Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 95 * 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 95 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 14 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 -144894.19 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 -144894.19

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 14 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 95 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 122007,6227.835,-1100.682,33,1.2,33,-10.7 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.206,-0.073

_SM_DEPTHo 1.25 KALMAN_X 56873.4,-1329.0,-707.2,-120907.5,10478.0

_SM_ANGLEo -60.2 KALMAN_Y -18973.2,-344.0,280.4,72810.2,-1712.8

GPS2 122601,6227.859,-1100.482,14,1.2,14,-10.7 MHEAD_RNG_PITCHd_Wd 261.3,5311,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027539 ALTIM_BOTTOM_PING 675.8,68.2

SM_CCo 19418,0.00,0.000,0,0,1779,275.47 _24V_AH 23.3,23.107

SM_GC 1.05,11.90,0.00,0.00,0.035,0.000,0.000,49,2646,1779,-10.94,-0.11,275.47 _10V_AH 10.1,12.123

IRIDIUM_FIX 6207.28,-1105.80,080698,060655 DATA_FILE_SIZE 47357,930

TT8_MAMPS 0.028379 CAP_FILE_SIZE 127292,0

HUMID 1757 CFSIZE 260165632,251797504

INTERNAL_PRESSURE 8.53548 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.60 GPS 140309,175154,6225.738,-1058.534,26,1.6,43,-10.6

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.47 SBE_CT 681 24 380.84

Roll_motor 140 92 300.61 SBE_O2 662 19 293.26

VBD_pump_during_apogee 359 1172 9822.62 WL_BB2F 563 105 1377.46

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 28 103 68.66 nil 0 0 0.00

Iridium_during_connect 40 160 149.48 nil 0 0 0.00

Iridium_during_xfer 153 223 796.94

Transponder_ping 7 420 68.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.58

TT8 1661 19 332.36

LPSleep 15154 2 335.21

TT8_Active 445 19 89.14

TT8_Sampling 1947 39 782.81

TT8_CF8 558 45 258.37

TT8_Kalman 33 81 27.59

Analog_circuits 1426 12 172.94

GPS_charging 0 0 0.00

Compass 1914 8 154.70

RAFOS 0 0 0.00

Transponder 39 30 12.10

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -41.38 0.000 2 0.000 0.000 49 2655 3171

62 -1.10 -146.6 3.6 -8.8 2 86 12.10 2.78 -5.80 0.000 4 0.158 0.092 2194 1234 3502

339 -1.10 -146.6 32.7 -7.9 14 344 0.00 2.62 0.00 0.000 6 0.000 0.063 2194 2655 3502

660 -1.10 -146.6 58.5 -8.1 30 664 0.00 2.17 0.00 0.000 4 0.000 0.091 2194 3785 3502

716 -1.10 -146.6 63.0 -7.3 32 720 0.00 2.08 0.00 0.000 6 0.000 0.058 2194 2650 3502

1038 -1.10 -146.6 86.9 -7.5 48 1039 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3502

1349 -1.10 -146.6 112.4 -8.2 63 1352 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3789 3502

1388 -1.10 -146.6 115.8 -8.3 64 1394 0.00 2.08 0.00 0.000 6 0.000 0.058 2194 2640 3502

1704 -1.10 -146.6 139.5 -8.2 80 1705 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2640 3502

2013 -1.10 -146.6 163.6 -8.9 95 2014 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2640 3502

2323 -1.10 -146.6 189.2 -8.4 110 2326 0.00 2.20 0.00 0.000 4 0.000 0.085 2194 3783 3502

2402 -1.10 -146.6 195.9 -8.7 113 2406 0.00 2.08 0.00 0.000 6 0.000 0.059 2194 2645 3502

2724 -1.10 -146.6 223.5 -8.8 129 2725 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2646 3502

3034 -1.10 -146.6 251.3 -8.9 144 3035 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3502

3343 -1.10 -146.6 275.9 -7.5 159 3347 0.00 2.20 0.00 0.000 4 0.000 0.085 2194 3789 3502

3382 -1.10 -146.6 279.1 -8.3 160 3389 0.00 2.08 0.00 0.000 6 0.000 0.060 2194 2653 3502

3699 -1.10 -146.6 301.5 -7.1 176 3702 0.00 2.17 0.00 0.000 4 0.000 0.086 2194 3783 3502

3745 -1.10 -146.6 305.1 -7.5 178 3748 0.00 2.08 0.00 0.000 6 0.000 0.060 2194 2645 3502

4078 -1.10 -146.6 325.7 -5.0 194 4080 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3502

4387 -1.10 -146.6 342.0 -6.5 209 4391 0.00 2.58 0.00 0.000 4 0.000 0.069 2194 1233 3502

4414 -1.10 -146.6 344.1 -7.3 210 4418 0.00 2.60 0.00 0.000 6 0.000 0.061 2194 2655 3502

4730 -1.10 -146.6 365.4 -6.5 225 4733 0.00 2.15 0.00 0.000 4 0.000 0.091 2194 3779 3502

4775 -1.10 -146.6 368.3 -6.4 227 4779 0.00 2.05 0.00 0.000 6 0.000 0.058 2194 2650 3502

5108 -1.10 -146.6 388.6 -6.3 243 5113 0.00 2.62 0.00 0.000 4 0.000 0.074 2194 1224 3502

5131 -1.10 -146.6 390.3 -7.5 244 5135 0.00 2.62 0.00 0.000 6 0.000 0.061 2194 2660 3502

5452 -1.10 -146.6 412.4 -7.4 260 5453 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3502

5761 -1.10 -146.6 435.2 -6.6 275 5762 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2661 3502

6070 -1.10 -146.6 466.0 -11.7 290 6071 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3502

6380 -1.10 -146.6 488.7 -7.4 305 6381 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3502

6689 -1.10 -146.6 512.0 -7.6 320 6690 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2661 3502

6998 -1.10 -146.6 535.1 -7.5 335 6999 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3501

7307 -1.10 -146.6 558.9 -8.1 350 7309 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3501

7616 -1.10 -146.6 579.0 -6.5 365 7618 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2661 3501

7927 -1.10 -146.6 601.0 -7.5 380 7928 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2661 3501

8235 -1.10 -146.6 624.7 -8.2 395 8236 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2660 3500

8544 -1.10 -146.6 652.4 -8.8 410 8548 0.00 2.15 0.00 0.000 4 0.000 0.092 2194 3783 3500

8645 -1.10 -146.6 661.8 -9.0 414 8649 0.00 2.08 0.00 0.000 6 0.000 0.058 2194 2636 3499

8966 -1.10 -146.6 685.4 -6.8 430 8970 0.00 2.22 0.00 0.000 4 0.000 0.091 2194 3783 3499

9028 -1.10 -146.6 690.1 -7.8 432 9034 0.00 2.05 0.00 0.000 6 0.000 0.057 2194 2648 3499

9343 -1.10 -146.6 713.1 -7.0 448 9345 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2648 3498

9629 end dive: BOTTOM_OBSTACLE_DETECTED

state 9629 begin apogee

9638 -0.42 0.0 734.6 7.8 462 9767 0.77 0.00 125.50 1.173 6 0.093 0.000 2349 1995 2902

9767 end apogee: CONTROL_FINISHED_OK

state 9768 begin climb

9771 1.10 146.6 741.3 0.0 468 9904 1.55 2.75 123.90 1.136 4 0.058 0.071 2680 585 2304

9935 1.26 275.8 744.3 2.4 475 10053 0.15 2.55 110.07 1.120 6 0.041 0.040 2729 2015 1777

10375 1.26 275.8 712.8 8.0 497 10376 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2015 1776

10684 1.26 275.8 688.8 7.7 512 10686 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2016 1775

10993 1.26 275.8 667.1 6.7 527 10998 0.00 2.58 0.00 0.000 4 0.000 0.068 2729 3399 1775

11101 1.26 275.8 659.2 8.1 532 11106 0.00 2.55 0.00 0.000 6 0.000 0.051 2729 1987 1775

11428 1.26 275.8 630.0 8.4 548 11432 0.00 2.65 0.00 0.000 4 0.000 0.066 2729 3407 1774

11467 1.26 275.8 626.6 8.5 550 11472 0.00 2.55 0.00 0.000 6 0.000 0.048 2729 1990 1774

11795 1.26 275.8 598.5 8.7 566 11799 0.00 2.58 0.00 0.000 4 0.000 0.066 2729 594 1773

11834 1.26 275.8 595.0 8.8 568 11839 0.00 2.47 0.00 0.000 6 0.000 0.041 2729 1992 1773

12161 1.26 275.8 565.9 9.2 584 12166 0.00 2.62 0.00 0.000 4 0.000 0.069 2729 3415 1773

12217 1.26 275.8 560.4 9.2 586 12224 0.00 2.55 0.00 0.000 6 0.000 0.049 2729 1999 1774

12534 1.26 275.8 530.9 9.0 602 12535 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1998 1774

12842 1.26 275.8 508.1 7.0 617 12847 0.00 2.62 0.00 0.000 4 0.000 0.068 2729 3412 1773

12870 1.26 275.8 505.9 7.6 618 12874 0.00 2.55 0.00 0.000 6 0.000 0.048 2729 1996 1774

13186 1.26 275.8 481.9 7.9 633 13190 0.00 2.62 0.00 0.000 4 0.000 0.066 2729 3408 1774

13225 1.26 275.8 478.4 8.4 635 13229 0.00 2.53 0.00 0.000 6 0.000 0.049 2729 1996 1773

13552 1.26 275.8 449.2 9.1 651 13556 0.00 2.58 0.00 0.000 4 0.000 0.064 2729 588 1774

13585 1.26 275.8 445.8 9.3 652 13591 0.00 2.50 0.00 0.000 6 0.000 0.039 2729 2008 1774

13901 1.26 275.8 415.6 9.8 668 13905 0.00 2.58 0.00 0.000 4 0.000 0.067 2729 3415 1774

13934 1.26 275.8 412.2 9.7 669 13940 0.00 2.55 0.00 0.000 6 0.000 0.050 2730 1996 1774

14250 1.26 275.8 382.0 9.3 685 14251 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1996 1775

14559 1.26 275.8 354.4 8.5 700 14560 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1996 1775

14868 1.26 275.8 330.1 7.5 715 14872 0.00 2.60 0.00 0.000 4 0.000 0.067 2729 3408 1775

14918 1.26 275.8 326.0 7.8 717 14922 0.00 2.55 0.00 0.000 6 0.000 0.051 2729 1993 1776

15234 1.26 275.8 302.4 7.6 732 15235 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1993 1776

15543 1.26 275.8 278.3 7.4 747 15547 0.00 2.65 0.00 0.000 4 0.000 0.067 2729 3418 1777

15587 1.26 275.8 274.9 6.9 749 15592 0.00 2.58 0.00 0.000 6 0.000 0.052 2729 1993 1777

15908 1.26 275.8 253.1 6.7 765 15909 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1993 1777

16217 1.26 275.8 231.3 7.1 780 16218 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1993 1777

16527 1.26 275.8 208.6 7.5 795 16531 0.00 2.65 0.00 0.000 4 0.000 0.069 2729 3416 1777

16548 1.26 275.8 206.8 7.5 796 16553 0.00 2.58 0.00 0.000 6 0.000 0.053 2730 1993 1778

16870 1.26 275.8 183.2 7.3 812 16871 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1993 1778

17179 1.26 275.8 163.4 6.1 827 17184 0.00 2.65 0.00 0.000 4 0.000 0.069 2729 3416 1779

17207 1.26 275.8 161.4 7.4 828 17211 0.00 2.58 0.00 0.000 6 0.000 0.054 2729 1997 1779

17523 1.26 275.8 140.8 6.9 843 17527 0.00 2.58 0.00 0.000 4 0.000 0.065 2729 587 1778

17563 1.26 275.8 137.9 7.6 845 17568 0.00 2.47 0.00 0.000 6 0.000 0.041 2729 1998 1778

17896 1.26 275.8 112.9 7.3 861 17898 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1998 1779

18206 1.26 275.8 89.4 7.5 876 18210 0.00 2.60 0.00 0.000 4 0.000 0.068 2729 3410 1779

18246 1.26 275.8 86.3 8.2 878 18250 0.00 2.58 0.00 0.000 6 0.000 0.056 2729 1994 1779

18579 1.26 275.8 60.0 7.9 894 18580 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1993 1779

18890 1.26 275.8 33.9 7.3 909 18894 0.00 2.62 0.00 0.000 4 0.000 0.067 2729 3409 1779

18954 1.26 275.8 29.9 7.1 912 18958 0.00 2.55 0.00 0.000 6 0.000 0.052 2729 1993 1779

19282 1.26 275.8 4.3 6.7 928 19287 0.00 2.60 0.00 0.000 4 0.000 0.075 2729 596 1779

19307 end climb: SURFACE_DEPTH_REACHED

state 19307 begin surface coast

19331 end surface coast: CONTROL_FINISHED_OK

state 19331 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	95	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	14	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	-144894.19	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	122007,6227.835,-1100.682,33,1.2,33,-10.7	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.206,-0.073
_SM_DEPTHo	1.25	KALMAN_X	56873.4,-1329.0,-707.2,-120907.5,10478.0
_SM_ANGLEo	-60.2	KALMAN_Y	-18973.2,-344.0,280.4,72810.2,-1712.8
GPS2	122601,6227.859,-1100.482,14,1.2,14,-10.7	MHEAD_RNG_PITCHd_Wd	261.3,5311,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.4,1.027539	ALTIM_BOTTOM_PING	675.8,68.2
SM_CCo	19418,0.00,0.000,0,0,1779,275.47	_24V_AH	23.3,23.107
SM_GC	1.05,11.90,0.00,0.00,0.035,0.000,0.000,49,2646,1779,-10.94,-0.11,275.47	_10V_AH	10.1,12.123
IRIDIUM_FIX	6207.28,-1105.80,080698,060655	DATA_FILE_SIZE	47357,930
TT8_MAMPS	0.028379	CAP_FILE_SIZE	127292,0
HUMID	1757	CFSIZE	260165632,251797504
INTERNAL_PRESSURE	8.53548	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.60	GPS	140309,175154,6225.738,-1058.534,26,1.6,43,-10.6
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.47	SBE_CT	681	24	380.84
Roll_motor	140	92	300.61	SBE_O2	662	19	293.26
VBD_pump_during_apogee	359	1172	9822.62	WL_BB2F	563	105	1377.46
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	28	103	68.66	nil	0	0	0.00
Iridium_during_connect	40	160	149.48	nil	0	0	0.00
Iridium_during_xfer	153	223	796.94
Transponder_ping	7	420	68.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.58
TT8	1661	19	332.36
LPSleep	15154	2	335.21
TT8_Active	445	19	89.14
TT8_Sampling	1947	39	782.81
TT8_CF8	558	45	258.37
TT8_Kalman	33	81	27.59
Analog_circuits	1426	12	172.94
GPS_charging	0	0	0.00
Compass	1914	8	154.70
RAFOS	0	0	0.00
Transponder	39	30	12.10

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-41.38	0.000	2	0.000	0.000	49	2655	3171
62	-1.10	-146.6	3.6	-8.8	2	86	12.10	2.78	-5.80	0.000	4	0.158	0.092	2194	1234	3502
339	-1.10	-146.6	32.7	-7.9	14	344	0.00	2.62	0.00	0.000	6	0.000	0.063	2194	2655	3502
660	-1.10	-146.6	58.5	-8.1	30	664	0.00	2.17	0.00	0.000	4	0.000	0.091	2194	3785	3502
716	-1.10	-146.6	63.0	-7.3	32	720	0.00	2.08	0.00	0.000	6	0.000	0.058	2194	2650	3502
1038	-1.10	-146.6	86.9	-7.5	48	1039	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3502
1349	-1.10	-146.6	112.4	-8.2	63	1352	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3789	3502
1388	-1.10	-146.6	115.8	-8.3	64	1394	0.00	2.08	0.00	0.000	6	0.000	0.058	2194	2640	3502
1704	-1.10	-146.6	139.5	-8.2	80	1705	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2640	3502
2013	-1.10	-146.6	163.6	-8.9	95	2014	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2640	3502
2323	-1.10	-146.6	189.2	-8.4	110	2326	0.00	2.20	0.00	0.000	4	0.000	0.085	2194	3783	3502
2402	-1.10	-146.6	195.9	-8.7	113	2406	0.00	2.08	0.00	0.000	6	0.000	0.059	2194	2645	3502
2724	-1.10	-146.6	223.5	-8.8	129	2725	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2646	3502
3034	-1.10	-146.6	251.3	-8.9	144	3035	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3502
3343	-1.10	-146.6	275.9	-7.5	159	3347	0.00	2.20	0.00	0.000	4	0.000	0.085	2194	3789	3502
3382	-1.10	-146.6	279.1	-8.3	160	3389	0.00	2.08	0.00	0.000	6	0.000	0.060	2194	2653	3502
3699	-1.10	-146.6	301.5	-7.1	176	3702	0.00	2.17	0.00	0.000	4	0.000	0.086	2194	3783	3502
3745	-1.10	-146.6	305.1	-7.5	178	3748	0.00	2.08	0.00	0.000	6	0.000	0.060	2194	2645	3502
4078	-1.10	-146.6	325.7	-5.0	194	4080	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3502
4387	-1.10	-146.6	342.0	-6.5	209	4391	0.00	2.58	0.00	0.000	4	0.000	0.069	2194	1233	3502
4414	-1.10	-146.6	344.1	-7.3	210	4418	0.00	2.60	0.00	0.000	6	0.000	0.061	2194	2655	3502
4730	-1.10	-146.6	365.4	-6.5	225	4733	0.00	2.15	0.00	0.000	4	0.000	0.091	2194	3779	3502
4775	-1.10	-146.6	368.3	-6.4	227	4779	0.00	2.05	0.00	0.000	6	0.000	0.058	2194	2650	3502
5108	-1.10	-146.6	388.6	-6.3	243	5113	0.00	2.62	0.00	0.000	4	0.000	0.074	2194	1224	3502
5131	-1.10	-146.6	390.3	-7.5	244	5135	0.00	2.62	0.00	0.000	6	0.000	0.061	2194	2660	3502
5452	-1.10	-146.6	412.4	-7.4	260	5453	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3502
5761	-1.10	-146.6	435.2	-6.6	275	5762	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2661	3502
6070	-1.10	-146.6	466.0	-11.7	290	6071	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3502
6380	-1.10	-146.6	488.7	-7.4	305	6381	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3502
6689	-1.10	-146.6	512.0	-7.6	320	6690	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2661	3502
6998	-1.10	-146.6	535.1	-7.5	335	6999	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3501
7307	-1.10	-146.6	558.9	-8.1	350	7309	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3501
7616	-1.10	-146.6	579.0	-6.5	365	7618	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2661	3501
7927	-1.10	-146.6	601.0	-7.5	380	7928	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2661	3501
8235	-1.10	-146.6	624.7	-8.2	395	8236	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2660	3500
8544	-1.10	-146.6	652.4	-8.8	410	8548	0.00	2.15	0.00	0.000	4	0.000	0.092	2194	3783	3500
8645	-1.10	-146.6	661.8	-9.0	414	8649	0.00	2.08	0.00	0.000	6	0.000	0.058	2194	2636	3499
8966	-1.10	-146.6	685.4	-6.8	430	8970	0.00	2.22	0.00	0.000	4	0.000	0.091	2194	3783	3499
9028	-1.10	-146.6	690.1	-7.8	432	9034	0.00	2.05	0.00	0.000	6	0.000	0.057	2194	2648	3499
9343	-1.10	-146.6	713.1	-7.0	448	9345	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2648	3498
9629	end dive: BOTTOM_OBSTACLE_DETECTED
state	9629	begin apogee
9638	-0.42	0.0	734.6	7.8	462	9767	0.77	0.00	125.50	1.173	6	0.093	0.000	2349	1995	2902
9767	end apogee: CONTROL_FINISHED_OK
state	9768	begin climb
9771	1.10	146.6	741.3	0.0	468	9904	1.55	2.75	123.90	1.136	4	0.058	0.071	2680	585	2304
9935	1.26	275.8	744.3	2.4	475	10053	0.15	2.55	110.07	1.120	6	0.041	0.040	2729	2015	1777
10375	1.26	275.8	712.8	8.0	497	10376	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2015	1776
10684	1.26	275.8	688.8	7.7	512	10686	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2016	1775
10993	1.26	275.8	667.1	6.7	527	10998	0.00	2.58	0.00	0.000	4	0.000	0.068	2729	3399	1775
11101	1.26	275.8	659.2	8.1	532	11106	0.00	2.55	0.00	0.000	6	0.000	0.051	2729	1987	1775
11428	1.26	275.8	630.0	8.4	548	11432	0.00	2.65	0.00	0.000	4	0.000	0.066	2729	3407	1774
11467	1.26	275.8	626.6	8.5	550	11472	0.00	2.55	0.00	0.000	6	0.000	0.048	2729	1990	1774
11795	1.26	275.8	598.5	8.7	566	11799	0.00	2.58	0.00	0.000	4	0.000	0.066	2729	594	1773
11834	1.26	275.8	595.0	8.8	568	11839	0.00	2.47	0.00	0.000	6	0.000	0.041	2729	1992	1773
12161	1.26	275.8	565.9	9.2	584	12166	0.00	2.62	0.00	0.000	4	0.000	0.069	2729	3415	1773
12217	1.26	275.8	560.4	9.2	586	12224	0.00	2.55	0.00	0.000	6	0.000	0.049	2729	1999	1774
12534	1.26	275.8	530.9	9.0	602	12535	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1998	1774
12842	1.26	275.8	508.1	7.0	617	12847	0.00	2.62	0.00	0.000	4	0.000	0.068	2729	3412	1773
12870	1.26	275.8	505.9	7.6	618	12874	0.00	2.55	0.00	0.000	6	0.000	0.048	2729	1996	1774
13186	1.26	275.8	481.9	7.9	633	13190	0.00	2.62	0.00	0.000	4	0.000	0.066	2729	3408	1774
13225	1.26	275.8	478.4	8.4	635	13229	0.00	2.53	0.00	0.000	6	0.000	0.049	2729	1996	1773
13552	1.26	275.8	449.2	9.1	651	13556	0.00	2.58	0.00	0.000	4	0.000	0.064	2729	588	1774
13585	1.26	275.8	445.8	9.3	652	13591	0.00	2.50	0.00	0.000	6	0.000	0.039	2729	2008	1774
13901	1.26	275.8	415.6	9.8	668	13905	0.00	2.58	0.00	0.000	4	0.000	0.067	2729	3415	1774
13934	1.26	275.8	412.2	9.7	669	13940	0.00	2.55	0.00	0.000	6	0.000	0.050	2730	1996	1774
14250	1.26	275.8	382.0	9.3	685	14251	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1996	1775
14559	1.26	275.8	354.4	8.5	700	14560	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1996	1775
14868	1.26	275.8	330.1	7.5	715	14872	0.00	2.60	0.00	0.000	4	0.000	0.067	2729	3408	1775
14918	1.26	275.8	326.0	7.8	717	14922	0.00	2.55	0.00	0.000	6	0.000	0.051	2729	1993	1776
15234	1.26	275.8	302.4	7.6	732	15235	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1993	1776
15543	1.26	275.8	278.3	7.4	747	15547	0.00	2.65	0.00	0.000	4	0.000	0.067	2729	3418	1777
15587	1.26	275.8	274.9	6.9	749	15592	0.00	2.58	0.00	0.000	6	0.000	0.052	2729	1993	1777
15908	1.26	275.8	253.1	6.7	765	15909	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1993	1777
16217	1.26	275.8	231.3	7.1	780	16218	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1993	1777
16527	1.26	275.8	208.6	7.5	795	16531	0.00	2.65	0.00	0.000	4	0.000	0.069	2729	3416	1777
16548	1.26	275.8	206.8	7.5	796	16553	0.00	2.58	0.00	0.000	6	0.000	0.053	2730	1993	1778
16870	1.26	275.8	183.2	7.3	812	16871	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1993	1778
17179	1.26	275.8	163.4	6.1	827	17184	0.00	2.65	0.00	0.000	4	0.000	0.069	2729	3416	1779
17207	1.26	275.8	161.4	7.4	828	17211	0.00	2.58	0.00	0.000	6	0.000	0.054	2729	1997	1779
17523	1.26	275.8	140.8	6.9	843	17527	0.00	2.58	0.00	0.000	4	0.000	0.065	2729	587	1778
17563	1.26	275.8	137.9	7.6	845	17568	0.00	2.47	0.00	0.000	6	0.000	0.041	2729	1998	1778
17896	1.26	275.8	112.9	7.3	861	17898	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1998	1779
18206	1.26	275.8	89.4	7.5	876	18210	0.00	2.60	0.00	0.000	4	0.000	0.068	2729	3410	1779
18246	1.26	275.8	86.3	8.2	878	18250	0.00	2.58	0.00	0.000	6	0.000	0.056	2729	1994	1779
18579	1.26	275.8	60.0	7.9	894	18580	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1993	1779
18890	1.26	275.8	33.9	7.3	909	18894	0.00	2.62	0.00	0.000	4	0.000	0.067	2729	3409	1779
18954	1.26	275.8	29.9	7.1	912	18958	0.00	2.55	0.00	0.000	6	0.000	0.052	2729	1993	1779
19282	1.26	275.8	4.3	6.7	928	19287	0.00	2.60	0.00	0.000	4	0.000	0.075	2729	596	1779
19307	end climb: SURFACE_DEPTH_REACHED
state	19307	begin surface coast
19331	end surface coast: CONTROL_FINISHED_OK
state	19331	begin surface