Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 299 * 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 299 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 24 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 -1633448.5 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 -1633448.5

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 24 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 299 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 232525,6147.992,-856.107,41,1.5,41,-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 -0.025,-0.238

_SM_DEPTHo 0.76 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -53.0 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 233056,6148.021,-856.163,16,1.4,16,-9.3 MHEAD_RNG_PITCHd_Wd 149.8,43269,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.012782 ALTIM_BOTTOM_PING 601.2,71.7

SM_CCo 17958,19.00,0.749,0,0,1609,300.00 _24V_AH 23.1,61.759

SM_GC 0.47,0.00,0.00,19.00,0.000,0.000,0.749,394,2260,1609,-11.07,0.28,300.00 _10V_AH 10.1,37.188

IRIDIUM_FIX 6108.28,-921.81,121198,181859 DATA_FILE_SIZE 44338,862

TT8_MAMPS 0.027612 CAP_FILE_SIZE 131378,0

HUMID 1916 CFSIZE 260165632,236597248

INTERNAL_PRESSURE 8.14809 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,0,0

TCM_TEMP 18.00 GPS 190809,043206,6147.415,-857.730,30,1.1,30,-9.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 78.09 SBE_CT 745 24 413.45

Roll_motor 160 65 245.28 SBE_O2 620 19 272.31

VBD_pump_during_apogee 373 1254 10808.12 WL_BB2F 543 105 1318.60

VBD_pump_during_surface 19 749 328.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.82 nil 0 0 0.00

Iridium_during_connect 30 160 114.23 nil 0 0 0.00

Iridium_during_xfer 142 223 732.40

Transponder_ping 5 420 50.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.16

TT8 1607 19 321.51

LPSleep 13502 2 298.67

TT8_Active 526 19 105.23

TT8_Sampling 1906 39 766.57

TT8_CF8 765 45 354.10

TT8_Kalman 0 81 0.00

Analog_circuits 1537 12 186.34

GPS_charging 0 0 0.00

Compass 2060 8 166.50

RAFOS 0 0 0.00

Transponder 37 30 11.40

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 -0.96 -146.6 0.0 0.0 0 79 0.00 0.00 -61.67 0.000 6 0.000 0.000 384 2242 3431

82 -0.96 -146.6 3.7 -6.6 3 103 11.73 2.60 0.00 0.000 4 0.133 0.053 2586 3654 3433

181 -0.96 -146.6 21.2 -9.4 7 186 0.00 2.45 0.00 0.000 6 0.000 0.028 2586 2232 3433

502 -0.96 -146.6 47.5 -8.0 23 503 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2232 3434

812 -0.96 -146.6 61.6 -3.7 38 816 0.00 2.40 0.00 0.000 4 0.000 0.041 2586 857 3434

890 -0.96 -146.6 66.1 -6.6 41 896 0.00 2.40 0.00 0.000 6 0.000 0.032 2586 2249 3434

1206 -0.96 -146.6 92.3 -10.1 57 1207 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2249 3435

1516 -0.96 -146.6 128.4 -11.6 72 1520 0.00 2.55 0.00 0.000 4 0.000 0.058 2586 3651 3435

1595 -0.96 -146.6 137.9 -11.3 75 1601 0.00 2.38 0.00 0.000 6 0.000 0.030 2586 2255 3435

1912 -0.96 -146.6 169.9 -9.5 91 1916 0.00 2.53 0.00 0.000 4 0.000 0.051 2586 3650 3435

1967 -0.96 -146.6 175.4 -9.3 93 1973 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2242 3435

2286 -0.96 -146.6 201.4 -7.9 109 2291 0.00 2.55 0.00 0.000 4 0.000 0.052 2586 3652 3435

2327 -0.96 -146.6 205.2 -9.3 111 2331 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2249 3435

2654 -0.96 -146.6 230.3 -7.6 127 2658 0.00 2.53 0.00 0.000 4 0.000 0.051 2587 3650 3434

2709 -0.96 -146.6 235.0 -8.6 129 2715 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2244 3434

3027 -0.96 -146.6 258.9 -7.5 145 3028 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2244 3434

3334 -0.96 -146.6 281.3 -6.9 160 3338 0.00 2.55 0.00 0.000 4 0.000 0.053 2586 3653 3434

3391 -0.96 -146.6 285.3 -7.3 162 3397 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2249 3434

3707 -0.96 -146.6 306.2 -6.2 178 3711 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3650 3434

3756 -0.96 -146.6 309.4 -6.3 180 3760 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2245 3434

4072 -0.96 -146.6 327.3 -5.2 195 4077 0.00 2.55 0.00 0.000 4 0.000 0.053 2586 3653 3434

4141 -0.96 -146.6 331.3 -6.1 198 4145 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2249 3434

4463 -0.96 -146.6 348.5 -5.5 214 4464 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2249 3433

4774 -0.96 -146.6 366.3 -5.9 229 4779 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3651 3433

4815 -0.96 -146.6 369.1 -7.1 231 4819 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2242 3433

5141 -0.96 -146.6 391.5 -7.7 247 5146 0.00 2.55 0.00 0.000 4 0.000 0.054 2586 3650 3432

5231 -0.96 -146.6 399.0 -7.8 251 5235 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3432

5552 -0.96 -146.6 424.1 -8.1 267 5557 0.00 2.53 0.00 0.000 4 0.000 0.054 2586 3650 3432

5593 -0.96 -146.6 427.7 -9.4 269 5597 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2241 3432

5920 -0.96 -146.6 453.9 -8.0 285 5924 0.00 2.45 0.00 0.000 4 0.000 0.045 2587 846 3432

6031 -0.96 -146.6 462.9 -8.1 290 6036 0.00 2.42 0.00 0.000 6 0.000 0.033 2586 2249 3431

6353 -0.96 -146.6 484.0 -6.0 306 6357 0.00 2.53 0.00 0.000 4 0.000 0.057 2586 3650 3431

6515 -0.96 -146.6 494.7 -6.2 313 6520 0.00 2.42 0.00 0.000 6 0.000 0.031 2587 2253 3431

6836 -0.96 -146.6 507.4 -2.4 329 6840 0.00 2.53 0.00 0.000 4 0.000 0.055 2586 3648 3431

6936 -0.96 -146.6 512.1 -5.4 333 6943 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2246 3431

7252 -0.96 -146.6 530.6 -7.0 349 7256 0.00 2.45 0.00 0.000 4 0.000 0.046 2587 851 3431

7274 -0.96 -146.6 532.0 -6.0 350 7279 0.00 2.42 0.00 0.000 6 0.000 0.035 2586 2258 3430

7599 -0.96 -146.6 550.6 -5.8 366 7601 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2258 3430

7906 -0.96 -146.6 568.9 -5.7 381 7907 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2258 3429

8217 -0.96 -146.6 589.8 -7.1 396 8218 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2261 3429

8524 -0.96 -146.6 613.7 -8.1 411 8525 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2260 3428

8833 -0.96 -146.6 636.1 -7.2 426 8838 0.00 2.55 0.00 0.000 4 0.000 0.050 2586 848 3426

8871 -0.96 -146.6 638.6 -6.1 427 8878 0.00 2.45 0.00 0.000 6 0.000 0.038 2587 2255 3426

9187 -0.96 -146.6 656.8 -3.8 443 9191 0.00 2.50 0.00 0.000 4 0.000 0.048 2586 851 3425

9291 end dive: BOTTOM_OBSTACLE_DETECTED

state 9291 begin apogee

9300 -0.36 0.0 663.2 7.2 448 9435 0.62 0.00 127.25 1.254 6 0.061 0.000 2722 1460 2831

9435 end apogee: CONTROL_FINISHED_OK

state 9436 begin climb

9438 0.96 146.6 665.7 0.0 455 9577 1.33 2.28 129.07 1.209 4 0.051 0.066 3009 277 2232

9742 0.97 150.0 653.2 5.9 469 9745 0.00 2.05 0.00 0.000 6 0.000 0.035 3010 1461 2224

10068 1.00 179.1 636.9 5.2 485 10103 0.00 2.22 28.50 1.183 4 0.000 0.062 3010 277 2100

10134 1.00 179.1 632.6 6.5 488 10138 0.00 2.05 0.00 0.000 6 0.000 0.037 3010 1456 2098

10467 1.02 193.5 617.6 5.6 504 10486 0.00 0.00 13.38 1.132 6 0.000 0.000 3009 1456 2042

10798 1.09 246.0 601.2 4.6 520 10855 0.12 2.58 48.70 1.220 4 0.050 0.050 3057 2853 1828

10961 1.09 246.0 589.4 7.5 527 10966 0.00 2.47 0.00 0.000 6 0.000 0.042 3056 1462 1823

11277 1.09 246.0 560.3 10.6 542 11281 0.00 2.50 0.00 0.000 4 0.000 0.048 3057 2858 1819

11317 1.09 246.0 555.9 11.9 544 11321 0.00 2.50 0.00 0.000 6 0.000 0.042 3057 1453 1818

11643 1.09 246.0 516.3 12.0 560 11647 0.00 2.50 0.00 0.000 4 0.000 0.048 3057 2854 1817

11717 1.09 246.0 507.0 12.7 563 11721 0.00 2.50 0.00 0.000 6 0.000 0.041 3057 1446 1817

12033 1.09 246.0 469.6 10.5 578 12034 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1447 1816

12342 1.09 246.0 444.0 7.6 593 12345 0.00 2.15 0.00 0.000 4 0.000 0.060 3057 264 1816

12387 1.09 246.0 440.1 8.3 595 12391 0.00 2.03 0.00 0.000 6 0.000 0.032 3057 1459 1816

12720 1.09 246.0 414.4 7.4 611 12724 0.00 2.47 0.00 0.000 4 0.000 0.046 3057 2850 1815

12752 1.09 246.0 411.9 7.1 612 12759 0.00 2.45 0.00 0.000 6 0.000 0.038 3057 1453 1814

13068 1.09 246.0 391.4 6.7 628 13069 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1453 1815

13380 1.09 246.0 370.0 7.1 643 13384 0.00 2.45 0.00 0.000 4 0.000 0.042 3057 2852 1816

13424 1.09 246.0 366.7 6.7 645 13429 0.00 2.45 0.00 0.000 6 0.000 0.038 3057 1452 1815

13749 1.09 246.0 345.8 6.8 661 13750 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1452 1816

14057 1.09 246.0 322.2 8.5 676 14061 0.00 2.47 0.00 0.000 4 0.000 0.041 3057 2858 1816

14084 1.09 246.0 319.7 8.7 677 14089 0.00 2.47 0.00 0.000 6 0.000 0.038 3057 1461 1816

14405 1.09 246.0 292.2 8.6 693 14406 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1461 1816

14714 1.09 246.0 266.1 8.3 708 14718 0.00 2.45 0.00 0.000 4 0.000 0.041 3057 2857 1817

14742 1.09 246.0 263.7 8.1 709 14746 0.00 2.45 0.00 0.000 6 0.000 0.037 3057 1453 1817

15057 1.09 246.0 237.6 8.8 724 15058 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1453 1817

15367 1.09 246.0 211.2 8.4 739 15372 0.00 2.47 0.00 0.000 4 0.000 0.041 3057 2843 1817

15414 1.09 246.0 207.4 8.6 741 15418 0.00 2.42 0.00 0.000 6 0.000 0.037 3057 1454 1817

15740 1.09 246.0 179.2 8.9 757 15742 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1454 1818

16050 1.09 246.0 149.9 9.8 772 16055 0.00 2.47 0.00 0.000 4 0.000 0.042 3057 2848 1818

16100 1.09 246.0 145.0 9.8 774 16104 0.00 2.45 0.00 0.000 6 0.000 0.038 3057 1447 1818

16422 1.09 246.0 115.3 8.9 790 16424 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1447 1818

16731 1.09 246.0 89.2 9.2 805 16735 0.00 2.47 0.00 0.000 4 0.000 0.041 3057 2860 1818

16780 1.09 246.0 83.7 9.8 807 16784 0.00 2.45 0.00 0.000 6 0.000 0.035 3057 1452 1818

17096 1.09 246.0 53.1 7.7 822 17097 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1452 1819

17406 1.10 260.4 36.9 5.6 837 17428 0.00 2.55 12.02 0.755 4 0.000 0.040 3057 2861 1769

17501 1.11 265.9 30.9 5.8 841 17517 0.00 2.45 6.53 0.663 6 0.000 0.035 3057 1454 1747

17828 1.12 272.8 9.6 5.8 857 17842 0.00 2.50 7.65 0.681 4 0.000 0.038 3057 2856 1718

17887 1.12 272.8 4.5 8.0 859 17894 0.00 2.45 0.00 0.000 6 0.000 0.034 3057 1453 1717

17913 end climb: SURFACE_DEPTH_REACHED

state 17913 begin surface coast

17934 end surface coast: CONTROL_FINISHED_OK

state 17934 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	299	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	24	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	-1633448.5	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	232525,6147.992,-856.107,41,1.5,41,-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	-0.025,-0.238
_SM_DEPTHo	0.76	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-53.0	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	233056,6148.021,-856.163,16,1.4,16,-9.3	MHEAD_RNG_PITCHd_Wd	149.8,43269,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.0,1.012782	ALTIM_BOTTOM_PING	601.2,71.7
SM_CCo	17958,19.00,0.749,0,0,1609,300.00	_24V_AH	23.1,61.759
SM_GC	0.47,0.00,0.00,19.00,0.000,0.000,0.749,394,2260,1609,-11.07,0.28,300.00	_10V_AH	10.1,37.188
IRIDIUM_FIX	6108.28,-921.81,121198,181859	DATA_FILE_SIZE	44338,862
TT8_MAMPS	0.027612	CAP_FILE_SIZE	131378,0
HUMID	1916	CFSIZE	260165632,236597248
INTERNAL_PRESSURE	8.14809	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
TCM_TEMP	18.00	GPS	190809,043206,6147.415,-857.730,30,1.1,30,-9.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	78.09	SBE_CT	745	24	413.45
Roll_motor	160	65	245.28	SBE_O2	620	19	272.31
VBD_pump_during_apogee	373	1254	10808.12	WL_BB2F	543	105	1318.60
VBD_pump_during_surface	19	749	328.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.82	nil	0	0	0.00
Iridium_during_connect	30	160	114.23	nil	0	0	0.00
Iridium_during_xfer	142	223	732.40
Transponder_ping	5	420	50.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.16
TT8	1607	19	321.51
LPSleep	13502	2	298.67
TT8_Active	526	19	105.23
TT8_Sampling	1906	39	766.57
TT8_CF8	765	45	354.10
TT8_Kalman	0	81	0.00
Analog_circuits	1537	12	186.34
GPS_charging	0	0	0.00
Compass	2060	8	166.50
RAFOS	0	0	0.00
Transponder	37	30	11.40

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	-0.96	-146.6	0.0	0.0	0	79	0.00	0.00	-61.67	0.000	6	0.000	0.000	384	2242	3431
82	-0.96	-146.6	3.7	-6.6	3	103	11.73	2.60	0.00	0.000	4	0.133	0.053	2586	3654	3433
181	-0.96	-146.6	21.2	-9.4	7	186	0.00	2.45	0.00	0.000	6	0.000	0.028	2586	2232	3433
502	-0.96	-146.6	47.5	-8.0	23	503	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2232	3434
812	-0.96	-146.6	61.6	-3.7	38	816	0.00	2.40	0.00	0.000	4	0.000	0.041	2586	857	3434
890	-0.96	-146.6	66.1	-6.6	41	896	0.00	2.40	0.00	0.000	6	0.000	0.032	2586	2249	3434
1206	-0.96	-146.6	92.3	-10.1	57	1207	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2249	3435
1516	-0.96	-146.6	128.4	-11.6	72	1520	0.00	2.55	0.00	0.000	4	0.000	0.058	2586	3651	3435
1595	-0.96	-146.6	137.9	-11.3	75	1601	0.00	2.38	0.00	0.000	6	0.000	0.030	2586	2255	3435
1912	-0.96	-146.6	169.9	-9.5	91	1916	0.00	2.53	0.00	0.000	4	0.000	0.051	2586	3650	3435
1967	-0.96	-146.6	175.4	-9.3	93	1973	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2242	3435
2286	-0.96	-146.6	201.4	-7.9	109	2291	0.00	2.55	0.00	0.000	4	0.000	0.052	2586	3652	3435
2327	-0.96	-146.6	205.2	-9.3	111	2331	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2249	3435
2654	-0.96	-146.6	230.3	-7.6	127	2658	0.00	2.53	0.00	0.000	4	0.000	0.051	2587	3650	3434
2709	-0.96	-146.6	235.0	-8.6	129	2715	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2244	3434
3027	-0.96	-146.6	258.9	-7.5	145	3028	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2244	3434
3334	-0.96	-146.6	281.3	-6.9	160	3338	0.00	2.55	0.00	0.000	4	0.000	0.053	2586	3653	3434
3391	-0.96	-146.6	285.3	-7.3	162	3397	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2249	3434
3707	-0.96	-146.6	306.2	-6.2	178	3711	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3650	3434
3756	-0.96	-146.6	309.4	-6.3	180	3760	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2245	3434
4072	-0.96	-146.6	327.3	-5.2	195	4077	0.00	2.55	0.00	0.000	4	0.000	0.053	2586	3653	3434
4141	-0.96	-146.6	331.3	-6.1	198	4145	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2249	3434
4463	-0.96	-146.6	348.5	-5.5	214	4464	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2249	3433
4774	-0.96	-146.6	366.3	-5.9	229	4779	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3651	3433
4815	-0.96	-146.6	369.1	-7.1	231	4819	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2242	3433
5141	-0.96	-146.6	391.5	-7.7	247	5146	0.00	2.55	0.00	0.000	4	0.000	0.054	2586	3650	3432
5231	-0.96	-146.6	399.0	-7.8	251	5235	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3432
5552	-0.96	-146.6	424.1	-8.1	267	5557	0.00	2.53	0.00	0.000	4	0.000	0.054	2586	3650	3432
5593	-0.96	-146.6	427.7	-9.4	269	5597	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2241	3432
5920	-0.96	-146.6	453.9	-8.0	285	5924	0.00	2.45	0.00	0.000	4	0.000	0.045	2587	846	3432
6031	-0.96	-146.6	462.9	-8.1	290	6036	0.00	2.42	0.00	0.000	6	0.000	0.033	2586	2249	3431
6353	-0.96	-146.6	484.0	-6.0	306	6357	0.00	2.53	0.00	0.000	4	0.000	0.057	2586	3650	3431
6515	-0.96	-146.6	494.7	-6.2	313	6520	0.00	2.42	0.00	0.000	6	0.000	0.031	2587	2253	3431
6836	-0.96	-146.6	507.4	-2.4	329	6840	0.00	2.53	0.00	0.000	4	0.000	0.055	2586	3648	3431
6936	-0.96	-146.6	512.1	-5.4	333	6943	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2246	3431
7252	-0.96	-146.6	530.6	-7.0	349	7256	0.00	2.45	0.00	0.000	4	0.000	0.046	2587	851	3431
7274	-0.96	-146.6	532.0	-6.0	350	7279	0.00	2.42	0.00	0.000	6	0.000	0.035	2586	2258	3430
7599	-0.96	-146.6	550.6	-5.8	366	7601	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2258	3430
7906	-0.96	-146.6	568.9	-5.7	381	7907	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2258	3429
8217	-0.96	-146.6	589.8	-7.1	396	8218	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2261	3429
8524	-0.96	-146.6	613.7	-8.1	411	8525	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2260	3428
8833	-0.96	-146.6	636.1	-7.2	426	8838	0.00	2.55	0.00	0.000	4	0.000	0.050	2586	848	3426
8871	-0.96	-146.6	638.6	-6.1	427	8878	0.00	2.45	0.00	0.000	6	0.000	0.038	2587	2255	3426
9187	-0.96	-146.6	656.8	-3.8	443	9191	0.00	2.50	0.00	0.000	4	0.000	0.048	2586	851	3425
9291	end dive: BOTTOM_OBSTACLE_DETECTED
state	9291	begin apogee
9300	-0.36	0.0	663.2	7.2	448	9435	0.62	0.00	127.25	1.254	6	0.061	0.000	2722	1460	2831
9435	end apogee: CONTROL_FINISHED_OK
state	9436	begin climb
9438	0.96	146.6	665.7	0.0	455	9577	1.33	2.28	129.07	1.209	4	0.051	0.066	3009	277	2232
9742	0.97	150.0	653.2	5.9	469	9745	0.00	2.05	0.00	0.000	6	0.000	0.035	3010	1461	2224
10068	1.00	179.1	636.9	5.2	485	10103	0.00	2.22	28.50	1.183	4	0.000	0.062	3010	277	2100
10134	1.00	179.1	632.6	6.5	488	10138	0.00	2.05	0.00	0.000	6	0.000	0.037	3010	1456	2098
10467	1.02	193.5	617.6	5.6	504	10486	0.00	0.00	13.38	1.132	6	0.000	0.000	3009	1456	2042
10798	1.09	246.0	601.2	4.6	520	10855	0.12	2.58	48.70	1.220	4	0.050	0.050	3057	2853	1828
10961	1.09	246.0	589.4	7.5	527	10966	0.00	2.47	0.00	0.000	6	0.000	0.042	3056	1462	1823
11277	1.09	246.0	560.3	10.6	542	11281	0.00	2.50	0.00	0.000	4	0.000	0.048	3057	2858	1819
11317	1.09	246.0	555.9	11.9	544	11321	0.00	2.50	0.00	0.000	6	0.000	0.042	3057	1453	1818
11643	1.09	246.0	516.3	12.0	560	11647	0.00	2.50	0.00	0.000	4	0.000	0.048	3057	2854	1817
11717	1.09	246.0	507.0	12.7	563	11721	0.00	2.50	0.00	0.000	6	0.000	0.041	3057	1446	1817
12033	1.09	246.0	469.6	10.5	578	12034	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1447	1816
12342	1.09	246.0	444.0	7.6	593	12345	0.00	2.15	0.00	0.000	4	0.000	0.060	3057	264	1816
12387	1.09	246.0	440.1	8.3	595	12391	0.00	2.03	0.00	0.000	6	0.000	0.032	3057	1459	1816
12720	1.09	246.0	414.4	7.4	611	12724	0.00	2.47	0.00	0.000	4	0.000	0.046	3057	2850	1815
12752	1.09	246.0	411.9	7.1	612	12759	0.00	2.45	0.00	0.000	6	0.000	0.038	3057	1453	1814
13068	1.09	246.0	391.4	6.7	628	13069	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1453	1815
13380	1.09	246.0	370.0	7.1	643	13384	0.00	2.45	0.00	0.000	4	0.000	0.042	3057	2852	1816
13424	1.09	246.0	366.7	6.7	645	13429	0.00	2.45	0.00	0.000	6	0.000	0.038	3057	1452	1815
13749	1.09	246.0	345.8	6.8	661	13750	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1452	1816
14057	1.09	246.0	322.2	8.5	676	14061	0.00	2.47	0.00	0.000	4	0.000	0.041	3057	2858	1816
14084	1.09	246.0	319.7	8.7	677	14089	0.00	2.47	0.00	0.000	6	0.000	0.038	3057	1461	1816
14405	1.09	246.0	292.2	8.6	693	14406	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1461	1816
14714	1.09	246.0	266.1	8.3	708	14718	0.00	2.45	0.00	0.000	4	0.000	0.041	3057	2857	1817
14742	1.09	246.0	263.7	8.1	709	14746	0.00	2.45	0.00	0.000	6	0.000	0.037	3057	1453	1817
15057	1.09	246.0	237.6	8.8	724	15058	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1453	1817
15367	1.09	246.0	211.2	8.4	739	15372	0.00	2.47	0.00	0.000	4	0.000	0.041	3057	2843	1817
15414	1.09	246.0	207.4	8.6	741	15418	0.00	2.42	0.00	0.000	6	0.000	0.037	3057	1454	1817
15740	1.09	246.0	179.2	8.9	757	15742	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1454	1818
16050	1.09	246.0	149.9	9.8	772	16055	0.00	2.47	0.00	0.000	4	0.000	0.042	3057	2848	1818
16100	1.09	246.0	145.0	9.8	774	16104	0.00	2.45	0.00	0.000	6	0.000	0.038	3057	1447	1818
16422	1.09	246.0	115.3	8.9	790	16424	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1447	1818
16731	1.09	246.0	89.2	9.2	805	16735	0.00	2.47	0.00	0.000	4	0.000	0.041	3057	2860	1818
16780	1.09	246.0	83.7	9.8	807	16784	0.00	2.45	0.00	0.000	6	0.000	0.035	3057	1452	1818
17096	1.09	246.0	53.1	7.7	822	17097	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1452	1819
17406	1.10	260.4	36.9	5.6	837	17428	0.00	2.55	12.02	0.755	4	0.000	0.040	3057	2861	1769
17501	1.11	265.9	30.9	5.8	841	17517	0.00	2.45	6.53	0.663	6	0.000	0.035	3057	1454	1747
17828	1.12	272.8	9.6	5.8	857	17842	0.00	2.50	7.65	0.681	4	0.000	0.038	3057	2856	1718
17887	1.12	272.8	4.5	8.0	859	17894	0.00	2.45	0.00	0.000	6	0.000	0.034	3057	1453	1717
17913	end climb: SURFACE_DEPTH_REACHED
state	17913	begin surface coast
17934	end surface coast: CONTROL_FINISHED_OK
state	17934	begin surface