Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 62 * 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 62 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 -144175.66 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 0 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 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 -144175.66

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 0 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 62 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 083931,6201.507,-943.704,39,1.8,39,-9.8 TGT_NAME CW

_CALLS 5 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.184,0.118

_SM_DEPTHo 1.11 KALMAN_X 909.9,909.9,909.9,-1875.2,17208.4

_SM_ANGLEo -57.5 KALMAN_Y -434.1,-434.1,-434.1,6215.3,-8210.2

GPS2 085943,6201.444,-943.398,10,1.3,15,-9.8 MHEAD_RNG_PITCHd_Wd 312.6,8726,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.021948 ALTIM_BOTTOM_PING 651.3,77.9

SM_CCo 19773,0.00,0.000,0,0,1876,251.68 _24V_AH 23.4,18.614

SM_GC 1.66,11.65,0.00,0.00,0.026,0.000,0.000,51,2638,1876,-10.92,-0.34,251.68 _10V_AH 10.1,9.081

IRIDIUM_FIX 6135.28,-944.30,310598,090934 DATA_FILE_SIZE 47409,946

TT8_MAMPS 0.029146 CAP_FILE_SIZE 144861,0

HUMID 1753 CFSIZE 260165632,253980672

INTERNAL_PRESSURE 8.58431 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 060309,143124,6202.159,-946.141,26,2.0,43,-9.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 99.41 SBE_CT 662 24 371.96

Roll_motor 161 99 375.76 SBE_O2 702 19 312.45

VBD_pump_during_apogee 334 1158 9076.18 WL_BB2F 569 105 1398.78

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 145 103 350.67 nil 0 0 0.00

Iridium_during_connect 231 160 868.17 nil 0 0 0.00

Iridium_during_xfer 443 223 2316.82

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.04

TT8 1717 19 343.55

LPSleep 15548 2 343.93

TT8_Active 465 19 93.11

TT8_Sampling 2059 39 827.75

TT8_CF8 1186 45 549.05

TT8_Kalman 30 81 24.95

Analog_circuits 1506 12 182.55

GPS_charging 0 0 0.00

Compass 2019 8 163.16

RAFOS 0 0 0.00

Transponder 39 30 11.89

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.10 -146.6 0.0 0.0 0 79 0.00 0.00 -60.53 0.000 2 0.000 0.000 40 2651 3474

82 -1.10 -146.6 5.1 -9.6 3 104 12.27 2.25 -0.45 0.000 4 0.161 0.100 2193 3782 3504

138 -1.10 -146.6 19.0 -8.5 5 142 0.00 2.10 0.00 0.000 6 0.000 0.061 2193 2645 3504

459 -1.10 -146.6 44.8 -6.0 21 461 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2645 3504

769 -1.10 -146.6 71.0 -10.7 36 773 0.00 2.22 0.00 0.000 4 0.000 0.091 2193 3782 3504

855 -1.10 -146.6 78.5 -9.1 40 859 0.00 2.08 0.00 0.000 6 0.000 0.056 2193 2643 3504

1190 -1.10 -146.6 104.9 -6.3 56 1191 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3504

1498 -1.10 -146.6 125.9 -6.9 71 1501 0.00 2.22 0.00 0.000 4 0.000 0.091 2193 3782 3504

1548 -1.10 -146.6 129.9 -8.0 73 1552 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2644 3504

1874 -1.10 -146.6 158.1 -7.9 89 1878 0.00 2.22 0.00 0.000 4 0.000 0.089 2193 3789 3504

1930 -1.10 -146.6 162.9 -9.4 91 1934 0.00 2.08 0.00 0.000 6 0.000 0.054 2193 2643 3504

2252 -1.10 -146.6 188.6 -7.9 107 2253 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3504

2561 -1.10 -146.6 211.5 -7.5 122 2562 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3503

2871 -1.10 -146.6 236.2 -8.1 137 2875 0.00 2.60 0.00 0.000 4 0.000 0.071 2192 1228 3504

2910 -1.10 -146.6 239.5 -8.6 138 2916 0.00 2.62 0.00 0.000 6 0.000 0.064 2193 2652 3503

3225 -1.10 -146.6 264.8 -7.7 154 3229 0.00 2.17 0.00 0.000 4 0.000 0.090 2193 3789 3503

3283 -1.10 -146.6 269.5 -8.4 156 3287 0.00 2.08 0.00 0.000 6 0.000 0.054 2193 2639 3503

3604 -1.10 -146.6 295.4 -7.7 172 3606 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2639 3503

3914 -1.10 -146.6 319.3 -7.5 187 3917 0.00 2.22 0.00 0.000 4 0.000 0.087 2193 3792 3503

3953 -1.10 -146.6 322.3 -7.3 188 3959 0.00 2.08 0.00 0.000 6 0.000 0.054 2193 2642 3503

4269 -1.10 -146.6 346.9 -8.1 204 4270 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2642 3503

4578 -1.10 -146.6 371.0 -7.9 219 4581 0.00 2.20 0.00 0.000 4 0.000 0.087 2193 3786 3503

4617 -1.10 -146.6 374.4 -8.1 220 4623 0.00 2.03 0.00 0.000 6 0.000 0.054 2193 2653 3503

4933 -1.10 -146.6 397.4 -7.5 236 4934 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2653 3503

5243 -1.10 -146.6 421.1 -7.7 251 5244 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2653 3503

5552 -1.10 -146.6 444.5 -7.5 266 5553 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2653 3503

5861 -1.10 -146.6 468.8 -8.3 281 5865 0.00 2.17 0.00 0.000 4 0.000 0.084 2193 3787 3503

5900 -1.10 -146.6 472.3 -9.3 282 5906 0.00 2.05 0.00 0.000 6 0.000 0.053 2193 2647 3503

6216 -1.10 -146.6 495.9 -6.8 298 6217 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2647 3503

6525 -1.10 -146.6 518.3 -7.4 313 6526 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2647 3503

6834 -1.10 -146.6 541.4 -7.6 328 6835 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2647 3503

7144 -1.10 -146.6 567.1 -8.4 343 7147 0.00 2.17 0.00 0.000 4 0.000 0.084 2193 3786 3503

7189 -1.10 -146.6 571.2 -9.7 345 7193 0.00 2.05 0.00 0.000 6 0.000 0.052 2193 2641 3503

7523 -1.10 -146.6 601.6 -8.9 361 7527 0.00 2.20 0.00 0.000 4 0.000 0.084 2193 3789 3503

7574 -1.10 -146.6 606.4 -8.9 363 7577 0.00 2.05 0.00 0.000 6 0.000 0.051 2193 2639 3503

7901 -1.10 -146.6 631.2 -7.2 379 7904 0.00 2.20 0.00 0.000 4 0.000 0.083 2193 3789 3503

7934 -1.10 -146.6 633.8 -7.5 380 7938 0.00 2.05 0.00 0.000 6 0.000 0.052 2193 2647 3503

8256 -1.10 -146.6 658.0 -8.1 396 8260 0.00 2.20 0.00 0.000 4 0.000 0.085 2193 3790 3503

8306 -1.10 -146.6 662.3 -8.7 398 8310 0.00 2.05 0.00 0.000 6 0.000 0.052 2193 2646 3503

8633 -1.10 -146.6 686.2 -6.7 414 8637 0.00 2.20 0.00 0.000 4 0.000 0.086 2193 3789 3503

8672 -1.10 -146.6 689.1 -7.8 415 8678 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2640 3503

8988 -1.10 -146.6 711.5 -7.2 431 8990 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3503

9109 end dive: BOTTOM_OBSTACLE_DETECTED

state 9109 begin apogee

9118 -0.42 0.0 720.3 7.3 437 9244 0.77 0.00 122.35 1.158 6 0.095 0.000 2347 1906 2902

9244 end apogee: CONTROL_FINISHED_OK

state 9244 begin climb

9248 1.10 146.6 725.2 0.0 443 9376 1.55 2.72 120.62 1.122 4 0.057 0.068 2679 484 2304

9494 1.15 187.2 722.5 4.9 454 9535 0.00 2.55 34.95 1.095 6 0.000 0.037 2679 1931 2138

9855 1.17 203.4 703.4 5.6 472 9876 0.00 2.58 14.62 1.052 4 0.000 0.063 2679 3299 2072

9922 1.17 203.4 699.3 6.1 475 9927 0.00 2.55 0.00 0.000 6 0.000 0.049 2679 1896 2072

10250 1.17 203.4 678.9 6.7 491 10254 0.00 2.60 0.00 0.000 4 0.000 0.061 2679 3301 2071

10329 1.17 203.4 673.9 6.4 494 10335 0.00 2.55 0.00 0.000 6 0.000 0.049 2678 1894 2071

10645 1.17 203.4 651.1 7.7 510 10649 0.00 2.62 0.00 0.000 4 0.000 0.069 2679 485 2070

10695 1.17 203.4 647.0 8.2 512 10699 0.00 2.50 0.00 0.000 6 0.000 0.039 2679 1899 2070

11011 1.17 203.4 624.4 8.1 527 11015 0.00 2.58 0.00 0.000 4 0.000 0.061 2679 3309 2070

11269 1.22 239.7 608.1 5.0 538 11305 0.12 2.55 30.67 1.098 6 0.044 0.048 2720 1892 1924

11624 1.22 239.7 586.7 6.6 556 11628 0.00 2.60 0.00 0.000 4 0.000 0.060 2720 3305 1924

11736 1.22 239.7 578.8 7.1 561 11740 0.00 2.53 0.00 0.000 6 0.000 0.048 2720 1897 1923

12063 1.22 239.7 557.5 6.7 577 12064 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1897 1923

12372 1.22 239.7 536.8 6.7 592 12376 0.00 2.58 0.00 0.000 4 0.000 0.058 2720 3310 1923

12427 1.22 239.7 533.1 6.5 594 12433 0.00 2.53 0.00 0.000 6 0.000 0.046 2720 1894 1924

12743 1.22 239.7 511.6 7.3 610 12747 0.00 2.58 0.00 0.000 4 0.000 0.058 2720 3306 1924

12810 1.22 239.7 506.7 6.5 613 12814 0.00 2.50 0.00 0.000 6 0.000 0.046 2720 1897 1924

13131 1.22 239.7 484.4 7.0 629 13132 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1897 1924

13440 1.22 239.7 461.1 7.7 644 13444 0.00 2.58 0.00 0.000 4 0.000 0.059 2720 3308 1925

13472 1.22 239.7 458.3 7.5 645 13479 0.00 2.50 0.00 0.000 6 0.000 0.047 2720 1900 1924

13789 1.22 239.7 432.8 8.3 661 13790 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1900 1925

14098 1.22 239.7 407.6 8.4 676 14102 0.00 2.58 0.00 0.000 4 0.000 0.060 2720 3311 1926

14144 1.22 239.7 403.7 8.2 678 14148 0.00 2.53 0.00 0.000 6 0.000 0.049 2720 1901 1926

14476 1.22 239.7 378.2 7.5 694 14478 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1901 1926

14785 1.22 239.7 357.0 6.6 709 14790 0.00 2.58 0.00 0.000 4 0.000 0.062 2720 3305 1926

14848 1.22 239.7 352.8 6.3 712 14852 0.00 2.53 0.00 0.000 6 0.000 0.051 2720 1901 1926

15175 1.22 239.7 332.6 6.1 728 15176 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1901 1926

15484 1.22 239.7 313.6 6.2 743 15488 0.00 2.58 0.00 0.000 4 0.000 0.063 2720 3305 1927

15545 1.22 239.7 309.6 6.9 745 15552 0.00 2.53 0.00 0.000 6 0.000 0.051 2720 1893 1927

15862 1.22 239.7 288.3 7.3 761 15866 0.00 2.60 0.00 0.000 4 0.000 0.064 2720 3309 1927

15895 1.22 239.7 285.7 7.3 762 15899 0.00 2.55 0.00 0.000 6 0.000 0.052 2721 1894 1927

16211 1.22 239.7 263.1 6.8 777 16215 0.00 2.58 0.00 0.000 4 0.000 0.064 2720 3306 1927

16238 1.22 239.7 261.0 7.6 778 16243 0.00 2.55 0.00 0.000 6 0.000 0.052 2720 1891 1927

16560 1.22 239.7 238.1 7.1 794 16561 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1891 1928

16869 1.22 239.7 213.4 8.9 809 16873 0.00 2.62 0.00 0.000 4 0.000 0.065 2720 3314 1928

16924 1.22 239.7 208.6 7.9 811 16930 0.00 2.55 0.00 0.000 6 0.000 0.052 2720 1897 1927

17240 1.22 239.7 186.4 6.8 827 17245 0.00 2.60 0.00 0.000 4 0.000 0.064 2720 3312 1928

17274 1.22 239.7 183.9 7.0 828 17280 0.00 2.55 0.00 0.000 6 0.000 0.053 2720 1899 1928

17589 1.22 239.7 158.3 8.1 844 17591 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1898 1928

17900 1.22 239.7 134.7 7.2 859 17904 0.00 2.60 0.00 0.000 4 0.000 0.064 2720 3313 1928

17955 1.22 239.7 130.4 6.3 861 17961 0.00 2.55 0.00 0.000 6 0.000 0.056 2720 1901 1928

18271 1.22 239.7 105.4 9.9 877 18272 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1901 1928

18580 1.22 239.7 79.1 7.4 892 18585 0.00 2.60 0.00 0.000 4 0.000 0.064 2720 3315 1928

18621 1.22 239.7 76.1 7.4 894 18625 0.00 2.55 0.00 0.000 6 0.000 0.054 2720 1900 1928

18948 1.23 251.4 55.7 5.7 910 18966 0.00 0.00 11.68 0.692 6 0.000 0.000 2720 1899 1876

19278 1.23 251.4 31.3 7.5 926 19282 0.00 2.60 0.00 0.000 4 0.000 0.067 2720 3306 1876

19342 1.23 251.4 26.4 7.5 929 19346 0.00 2.58 0.00 0.000 6 0.000 0.057 2720 1894 1876

19667 end climb: SURFACE_DEPTH_REACHED

state 19667 begin surface coast

19688 end surface coast: CONTROL_FINISHED_OK

state 19688 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	62	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	-144175.66	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	0	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	083931,6201.507,-943.704,39,1.8,39,-9.8	TGT_NAME	CW
_CALLS	5	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.184,0.118
_SM_DEPTHo	1.11	KALMAN_X	909.9,909.9,909.9,-1875.2,17208.4
_SM_ANGLEo	-57.5	KALMAN_Y	-434.1,-434.1,-434.1,6215.3,-8210.2
GPS2	085943,6201.444,-943.398,10,1.3,15,-9.8	MHEAD_RNG_PITCHd_Wd	312.6,8726,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.021948	ALTIM_BOTTOM_PING	651.3,77.9
SM_CCo	19773,0.00,0.000,0,0,1876,251.68	_24V_AH	23.4,18.614
SM_GC	1.66,11.65,0.00,0.00,0.026,0.000,0.000,51,2638,1876,-10.92,-0.34,251.68	_10V_AH	10.1,9.081
IRIDIUM_FIX	6135.28,-944.30,310598,090934	DATA_FILE_SIZE	47409,946
TT8_MAMPS	0.029146	CAP_FILE_SIZE	144861,0
HUMID	1753	CFSIZE	260165632,253980672
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	060309,143124,6202.159,-946.141,26,2.0,43,-9.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	99.41	SBE_CT	662	24	371.96
Roll_motor	161	99	375.76	SBE_O2	702	19	312.45
VBD_pump_during_apogee	334	1158	9076.18	WL_BB2F	569	105	1398.78
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	145	103	350.67	nil	0	0	0.00
Iridium_during_connect	231	160	868.17	nil	0	0	0.00
Iridium_during_xfer	443	223	2316.82
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.04
TT8	1717	19	343.55
LPSleep	15548	2	343.93
TT8_Active	465	19	93.11
TT8_Sampling	2059	39	827.75
TT8_CF8	1186	45	549.05
TT8_Kalman	30	81	24.95
Analog_circuits	1506	12	182.55
GPS_charging	0	0	0.00
Compass	2019	8	163.16
RAFOS	0	0	0.00
Transponder	39	30	11.89

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.10	-146.6	0.0	0.0	0	79	0.00	0.00	-60.53	0.000	2	0.000	0.000	40	2651	3474
82	-1.10	-146.6	5.1	-9.6	3	104	12.27	2.25	-0.45	0.000	4	0.161	0.100	2193	3782	3504
138	-1.10	-146.6	19.0	-8.5	5	142	0.00	2.10	0.00	0.000	6	0.000	0.061	2193	2645	3504
459	-1.10	-146.6	44.8	-6.0	21	461	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2645	3504
769	-1.10	-146.6	71.0	-10.7	36	773	0.00	2.22	0.00	0.000	4	0.000	0.091	2193	3782	3504
855	-1.10	-146.6	78.5	-9.1	40	859	0.00	2.08	0.00	0.000	6	0.000	0.056	2193	2643	3504
1190	-1.10	-146.6	104.9	-6.3	56	1191	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3504
1498	-1.10	-146.6	125.9	-6.9	71	1501	0.00	2.22	0.00	0.000	4	0.000	0.091	2193	3782	3504
1548	-1.10	-146.6	129.9	-8.0	73	1552	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2644	3504
1874	-1.10	-146.6	158.1	-7.9	89	1878	0.00	2.22	0.00	0.000	4	0.000	0.089	2193	3789	3504
1930	-1.10	-146.6	162.9	-9.4	91	1934	0.00	2.08	0.00	0.000	6	0.000	0.054	2193	2643	3504
2252	-1.10	-146.6	188.6	-7.9	107	2253	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3504
2561	-1.10	-146.6	211.5	-7.5	122	2562	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3503
2871	-1.10	-146.6	236.2	-8.1	137	2875	0.00	2.60	0.00	0.000	4	0.000	0.071	2192	1228	3504
2910	-1.10	-146.6	239.5	-8.6	138	2916	0.00	2.62	0.00	0.000	6	0.000	0.064	2193	2652	3503
3225	-1.10	-146.6	264.8	-7.7	154	3229	0.00	2.17	0.00	0.000	4	0.000	0.090	2193	3789	3503
3283	-1.10	-146.6	269.5	-8.4	156	3287	0.00	2.08	0.00	0.000	6	0.000	0.054	2193	2639	3503
3604	-1.10	-146.6	295.4	-7.7	172	3606	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2639	3503
3914	-1.10	-146.6	319.3	-7.5	187	3917	0.00	2.22	0.00	0.000	4	0.000	0.087	2193	3792	3503
3953	-1.10	-146.6	322.3	-7.3	188	3959	0.00	2.08	0.00	0.000	6	0.000	0.054	2193	2642	3503
4269	-1.10	-146.6	346.9	-8.1	204	4270	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2642	3503
4578	-1.10	-146.6	371.0	-7.9	219	4581	0.00	2.20	0.00	0.000	4	0.000	0.087	2193	3786	3503
4617	-1.10	-146.6	374.4	-8.1	220	4623	0.00	2.03	0.00	0.000	6	0.000	0.054	2193	2653	3503
4933	-1.10	-146.6	397.4	-7.5	236	4934	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2653	3503
5243	-1.10	-146.6	421.1	-7.7	251	5244	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2653	3503
5552	-1.10	-146.6	444.5	-7.5	266	5553	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2653	3503
5861	-1.10	-146.6	468.8	-8.3	281	5865	0.00	2.17	0.00	0.000	4	0.000	0.084	2193	3787	3503
5900	-1.10	-146.6	472.3	-9.3	282	5906	0.00	2.05	0.00	0.000	6	0.000	0.053	2193	2647	3503
6216	-1.10	-146.6	495.9	-6.8	298	6217	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2647	3503
6525	-1.10	-146.6	518.3	-7.4	313	6526	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2647	3503
6834	-1.10	-146.6	541.4	-7.6	328	6835	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2647	3503
7144	-1.10	-146.6	567.1	-8.4	343	7147	0.00	2.17	0.00	0.000	4	0.000	0.084	2193	3786	3503
7189	-1.10	-146.6	571.2	-9.7	345	7193	0.00	2.05	0.00	0.000	6	0.000	0.052	2193	2641	3503
7523	-1.10	-146.6	601.6	-8.9	361	7527	0.00	2.20	0.00	0.000	4	0.000	0.084	2193	3789	3503
7574	-1.10	-146.6	606.4	-8.9	363	7577	0.00	2.05	0.00	0.000	6	0.000	0.051	2193	2639	3503
7901	-1.10	-146.6	631.2	-7.2	379	7904	0.00	2.20	0.00	0.000	4	0.000	0.083	2193	3789	3503
7934	-1.10	-146.6	633.8	-7.5	380	7938	0.00	2.05	0.00	0.000	6	0.000	0.052	2193	2647	3503
8256	-1.10	-146.6	658.0	-8.1	396	8260	0.00	2.20	0.00	0.000	4	0.000	0.085	2193	3790	3503
8306	-1.10	-146.6	662.3	-8.7	398	8310	0.00	2.05	0.00	0.000	6	0.000	0.052	2193	2646	3503
8633	-1.10	-146.6	686.2	-6.7	414	8637	0.00	2.20	0.00	0.000	4	0.000	0.086	2193	3789	3503
8672	-1.10	-146.6	689.1	-7.8	415	8678	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2640	3503
8988	-1.10	-146.6	711.5	-7.2	431	8990	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3503
9109	end dive: BOTTOM_OBSTACLE_DETECTED
state	9109	begin apogee
9118	-0.42	0.0	720.3	7.3	437	9244	0.77	0.00	122.35	1.158	6	0.095	0.000	2347	1906	2902
9244	end apogee: CONTROL_FINISHED_OK
state	9244	begin climb
9248	1.10	146.6	725.2	0.0	443	9376	1.55	2.72	120.62	1.122	4	0.057	0.068	2679	484	2304
9494	1.15	187.2	722.5	4.9	454	9535	0.00	2.55	34.95	1.095	6	0.000	0.037	2679	1931	2138
9855	1.17	203.4	703.4	5.6	472	9876	0.00	2.58	14.62	1.052	4	0.000	0.063	2679	3299	2072
9922	1.17	203.4	699.3	6.1	475	9927	0.00	2.55	0.00	0.000	6	0.000	0.049	2679	1896	2072
10250	1.17	203.4	678.9	6.7	491	10254	0.00	2.60	0.00	0.000	4	0.000	0.061	2679	3301	2071
10329	1.17	203.4	673.9	6.4	494	10335	0.00	2.55	0.00	0.000	6	0.000	0.049	2678	1894	2071
10645	1.17	203.4	651.1	7.7	510	10649	0.00	2.62	0.00	0.000	4	0.000	0.069	2679	485	2070
10695	1.17	203.4	647.0	8.2	512	10699	0.00	2.50	0.00	0.000	6	0.000	0.039	2679	1899	2070
11011	1.17	203.4	624.4	8.1	527	11015	0.00	2.58	0.00	0.000	4	0.000	0.061	2679	3309	2070
11269	1.22	239.7	608.1	5.0	538	11305	0.12	2.55	30.67	1.098	6	0.044	0.048	2720	1892	1924
11624	1.22	239.7	586.7	6.6	556	11628	0.00	2.60	0.00	0.000	4	0.000	0.060	2720	3305	1924
11736	1.22	239.7	578.8	7.1	561	11740	0.00	2.53	0.00	0.000	6	0.000	0.048	2720	1897	1923
12063	1.22	239.7	557.5	6.7	577	12064	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1897	1923
12372	1.22	239.7	536.8	6.7	592	12376	0.00	2.58	0.00	0.000	4	0.000	0.058	2720	3310	1923
12427	1.22	239.7	533.1	6.5	594	12433	0.00	2.53	0.00	0.000	6	0.000	0.046	2720	1894	1924
12743	1.22	239.7	511.6	7.3	610	12747	0.00	2.58	0.00	0.000	4	0.000	0.058	2720	3306	1924
12810	1.22	239.7	506.7	6.5	613	12814	0.00	2.50	0.00	0.000	6	0.000	0.046	2720	1897	1924
13131	1.22	239.7	484.4	7.0	629	13132	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1897	1924
13440	1.22	239.7	461.1	7.7	644	13444	0.00	2.58	0.00	0.000	4	0.000	0.059	2720	3308	1925
13472	1.22	239.7	458.3	7.5	645	13479	0.00	2.50	0.00	0.000	6	0.000	0.047	2720	1900	1924
13789	1.22	239.7	432.8	8.3	661	13790	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1900	1925
14098	1.22	239.7	407.6	8.4	676	14102	0.00	2.58	0.00	0.000	4	0.000	0.060	2720	3311	1926
14144	1.22	239.7	403.7	8.2	678	14148	0.00	2.53	0.00	0.000	6	0.000	0.049	2720	1901	1926
14476	1.22	239.7	378.2	7.5	694	14478	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1901	1926
14785	1.22	239.7	357.0	6.6	709	14790	0.00	2.58	0.00	0.000	4	0.000	0.062	2720	3305	1926
14848	1.22	239.7	352.8	6.3	712	14852	0.00	2.53	0.00	0.000	6	0.000	0.051	2720	1901	1926
15175	1.22	239.7	332.6	6.1	728	15176	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1901	1926
15484	1.22	239.7	313.6	6.2	743	15488	0.00	2.58	0.00	0.000	4	0.000	0.063	2720	3305	1927
15545	1.22	239.7	309.6	6.9	745	15552	0.00	2.53	0.00	0.000	6	0.000	0.051	2720	1893	1927
15862	1.22	239.7	288.3	7.3	761	15866	0.00	2.60	0.00	0.000	4	0.000	0.064	2720	3309	1927
15895	1.22	239.7	285.7	7.3	762	15899	0.00	2.55	0.00	0.000	6	0.000	0.052	2721	1894	1927
16211	1.22	239.7	263.1	6.8	777	16215	0.00	2.58	0.00	0.000	4	0.000	0.064	2720	3306	1927
16238	1.22	239.7	261.0	7.6	778	16243	0.00	2.55	0.00	0.000	6	0.000	0.052	2720	1891	1927
16560	1.22	239.7	238.1	7.1	794	16561	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1891	1928
16869	1.22	239.7	213.4	8.9	809	16873	0.00	2.62	0.00	0.000	4	0.000	0.065	2720	3314	1928
16924	1.22	239.7	208.6	7.9	811	16930	0.00	2.55	0.00	0.000	6	0.000	0.052	2720	1897	1927
17240	1.22	239.7	186.4	6.8	827	17245	0.00	2.60	0.00	0.000	4	0.000	0.064	2720	3312	1928
17274	1.22	239.7	183.9	7.0	828	17280	0.00	2.55	0.00	0.000	6	0.000	0.053	2720	1899	1928
17589	1.22	239.7	158.3	8.1	844	17591	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1898	1928
17900	1.22	239.7	134.7	7.2	859	17904	0.00	2.60	0.00	0.000	4	0.000	0.064	2720	3313	1928
17955	1.22	239.7	130.4	6.3	861	17961	0.00	2.55	0.00	0.000	6	0.000	0.056	2720	1901	1928
18271	1.22	239.7	105.4	9.9	877	18272	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1901	1928
18580	1.22	239.7	79.1	7.4	892	18585	0.00	2.60	0.00	0.000	4	0.000	0.064	2720	3315	1928
18621	1.22	239.7	76.1	7.4	894	18625	0.00	2.55	0.00	0.000	6	0.000	0.054	2720	1900	1928
18948	1.23	251.4	55.7	5.7	910	18966	0.00	0.00	11.68	0.692	6	0.000	0.000	2720	1899	1876
19278	1.23	251.4	31.3	7.5	926	19282	0.00	2.60	0.00	0.000	4	0.000	0.067	2720	3306	1876
19342	1.23	251.4	26.4	7.5	929	19346	0.00	2.58	0.00	0.000	6	0.000	0.057	2720	1894	1876
19667	end climb: SURFACE_DEPTH_REACHED
state	19667	begin surface coast
19688	end surface coast: CONTROL_FINISHED_OK
state	19688	begin surface