Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 297 * 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 297 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -1633398.2 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 -1633398.2

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 21 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 297 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 123137,6143.784,-849.233,29,1.7,29,-9.2 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.75 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -51.0 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 123928,6143.854,-849.341,9,4.9,28,-9.2 MHEAD_RNG_PITCHd_Wd 149.2,33482,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026819 ALTIM_BOTTOM_PING 701.1,93.3

SM_CCo 19874,0.00,0.000,0,0,1292,377.52 _24V_AH 23.0,61.475

SM_GC 0.85,11.65,0.00,0.00,0.027,0.000,0.000,394,2242,1292,-10.98,-0.23,377.52 _10V_AH 10.0,37.011

IRIDIUM_FIX 6117.23,-848.22,121198,070755 DATA_FILE_SIZE 47469,947

TT8_MAMPS 0.026845 CAP_FILE_SIZE 147993,0

HUMID 1942 CFSIZE 260165632,236711936

INTERNAL_PRESSURE 8.10902 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 14.30 GPS 180809,181208,6145.907,-854.693,26,1.6,28,-9.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 78.36 SBE_CT 828 24 457.56

Roll_motor 169 68 266.63 SBE_O2 670 19 292.83

VBD_pump_during_apogee 461 1381 14656.96 WL_BB2F 528 105 1275.61

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 27 103 65.82 nil 0 0 0.00

Iridium_during_connect 35 160 132.04 nil 0 0 0.00

Iridium_during_xfer 254 223 1306.04

Transponder_ping 6 420 57.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 14.69

TT8 1788 19 354.08

LPSleep 14746 2 322.95

TT8_Active 556 19 110.13

TT8_Sampling 2312 39 920.47

TT8_CF8 934 45 428.05

TT8_Kalman 0 81 0.00

Analog_circuits 1771 12 212.58

GPS_charging 0 0 0.00

Compass 2438 8 195.06

RAFOS 0 0 0.00

Transponder 41 30 12.37

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.96 -146.6 0.0 0.0 0 98 0.00 0.00 -75.53 0.000 6 0.000 0.000 386 2238 3430

101 -0.96 -146.6 5.9 -8.2 4 122 11.73 2.47 0.00 0.000 4 0.133 0.040 2581 834 3432

145 -0.96 -146.6 20.4 -15.2 6 150 0.00 2.47 0.00 0.000 6 0.000 0.034 2581 2255 3431

472 -0.96 -146.6 45.9 -8.3 22 477 0.00 2.53 0.00 0.000 4 0.000 0.057 2582 3649 3432

803 -0.96 -146.6 72.9 -8.0 37 807 0.00 2.42 0.00 0.000 6 0.000 0.028 2582 2224 3433

1130 -0.96 -146.6 98.8 -9.5 53 1134 0.00 2.40 0.00 0.000 4 0.000 0.042 2582 852 3433

1224 -0.96 -146.6 109.2 -11.0 57 1229 0.00 2.42 0.00 0.000 6 0.000 0.032 2582 2255 3434

1540 -0.96 -146.6 142.7 -11.0 72 1545 0.00 2.53 0.00 0.000 4 0.000 0.058 2582 3648 3434

1586 -0.96 -146.6 147.8 -11.6 74 1591 0.00 2.38 0.00 0.000 6 0.000 0.029 2582 2252 3434

1907 -0.96 -146.6 178.4 -8.6 90 1912 0.00 2.53 0.00 0.000 4 0.000 0.052 2582 3647 3434

1976 -0.96 -146.6 184.5 -8.8 93 1980 0.00 2.40 0.00 0.000 6 0.000 0.029 2582 2240 3434

2297 -0.96 -146.6 210.6 -8.2 109 2302 0.00 2.58 0.00 0.000 4 0.000 0.053 2581 3645 3434

2386 -0.96 -146.6 218.7 -9.4 113 2391 0.00 2.40 0.00 0.000 6 0.000 0.030 2582 2256 3434

2718 -0.96 -146.6 248.0 -8.8 129 2722 0.00 2.53 0.00 0.000 4 0.000 0.052 2581 3650 3434

2829 -0.96 -146.6 258.7 -9.2 134 2833 0.00 2.40 0.00 0.000 6 0.000 0.030 2582 2250 3434

3153 -0.96 -146.6 285.9 -8.1 150 3157 0.00 2.53 0.00 0.000 4 0.000 0.053 2582 3647 3433

3231 -0.96 -146.6 293.4 -9.4 153 3237 0.00 2.38 0.00 0.000 6 0.000 0.030 2582 2250 3433

3546 -0.96 -146.6 320.6 -8.7 169 3550 0.00 2.53 0.00 0.000 4 0.000 0.053 2582 3647 3433

3675 -0.96 -146.6 331.7 -8.2 175 3679 0.00 2.40 0.00 0.000 6 0.000 0.030 2581 2241 3432

4001 -0.96 -146.6 358.2 -8.2 191 4006 0.00 2.55 0.00 0.000 4 0.000 0.054 2581 3647 3432

4119 -0.96 -146.6 368.2 -8.3 196 4123 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2247 3432

4435 -0.96 -146.6 390.4 -6.6 211 4439 0.00 2.55 0.00 0.000 4 0.000 0.054 2582 3651 3431

4529 -0.96 -146.6 397.0 -7.0 215 4533 0.00 2.40 0.00 0.000 6 0.000 0.030 2582 2250 3431

4846 -0.96 -146.6 416.2 -5.9 230 4850 0.00 2.53 0.00 0.000 4 0.000 0.054 2582 3647 3431

4954 -0.96 -146.6 423.3 -5.9 235 4958 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2241 3431

5281 -0.96 -146.6 440.5 -4.9 251 5285 0.00 2.55 0.00 0.000 4 0.000 0.056 2582 3649 3431

5398 -0.96 -146.6 446.9 -4.8 256 5403 0.00 2.40 0.00 0.000 6 0.000 0.031 2581 2251 3430

5714 -0.96 -146.6 461.1 -4.4 271 5719 0.00 2.53 0.00 0.000 4 0.000 0.054 2582 3647 3430

5867 -0.96 -146.6 469.4 -6.2 278 5871 0.00 2.40 0.00 0.000 6 0.000 0.031 2581 2245 3430

6193 -0.96 -146.6 494.5 -9.1 294 6197 0.00 2.55 0.00 0.000 4 0.000 0.055 2581 3650 3430

6404 -0.96 -146.6 516.6 -10.3 303 6411 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2251 3430

6720 -0.96 -146.6 545.2 -8.4 319 6721 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2245 3430

7031 -0.96 -146.6 567.8 -5.7 334 7035 0.00 2.53 0.00 0.000 4 0.000 0.054 2582 3647 3429

7075 -0.96 -146.6 570.4 -5.7 336 7079 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2249 3430

7396 -0.96 -146.6 584.6 -3.1 352 7397 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2249 3429

7705 -0.96 -146.6 594.2 -2.8 367 7709 0.00 2.55 0.00 0.000 4 0.000 0.057 2582 3651 3429

7894 -0.96 -146.6 603.5 -6.9 375 7902 0.00 2.45 0.00 0.000 6 0.000 0.032 2582 2251 3429

8211 -0.96 -146.6 628.6 -9.7 391 8215 0.00 2.53 0.00 0.000 4 0.000 0.055 2582 3647 3427

8356 -0.96 -146.6 644.4 -12.2 397 8362 0.00 2.42 0.00 0.000 6 0.000 0.034 2582 2246 3427

8673 -0.96 -146.6 663.3 -1.5 413 8677 0.00 2.58 0.00 0.000 4 0.000 0.061 2582 3646 3426

8757 -0.96 -146.6 669.9 -9.4 417 8762 0.00 2.42 0.00 0.000 6 0.000 0.035 2582 2248 3425

9085 -0.96 -146.6 686.8 -7.7 433 9089 0.00 2.58 0.00 0.000 4 0.000 0.061 2582 3651 3425

9218 -0.96 -146.6 697.5 -4.6 439 9222 0.00 2.45 0.00 0.000 6 0.000 0.035 2582 2238 3424

9545 -0.96 -146.6 702.5 -1.7 455 9546 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2238 3422

9853 -0.96 -146.6 711.4 -4.1 470 9858 0.00 2.60 0.00 0.000 4 0.000 0.062 2582 3648 3421

9881 -0.96 -146.6 712.3 -3.4 471 9885 0.00 2.45 0.00 0.000 6 0.000 0.037 2582 2243 3420

10197 -0.96 -146.6 727.7 -5.4 486 10201 0.00 2.60 0.00 0.000 4 0.000 0.064 2582 3650 3420

10297 -0.96 -146.6 733.0 -7.8 490 10305 0.00 2.47 0.00 0.000 6 0.000 0.037 2582 2253 3419

10614 -0.96 -146.6 748.2 -4.5 506 10615 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2253 3418

10923 -0.96 -146.6 765.2 -5.2 521 10927 0.00 2.53 0.00 0.000 4 0.000 0.053 2582 840 3416

11001 -0.96 -146.6 768.5 -3.6 524 11007 0.00 2.47 0.00 0.000 6 0.000 0.041 2582 2246 3417

11317 -0.96 -146.6 778.6 -4.5 540 11321 0.00 2.58 0.00 0.000 4 0.000 0.064 2582 3653 3415

11328 -0.96 -146.6 779.2 -6.0 540 11335 0.00 2.47 0.00 0.000 6 0.000 0.041 2582 2249 3415

11645 -0.96 -146.6 782.0 -0.2 556 11650 0.00 2.55 0.00 0.000 4 0.000 0.054 2582 846 3415

11802 end dive: NO_VERTICAL_VELOCITY

state 11802 begin apogee

11809 -0.36 0.0 782.2 0.0 563 11943 0.65 0.00 127.38 1.381 6 0.054 0.000 2725 1474 2831

11943 end apogee: CONTROL_FINISHED_OK

state 11943 begin climb

11947 0.96 146.6 781.5 0.0 570 12085 1.27 2.58 131.05 1.318 4 0.046 0.051 3008 2855 2232

12104 0.96 146.6 773.0 8.2 576 12110 0.00 2.53 0.00 0.000 6 0.000 0.045 3007 1460 2228

12420 0.96 146.6 752.4 7.7 592 12425 0.00 2.25 0.00 0.000 4 0.000 0.068 3007 266 2221

12488 1.01 184.2 746.7 5.0 595 12531 0.00 2.05 33.33 1.282 6 0.000 0.038 3007 1456 2079

12842 1.01 184.2 721.3 10.1 612 12845 0.00 2.25 0.00 0.000 4 0.000 0.068 3007 258 2072

12858 1.01 184.2 719.3 9.9 612 12864 0.00 2.08 0.00 0.000 6 0.000 0.038 3007 1456 2072

13176 1.01 184.2 693.5 8.2 628 13180 0.00 2.53 0.00 0.000 4 0.000 0.050 3007 2860 2070

13242 1.01 184.2 687.7 7.0 631 13247 0.00 2.55 0.00 0.000 6 0.000 0.045 3007 1452 2069

13569 1.01 184.2 661.2 9.3 647 13570 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 1452 2069

13878 1.24 372.1 646.6 0.9 662 14057 0.25 2.65 169.57 1.279 4 0.029 0.053 3096 2859 1313

14205 1.24 372.1 609.2 12.1 677 14210 0.12 2.55 0.00 0.000 6 0.079 0.045 3070 1448 1303

14525 1.24 372.1 576.6 10.8 693 14526 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1448 1298

14835 1.24 372.1 542.0 10.8 708 14840 0.00 2.55 0.00 0.000 4 0.000 0.048 3070 2856 1296

14907 1.24 372.1 534.4 10.8 711 14911 0.00 2.50 0.00 0.000 6 0.000 0.041 3070 1449 1295

15229 1.24 372.1 498.5 11.2 727 15230 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1449 1294

15538 1.24 372.1 465.5 10.6 742 15539 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1449 1294

15847 1.24 372.1 432.1 10.3 757 15848 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1449 1294

16156 1.24 372.1 399.5 10.9 772 16157 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1448 1295

16468 1.24 372.1 364.5 11.5 787 16469 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1448 1294

16775 1.24 372.1 330.1 10.7 802 16776 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1448 1295

17084 1.24 372.1 297.2 11.6 817 17088 0.00 2.15 0.00 0.000 4 0.000 0.058 3070 262 1295

17107 1.24 372.1 294.5 11.5 818 17111 0.00 2.03 0.00 0.000 6 0.000 0.030 3070 1471 1294

17439 1.24 372.1 258.5 10.4 834 17440 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1471 1295

17751 1.24 372.1 225.3 11.0 849 17752 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1472 1294

18058 1.24 372.1 190.9 11.4 864 18061 0.00 2.20 0.00 0.000 4 0.000 0.057 3070 259 1295

18126 1.24 372.1 183.1 11.2 867 18130 0.00 2.03 0.00 0.000 6 0.000 0.031 3070 1456 1295

18459 1.24 372.1 148.6 9.8 883 18463 0.00 2.17 0.00 0.000 4 0.000 0.056 3070 267 1295

18505 1.24 372.1 143.8 10.5 885 18508 0.00 2.00 0.00 0.000 6 0.000 0.031 3070 1455 1295

18839 1.24 372.1 109.7 11.1 901 18840 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1455 1295

19147 1.24 372.1 71.0 11.9 916 19150 0.00 2.15 0.00 0.000 4 0.000 0.054 3070 260 1295

19174 1.24 372.1 67.5 13.3 917 19178 0.00 2.03 0.00 0.000 6 0.000 0.031 3070 1456 1295

19503 1.24 372.1 31.1 11.3 933 19504 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1456 1295

19767 end climb: SURFACE_DEPTH_REACHED

state 19767 begin surface coast

19790 end surface coast: CONTROL_FINISHED_OK

state 19790 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	297	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-1633398.2	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	123137,6143.784,-849.233,29,1.7,29,-9.2	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.75	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-51.0	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	123928,6143.854,-849.341,9,4.9,28,-9.2	MHEAD_RNG_PITCHd_Wd	149.2,33482,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.026819	ALTIM_BOTTOM_PING	701.1,93.3
SM_CCo	19874,0.00,0.000,0,0,1292,377.52	_24V_AH	23.0,61.475
SM_GC	0.85,11.65,0.00,0.00,0.027,0.000,0.000,394,2242,1292,-10.98,-0.23,377.52	_10V_AH	10.0,37.011
IRIDIUM_FIX	6117.23,-848.22,121198,070755	DATA_FILE_SIZE	47469,947
TT8_MAMPS	0.026845	CAP_FILE_SIZE	147993,0
HUMID	1942	CFSIZE	260165632,236711936
INTERNAL_PRESSURE	8.10902	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	14.30	GPS	180809,181208,6145.907,-854.693,26,1.6,28,-9.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	78.36	SBE_CT	828	24	457.56
Roll_motor	169	68	266.63	SBE_O2	670	19	292.83
VBD_pump_during_apogee	461	1381	14656.96	WL_BB2F	528	105	1275.61
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	27	103	65.82	nil	0	0	0.00
Iridium_during_connect	35	160	132.04	nil	0	0	0.00
Iridium_during_xfer	254	223	1306.04
Transponder_ping	6	420	57.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	14.69
TT8	1788	19	354.08
LPSleep	14746	2	322.95
TT8_Active	556	19	110.13
TT8_Sampling	2312	39	920.47
TT8_CF8	934	45	428.05
TT8_Kalman	0	81	0.00
Analog_circuits	1771	12	212.58
GPS_charging	0	0	0.00
Compass	2438	8	195.06
RAFOS	0	0	0.00
Transponder	41	30	12.37

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.96	-146.6	0.0	0.0	0	98	0.00	0.00	-75.53	0.000	6	0.000	0.000	386	2238	3430
101	-0.96	-146.6	5.9	-8.2	4	122	11.73	2.47	0.00	0.000	4	0.133	0.040	2581	834	3432
145	-0.96	-146.6	20.4	-15.2	6	150	0.00	2.47	0.00	0.000	6	0.000	0.034	2581	2255	3431
472	-0.96	-146.6	45.9	-8.3	22	477	0.00	2.53	0.00	0.000	4	0.000	0.057	2582	3649	3432
803	-0.96	-146.6	72.9	-8.0	37	807	0.00	2.42	0.00	0.000	6	0.000	0.028	2582	2224	3433
1130	-0.96	-146.6	98.8	-9.5	53	1134	0.00	2.40	0.00	0.000	4	0.000	0.042	2582	852	3433
1224	-0.96	-146.6	109.2	-11.0	57	1229	0.00	2.42	0.00	0.000	6	0.000	0.032	2582	2255	3434
1540	-0.96	-146.6	142.7	-11.0	72	1545	0.00	2.53	0.00	0.000	4	0.000	0.058	2582	3648	3434
1586	-0.96	-146.6	147.8	-11.6	74	1591	0.00	2.38	0.00	0.000	6	0.000	0.029	2582	2252	3434
1907	-0.96	-146.6	178.4	-8.6	90	1912	0.00	2.53	0.00	0.000	4	0.000	0.052	2582	3647	3434
1976	-0.96	-146.6	184.5	-8.8	93	1980	0.00	2.40	0.00	0.000	6	0.000	0.029	2582	2240	3434
2297	-0.96	-146.6	210.6	-8.2	109	2302	0.00	2.58	0.00	0.000	4	0.000	0.053	2581	3645	3434
2386	-0.96	-146.6	218.7	-9.4	113	2391	0.00	2.40	0.00	0.000	6	0.000	0.030	2582	2256	3434
2718	-0.96	-146.6	248.0	-8.8	129	2722	0.00	2.53	0.00	0.000	4	0.000	0.052	2581	3650	3434
2829	-0.96	-146.6	258.7	-9.2	134	2833	0.00	2.40	0.00	0.000	6	0.000	0.030	2582	2250	3434
3153	-0.96	-146.6	285.9	-8.1	150	3157	0.00	2.53	0.00	0.000	4	0.000	0.053	2582	3647	3433
3231	-0.96	-146.6	293.4	-9.4	153	3237	0.00	2.38	0.00	0.000	6	0.000	0.030	2582	2250	3433
3546	-0.96	-146.6	320.6	-8.7	169	3550	0.00	2.53	0.00	0.000	4	0.000	0.053	2582	3647	3433
3675	-0.96	-146.6	331.7	-8.2	175	3679	0.00	2.40	0.00	0.000	6	0.000	0.030	2581	2241	3432
4001	-0.96	-146.6	358.2	-8.2	191	4006	0.00	2.55	0.00	0.000	4	0.000	0.054	2581	3647	3432
4119	-0.96	-146.6	368.2	-8.3	196	4123	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2247	3432
4435	-0.96	-146.6	390.4	-6.6	211	4439	0.00	2.55	0.00	0.000	4	0.000	0.054	2582	3651	3431
4529	-0.96	-146.6	397.0	-7.0	215	4533	0.00	2.40	0.00	0.000	6	0.000	0.030	2582	2250	3431
4846	-0.96	-146.6	416.2	-5.9	230	4850	0.00	2.53	0.00	0.000	4	0.000	0.054	2582	3647	3431
4954	-0.96	-146.6	423.3	-5.9	235	4958	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2241	3431
5281	-0.96	-146.6	440.5	-4.9	251	5285	0.00	2.55	0.00	0.000	4	0.000	0.056	2582	3649	3431
5398	-0.96	-146.6	446.9	-4.8	256	5403	0.00	2.40	0.00	0.000	6	0.000	0.031	2581	2251	3430
5714	-0.96	-146.6	461.1	-4.4	271	5719	0.00	2.53	0.00	0.000	4	0.000	0.054	2582	3647	3430
5867	-0.96	-146.6	469.4	-6.2	278	5871	0.00	2.40	0.00	0.000	6	0.000	0.031	2581	2245	3430
6193	-0.96	-146.6	494.5	-9.1	294	6197	0.00	2.55	0.00	0.000	4	0.000	0.055	2581	3650	3430
6404	-0.96	-146.6	516.6	-10.3	303	6411	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2251	3430
6720	-0.96	-146.6	545.2	-8.4	319	6721	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2245	3430
7031	-0.96	-146.6	567.8	-5.7	334	7035	0.00	2.53	0.00	0.000	4	0.000	0.054	2582	3647	3429
7075	-0.96	-146.6	570.4	-5.7	336	7079	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2249	3430
7396	-0.96	-146.6	584.6	-3.1	352	7397	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2249	3429
7705	-0.96	-146.6	594.2	-2.8	367	7709	0.00	2.55	0.00	0.000	4	0.000	0.057	2582	3651	3429
7894	-0.96	-146.6	603.5	-6.9	375	7902	0.00	2.45	0.00	0.000	6	0.000	0.032	2582	2251	3429
8211	-0.96	-146.6	628.6	-9.7	391	8215	0.00	2.53	0.00	0.000	4	0.000	0.055	2582	3647	3427
8356	-0.96	-146.6	644.4	-12.2	397	8362	0.00	2.42	0.00	0.000	6	0.000	0.034	2582	2246	3427
8673	-0.96	-146.6	663.3	-1.5	413	8677	0.00	2.58	0.00	0.000	4	0.000	0.061	2582	3646	3426
8757	-0.96	-146.6	669.9	-9.4	417	8762	0.00	2.42	0.00	0.000	6	0.000	0.035	2582	2248	3425
9085	-0.96	-146.6	686.8	-7.7	433	9089	0.00	2.58	0.00	0.000	4	0.000	0.061	2582	3651	3425
9218	-0.96	-146.6	697.5	-4.6	439	9222	0.00	2.45	0.00	0.000	6	0.000	0.035	2582	2238	3424
9545	-0.96	-146.6	702.5	-1.7	455	9546	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2238	3422
9853	-0.96	-146.6	711.4	-4.1	470	9858	0.00	2.60	0.00	0.000	4	0.000	0.062	2582	3648	3421
9881	-0.96	-146.6	712.3	-3.4	471	9885	0.00	2.45	0.00	0.000	6	0.000	0.037	2582	2243	3420
10197	-0.96	-146.6	727.7	-5.4	486	10201	0.00	2.60	0.00	0.000	4	0.000	0.064	2582	3650	3420
10297	-0.96	-146.6	733.0	-7.8	490	10305	0.00	2.47	0.00	0.000	6	0.000	0.037	2582	2253	3419
10614	-0.96	-146.6	748.2	-4.5	506	10615	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2253	3418
10923	-0.96	-146.6	765.2	-5.2	521	10927	0.00	2.53	0.00	0.000	4	0.000	0.053	2582	840	3416
11001	-0.96	-146.6	768.5	-3.6	524	11007	0.00	2.47	0.00	0.000	6	0.000	0.041	2582	2246	3417
11317	-0.96	-146.6	778.6	-4.5	540	11321	0.00	2.58	0.00	0.000	4	0.000	0.064	2582	3653	3415
11328	-0.96	-146.6	779.2	-6.0	540	11335	0.00	2.47	0.00	0.000	6	0.000	0.041	2582	2249	3415
11645	-0.96	-146.6	782.0	-0.2	556	11650	0.00	2.55	0.00	0.000	4	0.000	0.054	2582	846	3415
11802	end dive: NO_VERTICAL_VELOCITY
state	11802	begin apogee
11809	-0.36	0.0	782.2	0.0	563	11943	0.65	0.00	127.38	1.381	6	0.054	0.000	2725	1474	2831
11943	end apogee: CONTROL_FINISHED_OK
state	11943	begin climb
11947	0.96	146.6	781.5	0.0	570	12085	1.27	2.58	131.05	1.318	4	0.046	0.051	3008	2855	2232
12104	0.96	146.6	773.0	8.2	576	12110	0.00	2.53	0.00	0.000	6	0.000	0.045	3007	1460	2228
12420	0.96	146.6	752.4	7.7	592	12425	0.00	2.25	0.00	0.000	4	0.000	0.068	3007	266	2221
12488	1.01	184.2	746.7	5.0	595	12531	0.00	2.05	33.33	1.282	6	0.000	0.038	3007	1456	2079
12842	1.01	184.2	721.3	10.1	612	12845	0.00	2.25	0.00	0.000	4	0.000	0.068	3007	258	2072
12858	1.01	184.2	719.3	9.9	612	12864	0.00	2.08	0.00	0.000	6	0.000	0.038	3007	1456	2072
13176	1.01	184.2	693.5	8.2	628	13180	0.00	2.53	0.00	0.000	4	0.000	0.050	3007	2860	2070
13242	1.01	184.2	687.7	7.0	631	13247	0.00	2.55	0.00	0.000	6	0.000	0.045	3007	1452	2069
13569	1.01	184.2	661.2	9.3	647	13570	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	1452	2069
13878	1.24	372.1	646.6	0.9	662	14057	0.25	2.65	169.57	1.279	4	0.029	0.053	3096	2859	1313
14205	1.24	372.1	609.2	12.1	677	14210	0.12	2.55	0.00	0.000	6	0.079	0.045	3070	1448	1303
14525	1.24	372.1	576.6	10.8	693	14526	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1448	1298
14835	1.24	372.1	542.0	10.8	708	14840	0.00	2.55	0.00	0.000	4	0.000	0.048	3070	2856	1296
14907	1.24	372.1	534.4	10.8	711	14911	0.00	2.50	0.00	0.000	6	0.000	0.041	3070	1449	1295
15229	1.24	372.1	498.5	11.2	727	15230	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1449	1294
15538	1.24	372.1	465.5	10.6	742	15539	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1449	1294
15847	1.24	372.1	432.1	10.3	757	15848	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1449	1294
16156	1.24	372.1	399.5	10.9	772	16157	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1448	1295
16468	1.24	372.1	364.5	11.5	787	16469	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1448	1294
16775	1.24	372.1	330.1	10.7	802	16776	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1448	1295
17084	1.24	372.1	297.2	11.6	817	17088	0.00	2.15	0.00	0.000	4	0.000	0.058	3070	262	1295
17107	1.24	372.1	294.5	11.5	818	17111	0.00	2.03	0.00	0.000	6	0.000	0.030	3070	1471	1294
17439	1.24	372.1	258.5	10.4	834	17440	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1471	1295
17751	1.24	372.1	225.3	11.0	849	17752	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1472	1294
18058	1.24	372.1	190.9	11.4	864	18061	0.00	2.20	0.00	0.000	4	0.000	0.057	3070	259	1295
18126	1.24	372.1	183.1	11.2	867	18130	0.00	2.03	0.00	0.000	6	0.000	0.031	3070	1456	1295
18459	1.24	372.1	148.6	9.8	883	18463	0.00	2.17	0.00	0.000	4	0.000	0.056	3070	267	1295
18505	1.24	372.1	143.8	10.5	885	18508	0.00	2.00	0.00	0.000	6	0.000	0.031	3070	1455	1295
18839	1.24	372.1	109.7	11.1	901	18840	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1455	1295
19147	1.24	372.1	71.0	11.9	916	19150	0.00	2.15	0.00	0.000	4	0.000	0.054	3070	260	1295
19174	1.24	372.1	67.5	13.3	917	19178	0.00	2.03	0.00	0.000	6	0.000	0.031	3070	1456	1295
19503	1.24	372.1	31.1	11.3	933	19504	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1456	1295
19767	end climb: SURFACE_DEPTH_REACHED
state	19767	begin surface coast
19790	end surface coast: CONTROL_FINISHED_OK
state	19790	begin surface