Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 203 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING 315 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 203 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 125

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 52 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -91232.906 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 2650 PRESSURE_YINT -23.610077 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 2 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.610077 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

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 -91232.906

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING 315 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 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2650 KALMAN_USE 2 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 21 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 203 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 013455,6050.336,-317.503,40,1.6,40,-6.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6058.036,-333.094

_XMS_NAKs 6 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 0.88 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -55.6 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 014050,6050.400,-317.360,14,1.7,14,-6.0 MHEAD_RNG_PITCHd_Wd 321.0,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.027324 ALTIM_BOTTOM_PING 625.9,68.2

SM_CCo 18350,0.00,0.000,0,0,1570,309.57 _24V_AH 23.8,35.795

SM_GC 1.01,11.02,0.00,0.00,0.040,0.000,0.000,420,1998,1570,-10.16,-0.06,309.57 _10V_AH 10.1,17.401

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44304,875

TT8_MAMPS 0.028379 CAP_FILE_SIZE 127137,0

HUMID 1799 CFSIZE 254472192,239980544

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,38,0,0

XPDR_PINGS 500 GPS 181208,064808,6054.599,-319.786,30,1.5,30,-6.0

ALTIM_TOP_PING 19.1,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 133 79.25 SBE_CT 646 24 369.56

Roll_motor 122 86 251.86 SBE_O2 590 19 266.89

VBD_pump_during_apogee 387 1332 12289.32 WL_BB2F 498 105 1244.73

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 37 103 92.58 nil 0 0 0.00

Iridium_during_connect 24 160 94.51 nil 0 0 0.00

Iridium_during_xfer 172 223 913.81

Transponder_ping 130 420 1306.98

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.39

TT8 1581 19 316.35

LPSleep 14245 2 315.09

TT8_Active 524 19 104.84

TT8_Sampling 1815 39 729.83

TT8_CF8 540 45 250.10

TT8_Kalman 0 81 0.00

Analog_circuits 1450 12 175.83

GPS_charging 0 0 0.00

Compass 1781 8 143.92

RAFOS 0 0 0.00

Transponder 39 30 11.83

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 -0.97 -146.6 0.0 0.0 0 137 0.00 0.00 -114.72 0.000 6 0.000 0.000 421 1976 3431

141 -0.97 -146.6 7.1 -6.9 6 157 10.40 2.47 0.00 0.000 4 0.133 0.057 2430 594 3432

348 -0.60 -146.6 44.9 -12.5 14 354 0.43 2.50 0.00 0.000 6 0.082 0.050 2519 2004 3432

667 -0.49 -146.6 78.5 -12.5 29 668 0.10 0.00 0.00 0.000 6 0.093 0.000 2541 2008 3432

974 -0.42 -146.6 111.3 -8.3 44 975 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2022 3432

1283 -0.37 -146.6 136.8 -12.1 59 1288 0.15 2.58 0.00 0.000 4 0.085 0.064 2573 598 3432

1340 -0.43 -146.6 143.4 -9.9 61 1346 0.00 2.47 0.00 0.000 6 0.000 0.050 2573 1999 3432

1655 -0.43 -146.6 171.5 -8.4 77 1656 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2010 3432

1965 -0.43 -146.6 191.5 -5.6 92 1966 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2006 3432

2274 -0.43 -146.6 211.6 -5.7 107 2276 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2020 3432

2583 -0.43 -146.6 233.8 -5.2 122 2584 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2012 3432

2893 -0.43 -146.6 250.5 -5.2 137 2895 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2011 3432

3202 -0.43 -146.6 270.6 -7.1 152 3203 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2010 3432

3511 -0.43 -146.6 291.1 -6.8 167 3512 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2011 3432

3820 -0.47 -146.6 311.2 -6.3 182 3825 0.12 2.58 0.00 0.000 4 0.054 0.064 2536 593 3432

3854 -0.40 -146.6 313.9 -8.4 183 3861 0.12 2.47 0.00 0.000 6 0.090 0.051 2563 1996 3432

4170 -0.40 -146.6 334.7 -6.6 199 4171 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 1996 3431

4480 -0.40 -146.6 355.8 -6.6 214 4481 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 1996 3432

4788 -0.40 -146.6 377.0 -7.2 229 4790 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1996 3431

5098 -0.40 -146.6 399.8 -7.7 244 5099 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1996 3431

5407 -0.40 -146.6 422.6 -6.6 259 5409 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1996 3431

5716 -0.40 -146.6 442.9 -6.3 274 5718 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1996 3431

6026 -0.40 -146.6 464.4 -7.2 289 6030 0.00 2.55 0.00 0.000 4 0.000 0.065 2562 591 3431

6088 -0.40 -146.6 469.1 -8.3 292 6092 0.00 2.45 0.00 0.000 6 0.000 0.050 2563 1981 3432

6414 -0.40 -146.6 488.5 -6.4 308 6415 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1981 3432

6724 -0.40 -146.6 507.2 -5.8 323 6728 0.00 2.53 0.00 0.000 4 0.000 0.067 2563 597 3431

6796 -0.40 -146.6 512.2 -6.8 326 6800 0.00 2.45 0.00 0.000 6 0.000 0.051 2562 1982 3431

7118 -0.40 -146.6 532.5 -6.2 342 7122 0.00 2.55 0.00 0.000 4 0.000 0.065 2563 3403 3431

7186 -0.46 -146.6 537.0 -6.7 345 7191 0.00 2.55 0.00 0.000 6 0.000 0.055 2562 1978 3431

7508 -0.51 -146.6 560.1 -7.7 361 7513 0.12 2.50 0.00 0.000 4 0.057 0.068 2523 584 3431

7575 -0.43 -146.6 566.2 -8.7 364 7580 0.15 2.47 0.00 0.000 6 0.086 0.054 2556 1975 3431

7897 -0.43 -146.6 579.7 -3.6 380 7898 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1975 3431

8205 -0.43 -146.6 596.8 -6.8 395 8207 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 1976 3431

8515 -0.43 -146.6 619.1 -6.4 410 8519 0.00 2.60 0.00 0.000 4 0.000 0.074 2555 3402 3430

8582 -0.48 -146.6 623.8 -7.4 413 8587 0.00 2.62 0.00 0.000 6 0.000 0.066 2555 1971 3430

8903 -0.48 -146.6 646.8 -7.2 429 8907 0.00 2.65 0.00 0.000 4 0.000 0.076 2555 3403 3429

8969 -0.54 -146.6 651.9 -7.1 432 8974 0.12 2.60 0.00 0.000 6 0.066 0.065 2522 1982 3429

9291 -0.49 -146.6 674.8 -6.6 448 9296 0.10 2.67 0.00 0.000 4 0.103 0.077 2543 3408 3427

9370 -0.49 -146.6 680.5 -7.8 451 9376 0.00 2.60 0.00 0.000 6 0.000 0.067 2542 1992 3427

9436 end dive: BOTTOM_OBSTACLE_DETECTED

state 9436 begin apogee

9444 -0.33 0.0 684.7 6.3 455 9570 0.15 0.00 124.05 1.332 6 0.097 0.000 2575 2199 2832

9571 end apogee: CONTROL_FINISHED_OK

state 9571 begin climb

9574 0.97 146.6 690.6 0.0 461 9707 1.35 2.75 123.32 1.296 4 0.078 0.084 2856 3595 2234

9745 1.13 190.0 685.8 4.8 469 9789 0.17 2.62 37.67 1.246 6 0.055 0.072 2900 2200 2057

10101 1.23 250.2 668.0 4.4 486 10158 0.00 2.72 51.25 1.271 4 0.000 0.087 2900 788 1811

10209 1.28 250.2 661.5 6.2 490 10214 0.12 2.62 0.00 0.000 6 0.063 0.069 2934 2188 1812

10530 1.28 250.2 639.7 6.9 506 10535 0.00 2.67 0.00 0.000 4 0.000 0.086 2934 3606 1812

10574 1.28 250.2 636.1 8.4 508 10579 0.00 2.65 0.00 0.000 6 0.000 0.074 2934 2194 1812

10896 1.28 250.2 612.6 7.2 524 10900 0.00 2.65 0.00 0.000 4 0.000 0.084 2934 783 1812

10946 1.23 250.2 608.4 8.1 526 10950 0.00 2.60 0.00 0.000 6 0.000 0.069 2934 2186 1812

11262 1.23 250.2 584.7 7.3 541 11267 0.00 2.65 0.00 0.000 4 0.000 0.082 2934 790 1811

11313 1.23 250.2 580.8 7.2 543 11317 0.00 2.58 0.00 0.000 6 0.000 0.068 2934 2180 1811

11629 1.23 250.2 557.3 8.2 558 11633 0.00 2.62 0.00 0.000 4 0.000 0.081 2934 790 1811

11685 1.19 250.2 551.8 9.7 560 11692 0.12 2.50 0.00 0.000 6 0.097 0.070 2909 2149 1811

12001 1.25 250.2 525.7 6.2 576 12002 0.00 0.00 0.00 0.000 6 0.000 0.000 2909 2149 1811

12311 1.40 311.3 511.0 4.3 591 12368 0.17 2.65 51.28 1.247 4 0.057 0.077 2956 788 1562

12427 1.33 311.3 504.1 6.1 595 12432 0.00 2.50 0.00 0.000 6 0.000 0.063 2956 2152 1562

12743 1.33 311.3 475.5 13.6 610 12747 0.00 2.55 0.00 0.000 4 0.000 0.074 2957 790 1562

12793 1.33 311.3 467.7 15.2 612 12797 0.00 2.45 0.00 0.000 6 0.000 0.060 2956 2136 1562

13109 1.33 311.3 432.2 6.6 627 13110 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2137 1563

13418 1.33 311.3 416.4 6.1 642 13422 0.00 2.47 0.00 0.000 4 0.000 0.069 2956 787 1563

13474 1.33 311.3 412.3 7.4 644 13478 0.00 2.42 0.00 0.000 6 0.000 0.054 2957 2134 1563

13789 1.33 311.3 383.4 9.5 659 13794 0.00 2.47 0.00 0.000 4 0.000 0.068 2957 789 1564

13823 1.33 311.3 380.1 9.4 660 13830 0.00 2.38 0.00 0.000 6 0.000 0.054 2956 2121 1564

14139 1.33 311.3 352.0 8.2 676 14140 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2120 1565

14448 1.33 311.3 329.9 6.6 691 14452 0.00 2.42 0.00 0.000 4 0.000 0.067 2956 787 1566

14481 1.33 311.3 327.0 8.6 692 14485 0.00 2.38 0.00 0.000 6 0.000 0.051 2956 2121 1566

14797 1.33 311.3 303.4 7.0 707 14798 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2122 1566

15106 1.33 311.3 279.7 9.2 722 15110 0.00 2.45 0.00 0.000 4 0.000 0.067 2957 785 1567

15133 1.33 311.3 277.0 9.6 723 15137 0.00 2.35 0.00 0.000 6 0.000 0.051 2957 2106 1567

15454 1.33 311.3 250.9 8.3 739 15455 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2106 1568

15763 1.33 311.3 222.6 9.3 754 15764 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2107 1569

16072 1.33 311.3 195.0 9.6 769 16077 0.00 2.42 0.00 0.000 4 0.000 0.067 2957 783 1569

16113 1.33 311.3 190.7 10.3 771 16118 0.00 2.35 0.00 0.000 6 0.000 0.051 2956 2104 1569

16440 1.33 311.3 158.8 7.9 787 16441 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2105 1569

16751 1.33 311.3 142.6 6.7 802 16753 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2104 1570

17060 1.33 311.3 111.5 12.1 817 17061 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2106 1570

17368 1.33 311.3 80.8 10.2 832 17373 0.00 2.40 0.00 0.000 4 0.000 0.066 2957 790 1571

17396 1.33 311.3 77.9 10.2 833 17400 0.00 2.33 0.00 0.000 6 0.000 0.051 2956 2099 1571

17713 1.33 311.3 50.4 8.8 848 17714 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2114 1571

18023 1.33 311.3 23.8 10.1 863 18024 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2103 1571

18225 end climb: SURFACE_DEPTH_REACHED

state 18225 begin surface coast

18267 end surface coast: CONTROL_FINISHED_OK

state 18267 begin surface

ID	5	HEADING	315	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	203	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	125
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	52	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-91232.906	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	2650	PRESSURE_YINT	-23.610077	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	2	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	013455,6050.336,-317.503,40,1.6,40,-6.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6058.036,-333.094
_XMS_NAKs	6	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	0.88	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-55.6	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	014050,6050.400,-317.360,14,1.7,14,-6.0	MHEAD_RNG_PITCHd_Wd	321.0,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	-0.0,1.027324	ALTIM_BOTTOM_PING	625.9,68.2
SM_CCo	18350,0.00,0.000,0,0,1570,309.57	_24V_AH	23.8,35.795
SM_GC	1.01,11.02,0.00,0.00,0.040,0.000,0.000,420,1998,1570,-10.16,-0.06,309.57	_10V_AH	10.1,17.401
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44304,875
TT8_MAMPS	0.028379	CAP_FILE_SIZE	127137,0
HUMID	1799	CFSIZE	254472192,239980544
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
XPDR_PINGS	500	GPS	181208,064808,6054.599,-319.786,30,1.5,30,-6.0
ALTIM_TOP_PING	19.1,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	133	79.25	SBE_CT	646	24	369.56
Roll_motor	122	86	251.86	SBE_O2	590	19	266.89
VBD_pump_during_apogee	387	1332	12289.32	WL_BB2F	498	105	1244.73
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	37	103	92.58	nil	0	0	0.00
Iridium_during_connect	24	160	94.51	nil	0	0	0.00
Iridium_during_xfer	172	223	913.81
Transponder_ping	130	420	1306.98
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.39
TT8	1581	19	316.35
LPSleep	14245	2	315.09
TT8_Active	524	19	104.84
TT8_Sampling	1815	39	729.83
TT8_CF8	540	45	250.10
TT8_Kalman	0	81	0.00
Analog_circuits	1450	12	175.83
GPS_charging	0	0	0.00
Compass	1781	8	143.92
RAFOS	0	0	0.00
Transponder	39	30	11.83

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	-0.97	-146.6	0.0	0.0	0	137	0.00	0.00	-114.72	0.000	6	0.000	0.000	421	1976	3431
141	-0.97	-146.6	7.1	-6.9	6	157	10.40	2.47	0.00	0.000	4	0.133	0.057	2430	594	3432
348	-0.60	-146.6	44.9	-12.5	14	354	0.43	2.50	0.00	0.000	6	0.082	0.050	2519	2004	3432
667	-0.49	-146.6	78.5	-12.5	29	668	0.10	0.00	0.00	0.000	6	0.093	0.000	2541	2008	3432
974	-0.42	-146.6	111.3	-8.3	44	975	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2022	3432
1283	-0.37	-146.6	136.8	-12.1	59	1288	0.15	2.58	0.00	0.000	4	0.085	0.064	2573	598	3432
1340	-0.43	-146.6	143.4	-9.9	61	1346	0.00	2.47	0.00	0.000	6	0.000	0.050	2573	1999	3432
1655	-0.43	-146.6	171.5	-8.4	77	1656	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2010	3432
1965	-0.43	-146.6	191.5	-5.6	92	1966	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2006	3432
2274	-0.43	-146.6	211.6	-5.7	107	2276	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2020	3432
2583	-0.43	-146.6	233.8	-5.2	122	2584	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2012	3432
2893	-0.43	-146.6	250.5	-5.2	137	2895	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2011	3432
3202	-0.43	-146.6	270.6	-7.1	152	3203	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2010	3432
3511	-0.43	-146.6	291.1	-6.8	167	3512	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2011	3432
3820	-0.47	-146.6	311.2	-6.3	182	3825	0.12	2.58	0.00	0.000	4	0.054	0.064	2536	593	3432
3854	-0.40	-146.6	313.9	-8.4	183	3861	0.12	2.47	0.00	0.000	6	0.090	0.051	2563	1996	3432
4170	-0.40	-146.6	334.7	-6.6	199	4171	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	1996	3431
4480	-0.40	-146.6	355.8	-6.6	214	4481	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	1996	3432
4788	-0.40	-146.6	377.0	-7.2	229	4790	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1996	3431
5098	-0.40	-146.6	399.8	-7.7	244	5099	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1996	3431
5407	-0.40	-146.6	422.6	-6.6	259	5409	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1996	3431
5716	-0.40	-146.6	442.9	-6.3	274	5718	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1996	3431
6026	-0.40	-146.6	464.4	-7.2	289	6030	0.00	2.55	0.00	0.000	4	0.000	0.065	2562	591	3431
6088	-0.40	-146.6	469.1	-8.3	292	6092	0.00	2.45	0.00	0.000	6	0.000	0.050	2563	1981	3432
6414	-0.40	-146.6	488.5	-6.4	308	6415	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	1981	3432
6724	-0.40	-146.6	507.2	-5.8	323	6728	0.00	2.53	0.00	0.000	4	0.000	0.067	2563	597	3431
6796	-0.40	-146.6	512.2	-6.8	326	6800	0.00	2.45	0.00	0.000	6	0.000	0.051	2562	1982	3431
7118	-0.40	-146.6	532.5	-6.2	342	7122	0.00	2.55	0.00	0.000	4	0.000	0.065	2563	3403	3431
7186	-0.46	-146.6	537.0	-6.7	345	7191	0.00	2.55	0.00	0.000	6	0.000	0.055	2562	1978	3431
7508	-0.51	-146.6	560.1	-7.7	361	7513	0.12	2.50	0.00	0.000	4	0.057	0.068	2523	584	3431
7575	-0.43	-146.6	566.2	-8.7	364	7580	0.15	2.47	0.00	0.000	6	0.086	0.054	2556	1975	3431
7897	-0.43	-146.6	579.7	-3.6	380	7898	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1975	3431
8205	-0.43	-146.6	596.8	-6.8	395	8207	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	1976	3431
8515	-0.43	-146.6	619.1	-6.4	410	8519	0.00	2.60	0.00	0.000	4	0.000	0.074	2555	3402	3430
8582	-0.48	-146.6	623.8	-7.4	413	8587	0.00	2.62	0.00	0.000	6	0.000	0.066	2555	1971	3430
8903	-0.48	-146.6	646.8	-7.2	429	8907	0.00	2.65	0.00	0.000	4	0.000	0.076	2555	3403	3429
8969	-0.54	-146.6	651.9	-7.1	432	8974	0.12	2.60	0.00	0.000	6	0.066	0.065	2522	1982	3429
9291	-0.49	-146.6	674.8	-6.6	448	9296	0.10	2.67	0.00	0.000	4	0.103	0.077	2543	3408	3427
9370	-0.49	-146.6	680.5	-7.8	451	9376	0.00	2.60	0.00	0.000	6	0.000	0.067	2542	1992	3427
9436	end dive: BOTTOM_OBSTACLE_DETECTED
state	9436	begin apogee
9444	-0.33	0.0	684.7	6.3	455	9570	0.15	0.00	124.05	1.332	6	0.097	0.000	2575	2199	2832
9571	end apogee: CONTROL_FINISHED_OK
state	9571	begin climb
9574	0.97	146.6	690.6	0.0	461	9707	1.35	2.75	123.32	1.296	4	0.078	0.084	2856	3595	2234
9745	1.13	190.0	685.8	4.8	469	9789	0.17	2.62	37.67	1.246	6	0.055	0.072	2900	2200	2057
10101	1.23	250.2	668.0	4.4	486	10158	0.00	2.72	51.25	1.271	4	0.000	0.087	2900	788	1811
10209	1.28	250.2	661.5	6.2	490	10214	0.12	2.62	0.00	0.000	6	0.063	0.069	2934	2188	1812
10530	1.28	250.2	639.7	6.9	506	10535	0.00	2.67	0.00	0.000	4	0.000	0.086	2934	3606	1812
10574	1.28	250.2	636.1	8.4	508	10579	0.00	2.65	0.00	0.000	6	0.000	0.074	2934	2194	1812
10896	1.28	250.2	612.6	7.2	524	10900	0.00	2.65	0.00	0.000	4	0.000	0.084	2934	783	1812
10946	1.23	250.2	608.4	8.1	526	10950	0.00	2.60	0.00	0.000	6	0.000	0.069	2934	2186	1812
11262	1.23	250.2	584.7	7.3	541	11267	0.00	2.65	0.00	0.000	4	0.000	0.082	2934	790	1811
11313	1.23	250.2	580.8	7.2	543	11317	0.00	2.58	0.00	0.000	6	0.000	0.068	2934	2180	1811
11629	1.23	250.2	557.3	8.2	558	11633	0.00	2.62	0.00	0.000	4	0.000	0.081	2934	790	1811
11685	1.19	250.2	551.8	9.7	560	11692	0.12	2.50	0.00	0.000	6	0.097	0.070	2909	2149	1811
12001	1.25	250.2	525.7	6.2	576	12002	0.00	0.00	0.00	0.000	6	0.000	0.000	2909	2149	1811
12311	1.40	311.3	511.0	4.3	591	12368	0.17	2.65	51.28	1.247	4	0.057	0.077	2956	788	1562
12427	1.33	311.3	504.1	6.1	595	12432	0.00	2.50	0.00	0.000	6	0.000	0.063	2956	2152	1562
12743	1.33	311.3	475.5	13.6	610	12747	0.00	2.55	0.00	0.000	4	0.000	0.074	2957	790	1562
12793	1.33	311.3	467.7	15.2	612	12797	0.00	2.45	0.00	0.000	6	0.000	0.060	2956	2136	1562
13109	1.33	311.3	432.2	6.6	627	13110	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2137	1563
13418	1.33	311.3	416.4	6.1	642	13422	0.00	2.47	0.00	0.000	4	0.000	0.069	2956	787	1563
13474	1.33	311.3	412.3	7.4	644	13478	0.00	2.42	0.00	0.000	6	0.000	0.054	2957	2134	1563
13789	1.33	311.3	383.4	9.5	659	13794	0.00	2.47	0.00	0.000	4	0.000	0.068	2957	789	1564
13823	1.33	311.3	380.1	9.4	660	13830	0.00	2.38	0.00	0.000	6	0.000	0.054	2956	2121	1564
14139	1.33	311.3	352.0	8.2	676	14140	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2120	1565
14448	1.33	311.3	329.9	6.6	691	14452	0.00	2.42	0.00	0.000	4	0.000	0.067	2956	787	1566
14481	1.33	311.3	327.0	8.6	692	14485	0.00	2.38	0.00	0.000	6	0.000	0.051	2956	2121	1566
14797	1.33	311.3	303.4	7.0	707	14798	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2122	1566
15106	1.33	311.3	279.7	9.2	722	15110	0.00	2.45	0.00	0.000	4	0.000	0.067	2957	785	1567
15133	1.33	311.3	277.0	9.6	723	15137	0.00	2.35	0.00	0.000	6	0.000	0.051	2957	2106	1567
15454	1.33	311.3	250.9	8.3	739	15455	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2106	1568
15763	1.33	311.3	222.6	9.3	754	15764	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2107	1569
16072	1.33	311.3	195.0	9.6	769	16077	0.00	2.42	0.00	0.000	4	0.000	0.067	2957	783	1569
16113	1.33	311.3	190.7	10.3	771	16118	0.00	2.35	0.00	0.000	6	0.000	0.051	2956	2104	1569
16440	1.33	311.3	158.8	7.9	787	16441	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2105	1569
16751	1.33	311.3	142.6	6.7	802	16753	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2104	1570
17060	1.33	311.3	111.5	12.1	817	17061	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2106	1570
17368	1.33	311.3	80.8	10.2	832	17373	0.00	2.40	0.00	0.000	4	0.000	0.066	2957	790	1571
17396	1.33	311.3	77.9	10.2	833	17400	0.00	2.33	0.00	0.000	6	0.000	0.051	2956	2099	1571
17713	1.33	311.3	50.4	8.8	848	17714	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2114	1571
18023	1.33	311.3	23.8	10.1	863	18024	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2103	1571
18225	end climb: SURFACE_DEPTH_REACHED
state	18225	begin surface coast
18267	end surface coast: CONTROL_FINISHED_OK
state	18267	begin surface