Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 6 * 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 6 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 16 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 -87361.414 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 -87361.414

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 16 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 6 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 031425,6333.229,-558.780,69,1.0,69,-8.3 TGT_NAME NSEC_S

_CALLS 3 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.180,-0.193

_SM_DEPTHo 0.89 KALMAN_X 9785.6,57.2,16.7,-5387.9,3209.6

_SM_ANGLEo -61.9 KALMAN_Y -4648.0,25.4,-29.5,-8445.1,-2753.2

GPS2 032720,6333.199,-558.662,11,1.0,15,-8.3 MHEAD_RNG_PITCHd_Wd 231.3,98672,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027387 ALTIM_TOP_PING 19.0,18.0

SM_CCo 18278,0.90,0.139,0,0,1811,250.21 _24V_AH 23.5,3.995

SM_GC 1.63,0.00,0.00,0.90,0.000,0.000,0.139,422,2178,1811,-10.48,-0.34,250.21 _10V_AH 10.0,1.908

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44371,876

TT8_MAMPS 0.029913 CAP_FILE_SIZE 138000,0

HUMID 1826 CFSIZE 254472192,251834368

TCM_TEMP 15.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,51,0,0

XPDR_PINGS 186 GPS 071108,083408,6330.438,-559.518,37,1.0,37,-8.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 151 92.14 SBE_CT 649 24 366.29

Roll_motor 157 119 443.42 SBE_O2 593 19 264.88

VBD_pump_during_apogee 354 1656 13799.77 WL_BB2F 453 105 1119.45

VBD_pump_during_surface 0 138 2.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 274.17 nil 0 0 0.00

Iridium_during_connect 139 160 525.37 nil 0 0 0.00

Iridium_during_xfer 251 223 1315.40

Transponder_ping 55 420 547.78

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.95

TT8 1613 19 319.52

LPSleep 14263 2 312.36

TT8_Active 527 19 104.36

TT8_Sampling 1827 39 727.18

TT8_CF8 824 45 377.51

TT8_Kalman 33 81 27.30

Analog_circuits 1452 12 174.29

GPS_charging 0 0 0.00

Compass 1779 8 142.40

RAFOS 0 0 0.00

Transponder 58 30 17.58

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 13 begin dive

16 -1.44 -146.6 0.0 0.0 0 99 0.00 0.00 -81.12 0.000 2 0.000 0.000 426 2157 3400

102 -1.44 -146.6 4.6 -5.9 4 119 10.48 2.60 -0.70 0.000 4 0.151 0.084 2378 785 3430

252 -1.27 -146.6 38.7 -18.3 9 259 0.22 2.60 0.00 0.000 6 0.102 0.063 2420 2195 3431

569 -1.20 -146.6 84.2 -13.9 25 573 0.00 2.65 0.00 0.000 4 0.000 0.071 2420 780 3432

686 -1.15 -146.6 100.5 -13.1 30 691 0.15 2.55 0.00 0.000 6 0.102 0.062 2449 2163 3432

1002 -1.15 -146.6 138.6 -11.4 45 1007 0.00 2.60 0.00 0.000 4 0.000 0.072 2449 778 3432

1091 -1.15 -146.6 149.1 -11.3 49 1096 0.00 2.53 0.00 0.000 6 0.000 0.063 2450 2145 3432

1413 -1.15 -146.6 182.1 -11.0 65 1417 0.00 2.72 0.00 0.000 4 0.000 0.081 2450 3599 3433

1452 -1.15 -146.6 186.4 -11.3 67 1456 0.00 2.67 0.00 0.000 6 0.000 0.065 2450 2150 3433

1778 -1.15 -146.6 221.5 -10.5 83 1783 0.00 2.55 0.00 0.000 4 0.000 0.078 2450 781 3433

1813 -1.15 -146.6 225.1 -10.7 84 1819 0.00 2.53 0.00 0.000 6 0.000 0.067 2450 2144 3434

2129 -1.15 -146.6 255.5 -9.9 100 2133 0.00 2.58 0.00 0.000 4 0.000 0.080 2450 783 3434

2201 -1.15 -146.6 263.0 -10.0 103 2205 0.00 2.53 0.00 0.000 6 0.000 0.070 2449 2136 3433

2517 -1.15 -146.6 295.2 -10.4 118 2521 0.00 2.58 0.00 0.000 4 0.000 0.081 2450 783 3433

2572 -1.15 -146.6 301.3 -10.7 120 2578 0.00 2.53 0.00 0.000 6 0.000 0.071 2450 2130 3433

2888 -1.15 -146.6 336.9 -11.7 136 2893 0.00 2.58 0.00 0.000 4 0.000 0.085 2450 783 3433

2978 -1.20 -146.6 348.2 -12.3 140 2982 0.00 2.50 0.00 0.000 6 0.000 0.073 2450 2113 3433

3299 -1.20 -146.6 385.0 -11.5 156 3300 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2114 3432

3608 -1.25 -146.6 419.3 -10.7 171 3613 0.00 2.55 0.00 0.000 4 0.000 0.086 2450 783 3431

3687 -1.29 -146.6 428.3 -11.3 174 3694 0.15 2.53 0.00 0.000 6 0.067 0.076 2415 2119 3431

4003 -1.24 -146.6 467.5 -12.5 190 4004 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2119 3430

4312 -1.18 -146.6 507.5 -13.2 205 4317 0.12 2.58 0.00 0.000 4 0.123 0.087 2438 781 3430

4374 -1.18 -146.6 515.3 -12.1 208 4379 0.00 2.53 0.00 0.000 6 0.000 0.079 2438 2116 3429

4701 -1.18 -146.6 553.1 -11.3 224 4703 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2115 3429

5011 -1.18 -146.6 587.3 -10.8 239 5015 0.00 2.58 0.00 0.000 4 0.000 0.091 2439 781 3428

5060 -1.18 -146.6 593.1 -11.4 241 5064 0.00 2.53 0.00 0.000 6 0.000 0.080 2438 2108 3428

5377 -1.18 -146.6 626.2 -10.3 256 5378 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2107 3427

5685 -1.18 -146.6 658.5 -10.6 271 5690 0.00 2.58 0.00 0.000 4 0.000 0.094 2438 784 3427

5753 -1.18 -146.6 665.9 -10.5 274 5757 0.00 2.50 0.00 0.000 6 0.000 0.083 2438 2095 3427

6073 -1.18 -146.6 699.5 -10.3 290 6081 0.00 2.55 0.00 0.000 4 0.000 0.094 2439 783 3426

6099 -1.18 -146.6 702.2 -10.4 291 6103 0.00 2.47 0.00 0.000 6 0.000 0.082 2438 2089 3426

6432 -1.18 -146.6 736.7 -10.3 307 6436 0.00 2.55 0.00 0.000 4 0.000 0.094 2439 780 3425

6465 -1.18 -146.6 740.5 -11.3 308 6471 0.00 2.50 0.00 0.000 6 0.000 0.083 2439 2085 3424

6780 -1.18 -146.6 773.7 -10.9 324 6781 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2085 3424

7090 -1.18 -146.6 808.4 -11.2 339 7094 0.00 2.53 0.00 0.000 4 0.000 0.094 2439 789 3424

7122 -1.18 -146.6 812.3 -11.7 340 7129 0.00 2.47 0.00 0.000 6 0.000 0.084 2439 2080 3423

7439 -1.18 -146.6 846.9 -10.7 356 7440 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2081 3423

7747 -1.18 -146.6 879.3 -10.3 371 7752 0.00 2.55 0.00 0.000 4 0.000 0.100 2439 787 3422

7792 -1.18 -146.6 884.1 -10.7 373 7796 0.00 2.47 0.00 0.000 6 0.000 0.085 2439 2072 3422

8113 -1.18 -146.6 916.7 -10.3 389 8114 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2072 3422

8422 -1.18 -146.6 948.2 -10.0 404 8423 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2072 3422

8731 -1.18 -146.6 979.2 -10.0 419 8732 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2072 3421

8852 end dive: TARGET_DEPTH_EXCEEDED

state 8852 begin apogee

8859 -0.33 0.0 991.5 9.9 425 8989 0.90 0.00 126.15 1.657 6 0.104 0.000 2622 2192 2832

8989 end apogee: CONTROL_FINISHED_OK

state 8989 begin climb

8992 1.44 146.6 995.8 0.0 431 9128 1.85 2.85 127.03 1.620 4 0.082 0.100 3013 3593 2234

9153 1.32 148.2 987.2 9.9 439 9159 0.15 2.72 0.00 0.000 6 0.115 0.084 2988 2199 2234

9469 1.35 167.6 958.5 9.1 454 9494 0.00 2.85 19.58 1.485 4 0.000 0.100 2988 3594 2148

9523 1.35 167.6 953.2 10.0 456 9529 0.00 2.75 0.00 0.000 6 0.000 0.084 2988 2185 2148

9839 1.36 170.8 922.0 9.9 472 9845 0.00 0.00 4.50 1.063 6 0.000 0.000 2987 2184 2135

10148 1.37 180.8 891.9 9.5 487 10164 0.00 2.88 10.65 1.404 4 0.000 0.101 2988 3597 2094

10192 1.37 180.8 887.4 10.1 488 10196 0.00 2.72 0.00 0.000 6 0.000 0.084 2988 2197 2094

10513 1.40 194.9 856.8 9.4 504 10532 0.00 0.00 13.30 1.437 6 0.000 0.000 2988 2197 2037

10842 1.48 213.7 826.3 9.1 520 10863 0.15 0.00 18.12 1.467 6 0.077 0.000 3020 2197 1960

11171 1.48 213.7 790.6 10.9 536 11172 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2197 1959

11481 1.48 213.7 756.2 11.4 551 11485 0.00 2.78 0.00 0.000 4 0.000 0.098 3020 3603 1959

11525 1.48 213.7 750.8 11.9 553 11529 0.00 2.70 0.00 0.000 6 0.000 0.081 3020 2195 1959

11845 1.48 213.7 714.6 11.4 569 11847 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2195 1959

12155 1.48 213.7 679.2 11.5 584 12156 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2195 1958

12464 1.48 213.7 643.9 11.2 599 12468 0.00 2.72 0.00 0.000 4 0.000 0.097 3019 784 1958

12497 1.44 213.7 639.9 11.4 600 12504 0.00 2.72 0.00 0.000 6 0.000 0.083 3019 2204 1958

12813 1.44 213.7 604.7 11.0 616 12814 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2204 1958

13122 1.44 213.7 571.3 10.9 631 13127 0.00 2.70 0.00 0.000 4 0.000 0.097 3020 3605 1958

13149 1.44 213.7 567.9 11.4 632 13154 0.00 2.65 0.00 0.000 6 0.000 0.079 3019 2208 1958

13465 1.44 213.7 533.5 11.1 647 13470 0.00 2.75 0.00 0.000 4 0.000 0.097 3020 778 1958

13492 1.44 213.7 530.2 12.3 648 13497 0.00 2.72 0.00 0.000 6 0.000 0.083 3020 2204 1958

13808 1.44 213.7 494.3 11.4 663 13812 0.00 2.70 0.00 0.000 4 0.000 0.099 3020 3605 1958

13834 1.44 213.7 490.9 11.9 664 13839 0.00 2.67 0.00 0.000 6 0.000 0.080 3020 2198 1958

14150 1.44 213.7 453.8 11.8 679 14151 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2198 1958

14459 1.44 213.7 418.2 11.3 694 14464 0.00 2.75 0.00 0.000 4 0.000 0.095 3020 3604 1958

14486 1.44 213.7 415.0 12.3 695 14491 0.00 2.65 0.00 0.000 6 0.000 0.077 3019 2199 1958

14802 1.44 213.7 380.4 11.1 710 14803 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2199 1958

15111 1.44 213.7 346.7 11.1 725 15112 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2199 1958

15421 1.44 213.7 312.1 11.7 740 15425 0.00 2.72 0.00 0.000 4 0.000 0.094 3020 3598 1958

15460 1.44 213.7 307.2 12.3 742 15465 0.00 2.60 0.00 0.000 6 0.000 0.075 3020 2213 1958

15786 1.44 213.7 271.2 10.5 758 15787 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2212 1958

16096 1.46 230.3 241.7 9.2 773 16118 0.00 2.75 14.70 1.105 4 0.000 0.091 3020 3598 1892

16174 1.46 230.3 233.8 10.0 776 16178 0.00 2.58 0.00 0.000 6 0.000 0.071 3020 2232 1892

16491 1.48 240.8 203.7 9.5 791 16506 0.00 2.78 10.12 1.042 4 0.000 0.087 3020 784 1849

16540 1.49 245.2 198.4 9.8 792 16552 0.00 2.75 5.30 0.886 6 0.000 0.075 3020 2230 1832

16861 1.54 249.1 165.9 9.8 808 16871 0.00 2.60 5.00 0.858 4 0.000 0.086 3020 3602 1816

16927 1.54 249.1 158.8 10.4 811 16932 0.00 2.55 0.00 0.000 6 0.000 0.068 3020 2236 1816

17250 1.60 249.1 123.3 11.8 827 17251 0.12 0.00 0.00 0.000 6 0.074 0.000 3048 2236 1816

17558 1.60 249.1 85.9 11.8 842 17559 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2236 1817

17867 1.60 249.1 49.3 11.6 857 17872 0.00 2.58 0.00 0.000 4 0.000 0.077 3048 3600 1818

17912 1.60 249.1 43.8 11.4 859 17916 0.00 2.50 0.00 0.000 6 0.000 0.061 3049 2235 1819

18232 end climb: SURFACE_DEPTH_REACHED

state 18232 begin surface coast

18255 end surface coast: CONTROL_FINISHED_OK

state 18255 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	6	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	16	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	-87361.414	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	031425,6333.229,-558.780,69,1.0,69,-8.3	TGT_NAME	NSEC_S
_CALLS	3	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.180,-0.193
_SM_DEPTHo	0.89	KALMAN_X	9785.6,57.2,16.7,-5387.9,3209.6
_SM_ANGLEo	-61.9	KALMAN_Y	-4648.0,25.4,-29.5,-8445.1,-2753.2
GPS2	032720,6333.199,-558.662,11,1.0,15,-8.3	MHEAD_RNG_PITCHd_Wd	231.3,98672,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.1,1.027387	ALTIM_TOP_PING	19.0,18.0
SM_CCo	18278,0.90,0.139,0,0,1811,250.21	_24V_AH	23.5,3.995
SM_GC	1.63,0.00,0.00,0.90,0.000,0.000,0.139,422,2178,1811,-10.48,-0.34,250.21	_10V_AH	10.0,1.908
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44371,876
TT8_MAMPS	0.029913	CAP_FILE_SIZE	138000,0
HUMID	1826	CFSIZE	254472192,251834368
TCM_TEMP	15.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
XPDR_PINGS	186	GPS	071108,083408,6330.438,-559.518,37,1.0,37,-8.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	151	92.14	SBE_CT	649	24	366.29
Roll_motor	157	119	443.42	SBE_O2	593	19	264.88
VBD_pump_during_apogee	354	1656	13799.77	WL_BB2F	453	105	1119.45
VBD_pump_during_surface	0	138	2.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	274.17	nil	0	0	0.00
Iridium_during_connect	139	160	525.37	nil	0	0	0.00
Iridium_during_xfer	251	223	1315.40
Transponder_ping	55	420	547.78
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.95
TT8	1613	19	319.52
LPSleep	14263	2	312.36
TT8_Active	527	19	104.36
TT8_Sampling	1827	39	727.18
TT8_CF8	824	45	377.51
TT8_Kalman	33	81	27.30
Analog_circuits	1452	12	174.29
GPS_charging	0	0	0.00
Compass	1779	8	142.40
RAFOS	0	0	0.00
Transponder	58	30	17.58

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	13	begin dive
16	-1.44	-146.6	0.0	0.0	0	99	0.00	0.00	-81.12	0.000	2	0.000	0.000	426	2157	3400
102	-1.44	-146.6	4.6	-5.9	4	119	10.48	2.60	-0.70	0.000	4	0.151	0.084	2378	785	3430
252	-1.27	-146.6	38.7	-18.3	9	259	0.22	2.60	0.00	0.000	6	0.102	0.063	2420	2195	3431
569	-1.20	-146.6	84.2	-13.9	25	573	0.00	2.65	0.00	0.000	4	0.000	0.071	2420	780	3432
686	-1.15	-146.6	100.5	-13.1	30	691	0.15	2.55	0.00	0.000	6	0.102	0.062	2449	2163	3432
1002	-1.15	-146.6	138.6	-11.4	45	1007	0.00	2.60	0.00	0.000	4	0.000	0.072	2449	778	3432
1091	-1.15	-146.6	149.1	-11.3	49	1096	0.00	2.53	0.00	0.000	6	0.000	0.063	2450	2145	3432
1413	-1.15	-146.6	182.1	-11.0	65	1417	0.00	2.72	0.00	0.000	4	0.000	0.081	2450	3599	3433
1452	-1.15	-146.6	186.4	-11.3	67	1456	0.00	2.67	0.00	0.000	6	0.000	0.065	2450	2150	3433
1778	-1.15	-146.6	221.5	-10.5	83	1783	0.00	2.55	0.00	0.000	4	0.000	0.078	2450	781	3433
1813	-1.15	-146.6	225.1	-10.7	84	1819	0.00	2.53	0.00	0.000	6	0.000	0.067	2450	2144	3434
2129	-1.15	-146.6	255.5	-9.9	100	2133	0.00	2.58	0.00	0.000	4	0.000	0.080	2450	783	3434
2201	-1.15	-146.6	263.0	-10.0	103	2205	0.00	2.53	0.00	0.000	6	0.000	0.070	2449	2136	3433
2517	-1.15	-146.6	295.2	-10.4	118	2521	0.00	2.58	0.00	0.000	4	0.000	0.081	2450	783	3433
2572	-1.15	-146.6	301.3	-10.7	120	2578	0.00	2.53	0.00	0.000	6	0.000	0.071	2450	2130	3433
2888	-1.15	-146.6	336.9	-11.7	136	2893	0.00	2.58	0.00	0.000	4	0.000	0.085	2450	783	3433
2978	-1.20	-146.6	348.2	-12.3	140	2982	0.00	2.50	0.00	0.000	6	0.000	0.073	2450	2113	3433
3299	-1.20	-146.6	385.0	-11.5	156	3300	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2114	3432
3608	-1.25	-146.6	419.3	-10.7	171	3613	0.00	2.55	0.00	0.000	4	0.000	0.086	2450	783	3431
3687	-1.29	-146.6	428.3	-11.3	174	3694	0.15	2.53	0.00	0.000	6	0.067	0.076	2415	2119	3431
4003	-1.24	-146.6	467.5	-12.5	190	4004	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2119	3430
4312	-1.18	-146.6	507.5	-13.2	205	4317	0.12	2.58	0.00	0.000	4	0.123	0.087	2438	781	3430
4374	-1.18	-146.6	515.3	-12.1	208	4379	0.00	2.53	0.00	0.000	6	0.000	0.079	2438	2116	3429
4701	-1.18	-146.6	553.1	-11.3	224	4703	0.00	0.00	0.00	0.000	6	0.000	0.000	2438	2115	3429
5011	-1.18	-146.6	587.3	-10.8	239	5015	0.00	2.58	0.00	0.000	4	0.000	0.091	2439	781	3428
5060	-1.18	-146.6	593.1	-11.4	241	5064	0.00	2.53	0.00	0.000	6	0.000	0.080	2438	2108	3428
5377	-1.18	-146.6	626.2	-10.3	256	5378	0.00	0.00	0.00	0.000	6	0.000	0.000	2438	2107	3427
5685	-1.18	-146.6	658.5	-10.6	271	5690	0.00	2.58	0.00	0.000	4	0.000	0.094	2438	784	3427
5753	-1.18	-146.6	665.9	-10.5	274	5757	0.00	2.50	0.00	0.000	6	0.000	0.083	2438	2095	3427
6073	-1.18	-146.6	699.5	-10.3	290	6081	0.00	2.55	0.00	0.000	4	0.000	0.094	2439	783	3426
6099	-1.18	-146.6	702.2	-10.4	291	6103	0.00	2.47	0.00	0.000	6	0.000	0.082	2438	2089	3426
6432	-1.18	-146.6	736.7	-10.3	307	6436	0.00	2.55	0.00	0.000	4	0.000	0.094	2439	780	3425
6465	-1.18	-146.6	740.5	-11.3	308	6471	0.00	2.50	0.00	0.000	6	0.000	0.083	2439	2085	3424
6780	-1.18	-146.6	773.7	-10.9	324	6781	0.00	0.00	0.00	0.000	6	0.000	0.000	2439	2085	3424
7090	-1.18	-146.6	808.4	-11.2	339	7094	0.00	2.53	0.00	0.000	4	0.000	0.094	2439	789	3424
7122	-1.18	-146.6	812.3	-11.7	340	7129	0.00	2.47	0.00	0.000	6	0.000	0.084	2439	2080	3423
7439	-1.18	-146.6	846.9	-10.7	356	7440	0.00	0.00	0.00	0.000	6	0.000	0.000	2439	2081	3423
7747	-1.18	-146.6	879.3	-10.3	371	7752	0.00	2.55	0.00	0.000	4	0.000	0.100	2439	787	3422
7792	-1.18	-146.6	884.1	-10.7	373	7796	0.00	2.47	0.00	0.000	6	0.000	0.085	2439	2072	3422
8113	-1.18	-146.6	916.7	-10.3	389	8114	0.00	0.00	0.00	0.000	6	0.000	0.000	2439	2072	3422
8422	-1.18	-146.6	948.2	-10.0	404	8423	0.00	0.00	0.00	0.000	6	0.000	0.000	2439	2072	3422
8731	-1.18	-146.6	979.2	-10.0	419	8732	0.00	0.00	0.00	0.000	6	0.000	0.000	2439	2072	3421
8852	end dive: TARGET_DEPTH_EXCEEDED
state	8852	begin apogee
8859	-0.33	0.0	991.5	9.9	425	8989	0.90	0.00	126.15	1.657	6	0.104	0.000	2622	2192	2832
8989	end apogee: CONTROL_FINISHED_OK
state	8989	begin climb
8992	1.44	146.6	995.8	0.0	431	9128	1.85	2.85	127.03	1.620	4	0.082	0.100	3013	3593	2234
9153	1.32	148.2	987.2	9.9	439	9159	0.15	2.72	0.00	0.000	6	0.115	0.084	2988	2199	2234
9469	1.35	167.6	958.5	9.1	454	9494	0.00	2.85	19.58	1.485	4	0.000	0.100	2988	3594	2148
9523	1.35	167.6	953.2	10.0	456	9529	0.00	2.75	0.00	0.000	6	0.000	0.084	2988	2185	2148
9839	1.36	170.8	922.0	9.9	472	9845	0.00	0.00	4.50	1.063	6	0.000	0.000	2987	2184	2135
10148	1.37	180.8	891.9	9.5	487	10164	0.00	2.88	10.65	1.404	4	0.000	0.101	2988	3597	2094
10192	1.37	180.8	887.4	10.1	488	10196	0.00	2.72	0.00	0.000	6	0.000	0.084	2988	2197	2094
10513	1.40	194.9	856.8	9.4	504	10532	0.00	0.00	13.30	1.437	6	0.000	0.000	2988	2197	2037
10842	1.48	213.7	826.3	9.1	520	10863	0.15	0.00	18.12	1.467	6	0.077	0.000	3020	2197	1960
11171	1.48	213.7	790.6	10.9	536	11172	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2197	1959
11481	1.48	213.7	756.2	11.4	551	11485	0.00	2.78	0.00	0.000	4	0.000	0.098	3020	3603	1959
11525	1.48	213.7	750.8	11.9	553	11529	0.00	2.70	0.00	0.000	6	0.000	0.081	3020	2195	1959
11845	1.48	213.7	714.6	11.4	569	11847	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2195	1959
12155	1.48	213.7	679.2	11.5	584	12156	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2195	1958
12464	1.48	213.7	643.9	11.2	599	12468	0.00	2.72	0.00	0.000	4	0.000	0.097	3019	784	1958
12497	1.44	213.7	639.9	11.4	600	12504	0.00	2.72	0.00	0.000	6	0.000	0.083	3019	2204	1958
12813	1.44	213.7	604.7	11.0	616	12814	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2204	1958
13122	1.44	213.7	571.3	10.9	631	13127	0.00	2.70	0.00	0.000	4	0.000	0.097	3020	3605	1958
13149	1.44	213.7	567.9	11.4	632	13154	0.00	2.65	0.00	0.000	6	0.000	0.079	3019	2208	1958
13465	1.44	213.7	533.5	11.1	647	13470	0.00	2.75	0.00	0.000	4	0.000	0.097	3020	778	1958
13492	1.44	213.7	530.2	12.3	648	13497	0.00	2.72	0.00	0.000	6	0.000	0.083	3020	2204	1958
13808	1.44	213.7	494.3	11.4	663	13812	0.00	2.70	0.00	0.000	4	0.000	0.099	3020	3605	1958
13834	1.44	213.7	490.9	11.9	664	13839	0.00	2.67	0.00	0.000	6	0.000	0.080	3020	2198	1958
14150	1.44	213.7	453.8	11.8	679	14151	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2198	1958
14459	1.44	213.7	418.2	11.3	694	14464	0.00	2.75	0.00	0.000	4	0.000	0.095	3020	3604	1958
14486	1.44	213.7	415.0	12.3	695	14491	0.00	2.65	0.00	0.000	6	0.000	0.077	3019	2199	1958
14802	1.44	213.7	380.4	11.1	710	14803	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2199	1958
15111	1.44	213.7	346.7	11.1	725	15112	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2199	1958
15421	1.44	213.7	312.1	11.7	740	15425	0.00	2.72	0.00	0.000	4	0.000	0.094	3020	3598	1958
15460	1.44	213.7	307.2	12.3	742	15465	0.00	2.60	0.00	0.000	6	0.000	0.075	3020	2213	1958
15786	1.44	213.7	271.2	10.5	758	15787	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2212	1958
16096	1.46	230.3	241.7	9.2	773	16118	0.00	2.75	14.70	1.105	4	0.000	0.091	3020	3598	1892
16174	1.46	230.3	233.8	10.0	776	16178	0.00	2.58	0.00	0.000	6	0.000	0.071	3020	2232	1892
16491	1.48	240.8	203.7	9.5	791	16506	0.00	2.78	10.12	1.042	4	0.000	0.087	3020	784	1849
16540	1.49	245.2	198.4	9.8	792	16552	0.00	2.75	5.30	0.886	6	0.000	0.075	3020	2230	1832
16861	1.54	249.1	165.9	9.8	808	16871	0.00	2.60	5.00	0.858	4	0.000	0.086	3020	3602	1816
16927	1.54	249.1	158.8	10.4	811	16932	0.00	2.55	0.00	0.000	6	0.000	0.068	3020	2236	1816
17250	1.60	249.1	123.3	11.8	827	17251	0.12	0.00	0.00	0.000	6	0.074	0.000	3048	2236	1816
17558	1.60	249.1	85.9	11.8	842	17559	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2236	1817
17867	1.60	249.1	49.3	11.6	857	17872	0.00	2.58	0.00	0.000	4	0.000	0.077	3048	3600	1818
17912	1.60	249.1	43.8	11.4	859	17916	0.00	2.50	0.00	0.000	6	0.000	0.061	3049	2235	1819
18232	end climb: SURFACE_DEPTH_REACHED
state	18232	begin surface coast
18255	end surface coast: CONTROL_FINISHED_OK
state	18255	begin surface