Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 316 * 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 316 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 26 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 -1633747.1 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 -1633747.1

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 26 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 316 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 024254,6131.711,-836.224,33,1.2,50,-9.0 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 0.92 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -55.7 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 024844,6131.658,-836.274,15,1.3,15,-9.0 MHEAD_RNG_PITCHd_Wd 116.1,10425,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.014441 ALTIM_BOTTOM_PING 725.8,102.6

SM_CCo 19966,0.00,0.000,0,0,1262,384.88 _24V_AH 23.0,64.513

SM_GC 0.90,11.57,0.00,0.00,0.025,0.000,0.000,388,2242,1262,-10.98,-0.23,384.88 _10V_AH 10.0,38.889

IRIDIUM_FIX 6108.28,-831.40,161198,212120 DATA_FILE_SIZE 47488,954

TT8_MAMPS 0.026845 CAP_FILE_SIZE 137398,0

HUMID 1911 CFSIZE 260165632,235388928

INTERNAL_PRESSURE 8.11879 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 15.10 GPS 230809,082307,6129.823,-827.354,40,0.9,40,-8.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 129 76.32 SBE_CT 824 24 455.17

Roll_motor 148 73 250.69 SBE_O2 689 19 301.10

VBD_pump_during_apogee 470 1379 14934.24 WL_BB2F 563 105 1361.07

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 73.78 nil 0 0 0.00

Iridium_during_connect 28 160 103.49 nil 0 0 0.00

Iridium_during_xfer 156 223 801.98

Transponder_ping 6 420 60.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.72

TT8 1738 19 344.23

LPSleep 15157 2 331.95

TT8_Active 533 19 105.54

TT8_Sampling 2063 39 821.08

TT8_CF8 816 45 374.00

TT8_Kalman 0 81 0.00

Analog_circuits 1642 12 197.05

GPS_charging 0 0 0.00

Compass 2224 8 178.00

RAFOS 0 0 0.00

Transponder 42 30 12.86

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 78 0.00 0.00 -58.30 0.000 6 0.000 0.000 389 2247 3431

81 -0.96 -146.6 5.1 -10.1 3 103 11.65 2.60 0.00 0.000 4 0.130 0.051 2585 3660 3434

239 -0.96 -146.6 26.4 -8.2 10 243 0.00 2.45 0.00 0.000 6 0.000 0.031 2585 2232 3433

565 -0.96 -146.6 49.0 -7.4 26 567 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2232 3434

875 -0.96 -146.6 72.0 -8.1 41 880 0.00 2.45 0.00 0.000 4 0.000 0.041 2586 851 3435

936 -0.96 -146.6 77.7 -8.8 43 942 0.00 2.45 0.00 0.000 6 0.000 0.033 2586 2264 3435

1255 -0.96 -146.6 105.1 -8.6 59 1256 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2264 3435

1561 -0.96 -146.6 126.4 -6.4 74 1566 0.00 2.53 0.00 0.000 4 0.000 0.057 2586 3652 3435

1695 -0.96 -146.6 136.5 -9.4 80 1699 0.00 2.40 0.00 0.000 6 0.000 0.030 2585 2249 3435

2016 -0.96 -146.6 161.4 -7.5 96 2020 0.00 2.45 0.00 0.000 4 0.000 0.043 2586 849 3435

2084 -0.96 -146.6 166.7 -7.7 99 2088 0.00 2.45 0.00 0.000 6 0.000 0.034 2586 2259 3436

2405 -0.96 -146.6 188.6 -5.8 115 2406 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2259 3435

2714 -0.96 -146.6 207.8 -7.2 130 2718 0.00 2.50 0.00 0.000 4 0.000 0.043 2585 844 3436

2759 -0.96 -146.6 211.6 -8.1 132 2763 0.00 2.45 0.00 0.000 6 0.000 0.035 2585 2251 3435

3080 -0.96 -146.6 238.8 -9.0 148 3084 0.00 2.47 0.00 0.000 4 0.000 0.043 2586 849 3435

3129 -0.96 -146.6 243.3 -8.7 150 3134 0.00 2.45 0.00 0.000 6 0.000 0.035 2585 2257 3435

3448 -0.96 -146.6 268.0 -7.1 165 3452 0.00 2.50 0.00 0.000 4 0.000 0.044 2586 843 3435

3497 -0.96 -146.6 271.6 -6.3 167 3501 0.00 2.45 0.00 0.000 6 0.000 0.035 2586 2249 3435

3815 -0.96 -146.6 295.0 -8.5 182 3820 0.00 2.55 0.00 0.000 4 0.000 0.060 2585 3651 3435

3856 -0.96 -146.6 298.6 -9.3 184 3860 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3435

4185 -0.96 -146.6 321.1 -6.8 200 4187 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2249 3434

4492 -0.96 -146.6 344.1 -7.6 215 4493 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2249 3434

4802 -0.96 -146.6 370.9 -9.0 230 4803 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2248 3434

5111 -0.96 -146.6 395.4 -8.0 245 5113 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2248 3433

5420 -0.96 -146.6 418.2 -7.4 260 5421 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2248 3434

5730 -0.96 -146.6 441.7 -7.8 275 5731 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2248 3434

6039 -0.96 -146.6 465.7 -7.1 290 6040 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2248 3433

6348 -0.96 -146.6 487.7 -6.9 305 6349 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2248 3433

6658 -0.96 -146.6 504.8 -5.3 320 6663 0.00 2.47 0.00 0.000 4 0.000 0.044 2586 855 3432

6713 -0.96 -146.6 508.1 -6.1 322 6717 0.00 2.42 0.00 0.000 6 0.000 0.035 2585 2252 3432

7030 -0.96 -146.6 525.1 -5.2 337 7031 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2252 3432

7341 -0.96 -146.6 541.4 -5.1 352 7345 0.00 2.47 0.00 0.000 4 0.000 0.044 2585 851 3432

7403 -0.96 -146.6 544.7 -5.0 355 7407 0.00 2.45 0.00 0.000 6 0.000 0.036 2585 2259 3431

7730 -0.96 -146.6 563.7 -6.5 371 7734 0.00 2.50 0.00 0.000 4 0.000 0.045 2585 849 3431

7779 -0.96 -146.6 567.4 -7.5 373 7783 0.00 2.45 0.00 0.000 6 0.000 0.036 2585 2256 3431

8096 -0.96 -146.6 589.3 -5.6 388 8100 0.00 2.53 0.00 0.000 4 0.000 0.058 2585 3653 3431

8186 -0.96 -146.6 594.7 -5.7 392 8190 0.00 2.40 0.00 0.000 6 0.000 0.032 2585 2253 3431

8509 -0.96 -146.6 617.6 -9.1 408 8513 0.00 2.47 0.00 0.000 4 0.000 0.045 2586 843 3431

8542 -0.96 -146.6 621.2 -10.7 409 8548 0.00 2.45 0.00 0.000 6 0.000 0.035 2586 2252 3430

8858 -0.96 -146.6 653.6 -9.0 425 8859 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2252 3430

9168 -0.96 -146.6 677.1 -5.1 440 9172 0.00 2.50 0.00 0.000 4 0.000 0.047 2586 845 3429

9247 -0.96 -146.6 680.1 -3.8 443 9253 0.00 2.45 0.00 0.000 6 0.000 0.037 2586 2246 3429

9563 -0.96 -146.6 688.0 -1.7 459 9564 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2246 3429

9872 -0.96 -146.6 705.3 -8.3 474 9873 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2246 3429

10186 -0.96 -146.6 725.8 -5.9 489 10190 0.00 2.50 0.00 0.000 4 0.000 0.049 2586 848 3428

10243 -0.96 -146.6 729.2 -5.9 491 10249 0.00 2.47 0.00 0.000 6 0.000 0.040 2586 2258 3428

10559 -0.96 -146.6 741.9 -3.7 507 10560 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2258 3426

10868 -0.96 -146.6 756.2 -7.5 522 10872 0.00 2.55 0.00 0.000 4 0.000 0.053 2586 847 3425

10907 -0.96 -146.6 759.6 -9.4 524 10912 0.00 2.47 0.00 0.000 6 0.000 0.041 2585 2249 3425

11233 -0.96 -146.6 786.8 -6.3 540 11237 0.00 2.53 0.00 0.000 4 0.000 0.053 2585 849 3424

11341 -0.96 -146.6 790.2 -6.4 545 11345 0.00 2.47 0.00 0.000 6 0.000 0.042 2586 2247 3424

11665 end dive: BOTTOM_OBSTACLE_DETECTED

state 11665 begin apogee

11673 -0.36 0.0 818.4 9.4 561 11808 0.62 0.00 129.65 1.380 6 0.067 0.000 2718 1463 2832

11809 end apogee: CONTROL_FINISHED_OK

state 11809 begin climb

11812 0.96 146.6 831.1 0.0 568 11951 1.30 2.28 131.48 1.340 4 0.047 0.067 3007 264 2234

12114 1.25 380.5 833.7 -0.4 581 12333 0.30 2.10 209.45 1.326 6 0.028 0.039 3101 1468 1280

12650 1.25 380.5 776.0 12.6 607 12655 0.15 2.53 0.00 0.000 4 0.078 0.052 3070 2853 1267

12667 1.25 380.5 773.6 13.2 608 12672 0.00 2.55 0.00 0.000 6 0.000 0.049 3070 1457 1267

12999 1.25 380.5 730.0 13.6 624 13002 0.00 2.25 0.00 0.000 4 0.000 0.074 3069 261 1264

13083 1.25 380.5 718.0 11.6 627 13089 0.00 2.08 0.00 0.000 6 0.000 0.039 3069 1454 1264

13401 1.25 380.5 681.8 10.9 643 13405 0.00 2.53 0.00 0.000 4 0.000 0.052 3070 2854 1263

13436 1.25 380.5 678.3 8.9 644 13442 0.00 2.53 0.00 0.000 6 0.000 0.046 3069 1450 1262

13752 1.25 380.5 646.7 10.0 660 13756 0.00 2.20 0.00 0.000 4 0.000 0.067 3069 260 1260

13785 1.25 380.5 642.7 11.2 661 13789 0.00 2.05 0.00 0.000 6 0.000 0.036 3070 1454 1261

14107 1.25 380.5 610.8 8.9 677 14108 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1454 1260

14416 1.25 380.5 579.2 12.5 692 14419 0.00 2.20 0.00 0.000 4 0.000 0.062 3070 260 1260

14546 1.25 380.5 561.1 12.5 697 14552 0.00 2.08 0.00 0.000 6 0.000 0.035 3069 1457 1259

14861 1.25 380.5 530.2 9.1 713 14862 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1457 1260

15171 1.25 380.5 494.8 13.2 728 15172 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 1457 1260

15482 1.25 380.5 459.2 10.1 743 15484 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1457 1260

15789 1.25 380.5 433.0 9.7 758 15793 0.00 2.17 0.00 0.000 4 0.000 0.058 3070 261 1260

15844 1.25 380.5 427.1 11.1 760 15848 0.00 2.03 0.00 0.000 6 0.000 0.033 3070 1457 1260

16168 1.25 380.5 396.7 9.8 776 16172 0.00 2.17 0.00 0.000 4 0.000 0.058 3069 260 1261

16206 1.25 380.5 392.4 9.7 777 16213 0.00 2.05 0.00 0.000 6 0.000 0.032 3070 1457 1261

16522 1.25 380.5 356.0 13.0 793 16524 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1457 1261

16831 1.25 380.5 315.9 11.9 808 16832 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1457 1261

17143 1.25 380.5 282.4 10.3 823 17147 0.00 2.17 0.00 0.000 4 0.000 0.057 3070 261 1262

17244 1.25 380.5 270.2 10.9 827 17248 0.00 2.03 0.00 0.000 6 0.000 0.031 3069 1456 1262

17565 1.25 380.5 234.7 11.4 843 17570 0.00 2.20 0.00 0.000 4 0.000 0.057 3070 260 1263

17616 1.25 380.5 228.2 11.5 845 17620 0.00 2.05 0.00 0.000 6 0.000 0.031 3069 1463 1262

17943 1.25 380.5 188.9 12.0 861 17948 0.00 2.20 0.00 0.000 4 0.000 0.056 3070 268 1263

17982 1.25 380.5 184.1 12.1 862 17989 0.00 2.03 0.00 0.000 6 0.000 0.032 3069 1451 1263

18297 1.25 380.5 151.0 9.5 878 18299 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1453 1263

18608 1.25 380.5 124.4 8.7 893 18611 0.00 2.15 0.00 0.000 4 0.000 0.054 3069 259 1264

18640 1.25 380.5 120.9 10.4 894 18644 0.00 2.05 0.00 0.000 6 0.000 0.031 3069 1456 1264

18963 1.25 380.5 88.8 10.0 910 18964 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 1456 1264

19271 1.25 380.5 59.7 10.4 925 19275 0.00 2.15 0.00 0.000 4 0.000 0.053 3070 259 1264

19355 1.25 380.5 50.1 11.2 928 19362 0.00 2.08 0.00 0.000 6 0.000 0.031 3069 1457 1264

19671 1.25 380.5 20.1 7.9 944 19675 0.00 2.15 0.00 0.000 4 0.000 0.051 3069 258 1264

19710 1.25 380.5 15.5 12.4 945 19718 0.00 2.05 0.00 0.000 6 0.000 0.031 3070 1454 1264

19858 end climb: SURFACE_DEPTH_REACHED

state 19858 begin surface coast

19881 end surface coast: CONTROL_FINISHED_OK

state 19882 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	316	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	26	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	-1633747.1	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	024254,6131.711,-836.224,33,1.2,50,-9.0	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	0.92	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-55.7	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	024844,6131.658,-836.274,15,1.3,15,-9.0	MHEAD_RNG_PITCHd_Wd	116.1,10425,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.014441	ALTIM_BOTTOM_PING	725.8,102.6
SM_CCo	19966,0.00,0.000,0,0,1262,384.88	_24V_AH	23.0,64.513
SM_GC	0.90,11.57,0.00,0.00,0.025,0.000,0.000,388,2242,1262,-10.98,-0.23,384.88	_10V_AH	10.0,38.889
IRIDIUM_FIX	6108.28,-831.40,161198,212120	DATA_FILE_SIZE	47488,954
TT8_MAMPS	0.026845	CAP_FILE_SIZE	137398,0
HUMID	1911	CFSIZE	260165632,235388928
INTERNAL_PRESSURE	8.11879	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	15.10	GPS	230809,082307,6129.823,-827.354,40,0.9,40,-8.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	129	76.32	SBE_CT	824	24	455.17
Roll_motor	148	73	250.69	SBE_O2	689	19	301.10
VBD_pump_during_apogee	470	1379	14934.24	WL_BB2F	563	105	1361.07
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	73.78	nil	0	0	0.00
Iridium_during_connect	28	160	103.49	nil	0	0	0.00
Iridium_during_xfer	156	223	801.98
Transponder_ping	6	420	60.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.72
TT8	1738	19	344.23
LPSleep	15157	2	331.95
TT8_Active	533	19	105.54
TT8_Sampling	2063	39	821.08
TT8_CF8	816	45	374.00
TT8_Kalman	0	81	0.00
Analog_circuits	1642	12	197.05
GPS_charging	0	0	0.00
Compass	2224	8	178.00
RAFOS	0	0	0.00
Transponder	42	30	12.86

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	78	0.00	0.00	-58.30	0.000	6	0.000	0.000	389	2247	3431
81	-0.96	-146.6	5.1	-10.1	3	103	11.65	2.60	0.00	0.000	4	0.130	0.051	2585	3660	3434
239	-0.96	-146.6	26.4	-8.2	10	243	0.00	2.45	0.00	0.000	6	0.000	0.031	2585	2232	3433
565	-0.96	-146.6	49.0	-7.4	26	567	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2232	3434
875	-0.96	-146.6	72.0	-8.1	41	880	0.00	2.45	0.00	0.000	4	0.000	0.041	2586	851	3435
936	-0.96	-146.6	77.7	-8.8	43	942	0.00	2.45	0.00	0.000	6	0.000	0.033	2586	2264	3435
1255	-0.96	-146.6	105.1	-8.6	59	1256	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2264	3435
1561	-0.96	-146.6	126.4	-6.4	74	1566	0.00	2.53	0.00	0.000	4	0.000	0.057	2586	3652	3435
1695	-0.96	-146.6	136.5	-9.4	80	1699	0.00	2.40	0.00	0.000	6	0.000	0.030	2585	2249	3435
2016	-0.96	-146.6	161.4	-7.5	96	2020	0.00	2.45	0.00	0.000	4	0.000	0.043	2586	849	3435
2084	-0.96	-146.6	166.7	-7.7	99	2088	0.00	2.45	0.00	0.000	6	0.000	0.034	2586	2259	3436
2405	-0.96	-146.6	188.6	-5.8	115	2406	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2259	3435
2714	-0.96	-146.6	207.8	-7.2	130	2718	0.00	2.50	0.00	0.000	4	0.000	0.043	2585	844	3436
2759	-0.96	-146.6	211.6	-8.1	132	2763	0.00	2.45	0.00	0.000	6	0.000	0.035	2585	2251	3435
3080	-0.96	-146.6	238.8	-9.0	148	3084	0.00	2.47	0.00	0.000	4	0.000	0.043	2586	849	3435
3129	-0.96	-146.6	243.3	-8.7	150	3134	0.00	2.45	0.00	0.000	6	0.000	0.035	2585	2257	3435
3448	-0.96	-146.6	268.0	-7.1	165	3452	0.00	2.50	0.00	0.000	4	0.000	0.044	2586	843	3435
3497	-0.96	-146.6	271.6	-6.3	167	3501	0.00	2.45	0.00	0.000	6	0.000	0.035	2586	2249	3435
3815	-0.96	-146.6	295.0	-8.5	182	3820	0.00	2.55	0.00	0.000	4	0.000	0.060	2585	3651	3435
3856	-0.96	-146.6	298.6	-9.3	184	3860	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3435
4185	-0.96	-146.6	321.1	-6.8	200	4187	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2249	3434
4492	-0.96	-146.6	344.1	-7.6	215	4493	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2249	3434
4802	-0.96	-146.6	370.9	-9.0	230	4803	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2248	3434
5111	-0.96	-146.6	395.4	-8.0	245	5113	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2248	3433
5420	-0.96	-146.6	418.2	-7.4	260	5421	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2248	3434
5730	-0.96	-146.6	441.7	-7.8	275	5731	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2248	3434
6039	-0.96	-146.6	465.7	-7.1	290	6040	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2248	3433
6348	-0.96	-146.6	487.7	-6.9	305	6349	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2248	3433
6658	-0.96	-146.6	504.8	-5.3	320	6663	0.00	2.47	0.00	0.000	4	0.000	0.044	2586	855	3432
6713	-0.96	-146.6	508.1	-6.1	322	6717	0.00	2.42	0.00	0.000	6	0.000	0.035	2585	2252	3432
7030	-0.96	-146.6	525.1	-5.2	337	7031	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2252	3432
7341	-0.96	-146.6	541.4	-5.1	352	7345	0.00	2.47	0.00	0.000	4	0.000	0.044	2585	851	3432
7403	-0.96	-146.6	544.7	-5.0	355	7407	0.00	2.45	0.00	0.000	6	0.000	0.036	2585	2259	3431
7730	-0.96	-146.6	563.7	-6.5	371	7734	0.00	2.50	0.00	0.000	4	0.000	0.045	2585	849	3431
7779	-0.96	-146.6	567.4	-7.5	373	7783	0.00	2.45	0.00	0.000	6	0.000	0.036	2585	2256	3431
8096	-0.96	-146.6	589.3	-5.6	388	8100	0.00	2.53	0.00	0.000	4	0.000	0.058	2585	3653	3431
8186	-0.96	-146.6	594.7	-5.7	392	8190	0.00	2.40	0.00	0.000	6	0.000	0.032	2585	2253	3431
8509	-0.96	-146.6	617.6	-9.1	408	8513	0.00	2.47	0.00	0.000	4	0.000	0.045	2586	843	3431
8542	-0.96	-146.6	621.2	-10.7	409	8548	0.00	2.45	0.00	0.000	6	0.000	0.035	2586	2252	3430
8858	-0.96	-146.6	653.6	-9.0	425	8859	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2252	3430
9168	-0.96	-146.6	677.1	-5.1	440	9172	0.00	2.50	0.00	0.000	4	0.000	0.047	2586	845	3429
9247	-0.96	-146.6	680.1	-3.8	443	9253	0.00	2.45	0.00	0.000	6	0.000	0.037	2586	2246	3429
9563	-0.96	-146.6	688.0	-1.7	459	9564	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2246	3429
9872	-0.96	-146.6	705.3	-8.3	474	9873	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2246	3429
10186	-0.96	-146.6	725.8	-5.9	489	10190	0.00	2.50	0.00	0.000	4	0.000	0.049	2586	848	3428
10243	-0.96	-146.6	729.2	-5.9	491	10249	0.00	2.47	0.00	0.000	6	0.000	0.040	2586	2258	3428
10559	-0.96	-146.6	741.9	-3.7	507	10560	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2258	3426
10868	-0.96	-146.6	756.2	-7.5	522	10872	0.00	2.55	0.00	0.000	4	0.000	0.053	2586	847	3425
10907	-0.96	-146.6	759.6	-9.4	524	10912	0.00	2.47	0.00	0.000	6	0.000	0.041	2585	2249	3425
11233	-0.96	-146.6	786.8	-6.3	540	11237	0.00	2.53	0.00	0.000	4	0.000	0.053	2585	849	3424
11341	-0.96	-146.6	790.2	-6.4	545	11345	0.00	2.47	0.00	0.000	6	0.000	0.042	2586	2247	3424
11665	end dive: BOTTOM_OBSTACLE_DETECTED
state	11665	begin apogee
11673	-0.36	0.0	818.4	9.4	561	11808	0.62	0.00	129.65	1.380	6	0.067	0.000	2718	1463	2832
11809	end apogee: CONTROL_FINISHED_OK
state	11809	begin climb
11812	0.96	146.6	831.1	0.0	568	11951	1.30	2.28	131.48	1.340	4	0.047	0.067	3007	264	2234
12114	1.25	380.5	833.7	-0.4	581	12333	0.30	2.10	209.45	1.326	6	0.028	0.039	3101	1468	1280
12650	1.25	380.5	776.0	12.6	607	12655	0.15	2.53	0.00	0.000	4	0.078	0.052	3070	2853	1267
12667	1.25	380.5	773.6	13.2	608	12672	0.00	2.55	0.00	0.000	6	0.000	0.049	3070	1457	1267
12999	1.25	380.5	730.0	13.6	624	13002	0.00	2.25	0.00	0.000	4	0.000	0.074	3069	261	1264
13083	1.25	380.5	718.0	11.6	627	13089	0.00	2.08	0.00	0.000	6	0.000	0.039	3069	1454	1264
13401	1.25	380.5	681.8	10.9	643	13405	0.00	2.53	0.00	0.000	4	0.000	0.052	3070	2854	1263
13436	1.25	380.5	678.3	8.9	644	13442	0.00	2.53	0.00	0.000	6	0.000	0.046	3069	1450	1262
13752	1.25	380.5	646.7	10.0	660	13756	0.00	2.20	0.00	0.000	4	0.000	0.067	3069	260	1260
13785	1.25	380.5	642.7	11.2	661	13789	0.00	2.05	0.00	0.000	6	0.000	0.036	3070	1454	1261
14107	1.25	380.5	610.8	8.9	677	14108	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1454	1260
14416	1.25	380.5	579.2	12.5	692	14419	0.00	2.20	0.00	0.000	4	0.000	0.062	3070	260	1260
14546	1.25	380.5	561.1	12.5	697	14552	0.00	2.08	0.00	0.000	6	0.000	0.035	3069	1457	1259
14861	1.25	380.5	530.2	9.1	713	14862	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1457	1260
15171	1.25	380.5	494.8	13.2	728	15172	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	1457	1260
15482	1.25	380.5	459.2	10.1	743	15484	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1457	1260
15789	1.25	380.5	433.0	9.7	758	15793	0.00	2.17	0.00	0.000	4	0.000	0.058	3070	261	1260
15844	1.25	380.5	427.1	11.1	760	15848	0.00	2.03	0.00	0.000	6	0.000	0.033	3070	1457	1260
16168	1.25	380.5	396.7	9.8	776	16172	0.00	2.17	0.00	0.000	4	0.000	0.058	3069	260	1261
16206	1.25	380.5	392.4	9.7	777	16213	0.00	2.05	0.00	0.000	6	0.000	0.032	3070	1457	1261
16522	1.25	380.5	356.0	13.0	793	16524	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1457	1261
16831	1.25	380.5	315.9	11.9	808	16832	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1457	1261
17143	1.25	380.5	282.4	10.3	823	17147	0.00	2.17	0.00	0.000	4	0.000	0.057	3070	261	1262
17244	1.25	380.5	270.2	10.9	827	17248	0.00	2.03	0.00	0.000	6	0.000	0.031	3069	1456	1262
17565	1.25	380.5	234.7	11.4	843	17570	0.00	2.20	0.00	0.000	4	0.000	0.057	3070	260	1263
17616	1.25	380.5	228.2	11.5	845	17620	0.00	2.05	0.00	0.000	6	0.000	0.031	3069	1463	1262
17943	1.25	380.5	188.9	12.0	861	17948	0.00	2.20	0.00	0.000	4	0.000	0.056	3070	268	1263
17982	1.25	380.5	184.1	12.1	862	17989	0.00	2.03	0.00	0.000	6	0.000	0.032	3069	1451	1263
18297	1.25	380.5	151.0	9.5	878	18299	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1453	1263
18608	1.25	380.5	124.4	8.7	893	18611	0.00	2.15	0.00	0.000	4	0.000	0.054	3069	259	1264
18640	1.25	380.5	120.9	10.4	894	18644	0.00	2.05	0.00	0.000	6	0.000	0.031	3069	1456	1264
18963	1.25	380.5	88.8	10.0	910	18964	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	1456	1264
19271	1.25	380.5	59.7	10.4	925	19275	0.00	2.15	0.00	0.000	4	0.000	0.053	3070	259	1264
19355	1.25	380.5	50.1	11.2	928	19362	0.00	2.08	0.00	0.000	6	0.000	0.031	3069	1457	1264
19671	1.25	380.5	20.1	7.9	944	19675	0.00	2.15	0.00	0.000	4	0.000	0.051	3069	258	1264
19710	1.25	380.5	15.5	12.4	945	19718	0.00	2.05	0.00	0.000	6	0.000	0.031	3070	1454	1264
19858	end climb: SURFACE_DEPTH_REACHED
state	19858	begin surface coast
19881	end surface coast: CONTROL_FINISHED_OK
state	19882	begin surface