Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 8 * 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 8 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 2500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1550 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -1628227.4 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 20 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 20 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 -1628227.4

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 1550 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2500 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 36 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 8 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 193206,6128.581,-827.415,34,1.1,34,-8.9 TGT_NAME FBC_SIL

_CALLS 2 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.239,-0.011

_SM_DEPTHo 0.70 KALMAN_X -14747.9,-355.3,318.0,5458.6,-6829.5

_SM_ANGLEo -60.8 KALMAN_Y 4246.7,-469.3,673.9,2661.3,-354.2

GPS2 193944,6128.597,-827.337,10,2.0,10,-8.9 MHEAD_RNG_PITCHd_Wd 101.5,3319,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.012998 ALTIM_TOP_PING 18.5,17.3

SM_CCo 16381,0.00,0.000,0,0,1581,306.62 ALTIM_BOTTOM_PING 725.1,92.2

SM_GC 0.75,11.70,0.00,0.00,0.027,0.000,0.000,394,2483,1581,-10.98,-0.48,306.62 _24V_AH 23.2,18.845

IRIDIUM_FIX 6103.81,-821.82,310898,191934 _10V_AH 10.1,7.694

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41114,779

HUMID 1849 CAP_FILE_SIZE 130184,0

INTERNAL_PRESSURE 8.07973 CFSIZE 260165632,257515520

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

XPDR_PINGS 0 GPS 070609,001454,6131.801,-826.901,40,1.4,40,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 140 83.93 SBE_CT 685 24 381.74

Roll_motor 165 76 295.21 SBE_O2 533 19 235.25

VBD_pump_during_apogee 400 1331 12366.47 WL_BB2F 451 105 1098.82

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 56 103 135.87 nil 0 0 0.00

Iridium_during_connect 57 160 213.09 nil 0 0 0.00

Iridium_during_xfer 179 223 926.97

Transponder_ping 6 420 63.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.44

TT8 1512 19 302.54

LPSleep 12039 2 266.30

TT8_Active 501 19 100.20

TT8_Sampling 2008 39 807.26

TT8_CF8 782 45 361.97

TT8_Kalman 33 81 27.56

Analog_circuits 1567 12 189.93

GPS_charging 0 0 0.00

Compass 2118 8 171.15

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.17 -146.6 0.0 0.0 0 78 0.00 0.00 -60.22 0.000 6 0.000 0.000 395 2495 3430

81 -1.17 -146.6 4.5 -9.0 3 102 11.52 2.47 0.00 0.000 4 0.140 0.034 2540 1082 3431

247 -1.17 -146.6 29.7 -9.2 10 252 0.00 2.45 0.00 0.000 6 0.000 0.034 2540 2503 3432

565 -1.17 -146.6 56.5 -8.5 25 569 0.00 2.45 0.00 0.000 4 0.000 0.035 2540 1083 3432

609 -1.17 -146.6 60.5 -8.5 27 613 0.00 2.45 0.00 0.000 6 0.000 0.032 2540 2503 3432

931 -1.17 -146.6 90.8 -11.1 43 935 0.00 2.45 0.00 0.000 4 0.000 0.035 2540 1082 3432

980 -1.17 -146.6 97.1 -11.9 45 984 0.00 2.45 0.00 0.000 6 0.000 0.033 2540 2503 3432

1298 -1.17 -146.6 131.1 -9.1 60 1302 0.00 2.45 0.00 0.000 4 0.000 0.037 2540 1085 3432

1369 -1.17 -146.6 137.7 -8.6 63 1374 0.00 2.45 0.00 0.000 6 0.000 0.035 2540 2503 3432

1687 -1.17 -146.6 165.3 -8.8 78 1688 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2503 3432

1994 -1.17 -146.6 196.0 -9.9 93 1998 0.00 2.45 0.00 0.000 4 0.000 0.038 2540 1085 3432

2077 -1.17 -146.6 205.1 -10.7 97 2082 0.00 2.45 0.00 0.000 6 0.000 0.035 2540 2499 3432

2404 -1.17 -146.6 234.5 -7.7 113 2408 0.00 2.45 0.00 0.000 4 0.000 0.040 2540 1085 3432

2466 -1.17 -146.6 239.2 -7.8 116 2471 0.00 2.47 0.00 0.000 6 0.000 0.038 2540 2494 3432

2797 -1.17 -146.6 267.2 -9.1 132 2802 0.00 2.45 0.00 0.000 4 0.000 0.041 2540 1085 3432

2865 -1.17 -146.6 273.6 -9.7 135 2870 0.00 2.47 0.00 0.000 6 0.000 0.038 2540 2509 3432

3188 -1.17 -146.6 302.7 -8.5 151 3192 0.00 2.47 0.00 0.000 4 0.000 0.041 2540 1088 3433

3237 -1.17 -146.6 307.3 -9.1 153 3242 0.00 2.47 0.00 0.000 6 0.000 0.038 2540 2511 3433

3553 -1.17 -146.6 336.3 -9.5 168 3558 0.00 2.50 0.00 0.000 4 0.000 0.041 2540 1093 3432

3613 -1.17 -146.6 341.8 -8.4 170 3620 0.00 2.45 0.00 0.000 6 0.000 0.038 2540 2506 3432

3930 -1.17 -146.6 368.1 -7.8 186 3932 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2505 3432

4239 -1.17 -146.6 391.1 -7.2 201 4243 0.00 2.47 0.00 0.000 4 0.000 0.042 2541 1083 3432

4306 -1.17 -146.6 396.2 -7.9 204 4310 0.00 2.47 0.00 0.000 6 0.000 0.038 2540 2506 3432

4627 -1.17 -146.6 419.2 -7.0 220 4631 0.00 2.47 0.00 0.000 4 0.000 0.042 2540 1083 3432

4683 -1.17 -146.6 423.1 -7.1 222 4689 0.00 2.45 0.00 0.000 6 0.000 0.038 2540 2499 3432

4999 -1.17 -146.6 444.2 -6.5 238 5003 0.00 2.47 0.00 0.000 4 0.000 0.041 2540 1078 3432

5062 -1.17 -146.6 448.2 -6.1 241 5067 0.00 2.47 0.00 0.000 6 0.000 0.038 2540 2507 3432

5392 -1.17 -146.6 468.9 -7.4 257 5396 0.00 2.47 0.00 0.000 4 0.000 0.042 2540 1084 3432

5441 -1.17 -146.6 473.3 -8.3 259 5445 0.00 2.47 0.00 0.000 6 0.000 0.039 2540 2507 3432

5757 -1.17 -146.6 504.5 -11.3 274 5761 0.00 2.40 0.00 0.000 4 0.000 0.065 2540 3832 3432

5868 -1.17 -146.6 514.3 -8.8 279 5872 0.00 2.28 0.00 0.000 6 0.000 0.029 2540 2475 3432

6195 -1.17 -146.6 545.2 -9.5 295 6199 0.00 2.38 0.00 0.000 4 0.000 0.041 2540 1098 3432

6311 -1.17 -146.6 556.1 -8.9 300 6315 0.00 2.42 0.00 0.000 6 0.000 0.038 2540 2501 3432

6628 -1.17 -146.6 576.1 -5.6 315 6632 0.00 2.42 0.00 0.000 4 0.000 0.041 2540 1103 3431

6969 -1.17 -146.6 599.7 -8.6 330 6978 0.00 2.45 0.00 0.000 6 0.000 0.041 2540 2508 3431

7294 -1.17 -146.6 630.5 -10.8 346 7299 0.00 2.47 0.00 0.000 4 0.000 0.044 2540 1107 3430

7486 -1.17 -146.6 647.8 -8.6 354 7491 0.00 2.47 0.00 0.000 6 0.000 0.042 2540 2504 3430

7807 -1.17 -146.6 676.1 -9.1 370 7811 0.00 2.47 0.00 0.000 4 0.000 0.047 2540 1101 3428

7896 -1.17 -146.6 685.5 -11.4 374 7900 0.00 2.45 0.00 0.000 6 0.000 0.044 2540 2498 3428

8216 -1.17 -146.6 720.6 -11.2 390 8220 0.00 2.47 0.00 0.000 4 0.000 0.049 2540 1103 3426

8271 -1.17 -146.6 724.7 -6.7 392 8284 0.00 2.47 0.00 0.000 6 0.000 0.046 2540 2504 3426

8586 -1.17 -146.6 746.6 -4.5 408 8588 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2504 3425

8895 -1.17 -146.6 767.0 -8.6 423 8899 0.00 2.47 0.00 0.000 4 0.000 0.077 2540 3834 3423

8951 -1.17 -146.6 770.8 -6.0 425 8958 0.00 2.30 0.00 0.000 6 0.000 0.036 2540 2492 3422

9267 -1.17 -146.6 791.5 -12.9 441 9271 0.00 2.45 0.00 0.000 4 0.000 0.063 2540 3837 3421

9334 -1.17 -146.6 797.0 -10.4 444 9338 0.00 2.30 0.00 0.000 6 0.000 0.038 2540 2506 3421

9549 end dive: BOTTOM_OBSTACLE_DETECTED

state 9549 begin apogee

9557 -0.36 0.0 807.4 4.6 455 9693 0.88 0.00 127.82 1.332 6 0.084 0.000 2722 1559 2831

9693 end apogee: CONTROL_FINISHED_OK

state 9693 begin climb

9696 1.17 146.6 814.3 0.0 462 9835 1.52 2.50 131.20 1.276 4 0.059 0.072 3052 257 2233

9893 1.17 146.6 786.9 18.2 470 9898 0.00 2.30 0.00 0.000 6 0.000 0.038 3053 1556 2227

10214 1.33 274.6 761.9 3.1 486 10331 0.15 0.00 113.50 1.255 6 0.041 0.000 3103 1560 1712

10629 1.36 294.6 709.4 6.8 506 10651 0.00 2.47 17.45 1.162 4 0.000 0.068 3103 262 1631

10685 1.36 294.6 700.7 14.6 509 10689 0.00 2.25 0.00 0.000 6 0.000 0.038 3103 1551 1629

11012 1.36 294.6 652.6 18.2 525 11013 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 1555 1625

11321 1.36 294.6 605.3 13.4 540 11325 0.00 2.42 0.00 0.000 4 0.000 0.069 3103 257 1623

11421 1.36 294.6 587.0 20.9 544 11428 0.00 2.28 0.00 0.000 6 0.000 0.038 3103 1549 1623

11736 1.36 294.6 552.6 9.9 560 11740 0.00 2.38 0.00 0.000 4 0.000 0.066 3103 262 1622

11893 1.36 294.6 533.8 12.8 567 11898 0.00 2.25 0.00 0.000 6 0.000 0.035 3103 1556 1621

12219 1.37 306.0 503.6 7.1 583 12235 0.00 2.45 10.35 1.060 4 0.000 0.060 3103 241 1584

12458 1.37 306.0 476.2 11.1 593 12465 0.00 2.22 0.00 0.000 6 0.000 0.033 3103 1554 1581

12776 1.37 306.0 439.6 12.2 609 12778 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 1557 1581

13083 1.37 306.0 402.3 12.6 624 13087 0.00 2.38 0.00 0.000 4 0.000 0.059 3103 255 1580

13190 1.37 306.0 389.5 13.8 629 13194 0.00 2.20 0.00 0.000 6 0.000 0.031 3103 1559 1580

13516 1.37 306.0 348.1 12.6 645 13520 0.00 2.35 0.00 0.000 4 0.000 0.058 3103 254 1580

13593 1.37 306.0 337.7 14.3 648 13599 0.00 2.20 0.00 0.000 6 0.000 0.031 3103 1549 1581

13908 1.37 306.0 297.8 12.6 664 13912 0.00 2.33 0.00 0.000 4 0.000 0.056 3104 259 1581

14003 1.37 306.0 284.4 13.3 668 14007 0.00 2.20 0.00 0.000 6 0.000 0.031 3103 1557 1581

14325 1.37 306.0 245.5 11.8 684 14329 0.00 2.35 0.00 0.000 4 0.000 0.056 3103 257 1582

14409 1.37 306.0 233.9 13.4 688 14413 0.00 2.20 0.00 0.000 6 0.000 0.030 3104 1559 1582

14735 1.37 306.0 190.4 12.8 704 14740 0.00 2.38 0.00 0.000 4 0.000 0.056 3103 259 1582

14796 1.37 306.0 182.1 15.1 706 14802 0.00 2.15 0.00 0.000 6 0.000 0.031 3103 1547 1583

15114 1.37 306.0 144.8 11.1 722 15118 0.00 2.33 0.00 0.000 4 0.000 0.054 3104 255 1583

15209 1.37 306.0 133.0 12.5 726 15214 0.00 2.22 0.00 0.000 6 0.000 0.030 3103 1553 1584

15530 1.37 306.0 96.7 11.8 742 15534 0.00 2.33 0.00 0.000 4 0.000 0.054 3103 257 1584

15596 1.37 306.0 88.1 13.2 745 15600 0.00 2.17 0.00 0.000 6 0.000 0.030 3103 1551 1584

15923 1.37 306.0 47.1 13.2 761 15927 0.00 2.33 0.00 0.000 4 0.000 0.053 3103 254 1584

16053 1.37 306.0 28.9 14.3 767 16057 0.00 2.17 0.00 0.000 6 0.000 0.029 3103 1554 1584

16274 end climb: SURFACE_DEPTH_REACHED

state 16274 begin surface coast

16297 end surface coast: CONTROL_FINISHED_OK

state 16297 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	8	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	2500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1550	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-1628227.4	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	20	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	193206,6128.581,-827.415,34,1.1,34,-8.9	TGT_NAME	FBC_SIL
_CALLS	2	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.239,-0.011
_SM_DEPTHo	0.70	KALMAN_X	-14747.9,-355.3,318.0,5458.6,-6829.5
_SM_ANGLEo	-60.8	KALMAN_Y	4246.7,-469.3,673.9,2661.3,-354.2
GPS2	193944,6128.597,-827.337,10,2.0,10,-8.9	MHEAD_RNG_PITCHd_Wd	101.5,3319,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	-0.1,1.012998	ALTIM_TOP_PING	18.5,17.3
SM_CCo	16381,0.00,0.000,0,0,1581,306.62	ALTIM_BOTTOM_PING	725.1,92.2
SM_GC	0.75,11.70,0.00,0.00,0.027,0.000,0.000,394,2483,1581,-10.98,-0.48,306.62	_24V_AH	23.2,18.845
IRIDIUM_FIX	6103.81,-821.82,310898,191934	_10V_AH	10.1,7.694
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41114,779
HUMID	1849	CAP_FILE_SIZE	130184,0
INTERNAL_PRESSURE	8.07973	CFSIZE	260165632,257515520
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
XPDR_PINGS	0	GPS	070609,001454,6131.801,-826.901,40,1.4,40,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	140	83.93	SBE_CT	685	24	381.74
Roll_motor	165	76	295.21	SBE_O2	533	19	235.25
VBD_pump_during_apogee	400	1331	12366.47	WL_BB2F	451	105	1098.82
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	56	103	135.87	nil	0	0	0.00
Iridium_during_connect	57	160	213.09	nil	0	0	0.00
Iridium_during_xfer	179	223	926.97
Transponder_ping	6	420	63.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.44
TT8	1512	19	302.54
LPSleep	12039	2	266.30
TT8_Active	501	19	100.20
TT8_Sampling	2008	39	807.26
TT8_CF8	782	45	361.97
TT8_Kalman	33	81	27.56
Analog_circuits	1567	12	189.93
GPS_charging	0	0	0.00
Compass	2118	8	171.15
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.17	-146.6	0.0	0.0	0	78	0.00	0.00	-60.22	0.000	6	0.000	0.000	395	2495	3430
81	-1.17	-146.6	4.5	-9.0	3	102	11.52	2.47	0.00	0.000	4	0.140	0.034	2540	1082	3431
247	-1.17	-146.6	29.7	-9.2	10	252	0.00	2.45	0.00	0.000	6	0.000	0.034	2540	2503	3432
565	-1.17	-146.6	56.5	-8.5	25	569	0.00	2.45	0.00	0.000	4	0.000	0.035	2540	1083	3432
609	-1.17	-146.6	60.5	-8.5	27	613	0.00	2.45	0.00	0.000	6	0.000	0.032	2540	2503	3432
931	-1.17	-146.6	90.8	-11.1	43	935	0.00	2.45	0.00	0.000	4	0.000	0.035	2540	1082	3432
980	-1.17	-146.6	97.1	-11.9	45	984	0.00	2.45	0.00	0.000	6	0.000	0.033	2540	2503	3432
1298	-1.17	-146.6	131.1	-9.1	60	1302	0.00	2.45	0.00	0.000	4	0.000	0.037	2540	1085	3432
1369	-1.17	-146.6	137.7	-8.6	63	1374	0.00	2.45	0.00	0.000	6	0.000	0.035	2540	2503	3432
1687	-1.17	-146.6	165.3	-8.8	78	1688	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2503	3432
1994	-1.17	-146.6	196.0	-9.9	93	1998	0.00	2.45	0.00	0.000	4	0.000	0.038	2540	1085	3432
2077	-1.17	-146.6	205.1	-10.7	97	2082	0.00	2.45	0.00	0.000	6	0.000	0.035	2540	2499	3432
2404	-1.17	-146.6	234.5	-7.7	113	2408	0.00	2.45	0.00	0.000	4	0.000	0.040	2540	1085	3432
2466	-1.17	-146.6	239.2	-7.8	116	2471	0.00	2.47	0.00	0.000	6	0.000	0.038	2540	2494	3432
2797	-1.17	-146.6	267.2	-9.1	132	2802	0.00	2.45	0.00	0.000	4	0.000	0.041	2540	1085	3432
2865	-1.17	-146.6	273.6	-9.7	135	2870	0.00	2.47	0.00	0.000	6	0.000	0.038	2540	2509	3432
3188	-1.17	-146.6	302.7	-8.5	151	3192	0.00	2.47	0.00	0.000	4	0.000	0.041	2540	1088	3433
3237	-1.17	-146.6	307.3	-9.1	153	3242	0.00	2.47	0.00	0.000	6	0.000	0.038	2540	2511	3433
3553	-1.17	-146.6	336.3	-9.5	168	3558	0.00	2.50	0.00	0.000	4	0.000	0.041	2540	1093	3432
3613	-1.17	-146.6	341.8	-8.4	170	3620	0.00	2.45	0.00	0.000	6	0.000	0.038	2540	2506	3432
3930	-1.17	-146.6	368.1	-7.8	186	3932	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2505	3432
4239	-1.17	-146.6	391.1	-7.2	201	4243	0.00	2.47	0.00	0.000	4	0.000	0.042	2541	1083	3432
4306	-1.17	-146.6	396.2	-7.9	204	4310	0.00	2.47	0.00	0.000	6	0.000	0.038	2540	2506	3432
4627	-1.17	-146.6	419.2	-7.0	220	4631	0.00	2.47	0.00	0.000	4	0.000	0.042	2540	1083	3432
4683	-1.17	-146.6	423.1	-7.1	222	4689	0.00	2.45	0.00	0.000	6	0.000	0.038	2540	2499	3432
4999	-1.17	-146.6	444.2	-6.5	238	5003	0.00	2.47	0.00	0.000	4	0.000	0.041	2540	1078	3432
5062	-1.17	-146.6	448.2	-6.1	241	5067	0.00	2.47	0.00	0.000	6	0.000	0.038	2540	2507	3432
5392	-1.17	-146.6	468.9	-7.4	257	5396	0.00	2.47	0.00	0.000	4	0.000	0.042	2540	1084	3432
5441	-1.17	-146.6	473.3	-8.3	259	5445	0.00	2.47	0.00	0.000	6	0.000	0.039	2540	2507	3432
5757	-1.17	-146.6	504.5	-11.3	274	5761	0.00	2.40	0.00	0.000	4	0.000	0.065	2540	3832	3432
5868	-1.17	-146.6	514.3	-8.8	279	5872	0.00	2.28	0.00	0.000	6	0.000	0.029	2540	2475	3432
6195	-1.17	-146.6	545.2	-9.5	295	6199	0.00	2.38	0.00	0.000	4	0.000	0.041	2540	1098	3432
6311	-1.17	-146.6	556.1	-8.9	300	6315	0.00	2.42	0.00	0.000	6	0.000	0.038	2540	2501	3432
6628	-1.17	-146.6	576.1	-5.6	315	6632	0.00	2.42	0.00	0.000	4	0.000	0.041	2540	1103	3431
6969	-1.17	-146.6	599.7	-8.6	330	6978	0.00	2.45	0.00	0.000	6	0.000	0.041	2540	2508	3431
7294	-1.17	-146.6	630.5	-10.8	346	7299	0.00	2.47	0.00	0.000	4	0.000	0.044	2540	1107	3430
7486	-1.17	-146.6	647.8	-8.6	354	7491	0.00	2.47	0.00	0.000	6	0.000	0.042	2540	2504	3430
7807	-1.17	-146.6	676.1	-9.1	370	7811	0.00	2.47	0.00	0.000	4	0.000	0.047	2540	1101	3428
7896	-1.17	-146.6	685.5	-11.4	374	7900	0.00	2.45	0.00	0.000	6	0.000	0.044	2540	2498	3428
8216	-1.17	-146.6	720.6	-11.2	390	8220	0.00	2.47	0.00	0.000	4	0.000	0.049	2540	1103	3426
8271	-1.17	-146.6	724.7	-6.7	392	8284	0.00	2.47	0.00	0.000	6	0.000	0.046	2540	2504	3426
8586	-1.17	-146.6	746.6	-4.5	408	8588	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2504	3425
8895	-1.17	-146.6	767.0	-8.6	423	8899	0.00	2.47	0.00	0.000	4	0.000	0.077	2540	3834	3423
8951	-1.17	-146.6	770.8	-6.0	425	8958	0.00	2.30	0.00	0.000	6	0.000	0.036	2540	2492	3422
9267	-1.17	-146.6	791.5	-12.9	441	9271	0.00	2.45	0.00	0.000	4	0.000	0.063	2540	3837	3421
9334	-1.17	-146.6	797.0	-10.4	444	9338	0.00	2.30	0.00	0.000	6	0.000	0.038	2540	2506	3421
9549	end dive: BOTTOM_OBSTACLE_DETECTED
state	9549	begin apogee
9557	-0.36	0.0	807.4	4.6	455	9693	0.88	0.00	127.82	1.332	6	0.084	0.000	2722	1559	2831
9693	end apogee: CONTROL_FINISHED_OK
state	9693	begin climb
9696	1.17	146.6	814.3	0.0	462	9835	1.52	2.50	131.20	1.276	4	0.059	0.072	3052	257	2233
9893	1.17	146.6	786.9	18.2	470	9898	0.00	2.30	0.00	0.000	6	0.000	0.038	3053	1556	2227
10214	1.33	274.6	761.9	3.1	486	10331	0.15	0.00	113.50	1.255	6	0.041	0.000	3103	1560	1712
10629	1.36	294.6	709.4	6.8	506	10651	0.00	2.47	17.45	1.162	4	0.000	0.068	3103	262	1631
10685	1.36	294.6	700.7	14.6	509	10689	0.00	2.25	0.00	0.000	6	0.000	0.038	3103	1551	1629
11012	1.36	294.6	652.6	18.2	525	11013	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	1555	1625
11321	1.36	294.6	605.3	13.4	540	11325	0.00	2.42	0.00	0.000	4	0.000	0.069	3103	257	1623
11421	1.36	294.6	587.0	20.9	544	11428	0.00	2.28	0.00	0.000	6	0.000	0.038	3103	1549	1623
11736	1.36	294.6	552.6	9.9	560	11740	0.00	2.38	0.00	0.000	4	0.000	0.066	3103	262	1622
11893	1.36	294.6	533.8	12.8	567	11898	0.00	2.25	0.00	0.000	6	0.000	0.035	3103	1556	1621
12219	1.37	306.0	503.6	7.1	583	12235	0.00	2.45	10.35	1.060	4	0.000	0.060	3103	241	1584
12458	1.37	306.0	476.2	11.1	593	12465	0.00	2.22	0.00	0.000	6	0.000	0.033	3103	1554	1581
12776	1.37	306.0	439.6	12.2	609	12778	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	1557	1581
13083	1.37	306.0	402.3	12.6	624	13087	0.00	2.38	0.00	0.000	4	0.000	0.059	3103	255	1580
13190	1.37	306.0	389.5	13.8	629	13194	0.00	2.20	0.00	0.000	6	0.000	0.031	3103	1559	1580
13516	1.37	306.0	348.1	12.6	645	13520	0.00	2.35	0.00	0.000	4	0.000	0.058	3103	254	1580
13593	1.37	306.0	337.7	14.3	648	13599	0.00	2.20	0.00	0.000	6	0.000	0.031	3103	1549	1581
13908	1.37	306.0	297.8	12.6	664	13912	0.00	2.33	0.00	0.000	4	0.000	0.056	3104	259	1581
14003	1.37	306.0	284.4	13.3	668	14007	0.00	2.20	0.00	0.000	6	0.000	0.031	3103	1557	1581
14325	1.37	306.0	245.5	11.8	684	14329	0.00	2.35	0.00	0.000	4	0.000	0.056	3103	257	1582
14409	1.37	306.0	233.9	13.4	688	14413	0.00	2.20	0.00	0.000	6	0.000	0.030	3104	1559	1582
14735	1.37	306.0	190.4	12.8	704	14740	0.00	2.38	0.00	0.000	4	0.000	0.056	3103	259	1582
14796	1.37	306.0	182.1	15.1	706	14802	0.00	2.15	0.00	0.000	6	0.000	0.031	3103	1547	1583
15114	1.37	306.0	144.8	11.1	722	15118	0.00	2.33	0.00	0.000	4	0.000	0.054	3104	255	1583
15209	1.37	306.0	133.0	12.5	726	15214	0.00	2.22	0.00	0.000	6	0.000	0.030	3103	1553	1584
15530	1.37	306.0	96.7	11.8	742	15534	0.00	2.33	0.00	0.000	4	0.000	0.054	3103	257	1584
15596	1.37	306.0	88.1	13.2	745	15600	0.00	2.17	0.00	0.000	6	0.000	0.030	3103	1551	1584
15923	1.37	306.0	47.1	13.2	761	15927	0.00	2.33	0.00	0.000	4	0.000	0.053	3103	254	1584
16053	1.37	306.0	28.9	14.3	767	16057	0.00	2.17	0.00	0.000	6	0.000	0.029	3103	1554	1584
16274	end climb: SURFACE_DEPTH_REACHED
state	16274	begin surface coast
16297	end surface coast: CONTROL_FINISHED_OK
state	16297	begin surface