Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 189 * 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 189 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 32 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 -103805.88 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 -103805.88

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 32 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 189 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 044737,6352.905,-1312.109,37,0.9,37,-12.5 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.018,-0.245

_SM_DEPTHo 1.46 KALMAN_X -58565.1,1406.0,317.4,-182914.7,-6805.9

_SM_ANGLEo -60.7 KALMAN_Y 665.7,-1629.4,-837.3,254148.6,9471.6

GPS2 045402,6352.848,-1312.093,15,1.0,15,-12.5 MHEAD_RNG_PITCHd_Wd 196.7,9342,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027143 ALTIM_BOTTOM_PING 795.2,18.8

SM_CCo 17125,8.80,0.700,0,0,1608,300.00 _24V_AH 23.8,33.385

SM_GC 2.65,0.00,0.00,8.80,0.000,0.000,0.700,427,2150,1608,-10.66,0.57,300.00 _10V_AH 10.1,15.220

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53683,1041

TT8_MAMPS 0.029146 CAP_FILE_SIZE 145310,0

HUMID 1820 CFSIZE 254472192,241111040

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 54 GPS 300909,094137,6350.934,-1311.348,31,1.6,31,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 158 102.19 SBE_CT 712 24 407.05

Roll_motor 174 79 330.38 SBE_O2 763 19 345.44

VBD_pump_during_apogee 392 1375 12844.88 WL_BB2F 555 105 1389.24

VBD_pump_during_surface 8 700 146.66 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 29 160 113.96 nil 0 0 0.00

Iridium_during_xfer 180 223 957.03

Transponder_ping 21 420 209.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.77

TT8 1832 19 366.37

LPSleep 12436 2 275.09

TT8_Active 583 19 116.61

TT8_Sampling 2057 39 827.09

TT8_CF8 605 45 280.20

TT8_Kalman 33 81 27.57

Analog_circuits 1612 12 195.43

GPS_charging 0 0 0.00

Compass 2013 8 162.69

RAFOS 0 0 0.00

Transponder 52 30 15.79

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 -41.70 0.000 2 0.000 0.000 426 2153 2459

63 -1.22 -146.6 2.4 -3.5 2 127 11.30 2.53 -44.92 0.000 4 0.158 0.080 2472 3524 3430

381 -1.15 -146.6 40.7 -13.9 16 386 0.10 2.50 0.00 0.000 6 0.114 0.047 2491 2116 3430

705 -1.10 -146.6 77.9 -12.3 32 709 0.00 2.60 0.00 0.000 4 0.000 0.064 2491 3533 3430

861 -1.06 -146.6 96.3 -10.7 39 867 0.10 2.47 0.00 0.000 6 0.104 0.048 2513 2141 3430

1184 -1.06 -146.6 130.4 -11.2 55 1188 0.00 2.55 0.00 0.000 4 0.000 0.064 2513 3530 3430

1234 -1.06 -146.6 136.1 -10.4 57 1238 0.00 2.45 0.00 0.000 6 0.000 0.050 2512 2156 3431

1558 -1.06 -146.6 171.1 -11.5 75 1562 0.00 2.55 0.00 0.000 4 0.000 0.061 2513 719 3431

1641 -1.06 -146.6 181.0 -11.4 80 1645 0.00 2.53 0.00 0.000 6 0.000 0.048 2513 2145 3431

1960 -1.06 -146.6 218.2 -12.3 100 1964 0.00 2.58 0.00 0.000 4 0.000 0.071 2513 720 3431

1999 -1.06 -146.6 223.0 -12.5 102 2005 0.00 2.53 0.00 0.000 6 0.000 0.050 2512 2146 3431

2318 -1.06 -146.6 259.0 -11.2 123 2322 0.00 2.60 0.00 0.000 4 0.000 0.064 2513 719 3431

2369 -1.09 -146.6 265.1 -12.2 126 2374 0.00 2.50 0.00 0.000 6 0.000 0.051 2512 2126 3431

2689 -1.09 -146.6 305.0 -12.6 146 2694 0.00 2.55 0.00 0.000 4 0.000 0.064 2512 722 3431

2735 -1.12 -146.6 310.9 -13.1 149 2740 0.00 2.47 0.00 0.000 6 0.000 0.051 2513 2120 3431

3061 -1.12 -146.6 349.0 -11.4 170 3065 0.00 2.55 0.00 0.000 4 0.000 0.062 2512 709 3431

3106 -1.16 -146.6 354.1 -11.4 173 3111 0.00 2.45 0.00 0.000 6 0.000 0.050 2512 2095 3431

3430 -1.16 -146.6 388.1 -10.1 194 3431 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2095 3431

3743 -1.16 -146.6 417.4 -8.9 214 3747 0.00 2.50 0.00 0.000 4 0.000 0.063 2512 716 3430

3788 -1.20 -146.6 421.5 -8.9 217 3793 0.12 2.42 0.00 0.000 6 0.056 0.051 2476 2080 3430

4116 -1.14 -146.6 454.9 -10.5 238 4118 0.10 0.00 0.00 0.000 6 0.103 0.000 2495 2080 3430

4425 -1.14 -146.6 485.4 -10.2 258 4429 0.00 2.47 0.00 0.000 4 0.000 0.064 2495 721 3430

4453 -1.14 -146.6 488.2 -10.3 260 4457 0.00 2.42 0.00 0.000 6 0.000 0.051 2495 2083 3430

4778 -1.14 -146.6 519.4 -9.7 281 4779 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2083 3430

5091 -1.14 -146.6 551.5 -10.7 301 5096 0.00 2.50 0.00 0.000 4 0.000 0.066 2495 709 3430

5164 -1.14 -146.6 560.2 -12.0 305 5171 0.00 2.40 0.00 0.000 6 0.000 0.052 2495 2061 3430

5484 -1.14 -146.6 591.6 -9.1 326 5485 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2061 3429

5796 -1.14 -146.6 618.8 -9.2 346 5800 0.00 2.65 0.00 0.000 4 0.000 0.069 2494 3531 3429

5829 -1.14 -146.6 622.1 -9.6 348 5834 0.00 2.65 0.00 0.000 6 0.000 0.076 2495 2066 3429

6149 -1.14 -146.6 651.8 -8.3 368 6153 0.00 2.42 0.00 0.000 4 0.000 0.068 2495 715 3429

6205 -1.14 -146.6 657.1 -9.9 371 6209 0.00 2.40 0.00 0.000 6 0.000 0.052 2495 2062 3429

6525 -1.14 -146.6 689.4 -10.1 391 6529 0.00 2.67 0.00 0.000 4 0.000 0.073 2495 3532 3428

6592 -1.14 -146.6 696.8 -10.3 395 6596 0.00 2.70 0.00 0.000 6 0.000 0.067 2495 2043 3429

6911 -1.14 -146.6 728.4 -10.7 415 6915 0.00 2.40 0.00 0.000 4 0.000 0.073 2495 714 3428

6933 -1.14 -146.6 730.6 -9.4 416 6939 0.00 2.38 0.00 0.000 6 0.000 0.055 2495 2041 3428

7252 -1.14 -146.6 762.4 -9.9 437 7256 0.00 2.45 0.00 0.000 4 0.000 0.071 2495 714 3428

7274 -1.14 -146.6 764.7 -10.1 438 7280 0.00 2.38 0.00 0.000 6 0.000 0.057 2495 2035 3428

7593 -1.14 -146.6 794.1 -9.6 459 7598 0.00 2.75 0.00 0.000 4 0.000 0.079 2495 3530 3427

7640 -1.14 -146.6 798.6 -9.6 462 7644 0.00 2.72 0.00 0.000 6 0.000 0.065 2495 2039 3427

7697 end dive: BOTTOM_OBSTACLE_DETECTED

state 7698 begin apogee

7705 -0.33 0.0 804.1 9.4 466 7840 0.82 0.00 130.60 1.376 6 0.082 0.000 2670 1840 2831

7840 end apogee: CONTROL_FINISHED_OK

state 7840 begin climb

7843 1.22 146.6 809.1 0.0 475 7981 1.55 0.00 130.00 1.334 6 0.063 0.000 3007 1840 2233

8294 1.16 154.2 779.8 7.7 504 8311 0.00 2.70 8.25 1.091 4 0.000 0.067 3006 3257 2202

8373 1.10 154.2 773.3 8.2 508 8380 0.12 2.58 0.00 0.000 6 0.101 0.066 2985 1869 2202

8693 1.17 196.0 751.8 6.5 529 8738 0.00 2.62 38.08 1.289 4 0.000 0.068 2984 3252 2031

8749 1.18 205.6 747.5 7.7 532 8765 0.00 2.58 10.30 1.143 6 0.000 0.065 2984 1875 1992

9082 1.20 213.4 721.4 7.7 553 9093 0.00 0.00 8.57 1.108 6 0.000 0.000 2984 1875 1960

9407 1.21 223.6 696.7 7.6 574 9421 0.10 0.00 9.95 1.144 6 0.064 0.000 3012 1875 1919

9734 1.17 223.6 667.1 9.6 595 9738 0.00 2.58 0.00 0.000 4 0.000 0.069 3011 3261 1919

9757 1.13 223.6 664.8 10.4 596 9763 0.00 2.55 0.00 0.000 6 0.000 0.064 3012 1874 1918

10076 1.10 223.6 634.7 9.4 617 10081 0.15 2.62 0.00 0.000 4 0.096 0.074 2982 432 1918

10115 1.10 223.6 630.9 9.3 619 10122 0.00 2.62 0.00 0.000 6 0.000 0.056 2982 1886 1917

10435 1.13 242.3 606.0 7.3 640 10460 0.00 2.60 17.67 1.196 4 0.000 0.066 2982 3259 1843

10478 1.18 243.3 602.5 8.0 642 10485 0.00 2.53 0.00 0.000 6 0.000 0.063 2982 1896 1842

10798 1.21 243.3 576.2 9.3 663 10803 0.12 2.67 0.00 0.000 4 0.060 0.073 3015 433 1843

10820 1.21 243.3 573.8 10.5 664 10826 0.00 2.65 0.00 0.000 6 0.000 0.054 3015 1910 1843

11140 1.18 243.3 540.9 10.7 685 11144 0.00 2.75 0.00 0.000 4 0.000 0.072 3014 432 1843

11162 1.12 243.3 538.3 11.2 686 11169 0.15 2.60 0.00 0.000 6 0.093 0.053 2986 1884 1843

11484 1.16 243.3 509.2 8.8 707 11488 0.00 2.67 0.00 0.000 4 0.000 0.070 2985 437 1843

11506 1.16 243.3 506.8 9.4 708 11512 0.00 2.55 0.00 0.000 6 0.000 0.051 2985 1869 1843

11825 1.19 243.3 478.6 8.7 729 11826 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 1884 1843

12138 1.23 243.3 452.9 8.0 749 12143 0.12 2.65 0.00 0.000 4 0.057 0.068 3019 433 1843

12184 1.15 243.3 448.2 10.9 752 12189 0.12 2.53 0.00 0.000 6 0.092 0.051 2996 1851 1843

12508 1.15 243.3 419.6 8.6 773 12510 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 1866 1843

12822 1.18 260.8 395.0 7.4 793 12841 0.00 0.00 17.60 1.031 6 0.000 0.000 2995 1867 1767

13148 1.22 284.9 371.3 7.1 814 13172 0.00 0.00 21.20 1.030 6 0.000 0.000 2996 1867 1669

13476 1.25 285.8 346.2 8.0 835 13481 0.00 2.60 0.00 0.000 4 0.000 0.067 2996 439 1669

13498 1.25 285.8 344.0 8.4 836 13504 0.00 2.50 0.00 0.000 6 0.000 0.050 2996 1845 1669

13818 1.29 285.8 317.5 8.3 857 13819 0.15 0.00 0.00 0.000 6 0.052 0.000 3036 1861 1670

14131 1.25 285.8 284.7 10.9 877 14135 0.00 2.60 0.00 0.000 4 0.000 0.067 3035 430 1670

14153 1.19 285.8 281.8 11.4 878 14159 0.17 2.50 0.00 0.000 6 0.086 0.050 3001 1839 1670

14475 1.22 285.8 251.5 9.1 899 14479 0.00 2.53 0.00 0.000 4 0.000 0.060 3001 3258 1670

14491 1.26 285.8 249.6 9.5 900 14496 0.00 2.55 0.00 0.000 6 0.000 0.052 3001 1834 1670

14810 1.26 285.8 219.7 9.8 920 14814 0.00 2.58 0.00 0.000 4 0.000 0.059 3001 3254 1670

14856 1.32 285.8 215.2 9.6 923 14861 0.15 2.50 0.00 0.000 6 0.052 0.053 3041 1856 1670

15183 1.27 285.8 176.7 12.2 944 15187 0.00 2.53 0.00 0.000 4 0.000 0.066 3041 442 1671

15200 1.21 285.8 174.2 12.4 945 15205 0.17 2.53 0.00 0.000 6 0.087 0.050 3006 1865 1671

15527 1.21 285.8 143.4 9.1 965 15531 0.00 2.47 0.00 0.000 4 0.000 0.059 3006 3261 1671

15551 1.26 285.8 141.0 9.7 966 15555 0.00 2.50 0.00 0.000 6 0.000 0.052 3006 1861 1671

15873 1.29 285.8 113.4 8.2 982 15877 0.00 2.55 0.00 0.000 4 0.000 0.066 3006 436 1671

15906 1.29 285.8 110.4 8.5 983 15912 0.00 2.50 0.00 0.000 6 0.000 0.048 3006 1855 1671

16224 1.29 285.8 77.1 12.0 999 16225 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1872 1671

16532 1.34 285.8 53.3 9.3 1014 16534 0.15 0.00 0.00 0.000 6 0.051 0.000 3047 1871 1671

16841 1.27 285.8 23.4 11.2 1029 16846 0.15 2.58 0.00 0.000 4 0.087 0.063 3017 439 1672

16869 1.27 285.8 19.5 12.9 1030 16873 0.00 2.47 0.00 0.000 6 0.000 0.047 3017 1848 1672

17079 end climb: SURFACE_DEPTH_REACHED

state 17079 begin surface coast

17101 end surface coast: CONTROL_FINISHED_OK

state 17101 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	189	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	32	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	-103805.88	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	044737,6352.905,-1312.109,37,0.9,37,-12.5	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.018,-0.245
_SM_DEPTHo	1.46	KALMAN_X	-58565.1,1406.0,317.4,-182914.7,-6805.9
_SM_ANGLEo	-60.7	KALMAN_Y	665.7,-1629.4,-837.3,254148.6,9471.6
GPS2	045402,6352.848,-1312.093,15,1.0,15,-12.5	MHEAD_RNG_PITCHd_Wd	196.7,9342,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.9,1.027143	ALTIM_BOTTOM_PING	795.2,18.8
SM_CCo	17125,8.80,0.700,0,0,1608,300.00	_24V_AH	23.8,33.385
SM_GC	2.65,0.00,0.00,8.80,0.000,0.000,0.700,427,2150,1608,-10.66,0.57,300.00	_10V_AH	10.1,15.220
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53683,1041
TT8_MAMPS	0.029146	CAP_FILE_SIZE	145310,0
HUMID	1820	CFSIZE	254472192,241111040
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	54	GPS	300909,094137,6350.934,-1311.348,31,1.6,31,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	158	102.19	SBE_CT	712	24	407.05
Roll_motor	174	79	330.38	SBE_O2	763	19	345.44
VBD_pump_during_apogee	392	1375	12844.88	WL_BB2F	555	105	1389.24
VBD_pump_during_surface	8	700	146.66	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	29	160	113.96	nil	0	0	0.00
Iridium_during_xfer	180	223	957.03
Transponder_ping	21	420	209.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.77
TT8	1832	19	366.37
LPSleep	12436	2	275.09
TT8_Active	583	19	116.61
TT8_Sampling	2057	39	827.09
TT8_CF8	605	45	280.20
TT8_Kalman	33	81	27.57
Analog_circuits	1612	12	195.43
GPS_charging	0	0	0.00
Compass	2013	8	162.69
RAFOS	0	0	0.00
Transponder	52	30	15.79

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	-41.70	0.000	2	0.000	0.000	426	2153	2459
63	-1.22	-146.6	2.4	-3.5	2	127	11.30	2.53	-44.92	0.000	4	0.158	0.080	2472	3524	3430
381	-1.15	-146.6	40.7	-13.9	16	386	0.10	2.50	0.00	0.000	6	0.114	0.047	2491	2116	3430
705	-1.10	-146.6	77.9	-12.3	32	709	0.00	2.60	0.00	0.000	4	0.000	0.064	2491	3533	3430
861	-1.06	-146.6	96.3	-10.7	39	867	0.10	2.47	0.00	0.000	6	0.104	0.048	2513	2141	3430
1184	-1.06	-146.6	130.4	-11.2	55	1188	0.00	2.55	0.00	0.000	4	0.000	0.064	2513	3530	3430
1234	-1.06	-146.6	136.1	-10.4	57	1238	0.00	2.45	0.00	0.000	6	0.000	0.050	2512	2156	3431
1558	-1.06	-146.6	171.1	-11.5	75	1562	0.00	2.55	0.00	0.000	4	0.000	0.061	2513	719	3431
1641	-1.06	-146.6	181.0	-11.4	80	1645	0.00	2.53	0.00	0.000	6	0.000	0.048	2513	2145	3431
1960	-1.06	-146.6	218.2	-12.3	100	1964	0.00	2.58	0.00	0.000	4	0.000	0.071	2513	720	3431
1999	-1.06	-146.6	223.0	-12.5	102	2005	0.00	2.53	0.00	0.000	6	0.000	0.050	2512	2146	3431
2318	-1.06	-146.6	259.0	-11.2	123	2322	0.00	2.60	0.00	0.000	4	0.000	0.064	2513	719	3431
2369	-1.09	-146.6	265.1	-12.2	126	2374	0.00	2.50	0.00	0.000	6	0.000	0.051	2512	2126	3431
2689	-1.09	-146.6	305.0	-12.6	146	2694	0.00	2.55	0.00	0.000	4	0.000	0.064	2512	722	3431
2735	-1.12	-146.6	310.9	-13.1	149	2740	0.00	2.47	0.00	0.000	6	0.000	0.051	2513	2120	3431
3061	-1.12	-146.6	349.0	-11.4	170	3065	0.00	2.55	0.00	0.000	4	0.000	0.062	2512	709	3431
3106	-1.16	-146.6	354.1	-11.4	173	3111	0.00	2.45	0.00	0.000	6	0.000	0.050	2512	2095	3431
3430	-1.16	-146.6	388.1	-10.1	194	3431	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2095	3431
3743	-1.16	-146.6	417.4	-8.9	214	3747	0.00	2.50	0.00	0.000	4	0.000	0.063	2512	716	3430
3788	-1.20	-146.6	421.5	-8.9	217	3793	0.12	2.42	0.00	0.000	6	0.056	0.051	2476	2080	3430
4116	-1.14	-146.6	454.9	-10.5	238	4118	0.10	0.00	0.00	0.000	6	0.103	0.000	2495	2080	3430
4425	-1.14	-146.6	485.4	-10.2	258	4429	0.00	2.47	0.00	0.000	4	0.000	0.064	2495	721	3430
4453	-1.14	-146.6	488.2	-10.3	260	4457	0.00	2.42	0.00	0.000	6	0.000	0.051	2495	2083	3430
4778	-1.14	-146.6	519.4	-9.7	281	4779	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2083	3430
5091	-1.14	-146.6	551.5	-10.7	301	5096	0.00	2.50	0.00	0.000	4	0.000	0.066	2495	709	3430
5164	-1.14	-146.6	560.2	-12.0	305	5171	0.00	2.40	0.00	0.000	6	0.000	0.052	2495	2061	3430
5484	-1.14	-146.6	591.6	-9.1	326	5485	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2061	3429
5796	-1.14	-146.6	618.8	-9.2	346	5800	0.00	2.65	0.00	0.000	4	0.000	0.069	2494	3531	3429
5829	-1.14	-146.6	622.1	-9.6	348	5834	0.00	2.65	0.00	0.000	6	0.000	0.076	2495	2066	3429
6149	-1.14	-146.6	651.8	-8.3	368	6153	0.00	2.42	0.00	0.000	4	0.000	0.068	2495	715	3429
6205	-1.14	-146.6	657.1	-9.9	371	6209	0.00	2.40	0.00	0.000	6	0.000	0.052	2495	2062	3429
6525	-1.14	-146.6	689.4	-10.1	391	6529	0.00	2.67	0.00	0.000	4	0.000	0.073	2495	3532	3428
6592	-1.14	-146.6	696.8	-10.3	395	6596	0.00	2.70	0.00	0.000	6	0.000	0.067	2495	2043	3429
6911	-1.14	-146.6	728.4	-10.7	415	6915	0.00	2.40	0.00	0.000	4	0.000	0.073	2495	714	3428
6933	-1.14	-146.6	730.6	-9.4	416	6939	0.00	2.38	0.00	0.000	6	0.000	0.055	2495	2041	3428
7252	-1.14	-146.6	762.4	-9.9	437	7256	0.00	2.45	0.00	0.000	4	0.000	0.071	2495	714	3428
7274	-1.14	-146.6	764.7	-10.1	438	7280	0.00	2.38	0.00	0.000	6	0.000	0.057	2495	2035	3428
7593	-1.14	-146.6	794.1	-9.6	459	7598	0.00	2.75	0.00	0.000	4	0.000	0.079	2495	3530	3427
7640	-1.14	-146.6	798.6	-9.6	462	7644	0.00	2.72	0.00	0.000	6	0.000	0.065	2495	2039	3427
7697	end dive: BOTTOM_OBSTACLE_DETECTED
state	7698	begin apogee
7705	-0.33	0.0	804.1	9.4	466	7840	0.82	0.00	130.60	1.376	6	0.082	0.000	2670	1840	2831
7840	end apogee: CONTROL_FINISHED_OK
state	7840	begin climb
7843	1.22	146.6	809.1	0.0	475	7981	1.55	0.00	130.00	1.334	6	0.063	0.000	3007	1840	2233
8294	1.16	154.2	779.8	7.7	504	8311	0.00	2.70	8.25	1.091	4	0.000	0.067	3006	3257	2202
8373	1.10	154.2	773.3	8.2	508	8380	0.12	2.58	0.00	0.000	6	0.101	0.066	2985	1869	2202
8693	1.17	196.0	751.8	6.5	529	8738	0.00	2.62	38.08	1.289	4	0.000	0.068	2984	3252	2031
8749	1.18	205.6	747.5	7.7	532	8765	0.00	2.58	10.30	1.143	6	0.000	0.065	2984	1875	1992
9082	1.20	213.4	721.4	7.7	553	9093	0.00	0.00	8.57	1.108	6	0.000	0.000	2984	1875	1960
9407	1.21	223.6	696.7	7.6	574	9421	0.10	0.00	9.95	1.144	6	0.064	0.000	3012	1875	1919
9734	1.17	223.6	667.1	9.6	595	9738	0.00	2.58	0.00	0.000	4	0.000	0.069	3011	3261	1919
9757	1.13	223.6	664.8	10.4	596	9763	0.00	2.55	0.00	0.000	6	0.000	0.064	3012	1874	1918
10076	1.10	223.6	634.7	9.4	617	10081	0.15	2.62	0.00	0.000	4	0.096	0.074	2982	432	1918
10115	1.10	223.6	630.9	9.3	619	10122	0.00	2.62	0.00	0.000	6	0.000	0.056	2982	1886	1917
10435	1.13	242.3	606.0	7.3	640	10460	0.00	2.60	17.67	1.196	4	0.000	0.066	2982	3259	1843
10478	1.18	243.3	602.5	8.0	642	10485	0.00	2.53	0.00	0.000	6	0.000	0.063	2982	1896	1842
10798	1.21	243.3	576.2	9.3	663	10803	0.12	2.67	0.00	0.000	4	0.060	0.073	3015	433	1843
10820	1.21	243.3	573.8	10.5	664	10826	0.00	2.65	0.00	0.000	6	0.000	0.054	3015	1910	1843
11140	1.18	243.3	540.9	10.7	685	11144	0.00	2.75	0.00	0.000	4	0.000	0.072	3014	432	1843
11162	1.12	243.3	538.3	11.2	686	11169	0.15	2.60	0.00	0.000	6	0.093	0.053	2986	1884	1843
11484	1.16	243.3	509.2	8.8	707	11488	0.00	2.67	0.00	0.000	4	0.000	0.070	2985	437	1843
11506	1.16	243.3	506.8	9.4	708	11512	0.00	2.55	0.00	0.000	6	0.000	0.051	2985	1869	1843
11825	1.19	243.3	478.6	8.7	729	11826	0.00	0.00	0.00	0.000	6	0.000	0.000	2985	1884	1843
12138	1.23	243.3	452.9	8.0	749	12143	0.12	2.65	0.00	0.000	4	0.057	0.068	3019	433	1843
12184	1.15	243.3	448.2	10.9	752	12189	0.12	2.53	0.00	0.000	6	0.092	0.051	2996	1851	1843
12508	1.15	243.3	419.6	8.6	773	12510	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	1866	1843
12822	1.18	260.8	395.0	7.4	793	12841	0.00	0.00	17.60	1.031	6	0.000	0.000	2995	1867	1767
13148	1.22	284.9	371.3	7.1	814	13172	0.00	0.00	21.20	1.030	6	0.000	0.000	2996	1867	1669
13476	1.25	285.8	346.2	8.0	835	13481	0.00	2.60	0.00	0.000	4	0.000	0.067	2996	439	1669
13498	1.25	285.8	344.0	8.4	836	13504	0.00	2.50	0.00	0.000	6	0.000	0.050	2996	1845	1669
13818	1.29	285.8	317.5	8.3	857	13819	0.15	0.00	0.00	0.000	6	0.052	0.000	3036	1861	1670
14131	1.25	285.8	284.7	10.9	877	14135	0.00	2.60	0.00	0.000	4	0.000	0.067	3035	430	1670
14153	1.19	285.8	281.8	11.4	878	14159	0.17	2.50	0.00	0.000	6	0.086	0.050	3001	1839	1670
14475	1.22	285.8	251.5	9.1	899	14479	0.00	2.53	0.00	0.000	4	0.000	0.060	3001	3258	1670
14491	1.26	285.8	249.6	9.5	900	14496	0.00	2.55	0.00	0.000	6	0.000	0.052	3001	1834	1670
14810	1.26	285.8	219.7	9.8	920	14814	0.00	2.58	0.00	0.000	4	0.000	0.059	3001	3254	1670
14856	1.32	285.8	215.2	9.6	923	14861	0.15	2.50	0.00	0.000	6	0.052	0.053	3041	1856	1670
15183	1.27	285.8	176.7	12.2	944	15187	0.00	2.53	0.00	0.000	4	0.000	0.066	3041	442	1671
15200	1.21	285.8	174.2	12.4	945	15205	0.17	2.53	0.00	0.000	6	0.087	0.050	3006	1865	1671
15527	1.21	285.8	143.4	9.1	965	15531	0.00	2.47	0.00	0.000	4	0.000	0.059	3006	3261	1671
15551	1.26	285.8	141.0	9.7	966	15555	0.00	2.50	0.00	0.000	6	0.000	0.052	3006	1861	1671
15873	1.29	285.8	113.4	8.2	982	15877	0.00	2.55	0.00	0.000	4	0.000	0.066	3006	436	1671
15906	1.29	285.8	110.4	8.5	983	15912	0.00	2.50	0.00	0.000	6	0.000	0.048	3006	1855	1671
16224	1.29	285.8	77.1	12.0	999	16225	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1872	1671
16532	1.34	285.8	53.3	9.3	1014	16534	0.15	0.00	0.00	0.000	6	0.051	0.000	3047	1871	1671
16841	1.27	285.8	23.4	11.2	1029	16846	0.15	2.58	0.00	0.000	4	0.087	0.063	3017	439	1672
16869	1.27	285.8	19.5	12.9	1030	16873	0.00	2.47	0.00	0.000	6	0.000	0.047	3017	1848	1672
17079	end climb: SURFACE_DEPTH_REACHED
state	17079	begin surface coast
17101	end surface coast: CONTROL_FINISHED_OK
state	17101	begin surface