Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 165 * 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 165 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 26 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 -103327.95 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 -103327.95

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 26 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 165 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 101925,6356.098,-1327.809,41,1.6,41,-12.7 TGT_NAME LW

_CALLS 2 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 2 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.203,0.138

_SM_DEPTHo 1.09 KALMAN_X -40030.7,-156.9,-870.6,-212344.7,7440.5

_SM_ANGLEo -52.3 KALMAN_Y -11614.1,240.6,-186.0,269862.9,749.6

GPS2 103219,6356.089,-1327.644,15,1.5,15,-12.7 MHEAD_RNG_PITCHd_Wd 317.0,7491,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027031 _24V_AH 23.8,29.793

SM_CCo 15752,3.85,0.528,0,0,1607,300.00 _10V_AH 10.1,13.491

SM_GC 2.68,0.00,0.00,3.85,0.000,0.000,0.528,423,2154,1607,-10.68,0.68,300.00 DATA_FILE_SIZE 50674,950

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 144143,0

TT8_MAMPS 0.029146 CFSIZE 254472192,242454528

HUMID 1835 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 17.20 GPS 260909,145707,6357.308,-1334.524,42,0.9,42,-12.7

XPDR_PINGS 38

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 167 108.64 SBE_CT 651 24 372.16

Roll_motor 180 80 345.44 SBE_O2 695 19 314.40

VBD_pump_during_apogee 397 1362 12895.12 WL_BB2F 513 105 1282.29

VBD_pump_during_surface 3 528 48.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.14 nil 0 0 0.00

Iridium_during_connect 65 160 249.49 nil 0 0 0.00

Iridium_during_xfer 431 223 2289.01

Transponder_ping 16 420 162.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.57

TT8 1705 19 341.03

LPSleep 11253 2 248.91

TT8_Active 581 19 116.39

TT8_Sampling 2077 39 834.99

TT8_CF8 909 45 420.79

TT8_Kalman 33 81 27.57

Analog_circuits 1645 12 199.42

GPS_charging 0 0 0.00

Compass 2024 8 163.56

RAFOS 0 0 0.00

Transponder 46 30 14.24

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 0 119 0.00 0.00 -101.43 0.000 2 0.000 0.000 418 2130 2526

123 -1.22 -146.6 2.4 -1.5 5 174 11.60 2.53 -31.12 0.000 4 0.167 0.065 2472 720 3429

198 -1.13 -146.6 11.8 -17.7 8 203 0.12 2.50 0.00 0.000 6 0.116 0.047 2496 2127 3429

515 -1.13 -146.6 50.6 -13.2 23 516 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2128 3428

823 -1.13 -146.6 88.4 -10.5 38 827 0.00 2.55 0.00 0.000 4 0.000 0.064 2496 3535 3429

924 -1.13 -146.6 100.8 -11.7 42 930 0.00 2.47 0.00 0.000 6 0.000 0.046 2496 2140 3428

1240 -1.13 -146.6 134.8 -10.7 58 1241 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2123 3428

1561 -1.13 -146.6 167.8 -9.8 76 1565 0.00 2.58 0.00 0.000 4 0.000 0.065 2496 3534 3428

1613 -1.13 -146.6 173.1 -9.8 79 1617 0.00 2.47 0.00 0.000 6 0.000 0.049 2496 2145 3428

1932 -1.13 -146.6 205.8 -10.6 99 1936 0.00 2.58 0.00 0.000 4 0.000 0.065 2496 3541 3428

1994 -1.13 -146.6 212.6 -10.7 103 1998 0.00 2.47 0.00 0.000 6 0.000 0.051 2496 2154 3428

2318 -1.13 -146.6 245.9 -10.3 124 2320 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2142 3428

2630 -1.13 -146.6 279.4 -11.1 144 2634 0.00 2.55 0.00 0.000 4 0.000 0.060 2496 718 3427

2675 -1.13 -146.6 284.7 -12.0 147 2680 0.00 2.58 0.00 0.000 6 0.000 0.050 2496 2171 3428

2999 -1.13 -146.6 320.0 -10.9 168 3004 0.00 2.65 0.00 0.000 4 0.000 0.063 2496 715 3427

3084 -1.13 -146.6 329.7 -11.9 173 3088 0.00 2.55 0.00 0.000 6 0.000 0.050 2496 2152 3428

3409 -1.13 -146.6 364.0 -9.9 194 3413 0.00 2.60 0.00 0.000 4 0.000 0.063 2496 720 3427

3475 -1.13 -146.6 371.9 -11.1 198 3479 0.00 2.53 0.00 0.000 6 0.000 0.051 2496 2141 3427

3794 -1.13 -146.6 400.5 -8.2 218 3799 0.00 2.58 0.00 0.000 4 0.000 0.061 2496 718 3427

3833 -1.13 -146.6 404.3 -10.1 220 3840 0.00 2.53 0.00 0.000 6 0.000 0.051 2496 2141 3427

4153 -1.13 -146.6 434.7 -10.4 241 4157 0.00 2.58 0.00 0.000 4 0.000 0.061 2496 717 3427

4249 -1.13 -146.6 444.8 -11.0 247 4257 0.00 2.50 0.00 0.000 6 0.000 0.051 2496 2126 3427

4582 -1.13 -146.6 479.6 -10.4 268 4586 0.00 2.55 0.00 0.000 4 0.000 0.064 2496 723 3426

4665 -1.13 -146.6 488.3 -9.9 273 4670 0.00 2.47 0.00 0.000 6 0.000 0.051 2496 2117 3427

4984 -1.13 -146.6 517.3 -9.2 293 4989 0.00 2.53 0.00 0.000 4 0.000 0.064 2496 722 3426

5086 -1.13 -146.6 527.0 -10.0 299 5090 0.00 2.45 0.00 0.000 6 0.000 0.053 2496 2101 3426

5405 -1.13 -146.6 557.7 -9.7 319 5409 0.00 2.50 0.00 0.000 4 0.000 0.064 2496 724 3426

5455 -1.13 -146.6 562.9 -10.7 322 5459 0.00 2.40 0.00 0.000 6 0.000 0.053 2496 2078 3426

5780 -1.13 -146.6 594.7 -8.9 343 5784 0.00 2.50 0.00 0.000 4 0.000 0.068 2496 717 3425

5874 -1.13 -146.6 604.0 -10.6 348 5880 0.00 2.40 0.00 0.000 6 0.000 0.054 2496 2056 3425

6193 -1.13 -146.6 632.1 -8.2 369 6194 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2056 3425

6506 -1.13 -146.6 662.0 -10.5 389 6510 0.00 2.45 0.00 0.000 4 0.000 0.071 2496 718 3424

6550 -1.13 -146.6 666.5 -9.5 391 6556 0.00 2.40 0.00 0.000 6 0.000 0.057 2496 2050 3424

6869 -1.13 -146.6 698.0 -11.2 412 6871 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2051 3423

7183 -1.13 -146.6 726.9 -8.2 432 7184 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2051 3422

7495 -1.16 -146.6 753.7 -7.5 452 7499 0.00 2.75 0.00 0.000 4 0.000 0.081 2496 3538 3422

7541 -1.16 -146.6 756.4 -5.4 455 7545 0.00 2.72 0.00 0.000 6 0.000 0.069 2496 2063 3422

7866 -1.44 -146.6 766.4 -0.0 476 7871 0.28 2.78 0.00 0.000 4 0.058 0.080 2420 3533 3421

8053 end dive: NO_VERTICAL_VELOCITY

state 8054 begin apogee

8064 -0.33 0.0 766.4 0.0 487 8197 1.10 0.00 129.38 1.362 6 0.062 0.000 2671 1846 2832

8198 end apogee: CONTROL_FINISHED_OK

state 8198 begin climb

8201 1.22 146.6 764.5 0.0 496 8342 1.50 2.70 131.45 1.312 4 0.045 0.076 3016 435 2232

8553 1.03 146.6 728.4 12.8 517 8558 0.22 2.58 0.00 0.000 6 0.095 0.057 2973 1851 2232

8873 1.04 152.7 699.0 7.8 537 8889 0.00 2.65 6.90 1.031 4 0.000 0.070 2974 3261 2208

8924 1.06 161.9 694.8 7.7 540 8941 0.00 2.62 9.50 1.113 6 0.000 0.067 2973 1849 2171

9256 1.14 210.8 671.4 6.2 561 9307 0.00 2.70 44.30 1.269 4 0.000 0.075 2973 439 1971

9347 1.14 210.8 660.2 9.5 566 9354 0.00 2.58 0.00 0.000 6 0.000 0.058 2973 1847 1971

9668 1.26 266.5 636.0 6.0 587 9728 0.22 2.67 49.30 1.256 4 0.052 0.070 3026 3255 1744

9773 1.23 266.5 626.6 10.5 593 9779 0.00 2.67 0.00 0.000 6 0.000 0.067 3026 1827 1744

10093 1.15 266.5 597.4 9.4 614 10098 0.15 2.67 0.00 0.000 4 0.096 0.068 2997 3260 1744

10133 1.19 266.5 593.7 9.9 616 10139 0.00 2.62 0.00 0.000 6 0.000 0.065 2997 1843 1744

10452 1.21 279.7 567.3 7.5 637 10471 0.00 2.67 13.02 1.145 4 0.000 0.074 2997 439 1690

10563 1.21 279.7 557.7 9.3 643 10569 0.00 2.53 0.00 0.000 6 0.000 0.055 2997 1832 1690

10882 1.21 279.7 523.6 11.1 664 10886 0.00 2.60 0.00 0.000 4 0.000 0.072 2997 430 1689

10910 1.21 279.7 520.4 11.6 666 10914 0.00 2.53 0.00 0.000 6 0.000 0.056 2997 1827 1690

11241 1.21 279.7 486.6 10.6 687 11245 0.00 2.60 0.00 0.000 4 0.000 0.067 2997 3262 1690

11304 1.27 294.3 481.6 7.5 691 11324 0.12 2.65 13.90 1.104 6 0.061 0.061 3028 1809 1631

11651 1.22 294.3 441.9 11.6 713 11655 0.00 2.50 0.00 0.000 4 0.000 0.071 3028 433 1631

11690 1.14 294.3 436.5 13.2 715 11698 0.17 2.50 0.00 0.000 6 0.092 0.054 2994 1825 1631

12010 1.14 294.3 400.6 11.6 736 12014 0.00 2.58 0.00 0.000 4 0.000 0.064 2994 3253 1631

12089 1.20 294.3 391.3 11.8 741 12094 0.00 2.60 0.00 0.000 6 0.000 0.060 2995 1827 1631

12414 1.20 294.3 355.7 10.8 762 12418 0.00 2.53 0.00 0.000 4 0.000 0.071 2995 433 1631

12459 1.20 294.3 350.5 11.5 765 12464 0.00 2.50 0.00 0.000 6 0.000 0.052 2994 1834 1631

12785 1.20 294.3 318.6 9.7 786 12789 0.00 2.55 0.00 0.000 4 0.000 0.063 2995 3255 1631

12835 1.29 294.3 313.8 9.8 789 12840 0.15 2.60 0.00 0.000 6 0.054 0.059 3033 1825 1632

13157 1.23 294.3 273.4 12.4 809 13161 0.00 2.50 0.00 0.000 4 0.000 0.069 3033 436 1631

13202 1.15 294.3 267.2 12.7 812 13207 0.20 2.47 0.00 0.000 6 0.087 0.051 2993 1827 1632

13530 1.18 294.3 236.7 10.0 833 13534 0.00 2.55 0.00 0.000 4 0.000 0.061 2993 3255 1632

13558 1.24 294.3 233.5 10.1 835 13564 0.10 2.60 0.00 0.000 6 0.061 0.055 3021 1810 1632

13886 1.24 294.3 195.2 11.4 856 13890 0.00 2.62 0.00 0.000 4 0.000 0.060 3021 3255 1632

13919 1.24 294.3 191.1 10.6 858 13923 0.00 2.58 0.00 0.000 6 0.000 0.054 3021 1822 1632

14238 1.24 294.3 156.4 10.8 878 14242 0.00 2.60 0.00 0.000 4 0.000 0.059 3021 3255 1632

14290 1.24 294.3 150.6 10.6 881 14294 0.00 2.53 0.00 0.000 6 0.000 0.051 3021 1843 1632

14606 1.24 294.3 116.6 10.6 896 14610 0.00 2.58 0.00 0.000 4 0.000 0.058 3021 3264 1633

14650 1.24 294.3 111.7 11.1 898 14654 0.00 2.50 0.00 0.000 6 0.000 0.051 3021 1852 1633

14972 1.24 294.3 78.5 9.9 914 14976 0.00 2.53 0.00 0.000 4 0.000 0.064 3021 437 1633

15044 1.24 294.3 70.1 12.2 917 15048 0.00 2.50 0.00 0.000 6 0.000 0.047 3021 1857 1633

15362 1.24 294.3 36.6 11.6 932 15366 0.00 2.47 0.00 0.000 4 0.000 0.057 3021 3258 1633

15402 1.28 294.3 32.3 9.6 934 15407 0.00 2.50 0.00 0.000 6 0.000 0.048 3021 1846 1634

15707 end climb: SURFACE_DEPTH_REACHED

state 15707 begin surface coast

15729 end surface coast: CONTROL_FINISHED_OK

state 15729 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	165	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	26	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	-103327.95	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	101925,6356.098,-1327.809,41,1.6,41,-12.7	TGT_NAME	LW
_CALLS	2	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	2	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.203,0.138
_SM_DEPTHo	1.09	KALMAN_X	-40030.7,-156.9,-870.6,-212344.7,7440.5
_SM_ANGLEo	-52.3	KALMAN_Y	-11614.1,240.6,-186.0,269862.9,749.6
GPS2	103219,6356.089,-1327.644,15,1.5,15,-12.7	MHEAD_RNG_PITCHd_Wd	317.0,7491,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027031	_24V_AH	23.8,29.793
SM_CCo	15752,3.85,0.528,0,0,1607,300.00	_10V_AH	10.1,13.491
SM_GC	2.68,0.00,0.00,3.85,0.000,0.000,0.528,423,2154,1607,-10.68,0.68,300.00	DATA_FILE_SIZE	50674,950
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	144143,0
TT8_MAMPS	0.029146	CFSIZE	254472192,242454528
HUMID	1835	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	17.20	GPS	260909,145707,6357.308,-1334.524,42,0.9,42,-12.7
XPDR_PINGS	38

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	167	108.64	SBE_CT	651	24	372.16
Roll_motor	180	80	345.44	SBE_O2	695	19	314.40
VBD_pump_during_apogee	397	1362	12895.12	WL_BB2F	513	105	1282.29
VBD_pump_during_surface	3	528	48.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.14	nil	0	0	0.00
Iridium_during_connect	65	160	249.49	nil	0	0	0.00
Iridium_during_xfer	431	223	2289.01
Transponder_ping	16	420	162.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.57
TT8	1705	19	341.03
LPSleep	11253	2	248.91
TT8_Active	581	19	116.39
TT8_Sampling	2077	39	834.99
TT8_CF8	909	45	420.79
TT8_Kalman	33	81	27.57
Analog_circuits	1645	12	199.42
GPS_charging	0	0	0.00
Compass	2024	8	163.56
RAFOS	0	0	0.00
Transponder	46	30	14.24

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	119	0.00	0.00	-101.43	0.000	2	0.000	0.000	418	2130	2526
123	-1.22	-146.6	2.4	-1.5	5	174	11.60	2.53	-31.12	0.000	4	0.167	0.065	2472	720	3429
198	-1.13	-146.6	11.8	-17.7	8	203	0.12	2.50	0.00	0.000	6	0.116	0.047	2496	2127	3429
515	-1.13	-146.6	50.6	-13.2	23	516	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2128	3428
823	-1.13	-146.6	88.4	-10.5	38	827	0.00	2.55	0.00	0.000	4	0.000	0.064	2496	3535	3429
924	-1.13	-146.6	100.8	-11.7	42	930	0.00	2.47	0.00	0.000	6	0.000	0.046	2496	2140	3428
1240	-1.13	-146.6	134.8	-10.7	58	1241	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2123	3428
1561	-1.13	-146.6	167.8	-9.8	76	1565	0.00	2.58	0.00	0.000	4	0.000	0.065	2496	3534	3428
1613	-1.13	-146.6	173.1	-9.8	79	1617	0.00	2.47	0.00	0.000	6	0.000	0.049	2496	2145	3428
1932	-1.13	-146.6	205.8	-10.6	99	1936	0.00	2.58	0.00	0.000	4	0.000	0.065	2496	3541	3428
1994	-1.13	-146.6	212.6	-10.7	103	1998	0.00	2.47	0.00	0.000	6	0.000	0.051	2496	2154	3428
2318	-1.13	-146.6	245.9	-10.3	124	2320	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2142	3428
2630	-1.13	-146.6	279.4	-11.1	144	2634	0.00	2.55	0.00	0.000	4	0.000	0.060	2496	718	3427
2675	-1.13	-146.6	284.7	-12.0	147	2680	0.00	2.58	0.00	0.000	6	0.000	0.050	2496	2171	3428
2999	-1.13	-146.6	320.0	-10.9	168	3004	0.00	2.65	0.00	0.000	4	0.000	0.063	2496	715	3427
3084	-1.13	-146.6	329.7	-11.9	173	3088	0.00	2.55	0.00	0.000	6	0.000	0.050	2496	2152	3428
3409	-1.13	-146.6	364.0	-9.9	194	3413	0.00	2.60	0.00	0.000	4	0.000	0.063	2496	720	3427
3475	-1.13	-146.6	371.9	-11.1	198	3479	0.00	2.53	0.00	0.000	6	0.000	0.051	2496	2141	3427
3794	-1.13	-146.6	400.5	-8.2	218	3799	0.00	2.58	0.00	0.000	4	0.000	0.061	2496	718	3427
3833	-1.13	-146.6	404.3	-10.1	220	3840	0.00	2.53	0.00	0.000	6	0.000	0.051	2496	2141	3427
4153	-1.13	-146.6	434.7	-10.4	241	4157	0.00	2.58	0.00	0.000	4	0.000	0.061	2496	717	3427
4249	-1.13	-146.6	444.8	-11.0	247	4257	0.00	2.50	0.00	0.000	6	0.000	0.051	2496	2126	3427
4582	-1.13	-146.6	479.6	-10.4	268	4586	0.00	2.55	0.00	0.000	4	0.000	0.064	2496	723	3426
4665	-1.13	-146.6	488.3	-9.9	273	4670	0.00	2.47	0.00	0.000	6	0.000	0.051	2496	2117	3427
4984	-1.13	-146.6	517.3	-9.2	293	4989	0.00	2.53	0.00	0.000	4	0.000	0.064	2496	722	3426
5086	-1.13	-146.6	527.0	-10.0	299	5090	0.00	2.45	0.00	0.000	6	0.000	0.053	2496	2101	3426
5405	-1.13	-146.6	557.7	-9.7	319	5409	0.00	2.50	0.00	0.000	4	0.000	0.064	2496	724	3426
5455	-1.13	-146.6	562.9	-10.7	322	5459	0.00	2.40	0.00	0.000	6	0.000	0.053	2496	2078	3426
5780	-1.13	-146.6	594.7	-8.9	343	5784	0.00	2.50	0.00	0.000	4	0.000	0.068	2496	717	3425
5874	-1.13	-146.6	604.0	-10.6	348	5880	0.00	2.40	0.00	0.000	6	0.000	0.054	2496	2056	3425
6193	-1.13	-146.6	632.1	-8.2	369	6194	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2056	3425
6506	-1.13	-146.6	662.0	-10.5	389	6510	0.00	2.45	0.00	0.000	4	0.000	0.071	2496	718	3424
6550	-1.13	-146.6	666.5	-9.5	391	6556	0.00	2.40	0.00	0.000	6	0.000	0.057	2496	2050	3424
6869	-1.13	-146.6	698.0	-11.2	412	6871	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2051	3423
7183	-1.13	-146.6	726.9	-8.2	432	7184	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2051	3422
7495	-1.16	-146.6	753.7	-7.5	452	7499	0.00	2.75	0.00	0.000	4	0.000	0.081	2496	3538	3422
7541	-1.16	-146.6	756.4	-5.4	455	7545	0.00	2.72	0.00	0.000	6	0.000	0.069	2496	2063	3422
7866	-1.44	-146.6	766.4	-0.0	476	7871	0.28	2.78	0.00	0.000	4	0.058	0.080	2420	3533	3421
8053	end dive: NO_VERTICAL_VELOCITY
state	8054	begin apogee
8064	-0.33	0.0	766.4	0.0	487	8197	1.10	0.00	129.38	1.362	6	0.062	0.000	2671	1846	2832
8198	end apogee: CONTROL_FINISHED_OK
state	8198	begin climb
8201	1.22	146.6	764.5	0.0	496	8342	1.50	2.70	131.45	1.312	4	0.045	0.076	3016	435	2232
8553	1.03	146.6	728.4	12.8	517	8558	0.22	2.58	0.00	0.000	6	0.095	0.057	2973	1851	2232
8873	1.04	152.7	699.0	7.8	537	8889	0.00	2.65	6.90	1.031	4	0.000	0.070	2974	3261	2208
8924	1.06	161.9	694.8	7.7	540	8941	0.00	2.62	9.50	1.113	6	0.000	0.067	2973	1849	2171
9256	1.14	210.8	671.4	6.2	561	9307	0.00	2.70	44.30	1.269	4	0.000	0.075	2973	439	1971
9347	1.14	210.8	660.2	9.5	566	9354	0.00	2.58	0.00	0.000	6	0.000	0.058	2973	1847	1971
9668	1.26	266.5	636.0	6.0	587	9728	0.22	2.67	49.30	1.256	4	0.052	0.070	3026	3255	1744
9773	1.23	266.5	626.6	10.5	593	9779	0.00	2.67	0.00	0.000	6	0.000	0.067	3026	1827	1744
10093	1.15	266.5	597.4	9.4	614	10098	0.15	2.67	0.00	0.000	4	0.096	0.068	2997	3260	1744
10133	1.19	266.5	593.7	9.9	616	10139	0.00	2.62	0.00	0.000	6	0.000	0.065	2997	1843	1744
10452	1.21	279.7	567.3	7.5	637	10471	0.00	2.67	13.02	1.145	4	0.000	0.074	2997	439	1690
10563	1.21	279.7	557.7	9.3	643	10569	0.00	2.53	0.00	0.000	6	0.000	0.055	2997	1832	1690
10882	1.21	279.7	523.6	11.1	664	10886	0.00	2.60	0.00	0.000	4	0.000	0.072	2997	430	1689
10910	1.21	279.7	520.4	11.6	666	10914	0.00	2.53	0.00	0.000	6	0.000	0.056	2997	1827	1690
11241	1.21	279.7	486.6	10.6	687	11245	0.00	2.60	0.00	0.000	4	0.000	0.067	2997	3262	1690
11304	1.27	294.3	481.6	7.5	691	11324	0.12	2.65	13.90	1.104	6	0.061	0.061	3028	1809	1631
11651	1.22	294.3	441.9	11.6	713	11655	0.00	2.50	0.00	0.000	4	0.000	0.071	3028	433	1631
11690	1.14	294.3	436.5	13.2	715	11698	0.17	2.50	0.00	0.000	6	0.092	0.054	2994	1825	1631
12010	1.14	294.3	400.6	11.6	736	12014	0.00	2.58	0.00	0.000	4	0.000	0.064	2994	3253	1631
12089	1.20	294.3	391.3	11.8	741	12094	0.00	2.60	0.00	0.000	6	0.000	0.060	2995	1827	1631
12414	1.20	294.3	355.7	10.8	762	12418	0.00	2.53	0.00	0.000	4	0.000	0.071	2995	433	1631
12459	1.20	294.3	350.5	11.5	765	12464	0.00	2.50	0.00	0.000	6	0.000	0.052	2994	1834	1631
12785	1.20	294.3	318.6	9.7	786	12789	0.00	2.55	0.00	0.000	4	0.000	0.063	2995	3255	1631
12835	1.29	294.3	313.8	9.8	789	12840	0.15	2.60	0.00	0.000	6	0.054	0.059	3033	1825	1632
13157	1.23	294.3	273.4	12.4	809	13161	0.00	2.50	0.00	0.000	4	0.000	0.069	3033	436	1631
13202	1.15	294.3	267.2	12.7	812	13207	0.20	2.47	0.00	0.000	6	0.087	0.051	2993	1827	1632
13530	1.18	294.3	236.7	10.0	833	13534	0.00	2.55	0.00	0.000	4	0.000	0.061	2993	3255	1632
13558	1.24	294.3	233.5	10.1	835	13564	0.10	2.60	0.00	0.000	6	0.061	0.055	3021	1810	1632
13886	1.24	294.3	195.2	11.4	856	13890	0.00	2.62	0.00	0.000	4	0.000	0.060	3021	3255	1632
13919	1.24	294.3	191.1	10.6	858	13923	0.00	2.58	0.00	0.000	6	0.000	0.054	3021	1822	1632
14238	1.24	294.3	156.4	10.8	878	14242	0.00	2.60	0.00	0.000	4	0.000	0.059	3021	3255	1632
14290	1.24	294.3	150.6	10.6	881	14294	0.00	2.53	0.00	0.000	6	0.000	0.051	3021	1843	1632
14606	1.24	294.3	116.6	10.6	896	14610	0.00	2.58	0.00	0.000	4	0.000	0.058	3021	3264	1633
14650	1.24	294.3	111.7	11.1	898	14654	0.00	2.50	0.00	0.000	6	0.000	0.051	3021	1852	1633
14972	1.24	294.3	78.5	9.9	914	14976	0.00	2.53	0.00	0.000	4	0.000	0.064	3021	437	1633
15044	1.24	294.3	70.1	12.2	917	15048	0.00	2.50	0.00	0.000	6	0.000	0.047	3021	1857	1633
15362	1.24	294.3	36.6	11.6	932	15366	0.00	2.47	0.00	0.000	4	0.000	0.057	3021	3258	1633
15402	1.28	294.3	32.3	9.6	934	15407	0.00	2.50	0.00	0.000	6	0.000	0.048	3021	1846	1634
15707	end climb: SURFACE_DEPTH_REACHED
state	15707	begin surface coast
15729	end surface coast: CONTROL_FINISHED_OK
state	15729	begin surface