	12.12	2.20	-4.43	0.000	4	0.160	0.107	2192	3779	3501
338	-1.10	-146.6	33.9	-9.0	14	342	0.00	2.08	0.00	0.000	6	0.000	0.061	2192	2653	3501
666	-1.10	-146.6	58.9	-9.4	30	670	0.00	2.20	0.00	0.000	4	0.000	0.092	2193	3779	3501
923	-1.10	-146.6	80.9	-7.5	41	930	0.00	2.05	0.00	0.000	6	0.000	0.057	2192	2642	3501
1239	-1.10	-146.6	102.3	-8.1	57	1243	0.00	2.22	0.00	0.000	4	0.000	0.090	2192	3786	3501
1376	-1.10	-146.6	112.3	-7.5	63	1380	0.00	2.05	0.00	0.000	6	0.000	0.054	2192	2652	3501
1709	-1.10	-146.6	140.0	-9.4	79	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2651	3501
2018	-1.10	-146.6	165.4	-8.9	94	2019	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2651	3501
2327	-1.10	-146.6	192.5	-9.6	109	2328	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2651	3501
2637	-1.10	-146.6	220.2	-8.9	124	2641	0.00	2.17	0.00	0.000	4	0.000	0.089	2192	3784	3501
2670	-1.10	-146.6	223.4	-9.5	125	2674	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2646	3501
2992	-1.10	-146.6	248.5	-7.9	141	2993	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3501
3301	-1.10	-146.6	274.4	-8.5	156	3305	0.00	2.20	0.00	0.000	4	0.000	0.087	2192	3786	3501
3340	-1.10	-146.6	277.8	-8.7	157	3346	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2647	3501
3656	-1.10	-146.6	302.1	-7.0	173	3657	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2646	3502
3965	-1.10	-146.6	323.4	-6.9	188	3969	0.00	2.20	0.00	0.000	4	0.000	0.089	2192	3782	3502
4004	-1.10	-146.6	326.2	-7.4	189	4010	0.00	2.05	0.00	0.000	6	0.000	0.054	2192	2635	3502
4320	-1.10	-146.6	349.2	-7.3	205	4321	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2635	3502
4629	-1.10	-146.6	373.4	-8.1	220	4633	0.00	2.20	0.00	0.000	4	0.000	0.084	2193	3782	3502
4680	-1.10	-146.6	377.7	-8.1	222	4683	0.00	2.03	0.00	0.000	6	0.000	0.052	2193	2652	3502
5007	-1.10	-146.6	404.7	-8.2	238	5008	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3502
5316	-1.10	-146.6	428.8	-7.5	253	5319	0.00	2.17	0.00	0.000	4	0.000	0.084	2192	3789	3502
5366	-1.10	-146.6	433.2	-8.9	255	5370	0.00	2.05	0.00	0.000	6	0.000	0.054	2192	2647	3502
5694	-1.10	-146.6	459.8	-7.7	271	5695	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2648	3502
6003	-1.10	-146.6	483.3	-8.0	286	6006	0.00	2.17	0.00	0.000	4	0.000	0.085	2193	3782	3502
6042	-1.10	-146.6	486.7	-8.8	287	6048	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2640	3502
6358	-1.10	-146.6	510.8	-7.4	303	6361	0.00	2.20	0.00	0.000	4	0.000	0.085	2193	3787	3502
6427	-1.10	-146.6	516.1	-8.4	306	6430	0.00	2.05	0.00	0.000	6	0.000	0.053	2193	2643	3502
6759	-1.10	-146.6	539.9	-7.0	322	6763	0.00	2.17	0.00	0.000	4	0.000	0.084	2193	3780	3502
6798	-1.10	-146.6	542.8	-7.8	323	6804	0.00	2.03	0.00	0.000	6	0.000	0.051	2193	2642	3502
7114	-1.10	-146.6	564.2	-6.6	339	7118	0.00	2.17	0.00	0.000	4	0.000	0.085	2193	3779	3502
7176	-1.10	-146.6	568.4	-6.8	341	7182	0.00	2.03	0.00	0.000	6	0.000	0.054	2193	2653	3502
7492	-1.10	-146.6	590.5	-7.2	357	7496	0.00	2.58	0.00	0.000	4	0.000	0.067	2192	1233	3502
7541	-1.10	-146.6	594.4	-7.5	359	7546	0.00	2.58	0.00	0.000	6	0.000	0.060	2192	2647	3502
7857	-1.10	-146.6	619.5	-8.3	374	7858	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2648	3502
8167	-1.10	-146.6	643.3	-7.0	389	8170	0.00	2.17	0.00	0.000	4	0.000	0.090	2193	3785	3502
8245	-1.10	-146.6	648.6	-5.9	392	8249	0.00	2.05	0.00	0.000	6	0.000	0.052	2192	2641	3501
8317	end dive: BOTTOM_OBSTACLE_DETECTED
state	8317	begin apogee
8326	-0.42	0.0	653.7	7.3	396	8452	0.77	0.00	123.07	1.072	6	0.095	0.000	2346	1893	2902
8453	end apogee: CONTROL_FINISHED_OK
state	8453	begin climb
8456	1.10	146.6	657.8	0.0	402	8588	1.55	2.67	121.35	1.045	4	0.059	0.064	2678	479	2303
8690	1.15	188.2	654.7	4.9	413	8733	0.00	2.53	35.58	1.013	6	0.000	0.035	2678	1921	2134
9042	1.15	188.2	631.6	6.9	430	9046	0.00	2.53	0.00	0.000	4	0.000	0.060	2678	3303	2133
9204	1.15	188.2	620.7	6.5	437	9209	0.00	2.55	0.00	0.000	6	0.000	0.046	2678	1884	2133
9526	1.19	214.8	602.0	5.3	453	9555	0.00	2.67	22.98	1.020	4	0.000	0.066	2678	491	2026
9609	1.21	231.1	597.4	5.5	456	9630	0.12	2.50	14.98	0.986	6	0.044	0.039	2721	1899	1959
9943	1.24	255.6	578.2	5.3	472	9972	0.00	2.62	21.52	1.012	4	0.000	0.061	2721	3304	1859
9990	1.24	255.6	575.2	6.0	474	9994	0.00	2.55	0.00	0.000	6	0.000	0.046	2721	1896	1859
10311	1.24	255.6	554.3	7.2	490	10315	0.00	2.60	0.00	0.000	4	0.000	0.058	2721	3314	1858
10389	1.24	255.6	548.6	7.2	493	10395	0.00	2.53	0.00	0.000	6	0.000	0.044	2721	1896	1858
10704	1.24	255.6	525.5	7.9	509	10706	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1896	1858
11014	1.24	255.6	501.1	7.7	524	11018	0.00	2.58	0.00	0.000	4	0.000	0.060	2722	3304	1858
11082	1.24	255.6	495.4	8.2	527	11086	0.00	2.50	0.00	0.000	6	0.000	0.045	2721	1897	1859
11409	1.24	255.6	471.0	7.5	543	11413	0.00	2.58	0.00	0.000	4	0.000	0.060	2721	3303	1859
11471	1.24	255.6	466.2	7.3	546	11476	0.00	2.50	0.00	0.000	6	0.000	0.047	2721	1901	1859
11798	1.24	255.6	441.8	7.7	562	11803	0.00	2.58	0.00	0.000	4	0.000	0.061	2721	3305	1859
11843	1.24	255.6	438.0	7.9	564	11847	0.00	2.50	0.00	0.000	6	0.000	0.047	2721	1901	1859
12164	1.24	255.6	411.2	8.2	580	12168	0.00	2.58	0.00	0.000	4	0.000	0.062	2721	3304	1859
12208	1.24	255.6	407.4	8.1	582	12212	0.00	2.50	0.00	0.000	6	0.000	0.047	2721	1899	1859
12534	1.24	255.6	380.6	8.4	598	12539	0.00	2.58	0.00	0.000	4	0.000	0.062	2721	3305	1859
12579	1.24	255.6	376.7	8.8	600	12584	0.00	2.53	0.00	0.000	6	0.000	0.048	2721	1894	1859
12901	1.24	255.6	350.9	8.0	616	12902	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1894	1860
13210	1.24	255.6	328.3	7.5	631	13215	0.00	2.60	0.00	0.000	4	0.000	0.064	2721	3306	1860
13255	1.24	255.6	325.1	7.6	633	13260	0.00	2.53	0.00	0.000	6	0.000	0.050	2721	1900	1860
13577	1.24	255.6	299.9	8.2	649	13581	0.00	2.58	0.00	0.000	4	0.000	0.064	2721	3304	1860
13617	1.24	255.6	296.4	9.2	651	13621	0.00	2.53	0.00	0.000	6	0.000	0.051	2721	1896	1860
13943	1.24	255.6	267.4	8.6	667	13948	0.00	2.60	0.00	0.000	4	0.000	0.065	2721	3305	1861
13965	1.24	255.6	265.4	8.7	668	13970	0.00	2.53	0.00	0.000	6	0.000	0.050	2721	1898	1861
14287	1.24	255.6	239.3	8.4	684	14291	0.00	2.60	0.00	0.000	4	0.000	0.064	2721	3309	1861
14320	1.24	255.6	236.6	7.6	685	14326	0.00	2.53	0.00	0.000	6	0.000	0.051	2721	1892	1861
14636	1.24	255.6	211.4	8.0	701	14637	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1892	1861
14946	1.24	255.6	185.6	8.5	716	14950	0.00	2.60	0.00	0.000	4	0.000	0.067	2721	3303	1861
14990	1.24	255.6	182.1	7.1	718	14994	0.00	2.53	0.00	0.000	6	0.000	0.052	2721	1901	1861
15316	1.24	255.6	156.1	8.3	734	15317	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1901	1861
15626	1.24	255.6	130.3	7.9	749	15631	0.00	2.60	0.00	0.000	4	0.000	0.066	2721	3311	1861
15660	1.24	255.6	128.0	6.7	750	15666	0.00	2.53	0.00	0.000	6	0.000	0.049	2721	1890	1861
15978	1.24	255.6	106.0	6.1	766	15982	0.00	2.55	0.00	0.000	4	0.000	0.064	2721	489	1862
16022	1.24	255.6	102.0	8.3	768	16027	0.00	2.47	0.00	0.000	6	0.000	0.039	2722	1900	1862
16344	1.24	255.6	74.9	8.4	784	16345	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1901	1862
16653	1.24	255.6	52.6	8.6	799	16657	0.00	2.58	0.00	0.000	4	0.000	0.065	2721	3314	1862
16680	1.24	255.6	50.4	9.0	800	16684	0.00	2.58	0.00	0.000	6	0.000	0.055	2721	1888	1862
16996	1.24	255.6	25.1	6.5	815	17000	0.00	2.53	0.00	0.000	4	0.000	0.057	2721	482	1862
17114	1.26	273.8	18.5	5.5	820	17135	0.00	2.50	16.17	0.659	6	0.000	0.038	2721	1911	1785
17452	1.49	460.0	2.5	0.8	837	17461	0.17	0.00	6.85	0.589	2	0.048	0.000	2778	1917	1753
17462	end climb: SURFACE_DEPTH_REACHED
state	17462	begin surface coast
17596	end surface coast: CONTROL_FINISHED_OK
state	17597	begin surface