Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 358 * 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 358 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 45 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -94438.539 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 -94438.539

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 45 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 358 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 163737,6046.642,-536.431,40,1.1,40,-7.2 TGT_NAME FSCS_SE

_CALLS 2 TGT_LATLONG 6010.000,-425.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 0.96 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -61.6 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 164744,6046.752,-536.392,13,1.1,13,-7.2 MHEAD_RNG_PITCHd_Wd 143.2,94654,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027420 ALTIM_BOTTOM_PING 600.2,70.5

SM_CCo 18773,0.00,0.000,0,0,1728,270.81 _24V_AH 23.6,61.607

SM_GC 0.99,11.02,0.00,0.00,0.041,0.000,0.000,425,1979,1728,-10.58,-0.51,270.81 _10V_AH 10.1,30.395

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47449,900

TT8_MAMPS 0.029146 CAP_FILE_SIZE 133879,0

HUMID 1818 CFSIZE 254472192,230469632

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,43,0,0

XPDR_PINGS 34 GPS 210109,220207,6045.467,-530.094,34,1.3,34,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 134 78.13 SBE_CT 662 24 375.21

Roll_motor 155 88 326.77 SBE_O2 607 19 272.20

VBD_pump_during_apogee 389 1356 12475.39 WL_BB2F 558 105 1383.07

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 77 103 187.32 nil 0 0 0.00

Iridium_during_connect 58 160 222.01 nil 0 0 0.00

Iridium_during_xfer 270 223 1423.65

Transponder_ping 13 420 136.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.01

TT8 1620 19 324.06

LPSleep 14667 2 324.43

TT8_Active 530 19 106.18

TT8_Sampling 1803 39 724.78

TT8_CF8 753 45 348.55

TT8_Kalman 0 81 0.00

Analog_circuits 1453 12 176.13

GPS_charging 0 0 0.00

Compass 1766 8 142.70

RAFOS 0 0 0.00

Transponder 36 30 11.03

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

18 -0.97 -146.6 0.0 0.0 0 100 0.00 0.00 -80.50 0.000 6 0.000 0.000 422 1976 3430

103 -0.97 -146.6 5.4 -7.1 4 117 10.93 0.00 0.00 0.000 6 0.135 0.000 2527 1979 3431

436 -0.87 -146.6 44.3 -8.6 20 438 0.12 0.00 0.00 0.000 6 0.096 0.000 2552 1968 3432

744 -0.87 -146.6 68.4 -8.3 35 749 0.00 2.62 0.00 0.000 4 0.000 0.063 2553 3416 3432

766 -0.87 -146.6 70.1 -7.3 36 771 0.00 2.50 0.00 0.000 6 0.000 0.050 2553 2017 3432

1088 -0.87 -146.6 94.3 -8.2 52 1093 0.00 2.55 0.00 0.000 4 0.000 0.065 2553 594 3432

1117 -0.87 -146.6 96.6 -8.3 53 1121 0.00 2.53 0.00 0.000 6 0.000 0.052 2553 2010 3432

1433 -0.87 -146.6 122.7 -8.5 68 1434 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2011 3432

1742 -0.87 -146.6 145.0 -7.0 83 1747 0.00 2.53 0.00 0.000 4 0.000 0.064 2553 3414 3432

1788 -0.87 -146.6 148.2 -6.9 85 1792 0.00 2.53 0.00 0.000 6 0.000 0.051 2553 2000 3432

2109 -0.87 -146.6 171.6 -7.5 101 2114 0.00 2.53 0.00 0.000 4 0.000 0.067 2553 588 3432

2144 -0.87 -146.6 174.4 -7.9 102 2150 0.00 2.53 0.00 0.000 6 0.000 0.053 2553 2008 3432

2461 -0.87 -146.6 198.7 -8.1 118 2462 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2008 3432

2769 -0.87 -146.6 224.0 -7.9 133 2770 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2008 3432

3078 -0.87 -146.6 249.0 -8.1 148 3079 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2008 3432

3388 -0.87 -146.6 273.8 -8.1 163 3393 0.00 2.60 0.00 0.000 4 0.000 0.069 2553 586 3432

3422 -0.87 -146.6 277.0 -9.3 164 3428 0.00 2.53 0.00 0.000 6 0.000 0.054 2553 2007 3431

3737 -0.87 -146.6 302.5 -8.0 180 3741 0.00 2.53 0.00 0.000 4 0.000 0.066 2553 3411 3432

3766 -0.87 -146.6 304.8 -8.0 181 3770 0.00 2.53 0.00 0.000 6 0.000 0.054 2553 1998 3432

4082 -0.87 -146.6 329.4 -7.8 196 4083 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1997 3432

4391 -0.87 -146.6 354.2 -7.7 211 4392 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 1998 3432

4701 -0.87 -146.6 376.6 -6.7 226 4705 0.00 2.58 0.00 0.000 4 0.000 0.066 2553 3406 3432

4728 -0.87 -146.6 378.5 -6.5 227 4733 0.00 2.50 0.00 0.000 6 0.000 0.054 2553 2011 3432

5044 -0.87 -146.6 399.4 -6.7 242 5045 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2011 3432

5354 -0.87 -146.6 420.3 -6.8 257 5358 0.00 2.55 0.00 0.000 4 0.000 0.068 2552 589 3432

5404 -0.87 -146.6 423.9 -7.1 259 5409 0.00 2.55 0.00 0.000 6 0.000 0.055 2552 2020 3431

5726 -0.87 -146.6 446.0 -6.9 275 5730 0.00 2.62 0.00 0.000 4 0.000 0.071 2553 591 3432

5759 -0.87 -146.6 448.5 -8.0 276 5765 0.00 2.53 0.00 0.000 6 0.000 0.058 2553 2001 3432

6075 -0.87 -146.6 470.1 -6.6 292 6076 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2001 3432

6384 -0.87 -146.6 493.0 -7.2 307 6385 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2008 3431

6694 -0.87 -146.6 513.5 -6.7 322 6696 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2008 3430

7003 -0.87 -146.6 534.9 -6.8 337 7004 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2008 3430

7312 -0.87 -146.6 555.5 -6.8 352 7316 0.00 2.60 0.00 0.000 4 0.000 0.079 2553 3412 3428

7375 -0.87 -146.6 560.1 -7.9 355 7379 0.00 2.60 0.00 0.000 6 0.000 0.070 2553 1998 3428

7702 -0.87 -146.6 584.5 -7.7 371 7703 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1998 3428

8011 -0.87 -146.6 607.6 -6.9 386 8015 0.00 2.65 0.00 0.000 4 0.000 0.084 2553 3402 3426

8067 -0.87 -146.6 612.0 -7.9 388 8073 0.00 2.60 0.00 0.000 6 0.000 0.073 2552 2000 3426

8383 -0.87 -146.6 634.4 -6.8 404 8384 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2000 3425

8692 -0.87 -146.6 654.3 -5.6 419 8693 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2000 3424

8813 end dive: BOTTOM_OBSTACLE_DETECTED

state 8813 begin apogee

8821 -0.33 0.0 661.8 6.2 425 8956 0.57 0.00 132.02 1.357 6 0.091 0.000 2672 2125 2832

8957 end apogee: CONTROL_FINISHED_OK

state 8957 begin climb

8960 0.97 146.6 666.0 0.0 432 9106 1.33 2.78 134.85 1.300 4 0.074 0.085 2953 3524 2234

9161 0.78 146.6 658.4 6.6 441 9167 0.20 2.67 0.00 0.000 6 0.097 0.075 2915 2118 2234

9483 0.74 146.6 639.7 6.0 457 9487 0.00 2.67 0.00 0.000 4 0.000 0.089 2915 707 2233

9494 0.76 158.9 639.0 5.7 457 9513 0.00 2.65 12.15 1.187 6 0.000 0.071 2915 2126 2184

9831 0.79 177.5 621.9 5.5 474 9853 0.00 2.80 17.38 1.257 4 0.000 0.085 2915 3536 2108

9882 0.75 179.8 618.8 5.9 476 9892 0.00 2.67 4.05 0.850 6 0.000 0.077 2915 2137 2098

10209 0.83 232.0 602.9 4.6 492 10258 0.00 0.00 47.10 1.318 6 0.000 0.000 2915 2137 1886

10557 0.86 246.1 583.8 5.6 509 10577 0.00 0.00 14.18 1.239 6 0.000 0.000 2915 2137 1828

10888 0.91 250.1 565.0 5.9 525 10896 0.12 0.00 5.18 0.995 6 0.069 0.000 2946 2137 1812

11196 0.87 250.1 541.5 7.6 540 11201 0.00 2.70 0.00 0.000 4 0.000 0.087 2946 3532 1812

11241 0.81 250.1 537.6 8.8 542 11246 0.12 2.67 0.00 0.000 6 0.103 0.076 2923 2118 1812

11563 0.81 250.1 515.0 6.8 558 11564 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2118 1812

11872 0.81 250.1 493.3 6.3 573 11876 0.00 2.72 0.00 0.000 4 0.000 0.084 2922 3540 1811

11899 0.81 250.1 491.5 6.7 574 11903 0.00 2.65 0.00 0.000 6 0.000 0.073 2923 2129 1811

12215 0.81 250.1 471.6 6.1 589 12220 0.00 2.62 0.00 0.000 4 0.000 0.082 2922 713 1811

12256 0.81 250.1 468.9 6.6 591 12261 0.00 2.60 0.00 0.000 6 0.000 0.067 2923 2126 1811

12584 0.84 263.8 449.5 5.6 607 12602 0.00 0.00 13.55 1.179 6 0.000 0.000 2923 2126 1756

12912 0.89 272.5 431.1 5.8 623 12927 0.00 2.70 9.15 1.103 4 0.000 0.077 2923 714 1720

12957 0.94 272.5 428.1 6.7 625 12962 0.10 2.60 0.00 0.000 6 0.067 0.064 2949 2122 1720

13285 0.94 272.5 403.0 8.2 641 13290 0.00 2.62 0.00 0.000 4 0.000 0.075 2949 3537 1720

13348 0.94 272.5 397.4 8.8 644 13352 0.00 2.58 0.00 0.000 6 0.000 0.062 2949 2135 1720

13674 0.94 272.5 372.7 8.1 660 13679 0.00 2.62 0.00 0.000 4 0.000 0.071 2949 3538 1720

13697 0.94 272.5 370.8 8.2 661 13702 0.00 2.55 0.00 0.000 6 0.000 0.059 2949 2141 1720

14018 0.94 272.5 344.2 8.3 677 14023 0.00 2.60 0.00 0.000 4 0.000 0.070 2949 3537 1721

14046 0.94 272.5 341.7 9.1 678 14050 0.00 2.53 0.00 0.000 6 0.000 0.057 2949 2147 1721

14362 0.94 272.5 316.9 7.6 693 14367 0.00 2.60 0.00 0.000 4 0.000 0.068 2949 703 1721

14407 0.94 272.5 313.0 8.8 695 14411 0.00 2.60 0.00 0.000 6 0.000 0.056 2949 2148 1721

14728 0.94 272.5 289.9 7.1 711 14729 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2150 1722

15038 0.94 272.5 267.8 7.4 726 15039 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2150 1723

15347 0.94 272.5 245.9 7.0 741 15350 0.00 2.53 0.00 0.000 4 0.000 0.066 2950 3541 1724

15380 0.94 272.5 243.2 7.4 742 15384 0.00 2.53 0.00 0.000 6 0.000 0.054 2949 2139 1724

15696 0.94 272.5 220.1 7.5 757 15700 0.00 2.58 0.00 0.000 4 0.000 0.067 2949 706 1725

15718 0.94 272.5 218.2 7.8 758 15722 0.00 2.58 0.00 0.000 6 0.000 0.054 2949 2144 1725

16038 0.94 272.5 195.3 7.1 774 16043 0.00 2.62 0.00 0.000 4 0.000 0.067 2949 708 1726

16057 0.94 272.5 194.0 7.0 775 16061 0.00 2.55 0.00 0.000 6 0.000 0.054 2949 2135 1726

16384 0.94 272.5 170.6 7.2 791 16385 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2134 1726

16693 0.94 272.5 149.2 6.9 806 16697 0.00 2.60 0.00 0.000 4 0.000 0.067 2949 710 1726

16721 0.94 272.5 147.1 8.1 807 16725 0.00 2.53 0.00 0.000 6 0.000 0.053 2949 2124 1727

17038 0.94 272.5 124.7 6.2 822 17043 0.00 2.53 0.00 0.000 4 0.000 0.064 2949 3528 1727

17066 0.94 272.5 122.6 7.8 823 17071 0.00 2.53 0.00 0.000 6 0.000 0.051 2949 2114 1727

17383 0.94 272.5 100.5 6.9 838 17387 0.00 2.53 0.00 0.000 4 0.000 0.067 2949 714 1728

17410 0.94 272.5 98.3 7.9 839 17415 0.00 2.53 0.00 0.000 6 0.000 0.053 2949 2126 1728

17726 0.94 272.5 74.0 7.4 854 17728 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2127 1728

18038 0.94 272.5 47.5 9.2 869 18042 0.00 2.58 0.00 0.000 4 0.000 0.067 2949 716 1728

18055 0.94 272.5 45.7 8.7 870 18059 0.00 2.47 0.00 0.000 6 0.000 0.053 2949 2109 1728

18388 0.94 272.5 21.2 8.0 886 18392 0.00 2.55 0.00 0.000 4 0.000 0.062 2949 3528 1729

18437 0.94 272.5 17.5 8.9 888 18441 0.00 2.55 0.00 0.000 6 0.000 0.050 2949 2099 1729

18627 end climb: SURFACE_DEPTH_REACHED

state 18627 begin surface coast

18690 end surface coast: CONTROL_FINISHED_OK

state 18690 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	358	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	45	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-94438.539	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	163737,6046.642,-536.431,40,1.1,40,-7.2	TGT_NAME	FSCS_SE
_CALLS	2	TGT_LATLONG	6010.000,-425.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	0.96	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-61.6	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	164744,6046.752,-536.392,13,1.1,13,-7.2	MHEAD_RNG_PITCHd_Wd	143.2,94654,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.027420	ALTIM_BOTTOM_PING	600.2,70.5
SM_CCo	18773,0.00,0.000,0,0,1728,270.81	_24V_AH	23.6,61.607
SM_GC	0.99,11.02,0.00,0.00,0.041,0.000,0.000,425,1979,1728,-10.58,-0.51,270.81	_10V_AH	10.1,30.395
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47449,900
TT8_MAMPS	0.029146	CAP_FILE_SIZE	133879,0
HUMID	1818	CFSIZE	254472192,230469632
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
XPDR_PINGS	34	GPS	210109,220207,6045.467,-530.094,34,1.3,34,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	134	78.13	SBE_CT	662	24	375.21
Roll_motor	155	88	326.77	SBE_O2	607	19	272.20
VBD_pump_during_apogee	389	1356	12475.39	WL_BB2F	558	105	1383.07
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	77	103	187.32	nil	0	0	0.00
Iridium_during_connect	58	160	222.01	nil	0	0	0.00
Iridium_during_xfer	270	223	1423.65
Transponder_ping	13	420	136.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.01
TT8	1620	19	324.06
LPSleep	14667	2	324.43
TT8_Active	530	19	106.18
TT8_Sampling	1803	39	724.78
TT8_CF8	753	45	348.55
TT8_Kalman	0	81	0.00
Analog_circuits	1453	12	176.13
GPS_charging	0	0	0.00
Compass	1766	8	142.70
RAFOS	0	0	0.00
Transponder	36	30	11.03

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
18	-0.97	-146.6	0.0	0.0	0	100	0.00	0.00	-80.50	0.000	6	0.000	0.000	422	1976	3430
103	-0.97	-146.6	5.4	-7.1	4	117	10.93	0.00	0.00	0.000	6	0.135	0.000	2527	1979	3431
436	-0.87	-146.6	44.3	-8.6	20	438	0.12	0.00	0.00	0.000	6	0.096	0.000	2552	1968	3432
744	-0.87	-146.6	68.4	-8.3	35	749	0.00	2.62	0.00	0.000	4	0.000	0.063	2553	3416	3432
766	-0.87	-146.6	70.1	-7.3	36	771	0.00	2.50	0.00	0.000	6	0.000	0.050	2553	2017	3432
1088	-0.87	-146.6	94.3	-8.2	52	1093	0.00	2.55	0.00	0.000	4	0.000	0.065	2553	594	3432
1117	-0.87	-146.6	96.6	-8.3	53	1121	0.00	2.53	0.00	0.000	6	0.000	0.052	2553	2010	3432
1433	-0.87	-146.6	122.7	-8.5	68	1434	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2011	3432
1742	-0.87	-146.6	145.0	-7.0	83	1747	0.00	2.53	0.00	0.000	4	0.000	0.064	2553	3414	3432
1788	-0.87	-146.6	148.2	-6.9	85	1792	0.00	2.53	0.00	0.000	6	0.000	0.051	2553	2000	3432
2109	-0.87	-146.6	171.6	-7.5	101	2114	0.00	2.53	0.00	0.000	4	0.000	0.067	2553	588	3432
2144	-0.87	-146.6	174.4	-7.9	102	2150	0.00	2.53	0.00	0.000	6	0.000	0.053	2553	2008	3432
2461	-0.87	-146.6	198.7	-8.1	118	2462	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2008	3432
2769	-0.87	-146.6	224.0	-7.9	133	2770	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2008	3432
3078	-0.87	-146.6	249.0	-8.1	148	3079	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2008	3432
3388	-0.87	-146.6	273.8	-8.1	163	3393	0.00	2.60	0.00	0.000	4	0.000	0.069	2553	586	3432
3422	-0.87	-146.6	277.0	-9.3	164	3428	0.00	2.53	0.00	0.000	6	0.000	0.054	2553	2007	3431
3737	-0.87	-146.6	302.5	-8.0	180	3741	0.00	2.53	0.00	0.000	4	0.000	0.066	2553	3411	3432
3766	-0.87	-146.6	304.8	-8.0	181	3770	0.00	2.53	0.00	0.000	6	0.000	0.054	2553	1998	3432
4082	-0.87	-146.6	329.4	-7.8	196	4083	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1997	3432
4391	-0.87	-146.6	354.2	-7.7	211	4392	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	1998	3432
4701	-0.87	-146.6	376.6	-6.7	226	4705	0.00	2.58	0.00	0.000	4	0.000	0.066	2553	3406	3432
4728	-0.87	-146.6	378.5	-6.5	227	4733	0.00	2.50	0.00	0.000	6	0.000	0.054	2553	2011	3432
5044	-0.87	-146.6	399.4	-6.7	242	5045	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2011	3432
5354	-0.87	-146.6	420.3	-6.8	257	5358	0.00	2.55	0.00	0.000	4	0.000	0.068	2552	589	3432
5404	-0.87	-146.6	423.9	-7.1	259	5409	0.00	2.55	0.00	0.000	6	0.000	0.055	2552	2020	3431
5726	-0.87	-146.6	446.0	-6.9	275	5730	0.00	2.62	0.00	0.000	4	0.000	0.071	2553	591	3432
5759	-0.87	-146.6	448.5	-8.0	276	5765	0.00	2.53	0.00	0.000	6	0.000	0.058	2553	2001	3432
6075	-0.87	-146.6	470.1	-6.6	292	6076	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2001	3432
6384	-0.87	-146.6	493.0	-7.2	307	6385	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2008	3431
6694	-0.87	-146.6	513.5	-6.7	322	6696	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2008	3430
7003	-0.87	-146.6	534.9	-6.8	337	7004	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2008	3430
7312	-0.87	-146.6	555.5	-6.8	352	7316	0.00	2.60	0.00	0.000	4	0.000	0.079	2553	3412	3428
7375	-0.87	-146.6	560.1	-7.9	355	7379	0.00	2.60	0.00	0.000	6	0.000	0.070	2553	1998	3428
7702	-0.87	-146.6	584.5	-7.7	371	7703	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	1998	3428
8011	-0.87	-146.6	607.6	-6.9	386	8015	0.00	2.65	0.00	0.000	4	0.000	0.084	2553	3402	3426
8067	-0.87	-146.6	612.0	-7.9	388	8073	0.00	2.60	0.00	0.000	6	0.000	0.073	2552	2000	3426
8383	-0.87	-146.6	634.4	-6.8	404	8384	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2000	3425
8692	-0.87	-146.6	654.3	-5.6	419	8693	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2000	3424
8813	end dive: BOTTOM_OBSTACLE_DETECTED
state	8813	begin apogee
8821	-0.33	0.0	661.8	6.2	425	8956	0.57	0.00	132.02	1.357	6	0.091	0.000	2672	2125	2832
8957	end apogee: CONTROL_FINISHED_OK
state	8957	begin climb
8960	0.97	146.6	666.0	0.0	432	9106	1.33	2.78	134.85	1.300	4	0.074	0.085	2953	3524	2234
9161	0.78	146.6	658.4	6.6	441	9167	0.20	2.67	0.00	0.000	6	0.097	0.075	2915	2118	2234
9483	0.74	146.6	639.7	6.0	457	9487	0.00	2.67	0.00	0.000	4	0.000	0.089	2915	707	2233
9494	0.76	158.9	639.0	5.7	457	9513	0.00	2.65	12.15	1.187	6	0.000	0.071	2915	2126	2184
9831	0.79	177.5	621.9	5.5	474	9853	0.00	2.80	17.38	1.257	4	0.000	0.085	2915	3536	2108
9882	0.75	179.8	618.8	5.9	476	9892	0.00	2.67	4.05	0.850	6	0.000	0.077	2915	2137	2098
10209	0.83	232.0	602.9	4.6	492	10258	0.00	0.00	47.10	1.318	6	0.000	0.000	2915	2137	1886
10557	0.86	246.1	583.8	5.6	509	10577	0.00	0.00	14.18	1.239	6	0.000	0.000	2915	2137	1828
10888	0.91	250.1	565.0	5.9	525	10896	0.12	0.00	5.18	0.995	6	0.069	0.000	2946	2137	1812
11196	0.87	250.1	541.5	7.6	540	11201	0.00	2.70	0.00	0.000	4	0.000	0.087	2946	3532	1812
11241	0.81	250.1	537.6	8.8	542	11246	0.12	2.67	0.00	0.000	6	0.103	0.076	2923	2118	1812
11563	0.81	250.1	515.0	6.8	558	11564	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2118	1812
11872	0.81	250.1	493.3	6.3	573	11876	0.00	2.72	0.00	0.000	4	0.000	0.084	2922	3540	1811
11899	0.81	250.1	491.5	6.7	574	11903	0.00	2.65	0.00	0.000	6	0.000	0.073	2923	2129	1811
12215	0.81	250.1	471.6	6.1	589	12220	0.00	2.62	0.00	0.000	4	0.000	0.082	2922	713	1811
12256	0.81	250.1	468.9	6.6	591	12261	0.00	2.60	0.00	0.000	6	0.000	0.067	2923	2126	1811
12584	0.84	263.8	449.5	5.6	607	12602	0.00	0.00	13.55	1.179	6	0.000	0.000	2923	2126	1756
12912	0.89	272.5	431.1	5.8	623	12927	0.00	2.70	9.15	1.103	4	0.000	0.077	2923	714	1720
12957	0.94	272.5	428.1	6.7	625	12962	0.10	2.60	0.00	0.000	6	0.067	0.064	2949	2122	1720
13285	0.94	272.5	403.0	8.2	641	13290	0.00	2.62	0.00	0.000	4	0.000	0.075	2949	3537	1720
13348	0.94	272.5	397.4	8.8	644	13352	0.00	2.58	0.00	0.000	6	0.000	0.062	2949	2135	1720
13674	0.94	272.5	372.7	8.1	660	13679	0.00	2.62	0.00	0.000	4	0.000	0.071	2949	3538	1720
13697	0.94	272.5	370.8	8.2	661	13702	0.00	2.55	0.00	0.000	6	0.000	0.059	2949	2141	1720
14018	0.94	272.5	344.2	8.3	677	14023	0.00	2.60	0.00	0.000	4	0.000	0.070	2949	3537	1721
14046	0.94	272.5	341.7	9.1	678	14050	0.00	2.53	0.00	0.000	6	0.000	0.057	2949	2147	1721
14362	0.94	272.5	316.9	7.6	693	14367	0.00	2.60	0.00	0.000	4	0.000	0.068	2949	703	1721
14407	0.94	272.5	313.0	8.8	695	14411	0.00	2.60	0.00	0.000	6	0.000	0.056	2949	2148	1721
14728	0.94	272.5	289.9	7.1	711	14729	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2150	1722
15038	0.94	272.5	267.8	7.4	726	15039	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2150	1723
15347	0.94	272.5	245.9	7.0	741	15350	0.00	2.53	0.00	0.000	4	0.000	0.066	2950	3541	1724
15380	0.94	272.5	243.2	7.4	742	15384	0.00	2.53	0.00	0.000	6	0.000	0.054	2949	2139	1724
15696	0.94	272.5	220.1	7.5	757	15700	0.00	2.58	0.00	0.000	4	0.000	0.067	2949	706	1725
15718	0.94	272.5	218.2	7.8	758	15722	0.00	2.58	0.00	0.000	6	0.000	0.054	2949	2144	1725
16038	0.94	272.5	195.3	7.1	774	16043	0.00	2.62	0.00	0.000	4	0.000	0.067	2949	708	1726
16057	0.94	272.5	194.0	7.0	775	16061	0.00	2.55	0.00	0.000	6	0.000	0.054	2949	2135	1726
16384	0.94	272.5	170.6	7.2	791	16385	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2134	1726
16693	0.94	272.5	149.2	6.9	806	16697	0.00	2.60	0.00	0.000	4	0.000	0.067	2949	710	1726
16721	0.94	272.5	147.1	8.1	807	16725	0.00	2.53	0.00	0.000	6	0.000	0.053	2949	2124	1727
17038	0.94	272.5	124.7	6.2	822	17043	0.00	2.53	0.00	0.000	4	0.000	0.064	2949	3528	1727
17066	0.94	272.5	122.6	7.8	823	17071	0.00	2.53	0.00	0.000	6	0.000	0.051	2949	2114	1727
17383	0.94	272.5	100.5	6.9	838	17387	0.00	2.53	0.00	0.000	4	0.000	0.067	2949	714	1728
17410	0.94	272.5	98.3	7.9	839	17415	0.00	2.53	0.00	0.000	6	0.000	0.053	2949	2126	1728
17726	0.94	272.5	74.0	7.4	854	17728	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2127	1728
18038	0.94	272.5	47.5	9.2	869	18042	0.00	2.58	0.00	0.000	4	0.000	0.067	2949	716	1728
18055	0.94	272.5	45.7	8.7	870	18059	0.00	2.47	0.00	0.000	6	0.000	0.053	2949	2109	1728
18388	0.94	272.5	21.2	8.0	886	18392	0.00	2.55	0.00	0.000	4	0.000	0.062	2949	3528	1729
18437	0.94	272.5	17.5	8.9	888	18441	0.00	2.55	0.00	0.000	6	0.000	0.050	2949	2099	1729
18627	end climb: SURFACE_DEPTH_REACHED
state	18627	begin surface coast
18690	end surface coast: CONTROL_FINISHED_OK
state	18690	begin surface