Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 87 * 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 87 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 7 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 -144695.62 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 -144695.62

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 7 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 87 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 182407,6219.377,-1046.724,36,1.0,36,-10.5 TGT_NAME EW

_CALLS 2 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.111,0.188

_SM_DEPTHo 1.44 KALMAN_X 34366.4,111.9,-1689.7,-86851.1,1911.5

_SM_ANGLEo -59.6 KALMAN_Y -16372.7,231.7,-550.4,54731.7,-12568.3

GPS2 183232,6219.347,-1046.659,13,1.7,13,-10.5 MHEAD_RNG_PITCHd_Wd 340.0,15508,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.014524 ALTIM_BOTTOM_PING 725.5,30.4

SM_CCo 20015,0.00,0.000,0,0,1830,262.96 _24V_AH 23.4,22.030

SM_GC 1.73,11.75,0.00,0.00,0.031,0.000,0.000,48,2652,1830,-10.93,0.06,262.96 _10V_AH 10.1,11.459

IRIDIUM_FIX 6158.08,-1047.71,060698,181854 DATA_FILE_SIZE 47430,961

TT8_MAMPS 0.028379 CAP_FILE_SIZE 130492,0

HUMID 1758 CFSIZE 260165632,252289024

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

TCM_TEMP 15.70 GPS 130309,000827,6222.614,-1045.559,29,2.5,48,-10.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.33 SBE_CT 672 24 377.74

Roll_motor 133 93 291.71 SBE_O2 709 19 315.28

VBD_pump_during_apogee 350 1142 9372.48 WL_BB2F 569 105 1398.97

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 55 103 133.43 nil 0 0 0.00

Iridium_during_connect 113 160 425.75 nil 0 0 0.00

Iridium_during_xfer 147 223 768.34

Transponder_ping 6 420 63.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.84

TT8 1712 19 342.47

LPSleep 15722 2 347.77

TT8_Active 444 19 88.98

TT8_Sampling 1977 39 794.95

TT8_CF8 661 45 306.01

TT8_Kalman 33 81 27.56

Analog_circuits 1439 12 174.45

GPS_charging 0 0 0.00

Compass 1941 8 156.88

RAFOS 0 0 0.00

Transponder 45 30 13.91

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 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -41.75 0.000 2 0.000 0.000 48 2647 3047

62 -1.10 -146.6 3.3 -7.7 2 89 12.12 2.65 -8.60 0.000 4 0.158 0.087 2193 1243 3502

130 -1.10 -146.6 12.9 -8.8 5 134 0.00 2.65 0.00 0.000 6 0.000 0.067 2193 2659 3503

451 -1.10 -146.6 39.5 -9.2 21 454 0.00 2.17 0.00 0.000 4 0.000 0.094 2193 3783 3503

519 -1.10 -146.6 44.7 -7.3 24 523 0.00 2.05 0.00 0.000 6 0.000 0.055 2193 2652 3503

853 -1.10 -146.6 69.7 -8.3 40 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2651 3502

1162 -1.10 -146.6 94.4 -7.7 55 1163 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2651 3502

1471 -1.10 -146.6 118.4 -7.4 70 1472 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2651 3502

1782 -1.10 -146.6 140.6 -7.3 85 1786 0.00 2.20 0.00 0.000 4 0.000 0.090 2193 3784 3502

1821 -1.10 -146.6 143.7 -7.8 86 1827 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2639 3502

2137 -1.10 -146.6 168.4 -8.5 102 2138 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3502

2446 -1.10 -146.6 196.1 -9.7 117 2450 0.00 2.22 0.00 0.000 4 0.000 0.089 2193 3787 3502

2493 -1.10 -146.6 200.5 -9.2 119 2497 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2645 3502

2825 -1.10 -146.6 229.6 -8.5 135 2827 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2644 3502

3135 -1.10 -146.6 255.1 -7.8 150 3136 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2645 3502

3444 -1.10 -146.6 279.2 -8.0 165 3445 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2644 3501

3753 -1.10 -146.6 304.1 -8.5 180 3754 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2644 3501

4063 -1.10 -146.6 329.3 -8.2 195 4066 0.00 2.20 0.00 0.000 4 0.000 0.089 2193 3782 3501

4108 -1.10 -146.6 333.1 -8.8 197 4112 0.00 2.05 0.00 0.000 6 0.000 0.056 2193 2640 3501

4441 -1.10 -146.6 362.0 -9.0 213 4442 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3501

4751 -1.10 -146.6 389.9 -9.0 228 4752 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2641 3501

5060 -1.10 -146.6 418.8 -9.4 243 5061 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3501

5369 -1.10 -146.6 446.2 -8.8 258 5372 0.00 2.22 0.00 0.000 4 0.000 0.088 2193 3792 3501

5419 -1.10 -146.6 450.8 -9.5 260 5423 0.00 2.05 0.00 0.000 6 0.000 0.054 2193 2650 3501

5747 -1.10 -146.6 478.2 -8.2 276 5748 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3501

6058 -1.10 -146.6 500.6 -6.9 291 6060 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3501

6366 -1.10 -146.6 519.5 -6.3 306 6370 0.00 2.58 0.00 0.000 4 0.000 0.067 2193 1234 3501

6388 -1.10 -146.6 520.8 -5.5 307 6392 0.00 2.58 0.00 0.000 6 0.000 0.058 2193 2653 3501

6709 -1.10 -146.6 536.3 -4.5 323 6713 0.00 2.15 0.00 0.000 4 0.000 0.088 2194 3785 3501

6749 -1.10 -146.6 538.3 -5.3 324 6755 0.00 2.05 0.00 0.000 6 0.000 0.053 2193 2640 3501

7067 -1.10 -146.6 550.4 -3.9 340 7068 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3501

7374 -1.10 -146.6 562.6 -4.4 355 7378 0.00 2.22 0.00 0.000 4 0.000 0.089 2193 3789 3501

7413 -1.10 -146.6 564.9 -6.4 356 7419 0.00 2.05 0.00 0.000 6 0.000 0.053 2193 2645 3501

7729 -1.10 -146.6 583.4 -6.5 372 7733 0.00 2.58 0.00 0.000 4 0.000 0.068 2193 1226 3501

7775 -1.10 -146.6 586.8 -7.0 374 7779 0.00 2.58 0.00 0.000 6 0.000 0.057 2193 2652 3501

8102 -1.10 -146.6 610.6 -7.4 390 8103 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2652 3502

8411 -1.10 -146.6 634.7 -7.4 405 8414 0.00 2.15 0.00 0.000 4 0.000 0.087 2193 3787 3501

8438 -1.10 -146.6 636.6 -7.0 406 8442 0.00 2.03 0.00 0.000 6 0.000 0.051 2193 2647 3501

8766 -1.10 -146.6 660.5 -6.4 422 8767 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2647 3501

9075 -1.10 -146.6 683.3 -8.2 437 9079 0.00 2.20 0.00 0.000 4 0.000 0.088 2193 3789 3501

9122 -1.10 -146.6 687.5 -10.0 439 9126 0.00 2.03 0.00 0.000 6 0.000 0.051 2193 2650 3501

9455 -1.10 -146.6 715.6 -6.8 455 9456 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3500

9765 -1.10 -146.6 730.9 -5.4 470 9769 0.00 2.58 0.00 0.000 4 0.000 0.070 2193 1239 3500

9822 -1.10 -146.6 735.2 -7.3 472 9828 0.00 2.60 0.00 0.000 6 0.000 0.061 2193 2660 3500

9970 end dive: BOTTOM_OBSTACLE_DETECTED

state 9970 begin apogee

9978 -0.42 0.0 747.2 8.2 480 10106 0.77 0.00 124.82 1.143 6 0.094 0.000 2347 1990 2902

10107 end apogee: CONTROL_FINISHED_OK

state 10107 begin climb

10110 1.10 146.6 753.7 0.0 486 10243 1.55 2.72 122.55 1.114 4 0.056 0.065 2680 585 2304

10353 1.18 206.0 751.2 4.4 497 10411 0.00 2.55 51.28 1.094 6 0.000 0.039 2680 2022 2062

10723 1.18 206.0 725.8 6.6 515 10728 0.00 2.70 0.00 0.000 4 0.000 0.069 2679 582 2061

10835 1.18 206.0 719.1 6.5 520 10840 0.00 2.53 0.00 0.000 6 0.000 0.043 2679 1997 2060

11156 1.18 206.0 698.9 6.0 536 11161 0.00 2.62 0.00 0.000 4 0.000 0.069 2679 3406 2059

11241 1.23 248.0 694.1 4.8 540 11285 0.12 2.58 35.47 1.120 6 0.047 0.051 2718 1986 1891

11597 1.23 248.0 672.7 6.0 557 11602 0.00 2.58 0.00 0.000 4 0.000 0.064 2718 588 1890

11637 1.23 248.0 669.2 8.2 559 11642 0.00 2.50 0.00 0.000 6 0.000 0.038 2718 2006 1890

11965 1.23 248.0 643.1 8.6 575 11969 0.00 2.60 0.00 0.000 4 0.000 0.066 2718 3414 1890

12004 1.23 248.0 639.2 9.5 577 12009 0.00 2.55 0.00 0.000 6 0.000 0.046 2718 1989 1889

12331 1.23 248.0 606.7 10.4 593 12333 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 1989 1889

12641 1.23 248.0 580.3 7.5 608 12645 0.00 2.53 0.00 0.000 4 0.000 0.061 2718 597 1889

12786 1.23 248.0 567.8 9.5 614 12792 0.00 2.47 0.00 0.000 6 0.000 0.036 2718 2014 1889

13102 1.23 248.0 541.7 7.4 630 13103 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2015 1889

13411 1.23 248.0 520.7 6.2 645 13412 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2015 1890

13720 1.23 248.0 498.6 7.9 660 13724 0.00 2.60 0.00 0.000 4 0.000 0.060 2718 593 1890

13754 1.23 248.0 495.5 8.2 661 13758 0.00 2.47 0.00 0.000 6 0.000 0.037 2719 2009 1890

14075 1.24 260.4 475.0 5.7 677 14096 0.00 2.67 11.73 0.911 4 0.000 0.065 2719 3410 1840

14136 1.25 263.7 471.1 5.9 679 14146 0.00 2.55 4.62 0.705 6 0.000 0.047 2718 1994 1827

14474 1.25 263.7 450.1 6.7 696 14475 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 1995 1827

14783 1.25 263.7 425.6 8.4 711 14788 0.00 2.55 0.00 0.000 4 0.000 0.061 2719 588 1827

14817 1.25 263.7 422.4 8.4 712 14823 0.00 2.47 0.00 0.000 6 0.000 0.038 2718 2004 1827

15133 1.25 263.7 394.3 8.8 728 15134 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2004 1828

15442 1.25 263.7 366.6 8.9 743 15443 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2004 1828

15751 1.25 263.7 339.4 8.6 758 15755 0.00 2.58 0.00 0.000 4 0.000 0.066 2719 3411 1828

15796 1.25 263.7 335.4 8.7 760 15801 0.00 2.53 0.00 0.000 6 0.000 0.050 2719 2005 1828

16124 1.25 263.7 307.3 8.5 776 16125 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2005 1828

16433 1.25 263.7 281.0 8.6 791 16437 0.00 2.62 0.00 0.000 4 0.000 0.067 2718 3415 1829

16477 1.25 263.7 277.2 8.7 793 16482 0.00 2.55 0.00 0.000 6 0.000 0.051 2719 1997 1829

16799 1.25 263.7 252.0 7.6 809 16803 0.00 2.58 0.00 0.000 4 0.000 0.064 2718 581 1829

16832 1.25 263.7 249.2 7.5 810 16838 0.00 2.47 0.00 0.000 6 0.000 0.038 2719 2008 1829

17148 1.25 263.7 224.7 7.9 826 17150 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2008 1829

17457 1.25 263.7 201.6 8.0 841 17459 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2007 1829

17767 1.25 263.7 179.0 8.4 856 17771 0.00 2.60 0.00 0.000 4 0.000 0.063 2719 585 1829

17806 1.25 263.7 175.7 8.3 858 17810 0.00 2.47 0.00 0.000 6 0.000 0.039 2718 2006 1829

18139 1.25 263.7 150.0 6.3 874 18140 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2007 1830

18449 1.25 263.7 123.7 9.3 889 18453 0.00 2.58 0.00 0.000 4 0.000 0.067 2718 3407 1830

18481 1.25 263.7 120.5 10.0 890 18488 0.00 2.53 0.00 0.000 6 0.000 0.053 2719 1999 1830

18799 1.25 263.7 91.7 9.3 906 18800 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 1999 1830

19107 1.25 263.7 65.5 8.6 921 19108 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 1999 1830

19416 1.25 263.7 38.3 8.8 936 19417 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 1998 1830

19726 1.25 263.7 14.0 7.3 951 19727 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 1998 1831

19908 end climb: SURFACE_DEPTH_REACHED

state 19908 begin surface coast

19930 end surface coast: CONTROL_FINISHED_OK

state 19930 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	87	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	7	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	-144695.62	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	182407,6219.377,-1046.724,36,1.0,36,-10.5	TGT_NAME	EW
_CALLS	2	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.111,0.188
_SM_DEPTHo	1.44	KALMAN_X	34366.4,111.9,-1689.7,-86851.1,1911.5
_SM_ANGLEo	-59.6	KALMAN_Y	-16372.7,231.7,-550.4,54731.7,-12568.3
GPS2	183232,6219.347,-1046.659,13,1.7,13,-10.5	MHEAD_RNG_PITCHd_Wd	340.0,15508,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.014524	ALTIM_BOTTOM_PING	725.5,30.4
SM_CCo	20015,0.00,0.000,0,0,1830,262.96	_24V_AH	23.4,22.030
SM_GC	1.73,11.75,0.00,0.00,0.031,0.000,0.000,48,2652,1830,-10.93,0.06,262.96	_10V_AH	10.1,11.459
IRIDIUM_FIX	6158.08,-1047.71,060698,181854	DATA_FILE_SIZE	47430,961
TT8_MAMPS	0.028379	CAP_FILE_SIZE	130492,0
HUMID	1758	CFSIZE	260165632,252289024
INTERNAL_PRESSURE	8.58431	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.70	GPS	130309,000827,6222.614,-1045.559,29,2.5,48,-10.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.33	SBE_CT	672	24	377.74
Roll_motor	133	93	291.71	SBE_O2	709	19	315.28
VBD_pump_during_apogee	350	1142	9372.48	WL_BB2F	569	105	1398.97
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	55	103	133.43	nil	0	0	0.00
Iridium_during_connect	113	160	425.75	nil	0	0	0.00
Iridium_during_xfer	147	223	768.34
Transponder_ping	6	420	63.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.84
TT8	1712	19	342.47
LPSleep	15722	2	347.77
TT8_Active	444	19	88.98
TT8_Sampling	1977	39	794.95
TT8_CF8	661	45	306.01
TT8_Kalman	33	81	27.56
Analog_circuits	1439	12	174.45
GPS_charging	0	0	0.00
Compass	1941	8	156.88
RAFOS	0	0	0.00
Transponder	45	30	13.91

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	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-41.75	0.000	2	0.000	0.000	48	2647	3047
62	-1.10	-146.6	3.3	-7.7	2	89	12.12	2.65	-8.60	0.000	4	0.158	0.087	2193	1243	3502
130	-1.10	-146.6	12.9	-8.8	5	134	0.00	2.65	0.00	0.000	6	0.000	0.067	2193	2659	3503
451	-1.10	-146.6	39.5	-9.2	21	454	0.00	2.17	0.00	0.000	4	0.000	0.094	2193	3783	3503
519	-1.10	-146.6	44.7	-7.3	24	523	0.00	2.05	0.00	0.000	6	0.000	0.055	2193	2652	3503
853	-1.10	-146.6	69.7	-8.3	40	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2651	3502
1162	-1.10	-146.6	94.4	-7.7	55	1163	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2651	3502
1471	-1.10	-146.6	118.4	-7.4	70	1472	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2651	3502
1782	-1.10	-146.6	140.6	-7.3	85	1786	0.00	2.20	0.00	0.000	4	0.000	0.090	2193	3784	3502
1821	-1.10	-146.6	143.7	-7.8	86	1827	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2639	3502
2137	-1.10	-146.6	168.4	-8.5	102	2138	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3502
2446	-1.10	-146.6	196.1	-9.7	117	2450	0.00	2.22	0.00	0.000	4	0.000	0.089	2193	3787	3502
2493	-1.10	-146.6	200.5	-9.2	119	2497	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2645	3502
2825	-1.10	-146.6	229.6	-8.5	135	2827	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2644	3502
3135	-1.10	-146.6	255.1	-7.8	150	3136	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2645	3502
3444	-1.10	-146.6	279.2	-8.0	165	3445	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2644	3501
3753	-1.10	-146.6	304.1	-8.5	180	3754	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2644	3501
4063	-1.10	-146.6	329.3	-8.2	195	4066	0.00	2.20	0.00	0.000	4	0.000	0.089	2193	3782	3501
4108	-1.10	-146.6	333.1	-8.8	197	4112	0.00	2.05	0.00	0.000	6	0.000	0.056	2193	2640	3501
4441	-1.10	-146.6	362.0	-9.0	213	4442	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3501
4751	-1.10	-146.6	389.9	-9.0	228	4752	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2641	3501
5060	-1.10	-146.6	418.8	-9.4	243	5061	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3501
5369	-1.10	-146.6	446.2	-8.8	258	5372	0.00	2.22	0.00	0.000	4	0.000	0.088	2193	3792	3501
5419	-1.10	-146.6	450.8	-9.5	260	5423	0.00	2.05	0.00	0.000	6	0.000	0.054	2193	2650	3501
5747	-1.10	-146.6	478.2	-8.2	276	5748	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3501
6058	-1.10	-146.6	500.6	-6.9	291	6060	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3501
6366	-1.10	-146.6	519.5	-6.3	306	6370	0.00	2.58	0.00	0.000	4	0.000	0.067	2193	1234	3501
6388	-1.10	-146.6	520.8	-5.5	307	6392	0.00	2.58	0.00	0.000	6	0.000	0.058	2193	2653	3501
6709	-1.10	-146.6	536.3	-4.5	323	6713	0.00	2.15	0.00	0.000	4	0.000	0.088	2194	3785	3501
6749	-1.10	-146.6	538.3	-5.3	324	6755	0.00	2.05	0.00	0.000	6	0.000	0.053	2193	2640	3501
7067	-1.10	-146.6	550.4	-3.9	340	7068	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3501
7374	-1.10	-146.6	562.6	-4.4	355	7378	0.00	2.22	0.00	0.000	4	0.000	0.089	2193	3789	3501
7413	-1.10	-146.6	564.9	-6.4	356	7419	0.00	2.05	0.00	0.000	6	0.000	0.053	2193	2645	3501
7729	-1.10	-146.6	583.4	-6.5	372	7733	0.00	2.58	0.00	0.000	4	0.000	0.068	2193	1226	3501
7775	-1.10	-146.6	586.8	-7.0	374	7779	0.00	2.58	0.00	0.000	6	0.000	0.057	2193	2652	3501
8102	-1.10	-146.6	610.6	-7.4	390	8103	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2652	3502
8411	-1.10	-146.6	634.7	-7.4	405	8414	0.00	2.15	0.00	0.000	4	0.000	0.087	2193	3787	3501
8438	-1.10	-146.6	636.6	-7.0	406	8442	0.00	2.03	0.00	0.000	6	0.000	0.051	2193	2647	3501
8766	-1.10	-146.6	660.5	-6.4	422	8767	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2647	3501
9075	-1.10	-146.6	683.3	-8.2	437	9079	0.00	2.20	0.00	0.000	4	0.000	0.088	2193	3789	3501
9122	-1.10	-146.6	687.5	-10.0	439	9126	0.00	2.03	0.00	0.000	6	0.000	0.051	2193	2650	3501
9455	-1.10	-146.6	715.6	-6.8	455	9456	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3500
9765	-1.10	-146.6	730.9	-5.4	470	9769	0.00	2.58	0.00	0.000	4	0.000	0.070	2193	1239	3500
9822	-1.10	-146.6	735.2	-7.3	472	9828	0.00	2.60	0.00	0.000	6	0.000	0.061	2193	2660	3500
9970	end dive: BOTTOM_OBSTACLE_DETECTED
state	9970	begin apogee
9978	-0.42	0.0	747.2	8.2	480	10106	0.77	0.00	124.82	1.143	6	0.094	0.000	2347	1990	2902
10107	end apogee: CONTROL_FINISHED_OK
state	10107	begin climb
10110	1.10	146.6	753.7	0.0	486	10243	1.55	2.72	122.55	1.114	4	0.056	0.065	2680	585	2304
10353	1.18	206.0	751.2	4.4	497	10411	0.00	2.55	51.28	1.094	6	0.000	0.039	2680	2022	2062
10723	1.18	206.0	725.8	6.6	515	10728	0.00	2.70	0.00	0.000	4	0.000	0.069	2679	582	2061
10835	1.18	206.0	719.1	6.5	520	10840	0.00	2.53	0.00	0.000	6	0.000	0.043	2679	1997	2060
11156	1.18	206.0	698.9	6.0	536	11161	0.00	2.62	0.00	0.000	4	0.000	0.069	2679	3406	2059
11241	1.23	248.0	694.1	4.8	540	11285	0.12	2.58	35.47	1.120	6	0.047	0.051	2718	1986	1891
11597	1.23	248.0	672.7	6.0	557	11602	0.00	2.58	0.00	0.000	4	0.000	0.064	2718	588	1890
11637	1.23	248.0	669.2	8.2	559	11642	0.00	2.50	0.00	0.000	6	0.000	0.038	2718	2006	1890
11965	1.23	248.0	643.1	8.6	575	11969	0.00	2.60	0.00	0.000	4	0.000	0.066	2718	3414	1890
12004	1.23	248.0	639.2	9.5	577	12009	0.00	2.55	0.00	0.000	6	0.000	0.046	2718	1989	1889
12331	1.23	248.0	606.7	10.4	593	12333	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	1989	1889
12641	1.23	248.0	580.3	7.5	608	12645	0.00	2.53	0.00	0.000	4	0.000	0.061	2718	597	1889
12786	1.23	248.0	567.8	9.5	614	12792	0.00	2.47	0.00	0.000	6	0.000	0.036	2718	2014	1889
13102	1.23	248.0	541.7	7.4	630	13103	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2015	1889
13411	1.23	248.0	520.7	6.2	645	13412	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2015	1890
13720	1.23	248.0	498.6	7.9	660	13724	0.00	2.60	0.00	0.000	4	0.000	0.060	2718	593	1890
13754	1.23	248.0	495.5	8.2	661	13758	0.00	2.47	0.00	0.000	6	0.000	0.037	2719	2009	1890
14075	1.24	260.4	475.0	5.7	677	14096	0.00	2.67	11.73	0.911	4	0.000	0.065	2719	3410	1840
14136	1.25	263.7	471.1	5.9	679	14146	0.00	2.55	4.62	0.705	6	0.000	0.047	2718	1994	1827
14474	1.25	263.7	450.1	6.7	696	14475	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	1995	1827
14783	1.25	263.7	425.6	8.4	711	14788	0.00	2.55	0.00	0.000	4	0.000	0.061	2719	588	1827
14817	1.25	263.7	422.4	8.4	712	14823	0.00	2.47	0.00	0.000	6	0.000	0.038	2718	2004	1827
15133	1.25	263.7	394.3	8.8	728	15134	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2004	1828
15442	1.25	263.7	366.6	8.9	743	15443	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2004	1828
15751	1.25	263.7	339.4	8.6	758	15755	0.00	2.58	0.00	0.000	4	0.000	0.066	2719	3411	1828
15796	1.25	263.7	335.4	8.7	760	15801	0.00	2.53	0.00	0.000	6	0.000	0.050	2719	2005	1828
16124	1.25	263.7	307.3	8.5	776	16125	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2005	1828
16433	1.25	263.7	281.0	8.6	791	16437	0.00	2.62	0.00	0.000	4	0.000	0.067	2718	3415	1829
16477	1.25	263.7	277.2	8.7	793	16482	0.00	2.55	0.00	0.000	6	0.000	0.051	2719	1997	1829
16799	1.25	263.7	252.0	7.6	809	16803	0.00	2.58	0.00	0.000	4	0.000	0.064	2718	581	1829
16832	1.25	263.7	249.2	7.5	810	16838	0.00	2.47	0.00	0.000	6	0.000	0.038	2719	2008	1829
17148	1.25	263.7	224.7	7.9	826	17150	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2008	1829
17457	1.25	263.7	201.6	8.0	841	17459	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2007	1829
17767	1.25	263.7	179.0	8.4	856	17771	0.00	2.60	0.00	0.000	4	0.000	0.063	2719	585	1829
17806	1.25	263.7	175.7	8.3	858	17810	0.00	2.47	0.00	0.000	6	0.000	0.039	2718	2006	1829
18139	1.25	263.7	150.0	6.3	874	18140	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2007	1830
18449	1.25	263.7	123.7	9.3	889	18453	0.00	2.58	0.00	0.000	4	0.000	0.067	2718	3407	1830
18481	1.25	263.7	120.5	10.0	890	18488	0.00	2.53	0.00	0.000	6	0.000	0.053	2719	1999	1830
18799	1.25	263.7	91.7	9.3	906	18800	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	1999	1830
19107	1.25	263.7	65.5	8.6	921	19108	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	1999	1830
19416	1.25	263.7	38.3	8.8	936	19417	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	1998	1830
19726	1.25	263.7	14.0	7.3	951	19727	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	1998	1831
19908	end climb: SURFACE_DEPTH_REACHED
state	19908	begin surface coast
19930	end surface coast: CONTROL_FINISHED_OK
state	19930	begin surface