Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 44 * 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 44 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -88090.562 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 -88090.562

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 28 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 44 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 141752,6246.644,-440.642,59,1.6,67,-7.3 TGT_NAME FC1K

_CALLS 1 TGT_LATLONG 6247.000,-415.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.263,-0.018

_SM_DEPTHo 1.31 KALMAN_X 48353.8,367.4,-20.5,19869.9,1919.6

_SM_ANGLEo -59.0 KALMAN_Y -30746.4,90.0,-445.9,-68192.5,568.4

GPS2 142315,6246.659,-440.610,13,1.2,13,-7.3 MHEAD_RNG_PITCHd_Wd 101.2,21702,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.5,1.027323 ALTIM_BOTTOM_PING 852.3,67.7

SM_CCo 16781,13.20,0.812,0,0,1811,250.21 _24V_AH 23.6,9.310

SM_GC 2.08,0.00,0.00,13.20,0.000,0.000,0.812,421,1969,1811,-10.48,-0.88,250.21 _10V_AH 10.0,4.106

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41112,807

TT8_MAMPS 0.029146 CAP_FILE_SIZE 130708,0

HUMID 1803 CFSIZE 254472192,250052608

TCM_TEMP 17.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,50,0,0

XPDR_PINGS 263 GPS 121108,190509,6245.979,-433.060,28,1.9,29,-7.2

ALTIM_TOP_PING 19.9,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 86.42 SBE_CT 603 24 341.91

Roll_motor 165 98 383.22 SBE_O2 546 19 245.15

VBD_pump_during_apogee 327 1609 12441.27 WL_BB2F 431 105 1068.91

VBD_pump_during_surface 13 812 253.03 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 36 160 136.66 nil 0 0 0.00

Iridium_during_xfer 135 223 715.48

Transponder_ping 73 420 731.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.84

TT8 1507 19 298.56

LPSleep 12944 2 283.48

TT8_Active 503 19 99.61

TT8_Sampling 1672 39 665.69

TT8_CF8 491 45 225.33

TT8_Kalman 33 81 27.28

Analog_circuits 1369 12 164.34

GPS_charging 0 0 0.00

Compass 1631 8 130.54

RAFOS 0 0 0.00

Transponder 53 30 16.03

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.44 -146.6 0.0 0.0 0 100 0.00 0.00 -78.80 0.000 6 0.000 0.000 423 1975 3431

103 -1.44 -146.6 5.7 -6.6 4 117 10.12 0.00 0.00 0.000 6 0.138 0.000 2378 1970 3432

436 -1.21 -146.6 72.2 -16.3 20 441 0.25 2.53 0.00 0.000 4 0.099 0.065 2430 591 3433

503 -1.15 -146.6 82.8 -15.9 23 507 0.00 2.53 0.00 0.000 6 0.000 0.053 2431 2002 3433

827 -1.08 -146.6 127.1 -13.3 39 829 0.17 0.00 0.00 0.000 6 0.094 0.000 2466 2003 3434

1133 -1.08 -146.6 161.7 -11.1 54 1134 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2003 3435

1442 -1.08 -146.6 197.2 -11.5 69 1443 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2004 3434

1751 -1.08 -146.6 231.3 -11.1 84 1756 0.00 2.58 0.00 0.000 4 0.000 0.067 2466 596 3434

1818 -1.08 -146.6 238.9 -11.3 87 1822 0.00 2.53 0.00 0.000 6 0.000 0.054 2466 2006 3434

2141 -1.08 -146.6 276.1 -12.0 103 2145 0.00 2.55 0.00 0.000 4 0.000 0.071 2466 3409 3435

2168 -1.08 -146.6 280.2 -13.2 104 2173 0.00 2.55 0.00 0.000 6 0.000 0.055 2465 1993 3435

2484 -1.08 -146.6 319.2 -12.1 119 2488 0.00 2.53 0.00 0.000 4 0.000 0.070 2466 593 3435

2505 -1.08 -146.6 321.9 -12.3 120 2510 0.00 2.55 0.00 0.000 6 0.000 0.055 2466 2020 3435

2826 -1.08 -146.6 357.2 -11.3 136 2831 0.00 2.62 0.00 0.000 4 0.000 0.071 2466 589 3435

2854 -1.13 -146.6 360.5 -11.8 137 2858 0.00 2.55 0.00 0.000 6 0.000 0.057 2466 2006 3435

3170 -1.18 -146.6 394.7 -10.3 152 3175 0.12 2.62 0.00 0.000 4 0.059 0.071 2433 595 3435

3260 -1.14 -146.6 405.6 -12.3 156 3264 0.00 2.45 0.00 0.000 6 0.000 0.057 2433 1960 3435

3581 -1.14 -146.6 442.6 -11.8 172 3585 0.00 2.65 0.00 0.000 4 0.000 0.075 2433 3405 3435

3692 -1.14 -146.6 455.4 -11.4 177 3697 0.00 2.62 0.00 0.000 6 0.000 0.060 2433 1956 3435

4014 -1.14 -146.6 491.8 -10.5 193 4018 0.00 2.72 0.00 0.000 4 0.000 0.077 2433 3408 3435

4041 -1.14 -146.6 494.7 -10.9 194 4045 0.00 2.62 0.00 0.000 6 0.000 0.064 2433 1971 3435

4356 -1.14 -146.6 529.1 -11.1 209 4358 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 1971 3435

4665 -1.14 -146.6 563.3 -11.1 224 4667 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 1971 3433

4975 -1.14 -146.6 598.3 -10.7 239 4979 0.00 2.58 0.00 0.000 4 0.000 0.088 2433 596 3433

5003 -1.10 -146.6 601.4 -11.7 240 5008 0.12 2.53 0.00 0.000 6 0.115 0.071 2456 1960 3432

5321 -1.15 -146.6 632.0 -9.6 255 5326 0.00 2.75 0.00 0.000 4 0.000 0.095 2456 3405 3431

5383 -1.22 -146.6 638.5 -10.2 258 5388 0.00 2.70 0.00 0.000 6 0.000 0.076 2456 1963 3431

5711 -1.28 -146.6 668.7 -9.1 274 5716 0.15 2.80 0.00 0.000 4 0.076 0.094 2420 3411 3429

5738 -1.28 -146.6 671.7 -10.9 275 5743 0.00 2.70 0.00 0.000 6 0.000 0.077 2420 1972 3429

6054 -1.23 -146.6 705.4 -10.7 290 6059 0.00 2.62 0.00 0.000 4 0.000 0.095 2421 586 3428

6077 -1.16 -146.6 708.0 -11.0 291 6082 0.15 2.60 0.00 0.000 6 0.117 0.077 2448 1975 3428

6399 -1.16 -146.6 739.1 -9.8 307 6403 0.00 2.75 0.00 0.000 4 0.000 0.097 2448 3413 3426

6443 -1.20 -146.6 743.6 -10.3 309 6448 0.00 2.70 0.00 0.000 6 0.000 0.077 2448 1975 3426

6765 -1.20 -146.6 774.2 -9.6 325 6766 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1976 3424

7075 -1.25 -146.6 804.1 -9.8 340 7079 0.00 2.80 0.00 0.000 4 0.000 0.098 2448 3410 3423

7107 -1.25 -146.6 807.7 -10.2 341 7113 0.00 2.67 0.00 0.000 6 0.000 0.081 2448 1992 3423

7423 -1.29 -146.6 840.2 -10.4 357 7425 0.15 0.00 0.00 0.000 6 0.079 0.000 2415 1992 3422

7733 -1.25 -146.6 877.5 -12.0 372 7734 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 1992 3421

8019 end dive: BOTTOM_OBSTACLE_DETECTED

state 8019 begin apogee

8026 -0.33 0.0 911.7 11.4 386 8153 1.02 0.00 123.72 1.610 6 0.107 0.000 2622 2251 2832

8154 end apogee: CONTROL_FINISHED_OK

state 8154 begin climb

8157 1.44 146.6 915.7 0.0 392 8290 1.85 2.83 124.57 1.559 4 0.081 0.090 3010 843 2234

8352 1.34 149.4 906.2 9.9 401 8363 0.00 2.70 4.05 0.946 6 0.000 0.079 3010 2247 2223

8674 1.28 149.6 874.2 10.0 417 8675 0.17 0.00 0.00 0.000 6 0.106 0.000 2978 2247 2222

8983 1.36 168.5 846.3 9.1 432 9005 0.00 2.85 17.40 1.447 4 0.000 0.091 2978 845 2145

9039 1.36 168.5 840.5 10.5 434 9043 0.00 2.70 0.00 0.000 6 0.000 0.081 2978 2242 2145

9355 1.42 177.6 810.4 9.6 449 9367 0.15 0.00 9.57 1.348 6 0.071 0.000 3013 2243 2107

9663 1.42 177.6 777.1 10.9 464 9667 0.00 2.72 0.00 0.000 4 0.000 0.094 3013 843 2106

9696 1.37 177.6 773.3 11.6 465 9703 0.00 2.67 0.00 0.000 6 0.000 0.082 3012 2240 2106

10012 1.37 177.6 739.0 10.9 481 10013 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2239 2106

10321 1.37 177.6 704.7 11.2 496 10326 0.00 2.72 0.00 0.000 4 0.000 0.093 3012 841 2105

10343 1.37 177.6 702.1 11.3 497 10347 0.00 2.65 0.00 0.000 6 0.000 0.081 3012 2231 2105

10664 1.37 177.6 667.9 10.4 513 10665 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2231 2105

10973 1.38 183.9 636.7 9.7 528 10987 0.00 2.78 6.53 1.207 4 0.000 0.090 3012 843 2082

11022 1.33 183.9 631.5 10.5 530 11027 0.12 2.65 0.00 0.000 6 0.116 0.079 2992 2228 2082

11344 1.42 207.7 603.1 8.9 546 11368 0.00 0.00 21.42 1.394 6 0.000 0.000 2991 2229 1985

11673 1.51 222.9 572.8 9.3 562 11695 0.17 2.78 14.02 1.335 4 0.072 0.091 3034 837 1923

11746 1.43 222.9 564.0 12.5 565 11751 0.12 2.65 0.00 0.000 6 0.120 0.080 3013 2224 1922

12068 1.43 222.9 529.6 10.8 581 12072 0.00 2.67 0.00 0.000 4 0.000 0.091 3013 844 1922

12101 1.43 222.9 525.7 11.2 582 12107 0.00 2.58 0.00 0.000 6 0.000 0.079 3013 2199 1922

12416 1.43 222.9 492.9 10.2 598 12421 0.00 2.62 0.00 0.000 4 0.000 0.090 3013 838 1922

12438 1.43 222.9 490.4 11.3 599 12442 0.00 2.55 0.00 0.000 6 0.000 0.077 3013 2186 1922

12759 1.44 228.3 459.0 9.8 615 12772 0.00 2.85 6.15 1.105 4 0.000 0.094 3013 3656 1901

12813 1.44 228.3 453.0 10.8 617 12817 0.00 2.80 0.00 0.000 6 0.000 0.074 3013 2166 1900

13129 1.49 228.3 420.4 10.3 632 13130 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2166 1901

13438 1.53 228.3 389.1 10.5 647 13443 0.00 2.88 0.00 0.000 4 0.000 0.087 3013 3660 1901

13465 1.53 228.3 385.8 11.6 648 13470 0.00 2.78 0.00 0.000 6 0.000 0.069 3013 2166 1900

13781 1.53 228.3 349.4 11.3 663 13782 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2166 1901

14090 1.59 228.3 315.0 11.0 678 14096 0.15 2.83 0.00 0.000 4 0.067 0.078 3048 3662 1901

14186 1.53 228.3 302.0 13.6 682 14191 0.00 2.70 0.00 0.000 6 0.000 0.060 3048 2179 1901

14502 1.48 228.3 260.3 13.2 697 14508 0.12 2.78 0.00 0.000 4 0.111 0.074 3025 3663 1902

14524 1.48 228.3 257.3 13.3 698 14529 0.00 2.67 0.00 0.000 6 0.000 0.057 3026 2185 1902

14845 1.48 228.3 220.0 11.5 714 14850 0.00 2.75 0.00 0.000 4 0.000 0.073 3025 3659 1903

14908 1.48 228.3 212.3 11.7 717 14913 0.00 2.60 0.00 0.000 6 0.000 0.055 3025 2211 1903

15234 1.48 228.3 174.4 11.6 733 15238 0.00 2.47 0.00 0.000 4 0.000 0.067 3025 844 1905

15256 1.48 228.3 171.8 11.2 734 15260 0.00 2.50 0.00 0.000 6 0.000 0.058 3025 2224 1905

15577 1.48 228.3 135.3 11.3 750 15581 0.00 2.62 0.00 0.000 4 0.000 0.072 3025 3660 1906

15609 1.48 228.3 131.1 12.1 751 15616 0.00 2.60 0.00 0.000 6 0.000 0.054 3025 2210 1906

15927 1.48 228.3 95.9 10.8 767 15931 0.00 2.47 0.00 0.000 4 0.000 0.067 3025 842 1907

15944 1.48 228.3 93.9 11.0 768 15949 0.00 2.53 0.00 0.000 6 0.000 0.055 3025 2249 1907

16272 1.48 228.3 57.4 10.8 784 16273 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2249 1908

16581 1.48 228.3 21.9 11.7 799 16585 0.00 2.58 0.00 0.000 4 0.000 0.070 3025 3663 1909

16608 1.48 228.3 18.7 11.4 800 16612 0.00 2.55 0.00 0.000 6 0.000 0.051 3025 2235 1909

16737 end climb: SURFACE_DEPTH_REACHED

state 16737 begin surface coast

16758 end surface coast: CONTROL_FINISHED_OK

state 16758 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	44	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-88090.562	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	141752,6246.644,-440.642,59,1.6,67,-7.3	TGT_NAME	FC1K
_CALLS	1	TGT_LATLONG	6247.000,-415.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.263,-0.018
_SM_DEPTHo	1.31	KALMAN_X	48353.8,367.4,-20.5,19869.9,1919.6
_SM_ANGLEo	-59.0	KALMAN_Y	-30746.4,90.0,-445.9,-68192.5,568.4
GPS2	142315,6246.659,-440.610,13,1.2,13,-7.3	MHEAD_RNG_PITCHd_Wd	101.2,21702,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	1.5,1.027323	ALTIM_BOTTOM_PING	852.3,67.7
SM_CCo	16781,13.20,0.812,0,0,1811,250.21	_24V_AH	23.6,9.310
SM_GC	2.08,0.00,0.00,13.20,0.000,0.000,0.812,421,1969,1811,-10.48,-0.88,250.21	_10V_AH	10.0,4.106
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41112,807
TT8_MAMPS	0.029146	CAP_FILE_SIZE	130708,0
HUMID	1803	CFSIZE	254472192,250052608
TCM_TEMP	17.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
XPDR_PINGS	263	GPS	121108,190509,6245.979,-433.060,28,1.9,29,-7.2
ALTIM_TOP_PING	19.9,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	86.42	SBE_CT	603	24	341.91
Roll_motor	165	98	383.22	SBE_O2	546	19	245.15
VBD_pump_during_apogee	327	1609	12441.27	WL_BB2F	431	105	1068.91
VBD_pump_during_surface	13	812	253.03	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	36	160	136.66	nil	0	0	0.00
Iridium_during_xfer	135	223	715.48
Transponder_ping	73	420	731.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.84
TT8	1507	19	298.56
LPSleep	12944	2	283.48
TT8_Active	503	19	99.61
TT8_Sampling	1672	39	665.69
TT8_CF8	491	45	225.33
TT8_Kalman	33	81	27.28
Analog_circuits	1369	12	164.34
GPS_charging	0	0	0.00
Compass	1631	8	130.54
RAFOS	0	0	0.00
Transponder	53	30	16.03

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.44	-146.6	0.0	0.0	0	100	0.00	0.00	-78.80	0.000	6	0.000	0.000	423	1975	3431
103	-1.44	-146.6	5.7	-6.6	4	117	10.12	0.00	0.00	0.000	6	0.138	0.000	2378	1970	3432
436	-1.21	-146.6	72.2	-16.3	20	441	0.25	2.53	0.00	0.000	4	0.099	0.065	2430	591	3433
503	-1.15	-146.6	82.8	-15.9	23	507	0.00	2.53	0.00	0.000	6	0.000	0.053	2431	2002	3433
827	-1.08	-146.6	127.1	-13.3	39	829	0.17	0.00	0.00	0.000	6	0.094	0.000	2466	2003	3434
1133	-1.08	-146.6	161.7	-11.1	54	1134	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2003	3435
1442	-1.08	-146.6	197.2	-11.5	69	1443	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2004	3434
1751	-1.08	-146.6	231.3	-11.1	84	1756	0.00	2.58	0.00	0.000	4	0.000	0.067	2466	596	3434
1818	-1.08	-146.6	238.9	-11.3	87	1822	0.00	2.53	0.00	0.000	6	0.000	0.054	2466	2006	3434
2141	-1.08	-146.6	276.1	-12.0	103	2145	0.00	2.55	0.00	0.000	4	0.000	0.071	2466	3409	3435
2168	-1.08	-146.6	280.2	-13.2	104	2173	0.00	2.55	0.00	0.000	6	0.000	0.055	2465	1993	3435
2484	-1.08	-146.6	319.2	-12.1	119	2488	0.00	2.53	0.00	0.000	4	0.000	0.070	2466	593	3435
2505	-1.08	-146.6	321.9	-12.3	120	2510	0.00	2.55	0.00	0.000	6	0.000	0.055	2466	2020	3435
2826	-1.08	-146.6	357.2	-11.3	136	2831	0.00	2.62	0.00	0.000	4	0.000	0.071	2466	589	3435
2854	-1.13	-146.6	360.5	-11.8	137	2858	0.00	2.55	0.00	0.000	6	0.000	0.057	2466	2006	3435
3170	-1.18	-146.6	394.7	-10.3	152	3175	0.12	2.62	0.00	0.000	4	0.059	0.071	2433	595	3435
3260	-1.14	-146.6	405.6	-12.3	156	3264	0.00	2.45	0.00	0.000	6	0.000	0.057	2433	1960	3435
3581	-1.14	-146.6	442.6	-11.8	172	3585	0.00	2.65	0.00	0.000	4	0.000	0.075	2433	3405	3435
3692	-1.14	-146.6	455.4	-11.4	177	3697	0.00	2.62	0.00	0.000	6	0.000	0.060	2433	1956	3435
4014	-1.14	-146.6	491.8	-10.5	193	4018	0.00	2.72	0.00	0.000	4	0.000	0.077	2433	3408	3435
4041	-1.14	-146.6	494.7	-10.9	194	4045	0.00	2.62	0.00	0.000	6	0.000	0.064	2433	1971	3435
4356	-1.14	-146.6	529.1	-11.1	209	4358	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	1971	3435
4665	-1.14	-146.6	563.3	-11.1	224	4667	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	1971	3433
4975	-1.14	-146.6	598.3	-10.7	239	4979	0.00	2.58	0.00	0.000	4	0.000	0.088	2433	596	3433
5003	-1.10	-146.6	601.4	-11.7	240	5008	0.12	2.53	0.00	0.000	6	0.115	0.071	2456	1960	3432
5321	-1.15	-146.6	632.0	-9.6	255	5326	0.00	2.75	0.00	0.000	4	0.000	0.095	2456	3405	3431
5383	-1.22	-146.6	638.5	-10.2	258	5388	0.00	2.70	0.00	0.000	6	0.000	0.076	2456	1963	3431
5711	-1.28	-146.6	668.7	-9.1	274	5716	0.15	2.80	0.00	0.000	4	0.076	0.094	2420	3411	3429
5738	-1.28	-146.6	671.7	-10.9	275	5743	0.00	2.70	0.00	0.000	6	0.000	0.077	2420	1972	3429
6054	-1.23	-146.6	705.4	-10.7	290	6059	0.00	2.62	0.00	0.000	4	0.000	0.095	2421	586	3428
6077	-1.16	-146.6	708.0	-11.0	291	6082	0.15	2.60	0.00	0.000	6	0.117	0.077	2448	1975	3428
6399	-1.16	-146.6	739.1	-9.8	307	6403	0.00	2.75	0.00	0.000	4	0.000	0.097	2448	3413	3426
6443	-1.20	-146.6	743.6	-10.3	309	6448	0.00	2.70	0.00	0.000	6	0.000	0.077	2448	1975	3426
6765	-1.20	-146.6	774.2	-9.6	325	6766	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1976	3424
7075	-1.25	-146.6	804.1	-9.8	340	7079	0.00	2.80	0.00	0.000	4	0.000	0.098	2448	3410	3423
7107	-1.25	-146.6	807.7	-10.2	341	7113	0.00	2.67	0.00	0.000	6	0.000	0.081	2448	1992	3423
7423	-1.29	-146.6	840.2	-10.4	357	7425	0.15	0.00	0.00	0.000	6	0.079	0.000	2415	1992	3422
7733	-1.25	-146.6	877.5	-12.0	372	7734	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	1992	3421
8019	end dive: BOTTOM_OBSTACLE_DETECTED
state	8019	begin apogee
8026	-0.33	0.0	911.7	11.4	386	8153	1.02	0.00	123.72	1.610	6	0.107	0.000	2622	2251	2832
8154	end apogee: CONTROL_FINISHED_OK
state	8154	begin climb
8157	1.44	146.6	915.7	0.0	392	8290	1.85	2.83	124.57	1.559	4	0.081	0.090	3010	843	2234
8352	1.34	149.4	906.2	9.9	401	8363	0.00	2.70	4.05	0.946	6	0.000	0.079	3010	2247	2223
8674	1.28	149.6	874.2	10.0	417	8675	0.17	0.00	0.00	0.000	6	0.106	0.000	2978	2247	2222
8983	1.36	168.5	846.3	9.1	432	9005	0.00	2.85	17.40	1.447	4	0.000	0.091	2978	845	2145
9039	1.36	168.5	840.5	10.5	434	9043	0.00	2.70	0.00	0.000	6	0.000	0.081	2978	2242	2145
9355	1.42	177.6	810.4	9.6	449	9367	0.15	0.00	9.57	1.348	6	0.071	0.000	3013	2243	2107
9663	1.42	177.6	777.1	10.9	464	9667	0.00	2.72	0.00	0.000	4	0.000	0.094	3013	843	2106
9696	1.37	177.6	773.3	11.6	465	9703	0.00	2.67	0.00	0.000	6	0.000	0.082	3012	2240	2106
10012	1.37	177.6	739.0	10.9	481	10013	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2239	2106
10321	1.37	177.6	704.7	11.2	496	10326	0.00	2.72	0.00	0.000	4	0.000	0.093	3012	841	2105
10343	1.37	177.6	702.1	11.3	497	10347	0.00	2.65	0.00	0.000	6	0.000	0.081	3012	2231	2105
10664	1.37	177.6	667.9	10.4	513	10665	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2231	2105
10973	1.38	183.9	636.7	9.7	528	10987	0.00	2.78	6.53	1.207	4	0.000	0.090	3012	843	2082
11022	1.33	183.9	631.5	10.5	530	11027	0.12	2.65	0.00	0.000	6	0.116	0.079	2992	2228	2082
11344	1.42	207.7	603.1	8.9	546	11368	0.00	0.00	21.42	1.394	6	0.000	0.000	2991	2229	1985
11673	1.51	222.9	572.8	9.3	562	11695	0.17	2.78	14.02	1.335	4	0.072	0.091	3034	837	1923
11746	1.43	222.9	564.0	12.5	565	11751	0.12	2.65	0.00	0.000	6	0.120	0.080	3013	2224	1922
12068	1.43	222.9	529.6	10.8	581	12072	0.00	2.67	0.00	0.000	4	0.000	0.091	3013	844	1922
12101	1.43	222.9	525.7	11.2	582	12107	0.00	2.58	0.00	0.000	6	0.000	0.079	3013	2199	1922
12416	1.43	222.9	492.9	10.2	598	12421	0.00	2.62	0.00	0.000	4	0.000	0.090	3013	838	1922
12438	1.43	222.9	490.4	11.3	599	12442	0.00	2.55	0.00	0.000	6	0.000	0.077	3013	2186	1922
12759	1.44	228.3	459.0	9.8	615	12772	0.00	2.85	6.15	1.105	4	0.000	0.094	3013	3656	1901
12813	1.44	228.3	453.0	10.8	617	12817	0.00	2.80	0.00	0.000	6	0.000	0.074	3013	2166	1900
13129	1.49	228.3	420.4	10.3	632	13130	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2166	1901
13438	1.53	228.3	389.1	10.5	647	13443	0.00	2.88	0.00	0.000	4	0.000	0.087	3013	3660	1901
13465	1.53	228.3	385.8	11.6	648	13470	0.00	2.78	0.00	0.000	6	0.000	0.069	3013	2166	1900
13781	1.53	228.3	349.4	11.3	663	13782	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2166	1901
14090	1.59	228.3	315.0	11.0	678	14096	0.15	2.83	0.00	0.000	4	0.067	0.078	3048	3662	1901
14186	1.53	228.3	302.0	13.6	682	14191	0.00	2.70	0.00	0.000	6	0.000	0.060	3048	2179	1901
14502	1.48	228.3	260.3	13.2	697	14508	0.12	2.78	0.00	0.000	4	0.111	0.074	3025	3663	1902
14524	1.48	228.3	257.3	13.3	698	14529	0.00	2.67	0.00	0.000	6	0.000	0.057	3026	2185	1902
14845	1.48	228.3	220.0	11.5	714	14850	0.00	2.75	0.00	0.000	4	0.000	0.073	3025	3659	1903
14908	1.48	228.3	212.3	11.7	717	14913	0.00	2.60	0.00	0.000	6	0.000	0.055	3025	2211	1903
15234	1.48	228.3	174.4	11.6	733	15238	0.00	2.47	0.00	0.000	4	0.000	0.067	3025	844	1905
15256	1.48	228.3	171.8	11.2	734	15260	0.00	2.50	0.00	0.000	6	0.000	0.058	3025	2224	1905
15577	1.48	228.3	135.3	11.3	750	15581	0.00	2.62	0.00	0.000	4	0.000	0.072	3025	3660	1906
15609	1.48	228.3	131.1	12.1	751	15616	0.00	2.60	0.00	0.000	6	0.000	0.054	3025	2210	1906
15927	1.48	228.3	95.9	10.8	767	15931	0.00	2.47	0.00	0.000	4	0.000	0.067	3025	842	1907
15944	1.48	228.3	93.9	11.0	768	15949	0.00	2.53	0.00	0.000	6	0.000	0.055	3025	2249	1907
16272	1.48	228.3	57.4	10.8	784	16273	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2249	1908
16581	1.48	228.3	21.9	11.7	799	16585	0.00	2.58	0.00	0.000	4	0.000	0.070	3025	3663	1909
16608	1.48	228.3	18.7	11.4	800	16612	0.00	2.55	0.00	0.000	6	0.000	0.051	3025	2235	1909
16737	end climb: SURFACE_DEPTH_REACHED
state	16737	begin surface coast
16758	end surface coast: CONTROL_FINISHED_OK
state	16758	begin surface