Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 145 * 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 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 145 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 125

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 52 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2250 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 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 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -90068.883 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 2700 PRESSURE_YINT -23.610077 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 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 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.610077 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

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 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 -90068.883

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

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 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 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 2700 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 43 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 145 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 113407,6131.799,-430.944,40,1.8,46,-6.8 TGT_NAME ESEC_NW

_CALLS 1 TGT_LATLONG 6140.000,-445.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.156,0.157

_SM_DEPTHo 0.76 KALMAN_X 72227.8,-467.2,357.5,4296.6,-1384.5

_SM_ANGLEo -54.3 KALMAN_Y 31704.3,-979.0,-310.3,-268187.8,3364.9

GPS2 114040,6131.862,-431.096,11,2.2,30,-6.8 MHEAD_RNG_PITCHd_Wd 322.2,19404,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027327 ALTIM_BOTTOM_PING 600.8,62.4

SM_CCo 19562,0.00,0.000,0,0,1797,253.64 _24V_AH 23.7,26.199

SM_GC 0.96,11.02,0.00,0.00,0.043,0.000,0.000,423,1968,1797,-10.39,-0.57,253.64 _10V_AH 10.1,12.332

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47448,942

TT8_MAMPS 0.029146 CAP_FILE_SIZE 134643,0

HUMID 1767 CFSIZE 254472192,243748864

TCM_TEMP 16.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,46,0,0

XPDR_PINGS 283 GPS 041208,170838,6134.329,-434.778,28,1.1,28,-6.9

ALTIM_TOP_PING 18.7,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 139 81.30 SBE_CT 699 24 397.68

Roll_motor 136 87 283.75 SBE_O2 635 19 286.26

VBD_pump_during_apogee 342 1399 11346.15 WL_BB2F 568 105 1413.98

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 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 28 160 107.84 nil 0 0 0.00

Iridium_during_xfer 170 223 899.15

Transponder_ping 76 420 758.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.05

TT8 1691 19 338.35

LPSleep 15210 2 336.45

TT8_Active 527 19 105.49

TT8_Sampling 1956 39 786.57

TT8_CF8 558 45 258.22

TT8_Kalman 33 81 27.57

Analog_circuits 1490 12 180.63

GPS_charging 0 0 0.00

Compass 1904 8 153.91

RAFOS 0 0 0.00

Transponder 37 30 11.34

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 -0.97 -146.6 0.0 0.0 0 119 0.00 0.00 -101.82 0.000 2 0.000 0.000 426 1962 3212

123 -0.97 -146.6 3.4 -3.3 5 146 10.70 2.47 -5.60 0.000 4 0.140 0.078 2483 604 3429

399 -0.75 -146.6 46.4 -11.4 17 405 0.25 2.50 0.00 0.000 6 0.089 0.050 2536 2009 3429

722 -0.67 -146.6 65.5 -7.4 33 726 0.00 2.55 0.00 0.000 4 0.000 0.064 2536 614 3429

856 -0.60 -146.6 83.5 -13.7 39 861 0.15 2.47 0.00 0.000 6 0.096 0.051 2566 1999 3429

1180 -0.60 -146.6 107.9 -4.3 55 1181 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2019 3429

1487 -0.60 -146.6 130.4 -7.5 70 1488 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2003 3429

1796 -0.60 -146.6 158.3 -8.5 85 1797 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2003 3429

2105 -0.60 -146.6 180.4 -6.6 100 2109 0.00 2.53 0.00 0.000 4 0.000 0.064 2566 3406 3429

2146 -0.64 -146.6 183.1 -6.9 102 2150 0.00 2.50 0.00 0.000 6 0.000 0.050 2567 2000 3429

2472 -0.64 -146.6 203.7 -6.1 118 2473 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 1999 3429

2781 -0.64 -146.6 223.9 -6.7 133 2786 0.00 2.58 0.00 0.000 4 0.000 0.063 2566 3412 3429

2826 -0.69 -146.6 227.0 -6.9 135 2830 0.00 2.53 0.00 0.000 6 0.000 0.051 2567 1996 3429

3147 -0.69 -146.6 248.5 -6.7 151 3151 0.00 2.58 0.00 0.000 4 0.000 0.064 2566 3408 3429

3180 -0.74 -146.6 250.8 -7.0 152 3187 0.12 2.53 0.00 0.000 6 0.056 0.052 2531 1993 3429

3499 -0.67 -146.6 276.2 -8.2 168 3501 0.10 0.00 0.00 0.000 6 0.095 0.000 2551 1991 3429

3807 -0.67 -146.6 300.0 -7.5 183 3811 0.00 2.58 0.00 0.000 4 0.000 0.064 2551 3406 3429

3856 -0.67 -146.6 304.0 -7.6 185 3860 0.00 2.50 0.00 0.000 6 0.000 0.052 2551 2006 3429

4172 -0.67 -146.6 327.0 -7.4 200 4176 0.00 2.53 0.00 0.000 4 0.000 0.067 2552 598 3429

4205 -0.67 -146.6 329.6 -8.4 201 4211 0.00 2.53 0.00 0.000 6 0.000 0.054 2551 2016 3429

4520 -0.67 -146.6 351.7 -6.6 217 4525 0.00 2.60 0.00 0.000 4 0.000 0.071 2551 594 3429

4554 -0.67 -146.6 354.1 -6.6 218 4560 0.00 2.53 0.00 0.000 6 0.000 0.054 2551 2009 3429

4869 -0.67 -146.6 373.7 -6.4 234 4871 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2009 3429

5179 -0.67 -146.6 392.3 -6.0 249 5180 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2009 3429

5488 -0.67 -146.6 411.2 -5.8 264 5489 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2010 3429

5797 -0.67 -146.6 431.3 -6.9 279 5802 0.00 2.58 0.00 0.000 4 0.000 0.076 2551 3411 3428

5860 -0.67 -146.6 436.1 -8.1 282 5864 0.00 2.60 0.00 0.000 6 0.000 0.066 2551 1991 3428

6186 -0.67 -146.6 457.6 -6.2 298 6187 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 1991 3427

6496 -0.67 -146.6 478.0 -7.0 313 6500 0.00 2.65 0.00 0.000 4 0.000 0.078 2552 3405 3426

6539 -0.67 -146.6 481.4 -7.7 315 6544 0.00 2.58 0.00 0.000 6 0.000 0.068 2551 2001 3426

6861 -0.67 -146.6 503.3 -6.7 331 6862 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2001 3425

7170 -0.67 -146.6 524.2 -7.3 346 7172 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2001 3424

7479 -0.67 -146.6 545.2 -6.6 361 7480 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2001 3423

7788 -0.67 -146.6 565.7 -7.0 376 7793 0.00 2.65 0.00 0.000 4 0.000 0.082 2551 3404 3422

7833 -0.71 -146.6 569.2 -8.2 378 7838 0.00 2.58 0.00 0.000 6 0.000 0.073 2551 2018 3422

8154 -0.71 -146.6 591.4 -6.7 394 8155 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2018 3421

8464 -0.71 -146.6 610.8 -6.0 409 8468 0.00 2.65 0.00 0.000 4 0.000 0.086 2551 3408 3420

8496 -0.71 -146.6 612.9 -6.9 410 8503 0.00 2.60 0.00 0.000 6 0.000 0.076 2551 2018 3420

8813 -0.75 -146.6 632.6 -6.1 426 8814 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2018 3419

9121 -0.75 -146.6 651.6 -6.5 441 9123 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2017 3418

9160 end dive: BOTTOM_OBSTACLE_DETECTED

state 9160 begin apogee

9167 -0.33 0.0 654.3 6.5 443 9291 0.35 0.00 120.80 1.399 6 0.087 0.000 2624 2247 2832

9292 end apogee: CONTROL_FINISHED_OK

state 9292 begin climb

9295 0.97 146.6 654.9 0.0 449 9425 1.38 0.00 122.45 1.347 6 0.074 0.000 2912 2246 2233

9739 0.96 173.4 633.8 5.3 471 9769 0.00 2.80 23.33 1.282 4 0.000 0.087 2912 849 2124

9901 0.96 173.4 623.7 6.4 478 9905 0.00 2.55 0.00 0.000 6 0.000 0.072 2912 2202 2124

10221 0.96 173.4 604.4 6.3 494 10226 0.00 2.60 0.00 0.000 4 0.000 0.087 2912 844 2124

10254 0.96 173.4 602.3 6.2 495 10261 0.00 2.55 0.00 0.000 6 0.000 0.073 2912 2201 2124

10571 0.98 185.0 583.8 5.7 511 10591 0.00 2.67 11.23 1.232 4 0.000 0.085 2912 845 2076

10608 0.98 185.0 581.4 6.3 512 10614 0.00 2.55 0.00 0.000 6 0.000 0.072 2912 2192 2076

10924 0.98 185.0 561.3 6.2 528 10928 0.00 2.60 0.00 0.000 4 0.000 0.087 2912 842 2075

10963 0.98 185.0 558.6 7.0 530 10967 0.00 2.50 0.00 0.000 6 0.000 0.071 2912 2176 2075

11290 0.98 185.0 538.1 6.4 546 11291 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 2178 2075

11599 0.98 185.0 519.0 6.1 561 11604 0.00 2.55 0.00 0.000 4 0.000 0.087 2913 846 2075

11655 0.98 185.0 515.2 7.2 563 11661 0.00 2.47 0.00 0.000 6 0.000 0.071 2912 2172 2074

11971 0.98 185.0 495.3 6.4 579 11975 0.00 2.53 0.00 0.000 4 0.000 0.087 2912 845 2074

12026 0.98 185.0 491.3 7.3 581 12032 0.00 2.45 0.00 0.000 6 0.000 0.071 2912 2158 2074

12342 0.98 185.0 470.7 6.5 597 12343 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2158 2074

12651 0.98 185.0 450.5 6.6 612 12655 0.00 2.50 0.00 0.000 4 0.000 0.084 2912 845 2074

12701 0.98 185.0 446.9 7.3 614 12705 0.00 2.42 0.00 0.000 6 0.000 0.071 2912 2146 2074

13021 0.98 185.0 427.2 6.2 630 13023 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 2146 2074

13331 0.98 185.0 408.0 6.1 645 13335 0.00 2.47 0.00 0.000 4 0.000 0.084 2912 844 2073

13364 0.98 185.0 405.8 6.7 646 13370 0.00 2.40 0.00 0.000 6 0.000 0.069 2912 2143 2073

13680 1.00 200.4 388.0 5.6 662 13701 0.00 2.90 13.75 1.176 4 0.000 0.083 2913 3655 2014

13718 1.00 200.4 385.7 6.4 663 13724 0.00 2.85 0.00 0.000 6 0.000 0.070 2913 2139 2014

14034 1.01 206.1 367.6 5.8 679 14047 0.00 2.42 6.45 1.024 4 0.000 0.081 2912 841 1990

14105 1.01 206.1 362.9 6.5 682 14109 0.00 2.40 0.00 0.000 6 0.000 0.065 2912 2139 1989

14426 1.02 213.5 344.2 5.8 698 14436 0.00 0.00 7.72 1.052 6 0.000 0.000 2913 2140 1961

14735 1.02 213.5 324.7 6.3 713 14736 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2141 1961

15044 1.06 238.2 306.7 5.3 728 15068 0.00 0.00 21.30 1.122 6 0.000 0.000 2912 2140 1859

15375 1.11 238.2 286.2 6.1 744 15379 0.12 2.45 0.00 0.000 4 0.061 0.072 2949 839 1859

15437 1.04 238.2 281.2 8.7 747 15442 0.12 2.35 0.00 0.000 6 0.094 0.058 2926 2132 1859

15764 1.04 238.2 259.8 6.7 763 15765 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2131 1860

16073 1.04 238.2 238.2 7.2 778 16077 0.00 2.38 0.00 0.000 4 0.000 0.069 2926 843 1861

16101 1.04 238.2 236.1 8.2 779 16105 0.00 2.33 0.00 0.000 6 0.000 0.055 2926 2132 1861

16416 1.04 238.2 215.0 6.7 794 16418 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2132 1862

16725 1.04 238.2 194.8 6.5 809 16727 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2132 1863

17035 1.04 238.2 175.7 6.2 824 17036 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2132 1864

17345 1.12 253.7 156.8 5.6 839 17367 0.00 2.45 15.18 0.930 4 0.000 0.068 2926 838 1796

17413 1.12 253.7 152.3 6.9 842 17417 0.00 2.33 0.00 0.000 6 0.000 0.053 2926 2132 1796

17746 1.17 253.7 130.0 7.2 858 17748 0.12 0.00 0.00 0.000 6 0.054 0.000 2965 2132 1796

18055 1.10 253.7 104.8 6.1 873 18060 0.12 2.40 0.00 0.000 4 0.084 0.065 2939 838 1797

18099 1.10 253.7 101.5 6.6 875 18103 0.00 2.33 0.00 0.000 6 0.000 0.053 2939 2132 1796

18427 1.10 253.7 78.1 7.3 891 18428 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2133 1797

18736 1.10 253.7 55.4 6.4 906 18740 0.00 2.38 0.00 0.000 4 0.000 0.067 2939 841 1797

18776 1.10 253.7 51.8 10.8 908 18780 0.00 2.30 0.00 0.000 6 0.000 0.052 2939 2128 1797

19109 1.10 253.7 27.1 7.7 924 19110 0.00 0.00 0.00 0.000 6 0.000 0.000 2940 2145 1798

19417 end climb: SURFACE_DEPTH_REACHED

state 19417 begin surface coast

19479 end surface coast: CONTROL_FINISHED_OK

state 19479 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	145	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	125
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	52	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2250	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	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	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-90068.883	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	2700	PRESSURE_YINT	-23.610077	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	113407,6131.799,-430.944,40,1.8,46,-6.8	TGT_NAME	ESEC_NW
_CALLS	1	TGT_LATLONG	6140.000,-445.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.156,0.157
_SM_DEPTHo	0.76	KALMAN_X	72227.8,-467.2,357.5,4296.6,-1384.5
_SM_ANGLEo	-54.3	KALMAN_Y	31704.3,-979.0,-310.3,-268187.8,3364.9
GPS2	114040,6131.862,-431.096,11,2.2,30,-6.8	MHEAD_RNG_PITCHd_Wd	322.2,19404,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.1,1.027327	ALTIM_BOTTOM_PING	600.8,62.4
SM_CCo	19562,0.00,0.000,0,0,1797,253.64	_24V_AH	23.7,26.199
SM_GC	0.96,11.02,0.00,0.00,0.043,0.000,0.000,423,1968,1797,-10.39,-0.57,253.64	_10V_AH	10.1,12.332
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47448,942
TT8_MAMPS	0.029146	CAP_FILE_SIZE	134643,0
HUMID	1767	CFSIZE	254472192,243748864
TCM_TEMP	16.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,46,0,0
XPDR_PINGS	283	GPS	041208,170838,6134.329,-434.778,28,1.1,28,-6.9
ALTIM_TOP_PING	18.7,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	139	81.30	SBE_CT	699	24	397.68
Roll_motor	136	87	283.75	SBE_O2	635	19	286.26
VBD_pump_during_apogee	342	1399	11346.15	WL_BB2F	568	105	1413.98
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	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	28	160	107.84	nil	0	0	0.00
Iridium_during_xfer	170	223	899.15
Transponder_ping	76	420	758.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.05
TT8	1691	19	338.35
LPSleep	15210	2	336.45
TT8_Active	527	19	105.49
TT8_Sampling	1956	39	786.57
TT8_CF8	558	45	258.22
TT8_Kalman	33	81	27.57
Analog_circuits	1490	12	180.63
GPS_charging	0	0	0.00
Compass	1904	8	153.91
RAFOS	0	0	0.00
Transponder	37	30	11.34

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	-0.97	-146.6	0.0	0.0	0	119	0.00	0.00	-101.82	0.000	2	0.000	0.000	426	1962	3212
123	-0.97	-146.6	3.4	-3.3	5	146	10.70	2.47	-5.60	0.000	4	0.140	0.078	2483	604	3429
399	-0.75	-146.6	46.4	-11.4	17	405	0.25	2.50	0.00	0.000	6	0.089	0.050	2536	2009	3429
722	-0.67	-146.6	65.5	-7.4	33	726	0.00	2.55	0.00	0.000	4	0.000	0.064	2536	614	3429
856	-0.60	-146.6	83.5	-13.7	39	861	0.15	2.47	0.00	0.000	6	0.096	0.051	2566	1999	3429
1180	-0.60	-146.6	107.9	-4.3	55	1181	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2019	3429
1487	-0.60	-146.6	130.4	-7.5	70	1488	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2003	3429
1796	-0.60	-146.6	158.3	-8.5	85	1797	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2003	3429
2105	-0.60	-146.6	180.4	-6.6	100	2109	0.00	2.53	0.00	0.000	4	0.000	0.064	2566	3406	3429
2146	-0.64	-146.6	183.1	-6.9	102	2150	0.00	2.50	0.00	0.000	6	0.000	0.050	2567	2000	3429
2472	-0.64	-146.6	203.7	-6.1	118	2473	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	1999	3429
2781	-0.64	-146.6	223.9	-6.7	133	2786	0.00	2.58	0.00	0.000	4	0.000	0.063	2566	3412	3429
2826	-0.69	-146.6	227.0	-6.9	135	2830	0.00	2.53	0.00	0.000	6	0.000	0.051	2567	1996	3429
3147	-0.69	-146.6	248.5	-6.7	151	3151	0.00	2.58	0.00	0.000	4	0.000	0.064	2566	3408	3429
3180	-0.74	-146.6	250.8	-7.0	152	3187	0.12	2.53	0.00	0.000	6	0.056	0.052	2531	1993	3429
3499	-0.67	-146.6	276.2	-8.2	168	3501	0.10	0.00	0.00	0.000	6	0.095	0.000	2551	1991	3429
3807	-0.67	-146.6	300.0	-7.5	183	3811	0.00	2.58	0.00	0.000	4	0.000	0.064	2551	3406	3429
3856	-0.67	-146.6	304.0	-7.6	185	3860	0.00	2.50	0.00	0.000	6	0.000	0.052	2551	2006	3429
4172	-0.67	-146.6	327.0	-7.4	200	4176	0.00	2.53	0.00	0.000	4	0.000	0.067	2552	598	3429
4205	-0.67	-146.6	329.6	-8.4	201	4211	0.00	2.53	0.00	0.000	6	0.000	0.054	2551	2016	3429
4520	-0.67	-146.6	351.7	-6.6	217	4525	0.00	2.60	0.00	0.000	4	0.000	0.071	2551	594	3429
4554	-0.67	-146.6	354.1	-6.6	218	4560	0.00	2.53	0.00	0.000	6	0.000	0.054	2551	2009	3429
4869	-0.67	-146.6	373.7	-6.4	234	4871	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2009	3429
5179	-0.67	-146.6	392.3	-6.0	249	5180	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2009	3429
5488	-0.67	-146.6	411.2	-5.8	264	5489	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2010	3429
5797	-0.67	-146.6	431.3	-6.9	279	5802	0.00	2.58	0.00	0.000	4	0.000	0.076	2551	3411	3428
5860	-0.67	-146.6	436.1	-8.1	282	5864	0.00	2.60	0.00	0.000	6	0.000	0.066	2551	1991	3428
6186	-0.67	-146.6	457.6	-6.2	298	6187	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	1991	3427
6496	-0.67	-146.6	478.0	-7.0	313	6500	0.00	2.65	0.00	0.000	4	0.000	0.078	2552	3405	3426
6539	-0.67	-146.6	481.4	-7.7	315	6544	0.00	2.58	0.00	0.000	6	0.000	0.068	2551	2001	3426
6861	-0.67	-146.6	503.3	-6.7	331	6862	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2001	3425
7170	-0.67	-146.6	524.2	-7.3	346	7172	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2001	3424
7479	-0.67	-146.6	545.2	-6.6	361	7480	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2001	3423
7788	-0.67	-146.6	565.7	-7.0	376	7793	0.00	2.65	0.00	0.000	4	0.000	0.082	2551	3404	3422
7833	-0.71	-146.6	569.2	-8.2	378	7838	0.00	2.58	0.00	0.000	6	0.000	0.073	2551	2018	3422
8154	-0.71	-146.6	591.4	-6.7	394	8155	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2018	3421
8464	-0.71	-146.6	610.8	-6.0	409	8468	0.00	2.65	0.00	0.000	4	0.000	0.086	2551	3408	3420
8496	-0.71	-146.6	612.9	-6.9	410	8503	0.00	2.60	0.00	0.000	6	0.000	0.076	2551	2018	3420
8813	-0.75	-146.6	632.6	-6.1	426	8814	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2018	3419
9121	-0.75	-146.6	651.6	-6.5	441	9123	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2017	3418
9160	end dive: BOTTOM_OBSTACLE_DETECTED
state	9160	begin apogee
9167	-0.33	0.0	654.3	6.5	443	9291	0.35	0.00	120.80	1.399	6	0.087	0.000	2624	2247	2832
9292	end apogee: CONTROL_FINISHED_OK
state	9292	begin climb
9295	0.97	146.6	654.9	0.0	449	9425	1.38	0.00	122.45	1.347	6	0.074	0.000	2912	2246	2233
9739	0.96	173.4	633.8	5.3	471	9769	0.00	2.80	23.33	1.282	4	0.000	0.087	2912	849	2124
9901	0.96	173.4	623.7	6.4	478	9905	0.00	2.55	0.00	0.000	6	0.000	0.072	2912	2202	2124
10221	0.96	173.4	604.4	6.3	494	10226	0.00	2.60	0.00	0.000	4	0.000	0.087	2912	844	2124
10254	0.96	173.4	602.3	6.2	495	10261	0.00	2.55	0.00	0.000	6	0.000	0.073	2912	2201	2124
10571	0.98	185.0	583.8	5.7	511	10591	0.00	2.67	11.23	1.232	4	0.000	0.085	2912	845	2076
10608	0.98	185.0	581.4	6.3	512	10614	0.00	2.55	0.00	0.000	6	0.000	0.072	2912	2192	2076
10924	0.98	185.0	561.3	6.2	528	10928	0.00	2.60	0.00	0.000	4	0.000	0.087	2912	842	2075
10963	0.98	185.0	558.6	7.0	530	10967	0.00	2.50	0.00	0.000	6	0.000	0.071	2912	2176	2075
11290	0.98	185.0	538.1	6.4	546	11291	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	2178	2075
11599	0.98	185.0	519.0	6.1	561	11604	0.00	2.55	0.00	0.000	4	0.000	0.087	2913	846	2075
11655	0.98	185.0	515.2	7.2	563	11661	0.00	2.47	0.00	0.000	6	0.000	0.071	2912	2172	2074
11971	0.98	185.0	495.3	6.4	579	11975	0.00	2.53	0.00	0.000	4	0.000	0.087	2912	845	2074
12026	0.98	185.0	491.3	7.3	581	12032	0.00	2.45	0.00	0.000	6	0.000	0.071	2912	2158	2074
12342	0.98	185.0	470.7	6.5	597	12343	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2158	2074
12651	0.98	185.0	450.5	6.6	612	12655	0.00	2.50	0.00	0.000	4	0.000	0.084	2912	845	2074
12701	0.98	185.0	446.9	7.3	614	12705	0.00	2.42	0.00	0.000	6	0.000	0.071	2912	2146	2074
13021	0.98	185.0	427.2	6.2	630	13023	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	2146	2074
13331	0.98	185.0	408.0	6.1	645	13335	0.00	2.47	0.00	0.000	4	0.000	0.084	2912	844	2073
13364	0.98	185.0	405.8	6.7	646	13370	0.00	2.40	0.00	0.000	6	0.000	0.069	2912	2143	2073
13680	1.00	200.4	388.0	5.6	662	13701	0.00	2.90	13.75	1.176	4	0.000	0.083	2913	3655	2014
13718	1.00	200.4	385.7	6.4	663	13724	0.00	2.85	0.00	0.000	6	0.000	0.070	2913	2139	2014
14034	1.01	206.1	367.6	5.8	679	14047	0.00	2.42	6.45	1.024	4	0.000	0.081	2912	841	1990
14105	1.01	206.1	362.9	6.5	682	14109	0.00	2.40	0.00	0.000	6	0.000	0.065	2912	2139	1989
14426	1.02	213.5	344.2	5.8	698	14436	0.00	0.00	7.72	1.052	6	0.000	0.000	2913	2140	1961
14735	1.02	213.5	324.7	6.3	713	14736	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2141	1961
15044	1.06	238.2	306.7	5.3	728	15068	0.00	0.00	21.30	1.122	6	0.000	0.000	2912	2140	1859
15375	1.11	238.2	286.2	6.1	744	15379	0.12	2.45	0.00	0.000	4	0.061	0.072	2949	839	1859
15437	1.04	238.2	281.2	8.7	747	15442	0.12	2.35	0.00	0.000	6	0.094	0.058	2926	2132	1859
15764	1.04	238.2	259.8	6.7	763	15765	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2131	1860
16073	1.04	238.2	238.2	7.2	778	16077	0.00	2.38	0.00	0.000	4	0.000	0.069	2926	843	1861
16101	1.04	238.2	236.1	8.2	779	16105	0.00	2.33	0.00	0.000	6	0.000	0.055	2926	2132	1861
16416	1.04	238.2	215.0	6.7	794	16418	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2132	1862
16725	1.04	238.2	194.8	6.5	809	16727	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2132	1863
17035	1.04	238.2	175.7	6.2	824	17036	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2132	1864
17345	1.12	253.7	156.8	5.6	839	17367	0.00	2.45	15.18	0.930	4	0.000	0.068	2926	838	1796
17413	1.12	253.7	152.3	6.9	842	17417	0.00	2.33	0.00	0.000	6	0.000	0.053	2926	2132	1796
17746	1.17	253.7	130.0	7.2	858	17748	0.12	0.00	0.00	0.000	6	0.054	0.000	2965	2132	1796
18055	1.10	253.7	104.8	6.1	873	18060	0.12	2.40	0.00	0.000	4	0.084	0.065	2939	838	1797
18099	1.10	253.7	101.5	6.6	875	18103	0.00	2.33	0.00	0.000	6	0.000	0.053	2939	2132	1796
18427	1.10	253.7	78.1	7.3	891	18428	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2133	1797
18736	1.10	253.7	55.4	6.4	906	18740	0.00	2.38	0.00	0.000	4	0.000	0.067	2939	841	1797
18776	1.10	253.7	51.8	10.8	908	18780	0.00	2.30	0.00	0.000	6	0.000	0.052	2939	2128	1797
19109	1.10	253.7	27.1	7.7	924	19110	0.00	0.00	0.00	0.000	6	0.000	0.000	2940	2145	1798
19417	end climb: SURFACE_DEPTH_REACHED
state	19417	begin surface coast
19479	end surface coast: CONTROL_FINISHED_OK
state	19479	begin surface