Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 25 * 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 25 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -1628538.9 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 -1628538.9

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 25 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 104307,6142.452,-858.818,41,1.0,41,-9.3 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.216,-0.104

_SM_DEPTHo 0.73 KALMAN_X -120050.6,814.2,479.9,81470.4,-16312.4

_SM_ANGLEo -59.3 KALMAN_Y 65174.4,-1926.0,-245.1,-30220.5,10911.9

GPS2 104826,6142.461,-858.862,14,1.1,14,-9.3 MHEAD_RNG_PITCHd_Wd 125.1,37790,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.026745 ALTIM_BOTTOM_PING 725.3,91.3

SM_CCo 18290,28.98,0.739,0,0,1609,300.00 _24V_AH 23.1,21.720

SM_GC 0.91,0.00,0.00,28.98,0.000,0.000,0.739,393,2471,1609,-11.07,-0.14,300.00 _10V_AH 10.0,9.207

IRIDIUM_FIX 6117.23,-852.70,040998,050511 DATA_FILE_SIZE 44326,878

TT8_MAMPS 0.027612 CAP_FILE_SIZE 136410,0

HUMID 1800 CFSIZE 260165632,256385024

INTERNAL_PRESSURE 8.08949 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 14.10 GPS 100609,155601,6141.511,-900.842,42,1.2,42,-9.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 80.99 SBE_CT 798 24 442.82

Roll_motor 170 71 280.98 SBE_O2 603 19 265.09

VBD_pump_during_apogee 359 1345 11157.36 WL_BB2F 510 105 1237.38

VBD_pump_during_surface 28 739 494.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 57.80 nil 0 0 0.00

Iridium_during_connect 26 160 98.27 nil 0 0 0.00

Iridium_during_xfer 146 223 754.15

Transponder_ping 6 420 60.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.16

TT8 1661 19 328.89

LPSleep 13708 2 300.22

TT8_Active 501 19 99.37

TT8_Sampling 2022 39 805.13

TT8_CF8 743 45 340.45

TT8_Kalman 33 81 27.28

Analog_circuits 1574 12 188.89

GPS_charging 0 0 0.00

Compass 2169 8 173.53

RAFOS 0 0 0.00

Transponder 44 30 13.37

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 -59.53 0.000 6 0.000 0.000 398 2453 3432

81 -1.17 -146.6 4.7 -9.3 3 101 11.48 2.42 0.00 0.000 4 0.136 0.034 2535 1054 3433

307 -1.17 -146.6 35.2 -8.4 13 312 0.00 2.47 0.00 0.000 6 0.000 0.031 2535 2482 3433

630 -1.17 -146.6 64.5 -10.5 29 634 0.00 2.47 0.00 0.000 4 0.000 0.035 2535 1058 3434

703 -1.17 -146.6 72.1 -9.9 32 707 0.00 2.45 0.00 0.000 6 0.000 0.031 2535 2475 3434

1018 -1.17 -146.6 102.0 -9.7 47 1020 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2476 3434

1329 -1.17 -146.6 131.6 -9.8 62 1333 0.00 2.47 0.00 0.000 4 0.000 0.036 2536 1055 3434

1423 -1.17 -146.6 141.3 -9.8 66 1428 0.00 2.50 0.00 0.000 6 0.000 0.032 2536 2474 3434

1743 -1.17 -146.6 170.4 -8.9 82 1747 0.00 2.47 0.00 0.000 4 0.000 0.036 2536 1053 3434

1787 -1.17 -146.6 174.4 -9.1 84 1791 0.00 2.47 0.00 0.000 6 0.000 0.033 2535 2477 3434

2107 -1.17 -146.6 202.8 -8.8 100 2108 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2477 3433

2416 -1.17 -146.6 230.8 -9.1 115 2421 0.00 2.47 0.00 0.000 4 0.000 0.038 2535 1060 3434

2456 -1.17 -146.6 234.5 -9.0 117 2461 0.00 2.47 0.00 0.000 6 0.000 0.036 2535 2477 3434

2782 -1.17 -146.6 262.6 -8.4 133 2786 0.00 2.47 0.00 0.000 4 0.000 0.040 2535 1061 3434

2837 -1.17 -146.6 267.6 -9.8 135 2845 0.00 2.50 0.00 0.000 6 0.000 0.037 2535 2470 3434

3153 -1.17 -146.6 294.4 -8.6 151 3157 0.00 2.47 0.00 0.000 4 0.000 0.040 2535 1057 3434

3202 -1.17 -146.6 298.8 -8.5 153 3206 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2475 3433

3519 -1.17 -146.6 326.6 -8.7 168 3523 0.00 2.47 0.00 0.000 4 0.000 0.041 2536 1061 3434

3551 -1.17 -146.6 329.8 -9.6 169 3558 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2478 3434

3867 -1.17 -146.6 357.2 -8.4 185 3871 0.00 2.47 0.00 0.000 4 0.000 0.040 2535 1062 3434

3911 -1.17 -146.6 361.0 -8.5 187 3916 0.00 2.50 0.00 0.000 6 0.000 0.038 2535 2470 3434

4237 -1.17 -146.6 385.9 -7.9 203 4241 0.00 2.47 0.00 0.000 4 0.000 0.041 2535 1061 3434

4292 -1.17 -146.6 390.2 -7.8 205 4298 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2477 3434

4608 -1.17 -146.6 413.7 -8.1 221 4612 0.00 2.50 0.00 0.000 4 0.000 0.042 2535 1069 3434

4634 -1.17 -146.6 416.1 -9.2 222 4639 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2486 3434

4956 -1.17 -146.6 444.5 -9.3 238 4957 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2486 3434

5265 -1.17 -146.6 470.0 -8.3 253 5269 0.00 2.50 0.00 0.000 4 0.000 0.043 2535 1064 3433

5308 -1.17 -146.6 473.6 -7.7 255 5313 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2478 3433

5630 -1.17 -146.6 499.5 -7.7 271 5631 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2478 3433

5942 -1.17 -146.6 522.0 -7.6 286 5946 0.00 2.50 0.00 0.000 4 0.000 0.042 2535 1058 3432

6049 -1.17 -146.6 530.0 -7.9 291 6053 0.00 2.50 0.00 0.000 6 0.000 0.039 2535 2484 3433

6375 -1.17 -146.6 556.7 -7.7 307 6379 0.00 2.45 0.00 0.000 4 0.000 0.064 2536 3827 3432

6414 -1.17 -146.6 559.8 -7.8 309 6418 0.00 2.33 0.00 0.000 6 0.000 0.029 2535 2454 3432

6740 -1.17 -146.6 587.1 -8.8 325 6744 0.00 2.50 0.00 0.000 4 0.000 0.060 2536 3827 3431

7019 -1.17 -146.6 611.5 -6.3 337 7025 0.00 2.30 0.00 0.000 6 0.000 0.030 2535 2474 3431

7336 -1.17 -146.6 628.0 -4.4 353 7340 0.00 2.50 0.00 0.000 4 0.000 0.064 2535 3829 3430

7380 -1.17 -146.6 629.9 -5.9 355 7384 0.00 2.30 0.00 0.000 6 0.000 0.031 2535 2479 3430

7702 -1.17 -146.6 656.1 -8.1 371 7706 0.00 2.47 0.00 0.000 4 0.000 0.047 2535 1076 3429

7768 -1.17 -146.6 662.0 -8.6 374 7772 0.00 2.47 0.00 0.000 6 0.000 0.041 2536 2475 3429

8089 -1.17 -146.6 690.2 -9.0 390 8093 0.00 2.50 0.00 0.000 4 0.000 0.048 2535 1076 3427

8177 -1.17 -146.6 698.2 -8.9 394 8181 0.00 2.47 0.00 0.000 6 0.000 0.044 2536 2476 3426

8499 -1.17 -146.6 721.3 -7.7 410 8503 0.00 2.50 0.00 0.000 4 0.000 0.050 2535 1078 3424

8560 -1.17 -146.6 725.3 -7.1 412 8566 0.00 2.47 0.00 0.000 6 0.000 0.045 2535 2474 3424

8875 -1.17 -146.6 753.3 -9.7 428 8879 0.00 2.50 0.00 0.000 4 0.000 0.051 2535 1079 3423

8941 -1.17 -146.6 759.2 -8.9 431 8945 0.00 2.50 0.00 0.000 6 0.000 0.047 2535 2476 3423

9262 -1.17 -146.6 784.8 -4.4 447 9267 0.00 2.53 0.00 0.000 4 0.000 0.051 2536 1084 3421

9353 -1.17 -146.6 787.7 -3.7 451 9358 0.00 2.50 0.00 0.000 6 0.000 0.047 2536 2469 3421

9685 -1.17 -146.6 805.1 -5.3 467 9686 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2469 3419

9724 end dive: BOTTOM_OBSTACLE_DETECTED

state 9724 begin apogee

9732 -0.36 0.0 806.9 4.5 469 9867 0.88 0.00 128.55 1.345 6 0.076 0.000 2719 1466 2831

9867 end apogee: CONTROL_FINISHED_OK

state 9867 begin climb

9870 1.17 146.6 806.8 0.0 476 10012 1.58 2.30 132.75 1.285 4 0.057 0.071 3055 263 2232

10349 1.17 146.6 779.6 7.6 498 10353 0.00 2.10 0.00 0.000 6 0.000 0.041 3055 1472 2221

10682 1.25 210.3 757.3 5.3 514 10747 0.00 2.35 56.92 1.290 4 0.000 0.070 3055 264 1973

10815 1.25 210.3 746.2 10.6 520 10819 0.00 2.08 0.00 0.000 6 0.000 0.038 3055 1458 1968

11150 1.26 218.7 715.8 7.2 536 11164 0.00 2.30 7.40 1.068 4 0.000 0.065 3055 260 1940

11223 1.26 218.7 702.9 16.9 539 11227 0.00 2.08 0.00 0.000 6 0.000 0.037 3055 1458 1939

11550 1.27 225.4 676.6 7.3 555 11559 0.00 0.00 7.35 1.071 6 0.000 0.000 3055 1458 1914

11861 1.27 225.4 651.0 9.6 570 11865 0.00 2.53 0.00 0.000 4 0.000 0.052 3055 2855 1911

11901 1.27 225.4 647.4 9.1 572 11905 0.00 2.53 0.00 0.000 6 0.000 0.045 3055 1449 1910

12229 1.27 225.4 617.9 9.3 588 12234 0.00 2.55 0.00 0.000 4 0.000 0.051 3055 2857 1910

12279 1.27 225.4 613.1 9.1 590 12284 0.00 2.53 0.00 0.000 6 0.000 0.044 3055 1446 1909

12595 1.31 252.4 589.4 6.6 605 12624 0.12 0.00 26.05 1.217 6 0.042 0.000 3104 1446 1803

12928 1.31 252.4 559.2 9.5 621 12933 0.00 2.53 0.00 0.000 4 0.000 0.045 3104 2858 1798

12973 1.31 252.4 554.3 10.9 623 12977 0.00 2.50 0.00 0.000 6 0.000 0.041 3103 1452 1797

13293 1.31 252.4 518.2 12.5 639 13298 0.00 2.20 0.00 0.000 4 0.000 0.061 3104 262 1797

13326 1.31 252.4 513.6 14.2 640 13330 0.00 2.03 0.00 0.000 6 0.000 0.030 3103 1468 1797

13648 1.31 252.4 475.3 11.4 656 13649 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 1471 1796

13957 1.31 252.4 442.8 10.4 671 13960 0.00 2.20 0.00 0.000 4 0.000 0.057 3103 260 1796

14012 1.31 252.4 436.4 11.0 673 14016 0.00 2.00 0.00 0.000 6 0.000 0.030 3104 1457 1797

14334 1.31 252.4 406.0 9.9 689 14338 0.00 2.45 0.00 0.000 4 0.000 0.044 3104 2847 1796

14361 1.31 252.4 403.0 10.3 690 14366 0.00 2.47 0.00 0.000 6 0.000 0.038 3104 1453 1796

14682 1.31 252.4 367.5 11.4 706 14686 0.00 2.45 0.00 0.000 4 0.000 0.040 3104 2845 1797

14731 1.31 252.4 361.6 11.2 708 14735 0.00 2.45 0.00 0.000 6 0.000 0.036 3104 1445 1797

15049 1.31 252.4 323.1 12.8 723 15050 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 1445 1797

15356 1.31 252.4 285.4 11.3 738 15357 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 1445 1798

15665 1.31 252.4 257.8 7.7 753 15669 0.00 2.12 0.00 0.000 4 0.000 0.056 3104 260 1798

15726 1.31 252.4 252.5 8.7 755 15734 0.00 2.03 0.00 0.000 6 0.000 0.029 3104 1462 1798

16042 1.31 252.4 223.8 10.3 771 16046 0.00 2.15 0.00 0.000 4 0.000 0.054 3103 264 1799

16075 1.31 252.4 220.0 11.4 772 16079 0.00 2.00 0.00 0.000 6 0.000 0.029 3104 1456 1799

16397 1.31 252.4 184.1 11.3 788 16398 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 1457 1799

16708 1.31 252.4 154.3 9.0 803 16712 0.00 2.15 0.00 0.000 4 0.000 0.053 3104 258 1799

16758 1.31 252.4 149.3 10.5 805 16762 0.00 2.00 0.00 0.000 6 0.000 0.028 3104 1455 1800

17087 1.31 252.4 118.5 11.0 821 17090 0.00 2.15 0.00 0.000 4 0.000 0.054 3104 259 1800

17120 1.31 252.4 114.1 12.4 822 17123 0.00 1.98 0.00 0.000 6 0.000 0.028 3104 1455 1801

17441 1.31 252.4 78.9 9.6 838 17442 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 1456 1801

17752 1.31 252.4 52.8 8.2 853 17753 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 1456 1801

18060 1.31 252.4 22.3 10.4 868 18061 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 1457 1801

18243 end climb: SURFACE_DEPTH_REACHED

state 18243 begin surface coast

18266 end surface coast: CONTROL_FINISHED_OK

state 18266 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	25	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-1628538.9	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	104307,6142.452,-858.818,41,1.0,41,-9.3	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.216,-0.104
_SM_DEPTHo	0.73	KALMAN_X	-120050.6,814.2,479.9,81470.4,-16312.4
_SM_ANGLEo	-59.3	KALMAN_Y	65174.4,-1926.0,-245.1,-30220.5,10911.9
GPS2	104826,6142.461,-858.862,14,1.1,14,-9.3	MHEAD_RNG_PITCHd_Wd	125.1,37790,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.0,1.026745	ALTIM_BOTTOM_PING	725.3,91.3
SM_CCo	18290,28.98,0.739,0,0,1609,300.00	_24V_AH	23.1,21.720
SM_GC	0.91,0.00,0.00,28.98,0.000,0.000,0.739,393,2471,1609,-11.07,-0.14,300.00	_10V_AH	10.0,9.207
IRIDIUM_FIX	6117.23,-852.70,040998,050511	DATA_FILE_SIZE	44326,878
TT8_MAMPS	0.027612	CAP_FILE_SIZE	136410,0
HUMID	1800	CFSIZE	260165632,256385024
INTERNAL_PRESSURE	8.08949	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	14.10	GPS	100609,155601,6141.511,-900.842,42,1.2,42,-9.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	80.99	SBE_CT	798	24	442.82
Roll_motor	170	71	280.98	SBE_O2	603	19	265.09
VBD_pump_during_apogee	359	1345	11157.36	WL_BB2F	510	105	1237.38
VBD_pump_during_surface	28	739	494.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	57.80	nil	0	0	0.00
Iridium_during_connect	26	160	98.27	nil	0	0	0.00
Iridium_during_xfer	146	223	754.15
Transponder_ping	6	420	60.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.16
TT8	1661	19	328.89
LPSleep	13708	2	300.22
TT8_Active	501	19	99.37
TT8_Sampling	2022	39	805.13
TT8_CF8	743	45	340.45
TT8_Kalman	33	81	27.28
Analog_circuits	1574	12	188.89
GPS_charging	0	0	0.00
Compass	2169	8	173.53
RAFOS	0	0	0.00
Transponder	44	30	13.37

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	-59.53	0.000	6	0.000	0.000	398	2453	3432
81	-1.17	-146.6	4.7	-9.3	3	101	11.48	2.42	0.00	0.000	4	0.136	0.034	2535	1054	3433
307	-1.17	-146.6	35.2	-8.4	13	312	0.00	2.47	0.00	0.000	6	0.000	0.031	2535	2482	3433
630	-1.17	-146.6	64.5	-10.5	29	634	0.00	2.47	0.00	0.000	4	0.000	0.035	2535	1058	3434
703	-1.17	-146.6	72.1	-9.9	32	707	0.00	2.45	0.00	0.000	6	0.000	0.031	2535	2475	3434
1018	-1.17	-146.6	102.0	-9.7	47	1020	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2476	3434
1329	-1.17	-146.6	131.6	-9.8	62	1333	0.00	2.47	0.00	0.000	4	0.000	0.036	2536	1055	3434
1423	-1.17	-146.6	141.3	-9.8	66	1428	0.00	2.50	0.00	0.000	6	0.000	0.032	2536	2474	3434
1743	-1.17	-146.6	170.4	-8.9	82	1747	0.00	2.47	0.00	0.000	4	0.000	0.036	2536	1053	3434
1787	-1.17	-146.6	174.4	-9.1	84	1791	0.00	2.47	0.00	0.000	6	0.000	0.033	2535	2477	3434
2107	-1.17	-146.6	202.8	-8.8	100	2108	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2477	3433
2416	-1.17	-146.6	230.8	-9.1	115	2421	0.00	2.47	0.00	0.000	4	0.000	0.038	2535	1060	3434
2456	-1.17	-146.6	234.5	-9.0	117	2461	0.00	2.47	0.00	0.000	6	0.000	0.036	2535	2477	3434
2782	-1.17	-146.6	262.6	-8.4	133	2786	0.00	2.47	0.00	0.000	4	0.000	0.040	2535	1061	3434
2837	-1.17	-146.6	267.6	-9.8	135	2845	0.00	2.50	0.00	0.000	6	0.000	0.037	2535	2470	3434
3153	-1.17	-146.6	294.4	-8.6	151	3157	0.00	2.47	0.00	0.000	4	0.000	0.040	2535	1057	3434
3202	-1.17	-146.6	298.8	-8.5	153	3206	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2475	3433
3519	-1.17	-146.6	326.6	-8.7	168	3523	0.00	2.47	0.00	0.000	4	0.000	0.041	2536	1061	3434
3551	-1.17	-146.6	329.8	-9.6	169	3558	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2478	3434
3867	-1.17	-146.6	357.2	-8.4	185	3871	0.00	2.47	0.00	0.000	4	0.000	0.040	2535	1062	3434
3911	-1.17	-146.6	361.0	-8.5	187	3916	0.00	2.50	0.00	0.000	6	0.000	0.038	2535	2470	3434
4237	-1.17	-146.6	385.9	-7.9	203	4241	0.00	2.47	0.00	0.000	4	0.000	0.041	2535	1061	3434
4292	-1.17	-146.6	390.2	-7.8	205	4298	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2477	3434
4608	-1.17	-146.6	413.7	-8.1	221	4612	0.00	2.50	0.00	0.000	4	0.000	0.042	2535	1069	3434
4634	-1.17	-146.6	416.1	-9.2	222	4639	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2486	3434
4956	-1.17	-146.6	444.5	-9.3	238	4957	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2486	3434
5265	-1.17	-146.6	470.0	-8.3	253	5269	0.00	2.50	0.00	0.000	4	0.000	0.043	2535	1064	3433
5308	-1.17	-146.6	473.6	-7.7	255	5313	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2478	3433
5630	-1.17	-146.6	499.5	-7.7	271	5631	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2478	3433
5942	-1.17	-146.6	522.0	-7.6	286	5946	0.00	2.50	0.00	0.000	4	0.000	0.042	2535	1058	3432
6049	-1.17	-146.6	530.0	-7.9	291	6053	0.00	2.50	0.00	0.000	6	0.000	0.039	2535	2484	3433
6375	-1.17	-146.6	556.7	-7.7	307	6379	0.00	2.45	0.00	0.000	4	0.000	0.064	2536	3827	3432
6414	-1.17	-146.6	559.8	-7.8	309	6418	0.00	2.33	0.00	0.000	6	0.000	0.029	2535	2454	3432
6740	-1.17	-146.6	587.1	-8.8	325	6744	0.00	2.50	0.00	0.000	4	0.000	0.060	2536	3827	3431
7019	-1.17	-146.6	611.5	-6.3	337	7025	0.00	2.30	0.00	0.000	6	0.000	0.030	2535	2474	3431
7336	-1.17	-146.6	628.0	-4.4	353	7340	0.00	2.50	0.00	0.000	4	0.000	0.064	2535	3829	3430
7380	-1.17	-146.6	629.9	-5.9	355	7384	0.00	2.30	0.00	0.000	6	0.000	0.031	2535	2479	3430
7702	-1.17	-146.6	656.1	-8.1	371	7706	0.00	2.47	0.00	0.000	4	0.000	0.047	2535	1076	3429
7768	-1.17	-146.6	662.0	-8.6	374	7772	0.00	2.47	0.00	0.000	6	0.000	0.041	2536	2475	3429
8089	-1.17	-146.6	690.2	-9.0	390	8093	0.00	2.50	0.00	0.000	4	0.000	0.048	2535	1076	3427
8177	-1.17	-146.6	698.2	-8.9	394	8181	0.00	2.47	0.00	0.000	6	0.000	0.044	2536	2476	3426
8499	-1.17	-146.6	721.3	-7.7	410	8503	0.00	2.50	0.00	0.000	4	0.000	0.050	2535	1078	3424
8560	-1.17	-146.6	725.3	-7.1	412	8566	0.00	2.47	0.00	0.000	6	0.000	0.045	2535	2474	3424
8875	-1.17	-146.6	753.3	-9.7	428	8879	0.00	2.50	0.00	0.000	4	0.000	0.051	2535	1079	3423
8941	-1.17	-146.6	759.2	-8.9	431	8945	0.00	2.50	0.00	0.000	6	0.000	0.047	2535	2476	3423
9262	-1.17	-146.6	784.8	-4.4	447	9267	0.00	2.53	0.00	0.000	4	0.000	0.051	2536	1084	3421
9353	-1.17	-146.6	787.7	-3.7	451	9358	0.00	2.50	0.00	0.000	6	0.000	0.047	2536	2469	3421
9685	-1.17	-146.6	805.1	-5.3	467	9686	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2469	3419
9724	end dive: BOTTOM_OBSTACLE_DETECTED
state	9724	begin apogee
9732	-0.36	0.0	806.9	4.5	469	9867	0.88	0.00	128.55	1.345	6	0.076	0.000	2719	1466	2831
9867	end apogee: CONTROL_FINISHED_OK
state	9867	begin climb
9870	1.17	146.6	806.8	0.0	476	10012	1.58	2.30	132.75	1.285	4	0.057	0.071	3055	263	2232
10349	1.17	146.6	779.6	7.6	498	10353	0.00	2.10	0.00	0.000	6	0.000	0.041	3055	1472	2221
10682	1.25	210.3	757.3	5.3	514	10747	0.00	2.35	56.92	1.290	4	0.000	0.070	3055	264	1973
10815	1.25	210.3	746.2	10.6	520	10819	0.00	2.08	0.00	0.000	6	0.000	0.038	3055	1458	1968
11150	1.26	218.7	715.8	7.2	536	11164	0.00	2.30	7.40	1.068	4	0.000	0.065	3055	260	1940
11223	1.26	218.7	702.9	16.9	539	11227	0.00	2.08	0.00	0.000	6	0.000	0.037	3055	1458	1939
11550	1.27	225.4	676.6	7.3	555	11559	0.00	0.00	7.35	1.071	6	0.000	0.000	3055	1458	1914
11861	1.27	225.4	651.0	9.6	570	11865	0.00	2.53	0.00	0.000	4	0.000	0.052	3055	2855	1911
11901	1.27	225.4	647.4	9.1	572	11905	0.00	2.53	0.00	0.000	6	0.000	0.045	3055	1449	1910
12229	1.27	225.4	617.9	9.3	588	12234	0.00	2.55	0.00	0.000	4	0.000	0.051	3055	2857	1910
12279	1.27	225.4	613.1	9.1	590	12284	0.00	2.53	0.00	0.000	6	0.000	0.044	3055	1446	1909
12595	1.31	252.4	589.4	6.6	605	12624	0.12	0.00	26.05	1.217	6	0.042	0.000	3104	1446	1803
12928	1.31	252.4	559.2	9.5	621	12933	0.00	2.53	0.00	0.000	4	0.000	0.045	3104	2858	1798
12973	1.31	252.4	554.3	10.9	623	12977	0.00	2.50	0.00	0.000	6	0.000	0.041	3103	1452	1797
13293	1.31	252.4	518.2	12.5	639	13298	0.00	2.20	0.00	0.000	4	0.000	0.061	3104	262	1797
13326	1.31	252.4	513.6	14.2	640	13330	0.00	2.03	0.00	0.000	6	0.000	0.030	3103	1468	1797
13648	1.31	252.4	475.3	11.4	656	13649	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	1471	1796
13957	1.31	252.4	442.8	10.4	671	13960	0.00	2.20	0.00	0.000	4	0.000	0.057	3103	260	1796
14012	1.31	252.4	436.4	11.0	673	14016	0.00	2.00	0.00	0.000	6	0.000	0.030	3104	1457	1797
14334	1.31	252.4	406.0	9.9	689	14338	0.00	2.45	0.00	0.000	4	0.000	0.044	3104	2847	1796
14361	1.31	252.4	403.0	10.3	690	14366	0.00	2.47	0.00	0.000	6	0.000	0.038	3104	1453	1796
14682	1.31	252.4	367.5	11.4	706	14686	0.00	2.45	0.00	0.000	4	0.000	0.040	3104	2845	1797
14731	1.31	252.4	361.6	11.2	708	14735	0.00	2.45	0.00	0.000	6	0.000	0.036	3104	1445	1797
15049	1.31	252.4	323.1	12.8	723	15050	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	1445	1797
15356	1.31	252.4	285.4	11.3	738	15357	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	1445	1798
15665	1.31	252.4	257.8	7.7	753	15669	0.00	2.12	0.00	0.000	4	0.000	0.056	3104	260	1798
15726	1.31	252.4	252.5	8.7	755	15734	0.00	2.03	0.00	0.000	6	0.000	0.029	3104	1462	1798
16042	1.31	252.4	223.8	10.3	771	16046	0.00	2.15	0.00	0.000	4	0.000	0.054	3103	264	1799
16075	1.31	252.4	220.0	11.4	772	16079	0.00	2.00	0.00	0.000	6	0.000	0.029	3104	1456	1799
16397	1.31	252.4	184.1	11.3	788	16398	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	1457	1799
16708	1.31	252.4	154.3	9.0	803	16712	0.00	2.15	0.00	0.000	4	0.000	0.053	3104	258	1799
16758	1.31	252.4	149.3	10.5	805	16762	0.00	2.00	0.00	0.000	6	0.000	0.028	3104	1455	1800
17087	1.31	252.4	118.5	11.0	821	17090	0.00	2.15	0.00	0.000	4	0.000	0.054	3104	259	1800
17120	1.31	252.4	114.1	12.4	822	17123	0.00	1.98	0.00	0.000	6	0.000	0.028	3104	1455	1801
17441	1.31	252.4	78.9	9.6	838	17442	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	1456	1801
17752	1.31	252.4	52.8	8.2	853	17753	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	1456	1801
18060	1.31	252.4	22.3	10.4	868	18061	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	1457	1801
18243	end climb: SURFACE_DEPTH_REACHED
state	18243	begin surface coast
18266	end surface coast: CONTROL_FINISHED_OK
state	18266	begin surface