Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 187 * 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 187 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 33 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 -103771.71 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 -103771.71

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 33 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 187 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 192637,6357.714,-1308.567,30,1.1,30,-12.5 TGT_NAME P3

_CALLS 2 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.066,-0.236

_SM_DEPTHo 1.44 KALMAN_X -58581.1,838.6,142.6,-178815.8,-5734.5

_SM_ANGLEo -59.0 KALMAN_Y -2324.5,-413.2,394.5,263831.2,4811.7

GPS2 193644,6357.809,-1308.309,15,1.8,15,-12.5 MHEAD_RNG_PITCHd_Wd 208.1,18228,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.014336 ALTIM_BOTTOM_PING 695.6,37.3

SM_CCo 15782,15.50,0.751,0,0,1608,300.00 _24V_AH 23.8,33.065

SM_GC 1.43,0.00,0.00,15.50,0.000,0.000,0.751,420,2153,1608,-10.70,0.62,300.00 _10V_AH 10.1,15.046

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47323,958

TT8_MAMPS 0.029146 CAP_FILE_SIZE 132858,0

HUMID 1808 CFSIZE 254472192,241266688

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 60 GPS 300909,000206,6355.495,-1309.703,34,1.0,34,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 101.88 SBE_CT 655 24 374.42

Roll_motor 148 83 295.63 SBE_O2 700 19 316.91

VBD_pump_during_apogee 385 1305 11964.80 WL_BB2F 536 105 1341.15

VBD_pump_during_surface 15 750 277.00 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 67 160 256.58 nil 0 0 0.00

Iridium_during_xfer 268 223 1427.20

Transponder_ping 21 420 212.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.70

TT8 1662 19 332.43

LPSleep 11596 2 256.50

TT8_Active 541 19 108.37

TT8_Sampling 1865 39 749.86

TT8_CF8 737 45 341.17

TT8_Kalman 33 81 27.57

Analog_circuits 1492 12 180.84

GPS_charging 0 0 0.00

Compass 1824 8 147.41

RAFOS 0 0 0.00

Transponder 43 30 13.29

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.22 -146.6 0.0 0.0 0 59 0.00 0.00 -41.62 0.000 2 0.000 0.000 418 2446 2427

63 -1.22 -146.6 2.2 -3.4 2 127 11.35 2.00 -43.88 0.000 4 0.163 0.084 2469 3528 3430

218 -1.13 -146.6 17.4 -14.4 9 224 0.15 2.53 0.00 0.000 6 0.100 0.049 2499 2115 3430

546 -1.10 -146.6 54.8 -11.5 25 551 0.00 2.60 0.00 0.000 4 0.000 0.064 2499 3528 3430

611 -1.07 -146.6 61.8 -10.7 28 615 0.00 2.47 0.00 0.000 6 0.000 0.048 2499 2140 3430

940 -1.07 -146.6 95.8 -10.2 44 944 0.00 2.53 0.00 0.000 4 0.000 0.059 2499 714 3430

980 -1.07 -146.6 100.0 -10.0 46 984 0.00 2.53 0.00 0.000 6 0.000 0.048 2499 2135 3431

1307 -1.07 -146.6 136.5 -11.5 62 1312 0.00 2.58 0.00 0.000 4 0.000 0.061 2499 714 3431

1348 -1.07 -146.6 141.3 -12.1 64 1352 0.00 2.53 0.00 0.000 6 0.000 0.049 2499 2138 3431

1667 -1.07 -146.6 175.4 -10.7 83 1671 0.00 2.58 0.00 0.000 4 0.000 0.061 2499 715 3431

1695 -1.07 -146.6 178.6 -11.0 85 1699 0.00 2.50 0.00 0.000 6 0.000 0.049 2500 2121 3431

2021 -1.07 -146.6 213.6 -10.6 106 2025 0.00 2.55 0.00 0.000 4 0.000 0.061 2500 714 3431

2066 -1.07 -146.6 218.7 -11.4 109 2071 0.00 2.45 0.00 0.000 6 0.000 0.049 2500 2095 3431

2393 -1.07 -146.6 253.3 -10.5 130 2394 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2095 3431

2703 -1.07 -146.6 286.5 -10.8 150 2708 0.00 2.50 0.00 0.000 4 0.000 0.062 2499 717 3431

2737 -1.07 -146.6 290.3 -10.8 152 2741 0.00 2.42 0.00 0.000 6 0.000 0.050 2500 2083 3431

3056 -1.07 -146.6 323.9 -10.1 172 3060 0.00 2.47 0.00 0.000 4 0.000 0.064 2499 723 3431

3078 -1.07 -146.6 326.3 -10.5 173 3084 0.00 2.40 0.00 0.000 6 0.000 0.051 2500 2070 3431

3398 -1.07 -146.6 359.4 -10.5 194 3399 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2070 3431

3710 -1.07 -146.6 390.6 -9.9 214 3714 0.00 2.45 0.00 0.000 4 0.000 0.063 2499 722 3431

3749 -1.07 -146.6 394.4 -9.5 216 3759 0.00 2.38 0.00 0.000 6 0.000 0.051 2500 2059 3431

4068 -1.07 -146.6 424.2 -9.2 237 4069 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2061 3430

4380 -1.07 -146.6 455.5 -10.1 257 4384 0.00 2.45 0.00 0.000 4 0.000 0.064 2500 715 3430

4408 -1.07 -146.6 458.2 -10.1 259 4412 0.00 2.40 0.00 0.000 6 0.000 0.051 2500 2061 3430

4739 -1.07 -146.6 491.3 -10.7 280 4740 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2061 3430

5052 -1.07 -146.6 523.9 -9.5 300 5056 0.00 2.45 0.00 0.000 4 0.000 0.063 2500 715 3430

5074 -1.07 -146.6 526.1 -9.2 301 5080 0.00 2.38 0.00 0.000 6 0.000 0.051 2500 2049 3430

5394 -1.07 -146.6 551.7 -7.9 322 5399 0.00 2.70 0.00 0.000 4 0.000 0.069 2500 3538 3430

5484 -1.07 -146.6 559.6 -9.1 327 5490 0.00 2.70 0.00 0.000 6 0.000 0.058 2500 2047 3430

5803 -1.07 -146.6 587.6 -9.6 348 5807 0.00 2.72 0.00 0.000 4 0.000 0.069 2500 3530 3430

5886 -1.07 -146.6 596.5 -10.4 353 5891 0.00 2.60 0.00 0.000 6 0.000 0.058 2500 2078 3430

6206 -1.07 -146.6 628.5 -11.0 373 6210 0.00 2.70 0.00 0.000 4 0.000 0.071 2500 3535 3430

6234 -1.07 -146.6 631.4 -10.6 375 6239 0.00 2.62 0.00 0.000 6 0.000 0.061 2500 2087 3429

6559 -1.07 -146.6 662.5 -9.6 396 6560 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2071 3429

6871 -1.07 -146.6 690.7 -9.4 416 6872 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2070 3429

7183 -1.07 -146.6 721.3 -9.5 436 7188 0.00 2.70 0.00 0.000 4 0.000 0.076 2499 3532 3428

7198 end dive: BOTTOM_OBSTACLE_DETECTED

state 7198 begin apogee

7209 -0.33 0.0 722.9 9.2 437 7344 0.77 0.00 131.93 1.305 6 0.083 0.000 2668 1842 2831

7345 end apogee: CONTROL_FINISHED_OK

state 7345 begin climb

7348 1.22 146.6 728.5 0.0 446 7490 1.55 2.70 132.98 1.262 4 0.062 0.074 3007 441 2233

7538 1.11 163.9 720.7 7.4 457 7561 0.00 2.58 17.25 1.157 6 0.000 0.055 3007 1872 2162

7875 1.05 163.9 695.0 8.1 479 7877 0.17 0.00 0.00 0.000 6 0.091 0.000 2975 1872 2162

8186 1.09 189.9 672.2 7.1 499 8216 0.00 2.72 24.35 1.203 4 0.000 0.075 2974 435 2055

8228 1.11 196.9 668.8 7.7 501 8242 0.00 2.55 7.57 1.022 6 0.000 0.055 2974 1844 2028

8563 1.11 196.9 642.1 8.4 523 8564 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 1845 2028

8876 1.14 196.9 616.4 8.0 543 8877 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 1846 2027

9188 1.24 233.8 594.8 6.7 563 9229 0.17 2.65 33.53 1.213 4 0.054 0.067 3018 3242 1877

9263 1.24 233.8 588.9 8.5 567 9269 0.00 2.62 0.00 0.000 6 0.000 0.065 3018 1832 1877

9582 1.18 233.8 564.1 8.7 588 9587 0.00 2.62 0.00 0.000 4 0.000 0.066 3018 3247 1877

9645 1.18 233.8 557.9 9.5 592 9650 0.00 2.58 0.00 0.000 6 0.000 0.061 3018 1835 1876

9970 1.14 233.8 527.0 8.5 613 9975 0.15 2.60 0.00 0.000 4 0.091 0.064 2990 3244 1876

9992 1.14 233.8 525.0 8.2 614 9998 0.00 2.55 0.00 0.000 6 0.000 0.060 2990 1846 1876

10311 1.15 243.9 501.4 7.6 635 10328 0.00 2.62 10.18 1.045 4 0.000 0.062 2990 3252 1836

10357 1.20 243.9 497.7 8.0 637 10363 0.00 2.55 0.00 0.000 6 0.000 0.058 2990 1858 1836

10677 1.20 243.9 471.5 8.4 658 10681 0.00 2.55 0.00 0.000 4 0.000 0.062 2990 3246 1836

10706 1.25 243.9 468.9 8.9 660 10711 0.12 2.50 0.00 0.000 6 0.058 0.058 3022 1867 1836

11033 1.20 243.9 434.5 10.7 681 11037 0.00 2.58 0.00 0.000 4 0.000 0.068 3023 439 1836

11056 1.13 243.9 431.4 11.9 682 11063 0.17 2.53 0.00 0.000 6 0.090 0.051 2988 1860 1836

11375 1.13 243.9 403.0 8.4 703 11376 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 1873 1837

11688 1.18 249.7 377.9 7.8 723 11701 0.00 0.00 6.80 0.879 6 0.000 0.000 2989 1874 1813

12015 1.23 258.7 353.0 7.7 744 12032 0.10 2.65 9.48 0.936 4 0.061 0.065 3016 439 1775

12043 1.23 258.7 350.3 9.4 745 12050 0.00 2.58 0.00 0.000 6 0.000 0.049 3016 1876 1775

12363 1.23 258.7 320.4 9.4 766 12364 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 1891 1776

12675 1.23 258.7 291.1 9.4 786 12679 0.00 2.62 0.00 0.000 4 0.000 0.064 3016 439 1776

12704 1.18 258.7 288.3 10.2 788 12708 0.00 2.53 0.00 0.000 6 0.000 0.049 3017 1864 1776

13028 1.18 258.7 257.3 9.8 809 13029 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1878 1776

13340 1.18 258.7 226.1 10.0 829 13344 0.00 2.47 0.00 0.000 4 0.000 0.068 3016 3256 1776

13363 1.18 258.7 223.6 10.5 830 13369 0.00 2.50 0.00 0.000 6 0.000 0.058 3017 1857 1776

13682 1.18 258.7 190.6 10.6 851 13687 0.00 2.55 0.00 0.000 4 0.000 0.058 3017 3266 1777

13721 1.18 258.7 186.0 10.7 853 13727 0.00 2.47 0.00 0.000 6 0.000 0.051 3017 1876 1777

14041 1.18 258.7 154.8 9.3 874 14045 0.00 2.58 0.00 0.000 4 0.000 0.065 3016 438 1777

14074 1.14 258.7 151.5 9.4 876 14079 0.12 2.55 0.00 0.000 6 0.087 0.048 2993 1881 1777

14407 1.21 269.9 126.4 7.6 892 14424 0.00 0.00 11.05 0.816 6 0.000 0.000 2993 1897 1730

14737 1.27 269.9 99.5 8.0 908 14739 0.15 0.00 0.00 0.000 6 0.051 0.000 3034 1897 1730

15043 1.27 269.9 69.3 9.8 923 15045 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 1897 1730

15354 1.23 269.9 38.8 10.3 938 15355 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 1897 1730

15662 1.23 269.9 8.5 9.5 953 15666 0.00 2.60 0.00 0.000 4 0.000 0.061 3034 440 1730

15680 1.20 269.9 6.5 12.2 954 15685 0.15 2.55 0.00 0.000 6 0.086 0.046 3003 1888 1730

15736 end climb: SURFACE_DEPTH_REACHED

state 15736 begin surface coast

15759 end surface coast: CONTROL_FINISHED_OK

state 15759 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	187	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	33	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	-103771.71	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	192637,6357.714,-1308.567,30,1.1,30,-12.5	TGT_NAME	P3
_CALLS	2	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.066,-0.236
_SM_DEPTHo	1.44	KALMAN_X	-58581.1,838.6,142.6,-178815.8,-5734.5
_SM_ANGLEo	-59.0	KALMAN_Y	-2324.5,-413.2,394.5,263831.2,4811.7
GPS2	193644,6357.809,-1308.309,15,1.8,15,-12.5	MHEAD_RNG_PITCHd_Wd	208.1,18228,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.014336	ALTIM_BOTTOM_PING	695.6,37.3
SM_CCo	15782,15.50,0.751,0,0,1608,300.00	_24V_AH	23.8,33.065
SM_GC	1.43,0.00,0.00,15.50,0.000,0.000,0.751,420,2153,1608,-10.70,0.62,300.00	_10V_AH	10.1,15.046
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47323,958
TT8_MAMPS	0.029146	CAP_FILE_SIZE	132858,0
HUMID	1808	CFSIZE	254472192,241266688
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	60	GPS	300909,000206,6355.495,-1309.703,34,1.0,34,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	101.88	SBE_CT	655	24	374.42
Roll_motor	148	83	295.63	SBE_O2	700	19	316.91
VBD_pump_during_apogee	385	1305	11964.80	WL_BB2F	536	105	1341.15
VBD_pump_during_surface	15	750	277.00	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	67	160	256.58	nil	0	0	0.00
Iridium_during_xfer	268	223	1427.20
Transponder_ping	21	420	212.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.70
TT8	1662	19	332.43
LPSleep	11596	2	256.50
TT8_Active	541	19	108.37
TT8_Sampling	1865	39	749.86
TT8_CF8	737	45	341.17
TT8_Kalman	33	81	27.57
Analog_circuits	1492	12	180.84
GPS_charging	0	0	0.00
Compass	1824	8	147.41
RAFOS	0	0	0.00
Transponder	43	30	13.29

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.22	-146.6	0.0	0.0	0	59	0.00	0.00	-41.62	0.000	2	0.000	0.000	418	2446	2427
63	-1.22	-146.6	2.2	-3.4	2	127	11.35	2.00	-43.88	0.000	4	0.163	0.084	2469	3528	3430
218	-1.13	-146.6	17.4	-14.4	9	224	0.15	2.53	0.00	0.000	6	0.100	0.049	2499	2115	3430
546	-1.10	-146.6	54.8	-11.5	25	551	0.00	2.60	0.00	0.000	4	0.000	0.064	2499	3528	3430
611	-1.07	-146.6	61.8	-10.7	28	615	0.00	2.47	0.00	0.000	6	0.000	0.048	2499	2140	3430
940	-1.07	-146.6	95.8	-10.2	44	944	0.00	2.53	0.00	0.000	4	0.000	0.059	2499	714	3430
980	-1.07	-146.6	100.0	-10.0	46	984	0.00	2.53	0.00	0.000	6	0.000	0.048	2499	2135	3431
1307	-1.07	-146.6	136.5	-11.5	62	1312	0.00	2.58	0.00	0.000	4	0.000	0.061	2499	714	3431
1348	-1.07	-146.6	141.3	-12.1	64	1352	0.00	2.53	0.00	0.000	6	0.000	0.049	2499	2138	3431
1667	-1.07	-146.6	175.4	-10.7	83	1671	0.00	2.58	0.00	0.000	4	0.000	0.061	2499	715	3431
1695	-1.07	-146.6	178.6	-11.0	85	1699	0.00	2.50	0.00	0.000	6	0.000	0.049	2500	2121	3431
2021	-1.07	-146.6	213.6	-10.6	106	2025	0.00	2.55	0.00	0.000	4	0.000	0.061	2500	714	3431
2066	-1.07	-146.6	218.7	-11.4	109	2071	0.00	2.45	0.00	0.000	6	0.000	0.049	2500	2095	3431
2393	-1.07	-146.6	253.3	-10.5	130	2394	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2095	3431
2703	-1.07	-146.6	286.5	-10.8	150	2708	0.00	2.50	0.00	0.000	4	0.000	0.062	2499	717	3431
2737	-1.07	-146.6	290.3	-10.8	152	2741	0.00	2.42	0.00	0.000	6	0.000	0.050	2500	2083	3431
3056	-1.07	-146.6	323.9	-10.1	172	3060	0.00	2.47	0.00	0.000	4	0.000	0.064	2499	723	3431
3078	-1.07	-146.6	326.3	-10.5	173	3084	0.00	2.40	0.00	0.000	6	0.000	0.051	2500	2070	3431
3398	-1.07	-146.6	359.4	-10.5	194	3399	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2070	3431
3710	-1.07	-146.6	390.6	-9.9	214	3714	0.00	2.45	0.00	0.000	4	0.000	0.063	2499	722	3431
3749	-1.07	-146.6	394.4	-9.5	216	3759	0.00	2.38	0.00	0.000	6	0.000	0.051	2500	2059	3431
4068	-1.07	-146.6	424.2	-9.2	237	4069	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2061	3430
4380	-1.07	-146.6	455.5	-10.1	257	4384	0.00	2.45	0.00	0.000	4	0.000	0.064	2500	715	3430
4408	-1.07	-146.6	458.2	-10.1	259	4412	0.00	2.40	0.00	0.000	6	0.000	0.051	2500	2061	3430
4739	-1.07	-146.6	491.3	-10.7	280	4740	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2061	3430
5052	-1.07	-146.6	523.9	-9.5	300	5056	0.00	2.45	0.00	0.000	4	0.000	0.063	2500	715	3430
5074	-1.07	-146.6	526.1	-9.2	301	5080	0.00	2.38	0.00	0.000	6	0.000	0.051	2500	2049	3430
5394	-1.07	-146.6	551.7	-7.9	322	5399	0.00	2.70	0.00	0.000	4	0.000	0.069	2500	3538	3430
5484	-1.07	-146.6	559.6	-9.1	327	5490	0.00	2.70	0.00	0.000	6	0.000	0.058	2500	2047	3430
5803	-1.07	-146.6	587.6	-9.6	348	5807	0.00	2.72	0.00	0.000	4	0.000	0.069	2500	3530	3430
5886	-1.07	-146.6	596.5	-10.4	353	5891	0.00	2.60	0.00	0.000	6	0.000	0.058	2500	2078	3430
6206	-1.07	-146.6	628.5	-11.0	373	6210	0.00	2.70	0.00	0.000	4	0.000	0.071	2500	3535	3430
6234	-1.07	-146.6	631.4	-10.6	375	6239	0.00	2.62	0.00	0.000	6	0.000	0.061	2500	2087	3429
6559	-1.07	-146.6	662.5	-9.6	396	6560	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2071	3429
6871	-1.07	-146.6	690.7	-9.4	416	6872	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2070	3429
7183	-1.07	-146.6	721.3	-9.5	436	7188	0.00	2.70	0.00	0.000	4	0.000	0.076	2499	3532	3428
7198	end dive: BOTTOM_OBSTACLE_DETECTED
state	7198	begin apogee
7209	-0.33	0.0	722.9	9.2	437	7344	0.77	0.00	131.93	1.305	6	0.083	0.000	2668	1842	2831
7345	end apogee: CONTROL_FINISHED_OK
state	7345	begin climb
7348	1.22	146.6	728.5	0.0	446	7490	1.55	2.70	132.98	1.262	4	0.062	0.074	3007	441	2233
7538	1.11	163.9	720.7	7.4	457	7561	0.00	2.58	17.25	1.157	6	0.000	0.055	3007	1872	2162
7875	1.05	163.9	695.0	8.1	479	7877	0.17	0.00	0.00	0.000	6	0.091	0.000	2975	1872	2162
8186	1.09	189.9	672.2	7.1	499	8216	0.00	2.72	24.35	1.203	4	0.000	0.075	2974	435	2055
8228	1.11	196.9	668.8	7.7	501	8242	0.00	2.55	7.57	1.022	6	0.000	0.055	2974	1844	2028
8563	1.11	196.9	642.1	8.4	523	8564	0.00	0.00	0.00	0.000	6	0.000	0.000	2975	1845	2028
8876	1.14	196.9	616.4	8.0	543	8877	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	1846	2027
9188	1.24	233.8	594.8	6.7	563	9229	0.17	2.65	33.53	1.213	4	0.054	0.067	3018	3242	1877
9263	1.24	233.8	588.9	8.5	567	9269	0.00	2.62	0.00	0.000	6	0.000	0.065	3018	1832	1877
9582	1.18	233.8	564.1	8.7	588	9587	0.00	2.62	0.00	0.000	4	0.000	0.066	3018	3247	1877
9645	1.18	233.8	557.9	9.5	592	9650	0.00	2.58	0.00	0.000	6	0.000	0.061	3018	1835	1876
9970	1.14	233.8	527.0	8.5	613	9975	0.15	2.60	0.00	0.000	4	0.091	0.064	2990	3244	1876
9992	1.14	233.8	525.0	8.2	614	9998	0.00	2.55	0.00	0.000	6	0.000	0.060	2990	1846	1876
10311	1.15	243.9	501.4	7.6	635	10328	0.00	2.62	10.18	1.045	4	0.000	0.062	2990	3252	1836
10357	1.20	243.9	497.7	8.0	637	10363	0.00	2.55	0.00	0.000	6	0.000	0.058	2990	1858	1836
10677	1.20	243.9	471.5	8.4	658	10681	0.00	2.55	0.00	0.000	4	0.000	0.062	2990	3246	1836
10706	1.25	243.9	468.9	8.9	660	10711	0.12	2.50	0.00	0.000	6	0.058	0.058	3022	1867	1836
11033	1.20	243.9	434.5	10.7	681	11037	0.00	2.58	0.00	0.000	4	0.000	0.068	3023	439	1836
11056	1.13	243.9	431.4	11.9	682	11063	0.17	2.53	0.00	0.000	6	0.090	0.051	2988	1860	1836
11375	1.13	243.9	403.0	8.4	703	11376	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	1873	1837
11688	1.18	249.7	377.9	7.8	723	11701	0.00	0.00	6.80	0.879	6	0.000	0.000	2989	1874	1813
12015	1.23	258.7	353.0	7.7	744	12032	0.10	2.65	9.48	0.936	4	0.061	0.065	3016	439	1775
12043	1.23	258.7	350.3	9.4	745	12050	0.00	2.58	0.00	0.000	6	0.000	0.049	3016	1876	1775
12363	1.23	258.7	320.4	9.4	766	12364	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	1891	1776
12675	1.23	258.7	291.1	9.4	786	12679	0.00	2.62	0.00	0.000	4	0.000	0.064	3016	439	1776
12704	1.18	258.7	288.3	10.2	788	12708	0.00	2.53	0.00	0.000	6	0.000	0.049	3017	1864	1776
13028	1.18	258.7	257.3	9.8	809	13029	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1878	1776
13340	1.18	258.7	226.1	10.0	829	13344	0.00	2.47	0.00	0.000	4	0.000	0.068	3016	3256	1776
13363	1.18	258.7	223.6	10.5	830	13369	0.00	2.50	0.00	0.000	6	0.000	0.058	3017	1857	1776
13682	1.18	258.7	190.6	10.6	851	13687	0.00	2.55	0.00	0.000	4	0.000	0.058	3017	3266	1777
13721	1.18	258.7	186.0	10.7	853	13727	0.00	2.47	0.00	0.000	6	0.000	0.051	3017	1876	1777
14041	1.18	258.7	154.8	9.3	874	14045	0.00	2.58	0.00	0.000	4	0.000	0.065	3016	438	1777
14074	1.14	258.7	151.5	9.4	876	14079	0.12	2.55	0.00	0.000	6	0.087	0.048	2993	1881	1777
14407	1.21	269.9	126.4	7.6	892	14424	0.00	0.00	11.05	0.816	6	0.000	0.000	2993	1897	1730
14737	1.27	269.9	99.5	8.0	908	14739	0.15	0.00	0.00	0.000	6	0.051	0.000	3034	1897	1730
15043	1.27	269.9	69.3	9.8	923	15045	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	1897	1730
15354	1.23	269.9	38.8	10.3	938	15355	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	1897	1730
15662	1.23	269.9	8.5	9.5	953	15666	0.00	2.60	0.00	0.000	4	0.000	0.061	3034	440	1730
15680	1.20	269.9	6.5	12.2	954	15685	0.15	2.55	0.00	0.000	6	0.086	0.046	3003	1888	1730
15736	end climb: SURFACE_DEPTH_REACHED
state	15736	begin surface coast
15759	end surface coast: CONTROL_FINISHED_OK
state	15759	begin surface