Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 52 * 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 52 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 30 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 -101252.09 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 -101252.09

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 30 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 52 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 181106,6143.718,-928.043,42,1.0,42,-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 0.187,0.159

_SM_DEPTHo 1.35 KALMAN_X -69747.9,132.9,81.2,27099.9,-14173.3

_SM_ANGLEo -63.2 KALMAN_Y 23947.6,1033.1,595.8,-12508.3,-5984.4

GPS2 181650,6143.681,-928.043,12,1.2,12,-9.5 MHEAD_RNG_PITCHd_Wd 59.1,11691,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026787 ALTIM_BOTTOM_PING 820.5,38.9

SM_CCo 18008,0.00,0.000,0,0,390,598.78 _24V_AH 23.7,10.787

SM_GC 1.24,11.30,0.00,0.00,0.035,0.000,0.000,426,2117,390,-10.58,-0.40,598.78 _10V_AH 10.1,5.053

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44181,864

TT8_MAMPS 0.029146 CAP_FILE_SIZE 131210,0

HUMID 1830 CFSIZE 254472192,249061376

TCM_TEMP 16.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,48,0,0

XPDR_PINGS 62 GPS 050909,231907,6146.220,-928.603,41,0.9,41,-9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 154 95.93 SBE_CT 591 24 336.21

Roll_motor 142 88 300.16 SBE_O2 644 19 290.07

VBD_pump_during_apogee 659 1420 22188.91 WL_BB2F 485 105 1207.21

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 92.17 nil 0 0 0.00

Iridium_during_connect 36 160 136.70 nil 0 0 0.00

Iridium_during_xfer 147 223 777.21

Transponder_ping 23 420 231.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.52

TT8 1552 19 310.47

LPSleep 13643 2 301.79

TT8_Active 726 19 145.21

TT8_Sampling 1895 39 762.12

TT8_CF8 531 45 245.68

TT8_Kalman 33 81 27.56

Analog_circuits 1730 12 209.68

GPS_charging 0 0 0.00

Compass 1851 8 149.58

RAFOS 0 0 0.00

Transponder 55 30 16.82

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 -41.60 0.000 2 0.000 0.000 416 2155 2445

63 -1.22 -146.6 2.0 -2.5 2 121 11.15 2.62 -40.97 0.000 4 0.155 0.074 2469 718 3428

375 -1.12 -146.6 38.5 -13.0 15 380 0.15 2.47 0.00 0.000 6 0.107 0.046 2499 2125 3429

698 -1.07 -146.6 67.1 -9.6 31 703 0.00 2.55 0.00 0.000 4 0.000 0.064 2499 710 3430

883 -1.07 -146.6 86.5 -10.3 39 887 0.00 2.47 0.00 0.000 6 0.000 0.048 2499 2127 3430

1205 -1.07 -146.6 116.0 -9.2 55 1210 0.00 2.55 0.00 0.000 4 0.000 0.071 2499 3534 3431

1233 -1.07 -146.6 118.7 -9.6 56 1238 0.00 2.53 0.00 0.000 6 0.000 0.050 2499 2104 3431

1550 -1.07 -146.6 148.4 -9.3 71 1554 0.00 2.62 0.00 0.000 4 0.000 0.068 2499 3537 3431

1612 -1.07 -146.6 154.3 -9.0 74 1616 0.00 2.50 0.00 0.000 6 0.000 0.050 2499 2122 3431

1938 -1.07 -146.6 183.1 -8.9 90 1943 0.00 2.60 0.00 0.000 4 0.000 0.068 2499 3539 3431

1983 -1.07 -146.6 187.4 -9.4 92 1987 0.00 2.47 0.00 0.000 6 0.000 0.051 2498 2141 3431

2304 -1.07 -146.6 217.8 -9.6 108 2305 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2127 3431

2613 -1.07 -146.6 249.7 -10.0 123 2614 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2127 3431

2922 -1.07 -146.6 280.2 -9.3 138 2923 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2127 3431

3232 -1.07 -146.6 308.3 -9.5 153 3236 0.00 2.53 0.00 0.000 4 0.000 0.070 2499 723 3430

3264 -1.07 -146.6 311.7 -10.4 154 3270 0.00 2.50 0.00 0.000 6 0.000 0.050 2499 2141 3431

3580 -1.07 -146.6 341.2 -9.3 170 3581 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2142 3430

3890 -1.07 -146.6 369.5 -9.1 185 3894 0.00 2.58 0.00 0.000 4 0.000 0.069 2499 722 3430

3951 -1.07 -146.6 375.2 -9.2 187 3957 0.00 2.50 0.00 0.000 6 0.000 0.051 2499 2144 3430

4267 -1.07 -146.6 405.5 -10.2 203 4271 0.00 2.58 0.00 0.000 4 0.000 0.067 2499 724 3430

4299 -1.07 -146.6 409.1 -10.9 204 4306 0.00 2.47 0.00 0.000 6 0.000 0.051 2499 2131 3429

4615 -1.07 -146.6 442.7 -10.9 220 4616 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2131 3429

4925 -1.07 -146.6 474.8 -10.3 235 4929 0.00 2.55 0.00 0.000 4 0.000 0.067 2499 722 3429

4980 -1.07 -146.6 480.7 -10.2 237 4986 0.00 2.47 0.00 0.000 6 0.000 0.051 2499 2130 3429

5296 -1.07 -146.6 510.1 -8.9 253 5297 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2130 3429

5605 -1.07 -146.6 537.3 -8.6 268 5609 0.00 2.55 0.00 0.000 4 0.000 0.069 2499 724 3428

5650 -1.12 -146.6 541.0 -8.7 270 5654 0.00 2.45 0.00 0.000 6 0.000 0.053 2499 2115 3429

5971 -1.12 -146.6 562.6 -6.7 286 5973 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2116 3428

6280 -1.12 -146.6 587.2 -8.4 301 6284 0.00 2.53 0.00 0.000 4 0.000 0.070 2499 724 3428

6337 -1.16 -146.6 592.0 -8.9 303 6343 0.00 2.47 0.00 0.000 6 0.000 0.051 2498 2127 3428

6652 -1.16 -146.6 617.4 -8.7 319 6657 0.00 2.58 0.00 0.000 4 0.000 0.074 2499 718 3428

6709 -1.21 -146.6 622.9 -10.0 321 6715 0.00 2.45 0.00 0.000 6 0.000 0.054 2499 2109 3427

7025 -1.21 -146.6 650.7 -8.1 337 7029 0.00 2.53 0.00 0.000 4 0.000 0.072 2499 724 3428

7081 -1.25 -146.6 654.9 -7.4 339 7088 0.12 2.42 0.00 0.000 6 0.057 0.054 2463 2097 3427

7397 -1.18 -146.6 685.6 -11.4 355 7399 0.12 0.00 0.00 0.000 6 0.100 0.000 2487 2097 3427

7706 -1.18 -146.6 711.8 -7.4 370 7711 0.00 2.65 0.00 0.000 4 0.000 0.079 2488 3535 3426

7757 -1.18 -146.6 715.8 -7.7 372 7762 0.00 2.58 0.00 0.000 6 0.000 0.062 2487 2102 3426

8073 -1.18 -146.6 737.5 -6.6 387 8075 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2088 3426

8382 -1.18 -146.6 760.8 -8.5 402 8383 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2088 3425

8691 -1.18 -146.6 785.6 -9.1 417 8692 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2088 3425

9001 -1.18 -146.6 815.6 -13.5 432 9002 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2076 3423

9311 -1.11 -146.6 848.7 -7.6 447 9315 0.00 2.70 0.00 0.000 6 0.000 0.082 2488 3530 3424

9316 end dive: BOTTOM_OBSTACLE_DETECTED

state 9316 begin apogee

9326 -0.33 0.0 849.7 6.9 447 9462 0.82 0.00 128.20 1.420 6 0.087 0.000 2666 1912 2831

9463 end apogee: CONTROL_FINISHED_OK

state 9463 begin climb

9466 1.22 146.6 855.1 0.0 454 9603 1.58 2.72 127.95 1.384 4 0.065 0.085 3009 514 2233

9719 1.12 222.8 844.3 5.2 465 9792 0.00 2.58 66.75 1.347 6 0.000 0.062 3009 1942 1923

10114 1.02 222.8 807.2 8.6 485 10119 0.17 2.72 0.00 0.000 4 0.100 0.087 2973 514 1922

10155 1.00 231.8 803.9 7.7 487 10170 0.00 2.53 9.82 1.179 6 0.000 0.064 2973 1895 1885

10481 1.00 231.8 768.3 12.2 502 10485 0.00 2.65 0.00 0.000 4 0.000 0.089 2973 510 1885

10521 0.95 231.8 762.2 16.2 504 10525 0.00 2.55 0.00 0.000 6 0.000 0.065 2973 1903 1885

10847 0.95 231.8 716.7 14.6 520 10852 0.00 2.65 0.00 0.000 4 0.000 0.087 2973 514 1884

10891 0.95 231.8 710.1 14.4 522 10896 0.00 2.50 0.00 0.000 6 0.000 0.063 2973 1891 1884

11213 0.95 231.8 675.1 8.9 538 11218 0.00 2.62 0.00 0.000 4 0.000 0.085 2973 510 1883

11268 0.95 231.8 669.7 10.3 540 11275 0.00 2.47 0.00 0.000 6 0.000 0.060 2973 1879 1883

11585 0.96 238.6 644.0 7.8 556 11593 0.00 0.00 7.03 1.080 6 0.000 0.000 2973 1894 1858

11894 1.08 310.8 624.8 5.4 571 11964 0.00 2.70 62.35 1.283 4 0.000 0.081 2973 513 1563

12004 1.20 385.6 618.9 5.3 576 12075 0.15 2.45 64.62 1.254 6 0.057 0.059 3010 1878 1259

12392 1.24 412.8 594.3 7.0 595 12422 0.00 2.62 25.15 1.193 4 0.000 0.082 3010 514 1148

12496 1.26 421.4 586.2 7.7 599 12511 0.00 2.38 9.18 1.065 6 0.000 0.057 3010 1827 1113

12835 1.37 489.8 564.4 5.5 616 12897 0.15 0.00 59.72 1.201 6 0.056 0.000 3048 1841 834

13206 1.26 489.8 522.2 12.1 634 13211 0.15 2.47 0.00 0.000 4 0.092 0.080 3020 513 835

13228 1.17 489.8 519.6 10.9 635 13232 0.00 2.35 0.00 0.000 6 0.000 0.053 3020 1825 835

13550 1.22 527.3 497.8 6.6 651 13588 0.00 0.00 33.53 1.131 6 0.000 0.000 3019 1839 681

13898 1.22 527.3 470.8 8.5 668 13902 0.00 2.45 0.00 0.000 4 0.000 0.077 3020 511 682

13925 1.22 527.3 468.1 9.2 669 13929 0.00 2.33 0.00 0.000 6 0.000 0.053 3019 1817 682

14247 1.22 527.3 436.4 11.0 685 14248 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1831 683

14556 1.22 527.3 397.8 12.7 700 14560 0.00 2.42 0.00 0.000 4 0.000 0.075 3019 512 683

14600 1.22 527.3 391.9 11.9 702 14604 0.00 2.30 0.00 0.000 6 0.000 0.051 3019 1811 684

14921 1.22 527.3 352.1 12.8 718 14922 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1826 683

15230 1.22 527.3 312.1 13.5 733 15234 0.00 2.40 0.00 0.000 4 0.000 0.074 3019 510 684

15263 1.22 527.3 307.5 13.3 734 15269 0.00 2.30 0.00 0.000 6 0.000 0.051 3019 1812 684

15579 1.22 527.3 268.9 11.9 750 15580 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1827 685

15888 1.22 527.3 232.5 11.9 765 15892 0.00 2.40 0.00 0.000 4 0.000 0.073 3019 510 685

15921 1.22 527.3 228.3 11.6 766 15927 0.00 2.28 0.00 0.000 6 0.000 0.051 3019 1804 685

16237 1.22 527.3 190.6 12.5 782 16238 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1819 685

16546 1.22 527.3 154.0 11.6 797 16547 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1819 685

16856 1.22 527.3 122.5 9.3 812 16857 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1819 685

17166 1.40 606.6 102.1 5.1 827 17228 0.12 0.00 59.60 0.862 6 0.054 0.000 3055 1818 390

17536 1.32 606.6 50.1 16.2 845 17546 0.12 2.75 3.53 0.510 4 0.089 0.062 3030 3315 390

17563 1.32 606.6 45.6 13.6 846 17567 0.00 2.72 0.00 0.000 6 0.000 0.056 3030 1803 390

17884 1.32 606.6 5.2 13.8 862 17888 0.00 0.00 1.67 0.134 6 0.000 0.000 3031 1803 390

17902 end climb: SURFACE_DEPTH_REACHED

state 17902 begin surface coast

17924 end surface coast: CONTROL_FINISHED_OK

state 17924 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	52	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	30	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	-101252.09	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	181106,6143.718,-928.043,42,1.0,42,-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	0.187,0.159
_SM_DEPTHo	1.35	KALMAN_X	-69747.9,132.9,81.2,27099.9,-14173.3
_SM_ANGLEo	-63.2	KALMAN_Y	23947.6,1033.1,595.8,-12508.3,-5984.4
GPS2	181650,6143.681,-928.043,12,1.2,12,-9.5	MHEAD_RNG_PITCHd_Wd	59.1,11691,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.026787	ALTIM_BOTTOM_PING	820.5,38.9
SM_CCo	18008,0.00,0.000,0,0,390,598.78	_24V_AH	23.7,10.787
SM_GC	1.24,11.30,0.00,0.00,0.035,0.000,0.000,426,2117,390,-10.58,-0.40,598.78	_10V_AH	10.1,5.053
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44181,864
TT8_MAMPS	0.029146	CAP_FILE_SIZE	131210,0
HUMID	1830	CFSIZE	254472192,249061376
TCM_TEMP	16.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,48,0,0
XPDR_PINGS	62	GPS	050909,231907,6146.220,-928.603,41,0.9,41,-9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	154	95.93	SBE_CT	591	24	336.21
Roll_motor	142	88	300.16	SBE_O2	644	19	290.07
VBD_pump_during_apogee	659	1420	22188.91	WL_BB2F	485	105	1207.21
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	92.17	nil	0	0	0.00
Iridium_during_connect	36	160	136.70	nil	0	0	0.00
Iridium_during_xfer	147	223	777.21
Transponder_ping	23	420	231.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.52
TT8	1552	19	310.47
LPSleep	13643	2	301.79
TT8_Active	726	19	145.21
TT8_Sampling	1895	39	762.12
TT8_CF8	531	45	245.68
TT8_Kalman	33	81	27.56
Analog_circuits	1730	12	209.68
GPS_charging	0	0	0.00
Compass	1851	8	149.58
RAFOS	0	0	0.00
Transponder	55	30	16.82

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	-41.60	0.000	2	0.000	0.000	416	2155	2445
63	-1.22	-146.6	2.0	-2.5	2	121	11.15	2.62	-40.97	0.000	4	0.155	0.074	2469	718	3428
375	-1.12	-146.6	38.5	-13.0	15	380	0.15	2.47	0.00	0.000	6	0.107	0.046	2499	2125	3429
698	-1.07	-146.6	67.1	-9.6	31	703	0.00	2.55	0.00	0.000	4	0.000	0.064	2499	710	3430
883	-1.07	-146.6	86.5	-10.3	39	887	0.00	2.47	0.00	0.000	6	0.000	0.048	2499	2127	3430
1205	-1.07	-146.6	116.0	-9.2	55	1210	0.00	2.55	0.00	0.000	4	0.000	0.071	2499	3534	3431
1233	-1.07	-146.6	118.7	-9.6	56	1238	0.00	2.53	0.00	0.000	6	0.000	0.050	2499	2104	3431
1550	-1.07	-146.6	148.4	-9.3	71	1554	0.00	2.62	0.00	0.000	4	0.000	0.068	2499	3537	3431
1612	-1.07	-146.6	154.3	-9.0	74	1616	0.00	2.50	0.00	0.000	6	0.000	0.050	2499	2122	3431
1938	-1.07	-146.6	183.1	-8.9	90	1943	0.00	2.60	0.00	0.000	4	0.000	0.068	2499	3539	3431
1983	-1.07	-146.6	187.4	-9.4	92	1987	0.00	2.47	0.00	0.000	6	0.000	0.051	2498	2141	3431
2304	-1.07	-146.6	217.8	-9.6	108	2305	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2127	3431
2613	-1.07	-146.6	249.7	-10.0	123	2614	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2127	3431
2922	-1.07	-146.6	280.2	-9.3	138	2923	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2127	3431
3232	-1.07	-146.6	308.3	-9.5	153	3236	0.00	2.53	0.00	0.000	4	0.000	0.070	2499	723	3430
3264	-1.07	-146.6	311.7	-10.4	154	3270	0.00	2.50	0.00	0.000	6	0.000	0.050	2499	2141	3431
3580	-1.07	-146.6	341.2	-9.3	170	3581	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2142	3430
3890	-1.07	-146.6	369.5	-9.1	185	3894	0.00	2.58	0.00	0.000	4	0.000	0.069	2499	722	3430
3951	-1.07	-146.6	375.2	-9.2	187	3957	0.00	2.50	0.00	0.000	6	0.000	0.051	2499	2144	3430
4267	-1.07	-146.6	405.5	-10.2	203	4271	0.00	2.58	0.00	0.000	4	0.000	0.067	2499	724	3430
4299	-1.07	-146.6	409.1	-10.9	204	4306	0.00	2.47	0.00	0.000	6	0.000	0.051	2499	2131	3429
4615	-1.07	-146.6	442.7	-10.9	220	4616	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2131	3429
4925	-1.07	-146.6	474.8	-10.3	235	4929	0.00	2.55	0.00	0.000	4	0.000	0.067	2499	722	3429
4980	-1.07	-146.6	480.7	-10.2	237	4986	0.00	2.47	0.00	0.000	6	0.000	0.051	2499	2130	3429
5296	-1.07	-146.6	510.1	-8.9	253	5297	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2130	3429
5605	-1.07	-146.6	537.3	-8.6	268	5609	0.00	2.55	0.00	0.000	4	0.000	0.069	2499	724	3428
5650	-1.12	-146.6	541.0	-8.7	270	5654	0.00	2.45	0.00	0.000	6	0.000	0.053	2499	2115	3429
5971	-1.12	-146.6	562.6	-6.7	286	5973	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2116	3428
6280	-1.12	-146.6	587.2	-8.4	301	6284	0.00	2.53	0.00	0.000	4	0.000	0.070	2499	724	3428
6337	-1.16	-146.6	592.0	-8.9	303	6343	0.00	2.47	0.00	0.000	6	0.000	0.051	2498	2127	3428
6652	-1.16	-146.6	617.4	-8.7	319	6657	0.00	2.58	0.00	0.000	4	0.000	0.074	2499	718	3428
6709	-1.21	-146.6	622.9	-10.0	321	6715	0.00	2.45	0.00	0.000	6	0.000	0.054	2499	2109	3427
7025	-1.21	-146.6	650.7	-8.1	337	7029	0.00	2.53	0.00	0.000	4	0.000	0.072	2499	724	3428
7081	-1.25	-146.6	654.9	-7.4	339	7088	0.12	2.42	0.00	0.000	6	0.057	0.054	2463	2097	3427
7397	-1.18	-146.6	685.6	-11.4	355	7399	0.12	0.00	0.00	0.000	6	0.100	0.000	2487	2097	3427
7706	-1.18	-146.6	711.8	-7.4	370	7711	0.00	2.65	0.00	0.000	4	0.000	0.079	2488	3535	3426
7757	-1.18	-146.6	715.8	-7.7	372	7762	0.00	2.58	0.00	0.000	6	0.000	0.062	2487	2102	3426
8073	-1.18	-146.6	737.5	-6.6	387	8075	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2088	3426
8382	-1.18	-146.6	760.8	-8.5	402	8383	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2088	3425
8691	-1.18	-146.6	785.6	-9.1	417	8692	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2088	3425
9001	-1.18	-146.6	815.6	-13.5	432	9002	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2076	3423
9311	-1.11	-146.6	848.7	-7.6	447	9315	0.00	2.70	0.00	0.000	6	0.000	0.082	2488	3530	3424
9316	end dive: BOTTOM_OBSTACLE_DETECTED
state	9316	begin apogee
9326	-0.33	0.0	849.7	6.9	447	9462	0.82	0.00	128.20	1.420	6	0.087	0.000	2666	1912	2831
9463	end apogee: CONTROL_FINISHED_OK
state	9463	begin climb
9466	1.22	146.6	855.1	0.0	454	9603	1.58	2.72	127.95	1.384	4	0.065	0.085	3009	514	2233
9719	1.12	222.8	844.3	5.2	465	9792	0.00	2.58	66.75	1.347	6	0.000	0.062	3009	1942	1923
10114	1.02	222.8	807.2	8.6	485	10119	0.17	2.72	0.00	0.000	4	0.100	0.087	2973	514	1922
10155	1.00	231.8	803.9	7.7	487	10170	0.00	2.53	9.82	1.179	6	0.000	0.064	2973	1895	1885
10481	1.00	231.8	768.3	12.2	502	10485	0.00	2.65	0.00	0.000	4	0.000	0.089	2973	510	1885
10521	0.95	231.8	762.2	16.2	504	10525	0.00	2.55	0.00	0.000	6	0.000	0.065	2973	1903	1885
10847	0.95	231.8	716.7	14.6	520	10852	0.00	2.65	0.00	0.000	4	0.000	0.087	2973	514	1884
10891	0.95	231.8	710.1	14.4	522	10896	0.00	2.50	0.00	0.000	6	0.000	0.063	2973	1891	1884
11213	0.95	231.8	675.1	8.9	538	11218	0.00	2.62	0.00	0.000	4	0.000	0.085	2973	510	1883
11268	0.95	231.8	669.7	10.3	540	11275	0.00	2.47	0.00	0.000	6	0.000	0.060	2973	1879	1883
11585	0.96	238.6	644.0	7.8	556	11593	0.00	0.00	7.03	1.080	6	0.000	0.000	2973	1894	1858
11894	1.08	310.8	624.8	5.4	571	11964	0.00	2.70	62.35	1.283	4	0.000	0.081	2973	513	1563
12004	1.20	385.6	618.9	5.3	576	12075	0.15	2.45	64.62	1.254	6	0.057	0.059	3010	1878	1259
12392	1.24	412.8	594.3	7.0	595	12422	0.00	2.62	25.15	1.193	4	0.000	0.082	3010	514	1148
12496	1.26	421.4	586.2	7.7	599	12511	0.00	2.38	9.18	1.065	6	0.000	0.057	3010	1827	1113
12835	1.37	489.8	564.4	5.5	616	12897	0.15	0.00	59.72	1.201	6	0.056	0.000	3048	1841	834
13206	1.26	489.8	522.2	12.1	634	13211	0.15	2.47	0.00	0.000	4	0.092	0.080	3020	513	835
13228	1.17	489.8	519.6	10.9	635	13232	0.00	2.35	0.00	0.000	6	0.000	0.053	3020	1825	835
13550	1.22	527.3	497.8	6.6	651	13588	0.00	0.00	33.53	1.131	6	0.000	0.000	3019	1839	681
13898	1.22	527.3	470.8	8.5	668	13902	0.00	2.45	0.00	0.000	4	0.000	0.077	3020	511	682
13925	1.22	527.3	468.1	9.2	669	13929	0.00	2.33	0.00	0.000	6	0.000	0.053	3019	1817	682
14247	1.22	527.3	436.4	11.0	685	14248	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1831	683
14556	1.22	527.3	397.8	12.7	700	14560	0.00	2.42	0.00	0.000	4	0.000	0.075	3019	512	683
14600	1.22	527.3	391.9	11.9	702	14604	0.00	2.30	0.00	0.000	6	0.000	0.051	3019	1811	684
14921	1.22	527.3	352.1	12.8	718	14922	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1826	683
15230	1.22	527.3	312.1	13.5	733	15234	0.00	2.40	0.00	0.000	4	0.000	0.074	3019	510	684
15263	1.22	527.3	307.5	13.3	734	15269	0.00	2.30	0.00	0.000	6	0.000	0.051	3019	1812	684
15579	1.22	527.3	268.9	11.9	750	15580	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1827	685
15888	1.22	527.3	232.5	11.9	765	15892	0.00	2.40	0.00	0.000	4	0.000	0.073	3019	510	685
15921	1.22	527.3	228.3	11.6	766	15927	0.00	2.28	0.00	0.000	6	0.000	0.051	3019	1804	685
16237	1.22	527.3	190.6	12.5	782	16238	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1819	685
16546	1.22	527.3	154.0	11.6	797	16547	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1819	685
16856	1.22	527.3	122.5	9.3	812	16857	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1819	685
17166	1.40	606.6	102.1	5.1	827	17228	0.12	0.00	59.60	0.862	6	0.054	0.000	3055	1818	390
17536	1.32	606.6	50.1	16.2	845	17546	0.12	2.75	3.53	0.510	4	0.089	0.062	3030	3315	390
17563	1.32	606.6	45.6	13.6	846	17567	0.00	2.72	0.00	0.000	6	0.000	0.056	3030	1803	390
17884	1.32	606.6	5.2	13.8	862	17888	0.00	0.00	1.67	0.134	6	0.000	0.000	3031	1803	390
17902	end climb: SURFACE_DEPTH_REACHED
state	17902	begin surface coast
17924	end surface coast: CONTROL_FINISHED_OK
state	17924	begin surface