Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 340 * 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 340 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -1634168.2 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 -1634168.2

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 18 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 340 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 193927,6132.315,-831.011,26,2.3,45,-9.0 TGT_NAME FBC_SIL

_CALLS 2 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 17 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

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

_SM_ANGLEo -56.3 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 194952,6132.253,-831.054,11,2.9,30,-9.0 MHEAD_RNG_PITCHd_Wd 137.0,6785,-12.2,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.026815 ALTIM_BOTTOM_PING 751.5,98.5

SM_CCo 19606,8.70,0.699,0,0,1609,300.00 _24V_AH 22.9,68.550

SM_GC 1.87,0.00,0.00,8.70,0.000,0.000,0.699,385,2245,1609,-11.11,-0.11,300.00 _10V_AH 10.1,41.236

IRIDIUM_FIX 6108.28,-832.07,221198,191921 DATA_FILE_SIZE 47451,936

TT8_MAMPS 0.027612 CAP_FILE_SIZE 149595,0

HUMID 1951 CFSIZE 260165632,233713664

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

TCM_TEMP 14.70 GPS 290809,011825,6132.947,-831.615,39,1.5,39,-9.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 128 75.25 SBE_CT 793 24 435.84

Roll_motor 173 69 276.55 SBE_O2 686 19 298.77

VBD_pump_during_apogee 386 1391 12320.10 WL_BB2F 551 105 1326.66

VBD_pump_during_surface 8 698 139.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 128.65 nil 0 0 0.00

Iridium_during_connect 57 160 210.95 nil 0 0 0.00

Iridium_during_xfer 297 223 1519.32

Transponder_ping 6 420 62.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.75

TT8 1776 19 355.22

LPSleep 14606 2 323.09

TT8_Active 503 19 100.70

TT8_Sampling 2310 39 928.65

TT8_CF8 1038 45 480.24

TT8_Kalman 0 81 0.00

Analog_circuits 1703 12 206.44

GPS_charging 0 0 0.00

Compass 2438 8 197.06

RAFOS 0 0 0.00

Transponder 44 30 13.48

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 -1.03 -123.5 0.0 0.0 0 90 0.00 0.00 -71.75 0.000 6 0.000 0.000 390 2243 3337

93 -1.06 -146.6 2.4 -4.0 3 116 11.52 2.53 -1.62 0.000 4 0.129 0.051 2563 837 3433

419 -1.06 -146.6 38.7 -8.1 17 423 0.00 2.50 0.00 0.000 6 0.000 0.033 2563 2252 3435

739 -1.06 -146.6 67.6 -9.2 33 744 0.00 2.55 0.00 0.000 4 0.000 0.056 2563 3654 3435

862 -1.06 -146.6 79.1 -8.5 38 868 0.00 2.42 0.00 0.000 6 0.000 0.030 2563 2226 3435

1178 -1.06 -146.6 101.1 -7.4 54 1179 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2226 3435

1488 -1.06 -146.6 127.2 -8.4 69 1493 0.00 2.60 0.00 0.000 4 0.000 0.053 2563 3654 3435

1595 -1.06 -146.6 137.1 -9.1 74 1599 0.00 2.40 0.00 0.000 6 0.000 0.030 2563 2249 3435

1922 -1.06 -146.6 166.4 -8.4 90 1926 0.00 2.55 0.00 0.000 4 0.000 0.052 2562 3654 3435

2023 -1.06 -146.6 175.4 -8.6 94 2029 0.00 2.40 0.00 0.000 6 0.000 0.030 2563 2250 3435

2341 -1.06 -146.6 199.5 -7.5 110 2345 0.00 2.55 0.00 0.000 4 0.000 0.052 2563 3657 3435

2435 -1.06 -146.6 206.6 -7.7 114 2440 0.00 2.40 0.00 0.000 6 0.000 0.031 2563 2251 3435

2752 -1.06 -146.6 228.4 -6.6 129 2756 0.00 2.53 0.00 0.000 4 0.000 0.051 2562 3651 3434

2837 -1.06 -146.6 235.1 -8.6 133 2841 0.00 2.40 0.00 0.000 6 0.000 0.031 2563 2246 3434

3165 -1.06 -146.6 260.8 -8.0 149 3169 0.00 2.55 0.00 0.000 4 0.000 0.052 2563 3653 3434

3246 -1.06 -146.6 267.6 -8.3 152 3252 0.00 2.40 0.00 0.000 6 0.000 0.031 2563 2251 3434

3562 -1.06 -146.6 292.8 -8.0 168 3566 0.00 2.55 0.00 0.000 4 0.000 0.051 2563 3659 3433

3639 -1.06 -146.6 299.8 -9.3 171 3646 0.00 2.42 0.00 0.000 6 0.000 0.031 2563 2246 3433

3957 -1.06 -146.6 325.0 -7.7 187 3962 0.00 2.55 0.00 0.000 4 0.000 0.054 2563 3654 3433

4058 -1.06 -146.6 333.4 -8.0 191 4062 0.00 2.40 0.00 0.000 6 0.000 0.031 2563 2250 3433

4375 -1.06 -146.6 356.5 -7.0 206 4379 0.00 2.53 0.00 0.000 4 0.000 0.053 2563 3651 3433

4482 -1.06 -146.6 364.6 -7.3 211 4486 0.00 2.40 0.00 0.000 6 0.000 0.031 2563 2249 3432

4809 -1.06 -146.6 387.2 -6.8 227 4813 0.00 2.55 0.00 0.000 4 0.000 0.053 2563 3657 3432

4894 -1.06 -146.6 393.7 -7.8 231 4898 0.00 2.42 0.00 0.000 6 0.000 0.031 2563 2240 3432

5220 -1.06 -146.6 418.5 -7.9 247 5224 0.00 2.58 0.00 0.000 4 0.000 0.055 2563 3655 3432

5320 -1.06 -146.6 427.5 -9.7 251 5327 0.00 2.40 0.00 0.000 6 0.000 0.032 2563 2250 3432

5636 -1.06 -146.6 453.9 -8.2 267 5640 0.00 2.53 0.00 0.000 4 0.000 0.053 2562 3651 3432

5743 -1.06 -146.6 463.6 -8.7 272 5748 0.00 2.42 0.00 0.000 6 0.000 0.032 2563 2253 3431

6074 -1.06 -146.6 491.8 -8.8 288 6079 0.00 2.53 0.00 0.000 4 0.000 0.053 2563 3651 3431

6264 -1.06 -146.6 508.6 -8.9 296 6271 0.00 2.42 0.00 0.000 6 0.000 0.032 2563 2230 3431

6580 -1.06 -146.6 534.6 -8.2 312 6584 0.00 2.58 0.00 0.000 4 0.000 0.052 2563 3656 3431

6756 -1.06 -146.6 549.5 -8.9 320 6761 0.00 2.42 0.00 0.000 6 0.000 0.032 2563 2248 3431

7090 -1.06 -146.6 575.5 -7.6 336 7094 0.00 2.55 0.00 0.000 4 0.000 0.052 2563 3656 3431

7152 -1.06 -146.6 580.4 -8.3 339 7157 0.00 2.45 0.00 0.000 6 0.000 0.032 2563 2251 3431

7484 -1.06 -146.6 606.9 -7.5 355 7488 0.00 2.55 0.00 0.000 4 0.000 0.052 2563 3659 3430

7618 -1.06 -146.6 618.5 -9.4 361 7622 0.00 2.42 0.00 0.000 6 0.000 0.032 2563 2249 3430

7938 -1.06 -146.6 643.4 -7.5 377 7939 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2249 3430

8247 -1.06 -146.6 663.8 -6.4 392 8252 0.00 2.55 0.00 0.000 4 0.000 0.054 2563 3656 3430

8371 -1.06 -146.6 672.1 -6.8 397 8377 0.00 2.42 0.00 0.000 6 0.000 0.034 2562 2251 3429

8687 -1.06 -146.6 689.1 -5.4 413 8692 0.00 2.50 0.00 0.000 4 0.000 0.048 2563 852 3430

8755 -1.06 -146.6 692.5 -6.1 416 8759 0.00 2.45 0.00 0.000 6 0.000 0.037 2563 2253 3430

9082 -1.06 -146.6 717.5 -8.8 432 9086 0.00 2.55 0.00 0.000 4 0.000 0.060 2563 3651 3428

9121 -1.06 -146.6 722.1 -11.3 434 9125 0.00 2.42 0.00 0.000 6 0.000 0.035 2563 2252 3429

9447 -1.06 -146.6 756.7 -13.0 450 9452 0.00 2.60 0.00 0.000 4 0.000 0.061 2563 3650 3427

9605 -1.06 -146.6 779.0 -15.6 457 9609 0.00 2.45 0.00 0.000 6 0.000 0.037 2563 2240 3426

9933 -1.06 -146.6 814.8 -7.9 473 9938 0.00 2.60 0.00 0.000 4 0.000 0.064 2563 3649 3425

10119 -1.06 -146.6 832.2 -4.0 481 10123 0.00 2.42 0.00 0.000 6 0.000 0.036 2563 2251 3424

10205 end dive: BOTTOM_OBSTACLE_DETECTED

state 10205 begin apogee

10213 -0.36 0.0 841.2 10.6 485 10348 0.73 0.00 129.62 1.391 6 0.061 0.000 2720 1460 2831

10349 end apogee: CONTROL_FINISHED_OK

state 10349 begin climb

10352 1.06 146.6 844.8 0.0 492 10491 1.42 2.60 130.95 1.342 4 0.062 0.051 3025 2858 2233

10582 1.06 146.6 836.1 8.3 502 10589 0.00 2.55 0.00 0.000 6 0.000 0.045 3025 1448 2226

10901 1.08 170.4 825.4 5.2 518 10928 0.00 2.62 21.25 1.287 4 0.000 0.050 3025 2858 2136

11102 1.08 170.4 811.1 8.8 527 11106 0.00 2.53 0.00 0.000 6 0.000 0.045 3025 1453 2132

11426 1.23 285.3 792.5 2.3 543 11538 0.17 2.65 104.85 1.368 4 0.036 0.054 3090 2846 1668

11589 1.23 285.3 774.5 17.0 550 11596 0.12 2.55 0.00 0.000 6 0.086 0.051 3067 1457 1663

11905 1.23 285.3 737.4 12.9 566 11909 0.00 2.25 0.00 0.000 4 0.000 0.070 3067 255 1657

11928 1.23 285.3 734.3 13.2 567 11932 0.00 2.10 0.00 0.000 6 0.000 0.038 3067 1466 1657

12263 1.23 285.3 695.9 11.3 583 12268 0.00 2.50 0.00 0.000 4 0.000 0.052 3066 2849 1654

12319 1.23 285.3 689.5 11.1 585 12325 0.00 2.53 0.00 0.000 6 0.000 0.048 3067 1450 1653

12637 1.23 285.3 663.4 8.3 601 12641 0.00 2.20 0.00 0.000 4 0.000 0.068 3066 262 1652

12687 1.23 285.3 658.6 8.7 603 12691 0.00 2.05 0.00 0.000 6 0.000 0.037 3067 1454 1652

13014 1.23 285.3 631.5 8.5 619 13019 0.00 2.55 0.00 0.000 4 0.000 0.049 3067 2850 1650

13061 1.23 285.3 627.5 8.3 621 13066 0.00 2.47 0.00 0.000 6 0.000 0.043 3067 1452 1650

13388 1.23 285.3 597.2 9.4 637 13393 0.00 2.20 0.00 0.000 4 0.000 0.062 3067 265 1649

13433 1.23 285.3 592.2 10.5 639 13438 0.00 2.05 0.00 0.000 6 0.000 0.033 3067 1457 1650

13765 1.23 285.3 557.4 10.4 655 13769 0.00 2.17 0.00 0.000 4 0.000 0.058 3067 264 1650

13790 1.23 285.3 554.9 11.6 656 13793 0.00 2.03 0.00 0.000 6 0.000 0.033 3067 1456 1649

14123 1.23 285.3 522.1 9.2 672 14127 0.00 2.47 0.00 0.000 4 0.000 0.044 3067 2846 1649

14150 1.23 285.3 519.5 8.4 673 14155 0.00 2.47 0.00 0.000 6 0.000 0.038 3067 1459 1649

14470 1.23 285.3 489.9 9.7 689 14472 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1459 1649

14780 1.23 285.3 460.9 9.0 704 14781 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1459 1650

15089 1.23 285.3 431.7 9.8 719 15090 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1459 1651

15401 1.23 285.3 401.2 9.8 734 15404 0.00 2.15 0.00 0.000 4 0.000 0.057 3067 263 1652

15447 1.23 285.3 396.2 10.9 736 15451 0.00 2.00 0.00 0.000 6 0.000 0.031 3066 1457 1652

15780 1.23 285.3 362.5 9.9 752 15781 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1457 1651

16089 1.23 285.3 333.2 9.2 767 16090 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1457 1652

16398 1.23 285.3 304.9 9.4 782 16399 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1457 1652

16707 1.23 285.3 275.3 9.4 797 16708 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1457 1652

17019 1.23 285.3 246.5 9.4 812 17020 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1457 1653

17326 1.23 285.3 216.1 10.1 827 17327 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1457 1653

17635 1.23 285.3 185.0 10.0 842 17636 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1457 1653

17944 1.23 285.3 154.3 9.6 857 17945 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1457 1653

18254 1.23 285.3 125.7 9.0 872 18259 0.00 2.47 0.00 0.000 4 0.000 0.044 3067 2851 1653

18294 1.23 285.3 121.9 8.9 874 18300 0.00 2.47 0.00 0.000 6 0.000 0.036 3067 1451 1653

18627 1.23 285.3 88.2 10.3 890 18628 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1451 1654

18938 1.23 285.3 62.5 9.4 905 18939 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1451 1654

19245 1.23 285.3 30.0 9.7 920 19249 0.00 2.12 0.00 0.000 4 0.000 0.053 3067 264 1654

19297 1.23 285.3 25.1 9.5 922 19300 0.00 2.00 0.00 0.000 6 0.000 0.030 3067 1459 1654

19559 end climb: SURFACE_DEPTH_REACHED

state 19559 begin surface coast

19582 end surface coast: CONTROL_FINISHED_OK

state 19583 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	340	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-1634168.2	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	193927,6132.315,-831.011,26,2.3,45,-9.0	TGT_NAME	FBC_SIL
_CALLS	2	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	17	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.79	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-56.3	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	194952,6132.253,-831.054,11,2.9,30,-9.0	MHEAD_RNG_PITCHd_Wd	137.0,6785,-12.2,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.1,1.026815	ALTIM_BOTTOM_PING	751.5,98.5
SM_CCo	19606,8.70,0.699,0,0,1609,300.00	_24V_AH	22.9,68.550
SM_GC	1.87,0.00,0.00,8.70,0.000,0.000,0.699,385,2245,1609,-11.11,-0.11,300.00	_10V_AH	10.1,41.236
IRIDIUM_FIX	6108.28,-832.07,221198,191921	DATA_FILE_SIZE	47451,936
TT8_MAMPS	0.027612	CAP_FILE_SIZE	149595,0
HUMID	1951	CFSIZE	260165632,233713664
INTERNAL_PRESSURE	8.14809	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	14.70	GPS	290809,011825,6132.947,-831.615,39,1.5,39,-9.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	128	75.25	SBE_CT	793	24	435.84
Roll_motor	173	69	276.55	SBE_O2	686	19	298.77
VBD_pump_during_apogee	386	1391	12320.10	WL_BB2F	551	105	1326.66
VBD_pump_during_surface	8	698	139.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	128.65	nil	0	0	0.00
Iridium_during_connect	57	160	210.95	nil	0	0	0.00
Iridium_during_xfer	297	223	1519.32
Transponder_ping	6	420	62.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.75
TT8	1776	19	355.22
LPSleep	14606	2	323.09
TT8_Active	503	19	100.70
TT8_Sampling	2310	39	928.65
TT8_CF8	1038	45	480.24
TT8_Kalman	0	81	0.00
Analog_circuits	1703	12	206.44
GPS_charging	0	0	0.00
Compass	2438	8	197.06
RAFOS	0	0	0.00
Transponder	44	30	13.48

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	-1.03	-123.5	0.0	0.0	0	90	0.00	0.00	-71.75	0.000	6	0.000	0.000	390	2243	3337
93	-1.06	-146.6	2.4	-4.0	3	116	11.52	2.53	-1.62	0.000	4	0.129	0.051	2563	837	3433
419	-1.06	-146.6	38.7	-8.1	17	423	0.00	2.50	0.00	0.000	6	0.000	0.033	2563	2252	3435
739	-1.06	-146.6	67.6	-9.2	33	744	0.00	2.55	0.00	0.000	4	0.000	0.056	2563	3654	3435
862	-1.06	-146.6	79.1	-8.5	38	868	0.00	2.42	0.00	0.000	6	0.000	0.030	2563	2226	3435
1178	-1.06	-146.6	101.1	-7.4	54	1179	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2226	3435
1488	-1.06	-146.6	127.2	-8.4	69	1493	0.00	2.60	0.00	0.000	4	0.000	0.053	2563	3654	3435
1595	-1.06	-146.6	137.1	-9.1	74	1599	0.00	2.40	0.00	0.000	6	0.000	0.030	2563	2249	3435
1922	-1.06	-146.6	166.4	-8.4	90	1926	0.00	2.55	0.00	0.000	4	0.000	0.052	2562	3654	3435
2023	-1.06	-146.6	175.4	-8.6	94	2029	0.00	2.40	0.00	0.000	6	0.000	0.030	2563	2250	3435
2341	-1.06	-146.6	199.5	-7.5	110	2345	0.00	2.55	0.00	0.000	4	0.000	0.052	2563	3657	3435
2435	-1.06	-146.6	206.6	-7.7	114	2440	0.00	2.40	0.00	0.000	6	0.000	0.031	2563	2251	3435
2752	-1.06	-146.6	228.4	-6.6	129	2756	0.00	2.53	0.00	0.000	4	0.000	0.051	2562	3651	3434
2837	-1.06	-146.6	235.1	-8.6	133	2841	0.00	2.40	0.00	0.000	6	0.000	0.031	2563	2246	3434
3165	-1.06	-146.6	260.8	-8.0	149	3169	0.00	2.55	0.00	0.000	4	0.000	0.052	2563	3653	3434
3246	-1.06	-146.6	267.6	-8.3	152	3252	0.00	2.40	0.00	0.000	6	0.000	0.031	2563	2251	3434
3562	-1.06	-146.6	292.8	-8.0	168	3566	0.00	2.55	0.00	0.000	4	0.000	0.051	2563	3659	3433
3639	-1.06	-146.6	299.8	-9.3	171	3646	0.00	2.42	0.00	0.000	6	0.000	0.031	2563	2246	3433
3957	-1.06	-146.6	325.0	-7.7	187	3962	0.00	2.55	0.00	0.000	4	0.000	0.054	2563	3654	3433
4058	-1.06	-146.6	333.4	-8.0	191	4062	0.00	2.40	0.00	0.000	6	0.000	0.031	2563	2250	3433
4375	-1.06	-146.6	356.5	-7.0	206	4379	0.00	2.53	0.00	0.000	4	0.000	0.053	2563	3651	3433
4482	-1.06	-146.6	364.6	-7.3	211	4486	0.00	2.40	0.00	0.000	6	0.000	0.031	2563	2249	3432
4809	-1.06	-146.6	387.2	-6.8	227	4813	0.00	2.55	0.00	0.000	4	0.000	0.053	2563	3657	3432
4894	-1.06	-146.6	393.7	-7.8	231	4898	0.00	2.42	0.00	0.000	6	0.000	0.031	2563	2240	3432
5220	-1.06	-146.6	418.5	-7.9	247	5224	0.00	2.58	0.00	0.000	4	0.000	0.055	2563	3655	3432
5320	-1.06	-146.6	427.5	-9.7	251	5327	0.00	2.40	0.00	0.000	6	0.000	0.032	2563	2250	3432
5636	-1.06	-146.6	453.9	-8.2	267	5640	0.00	2.53	0.00	0.000	4	0.000	0.053	2562	3651	3432
5743	-1.06	-146.6	463.6	-8.7	272	5748	0.00	2.42	0.00	0.000	6	0.000	0.032	2563	2253	3431
6074	-1.06	-146.6	491.8	-8.8	288	6079	0.00	2.53	0.00	0.000	4	0.000	0.053	2563	3651	3431
6264	-1.06	-146.6	508.6	-8.9	296	6271	0.00	2.42	0.00	0.000	6	0.000	0.032	2563	2230	3431
6580	-1.06	-146.6	534.6	-8.2	312	6584	0.00	2.58	0.00	0.000	4	0.000	0.052	2563	3656	3431
6756	-1.06	-146.6	549.5	-8.9	320	6761	0.00	2.42	0.00	0.000	6	0.000	0.032	2563	2248	3431
7090	-1.06	-146.6	575.5	-7.6	336	7094	0.00	2.55	0.00	0.000	4	0.000	0.052	2563	3656	3431
7152	-1.06	-146.6	580.4	-8.3	339	7157	0.00	2.45	0.00	0.000	6	0.000	0.032	2563	2251	3431
7484	-1.06	-146.6	606.9	-7.5	355	7488	0.00	2.55	0.00	0.000	4	0.000	0.052	2563	3659	3430
7618	-1.06	-146.6	618.5	-9.4	361	7622	0.00	2.42	0.00	0.000	6	0.000	0.032	2563	2249	3430
7938	-1.06	-146.6	643.4	-7.5	377	7939	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2249	3430
8247	-1.06	-146.6	663.8	-6.4	392	8252	0.00	2.55	0.00	0.000	4	0.000	0.054	2563	3656	3430
8371	-1.06	-146.6	672.1	-6.8	397	8377	0.00	2.42	0.00	0.000	6	0.000	0.034	2562	2251	3429
8687	-1.06	-146.6	689.1	-5.4	413	8692	0.00	2.50	0.00	0.000	4	0.000	0.048	2563	852	3430
8755	-1.06	-146.6	692.5	-6.1	416	8759	0.00	2.45	0.00	0.000	6	0.000	0.037	2563	2253	3430
9082	-1.06	-146.6	717.5	-8.8	432	9086	0.00	2.55	0.00	0.000	4	0.000	0.060	2563	3651	3428
9121	-1.06	-146.6	722.1	-11.3	434	9125	0.00	2.42	0.00	0.000	6	0.000	0.035	2563	2252	3429
9447	-1.06	-146.6	756.7	-13.0	450	9452	0.00	2.60	0.00	0.000	4	0.000	0.061	2563	3650	3427
9605	-1.06	-146.6	779.0	-15.6	457	9609	0.00	2.45	0.00	0.000	6	0.000	0.037	2563	2240	3426
9933	-1.06	-146.6	814.8	-7.9	473	9938	0.00	2.60	0.00	0.000	4	0.000	0.064	2563	3649	3425
10119	-1.06	-146.6	832.2	-4.0	481	10123	0.00	2.42	0.00	0.000	6	0.000	0.036	2563	2251	3424
10205	end dive: BOTTOM_OBSTACLE_DETECTED
state	10205	begin apogee
10213	-0.36	0.0	841.2	10.6	485	10348	0.73	0.00	129.62	1.391	6	0.061	0.000	2720	1460	2831
10349	end apogee: CONTROL_FINISHED_OK
state	10349	begin climb
10352	1.06	146.6	844.8	0.0	492	10491	1.42	2.60	130.95	1.342	4	0.062	0.051	3025	2858	2233
10582	1.06	146.6	836.1	8.3	502	10589	0.00	2.55	0.00	0.000	6	0.000	0.045	3025	1448	2226
10901	1.08	170.4	825.4	5.2	518	10928	0.00	2.62	21.25	1.287	4	0.000	0.050	3025	2858	2136
11102	1.08	170.4	811.1	8.8	527	11106	0.00	2.53	0.00	0.000	6	0.000	0.045	3025	1453	2132
11426	1.23	285.3	792.5	2.3	543	11538	0.17	2.65	104.85	1.368	4	0.036	0.054	3090	2846	1668
11589	1.23	285.3	774.5	17.0	550	11596	0.12	2.55	0.00	0.000	6	0.086	0.051	3067	1457	1663
11905	1.23	285.3	737.4	12.9	566	11909	0.00	2.25	0.00	0.000	4	0.000	0.070	3067	255	1657
11928	1.23	285.3	734.3	13.2	567	11932	0.00	2.10	0.00	0.000	6	0.000	0.038	3067	1466	1657
12263	1.23	285.3	695.9	11.3	583	12268	0.00	2.50	0.00	0.000	4	0.000	0.052	3066	2849	1654
12319	1.23	285.3	689.5	11.1	585	12325	0.00	2.53	0.00	0.000	6	0.000	0.048	3067	1450	1653
12637	1.23	285.3	663.4	8.3	601	12641	0.00	2.20	0.00	0.000	4	0.000	0.068	3066	262	1652
12687	1.23	285.3	658.6	8.7	603	12691	0.00	2.05	0.00	0.000	6	0.000	0.037	3067	1454	1652
13014	1.23	285.3	631.5	8.5	619	13019	0.00	2.55	0.00	0.000	4	0.000	0.049	3067	2850	1650
13061	1.23	285.3	627.5	8.3	621	13066	0.00	2.47	0.00	0.000	6	0.000	0.043	3067	1452	1650
13388	1.23	285.3	597.2	9.4	637	13393	0.00	2.20	0.00	0.000	4	0.000	0.062	3067	265	1649
13433	1.23	285.3	592.2	10.5	639	13438	0.00	2.05	0.00	0.000	6	0.000	0.033	3067	1457	1650
13765	1.23	285.3	557.4	10.4	655	13769	0.00	2.17	0.00	0.000	4	0.000	0.058	3067	264	1650
13790	1.23	285.3	554.9	11.6	656	13793	0.00	2.03	0.00	0.000	6	0.000	0.033	3067	1456	1649
14123	1.23	285.3	522.1	9.2	672	14127	0.00	2.47	0.00	0.000	4	0.000	0.044	3067	2846	1649
14150	1.23	285.3	519.5	8.4	673	14155	0.00	2.47	0.00	0.000	6	0.000	0.038	3067	1459	1649
14470	1.23	285.3	489.9	9.7	689	14472	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1459	1649
14780	1.23	285.3	460.9	9.0	704	14781	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1459	1650
15089	1.23	285.3	431.7	9.8	719	15090	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1459	1651
15401	1.23	285.3	401.2	9.8	734	15404	0.00	2.15	0.00	0.000	4	0.000	0.057	3067	263	1652
15447	1.23	285.3	396.2	10.9	736	15451	0.00	2.00	0.00	0.000	6	0.000	0.031	3066	1457	1652
15780	1.23	285.3	362.5	9.9	752	15781	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1457	1651
16089	1.23	285.3	333.2	9.2	767	16090	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1457	1652
16398	1.23	285.3	304.9	9.4	782	16399	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1457	1652
16707	1.23	285.3	275.3	9.4	797	16708	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1457	1652
17019	1.23	285.3	246.5	9.4	812	17020	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1457	1653
17326	1.23	285.3	216.1	10.1	827	17327	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1457	1653
17635	1.23	285.3	185.0	10.0	842	17636	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1457	1653
17944	1.23	285.3	154.3	9.6	857	17945	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1457	1653
18254	1.23	285.3	125.7	9.0	872	18259	0.00	2.47	0.00	0.000	4	0.000	0.044	3067	2851	1653
18294	1.23	285.3	121.9	8.9	874	18300	0.00	2.47	0.00	0.000	6	0.000	0.036	3067	1451	1653
18627	1.23	285.3	88.2	10.3	890	18628	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1451	1654
18938	1.23	285.3	62.5	9.4	905	18939	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1451	1654
19245	1.23	285.3	30.0	9.7	920	19249	0.00	2.12	0.00	0.000	4	0.000	0.053	3067	264	1654
19297	1.23	285.3	25.1	9.5	922	19300	0.00	2.00	0.00	0.000	6	0.000	0.030	3067	1459	1654
19559	end climb: SURFACE_DEPTH_REACHED
state	19559	begin surface coast
19582	end surface coast: CONTROL_FINISHED_OK
state	19583	begin surface