Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 65 * 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 65 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 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 -144242.42 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 -144242.42

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 1900 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 17 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 11 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 65 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 021324,6203.217,-955.283,28,2.0,45,-9.9 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.173,0.133

_SM_DEPTHo 1.42 KALMAN_X 1267.6,-273.9,9931.1,-20284.3,-2602.4

_SM_ANGLEo -62.3 KALMAN_Y -3643.8,229.9,-1404.4,13039.0,-2195.9

GPS2 021856,6203.257,-955.283,12,1.5,12,-9.9 MHEAD_RNG_PITCHd_Wd 62.3,5604,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.017645 ALTIM_BOTTOM_PING 701.2,35.7

SM_CCo 19967,0.00,0.000,0,0,1698,295.34 _24V_AH 23.4,18.984

SM_GC 1.08,11.73,0.00,0.00,0.031,0.000,0.000,46,2640,1698,-10.94,-0.28,295.34 _10V_AH 10.1,9.354

IRIDIUM_FIX 6139.81,-945.85,310598,202025 DATA_FILE_SIZE 47377,954

TT8_MAMPS 0.028379 CAP_FILE_SIZE 134517,0

HUMID 1780 CFSIZE 260165632,253792256

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

TCM_TEMP 17.10 GPS 070309,075355,6206.180,-949.527,41,1.7,41,-9.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 99.88 SBE_CT 666 24 374.52

Roll_motor 161 92 348.37 SBE_O2 703 19 312.71

VBD_pump_during_apogee 371 1148 9971.33 WL_BB2F 564 105 1386.19

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 68.79 nil 0 0 0.00

Iridium_during_connect 27 160 101.99 nil 0 0 0.00

Iridium_during_xfer 146 223 766.85

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.16

TT8 1712 19 342.45

LPSleep 15506 2 342.98

TT8_Active 476 19 95.29

TT8_Sampling 2053 39 825.65

TT8_CF8 544 45 251.85

TT8_Kalman 33 81 27.55

Analog_circuits 1517 12 183.92

GPS_charging 0 0 0.00

Compass 2014 8 162.80

RAFOS 0 0 0.00

Transponder 44 30 13.44

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 -41.47 0.000 2 0.000 0.000 46 2631 3231

62 -1.10 -146.6 3.8 -10.1 2 86 12.23 2.65 -4.55 0.000 4 0.162 0.089 2195 1229 3501

339 -1.10 -146.6 33.8 -7.9 14 343 0.00 2.67 0.00 0.000 6 0.000 0.069 2195 2659 3501

660 -1.10 -146.6 56.8 -7.0 30 664 0.00 2.67 0.00 0.000 4 0.000 0.074 2195 1235 3501

738 -1.10 -146.6 64.5 -11.9 33 744 0.00 2.62 0.00 0.000 6 0.000 0.065 2195 2658 3501

1054 -1.10 -146.6 87.9 -7.1 49 1055 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2658 3501

1363 -1.10 -146.6 111.8 -8.6 64 1367 0.00 2.17 0.00 0.000 4 0.000 0.092 2195 3787 3501

1397 -1.10 -146.6 115.0 -9.3 65 1400 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2650 3501

1719 -1.10 -146.6 141.9 -8.1 81 1720 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3501

2028 -1.10 -146.6 166.6 -8.5 96 2029 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3502

2337 -1.10 -146.6 189.4 -7.5 111 2341 0.00 2.20 0.00 0.000 4 0.000 0.091 2195 3783 3501

2383 -1.10 -146.6 193.0 -7.9 113 2386 0.00 2.05 0.00 0.000 6 0.000 0.052 2195 2643 3502

2715 -1.10 -146.6 215.3 -7.2 129 2716 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3501

3025 -1.10 -146.6 237.6 -7.8 144 3026 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3501

3334 -1.10 -146.6 262.9 -7.7 159 3337 0.00 2.22 0.00 0.000 4 0.000 0.088 2195 3792 3501

3380 -1.10 -146.6 266.7 -8.4 161 3384 0.00 2.05 0.00 0.000 6 0.000 0.054 2195 2653 3501

3713 -1.10 -146.6 292.7 -8.3 177 3714 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2653 3501

4022 -1.10 -146.6 317.7 -8.3 192 4023 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2653 3502

4331 -1.10 -146.6 342.5 -7.9 207 4332 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2653 3501

4641 -1.10 -146.6 366.3 -7.7 222 4642 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2652 3501

4950 -1.10 -146.6 389.2 -7.2 237 4953 0.00 2.20 0.00 0.000 4 0.000 0.087 2195 3793 3501

5018 -1.10 -146.6 394.3 -7.3 240 5022 0.00 2.05 0.00 0.000 6 0.000 0.053 2195 2649 3501

5351 -1.10 -146.6 417.8 -7.0 256 5352 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

5661 -1.10 -146.6 440.4 -7.4 271 5664 0.00 2.20 0.00 0.000 4 0.000 0.087 2195 3790 3501

5700 -1.10 -146.6 443.6 -7.9 272 5706 0.00 2.08 0.00 0.000 6 0.000 0.054 2195 2641 3501

6016 -1.10 -146.6 467.1 -7.8 288 6017 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2640 3501

6325 -1.10 -146.6 491.3 -7.7 303 6326 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2640 3501

6634 -1.10 -146.6 514.6 -7.4 318 6638 0.00 2.20 0.00 0.000 4 0.000 0.085 2195 3789 3501

6696 -1.10 -146.6 519.5 -7.7 320 6702 0.00 2.05 0.00 0.000 6 0.000 0.054 2195 2642 3501

7012 -1.10 -146.6 545.2 -8.4 336 7013 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

7321 -1.10 -146.6 570.8 -8.0 351 7322 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

7630 -1.10 -146.6 592.4 -6.6 366 7635 0.00 2.55 0.00 0.000 4 0.000 0.065 2195 1229 3501

7658 -1.10 -146.6 594.4 -6.9 367 7663 0.00 2.60 0.00 0.000 6 0.000 0.058 2195 2659 3501

7974 -1.10 -146.6 613.1 -5.8 382 7978 0.00 2.12 0.00 0.000 4 0.000 0.087 2195 3784 3501

8036 -1.10 -146.6 617.3 -7.1 384 8042 0.00 2.03 0.00 0.000 6 0.000 0.050 2195 2647 3501

8352 -1.10 -146.6 642.5 -8.9 400 8353 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

8661 -1.10 -146.6 667.6 -7.8 415 8662 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2648 3501

8971 -1.10 -146.6 688.8 -5.6 430 8975 0.00 2.58 0.00 0.000 4 0.000 0.066 2195 1227 3501

9021 -1.10 -146.6 691.0 -3.9 432 9025 0.00 2.60 0.00 0.000 6 0.000 0.057 2195 2658 3501

9337 -1.10 -146.6 708.7 -7.7 447 9338 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2659 3501

9602 end dive: BOTTOM_OBSTACLE_DETECTED

state 9602 begin apogee

9611 -0.42 0.0 727.2 6.3 460 9737 0.77 0.00 123.38 1.134 6 0.097 0.000 2348 1892 2902

9738 end apogee: CONTROL_FINISHED_OK

state 9738 begin climb

9741 1.10 146.6 731.3 0.0 466 9869 1.55 2.67 120.28 1.132 4 0.057 0.065 2678 487 2304

9960 1.13 166.3 729.9 5.5 476 9984 0.00 2.55 18.38 1.025 6 0.000 0.037 2678 1935 2223

10308 1.20 227.6 715.9 4.3 493 10370 0.10 2.55 51.80 1.148 4 0.052 0.062 2712 3298 1973

10426 1.20 227.6 708.1 6.9 498 10431 0.00 2.55 0.00 0.000 6 0.000 0.048 2713 1891 1973

10742 1.21 235.2 690.3 5.8 513 10752 0.00 0.00 7.72 1.008 6 0.000 0.000 2713 1891 1943

11051 1.21 235.2 670.9 6.0 528 11056 0.00 2.60 0.00 0.000 4 0.000 0.067 2713 491 1943

11085 1.21 235.2 668.5 7.3 529 11091 0.00 2.47 0.00 0.000 6 0.000 0.038 2713 1892 1943

11401 1.21 235.2 646.8 6.7 545 11405 0.00 2.60 0.00 0.000 4 0.000 0.064 2713 3308 1943

11456 1.21 235.2 642.8 7.6 547 11462 0.00 2.55 0.00 0.000 6 0.000 0.048 2713 1891 1943

11772 1.21 235.2 620.2 6.9 563 11773 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1891 1942

12081 1.21 235.2 596.5 8.2 578 12082 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1891 1942

12390 1.21 235.2 574.2 6.4 593 12394 0.00 2.60 0.00 0.000 4 0.000 0.061 2713 3313 1942

12429 1.21 235.2 571.7 6.5 594 12435 0.00 2.53 0.00 0.000 6 0.000 0.045 2713 1896 1942

12744 1.21 235.2 551.9 6.6 610 12746 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1896 1942

13054 1.21 235.2 529.8 7.3 625 13058 0.00 2.58 0.00 0.000 4 0.000 0.059 2713 3304 1942

13093 1.21 235.2 526.5 8.7 627 13098 0.00 2.50 0.00 0.000 6 0.000 0.044 2713 1896 1943

13420 1.21 235.2 500.3 8.2 643 13421 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1896 1943

13730 1.21 235.2 474.4 8.4 658 13734 0.00 2.58 0.00 0.000 4 0.000 0.060 2713 3306 1943

13796 1.21 235.2 468.4 8.6 661 13800 0.00 2.50 0.00 0.000 6 0.000 0.047 2713 1900 1943

14123 1.21 235.2 442.3 7.8 677 14128 0.00 2.58 0.00 0.000 4 0.000 0.061 2713 3311 1944

14157 1.21 235.2 439.6 7.8 678 14163 0.00 2.53 0.00 0.000 6 0.000 0.047 2713 1897 1944

14473 1.21 235.2 414.9 8.7 694 14474 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1897 1944

14782 1.21 235.2 389.4 7.9 709 14786 0.00 2.58 0.00 0.000 4 0.000 0.062 2713 3305 1944

14838 1.21 235.2 384.8 7.5 711 14842 0.00 2.53 0.00 0.000 6 0.000 0.048 2713 1896 1944

15154 1.21 235.2 362.2 6.5 726 15155 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1896 1944

15463 1.21 235.2 342.8 6.5 741 15467 0.00 2.60 0.00 0.000 4 0.000 0.064 2713 3312 1944

15525 1.21 235.2 338.8 7.1 744 15529 0.00 2.55 0.00 0.000 6 0.000 0.050 2713 1888 1944

15852 1.29 295.3 322.8 4.3 760 15907 0.00 2.75 49.58 0.939 4 0.000 0.067 2713 3305 1698

15966 1.29 295.3 316.0 6.9 765 15971 0.00 2.58 0.00 0.000 6 0.000 0.053 2713 1896 1698

16288 1.29 295.3 294.1 7.1 781 16292 0.00 2.62 0.00 0.000 4 0.000 0.066 2713 3309 1698

16328 1.29 295.3 291.1 7.3 783 16332 0.00 2.55 0.00 0.000 6 0.000 0.052 2713 1900 1697

16654 1.29 295.3 267.0 7.5 799 16658 0.00 2.60 0.00 0.000 4 0.000 0.065 2713 3305 1697

16704 1.29 295.3 263.0 8.5 801 16708 0.00 2.58 0.00 0.000 6 0.000 0.054 2713 1889 1697

17020 1.29 295.3 237.1 8.5 816 17025 0.00 2.62 0.00 0.000 4 0.000 0.067 2713 3302 1698

17075 1.29 295.3 232.2 8.9 818 17082 0.00 2.55 0.00 0.000 6 0.000 0.054 2713 1897 1698

17391 1.29 295.3 204.9 8.6 834 17396 0.00 2.60 0.00 0.000 4 0.000 0.066 2713 3302 1698

17442 1.29 295.3 200.3 9.6 836 17446 0.00 2.55 0.00 0.000 6 0.000 0.054 2713 1899 1698

17758 1.29 295.3 173.1 8.6 851 17762 0.00 2.60 0.00 0.000 4 0.000 0.067 2713 3301 1698

17813 1.29 295.3 168.4 8.0 853 17819 0.00 2.55 0.00 0.000 6 0.000 0.055 2713 1897 1698

18130 1.29 295.3 142.8 8.6 869 18134 0.00 2.62 0.00 0.000 4 0.000 0.067 2713 3311 1698

18185 1.29 295.3 137.7 8.3 871 18191 0.00 2.55 0.00 0.000 6 0.000 0.057 2713 1901 1698

18501 1.29 295.3 114.3 6.3 887 18505 0.00 2.60 0.00 0.000 4 0.000 0.067 2713 3304 1698

18546 1.29 295.3 111.3 7.3 889 18550 0.00 2.55 0.00 0.000 6 0.000 0.052 2713 1889 1698

18867 1.29 295.3 80.1 9.9 905 18871 0.00 2.62 0.00 0.000 4 0.000 0.067 2713 3306 1698

18907 1.29 295.3 76.3 8.4 907 18911 0.00 2.55 0.00 0.000 6 0.000 0.056 2713 1894 1699

19234 1.29 295.3 48.8 9.5 923 19238 0.00 2.62 0.00 0.000 4 0.000 0.066 2713 3312 1699

19274 1.29 295.3 45.6 8.1 925 19278 0.00 2.58 0.00 0.000 6 0.000 0.060 2713 1898 1699

19601 1.29 295.3 22.7 7.4 941 19605 0.00 2.60 0.00 0.000 4 0.000 0.067 2713 3302 1699

19628 1.29 295.3 20.5 7.9 942 19632 0.00 2.60 0.00 0.000 6 0.000 0.064 2713 1894 1699

19859 end climb: SURFACE_DEPTH_REACHED

state 19859 begin surface coast

19882 end surface coast: CONTROL_FINISHED_OK

state 19882 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	65	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	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	-144242.42	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	021324,6203.217,-955.283,28,2.0,45,-9.9	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.173,0.133
_SM_DEPTHo	1.42	KALMAN_X	1267.6,-273.9,9931.1,-20284.3,-2602.4
_SM_ANGLEo	-62.3	KALMAN_Y	-3643.8,229.9,-1404.4,13039.0,-2195.9
GPS2	021856,6203.257,-955.283,12,1.5,12,-9.9	MHEAD_RNG_PITCHd_Wd	62.3,5604,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.017645	ALTIM_BOTTOM_PING	701.2,35.7
SM_CCo	19967,0.00,0.000,0,0,1698,295.34	_24V_AH	23.4,18.984
SM_GC	1.08,11.73,0.00,0.00,0.031,0.000,0.000,46,2640,1698,-10.94,-0.28,295.34	_10V_AH	10.1,9.354
IRIDIUM_FIX	6139.81,-945.85,310598,202025	DATA_FILE_SIZE	47377,954
TT8_MAMPS	0.028379	CAP_FILE_SIZE	134517,0
HUMID	1780	CFSIZE	260165632,253792256
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	070309,075355,6206.180,-949.527,41,1.7,41,-9.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	99.88	SBE_CT	666	24	374.52
Roll_motor	161	92	348.37	SBE_O2	703	19	312.71
VBD_pump_during_apogee	371	1148	9971.33	WL_BB2F	564	105	1386.19
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	68.79	nil	0	0	0.00
Iridium_during_connect	27	160	101.99	nil	0	0	0.00
Iridium_during_xfer	146	223	766.85
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.16
TT8	1712	19	342.45
LPSleep	15506	2	342.98
TT8_Active	476	19	95.29
TT8_Sampling	2053	39	825.65
TT8_CF8	544	45	251.85
TT8_Kalman	33	81	27.55
Analog_circuits	1517	12	183.92
GPS_charging	0	0	0.00
Compass	2014	8	162.80
RAFOS	0	0	0.00
Transponder	44	30	13.44

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	-41.47	0.000	2	0.000	0.000	46	2631	3231
62	-1.10	-146.6	3.8	-10.1	2	86	12.23	2.65	-4.55	0.000	4	0.162	0.089	2195	1229	3501
339	-1.10	-146.6	33.8	-7.9	14	343	0.00	2.67	0.00	0.000	6	0.000	0.069	2195	2659	3501
660	-1.10	-146.6	56.8	-7.0	30	664	0.00	2.67	0.00	0.000	4	0.000	0.074	2195	1235	3501
738	-1.10	-146.6	64.5	-11.9	33	744	0.00	2.62	0.00	0.000	6	0.000	0.065	2195	2658	3501
1054	-1.10	-146.6	87.9	-7.1	49	1055	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2658	3501
1363	-1.10	-146.6	111.8	-8.6	64	1367	0.00	2.17	0.00	0.000	4	0.000	0.092	2195	3787	3501
1397	-1.10	-146.6	115.0	-9.3	65	1400	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2650	3501
1719	-1.10	-146.6	141.9	-8.1	81	1720	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3501
2028	-1.10	-146.6	166.6	-8.5	96	2029	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3502
2337	-1.10	-146.6	189.4	-7.5	111	2341	0.00	2.20	0.00	0.000	4	0.000	0.091	2195	3783	3501
2383	-1.10	-146.6	193.0	-7.9	113	2386	0.00	2.05	0.00	0.000	6	0.000	0.052	2195	2643	3502
2715	-1.10	-146.6	215.3	-7.2	129	2716	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3501
3025	-1.10	-146.6	237.6	-7.8	144	3026	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3501
3334	-1.10	-146.6	262.9	-7.7	159	3337	0.00	2.22	0.00	0.000	4	0.000	0.088	2195	3792	3501
3380	-1.10	-146.6	266.7	-8.4	161	3384	0.00	2.05	0.00	0.000	6	0.000	0.054	2195	2653	3501
3713	-1.10	-146.6	292.7	-8.3	177	3714	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2653	3501
4022	-1.10	-146.6	317.7	-8.3	192	4023	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2653	3502
4331	-1.10	-146.6	342.5	-7.9	207	4332	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2653	3501
4641	-1.10	-146.6	366.3	-7.7	222	4642	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2652	3501
4950	-1.10	-146.6	389.2	-7.2	237	4953	0.00	2.20	0.00	0.000	4	0.000	0.087	2195	3793	3501
5018	-1.10	-146.6	394.3	-7.3	240	5022	0.00	2.05	0.00	0.000	6	0.000	0.053	2195	2649	3501
5351	-1.10	-146.6	417.8	-7.0	256	5352	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
5661	-1.10	-146.6	440.4	-7.4	271	5664	0.00	2.20	0.00	0.000	4	0.000	0.087	2195	3790	3501
5700	-1.10	-146.6	443.6	-7.9	272	5706	0.00	2.08	0.00	0.000	6	0.000	0.054	2195	2641	3501
6016	-1.10	-146.6	467.1	-7.8	288	6017	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2640	3501
6325	-1.10	-146.6	491.3	-7.7	303	6326	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2640	3501
6634	-1.10	-146.6	514.6	-7.4	318	6638	0.00	2.20	0.00	0.000	4	0.000	0.085	2195	3789	3501
6696	-1.10	-146.6	519.5	-7.7	320	6702	0.00	2.05	0.00	0.000	6	0.000	0.054	2195	2642	3501
7012	-1.10	-146.6	545.2	-8.4	336	7013	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
7321	-1.10	-146.6	570.8	-8.0	351	7322	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
7630	-1.10	-146.6	592.4	-6.6	366	7635	0.00	2.55	0.00	0.000	4	0.000	0.065	2195	1229	3501
7658	-1.10	-146.6	594.4	-6.9	367	7663	0.00	2.60	0.00	0.000	6	0.000	0.058	2195	2659	3501
7974	-1.10	-146.6	613.1	-5.8	382	7978	0.00	2.12	0.00	0.000	4	0.000	0.087	2195	3784	3501
8036	-1.10	-146.6	617.3	-7.1	384	8042	0.00	2.03	0.00	0.000	6	0.000	0.050	2195	2647	3501
8352	-1.10	-146.6	642.5	-8.9	400	8353	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
8661	-1.10	-146.6	667.6	-7.8	415	8662	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2648	3501
8971	-1.10	-146.6	688.8	-5.6	430	8975	0.00	2.58	0.00	0.000	4	0.000	0.066	2195	1227	3501
9021	-1.10	-146.6	691.0	-3.9	432	9025	0.00	2.60	0.00	0.000	6	0.000	0.057	2195	2658	3501
9337	-1.10	-146.6	708.7	-7.7	447	9338	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2659	3501
9602	end dive: BOTTOM_OBSTACLE_DETECTED
state	9602	begin apogee
9611	-0.42	0.0	727.2	6.3	460	9737	0.77	0.00	123.38	1.134	6	0.097	0.000	2348	1892	2902
9738	end apogee: CONTROL_FINISHED_OK
state	9738	begin climb
9741	1.10	146.6	731.3	0.0	466	9869	1.55	2.67	120.28	1.132	4	0.057	0.065	2678	487	2304
9960	1.13	166.3	729.9	5.5	476	9984	0.00	2.55	18.38	1.025	6	0.000	0.037	2678	1935	2223
10308	1.20	227.6	715.9	4.3	493	10370	0.10	2.55	51.80	1.148	4	0.052	0.062	2712	3298	1973
10426	1.20	227.6	708.1	6.9	498	10431	0.00	2.55	0.00	0.000	6	0.000	0.048	2713	1891	1973
10742	1.21	235.2	690.3	5.8	513	10752	0.00	0.00	7.72	1.008	6	0.000	0.000	2713	1891	1943
11051	1.21	235.2	670.9	6.0	528	11056	0.00	2.60	0.00	0.000	4	0.000	0.067	2713	491	1943
11085	1.21	235.2	668.5	7.3	529	11091	0.00	2.47	0.00	0.000	6	0.000	0.038	2713	1892	1943
11401	1.21	235.2	646.8	6.7	545	11405	0.00	2.60	0.00	0.000	4	0.000	0.064	2713	3308	1943
11456	1.21	235.2	642.8	7.6	547	11462	0.00	2.55	0.00	0.000	6	0.000	0.048	2713	1891	1943
11772	1.21	235.2	620.2	6.9	563	11773	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1891	1942
12081	1.21	235.2	596.5	8.2	578	12082	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1891	1942
12390	1.21	235.2	574.2	6.4	593	12394	0.00	2.60	0.00	0.000	4	0.000	0.061	2713	3313	1942
12429	1.21	235.2	571.7	6.5	594	12435	0.00	2.53	0.00	0.000	6	0.000	0.045	2713	1896	1942
12744	1.21	235.2	551.9	6.6	610	12746	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1896	1942
13054	1.21	235.2	529.8	7.3	625	13058	0.00	2.58	0.00	0.000	4	0.000	0.059	2713	3304	1942
13093	1.21	235.2	526.5	8.7	627	13098	0.00	2.50	0.00	0.000	6	0.000	0.044	2713	1896	1943
13420	1.21	235.2	500.3	8.2	643	13421	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1896	1943
13730	1.21	235.2	474.4	8.4	658	13734	0.00	2.58	0.00	0.000	4	0.000	0.060	2713	3306	1943
13796	1.21	235.2	468.4	8.6	661	13800	0.00	2.50	0.00	0.000	6	0.000	0.047	2713	1900	1943
14123	1.21	235.2	442.3	7.8	677	14128	0.00	2.58	0.00	0.000	4	0.000	0.061	2713	3311	1944
14157	1.21	235.2	439.6	7.8	678	14163	0.00	2.53	0.00	0.000	6	0.000	0.047	2713	1897	1944
14473	1.21	235.2	414.9	8.7	694	14474	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1897	1944
14782	1.21	235.2	389.4	7.9	709	14786	0.00	2.58	0.00	0.000	4	0.000	0.062	2713	3305	1944
14838	1.21	235.2	384.8	7.5	711	14842	0.00	2.53	0.00	0.000	6	0.000	0.048	2713	1896	1944
15154	1.21	235.2	362.2	6.5	726	15155	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1896	1944
15463	1.21	235.2	342.8	6.5	741	15467	0.00	2.60	0.00	0.000	4	0.000	0.064	2713	3312	1944
15525	1.21	235.2	338.8	7.1	744	15529	0.00	2.55	0.00	0.000	6	0.000	0.050	2713	1888	1944
15852	1.29	295.3	322.8	4.3	760	15907	0.00	2.75	49.58	0.939	4	0.000	0.067	2713	3305	1698
15966	1.29	295.3	316.0	6.9	765	15971	0.00	2.58	0.00	0.000	6	0.000	0.053	2713	1896	1698
16288	1.29	295.3	294.1	7.1	781	16292	0.00	2.62	0.00	0.000	4	0.000	0.066	2713	3309	1698
16328	1.29	295.3	291.1	7.3	783	16332	0.00	2.55	0.00	0.000	6	0.000	0.052	2713	1900	1697
16654	1.29	295.3	267.0	7.5	799	16658	0.00	2.60	0.00	0.000	4	0.000	0.065	2713	3305	1697
16704	1.29	295.3	263.0	8.5	801	16708	0.00	2.58	0.00	0.000	6	0.000	0.054	2713	1889	1697
17020	1.29	295.3	237.1	8.5	816	17025	0.00	2.62	0.00	0.000	4	0.000	0.067	2713	3302	1698
17075	1.29	295.3	232.2	8.9	818	17082	0.00	2.55	0.00	0.000	6	0.000	0.054	2713	1897	1698
17391	1.29	295.3	204.9	8.6	834	17396	0.00	2.60	0.00	0.000	4	0.000	0.066	2713	3302	1698
17442	1.29	295.3	200.3	9.6	836	17446	0.00	2.55	0.00	0.000	6	0.000	0.054	2713	1899	1698
17758	1.29	295.3	173.1	8.6	851	17762	0.00	2.60	0.00	0.000	4	0.000	0.067	2713	3301	1698
17813	1.29	295.3	168.4	8.0	853	17819	0.00	2.55	0.00	0.000	6	0.000	0.055	2713	1897	1698
18130	1.29	295.3	142.8	8.6	869	18134	0.00	2.62	0.00	0.000	4	0.000	0.067	2713	3311	1698
18185	1.29	295.3	137.7	8.3	871	18191	0.00	2.55	0.00	0.000	6	0.000	0.057	2713	1901	1698
18501	1.29	295.3	114.3	6.3	887	18505	0.00	2.60	0.00	0.000	4	0.000	0.067	2713	3304	1698
18546	1.29	295.3	111.3	7.3	889	18550	0.00	2.55	0.00	0.000	6	0.000	0.052	2713	1889	1698
18867	1.29	295.3	80.1	9.9	905	18871	0.00	2.62	0.00	0.000	4	0.000	0.067	2713	3306	1698
18907	1.29	295.3	76.3	8.4	907	18911	0.00	2.55	0.00	0.000	6	0.000	0.056	2713	1894	1699
19234	1.29	295.3	48.8	9.5	923	19238	0.00	2.62	0.00	0.000	4	0.000	0.066	2713	3312	1699
19274	1.29	295.3	45.6	8.1	925	19278	0.00	2.58	0.00	0.000	6	0.000	0.060	2713	1898	1699
19601	1.29	295.3	22.7	7.4	941	19605	0.00	2.60	0.00	0.000	4	0.000	0.067	2713	3302	1699
19628	1.29	295.3	20.5	7.9	942	19632	0.00	2.60	0.00	0.000	6	0.000	0.064	2713	1894	1699
19859	end climb: SURFACE_DEPTH_REACHED
state	19859	begin surface coast
19882	end surface coast: CONTROL_FINISHED_OK
state	19882	begin surface