Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 18 * 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 18 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 2476 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 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 26 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 -1628392.8 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 0 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 0 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 -1628392.8

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 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2476 MASS 52000 R_PORT_OVSHOOT 26 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 18 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 213500,6139.959,-835.503,36,1.9,36,-9.1 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.150,-0.187

_SM_DEPTHo 0.76 KALMAN_X -72699.7,2676.6,482.5,52898.3,-17401.9

_SM_ANGLEo -60.9 KALMAN_Y 46884.2,-1520.3,120.0,-17174.3,14714.1

GPS2 214038,6140.032,-835.547,11,1.5,11,-9.1 MHEAD_RNG_PITCHd_Wd 150.3,20785,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027222 ALTIM_BOTTOM_PING 676.9,102.5

SM_CCo 16092,19.45,0.735,0,0,1609,300.00 _24V_AH 23.1,20.595

SM_GC 0.43,0.00,0.00,19.45,0.000,0.000,0.735,396,2458,1609,-11.06,-0.54,300.00 _10V_AH 10.0,8.567

IRIDIUM_FIX 6112.75,-837.21,020998,161642 DATA_FILE_SIZE 37873,768

TT8_MAMPS 0.027612 CAP_FILE_SIZE 124396,0

HUMID 1833 CFSIZE 260165632,256872448

INTERNAL_PRESSURE 8.07973 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 17.40 GPS 090609,021125,6140.418,-841.289,42,1.0,42,-9.1

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 139 83.44 SBE_CT 682 24 378.39

Roll_motor 158 69 252.74 SBE_O2 525 19 230.81

VBD_pump_during_apogee 369 1318 11267.47 WL_BB2F 458 105 1112.01

VBD_pump_during_surface 19 734 330.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.15 nil 0 0 0.00

Iridium_during_connect 30 160 111.90 nil 0 0 0.00

Iridium_during_xfer 160 223 824.89

Transponder_ping 5 420 55.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.51

TT8 1468 19 290.71

LPSleep 11939 2 261.47

TT8_Active 488 19 96.82

TT8_Sampling 1831 39 728.80

TT8_CF8 723 45 331.28

TT8_Kalman 33 81 27.28

Analog_circuits 1478 12 177.47

GPS_charging 0 0 0.00

Compass 1953 8 156.24

RAFOS 0 0 0.00

Transponder 39 30 11.89

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 78 0.00 0.00 -59.40 0.000 6 0.000 0.000 394 2461 3431

81 -1.17 -146.6 4.8 -9.5 3 102 11.55 2.50 0.00 0.000 4 0.140 0.037 2537 1053 3433

327 -1.17 -146.6 37.7 -9.8 14 331 0.00 2.50 0.00 0.000 6 0.000 0.035 2538 2473 3432

659 -1.17 -146.6 70.0 -9.6 30 663 0.00 2.45 0.00 0.000 4 0.000 0.055 2538 3830 3433

714 -1.17 -146.6 75.6 -9.9 32 721 0.00 2.33 0.00 0.000 6 0.000 0.026 2538 2440 3433

1030 -1.17 -146.6 105.3 -9.3 48 1034 0.00 2.35 0.00 0.000 4 0.000 0.038 2538 1082 3434

1085 -1.17 -146.6 110.4 -8.7 50 1091 0.00 2.42 0.00 0.000 6 0.000 0.035 2538 2474 3433

1401 -1.17 -146.6 137.5 -9.0 66 1402 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2475 3434

1710 -1.17 -146.6 161.8 -7.3 81 1714 0.00 2.42 0.00 0.000 4 0.000 0.038 2538 1084 3434

1788 -1.17 -146.6 168.0 -7.7 84 1794 0.00 2.42 0.00 0.000 6 0.000 0.036 2538 2474 3434

2104 -1.17 -146.6 193.2 -8.6 100 2108 0.00 2.42 0.00 0.000 4 0.000 0.039 2538 1085 3434

2136 -1.17 -146.6 196.3 -9.2 101 2142 0.00 2.42 0.00 0.000 6 0.000 0.036 2537 2476 3434

2452 -1.17 -146.6 227.2 -10.5 117 2456 0.00 2.42 0.00 0.000 4 0.000 0.040 2538 1086 3434

2480 -1.17 -146.6 230.2 -11.0 118 2484 0.00 2.42 0.00 0.000 6 0.000 0.037 2537 2476 3434

2795 -1.17 -146.6 266.7 -11.5 133 2797 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2476 3434

3108 -1.17 -146.6 301.2 -10.5 148 3112 0.00 2.42 0.00 0.000 4 0.000 0.042 2538 1091 3434

3163 -1.17 -146.6 306.9 -9.5 150 3170 0.00 2.42 0.00 0.000 6 0.000 0.039 2538 2475 3434

3480 -1.17 -146.6 338.1 -10.0 166 3484 0.00 2.42 0.00 0.000 4 0.000 0.042 2538 1093 3434

3520 -1.17 -146.6 342.0 -8.8 168 3524 0.00 2.42 0.00 0.000 6 0.000 0.038 2538 2480 3434

3846 -1.17 -146.6 378.7 -11.2 184 3850 0.00 2.45 0.00 0.000 4 0.000 0.063 2537 3828 3434

3912 -1.17 -146.6 386.5 -11.5 187 3917 0.00 2.30 0.00 0.000 6 0.000 0.029 2537 2483 3434

4238 -1.17 -146.6 418.1 -9.2 203 4243 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1076 3434

4302 -1.17 -146.6 423.8 -8.7 206 4307 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2481 3434

4632 -1.17 -146.6 450.8 -7.6 222 4636 0.00 2.45 0.00 0.000 4 0.000 0.041 2538 1084 3434

4687 -1.17 -146.6 455.3 -7.6 224 4693 0.00 2.45 0.00 0.000 6 0.000 0.038 2538 2482 3434

5003 -1.17 -146.6 476.2 -5.9 240 5008 0.00 2.47 0.00 0.000 4 0.000 0.043 2537 1092 3434

5115 -1.17 -146.6 482.0 -4.9 245 5120 0.00 2.42 0.00 0.000 6 0.000 0.040 2537 2476 3434

5444 -1.17 -146.6 497.0 -4.8 261 5448 0.00 2.45 0.00 0.000 4 0.000 0.044 2538 1085 3433

5479 -1.17 -146.6 498.9 -5.7 262 5485 0.00 2.45 0.00 0.000 6 0.000 0.041 2538 2477 3433

5795 -1.17 -146.6 518.8 -6.7 278 5799 0.00 2.47 0.00 0.000 4 0.000 0.045 2537 1078 3433

5850 -1.17 -146.6 522.6 -6.4 280 5857 0.00 2.45 0.00 0.000 6 0.000 0.041 2538 2477 3433

6166 -1.17 -146.6 546.6 -8.0 296 6171 0.00 2.50 0.00 0.000 4 0.000 0.064 2538 3828 3432

6341 -1.17 -146.6 560.1 -7.9 303 6347 0.00 2.30 0.00 0.000 6 0.000 0.031 2538 2479 3432

6657 -1.17 -146.6 586.4 -7.4 319 6661 0.00 2.47 0.00 0.000 4 0.000 0.047 2538 1075 3431

6791 -1.17 -146.6 596.0 -7.8 325 6795 0.00 2.47 0.00 0.000 6 0.000 0.044 2538 2474 3431

7114 -1.17 -146.6 625.2 -9.9 341 7118 0.00 2.50 0.00 0.000 4 0.000 0.049 2537 1076 3430

7142 -1.17 -146.6 627.2 -6.8 342 7147 0.00 2.50 0.00 0.000 6 0.000 0.045 2537 2482 3430

7459 -1.17 -146.6 650.9 -5.6 357 7463 0.00 2.53 0.00 0.000 4 0.000 0.049 2538 1072 3428

7508 -1.17 -146.6 655.4 -9.0 359 7513 0.00 2.50 0.00 0.000 6 0.000 0.045 2538 2478 3428

7824 -1.17 -146.6 682.5 -6.7 374 7825 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2478 3426

8133 -1.17 -146.6 711.3 -6.6 389 8135 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2478 3424

8442 -1.17 -146.6 733.5 -7.6 404 8447 0.00 2.55 0.00 0.000 4 0.000 0.053 2538 1081 3423

8525 -1.17 -146.6 739.0 -10.3 407 8532 0.00 2.50 0.00 0.000 6 0.000 0.050 2538 2471 3422

8844 -1.17 -146.6 765.8 -11.3 423 8845 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2472 3421

8880 end dive: BOTTOM_OBSTACLE_DETECTED

state 8880 begin apogee

8888 -0.36 0.0 770.2 11.1 425 9023 0.88 0.00 128.50 1.318 6 0.073 0.000 2723 1471 2831

9024 end apogee: CONTROL_FINISHED_OK

state 9024 begin climb

9027 1.17 146.6 776.5 0.0 432 9166 1.50 2.30 131.52 1.262 4 0.051 0.069 3053 264 2233

9175 1.32 265.3 770.6 3.4 438 9288 0.15 2.15 105.10 1.236 6 0.041 0.041 3113 1475 1749

9604 1.32 265.3 726.9 11.3 459 9608 0.12 2.28 0.00 0.000 4 0.087 0.067 3089 263 1737

9782 1.32 265.3 706.2 12.7 467 9786 0.00 2.08 0.00 0.000 6 0.000 0.039 3088 1458 1735

10109 1.32 265.3 667.0 13.8 483 10110 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 1458 1734

10421 1.33 272.3 637.9 7.3 498 10428 0.00 0.00 4.82 0.889 6 0.000 0.000 3088 1458 1720

10730 1.33 272.3 605.5 11.1 513 10734 0.00 2.22 0.00 0.000 4 0.000 0.066 3088 259 1719

10830 1.33 272.3 590.2 16.5 517 10834 0.00 2.08 0.00 0.000 6 0.000 0.038 3088 1463 1719

11151 1.33 272.3 545.8 13.8 533 11156 0.00 2.53 0.00 0.000 4 0.000 0.051 3088 2851 1718

11196 1.33 272.3 540.0 11.9 535 11201 0.00 2.50 0.00 0.000 6 0.000 0.044 3088 1458 1717

11529 1.33 272.3 504.1 10.0 551 11530 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 1458 1717

11840 1.33 272.3 473.4 9.7 566 11845 0.00 2.47 0.00 0.000 4 0.000 0.043 3088 2853 1717

11862 1.33 272.3 470.6 11.5 567 11866 0.00 2.47 0.00 0.000 6 0.000 0.039 3088 1449 1717

12184 1.33 272.3 433.9 10.8 583 12188 0.00 2.15 0.00 0.000 4 0.000 0.060 3088 264 1717

12359 1.33 272.3 414.5 11.0 590 12366 0.00 2.05 0.00 0.000 6 0.000 0.031 3088 1465 1717

12675 1.33 272.3 384.2 9.1 606 12676 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1465 1717

12984 1.33 272.3 354.3 10.1 621 12989 0.00 2.20 0.00 0.000 4 0.000 0.057 3089 264 1718

13029 1.33 272.3 349.4 11.5 623 13034 0.00 2.05 0.00 0.000 6 0.000 0.031 3088 1456 1718

13361 1.33 272.3 315.8 10.6 639 13365 0.00 2.15 0.00 0.000 4 0.000 0.056 3088 264 1718

13388 1.33 272.3 312.6 11.4 640 13392 0.00 2.00 0.00 0.000 6 0.000 0.030 3089 1462 1718

13718 1.33 272.3 274.7 11.4 656 13721 0.00 2.17 0.00 0.000 4 0.000 0.054 3088 258 1719

13740 1.33 272.3 271.5 12.2 657 13744 0.00 2.00 0.00 0.000 6 0.000 0.030 3088 1455 1719

14073 1.33 272.3 233.6 12.1 673 14074 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1456 1719

14382 1.33 272.3 193.4 12.5 688 14386 0.00 2.15 0.00 0.000 4 0.000 0.054 3088 264 1720

14443 1.33 272.3 185.1 13.6 690 14450 0.00 2.00 0.00 0.000 6 0.000 0.031 3088 1446 1720

14759 1.33 272.3 145.5 13.4 706 14763 0.00 2.12 0.00 0.000 4 0.000 0.054 3088 264 1720

14831 1.33 272.3 136.4 12.2 709 14835 0.00 2.00 0.00 0.000 6 0.000 0.030 3088 1461 1720

15158 1.33 272.3 98.8 11.2 725 15163 0.00 2.42 0.00 0.000 4 0.000 0.044 3088 2847 1721

15199 1.33 272.3 94.2 11.9 727 15204 0.00 2.45 0.00 0.000 6 0.000 0.036 3089 1454 1721

15531 1.33 272.3 56.8 10.5 743 15535 0.00 2.45 0.00 0.000 4 0.000 0.038 3088 2857 1721

15557 1.33 272.3 53.8 10.5 744 15562 0.00 2.42 0.00 0.000 6 0.000 0.034 3088 1453 1721

15875 1.33 272.3 22.1 10.2 759 15879 0.00 2.12 0.00 0.000 4 0.000 0.053 3088 260 1721

15975 1.33 272.3 10.5 11.6 763 15980 0.00 2.03 0.00 0.000 6 0.000 0.030 3088 1463 1721

16046 end climb: SURFACE_DEPTH_REACHED

state 16046 begin surface coast

16068 end surface coast: CONTROL_FINISHED_OK

state 16068 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	18	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	2476	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	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	26	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	-1628392.8	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	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	213500,6139.959,-835.503,36,1.9,36,-9.1	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.150,-0.187
_SM_DEPTHo	0.76	KALMAN_X	-72699.7,2676.6,482.5,52898.3,-17401.9
_SM_ANGLEo	-60.9	KALMAN_Y	46884.2,-1520.3,120.0,-17174.3,14714.1
GPS2	214038,6140.032,-835.547,11,1.5,11,-9.1	MHEAD_RNG_PITCHd_Wd	150.3,20785,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.027222	ALTIM_BOTTOM_PING	676.9,102.5
SM_CCo	16092,19.45,0.735,0,0,1609,300.00	_24V_AH	23.1,20.595
SM_GC	0.43,0.00,0.00,19.45,0.000,0.000,0.735,396,2458,1609,-11.06,-0.54,300.00	_10V_AH	10.0,8.567
IRIDIUM_FIX	6112.75,-837.21,020998,161642	DATA_FILE_SIZE	37873,768
TT8_MAMPS	0.027612	CAP_FILE_SIZE	124396,0
HUMID	1833	CFSIZE	260165632,256872448
INTERNAL_PRESSURE	8.07973	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	17.40	GPS	090609,021125,6140.418,-841.289,42,1.0,42,-9.1
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	139	83.44	SBE_CT	682	24	378.39
Roll_motor	158	69	252.74	SBE_O2	525	19	230.81
VBD_pump_during_apogee	369	1318	11267.47	WL_BB2F	458	105	1112.01
VBD_pump_during_surface	19	734	330.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.15	nil	0	0	0.00
Iridium_during_connect	30	160	111.90	nil	0	0	0.00
Iridium_during_xfer	160	223	824.89
Transponder_ping	5	420	55.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.51
TT8	1468	19	290.71
LPSleep	11939	2	261.47
TT8_Active	488	19	96.82
TT8_Sampling	1831	39	728.80
TT8_CF8	723	45	331.28
TT8_Kalman	33	81	27.28
Analog_circuits	1478	12	177.47
GPS_charging	0	0	0.00
Compass	1953	8	156.24
RAFOS	0	0	0.00
Transponder	39	30	11.89

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	78	0.00	0.00	-59.40	0.000	6	0.000	0.000	394	2461	3431
81	-1.17	-146.6	4.8	-9.5	3	102	11.55	2.50	0.00	0.000	4	0.140	0.037	2537	1053	3433
327	-1.17	-146.6	37.7	-9.8	14	331	0.00	2.50	0.00	0.000	6	0.000	0.035	2538	2473	3432
659	-1.17	-146.6	70.0	-9.6	30	663	0.00	2.45	0.00	0.000	4	0.000	0.055	2538	3830	3433
714	-1.17	-146.6	75.6	-9.9	32	721	0.00	2.33	0.00	0.000	6	0.000	0.026	2538	2440	3433
1030	-1.17	-146.6	105.3	-9.3	48	1034	0.00	2.35	0.00	0.000	4	0.000	0.038	2538	1082	3434
1085	-1.17	-146.6	110.4	-8.7	50	1091	0.00	2.42	0.00	0.000	6	0.000	0.035	2538	2474	3433
1401	-1.17	-146.6	137.5	-9.0	66	1402	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2475	3434
1710	-1.17	-146.6	161.8	-7.3	81	1714	0.00	2.42	0.00	0.000	4	0.000	0.038	2538	1084	3434
1788	-1.17	-146.6	168.0	-7.7	84	1794	0.00	2.42	0.00	0.000	6	0.000	0.036	2538	2474	3434
2104	-1.17	-146.6	193.2	-8.6	100	2108	0.00	2.42	0.00	0.000	4	0.000	0.039	2538	1085	3434
2136	-1.17	-146.6	196.3	-9.2	101	2142	0.00	2.42	0.00	0.000	6	0.000	0.036	2537	2476	3434
2452	-1.17	-146.6	227.2	-10.5	117	2456	0.00	2.42	0.00	0.000	4	0.000	0.040	2538	1086	3434
2480	-1.17	-146.6	230.2	-11.0	118	2484	0.00	2.42	0.00	0.000	6	0.000	0.037	2537	2476	3434
2795	-1.17	-146.6	266.7	-11.5	133	2797	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2476	3434
3108	-1.17	-146.6	301.2	-10.5	148	3112	0.00	2.42	0.00	0.000	4	0.000	0.042	2538	1091	3434
3163	-1.17	-146.6	306.9	-9.5	150	3170	0.00	2.42	0.00	0.000	6	0.000	0.039	2538	2475	3434
3480	-1.17	-146.6	338.1	-10.0	166	3484	0.00	2.42	0.00	0.000	4	0.000	0.042	2538	1093	3434
3520	-1.17	-146.6	342.0	-8.8	168	3524	0.00	2.42	0.00	0.000	6	0.000	0.038	2538	2480	3434
3846	-1.17	-146.6	378.7	-11.2	184	3850	0.00	2.45	0.00	0.000	4	0.000	0.063	2537	3828	3434
3912	-1.17	-146.6	386.5	-11.5	187	3917	0.00	2.30	0.00	0.000	6	0.000	0.029	2537	2483	3434
4238	-1.17	-146.6	418.1	-9.2	203	4243	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1076	3434
4302	-1.17	-146.6	423.8	-8.7	206	4307	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2481	3434
4632	-1.17	-146.6	450.8	-7.6	222	4636	0.00	2.45	0.00	0.000	4	0.000	0.041	2538	1084	3434
4687	-1.17	-146.6	455.3	-7.6	224	4693	0.00	2.45	0.00	0.000	6	0.000	0.038	2538	2482	3434
5003	-1.17	-146.6	476.2	-5.9	240	5008	0.00	2.47	0.00	0.000	4	0.000	0.043	2537	1092	3434
5115	-1.17	-146.6	482.0	-4.9	245	5120	0.00	2.42	0.00	0.000	6	0.000	0.040	2537	2476	3434
5444	-1.17	-146.6	497.0	-4.8	261	5448	0.00	2.45	0.00	0.000	4	0.000	0.044	2538	1085	3433
5479	-1.17	-146.6	498.9	-5.7	262	5485	0.00	2.45	0.00	0.000	6	0.000	0.041	2538	2477	3433
5795	-1.17	-146.6	518.8	-6.7	278	5799	0.00	2.47	0.00	0.000	4	0.000	0.045	2537	1078	3433
5850	-1.17	-146.6	522.6	-6.4	280	5857	0.00	2.45	0.00	0.000	6	0.000	0.041	2538	2477	3433
6166	-1.17	-146.6	546.6	-8.0	296	6171	0.00	2.50	0.00	0.000	4	0.000	0.064	2538	3828	3432
6341	-1.17	-146.6	560.1	-7.9	303	6347	0.00	2.30	0.00	0.000	6	0.000	0.031	2538	2479	3432
6657	-1.17	-146.6	586.4	-7.4	319	6661	0.00	2.47	0.00	0.000	4	0.000	0.047	2538	1075	3431
6791	-1.17	-146.6	596.0	-7.8	325	6795	0.00	2.47	0.00	0.000	6	0.000	0.044	2538	2474	3431
7114	-1.17	-146.6	625.2	-9.9	341	7118	0.00	2.50	0.00	0.000	4	0.000	0.049	2537	1076	3430
7142	-1.17	-146.6	627.2	-6.8	342	7147	0.00	2.50	0.00	0.000	6	0.000	0.045	2537	2482	3430
7459	-1.17	-146.6	650.9	-5.6	357	7463	0.00	2.53	0.00	0.000	4	0.000	0.049	2538	1072	3428
7508	-1.17	-146.6	655.4	-9.0	359	7513	0.00	2.50	0.00	0.000	6	0.000	0.045	2538	2478	3428
7824	-1.17	-146.6	682.5	-6.7	374	7825	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2478	3426
8133	-1.17	-146.6	711.3	-6.6	389	8135	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2478	3424
8442	-1.17	-146.6	733.5	-7.6	404	8447	0.00	2.55	0.00	0.000	4	0.000	0.053	2538	1081	3423
8525	-1.17	-146.6	739.0	-10.3	407	8532	0.00	2.50	0.00	0.000	6	0.000	0.050	2538	2471	3422
8844	-1.17	-146.6	765.8	-11.3	423	8845	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2472	3421
8880	end dive: BOTTOM_OBSTACLE_DETECTED
state	8880	begin apogee
8888	-0.36	0.0	770.2	11.1	425	9023	0.88	0.00	128.50	1.318	6	0.073	0.000	2723	1471	2831
9024	end apogee: CONTROL_FINISHED_OK
state	9024	begin climb
9027	1.17	146.6	776.5	0.0	432	9166	1.50	2.30	131.52	1.262	4	0.051	0.069	3053	264	2233
9175	1.32	265.3	770.6	3.4	438	9288	0.15	2.15	105.10	1.236	6	0.041	0.041	3113	1475	1749
9604	1.32	265.3	726.9	11.3	459	9608	0.12	2.28	0.00	0.000	4	0.087	0.067	3089	263	1737
9782	1.32	265.3	706.2	12.7	467	9786	0.00	2.08	0.00	0.000	6	0.000	0.039	3088	1458	1735
10109	1.32	265.3	667.0	13.8	483	10110	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	1458	1734
10421	1.33	272.3	637.9	7.3	498	10428	0.00	0.00	4.82	0.889	6	0.000	0.000	3088	1458	1720
10730	1.33	272.3	605.5	11.1	513	10734	0.00	2.22	0.00	0.000	4	0.000	0.066	3088	259	1719
10830	1.33	272.3	590.2	16.5	517	10834	0.00	2.08	0.00	0.000	6	0.000	0.038	3088	1463	1719
11151	1.33	272.3	545.8	13.8	533	11156	0.00	2.53	0.00	0.000	4	0.000	0.051	3088	2851	1718
11196	1.33	272.3	540.0	11.9	535	11201	0.00	2.50	0.00	0.000	6	0.000	0.044	3088	1458	1717
11529	1.33	272.3	504.1	10.0	551	11530	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	1458	1717
11840	1.33	272.3	473.4	9.7	566	11845	0.00	2.47	0.00	0.000	4	0.000	0.043	3088	2853	1717
11862	1.33	272.3	470.6	11.5	567	11866	0.00	2.47	0.00	0.000	6	0.000	0.039	3088	1449	1717
12184	1.33	272.3	433.9	10.8	583	12188	0.00	2.15	0.00	0.000	4	0.000	0.060	3088	264	1717
12359	1.33	272.3	414.5	11.0	590	12366	0.00	2.05	0.00	0.000	6	0.000	0.031	3088	1465	1717
12675	1.33	272.3	384.2	9.1	606	12676	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	1465	1717
12984	1.33	272.3	354.3	10.1	621	12989	0.00	2.20	0.00	0.000	4	0.000	0.057	3089	264	1718
13029	1.33	272.3	349.4	11.5	623	13034	0.00	2.05	0.00	0.000	6	0.000	0.031	3088	1456	1718
13361	1.33	272.3	315.8	10.6	639	13365	0.00	2.15	0.00	0.000	4	0.000	0.056	3088	264	1718
13388	1.33	272.3	312.6	11.4	640	13392	0.00	2.00	0.00	0.000	6	0.000	0.030	3089	1462	1718
13718	1.33	272.3	274.7	11.4	656	13721	0.00	2.17	0.00	0.000	4	0.000	0.054	3088	258	1719
13740	1.33	272.3	271.5	12.2	657	13744	0.00	2.00	0.00	0.000	6	0.000	0.030	3088	1455	1719
14073	1.33	272.3	233.6	12.1	673	14074	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	1456	1719
14382	1.33	272.3	193.4	12.5	688	14386	0.00	2.15	0.00	0.000	4	0.000	0.054	3088	264	1720
14443	1.33	272.3	185.1	13.6	690	14450	0.00	2.00	0.00	0.000	6	0.000	0.031	3088	1446	1720
14759	1.33	272.3	145.5	13.4	706	14763	0.00	2.12	0.00	0.000	4	0.000	0.054	3088	264	1720
14831	1.33	272.3	136.4	12.2	709	14835	0.00	2.00	0.00	0.000	6	0.000	0.030	3088	1461	1720
15158	1.33	272.3	98.8	11.2	725	15163	0.00	2.42	0.00	0.000	4	0.000	0.044	3088	2847	1721
15199	1.33	272.3	94.2	11.9	727	15204	0.00	2.45	0.00	0.000	6	0.000	0.036	3089	1454	1721
15531	1.33	272.3	56.8	10.5	743	15535	0.00	2.45	0.00	0.000	4	0.000	0.038	3088	2857	1721
15557	1.33	272.3	53.8	10.5	744	15562	0.00	2.42	0.00	0.000	6	0.000	0.034	3088	1453	1721
15875	1.33	272.3	22.1	10.2	759	15879	0.00	2.12	0.00	0.000	4	0.000	0.053	3088	260	1721
15975	1.33	272.3	10.5	11.6	763	15980	0.00	2.03	0.00	0.000	6	0.000	0.030	3088	1463	1721
16046	end climb: SURFACE_DEPTH_REACHED
state	16046	begin surface coast
16068	end surface coast: CONTROL_FINISHED_OK
state	16068	begin surface