Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 411 * 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 411 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -95414.406 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 -95414.406

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 29 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 411 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 071827,6128.670,-823.285,28,4.0,47,-8.9 TGT_NAME FBC_4

_CALLS 1 TGT_LATLONG 6140.000,-845.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.27 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -59.4 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 072432,6128.618,-823.291,13,1.5,13,-8.9 MHEAD_RNG_PITCHd_Wd 326.7,28433,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027422 ALTIM_BOTTOM_PING 750.4,73.9

SM_CCo 20568,0.00,0.000,0,0,1164,409.16 _24V_AH 23.4,72.996

SM_GC 1.35,11.23,0.00,0.00,0.041,0.000,0.000,421,1974,1164,-10.60,-1.16,409.16 _10V_AH 10.1,36.299

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50667,988

TT8_MAMPS 0.029146 CAP_FILE_SIZE 135588,0

HUMID 1824 CFSIZE 254472192,226148352

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

XPDR_PINGS 72 GPS 070209,130906,6134.134,-829.915,47,1.3,47,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 137 82.16 SBE_CT 728 24 409.08

Roll_motor 130 91 278.29 SBE_O2 665 19 295.94

VBD_pump_during_apogee 508 1465 17424.37 WL_BB2F 576 105 1417.39

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 91.00 nil 0 0 0.00

Iridium_during_connect 28 160 105.71 nil 0 0 0.00

Iridium_during_xfer 159 223 830.31

Transponder_ping 24 420 243.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.69

TT8 1728 19 345.70

LPSleep 16051 2 355.04

TT8_Active 632 19 126.45

TT8_Sampling 1926 39 774.50

TT8_CF8 589 45 272.81

TT8_Kalman 0 81 0.00

Analog_circuits 1619 12 196.31

GPS_charging 0 0 0.00

Compass 1887 8 152.52

RAFOS 0 0 0.00

Transponder 45 30 13.75

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 13 begin dive

16 -0.97 -146.6 0.0 0.0 0 119 0.00 0.00 -101.22 0.000 2 0.000 0.000 419 1961 3274

123 -0.97 -146.6 4.2 -3.6 5 146 11.12 2.62 -3.85 0.000 4 0.137 0.072 2524 3412 3432

225 -0.86 -146.6 21.7 -11.5 9 231 0.15 2.53 0.00 0.000 6 0.086 0.049 2556 1997 3431

542 -0.86 -146.6 47.3 -7.2 24 543 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 1996 3432

852 -0.86 -146.6 70.3 -7.8 39 853 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1996 3432

1160 -0.86 -146.6 93.8 -7.8 54 1164 0.00 2.58 0.00 0.000 4 0.000 0.063 2556 3406 3432

1200 -0.86 -146.6 97.0 -8.1 56 1204 0.00 2.50 0.00 0.000 6 0.000 0.048 2556 2000 3432

1528 -0.86 -146.6 122.6 -7.9 72 1529 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 1999 3432

1839 -0.86 -146.6 151.9 -9.5 87 1840 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 1999 3431

2146 -0.86 -146.6 176.6 -8.5 102 2147 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1999 3432

2456 -0.86 -146.6 212.7 -11.4 117 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1998 3432

2764 -0.86 -146.6 247.5 -10.5 132 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1998 3432

3074 -0.86 -146.6 275.5 -9.6 147 3075 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 1998 3431

3383 -0.86 -146.6 299.9 -7.6 162 3385 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1998 3431

3692 -0.86 -146.6 321.0 -6.2 177 3693 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 1998 3431

4001 -0.86 -146.6 341.2 -6.4 192 4002 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 1998 3432

4311 -0.86 -146.6 361.8 -7.1 207 4312 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1998 3431

4620 -0.86 -146.6 384.1 -7.2 222 4621 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1998 3431

4929 -0.86 -146.6 403.4 -6.9 237 4933 0.00 2.58 0.00 0.000 4 0.000 0.064 2555 3410 3431

4979 -0.86 -146.6 407.2 -7.2 239 4984 0.00 2.50 0.00 0.000 6 0.000 0.051 2555 2008 3432

5295 -0.86 -146.6 430.2 -6.8 254 5296 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2007 3431

5604 -0.86 -146.6 452.4 -7.8 269 5605 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2008 3431

5915 -0.86 -146.6 475.3 -7.0 284 5916 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2008 3431

6223 -0.86 -146.6 498.1 -8.0 299 6224 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2007 3431

6532 -0.86 -146.6 519.9 -7.0 314 6536 0.00 2.55 0.00 0.000 4 0.000 0.063 2556 3406 3431

6566 -0.86 -146.6 522.2 -7.4 315 6572 0.00 2.50 0.00 0.000 6 0.000 0.052 2556 2003 3432

6882 -0.86 -146.6 544.7 -7.2 331 6883 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2003 3431

7191 -0.86 -146.6 566.3 -7.0 346 7192 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2003 3431

7501 -0.86 -146.6 590.3 -7.8 361 7503 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2002 3431

7810 -0.86 -146.6 612.8 -6.7 376 7811 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2003 3431

8119 -0.86 -146.6 632.4 -6.6 391 8123 0.00 2.58 0.00 0.000 4 0.000 0.066 2556 3410 3431

8159 -0.86 -146.6 635.2 -7.0 393 8164 0.00 2.47 0.00 0.000 6 0.000 0.054 2556 2028 3431

8486 -0.86 -146.6 659.8 -7.4 409 8487 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2028 3431

8795 -0.86 -146.6 683.9 -7.7 424 8797 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2027 3431

9106 -0.90 -146.6 706.1 -6.2 439 9107 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2027 3431

9414 -0.90 -146.6 713.4 -1.5 454 9419 0.00 2.62 0.00 0.000 4 0.000 0.078 2556 589 3431

9448 -0.90 -146.6 714.8 -4.1 455 9455 0.00 2.60 0.00 0.000 6 0.000 0.065 2556 2027 3431

9765 -0.90 -146.6 733.1 -9.0 471 9766 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2033 3430

10079 -0.98 -146.6 750.4 -2.3 486 10081 0.12 0.00 0.00 0.000 6 0.067 0.000 2525 2033 3428

10384 -0.89 -146.6 778.1 -9.9 501 10389 0.12 2.72 0.00 0.000 4 0.106 0.084 2550 588 3426

10462 -0.89 -146.6 786.4 -12.0 504 10469 0.00 2.65 0.00 0.000 6 0.000 0.074 2550 2024 3426

10755 end dive: BOTTOM_OBSTACLE_DETECTED

state 10755 begin apogee

10762 -0.33 0.0 816.8 7.0 519 10899 0.57 0.00 133.75 1.466 6 0.084 0.000 2668 2137 2832

10899 end apogee: CONTROL_FINISHED_OK

state 10900 begin climb

10903 0.97 146.6 824.2 0.0 526 11048 1.30 2.80 135.48 1.414 4 0.064 0.083 2949 717 2233

11088 0.72 209.7 819.7 4.3 534 11157 0.25 2.65 59.20 1.368 6 0.087 0.074 2901 2122 1976

11467 0.85 264.8 802.1 4.5 553 11523 0.12 2.78 50.30 1.381 4 0.065 0.086 2934 3537 1752

11553 0.95 264.8 793.9 8.0 556 11557 0.00 2.70 0.00 0.000 6 0.000 0.079 2934 2134 1752

11874 0.96 306.1 777.5 4.9 572 11915 0.00 0.00 37.53 1.386 6 0.000 0.000 2934 2123 1584

12225 0.96 306.1 753.5 8.6 589 12226 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 2114 1584

12535 0.96 306.1 738.3 6.3 604 12540 0.00 2.70 0.00 0.000 4 0.000 0.091 2934 709 1584

12557 0.96 306.1 736.2 8.5 605 12562 0.00 2.70 0.00 0.000 6 0.000 0.074 2934 2146 1583

12879 0.96 306.1 717.0 9.9 621 12884 0.00 2.78 0.00 0.000 4 0.000 0.090 2934 705 1583

12920 0.96 306.1 713.0 10.5 623 12924 0.00 2.67 0.00 0.000 6 0.000 0.075 2934 2131 1582

13247 0.96 307.9 687.9 6.0 639 13251 0.00 2.75 0.00 0.000 4 0.000 0.090 2934 707 1582

13280 1.13 410.2 686.9 3.2 640 13378 0.25 2.65 91.78 1.418 6 0.058 0.076 2994 2122 1160

13695 1.04 410.2 639.1 12.7 661 13700 0.10 2.75 0.00 0.000 4 0.101 0.087 2976 704 1157

13717 0.99 410.2 636.5 10.9 662 13722 0.00 2.65 0.00 0.000 6 0.000 0.074 2976 2112 1157

14039 0.99 410.2 612.2 7.5 678 14044 0.00 2.67 0.00 0.000 4 0.000 0.085 2976 3535 1157

14073 0.99 410.2 609.3 7.8 679 14079 0.00 2.67 0.00 0.000 6 0.000 0.075 2975 2116 1157

14389 0.95 410.2 576.0 12.0 695 14394 0.12 2.62 0.00 0.000 4 0.099 0.081 2950 710 1156

14424 0.95 410.2 571.8 10.8 696 14431 0.00 2.60 0.00 0.000 6 0.000 0.068 2950 2116 1157

14741 0.99 410.2 541.6 10.3 712 14745 0.00 2.65 0.00 0.000 4 0.000 0.077 2950 703 1157

14774 1.05 410.2 537.7 11.6 713 14781 0.10 2.55 0.00 0.000 6 0.067 0.064 2977 2093 1157

15090 1.05 410.2 497.2 11.5 729 15092 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2114 1157

15399 1.05 410.2 469.5 8.2 744 15403 0.00 2.60 0.00 0.000 4 0.000 0.071 2977 702 1158

15449 1.05 410.2 464.1 11.4 746 15453 0.00 2.50 0.00 0.000 6 0.000 0.058 2977 2081 1158

15765 1.05 410.2 434.7 9.7 761 15767 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2103 1159

16074 1.05 410.2 401.6 11.6 776 16079 0.00 2.55 0.00 0.000 4 0.000 0.067 2977 706 1160

16114 1.05 410.2 396.7 12.0 778 16119 0.00 2.45 0.00 0.000 6 0.000 0.055 2977 2067 1160

16442 1.05 410.2 361.9 10.7 794 16444 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2084 1160

16751 1.05 410.2 329.2 10.6 809 16755 0.00 2.53 0.00 0.000 4 0.000 0.067 2977 704 1161

16778 1.05 410.2 326.2 10.4 810 16782 0.00 2.45 0.00 0.000 6 0.000 0.054 2977 2068 1161

17095 1.05 410.2 295.9 8.8 825 17096 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2068 1161

17403 1.05 410.2 268.8 8.5 840 17404 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2068 1162

17713 1.05 410.2 244.3 8.0 855 17718 0.00 2.50 0.00 0.000 4 0.000 0.068 2978 709 1162

17741 1.05 410.2 241.3 10.1 856 17745 0.00 2.42 0.00 0.000 6 0.000 0.054 2977 2061 1162

18057 1.05 410.2 213.4 9.4 871 18058 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2063 1163

18366 1.05 410.2 181.3 10.3 886 18368 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2082 1163

18677 1.05 410.2 151.3 8.0 901 18678 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2083 1163

18985 1.05 410.2 129.1 8.2 916 18989 0.00 2.50 0.00 0.000 4 0.000 0.066 2977 708 1164

19029 1.05 410.2 124.7 9.1 918 19033 0.00 2.40 0.00 0.000 6 0.000 0.053 2977 2050 1164

19351 1.05 410.2 96.3 9.2 934 19356 0.00 2.65 0.00 0.000 4 0.000 0.063 2977 3532 1164

19385 1.11 410.2 93.0 9.3 935 19391 0.00 2.67 0.00 0.000 6 0.000 0.053 2977 2040 1164

19701 1.11 410.2 69.3 6.8 951 19705 0.00 2.40 0.00 0.000 4 0.000 0.067 2977 707 1164

19723 1.11 410.2 67.5 7.7 952 19728 0.00 2.42 0.00 0.000 6 0.000 0.053 2977 2061 1164

20046 1.11 410.2 38.3 9.8 968 20050 0.00 2.62 0.00 0.000 4 0.000 0.061 2977 3531 1164

20073 1.15 410.2 35.0 11.5 969 20078 0.00 2.65 0.00 0.000 6 0.000 0.051 2977 2050 1164

20391 1.15 410.2 9.8 8.9 984 20395 0.00 2.70 0.00 0.000 4 0.000 0.061 2977 3532 1165

20418 1.15 410.2 6.9 9.8 985 20422 0.00 2.62 0.00 0.000 6 0.000 0.051 2977 2065 1165

20463 end climb: SURFACE_DEPTH_REACHED

state 20463 begin surface coast

20485 end surface coast: CONTROL_FINISHED_OK

state 20485 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	411	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-95414.406	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	071827,6128.670,-823.285,28,4.0,47,-8.9	TGT_NAME	FBC_4
_CALLS	1	TGT_LATLONG	6140.000,-845.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.27	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-59.4	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	072432,6128.618,-823.291,13,1.5,13,-8.9	MHEAD_RNG_PITCHd_Wd	326.7,28433,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027422	ALTIM_BOTTOM_PING	750.4,73.9
SM_CCo	20568,0.00,0.000,0,0,1164,409.16	_24V_AH	23.4,72.996
SM_GC	1.35,11.23,0.00,0.00,0.041,0.000,0.000,421,1974,1164,-10.60,-1.16,409.16	_10V_AH	10.1,36.299
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50667,988
TT8_MAMPS	0.029146	CAP_FILE_SIZE	135588,0
HUMID	1824	CFSIZE	254472192,226148352
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
XPDR_PINGS	72	GPS	070209,130906,6134.134,-829.915,47,1.3,47,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	137	82.16	SBE_CT	728	24	409.08
Roll_motor	130	91	278.29	SBE_O2	665	19	295.94
VBD_pump_during_apogee	508	1465	17424.37	WL_BB2F	576	105	1417.39
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	91.00	nil	0	0	0.00
Iridium_during_connect	28	160	105.71	nil	0	0	0.00
Iridium_during_xfer	159	223	830.31
Transponder_ping	24	420	243.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.69
TT8	1728	19	345.70
LPSleep	16051	2	355.04
TT8_Active	632	19	126.45
TT8_Sampling	1926	39	774.50
TT8_CF8	589	45	272.81
TT8_Kalman	0	81	0.00
Analog_circuits	1619	12	196.31
GPS_charging	0	0	0.00
Compass	1887	8	152.52
RAFOS	0	0	0.00
Transponder	45	30	13.75

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	13	begin dive
16	-0.97	-146.6	0.0	0.0	0	119	0.00	0.00	-101.22	0.000	2	0.000	0.000	419	1961	3274
123	-0.97	-146.6	4.2	-3.6	5	146	11.12	2.62	-3.85	0.000	4	0.137	0.072	2524	3412	3432
225	-0.86	-146.6	21.7	-11.5	9	231	0.15	2.53	0.00	0.000	6	0.086	0.049	2556	1997	3431
542	-0.86	-146.6	47.3	-7.2	24	543	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	1996	3432
852	-0.86	-146.6	70.3	-7.8	39	853	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1996	3432
1160	-0.86	-146.6	93.8	-7.8	54	1164	0.00	2.58	0.00	0.000	4	0.000	0.063	2556	3406	3432
1200	-0.86	-146.6	97.0	-8.1	56	1204	0.00	2.50	0.00	0.000	6	0.000	0.048	2556	2000	3432
1528	-0.86	-146.6	122.6	-7.9	72	1529	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	1999	3432
1839	-0.86	-146.6	151.9	-9.5	87	1840	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	1999	3431
2146	-0.86	-146.6	176.6	-8.5	102	2147	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1999	3432
2456	-0.86	-146.6	212.7	-11.4	117	2457	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1998	3432
2764	-0.86	-146.6	247.5	-10.5	132	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1998	3432
3074	-0.86	-146.6	275.5	-9.6	147	3075	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	1998	3431
3383	-0.86	-146.6	299.9	-7.6	162	3385	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1998	3431
3692	-0.86	-146.6	321.0	-6.2	177	3693	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	1998	3431
4001	-0.86	-146.6	341.2	-6.4	192	4002	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	1998	3432
4311	-0.86	-146.6	361.8	-7.1	207	4312	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1998	3431
4620	-0.86	-146.6	384.1	-7.2	222	4621	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	1998	3431
4929	-0.86	-146.6	403.4	-6.9	237	4933	0.00	2.58	0.00	0.000	4	0.000	0.064	2555	3410	3431
4979	-0.86	-146.6	407.2	-7.2	239	4984	0.00	2.50	0.00	0.000	6	0.000	0.051	2555	2008	3432
5295	-0.86	-146.6	430.2	-6.8	254	5296	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2007	3431
5604	-0.86	-146.6	452.4	-7.8	269	5605	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2008	3431
5915	-0.86	-146.6	475.3	-7.0	284	5916	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2008	3431
6223	-0.86	-146.6	498.1	-8.0	299	6224	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2007	3431
6532	-0.86	-146.6	519.9	-7.0	314	6536	0.00	2.55	0.00	0.000	4	0.000	0.063	2556	3406	3431
6566	-0.86	-146.6	522.2	-7.4	315	6572	0.00	2.50	0.00	0.000	6	0.000	0.052	2556	2003	3432
6882	-0.86	-146.6	544.7	-7.2	331	6883	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2003	3431
7191	-0.86	-146.6	566.3	-7.0	346	7192	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2003	3431
7501	-0.86	-146.6	590.3	-7.8	361	7503	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2002	3431
7810	-0.86	-146.6	612.8	-6.7	376	7811	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2003	3431
8119	-0.86	-146.6	632.4	-6.6	391	8123	0.00	2.58	0.00	0.000	4	0.000	0.066	2556	3410	3431
8159	-0.86	-146.6	635.2	-7.0	393	8164	0.00	2.47	0.00	0.000	6	0.000	0.054	2556	2028	3431
8486	-0.86	-146.6	659.8	-7.4	409	8487	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2028	3431
8795	-0.86	-146.6	683.9	-7.7	424	8797	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2027	3431
9106	-0.90	-146.6	706.1	-6.2	439	9107	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2027	3431
9414	-0.90	-146.6	713.4	-1.5	454	9419	0.00	2.62	0.00	0.000	4	0.000	0.078	2556	589	3431
9448	-0.90	-146.6	714.8	-4.1	455	9455	0.00	2.60	0.00	0.000	6	0.000	0.065	2556	2027	3431
9765	-0.90	-146.6	733.1	-9.0	471	9766	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2033	3430
10079	-0.98	-146.6	750.4	-2.3	486	10081	0.12	0.00	0.00	0.000	6	0.067	0.000	2525	2033	3428
10384	-0.89	-146.6	778.1	-9.9	501	10389	0.12	2.72	0.00	0.000	4	0.106	0.084	2550	588	3426
10462	-0.89	-146.6	786.4	-12.0	504	10469	0.00	2.65	0.00	0.000	6	0.000	0.074	2550	2024	3426
10755	end dive: BOTTOM_OBSTACLE_DETECTED
state	10755	begin apogee
10762	-0.33	0.0	816.8	7.0	519	10899	0.57	0.00	133.75	1.466	6	0.084	0.000	2668	2137	2832
10899	end apogee: CONTROL_FINISHED_OK
state	10900	begin climb
10903	0.97	146.6	824.2	0.0	526	11048	1.30	2.80	135.48	1.414	4	0.064	0.083	2949	717	2233
11088	0.72	209.7	819.7	4.3	534	11157	0.25	2.65	59.20	1.368	6	0.087	0.074	2901	2122	1976
11467	0.85	264.8	802.1	4.5	553	11523	0.12	2.78	50.30	1.381	4	0.065	0.086	2934	3537	1752
11553	0.95	264.8	793.9	8.0	556	11557	0.00	2.70	0.00	0.000	6	0.000	0.079	2934	2134	1752
11874	0.96	306.1	777.5	4.9	572	11915	0.00	0.00	37.53	1.386	6	0.000	0.000	2934	2123	1584
12225	0.96	306.1	753.5	8.6	589	12226	0.00	0.00	0.00	0.000	6	0.000	0.000	2934	2114	1584
12535	0.96	306.1	738.3	6.3	604	12540	0.00	2.70	0.00	0.000	4	0.000	0.091	2934	709	1584
12557	0.96	306.1	736.2	8.5	605	12562	0.00	2.70	0.00	0.000	6	0.000	0.074	2934	2146	1583
12879	0.96	306.1	717.0	9.9	621	12884	0.00	2.78	0.00	0.000	4	0.000	0.090	2934	705	1583
12920	0.96	306.1	713.0	10.5	623	12924	0.00	2.67	0.00	0.000	6	0.000	0.075	2934	2131	1582
13247	0.96	307.9	687.9	6.0	639	13251	0.00	2.75	0.00	0.000	4	0.000	0.090	2934	707	1582
13280	1.13	410.2	686.9	3.2	640	13378	0.25	2.65	91.78	1.418	6	0.058	0.076	2994	2122	1160
13695	1.04	410.2	639.1	12.7	661	13700	0.10	2.75	0.00	0.000	4	0.101	0.087	2976	704	1157
13717	0.99	410.2	636.5	10.9	662	13722	0.00	2.65	0.00	0.000	6	0.000	0.074	2976	2112	1157
14039	0.99	410.2	612.2	7.5	678	14044	0.00	2.67	0.00	0.000	4	0.000	0.085	2976	3535	1157
14073	0.99	410.2	609.3	7.8	679	14079	0.00	2.67	0.00	0.000	6	0.000	0.075	2975	2116	1157
14389	0.95	410.2	576.0	12.0	695	14394	0.12	2.62	0.00	0.000	4	0.099	0.081	2950	710	1156
14424	0.95	410.2	571.8	10.8	696	14431	0.00	2.60	0.00	0.000	6	0.000	0.068	2950	2116	1157
14741	0.99	410.2	541.6	10.3	712	14745	0.00	2.65	0.00	0.000	4	0.000	0.077	2950	703	1157
14774	1.05	410.2	537.7	11.6	713	14781	0.10	2.55	0.00	0.000	6	0.067	0.064	2977	2093	1157
15090	1.05	410.2	497.2	11.5	729	15092	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2114	1157
15399	1.05	410.2	469.5	8.2	744	15403	0.00	2.60	0.00	0.000	4	0.000	0.071	2977	702	1158
15449	1.05	410.2	464.1	11.4	746	15453	0.00	2.50	0.00	0.000	6	0.000	0.058	2977	2081	1158
15765	1.05	410.2	434.7	9.7	761	15767	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2103	1159
16074	1.05	410.2	401.6	11.6	776	16079	0.00	2.55	0.00	0.000	4	0.000	0.067	2977	706	1160
16114	1.05	410.2	396.7	12.0	778	16119	0.00	2.45	0.00	0.000	6	0.000	0.055	2977	2067	1160
16442	1.05	410.2	361.9	10.7	794	16444	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2084	1160
16751	1.05	410.2	329.2	10.6	809	16755	0.00	2.53	0.00	0.000	4	0.000	0.067	2977	704	1161
16778	1.05	410.2	326.2	10.4	810	16782	0.00	2.45	0.00	0.000	6	0.000	0.054	2977	2068	1161
17095	1.05	410.2	295.9	8.8	825	17096	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2068	1161
17403	1.05	410.2	268.8	8.5	840	17404	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2068	1162
17713	1.05	410.2	244.3	8.0	855	17718	0.00	2.50	0.00	0.000	4	0.000	0.068	2978	709	1162
17741	1.05	410.2	241.3	10.1	856	17745	0.00	2.42	0.00	0.000	6	0.000	0.054	2977	2061	1162
18057	1.05	410.2	213.4	9.4	871	18058	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2063	1163
18366	1.05	410.2	181.3	10.3	886	18368	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2082	1163
18677	1.05	410.2	151.3	8.0	901	18678	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2083	1163
18985	1.05	410.2	129.1	8.2	916	18989	0.00	2.50	0.00	0.000	4	0.000	0.066	2977	708	1164
19029	1.05	410.2	124.7	9.1	918	19033	0.00	2.40	0.00	0.000	6	0.000	0.053	2977	2050	1164
19351	1.05	410.2	96.3	9.2	934	19356	0.00	2.65	0.00	0.000	4	0.000	0.063	2977	3532	1164
19385	1.11	410.2	93.0	9.3	935	19391	0.00	2.67	0.00	0.000	6	0.000	0.053	2977	2040	1164
19701	1.11	410.2	69.3	6.8	951	19705	0.00	2.40	0.00	0.000	4	0.000	0.067	2977	707	1164
19723	1.11	410.2	67.5	7.7	952	19728	0.00	2.42	0.00	0.000	6	0.000	0.053	2977	2061	1164
20046	1.11	410.2	38.3	9.8	968	20050	0.00	2.62	0.00	0.000	4	0.000	0.061	2977	3531	1164
20073	1.15	410.2	35.0	11.5	969	20078	0.00	2.65	0.00	0.000	6	0.000	0.051	2977	2050	1164
20391	1.15	410.2	9.8	8.9	984	20395	0.00	2.70	0.00	0.000	4	0.000	0.061	2977	3532	1165
20418	1.15	410.2	6.9	9.8	985	20422	0.00	2.62	0.00	0.000	6	0.000	0.051	2977	2065	1165
20463	end climb: SURFACE_DEPTH_REACHED
state	20463	begin surface coast
20485	end surface coast: CONTROL_FINISHED_OK
state	20485	begin surface