Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 263 * 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 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 263 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 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 -92422.625 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 2700 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 -92422.625

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

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 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 2700 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 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 263 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 195438,6046.446,-534.150,42,1.3,42,-7.2 TGT_NAME FSCS_SE

_CALLS 1 TGT_LATLONG 6010.000,-425.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.26 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -60.9 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 200026,6046.430,-534.339,16,1.5,16,-7.2 MHEAD_RNG_PITCHd_Wd 143.8,92914,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027492 ALTIM_BOTTOM_PING 600.6,76.4

SM_CCo 19533,0.00,0.000,0,0,1680,282.59 _24V_AH 23.7,45.798

SM_GC 1.14,11.05,0.00,0.00,0.040,0.000,0.000,420,1977,1680,-10.40,-0.59,282.59 _10V_AH 10.1,22.520

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47393,935

TT8_MAMPS 0.028379 CAP_FILE_SIZE 134983,0

HUMID 1805 CFSIZE 254472192,236257280

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,44,0,0

XPDR_PINGS 217 GPS 010109,012737,6044.467,-528.090,41,1.4,41,-7.1

ALTIM_TOP_PING 19.7,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 80.41 SBE_CT 693 24 394.47

Roll_motor 155 92 341.26 SBE_O2 631 19 284.55

VBD_pump_during_apogee 384 1402 12796.09 WL_BB2F 570 105 1419.53

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 92.16 nil 0 0 0.00

Iridium_during_connect 27 160 103.08 nil 0 0 0.00

Iridium_during_xfer 147 223 779.29

Transponder_ping 59 420 594.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.33

TT8 1683 19 336.76

LPSleep 15232 2 336.93

TT8_Active 510 19 102.04

TT8_Sampling 1898 39 763.10

TT8_CF8 553 45 256.21

TT8_Kalman 0 81 0.00

Analog_circuits 1479 12 179.34

GPS_charging 0 0 0.00

Compass 1858 8 150.13

RAFOS 0 0 0.00

Transponder 37 30 11.36

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 -0.97 -146.6 0.0 0.0 0 99 0.00 0.00 -81.25 0.000 2 0.000 0.000 420 1976 3385

102 -0.97 -146.6 4.7 -5.5 4 125 10.75 2.58 -1.02 0.000 4 0.138 0.072 2480 587 3430

283 -0.77 -146.6 35.9 -12.4 12 288 0.25 2.55 0.00 0.000 6 0.087 0.051 2532 2018 3431

611 -0.69 -146.6 63.2 -6.7 28 612 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2027 3431

921 -0.61 -146.6 89.1 -8.2 43 926 0.15 2.62 0.00 0.000 4 0.090 0.064 2565 589 3432

948 -0.61 -146.6 91.8 -8.8 44 952 0.00 2.53 0.00 0.000 6 0.000 0.052 2564 2006 3432

1266 -0.61 -146.6 115.8 -7.5 59 1267 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2006 3432

1574 -0.61 -146.6 138.4 -7.3 74 1575 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2006 3432

1882 -0.61 -146.6 162.0 -7.8 89 1883 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2006 3432

2191 -0.61 -146.6 184.8 -7.4 104 2193 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2006 3432

2501 -0.61 -146.6 207.6 -7.3 119 2502 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2006 3432

2810 -0.61 -146.6 229.3 -7.2 134 2814 0.00 2.53 0.00 0.000 4 0.000 0.065 2565 3408 3432

2831 -0.61 -146.6 231.1 -7.5 135 2836 0.00 2.55 0.00 0.000 6 0.000 0.051 2564 1979 3432

3154 -0.61 -146.6 253.6 -6.8 151 3158 0.00 2.60 0.00 0.000 4 0.000 0.063 2564 3406 3432

3175 -0.61 -146.6 255.1 -6.5 152 3180 0.00 2.53 0.00 0.000 6 0.000 0.051 2564 1990 3432

3498 -0.61 -146.6 275.9 -6.6 168 3499 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 1990 3432

3806 -0.61 -146.6 298.5 -7.1 183 3811 0.00 2.53 0.00 0.000 4 0.000 0.069 2564 586 3432

3840 -0.66 -146.6 301.3 -8.1 184 3846 0.00 2.53 0.00 0.000 6 0.000 0.054 2564 2008 3432

4156 -0.66 -146.6 323.6 -6.9 200 4160 0.00 2.53 0.00 0.000 4 0.000 0.067 2564 3408 3432

4190 -0.70 -146.6 325.8 -6.5 201 4195 0.00 2.53 0.00 0.000 6 0.000 0.054 2564 2000 3432

4507 -0.70 -146.6 343.9 -5.3 216 4511 0.00 2.60 0.00 0.000 4 0.000 0.067 2564 3411 3432

4551 -0.77 -146.6 346.7 -6.8 218 4556 0.15 2.53 0.00 0.000 6 0.057 0.055 2524 2005 3432

4873 -0.69 -146.6 369.9 -7.5 234 4878 0.12 2.58 0.00 0.000 4 0.091 0.073 2551 589 3432

4946 -0.69 -146.6 374.9 -6.7 237 4951 0.00 2.55 0.00 0.000 6 0.000 0.057 2551 2014 3432

5268 -0.69 -146.6 396.6 -7.3 253 5272 0.00 2.55 0.00 0.000 4 0.000 0.074 2551 3408 3431

5295 -0.69 -146.6 398.8 -7.6 254 5299 0.00 2.58 0.00 0.000 6 0.000 0.062 2551 1995 3431

5610 -0.69 -146.6 422.6 -7.6 269 5615 0.00 2.62 0.00 0.000 4 0.000 0.077 2551 3409 3431

5633 -0.69 -146.6 424.2 -6.8 270 5637 0.00 2.55 0.00 0.000 6 0.000 0.064 2551 2013 3431

5954 -0.69 -146.6 446.5 -6.5 286 5955 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2012 3430

6263 -0.69 -146.6 466.7 -6.6 301 6264 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2012 3429

6573 -0.69 -146.6 488.9 -7.1 316 6575 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2012 3428

6882 -0.69 -146.6 508.8 -6.1 331 6886 0.00 2.62 0.00 0.000 4 0.000 0.081 2550 3404 3427

6909 -0.69 -146.6 510.9 -7.2 332 6913 0.00 2.55 0.00 0.000 6 0.000 0.070 2551 2022 3427

7226 -0.69 -146.6 528.2 -5.3 347 7227 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2021 3425

7534 -0.69 -146.6 548.5 -6.7 362 7535 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2020 3425

7843 -0.69 -146.6 569.1 -6.8 377 7844 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2020 3423

8153 -0.69 -146.6 590.7 -7.1 392 8157 0.00 2.65 0.00 0.000 4 0.000 0.088 2551 3410 3422

8180 -0.69 -146.6 592.9 -8.4 393 8184 0.00 2.58 0.00 0.000 6 0.000 0.074 2551 2028 3422

8496 -0.69 -146.6 613.4 -6.8 408 8497 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2027 3421

8805 -0.69 -146.6 635.3 -6.6 423 8807 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2026 3420

9114 -0.69 -146.6 655.6 -6.1 438 9115 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2027 3420

9318 end dive: BOTTOM_OBSTACLE_DETECTED

state 9318 begin apogee

9325 -0.33 0.0 668.3 5.7 448 9455 0.35 0.00 127.32 1.403 6 0.090 0.000 2623 2202 2832

9456 end apogee: CONTROL_FINISHED_OK

state 9456 begin climb

9459 0.97 146.6 672.5 0.0 454 9597 1.35 2.78 128.88 1.349 4 0.082 0.087 2905 3604 2234

9639 1.03 189.4 670.2 4.8 462 9684 0.00 2.65 38.90 1.301 6 0.000 0.074 2905 2200 2059

10004 1.13 246.2 652.8 4.4 480 10060 0.17 2.78 50.42 1.312 4 0.063 0.093 2948 791 1828

10173 1.03 246.2 640.2 8.3 487 10180 0.12 2.65 0.00 0.000 6 0.101 0.073 2926 2199 1828

10489 1.03 246.2 619.2 6.2 503 10494 0.00 2.72 0.00 0.000 4 0.000 0.091 2926 791 1830

10533 1.03 246.2 615.7 8.4 505 10538 0.00 2.62 0.00 0.000 6 0.000 0.074 2926 2190 1830

10856 1.03 246.2 593.3 6.7 521 10860 0.00 2.70 0.00 0.000 4 0.000 0.090 2926 790 1830

10877 1.03 246.2 591.8 6.2 522 10881 0.00 2.60 0.00 0.000 6 0.000 0.073 2926 2177 1829

11198 1.03 246.2 570.6 7.3 538 11203 0.00 2.67 0.00 0.000 4 0.000 0.089 2926 790 1829

11219 1.03 246.2 568.8 7.9 539 11224 0.00 2.58 0.00 0.000 6 0.000 0.073 2926 2165 1829

11541 1.03 246.2 549.2 6.8 555 11542 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2165 1829

11849 1.03 246.2 529.2 7.0 570 11854 0.00 2.62 0.00 0.000 4 0.000 0.089 2926 794 1829

11884 1.03 246.2 526.7 7.4 571 11890 0.00 2.55 0.00 0.000 6 0.000 0.073 2926 2162 1829

12200 1.03 246.2 506.8 6.3 587 12201 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2162 1829

12508 1.03 246.2 487.8 6.2 602 12513 0.00 2.62 0.00 0.000 4 0.000 0.088 2926 787 1828

12548 1.03 246.2 485.2 6.8 604 12552 0.00 2.55 0.00 0.000 6 0.000 0.071 2926 2160 1828

12875 1.03 246.2 466.0 6.0 620 12876 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2160 1828

13184 1.04 251.3 447.6 5.9 635 13197 0.00 2.65 6.38 1.068 4 0.000 0.085 2926 794 1806

13232 1.04 251.3 444.3 6.3 637 13236 0.00 2.53 0.00 0.000 6 0.000 0.072 2926 2143 1806

13553 1.05 256.4 425.5 5.9 653 13561 0.00 0.00 6.25 1.055 6 0.000 0.000 2926 2143 1786

13862 1.05 256.4 407.0 6.1 668 13866 0.00 2.75 0.00 0.000 4 0.000 0.085 2926 3609 1785

13889 1.05 256.4 405.0 7.6 669 13894 0.00 2.75 0.00 0.000 6 0.000 0.072 2926 2136 1785

14205 1.05 256.4 383.6 6.8 684 14209 0.00 2.50 0.00 0.000 4 0.000 0.085 2926 788 1785

14232 1.05 256.4 381.6 6.7 685 14237 0.00 2.50 0.00 0.000 6 0.000 0.068 2926 2141 1785

14555 1.09 282.4 363.5 5.3 701 14585 0.00 2.83 23.10 1.183 4 0.000 0.080 2926 3595 1680

14609 1.15 282.4 360.0 6.6 703 14614 0.10 2.70 0.00 0.000 6 0.071 0.067 2950 2150 1680

14925 1.15 282.4 338.5 6.9 718 14929 0.00 2.53 0.00 0.000 4 0.000 0.081 2950 790 1680

14982 1.09 282.4 333.9 8.5 720 14986 0.00 2.50 0.00 0.000 6 0.000 0.064 2950 2148 1680

15298 1.09 282.4 310.6 7.5 735 15302 0.00 2.55 0.00 0.000 4 0.000 0.076 2950 791 1680

15325 1.09 282.4 308.2 9.0 736 15329 0.00 2.45 0.00 0.000 6 0.000 0.063 2950 2129 1680

15641 1.09 282.4 285.3 7.0 751 15643 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2129 1680

15950 1.09 282.4 261.3 7.8 766 15954 0.00 2.50 0.00 0.000 4 0.000 0.073 2950 787 1681

15973 1.09 282.4 259.3 8.5 767 15977 0.00 2.42 0.00 0.000 6 0.000 0.060 2950 2122 1681

16300 1.09 282.4 233.9 7.7 783 16301 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2123 1682

16609 1.09 282.4 210.7 7.4 798 16610 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2123 1683

16918 1.09 282.4 186.6 7.7 813 16919 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2122 1684

17228 1.09 282.4 162.5 7.7 828 17229 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2123 1685

17537 1.09 282.4 139.1 7.5 843 17541 0.00 2.45 0.00 0.000 4 0.000 0.070 2950 793 1686

17558 1.09 282.4 137.2 8.8 844 17562 0.00 2.38 0.00 0.000 6 0.000 0.055 2950 2116 1685

17881 1.09 282.4 114.4 6.9 860 17882 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2116 1686

18189 1.09 282.4 92.1 7.1 875 18190 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2116 1687

18498 1.09 282.4 71.0 6.7 890 18503 0.00 2.45 0.00 0.000 4 0.000 0.068 2950 784 1688

18526 1.09 282.4 68.8 7.3 891 18530 0.00 2.38 0.00 0.000 6 0.000 0.053 2950 2114 1688

18843 1.09 282.4 45.9 8.0 906 18847 0.00 2.67 0.00 0.000 4 0.000 0.064 2950 3605 1688

18870 1.09 282.4 43.4 8.7 907 18874 0.00 2.70 0.00 0.000 6 0.000 0.051 2950 2093 1688

19186 1.09 282.4 15.9 8.8 922 19195 0.00 2.40 3.62 0.558 4 0.000 0.068 2950 793 1679

19213 1.09 282.4 13.8 8.1 923 19217 0.00 2.35 0.00 0.000 6 0.000 0.053 2950 2104 1680

19387 end climb: SURFACE_DEPTH_REACHED

state 19387 begin surface coast

19450 end surface coast: CONTROL_FINISHED_OK

state 19450 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	263	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	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	-92422.625	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	2700	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	195438,6046.446,-534.150,42,1.3,42,-7.2	TGT_NAME	FSCS_SE
_CALLS	1	TGT_LATLONG	6010.000,-425.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.26	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-60.9	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	200026,6046.430,-534.339,16,1.5,16,-7.2	MHEAD_RNG_PITCHd_Wd	143.8,92914,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.027492	ALTIM_BOTTOM_PING	600.6,76.4
SM_CCo	19533,0.00,0.000,0,0,1680,282.59	_24V_AH	23.7,45.798
SM_GC	1.14,11.05,0.00,0.00,0.040,0.000,0.000,420,1977,1680,-10.40,-0.59,282.59	_10V_AH	10.1,22.520
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47393,935
TT8_MAMPS	0.028379	CAP_FILE_SIZE	134983,0
HUMID	1805	CFSIZE	254472192,236257280
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
XPDR_PINGS	217	GPS	010109,012737,6044.467,-528.090,41,1.4,41,-7.1
ALTIM_TOP_PING	19.7,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	80.41	SBE_CT	693	24	394.47
Roll_motor	155	92	341.26	SBE_O2	631	19	284.55
VBD_pump_during_apogee	384	1402	12796.09	WL_BB2F	570	105	1419.53
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	92.16	nil	0	0	0.00
Iridium_during_connect	27	160	103.08	nil	0	0	0.00
Iridium_during_xfer	147	223	779.29
Transponder_ping	59	420	594.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.33
TT8	1683	19	336.76
LPSleep	15232	2	336.93
TT8_Active	510	19	102.04
TT8_Sampling	1898	39	763.10
TT8_CF8	553	45	256.21
TT8_Kalman	0	81	0.00
Analog_circuits	1479	12	179.34
GPS_charging	0	0	0.00
Compass	1858	8	150.13
RAFOS	0	0	0.00
Transponder	37	30	11.36

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	-0.97	-146.6	0.0	0.0	0	99	0.00	0.00	-81.25	0.000	2	0.000	0.000	420	1976	3385
102	-0.97	-146.6	4.7	-5.5	4	125	10.75	2.58	-1.02	0.000	4	0.138	0.072	2480	587	3430
283	-0.77	-146.6	35.9	-12.4	12	288	0.25	2.55	0.00	0.000	6	0.087	0.051	2532	2018	3431
611	-0.69	-146.6	63.2	-6.7	28	612	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2027	3431
921	-0.61	-146.6	89.1	-8.2	43	926	0.15	2.62	0.00	0.000	4	0.090	0.064	2565	589	3432
948	-0.61	-146.6	91.8	-8.8	44	952	0.00	2.53	0.00	0.000	6	0.000	0.052	2564	2006	3432
1266	-0.61	-146.6	115.8	-7.5	59	1267	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2006	3432
1574	-0.61	-146.6	138.4	-7.3	74	1575	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2006	3432
1882	-0.61	-146.6	162.0	-7.8	89	1883	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2006	3432
2191	-0.61	-146.6	184.8	-7.4	104	2193	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2006	3432
2501	-0.61	-146.6	207.6	-7.3	119	2502	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2006	3432
2810	-0.61	-146.6	229.3	-7.2	134	2814	0.00	2.53	0.00	0.000	4	0.000	0.065	2565	3408	3432
2831	-0.61	-146.6	231.1	-7.5	135	2836	0.00	2.55	0.00	0.000	6	0.000	0.051	2564	1979	3432
3154	-0.61	-146.6	253.6	-6.8	151	3158	0.00	2.60	0.00	0.000	4	0.000	0.063	2564	3406	3432
3175	-0.61	-146.6	255.1	-6.5	152	3180	0.00	2.53	0.00	0.000	6	0.000	0.051	2564	1990	3432
3498	-0.61	-146.6	275.9	-6.6	168	3499	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	1990	3432
3806	-0.61	-146.6	298.5	-7.1	183	3811	0.00	2.53	0.00	0.000	4	0.000	0.069	2564	586	3432
3840	-0.66	-146.6	301.3	-8.1	184	3846	0.00	2.53	0.00	0.000	6	0.000	0.054	2564	2008	3432
4156	-0.66	-146.6	323.6	-6.9	200	4160	0.00	2.53	0.00	0.000	4	0.000	0.067	2564	3408	3432
4190	-0.70	-146.6	325.8	-6.5	201	4195	0.00	2.53	0.00	0.000	6	0.000	0.054	2564	2000	3432
4507	-0.70	-146.6	343.9	-5.3	216	4511	0.00	2.60	0.00	0.000	4	0.000	0.067	2564	3411	3432
4551	-0.77	-146.6	346.7	-6.8	218	4556	0.15	2.53	0.00	0.000	6	0.057	0.055	2524	2005	3432
4873	-0.69	-146.6	369.9	-7.5	234	4878	0.12	2.58	0.00	0.000	4	0.091	0.073	2551	589	3432
4946	-0.69	-146.6	374.9	-6.7	237	4951	0.00	2.55	0.00	0.000	6	0.000	0.057	2551	2014	3432
5268	-0.69	-146.6	396.6	-7.3	253	5272	0.00	2.55	0.00	0.000	4	0.000	0.074	2551	3408	3431
5295	-0.69	-146.6	398.8	-7.6	254	5299	0.00	2.58	0.00	0.000	6	0.000	0.062	2551	1995	3431
5610	-0.69	-146.6	422.6	-7.6	269	5615	0.00	2.62	0.00	0.000	4	0.000	0.077	2551	3409	3431
5633	-0.69	-146.6	424.2	-6.8	270	5637	0.00	2.55	0.00	0.000	6	0.000	0.064	2551	2013	3431
5954	-0.69	-146.6	446.5	-6.5	286	5955	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2012	3430
6263	-0.69	-146.6	466.7	-6.6	301	6264	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2012	3429
6573	-0.69	-146.6	488.9	-7.1	316	6575	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2012	3428
6882	-0.69	-146.6	508.8	-6.1	331	6886	0.00	2.62	0.00	0.000	4	0.000	0.081	2550	3404	3427
6909	-0.69	-146.6	510.9	-7.2	332	6913	0.00	2.55	0.00	0.000	6	0.000	0.070	2551	2022	3427
7226	-0.69	-146.6	528.2	-5.3	347	7227	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2021	3425
7534	-0.69	-146.6	548.5	-6.7	362	7535	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2020	3425
7843	-0.69	-146.6	569.1	-6.8	377	7844	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2020	3423
8153	-0.69	-146.6	590.7	-7.1	392	8157	0.00	2.65	0.00	0.000	4	0.000	0.088	2551	3410	3422
8180	-0.69	-146.6	592.9	-8.4	393	8184	0.00	2.58	0.00	0.000	6	0.000	0.074	2551	2028	3422
8496	-0.69	-146.6	613.4	-6.8	408	8497	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2027	3421
8805	-0.69	-146.6	635.3	-6.6	423	8807	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2026	3420
9114	-0.69	-146.6	655.6	-6.1	438	9115	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2027	3420
9318	end dive: BOTTOM_OBSTACLE_DETECTED
state	9318	begin apogee
9325	-0.33	0.0	668.3	5.7	448	9455	0.35	0.00	127.32	1.403	6	0.090	0.000	2623	2202	2832
9456	end apogee: CONTROL_FINISHED_OK
state	9456	begin climb
9459	0.97	146.6	672.5	0.0	454	9597	1.35	2.78	128.88	1.349	4	0.082	0.087	2905	3604	2234
9639	1.03	189.4	670.2	4.8	462	9684	0.00	2.65	38.90	1.301	6	0.000	0.074	2905	2200	2059
10004	1.13	246.2	652.8	4.4	480	10060	0.17	2.78	50.42	1.312	4	0.063	0.093	2948	791	1828
10173	1.03	246.2	640.2	8.3	487	10180	0.12	2.65	0.00	0.000	6	0.101	0.073	2926	2199	1828
10489	1.03	246.2	619.2	6.2	503	10494	0.00	2.72	0.00	0.000	4	0.000	0.091	2926	791	1830
10533	1.03	246.2	615.7	8.4	505	10538	0.00	2.62	0.00	0.000	6	0.000	0.074	2926	2190	1830
10856	1.03	246.2	593.3	6.7	521	10860	0.00	2.70	0.00	0.000	4	0.000	0.090	2926	790	1830
10877	1.03	246.2	591.8	6.2	522	10881	0.00	2.60	0.00	0.000	6	0.000	0.073	2926	2177	1829
11198	1.03	246.2	570.6	7.3	538	11203	0.00	2.67	0.00	0.000	4	0.000	0.089	2926	790	1829
11219	1.03	246.2	568.8	7.9	539	11224	0.00	2.58	0.00	0.000	6	0.000	0.073	2926	2165	1829
11541	1.03	246.2	549.2	6.8	555	11542	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2165	1829
11849	1.03	246.2	529.2	7.0	570	11854	0.00	2.62	0.00	0.000	4	0.000	0.089	2926	794	1829
11884	1.03	246.2	526.7	7.4	571	11890	0.00	2.55	0.00	0.000	6	0.000	0.073	2926	2162	1829
12200	1.03	246.2	506.8	6.3	587	12201	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2162	1829
12508	1.03	246.2	487.8	6.2	602	12513	0.00	2.62	0.00	0.000	4	0.000	0.088	2926	787	1828
12548	1.03	246.2	485.2	6.8	604	12552	0.00	2.55	0.00	0.000	6	0.000	0.071	2926	2160	1828
12875	1.03	246.2	466.0	6.0	620	12876	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2160	1828
13184	1.04	251.3	447.6	5.9	635	13197	0.00	2.65	6.38	1.068	4	0.000	0.085	2926	794	1806
13232	1.04	251.3	444.3	6.3	637	13236	0.00	2.53	0.00	0.000	6	0.000	0.072	2926	2143	1806
13553	1.05	256.4	425.5	5.9	653	13561	0.00	0.00	6.25	1.055	6	0.000	0.000	2926	2143	1786
13862	1.05	256.4	407.0	6.1	668	13866	0.00	2.75	0.00	0.000	4	0.000	0.085	2926	3609	1785
13889	1.05	256.4	405.0	7.6	669	13894	0.00	2.75	0.00	0.000	6	0.000	0.072	2926	2136	1785
14205	1.05	256.4	383.6	6.8	684	14209	0.00	2.50	0.00	0.000	4	0.000	0.085	2926	788	1785
14232	1.05	256.4	381.6	6.7	685	14237	0.00	2.50	0.00	0.000	6	0.000	0.068	2926	2141	1785
14555	1.09	282.4	363.5	5.3	701	14585	0.00	2.83	23.10	1.183	4	0.000	0.080	2926	3595	1680
14609	1.15	282.4	360.0	6.6	703	14614	0.10	2.70	0.00	0.000	6	0.071	0.067	2950	2150	1680
14925	1.15	282.4	338.5	6.9	718	14929	0.00	2.53	0.00	0.000	4	0.000	0.081	2950	790	1680
14982	1.09	282.4	333.9	8.5	720	14986	0.00	2.50	0.00	0.000	6	0.000	0.064	2950	2148	1680
15298	1.09	282.4	310.6	7.5	735	15302	0.00	2.55	0.00	0.000	4	0.000	0.076	2950	791	1680
15325	1.09	282.4	308.2	9.0	736	15329	0.00	2.45	0.00	0.000	6	0.000	0.063	2950	2129	1680
15641	1.09	282.4	285.3	7.0	751	15643	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2129	1680
15950	1.09	282.4	261.3	7.8	766	15954	0.00	2.50	0.00	0.000	4	0.000	0.073	2950	787	1681
15973	1.09	282.4	259.3	8.5	767	15977	0.00	2.42	0.00	0.000	6	0.000	0.060	2950	2122	1681
16300	1.09	282.4	233.9	7.7	783	16301	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2123	1682
16609	1.09	282.4	210.7	7.4	798	16610	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2123	1683
16918	1.09	282.4	186.6	7.7	813	16919	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2122	1684
17228	1.09	282.4	162.5	7.7	828	17229	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2123	1685
17537	1.09	282.4	139.1	7.5	843	17541	0.00	2.45	0.00	0.000	4	0.000	0.070	2950	793	1686
17558	1.09	282.4	137.2	8.8	844	17562	0.00	2.38	0.00	0.000	6	0.000	0.055	2950	2116	1685
17881	1.09	282.4	114.4	6.9	860	17882	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2116	1686
18189	1.09	282.4	92.1	7.1	875	18190	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2116	1687
18498	1.09	282.4	71.0	6.7	890	18503	0.00	2.45	0.00	0.000	4	0.000	0.068	2950	784	1688
18526	1.09	282.4	68.8	7.3	891	18530	0.00	2.38	0.00	0.000	6	0.000	0.053	2950	2114	1688
18843	1.09	282.4	45.9	8.0	906	18847	0.00	2.67	0.00	0.000	4	0.000	0.064	2950	3605	1688
18870	1.09	282.4	43.4	8.7	907	18874	0.00	2.70	0.00	0.000	6	0.000	0.051	2950	2093	1688
19186	1.09	282.4	15.9	8.8	922	19195	0.00	2.40	3.62	0.558	4	0.000	0.068	2950	793	1679
19213	1.09	282.4	13.8	8.1	923	19217	0.00	2.35	0.00	0.000	6	0.000	0.053	2950	2104	1680
19387	end climb: SURFACE_DEPTH_REACHED
state	19387	begin surface coast
19450	end surface coast: CONTROL_FINISHED_OK
state	19450	begin surface