Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 196 * 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 196 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 2200 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -91111.086 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 2650 PRESSURE_YINT -23.610077 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.610077 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -91111.086

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2650 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 196 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 162021,6052.286,-320.548,39,2.1,58,-6.0 TGT_NAME SSEC_SE

_CALLS 2 TGT_LATLONG 6016.000,-359.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.116,-0.188

_SM_DEPTHo 0.97 KALMAN_X 199766.6,589.8,271.0,-65947.4,10521.1

_SM_ANGLEo -57.5 KALMAN_Y 115363.1,536.9,429.4,-427440.1,1584.8

GPS2 162921,6052.302,-320.070,12,1.7,12,-6.0 MHEAD_RNG_PITCHd_Wd 217.7,76150,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027312 ALTIM_BOTTOM_PING 625.4,55.5

SM_CCo 18940,0.00,0.000,0,0,1492,328.46 _24V_AH 23.8,34.681

SM_GC 0.92,11.05,0.00,0.00,0.038,0.000,0.000,420,1982,1492,-10.17,-0.45,328.46 _10V_AH 10.1,16.874

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47399,910

TT8_MAMPS 0.028379 CAP_FILE_SIZE 133365,0

HUMID 1774 CFSIZE 254472192,240373760

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,34,0,0

XPDR_PINGS 440 GPS 161208,214732,6050.602,-317.343,62,0.9,62,-6.0

ALTIM_TOP_PING 19.4,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 133 81.55 SBE_CT 671 24 383.30

Roll_motor 127 82 252.06 SBE_O2 614 19 277.86

VBD_pump_during_apogee 407 1326 12873.77 WL_BB2F 546 105 1364.83

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.14 nil 0 0 0.00

Iridium_during_connect 121 160 461.83 nil 0 0 0.00

Iridium_during_xfer 152 223 808.01

Transponder_ping 115 420 1157.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.10

TT8 1638 19 327.61

LPSleep 14815 2 327.71

TT8_Active 521 19 104.25

TT8_Sampling 1825 39 733.92

TT8_CF8 673 45 311.40

TT8_Kalman 33 81 27.58

Analog_circuits 1454 12 176.26

GPS_charging 0 0 0.00

Compass 1791 8 144.74

RAFOS 0 0 0.00

Transponder 39 30 11.82

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.97 -146.6 0.0 0.0 0 99 0.00 0.00 -81.25 0.000 2 0.000 0.000 421 1958 3352

103 -0.97 -146.6 4.0 -4.5 4 125 10.40 2.65 -1.85 0.000 4 0.133 0.070 2432 3413 3432

246 -0.64 -146.6 34.1 -18.1 10 251 0.38 2.50 0.00 0.000 6 0.082 0.048 2512 2003 3432

568 -0.49 -146.6 66.7 -10.2 26 573 0.15 2.58 0.00 0.000 4 0.091 0.058 2543 3410 3432

635 -0.49 -146.6 72.3 -8.8 29 640 0.00 2.50 0.00 0.000 6 0.000 0.048 2543 2003 3433

957 -0.39 -146.6 99.0 -10.0 45 959 0.10 0.00 0.00 0.000 6 0.096 0.000 2564 2002 3432

1267 -0.39 -146.6 126.0 -9.1 60 1268 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2003 3433

1574 -0.39 -146.6 152.7 -8.0 75 1579 0.00 2.55 0.00 0.000 4 0.000 0.061 2564 3410 3432

1619 -0.39 -146.6 156.3 -7.9 77 1623 0.00 2.47 0.00 0.000 6 0.000 0.049 2564 2013 3433

1946 -0.39 -146.6 181.4 -7.0 93 1947 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2013 3433

2255 -0.39 -146.6 203.9 -7.3 108 2256 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2013 3433

2566 -0.39 -146.6 225.5 -7.0 123 2571 0.00 2.55 0.00 0.000 4 0.000 0.061 2564 3409 3433

2611 -0.39 -146.6 228.7 -6.7 125 2616 0.00 2.47 0.00 0.000 6 0.000 0.051 2564 2020 3433

2933 -0.39 -146.6 252.4 -7.5 141 2938 0.00 2.55 0.00 0.000 4 0.000 0.065 2564 593 3433

2955 -0.39 -146.6 254.1 -7.2 142 2960 0.00 2.53 0.00 0.000 6 0.000 0.051 2564 2030 3433

3277 -0.39 -146.6 277.5 -7.6 158 3278 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2030 3433

3585 -0.39 -146.6 298.8 -6.6 173 3590 0.00 2.62 0.00 0.000 4 0.000 0.067 2564 591 3433

3619 -0.39 -146.6 301.3 -7.1 174 3625 0.00 2.53 0.00 0.000 6 0.000 0.052 2564 2016 3433

3935 -0.39 -146.6 323.1 -7.0 190 3936 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2017 3432

4243 -0.39 -146.6 346.4 -7.9 205 4245 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2017 3433

4553 -0.39 -146.6 370.1 -7.6 220 4554 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2018 3433

4862 -0.39 -146.6 393.6 -7.6 235 4864 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2017 3433

5171 -0.39 -146.6 417.4 -7.4 250 5172 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2018 3432

5481 -0.39 -146.6 440.2 -7.3 265 5482 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2018 3432

5790 -0.39 -146.6 461.9 -7.2 280 5795 0.00 2.50 0.00 0.000 4 0.000 0.067 2563 3405 3432

5824 -0.43 -146.6 464.8 -8.2 281 5830 0.00 2.50 0.00 0.000 6 0.000 0.057 2563 2014 3432

6140 -0.43 -146.6 489.3 -7.5 297 6144 0.00 2.55 0.00 0.000 4 0.000 0.064 2564 3412 3432

6185 -0.48 -146.6 492.6 -7.7 299 6189 0.00 2.47 0.00 0.000 6 0.000 0.055 2564 2030 3432

6506 -0.52 -146.6 512.9 -5.3 315 6508 0.12 0.00 0.00 0.000 6 0.058 0.000 2528 2028 3432

6816 -0.46 -146.6 531.3 -6.3 330 6820 0.10 2.53 0.00 0.000 4 0.094 0.067 2549 3411 3432

6865 -0.46 -146.6 534.5 -6.3 332 6870 0.00 2.47 0.00 0.000 6 0.000 0.059 2549 2042 3432

7181 -0.46 -146.6 553.2 -6.1 347 7185 0.00 2.62 0.00 0.000 4 0.000 0.073 2549 594 3432

7237 -0.46 -146.6 557.1 -6.8 349 7243 0.00 2.58 0.00 0.000 6 0.000 0.058 2549 2033 3432

7552 -0.46 -146.6 576.6 -6.3 365 7557 0.00 2.50 0.00 0.000 4 0.000 0.074 2549 3405 3431

7580 -0.46 -146.6 578.6 -7.0 366 7584 0.00 2.50 0.00 0.000 6 0.000 0.064 2549 2037 3431

7897 -0.46 -146.6 599.0 -6.5 381 7898 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2037 3430

8205 -0.46 -146.6 618.6 -6.4 396 8207 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2037 3429

8515 -0.46 -146.6 639.2 -6.6 411 8516 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2037 3429

8825 -0.46 -146.6 658.1 -6.1 426 8829 0.00 2.55 0.00 0.000 4 0.000 0.077 2549 3404 3428

8865 -0.46 -146.6 660.9 -7.6 428 8869 0.00 2.53 0.00 0.000 6 0.000 0.070 2549 2034 3427

9024 end dive: BOTTOM_OBSTACLE_DETECTED

state 9024 begin apogee

9031 -0.33 0.0 671.5 6.5 436 9158 0.12 0.00 123.68 1.327 6 0.100 0.000 2575 2203 2832

9158 end apogee: CONTROL_FINISHED_OK

state 9158 begin climb

9162 0.97 146.6 677.5 0.0 442 9295 1.33 2.75 123.07 1.294 4 0.072 0.082 2856 3598 2234

9348 1.15 188.5 671.2 4.9 450 9391 0.20 2.62 36.42 1.243 6 0.057 0.071 2904 2181 2063

9705 1.27 188.5 648.3 6.9 467 9709 0.00 2.60 0.00 0.000 4 0.000 0.081 2905 804 2063

9794 1.27 188.5 641.8 6.7 471 9798 0.00 2.47 0.00 0.000 6 0.000 0.066 2905 2141 2062

10115 1.27 188.5 622.1 6.0 487 10119 0.00 2.72 0.00 0.000 4 0.000 0.083 2905 3602 2061

10160 1.27 188.5 619.1 6.3 489 10165 0.00 2.70 0.00 0.000 6 0.000 0.071 2905 2157 2061

10481 1.27 192.4 599.8 5.9 505 10488 0.10 0.00 4.60 0.916 6 0.070 0.000 2932 2157 2047

10791 1.22 192.4 577.4 7.8 520 10795 0.00 2.53 0.00 0.000 4 0.000 0.082 2932 790 2046

10818 1.14 192.4 575.1 8.0 521 10824 0.17 2.53 0.00 0.000 6 0.095 0.067 2898 2157 2046

11144 1.22 203.7 555.7 5.7 537 11159 0.00 0.00 11.00 1.171 6 0.000 0.000 2898 2157 2000

11470 1.35 244.7 538.5 4.9 553 11513 0.20 2.67 35.00 1.257 4 0.058 0.078 2952 787 1834

11530 1.26 244.7 534.3 7.8 555 11537 0.15 2.55 0.00 0.000 6 0.094 0.065 2923 2156 1834

11847 1.26 244.7 515.0 6.0 571 11848 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2156 1835

12155 1.26 244.7 495.2 6.4 586 12157 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2156 1836

12465 1.27 248.0 476.2 5.9 601 12475 0.00 2.60 4.97 0.912 4 0.000 0.074 2923 784 1820

12504 1.27 248.0 473.5 6.9 603 12508 0.00 2.50 0.00 0.000 6 0.000 0.061 2923 2148 1820

12830 1.27 248.0 453.2 6.3 619 12831 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2148 1821

13140 1.27 248.0 432.7 6.6 634 13141 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2148 1821

13449 1.27 248.0 411.7 6.6 649 13450 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2148 1821

13759 1.31 248.0 392.2 6.0 664 13760 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2148 1822

14069 1.40 275.1 375.5 5.3 679 14098 0.12 2.58 24.00 1.071 4 0.056 0.067 2960 788 1710

14144 1.35 275.1 369.9 7.3 682 14148 0.00 2.45 0.00 0.000 6 0.000 0.054 2960 2147 1710

14461 1.30 275.1 344.0 8.8 697 14462 0.15 0.00 0.00 0.000 6 0.081 0.000 2929 2147 1710

14769 1.34 275.1 322.1 7.5 712 14774 0.00 2.50 0.00 0.000 4 0.000 0.067 2929 789 1711

14838 1.34 275.1 315.9 10.3 715 14842 0.00 2.42 0.00 0.000 6 0.000 0.053 2929 2144 1710

15160 1.39 275.1 287.1 9.0 731 15165 0.10 2.53 0.00 0.000 4 0.058 0.067 2960 786 1711

15193 1.34 275.1 283.4 10.4 732 15199 0.00 2.40 0.00 0.000 6 0.000 0.053 2960 2128 1712

15509 1.34 275.1 252.2 9.6 748 15510 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2126 1712

15819 1.34 275.1 222.7 6.9 763 15823 0.00 2.67 0.00 0.000 4 0.000 0.064 2960 3616 1712

15840 1.30 275.1 220.6 9.3 764 15846 0.12 2.70 0.00 0.000 6 0.084 0.052 2931 2102 1712

16161 1.30 275.1 196.4 8.2 780 16163 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2101 1713

16472 1.35 275.1 174.4 6.2 795 16476 0.00 2.38 0.00 0.000 4 0.000 0.064 2931 781 1713

16494 1.39 275.1 172.9 7.2 796 16498 0.00 2.40 0.00 0.000 6 0.000 0.050 2931 2130 1713

16815 1.44 275.1 151.7 6.7 812 16817 0.15 0.00 0.00 0.000 6 0.050 0.000 2976 2130 1714

17125 1.35 275.1 124.1 10.5 827 17130 0.15 2.47 0.00 0.000 4 0.077 0.064 2944 784 1714

17153 1.35 275.1 121.6 9.2 828 17157 0.00 2.38 0.00 0.000 6 0.000 0.051 2944 2122 1714

17469 1.35 275.1 102.7 6.8 843 17471 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2122 1714

17779 1.35 275.1 81.3 7.4 858 17781 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2123 1715

18088 1.38 292.4 62.9 5.5 873 18110 0.00 2.72 15.90 0.803 4 0.000 0.062 2943 3613 1639

18122 1.50 327.8 61.0 5.0 874 18158 0.15 2.72 29.00 0.828 6 0.051 0.051 2985 2098 1494

18489 1.41 327.8 27.7 8.6 892 18491 0.15 0.00 0.00 0.000 6 0.082 0.000 2955 2098 1494

18796 1.41 327.8 4.5 9.2 907 18797 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2098 1494

18813 end climb: SURFACE_DEPTH_REACHED

state 18813 begin surface coast

18857 end surface coast: CONTROL_FINISHED_OK

state 18857 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	196	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	2200	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-91111.086	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	2650	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	162021,6052.286,-320.548,39,2.1,58,-6.0	TGT_NAME	SSEC_SE
_CALLS	2	TGT_LATLONG	6016.000,-359.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.116,-0.188
_SM_DEPTHo	0.97	KALMAN_X	199766.6,589.8,271.0,-65947.4,10521.1
_SM_ANGLEo	-57.5	KALMAN_Y	115363.1,536.9,429.4,-427440.1,1584.8
GPS2	162921,6052.302,-320.070,12,1.7,12,-6.0	MHEAD_RNG_PITCHd_Wd	217.7,76150,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.027312	ALTIM_BOTTOM_PING	625.4,55.5
SM_CCo	18940,0.00,0.000,0,0,1492,328.46	_24V_AH	23.8,34.681
SM_GC	0.92,11.05,0.00,0.00,0.038,0.000,0.000,420,1982,1492,-10.17,-0.45,328.46	_10V_AH	10.1,16.874
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47399,910
TT8_MAMPS	0.028379	CAP_FILE_SIZE	133365,0
HUMID	1774	CFSIZE	254472192,240373760
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
XPDR_PINGS	440	GPS	161208,214732,6050.602,-317.343,62,0.9,62,-6.0
ALTIM_TOP_PING	19.4,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	133	81.55	SBE_CT	671	24	383.30
Roll_motor	127	82	252.06	SBE_O2	614	19	277.86
VBD_pump_during_apogee	407	1326	12873.77	WL_BB2F	546	105	1364.83
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.14	nil	0	0	0.00
Iridium_during_connect	121	160	461.83	nil	0	0	0.00
Iridium_during_xfer	152	223	808.01
Transponder_ping	115	420	1157.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.10
TT8	1638	19	327.61
LPSleep	14815	2	327.71
TT8_Active	521	19	104.25
TT8_Sampling	1825	39	733.92
TT8_CF8	673	45	311.40
TT8_Kalman	33	81	27.58
Analog_circuits	1454	12	176.26
GPS_charging	0	0	0.00
Compass	1791	8	144.74
RAFOS	0	0	0.00
Transponder	39	30	11.82

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.97	-146.6	0.0	0.0	0	99	0.00	0.00	-81.25	0.000	2	0.000	0.000	421	1958	3352
103	-0.97	-146.6	4.0	-4.5	4	125	10.40	2.65	-1.85	0.000	4	0.133	0.070	2432	3413	3432
246	-0.64	-146.6	34.1	-18.1	10	251	0.38	2.50	0.00	0.000	6	0.082	0.048	2512	2003	3432
568	-0.49	-146.6	66.7	-10.2	26	573	0.15	2.58	0.00	0.000	4	0.091	0.058	2543	3410	3432
635	-0.49	-146.6	72.3	-8.8	29	640	0.00	2.50	0.00	0.000	6	0.000	0.048	2543	2003	3433
957	-0.39	-146.6	99.0	-10.0	45	959	0.10	0.00	0.00	0.000	6	0.096	0.000	2564	2002	3432
1267	-0.39	-146.6	126.0	-9.1	60	1268	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2003	3433
1574	-0.39	-146.6	152.7	-8.0	75	1579	0.00	2.55	0.00	0.000	4	0.000	0.061	2564	3410	3432
1619	-0.39	-146.6	156.3	-7.9	77	1623	0.00	2.47	0.00	0.000	6	0.000	0.049	2564	2013	3433
1946	-0.39	-146.6	181.4	-7.0	93	1947	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2013	3433
2255	-0.39	-146.6	203.9	-7.3	108	2256	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2013	3433
2566	-0.39	-146.6	225.5	-7.0	123	2571	0.00	2.55	0.00	0.000	4	0.000	0.061	2564	3409	3433
2611	-0.39	-146.6	228.7	-6.7	125	2616	0.00	2.47	0.00	0.000	6	0.000	0.051	2564	2020	3433
2933	-0.39	-146.6	252.4	-7.5	141	2938	0.00	2.55	0.00	0.000	4	0.000	0.065	2564	593	3433
2955	-0.39	-146.6	254.1	-7.2	142	2960	0.00	2.53	0.00	0.000	6	0.000	0.051	2564	2030	3433
3277	-0.39	-146.6	277.5	-7.6	158	3278	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2030	3433
3585	-0.39	-146.6	298.8	-6.6	173	3590	0.00	2.62	0.00	0.000	4	0.000	0.067	2564	591	3433
3619	-0.39	-146.6	301.3	-7.1	174	3625	0.00	2.53	0.00	0.000	6	0.000	0.052	2564	2016	3433
3935	-0.39	-146.6	323.1	-7.0	190	3936	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2017	3432
4243	-0.39	-146.6	346.4	-7.9	205	4245	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2017	3433
4553	-0.39	-146.6	370.1	-7.6	220	4554	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2018	3433
4862	-0.39	-146.6	393.6	-7.6	235	4864	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2017	3433
5171	-0.39	-146.6	417.4	-7.4	250	5172	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2018	3432
5481	-0.39	-146.6	440.2	-7.3	265	5482	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2018	3432
5790	-0.39	-146.6	461.9	-7.2	280	5795	0.00	2.50	0.00	0.000	4	0.000	0.067	2563	3405	3432
5824	-0.43	-146.6	464.8	-8.2	281	5830	0.00	2.50	0.00	0.000	6	0.000	0.057	2563	2014	3432
6140	-0.43	-146.6	489.3	-7.5	297	6144	0.00	2.55	0.00	0.000	4	0.000	0.064	2564	3412	3432
6185	-0.48	-146.6	492.6	-7.7	299	6189	0.00	2.47	0.00	0.000	6	0.000	0.055	2564	2030	3432
6506	-0.52	-146.6	512.9	-5.3	315	6508	0.12	0.00	0.00	0.000	6	0.058	0.000	2528	2028	3432
6816	-0.46	-146.6	531.3	-6.3	330	6820	0.10	2.53	0.00	0.000	4	0.094	0.067	2549	3411	3432
6865	-0.46	-146.6	534.5	-6.3	332	6870	0.00	2.47	0.00	0.000	6	0.000	0.059	2549	2042	3432
7181	-0.46	-146.6	553.2	-6.1	347	7185	0.00	2.62	0.00	0.000	4	0.000	0.073	2549	594	3432
7237	-0.46	-146.6	557.1	-6.8	349	7243	0.00	2.58	0.00	0.000	6	0.000	0.058	2549	2033	3432
7552	-0.46	-146.6	576.6	-6.3	365	7557	0.00	2.50	0.00	0.000	4	0.000	0.074	2549	3405	3431
7580	-0.46	-146.6	578.6	-7.0	366	7584	0.00	2.50	0.00	0.000	6	0.000	0.064	2549	2037	3431
7897	-0.46	-146.6	599.0	-6.5	381	7898	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2037	3430
8205	-0.46	-146.6	618.6	-6.4	396	8207	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2037	3429
8515	-0.46	-146.6	639.2	-6.6	411	8516	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2037	3429
8825	-0.46	-146.6	658.1	-6.1	426	8829	0.00	2.55	0.00	0.000	4	0.000	0.077	2549	3404	3428
8865	-0.46	-146.6	660.9	-7.6	428	8869	0.00	2.53	0.00	0.000	6	0.000	0.070	2549	2034	3427
9024	end dive: BOTTOM_OBSTACLE_DETECTED
state	9024	begin apogee
9031	-0.33	0.0	671.5	6.5	436	9158	0.12	0.00	123.68	1.327	6	0.100	0.000	2575	2203	2832
9158	end apogee: CONTROL_FINISHED_OK
state	9158	begin climb
9162	0.97	146.6	677.5	0.0	442	9295	1.33	2.75	123.07	1.294	4	0.072	0.082	2856	3598	2234
9348	1.15	188.5	671.2	4.9	450	9391	0.20	2.62	36.42	1.243	6	0.057	0.071	2904	2181	2063
9705	1.27	188.5	648.3	6.9	467	9709	0.00	2.60	0.00	0.000	4	0.000	0.081	2905	804	2063
9794	1.27	188.5	641.8	6.7	471	9798	0.00	2.47	0.00	0.000	6	0.000	0.066	2905	2141	2062
10115	1.27	188.5	622.1	6.0	487	10119	0.00	2.72	0.00	0.000	4	0.000	0.083	2905	3602	2061
10160	1.27	188.5	619.1	6.3	489	10165	0.00	2.70	0.00	0.000	6	0.000	0.071	2905	2157	2061
10481	1.27	192.4	599.8	5.9	505	10488	0.10	0.00	4.60	0.916	6	0.070	0.000	2932	2157	2047
10791	1.22	192.4	577.4	7.8	520	10795	0.00	2.53	0.00	0.000	4	0.000	0.082	2932	790	2046
10818	1.14	192.4	575.1	8.0	521	10824	0.17	2.53	0.00	0.000	6	0.095	0.067	2898	2157	2046
11144	1.22	203.7	555.7	5.7	537	11159	0.00	0.00	11.00	1.171	6	0.000	0.000	2898	2157	2000
11470	1.35	244.7	538.5	4.9	553	11513	0.20	2.67	35.00	1.257	4	0.058	0.078	2952	787	1834
11530	1.26	244.7	534.3	7.8	555	11537	0.15	2.55	0.00	0.000	6	0.094	0.065	2923	2156	1834
11847	1.26	244.7	515.0	6.0	571	11848	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2156	1835
12155	1.26	244.7	495.2	6.4	586	12157	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2156	1836
12465	1.27	248.0	476.2	5.9	601	12475	0.00	2.60	4.97	0.912	4	0.000	0.074	2923	784	1820
12504	1.27	248.0	473.5	6.9	603	12508	0.00	2.50	0.00	0.000	6	0.000	0.061	2923	2148	1820
12830	1.27	248.0	453.2	6.3	619	12831	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2148	1821
13140	1.27	248.0	432.7	6.6	634	13141	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2148	1821
13449	1.27	248.0	411.7	6.6	649	13450	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2148	1821
13759	1.31	248.0	392.2	6.0	664	13760	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2148	1822
14069	1.40	275.1	375.5	5.3	679	14098	0.12	2.58	24.00	1.071	4	0.056	0.067	2960	788	1710
14144	1.35	275.1	369.9	7.3	682	14148	0.00	2.45	0.00	0.000	6	0.000	0.054	2960	2147	1710
14461	1.30	275.1	344.0	8.8	697	14462	0.15	0.00	0.00	0.000	6	0.081	0.000	2929	2147	1710
14769	1.34	275.1	322.1	7.5	712	14774	0.00	2.50	0.00	0.000	4	0.000	0.067	2929	789	1711
14838	1.34	275.1	315.9	10.3	715	14842	0.00	2.42	0.00	0.000	6	0.000	0.053	2929	2144	1710
15160	1.39	275.1	287.1	9.0	731	15165	0.10	2.53	0.00	0.000	4	0.058	0.067	2960	786	1711
15193	1.34	275.1	283.4	10.4	732	15199	0.00	2.40	0.00	0.000	6	0.000	0.053	2960	2128	1712
15509	1.34	275.1	252.2	9.6	748	15510	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2126	1712
15819	1.34	275.1	222.7	6.9	763	15823	0.00	2.67	0.00	0.000	4	0.000	0.064	2960	3616	1712
15840	1.30	275.1	220.6	9.3	764	15846	0.12	2.70	0.00	0.000	6	0.084	0.052	2931	2102	1712
16161	1.30	275.1	196.4	8.2	780	16163	0.00	0.00	0.00	0.000	6	0.000	0.000	2931	2101	1713
16472	1.35	275.1	174.4	6.2	795	16476	0.00	2.38	0.00	0.000	4	0.000	0.064	2931	781	1713
16494	1.39	275.1	172.9	7.2	796	16498	0.00	2.40	0.00	0.000	6	0.000	0.050	2931	2130	1713
16815	1.44	275.1	151.7	6.7	812	16817	0.15	0.00	0.00	0.000	6	0.050	0.000	2976	2130	1714
17125	1.35	275.1	124.1	10.5	827	17130	0.15	2.47	0.00	0.000	4	0.077	0.064	2944	784	1714
17153	1.35	275.1	121.6	9.2	828	17157	0.00	2.38	0.00	0.000	6	0.000	0.051	2944	2122	1714
17469	1.35	275.1	102.7	6.8	843	17471	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2122	1714
17779	1.35	275.1	81.3	7.4	858	17781	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2123	1715
18088	1.38	292.4	62.9	5.5	873	18110	0.00	2.72	15.90	0.803	4	0.000	0.062	2943	3613	1639
18122	1.50	327.8	61.0	5.0	874	18158	0.15	2.72	29.00	0.828	6	0.051	0.051	2985	2098	1494
18489	1.41	327.8	27.7	8.6	892	18491	0.15	0.00	0.00	0.000	6	0.082	0.000	2955	2098	1494
18796	1.41	327.8	4.5	9.2	907	18797	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2098	1494
18813	end climb: SURFACE_DEPTH_REACHED
state	18813	begin surface coast
18857	end surface coast: CONTROL_FINISHED_OK
state	18857	begin surface