Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 78 * 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 78 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 43 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 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 -88778.219 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 -88778.219

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 43 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 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 78 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 151125,6211.707,-306.213,61,1.5,61,-6.3 TGT_NAME FSCN_SE

_CALLS 1 TGT_LATLONG 6105.000,-150.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.256,-0.063

_SM_DEPTHo 1.19 KALMAN_X 47063.6,1152.0,528.9,97484.9,-4666.7

_SM_ANGLEo -60.9 KALMAN_Y -13448.8,-379.4,-70.3,-150186.0,455.2

GPS2 151714,6211.660,-306.052,16,1.5,16,-6.3 MHEAD_RNG_PITCHd_Wd 110.1,140994,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.7,1.027328 ALTIM_TOP_PING 17.4,999.0

SM_CCo 18051,0.00,0.000,0,0,1748,265.66 _24V_AH 23.6,14.275

SM_GC 1.40,11.65,0.00,0.00,0.044,0.000,0.000,426,1975,1748,-10.39,-0.68,265.66 _10V_AH 10.0,6.145

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44247,856

TT8_MAMPS 0.027612 CAP_FILE_SIZE 139267,0

HUMID 1793 CFSIZE 254472192,248389632

TCM_TEMP 15.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,54,0,0

XPDR_PINGS 175 GPS 171108,202007,6209.498,-302.547,33,0.9,33,-6.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 142 89.56 SBE_CT 635 24 360.20

Roll_motor 174 95 392.46 SBE_O2 579 19 260.05

VBD_pump_during_apogee 365 1666 14362.78 WL_BB2F 439 105 1089.07

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.77 nil 0 0 0.00

Iridium_during_connect 33 160 126.34 nil 0 0 0.00

Iridium_during_xfer 152 223 801.19

Transponder_ping 52 420 522.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.47

TT8 1608 19 318.42

LPSleep 13896 2 304.34

TT8_Active 530 19 104.97

TT8_Sampling 1835 39 730.41

TT8_CF8 527 45 241.66

TT8_Kalman 33 81 27.29

Analog_circuits 1473 12 176.87

GPS_charging 0 0 0.00

Compass 1787 8 142.99

RAFOS 0 0 0.00

Transponder 58 30 17.55

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 -1.44 -146.6 0.0 0.0 0 98 0.00 0.00 -80.68 0.000 6 0.000 0.000 422 1962 3430

102 -1.44 -146.6 5.0 -5.6 4 118 10.25 2.65 0.00 0.000 4 0.143 0.064 2378 3410 3431

332 -1.23 -146.6 53.6 -20.6 13 337 0.28 2.50 0.00 0.000 6 0.097 0.051 2432 2018 3432

649 -1.17 -146.6 99.0 -14.0 28 653 0.00 2.58 0.00 0.000 4 0.000 0.067 2432 592 3433

760 -1.12 -146.6 115.5 -14.9 33 765 0.10 2.47 0.00 0.000 6 0.106 0.051 2451 1981 3434

1081 -1.12 -146.6 159.4 -13.1 49 1083 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 1982 3434

1391 -1.12 -146.6 199.8 -13.1 64 1396 0.00 2.55 0.00 0.000 4 0.000 0.068 2451 592 3434

1429 -1.12 -146.6 205.3 -13.7 65 1436 0.00 2.47 0.00 0.000 6 0.000 0.053 2451 1980 3434

1746 -1.12 -146.6 244.5 -12.5 81 1750 0.00 2.58 0.00 0.000 4 0.000 0.066 2451 3406 3435

1763 -1.12 -146.6 246.8 -12.6 82 1767 0.00 2.60 0.00 0.000 6 0.000 0.054 2451 1958 3434

2089 -1.12 -146.6 285.7 -11.9 98 2093 0.00 2.47 0.00 0.000 4 0.000 0.070 2450 592 3435

2219 -1.12 -146.6 301.8 -12.2 104 2223 0.00 2.42 0.00 0.000 6 0.000 0.053 2451 1949 3435

2545 -1.12 -146.6 340.3 -12.8 120 2550 0.00 2.50 0.00 0.000 4 0.000 0.071 2451 596 3435

2618 -1.12 -146.6 349.9 -14.1 123 2623 0.00 2.40 0.00 0.000 6 0.000 0.056 2451 1931 3436

2939 -1.12 -146.6 390.3 -12.2 139 2944 0.00 2.67 0.00 0.000 4 0.000 0.073 2451 3406 3436

3047 -1.12 -146.6 403.8 -12.4 144 3051 0.00 2.65 0.00 0.000 6 0.000 0.061 2451 1947 3436

3373 -1.12 -146.6 442.4 -11.7 160 3378 0.00 2.72 0.00 0.000 4 0.000 0.076 2451 3405 3435

3401 -1.12 -146.6 446.1 -12.4 161 3406 0.00 2.65 0.00 0.000 6 0.000 0.064 2451 1958 3435

3717 -1.12 -146.6 483.0 -11.7 176 3718 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 1957 3434

4027 -1.12 -146.6 518.2 -11.2 191 4028 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 1957 3434

4336 -1.12 -146.6 551.4 -10.2 206 4341 0.00 2.72 0.00 0.000 4 0.000 0.081 2451 3403 3432

4386 -1.18 -146.6 556.7 -10.9 208 4391 0.00 2.67 0.00 0.000 6 0.000 0.071 2451 1960 3433

4703 -1.22 -146.6 589.2 -10.8 223 4707 0.00 2.75 0.00 0.000 4 0.000 0.084 2451 3409 3431

4752 -1.29 -146.6 594.9 -10.4 225 4758 0.15 2.65 0.00 0.000 6 0.069 0.071 2416 1978 3431

5069 -1.23 -146.6 633.6 -12.2 240 5074 0.00 2.58 0.00 0.000 4 0.000 0.087 2416 593 3430

5120 -1.16 -146.6 640.3 -12.9 242 5125 0.15 2.55 0.00 0.000 6 0.111 0.071 2444 1972 3430

5436 -1.16 -146.6 674.3 -10.6 257 5440 0.00 2.70 0.00 0.000 4 0.000 0.089 2445 3405 3429

5474 -1.16 -146.6 678.8 -10.6 258 5480 0.00 2.67 0.00 0.000 6 0.000 0.074 2444 1972 3428

5790 -1.16 -146.6 712.5 -10.5 274 5794 0.00 2.78 0.00 0.000 4 0.000 0.091 2445 3413 3427

5817 -1.16 -146.6 715.5 -11.2 275 5822 0.00 2.67 0.00 0.000 6 0.000 0.075 2445 1983 3427

6133 -1.16 -146.6 749.1 -10.2 290 6137 0.00 2.62 0.00 0.000 4 0.000 0.091 2445 589 3426

6165 -1.16 -146.6 752.8 -11.0 291 6172 0.00 2.60 0.00 0.000 6 0.000 0.074 2445 1990 3426

6481 -1.16 -146.6 785.7 -10.6 307 6486 0.00 2.70 0.00 0.000 4 0.000 0.094 2444 3411 3425

6515 -1.16 -146.6 789.5 -11.2 308 6521 0.00 2.67 0.00 0.000 6 0.000 0.077 2445 1988 3425

6830 -1.16 -146.6 822.2 -10.5 324 6832 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1988 3424

7140 -1.16 -146.6 854.0 -9.9 339 7144 0.00 2.72 0.00 0.000 4 0.000 0.091 2445 3406 3423

7167 -1.16 -146.6 857.0 -11.0 340 7172 0.00 2.65 0.00 0.000 6 0.000 0.077 2445 1994 3422

7483 -1.16 -146.6 888.3 -9.7 355 7484 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1994 3422

7793 -1.20 -146.6 919.3 -9.7 370 7794 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 1994 3422

8103 -1.20 -146.6 950.1 -9.9 385 8107 0.00 2.75 0.00 0.000 4 0.000 0.094 2444 3412 3421

8130 -1.20 -146.6 953.1 -10.6 386 8134 0.00 2.67 0.00 0.000 6 0.000 0.080 2445 1997 3420

8446 -1.24 -146.6 985.2 -10.3 401 8448 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 1997 3420

8504 end dive: TARGET_DEPTH_EXCEEDED

state 8504 begin apogee

8511 -0.33 0.0 991.3 10.1 404 8640 0.88 0.00 125.10 1.667 6 0.101 0.000 2623 2256 2832

8641 end apogee: CONTROL_FINISHED_OK

state 8641 begin climb

8644 1.44 146.6 996.1 0.0 410 8778 1.85 2.78 125.30 1.612 4 0.080 0.094 3010 3653 2234

8820 1.33 146.6 985.5 10.8 418 8824 0.00 2.70 0.00 0.000 6 0.000 0.078 3010 2247 2234

9136 1.28 146.6 953.5 10.4 433 9141 0.17 2.70 0.00 0.000 4 0.106 0.095 2978 845 2233

9177 1.29 149.1 949.5 9.9 435 9187 0.00 2.67 3.75 0.937 6 0.000 0.077 2978 2249 2224

9511 1.35 164.7 918.5 9.3 451 9529 0.00 0.00 15.10 1.467 6 0.000 0.000 2978 2249 2160

9839 1.43 175.3 886.7 9.5 467 9856 0.15 2.80 10.60 1.407 4 0.070 0.091 3013 840 2117

9880 1.38 175.3 882.3 11.9 468 9885 0.00 2.67 0.00 0.000 6 0.000 0.076 3013 2239 2116

10206 1.38 175.3 846.5 10.8 484 10211 0.00 2.72 0.00 0.000 4 0.000 0.092 3013 841 2116

10234 1.33 175.3 843.3 11.9 485 10239 0.12 2.65 0.00 0.000 6 0.114 0.077 2990 2235 2115

10550 1.35 186.0 812.3 9.5 500 10563 0.00 0.00 10.55 1.398 6 0.000 0.000 2990 2235 2074

10860 1.41 193.7 782.5 9.6 515 10874 0.00 2.78 8.40 1.336 4 0.000 0.090 2990 845 2042

10897 1.41 193.7 778.5 10.4 516 10903 0.00 2.62 0.00 0.000 6 0.000 0.077 2990 2220 2041

11213 1.47 193.7 746.3 10.2 532 11215 0.15 0.00 0.00 0.000 6 0.071 0.000 3023 2220 2041

11522 1.47 193.7 710.2 11.7 547 11527 0.00 2.65 0.00 0.000 4 0.000 0.091 3023 844 2041

11568 1.41 193.7 704.7 13.0 549 11572 0.00 2.58 0.00 0.000 6 0.000 0.077 3023 2205 2041

11889 1.41 193.7 667.6 11.6 565 11893 0.00 2.65 0.00 0.000 4 0.000 0.091 3023 840 2041

11922 1.34 193.7 663.5 12.2 566 11928 0.17 2.55 0.00 0.000 6 0.113 0.076 2993 2190 2041

12238 1.41 193.7 631.4 10.3 582 12242 0.00 2.60 0.00 0.000 4 0.000 0.091 2992 841 2041

12255 1.46 193.7 629.6 10.4 583 12260 0.12 2.53 0.00 0.000 6 0.074 0.075 3020 2182 2041

12582 1.46 193.7 591.6 11.6 599 12587 0.00 2.60 0.00 0.000 4 0.000 0.091 3020 838 2041

12610 1.46 193.7 587.9 13.3 600 12614 0.00 2.53 0.00 0.000 6 0.000 0.075 3020 2177 2041

12926 1.46 193.7 551.5 11.4 615 12927 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2177 2041

13235 1.46 193.7 515.9 11.3 630 13236 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2177 2041

13544 1.46 193.7 480.9 11.3 645 13549 0.00 2.58 0.00 0.000 4 0.000 0.088 3020 837 2041

13577 1.46 193.7 476.9 11.4 646 13584 0.00 2.50 0.00 0.000 6 0.000 0.074 3020 2167 2041

13893 1.46 195.9 444.8 9.9 662 13898 0.00 2.80 0.00 0.000 4 0.000 0.088 3020 3659 2041

13960 1.46 195.9 437.4 10.4 665 13964 0.00 2.80 0.00 0.000 6 0.000 0.072 3020 2159 2041

14281 1.46 195.9 404.7 10.8 681 14285 0.00 2.47 0.00 0.000 4 0.000 0.084 3020 835 2040

14302 1.46 195.9 402.1 11.5 682 14307 0.00 2.47 0.00 0.000 6 0.000 0.071 3020 2172 2041

14624 1.47 204.1 369.9 9.6 698 14636 0.00 0.00 9.77 1.154 6 0.000 0.000 3020 2172 2000

14933 1.50 219.5 341.1 9.3 713 14952 0.00 0.00 14.52 1.163 6 0.000 0.000 3020 2172 1936

15263 1.50 220.1 309.5 10.0 729 15267 0.00 2.50 0.00 0.000 4 0.000 0.079 3020 843 1936

15296 1.50 220.1 305.9 10.4 730 15300 0.00 2.40 0.00 0.000 6 0.000 0.066 3020 2141 1936

15612 1.52 230.3 274.0 9.5 745 15627 0.00 2.88 10.35 1.062 4 0.000 0.079 3020 3659 1892

15661 1.52 230.3 268.7 10.5 746 15666 0.00 2.80 0.00 0.000 6 0.000 0.062 3020 2146 1891

15977 1.52 230.3 235.9 10.4 761 15982 0.00 2.83 0.00 0.000 4 0.000 0.074 3020 3659 1892

16027 1.52 230.3 229.8 11.3 763 16032 0.00 2.72 0.00 0.000 6 0.000 0.058 3020 2160 1892

16343 1.56 230.3 193.3 12.1 778 16345 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 2161 1893

16653 1.62 230.3 156.8 11.6 793 16654 0.15 0.00 0.00 0.000 6 0.061 0.000 3058 2161 1894

16962 1.57 230.3 116.5 13.2 808 16967 0.00 2.78 0.00 0.000 4 0.000 0.067 3058 3664 1895

17013 1.52 230.3 109.4 12.6 810 17018 0.15 2.70 0.00 0.000 6 0.103 0.053 3030 2159 1895

17329 1.54 239.9 75.0 9.6 825 17341 0.00 0.00 10.02 0.852 6 0.000 0.000 3030 2159 1853

17641 1.62 265.6 43.1 8.8 840 17665 0.10 0.00 21.67 0.881 6 0.064 0.000 3056 2159 1749

17944 end climb: SURFACE_DEPTH_REACHED

state 17944 begin surface coast

17968 end surface coast: CONTROL_FINISHED_OK

state 17968 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	78	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	43	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	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	-88778.219	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	151125,6211.707,-306.213,61,1.5,61,-6.3	TGT_NAME	FSCN_SE
_CALLS	1	TGT_LATLONG	6105.000,-150.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.256,-0.063
_SM_DEPTHo	1.19	KALMAN_X	47063.6,1152.0,528.9,97484.9,-4666.7
_SM_ANGLEo	-60.9	KALMAN_Y	-13448.8,-379.4,-70.3,-150186.0,455.2
GPS2	151714,6211.660,-306.052,16,1.5,16,-6.3	MHEAD_RNG_PITCHd_Wd	110.1,140994,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	1.7,1.027328	ALTIM_TOP_PING	17.4,999.0
SM_CCo	18051,0.00,0.000,0,0,1748,265.66	_24V_AH	23.6,14.275
SM_GC	1.40,11.65,0.00,0.00,0.044,0.000,0.000,426,1975,1748,-10.39,-0.68,265.66	_10V_AH	10.0,6.145
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44247,856
TT8_MAMPS	0.027612	CAP_FILE_SIZE	139267,0
HUMID	1793	CFSIZE	254472192,248389632
TCM_TEMP	15.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
XPDR_PINGS	175	GPS	171108,202007,6209.498,-302.547,33,0.9,33,-6.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	142	89.56	SBE_CT	635	24	360.20
Roll_motor	174	95	392.46	SBE_O2	579	19	260.05
VBD_pump_during_apogee	365	1666	14362.78	WL_BB2F	439	105	1089.07
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.77	nil	0	0	0.00
Iridium_during_connect	33	160	126.34	nil	0	0	0.00
Iridium_during_xfer	152	223	801.19
Transponder_ping	52	420	522.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.47
TT8	1608	19	318.42
LPSleep	13896	2	304.34
TT8_Active	530	19	104.97
TT8_Sampling	1835	39	730.41
TT8_CF8	527	45	241.66
TT8_Kalman	33	81	27.29
Analog_circuits	1473	12	176.87
GPS_charging	0	0	0.00
Compass	1787	8	142.99
RAFOS	0	0	0.00
Transponder	58	30	17.55

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	-1.44	-146.6	0.0	0.0	0	98	0.00	0.00	-80.68	0.000	6	0.000	0.000	422	1962	3430
102	-1.44	-146.6	5.0	-5.6	4	118	10.25	2.65	0.00	0.000	4	0.143	0.064	2378	3410	3431
332	-1.23	-146.6	53.6	-20.6	13	337	0.28	2.50	0.00	0.000	6	0.097	0.051	2432	2018	3432
649	-1.17	-146.6	99.0	-14.0	28	653	0.00	2.58	0.00	0.000	4	0.000	0.067	2432	592	3433
760	-1.12	-146.6	115.5	-14.9	33	765	0.10	2.47	0.00	0.000	6	0.106	0.051	2451	1981	3434
1081	-1.12	-146.6	159.4	-13.1	49	1083	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	1982	3434
1391	-1.12	-146.6	199.8	-13.1	64	1396	0.00	2.55	0.00	0.000	4	0.000	0.068	2451	592	3434
1429	-1.12	-146.6	205.3	-13.7	65	1436	0.00	2.47	0.00	0.000	6	0.000	0.053	2451	1980	3434
1746	-1.12	-146.6	244.5	-12.5	81	1750	0.00	2.58	0.00	0.000	4	0.000	0.066	2451	3406	3435
1763	-1.12	-146.6	246.8	-12.6	82	1767	0.00	2.60	0.00	0.000	6	0.000	0.054	2451	1958	3434
2089	-1.12	-146.6	285.7	-11.9	98	2093	0.00	2.47	0.00	0.000	4	0.000	0.070	2450	592	3435
2219	-1.12	-146.6	301.8	-12.2	104	2223	0.00	2.42	0.00	0.000	6	0.000	0.053	2451	1949	3435
2545	-1.12	-146.6	340.3	-12.8	120	2550	0.00	2.50	0.00	0.000	4	0.000	0.071	2451	596	3435
2618	-1.12	-146.6	349.9	-14.1	123	2623	0.00	2.40	0.00	0.000	6	0.000	0.056	2451	1931	3436
2939	-1.12	-146.6	390.3	-12.2	139	2944	0.00	2.67	0.00	0.000	4	0.000	0.073	2451	3406	3436
3047	-1.12	-146.6	403.8	-12.4	144	3051	0.00	2.65	0.00	0.000	6	0.000	0.061	2451	1947	3436
3373	-1.12	-146.6	442.4	-11.7	160	3378	0.00	2.72	0.00	0.000	4	0.000	0.076	2451	3405	3435
3401	-1.12	-146.6	446.1	-12.4	161	3406	0.00	2.65	0.00	0.000	6	0.000	0.064	2451	1958	3435
3717	-1.12	-146.6	483.0	-11.7	176	3718	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	1957	3434
4027	-1.12	-146.6	518.2	-11.2	191	4028	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	1957	3434
4336	-1.12	-146.6	551.4	-10.2	206	4341	0.00	2.72	0.00	0.000	4	0.000	0.081	2451	3403	3432
4386	-1.18	-146.6	556.7	-10.9	208	4391	0.00	2.67	0.00	0.000	6	0.000	0.071	2451	1960	3433
4703	-1.22	-146.6	589.2	-10.8	223	4707	0.00	2.75	0.00	0.000	4	0.000	0.084	2451	3409	3431
4752	-1.29	-146.6	594.9	-10.4	225	4758	0.15	2.65	0.00	0.000	6	0.069	0.071	2416	1978	3431
5069	-1.23	-146.6	633.6	-12.2	240	5074	0.00	2.58	0.00	0.000	4	0.000	0.087	2416	593	3430
5120	-1.16	-146.6	640.3	-12.9	242	5125	0.15	2.55	0.00	0.000	6	0.111	0.071	2444	1972	3430
5436	-1.16	-146.6	674.3	-10.6	257	5440	0.00	2.70	0.00	0.000	4	0.000	0.089	2445	3405	3429
5474	-1.16	-146.6	678.8	-10.6	258	5480	0.00	2.67	0.00	0.000	6	0.000	0.074	2444	1972	3428
5790	-1.16	-146.6	712.5	-10.5	274	5794	0.00	2.78	0.00	0.000	4	0.000	0.091	2445	3413	3427
5817	-1.16	-146.6	715.5	-11.2	275	5822	0.00	2.67	0.00	0.000	6	0.000	0.075	2445	1983	3427
6133	-1.16	-146.6	749.1	-10.2	290	6137	0.00	2.62	0.00	0.000	4	0.000	0.091	2445	589	3426
6165	-1.16	-146.6	752.8	-11.0	291	6172	0.00	2.60	0.00	0.000	6	0.000	0.074	2445	1990	3426
6481	-1.16	-146.6	785.7	-10.6	307	6486	0.00	2.70	0.00	0.000	4	0.000	0.094	2444	3411	3425
6515	-1.16	-146.6	789.5	-11.2	308	6521	0.00	2.67	0.00	0.000	6	0.000	0.077	2445	1988	3425
6830	-1.16	-146.6	822.2	-10.5	324	6832	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1988	3424
7140	-1.16	-146.6	854.0	-9.9	339	7144	0.00	2.72	0.00	0.000	4	0.000	0.091	2445	3406	3423
7167	-1.16	-146.6	857.0	-11.0	340	7172	0.00	2.65	0.00	0.000	6	0.000	0.077	2445	1994	3422
7483	-1.16	-146.6	888.3	-9.7	355	7484	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1994	3422
7793	-1.20	-146.6	919.3	-9.7	370	7794	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	1994	3422
8103	-1.20	-146.6	950.1	-9.9	385	8107	0.00	2.75	0.00	0.000	4	0.000	0.094	2444	3412	3421
8130	-1.20	-146.6	953.1	-10.6	386	8134	0.00	2.67	0.00	0.000	6	0.000	0.080	2445	1997	3420
8446	-1.24	-146.6	985.2	-10.3	401	8448	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	1997	3420
8504	end dive: TARGET_DEPTH_EXCEEDED
state	8504	begin apogee
8511	-0.33	0.0	991.3	10.1	404	8640	0.88	0.00	125.10	1.667	6	0.101	0.000	2623	2256	2832
8641	end apogee: CONTROL_FINISHED_OK
state	8641	begin climb
8644	1.44	146.6	996.1	0.0	410	8778	1.85	2.78	125.30	1.612	4	0.080	0.094	3010	3653	2234
8820	1.33	146.6	985.5	10.8	418	8824	0.00	2.70	0.00	0.000	6	0.000	0.078	3010	2247	2234
9136	1.28	146.6	953.5	10.4	433	9141	0.17	2.70	0.00	0.000	4	0.106	0.095	2978	845	2233
9177	1.29	149.1	949.5	9.9	435	9187	0.00	2.67	3.75	0.937	6	0.000	0.077	2978	2249	2224
9511	1.35	164.7	918.5	9.3	451	9529	0.00	0.00	15.10	1.467	6	0.000	0.000	2978	2249	2160
9839	1.43	175.3	886.7	9.5	467	9856	0.15	2.80	10.60	1.407	4	0.070	0.091	3013	840	2117
9880	1.38	175.3	882.3	11.9	468	9885	0.00	2.67	0.00	0.000	6	0.000	0.076	3013	2239	2116
10206	1.38	175.3	846.5	10.8	484	10211	0.00	2.72	0.00	0.000	4	0.000	0.092	3013	841	2116
10234	1.33	175.3	843.3	11.9	485	10239	0.12	2.65	0.00	0.000	6	0.114	0.077	2990	2235	2115
10550	1.35	186.0	812.3	9.5	500	10563	0.00	0.00	10.55	1.398	6	0.000	0.000	2990	2235	2074
10860	1.41	193.7	782.5	9.6	515	10874	0.00	2.78	8.40	1.336	4	0.000	0.090	2990	845	2042
10897	1.41	193.7	778.5	10.4	516	10903	0.00	2.62	0.00	0.000	6	0.000	0.077	2990	2220	2041
11213	1.47	193.7	746.3	10.2	532	11215	0.15	0.00	0.00	0.000	6	0.071	0.000	3023	2220	2041
11522	1.47	193.7	710.2	11.7	547	11527	0.00	2.65	0.00	0.000	4	0.000	0.091	3023	844	2041
11568	1.41	193.7	704.7	13.0	549	11572	0.00	2.58	0.00	0.000	6	0.000	0.077	3023	2205	2041
11889	1.41	193.7	667.6	11.6	565	11893	0.00	2.65	0.00	0.000	4	0.000	0.091	3023	840	2041
11922	1.34	193.7	663.5	12.2	566	11928	0.17	2.55	0.00	0.000	6	0.113	0.076	2993	2190	2041
12238	1.41	193.7	631.4	10.3	582	12242	0.00	2.60	0.00	0.000	4	0.000	0.091	2992	841	2041
12255	1.46	193.7	629.6	10.4	583	12260	0.12	2.53	0.00	0.000	6	0.074	0.075	3020	2182	2041
12582	1.46	193.7	591.6	11.6	599	12587	0.00	2.60	0.00	0.000	4	0.000	0.091	3020	838	2041
12610	1.46	193.7	587.9	13.3	600	12614	0.00	2.53	0.00	0.000	6	0.000	0.075	3020	2177	2041
12926	1.46	193.7	551.5	11.4	615	12927	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2177	2041
13235	1.46	193.7	515.9	11.3	630	13236	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2177	2041
13544	1.46	193.7	480.9	11.3	645	13549	0.00	2.58	0.00	0.000	4	0.000	0.088	3020	837	2041
13577	1.46	193.7	476.9	11.4	646	13584	0.00	2.50	0.00	0.000	6	0.000	0.074	3020	2167	2041
13893	1.46	195.9	444.8	9.9	662	13898	0.00	2.80	0.00	0.000	4	0.000	0.088	3020	3659	2041
13960	1.46	195.9	437.4	10.4	665	13964	0.00	2.80	0.00	0.000	6	0.000	0.072	3020	2159	2041
14281	1.46	195.9	404.7	10.8	681	14285	0.00	2.47	0.00	0.000	4	0.000	0.084	3020	835	2040
14302	1.46	195.9	402.1	11.5	682	14307	0.00	2.47	0.00	0.000	6	0.000	0.071	3020	2172	2041
14624	1.47	204.1	369.9	9.6	698	14636	0.00	0.00	9.77	1.154	6	0.000	0.000	3020	2172	2000
14933	1.50	219.5	341.1	9.3	713	14952	0.00	0.00	14.52	1.163	6	0.000	0.000	3020	2172	1936
15263	1.50	220.1	309.5	10.0	729	15267	0.00	2.50	0.00	0.000	4	0.000	0.079	3020	843	1936
15296	1.50	220.1	305.9	10.4	730	15300	0.00	2.40	0.00	0.000	6	0.000	0.066	3020	2141	1936
15612	1.52	230.3	274.0	9.5	745	15627	0.00	2.88	10.35	1.062	4	0.000	0.079	3020	3659	1892
15661	1.52	230.3	268.7	10.5	746	15666	0.00	2.80	0.00	0.000	6	0.000	0.062	3020	2146	1891
15977	1.52	230.3	235.9	10.4	761	15982	0.00	2.83	0.00	0.000	4	0.000	0.074	3020	3659	1892
16027	1.52	230.3	229.8	11.3	763	16032	0.00	2.72	0.00	0.000	6	0.000	0.058	3020	2160	1892
16343	1.56	230.3	193.3	12.1	778	16345	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	2161	1893
16653	1.62	230.3	156.8	11.6	793	16654	0.15	0.00	0.00	0.000	6	0.061	0.000	3058	2161	1894
16962	1.57	230.3	116.5	13.2	808	16967	0.00	2.78	0.00	0.000	4	0.000	0.067	3058	3664	1895
17013	1.52	230.3	109.4	12.6	810	17018	0.15	2.70	0.00	0.000	6	0.103	0.053	3030	2159	1895
17329	1.54	239.9	75.0	9.6	825	17341	0.00	0.00	10.02	0.852	6	0.000	0.000	3030	2159	1853
17641	1.62	265.6	43.1	8.8	840	17665	0.10	0.00	21.67	0.881	6	0.064	0.000	3056	2159	1749
17944	end climb: SURFACE_DEPTH_REACHED
state	17944	begin surface coast
17968	end surface coast: CONTROL_FINISHED_OK
state	17968	begin surface