Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 293 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING 225 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 293 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 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 -92953.883 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 -92953.883

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING 225 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 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 293 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 074425,6015.029,-446.359,40,1.1,40,-6.6 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6007.517,-501.052

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.25 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -57.4 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 075420,6015.153,-445.721,12,1.2,12,-6.6 MHEAD_RNG_PITCHd_Wd 231.6,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027315 ALTIM_BOTTOM_PING 575.0,90.9

SM_CCo 19302,0.00,0.000,0,0,1429,343.91 _24V_AH 23.7,51.517

SM_GC 1.31,11.05,0.00,0.00,0.038,0.000,0.000,427,2001,1429,-10.38,0.03,343.91 _10V_AH 10.1,25.597

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47376,927

TT8_MAMPS 0.029146 CAP_FILE_SIZE 142593,0

HUMID 1769 CFSIZE 254472192,233947136

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,46,0,0

XPDR_PINGS 67 GPS 090109,131737,6014.310,-439.919,39,1.7,39,-6.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 133 83.82 SBE_CT 678 24 385.97

Roll_motor 146 84 293.89 SBE_O2 625 19 281.47

VBD_pump_during_apogee 431 1306 13374.29 WL_BB2F 582 105 1449.59

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 75 103 184.36 nil 0 0 0.00

Iridium_during_connect 59 160 225.93 nil 0 0 0.00

Iridium_during_xfer 261 223 1381.59

Transponder_ping 21 420 216.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.09

TT8 1687 19 337.47

LPSleep 15023 2 332.31

TT8_Active 569 19 113.92

TT8_Sampling 1870 39 751.97

TT8_CF8 738 45 341.45

TT8_Kalman 0 81 0.00

Analog_circuits 1522 12 184.52

GPS_charging 0 0 0.00

Compass 1834 8 148.22

RAFOS 0 0 0.00

Transponder 34 30 10.57

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 -81.28 0.000 2 0.000 0.000 424 1993 3297

102 -0.97 -146.6 4.1 -4.6 4 125 10.77 2.58 -3.33 0.000 4 0.133 0.075 2483 596 3431

187 -0.71 -146.6 21.1 -16.4 7 194 0.28 2.53 0.00 0.000 6 0.083 0.051 2542 2014 3432

505 -0.64 -146.6 45.9 -6.2 23 506 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2021 3432

813 -0.58 -146.6 72.4 -6.6 38 815 0.15 0.00 0.00 0.000 6 0.090 0.000 2573 2020 3432

1122 -0.58 -146.6 95.6 -7.9 53 1127 0.00 2.60 0.00 0.000 4 0.000 0.066 2573 588 3432

1163 -0.58 -146.6 99.1 -8.4 55 1167 0.00 2.50 0.00 0.000 6 0.000 0.051 2573 1998 3432

1490 -0.63 -146.6 123.5 -8.0 71 1494 0.00 2.53 0.00 0.000 4 0.000 0.061 2573 3410 3432

1524 -0.68 -146.6 126.1 -8.1 72 1531 0.00 2.53 0.00 0.000 6 0.000 0.047 2573 1982 3432

1840 -0.68 -146.6 148.8 -9.4 88 1841 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 1981 3432

2149 -0.68 -146.6 167.9 -6.1 103 2153 0.00 2.58 0.00 0.000 4 0.000 0.061 2573 3402 3432

2183 -0.74 -146.6 169.8 -5.8 104 2190 0.17 2.50 0.00 0.000 6 0.048 0.048 2524 1991 3432

2499 -0.64 -146.6 196.3 -8.9 120 2501 0.17 0.00 0.00 0.000 6 0.084 0.000 2562 1990 3432

2809 -0.64 -146.6 220.4 -7.9 135 2810 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1989 3433

3117 -0.64 -146.6 240.1 -6.1 150 3118 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1990 3432

3427 -0.64 -146.6 260.5 -6.9 165 3428 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1990 3432

3736 -0.64 -146.6 282.5 -7.1 180 3741 0.00 2.58 0.00 0.000 4 0.000 0.061 2562 3410 3432

3776 -0.64 -146.6 285.4 -7.6 182 3781 0.00 2.50 0.00 0.000 6 0.000 0.049 2562 2000 3432

4103 -0.64 -146.6 309.1 -7.5 198 4105 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1999 3432

4413 -0.64 -146.6 331.7 -6.9 213 4418 0.00 2.55 0.00 0.000 4 0.000 0.063 2562 3402 3432

4447 -0.64 -146.6 334.1 -7.2 214 4453 0.00 2.50 0.00 0.000 6 0.000 0.050 2562 1995 3432

4763 -0.64 -146.6 354.8 -5.9 230 4767 0.00 2.58 0.00 0.000 4 0.000 0.063 2562 3410 3432

4795 -0.64 -146.6 356.9 -6.3 231 4801 0.00 2.50 0.00 0.000 6 0.000 0.051 2561 2002 3433

5112 -0.64 -146.6 377.9 -6.9 247 5116 0.00 2.55 0.00 0.000 4 0.000 0.063 2562 3406 3432

5174 -0.64 -146.6 382.7 -7.5 250 5178 0.00 2.45 0.00 0.000 6 0.000 0.051 2561 2024 3432

5507 -0.64 -146.6 406.8 -7.3 266 5512 0.00 2.55 0.00 0.000 4 0.000 0.067 2562 597 3432

5535 -0.64 -146.6 409.0 -7.4 267 5539 0.00 2.55 0.00 0.000 6 0.000 0.051 2561 2032 3433

5851 -0.64 -146.6 431.6 -7.3 282 5855 0.00 2.47 0.00 0.000 4 0.000 0.066 2561 3410 3432

5907 -0.64 -146.6 436.0 -7.3 284 5911 0.00 2.45 0.00 0.000 6 0.000 0.054 2562 2039 3433

6223 -0.64 -146.6 458.7 -6.9 299 6224 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2037 3432

6532 -0.64 -146.6 479.3 -6.7 314 6533 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2036 3432

6843 -0.64 -146.6 500.5 -6.6 329 6844 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2036 3432

7151 -0.64 -146.6 519.1 -5.5 344 7152 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2036 3432

7460 -0.64 -146.6 536.3 -5.7 359 7464 0.00 2.53 0.00 0.000 4 0.000 0.068 2561 3412 3432

7488 -0.64 -146.6 538.1 -6.1 360 7492 0.00 2.47 0.00 0.000 6 0.000 0.057 2561 2039 3432

7809 -0.64 -146.6 558.7 -6.9 376 7813 0.00 2.53 0.00 0.000 4 0.000 0.070 2562 3410 3432

7831 -0.68 -146.6 560.2 -6.6 377 7835 0.00 2.47 0.00 0.000 6 0.000 0.059 2561 2040 3432

8153 -0.72 -146.6 580.5 -6.6 393 8154 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2040 3431

8462 -0.77 -146.6 599.2 -5.7 408 8467 0.12 2.55 0.00 0.000 4 0.063 0.074 2526 3409 3430

8508 -0.71 -146.6 602.3 -7.1 410 8512 0.00 2.47 0.00 0.000 6 0.000 0.063 2526 2051 3430

8830 -0.66 -146.6 625.3 -7.3 426 8835 0.15 2.65 0.00 0.000 4 0.095 0.077 2558 590 3429

8875 -0.70 -146.6 628.4 -6.2 428 8880 0.00 2.65 0.00 0.000 6 0.000 0.063 2558 2056 3429

9197 -0.75 -146.6 646.3 -6.0 444 9198 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2057 3428

9338 end dive: BOTTOM_OBSTACLE_DETECTED

state 9338 begin apogee

9345 -0.33 0.0 656.1 6.9 451 9480 0.32 0.00 127.50 1.307 6 0.080 0.000 2626 2203 2832

9480 end apogee: CONTROL_FINISHED_OK

state 9480 begin climb

9483 0.97 146.6 661.3 0.0 458 9620 1.33 2.70 127.18 1.272 4 0.070 0.083 2909 3597 2233

9634 0.97 146.6 655.3 6.8 465 9639 0.00 2.62 0.00 0.000 6 0.000 0.069 2909 2201 2234

9956 0.99 160.3 636.5 5.6 481 9977 0.00 2.75 12.93 1.150 4 0.000 0.084 2909 790 2178

10041 0.99 160.3 631.2 6.4 484 10047 0.00 2.60 0.00 0.000 6 0.000 0.066 2909 2190 2178

10357 1.02 179.1 613.5 5.5 500 10380 0.00 2.78 17.38 1.205 4 0.000 0.081 2909 789 2101

10404 1.02 179.1 610.7 7.0 502 10408 0.00 2.60 0.00 0.000 6 0.000 0.067 2909 2183 2101

10731 1.07 208.6 592.3 5.2 518 10761 0.10 0.00 27.05 1.246 6 0.064 0.000 2939 2184 1981

11060 1.02 211.0 572.7 5.9 534 11066 0.00 0.00 3.88 0.805 6 0.000 0.000 2939 2184 1971

11369 1.02 211.0 552.3 6.7 549 11374 0.00 2.62 0.00 0.000 4 0.000 0.080 2939 792 1971

11425 0.95 211.0 548.1 7.3 551 11432 0.15 2.55 0.00 0.000 6 0.094 0.067 2908 2175 1970

11742 1.02 230.2 531.2 5.5 567 11764 0.00 2.67 17.58 1.200 4 0.000 0.077 2908 788 1893

11783 1.08 230.2 528.8 6.1 569 11789 0.12 2.55 0.00 0.000 6 0.062 0.064 2942 2169 1893

12111 1.03 230.2 505.4 7.1 585 12112 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 2168 1893

12420 1.03 230.2 483.5 7.2 600 12425 0.00 2.58 0.00 0.000 4 0.000 0.074 2942 788 1893

12448 0.99 230.2 481.3 7.5 601 12454 0.15 2.50 0.00 0.000 6 0.090 0.061 2910 2164 1893

12765 1.04 230.2 461.7 6.4 616 12766 0.00 0.00 0.00 0.000 6 0.000 0.000 2911 2164 1893

13075 1.09 230.2 441.9 6.2 631 13077 0.12 0.00 0.00 0.000 6 0.060 0.000 2946 2163 1893

13383 1.09 230.2 419.9 7.2 646 13387 0.00 2.62 0.00 0.000 4 0.000 0.070 2946 3605 1893

13455 1.04 230.2 414.3 7.8 649 13460 0.00 2.62 0.00 0.000 6 0.000 0.056 2946 2147 1894

13772 1.00 230.2 393.7 6.4 664 13777 0.15 2.45 0.00 0.000 4 0.084 0.067 2915 789 1894

13813 1.08 251.0 391.3 5.4 666 13837 0.00 2.42 19.12 1.075 6 0.000 0.053 2914 2149 1808

14169 1.16 261.6 371.3 5.7 683 14186 0.17 2.55 10.90 0.993 4 0.050 0.064 2969 790 1764

14215 1.07 261.6 367.4 8.7 684 14220 0.20 2.42 0.00 0.000 6 0.077 0.053 2927 2137 1764

14537 1.11 261.6 346.6 6.6 700 14538 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2137 1765

14845 1.16 261.6 326.5 6.4 715 14850 0.10 2.50 0.00 0.000 4 0.056 0.064 2958 782 1766

14890 1.10 261.6 322.7 9.1 717 14894 0.00 2.42 0.00 0.000 6 0.000 0.051 2958 2142 1766

15212 1.06 261.6 297.1 8.1 733 15213 0.15 0.00 0.00 0.000 6 0.079 0.000 2927 2141 1766

15520 1.11 261.6 276.4 6.5 748 15524 0.00 2.47 0.00 0.000 4 0.000 0.065 2927 790 1767

15584 1.15 261.6 271.9 7.8 751 15589 0.10 2.38 0.00 0.000 6 0.057 0.051 2958 2128 1767

15910 1.15 261.6 245.3 8.4 767 15911 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2128 1768

16219 1.15 261.6 219.6 8.4 782 16220 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2128 1768

16529 1.15 261.6 193.5 8.6 797 16533 0.00 2.45 0.00 0.000 4 0.000 0.065 2959 782 1768

16557 1.11 261.6 190.9 9.5 798 16562 0.00 2.40 0.00 0.000 6 0.000 0.051 2958 2131 1768

16879 1.11 261.6 164.3 7.6 814 16880 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2132 1769

17190 1.11 261.6 141.7 7.0 829 17192 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2132 1769

17498 1.11 261.6 122.6 6.3 844 17499 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2132 1770

17807 1.07 261.6 100.1 7.0 859 17812 0.15 2.45 0.00 0.000 4 0.078 0.064 2927 785 1770

17825 1.07 261.6 98.7 6.8 860 17830 0.00 2.38 0.00 0.000 6 0.000 0.051 2927 2127 1770

18154 1.21 320.9 80.7 4.4 876 18206 0.17 0.00 49.25 0.851 6 0.044 0.000 2977 2146 1523

18503 1.21 320.9 48.5 10.3 893 18507 0.00 2.45 0.00 0.000 4 0.000 0.064 2977 785 1522

18531 1.16 320.9 46.2 7.8 894 18536 0.12 2.38 0.00 0.000 6 0.082 0.051 2951 2118 1522

18848 1.16 320.9 26.8 8.3 909 18852 0.00 2.42 0.00 0.000 4 0.000 0.064 2950 780 1522

18870 1.25 343.4 25.5 5.4 910 18895 0.00 2.35 19.02 0.788 6 0.000 0.049 2950 2106 1432

19194 end climb: SURFACE_DEPTH_REACHED

state 19194 begin surface coast

19219 end surface coast: CONTROL_FINISHED_OK

state 19219 begin surface

ID	5	HEADING	225	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	293	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	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	-92953.883	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	074425,6015.029,-446.359,40,1.1,40,-6.6	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6007.517,-501.052
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.25	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-57.4	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	075420,6015.153,-445.721,12,1.2,12,-6.6	MHEAD_RNG_PITCHd_Wd	231.6,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027315	ALTIM_BOTTOM_PING	575.0,90.9
SM_CCo	19302,0.00,0.000,0,0,1429,343.91	_24V_AH	23.7,51.517
SM_GC	1.31,11.05,0.00,0.00,0.038,0.000,0.000,427,2001,1429,-10.38,0.03,343.91	_10V_AH	10.1,25.597
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47376,927
TT8_MAMPS	0.029146	CAP_FILE_SIZE	142593,0
HUMID	1769	CFSIZE	254472192,233947136
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,46,0,0
XPDR_PINGS	67	GPS	090109,131737,6014.310,-439.919,39,1.7,39,-6.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	133	83.82	SBE_CT	678	24	385.97
Roll_motor	146	84	293.89	SBE_O2	625	19	281.47
VBD_pump_during_apogee	431	1306	13374.29	WL_BB2F	582	105	1449.59
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	184.36	nil	0	0	0.00
Iridium_during_connect	59	160	225.93	nil	0	0	0.00
Iridium_during_xfer	261	223	1381.59
Transponder_ping	21	420	216.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.09
TT8	1687	19	337.47
LPSleep	15023	2	332.31
TT8_Active	569	19	113.92
TT8_Sampling	1870	39	751.97
TT8_CF8	738	45	341.45
TT8_Kalman	0	81	0.00
Analog_circuits	1522	12	184.52
GPS_charging	0	0	0.00
Compass	1834	8	148.22
RAFOS	0	0	0.00
Transponder	34	30	10.57

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	-81.28	0.000	2	0.000	0.000	424	1993	3297
102	-0.97	-146.6	4.1	-4.6	4	125	10.77	2.58	-3.33	0.000	4	0.133	0.075	2483	596	3431
187	-0.71	-146.6	21.1	-16.4	7	194	0.28	2.53	0.00	0.000	6	0.083	0.051	2542	2014	3432
505	-0.64	-146.6	45.9	-6.2	23	506	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2021	3432
813	-0.58	-146.6	72.4	-6.6	38	815	0.15	0.00	0.00	0.000	6	0.090	0.000	2573	2020	3432
1122	-0.58	-146.6	95.6	-7.9	53	1127	0.00	2.60	0.00	0.000	4	0.000	0.066	2573	588	3432
1163	-0.58	-146.6	99.1	-8.4	55	1167	0.00	2.50	0.00	0.000	6	0.000	0.051	2573	1998	3432
1490	-0.63	-146.6	123.5	-8.0	71	1494	0.00	2.53	0.00	0.000	4	0.000	0.061	2573	3410	3432
1524	-0.68	-146.6	126.1	-8.1	72	1531	0.00	2.53	0.00	0.000	6	0.000	0.047	2573	1982	3432
1840	-0.68	-146.6	148.8	-9.4	88	1841	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	1981	3432
2149	-0.68	-146.6	167.9	-6.1	103	2153	0.00	2.58	0.00	0.000	4	0.000	0.061	2573	3402	3432
2183	-0.74	-146.6	169.8	-5.8	104	2190	0.17	2.50	0.00	0.000	6	0.048	0.048	2524	1991	3432
2499	-0.64	-146.6	196.3	-8.9	120	2501	0.17	0.00	0.00	0.000	6	0.084	0.000	2562	1990	3432
2809	-0.64	-146.6	220.4	-7.9	135	2810	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1989	3433
3117	-0.64	-146.6	240.1	-6.1	150	3118	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1990	3432
3427	-0.64	-146.6	260.5	-6.9	165	3428	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1990	3432
3736	-0.64	-146.6	282.5	-7.1	180	3741	0.00	2.58	0.00	0.000	4	0.000	0.061	2562	3410	3432
3776	-0.64	-146.6	285.4	-7.6	182	3781	0.00	2.50	0.00	0.000	6	0.000	0.049	2562	2000	3432
4103	-0.64	-146.6	309.1	-7.5	198	4105	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1999	3432
4413	-0.64	-146.6	331.7	-6.9	213	4418	0.00	2.55	0.00	0.000	4	0.000	0.063	2562	3402	3432
4447	-0.64	-146.6	334.1	-7.2	214	4453	0.00	2.50	0.00	0.000	6	0.000	0.050	2562	1995	3432
4763	-0.64	-146.6	354.8	-5.9	230	4767	0.00	2.58	0.00	0.000	4	0.000	0.063	2562	3410	3432
4795	-0.64	-146.6	356.9	-6.3	231	4801	0.00	2.50	0.00	0.000	6	0.000	0.051	2561	2002	3433
5112	-0.64	-146.6	377.9	-6.9	247	5116	0.00	2.55	0.00	0.000	4	0.000	0.063	2562	3406	3432
5174	-0.64	-146.6	382.7	-7.5	250	5178	0.00	2.45	0.00	0.000	6	0.000	0.051	2561	2024	3432
5507	-0.64	-146.6	406.8	-7.3	266	5512	0.00	2.55	0.00	0.000	4	0.000	0.067	2562	597	3432
5535	-0.64	-146.6	409.0	-7.4	267	5539	0.00	2.55	0.00	0.000	6	0.000	0.051	2561	2032	3433
5851	-0.64	-146.6	431.6	-7.3	282	5855	0.00	2.47	0.00	0.000	4	0.000	0.066	2561	3410	3432
5907	-0.64	-146.6	436.0	-7.3	284	5911	0.00	2.45	0.00	0.000	6	0.000	0.054	2562	2039	3433
6223	-0.64	-146.6	458.7	-6.9	299	6224	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2037	3432
6532	-0.64	-146.6	479.3	-6.7	314	6533	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2036	3432
6843	-0.64	-146.6	500.5	-6.6	329	6844	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2036	3432
7151	-0.64	-146.6	519.1	-5.5	344	7152	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2036	3432
7460	-0.64	-146.6	536.3	-5.7	359	7464	0.00	2.53	0.00	0.000	4	0.000	0.068	2561	3412	3432
7488	-0.64	-146.6	538.1	-6.1	360	7492	0.00	2.47	0.00	0.000	6	0.000	0.057	2561	2039	3432
7809	-0.64	-146.6	558.7	-6.9	376	7813	0.00	2.53	0.00	0.000	4	0.000	0.070	2562	3410	3432
7831	-0.68	-146.6	560.2	-6.6	377	7835	0.00	2.47	0.00	0.000	6	0.000	0.059	2561	2040	3432
8153	-0.72	-146.6	580.5	-6.6	393	8154	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2040	3431
8462	-0.77	-146.6	599.2	-5.7	408	8467	0.12	2.55	0.00	0.000	4	0.063	0.074	2526	3409	3430
8508	-0.71	-146.6	602.3	-7.1	410	8512	0.00	2.47	0.00	0.000	6	0.000	0.063	2526	2051	3430
8830	-0.66	-146.6	625.3	-7.3	426	8835	0.15	2.65	0.00	0.000	4	0.095	0.077	2558	590	3429
8875	-0.70	-146.6	628.4	-6.2	428	8880	0.00	2.65	0.00	0.000	6	0.000	0.063	2558	2056	3429
9197	-0.75	-146.6	646.3	-6.0	444	9198	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2057	3428
9338	end dive: BOTTOM_OBSTACLE_DETECTED
state	9338	begin apogee
9345	-0.33	0.0	656.1	6.9	451	9480	0.32	0.00	127.50	1.307	6	0.080	0.000	2626	2203	2832
9480	end apogee: CONTROL_FINISHED_OK
state	9480	begin climb
9483	0.97	146.6	661.3	0.0	458	9620	1.33	2.70	127.18	1.272	4	0.070	0.083	2909	3597	2233
9634	0.97	146.6	655.3	6.8	465	9639	0.00	2.62	0.00	0.000	6	0.000	0.069	2909	2201	2234
9956	0.99	160.3	636.5	5.6	481	9977	0.00	2.75	12.93	1.150	4	0.000	0.084	2909	790	2178
10041	0.99	160.3	631.2	6.4	484	10047	0.00	2.60	0.00	0.000	6	0.000	0.066	2909	2190	2178
10357	1.02	179.1	613.5	5.5	500	10380	0.00	2.78	17.38	1.205	4	0.000	0.081	2909	789	2101
10404	1.02	179.1	610.7	7.0	502	10408	0.00	2.60	0.00	0.000	6	0.000	0.067	2909	2183	2101
10731	1.07	208.6	592.3	5.2	518	10761	0.10	0.00	27.05	1.246	6	0.064	0.000	2939	2184	1981
11060	1.02	211.0	572.7	5.9	534	11066	0.00	0.00	3.88	0.805	6	0.000	0.000	2939	2184	1971
11369	1.02	211.0	552.3	6.7	549	11374	0.00	2.62	0.00	0.000	4	0.000	0.080	2939	792	1971
11425	0.95	211.0	548.1	7.3	551	11432	0.15	2.55	0.00	0.000	6	0.094	0.067	2908	2175	1970
11742	1.02	230.2	531.2	5.5	567	11764	0.00	2.67	17.58	1.200	4	0.000	0.077	2908	788	1893
11783	1.08	230.2	528.8	6.1	569	11789	0.12	2.55	0.00	0.000	6	0.062	0.064	2942	2169	1893
12111	1.03	230.2	505.4	7.1	585	12112	0.00	0.00	0.00	0.000	6	0.000	0.000	2942	2168	1893
12420	1.03	230.2	483.5	7.2	600	12425	0.00	2.58	0.00	0.000	4	0.000	0.074	2942	788	1893
12448	0.99	230.2	481.3	7.5	601	12454	0.15	2.50	0.00	0.000	6	0.090	0.061	2910	2164	1893
12765	1.04	230.2	461.7	6.4	616	12766	0.00	0.00	0.00	0.000	6	0.000	0.000	2911	2164	1893
13075	1.09	230.2	441.9	6.2	631	13077	0.12	0.00	0.00	0.000	6	0.060	0.000	2946	2163	1893
13383	1.09	230.2	419.9	7.2	646	13387	0.00	2.62	0.00	0.000	4	0.000	0.070	2946	3605	1893
13455	1.04	230.2	414.3	7.8	649	13460	0.00	2.62	0.00	0.000	6	0.000	0.056	2946	2147	1894
13772	1.00	230.2	393.7	6.4	664	13777	0.15	2.45	0.00	0.000	4	0.084	0.067	2915	789	1894
13813	1.08	251.0	391.3	5.4	666	13837	0.00	2.42	19.12	1.075	6	0.000	0.053	2914	2149	1808
14169	1.16	261.6	371.3	5.7	683	14186	0.17	2.55	10.90	0.993	4	0.050	0.064	2969	790	1764
14215	1.07	261.6	367.4	8.7	684	14220	0.20	2.42	0.00	0.000	6	0.077	0.053	2927	2137	1764
14537	1.11	261.6	346.6	6.6	700	14538	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2137	1765
14845	1.16	261.6	326.5	6.4	715	14850	0.10	2.50	0.00	0.000	4	0.056	0.064	2958	782	1766
14890	1.10	261.6	322.7	9.1	717	14894	0.00	2.42	0.00	0.000	6	0.000	0.051	2958	2142	1766
15212	1.06	261.6	297.1	8.1	733	15213	0.15	0.00	0.00	0.000	6	0.079	0.000	2927	2141	1766
15520	1.11	261.6	276.4	6.5	748	15524	0.00	2.47	0.00	0.000	4	0.000	0.065	2927	790	1767
15584	1.15	261.6	271.9	7.8	751	15589	0.10	2.38	0.00	0.000	6	0.057	0.051	2958	2128	1767
15910	1.15	261.6	245.3	8.4	767	15911	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2128	1768
16219	1.15	261.6	219.6	8.4	782	16220	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2128	1768
16529	1.15	261.6	193.5	8.6	797	16533	0.00	2.45	0.00	0.000	4	0.000	0.065	2959	782	1768
16557	1.11	261.6	190.9	9.5	798	16562	0.00	2.40	0.00	0.000	6	0.000	0.051	2958	2131	1768
16879	1.11	261.6	164.3	7.6	814	16880	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2132	1769
17190	1.11	261.6	141.7	7.0	829	17192	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2132	1769
17498	1.11	261.6	122.6	6.3	844	17499	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2132	1770
17807	1.07	261.6	100.1	7.0	859	17812	0.15	2.45	0.00	0.000	4	0.078	0.064	2927	785	1770
17825	1.07	261.6	98.7	6.8	860	17830	0.00	2.38	0.00	0.000	6	0.000	0.051	2927	2127	1770
18154	1.21	320.9	80.7	4.4	876	18206	0.17	0.00	49.25	0.851	6	0.044	0.000	2977	2146	1523
18503	1.21	320.9	48.5	10.3	893	18507	0.00	2.45	0.00	0.000	4	0.000	0.064	2977	785	1522
18531	1.16	320.9	46.2	7.8	894	18536	0.12	2.38	0.00	0.000	6	0.082	0.051	2951	2118	1522
18848	1.16	320.9	26.8	8.3	909	18852	0.00	2.42	0.00	0.000	4	0.000	0.064	2950	780	1522
18870	1.25	343.4	25.5	5.4	910	18895	0.00	2.35	19.02	0.788	6	0.000	0.049	2950	2106	1432
19194	end climb: SURFACE_DEPTH_REACHED
state	19194	begin surface coast
19219	end surface coast: CONTROL_FINISHED_OK
state	19219	begin surface