Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 82 * 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 82 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 20 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 -144602.12 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 -144602.12

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 20 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 82 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 140127,6211.368,-1037.105,29,2.4,48,-10.4 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.108,0.173

_SM_DEPTHo 1.31 KALMAN_X 31048.7,113.3,-1490.1,-75469.8,5401.4

_SM_ANGLEo -58.7 KALMAN_Y -529.1,773.2,-1911.9,24759.6,1173.7

GPS2 140720,6211.290,-1037.093,15,1.7,15,-10.4 MHEAD_RNG_PITCHd_Wd 338.5,7104,-12.3,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.012566 ALTIM_BOTTOM_PING 850.7,44.3

SM_CCo 19424,0.00,0.000,0,0,1342,382.67 _24V_AH 23.3,21.377

SM_GC 1.25,12.18,0.00,0.00,0.038,0.000,0.000,53,2645,1342,-10.93,-0.14,382.67 _10V_AH 10.1,11.023

IRIDIUM_FIX 6148.92,-1039.73,050698,080832 DATA_FILE_SIZE 47444,933

TT8_MAMPS 0.028379 CAP_FILE_SIZE 121351,0

HUMID 1763 CFSIZE 260165632,252616704

INTERNAL_PRESSURE 8.54525 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 110309,193307,6212.916,-1044.166,32,1.3,32,-10.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 99.60 SBE_CT 652 24 364.81

Roll_motor 95 89 200.47 SBE_O2 686 19 304.01

VBD_pump_during_apogee 435 1233 12518.44 WL_BB2F 511 105 1251.13

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 29 103 71.48 nil 0 0 0.00

Iridium_during_connect 28 160 105.80 nil 0 0 0.00

Iridium_during_xfer 163 223 850.38

Transponder_ping 7 420 73.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.76

TT8 1637 19 327.40

LPSleep 15207 2 336.38

TT8_Active 502 19 100.45

TT8_Sampling 1895 39 761.93

TT8_CF8 531 45 245.71

TT8_Kalman 33 81 27.56

Analog_circuits 1450 12 175.82

GPS_charging 0 0 0.00

Compass 1851 8 149.58

RAFOS 0 0 0.00

Transponder 53 30 16.18

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.18 -124.3 0.0 0.0 0 77 0.00 0.00 -55.45 0.000 6 0.000 0.000 53 2644 3410

80 -1.18 -124.3 6.8 -13.5 3 102 12.00 2.62 0.00 0.000 4 0.159 0.061 2177 1239 3410

310 -1.18 -124.3 38.8 -7.3 13 314 0.00 2.62 0.00 0.000 6 0.000 0.064 2177 2655 3410

631 -1.18 -124.3 64.9 -8.0 29 632 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2655 3410

940 -1.18 -124.3 87.8 -6.8 44 942 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2655 3411

1251 -1.18 -124.3 110.7 -7.4 59 1252 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2655 3410

1559 -1.18 -124.3 135.0 -7.8 74 1560 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2655 3411

1868 -1.18 -124.3 160.2 -7.6 89 1871 0.00 2.17 0.00 0.000 4 0.000 0.090 2177 3789 3410

1925 -1.18 -124.3 165.5 -10.1 91 1929 0.00 2.08 0.00 0.000 6 0.000 0.058 2177 2648 3410

2247 -1.18 -124.3 190.9 -6.9 107 2248 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2648 3410

2556 -1.18 -124.3 212.7 -7.0 122 2560 0.00 2.20 0.00 0.000 4 0.000 0.085 2177 3792 3410

2595 -1.18 -124.3 215.5 -7.3 123 2601 0.00 2.08 0.00 0.000 6 0.000 0.057 2177 2643 3410

2911 -1.18 -124.3 235.0 -6.1 139 2914 0.00 2.20 0.00 0.000 4 0.000 0.084 2177 3786 3410

2957 -1.18 -124.3 238.0 -7.0 141 2961 0.00 2.05 0.00 0.000 6 0.000 0.058 2177 2647 3410

3289 -1.18 -124.3 261.1 -6.7 157 3290 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2647 3410

3598 -1.18 -124.3 285.0 -8.1 172 3602 0.00 2.17 0.00 0.000 4 0.000 0.083 2177 3783 3410

3644 -1.18 -124.3 289.0 -9.0 174 3648 0.00 2.03 0.00 0.000 6 0.000 0.054 2177 2658 3410

3976 -1.18 -124.3 317.1 -8.7 190 3977 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3412

4285 -1.18 -124.3 345.6 -9.7 205 4286 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3412

4596 -1.18 -124.3 375.8 -9.9 220 4597 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3411

4904 -1.18 -124.3 408.7 -10.3 235 4905 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

5213 -1.18 -124.3 439.2 -9.4 250 5214 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

5523 -1.18 -124.3 466.1 -8.4 265 5524 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

5832 -1.18 -124.3 489.3 -7.4 280 5833 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2657 3410

6141 -1.18 -128.0 509.5 -5.9 295 6142 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

6451 -1.20 -146.6 526.6 -5.3 310 6452 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

6760 -1.20 -146.6 548.9 -8.1 325 6761 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

7069 -1.20 -146.6 574.9 -8.6 340 7070 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

7381 -1.20 -146.6 601.2 -8.3 355 7382 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

7687 -1.20 -146.6 628.4 -8.9 370 7689 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

7997 -1.20 -146.6 653.7 -8.7 385 7998 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

8306 -1.20 -146.6 685.3 -10.2 400 8307 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

8615 -1.20 -146.6 711.4 -6.6 415 8616 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2657 3410

8925 -1.20 -146.6 727.2 -5.7 430 8929 0.00 2.60 0.00 0.000 4 0.000 0.067 2177 1225 3410

8969 -1.20 -146.6 730.5 -7.1 432 8973 0.00 2.58 0.00 0.000 6 0.000 0.055 2177 2651 3410

9290 -1.20 -146.6 761.4 -10.7 448 9291 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2651 3410

9599 -1.20 -146.6 793.5 -9.4 463 9600 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2651 3410

9909 -1.20 -146.6 807.8 -4.8 478 9910 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2651 3410

10218 -1.20 -146.6 820.0 -1.8 493 10222 0.00 2.15 0.00 0.000 4 0.000 0.085 2177 3790 3410

10264 -1.20 -146.6 821.4 -3.1 495 10268 0.00 2.05 0.00 0.000 6 0.000 0.051 2177 2639 3410

10597 -1.20 -146.6 841.0 -8.6 511 10601 0.00 2.58 0.00 0.000 4 0.000 0.071 2177 1231 3410

10636 -1.20 -146.6 844.7 -9.0 513 10641 0.00 2.60 0.00 0.000 6 0.000 0.060 2177 2657 3409

10963 -1.20 -146.6 875.0 -7.3 529 10968 0.00 2.62 0.00 0.000 4 0.000 0.067 2177 1229 3409

11032 -1.20 -146.6 879.5 -8.1 532 11037 0.00 2.62 0.00 0.000 6 0.000 0.064 2177 2652 3409

11123 end dive: BOTTOM_OBSTACLE_DETECTED

state 11123 begin apogee

11132 -0.42 0.0 886.4 7.2 537 11246 0.85 0.00 107.78 1.233 6 0.090 0.000 2349 1995 2902

11247 end apogee: CONTROL_FINISHED_OK

state 11247 begin climb

11250 1.20 146.6 889.1 0.0 543 11382 1.65 0.00 125.00 1.201 6 0.058 0.000 2700 1995 2304

11705 1.32 237.7 876.7 3.0 565 11789 0.12 2.75 78.05 1.199 4 0.044 0.058 2741 3426 1933

11844 1.32 237.7 868.5 8.3 571 11848 0.00 2.58 0.00 0.000 6 0.000 0.042 2741 1994 1933

12164 1.32 237.7 835.6 9.3 587 12169 0.00 2.60 0.00 0.000 4 0.000 0.065 2741 586 1932

12237 1.32 237.7 828.8 7.4 590 12242 0.00 2.53 0.00 0.000 6 0.000 0.037 2741 2019 1932

12553 1.35 262.1 815.1 5.2 605 12582 0.00 2.70 21.98 1.153 4 0.000 0.062 2741 592 1833

12754 1.49 382.7 808.6 2.1 614 12865 0.12 2.50 102.82 1.189 6 0.047 0.041 2779 2005 1341

13187 1.49 382.7 780.2 10.1 635 13191 0.00 2.62 0.00 0.000 4 0.000 0.062 2779 585 1340

13242 1.49 382.7 773.7 12.4 637 13249 0.00 2.53 0.00 0.000 6 0.000 0.040 2779 2008 1340

13558 1.49 382.7 726.2 16.9 653 13559 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2009 1340

13867 1.49 382.7 674.6 15.8 668 13869 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2009 1340

14177 1.49 382.7 631.3 13.2 683 14181 0.00 2.60 0.00 0.000 4 0.000 0.059 2779 588 1341

14273 1.49 382.7 619.2 12.6 687 14277 0.00 2.50 0.00 0.000 6 0.000 0.038 2779 2013 1341

14589 1.49 382.7 578.3 13.4 702 14590 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2013 1341

14898 1.49 382.7 540.8 12.2 717 14902 0.00 2.60 0.00 0.000 4 0.000 0.059 2779 589 1341

14931 1.49 382.7 536.5 12.5 718 14937 0.00 2.47 0.00 0.000 6 0.000 0.039 2780 2000 1341

15247 1.49 382.7 497.2 12.3 734 15248 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2000 1341

15556 1.49 382.7 458.1 12.5 749 15557 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2000 1341

15865 1.49 382.7 418.0 13.5 764 15869 0.00 2.58 0.00 0.000 4 0.000 0.060 2779 586 1341

15907 1.49 382.7 412.5 13.6 766 15911 0.00 2.50 0.00 0.000 6 0.000 0.040 2779 2008 1341

16234 1.49 382.7 370.5 12.0 782 16236 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2008 1341

16543 1.49 382.7 334.9 11.3 797 16545 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2008 1342

16853 1.49 382.7 297.9 12.3 812 16857 0.00 2.60 0.00 0.000 4 0.000 0.061 2779 588 1341

16915 1.49 382.7 290.2 11.5 815 16919 0.00 2.50 0.00 0.000 6 0.000 0.041 2780 2007 1342

17242 1.49 382.7 252.2 11.2 831 17243 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2007 1342

17551 1.49 382.7 217.4 11.4 846 17553 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2007 1342

17860 1.49 382.7 181.8 11.5 861 17865 0.00 2.60 0.00 0.000 4 0.000 0.062 2780 588 1342

17893 1.49 382.7 177.5 11.7 862 17899 0.00 2.50 0.00 0.000 6 0.000 0.041 2780 2007 1342

18210 1.49 382.7 139.6 12.0 878 18211 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2007 1342

18519 1.49 382.7 102.2 13.2 893 18520 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2007 1342

18828 1.49 382.7 64.2 13.1 908 18829 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2006 1342

19137 1.49 382.7 24.4 12.5 923 19142 0.00 2.62 0.00 0.000 4 0.000 0.067 2780 588 1342

19204 1.49 382.7 14.4 14.2 926 19209 0.00 2.47 0.00 0.000 6 0.000 0.039 2779 1999 1343

19318 end climb: SURFACE_DEPTH_REACHED

state 19319 begin surface coast

19339 end surface coast: CONTROL_FINISHED_OK

state 19339 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	82	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	20	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	-144602.12	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	140127,6211.368,-1037.105,29,2.4,48,-10.4	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.108,0.173
_SM_DEPTHo	1.31	KALMAN_X	31048.7,113.3,-1490.1,-75469.8,5401.4
_SM_ANGLEo	-58.7	KALMAN_Y	-529.1,773.2,-1911.9,24759.6,1173.7
GPS2	140720,6211.290,-1037.093,15,1.7,15,-10.4	MHEAD_RNG_PITCHd_Wd	338.5,7104,-12.3,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.012566	ALTIM_BOTTOM_PING	850.7,44.3
SM_CCo	19424,0.00,0.000,0,0,1342,382.67	_24V_AH	23.3,21.377
SM_GC	1.25,12.18,0.00,0.00,0.038,0.000,0.000,53,2645,1342,-10.93,-0.14,382.67	_10V_AH	10.1,11.023
IRIDIUM_FIX	6148.92,-1039.73,050698,080832	DATA_FILE_SIZE	47444,933
TT8_MAMPS	0.028379	CAP_FILE_SIZE	121351,0
HUMID	1763	CFSIZE	260165632,252616704
INTERNAL_PRESSURE	8.54525	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	110309,193307,6212.916,-1044.166,32,1.3,32,-10.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	99.60	SBE_CT	652	24	364.81
Roll_motor	95	89	200.47	SBE_O2	686	19	304.01
VBD_pump_during_apogee	435	1233	12518.44	WL_BB2F	511	105	1251.13
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	29	103	71.48	nil	0	0	0.00
Iridium_during_connect	28	160	105.80	nil	0	0	0.00
Iridium_during_xfer	163	223	850.38
Transponder_ping	7	420	73.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.76
TT8	1637	19	327.40
LPSleep	15207	2	336.38
TT8_Active	502	19	100.45
TT8_Sampling	1895	39	761.93
TT8_CF8	531	45	245.71
TT8_Kalman	33	81	27.56
Analog_circuits	1450	12	175.82
GPS_charging	0	0	0.00
Compass	1851	8	149.58
RAFOS	0	0	0.00
Transponder	53	30	16.18

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.18	-124.3	0.0	0.0	0	77	0.00	0.00	-55.45	0.000	6	0.000	0.000	53	2644	3410
80	-1.18	-124.3	6.8	-13.5	3	102	12.00	2.62	0.00	0.000	4	0.159	0.061	2177	1239	3410
310	-1.18	-124.3	38.8	-7.3	13	314	0.00	2.62	0.00	0.000	6	0.000	0.064	2177	2655	3410
631	-1.18	-124.3	64.9	-8.0	29	632	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2655	3410
940	-1.18	-124.3	87.8	-6.8	44	942	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2655	3411
1251	-1.18	-124.3	110.7	-7.4	59	1252	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2655	3410
1559	-1.18	-124.3	135.0	-7.8	74	1560	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2655	3411
1868	-1.18	-124.3	160.2	-7.6	89	1871	0.00	2.17	0.00	0.000	4	0.000	0.090	2177	3789	3410
1925	-1.18	-124.3	165.5	-10.1	91	1929	0.00	2.08	0.00	0.000	6	0.000	0.058	2177	2648	3410
2247	-1.18	-124.3	190.9	-6.9	107	2248	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2648	3410
2556	-1.18	-124.3	212.7	-7.0	122	2560	0.00	2.20	0.00	0.000	4	0.000	0.085	2177	3792	3410
2595	-1.18	-124.3	215.5	-7.3	123	2601	0.00	2.08	0.00	0.000	6	0.000	0.057	2177	2643	3410
2911	-1.18	-124.3	235.0	-6.1	139	2914	0.00	2.20	0.00	0.000	4	0.000	0.084	2177	3786	3410
2957	-1.18	-124.3	238.0	-7.0	141	2961	0.00	2.05	0.00	0.000	6	0.000	0.058	2177	2647	3410
3289	-1.18	-124.3	261.1	-6.7	157	3290	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2647	3410
3598	-1.18	-124.3	285.0	-8.1	172	3602	0.00	2.17	0.00	0.000	4	0.000	0.083	2177	3783	3410
3644	-1.18	-124.3	289.0	-9.0	174	3648	0.00	2.03	0.00	0.000	6	0.000	0.054	2177	2658	3410
3976	-1.18	-124.3	317.1	-8.7	190	3977	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3412
4285	-1.18	-124.3	345.6	-9.7	205	4286	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3412
4596	-1.18	-124.3	375.8	-9.9	220	4597	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3411
4904	-1.18	-124.3	408.7	-10.3	235	4905	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
5213	-1.18	-124.3	439.2	-9.4	250	5214	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
5523	-1.18	-124.3	466.1	-8.4	265	5524	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
5832	-1.18	-124.3	489.3	-7.4	280	5833	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2657	3410
6141	-1.18	-128.0	509.5	-5.9	295	6142	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
6451	-1.20	-146.6	526.6	-5.3	310	6452	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
6760	-1.20	-146.6	548.9	-8.1	325	6761	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
7069	-1.20	-146.6	574.9	-8.6	340	7070	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
7381	-1.20	-146.6	601.2	-8.3	355	7382	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
7687	-1.20	-146.6	628.4	-8.9	370	7689	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
7997	-1.20	-146.6	653.7	-8.7	385	7998	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
8306	-1.20	-146.6	685.3	-10.2	400	8307	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
8615	-1.20	-146.6	711.4	-6.6	415	8616	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2657	3410
8925	-1.20	-146.6	727.2	-5.7	430	8929	0.00	2.60	0.00	0.000	4	0.000	0.067	2177	1225	3410
8969	-1.20	-146.6	730.5	-7.1	432	8973	0.00	2.58	0.00	0.000	6	0.000	0.055	2177	2651	3410
9290	-1.20	-146.6	761.4	-10.7	448	9291	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2651	3410
9599	-1.20	-146.6	793.5	-9.4	463	9600	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2651	3410
9909	-1.20	-146.6	807.8	-4.8	478	9910	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2651	3410
10218	-1.20	-146.6	820.0	-1.8	493	10222	0.00	2.15	0.00	0.000	4	0.000	0.085	2177	3790	3410
10264	-1.20	-146.6	821.4	-3.1	495	10268	0.00	2.05	0.00	0.000	6	0.000	0.051	2177	2639	3410
10597	-1.20	-146.6	841.0	-8.6	511	10601	0.00	2.58	0.00	0.000	4	0.000	0.071	2177	1231	3410
10636	-1.20	-146.6	844.7	-9.0	513	10641	0.00	2.60	0.00	0.000	6	0.000	0.060	2177	2657	3409
10963	-1.20	-146.6	875.0	-7.3	529	10968	0.00	2.62	0.00	0.000	4	0.000	0.067	2177	1229	3409
11032	-1.20	-146.6	879.5	-8.1	532	11037	0.00	2.62	0.00	0.000	6	0.000	0.064	2177	2652	3409
11123	end dive: BOTTOM_OBSTACLE_DETECTED
state	11123	begin apogee
11132	-0.42	0.0	886.4	7.2	537	11246	0.85	0.00	107.78	1.233	6	0.090	0.000	2349	1995	2902
11247	end apogee: CONTROL_FINISHED_OK
state	11247	begin climb
11250	1.20	146.6	889.1	0.0	543	11382	1.65	0.00	125.00	1.201	6	0.058	0.000	2700	1995	2304
11705	1.32	237.7	876.7	3.0	565	11789	0.12	2.75	78.05	1.199	4	0.044	0.058	2741	3426	1933
11844	1.32	237.7	868.5	8.3	571	11848	0.00	2.58	0.00	0.000	6	0.000	0.042	2741	1994	1933
12164	1.32	237.7	835.6	9.3	587	12169	0.00	2.60	0.00	0.000	4	0.000	0.065	2741	586	1932
12237	1.32	237.7	828.8	7.4	590	12242	0.00	2.53	0.00	0.000	6	0.000	0.037	2741	2019	1932
12553	1.35	262.1	815.1	5.2	605	12582	0.00	2.70	21.98	1.153	4	0.000	0.062	2741	592	1833
12754	1.49	382.7	808.6	2.1	614	12865	0.12	2.50	102.82	1.189	6	0.047	0.041	2779	2005	1341
13187	1.49	382.7	780.2	10.1	635	13191	0.00	2.62	0.00	0.000	4	0.000	0.062	2779	585	1340
13242	1.49	382.7	773.7	12.4	637	13249	0.00	2.53	0.00	0.000	6	0.000	0.040	2779	2008	1340
13558	1.49	382.7	726.2	16.9	653	13559	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2009	1340
13867	1.49	382.7	674.6	15.8	668	13869	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2009	1340
14177	1.49	382.7	631.3	13.2	683	14181	0.00	2.60	0.00	0.000	4	0.000	0.059	2779	588	1341
14273	1.49	382.7	619.2	12.6	687	14277	0.00	2.50	0.00	0.000	6	0.000	0.038	2779	2013	1341
14589	1.49	382.7	578.3	13.4	702	14590	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2013	1341
14898	1.49	382.7	540.8	12.2	717	14902	0.00	2.60	0.00	0.000	4	0.000	0.059	2779	589	1341
14931	1.49	382.7	536.5	12.5	718	14937	0.00	2.47	0.00	0.000	6	0.000	0.039	2780	2000	1341
15247	1.49	382.7	497.2	12.3	734	15248	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2000	1341
15556	1.49	382.7	458.1	12.5	749	15557	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2000	1341
15865	1.49	382.7	418.0	13.5	764	15869	0.00	2.58	0.00	0.000	4	0.000	0.060	2779	586	1341
15907	1.49	382.7	412.5	13.6	766	15911	0.00	2.50	0.00	0.000	6	0.000	0.040	2779	2008	1341
16234	1.49	382.7	370.5	12.0	782	16236	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2008	1341
16543	1.49	382.7	334.9	11.3	797	16545	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2008	1342
16853	1.49	382.7	297.9	12.3	812	16857	0.00	2.60	0.00	0.000	4	0.000	0.061	2779	588	1341
16915	1.49	382.7	290.2	11.5	815	16919	0.00	2.50	0.00	0.000	6	0.000	0.041	2780	2007	1342
17242	1.49	382.7	252.2	11.2	831	17243	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2007	1342
17551	1.49	382.7	217.4	11.4	846	17553	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2007	1342
17860	1.49	382.7	181.8	11.5	861	17865	0.00	2.60	0.00	0.000	4	0.000	0.062	2780	588	1342
17893	1.49	382.7	177.5	11.7	862	17899	0.00	2.50	0.00	0.000	6	0.000	0.041	2780	2007	1342
18210	1.49	382.7	139.6	12.0	878	18211	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2007	1342
18519	1.49	382.7	102.2	13.2	893	18520	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2007	1342
18828	1.49	382.7	64.2	13.1	908	18829	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2006	1342
19137	1.49	382.7	24.4	12.5	923	19142	0.00	2.62	0.00	0.000	4	0.000	0.067	2780	588	1342
19204	1.49	382.7	14.4	14.2	926	19209	0.00	2.47	0.00	0.000	6	0.000	0.039	2779	1999	1343
19318	end climb: SURFACE_DEPTH_REACHED
state	19319	begin surface coast
19339	end surface coast: CONTROL_FINISHED_OK
state	19339	begin surface