Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 12 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2425 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1350 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 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 -1628310.9 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

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 -1628310.9

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 1 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1350 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2425 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 29 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 12 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 154401,6134.485,-835.927,38,1.4,38,-9.0 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.203,-0.127

_SM_DEPTHo 0.71 KALMAN_X -45991.9,1463.2,968.5,26540.0,-18842.4

_SM_ANGLEo -61.4 KALMAN_Y 26995.6,-2705.1,-1055.9,-5200.5,14823.2

GPS2 154913,6134.470,-835.975,11,1.5,16,-9.0 MHEAD_RNG_PITCHd_Wd 131.0,12751,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027216 ALTIM_TOP_PING 19.8,19.3

SM_CCo 18726,34.05,0.736,0,0,1609,300.00 ALTIM_BOTTOM_PING 801.1,65.4

SM_GC 1.05,0.00,0.00,34.05,0.000,0.000,0.736,396,2421,1609,-11.06,-0.11,300.00 _24V_AH 23.2,19.498

IRIDIUM_FIX 6108.28,-732.70,010998,101019 _10V_AH 10.1,8.054

TT8_MAMPS 0.027612 DATA_FILE_SIZE 47455,897

HUMID 1815 CAP_FILE_SIZE 141088,0

INTERNAL_PRESSURE 8.09926 CFSIZE 260165632,257228800

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 GPS 070609,210407,6133.715,-835.459,39,1.2,39,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 80.11 SBE_CT 799 24 445.23

Roll_motor 173 72 292.83 SBE_O2 616 19 271.69

VBD_pump_during_apogee 356 1332 11008.97 WL_BB2F 523 105 1275.56

VBD_pump_during_surface 34 736 581.66 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.10 nil 0 0 0.00

Iridium_during_connect 25 160 93.68 nil 0 0 0.00

Iridium_during_xfer 136 223 707.53

Transponder_ping 7 420 73.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.24

TT8 1705 19 341.12

LPSleep 14014 2 309.99

TT8_Active 509 19 101.95

TT8_Sampling 2096 39 842.85

TT8_CF8 748 45 346.03

TT8_Kalman 33 81 27.57

Analog_circuits 1623 12 196.81

GPS_charging 0 0 0.00

Compass 2225 8 179.84

RAFOS 0 0 0.00

Transponder 52 30 15.81

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

15 -1.17 -146.6 0.0 0.0 0 77 0.00 0.00 -60.55 0.000 6 0.000 0.000 394 2402 3431

80 -1.17 -146.6 4.4 -9.0 3 101 11.43 2.42 0.00 0.000 4 0.134 0.034 2537 1002 3432

207 -1.17 -146.6 24.3 -9.5 8 214 0.00 2.47 0.00 0.000 6 0.000 0.032 2537 2437 3432

524 -1.17 -146.6 54.1 -9.4 24 525 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2437 3432

832 -1.17 -146.6 83.4 -9.0 39 836 0.00 2.47 0.00 0.000 4 0.000 0.035 2537 1012 3432

909 -1.17 -146.6 90.7 -9.7 42 916 0.00 2.42 0.00 0.000 6 0.000 0.031 2537 2420 3432

1226 -1.17 -146.6 118.2 -7.7 58 1227 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2421 3432

1534 -1.17 -146.6 143.5 -8.1 73 1538 0.00 2.45 0.00 0.000 4 0.000 0.037 2537 1012 3433

1567 -1.17 -146.6 146.1 -7.5 74 1573 0.00 2.45 0.00 0.000 6 0.000 0.033 2537 2430 3433

1883 -1.17 -146.6 170.3 -7.4 90 1887 0.00 2.53 0.00 0.000 4 0.000 0.060 2537 3825 3433

1960 -1.17 -146.6 176.3 -7.6 93 1967 0.00 2.40 0.00 0.000 6 0.000 0.028 2537 2400 3433

2279 -1.17 -146.6 196.6 -6.9 109 2280 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2399 3433

2586 -1.17 -146.6 217.8 -7.1 124 2587 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2399 3433

2895 -1.17 -146.6 241.2 -6.6 139 2896 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2399 3433

3205 -1.17 -146.6 262.6 -7.2 154 3209 0.00 2.38 0.00 0.000 4 0.000 0.041 2537 1032 3433

3245 -1.17 -146.6 265.5 -7.1 156 3249 0.00 2.40 0.00 0.000 6 0.000 0.035 2537 2427 3433

3572 -1.17 -146.6 294.0 -9.5 172 3573 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2427 3433

3880 -1.17 -146.6 324.1 -10.2 187 3884 0.00 2.42 0.00 0.000 4 0.000 0.041 2537 1038 3433

3901 -1.17 -146.6 326.5 -10.5 188 3905 0.00 2.42 0.00 0.000 6 0.000 0.037 2537 2430 3433

4221 -1.17 -146.6 360.8 -11.6 204 4226 0.00 2.55 0.00 0.000 4 0.000 0.062 2537 3818 3433

4289 -1.17 -146.6 369.6 -13.2 207 4293 0.00 2.35 0.00 0.000 6 0.000 0.030 2537 2424 3433

4615 -1.17 -146.6 411.0 -13.2 223 4619 0.00 2.42 0.00 0.000 4 0.000 0.042 2537 1031 3432

4664 -1.17 -146.6 417.2 -12.0 225 4669 0.00 2.42 0.00 0.000 6 0.000 0.036 2537 2428 3433

4981 -1.17 -146.6 451.8 -10.7 240 4982 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2427 3432

5289 -1.17 -146.6 485.8 -11.6 255 5290 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2427 3432

5599 -1.17 -146.6 518.6 -10.2 270 5603 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1030 3432

5669 -1.17 -146.6 525.3 -10.3 273 5673 0.00 2.42 0.00 0.000 6 0.000 0.036 2537 2427 3432

5990 -1.17 -146.6 557.5 -8.3 289 5994 0.00 2.47 0.00 0.000 4 0.000 0.042 2537 1033 3432

6045 -1.17 -146.6 562.4 -9.0 291 6049 0.00 2.40 0.00 0.000 6 0.000 0.035 2537 2425 3432

6361 -1.17 -146.6 585.6 -5.7 306 6366 0.00 2.47 0.00 0.000 4 0.000 0.043 2537 1028 3432

6474 -1.17 -146.6 594.2 -7.0 311 6478 0.00 2.42 0.00 0.000 6 0.000 0.037 2536 2429 3432

6801 -1.17 -146.6 622.5 -8.9 327 6805 0.00 2.53 0.00 0.000 4 0.000 0.061 2537 3824 3432

7046 -1.17 -146.6 642.7 -8.2 338 7050 0.00 2.38 0.00 0.000 6 0.000 0.030 2537 2422 3431

7368 -1.17 -146.6 665.6 -6.2 354 7372 0.00 2.55 0.00 0.000 4 0.000 0.058 2537 3831 3431

7526 -1.17 -146.6 680.0 -8.9 361 7531 0.00 2.42 0.00 0.000 6 0.000 0.031 2537 2421 3431

7852 -1.17 -146.6 703.4 -7.7 377 7856 0.00 2.42 0.00 0.000 4 0.000 0.044 2537 1030 3430

7965 -1.17 -146.6 712.1 -7.1 382 7969 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2425 3430

8288 -1.17 -146.6 744.3 -8.9 398 8292 0.00 2.45 0.00 0.000 4 0.000 0.045 2537 1032 3429

8394 -1.17 -146.6 753.0 -8.3 403 8398 0.00 2.42 0.00 0.000 6 0.000 0.039 2537 2422 3429

8720 -1.17 -146.6 784.3 -8.0 419 8725 0.00 2.50 0.00 0.000 4 0.000 0.048 2537 1033 3428

8887 -1.17 -146.6 797.6 -8.3 426 8891 0.00 2.45 0.00 0.000 6 0.000 0.042 2537 2425 3427

9203 -1.17 -146.6 820.4 -4.6 441 9208 0.00 2.58 0.00 0.000 4 0.000 0.066 2537 3831 3426

9223 -1.17 -146.6 821.5 -6.1 442 9228 0.00 2.42 0.00 0.000 6 0.000 0.037 2537 2425 3426

9550 -1.17 -146.6 853.1 -11.8 458 9554 0.00 2.60 0.00 0.000 4 0.000 0.067 2537 3831 3425

9589 -1.17 -146.6 855.1 -4.9 460 9594 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2432 3425

9625 end dive: BOTTOM_OBSTACLE_DETECTED

state 9625 begin apogee

9633 -0.36 0.0 857.4 6.2 462 9768 0.88 0.00 129.12 1.332 6 0.074 0.000 2721 1356 2832

9769 end apogee: CONTROL_FINISHED_OK

state 9769 begin climb

9772 1.17 146.6 862.1 0.0 469 9914 1.55 2.12 131.12 1.288 4 0.053 0.073 3057 270 2233

9964 1.17 146.6 843.8 14.9 478 9970 0.00 1.90 0.00 0.000 6 0.000 0.037 3057 1358 2228

10291 1.20 166.1 820.9 6.8 494 10313 0.00 2.62 17.05 1.205 4 0.000 0.051 3057 2751 2154

10549 1.20 166.1 803.4 8.5 505 10553 0.00 2.53 0.00 0.000 6 0.000 0.047 3057 1352 2149

10867 1.22 182.7 778.4 6.9 520 10890 0.00 2.60 15.45 1.214 4 0.000 0.050 3057 2742 2086

10954 1.23 189.4 771.6 7.3 523 10968 0.00 2.50 7.62 1.071 6 0.000 0.048 3057 1350 2060

11291 1.26 213.8 748.9 6.7 540 11321 0.00 2.12 23.65 1.251 4 0.000 0.069 3057 260 1960

11424 1.26 213.8 738.6 8.3 546 11429 0.00 1.90 0.00 0.000 6 0.000 0.036 3057 1342 1957

11756 1.29 240.7 713.3 6.6 562 11787 0.10 2.05 25.45 1.239 4 0.047 0.064 3101 260 1849

11831 1.29 240.7 706.4 9.3 565 11838 0.00 1.92 0.00 0.000 6 0.000 0.035 3101 1360 1847

12147 1.29 240.7 678.2 9.3 581 12151 0.00 2.47 0.00 0.000 4 0.000 0.047 3101 2744 1844

12248 1.29 240.7 667.2 8.1 585 12255 0.00 2.53 0.00 0.000 6 0.000 0.043 3101 1351 1843

12564 1.29 240.7 634.8 11.0 601 12568 0.00 2.50 0.00 0.000 4 0.000 0.043 3101 2749 1843

12591 1.29 240.7 630.5 15.6 602 12595 0.00 2.50 0.00 0.000 6 0.000 0.041 3101 1341 1842

12906 1.30 247.8 595.7 7.3 617 12915 0.00 0.00 6.70 0.969 6 0.000 0.000 3101 1341 1821

13218 1.30 247.8 569.1 8.6 632 13222 0.00 2.50 0.00 0.000 4 0.000 0.041 3101 2751 1820

13262 1.30 247.8 565.3 7.9 634 13266 0.00 2.47 0.00 0.000 6 0.000 0.038 3101 1348 1820

13582 1.30 247.8 540.5 8.9 650 13586 0.00 2.45 0.00 0.000 4 0.000 0.038 3101 2744 1820

13654 1.30 247.8 533.0 10.6 653 13658 0.00 2.45 0.00 0.000 6 0.000 0.038 3101 1348 1820

13969 1.30 247.8 500.7 9.8 668 13974 0.00 2.47 0.00 0.000 4 0.000 0.038 3101 2744 1820

14014 1.30 247.8 496.4 9.3 670 14019 0.00 2.47 0.00 0.000 6 0.000 0.037 3101 1348 1820

14346 1.30 247.8 462.8 9.8 686 14351 0.00 2.47 0.00 0.000 4 0.000 0.037 3101 2746 1821

14414 1.30 247.8 455.8 10.2 689 14418 0.00 2.45 0.00 0.000 6 0.000 0.036 3101 1341 1821

14740 1.30 247.8 420.5 11.0 705 14744 0.00 2.45 0.00 0.000 4 0.000 0.036 3101 2746 1821

14779 1.30 247.8 416.3 10.4 707 14783 0.00 2.45 0.00 0.000 6 0.000 0.036 3101 1342 1821

15105 1.30 247.8 380.8 10.6 723 15106 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 1342 1821

15414 1.30 247.8 347.6 11.2 738 15415 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 1341 1822

15723 1.30 247.8 311.0 11.6 753 15727 0.00 2.45 0.00 0.000 4 0.000 0.037 3101 2748 1822

15763 1.30 247.8 307.0 9.7 755 15767 0.00 2.42 0.00 0.000 6 0.000 0.035 3101 1350 1821

16090 1.30 247.8 275.2 9.6 771 16091 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 1350 1822

16399 1.30 247.8 243.7 10.6 786 16400 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 1349 1822

16708 1.30 247.8 208.9 12.1 801 16713 0.00 2.45 0.00 0.000 4 0.000 0.036 3101 2746 1822

16769 1.30 247.8 201.8 10.9 803 16775 0.00 2.42 0.00 0.000 6 0.000 0.035 3101 1351 1823

17084 1.30 247.8 168.2 10.4 819 17085 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 1351 1823

17394 1.30 247.8 138.6 9.9 834 17395 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 1351 1823

17703 1.30 247.8 105.5 10.7 849 17707 0.00 2.42 0.00 0.000 4 0.000 0.035 3101 2754 1823

17780 1.30 247.8 96.7 10.4 852 17787 0.00 2.42 0.00 0.000 6 0.000 0.034 3101 1351 1823

18096 1.30 247.8 63.0 10.9 868 18100 0.00 2.40 0.00 0.000 4 0.000 0.033 3101 2752 1824

18136 1.30 247.8 58.5 11.0 870 18141 0.00 2.45 0.00 0.000 6 0.000 0.034 3101 1350 1824

18469 1.30 247.8 24.7 10.2 886 18473 0.00 2.42 0.00 0.000 4 0.000 0.034 3101 2745 1824

18514 1.30 247.8 20.3 8.7 888 18519 0.00 2.40 0.00 0.000 6 0.000 0.032 3101 1348 1824

18679 end climb: SURFACE_DEPTH_REACHED

state 18679 begin surface coast

18702 end surface coast: CONTROL_FINISHED_OK

state 18702 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	12	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2425	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1350	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	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	-1628310.9	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	154401,6134.485,-835.927,38,1.4,38,-9.0	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.203,-0.127
_SM_DEPTHo	0.71	KALMAN_X	-45991.9,1463.2,968.5,26540.0,-18842.4
_SM_ANGLEo	-61.4	KALMAN_Y	26995.6,-2705.1,-1055.9,-5200.5,14823.2
GPS2	154913,6134.470,-835.975,11,1.5,16,-9.0	MHEAD_RNG_PITCHd_Wd	131.0,12751,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.9,1.027216	ALTIM_TOP_PING	19.8,19.3
SM_CCo	18726,34.05,0.736,0,0,1609,300.00	ALTIM_BOTTOM_PING	801.1,65.4
SM_GC	1.05,0.00,0.00,34.05,0.000,0.000,0.736,396,2421,1609,-11.06,-0.11,300.00	_24V_AH	23.2,19.498
IRIDIUM_FIX	6108.28,-732.70,010998,101019	_10V_AH	10.1,8.054
TT8_MAMPS	0.027612	DATA_FILE_SIZE	47455,897
HUMID	1815	CAP_FILE_SIZE	141088,0
INTERNAL_PRESSURE	8.09926	CFSIZE	260165632,257228800
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	GPS	070609,210407,6133.715,-835.459,39,1.2,39,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	80.11	SBE_CT	799	24	445.23
Roll_motor	173	72	292.83	SBE_O2	616	19	271.69
VBD_pump_during_apogee	356	1332	11008.97	WL_BB2F	523	105	1275.56
VBD_pump_during_surface	34	736	581.66	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.10	nil	0	0	0.00
Iridium_during_connect	25	160	93.68	nil	0	0	0.00
Iridium_during_xfer	136	223	707.53
Transponder_ping	7	420	73.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.24
TT8	1705	19	341.12
LPSleep	14014	2	309.99
TT8_Active	509	19	101.95
TT8_Sampling	2096	39	842.85
TT8_CF8	748	45	346.03
TT8_Kalman	33	81	27.57
Analog_circuits	1623	12	196.81
GPS_charging	0	0	0.00
Compass	2225	8	179.84
RAFOS	0	0	0.00
Transponder	52	30	15.81

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
15	-1.17	-146.6	0.0	0.0	0	77	0.00	0.00	-60.55	0.000	6	0.000	0.000	394	2402	3431
80	-1.17	-146.6	4.4	-9.0	3	101	11.43	2.42	0.00	0.000	4	0.134	0.034	2537	1002	3432
207	-1.17	-146.6	24.3	-9.5	8	214	0.00	2.47	0.00	0.000	6	0.000	0.032	2537	2437	3432
524	-1.17	-146.6	54.1	-9.4	24	525	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2437	3432
832	-1.17	-146.6	83.4	-9.0	39	836	0.00	2.47	0.00	0.000	4	0.000	0.035	2537	1012	3432
909	-1.17	-146.6	90.7	-9.7	42	916	0.00	2.42	0.00	0.000	6	0.000	0.031	2537	2420	3432
1226	-1.17	-146.6	118.2	-7.7	58	1227	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2421	3432
1534	-1.17	-146.6	143.5	-8.1	73	1538	0.00	2.45	0.00	0.000	4	0.000	0.037	2537	1012	3433
1567	-1.17	-146.6	146.1	-7.5	74	1573	0.00	2.45	0.00	0.000	6	0.000	0.033	2537	2430	3433
1883	-1.17	-146.6	170.3	-7.4	90	1887	0.00	2.53	0.00	0.000	4	0.000	0.060	2537	3825	3433
1960	-1.17	-146.6	176.3	-7.6	93	1967	0.00	2.40	0.00	0.000	6	0.000	0.028	2537	2400	3433
2279	-1.17	-146.6	196.6	-6.9	109	2280	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2399	3433
2586	-1.17	-146.6	217.8	-7.1	124	2587	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2399	3433
2895	-1.17	-146.6	241.2	-6.6	139	2896	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2399	3433
3205	-1.17	-146.6	262.6	-7.2	154	3209	0.00	2.38	0.00	0.000	4	0.000	0.041	2537	1032	3433
3245	-1.17	-146.6	265.5	-7.1	156	3249	0.00	2.40	0.00	0.000	6	0.000	0.035	2537	2427	3433
3572	-1.17	-146.6	294.0	-9.5	172	3573	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2427	3433
3880	-1.17	-146.6	324.1	-10.2	187	3884	0.00	2.42	0.00	0.000	4	0.000	0.041	2537	1038	3433
3901	-1.17	-146.6	326.5	-10.5	188	3905	0.00	2.42	0.00	0.000	6	0.000	0.037	2537	2430	3433
4221	-1.17	-146.6	360.8	-11.6	204	4226	0.00	2.55	0.00	0.000	4	0.000	0.062	2537	3818	3433
4289	-1.17	-146.6	369.6	-13.2	207	4293	0.00	2.35	0.00	0.000	6	0.000	0.030	2537	2424	3433
4615	-1.17	-146.6	411.0	-13.2	223	4619	0.00	2.42	0.00	0.000	4	0.000	0.042	2537	1031	3432
4664	-1.17	-146.6	417.2	-12.0	225	4669	0.00	2.42	0.00	0.000	6	0.000	0.036	2537	2428	3433
4981	-1.17	-146.6	451.8	-10.7	240	4982	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2427	3432
5289	-1.17	-146.6	485.8	-11.6	255	5290	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2427	3432
5599	-1.17	-146.6	518.6	-10.2	270	5603	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1030	3432
5669	-1.17	-146.6	525.3	-10.3	273	5673	0.00	2.42	0.00	0.000	6	0.000	0.036	2537	2427	3432
5990	-1.17	-146.6	557.5	-8.3	289	5994	0.00	2.47	0.00	0.000	4	0.000	0.042	2537	1033	3432
6045	-1.17	-146.6	562.4	-9.0	291	6049	0.00	2.40	0.00	0.000	6	0.000	0.035	2537	2425	3432
6361	-1.17	-146.6	585.6	-5.7	306	6366	0.00	2.47	0.00	0.000	4	0.000	0.043	2537	1028	3432
6474	-1.17	-146.6	594.2	-7.0	311	6478	0.00	2.42	0.00	0.000	6	0.000	0.037	2536	2429	3432
6801	-1.17	-146.6	622.5	-8.9	327	6805	0.00	2.53	0.00	0.000	4	0.000	0.061	2537	3824	3432
7046	-1.17	-146.6	642.7	-8.2	338	7050	0.00	2.38	0.00	0.000	6	0.000	0.030	2537	2422	3431
7368	-1.17	-146.6	665.6	-6.2	354	7372	0.00	2.55	0.00	0.000	4	0.000	0.058	2537	3831	3431
7526	-1.17	-146.6	680.0	-8.9	361	7531	0.00	2.42	0.00	0.000	6	0.000	0.031	2537	2421	3431
7852	-1.17	-146.6	703.4	-7.7	377	7856	0.00	2.42	0.00	0.000	4	0.000	0.044	2537	1030	3430
7965	-1.17	-146.6	712.1	-7.1	382	7969	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2425	3430
8288	-1.17	-146.6	744.3	-8.9	398	8292	0.00	2.45	0.00	0.000	4	0.000	0.045	2537	1032	3429
8394	-1.17	-146.6	753.0	-8.3	403	8398	0.00	2.42	0.00	0.000	6	0.000	0.039	2537	2422	3429
8720	-1.17	-146.6	784.3	-8.0	419	8725	0.00	2.50	0.00	0.000	4	0.000	0.048	2537	1033	3428
8887	-1.17	-146.6	797.6	-8.3	426	8891	0.00	2.45	0.00	0.000	6	0.000	0.042	2537	2425	3427
9203	-1.17	-146.6	820.4	-4.6	441	9208	0.00	2.58	0.00	0.000	4	0.000	0.066	2537	3831	3426
9223	-1.17	-146.6	821.5	-6.1	442	9228	0.00	2.42	0.00	0.000	6	0.000	0.037	2537	2425	3426
9550	-1.17	-146.6	853.1	-11.8	458	9554	0.00	2.60	0.00	0.000	4	0.000	0.067	2537	3831	3425
9589	-1.17	-146.6	855.1	-4.9	460	9594	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2432	3425
9625	end dive: BOTTOM_OBSTACLE_DETECTED
state	9625	begin apogee
9633	-0.36	0.0	857.4	6.2	462	9768	0.88	0.00	129.12	1.332	6	0.074	0.000	2721	1356	2832
9769	end apogee: CONTROL_FINISHED_OK
state	9769	begin climb
9772	1.17	146.6	862.1	0.0	469	9914	1.55	2.12	131.12	1.288	4	0.053	0.073	3057	270	2233
9964	1.17	146.6	843.8	14.9	478	9970	0.00	1.90	0.00	0.000	6	0.000	0.037	3057	1358	2228
10291	1.20	166.1	820.9	6.8	494	10313	0.00	2.62	17.05	1.205	4	0.000	0.051	3057	2751	2154
10549	1.20	166.1	803.4	8.5	505	10553	0.00	2.53	0.00	0.000	6	0.000	0.047	3057	1352	2149
10867	1.22	182.7	778.4	6.9	520	10890	0.00	2.60	15.45	1.214	4	0.000	0.050	3057	2742	2086
10954	1.23	189.4	771.6	7.3	523	10968	0.00	2.50	7.62	1.071	6	0.000	0.048	3057	1350	2060
11291	1.26	213.8	748.9	6.7	540	11321	0.00	2.12	23.65	1.251	4	0.000	0.069	3057	260	1960
11424	1.26	213.8	738.6	8.3	546	11429	0.00	1.90	0.00	0.000	6	0.000	0.036	3057	1342	1957
11756	1.29	240.7	713.3	6.6	562	11787	0.10	2.05	25.45	1.239	4	0.047	0.064	3101	260	1849
11831	1.29	240.7	706.4	9.3	565	11838	0.00	1.92	0.00	0.000	6	0.000	0.035	3101	1360	1847
12147	1.29	240.7	678.2	9.3	581	12151	0.00	2.47	0.00	0.000	4	0.000	0.047	3101	2744	1844
12248	1.29	240.7	667.2	8.1	585	12255	0.00	2.53	0.00	0.000	6	0.000	0.043	3101	1351	1843
12564	1.29	240.7	634.8	11.0	601	12568	0.00	2.50	0.00	0.000	4	0.000	0.043	3101	2749	1843
12591	1.29	240.7	630.5	15.6	602	12595	0.00	2.50	0.00	0.000	6	0.000	0.041	3101	1341	1842
12906	1.30	247.8	595.7	7.3	617	12915	0.00	0.00	6.70	0.969	6	0.000	0.000	3101	1341	1821
13218	1.30	247.8	569.1	8.6	632	13222	0.00	2.50	0.00	0.000	4	0.000	0.041	3101	2751	1820
13262	1.30	247.8	565.3	7.9	634	13266	0.00	2.47	0.00	0.000	6	0.000	0.038	3101	1348	1820
13582	1.30	247.8	540.5	8.9	650	13586	0.00	2.45	0.00	0.000	4	0.000	0.038	3101	2744	1820
13654	1.30	247.8	533.0	10.6	653	13658	0.00	2.45	0.00	0.000	6	0.000	0.038	3101	1348	1820
13969	1.30	247.8	500.7	9.8	668	13974	0.00	2.47	0.00	0.000	4	0.000	0.038	3101	2744	1820
14014	1.30	247.8	496.4	9.3	670	14019	0.00	2.47	0.00	0.000	6	0.000	0.037	3101	1348	1820
14346	1.30	247.8	462.8	9.8	686	14351	0.00	2.47	0.00	0.000	4	0.000	0.037	3101	2746	1821
14414	1.30	247.8	455.8	10.2	689	14418	0.00	2.45	0.00	0.000	6	0.000	0.036	3101	1341	1821
14740	1.30	247.8	420.5	11.0	705	14744	0.00	2.45	0.00	0.000	4	0.000	0.036	3101	2746	1821
14779	1.30	247.8	416.3	10.4	707	14783	0.00	2.45	0.00	0.000	6	0.000	0.036	3101	1342	1821
15105	1.30	247.8	380.8	10.6	723	15106	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	1342	1821
15414	1.30	247.8	347.6	11.2	738	15415	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	1341	1822
15723	1.30	247.8	311.0	11.6	753	15727	0.00	2.45	0.00	0.000	4	0.000	0.037	3101	2748	1822
15763	1.30	247.8	307.0	9.7	755	15767	0.00	2.42	0.00	0.000	6	0.000	0.035	3101	1350	1821
16090	1.30	247.8	275.2	9.6	771	16091	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	1350	1822
16399	1.30	247.8	243.7	10.6	786	16400	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	1349	1822
16708	1.30	247.8	208.9	12.1	801	16713	0.00	2.45	0.00	0.000	4	0.000	0.036	3101	2746	1822
16769	1.30	247.8	201.8	10.9	803	16775	0.00	2.42	0.00	0.000	6	0.000	0.035	3101	1351	1823
17084	1.30	247.8	168.2	10.4	819	17085	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	1351	1823
17394	1.30	247.8	138.6	9.9	834	17395	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	1351	1823
17703	1.30	247.8	105.5	10.7	849	17707	0.00	2.42	0.00	0.000	4	0.000	0.035	3101	2754	1823
17780	1.30	247.8	96.7	10.4	852	17787	0.00	2.42	0.00	0.000	6	0.000	0.034	3101	1351	1823
18096	1.30	247.8	63.0	10.9	868	18100	0.00	2.40	0.00	0.000	4	0.000	0.033	3101	2752	1824
18136	1.30	247.8	58.5	11.0	870	18141	0.00	2.45	0.00	0.000	6	0.000	0.034	3101	1350	1824
18469	1.30	247.8	24.7	10.2	886	18473	0.00	2.42	0.00	0.000	4	0.000	0.034	3101	2745	1824
18514	1.30	247.8	20.3	8.7	888	18519	0.00	2.40	0.00	0.000	6	0.000	0.032	3101	1348	1824
18679	end climb: SURFACE_DEPTH_REACHED
state	18679	begin surface coast
18702	end surface coast: CONTROL_FINISHED_OK
state	18702	begin surface