Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 278 * 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 278 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 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 -1632964 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 -1632964

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 21 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 43 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 278 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 020037,6126.615,-909.457,30,1.1,30,-9.3 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.88 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -55.9 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 020602,6126.622,-909.473,17,1.6,17,-9.3 MHEAD_RNG_PITCHd_Wd 90.3,39795,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026668 ALTIM_BOTTOM_PING 425.2,91.4

SM_CCo 15572,34.45,0.762,0,0,1609,300.00 _24V_AH 23.3,58.668

SM_GC 1.15,0.00,0.00,34.45,0.000,0.000,0.762,391,2243,1609,-11.08,-0.17,300.00 _10V_AH 10.1,35.496

IRIDIUM_FIX 6059.36,-915.18,081198,212148 DATA_FILE_SIZE 38039,743

TT8_MAMPS 0.027612 CAP_FILE_SIZE 124636,0

HUMID 1923 CFSIZE 260165632,237830144

INTERNAL_PRESSURE 8.17739 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 14.90 GPS 150809,062737,6126.563,-906.634,28,1.2,28,-9.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 78.22 SBE_CT 614 24 343.69

Roll_motor 179 59 246.35 SBE_O2 550 19 243.69

VBD_pump_during_apogee 336 1095 8594.47 WL_BB2F 557 105 1363.37

VBD_pump_during_surface 34 761 611.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.83 nil 0 0 0.00

Iridium_during_connect 27 160 102.80 nil 0 0 0.00

Iridium_during_xfer 143 223 744.93

Transponder_ping 3 420 34.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.93

TT8 1436 19 287.26

LPSleep 11459 2 253.47

TT8_Active 486 19 97.37

TT8_Sampling 1827 39 734.65

TT8_CF8 723 45 334.74

TT8_Kalman 0 81 0.00

Analog_circuits 1473 12 178.62

GPS_charging 0 0 0.00

Compass 1963 8 158.66

RAFOS 0 0 0.00

Transponder 23 30 7.11

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.96 -146.6 0.0 0.0 0 80 0.00 0.00 -61.25 0.000 6 0.000 0.000 385 2247 3431

83 -0.96 -146.6 4.7 -9.5 3 104 11.70 2.53 0.00 0.000 4 0.133 0.039 2583 835 3433

111 -0.96 -146.6 15.4 -34.4 4 115 0.00 2.45 0.00 0.000 6 0.000 0.033 2583 2242 3433

431 -0.96 -146.6 43.7 -6.3 20 436 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3654 3434

722 -0.96 -146.6 52.8 -3.1 33 727 0.00 2.42 0.00 0.000 6 0.000 0.030 2583 2231 3434

1044 -0.96 -146.6 64.8 -4.7 49 1048 0.00 2.55 0.00 0.000 4 0.000 0.048 2583 3651 3435

1099 -0.96 -146.6 68.0 -6.4 51 1105 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2242 3435

1416 -0.96 -146.6 83.5 -3.0 67 1421 0.00 2.58 0.00 0.000 4 0.000 0.053 2583 3648 3434

1532 -0.96 -146.6 88.0 -4.2 72 1537 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2247 3435

1854 -0.96 -146.6 102.4 -4.9 88 1859 0.00 2.55 0.00 0.000 4 0.000 0.052 2583 3643 3434

1910 -0.96 -146.6 105.8 -6.1 90 1914 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2237 3434

2227 -0.96 -146.6 125.2 -6.4 105 2228 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2238 3434

2535 -0.96 -146.6 146.7 -7.2 120 2539 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3650 3434

2607 -0.96 -146.6 152.2 -7.7 123 2612 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2251 3434

2927 -0.96 -146.6 173.4 -6.3 139 2932 0.00 2.50 0.00 0.000 4 0.000 0.051 2583 3650 3434

3012 -0.96 -146.6 179.5 -7.2 143 3017 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2248 3433

3341 -0.96 -146.6 200.1 -6.2 159 3342 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2248 3433

3649 -0.96 -146.6 218.5 -6.0 174 3653 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3650 3433

3760 -0.96 -146.6 226.4 -6.9 179 3764 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3433

4081 -0.96 -146.6 247.7 -6.8 195 4085 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3657 3433

4154 -0.96 -146.6 253.0 -7.7 198 4158 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2244 3433

4472 -0.96 -146.6 274.8 -7.0 213 4477 0.00 2.55 0.00 0.000 4 0.000 0.052 2584 3655 3432

4527 -0.96 -146.6 279.2 -7.8 215 4531 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2242 3432

4843 -0.96 -146.6 302.4 -7.6 230 4847 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3654 3432

4926 -0.96 -146.6 309.2 -7.6 234 4931 0.00 2.40 0.00 0.000 6 0.000 0.032 2583 2252 3432

5254 -0.96 -146.6 332.3 -7.1 250 5258 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3654 3432

5309 -0.96 -146.6 336.3 -7.5 252 5315 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2248 3432

5626 -0.96 -146.6 355.6 -5.7 268 5630 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3653 3432

5676 -0.96 -146.6 358.8 -5.9 270 5680 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2251 3432

5992 -0.96 -146.6 376.7 -5.6 285 5993 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2251 3432

6303 -0.96 -146.6 392.5 -5.4 300 6308 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3657 3431

6415 -0.96 -146.6 400.0 -6.8 305 6424 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2243 3432

6746 -0.96 -146.6 421.1 -6.5 321 6750 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3651 3431

6810 -0.96 -146.6 425.7 -7.6 324 6814 0.00 2.40 0.00 0.000 6 0.000 0.032 2584 2251 3431

7136 -0.96 -146.6 447.3 -6.6 340 7141 0.00 2.53 0.00 0.000 4 0.000 0.054 2583 3649 3431

7193 -0.96 -146.6 451.5 -7.8 342 7199 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3431

7509 -0.96 -146.6 474.0 -7.2 358 7513 0.00 2.53 0.00 0.000 4 0.000 0.053 2584 3653 3431

7575 -0.96 -146.6 479.3 -7.7 361 7579 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3431

7896 -0.96 -146.6 502.2 -7.1 377 7900 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3654 3431

7946 -0.96 -146.6 506.2 -7.8 379 7950 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3430

7971 end dive: BOTTOM_OBSTACLE_DETECTED

state 7971 begin apogee

7980 -0.36 0.0 508.0 7.2 380 8108 0.65 0.00 124.85 1.095 6 0.067 0.000 2723 1463 2832

8109 end apogee: CONTROL_FINISHED_OK

state 8109 begin climb

8111 0.96 146.6 512.0 0.0 386 8246 1.30 2.28 124.78 1.062 4 0.055 0.059 3005 264 2232

8283 0.99 166.5 507.3 5.5 394 8307 0.00 2.05 18.20 0.977 6 0.000 0.032 3005 1475 2152

8636 1.03 197.3 489.5 5.2 411 8670 0.00 2.53 27.20 1.019 4 0.000 0.043 3005 2843 2026

8760 1.03 199.1 482.3 5.9 416 8767 0.00 2.45 0.00 0.000 6 0.000 0.038 3005 1445 2023

9076 1.03 199.1 463.4 6.1 432 9080 0.00 2.50 0.00 0.000 4 0.000 0.041 3005 2853 2022

9120 1.03 201.0 460.6 5.9 434 9129 0.00 2.45 3.97 0.642 6 0.000 0.037 3005 1458 2011

9447 1.04 204.8 441.4 5.9 450 9457 0.00 2.47 4.95 0.738 4 0.000 0.040 3005 2845 1997

9509 1.04 204.8 437.7 6.1 453 9513 0.00 2.45 0.00 0.000 6 0.000 0.038 3005 1452 1996

9835 1.04 204.8 416.8 6.6 469 9836 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1452 1996

10147 1.04 204.8 396.3 6.6 484 10151 0.00 2.47 0.00 0.000 4 0.000 0.041 3005 2846 1995

10236 1.04 204.8 390.2 6.9 488 10240 0.00 2.45 0.00 0.000 6 0.000 0.038 3005 1449 1995

10556 1.04 204.8 368.5 6.9 504 10561 0.00 2.50 0.00 0.000 4 0.000 0.041 3005 2846 1995

10595 1.04 204.8 365.9 6.6 505 10602 0.00 2.47 0.00 0.000 6 0.000 0.039 3005 1455 1994

10911 1.04 204.8 343.4 7.4 521 10915 0.00 2.45 0.00 0.000 4 0.000 0.041 3005 2846 1994

10960 1.04 204.8 339.7 7.1 523 10964 0.00 2.45 0.00 0.000 6 0.000 0.038 3005 1446 1994

11279 1.04 204.8 316.6 7.4 538 11283 0.00 2.47 0.00 0.000 4 0.000 0.042 3005 2850 1994

11351 1.04 204.8 310.9 7.6 541 11356 0.00 2.47 0.00 0.000 6 0.000 0.038 3005 1456 1994

11672 1.04 204.8 286.1 7.8 557 11676 0.00 2.47 0.00 0.000 4 0.000 0.041 3005 2855 1994

11722 1.04 204.8 282.1 7.7 559 11726 0.00 2.45 0.00 0.000 6 0.000 0.038 3005 1450 1993

12037 1.04 204.8 259.5 6.7 574 12042 0.00 2.50 0.00 0.000 4 0.000 0.041 3005 2846 1993

12084 1.04 204.8 256.4 7.1 576 12088 0.00 2.42 0.00 0.000 6 0.000 0.038 3005 1457 1993

12410 1.04 204.8 234.4 6.7 592 12415 0.00 2.45 0.00 0.000 4 0.000 0.042 3005 2840 1994

12448 1.04 204.8 231.7 6.9 593 12455 0.00 2.42 0.00 0.000 6 0.000 0.038 3005 1451 1994

12766 1.04 204.8 209.7 7.6 609 12771 0.00 2.47 0.00 0.000 4 0.000 0.041 3005 2851 1994

12811 1.04 204.8 205.8 8.0 611 12815 0.00 2.45 0.00 0.000 6 0.000 0.038 3005 1452 1993

13134 1.04 204.8 183.1 6.5 627 13138 0.00 2.45 0.00 0.000 4 0.000 0.041 3005 2845 1993

13201 1.04 206.3 178.7 6.0 630 13205 0.00 2.42 0.00 0.000 6 0.000 0.038 3005 1454 1993

13523 1.04 206.3 159.2 6.7 646 13527 0.00 2.45 0.00 0.000 4 0.000 0.041 3005 2845 1993

13567 1.04 206.3 156.2 6.6 648 13571 0.00 2.42 0.00 0.000 6 0.000 0.038 3005 1455 1993

13889 1.08 241.7 137.8 5.0 664 13932 0.12 2.50 32.83 0.858 4 0.042 0.040 3060 2845 1844

13988 1.08 241.7 130.5 8.0 668 13993 0.12 2.45 0.00 0.000 6 0.078 0.038 3034 1457 1842

14303 1.08 241.7 109.1 6.8 683 14308 0.00 2.17 0.00 0.000 4 0.000 0.058 3034 270 1840

14336 1.08 241.7 106.7 6.8 684 14341 0.00 2.00 0.00 0.000 6 0.000 0.031 3033 1453 1840

14657 1.08 241.7 74.5 11.9 700 14662 0.00 2.42 0.00 0.000 4 0.000 0.041 3033 2843 1839

14713 1.08 241.7 67.8 11.8 702 14720 0.00 2.42 0.00 0.000 6 0.000 0.037 3033 1451 1840

15029 1.08 241.7 32.0 9.4 718 15034 0.00 2.47 0.00 0.000 4 0.000 0.040 3034 2837 1839

15103 1.08 241.7 25.5 7.2 721 15107 0.00 2.42 0.00 0.000 6 0.000 0.037 3033 1447 1838

15424 1.08 241.7 11.3 7.3 737 15425 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 1447 1839

15524 end climb: SURFACE_DEPTH_REACHED

state 15525 begin surface coast

15548 end surface coast: CONTROL_FINISHED_OK

state 15548 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	278	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	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	-1632964	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	020037,6126.615,-909.457,30,1.1,30,-9.3	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.88	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-55.9	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	020602,6126.622,-909.473,17,1.6,17,-9.3	MHEAD_RNG_PITCHd_Wd	90.3,39795,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.026668	ALTIM_BOTTOM_PING	425.2,91.4
SM_CCo	15572,34.45,0.762,0,0,1609,300.00	_24V_AH	23.3,58.668
SM_GC	1.15,0.00,0.00,34.45,0.000,0.000,0.762,391,2243,1609,-11.08,-0.17,300.00	_10V_AH	10.1,35.496
IRIDIUM_FIX	6059.36,-915.18,081198,212148	DATA_FILE_SIZE	38039,743
TT8_MAMPS	0.027612	CAP_FILE_SIZE	124636,0
HUMID	1923	CFSIZE	260165632,237830144
INTERNAL_PRESSURE	8.17739	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	14.90	GPS	150809,062737,6126.563,-906.634,28,1.2,28,-9.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	78.22	SBE_CT	614	24	343.69
Roll_motor	179	59	246.35	SBE_O2	550	19	243.69
VBD_pump_during_apogee	336	1095	8594.47	WL_BB2F	557	105	1363.37
VBD_pump_during_surface	34	761	611.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.83	nil	0	0	0.00
Iridium_during_connect	27	160	102.80	nil	0	0	0.00
Iridium_during_xfer	143	223	744.93
Transponder_ping	3	420	34.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.93
TT8	1436	19	287.26
LPSleep	11459	2	253.47
TT8_Active	486	19	97.37
TT8_Sampling	1827	39	734.65
TT8_CF8	723	45	334.74
TT8_Kalman	0	81	0.00
Analog_circuits	1473	12	178.62
GPS_charging	0	0	0.00
Compass	1963	8	158.66
RAFOS	0	0	0.00
Transponder	23	30	7.11

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.96	-146.6	0.0	0.0	0	80	0.00	0.00	-61.25	0.000	6	0.000	0.000	385	2247	3431
83	-0.96	-146.6	4.7	-9.5	3	104	11.70	2.53	0.00	0.000	4	0.133	0.039	2583	835	3433
111	-0.96	-146.6	15.4	-34.4	4	115	0.00	2.45	0.00	0.000	6	0.000	0.033	2583	2242	3433
431	-0.96	-146.6	43.7	-6.3	20	436	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3654	3434
722	-0.96	-146.6	52.8	-3.1	33	727	0.00	2.42	0.00	0.000	6	0.000	0.030	2583	2231	3434
1044	-0.96	-146.6	64.8	-4.7	49	1048	0.00	2.55	0.00	0.000	4	0.000	0.048	2583	3651	3435
1099	-0.96	-146.6	68.0	-6.4	51	1105	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2242	3435
1416	-0.96	-146.6	83.5	-3.0	67	1421	0.00	2.58	0.00	0.000	4	0.000	0.053	2583	3648	3434
1532	-0.96	-146.6	88.0	-4.2	72	1537	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2247	3435
1854	-0.96	-146.6	102.4	-4.9	88	1859	0.00	2.55	0.00	0.000	4	0.000	0.052	2583	3643	3434
1910	-0.96	-146.6	105.8	-6.1	90	1914	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2237	3434
2227	-0.96	-146.6	125.2	-6.4	105	2228	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2238	3434
2535	-0.96	-146.6	146.7	-7.2	120	2539	0.00	2.55	0.00	0.000	4	0.000	0.053	2583	3650	3434
2607	-0.96	-146.6	152.2	-7.7	123	2612	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2251	3434
2927	-0.96	-146.6	173.4	-6.3	139	2932	0.00	2.50	0.00	0.000	4	0.000	0.051	2583	3650	3434
3012	-0.96	-146.6	179.5	-7.2	143	3017	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2248	3433
3341	-0.96	-146.6	200.1	-6.2	159	3342	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2248	3433
3649	-0.96	-146.6	218.5	-6.0	174	3653	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3650	3433
3760	-0.96	-146.6	226.4	-6.9	179	3764	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3433
4081	-0.96	-146.6	247.7	-6.8	195	4085	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3657	3433
4154	-0.96	-146.6	253.0	-7.7	198	4158	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2244	3433
4472	-0.96	-146.6	274.8	-7.0	213	4477	0.00	2.55	0.00	0.000	4	0.000	0.052	2584	3655	3432
4527	-0.96	-146.6	279.2	-7.8	215	4531	0.00	2.42	0.00	0.000	6	0.000	0.032	2583	2242	3432
4843	-0.96	-146.6	302.4	-7.6	230	4847	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3654	3432
4926	-0.96	-146.6	309.2	-7.6	234	4931	0.00	2.40	0.00	0.000	6	0.000	0.032	2583	2252	3432
5254	-0.96	-146.6	332.3	-7.1	250	5258	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3654	3432
5309	-0.96	-146.6	336.3	-7.5	252	5315	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2248	3432
5626	-0.96	-146.6	355.6	-5.7	268	5630	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3653	3432
5676	-0.96	-146.6	358.8	-5.9	270	5680	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2251	3432
5992	-0.96	-146.6	376.7	-5.6	285	5993	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2251	3432
6303	-0.96	-146.6	392.5	-5.4	300	6308	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3657	3431
6415	-0.96	-146.6	400.0	-6.8	305	6424	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2243	3432
6746	-0.96	-146.6	421.1	-6.5	321	6750	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3651	3431
6810	-0.96	-146.6	425.7	-7.6	324	6814	0.00	2.40	0.00	0.000	6	0.000	0.032	2584	2251	3431
7136	-0.96	-146.6	447.3	-6.6	340	7141	0.00	2.53	0.00	0.000	4	0.000	0.054	2583	3649	3431
7193	-0.96	-146.6	451.5	-7.8	342	7199	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3431
7509	-0.96	-146.6	474.0	-7.2	358	7513	0.00	2.53	0.00	0.000	4	0.000	0.053	2584	3653	3431
7575	-0.96	-146.6	479.3	-7.7	361	7579	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3431
7896	-0.96	-146.6	502.2	-7.1	377	7900	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3654	3431
7946	-0.96	-146.6	506.2	-7.8	379	7950	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3430
7971	end dive: BOTTOM_OBSTACLE_DETECTED
state	7971	begin apogee
7980	-0.36	0.0	508.0	7.2	380	8108	0.65	0.00	124.85	1.095	6	0.067	0.000	2723	1463	2832
8109	end apogee: CONTROL_FINISHED_OK
state	8109	begin climb
8111	0.96	146.6	512.0	0.0	386	8246	1.30	2.28	124.78	1.062	4	0.055	0.059	3005	264	2232
8283	0.99	166.5	507.3	5.5	394	8307	0.00	2.05	18.20	0.977	6	0.000	0.032	3005	1475	2152
8636	1.03	197.3	489.5	5.2	411	8670	0.00	2.53	27.20	1.019	4	0.000	0.043	3005	2843	2026
8760	1.03	199.1	482.3	5.9	416	8767	0.00	2.45	0.00	0.000	6	0.000	0.038	3005	1445	2023
9076	1.03	199.1	463.4	6.1	432	9080	0.00	2.50	0.00	0.000	4	0.000	0.041	3005	2853	2022
9120	1.03	201.0	460.6	5.9	434	9129	0.00	2.45	3.97	0.642	6	0.000	0.037	3005	1458	2011
9447	1.04	204.8	441.4	5.9	450	9457	0.00	2.47	4.95	0.738	4	0.000	0.040	3005	2845	1997
9509	1.04	204.8	437.7	6.1	453	9513	0.00	2.45	0.00	0.000	6	0.000	0.038	3005	1452	1996
9835	1.04	204.8	416.8	6.6	469	9836	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1452	1996
10147	1.04	204.8	396.3	6.6	484	10151	0.00	2.47	0.00	0.000	4	0.000	0.041	3005	2846	1995
10236	1.04	204.8	390.2	6.9	488	10240	0.00	2.45	0.00	0.000	6	0.000	0.038	3005	1449	1995
10556	1.04	204.8	368.5	6.9	504	10561	0.00	2.50	0.00	0.000	4	0.000	0.041	3005	2846	1995
10595	1.04	204.8	365.9	6.6	505	10602	0.00	2.47	0.00	0.000	6	0.000	0.039	3005	1455	1994
10911	1.04	204.8	343.4	7.4	521	10915	0.00	2.45	0.00	0.000	4	0.000	0.041	3005	2846	1994
10960	1.04	204.8	339.7	7.1	523	10964	0.00	2.45	0.00	0.000	6	0.000	0.038	3005	1446	1994
11279	1.04	204.8	316.6	7.4	538	11283	0.00	2.47	0.00	0.000	4	0.000	0.042	3005	2850	1994
11351	1.04	204.8	310.9	7.6	541	11356	0.00	2.47	0.00	0.000	6	0.000	0.038	3005	1456	1994
11672	1.04	204.8	286.1	7.8	557	11676	0.00	2.47	0.00	0.000	4	0.000	0.041	3005	2855	1994
11722	1.04	204.8	282.1	7.7	559	11726	0.00	2.45	0.00	0.000	6	0.000	0.038	3005	1450	1993
12037	1.04	204.8	259.5	6.7	574	12042	0.00	2.50	0.00	0.000	4	0.000	0.041	3005	2846	1993
12084	1.04	204.8	256.4	7.1	576	12088	0.00	2.42	0.00	0.000	6	0.000	0.038	3005	1457	1993
12410	1.04	204.8	234.4	6.7	592	12415	0.00	2.45	0.00	0.000	4	0.000	0.042	3005	2840	1994
12448	1.04	204.8	231.7	6.9	593	12455	0.00	2.42	0.00	0.000	6	0.000	0.038	3005	1451	1994
12766	1.04	204.8	209.7	7.6	609	12771	0.00	2.47	0.00	0.000	4	0.000	0.041	3005	2851	1994
12811	1.04	204.8	205.8	8.0	611	12815	0.00	2.45	0.00	0.000	6	0.000	0.038	3005	1452	1993
13134	1.04	204.8	183.1	6.5	627	13138	0.00	2.45	0.00	0.000	4	0.000	0.041	3005	2845	1993
13201	1.04	206.3	178.7	6.0	630	13205	0.00	2.42	0.00	0.000	6	0.000	0.038	3005	1454	1993
13523	1.04	206.3	159.2	6.7	646	13527	0.00	2.45	0.00	0.000	4	0.000	0.041	3005	2845	1993
13567	1.04	206.3	156.2	6.6	648	13571	0.00	2.42	0.00	0.000	6	0.000	0.038	3005	1455	1993
13889	1.08	241.7	137.8	5.0	664	13932	0.12	2.50	32.83	0.858	4	0.042	0.040	3060	2845	1844
13988	1.08	241.7	130.5	8.0	668	13993	0.12	2.45	0.00	0.000	6	0.078	0.038	3034	1457	1842
14303	1.08	241.7	109.1	6.8	683	14308	0.00	2.17	0.00	0.000	4	0.000	0.058	3034	270	1840
14336	1.08	241.7	106.7	6.8	684	14341	0.00	2.00	0.00	0.000	6	0.000	0.031	3033	1453	1840
14657	1.08	241.7	74.5	11.9	700	14662	0.00	2.42	0.00	0.000	4	0.000	0.041	3033	2843	1839
14713	1.08	241.7	67.8	11.8	702	14720	0.00	2.42	0.00	0.000	6	0.000	0.037	3033	1451	1840
15029	1.08	241.7	32.0	9.4	718	15034	0.00	2.47	0.00	0.000	4	0.000	0.040	3034	2837	1839
15103	1.08	241.7	25.5	7.2	721	15107	0.00	2.42	0.00	0.000	6	0.000	0.037	3033	1447	1838
15424	1.08	241.7	11.3	7.3	737	15425	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	1447	1839
15524	end climb: SURFACE_DEPTH_REACHED
state	15525	begin surface coast
15548	end surface coast: CONTROL_FINISHED_OK
state	15548	begin surface