Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 428 * 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 428 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -95794.602 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 -95794.602

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 26 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 428 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 132451,6142.885,-912.732,42,1.6,54,-9.4 TGT_NAME FBC_4

_CALLS 2 TGT_LATLONG 6140.000,-845.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.60 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -67.5 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 133531,6142.792,-912.774,12,1.6,17,-9.4 MHEAD_RNG_PITCHd_Wd 111.4,24953,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027411 ALTIM_BOTTOM_PING 726.0,81.8

SM_CCo 18190,0.00,0.000,0,0,805,497.22 _24V_AH 23.5,76.238

SM_GC 1.54,11.25,0.00,0.00,0.038,0.000,0.000,421,2025,805,-10.60,0.71,497.22 _10V_AH 10.1,37.893

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44154,867

TT8_MAMPS 0.029146 CAP_FILE_SIZE 138269,0

HUMID 1828 CFSIZE 254472192,224948224

TCM_TEMP 17.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,47,0,0

XPDR_PINGS 81 GPS 110209,184007,6140.729,-911.077,29,1.0,29,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 140 87.74 SBE_CT 637 24 359.35

Roll_motor 159 87 328.36 SBE_O2 584 19 261.19

VBD_pump_during_apogee 595 1411 19762.24 WL_BB2F 504 105 1245.23

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 75 103 182.80 nil 0 0 0.00

Iridium_during_connect 58 160 221.08 nil 0 0 0.00

Iridium_during_xfer 289 223 1515.61

Transponder_ping 26 420 264.02

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.69

TT8 1578 19 315.73

LPSleep 13867 2 306.74

TT8_Active 672 19 134.46

TT8_Sampling 1907 39 766.94

TT8_CF8 793 45 367.11

TT8_Kalman 0 81 0.00

Analog_circuits 1685 12 204.25

GPS_charging 0 0 0.00

Compass 1855 8 149.91

RAFOS 0 0 0.00

Transponder 43 30 13.27

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 -81.20 0.000 2 0.000 0.000 420 1969 3181

104 -0.97 -146.6 3.8 -3.5 4 128 11.20 2.65 -6.60 0.000 4 0.140 0.072 2524 3408 3431

274 -0.88 -146.6 26.1 -10.5 11 279 0.12 2.53 0.00 0.000 6 0.092 0.048 2550 1993 3431

590 -0.88 -146.6 57.4 -9.6 26 591 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 1991 3431

901 -0.88 -146.6 85.1 -8.1 41 903 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 1991 3431

1208 -0.88 -146.6 108.4 -6.8 56 1209 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 1991 3431

1518 -0.88 -146.6 127.6 -5.7 71 1519 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 1991 3431

1828 -0.88 -146.6 148.2 -7.1 86 1832 0.00 2.58 0.00 0.000 4 0.000 0.061 2550 3413 3431

1861 -0.88 -146.6 150.4 -6.6 87 1867 0.00 2.50 0.00 0.000 6 0.000 0.051 2550 2007 3431

2176 -0.88 -146.6 179.9 -9.4 103 2180 0.00 2.53 0.00 0.000 4 0.000 0.064 2550 591 3431

2204 -0.88 -146.6 182.5 -8.9 104 2208 0.00 2.53 0.00 0.000 6 0.000 0.051 2550 2016 3431

2526 -0.88 -146.6 208.8 -8.3 120 2527 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2016 3431

2834 -0.84 -146.6 237.4 -11.5 135 2839 0.00 2.58 0.00 0.000 4 0.000 0.064 2550 595 3431

2856 -0.84 -146.6 240.4 -12.5 136 2861 0.00 2.53 0.00 0.000 6 0.000 0.051 2550 2020 3431

3179 -0.84 -146.6 273.5 -8.9 152 3183 0.00 2.60 0.00 0.000 4 0.000 0.064 2550 584 3431

3211 -0.84 -146.6 276.7 -9.8 153 3217 0.00 2.55 0.00 0.000 6 0.000 0.051 2550 2016 3431

3528 -0.84 -146.6 305.7 -8.9 169 3532 0.00 2.50 0.00 0.000 4 0.000 0.064 2550 3411 3431

3561 -0.84 -146.6 308.7 -8.9 170 3566 0.00 2.50 0.00 0.000 6 0.000 0.052 2550 2012 3431

3877 -0.84 -146.6 336.3 -8.6 185 3881 0.00 2.53 0.00 0.000 4 0.000 0.062 2550 592 3431

3904 -0.84 -146.6 338.7 -8.9 186 3908 0.00 2.53 0.00 0.000 6 0.000 0.051 2550 2017 3431

4221 -0.84 -146.6 364.5 -7.7 201 4222 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2018 3431

4530 -0.84 -146.6 386.5 -6.0 216 4531 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2018 3431

4840 -0.84 -146.6 406.4 -6.4 231 4844 0.00 2.60 0.00 0.000 4 0.000 0.064 2550 582 3431

4884 -0.84 -146.6 409.7 -6.9 233 4888 0.00 2.55 0.00 0.000 6 0.000 0.052 2550 2020 3431

5206 -0.84 -146.6 429.2 -5.4 249 5208 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2020 3431

5515 -0.84 -146.6 447.5 -6.3 264 5516 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2020 3431

5823 -0.84 -146.6 466.6 -6.1 279 5827 0.00 2.60 0.00 0.000 4 0.000 0.064 2550 583 3431

5863 -0.84 -146.6 469.5 -7.6 281 5867 0.00 2.55 0.00 0.000 6 0.000 0.053 2550 2023 3431

6190 -0.84 -146.6 493.9 -8.1 297 6192 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2024 3431

6499 -0.84 -146.6 519.7 -8.6 312 6503 0.00 2.60 0.00 0.000 4 0.000 0.064 2550 586 3431

6526 -0.84 -146.6 522.1 -8.6 313 6530 0.00 2.53 0.00 0.000 6 0.000 0.052 2550 2013 3431

6842 -0.84 -146.6 547.8 -8.0 328 6844 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2013 3431

7151 -0.84 -146.6 570.4 -7.2 343 7155 0.00 2.58 0.00 0.000 4 0.000 0.064 2550 591 3431

7184 -0.84 -146.6 572.8 -7.5 344 7190 0.00 2.50 0.00 0.000 6 0.000 0.052 2551 2003 3431

7500 -0.84 -146.6 596.3 -7.3 360 7501 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2004 3431

7809 -0.84 -146.6 619.2 -7.3 375 7810 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2004 3431

8118 -0.84 -146.6 642.6 -7.0 390 8122 0.00 2.58 0.00 0.000 4 0.000 0.066 2550 584 3431

8181 -0.84 -146.6 648.4 -9.8 393 8185 0.00 2.53 0.00 0.000 6 0.000 0.054 2550 2009 3431

8508 -0.84 -146.6 675.3 -7.7 409 8512 0.00 2.58 0.00 0.000 4 0.000 0.067 2550 595 3431

8642 -0.90 -146.6 688.9 -9.4 415 8647 0.00 2.45 0.00 0.000 6 0.000 0.054 2550 1976 3431

8965 -0.90 -146.6 728.9 -14.5 431 8969 0.00 2.58 0.00 0.000 4 0.000 0.068 2550 3402 3431

9066 -1.05 -146.6 741.9 -6.3 435 9073 0.15 2.53 0.00 0.000 6 0.061 0.060 2512 1999 3431

9384 -0.95 -146.6 751.1 -3.5 451 9389 0.12 2.58 0.00 0.000 4 0.097 0.078 2536 590 3431

9456 -0.95 -146.6 755.9 -7.4 454 9461 0.00 2.53 0.00 0.000 6 0.000 0.064 2537 1982 3430

9773 -0.95 -146.6 775.1 -0.1 469 9778 0.00 2.62 0.00 0.000 4 0.000 0.081 2536 3413 3430

9818 -1.12 -146.6 779.1 -6.8 471 9823 0.17 2.60 0.00 0.000 6 0.061 0.067 2491 1995 3429

10075 end dive: BOTTOM_OBSTACLE_DETECTED

state 10075 begin apogee

10082 -0.33 0.0 800.9 12.7 484 10223 0.85 0.00 137.00 1.411 6 0.084 0.000 2671 2122 2832

10223 end apogee: CONTROL_FINISHED_OK

state 10224 begin climb

10228 0.97 146.6 806.5 0.0 491 10374 1.30 2.75 137.50 1.371 4 0.064 0.084 2950 3537 2233

10630 0.75 163.4 772.0 5.5 509 10655 0.22 2.65 16.45 1.262 6 0.087 0.074 2906 2130 2166

10979 1.05 353.0 764.9 0.8 526 11169 0.28 2.80 175.57 1.361 4 0.055 0.084 2976 3531 1392

11227 0.96 353.0 738.9 15.3 537 11231 0.00 2.70 0.00 0.000 6 0.000 0.075 2976 2112 1393

11544 0.88 353.0 702.4 9.0 552 11546 0.20 0.00 0.00 0.000 6 0.091 0.000 2937 2104 1393

11852 1.07 468.1 688.9 2.8 567 11962 0.17 2.72 101.57 1.365 4 0.061 0.081 2978 713 923

11976 1.11 498.0 682.6 5.2 573 12010 0.00 2.65 27.77 1.294 6 0.000 0.068 2978 2129 801

12330 1.11 498.0 653.4 10.4 590 12334 0.00 2.65 0.00 0.000 4 0.000 0.077 2978 711 800

12357 1.11 498.0 649.7 13.0 591 12361 0.00 2.58 0.00 0.000 6 0.000 0.064 2978 2111 800

12674 1.11 498.0 612.5 14.6 606 12679 0.00 2.65 0.00 0.000 4 0.000 0.074 2978 702 800

12701 1.11 498.0 607.9 14.9 607 12706 0.00 2.55 0.00 0.000 6 0.000 0.061 2978 2099 800

13017 1.11 498.0 570.4 9.6 622 13021 0.00 2.60 0.00 0.000 4 0.000 0.071 2978 708 800

13057 1.11 498.0 566.5 10.1 624 13062 0.00 2.45 0.00 0.000 6 0.000 0.058 2978 2059 800

13384 1.11 498.0 533.6 13.0 640 13389 0.00 2.53 0.00 0.000 4 0.000 0.069 2978 703 800

13407 1.11 498.0 530.4 13.5 641 13411 0.00 2.42 0.00 0.000 6 0.000 0.056 2978 2046 800

13729 1.11 498.0 489.5 11.5 657 13733 0.00 2.50 0.00 0.000 4 0.000 0.067 2978 701 802

13756 1.11 498.0 486.2 12.3 658 13760 0.00 2.40 0.00 0.000 6 0.000 0.054 2978 2033 801

14072 1.11 498.0 447.7 12.9 673 14076 0.00 2.45 0.00 0.000 4 0.000 0.066 2978 710 801

14090 1.11 498.0 445.5 12.1 674 14094 0.00 2.33 0.00 0.000 6 0.000 0.053 2978 2010 802

14417 1.11 498.0 407.9 11.1 690 14418 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2031 802

14726 1.11 498.0 375.9 10.6 705 14730 0.00 2.40 0.00 0.000 4 0.000 0.066 2978 704 803

14754 1.11 498.0 373.0 10.7 706 14758 0.00 2.33 0.00 0.000 6 0.000 0.053 2978 2008 803

15081 1.11 498.0 338.7 11.1 722 15082 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2028 803

15390 1.11 498.0 306.4 10.3 737 15395 0.00 2.40 0.00 0.000 4 0.000 0.065 2978 708 803

15412 1.11 498.0 303.9 10.8 738 15417 0.00 2.30 0.00 0.000 6 0.000 0.052 2978 1996 803

15735 1.16 498.0 268.2 11.5 754 15737 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2016 803

16043 1.22 498.0 232.2 9.1 769 16045 0.12 0.00 0.00 0.000 6 0.051 0.000 3017 2016 804

16354 1.15 498.0 197.2 11.7 784 16359 0.12 2.75 0.00 0.000 4 0.087 0.061 2992 3529 804

16381 1.15 498.0 193.9 11.0 785 16386 0.00 2.78 0.00 0.000 6 0.000 0.051 2992 1972 804

16697 1.15 498.0 158.2 13.1 800 16702 0.00 2.83 0.00 0.000 4 0.000 0.061 2992 3528 804

16731 1.20 498.0 153.7 12.2 801 16737 0.00 2.72 0.00 0.000 6 0.000 0.050 2992 1997 804

17049 1.20 498.0 115.7 12.7 817 17050 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 1997 804

17357 1.20 498.0 89.4 8.3 832 17361 0.00 2.80 0.00 0.000 4 0.000 0.061 2992 3538 805

17408 1.29 498.0 85.0 8.0 834 17413 0.15 2.72 0.00 0.000 6 0.052 0.051 3032 2007 805

17724 1.19 498.0 46.2 13.8 849 17726 0.15 0.00 0.00 0.000 6 0.087 0.000 3003 2006 805

18033 1.19 498.0 9.6 11.4 864 18037 0.00 2.78 0.00 0.000 4 0.000 0.059 3003 3536 805

18061 1.19 498.0 6.1 12.5 865 18065 0.00 2.70 0.00 0.000 6 0.000 0.051 3003 2026 805

18085 end climb: SURFACE_DEPTH_REACHED

state 18085 begin surface coast

18108 end surface coast: CONTROL_FINISHED_OK

state 18108 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	428	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-95794.602	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	132451,6142.885,-912.732,42,1.6,54,-9.4	TGT_NAME	FBC_4
_CALLS	2	TGT_LATLONG	6140.000,-845.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.60	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-67.5	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	133531,6142.792,-912.774,12,1.6,17,-9.4	MHEAD_RNG_PITCHd_Wd	111.4,24953,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027411	ALTIM_BOTTOM_PING	726.0,81.8
SM_CCo	18190,0.00,0.000,0,0,805,497.22	_24V_AH	23.5,76.238
SM_GC	1.54,11.25,0.00,0.00,0.038,0.000,0.000,421,2025,805,-10.60,0.71,497.22	_10V_AH	10.1,37.893
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44154,867
TT8_MAMPS	0.029146	CAP_FILE_SIZE	138269,0
HUMID	1828	CFSIZE	254472192,224948224
TCM_TEMP	17.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
XPDR_PINGS	81	GPS	110209,184007,6140.729,-911.077,29,1.0,29,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	140	87.74	SBE_CT	637	24	359.35
Roll_motor	159	87	328.36	SBE_O2	584	19	261.19
VBD_pump_during_apogee	595	1411	19762.24	WL_BB2F	504	105	1245.23
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	75	103	182.80	nil	0	0	0.00
Iridium_during_connect	58	160	221.08	nil	0	0	0.00
Iridium_during_xfer	289	223	1515.61
Transponder_ping	26	420	264.02
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.69
TT8	1578	19	315.73
LPSleep	13867	2	306.74
TT8_Active	672	19	134.46
TT8_Sampling	1907	39	766.94
TT8_CF8	793	45	367.11
TT8_Kalman	0	81	0.00
Analog_circuits	1685	12	204.25
GPS_charging	0	0	0.00
Compass	1855	8	149.91
RAFOS	0	0	0.00
Transponder	43	30	13.27

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	-81.20	0.000	2	0.000	0.000	420	1969	3181
104	-0.97	-146.6	3.8	-3.5	4	128	11.20	2.65	-6.60	0.000	4	0.140	0.072	2524	3408	3431
274	-0.88	-146.6	26.1	-10.5	11	279	0.12	2.53	0.00	0.000	6	0.092	0.048	2550	1993	3431
590	-0.88	-146.6	57.4	-9.6	26	591	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	1991	3431
901	-0.88	-146.6	85.1	-8.1	41	903	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	1991	3431
1208	-0.88	-146.6	108.4	-6.8	56	1209	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	1991	3431
1518	-0.88	-146.6	127.6	-5.7	71	1519	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	1991	3431
1828	-0.88	-146.6	148.2	-7.1	86	1832	0.00	2.58	0.00	0.000	4	0.000	0.061	2550	3413	3431
1861	-0.88	-146.6	150.4	-6.6	87	1867	0.00	2.50	0.00	0.000	6	0.000	0.051	2550	2007	3431
2176	-0.88	-146.6	179.9	-9.4	103	2180	0.00	2.53	0.00	0.000	4	0.000	0.064	2550	591	3431
2204	-0.88	-146.6	182.5	-8.9	104	2208	0.00	2.53	0.00	0.000	6	0.000	0.051	2550	2016	3431
2526	-0.88	-146.6	208.8	-8.3	120	2527	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2016	3431
2834	-0.84	-146.6	237.4	-11.5	135	2839	0.00	2.58	0.00	0.000	4	0.000	0.064	2550	595	3431
2856	-0.84	-146.6	240.4	-12.5	136	2861	0.00	2.53	0.00	0.000	6	0.000	0.051	2550	2020	3431
3179	-0.84	-146.6	273.5	-8.9	152	3183	0.00	2.60	0.00	0.000	4	0.000	0.064	2550	584	3431
3211	-0.84	-146.6	276.7	-9.8	153	3217	0.00	2.55	0.00	0.000	6	0.000	0.051	2550	2016	3431
3528	-0.84	-146.6	305.7	-8.9	169	3532	0.00	2.50	0.00	0.000	4	0.000	0.064	2550	3411	3431
3561	-0.84	-146.6	308.7	-8.9	170	3566	0.00	2.50	0.00	0.000	6	0.000	0.052	2550	2012	3431
3877	-0.84	-146.6	336.3	-8.6	185	3881	0.00	2.53	0.00	0.000	4	0.000	0.062	2550	592	3431
3904	-0.84	-146.6	338.7	-8.9	186	3908	0.00	2.53	0.00	0.000	6	0.000	0.051	2550	2017	3431
4221	-0.84	-146.6	364.5	-7.7	201	4222	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2018	3431
4530	-0.84	-146.6	386.5	-6.0	216	4531	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2018	3431
4840	-0.84	-146.6	406.4	-6.4	231	4844	0.00	2.60	0.00	0.000	4	0.000	0.064	2550	582	3431
4884	-0.84	-146.6	409.7	-6.9	233	4888	0.00	2.55	0.00	0.000	6	0.000	0.052	2550	2020	3431
5206	-0.84	-146.6	429.2	-5.4	249	5208	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2020	3431
5515	-0.84	-146.6	447.5	-6.3	264	5516	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2020	3431
5823	-0.84	-146.6	466.6	-6.1	279	5827	0.00	2.60	0.00	0.000	4	0.000	0.064	2550	583	3431
5863	-0.84	-146.6	469.5	-7.6	281	5867	0.00	2.55	0.00	0.000	6	0.000	0.053	2550	2023	3431
6190	-0.84	-146.6	493.9	-8.1	297	6192	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2024	3431
6499	-0.84	-146.6	519.7	-8.6	312	6503	0.00	2.60	0.00	0.000	4	0.000	0.064	2550	586	3431
6526	-0.84	-146.6	522.1	-8.6	313	6530	0.00	2.53	0.00	0.000	6	0.000	0.052	2550	2013	3431
6842	-0.84	-146.6	547.8	-8.0	328	6844	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2013	3431
7151	-0.84	-146.6	570.4	-7.2	343	7155	0.00	2.58	0.00	0.000	4	0.000	0.064	2550	591	3431
7184	-0.84	-146.6	572.8	-7.5	344	7190	0.00	2.50	0.00	0.000	6	0.000	0.052	2551	2003	3431
7500	-0.84	-146.6	596.3	-7.3	360	7501	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2004	3431
7809	-0.84	-146.6	619.2	-7.3	375	7810	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2004	3431
8118	-0.84	-146.6	642.6	-7.0	390	8122	0.00	2.58	0.00	0.000	4	0.000	0.066	2550	584	3431
8181	-0.84	-146.6	648.4	-9.8	393	8185	0.00	2.53	0.00	0.000	6	0.000	0.054	2550	2009	3431
8508	-0.84	-146.6	675.3	-7.7	409	8512	0.00	2.58	0.00	0.000	4	0.000	0.067	2550	595	3431
8642	-0.90	-146.6	688.9	-9.4	415	8647	0.00	2.45	0.00	0.000	6	0.000	0.054	2550	1976	3431
8965	-0.90	-146.6	728.9	-14.5	431	8969	0.00	2.58	0.00	0.000	4	0.000	0.068	2550	3402	3431
9066	-1.05	-146.6	741.9	-6.3	435	9073	0.15	2.53	0.00	0.000	6	0.061	0.060	2512	1999	3431
9384	-0.95	-146.6	751.1	-3.5	451	9389	0.12	2.58	0.00	0.000	4	0.097	0.078	2536	590	3431
9456	-0.95	-146.6	755.9	-7.4	454	9461	0.00	2.53	0.00	0.000	6	0.000	0.064	2537	1982	3430
9773	-0.95	-146.6	775.1	-0.1	469	9778	0.00	2.62	0.00	0.000	4	0.000	0.081	2536	3413	3430
9818	-1.12	-146.6	779.1	-6.8	471	9823	0.17	2.60	0.00	0.000	6	0.061	0.067	2491	1995	3429
10075	end dive: BOTTOM_OBSTACLE_DETECTED
state	10075	begin apogee
10082	-0.33	0.0	800.9	12.7	484	10223	0.85	0.00	137.00	1.411	6	0.084	0.000	2671	2122	2832
10223	end apogee: CONTROL_FINISHED_OK
state	10224	begin climb
10228	0.97	146.6	806.5	0.0	491	10374	1.30	2.75	137.50	1.371	4	0.064	0.084	2950	3537	2233
10630	0.75	163.4	772.0	5.5	509	10655	0.22	2.65	16.45	1.262	6	0.087	0.074	2906	2130	2166
10979	1.05	353.0	764.9	0.8	526	11169	0.28	2.80	175.57	1.361	4	0.055	0.084	2976	3531	1392
11227	0.96	353.0	738.9	15.3	537	11231	0.00	2.70	0.00	0.000	6	0.000	0.075	2976	2112	1393
11544	0.88	353.0	702.4	9.0	552	11546	0.20	0.00	0.00	0.000	6	0.091	0.000	2937	2104	1393
11852	1.07	468.1	688.9	2.8	567	11962	0.17	2.72	101.57	1.365	4	0.061	0.081	2978	713	923
11976	1.11	498.0	682.6	5.2	573	12010	0.00	2.65	27.77	1.294	6	0.000	0.068	2978	2129	801
12330	1.11	498.0	653.4	10.4	590	12334	0.00	2.65	0.00	0.000	4	0.000	0.077	2978	711	800
12357	1.11	498.0	649.7	13.0	591	12361	0.00	2.58	0.00	0.000	6	0.000	0.064	2978	2111	800
12674	1.11	498.0	612.5	14.6	606	12679	0.00	2.65	0.00	0.000	4	0.000	0.074	2978	702	800
12701	1.11	498.0	607.9	14.9	607	12706	0.00	2.55	0.00	0.000	6	0.000	0.061	2978	2099	800
13017	1.11	498.0	570.4	9.6	622	13021	0.00	2.60	0.00	0.000	4	0.000	0.071	2978	708	800
13057	1.11	498.0	566.5	10.1	624	13062	0.00	2.45	0.00	0.000	6	0.000	0.058	2978	2059	800
13384	1.11	498.0	533.6	13.0	640	13389	0.00	2.53	0.00	0.000	4	0.000	0.069	2978	703	800
13407	1.11	498.0	530.4	13.5	641	13411	0.00	2.42	0.00	0.000	6	0.000	0.056	2978	2046	800
13729	1.11	498.0	489.5	11.5	657	13733	0.00	2.50	0.00	0.000	4	0.000	0.067	2978	701	802
13756	1.11	498.0	486.2	12.3	658	13760	0.00	2.40	0.00	0.000	6	0.000	0.054	2978	2033	801
14072	1.11	498.0	447.7	12.9	673	14076	0.00	2.45	0.00	0.000	4	0.000	0.066	2978	710	801
14090	1.11	498.0	445.5	12.1	674	14094	0.00	2.33	0.00	0.000	6	0.000	0.053	2978	2010	802
14417	1.11	498.0	407.9	11.1	690	14418	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2031	802
14726	1.11	498.0	375.9	10.6	705	14730	0.00	2.40	0.00	0.000	4	0.000	0.066	2978	704	803
14754	1.11	498.0	373.0	10.7	706	14758	0.00	2.33	0.00	0.000	6	0.000	0.053	2978	2008	803
15081	1.11	498.0	338.7	11.1	722	15082	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2028	803
15390	1.11	498.0	306.4	10.3	737	15395	0.00	2.40	0.00	0.000	4	0.000	0.065	2978	708	803
15412	1.11	498.0	303.9	10.8	738	15417	0.00	2.30	0.00	0.000	6	0.000	0.052	2978	1996	803
15735	1.16	498.0	268.2	11.5	754	15737	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2016	803
16043	1.22	498.0	232.2	9.1	769	16045	0.12	0.00	0.00	0.000	6	0.051	0.000	3017	2016	804
16354	1.15	498.0	197.2	11.7	784	16359	0.12	2.75	0.00	0.000	4	0.087	0.061	2992	3529	804
16381	1.15	498.0	193.9	11.0	785	16386	0.00	2.78	0.00	0.000	6	0.000	0.051	2992	1972	804
16697	1.15	498.0	158.2	13.1	800	16702	0.00	2.83	0.00	0.000	4	0.000	0.061	2992	3528	804
16731	1.20	498.0	153.7	12.2	801	16737	0.00	2.72	0.00	0.000	6	0.000	0.050	2992	1997	804
17049	1.20	498.0	115.7	12.7	817	17050	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	1997	804
17357	1.20	498.0	89.4	8.3	832	17361	0.00	2.80	0.00	0.000	4	0.000	0.061	2992	3538	805
17408	1.29	498.0	85.0	8.0	834	17413	0.15	2.72	0.00	0.000	6	0.052	0.051	3032	2007	805
17724	1.19	498.0	46.2	13.8	849	17726	0.15	0.00	0.00	0.000	6	0.087	0.000	3003	2006	805
18033	1.19	498.0	9.6	11.4	864	18037	0.00	2.78	0.00	0.000	4	0.000	0.059	3003	3536	805
18061	1.19	498.0	6.1	12.5	865	18065	0.00	2.70	0.00	0.000	6	0.000	0.051	3003	2026	805
18085	end climb: SURFACE_DEPTH_REACHED
state	18085	begin surface coast
18108	end surface coast: CONTROL_FINISHED_OK
state	18108	begin surface