Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 20 * 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 20 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 2476 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 27 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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 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 -1628423.6 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 1 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 440

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 -1628423.6

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

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 1 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2476 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 20 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 072036,6138.076,-846.508,30,0.9,30,-9.1 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.197,0.136

_SM_DEPTHo 0.64 KALMAN_X -86919.1,33.3,1318.0,59198.6,-19981.3

_SM_ANGLEo -56.3 KALMAN_Y 50358.0,-1058.1,-760.6,-23815.3,8003.1

GPS2 072608,6138.065,-846.499,13,0.9,13,-9.1 MHEAD_RNG_PITCHd_Wd 64.4,24168,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.027316 ALTIM_BOTTOM_PING 775.3,110.1

SM_CCo 19070,15.95,0.719,0,0,1609,300.00 _24V_AH 23.1,20.943

SM_GC 0.85,0.00,0.00,15.95,0.000,0.000,0.719,395,2465,1609,-11.06,-0.31,300.00 _10V_AH 10.0,8.748

IRIDIUM_FIX 6117.23,-848.22,030998,020208 DATA_FILE_SIZE 47451,911

TT8_MAMPS 0.027612 CAP_FILE_SIZE 141086,0

HUMID 1815 CFSIZE 260165632,256716800

INTERNAL_PRESSURE 8.08949 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 17.60 GPS 090609,124625,6139.663,-846.870,39,1.3,39,-9.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 137 81.35 SBE_CT 819 24 454.06

Roll_motor 170 73 290.39 SBE_O2 625 19 274.74

VBD_pump_during_apogee 377 1385 12094.51 WL_BB2F 499 105 1210.86

VBD_pump_during_surface 15 719 265.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.88 nil 0 0 0.00

Iridium_during_connect 24 160 91.71 nil 0 0 0.00

Iridium_during_xfer 158 223 818.96

Transponder_ping 6 420 65.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.62

TT8 1723 19 341.22

LPSleep 14282 2 312.79

TT8_Active 504 19 99.97

TT8_Sampling 2141 39 852.29

TT8_CF8 765 45 350.49

TT8_Kalman 33 81 27.28

Analog_circuits 1642 12 197.12

GPS_charging 0 0 0.00

Compass 2271 8 181.71

RAFOS 0 0 0.00

Transponder 46 30 13.84

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 -1.17 -146.6 0.0 0.0 0 90 0.00 0.00 -72.60 0.000 6 0.000 0.000 395 2456 3431

94 -1.17 -146.6 2.6 -4.6 3 114 11.48 2.50 0.00 0.000 4 0.137 0.035 2538 1045 3432

153 -1.17 -146.6 18.3 -10.0 5 160 0.00 2.50 0.00 0.000 6 0.000 0.034 2538 2482 3432

469 -1.17 -146.6 48.1 -9.7 21 473 0.00 2.50 0.00 0.000 4 0.000 0.035 2538 1046 3432

509 -1.17 -146.6 51.9 -9.4 23 514 0.00 2.47 0.00 0.000 6 0.000 0.032 2538 2477 3432

836 -1.17 -146.6 85.2 -11.1 39 840 0.00 2.42 0.00 0.000 4 0.000 0.056 2538 3823 3432

903 -1.17 -146.6 93.8 -13.3 42 907 0.00 2.33 0.00 0.000 6 0.000 0.027 2538 2441 3432

1230 -1.17 -146.6 132.9 -12.1 58 1231 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2438 3432

1541 -1.17 -146.6 170.1 -11.5 73 1545 0.00 2.38 0.00 0.000 4 0.000 0.041 2538 1075 3433

1586 -1.17 -146.6 175.6 -11.6 75 1591 0.00 2.45 0.00 0.000 6 0.000 0.035 2537 2482 3433

1909 -1.17 -146.6 206.4 -9.1 91 1913 0.00 2.45 0.00 0.000 4 0.000 0.040 2538 1082 3433

1975 -1.17 -146.6 213.4 -10.8 94 1979 0.00 2.45 0.00 0.000 6 0.000 0.038 2538 2479 3433

2296 -1.17 -146.6 244.0 -9.4 110 2300 0.00 2.45 0.00 0.000 4 0.000 0.041 2538 1082 3433

2335 -1.17 -146.6 247.7 -9.3 112 2339 0.00 2.45 0.00 0.000 6 0.000 0.038 2538 2481 3433

2661 -1.17 -146.6 280.4 -10.9 128 2662 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2481 3433

2970 -1.17 -146.6 309.9 -8.9 143 2975 0.00 2.47 0.00 0.000 4 0.000 0.041 2538 1086 3433

3087 -1.17 -146.6 322.5 -10.5 148 3092 0.00 2.45 0.00 0.000 6 0.000 0.039 2538 2480 3433

3408 -1.17 -146.6 355.9 -10.0 164 3409 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2480 3432

3718 -1.17 -146.6 383.3 -9.2 179 3722 0.00 2.47 0.00 0.000 4 0.000 0.043 2538 1094 3433

3795 -1.17 -146.6 390.1 -8.8 182 3799 0.00 2.42 0.00 0.000 6 0.000 0.039 2538 2476 3433

4111 -1.17 -146.6 418.3 -9.1 197 4115 0.00 2.45 0.00 0.000 4 0.000 0.042 2538 1083 3433

4177 -1.17 -146.6 424.9 -10.0 200 4186 0.00 2.45 0.00 0.000 6 0.000 0.040 2538 2478 3433

4508 -1.17 -146.6 456.2 -9.5 216 4512 0.00 2.45 0.00 0.000 4 0.000 0.043 2538 1085 3432

4547 -1.17 -146.6 459.8 -9.0 218 4551 0.00 2.45 0.00 0.000 6 0.000 0.040 2538 2483 3433

4873 -1.17 -146.6 485.9 -8.1 234 4877 0.00 2.47 0.00 0.000 4 0.000 0.043 2538 1078 3432

5030 -1.17 -146.6 498.2 -8.3 241 5034 0.00 2.45 0.00 0.000 6 0.000 0.040 2538 2472 3432

5354 -1.17 -146.6 525.8 -8.7 257 5358 0.00 2.47 0.00 0.000 4 0.000 0.061 2538 3834 3432

5465 -1.17 -146.6 537.4 -10.1 262 5470 0.00 2.30 0.00 0.000 6 0.000 0.031 2538 2479 3432

5786 -1.17 -146.6 566.9 -9.0 278 5788 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2478 3432

6096 -1.17 -146.6 594.2 -7.9 293 6100 0.00 2.45 0.00 0.000 4 0.000 0.043 2538 1079 3431

6173 -1.17 -146.6 599.0 -5.7 296 6180 0.00 2.45 0.00 0.000 6 0.000 0.039 2538 2480 3432

6491 -1.17 -146.6 618.7 -6.6 312 6493 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2480 3431

6798 -1.17 -146.6 641.8 -8.0 327 6802 0.00 2.47 0.00 0.000 4 0.000 0.044 2538 1079 3431

6870 -1.17 -146.6 648.1 -8.8 330 6874 0.00 2.45 0.00 0.000 6 0.000 0.040 2538 2473 3430

7186 -1.17 -146.6 672.5 -7.4 345 7190 0.00 2.47 0.00 0.000 4 0.000 0.045 2538 1074 3430

7293 -1.17 -146.6 681.4 -8.8 350 7297 0.00 2.47 0.00 0.000 6 0.000 0.042 2538 2475 3430

7622 -1.17 -146.6 699.7 -5.7 366 7627 0.00 2.50 0.00 0.000 4 0.000 0.048 2538 1075 3429

7744 -1.17 -146.6 709.2 -7.7 371 7750 0.00 2.53 0.00 0.000 6 0.000 0.045 2538 2473 3429

8065 -1.17 -146.6 733.3 -7.2 387 8070 0.00 2.50 0.00 0.000 4 0.000 0.051 2538 1081 3427

8173 -1.17 -146.6 741.3 -7.4 392 8178 0.00 2.53 0.00 0.000 6 0.000 0.049 2538 2472 3427

8505 -1.17 -146.6 765.4 -7.7 408 8509 0.00 2.53 0.00 0.000 4 0.000 0.052 2538 1086 3425

8610 -1.17 -146.6 773.5 -7.3 412 8617 0.00 2.50 0.00 0.000 6 0.000 0.048 2538 2482 3424

8928 -1.17 -146.6 797.8 -8.5 428 8933 0.00 2.53 0.00 0.000 4 0.000 0.052 2538 1080 3423

9040 -1.17 -146.6 806.1 -7.5 433 9044 0.00 2.53 0.00 0.000 6 0.000 0.048 2538 2486 3422

9361 -1.17 -146.6 825.7 -5.5 449 9366 0.00 2.53 0.00 0.000 4 0.000 0.054 2538 1085 3420

9457 -1.17 -146.6 832.2 -4.1 453 9461 0.00 2.50 0.00 0.000 6 0.000 0.050 2538 2473 3420

9772 -1.17 -146.6 853.1 -6.2 468 9777 0.00 2.55 0.00 0.000 4 0.000 0.074 2538 3828 3418

9828 -1.17 -146.6 858.2 -5.8 470 9832 0.00 2.35 0.00 0.000 6 0.000 0.039 2538 2481 3418

10143 -1.17 -146.6 871.0 -4.7 485 10148 0.00 2.53 0.00 0.000 4 0.000 0.054 2538 1074 3417

10193 end dive: BOTTOM_OBSTACLE_DETECTED

state 10194 begin apogee

10200 -0.36 0.0 875.5 8.3 487 10333 0.82 0.00 129.35 1.385 6 0.069 0.000 2718 1464 2832

10334 end apogee: CONTROL_FINISHED_OK

state 10334 begin climb

10337 1.17 146.6 880.9 0.0 494 10484 1.52 2.35 133.50 1.327 4 0.046 0.071 3056 268 2232

10581 1.17 146.6 869.1 9.2 505 10585 0.00 2.08 0.00 0.000 6 0.000 0.041 3056 1456 2225

10909 1.25 207.6 851.5 5.4 521 10972 0.00 2.65 54.75 1.317 4 0.000 0.055 3056 2846 1984

11117 1.25 207.6 832.0 10.5 530 11123 0.00 2.53 0.00 0.000 6 0.000 0.048 3056 1466 1977

11439 1.25 207.6 798.3 9.5 546 11440 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1466 1974

11748 1.25 207.6 765.8 10.6 561 11749 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1466 1972

12060 1.25 207.6 736.7 10.7 576 12061 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1466 1971

12368 1.25 207.6 706.3 9.2 591 12369 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1466 1970

12676 1.25 207.6 676.0 9.7 606 12680 0.00 2.50 0.00 0.000 4 0.000 0.050 3056 2856 1970

12708 1.25 207.6 672.8 9.6 607 12714 0.00 2.53 0.00 0.000 6 0.000 0.044 3056 1447 1969

13024 1.25 207.6 641.4 9.1 623 13029 0.00 2.20 0.00 0.000 4 0.000 0.065 3056 265 1968

13158 1.25 207.6 629.2 8.9 629 13162 0.00 2.05 0.00 0.000 6 0.000 0.035 3056 1475 1969

13491 1.25 208.6 604.3 7.5 645 13492 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1476 1968

13801 1.31 257.3 585.0 5.8 660 13851 0.12 2.30 43.47 1.207 4 0.041 0.060 3099 264 1782

13914 1.31 257.3 574.4 11.6 665 13918 0.00 2.05 0.00 0.000 6 0.000 0.032 3099 1462 1779

14242 1.33 275.4 548.7 6.9 681 14264 0.00 2.58 16.90 1.110 4 0.000 0.047 3099 2845 1709

14314 1.33 275.4 542.6 7.8 684 14319 0.00 2.50 0.00 0.000 6 0.000 0.040 3099 1459 1707

14640 1.33 275.4 516.9 8.2 700 14644 0.00 2.17 0.00 0.000 4 0.000 0.059 3099 263 1705

14708 1.33 275.4 510.7 9.6 703 14712 0.00 2.00 0.00 0.000 6 0.000 0.030 3099 1457 1705

15040 1.33 275.4 480.9 8.6 719 15045 0.00 2.20 0.00 0.000 4 0.000 0.058 3099 265 1704

15141 1.33 275.4 469.4 11.5 723 15144 0.00 2.00 0.00 0.000 6 0.000 0.030 3099 1455 1704

15461 1.33 275.4 433.9 11.1 739 15465 0.00 2.17 0.00 0.000 4 0.000 0.058 3099 261 1704

15539 1.33 275.4 423.6 13.2 742 15543 0.00 2.00 0.00 0.000 6 0.000 0.030 3099 1457 1704

15861 1.33 275.4 387.2 10.6 758 15862 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 1460 1704

16172 1.33 275.4 351.0 12.4 773 16176 0.00 2.15 0.00 0.000 4 0.000 0.055 3099 264 1705

16228 1.33 275.4 343.2 13.8 775 16231 0.00 2.00 0.00 0.000 6 0.000 0.030 3099 1453 1705

16552 1.33 275.4 306.6 11.3 791 16555 0.00 2.15 0.00 0.000 4 0.000 0.056 3099 264 1705

16597 1.33 275.4 300.3 12.7 793 16601 0.00 2.00 0.00 0.000 6 0.000 0.029 3099 1458 1706

16929 1.33 275.4 256.5 13.1 809 16934 0.00 2.45 0.00 0.000 4 0.000 0.043 3099 2840 1706

16967 1.33 275.4 251.7 11.4 810 16975 0.00 2.45 0.00 0.000 6 0.000 0.037 3099 1453 1705

17283 1.33 275.4 213.4 12.6 826 17287 0.00 2.12 0.00 0.000 4 0.000 0.056 3099 264 1706

17339 1.33 275.4 206.0 13.3 828 17343 0.00 1.98 0.00 0.000 6 0.000 0.029 3099 1453 1706

17662 1.33 275.4 156.1 15.8 844 17664 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 1455 1706

17971 1.33 275.4 113.1 13.5 859 17972 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 1455 1707

18279 1.33 275.4 77.2 10.9 874 18280 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 1455 1707

18588 1.33 275.4 48.4 9.5 889 18592 0.00 2.12 0.00 0.000 4 0.000 0.053 3100 264 1707

18643 1.33 275.4 42.8 9.2 891 18647 0.00 1.98 0.00 0.000 6 0.000 0.030 3099 1456 1708

18966 1.33 275.4 8.9 10.3 907 18967 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 1458 1708

19024 end climb: SURFACE_DEPTH_REACHED

state 19024 begin surface coast

19046 end surface coast: CONTROL_FINISHED_OK

state 19046 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	20	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	2476	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	27	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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	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	-1628423.6	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	1	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	072036,6138.076,-846.508,30,0.9,30,-9.1	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.197,0.136
_SM_DEPTHo	0.64	KALMAN_X	-86919.1,33.3,1318.0,59198.6,-19981.3
_SM_ANGLEo	-56.3	KALMAN_Y	50358.0,-1058.1,-760.6,-23815.3,8003.1
GPS2	072608,6138.065,-846.499,13,0.9,13,-9.1	MHEAD_RNG_PITCHd_Wd	64.4,24168,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	-0.1,1.027316	ALTIM_BOTTOM_PING	775.3,110.1
SM_CCo	19070,15.95,0.719,0,0,1609,300.00	_24V_AH	23.1,20.943
SM_GC	0.85,0.00,0.00,15.95,0.000,0.000,0.719,395,2465,1609,-11.06,-0.31,300.00	_10V_AH	10.0,8.748
IRIDIUM_FIX	6117.23,-848.22,030998,020208	DATA_FILE_SIZE	47451,911
TT8_MAMPS	0.027612	CAP_FILE_SIZE	141086,0
HUMID	1815	CFSIZE	260165632,256716800
INTERNAL_PRESSURE	8.08949	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	17.60	GPS	090609,124625,6139.663,-846.870,39,1.3,39,-9.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	137	81.35	SBE_CT	819	24	454.06
Roll_motor	170	73	290.39	SBE_O2	625	19	274.74
VBD_pump_during_apogee	377	1385	12094.51	WL_BB2F	499	105	1210.86
VBD_pump_during_surface	15	719	265.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.88	nil	0	0	0.00
Iridium_during_connect	24	160	91.71	nil	0	0	0.00
Iridium_during_xfer	158	223	818.96
Transponder_ping	6	420	65.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.62
TT8	1723	19	341.22
LPSleep	14282	2	312.79
TT8_Active	504	19	99.97
TT8_Sampling	2141	39	852.29
TT8_CF8	765	45	350.49
TT8_Kalman	33	81	27.28
Analog_circuits	1642	12	197.12
GPS_charging	0	0	0.00
Compass	2271	8	181.71
RAFOS	0	0	0.00
Transponder	46	30	13.84

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	-1.17	-146.6	0.0	0.0	0	90	0.00	0.00	-72.60	0.000	6	0.000	0.000	395	2456	3431
94	-1.17	-146.6	2.6	-4.6	3	114	11.48	2.50	0.00	0.000	4	0.137	0.035	2538	1045	3432
153	-1.17	-146.6	18.3	-10.0	5	160	0.00	2.50	0.00	0.000	6	0.000	0.034	2538	2482	3432
469	-1.17	-146.6	48.1	-9.7	21	473	0.00	2.50	0.00	0.000	4	0.000	0.035	2538	1046	3432
509	-1.17	-146.6	51.9	-9.4	23	514	0.00	2.47	0.00	0.000	6	0.000	0.032	2538	2477	3432
836	-1.17	-146.6	85.2	-11.1	39	840	0.00	2.42	0.00	0.000	4	0.000	0.056	2538	3823	3432
903	-1.17	-146.6	93.8	-13.3	42	907	0.00	2.33	0.00	0.000	6	0.000	0.027	2538	2441	3432
1230	-1.17	-146.6	132.9	-12.1	58	1231	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2438	3432
1541	-1.17	-146.6	170.1	-11.5	73	1545	0.00	2.38	0.00	0.000	4	0.000	0.041	2538	1075	3433
1586	-1.17	-146.6	175.6	-11.6	75	1591	0.00	2.45	0.00	0.000	6	0.000	0.035	2537	2482	3433
1909	-1.17	-146.6	206.4	-9.1	91	1913	0.00	2.45	0.00	0.000	4	0.000	0.040	2538	1082	3433
1975	-1.17	-146.6	213.4	-10.8	94	1979	0.00	2.45	0.00	0.000	6	0.000	0.038	2538	2479	3433
2296	-1.17	-146.6	244.0	-9.4	110	2300	0.00	2.45	0.00	0.000	4	0.000	0.041	2538	1082	3433
2335	-1.17	-146.6	247.7	-9.3	112	2339	0.00	2.45	0.00	0.000	6	0.000	0.038	2538	2481	3433
2661	-1.17	-146.6	280.4	-10.9	128	2662	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2481	3433
2970	-1.17	-146.6	309.9	-8.9	143	2975	0.00	2.47	0.00	0.000	4	0.000	0.041	2538	1086	3433
3087	-1.17	-146.6	322.5	-10.5	148	3092	0.00	2.45	0.00	0.000	6	0.000	0.039	2538	2480	3433
3408	-1.17	-146.6	355.9	-10.0	164	3409	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2480	3432
3718	-1.17	-146.6	383.3	-9.2	179	3722	0.00	2.47	0.00	0.000	4	0.000	0.043	2538	1094	3433
3795	-1.17	-146.6	390.1	-8.8	182	3799	0.00	2.42	0.00	0.000	6	0.000	0.039	2538	2476	3433
4111	-1.17	-146.6	418.3	-9.1	197	4115	0.00	2.45	0.00	0.000	4	0.000	0.042	2538	1083	3433
4177	-1.17	-146.6	424.9	-10.0	200	4186	0.00	2.45	0.00	0.000	6	0.000	0.040	2538	2478	3433
4508	-1.17	-146.6	456.2	-9.5	216	4512	0.00	2.45	0.00	0.000	4	0.000	0.043	2538	1085	3432
4547	-1.17	-146.6	459.8	-9.0	218	4551	0.00	2.45	0.00	0.000	6	0.000	0.040	2538	2483	3433
4873	-1.17	-146.6	485.9	-8.1	234	4877	0.00	2.47	0.00	0.000	4	0.000	0.043	2538	1078	3432
5030	-1.17	-146.6	498.2	-8.3	241	5034	0.00	2.45	0.00	0.000	6	0.000	0.040	2538	2472	3432
5354	-1.17	-146.6	525.8	-8.7	257	5358	0.00	2.47	0.00	0.000	4	0.000	0.061	2538	3834	3432
5465	-1.17	-146.6	537.4	-10.1	262	5470	0.00	2.30	0.00	0.000	6	0.000	0.031	2538	2479	3432
5786	-1.17	-146.6	566.9	-9.0	278	5788	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2478	3432
6096	-1.17	-146.6	594.2	-7.9	293	6100	0.00	2.45	0.00	0.000	4	0.000	0.043	2538	1079	3431
6173	-1.17	-146.6	599.0	-5.7	296	6180	0.00	2.45	0.00	0.000	6	0.000	0.039	2538	2480	3432
6491	-1.17	-146.6	618.7	-6.6	312	6493	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2480	3431
6798	-1.17	-146.6	641.8	-8.0	327	6802	0.00	2.47	0.00	0.000	4	0.000	0.044	2538	1079	3431
6870	-1.17	-146.6	648.1	-8.8	330	6874	0.00	2.45	0.00	0.000	6	0.000	0.040	2538	2473	3430
7186	-1.17	-146.6	672.5	-7.4	345	7190	0.00	2.47	0.00	0.000	4	0.000	0.045	2538	1074	3430
7293	-1.17	-146.6	681.4	-8.8	350	7297	0.00	2.47	0.00	0.000	6	0.000	0.042	2538	2475	3430
7622	-1.17	-146.6	699.7	-5.7	366	7627	0.00	2.50	0.00	0.000	4	0.000	0.048	2538	1075	3429
7744	-1.17	-146.6	709.2	-7.7	371	7750	0.00	2.53	0.00	0.000	6	0.000	0.045	2538	2473	3429
8065	-1.17	-146.6	733.3	-7.2	387	8070	0.00	2.50	0.00	0.000	4	0.000	0.051	2538	1081	3427
8173	-1.17	-146.6	741.3	-7.4	392	8178	0.00	2.53	0.00	0.000	6	0.000	0.049	2538	2472	3427
8505	-1.17	-146.6	765.4	-7.7	408	8509	0.00	2.53	0.00	0.000	4	0.000	0.052	2538	1086	3425
8610	-1.17	-146.6	773.5	-7.3	412	8617	0.00	2.50	0.00	0.000	6	0.000	0.048	2538	2482	3424
8928	-1.17	-146.6	797.8	-8.5	428	8933	0.00	2.53	0.00	0.000	4	0.000	0.052	2538	1080	3423
9040	-1.17	-146.6	806.1	-7.5	433	9044	0.00	2.53	0.00	0.000	6	0.000	0.048	2538	2486	3422
9361	-1.17	-146.6	825.7	-5.5	449	9366	0.00	2.53	0.00	0.000	4	0.000	0.054	2538	1085	3420
9457	-1.17	-146.6	832.2	-4.1	453	9461	0.00	2.50	0.00	0.000	6	0.000	0.050	2538	2473	3420
9772	-1.17	-146.6	853.1	-6.2	468	9777	0.00	2.55	0.00	0.000	4	0.000	0.074	2538	3828	3418
9828	-1.17	-146.6	858.2	-5.8	470	9832	0.00	2.35	0.00	0.000	6	0.000	0.039	2538	2481	3418
10143	-1.17	-146.6	871.0	-4.7	485	10148	0.00	2.53	0.00	0.000	4	0.000	0.054	2538	1074	3417
10193	end dive: BOTTOM_OBSTACLE_DETECTED
state	10194	begin apogee
10200	-0.36	0.0	875.5	8.3	487	10333	0.82	0.00	129.35	1.385	6	0.069	0.000	2718	1464	2832
10334	end apogee: CONTROL_FINISHED_OK
state	10334	begin climb
10337	1.17	146.6	880.9	0.0	494	10484	1.52	2.35	133.50	1.327	4	0.046	0.071	3056	268	2232
10581	1.17	146.6	869.1	9.2	505	10585	0.00	2.08	0.00	0.000	6	0.000	0.041	3056	1456	2225
10909	1.25	207.6	851.5	5.4	521	10972	0.00	2.65	54.75	1.317	4	0.000	0.055	3056	2846	1984
11117	1.25	207.6	832.0	10.5	530	11123	0.00	2.53	0.00	0.000	6	0.000	0.048	3056	1466	1977
11439	1.25	207.6	798.3	9.5	546	11440	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1466	1974
11748	1.25	207.6	765.8	10.6	561	11749	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1466	1972
12060	1.25	207.6	736.7	10.7	576	12061	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1466	1971
12368	1.25	207.6	706.3	9.2	591	12369	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1466	1970
12676	1.25	207.6	676.0	9.7	606	12680	0.00	2.50	0.00	0.000	4	0.000	0.050	3056	2856	1970
12708	1.25	207.6	672.8	9.6	607	12714	0.00	2.53	0.00	0.000	6	0.000	0.044	3056	1447	1969
13024	1.25	207.6	641.4	9.1	623	13029	0.00	2.20	0.00	0.000	4	0.000	0.065	3056	265	1968
13158	1.25	207.6	629.2	8.9	629	13162	0.00	2.05	0.00	0.000	6	0.000	0.035	3056	1475	1969
13491	1.25	208.6	604.3	7.5	645	13492	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1476	1968
13801	1.31	257.3	585.0	5.8	660	13851	0.12	2.30	43.47	1.207	4	0.041	0.060	3099	264	1782
13914	1.31	257.3	574.4	11.6	665	13918	0.00	2.05	0.00	0.000	6	0.000	0.032	3099	1462	1779
14242	1.33	275.4	548.7	6.9	681	14264	0.00	2.58	16.90	1.110	4	0.000	0.047	3099	2845	1709
14314	1.33	275.4	542.6	7.8	684	14319	0.00	2.50	0.00	0.000	6	0.000	0.040	3099	1459	1707
14640	1.33	275.4	516.9	8.2	700	14644	0.00	2.17	0.00	0.000	4	0.000	0.059	3099	263	1705
14708	1.33	275.4	510.7	9.6	703	14712	0.00	2.00	0.00	0.000	6	0.000	0.030	3099	1457	1705
15040	1.33	275.4	480.9	8.6	719	15045	0.00	2.20	0.00	0.000	4	0.000	0.058	3099	265	1704
15141	1.33	275.4	469.4	11.5	723	15144	0.00	2.00	0.00	0.000	6	0.000	0.030	3099	1455	1704
15461	1.33	275.4	433.9	11.1	739	15465	0.00	2.17	0.00	0.000	4	0.000	0.058	3099	261	1704
15539	1.33	275.4	423.6	13.2	742	15543	0.00	2.00	0.00	0.000	6	0.000	0.030	3099	1457	1704
15861	1.33	275.4	387.2	10.6	758	15862	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	1460	1704
16172	1.33	275.4	351.0	12.4	773	16176	0.00	2.15	0.00	0.000	4	0.000	0.055	3099	264	1705
16228	1.33	275.4	343.2	13.8	775	16231	0.00	2.00	0.00	0.000	6	0.000	0.030	3099	1453	1705
16552	1.33	275.4	306.6	11.3	791	16555	0.00	2.15	0.00	0.000	4	0.000	0.056	3099	264	1705
16597	1.33	275.4	300.3	12.7	793	16601	0.00	2.00	0.00	0.000	6	0.000	0.029	3099	1458	1706
16929	1.33	275.4	256.5	13.1	809	16934	0.00	2.45	0.00	0.000	4	0.000	0.043	3099	2840	1706
16967	1.33	275.4	251.7	11.4	810	16975	0.00	2.45	0.00	0.000	6	0.000	0.037	3099	1453	1705
17283	1.33	275.4	213.4	12.6	826	17287	0.00	2.12	0.00	0.000	4	0.000	0.056	3099	264	1706
17339	1.33	275.4	206.0	13.3	828	17343	0.00	1.98	0.00	0.000	6	0.000	0.029	3099	1453	1706
17662	1.33	275.4	156.1	15.8	844	17664	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	1455	1706
17971	1.33	275.4	113.1	13.5	859	17972	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	1455	1707
18279	1.33	275.4	77.2	10.9	874	18280	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	1455	1707
18588	1.33	275.4	48.4	9.5	889	18592	0.00	2.12	0.00	0.000	4	0.000	0.053	3100	264	1707
18643	1.33	275.4	42.8	9.2	891	18647	0.00	1.98	0.00	0.000	6	0.000	0.030	3099	1456	1708
18966	1.33	275.4	8.9	10.3	907	18967	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	1458	1708
19024	end climb: SURFACE_DEPTH_REACHED
state	19024	begin surface coast
19046	end surface coast: CONTROL_FINISHED_OK
state	19046	begin surface