Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 43 * 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 43 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 2250 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 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 360 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 -88076.266 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 2700 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 1 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 20 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 20 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 330

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 -88076.266

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 360

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 2

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 2700 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 43 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 094002,6246.216,-448.966,70,1.1,70,-7.4 TGT_NAME FC1K

_CALLS 1 TGT_LATLONG 6247.000,-415.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.245,0.096

_SM_DEPTHo 1.29 KALMAN_X 45141.3,602.3,766.2,15249.1,-423.8

_SM_ANGLEo -60.4 KALMAN_Y -31513.8,913.2,553.6,-70039.5,-1676.9

GPS2 094509,6246.246,-448.892,11,1.6,11,-7.4 MHEAD_RNG_PITCHd_Wd 76.0,28741,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027323 ALTIM_BOTTOM_PING 852.0,73.4

SM_CCo 16200,4.85,0.658,0,0,1811,250.21 _24V_AH 23.6,9.144

SM_GC 2.37,0.00,0.00,4.85,0.000,0.000,0.658,424,1976,1811,-10.47,-0.71,250.21 _10V_AH 10.0,4.031

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41148,778

TT8_MAMPS 0.029146 CAP_FILE_SIZE 129080,0

HUMID 1797 CFSIZE 254472192,250114048

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,52,0,0

XPDR_PINGS 279 GPS 121108,141752,6246.644,-440.642,59,1.6,67,-7.3

ALTIM_TOP_PING 19.4,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 137 84.81 SBE_CT 574 24 325.44

Roll_motor 169 102 407.94 SBE_O2 526 19 236.09

VBD_pump_during_apogee 339 1603 12855.62 WL_BB2F 412 105 1022.32

VBD_pump_during_surface 4 658 75.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.78 nil 0 0 0.00

Iridium_during_connect 27 160 103.53 nil 0 0 0.00

Iridium_during_xfer 131 223 690.85

Transponder_ping 77 420 770.66

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.56

TT8 1466 19 290.32

LPSleep 12416 2 271.92

TT8_Active 484 19 96.03

TT8_Sampling 1672 39 665.80

TT8_CF8 474 45 217.23

TT8_Kalman 33 81 27.28

Analog_circuits 1364 12 163.77

GPS_charging 0 0 0.00

Compass 1629 8 130.37

RAFOS 0 0 0.00

Transponder 53 30 16.02

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.44 -146.6 0.0 0.0 0 81 0.00 0.00 -60.97 0.000 2 0.000 0.000 425 1969 3017

84 -1.44 -146.6 3.2 -4.8 3 114 10.07 2.53 -11.90 0.000 4 0.137 0.075 2377 594 3430

150 -1.19 -146.6 17.1 -22.9 6 155 0.32 2.53 0.00 0.000 6 0.094 0.054 2441 2008 3430

478 -1.15 -146.6 62.2 -12.3 22 482 0.00 2.60 0.00 0.000 4 0.000 0.067 2441 589 3431

527 -1.15 -146.6 69.5 -14.2 24 532 0.00 2.53 0.00 0.000 6 0.000 0.054 2441 1996 3431

844 -1.15 -146.6 111.7 -13.8 39 845 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 1997 3431

1152 -1.15 -146.6 157.4 -15.7 54 1156 0.00 2.58 0.00 0.000 4 0.000 0.067 2441 590 3431

1192 -1.10 -146.6 163.6 -16.2 56 1197 0.00 2.50 0.00 0.000 6 0.000 0.054 2441 1989 3431

1519 -1.10 -146.6 211.1 -14.2 72 1524 0.00 2.58 0.00 0.000 4 0.000 0.069 2441 589 3432

1553 -1.05 -146.6 215.9 -14.0 73 1560 0.15 2.50 0.00 0.000 6 0.099 0.054 2470 1984 3432

1870 -1.09 -146.6 251.8 -11.3 89 1874 0.00 2.58 0.00 0.000 4 0.000 0.071 2470 587 3432

1910 -1.14 -146.6 256.7 -11.9 91 1915 0.00 2.45 0.00 0.000 6 0.000 0.054 2470 1958 3432

2237 -1.14 -146.6 292.7 -11.2 107 2242 0.00 2.65 0.00 0.000 4 0.000 0.071 2470 3414 3433

2271 -1.21 -146.6 296.6 -11.5 108 2278 0.15 2.60 0.00 0.000 6 0.057 0.055 2432 1965 3433

2587 -1.16 -146.6 338.5 -13.7 124 2591 0.00 2.47 0.00 0.000 4 0.000 0.071 2432 589 3433

2633 -1.16 -146.6 344.9 -13.8 126 2638 0.00 2.45 0.00 0.000 6 0.000 0.055 2432 1959 3433

2961 -1.11 -146.6 389.2 -13.4 142 2966 0.12 2.65 0.00 0.000 4 0.100 0.072 2456 3409 3433

3024 -1.15 -146.6 397.1 -11.8 145 3028 0.00 2.60 0.00 0.000 6 0.000 0.057 2457 1966 3433

3350 -1.15 -146.6 434.4 -10.7 161 3355 0.00 2.50 0.00 0.000 4 0.000 0.071 2456 587 3433

3390 -1.15 -146.6 439.0 -11.5 163 3395 0.00 2.50 0.00 0.000 6 0.000 0.058 2456 1981 3433

3717 -1.15 -146.6 474.4 -10.6 179 3718 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 1982 3433

4027 -1.19 -146.6 508.0 -11.0 194 4031 0.00 2.60 0.00 0.000 4 0.000 0.080 2456 595 3433

4084 -1.19 -146.6 514.2 -11.3 196 4090 0.00 2.50 0.00 0.000 6 0.000 0.064 2457 1964 3433

4400 -1.23 -146.6 546.1 -10.3 212 4405 0.12 2.70 0.00 0.000 4 0.066 0.085 2425 3406 3432

4462 -1.23 -146.6 553.8 -12.5 215 4467 0.00 2.62 0.00 0.000 6 0.000 0.069 2426 1984 3432

4790 -1.19 -146.6 592.5 -11.4 231 4794 0.00 2.58 0.00 0.000 4 0.000 0.085 2425 593 3431

4845 -1.15 -146.6 599.2 -12.2 233 4852 0.12 2.60 0.00 0.000 6 0.111 0.069 2448 2004 3430

5161 -1.15 -146.6 630.6 -9.8 249 5166 0.00 2.65 0.00 0.000 4 0.000 0.091 2448 3411 3429

5206 -1.20 -146.6 635.3 -10.7 251 5210 0.00 2.62 0.00 0.000 6 0.000 0.073 2448 2001 3429

5527 -1.20 -146.6 667.4 -10.3 267 5531 0.00 2.65 0.00 0.000 4 0.000 0.090 2448 589 3427

5566 -1.20 -146.6 671.6 -10.7 269 5571 0.00 2.65 0.00 0.000 6 0.000 0.074 2448 2016 3427

5892 -1.20 -146.6 706.6 -10.5 285 5894 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2016 3426

6202 -1.24 -146.6 738.8 -10.4 300 6203 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2017 3424

6511 -1.28 -146.6 771.4 -10.5 315 6516 0.12 2.72 0.00 0.000 4 0.078 0.096 2419 595 3424

6533 -1.28 -146.6 774.1 -12.0 316 6538 0.00 2.65 0.00 0.000 6 0.000 0.079 2419 2005 3424

6854 -1.24 -146.6 812.9 -11.9 332 6856 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2005 3422

7163 -1.24 -146.6 849.7 -11.8 347 7164 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2005 3421

7473 -1.24 -146.6 885.6 -11.8 362 7477 0.00 2.75 0.00 0.000 4 0.000 0.098 2419 587 3420

7545 -1.24 -146.6 894.5 -12.1 365 7549 0.00 2.65 0.00 0.000 6 0.000 0.081 2419 1996 3420

7734 end dive: BOTTOM_OBSTACLE_DETECTED

state 7734 begin apogee

7741 -0.33 0.0 917.4 12.2 374 7868 1.00 0.00 123.78 1.604 6 0.105 0.000 2622 2261 2832

7869 end apogee: CONTROL_FINISHED_OK

state 7869 begin climb

7872 1.44 146.6 922.6 0.0 380 8005 1.83 2.80 124.40 1.552 4 0.075 0.102 3010 3657 2234

8034 1.35 159.2 914.2 9.4 387 8054 0.00 2.70 12.50 1.370 6 0.000 0.080 3010 2253 2181

8371 1.36 168.4 882.1 9.6 404 8385 0.00 2.80 9.18 1.316 4 0.000 0.096 3010 838 2145

8439 1.29 168.4 875.0 10.8 407 8444 0.15 2.70 0.00 0.000 6 0.109 0.081 2984 2243 2145

8766 1.33 197.1 846.5 8.7 423 8797 0.00 2.80 25.58 1.479 4 0.000 0.092 2983 844 2028

8836 1.33 197.1 839.8 10.6 426 8841 0.00 2.65 0.00 0.000 6 0.000 0.081 2983 2227 2028

9153 1.41 209.3 810.4 9.4 441 9175 0.10 2.83 11.98 1.383 4 0.077 0.092 3007 839 1977

9199 1.41 209.3 805.3 11.7 443 9203 0.00 2.65 0.00 0.000 6 0.000 0.081 3008 2218 1977

9525 1.41 209.3 770.0 10.6 459 9526 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2218 1977

9834 1.41 209.3 736.9 10.7 474 9839 0.00 2.67 0.00 0.000 4 0.000 0.094 3008 837 1976

9874 1.41 209.3 732.5 11.3 476 9879 0.00 2.62 0.00 0.000 6 0.000 0.080 3008 2215 1976

10200 1.41 209.3 695.9 11.4 492 10202 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2215 1975

10510 1.41 209.3 660.6 11.5 507 10514 0.00 2.67 0.00 0.000 4 0.000 0.093 3008 837 1975

10542 1.41 209.3 656.5 12.0 508 10548 0.00 2.62 0.00 0.000 6 0.000 0.080 3008 2216 1975

10858 1.41 209.3 620.8 11.3 524 10862 0.00 2.67 0.00 0.000 4 0.000 0.093 3008 835 1975

10891 1.41 209.3 616.7 12.0 525 10897 0.00 2.58 0.00 0.000 6 0.000 0.080 3007 2189 1974

11207 1.41 209.3 581.8 11.0 541 11211 0.00 2.60 0.00 0.000 4 0.000 0.091 3008 842 1974

11234 1.41 209.3 578.6 11.2 542 11238 0.00 2.55 0.00 0.000 6 0.000 0.079 3007 2185 1974

11550 1.41 209.3 543.4 10.8 557 11551 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2186 1974

11859 1.43 221.2 512.7 9.5 572 11875 0.00 2.62 10.52 1.253 4 0.000 0.086 3008 843 1930

11903 1.44 224.8 508.3 9.8 573 11913 0.00 2.53 4.80 1.006 6 0.000 0.077 3008 2165 1915

12224 1.44 225.1 477.1 10.0 588 12229 0.00 2.85 0.00 0.000 4 0.000 0.094 3008 3659 1915

12273 1.44 225.1 471.9 10.2 590 12278 0.00 2.83 0.00 0.000 6 0.000 0.074 3008 2152 1915

12589 1.47 243.2 443.1 9.2 605 12609 0.00 0.00 16.92 1.260 6 0.000 0.000 3008 2152 1840

12919 1.52 243.2 407.1 10.5 621 12924 0.00 2.90 0.00 0.000 4 0.000 0.088 3008 3656 1839

12969 1.56 243.2 401.7 10.6 623 12975 0.15 2.78 0.00 0.000 6 0.068 0.068 3042 2163 1839

13286 1.51 243.2 362.0 13.2 638 13287 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2163 1839

13594 1.51 243.2 319.5 13.8 653 13599 0.00 2.83 0.00 0.000 4 0.000 0.080 3042 3658 1839

13672 1.46 243.2 308.7 13.2 656 13679 0.12 2.70 0.00 0.000 6 0.110 0.060 3019 2176 1840

13988 1.46 243.2 272.0 11.3 672 13989 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2177 1841

14297 1.50 243.2 236.5 11.3 687 14302 0.00 2.78 0.00 0.000 4 0.000 0.074 3019 3664 1842

14337 1.50 243.2 231.8 11.3 689 14341 0.00 2.62 0.00 0.000 6 0.000 0.056 3019 2199 1842

14664 1.54 243.2 196.0 10.4 705 14668 0.00 2.47 0.00 0.000 4 0.000 0.069 3020 836 1843

14703 1.54 243.2 191.5 11.1 707 14708 0.00 2.50 0.00 0.000 6 0.000 0.058 3020 2214 1843

15031 1.60 243.2 151.7 11.9 723 15036 0.12 2.65 0.00 0.000 4 0.061 0.072 3052 3661 1844

15060 1.60 243.2 148.0 13.2 724 15064 0.00 2.62 0.00 0.000 6 0.000 0.054 3051 2201 1844

15376 1.55 243.2 103.2 14.4 739 15381 0.00 2.70 0.00 0.000 4 0.000 0.070 3052 3658 1846

15417 1.51 243.2 97.4 14.0 741 15422 0.12 2.55 0.00 0.000 6 0.107 0.053 3029 2227 1845

15744 1.51 243.2 56.8 11.9 757 15745 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2227 1847

16053 1.51 243.2 17.5 11.8 772 16054 0.00 0.00 0.00 0.000 6 0.000 0.000 3030 2226 1848

16153 end climb: SURFACE_DEPTH_REACHED

state 16153 begin surface coast

16177 end surface coast: CONTROL_FINISHED_OK

state 16177 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	43	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	2250	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	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	360	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	-88076.266	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	2700	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	1	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	20	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	094002,6246.216,-448.966,70,1.1,70,-7.4	TGT_NAME	FC1K
_CALLS	1	TGT_LATLONG	6247.000,-415.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.245,0.096
_SM_DEPTHo	1.29	KALMAN_X	45141.3,602.3,766.2,15249.1,-423.8
_SM_ANGLEo	-60.4	KALMAN_Y	-31513.8,913.2,553.6,-70039.5,-1676.9
GPS2	094509,6246.246,-448.892,11,1.6,11,-7.4	MHEAD_RNG_PITCHd_Wd	76.0,28741,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.7,1.027323	ALTIM_BOTTOM_PING	852.0,73.4
SM_CCo	16200,4.85,0.658,0,0,1811,250.21	_24V_AH	23.6,9.144
SM_GC	2.37,0.00,0.00,4.85,0.000,0.000,0.658,424,1976,1811,-10.47,-0.71,250.21	_10V_AH	10.0,4.031
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41148,778
TT8_MAMPS	0.029146	CAP_FILE_SIZE	129080,0
HUMID	1797	CFSIZE	254472192,250114048
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,52,0,0
XPDR_PINGS	279	GPS	121108,141752,6246.644,-440.642,59,1.6,67,-7.3
ALTIM_TOP_PING	19.4,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	137	84.81	SBE_CT	574	24	325.44
Roll_motor	169	102	407.94	SBE_O2	526	19	236.09
VBD_pump_during_apogee	339	1603	12855.62	WL_BB2F	412	105	1022.32
VBD_pump_during_surface	4	658	75.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.78	nil	0	0	0.00
Iridium_during_connect	27	160	103.53	nil	0	0	0.00
Iridium_during_xfer	131	223	690.85
Transponder_ping	77	420	770.66
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.56
TT8	1466	19	290.32
LPSleep	12416	2	271.92
TT8_Active	484	19	96.03
TT8_Sampling	1672	39	665.80
TT8_CF8	474	45	217.23
TT8_Kalman	33	81	27.28
Analog_circuits	1364	12	163.77
GPS_charging	0	0	0.00
Compass	1629	8	130.37
RAFOS	0	0	0.00
Transponder	53	30	16.02

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.44	-146.6	0.0	0.0	0	81	0.00	0.00	-60.97	0.000	2	0.000	0.000	425	1969	3017
84	-1.44	-146.6	3.2	-4.8	3	114	10.07	2.53	-11.90	0.000	4	0.137	0.075	2377	594	3430
150	-1.19	-146.6	17.1	-22.9	6	155	0.32	2.53	0.00	0.000	6	0.094	0.054	2441	2008	3430
478	-1.15	-146.6	62.2	-12.3	22	482	0.00	2.60	0.00	0.000	4	0.000	0.067	2441	589	3431
527	-1.15	-146.6	69.5	-14.2	24	532	0.00	2.53	0.00	0.000	6	0.000	0.054	2441	1996	3431
844	-1.15	-146.6	111.7	-13.8	39	845	0.00	0.00	0.00	0.000	6	0.000	0.000	2441	1997	3431
1152	-1.15	-146.6	157.4	-15.7	54	1156	0.00	2.58	0.00	0.000	4	0.000	0.067	2441	590	3431
1192	-1.10	-146.6	163.6	-16.2	56	1197	0.00	2.50	0.00	0.000	6	0.000	0.054	2441	1989	3431
1519	-1.10	-146.6	211.1	-14.2	72	1524	0.00	2.58	0.00	0.000	4	0.000	0.069	2441	589	3432
1553	-1.05	-146.6	215.9	-14.0	73	1560	0.15	2.50	0.00	0.000	6	0.099	0.054	2470	1984	3432
1870	-1.09	-146.6	251.8	-11.3	89	1874	0.00	2.58	0.00	0.000	4	0.000	0.071	2470	587	3432
1910	-1.14	-146.6	256.7	-11.9	91	1915	0.00	2.45	0.00	0.000	6	0.000	0.054	2470	1958	3432
2237	-1.14	-146.6	292.7	-11.2	107	2242	0.00	2.65	0.00	0.000	4	0.000	0.071	2470	3414	3433
2271	-1.21	-146.6	296.6	-11.5	108	2278	0.15	2.60	0.00	0.000	6	0.057	0.055	2432	1965	3433
2587	-1.16	-146.6	338.5	-13.7	124	2591	0.00	2.47	0.00	0.000	4	0.000	0.071	2432	589	3433
2633	-1.16	-146.6	344.9	-13.8	126	2638	0.00	2.45	0.00	0.000	6	0.000	0.055	2432	1959	3433
2961	-1.11	-146.6	389.2	-13.4	142	2966	0.12	2.65	0.00	0.000	4	0.100	0.072	2456	3409	3433
3024	-1.15	-146.6	397.1	-11.8	145	3028	0.00	2.60	0.00	0.000	6	0.000	0.057	2457	1966	3433
3350	-1.15	-146.6	434.4	-10.7	161	3355	0.00	2.50	0.00	0.000	4	0.000	0.071	2456	587	3433
3390	-1.15	-146.6	439.0	-11.5	163	3395	0.00	2.50	0.00	0.000	6	0.000	0.058	2456	1981	3433
3717	-1.15	-146.6	474.4	-10.6	179	3718	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	1982	3433
4027	-1.19	-146.6	508.0	-11.0	194	4031	0.00	2.60	0.00	0.000	4	0.000	0.080	2456	595	3433
4084	-1.19	-146.6	514.2	-11.3	196	4090	0.00	2.50	0.00	0.000	6	0.000	0.064	2457	1964	3433
4400	-1.23	-146.6	546.1	-10.3	212	4405	0.12	2.70	0.00	0.000	4	0.066	0.085	2425	3406	3432
4462	-1.23	-146.6	553.8	-12.5	215	4467	0.00	2.62	0.00	0.000	6	0.000	0.069	2426	1984	3432
4790	-1.19	-146.6	592.5	-11.4	231	4794	0.00	2.58	0.00	0.000	4	0.000	0.085	2425	593	3431
4845	-1.15	-146.6	599.2	-12.2	233	4852	0.12	2.60	0.00	0.000	6	0.111	0.069	2448	2004	3430
5161	-1.15	-146.6	630.6	-9.8	249	5166	0.00	2.65	0.00	0.000	4	0.000	0.091	2448	3411	3429
5206	-1.20	-146.6	635.3	-10.7	251	5210	0.00	2.62	0.00	0.000	6	0.000	0.073	2448	2001	3429
5527	-1.20	-146.6	667.4	-10.3	267	5531	0.00	2.65	0.00	0.000	4	0.000	0.090	2448	589	3427
5566	-1.20	-146.6	671.6	-10.7	269	5571	0.00	2.65	0.00	0.000	6	0.000	0.074	2448	2016	3427
5892	-1.20	-146.6	706.6	-10.5	285	5894	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	2016	3426
6202	-1.24	-146.6	738.8	-10.4	300	6203	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	2017	3424
6511	-1.28	-146.6	771.4	-10.5	315	6516	0.12	2.72	0.00	0.000	4	0.078	0.096	2419	595	3424
6533	-1.28	-146.6	774.1	-12.0	316	6538	0.00	2.65	0.00	0.000	6	0.000	0.079	2419	2005	3424
6854	-1.24	-146.6	812.9	-11.9	332	6856	0.00	0.00	0.00	0.000	6	0.000	0.000	2419	2005	3422
7163	-1.24	-146.6	849.7	-11.8	347	7164	0.00	0.00	0.00	0.000	6	0.000	0.000	2419	2005	3421
7473	-1.24	-146.6	885.6	-11.8	362	7477	0.00	2.75	0.00	0.000	4	0.000	0.098	2419	587	3420
7545	-1.24	-146.6	894.5	-12.1	365	7549	0.00	2.65	0.00	0.000	6	0.000	0.081	2419	1996	3420
7734	end dive: BOTTOM_OBSTACLE_DETECTED
state	7734	begin apogee
7741	-0.33	0.0	917.4	12.2	374	7868	1.00	0.00	123.78	1.604	6	0.105	0.000	2622	2261	2832
7869	end apogee: CONTROL_FINISHED_OK
state	7869	begin climb
7872	1.44	146.6	922.6	0.0	380	8005	1.83	2.80	124.40	1.552	4	0.075	0.102	3010	3657	2234
8034	1.35	159.2	914.2	9.4	387	8054	0.00	2.70	12.50	1.370	6	0.000	0.080	3010	2253	2181
8371	1.36	168.4	882.1	9.6	404	8385	0.00	2.80	9.18	1.316	4	0.000	0.096	3010	838	2145
8439	1.29	168.4	875.0	10.8	407	8444	0.15	2.70	0.00	0.000	6	0.109	0.081	2984	2243	2145
8766	1.33	197.1	846.5	8.7	423	8797	0.00	2.80	25.58	1.479	4	0.000	0.092	2983	844	2028
8836	1.33	197.1	839.8	10.6	426	8841	0.00	2.65	0.00	0.000	6	0.000	0.081	2983	2227	2028
9153	1.41	209.3	810.4	9.4	441	9175	0.10	2.83	11.98	1.383	4	0.077	0.092	3007	839	1977
9199	1.41	209.3	805.3	11.7	443	9203	0.00	2.65	0.00	0.000	6	0.000	0.081	3008	2218	1977
9525	1.41	209.3	770.0	10.6	459	9526	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2218	1977
9834	1.41	209.3	736.9	10.7	474	9839	0.00	2.67	0.00	0.000	4	0.000	0.094	3008	837	1976
9874	1.41	209.3	732.5	11.3	476	9879	0.00	2.62	0.00	0.000	6	0.000	0.080	3008	2215	1976
10200	1.41	209.3	695.9	11.4	492	10202	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	2215	1975
10510	1.41	209.3	660.6	11.5	507	10514	0.00	2.67	0.00	0.000	4	0.000	0.093	3008	837	1975
10542	1.41	209.3	656.5	12.0	508	10548	0.00	2.62	0.00	0.000	6	0.000	0.080	3008	2216	1975
10858	1.41	209.3	620.8	11.3	524	10862	0.00	2.67	0.00	0.000	4	0.000	0.093	3008	835	1975
10891	1.41	209.3	616.7	12.0	525	10897	0.00	2.58	0.00	0.000	6	0.000	0.080	3007	2189	1974
11207	1.41	209.3	581.8	11.0	541	11211	0.00	2.60	0.00	0.000	4	0.000	0.091	3008	842	1974
11234	1.41	209.3	578.6	11.2	542	11238	0.00	2.55	0.00	0.000	6	0.000	0.079	3007	2185	1974
11550	1.41	209.3	543.4	10.8	557	11551	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2186	1974
11859	1.43	221.2	512.7	9.5	572	11875	0.00	2.62	10.52	1.253	4	0.000	0.086	3008	843	1930
11903	1.44	224.8	508.3	9.8	573	11913	0.00	2.53	4.80	1.006	6	0.000	0.077	3008	2165	1915
12224	1.44	225.1	477.1	10.0	588	12229	0.00	2.85	0.00	0.000	4	0.000	0.094	3008	3659	1915
12273	1.44	225.1	471.9	10.2	590	12278	0.00	2.83	0.00	0.000	6	0.000	0.074	3008	2152	1915
12589	1.47	243.2	443.1	9.2	605	12609	0.00	0.00	16.92	1.260	6	0.000	0.000	3008	2152	1840
12919	1.52	243.2	407.1	10.5	621	12924	0.00	2.90	0.00	0.000	4	0.000	0.088	3008	3656	1839
12969	1.56	243.2	401.7	10.6	623	12975	0.15	2.78	0.00	0.000	6	0.068	0.068	3042	2163	1839
13286	1.51	243.2	362.0	13.2	638	13287	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2163	1839
13594	1.51	243.2	319.5	13.8	653	13599	0.00	2.83	0.00	0.000	4	0.000	0.080	3042	3658	1839
13672	1.46	243.2	308.7	13.2	656	13679	0.12	2.70	0.00	0.000	6	0.110	0.060	3019	2176	1840
13988	1.46	243.2	272.0	11.3	672	13989	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2177	1841
14297	1.50	243.2	236.5	11.3	687	14302	0.00	2.78	0.00	0.000	4	0.000	0.074	3019	3664	1842
14337	1.50	243.2	231.8	11.3	689	14341	0.00	2.62	0.00	0.000	6	0.000	0.056	3019	2199	1842
14664	1.54	243.2	196.0	10.4	705	14668	0.00	2.47	0.00	0.000	4	0.000	0.069	3020	836	1843
14703	1.54	243.2	191.5	11.1	707	14708	0.00	2.50	0.00	0.000	6	0.000	0.058	3020	2214	1843
15031	1.60	243.2	151.7	11.9	723	15036	0.12	2.65	0.00	0.000	4	0.061	0.072	3052	3661	1844
15060	1.60	243.2	148.0	13.2	724	15064	0.00	2.62	0.00	0.000	6	0.000	0.054	3051	2201	1844
15376	1.55	243.2	103.2	14.4	739	15381	0.00	2.70	0.00	0.000	4	0.000	0.070	3052	3658	1846
15417	1.51	243.2	97.4	14.0	741	15422	0.12	2.55	0.00	0.000	6	0.107	0.053	3029	2227	1845
15744	1.51	243.2	56.8	11.9	757	15745	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2227	1847
16053	1.51	243.2	17.5	11.8	772	16054	0.00	0.00	0.00	0.000	6	0.000	0.000	3030	2226	1848
16153	end climb: SURFACE_DEPTH_REACHED
state	16153	begin surface coast
16177	end surface coast: CONTROL_FINISHED_OK
state	16177	begin surface