Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 84 * 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 84 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 19 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 -144651.45 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 -144651.45

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 19 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 84 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 012336,6215.889,-1040.295,38,1.0,43,-10.4 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.095,0.197

_SM_DEPTHo 1.25 KALMAN_X 26130.7,711.1,1174.9,-76573.0,-3933.2

_SM_ANGLEo -59.6 KALMAN_Y -11885.7,523.2,5829.4,37076.4,-10347.9

GPS2 012949,6215.861,-1040.279,15,1.2,15,-10.4 MHEAD_RNG_PITCHd_Wd 344.6,23926,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027448 ALTIM_BOTTOM_PING 751.1,84.0

SM_CCo 20891,0.00,0.000,0,0,1835,261.74 _24V_AH 23.3,21.648

SM_GC 1.50,11.70,0.00,0.00,0.027,0.000,0.000,46,2652,1835,-10.93,0.06,261.74 _10V_AH 10.1,11.203

IRIDIUM_FIX 6148.92,-1045.98,050698,191954 DATA_FILE_SIZE 50523,996

TT8_MAMPS 0.029146 CAP_FILE_SIZE 132344,0

HUMID 1772 CFSIZE 260165632,252469248

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

TCM_TEMP 17.00 GPS 120309,072008,6217.411,-1045.696,39,1.2,40,-10.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 98.80 SBE_CT 696 24 389.54

Roll_motor 123 91 263.23 SBE_O2 747 19 331.07

VBD_pump_during_apogee 346 1204 9717.76 WL_BB2F 577 105 1413.96

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 70.47 nil 0 0 0.00

Iridium_during_connect 26 160 97.11 nil 0 0 0.00

Iridium_during_xfer 186 223 971.04

Transponder_ping 6 420 63.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.58

TT8 1778 19 355.72

LPSleep 16380 2 362.31

TT8_Active 439 19 87.90

TT8_Sampling 2069 39 831.78

TT8_CF8 590 45 273.27

TT8_Kalman 33 81 27.55

Analog_circuits 1467 12 177.81

GPS_charging 0 0 0.00

Compass 2038 8 164.73

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.10 -146.6 0.0 0.0 0 72 0.00 0.00 -53.65 0.000 6 0.000 0.000 53 2648 3503

75 -1.10 -146.6 3.0 -6.6 2 97 12.18 2.65 0.00 0.000 4 0.161 0.065 2193 1238 3504

349 -1.10 -146.6 41.5 -9.4 14 354 0.00 2.62 0.00 0.000 6 0.000 0.066 2193 2651 3503

671 -1.10 -146.6 65.9 -6.5 30 672 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2651 3504

982 -1.10 -146.6 89.3 -7.4 45 983 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2651 3504

1290 -1.10 -146.6 109.7 -6.6 60 1293 0.00 2.20 0.00 0.000 4 0.000 0.091 2193 3792 3503

1329 -1.10 -146.6 112.5 -6.8 61 1335 0.00 2.05 0.00 0.000 6 0.000 0.057 2193 2656 3503

1646 -1.10 -146.6 136.4 -7.8 77 1648 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2656 3503

1954 -1.10 -146.6 159.7 -7.8 92 1955 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2656 3504

2263 -1.10 -146.6 185.0 -8.5 107 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2656 3504

2572 -1.10 -146.6 208.3 -7.8 122 2577 0.00 2.62 0.00 0.000 4 0.000 0.071 2193 1228 3503

2602 -1.10 -146.6 210.7 -8.0 123 2606 0.00 2.62 0.00 0.000 6 0.000 0.063 2193 2652 3503

2917 -1.10 -146.6 236.0 -8.0 138 2921 0.00 2.17 0.00 0.000 4 0.000 0.091 2193 3789 3503

2974 -1.10 -146.6 241.1 -9.4 140 2978 0.00 2.08 0.00 0.000 6 0.000 0.054 2193 2636 3503

3295 -1.10 -146.6 269.2 -8.1 156 3297 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2636 3504

3605 -1.10 -146.6 293.8 -7.8 171 3606 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2636 3503

3914 -1.10 -146.6 315.4 -7.0 186 3918 0.00 2.22 0.00 0.000 4 0.000 0.089 2193 3786 3503

3960 -1.10 -146.6 318.9 -7.2 188 3964 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2646 3503

4293 -1.10 -146.6 344.2 -7.9 204 4294 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3503

4602 -1.10 -146.6 365.8 -6.2 219 4604 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2646 3503

4912 -1.10 -146.6 381.0 -4.4 234 4913 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2645 3503

5221 -1.10 -146.6 404.9 -11.8 249 5224 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3783 3503

5267 -1.10 -146.6 411.0 -13.4 251 5271 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2642 3503

5600 -1.10 -146.6 452.7 -11.5 267 5601 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2641 3503

5909 -1.10 -146.6 484.4 -9.6 282 5910 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2641 3503

6218 -1.10 -146.6 513.2 -9.0 297 6220 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2641 3503

6527 -1.10 -146.6 540.1 -8.8 312 6528 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2641 3503

6837 -1.10 -146.6 564.7 -8.1 327 6838 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2641 3503

7146 -1.10 -146.6 591.9 -9.0 342 7150 0.00 2.20 0.00 0.000 4 0.000 0.084 2193 3789 3503

7247 -1.10 -146.6 601.9 -10.1 346 7251 0.00 2.05 0.00 0.000 6 0.000 0.052 2193 2643 3503

7568 -1.10 -146.6 626.8 -7.0 362 7570 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3503

7878 -1.10 -146.6 648.7 -7.0 377 7880 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3503

8187 -1.10 -146.6 666.2 -5.3 392 8191 0.00 2.20 0.00 0.000 4 0.000 0.084 2193 3792 3503

8221 -1.10 -146.6 668.2 -6.3 393 8224 0.00 2.05 0.00 0.000 6 0.000 0.051 2193 2641 3503

8542 -1.10 -146.6 692.4 -9.3 409 8547 0.00 2.55 0.00 0.000 4 0.000 0.068 2193 1238 3503

8572 -1.10 -146.6 695.2 -9.4 410 8576 0.00 2.58 0.00 0.000 6 0.000 0.055 2193 2662 3503

8887 -1.10 -146.6 728.9 -12.0 425 8889 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2662 3503

9197 -1.10 -146.6 758.3 -6.6 440 9198 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2662 3503

9506 -1.10 -146.6 770.5 -3.2 455 9510 0.00 2.12 0.00 0.000 4 0.000 0.087 2193 3785 3503

9546 -1.10 -146.6 771.8 -3.1 456 9552 0.00 2.03 0.00 0.000 6 0.000 0.051 2193 2648 3503

9862 -1.10 -146.6 782.5 -4.5 472 9866 0.00 2.20 0.00 0.000 4 0.000 0.087 2193 3792 3502

9885 -1.10 -146.6 784.0 -6.2 473 9889 0.00 2.05 0.00 0.000 6 0.000 0.051 2193 2640 3502

10218 -1.10 -146.6 804.3 -7.3 489 10222 0.00 2.55 0.00 0.000 4 0.000 0.070 2193 1240 3502

10245 -1.10 -146.6 806.2 -7.1 490 10250 0.00 2.60 0.00 0.000 6 0.000 0.064 2193 2653 3502

10481 end dive: BOTTOM_OBSTACLE_DETECTED

state 10482 begin apogee

10490 -0.42 0.0 825.7 7.8 502 10618 0.77 0.00 125.20 1.204 6 0.093 0.000 2348 2000 2901

10619 end apogee: CONTROL_FINISHED_OK

state 10619 begin climb

10622 1.10 146.6 830.2 0.0 508 10755 1.52 2.72 123.55 1.170 4 0.053 0.068 2678 590 2304

11002 1.10 146.6 818.4 6.5 525 11006 0.00 2.53 0.00 0.000 6 0.000 0.040 2678 2015 2304

11324 1.24 262.2 804.6 2.8 541 11428 0.15 0.00 97.60 1.197 6 0.039 0.000 2726 2017 1833

11737 1.24 262.2 770.4 7.8 561 11741 0.00 2.70 0.00 0.000 4 0.000 0.069 2726 582 1831

11878 1.24 262.2 759.8 8.1 567 11883 0.00 2.53 0.00 0.000 6 0.000 0.041 2726 2002 1831

12194 1.24 262.2 730.3 9.8 582 12199 0.00 2.62 0.00 0.000 4 0.000 0.068 2726 3415 1830

12257 1.24 262.2 724.0 9.7 585 12262 0.00 2.58 0.00 0.000 6 0.000 0.048 2726 1988 1830

12584 1.24 262.2 689.7 10.6 601 12588 0.00 2.58 0.00 0.000 4 0.000 0.062 2726 584 1830

12736 1.24 262.2 673.5 10.4 608 12740 0.00 2.50 0.00 0.000 6 0.000 0.038 2726 2006 1829

13062 1.24 262.2 646.3 8.0 624 13064 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2006 1829

13372 1.24 262.2 626.0 6.9 639 13373 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2006 1830

13681 1.24 262.2 604.0 7.6 654 13685 0.00 2.60 0.00 0.000 4 0.000 0.059 2726 587 1830

13815 1.24 262.2 591.1 10.3 660 13819 0.00 2.47 0.00 0.000 6 0.000 0.036 2726 2003 1830

14136 1.24 262.2 561.1 9.5 676 14138 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2003 1830

14446 1.24 262.2 532.4 9.8 691 14447 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2003 1831

14755 1.24 262.2 504.3 8.3 706 14759 0.00 2.58 0.00 0.000 4 0.000 0.060 2726 588 1831

14788 1.24 262.2 501.7 7.8 707 14792 0.00 2.47 0.00 0.000 6 0.000 0.037 2726 2006 1831

15104 1.24 262.2 473.2 9.7 722 15108 0.00 2.55 0.00 0.000 4 0.000 0.063 2726 3407 1831

15131 1.24 262.2 470.3 10.1 723 15135 0.00 2.50 0.00 0.000 6 0.000 0.044 2727 1999 1832

15452 1.24 262.2 437.3 10.2 739 15453 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1999 1832

15761 1.24 262.2 404.6 10.7 754 15762 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1999 1832

16070 1.24 262.2 372.5 9.1 769 16071 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1999 1833

16380 1.24 262.2 348.5 7.2 784 16384 0.00 2.60 0.00 0.000 4 0.000 0.065 2726 3406 1833

16413 1.24 262.2 346.0 7.3 785 16419 0.00 2.53 0.00 0.000 6 0.000 0.049 2726 1989 1833

16729 1.24 262.2 323.7 7.4 801 16733 0.00 2.55 0.00 0.000 4 0.000 0.064 2726 584 1833

16762 1.24 262.2 321.1 7.5 802 16766 0.00 2.47 0.00 0.000 6 0.000 0.038 2726 2000 1833

17078 1.24 262.2 300.2 6.3 817 17082 0.00 2.58 0.00 0.000 4 0.000 0.067 2726 3412 1833

17111 1.24 262.2 297.9 6.2 818 17116 0.00 2.55 0.00 0.000 6 0.000 0.049 2726 1990 1834

17427 1.24 262.2 278.1 6.4 833 17428 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1990 1834

17737 1.24 262.2 257.2 7.2 848 17738 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1991 1834

18046 1.24 262.2 233.3 7.7 863 18050 0.00 2.62 0.00 0.000 4 0.000 0.066 2726 3406 1834

18079 1.24 262.2 230.6 8.7 864 18083 0.00 2.53 0.00 0.000 6 0.000 0.051 2726 2002 1834

18394 1.24 262.2 202.9 9.4 879 18396 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2002 1834

18704 1.24 262.2 173.5 9.5 894 18705 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2002 1834

19013 1.24 262.2 144.9 8.7 909 19015 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2002 1835

19323 1.24 262.2 118.9 7.9 924 19324 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2002 1834

19632 1.24 262.2 96.5 7.7 939 19636 0.00 2.58 0.00 0.000 4 0.000 0.066 2726 590 1835

19665 1.24 262.2 93.4 9.8 940 19671 0.00 2.45 0.00 0.000 6 0.000 0.040 2726 1998 1835

19983 1.24 262.2 64.5 8.2 956 19987 0.00 2.60 0.00 0.000 4 0.000 0.067 2726 3418 1835

20016 1.24 262.2 61.7 7.2 957 20022 0.00 2.55 0.00 0.000 6 0.000 0.053 2727 1995 1835

20332 1.24 262.2 35.9 8.4 973 20333 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1995 1835

20643 1.24 262.2 12.3 7.7 988 20644 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1995 1835

20782 end climb: SURFACE_DEPTH_REACHED

state 20783 begin surface coast

20806 end surface coast: CONTROL_FINISHED_OK

state 20806 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	84	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	19	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	-144651.45	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	012336,6215.889,-1040.295,38,1.0,43,-10.4	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.095,0.197
_SM_DEPTHo	1.25	KALMAN_X	26130.7,711.1,1174.9,-76573.0,-3933.2
_SM_ANGLEo	-59.6	KALMAN_Y	-11885.7,523.2,5829.4,37076.4,-10347.9
GPS2	012949,6215.861,-1040.279,15,1.2,15,-10.4	MHEAD_RNG_PITCHd_Wd	344.6,23926,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.027448	ALTIM_BOTTOM_PING	751.1,84.0
SM_CCo	20891,0.00,0.000,0,0,1835,261.74	_24V_AH	23.3,21.648
SM_GC	1.50,11.70,0.00,0.00,0.027,0.000,0.000,46,2652,1835,-10.93,0.06,261.74	_10V_AH	10.1,11.203
IRIDIUM_FIX	6148.92,-1045.98,050698,191954	DATA_FILE_SIZE	50523,996
TT8_MAMPS	0.029146	CAP_FILE_SIZE	132344,0
HUMID	1772	CFSIZE	260165632,252469248
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	120309,072008,6217.411,-1045.696,39,1.2,40,-10.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	98.80	SBE_CT	696	24	389.54
Roll_motor	123	91	263.23	SBE_O2	747	19	331.07
VBD_pump_during_apogee	346	1204	9717.76	WL_BB2F	577	105	1413.96
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	70.47	nil	0	0	0.00
Iridium_during_connect	26	160	97.11	nil	0	0	0.00
Iridium_during_xfer	186	223	971.04
Transponder_ping	6	420	63.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.58
TT8	1778	19	355.72
LPSleep	16380	2	362.31
TT8_Active	439	19	87.90
TT8_Sampling	2069	39	831.78
TT8_CF8	590	45	273.27
TT8_Kalman	33	81	27.55
Analog_circuits	1467	12	177.81
GPS_charging	0	0	0.00
Compass	2038	8	164.73
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.10	-146.6	0.0	0.0	0	72	0.00	0.00	-53.65	0.000	6	0.000	0.000	53	2648	3503
75	-1.10	-146.6	3.0	-6.6	2	97	12.18	2.65	0.00	0.000	4	0.161	0.065	2193	1238	3504
349	-1.10	-146.6	41.5	-9.4	14	354	0.00	2.62	0.00	0.000	6	0.000	0.066	2193	2651	3503
671	-1.10	-146.6	65.9	-6.5	30	672	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2651	3504
982	-1.10	-146.6	89.3	-7.4	45	983	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2651	3504
1290	-1.10	-146.6	109.7	-6.6	60	1293	0.00	2.20	0.00	0.000	4	0.000	0.091	2193	3792	3503
1329	-1.10	-146.6	112.5	-6.8	61	1335	0.00	2.05	0.00	0.000	6	0.000	0.057	2193	2656	3503
1646	-1.10	-146.6	136.4	-7.8	77	1648	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2656	3503
1954	-1.10	-146.6	159.7	-7.8	92	1955	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2656	3504
2263	-1.10	-146.6	185.0	-8.5	107	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2656	3504
2572	-1.10	-146.6	208.3	-7.8	122	2577	0.00	2.62	0.00	0.000	4	0.000	0.071	2193	1228	3503
2602	-1.10	-146.6	210.7	-8.0	123	2606	0.00	2.62	0.00	0.000	6	0.000	0.063	2193	2652	3503
2917	-1.10	-146.6	236.0	-8.0	138	2921	0.00	2.17	0.00	0.000	4	0.000	0.091	2193	3789	3503
2974	-1.10	-146.6	241.1	-9.4	140	2978	0.00	2.08	0.00	0.000	6	0.000	0.054	2193	2636	3503
3295	-1.10	-146.6	269.2	-8.1	156	3297	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2636	3504
3605	-1.10	-146.6	293.8	-7.8	171	3606	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2636	3503
3914	-1.10	-146.6	315.4	-7.0	186	3918	0.00	2.22	0.00	0.000	4	0.000	0.089	2193	3786	3503
3960	-1.10	-146.6	318.9	-7.2	188	3964	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2646	3503
4293	-1.10	-146.6	344.2	-7.9	204	4294	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3503
4602	-1.10	-146.6	365.8	-6.2	219	4604	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2646	3503
4912	-1.10	-146.6	381.0	-4.4	234	4913	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2645	3503
5221	-1.10	-146.6	404.9	-11.8	249	5224	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3783	3503
5267	-1.10	-146.6	411.0	-13.4	251	5271	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2642	3503
5600	-1.10	-146.6	452.7	-11.5	267	5601	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2641	3503
5909	-1.10	-146.6	484.4	-9.6	282	5910	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2641	3503
6218	-1.10	-146.6	513.2	-9.0	297	6220	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2641	3503
6527	-1.10	-146.6	540.1	-8.8	312	6528	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2641	3503
6837	-1.10	-146.6	564.7	-8.1	327	6838	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2641	3503
7146	-1.10	-146.6	591.9	-9.0	342	7150	0.00	2.20	0.00	0.000	4	0.000	0.084	2193	3789	3503
7247	-1.10	-146.6	601.9	-10.1	346	7251	0.00	2.05	0.00	0.000	6	0.000	0.052	2193	2643	3503
7568	-1.10	-146.6	626.8	-7.0	362	7570	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3503
7878	-1.10	-146.6	648.7	-7.0	377	7880	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3503
8187	-1.10	-146.6	666.2	-5.3	392	8191	0.00	2.20	0.00	0.000	4	0.000	0.084	2193	3792	3503
8221	-1.10	-146.6	668.2	-6.3	393	8224	0.00	2.05	0.00	0.000	6	0.000	0.051	2193	2641	3503
8542	-1.10	-146.6	692.4	-9.3	409	8547	0.00	2.55	0.00	0.000	4	0.000	0.068	2193	1238	3503
8572	-1.10	-146.6	695.2	-9.4	410	8576	0.00	2.58	0.00	0.000	6	0.000	0.055	2193	2662	3503
8887	-1.10	-146.6	728.9	-12.0	425	8889	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2662	3503
9197	-1.10	-146.6	758.3	-6.6	440	9198	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2662	3503
9506	-1.10	-146.6	770.5	-3.2	455	9510	0.00	2.12	0.00	0.000	4	0.000	0.087	2193	3785	3503
9546	-1.10	-146.6	771.8	-3.1	456	9552	0.00	2.03	0.00	0.000	6	0.000	0.051	2193	2648	3503
9862	-1.10	-146.6	782.5	-4.5	472	9866	0.00	2.20	0.00	0.000	4	0.000	0.087	2193	3792	3502
9885	-1.10	-146.6	784.0	-6.2	473	9889	0.00	2.05	0.00	0.000	6	0.000	0.051	2193	2640	3502
10218	-1.10	-146.6	804.3	-7.3	489	10222	0.00	2.55	0.00	0.000	4	0.000	0.070	2193	1240	3502
10245	-1.10	-146.6	806.2	-7.1	490	10250	0.00	2.60	0.00	0.000	6	0.000	0.064	2193	2653	3502
10481	end dive: BOTTOM_OBSTACLE_DETECTED
state	10482	begin apogee
10490	-0.42	0.0	825.7	7.8	502	10618	0.77	0.00	125.20	1.204	6	0.093	0.000	2348	2000	2901
10619	end apogee: CONTROL_FINISHED_OK
state	10619	begin climb
10622	1.10	146.6	830.2	0.0	508	10755	1.52	2.72	123.55	1.170	4	0.053	0.068	2678	590	2304
11002	1.10	146.6	818.4	6.5	525	11006	0.00	2.53	0.00	0.000	6	0.000	0.040	2678	2015	2304
11324	1.24	262.2	804.6	2.8	541	11428	0.15	0.00	97.60	1.197	6	0.039	0.000	2726	2017	1833
11737	1.24	262.2	770.4	7.8	561	11741	0.00	2.70	0.00	0.000	4	0.000	0.069	2726	582	1831
11878	1.24	262.2	759.8	8.1	567	11883	0.00	2.53	0.00	0.000	6	0.000	0.041	2726	2002	1831
12194	1.24	262.2	730.3	9.8	582	12199	0.00	2.62	0.00	0.000	4	0.000	0.068	2726	3415	1830
12257	1.24	262.2	724.0	9.7	585	12262	0.00	2.58	0.00	0.000	6	0.000	0.048	2726	1988	1830
12584	1.24	262.2	689.7	10.6	601	12588	0.00	2.58	0.00	0.000	4	0.000	0.062	2726	584	1830
12736	1.24	262.2	673.5	10.4	608	12740	0.00	2.50	0.00	0.000	6	0.000	0.038	2726	2006	1829
13062	1.24	262.2	646.3	8.0	624	13064	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2006	1829
13372	1.24	262.2	626.0	6.9	639	13373	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2006	1830
13681	1.24	262.2	604.0	7.6	654	13685	0.00	2.60	0.00	0.000	4	0.000	0.059	2726	587	1830
13815	1.24	262.2	591.1	10.3	660	13819	0.00	2.47	0.00	0.000	6	0.000	0.036	2726	2003	1830
14136	1.24	262.2	561.1	9.5	676	14138	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2003	1830
14446	1.24	262.2	532.4	9.8	691	14447	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2003	1831
14755	1.24	262.2	504.3	8.3	706	14759	0.00	2.58	0.00	0.000	4	0.000	0.060	2726	588	1831
14788	1.24	262.2	501.7	7.8	707	14792	0.00	2.47	0.00	0.000	6	0.000	0.037	2726	2006	1831
15104	1.24	262.2	473.2	9.7	722	15108	0.00	2.55	0.00	0.000	4	0.000	0.063	2726	3407	1831
15131	1.24	262.2	470.3	10.1	723	15135	0.00	2.50	0.00	0.000	6	0.000	0.044	2727	1999	1832
15452	1.24	262.2	437.3	10.2	739	15453	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1999	1832
15761	1.24	262.2	404.6	10.7	754	15762	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1999	1832
16070	1.24	262.2	372.5	9.1	769	16071	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1999	1833
16380	1.24	262.2	348.5	7.2	784	16384	0.00	2.60	0.00	0.000	4	0.000	0.065	2726	3406	1833
16413	1.24	262.2	346.0	7.3	785	16419	0.00	2.53	0.00	0.000	6	0.000	0.049	2726	1989	1833
16729	1.24	262.2	323.7	7.4	801	16733	0.00	2.55	0.00	0.000	4	0.000	0.064	2726	584	1833
16762	1.24	262.2	321.1	7.5	802	16766	0.00	2.47	0.00	0.000	6	0.000	0.038	2726	2000	1833
17078	1.24	262.2	300.2	6.3	817	17082	0.00	2.58	0.00	0.000	4	0.000	0.067	2726	3412	1833
17111	1.24	262.2	297.9	6.2	818	17116	0.00	2.55	0.00	0.000	6	0.000	0.049	2726	1990	1834
17427	1.24	262.2	278.1	6.4	833	17428	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1990	1834
17737	1.24	262.2	257.2	7.2	848	17738	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1991	1834
18046	1.24	262.2	233.3	7.7	863	18050	0.00	2.62	0.00	0.000	4	0.000	0.066	2726	3406	1834
18079	1.24	262.2	230.6	8.7	864	18083	0.00	2.53	0.00	0.000	6	0.000	0.051	2726	2002	1834
18394	1.24	262.2	202.9	9.4	879	18396	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2002	1834
18704	1.24	262.2	173.5	9.5	894	18705	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2002	1834
19013	1.24	262.2	144.9	8.7	909	19015	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2002	1835
19323	1.24	262.2	118.9	7.9	924	19324	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2002	1834
19632	1.24	262.2	96.5	7.7	939	19636	0.00	2.58	0.00	0.000	4	0.000	0.066	2726	590	1835
19665	1.24	262.2	93.4	9.8	940	19671	0.00	2.45	0.00	0.000	6	0.000	0.040	2726	1998	1835
19983	1.24	262.2	64.5	8.2	956	19987	0.00	2.60	0.00	0.000	4	0.000	0.067	2726	3418	1835
20016	1.24	262.2	61.7	7.2	957	20022	0.00	2.55	0.00	0.000	6	0.000	0.053	2727	1995	1835
20332	1.24	262.2	35.9	8.4	973	20333	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1995	1835
20643	1.24	262.2	12.3	7.7	988	20644	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	1995	1835
20782	end climb: SURFACE_DEPTH_REACHED
state	20783	begin surface coast
20806	end surface coast: CONTROL_FINISHED_OK
state	20806	begin surface