Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 81 * 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 81 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 2000 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 -144586.12 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 -144586.12

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 2000 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 81 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 080237,6210.227,-1041.349,100,1.1,100,-10.4 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 22 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.121,0.182

_SM_DEPTHo 1.52 KALMAN_X 29233.8,-548.7,1061.6,-79204.5,-3901.7

_SM_ANGLEo -52.9 KALMAN_Y 1525.0,-439.4,1305.4,18870.2,-5877.3

GPS2 081032,6210.283,-1041.354,15,1.5,15,-10.4 MHEAD_RNG_PITCHd_Wd 44.0,10312,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.024043 ALTIM_BOTTOM_PING 800.2,37.3

SM_CCo 20915,0.00,0.000,0,0,1559,329.44 _24V_AH 23.4,21.216

SM_GC 1.54,11.85,0.00,0.00,0.031,0.000,0.000,53,2640,1559,-10.93,-0.28,329.44 _10V_AH 10.1,10.939

IRIDIUM_FIX 6144.36,-1042.54,050698,010136 DATA_FILE_SIZE 50579,1001

TT8_MAMPS 0.028379 CAP_FILE_SIZE 136096,0

HUMID 1768 CFSIZE 260165632,252657664

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

TCM_TEMP 17.10 GPS 110309,140127,6211.368,-1037.105,29,2.4,48,-10.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 163 101.88 SBE_CT 698 24 392.37

Roll_motor 125 90 265.26 SBE_O2 737 19 327.73

VBD_pump_during_apogee 402 1187 11193.15 WL_BB2F 548 105 1348.68

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 75.21 nil 0 0 0.00

Iridium_during_connect 27 160 101.64 nil 0 0 0.00

Iridium_during_xfer 282 223 1474.13

Transponder_ping 7 420 73.71

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.84

TT8 1777 19 355.44

LPSleep 16280 2 360.11

TT8_Active 490 19 98.06

TT8_Sampling 2154 39 866.01

TT8_CF8 681 45 315.31

TT8_Kalman 33 81 27.57

Analog_circuits 1557 12 188.80

GPS_charging 0 0 0.00

Compass 2109 8 170.46

RAFOS 0 0 0.00

Transponder 53 30 16.29

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 77 0.00 0.00 -57.72 0.000 6 0.000 0.000 45 2655 3503

81 -1.10 -146.6 6.9 -13.3 3 102 12.27 2.20 0.00 0.000 4 0.163 0.080 2194 3787 3503

355 -1.10 -146.6 29.0 -6.9 15 359 0.00 2.10 0.00 0.000 6 0.000 0.063 2194 2651 3503

683 -1.10 -146.6 65.1 -12.4 31 684 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3503

994 -1.10 -146.6 99.2 -12.0 46 997 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3786 3503

1175 -1.10 -146.6 112.7 -6.7 54 1178 0.00 2.10 0.00 0.000 6 0.000 0.061 2194 2642 3503

1508 -1.10 -146.6 133.3 -6.2 70 1509 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3503

1817 -1.10 -146.6 156.2 -6.9 85 1821 0.00 2.22 0.00 0.000 4 0.000 0.091 2194 3783 3503

1851 -1.10 -146.6 158.2 -5.7 86 1857 0.00 2.08 0.00 0.000 6 0.000 0.060 2194 2650 3503

2166 -1.10 -146.6 178.2 -6.8 102 2168 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3503

2476 -1.10 -146.6 198.7 -7.0 117 2480 0.00 2.17 0.00 0.000 4 0.000 0.087 2194 3785 3503

2522 -1.10 -146.6 201.4 -6.1 119 2525 0.00 2.08 0.00 0.000 6 0.000 0.060 2194 2649 3503

2854 -1.10 -146.6 221.5 -6.2 135 2855 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2649 3503

3164 -1.10 -146.6 243.6 -6.7 150 3165 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2649 3503

3473 -1.10 -146.6 262.8 -5.7 165 3475 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2649 3503

3782 -1.10 -146.6 281.4 -6.2 180 3783 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3503

4094 -1.10 -146.6 301.2 -6.7 195 4095 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3503

4401 -1.10 -146.6 323.6 -7.6 210 4402 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3503

4710 -1.10 -146.6 346.6 -7.1 225 4711 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3503

5019 -1.10 -146.6 366.3 -6.1 240 5020 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3503

5329 -1.10 -146.6 385.7 -6.4 255 5330 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3502

5638 -1.10 -146.6 408.1 -7.4 270 5639 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3502

5947 -1.10 -146.6 434.1 -8.2 285 5948 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2647 3502

6257 -1.10 -146.6 457.4 -7.0 300 6260 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3789 3502

6318 -1.10 -146.6 462.1 -7.7 302 6324 0.00 2.08 0.00 0.000 6 0.000 0.055 2194 2639 3502

6634 -1.10 -146.6 487.0 -8.5 318 6635 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2639 3502

6943 -1.10 -146.6 511.8 -7.5 333 6945 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2639 3502

7252 -1.10 -146.6 532.3 -6.5 348 7256 0.00 2.20 0.00 0.000 4 0.000 0.085 2194 3790 3502

7321 -1.10 -146.6 537.6 -8.1 351 7325 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2646 3502

7654 -1.10 -146.6 561.5 -6.7 367 7655 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3502

7964 -1.10 -146.6 581.0 -6.0 382 7965 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3502

8273 -1.10 -146.6 598.4 -5.3 397 8274 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3502

8582 -1.10 -146.6 613.8 -5.9 412 8587 0.00 2.58 0.00 0.000 4 0.000 0.068 2194 1231 3502

8611 -1.10 -146.6 615.7 -5.7 413 8615 0.00 2.60 0.00 0.000 6 0.000 0.058 2194 2660 3502

8926 -1.10 -146.6 634.6 -6.6 428 8927 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3502

9236 -1.10 -146.6 660.2 -9.4 443 9237 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3502

9545 -1.10 -146.6 699.6 -14.8 458 9546 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3502

9854 -1.10 -146.6 736.7 -10.9 473 9858 0.00 2.60 0.00 0.000 4 0.000 0.067 2194 1236 3502

9898 -1.10 -146.6 743.2 -14.7 475 9903 0.00 2.60 0.00 0.000 6 0.000 0.061 2194 2660 3502

10221 -1.10 -146.6 779.0 -9.6 491 10222 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3502

10530 -1.10 -146.6 796.0 -5.9 506 10534 0.00 2.62 0.00 0.000 4 0.000 0.068 2194 1236 3502

10642 -1.10 -146.6 807.1 -11.5 511 10646 0.00 2.60 0.00 0.000 6 0.000 0.062 2194 2654 3502

10877 end dive: BOTTOM_OBSTACLE_DETECTED

state 10877 begin apogee

10886 -0.42 0.0 827.9 7.9 523 11014 0.77 0.00 125.53 1.187 6 0.094 0.000 2349 1999 2901

11015 end apogee: CONTROL_FINISHED_OK

state 11015 begin climb

11019 1.10 146.6 833.7 0.0 529 11151 1.52 2.72 123.62 1.151 4 0.052 0.059 2679 3419 2304

11379 1.10 146.6 826.1 6.5 545 11383 0.00 2.58 0.00 0.000 6 0.000 0.045 2679 1989 2304

11695 1.10 147.8 798.0 6.0 560 11699 0.00 2.60 0.00 0.000 4 0.000 0.066 2679 585 2303

11953 1.33 329.4 789.8 1.0 571 12116 0.22 2.53 153.73 1.159 6 0.034 0.039 2742 2018 1558

12432 1.33 329.4 745.4 12.0 595 12437 0.00 2.65 0.00 0.000 4 0.000 0.064 2742 593 1558

12517 1.33 329.4 736.3 10.4 599 12522 0.00 2.50 0.00 0.000 6 0.000 0.042 2742 1995 1558

12844 1.33 329.4 706.4 9.1 615 12846 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1995 1558

13154 1.33 329.4 676.4 9.3 630 13158 0.00 2.60 0.00 0.000 4 0.000 0.064 2742 3409 1558

13194 1.33 329.4 672.6 9.5 631 13200 0.00 2.53 0.00 0.000 6 0.000 0.044 2742 1996 1558

13510 1.33 329.4 642.8 10.3 647 13514 0.00 2.55 0.00 0.000 4 0.000 0.061 2742 595 1558

13550 1.33 329.4 638.4 11.0 649 13554 0.00 2.47 0.00 0.000 6 0.000 0.037 2742 2008 1558

13876 1.33 329.4 602.9 10.4 665 13881 0.00 2.60 0.00 0.000 4 0.000 0.059 2742 588 1558

13932 1.33 329.4 597.0 11.0 667 13938 0.00 2.47 0.00 0.000 6 0.000 0.038 2742 2001 1558

14248 1.33 329.4 570.2 7.5 683 14253 0.00 2.58 0.00 0.000 4 0.000 0.062 2742 3413 1558

14293 1.33 329.4 566.7 7.7 685 14297 0.00 2.50 0.00 0.000 6 0.000 0.043 2742 2002 1558

14620 1.33 329.4 540.4 8.6 701 14621 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2002 1557

14929 1.33 329.4 513.9 8.4 716 14933 0.00 2.55 0.00 0.000 4 0.000 0.061 2742 591 1558

14963 1.33 329.4 510.8 8.4 717 14969 0.00 2.47 0.00 0.000 6 0.000 0.038 2742 2007 1558

15278 1.33 329.4 484.8 8.0 733 15279 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2007 1558

15588 1.33 329.4 460.2 8.3 748 15589 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2007 1558

15897 1.33 329.4 433.3 8.7 763 15901 0.00 2.55 0.00 0.000 4 0.000 0.064 2742 3414 1558

15936 1.33 329.4 429.7 8.8 764 15942 0.00 2.53 0.00 0.000 6 0.000 0.048 2742 1995 1558

16252 1.33 329.4 403.4 8.3 780 16253 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1995 1559

16561 1.33 329.4 380.4 7.1 795 16562 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1995 1558

16870 1.33 329.4 358.0 7.2 810 16871 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1995 1559

17179 1.33 329.4 334.6 7.8 825 17181 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1995 1559

17489 1.33 329.4 309.6 8.2 840 17493 0.00 2.62 0.00 0.000 4 0.000 0.064 2742 3415 1559

17551 1.33 329.4 304.1 9.2 843 17555 0.00 2.55 0.00 0.000 6 0.000 0.050 2742 1995 1559

17878 1.33 329.4 275.9 8.3 859 17882 0.00 2.55 0.00 0.000 4 0.000 0.064 2742 591 1559

17911 1.33 329.4 272.9 8.4 860 17917 0.00 2.45 0.00 0.000 6 0.000 0.040 2742 1997 1559

18227 1.33 329.4 244.5 9.4 876 18228 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1997 1560

18536 1.33 329.4 216.7 9.4 891 18541 0.00 2.58 0.00 0.000 4 0.000 0.062 2742 591 1560

18622 1.33 329.4 208.8 8.8 895 18626 0.00 2.47 0.00 0.000 6 0.000 0.040 2742 2003 1560

18949 1.33 329.4 182.6 8.0 911 18954 0.00 2.58 0.00 0.000 4 0.000 0.066 2742 3410 1560

18984 1.33 329.4 179.6 8.0 912 18990 0.00 2.55 0.00 0.000 6 0.000 0.051 2742 1990 1560

19300 1.33 329.4 150.4 9.9 928 19304 0.00 2.55 0.00 0.000 4 0.000 0.064 2742 588 1560

19350 1.33 329.4 145.5 10.1 930 19354 0.00 2.50 0.00 0.000 6 0.000 0.042 2742 2009 1560

19666 1.33 329.4 116.4 9.0 945 19667 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2009 1560

19975 1.33 329.4 85.5 9.4 960 19980 0.00 2.60 0.00 0.000 4 0.000 0.062 2742 590 1560

19997 1.33 329.4 83.1 11.4 961 20002 0.00 2.47 0.00 0.000 6 0.000 0.040 2742 2002 1560

20319 1.33 329.4 50.4 10.7 977 20321 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2002 1560

20629 1.33 329.4 19.9 9.0 992 20633 0.00 2.60 0.00 0.000 4 0.000 0.065 2742 590 1560

20701 1.33 329.4 12.5 10.5 995 20705 0.00 2.47 0.00 0.000 6 0.000 0.039 2742 2006 1560

20808 end climb: SURFACE_DEPTH_REACHED

state 20808 begin surface coast

20830 end surface coast: CONTROL_FINISHED_OK

state 20830 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	81	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	2000	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	-144586.12	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	080237,6210.227,-1041.349,100,1.1,100,-10.4	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	22	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.121,0.182
_SM_DEPTHo	1.52	KALMAN_X	29233.8,-548.7,1061.6,-79204.5,-3901.7
_SM_ANGLEo	-52.9	KALMAN_Y	1525.0,-439.4,1305.4,18870.2,-5877.3
GPS2	081032,6210.283,-1041.354,15,1.5,15,-10.4	MHEAD_RNG_PITCHd_Wd	44.0,10312,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.024043	ALTIM_BOTTOM_PING	800.2,37.3
SM_CCo	20915,0.00,0.000,0,0,1559,329.44	_24V_AH	23.4,21.216
SM_GC	1.54,11.85,0.00,0.00,0.031,0.000,0.000,53,2640,1559,-10.93,-0.28,329.44	_10V_AH	10.1,10.939
IRIDIUM_FIX	6144.36,-1042.54,050698,010136	DATA_FILE_SIZE	50579,1001
TT8_MAMPS	0.028379	CAP_FILE_SIZE	136096,0
HUMID	1768	CFSIZE	260165632,252657664
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	110309,140127,6211.368,-1037.105,29,2.4,48,-10.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	163	101.88	SBE_CT	698	24	392.37
Roll_motor	125	90	265.26	SBE_O2	737	19	327.73
VBD_pump_during_apogee	402	1187	11193.15	WL_BB2F	548	105	1348.68
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	75.21	nil	0	0	0.00
Iridium_during_connect	27	160	101.64	nil	0	0	0.00
Iridium_during_xfer	282	223	1474.13
Transponder_ping	7	420	73.71
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.84
TT8	1777	19	355.44
LPSleep	16280	2	360.11
TT8_Active	490	19	98.06
TT8_Sampling	2154	39	866.01
TT8_CF8	681	45	315.31
TT8_Kalman	33	81	27.57
Analog_circuits	1557	12	188.80
GPS_charging	0	0	0.00
Compass	2109	8	170.46
RAFOS	0	0	0.00
Transponder	53	30	16.29

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	77	0.00	0.00	-57.72	0.000	6	0.000	0.000	45	2655	3503
81	-1.10	-146.6	6.9	-13.3	3	102	12.27	2.20	0.00	0.000	4	0.163	0.080	2194	3787	3503
355	-1.10	-146.6	29.0	-6.9	15	359	0.00	2.10	0.00	0.000	6	0.000	0.063	2194	2651	3503
683	-1.10	-146.6	65.1	-12.4	31	684	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3503
994	-1.10	-146.6	99.2	-12.0	46	997	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3786	3503
1175	-1.10	-146.6	112.7	-6.7	54	1178	0.00	2.10	0.00	0.000	6	0.000	0.061	2194	2642	3503
1508	-1.10	-146.6	133.3	-6.2	70	1509	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3503
1817	-1.10	-146.6	156.2	-6.9	85	1821	0.00	2.22	0.00	0.000	4	0.000	0.091	2194	3783	3503
1851	-1.10	-146.6	158.2	-5.7	86	1857	0.00	2.08	0.00	0.000	6	0.000	0.060	2194	2650	3503
2166	-1.10	-146.6	178.2	-6.8	102	2168	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3503
2476	-1.10	-146.6	198.7	-7.0	117	2480	0.00	2.17	0.00	0.000	4	0.000	0.087	2194	3785	3503
2522	-1.10	-146.6	201.4	-6.1	119	2525	0.00	2.08	0.00	0.000	6	0.000	0.060	2194	2649	3503
2854	-1.10	-146.6	221.5	-6.2	135	2855	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2649	3503
3164	-1.10	-146.6	243.6	-6.7	150	3165	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2649	3503
3473	-1.10	-146.6	262.8	-5.7	165	3475	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2649	3503
3782	-1.10	-146.6	281.4	-6.2	180	3783	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3503
4094	-1.10	-146.6	301.2	-6.7	195	4095	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3503
4401	-1.10	-146.6	323.6	-7.6	210	4402	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3503
4710	-1.10	-146.6	346.6	-7.1	225	4711	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3503
5019	-1.10	-146.6	366.3	-6.1	240	5020	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3503
5329	-1.10	-146.6	385.7	-6.4	255	5330	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3502
5638	-1.10	-146.6	408.1	-7.4	270	5639	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3502
5947	-1.10	-146.6	434.1	-8.2	285	5948	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2647	3502
6257	-1.10	-146.6	457.4	-7.0	300	6260	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3789	3502
6318	-1.10	-146.6	462.1	-7.7	302	6324	0.00	2.08	0.00	0.000	6	0.000	0.055	2194	2639	3502
6634	-1.10	-146.6	487.0	-8.5	318	6635	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2639	3502
6943	-1.10	-146.6	511.8	-7.5	333	6945	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2639	3502
7252	-1.10	-146.6	532.3	-6.5	348	7256	0.00	2.20	0.00	0.000	4	0.000	0.085	2194	3790	3502
7321	-1.10	-146.6	537.6	-8.1	351	7325	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2646	3502
7654	-1.10	-146.6	561.5	-6.7	367	7655	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3502
7964	-1.10	-146.6	581.0	-6.0	382	7965	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3502
8273	-1.10	-146.6	598.4	-5.3	397	8274	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3502
8582	-1.10	-146.6	613.8	-5.9	412	8587	0.00	2.58	0.00	0.000	4	0.000	0.068	2194	1231	3502
8611	-1.10	-146.6	615.7	-5.7	413	8615	0.00	2.60	0.00	0.000	6	0.000	0.058	2194	2660	3502
8926	-1.10	-146.6	634.6	-6.6	428	8927	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3502
9236	-1.10	-146.6	660.2	-9.4	443	9237	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3502
9545	-1.10	-146.6	699.6	-14.8	458	9546	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3502
9854	-1.10	-146.6	736.7	-10.9	473	9858	0.00	2.60	0.00	0.000	4	0.000	0.067	2194	1236	3502
9898	-1.10	-146.6	743.2	-14.7	475	9903	0.00	2.60	0.00	0.000	6	0.000	0.061	2194	2660	3502
10221	-1.10	-146.6	779.0	-9.6	491	10222	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3502
10530	-1.10	-146.6	796.0	-5.9	506	10534	0.00	2.62	0.00	0.000	4	0.000	0.068	2194	1236	3502
10642	-1.10	-146.6	807.1	-11.5	511	10646	0.00	2.60	0.00	0.000	6	0.000	0.062	2194	2654	3502
10877	end dive: BOTTOM_OBSTACLE_DETECTED
state	10877	begin apogee
10886	-0.42	0.0	827.9	7.9	523	11014	0.77	0.00	125.53	1.187	6	0.094	0.000	2349	1999	2901
11015	end apogee: CONTROL_FINISHED_OK
state	11015	begin climb
11019	1.10	146.6	833.7	0.0	529	11151	1.52	2.72	123.62	1.151	4	0.052	0.059	2679	3419	2304
11379	1.10	146.6	826.1	6.5	545	11383	0.00	2.58	0.00	0.000	6	0.000	0.045	2679	1989	2304
11695	1.10	147.8	798.0	6.0	560	11699	0.00	2.60	0.00	0.000	4	0.000	0.066	2679	585	2303
11953	1.33	329.4	789.8	1.0	571	12116	0.22	2.53	153.73	1.159	6	0.034	0.039	2742	2018	1558
12432	1.33	329.4	745.4	12.0	595	12437	0.00	2.65	0.00	0.000	4	0.000	0.064	2742	593	1558
12517	1.33	329.4	736.3	10.4	599	12522	0.00	2.50	0.00	0.000	6	0.000	0.042	2742	1995	1558
12844	1.33	329.4	706.4	9.1	615	12846	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1995	1558
13154	1.33	329.4	676.4	9.3	630	13158	0.00	2.60	0.00	0.000	4	0.000	0.064	2742	3409	1558
13194	1.33	329.4	672.6	9.5	631	13200	0.00	2.53	0.00	0.000	6	0.000	0.044	2742	1996	1558
13510	1.33	329.4	642.8	10.3	647	13514	0.00	2.55	0.00	0.000	4	0.000	0.061	2742	595	1558
13550	1.33	329.4	638.4	11.0	649	13554	0.00	2.47	0.00	0.000	6	0.000	0.037	2742	2008	1558
13876	1.33	329.4	602.9	10.4	665	13881	0.00	2.60	0.00	0.000	4	0.000	0.059	2742	588	1558
13932	1.33	329.4	597.0	11.0	667	13938	0.00	2.47	0.00	0.000	6	0.000	0.038	2742	2001	1558
14248	1.33	329.4	570.2	7.5	683	14253	0.00	2.58	0.00	0.000	4	0.000	0.062	2742	3413	1558
14293	1.33	329.4	566.7	7.7	685	14297	0.00	2.50	0.00	0.000	6	0.000	0.043	2742	2002	1558
14620	1.33	329.4	540.4	8.6	701	14621	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2002	1557
14929	1.33	329.4	513.9	8.4	716	14933	0.00	2.55	0.00	0.000	4	0.000	0.061	2742	591	1558
14963	1.33	329.4	510.8	8.4	717	14969	0.00	2.47	0.00	0.000	6	0.000	0.038	2742	2007	1558
15278	1.33	329.4	484.8	8.0	733	15279	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2007	1558
15588	1.33	329.4	460.2	8.3	748	15589	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2007	1558
15897	1.33	329.4	433.3	8.7	763	15901	0.00	2.55	0.00	0.000	4	0.000	0.064	2742	3414	1558
15936	1.33	329.4	429.7	8.8	764	15942	0.00	2.53	0.00	0.000	6	0.000	0.048	2742	1995	1558
16252	1.33	329.4	403.4	8.3	780	16253	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1995	1559
16561	1.33	329.4	380.4	7.1	795	16562	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1995	1558
16870	1.33	329.4	358.0	7.2	810	16871	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1995	1559
17179	1.33	329.4	334.6	7.8	825	17181	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1995	1559
17489	1.33	329.4	309.6	8.2	840	17493	0.00	2.62	0.00	0.000	4	0.000	0.064	2742	3415	1559
17551	1.33	329.4	304.1	9.2	843	17555	0.00	2.55	0.00	0.000	6	0.000	0.050	2742	1995	1559
17878	1.33	329.4	275.9	8.3	859	17882	0.00	2.55	0.00	0.000	4	0.000	0.064	2742	591	1559
17911	1.33	329.4	272.9	8.4	860	17917	0.00	2.45	0.00	0.000	6	0.000	0.040	2742	1997	1559
18227	1.33	329.4	244.5	9.4	876	18228	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1997	1560
18536	1.33	329.4	216.7	9.4	891	18541	0.00	2.58	0.00	0.000	4	0.000	0.062	2742	591	1560
18622	1.33	329.4	208.8	8.8	895	18626	0.00	2.47	0.00	0.000	6	0.000	0.040	2742	2003	1560
18949	1.33	329.4	182.6	8.0	911	18954	0.00	2.58	0.00	0.000	4	0.000	0.066	2742	3410	1560
18984	1.33	329.4	179.6	8.0	912	18990	0.00	2.55	0.00	0.000	6	0.000	0.051	2742	1990	1560
19300	1.33	329.4	150.4	9.9	928	19304	0.00	2.55	0.00	0.000	4	0.000	0.064	2742	588	1560
19350	1.33	329.4	145.5	10.1	930	19354	0.00	2.50	0.00	0.000	6	0.000	0.042	2742	2009	1560
19666	1.33	329.4	116.4	9.0	945	19667	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2009	1560
19975	1.33	329.4	85.5	9.4	960	19980	0.00	2.60	0.00	0.000	4	0.000	0.062	2742	590	1560
19997	1.33	329.4	83.1	11.4	961	20002	0.00	2.47	0.00	0.000	6	0.000	0.040	2742	2002	1560
20319	1.33	329.4	50.4	10.7	977	20321	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2002	1560
20629	1.33	329.4	19.9	9.0	992	20633	0.00	2.60	0.00	0.000	4	0.000	0.065	2742	590	1560
20701	1.33	329.4	12.5	10.5	995	20705	0.00	2.47	0.00	0.000	6	0.000	0.039	2742	2006	1560
20808	end climb: SURFACE_DEPTH_REACHED
state	20808	begin surface coast
20830	end surface coast: CONTROL_FINISHED_OK
state	20830	begin surface