Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 298 * 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 298 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 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 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 -1633431.8 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 -1633431.8

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 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 298 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 181208,6145.907,-854.693,26,1.6,28,-9.3 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.77 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -53.3 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 181815,6146.043,-854.673,12,2.9,31,-9.3 MHEAD_RNG_PITCHd_Wd 147.9,39629,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.026784 ALTIM_BOTTOM_PING 575.1,100.0

SM_CCo 18334,0.00,0.000,0,0,1553,313.74 _24V_AH 23.1,61.619

SM_GC 1.02,11.40,0.00,0.00,0.018,0.000,0.000,384,2242,1553,-10.99,-0.20,313.74 _10V_AH 10.1,37.102

IRIDIUM_FIX 6121.73,-854.10,121198,121236 DATA_FILE_SIZE 44285,874

TT8_MAMPS 0.026078 CAP_FILE_SIZE 142736,0

HUMID 1925 CFSIZE 260165632,236654592

INTERNAL_PRESSURE 8.13832 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,16,0,0

TCM_TEMP 14.60 GPS 180809,232525,6147.992,-856.107,41,1.5,41,-9.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 131 77.18 SBE_CT 762 24 422.84

Roll_motor 186 61 263.85 SBE_O2 626 19 274.88

VBD_pump_during_apogee 400 1261 11663.35 WL_BB2F 534 105 1297.03

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 30 103 71.88 nil 0 0 0.00

Iridium_during_connect 23 160 87.63 nil 0 0 0.00

Iridium_during_xfer 162 223 836.30

Transponder_ping 4 420 46.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.58

TT8 1675 19 335.16

LPSleep 13568 2 300.13

TT8_Active 501 19 100.36

TT8_Sampling 2142 39 861.34

TT8_CF8 804 45 371.97

TT8_Kalman 0 81 0.00

Analog_circuits 1640 12 198.81

GPS_charging 0 0 0.00

Compass 2260 8 182.67

RAFOS 0 0 0.00

Transponder 33 30 10.05

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 88 0.00 0.00 -70.18 0.000 6 0.000 0.000 394 2242 3431

91 -0.96 -146.6 2.9 -5.1 3 112 11.62 2.53 0.00 0.000 4 0.131 0.038 2584 828 3433

173 -0.96 -146.6 20.7 -8.2 6 180 0.00 2.47 0.00 0.000 6 0.000 0.034 2584 2251 3434

490 -0.96 -146.6 45.6 -7.2 22 495 0.00 2.55 0.00 0.000 4 0.000 0.057 2584 3653 3434

690 -0.96 -146.6 61.8 -9.0 31 694 0.00 2.42 0.00 0.000 6 0.000 0.029 2584 2231 3434

1017 -0.96 -146.6 98.1 -12.3 47 1018 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2229 3434

1326 -0.96 -146.6 130.3 -10.0 62 1330 0.00 2.58 0.00 0.000 4 0.000 0.054 2583 3651 3435

1420 -0.96 -146.6 140.4 -10.1 66 1424 0.00 2.40 0.00 0.000 6 0.000 0.029 2584 2247 3435

1736 -0.96 -146.6 166.2 -7.4 81 1740 0.00 2.55 0.00 0.000 4 0.000 0.051 2584 3655 3435

1779 -0.96 -146.6 169.3 -6.7 83 1784 0.00 2.40 0.00 0.000 6 0.000 0.029 2584 2249 3435

2101 -0.96 -146.6 185.3 -3.5 99 2102 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2249 3435

2410 -0.96 -146.6 192.0 -2.0 114 2414 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3651 3435

2450 -0.96 -146.6 193.1 -3.1 116 2455 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2244 3435

2777 -0.96 -146.6 206.6 -5.1 132 2779 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2243 3435

3087 -0.96 -146.6 225.5 -6.6 147 3091 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3651 3435

3166 -0.96 -146.6 231.4 -7.5 150 3172 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3435

3484 -0.96 -146.6 253.2 -7.1 166 3485 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2249 3435

3792 -0.96 -146.6 273.8 -6.7 181 3796 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3657 3435

3877 -0.96 -146.6 280.0 -7.9 185 3881 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2241 3434

4205 -0.96 -146.6 302.8 -7.0 201 4209 0.00 2.58 0.00 0.000 4 0.000 0.054 2584 3657 3434

4271 -0.96 -146.6 307.4 -6.9 204 4275 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2246 3434

4592 -0.96 -146.6 329.0 -7.2 220 4596 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3651 3434

4619 -0.96 -146.6 331.1 -8.4 221 4623 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2248 3434

4937 -0.96 -146.6 351.8 -6.2 236 4941 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3658 3433

5032 -0.96 -146.6 357.9 -6.0 240 5036 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2243 3433

5348 -0.96 -146.6 374.5 -5.0 255 5352 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3651 3433

5437 -0.96 -146.6 379.6 -5.9 259 5442 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2253 3433

5764 -0.96 -146.6 397.8 -5.8 275 5768 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3658 3433

5830 -0.96 -146.6 402.5 -7.8 278 5834 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2237 3432

6152 -0.96 -146.6 424.6 -6.6 294 6156 0.00 2.60 0.00 0.000 4 0.000 0.054 2584 3651 3432

6274 -0.96 -146.6 432.8 -6.7 299 6278 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2251 3432

6593 -0.96 -146.6 447.3 -4.0 314 6594 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2251 3432

6899 -0.96 -146.6 460.4 -4.2 329 6904 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3651 3432

7145 -0.96 -146.6 478.5 -9.5 340 7150 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2250 3432

7472 -0.96 -146.6 508.9 -11.4 356 7476 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3658 3432

7713 -0.96 -146.6 524.1 -5.3 367 7717 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2247 3431

8039 -0.96 -146.6 544.6 -6.4 383 8040 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2243 3431

8349 -0.96 -146.6 560.4 -5.0 398 8354 0.00 2.60 0.00 0.000 4 0.000 0.057 2584 3651 3431

8511 -0.96 -146.6 568.6 -5.5 405 8516 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2242 3430

8834 -0.96 -146.6 586.0 -5.7 421 8838 0.00 2.58 0.00 0.000 4 0.000 0.059 2583 3653 3430

8901 -0.96 -146.6 591.1 -7.2 424 8905 0.00 2.42 0.00 0.000 6 0.000 0.033 2584 2251 3430

9221 -0.96 -146.6 611.9 -7.3 440 9226 0.00 2.55 0.00 0.000 4 0.000 0.058 2584 3650 3429

9243 -0.96 -146.6 614.0 -9.4 441 9247 0.00 2.42 0.00 0.000 6 0.000 0.034 2584 2250 3429

9568 -0.96 -146.6 640.1 -4.3 457 9572 0.00 2.55 0.00 0.000 4 0.000 0.058 2584 3650 3427

9634 -0.96 -146.6 643.6 -2.2 460 9639 0.00 2.42 0.00 0.000 6 0.000 0.034 2583 2247 3427

9957 -0.96 -146.6 655.2 -3.8 476 9961 0.00 2.58 0.00 0.000 4 0.000 0.061 2584 3650 3426

10041 -0.96 -146.6 664.2 -12.0 480 10045 0.00 2.42 0.00 0.000 6 0.000 0.035 2584 2246 3426

10048 end dive: BOTTOM_OBSTACLE_DETECTED

state 10049 begin apogee

10057 -0.36 0.0 665.3 13.0 480 10187 0.60 0.00 127.47 1.262 6 0.059 0.000 2718 1466 2832

10188 end apogee: CONTROL_FINISHED_OK

state 10188 begin climb

10191 0.96 146.6 672.6 0.0 487 10327 1.33 2.58 128.35 1.216 4 0.058 0.047 3004 2862 2232

10500 0.97 148.0 647.5 6.0 501 10505 0.00 2.53 0.00 0.000 6 0.000 0.041 3004 1445 2224

10829 0.97 148.0 612.9 11.0 517 10830 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1444 2221

11136 0.97 148.0 581.5 9.0 532 11140 0.00 2.55 0.00 0.000 4 0.000 0.047 3005 2865 2219

11332 1.07 232.7 568.9 3.7 541 11417 0.12 2.53 75.15 1.197 6 0.042 0.043 3062 1447 1882

11726 1.07 232.7 536.3 10.2 560 11728 0.15 0.00 0.00 0.000 6 0.074 0.000 3031 1447 1873

12034 1.07 232.7 514.3 6.1 575 12039 0.00 2.55 0.00 0.000 4 0.000 0.048 3031 2866 1870

12089 1.07 232.7 511.1 6.1 577 12096 0.00 2.50 0.00 0.000 6 0.000 0.041 3030 1451 1870

12408 1.07 232.7 490.7 8.1 593 12412 0.00 2.53 0.00 0.000 4 0.000 0.046 3030 2863 1869

12493 1.07 232.7 482.8 8.7 597 12497 0.00 2.50 0.00 0.000 6 0.000 0.040 3031 1451 1868

12819 1.07 232.7 451.0 9.3 613 12824 0.00 2.53 0.00 0.000 4 0.000 0.044 3031 2857 1868

12870 1.07 232.7 446.0 9.7 615 12875 0.00 2.47 0.00 0.000 6 0.000 0.040 3031 1454 1867

13192 1.07 232.7 415.1 9.6 631 13197 0.00 2.50 0.00 0.000 4 0.000 0.042 3031 2858 1867

13243 1.07 232.7 410.2 8.8 633 13247 0.00 2.47 0.00 0.000 6 0.000 0.038 3031 1450 1867

13563 1.07 232.7 379.4 9.4 649 13568 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2862 1867

13597 1.07 232.7 376.1 9.9 650 13603 0.00 2.47 0.00 0.000 6 0.000 0.038 3031 1448 1867

13915 1.07 232.7 347.3 8.8 666 13916 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1448 1867

14223 1.07 232.7 318.2 9.5 681 14228 0.00 2.50 0.00 0.000 4 0.000 0.042 3030 2867 1867

14279 1.07 232.7 312.7 9.3 683 14285 0.00 2.47 0.00 0.000 6 0.000 0.038 3031 1458 1867

14594 1.07 232.7 284.5 9.0 699 14599 0.00 2.47 0.00 0.000 4 0.000 0.041 3030 2860 1867

14627 1.07 232.7 281.6 8.6 700 14632 0.00 2.45 0.00 0.000 6 0.000 0.037 3031 1451 1868

14946 1.07 232.7 255.8 7.9 715 14950 0.00 2.47 0.00 0.000 4 0.000 0.041 3031 2861 1868

14985 1.07 232.7 252.6 7.1 717 14990 0.00 2.45 0.00 0.000 6 0.000 0.037 3031 1454 1868

15315 1.07 232.7 229.8 6.9 733 15319 0.00 2.45 0.00 0.000 4 0.000 0.041 3030 2862 1868

15347 1.07 232.7 227.3 6.9 734 15354 0.00 2.45 0.00 0.000 6 0.000 0.037 3031 1450 1869

15663 1.07 232.7 203.1 8.4 750 15667 0.00 2.47 0.00 0.000 4 0.000 0.041 3030 2863 1869

15690 1.07 232.7 200.6 8.9 751 15694 0.00 2.45 0.00 0.000 6 0.000 0.036 3031 1456 1869

16009 1.07 232.7 173.7 8.6 766 16013 0.00 2.45 0.00 0.000 4 0.000 0.041 3030 2861 1869

16036 1.07 232.7 171.0 9.2 767 16041 0.00 2.47 0.00 0.000 6 0.000 0.036 3030 1460 1869

16357 1.07 232.7 144.8 7.7 783 16361 0.00 2.45 0.00 0.000 4 0.000 0.040 3031 2862 1870

16390 1.07 232.7 142.4 7.1 784 16398 0.00 2.47 0.00 0.000 6 0.000 0.036 3031 1460 1870

16706 1.07 232.7 120.7 6.7 800 16707 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1460 1870

17015 1.10 255.9 101.4 5.4 815 17042 0.00 2.55 19.12 0.828 4 0.000 0.039 3031 2861 1786

17092 1.15 300.1 97.5 4.8 818 17138 0.00 2.47 39.55 0.836 6 0.000 0.035 3030 1452 1607

17457 1.17 311.6 79.3 5.7 836 17473 0.10 2.53 10.52 0.750 4 0.047 0.039 3085 2862 1561

17508 1.17 311.6 74.8 9.1 838 17513 0.15 2.47 0.00 0.000 6 0.074 0.036 3054 1454 1559

17829 1.17 311.6 40.7 12.1 854 17830 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 1454 1557

18140 1.17 311.6 10.5 9.9 869 18143 0.00 2.15 0.00 0.000 4 0.000 0.057 3053 259 1556

18186 1.17 311.6 6.0 11.7 871 18190 0.00 2.03 0.00 0.000 6 0.000 0.028 3054 1481 1556

18227 end climb: SURFACE_DEPTH_REACHED

state 18227 begin surface coast

18251 end surface coast: CONTROL_FINISHED_OK

state 18251 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	298	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	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	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	-1633431.8	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	181208,6145.907,-854.693,26,1.6,28,-9.3	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.77	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-53.3	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	181815,6146.043,-854.673,12,2.9,31,-9.3	MHEAD_RNG_PITCHd_Wd	147.9,39629,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.1,1.026784	ALTIM_BOTTOM_PING	575.1,100.0
SM_CCo	18334,0.00,0.000,0,0,1553,313.74	_24V_AH	23.1,61.619
SM_GC	1.02,11.40,0.00,0.00,0.018,0.000,0.000,384,2242,1553,-10.99,-0.20,313.74	_10V_AH	10.1,37.102
IRIDIUM_FIX	6121.73,-854.10,121198,121236	DATA_FILE_SIZE	44285,874
TT8_MAMPS	0.026078	CAP_FILE_SIZE	142736,0
HUMID	1925	CFSIZE	260165632,236654592
INTERNAL_PRESSURE	8.13832	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,16,0,0
TCM_TEMP	14.60	GPS	180809,232525,6147.992,-856.107,41,1.5,41,-9.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	131	77.18	SBE_CT	762	24	422.84
Roll_motor	186	61	263.85	SBE_O2	626	19	274.88
VBD_pump_during_apogee	400	1261	11663.35	WL_BB2F	534	105	1297.03
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	30	103	71.88	nil	0	0	0.00
Iridium_during_connect	23	160	87.63	nil	0	0	0.00
Iridium_during_xfer	162	223	836.30
Transponder_ping	4	420	46.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.58
TT8	1675	19	335.16
LPSleep	13568	2	300.13
TT8_Active	501	19	100.36
TT8_Sampling	2142	39	861.34
TT8_CF8	804	45	371.97
TT8_Kalman	0	81	0.00
Analog_circuits	1640	12	198.81
GPS_charging	0	0	0.00
Compass	2260	8	182.67
RAFOS	0	0	0.00
Transponder	33	30	10.05

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	88	0.00	0.00	-70.18	0.000	6	0.000	0.000	394	2242	3431
91	-0.96	-146.6	2.9	-5.1	3	112	11.62	2.53	0.00	0.000	4	0.131	0.038	2584	828	3433
173	-0.96	-146.6	20.7	-8.2	6	180	0.00	2.47	0.00	0.000	6	0.000	0.034	2584	2251	3434
490	-0.96	-146.6	45.6	-7.2	22	495	0.00	2.55	0.00	0.000	4	0.000	0.057	2584	3653	3434
690	-0.96	-146.6	61.8	-9.0	31	694	0.00	2.42	0.00	0.000	6	0.000	0.029	2584	2231	3434
1017	-0.96	-146.6	98.1	-12.3	47	1018	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2229	3434
1326	-0.96	-146.6	130.3	-10.0	62	1330	0.00	2.58	0.00	0.000	4	0.000	0.054	2583	3651	3435
1420	-0.96	-146.6	140.4	-10.1	66	1424	0.00	2.40	0.00	0.000	6	0.000	0.029	2584	2247	3435
1736	-0.96	-146.6	166.2	-7.4	81	1740	0.00	2.55	0.00	0.000	4	0.000	0.051	2584	3655	3435
1779	-0.96	-146.6	169.3	-6.7	83	1784	0.00	2.40	0.00	0.000	6	0.000	0.029	2584	2249	3435
2101	-0.96	-146.6	185.3	-3.5	99	2102	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2249	3435
2410	-0.96	-146.6	192.0	-2.0	114	2414	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3651	3435
2450	-0.96	-146.6	193.1	-3.1	116	2455	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2244	3435
2777	-0.96	-146.6	206.6	-5.1	132	2779	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2243	3435
3087	-0.96	-146.6	225.5	-6.6	147	3091	0.00	2.55	0.00	0.000	4	0.000	0.053	2583	3651	3435
3166	-0.96	-146.6	231.4	-7.5	150	3172	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3435
3484	-0.96	-146.6	253.2	-7.1	166	3485	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2249	3435
3792	-0.96	-146.6	273.8	-6.7	181	3796	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3657	3435
3877	-0.96	-146.6	280.0	-7.9	185	3881	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2241	3434
4205	-0.96	-146.6	302.8	-7.0	201	4209	0.00	2.58	0.00	0.000	4	0.000	0.054	2584	3657	3434
4271	-0.96	-146.6	307.4	-6.9	204	4275	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2246	3434
4592	-0.96	-146.6	329.0	-7.2	220	4596	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3651	3434
4619	-0.96	-146.6	331.1	-8.4	221	4623	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2248	3434
4937	-0.96	-146.6	351.8	-6.2	236	4941	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3658	3433
5032	-0.96	-146.6	357.9	-6.0	240	5036	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2243	3433
5348	-0.96	-146.6	374.5	-5.0	255	5352	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3651	3433
5437	-0.96	-146.6	379.6	-5.9	259	5442	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2253	3433
5764	-0.96	-146.6	397.8	-5.8	275	5768	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3658	3433
5830	-0.96	-146.6	402.5	-7.8	278	5834	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2237	3432
6152	-0.96	-146.6	424.6	-6.6	294	6156	0.00	2.60	0.00	0.000	4	0.000	0.054	2584	3651	3432
6274	-0.96	-146.6	432.8	-6.7	299	6278	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2251	3432
6593	-0.96	-146.6	447.3	-4.0	314	6594	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2251	3432
6899	-0.96	-146.6	460.4	-4.2	329	6904	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3651	3432
7145	-0.96	-146.6	478.5	-9.5	340	7150	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2250	3432
7472	-0.96	-146.6	508.9	-11.4	356	7476	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3658	3432
7713	-0.96	-146.6	524.1	-5.3	367	7717	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2247	3431
8039	-0.96	-146.6	544.6	-6.4	383	8040	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2243	3431
8349	-0.96	-146.6	560.4	-5.0	398	8354	0.00	2.60	0.00	0.000	4	0.000	0.057	2584	3651	3431
8511	-0.96	-146.6	568.6	-5.5	405	8516	0.00	2.42	0.00	0.000	6	0.000	0.032	2583	2242	3430
8834	-0.96	-146.6	586.0	-5.7	421	8838	0.00	2.58	0.00	0.000	4	0.000	0.059	2583	3653	3430
8901	-0.96	-146.6	591.1	-7.2	424	8905	0.00	2.42	0.00	0.000	6	0.000	0.033	2584	2251	3430
9221	-0.96	-146.6	611.9	-7.3	440	9226	0.00	2.55	0.00	0.000	4	0.000	0.058	2584	3650	3429
9243	-0.96	-146.6	614.0	-9.4	441	9247	0.00	2.42	0.00	0.000	6	0.000	0.034	2584	2250	3429
9568	-0.96	-146.6	640.1	-4.3	457	9572	0.00	2.55	0.00	0.000	4	0.000	0.058	2584	3650	3427
9634	-0.96	-146.6	643.6	-2.2	460	9639	0.00	2.42	0.00	0.000	6	0.000	0.034	2583	2247	3427
9957	-0.96	-146.6	655.2	-3.8	476	9961	0.00	2.58	0.00	0.000	4	0.000	0.061	2584	3650	3426
10041	-0.96	-146.6	664.2	-12.0	480	10045	0.00	2.42	0.00	0.000	6	0.000	0.035	2584	2246	3426
10048	end dive: BOTTOM_OBSTACLE_DETECTED
state	10049	begin apogee
10057	-0.36	0.0	665.3	13.0	480	10187	0.60	0.00	127.47	1.262	6	0.059	0.000	2718	1466	2832
10188	end apogee: CONTROL_FINISHED_OK
state	10188	begin climb
10191	0.96	146.6	672.6	0.0	487	10327	1.33	2.58	128.35	1.216	4	0.058	0.047	3004	2862	2232
10500	0.97	148.0	647.5	6.0	501	10505	0.00	2.53	0.00	0.000	6	0.000	0.041	3004	1445	2224
10829	0.97	148.0	612.9	11.0	517	10830	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1444	2221
11136	0.97	148.0	581.5	9.0	532	11140	0.00	2.55	0.00	0.000	4	0.000	0.047	3005	2865	2219
11332	1.07	232.7	568.9	3.7	541	11417	0.12	2.53	75.15	1.197	6	0.042	0.043	3062	1447	1882
11726	1.07	232.7	536.3	10.2	560	11728	0.15	0.00	0.00	0.000	6	0.074	0.000	3031	1447	1873
12034	1.07	232.7	514.3	6.1	575	12039	0.00	2.55	0.00	0.000	4	0.000	0.048	3031	2866	1870
12089	1.07	232.7	511.1	6.1	577	12096	0.00	2.50	0.00	0.000	6	0.000	0.041	3030	1451	1870
12408	1.07	232.7	490.7	8.1	593	12412	0.00	2.53	0.00	0.000	4	0.000	0.046	3030	2863	1869
12493	1.07	232.7	482.8	8.7	597	12497	0.00	2.50	0.00	0.000	6	0.000	0.040	3031	1451	1868
12819	1.07	232.7	451.0	9.3	613	12824	0.00	2.53	0.00	0.000	4	0.000	0.044	3031	2857	1868
12870	1.07	232.7	446.0	9.7	615	12875	0.00	2.47	0.00	0.000	6	0.000	0.040	3031	1454	1867
13192	1.07	232.7	415.1	9.6	631	13197	0.00	2.50	0.00	0.000	4	0.000	0.042	3031	2858	1867
13243	1.07	232.7	410.2	8.8	633	13247	0.00	2.47	0.00	0.000	6	0.000	0.038	3031	1450	1867
13563	1.07	232.7	379.4	9.4	649	13568	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2862	1867
13597	1.07	232.7	376.1	9.9	650	13603	0.00	2.47	0.00	0.000	6	0.000	0.038	3031	1448	1867
13915	1.07	232.7	347.3	8.8	666	13916	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1448	1867
14223	1.07	232.7	318.2	9.5	681	14228	0.00	2.50	0.00	0.000	4	0.000	0.042	3030	2867	1867
14279	1.07	232.7	312.7	9.3	683	14285	0.00	2.47	0.00	0.000	6	0.000	0.038	3031	1458	1867
14594	1.07	232.7	284.5	9.0	699	14599	0.00	2.47	0.00	0.000	4	0.000	0.041	3030	2860	1867
14627	1.07	232.7	281.6	8.6	700	14632	0.00	2.45	0.00	0.000	6	0.000	0.037	3031	1451	1868
14946	1.07	232.7	255.8	7.9	715	14950	0.00	2.47	0.00	0.000	4	0.000	0.041	3031	2861	1868
14985	1.07	232.7	252.6	7.1	717	14990	0.00	2.45	0.00	0.000	6	0.000	0.037	3031	1454	1868
15315	1.07	232.7	229.8	6.9	733	15319	0.00	2.45	0.00	0.000	4	0.000	0.041	3030	2862	1868
15347	1.07	232.7	227.3	6.9	734	15354	0.00	2.45	0.00	0.000	6	0.000	0.037	3031	1450	1869
15663	1.07	232.7	203.1	8.4	750	15667	0.00	2.47	0.00	0.000	4	0.000	0.041	3030	2863	1869
15690	1.07	232.7	200.6	8.9	751	15694	0.00	2.45	0.00	0.000	6	0.000	0.036	3031	1456	1869
16009	1.07	232.7	173.7	8.6	766	16013	0.00	2.45	0.00	0.000	4	0.000	0.041	3030	2861	1869
16036	1.07	232.7	171.0	9.2	767	16041	0.00	2.47	0.00	0.000	6	0.000	0.036	3030	1460	1869
16357	1.07	232.7	144.8	7.7	783	16361	0.00	2.45	0.00	0.000	4	0.000	0.040	3031	2862	1870
16390	1.07	232.7	142.4	7.1	784	16398	0.00	2.47	0.00	0.000	6	0.000	0.036	3031	1460	1870
16706	1.07	232.7	120.7	6.7	800	16707	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1460	1870
17015	1.10	255.9	101.4	5.4	815	17042	0.00	2.55	19.12	0.828	4	0.000	0.039	3031	2861	1786
17092	1.15	300.1	97.5	4.8	818	17138	0.00	2.47	39.55	0.836	6	0.000	0.035	3030	1452	1607
17457	1.17	311.6	79.3	5.7	836	17473	0.10	2.53	10.52	0.750	4	0.047	0.039	3085	2862	1561
17508	1.17	311.6	74.8	9.1	838	17513	0.15	2.47	0.00	0.000	6	0.074	0.036	3054	1454	1559
17829	1.17	311.6	40.7	12.1	854	17830	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	1454	1557
18140	1.17	311.6	10.5	9.9	869	18143	0.00	2.15	0.00	0.000	4	0.000	0.057	3053	259	1556
18186	1.17	311.6	6.0	11.7	871	18190	0.00	2.03	0.00	0.000	6	0.000	0.028	3054	1481	1556
18227	end climb: SURFACE_DEPTH_REACHED
state	18227	begin surface coast
18251	end surface coast: CONTROL_FINISHED_OK
state	18251	begin surface