Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 312 * 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 312 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -1633684.1 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 -1633684.1

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 312 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 031137,6134.305,-839.556,35,1.6,35,-9.1 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 0.86 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -59.7 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 031801,6134.180,-839.560,13,1.6,30,-9.1 MHEAD_RNG_PITCHd_Wd 130.1,15016,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026835 ALTIM_BOTTOM_PING 750.4,83.5

SM_CCo 20540,0.00,0.000,0,0,1608,300.25 _24V_AH 23.0,63.885

SM_GC 1.05,11.48,0.00,0.00,0.023,0.000,0.000,392,2245,1608,-10.99,-0.14,300.25 _10V_AH 10.1,38.488

IRIDIUM_FIX 6112.75,-828.27,151198,212126 DATA_FILE_SIZE 50539,978

TT8_MAMPS 0.026845 CAP_FILE_SIZE 142459,0

HUMID 1928 CFSIZE 260165632,235663360

INTERNAL_PRESSURE 8.16762 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 15.20 GPS 220809,090201,6131.224,-836.299,44,1.9,44,-9.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 78.65 SBE_CT 825 24 455.48

Roll_motor 150 61 211.87 SBE_O2 735 19 321.28

VBD_pump_during_apogee 395 1355 12325.27 WL_BB2F 585 105 1413.74

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 31 103 74.80 nil 0 0 0.00

Iridium_during_connect 27 160 102.24 nil 0 0 0.00

Iridium_during_xfer 168 223 864.42

Transponder_ping 6 420 62.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.42

TT8 1808 19 361.62

LPSleep 15520 2 343.31

TT8_Active 501 19 100.29

TT8_Sampling 2237 39 899.57

TT8_CF8 846 45 391.58

TT8_Kalman 0 81 0.00

Analog_circuits 1640 12 198.89

GPS_charging 0 0 0.00

Compass 2406 8 194.47

RAFOS 0 0 0.00

Transponder 44 30 13.46

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 78 0.00 0.00 -61.90 0.000 6 0.000 0.000 390 2246 3432

82 -0.96 -146.6 4.5 -9.0 3 103 11.73 2.53 0.00 0.000 4 0.134 0.038 2583 835 3434

427 -0.96 -146.6 43.5 -8.2 18 432 0.00 2.47 0.00 0.000 6 0.000 0.034 2583 2251 3434

743 -0.96 -146.6 70.0 -9.2 33 748 0.00 2.53 0.00 0.000 4 0.000 0.041 2583 835 3435

789 -0.96 -146.6 73.9 -8.2 35 793 0.00 2.47 0.00 0.000 6 0.000 0.033 2583 2260 3435

1117 -0.96 -146.6 95.8 -5.7 51 1118 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2260 3435

1425 -0.96 -146.6 122.0 -9.2 66 1429 0.00 2.53 0.00 0.000 4 0.000 0.058 2583 3651 3436

1564 -0.96 -146.6 135.6 -9.6 72 1568 0.00 2.42 0.00 0.000 6 0.000 0.029 2584 2229 3436

1880 -0.96 -146.6 162.3 -8.4 87 1884 0.00 2.58 0.00 0.000 4 0.000 0.051 2584 3655 3435

1946 -0.96 -146.6 168.5 -9.7 90 1951 0.00 2.40 0.00 0.000 6 0.000 0.029 2583 2247 3435

2268 -0.96 -146.6 196.1 -8.4 106 2272 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3651 3435

2363 -0.96 -146.6 204.8 -8.8 110 2367 0.00 2.40 0.00 0.000 6 0.000 0.029 2583 2247 3435

2678 -0.96 -146.6 229.3 -7.2 125 2679 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2247 3435

2988 -0.96 -146.6 248.6 -5.9 140 2992 0.00 2.55 0.00 0.000 4 0.000 0.052 2584 3654 3434

3088 -0.96 -146.6 255.3 -6.6 144 3095 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2242 3434

3404 -0.96 -146.6 273.9 -6.1 160 3408 0.00 2.55 0.00 0.000 4 0.000 0.052 2584 3654 3434

3488 -0.96 -146.6 279.5 -7.1 164 3492 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2248 3433

3814 -0.96 -146.6 302.1 -7.7 180 3819 0.00 2.53 0.00 0.000 4 0.000 0.051 2584 3651 3433

3883 -0.96 -146.6 308.0 -8.6 183 3887 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2245 3433

4204 -0.96 -146.6 337.4 -9.5 199 4209 0.00 2.58 0.00 0.000 4 0.000 0.053 2583 3651 3433

4286 -0.96 -146.6 345.8 -9.8 202 4293 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2242 3433

4603 -0.96 -146.6 374.1 -9.0 218 4607 0.00 2.58 0.00 0.000 4 0.000 0.054 2583 3657 3433

4658 -0.96 -146.6 379.7 -10.0 220 4666 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2255 3433

4974 -0.96 -146.6 405.1 -7.4 236 4978 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3651 3432

5058 -0.96 -146.6 411.7 -8.2 240 5062 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2244 3433

5386 -0.96 -146.6 433.3 -5.9 256 5390 0.00 2.55 0.00 0.000 4 0.000 0.053 2584 3651 3433

5447 -0.96 -146.6 437.6 -6.5 259 5451 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2241 3432

5775 -0.96 -146.6 454.4 -5.1 275 5779 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3653 3432

5869 -0.96 -146.6 459.7 -5.9 279 5874 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2250 3432

6188 -0.96 -146.6 475.1 -4.8 294 6193 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3651 3432

6239 -0.96 -146.6 478.5 -6.2 296 6243 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2243 3432

6557 -0.96 -146.6 497.8 -6.5 311 6561 0.00 2.55 0.00 0.000 4 0.000 0.053 2584 3653 3432

6634 -0.96 -146.6 503.6 -6.8 314 6641 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2236 3431

6951 -0.96 -146.6 525.8 -7.3 330 6955 0.00 2.55 0.00 0.000 4 0.000 0.053 2584 3651 3431

7008 -0.96 -146.6 530.3 -7.9 332 7014 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2241 3431

7324 -0.96 -146.6 553.6 -7.0 348 7328 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3652 3432

7390 -0.96 -146.6 558.9 -8.5 351 7395 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3432

7715 -0.96 -146.6 580.5 -6.3 367 7716 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2250 3432

8022 -0.96 -146.6 599.2 -5.7 382 8023 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2250 3432

8330 -0.96 -146.6 614.2 -4.6 397 8331 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2249 3431

8640 -0.96 -146.6 630.6 -5.3 412 8645 0.00 2.55 0.00 0.000 4 0.000 0.052 2583 3655 3431

8727 -0.96 -146.6 636.1 -6.7 416 8731 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2241 3431

9053 -0.96 -146.6 659.3 -7.9 432 9054 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2240 3431

9363 -0.96 -146.6 681.9 -7.5 447 9364 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2239 3431

9672 -0.96 -146.6 703.8 -6.7 462 9676 0.00 2.58 0.00 0.000 4 0.000 0.054 2584 3657 3430

10014 -0.96 -146.6 731.4 -9.1 477 10019 0.00 2.45 0.00 0.000 6 0.000 0.033 2584 2254 3431

10335 -0.96 -146.6 753.0 -6.3 493 10339 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3651 3431

10453 -0.96 -146.6 761.9 -6.4 498 10457 0.00 2.42 0.00 0.000 6 0.000 0.032 2584 2238 3430

10769 -0.96 -146.6 780.9 -5.6 513 10773 0.00 2.45 0.00 0.000 4 0.000 0.048 2584 852 3430

10863 -0.96 -146.6 787.0 -6.3 517 10867 0.00 2.45 0.00 0.000 6 0.000 0.037 2584 2255 3429

11182 -0.96 -146.6 801.8 -5.1 532 11186 0.00 2.55 0.00 0.000 4 0.000 0.061 2584 3653 3428

11237 -0.96 -146.6 805.0 -6.5 534 11243 0.00 2.42 0.00 0.000 6 0.000 0.036 2584 2257 3428

11551 end dive: BOTTOM_OBSTACLE_DETECTED

state 11551 begin apogee

11559 -0.36 0.0 824.6 6.0 550 11693 0.65 0.00 129.80 1.355 6 0.064 0.000 2723 1454 2832

11694 end apogee: CONTROL_FINISHED_OK

state 11694 begin climb

11697 0.96 146.6 825.1 0.0 557 11838 1.33 2.60 130.38 1.314 4 0.049 0.051 3012 2857 2233

12169 1.07 231.8 803.7 3.7 578 12251 0.00 2.53 76.35 1.309 6 0.000 0.045 3012 1454 1887

12563 1.15 296.2 785.8 4.2 597 12626 0.17 0.00 58.88 1.309 6 0.039 0.000 3077 1454 1624

12936 1.15 296.2 757.0 8.7 615 12941 0.12 2.55 0.00 0.000 4 0.078 0.048 3050 2858 1614

12965 1.15 296.2 754.4 8.3 616 12969 0.00 2.53 0.00 0.000 6 0.000 0.044 3050 1453 1613

13281 1.15 296.2 722.1 11.3 631 13282 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 1452 1611

13590 1.15 296.2 693.8 10.6 646 13594 0.00 2.50 0.00 0.000 4 0.000 0.044 3050 2859 1609

13622 1.15 296.2 690.4 9.8 647 13628 0.00 2.50 0.00 0.000 6 0.000 0.040 3050 1449 1609

13940 1.15 296.2 656.5 9.0 663 13943 0.00 2.17 0.00 0.000 4 0.000 0.060 3050 257 1609

13975 1.15 296.2 652.3 12.9 664 13979 0.00 2.05 0.00 0.000 6 0.000 0.031 3050 1473 1609

14296 1.15 296.2 616.9 9.3 680 14297 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1473 1609

14605 1.15 296.2 580.1 12.2 695 14609 0.00 2.20 0.00 0.000 4 0.000 0.056 3050 262 1609

14633 1.15 296.2 576.9 12.2 696 14637 0.00 2.00 0.00 0.000 6 0.000 0.031 3049 1454 1608

14960 1.15 296.2 542.3 10.1 712 14961 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1454 1608

15269 1.15 296.2 511.5 10.0 727 15270 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1454 1609

15578 1.15 296.2 478.6 10.9 742 15579 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1454 1609

15887 1.15 296.2 443.4 11.4 757 15889 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1454 1609

16197 1.15 296.2 409.1 10.9 772 16198 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1454 1610

16508 1.15 296.2 372.7 12.2 787 16510 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1454 1610

16815 1.15 296.2 334.0 12.3 802 16816 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1454 1610

17124 1.15 296.2 295.4 12.4 817 17126 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1454 1610

17434 1.15 296.2 260.6 10.2 832 17438 0.00 2.45 0.00 0.000 4 0.000 0.044 3050 2843 1610

17461 1.15 296.2 257.7 9.6 833 17465 0.00 2.42 0.00 0.000 6 0.000 0.036 3050 1451 1610

17776 1.15 296.2 227.7 9.1 848 17778 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1611

18089 1.15 296.2 198.5 9.7 863 18090 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1610

18395 1.15 296.2 165.8 10.8 878 18396 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1611

18705 1.15 296.2 136.1 9.3 893 18706 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1611

19014 1.15 296.2 110.2 7.9 908 19016 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1451 1611

19324 1.15 296.2 89.6 6.6 923 19329 0.00 2.45 0.00 0.000 4 0.000 0.040 3050 2849 1611

19380 1.15 296.2 85.3 8.1 925 19388 0.00 2.45 0.00 0.000 6 0.000 0.035 3050 1459 1611

19696 1.15 296.2 60.1 7.5 941 19701 0.00 2.40 0.00 0.000 4 0.000 0.037 3050 2847 1611

19763 1.15 296.2 54.9 7.8 944 19768 0.00 2.42 0.00 0.000 6 0.000 0.034 3050 1447 1611

20085 1.15 296.2 30.5 7.3 960 20086 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1447 1611

20394 1.15 296.2 5.4 8.3 975 20396 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1447 1611

20433 end climb: SURFACE_DEPTH_REACHED

state 20433 begin surface coast

20456 end surface coast: CONTROL_FINISHED_OK

state 20456 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	312	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-1633684.1	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	031137,6134.305,-839.556,35,1.6,35,-9.1	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	0.86	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-59.7	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	031801,6134.180,-839.560,13,1.6,30,-9.1	MHEAD_RNG_PITCHd_Wd	130.1,15016,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.026835	ALTIM_BOTTOM_PING	750.4,83.5
SM_CCo	20540,0.00,0.000,0,0,1608,300.25	_24V_AH	23.0,63.885
SM_GC	1.05,11.48,0.00,0.00,0.023,0.000,0.000,392,2245,1608,-10.99,-0.14,300.25	_10V_AH	10.1,38.488
IRIDIUM_FIX	6112.75,-828.27,151198,212126	DATA_FILE_SIZE	50539,978
TT8_MAMPS	0.026845	CAP_FILE_SIZE	142459,0
HUMID	1928	CFSIZE	260165632,235663360
INTERNAL_PRESSURE	8.16762	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	15.20	GPS	220809,090201,6131.224,-836.299,44,1.9,44,-9.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	78.65	SBE_CT	825	24	455.48
Roll_motor	150	61	211.87	SBE_O2	735	19	321.28
VBD_pump_during_apogee	395	1355	12325.27	WL_BB2F	585	105	1413.74
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	31	103	74.80	nil	0	0	0.00
Iridium_during_connect	27	160	102.24	nil	0	0	0.00
Iridium_during_xfer	168	223	864.42
Transponder_ping	6	420	62.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.42
TT8	1808	19	361.62
LPSleep	15520	2	343.31
TT8_Active	501	19	100.29
TT8_Sampling	2237	39	899.57
TT8_CF8	846	45	391.58
TT8_Kalman	0	81	0.00
Analog_circuits	1640	12	198.89
GPS_charging	0	0	0.00
Compass	2406	8	194.47
RAFOS	0	0	0.00
Transponder	44	30	13.46

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	78	0.00	0.00	-61.90	0.000	6	0.000	0.000	390	2246	3432
82	-0.96	-146.6	4.5	-9.0	3	103	11.73	2.53	0.00	0.000	4	0.134	0.038	2583	835	3434
427	-0.96	-146.6	43.5	-8.2	18	432	0.00	2.47	0.00	0.000	6	0.000	0.034	2583	2251	3434
743	-0.96	-146.6	70.0	-9.2	33	748	0.00	2.53	0.00	0.000	4	0.000	0.041	2583	835	3435
789	-0.96	-146.6	73.9	-8.2	35	793	0.00	2.47	0.00	0.000	6	0.000	0.033	2583	2260	3435
1117	-0.96	-146.6	95.8	-5.7	51	1118	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2260	3435
1425	-0.96	-146.6	122.0	-9.2	66	1429	0.00	2.53	0.00	0.000	4	0.000	0.058	2583	3651	3436
1564	-0.96	-146.6	135.6	-9.6	72	1568	0.00	2.42	0.00	0.000	6	0.000	0.029	2584	2229	3436
1880	-0.96	-146.6	162.3	-8.4	87	1884	0.00	2.58	0.00	0.000	4	0.000	0.051	2584	3655	3435
1946	-0.96	-146.6	168.5	-9.7	90	1951	0.00	2.40	0.00	0.000	6	0.000	0.029	2583	2247	3435
2268	-0.96	-146.6	196.1	-8.4	106	2272	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3651	3435
2363	-0.96	-146.6	204.8	-8.8	110	2367	0.00	2.40	0.00	0.000	6	0.000	0.029	2583	2247	3435
2678	-0.96	-146.6	229.3	-7.2	125	2679	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2247	3435
2988	-0.96	-146.6	248.6	-5.9	140	2992	0.00	2.55	0.00	0.000	4	0.000	0.052	2584	3654	3434
3088	-0.96	-146.6	255.3	-6.6	144	3095	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2242	3434
3404	-0.96	-146.6	273.9	-6.1	160	3408	0.00	2.55	0.00	0.000	4	0.000	0.052	2584	3654	3434
3488	-0.96	-146.6	279.5	-7.1	164	3492	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2248	3433
3814	-0.96	-146.6	302.1	-7.7	180	3819	0.00	2.53	0.00	0.000	4	0.000	0.051	2584	3651	3433
3883	-0.96	-146.6	308.0	-8.6	183	3887	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2245	3433
4204	-0.96	-146.6	337.4	-9.5	199	4209	0.00	2.58	0.00	0.000	4	0.000	0.053	2583	3651	3433
4286	-0.96	-146.6	345.8	-9.8	202	4293	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2242	3433
4603	-0.96	-146.6	374.1	-9.0	218	4607	0.00	2.58	0.00	0.000	4	0.000	0.054	2583	3657	3433
4658	-0.96	-146.6	379.7	-10.0	220	4666	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2255	3433
4974	-0.96	-146.6	405.1	-7.4	236	4978	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3651	3432
5058	-0.96	-146.6	411.7	-8.2	240	5062	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2244	3433
5386	-0.96	-146.6	433.3	-5.9	256	5390	0.00	2.55	0.00	0.000	4	0.000	0.053	2584	3651	3433
5447	-0.96	-146.6	437.6	-6.5	259	5451	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2241	3432
5775	-0.96	-146.6	454.4	-5.1	275	5779	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3653	3432
5869	-0.96	-146.6	459.7	-5.9	279	5874	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2250	3432
6188	-0.96	-146.6	475.1	-4.8	294	6193	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3651	3432
6239	-0.96	-146.6	478.5	-6.2	296	6243	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2243	3432
6557	-0.96	-146.6	497.8	-6.5	311	6561	0.00	2.55	0.00	0.000	4	0.000	0.053	2584	3653	3432
6634	-0.96	-146.6	503.6	-6.8	314	6641	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2236	3431
6951	-0.96	-146.6	525.8	-7.3	330	6955	0.00	2.55	0.00	0.000	4	0.000	0.053	2584	3651	3431
7008	-0.96	-146.6	530.3	-7.9	332	7014	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2241	3431
7324	-0.96	-146.6	553.6	-7.0	348	7328	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3652	3432
7390	-0.96	-146.6	558.9	-8.5	351	7395	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3432
7715	-0.96	-146.6	580.5	-6.3	367	7716	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2250	3432
8022	-0.96	-146.6	599.2	-5.7	382	8023	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2250	3432
8330	-0.96	-146.6	614.2	-4.6	397	8331	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2249	3431
8640	-0.96	-146.6	630.6	-5.3	412	8645	0.00	2.55	0.00	0.000	4	0.000	0.052	2583	3655	3431
8727	-0.96	-146.6	636.1	-6.7	416	8731	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2241	3431
9053	-0.96	-146.6	659.3	-7.9	432	9054	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2240	3431
9363	-0.96	-146.6	681.9	-7.5	447	9364	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2239	3431
9672	-0.96	-146.6	703.8	-6.7	462	9676	0.00	2.58	0.00	0.000	4	0.000	0.054	2584	3657	3430
10014	-0.96	-146.6	731.4	-9.1	477	10019	0.00	2.45	0.00	0.000	6	0.000	0.033	2584	2254	3431
10335	-0.96	-146.6	753.0	-6.3	493	10339	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3651	3431
10453	-0.96	-146.6	761.9	-6.4	498	10457	0.00	2.42	0.00	0.000	6	0.000	0.032	2584	2238	3430
10769	-0.96	-146.6	780.9	-5.6	513	10773	0.00	2.45	0.00	0.000	4	0.000	0.048	2584	852	3430
10863	-0.96	-146.6	787.0	-6.3	517	10867	0.00	2.45	0.00	0.000	6	0.000	0.037	2584	2255	3429
11182	-0.96	-146.6	801.8	-5.1	532	11186	0.00	2.55	0.00	0.000	4	0.000	0.061	2584	3653	3428
11237	-0.96	-146.6	805.0	-6.5	534	11243	0.00	2.42	0.00	0.000	6	0.000	0.036	2584	2257	3428
11551	end dive: BOTTOM_OBSTACLE_DETECTED
state	11551	begin apogee
11559	-0.36	0.0	824.6	6.0	550	11693	0.65	0.00	129.80	1.355	6	0.064	0.000	2723	1454	2832
11694	end apogee: CONTROL_FINISHED_OK
state	11694	begin climb
11697	0.96	146.6	825.1	0.0	557	11838	1.33	2.60	130.38	1.314	4	0.049	0.051	3012	2857	2233
12169	1.07	231.8	803.7	3.7	578	12251	0.00	2.53	76.35	1.309	6	0.000	0.045	3012	1454	1887
12563	1.15	296.2	785.8	4.2	597	12626	0.17	0.00	58.88	1.309	6	0.039	0.000	3077	1454	1624
12936	1.15	296.2	757.0	8.7	615	12941	0.12	2.55	0.00	0.000	4	0.078	0.048	3050	2858	1614
12965	1.15	296.2	754.4	8.3	616	12969	0.00	2.53	0.00	0.000	6	0.000	0.044	3050	1453	1613
13281	1.15	296.2	722.1	11.3	631	13282	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	1452	1611
13590	1.15	296.2	693.8	10.6	646	13594	0.00	2.50	0.00	0.000	4	0.000	0.044	3050	2859	1609
13622	1.15	296.2	690.4	9.8	647	13628	0.00	2.50	0.00	0.000	6	0.000	0.040	3050	1449	1609
13940	1.15	296.2	656.5	9.0	663	13943	0.00	2.17	0.00	0.000	4	0.000	0.060	3050	257	1609
13975	1.15	296.2	652.3	12.9	664	13979	0.00	2.05	0.00	0.000	6	0.000	0.031	3050	1473	1609
14296	1.15	296.2	616.9	9.3	680	14297	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1473	1609
14605	1.15	296.2	580.1	12.2	695	14609	0.00	2.20	0.00	0.000	4	0.000	0.056	3050	262	1609
14633	1.15	296.2	576.9	12.2	696	14637	0.00	2.00	0.00	0.000	6	0.000	0.031	3049	1454	1608
14960	1.15	296.2	542.3	10.1	712	14961	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1454	1608
15269	1.15	296.2	511.5	10.0	727	15270	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1454	1609
15578	1.15	296.2	478.6	10.9	742	15579	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1454	1609
15887	1.15	296.2	443.4	11.4	757	15889	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1454	1609
16197	1.15	296.2	409.1	10.9	772	16198	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1454	1610
16508	1.15	296.2	372.7	12.2	787	16510	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1454	1610
16815	1.15	296.2	334.0	12.3	802	16816	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1454	1610
17124	1.15	296.2	295.4	12.4	817	17126	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1454	1610
17434	1.15	296.2	260.6	10.2	832	17438	0.00	2.45	0.00	0.000	4	0.000	0.044	3050	2843	1610
17461	1.15	296.2	257.7	9.6	833	17465	0.00	2.42	0.00	0.000	6	0.000	0.036	3050	1451	1610
17776	1.15	296.2	227.7	9.1	848	17778	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1611
18089	1.15	296.2	198.5	9.7	863	18090	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1610
18395	1.15	296.2	165.8	10.8	878	18396	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1611
18705	1.15	296.2	136.1	9.3	893	18706	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1611
19014	1.15	296.2	110.2	7.9	908	19016	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1451	1611
19324	1.15	296.2	89.6	6.6	923	19329	0.00	2.45	0.00	0.000	4	0.000	0.040	3050	2849	1611
19380	1.15	296.2	85.3	8.1	925	19388	0.00	2.45	0.00	0.000	6	0.000	0.035	3050	1459	1611
19696	1.15	296.2	60.1	7.5	941	19701	0.00	2.40	0.00	0.000	4	0.000	0.037	3050	2847	1611
19763	1.15	296.2	54.9	7.8	944	19768	0.00	2.42	0.00	0.000	6	0.000	0.034	3050	1447	1611
20085	1.15	296.2	30.5	7.3	960	20086	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1447	1611
20394	1.15	296.2	5.4	8.3	975	20396	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1447	1611
20433	end climb: SURFACE_DEPTH_REACHED
state	20433	begin surface coast
20456	end surface coast: CONTROL_FINISHED_OK
state	20456	begin surface