Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 104 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 104 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 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 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -102204.36 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -102204.36

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 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 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 104 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 113206,6236.893,-1206.427,54,1.0,59,-11.3 TGT_NAME GW

_CALLS 2 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.088,0.229

_SM_DEPTHo 1.57 KALMAN_X -99536.0,480.7,-22.3,-82824.6,-2321.2

_SM_ANGLEo -59.5 KALMAN_Y -1076.6,476.3,-97.9,112154.1,-3426.4

GPS2 114050,6236.809,-1206.398,15,1.1,15,-11.3 MHEAD_RNG_PITCHd_Wd 350.2,12990,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.013646 ALTIM_BOTTOM_PING 746.7,82.2

SM_CCo 17234,5.22,0.604,0,0,1608,300.00 _24V_AH 23.8,19.941

SM_GC 1.93,0.00,0.00,5.22,0.000,0.000,0.604,416,2154,1608,-10.71,0.59,300.00 _10V_AH 10.1,8.936

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41108,829

TT8_MAMPS 0.028379 CAP_FILE_SIZE 134224,0

HUMID 1818 CFSIZE 254472192,246018048

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 31 GPS 150909,163024,6238.857,-1211.762,43,1.8,43,-11.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 162 105.17 SBE_CT 568 24 324.49

Roll_motor 147 76 268.98 SBE_O2 619 19 280.22

VBD_pump_during_apogee 401 1377 13150.99 WL_BB2F 476 105 1190.48

VBD_pump_during_surface 5 604 75.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.14 nil 0 0 0.00

Iridium_during_connect 60 160 230.37 nil 0 0 0.00

Iridium_during_xfer 194 223 1034.24

Transponder_ping 14 420 144.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.64

TT8 1531 19 306.30

LPSleep 13287 2 293.90

TT8_Active 519 19 103.91

TT8_Sampling 1774 39 713.50

TT8_CF8 650 45 300.99

TT8_Kalman 33 81 27.56

Analog_circuits 1444 12 175.06

GPS_charging 0 0 0.00

Compass 1732 8 140.00

RAFOS 0 0 0.00

Transponder 46 30 14.18

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.22 -146.6 0.0 0.0 0 59 0.00 0.00 -41.42 0.000 2 0.000 0.000 418 2153 2515

63 -1.22 -146.6 2.3 -2.8 2 113 11.43 2.60 -31.42 0.000 4 0.163 0.066 2471 707 3429

288 -1.15 -146.6 30.7 -11.4 12 293 0.12 2.50 0.00 0.000 6 0.105 0.044 2494 2127 3429

610 -1.10 -146.6 69.6 -12.4 28 615 0.00 2.55 0.00 0.000 4 0.000 0.064 2495 3541 3429

633 -1.06 -146.6 72.4 -11.4 29 637 0.00 2.50 0.00 0.000 6 0.000 0.047 2495 2131 3429

956 -1.03 -146.6 109.0 -11.4 45 961 0.10 2.50 0.00 0.000 4 0.107 0.058 2516 718 3429

997 -1.06 -146.6 113.6 -10.9 47 1001 0.00 2.50 0.00 0.000 6 0.000 0.046 2516 2138 3430

1324 -1.06 -146.6 147.6 -10.5 63 1325 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2139 3430

1633 -1.06 -146.6 178.0 -9.2 78 1637 0.00 2.58 0.00 0.000 4 0.000 0.060 2516 714 3430

1689 -1.11 -146.6 183.4 -10.3 80 1695 0.00 2.50 0.00 0.000 6 0.000 0.048 2516 2131 3430

2005 -1.11 -146.6 213.2 -9.6 96 2006 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2132 3430

2315 -1.11 -146.6 243.3 -9.7 111 2319 0.00 2.55 0.00 0.000 4 0.000 0.061 2516 720 3430

2359 -1.15 -146.6 247.9 -9.8 113 2364 0.12 2.47 0.00 0.000 6 0.055 0.050 2480 2120 3430

2681 -1.10 -146.6 284.0 -11.4 129 2683 0.12 0.00 0.00 0.000 6 0.091 0.000 2506 2120 3430

2990 -1.10 -146.6 315.5 -10.1 144 2994 0.00 2.53 0.00 0.000 4 0.000 0.061 2506 722 3430

3017 -1.10 -146.6 318.6 -10.8 145 3022 0.00 2.47 0.00 0.000 6 0.000 0.049 2506 2120 3430

3333 -1.10 -146.6 350.5 -10.2 160 3335 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2121 3429

3642 -1.10 -146.6 382.2 -10.3 175 3647 0.00 2.55 0.00 0.000 4 0.000 0.063 2506 714 3429

3705 -1.10 -146.6 389.0 -11.0 178 3709 0.00 2.47 0.00 0.000 6 0.000 0.050 2506 2114 3429

4034 -1.10 -146.6 421.8 -9.8 194 4035 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2114 3429

4340 -1.10 -146.6 451.2 -9.4 209 4345 0.00 2.53 0.00 0.000 4 0.000 0.064 2506 719 3428

4403 -1.13 -146.6 457.3 -9.9 212 4408 0.00 2.45 0.00 0.000 6 0.000 0.051 2506 2105 3428

4731 -1.13 -146.6 488.3 -9.6 228 4735 0.00 2.50 0.00 0.000 4 0.000 0.066 2505 720 3428

4764 -1.13 -146.6 491.8 -10.0 229 4769 0.00 2.45 0.00 0.000 6 0.000 0.051 2506 2102 3428

5080 -1.13 -146.6 523.5 -10.4 244 5085 0.00 2.53 0.00 0.000 4 0.000 0.066 2505 718 3428

5114 -1.13 -146.6 527.2 -10.2 245 5120 0.00 2.45 0.00 0.000 6 0.000 0.051 2506 2099 3428

5430 -1.13 -146.6 560.6 -10.6 261 5431 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2099 3428

5740 -1.13 -146.6 593.3 -10.4 276 5744 0.00 2.53 0.00 0.000 4 0.000 0.066 2506 715 3428

5807 -1.16 -146.6 600.8 -10.9 279 5811 0.00 2.45 0.00 0.000 6 0.000 0.051 2506 2097 3427

6128 -1.16 -146.6 634.1 -9.7 295 6129 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2098 3427

6437 -1.16 -146.6 660.4 -8.0 310 6438 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2098 3427

6746 -1.16 -146.6 685.2 -8.5 325 6747 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2098 3427

7055 -1.16 -146.6 714.7 -9.6 340 7059 0.00 2.53 0.00 0.000 4 0.000 0.068 2506 716 3426

7078 -1.16 -146.6 717.0 -10.1 341 7082 0.00 2.45 0.00 0.000 6 0.000 0.054 2506 2090 3426

7403 -1.16 -146.6 746.7 -9.2 357 7407 0.00 2.53 0.00 0.000 4 0.000 0.069 2506 713 3426

7438 -1.20 -146.6 750.6 -10.0 358 7444 0.10 2.45 0.00 0.000 6 0.064 0.054 2476 2085 3426

7754 -1.17 -146.6 784.0 -10.2 374 7755 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2085 3425

8063 -1.17 -146.6 814.8 -10.2 389 8067 0.00 2.53 0.00 0.000 4 0.000 0.077 2476 724 3425

8096 -1.17 -146.6 818.5 -11.5 390 8102 0.00 2.42 0.00 0.000 6 0.000 0.059 2476 2070 3425

8120 end dive: BOTTOM_OBSTACLE_DETECTED

state 8120 begin apogee

8128 -0.33 0.0 821.1 10.3 392 8263 0.93 0.00 131.15 1.378 6 0.081 0.000 2673 1838 2831

8264 end apogee: CONTROL_FINISHED_OK

state 8264 begin climb

8267 1.22 146.6 826.0 0.0 399 8413 1.52 2.75 132.35 1.336 4 0.058 0.071 3010 3252 2233

8517 1.11 146.6 815.6 8.9 410 8522 0.12 2.62 0.00 0.000 6 0.104 0.069 2986 1853 2233

8833 1.07 150.9 792.2 7.8 425 8841 0.00 0.00 5.78 0.993 6 0.000 0.000 2987 1853 2215

9143 1.03 153.0 767.4 7.9 440 9144 0.00 0.00 0.00 0.000 6 0.000 0.000 2987 1853 2214

9452 1.00 166.6 743.8 7.5 455 9475 0.12 2.67 15.20 1.241 4 0.101 0.071 2964 3254 2150

9509 1.07 187.9 739.3 7.2 457 9535 0.00 2.62 20.30 1.267 6 0.000 0.067 2964 1851 2064

9846 1.08 195.2 713.4 7.7 473 9855 0.00 0.00 7.60 1.105 6 0.000 0.000 2964 1850 2035

10155 1.15 217.3 689.8 7.2 488 10179 0.15 0.00 20.83 1.257 6 0.057 0.000 3001 1851 1945

10487 1.11 217.3 659.7 9.2 504 10491 0.00 2.62 0.00 0.000 4 0.000 0.067 3001 3261 1944

10527 1.11 217.3 655.9 9.6 506 10531 0.00 2.62 0.00 0.000 6 0.000 0.064 3001 1835 1944

10854 1.07 217.3 623.9 9.8 522 10859 0.12 2.58 0.00 0.000 4 0.096 0.075 2977 434 1944

10898 1.07 217.3 619.4 9.7 524 10903 0.00 2.55 0.00 0.000 6 0.000 0.054 2977 1850 1944

11220 1.15 267.3 597.0 6.2 540 11266 0.00 0.00 44.17 1.236 6 0.000 0.000 2977 1865 1741

11573 1.22 287.5 572.6 7.3 557 11598 0.15 2.60 19.10 1.161 4 0.055 0.063 3015 3254 1658

11621 1.22 287.5 568.0 9.6 559 11626 0.00 2.62 0.00 0.000 6 0.000 0.060 3015 1832 1658

11943 1.18 287.5 534.9 10.7 575 11944 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1832 1658

12252 1.14 287.5 501.1 10.9 590 12257 0.12 2.60 0.00 0.000 4 0.091 0.062 2992 3253 1658

12302 1.20 287.5 495.9 9.4 592 12306 0.00 2.58 0.00 0.000 6 0.000 0.057 2992 1838 1658

12618 1.20 287.5 466.5 9.1 607 12619 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 1838 1658

12927 1.20 287.5 437.8 9.1 622 12931 0.00 2.60 0.00 0.000 4 0.000 0.061 2992 3259 1659

12977 1.26 287.5 433.0 9.2 624 12982 0.12 2.55 0.00 0.000 6 0.056 0.056 3026 1851 1659

13294 1.22 287.5 398.5 10.8 639 13295 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 1850 1659

13603 1.18 287.5 365.7 10.7 654 13608 0.12 2.55 0.00 0.000 4 0.090 0.061 3002 3254 1659

13636 1.22 287.5 362.1 10.1 655 13643 0.00 2.53 0.00 0.000 6 0.000 0.054 3002 1848 1660

13953 1.22 287.5 332.3 9.3 671 13957 0.00 2.58 0.00 0.000 4 0.000 0.061 3002 3260 1660

13986 1.26 287.5 329.0 9.3 672 13992 0.00 2.50 0.00 0.000 6 0.000 0.054 3002 1865 1660

14302 1.26 287.5 298.6 9.9 688 14306 0.00 2.53 0.00 0.000 4 0.000 0.061 3002 3262 1660

14335 1.29 287.5 295.2 10.0 689 14342 0.12 2.47 0.00 0.000 6 0.055 0.052 3036 1878 1660

14652 1.23 287.5 256.8 12.4 705 14653 0.12 0.00 0.00 0.000 6 0.091 0.000 3011 1878 1660

14960 1.23 287.5 222.7 10.9 720 14964 0.00 2.47 0.00 0.000 4 0.000 0.060 3011 3254 1661

15010 1.23 287.5 217.2 10.8 722 15015 0.00 2.45 0.00 0.000 6 0.000 0.051 3011 1880 1661

15332 1.23 287.5 184.6 9.9 738 15333 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 1880 1661

15641 1.23 287.5 154.2 9.6 753 15645 0.00 2.50 0.00 0.000 4 0.000 0.059 3012 3261 1661

15703 1.23 287.5 148.2 9.2 755 15709 0.00 2.42 0.00 0.000 6 0.000 0.050 3011 1897 1661

16019 1.23 287.5 120.0 8.5 771 16023 0.00 2.47 0.00 0.000 4 0.000 0.059 3011 3266 1662

16060 1.27 290.1 116.8 7.9 773 16070 0.00 2.42 4.65 0.644 6 0.000 0.050 3011 1900 1648

16387 1.27 290.1 83.3 10.5 789 16388 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 1900 1648

16696 1.27 290.1 51.7 10.3 804 16700 0.00 2.45 0.00 0.000 4 0.000 0.058 3011 3256 1648

16786 1.34 290.1 44.3 8.8 808 16790 0.12 2.40 0.00 0.000 6 0.054 0.048 3047 1902 1647

17108 1.24 290.1 11.0 9.6 824 17113 0.17 2.60 0.00 0.000 4 0.087 0.061 3009 441 1648

17163 1.24 290.1 3.7 13.2 826 17170 0.00 2.55 0.00 0.000 6 0.000 0.045 3009 1901 1648

17188 end climb: SURFACE_DEPTH_REACHED

state 17188 begin surface coast

17210 end surface coast: CONTROL_FINISHED_OK

state 17210 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	104	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	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	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-102204.36	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	113206,6236.893,-1206.427,54,1.0,59,-11.3	TGT_NAME	GW
_CALLS	2	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.088,0.229
_SM_DEPTHo	1.57	KALMAN_X	-99536.0,480.7,-22.3,-82824.6,-2321.2
_SM_ANGLEo	-59.5	KALMAN_Y	-1076.6,476.3,-97.9,112154.1,-3426.4
GPS2	114050,6236.809,-1206.398,15,1.1,15,-11.3	MHEAD_RNG_PITCHd_Wd	350.2,12990,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.013646	ALTIM_BOTTOM_PING	746.7,82.2
SM_CCo	17234,5.22,0.604,0,0,1608,300.00	_24V_AH	23.8,19.941
SM_GC	1.93,0.00,0.00,5.22,0.000,0.000,0.604,416,2154,1608,-10.71,0.59,300.00	_10V_AH	10.1,8.936
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41108,829
TT8_MAMPS	0.028379	CAP_FILE_SIZE	134224,0
HUMID	1818	CFSIZE	254472192,246018048
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	31	GPS	150909,163024,6238.857,-1211.762,43,1.8,43,-11.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	162	105.17	SBE_CT	568	24	324.49
Roll_motor	147	76	268.98	SBE_O2	619	19	280.22
VBD_pump_during_apogee	401	1377	13150.99	WL_BB2F	476	105	1190.48
VBD_pump_during_surface	5	604	75.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.14	nil	0	0	0.00
Iridium_during_connect	60	160	230.37	nil	0	0	0.00
Iridium_during_xfer	194	223	1034.24
Transponder_ping	14	420	144.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.64
TT8	1531	19	306.30
LPSleep	13287	2	293.90
TT8_Active	519	19	103.91
TT8_Sampling	1774	39	713.50
TT8_CF8	650	45	300.99
TT8_Kalman	33	81	27.56
Analog_circuits	1444	12	175.06
GPS_charging	0	0	0.00
Compass	1732	8	140.00
RAFOS	0	0	0.00
Transponder	46	30	14.18

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.22	-146.6	0.0	0.0	0	59	0.00	0.00	-41.42	0.000	2	0.000	0.000	418	2153	2515
63	-1.22	-146.6	2.3	-2.8	2	113	11.43	2.60	-31.42	0.000	4	0.163	0.066	2471	707	3429
288	-1.15	-146.6	30.7	-11.4	12	293	0.12	2.50	0.00	0.000	6	0.105	0.044	2494	2127	3429
610	-1.10	-146.6	69.6	-12.4	28	615	0.00	2.55	0.00	0.000	4	0.000	0.064	2495	3541	3429
633	-1.06	-146.6	72.4	-11.4	29	637	0.00	2.50	0.00	0.000	6	0.000	0.047	2495	2131	3429
956	-1.03	-146.6	109.0	-11.4	45	961	0.10	2.50	0.00	0.000	4	0.107	0.058	2516	718	3429
997	-1.06	-146.6	113.6	-10.9	47	1001	0.00	2.50	0.00	0.000	6	0.000	0.046	2516	2138	3430
1324	-1.06	-146.6	147.6	-10.5	63	1325	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2139	3430
1633	-1.06	-146.6	178.0	-9.2	78	1637	0.00	2.58	0.00	0.000	4	0.000	0.060	2516	714	3430
1689	-1.11	-146.6	183.4	-10.3	80	1695	0.00	2.50	0.00	0.000	6	0.000	0.048	2516	2131	3430
2005	-1.11	-146.6	213.2	-9.6	96	2006	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2132	3430
2315	-1.11	-146.6	243.3	-9.7	111	2319	0.00	2.55	0.00	0.000	4	0.000	0.061	2516	720	3430
2359	-1.15	-146.6	247.9	-9.8	113	2364	0.12	2.47	0.00	0.000	6	0.055	0.050	2480	2120	3430
2681	-1.10	-146.6	284.0	-11.4	129	2683	0.12	0.00	0.00	0.000	6	0.091	0.000	2506	2120	3430
2990	-1.10	-146.6	315.5	-10.1	144	2994	0.00	2.53	0.00	0.000	4	0.000	0.061	2506	722	3430
3017	-1.10	-146.6	318.6	-10.8	145	3022	0.00	2.47	0.00	0.000	6	0.000	0.049	2506	2120	3430
3333	-1.10	-146.6	350.5	-10.2	160	3335	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2121	3429
3642	-1.10	-146.6	382.2	-10.3	175	3647	0.00	2.55	0.00	0.000	4	0.000	0.063	2506	714	3429
3705	-1.10	-146.6	389.0	-11.0	178	3709	0.00	2.47	0.00	0.000	6	0.000	0.050	2506	2114	3429
4034	-1.10	-146.6	421.8	-9.8	194	4035	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2114	3429
4340	-1.10	-146.6	451.2	-9.4	209	4345	0.00	2.53	0.00	0.000	4	0.000	0.064	2506	719	3428
4403	-1.13	-146.6	457.3	-9.9	212	4408	0.00	2.45	0.00	0.000	6	0.000	0.051	2506	2105	3428
4731	-1.13	-146.6	488.3	-9.6	228	4735	0.00	2.50	0.00	0.000	4	0.000	0.066	2505	720	3428
4764	-1.13	-146.6	491.8	-10.0	229	4769	0.00	2.45	0.00	0.000	6	0.000	0.051	2506	2102	3428
5080	-1.13	-146.6	523.5	-10.4	244	5085	0.00	2.53	0.00	0.000	4	0.000	0.066	2505	718	3428
5114	-1.13	-146.6	527.2	-10.2	245	5120	0.00	2.45	0.00	0.000	6	0.000	0.051	2506	2099	3428
5430	-1.13	-146.6	560.6	-10.6	261	5431	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2099	3428
5740	-1.13	-146.6	593.3	-10.4	276	5744	0.00	2.53	0.00	0.000	4	0.000	0.066	2506	715	3428
5807	-1.16	-146.6	600.8	-10.9	279	5811	0.00	2.45	0.00	0.000	6	0.000	0.051	2506	2097	3427
6128	-1.16	-146.6	634.1	-9.7	295	6129	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2098	3427
6437	-1.16	-146.6	660.4	-8.0	310	6438	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2098	3427
6746	-1.16	-146.6	685.2	-8.5	325	6747	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2098	3427
7055	-1.16	-146.6	714.7	-9.6	340	7059	0.00	2.53	0.00	0.000	4	0.000	0.068	2506	716	3426
7078	-1.16	-146.6	717.0	-10.1	341	7082	0.00	2.45	0.00	0.000	6	0.000	0.054	2506	2090	3426
7403	-1.16	-146.6	746.7	-9.2	357	7407	0.00	2.53	0.00	0.000	4	0.000	0.069	2506	713	3426
7438	-1.20	-146.6	750.6	-10.0	358	7444	0.10	2.45	0.00	0.000	6	0.064	0.054	2476	2085	3426
7754	-1.17	-146.6	784.0	-10.2	374	7755	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2085	3425
8063	-1.17	-146.6	814.8	-10.2	389	8067	0.00	2.53	0.00	0.000	4	0.000	0.077	2476	724	3425
8096	-1.17	-146.6	818.5	-11.5	390	8102	0.00	2.42	0.00	0.000	6	0.000	0.059	2476	2070	3425
8120	end dive: BOTTOM_OBSTACLE_DETECTED
state	8120	begin apogee
8128	-0.33	0.0	821.1	10.3	392	8263	0.93	0.00	131.15	1.378	6	0.081	0.000	2673	1838	2831
8264	end apogee: CONTROL_FINISHED_OK
state	8264	begin climb
8267	1.22	146.6	826.0	0.0	399	8413	1.52	2.75	132.35	1.336	4	0.058	0.071	3010	3252	2233
8517	1.11	146.6	815.6	8.9	410	8522	0.12	2.62	0.00	0.000	6	0.104	0.069	2986	1853	2233
8833	1.07	150.9	792.2	7.8	425	8841	0.00	0.00	5.78	0.993	6	0.000	0.000	2987	1853	2215
9143	1.03	153.0	767.4	7.9	440	9144	0.00	0.00	0.00	0.000	6	0.000	0.000	2987	1853	2214
9452	1.00	166.6	743.8	7.5	455	9475	0.12	2.67	15.20	1.241	4	0.101	0.071	2964	3254	2150
9509	1.07	187.9	739.3	7.2	457	9535	0.00	2.62	20.30	1.267	6	0.000	0.067	2964	1851	2064
9846	1.08	195.2	713.4	7.7	473	9855	0.00	0.00	7.60	1.105	6	0.000	0.000	2964	1850	2035
10155	1.15	217.3	689.8	7.2	488	10179	0.15	0.00	20.83	1.257	6	0.057	0.000	3001	1851	1945
10487	1.11	217.3	659.7	9.2	504	10491	0.00	2.62	0.00	0.000	4	0.000	0.067	3001	3261	1944
10527	1.11	217.3	655.9	9.6	506	10531	0.00	2.62	0.00	0.000	6	0.000	0.064	3001	1835	1944
10854	1.07	217.3	623.9	9.8	522	10859	0.12	2.58	0.00	0.000	4	0.096	0.075	2977	434	1944
10898	1.07	217.3	619.4	9.7	524	10903	0.00	2.55	0.00	0.000	6	0.000	0.054	2977	1850	1944
11220	1.15	267.3	597.0	6.2	540	11266	0.00	0.00	44.17	1.236	6	0.000	0.000	2977	1865	1741
11573	1.22	287.5	572.6	7.3	557	11598	0.15	2.60	19.10	1.161	4	0.055	0.063	3015	3254	1658
11621	1.22	287.5	568.0	9.6	559	11626	0.00	2.62	0.00	0.000	6	0.000	0.060	3015	1832	1658
11943	1.18	287.5	534.9	10.7	575	11944	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1832	1658
12252	1.14	287.5	501.1	10.9	590	12257	0.12	2.60	0.00	0.000	4	0.091	0.062	2992	3253	1658
12302	1.20	287.5	495.9	9.4	592	12306	0.00	2.58	0.00	0.000	6	0.000	0.057	2992	1838	1658
12618	1.20	287.5	466.5	9.1	607	12619	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	1838	1658
12927	1.20	287.5	437.8	9.1	622	12931	0.00	2.60	0.00	0.000	4	0.000	0.061	2992	3259	1659
12977	1.26	287.5	433.0	9.2	624	12982	0.12	2.55	0.00	0.000	6	0.056	0.056	3026	1851	1659
13294	1.22	287.5	398.5	10.8	639	13295	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	1850	1659
13603	1.18	287.5	365.7	10.7	654	13608	0.12	2.55	0.00	0.000	4	0.090	0.061	3002	3254	1659
13636	1.22	287.5	362.1	10.1	655	13643	0.00	2.53	0.00	0.000	6	0.000	0.054	3002	1848	1660
13953	1.22	287.5	332.3	9.3	671	13957	0.00	2.58	0.00	0.000	4	0.000	0.061	3002	3260	1660
13986	1.26	287.5	329.0	9.3	672	13992	0.00	2.50	0.00	0.000	6	0.000	0.054	3002	1865	1660
14302	1.26	287.5	298.6	9.9	688	14306	0.00	2.53	0.00	0.000	4	0.000	0.061	3002	3262	1660
14335	1.29	287.5	295.2	10.0	689	14342	0.12	2.47	0.00	0.000	6	0.055	0.052	3036	1878	1660
14652	1.23	287.5	256.8	12.4	705	14653	0.12	0.00	0.00	0.000	6	0.091	0.000	3011	1878	1660
14960	1.23	287.5	222.7	10.9	720	14964	0.00	2.47	0.00	0.000	4	0.000	0.060	3011	3254	1661
15010	1.23	287.5	217.2	10.8	722	15015	0.00	2.45	0.00	0.000	6	0.000	0.051	3011	1880	1661
15332	1.23	287.5	184.6	9.9	738	15333	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	1880	1661
15641	1.23	287.5	154.2	9.6	753	15645	0.00	2.50	0.00	0.000	4	0.000	0.059	3012	3261	1661
15703	1.23	287.5	148.2	9.2	755	15709	0.00	2.42	0.00	0.000	6	0.000	0.050	3011	1897	1661
16019	1.23	287.5	120.0	8.5	771	16023	0.00	2.47	0.00	0.000	4	0.000	0.059	3011	3266	1662
16060	1.27	290.1	116.8	7.9	773	16070	0.00	2.42	4.65	0.644	6	0.000	0.050	3011	1900	1648
16387	1.27	290.1	83.3	10.5	789	16388	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	1900	1648
16696	1.27	290.1	51.7	10.3	804	16700	0.00	2.45	0.00	0.000	4	0.000	0.058	3011	3256	1648
16786	1.34	290.1	44.3	8.8	808	16790	0.12	2.40	0.00	0.000	6	0.054	0.048	3047	1902	1647
17108	1.24	290.1	11.0	9.6	824	17113	0.17	2.60	0.00	0.000	4	0.087	0.061	3009	441	1648
17163	1.24	290.1	3.7	13.2	826	17170	0.00	2.55	0.00	0.000	6	0.000	0.045	3009	1901	1648
17188	end climb: SURFACE_DEPTH_REACHED
state	17188	begin surface coast
17210	end surface coast: CONTROL_FINISHED_OK
state	17210	begin surface