Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 282 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING 270 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 282 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 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 42 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 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 -92792.516 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 2700 PRESSURE_YINT -23.610077 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 2 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 0 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 0 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 -92792.516

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING 270 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 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2700 KALMAN_USE 2 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 42 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 282 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 231925,6028.111,-409.339,40,1.4,40,-6.3 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6028.199,-431.011

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.20 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -60.2 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 232907,6028.199,-409.101,15,1.3,15,-6.3 MHEAD_RNG_PITCHd_Wd 276.3,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027361 ALTIM_BOTTOM_PING 551.0,72.7

SM_CCo 19018,0.00,0.000,0,0,1449,339.25 _24V_AH 23.7,49.414

SM_GC 1.11,11.00,0.00,0.00,0.035,0.000,0.000,420,1964,1449,-10.40,-1.05,339.25 _10V_AH 10.1,24.414

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47517,912

TT8_MAMPS 0.029146 CAP_FILE_SIZE 132035,0

HUMID 1797 CFSIZE 254472192,234819584

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,42,0,0

XPDR_PINGS 126 GPS 060109,044737,6031.535,-406.555,36,1.0,36,-6.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 134 79.13 SBE_CT 676 24 384.85

Roll_motor 127 87 264.79 SBE_O2 614 19 276.58

VBD_pump_during_apogee 430 1280 13049.53 WL_BB2F 587 105 1461.85

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 75 103 184.37 nil 0 0 0.00

Iridium_during_connect 54 160 206.59 nil 0 0 0.00

Iridium_during_xfer 251 223 1328.54

Transponder_ping 36 420 360.83

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.94

TT8 1622 19 324.40

LPSleep 14890 2 329.37

TT8_Active 559 19 111.96

TT8_Sampling 1813 39 728.84

TT8_CF8 709 45 328.13

TT8_Kalman 0 81 0.00

Analog_circuits 1477 12 179.04

GPS_charging 0 0 0.00

Compass 1777 8 143.59

RAFOS 0 0 0.00

Transponder 33 30 10.07

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 -81.32 0.000 2 0.000 0.000 421 1968 3328

102 -0.97 -146.6 4.4 -5.1 4 125 10.75 2.50 -2.45 0.000 4 0.134 0.077 2479 616 3432

251 -0.77 -146.6 30.8 -12.7 10 257 0.25 2.47 0.00 0.000 6 0.087 0.051 2532 2004 3433

568 -0.67 -146.6 53.7 -8.5 25 572 0.00 2.55 0.00 0.000 4 0.000 0.064 2533 613 3433

590 -0.61 -146.6 55.5 -7.1 26 595 0.15 2.47 0.00 0.000 6 0.084 0.052 2565 2000 3433

913 -0.61 -146.6 75.3 -6.6 42 914 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3433

1220 -0.61 -146.6 97.3 -8.8 57 1225 0.00 2.55 0.00 0.000 4 0.000 0.065 2565 602 3433

1253 -0.61 -146.6 100.2 -8.1 58 1260 0.00 2.50 0.00 0.000 6 0.000 0.052 2565 2009 3433

1572 -0.61 -146.6 124.4 -7.6 74 1573 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2010 3433

1879 -0.61 -146.6 149.6 -8.0 89 1880 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2010 3433

2188 -0.61 -146.6 172.3 -7.2 104 2189 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2010 3433

2497 -0.61 -146.6 196.6 -7.7 119 2502 0.00 2.55 0.00 0.000 4 0.000 0.068 2565 613 3433

2570 -0.61 -146.6 202.5 -8.1 122 2574 0.00 2.47 0.00 0.000 6 0.000 0.052 2565 2006 3433

2885 -0.61 -146.6 226.8 -7.3 137 2887 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3434

3196 -0.61 -146.6 247.3 -6.6 152 3197 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3434

3504 -0.61 -146.6 266.5 -6.2 167 3505 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3434

3813 -0.61 -146.6 285.7 -6.0 182 3815 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3434

4123 -0.61 -146.6 304.5 -6.2 197 4124 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3434

4432 -0.61 -146.6 323.4 -5.9 212 4433 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3434

4741 -0.61 -146.6 340.8 -5.2 227 4743 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3434

5051 -0.61 -146.6 355.6 -5.2 242 5053 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3434

5360 -0.61 -146.6 374.9 -6.2 257 5361 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2006 3433

5669 -0.61 -146.6 393.3 -6.2 272 5670 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3433

5979 -0.61 -146.6 415.0 -8.1 287 5980 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2007 3433

6288 -0.61 -146.6 441.4 -7.7 302 6292 0.00 2.58 0.00 0.000 4 0.000 0.072 2565 604 3433

6321 -0.65 -146.6 443.9 -7.6 303 6327 0.00 2.47 0.00 0.000 6 0.000 0.054 2565 1997 3433

6638 -0.70 -146.6 460.6 -4.9 319 6639 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 1997 3432

6946 -0.74 -146.6 476.0 -4.8 334 6948 0.12 0.00 0.00 0.000 6 0.061 0.000 2529 1997 3432

7256 -0.69 -146.6 502.7 -9.6 349 7260 0.00 2.55 0.00 0.000 4 0.000 0.074 2529 613 3433

7318 -0.64 -146.6 508.1 -8.3 352 7323 0.15 2.45 0.00 0.000 6 0.091 0.058 2561 1982 3433

7646 -0.64 -146.6 524.8 -4.0 368 7651 0.00 2.60 0.00 0.000 4 0.000 0.072 2561 3413 3433

7692 -0.69 -146.6 526.9 -4.4 370 7697 0.00 2.55 0.00 0.000 6 0.000 0.061 2561 2004 3432

8020 -0.69 -146.6 543.7 -5.1 386 8021 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2004 3432

8329 -0.69 -146.6 562.1 -6.9 401 8331 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2004 3431

8638 -0.74 -146.6 581.4 -6.3 416 8640 0.10 0.00 0.00 0.000 6 0.061 0.000 2533 2004 3431

8947 -0.74 -146.6 602.7 -6.7 431 8952 0.00 2.60 0.00 0.000 4 0.000 0.083 2532 593 3430

8997 -0.74 -146.6 606.6 -7.5 433 9002 0.00 2.55 0.00 0.000 6 0.000 0.065 2532 1998 3430

9104 end dive: BOTTOM_OBSTACLE_DETECTED

state 9104 begin apogee

9111 -0.33 0.0 614.5 7.2 438 9247 0.45 0.00 128.60 1.280 6 0.081 0.000 2627 2200 2832

9248 end apogee: CONTROL_FINISHED_OK

state 9248 begin climb

9251 0.97 146.6 620.2 0.0 445 9391 1.35 2.75 129.45 1.239 4 0.067 0.084 2913 3601 2234

9418 0.95 164.9 615.2 5.5 453 9440 0.00 2.62 17.42 1.146 6 0.000 0.071 2913 2205 2159

9749 0.95 164.9 596.0 6.3 469 9753 0.00 2.67 0.00 0.000 4 0.000 0.087 2913 791 2159

9856 0.91 164.9 588.5 7.7 474 9861 0.00 2.58 0.00 0.000 6 0.000 0.068 2913 2180 2159

10184 0.91 164.9 566.7 6.4 490 10189 0.00 2.65 0.00 0.000 4 0.000 0.084 2913 793 2158

10219 0.87 164.9 564.3 6.7 491 10226 0.12 2.58 0.00 0.000 6 0.094 0.071 2891 2176 2158

10535 1.02 232.5 549.7 4.2 507 10600 0.15 2.72 58.88 1.261 4 0.062 0.083 2929 792 1883

10623 1.02 232.5 544.6 7.0 511 10627 0.00 2.60 0.00 0.000 6 0.000 0.070 2929 2173 1883

10939 1.02 232.5 524.2 7.2 526 10944 0.00 2.65 0.00 0.000 4 0.000 0.084 2929 785 1883

10967 1.02 232.5 521.9 8.1 527 10971 0.00 2.58 0.00 0.000 6 0.000 0.069 2929 2170 1883

11283 1.02 232.5 498.7 7.5 542 11287 0.00 2.62 0.00 0.000 4 0.000 0.081 2930 785 1883

11333 1.02 232.5 494.6 8.1 544 11337 0.00 2.53 0.00 0.000 6 0.000 0.067 2929 2156 1883

11649 1.02 232.5 473.2 6.4 559 11650 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2156 1882

11958 1.02 232.5 452.1 6.7 574 11962 0.00 2.58 0.00 0.000 4 0.000 0.077 2929 784 1883

12002 1.02 232.5 449.1 7.4 576 12006 0.00 2.50 0.00 0.000 6 0.000 0.062 2929 2155 1883

12329 1.02 232.5 428.8 6.1 592 12331 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2156 1883

12639 1.02 232.5 409.6 6.2 607 12640 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2156 1882

12948 1.02 232.5 389.6 6.3 622 12953 0.00 2.53 0.00 0.000 4 0.000 0.071 2929 791 1883

12988 1.02 232.5 386.9 6.7 624 12993 0.00 2.45 0.00 0.000 6 0.000 0.058 2930 2148 1883

13316 1.03 234.2 367.5 6.0 640 13317 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2149 1883

13625 1.03 234.2 346.6 6.9 655 13626 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2149 1883

13934 1.03 234.2 324.6 7.0 670 13938 0.00 2.50 0.00 0.000 4 0.000 0.069 2930 790 1884

13966 1.03 234.2 322.1 7.7 671 13973 0.00 2.42 0.00 0.000 6 0.000 0.055 2929 2145 1884

14283 1.03 234.2 301.4 6.4 687 14287 0.00 2.65 0.00 0.000 4 0.000 0.067 2930 3613 1885

14310 1.03 234.2 299.4 6.8 688 14314 0.00 2.65 0.00 0.000 6 0.000 0.054 2929 2134 1885

14625 1.03 234.2 279.4 6.5 703 14631 0.00 0.00 3.65 0.651 6 0.000 0.000 2929 2134 1877

14935 1.03 238.4 260.9 5.9 718 14943 0.00 0.00 5.30 0.788 6 0.000 0.000 2929 2134 1860

15244 1.08 265.6 243.7 5.3 733 15274 0.00 2.80 23.80 0.981 4 0.000 0.064 2929 3603 1749

15293 1.13 266.5 241.0 6.0 735 15297 0.00 2.65 0.00 0.000 6 0.000 0.051 2929 2138 1748

15615 1.22 294.9 224.0 5.2 751 15646 0.15 2.50 25.17 0.963 4 0.052 0.067 2973 783 1629

15669 1.15 294.9 220.1 9.0 753 15675 0.12 2.47 0.00 0.000 6 0.081 0.053 2946 2148 1629

15985 1.15 294.9 198.6 6.9 769 15986 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2148 1629

16294 1.15 294.9 178.4 6.7 784 16297 0.00 2.50 0.00 0.000 4 0.000 0.068 2946 790 1629

16332 1.15 294.9 175.4 7.9 785 16339 0.00 2.42 0.00 0.000 6 0.000 0.054 2946 2142 1629

16649 1.15 294.9 152.6 7.5 801 16650 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2141 1629

16958 1.15 294.9 128.7 7.7 816 16962 0.00 2.50 0.00 0.000 4 0.000 0.067 2946 784 1629

16979 1.15 294.9 127.0 7.5 817 16983 0.00 2.42 0.00 0.000 6 0.000 0.053 2946 2139 1629

17302 1.15 294.9 105.0 6.6 833 17306 0.00 2.47 0.00 0.000 4 0.000 0.066 2946 788 1629

17323 1.15 294.9 103.3 7.2 834 17327 0.00 2.40 0.00 0.000 6 0.000 0.052 2946 2133 1629

17645 1.15 294.9 81.6 6.8 850 17649 0.00 2.47 0.00 0.000 4 0.000 0.066 2947 782 1630

17673 1.15 294.9 79.4 8.3 851 17677 0.00 2.40 0.00 0.000 6 0.000 0.051 2946 2127 1630

17989 1.15 294.9 60.0 6.5 866 17990 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2128 1630

18298 1.17 308.9 40.9 5.6 881 18320 0.00 2.55 12.88 0.802 4 0.000 0.064 2946 789 1571

18337 1.17 308.9 38.2 6.8 882 18344 0.00 2.38 0.00 0.000 6 0.000 0.051 2946 2112 1572

18655 1.22 338.9 20.0 5.2 898 18682 0.00 0.00 24.98 0.822 6 0.000 0.000 2946 2131 1450

18893 end climb: SURFACE_DEPTH_REACHED

state 18893 begin surface coast

18935 end surface coast: CONTROL_FINISHED_OK

state 18935 begin surface

ID	5	HEADING	270	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	282	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	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	42	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	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	-92792.516	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	2700	PRESSURE_YINT	-23.610077	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	2	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	0	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	231925,6028.111,-409.339,40,1.4,40,-6.3	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6028.199,-431.011
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.20	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-60.2	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	232907,6028.199,-409.101,15,1.3,15,-6.3	MHEAD_RNG_PITCHd_Wd	276.3,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.027361	ALTIM_BOTTOM_PING	551.0,72.7
SM_CCo	19018,0.00,0.000,0,0,1449,339.25	_24V_AH	23.7,49.414
SM_GC	1.11,11.00,0.00,0.00,0.035,0.000,0.000,420,1964,1449,-10.40,-1.05,339.25	_10V_AH	10.1,24.414
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47517,912
TT8_MAMPS	0.029146	CAP_FILE_SIZE	132035,0
HUMID	1797	CFSIZE	254472192,234819584
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
XPDR_PINGS	126	GPS	060109,044737,6031.535,-406.555,36,1.0,36,-6.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	134	79.13	SBE_CT	676	24	384.85
Roll_motor	127	87	264.79	SBE_O2	614	19	276.58
VBD_pump_during_apogee	430	1280	13049.53	WL_BB2F	587	105	1461.85
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	184.37	nil	0	0	0.00
Iridium_during_connect	54	160	206.59	nil	0	0	0.00
Iridium_during_xfer	251	223	1328.54
Transponder_ping	36	420	360.83
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.94
TT8	1622	19	324.40
LPSleep	14890	2	329.37
TT8_Active	559	19	111.96
TT8_Sampling	1813	39	728.84
TT8_CF8	709	45	328.13
TT8_Kalman	0	81	0.00
Analog_circuits	1477	12	179.04
GPS_charging	0	0	0.00
Compass	1777	8	143.59
RAFOS	0	0	0.00
Transponder	33	30	10.07

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	-81.32	0.000	2	0.000	0.000	421	1968	3328
102	-0.97	-146.6	4.4	-5.1	4	125	10.75	2.50	-2.45	0.000	4	0.134	0.077	2479	616	3432
251	-0.77	-146.6	30.8	-12.7	10	257	0.25	2.47	0.00	0.000	6	0.087	0.051	2532	2004	3433
568	-0.67	-146.6	53.7	-8.5	25	572	0.00	2.55	0.00	0.000	4	0.000	0.064	2533	613	3433
590	-0.61	-146.6	55.5	-7.1	26	595	0.15	2.47	0.00	0.000	6	0.084	0.052	2565	2000	3433
913	-0.61	-146.6	75.3	-6.6	42	914	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3433
1220	-0.61	-146.6	97.3	-8.8	57	1225	0.00	2.55	0.00	0.000	4	0.000	0.065	2565	602	3433
1253	-0.61	-146.6	100.2	-8.1	58	1260	0.00	2.50	0.00	0.000	6	0.000	0.052	2565	2009	3433
1572	-0.61	-146.6	124.4	-7.6	74	1573	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2010	3433
1879	-0.61	-146.6	149.6	-8.0	89	1880	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2010	3433
2188	-0.61	-146.6	172.3	-7.2	104	2189	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2010	3433
2497	-0.61	-146.6	196.6	-7.7	119	2502	0.00	2.55	0.00	0.000	4	0.000	0.068	2565	613	3433
2570	-0.61	-146.6	202.5	-8.1	122	2574	0.00	2.47	0.00	0.000	6	0.000	0.052	2565	2006	3433
2885	-0.61	-146.6	226.8	-7.3	137	2887	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3434
3196	-0.61	-146.6	247.3	-6.6	152	3197	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3434
3504	-0.61	-146.6	266.5	-6.2	167	3505	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3434
3813	-0.61	-146.6	285.7	-6.0	182	3815	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3434
4123	-0.61	-146.6	304.5	-6.2	197	4124	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3434
4432	-0.61	-146.6	323.4	-5.9	212	4433	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3434
4741	-0.61	-146.6	340.8	-5.2	227	4743	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3434
5051	-0.61	-146.6	355.6	-5.2	242	5053	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3434
5360	-0.61	-146.6	374.9	-6.2	257	5361	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2006	3433
5669	-0.61	-146.6	393.3	-6.2	272	5670	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3433
5979	-0.61	-146.6	415.0	-8.1	287	5980	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2007	3433
6288	-0.61	-146.6	441.4	-7.7	302	6292	0.00	2.58	0.00	0.000	4	0.000	0.072	2565	604	3433
6321	-0.65	-146.6	443.9	-7.6	303	6327	0.00	2.47	0.00	0.000	6	0.000	0.054	2565	1997	3433
6638	-0.70	-146.6	460.6	-4.9	319	6639	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	1997	3432
6946	-0.74	-146.6	476.0	-4.8	334	6948	0.12	0.00	0.00	0.000	6	0.061	0.000	2529	1997	3432
7256	-0.69	-146.6	502.7	-9.6	349	7260	0.00	2.55	0.00	0.000	4	0.000	0.074	2529	613	3433
7318	-0.64	-146.6	508.1	-8.3	352	7323	0.15	2.45	0.00	0.000	6	0.091	0.058	2561	1982	3433
7646	-0.64	-146.6	524.8	-4.0	368	7651	0.00	2.60	0.00	0.000	4	0.000	0.072	2561	3413	3433
7692	-0.69	-146.6	526.9	-4.4	370	7697	0.00	2.55	0.00	0.000	6	0.000	0.061	2561	2004	3432
8020	-0.69	-146.6	543.7	-5.1	386	8021	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2004	3432
8329	-0.69	-146.6	562.1	-6.9	401	8331	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2004	3431
8638	-0.74	-146.6	581.4	-6.3	416	8640	0.10	0.00	0.00	0.000	6	0.061	0.000	2533	2004	3431
8947	-0.74	-146.6	602.7	-6.7	431	8952	0.00	2.60	0.00	0.000	4	0.000	0.083	2532	593	3430
8997	-0.74	-146.6	606.6	-7.5	433	9002	0.00	2.55	0.00	0.000	6	0.000	0.065	2532	1998	3430
9104	end dive: BOTTOM_OBSTACLE_DETECTED
state	9104	begin apogee
9111	-0.33	0.0	614.5	7.2	438	9247	0.45	0.00	128.60	1.280	6	0.081	0.000	2627	2200	2832
9248	end apogee: CONTROL_FINISHED_OK
state	9248	begin climb
9251	0.97	146.6	620.2	0.0	445	9391	1.35	2.75	129.45	1.239	4	0.067	0.084	2913	3601	2234
9418	0.95	164.9	615.2	5.5	453	9440	0.00	2.62	17.42	1.146	6	0.000	0.071	2913	2205	2159
9749	0.95	164.9	596.0	6.3	469	9753	0.00	2.67	0.00	0.000	4	0.000	0.087	2913	791	2159
9856	0.91	164.9	588.5	7.7	474	9861	0.00	2.58	0.00	0.000	6	0.000	0.068	2913	2180	2159
10184	0.91	164.9	566.7	6.4	490	10189	0.00	2.65	0.00	0.000	4	0.000	0.084	2913	793	2158
10219	0.87	164.9	564.3	6.7	491	10226	0.12	2.58	0.00	0.000	6	0.094	0.071	2891	2176	2158
10535	1.02	232.5	549.7	4.2	507	10600	0.15	2.72	58.88	1.261	4	0.062	0.083	2929	792	1883
10623	1.02	232.5	544.6	7.0	511	10627	0.00	2.60	0.00	0.000	6	0.000	0.070	2929	2173	1883
10939	1.02	232.5	524.2	7.2	526	10944	0.00	2.65	0.00	0.000	4	0.000	0.084	2929	785	1883
10967	1.02	232.5	521.9	8.1	527	10971	0.00	2.58	0.00	0.000	6	0.000	0.069	2929	2170	1883
11283	1.02	232.5	498.7	7.5	542	11287	0.00	2.62	0.00	0.000	4	0.000	0.081	2930	785	1883
11333	1.02	232.5	494.6	8.1	544	11337	0.00	2.53	0.00	0.000	6	0.000	0.067	2929	2156	1883
11649	1.02	232.5	473.2	6.4	559	11650	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2156	1882
11958	1.02	232.5	452.1	6.7	574	11962	0.00	2.58	0.00	0.000	4	0.000	0.077	2929	784	1883
12002	1.02	232.5	449.1	7.4	576	12006	0.00	2.50	0.00	0.000	6	0.000	0.062	2929	2155	1883
12329	1.02	232.5	428.8	6.1	592	12331	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2156	1883
12639	1.02	232.5	409.6	6.2	607	12640	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2156	1882
12948	1.02	232.5	389.6	6.3	622	12953	0.00	2.53	0.00	0.000	4	0.000	0.071	2929	791	1883
12988	1.02	232.5	386.9	6.7	624	12993	0.00	2.45	0.00	0.000	6	0.000	0.058	2930	2148	1883
13316	1.03	234.2	367.5	6.0	640	13317	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2149	1883
13625	1.03	234.2	346.6	6.9	655	13626	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2149	1883
13934	1.03	234.2	324.6	7.0	670	13938	0.00	2.50	0.00	0.000	4	0.000	0.069	2930	790	1884
13966	1.03	234.2	322.1	7.7	671	13973	0.00	2.42	0.00	0.000	6	0.000	0.055	2929	2145	1884
14283	1.03	234.2	301.4	6.4	687	14287	0.00	2.65	0.00	0.000	4	0.000	0.067	2930	3613	1885
14310	1.03	234.2	299.4	6.8	688	14314	0.00	2.65	0.00	0.000	6	0.000	0.054	2929	2134	1885
14625	1.03	234.2	279.4	6.5	703	14631	0.00	0.00	3.65	0.651	6	0.000	0.000	2929	2134	1877
14935	1.03	238.4	260.9	5.9	718	14943	0.00	0.00	5.30	0.788	6	0.000	0.000	2929	2134	1860
15244	1.08	265.6	243.7	5.3	733	15274	0.00	2.80	23.80	0.981	4	0.000	0.064	2929	3603	1749
15293	1.13	266.5	241.0	6.0	735	15297	0.00	2.65	0.00	0.000	6	0.000	0.051	2929	2138	1748
15615	1.22	294.9	224.0	5.2	751	15646	0.15	2.50	25.17	0.963	4	0.052	0.067	2973	783	1629
15669	1.15	294.9	220.1	9.0	753	15675	0.12	2.47	0.00	0.000	6	0.081	0.053	2946	2148	1629
15985	1.15	294.9	198.6	6.9	769	15986	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2148	1629
16294	1.15	294.9	178.4	6.7	784	16297	0.00	2.50	0.00	0.000	4	0.000	0.068	2946	790	1629
16332	1.15	294.9	175.4	7.9	785	16339	0.00	2.42	0.00	0.000	6	0.000	0.054	2946	2142	1629
16649	1.15	294.9	152.6	7.5	801	16650	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2141	1629
16958	1.15	294.9	128.7	7.7	816	16962	0.00	2.50	0.00	0.000	4	0.000	0.067	2946	784	1629
16979	1.15	294.9	127.0	7.5	817	16983	0.00	2.42	0.00	0.000	6	0.000	0.053	2946	2139	1629
17302	1.15	294.9	105.0	6.6	833	17306	0.00	2.47	0.00	0.000	4	0.000	0.066	2946	788	1629
17323	1.15	294.9	103.3	7.2	834	17327	0.00	2.40	0.00	0.000	6	0.000	0.052	2946	2133	1629
17645	1.15	294.9	81.6	6.8	850	17649	0.00	2.47	0.00	0.000	4	0.000	0.066	2947	782	1630
17673	1.15	294.9	79.4	8.3	851	17677	0.00	2.40	0.00	0.000	6	0.000	0.051	2946	2127	1630
17989	1.15	294.9	60.0	6.5	866	17990	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2128	1630
18298	1.17	308.9	40.9	5.6	881	18320	0.00	2.55	12.88	0.802	4	0.000	0.064	2946	789	1571
18337	1.17	308.9	38.2	6.8	882	18344	0.00	2.38	0.00	0.000	6	0.000	0.051	2946	2112	1572
18655	1.22	338.9	20.0	5.2	898	18682	0.00	0.00	24.98	0.822	6	0.000	0.000	2946	2131	1450
18893	end climb: SURFACE_DEPTH_REACHED
state	18893	begin surface coast
18935	end surface coast: CONTROL_FINISHED_OK
state	18935	begin surface