Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 8 * 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 8 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 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 -87394.164 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 -87394.164

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 20 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 8 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 134738,6327.242,-556.602,41,1.2,41,-8.2 TGT_NAME NSEC_S

_CALLS 1 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.041,-0.260

_SM_DEPTHo 1.01 KALMAN_X 16828.4,-937.0,-409.5,-9275.7,6513.7

_SM_ANGLEo -61.0 KALMAN_Y -6893.4,243.5,138.9,-17603.5,-1759.1

GPS2 135315,6327.256,-556.572,15,1.3,15,-8.2 MHEAD_RNG_PITCHd_Wd 197.1,87812,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027408 ALTIM_TOP_PING 19.5,999.0

SM_CCo 18490,0.52,0.153,0,0,1813,250.21 _24V_AH 23.5,4.342

SM_GC 1.35,0.00,0.00,0.52,0.000,0.000,0.153,428,2166,1813,-10.45,-0.57,250.21 _10V_AH 10.0,2.069

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44381,886

TT8_MAMPS 0.029146 CAP_FILE_SIZE 139811,0

HUMID 1821 CFSIZE 254472192,251699200

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,53,0,0

XPDR_PINGS 184 GPS 071108,190337,6324.310,-553.196,38,0.9,38,-8.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 148 89.08 SBE_CT 662 24 373.58

Roll_motor 177 101 421.36 SBE_O2 600 19 268.25

VBD_pump_during_apogee 360 1676 14200.32 WL_BB2F 450 105 1111.19

VBD_pump_during_surface 0 153 1.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.39 nil 0 0 0.00

Iridium_during_connect 27 160 101.60 nil 0 0 0.00

Iridium_during_xfer 152 223 797.49

Transponder_ping 55 420 542.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.62

TT8 1658 19 328.43

LPSleep 14248 2 312.03

TT8_Active 522 19 103.50

TT8_Sampling 1887 39 751.36

TT8_CF8 513 45 235.17

TT8_Kalman 33 81 27.27

Analog_circuits 1502 12 180.25

GPS_charging 0 0 0.00

Compass 1840 8 147.20

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 -81.10 0.000 2 0.000 0.000 425 2169 3358

102 -1.44 -146.6 4.2 -5.0 4 117 10.40 0.00 -1.70 0.000 6 0.149 0.000 2377 2182 3431

435 -1.27 -146.6 68.9 -16.3 20 440 0.20 2.60 0.00 0.000 4 0.108 0.070 2418 781 3433

468 -1.19 -146.6 74.2 -14.5 21 475 0.10 2.60 0.00 0.000 6 0.109 0.061 2437 2198 3433

785 -1.19 -146.6 114.5 -12.7 37 790 0.00 2.65 0.00 0.000 4 0.000 0.071 2437 780 3434

925 -1.19 -146.6 132.6 -12.9 43 930 0.00 2.53 0.00 0.000 6 0.000 0.060 2436 2159 3434

1241 -1.19 -146.6 171.4 -11.9 58 1245 0.00 2.58 0.00 0.000 4 0.000 0.071 2437 777 3435

1386 -1.19 -146.6 189.0 -11.9 64 1392 0.00 2.47 0.00 0.000 6 0.000 0.061 2436 2125 3435

1702 -1.19 -146.6 225.7 -11.9 80 1707 0.00 2.53 0.00 0.000 4 0.000 0.076 2436 785 3436

1820 -1.19 -146.6 240.3 -12.6 85 1824 0.00 2.42 0.00 0.000 6 0.000 0.063 2436 2100 3436

2136 -1.19 -146.6 279.1 -12.3 100 2140 0.00 2.83 0.00 0.000 4 0.000 0.084 2437 3602 3436

2157 -1.19 -146.6 282.2 -13.1 101 2161 0.00 2.78 0.00 0.000 6 0.000 0.065 2437 2099 3436

2478 -1.19 -146.6 321.0 -11.8 117 2481 0.00 2.45 0.00 0.000 4 0.000 0.083 2436 786 3436

2511 -1.19 -146.6 325.3 -11.9 118 2516 0.00 2.45 0.00 0.000 6 0.000 0.069 2437 2110 3436

2833 -1.19 -146.6 362.7 -12.1 134 2837 0.00 2.53 0.00 0.000 4 0.000 0.084 2437 785 3436

2940 -1.19 -146.6 376.2 -12.5 139 2944 0.00 2.42 0.00 0.000 6 0.000 0.072 2437 2078 3436

3266 -1.19 -146.6 414.3 -11.6 155 3268 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2079 3436

3576 -1.19 -146.6 449.4 -11.3 170 3581 0.00 2.50 0.00 0.000 4 0.000 0.089 2437 783 3435

3609 -1.19 -146.6 453.4 -11.7 171 3613 0.00 2.42 0.00 0.000 6 0.000 0.076 2437 2067 3435

3925 -1.19 -146.6 487.7 -10.6 186 3929 0.00 2.47 0.00 0.000 4 0.000 0.089 2437 784 3434

3946 -1.19 -146.6 490.3 -11.0 187 3951 0.00 2.40 0.00 0.000 6 0.000 0.077 2437 2056 3435

4274 -1.19 -146.6 525.7 -10.9 203 4278 0.00 2.47 0.00 0.000 4 0.000 0.092 2437 786 3433

4319 -1.19 -146.6 531.2 -11.5 205 4323 0.00 2.40 0.00 0.000 6 0.000 0.078 2437 2048 3433

4640 -1.19 -146.6 565.8 -10.4 221 4642 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2048 3432

4950 -1.19 -146.6 598.9 -10.8 236 4954 0.00 2.45 0.00 0.000 4 0.000 0.091 2437 786 3431

5000 -1.19 -146.6 604.8 -11.4 238 5004 0.00 2.40 0.00 0.000 6 0.000 0.081 2437 2043 3431

5321 -1.19 -146.6 639.4 -10.5 254 5325 0.00 2.45 0.00 0.000 4 0.000 0.091 2437 783 3430

5348 -1.19 -146.6 642.6 -11.0 255 5352 0.00 2.40 0.00 0.000 6 0.000 0.080 2437 2040 3431

5666 -1.19 -146.6 676.4 -11.0 270 5670 0.00 2.45 0.00 0.000 4 0.000 0.094 2437 781 3430

5721 -1.19 -146.6 683.0 -11.7 272 5727 0.00 2.38 0.00 0.000 6 0.000 0.081 2437 2021 3430

6037 -1.19 -146.6 717.1 -10.6 288 6041 0.00 2.42 0.00 0.000 4 0.000 0.094 2437 780 3429

6065 -1.19 -146.6 720.3 -11.2 289 6069 0.00 2.38 0.00 0.000 6 0.000 0.081 2437 2021 3428

6381 -1.19 -146.6 753.2 -10.3 304 6382 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2021 3427

6690 -1.19 -146.6 784.3 -9.8 319 6692 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2022 3427

6999 -1.19 -146.6 815.6 -10.1 334 7003 0.00 2.42 0.00 0.000 4 0.000 0.095 2437 783 3426

7032 -1.19 -146.6 819.2 -11.7 335 7038 0.00 2.35 0.00 0.000 6 0.000 0.083 2437 2013 3426

7349 -1.19 -146.6 850.3 -9.7 351 7350 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2013 3425

7658 -1.19 -146.6 879.5 -9.1 366 7659 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2013 3426

7967 -1.19 -146.6 908.8 -9.7 381 7971 0.00 2.40 0.00 0.000 4 0.000 0.096 2437 785 3425

7994 -1.19 -146.6 911.8 -10.3 382 7998 0.00 2.35 0.00 0.000 6 0.000 0.083 2437 2009 3425

8316 -1.19 -146.6 943.0 -9.9 398 8317 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2009 3424

8625 -1.19 -146.6 972.2 -9.3 413 8626 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2009 3424

8807 end dive: TARGET_DEPTH_EXCEEDED

state 8808 begin apogee

8815 -0.33 0.0 990.0 9.5 422 8945 0.90 0.00 126.47 1.677 6 0.103 0.000 2622 2185 2832

8945 end apogee: CONTROL_FINISHED_OK

state 8945 begin climb

8948 1.44 146.6 994.2 0.0 428 9084 1.85 2.85 126.65 1.626 4 0.081 0.099 3009 3599 2233

9125 1.32 146.6 983.1 11.3 436 9131 0.12 2.72 0.00 0.000 6 0.117 0.084 2988 2197 2233

9442 1.32 147.0 952.4 10.0 451 9443 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2197 2233

9751 1.32 147.0 921.8 10.0 466 9752 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2197 2233

10060 1.33 153.8 891.3 9.7 481 10075 0.00 2.85 7.35 1.324 4 0.000 0.098 2988 3593 2205

10115 1.33 153.8 885.5 10.6 483 10119 0.00 2.70 0.00 0.000 6 0.000 0.081 2988 2194 2205

10430 1.34 162.2 854.2 9.6 498 10441 0.00 0.00 9.18 1.391 6 0.000 0.000 2988 2194 2170

10740 1.35 166.2 823.9 9.8 513 10747 0.00 0.00 5.38 1.192 6 0.000 0.000 2988 2194 2154

11049 1.36 170.9 793.4 9.8 528 11057 0.00 0.00 5.68 1.214 6 0.000 0.000 2988 2194 2135

11358 1.37 181.1 763.6 9.5 543 11375 0.00 2.83 10.80 1.405 4 0.000 0.097 2988 3595 2092

11403 1.37 181.1 759.1 10.3 544 11407 0.00 2.72 0.00 0.000 6 0.000 0.081 2988 2184 2092

11723 1.37 181.1 727.1 10.1 560 11724 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2185 2092

12033 1.38 183.5 696.7 9.9 575 12034 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2185 2092

12342 1.40 196.1 666.5 9.4 590 12362 0.00 0.00 14.18 1.404 6 0.000 0.000 2988 2185 2031

12672 1.46 208.9 634.9 9.4 606 12694 0.12 2.88 12.32 1.364 4 0.078 0.096 3016 3590 1980

12723 1.41 208.9 629.2 11.4 608 12727 0.00 2.70 0.00 0.000 6 0.000 0.080 3016 2191 1980

13043 1.41 208.9 594.2 11.1 624 13048 0.00 2.72 0.00 0.000 4 0.000 0.097 3016 781 1980

13065 1.41 208.9 591.7 10.6 625 13070 0.00 2.70 0.00 0.000 6 0.000 0.082 3016 2194 1980

13386 1.41 208.9 556.5 10.3 641 13388 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2195 1980

13696 1.42 215.5 525.5 9.7 656 13710 0.00 2.83 7.10 1.197 4 0.000 0.097 3016 3603 1953

13778 1.38 215.5 517.1 10.7 659 13784 0.00 2.70 0.00 0.000 6 0.000 0.079 3016 2191 1952

14094 1.38 219.8 485.6 9.8 675 14105 0.00 2.80 5.32 1.076 4 0.000 0.097 3016 3602 1936

14138 1.38 219.8 480.8 10.5 677 14143 0.00 2.67 0.00 0.000 6 0.000 0.079 3016 2202 1935

14460 1.39 222.3 449.3 9.9 693 14466 0.00 0.00 4.07 0.923 6 0.000 0.000 3016 2201 1925

14769 1.39 222.3 417.7 10.2 708 14773 0.00 2.70 0.00 0.000 4 0.000 0.092 3016 782 1925

14813 1.39 222.3 413.0 11.1 710 14818 0.00 2.70 0.00 0.000 6 0.000 0.079 3016 2201 1925

15134 1.39 222.3 380.0 10.4 726 15138 0.00 2.70 0.00 0.000 4 0.000 0.097 3016 3602 1925

15184 1.39 222.3 374.4 10.9 728 15188 0.00 2.67 0.00 0.000 6 0.000 0.076 3016 2188 1925

15499 1.39 222.3 341.9 10.2 743 15504 0.00 2.67 0.00 0.000 4 0.000 0.092 3017 781 1925

15527 1.39 222.3 338.9 10.6 744 15532 0.00 2.67 0.00 0.000 6 0.000 0.078 3016 2188 1925

15843 1.41 238.6 309.2 9.3 759 15865 0.00 2.78 14.93 1.182 4 0.000 0.091 3016 3604 1859

15889 1.41 238.6 304.7 10.3 761 15893 0.00 2.70 0.00 0.000 6 0.000 0.074 3016 2182 1859

16215 1.43 249.8 273.9 9.5 777 16232 0.00 2.70 10.98 1.122 4 0.000 0.087 3016 782 1813

16259 1.43 249.8 269.1 10.6 778 16264 0.00 2.67 0.00 0.000 6 0.000 0.074 3016 2185 1813

16581 1.47 249.8 234.9 10.9 794 16585 0.00 2.70 0.00 0.000 4 0.000 0.088 3016 3602 1813

16647 1.47 249.8 226.8 11.8 797 16652 0.00 2.62 0.00 0.000 6 0.000 0.070 3016 2191 1813

16968 1.47 249.8 187.5 12.0 813 16972 0.00 2.65 0.00 0.000 4 0.000 0.084 3016 781 1813

16989 1.47 249.8 184.8 13.1 814 16994 0.00 2.67 0.00 0.000 6 0.000 0.073 3016 2204 1813

17310 1.52 249.8 148.6 11.5 830 17315 0.00 2.62 0.00 0.000 4 0.000 0.084 3017 3601 1814

17366 1.56 249.8 141.7 12.7 832 17374 0.12 2.60 0.00 0.000 6 0.072 0.065 3045 2189 1814

17684 1.56 249.8 104.4 12.0 848 17688 0.00 2.70 0.00 0.000 4 0.000 0.080 3045 3608 1815

17717 1.56 249.8 100.0 12.7 849 17723 0.00 2.60 0.00 0.000 6 0.000 0.064 3045 2189 1815

18034 1.56 249.8 59.7 13.1 865 18039 0.00 2.67 0.00 0.000 4 0.000 0.077 3045 3604 1816

18078 1.56 249.8 53.0 14.7 867 18083 0.00 2.58 0.00 0.000 6 0.000 0.061 3045 2198 1816

18399 1.56 249.8 10.8 14.1 883 18404 0.00 2.67 0.00 0.000 4 0.000 0.076 3045 3607 1817

18441 end climb: SURFACE_DEPTH_REACHED

state 18441 begin surface coast

18465 end surface coast: CONTROL_FINISHED_OK

state 18465 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	8	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	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	-87394.164	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	134738,6327.242,-556.602,41,1.2,41,-8.2	TGT_NAME	NSEC_S
_CALLS	1	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.041,-0.260
_SM_DEPTHo	1.01	KALMAN_X	16828.4,-937.0,-409.5,-9275.7,6513.7
_SM_ANGLEo	-61.0	KALMAN_Y	-6893.4,243.5,138.9,-17603.5,-1759.1
GPS2	135315,6327.256,-556.572,15,1.3,15,-8.2	MHEAD_RNG_PITCHd_Wd	197.1,87812,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.1,1.027408	ALTIM_TOP_PING	19.5,999.0
SM_CCo	18490,0.52,0.153,0,0,1813,250.21	_24V_AH	23.5,4.342
SM_GC	1.35,0.00,0.00,0.52,0.000,0.000,0.153,428,2166,1813,-10.45,-0.57,250.21	_10V_AH	10.0,2.069
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44381,886
TT8_MAMPS	0.029146	CAP_FILE_SIZE	139811,0
HUMID	1821	CFSIZE	254472192,251699200
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,53,0,0
XPDR_PINGS	184	GPS	071108,190337,6324.310,-553.196,38,0.9,38,-8.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	148	89.08	SBE_CT	662	24	373.58
Roll_motor	177	101	421.36	SBE_O2	600	19	268.25
VBD_pump_during_apogee	360	1676	14200.32	WL_BB2F	450	105	1111.19
VBD_pump_during_surface	0	153	1.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.39	nil	0	0	0.00
Iridium_during_connect	27	160	101.60	nil	0	0	0.00
Iridium_during_xfer	152	223	797.49
Transponder_ping	55	420	542.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.62
TT8	1658	19	328.43
LPSleep	14248	2	312.03
TT8_Active	522	19	103.50
TT8_Sampling	1887	39	751.36
TT8_CF8	513	45	235.17
TT8_Kalman	33	81	27.27
Analog_circuits	1502	12	180.25
GPS_charging	0	0	0.00
Compass	1840	8	147.20
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	-81.10	0.000	2	0.000	0.000	425	2169	3358
102	-1.44	-146.6	4.2	-5.0	4	117	10.40	0.00	-1.70	0.000	6	0.149	0.000	2377	2182	3431
435	-1.27	-146.6	68.9	-16.3	20	440	0.20	2.60	0.00	0.000	4	0.108	0.070	2418	781	3433
468	-1.19	-146.6	74.2	-14.5	21	475	0.10	2.60	0.00	0.000	6	0.109	0.061	2437	2198	3433
785	-1.19	-146.6	114.5	-12.7	37	790	0.00	2.65	0.00	0.000	4	0.000	0.071	2437	780	3434
925	-1.19	-146.6	132.6	-12.9	43	930	0.00	2.53	0.00	0.000	6	0.000	0.060	2436	2159	3434
1241	-1.19	-146.6	171.4	-11.9	58	1245	0.00	2.58	0.00	0.000	4	0.000	0.071	2437	777	3435
1386	-1.19	-146.6	189.0	-11.9	64	1392	0.00	2.47	0.00	0.000	6	0.000	0.061	2436	2125	3435
1702	-1.19	-146.6	225.7	-11.9	80	1707	0.00	2.53	0.00	0.000	4	0.000	0.076	2436	785	3436
1820	-1.19	-146.6	240.3	-12.6	85	1824	0.00	2.42	0.00	0.000	6	0.000	0.063	2436	2100	3436
2136	-1.19	-146.6	279.1	-12.3	100	2140	0.00	2.83	0.00	0.000	4	0.000	0.084	2437	3602	3436
2157	-1.19	-146.6	282.2	-13.1	101	2161	0.00	2.78	0.00	0.000	6	0.000	0.065	2437	2099	3436
2478	-1.19	-146.6	321.0	-11.8	117	2481	0.00	2.45	0.00	0.000	4	0.000	0.083	2436	786	3436
2511	-1.19	-146.6	325.3	-11.9	118	2516	0.00	2.45	0.00	0.000	6	0.000	0.069	2437	2110	3436
2833	-1.19	-146.6	362.7	-12.1	134	2837	0.00	2.53	0.00	0.000	4	0.000	0.084	2437	785	3436
2940	-1.19	-146.6	376.2	-12.5	139	2944	0.00	2.42	0.00	0.000	6	0.000	0.072	2437	2078	3436
3266	-1.19	-146.6	414.3	-11.6	155	3268	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2079	3436
3576	-1.19	-146.6	449.4	-11.3	170	3581	0.00	2.50	0.00	0.000	4	0.000	0.089	2437	783	3435
3609	-1.19	-146.6	453.4	-11.7	171	3613	0.00	2.42	0.00	0.000	6	0.000	0.076	2437	2067	3435
3925	-1.19	-146.6	487.7	-10.6	186	3929	0.00	2.47	0.00	0.000	4	0.000	0.089	2437	784	3434
3946	-1.19	-146.6	490.3	-11.0	187	3951	0.00	2.40	0.00	0.000	6	0.000	0.077	2437	2056	3435
4274	-1.19	-146.6	525.7	-10.9	203	4278	0.00	2.47	0.00	0.000	4	0.000	0.092	2437	786	3433
4319	-1.19	-146.6	531.2	-11.5	205	4323	0.00	2.40	0.00	0.000	6	0.000	0.078	2437	2048	3433
4640	-1.19	-146.6	565.8	-10.4	221	4642	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2048	3432
4950	-1.19	-146.6	598.9	-10.8	236	4954	0.00	2.45	0.00	0.000	4	0.000	0.091	2437	786	3431
5000	-1.19	-146.6	604.8	-11.4	238	5004	0.00	2.40	0.00	0.000	6	0.000	0.081	2437	2043	3431
5321	-1.19	-146.6	639.4	-10.5	254	5325	0.00	2.45	0.00	0.000	4	0.000	0.091	2437	783	3430
5348	-1.19	-146.6	642.6	-11.0	255	5352	0.00	2.40	0.00	0.000	6	0.000	0.080	2437	2040	3431
5666	-1.19	-146.6	676.4	-11.0	270	5670	0.00	2.45	0.00	0.000	4	0.000	0.094	2437	781	3430
5721	-1.19	-146.6	683.0	-11.7	272	5727	0.00	2.38	0.00	0.000	6	0.000	0.081	2437	2021	3430
6037	-1.19	-146.6	717.1	-10.6	288	6041	0.00	2.42	0.00	0.000	4	0.000	0.094	2437	780	3429
6065	-1.19	-146.6	720.3	-11.2	289	6069	0.00	2.38	0.00	0.000	6	0.000	0.081	2437	2021	3428
6381	-1.19	-146.6	753.2	-10.3	304	6382	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2021	3427
6690	-1.19	-146.6	784.3	-9.8	319	6692	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2022	3427
6999	-1.19	-146.6	815.6	-10.1	334	7003	0.00	2.42	0.00	0.000	4	0.000	0.095	2437	783	3426
7032	-1.19	-146.6	819.2	-11.7	335	7038	0.00	2.35	0.00	0.000	6	0.000	0.083	2437	2013	3426
7349	-1.19	-146.6	850.3	-9.7	351	7350	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2013	3425
7658	-1.19	-146.6	879.5	-9.1	366	7659	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2013	3426
7967	-1.19	-146.6	908.8	-9.7	381	7971	0.00	2.40	0.00	0.000	4	0.000	0.096	2437	785	3425
7994	-1.19	-146.6	911.8	-10.3	382	7998	0.00	2.35	0.00	0.000	6	0.000	0.083	2437	2009	3425
8316	-1.19	-146.6	943.0	-9.9	398	8317	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2009	3424
8625	-1.19	-146.6	972.2	-9.3	413	8626	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2009	3424
8807	end dive: TARGET_DEPTH_EXCEEDED
state	8808	begin apogee
8815	-0.33	0.0	990.0	9.5	422	8945	0.90	0.00	126.47	1.677	6	0.103	0.000	2622	2185	2832
8945	end apogee: CONTROL_FINISHED_OK
state	8945	begin climb
8948	1.44	146.6	994.2	0.0	428	9084	1.85	2.85	126.65	1.626	4	0.081	0.099	3009	3599	2233
9125	1.32	146.6	983.1	11.3	436	9131	0.12	2.72	0.00	0.000	6	0.117	0.084	2988	2197	2233
9442	1.32	147.0	952.4	10.0	451	9443	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2197	2233
9751	1.32	147.0	921.8	10.0	466	9752	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2197	2233
10060	1.33	153.8	891.3	9.7	481	10075	0.00	2.85	7.35	1.324	4	0.000	0.098	2988	3593	2205
10115	1.33	153.8	885.5	10.6	483	10119	0.00	2.70	0.00	0.000	6	0.000	0.081	2988	2194	2205
10430	1.34	162.2	854.2	9.6	498	10441	0.00	0.00	9.18	1.391	6	0.000	0.000	2988	2194	2170
10740	1.35	166.2	823.9	9.8	513	10747	0.00	0.00	5.38	1.192	6	0.000	0.000	2988	2194	2154
11049	1.36	170.9	793.4	9.8	528	11057	0.00	0.00	5.68	1.214	6	0.000	0.000	2988	2194	2135
11358	1.37	181.1	763.6	9.5	543	11375	0.00	2.83	10.80	1.405	4	0.000	0.097	2988	3595	2092
11403	1.37	181.1	759.1	10.3	544	11407	0.00	2.72	0.00	0.000	6	0.000	0.081	2988	2184	2092
11723	1.37	181.1	727.1	10.1	560	11724	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2185	2092
12033	1.38	183.5	696.7	9.9	575	12034	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2185	2092
12342	1.40	196.1	666.5	9.4	590	12362	0.00	0.00	14.18	1.404	6	0.000	0.000	2988	2185	2031
12672	1.46	208.9	634.9	9.4	606	12694	0.12	2.88	12.32	1.364	4	0.078	0.096	3016	3590	1980
12723	1.41	208.9	629.2	11.4	608	12727	0.00	2.70	0.00	0.000	6	0.000	0.080	3016	2191	1980
13043	1.41	208.9	594.2	11.1	624	13048	0.00	2.72	0.00	0.000	4	0.000	0.097	3016	781	1980
13065	1.41	208.9	591.7	10.6	625	13070	0.00	2.70	0.00	0.000	6	0.000	0.082	3016	2194	1980
13386	1.41	208.9	556.5	10.3	641	13388	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2195	1980
13696	1.42	215.5	525.5	9.7	656	13710	0.00	2.83	7.10	1.197	4	0.000	0.097	3016	3603	1953
13778	1.38	215.5	517.1	10.7	659	13784	0.00	2.70	0.00	0.000	6	0.000	0.079	3016	2191	1952
14094	1.38	219.8	485.6	9.8	675	14105	0.00	2.80	5.32	1.076	4	0.000	0.097	3016	3602	1936
14138	1.38	219.8	480.8	10.5	677	14143	0.00	2.67	0.00	0.000	6	0.000	0.079	3016	2202	1935
14460	1.39	222.3	449.3	9.9	693	14466	0.00	0.00	4.07	0.923	6	0.000	0.000	3016	2201	1925
14769	1.39	222.3	417.7	10.2	708	14773	0.00	2.70	0.00	0.000	4	0.000	0.092	3016	782	1925
14813	1.39	222.3	413.0	11.1	710	14818	0.00	2.70	0.00	0.000	6	0.000	0.079	3016	2201	1925
15134	1.39	222.3	380.0	10.4	726	15138	0.00	2.70	0.00	0.000	4	0.000	0.097	3016	3602	1925
15184	1.39	222.3	374.4	10.9	728	15188	0.00	2.67	0.00	0.000	6	0.000	0.076	3016	2188	1925
15499	1.39	222.3	341.9	10.2	743	15504	0.00	2.67	0.00	0.000	4	0.000	0.092	3017	781	1925
15527	1.39	222.3	338.9	10.6	744	15532	0.00	2.67	0.00	0.000	6	0.000	0.078	3016	2188	1925
15843	1.41	238.6	309.2	9.3	759	15865	0.00	2.78	14.93	1.182	4	0.000	0.091	3016	3604	1859
15889	1.41	238.6	304.7	10.3	761	15893	0.00	2.70	0.00	0.000	6	0.000	0.074	3016	2182	1859
16215	1.43	249.8	273.9	9.5	777	16232	0.00	2.70	10.98	1.122	4	0.000	0.087	3016	782	1813
16259	1.43	249.8	269.1	10.6	778	16264	0.00	2.67	0.00	0.000	6	0.000	0.074	3016	2185	1813
16581	1.47	249.8	234.9	10.9	794	16585	0.00	2.70	0.00	0.000	4	0.000	0.088	3016	3602	1813
16647	1.47	249.8	226.8	11.8	797	16652	0.00	2.62	0.00	0.000	6	0.000	0.070	3016	2191	1813
16968	1.47	249.8	187.5	12.0	813	16972	0.00	2.65	0.00	0.000	4	0.000	0.084	3016	781	1813
16989	1.47	249.8	184.8	13.1	814	16994	0.00	2.67	0.00	0.000	6	0.000	0.073	3016	2204	1813
17310	1.52	249.8	148.6	11.5	830	17315	0.00	2.62	0.00	0.000	4	0.000	0.084	3017	3601	1814
17366	1.56	249.8	141.7	12.7	832	17374	0.12	2.60	0.00	0.000	6	0.072	0.065	3045	2189	1814
17684	1.56	249.8	104.4	12.0	848	17688	0.00	2.70	0.00	0.000	4	0.000	0.080	3045	3608	1815
17717	1.56	249.8	100.0	12.7	849	17723	0.00	2.60	0.00	0.000	6	0.000	0.064	3045	2189	1815
18034	1.56	249.8	59.7	13.1	865	18039	0.00	2.67	0.00	0.000	4	0.000	0.077	3045	3604	1816
18078	1.56	249.8	53.0	14.7	867	18083	0.00	2.58	0.00	0.000	6	0.000	0.061	3045	2198	1816
18399	1.56	249.8	10.8	14.1	883	18404	0.00	2.67	0.00	0.000	4	0.000	0.076	3045	3607	1817
18441	end climb: SURFACE_DEPTH_REACHED
state	18441	begin surface coast
18465	end surface coast: CONTROL_FINISHED_OK
state	18465	begin surface