Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 160 * 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 160 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -103231.98 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 -103231.98

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 160 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 091725,6352.286,-1310.709,70,1.4,70,-12.5 TGT_NAME LW

_CALLS 2 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 8 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.232,0.080

_SM_DEPTHo 1.22 KALMAN_X -49661.9,-865.4,-1387.0,-186017.9,10156.5

_SM_ANGLEo -55.0 KALMAN_Y -10634.9,-523.0,-829.3,263178.0,4856.1

GPS2 092825,6352.222,-1310.131,31,1.4,31,-12.5 MHEAD_RNG_PITCHd_Wd 301.4,21627,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.9,1.027000 ALTIM_BOTTOM_PING 746.6,69.3

SM_CCo 17606,0.00,0.000,0,0,1568,309.81 _24V_AH 23.8,28.892

SM_GC 1.63,11.18,0.00,0.00,0.034,0.000,0.000,418,2116,1568,-10.60,-0.40,309.81 _10V_AH 10.1,13.036

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53705,1073

TT8_MAMPS 0.029146 CAP_FILE_SIZE 147893,0

HUMID 1818 CFSIZE 254472192,242778112

TCM_TEMP 19.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 55 GPS 250909,142400,6353.226,-1313.987,38,1.5,43,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 161 104.86 SBE_CT 734 24 419.45

Roll_motor 165 75 295.94 SBE_O2 785 19 355.06

VBD_pump_during_apogee 416 1366 13529.64 WL_BB2F 539 105 1349.23

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 75 103 185.13 nil 0 0 0.00

Iridium_during_connect 78 160 299.90 nil 0 0 0.00

Iridium_during_xfer 290 223 1541.99

Transponder_ping 20 420 204.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.11

TT8 1857 19 371.45

LPSleep 12952 2 286.50

TT8_Active 566 19 113.24

TT8_Sampling 2081 39 836.60

TT8_CF8 800 45 370.20

TT8_Kalman 33 81 27.56

Analog_circuits 1609 12 195.10

GPS_charging 0 0 0.00

Compass 2021 8 163.35

RAFOS 0 0 0.00

Transponder 47 30 14.27

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -59.10 0.000 2 0.000 0.000 419 2145 2764

82 -1.22 -146.6 2.9 -4.1 3 126 11.38 2.58 -23.60 0.000 4 0.162 0.064 2468 712 3431

213 -1.12 -146.6 22.1 -19.8 8 220 0.15 2.50 0.00 0.000 6 0.091 0.047 2500 2129 3431

530 -1.06 -146.6 62.9 -10.1 24 531 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2131 3431

839 -1.02 -146.6 101.3 -11.8 39 844 0.10 2.58 0.00 0.000 4 0.097 0.067 2521 3545 3431

912 -1.02 -146.6 108.8 -8.6 42 916 0.00 2.55 0.00 0.000 6 0.000 0.049 2521 2113 3431

1228 -1.02 -146.6 139.4 -11.3 57 1230 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2102 3432

1550 -1.02 -146.6 172.4 -10.6 76 1554 0.00 2.45 0.00 0.000 4 0.000 0.059 2520 723 3432

1584 -1.06 -146.6 176.2 -11.5 78 1589 0.00 2.47 0.00 0.000 6 0.000 0.048 2521 2126 3432

1909 -1.06 -146.6 209.7 -10.3 99 1913 0.00 2.55 0.00 0.000 4 0.000 0.060 2520 716 3432

1960 -1.12 -146.6 215.0 -10.1 102 1964 0.00 2.50 0.00 0.000 6 0.000 0.049 2521 2127 3432

2279 -1.12 -146.6 243.9 -8.9 122 2282 0.00 2.55 0.00 0.000 4 0.000 0.061 2520 716 3432

2307 -1.16 -146.6 246.5 -9.4 123 2314 0.15 2.47 0.00 0.000 6 0.054 0.050 2480 2113 3432

2629 -1.11 -146.6 282.8 -11.7 144 2634 0.12 2.53 0.00 0.000 4 0.091 0.059 2506 714 3432

2668 -1.14 -146.6 287.6 -11.2 146 2674 0.00 2.47 0.00 0.000 6 0.000 0.050 2506 2111 3432

2989 -1.14 -146.6 321.3 -10.5 167 2991 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2111 3431

3299 -1.14 -146.6 352.2 -9.7 187 3303 0.00 2.50 0.00 0.000 4 0.000 0.061 2506 721 3431

3346 -1.18 -146.6 356.6 -9.3 190 3350 0.00 2.42 0.00 0.000 6 0.000 0.049 2506 2093 3431

3670 -1.18 -146.6 385.6 -8.2 211 3671 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2094 3431

3983 -1.18 -146.6 408.8 -7.0 231 3987 0.00 2.47 0.00 0.000 4 0.000 0.061 2506 714 3430

4006 -1.18 -146.6 410.5 -7.3 232 4010 0.00 2.45 0.00 0.000 6 0.000 0.050 2506 2097 3430

4325 -1.18 -146.6 437.1 -9.1 252 4329 0.00 2.47 0.00 0.000 4 0.000 0.061 2506 723 3430

4353 -1.18 -146.6 439.7 -9.7 254 4357 0.00 2.42 0.00 0.000 6 0.000 0.051 2506 2088 3430

4683 -1.18 -146.6 467.2 -8.0 275 4684 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2090 3429

4995 -1.18 -146.6 491.3 -7.7 295 5000 0.00 2.47 0.00 0.000 4 0.000 0.062 2506 718 3429

5030 -1.21 -146.6 494.0 -7.4 297 5035 0.10 2.42 0.00 0.000 6 0.066 0.051 2477 2087 3429

5351 -1.16 -146.6 523.3 -9.8 317 5352 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2088 3429

5662 -1.11 -146.6 557.6 -12.3 337 5664 0.12 0.00 0.00 0.000 6 0.092 0.000 2502 2087 3428

5973 -1.11 -146.6 592.9 -10.8 357 5978 0.00 2.62 0.00 0.000 4 0.000 0.069 2503 3536 3428

6012 -1.11 -146.6 597.2 -11.1 359 6019 0.00 2.60 0.00 0.000 6 0.000 0.057 2503 2090 3428

6332 -1.11 -146.6 627.5 -8.2 380 6336 0.00 2.45 0.00 0.000 4 0.000 0.064 2503 710 3428

6371 -1.15 -146.6 630.8 -8.3 382 6377 0.00 2.42 0.00 0.000 6 0.000 0.051 2503 2075 3428

6690 -1.15 -146.6 657.0 -8.7 403 6691 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2075 3428

7003 -1.15 -146.6 680.3 -7.1 423 7004 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2075 3428

7315 -1.15 -146.6 703.0 -7.7 443 7319 0.00 2.50 0.00 0.000 4 0.000 0.068 2502 710 3427

7388 -1.20 -146.6 709.1 -8.3 447 7394 0.00 2.42 0.00 0.000 6 0.000 0.054 2503 2068 3428

7707 -1.20 -146.6 735.7 -9.2 468 7711 0.00 2.47 0.00 0.000 4 0.000 0.067 2503 714 3427

7731 -1.24 -146.6 737.9 -9.3 469 7737 0.12 2.42 0.00 0.000 6 0.062 0.054 2468 2068 3427

8053 -1.19 -146.6 771.3 -10.9 490 8054 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 2069 3426

8362 -1.16 -146.6 805.6 -10.5 510 8367 0.12 2.47 0.00 0.000 6 0.096 0.069 2493 720 3425

8368 end dive: BOTTOM_OBSTACLE_DETECTED

state 8368 begin apogee

8377 -0.33 0.0 806.2 10.2 510 8513 0.80 0.00 131.98 1.366 6 0.078 0.000 2669 1861 2831

8514 end apogee: CONTROL_FINISHED_OK

state 8514 begin climb

8517 1.22 146.6 811.9 0.0 519 8660 1.55 0.00 134.77 1.319 6 0.058 0.000 3008 1862 2233

8973 1.13 147.6 784.1 8.0 549 8975 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1862 2233

9286 1.05 159.9 759.3 7.6 569 9306 0.17 2.72 13.18 1.195 4 0.096 0.075 2973 445 2179

9341 1.03 175.4 755.1 7.4 572 9362 0.00 2.58 15.32 1.220 6 0.000 0.057 2973 1872 2115

9678 1.07 198.5 732.4 7.2 593 9706 0.00 2.58 21.45 1.262 4 0.000 0.067 2973 3241 2020

9734 1.07 198.5 727.8 8.5 596 9740 0.00 2.58 0.00 0.000 6 0.000 0.064 2973 1856 2020

10053 1.07 198.5 700.5 9.6 617 10055 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 1856 2020

10365 1.07 198.5 668.9 10.3 637 10370 0.00 2.60 0.00 0.000 4 0.000 0.074 2973 433 2020

10404 1.07 198.5 664.5 10.9 639 10410 0.00 2.53 0.00 0.000 6 0.000 0.055 2973 1836 2019

10724 1.07 198.5 634.3 8.6 660 10728 0.00 2.58 0.00 0.000 4 0.000 0.066 2973 3260 2019

10837 1.13 215.9 625.6 7.4 667 10858 0.00 2.55 16.12 1.197 6 0.000 0.061 2973 1861 1950

11182 1.23 254.9 603.0 6.6 689 11223 0.17 2.67 34.65 1.230 4 0.053 0.070 3019 430 1791

11257 1.13 254.9 595.7 10.0 693 11264 0.15 2.60 0.00 0.000 6 0.094 0.052 2992 1868 1791

11577 1.13 254.9 568.6 8.2 714 11581 0.00 2.50 0.00 0.000 4 0.000 0.064 2992 3255 1791

11610 1.16 254.9 565.7 8.4 716 11614 0.00 2.55 0.00 0.000 6 0.000 0.059 2992 1858 1791

11930 1.16 255.7 540.3 8.0 736 11934 0.00 2.58 0.00 0.000 4 0.000 0.062 2993 3259 1791

11976 1.20 255.7 536.2 8.4 739 11980 0.00 2.50 0.00 0.000 6 0.000 0.058 2992 1875 1791

12300 1.20 255.7 508.7 8.7 760 12301 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 1874 1791

12612 1.20 255.7 482.3 8.2 780 12616 0.00 2.53 0.00 0.000 4 0.000 0.061 2992 3256 1792

12642 1.24 255.7 479.8 8.1 782 12646 0.10 2.47 0.00 0.000 6 0.060 0.057 3020 1880 1792

12969 1.18 255.7 446.6 10.3 803 12970 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1880 1792

13278 1.13 255.7 415.8 9.6 823 13283 0.15 2.53 0.00 0.000 4 0.090 0.061 2991 3263 1792

13307 1.13 255.7 413.2 8.7 825 13311 0.00 2.47 0.00 0.000 6 0.000 0.056 2992 1891 1792

13632 1.13 255.7 386.4 8.3 846 13636 0.00 2.60 0.00 0.000 4 0.000 0.066 2991 442 1793

13665 1.13 255.7 383.3 8.7 848 13669 0.00 2.58 0.00 0.000 6 0.000 0.050 2991 1892 1793

13984 1.13 255.7 356.9 8.4 868 13985 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1906 1793

14296 1.13 255.7 330.1 8.4 888 14300 0.00 2.65 0.00 0.000 4 0.000 0.066 2991 443 1794

14324 1.13 255.7 327.5 9.1 890 14329 0.00 2.55 0.00 0.000 6 0.000 0.050 2991 1879 1793

14650 1.17 280.3 302.0 7.1 911 14681 0.00 2.55 22.73 0.986 4 0.000 0.058 2991 3255 1688

14705 1.29 310.0 298.1 6.9 914 14736 0.15 2.50 25.95 0.988 6 0.051 0.052 3031 1875 1567

15056 1.24 310.0 265.5 9.8 937 15058 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1875 1567

15368 1.20 310.0 232.9 10.7 957 15373 0.15 2.53 0.00 0.000 4 0.087 0.058 3002 3262 1567

15402 1.25 310.0 229.6 9.5 959 15406 0.00 2.47 0.00 0.000 6 0.000 0.052 3002 1880 1567

15721 1.25 310.0 200.4 9.0 979 15723 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1880 1567

16033 1.25 310.0 171.8 9.5 999 16037 0.00 2.50 0.00 0.000 4 0.000 0.059 3002 3258 1567

16072 1.32 310.0 167.9 9.7 1001 16079 0.15 2.45 0.00 0.000 6 0.051 0.051 3043 1882 1567

16406 1.27 310.0 122.4 13.6 1020 16411 0.12 2.60 0.00 0.000 4 0.089 0.064 3018 435 1567

16439 1.24 310.0 117.8 13.5 1021 16446 0.00 2.58 0.00 0.000 6 0.000 0.048 3018 1890 1568

16756 1.24 310.0 83.0 10.7 1037 16760 0.00 2.42 0.00 0.000 4 0.000 0.059 3018 3258 1568

16783 1.24 310.0 79.9 9.8 1038 16787 0.00 2.45 0.00 0.000 6 0.000 0.050 3018 1880 1568

17099 1.24 310.0 46.5 10.7 1053 17104 0.00 2.58 0.00 0.000 4 0.000 0.064 3018 442 1568

17122 1.24 310.0 43.9 9.9 1054 17126 0.00 2.55 0.00 0.000 6 0.000 0.048 3018 1886 1568

17444 1.24 310.0 11.3 10.6 1070 17448 0.00 2.42 0.00 0.000 4 0.000 0.060 3018 3252 1568

17514 end climb: SURFACE_DEPTH_REACHED

state 17514 begin surface coast

17521 end surface coast: CONTROL_FINISHED_OK

state 17521 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	160	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-103231.98	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	091725,6352.286,-1310.709,70,1.4,70,-12.5	TGT_NAME	LW
_CALLS	2	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	8	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.232,0.080
_SM_DEPTHo	1.22	KALMAN_X	-49661.9,-865.4,-1387.0,-186017.9,10156.5
_SM_ANGLEo	-55.0	KALMAN_Y	-10634.9,-523.0,-829.3,263178.0,4856.1
GPS2	092825,6352.222,-1310.131,31,1.4,31,-12.5	MHEAD_RNG_PITCHd_Wd	301.4,21627,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	1.9,1.027000	ALTIM_BOTTOM_PING	746.6,69.3
SM_CCo	17606,0.00,0.000,0,0,1568,309.81	_24V_AH	23.8,28.892
SM_GC	1.63,11.18,0.00,0.00,0.034,0.000,0.000,418,2116,1568,-10.60,-0.40,309.81	_10V_AH	10.1,13.036
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53705,1073
TT8_MAMPS	0.029146	CAP_FILE_SIZE	147893,0
HUMID	1818	CFSIZE	254472192,242778112
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	55	GPS	250909,142400,6353.226,-1313.987,38,1.5,43,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	161	104.86	SBE_CT	734	24	419.45
Roll_motor	165	75	295.94	SBE_O2	785	19	355.06
VBD_pump_during_apogee	416	1366	13529.64	WL_BB2F	539	105	1349.23
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	75	103	185.13	nil	0	0	0.00
Iridium_during_connect	78	160	299.90	nil	0	0	0.00
Iridium_during_xfer	290	223	1541.99
Transponder_ping	20	420	204.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.11
TT8	1857	19	371.45
LPSleep	12952	2	286.50
TT8_Active	566	19	113.24
TT8_Sampling	2081	39	836.60
TT8_CF8	800	45	370.20
TT8_Kalman	33	81	27.56
Analog_circuits	1609	12	195.10
GPS_charging	0	0	0.00
Compass	2021	8	163.35
RAFOS	0	0	0.00
Transponder	47	30	14.27

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-59.10	0.000	2	0.000	0.000	419	2145	2764
82	-1.22	-146.6	2.9	-4.1	3	126	11.38	2.58	-23.60	0.000	4	0.162	0.064	2468	712	3431
213	-1.12	-146.6	22.1	-19.8	8	220	0.15	2.50	0.00	0.000	6	0.091	0.047	2500	2129	3431
530	-1.06	-146.6	62.9	-10.1	24	531	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2131	3431
839	-1.02	-146.6	101.3	-11.8	39	844	0.10	2.58	0.00	0.000	4	0.097	0.067	2521	3545	3431
912	-1.02	-146.6	108.8	-8.6	42	916	0.00	2.55	0.00	0.000	6	0.000	0.049	2521	2113	3431
1228	-1.02	-146.6	139.4	-11.3	57	1230	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2102	3432
1550	-1.02	-146.6	172.4	-10.6	76	1554	0.00	2.45	0.00	0.000	4	0.000	0.059	2520	723	3432
1584	-1.06	-146.6	176.2	-11.5	78	1589	0.00	2.47	0.00	0.000	6	0.000	0.048	2521	2126	3432
1909	-1.06	-146.6	209.7	-10.3	99	1913	0.00	2.55	0.00	0.000	4	0.000	0.060	2520	716	3432
1960	-1.12	-146.6	215.0	-10.1	102	1964	0.00	2.50	0.00	0.000	6	0.000	0.049	2521	2127	3432
2279	-1.12	-146.6	243.9	-8.9	122	2282	0.00	2.55	0.00	0.000	4	0.000	0.061	2520	716	3432
2307	-1.16	-146.6	246.5	-9.4	123	2314	0.15	2.47	0.00	0.000	6	0.054	0.050	2480	2113	3432
2629	-1.11	-146.6	282.8	-11.7	144	2634	0.12	2.53	0.00	0.000	4	0.091	0.059	2506	714	3432
2668	-1.14	-146.6	287.6	-11.2	146	2674	0.00	2.47	0.00	0.000	6	0.000	0.050	2506	2111	3432
2989	-1.14	-146.6	321.3	-10.5	167	2991	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2111	3431
3299	-1.14	-146.6	352.2	-9.7	187	3303	0.00	2.50	0.00	0.000	4	0.000	0.061	2506	721	3431
3346	-1.18	-146.6	356.6	-9.3	190	3350	0.00	2.42	0.00	0.000	6	0.000	0.049	2506	2093	3431
3670	-1.18	-146.6	385.6	-8.2	211	3671	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2094	3431
3983	-1.18	-146.6	408.8	-7.0	231	3987	0.00	2.47	0.00	0.000	4	0.000	0.061	2506	714	3430
4006	-1.18	-146.6	410.5	-7.3	232	4010	0.00	2.45	0.00	0.000	6	0.000	0.050	2506	2097	3430
4325	-1.18	-146.6	437.1	-9.1	252	4329	0.00	2.47	0.00	0.000	4	0.000	0.061	2506	723	3430
4353	-1.18	-146.6	439.7	-9.7	254	4357	0.00	2.42	0.00	0.000	6	0.000	0.051	2506	2088	3430
4683	-1.18	-146.6	467.2	-8.0	275	4684	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2090	3429
4995	-1.18	-146.6	491.3	-7.7	295	5000	0.00	2.47	0.00	0.000	4	0.000	0.062	2506	718	3429
5030	-1.21	-146.6	494.0	-7.4	297	5035	0.10	2.42	0.00	0.000	6	0.066	0.051	2477	2087	3429
5351	-1.16	-146.6	523.3	-9.8	317	5352	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2088	3429
5662	-1.11	-146.6	557.6	-12.3	337	5664	0.12	0.00	0.00	0.000	6	0.092	0.000	2502	2087	3428
5973	-1.11	-146.6	592.9	-10.8	357	5978	0.00	2.62	0.00	0.000	4	0.000	0.069	2503	3536	3428
6012	-1.11	-146.6	597.2	-11.1	359	6019	0.00	2.60	0.00	0.000	6	0.000	0.057	2503	2090	3428
6332	-1.11	-146.6	627.5	-8.2	380	6336	0.00	2.45	0.00	0.000	4	0.000	0.064	2503	710	3428
6371	-1.15	-146.6	630.8	-8.3	382	6377	0.00	2.42	0.00	0.000	6	0.000	0.051	2503	2075	3428
6690	-1.15	-146.6	657.0	-8.7	403	6691	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2075	3428
7003	-1.15	-146.6	680.3	-7.1	423	7004	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2075	3428
7315	-1.15	-146.6	703.0	-7.7	443	7319	0.00	2.50	0.00	0.000	4	0.000	0.068	2502	710	3427
7388	-1.20	-146.6	709.1	-8.3	447	7394	0.00	2.42	0.00	0.000	6	0.000	0.054	2503	2068	3428
7707	-1.20	-146.6	735.7	-9.2	468	7711	0.00	2.47	0.00	0.000	4	0.000	0.067	2503	714	3427
7731	-1.24	-146.6	737.9	-9.3	469	7737	0.12	2.42	0.00	0.000	6	0.062	0.054	2468	2068	3427
8053	-1.19	-146.6	771.3	-10.9	490	8054	0.00	0.00	0.00	0.000	6	0.000	0.000	2468	2069	3426
8362	-1.16	-146.6	805.6	-10.5	510	8367	0.12	2.47	0.00	0.000	6	0.096	0.069	2493	720	3425
8368	end dive: BOTTOM_OBSTACLE_DETECTED
state	8368	begin apogee
8377	-0.33	0.0	806.2	10.2	510	8513	0.80	0.00	131.98	1.366	6	0.078	0.000	2669	1861	2831
8514	end apogee: CONTROL_FINISHED_OK
state	8514	begin climb
8517	1.22	146.6	811.9	0.0	519	8660	1.55	0.00	134.77	1.319	6	0.058	0.000	3008	1862	2233
8973	1.13	147.6	784.1	8.0	549	8975	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1862	2233
9286	1.05	159.9	759.3	7.6	569	9306	0.17	2.72	13.18	1.195	4	0.096	0.075	2973	445	2179
9341	1.03	175.4	755.1	7.4	572	9362	0.00	2.58	15.32	1.220	6	0.000	0.057	2973	1872	2115
9678	1.07	198.5	732.4	7.2	593	9706	0.00	2.58	21.45	1.262	4	0.000	0.067	2973	3241	2020
9734	1.07	198.5	727.8	8.5	596	9740	0.00	2.58	0.00	0.000	6	0.000	0.064	2973	1856	2020
10053	1.07	198.5	700.5	9.6	617	10055	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	1856	2020
10365	1.07	198.5	668.9	10.3	637	10370	0.00	2.60	0.00	0.000	4	0.000	0.074	2973	433	2020
10404	1.07	198.5	664.5	10.9	639	10410	0.00	2.53	0.00	0.000	6	0.000	0.055	2973	1836	2019
10724	1.07	198.5	634.3	8.6	660	10728	0.00	2.58	0.00	0.000	4	0.000	0.066	2973	3260	2019
10837	1.13	215.9	625.6	7.4	667	10858	0.00	2.55	16.12	1.197	6	0.000	0.061	2973	1861	1950
11182	1.23	254.9	603.0	6.6	689	11223	0.17	2.67	34.65	1.230	4	0.053	0.070	3019	430	1791
11257	1.13	254.9	595.7	10.0	693	11264	0.15	2.60	0.00	0.000	6	0.094	0.052	2992	1868	1791
11577	1.13	254.9	568.6	8.2	714	11581	0.00	2.50	0.00	0.000	4	0.000	0.064	2992	3255	1791
11610	1.16	254.9	565.7	8.4	716	11614	0.00	2.55	0.00	0.000	6	0.000	0.059	2992	1858	1791
11930	1.16	255.7	540.3	8.0	736	11934	0.00	2.58	0.00	0.000	4	0.000	0.062	2993	3259	1791
11976	1.20	255.7	536.2	8.4	739	11980	0.00	2.50	0.00	0.000	6	0.000	0.058	2992	1875	1791
12300	1.20	255.7	508.7	8.7	760	12301	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	1874	1791
12612	1.20	255.7	482.3	8.2	780	12616	0.00	2.53	0.00	0.000	4	0.000	0.061	2992	3256	1792
12642	1.24	255.7	479.8	8.1	782	12646	0.10	2.47	0.00	0.000	6	0.060	0.057	3020	1880	1792
12969	1.18	255.7	446.6	10.3	803	12970	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1880	1792
13278	1.13	255.7	415.8	9.6	823	13283	0.15	2.53	0.00	0.000	4	0.090	0.061	2991	3263	1792
13307	1.13	255.7	413.2	8.7	825	13311	0.00	2.47	0.00	0.000	6	0.000	0.056	2992	1891	1792
13632	1.13	255.7	386.4	8.3	846	13636	0.00	2.60	0.00	0.000	4	0.000	0.066	2991	442	1793
13665	1.13	255.7	383.3	8.7	848	13669	0.00	2.58	0.00	0.000	6	0.000	0.050	2991	1892	1793
13984	1.13	255.7	356.9	8.4	868	13985	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	1906	1793
14296	1.13	255.7	330.1	8.4	888	14300	0.00	2.65	0.00	0.000	4	0.000	0.066	2991	443	1794
14324	1.13	255.7	327.5	9.1	890	14329	0.00	2.55	0.00	0.000	6	0.000	0.050	2991	1879	1793
14650	1.17	280.3	302.0	7.1	911	14681	0.00	2.55	22.73	0.986	4	0.000	0.058	2991	3255	1688
14705	1.29	310.0	298.1	6.9	914	14736	0.15	2.50	25.95	0.988	6	0.051	0.052	3031	1875	1567
15056	1.24	310.0	265.5	9.8	937	15058	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1875	1567
15368	1.20	310.0	232.9	10.7	957	15373	0.15	2.53	0.00	0.000	4	0.087	0.058	3002	3262	1567
15402	1.25	310.0	229.6	9.5	959	15406	0.00	2.47	0.00	0.000	6	0.000	0.052	3002	1880	1567
15721	1.25	310.0	200.4	9.0	979	15723	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1880	1567
16033	1.25	310.0	171.8	9.5	999	16037	0.00	2.50	0.00	0.000	4	0.000	0.059	3002	3258	1567
16072	1.32	310.0	167.9	9.7	1001	16079	0.15	2.45	0.00	0.000	6	0.051	0.051	3043	1882	1567
16406	1.27	310.0	122.4	13.6	1020	16411	0.12	2.60	0.00	0.000	4	0.089	0.064	3018	435	1567
16439	1.24	310.0	117.8	13.5	1021	16446	0.00	2.58	0.00	0.000	6	0.000	0.048	3018	1890	1568
16756	1.24	310.0	83.0	10.7	1037	16760	0.00	2.42	0.00	0.000	4	0.000	0.059	3018	3258	1568
16783	1.24	310.0	79.9	9.8	1038	16787	0.00	2.45	0.00	0.000	6	0.000	0.050	3018	1880	1568
17099	1.24	310.0	46.5	10.7	1053	17104	0.00	2.58	0.00	0.000	4	0.000	0.064	3018	442	1568
17122	1.24	310.0	43.9	9.9	1054	17126	0.00	2.55	0.00	0.000	6	0.000	0.048	3018	1886	1568
17444	1.24	310.0	11.3	10.6	1070	17448	0.00	2.42	0.00	0.000	4	0.000	0.060	3018	3252	1568
17514	end climb: SURFACE_DEPTH_REACHED
state	17514	begin surface coast
17521	end surface coast: CONTROL_FINISHED_OK
state	17521	begin surface