Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 24 * 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 24 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 28 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 -1628523.9 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 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 -1628523.9

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 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 28 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 24 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 050636,6142.270,-854.256,38,1.1,38,-9.2 TGT_NAME FBC_SIL

_CALLS 2 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.203,-0.127

_SM_DEPTHo 0.75 KALMAN_X -110516.1,-96.3,681.1,76533.6,-14354.8

_SM_ANGLEo -58.6 KALMAN_Y 58118.5,678.6,483.8,-26774.3,2643.2

GPS2 051534,6142.315,-854.431,15,3.2,34,-9.2 MHEAD_RNG_PITCHd_Wd 131.3,34593,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027236 ALTIM_BOTTOM_PING 750.3,77.2

SM_CCo 19496,23.52,0.732,0,0,1609,300.00 _24V_AH 23.1,21.571

SM_GC 0.98,0.00,0.00,23.52,0.000,0.000,0.732,398,2452,1609,-11.05,-0.71,300.00 _10V_AH 10.0,9.118

IRIDIUM_FIX 6117.23,-857.89,040998,050511 DATA_FILE_SIZE 47504,935

TT8_MAMPS 0.027612 CAP_FILE_SIZE 147980,0

HUMID 1801 CFSIZE 260165632,256438272

INTERNAL_PRESSURE 8.07973 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 17.50 GPS 100609,104307,6142.452,-858.818,41,1.0,41,-9.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 81.52 SBE_CT 832 24 461.57

Roll_motor 181 71 299.31 SBE_O2 641 19 281.56

VBD_pump_during_apogee 368 1352 11523.85 WL_BB2F 543 105 1317.15

VBD_pump_during_surface 23 731 397.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 103 116.68 nil 0 0 0.00

Iridium_during_connect 54 160 201.28 nil 0 0 0.00

Iridium_during_xfer 224 223 1156.32

Transponder_ping 6 420 65.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 37 50 18.70

TT8 1763 19 349.23

LPSleep 14660 2 321.07

TT8_Active 520 19 103.14

TT8_Sampling 2195 39 873.72

TT8_CF8 915 45 419.19

TT8_Kalman 33 81 27.28

Analog_circuits 1660 12 199.31

GPS_charging 0 0 0.00

Compass 2321 8 185.74

RAFOS 0 0 0.00

Transponder 47 30 14.21

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.17 -146.6 0.0 0.0 0 77 0.00 0.00 -59.53 0.000 6 0.000 0.000 397 2454 3431

80 -1.17 -146.6 2.7 -4.3 3 101 11.48 2.40 0.00 0.000 4 0.137 0.033 2535 1058 3432

281 -1.17 -146.6 30.2 -9.0 12 285 0.00 2.47 0.00 0.000 6 0.000 0.032 2534 2486 3433

608 -1.17 -146.6 59.7 -9.4 28 612 0.00 2.47 0.00 0.000 4 0.000 0.035 2535 1061 3433

640 -1.17 -146.6 63.0 -10.6 29 646 0.00 2.45 0.00 0.000 6 0.000 0.032 2535 2480 3433

957 -1.17 -146.6 96.4 -11.4 45 961 0.00 2.42 0.00 0.000 4 0.000 0.057 2535 3825 3433

1023 -1.17 -146.6 104.6 -12.2 48 1027 0.00 2.30 0.00 0.000 6 0.000 0.026 2535 2453 3433

1344 -1.17 -146.6 136.4 -8.7 64 1348 0.00 2.38 0.00 0.000 4 0.000 0.036 2535 1077 3433

1393 -1.17 -146.6 140.8 -8.4 66 1398 0.00 2.42 0.00 0.000 6 0.000 0.031 2535 2486 3433

1709 -1.17 -146.6 165.7 -8.5 81 1713 0.00 2.45 0.00 0.000 4 0.000 0.036 2535 1076 3433

1804 -1.17 -146.6 174.6 -9.4 85 1808 0.00 2.42 0.00 0.000 6 0.000 0.032 2535 2477 3433

2120 -1.17 -146.6 206.5 -11.2 100 2124 0.00 2.42 0.00 0.000 4 0.000 0.038 2535 1084 3434

2188 -1.17 -146.6 214.6 -12.0 103 2193 0.00 2.42 0.00 0.000 6 0.000 0.035 2535 2475 3433

2509 -1.17 -146.6 247.8 -9.4 119 2510 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2476 3434

2819 -1.17 -146.6 274.6 -8.0 134 2820 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2476 3433

3128 -1.17 -146.6 302.1 -9.1 149 3129 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2476 3433

3440 -1.17 -146.6 326.5 -7.8 164 3444 0.00 2.42 0.00 0.000 4 0.000 0.039 2534 1084 3433

3513 -1.17 -146.6 332.2 -8.3 167 3518 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2480 3433

3834 -1.17 -146.6 356.1 -7.3 183 3838 0.00 2.45 0.00 0.000 4 0.000 0.039 2535 1078 3433

3900 -1.17 -146.6 361.2 -7.4 186 3904 0.00 2.45 0.00 0.000 6 0.000 0.037 2535 2481 3433

4220 -1.17 -146.6 389.8 -9.2 202 4225 0.00 2.47 0.00 0.000 4 0.000 0.040 2535 1084 3433

4288 -1.17 -146.6 395.6 -8.2 205 4292 0.00 2.45 0.00 0.000 6 0.000 0.038 2535 2482 3433

4614 -1.17 -146.6 428.9 -10.8 221 4616 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2482 3433

4923 -1.17 -146.6 458.3 -8.7 236 4928 0.00 2.47 0.00 0.000 4 0.000 0.042 2535 1090 3433

5001 -1.17 -146.6 464.7 -8.1 239 5005 0.00 2.42 0.00 0.000 6 0.000 0.038 2535 2476 3433

5317 -1.17 -146.6 491.1 -8.5 254 5321 0.00 2.45 0.00 0.000 4 0.000 0.061 2535 3828 3433

5447 -1.17 -146.6 502.7 -8.5 260 5451 0.00 2.28 0.00 0.000 6 0.000 0.029 2535 2482 3432

5775 -1.17 -146.6 526.4 -6.9 276 5779 0.00 2.45 0.00 0.000 4 0.000 0.041 2535 1074 3432

5825 -1.17 -146.6 530.2 -6.9 278 5829 0.00 2.45 0.00 0.000 6 0.000 0.037 2535 2478 3432

6140 -1.17 -146.6 553.2 -7.1 293 6145 0.00 2.50 0.00 0.000 4 0.000 0.042 2535 1077 3432

6186 -1.17 -146.6 556.5 -7.4 295 6190 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2472 3432

6521 -1.17 -146.6 580.5 -7.4 311 6522 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2472 3431

6828 -1.17 -146.6 603.9 -7.5 326 6832 0.00 2.47 0.00 0.000 4 0.000 0.044 2535 1074 3430

6883 -1.17 -146.6 608.4 -7.8 328 6889 0.00 2.47 0.00 0.000 6 0.000 0.041 2535 2477 3430

7199 -1.17 -146.6 634.1 -8.4 344 7203 0.00 2.47 0.00 0.000 4 0.000 0.067 2535 3827 3429

7298 -1.17 -146.6 642.9 -8.8 348 7305 0.00 2.30 0.00 0.000 6 0.000 0.031 2535 2478 3429

7615 -1.17 -146.6 665.9 -6.9 364 7619 0.00 2.47 0.00 0.000 4 0.000 0.046 2535 1073 3428

7716 -1.17 -146.6 672.5 -6.5 368 7722 0.00 2.47 0.00 0.000 6 0.000 0.042 2535 2474 3427

8033 -1.17 -146.6 692.2 -6.5 384 8037 0.00 2.50 0.00 0.000 4 0.000 0.048 2535 1075 3426

8099 -1.17 -146.6 696.4 -7.6 387 8104 0.00 2.53 0.00 0.000 6 0.000 0.044 2535 2474 3426

8426 -1.17 -146.6 717.4 -6.2 403 8430 0.00 2.50 0.00 0.000 4 0.000 0.049 2535 1078 3424

8503 -1.17 -146.6 722.4 -7.1 406 8509 0.00 2.50 0.00 0.000 6 0.000 0.044 2535 2483 3424

8819 -1.17 -146.6 749.1 -9.1 422 8823 0.00 2.53 0.00 0.000 4 0.000 0.050 2535 1077 3422

8888 -1.17 -146.6 756.5 -9.9 425 8892 0.00 2.50 0.00 0.000 6 0.000 0.045 2535 2478 3422

9210 -1.17 -146.6 778.8 -6.5 441 9215 0.00 2.55 0.00 0.000 4 0.000 0.052 2535 1078 3420

9294 -1.17 -146.6 784.3 -4.7 444 9300 0.00 2.50 0.00 0.000 6 0.000 0.047 2535 2474 3420

9611 -1.17 -146.6 801.7 -7.5 460 9613 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2474 3419

9834 end dive: BOTTOM_OBSTACLE_DETECTED

state 9834 begin apogee

9842 -0.36 0.0 818.6 7.9 471 9977 0.88 0.00 128.65 1.352 6 0.075 0.000 2718 1472 2831

9977 end apogee: CONTROL_FINISHED_OK

state 9978 begin climb

9980 1.17 146.6 825.5 0.0 478 10121 1.55 2.38 132.82 1.298 4 0.050 0.071 3056 264 2233

10458 1.17 146.6 795.2 8.2 500 10462 0.00 2.10 0.00 0.000 6 0.000 0.041 3056 1467 2222

10790 1.17 146.6 765.0 8.3 516 10791 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1468 2219

11100 1.21 173.3 742.3 6.6 531 11129 0.00 2.35 22.75 1.259 4 0.000 0.067 3056 258 2124

11158 1.21 173.3 737.3 9.3 533 11164 0.00 2.08 0.00 0.000 6 0.000 0.036 3056 1457 2123

11476 1.21 173.3 713.2 8.4 549 11480 0.00 2.53 0.00 0.000 4 0.000 0.052 3056 2855 2120

11503 1.21 173.3 710.7 7.6 550 11508 0.00 2.53 0.00 0.000 6 0.000 0.045 3056 1458 2119

11824 1.23 192.7 685.8 6.8 566 11849 0.00 2.60 18.35 1.238 4 0.000 0.051 3056 2846 2045

11913 1.23 192.7 678.5 7.8 570 11917 0.00 2.50 0.00 0.000 6 0.000 0.045 3057 1452 2044

12242 1.23 193.6 653.4 7.5 586 12243 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1453 2042

12549 1.23 193.6 630.6 7.9 601 12553 0.00 2.53 0.00 0.000 4 0.000 0.051 3056 2855 2041

12581 1.23 193.6 627.7 8.2 602 12588 0.00 2.50 0.00 0.000 6 0.000 0.044 3056 1450 2040

12897 1.23 193.6 598.9 9.6 618 12901 0.00 2.53 0.00 0.000 4 0.000 0.049 3056 2850 2039

13030 1.23 193.6 586.2 9.7 624 13034 0.00 2.47 0.00 0.000 6 0.000 0.044 3056 1454 2039

13353 1.23 193.6 554.4 9.9 640 13357 0.00 2.50 0.00 0.000 4 0.000 0.046 3056 2853 2039

13438 1.23 193.6 546.0 9.7 644 13442 0.00 2.50 0.00 0.000 6 0.000 0.041 3056 1445 2039

13764 1.23 193.6 517.6 7.8 660 13768 0.00 2.50 0.00 0.000 4 0.000 0.043 3056 2853 2039

13886 1.28 228.6 508.8 6.3 665 13926 0.00 2.47 32.60 1.168 6 0.000 0.040 3056 1453 1900

14243 1.28 228.6 483.3 7.9 683 14247 0.00 2.17 0.00 0.000 4 0.000 0.061 3056 259 1895

14282 1.28 228.6 480.1 8.7 684 14288 0.00 2.03 0.00 0.000 6 0.000 0.031 3056 1469 1895

14598 1.28 228.6 455.0 8.6 700 14601 0.00 2.20 0.00 0.000 4 0.000 0.058 3056 260 1895

14659 1.28 228.6 448.8 9.7 702 14665 0.00 2.03 0.00 0.000 6 0.000 0.030 3056 1460 1894

14975 1.28 228.6 423.0 7.5 718 14979 0.00 2.45 0.00 0.000 4 0.000 0.043 3056 2845 1894

15052 1.29 242.8 417.2 7.0 721 15074 0.12 2.42 13.68 1.006 6 0.042 0.037 3104 1452 1841

15393 1.29 242.8 383.2 12.0 738 15394 0.12 0.00 0.00 0.000 6 0.085 0.000 3080 1452 1839

15699 1.29 242.8 351.2 10.3 753 15704 0.00 2.45 0.00 0.000 4 0.000 0.040 3079 2840 1840

15727 1.29 242.8 347.7 12.1 754 15731 0.00 2.42 0.00 0.000 6 0.000 0.036 3079 1453 1839

16042 1.29 242.8 312.7 11.1 769 16046 0.00 2.42 0.00 0.000 4 0.000 0.038 3079 2840 1839

16075 1.29 242.8 308.9 10.5 770 16082 0.00 2.42 0.00 0.000 6 0.000 0.035 3079 1449 1840

16394 1.29 242.8 276.8 9.2 786 16398 0.00 2.45 0.00 0.000 4 0.000 0.038 3079 2850 1840

16434 1.29 242.8 273.1 8.2 788 16438 0.00 2.42 0.00 0.000 6 0.000 0.035 3079 1456 1840

16760 1.29 242.8 247.3 7.5 804 16761 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1456 1841

17071 1.29 242.8 220.7 11.0 819 17075 0.00 2.15 0.00 0.000 4 0.000 0.057 3079 258 1841

17132 1.29 242.8 213.5 11.9 821 17139 0.00 2.00 0.00 0.000 6 0.000 0.028 3079 1459 1841

17451 1.29 242.8 183.1 9.3 837 17455 0.00 2.40 0.00 0.000 4 0.000 0.041 3079 2835 1841

17491 1.29 242.8 179.3 9.3 839 17495 0.00 2.40 0.00 0.000 6 0.000 0.035 3079 1453 1841

17817 1.29 242.8 147.4 10.3 855 17819 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1453 1842

18128 1.29 242.8 116.2 9.8 870 18129 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1453 1842

18436 1.29 242.8 86.4 9.1 885 18440 0.00 2.12 0.00 0.000 4 0.000 0.054 3079 261 1843

18508 1.29 242.8 78.6 10.7 888 18512 0.00 2.00 0.00 0.000 6 0.000 0.028 3079 1464 1843

18835 1.32 263.8 53.8 6.8 904 18857 0.00 0.00 20.08 0.766 6 0.000 0.000 3079 1466 1756

19166 1.32 263.8 28.9 8.5 920 19167 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1466 1752

19452 end climb: SURFACE_DEPTH_REACHED

state 19452 begin surface coast

19472 end surface coast: CONTROL_FINISHED_OK

state 19472 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	24	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	28	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	-1628523.9	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	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	050636,6142.270,-854.256,38,1.1,38,-9.2	TGT_NAME	FBC_SIL
_CALLS	2	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.203,-0.127
_SM_DEPTHo	0.75	KALMAN_X	-110516.1,-96.3,681.1,76533.6,-14354.8
_SM_ANGLEo	-58.6	KALMAN_Y	58118.5,678.6,483.8,-26774.3,2643.2
GPS2	051534,6142.315,-854.431,15,3.2,34,-9.2	MHEAD_RNG_PITCHd_Wd	131.3,34593,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.1,1.027236	ALTIM_BOTTOM_PING	750.3,77.2
SM_CCo	19496,23.52,0.732,0,0,1609,300.00	_24V_AH	23.1,21.571
SM_GC	0.98,0.00,0.00,23.52,0.000,0.000,0.732,398,2452,1609,-11.05,-0.71,300.00	_10V_AH	10.0,9.118
IRIDIUM_FIX	6117.23,-857.89,040998,050511	DATA_FILE_SIZE	47504,935
TT8_MAMPS	0.027612	CAP_FILE_SIZE	147980,0
HUMID	1801	CFSIZE	260165632,256438272
INTERNAL_PRESSURE	8.07973	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	17.50	GPS	100609,104307,6142.452,-858.818,41,1.0,41,-9.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	81.52	SBE_CT	832	24	461.57
Roll_motor	181	71	299.31	SBE_O2	641	19	281.56
VBD_pump_during_apogee	368	1352	11523.85	WL_BB2F	543	105	1317.15
VBD_pump_during_surface	23	731	397.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	103	116.68	nil	0	0	0.00
Iridium_during_connect	54	160	201.28	nil	0	0	0.00
Iridium_during_xfer	224	223	1156.32
Transponder_ping	6	420	65.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	37	50	18.70
TT8	1763	19	349.23
LPSleep	14660	2	321.07
TT8_Active	520	19	103.14
TT8_Sampling	2195	39	873.72
TT8_CF8	915	45	419.19
TT8_Kalman	33	81	27.28
Analog_circuits	1660	12	199.31
GPS_charging	0	0	0.00
Compass	2321	8	185.74
RAFOS	0	0	0.00
Transponder	47	30	14.21

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.17	-146.6	0.0	0.0	0	77	0.00	0.00	-59.53	0.000	6	0.000	0.000	397	2454	3431
80	-1.17	-146.6	2.7	-4.3	3	101	11.48	2.40	0.00	0.000	4	0.137	0.033	2535	1058	3432
281	-1.17	-146.6	30.2	-9.0	12	285	0.00	2.47	0.00	0.000	6	0.000	0.032	2534	2486	3433
608	-1.17	-146.6	59.7	-9.4	28	612	0.00	2.47	0.00	0.000	4	0.000	0.035	2535	1061	3433
640	-1.17	-146.6	63.0	-10.6	29	646	0.00	2.45	0.00	0.000	6	0.000	0.032	2535	2480	3433
957	-1.17	-146.6	96.4	-11.4	45	961	0.00	2.42	0.00	0.000	4	0.000	0.057	2535	3825	3433
1023	-1.17	-146.6	104.6	-12.2	48	1027	0.00	2.30	0.00	0.000	6	0.000	0.026	2535	2453	3433
1344	-1.17	-146.6	136.4	-8.7	64	1348	0.00	2.38	0.00	0.000	4	0.000	0.036	2535	1077	3433
1393	-1.17	-146.6	140.8	-8.4	66	1398	0.00	2.42	0.00	0.000	6	0.000	0.031	2535	2486	3433
1709	-1.17	-146.6	165.7	-8.5	81	1713	0.00	2.45	0.00	0.000	4	0.000	0.036	2535	1076	3433
1804	-1.17	-146.6	174.6	-9.4	85	1808	0.00	2.42	0.00	0.000	6	0.000	0.032	2535	2477	3433
2120	-1.17	-146.6	206.5	-11.2	100	2124	0.00	2.42	0.00	0.000	4	0.000	0.038	2535	1084	3434
2188	-1.17	-146.6	214.6	-12.0	103	2193	0.00	2.42	0.00	0.000	6	0.000	0.035	2535	2475	3433
2509	-1.17	-146.6	247.8	-9.4	119	2510	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2476	3434
2819	-1.17	-146.6	274.6	-8.0	134	2820	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2476	3433
3128	-1.17	-146.6	302.1	-9.1	149	3129	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2476	3433
3440	-1.17	-146.6	326.5	-7.8	164	3444	0.00	2.42	0.00	0.000	4	0.000	0.039	2534	1084	3433
3513	-1.17	-146.6	332.2	-8.3	167	3518	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2480	3433
3834	-1.17	-146.6	356.1	-7.3	183	3838	0.00	2.45	0.00	0.000	4	0.000	0.039	2535	1078	3433
3900	-1.17	-146.6	361.2	-7.4	186	3904	0.00	2.45	0.00	0.000	6	0.000	0.037	2535	2481	3433
4220	-1.17	-146.6	389.8	-9.2	202	4225	0.00	2.47	0.00	0.000	4	0.000	0.040	2535	1084	3433
4288	-1.17	-146.6	395.6	-8.2	205	4292	0.00	2.45	0.00	0.000	6	0.000	0.038	2535	2482	3433
4614	-1.17	-146.6	428.9	-10.8	221	4616	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2482	3433
4923	-1.17	-146.6	458.3	-8.7	236	4928	0.00	2.47	0.00	0.000	4	0.000	0.042	2535	1090	3433
5001	-1.17	-146.6	464.7	-8.1	239	5005	0.00	2.42	0.00	0.000	6	0.000	0.038	2535	2476	3433
5317	-1.17	-146.6	491.1	-8.5	254	5321	0.00	2.45	0.00	0.000	4	0.000	0.061	2535	3828	3433
5447	-1.17	-146.6	502.7	-8.5	260	5451	0.00	2.28	0.00	0.000	6	0.000	0.029	2535	2482	3432
5775	-1.17	-146.6	526.4	-6.9	276	5779	0.00	2.45	0.00	0.000	4	0.000	0.041	2535	1074	3432
5825	-1.17	-146.6	530.2	-6.9	278	5829	0.00	2.45	0.00	0.000	6	0.000	0.037	2535	2478	3432
6140	-1.17	-146.6	553.2	-7.1	293	6145	0.00	2.50	0.00	0.000	4	0.000	0.042	2535	1077	3432
6186	-1.17	-146.6	556.5	-7.4	295	6190	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2472	3432
6521	-1.17	-146.6	580.5	-7.4	311	6522	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2472	3431
6828	-1.17	-146.6	603.9	-7.5	326	6832	0.00	2.47	0.00	0.000	4	0.000	0.044	2535	1074	3430
6883	-1.17	-146.6	608.4	-7.8	328	6889	0.00	2.47	0.00	0.000	6	0.000	0.041	2535	2477	3430
7199	-1.17	-146.6	634.1	-8.4	344	7203	0.00	2.47	0.00	0.000	4	0.000	0.067	2535	3827	3429
7298	-1.17	-146.6	642.9	-8.8	348	7305	0.00	2.30	0.00	0.000	6	0.000	0.031	2535	2478	3429
7615	-1.17	-146.6	665.9	-6.9	364	7619	0.00	2.47	0.00	0.000	4	0.000	0.046	2535	1073	3428
7716	-1.17	-146.6	672.5	-6.5	368	7722	0.00	2.47	0.00	0.000	6	0.000	0.042	2535	2474	3427
8033	-1.17	-146.6	692.2	-6.5	384	8037	0.00	2.50	0.00	0.000	4	0.000	0.048	2535	1075	3426
8099	-1.17	-146.6	696.4	-7.6	387	8104	0.00	2.53	0.00	0.000	6	0.000	0.044	2535	2474	3426
8426	-1.17	-146.6	717.4	-6.2	403	8430	0.00	2.50	0.00	0.000	4	0.000	0.049	2535	1078	3424
8503	-1.17	-146.6	722.4	-7.1	406	8509	0.00	2.50	0.00	0.000	6	0.000	0.044	2535	2483	3424
8819	-1.17	-146.6	749.1	-9.1	422	8823	0.00	2.53	0.00	0.000	4	0.000	0.050	2535	1077	3422
8888	-1.17	-146.6	756.5	-9.9	425	8892	0.00	2.50	0.00	0.000	6	0.000	0.045	2535	2478	3422
9210	-1.17	-146.6	778.8	-6.5	441	9215	0.00	2.55	0.00	0.000	4	0.000	0.052	2535	1078	3420
9294	-1.17	-146.6	784.3	-4.7	444	9300	0.00	2.50	0.00	0.000	6	0.000	0.047	2535	2474	3420
9611	-1.17	-146.6	801.7	-7.5	460	9613	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2474	3419
9834	end dive: BOTTOM_OBSTACLE_DETECTED
state	9834	begin apogee
9842	-0.36	0.0	818.6	7.9	471	9977	0.88	0.00	128.65	1.352	6	0.075	0.000	2718	1472	2831
9977	end apogee: CONTROL_FINISHED_OK
state	9978	begin climb
9980	1.17	146.6	825.5	0.0	478	10121	1.55	2.38	132.82	1.298	4	0.050	0.071	3056	264	2233
10458	1.17	146.6	795.2	8.2	500	10462	0.00	2.10	0.00	0.000	6	0.000	0.041	3056	1467	2222
10790	1.17	146.6	765.0	8.3	516	10791	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1468	2219
11100	1.21	173.3	742.3	6.6	531	11129	0.00	2.35	22.75	1.259	4	0.000	0.067	3056	258	2124
11158	1.21	173.3	737.3	9.3	533	11164	0.00	2.08	0.00	0.000	6	0.000	0.036	3056	1457	2123
11476	1.21	173.3	713.2	8.4	549	11480	0.00	2.53	0.00	0.000	4	0.000	0.052	3056	2855	2120
11503	1.21	173.3	710.7	7.6	550	11508	0.00	2.53	0.00	0.000	6	0.000	0.045	3056	1458	2119
11824	1.23	192.7	685.8	6.8	566	11849	0.00	2.60	18.35	1.238	4	0.000	0.051	3056	2846	2045
11913	1.23	192.7	678.5	7.8	570	11917	0.00	2.50	0.00	0.000	6	0.000	0.045	3057	1452	2044
12242	1.23	193.6	653.4	7.5	586	12243	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1453	2042
12549	1.23	193.6	630.6	7.9	601	12553	0.00	2.53	0.00	0.000	4	0.000	0.051	3056	2855	2041
12581	1.23	193.6	627.7	8.2	602	12588	0.00	2.50	0.00	0.000	6	0.000	0.044	3056	1450	2040
12897	1.23	193.6	598.9	9.6	618	12901	0.00	2.53	0.00	0.000	4	0.000	0.049	3056	2850	2039
13030	1.23	193.6	586.2	9.7	624	13034	0.00	2.47	0.00	0.000	6	0.000	0.044	3056	1454	2039
13353	1.23	193.6	554.4	9.9	640	13357	0.00	2.50	0.00	0.000	4	0.000	0.046	3056	2853	2039
13438	1.23	193.6	546.0	9.7	644	13442	0.00	2.50	0.00	0.000	6	0.000	0.041	3056	1445	2039
13764	1.23	193.6	517.6	7.8	660	13768	0.00	2.50	0.00	0.000	4	0.000	0.043	3056	2853	2039
13886	1.28	228.6	508.8	6.3	665	13926	0.00	2.47	32.60	1.168	6	0.000	0.040	3056	1453	1900
14243	1.28	228.6	483.3	7.9	683	14247	0.00	2.17	0.00	0.000	4	0.000	0.061	3056	259	1895
14282	1.28	228.6	480.1	8.7	684	14288	0.00	2.03	0.00	0.000	6	0.000	0.031	3056	1469	1895
14598	1.28	228.6	455.0	8.6	700	14601	0.00	2.20	0.00	0.000	4	0.000	0.058	3056	260	1895
14659	1.28	228.6	448.8	9.7	702	14665	0.00	2.03	0.00	0.000	6	0.000	0.030	3056	1460	1894
14975	1.28	228.6	423.0	7.5	718	14979	0.00	2.45	0.00	0.000	4	0.000	0.043	3056	2845	1894
15052	1.29	242.8	417.2	7.0	721	15074	0.12	2.42	13.68	1.006	6	0.042	0.037	3104	1452	1841
15393	1.29	242.8	383.2	12.0	738	15394	0.12	0.00	0.00	0.000	6	0.085	0.000	3080	1452	1839
15699	1.29	242.8	351.2	10.3	753	15704	0.00	2.45	0.00	0.000	4	0.000	0.040	3079	2840	1840
15727	1.29	242.8	347.7	12.1	754	15731	0.00	2.42	0.00	0.000	6	0.000	0.036	3079	1453	1839
16042	1.29	242.8	312.7	11.1	769	16046	0.00	2.42	0.00	0.000	4	0.000	0.038	3079	2840	1839
16075	1.29	242.8	308.9	10.5	770	16082	0.00	2.42	0.00	0.000	6	0.000	0.035	3079	1449	1840
16394	1.29	242.8	276.8	9.2	786	16398	0.00	2.45	0.00	0.000	4	0.000	0.038	3079	2850	1840
16434	1.29	242.8	273.1	8.2	788	16438	0.00	2.42	0.00	0.000	6	0.000	0.035	3079	1456	1840
16760	1.29	242.8	247.3	7.5	804	16761	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1456	1841
17071	1.29	242.8	220.7	11.0	819	17075	0.00	2.15	0.00	0.000	4	0.000	0.057	3079	258	1841
17132	1.29	242.8	213.5	11.9	821	17139	0.00	2.00	0.00	0.000	6	0.000	0.028	3079	1459	1841
17451	1.29	242.8	183.1	9.3	837	17455	0.00	2.40	0.00	0.000	4	0.000	0.041	3079	2835	1841
17491	1.29	242.8	179.3	9.3	839	17495	0.00	2.40	0.00	0.000	6	0.000	0.035	3079	1453	1841
17817	1.29	242.8	147.4	10.3	855	17819	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1453	1842
18128	1.29	242.8	116.2	9.8	870	18129	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	1453	1842
18436	1.29	242.8	86.4	9.1	885	18440	0.00	2.12	0.00	0.000	4	0.000	0.054	3079	261	1843
18508	1.29	242.8	78.6	10.7	888	18512	0.00	2.00	0.00	0.000	6	0.000	0.028	3079	1464	1843
18835	1.32	263.8	53.8	6.8	904	18857	0.00	0.00	20.08	0.766	6	0.000	0.000	3079	1466	1756
19166	1.32	263.8	28.9	8.5	920	19167	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	1466	1752
19452	end climb: SURFACE_DEPTH_REACHED
state	19452	begin surface coast
19472	end surface coast: CONTROL_FINISHED_OK
state	19472	begin surface