Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 5 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 2190 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2190 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 360 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 -87344.891 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 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 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.610077 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 330

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 -87344.891

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 360

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 2700 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2190 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2190 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 45 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 5 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 215426,6336.590,-557.936,7,1.0,13,-8.3 TGT_NAME NSEC_S

_CALLS 1 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.198,-0.174

_SM_DEPTHo 0.92 KALMAN_X 5330.2,1213.7,53.7,-1460.7,3680.9

_SM_ANGLEo -64.2 KALMAN_Y -1504.9,-320.5,7.5,-5014.9,-984.0

GPS2 215739,6336.582,-557.845,13,1.2,13,-8.3 MHEAD_RNG_PITCHd_Wd 237.1,104965,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027409 ALTIM_TOP_PING 17.4,999.0

SM_CCo 18846,0.40,0.145,0,0,1812,250.21 _24V_AH 23.5,3.807

SM_GC 1.61,0.00,0.00,0.40,0.000,0.000,0.145,426,2180,1812,-10.46,-0.28,250.21 _10V_AH 10.0,1.824

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47410,909

TT8_MAMPS 0.029146 CAP_FILE_SIZE 155608,0

HUMID 1845 CFSIZE 254472192,251871232

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,59,0,0

XPDR_PINGS 180 GPS 071108,031425,6333.229,-558.780,69,1.0,69,-8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 152 95.59 SBE_CT 680 24 383.67

Roll_motor 162 107 409.30 SBE_O2 614 19 274.56

VBD_pump_during_apogee 353 1650 13709.87 WL_BB2F 468 105 1157.22

VBD_pump_during_surface 0 144 1.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 54 420 532.98

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.88

TT8 1669 19 330.49

LPSleep 14587 2 319.46

TT8_Active 520 19 103.00

TT8_Sampling 1887 39 751.33

TT8_CF8 252 45 115.59

TT8_Kalman 33 81 27.30

Analog_circuits 1488 12 178.67

GPS_charging 0 0 0.00

Compass 1842 8 147.41

RAFOS 0 0 0.00

Transponder 58 30 17.59

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 -1.44 -146.6 0.0 0.0 0 99 0.00 0.00 -81.32 0.000 2 0.000 0.000 427 2215 3369

102 -1.44 -146.6 4.7 -5.7 4 125 10.48 2.75 -1.42 0.000 4 0.153 0.085 2376 781 3432

256 -1.27 -146.6 38.2 -17.4 10 263 0.22 2.58 0.00 0.000 6 0.107 0.064 2418 2172 3433

573 -1.21 -146.6 85.2 -14.9 26 577 0.00 2.62 0.00 0.000 4 0.000 0.075 2418 780 3433

658 -1.15 -146.6 97.8 -15.0 30 663 0.15 2.60 0.00 0.000 6 0.107 0.066 2447 2182 3433

986 -1.15 -146.6 138.6 -12.0 46 990 0.00 2.65 0.00 0.000 4 0.000 0.077 2448 778 3433

1041 -1.19 -146.6 146.0 -13.5 48 1048 0.00 2.58 0.00 0.000 6 0.000 0.066 2448 2172 3434

1357 -1.19 -146.6 188.3 -13.2 64 1361 0.00 2.62 0.00 0.000 4 0.000 0.078 2448 784 3434

1378 -1.19 -146.6 191.3 -13.8 65 1383 0.00 2.58 0.00 0.000 6 0.000 0.067 2448 2168 3434

1699 -1.19 -146.6 235.0 -13.9 81 1704 0.00 2.62 0.00 0.000 4 0.000 0.080 2448 785 3434

1755 -1.19 -146.6 243.5 -14.8 83 1761 0.00 2.58 0.00 0.000 6 0.000 0.071 2448 2163 3434

2071 -1.19 -146.6 287.5 -13.4 99 2075 0.00 2.62 0.00 0.000 4 0.000 0.082 2448 785 3434

2126 -1.19 -146.6 294.8 -13.0 101 2132 0.00 2.55 0.00 0.000 6 0.000 0.072 2448 2145 3434

2442 -1.19 -146.6 330.1 -11.0 117 2446 0.00 2.60 0.00 0.000 4 0.000 0.084 2448 786 3434

2481 -1.19 -146.6 334.7 -12.0 119 2486 0.00 2.55 0.00 0.000 6 0.000 0.074 2448 2144 3434

2808 -1.19 -146.6 370.9 -11.2 135 2813 0.00 2.60 0.00 0.000 4 0.000 0.085 2448 784 3434

2853 -1.19 -146.6 376.1 -11.5 137 2857 0.00 2.53 0.00 0.000 6 0.000 0.074 2448 2125 3434

3173 -1.19 -146.6 412.5 -12.0 153 3178 0.00 2.58 0.00 0.000 4 0.000 0.087 2448 787 3433

3224 -1.24 -146.6 418.6 -12.1 155 3228 0.00 2.53 0.00 0.000 6 0.000 0.077 2448 2122 3433

3540 -1.24 -146.6 453.6 -10.5 170 3544 0.00 2.58 0.00 0.000 4 0.000 0.088 2448 785 3433

3595 -1.29 -146.6 459.4 -10.3 172 3602 0.12 2.50 0.00 0.000 6 0.074 0.077 2419 2112 3433

3911 -1.24 -146.6 493.5 -10.5 188 3916 0.00 2.55 0.00 0.000 4 0.000 0.089 2419 788 3432

3967 -1.24 -146.6 499.7 -11.1 190 3977 0.00 2.50 0.00 0.000 6 0.000 0.078 2419 2106 3432

4284 -1.19 -146.6 531.3 -9.6 206 4288 0.00 2.55 0.00 0.000 4 0.000 0.092 2419 788 3431

4317 -1.13 -146.6 534.8 -9.9 207 4324 0.17 2.47 0.00 0.000 6 0.117 0.080 2452 2091 3431

4634 -1.19 -146.6 558.8 -7.3 223 4635 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2092 3430

4943 -1.24 -146.6 581.2 -7.7 238 4944 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2092 3430

5252 -1.30 -146.6 605.0 -7.8 253 5257 0.17 2.53 0.00 0.000 4 0.076 0.091 2410 788 3429

5286 -1.22 -146.6 608.3 -10.3 254 5292 0.12 2.50 0.00 0.000 6 0.126 0.081 2431 2102 3429

5602 -1.22 -146.6 637.7 -9.4 270 5603 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2102 3428

5911 -1.22 -146.6 666.7 -9.4 285 5915 0.00 2.55 0.00 0.000 4 0.000 0.093 2431 788 3428

5938 -1.22 -146.6 669.6 -9.7 286 5943 0.00 2.50 0.00 0.000 6 0.000 0.082 2431 2100 3428

6256 -1.22 -146.6 700.5 -9.8 301 6260 0.00 2.55 0.00 0.000 4 0.000 0.094 2431 783 3427

6295 -1.22 -146.6 704.7 -10.2 303 6300 0.00 2.50 0.00 0.000 6 0.000 0.083 2432 2092 3427

6623 -1.22 -146.6 735.7 -9.2 319 6627 0.00 2.55 0.00 0.000 4 0.000 0.095 2431 785 3426

6656 -1.22 -146.6 739.0 -9.7 320 6662 0.00 2.47 0.00 0.000 6 0.000 0.084 2431 2078 3427

6972 -1.22 -146.6 768.4 -9.5 336 6974 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2078 3426

7281 -1.22 -146.6 798.9 -9.9 351 7286 0.00 2.53 0.00 0.000 4 0.000 0.095 2431 784 3426

7326 -1.22 -146.6 803.7 -11.0 353 7330 0.00 2.47 0.00 0.000 6 0.000 0.084 2431 2076 3426

7647 -1.22 -146.6 837.0 -10.4 369 7648 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2076 3425

7956 -1.22 -146.6 869.7 -10.8 384 7957 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2076 3425

8265 -1.22 -146.6 903.5 -10.8 399 8269 0.00 2.50 0.00 0.000 4 0.000 0.097 2431 789 3424

8303 -1.22 -146.6 908.0 -10.9 400 8310 0.00 2.47 0.00 0.000 6 0.000 0.087 2431 2076 3424

8619 -1.22 -146.6 941.0 -10.8 416 8620 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2076 3424

8930 -1.22 -146.6 975.7 -11.1 431 8931 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2076 3424

9070 end dive: TARGET_DEPTH_EXCEEDED

state 9070 begin apogee

9077 -0.33 0.0 991.7 11.2 438 9207 0.95 0.00 127.05 1.651 6 0.110 0.000 2622 2195 2832

9208 end apogee: CONTROL_FINISHED_OK

state 9208 begin climb

9211 1.44 146.6 996.9 0.0 444 9348 1.88 2.83 126.43 1.613 4 0.087 0.100 3009 3596 2233

9407 1.33 148.4 985.9 9.9 453 9412 0.00 2.72 0.00 0.000 6 0.000 0.085 3008 2198 2234

9728 1.28 155.4 955.3 9.7 469 9743 0.17 2.85 9.23 1.365 4 0.114 0.101 2975 3599 2198

9777 1.31 173.7 950.7 9.2 470 9802 0.00 2.72 17.38 1.473 6 0.000 0.084 2975 2195 2123

10121 1.40 191.9 920.1 9.2 487 10144 0.12 2.90 17.10 1.484 4 0.079 0.099 3002 3594 2049

10172 1.40 191.9 914.4 11.3 489 10177 0.00 2.72 0.00 0.000 6 0.000 0.084 3002 2197 2049

10493 1.40 191.9 880.3 10.7 505 10494 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2197 2049

10802 1.40 191.9 846.1 11.0 520 10807 0.00 2.78 0.00 0.000 4 0.000 0.100 3002 3594 2048

10842 1.40 191.9 841.5 11.2 522 10847 0.00 2.67 0.00 0.000 6 0.000 0.083 3002 2202 2048

11169 1.40 191.9 806.3 10.7 538 11170 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2202 2048

11478 1.40 191.9 774.2 10.3 553 11482 0.00 2.78 0.00 0.000 4 0.000 0.100 3002 3601 2048

11527 1.40 191.9 768.8 10.3 555 11532 0.00 2.67 0.00 0.000 6 0.000 0.083 3002 2207 2048

11843 1.41 200.0 738.2 9.6 570 11853 0.00 0.00 8.43 1.313 6 0.000 0.000 3002 2206 2016

12152 1.42 207.4 708.1 9.7 585 12162 0.00 0.00 8.35 1.302 6 0.000 0.000 3002 2207 1986

12461 1.42 207.4 677.2 10.1 600 12466 0.00 2.75 0.00 0.000 4 0.000 0.097 3002 784 1986

12483 1.42 207.4 674.8 10.4 601 12488 0.00 2.72 0.00 0.000 6 0.000 0.084 3002 2213 1986

12804 1.42 207.4 642.6 10.0 617 12805 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2212 1986

13113 1.44 217.0 612.5 9.6 632 13127 0.00 0.00 9.40 1.279 6 0.000 0.000 3002 2213 1947

13445 1.48 217.0 579.2 10.2 648 13447 0.10 0.00 0.00 0.000 6 0.084 0.000 3023 2213 1947

13754 1.48 217.0 546.0 10.4 663 13758 0.00 2.70 0.00 0.000 4 0.000 0.099 3023 3605 1948

13798 1.43 217.0 540.9 11.3 665 13803 0.00 2.65 0.00 0.000 6 0.000 0.080 3023 2214 1947

14119 1.43 217.0 506.6 10.7 681 14120 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2214 1947

14428 1.43 217.0 473.5 10.5 696 14430 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2214 1947

14738 1.43 217.0 440.8 10.4 711 14742 0.00 2.72 0.00 0.000 4 0.000 0.097 3023 3601 1947

14770 1.43 217.0 437.0 10.9 712 14777 0.00 2.62 0.00 0.000 6 0.000 0.079 3023 2217 1947

15086 1.44 218.7 405.0 9.9 728 15087 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2217 1947

15395 1.44 218.7 373.9 10.2 743 15400 0.00 2.70 0.00 0.000 4 0.000 0.095 3023 3605 1947

15423 1.44 218.7 370.9 10.7 744 15427 0.00 2.60 0.00 0.000 6 0.000 0.078 3023 2226 1947

15739 1.47 237.3 340.4 9.2 759 15759 0.00 0.00 18.40 1.197 6 0.000 0.000 3023 2226 1864

16068 1.47 237.3 308.7 10.2 775 16069 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2226 1863

16377 1.47 237.3 272.9 12.2 790 16378 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2226 1864

16686 1.47 237.3 236.5 11.5 805 16691 0.00 2.67 0.00 0.000 4 0.000 0.092 3023 3602 1864

16731 1.47 237.3 231.1 11.8 807 16735 0.00 2.58 0.00 0.000 6 0.000 0.074 3023 2230 1864

17052 1.47 239.2 197.5 9.9 823 17056 0.00 2.67 0.00 0.000 4 0.000 0.092 3023 3606 1864

17124 1.49 250.0 189.7 9.5 826 17143 0.00 2.58 11.70 1.050 6 0.000 0.073 3023 2233 1812

17468 1.53 250.0 155.1 10.2 843 17472 0.00 2.65 0.00 0.000 4 0.000 0.088 3023 3602 1812

17552 1.53 250.0 145.1 11.9 847 17557 0.00 2.53 0.00 0.000 6 0.000 0.070 3023 2248 1812

17880 1.53 250.0 110.7 10.6 863 17881 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2247 1813

18189 1.58 250.0 77.0 11.5 878 18193 0.00 2.58 0.00 0.000 4 0.000 0.082 3023 3600 1813

18255 1.58 250.0 68.9 12.3 881 18260 0.00 2.47 0.00 0.000 6 0.000 0.065 3023 2257 1814

18579 1.63 250.0 32.9 10.9 897 18581 0.15 0.00 0.00 0.000 6 0.068 0.000 3059 2256 1815

18802 end climb: SURFACE_DEPTH_REACHED

state 18802 begin surface coast

18823 end surface coast: CONTROL_FINISHED_OK

state 18823 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	5	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	2190	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2190	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	360	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	-87344.891	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	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	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	215426,6336.590,-557.936,7,1.0,13,-8.3	TGT_NAME	NSEC_S
_CALLS	1	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.198,-0.174
_SM_DEPTHo	0.92	KALMAN_X	5330.2,1213.7,53.7,-1460.7,3680.9
_SM_ANGLEo	-64.2	KALMAN_Y	-1504.9,-320.5,7.5,-5014.9,-984.0
GPS2	215739,6336.582,-557.845,13,1.2,13,-8.3	MHEAD_RNG_PITCHd_Wd	237.1,104965,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.027409	ALTIM_TOP_PING	17.4,999.0
SM_CCo	18846,0.40,0.145,0,0,1812,250.21	_24V_AH	23.5,3.807
SM_GC	1.61,0.00,0.00,0.40,0.000,0.000,0.145,426,2180,1812,-10.46,-0.28,250.21	_10V_AH	10.0,1.824
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47410,909
TT8_MAMPS	0.029146	CAP_FILE_SIZE	155608,0
HUMID	1845	CFSIZE	254472192,251871232
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,59,0,0
XPDR_PINGS	180	GPS	071108,031425,6333.229,-558.780,69,1.0,69,-8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	152	95.59	SBE_CT	680	24	383.67
Roll_motor	162	107	409.30	SBE_O2	614	19	274.56
VBD_pump_during_apogee	353	1650	13709.87	WL_BB2F	468	105	1157.22
VBD_pump_during_surface	0	144	1.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	54	420	532.98
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.88
TT8	1669	19	330.49
LPSleep	14587	2	319.46
TT8_Active	520	19	103.00
TT8_Sampling	1887	39	751.33
TT8_CF8	252	45	115.59
TT8_Kalman	33	81	27.30
Analog_circuits	1488	12	178.67
GPS_charging	0	0	0.00
Compass	1842	8	147.41
RAFOS	0	0	0.00
Transponder	58	30	17.59

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	-1.44	-146.6	0.0	0.0	0	99	0.00	0.00	-81.32	0.000	2	0.000	0.000	427	2215	3369
102	-1.44	-146.6	4.7	-5.7	4	125	10.48	2.75	-1.42	0.000	4	0.153	0.085	2376	781	3432
256	-1.27	-146.6	38.2	-17.4	10	263	0.22	2.58	0.00	0.000	6	0.107	0.064	2418	2172	3433
573	-1.21	-146.6	85.2	-14.9	26	577	0.00	2.62	0.00	0.000	4	0.000	0.075	2418	780	3433
658	-1.15	-146.6	97.8	-15.0	30	663	0.15	2.60	0.00	0.000	6	0.107	0.066	2447	2182	3433
986	-1.15	-146.6	138.6	-12.0	46	990	0.00	2.65	0.00	0.000	4	0.000	0.077	2448	778	3433
1041	-1.19	-146.6	146.0	-13.5	48	1048	0.00	2.58	0.00	0.000	6	0.000	0.066	2448	2172	3434
1357	-1.19	-146.6	188.3	-13.2	64	1361	0.00	2.62	0.00	0.000	4	0.000	0.078	2448	784	3434
1378	-1.19	-146.6	191.3	-13.8	65	1383	0.00	2.58	0.00	0.000	6	0.000	0.067	2448	2168	3434
1699	-1.19	-146.6	235.0	-13.9	81	1704	0.00	2.62	0.00	0.000	4	0.000	0.080	2448	785	3434
1755	-1.19	-146.6	243.5	-14.8	83	1761	0.00	2.58	0.00	0.000	6	0.000	0.071	2448	2163	3434
2071	-1.19	-146.6	287.5	-13.4	99	2075	0.00	2.62	0.00	0.000	4	0.000	0.082	2448	785	3434
2126	-1.19	-146.6	294.8	-13.0	101	2132	0.00	2.55	0.00	0.000	6	0.000	0.072	2448	2145	3434
2442	-1.19	-146.6	330.1	-11.0	117	2446	0.00	2.60	0.00	0.000	4	0.000	0.084	2448	786	3434
2481	-1.19	-146.6	334.7	-12.0	119	2486	0.00	2.55	0.00	0.000	6	0.000	0.074	2448	2144	3434
2808	-1.19	-146.6	370.9	-11.2	135	2813	0.00	2.60	0.00	0.000	4	0.000	0.085	2448	784	3434
2853	-1.19	-146.6	376.1	-11.5	137	2857	0.00	2.53	0.00	0.000	6	0.000	0.074	2448	2125	3434
3173	-1.19	-146.6	412.5	-12.0	153	3178	0.00	2.58	0.00	0.000	4	0.000	0.087	2448	787	3433
3224	-1.24	-146.6	418.6	-12.1	155	3228	0.00	2.53	0.00	0.000	6	0.000	0.077	2448	2122	3433
3540	-1.24	-146.6	453.6	-10.5	170	3544	0.00	2.58	0.00	0.000	4	0.000	0.088	2448	785	3433
3595	-1.29	-146.6	459.4	-10.3	172	3602	0.12	2.50	0.00	0.000	6	0.074	0.077	2419	2112	3433
3911	-1.24	-146.6	493.5	-10.5	188	3916	0.00	2.55	0.00	0.000	4	0.000	0.089	2419	788	3432
3967	-1.24	-146.6	499.7	-11.1	190	3977	0.00	2.50	0.00	0.000	6	0.000	0.078	2419	2106	3432
4284	-1.19	-146.6	531.3	-9.6	206	4288	0.00	2.55	0.00	0.000	4	0.000	0.092	2419	788	3431
4317	-1.13	-146.6	534.8	-9.9	207	4324	0.17	2.47	0.00	0.000	6	0.117	0.080	2452	2091	3431
4634	-1.19	-146.6	558.8	-7.3	223	4635	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2092	3430
4943	-1.24	-146.6	581.2	-7.7	238	4944	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2092	3430
5252	-1.30	-146.6	605.0	-7.8	253	5257	0.17	2.53	0.00	0.000	4	0.076	0.091	2410	788	3429
5286	-1.22	-146.6	608.3	-10.3	254	5292	0.12	2.50	0.00	0.000	6	0.126	0.081	2431	2102	3429
5602	-1.22	-146.6	637.7	-9.4	270	5603	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2102	3428
5911	-1.22	-146.6	666.7	-9.4	285	5915	0.00	2.55	0.00	0.000	4	0.000	0.093	2431	788	3428
5938	-1.22	-146.6	669.6	-9.7	286	5943	0.00	2.50	0.00	0.000	6	0.000	0.082	2431	2100	3428
6256	-1.22	-146.6	700.5	-9.8	301	6260	0.00	2.55	0.00	0.000	4	0.000	0.094	2431	783	3427
6295	-1.22	-146.6	704.7	-10.2	303	6300	0.00	2.50	0.00	0.000	6	0.000	0.083	2432	2092	3427
6623	-1.22	-146.6	735.7	-9.2	319	6627	0.00	2.55	0.00	0.000	4	0.000	0.095	2431	785	3426
6656	-1.22	-146.6	739.0	-9.7	320	6662	0.00	2.47	0.00	0.000	6	0.000	0.084	2431	2078	3427
6972	-1.22	-146.6	768.4	-9.5	336	6974	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2078	3426
7281	-1.22	-146.6	798.9	-9.9	351	7286	0.00	2.53	0.00	0.000	4	0.000	0.095	2431	784	3426
7326	-1.22	-146.6	803.7	-11.0	353	7330	0.00	2.47	0.00	0.000	6	0.000	0.084	2431	2076	3426
7647	-1.22	-146.6	837.0	-10.4	369	7648	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2076	3425
7956	-1.22	-146.6	869.7	-10.8	384	7957	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2076	3425
8265	-1.22	-146.6	903.5	-10.8	399	8269	0.00	2.50	0.00	0.000	4	0.000	0.097	2431	789	3424
8303	-1.22	-146.6	908.0	-10.9	400	8310	0.00	2.47	0.00	0.000	6	0.000	0.087	2431	2076	3424
8619	-1.22	-146.6	941.0	-10.8	416	8620	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2076	3424
8930	-1.22	-146.6	975.7	-11.1	431	8931	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2076	3424
9070	end dive: TARGET_DEPTH_EXCEEDED
state	9070	begin apogee
9077	-0.33	0.0	991.7	11.2	438	9207	0.95	0.00	127.05	1.651	6	0.110	0.000	2622	2195	2832
9208	end apogee: CONTROL_FINISHED_OK
state	9208	begin climb
9211	1.44	146.6	996.9	0.0	444	9348	1.88	2.83	126.43	1.613	4	0.087	0.100	3009	3596	2233
9407	1.33	148.4	985.9	9.9	453	9412	0.00	2.72	0.00	0.000	6	0.000	0.085	3008	2198	2234
9728	1.28	155.4	955.3	9.7	469	9743	0.17	2.85	9.23	1.365	4	0.114	0.101	2975	3599	2198
9777	1.31	173.7	950.7	9.2	470	9802	0.00	2.72	17.38	1.473	6	0.000	0.084	2975	2195	2123
10121	1.40	191.9	920.1	9.2	487	10144	0.12	2.90	17.10	1.484	4	0.079	0.099	3002	3594	2049
10172	1.40	191.9	914.4	11.3	489	10177	0.00	2.72	0.00	0.000	6	0.000	0.084	3002	2197	2049
10493	1.40	191.9	880.3	10.7	505	10494	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2197	2049
10802	1.40	191.9	846.1	11.0	520	10807	0.00	2.78	0.00	0.000	4	0.000	0.100	3002	3594	2048
10842	1.40	191.9	841.5	11.2	522	10847	0.00	2.67	0.00	0.000	6	0.000	0.083	3002	2202	2048
11169	1.40	191.9	806.3	10.7	538	11170	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2202	2048
11478	1.40	191.9	774.2	10.3	553	11482	0.00	2.78	0.00	0.000	4	0.000	0.100	3002	3601	2048
11527	1.40	191.9	768.8	10.3	555	11532	0.00	2.67	0.00	0.000	6	0.000	0.083	3002	2207	2048
11843	1.41	200.0	738.2	9.6	570	11853	0.00	0.00	8.43	1.313	6	0.000	0.000	3002	2206	2016
12152	1.42	207.4	708.1	9.7	585	12162	0.00	0.00	8.35	1.302	6	0.000	0.000	3002	2207	1986
12461	1.42	207.4	677.2	10.1	600	12466	0.00	2.75	0.00	0.000	4	0.000	0.097	3002	784	1986
12483	1.42	207.4	674.8	10.4	601	12488	0.00	2.72	0.00	0.000	6	0.000	0.084	3002	2213	1986
12804	1.42	207.4	642.6	10.0	617	12805	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2212	1986
13113	1.44	217.0	612.5	9.6	632	13127	0.00	0.00	9.40	1.279	6	0.000	0.000	3002	2213	1947
13445	1.48	217.0	579.2	10.2	648	13447	0.10	0.00	0.00	0.000	6	0.084	0.000	3023	2213	1947
13754	1.48	217.0	546.0	10.4	663	13758	0.00	2.70	0.00	0.000	4	0.000	0.099	3023	3605	1948
13798	1.43	217.0	540.9	11.3	665	13803	0.00	2.65	0.00	0.000	6	0.000	0.080	3023	2214	1947
14119	1.43	217.0	506.6	10.7	681	14120	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2214	1947
14428	1.43	217.0	473.5	10.5	696	14430	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2214	1947
14738	1.43	217.0	440.8	10.4	711	14742	0.00	2.72	0.00	0.000	4	0.000	0.097	3023	3601	1947
14770	1.43	217.0	437.0	10.9	712	14777	0.00	2.62	0.00	0.000	6	0.000	0.079	3023	2217	1947
15086	1.44	218.7	405.0	9.9	728	15087	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2217	1947
15395	1.44	218.7	373.9	10.2	743	15400	0.00	2.70	0.00	0.000	4	0.000	0.095	3023	3605	1947
15423	1.44	218.7	370.9	10.7	744	15427	0.00	2.60	0.00	0.000	6	0.000	0.078	3023	2226	1947
15739	1.47	237.3	340.4	9.2	759	15759	0.00	0.00	18.40	1.197	6	0.000	0.000	3023	2226	1864
16068	1.47	237.3	308.7	10.2	775	16069	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2226	1863
16377	1.47	237.3	272.9	12.2	790	16378	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2226	1864
16686	1.47	237.3	236.5	11.5	805	16691	0.00	2.67	0.00	0.000	4	0.000	0.092	3023	3602	1864
16731	1.47	237.3	231.1	11.8	807	16735	0.00	2.58	0.00	0.000	6	0.000	0.074	3023	2230	1864
17052	1.47	239.2	197.5	9.9	823	17056	0.00	2.67	0.00	0.000	4	0.000	0.092	3023	3606	1864
17124	1.49	250.0	189.7	9.5	826	17143	0.00	2.58	11.70	1.050	6	0.000	0.073	3023	2233	1812
17468	1.53	250.0	155.1	10.2	843	17472	0.00	2.65	0.00	0.000	4	0.000	0.088	3023	3602	1812
17552	1.53	250.0	145.1	11.9	847	17557	0.00	2.53	0.00	0.000	6	0.000	0.070	3023	2248	1812
17880	1.53	250.0	110.7	10.6	863	17881	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2247	1813
18189	1.58	250.0	77.0	11.5	878	18193	0.00	2.58	0.00	0.000	4	0.000	0.082	3023	3600	1813
18255	1.58	250.0	68.9	12.3	881	18260	0.00	2.47	0.00	0.000	6	0.000	0.065	3023	2257	1814
18579	1.63	250.0	32.9	10.9	897	18581	0.15	0.00	0.00	0.000	6	0.068	0.000	3059	2256	1815
18802	end climb: SURFACE_DEPTH_REACHED
state	18802	begin surface coast
18823	end surface coast: CONTROL_FINISHED_OK
state	18823	begin surface