Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 191 * 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 191 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 26 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 -103857.28 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 -103857.28

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 26 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 191 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 144331,6347.248,-1314.839,40,1.7,40,-12.5 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.245,0.010

_SM_DEPTHo 1.52 KALMAN_X -55289.4,-385.6,-632.3,-185877.0,1938.0

_SM_ANGLEo -59.3 KALMAN_Y -835.5,-168.5,-818.1,243660.2,3307.5

GPS2 145019,6347.179,-1314.879,16,1.5,33,-12.5 MHEAD_RNG_PITCHd_Wd 284.8,6976,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.014253 ALTIM_BOTTOM_PING 795.2,89.8

SM_CCo 18724,7.70,0.688,0,0,1608,300.00 _24V_AH 23.7,33.721

SM_GC 2.28,0.00,0.00,7.70,0.000,0.000,0.688,417,2143,1608,-10.71,0.37,300.00 _10V_AH 10.1,15.406

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 56745,1143

TT8_MAMPS 0.029146 CAP_FILE_SIZE 151561,0

HUMID 1799 CFSIZE 254472192,240963584

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 57 GPS 300909,200437,6346.413,-1320.925,36,1.1,36,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 159 103.13 SBE_CT 782 24 445.35

Roll_motor 162 78 301.48 SBE_O2 837 19 377.02

VBD_pump_during_apogee 398 1414 13353.55 WL_BB2F 587 105 1463.09

VBD_pump_during_surface 7 687 125.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 28 160 108.60 nil 0 0 0.00

Iridium_during_xfer 185 223 981.05

Transponder_ping 21 420 214.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.71

TT8 1973 19 394.63

LPSleep 13745 2 304.04

TT8_Active 556 19 111.24

TT8_Sampling 2230 39 896.72

TT8_CF8 628 45 290.63

TT8_Kalman 33 81 27.56

Analog_circuits 1660 12 201.25

GPS_charging 0 0 0.00

Compass 2165 8 174.95

RAFOS 0 0 0.00

Transponder 49 30 14.97

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

15 -1.22 -146.6 0.0 0.0 0 58 0.00 0.00 -41.00 0.000 2 0.000 0.000 424 2137 2436

62 -1.22 -146.6 2.3 -3.7 2 126 11.32 2.55 -44.42 0.000 4 0.160 0.078 2468 3540 3429

380 -1.12 -146.6 43.8 -16.3 16 385 0.15 2.53 0.00 0.000 6 0.103 0.047 2499 2119 3430

704 -1.08 -146.6 79.5 -11.1 32 705 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2106 3430

1011 -1.05 -146.6 119.6 -11.9 47 1016 0.00 2.60 0.00 0.000 4 0.000 0.063 2499 3535 3430

1039 -1.00 -146.6 122.6 -10.9 48 1044 0.12 2.50 0.00 0.000 6 0.091 0.049 2526 2133 3430

1369 -1.03 -146.6 155.0 -9.8 65 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2119 3430

1678 -1.03 -146.6 184.2 -9.0 85 1679 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2119 3431

1991 -1.07 -146.6 211.8 -9.2 105 1995 0.00 2.50 0.00 0.000 4 0.000 0.061 2526 722 3431

2030 -1.12 -146.6 215.6 -9.3 107 2037 0.12 2.50 0.00 0.000 6 0.056 0.048 2490 2137 3430

2352 -1.08 -146.6 252.2 -11.6 128 2356 0.00 2.58 0.00 0.000 4 0.000 0.060 2490 713 3430

2385 -1.08 -146.6 256.6 -11.6 130 2389 0.00 2.50 0.00 0.000 6 0.000 0.050 2490 2124 3430

2704 -1.04 -146.6 292.0 -11.0 150 2706 0.12 0.00 0.00 0.000 6 0.097 0.000 2516 2124 3431

3016 -1.04 -146.6 322.3 -9.6 170 3021 0.00 2.55 0.00 0.000 4 0.000 0.063 2516 719 3431

3073 -1.08 -146.6 328.2 -10.5 173 3079 0.00 2.50 0.00 0.000 6 0.000 0.051 2516 2127 3430

3393 -1.08 -146.6 361.3 -10.6 194 3397 0.00 2.55 0.00 0.000 4 0.000 0.064 2516 722 3430

3422 -1.11 -146.6 364.5 -10.4 196 3426 0.00 2.47 0.00 0.000 6 0.000 0.051 2516 2114 3430

3748 -1.11 -146.6 397.5 -9.9 217 3752 0.00 2.53 0.00 0.000 4 0.000 0.062 2516 718 3430

3787 -1.15 -146.6 401.8 -10.5 219 3793 0.00 2.47 0.00 0.000 6 0.000 0.051 2516 2114 3430

4106 -1.15 -146.6 433.6 -9.8 240 4108 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2114 3430

4419 -1.15 -146.6 463.6 -9.3 260 4423 0.00 2.53 0.00 0.000 4 0.000 0.062 2516 718 3430

4471 -1.19 -146.6 468.5 -9.4 263 4476 0.15 2.45 0.00 0.000 6 0.055 0.051 2473 2099 3430

4792 -1.13 -146.6 505.5 -11.7 283 4794 0.12 0.00 0.00 0.000 6 0.097 0.000 2498 2099 3430

5102 -1.13 -146.6 535.5 -9.0 303 5107 0.00 2.50 0.00 0.000 4 0.000 0.063 2498 718 3429

5154 -1.13 -146.6 540.3 -8.7 306 5158 0.00 2.45 0.00 0.000 6 0.000 0.051 2498 2097 3429

5475 -1.13 -146.6 570.7 -10.1 326 5476 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2098 3430

5786 -1.13 -146.6 602.9 -10.4 346 5790 0.00 2.50 0.00 0.000 4 0.000 0.064 2497 719 3429

5819 -1.13 -146.6 606.4 -10.3 348 5823 0.00 2.42 0.00 0.000 6 0.000 0.051 2498 2080 3429

6138 -1.13 -146.6 641.0 -11.2 368 6140 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2081 3429

6450 -1.13 -146.6 673.3 -9.6 388 6454 0.00 2.50 0.00 0.000 4 0.000 0.067 2498 715 3429

6489 -1.13 -146.6 677.1 -9.6 390 6495 0.00 2.42 0.00 0.000 6 0.000 0.053 2498 2075 3429

6809 -1.13 -146.6 705.3 -8.8 411 6810 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2075 3429

7120 -1.13 -146.6 734.0 -8.9 431 7121 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2075 3428

7433 -1.13 -146.6 764.1 -9.9 451 7437 0.00 2.47 0.00 0.000 4 0.000 0.071 2498 721 3428

7460 -1.13 -146.6 767.0 -10.2 452 7466 0.00 2.42 0.00 0.000 6 0.000 0.055 2498 2074 3428

7779 -1.13 -146.6 798.3 -9.8 473 7783 0.00 2.47 0.00 0.000 4 0.000 0.073 2498 723 3428

7842 -1.13 -146.6 804.4 -9.6 477 7846 0.00 2.40 0.00 0.000 6 0.000 0.058 2498 2052 3428

8167 -1.13 -146.6 835.0 -9.3 498 8171 0.00 2.47 0.00 0.000 4 0.000 0.076 2498 721 3427

8188 -1.13 -146.6 837.2 -9.6 499 8194 0.00 2.40 0.00 0.000 6 0.000 0.059 2497 2049 3427

8508 -1.13 -146.6 866.3 -9.3 520 8509 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2049 3426

8599 end dive: BOTTOM_OBSTACLE_DETECTED

state 8599 begin apogee

8606 -0.33 0.0 875.0 9.0 526 8744 0.80 0.00 134.88 1.414 6 0.080 0.000 2668 1843 2831

8745 end apogee: CONTROL_FINISHED_OK

state 8745 begin climb

8748 1.22 146.6 879.6 0.0 535 8893 1.55 2.65 136.02 1.371 4 0.062 0.074 3006 439 2233

8934 1.07 146.6 871.5 8.5 547 8939 0.15 2.58 0.00 0.000 6 0.096 0.056 2978 1850 2233

9254 1.12 172.2 849.3 7.1 567 9282 0.00 0.00 24.05 1.303 6 0.000 0.000 2978 1865 2128

9595 1.13 183.4 823.3 7.6 589 9612 0.00 2.70 11.20 1.215 4 0.000 0.077 2978 447 2083

9641 1.09 183.4 819.5 8.3 591 9647 0.00 2.58 0.00 0.000 6 0.000 0.058 2978 1857 2082

9961 1.14 212.8 796.4 6.9 612 9994 0.00 2.72 26.90 1.324 4 0.000 0.074 2978 442 1963

10029 1.14 212.8 791.2 8.0 616 10034 0.00 2.58 0.00 0.000 6 0.000 0.057 2978 1848 1962

10357 1.23 252.4 768.8 6.6 637 10399 0.15 2.62 35.62 1.333 4 0.056 0.070 3016 3257 1801

10434 1.23 252.4 762.3 8.8 641 10439 0.00 2.65 0.00 0.000 6 0.000 0.067 3016 1833 1801

10762 1.18 252.4 733.0 9.2 662 10766 0.00 2.65 0.00 0.000 4 0.000 0.068 3016 3257 1801

10800 1.18 252.4 728.9 9.6 664 10806 0.00 2.62 0.00 0.000 6 0.000 0.065 3016 1839 1801

11120 1.14 252.4 697.9 10.3 685 11121 0.12 0.00 0.00 0.000 6 0.096 0.000 2994 1839 1800

11432 1.14 252.4 669.6 8.9 705 11436 0.00 2.62 0.00 0.000 4 0.000 0.066 2994 3259 1801

11494 1.18 252.4 663.7 9.9 709 11499 0.00 2.58 0.00 0.000 6 0.000 0.061 2994 1853 1801

11819 1.18 252.4 632.8 9.4 730 11823 0.00 2.58 0.00 0.000 4 0.000 0.072 2993 433 1801

11863 1.18 252.4 628.3 10.4 732 11869 0.00 2.58 0.00 0.000 6 0.000 0.053 2993 1871 1800

12182 1.18 252.4 600.6 8.3 753 12186 0.00 2.50 0.00 0.000 4 0.000 0.064 2994 3261 1801

12206 1.21 252.4 598.5 9.2 754 12212 0.00 2.60 0.00 0.000 6 0.000 0.061 2994 1837 1801

12525 1.21 252.4 570.5 8.5 775 12529 0.00 2.60 0.00 0.000 4 0.000 0.062 2994 3256 1801

12558 1.26 252.4 567.4 9.0 777 12563 0.12 2.55 0.00 0.000 6 0.057 0.058 3027 1846 1801

12880 1.21 252.4 533.6 10.7 797 12882 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 1846 1801

13190 1.15 252.4 500.0 10.6 817 13195 0.15 2.58 0.00 0.000 4 0.091 0.060 2998 3258 1801

13229 1.20 252.4 496.2 9.5 819 13236 0.00 2.53 0.00 0.000 6 0.000 0.056 2998 1859 1801

13548 1.20 252.4 467.6 8.9 840 13549 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 1859 1801

13861 1.20 252.4 438.5 9.9 860 13865 0.00 2.55 0.00 0.000 4 0.000 0.060 2998 3261 1801

13890 1.24 252.4 435.7 10.1 862 13894 0.00 2.50 0.00 0.000 6 0.000 0.056 2998 1873 1802

14214 1.24 252.4 405.8 9.0 883 14215 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 1873 1802

14526 1.24 252.4 378.7 8.5 903 14531 0.00 2.53 0.00 0.000 4 0.000 0.061 2997 3262 1802

14556 1.28 252.4 376.2 9.2 905 14561 0.12 2.47 0.00 0.000 6 0.057 0.054 3032 1876 1802

14884 1.23 252.4 342.5 10.5 926 14885 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 1875 1803

15194 1.18 252.4 310.1 10.4 946 15196 0.15 0.00 0.00 0.000 6 0.087 0.000 3002 1875 1802

15505 1.18 252.4 281.9 9.3 966 15510 0.00 2.50 0.00 0.000 4 0.000 0.060 3002 3255 1803

15552 1.22 252.4 277.6 9.4 969 15556 0.00 2.42 0.00 0.000 6 0.000 0.053 3002 1888 1803

15877 1.22 252.4 248.9 8.6 990 15878 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1888 1803

16189 1.22 252.4 221.6 9.1 1010 16190 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1887 1803

16501 1.23 260.4 194.7 7.7 1030 16518 0.00 2.53 8.88 0.829 4 0.000 0.059 3002 3256 1769

16541 1.28 260.4 191.5 8.3 1032 16545 0.00 2.45 0.00 0.000 6 0.000 0.051 3002 1891 1769

16860 1.28 260.4 165.9 8.7 1052 16861 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1890 1769

17178 1.31 260.4 135.8 9.3 1070 17183 0.12 2.60 0.00 0.000 4 0.054 0.064 3037 439 1769

17241 1.23 260.4 128.6 10.6 1073 17246 0.12 2.58 0.00 0.000 6 0.090 0.048 3012 1897 1769

17571 1.23 260.4 96.0 9.1 1089 17575 0.00 2.40 0.00 0.000 4 0.000 0.058 3012 3257 1769

17604 1.28 260.4 92.6 8.3 1090 17611 0.00 2.45 0.00 0.000 6 0.000 0.050 3012 1871 1769

17921 1.28 260.4 65.7 8.3 1106 17925 0.00 2.50 0.00 0.000 4 0.000 0.057 3012 3259 1769

17971 1.32 260.4 61.1 10.4 1108 17976 0.00 2.45 0.00 0.000 6 0.000 0.049 3012 1878 1769

18288 1.32 260.4 32.9 9.3 1123 18289 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 1878 1769

18597 1.36 285.8 10.3 7.1 1138 18624 0.12 2.55 20.83 0.784 4 0.054 0.057 3048 3261 1666

18653 1.36 285.8 3.2 13.5 1140 18659 0.00 2.45 0.00 0.000 6 0.000 0.046 3048 1878 1666

18677 end climb: SURFACE_DEPTH_REACHED

state 18677 begin surface coast

18701 end surface coast: CONTROL_FINISHED_OK

state 18701 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	191	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	26	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	-103857.28	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	144331,6347.248,-1314.839,40,1.7,40,-12.5	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.245,0.010
_SM_DEPTHo	1.52	KALMAN_X	-55289.4,-385.6,-632.3,-185877.0,1938.0
_SM_ANGLEo	-59.3	KALMAN_Y	-835.5,-168.5,-818.1,243660.2,3307.5
GPS2	145019,6347.179,-1314.879,16,1.5,33,-12.5	MHEAD_RNG_PITCHd_Wd	284.8,6976,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.014253	ALTIM_BOTTOM_PING	795.2,89.8
SM_CCo	18724,7.70,0.688,0,0,1608,300.00	_24V_AH	23.7,33.721
SM_GC	2.28,0.00,0.00,7.70,0.000,0.000,0.688,417,2143,1608,-10.71,0.37,300.00	_10V_AH	10.1,15.406
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	56745,1143
TT8_MAMPS	0.029146	CAP_FILE_SIZE	151561,0
HUMID	1799	CFSIZE	254472192,240963584
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	57	GPS	300909,200437,6346.413,-1320.925,36,1.1,36,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	159	103.13	SBE_CT	782	24	445.35
Roll_motor	162	78	301.48	SBE_O2	837	19	377.02
VBD_pump_during_apogee	398	1414	13353.55	WL_BB2F	587	105	1463.09
VBD_pump_during_surface	7	687	125.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	28	160	108.60	nil	0	0	0.00
Iridium_during_xfer	185	223	981.05
Transponder_ping	21	420	214.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.71
TT8	1973	19	394.63
LPSleep	13745	2	304.04
TT8_Active	556	19	111.24
TT8_Sampling	2230	39	896.72
TT8_CF8	628	45	290.63
TT8_Kalman	33	81	27.56
Analog_circuits	1660	12	201.25
GPS_charging	0	0	0.00
Compass	2165	8	174.95
RAFOS	0	0	0.00
Transponder	49	30	14.97

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
15	-1.22	-146.6	0.0	0.0	0	58	0.00	0.00	-41.00	0.000	2	0.000	0.000	424	2137	2436
62	-1.22	-146.6	2.3	-3.7	2	126	11.32	2.55	-44.42	0.000	4	0.160	0.078	2468	3540	3429
380	-1.12	-146.6	43.8	-16.3	16	385	0.15	2.53	0.00	0.000	6	0.103	0.047	2499	2119	3430
704	-1.08	-146.6	79.5	-11.1	32	705	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2106	3430
1011	-1.05	-146.6	119.6	-11.9	47	1016	0.00	2.60	0.00	0.000	4	0.000	0.063	2499	3535	3430
1039	-1.00	-146.6	122.6	-10.9	48	1044	0.12	2.50	0.00	0.000	6	0.091	0.049	2526	2133	3430
1369	-1.03	-146.6	155.0	-9.8	65	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2119	3430
1678	-1.03	-146.6	184.2	-9.0	85	1679	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2119	3431
1991	-1.07	-146.6	211.8	-9.2	105	1995	0.00	2.50	0.00	0.000	4	0.000	0.061	2526	722	3431
2030	-1.12	-146.6	215.6	-9.3	107	2037	0.12	2.50	0.00	0.000	6	0.056	0.048	2490	2137	3430
2352	-1.08	-146.6	252.2	-11.6	128	2356	0.00	2.58	0.00	0.000	4	0.000	0.060	2490	713	3430
2385	-1.08	-146.6	256.6	-11.6	130	2389	0.00	2.50	0.00	0.000	6	0.000	0.050	2490	2124	3430
2704	-1.04	-146.6	292.0	-11.0	150	2706	0.12	0.00	0.00	0.000	6	0.097	0.000	2516	2124	3431
3016	-1.04	-146.6	322.3	-9.6	170	3021	0.00	2.55	0.00	0.000	4	0.000	0.063	2516	719	3431
3073	-1.08	-146.6	328.2	-10.5	173	3079	0.00	2.50	0.00	0.000	6	0.000	0.051	2516	2127	3430
3393	-1.08	-146.6	361.3	-10.6	194	3397	0.00	2.55	0.00	0.000	4	0.000	0.064	2516	722	3430
3422	-1.11	-146.6	364.5	-10.4	196	3426	0.00	2.47	0.00	0.000	6	0.000	0.051	2516	2114	3430
3748	-1.11	-146.6	397.5	-9.9	217	3752	0.00	2.53	0.00	0.000	4	0.000	0.062	2516	718	3430
3787	-1.15	-146.6	401.8	-10.5	219	3793	0.00	2.47	0.00	0.000	6	0.000	0.051	2516	2114	3430
4106	-1.15	-146.6	433.6	-9.8	240	4108	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2114	3430
4419	-1.15	-146.6	463.6	-9.3	260	4423	0.00	2.53	0.00	0.000	4	0.000	0.062	2516	718	3430
4471	-1.19	-146.6	468.5	-9.4	263	4476	0.15	2.45	0.00	0.000	6	0.055	0.051	2473	2099	3430
4792	-1.13	-146.6	505.5	-11.7	283	4794	0.12	0.00	0.00	0.000	6	0.097	0.000	2498	2099	3430
5102	-1.13	-146.6	535.5	-9.0	303	5107	0.00	2.50	0.00	0.000	4	0.000	0.063	2498	718	3429
5154	-1.13	-146.6	540.3	-8.7	306	5158	0.00	2.45	0.00	0.000	6	0.000	0.051	2498	2097	3429
5475	-1.13	-146.6	570.7	-10.1	326	5476	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2098	3430
5786	-1.13	-146.6	602.9	-10.4	346	5790	0.00	2.50	0.00	0.000	4	0.000	0.064	2497	719	3429
5819	-1.13	-146.6	606.4	-10.3	348	5823	0.00	2.42	0.00	0.000	6	0.000	0.051	2498	2080	3429
6138	-1.13	-146.6	641.0	-11.2	368	6140	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2081	3429
6450	-1.13	-146.6	673.3	-9.6	388	6454	0.00	2.50	0.00	0.000	4	0.000	0.067	2498	715	3429
6489	-1.13	-146.6	677.1	-9.6	390	6495	0.00	2.42	0.00	0.000	6	0.000	0.053	2498	2075	3429
6809	-1.13	-146.6	705.3	-8.8	411	6810	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2075	3429
7120	-1.13	-146.6	734.0	-8.9	431	7121	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2075	3428
7433	-1.13	-146.6	764.1	-9.9	451	7437	0.00	2.47	0.00	0.000	4	0.000	0.071	2498	721	3428
7460	-1.13	-146.6	767.0	-10.2	452	7466	0.00	2.42	0.00	0.000	6	0.000	0.055	2498	2074	3428
7779	-1.13	-146.6	798.3	-9.8	473	7783	0.00	2.47	0.00	0.000	4	0.000	0.073	2498	723	3428
7842	-1.13	-146.6	804.4	-9.6	477	7846	0.00	2.40	0.00	0.000	6	0.000	0.058	2498	2052	3428
8167	-1.13	-146.6	835.0	-9.3	498	8171	0.00	2.47	0.00	0.000	4	0.000	0.076	2498	721	3427
8188	-1.13	-146.6	837.2	-9.6	499	8194	0.00	2.40	0.00	0.000	6	0.000	0.059	2497	2049	3427
8508	-1.13	-146.6	866.3	-9.3	520	8509	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2049	3426
8599	end dive: BOTTOM_OBSTACLE_DETECTED
state	8599	begin apogee
8606	-0.33	0.0	875.0	9.0	526	8744	0.80	0.00	134.88	1.414	6	0.080	0.000	2668	1843	2831
8745	end apogee: CONTROL_FINISHED_OK
state	8745	begin climb
8748	1.22	146.6	879.6	0.0	535	8893	1.55	2.65	136.02	1.371	4	0.062	0.074	3006	439	2233
8934	1.07	146.6	871.5	8.5	547	8939	0.15	2.58	0.00	0.000	6	0.096	0.056	2978	1850	2233
9254	1.12	172.2	849.3	7.1	567	9282	0.00	0.00	24.05	1.303	6	0.000	0.000	2978	1865	2128
9595	1.13	183.4	823.3	7.6	589	9612	0.00	2.70	11.20	1.215	4	0.000	0.077	2978	447	2083
9641	1.09	183.4	819.5	8.3	591	9647	0.00	2.58	0.00	0.000	6	0.000	0.058	2978	1857	2082
9961	1.14	212.8	796.4	6.9	612	9994	0.00	2.72	26.90	1.324	4	0.000	0.074	2978	442	1963
10029	1.14	212.8	791.2	8.0	616	10034	0.00	2.58	0.00	0.000	6	0.000	0.057	2978	1848	1962
10357	1.23	252.4	768.8	6.6	637	10399	0.15	2.62	35.62	1.333	4	0.056	0.070	3016	3257	1801
10434	1.23	252.4	762.3	8.8	641	10439	0.00	2.65	0.00	0.000	6	0.000	0.067	3016	1833	1801
10762	1.18	252.4	733.0	9.2	662	10766	0.00	2.65	0.00	0.000	4	0.000	0.068	3016	3257	1801
10800	1.18	252.4	728.9	9.6	664	10806	0.00	2.62	0.00	0.000	6	0.000	0.065	3016	1839	1801
11120	1.14	252.4	697.9	10.3	685	11121	0.12	0.00	0.00	0.000	6	0.096	0.000	2994	1839	1800
11432	1.14	252.4	669.6	8.9	705	11436	0.00	2.62	0.00	0.000	4	0.000	0.066	2994	3259	1801
11494	1.18	252.4	663.7	9.9	709	11499	0.00	2.58	0.00	0.000	6	0.000	0.061	2994	1853	1801
11819	1.18	252.4	632.8	9.4	730	11823	0.00	2.58	0.00	0.000	4	0.000	0.072	2993	433	1801
11863	1.18	252.4	628.3	10.4	732	11869	0.00	2.58	0.00	0.000	6	0.000	0.053	2993	1871	1800
12182	1.18	252.4	600.6	8.3	753	12186	0.00	2.50	0.00	0.000	4	0.000	0.064	2994	3261	1801
12206	1.21	252.4	598.5	9.2	754	12212	0.00	2.60	0.00	0.000	6	0.000	0.061	2994	1837	1801
12525	1.21	252.4	570.5	8.5	775	12529	0.00	2.60	0.00	0.000	4	0.000	0.062	2994	3256	1801
12558	1.26	252.4	567.4	9.0	777	12563	0.12	2.55	0.00	0.000	6	0.057	0.058	3027	1846	1801
12880	1.21	252.4	533.6	10.7	797	12882	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	1846	1801
13190	1.15	252.4	500.0	10.6	817	13195	0.15	2.58	0.00	0.000	4	0.091	0.060	2998	3258	1801
13229	1.20	252.4	496.2	9.5	819	13236	0.00	2.53	0.00	0.000	6	0.000	0.056	2998	1859	1801
13548	1.20	252.4	467.6	8.9	840	13549	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	1859	1801
13861	1.20	252.4	438.5	9.9	860	13865	0.00	2.55	0.00	0.000	4	0.000	0.060	2998	3261	1801
13890	1.24	252.4	435.7	10.1	862	13894	0.00	2.50	0.00	0.000	6	0.000	0.056	2998	1873	1802
14214	1.24	252.4	405.8	9.0	883	14215	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	1873	1802
14526	1.24	252.4	378.7	8.5	903	14531	0.00	2.53	0.00	0.000	4	0.000	0.061	2997	3262	1802
14556	1.28	252.4	376.2	9.2	905	14561	0.12	2.47	0.00	0.000	6	0.057	0.054	3032	1876	1802
14884	1.23	252.4	342.5	10.5	926	14885	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	1875	1803
15194	1.18	252.4	310.1	10.4	946	15196	0.15	0.00	0.00	0.000	6	0.087	0.000	3002	1875	1802
15505	1.18	252.4	281.9	9.3	966	15510	0.00	2.50	0.00	0.000	4	0.000	0.060	3002	3255	1803
15552	1.22	252.4	277.6	9.4	969	15556	0.00	2.42	0.00	0.000	6	0.000	0.053	3002	1888	1803
15877	1.22	252.4	248.9	8.6	990	15878	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1888	1803
16189	1.22	252.4	221.6	9.1	1010	16190	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1887	1803
16501	1.23	260.4	194.7	7.7	1030	16518	0.00	2.53	8.88	0.829	4	0.000	0.059	3002	3256	1769
16541	1.28	260.4	191.5	8.3	1032	16545	0.00	2.45	0.00	0.000	6	0.000	0.051	3002	1891	1769
16860	1.28	260.4	165.9	8.7	1052	16861	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1890	1769
17178	1.31	260.4	135.8	9.3	1070	17183	0.12	2.60	0.00	0.000	4	0.054	0.064	3037	439	1769
17241	1.23	260.4	128.6	10.6	1073	17246	0.12	2.58	0.00	0.000	6	0.090	0.048	3012	1897	1769
17571	1.23	260.4	96.0	9.1	1089	17575	0.00	2.40	0.00	0.000	4	0.000	0.058	3012	3257	1769
17604	1.28	260.4	92.6	8.3	1090	17611	0.00	2.45	0.00	0.000	6	0.000	0.050	3012	1871	1769
17921	1.28	260.4	65.7	8.3	1106	17925	0.00	2.50	0.00	0.000	4	0.000	0.057	3012	3259	1769
17971	1.32	260.4	61.1	10.4	1108	17976	0.00	2.45	0.00	0.000	6	0.000	0.049	3012	1878	1769
18288	1.32	260.4	32.9	9.3	1123	18289	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	1878	1769
18597	1.36	285.8	10.3	7.1	1138	18624	0.12	2.55	20.83	0.784	4	0.054	0.057	3048	3261	1666
18653	1.36	285.8	3.2	13.5	1140	18659	0.00	2.45	0.00	0.000	6	0.000	0.046	3048	1878	1666
18677	end climb: SURFACE_DEPTH_REACHED
state	18677	begin surface coast
18701	end surface coast: CONTROL_FINISHED_OK
state	18701	begin surface