Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 53 * 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 53 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 19 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 560 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 -101266.52 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 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -101266.52

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 560

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 19 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 53 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 231907,6146.220,-928.603,41,0.9,41,-9.6 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.154,0.159

_SM_DEPTHo 1.11 KALMAN_X -76011.8,857.9,1303.2,30867.6,-20337.5

_SM_ANGLEo -56.4 KALMAN_Y 26119.2,282.8,589.1,-9214.0,-2401.7

GPS2 232438,6146.232,-928.608,13,1.5,13,-9.6 MHEAD_RNG_PITCHd_Wd 53.6,12145,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026771 ALTIM_BOTTOM_PING 795.0,54.1

SM_CCo 18264,0.00,0.000,0,0,390,598.78 _24V_AH 23.7,11.061

SM_GC 1.13,11.43,0.00,0.00,0.034,0.000,0.000,418,2131,390,-10.60,0.03,598.78 _10V_AH 10.0,5.140

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44359,870

TT8_MAMPS 0.028379 CAP_FILE_SIZE 148155,0

HUMID 1826 CFSIZE 254472192,248979456

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,55,0,0

XPDR_PINGS 68 GPS 060909,043106,6146.310,-933.481,33,1.4,33,-9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 158 111.31 SBE_CT 595 24 338.99

Roll_motor 178 98 416.26 SBE_O2 645 19 290.87

VBD_pump_during_apogee 675 1441 23096.80 WL_BB2F 538 105 1339.92

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 26 160 100.20 nil 0 0 0.00

Iridium_during_xfer 142 223 755.56

Transponder_ping 24 420 241.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.91

TT8 1622 19 321.32

LPSleep 13646 2 298.86

TT8_Active 772 19 153.05

TT8_Sampling 2008 39 799.18

TT8_CF8 544 45 249.31

TT8_Kalman 33 81 27.29

Analog_circuits 1865 12 223.91

GPS_charging 0 0 0.00

Compass 1954 8 156.39

RAFOS 0 0 0.00

Transponder 51 30 15.33

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

16 -0.97 -146.6 0.0 0.0 0 119 0.00 0.00 -101.30 0.000 2 0.000 0.000 426 2120 2532

123 -0.97 -146.6 2.2 -1.2 5 177 11.48 2.55 -35.80 0.000 4 0.158 0.071 2525 715 3428

184 -0.74 -146.6 5.5 -8.7 8 190 0.28 2.47 0.00 0.000 6 0.077 0.044 2584 2128 3428

512 -0.74 -146.6 31.1 -6.7 24 516 0.00 2.55 0.00 0.000 4 0.000 0.061 2584 710 3427

764 -0.83 -146.6 50.5 -7.2 35 768 0.00 2.47 0.00 0.000 6 0.000 0.044 2584 2131 3427

1081 -0.87 -146.6 69.7 -5.5 50 1083 0.15 0.00 0.00 0.000 6 0.048 0.000 2539 2131 3427

1391 -0.79 -146.6 95.9 -8.8 65 1396 0.15 2.58 0.00 0.000 4 0.077 0.061 2572 712 3428

1509 -0.85 -146.6 104.9 -6.9 70 1513 0.00 2.47 0.00 0.000 6 0.000 0.048 2572 2125 3428

1827 -0.85 -146.6 124.1 -5.2 85 1832 0.00 2.58 0.00 0.000 4 0.000 0.071 2572 3540 3428

1868 -0.85 -146.6 126.6 -6.5 87 1872 0.00 2.58 0.00 0.000 6 0.000 0.051 2572 2084 3428

2196 -0.85 -146.6 146.3 -6.8 103 2197 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2071 3428

2504 -0.85 -146.6 169.2 -7.5 118 2508 0.00 2.65 0.00 0.000 4 0.000 0.069 2572 3529 3427

2553 -0.85 -146.6 173.4 -8.0 120 2558 0.00 2.53 0.00 0.000 6 0.000 0.052 2572 2104 3428

2869 -0.85 -146.6 198.7 -8.3 135 2870 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2092 3428

3179 -0.85 -146.6 224.7 -8.6 150 3183 0.00 2.62 0.00 0.000 4 0.000 0.069 2572 3535 3427

3211 -0.85 -146.6 227.5 -8.8 151 3217 0.00 2.53 0.00 0.000 6 0.000 0.054 2572 2113 3427

3527 -0.85 -146.6 253.9 -8.3 167 3531 0.00 2.60 0.00 0.000 4 0.000 0.069 2573 3530 3427

3560 -0.85 -146.6 256.9 -9.0 168 3566 0.00 2.50 0.00 0.000 6 0.000 0.054 2572 2121 3426

3876 -0.85 -146.6 282.5 -8.0 184 3877 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2109 3426

4185 -0.85 -146.6 309.0 -9.0 199 4186 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2109 3426

4494 -0.85 -146.6 338.9 -9.8 214 4496 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2108 3426

4804 -0.85 -146.6 368.9 -9.6 229 4805 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2107 3425

5114 -0.85 -146.6 396.4 -8.5 244 5115 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2107 3426

5422 -0.85 -146.6 422.8 -8.4 259 5423 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2107 3425

5732 -0.89 -146.6 449.6 -9.2 274 5736 0.00 2.50 0.00 0.000 4 0.000 0.069 2573 722 3425

5776 -0.97 -146.6 454.1 -10.3 276 5781 0.17 2.45 0.00 0.000 6 0.050 0.051 2521 2116 3425

6098 -0.88 -146.6 494.1 -13.3 292 6103 0.15 2.55 0.00 0.000 4 0.079 0.067 2554 722 3424

6131 -0.88 -146.6 498.5 -12.7 293 6137 0.00 2.45 0.00 0.000 6 0.000 0.051 2553 2116 3424

6447 -0.88 -146.6 535.3 -12.2 309 6448 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2117 3424

6756 -0.88 -146.6 578.4 -14.3 324 6760 0.00 2.53 0.00 0.000 4 0.000 0.069 2554 725 3424

6806 -0.88 -146.6 585.8 -14.9 326 6810 0.00 2.42 0.00 0.000 6 0.000 0.052 2553 2102 3424

7122 -0.88 -146.6 635.3 -16.0 341 7127 0.00 2.53 0.00 0.000 4 0.000 0.074 2553 721 3424

7239 -0.88 -146.6 652.3 -13.5 346 7244 0.00 2.40 0.00 0.000 6 0.000 0.053 2553 2079 3424

7556 -0.88 -146.6 682.1 -6.8 361 7560 0.00 2.50 0.00 0.000 4 0.000 0.074 2553 720 3424

7606 -0.88 -146.6 685.0 -5.2 363 7611 0.00 2.42 0.00 0.000 6 0.000 0.056 2553 2087 3424

7923 -0.88 -146.6 691.0 -0.2 378 7926 0.00 2.50 0.00 0.000 4 0.000 0.074 2553 718 3423

7974 -0.93 -146.6 691.6 -1.2 380 7978 0.00 2.40 0.00 0.000 6 0.000 0.056 2553 2068 3423

8296 -0.93 -146.6 703.7 -5.7 396 8300 0.00 2.70 0.00 0.000 4 0.000 0.079 2554 3530 3423

8335 -0.93 -146.6 706.4 -7.5 398 8340 0.00 2.62 0.00 0.000 6 0.000 0.064 2554 2066 3422

8662 -0.93 -146.6 730.8 -8.5 414 8666 0.00 2.45 0.00 0.000 4 0.000 0.081 2554 728 3422

8689 -0.97 -146.6 733.1 -8.6 415 8693 0.00 2.40 0.00 0.000 6 0.000 0.059 2553 2068 3422

9005 -0.97 -146.6 758.9 -8.8 430 9009 0.00 2.50 0.00 0.000 4 0.000 0.082 2553 719 3421

9061 -1.03 -146.6 764.4 -10.9 432 9066 0.15 2.40 0.00 0.000 6 0.056 0.061 2513 2056 3421

9377 -0.92 -146.6 792.2 -8.1 447 9382 0.15 2.75 0.00 0.000 4 0.100 0.087 2543 3529 3420

9433 -0.92 -146.6 798.1 -7.9 449 9440 0.00 2.72 0.00 0.000 6 0.000 0.076 2543 2064 3419

9750 -0.92 -146.6 824.5 -11.6 465 9754 0.00 2.78 0.00 0.000 4 0.000 0.087 2543 3527 3418

9777 -0.92 -146.6 826.8 -7.6 466 9781 0.00 2.72 0.00 0.000 6 0.000 0.074 2543 2047 3419

9966 end dive: BOTTOM_OBSTACLE_DETECTED

state 9966 begin apogee

9973 -0.33 0.0 841.1 8.3 475 10108 0.60 0.00 127.22 1.442 6 0.076 0.000 2672 1911 2831

10109 end apogee: CONTROL_FINISHED_OK

state 10109 begin climb

10112 0.97 146.6 847.0 0.0 482 10251 1.30 2.78 128.68 1.402 4 0.066 0.078 2954 3325 2233

10310 0.52 146.6 858.9 7.0 491 10315 0.47 2.65 0.00 0.000 6 0.111 0.075 2861 1923 2233

10635 0.87 313.1 843.2 1.4 507 10792 0.30 2.72 147.15 1.395 4 0.054 0.083 2938 3318 1554

10945 0.93 313.1 803.0 12.0 521 10950 0.00 2.88 0.00 0.000 6 0.000 0.080 2938 1807 1554

11262 1.07 402.1 777.4 3.6 536 11348 0.17 3.00 79.25 1.370 4 0.059 0.082 2981 3320 1191

11405 1.07 402.1 765.1 8.9 542 11411 0.00 2.85 0.00 0.000 6 0.000 0.084 2981 1837 1191

11721 0.96 402.1 742.5 6.0 558 11726 0.15 2.55 0.00 0.000 4 0.097 0.098 2952 511 1192

11749 1.01 435.2 741.0 5.1 559 11784 0.00 2.45 30.50 1.339 6 0.000 0.069 2952 1851 1056

12109 1.29 606.5 736.1 1.3 577 12264 0.30 2.70 143.85 1.371 4 0.054 0.093 3026 507 390

12304 1.12 606.5 715.3 12.9 586 12314 0.20 2.42 2.58 0.484 6 0.092 0.071 2988 1817 390

12630 1.12 606.5 677.3 13.3 602 12639 0.00 2.55 3.03 0.637 4 0.000 0.089 2988 513 390

12679 1.12 606.5 670.2 14.9 604 12684 0.00 2.35 0.08 0.178 6 0.000 0.062 2988 1799 390

13000 1.12 606.5 623.1 15.0 620 13009 0.00 2.50 2.47 0.447 4 0.000 0.087 2988 511 390

13039 1.12 606.5 617.2 15.0 621 13045 0.00 2.33 0.00 0.000 6 0.000 0.061 2988 1794 390

13355 1.12 606.5 576.0 12.3 637 13359 0.00 2.45 0.03 0.262 4 0.000 0.083 2988 505 391

13393 1.12 606.5 571.1 12.9 638 13400 0.00 2.28 0.10 0.169 6 0.000 0.060 2988 1771 391

13709 1.12 606.5 533.6 11.8 654 13713 0.00 0.00 2.30 0.351 6 0.000 0.000 2989 1787 390

14019 1.16 606.5 497.2 11.3 669 14023 0.00 2.38 0.08 0.176 4 0.000 0.077 2988 511 391

14064 1.16 606.5 491.6 12.1 671 14069 0.00 2.22 0.05 0.190 6 0.000 0.054 2988 1766 391

14391 1.16 606.5 455.1 11.2 687 14395 0.00 0.00 2.30 0.337 6 0.000 0.000 2989 1781 389

14700 1.22 606.5 422.5 10.5 702 14705 0.00 2.35 0.05 0.189 4 0.000 0.077 2988 505 390

14723 1.22 606.5 420.0 10.9 703 14727 0.00 2.22 0.00 0.000 6 0.000 0.054 2988 1763 391

15050 1.28 606.5 386.1 10.0 719 15053 0.17 0.00 0.12 0.158 6 0.048 0.000 3035 1780 390

15359 1.09 606.5 333.0 17.8 734 15364 0.28 0.00 2.25 0.297 6 0.080 0.000 2978 1780 390

15669 1.22 606.5 301.4 9.2 749 15674 0.15 2.33 0.03 0.165 4 0.047 0.075 3021 508 390

15702 1.18 606.5 297.2 13.5 750 15706 0.00 2.17 0.00 0.000 6 0.000 0.051 3021 1745 390

16018 1.04 606.5 246.0 17.5 765 16027 0.22 2.83 0.90 0.145 4 0.081 0.062 2973 3322 391

16050 1.15 606.5 241.6 11.6 766 16056 0.12 2.88 0.12 0.154 6 0.050 0.060 3011 1734 391

16369 1.09 606.5 196.0 15.5 781 16372 0.15 0.00 0.12 0.154 6 0.081 0.000 2979 1734 391

16676 1.22 606.5 164.3 9.2 796 16686 0.15 2.92 2.33 0.306 4 0.048 0.061 3022 3324 390

16703 1.30 606.5 160.7 13.7 797 16708 0.00 2.85 0.00 0.000 6 0.000 0.058 3022 1747 390

17025 1.19 606.5 110.4 14.8 813 17029 0.00 2.25 0.00 0.000 4 0.000 0.075 3022 508 390

17047 1.07 606.5 106.7 15.1 814 17052 0.22 2.20 0.00 0.000 6 0.077 0.049 2976 1762 390

17370 1.24 606.5 82.2 6.1 830 17376 0.17 2.80 0.05 0.141 4 0.045 0.061 3029 3327 390

17394 1.36 606.5 80.1 8.2 831 17399 0.00 2.83 0.00 0.000 6 0.000 0.058 3029 1757 390

17716 1.24 606.5 40.6 13.3 847 17720 0.00 2.28 0.00 0.000 4 0.000 0.074 3029 503 390

17738 1.12 606.5 37.3 12.7 848 17743 0.20 2.25 0.00 0.000 6 0.077 0.047 2988 1790 390

18060 1.29 606.5 13.8 6.4 864 18066 0.17 2.72 0.22 0.137 4 0.044 0.059 3037 3323 391

18081 1.44 625.4 12.6 5.5 865 18086 0.10 2.78 0.00 0.000 6 0.053 0.053 3071 1767 391

18160 end climb: SURFACE_DEPTH_REACHED

state 18160 begin surface coast

18180 end surface coast: CONTROL_FINISHED_OK

state 18180 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	53	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	19	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	560	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	-101266.52	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	231907,6146.220,-928.603,41,0.9,41,-9.6	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.154,0.159
_SM_DEPTHo	1.11	KALMAN_X	-76011.8,857.9,1303.2,30867.6,-20337.5
_SM_ANGLEo	-56.4	KALMAN_Y	26119.2,282.8,589.1,-9214.0,-2401.7
GPS2	232438,6146.232,-928.608,13,1.5,13,-9.6	MHEAD_RNG_PITCHd_Wd	53.6,12145,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.026771	ALTIM_BOTTOM_PING	795.0,54.1
SM_CCo	18264,0.00,0.000,0,0,390,598.78	_24V_AH	23.7,11.061
SM_GC	1.13,11.43,0.00,0.00,0.034,0.000,0.000,418,2131,390,-10.60,0.03,598.78	_10V_AH	10.0,5.140
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44359,870
TT8_MAMPS	0.028379	CAP_FILE_SIZE	148155,0
HUMID	1826	CFSIZE	254472192,248979456
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
XPDR_PINGS	68	GPS	060909,043106,6146.310,-933.481,33,1.4,33,-9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	158	111.31	SBE_CT	595	24	338.99
Roll_motor	178	98	416.26	SBE_O2	645	19	290.87
VBD_pump_during_apogee	675	1441	23096.80	WL_BB2F	538	105	1339.92
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	100.20	nil	0	0	0.00
Iridium_during_xfer	142	223	755.56
Transponder_ping	24	420	241.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.91
TT8	1622	19	321.32
LPSleep	13646	2	298.86
TT8_Active	772	19	153.05
TT8_Sampling	2008	39	799.18
TT8_CF8	544	45	249.31
TT8_Kalman	33	81	27.29
Analog_circuits	1865	12	223.91
GPS_charging	0	0	0.00
Compass	1954	8	156.39
RAFOS	0	0	0.00
Transponder	51	30	15.33

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
16	-0.97	-146.6	0.0	0.0	0	119	0.00	0.00	-101.30	0.000	2	0.000	0.000	426	2120	2532
123	-0.97	-146.6	2.2	-1.2	5	177	11.48	2.55	-35.80	0.000	4	0.158	0.071	2525	715	3428
184	-0.74	-146.6	5.5	-8.7	8	190	0.28	2.47	0.00	0.000	6	0.077	0.044	2584	2128	3428
512	-0.74	-146.6	31.1	-6.7	24	516	0.00	2.55	0.00	0.000	4	0.000	0.061	2584	710	3427
764	-0.83	-146.6	50.5	-7.2	35	768	0.00	2.47	0.00	0.000	6	0.000	0.044	2584	2131	3427
1081	-0.87	-146.6	69.7	-5.5	50	1083	0.15	0.00	0.00	0.000	6	0.048	0.000	2539	2131	3427
1391	-0.79	-146.6	95.9	-8.8	65	1396	0.15	2.58	0.00	0.000	4	0.077	0.061	2572	712	3428
1509	-0.85	-146.6	104.9	-6.9	70	1513	0.00	2.47	0.00	0.000	6	0.000	0.048	2572	2125	3428
1827	-0.85	-146.6	124.1	-5.2	85	1832	0.00	2.58	0.00	0.000	4	0.000	0.071	2572	3540	3428
1868	-0.85	-146.6	126.6	-6.5	87	1872	0.00	2.58	0.00	0.000	6	0.000	0.051	2572	2084	3428
2196	-0.85	-146.6	146.3	-6.8	103	2197	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2071	3428
2504	-0.85	-146.6	169.2	-7.5	118	2508	0.00	2.65	0.00	0.000	4	0.000	0.069	2572	3529	3427
2553	-0.85	-146.6	173.4	-8.0	120	2558	0.00	2.53	0.00	0.000	6	0.000	0.052	2572	2104	3428
2869	-0.85	-146.6	198.7	-8.3	135	2870	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2092	3428
3179	-0.85	-146.6	224.7	-8.6	150	3183	0.00	2.62	0.00	0.000	4	0.000	0.069	2572	3535	3427
3211	-0.85	-146.6	227.5	-8.8	151	3217	0.00	2.53	0.00	0.000	6	0.000	0.054	2572	2113	3427
3527	-0.85	-146.6	253.9	-8.3	167	3531	0.00	2.60	0.00	0.000	4	0.000	0.069	2573	3530	3427
3560	-0.85	-146.6	256.9	-9.0	168	3566	0.00	2.50	0.00	0.000	6	0.000	0.054	2572	2121	3426
3876	-0.85	-146.6	282.5	-8.0	184	3877	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2109	3426
4185	-0.85	-146.6	309.0	-9.0	199	4186	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2109	3426
4494	-0.85	-146.6	338.9	-9.8	214	4496	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2108	3426
4804	-0.85	-146.6	368.9	-9.6	229	4805	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2107	3425
5114	-0.85	-146.6	396.4	-8.5	244	5115	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2107	3426
5422	-0.85	-146.6	422.8	-8.4	259	5423	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2107	3425
5732	-0.89	-146.6	449.6	-9.2	274	5736	0.00	2.50	0.00	0.000	4	0.000	0.069	2573	722	3425
5776	-0.97	-146.6	454.1	-10.3	276	5781	0.17	2.45	0.00	0.000	6	0.050	0.051	2521	2116	3425
6098	-0.88	-146.6	494.1	-13.3	292	6103	0.15	2.55	0.00	0.000	4	0.079	0.067	2554	722	3424
6131	-0.88	-146.6	498.5	-12.7	293	6137	0.00	2.45	0.00	0.000	6	0.000	0.051	2553	2116	3424
6447	-0.88	-146.6	535.3	-12.2	309	6448	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2117	3424
6756	-0.88	-146.6	578.4	-14.3	324	6760	0.00	2.53	0.00	0.000	4	0.000	0.069	2554	725	3424
6806	-0.88	-146.6	585.8	-14.9	326	6810	0.00	2.42	0.00	0.000	6	0.000	0.052	2553	2102	3424
7122	-0.88	-146.6	635.3	-16.0	341	7127	0.00	2.53	0.00	0.000	4	0.000	0.074	2553	721	3424
7239	-0.88	-146.6	652.3	-13.5	346	7244	0.00	2.40	0.00	0.000	6	0.000	0.053	2553	2079	3424
7556	-0.88	-146.6	682.1	-6.8	361	7560	0.00	2.50	0.00	0.000	4	0.000	0.074	2553	720	3424
7606	-0.88	-146.6	685.0	-5.2	363	7611	0.00	2.42	0.00	0.000	6	0.000	0.056	2553	2087	3424
7923	-0.88	-146.6	691.0	-0.2	378	7926	0.00	2.50	0.00	0.000	4	0.000	0.074	2553	718	3423
7974	-0.93	-146.6	691.6	-1.2	380	7978	0.00	2.40	0.00	0.000	6	0.000	0.056	2553	2068	3423
8296	-0.93	-146.6	703.7	-5.7	396	8300	0.00	2.70	0.00	0.000	4	0.000	0.079	2554	3530	3423
8335	-0.93	-146.6	706.4	-7.5	398	8340	0.00	2.62	0.00	0.000	6	0.000	0.064	2554	2066	3422
8662	-0.93	-146.6	730.8	-8.5	414	8666	0.00	2.45	0.00	0.000	4	0.000	0.081	2554	728	3422
8689	-0.97	-146.6	733.1	-8.6	415	8693	0.00	2.40	0.00	0.000	6	0.000	0.059	2553	2068	3422
9005	-0.97	-146.6	758.9	-8.8	430	9009	0.00	2.50	0.00	0.000	4	0.000	0.082	2553	719	3421
9061	-1.03	-146.6	764.4	-10.9	432	9066	0.15	2.40	0.00	0.000	6	0.056	0.061	2513	2056	3421
9377	-0.92	-146.6	792.2	-8.1	447	9382	0.15	2.75	0.00	0.000	4	0.100	0.087	2543	3529	3420
9433	-0.92	-146.6	798.1	-7.9	449	9440	0.00	2.72	0.00	0.000	6	0.000	0.076	2543	2064	3419
9750	-0.92	-146.6	824.5	-11.6	465	9754	0.00	2.78	0.00	0.000	4	0.000	0.087	2543	3527	3418
9777	-0.92	-146.6	826.8	-7.6	466	9781	0.00	2.72	0.00	0.000	6	0.000	0.074	2543	2047	3419
9966	end dive: BOTTOM_OBSTACLE_DETECTED
state	9966	begin apogee
9973	-0.33	0.0	841.1	8.3	475	10108	0.60	0.00	127.22	1.442	6	0.076	0.000	2672	1911	2831
10109	end apogee: CONTROL_FINISHED_OK
state	10109	begin climb
10112	0.97	146.6	847.0	0.0	482	10251	1.30	2.78	128.68	1.402	4	0.066	0.078	2954	3325	2233
10310	0.52	146.6	858.9	7.0	491	10315	0.47	2.65	0.00	0.000	6	0.111	0.075	2861	1923	2233
10635	0.87	313.1	843.2	1.4	507	10792	0.30	2.72	147.15	1.395	4	0.054	0.083	2938	3318	1554
10945	0.93	313.1	803.0	12.0	521	10950	0.00	2.88	0.00	0.000	6	0.000	0.080	2938	1807	1554
11262	1.07	402.1	777.4	3.6	536	11348	0.17	3.00	79.25	1.370	4	0.059	0.082	2981	3320	1191
11405	1.07	402.1	765.1	8.9	542	11411	0.00	2.85	0.00	0.000	6	0.000	0.084	2981	1837	1191
11721	0.96	402.1	742.5	6.0	558	11726	0.15	2.55	0.00	0.000	4	0.097	0.098	2952	511	1192
11749	1.01	435.2	741.0	5.1	559	11784	0.00	2.45	30.50	1.339	6	0.000	0.069	2952	1851	1056
12109	1.29	606.5	736.1	1.3	577	12264	0.30	2.70	143.85	1.371	4	0.054	0.093	3026	507	390
12304	1.12	606.5	715.3	12.9	586	12314	0.20	2.42	2.58	0.484	6	0.092	0.071	2988	1817	390
12630	1.12	606.5	677.3	13.3	602	12639	0.00	2.55	3.03	0.637	4	0.000	0.089	2988	513	390
12679	1.12	606.5	670.2	14.9	604	12684	0.00	2.35	0.08	0.178	6	0.000	0.062	2988	1799	390
13000	1.12	606.5	623.1	15.0	620	13009	0.00	2.50	2.47	0.447	4	0.000	0.087	2988	511	390
13039	1.12	606.5	617.2	15.0	621	13045	0.00	2.33	0.00	0.000	6	0.000	0.061	2988	1794	390
13355	1.12	606.5	576.0	12.3	637	13359	0.00	2.45	0.03	0.262	4	0.000	0.083	2988	505	391
13393	1.12	606.5	571.1	12.9	638	13400	0.00	2.28	0.10	0.169	6	0.000	0.060	2988	1771	391
13709	1.12	606.5	533.6	11.8	654	13713	0.00	0.00	2.30	0.351	6	0.000	0.000	2989	1787	390
14019	1.16	606.5	497.2	11.3	669	14023	0.00	2.38	0.08	0.176	4	0.000	0.077	2988	511	391
14064	1.16	606.5	491.6	12.1	671	14069	0.00	2.22	0.05	0.190	6	0.000	0.054	2988	1766	391
14391	1.16	606.5	455.1	11.2	687	14395	0.00	0.00	2.30	0.337	6	0.000	0.000	2989	1781	389
14700	1.22	606.5	422.5	10.5	702	14705	0.00	2.35	0.05	0.189	4	0.000	0.077	2988	505	390
14723	1.22	606.5	420.0	10.9	703	14727	0.00	2.22	0.00	0.000	6	0.000	0.054	2988	1763	391
15050	1.28	606.5	386.1	10.0	719	15053	0.17	0.00	0.12	0.158	6	0.048	0.000	3035	1780	390
15359	1.09	606.5	333.0	17.8	734	15364	0.28	0.00	2.25	0.297	6	0.080	0.000	2978	1780	390
15669	1.22	606.5	301.4	9.2	749	15674	0.15	2.33	0.03	0.165	4	0.047	0.075	3021	508	390
15702	1.18	606.5	297.2	13.5	750	15706	0.00	2.17	0.00	0.000	6	0.000	0.051	3021	1745	390
16018	1.04	606.5	246.0	17.5	765	16027	0.22	2.83	0.90	0.145	4	0.081	0.062	2973	3322	391
16050	1.15	606.5	241.6	11.6	766	16056	0.12	2.88	0.12	0.154	6	0.050	0.060	3011	1734	391
16369	1.09	606.5	196.0	15.5	781	16372	0.15	0.00	0.12	0.154	6	0.081	0.000	2979	1734	391
16676	1.22	606.5	164.3	9.2	796	16686	0.15	2.92	2.33	0.306	4	0.048	0.061	3022	3324	390
16703	1.30	606.5	160.7	13.7	797	16708	0.00	2.85	0.00	0.000	6	0.000	0.058	3022	1747	390
17025	1.19	606.5	110.4	14.8	813	17029	0.00	2.25	0.00	0.000	4	0.000	0.075	3022	508	390
17047	1.07	606.5	106.7	15.1	814	17052	0.22	2.20	0.00	0.000	6	0.077	0.049	2976	1762	390
17370	1.24	606.5	82.2	6.1	830	17376	0.17	2.80	0.05	0.141	4	0.045	0.061	3029	3327	390
17394	1.36	606.5	80.1	8.2	831	17399	0.00	2.83	0.00	0.000	6	0.000	0.058	3029	1757	390
17716	1.24	606.5	40.6	13.3	847	17720	0.00	2.28	0.00	0.000	4	0.000	0.074	3029	503	390
17738	1.12	606.5	37.3	12.7	848	17743	0.20	2.25	0.00	0.000	6	0.077	0.047	2988	1790	390
18060	1.29	606.5	13.8	6.4	864	18066	0.17	2.72	0.22	0.137	4	0.044	0.059	3037	3323	391
18081	1.44	625.4	12.6	5.5	865	18086	0.10	2.78	0.00	0.000	6	0.053	0.053	3071	1767	391
18160	end climb: SURFACE_DEPTH_REACHED
state	18160	begin surface coast
18180	end surface coast: CONTROL_FINISHED_OK
state	18180	begin surface