Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 194 * 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 194 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 29 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 -103921.12 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 -103921.12

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 29 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 194 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 065946,6349.356,-1322.815,43,1.8,59,-12.6 TGT_NAME P6

_CALLS 1 TGT_LATLONG 6402.820,-1325.500

_XMS_NAKs 2 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.063,0.236

_SM_DEPTHo 1.58 KALMAN_X -57541.6,-266.9,175.4,-191417.9,-1815.7

_SM_ANGLEo -64.9 KALMAN_Y -11054.5,-81.5,-56.5,256990.0,-3216.1

GPS2 070627,6349.321,-1322.687,12,2.4,31,-12.6 MHEAD_RNG_PITCHd_Wd 27.5,25103,-14.9,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.020889 ALTIM_BOTTOM_PING 871.3,35.7

SM_CCo 17850,6.55,0.653,0,0,1608,300.00 _24V_AH 23.7,34.232

SM_GC 2.14,0.00,0.00,6.55,0.000,0.000,0.653,417,2159,1608,-10.70,0.82,300.00 _10V_AH 10.1,15.688

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 56816,1092

TT8_MAMPS 0.029146 CAP_FILE_SIZE 140077,0

HUMID 1813 CFSIZE 254472192,240762880

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 58 GPS 011009,120606,6350.899,-1319.911,32,1.6,32,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 99.14 SBE_CT 748 24 425.74

Roll_motor 152 76 276.58 SBE_O2 801 19 361.09

VBD_pump_during_apogee 394 1435 13429.18 WL_BB2F 553 105 1377.93

VBD_pump_during_surface 6 653 101.44 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 28 160 108.15 nil 0 0 0.00

Iridium_during_xfer 173 223 918.63

Transponder_ping 22 420 226.45

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.12

TT8 1878 19 375.62

LPSleep 13105 2 289.88

TT8_Active 570 19 114.18

TT8_Sampling 2110 39 848.18

TT8_CF8 585 45 271.00

TT8_Kalman 33 81 27.56

Analog_circuits 1595 12 193.34

GPS_charging 0 0 0.00

Compass 2049 8 165.58

RAFOS 0 0 0.00

Transponder 56 30 17.24

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 -145.6 0.0 0.0 0 59 0.00 0.00 -41.78 0.000 2 0.000 0.000 422 2142 2440

63 -1.23 -146.6 2.3 -2.9 2 126 11.23 0.00 -44.03 0.000 6 0.158 0.000 2471 2144 3429

437 -1.13 -146.6 46.9 -13.9 20 442 0.12 2.58 0.00 0.000 4 0.105 0.057 2496 719 3429

487 -1.13 -146.6 53.7 -12.5 22 492 0.00 2.50 0.00 0.000 6 0.000 0.049 2496 2125 3430

806 -1.08 -146.6 91.4 -12.2 37 810 0.00 2.55 0.00 0.000 4 0.000 0.058 2496 712 3429

855 -1.08 -146.6 97.7 -11.8 39 860 0.00 2.50 0.00 0.000 6 0.000 0.048 2497 2124 3429

1172 -1.08 -146.6 132.9 -10.9 54 1176 0.00 2.55 0.00 0.000 4 0.000 0.059 2497 711 3430

1295 -1.08 -146.6 147.5 -11.5 59 1301 0.00 2.47 0.00 0.000 6 0.000 0.048 2497 2114 3430

1619 -1.08 -146.6 183.4 -11.4 80 1620 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2114 3430

1932 -1.08 -146.6 218.4 -11.1 100 1933 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2114 3430

2244 -1.08 -146.6 256.4 -12.7 120 2248 0.00 2.53 0.00 0.000 4 0.000 0.060 2497 715 3430

2306 -1.08 -146.6 264.4 -13.4 124 2311 0.00 2.45 0.00 0.000 6 0.000 0.050 2497 2095 3430

2631 -1.08 -146.6 303.7 -12.1 145 2632 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2095 3430

2943 -1.08 -146.6 340.3 -11.5 165 2947 0.00 2.50 0.00 0.000 4 0.000 0.061 2497 709 3430

2998 -1.08 -146.6 346.8 -11.7 168 3005 0.00 2.47 0.00 0.000 6 0.000 0.050 2497 2109 3430

3317 -1.08 -146.6 383.0 -11.1 189 3318 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2109 3430

3629 -1.08 -146.6 417.7 -10.6 209 3634 0.00 2.53 0.00 0.000 4 0.000 0.062 2497 711 3429

3697 -1.08 -146.6 425.1 -10.9 213 3702 0.00 2.45 0.00 0.000 6 0.000 0.051 2496 2091 3429

4016 -1.08 -146.6 456.4 -9.4 233 4017 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2091 3429

4329 -1.08 -146.6 486.5 -9.5 253 4333 0.00 2.50 0.00 0.000 4 0.000 0.062 2497 709 3429

4367 -1.08 -146.6 490.4 -10.4 255 4374 0.00 2.47 0.00 0.000 6 0.000 0.051 2497 2106 3429

4689 -1.08 -146.6 521.6 -10.1 276 4693 0.00 2.53 0.00 0.000 4 0.000 0.064 2497 716 3429

4722 -1.08 -146.6 525.4 -10.8 278 4727 0.00 2.45 0.00 0.000 6 0.000 0.051 2497 2091 3429

5041 -1.08 -146.6 557.1 -9.9 298 5046 0.00 2.47 0.00 0.000 4 0.000 0.063 2497 718 3428

5075 -1.08 -146.6 560.6 -10.1 300 5079 0.00 2.42 0.00 0.000 6 0.000 0.051 2497 2080 3429

5394 -1.08 -146.6 590.8 -9.4 320 5399 0.00 2.65 0.00 0.000 4 0.000 0.070 2497 3541 3428

5422 -1.08 -146.6 593.7 -9.8 322 5427 0.00 2.65 0.00 0.000 6 0.000 0.058 2497 2068 3428

5747 -1.08 -146.6 626.3 -10.4 343 5749 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2068 3428

6059 -1.08 -146.6 660.6 -10.6 363 6060 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2054 3428

6372 -1.08 -146.6 691.1 -10.2 383 6373 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2055 3428

6684 -1.08 -146.6 726.0 -11.4 403 6686 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2054 3428

6996 -1.08 -146.6 760.6 -10.8 423 7000 0.00 2.42 0.00 0.000 4 0.000 0.067 2497 718 3427

7047 -1.11 -146.6 766.0 -10.2 426 7051 0.00 2.45 0.00 0.000 6 0.000 0.054 2497 2090 3428

7367 -1.11 -146.6 796.6 -9.3 446 7368 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2090 3427

7680 -1.11 -146.6 826.1 -9.7 466 7685 0.00 2.53 0.00 0.000 4 0.000 0.070 2497 718 3427

7726 -1.11 -146.6 830.8 -9.6 469 7731 0.00 2.45 0.00 0.000 6 0.000 0.057 2497 2078 3427

8051 -1.11 -146.6 860.7 -9.5 490 8052 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2078 3426

8363 -1.11 -146.6 890.4 -9.5 510 8368 0.00 2.50 0.00 0.000 4 0.000 0.074 2497 717 3425

8434 end dive: BOTTOM_OBSTACLE_DETECTED

state 8434 begin apogee

8444 -0.33 0.0 897.3 9.6 514 8578 0.77 0.00 131.38 1.435 6 0.077 0.000 2668 1862 2831

8579 end apogee: CONTROL_FINISHED_OK

state 8579 begin climb

8582 1.23 146.6 902.0 0.0 523 8724 1.55 0.00 133.52 1.392 6 0.059 0.000 3009 1864 2233

9040 1.18 165.7 873.9 7.3 553 9064 0.00 2.72 18.42 1.281 4 0.000 0.077 3008 446 2155

9150 1.06 165.7 864.4 9.0 559 9157 0.17 2.55 0.00 0.000 6 0.097 0.057 2977 1848 2155

9470 1.13 211.0 844.1 6.3 580 9514 0.00 0.00 41.70 1.351 6 0.000 0.000 2976 1864 1970

9828 1.21 236.9 819.3 7.0 603 9860 0.15 2.72 24.02 1.313 4 0.057 0.076 3013 439 1865

9889 1.11 236.9 813.6 10.4 606 9896 0.15 2.58 0.00 0.000 6 0.095 0.057 2985 1847 1865

10208 1.11 236.9 784.4 9.5 627 10212 0.00 2.58 0.00 0.000 4 0.000 0.070 2986 3262 1865

10237 1.15 236.9 781.7 9.8 629 10241 0.00 2.60 0.00 0.000 6 0.000 0.065 2986 1851 1865

10561 1.15 236.9 751.8 8.8 650 10562 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 1851 1864

10873 1.15 236.9 720.6 10.2 670 10877 0.00 2.60 0.00 0.000 4 0.000 0.076 2985 435 1864

10929 1.15 236.9 714.3 11.4 673 10935 0.00 2.58 0.00 0.000 6 0.000 0.057 2986 1861 1864

11248 1.18 236.9 680.7 10.1 694 11252 0.00 2.65 0.00 0.000 4 0.000 0.074 2985 439 1864

11293 1.18 236.9 676.0 10.2 697 11298 0.00 2.55 0.00 0.000 6 0.000 0.055 2985 1854 1864

11619 1.26 288.3 652.8 6.1 718 11667 0.15 0.00 45.80 1.275 6 0.058 0.000 3023 1870 1656

11976 1.26 288.3 616.6 10.9 741 11980 0.00 2.62 0.00 0.000 4 0.000 0.069 3023 432 1656

12060 1.20 288.3 606.9 11.4 746 12064 0.00 2.53 0.00 0.000 6 0.000 0.052 3023 1839 1656

12380 1.17 288.3 572.1 10.7 766 12381 0.12 0.00 0.00 0.000 6 0.094 0.000 3000 1854 1656

12692 1.17 288.3 544.4 8.4 786 12693 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1854 1656

13004 1.17 288.3 517.5 9.0 806 13005 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1854 1657

13316 1.17 288.3 485.9 10.9 826 13320 0.00 2.58 0.00 0.000 4 0.000 0.066 3000 435 1657

13349 1.17 288.3 481.9 12.0 828 13354 0.00 2.50 0.00 0.000 6 0.000 0.050 3000 1841 1657

13668 1.17 288.3 448.5 10.4 848 13673 0.00 2.53 0.00 0.000 4 0.000 0.061 3000 3257 1658

13702 1.23 288.3 444.9 10.6 850 13707 0.00 2.58 0.00 0.000 6 0.000 0.056 3000 1832 1658

14022 1.23 288.3 410.4 11.3 870 14026 0.00 2.60 0.00 0.000 4 0.000 0.060 3000 3260 1658

14050 1.29 288.3 407.1 11.5 872 14055 0.12 2.55 0.00 0.000 6 0.057 0.055 3034 1846 1658

14378 1.24 288.3 363.5 13.4 893 14379 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 1845 1658

14687 1.21 288.3 324.2 12.4 913 14692 0.15 2.58 0.00 0.000 4 0.087 0.059 3004 3262 1658

14739 1.28 288.3 318.5 10.8 916 14744 0.00 2.53 0.00 0.000 6 0.000 0.053 3004 1852 1658

15059 1.28 288.3 287.4 9.3 936 15063 0.00 2.53 0.00 0.000 4 0.000 0.066 3004 442 1658

15087 1.28 288.3 284.6 9.4 938 15092 0.00 2.53 0.00 0.000 6 0.000 0.049 3004 1865 1658

15413 1.31 288.3 254.5 9.3 959 15418 0.12 2.47 0.00 0.000 4 0.054 0.059 3039 3258 1659

15446 1.31 288.3 250.7 10.8 961 15450 0.00 2.50 0.00 0.000 6 0.000 0.052 3039 1860 1659

15766 1.26 288.3 215.2 11.4 981 15770 0.00 2.55 0.00 0.000 4 0.000 0.065 3039 435 1659

15805 1.18 288.3 210.2 13.3 983 15812 0.17 2.53 0.00 0.000 6 0.084 0.049 3004 1862 1659

16124 1.22 288.3 179.0 9.2 1004 16125 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 1877 1659

16443 1.26 288.3 147.8 9.2 1024 16447 0.00 2.60 0.00 0.000 4 0.000 0.064 3003 436 1659

16487 1.26 288.3 142.8 12.1 1026 16491 0.00 2.47 0.00 0.000 6 0.000 0.048 3003 1839 1659

16809 1.30 288.3 110.9 10.6 1042 16814 0.12 2.50 0.00 0.000 4 0.055 0.057 3038 3255 1660

16842 1.30 288.3 107.1 10.9 1043 16849 0.00 2.53 0.00 0.000 6 0.000 0.050 3038 1833 1660

17159 1.27 288.3 72.4 10.4 1059 17163 0.00 2.58 0.00 0.000 4 0.000 0.056 3038 3261 1660

17203 1.27 288.3 67.4 12.3 1061 17207 0.00 2.50 0.00 0.000 6 0.000 0.049 3038 1854 1660

17525 1.27 288.3 34.2 10.2 1077 17529 0.00 2.53 0.00 0.000 4 0.000 0.058 3038 3253 1660

17569 1.27 288.3 28.9 10.5 1079 17573 0.00 2.47 0.00 0.000 6 0.000 0.049 3038 1861 1660

17806 end climb: SURFACE_DEPTH_REACHED

state 17806 begin surface coast

17827 end surface coast: CONTROL_FINISHED_OK

state 17827 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	194	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	29	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	-103921.12	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	065946,6349.356,-1322.815,43,1.8,59,-12.6	TGT_NAME	P6
_CALLS	1	TGT_LATLONG	6402.820,-1325.500
_XMS_NAKs	2	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.063,0.236
_SM_DEPTHo	1.58	KALMAN_X	-57541.6,-266.9,175.4,-191417.9,-1815.7
_SM_ANGLEo	-64.9	KALMAN_Y	-11054.5,-81.5,-56.5,256990.0,-3216.1
GPS2	070627,6349.321,-1322.687,12,2.4,31,-12.6	MHEAD_RNG_PITCHd_Wd	27.5,25103,-14.9,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.9,1.020889	ALTIM_BOTTOM_PING	871.3,35.7
SM_CCo	17850,6.55,0.653,0,0,1608,300.00	_24V_AH	23.7,34.232
SM_GC	2.14,0.00,0.00,6.55,0.000,0.000,0.653,417,2159,1608,-10.70,0.82,300.00	_10V_AH	10.1,15.688
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	56816,1092
TT8_MAMPS	0.029146	CAP_FILE_SIZE	140077,0
HUMID	1813	CFSIZE	254472192,240762880
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	58	GPS	011009,120606,6350.899,-1319.911,32,1.6,32,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	99.14	SBE_CT	748	24	425.74
Roll_motor	152	76	276.58	SBE_O2	801	19	361.09
VBD_pump_during_apogee	394	1435	13429.18	WL_BB2F	553	105	1377.93
VBD_pump_during_surface	6	653	101.44	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	108.15	nil	0	0	0.00
Iridium_during_xfer	173	223	918.63
Transponder_ping	22	420	226.45
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.12
TT8	1878	19	375.62
LPSleep	13105	2	289.88
TT8_Active	570	19	114.18
TT8_Sampling	2110	39	848.18
TT8_CF8	585	45	271.00
TT8_Kalman	33	81	27.56
Analog_circuits	1595	12	193.34
GPS_charging	0	0	0.00
Compass	2049	8	165.58
RAFOS	0	0	0.00
Transponder	56	30	17.24

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	-145.6	0.0	0.0	0	59	0.00	0.00	-41.78	0.000	2	0.000	0.000	422	2142	2440
63	-1.23	-146.6	2.3	-2.9	2	126	11.23	0.00	-44.03	0.000	6	0.158	0.000	2471	2144	3429
437	-1.13	-146.6	46.9	-13.9	20	442	0.12	2.58	0.00	0.000	4	0.105	0.057	2496	719	3429
487	-1.13	-146.6	53.7	-12.5	22	492	0.00	2.50	0.00	0.000	6	0.000	0.049	2496	2125	3430
806	-1.08	-146.6	91.4	-12.2	37	810	0.00	2.55	0.00	0.000	4	0.000	0.058	2496	712	3429
855	-1.08	-146.6	97.7	-11.8	39	860	0.00	2.50	0.00	0.000	6	0.000	0.048	2497	2124	3429
1172	-1.08	-146.6	132.9	-10.9	54	1176	0.00	2.55	0.00	0.000	4	0.000	0.059	2497	711	3430
1295	-1.08	-146.6	147.5	-11.5	59	1301	0.00	2.47	0.00	0.000	6	0.000	0.048	2497	2114	3430
1619	-1.08	-146.6	183.4	-11.4	80	1620	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2114	3430
1932	-1.08	-146.6	218.4	-11.1	100	1933	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2114	3430
2244	-1.08	-146.6	256.4	-12.7	120	2248	0.00	2.53	0.00	0.000	4	0.000	0.060	2497	715	3430
2306	-1.08	-146.6	264.4	-13.4	124	2311	0.00	2.45	0.00	0.000	6	0.000	0.050	2497	2095	3430
2631	-1.08	-146.6	303.7	-12.1	145	2632	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2095	3430
2943	-1.08	-146.6	340.3	-11.5	165	2947	0.00	2.50	0.00	0.000	4	0.000	0.061	2497	709	3430
2998	-1.08	-146.6	346.8	-11.7	168	3005	0.00	2.47	0.00	0.000	6	0.000	0.050	2497	2109	3430
3317	-1.08	-146.6	383.0	-11.1	189	3318	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2109	3430
3629	-1.08	-146.6	417.7	-10.6	209	3634	0.00	2.53	0.00	0.000	4	0.000	0.062	2497	711	3429
3697	-1.08	-146.6	425.1	-10.9	213	3702	0.00	2.45	0.00	0.000	6	0.000	0.051	2496	2091	3429
4016	-1.08	-146.6	456.4	-9.4	233	4017	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2091	3429
4329	-1.08	-146.6	486.5	-9.5	253	4333	0.00	2.50	0.00	0.000	4	0.000	0.062	2497	709	3429
4367	-1.08	-146.6	490.4	-10.4	255	4374	0.00	2.47	0.00	0.000	6	0.000	0.051	2497	2106	3429
4689	-1.08	-146.6	521.6	-10.1	276	4693	0.00	2.53	0.00	0.000	4	0.000	0.064	2497	716	3429
4722	-1.08	-146.6	525.4	-10.8	278	4727	0.00	2.45	0.00	0.000	6	0.000	0.051	2497	2091	3429
5041	-1.08	-146.6	557.1	-9.9	298	5046	0.00	2.47	0.00	0.000	4	0.000	0.063	2497	718	3428
5075	-1.08	-146.6	560.6	-10.1	300	5079	0.00	2.42	0.00	0.000	6	0.000	0.051	2497	2080	3429
5394	-1.08	-146.6	590.8	-9.4	320	5399	0.00	2.65	0.00	0.000	4	0.000	0.070	2497	3541	3428
5422	-1.08	-146.6	593.7	-9.8	322	5427	0.00	2.65	0.00	0.000	6	0.000	0.058	2497	2068	3428
5747	-1.08	-146.6	626.3	-10.4	343	5749	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2068	3428
6059	-1.08	-146.6	660.6	-10.6	363	6060	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2054	3428
6372	-1.08	-146.6	691.1	-10.2	383	6373	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2055	3428
6684	-1.08	-146.6	726.0	-11.4	403	6686	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2054	3428
6996	-1.08	-146.6	760.6	-10.8	423	7000	0.00	2.42	0.00	0.000	4	0.000	0.067	2497	718	3427
7047	-1.11	-146.6	766.0	-10.2	426	7051	0.00	2.45	0.00	0.000	6	0.000	0.054	2497	2090	3428
7367	-1.11	-146.6	796.6	-9.3	446	7368	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2090	3427
7680	-1.11	-146.6	826.1	-9.7	466	7685	0.00	2.53	0.00	0.000	4	0.000	0.070	2497	718	3427
7726	-1.11	-146.6	830.8	-9.6	469	7731	0.00	2.45	0.00	0.000	6	0.000	0.057	2497	2078	3427
8051	-1.11	-146.6	860.7	-9.5	490	8052	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2078	3426
8363	-1.11	-146.6	890.4	-9.5	510	8368	0.00	2.50	0.00	0.000	4	0.000	0.074	2497	717	3425
8434	end dive: BOTTOM_OBSTACLE_DETECTED
state	8434	begin apogee
8444	-0.33	0.0	897.3	9.6	514	8578	0.77	0.00	131.38	1.435	6	0.077	0.000	2668	1862	2831
8579	end apogee: CONTROL_FINISHED_OK
state	8579	begin climb
8582	1.23	146.6	902.0	0.0	523	8724	1.55	0.00	133.52	1.392	6	0.059	0.000	3009	1864	2233
9040	1.18	165.7	873.9	7.3	553	9064	0.00	2.72	18.42	1.281	4	0.000	0.077	3008	446	2155
9150	1.06	165.7	864.4	9.0	559	9157	0.17	2.55	0.00	0.000	6	0.097	0.057	2977	1848	2155
9470	1.13	211.0	844.1	6.3	580	9514	0.00	0.00	41.70	1.351	6	0.000	0.000	2976	1864	1970
9828	1.21	236.9	819.3	7.0	603	9860	0.15	2.72	24.02	1.313	4	0.057	0.076	3013	439	1865
9889	1.11	236.9	813.6	10.4	606	9896	0.15	2.58	0.00	0.000	6	0.095	0.057	2985	1847	1865
10208	1.11	236.9	784.4	9.5	627	10212	0.00	2.58	0.00	0.000	4	0.000	0.070	2986	3262	1865
10237	1.15	236.9	781.7	9.8	629	10241	0.00	2.60	0.00	0.000	6	0.000	0.065	2986	1851	1865
10561	1.15	236.9	751.8	8.8	650	10562	0.00	0.00	0.00	0.000	6	0.000	0.000	2985	1851	1864
10873	1.15	236.9	720.6	10.2	670	10877	0.00	2.60	0.00	0.000	4	0.000	0.076	2985	435	1864
10929	1.15	236.9	714.3	11.4	673	10935	0.00	2.58	0.00	0.000	6	0.000	0.057	2986	1861	1864
11248	1.18	236.9	680.7	10.1	694	11252	0.00	2.65	0.00	0.000	4	0.000	0.074	2985	439	1864
11293	1.18	236.9	676.0	10.2	697	11298	0.00	2.55	0.00	0.000	6	0.000	0.055	2985	1854	1864
11619	1.26	288.3	652.8	6.1	718	11667	0.15	0.00	45.80	1.275	6	0.058	0.000	3023	1870	1656
11976	1.26	288.3	616.6	10.9	741	11980	0.00	2.62	0.00	0.000	4	0.000	0.069	3023	432	1656
12060	1.20	288.3	606.9	11.4	746	12064	0.00	2.53	0.00	0.000	6	0.000	0.052	3023	1839	1656
12380	1.17	288.3	572.1	10.7	766	12381	0.12	0.00	0.00	0.000	6	0.094	0.000	3000	1854	1656
12692	1.17	288.3	544.4	8.4	786	12693	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1854	1656
13004	1.17	288.3	517.5	9.0	806	13005	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1854	1657
13316	1.17	288.3	485.9	10.9	826	13320	0.00	2.58	0.00	0.000	4	0.000	0.066	3000	435	1657
13349	1.17	288.3	481.9	12.0	828	13354	0.00	2.50	0.00	0.000	6	0.000	0.050	3000	1841	1657
13668	1.17	288.3	448.5	10.4	848	13673	0.00	2.53	0.00	0.000	4	0.000	0.061	3000	3257	1658
13702	1.23	288.3	444.9	10.6	850	13707	0.00	2.58	0.00	0.000	6	0.000	0.056	3000	1832	1658
14022	1.23	288.3	410.4	11.3	870	14026	0.00	2.60	0.00	0.000	4	0.000	0.060	3000	3260	1658
14050	1.29	288.3	407.1	11.5	872	14055	0.12	2.55	0.00	0.000	6	0.057	0.055	3034	1846	1658
14378	1.24	288.3	363.5	13.4	893	14379	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	1845	1658
14687	1.21	288.3	324.2	12.4	913	14692	0.15	2.58	0.00	0.000	4	0.087	0.059	3004	3262	1658
14739	1.28	288.3	318.5	10.8	916	14744	0.00	2.53	0.00	0.000	6	0.000	0.053	3004	1852	1658
15059	1.28	288.3	287.4	9.3	936	15063	0.00	2.53	0.00	0.000	4	0.000	0.066	3004	442	1658
15087	1.28	288.3	284.6	9.4	938	15092	0.00	2.53	0.00	0.000	6	0.000	0.049	3004	1865	1658
15413	1.31	288.3	254.5	9.3	959	15418	0.12	2.47	0.00	0.000	4	0.054	0.059	3039	3258	1659
15446	1.31	288.3	250.7	10.8	961	15450	0.00	2.50	0.00	0.000	6	0.000	0.052	3039	1860	1659
15766	1.26	288.3	215.2	11.4	981	15770	0.00	2.55	0.00	0.000	4	0.000	0.065	3039	435	1659
15805	1.18	288.3	210.2	13.3	983	15812	0.17	2.53	0.00	0.000	6	0.084	0.049	3004	1862	1659
16124	1.22	288.3	179.0	9.2	1004	16125	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	1877	1659
16443	1.26	288.3	147.8	9.2	1024	16447	0.00	2.60	0.00	0.000	4	0.000	0.064	3003	436	1659
16487	1.26	288.3	142.8	12.1	1026	16491	0.00	2.47	0.00	0.000	6	0.000	0.048	3003	1839	1659
16809	1.30	288.3	110.9	10.6	1042	16814	0.12	2.50	0.00	0.000	4	0.055	0.057	3038	3255	1660
16842	1.30	288.3	107.1	10.9	1043	16849	0.00	2.53	0.00	0.000	6	0.000	0.050	3038	1833	1660
17159	1.27	288.3	72.4	10.4	1059	17163	0.00	2.58	0.00	0.000	4	0.000	0.056	3038	3261	1660
17203	1.27	288.3	67.4	12.3	1061	17207	0.00	2.50	0.00	0.000	6	0.000	0.049	3038	1854	1660
17525	1.27	288.3	34.2	10.2	1077	17529	0.00	2.53	0.00	0.000	4	0.000	0.058	3038	3253	1660
17569	1.27	288.3	28.9	10.5	1079	17573	0.00	2.47	0.00	0.000	6	0.000	0.049	3038	1861	1660
17806	end climb: SURFACE_DEPTH_REACHED
state	17806	begin surface coast
17827	end surface coast: CONTROL_FINISHED_OK
state	17827	begin surface