Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 16 * 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 16 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 360 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 -87556.109 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 330

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 -87556.109

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 360

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 26 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 16 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 073337,6302.708,-607.904,28,1.3,28,-8.2 TGT_NAME NSEC_S

_CALLS 1 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.126,-0.231

_SM_DEPTHo 0.93 KALMAN_X 33633.1,-447.5,-246.6,-36086.4,2951.5

_SM_ANGLEo -59.5 KALMAN_Y -23403.1,184.6,359.7,-46697.7,-3327.4

GPS2 073909,6302.719,-607.957,14,1.3,14,-8.2 MHEAD_RNG_PITCHd_Wd 216.8,42151,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.027350 ALTIM_TOP_PING 18.1,999.0

SM_CCo 18029,5.95,0.729,0,0,1811,250.21 _24V_AH 23.5,5.765

SM_GC 2.02,0.00,0.00,5.95,0.000,0.000,0.729,424,1962,1811,-10.47,-1.07,250.21 _10V_AH 10.0,2.704

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44160,865

TT8_MAMPS 0.029913 CAP_FILE_SIZE 134683,0

HUMID 1780 CFSIZE 254472192,251191296

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,50,0,0

XPDR_PINGS 269 GPS 091108,124155,6259.251,-609.628,38,0.9,38,-8.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 140 86.42 SBE_CT 642 24 362.44

Roll_motor 155 99 363.25 SBE_O2 586 19 261.66

VBD_pump_during_apogee 348 1678 13745.36 WL_BB2F 448 105 1106.82

VBD_pump_during_surface 5 728 101.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.39 nil 0 0 0.00

Iridium_during_connect 29 160 110.34 nil 0 0 0.00

Iridium_during_xfer 143 223 750.34

Transponder_ping 76 420 752.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.25

TT8 1600 19 316.84

LPSleep 13953 2 305.58

TT8_Active 510 19 101.06

TT8_Sampling 1803 39 717.81

TT8_CF8 502 45 230.14

TT8_Kalman 33 81 27.29

Analog_circuits 1433 12 172.06

GPS_charging 0 0 0.00

Compass 1758 8 140.64

RAFOS 0 0 0.00

Transponder 58 30 17.54

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.44 -146.6 0.0 0.0 0 99 0.00 0.00 -80.93 0.000 2 0.000 0.000 423 1964 3418

102 -1.44 -146.6 5.4 -7.0 4 119 10.20 2.53 -0.22 0.000 4 0.140 0.077 2375 590 3431

282 -1.23 -146.6 45.0 -17.1 11 287 0.30 2.53 0.00 0.000 6 0.099 0.054 2432 2000 3431

604 -1.19 -146.6 89.5 -13.0 27 605 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2000 3432

914 -1.15 -146.6 130.2 -13.6 42 918 0.00 2.60 0.00 0.000 4 0.000 0.068 2432 590 3432

947 -1.09 -146.6 135.1 -13.9 43 954 0.15 2.53 0.00 0.000 6 0.098 0.055 2461 1997 3432

1263 -1.13 -146.6 172.0 -11.5 59 1264 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 1997 3433

1572 -1.17 -146.6 206.5 -11.1 74 1577 0.00 2.60 0.00 0.000 4 0.000 0.070 2462 591 3433

1622 -1.22 -146.6 212.6 -11.6 76 1627 0.15 2.53 0.00 0.000 6 0.055 0.056 2425 1991 3433

1939 -1.16 -146.6 255.1 -13.5 91 1944 0.12 2.62 0.00 0.000 4 0.105 0.073 2448 589 3433

1978 -1.16 -146.6 260.4 -12.3 93 1983 0.00 2.50 0.00 0.000 6 0.000 0.058 2448 1978 3433

2306 -1.16 -146.6 300.1 -12.1 109 2310 0.00 2.55 0.00 0.000 4 0.000 0.073 2448 599 3434

2369 -1.16 -146.6 308.1 -12.8 112 2373 0.00 2.45 0.00 0.000 6 0.000 0.058 2448 1960 3433

2695 -1.16 -146.6 345.3 -10.8 128 2699 0.00 2.55 0.00 0.000 4 0.000 0.075 2448 592 3433

2716 -1.16 -146.6 348.0 -11.3 129 2721 0.00 2.45 0.00 0.000 6 0.000 0.058 2448 1946 3433

3038 -1.16 -146.6 381.7 -10.9 145 3042 0.00 2.70 0.00 0.000 4 0.000 0.077 2448 3409 3433

3150 -1.21 -146.6 394.0 -11.3 150 3154 0.00 2.62 0.00 0.000 6 0.000 0.062 2448 1974 3434

3471 -1.21 -146.6 427.7 -10.5 166 3475 0.00 2.70 0.00 0.000 4 0.000 0.077 2448 3412 3433

3510 -1.21 -146.6 432.0 -11.1 168 3515 0.00 2.62 0.00 0.000 6 0.000 0.064 2448 1979 3433

3837 -1.21 -146.6 467.6 -11.0 184 3841 0.00 2.58 0.00 0.000 4 0.000 0.081 2448 589 3433

3864 -1.21 -146.6 470.8 -11.2 185 3868 0.00 2.55 0.00 0.000 6 0.000 0.064 2448 1983 3433

4179 -1.21 -146.6 505.8 -11.2 200 4180 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1984 3433

4488 -1.21 -146.6 539.7 -11.1 215 4490 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1984 3432

4798 -1.21 -146.6 571.2 -10.1 230 4799 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1985 3431

5107 -1.21 -146.6 602.2 -10.0 245 5111 0.00 2.70 0.00 0.000 4 0.000 0.093 2448 3405 3431

5134 -1.21 -146.6 605.0 -10.4 246 5138 0.00 2.67 0.00 0.000 6 0.000 0.076 2448 1971 3430

5450 -1.21 -146.6 637.6 -11.0 261 5455 0.00 2.78 0.00 0.000 4 0.000 0.094 2448 3405 3429

5506 -1.26 -146.6 643.9 -11.3 263 5512 0.10 2.67 0.00 0.000 6 0.078 0.077 2425 1981 3429

5821 -1.26 -146.6 681.2 -11.9 279 5823 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 1981 3428

6130 -1.26 -146.6 718.7 -11.9 294 6135 0.00 2.75 0.00 0.000 4 0.000 0.094 2425 3405 3427

6163 -1.26 -146.6 723.0 -12.6 295 6170 0.00 2.67 0.00 0.000 6 0.000 0.078 2425 1984 3426

6479 -1.26 -146.6 761.1 -12.3 311 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 1984 3425

6788 -1.26 -146.6 798.9 -12.3 326 6793 0.00 2.78 0.00 0.000 4 0.000 0.097 2425 3409 3424

6810 -1.26 -146.6 801.7 -12.7 327 6814 0.00 2.67 0.00 0.000 6 0.000 0.079 2425 1993 3424

7130 -1.26 -146.6 841.0 -12.1 343 7132 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 1993 3423

7440 -1.26 -146.6 878.4 -12.0 358 7444 0.00 2.75 0.00 0.000 4 0.000 0.097 2425 3405 3423

7472 -1.26 -146.6 882.6 -12.1 359 7479 0.00 2.67 0.00 0.000 6 0.000 0.082 2425 1990 3422

7788 -1.26 -146.6 920.8 -11.8 375 7789 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 1990 3422

8097 -1.26 -146.6 957.0 -11.5 390 8102 0.00 2.78 0.00 0.000 4 0.000 0.097 2425 3412 3421

8137 -1.26 -146.6 961.7 -11.4 392 8141 0.00 2.67 0.00 0.000 6 0.000 0.080 2425 1998 3421

8378 end dive: TARGET_DEPTH_EXCEEDED

state 8378 begin apogee

8385 -0.33 0.0 991.1 12.2 404 8513 0.98 0.00 124.30 1.679 6 0.104 0.000 2622 2255 2832

8513 end apogee: CONTROL_FINISHED_OK

state 8513 begin climb

8516 1.44 146.6 997.0 0.0 410 8650 1.85 2.80 124.72 1.630 4 0.080 0.100 3009 3654 2234

8675 1.35 160.4 989.1 9.4 417 8695 0.00 2.72 13.57 1.457 6 0.000 0.080 3010 2246 2176

9018 1.31 171.2 957.3 9.5 434 9031 0.12 0.00 10.50 1.404 6 0.114 0.000 2988 2246 2134

9327 1.32 176.8 928.3 9.7 449 9340 0.00 2.80 6.50 1.270 4 0.000 0.095 2988 838 2111

9370 1.32 176.8 923.8 10.7 451 9375 0.00 2.70 0.00 0.000 6 0.000 0.079 2988 2242 2111

9697 1.32 177.3 891.3 10.0 467 9702 0.00 2.75 0.00 0.000 4 0.000 0.094 2988 840 2110

9724 1.32 177.3 888.2 11.4 468 9729 0.00 2.67 0.00 0.000 6 0.000 0.081 2988 2235 2110

10040 1.33 179.2 856.7 9.9 483 10046 0.00 0.00 3.83 0.984 6 0.000 0.000 2988 2235 2101

10349 1.35 192.5 827.2 9.4 498 10371 0.00 2.83 12.80 1.447 4 0.000 0.093 2988 842 2047

10405 1.35 193.8 821.6 9.9 500 10410 0.00 2.67 0.00 0.000 6 0.000 0.080 2988 2233 2047

10722 1.42 206.2 791.7 9.4 515 10741 0.00 0.00 13.45 1.441 6 0.000 0.000 2988 2234 1991

11051 1.48 213.1 760.2 9.7 531 11066 0.17 2.80 7.40 1.299 4 0.071 0.093 3030 843 1963

11140 1.39 213.1 749.4 13.0 535 11146 0.15 2.65 0.00 0.000 6 0.120 0.080 3004 2227 1963

11468 1.39 213.1 715.2 10.4 551 11473 0.00 2.70 0.00 0.000 4 0.000 0.093 3004 843 1962

11497 1.39 213.1 712.1 10.6 552 11501 0.00 2.62 0.00 0.000 6 0.000 0.079 3004 2221 1962

11812 1.39 213.1 679.5 10.4 567 11813 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2222 1962

12121 1.39 213.1 647.9 10.0 582 12126 0.00 2.70 0.00 0.000 4 0.000 0.094 3004 836 1962

12171 1.39 213.1 642.7 10.5 584 12175 0.00 2.62 0.00 0.000 6 0.000 0.080 3004 2216 1961

12487 1.43 213.1 610.0 10.7 599 12488 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2217 1962

12796 1.43 213.1 577.3 10.2 614 12797 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2217 1962

13105 1.44 217.0 546.1 9.8 629 13115 0.00 2.70 4.68 1.045 4 0.000 0.091 3004 837 1947

13149 1.44 217.0 541.5 10.5 631 13153 0.00 2.62 0.00 0.000 6 0.000 0.078 3004 2214 1947

13470 1.49 219.2 510.2 9.9 647 13476 0.00 0.00 3.67 0.881 6 0.000 0.000 3004 2214 1938

13779 1.54 219.2 478.3 10.4 662 13784 0.15 2.65 0.00 0.000 4 0.074 0.087 3037 841 1938

13857 1.45 219.2 468.0 13.5 665 13864 0.00 2.55 0.00 0.000 6 0.000 0.076 3036 2197 1938

14174 1.41 219.2 430.9 12.0 681 14176 0.15 0.00 0.00 0.000 6 0.115 0.000 3011 2198 1938

14483 1.41 219.2 397.9 10.3 696 14484 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2198 1938

14792 1.42 222.7 367.2 9.8 711 14799 0.00 0.00 4.65 0.940 6 0.000 0.000 3011 2199 1925

15102 1.43 230.2 337.6 9.7 726 15116 0.00 2.83 8.02 1.084 4 0.000 0.085 3011 3654 1893

15207 1.43 230.2 325.8 10.8 730 15213 0.00 2.72 0.00 0.000 6 0.000 0.066 3011 2182 1892

15523 1.48 230.2 294.1 10.2 746 15527 0.00 2.47 0.00 0.000 4 0.000 0.077 3011 840 1893

15585 1.48 230.2 287.1 10.6 748 15591 0.00 2.47 0.00 0.000 6 0.000 0.064 3010 2181 1893

15901 1.55 240.2 255.4 9.5 764 15914 0.12 0.00 10.27 1.034 6 0.067 0.000 3040 2182 1852

16209 1.55 240.2 219.7 12.0 779 16210 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2181 1852

16518 1.55 240.2 181.2 13.1 794 16523 0.00 2.72 0.00 0.000 4 0.000 0.074 3040 3665 1854

16546 1.55 240.2 177.0 15.5 795 16551 0.00 2.72 0.00 0.000 6 0.000 0.058 3040 2167 1854

16862 1.55 240.2 138.1 11.7 810 16863 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2167 1855

17171 1.55 240.2 100.7 12.0 825 17176 0.00 2.78 0.00 0.000 4 0.000 0.071 3041 3659 1855

17222 1.55 240.2 94.5 10.8 827 17226 0.00 2.67 0.00 0.000 6 0.000 0.054 3040 2174 1856

17538 1.55 240.2 59.5 11.8 842 17542 0.00 2.78 0.00 0.000 4 0.000 0.070 3041 3667 1856

17577 1.55 240.2 54.5 13.8 844 17582 0.00 2.65 0.00 0.000 6 0.000 0.054 3040 2189 1857

17904 1.55 240.2 13.9 11.3 860 17905 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2189 1857

17984 end climb: SURFACE_DEPTH_REACHED

state 17984 begin surface coast

18006 end surface coast: CONTROL_FINISHED_OK

state 18006 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	16	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	360	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	-87556.109	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	073337,6302.708,-607.904,28,1.3,28,-8.2	TGT_NAME	NSEC_S
_CALLS	1	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.126,-0.231
_SM_DEPTHo	0.93	KALMAN_X	33633.1,-447.5,-246.6,-36086.4,2951.5
_SM_ANGLEo	-59.5	KALMAN_Y	-23403.1,184.6,359.7,-46697.7,-3327.4
GPS2	073909,6302.719,-607.957,14,1.3,14,-8.2	MHEAD_RNG_PITCHd_Wd	216.8,42151,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	-0.0,1.027350	ALTIM_TOP_PING	18.1,999.0
SM_CCo	18029,5.95,0.729,0,0,1811,250.21	_24V_AH	23.5,5.765
SM_GC	2.02,0.00,0.00,5.95,0.000,0.000,0.729,424,1962,1811,-10.47,-1.07,250.21	_10V_AH	10.0,2.704
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44160,865
TT8_MAMPS	0.029913	CAP_FILE_SIZE	134683,0
HUMID	1780	CFSIZE	254472192,251191296
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
XPDR_PINGS	269	GPS	091108,124155,6259.251,-609.628,38,0.9,38,-8.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	140	86.42	SBE_CT	642	24	362.44
Roll_motor	155	99	363.25	SBE_O2	586	19	261.66
VBD_pump_during_apogee	348	1678	13745.36	WL_BB2F	448	105	1106.82
VBD_pump_during_surface	5	728	101.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.39	nil	0	0	0.00
Iridium_during_connect	29	160	110.34	nil	0	0	0.00
Iridium_during_xfer	143	223	750.34
Transponder_ping	76	420	752.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.25
TT8	1600	19	316.84
LPSleep	13953	2	305.58
TT8_Active	510	19	101.06
TT8_Sampling	1803	39	717.81
TT8_CF8	502	45	230.14
TT8_Kalman	33	81	27.29
Analog_circuits	1433	12	172.06
GPS_charging	0	0	0.00
Compass	1758	8	140.64
RAFOS	0	0	0.00
Transponder	58	30	17.54

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.44	-146.6	0.0	0.0	0	99	0.00	0.00	-80.93	0.000	2	0.000	0.000	423	1964	3418
102	-1.44	-146.6	5.4	-7.0	4	119	10.20	2.53	-0.22	0.000	4	0.140	0.077	2375	590	3431
282	-1.23	-146.6	45.0	-17.1	11	287	0.30	2.53	0.00	0.000	6	0.099	0.054	2432	2000	3431
604	-1.19	-146.6	89.5	-13.0	27	605	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2000	3432
914	-1.15	-146.6	130.2	-13.6	42	918	0.00	2.60	0.00	0.000	4	0.000	0.068	2432	590	3432
947	-1.09	-146.6	135.1	-13.9	43	954	0.15	2.53	0.00	0.000	6	0.098	0.055	2461	1997	3432
1263	-1.13	-146.6	172.0	-11.5	59	1264	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	1997	3433
1572	-1.17	-146.6	206.5	-11.1	74	1577	0.00	2.60	0.00	0.000	4	0.000	0.070	2462	591	3433
1622	-1.22	-146.6	212.6	-11.6	76	1627	0.15	2.53	0.00	0.000	6	0.055	0.056	2425	1991	3433
1939	-1.16	-146.6	255.1	-13.5	91	1944	0.12	2.62	0.00	0.000	4	0.105	0.073	2448	589	3433
1978	-1.16	-146.6	260.4	-12.3	93	1983	0.00	2.50	0.00	0.000	6	0.000	0.058	2448	1978	3433
2306	-1.16	-146.6	300.1	-12.1	109	2310	0.00	2.55	0.00	0.000	4	0.000	0.073	2448	599	3434
2369	-1.16	-146.6	308.1	-12.8	112	2373	0.00	2.45	0.00	0.000	6	0.000	0.058	2448	1960	3433
2695	-1.16	-146.6	345.3	-10.8	128	2699	0.00	2.55	0.00	0.000	4	0.000	0.075	2448	592	3433
2716	-1.16	-146.6	348.0	-11.3	129	2721	0.00	2.45	0.00	0.000	6	0.000	0.058	2448	1946	3433
3038	-1.16	-146.6	381.7	-10.9	145	3042	0.00	2.70	0.00	0.000	4	0.000	0.077	2448	3409	3433
3150	-1.21	-146.6	394.0	-11.3	150	3154	0.00	2.62	0.00	0.000	6	0.000	0.062	2448	1974	3434
3471	-1.21	-146.6	427.7	-10.5	166	3475	0.00	2.70	0.00	0.000	4	0.000	0.077	2448	3412	3433
3510	-1.21	-146.6	432.0	-11.1	168	3515	0.00	2.62	0.00	0.000	6	0.000	0.064	2448	1979	3433
3837	-1.21	-146.6	467.6	-11.0	184	3841	0.00	2.58	0.00	0.000	4	0.000	0.081	2448	589	3433
3864	-1.21	-146.6	470.8	-11.2	185	3868	0.00	2.55	0.00	0.000	6	0.000	0.064	2448	1983	3433
4179	-1.21	-146.6	505.8	-11.2	200	4180	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1984	3433
4488	-1.21	-146.6	539.7	-11.1	215	4490	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1984	3432
4798	-1.21	-146.6	571.2	-10.1	230	4799	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1985	3431
5107	-1.21	-146.6	602.2	-10.0	245	5111	0.00	2.70	0.00	0.000	4	0.000	0.093	2448	3405	3431
5134	-1.21	-146.6	605.0	-10.4	246	5138	0.00	2.67	0.00	0.000	6	0.000	0.076	2448	1971	3430
5450	-1.21	-146.6	637.6	-11.0	261	5455	0.00	2.78	0.00	0.000	4	0.000	0.094	2448	3405	3429
5506	-1.26	-146.6	643.9	-11.3	263	5512	0.10	2.67	0.00	0.000	6	0.078	0.077	2425	1981	3429
5821	-1.26	-146.6	681.2	-11.9	279	5823	0.00	0.00	0.00	0.000	6	0.000	0.000	2425	1981	3428
6130	-1.26	-146.6	718.7	-11.9	294	6135	0.00	2.75	0.00	0.000	4	0.000	0.094	2425	3405	3427
6163	-1.26	-146.6	723.0	-12.6	295	6170	0.00	2.67	0.00	0.000	6	0.000	0.078	2425	1984	3426
6479	-1.26	-146.6	761.1	-12.3	311	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2425	1984	3425
6788	-1.26	-146.6	798.9	-12.3	326	6793	0.00	2.78	0.00	0.000	4	0.000	0.097	2425	3409	3424
6810	-1.26	-146.6	801.7	-12.7	327	6814	0.00	2.67	0.00	0.000	6	0.000	0.079	2425	1993	3424
7130	-1.26	-146.6	841.0	-12.1	343	7132	0.00	0.00	0.00	0.000	6	0.000	0.000	2425	1993	3423
7440	-1.26	-146.6	878.4	-12.0	358	7444	0.00	2.75	0.00	0.000	4	0.000	0.097	2425	3405	3423
7472	-1.26	-146.6	882.6	-12.1	359	7479	0.00	2.67	0.00	0.000	6	0.000	0.082	2425	1990	3422
7788	-1.26	-146.6	920.8	-11.8	375	7789	0.00	0.00	0.00	0.000	6	0.000	0.000	2425	1990	3422
8097	-1.26	-146.6	957.0	-11.5	390	8102	0.00	2.78	0.00	0.000	4	0.000	0.097	2425	3412	3421
8137	-1.26	-146.6	961.7	-11.4	392	8141	0.00	2.67	0.00	0.000	6	0.000	0.080	2425	1998	3421
8378	end dive: TARGET_DEPTH_EXCEEDED
state	8378	begin apogee
8385	-0.33	0.0	991.1	12.2	404	8513	0.98	0.00	124.30	1.679	6	0.104	0.000	2622	2255	2832
8513	end apogee: CONTROL_FINISHED_OK
state	8513	begin climb
8516	1.44	146.6	997.0	0.0	410	8650	1.85	2.80	124.72	1.630	4	0.080	0.100	3009	3654	2234
8675	1.35	160.4	989.1	9.4	417	8695	0.00	2.72	13.57	1.457	6	0.000	0.080	3010	2246	2176
9018	1.31	171.2	957.3	9.5	434	9031	0.12	0.00	10.50	1.404	6	0.114	0.000	2988	2246	2134
9327	1.32	176.8	928.3	9.7	449	9340	0.00	2.80	6.50	1.270	4	0.000	0.095	2988	838	2111
9370	1.32	176.8	923.8	10.7	451	9375	0.00	2.70	0.00	0.000	6	0.000	0.079	2988	2242	2111
9697	1.32	177.3	891.3	10.0	467	9702	0.00	2.75	0.00	0.000	4	0.000	0.094	2988	840	2110
9724	1.32	177.3	888.2	11.4	468	9729	0.00	2.67	0.00	0.000	6	0.000	0.081	2988	2235	2110
10040	1.33	179.2	856.7	9.9	483	10046	0.00	0.00	3.83	0.984	6	0.000	0.000	2988	2235	2101
10349	1.35	192.5	827.2	9.4	498	10371	0.00	2.83	12.80	1.447	4	0.000	0.093	2988	842	2047
10405	1.35	193.8	821.6	9.9	500	10410	0.00	2.67	0.00	0.000	6	0.000	0.080	2988	2233	2047
10722	1.42	206.2	791.7	9.4	515	10741	0.00	0.00	13.45	1.441	6	0.000	0.000	2988	2234	1991
11051	1.48	213.1	760.2	9.7	531	11066	0.17	2.80	7.40	1.299	4	0.071	0.093	3030	843	1963
11140	1.39	213.1	749.4	13.0	535	11146	0.15	2.65	0.00	0.000	6	0.120	0.080	3004	2227	1963
11468	1.39	213.1	715.2	10.4	551	11473	0.00	2.70	0.00	0.000	4	0.000	0.093	3004	843	1962
11497	1.39	213.1	712.1	10.6	552	11501	0.00	2.62	0.00	0.000	6	0.000	0.079	3004	2221	1962
11812	1.39	213.1	679.5	10.4	567	11813	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2222	1962
12121	1.39	213.1	647.9	10.0	582	12126	0.00	2.70	0.00	0.000	4	0.000	0.094	3004	836	1962
12171	1.39	213.1	642.7	10.5	584	12175	0.00	2.62	0.00	0.000	6	0.000	0.080	3004	2216	1961
12487	1.43	213.1	610.0	10.7	599	12488	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2217	1962
12796	1.43	213.1	577.3	10.2	614	12797	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2217	1962
13105	1.44	217.0	546.1	9.8	629	13115	0.00	2.70	4.68	1.045	4	0.000	0.091	3004	837	1947
13149	1.44	217.0	541.5	10.5	631	13153	0.00	2.62	0.00	0.000	6	0.000	0.078	3004	2214	1947
13470	1.49	219.2	510.2	9.9	647	13476	0.00	0.00	3.67	0.881	6	0.000	0.000	3004	2214	1938
13779	1.54	219.2	478.3	10.4	662	13784	0.15	2.65	0.00	0.000	4	0.074	0.087	3037	841	1938
13857	1.45	219.2	468.0	13.5	665	13864	0.00	2.55	0.00	0.000	6	0.000	0.076	3036	2197	1938
14174	1.41	219.2	430.9	12.0	681	14176	0.15	0.00	0.00	0.000	6	0.115	0.000	3011	2198	1938
14483	1.41	219.2	397.9	10.3	696	14484	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	2198	1938
14792	1.42	222.7	367.2	9.8	711	14799	0.00	0.00	4.65	0.940	6	0.000	0.000	3011	2199	1925
15102	1.43	230.2	337.6	9.7	726	15116	0.00	2.83	8.02	1.084	4	0.000	0.085	3011	3654	1893
15207	1.43	230.2	325.8	10.8	730	15213	0.00	2.72	0.00	0.000	6	0.000	0.066	3011	2182	1892
15523	1.48	230.2	294.1	10.2	746	15527	0.00	2.47	0.00	0.000	4	0.000	0.077	3011	840	1893
15585	1.48	230.2	287.1	10.6	748	15591	0.00	2.47	0.00	0.000	6	0.000	0.064	3010	2181	1893
15901	1.55	240.2	255.4	9.5	764	15914	0.12	0.00	10.27	1.034	6	0.067	0.000	3040	2182	1852
16209	1.55	240.2	219.7	12.0	779	16210	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	2181	1852
16518	1.55	240.2	181.2	13.1	794	16523	0.00	2.72	0.00	0.000	4	0.000	0.074	3040	3665	1854
16546	1.55	240.2	177.0	15.5	795	16551	0.00	2.72	0.00	0.000	6	0.000	0.058	3040	2167	1854
16862	1.55	240.2	138.1	11.7	810	16863	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	2167	1855
17171	1.55	240.2	100.7	12.0	825	17176	0.00	2.78	0.00	0.000	4	0.000	0.071	3041	3659	1855
17222	1.55	240.2	94.5	10.8	827	17226	0.00	2.67	0.00	0.000	6	0.000	0.054	3040	2174	1856
17538	1.55	240.2	59.5	11.8	842	17542	0.00	2.78	0.00	0.000	4	0.000	0.070	3041	3667	1856
17577	1.55	240.2	54.5	13.8	844	17582	0.00	2.65	0.00	0.000	6	0.000	0.054	3040	2189	1857
17904	1.55	240.2	13.9	11.3	860	17905	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2189	1857
17984	end climb: SURFACE_DEPTH_REACHED
state	17984	begin surface coast
18006	end surface coast: CONTROL_FINISHED_OK
state	18006	begin surface