Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 19 * 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 19 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -1628407.8 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 -1628407.8

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 27 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 19 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 021125,6140.418,-841.289,42,1.0,42,-9.1 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.177,-0.161

_SM_DEPTHo 0.68 KALMAN_X -80773.0,1748.0,1027.9,56112.0,-23500.1

_SM_ANGLEo -60.5 KALMAN_Y 50945.9,1026.2,-1651.4,-21273.6,15320.7

GPS2 021702,6140.417,-841.473,14,1.3,14,-9.1 MHEAD_RNG_PITCHd_Wd 141.4,24167,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027261 ALTIM_BOTTOM_PING 825.3,57.7

SM_CCo 18093,0.00,0.000,0,0,1246,389.05 _24V_AH 23.1,20.785

SM_GC 0.75,11.82,0.00,0.00,0.027,0.000,0.000,394,2454,1246,-11.00,-0.62,389.05 _10V_AH 10.0,8.657

IRIDIUM_FIX 6117.23,-834.09,020998,212144 DATA_FILE_SIZE 44259,860

TT8_MAMPS 0.026845 CAP_FILE_SIZE 139519,0

HUMID 1814 CFSIZE 260165632,256790528

INTERNAL_PRESSURE 8.06019 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 17.40 GPS 090609,072036,6138.076,-846.508,30,0.9,30,-9.1

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 81.76 SBE_CT 762 24 422.91

Roll_motor 173 68 273.31 SBE_O2 589 19 258.89

VBD_pump_during_apogee 480 1392 15447.38 WL_BB2F 458 105 1112.57

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 31 103 74.09 nil 0 0 0.00

Iridium_during_connect 30 160 112.57 nil 0 0 0.00

Iridium_during_xfer 158 223 815.78

Transponder_ping 7 420 75.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.19

TT8 1667 19 330.26

LPSleep 13287 2 290.99

TT8_Active 540 19 107.07

TT8_Sampling 2162 39 860.82

TT8_CF8 772 45 353.62

TT8_Kalman 33 81 27.28

Analog_circuits 1693 12 203.22

GPS_charging 0 0 0.00

Compass 2278 8 182.29

RAFOS 0 0 0.00

Transponder 55 30 16.52

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 -59.62 0.000 6 0.000 0.000 396 2458 3432

81 -1.17 -146.6 4.8 -9.7 3 101 11.50 2.47 0.00 0.000 4 0.137 0.036 2535 1060 3433

349 -1.17 -146.6 43.7 -11.1 15 353 0.00 2.47 0.00 0.000 6 0.000 0.035 2535 2477 3434

675 -1.17 -146.6 81.0 -11.8 31 680 0.00 2.47 0.00 0.000 4 0.000 0.038 2535 1061 3434

716 -1.17 -146.6 86.0 -12.8 33 720 0.00 2.50 0.00 0.000 6 0.000 0.035 2535 2476 3434

1048 -1.17 -146.6 130.1 -14.1 49 1052 0.00 2.45 0.00 0.000 4 0.000 0.059 2535 3830 3435

1171 -1.17 -146.6 149.0 -14.1 54 1177 0.00 2.33 0.00 0.000 6 0.000 0.028 2535 2439 3435

1488 -1.17 -146.6 193.9 -13.7 70 1490 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2438 3435

1795 -1.17 -146.6 233.4 -12.3 85 1799 0.00 2.38 0.00 0.000 4 0.000 0.041 2535 1076 3434

1862 -1.17 -146.6 241.3 -12.2 88 1866 0.00 2.45 0.00 0.000 6 0.000 0.038 2535 2473 3434

2182 -1.17 -146.6 278.6 -11.6 104 2187 0.00 2.45 0.00 0.000 4 0.000 0.041 2535 1077 3434

2267 -1.17 -146.6 289.4 -13.3 108 2271 0.00 2.45 0.00 0.000 6 0.000 0.038 2535 2478 3435

2593 -1.17 -146.6 329.9 -11.5 124 2597 0.00 2.45 0.00 0.000 4 0.000 0.041 2535 1083 3434

2677 -1.17 -146.6 339.3 -10.9 128 2681 0.00 2.45 0.00 0.000 6 0.000 0.038 2535 2480 3435

3004 -1.17 -146.6 372.8 -10.5 144 3008 0.00 2.45 0.00 0.000 4 0.000 0.042 2535 1085 3435

3047 -1.17 -146.6 377.7 -10.3 146 3051 0.00 2.45 0.00 0.000 6 0.000 0.039 2535 2476 3434

3368 -1.17 -146.6 408.6 -8.7 162 3372 0.00 2.45 0.00 0.000 4 0.000 0.043 2535 1081 3434

3435 -1.17 -146.6 414.5 -9.1 165 3439 0.00 2.45 0.00 0.000 6 0.000 0.039 2535 2477 3435

3757 -1.17 -146.6 440.8 -8.6 181 3761 0.00 2.45 0.00 0.000 4 0.000 0.043 2535 1085 3435

3834 -1.17 -146.6 447.6 -8.1 184 3841 0.00 2.45 0.00 0.000 6 0.000 0.040 2534 2480 3435

4150 -1.17 -146.6 468.2 -5.7 200 4155 0.00 2.47 0.00 0.000 4 0.000 0.043 2535 1076 3434

4195 -1.17 -146.6 471.0 -5.8 202 4200 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2472 3434

4521 -1.17 -146.6 485.1 -3.6 218 4526 0.00 2.47 0.00 0.000 4 0.000 0.061 2535 3837 3434

4586 -1.17 -146.6 487.1 -3.2 221 4590 0.00 2.30 0.00 0.000 6 0.000 0.031 2535 2482 3434

4912 -1.17 -146.6 496.9 -3.1 237 4913 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2481 3434

5224 -1.17 -146.6 509.3 -5.7 252 5228 0.00 2.45 0.00 0.000 4 0.000 0.044 2535 1079 3434

5310 -1.17 -146.6 513.7 -5.3 256 5314 0.00 2.47 0.00 0.000 6 0.000 0.041 2535 2485 3434

5639 -1.17 -146.6 537.6 -8.2 272 5643 0.00 2.47 0.00 0.000 4 0.000 0.044 2535 1079 3434

5701 -1.17 -146.6 542.5 -7.3 275 5705 0.00 2.47 0.00 0.000 6 0.000 0.042 2535 2484 3434

6028 -1.17 -146.6 570.8 -7.6 291 6032 0.00 2.47 0.00 0.000 4 0.000 0.045 2535 1081 3433

6161 -1.17 -146.6 580.8 -7.6 297 6166 0.00 2.47 0.00 0.000 6 0.000 0.042 2535 2482 3433

6482 -1.17 -146.6 604.5 -8.0 313 6484 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2481 3432

6792 -1.17 -146.6 632.8 -9.4 328 6796 0.00 2.45 0.00 0.000 4 0.000 0.064 2535 3830 3432

6996 -1.17 -146.6 650.1 -6.8 337 7000 0.00 2.30 0.00 0.000 6 0.000 0.032 2535 2480 3431

7318 -1.17 -146.6 662.0 -2.2 353 7322 0.00 2.47 0.00 0.000 4 0.000 0.045 2535 1069 3431

7432 -1.17 -146.6 663.4 -1.3 358 7436 0.00 2.50 0.00 0.000 6 0.000 0.042 2535 2485 3431

7753 -1.17 -146.6 667.8 -2.1 374 7757 0.00 2.50 0.00 0.000 4 0.000 0.046 2535 1076 3430

7848 -1.17 -146.6 670.7 -3.6 378 7852 0.00 2.47 0.00 0.000 6 0.000 0.042 2535 2475 3430

8164 -1.17 -146.6 686.4 -6.5 393 8165 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2475 3429

8472 -1.17 -146.6 712.7 -9.3 408 8476 0.00 2.50 0.00 0.000 4 0.000 0.051 2535 1078 3427

8543 -1.17 -146.6 719.8 -10.0 411 8548 0.00 2.50 0.00 0.000 6 0.000 0.047 2535 2479 3427

8860 -1.17 -146.6 749.3 -8.6 426 8865 0.00 2.55 0.00 0.000 4 0.000 0.051 2535 1078 3426

8943 -1.17 -146.6 756.0 -7.8 429 8950 0.00 2.50 0.00 0.000 6 0.000 0.048 2535 2474 3425

9258 -1.17 -146.6 781.4 -8.3 445 9263 0.00 2.53 0.00 0.000 4 0.000 0.052 2535 1074 3424

9348 -1.17 -146.6 786.9 -7.3 449 9352 0.00 2.53 0.00 0.000 6 0.000 0.046 2535 2487 3424

9668 -1.17 -146.6 808.4 -8.4 465 9673 0.00 2.55 0.00 0.000 4 0.000 0.053 2535 1075 3423

9721 -1.17 -146.6 813.1 -7.9 467 9725 0.00 2.53 0.00 0.000 6 0.000 0.048 2535 2483 3423

10036 -1.17 -146.6 837.4 -8.1 482 10041 0.00 2.55 0.00 0.000 4 0.000 0.053 2535 1085 3421

10114 -1.17 -146.6 846.3 -12.4 485 10118 0.00 2.47 0.00 0.000 6 0.000 0.047 2535 2475 3421

10406 end dive: BOTTOM_OBSTACLE_DETECTED

state 10406 begin apogee

10414 -0.36 0.0 873.1 8.0 499 10550 0.88 0.00 129.43 1.393 6 0.069 0.000 2721 1470 2831

10551 end apogee: CONTROL_FINISHED_OK

state 10551 begin climb

10553 1.17 146.6 880.9 0.0 506 10695 1.55 2.67 133.23 1.332 4 0.051 0.057 3057 2867 2233

11035 1.36 294.9 855.8 2.4 528 11177 0.17 2.55 133.10 1.324 6 0.037 0.050 3114 1456 1629

11487 1.36 294.9 798.8 12.3 549 11491 0.00 2.58 0.00 0.000 4 0.000 0.054 3114 2865 1616

11609 1.36 294.9 786.3 9.7 554 11616 0.00 2.53 0.00 0.000 6 0.000 0.048 3114 1454 1615

11925 1.36 294.9 756.1 8.9 570 11926 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 1453 1613

12234 1.36 294.9 722.9 11.4 585 12238 0.00 2.20 0.00 0.000 4 0.000 0.068 3114 262 1612

12267 1.36 294.9 718.5 13.8 586 12271 0.00 2.08 0.00 0.000 6 0.000 0.037 3114 1470 1612

12591 1.36 294.9 675.9 14.8 602 12592 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 1472 1611

12897 1.36 294.9 626.9 15.2 617 12901 0.00 2.25 0.00 0.000 4 0.000 0.066 3113 261 1610

12926 1.36 294.9 622.4 15.4 618 12930 0.00 2.05 0.00 0.000 6 0.000 0.035 3114 1456 1610

13253 1.36 294.9 581.5 11.4 634 13256 0.00 2.20 0.00 0.000 4 0.000 0.061 3114 260 1610

13325 1.36 294.9 573.1 11.1 637 13329 0.00 2.05 0.00 0.000 6 0.000 0.034 3114 1456 1610

13655 1.43 353.5 548.4 5.5 653 13711 0.00 2.25 51.70 1.174 4 0.000 0.060 3114 261 1389

13728 1.46 375.8 543.1 6.7 655 13756 0.00 2.08 21.60 1.095 6 0.000 0.034 3114 1464 1300

14067 1.46 375.8 514.3 9.7 672 14071 0.00 2.20 0.00 0.000 4 0.000 0.058 3113 254 1292

14094 1.46 375.8 510.8 11.3 673 14100 0.00 2.08 0.00 0.000 6 0.000 0.032 3113 1458 1292

14421 1.46 375.8 475.3 11.5 689 14422 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 1459 1291

14731 1.47 387.6 447.3 7.1 704 14746 0.00 2.22 11.05 0.973 4 0.000 0.056 3113 257 1250

14824 1.47 387.6 439.7 7.7 708 14828 0.00 2.05 0.00 0.000 6 0.000 0.030 3114 1461 1248

15151 1.47 387.6 401.9 13.6 724 15155 0.00 2.20 0.00 0.000 4 0.000 0.057 3114 255 1247

15241 1.47 387.6 387.5 16.3 728 15245 0.00 2.05 0.00 0.000 6 0.000 0.030 3114 1466 1247

15576 1.47 387.6 328.2 18.2 744 15580 0.00 2.20 0.00 0.000 4 0.000 0.055 3113 254 1247

15637 1.47 387.6 316.3 17.8 746 15643 0.00 2.03 0.00 0.000 6 0.000 0.029 3114 1455 1247

15955 1.47 387.6 265.8 15.1 762 15959 0.00 2.17 0.00 0.000 4 0.000 0.055 3114 254 1247

16011 1.47 387.6 256.6 15.8 764 16014 0.00 2.03 0.00 0.000 6 0.000 0.029 3114 1455 1247

16332 1.47 387.6 213.9 14.1 780 16335 0.00 2.17 0.00 0.000 4 0.000 0.054 3113 253 1247

16393 1.47 387.6 204.1 16.4 782 16399 0.00 2.03 0.00 0.000 6 0.000 0.029 3114 1455 1247

16708 1.47 387.6 159.8 11.3 798 16710 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 1455 1248

17019 1.47 387.6 130.2 9.7 813 17023 0.00 2.15 0.00 0.000 4 0.000 0.054 3114 254 1247

17161 1.47 387.6 113.0 14.7 819 17164 0.00 2.03 0.00 0.000 6 0.000 0.029 3114 1461 1247

17488 1.47 387.6 71.6 13.1 835 17489 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 1462 1248

17798 1.47 387.6 28.4 13.7 850 17802 0.00 2.17 0.00 0.000 4 0.000 0.053 3113 253 1248

17854 1.47 387.6 19.6 16.3 852 17858 0.00 2.03 0.00 0.000 6 0.000 0.029 3114 1465 1248

17987 end climb: SURFACE_DEPTH_REACHED

state 17987 begin surface coast

18009 end surface coast: CONTROL_FINISHED_OK

state 18009 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	19	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-1628407.8	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	021125,6140.418,-841.289,42,1.0,42,-9.1	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.177,-0.161
_SM_DEPTHo	0.68	KALMAN_X	-80773.0,1748.0,1027.9,56112.0,-23500.1
_SM_ANGLEo	-60.5	KALMAN_Y	50945.9,1026.2,-1651.4,-21273.6,15320.7
GPS2	021702,6140.417,-841.473,14,1.3,14,-9.1	MHEAD_RNG_PITCHd_Wd	141.4,24167,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.1,1.027261	ALTIM_BOTTOM_PING	825.3,57.7
SM_CCo	18093,0.00,0.000,0,0,1246,389.05	_24V_AH	23.1,20.785
SM_GC	0.75,11.82,0.00,0.00,0.027,0.000,0.000,394,2454,1246,-11.00,-0.62,389.05	_10V_AH	10.0,8.657
IRIDIUM_FIX	6117.23,-834.09,020998,212144	DATA_FILE_SIZE	44259,860
TT8_MAMPS	0.026845	CAP_FILE_SIZE	139519,0
HUMID	1814	CFSIZE	260165632,256790528
INTERNAL_PRESSURE	8.06019	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	17.40	GPS	090609,072036,6138.076,-846.508,30,0.9,30,-9.1
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	81.76	SBE_CT	762	24	422.91
Roll_motor	173	68	273.31	SBE_O2	589	19	258.89
VBD_pump_during_apogee	480	1392	15447.38	WL_BB2F	458	105	1112.57
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	31	103	74.09	nil	0	0	0.00
Iridium_during_connect	30	160	112.57	nil	0	0	0.00
Iridium_during_xfer	158	223	815.78
Transponder_ping	7	420	75.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.19
TT8	1667	19	330.26
LPSleep	13287	2	290.99
TT8_Active	540	19	107.07
TT8_Sampling	2162	39	860.82
TT8_CF8	772	45	353.62
TT8_Kalman	33	81	27.28
Analog_circuits	1693	12	203.22
GPS_charging	0	0	0.00
Compass	2278	8	182.29
RAFOS	0	0	0.00
Transponder	55	30	16.52

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	-59.62	0.000	6	0.000	0.000	396	2458	3432
81	-1.17	-146.6	4.8	-9.7	3	101	11.50	2.47	0.00	0.000	4	0.137	0.036	2535	1060	3433
349	-1.17	-146.6	43.7	-11.1	15	353	0.00	2.47	0.00	0.000	6	0.000	0.035	2535	2477	3434
675	-1.17	-146.6	81.0	-11.8	31	680	0.00	2.47	0.00	0.000	4	0.000	0.038	2535	1061	3434
716	-1.17	-146.6	86.0	-12.8	33	720	0.00	2.50	0.00	0.000	6	0.000	0.035	2535	2476	3434
1048	-1.17	-146.6	130.1	-14.1	49	1052	0.00	2.45	0.00	0.000	4	0.000	0.059	2535	3830	3435
1171	-1.17	-146.6	149.0	-14.1	54	1177	0.00	2.33	0.00	0.000	6	0.000	0.028	2535	2439	3435
1488	-1.17	-146.6	193.9	-13.7	70	1490	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2438	3435
1795	-1.17	-146.6	233.4	-12.3	85	1799	0.00	2.38	0.00	0.000	4	0.000	0.041	2535	1076	3434
1862	-1.17	-146.6	241.3	-12.2	88	1866	0.00	2.45	0.00	0.000	6	0.000	0.038	2535	2473	3434
2182	-1.17	-146.6	278.6	-11.6	104	2187	0.00	2.45	0.00	0.000	4	0.000	0.041	2535	1077	3434
2267	-1.17	-146.6	289.4	-13.3	108	2271	0.00	2.45	0.00	0.000	6	0.000	0.038	2535	2478	3435
2593	-1.17	-146.6	329.9	-11.5	124	2597	0.00	2.45	0.00	0.000	4	0.000	0.041	2535	1083	3434
2677	-1.17	-146.6	339.3	-10.9	128	2681	0.00	2.45	0.00	0.000	6	0.000	0.038	2535	2480	3435
3004	-1.17	-146.6	372.8	-10.5	144	3008	0.00	2.45	0.00	0.000	4	0.000	0.042	2535	1085	3435
3047	-1.17	-146.6	377.7	-10.3	146	3051	0.00	2.45	0.00	0.000	6	0.000	0.039	2535	2476	3434
3368	-1.17	-146.6	408.6	-8.7	162	3372	0.00	2.45	0.00	0.000	4	0.000	0.043	2535	1081	3434
3435	-1.17	-146.6	414.5	-9.1	165	3439	0.00	2.45	0.00	0.000	6	0.000	0.039	2535	2477	3435
3757	-1.17	-146.6	440.8	-8.6	181	3761	0.00	2.45	0.00	0.000	4	0.000	0.043	2535	1085	3435
3834	-1.17	-146.6	447.6	-8.1	184	3841	0.00	2.45	0.00	0.000	6	0.000	0.040	2534	2480	3435
4150	-1.17	-146.6	468.2	-5.7	200	4155	0.00	2.47	0.00	0.000	4	0.000	0.043	2535	1076	3434
4195	-1.17	-146.6	471.0	-5.8	202	4200	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2472	3434
4521	-1.17	-146.6	485.1	-3.6	218	4526	0.00	2.47	0.00	0.000	4	0.000	0.061	2535	3837	3434
4586	-1.17	-146.6	487.1	-3.2	221	4590	0.00	2.30	0.00	0.000	6	0.000	0.031	2535	2482	3434
4912	-1.17	-146.6	496.9	-3.1	237	4913	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2481	3434
5224	-1.17	-146.6	509.3	-5.7	252	5228	0.00	2.45	0.00	0.000	4	0.000	0.044	2535	1079	3434
5310	-1.17	-146.6	513.7	-5.3	256	5314	0.00	2.47	0.00	0.000	6	0.000	0.041	2535	2485	3434
5639	-1.17	-146.6	537.6	-8.2	272	5643	0.00	2.47	0.00	0.000	4	0.000	0.044	2535	1079	3434
5701	-1.17	-146.6	542.5	-7.3	275	5705	0.00	2.47	0.00	0.000	6	0.000	0.042	2535	2484	3434
6028	-1.17	-146.6	570.8	-7.6	291	6032	0.00	2.47	0.00	0.000	4	0.000	0.045	2535	1081	3433
6161	-1.17	-146.6	580.8	-7.6	297	6166	0.00	2.47	0.00	0.000	6	0.000	0.042	2535	2482	3433
6482	-1.17	-146.6	604.5	-8.0	313	6484	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2481	3432
6792	-1.17	-146.6	632.8	-9.4	328	6796	0.00	2.45	0.00	0.000	4	0.000	0.064	2535	3830	3432
6996	-1.17	-146.6	650.1	-6.8	337	7000	0.00	2.30	0.00	0.000	6	0.000	0.032	2535	2480	3431
7318	-1.17	-146.6	662.0	-2.2	353	7322	0.00	2.47	0.00	0.000	4	0.000	0.045	2535	1069	3431
7432	-1.17	-146.6	663.4	-1.3	358	7436	0.00	2.50	0.00	0.000	6	0.000	0.042	2535	2485	3431
7753	-1.17	-146.6	667.8	-2.1	374	7757	0.00	2.50	0.00	0.000	4	0.000	0.046	2535	1076	3430
7848	-1.17	-146.6	670.7	-3.6	378	7852	0.00	2.47	0.00	0.000	6	0.000	0.042	2535	2475	3430
8164	-1.17	-146.6	686.4	-6.5	393	8165	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2475	3429
8472	-1.17	-146.6	712.7	-9.3	408	8476	0.00	2.50	0.00	0.000	4	0.000	0.051	2535	1078	3427
8543	-1.17	-146.6	719.8	-10.0	411	8548	0.00	2.50	0.00	0.000	6	0.000	0.047	2535	2479	3427
8860	-1.17	-146.6	749.3	-8.6	426	8865	0.00	2.55	0.00	0.000	4	0.000	0.051	2535	1078	3426
8943	-1.17	-146.6	756.0	-7.8	429	8950	0.00	2.50	0.00	0.000	6	0.000	0.048	2535	2474	3425
9258	-1.17	-146.6	781.4	-8.3	445	9263	0.00	2.53	0.00	0.000	4	0.000	0.052	2535	1074	3424
9348	-1.17	-146.6	786.9	-7.3	449	9352	0.00	2.53	0.00	0.000	6	0.000	0.046	2535	2487	3424
9668	-1.17	-146.6	808.4	-8.4	465	9673	0.00	2.55	0.00	0.000	4	0.000	0.053	2535	1075	3423
9721	-1.17	-146.6	813.1	-7.9	467	9725	0.00	2.53	0.00	0.000	6	0.000	0.048	2535	2483	3423
10036	-1.17	-146.6	837.4	-8.1	482	10041	0.00	2.55	0.00	0.000	4	0.000	0.053	2535	1085	3421
10114	-1.17	-146.6	846.3	-12.4	485	10118	0.00	2.47	0.00	0.000	6	0.000	0.047	2535	2475	3421
10406	end dive: BOTTOM_OBSTACLE_DETECTED
state	10406	begin apogee
10414	-0.36	0.0	873.1	8.0	499	10550	0.88	0.00	129.43	1.393	6	0.069	0.000	2721	1470	2831
10551	end apogee: CONTROL_FINISHED_OK
state	10551	begin climb
10553	1.17	146.6	880.9	0.0	506	10695	1.55	2.67	133.23	1.332	4	0.051	0.057	3057	2867	2233
11035	1.36	294.9	855.8	2.4	528	11177	0.17	2.55	133.10	1.324	6	0.037	0.050	3114	1456	1629
11487	1.36	294.9	798.8	12.3	549	11491	0.00	2.58	0.00	0.000	4	0.000	0.054	3114	2865	1616
11609	1.36	294.9	786.3	9.7	554	11616	0.00	2.53	0.00	0.000	6	0.000	0.048	3114	1454	1615
11925	1.36	294.9	756.1	8.9	570	11926	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	1453	1613
12234	1.36	294.9	722.9	11.4	585	12238	0.00	2.20	0.00	0.000	4	0.000	0.068	3114	262	1612
12267	1.36	294.9	718.5	13.8	586	12271	0.00	2.08	0.00	0.000	6	0.000	0.037	3114	1470	1612
12591	1.36	294.9	675.9	14.8	602	12592	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	1472	1611
12897	1.36	294.9	626.9	15.2	617	12901	0.00	2.25	0.00	0.000	4	0.000	0.066	3113	261	1610
12926	1.36	294.9	622.4	15.4	618	12930	0.00	2.05	0.00	0.000	6	0.000	0.035	3114	1456	1610
13253	1.36	294.9	581.5	11.4	634	13256	0.00	2.20	0.00	0.000	4	0.000	0.061	3114	260	1610
13325	1.36	294.9	573.1	11.1	637	13329	0.00	2.05	0.00	0.000	6	0.000	0.034	3114	1456	1610
13655	1.43	353.5	548.4	5.5	653	13711	0.00	2.25	51.70	1.174	4	0.000	0.060	3114	261	1389
13728	1.46	375.8	543.1	6.7	655	13756	0.00	2.08	21.60	1.095	6	0.000	0.034	3114	1464	1300
14067	1.46	375.8	514.3	9.7	672	14071	0.00	2.20	0.00	0.000	4	0.000	0.058	3113	254	1292
14094	1.46	375.8	510.8	11.3	673	14100	0.00	2.08	0.00	0.000	6	0.000	0.032	3113	1458	1292
14421	1.46	375.8	475.3	11.5	689	14422	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	1459	1291
14731	1.47	387.6	447.3	7.1	704	14746	0.00	2.22	11.05	0.973	4	0.000	0.056	3113	257	1250
14824	1.47	387.6	439.7	7.7	708	14828	0.00	2.05	0.00	0.000	6	0.000	0.030	3114	1461	1248
15151	1.47	387.6	401.9	13.6	724	15155	0.00	2.20	0.00	0.000	4	0.000	0.057	3114	255	1247
15241	1.47	387.6	387.5	16.3	728	15245	0.00	2.05	0.00	0.000	6	0.000	0.030	3114	1466	1247
15576	1.47	387.6	328.2	18.2	744	15580	0.00	2.20	0.00	0.000	4	0.000	0.055	3113	254	1247
15637	1.47	387.6	316.3	17.8	746	15643	0.00	2.03	0.00	0.000	6	0.000	0.029	3114	1455	1247
15955	1.47	387.6	265.8	15.1	762	15959	0.00	2.17	0.00	0.000	4	0.000	0.055	3114	254	1247
16011	1.47	387.6	256.6	15.8	764	16014	0.00	2.03	0.00	0.000	6	0.000	0.029	3114	1455	1247
16332	1.47	387.6	213.9	14.1	780	16335	0.00	2.17	0.00	0.000	4	0.000	0.054	3113	253	1247
16393	1.47	387.6	204.1	16.4	782	16399	0.00	2.03	0.00	0.000	6	0.000	0.029	3114	1455	1247
16708	1.47	387.6	159.8	11.3	798	16710	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	1455	1248
17019	1.47	387.6	130.2	9.7	813	17023	0.00	2.15	0.00	0.000	4	0.000	0.054	3114	254	1247
17161	1.47	387.6	113.0	14.7	819	17164	0.00	2.03	0.00	0.000	6	0.000	0.029	3114	1461	1247
17488	1.47	387.6	71.6	13.1	835	17489	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	1462	1248
17798	1.47	387.6	28.4	13.7	850	17802	0.00	2.17	0.00	0.000	4	0.000	0.053	3113	253	1248
17854	1.47	387.6	19.6	16.3	852	17858	0.00	2.03	0.00	0.000	6	0.000	0.029	3114	1465	1248
17987	end climb: SURFACE_DEPTH_REACHED
state	17987	begin surface coast
18009	end surface coast: CONTROL_FINISHED_OK
state	18009	begin surface