Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 46 * 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 46 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 1920 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 5

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 0

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 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 -101127.15 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 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 0.039999999 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 -101127.15

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 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 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1920 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 46 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 0

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 5

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 124737,6135.102,-922.677,32,1.4,32,-9.4 TGT_NAME BW

_CALLS 2 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.074,0.234

_SM_DEPTHo 1.34 KALMAN_X -41891.7,62.5,-117.0,4077.6,-1712.7

_SM_ANGLEo -65.8 KALMAN_Y 33092.0,713.2,273.5,-36988.3,-5456.0

GPS2 125620,6135.063,-922.852,13,1.6,13,-9.4 MHEAD_RNG_PITCHd_Wd 27.0,19647,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.020865 ALTIM_BOTTOM_PING 870.6,38.4

SM_CCo 19590,6.03,0.632,0,0,1608,300.00 _24V_AH 23.7,9.470

SM_GC 2.26,0.00,0.00,6.03,0.000,0.000,0.632,421,2137,1608,-10.69,0.23,300.00 _10V_AH 10.1,4.578

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47460,945

TT8_MAMPS 0.029146 CAP_FILE_SIZE 141538,0

HUMID 1833 CFSIZE 254472192,249434112

TCM_TEMP 18.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,45,0,0

XPDR_PINGS 86 GPS 040909,182507,6136.690,-923.909,42,1.0,42,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 101.50 SBE_CT 647 24 368.10

Roll_motor 131 82 256.06 SBE_O2 710 19 319.91

VBD_pump_during_apogee 392 1399 13017.74 WL_BB2F 537 105 1338.62

VBD_pump_during_surface 6 632 90.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 186.94 nil 0 0 0.00

Iridium_during_connect 52 160 200.56 nil 0 0 0.00

Iridium_during_xfer 202 223 1071.00

Transponder_ping 29 420 296.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.98

TT8 1709 19 341.78

LPSleep 15276 2 337.89

TT8_Active 525 19 105.15

TT8_Sampling 1947 39 782.71

TT8_CF8 658 45 304.67

TT8_Kalman 33 81 27.56

Analog_circuits 1502 12 182.13

GPS_charging 0 0 0.00

Compass 1904 8 153.87

RAFOS 0 0 0.00

Transponder 56 30 17.27

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.22 -146.6 0.0 0.0 0 84 0.00 0.00 -66.35 0.000 2 0.000 0.000 417 2148 2925

88 -1.22 -146.6 3.7 -3.7 4 118 11.23 2.53 -13.07 0.000 4 0.159 0.078 2468 3517 3431

169 -1.07 -146.6 17.3 -14.0 7 176 0.20 2.45 0.00 0.000 6 0.090 0.048 2512 2124 3431

487 -1.07 -146.6 53.5 -11.0 23 491 0.00 2.47 0.00 0.000 4 0.000 0.064 2512 720 3431

531 -1.11 -146.6 58.9 -12.0 25 536 0.00 2.45 0.00 0.000 6 0.000 0.049 2512 2121 3432

853 -1.11 -146.6 88.3 -9.0 41 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2121 3432

1162 -1.11 -146.6 118.5 -10.2 56 1167 0.00 2.53 0.00 0.000 4 0.000 0.062 2512 714 3431

1225 -1.16 -146.6 124.6 -9.7 59 1229 0.00 2.47 0.00 0.000 6 0.000 0.048 2512 2117 3432

1552 -1.16 -146.6 155.6 -9.4 75 1553 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2117 3432

1861 -1.16 -146.6 184.3 -9.0 90 1862 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2117 3432

2170 -1.16 -146.6 213.2 -10.0 105 2171 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2117 3432

2480 -1.16 -146.6 246.5 -11.3 120 2485 0.00 2.53 0.00 0.000 4 0.000 0.063 2512 715 3432

2525 -1.22 -146.6 251.8 -11.8 122 2530 0.15 2.45 0.00 0.000 6 0.052 0.051 2468 2112 3432

2847 -1.13 -146.6 293.0 -12.8 138 2849 0.15 0.00 0.00 0.000 6 0.091 0.000 2499 2112 3432

3156 -1.13 -146.6 325.7 -10.1 153 3157 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2113 3431

3465 -1.13 -146.6 356.0 -9.8 168 3466 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2112 3431

3774 -1.13 -146.6 388.3 -10.6 183 3779 0.00 2.50 0.00 0.000 4 0.000 0.065 2499 721 3431

3825 -1.13 -146.6 393.8 -10.6 185 3829 0.00 2.45 0.00 0.000 6 0.000 0.051 2499 2110 3431

4140 -1.13 -146.6 426.4 -10.5 200 4145 0.00 2.50 0.00 0.000 4 0.000 0.064 2499 721 3431

4174 -1.13 -146.6 430.2 -10.8 201 4180 0.00 2.42 0.00 0.000 6 0.000 0.051 2499 2104 3431

4490 -1.13 -146.6 464.3 -10.4 217 4491 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2105 3430

4799 -1.13 -146.6 493.0 -9.0 232 4800 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2105 3431

5108 -1.13 -146.6 522.6 -9.8 247 5113 0.00 2.50 0.00 0.000 4 0.000 0.067 2499 723 3429

5148 -1.13 -146.6 526.6 -10.1 249 5153 0.00 2.40 0.00 0.000 6 0.000 0.056 2499 2090 3429

5475 -1.13 -146.6 556.8 -8.7 265 5477 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2089 3430

5785 -1.13 -146.6 582.5 -8.4 280 5786 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2090 3429

6094 -1.13 -146.6 606.9 -7.5 295 6098 0.00 2.45 0.00 0.000 4 0.000 0.066 2499 724 3429

6145 -1.13 -146.6 610.8 -7.4 297 6149 0.00 2.42 0.00 0.000 6 0.000 0.052 2499 2095 3429

6466 -1.13 -146.6 639.5 -9.2 313 6467 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2094 3428

6775 -1.13 -146.6 668.7 -9.7 328 6779 0.00 2.47 0.00 0.000 4 0.000 0.066 2499 722 3428

6808 -1.13 -146.6 672.1 -10.2 329 6814 0.00 2.40 0.00 0.000 6 0.000 0.051 2499 2086 3428

7124 -1.13 -146.6 702.6 -9.9 345 7125 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2086 3428

7433 -1.13 -146.6 732.7 -9.9 360 7437 0.00 2.47 0.00 0.000 4 0.000 0.068 2499 720 3428

7473 -1.17 -146.6 736.7 -10.3 362 7477 0.00 2.42 0.00 0.000 6 0.000 0.053 2499 2081 3428

7799 -1.17 -146.6 765.9 -8.5 378 7801 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2081 3428

8109 -1.17 -146.6 792.6 -9.1 393 8113 0.00 2.47 0.00 0.000 4 0.000 0.071 2499 722 3427

8165 -1.22 -146.6 798.2 -10.6 395 8171 0.00 2.40 0.00 0.000 6 0.000 0.055 2499 2075 3427

8481 -1.22 -146.6 830.0 -10.3 411 8482 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2075 3427

8790 -1.22 -146.6 863.1 -9.3 426 8794 0.00 2.47 0.00 0.000 4 0.000 0.071 2499 720 3426

8908 -1.22 -146.6 876.8 -13.0 431 8913 0.00 2.40 0.00 0.000 6 0.000 0.054 2499 2077 3426

9139 end dive: BOTTOM_OBSTACLE_DETECTED

state 9139 begin apogee

9147 -0.33 0.0 899.3 8.8 442 9282 0.80 0.00 128.27 1.400 6 0.073 0.000 2674 1906 2831

9282 end apogee: CONTROL_FINISHED_OK

state 9282 begin climb

9286 1.22 146.6 904.1 0.0 449 9418 1.50 0.00 127.47 1.375 6 0.056 0.000 3006 1905 2233

9720 1.08 162.0 875.4 7.4 470 9743 0.15 2.62 14.77 1.246 4 0.096 0.082 2978 520 2170

9996 0.97 162.0 852.6 9.7 482 10001 0.12 2.47 0.00 0.000 6 0.097 0.058 2953 1889 2169

10318 1.08 188.2 827.3 7.0 498 10348 0.12 2.65 23.60 1.315 4 0.058 0.079 2986 527 2063

10430 0.98 188.2 815.6 11.6 503 10435 0.15 2.42 0.00 0.000 6 0.094 0.058 2957 1870 2063

10757 1.03 218.8 790.0 6.9 519 10792 0.00 2.78 27.27 1.313 4 0.000 0.072 2957 3331 1939

10850 1.10 220.9 783.4 7.9 523 10859 0.12 2.65 3.70 0.773 6 0.057 0.063 2990 1890 1930

11178 1.14 244.3 758.9 7.2 539 11206 0.00 2.58 21.58 1.271 4 0.000 0.073 2991 512 1835

11266 1.07 244.3 751.4 9.3 543 11270 0.00 2.45 0.00 0.000 6 0.000 0.053 2990 1880 1835

11592 1.07 244.3 722.4 8.8 559 11596 0.00 2.58 0.00 0.000 4 0.000 0.067 2991 3323 1835

11632 1.07 244.3 718.7 9.4 561 11637 0.00 2.65 0.00 0.000 6 0.000 0.064 2991 1868 1834

11959 1.07 244.3 688.8 9.0 577 11963 0.00 2.67 0.00 0.000 4 0.000 0.067 2991 3330 1835

11992 1.07 244.3 685.6 10.1 578 11998 0.00 2.62 0.00 0.000 6 0.000 0.060 2991 1879 1835

12308 1.07 244.3 654.8 10.4 594 12309 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1879 1835

12617 1.07 244.3 622.0 10.6 609 12618 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1879 1835

12926 1.07 244.3 590.0 9.8 624 12927 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1879 1835

13236 1.08 247.2 562.8 7.9 639 13245 0.00 2.65 4.40 0.799 4 0.000 0.065 2991 3324 1823

13285 1.08 247.2 558.4 8.8 641 13289 0.00 2.58 0.00 0.000 6 0.000 0.057 2991 1887 1823

13601 1.08 247.2 531.3 8.5 656 13602 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1887 1823

13910 1.08 247.2 504.6 8.7 671 13915 0.00 2.62 0.00 0.000 4 0.000 0.065 2991 3332 1823

13950 1.08 247.2 500.9 8.8 673 13955 0.00 2.58 0.00 0.000 6 0.000 0.057 2991 1894 1823

14278 1.10 258.8 473.7 7.6 689 14291 0.00 0.00 11.40 1.016 6 0.000 0.000 2991 1894 1776

14587 1.11 267.5 449.3 7.7 704 14601 0.00 2.65 9.10 0.966 4 0.000 0.063 2991 3332 1740

14647 1.16 267.5 444.4 8.1 706 14653 0.00 2.60 0.00 0.000 6 0.000 0.057 2991 1893 1739

14963 1.16 267.5 417.2 9.1 722 14964 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1893 1740

15272 1.16 267.5 388.5 9.2 737 15276 0.00 2.60 0.00 0.000 4 0.000 0.065 2991 3326 1740

15299 1.22 267.5 386.0 9.4 738 15304 0.00 2.55 0.00 0.000 6 0.000 0.057 2991 1906 1739

15616 1.25 285.8 361.0 7.3 753 15638 0.12 2.60 16.42 0.989 4 0.053 0.067 3026 512 1665

15686 1.09 285.8 354.0 11.5 756 15691 0.22 2.45 0.00 0.000 6 0.083 0.049 2981 1902 1665

16013 1.15 285.8 326.9 8.2 772 16014 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1917 1665

16322 1.21 285.8 301.1 8.5 787 16327 0.12 2.55 0.00 0.000 4 0.053 0.067 3017 510 1665

16362 1.12 285.8 297.0 10.4 789 16367 0.15 2.45 0.00 0.000 6 0.087 0.048 2988 1906 1665

16690 1.18 285.8 267.6 9.0 805 16691 0.00 0.00 0.00 0.000 6 0.000 0.000 2987 1921 1665

16999 1.22 285.8 239.9 9.3 820 17000 0.10 0.00 0.00 0.000 6 0.058 0.000 3017 1922 1665

17308 1.18 285.8 204.6 11.8 835 17309 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 1922 1665

17617 1.18 285.8 171.2 10.6 850 17621 0.00 2.55 0.00 0.000 4 0.000 0.066 3017 510 1665

17657 1.10 285.8 166.7 10.9 852 17662 0.17 2.42 0.00 0.000 6 0.084 0.048 2982 1895 1665

17984 1.18 285.8 139.7 8.3 868 17985 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 1909 1665

18296 1.26 288.9 113.8 7.9 883 18302 0.17 0.00 4.40 0.619 6 0.046 0.000 3030 1909 1653

18604 1.19 288.9 83.2 10.5 898 18609 0.12 2.53 0.00 0.000 4 0.089 0.064 3005 510 1653

18628 1.15 288.9 80.6 11.2 899 18633 0.00 2.42 0.00 0.000 6 0.000 0.048 3005 1896 1653

18949 1.15 288.9 50.9 8.9 915 18951 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1910 1653

19261 1.20 289.3 25.5 8.0 930 19262 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1910 1653

19546 end climb: SURFACE_DEPTH_REACHED

state 19546 begin surface coast

19566 end surface coast: CONTROL_FINISHED_OK

state 19566 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	46	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	1920	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	5
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	0
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	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	-101127.15	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	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	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	124737,6135.102,-922.677,32,1.4,32,-9.4	TGT_NAME	BW
_CALLS	2	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.074,0.234
_SM_DEPTHo	1.34	KALMAN_X	-41891.7,62.5,-117.0,4077.6,-1712.7
_SM_ANGLEo	-65.8	KALMAN_Y	33092.0,713.2,273.5,-36988.3,-5456.0
GPS2	125620,6135.063,-922.852,13,1.6,13,-9.4	MHEAD_RNG_PITCHd_Wd	27.0,19647,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.020865	ALTIM_BOTTOM_PING	870.6,38.4
SM_CCo	19590,6.03,0.632,0,0,1608,300.00	_24V_AH	23.7,9.470
SM_GC	2.26,0.00,0.00,6.03,0.000,0.000,0.632,421,2137,1608,-10.69,0.23,300.00	_10V_AH	10.1,4.578
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47460,945
TT8_MAMPS	0.029146	CAP_FILE_SIZE	141538,0
HUMID	1833	CFSIZE	254472192,249434112
TCM_TEMP	18.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,45,0,0
XPDR_PINGS	86	GPS	040909,182507,6136.690,-923.909,42,1.0,42,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	101.50	SBE_CT	647	24	368.10
Roll_motor	131	82	256.06	SBE_O2	710	19	319.91
VBD_pump_during_apogee	392	1399	13017.74	WL_BB2F	537	105	1338.62
VBD_pump_during_surface	6	632	90.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	186.94	nil	0	0	0.00
Iridium_during_connect	52	160	200.56	nil	0	0	0.00
Iridium_during_xfer	202	223	1071.00
Transponder_ping	29	420	296.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.98
TT8	1709	19	341.78
LPSleep	15276	2	337.89
TT8_Active	525	19	105.15
TT8_Sampling	1947	39	782.71
TT8_CF8	658	45	304.67
TT8_Kalman	33	81	27.56
Analog_circuits	1502	12	182.13
GPS_charging	0	0	0.00
Compass	1904	8	153.87
RAFOS	0	0	0.00
Transponder	56	30	17.27

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.22	-146.6	0.0	0.0	0	84	0.00	0.00	-66.35	0.000	2	0.000	0.000	417	2148	2925
88	-1.22	-146.6	3.7	-3.7	4	118	11.23	2.53	-13.07	0.000	4	0.159	0.078	2468	3517	3431
169	-1.07	-146.6	17.3	-14.0	7	176	0.20	2.45	0.00	0.000	6	0.090	0.048	2512	2124	3431
487	-1.07	-146.6	53.5	-11.0	23	491	0.00	2.47	0.00	0.000	4	0.000	0.064	2512	720	3431
531	-1.11	-146.6	58.9	-12.0	25	536	0.00	2.45	0.00	0.000	6	0.000	0.049	2512	2121	3432
853	-1.11	-146.6	88.3	-9.0	41	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2121	3432
1162	-1.11	-146.6	118.5	-10.2	56	1167	0.00	2.53	0.00	0.000	4	0.000	0.062	2512	714	3431
1225	-1.16	-146.6	124.6	-9.7	59	1229	0.00	2.47	0.00	0.000	6	0.000	0.048	2512	2117	3432
1552	-1.16	-146.6	155.6	-9.4	75	1553	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2117	3432
1861	-1.16	-146.6	184.3	-9.0	90	1862	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2117	3432
2170	-1.16	-146.6	213.2	-10.0	105	2171	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2117	3432
2480	-1.16	-146.6	246.5	-11.3	120	2485	0.00	2.53	0.00	0.000	4	0.000	0.063	2512	715	3432
2525	-1.22	-146.6	251.8	-11.8	122	2530	0.15	2.45	0.00	0.000	6	0.052	0.051	2468	2112	3432
2847	-1.13	-146.6	293.0	-12.8	138	2849	0.15	0.00	0.00	0.000	6	0.091	0.000	2499	2112	3432
3156	-1.13	-146.6	325.7	-10.1	153	3157	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2113	3431
3465	-1.13	-146.6	356.0	-9.8	168	3466	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2112	3431
3774	-1.13	-146.6	388.3	-10.6	183	3779	0.00	2.50	0.00	0.000	4	0.000	0.065	2499	721	3431
3825	-1.13	-146.6	393.8	-10.6	185	3829	0.00	2.45	0.00	0.000	6	0.000	0.051	2499	2110	3431
4140	-1.13	-146.6	426.4	-10.5	200	4145	0.00	2.50	0.00	0.000	4	0.000	0.064	2499	721	3431
4174	-1.13	-146.6	430.2	-10.8	201	4180	0.00	2.42	0.00	0.000	6	0.000	0.051	2499	2104	3431
4490	-1.13	-146.6	464.3	-10.4	217	4491	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2105	3430
4799	-1.13	-146.6	493.0	-9.0	232	4800	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2105	3431
5108	-1.13	-146.6	522.6	-9.8	247	5113	0.00	2.50	0.00	0.000	4	0.000	0.067	2499	723	3429
5148	-1.13	-146.6	526.6	-10.1	249	5153	0.00	2.40	0.00	0.000	6	0.000	0.056	2499	2090	3429
5475	-1.13	-146.6	556.8	-8.7	265	5477	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2089	3430
5785	-1.13	-146.6	582.5	-8.4	280	5786	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2090	3429
6094	-1.13	-146.6	606.9	-7.5	295	6098	0.00	2.45	0.00	0.000	4	0.000	0.066	2499	724	3429
6145	-1.13	-146.6	610.8	-7.4	297	6149	0.00	2.42	0.00	0.000	6	0.000	0.052	2499	2095	3429
6466	-1.13	-146.6	639.5	-9.2	313	6467	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2094	3428
6775	-1.13	-146.6	668.7	-9.7	328	6779	0.00	2.47	0.00	0.000	4	0.000	0.066	2499	722	3428
6808	-1.13	-146.6	672.1	-10.2	329	6814	0.00	2.40	0.00	0.000	6	0.000	0.051	2499	2086	3428
7124	-1.13	-146.6	702.6	-9.9	345	7125	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2086	3428
7433	-1.13	-146.6	732.7	-9.9	360	7437	0.00	2.47	0.00	0.000	4	0.000	0.068	2499	720	3428
7473	-1.17	-146.6	736.7	-10.3	362	7477	0.00	2.42	0.00	0.000	6	0.000	0.053	2499	2081	3428
7799	-1.17	-146.6	765.9	-8.5	378	7801	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2081	3428
8109	-1.17	-146.6	792.6	-9.1	393	8113	0.00	2.47	0.00	0.000	4	0.000	0.071	2499	722	3427
8165	-1.22	-146.6	798.2	-10.6	395	8171	0.00	2.40	0.00	0.000	6	0.000	0.055	2499	2075	3427
8481	-1.22	-146.6	830.0	-10.3	411	8482	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2075	3427
8790	-1.22	-146.6	863.1	-9.3	426	8794	0.00	2.47	0.00	0.000	4	0.000	0.071	2499	720	3426
8908	-1.22	-146.6	876.8	-13.0	431	8913	0.00	2.40	0.00	0.000	6	0.000	0.054	2499	2077	3426
9139	end dive: BOTTOM_OBSTACLE_DETECTED
state	9139	begin apogee
9147	-0.33	0.0	899.3	8.8	442	9282	0.80	0.00	128.27	1.400	6	0.073	0.000	2674	1906	2831
9282	end apogee: CONTROL_FINISHED_OK
state	9282	begin climb
9286	1.22	146.6	904.1	0.0	449	9418	1.50	0.00	127.47	1.375	6	0.056	0.000	3006	1905	2233
9720	1.08	162.0	875.4	7.4	470	9743	0.15	2.62	14.77	1.246	4	0.096	0.082	2978	520	2170
9996	0.97	162.0	852.6	9.7	482	10001	0.12	2.47	0.00	0.000	6	0.097	0.058	2953	1889	2169
10318	1.08	188.2	827.3	7.0	498	10348	0.12	2.65	23.60	1.315	4	0.058	0.079	2986	527	2063
10430	0.98	188.2	815.6	11.6	503	10435	0.15	2.42	0.00	0.000	6	0.094	0.058	2957	1870	2063
10757	1.03	218.8	790.0	6.9	519	10792	0.00	2.78	27.27	1.313	4	0.000	0.072	2957	3331	1939
10850	1.10	220.9	783.4	7.9	523	10859	0.12	2.65	3.70	0.773	6	0.057	0.063	2990	1890	1930
11178	1.14	244.3	758.9	7.2	539	11206	0.00	2.58	21.58	1.271	4	0.000	0.073	2991	512	1835
11266	1.07	244.3	751.4	9.3	543	11270	0.00	2.45	0.00	0.000	6	0.000	0.053	2990	1880	1835
11592	1.07	244.3	722.4	8.8	559	11596	0.00	2.58	0.00	0.000	4	0.000	0.067	2991	3323	1835
11632	1.07	244.3	718.7	9.4	561	11637	0.00	2.65	0.00	0.000	6	0.000	0.064	2991	1868	1834
11959	1.07	244.3	688.8	9.0	577	11963	0.00	2.67	0.00	0.000	4	0.000	0.067	2991	3330	1835
11992	1.07	244.3	685.6	10.1	578	11998	0.00	2.62	0.00	0.000	6	0.000	0.060	2991	1879	1835
12308	1.07	244.3	654.8	10.4	594	12309	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	1879	1835
12617	1.07	244.3	622.0	10.6	609	12618	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	1879	1835
12926	1.07	244.3	590.0	9.8	624	12927	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	1879	1835
13236	1.08	247.2	562.8	7.9	639	13245	0.00	2.65	4.40	0.799	4	0.000	0.065	2991	3324	1823
13285	1.08	247.2	558.4	8.8	641	13289	0.00	2.58	0.00	0.000	6	0.000	0.057	2991	1887	1823
13601	1.08	247.2	531.3	8.5	656	13602	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	1887	1823
13910	1.08	247.2	504.6	8.7	671	13915	0.00	2.62	0.00	0.000	4	0.000	0.065	2991	3332	1823
13950	1.08	247.2	500.9	8.8	673	13955	0.00	2.58	0.00	0.000	6	0.000	0.057	2991	1894	1823
14278	1.10	258.8	473.7	7.6	689	14291	0.00	0.00	11.40	1.016	6	0.000	0.000	2991	1894	1776
14587	1.11	267.5	449.3	7.7	704	14601	0.00	2.65	9.10	0.966	4	0.000	0.063	2991	3332	1740
14647	1.16	267.5	444.4	8.1	706	14653	0.00	2.60	0.00	0.000	6	0.000	0.057	2991	1893	1739
14963	1.16	267.5	417.2	9.1	722	14964	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	1893	1740
15272	1.16	267.5	388.5	9.2	737	15276	0.00	2.60	0.00	0.000	4	0.000	0.065	2991	3326	1740
15299	1.22	267.5	386.0	9.4	738	15304	0.00	2.55	0.00	0.000	6	0.000	0.057	2991	1906	1739
15616	1.25	285.8	361.0	7.3	753	15638	0.12	2.60	16.42	0.989	4	0.053	0.067	3026	512	1665
15686	1.09	285.8	354.0	11.5	756	15691	0.22	2.45	0.00	0.000	6	0.083	0.049	2981	1902	1665
16013	1.15	285.8	326.9	8.2	772	16014	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1917	1665
16322	1.21	285.8	301.1	8.5	787	16327	0.12	2.55	0.00	0.000	4	0.053	0.067	3017	510	1665
16362	1.12	285.8	297.0	10.4	789	16367	0.15	2.45	0.00	0.000	6	0.087	0.048	2988	1906	1665
16690	1.18	285.8	267.6	9.0	805	16691	0.00	0.00	0.00	0.000	6	0.000	0.000	2987	1921	1665
16999	1.22	285.8	239.9	9.3	820	17000	0.10	0.00	0.00	0.000	6	0.058	0.000	3017	1922	1665
17308	1.18	285.8	204.6	11.8	835	17309	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	1922	1665
17617	1.18	285.8	171.2	10.6	850	17621	0.00	2.55	0.00	0.000	4	0.000	0.066	3017	510	1665
17657	1.10	285.8	166.7	10.9	852	17662	0.17	2.42	0.00	0.000	6	0.084	0.048	2982	1895	1665
17984	1.18	285.8	139.7	8.3	868	17985	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	1909	1665
18296	1.26	288.9	113.8	7.9	883	18302	0.17	0.00	4.40	0.619	6	0.046	0.000	3030	1909	1653
18604	1.19	288.9	83.2	10.5	898	18609	0.12	2.53	0.00	0.000	4	0.089	0.064	3005	510	1653
18628	1.15	288.9	80.6	11.2	899	18633	0.00	2.42	0.00	0.000	6	0.000	0.048	3005	1896	1653
18949	1.15	288.9	50.9	8.9	915	18951	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1910	1653
19261	1.20	289.3	25.5	8.0	930	19262	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1910	1653
19546	end climb: SURFACE_DEPTH_REACHED
state	19546	begin surface coast
19566	end surface coast: CONTROL_FINISHED_OK
state	19566	begin surface