Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 452 * 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 452 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 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 -96220.719 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 -96220.719

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 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 452 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 214801,6125.005,-757.729,40,1.7,40,-8.6 TGT_NAME FBC_2

_CALLS 1 TGT_LATLONG 6115.000,-752.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.48 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -65.9 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 215338,6125.035,-757.739,14,1.5,14,-8.6 MHEAD_RNG_PITCHd_Wd 173.2,19275,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.005619 ALTIM_BOTTOM_PING 550.3,83.5

SM_CCo 18205,0.00,0.000,0,0,1797,254.13 _24V_AH 23.5,80.178

SM_GC 1.49,11.15,0.00,0.00,0.040,0.000,0.000,424,1965,1797,-10.58,-0.99,254.13 _10V_AH 10.1,39.637

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44188,869

TT8_MAMPS 0.029146 CAP_FILE_SIZE 131021,0

HUMID 1838 CFSIZE 254472192,223633408

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,51,0,0

XPDR_PINGS 71 GPS 160209,025837,6123.599,-755.911,37,1.3,37,-8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 138 81.64 SBE_CT 640 24 361.26

Roll_motor 161 78 297.24 SBE_O2 585 19 261.49

VBD_pump_during_apogee 374 1261 11110.71 WL_BB2F 547 105 1352.06

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 91.40 nil 0 0 0.00

Iridium_during_connect 33 160 127.25 nil 0 0 0.00

Iridium_during_xfer 135 223 708.63

Transponder_ping 22 420 222.07

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.47

TT8 1587 19 317.50

LPSleep 14087 2 311.61

TT8_Active 527 19 105.42

TT8_Sampling 1782 39 716.57

TT8_CF8 554 45 256.64

TT8_Kalman 0 81 0.00

Analog_circuits 1445 12 175.21

GPS_charging 0 0 0.00

Compass 1744 8 140.94

RAFOS 0 0 0.00

Transponder 32 30 9.90

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.97 -146.6 0.0 0.0 0 101 0.00 0.00 -81.25 0.000 2 0.000 0.000 422 1982 3393

104 -0.97 -146.6 4.8 -4.8 4 127 11.05 2.65 -0.85 0.000 4 0.139 0.074 2527 3409 3432

237 -0.89 -146.6 27.0 -11.5 9 244 0.12 2.53 0.00 0.000 6 0.097 0.048 2552 1993 3432

555 -0.89 -146.6 54.6 -7.5 25 556 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 1992 3432

862 -0.89 -146.6 79.8 -8.4 40 864 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1992 3432

1173 -0.89 -146.6 106.3 -8.7 55 1177 0.00 2.50 0.00 0.000 4 0.000 0.063 2552 591 3432

1213 -0.89 -146.6 110.0 -9.4 57 1217 0.00 2.47 0.00 0.000 6 0.000 0.052 2553 1990 3432

1547 -0.89 -146.6 136.6 -8.2 73 1549 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1991 3432

1856 -0.89 -146.6 160.8 -8.2 88 1857 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1990 3432

2164 -0.89 -146.6 186.4 -7.7 103 2165 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1990 3432

2473 -0.89 -146.6 209.4 -7.9 118 2474 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1991 3432

2783 -0.89 -146.6 232.6 -7.0 133 2785 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1990 3432

3092 -0.89 -146.6 248.1 -4.5 148 3096 0.00 2.55 0.00 0.000 4 0.000 0.065 2553 3406 3432

3109 -0.89 -146.6 248.9 -4.6 149 3114 0.00 2.55 0.00 0.000 6 0.000 0.054 2552 1981 3432

3438 -0.89 -146.6 265.1 -5.2 165 3439 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1980 3432

3746 -0.89 -146.6 280.3 -5.0 180 3747 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 1980 3432

4056 -0.89 -146.6 297.5 -5.5 195 4061 0.00 2.60 0.00 0.000 4 0.000 0.064 2552 3408 3432

4074 -0.89 -146.6 298.4 -5.6 196 4079 0.00 2.55 0.00 0.000 6 0.000 0.053 2553 1980 3432

4401 -0.89 -146.6 321.3 -7.8 212 4406 0.00 2.60 0.00 0.000 4 0.000 0.064 2552 3406 3432

4423 -0.89 -146.6 323.0 -7.2 213 4428 0.00 2.53 0.00 0.000 6 0.000 0.052 2552 1992 3432

4746 -0.89 -146.6 343.9 -4.9 229 4751 0.00 2.60 0.00 0.000 4 0.000 0.064 2552 3413 3432

4779 -0.89 -146.6 345.5 -4.8 230 4786 0.00 2.53 0.00 0.000 6 0.000 0.054 2553 2001 3432

5097 -0.89 -146.6 365.9 -7.4 246 5101 0.00 2.53 0.00 0.000 4 0.000 0.067 2552 590 3433

5137 -0.89 -146.6 368.9 -7.2 248 5142 0.00 2.53 0.00 0.000 6 0.000 0.054 2553 2011 3432

5464 -0.89 -146.6 393.1 -9.2 264 5465 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2011 3432

5775 -0.89 -146.6 418.9 -11.3 279 5779 0.00 2.53 0.00 0.000 4 0.000 0.068 2553 3405 3432

5852 -0.89 -146.6 428.7 -11.6 282 5859 0.00 2.53 0.00 0.000 6 0.000 0.060 2552 2009 3432

6168 -0.89 -146.6 461.4 -8.2 298 6173 0.00 2.55 0.00 0.000 4 0.000 0.067 2553 3404 3431

6203 -0.89 -146.6 463.8 -6.8 299 6209 0.00 2.47 0.00 0.000 6 0.000 0.055 2552 2025 3431

6518 -0.89 -146.6 488.9 -7.9 315 6523 0.00 2.58 0.00 0.000 4 0.000 0.071 2552 594 3431

6552 -0.89 -146.6 491.2 -8.2 316 6558 0.00 2.55 0.00 0.000 6 0.000 0.058 2552 2017 3431

6869 -0.89 -146.6 515.1 -7.9 332 6870 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2018 3430

7177 -0.89 -146.6 536.8 -6.1 347 7181 0.00 2.62 0.00 0.000 4 0.000 0.073 2553 592 3431

7243 -0.89 -146.6 540.9 -6.3 350 7247 0.00 2.55 0.00 0.000 6 0.000 0.060 2552 2010 3430

7564 -0.89 -146.6 559.4 -6.6 366 7569 0.00 2.62 0.00 0.000 4 0.000 0.074 2553 588 3429

7620 -0.89 -146.6 563.7 -7.4 368 7626 0.00 2.55 0.00 0.000 6 0.000 0.061 2552 2004 3430

7935 -0.89 -146.6 585.4 -7.0 384 7936 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2003 3429

8246 -0.89 -146.6 605.7 -6.5 399 8250 0.00 2.62 0.00 0.000 4 0.000 0.076 2553 586 3428

8273 -0.89 -146.6 607.8 -7.2 400 8277 0.00 2.55 0.00 0.000 6 0.000 0.061 2553 1997 3428

8524 end dive: BOTTOM_OBSTACLE_DETECTED

state 8524 begin apogee

8531 -0.33 0.0 624.2 6.5 412 8667 0.55 0.00 132.40 1.262 6 0.079 0.000 2669 2133 2832

8668 end apogee: CONTROL_FINISHED_OK

state 8668 begin climb

8672 0.97 146.6 629.4 0.0 419 8812 1.30 2.67 131.68 1.223 4 0.061 0.077 2953 3524 2234

8871 0.80 146.6 620.8 7.4 427 8877 0.17 2.62 0.00 0.000 6 0.090 0.067 2919 2122 2234

9189 0.77 153.7 602.1 5.8 442 9203 0.00 2.70 8.20 1.025 4 0.000 0.077 2920 707 2205

9243 0.72 153.7 598.7 6.4 444 9248 0.00 2.62 0.00 0.000 6 0.000 0.064 2919 2128 2204

9560 0.77 189.4 582.8 5.0 459 9599 0.00 0.00 33.28 1.197 6 0.000 0.000 2920 2129 2059

9909 0.78 192.4 562.4 5.9 476 9918 0.00 2.70 4.32 0.827 4 0.000 0.078 2919 708 2046

9964 0.78 192.4 558.6 6.9 478 9968 0.00 2.60 0.00 0.000 6 0.000 0.064 2919 2119 2047

10281 0.79 199.4 540.4 5.8 493 10295 0.00 2.70 7.57 1.032 4 0.000 0.076 2920 719 2019

10312 0.79 199.4 538.2 6.8 494 10317 0.00 2.58 0.00 0.000 6 0.000 0.064 2919 2113 2019

10629 0.80 208.6 519.5 5.7 509 10645 0.00 2.67 10.23 1.092 4 0.000 0.075 2920 713 1981

10663 0.80 208.6 517.4 6.6 509 10669 0.00 2.58 0.00 0.000 6 0.000 0.063 2919 2107 1981

10979 0.83 223.6 501.2 5.6 525 11001 0.00 2.70 14.70 1.134 4 0.000 0.075 2919 3531 1920

11017 0.83 223.6 498.7 6.6 526 11024 0.00 2.67 0.00 0.000 6 0.000 0.062 2919 2090 1920

11334 0.83 223.6 476.5 7.1 542 11339 0.00 2.72 0.00 0.000 4 0.000 0.075 2920 3539 1920

11362 0.83 223.6 474.7 6.7 543 11367 0.00 2.62 0.00 0.000 6 0.000 0.061 2919 2108 1920

11679 0.83 228.0 452.4 5.9 558 11690 0.00 2.72 5.78 0.927 4 0.000 0.071 2919 3539 1901

11720 0.85 235.0 449.9 5.8 560 11734 0.00 2.60 7.78 1.000 6 0.000 0.061 2919 2126 1873

12051 0.85 235.0 429.6 6.8 576 12055 0.00 2.62 0.00 0.000 4 0.000 0.071 2919 3531 1873

12102 0.85 235.0 425.7 8.0 578 12106 0.00 2.50 0.00 0.000 6 0.000 0.059 2919 2163 1873

12421 0.89 235.0 403.8 6.6 593 12422 0.00 0.00 0.00 0.000 6 0.000 0.000 2920 2163 1873

12727 0.93 235.0 385.2 6.3 608 12732 0.12 2.55 0.00 0.000 4 0.058 0.069 2954 3533 1873

12768 0.87 235.0 382.1 8.0 610 12773 0.00 2.45 0.00 0.000 6 0.000 0.058 2954 2180 1874

13097 0.82 235.0 358.4 7.0 626 13102 0.15 2.65 0.00 0.000 4 0.088 0.067 2924 712 1874

13118 0.82 235.0 356.8 6.4 627 13123 0.00 2.67 0.00 0.000 6 0.000 0.056 2924 2197 1873

13440 0.85 254.9 339.3 5.5 643 13461 0.00 0.00 18.80 1.031 6 0.000 0.000 2924 2197 1793

13769 0.91 254.9 319.3 6.6 659 13774 0.00 2.72 0.00 0.000 4 0.000 0.067 2924 709 1793

13810 0.91 254.9 316.4 7.7 661 13815 0.00 2.67 0.00 0.000 6 0.000 0.056 2924 2193 1792

14138 0.96 254.9 294.4 7.1 677 14143 0.12 2.72 0.00 0.000 4 0.054 0.065 2962 707 1792

14178 0.88 254.9 290.6 9.7 679 14183 0.12 2.62 0.00 0.000 6 0.087 0.056 2936 2166 1793

14506 0.88 254.9 263.7 8.4 695 14510 0.00 2.67 0.00 0.000 4 0.000 0.067 2936 707 1794

14528 0.88 254.9 261.5 8.4 696 14532 0.00 2.60 0.00 0.000 6 0.000 0.055 2936 2156 1794

14849 0.88 254.9 236.0 8.2 712 14850 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2156 1794

15159 0.88 254.9 212.7 7.4 727 15160 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2157 1794

15467 0.88 254.9 189.4 7.3 742 15471 0.00 2.65 0.00 0.000 4 0.000 0.066 2936 707 1794

15488 0.88 254.9 187.6 7.6 743 15493 0.00 2.60 0.00 0.000 6 0.000 0.054 2936 2158 1794

15811 0.88 254.9 164.5 7.1 759 15812 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2159 1795

16122 0.88 254.9 142.4 7.2 774 16127 0.00 2.65 0.00 0.000 4 0.000 0.066 2936 707 1795

16150 0.88 254.9 139.9 7.9 775 16155 0.00 2.58 0.00 0.000 6 0.000 0.054 2936 2148 1795

16467 0.88 254.9 117.5 7.2 790 16469 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2149 1796

16776 0.88 254.9 96.2 6.8 805 16780 0.00 2.62 0.00 0.000 4 0.000 0.066 2936 710 1796

16803 0.88 254.9 94.1 8.3 806 16807 0.00 2.55 0.00 0.000 6 0.000 0.053 2936 2140 1796

17122 0.93 254.9 72.8 6.6 821 17123 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2141 1796

17428 0.97 254.9 52.4 6.9 836 17433 0.00 2.60 0.00 0.000 4 0.000 0.066 2936 714 1797

17456 0.97 254.9 50.1 7.3 837 17460 0.00 2.55 0.00 0.000 6 0.000 0.053 2936 2141 1797

17774 1.02 254.9 28.2 6.5 852 17776 0.15 0.00 0.00 0.000 6 0.051 0.000 2979 2141 1797

18079 end climb: SURFACE_DEPTH_REACHED

state 18079 begin surface coast

18121 end surface coast: CONTROL_FINISHED_OK

state 18121 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	452	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	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	-96220.719	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	214801,6125.005,-757.729,40,1.7,40,-8.6	TGT_NAME	FBC_2
_CALLS	1	TGT_LATLONG	6115.000,-752.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.48	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-65.9	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	215338,6125.035,-757.739,14,1.5,14,-8.6	MHEAD_RNG_PITCHd_Wd	173.2,19275,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.005619	ALTIM_BOTTOM_PING	550.3,83.5
SM_CCo	18205,0.00,0.000,0,0,1797,254.13	_24V_AH	23.5,80.178
SM_GC	1.49,11.15,0.00,0.00,0.040,0.000,0.000,424,1965,1797,-10.58,-0.99,254.13	_10V_AH	10.1,39.637
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44188,869
TT8_MAMPS	0.029146	CAP_FILE_SIZE	131021,0
HUMID	1838	CFSIZE	254472192,223633408
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
XPDR_PINGS	71	GPS	160209,025837,6123.599,-755.911,37,1.3,37,-8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	138	81.64	SBE_CT	640	24	361.26
Roll_motor	161	78	297.24	SBE_O2	585	19	261.49
VBD_pump_during_apogee	374	1261	11110.71	WL_BB2F	547	105	1352.06
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	91.40	nil	0	0	0.00
Iridium_during_connect	33	160	127.25	nil	0	0	0.00
Iridium_during_xfer	135	223	708.63
Transponder_ping	22	420	222.07
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.47
TT8	1587	19	317.50
LPSleep	14087	2	311.61
TT8_Active	527	19	105.42
TT8_Sampling	1782	39	716.57
TT8_CF8	554	45	256.64
TT8_Kalman	0	81	0.00
Analog_circuits	1445	12	175.21
GPS_charging	0	0	0.00
Compass	1744	8	140.94
RAFOS	0	0	0.00
Transponder	32	30	9.90

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.97	-146.6	0.0	0.0	0	101	0.00	0.00	-81.25	0.000	2	0.000	0.000	422	1982	3393
104	-0.97	-146.6	4.8	-4.8	4	127	11.05	2.65	-0.85	0.000	4	0.139	0.074	2527	3409	3432
237	-0.89	-146.6	27.0	-11.5	9	244	0.12	2.53	0.00	0.000	6	0.097	0.048	2552	1993	3432
555	-0.89	-146.6	54.6	-7.5	25	556	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	1992	3432
862	-0.89	-146.6	79.8	-8.4	40	864	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1992	3432
1173	-0.89	-146.6	106.3	-8.7	55	1177	0.00	2.50	0.00	0.000	4	0.000	0.063	2552	591	3432
1213	-0.89	-146.6	110.0	-9.4	57	1217	0.00	2.47	0.00	0.000	6	0.000	0.052	2553	1990	3432
1547	-0.89	-146.6	136.6	-8.2	73	1549	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1991	3432
1856	-0.89	-146.6	160.8	-8.2	88	1857	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1990	3432
2164	-0.89	-146.6	186.4	-7.7	103	2165	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1990	3432
2473	-0.89	-146.6	209.4	-7.9	118	2474	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1991	3432
2783	-0.89	-146.6	232.6	-7.0	133	2785	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1990	3432
3092	-0.89	-146.6	248.1	-4.5	148	3096	0.00	2.55	0.00	0.000	4	0.000	0.065	2553	3406	3432
3109	-0.89	-146.6	248.9	-4.6	149	3114	0.00	2.55	0.00	0.000	6	0.000	0.054	2552	1981	3432
3438	-0.89	-146.6	265.1	-5.2	165	3439	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1980	3432
3746	-0.89	-146.6	280.3	-5.0	180	3747	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	1980	3432
4056	-0.89	-146.6	297.5	-5.5	195	4061	0.00	2.60	0.00	0.000	4	0.000	0.064	2552	3408	3432
4074	-0.89	-146.6	298.4	-5.6	196	4079	0.00	2.55	0.00	0.000	6	0.000	0.053	2553	1980	3432
4401	-0.89	-146.6	321.3	-7.8	212	4406	0.00	2.60	0.00	0.000	4	0.000	0.064	2552	3406	3432
4423	-0.89	-146.6	323.0	-7.2	213	4428	0.00	2.53	0.00	0.000	6	0.000	0.052	2552	1992	3432
4746	-0.89	-146.6	343.9	-4.9	229	4751	0.00	2.60	0.00	0.000	4	0.000	0.064	2552	3413	3432
4779	-0.89	-146.6	345.5	-4.8	230	4786	0.00	2.53	0.00	0.000	6	0.000	0.054	2553	2001	3432
5097	-0.89	-146.6	365.9	-7.4	246	5101	0.00	2.53	0.00	0.000	4	0.000	0.067	2552	590	3433
5137	-0.89	-146.6	368.9	-7.2	248	5142	0.00	2.53	0.00	0.000	6	0.000	0.054	2553	2011	3432
5464	-0.89	-146.6	393.1	-9.2	264	5465	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2011	3432
5775	-0.89	-146.6	418.9	-11.3	279	5779	0.00	2.53	0.00	0.000	4	0.000	0.068	2553	3405	3432
5852	-0.89	-146.6	428.7	-11.6	282	5859	0.00	2.53	0.00	0.000	6	0.000	0.060	2552	2009	3432
6168	-0.89	-146.6	461.4	-8.2	298	6173	0.00	2.55	0.00	0.000	4	0.000	0.067	2553	3404	3431
6203	-0.89	-146.6	463.8	-6.8	299	6209	0.00	2.47	0.00	0.000	6	0.000	0.055	2552	2025	3431
6518	-0.89	-146.6	488.9	-7.9	315	6523	0.00	2.58	0.00	0.000	4	0.000	0.071	2552	594	3431
6552	-0.89	-146.6	491.2	-8.2	316	6558	0.00	2.55	0.00	0.000	6	0.000	0.058	2552	2017	3431
6869	-0.89	-146.6	515.1	-7.9	332	6870	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2018	3430
7177	-0.89	-146.6	536.8	-6.1	347	7181	0.00	2.62	0.00	0.000	4	0.000	0.073	2553	592	3431
7243	-0.89	-146.6	540.9	-6.3	350	7247	0.00	2.55	0.00	0.000	6	0.000	0.060	2552	2010	3430
7564	-0.89	-146.6	559.4	-6.6	366	7569	0.00	2.62	0.00	0.000	4	0.000	0.074	2553	588	3429
7620	-0.89	-146.6	563.7	-7.4	368	7626	0.00	2.55	0.00	0.000	6	0.000	0.061	2552	2004	3430
7935	-0.89	-146.6	585.4	-7.0	384	7936	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2003	3429
8246	-0.89	-146.6	605.7	-6.5	399	8250	0.00	2.62	0.00	0.000	4	0.000	0.076	2553	586	3428
8273	-0.89	-146.6	607.8	-7.2	400	8277	0.00	2.55	0.00	0.000	6	0.000	0.061	2553	1997	3428
8524	end dive: BOTTOM_OBSTACLE_DETECTED
state	8524	begin apogee
8531	-0.33	0.0	624.2	6.5	412	8667	0.55	0.00	132.40	1.262	6	0.079	0.000	2669	2133	2832
8668	end apogee: CONTROL_FINISHED_OK
state	8668	begin climb
8672	0.97	146.6	629.4	0.0	419	8812	1.30	2.67	131.68	1.223	4	0.061	0.077	2953	3524	2234
8871	0.80	146.6	620.8	7.4	427	8877	0.17	2.62	0.00	0.000	6	0.090	0.067	2919	2122	2234
9189	0.77	153.7	602.1	5.8	442	9203	0.00	2.70	8.20	1.025	4	0.000	0.077	2920	707	2205
9243	0.72	153.7	598.7	6.4	444	9248	0.00	2.62	0.00	0.000	6	0.000	0.064	2919	2128	2204
9560	0.77	189.4	582.8	5.0	459	9599	0.00	0.00	33.28	1.197	6	0.000	0.000	2920	2129	2059
9909	0.78	192.4	562.4	5.9	476	9918	0.00	2.70	4.32	0.827	4	0.000	0.078	2919	708	2046
9964	0.78	192.4	558.6	6.9	478	9968	0.00	2.60	0.00	0.000	6	0.000	0.064	2919	2119	2047
10281	0.79	199.4	540.4	5.8	493	10295	0.00	2.70	7.57	1.032	4	0.000	0.076	2920	719	2019
10312	0.79	199.4	538.2	6.8	494	10317	0.00	2.58	0.00	0.000	6	0.000	0.064	2919	2113	2019
10629	0.80	208.6	519.5	5.7	509	10645	0.00	2.67	10.23	1.092	4	0.000	0.075	2920	713	1981
10663	0.80	208.6	517.4	6.6	509	10669	0.00	2.58	0.00	0.000	6	0.000	0.063	2919	2107	1981
10979	0.83	223.6	501.2	5.6	525	11001	0.00	2.70	14.70	1.134	4	0.000	0.075	2919	3531	1920
11017	0.83	223.6	498.7	6.6	526	11024	0.00	2.67	0.00	0.000	6	0.000	0.062	2919	2090	1920
11334	0.83	223.6	476.5	7.1	542	11339	0.00	2.72	0.00	0.000	4	0.000	0.075	2920	3539	1920
11362	0.83	223.6	474.7	6.7	543	11367	0.00	2.62	0.00	0.000	6	0.000	0.061	2919	2108	1920
11679	0.83	228.0	452.4	5.9	558	11690	0.00	2.72	5.78	0.927	4	0.000	0.071	2919	3539	1901
11720	0.85	235.0	449.9	5.8	560	11734	0.00	2.60	7.78	1.000	6	0.000	0.061	2919	2126	1873
12051	0.85	235.0	429.6	6.8	576	12055	0.00	2.62	0.00	0.000	4	0.000	0.071	2919	3531	1873
12102	0.85	235.0	425.7	8.0	578	12106	0.00	2.50	0.00	0.000	6	0.000	0.059	2919	2163	1873
12421	0.89	235.0	403.8	6.6	593	12422	0.00	0.00	0.00	0.000	6	0.000	0.000	2920	2163	1873
12727	0.93	235.0	385.2	6.3	608	12732	0.12	2.55	0.00	0.000	4	0.058	0.069	2954	3533	1873
12768	0.87	235.0	382.1	8.0	610	12773	0.00	2.45	0.00	0.000	6	0.000	0.058	2954	2180	1874
13097	0.82	235.0	358.4	7.0	626	13102	0.15	2.65	0.00	0.000	4	0.088	0.067	2924	712	1874
13118	0.82	235.0	356.8	6.4	627	13123	0.00	2.67	0.00	0.000	6	0.000	0.056	2924	2197	1873
13440	0.85	254.9	339.3	5.5	643	13461	0.00	0.00	18.80	1.031	6	0.000	0.000	2924	2197	1793
13769	0.91	254.9	319.3	6.6	659	13774	0.00	2.72	0.00	0.000	4	0.000	0.067	2924	709	1793
13810	0.91	254.9	316.4	7.7	661	13815	0.00	2.67	0.00	0.000	6	0.000	0.056	2924	2193	1792
14138	0.96	254.9	294.4	7.1	677	14143	0.12	2.72	0.00	0.000	4	0.054	0.065	2962	707	1792
14178	0.88	254.9	290.6	9.7	679	14183	0.12	2.62	0.00	0.000	6	0.087	0.056	2936	2166	1793
14506	0.88	254.9	263.7	8.4	695	14510	0.00	2.67	0.00	0.000	4	0.000	0.067	2936	707	1794
14528	0.88	254.9	261.5	8.4	696	14532	0.00	2.60	0.00	0.000	6	0.000	0.055	2936	2156	1794
14849	0.88	254.9	236.0	8.2	712	14850	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2156	1794
15159	0.88	254.9	212.7	7.4	727	15160	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2157	1794
15467	0.88	254.9	189.4	7.3	742	15471	0.00	2.65	0.00	0.000	4	0.000	0.066	2936	707	1794
15488	0.88	254.9	187.6	7.6	743	15493	0.00	2.60	0.00	0.000	6	0.000	0.054	2936	2158	1794
15811	0.88	254.9	164.5	7.1	759	15812	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2159	1795
16122	0.88	254.9	142.4	7.2	774	16127	0.00	2.65	0.00	0.000	4	0.000	0.066	2936	707	1795
16150	0.88	254.9	139.9	7.9	775	16155	0.00	2.58	0.00	0.000	6	0.000	0.054	2936	2148	1795
16467	0.88	254.9	117.5	7.2	790	16469	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2149	1796
16776	0.88	254.9	96.2	6.8	805	16780	0.00	2.62	0.00	0.000	4	0.000	0.066	2936	710	1796
16803	0.88	254.9	94.1	8.3	806	16807	0.00	2.55	0.00	0.000	6	0.000	0.053	2936	2140	1796
17122	0.93	254.9	72.8	6.6	821	17123	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2141	1796
17428	0.97	254.9	52.4	6.9	836	17433	0.00	2.60	0.00	0.000	4	0.000	0.066	2936	714	1797
17456	0.97	254.9	50.1	7.3	837	17460	0.00	2.55	0.00	0.000	6	0.000	0.053	2936	2141	1797
17774	1.02	254.9	28.2	6.5	852	17776	0.15	0.00	0.00	0.000	6	0.051	0.000	2979	2141	1797
18079	end climb: SURFACE_DEPTH_REACHED
state	18079	begin surface coast
18121	end surface coast: CONTROL_FINISHED_OK
state	18121	begin surface