Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 293 * 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 293 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 2250 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 19 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 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 -1633302.5 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 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 2 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 550

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 -1633302.5

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

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 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 19 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 293 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 142237,6131.833,-830.641,27,1.4,27,-9.0 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 11 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.79 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -56.6 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 142901,6131.930,-830.799,13,1.4,13,-9.0 MHEAD_RNG_PITCHd_Wd 133.9,6248,-13.7,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.013840 ALTIM_BOTTOM_PING 776.6,69.9

SM_CCo 19860,0.00,0.000,0,0,1586,305.64 _24V_AH 23.0,60.705

SM_GC 1.11,11.62,0.00,0.00,0.023,0.000,0.000,386,2247,1586,-10.98,-0.06,305.64 _10V_AH 10.1,36.630

IRIDIUM_FIX 6103.81,-835.19,111198,090930 DATA_FILE_SIZE 47333,944

TT8_MAMPS 0.026845 CAP_FILE_SIZE 149097,0

HUMID 1910 CFSIZE 260165632,236994560

INTERNAL_PRESSURE 8.14809 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 14.90 GPS 170809,200137,6136.400,-832.501,39,1.0,39,-9.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 79.49 SBE_CT 803 24 443.56

Roll_motor 173 69 275.94 SBE_O2 673 19 294.33

VBD_pump_during_apogee 401 1400 12929.28 WL_BB2F 542 105 1310.60

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 22 103 53.80 nil 0 0 0.00

Iridium_during_connect 28 160 105.22 nil 0 0 0.00

Iridium_during_xfer 201 223 1035.06

Transponder_ping 7 420 67.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.08

TT8 1805 19 361.15

LPSleep 14676 2 324.63

TT8_Active 517 19 103.54

TT8_Sampling 2371 39 953.23

TT8_CF8 869 45 402.15

TT8_Kalman 0 81 0.00

Analog_circuits 1745 12 211.58

GPS_charging 0 0 0.00

Compass 2500 8 202.06

RAFOS 0 0 0.00

Transponder 48 30 14.83

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 -1.11 -102.2 0.0 0.0 0 100 0.00 0.00 -83.55 0.000 6 0.000 0.000 388 2243 3250

104 -1.16 -146.6 3.4 -4.2 4 126 11.52 2.50 -3.15 0.000 4 0.134 0.053 2538 834 3433

264 -1.16 -146.6 27.5 -11.5 11 268 0.00 2.47 0.00 0.000 6 0.000 0.035 2538 2244 3433

590 -1.16 -146.6 63.9 -11.3 27 592 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2244 3434

899 -1.16 -146.6 87.2 -6.5 42 900 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2244 3434

1210 -1.16 -146.6 113.8 -9.9 57 1214 0.00 2.58 0.00 0.000 4 0.000 0.058 2538 3656 3435

1274 -1.16 -146.6 120.2 -10.4 60 1278 0.00 2.45 0.00 0.000 6 0.000 0.030 2538 2226 3434

1602 -1.16 -146.6 149.8 -9.4 76 1603 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2226 3435

1910 -1.16 -146.6 180.7 -9.9 91 1915 0.00 2.62 0.00 0.000 4 0.000 0.053 2538 3653 3434

2138 -1.16 -146.6 205.6 -11.0 101 2144 0.00 2.42 0.00 0.000 6 0.000 0.031 2538 2254 3434

2465 -1.16 -146.6 235.4 -8.5 117 2469 0.00 2.55 0.00 0.000 4 0.000 0.053 2538 3660 3434

2565 -1.16 -146.6 244.4 -9.3 121 2572 0.00 2.40 0.00 0.000 6 0.000 0.031 2538 2251 3435

2880 -1.16 -146.6 269.8 -7.8 137 2885 0.00 2.55 0.00 0.000 4 0.000 0.052 2538 3657 3434

2981 -1.16 -146.6 279.0 -8.7 141 2988 0.00 2.40 0.00 0.000 6 0.000 0.031 2538 2248 3434

3297 -1.16 -146.6 306.7 -8.9 157 3302 0.00 2.55 0.00 0.000 4 0.000 0.053 2538 3657 3434

3488 -1.16 -146.6 323.9 -9.8 165 3494 0.00 2.42 0.00 0.000 6 0.000 0.031 2538 2248 3434

3805 -1.16 -146.6 349.1 -7.6 181 3810 0.00 2.55 0.00 0.000 4 0.000 0.053 2538 3658 3433

3894 -1.16 -146.6 355.8 -7.1 185 3899 0.00 2.42 0.00 0.000 6 0.000 0.031 2538 2248 3433

4218 -1.16 -146.6 381.4 -8.1 201 4222 0.00 2.55 0.00 0.000 4 0.000 0.054 2538 3654 3433

4325 -1.16 -146.6 391.1 -8.6 206 4329 0.00 2.40 0.00 0.000 6 0.000 0.031 2538 2248 3433

4651 -1.16 -146.6 418.5 -8.3 222 4655 0.00 2.55 0.00 0.000 4 0.000 0.053 2538 3663 3433

4762 -1.16 -146.6 428.2 -9.0 227 4767 0.00 2.45 0.00 0.000 6 0.000 0.031 2538 2253 3432

5088 -1.16 -146.6 456.9 -8.8 243 5092 0.00 2.53 0.00 0.000 4 0.000 0.053 2538 3654 3433

5227 -1.16 -146.6 469.9 -9.1 249 5231 0.00 2.42 0.00 0.000 6 0.000 0.031 2538 2238 3432

5545 -1.16 -146.6 494.0 -7.5 264 5549 0.00 2.58 0.00 0.000 4 0.000 0.054 2538 3654 3432

5620 -1.16 -146.6 500.0 -7.9 267 5625 0.00 2.40 0.00 0.000 6 0.000 0.031 2538 2253 3432

5936 -1.16 -146.6 521.5 -6.9 282 5940 0.00 2.55 0.00 0.000 4 0.000 0.053 2538 3660 3432

6095 -1.16 -146.6 534.1 -9.3 289 6100 0.00 2.42 0.00 0.000 6 0.000 0.032 2538 2250 3431

6417 -1.16 -146.6 560.1 -8.2 305 6421 0.00 2.55 0.00 0.000 4 0.000 0.053 2538 3660 3432

6550 -1.16 -146.6 573.5 -11.0 311 6555 0.00 2.42 0.00 0.000 6 0.000 0.032 2538 2252 3431

6872 -1.16 -146.6 607.2 -9.7 327 6876 0.00 2.55 0.00 0.000 4 0.000 0.053 2538 3660 3431

7047 -1.16 -146.6 627.1 -13.3 335 7051 0.00 2.42 0.00 0.000 6 0.000 0.032 2538 2250 3431

7375 -1.16 -146.6 656.4 -8.1 351 7379 0.00 2.45 0.00 0.000 4 0.000 0.042 2538 846 3431

7424 -1.16 -146.6 660.4 -6.6 353 7429 0.00 2.45 0.00 0.000 6 0.000 0.036 2538 2255 3431

7740 -1.16 -146.6 679.9 -4.1 368 7745 0.00 2.53 0.00 0.000 4 0.000 0.060 2538 3648 3431

8042 -1.16 -146.6 696.6 -7.1 381 8049 0.00 2.42 0.00 0.000 6 0.000 0.034 2538 2251 3431

8359 -1.16 -146.6 713.0 -4.6 397 8363 0.00 2.55 0.00 0.000 4 0.000 0.059 2538 3648 3429

8477 -1.16 -146.6 718.7 -5.1 402 8481 0.00 2.45 0.00 0.000 6 0.000 0.035 2538 2236 3429

8793 -1.16 -146.6 735.4 -4.6 417 8797 0.00 2.60 0.00 0.000 4 0.000 0.064 2538 3648 3428

8893 -1.16 -146.6 742.9 -10.4 421 8900 0.00 2.42 0.00 0.000 6 0.000 0.037 2538 2255 3427

9210 -1.16 -146.6 754.4 -4.6 437 9211 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2252 3426

9518 -1.16 -146.6 786.2 -11.4 452 9522 0.00 2.60 0.00 0.000 4 0.000 0.067 2538 3653 3424

9680 -1.16 -146.6 808.3 -11.7 459 9685 0.00 2.47 0.00 0.000 6 0.000 0.038 2538 2257 3423

9939 end dive: BOTTOM_OBSTACLE_DETECTED

state 9939 begin apogee

9947 -0.36 0.0 837.7 13.7 472 10080 0.88 0.00 129.15 1.401 6 0.072 0.000 2722 1464 2832

10081 end apogee: CONTROL_FINISHED_OK

state 10081 begin climb

10084 1.16 146.6 842.9 0.0 479 10223 1.50 2.60 131.48 1.344 4 0.046 0.053 3057 2858 2233

10377 1.16 146.6 830.2 9.0 492 10382 0.00 2.55 0.00 0.000 6 0.000 0.044 3057 1442 2224

10692 1.16 146.6 805.1 8.1 507 10694 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1442 2220

11002 1.16 146.6 769.8 7.9 522 11007 0.00 2.58 0.00 0.000 4 0.000 0.052 3057 2853 2219

11029 1.24 212.1 768.4 3.4 523 11093 0.00 2.50 58.15 1.335 6 0.000 0.044 3057 1449 1967

11414 1.24 212.1 728.4 18.8 542 11419 0.00 2.55 0.00 0.000 4 0.000 0.052 3057 2856 1958

11486 1.24 212.1 716.8 13.3 545 11491 0.00 2.55 0.00 0.000 6 0.000 0.046 3057 1458 1956

11807 1.24 212.1 683.3 10.4 561 11809 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1458 1955

12116 1.24 212.1 651.4 8.4 576 12118 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1459 1954

12428 1.24 212.1 632.0 6.6 591 12432 0.00 2.22 0.00 0.000 4 0.000 0.069 3057 260 1953

12478 1.24 212.1 628.2 6.4 593 12482 0.00 2.08 0.00 0.000 6 0.000 0.036 3057 1458 1953

12808 1.25 221.9 610.4 5.6 609 12822 0.00 2.28 7.65 1.107 4 0.000 0.064 3057 262 1927

12912 1.25 221.9 603.6 6.1 613 12919 0.00 2.08 0.00 0.000 6 0.000 0.036 3057 1453 1926

13228 1.25 221.9 582.1 7.5 629 13231 0.00 2.20 0.00 0.000 4 0.000 0.064 3057 258 1925

13318 1.25 221.9 575.3 7.6 633 13322 0.00 2.08 0.00 0.000 6 0.000 0.035 3057 1458 1925

13653 1.25 221.9 550.3 7.4 649 13657 0.00 2.50 0.00 0.000 4 0.000 0.048 3057 2860 1925

13738 1.25 221.9 543.3 8.4 653 13743 0.00 2.47 0.00 0.000 6 0.000 0.040 3057 1451 1924

14065 1.25 221.9 513.7 10.3 669 14067 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1450 1924

14377 1.25 221.9 488.0 8.1 684 14378 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1451 1924

14683 1.25 221.9 457.1 11.0 699 14688 0.00 2.50 0.00 0.000 4 0.000 0.043 3057 2857 1925

14739 1.25 221.9 450.7 10.7 701 14745 0.00 2.47 0.00 0.000 6 0.000 0.038 3057 1446 1925

15057 1.25 221.9 417.8 10.0 717 15058 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1446 1925

15364 1.25 221.9 389.3 8.9 732 15365 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1446 1926

15673 1.25 221.9 361.4 8.9 747 15677 0.00 2.50 0.00 0.000 4 0.000 0.041 3057 2857 1926

15723 1.25 221.9 356.6 9.6 749 15727 0.00 2.45 0.00 0.000 6 0.000 0.037 3057 1455 1926

16040 1.25 221.9 324.4 10.6 764 16042 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1455 1927

16347 1.25 221.9 290.7 10.8 779 16351 0.00 2.50 0.00 0.000 4 0.000 0.042 3057 2862 1927

16403 1.25 221.9 284.9 9.9 781 16409 0.00 2.47 0.00 0.000 6 0.000 0.037 3057 1447 1927

16721 1.25 221.9 256.2 7.8 797 16725 0.00 2.50 0.00 0.000 4 0.000 0.041 3057 2858 1928

16761 1.25 221.9 253.1 7.4 799 16765 0.00 2.45 0.00 0.000 6 0.000 0.037 3057 1455 1928

17087 1.25 221.9 227.8 8.1 815 17088 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1455 1928

17399 1.25 221.9 204.7 7.7 830 17400 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1455 1928

17705 1.25 221.9 180.0 8.3 845 17709 0.00 2.45 0.00 0.000 4 0.000 0.040 3057 2855 1928

17739 1.25 221.9 177.5 7.0 846 17745 0.00 2.45 0.00 0.000 6 0.000 0.037 3057 1450 1928

18054 1.28 245.0 157.3 5.1 862 18084 0.10 2.58 22.33 0.865 4 0.048 0.041 3102 2854 1832

18143 1.28 245.0 151.9 6.1 866 18148 0.12 2.45 0.00 0.000 6 0.084 0.037 3077 1456 1831

18470 1.28 245.0 130.3 7.7 882 18474 0.00 2.15 0.00 0.000 4 0.000 0.057 3077 261 1830

18548 1.28 245.0 123.9 8.3 885 18553 0.00 2.03 0.00 0.000 6 0.000 0.031 3077 1456 1829

18870 1.28 245.0 92.5 11.6 901 18871 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 1456 1829

19179 1.30 258.7 62.4 5.5 916 19201 0.00 2.53 12.77 0.770 4 0.000 0.043 3077 2842 1776

19274 1.35 303.2 59.7 4.3 920 19319 0.00 2.45 39.85 0.804 6 0.000 0.037 3077 1444 1595

19645 1.35 303.2 13.9 11.7 938 19648 0.00 2.12 0.00 0.000 4 0.000 0.054 3077 258 1589

19716 1.35 303.2 5.3 11.8 941 19720 0.00 2.03 0.00 0.000 6 0.000 0.031 3077 1458 1589

19752 end climb: SURFACE_DEPTH_REACHED

state 19752 begin surface coast

19775 end surface coast: CONTROL_FINISHED_OK

state 19775 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	293	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	2250	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	19	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	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	-1633302.5	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	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	2	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	142237,6131.833,-830.641,27,1.4,27,-9.0	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	11	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.79	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-56.6	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	142901,6131.930,-830.799,13,1.4,13,-9.0	MHEAD_RNG_PITCHd_Wd	133.9,6248,-13.7,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.013840	ALTIM_BOTTOM_PING	776.6,69.9
SM_CCo	19860,0.00,0.000,0,0,1586,305.64	_24V_AH	23.0,60.705
SM_GC	1.11,11.62,0.00,0.00,0.023,0.000,0.000,386,2247,1586,-10.98,-0.06,305.64	_10V_AH	10.1,36.630
IRIDIUM_FIX	6103.81,-835.19,111198,090930	DATA_FILE_SIZE	47333,944
TT8_MAMPS	0.026845	CAP_FILE_SIZE	149097,0
HUMID	1910	CFSIZE	260165632,236994560
INTERNAL_PRESSURE	8.14809	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	14.90	GPS	170809,200137,6136.400,-832.501,39,1.0,39,-9.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	79.49	SBE_CT	803	24	443.56
Roll_motor	173	69	275.94	SBE_O2	673	19	294.33
VBD_pump_during_apogee	401	1400	12929.28	WL_BB2F	542	105	1310.60
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	22	103	53.80	nil	0	0	0.00
Iridium_during_connect	28	160	105.22	nil	0	0	0.00
Iridium_during_xfer	201	223	1035.06
Transponder_ping	7	420	67.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.08
TT8	1805	19	361.15
LPSleep	14676	2	324.63
TT8_Active	517	19	103.54
TT8_Sampling	2371	39	953.23
TT8_CF8	869	45	402.15
TT8_Kalman	0	81	0.00
Analog_circuits	1745	12	211.58
GPS_charging	0	0	0.00
Compass	2500	8	202.06
RAFOS	0	0	0.00
Transponder	48	30	14.83

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	-1.11	-102.2	0.0	0.0	0	100	0.00	0.00	-83.55	0.000	6	0.000	0.000	388	2243	3250
104	-1.16	-146.6	3.4	-4.2	4	126	11.52	2.50	-3.15	0.000	4	0.134	0.053	2538	834	3433
264	-1.16	-146.6	27.5	-11.5	11	268	0.00	2.47	0.00	0.000	6	0.000	0.035	2538	2244	3433
590	-1.16	-146.6	63.9	-11.3	27	592	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2244	3434
899	-1.16	-146.6	87.2	-6.5	42	900	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2244	3434
1210	-1.16	-146.6	113.8	-9.9	57	1214	0.00	2.58	0.00	0.000	4	0.000	0.058	2538	3656	3435
1274	-1.16	-146.6	120.2	-10.4	60	1278	0.00	2.45	0.00	0.000	6	0.000	0.030	2538	2226	3434
1602	-1.16	-146.6	149.8	-9.4	76	1603	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2226	3435
1910	-1.16	-146.6	180.7	-9.9	91	1915	0.00	2.62	0.00	0.000	4	0.000	0.053	2538	3653	3434
2138	-1.16	-146.6	205.6	-11.0	101	2144	0.00	2.42	0.00	0.000	6	0.000	0.031	2538	2254	3434
2465	-1.16	-146.6	235.4	-8.5	117	2469	0.00	2.55	0.00	0.000	4	0.000	0.053	2538	3660	3434
2565	-1.16	-146.6	244.4	-9.3	121	2572	0.00	2.40	0.00	0.000	6	0.000	0.031	2538	2251	3435
2880	-1.16	-146.6	269.8	-7.8	137	2885	0.00	2.55	0.00	0.000	4	0.000	0.052	2538	3657	3434
2981	-1.16	-146.6	279.0	-8.7	141	2988	0.00	2.40	0.00	0.000	6	0.000	0.031	2538	2248	3434
3297	-1.16	-146.6	306.7	-8.9	157	3302	0.00	2.55	0.00	0.000	4	0.000	0.053	2538	3657	3434
3488	-1.16	-146.6	323.9	-9.8	165	3494	0.00	2.42	0.00	0.000	6	0.000	0.031	2538	2248	3434
3805	-1.16	-146.6	349.1	-7.6	181	3810	0.00	2.55	0.00	0.000	4	0.000	0.053	2538	3658	3433
3894	-1.16	-146.6	355.8	-7.1	185	3899	0.00	2.42	0.00	0.000	6	0.000	0.031	2538	2248	3433
4218	-1.16	-146.6	381.4	-8.1	201	4222	0.00	2.55	0.00	0.000	4	0.000	0.054	2538	3654	3433
4325	-1.16	-146.6	391.1	-8.6	206	4329	0.00	2.40	0.00	0.000	6	0.000	0.031	2538	2248	3433
4651	-1.16	-146.6	418.5	-8.3	222	4655	0.00	2.55	0.00	0.000	4	0.000	0.053	2538	3663	3433
4762	-1.16	-146.6	428.2	-9.0	227	4767	0.00	2.45	0.00	0.000	6	0.000	0.031	2538	2253	3432
5088	-1.16	-146.6	456.9	-8.8	243	5092	0.00	2.53	0.00	0.000	4	0.000	0.053	2538	3654	3433
5227	-1.16	-146.6	469.9	-9.1	249	5231	0.00	2.42	0.00	0.000	6	0.000	0.031	2538	2238	3432
5545	-1.16	-146.6	494.0	-7.5	264	5549	0.00	2.58	0.00	0.000	4	0.000	0.054	2538	3654	3432
5620	-1.16	-146.6	500.0	-7.9	267	5625	0.00	2.40	0.00	0.000	6	0.000	0.031	2538	2253	3432
5936	-1.16	-146.6	521.5	-6.9	282	5940	0.00	2.55	0.00	0.000	4	0.000	0.053	2538	3660	3432
6095	-1.16	-146.6	534.1	-9.3	289	6100	0.00	2.42	0.00	0.000	6	0.000	0.032	2538	2250	3431
6417	-1.16	-146.6	560.1	-8.2	305	6421	0.00	2.55	0.00	0.000	4	0.000	0.053	2538	3660	3432
6550	-1.16	-146.6	573.5	-11.0	311	6555	0.00	2.42	0.00	0.000	6	0.000	0.032	2538	2252	3431
6872	-1.16	-146.6	607.2	-9.7	327	6876	0.00	2.55	0.00	0.000	4	0.000	0.053	2538	3660	3431
7047	-1.16	-146.6	627.1	-13.3	335	7051	0.00	2.42	0.00	0.000	6	0.000	0.032	2538	2250	3431
7375	-1.16	-146.6	656.4	-8.1	351	7379	0.00	2.45	0.00	0.000	4	0.000	0.042	2538	846	3431
7424	-1.16	-146.6	660.4	-6.6	353	7429	0.00	2.45	0.00	0.000	6	0.000	0.036	2538	2255	3431
7740	-1.16	-146.6	679.9	-4.1	368	7745	0.00	2.53	0.00	0.000	4	0.000	0.060	2538	3648	3431
8042	-1.16	-146.6	696.6	-7.1	381	8049	0.00	2.42	0.00	0.000	6	0.000	0.034	2538	2251	3431
8359	-1.16	-146.6	713.0	-4.6	397	8363	0.00	2.55	0.00	0.000	4	0.000	0.059	2538	3648	3429
8477	-1.16	-146.6	718.7	-5.1	402	8481	0.00	2.45	0.00	0.000	6	0.000	0.035	2538	2236	3429
8793	-1.16	-146.6	735.4	-4.6	417	8797	0.00	2.60	0.00	0.000	4	0.000	0.064	2538	3648	3428
8893	-1.16	-146.6	742.9	-10.4	421	8900	0.00	2.42	0.00	0.000	6	0.000	0.037	2538	2255	3427
9210	-1.16	-146.6	754.4	-4.6	437	9211	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2252	3426
9518	-1.16	-146.6	786.2	-11.4	452	9522	0.00	2.60	0.00	0.000	4	0.000	0.067	2538	3653	3424
9680	-1.16	-146.6	808.3	-11.7	459	9685	0.00	2.47	0.00	0.000	6	0.000	0.038	2538	2257	3423
9939	end dive: BOTTOM_OBSTACLE_DETECTED
state	9939	begin apogee
9947	-0.36	0.0	837.7	13.7	472	10080	0.88	0.00	129.15	1.401	6	0.072	0.000	2722	1464	2832
10081	end apogee: CONTROL_FINISHED_OK
state	10081	begin climb
10084	1.16	146.6	842.9	0.0	479	10223	1.50	2.60	131.48	1.344	4	0.046	0.053	3057	2858	2233
10377	1.16	146.6	830.2	9.0	492	10382	0.00	2.55	0.00	0.000	6	0.000	0.044	3057	1442	2224
10692	1.16	146.6	805.1	8.1	507	10694	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1442	2220
11002	1.16	146.6	769.8	7.9	522	11007	0.00	2.58	0.00	0.000	4	0.000	0.052	3057	2853	2219
11029	1.24	212.1	768.4	3.4	523	11093	0.00	2.50	58.15	1.335	6	0.000	0.044	3057	1449	1967
11414	1.24	212.1	728.4	18.8	542	11419	0.00	2.55	0.00	0.000	4	0.000	0.052	3057	2856	1958
11486	1.24	212.1	716.8	13.3	545	11491	0.00	2.55	0.00	0.000	6	0.000	0.046	3057	1458	1956
11807	1.24	212.1	683.3	10.4	561	11809	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1458	1955
12116	1.24	212.1	651.4	8.4	576	12118	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1459	1954
12428	1.24	212.1	632.0	6.6	591	12432	0.00	2.22	0.00	0.000	4	0.000	0.069	3057	260	1953
12478	1.24	212.1	628.2	6.4	593	12482	0.00	2.08	0.00	0.000	6	0.000	0.036	3057	1458	1953
12808	1.25	221.9	610.4	5.6	609	12822	0.00	2.28	7.65	1.107	4	0.000	0.064	3057	262	1927
12912	1.25	221.9	603.6	6.1	613	12919	0.00	2.08	0.00	0.000	6	0.000	0.036	3057	1453	1926
13228	1.25	221.9	582.1	7.5	629	13231	0.00	2.20	0.00	0.000	4	0.000	0.064	3057	258	1925
13318	1.25	221.9	575.3	7.6	633	13322	0.00	2.08	0.00	0.000	6	0.000	0.035	3057	1458	1925
13653	1.25	221.9	550.3	7.4	649	13657	0.00	2.50	0.00	0.000	4	0.000	0.048	3057	2860	1925
13738	1.25	221.9	543.3	8.4	653	13743	0.00	2.47	0.00	0.000	6	0.000	0.040	3057	1451	1924
14065	1.25	221.9	513.7	10.3	669	14067	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1450	1924
14377	1.25	221.9	488.0	8.1	684	14378	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1451	1924
14683	1.25	221.9	457.1	11.0	699	14688	0.00	2.50	0.00	0.000	4	0.000	0.043	3057	2857	1925
14739	1.25	221.9	450.7	10.7	701	14745	0.00	2.47	0.00	0.000	6	0.000	0.038	3057	1446	1925
15057	1.25	221.9	417.8	10.0	717	15058	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1446	1925
15364	1.25	221.9	389.3	8.9	732	15365	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1446	1926
15673	1.25	221.9	361.4	8.9	747	15677	0.00	2.50	0.00	0.000	4	0.000	0.041	3057	2857	1926
15723	1.25	221.9	356.6	9.6	749	15727	0.00	2.45	0.00	0.000	6	0.000	0.037	3057	1455	1926
16040	1.25	221.9	324.4	10.6	764	16042	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1455	1927
16347	1.25	221.9	290.7	10.8	779	16351	0.00	2.50	0.00	0.000	4	0.000	0.042	3057	2862	1927
16403	1.25	221.9	284.9	9.9	781	16409	0.00	2.47	0.00	0.000	6	0.000	0.037	3057	1447	1927
16721	1.25	221.9	256.2	7.8	797	16725	0.00	2.50	0.00	0.000	4	0.000	0.041	3057	2858	1928
16761	1.25	221.9	253.1	7.4	799	16765	0.00	2.45	0.00	0.000	6	0.000	0.037	3057	1455	1928
17087	1.25	221.9	227.8	8.1	815	17088	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1455	1928
17399	1.25	221.9	204.7	7.7	830	17400	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1455	1928
17705	1.25	221.9	180.0	8.3	845	17709	0.00	2.45	0.00	0.000	4	0.000	0.040	3057	2855	1928
17739	1.25	221.9	177.5	7.0	846	17745	0.00	2.45	0.00	0.000	6	0.000	0.037	3057	1450	1928
18054	1.28	245.0	157.3	5.1	862	18084	0.10	2.58	22.33	0.865	4	0.048	0.041	3102	2854	1832
18143	1.28	245.0	151.9	6.1	866	18148	0.12	2.45	0.00	0.000	6	0.084	0.037	3077	1456	1831
18470	1.28	245.0	130.3	7.7	882	18474	0.00	2.15	0.00	0.000	4	0.000	0.057	3077	261	1830
18548	1.28	245.0	123.9	8.3	885	18553	0.00	2.03	0.00	0.000	6	0.000	0.031	3077	1456	1829
18870	1.28	245.0	92.5	11.6	901	18871	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	1456	1829
19179	1.30	258.7	62.4	5.5	916	19201	0.00	2.53	12.77	0.770	4	0.000	0.043	3077	2842	1776
19274	1.35	303.2	59.7	4.3	920	19319	0.00	2.45	39.85	0.804	6	0.000	0.037	3077	1444	1595
19645	1.35	303.2	13.9	11.7	938	19648	0.00	2.12	0.00	0.000	4	0.000	0.054	3077	258	1589
19716	1.35	303.2	5.3	11.8	941	19720	0.00	2.03	0.00	0.000	6	0.000	0.031	3077	1458	1589
19752	end climb: SURFACE_DEPTH_REACHED
state	19752	begin surface coast
19775	end surface coast: CONTROL_FINISHED_OK
state	19775	begin surface