Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 469 * 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 469 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 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 -96580.422 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 -96580.422

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 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 469 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 014456,6116.416,-753.630,69,1.2,69,-8.5 TGT_NAME FBC_2

_CALLS 1 TGT_LATLONG 6115.000,-752.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.54 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -62.9 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 015143,6116.379,-753.572,16,1.5,33,-8.5 MHEAD_RNG_PITCHd_Wd 159.8,2913,-27.3,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.6,1.027418 ALTIM_BOTTOM_PING 775.5,90.2

SM_CCo 20381,98.43,0.825,0,0,1812,250.21 _24V_AH 23.2,82.024

SM_GC 1.21,0.00,0.00,98.43,0.000,0.000,0.825,423,1972,1812,-10.68,-0.79,250.21 _10V_AH 10.1,41.258

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50524,966

TT8_MAMPS 0.029146 CAP_FILE_SIZE 166235,0

HUMID 1781 CFSIZE 254472192,222330880

TCM_TEMP 18.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,58,0,0

XPDR_PINGS 62 GPS 200209,073436,6116.393,-753.438,31,1.3,31,-8.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 132 86.04 SBE_CT 708 24 394.43

Roll_motor 199 87 405.31 SBE_O2 656 19 289.45

VBD_pump_during_apogee 137 1474 4694.80 WL_BB2F 529 105 1289.14

VBD_pump_during_surface 98 824 1882.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.24 nil 0 0 0.00

Iridium_during_connect 30 160 112.96 nil 0 0 0.00

Iridium_during_xfer 174 223 901.23

Transponder_ping 22 420 219.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.15

TT8 1925 19 385.04

LPSleep 15229 2 336.86

TT8_Active 425 19 85.10

TT8_Sampling 2634 39 1058.90

TT8_CF8 666 45 308.52

TT8_Kalman 0 81 0.00

Analog_circuits 1677 12 203.29

GPS_charging 0 0 0.00

Compass 2545 8 205.65

RAFOS 0 0 0.00

Transponder 47 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 12 begin dive

16 -1.87 -28.8 0.0 0.0 0 77 0.00 0.00 -55.47 0.000 6 0.000 0.000 427 1969 2951

81 -1.88 -39.3 3.9 -4.6 3 98 9.90 2.62 -1.23 0.000 4 0.133 0.073 2328 3415 2994

328 -1.76 -39.3 47.8 -17.5 13 333 0.17 2.55 0.00 0.000 6 0.108 0.051 2360 1996 2993

651 -1.76 -39.3 87.8 -12.0 29 655 0.00 2.53 0.00 0.000 4 0.000 0.064 2361 583 2994

828 -1.69 -39.3 111.1 -13.0 37 833 0.00 2.47 0.00 0.000 6 0.000 0.051 2360 1973 2994

1158 -1.69 -39.3 152.7 -12.8 53 1162 0.00 2.50 0.00 0.000 4 0.000 0.067 2360 592 2994

1237 -1.64 -39.3 163.6 -13.8 56 1242 0.12 2.42 0.00 0.000 6 0.112 0.051 2382 1956 2994

1554 -1.70 -39.3 200.7 -11.8 71 1555 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 1957 2994

1864 -1.74 -39.3 235.7 -11.4 86 1868 0.00 2.47 0.00 0.000 4 0.000 0.064 2382 592 2994

1891 -1.74 -39.3 239.3 -11.8 87 1895 0.00 2.40 0.00 0.000 6 0.000 0.051 2382 1941 2994

2211 -1.79 -39.3 275.6 -11.5 102 2215 0.15 2.47 0.00 0.000 4 0.057 0.063 2345 588 2994

2300 -1.69 -39.3 288.3 -13.7 106 2305 0.15 2.40 0.00 0.000 6 0.107 0.051 2373 1940 2994

2624 -1.69 -39.3 326.2 -11.7 122 2628 0.00 2.45 0.00 0.000 4 0.000 0.064 2374 590 2994

2679 -1.69 -39.3 333.5 -12.6 124 2685 0.00 2.38 0.00 0.000 6 0.000 0.051 2373 1930 2994

2995 -1.69 -39.3 371.8 -12.4 140 3000 0.00 2.65 0.00 0.000 4 0.000 0.065 2373 3402 2994

3040 -1.69 -39.3 377.5 -12.3 142 3044 0.00 2.65 0.00 0.000 6 0.000 0.055 2373 1927 2993

3362 -1.69 -39.3 413.8 -11.0 158 3366 0.00 2.70 0.00 0.000 4 0.000 0.065 2373 3406 2994

3446 -1.69 -39.3 424.4 -12.7 162 3451 0.00 2.65 0.00 0.000 6 0.000 0.055 2373 1927 2994

3780 -1.69 -39.3 462.0 -10.6 178 3784 0.00 2.40 0.00 0.000 4 0.000 0.065 2374 581 2994

3903 -1.69 -39.3 476.3 -10.8 183 3911 0.00 2.38 0.00 0.000 6 0.000 0.053 2373 1919 2994

4219 -1.69 -39.3 510.7 -11.5 199 4223 0.00 2.67 0.00 0.000 4 0.000 0.067 2373 3402 2994

4277 -1.69 -39.3 517.4 -11.9 201 4283 0.00 2.67 0.00 0.000 6 0.000 0.058 2373 1918 2994

4594 -1.74 -39.3 550.7 -9.3 217 4598 0.00 2.38 0.00 0.000 4 0.000 0.067 2373 591 2994

4662 -1.74 -39.3 556.8 -8.5 220 4666 0.00 2.28 0.00 0.000 6 0.000 0.054 2373 1873 2994

4991 -1.79 -39.3 583.1 -8.1 236 4996 0.00 2.78 0.00 0.000 4 0.000 0.070 2373 3401 2994

5121 -1.79 -39.3 595.6 -9.9 242 5125 0.00 2.75 0.00 0.000 6 0.000 0.061 2374 1883 2994

5449 -1.84 -39.3 629.5 -10.9 258 5453 0.15 2.35 0.00 0.000 4 0.062 0.074 2336 585 2994

5645 -1.74 -39.3 654.2 -12.4 266 5652 0.15 2.25 0.00 0.000 6 0.114 0.061 2363 1835 2993

5961 -1.74 -39.3 687.0 -9.8 282 5965 0.00 2.35 0.00 0.000 4 0.000 0.080 2363 587 2993

6034 -1.74 -39.3 695.2 -11.4 285 6038 0.00 2.22 0.00 0.000 6 0.000 0.065 2363 1810 2993

6352 -1.74 -39.3 726.5 -9.6 300 6356 0.00 2.95 0.00 0.000 4 0.000 0.082 2363 3409 2991

6482 -1.74 -39.3 739.9 -10.4 306 6486 0.00 2.95 0.00 0.000 6 0.000 0.073 2363 1818 2991

6809 -1.74 -39.3 772.0 -10.0 322 6814 0.00 3.00 0.00 0.000 4 0.000 0.084 2363 3400 2990

6858 -1.74 -39.3 777.0 -9.7 324 6863 0.00 2.90 0.00 0.000 6 0.000 0.076 2363 1844 2990

7174 -1.74 -39.3 806.7 -9.4 339 7179 0.00 2.95 0.00 0.000 4 0.000 0.084 2363 3399 2990

7225 -1.74 -39.3 811.6 -9.4 341 7230 0.00 2.90 0.00 0.000 6 0.000 0.077 2363 1849 2989

7541 -1.74 -39.3 839.2 -8.1 356 7546 0.00 2.95 0.00 0.000 4 0.000 0.086 2363 3399 2987

7626 -1.74 -39.3 847.4 -9.4 360 7631 0.00 2.88 0.00 0.000 6 0.000 0.076 2363 1860 2987

7723 end dive: BOTTOM_OBSTACLE_DETECTED

state 7723 begin apogee

7730 -0.33 0.0 856.0 8.7 365 7771 1.52 0.00 36.50 1.475 6 0.107 0.000 2668 2115 2832

7771 end apogee: CONTROL_FINISHED_OK

state 7772 begin climb

7775 1.88 39.3 857.4 0.0 367 7818 2.22 0.00 38.22 1.457 6 0.067 0.000 3154 2114 2671

8130 1.74 43.2 840.2 5.5 384 8141 0.15 2.72 4.85 1.055 4 0.127 0.087 3129 3530 2656

8397 1.62 51.6 827.1 4.8 396 8413 0.17 2.60 9.35 1.301 6 0.118 0.074 3098 2147 2621

8725 1.62 53.5 808.6 5.7 411 8729 0.00 2.65 0.00 0.000 4 0.000 0.086 3098 3520 2620

8955 1.57 53.5 793.9 6.8 421 8960 0.00 2.58 0.00 0.000 6 0.000 0.074 3098 2150 2619

9272 1.57 53.5 774.7 6.0 436 9273 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2150 2618

9581 1.58 55.8 756.3 5.7 451 9591 0.00 2.67 5.15 1.104 4 0.000 0.087 3098 3523 2603

9759 1.58 55.8 744.7 6.5 459 9764 0.00 2.55 0.00 0.000 6 0.000 0.073 3098 2165 2603

10081 1.58 57.8 725.9 5.7 475 10086 0.00 2.62 0.00 0.000 4 0.000 0.087 3098 3527 2602

10252 1.58 57.8 715.0 6.4 482 10258 0.00 2.53 0.00 0.000 6 0.000 0.074 3098 2177 2603

10568 1.58 58.8 695.9 5.9 498 10578 0.00 2.65 3.85 0.927 4 0.000 0.087 3098 3521 2592

10682 1.54 58.8 688.6 6.9 503 10686 0.00 2.47 0.00 0.000 6 0.000 0.073 3098 2198 2592

11015 1.54 58.8 668.1 6.3 519 11016 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2199 2592

11325 1.54 58.8 648.6 6.5 534 11329 0.00 2.78 0.00 0.000 4 0.000 0.084 3098 710 2591

11582 1.54 58.8 631.2 6.3 545 11589 0.00 2.70 0.00 0.000 6 0.000 0.073 3098 2168 2591

11898 1.56 69.9 614.9 4.5 561 11919 0.00 2.83 11.30 1.285 4 0.000 0.081 3098 712 2546

12012 1.56 73.9 608.7 5.4 566 12022 0.00 2.72 5.43 1.077 6 0.000 0.074 3098 2168 2530

12339 1.56 73.9 587.9 6.1 582 12343 0.00 2.60 0.00 0.000 4 0.000 0.087 3098 3539 2529

12596 1.56 73.9 570.7 6.6 593 12602 0.00 2.47 0.00 0.000 6 0.000 0.070 3097 2209 2529

12912 1.61 73.9 549.0 7.0 609 12916 0.00 2.55 0.00 0.000 4 0.000 0.083 3098 3541 2529

13171 1.61 73.9 530.7 6.7 620 13177 0.00 2.45 0.00 0.000 6 0.000 0.067 3098 2209 2529

13489 1.66 81.8 514.7 4.9 636 13503 0.00 2.58 8.40 1.154 4 0.000 0.078 3098 3528 2498

13627 1.66 81.8 505.7 6.8 642 13631 0.00 2.35 0.00 0.000 6 0.000 0.065 3098 2251 2498

13950 1.71 81.8 485.5 6.1 658 13955 0.00 2.83 0.00 0.000 4 0.000 0.074 3098 710 2499

13967 1.71 81.8 484.1 6.6 659 13972 0.00 2.85 0.00 0.000 6 0.000 0.064 3098 2267 2498

14294 1.78 81.8 462.7 6.6 675 14299 0.15 2.35 0.00 0.000 4 0.064 0.075 3133 3540 2499

14484 1.70 81.8 447.5 8.0 683 14491 0.00 2.30 0.00 0.000 6 0.000 0.059 3133 2268 2498

14800 1.70 81.8 425.2 7.5 699 14802 0.00 0.00 0.00 0.000 6 0.000 0.000 3133 2258 2499

15111 1.70 81.8 401.2 7.9 714 15112 0.00 0.00 0.00 0.000 6 0.000 0.000 3133 2258 2500

15419 1.70 81.8 376.5 7.9 729 15420 0.00 0.00 0.00 0.000 6 0.000 0.000 3133 2258 2501

15728 1.70 81.8 352.2 7.8 744 15729 0.00 0.00 0.00 0.000 6 0.000 0.000 3133 2258 2502

16037 1.70 81.8 329.8 6.9 759 16041 0.00 2.33 0.00 0.000 4 0.000 0.066 3133 3537 2503

16111 1.64 81.8 324.1 7.8 762 16116 0.15 2.22 0.00 0.000 6 0.114 0.052 3107 2283 2503

16433 1.70 81.8 302.4 6.5 778 16437 0.00 2.33 0.00 0.000 4 0.000 0.065 3107 3544 2504

16489 1.70 81.8 298.3 8.2 780 16496 0.00 2.22 0.00 0.000 6 0.000 0.051 3107 2288 2504

16806 1.77 81.8 277.5 6.7 796 16811 0.12 2.83 0.00 0.000 4 0.060 0.061 3136 703 2505

16891 1.70 81.8 270.9 7.5 800 16896 0.00 2.85 0.00 0.000 6 0.000 0.053 3136 2305 2505

17219 1.70 81.8 245.2 7.8 816 17220 0.00 0.00 0.00 0.000 6 0.000 0.000 3136 2305 2506

17528 1.70 81.8 221.5 7.8 831 17533 0.00 0.00 3.85 0.652 6 0.000 0.000 3136 2305 2498

17838 1.70 81.8 197.6 7.7 846 17843 0.12 2.90 0.00 0.000 4 0.113 0.060 3115 706 2498

17928 1.70 81.8 190.2 7.6 850 17932 0.00 2.83 0.00 0.000 6 0.000 0.054 3115 2289 2498

18249 1.75 81.8 165.7 7.5 866 18253 0.00 2.25 0.00 0.000 4 0.000 0.065 3115 3540 2499

18312 1.75 81.8 160.5 8.2 869 18316 0.00 2.25 0.00 0.000 6 0.000 0.049 3115 2268 2499

18640 1.81 81.8 135.8 7.2 885 18642 0.10 0.00 0.00 0.000 6 0.064 0.000 3142 2268 2500

18950 1.81 81.8 110.6 8.4 900 18954 0.00 2.33 0.00 0.000 4 0.000 0.063 3142 3545 2500

19128 1.75 81.8 95.3 8.2 908 19132 0.00 2.22 0.00 0.000 6 0.000 0.048 3142 2281 2500

19458 1.75 81.8 70.7 7.0 924 19462 0.00 2.30 0.00 0.000 4 0.000 0.062 3142 3545 2500

19523 1.69 81.8 65.0 9.6 927 19527 0.15 2.20 0.00 0.000 6 0.109 0.048 3114 2292 2500

19850 1.74 81.8 40.1 8.7 943 19854 0.00 2.28 0.00 0.000 4 0.000 0.062 3115 3537 2500

19884 1.74 81.8 36.8 8.7 944 19890 0.00 2.20 0.00 0.000 6 0.000 0.049 3115 2292 2500

20200 1.75 91.3 14.3 4.7 960 20215 0.00 2.30 10.30 0.765 4 0.000 0.061 3115 3544 2459

20344 end climb: SURFACE_DEPTH_REACHED

state 20344 begin surface coast

20354 end surface coast: CONTROL_FINISHED_OK

state 20354 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	469	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	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	-96580.422	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	014456,6116.416,-753.630,69,1.2,69,-8.5	TGT_NAME	FBC_2
_CALLS	1	TGT_LATLONG	6115.000,-752.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.54	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-62.9	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	015143,6116.379,-753.572,16,1.5,33,-8.5	MHEAD_RNG_PITCHd_Wd	159.8,2913,-27.3,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	2.6,1.027418	ALTIM_BOTTOM_PING	775.5,90.2
SM_CCo	20381,98.43,0.825,0,0,1812,250.21	_24V_AH	23.2,82.024
SM_GC	1.21,0.00,0.00,98.43,0.000,0.000,0.825,423,1972,1812,-10.68,-0.79,250.21	_10V_AH	10.1,41.258
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50524,966
TT8_MAMPS	0.029146	CAP_FILE_SIZE	166235,0
HUMID	1781	CFSIZE	254472192,222330880
TCM_TEMP	18.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,58,0,0
XPDR_PINGS	62	GPS	200209,073436,6116.393,-753.438,31,1.3,31,-8.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	132	86.04	SBE_CT	708	24	394.43
Roll_motor	199	87	405.31	SBE_O2	656	19	289.45
VBD_pump_during_apogee	137	1474	4694.80	WL_BB2F	529	105	1289.14
VBD_pump_during_surface	98	824	1882.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.24	nil	0	0	0.00
Iridium_during_connect	30	160	112.96	nil	0	0	0.00
Iridium_during_xfer	174	223	901.23
Transponder_ping	22	420	219.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.15
TT8	1925	19	385.04
LPSleep	15229	2	336.86
TT8_Active	425	19	85.10
TT8_Sampling	2634	39	1058.90
TT8_CF8	666	45	308.52
TT8_Kalman	0	81	0.00
Analog_circuits	1677	12	203.29
GPS_charging	0	0	0.00
Compass	2545	8	205.65
RAFOS	0	0	0.00
Transponder	47	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	12	begin dive
16	-1.87	-28.8	0.0	0.0	0	77	0.00	0.00	-55.47	0.000	6	0.000	0.000	427	1969	2951
81	-1.88	-39.3	3.9	-4.6	3	98	9.90	2.62	-1.23	0.000	4	0.133	0.073	2328	3415	2994
328	-1.76	-39.3	47.8	-17.5	13	333	0.17	2.55	0.00	0.000	6	0.108	0.051	2360	1996	2993
651	-1.76	-39.3	87.8	-12.0	29	655	0.00	2.53	0.00	0.000	4	0.000	0.064	2361	583	2994
828	-1.69	-39.3	111.1	-13.0	37	833	0.00	2.47	0.00	0.000	6	0.000	0.051	2360	1973	2994
1158	-1.69	-39.3	152.7	-12.8	53	1162	0.00	2.50	0.00	0.000	4	0.000	0.067	2360	592	2994
1237	-1.64	-39.3	163.6	-13.8	56	1242	0.12	2.42	0.00	0.000	6	0.112	0.051	2382	1956	2994
1554	-1.70	-39.3	200.7	-11.8	71	1555	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	1957	2994
1864	-1.74	-39.3	235.7	-11.4	86	1868	0.00	2.47	0.00	0.000	4	0.000	0.064	2382	592	2994
1891	-1.74	-39.3	239.3	-11.8	87	1895	0.00	2.40	0.00	0.000	6	0.000	0.051	2382	1941	2994
2211	-1.79	-39.3	275.6	-11.5	102	2215	0.15	2.47	0.00	0.000	4	0.057	0.063	2345	588	2994
2300	-1.69	-39.3	288.3	-13.7	106	2305	0.15	2.40	0.00	0.000	6	0.107	0.051	2373	1940	2994
2624	-1.69	-39.3	326.2	-11.7	122	2628	0.00	2.45	0.00	0.000	4	0.000	0.064	2374	590	2994
2679	-1.69	-39.3	333.5	-12.6	124	2685	0.00	2.38	0.00	0.000	6	0.000	0.051	2373	1930	2994
2995	-1.69	-39.3	371.8	-12.4	140	3000	0.00	2.65	0.00	0.000	4	0.000	0.065	2373	3402	2994
3040	-1.69	-39.3	377.5	-12.3	142	3044	0.00	2.65	0.00	0.000	6	0.000	0.055	2373	1927	2993
3362	-1.69	-39.3	413.8	-11.0	158	3366	0.00	2.70	0.00	0.000	4	0.000	0.065	2373	3406	2994
3446	-1.69	-39.3	424.4	-12.7	162	3451	0.00	2.65	0.00	0.000	6	0.000	0.055	2373	1927	2994
3780	-1.69	-39.3	462.0	-10.6	178	3784	0.00	2.40	0.00	0.000	4	0.000	0.065	2374	581	2994
3903	-1.69	-39.3	476.3	-10.8	183	3911	0.00	2.38	0.00	0.000	6	0.000	0.053	2373	1919	2994
4219	-1.69	-39.3	510.7	-11.5	199	4223	0.00	2.67	0.00	0.000	4	0.000	0.067	2373	3402	2994
4277	-1.69	-39.3	517.4	-11.9	201	4283	0.00	2.67	0.00	0.000	6	0.000	0.058	2373	1918	2994
4594	-1.74	-39.3	550.7	-9.3	217	4598	0.00	2.38	0.00	0.000	4	0.000	0.067	2373	591	2994
4662	-1.74	-39.3	556.8	-8.5	220	4666	0.00	2.28	0.00	0.000	6	0.000	0.054	2373	1873	2994
4991	-1.79	-39.3	583.1	-8.1	236	4996	0.00	2.78	0.00	0.000	4	0.000	0.070	2373	3401	2994
5121	-1.79	-39.3	595.6	-9.9	242	5125	0.00	2.75	0.00	0.000	6	0.000	0.061	2374	1883	2994
5449	-1.84	-39.3	629.5	-10.9	258	5453	0.15	2.35	0.00	0.000	4	0.062	0.074	2336	585	2994
5645	-1.74	-39.3	654.2	-12.4	266	5652	0.15	2.25	0.00	0.000	6	0.114	0.061	2363	1835	2993
5961	-1.74	-39.3	687.0	-9.8	282	5965	0.00	2.35	0.00	0.000	4	0.000	0.080	2363	587	2993
6034	-1.74	-39.3	695.2	-11.4	285	6038	0.00	2.22	0.00	0.000	6	0.000	0.065	2363	1810	2993
6352	-1.74	-39.3	726.5	-9.6	300	6356	0.00	2.95	0.00	0.000	4	0.000	0.082	2363	3409	2991
6482	-1.74	-39.3	739.9	-10.4	306	6486	0.00	2.95	0.00	0.000	6	0.000	0.073	2363	1818	2991
6809	-1.74	-39.3	772.0	-10.0	322	6814	0.00	3.00	0.00	0.000	4	0.000	0.084	2363	3400	2990
6858	-1.74	-39.3	777.0	-9.7	324	6863	0.00	2.90	0.00	0.000	6	0.000	0.076	2363	1844	2990
7174	-1.74	-39.3	806.7	-9.4	339	7179	0.00	2.95	0.00	0.000	4	0.000	0.084	2363	3399	2990
7225	-1.74	-39.3	811.6	-9.4	341	7230	0.00	2.90	0.00	0.000	6	0.000	0.077	2363	1849	2989
7541	-1.74	-39.3	839.2	-8.1	356	7546	0.00	2.95	0.00	0.000	4	0.000	0.086	2363	3399	2987
7626	-1.74	-39.3	847.4	-9.4	360	7631	0.00	2.88	0.00	0.000	6	0.000	0.076	2363	1860	2987
7723	end dive: BOTTOM_OBSTACLE_DETECTED
state	7723	begin apogee
7730	-0.33	0.0	856.0	8.7	365	7771	1.52	0.00	36.50	1.475	6	0.107	0.000	2668	2115	2832
7771	end apogee: CONTROL_FINISHED_OK
state	7772	begin climb
7775	1.88	39.3	857.4	0.0	367	7818	2.22	0.00	38.22	1.457	6	0.067	0.000	3154	2114	2671
8130	1.74	43.2	840.2	5.5	384	8141	0.15	2.72	4.85	1.055	4	0.127	0.087	3129	3530	2656
8397	1.62	51.6	827.1	4.8	396	8413	0.17	2.60	9.35	1.301	6	0.118	0.074	3098	2147	2621
8725	1.62	53.5	808.6	5.7	411	8729	0.00	2.65	0.00	0.000	4	0.000	0.086	3098	3520	2620
8955	1.57	53.5	793.9	6.8	421	8960	0.00	2.58	0.00	0.000	6	0.000	0.074	3098	2150	2619
9272	1.57	53.5	774.7	6.0	436	9273	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2150	2618
9581	1.58	55.8	756.3	5.7	451	9591	0.00	2.67	5.15	1.104	4	0.000	0.087	3098	3523	2603
9759	1.58	55.8	744.7	6.5	459	9764	0.00	2.55	0.00	0.000	6	0.000	0.073	3098	2165	2603
10081	1.58	57.8	725.9	5.7	475	10086	0.00	2.62	0.00	0.000	4	0.000	0.087	3098	3527	2602
10252	1.58	57.8	715.0	6.4	482	10258	0.00	2.53	0.00	0.000	6	0.000	0.074	3098	2177	2603
10568	1.58	58.8	695.9	5.9	498	10578	0.00	2.65	3.85	0.927	4	0.000	0.087	3098	3521	2592
10682	1.54	58.8	688.6	6.9	503	10686	0.00	2.47	0.00	0.000	6	0.000	0.073	3098	2198	2592
11015	1.54	58.8	668.1	6.3	519	11016	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2199	2592
11325	1.54	58.8	648.6	6.5	534	11329	0.00	2.78	0.00	0.000	4	0.000	0.084	3098	710	2591
11582	1.54	58.8	631.2	6.3	545	11589	0.00	2.70	0.00	0.000	6	0.000	0.073	3098	2168	2591
11898	1.56	69.9	614.9	4.5	561	11919	0.00	2.83	11.30	1.285	4	0.000	0.081	3098	712	2546
12012	1.56	73.9	608.7	5.4	566	12022	0.00	2.72	5.43	1.077	6	0.000	0.074	3098	2168	2530
12339	1.56	73.9	587.9	6.1	582	12343	0.00	2.60	0.00	0.000	4	0.000	0.087	3098	3539	2529
12596	1.56	73.9	570.7	6.6	593	12602	0.00	2.47	0.00	0.000	6	0.000	0.070	3097	2209	2529
12912	1.61	73.9	549.0	7.0	609	12916	0.00	2.55	0.00	0.000	4	0.000	0.083	3098	3541	2529
13171	1.61	73.9	530.7	6.7	620	13177	0.00	2.45	0.00	0.000	6	0.000	0.067	3098	2209	2529
13489	1.66	81.8	514.7	4.9	636	13503	0.00	2.58	8.40	1.154	4	0.000	0.078	3098	3528	2498
13627	1.66	81.8	505.7	6.8	642	13631	0.00	2.35	0.00	0.000	6	0.000	0.065	3098	2251	2498
13950	1.71	81.8	485.5	6.1	658	13955	0.00	2.83	0.00	0.000	4	0.000	0.074	3098	710	2499
13967	1.71	81.8	484.1	6.6	659	13972	0.00	2.85	0.00	0.000	6	0.000	0.064	3098	2267	2498
14294	1.78	81.8	462.7	6.6	675	14299	0.15	2.35	0.00	0.000	4	0.064	0.075	3133	3540	2499
14484	1.70	81.8	447.5	8.0	683	14491	0.00	2.30	0.00	0.000	6	0.000	0.059	3133	2268	2498
14800	1.70	81.8	425.2	7.5	699	14802	0.00	0.00	0.00	0.000	6	0.000	0.000	3133	2258	2499
15111	1.70	81.8	401.2	7.9	714	15112	0.00	0.00	0.00	0.000	6	0.000	0.000	3133	2258	2500
15419	1.70	81.8	376.5	7.9	729	15420	0.00	0.00	0.00	0.000	6	0.000	0.000	3133	2258	2501
15728	1.70	81.8	352.2	7.8	744	15729	0.00	0.00	0.00	0.000	6	0.000	0.000	3133	2258	2502
16037	1.70	81.8	329.8	6.9	759	16041	0.00	2.33	0.00	0.000	4	0.000	0.066	3133	3537	2503
16111	1.64	81.8	324.1	7.8	762	16116	0.15	2.22	0.00	0.000	6	0.114	0.052	3107	2283	2503
16433	1.70	81.8	302.4	6.5	778	16437	0.00	2.33	0.00	0.000	4	0.000	0.065	3107	3544	2504
16489	1.70	81.8	298.3	8.2	780	16496	0.00	2.22	0.00	0.000	6	0.000	0.051	3107	2288	2504
16806	1.77	81.8	277.5	6.7	796	16811	0.12	2.83	0.00	0.000	4	0.060	0.061	3136	703	2505
16891	1.70	81.8	270.9	7.5	800	16896	0.00	2.85	0.00	0.000	6	0.000	0.053	3136	2305	2505
17219	1.70	81.8	245.2	7.8	816	17220	0.00	0.00	0.00	0.000	6	0.000	0.000	3136	2305	2506
17528	1.70	81.8	221.5	7.8	831	17533	0.00	0.00	3.85	0.652	6	0.000	0.000	3136	2305	2498
17838	1.70	81.8	197.6	7.7	846	17843	0.12	2.90	0.00	0.000	4	0.113	0.060	3115	706	2498
17928	1.70	81.8	190.2	7.6	850	17932	0.00	2.83	0.00	0.000	6	0.000	0.054	3115	2289	2498
18249	1.75	81.8	165.7	7.5	866	18253	0.00	2.25	0.00	0.000	4	0.000	0.065	3115	3540	2499
18312	1.75	81.8	160.5	8.2	869	18316	0.00	2.25	0.00	0.000	6	0.000	0.049	3115	2268	2499
18640	1.81	81.8	135.8	7.2	885	18642	0.10	0.00	0.00	0.000	6	0.064	0.000	3142	2268	2500
18950	1.81	81.8	110.6	8.4	900	18954	0.00	2.33	0.00	0.000	4	0.000	0.063	3142	3545	2500
19128	1.75	81.8	95.3	8.2	908	19132	0.00	2.22	0.00	0.000	6	0.000	0.048	3142	2281	2500
19458	1.75	81.8	70.7	7.0	924	19462	0.00	2.30	0.00	0.000	4	0.000	0.062	3142	3545	2500
19523	1.69	81.8	65.0	9.6	927	19527	0.15	2.20	0.00	0.000	6	0.109	0.048	3114	2292	2500
19850	1.74	81.8	40.1	8.7	943	19854	0.00	2.28	0.00	0.000	4	0.000	0.062	3115	3537	2500
19884	1.74	81.8	36.8	8.7	944	19890	0.00	2.20	0.00	0.000	6	0.000	0.049	3115	2292	2500
20200	1.75	91.3	14.3	4.7	960	20215	0.00	2.30	10.30	0.765	4	0.000	0.061	3115	3544	2459
20344	end climb: SURFACE_DEPTH_REACHED
state	20344	begin surface coast
20354	end surface coast: CONTROL_FINISHED_OK
state	20354	begin surface