Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 410 * 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 410 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 2125 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 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -95400.523 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 -23.610077 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 0 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 0 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 -95400.523

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 2745 KALMAN_USE 2 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2125 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 5

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 410 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 011700,6124.048,-812.432,41,1.9,41,-8.8 TGT_NAME FBC_3

_CALLS 1 TGT_LATLONG 6130.000,-828.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.06 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -47.3 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 012344,6124.002,-812.514,14,1.6,14,-8.8 MHEAD_RNG_PITCHd_Wd 317.9,17625,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013646 ALTIM_BOTTOM_PING 725.4,72.6

SM_CCo 21178,0.00,0.000,0,0,1257,386.35 _24V_AH 23.4,72.778

SM_GC 1.34,11.25,0.00,0.00,0.039,0.000,0.000,419,1978,1257,-10.61,-0.59,386.35 _10V_AH 10.1,36.211

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50603,1019

TT8_MAMPS 0.029146 CAP_FILE_SIZE 139880,0

HUMID 1819 CFSIZE 254472192,226209792

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,34,0,0

XPDR_PINGS 65 GPS 070209,071827,6128.670,-823.285,28,4.0,47,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 80.23 SBE_CT 756 24 424.84

Roll_motor 131 89 275.24 SBE_O2 687 19 305.62

VBD_pump_during_apogee 487 1457 16610.51 WL_BB2F 599 105 1472.55

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 90.99 nil 0 0 0.00

Iridium_during_connect 27 160 103.62 nil 0 0 0.00

Iridium_during_xfer 192 223 1007.02

Transponder_ping 22 420 223.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.34

TT8 1803 19 360.58

LPSleep 16473 2 364.38

TT8_Active 677 19 135.41

TT8_Sampling 1991 39 800.70

TT8_CF8 627 45 290.36

TT8_Kalman 0 81 0.00

Analog_circuits 1676 12 203.14

GPS_charging 0 0 0.00

Compass 1954 8 157.93

RAFOS 0 0 0.00

Transponder 43 30 13.26

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 0 159 0.00 0.00 -141.40 0.000 2 0.000 0.000 423 1964 3372

163 -0.97 -146.6 5.1 -4.4 7 186 11.05 2.72 -1.25 0.000 4 0.135 0.074 2527 3423 3431

306 -0.91 -146.6 36.2 -14.6 13 311 0.00 2.58 0.00 0.000 6 0.000 0.050 2527 1987 3431

629 -0.81 -146.6 64.9 -7.2 29 631 0.20 0.00 0.00 0.000 6 0.086 0.000 2569 1985 3432

937 -0.81 -146.6 87.5 -8.5 44 938 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1985 3432

1248 -0.81 -146.6 111.1 -6.8 59 1249 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1985 3432

1557 -0.81 -146.6 130.7 -6.1 74 1558 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1985 3432

1866 -0.81 -146.6 151.5 -6.9 89 1867 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1985 3431

2174 -0.81 -146.6 177.5 -6.5 104 2178 0.00 2.60 0.00 0.000 4 0.000 0.061 2569 3412 3432

2214 -0.81 -146.6 180.1 -7.1 106 2218 0.00 2.53 0.00 0.000 6 0.000 0.051 2569 1998 3432

2545 -0.81 -146.6 200.5 -6.2 122 2549 0.00 2.50 0.00 0.000 4 0.000 0.064 2569 595 3432

2611 -0.81 -146.6 204.6 -6.8 125 2616 0.00 2.50 0.00 0.000 6 0.000 0.051 2569 2004 3431

2934 -0.81 -146.6 221.0 -4.8 141 2935 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2004 3431

3242 -0.81 -146.6 235.8 -4.4 156 3243 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2004 3431

3551 -0.81 -146.6 261.8 -9.0 171 3555 0.00 2.58 0.00 0.000 4 0.000 0.065 2569 587 3431

3591 -0.81 -146.6 265.6 -10.3 173 3596 0.00 2.53 0.00 0.000 6 0.000 0.053 2569 1997 3431

3917 -0.81 -146.6 296.5 -10.5 189 3922 0.00 2.53 0.00 0.000 4 0.000 0.062 2569 3405 3431

3958 -0.87 -146.6 301.4 -11.6 191 3963 0.00 2.53 0.00 0.000 6 0.000 0.051 2569 1990 3431

4286 -0.87 -146.6 336.8 -11.8 207 4287 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1989 3431

4595 -0.92 -146.6 368.3 -7.9 222 4600 0.12 2.50 0.00 0.000 4 0.056 0.062 2534 583 3431

4652 -0.85 -146.6 372.1 -6.5 224 4659 0.12 2.53 0.00 0.000 6 0.088 0.051 2560 1998 3431

4968 -0.85 -146.6 403.5 -10.6 240 4969 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2010 3431

5277 -0.85 -146.6 428.3 -7.2 255 5278 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2010 3431

5587 -0.85 -146.6 452.5 -7.5 270 5588 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2010 3431

5895 -0.85 -146.6 474.4 -7.0 285 5897 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2010 3431

6205 -0.85 -146.6 494.2 -5.9 300 6206 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2010 3431

6515 -0.85 -146.6 515.6 -6.4 315 6519 0.00 2.58 0.00 0.000 4 0.000 0.065 2560 592 3431

6542 -0.85 -146.6 517.4 -5.6 316 6547 0.00 2.47 0.00 0.000 6 0.000 0.053 2560 1984 3431

6859 -0.85 -146.6 533.3 -5.6 331 6860 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1985 3431

7169 -0.85 -146.6 556.5 -7.8 346 7170 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1985 3431

7477 -0.85 -146.6 580.2 -8.1 361 7478 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1985 3431

7787 -0.85 -146.6 602.0 -6.0 376 7791 0.00 2.60 0.00 0.000 4 0.000 0.074 2560 3406 3431

7827 -0.90 -146.6 604.4 -6.6 378 7832 0.00 2.60 0.00 0.000 6 0.000 0.062 2560 1977 3431

8154 -0.90 -146.6 623.2 -5.7 394 8159 0.00 2.55 0.00 0.000 4 0.000 0.077 2560 582 3430

8210 -0.94 -146.6 627.1 -7.1 396 8217 0.00 2.53 0.00 0.000 6 0.000 0.064 2560 1973 3430

8528 -0.98 -146.6 651.9 -8.1 412 8533 0.15 2.65 0.00 0.000 4 0.056 0.077 2520 3409 3429

8595 -0.91 -146.6 658.5 -9.9 415 8600 0.12 2.65 0.00 0.000 6 0.100 0.069 2545 1976 3429

8918 -0.91 -146.6 686.0 -8.4 431 8919 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 1976 3429

9226 -0.91 -146.6 710.0 -7.6 446 9231 0.00 2.72 0.00 0.000 4 0.000 0.084 2545 3410 3427

9259 -0.91 -146.6 712.6 -7.7 447 9265 0.00 2.65 0.00 0.000 6 0.000 0.073 2545 1987 3427

9576 -0.91 -146.6 731.5 -5.8 463 9581 0.00 2.70 0.00 0.000 4 0.000 0.084 2545 3408 3426

9609 -0.91 -146.6 733.5 -6.1 464 9615 0.00 2.65 0.00 0.000 6 0.000 0.073 2545 1987 3425

9925 -0.91 -146.6 747.5 -3.6 480 9926 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 1972 3424

10235 -0.87 -146.6 774.9 -9.3 495 10236 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 1973 3422

10375 end dive: BOTTOM_OBSTACLE_DETECTED

state 10375 begin apogee

10383 -0.33 0.0 789.2 9.6 502 10520 0.60 0.00 133.62 1.457 6 0.087 0.000 2667 2144 2832

10520 end apogee: CONTROL_FINISHED_OK

state 10520 begin climb

10524 0.97 146.6 794.9 0.0 509 10670 1.38 2.78 134.35 1.410 4 0.085 0.085 2951 3524 2234

10825 0.80 146.6 781.6 7.2 522 10832 0.17 2.67 0.00 0.000 6 0.096 0.077 2918 2119 2233

11142 0.80 146.6 764.0 6.4 538 11146 0.00 2.67 0.00 0.000 4 0.000 0.090 2917 705 2232

11182 0.74 157.3 761.8 5.7 540 11198 0.00 2.65 11.00 1.256 6 0.000 0.075 2918 2122 2190

11511 0.76 196.9 744.6 4.9 555 11555 0.00 2.80 36.83 1.394 4 0.000 0.087 2917 3535 2028

11579 0.76 196.9 739.5 6.1 558 11583 0.00 2.70 0.00 0.000 6 0.000 0.078 2917 2130 2029

11894 0.76 196.9 720.1 6.3 573 11899 0.00 2.70 0.00 0.000 4 0.000 0.089 2917 705 2027

11940 0.76 196.9 717.4 6.4 575 11944 0.00 2.70 0.00 0.000 6 0.000 0.075 2917 2140 2027

12261 0.77 202.7 700.4 5.8 591 12270 0.00 0.00 6.57 1.160 6 0.000 0.000 2917 2141 2005

12570 0.77 202.7 679.4 7.3 606 12575 0.00 2.75 0.00 0.000 4 0.000 0.089 2917 706 2005

12612 0.77 202.7 676.3 7.5 608 12617 0.00 2.67 0.00 0.000 6 0.000 0.075 2917 2132 2005

12940 0.80 223.9 656.1 5.4 624 12962 0.00 0.00 20.42 1.356 6 0.000 0.000 2917 2132 1918

13270 0.80 223.9 636.7 6.1 640 13274 0.00 2.72 0.00 0.000 4 0.000 0.088 2917 707 1919

13336 0.80 223.9 632.1 6.5 643 13340 0.00 2.67 0.00 0.000 6 0.000 0.074 2917 2132 1919

13657 0.80 223.9 606.5 8.7 659 13658 0.00 0.00 0.00 0.000 6 0.000 0.000 2917 2133 1920

13967 0.81 231.5 584.7 5.8 674 13981 0.00 2.72 8.70 1.200 4 0.000 0.082 2917 3534 1888

14016 0.81 231.5 581.3 6.7 676 14021 0.00 2.65 0.00 0.000 6 0.000 0.069 2918 2118 1888

14338 0.92 301.0 566.2 4.1 692 14402 0.12 0.00 61.92 1.318 6 0.064 0.000 2950 2118 1604

14708 0.92 301.0 542.7 6.8 710 14709 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2118 1605

15018 0.92 301.0 519.9 8.0 725 15019 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2118 1605

15325 0.92 301.0 496.1 6.7 740 15327 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2117 1606

15636 0.92 301.0 472.8 7.9 755 15637 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2117 1607

15944 0.92 301.0 450.0 6.8 770 15948 0.00 2.62 0.00 0.000 4 0.000 0.064 2950 3542 1608

15965 0.92 301.0 447.8 9.4 771 15970 0.00 2.58 0.00 0.000 6 0.000 0.057 2950 2120 1608

16287 0.92 301.0 411.3 12.5 787 16288 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2111 1609

16595 0.92 301.0 372.6 12.1 802 16596 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2111 1610

16905 0.92 301.0 344.0 7.8 817 16906 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2111 1611

17215 0.92 301.0 321.0 8.3 832 17216 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2111 1611

17523 0.92 301.0 293.7 10.1 847 17524 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2111 1612

17832 0.92 301.0 270.0 8.1 862 17834 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2111 1613

18143 0.92 301.0 242.7 8.9 877 18152 0.00 2.58 3.75 0.630 4 0.000 0.065 2950 715 1604

18170 0.92 301.0 240.3 8.2 878 18174 0.00 2.55 0.00 0.000 6 0.000 0.052 2950 2139 1604

18491 0.92 301.0 210.3 9.3 894 18495 0.00 2.62 0.00 0.000 4 0.000 0.066 2950 705 1604

18519 0.92 301.0 207.5 9.7 895 18523 0.00 2.55 0.00 0.000 6 0.000 0.054 2950 2129 1604

18834 0.92 301.0 178.8 6.3 910 18839 0.00 2.53 0.00 0.000 4 0.000 0.063 2950 3530 1605

18868 0.92 301.0 176.3 6.5 911 18874 0.00 2.50 0.00 0.000 6 0.000 0.051 2950 2129 1605

19184 0.92 301.0 149.3 10.1 927 19188 0.00 2.55 0.00 0.000 4 0.000 0.066 2950 707 1605

19218 0.92 301.0 145.4 13.1 928 19222 0.00 2.53 0.00 0.000 6 0.000 0.052 2950 2128 1605

19534 1.06 386.0 134.7 3.7 943 19607 0.10 0.00 69.93 0.914 6 0.056 0.000 2982 2147 1258

19905 1.06 386.0 112.6 8.6 961 19906 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2147 1257

20212 1.06 386.0 86.5 8.8 976 20213 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2128 1257

20521 1.06 386.0 50.5 10.7 991 20526 0.00 2.60 0.00 0.000 4 0.000 0.066 2983 708 1257

20539 1.06 386.0 49.0 10.5 992 20544 0.00 2.53 0.00 0.000 6 0.000 0.052 2983 2122 1257

20867 1.06 386.0 26.2 7.8 1008 20868 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2141 1257

21070 end climb: SURFACE_DEPTH_REACHED

state 21070 begin surface coast

21093 end surface coast: CONTROL_FINISHED_OK

state 21094 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	410	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	2125	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	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-95400.523	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	-23.610077	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	0	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	011700,6124.048,-812.432,41,1.9,41,-8.8	TGT_NAME	FBC_3
_CALLS	1	TGT_LATLONG	6130.000,-828.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.06	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-47.3	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	012344,6124.002,-812.514,14,1.6,14,-8.8	MHEAD_RNG_PITCHd_Wd	317.9,17625,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.013646	ALTIM_BOTTOM_PING	725.4,72.6
SM_CCo	21178,0.00,0.000,0,0,1257,386.35	_24V_AH	23.4,72.778
SM_GC	1.34,11.25,0.00,0.00,0.039,0.000,0.000,419,1978,1257,-10.61,-0.59,386.35	_10V_AH	10.1,36.211
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50603,1019
TT8_MAMPS	0.029146	CAP_FILE_SIZE	139880,0
HUMID	1819	CFSIZE	254472192,226209792
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
XPDR_PINGS	65	GPS	070209,071827,6128.670,-823.285,28,4.0,47,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	80.23	SBE_CT	756	24	424.84
Roll_motor	131	89	275.24	SBE_O2	687	19	305.62
VBD_pump_during_apogee	487	1457	16610.51	WL_BB2F	599	105	1472.55
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	90.99	nil	0	0	0.00
Iridium_during_connect	27	160	103.62	nil	0	0	0.00
Iridium_during_xfer	192	223	1007.02
Transponder_ping	22	420	223.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.34
TT8	1803	19	360.58
LPSleep	16473	2	364.38
TT8_Active	677	19	135.41
TT8_Sampling	1991	39	800.70
TT8_CF8	627	45	290.36
TT8_Kalman	0	81	0.00
Analog_circuits	1676	12	203.14
GPS_charging	0	0	0.00
Compass	1954	8	157.93
RAFOS	0	0	0.00
Transponder	43	30	13.26

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	159	0.00	0.00	-141.40	0.000	2	0.000	0.000	423	1964	3372
163	-0.97	-146.6	5.1	-4.4	7	186	11.05	2.72	-1.25	0.000	4	0.135	0.074	2527	3423	3431
306	-0.91	-146.6	36.2	-14.6	13	311	0.00	2.58	0.00	0.000	6	0.000	0.050	2527	1987	3431
629	-0.81	-146.6	64.9	-7.2	29	631	0.20	0.00	0.00	0.000	6	0.086	0.000	2569	1985	3432
937	-0.81	-146.6	87.5	-8.5	44	938	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	1985	3432
1248	-0.81	-146.6	111.1	-6.8	59	1249	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	1985	3432
1557	-0.81	-146.6	130.7	-6.1	74	1558	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	1985	3432
1866	-0.81	-146.6	151.5	-6.9	89	1867	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	1985	3431
2174	-0.81	-146.6	177.5	-6.5	104	2178	0.00	2.60	0.00	0.000	4	0.000	0.061	2569	3412	3432
2214	-0.81	-146.6	180.1	-7.1	106	2218	0.00	2.53	0.00	0.000	6	0.000	0.051	2569	1998	3432
2545	-0.81	-146.6	200.5	-6.2	122	2549	0.00	2.50	0.00	0.000	4	0.000	0.064	2569	595	3432
2611	-0.81	-146.6	204.6	-6.8	125	2616	0.00	2.50	0.00	0.000	6	0.000	0.051	2569	2004	3431
2934	-0.81	-146.6	221.0	-4.8	141	2935	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2004	3431
3242	-0.81	-146.6	235.8	-4.4	156	3243	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2004	3431
3551	-0.81	-146.6	261.8	-9.0	171	3555	0.00	2.58	0.00	0.000	4	0.000	0.065	2569	587	3431
3591	-0.81	-146.6	265.6	-10.3	173	3596	0.00	2.53	0.00	0.000	6	0.000	0.053	2569	1997	3431
3917	-0.81	-146.6	296.5	-10.5	189	3922	0.00	2.53	0.00	0.000	4	0.000	0.062	2569	3405	3431
3958	-0.87	-146.6	301.4	-11.6	191	3963	0.00	2.53	0.00	0.000	6	0.000	0.051	2569	1990	3431
4286	-0.87	-146.6	336.8	-11.8	207	4287	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	1989	3431
4595	-0.92	-146.6	368.3	-7.9	222	4600	0.12	2.50	0.00	0.000	4	0.056	0.062	2534	583	3431
4652	-0.85	-146.6	372.1	-6.5	224	4659	0.12	2.53	0.00	0.000	6	0.088	0.051	2560	1998	3431
4968	-0.85	-146.6	403.5	-10.6	240	4969	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2010	3431
5277	-0.85	-146.6	428.3	-7.2	255	5278	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2010	3431
5587	-0.85	-146.6	452.5	-7.5	270	5588	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2010	3431
5895	-0.85	-146.6	474.4	-7.0	285	5897	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2010	3431
6205	-0.85	-146.6	494.2	-5.9	300	6206	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2010	3431
6515	-0.85	-146.6	515.6	-6.4	315	6519	0.00	2.58	0.00	0.000	4	0.000	0.065	2560	592	3431
6542	-0.85	-146.6	517.4	-5.6	316	6547	0.00	2.47	0.00	0.000	6	0.000	0.053	2560	1984	3431
6859	-0.85	-146.6	533.3	-5.6	331	6860	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	1985	3431
7169	-0.85	-146.6	556.5	-7.8	346	7170	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	1985	3431
7477	-0.85	-146.6	580.2	-8.1	361	7478	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	1985	3431
7787	-0.85	-146.6	602.0	-6.0	376	7791	0.00	2.60	0.00	0.000	4	0.000	0.074	2560	3406	3431
7827	-0.90	-146.6	604.4	-6.6	378	7832	0.00	2.60	0.00	0.000	6	0.000	0.062	2560	1977	3431
8154	-0.90	-146.6	623.2	-5.7	394	8159	0.00	2.55	0.00	0.000	4	0.000	0.077	2560	582	3430
8210	-0.94	-146.6	627.1	-7.1	396	8217	0.00	2.53	0.00	0.000	6	0.000	0.064	2560	1973	3430
8528	-0.98	-146.6	651.9	-8.1	412	8533	0.15	2.65	0.00	0.000	4	0.056	0.077	2520	3409	3429
8595	-0.91	-146.6	658.5	-9.9	415	8600	0.12	2.65	0.00	0.000	6	0.100	0.069	2545	1976	3429
8918	-0.91	-146.6	686.0	-8.4	431	8919	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	1976	3429
9226	-0.91	-146.6	710.0	-7.6	446	9231	0.00	2.72	0.00	0.000	4	0.000	0.084	2545	3410	3427
9259	-0.91	-146.6	712.6	-7.7	447	9265	0.00	2.65	0.00	0.000	6	0.000	0.073	2545	1987	3427
9576	-0.91	-146.6	731.5	-5.8	463	9581	0.00	2.70	0.00	0.000	4	0.000	0.084	2545	3408	3426
9609	-0.91	-146.6	733.5	-6.1	464	9615	0.00	2.65	0.00	0.000	6	0.000	0.073	2545	1987	3425
9925	-0.91	-146.6	747.5	-3.6	480	9926	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	1972	3424
10235	-0.87	-146.6	774.9	-9.3	495	10236	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	1973	3422
10375	end dive: BOTTOM_OBSTACLE_DETECTED
state	10375	begin apogee
10383	-0.33	0.0	789.2	9.6	502	10520	0.60	0.00	133.62	1.457	6	0.087	0.000	2667	2144	2832
10520	end apogee: CONTROL_FINISHED_OK
state	10520	begin climb
10524	0.97	146.6	794.9	0.0	509	10670	1.38	2.78	134.35	1.410	4	0.085	0.085	2951	3524	2234
10825	0.80	146.6	781.6	7.2	522	10832	0.17	2.67	0.00	0.000	6	0.096	0.077	2918	2119	2233
11142	0.80	146.6	764.0	6.4	538	11146	0.00	2.67	0.00	0.000	4	0.000	0.090	2917	705	2232
11182	0.74	157.3	761.8	5.7	540	11198	0.00	2.65	11.00	1.256	6	0.000	0.075	2918	2122	2190
11511	0.76	196.9	744.6	4.9	555	11555	0.00	2.80	36.83	1.394	4	0.000	0.087	2917	3535	2028
11579	0.76	196.9	739.5	6.1	558	11583	0.00	2.70	0.00	0.000	6	0.000	0.078	2917	2130	2029
11894	0.76	196.9	720.1	6.3	573	11899	0.00	2.70	0.00	0.000	4	0.000	0.089	2917	705	2027
11940	0.76	196.9	717.4	6.4	575	11944	0.00	2.70	0.00	0.000	6	0.000	0.075	2917	2140	2027
12261	0.77	202.7	700.4	5.8	591	12270	0.00	0.00	6.57	1.160	6	0.000	0.000	2917	2141	2005
12570	0.77	202.7	679.4	7.3	606	12575	0.00	2.75	0.00	0.000	4	0.000	0.089	2917	706	2005
12612	0.77	202.7	676.3	7.5	608	12617	0.00	2.67	0.00	0.000	6	0.000	0.075	2917	2132	2005
12940	0.80	223.9	656.1	5.4	624	12962	0.00	0.00	20.42	1.356	6	0.000	0.000	2917	2132	1918
13270	0.80	223.9	636.7	6.1	640	13274	0.00	2.72	0.00	0.000	4	0.000	0.088	2917	707	1919
13336	0.80	223.9	632.1	6.5	643	13340	0.00	2.67	0.00	0.000	6	0.000	0.074	2917	2132	1919
13657	0.80	223.9	606.5	8.7	659	13658	0.00	0.00	0.00	0.000	6	0.000	0.000	2917	2133	1920
13967	0.81	231.5	584.7	5.8	674	13981	0.00	2.72	8.70	1.200	4	0.000	0.082	2917	3534	1888
14016	0.81	231.5	581.3	6.7	676	14021	0.00	2.65	0.00	0.000	6	0.000	0.069	2918	2118	1888
14338	0.92	301.0	566.2	4.1	692	14402	0.12	0.00	61.92	1.318	6	0.064	0.000	2950	2118	1604
14708	0.92	301.0	542.7	6.8	710	14709	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2118	1605
15018	0.92	301.0	519.9	8.0	725	15019	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2118	1605
15325	0.92	301.0	496.1	6.7	740	15327	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2117	1606
15636	0.92	301.0	472.8	7.9	755	15637	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2117	1607
15944	0.92	301.0	450.0	6.8	770	15948	0.00	2.62	0.00	0.000	4	0.000	0.064	2950	3542	1608
15965	0.92	301.0	447.8	9.4	771	15970	0.00	2.58	0.00	0.000	6	0.000	0.057	2950	2120	1608
16287	0.92	301.0	411.3	12.5	787	16288	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2111	1609
16595	0.92	301.0	372.6	12.1	802	16596	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2111	1610
16905	0.92	301.0	344.0	7.8	817	16906	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2111	1611
17215	0.92	301.0	321.0	8.3	832	17216	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2111	1611
17523	0.92	301.0	293.7	10.1	847	17524	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2111	1612
17832	0.92	301.0	270.0	8.1	862	17834	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2111	1613
18143	0.92	301.0	242.7	8.9	877	18152	0.00	2.58	3.75	0.630	4	0.000	0.065	2950	715	1604
18170	0.92	301.0	240.3	8.2	878	18174	0.00	2.55	0.00	0.000	6	0.000	0.052	2950	2139	1604
18491	0.92	301.0	210.3	9.3	894	18495	0.00	2.62	0.00	0.000	4	0.000	0.066	2950	705	1604
18519	0.92	301.0	207.5	9.7	895	18523	0.00	2.55	0.00	0.000	6	0.000	0.054	2950	2129	1604
18834	0.92	301.0	178.8	6.3	910	18839	0.00	2.53	0.00	0.000	4	0.000	0.063	2950	3530	1605
18868	0.92	301.0	176.3	6.5	911	18874	0.00	2.50	0.00	0.000	6	0.000	0.051	2950	2129	1605
19184	0.92	301.0	149.3	10.1	927	19188	0.00	2.55	0.00	0.000	4	0.000	0.066	2950	707	1605
19218	0.92	301.0	145.4	13.1	928	19222	0.00	2.53	0.00	0.000	6	0.000	0.052	2950	2128	1605
19534	1.06	386.0	134.7	3.7	943	19607	0.10	0.00	69.93	0.914	6	0.056	0.000	2982	2147	1258
19905	1.06	386.0	112.6	8.6	961	19906	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2147	1257
20212	1.06	386.0	86.5	8.8	976	20213	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2128	1257
20521	1.06	386.0	50.5	10.7	991	20526	0.00	2.60	0.00	0.000	4	0.000	0.066	2983	708	1257
20539	1.06	386.0	49.0	10.5	992	20544	0.00	2.53	0.00	0.000	6	0.000	0.052	2983	2122	1257
20867	1.06	386.0	26.2	7.8	1008	20868	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2141	1257
21070	end climb: SURFACE_DEPTH_REACHED
state	21070	begin surface coast
21093	end surface coast: CONTROL_FINISHED_OK
state	21094	begin surface