Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 86 * 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 86 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 1850 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 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 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 -101889.12 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 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 0.029999999 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 -101889.12

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 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 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 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 86 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 205137,6213.960,-1033.622,36,1.4,36,-10.3 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.208,0.129

_SM_DEPTHo 1.45 KALMAN_X -72729.7,-2.5,-462.7,-26863.9,2377.3

_SM_ANGLEo -50.0 KALMAN_Y 36230.3,649.9,-190.0,32535.2,-774.2

GPS2 205714,6213.985,-1033.503,12,1.4,12,-10.3 MHEAD_RNG_PITCHd_Wd 312.1,30536,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.3,1.026834 ALTIM_BOTTOM_PING 795.6,14.3

SM_CCo 16636,16.08,0.749,0,0,1607,300.00 _24V_AH 23.8,17.015

SM_GC 1.32,0.00,0.00,16.08,0.000,0.000,0.749,417,2111,1607,-10.71,-0.51,300.00 _10V_AH 10.1,7.553

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41107,792

TT8_MAMPS 0.029146 CAP_FILE_SIZE 127547,0

HUMID 1840 CFSIZE 254472192,247095296

TCM_TEMP 19.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 43 GPS 120909,013701,6215.817,-1038.890,42,1.8,42,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 154 95.22 SBE_CT 542 24 309.88

Roll_motor 157 82 307.29 SBE_O2 589 19 266.71

VBD_pump_during_apogee 373 1370 12167.62 WL_BB2F 460 105 1151.97

VBD_pump_during_surface 16 748 286.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 29 160 112.79 nil 0 0 0.00

Iridium_during_xfer 151 223 805.21

Transponder_ping 18 420 182.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.45

TT8 1474 19 294.92

LPSleep 12723 2 281.43

TT8_Active 528 19 105.68

TT8_Sampling 1736 39 697.95

TT8_CF8 528 45 244.66

TT8_Kalman 33 81 27.56

Analog_circuits 1433 12 173.73

GPS_charging 0 0 0.00

Compass 1693 8 136.85

RAFOS 0 0 0.00

Transponder 51 30 15.75

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 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -60.90 0.000 2 0.000 0.000 424 2149 2600

82 -1.22 -146.6 2.3 -2.5 3 134 11.15 2.62 -32.70 0.000 4 0.154 0.067 2472 718 3429

209 -1.16 -146.6 10.3 -9.5 8 216 0.00 2.47 0.00 0.000 6 0.000 0.046 2472 2127 3429

526 -1.07 -146.6 53.4 -13.1 24 531 0.17 2.55 0.00 0.000 4 0.094 0.058 2514 717 3430

577 -1.07 -146.6 59.7 -12.8 26 581 0.00 2.50 0.00 0.000 6 0.000 0.045 2514 2134 3429

893 -1.07 -146.6 95.4 -10.9 41 897 0.00 2.55 0.00 0.000 4 0.000 0.058 2514 718 3430

956 -1.11 -146.6 102.1 -10.6 44 960 0.00 2.47 0.00 0.000 6 0.000 0.045 2514 2124 3431

1283 -1.11 -146.6 138.8 -11.1 60 1287 0.00 2.55 0.00 0.000 4 0.000 0.061 2514 717 3431

1310 -1.11 -146.6 142.1 -11.2 61 1314 0.00 2.45 0.00 0.000 6 0.000 0.047 2513 2103 3431

1626 -1.11 -146.6 177.0 -10.9 76 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2103 3431

1936 -1.11 -146.6 208.9 -10.3 91 1940 0.00 2.53 0.00 0.000 4 0.000 0.063 2514 715 3431

1986 -1.15 -146.6 214.6 -10.7 93 1990 0.00 2.45 0.00 0.000 6 0.000 0.048 2514 2101 3431

2302 -1.15 -146.6 247.4 -10.1 108 2303 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2101 3431

2612 -1.15 -146.6 277.0 -9.3 123 2616 0.00 2.53 0.00 0.000 4 0.000 0.064 2514 712 3431

2652 -1.19 -146.6 280.9 -9.8 125 2657 0.12 2.45 0.00 0.000 6 0.058 0.049 2477 2096 3431

2982 -1.14 -146.6 317.2 -11.0 141 2987 0.00 2.50 0.00 0.000 4 0.000 0.063 2477 718 3431

3011 -1.10 -146.6 320.8 -11.0 142 3016 0.12 2.42 0.00 0.000 6 0.096 0.049 2504 2088 3431

3327 -1.10 -146.6 352.0 -9.9 157 3328 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2088 3430

3636 -1.10 -146.6 381.7 -9.5 172 3640 0.00 2.50 0.00 0.000 4 0.000 0.064 2504 712 3430

3669 -1.10 -146.6 385.0 -9.9 173 3675 0.00 2.42 0.00 0.000 6 0.000 0.049 2504 2078 3430

3985 -1.10 -146.6 416.0 -10.3 189 3986 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2079 3430

4294 -1.10 -146.6 450.8 -11.8 204 4295 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2079 3429

4603 -1.10 -146.6 488.2 -12.3 219 4607 0.00 2.47 0.00 0.000 4 0.000 0.064 2504 719 3429

4630 -1.10 -146.6 491.6 -12.2 220 4634 0.00 2.42 0.00 0.000 6 0.000 0.051 2504 2087 3429

4946 -1.10 -146.6 523.9 -9.3 235 4948 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2088 3429

5255 -1.10 -146.6 552.9 -9.2 250 5256 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2088 3429

5565 -1.10 -146.6 582.2 -9.1 265 5569 0.00 2.50 0.00 0.000 4 0.000 0.064 2504 714 3428

5599 -1.13 -146.6 585.4 -9.6 266 5605 0.00 2.42 0.00 0.000 6 0.000 0.051 2504 2078 3428

5914 -1.13 -146.6 613.2 -8.8 282 5916 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2078 3428

6224 -1.13 -146.6 641.0 -10.0 297 6228 0.00 2.65 0.00 0.000 4 0.000 0.073 2504 3531 3428

6257 -1.13 -146.6 644.4 -10.7 298 6263 0.00 2.67 0.00 0.000 6 0.000 0.058 2504 2047 3427

6573 -1.13 -146.6 675.6 -9.8 314 6574 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2031 3427

6882 -1.13 -146.6 702.2 -7.0 329 6883 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2025 3427

7191 -1.13 -146.6 728.9 -8.6 344 7196 0.00 2.75 0.00 0.000 4 0.000 0.073 2503 3528 3427

7235 -1.13 -146.6 732.4 -8.4 346 7240 0.00 2.67 0.00 0.000 6 0.000 0.060 2504 2050 3427

7556 -1.13 -146.6 756.6 -9.9 362 7560 0.00 2.40 0.00 0.000 4 0.000 0.074 2503 719 3427

7624 -1.20 -146.6 764.3 -10.6 365 7629 0.00 2.38 0.00 0.000 6 0.000 0.056 2504 2043 3427

7954 -1.20 -146.6 797.2 -7.8 381 7958 0.00 2.47 0.00 0.000 4 0.000 0.074 2504 711 3426

7989 -1.23 -146.6 799.7 -7.5 382 7996 0.12 2.40 0.00 0.000 6 0.064 0.058 2470 2042 3426

8013 end dive: BOTTOM_OBSTACLE_DETECTED

state 8013 begin apogee

8021 -0.33 0.0 802.2 8.3 384 8157 0.90 0.00 129.20 1.371 6 0.053 0.000 2678 1833 2831

8157 end apogee: CONTROL_FINISHED_OK

state 8157 begin climb

8160 1.22 146.6 801.3 0.0 391 8298 1.52 2.72 128.80 1.332 4 0.064 0.070 3007 3251 2233

8363 1.10 146.6 789.8 9.0 400 8368 0.12 2.62 0.00 0.000 6 0.103 0.069 2986 1852 2233

8679 1.03 149.2 767.7 7.9 415 8688 0.00 2.65 3.97 0.803 4 0.000 0.080 2986 437 2222

8775 1.00 206.3 762.1 5.9 419 8834 0.12 2.58 51.00 1.304 6 0.103 0.058 2963 1868 1989

9143 1.00 206.3 731.8 8.6 437 9147 0.00 2.70 0.00 0.000 4 0.000 0.082 2963 436 1987

9193 1.00 206.3 727.3 9.1 439 9197 0.00 2.53 0.00 0.000 6 0.000 0.059 2963 1821 1987

9509 1.00 206.3 703.6 8.8 454 9513 0.00 2.65 0.00 0.000 4 0.000 0.073 2963 3260 1986

9576 1.07 206.3 696.7 8.4 457 9580 0.00 2.65 0.00 0.000 6 0.000 0.068 2963 1836 1986

9897 1.14 230.6 672.2 7.1 473 9924 0.12 2.65 21.20 1.258 4 0.061 0.077 2995 437 1891

10082 1.07 230.6 654.0 9.7 481 10087 0.00 2.50 0.00 0.000 6 0.000 0.055 2996 1822 1891

10399 1.07 230.6 626.3 8.8 496 10403 0.00 2.62 0.00 0.000 4 0.000 0.069 2996 3261 1890

10454 1.07 230.6 621.0 9.2 498 10460 0.00 2.65 0.00 0.000 6 0.000 0.062 2996 1818 1890

10770 1.07 230.6 594.3 8.2 514 10771 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 1818 1890

11079 1.12 264.0 572.1 6.8 529 11115 0.00 2.70 30.12 1.200 4 0.000 0.063 2996 3253 1754

11161 1.13 271.9 566.0 7.7 532 11175 0.00 2.60 8.70 1.048 6 0.000 0.060 2996 1830 1721

11492 1.13 271.9 534.1 10.6 548 11493 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 1830 1722

11801 1.13 271.9 501.2 11.0 563 11805 0.00 2.62 0.00 0.000 4 0.000 0.062 2996 3259 1722

11868 1.18 271.9 493.5 10.8 566 11872 0.00 2.58 0.00 0.000 6 0.000 0.058 2996 1841 1722

12189 1.18 271.9 457.9 10.4 582 12194 0.00 2.60 0.00 0.000 4 0.000 0.061 2996 3261 1722

12223 1.22 271.9 454.5 9.9 583 12229 0.00 2.55 0.00 0.000 6 0.000 0.057 2996 1853 1723

12539 1.22 271.9 427.1 8.2 599 12543 0.00 2.58 0.00 0.000 4 0.000 0.062 2996 3261 1723

12567 1.25 271.9 424.6 8.8 600 12571 0.00 2.53 0.00 0.000 6 0.000 0.056 2996 1863 1723

12882 1.25 271.9 394.0 10.6 615 12884 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 1863 1723

13192 1.25 271.9 356.5 12.4 630 13196 0.00 2.55 0.00 0.000 4 0.000 0.061 2997 3262 1723

13226 1.29 271.9 352.2 12.0 631 13231 0.15 2.50 0.00 0.000 6 0.050 0.054 3036 1865 1724

13542 1.22 271.9 311.3 12.3 646 13544 0.15 0.00 0.00 0.000 6 0.091 0.000 3007 1865 1724

13851 1.22 271.9 279.3 10.1 661 13856 0.00 2.53 0.00 0.000 4 0.000 0.061 3006 3255 1724

13901 1.22 271.9 274.0 9.8 663 13906 0.00 2.47 0.00 0.000 6 0.000 0.052 3006 1869 1724

14217 1.22 271.9 241.0 11.0 678 14218 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1869 1724

14527 1.22 271.9 206.4 11.3 693 14531 0.00 2.53 0.00 0.000 4 0.000 0.060 3007 3261 1724

14583 1.22 271.9 200.0 10.7 695 14587 0.00 2.45 0.00 0.000 6 0.000 0.051 3006 1885 1725

14899 1.22 271.9 167.7 9.7 710 14903 0.00 2.50 0.00 0.000 4 0.000 0.060 3006 3265 1725

14932 1.22 271.9 164.6 9.2 711 14938 0.00 2.42 0.00 0.000 6 0.000 0.051 3006 1903 1725

15248 1.22 271.9 135.3 9.6 727 15249 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1903 1725

15559 1.22 271.9 104.4 10.5 742 15563 0.00 2.45 0.00 0.000 4 0.000 0.059 3006 3257 1725

15587 1.25 271.9 101.1 10.7 743 15592 0.00 2.40 0.00 0.000 6 0.000 0.050 3006 1905 1725

15904 1.25 271.9 70.9 10.0 758 15905 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 1906 1725

16213 1.25 271.9 42.8 8.2 773 16217 0.00 2.62 0.00 0.000 4 0.000 0.066 3007 439 1726

16253 1.25 271.9 39.1 9.2 775 16257 0.00 2.62 0.00 0.000 6 0.000 0.048 3007 1932 1726

16580 1.25 271.9 4.9 12.9 791 16584 0.00 2.33 0.00 0.000 4 0.000 0.057 3007 3255 1726

16604 end climb: SURFACE_DEPTH_REACHED

state 16604 begin surface coast

16611 end surface coast: CONTROL_FINISHED_OK

state 16611 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	86	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	1850	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	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	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	-101889.12	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	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	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	205137,6213.960,-1033.622,36,1.4,36,-10.3	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.208,0.129
_SM_DEPTHo	1.45	KALMAN_X	-72729.7,-2.5,-462.7,-26863.9,2377.3
_SM_ANGLEo	-50.0	KALMAN_Y	36230.3,649.9,-190.0,32535.2,-774.2
GPS2	205714,6213.985,-1033.503,12,1.4,12,-10.3	MHEAD_RNG_PITCHd_Wd	312.1,30536,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	1.3,1.026834	ALTIM_BOTTOM_PING	795.6,14.3
SM_CCo	16636,16.08,0.749,0,0,1607,300.00	_24V_AH	23.8,17.015
SM_GC	1.32,0.00,0.00,16.08,0.000,0.000,0.749,417,2111,1607,-10.71,-0.51,300.00	_10V_AH	10.1,7.553
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41107,792
TT8_MAMPS	0.029146	CAP_FILE_SIZE	127547,0
HUMID	1840	CFSIZE	254472192,247095296
TCM_TEMP	19.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	43	GPS	120909,013701,6215.817,-1038.890,42,1.8,42,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	154	95.22	SBE_CT	542	24	309.88
Roll_motor	157	82	307.29	SBE_O2	589	19	266.71
VBD_pump_during_apogee	373	1370	12167.62	WL_BB2F	460	105	1151.97
VBD_pump_during_surface	16	748	286.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	29	160	112.79	nil	0	0	0.00
Iridium_during_xfer	151	223	805.21
Transponder_ping	18	420	182.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.45
TT8	1474	19	294.92
LPSleep	12723	2	281.43
TT8_Active	528	19	105.68
TT8_Sampling	1736	39	697.95
TT8_CF8	528	45	244.66
TT8_Kalman	33	81	27.56
Analog_circuits	1433	12	173.73
GPS_charging	0	0	0.00
Compass	1693	8	136.85
RAFOS	0	0	0.00
Transponder	51	30	15.75

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	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-60.90	0.000	2	0.000	0.000	424	2149	2600
82	-1.22	-146.6	2.3	-2.5	3	134	11.15	2.62	-32.70	0.000	4	0.154	0.067	2472	718	3429
209	-1.16	-146.6	10.3	-9.5	8	216	0.00	2.47	0.00	0.000	6	0.000	0.046	2472	2127	3429
526	-1.07	-146.6	53.4	-13.1	24	531	0.17	2.55	0.00	0.000	4	0.094	0.058	2514	717	3430
577	-1.07	-146.6	59.7	-12.8	26	581	0.00	2.50	0.00	0.000	6	0.000	0.045	2514	2134	3429
893	-1.07	-146.6	95.4	-10.9	41	897	0.00	2.55	0.00	0.000	4	0.000	0.058	2514	718	3430
956	-1.11	-146.6	102.1	-10.6	44	960	0.00	2.47	0.00	0.000	6	0.000	0.045	2514	2124	3431
1283	-1.11	-146.6	138.8	-11.1	60	1287	0.00	2.55	0.00	0.000	4	0.000	0.061	2514	717	3431
1310	-1.11	-146.6	142.1	-11.2	61	1314	0.00	2.45	0.00	0.000	6	0.000	0.047	2513	2103	3431
1626	-1.11	-146.6	177.0	-10.9	76	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2103	3431
1936	-1.11	-146.6	208.9	-10.3	91	1940	0.00	2.53	0.00	0.000	4	0.000	0.063	2514	715	3431
1986	-1.15	-146.6	214.6	-10.7	93	1990	0.00	2.45	0.00	0.000	6	0.000	0.048	2514	2101	3431
2302	-1.15	-146.6	247.4	-10.1	108	2303	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2101	3431
2612	-1.15	-146.6	277.0	-9.3	123	2616	0.00	2.53	0.00	0.000	4	0.000	0.064	2514	712	3431
2652	-1.19	-146.6	280.9	-9.8	125	2657	0.12	2.45	0.00	0.000	6	0.058	0.049	2477	2096	3431
2982	-1.14	-146.6	317.2	-11.0	141	2987	0.00	2.50	0.00	0.000	4	0.000	0.063	2477	718	3431
3011	-1.10	-146.6	320.8	-11.0	142	3016	0.12	2.42	0.00	0.000	6	0.096	0.049	2504	2088	3431
3327	-1.10	-146.6	352.0	-9.9	157	3328	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2088	3430
3636	-1.10	-146.6	381.7	-9.5	172	3640	0.00	2.50	0.00	0.000	4	0.000	0.064	2504	712	3430
3669	-1.10	-146.6	385.0	-9.9	173	3675	0.00	2.42	0.00	0.000	6	0.000	0.049	2504	2078	3430
3985	-1.10	-146.6	416.0	-10.3	189	3986	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2079	3430
4294	-1.10	-146.6	450.8	-11.8	204	4295	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2079	3429
4603	-1.10	-146.6	488.2	-12.3	219	4607	0.00	2.47	0.00	0.000	4	0.000	0.064	2504	719	3429
4630	-1.10	-146.6	491.6	-12.2	220	4634	0.00	2.42	0.00	0.000	6	0.000	0.051	2504	2087	3429
4946	-1.10	-146.6	523.9	-9.3	235	4948	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2088	3429
5255	-1.10	-146.6	552.9	-9.2	250	5256	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2088	3429
5565	-1.10	-146.6	582.2	-9.1	265	5569	0.00	2.50	0.00	0.000	4	0.000	0.064	2504	714	3428
5599	-1.13	-146.6	585.4	-9.6	266	5605	0.00	2.42	0.00	0.000	6	0.000	0.051	2504	2078	3428
5914	-1.13	-146.6	613.2	-8.8	282	5916	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2078	3428
6224	-1.13	-146.6	641.0	-10.0	297	6228	0.00	2.65	0.00	0.000	4	0.000	0.073	2504	3531	3428
6257	-1.13	-146.6	644.4	-10.7	298	6263	0.00	2.67	0.00	0.000	6	0.000	0.058	2504	2047	3427
6573	-1.13	-146.6	675.6	-9.8	314	6574	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2031	3427
6882	-1.13	-146.6	702.2	-7.0	329	6883	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2025	3427
7191	-1.13	-146.6	728.9	-8.6	344	7196	0.00	2.75	0.00	0.000	4	0.000	0.073	2503	3528	3427
7235	-1.13	-146.6	732.4	-8.4	346	7240	0.00	2.67	0.00	0.000	6	0.000	0.060	2504	2050	3427
7556	-1.13	-146.6	756.6	-9.9	362	7560	0.00	2.40	0.00	0.000	4	0.000	0.074	2503	719	3427
7624	-1.20	-146.6	764.3	-10.6	365	7629	0.00	2.38	0.00	0.000	6	0.000	0.056	2504	2043	3427
7954	-1.20	-146.6	797.2	-7.8	381	7958	0.00	2.47	0.00	0.000	4	0.000	0.074	2504	711	3426
7989	-1.23	-146.6	799.7	-7.5	382	7996	0.12	2.40	0.00	0.000	6	0.064	0.058	2470	2042	3426
8013	end dive: BOTTOM_OBSTACLE_DETECTED
state	8013	begin apogee
8021	-0.33	0.0	802.2	8.3	384	8157	0.90	0.00	129.20	1.371	6	0.053	0.000	2678	1833	2831
8157	end apogee: CONTROL_FINISHED_OK
state	8157	begin climb
8160	1.22	146.6	801.3	0.0	391	8298	1.52	2.72	128.80	1.332	4	0.064	0.070	3007	3251	2233
8363	1.10	146.6	789.8	9.0	400	8368	0.12	2.62	0.00	0.000	6	0.103	0.069	2986	1852	2233
8679	1.03	149.2	767.7	7.9	415	8688	0.00	2.65	3.97	0.803	4	0.000	0.080	2986	437	2222
8775	1.00	206.3	762.1	5.9	419	8834	0.12	2.58	51.00	1.304	6	0.103	0.058	2963	1868	1989
9143	1.00	206.3	731.8	8.6	437	9147	0.00	2.70	0.00	0.000	4	0.000	0.082	2963	436	1987
9193	1.00	206.3	727.3	9.1	439	9197	0.00	2.53	0.00	0.000	6	0.000	0.059	2963	1821	1987
9509	1.00	206.3	703.6	8.8	454	9513	0.00	2.65	0.00	0.000	4	0.000	0.073	2963	3260	1986
9576	1.07	206.3	696.7	8.4	457	9580	0.00	2.65	0.00	0.000	6	0.000	0.068	2963	1836	1986
9897	1.14	230.6	672.2	7.1	473	9924	0.12	2.65	21.20	1.258	4	0.061	0.077	2995	437	1891
10082	1.07	230.6	654.0	9.7	481	10087	0.00	2.50	0.00	0.000	6	0.000	0.055	2996	1822	1891
10399	1.07	230.6	626.3	8.8	496	10403	0.00	2.62	0.00	0.000	4	0.000	0.069	2996	3261	1890
10454	1.07	230.6	621.0	9.2	498	10460	0.00	2.65	0.00	0.000	6	0.000	0.062	2996	1818	1890
10770	1.07	230.6	594.3	8.2	514	10771	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	1818	1890
11079	1.12	264.0	572.1	6.8	529	11115	0.00	2.70	30.12	1.200	4	0.000	0.063	2996	3253	1754
11161	1.13	271.9	566.0	7.7	532	11175	0.00	2.60	8.70	1.048	6	0.000	0.060	2996	1830	1721
11492	1.13	271.9	534.1	10.6	548	11493	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	1830	1722
11801	1.13	271.9	501.2	11.0	563	11805	0.00	2.62	0.00	0.000	4	0.000	0.062	2996	3259	1722
11868	1.18	271.9	493.5	10.8	566	11872	0.00	2.58	0.00	0.000	6	0.000	0.058	2996	1841	1722
12189	1.18	271.9	457.9	10.4	582	12194	0.00	2.60	0.00	0.000	4	0.000	0.061	2996	3261	1722
12223	1.22	271.9	454.5	9.9	583	12229	0.00	2.55	0.00	0.000	6	0.000	0.057	2996	1853	1723
12539	1.22	271.9	427.1	8.2	599	12543	0.00	2.58	0.00	0.000	4	0.000	0.062	2996	3261	1723
12567	1.25	271.9	424.6	8.8	600	12571	0.00	2.53	0.00	0.000	6	0.000	0.056	2996	1863	1723
12882	1.25	271.9	394.0	10.6	615	12884	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	1863	1723
13192	1.25	271.9	356.5	12.4	630	13196	0.00	2.55	0.00	0.000	4	0.000	0.061	2997	3262	1723
13226	1.29	271.9	352.2	12.0	631	13231	0.15	2.50	0.00	0.000	6	0.050	0.054	3036	1865	1724
13542	1.22	271.9	311.3	12.3	646	13544	0.15	0.00	0.00	0.000	6	0.091	0.000	3007	1865	1724
13851	1.22	271.9	279.3	10.1	661	13856	0.00	2.53	0.00	0.000	4	0.000	0.061	3006	3255	1724
13901	1.22	271.9	274.0	9.8	663	13906	0.00	2.47	0.00	0.000	6	0.000	0.052	3006	1869	1724
14217	1.22	271.9	241.0	11.0	678	14218	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1869	1724
14527	1.22	271.9	206.4	11.3	693	14531	0.00	2.53	0.00	0.000	4	0.000	0.060	3007	3261	1724
14583	1.22	271.9	200.0	10.7	695	14587	0.00	2.45	0.00	0.000	6	0.000	0.051	3006	1885	1725
14899	1.22	271.9	167.7	9.7	710	14903	0.00	2.50	0.00	0.000	4	0.000	0.060	3006	3265	1725
14932	1.22	271.9	164.6	9.2	711	14938	0.00	2.42	0.00	0.000	6	0.000	0.051	3006	1903	1725
15248	1.22	271.9	135.3	9.6	727	15249	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1903	1725
15559	1.22	271.9	104.4	10.5	742	15563	0.00	2.45	0.00	0.000	4	0.000	0.059	3006	3257	1725
15587	1.25	271.9	101.1	10.7	743	15592	0.00	2.40	0.00	0.000	6	0.000	0.050	3006	1905	1725
15904	1.25	271.9	70.9	10.0	758	15905	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	1906	1725
16213	1.25	271.9	42.8	8.2	773	16217	0.00	2.62	0.00	0.000	4	0.000	0.066	3007	439	1726
16253	1.25	271.9	39.1	9.2	775	16257	0.00	2.62	0.00	0.000	6	0.000	0.048	3007	1932	1726
16580	1.25	271.9	4.9	12.9	791	16584	0.00	2.33	0.00	0.000	4	0.000	0.057	3007	3255	1726
16604	end climb: SURFACE_DEPTH_REACHED
state	16604	begin surface coast
16611	end surface coast: CONTROL_FINISHED_OK
state	16611	begin surface