Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 461 * 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 461 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 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 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 -96430.305 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 -96430.305

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 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 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 461 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 030207,6116.534,-754.413,40,1.7,40,-8.6 TGT_NAME FBC_2

_CALLS 1 TGT_LATLONG 6115.000,-752.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.55 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -63.9 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 030825,6116.555,-754.398,12,1.9,12,-8.6 MHEAD_RNG_PITCHd_Wd 152.0,3585,-26.1,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.017306 ALTIM_BOTTOM_PING 776.0,90.9

SM_CCo 19902,94.88,0.816,0,0,1812,250.21 _24V_AH 23.3,81.272

SM_GC 1.47,0.00,0.00,94.88,0.000,0.000,0.816,423,2019,1812,-10.68,0.54,250.21 _10V_AH 10.1,40.496

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47448,944

TT8_MAMPS 0.029146 CAP_FILE_SIZE 165445,0

HUMID 1805 CFSIZE 254472192,222928896

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,67,0,0

XPDR_PINGS 57 GPS 180209,084330,6116.278,-754.496,41,1.5,46,-8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 141 97.00 SBE_CT 696 24 389.51

Roll_motor 202 88 417.00 SBE_O2 641 19 283.84

VBD_pump_during_apogee 145 1494 5076.59 WL_BB2F 520 105 1273.64

VBD_pump_during_surface 94 816 1804.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.61 nil 0 0 0.00

Iridium_during_connect 32 160 120.04 nil 0 0 0.00

Iridium_during_xfer 161 223 836.92

Transponder_ping 21 420 207.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.52

TT8 1873 19 374.60

LPSleep 14977 2 331.29

TT8_Active 440 19 88.11

TT8_Sampling 2425 39 974.88

TT8_CF8 653 45 302.46

TT8_Kalman 0 81 0.00

Analog_circuits 1618 12 196.20

GPS_charging 0 0 0.00

Compass 2365 8 191.12

RAFOS 0 0 0.00

Transponder 46 30 14.24

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.79 -31.4 0.0 0.0 0 76 0.00 0.00 -57.40 0.000 6 0.000 0.000 421 1963 2960

80 -1.83 -56.7 2.7 -2.8 3 102 10.20 2.65 -3.45 0.000 4 0.139 0.074 2338 3410 3065

270 -1.73 -56.7 35.2 -18.8 11 275 0.15 2.53 0.00 0.000 6 0.115 0.051 2365 1999 3065

586 -1.73 -56.7 79.4 -13.2 26 591 0.00 2.60 0.00 0.000 4 0.000 0.063 2365 3417 3065

616 -1.69 -56.7 83.3 -13.9 27 620 0.00 2.55 0.00 0.000 6 0.000 0.049 2365 1992 3065

932 -1.69 -56.7 123.0 -12.1 42 933 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 1991 3065

1241 -1.69 -56.7 159.8 -12.3 57 1245 0.00 2.50 0.00 0.000 4 0.000 0.062 2364 588 3065

1303 -1.62 -56.7 167.9 -12.8 59 1310 0.15 2.50 0.00 0.000 6 0.111 0.051 2391 1996 3065

1620 -1.66 -56.7 203.2 -10.9 75 1624 0.00 2.55 0.00 0.000 4 0.000 0.062 2391 588 3065

1670 -1.66 -56.7 209.0 -12.3 77 1675 0.00 2.47 0.00 0.000 6 0.000 0.052 2391 1979 3065

1986 -1.66 -56.7 247.3 -11.8 92 1987 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 1980 3065

2296 -1.71 -56.7 281.4 -10.9 107 2300 0.00 2.53 0.00 0.000 4 0.000 0.064 2391 588 3065

2364 -1.71 -56.7 289.7 -13.0 110 2368 0.00 2.47 0.00 0.000 6 0.000 0.052 2391 1973 3065

2688 -1.75 -56.7 326.2 -11.0 126 2693 0.15 2.53 0.00 0.000 4 0.058 0.063 2353 591 3065

2722 -1.64 -56.7 330.9 -13.5 127 2728 0.17 2.42 0.00 0.000 6 0.104 0.052 2384 1960 3065

3039 -1.64 -56.7 365.9 -11.0 143 3043 0.00 2.47 0.00 0.000 4 0.000 0.064 2384 595 3065

3089 -1.64 -56.7 371.8 -11.5 145 3093 0.00 2.38 0.00 0.000 6 0.000 0.051 2384 1934 3066

3405 -1.64 -56.7 405.9 -10.8 160 3410 0.00 2.65 0.00 0.000 4 0.000 0.064 2384 3406 3065

3433 -1.64 -56.7 409.4 -12.0 161 3437 0.00 2.65 0.00 0.000 6 0.000 0.056 2384 1932 3065

3749 -1.64 -56.7 442.0 -9.5 176 3753 0.00 2.67 0.00 0.000 4 0.000 0.064 2384 3401 3066

3800 -1.69 -56.7 447.6 -11.2 178 3804 0.00 2.60 0.00 0.000 6 0.000 0.054 2384 1949 3066

4116 -1.74 -56.7 482.2 -11.6 193 4117 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 1949 3066

4425 -1.78 -56.7 518.3 -10.9 208 4430 0.15 2.42 0.00 0.000 4 0.058 0.065 2347 594 3066

4467 -1.67 -56.7 523.3 -13.5 210 4472 0.17 2.42 0.00 0.000 6 0.105 0.054 2378 1964 3066

4796 -1.71 -56.7 557.6 -9.5 226 4801 0.00 2.53 0.00 0.000 4 0.000 0.068 2378 585 3066

4975 -1.71 -56.7 576.0 -10.7 234 4979 0.00 2.38 0.00 0.000 6 0.000 0.057 2378 1912 3066

5302 -1.76 -56.7 608.0 -9.9 250 5306 0.00 2.45 0.00 0.000 4 0.000 0.074 2378 590 3066

5433 -1.76 -56.7 621.8 -11.0 256 5437 0.00 2.38 0.00 0.000 6 0.000 0.061 2378 1905 3065

5761 -1.81 -56.7 655.9 -10.6 272 5766 0.15 2.75 0.00 0.000 4 0.060 0.078 2343 3398 3065

5848 -1.72 -56.7 666.2 -12.1 276 5853 0.12 2.72 0.00 0.000 6 0.116 0.071 2365 1924 3065

6175 -1.72 -56.7 703.8 -11.3 292 6179 0.00 2.45 0.00 0.000 4 0.000 0.082 2365 597 3064

6219 -1.72 -56.7 709.0 -11.8 294 6223 0.00 2.40 0.00 0.000 6 0.000 0.070 2365 1905 3064

6541 -1.72 -56.7 743.9 -10.9 310 6545 0.00 2.78 0.00 0.000 4 0.000 0.085 2365 3397 3062

6603 -1.72 -56.7 751.1 -11.2 313 6607 0.00 2.75 0.00 0.000 6 0.000 0.076 2365 1925 3062

6930 -1.72 -56.7 787.5 -11.4 329 6935 0.00 2.83 0.00 0.000 4 0.000 0.087 2365 3404 3060

6974 -1.72 -56.7 793.0 -12.2 331 6979 0.00 2.72 0.00 0.000 6 0.000 0.076 2365 1941 3060

7295 -1.72 -56.7 828.1 -10.6 347 7296 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 1941 3059

7582 end dive: BOTTOM_OBSTACLE_DETECTED

state 7582 begin apogee

7590 -0.33 0.0 858.0 9.9 361 7647 1.52 0.00 53.33 1.495 6 0.110 0.000 2670 2120 2832

7648 end apogee: CONTROL_FINISHED_OK

state 7648 begin climb

7651 1.83 56.7 859.6 0.0 364 7713 2.17 0.00 54.35 1.465 6 0.067 0.000 3145 2121 2600

8025 1.68 56.7 834.8 7.8 382 8030 0.17 2.70 0.00 0.000 4 0.121 0.087 3112 3532 2598

8283 1.56 56.7 815.1 7.2 393 8290 0.15 2.65 0.00 0.000 6 0.127 0.074 3086 2127 2597

8600 1.57 59.0 795.9 5.7 409 8605 0.00 2.70 0.00 0.000 4 0.000 0.088 3086 3526 2596

8679 1.51 59.0 790.7 6.6 412 8685 0.00 2.62 0.00 0.000 6 0.000 0.074 3086 2130 2595

8996 1.51 59.0 771.9 6.1 428 9001 0.00 2.70 0.00 0.000 4 0.000 0.087 3086 3530 2595

9121 1.46 59.0 764.0 7.2 433 9127 0.10 2.60 0.00 0.000 6 0.141 0.074 3068 2143 2594

9437 1.52 64.3 746.7 5.3 449 9451 0.00 2.75 7.22 1.231 4 0.000 0.087 3068 3526 2569

9598 1.52 64.3 737.2 6.4 456 9602 0.00 2.53 0.00 0.000 6 0.000 0.074 3068 2178 2569

9925 1.58 70.0 719.4 5.3 472 9939 0.00 2.67 6.78 1.202 4 0.000 0.087 3068 3527 2546

10070 1.58 70.0 710.1 7.2 478 10074 0.00 2.53 0.00 0.000 6 0.000 0.073 3068 2185 2545

10386 1.65 70.4 690.3 6.0 493 10391 0.17 2.60 0.00 0.000 4 0.073 0.088 3107 3530 2545

10489 1.57 70.4 682.7 7.5 497 10495 0.00 2.47 0.00 0.000 6 0.000 0.074 3107 2207 2545

10805 1.57 70.4 661.3 6.7 513 10806 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2207 2545

11114 1.57 70.4 641.3 6.4 528 11119 0.00 2.55 0.00 0.000 4 0.000 0.088 3107 3528 2544

11194 1.48 70.4 636.3 6.0 531 11201 0.20 2.47 0.00 0.000 6 0.122 0.074 3071 2207 2544

11511 1.55 77.6 620.6 5.1 547 11525 0.00 2.90 8.20 1.225 4 0.000 0.087 3070 714 2516

11567 1.56 81.7 617.3 5.5 549 11578 0.00 2.80 5.55 1.085 6 0.000 0.074 3070 2198 2498

11888 1.63 81.7 596.2 6.7 565 11893 0.15 2.85 0.00 0.000 4 0.071 0.084 3106 713 2498

12146 1.57 81.7 575.7 7.1 576 12153 0.00 2.67 0.00 0.000 6 0.000 0.072 3106 2149 2498

12462 1.57 83.9 556.2 5.7 592 12467 0.00 2.72 0.00 0.000 4 0.000 0.083 3106 710 2497

12619 1.51 87.0 547.2 5.6 599 12633 0.17 2.70 6.40 1.110 6 0.119 0.072 3074 2167 2477

12952 1.59 87.0 529.0 6.0 615 12957 0.00 2.72 0.00 0.000 4 0.000 0.079 3074 713 2476

13025 1.59 87.0 524.4 6.1 618 13030 0.00 2.65 0.00 0.000 6 0.000 0.069 3074 2145 2476

13342 1.65 87.0 502.6 7.0 633 13347 0.15 2.58 0.00 0.000 4 0.072 0.078 3109 3531 2477

13392 1.58 87.0 498.7 7.1 635 13397 0.00 2.65 0.00 0.000 6 0.000 0.065 3109 2094 2477

13709 1.58 87.0 478.7 6.1 650 13714 0.00 2.70 0.00 0.000 4 0.000 0.076 3109 3534 2477

13816 1.52 87.0 470.0 8.0 655 13822 0.17 2.58 0.00 0.000 6 0.117 0.062 3077 2126 2477

14146 1.60 87.0 447.0 7.5 671 14150 0.00 2.65 0.00 0.000 4 0.000 0.073 3077 3538 2478

14404 1.60 87.0 426.0 8.1 682 14410 0.00 2.47 0.00 0.000 6 0.000 0.058 3077 2170 2478

14720 1.67 87.0 402.2 7.5 698 14725 0.15 2.53 0.00 0.000 4 0.063 0.069 3113 3533 2479

14929 1.62 87.0 384.0 8.9 707 14933 0.00 2.40 0.00 0.000 6 0.000 0.055 3113 2200 2479

15244 1.62 87.0 360.1 7.3 722 15246 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2200 2480

15554 1.62 87.0 335.7 8.1 737 15558 0.00 2.47 0.00 0.000 4 0.000 0.067 3113 3541 2481

15622 1.57 87.0 330.1 8.2 740 15627 0.15 2.38 0.00 0.000 6 0.107 0.052 3086 2213 2481

15944 1.64 87.0 307.5 6.9 756 15948 0.00 2.42 0.00 0.000 4 0.000 0.065 3086 3534 2482

16035 1.64 87.0 300.7 8.0 760 16039 0.00 2.35 0.00 0.000 6 0.000 0.051 3086 2213 2483

16357 1.73 87.0 278.4 7.0 776 16362 0.15 2.42 0.00 0.000 4 0.060 0.064 3124 3537 2483

16506 1.65 87.0 265.8 8.7 782 16512 0.00 2.33 0.00 0.000 6 0.000 0.051 3124 2227 2484

16822 1.65 87.0 241.1 8.3 798 16823 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2226 2485

17131 1.65 87.0 216.3 8.1 813 17135 0.00 2.40 0.00 0.000 4 0.000 0.064 3124 3537 2486

17200 1.58 87.0 210.5 9.0 816 17210 0.17 2.33 3.92 0.653 6 0.106 0.050 3092 2224 2477

17535 1.65 87.0 186.4 7.1 832 17539 0.00 2.40 0.00 0.000 4 0.000 0.064 3092 3534 2477

17590 1.65 87.0 181.8 7.2 834 17596 0.00 2.30 0.00 0.000 6 0.000 0.049 3092 2236 2477

17908 1.73 87.0 158.9 6.9 850 17910 0.12 0.00 0.00 0.000 6 0.061 0.000 3124 2235 2477

18216 1.73 87.0 134.9 7.6 865 18220 0.00 2.38 0.00 0.000 4 0.000 0.063 3124 3536 2478

18329 1.67 87.0 124.8 9.4 870 18333 0.00 2.30 0.00 0.000 6 0.000 0.048 3124 2234 2478

18652 1.67 87.0 97.2 8.9 886 18656 0.00 2.38 0.00 0.000 4 0.000 0.062 3124 3537 2479

18725 1.60 87.0 90.2 10.0 889 18729 0.17 2.25 0.00 0.000 6 0.106 0.048 3092 2260 2479

19042 1.67 87.0 65.0 8.0 904 19044 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 2260 2479

19350 1.74 87.0 43.5 6.5 919 19355 0.15 2.35 0.00 0.000 4 0.058 0.062 3129 3538 2480

19484 1.67 87.0 34.0 8.6 925 19488 0.00 2.25 0.00 0.000 6 0.000 0.048 3129 2260 2480

19813 1.67 87.0 4.3 8.0 941 19817 0.00 2.20 0.00 0.000 3 0.000 0.058 3129 996 2481

19818 end climb: SURFACE_DEPTH_REACHED

state 19818 begin surface coast

19876 end surface coast: CONTROL_FINISHED_OK

state 19876 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	461	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	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	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	-96430.305	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	030207,6116.534,-754.413,40,1.7,40,-8.6	TGT_NAME	FBC_2
_CALLS	1	TGT_LATLONG	6115.000,-752.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.55	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-63.9	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	030825,6116.555,-754.398,12,1.9,12,-8.6	MHEAD_RNG_PITCHd_Wd	152.0,3585,-26.1,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.017306	ALTIM_BOTTOM_PING	776.0,90.9
SM_CCo	19902,94.88,0.816,0,0,1812,250.21	_24V_AH	23.3,81.272
SM_GC	1.47,0.00,0.00,94.88,0.000,0.000,0.816,423,2019,1812,-10.68,0.54,250.21	_10V_AH	10.1,40.496
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47448,944
TT8_MAMPS	0.029146	CAP_FILE_SIZE	165445,0
HUMID	1805	CFSIZE	254472192,222928896
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,67,0,0
XPDR_PINGS	57	GPS	180209,084330,6116.278,-754.496,41,1.5,46,-8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	141	97.00	SBE_CT	696	24	389.51
Roll_motor	202	88	417.00	SBE_O2	641	19	283.84
VBD_pump_during_apogee	145	1494	5076.59	WL_BB2F	520	105	1273.64
VBD_pump_during_surface	94	816	1804.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.61	nil	0	0	0.00
Iridium_during_connect	32	160	120.04	nil	0	0	0.00
Iridium_during_xfer	161	223	836.92
Transponder_ping	21	420	207.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.52
TT8	1873	19	374.60
LPSleep	14977	2	331.29
TT8_Active	440	19	88.11
TT8_Sampling	2425	39	974.88
TT8_CF8	653	45	302.46
TT8_Kalman	0	81	0.00
Analog_circuits	1618	12	196.20
GPS_charging	0	0	0.00
Compass	2365	8	191.12
RAFOS	0	0	0.00
Transponder	46	30	14.24

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.79	-31.4	0.0	0.0	0	76	0.00	0.00	-57.40	0.000	6	0.000	0.000	421	1963	2960
80	-1.83	-56.7	2.7	-2.8	3	102	10.20	2.65	-3.45	0.000	4	0.139	0.074	2338	3410	3065
270	-1.73	-56.7	35.2	-18.8	11	275	0.15	2.53	0.00	0.000	6	0.115	0.051	2365	1999	3065
586	-1.73	-56.7	79.4	-13.2	26	591	0.00	2.60	0.00	0.000	4	0.000	0.063	2365	3417	3065
616	-1.69	-56.7	83.3	-13.9	27	620	0.00	2.55	0.00	0.000	6	0.000	0.049	2365	1992	3065
932	-1.69	-56.7	123.0	-12.1	42	933	0.00	0.00	0.00	0.000	6	0.000	0.000	2365	1991	3065
1241	-1.69	-56.7	159.8	-12.3	57	1245	0.00	2.50	0.00	0.000	4	0.000	0.062	2364	588	3065
1303	-1.62	-56.7	167.9	-12.8	59	1310	0.15	2.50	0.00	0.000	6	0.111	0.051	2391	1996	3065
1620	-1.66	-56.7	203.2	-10.9	75	1624	0.00	2.55	0.00	0.000	4	0.000	0.062	2391	588	3065
1670	-1.66	-56.7	209.0	-12.3	77	1675	0.00	2.47	0.00	0.000	6	0.000	0.052	2391	1979	3065
1986	-1.66	-56.7	247.3	-11.8	92	1987	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	1980	3065
2296	-1.71	-56.7	281.4	-10.9	107	2300	0.00	2.53	0.00	0.000	4	0.000	0.064	2391	588	3065
2364	-1.71	-56.7	289.7	-13.0	110	2368	0.00	2.47	0.00	0.000	6	0.000	0.052	2391	1973	3065
2688	-1.75	-56.7	326.2	-11.0	126	2693	0.15	2.53	0.00	0.000	4	0.058	0.063	2353	591	3065
2722	-1.64	-56.7	330.9	-13.5	127	2728	0.17	2.42	0.00	0.000	6	0.104	0.052	2384	1960	3065
3039	-1.64	-56.7	365.9	-11.0	143	3043	0.00	2.47	0.00	0.000	4	0.000	0.064	2384	595	3065
3089	-1.64	-56.7	371.8	-11.5	145	3093	0.00	2.38	0.00	0.000	6	0.000	0.051	2384	1934	3066
3405	-1.64	-56.7	405.9	-10.8	160	3410	0.00	2.65	0.00	0.000	4	0.000	0.064	2384	3406	3065
3433	-1.64	-56.7	409.4	-12.0	161	3437	0.00	2.65	0.00	0.000	6	0.000	0.056	2384	1932	3065
3749	-1.64	-56.7	442.0	-9.5	176	3753	0.00	2.67	0.00	0.000	4	0.000	0.064	2384	3401	3066
3800	-1.69	-56.7	447.6	-11.2	178	3804	0.00	2.60	0.00	0.000	6	0.000	0.054	2384	1949	3066
4116	-1.74	-56.7	482.2	-11.6	193	4117	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	1949	3066
4425	-1.78	-56.7	518.3	-10.9	208	4430	0.15	2.42	0.00	0.000	4	0.058	0.065	2347	594	3066
4467	-1.67	-56.7	523.3	-13.5	210	4472	0.17	2.42	0.00	0.000	6	0.105	0.054	2378	1964	3066
4796	-1.71	-56.7	557.6	-9.5	226	4801	0.00	2.53	0.00	0.000	4	0.000	0.068	2378	585	3066
4975	-1.71	-56.7	576.0	-10.7	234	4979	0.00	2.38	0.00	0.000	6	0.000	0.057	2378	1912	3066
5302	-1.76	-56.7	608.0	-9.9	250	5306	0.00	2.45	0.00	0.000	4	0.000	0.074	2378	590	3066
5433	-1.76	-56.7	621.8	-11.0	256	5437	0.00	2.38	0.00	0.000	6	0.000	0.061	2378	1905	3065
5761	-1.81	-56.7	655.9	-10.6	272	5766	0.15	2.75	0.00	0.000	4	0.060	0.078	2343	3398	3065
5848	-1.72	-56.7	666.2	-12.1	276	5853	0.12	2.72	0.00	0.000	6	0.116	0.071	2365	1924	3065
6175	-1.72	-56.7	703.8	-11.3	292	6179	0.00	2.45	0.00	0.000	4	0.000	0.082	2365	597	3064
6219	-1.72	-56.7	709.0	-11.8	294	6223	0.00	2.40	0.00	0.000	6	0.000	0.070	2365	1905	3064
6541	-1.72	-56.7	743.9	-10.9	310	6545	0.00	2.78	0.00	0.000	4	0.000	0.085	2365	3397	3062
6603	-1.72	-56.7	751.1	-11.2	313	6607	0.00	2.75	0.00	0.000	6	0.000	0.076	2365	1925	3062
6930	-1.72	-56.7	787.5	-11.4	329	6935	0.00	2.83	0.00	0.000	4	0.000	0.087	2365	3404	3060
6974	-1.72	-56.7	793.0	-12.2	331	6979	0.00	2.72	0.00	0.000	6	0.000	0.076	2365	1941	3060
7295	-1.72	-56.7	828.1	-10.6	347	7296	0.00	0.00	0.00	0.000	6	0.000	0.000	2365	1941	3059
7582	end dive: BOTTOM_OBSTACLE_DETECTED
state	7582	begin apogee
7590	-0.33	0.0	858.0	9.9	361	7647	1.52	0.00	53.33	1.495	6	0.110	0.000	2670	2120	2832
7648	end apogee: CONTROL_FINISHED_OK
state	7648	begin climb
7651	1.83	56.7	859.6	0.0	364	7713	2.17	0.00	54.35	1.465	6	0.067	0.000	3145	2121	2600
8025	1.68	56.7	834.8	7.8	382	8030	0.17	2.70	0.00	0.000	4	0.121	0.087	3112	3532	2598
8283	1.56	56.7	815.1	7.2	393	8290	0.15	2.65	0.00	0.000	6	0.127	0.074	3086	2127	2597
8600	1.57	59.0	795.9	5.7	409	8605	0.00	2.70	0.00	0.000	4	0.000	0.088	3086	3526	2596
8679	1.51	59.0	790.7	6.6	412	8685	0.00	2.62	0.00	0.000	6	0.000	0.074	3086	2130	2595
8996	1.51	59.0	771.9	6.1	428	9001	0.00	2.70	0.00	0.000	4	0.000	0.087	3086	3530	2595
9121	1.46	59.0	764.0	7.2	433	9127	0.10	2.60	0.00	0.000	6	0.141	0.074	3068	2143	2594
9437	1.52	64.3	746.7	5.3	449	9451	0.00	2.75	7.22	1.231	4	0.000	0.087	3068	3526	2569
9598	1.52	64.3	737.2	6.4	456	9602	0.00	2.53	0.00	0.000	6	0.000	0.074	3068	2178	2569
9925	1.58	70.0	719.4	5.3	472	9939	0.00	2.67	6.78	1.202	4	0.000	0.087	3068	3527	2546
10070	1.58	70.0	710.1	7.2	478	10074	0.00	2.53	0.00	0.000	6	0.000	0.073	3068	2185	2545
10386	1.65	70.4	690.3	6.0	493	10391	0.17	2.60	0.00	0.000	4	0.073	0.088	3107	3530	2545
10489	1.57	70.4	682.7	7.5	497	10495	0.00	2.47	0.00	0.000	6	0.000	0.074	3107	2207	2545
10805	1.57	70.4	661.3	6.7	513	10806	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2207	2545
11114	1.57	70.4	641.3	6.4	528	11119	0.00	2.55	0.00	0.000	4	0.000	0.088	3107	3528	2544
11194	1.48	70.4	636.3	6.0	531	11201	0.20	2.47	0.00	0.000	6	0.122	0.074	3071	2207	2544
11511	1.55	77.6	620.6	5.1	547	11525	0.00	2.90	8.20	1.225	4	0.000	0.087	3070	714	2516
11567	1.56	81.7	617.3	5.5	549	11578	0.00	2.80	5.55	1.085	6	0.000	0.074	3070	2198	2498
11888	1.63	81.7	596.2	6.7	565	11893	0.15	2.85	0.00	0.000	4	0.071	0.084	3106	713	2498
12146	1.57	81.7	575.7	7.1	576	12153	0.00	2.67	0.00	0.000	6	0.000	0.072	3106	2149	2498
12462	1.57	83.9	556.2	5.7	592	12467	0.00	2.72	0.00	0.000	4	0.000	0.083	3106	710	2497
12619	1.51	87.0	547.2	5.6	599	12633	0.17	2.70	6.40	1.110	6	0.119	0.072	3074	2167	2477
12952	1.59	87.0	529.0	6.0	615	12957	0.00	2.72	0.00	0.000	4	0.000	0.079	3074	713	2476
13025	1.59	87.0	524.4	6.1	618	13030	0.00	2.65	0.00	0.000	6	0.000	0.069	3074	2145	2476
13342	1.65	87.0	502.6	7.0	633	13347	0.15	2.58	0.00	0.000	4	0.072	0.078	3109	3531	2477
13392	1.58	87.0	498.7	7.1	635	13397	0.00	2.65	0.00	0.000	6	0.000	0.065	3109	2094	2477
13709	1.58	87.0	478.7	6.1	650	13714	0.00	2.70	0.00	0.000	4	0.000	0.076	3109	3534	2477
13816	1.52	87.0	470.0	8.0	655	13822	0.17	2.58	0.00	0.000	6	0.117	0.062	3077	2126	2477
14146	1.60	87.0	447.0	7.5	671	14150	0.00	2.65	0.00	0.000	4	0.000	0.073	3077	3538	2478
14404	1.60	87.0	426.0	8.1	682	14410	0.00	2.47	0.00	0.000	6	0.000	0.058	3077	2170	2478
14720	1.67	87.0	402.2	7.5	698	14725	0.15	2.53	0.00	0.000	4	0.063	0.069	3113	3533	2479
14929	1.62	87.0	384.0	8.9	707	14933	0.00	2.40	0.00	0.000	6	0.000	0.055	3113	2200	2479
15244	1.62	87.0	360.1	7.3	722	15246	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	2200	2480
15554	1.62	87.0	335.7	8.1	737	15558	0.00	2.47	0.00	0.000	4	0.000	0.067	3113	3541	2481
15622	1.57	87.0	330.1	8.2	740	15627	0.15	2.38	0.00	0.000	6	0.107	0.052	3086	2213	2481
15944	1.64	87.0	307.5	6.9	756	15948	0.00	2.42	0.00	0.000	4	0.000	0.065	3086	3534	2482
16035	1.64	87.0	300.7	8.0	760	16039	0.00	2.35	0.00	0.000	6	0.000	0.051	3086	2213	2483
16357	1.73	87.0	278.4	7.0	776	16362	0.15	2.42	0.00	0.000	4	0.060	0.064	3124	3537	2483
16506	1.65	87.0	265.8	8.7	782	16512	0.00	2.33	0.00	0.000	6	0.000	0.051	3124	2227	2484
16822	1.65	87.0	241.1	8.3	798	16823	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2226	2485
17131	1.65	87.0	216.3	8.1	813	17135	0.00	2.40	0.00	0.000	4	0.000	0.064	3124	3537	2486
17200	1.58	87.0	210.5	9.0	816	17210	0.17	2.33	3.92	0.653	6	0.106	0.050	3092	2224	2477
17535	1.65	87.0	186.4	7.1	832	17539	0.00	2.40	0.00	0.000	4	0.000	0.064	3092	3534	2477
17590	1.65	87.0	181.8	7.2	834	17596	0.00	2.30	0.00	0.000	6	0.000	0.049	3092	2236	2477
17908	1.73	87.0	158.9	6.9	850	17910	0.12	0.00	0.00	0.000	6	0.061	0.000	3124	2235	2477
18216	1.73	87.0	134.9	7.6	865	18220	0.00	2.38	0.00	0.000	4	0.000	0.063	3124	3536	2478
18329	1.67	87.0	124.8	9.4	870	18333	0.00	2.30	0.00	0.000	6	0.000	0.048	3124	2234	2478
18652	1.67	87.0	97.2	8.9	886	18656	0.00	2.38	0.00	0.000	4	0.000	0.062	3124	3537	2479
18725	1.60	87.0	90.2	10.0	889	18729	0.17	2.25	0.00	0.000	6	0.106	0.048	3092	2260	2479
19042	1.67	87.0	65.0	8.0	904	19044	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	2260	2479
19350	1.74	87.0	43.5	6.5	919	19355	0.15	2.35	0.00	0.000	4	0.058	0.062	3129	3538	2480
19484	1.67	87.0	34.0	8.6	925	19488	0.00	2.25	0.00	0.000	6	0.000	0.048	3129	2260	2480
19813	1.67	87.0	4.3	8.0	941	19817	0.00	2.20	0.00	0.000	3	0.000	0.058	3129	996	2481
19818	end climb: SURFACE_DEPTH_REACHED
state	19818	begin surface coast
19876	end surface coast: CONTROL_FINISHED_OK
state	19876	begin surface