Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 47 * 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 47 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 20 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 -101159.44 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 -101159.44

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 20 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 47 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 182507,6136.690,-923.909,42,1.0,42,-9.5 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.130,0.208

_SM_DEPTHo 1.36 KALMAN_X -45005.0,378.7,-130.3,6017.9,-3627.6

_SM_ANGLEo -67.2 KALMAN_Y 30656.6,622.6,358.0,-31483.0,-5949.0

GPS2 183104,6136.706,-923.847,11,2.5,30,-9.5 MHEAD_RNG_PITCHd_Wd 41.5,17208,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026672 ALTIM_BOTTOM_PING 845.4,49.8

SM_CCo 17186,0.00,0.000,0,0,1234,391.74 _24V_AH 23.7,9.661

SM_GC 1.42,11.25,0.00,0.00,0.035,0.000,0.000,417,2145,1234,-10.60,0.42,391.74 _10V_AH 10.1,4.657

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41145,824

TT8_MAMPS 0.028379 CAP_FILE_SIZE 127289,0

HUMID 1836 CFSIZE 254472192,249389056

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,43,0,0

XPDR_PINGS 61 GPS 040909,231936,6138.622,-921.431,39,1.4,39,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 153 101.25 SBE_CT 564 24 320.98

Roll_motor 131 84 263.59 SBE_O2 612 19 276.03

VBD_pump_during_apogee 466 1414 15630.40 WL_BB2F 469 105 1167.99

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 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 26 160 100.15 nil 0 0 0.00

Iridium_during_xfer 150 223 793.69

Transponder_ping 23 420 228.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.99

TT8 1504 19 300.85

LPSleep 13160 2 291.09

TT8_Active 544 19 108.89

TT8_Sampling 1816 39 730.02

TT8_CF8 512 45 236.99

TT8_Kalman 33 81 27.55

Analog_circuits 1476 12 178.91

GPS_charging 0 0 0.00

Compass 1752 8 141.57

RAFOS 0 0 0.00

Transponder 52 30 15.78

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 59 0.00 0.00 -41.85 0.000 2 0.000 0.000 421 2145 2505

63 -1.22 -146.6 2.3 -4.0 2 115 11.00 2.53 -35.47 0.000 4 0.153 0.080 2472 3526 3430

146 -1.06 -146.6 8.6 -12.6 6 151 0.20 2.47 0.00 0.000 6 0.087 0.047 2516 2117 3430

473 -1.06 -146.6 46.2 -11.4 22 474 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2105 3431

782 -1.06 -146.6 79.1 -11.2 37 787 0.00 2.55 0.00 0.000 4 0.000 0.064 2516 3526 3431

827 -1.06 -146.6 84.2 -11.2 39 832 0.00 2.45 0.00 0.000 6 0.000 0.054 2515 2139 3431

1149 -1.06 -146.6 117.7 -10.1 55 1153 0.00 2.53 0.00 0.000 4 0.000 0.066 2516 3522 3431

1189 -1.06 -146.6 121.8 -10.3 57 1193 0.00 2.45 0.00 0.000 6 0.000 0.050 2515 2133 3431

1515 -1.06 -146.6 155.1 -10.1 73 1517 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2119 3431

1825 -1.06 -146.6 184.0 -10.1 88 1826 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2119 3431

2134 -1.06 -146.6 214.3 -10.3 103 2135 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2119 3431

2444 -1.06 -146.6 246.2 -9.9 118 2445 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2119 3431

2752 -1.06 -146.6 276.2 -9.2 133 2754 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2119 3431

3062 -1.06 -146.6 306.0 -10.1 148 3063 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2119 3431

3371 -1.06 -146.6 337.4 -10.1 163 3372 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2119 3431

3680 -1.06 -146.6 368.9 -10.4 178 3681 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2116 3430

3990 -1.06 -146.6 401.5 -11.3 193 3991 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2116 3430

4299 -1.06 -146.6 435.4 -9.7 208 4303 0.00 2.55 0.00 0.000 4 0.000 0.071 2516 3520 3430

4338 -1.06 -146.6 439.6 -11.0 210 4342 0.00 2.42 0.00 0.000 6 0.000 0.057 2516 2150 3430

4672 -1.06 -146.6 477.8 -12.2 226 4676 0.00 2.53 0.00 0.000 4 0.000 0.067 2516 724 3429

4712 -1.14 -146.6 483.0 -12.8 228 4716 0.00 2.47 0.00 0.000 6 0.000 0.051 2516 2138 3430

5040 -1.14 -146.6 521.6 -10.7 244 5045 0.00 2.55 0.00 0.000 4 0.000 0.066 2516 722 3429

5069 -1.21 -146.6 525.1 -12.0 245 5074 0.15 2.47 0.00 0.000 6 0.054 0.051 2472 2143 3429

5386 -1.13 -146.6 570.5 -15.0 260 5391 0.12 2.58 0.00 0.000 4 0.094 0.064 2497 724 3429

5413 -1.13 -146.6 574.9 -14.4 261 5418 0.00 2.50 0.00 0.000 6 0.000 0.051 2498 2146 3429

5730 -1.13 -146.6 612.7 -11.0 276 5731 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2146 3429

6039 -1.13 -146.6 647.0 -11.5 291 6044 0.00 2.58 0.00 0.000 4 0.000 0.067 2498 722 3428

6102 -1.13 -146.6 655.2 -12.8 294 6107 0.00 2.47 0.00 0.000 6 0.000 0.054 2497 2142 3428

6430 -1.13 -146.6 695.4 -12.8 310 6434 0.00 2.55 0.00 0.000 4 0.000 0.065 2498 724 3428

6496 -1.13 -146.6 704.4 -13.6 313 6500 0.00 2.47 0.00 0.000 6 0.000 0.051 2498 2132 3428

6818 -1.13 -146.6 742.6 -11.1 329 6819 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2132 3428

7127 -1.13 -146.6 772.9 -8.9 344 7128 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2132 3427

7436 -1.13 -146.6 793.8 -7.2 359 7438 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2132 3427

7746 -1.18 -146.6 817.8 -11.0 374 7750 0.00 2.55 0.00 0.000 4 0.000 0.069 2498 724 3427

7905 -1.25 -146.6 836.6 -10.3 381 7910 0.12 2.47 0.00 0.000 6 0.058 0.052 2462 2130 3427

8226 -1.25 -146.6 872.7 -10.2 397 8231 0.00 2.58 0.00 0.000 4 0.000 0.078 2462 724 3427

8358 end dive: BOTTOM_OBSTACLE_DETECTED

state 8358 begin apogee

8368 -0.33 0.0 885.6 7.5 403 8498 0.95 0.00 127.20 1.414 6 0.086 0.000 2669 1931 2831

8499 end apogee: CONTROL_FINISHED_OK

state 8499 begin climb

8503 1.22 146.6 901.1 0.0 409 8640 1.52 2.72 127.18 1.386 4 0.057 0.079 3007 3325 2232

8877 1.00 146.6 872.7 9.1 426 8883 0.22 2.62 0.00 0.000 6 0.094 0.074 2965 1922 2233

9205 1.06 235.5 851.7 4.8 442 9289 0.00 2.70 76.60 1.384 4 0.000 0.083 2965 510 1871

9418 1.23 342.8 837.8 4.1 451 9517 0.22 2.53 92.45 1.374 6 0.054 0.064 3018 1895 1433

9834 1.17 342.8 789.4 14.3 472 9838 0.00 2.62 0.00 0.000 4 0.000 0.084 3018 511 1433

9889 1.06 342.8 782.2 11.7 474 9896 0.22 2.47 0.00 0.000 6 0.091 0.061 2976 1869 1433

10205 1.13 342.8 753.2 9.0 490 10210 0.00 2.62 0.00 0.000 4 0.000 0.074 2976 3316 1433

10245 1.24 342.8 749.7 8.9 492 10251 0.20 2.65 0.00 0.000 6 0.051 0.066 3024 1878 1434

10573 1.14 342.8 713.8 11.4 508 10578 0.17 2.53 0.00 0.000 4 0.091 0.075 2987 507 1433

10617 1.14 342.8 709.4 9.4 510 10622 0.00 2.42 0.00 0.000 6 0.000 0.054 2987 1863 1434

10939 1.14 342.8 679.5 9.8 526 10940 0.00 0.00 0.00 0.000 6 0.000 0.000 2987 1878 1433

11249 1.19 342.8 647.1 10.9 541 11253 0.00 2.53 0.00 0.000 4 0.000 0.075 2987 505 1434

11276 1.19 342.8 643.8 11.6 542 11280 0.00 2.40 0.00 0.000 6 0.000 0.054 2987 1858 1434

11592 1.23 342.8 612.1 9.6 557 11594 0.12 0.00 0.00 0.000 6 0.055 0.000 3020 1874 1434

11902 1.18 342.8 570.6 13.5 572 11903 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1874 1435

12211 1.12 342.8 529.2 13.8 587 12213 0.17 0.00 0.00 0.000 6 0.084 0.000 2985 1874 1435

12520 1.18 342.8 495.6 10.4 602 12524 0.00 2.45 0.00 0.000 4 0.000 0.069 2985 510 1436

12547 1.18 342.8 492.5 10.7 603 12551 0.00 2.38 0.00 0.000 6 0.000 0.050 2986 1858 1436

12869 1.24 342.8 462.9 8.6 619 12870 0.12 0.00 0.00 0.000 6 0.054 0.000 3020 1873 1437

13178 1.19 342.8 427.5 11.9 634 13179 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1873 1437

13487 1.15 342.8 391.2 11.5 649 13492 0.15 2.47 0.00 0.000 4 0.087 0.066 2990 508 1437

13520 1.15 342.8 387.5 10.2 650 13526 0.00 2.35 0.00 0.000 6 0.000 0.050 2990 1848 1437

13837 1.19 342.8 354.9 10.4 666 13841 0.00 2.60 0.00 0.000 4 0.000 0.065 2990 3319 1437

13864 1.29 342.8 352.0 9.6 667 13869 0.17 2.65 0.00 0.000 6 0.048 0.074 3038 1850 1437

14181 1.20 342.8 313.1 11.8 682 14183 0.17 0.00 0.00 0.000 6 0.087 0.000 3003 1850 1438

14489 1.20 342.8 282.7 9.3 697 14494 0.00 2.65 0.00 0.000 4 0.000 0.064 3003 3319 1438

14522 1.27 342.8 279.8 8.2 698 14529 0.00 2.62 0.00 0.000 6 0.000 0.058 3004 1856 1438

14838 1.27 342.8 254.7 8.5 714 14842 0.00 2.42 0.00 0.000 4 0.000 0.073 3004 508 1438

14885 1.27 342.8 249.6 11.4 716 14889 0.00 2.35 0.00 0.000 6 0.000 0.054 3004 1848 1438

15211 1.27 342.8 211.5 12.0 732 15213 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1863 1438

15521 1.33 379.6 180.8 6.7 747 15555 0.15 0.00 31.73 0.900 6 0.051 0.000 3044 1863 1283

15851 1.25 379.6 137.9 14.0 763 15856 0.15 2.65 0.00 0.000 4 0.086 0.063 3014 3321 1283

15873 1.25 379.6 134.8 13.2 764 15878 0.00 2.65 0.00 0.000 6 0.000 0.054 3014 1844 1283

16196 1.25 379.6 101.7 10.1 780 16200 0.00 2.67 0.00 0.000 4 0.000 0.063 3014 3320 1283

16236 1.33 379.6 97.5 10.2 782 16240 0.00 2.62 0.00 0.000 6 0.000 0.057 3014 1854 1283

16563 1.35 391.2 69.5 7.6 798 16585 0.12 2.67 11.15 0.776 4 0.054 0.061 3049 3321 1235

16609 1.35 391.2 64.2 13.8 800 16614 0.00 2.60 0.00 0.000 6 0.000 0.054 3049 1871 1235

16937 1.29 391.2 19.4 13.5 816 16941 0.12 2.45 0.00 0.000 4 0.091 0.065 3024 506 1235

16977 1.29 391.2 14.1 11.5 818 16981 0.00 2.35 0.00 0.000 6 0.000 0.048 3024 1862 1235

17081 end climb: SURFACE_DEPTH_REACHED

state 17081 begin surface coast

17102 end surface coast: CONTROL_FINISHED_OK

state 17102 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	47	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	20	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	-101159.44	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	182507,6136.690,-923.909,42,1.0,42,-9.5	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.130,0.208
_SM_DEPTHo	1.36	KALMAN_X	-45005.0,378.7,-130.3,6017.9,-3627.6
_SM_ANGLEo	-67.2	KALMAN_Y	30656.6,622.6,358.0,-31483.0,-5949.0
GPS2	183104,6136.706,-923.847,11,2.5,30,-9.5	MHEAD_RNG_PITCHd_Wd	41.5,17208,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.026672	ALTIM_BOTTOM_PING	845.4,49.8
SM_CCo	17186,0.00,0.000,0,0,1234,391.74	_24V_AH	23.7,9.661
SM_GC	1.42,11.25,0.00,0.00,0.035,0.000,0.000,417,2145,1234,-10.60,0.42,391.74	_10V_AH	10.1,4.657
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41145,824
TT8_MAMPS	0.028379	CAP_FILE_SIZE	127289,0
HUMID	1836	CFSIZE	254472192,249389056
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
XPDR_PINGS	61	GPS	040909,231936,6138.622,-921.431,39,1.4,39,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	153	101.25	SBE_CT	564	24	320.98
Roll_motor	131	84	263.59	SBE_O2	612	19	276.03
VBD_pump_during_apogee	466	1414	15630.40	WL_BB2F	469	105	1167.99
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	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	26	160	100.15	nil	0	0	0.00
Iridium_during_xfer	150	223	793.69
Transponder_ping	23	420	228.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.99
TT8	1504	19	300.85
LPSleep	13160	2	291.09
TT8_Active	544	19	108.89
TT8_Sampling	1816	39	730.02
TT8_CF8	512	45	236.99
TT8_Kalman	33	81	27.55
Analog_circuits	1476	12	178.91
GPS_charging	0	0	0.00
Compass	1752	8	141.57
RAFOS	0	0	0.00
Transponder	52	30	15.78

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	59	0.00	0.00	-41.85	0.000	2	0.000	0.000	421	2145	2505
63	-1.22	-146.6	2.3	-4.0	2	115	11.00	2.53	-35.47	0.000	4	0.153	0.080	2472	3526	3430
146	-1.06	-146.6	8.6	-12.6	6	151	0.20	2.47	0.00	0.000	6	0.087	0.047	2516	2117	3430
473	-1.06	-146.6	46.2	-11.4	22	474	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2105	3431
782	-1.06	-146.6	79.1	-11.2	37	787	0.00	2.55	0.00	0.000	4	0.000	0.064	2516	3526	3431
827	-1.06	-146.6	84.2	-11.2	39	832	0.00	2.45	0.00	0.000	6	0.000	0.054	2515	2139	3431
1149	-1.06	-146.6	117.7	-10.1	55	1153	0.00	2.53	0.00	0.000	4	0.000	0.066	2516	3522	3431
1189	-1.06	-146.6	121.8	-10.3	57	1193	0.00	2.45	0.00	0.000	6	0.000	0.050	2515	2133	3431
1515	-1.06	-146.6	155.1	-10.1	73	1517	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2119	3431
1825	-1.06	-146.6	184.0	-10.1	88	1826	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2119	3431
2134	-1.06	-146.6	214.3	-10.3	103	2135	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2119	3431
2444	-1.06	-146.6	246.2	-9.9	118	2445	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2119	3431
2752	-1.06	-146.6	276.2	-9.2	133	2754	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2119	3431
3062	-1.06	-146.6	306.0	-10.1	148	3063	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2119	3431
3371	-1.06	-146.6	337.4	-10.1	163	3372	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2119	3431
3680	-1.06	-146.6	368.9	-10.4	178	3681	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2116	3430
3990	-1.06	-146.6	401.5	-11.3	193	3991	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2116	3430
4299	-1.06	-146.6	435.4	-9.7	208	4303	0.00	2.55	0.00	0.000	4	0.000	0.071	2516	3520	3430
4338	-1.06	-146.6	439.6	-11.0	210	4342	0.00	2.42	0.00	0.000	6	0.000	0.057	2516	2150	3430
4672	-1.06	-146.6	477.8	-12.2	226	4676	0.00	2.53	0.00	0.000	4	0.000	0.067	2516	724	3429
4712	-1.14	-146.6	483.0	-12.8	228	4716	0.00	2.47	0.00	0.000	6	0.000	0.051	2516	2138	3430
5040	-1.14	-146.6	521.6	-10.7	244	5045	0.00	2.55	0.00	0.000	4	0.000	0.066	2516	722	3429
5069	-1.21	-146.6	525.1	-12.0	245	5074	0.15	2.47	0.00	0.000	6	0.054	0.051	2472	2143	3429
5386	-1.13	-146.6	570.5	-15.0	260	5391	0.12	2.58	0.00	0.000	4	0.094	0.064	2497	724	3429
5413	-1.13	-146.6	574.9	-14.4	261	5418	0.00	2.50	0.00	0.000	6	0.000	0.051	2498	2146	3429
5730	-1.13	-146.6	612.7	-11.0	276	5731	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2146	3429
6039	-1.13	-146.6	647.0	-11.5	291	6044	0.00	2.58	0.00	0.000	4	0.000	0.067	2498	722	3428
6102	-1.13	-146.6	655.2	-12.8	294	6107	0.00	2.47	0.00	0.000	6	0.000	0.054	2497	2142	3428
6430	-1.13	-146.6	695.4	-12.8	310	6434	0.00	2.55	0.00	0.000	4	0.000	0.065	2498	724	3428
6496	-1.13	-146.6	704.4	-13.6	313	6500	0.00	2.47	0.00	0.000	6	0.000	0.051	2498	2132	3428
6818	-1.13	-146.6	742.6	-11.1	329	6819	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2132	3428
7127	-1.13	-146.6	772.9	-8.9	344	7128	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2132	3427
7436	-1.13	-146.6	793.8	-7.2	359	7438	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2132	3427
7746	-1.18	-146.6	817.8	-11.0	374	7750	0.00	2.55	0.00	0.000	4	0.000	0.069	2498	724	3427
7905	-1.25	-146.6	836.6	-10.3	381	7910	0.12	2.47	0.00	0.000	6	0.058	0.052	2462	2130	3427
8226	-1.25	-146.6	872.7	-10.2	397	8231	0.00	2.58	0.00	0.000	4	0.000	0.078	2462	724	3427
8358	end dive: BOTTOM_OBSTACLE_DETECTED
state	8358	begin apogee
8368	-0.33	0.0	885.6	7.5	403	8498	0.95	0.00	127.20	1.414	6	0.086	0.000	2669	1931	2831
8499	end apogee: CONTROL_FINISHED_OK
state	8499	begin climb
8503	1.22	146.6	901.1	0.0	409	8640	1.52	2.72	127.18	1.386	4	0.057	0.079	3007	3325	2232
8877	1.00	146.6	872.7	9.1	426	8883	0.22	2.62	0.00	0.000	6	0.094	0.074	2965	1922	2233
9205	1.06	235.5	851.7	4.8	442	9289	0.00	2.70	76.60	1.384	4	0.000	0.083	2965	510	1871
9418	1.23	342.8	837.8	4.1	451	9517	0.22	2.53	92.45	1.374	6	0.054	0.064	3018	1895	1433
9834	1.17	342.8	789.4	14.3	472	9838	0.00	2.62	0.00	0.000	4	0.000	0.084	3018	511	1433
9889	1.06	342.8	782.2	11.7	474	9896	0.22	2.47	0.00	0.000	6	0.091	0.061	2976	1869	1433
10205	1.13	342.8	753.2	9.0	490	10210	0.00	2.62	0.00	0.000	4	0.000	0.074	2976	3316	1433
10245	1.24	342.8	749.7	8.9	492	10251	0.20	2.65	0.00	0.000	6	0.051	0.066	3024	1878	1434
10573	1.14	342.8	713.8	11.4	508	10578	0.17	2.53	0.00	0.000	4	0.091	0.075	2987	507	1433
10617	1.14	342.8	709.4	9.4	510	10622	0.00	2.42	0.00	0.000	6	0.000	0.054	2987	1863	1434
10939	1.14	342.8	679.5	9.8	526	10940	0.00	0.00	0.00	0.000	6	0.000	0.000	2987	1878	1433
11249	1.19	342.8	647.1	10.9	541	11253	0.00	2.53	0.00	0.000	4	0.000	0.075	2987	505	1434
11276	1.19	342.8	643.8	11.6	542	11280	0.00	2.40	0.00	0.000	6	0.000	0.054	2987	1858	1434
11592	1.23	342.8	612.1	9.6	557	11594	0.12	0.00	0.00	0.000	6	0.055	0.000	3020	1874	1434
11902	1.18	342.8	570.6	13.5	572	11903	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1874	1435
12211	1.12	342.8	529.2	13.8	587	12213	0.17	0.00	0.00	0.000	6	0.084	0.000	2985	1874	1435
12520	1.18	342.8	495.6	10.4	602	12524	0.00	2.45	0.00	0.000	4	0.000	0.069	2985	510	1436
12547	1.18	342.8	492.5	10.7	603	12551	0.00	2.38	0.00	0.000	6	0.000	0.050	2986	1858	1436
12869	1.24	342.8	462.9	8.6	619	12870	0.12	0.00	0.00	0.000	6	0.054	0.000	3020	1873	1437
13178	1.19	342.8	427.5	11.9	634	13179	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1873	1437
13487	1.15	342.8	391.2	11.5	649	13492	0.15	2.47	0.00	0.000	4	0.087	0.066	2990	508	1437
13520	1.15	342.8	387.5	10.2	650	13526	0.00	2.35	0.00	0.000	6	0.000	0.050	2990	1848	1437
13837	1.19	342.8	354.9	10.4	666	13841	0.00	2.60	0.00	0.000	4	0.000	0.065	2990	3319	1437
13864	1.29	342.8	352.0	9.6	667	13869	0.17	2.65	0.00	0.000	6	0.048	0.074	3038	1850	1437
14181	1.20	342.8	313.1	11.8	682	14183	0.17	0.00	0.00	0.000	6	0.087	0.000	3003	1850	1438
14489	1.20	342.8	282.7	9.3	697	14494	0.00	2.65	0.00	0.000	4	0.000	0.064	3003	3319	1438
14522	1.27	342.8	279.8	8.2	698	14529	0.00	2.62	0.00	0.000	6	0.000	0.058	3004	1856	1438
14838	1.27	342.8	254.7	8.5	714	14842	0.00	2.42	0.00	0.000	4	0.000	0.073	3004	508	1438
14885	1.27	342.8	249.6	11.4	716	14889	0.00	2.35	0.00	0.000	6	0.000	0.054	3004	1848	1438
15211	1.27	342.8	211.5	12.0	732	15213	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1863	1438
15521	1.33	379.6	180.8	6.7	747	15555	0.15	0.00	31.73	0.900	6	0.051	0.000	3044	1863	1283
15851	1.25	379.6	137.9	14.0	763	15856	0.15	2.65	0.00	0.000	4	0.086	0.063	3014	3321	1283
15873	1.25	379.6	134.8	13.2	764	15878	0.00	2.65	0.00	0.000	6	0.000	0.054	3014	1844	1283
16196	1.25	379.6	101.7	10.1	780	16200	0.00	2.67	0.00	0.000	4	0.000	0.063	3014	3320	1283
16236	1.33	379.6	97.5	10.2	782	16240	0.00	2.62	0.00	0.000	6	0.000	0.057	3014	1854	1283
16563	1.35	391.2	69.5	7.6	798	16585	0.12	2.67	11.15	0.776	4	0.054	0.061	3049	3321	1235
16609	1.35	391.2	64.2	13.8	800	16614	0.00	2.60	0.00	0.000	6	0.000	0.054	3049	1871	1235
16937	1.29	391.2	19.4	13.5	816	16941	0.12	2.45	0.00	0.000	4	0.091	0.065	3024	506	1235
16977	1.29	391.2	14.1	11.5	818	16981	0.00	2.35	0.00	0.000	6	0.000	0.048	3024	1862	1235
17081	end climb: SURFACE_DEPTH_REACHED
state	17081	begin surface coast
17102	end surface coast: CONTROL_FINISHED_OK
state	17102	begin surface