Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 47 * 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 47 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -88158.844 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 -88158.844

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 31 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 47 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 050456,6244.002,-418.688,39,1.5,39,-7.1 TGT_NAME FC1K

_CALLS 1 TGT_LATLONG 6247.000,-415.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.073,0.253

_SM_DEPTHo 1.28 KALMAN_X 52708.7,-632.5,-728.2,35251.2,4108.5

_SM_ANGLEo -66.9 KALMAN_Y -37602.6,-644.2,-779.6,-65192.6,-112.6

GPS2 051032,6243.981,-418.693,15,1.4,15,-7.1 MHEAD_RNG_PITCHd_Wd 351.0,6406,-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 926.2,65.9

SM_CCo 17498,5.60,0.699,0,0,1813,250.21 _24V_AH 23.5,9.818

SM_GC 2.57,0.00,0.00,5.60,0.000,0.000,0.699,425,1962,1813,-10.47,-1.10,250.21 _10V_AH 10.0,4.338

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41218,839

TT8_MAMPS 0.029146 CAP_FILE_SIZE 124563,0

HUMID 1787 CFSIZE 254472192,249868288

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,41,0,0

XPDR_PINGS 231 GPS 131108,100437,6247.499,-416.833,38,0.9,49,-7.1

ALTIM_TOP_PING 17.7,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 136 83.58 SBE_CT 620 24 350.15

Roll_motor 122 97 280.47 SBE_O2 568 19 254.00

VBD_pump_during_apogee 338 1660 13211.25 WL_BB2F 434 105 1072.89

VBD_pump_during_surface 5 698 91.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.38 nil 0 0 0.00

Iridium_during_connect 25 160 94.56 nil 0 0 0.00

Iridium_during_xfer 151 223 792.86

Transponder_ping 66 420 656.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.61

TT8 1531 19 303.26

LPSleep 13614 2 298.16

TT8_Active 471 19 93.32

TT8_Sampling 1731 39 689.28

TT8_CF8 493 45 225.90

TT8_Kalman 33 81 27.29

Analog_circuits 1345 12 161.46

GPS_charging 0 0 0.00

Compass 1690 8 135.22

RAFOS 0 0 0.00

Transponder 58 30 17.48

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 -1.44 -146.6 0.0 0.0 0 98 0.00 0.00 -79.47 0.000 6 0.000 0.000 422 1979 3431

102 -1.44 -146.6 5.4 -6.1 4 117 10.10 2.50 0.00 0.000 4 0.137 0.058 2376 596 3433

370 -1.22 -146.6 63.5 -18.9 15 375 0.30 2.53 0.00 0.000 6 0.094 0.053 2434 2001 3434

692 -1.15 -146.6 110.5 -13.7 31 696 0.00 2.55 0.00 0.000 4 0.000 0.064 2434 602 3434

882 -1.09 -146.6 137.1 -13.8 39 889 0.12 2.47 0.00 0.000 6 0.100 0.053 2459 1987 3435

1199 -1.09 -146.6 176.4 -12.4 55 1200 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1987 3435

1507 -1.09 -146.6 214.3 -12.2 70 1511 0.00 2.55 0.00 0.000 4 0.000 0.070 2459 603 3435

1556 -1.09 -146.6 220.6 -12.3 72 1561 0.00 2.47 0.00 0.000 6 0.000 0.054 2459 1982 3435

1877 -1.09 -146.6 258.9 -11.8 88 1878 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1984 3435

2186 -1.09 -146.6 296.0 -11.9 103 2187 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1984 3436

2496 -1.09 -146.6 331.8 -11.5 118 2497 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1984 3436

2805 -1.09 -146.6 366.6 -11.3 133 2809 0.00 2.55 0.00 0.000 4 0.000 0.071 2459 603 3436

2844 -1.09 -146.6 371.3 -11.7 135 2849 0.00 2.50 0.00 0.000 6 0.000 0.056 2459 1995 3436

3172 -1.09 -146.6 407.4 -10.9 151 3176 0.00 2.58 0.00 0.000 4 0.000 0.073 2459 603 3436

3205 -1.09 -146.6 411.5 -12.0 152 3211 0.00 2.50 0.00 0.000 6 0.000 0.058 2459 1988 3436

3520 -1.09 -146.6 444.3 -10.0 168 3521 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1988 3436

3830 -1.14 -146.6 474.8 -9.6 183 3835 0.00 2.60 0.00 0.000 4 0.000 0.080 2459 602 3436

3909 -1.19 -146.6 483.0 -10.2 186 3913 0.00 2.50 0.00 0.000 6 0.000 0.064 2459 1972 3435

4226 -1.24 -146.6 513.5 -9.9 201 4227 0.15 0.00 0.00 0.000 6 0.061 0.000 2423 1973 3435

4535 -1.18 -146.6 549.1 -11.5 216 4536 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 1973 3433

4844 -1.13 -146.6 586.0 -11.6 231 4849 0.15 2.70 0.00 0.000 4 0.109 0.088 2450 3405 3433

4871 -1.13 -146.6 589.3 -11.1 232 4876 0.00 2.65 0.00 0.000 6 0.000 0.074 2451 1986 3433

5187 -1.13 -146.6 621.8 -10.4 247 5188 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 1985 3432

5496 -1.13 -146.6 654.9 -10.7 262 5500 0.00 2.75 0.00 0.000 4 0.000 0.092 2451 3412 3429

5529 -1.13 -146.6 658.5 -11.1 263 5535 0.00 2.67 0.00 0.000 6 0.000 0.078 2451 1984 3429

5844 -1.13 -146.6 692.1 -10.8 279 5846 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 1983 3428

6154 -1.17 -146.6 724.1 -11.0 294 6158 0.00 2.75 0.00 0.000 4 0.000 0.094 2451 3409 3427

6194 -1.22 -146.6 728.6 -11.4 296 6199 0.00 2.67 0.00 0.000 6 0.000 0.078 2451 1988 3427

6521 -1.27 -146.6 762.8 -10.4 312 6526 0.12 2.75 0.00 0.000 4 0.077 0.094 2422 3405 3425

6549 -1.27 -146.6 766.3 -11.8 313 6553 0.00 2.67 0.00 0.000 6 0.000 0.078 2422 1984 3425

6865 -1.23 -146.6 803.3 -11.6 328 6866 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 1985 3424

7174 -1.19 -146.6 840.1 -12.0 343 7175 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 1985 3422

7483 -1.19 -146.6 877.5 -11.7 358 7484 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 1985 3422

7792 -1.19 -146.6 914.5 -12.0 373 7797 0.00 2.75 0.00 0.000 4 0.000 0.097 2422 3403 3421

7836 -1.19 -146.6 920.0 -12.3 375 7841 0.00 2.65 0.00 0.000 6 0.000 0.079 2422 1997 3421

8157 -1.19 -146.6 957.1 -11.3 391 8158 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 1997 3420

8381 end dive: BOTTOM_OBSTACLE_DETECTED

state 8381 begin apogee

8388 -0.33 0.0 983.1 11.6 402 8516 1.00 0.00 124.50 1.661 6 0.104 0.000 2625 2257 2832

8517 end apogee: CONTROL_FINISHED_OK

state 8517 begin climb

8520 1.44 146.6 988.3 0.0 408 8653 1.83 2.80 125.07 1.611 4 0.080 0.097 3008 3653 2234

8695 1.34 146.6 978.1 10.1 416 8700 0.00 2.70 0.00 0.000 6 0.000 0.080 3008 2245 2234

9012 1.31 161.5 948.8 9.3 431 9034 0.12 2.78 14.05 1.457 4 0.113 0.093 2987 843 2174

9058 1.31 161.5 944.4 10.2 433 9062 0.00 2.70 0.00 0.000 6 0.000 0.079 2987 2246 2173

9384 1.35 184.0 915.6 9.0 449 9407 0.00 0.00 20.55 1.510 6 0.000 0.000 2987 2245 2082

9714 1.44 211.7 885.6 8.7 465 9746 0.12 2.80 25.15 1.528 4 0.073 0.092 3016 844 1968

9780 1.38 211.7 878.7 11.5 468 9784 0.00 2.70 0.00 0.000 6 0.000 0.081 3016 2243 1968

10100 1.38 211.7 844.7 10.5 484 10101 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2243 1967

10410 1.38 211.7 811.6 11.0 499 10414 0.00 2.75 0.00 0.000 4 0.000 0.094 3016 838 1967

10437 1.38 211.7 808.4 12.0 500 10441 0.00 2.67 0.00 0.000 6 0.000 0.081 3016 2238 1967

10753 1.38 211.7 773.5 11.4 515 10754 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2238 1966

11062 1.38 211.7 738.0 11.3 530 11066 0.00 2.72 0.00 0.000 4 0.000 0.093 3016 837 1966

11112 1.34 211.7 731.8 12.6 532 11117 0.12 2.65 0.00 0.000 6 0.114 0.080 2995 2232 1966

11428 1.40 211.7 700.1 10.2 547 11429 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2232 1966

11737 1.49 225.6 669.7 9.4 562 11759 0.15 2.78 12.48 1.388 4 0.072 0.090 3028 848 1912

11806 1.42 225.6 661.9 11.7 565 11810 0.00 2.62 0.00 0.000 6 0.000 0.079 3028 2224 1912

12133 1.42 225.6 624.3 11.9 581 12134 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2224 1912

12442 1.42 225.6 587.0 11.9 596 12443 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2224 1911

12751 1.42 225.6 550.1 11.9 611 12756 0.00 2.67 0.00 0.000 4 0.000 0.091 3027 839 1911

12791 1.42 225.6 545.0 12.7 613 12796 0.00 2.62 0.00 0.000 6 0.000 0.079 3028 2224 1911

13118 1.42 225.6 506.6 11.7 629 13119 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2224 1911

13427 1.42 225.6 470.8 11.6 644 13432 0.00 2.67 0.00 0.000 4 0.000 0.088 3028 835 1911

13484 1.37 225.6 463.7 12.2 646 13491 0.17 2.60 0.00 0.000 6 0.115 0.078 2997 2213 1911

13800 1.46 231.9 432.4 9.7 662 13814 0.00 2.70 6.70 1.132 4 0.000 0.086 2997 835 1886

13845 1.53 241.7 427.9 9.6 664 13861 0.17 2.60 10.05 1.200 6 0.069 0.076 3035 2205 1846

14171 1.53 241.7 389.5 12.5 679 14172 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2205 1846

14480 1.53 241.7 351.4 11.8 694 14484 0.00 2.72 0.00 0.000 4 0.000 0.086 3035 3660 1846

14529 1.53 241.7 345.0 12.7 696 14534 0.00 2.67 0.00 0.000 6 0.000 0.067 3034 2208 1846

14845 1.53 241.7 308.5 11.5 711 14846 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2208 1846

15155 1.53 241.7 272.9 11.6 726 15156 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2208 1847

15464 1.53 241.7 236.1 12.1 741 15465 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2208 1848

15773 1.53 241.7 199.7 11.5 756 15778 0.00 2.70 0.00 0.000 4 0.000 0.072 3035 3664 1849

15818 1.53 241.7 194.3 12.0 758 15823 0.00 2.62 0.00 0.000 6 0.000 0.055 3035 2207 1849

16139 1.53 241.7 157.7 11.7 774 16140 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2207 1850

16449 1.53 241.7 121.5 11.8 789 16453 0.00 2.47 0.00 0.000 4 0.000 0.067 3034 839 1852

16490 1.53 241.7 116.6 13.6 791 16494 0.00 2.50 0.00 0.000 6 0.000 0.056 3035 2224 1852

16816 1.53 241.7 78.6 11.4 807 16817 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2224 1852

17126 1.53 241.7 42.4 11.9 822 17127 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2224 1854

17435 1.53 241.7 5.9 11.8 837 17436 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2224 1855

17452 end climb: SURFACE_DEPTH_REACHED

state 17453 begin surface coast

17474 end surface coast: CONTROL_FINISHED_OK

state 17475 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	47	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-88158.844	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	050456,6244.002,-418.688,39,1.5,39,-7.1	TGT_NAME	FC1K
_CALLS	1	TGT_LATLONG	6247.000,-415.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.073,0.253
_SM_DEPTHo	1.28	KALMAN_X	52708.7,-632.5,-728.2,35251.2,4108.5
_SM_ANGLEo	-66.9	KALMAN_Y	-37602.6,-644.2,-779.6,-65192.6,-112.6
GPS2	051032,6243.981,-418.693,15,1.4,15,-7.1	MHEAD_RNG_PITCHd_Wd	351.0,6406,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.7,1.027323	ALTIM_BOTTOM_PING	926.2,65.9
SM_CCo	17498,5.60,0.699,0,0,1813,250.21	_24V_AH	23.5,9.818
SM_GC	2.57,0.00,0.00,5.60,0.000,0.000,0.699,425,1962,1813,-10.47,-1.10,250.21	_10V_AH	10.0,4.338
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41218,839
TT8_MAMPS	0.029146	CAP_FILE_SIZE	124563,0
HUMID	1787	CFSIZE	254472192,249868288
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
XPDR_PINGS	231	GPS	131108,100437,6247.499,-416.833,38,0.9,49,-7.1
ALTIM_TOP_PING	17.7,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	136	83.58	SBE_CT	620	24	350.15
Roll_motor	122	97	280.47	SBE_O2	568	19	254.00
VBD_pump_during_apogee	338	1660	13211.25	WL_BB2F	434	105	1072.89
VBD_pump_during_surface	5	698	91.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.38	nil	0	0	0.00
Iridium_during_connect	25	160	94.56	nil	0	0	0.00
Iridium_during_xfer	151	223	792.86
Transponder_ping	66	420	656.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.61
TT8	1531	19	303.26
LPSleep	13614	2	298.16
TT8_Active	471	19	93.32
TT8_Sampling	1731	39	689.28
TT8_CF8	493	45	225.90
TT8_Kalman	33	81	27.29
Analog_circuits	1345	12	161.46
GPS_charging	0	0	0.00
Compass	1690	8	135.22
RAFOS	0	0	0.00
Transponder	58	30	17.48

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	-1.44	-146.6	0.0	0.0	0	98	0.00	0.00	-79.47	0.000	6	0.000	0.000	422	1979	3431
102	-1.44	-146.6	5.4	-6.1	4	117	10.10	2.50	0.00	0.000	4	0.137	0.058	2376	596	3433
370	-1.22	-146.6	63.5	-18.9	15	375	0.30	2.53	0.00	0.000	6	0.094	0.053	2434	2001	3434
692	-1.15	-146.6	110.5	-13.7	31	696	0.00	2.55	0.00	0.000	4	0.000	0.064	2434	602	3434
882	-1.09	-146.6	137.1	-13.8	39	889	0.12	2.47	0.00	0.000	6	0.100	0.053	2459	1987	3435
1199	-1.09	-146.6	176.4	-12.4	55	1200	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1987	3435
1507	-1.09	-146.6	214.3	-12.2	70	1511	0.00	2.55	0.00	0.000	4	0.000	0.070	2459	603	3435
1556	-1.09	-146.6	220.6	-12.3	72	1561	0.00	2.47	0.00	0.000	6	0.000	0.054	2459	1982	3435
1877	-1.09	-146.6	258.9	-11.8	88	1878	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1984	3435
2186	-1.09	-146.6	296.0	-11.9	103	2187	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1984	3436
2496	-1.09	-146.6	331.8	-11.5	118	2497	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1984	3436
2805	-1.09	-146.6	366.6	-11.3	133	2809	0.00	2.55	0.00	0.000	4	0.000	0.071	2459	603	3436
2844	-1.09	-146.6	371.3	-11.7	135	2849	0.00	2.50	0.00	0.000	6	0.000	0.056	2459	1995	3436
3172	-1.09	-146.6	407.4	-10.9	151	3176	0.00	2.58	0.00	0.000	4	0.000	0.073	2459	603	3436
3205	-1.09	-146.6	411.5	-12.0	152	3211	0.00	2.50	0.00	0.000	6	0.000	0.058	2459	1988	3436
3520	-1.09	-146.6	444.3	-10.0	168	3521	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1988	3436
3830	-1.14	-146.6	474.8	-9.6	183	3835	0.00	2.60	0.00	0.000	4	0.000	0.080	2459	602	3436
3909	-1.19	-146.6	483.0	-10.2	186	3913	0.00	2.50	0.00	0.000	6	0.000	0.064	2459	1972	3435
4226	-1.24	-146.6	513.5	-9.9	201	4227	0.15	0.00	0.00	0.000	6	0.061	0.000	2423	1973	3435
4535	-1.18	-146.6	549.1	-11.5	216	4536	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	1973	3433
4844	-1.13	-146.6	586.0	-11.6	231	4849	0.15	2.70	0.00	0.000	4	0.109	0.088	2450	3405	3433
4871	-1.13	-146.6	589.3	-11.1	232	4876	0.00	2.65	0.00	0.000	6	0.000	0.074	2451	1986	3433
5187	-1.13	-146.6	621.8	-10.4	247	5188	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	1985	3432
5496	-1.13	-146.6	654.9	-10.7	262	5500	0.00	2.75	0.00	0.000	4	0.000	0.092	2451	3412	3429
5529	-1.13	-146.6	658.5	-11.1	263	5535	0.00	2.67	0.00	0.000	6	0.000	0.078	2451	1984	3429
5844	-1.13	-146.6	692.1	-10.8	279	5846	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	1983	3428
6154	-1.17	-146.6	724.1	-11.0	294	6158	0.00	2.75	0.00	0.000	4	0.000	0.094	2451	3409	3427
6194	-1.22	-146.6	728.6	-11.4	296	6199	0.00	2.67	0.00	0.000	6	0.000	0.078	2451	1988	3427
6521	-1.27	-146.6	762.8	-10.4	312	6526	0.12	2.75	0.00	0.000	4	0.077	0.094	2422	3405	3425
6549	-1.27	-146.6	766.3	-11.8	313	6553	0.00	2.67	0.00	0.000	6	0.000	0.078	2422	1984	3425
6865	-1.23	-146.6	803.3	-11.6	328	6866	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	1985	3424
7174	-1.19	-146.6	840.1	-12.0	343	7175	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	1985	3422
7483	-1.19	-146.6	877.5	-11.7	358	7484	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	1985	3422
7792	-1.19	-146.6	914.5	-12.0	373	7797	0.00	2.75	0.00	0.000	4	0.000	0.097	2422	3403	3421
7836	-1.19	-146.6	920.0	-12.3	375	7841	0.00	2.65	0.00	0.000	6	0.000	0.079	2422	1997	3421
8157	-1.19	-146.6	957.1	-11.3	391	8158	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	1997	3420
8381	end dive: BOTTOM_OBSTACLE_DETECTED
state	8381	begin apogee
8388	-0.33	0.0	983.1	11.6	402	8516	1.00	0.00	124.50	1.661	6	0.104	0.000	2625	2257	2832
8517	end apogee: CONTROL_FINISHED_OK
state	8517	begin climb
8520	1.44	146.6	988.3	0.0	408	8653	1.83	2.80	125.07	1.611	4	0.080	0.097	3008	3653	2234
8695	1.34	146.6	978.1	10.1	416	8700	0.00	2.70	0.00	0.000	6	0.000	0.080	3008	2245	2234
9012	1.31	161.5	948.8	9.3	431	9034	0.12	2.78	14.05	1.457	4	0.113	0.093	2987	843	2174
9058	1.31	161.5	944.4	10.2	433	9062	0.00	2.70	0.00	0.000	6	0.000	0.079	2987	2246	2173
9384	1.35	184.0	915.6	9.0	449	9407	0.00	0.00	20.55	1.510	6	0.000	0.000	2987	2245	2082
9714	1.44	211.7	885.6	8.7	465	9746	0.12	2.80	25.15	1.528	4	0.073	0.092	3016	844	1968
9780	1.38	211.7	878.7	11.5	468	9784	0.00	2.70	0.00	0.000	6	0.000	0.081	3016	2243	1968
10100	1.38	211.7	844.7	10.5	484	10101	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2243	1967
10410	1.38	211.7	811.6	11.0	499	10414	0.00	2.75	0.00	0.000	4	0.000	0.094	3016	838	1967
10437	1.38	211.7	808.4	12.0	500	10441	0.00	2.67	0.00	0.000	6	0.000	0.081	3016	2238	1967
10753	1.38	211.7	773.5	11.4	515	10754	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2238	1966
11062	1.38	211.7	738.0	11.3	530	11066	0.00	2.72	0.00	0.000	4	0.000	0.093	3016	837	1966
11112	1.34	211.7	731.8	12.6	532	11117	0.12	2.65	0.00	0.000	6	0.114	0.080	2995	2232	1966
11428	1.40	211.7	700.1	10.2	547	11429	0.00	0.00	0.00	0.000	6	0.000	0.000	2995	2232	1966
11737	1.49	225.6	669.7	9.4	562	11759	0.15	2.78	12.48	1.388	4	0.072	0.090	3028	848	1912
11806	1.42	225.6	661.9	11.7	565	11810	0.00	2.62	0.00	0.000	6	0.000	0.079	3028	2224	1912
12133	1.42	225.6	624.3	11.9	581	12134	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2224	1912
12442	1.42	225.6	587.0	11.9	596	12443	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2224	1911
12751	1.42	225.6	550.1	11.9	611	12756	0.00	2.67	0.00	0.000	4	0.000	0.091	3027	839	1911
12791	1.42	225.6	545.0	12.7	613	12796	0.00	2.62	0.00	0.000	6	0.000	0.079	3028	2224	1911
13118	1.42	225.6	506.6	11.7	629	13119	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2224	1911
13427	1.42	225.6	470.8	11.6	644	13432	0.00	2.67	0.00	0.000	4	0.000	0.088	3028	835	1911
13484	1.37	225.6	463.7	12.2	646	13491	0.17	2.60	0.00	0.000	6	0.115	0.078	2997	2213	1911
13800	1.46	231.9	432.4	9.7	662	13814	0.00	2.70	6.70	1.132	4	0.000	0.086	2997	835	1886
13845	1.53	241.7	427.9	9.6	664	13861	0.17	2.60	10.05	1.200	6	0.069	0.076	3035	2205	1846
14171	1.53	241.7	389.5	12.5	679	14172	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2205	1846
14480	1.53	241.7	351.4	11.8	694	14484	0.00	2.72	0.00	0.000	4	0.000	0.086	3035	3660	1846
14529	1.53	241.7	345.0	12.7	696	14534	0.00	2.67	0.00	0.000	6	0.000	0.067	3034	2208	1846
14845	1.53	241.7	308.5	11.5	711	14846	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2208	1846
15155	1.53	241.7	272.9	11.6	726	15156	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2208	1847
15464	1.53	241.7	236.1	12.1	741	15465	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2208	1848
15773	1.53	241.7	199.7	11.5	756	15778	0.00	2.70	0.00	0.000	4	0.000	0.072	3035	3664	1849
15818	1.53	241.7	194.3	12.0	758	15823	0.00	2.62	0.00	0.000	6	0.000	0.055	3035	2207	1849
16139	1.53	241.7	157.7	11.7	774	16140	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2207	1850
16449	1.53	241.7	121.5	11.8	789	16453	0.00	2.47	0.00	0.000	4	0.000	0.067	3034	839	1852
16490	1.53	241.7	116.6	13.6	791	16494	0.00	2.50	0.00	0.000	6	0.000	0.056	3035	2224	1852
16816	1.53	241.7	78.6	11.4	807	16817	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2224	1852
17126	1.53	241.7	42.4	11.9	822	17127	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2224	1854
17435	1.53	241.7	5.9	11.8	837	17436	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2224	1855
17452	end climb: SURFACE_DEPTH_REACHED
state	17453	begin surface coast
17474	end surface coast: CONTROL_FINISHED_OK
state	17475	begin surface