Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 9 * 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 9 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 19 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -1628245 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 -1628245

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 19 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 9 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 001454,6131.801,-826.901,40,1.4,40,-8.9 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 6 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.197,-0.136

_SM_DEPTHo 0.66 KALMAN_X -22282.0,1970.8,-409.0,11698.0,-13181.3

_SM_ANGLEo -61.3 KALMAN_Y 10895.5,336.7,118.7,1730.9,6944.8

GPS2 002044,6131.832,-827.002,15,1.2,15,-8.9 MHEAD_RNG_PITCHd_Wd 133.5,3826,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.7,1.027263 ALTIM_TOP_PING 19.4,18.9

SM_CCo 18453,0.00,0.000,0,0,1358,361.57 ALTIM_BOTTOM_PING 726.4,98.0

SM_GC 0.65,11.70,0.00,0.00,0.026,0.000,0.000,395,2491,1358,-11.00,-0.25,361.57 _24V_AH 23.2,19.024

IRIDIUM_FIX 6103.81,-830.07,310898,191934 _10V_AH 10.1,7.787

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44307,876

HUMID 1813 CAP_FILE_SIZE 149230,0

INTERNAL_PRESSURE 8.06996 CFSIZE 260165632,257425408

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,0,0

XPDR_PINGS 0 GPS 070609,053036,6133.409,-831.360,39,2.0,50,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 81.42 SBE_CT 785 24 437.32

Roll_motor 194 70 318.99 SBE_O2 599 19 264.47

VBD_pump_during_apogee 452 1344 14101.84 WL_BB2F 493 105 1202.00

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 73.48 nil 0 0 0.00

Iridium_during_connect 33 160 124.85 nil 0 0 0.00

Iridium_during_xfer 168 223 871.58

Transponder_ping 6 420 63.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.60

TT8 1723 19 344.68

LPSleep 13459 2 297.70

TT8_Active 539 19 107.89

TT8_Sampling 2283 39 918.00

TT8_CF8 796 45 368.37

TT8_Kalman 33 81 27.55

Analog_circuits 1747 12 211.85

GPS_charging 0 0 0.00

Compass 2403 8 194.24

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 79 0.00 0.00 -61.33 0.000 2 0.000 0.000 395 2485 3429

82 -1.17 -146.6 4.1 -8.0 3 98 11.43 2.45 0.00 0.000 4 0.136 0.035 2535 1069 3430

170 -1.17 -146.6 20.9 -9.6 6 175 0.00 2.47 0.00 0.000 6 0.000 0.033 2535 2500 3431

492 -1.17 -146.6 49.7 -8.7 22 496 0.00 2.47 0.00 0.000 4 0.000 0.035 2535 1069 3430

538 -1.17 -146.6 54.1 -9.7 24 542 0.00 2.47 0.00 0.000 6 0.000 0.032 2535 2505 3430

859 -1.17 -146.6 88.6 -10.6 40 863 0.00 2.47 0.00 0.000 4 0.000 0.035 2535 1074 3430

944 -1.17 -146.6 97.8 -11.5 44 949 0.00 2.47 0.00 0.000 6 0.000 0.033 2535 2508 3431

1272 -1.17 -146.6 133.7 -11.0 60 1277 0.00 2.50 0.00 0.000 4 0.000 0.036 2535 1081 3431

1312 -1.17 -146.6 138.0 -10.6 61 1319 0.00 2.45 0.00 0.000 6 0.000 0.033 2535 2499 3431

1630 -1.17 -146.6 171.3 -10.3 77 1631 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2499 3431

1937 -1.17 -146.6 198.9 -8.8 92 1941 0.00 2.47 0.00 0.000 4 0.000 0.038 2535 1074 3431

2026 -1.17 -146.6 206.1 -8.2 96 2030 0.00 2.47 0.00 0.000 6 0.000 0.035 2535 2499 3431

2347 -1.17 -146.6 228.8 -6.7 112 2351 0.00 2.47 0.00 0.000 4 0.000 0.039 2535 1076 3431

2391 -1.17 -146.6 231.9 -6.7 114 2395 0.00 2.47 0.00 0.000 6 0.000 0.036 2535 2499 3431

2712 -1.17 -146.6 250.7 -5.4 130 2714 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2499 3431

3023 -1.17 -146.6 268.1 -6.0 145 3028 0.00 2.47 0.00 0.000 4 0.000 0.040 2535 1077 3431

3079 -1.17 -146.6 271.6 -5.6 147 3085 0.00 2.47 0.00 0.000 6 0.000 0.036 2535 2508 3431

3395 -1.17 -146.6 287.5 -4.5 163 3400 0.00 2.47 0.00 0.000 4 0.000 0.040 2535 1081 3431

3440 -1.17 -146.6 289.5 -4.4 165 3444 0.00 2.45 0.00 0.000 6 0.000 0.037 2535 2498 3431

3762 -1.17 -146.6 300.9 -3.6 181 3767 0.00 2.47 0.00 0.000 4 0.000 0.041 2535 1075 3431

3803 -1.17 -146.6 302.4 -3.9 183 3807 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2504 3431

4129 -1.17 -146.6 310.9 -2.9 199 4131 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2504 3431

4441 -1.17 -146.6 320.7 -2.6 214 4445 0.00 2.47 0.00 0.000 4 0.000 0.041 2535 1081 3431

4521 -1.17 -146.6 322.4 -2.0 217 4527 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2503 3431

4837 -1.17 -146.6 327.9 -1.3 233 4841 0.00 2.47 0.00 0.000 4 0.000 0.041 2535 1079 3431

4876 -1.17 -146.6 328.3 -1.7 235 4881 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2504 3431

5204 -1.17 -146.6 331.6 -0.9 251 5208 0.00 2.47 0.00 0.000 4 0.000 0.041 2535 1079 3431

5253 -1.17 -146.6 332.0 -1.2 253 5258 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2504 3431

5571 -1.17 -146.6 336.0 -1.4 268 5576 0.00 2.47 0.00 0.000 4 0.000 0.041 2535 1081 3431

5616 -1.17 -146.6 337.2 -3.2 270 5620 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2505 3431

5940 -1.17 -146.6 344.8 -2.7 286 5944 0.00 2.47 0.00 0.000 4 0.000 0.041 2535 1080 3431

6002 -1.17 -146.6 346.9 -3.7 289 6006 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2503 3431

6328 -1.17 -146.6 362.7 -6.0 305 6332 0.00 2.40 0.00 0.000 4 0.000 0.065 2535 3828 3431

6356 -1.17 -146.6 364.7 -6.9 306 6360 0.00 2.28 0.00 0.000 6 0.000 0.031 2535 2473 3430

6674 -1.17 -146.6 395.4 -11.7 321 6678 0.00 2.45 0.00 0.000 4 0.000 0.058 2535 3830 3431

6745 -1.17 -146.6 406.2 -15.1 324 6749 0.00 2.22 0.00 0.000 6 0.000 0.031 2535 2503 3431

7066 -1.17 -146.6 462.9 -20.4 340 7070 0.00 2.38 0.00 0.000 4 0.000 0.055 2535 3830 3430

7212 -1.17 -146.6 493.5 -21.2 346 7218 0.00 2.25 0.00 0.000 6 0.000 0.031 2535 2493 3431

7530 -1.17 -146.6 544.0 -13.7 362 7534 0.00 2.42 0.00 0.000 4 0.000 0.043 2535 1095 3431

7641 -1.17 -146.6 559.6 -13.3 367 7646 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2506 3430

7968 -1.17 -146.6 588.0 -5.9 383 7972 0.00 2.45 0.00 0.000 4 0.000 0.043 2535 1104 3430

8264 -1.17 -146.6 596.6 -0.2 396 8269 0.00 2.42 0.00 0.000 6 0.000 0.040 2535 2498 3429

8583 -1.17 -146.6 597.3 -1.6 411 8587 0.00 2.45 0.00 0.000 4 0.000 0.046 2535 1107 3429

8690 -1.17 -146.6 599.5 -4.2 416 8695 0.00 2.45 0.00 0.000 6 0.000 0.042 2535 2507 3428

9017 -1.17 -146.6 631.2 -12.2 432 9021 0.00 2.47 0.00 0.000 4 0.000 0.047 2535 1103 3426

9044 -1.17 -146.6 633.8 -10.4 433 9048 0.00 2.45 0.00 0.000 6 0.000 0.042 2535 2499 3426

9359 -1.17 -146.6 672.1 -17.6 448 9364 0.00 2.50 0.00 0.000 4 0.000 0.050 2536 1109 3425

9450 -1.17 -146.6 682.3 -15.5 452 9454 0.00 2.45 0.00 0.000 6 0.000 0.045 2535 2496 3425

9778 -1.17 -146.6 711.6 -3.6 468 9783 0.00 2.47 0.00 0.000 4 0.000 0.049 2535 1102 3424

9819 -1.17 -146.6 715.0 -7.9 470 9823 0.00 2.47 0.00 0.000 6 0.000 0.044 2535 2511 3423

10145 -1.17 -146.6 742.8 -12.8 486 10146 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2511 3422

10455 -1.17 -146.6 767.4 -5.4 501 10459 0.00 2.53 0.00 0.000 4 0.000 0.054 2535 1103 3420

10567 -1.17 -146.6 781.4 -11.9 506 10572 0.00 2.47 0.00 0.000 6 0.000 0.048 2535 2495 3420

10865 end dive: BOTTOM_OBSTACLE_DETECTED

state 10865 begin apogee

10873 -0.36 0.0 815.2 15.6 521 11008 0.88 0.00 127.75 1.345 6 0.080 0.000 2719 1565 2830

11009 end apogee: CONTROL_FINISHED_OK

state 11009 begin climb

11012 1.17 146.6 822.0 0.0 528 11153 1.50 2.47 131.55 1.285 4 0.043 0.066 3058 264 2233

11192 1.23 188.5 813.5 6.1 535 11235 0.00 2.30 38.03 1.236 6 0.000 0.039 3058 1562 2063

11550 1.26 211.8 796.2 6.7 552 11576 0.00 2.58 20.77 1.218 4 0.000 0.059 3058 2941 1967

11886 1.39 318.4 783.7 3.9 567 11991 0.20 2.50 97.65 1.282 6 0.034 0.051 3129 1553 1534

12299 1.39 318.4 727.1 11.8 587 12304 0.15 2.42 0.00 0.000 4 0.087 0.071 3100 258 1522

12473 1.44 358.6 709.1 6.1 595 12516 0.00 2.22 36.33 1.236 6 0.000 0.037 3100 1545 1369

12827 1.44 358.6 661.8 15.1 612 12831 0.00 2.40 0.00 0.000 4 0.000 0.069 3100 258 1361

12894 1.44 358.6 651.7 15.6 615 12898 0.00 2.25 0.00 0.000 6 0.000 0.036 3099 1554 1360

13220 1.44 358.6 609.3 12.4 631 13225 0.00 2.42 0.00 0.000 4 0.000 0.067 3100 262 1359

13293 1.44 358.6 598.5 16.0 634 13297 0.00 2.22 0.00 0.000 6 0.000 0.036 3100 1557 1358

13614 1.44 358.6 557.4 14.2 650 13618 0.00 2.42 0.00 0.000 4 0.000 0.067 3100 260 1358

13822 1.44 358.6 523.6 14.7 659 13826 0.00 2.22 0.00 0.000 6 0.000 0.035 3099 1557 1357

14137 1.44 358.6 483.4 11.0 674 14138 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 1560 1357

14446 1.44 358.6 444.6 12.6 689 14450 0.00 2.38 0.00 0.000 4 0.000 0.061 3100 260 1356

14540 1.44 358.6 431.9 12.5 693 14544 0.00 2.17 0.00 0.000 6 0.000 0.030 3100 1555 1356

14862 1.44 358.6 393.5 11.7 709 14866 0.00 2.38 0.00 0.000 4 0.000 0.058 3100 257 1356

14962 1.44 358.6 382.3 10.1 713 14968 0.00 2.20 0.00 0.000 6 0.000 0.031 3100 1548 1356

15280 1.44 358.6 351.5 9.3 729 15284 0.00 2.33 0.00 0.000 4 0.000 0.058 3100 260 1357

15380 1.44 358.6 340.9 10.5 733 15386 0.00 2.20 0.00 0.000 6 0.000 0.031 3100 1554 1357

15695 1.44 358.6 312.3 10.4 749 15700 0.00 2.35 0.00 0.000 4 0.000 0.058 3100 264 1358

15823 1.44 358.6 298.3 12.0 754 15829 0.00 2.17 0.00 0.000 6 0.000 0.031 3100 1558 1358

16141 1.44 358.6 257.7 13.2 770 16145 0.00 2.35 0.00 0.000 4 0.000 0.056 3100 260 1358

16241 1.44 358.6 243.1 14.9 774 16247 0.00 2.20 0.00 0.000 6 0.000 0.030 3099 1560 1358

16557 1.44 358.6 200.1 13.2 790 16561 0.00 2.35 0.00 0.000 4 0.000 0.056 3100 259 1359

16641 1.44 358.6 188.4 12.6 794 16645 0.00 2.17 0.00 0.000 6 0.000 0.029 3100 1551 1359

16973 1.44 358.6 150.6 11.5 810 16977 0.00 2.33 0.00 0.000 4 0.000 0.055 3100 255 1359

17073 1.44 358.6 138.7 12.1 814 17080 0.00 2.20 0.00 0.000 6 0.000 0.030 3100 1557 1359

17389 1.44 358.6 109.9 9.2 830 17393 0.00 2.33 0.00 0.000 4 0.000 0.054 3100 255 1359

17466 1.44 358.6 101.2 10.9 833 17473 0.00 2.20 0.00 0.000 6 0.000 0.029 3100 1543 1360

17782 1.44 358.6 66.9 10.2 849 17786 0.00 2.28 0.00 0.000 4 0.000 0.054 3100 259 1360

17893 1.44 358.6 54.3 11.6 854 17897 0.00 2.17 0.00 0.000 6 0.000 0.029 3100 1557 1360

18221 1.44 358.6 19.4 10.4 870 18225 0.00 2.33 0.00 0.000 4 0.000 0.053 3100 258 1360

18358 end climb: SURFACE_DEPTH_REACHED

state 18358 begin surface coast

18367 end surface coast: CONTROL_FINISHED_OK

state 18367 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	9	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	19	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-1628245	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	001454,6131.801,-826.901,40,1.4,40,-8.9	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	6	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.197,-0.136
_SM_DEPTHo	0.66	KALMAN_X	-22282.0,1970.8,-409.0,11698.0,-13181.3
_SM_ANGLEo	-61.3	KALMAN_Y	10895.5,336.7,118.7,1730.9,6944.8
GPS2	002044,6131.832,-827.002,15,1.2,15,-8.9	MHEAD_RNG_PITCHd_Wd	133.5,3826,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	1.7,1.027263	ALTIM_TOP_PING	19.4,18.9
SM_CCo	18453,0.00,0.000,0,0,1358,361.57	ALTIM_BOTTOM_PING	726.4,98.0
SM_GC	0.65,11.70,0.00,0.00,0.026,0.000,0.000,395,2491,1358,-11.00,-0.25,361.57	_24V_AH	23.2,19.024
IRIDIUM_FIX	6103.81,-830.07,310898,191934	_10V_AH	10.1,7.787
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44307,876
HUMID	1813	CAP_FILE_SIZE	149230,0
INTERNAL_PRESSURE	8.06996	CFSIZE	260165632,257425408
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
XPDR_PINGS	0	GPS	070609,053036,6133.409,-831.360,39,2.0,50,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	81.42	SBE_CT	785	24	437.32
Roll_motor	194	70	318.99	SBE_O2	599	19	264.47
VBD_pump_during_apogee	452	1344	14101.84	WL_BB2F	493	105	1202.00
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	73.48	nil	0	0	0.00
Iridium_during_connect	33	160	124.85	nil	0	0	0.00
Iridium_during_xfer	168	223	871.58
Transponder_ping	6	420	63.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.60
TT8	1723	19	344.68
LPSleep	13459	2	297.70
TT8_Active	539	19	107.89
TT8_Sampling	2283	39	918.00
TT8_CF8	796	45	368.37
TT8_Kalman	33	81	27.55
Analog_circuits	1747	12	211.85
GPS_charging	0	0	0.00
Compass	2403	8	194.24
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	79	0.00	0.00	-61.33	0.000	2	0.000	0.000	395	2485	3429
82	-1.17	-146.6	4.1	-8.0	3	98	11.43	2.45	0.00	0.000	4	0.136	0.035	2535	1069	3430
170	-1.17	-146.6	20.9	-9.6	6	175	0.00	2.47	0.00	0.000	6	0.000	0.033	2535	2500	3431
492	-1.17	-146.6	49.7	-8.7	22	496	0.00	2.47	0.00	0.000	4	0.000	0.035	2535	1069	3430
538	-1.17	-146.6	54.1	-9.7	24	542	0.00	2.47	0.00	0.000	6	0.000	0.032	2535	2505	3430
859	-1.17	-146.6	88.6	-10.6	40	863	0.00	2.47	0.00	0.000	4	0.000	0.035	2535	1074	3430
944	-1.17	-146.6	97.8	-11.5	44	949	0.00	2.47	0.00	0.000	6	0.000	0.033	2535	2508	3431
1272	-1.17	-146.6	133.7	-11.0	60	1277	0.00	2.50	0.00	0.000	4	0.000	0.036	2535	1081	3431
1312	-1.17	-146.6	138.0	-10.6	61	1319	0.00	2.45	0.00	0.000	6	0.000	0.033	2535	2499	3431
1630	-1.17	-146.6	171.3	-10.3	77	1631	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2499	3431
1937	-1.17	-146.6	198.9	-8.8	92	1941	0.00	2.47	0.00	0.000	4	0.000	0.038	2535	1074	3431
2026	-1.17	-146.6	206.1	-8.2	96	2030	0.00	2.47	0.00	0.000	6	0.000	0.035	2535	2499	3431
2347	-1.17	-146.6	228.8	-6.7	112	2351	0.00	2.47	0.00	0.000	4	0.000	0.039	2535	1076	3431
2391	-1.17	-146.6	231.9	-6.7	114	2395	0.00	2.47	0.00	0.000	6	0.000	0.036	2535	2499	3431
2712	-1.17	-146.6	250.7	-5.4	130	2714	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2499	3431
3023	-1.17	-146.6	268.1	-6.0	145	3028	0.00	2.47	0.00	0.000	4	0.000	0.040	2535	1077	3431
3079	-1.17	-146.6	271.6	-5.6	147	3085	0.00	2.47	0.00	0.000	6	0.000	0.036	2535	2508	3431
3395	-1.17	-146.6	287.5	-4.5	163	3400	0.00	2.47	0.00	0.000	4	0.000	0.040	2535	1081	3431
3440	-1.17	-146.6	289.5	-4.4	165	3444	0.00	2.45	0.00	0.000	6	0.000	0.037	2535	2498	3431
3762	-1.17	-146.6	300.9	-3.6	181	3767	0.00	2.47	0.00	0.000	4	0.000	0.041	2535	1075	3431
3803	-1.17	-146.6	302.4	-3.9	183	3807	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2504	3431
4129	-1.17	-146.6	310.9	-2.9	199	4131	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2504	3431
4441	-1.17	-146.6	320.7	-2.6	214	4445	0.00	2.47	0.00	0.000	4	0.000	0.041	2535	1081	3431
4521	-1.17	-146.6	322.4	-2.0	217	4527	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2503	3431
4837	-1.17	-146.6	327.9	-1.3	233	4841	0.00	2.47	0.00	0.000	4	0.000	0.041	2535	1079	3431
4876	-1.17	-146.6	328.3	-1.7	235	4881	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2504	3431
5204	-1.17	-146.6	331.6	-0.9	251	5208	0.00	2.47	0.00	0.000	4	0.000	0.041	2535	1079	3431
5253	-1.17	-146.6	332.0	-1.2	253	5258	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2504	3431
5571	-1.17	-146.6	336.0	-1.4	268	5576	0.00	2.47	0.00	0.000	4	0.000	0.041	2535	1081	3431
5616	-1.17	-146.6	337.2	-3.2	270	5620	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2505	3431
5940	-1.17	-146.6	344.8	-2.7	286	5944	0.00	2.47	0.00	0.000	4	0.000	0.041	2535	1080	3431
6002	-1.17	-146.6	346.9	-3.7	289	6006	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2503	3431
6328	-1.17	-146.6	362.7	-6.0	305	6332	0.00	2.40	0.00	0.000	4	0.000	0.065	2535	3828	3431
6356	-1.17	-146.6	364.7	-6.9	306	6360	0.00	2.28	0.00	0.000	6	0.000	0.031	2535	2473	3430
6674	-1.17	-146.6	395.4	-11.7	321	6678	0.00	2.45	0.00	0.000	4	0.000	0.058	2535	3830	3431
6745	-1.17	-146.6	406.2	-15.1	324	6749	0.00	2.22	0.00	0.000	6	0.000	0.031	2535	2503	3431
7066	-1.17	-146.6	462.9	-20.4	340	7070	0.00	2.38	0.00	0.000	4	0.000	0.055	2535	3830	3430
7212	-1.17	-146.6	493.5	-21.2	346	7218	0.00	2.25	0.00	0.000	6	0.000	0.031	2535	2493	3431
7530	-1.17	-146.6	544.0	-13.7	362	7534	0.00	2.42	0.00	0.000	4	0.000	0.043	2535	1095	3431
7641	-1.17	-146.6	559.6	-13.3	367	7646	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2506	3430
7968	-1.17	-146.6	588.0	-5.9	383	7972	0.00	2.45	0.00	0.000	4	0.000	0.043	2535	1104	3430
8264	-1.17	-146.6	596.6	-0.2	396	8269	0.00	2.42	0.00	0.000	6	0.000	0.040	2535	2498	3429
8583	-1.17	-146.6	597.3	-1.6	411	8587	0.00	2.45	0.00	0.000	4	0.000	0.046	2535	1107	3429
8690	-1.17	-146.6	599.5	-4.2	416	8695	0.00	2.45	0.00	0.000	6	0.000	0.042	2535	2507	3428
9017	-1.17	-146.6	631.2	-12.2	432	9021	0.00	2.47	0.00	0.000	4	0.000	0.047	2535	1103	3426
9044	-1.17	-146.6	633.8	-10.4	433	9048	0.00	2.45	0.00	0.000	6	0.000	0.042	2535	2499	3426
9359	-1.17	-146.6	672.1	-17.6	448	9364	0.00	2.50	0.00	0.000	4	0.000	0.050	2536	1109	3425
9450	-1.17	-146.6	682.3	-15.5	452	9454	0.00	2.45	0.00	0.000	6	0.000	0.045	2535	2496	3425
9778	-1.17	-146.6	711.6	-3.6	468	9783	0.00	2.47	0.00	0.000	4	0.000	0.049	2535	1102	3424
9819	-1.17	-146.6	715.0	-7.9	470	9823	0.00	2.47	0.00	0.000	6	0.000	0.044	2535	2511	3423
10145	-1.17	-146.6	742.8	-12.8	486	10146	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2511	3422
10455	-1.17	-146.6	767.4	-5.4	501	10459	0.00	2.53	0.00	0.000	4	0.000	0.054	2535	1103	3420
10567	-1.17	-146.6	781.4	-11.9	506	10572	0.00	2.47	0.00	0.000	6	0.000	0.048	2535	2495	3420
10865	end dive: BOTTOM_OBSTACLE_DETECTED
state	10865	begin apogee
10873	-0.36	0.0	815.2	15.6	521	11008	0.88	0.00	127.75	1.345	6	0.080	0.000	2719	1565	2830
11009	end apogee: CONTROL_FINISHED_OK
state	11009	begin climb
11012	1.17	146.6	822.0	0.0	528	11153	1.50	2.47	131.55	1.285	4	0.043	0.066	3058	264	2233
11192	1.23	188.5	813.5	6.1	535	11235	0.00	2.30	38.03	1.236	6	0.000	0.039	3058	1562	2063
11550	1.26	211.8	796.2	6.7	552	11576	0.00	2.58	20.77	1.218	4	0.000	0.059	3058	2941	1967
11886	1.39	318.4	783.7	3.9	567	11991	0.20	2.50	97.65	1.282	6	0.034	0.051	3129	1553	1534
12299	1.39	318.4	727.1	11.8	587	12304	0.15	2.42	0.00	0.000	4	0.087	0.071	3100	258	1522
12473	1.44	358.6	709.1	6.1	595	12516	0.00	2.22	36.33	1.236	6	0.000	0.037	3100	1545	1369
12827	1.44	358.6	661.8	15.1	612	12831	0.00	2.40	0.00	0.000	4	0.000	0.069	3100	258	1361
12894	1.44	358.6	651.7	15.6	615	12898	0.00	2.25	0.00	0.000	6	0.000	0.036	3099	1554	1360
13220	1.44	358.6	609.3	12.4	631	13225	0.00	2.42	0.00	0.000	4	0.000	0.067	3100	262	1359
13293	1.44	358.6	598.5	16.0	634	13297	0.00	2.22	0.00	0.000	6	0.000	0.036	3100	1557	1358
13614	1.44	358.6	557.4	14.2	650	13618	0.00	2.42	0.00	0.000	4	0.000	0.067	3100	260	1358
13822	1.44	358.6	523.6	14.7	659	13826	0.00	2.22	0.00	0.000	6	0.000	0.035	3099	1557	1357
14137	1.44	358.6	483.4	11.0	674	14138	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	1560	1357
14446	1.44	358.6	444.6	12.6	689	14450	0.00	2.38	0.00	0.000	4	0.000	0.061	3100	260	1356
14540	1.44	358.6	431.9	12.5	693	14544	0.00	2.17	0.00	0.000	6	0.000	0.030	3100	1555	1356
14862	1.44	358.6	393.5	11.7	709	14866	0.00	2.38	0.00	0.000	4	0.000	0.058	3100	257	1356
14962	1.44	358.6	382.3	10.1	713	14968	0.00	2.20	0.00	0.000	6	0.000	0.031	3100	1548	1356
15280	1.44	358.6	351.5	9.3	729	15284	0.00	2.33	0.00	0.000	4	0.000	0.058	3100	260	1357
15380	1.44	358.6	340.9	10.5	733	15386	0.00	2.20	0.00	0.000	6	0.000	0.031	3100	1554	1357
15695	1.44	358.6	312.3	10.4	749	15700	0.00	2.35	0.00	0.000	4	0.000	0.058	3100	264	1358
15823	1.44	358.6	298.3	12.0	754	15829	0.00	2.17	0.00	0.000	6	0.000	0.031	3100	1558	1358
16141	1.44	358.6	257.7	13.2	770	16145	0.00	2.35	0.00	0.000	4	0.000	0.056	3100	260	1358
16241	1.44	358.6	243.1	14.9	774	16247	0.00	2.20	0.00	0.000	6	0.000	0.030	3099	1560	1358
16557	1.44	358.6	200.1	13.2	790	16561	0.00	2.35	0.00	0.000	4	0.000	0.056	3100	259	1359
16641	1.44	358.6	188.4	12.6	794	16645	0.00	2.17	0.00	0.000	6	0.000	0.029	3100	1551	1359
16973	1.44	358.6	150.6	11.5	810	16977	0.00	2.33	0.00	0.000	4	0.000	0.055	3100	255	1359
17073	1.44	358.6	138.7	12.1	814	17080	0.00	2.20	0.00	0.000	6	0.000	0.030	3100	1557	1359
17389	1.44	358.6	109.9	9.2	830	17393	0.00	2.33	0.00	0.000	4	0.000	0.054	3100	255	1359
17466	1.44	358.6	101.2	10.9	833	17473	0.00	2.20	0.00	0.000	6	0.000	0.029	3100	1543	1360
17782	1.44	358.6	66.9	10.2	849	17786	0.00	2.28	0.00	0.000	4	0.000	0.054	3100	259	1360
17893	1.44	358.6	54.3	11.6	854	17897	0.00	2.17	0.00	0.000	6	0.000	0.029	3100	1557	1360
18221	1.44	358.6	19.4	10.4	870	18225	0.00	2.33	0.00	0.000	4	0.000	0.053	3100	258	1360
18358	end climb: SURFACE_DEPTH_REACHED
state	18358	begin surface coast
18367	end surface coast: CONTROL_FINISHED_OK
state	18367	begin surface