Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 58 * 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 58 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -144106.17 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 -144106.17

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 18 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 58 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 094445,6200.088,-936.345,72,2.1,91,-9.7 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 22 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.214,0.042

_SM_DEPTHo 1.12 KALMAN_X 52461.2,-1469.0,-908.9,-56324.4,22596.1

_SM_ANGLEo -50.8 KALMAN_Y -95494.5,1005.5,265.3,184615.4,-13032.5

GPS2 095222,6200.056,-936.367,13,2.6,32,-9.7 MHEAD_RNG_PITCHd_Wd 290.8,14953,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.020801 ALTIM_BOTTOM_PING 626.4,80.3

SM_CCo 19775,0.00,0.000,0,0,1594,320.85 _24V_AH 23.4,18.053

SM_GC 1.25,11.73,0.00,0.00,0.028,0.000,0.000,47,2643,1594,-10.93,-0.20,320.85 _10V_AH 10.1,8.712

IRIDIUM_FIX 6139.81,-936.03,300598,040448 DATA_FILE_SIZE 47416,947

TT8_MAMPS 0.028379 CAP_FILE_SIZE 140894,0

HUMID 1768 CFSIZE 260165632,254246912

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 050309,152437,6200.518,-938.440,70,1.2,70,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.71 SBE_CT 662 24 372.28

Roll_motor 165 108 422.68 SBE_O2 692 19 307.76

VBD_pump_during_apogee 397 1109 10320.02 WL_BB2F 559 105 1373.62

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 28 103 68.36 nil 0 0 0.00

Iridium_during_connect 28 160 107.37 nil 0 0 0.00

Iridium_during_xfer 253 223 1321.35

Transponder_ping 5 420 51.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.95

TT8 1725 19 344.98

LPSleep 15221 2 336.68

TT8_Active 500 19 100.13

TT8_Sampling 2120 39 852.34

TT8_CF8 662 45 306.26

TT8_Kalman 33 81 27.56

Analog_circuits 1571 12 190.41

GPS_charging 0 0 0.00

Compass 2058 8 166.29

RAFOS 0 0 0.00

Transponder 36 30 11.13

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 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -41.40 0.000 2 0.000 0.000 51 2652 3059

62 -1.10 -146.6 3.3 -10.6 2 88 12.12 2.28 -7.62 0.000 4 0.159 0.109 2195 3786 3503

341 -1.10 -146.6 37.5 -10.4 14 344 0.00 2.08 0.00 0.000 6 0.000 0.055 2195 2646 3503

662 -1.10 -146.6 60.1 -6.7 30 666 0.00 2.22 0.00 0.000 4 0.000 0.090 2195 3785 3503

850 -1.10 -146.6 71.0 -5.4 38 854 0.00 2.08 0.00 0.000 6 0.000 0.054 2195 2641 3503

1174 -1.10 -146.6 89.0 -5.9 54 1178 0.00 2.22 0.00 0.000 4 0.000 0.089 2195 3785 3503

1237 -1.10 -146.6 93.3 -6.2 57 1240 0.00 2.05 0.00 0.000 6 0.000 0.054 2195 2650 3502

1571 -1.10 -146.6 116.6 -10.5 73 1575 0.00 2.20 0.00 0.000 4 0.000 0.088 2195 3787 3502

1633 -1.10 -146.6 121.9 -8.4 75 1640 0.00 2.10 0.00 0.000 6 0.000 0.054 2195 2649 3502

1949 -1.10 -146.6 155.8 -9.0 91 1954 0.00 2.62 0.00 0.000 4 0.000 0.071 2194 1224 3502

1983 -1.10 -146.6 158.6 -8.1 92 1989 0.00 2.65 0.00 0.000 6 0.000 0.067 2195 2650 3502

2299 -1.10 -146.6 179.4 -5.6 108 2303 0.00 2.17 0.00 0.000 4 0.000 0.089 2195 3786 3502

2350 -1.10 -146.6 182.0 -5.2 110 2354 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2647 3502

2678 -1.10 -146.6 201.8 -6.4 126 2679 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2647 3502

2987 -1.10 -146.6 222.9 -7.3 141 2988 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2647 3502

3296 -1.10 -146.6 249.1 -8.1 156 3297 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2647 3502

3606 -1.10 -146.6 271.4 -7.3 171 3609 0.00 2.20 0.00 0.000 4 0.000 0.088 2195 3784 3502

3656 -1.10 -146.6 275.6 -8.5 173 3660 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2642 3502

3983 -1.10 -146.6 302.2 -8.3 189 3984 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3502

4293 -1.10 -146.6 325.4 -7.2 204 4297 0.00 2.22 0.00 0.000 4 0.000 0.088 2195 3793 3502

4340 -1.10 -146.6 329.2 -8.4 206 4343 0.00 2.05 0.00 0.000 6 0.000 0.053 2195 2649 3502

4672 -1.10 -146.6 353.3 -7.3 222 4673 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2649 3502

4981 -1.10 -146.6 374.9 -7.0 237 4989 0.00 2.20 0.00 0.000 4 0.000 0.090 2195 3785 3501

5023 -1.10 -146.6 378.0 -7.2 238 5029 0.00 2.05 0.00 0.000 6 0.000 0.051 2195 2636 3501

5340 -1.10 -146.6 401.3 -7.5 254 5341 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2636 3501

5649 -1.10 -146.6 425.5 -8.6 269 5653 0.00 2.20 0.00 0.000 4 0.000 0.084 2195 3786 3501

5688 -1.10 -146.6 428.9 -8.5 270 5695 0.00 2.03 0.00 0.000 6 0.000 0.051 2195 2647 3501

6007 -1.10 -146.6 451.4 -7.0 286 6011 0.00 2.17 0.00 0.000 4 0.000 0.084 2195 3785 3501

6053 -1.10 -146.6 455.0 -7.6 288 6056 0.00 2.03 0.00 0.000 6 0.000 0.051 2195 2648 3501

6386 -1.10 -146.6 479.3 -7.2 304 6387 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

6694 -1.10 -146.6 499.1 -6.3 319 6696 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

7004 -1.10 -146.6 518.7 -6.4 334 7005 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

7313 -1.10 -146.6 537.6 -6.1 349 7314 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

7623 -1.10 -146.6 555.8 -5.8 364 7626 0.00 2.17 0.00 0.000 4 0.000 0.083 2195 3786 3501

7684 -1.10 -146.6 559.7 -6.4 366 7691 0.00 2.03 0.00 0.000 6 0.000 0.049 2195 2648 3500

8001 -1.10 -146.6 579.4 -6.3 382 8002 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

8310 -1.10 -146.6 599.1 -6.7 397 8313 0.00 2.17 0.00 0.000 4 0.000 0.084 2195 3784 3500

8349 -1.10 -146.6 601.7 -6.8 398 8355 0.00 2.03 0.00 0.000 6 0.000 0.049 2194 2641 3501

8665 -1.10 -146.6 622.0 -6.8 414 8666 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3500

8974 -1.10 -146.6 646.2 -8.1 429 8977 0.00 2.20 0.00 0.000 4 0.000 0.085 2195 3787 3500

9020 -1.10 -146.6 649.9 -8.4 431 9023 0.00 2.03 0.00 0.000 6 0.000 0.050 2195 2650 3500

9353 -1.10 -146.6 673.2 -6.9 447 9354 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3500

9662 -1.10 -146.6 692.8 -6.4 462 9663 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3500

9721 end dive: BOTTOM_OBSTACLE_DETECTED

state 9721 begin apogee

9730 -0.42 0.0 696.7 6.4 465 9856 0.77 0.00 123.03 1.109 6 0.103 0.000 2347 1903 2902

9857 end apogee: CONTROL_FINISHED_OK

state 9857 begin climb

9860 1.10 146.6 702.2 0.0 471 9989 1.55 2.70 121.22 1.078 4 0.058 0.067 2679 485 2304

10140 1.13 170.6 697.2 5.3 484 10166 0.00 2.55 21.30 1.039 6 0.000 0.037 2679 1935 2206

10491 1.16 192.8 678.6 5.4 501 10513 0.00 0.00 20.20 1.042 6 0.000 0.000 2679 1935 2115

10822 1.17 205.0 659.1 5.7 517 10843 0.00 2.60 11.48 0.987 4 0.000 0.061 2679 3300 2066

10893 1.17 205.0 654.8 6.6 520 10898 0.00 2.55 0.00 0.000 6 0.000 0.047 2679 1888 2066

11215 1.18 213.1 635.9 5.8 536 11230 0.00 2.67 8.43 0.945 4 0.000 0.068 2679 493 2033

11253 1.18 213.1 633.5 6.0 537 11259 0.00 2.50 0.00 0.000 6 0.000 0.038 2678 1899 2033

11569 1.21 232.2 616.5 5.5 553 11592 0.12 2.67 17.25 1.031 4 0.046 0.058 2721 3308 1955

11721 1.21 232.2 605.2 8.1 559 11727 0.00 2.53 0.00 0.000 6 0.000 0.044 2721 1896 1955

12037 1.21 232.2 581.7 7.7 575 12041 0.00 2.58 0.00 0.000 4 0.000 0.062 2721 493 1955

12077 1.21 232.2 578.8 8.1 577 12081 0.00 2.47 0.00 0.000 6 0.000 0.036 2721 1905 1955

12404 1.21 232.2 556.6 6.4 593 12408 0.00 2.55 0.00 0.000 4 0.000 0.058 2721 3314 1955

12476 1.21 232.2 551.9 6.6 596 12480 0.00 2.53 0.00 0.000 6 0.000 0.044 2721 1891 1955

12792 1.21 232.2 530.5 7.3 611 12797 0.00 2.58 0.00 0.000 4 0.000 0.058 2721 3302 1954

12837 1.21 232.2 527.0 7.5 613 12841 0.00 2.50 0.00 0.000 6 0.000 0.044 2721 1896 1955

13158 1.21 232.2 503.2 7.4 629 13162 0.00 2.58 0.00 0.000 4 0.000 0.061 2721 485 1955

13191 1.21 232.2 500.6 7.2 630 13197 0.00 2.47 0.00 0.000 6 0.000 0.036 2721 1912 1955

13507 1.21 232.2 476.5 7.8 646 13511 0.00 2.53 0.00 0.000 4 0.000 0.059 2721 3309 1955

13552 1.21 232.2 472.8 9.0 648 13556 0.00 2.53 0.00 0.000 6 0.000 0.045 2721 1892 1955

13884 1.21 232.2 448.6 7.2 664 13888 0.00 2.58 0.00 0.000 4 0.000 0.058 2721 3302 1955

13924 1.21 232.2 445.6 7.5 666 13928 0.00 2.50 0.00 0.000 6 0.000 0.047 2721 1899 1955

14251 1.21 232.2 421.0 7.9 682 14252 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1899 1956

14560 1.21 232.2 397.2 7.6 697 14564 0.00 2.58 0.00 0.000 4 0.000 0.059 2721 3311 1956

14599 1.21 232.2 394.2 7.5 699 14604 0.00 2.53 0.00 0.000 6 0.000 0.047 2721 1893 1956

14926 1.21 232.2 370.0 7.4 715 14931 0.00 2.60 0.00 0.000 4 0.000 0.061 2721 3314 1956

14960 1.21 232.2 367.2 7.6 716 14966 0.00 2.53 0.00 0.000 6 0.000 0.046 2721 1896 1957

15275 1.21 232.2 344.6 7.2 732 15277 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1896 1957

15585 1.21 232.2 323.0 7.0 747 15589 0.00 2.58 0.00 0.000 4 0.000 0.062 2721 3303 1957

15624 1.21 232.2 320.1 7.4 749 15629 0.00 2.50 0.00 0.000 6 0.000 0.048 2721 1897 1957

15957 1.21 232.2 296.7 7.2 765 15958 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1897 1957

16267 1.21 232.2 275.7 6.3 780 16271 0.00 2.60 0.00 0.000 4 0.000 0.064 2721 3312 1957

16311 1.21 232.2 272.7 6.7 782 16315 0.00 2.53 0.00 0.000 6 0.000 0.051 2721 1898 1957

16632 1.21 232.2 252.2 6.7 798 16636 0.00 2.60 0.00 0.000 4 0.000 0.064 2721 3311 1957

16672 1.21 232.2 249.6 6.6 800 16676 0.00 2.55 0.00 0.000 6 0.000 0.051 2721 1890 1958

16999 1.28 293.8 231.6 4.3 816 17055 0.00 2.65 50.28 0.797 4 0.000 0.064 2721 481 1703

17078 1.28 293.8 227.0 7.6 819 17084 0.00 2.53 0.00 0.000 6 0.000 0.038 2721 1898 1704

17394 1.28 293.8 200.4 9.8 835 17398 0.00 2.60 0.00 0.000 4 0.000 0.065 2721 3314 1703

17433 1.28 293.8 196.6 10.3 837 17438 0.00 2.55 0.00 0.000 6 0.000 0.050 2721 1897 1703

17761 1.28 293.8 167.6 9.5 853 17762 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1897 1703

18071 1.30 304.6 140.4 5.7 868 18083 0.00 0.00 10.25 0.691 6 0.000 0.000 2721 1897 1660

18381 1.30 304.6 117.0 9.1 883 18385 0.00 2.62 0.00 0.000 4 0.000 0.064 2721 3316 1659

18414 1.30 304.6 113.8 8.5 884 18420 0.00 2.55 0.00 0.000 6 0.000 0.051 2721 1896 1660

18730 1.30 304.6 88.6 9.3 900 18735 0.00 2.62 0.00 0.000 4 0.000 0.066 2721 3312 1660

18752 1.30 304.6 86.3 10.2 901 18756 0.00 2.58 0.00 0.000 6 0.000 0.053 2721 1891 1660

19073 1.30 304.6 53.9 10.7 917 19078 0.00 2.58 0.00 0.000 4 0.000 0.067 2721 489 1660

19107 1.32 320.8 51.7 5.6 918 19127 0.00 2.50 14.23 0.670 6 0.000 0.043 2721 1907 1594

19444 1.32 320.8 24.4 7.9 935 19445 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1909 1594

19668 end climb: SURFACE_DEPTH_REACHED

state 19668 begin surface coast

19690 end surface coast: CONTROL_FINISHED_OK

state 19690 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	58	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-144106.17	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	094445,6200.088,-936.345,72,2.1,91,-9.7	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	22	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.214,0.042
_SM_DEPTHo	1.12	KALMAN_X	52461.2,-1469.0,-908.9,-56324.4,22596.1
_SM_ANGLEo	-50.8	KALMAN_Y	-95494.5,1005.5,265.3,184615.4,-13032.5
GPS2	095222,6200.056,-936.367,13,2.6,32,-9.7	MHEAD_RNG_PITCHd_Wd	290.8,14953,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.020801	ALTIM_BOTTOM_PING	626.4,80.3
SM_CCo	19775,0.00,0.000,0,0,1594,320.85	_24V_AH	23.4,18.053
SM_GC	1.25,11.73,0.00,0.00,0.028,0.000,0.000,47,2643,1594,-10.93,-0.20,320.85	_10V_AH	10.1,8.712
IRIDIUM_FIX	6139.81,-936.03,300598,040448	DATA_FILE_SIZE	47416,947
TT8_MAMPS	0.028379	CAP_FILE_SIZE	140894,0
HUMID	1768	CFSIZE	260165632,254246912
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	050309,152437,6200.518,-938.440,70,1.2,70,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.71	SBE_CT	662	24	372.28
Roll_motor	165	108	422.68	SBE_O2	692	19	307.76
VBD_pump_during_apogee	397	1109	10320.02	WL_BB2F	559	105	1373.62
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	28	103	68.36	nil	0	0	0.00
Iridium_during_connect	28	160	107.37	nil	0	0	0.00
Iridium_during_xfer	253	223	1321.35
Transponder_ping	5	420	51.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.95
TT8	1725	19	344.98
LPSleep	15221	2	336.68
TT8_Active	500	19	100.13
TT8_Sampling	2120	39	852.34
TT8_CF8	662	45	306.26
TT8_Kalman	33	81	27.56
Analog_circuits	1571	12	190.41
GPS_charging	0	0	0.00
Compass	2058	8	166.29
RAFOS	0	0	0.00
Transponder	36	30	11.13

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	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-41.40	0.000	2	0.000	0.000	51	2652	3059
62	-1.10	-146.6	3.3	-10.6	2	88	12.12	2.28	-7.62	0.000	4	0.159	0.109	2195	3786	3503
341	-1.10	-146.6	37.5	-10.4	14	344	0.00	2.08	0.00	0.000	6	0.000	0.055	2195	2646	3503
662	-1.10	-146.6	60.1	-6.7	30	666	0.00	2.22	0.00	0.000	4	0.000	0.090	2195	3785	3503
850	-1.10	-146.6	71.0	-5.4	38	854	0.00	2.08	0.00	0.000	6	0.000	0.054	2195	2641	3503
1174	-1.10	-146.6	89.0	-5.9	54	1178	0.00	2.22	0.00	0.000	4	0.000	0.089	2195	3785	3503
1237	-1.10	-146.6	93.3	-6.2	57	1240	0.00	2.05	0.00	0.000	6	0.000	0.054	2195	2650	3502
1571	-1.10	-146.6	116.6	-10.5	73	1575	0.00	2.20	0.00	0.000	4	0.000	0.088	2195	3787	3502
1633	-1.10	-146.6	121.9	-8.4	75	1640	0.00	2.10	0.00	0.000	6	0.000	0.054	2195	2649	3502
1949	-1.10	-146.6	155.8	-9.0	91	1954	0.00	2.62	0.00	0.000	4	0.000	0.071	2194	1224	3502
1983	-1.10	-146.6	158.6	-8.1	92	1989	0.00	2.65	0.00	0.000	6	0.000	0.067	2195	2650	3502
2299	-1.10	-146.6	179.4	-5.6	108	2303	0.00	2.17	0.00	0.000	4	0.000	0.089	2195	3786	3502
2350	-1.10	-146.6	182.0	-5.2	110	2354	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2647	3502
2678	-1.10	-146.6	201.8	-6.4	126	2679	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2647	3502
2987	-1.10	-146.6	222.9	-7.3	141	2988	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2647	3502
3296	-1.10	-146.6	249.1	-8.1	156	3297	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2647	3502
3606	-1.10	-146.6	271.4	-7.3	171	3609	0.00	2.20	0.00	0.000	4	0.000	0.088	2195	3784	3502
3656	-1.10	-146.6	275.6	-8.5	173	3660	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2642	3502
3983	-1.10	-146.6	302.2	-8.3	189	3984	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3502
4293	-1.10	-146.6	325.4	-7.2	204	4297	0.00	2.22	0.00	0.000	4	0.000	0.088	2195	3793	3502
4340	-1.10	-146.6	329.2	-8.4	206	4343	0.00	2.05	0.00	0.000	6	0.000	0.053	2195	2649	3502
4672	-1.10	-146.6	353.3	-7.3	222	4673	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2649	3502
4981	-1.10	-146.6	374.9	-7.0	237	4989	0.00	2.20	0.00	0.000	4	0.000	0.090	2195	3785	3501
5023	-1.10	-146.6	378.0	-7.2	238	5029	0.00	2.05	0.00	0.000	6	0.000	0.051	2195	2636	3501
5340	-1.10	-146.6	401.3	-7.5	254	5341	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2636	3501
5649	-1.10	-146.6	425.5	-8.6	269	5653	0.00	2.20	0.00	0.000	4	0.000	0.084	2195	3786	3501
5688	-1.10	-146.6	428.9	-8.5	270	5695	0.00	2.03	0.00	0.000	6	0.000	0.051	2195	2647	3501
6007	-1.10	-146.6	451.4	-7.0	286	6011	0.00	2.17	0.00	0.000	4	0.000	0.084	2195	3785	3501
6053	-1.10	-146.6	455.0	-7.6	288	6056	0.00	2.03	0.00	0.000	6	0.000	0.051	2195	2648	3501
6386	-1.10	-146.6	479.3	-7.2	304	6387	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
6694	-1.10	-146.6	499.1	-6.3	319	6696	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
7004	-1.10	-146.6	518.7	-6.4	334	7005	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
7313	-1.10	-146.6	537.6	-6.1	349	7314	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
7623	-1.10	-146.6	555.8	-5.8	364	7626	0.00	2.17	0.00	0.000	4	0.000	0.083	2195	3786	3501
7684	-1.10	-146.6	559.7	-6.4	366	7691	0.00	2.03	0.00	0.000	6	0.000	0.049	2195	2648	3500
8001	-1.10	-146.6	579.4	-6.3	382	8002	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
8310	-1.10	-146.6	599.1	-6.7	397	8313	0.00	2.17	0.00	0.000	4	0.000	0.084	2195	3784	3500
8349	-1.10	-146.6	601.7	-6.8	398	8355	0.00	2.03	0.00	0.000	6	0.000	0.049	2194	2641	3501
8665	-1.10	-146.6	622.0	-6.8	414	8666	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3500
8974	-1.10	-146.6	646.2	-8.1	429	8977	0.00	2.20	0.00	0.000	4	0.000	0.085	2195	3787	3500
9020	-1.10	-146.6	649.9	-8.4	431	9023	0.00	2.03	0.00	0.000	6	0.000	0.050	2195	2650	3500
9353	-1.10	-146.6	673.2	-6.9	447	9354	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3500
9662	-1.10	-146.6	692.8	-6.4	462	9663	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3500
9721	end dive: BOTTOM_OBSTACLE_DETECTED
state	9721	begin apogee
9730	-0.42	0.0	696.7	6.4	465	9856	0.77	0.00	123.03	1.109	6	0.103	0.000	2347	1903	2902
9857	end apogee: CONTROL_FINISHED_OK
state	9857	begin climb
9860	1.10	146.6	702.2	0.0	471	9989	1.55	2.70	121.22	1.078	4	0.058	0.067	2679	485	2304
10140	1.13	170.6	697.2	5.3	484	10166	0.00	2.55	21.30	1.039	6	0.000	0.037	2679	1935	2206
10491	1.16	192.8	678.6	5.4	501	10513	0.00	0.00	20.20	1.042	6	0.000	0.000	2679	1935	2115
10822	1.17	205.0	659.1	5.7	517	10843	0.00	2.60	11.48	0.987	4	0.000	0.061	2679	3300	2066
10893	1.17	205.0	654.8	6.6	520	10898	0.00	2.55	0.00	0.000	6	0.000	0.047	2679	1888	2066
11215	1.18	213.1	635.9	5.8	536	11230	0.00	2.67	8.43	0.945	4	0.000	0.068	2679	493	2033
11253	1.18	213.1	633.5	6.0	537	11259	0.00	2.50	0.00	0.000	6	0.000	0.038	2678	1899	2033
11569	1.21	232.2	616.5	5.5	553	11592	0.12	2.67	17.25	1.031	4	0.046	0.058	2721	3308	1955
11721	1.21	232.2	605.2	8.1	559	11727	0.00	2.53	0.00	0.000	6	0.000	0.044	2721	1896	1955
12037	1.21	232.2	581.7	7.7	575	12041	0.00	2.58	0.00	0.000	4	0.000	0.062	2721	493	1955
12077	1.21	232.2	578.8	8.1	577	12081	0.00	2.47	0.00	0.000	6	0.000	0.036	2721	1905	1955
12404	1.21	232.2	556.6	6.4	593	12408	0.00	2.55	0.00	0.000	4	0.000	0.058	2721	3314	1955
12476	1.21	232.2	551.9	6.6	596	12480	0.00	2.53	0.00	0.000	6	0.000	0.044	2721	1891	1955
12792	1.21	232.2	530.5	7.3	611	12797	0.00	2.58	0.00	0.000	4	0.000	0.058	2721	3302	1954
12837	1.21	232.2	527.0	7.5	613	12841	0.00	2.50	0.00	0.000	6	0.000	0.044	2721	1896	1955
13158	1.21	232.2	503.2	7.4	629	13162	0.00	2.58	0.00	0.000	4	0.000	0.061	2721	485	1955
13191	1.21	232.2	500.6	7.2	630	13197	0.00	2.47	0.00	0.000	6	0.000	0.036	2721	1912	1955
13507	1.21	232.2	476.5	7.8	646	13511	0.00	2.53	0.00	0.000	4	0.000	0.059	2721	3309	1955
13552	1.21	232.2	472.8	9.0	648	13556	0.00	2.53	0.00	0.000	6	0.000	0.045	2721	1892	1955
13884	1.21	232.2	448.6	7.2	664	13888	0.00	2.58	0.00	0.000	4	0.000	0.058	2721	3302	1955
13924	1.21	232.2	445.6	7.5	666	13928	0.00	2.50	0.00	0.000	6	0.000	0.047	2721	1899	1955
14251	1.21	232.2	421.0	7.9	682	14252	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1899	1956
14560	1.21	232.2	397.2	7.6	697	14564	0.00	2.58	0.00	0.000	4	0.000	0.059	2721	3311	1956
14599	1.21	232.2	394.2	7.5	699	14604	0.00	2.53	0.00	0.000	6	0.000	0.047	2721	1893	1956
14926	1.21	232.2	370.0	7.4	715	14931	0.00	2.60	0.00	0.000	4	0.000	0.061	2721	3314	1956
14960	1.21	232.2	367.2	7.6	716	14966	0.00	2.53	0.00	0.000	6	0.000	0.046	2721	1896	1957
15275	1.21	232.2	344.6	7.2	732	15277	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1896	1957
15585	1.21	232.2	323.0	7.0	747	15589	0.00	2.58	0.00	0.000	4	0.000	0.062	2721	3303	1957
15624	1.21	232.2	320.1	7.4	749	15629	0.00	2.50	0.00	0.000	6	0.000	0.048	2721	1897	1957
15957	1.21	232.2	296.7	7.2	765	15958	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1897	1957
16267	1.21	232.2	275.7	6.3	780	16271	0.00	2.60	0.00	0.000	4	0.000	0.064	2721	3312	1957
16311	1.21	232.2	272.7	6.7	782	16315	0.00	2.53	0.00	0.000	6	0.000	0.051	2721	1898	1957
16632	1.21	232.2	252.2	6.7	798	16636	0.00	2.60	0.00	0.000	4	0.000	0.064	2721	3311	1957
16672	1.21	232.2	249.6	6.6	800	16676	0.00	2.55	0.00	0.000	6	0.000	0.051	2721	1890	1958
16999	1.28	293.8	231.6	4.3	816	17055	0.00	2.65	50.28	0.797	4	0.000	0.064	2721	481	1703
17078	1.28	293.8	227.0	7.6	819	17084	0.00	2.53	0.00	0.000	6	0.000	0.038	2721	1898	1704
17394	1.28	293.8	200.4	9.8	835	17398	0.00	2.60	0.00	0.000	4	0.000	0.065	2721	3314	1703
17433	1.28	293.8	196.6	10.3	837	17438	0.00	2.55	0.00	0.000	6	0.000	0.050	2721	1897	1703
17761	1.28	293.8	167.6	9.5	853	17762	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1897	1703
18071	1.30	304.6	140.4	5.7	868	18083	0.00	0.00	10.25	0.691	6	0.000	0.000	2721	1897	1660
18381	1.30	304.6	117.0	9.1	883	18385	0.00	2.62	0.00	0.000	4	0.000	0.064	2721	3316	1659
18414	1.30	304.6	113.8	8.5	884	18420	0.00	2.55	0.00	0.000	6	0.000	0.051	2721	1896	1660
18730	1.30	304.6	88.6	9.3	900	18735	0.00	2.62	0.00	0.000	4	0.000	0.066	2721	3312	1660
18752	1.30	304.6	86.3	10.2	901	18756	0.00	2.58	0.00	0.000	6	0.000	0.053	2721	1891	1660
19073	1.30	304.6	53.9	10.7	917	19078	0.00	2.58	0.00	0.000	4	0.000	0.067	2721	489	1660
19107	1.32	320.8	51.7	5.6	918	19127	0.00	2.50	14.23	0.670	6	0.000	0.043	2721	1907	1594
19444	1.32	320.8	24.4	7.9	935	19445	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1909	1594
19668	end climb: SURFACE_DEPTH_REACHED
state	19668	begin surface coast
19690	end surface coast: CONTROL_FINISHED_OK
state	19690	begin surface