Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 131 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 131 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT 20

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 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 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 -2109929.8 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

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 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 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 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 -2109929.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 27 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 131 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 221206,6349.831,-1315.520,36,1.0,36,-12.5 TGT_NAME K1

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.69 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -67.9 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 221656,6349.834,-1315.620,13,1.4,13,-12.5 MHEAD_RNG_PITCHd_Wd 98.7,4600,-20.4,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026545 ALTIM_BOTTOM_PING 825.8,29.7

SM_CCo 16504,34.30,0.580,0,0,1796,250.21 _24V_AH 23.6,24.041

SM_GC 1.65,0.00,0.00,34.30,0.000,0.000,0.580,74,2606,1796,-10.52,0.17,250.21 _10V_AH 10.1,11.909

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41147,790

TT8_MAMPS 0.02301 CAP_FILE_SIZE 136596,0

HUMID 1731 CFSIZE 260165632,250888192

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 GPS 300609,025407,6350.615,-1313.741,35,1.4,35,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 181 126.77 SBE_CT 577 24 327.13

Roll_motor 175 74 307.62 SBE_O2 540 19 242.56

VBD_pump_during_apogee 251 1130 6718.32 WL_BB2F 448 105 1110.51

VBD_pump_during_surface 34 579 469.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.67 nil 0 0 0.00

Iridium_during_connect 26 160 99.52 nil 0 0 0.00

Iridium_during_xfer 132 223 696.83

Transponder_ping 7 420 74.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.69

TT8 1541 19 308.22

LPSleep 12433 2 275.02

TT8_Active 447 19 89.51

TT8_Sampling 1948 39 783.38

TT8_CF8 460 45 212.91

TT8_Kalman 0 81 0.00

Analog_circuits 1426 12 172.86

GPS_charging 0 0 0.00

Compass 1895 8 153.19

RAFOS 0 0 0.00

Transponder 52 30 15.88

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 -1.35 -72.6 0.0 0.0 0 68 0.00 0.00 -48.67 0.000 6 0.000 0.000 73 2610 3113

71 -1.35 -72.6 3.8 -8.9 2 93 11.48 2.35 0.00 0.000 4 0.182 0.059 2064 3862 3115

346 -1.30 -72.6 46.5 -11.0 14 350 0.00 2.17 0.00 0.000 6 0.000 0.026 2064 2578 3115

667 -1.30 -72.6 81.2 -10.6 30 671 0.00 2.38 0.00 0.000 4 0.000 0.061 2064 3865 3115

888 -1.24 -72.6 105.1 -10.0 40 892 0.12 2.15 0.00 0.000 6 0.112 0.028 2087 2591 3115

1215 -1.29 -72.6 136.9 -10.7 56 1216 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2591 3116

1524 -1.35 -72.6 173.5 -11.9 71 1528 0.00 2.35 0.00 0.000 4 0.000 0.062 2087 3863 3117

1574 -1.35 -72.6 180.1 -13.0 73 1578 0.00 2.12 0.00 0.000 6 0.000 0.027 2087 2600 3116

1896 -1.41 -72.6 217.2 -11.5 89 1901 0.15 2.33 0.00 0.000 4 0.046 0.061 2043 3860 3117

1952 -1.30 -72.6 225.1 -14.8 91 1959 0.17 2.12 0.00 0.000 6 0.108 0.028 2075 2600 3117

2268 -1.30 -72.6 263.9 -12.4 107 2269 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2600 3117

2578 -1.30 -72.6 303.2 -12.8 122 2581 0.00 2.42 0.00 0.000 4 0.000 0.041 2075 1210 3117

2606 -1.35 -72.6 307.1 -13.8 123 2610 0.00 2.42 0.00 0.000 6 0.000 0.036 2075 2597 3117

2927 -1.35 -72.6 347.2 -11.7 139 2931 0.00 2.33 0.00 0.000 4 0.000 0.066 2075 3858 3116

2967 -1.35 -72.6 352.3 -12.6 141 2971 0.00 2.12 0.00 0.000 6 0.000 0.028 2075 2597 3116

3300 -1.35 -72.6 389.3 -10.8 157 3301 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2596 3116

3609 -1.35 -72.6 420.7 -9.8 172 3613 0.00 2.35 0.00 0.000 4 0.000 0.066 2075 3864 3117

3648 -1.35 -72.6 424.6 -9.9 174 3653 0.00 2.12 0.00 0.000 6 0.000 0.028 2075 2600 3116

3980 -1.35 -72.6 456.1 -9.7 190 3984 0.00 2.45 0.00 0.000 4 0.000 0.041 2075 1209 3116

4013 -1.42 -72.6 459.5 -9.8 191 4020 0.12 2.45 0.00 0.000 6 0.051 0.036 2040 2609 3116

4329 -1.35 -72.6 493.1 -10.1 207 4334 0.12 2.30 0.00 0.000 4 0.113 0.067 2061 3855 3116

4368 -1.31 -72.6 497.1 -9.8 208 4374 0.00 2.12 0.00 0.000 6 0.000 0.028 2060 2595 3116

4684 -1.31 -72.6 523.1 -8.1 224 4685 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2594 3116

4994 -1.31 -72.6 548.6 -8.6 239 4998 0.00 2.35 0.00 0.000 4 0.000 0.066 2061 3862 3116

5066 -1.31 -72.6 555.9 -9.9 242 5070 0.00 2.12 0.00 0.000 6 0.000 0.028 2061 2602 3116

5387 -1.31 -72.6 583.0 -8.1 258 5391 0.00 2.33 0.00 0.000 4 0.000 0.067 2062 3857 3115

5443 -1.31 -72.6 587.7 -8.2 260 5449 0.00 2.12 0.00 0.000 6 0.000 0.029 2061 2592 3116

5760 -1.32 -76.5 610.8 -7.2 276 5764 0.00 2.42 0.00 0.000 4 0.000 0.042 2061 1215 3116

5845 -1.37 -80.5 617.2 -7.2 280 5849 0.00 2.42 0.00 0.000 6 0.000 0.038 2061 2603 3115

6178 -1.37 -80.5 643.0 -8.3 296 6182 0.00 2.45 0.00 0.000 4 0.000 0.041 2062 1213 3116

6211 -1.37 -80.5 646.1 -8.9 297 6217 0.00 2.45 0.00 0.000 6 0.000 0.038 2061 2609 3115

6526 -1.37 -80.5 679.0 -10.5 313 6531 0.00 2.33 0.00 0.000 4 0.000 0.071 2061 3858 3115

6621 -1.37 -80.5 691.1 -13.3 317 6625 0.00 2.12 0.00 0.000 6 0.000 0.029 2061 2603 3115

6945 -1.37 -80.5 726.1 -10.6 333 6949 0.00 2.47 0.00 0.000 4 0.000 0.044 2061 1205 3115

7138 -1.43 -80.5 745.3 -9.7 341 7144 0.00 2.45 0.00 0.000 6 0.000 0.039 2061 2597 3115

7453 -1.43 -80.5 774.5 -9.0 357 7461 0.00 2.35 0.00 0.000 4 0.000 0.074 2061 3857 3114

7503 -1.43 -80.5 779.3 -10.5 359 7507 0.00 2.15 0.00 0.000 6 0.000 0.032 2061 2610 3114

7835 -1.43 -80.5 811.4 -9.8 375 7839 0.00 2.53 0.00 0.000 4 0.000 0.050 2061 1200 3114

7879 -1.50 -80.5 815.5 -9.3 377 7884 0.12 2.47 0.00 0.000 6 0.055 0.042 2028 2597 3114

8157 end dive: BOTTOM_OBSTACLE_DETECTED

state 8157 begin apogee

8164 -0.31 0.0 846.6 10.3 391 8238 1.35 0.00 66.10 1.131 6 0.123 0.000 2288 2294 2816

8239 end apogee: CONTROL_FINISHED_OK

state 8239 begin climb

8242 1.36 80.5 848.4 0.0 395 8326 1.75 2.60 75.38 1.121 4 0.082 0.051 2657 898 2487

8395 1.23 98.5 843.0 6.3 402 8418 0.15 2.53 17.33 1.039 6 0.103 0.038 2630 2306 2415

8728 1.16 117.8 820.7 6.2 418 8753 0.00 2.72 18.25 1.038 4 0.000 0.069 2630 3699 2336

8850 1.02 117.8 811.4 7.9 423 8855 0.25 2.47 0.00 0.000 6 0.117 0.033 2585 2305 2335

9166 1.12 141.5 794.1 5.9 438 9191 0.00 0.00 23.02 1.048 6 0.000 0.000 2584 2305 2240

9495 1.21 141.5 767.1 9.5 454 9500 0.17 2.62 0.00 0.000 4 0.051 0.065 2633 3705 2236

9573 1.09 141.5 757.6 12.7 457 9580 0.20 2.47 0.00 0.000 6 0.114 0.032 2597 2293 2236

9890 1.15 141.5 720.9 12.3 473 9893 0.00 2.53 0.00 0.000 4 0.000 0.051 2597 897 2234

10007 1.19 141.5 704.9 12.8 478 10012 0.10 2.50 0.00 0.000 6 0.058 0.038 2625 2309 2232

10328 1.19 141.5 658.4 14.5 494 10333 0.00 2.60 0.00 0.000 4 0.000 0.062 2625 3708 2233

10401 1.12 141.5 647.8 14.4 497 10406 0.12 2.47 0.00 0.000 6 0.127 0.031 2605 2294 2233

10717 1.18 141.5 608.0 12.3 512 10721 0.00 2.53 0.00 0.000 4 0.000 0.050 2605 895 2231

10831 1.18 141.5 595.1 10.7 517 10835 0.00 2.47 0.00 0.000 6 0.000 0.035 2605 2303 2231

11152 1.24 141.5 566.0 7.9 533 11157 0.12 2.53 0.00 0.000 4 0.054 0.045 2640 897 2231

11208 1.18 141.5 561.0 8.9 535 11215 0.12 2.45 0.00 0.000 6 0.106 0.035 2617 2304 2231

11524 1.19 147.0 538.3 7.1 551 11534 0.00 2.60 5.60 0.711 4 0.000 0.059 2618 3706 2216

11602 1.19 147.0 532.0 7.8 554 11608 0.00 2.45 0.00 0.000 6 0.000 0.029 2618 2296 2216

11918 1.22 177.6 513.4 5.4 570 11949 0.00 0.00 29.10 0.902 6 0.000 0.000 2617 2296 2092

12248 1.31 195.8 492.3 6.2 586 12271 0.12 2.67 17.02 0.852 4 0.054 0.057 2655 3698 2018

12295 1.24 195.8 488.3 9.1 588 12300 0.15 2.45 0.00 0.000 6 0.104 0.028 2628 2293 2017

12621 1.30 195.8 463.0 8.1 604 12625 0.00 2.50 0.00 0.000 4 0.000 0.047 2628 897 2014

12668 1.35 195.8 458.9 8.4 606 12673 0.12 2.45 0.00 0.000 6 0.052 0.034 2666 2300 2012

12995 1.31 195.8 423.3 12.0 622 13000 0.12 2.58 0.00 0.000 4 0.108 0.058 2644 3700 2012

13028 1.31 195.8 418.9 13.3 623 13034 0.00 2.42 0.00 0.000 6 0.000 0.028 2644 2298 2012

13344 1.31 195.8 380.8 12.5 639 13348 0.00 2.60 0.00 0.000 4 0.000 0.057 2644 3708 2013

13377 1.26 195.8 376.5 12.7 640 13383 0.00 2.45 0.00 0.000 6 0.000 0.028 2644 2293 2013

13692 1.26 195.8 335.4 13.2 656 13697 0.00 2.58 0.00 0.000 4 0.000 0.057 2644 3699 2013

13733 1.26 195.8 329.6 14.8 658 13737 0.00 2.42 0.00 0.000 6 0.000 0.028 2644 2295 2013

14065 1.26 195.8 284.3 13.5 674 14070 0.00 2.50 0.00 0.000 4 0.000 0.044 2644 891 2013

14093 1.26 195.8 280.4 12.8 675 14097 0.00 2.45 0.00 0.000 6 0.000 0.033 2644 2301 2013

14409 1.26 195.8 239.0 13.1 690 14410 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2301 2013

14718 1.26 195.8 198.8 12.6 705 14722 0.00 2.58 0.00 0.000 4 0.000 0.058 2644 3707 2013

14767 1.26 195.8 192.0 13.1 707 14772 0.00 2.42 0.00 0.000 6 0.000 0.028 2644 2298 2014

15089 1.26 195.8 151.8 12.4 723 15093 0.00 2.58 0.00 0.000 4 0.000 0.056 2644 3704 2013

15121 1.26 195.8 147.4 13.5 724 15128 0.00 2.42 0.00 0.000 6 0.000 0.028 2643 2296 2013

15438 1.31 195.8 109.1 11.9 740 15442 0.00 2.58 0.00 0.000 4 0.000 0.056 2644 3703 2014

15493 1.31 195.8 102.1 12.8 742 15499 0.00 2.42 0.00 0.000 6 0.000 0.028 2644 2296 2014

15809 1.35 195.8 67.2 10.7 758 15814 0.00 2.58 0.00 0.000 4 0.000 0.055 2644 3702 2014

15872 1.35 195.8 60.2 10.6 761 15876 0.00 2.42 0.00 0.000 6 0.000 0.028 2644 2295 2014

16199 1.35 195.8 30.0 8.6 777 16203 0.00 2.47 0.00 0.000 4 0.000 0.043 2644 898 2014

16433 1.35 195.8 5.5 11.1 787 16440 0.00 2.42 0.00 0.000 6 0.000 0.034 2644 2300 2013

16458 end climb: SURFACE_DEPTH_REACHED

state 16458 begin surface coast

16480 end surface coast: CONTROL_FINISHED_OK

state 16480 begin surface

ID	16	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	131	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	20
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	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	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	-2109929.8	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
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	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	221206,6349.831,-1315.520,36,1.0,36,-12.5	TGT_NAME	K1
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.69	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-67.9	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	221656,6349.834,-1315.620,13,1.4,13,-12.5	MHEAD_RNG_PITCHd_Wd	98.7,4600,-20.4,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.026545	ALTIM_BOTTOM_PING	825.8,29.7
SM_CCo	16504,34.30,0.580,0,0,1796,250.21	_24V_AH	23.6,24.041
SM_GC	1.65,0.00,0.00,34.30,0.000,0.000,0.580,74,2606,1796,-10.52,0.17,250.21	_10V_AH	10.1,11.909
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41147,790
TT8_MAMPS	0.02301	CAP_FILE_SIZE	136596,0
HUMID	1731	CFSIZE	260165632,250888192
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	GPS	300609,025407,6350.615,-1313.741,35,1.4,35,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	181	126.77	SBE_CT	577	24	327.13
Roll_motor	175	74	307.62	SBE_O2	540	19	242.56
VBD_pump_during_apogee	251	1130	6718.32	WL_BB2F	448	105	1110.51
VBD_pump_during_surface	34	579	469.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.67	nil	0	0	0.00
Iridium_during_connect	26	160	99.52	nil	0	0	0.00
Iridium_during_xfer	132	223	696.83
Transponder_ping	7	420	74.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.69
TT8	1541	19	308.22
LPSleep	12433	2	275.02
TT8_Active	447	19	89.51
TT8_Sampling	1948	39	783.38
TT8_CF8	460	45	212.91
TT8_Kalman	0	81	0.00
Analog_circuits	1426	12	172.86
GPS_charging	0	0	0.00
Compass	1895	8	153.19
RAFOS	0	0	0.00
Transponder	52	30	15.88

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	-1.35	-72.6	0.0	0.0	0	68	0.00	0.00	-48.67	0.000	6	0.000	0.000	73	2610	3113
71	-1.35	-72.6	3.8	-8.9	2	93	11.48	2.35	0.00	0.000	4	0.182	0.059	2064	3862	3115
346	-1.30	-72.6	46.5	-11.0	14	350	0.00	2.17	0.00	0.000	6	0.000	0.026	2064	2578	3115
667	-1.30	-72.6	81.2	-10.6	30	671	0.00	2.38	0.00	0.000	4	0.000	0.061	2064	3865	3115
888	-1.24	-72.6	105.1	-10.0	40	892	0.12	2.15	0.00	0.000	6	0.112	0.028	2087	2591	3115
1215	-1.29	-72.6	136.9	-10.7	56	1216	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2591	3116
1524	-1.35	-72.6	173.5	-11.9	71	1528	0.00	2.35	0.00	0.000	4	0.000	0.062	2087	3863	3117
1574	-1.35	-72.6	180.1	-13.0	73	1578	0.00	2.12	0.00	0.000	6	0.000	0.027	2087	2600	3116
1896	-1.41	-72.6	217.2	-11.5	89	1901	0.15	2.33	0.00	0.000	4	0.046	0.061	2043	3860	3117
1952	-1.30	-72.6	225.1	-14.8	91	1959	0.17	2.12	0.00	0.000	6	0.108	0.028	2075	2600	3117
2268	-1.30	-72.6	263.9	-12.4	107	2269	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2600	3117
2578	-1.30	-72.6	303.2	-12.8	122	2581	0.00	2.42	0.00	0.000	4	0.000	0.041	2075	1210	3117
2606	-1.35	-72.6	307.1	-13.8	123	2610	0.00	2.42	0.00	0.000	6	0.000	0.036	2075	2597	3117
2927	-1.35	-72.6	347.2	-11.7	139	2931	0.00	2.33	0.00	0.000	4	0.000	0.066	2075	3858	3116
2967	-1.35	-72.6	352.3	-12.6	141	2971	0.00	2.12	0.00	0.000	6	0.000	0.028	2075	2597	3116
3300	-1.35	-72.6	389.3	-10.8	157	3301	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2596	3116
3609	-1.35	-72.6	420.7	-9.8	172	3613	0.00	2.35	0.00	0.000	4	0.000	0.066	2075	3864	3117
3648	-1.35	-72.6	424.6	-9.9	174	3653	0.00	2.12	0.00	0.000	6	0.000	0.028	2075	2600	3116
3980	-1.35	-72.6	456.1	-9.7	190	3984	0.00	2.45	0.00	0.000	4	0.000	0.041	2075	1209	3116
4013	-1.42	-72.6	459.5	-9.8	191	4020	0.12	2.45	0.00	0.000	6	0.051	0.036	2040	2609	3116
4329	-1.35	-72.6	493.1	-10.1	207	4334	0.12	2.30	0.00	0.000	4	0.113	0.067	2061	3855	3116
4368	-1.31	-72.6	497.1	-9.8	208	4374	0.00	2.12	0.00	0.000	6	0.000	0.028	2060	2595	3116
4684	-1.31	-72.6	523.1	-8.1	224	4685	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2594	3116
4994	-1.31	-72.6	548.6	-8.6	239	4998	0.00	2.35	0.00	0.000	4	0.000	0.066	2061	3862	3116
5066	-1.31	-72.6	555.9	-9.9	242	5070	0.00	2.12	0.00	0.000	6	0.000	0.028	2061	2602	3116
5387	-1.31	-72.6	583.0	-8.1	258	5391	0.00	2.33	0.00	0.000	4	0.000	0.067	2062	3857	3115
5443	-1.31	-72.6	587.7	-8.2	260	5449	0.00	2.12	0.00	0.000	6	0.000	0.029	2061	2592	3116
5760	-1.32	-76.5	610.8	-7.2	276	5764	0.00	2.42	0.00	0.000	4	0.000	0.042	2061	1215	3116
5845	-1.37	-80.5	617.2	-7.2	280	5849	0.00	2.42	0.00	0.000	6	0.000	0.038	2061	2603	3115
6178	-1.37	-80.5	643.0	-8.3	296	6182	0.00	2.45	0.00	0.000	4	0.000	0.041	2062	1213	3116
6211	-1.37	-80.5	646.1	-8.9	297	6217	0.00	2.45	0.00	0.000	6	0.000	0.038	2061	2609	3115
6526	-1.37	-80.5	679.0	-10.5	313	6531	0.00	2.33	0.00	0.000	4	0.000	0.071	2061	3858	3115
6621	-1.37	-80.5	691.1	-13.3	317	6625	0.00	2.12	0.00	0.000	6	0.000	0.029	2061	2603	3115
6945	-1.37	-80.5	726.1	-10.6	333	6949	0.00	2.47	0.00	0.000	4	0.000	0.044	2061	1205	3115
7138	-1.43	-80.5	745.3	-9.7	341	7144	0.00	2.45	0.00	0.000	6	0.000	0.039	2061	2597	3115
7453	-1.43	-80.5	774.5	-9.0	357	7461	0.00	2.35	0.00	0.000	4	0.000	0.074	2061	3857	3114
7503	-1.43	-80.5	779.3	-10.5	359	7507	0.00	2.15	0.00	0.000	6	0.000	0.032	2061	2610	3114
7835	-1.43	-80.5	811.4	-9.8	375	7839	0.00	2.53	0.00	0.000	4	0.000	0.050	2061	1200	3114
7879	-1.50	-80.5	815.5	-9.3	377	7884	0.12	2.47	0.00	0.000	6	0.055	0.042	2028	2597	3114
8157	end dive: BOTTOM_OBSTACLE_DETECTED
state	8157	begin apogee
8164	-0.31	0.0	846.6	10.3	391	8238	1.35	0.00	66.10	1.131	6	0.123	0.000	2288	2294	2816
8239	end apogee: CONTROL_FINISHED_OK
state	8239	begin climb
8242	1.36	80.5	848.4	0.0	395	8326	1.75	2.60	75.38	1.121	4	0.082	0.051	2657	898	2487
8395	1.23	98.5	843.0	6.3	402	8418	0.15	2.53	17.33	1.039	6	0.103	0.038	2630	2306	2415
8728	1.16	117.8	820.7	6.2	418	8753	0.00	2.72	18.25	1.038	4	0.000	0.069	2630	3699	2336
8850	1.02	117.8	811.4	7.9	423	8855	0.25	2.47	0.00	0.000	6	0.117	0.033	2585	2305	2335
9166	1.12	141.5	794.1	5.9	438	9191	0.00	0.00	23.02	1.048	6	0.000	0.000	2584	2305	2240
9495	1.21	141.5	767.1	9.5	454	9500	0.17	2.62	0.00	0.000	4	0.051	0.065	2633	3705	2236
9573	1.09	141.5	757.6	12.7	457	9580	0.20	2.47	0.00	0.000	6	0.114	0.032	2597	2293	2236
9890	1.15	141.5	720.9	12.3	473	9893	0.00	2.53	0.00	0.000	4	0.000	0.051	2597	897	2234
10007	1.19	141.5	704.9	12.8	478	10012	0.10	2.50	0.00	0.000	6	0.058	0.038	2625	2309	2232
10328	1.19	141.5	658.4	14.5	494	10333	0.00	2.60	0.00	0.000	4	0.000	0.062	2625	3708	2233
10401	1.12	141.5	647.8	14.4	497	10406	0.12	2.47	0.00	0.000	6	0.127	0.031	2605	2294	2233
10717	1.18	141.5	608.0	12.3	512	10721	0.00	2.53	0.00	0.000	4	0.000	0.050	2605	895	2231
10831	1.18	141.5	595.1	10.7	517	10835	0.00	2.47	0.00	0.000	6	0.000	0.035	2605	2303	2231
11152	1.24	141.5	566.0	7.9	533	11157	0.12	2.53	0.00	0.000	4	0.054	0.045	2640	897	2231
11208	1.18	141.5	561.0	8.9	535	11215	0.12	2.45	0.00	0.000	6	0.106	0.035	2617	2304	2231
11524	1.19	147.0	538.3	7.1	551	11534	0.00	2.60	5.60	0.711	4	0.000	0.059	2618	3706	2216
11602	1.19	147.0	532.0	7.8	554	11608	0.00	2.45	0.00	0.000	6	0.000	0.029	2618	2296	2216
11918	1.22	177.6	513.4	5.4	570	11949	0.00	0.00	29.10	0.902	6	0.000	0.000	2617	2296	2092
12248	1.31	195.8	492.3	6.2	586	12271	0.12	2.67	17.02	0.852	4	0.054	0.057	2655	3698	2018
12295	1.24	195.8	488.3	9.1	588	12300	0.15	2.45	0.00	0.000	6	0.104	0.028	2628	2293	2017
12621	1.30	195.8	463.0	8.1	604	12625	0.00	2.50	0.00	0.000	4	0.000	0.047	2628	897	2014
12668	1.35	195.8	458.9	8.4	606	12673	0.12	2.45	0.00	0.000	6	0.052	0.034	2666	2300	2012
12995	1.31	195.8	423.3	12.0	622	13000	0.12	2.58	0.00	0.000	4	0.108	0.058	2644	3700	2012
13028	1.31	195.8	418.9	13.3	623	13034	0.00	2.42	0.00	0.000	6	0.000	0.028	2644	2298	2012
13344	1.31	195.8	380.8	12.5	639	13348	0.00	2.60	0.00	0.000	4	0.000	0.057	2644	3708	2013
13377	1.26	195.8	376.5	12.7	640	13383	0.00	2.45	0.00	0.000	6	0.000	0.028	2644	2293	2013
13692	1.26	195.8	335.4	13.2	656	13697	0.00	2.58	0.00	0.000	4	0.000	0.057	2644	3699	2013
13733	1.26	195.8	329.6	14.8	658	13737	0.00	2.42	0.00	0.000	6	0.000	0.028	2644	2295	2013
14065	1.26	195.8	284.3	13.5	674	14070	0.00	2.50	0.00	0.000	4	0.000	0.044	2644	891	2013
14093	1.26	195.8	280.4	12.8	675	14097	0.00	2.45	0.00	0.000	6	0.000	0.033	2644	2301	2013
14409	1.26	195.8	239.0	13.1	690	14410	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2301	2013
14718	1.26	195.8	198.8	12.6	705	14722	0.00	2.58	0.00	0.000	4	0.000	0.058	2644	3707	2013
14767	1.26	195.8	192.0	13.1	707	14772	0.00	2.42	0.00	0.000	6	0.000	0.028	2644	2298	2014
15089	1.26	195.8	151.8	12.4	723	15093	0.00	2.58	0.00	0.000	4	0.000	0.056	2644	3704	2013
15121	1.26	195.8	147.4	13.5	724	15128	0.00	2.42	0.00	0.000	6	0.000	0.028	2643	2296	2013
15438	1.31	195.8	109.1	11.9	740	15442	0.00	2.58	0.00	0.000	4	0.000	0.056	2644	3703	2014
15493	1.31	195.8	102.1	12.8	742	15499	0.00	2.42	0.00	0.000	6	0.000	0.028	2644	2296	2014
15809	1.35	195.8	67.2	10.7	758	15814	0.00	2.58	0.00	0.000	4	0.000	0.055	2644	3702	2014
15872	1.35	195.8	60.2	10.6	761	15876	0.00	2.42	0.00	0.000	6	0.000	0.028	2644	2295	2014
16199	1.35	195.8	30.0	8.6	777	16203	0.00	2.47	0.00	0.000	4	0.000	0.043	2644	898	2014
16433	1.35	195.8	5.5	11.1	787	16440	0.00	2.42	0.00	0.000	6	0.000	0.034	2644	2300	2013
16458	end climb: SURFACE_DEPTH_REACHED
state	16458	begin surface coast
16480	end surface coast: CONTROL_FINISHED_OK
state	16480	begin surface