Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 83 * 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 83 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 -144635.81 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 -144635.81

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 22 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 8 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 83 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 193307,6212.916,-1044.166,32,1.3,32,-10.4 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.067,0.208

_SM_DEPTHo 1.18 KALMAN_X 26938.6,-437.0,171.1,-78508.6,-1583.5

_SM_ANGLEo -55.0 KALMAN_Y -6978.2,-465.5,2975.0,30713.0,-6572.1

GPS2 194010,6212.977,-1044.104,13,2.3,32,-10.4 MHEAD_RNG_PITCHd_Wd 28.2,8699,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.018111 ALTIM_BOTTOM_PING 751.2,74.9

SM_CCo 20476,0.00,0.000,0,0,1716,290.93 _24V_AH 23.4,21.516

SM_GC 1.41,11.77,0.00,0.00,0.029,0.000,0.000,53,2644,1716,-10.93,-0.17,290.93 _10V_AH 10.1,11.112

IRIDIUM_FIX 6148.92,-1035.20,050698,141418 DATA_FILE_SIZE 50612,980

TT8_MAMPS 0.028379 CAP_FILE_SIZE 129293,0

HUMID 1776 CFSIZE 260165632,252538880

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

TCM_TEMP 17.00 GPS 120309,012336,6215.889,-1040.295,38,1.0,43,-10.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 99.50 SBE_CT 687 24 386.28

Roll_motor 114 104 279.79 SBE_O2 729 19 324.21

VBD_pump_during_apogee 374 1186 10396.70 WL_BB2F 547 105 1344.53

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 27 103 66.51 nil 0 0 0.00

Iridium_during_connect 28 160 106.70 nil 0 0 0.00

Iridium_during_xfer 219 223 1146.48

Transponder_ping 6 420 63.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.69

TT8 1727 19 345.45

LPSleep 16030 2 354.57

TT8_Active 473 19 94.73

TT8_Sampling 2047 39 822.93

TT8_CF8 615 45 284.49

TT8_Kalman 33 81 27.56

Analog_circuits 1480 12 179.49

GPS_charging 0 0 0.00

Compass 1997 8 161.40

RAFOS 0 0 0.00

Transponder 44 30 13.58

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.10 -146.6 0.0 0.0 0 82 0.00 0.00 -61.50 0.000 2 0.000 0.000 53 2647 3350

85 -1.10 -146.6 4.9 -8.5 3 108 12.18 2.25 -2.33 0.000 4 0.161 0.104 2193 3780 3503

361 -1.10 -146.6 41.3 -8.5 15 364 0.00 2.08 0.00 0.000 6 0.000 0.060 2193 2650 3503

688 -1.10 -146.6 71.3 -8.6 31 692 0.00 2.22 0.00 0.000 4 0.000 0.092 2193 3787 3503

845 -1.10 -146.6 84.7 -7.8 38 849 0.00 2.08 0.00 0.000 6 0.000 0.057 2193 2650 3503

1173 -1.10 -146.6 113.1 -8.8 54 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3503

1482 -1.10 -146.6 139.8 -8.0 69 1486 0.00 2.22 0.00 0.000 4 0.000 0.091 2193 3793 3503

1537 -1.10 -146.6 144.2 -8.1 71 1541 0.00 2.08 0.00 0.000 6 0.000 0.056 2193 2652 3503

1859 -1.10 -146.6 173.5 -9.6 87 1860 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2652 3503

2168 -1.10 -146.6 199.9 -8.6 102 2176 0.00 2.20 0.00 0.000 4 0.000 0.088 2193 3787 3503

2210 -1.10 -146.6 203.2 -7.5 103 2216 0.00 2.08 0.00 0.000 6 0.000 0.057 2193 2646 3503

2526 -1.10 -146.6 226.1 -7.1 119 2528 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3503

2835 -1.10 -146.6 248.5 -7.3 134 2839 0.00 2.22 0.00 0.000 4 0.000 0.088 2193 3794 3503

2886 -1.10 -146.6 252.6 -7.9 136 2889 0.00 2.10 0.00 0.000 6 0.000 0.058 2193 2641 3503

3213 -1.10 -146.6 278.1 -7.6 152 3214 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3503

3522 -1.10 -146.6 301.5 -7.4 167 3526 0.00 2.22 0.00 0.000 4 0.000 0.087 2193 3793 3503

3584 -1.10 -146.6 306.3 -7.6 169 3589 0.00 2.08 0.00 0.000 6 0.000 0.057 2193 2649 3503

3899 -1.10 -146.6 330.1 -7.7 185 3901 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2649 3503

4209 -1.10 -146.6 352.6 -7.2 200 4213 0.00 2.20 0.00 0.000 4 0.000 0.087 2193 3793 3503

4259 -1.10 -146.6 356.2 -7.0 202 4263 0.00 2.08 0.00 0.000 6 0.000 0.057 2193 2641 3503

4587 -1.10 -146.6 375.4 -5.7 218 4589 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3504

4896 -1.10 -146.6 394.0 -5.7 233 4897 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3504

5205 -1.10 -146.6 411.3 -5.4 248 5206 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2641 3504

5514 -1.10 -146.6 429.0 -5.9 263 5516 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2641 3504

5824 -1.10 -146.6 449.8 -6.7 278 5825 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3503

6133 -1.10 -146.6 466.2 -4.6 293 6134 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3503

6442 -1.10 -146.6 481.5 -5.9 308 6443 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3503

6751 -1.10 -146.6 501.5 -6.5 323 6753 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3503

7060 -1.10 -146.6 523.3 -7.5 338 7064 0.00 2.20 0.00 0.000 4 0.000 0.085 2193 3787 3503

7099 -1.10 -146.6 526.2 -8.0 339 7106 0.00 2.05 0.00 0.000 6 0.000 0.053 2193 2644 3503

7415 -1.10 -146.6 549.8 -7.1 355 7417 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2645 3503

7724 -1.10 -146.6 570.0 -6.2 370 7726 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2645 3503

8034 -1.10 -146.6 587.0 -5.5 385 8035 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2644 3503

8344 -1.10 -146.6 603.0 -5.0 400 8345 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2644 3503

8652 -1.10 -146.6 620.7 -6.6 415 8653 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2644 3503

8962 -1.10 -146.6 642.2 -8.1 430 8965 0.00 2.20 0.00 0.000 4 0.000 0.085 2193 3787 3503

9008 -1.10 -146.6 646.4 -9.5 432 9011 0.00 2.03 0.00 0.000 6 0.000 0.051 2193 2652 3503

9340 -1.10 -146.6 677.3 -9.0 448 9341 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2652 3503

9649 -1.10 -146.6 705.7 -9.2 463 9653 0.00 2.17 0.00 0.000 4 0.000 0.084 2193 3789 3503

9700 -1.10 -146.6 710.6 -9.6 465 9704 0.00 2.05 0.00 0.000 6 0.000 0.051 2193 2638 3503

10027 -1.10 -146.6 741.5 -9.1 481 10032 0.00 2.58 0.00 0.000 4 0.000 0.069 2193 1228 3503

10049 -1.10 -146.6 743.3 -8.1 482 10054 0.00 2.60 0.00 0.000 6 0.000 0.058 2193 2657 3503

10370 -1.10 -146.6 765.3 -7.2 498 10372 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2656 3503

10680 -1.10 -146.6 789.0 -7.7 513 10684 0.00 2.62 0.00 0.000 4 0.000 0.067 2193 1232 3502

10742 -1.10 -146.6 794.1 -8.6 516 10746 0.00 2.60 0.00 0.000 6 0.000 0.060 2193 2659 3502

11069 -1.10 -146.6 814.8 -6.3 532 11073 0.00 2.62 0.00 0.000 4 0.000 0.067 2193 1233 3501

11088 end dive: BOTTOM_OBSTACLE_DETECTED

state 11088 begin apogee

11097 -0.42 0.0 816.1 5.8 533 11225 0.73 0.00 125.55 1.187 6 0.093 0.000 2343 2023 2902

11226 end apogee: CONTROL_FINISHED_OK

state 11226 begin climb

11230 1.10 146.6 822.7 0.0 539 11362 1.55 2.67 123.35 1.153 4 0.052 0.058 2678 3416 2304

11620 1.17 200.2 812.7 4.5 557 11671 0.00 2.58 46.33 1.144 6 0.000 0.048 2677 1998 2085

11986 1.28 288.1 789.9 3.6 574 12067 0.17 0.00 74.65 1.160 6 0.036 0.000 2735 1997 1727

12377 1.28 288.1 748.1 12.2 593 12381 0.00 2.62 0.00 0.000 4 0.000 0.068 2735 586 1726

12511 1.28 288.1 730.6 11.9 599 12515 0.00 2.53 0.00 0.000 6 0.000 0.038 2735 2011 1726

12832 1.28 288.1 699.4 8.9 615 12836 0.00 2.60 0.00 0.000 4 0.000 0.066 2735 3416 1725

12882 1.28 288.1 695.2 8.3 617 12886 0.00 2.58 0.00 0.000 6 0.000 0.047 2735 1987 1725

13197 1.28 288.1 673.7 6.7 632 13198 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 1987 1725

13507 1.28 291.7 653.5 5.9 647 13513 0.00 0.00 4.57 0.785 6 0.000 0.000 2735 1987 1712

13816 1.28 291.7 628.5 9.3 662 13817 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 1987 1712

14125 1.28 291.7 597.5 10.5 677 14129 0.00 2.60 0.00 0.000 4 0.000 0.059 2735 3409 1712

14158 1.28 291.7 594.0 9.6 678 14164 0.00 2.53 0.00 0.000 6 0.000 0.043 2736 1988 1712

14474 1.28 291.7 563.7 9.2 694 14478 0.00 2.53 0.00 0.000 4 0.000 0.061 2735 587 1713

14520 1.28 291.7 559.2 10.7 696 14524 0.00 2.47 0.00 0.000 6 0.000 0.035 2736 2009 1713

14846 1.28 291.7 526.3 9.9 712 14850 0.00 2.55 0.00 0.000 4 0.000 0.062 2735 3408 1713

14880 1.28 291.7 522.8 9.5 713 14886 0.00 2.50 0.00 0.000 6 0.000 0.044 2735 1999 1713

15196 1.28 291.7 491.9 9.4 729 15199 0.00 2.53 0.00 0.000 4 0.000 0.060 2735 593 1713

15235 1.28 291.7 488.1 9.8 730 15241 0.00 2.45 0.00 0.000 6 0.000 0.036 2736 2007 1713

15551 1.28 291.7 459.8 9.1 746 15552 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2007 1713

15860 1.28 291.7 432.6 8.8 761 15861 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2008 1713

16169 1.28 291.7 404.3 9.3 776 16170 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2007 1714

16479 1.28 291.7 372.8 10.4 791 16480 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2007 1714

16788 1.28 291.7 343.3 9.8 806 16792 0.00 2.55 0.00 0.000 4 0.000 0.064 2736 3406 1714

16821 1.28 291.7 339.7 10.3 807 16825 0.00 2.53 0.00 0.000 6 0.000 0.049 2735 1996 1714

17137 1.28 291.7 307.9 10.1 822 17138 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 1996 1715

17446 1.28 291.7 277.4 9.8 837 17447 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 1996 1715

17755 1.28 291.7 247.3 9.4 852 17757 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 1996 1715

18065 1.28 291.7 216.1 10.5 867 18069 0.00 2.60 0.00 0.000 4 0.000 0.066 2736 3404 1715

18093 1.28 291.7 213.2 10.8 868 18097 0.00 2.53 0.00 0.000 6 0.000 0.051 2736 2002 1715

18414 1.28 291.7 180.8 10.1 884 18415 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2002 1715

18723 1.28 291.7 149.8 9.9 899 18724 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2002 1716

19033 1.28 291.7 121.9 9.0 914 19037 0.00 2.58 0.00 0.000 4 0.000 0.067 2735 590 1716

19095 1.28 291.7 116.0 9.7 917 19100 0.00 2.47 0.00 0.000 6 0.000 0.039 2735 2005 1716

19423 1.28 291.7 87.6 7.4 933 19424 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2005 1716

19732 1.28 291.7 62.1 8.3 948 19737 0.00 2.60 0.00 0.000 4 0.000 0.065 2736 590 1716

19777 1.28 291.7 58.0 8.6 950 19781 0.00 2.47 0.00 0.000 6 0.000 0.041 2736 1998 1716

20104 1.28 291.7 27.4 10.8 966 20105 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 1998 1716

20369 end climb: SURFACE_DEPTH_REACHED

state 20369 begin surface coast

20391 end surface coast: CONTROL_FINISHED_OK

state 20391 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	83	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	-144635.81	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	193307,6212.916,-1044.166,32,1.3,32,-10.4	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.067,0.208
_SM_DEPTHo	1.18	KALMAN_X	26938.6,-437.0,171.1,-78508.6,-1583.5
_SM_ANGLEo	-55.0	KALMAN_Y	-6978.2,-465.5,2975.0,30713.0,-6572.1
GPS2	194010,6212.977,-1044.104,13,2.3,32,-10.4	MHEAD_RNG_PITCHd_Wd	28.2,8699,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.018111	ALTIM_BOTTOM_PING	751.2,74.9
SM_CCo	20476,0.00,0.000,0,0,1716,290.93	_24V_AH	23.4,21.516
SM_GC	1.41,11.77,0.00,0.00,0.029,0.000,0.000,53,2644,1716,-10.93,-0.17,290.93	_10V_AH	10.1,11.112
IRIDIUM_FIX	6148.92,-1035.20,050698,141418	DATA_FILE_SIZE	50612,980
TT8_MAMPS	0.028379	CAP_FILE_SIZE	129293,0
HUMID	1776	CFSIZE	260165632,252538880
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	120309,012336,6215.889,-1040.295,38,1.0,43,-10.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	99.50	SBE_CT	687	24	386.28
Roll_motor	114	104	279.79	SBE_O2	729	19	324.21
VBD_pump_during_apogee	374	1186	10396.70	WL_BB2F	547	105	1344.53
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	27	103	66.51	nil	0	0	0.00
Iridium_during_connect	28	160	106.70	nil	0	0	0.00
Iridium_during_xfer	219	223	1146.48
Transponder_ping	6	420	63.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.69
TT8	1727	19	345.45
LPSleep	16030	2	354.57
TT8_Active	473	19	94.73
TT8_Sampling	2047	39	822.93
TT8_CF8	615	45	284.49
TT8_Kalman	33	81	27.56
Analog_circuits	1480	12	179.49
GPS_charging	0	0	0.00
Compass	1997	8	161.40
RAFOS	0	0	0.00
Transponder	44	30	13.58

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.10	-146.6	0.0	0.0	0	82	0.00	0.00	-61.50	0.000	2	0.000	0.000	53	2647	3350
85	-1.10	-146.6	4.9	-8.5	3	108	12.18	2.25	-2.33	0.000	4	0.161	0.104	2193	3780	3503
361	-1.10	-146.6	41.3	-8.5	15	364	0.00	2.08	0.00	0.000	6	0.000	0.060	2193	2650	3503
688	-1.10	-146.6	71.3	-8.6	31	692	0.00	2.22	0.00	0.000	4	0.000	0.092	2193	3787	3503
845	-1.10	-146.6	84.7	-7.8	38	849	0.00	2.08	0.00	0.000	6	0.000	0.057	2193	2650	3503
1173	-1.10	-146.6	113.1	-8.8	54	1174	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3503
1482	-1.10	-146.6	139.8	-8.0	69	1486	0.00	2.22	0.00	0.000	4	0.000	0.091	2193	3793	3503
1537	-1.10	-146.6	144.2	-8.1	71	1541	0.00	2.08	0.00	0.000	6	0.000	0.056	2193	2652	3503
1859	-1.10	-146.6	173.5	-9.6	87	1860	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2652	3503
2168	-1.10	-146.6	199.9	-8.6	102	2176	0.00	2.20	0.00	0.000	4	0.000	0.088	2193	3787	3503
2210	-1.10	-146.6	203.2	-7.5	103	2216	0.00	2.08	0.00	0.000	6	0.000	0.057	2193	2646	3503
2526	-1.10	-146.6	226.1	-7.1	119	2528	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3503
2835	-1.10	-146.6	248.5	-7.3	134	2839	0.00	2.22	0.00	0.000	4	0.000	0.088	2193	3794	3503
2886	-1.10	-146.6	252.6	-7.9	136	2889	0.00	2.10	0.00	0.000	6	0.000	0.058	2193	2641	3503
3213	-1.10	-146.6	278.1	-7.6	152	3214	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3503
3522	-1.10	-146.6	301.5	-7.4	167	3526	0.00	2.22	0.00	0.000	4	0.000	0.087	2193	3793	3503
3584	-1.10	-146.6	306.3	-7.6	169	3589	0.00	2.08	0.00	0.000	6	0.000	0.057	2193	2649	3503
3899	-1.10	-146.6	330.1	-7.7	185	3901	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2649	3503
4209	-1.10	-146.6	352.6	-7.2	200	4213	0.00	2.20	0.00	0.000	4	0.000	0.087	2193	3793	3503
4259	-1.10	-146.6	356.2	-7.0	202	4263	0.00	2.08	0.00	0.000	6	0.000	0.057	2193	2641	3503
4587	-1.10	-146.6	375.4	-5.7	218	4589	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3504
4896	-1.10	-146.6	394.0	-5.7	233	4897	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3504
5205	-1.10	-146.6	411.3	-5.4	248	5206	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2641	3504
5514	-1.10	-146.6	429.0	-5.9	263	5516	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2641	3504
5824	-1.10	-146.6	449.8	-6.7	278	5825	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3503
6133	-1.10	-146.6	466.2	-4.6	293	6134	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3503
6442	-1.10	-146.6	481.5	-5.9	308	6443	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3503
6751	-1.10	-146.6	501.5	-6.5	323	6753	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3503
7060	-1.10	-146.6	523.3	-7.5	338	7064	0.00	2.20	0.00	0.000	4	0.000	0.085	2193	3787	3503
7099	-1.10	-146.6	526.2	-8.0	339	7106	0.00	2.05	0.00	0.000	6	0.000	0.053	2193	2644	3503
7415	-1.10	-146.6	549.8	-7.1	355	7417	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2645	3503
7724	-1.10	-146.6	570.0	-6.2	370	7726	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2645	3503
8034	-1.10	-146.6	587.0	-5.5	385	8035	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2644	3503
8344	-1.10	-146.6	603.0	-5.0	400	8345	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2644	3503
8652	-1.10	-146.6	620.7	-6.6	415	8653	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2644	3503
8962	-1.10	-146.6	642.2	-8.1	430	8965	0.00	2.20	0.00	0.000	4	0.000	0.085	2193	3787	3503
9008	-1.10	-146.6	646.4	-9.5	432	9011	0.00	2.03	0.00	0.000	6	0.000	0.051	2193	2652	3503
9340	-1.10	-146.6	677.3	-9.0	448	9341	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2652	3503
9649	-1.10	-146.6	705.7	-9.2	463	9653	0.00	2.17	0.00	0.000	4	0.000	0.084	2193	3789	3503
9700	-1.10	-146.6	710.6	-9.6	465	9704	0.00	2.05	0.00	0.000	6	0.000	0.051	2193	2638	3503
10027	-1.10	-146.6	741.5	-9.1	481	10032	0.00	2.58	0.00	0.000	4	0.000	0.069	2193	1228	3503
10049	-1.10	-146.6	743.3	-8.1	482	10054	0.00	2.60	0.00	0.000	6	0.000	0.058	2193	2657	3503
10370	-1.10	-146.6	765.3	-7.2	498	10372	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2656	3503
10680	-1.10	-146.6	789.0	-7.7	513	10684	0.00	2.62	0.00	0.000	4	0.000	0.067	2193	1232	3502
10742	-1.10	-146.6	794.1	-8.6	516	10746	0.00	2.60	0.00	0.000	6	0.000	0.060	2193	2659	3502
11069	-1.10	-146.6	814.8	-6.3	532	11073	0.00	2.62	0.00	0.000	4	0.000	0.067	2193	1233	3501
11088	end dive: BOTTOM_OBSTACLE_DETECTED
state	11088	begin apogee
11097	-0.42	0.0	816.1	5.8	533	11225	0.73	0.00	125.55	1.187	6	0.093	0.000	2343	2023	2902
11226	end apogee: CONTROL_FINISHED_OK
state	11226	begin climb
11230	1.10	146.6	822.7	0.0	539	11362	1.55	2.67	123.35	1.153	4	0.052	0.058	2678	3416	2304
11620	1.17	200.2	812.7	4.5	557	11671	0.00	2.58	46.33	1.144	6	0.000	0.048	2677	1998	2085
11986	1.28	288.1	789.9	3.6	574	12067	0.17	0.00	74.65	1.160	6	0.036	0.000	2735	1997	1727
12377	1.28	288.1	748.1	12.2	593	12381	0.00	2.62	0.00	0.000	4	0.000	0.068	2735	586	1726
12511	1.28	288.1	730.6	11.9	599	12515	0.00	2.53	0.00	0.000	6	0.000	0.038	2735	2011	1726
12832	1.28	288.1	699.4	8.9	615	12836	0.00	2.60	0.00	0.000	4	0.000	0.066	2735	3416	1725
12882	1.28	288.1	695.2	8.3	617	12886	0.00	2.58	0.00	0.000	6	0.000	0.047	2735	1987	1725
13197	1.28	288.1	673.7	6.7	632	13198	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	1987	1725
13507	1.28	291.7	653.5	5.9	647	13513	0.00	0.00	4.57	0.785	6	0.000	0.000	2735	1987	1712
13816	1.28	291.7	628.5	9.3	662	13817	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	1987	1712
14125	1.28	291.7	597.5	10.5	677	14129	0.00	2.60	0.00	0.000	4	0.000	0.059	2735	3409	1712
14158	1.28	291.7	594.0	9.6	678	14164	0.00	2.53	0.00	0.000	6	0.000	0.043	2736	1988	1712
14474	1.28	291.7	563.7	9.2	694	14478	0.00	2.53	0.00	0.000	4	0.000	0.061	2735	587	1713
14520	1.28	291.7	559.2	10.7	696	14524	0.00	2.47	0.00	0.000	6	0.000	0.035	2736	2009	1713
14846	1.28	291.7	526.3	9.9	712	14850	0.00	2.55	0.00	0.000	4	0.000	0.062	2735	3408	1713
14880	1.28	291.7	522.8	9.5	713	14886	0.00	2.50	0.00	0.000	6	0.000	0.044	2735	1999	1713
15196	1.28	291.7	491.9	9.4	729	15199	0.00	2.53	0.00	0.000	4	0.000	0.060	2735	593	1713
15235	1.28	291.7	488.1	9.8	730	15241	0.00	2.45	0.00	0.000	6	0.000	0.036	2736	2007	1713
15551	1.28	291.7	459.8	9.1	746	15552	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2007	1713
15860	1.28	291.7	432.6	8.8	761	15861	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2008	1713
16169	1.28	291.7	404.3	9.3	776	16170	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2007	1714
16479	1.28	291.7	372.8	10.4	791	16480	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2007	1714
16788	1.28	291.7	343.3	9.8	806	16792	0.00	2.55	0.00	0.000	4	0.000	0.064	2736	3406	1714
16821	1.28	291.7	339.7	10.3	807	16825	0.00	2.53	0.00	0.000	6	0.000	0.049	2735	1996	1714
17137	1.28	291.7	307.9	10.1	822	17138	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	1996	1715
17446	1.28	291.7	277.4	9.8	837	17447	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	1996	1715
17755	1.28	291.7	247.3	9.4	852	17757	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	1996	1715
18065	1.28	291.7	216.1	10.5	867	18069	0.00	2.60	0.00	0.000	4	0.000	0.066	2736	3404	1715
18093	1.28	291.7	213.2	10.8	868	18097	0.00	2.53	0.00	0.000	6	0.000	0.051	2736	2002	1715
18414	1.28	291.7	180.8	10.1	884	18415	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2002	1715
18723	1.28	291.7	149.8	9.9	899	18724	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2002	1716
19033	1.28	291.7	121.9	9.0	914	19037	0.00	2.58	0.00	0.000	4	0.000	0.067	2735	590	1716
19095	1.28	291.7	116.0	9.7	917	19100	0.00	2.47	0.00	0.000	6	0.000	0.039	2735	2005	1716
19423	1.28	291.7	87.6	7.4	933	19424	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2005	1716
19732	1.28	291.7	62.1	8.3	948	19737	0.00	2.60	0.00	0.000	4	0.000	0.065	2736	590	1716
19777	1.28	291.7	58.0	8.6	950	19781	0.00	2.47	0.00	0.000	6	0.000	0.041	2736	1998	1716
20104	1.28	291.7	27.4	10.8	966	20105	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	1998	1716
20369	end climb: SURFACE_DEPTH_REACHED
state	20369	begin surface coast
20391	end surface coast: CONTROL_FINISHED_OK
state	20391	begin surface