Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 22 * 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 22 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -2108004.8 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 1 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 -2108004.8

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 1 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 26 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 22 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 181500,6136.669,-837.501,38,1.1,44,-9.1 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.098,-0.219

_SM_DEPTHo 1.51 KALMAN_X -33707.6,145.8,266.2,14829.2,-4529.3

_SM_ANGLEo -62.0 KALMAN_Y 75645.9,-3230.5,-1141.0,-48659.4,22449.8

GPS2 181950,6136.729,-837.556,15,1.1,15,-9.1 MHEAD_RNG_PITCHd_Wd 147.4,16687,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014340 ALTIM_BOTTOM_PING 726.3,91.9

SM_CCo 16463,0.00,0.000,0,0,1343,361.57 _24V_AH 23.5,9.960

SM_GC 1.48,12.05,0.00,0.00,0.087,0.000,0.000,73,2597,1343,-10.45,-0.08,361.57 _10V_AH 10.1,3.861

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41109,788

TT8_MAMPS 0.02301 CAP_FILE_SIZE 128313,0

HUMID 1700 CFSIZE 260165632,257032192

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 9 GPS 080609,225607,6138.813,-839.757,27,1.7,27,-9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 181 119.08 SBE_CT 562 24 317.19

Roll_motor 164 89 346.06 SBE_O2 555 19 248.07

VBD_pump_during_apogee 455 1115 11926.43 WL_BB2F 465 105 1149.25

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 18 103 44.13 nil 0 0 0.00

Iridium_during_connect 25 160 97.32 nil 0 0 0.00

Iridium_during_xfer 135 223 708.81

Transponder_ping 8 420 83.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.74

TT8 1490 19 298.08

LPSleep 12392 2 274.10

TT8_Active 550 19 110.04

TT8_Sampling 1886 39 758.42

TT8_CF8 434 45 200.95

TT8_Kalman 33 81 27.54

Analog_circuits 1526 12 185.05

GPS_charging 0 0 0.00

Compass 1831 8 147.99

RAFOS 0 0 0.00

Transponder 43 30 13.09

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 -1.03 -146.6 0.0 0.0 0 78 0.00 0.00 -57.67 0.000 6 0.000 0.000 75 2597 3416

81 -1.03 -146.6 6.5 -11.6 3 102 11.85 2.55 0.00 0.000 4 0.182 0.039 2131 1182 3416

203 -1.03 -146.6 31.1 -10.1 8 208 0.00 2.50 0.00 0.000 6 0.000 0.036 2130 2601 3416

520 -1.03 -146.6 59.9 -7.4 23 524 0.00 2.35 0.00 0.000 4 0.000 0.068 2130 3861 3417

560 -1.03 -146.6 64.5 -11.2 25 564 0.00 2.17 0.00 0.000 6 0.000 0.028 2130 2577 3417

893 -1.03 -146.6 96.4 -10.7 41 897 0.00 2.42 0.00 0.000 4 0.000 0.042 2131 1202 3417

948 -1.07 -146.6 102.1 -9.7 43 955 0.00 2.45 0.00 0.000 6 0.000 0.037 2130 2601 3418

1265 -1.07 -146.6 131.8 -9.4 59 1269 0.00 2.47 0.00 0.000 4 0.000 0.041 2130 1204 3418

1298 -1.11 -146.6 134.8 -7.9 60 1305 0.00 2.45 0.00 0.000 6 0.000 0.037 2130 2601 3418

1614 -1.11 -146.6 161.4 -7.6 76 1618 0.00 2.47 0.00 0.000 4 0.000 0.041 2131 1201 3418

1635 -1.11 -146.6 163.2 -7.9 77 1640 0.00 2.47 0.00 0.000 6 0.000 0.038 2131 2602 3418

1957 -1.11 -146.6 189.4 -8.2 93 1961 0.00 2.35 0.00 0.000 4 0.000 0.069 2131 3865 3418

2006 -1.11 -146.6 194.1 -9.0 95 2010 0.00 2.15 0.00 0.000 6 0.000 0.029 2131 2595 3418

2328 -1.11 -146.6 221.8 -9.2 111 2332 0.00 2.45 0.00 0.000 4 0.000 0.042 2131 1205 3418

2378 -1.19 -146.6 226.6 -9.1 113 2383 0.15 2.47 0.00 0.000 6 0.044 0.038 2086 2611 3418

2694 -1.09 -146.6 262.8 -11.7 128 2699 0.17 2.33 0.00 0.000 4 0.100 0.068 2122 3858 3418

2716 -1.04 -146.6 265.5 -11.7 129 2720 0.00 2.12 0.00 0.000 6 0.000 0.030 2122 2602 3418

3043 -1.04 -146.6 300.8 -11.9 145 3047 0.00 2.45 0.00 0.000 4 0.000 0.043 2122 1209 3419

3094 -1.08 -146.6 306.8 -10.9 147 3098 0.00 2.45 0.00 0.000 6 0.000 0.038 2122 2608 3418

3409 -1.08 -146.6 338.1 -9.4 162 3410 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2609 3419

3718 -1.08 -146.6 366.9 -9.5 177 3720 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2609 3419

4028 -1.08 -146.6 398.0 -9.8 192 4032 0.00 2.47 0.00 0.000 4 0.000 0.042 2122 1208 3419

4090 -1.13 -146.6 403.7 -9.2 195 4094 0.00 2.45 0.00 0.000 6 0.000 0.038 2121 2600 3418

4417 -1.13 -146.6 433.0 -8.9 211 4418 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2600 3419

4726 -1.13 -146.6 458.8 -8.5 226 4727 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2600 3419

5035 -1.13 -146.6 488.2 -9.4 241 5039 0.00 2.47 0.00 0.000 4 0.000 0.042 2122 1203 3419

5148 -1.19 -146.6 499.3 -9.4 246 5152 0.00 2.47 0.00 0.000 6 0.000 0.040 2122 2601 3418

5469 -1.19 -146.6 529.0 -9.3 262 5472 0.00 2.35 0.00 0.000 4 0.000 0.074 2122 3861 3418

5608 -1.19 -146.6 541.4 -8.3 268 5612 0.00 2.15 0.00 0.000 6 0.000 0.031 2122 2601 3418

5936 -1.19 -146.6 565.6 -7.3 284 5940 0.00 2.47 0.00 0.000 4 0.000 0.046 2122 1205 3418

5981 -1.26 -146.6 568.7 -6.9 286 5986 0.17 2.47 0.00 0.000 6 0.043 0.041 2072 2604 3418

6302 -1.16 -146.6 598.2 -10.4 302 6307 0.17 2.50 0.00 0.000 4 0.103 0.045 2108 1203 3417

6341 -1.16 -146.6 602.5 -10.7 304 6346 0.00 2.47 0.00 0.000 6 0.000 0.041 2108 2601 3417

6668 -1.16 -146.6 643.1 -10.4 320 6672 0.00 2.38 0.00 0.000 4 0.000 0.077 2109 3861 3416

6780 -1.11 -146.6 655.2 -14.2 325 6784 0.00 2.15 0.00 0.000 6 0.000 0.034 2108 2609 3416

7107 -1.11 -146.6 683.3 -8.1 341 7111 0.00 2.53 0.00 0.000 4 0.000 0.051 2108 1199 3415

7185 -1.11 -146.6 688.7 -6.9 344 7191 0.00 2.50 0.00 0.000 6 0.000 0.046 2108 2599 3416

7500 -1.11 -146.6 710.2 -8.6 360 7504 0.00 2.53 0.00 0.000 4 0.000 0.052 2108 1201 3415

7562 -1.11 -146.6 716.1 -10.5 363 7566 0.00 2.53 0.00 0.000 6 0.000 0.049 2108 2602 3415

7888 -1.11 -146.6 751.4 -10.5 379 7892 0.00 2.42 0.00 0.000 4 0.000 0.090 2109 3860 3413

7950 -1.11 -146.6 756.4 -7.0 382 7954 0.00 2.20 0.00 0.000 6 0.000 0.042 2108 2609 3412

8282 -1.11 -146.6 786.6 -10.3 398 8283 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2607 3411

8485 end dive: BOTTOM_OBSTACLE_DETECTED

state 8486 begin apogee

8493 -0.31 0.0 809.2 10.5 408 8628 0.98 0.00 128.25 1.115 6 0.144 0.000 2289 2305 2817

8629 end apogee: CONTROL_FINISHED_OK

state 8629 begin climb

8632 1.03 146.6 817.3 0.0 415 8772 1.40 2.78 131.25 1.108 4 0.083 0.081 2581 3705 2219

9029 0.81 146.6 799.5 9.1 432 9034 0.25 2.55 0.00 0.000 6 0.108 0.044 2535 2301 2211

9350 0.86 189.6 778.1 6.0 448 9395 0.00 2.80 38.03 1.066 4 0.000 0.081 2535 3700 2043

9527 0.88 254.9 762.2 5.3 456 9592 0.00 2.55 60.12 1.071 6 0.000 0.044 2535 2295 1777

9923 0.94 254.9 732.1 9.7 475 9928 0.12 2.72 0.00 0.000 4 0.060 0.079 2567 3704 1767

10001 0.87 254.9 721.9 13.4 478 10008 0.00 2.55 0.00 0.000 6 0.000 0.044 2567 2293 1767

10317 0.87 254.9 675.7 14.5 494 10321 0.00 2.72 0.00 0.000 4 0.000 0.078 2567 3705 1765

10349 0.87 254.9 671.2 13.6 495 10356 0.00 2.53 0.00 0.000 6 0.000 0.044 2567 2301 1765

10665 0.87 254.9 637.3 9.0 511 10667 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2301 1763

10975 0.90 274.9 615.3 6.8 526 10994 0.00 0.00 17.08 0.948 6 0.000 0.000 2567 2300 1696

11304 0.96 336.9 596.8 5.4 542 11370 0.00 2.78 58.15 0.988 4 0.000 0.070 2567 3709 1441

11412 1.02 354.6 590.0 6.9 547 11434 0.00 2.55 16.73 0.915 6 0.000 0.040 2567 2291 1370

11743 1.12 360.2 567.7 7.3 563 11752 0.17 0.00 5.47 0.714 6 0.058 0.000 2614 2290 1348

12074 1.12 360.2 527.7 14.1 579 12075 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2289 1345

12384 1.07 360.2 485.9 13.6 594 12388 0.00 2.58 0.00 0.000 4 0.000 0.056 2614 885 1345

12446 1.07 360.2 477.1 14.6 597 12450 0.00 2.53 0.00 0.000 6 0.000 0.039 2614 2314 1344

12772 1.07 360.2 430.9 14.6 613 12777 0.12 2.60 0.00 0.000 4 0.096 0.050 2591 884 1344

12816 1.14 360.2 425.2 11.7 615 12820 0.00 2.53 0.00 0.000 6 0.000 0.039 2591 2308 1343

13138 1.18 360.2 385.7 12.1 631 13140 0.12 0.00 0.00 0.000 6 0.051 0.000 2629 2308 1343

13447 1.13 360.2 339.7 15.0 646 13452 0.12 2.58 0.00 0.000 4 0.096 0.051 2605 888 1343

13509 1.13 360.2 330.6 13.8 649 13514 0.00 2.50 0.00 0.000 6 0.000 0.037 2605 2309 1343

13835 1.13 360.2 289.1 12.5 665 13839 0.00 2.58 0.00 0.000 4 0.000 0.049 2605 882 1343

13868 1.13 360.2 284.7 13.5 666 13874 0.00 2.50 0.00 0.000 6 0.000 0.036 2605 2305 1343

14183 1.13 360.2 245.6 13.5 682 14188 0.00 2.55 0.00 0.000 4 0.000 0.049 2605 889 1343

14211 1.13 360.2 241.3 14.5 683 14215 0.00 2.47 0.00 0.000 6 0.000 0.035 2605 2302 1343

14526 1.13 360.2 200.8 12.5 698 14531 0.00 2.55 0.00 0.000 4 0.000 0.048 2605 883 1343

14582 1.13 360.2 193.3 13.8 700 14588 0.00 2.47 0.00 0.000 6 0.000 0.036 2605 2299 1344

14898 1.13 360.2 152.8 12.3 716 14899 0.00 0.00 0.00 0.000 6 0.000 0.000 2605 2299 1343

15207 1.13 360.2 119.5 10.8 731 15211 0.00 2.53 0.00 0.000 4 0.000 0.048 2605 888 1344

15247 1.13 360.2 115.3 10.5 733 15251 0.00 2.47 0.00 0.000 6 0.000 0.035 2605 2304 1343

15573 1.13 360.2 83.1 9.9 749 15578 0.00 2.55 0.00 0.000 4 0.000 0.047 2605 881 1344

15663 1.13 360.2 73.5 11.7 753 15667 0.00 2.47 0.00 0.000 6 0.000 0.035 2605 2299 1344

15984 1.13 360.2 41.7 10.6 769 15989 0.00 2.53 0.00 0.000 4 0.000 0.047 2605 888 1344

16017 1.13 360.2 37.7 11.8 770 16024 0.00 2.45 0.00 0.000 6 0.000 0.035 2605 2301 1344

16335 1.13 360.2 3.4 10.8 786 16339 0.00 2.22 0.00 0.000 3 0.000 0.044 2605 1043 1345

16340 end climb: SURFACE_DEPTH_REACHED

state 16340 begin surface coast

16377 end surface coast: CONTROL_FINISHED_OK

state 16377 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	22	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-2108004.8	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	1	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	181500,6136.669,-837.501,38,1.1,44,-9.1	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.098,-0.219
_SM_DEPTHo	1.51	KALMAN_X	-33707.6,145.8,266.2,14829.2,-4529.3
_SM_ANGLEo	-62.0	KALMAN_Y	75645.9,-3230.5,-1141.0,-48659.4,22449.8
GPS2	181950,6136.729,-837.556,15,1.1,15,-9.1	MHEAD_RNG_PITCHd_Wd	147.4,16687,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.014340	ALTIM_BOTTOM_PING	726.3,91.9
SM_CCo	16463,0.00,0.000,0,0,1343,361.57	_24V_AH	23.5,9.960
SM_GC	1.48,12.05,0.00,0.00,0.087,0.000,0.000,73,2597,1343,-10.45,-0.08,361.57	_10V_AH	10.1,3.861
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41109,788
TT8_MAMPS	0.02301	CAP_FILE_SIZE	128313,0
HUMID	1700	CFSIZE	260165632,257032192
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	9	GPS	080609,225607,6138.813,-839.757,27,1.7,27,-9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	181	119.08	SBE_CT	562	24	317.19
Roll_motor	164	89	346.06	SBE_O2	555	19	248.07
VBD_pump_during_apogee	455	1115	11926.43	WL_BB2F	465	105	1149.25
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	18	103	44.13	nil	0	0	0.00
Iridium_during_connect	25	160	97.32	nil	0	0	0.00
Iridium_during_xfer	135	223	708.81
Transponder_ping	8	420	83.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.74
TT8	1490	19	298.08
LPSleep	12392	2	274.10
TT8_Active	550	19	110.04
TT8_Sampling	1886	39	758.42
TT8_CF8	434	45	200.95
TT8_Kalman	33	81	27.54
Analog_circuits	1526	12	185.05
GPS_charging	0	0	0.00
Compass	1831	8	147.99
RAFOS	0	0	0.00
Transponder	43	30	13.09

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	-1.03	-146.6	0.0	0.0	0	78	0.00	0.00	-57.67	0.000	6	0.000	0.000	75	2597	3416
81	-1.03	-146.6	6.5	-11.6	3	102	11.85	2.55	0.00	0.000	4	0.182	0.039	2131	1182	3416
203	-1.03	-146.6	31.1	-10.1	8	208	0.00	2.50	0.00	0.000	6	0.000	0.036	2130	2601	3416
520	-1.03	-146.6	59.9	-7.4	23	524	0.00	2.35	0.00	0.000	4	0.000	0.068	2130	3861	3417
560	-1.03	-146.6	64.5	-11.2	25	564	0.00	2.17	0.00	0.000	6	0.000	0.028	2130	2577	3417
893	-1.03	-146.6	96.4	-10.7	41	897	0.00	2.42	0.00	0.000	4	0.000	0.042	2131	1202	3417
948	-1.07	-146.6	102.1	-9.7	43	955	0.00	2.45	0.00	0.000	6	0.000	0.037	2130	2601	3418
1265	-1.07	-146.6	131.8	-9.4	59	1269	0.00	2.47	0.00	0.000	4	0.000	0.041	2130	1204	3418
1298	-1.11	-146.6	134.8	-7.9	60	1305	0.00	2.45	0.00	0.000	6	0.000	0.037	2130	2601	3418
1614	-1.11	-146.6	161.4	-7.6	76	1618	0.00	2.47	0.00	0.000	4	0.000	0.041	2131	1201	3418
1635	-1.11	-146.6	163.2	-7.9	77	1640	0.00	2.47	0.00	0.000	6	0.000	0.038	2131	2602	3418
1957	-1.11	-146.6	189.4	-8.2	93	1961	0.00	2.35	0.00	0.000	4	0.000	0.069	2131	3865	3418
2006	-1.11	-146.6	194.1	-9.0	95	2010	0.00	2.15	0.00	0.000	6	0.000	0.029	2131	2595	3418
2328	-1.11	-146.6	221.8	-9.2	111	2332	0.00	2.45	0.00	0.000	4	0.000	0.042	2131	1205	3418
2378	-1.19	-146.6	226.6	-9.1	113	2383	0.15	2.47	0.00	0.000	6	0.044	0.038	2086	2611	3418
2694	-1.09	-146.6	262.8	-11.7	128	2699	0.17	2.33	0.00	0.000	4	0.100	0.068	2122	3858	3418
2716	-1.04	-146.6	265.5	-11.7	129	2720	0.00	2.12	0.00	0.000	6	0.000	0.030	2122	2602	3418
3043	-1.04	-146.6	300.8	-11.9	145	3047	0.00	2.45	0.00	0.000	4	0.000	0.043	2122	1209	3419
3094	-1.08	-146.6	306.8	-10.9	147	3098	0.00	2.45	0.00	0.000	6	0.000	0.038	2122	2608	3418
3409	-1.08	-146.6	338.1	-9.4	162	3410	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2609	3419
3718	-1.08	-146.6	366.9	-9.5	177	3720	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2609	3419
4028	-1.08	-146.6	398.0	-9.8	192	4032	0.00	2.47	0.00	0.000	4	0.000	0.042	2122	1208	3419
4090	-1.13	-146.6	403.7	-9.2	195	4094	0.00	2.45	0.00	0.000	6	0.000	0.038	2121	2600	3418
4417	-1.13	-146.6	433.0	-8.9	211	4418	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2600	3419
4726	-1.13	-146.6	458.8	-8.5	226	4727	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2600	3419
5035	-1.13	-146.6	488.2	-9.4	241	5039	0.00	2.47	0.00	0.000	4	0.000	0.042	2122	1203	3419
5148	-1.19	-146.6	499.3	-9.4	246	5152	0.00	2.47	0.00	0.000	6	0.000	0.040	2122	2601	3418
5469	-1.19	-146.6	529.0	-9.3	262	5472	0.00	2.35	0.00	0.000	4	0.000	0.074	2122	3861	3418
5608	-1.19	-146.6	541.4	-8.3	268	5612	0.00	2.15	0.00	0.000	6	0.000	0.031	2122	2601	3418
5936	-1.19	-146.6	565.6	-7.3	284	5940	0.00	2.47	0.00	0.000	4	0.000	0.046	2122	1205	3418
5981	-1.26	-146.6	568.7	-6.9	286	5986	0.17	2.47	0.00	0.000	6	0.043	0.041	2072	2604	3418
6302	-1.16	-146.6	598.2	-10.4	302	6307	0.17	2.50	0.00	0.000	4	0.103	0.045	2108	1203	3417
6341	-1.16	-146.6	602.5	-10.7	304	6346	0.00	2.47	0.00	0.000	6	0.000	0.041	2108	2601	3417
6668	-1.16	-146.6	643.1	-10.4	320	6672	0.00	2.38	0.00	0.000	4	0.000	0.077	2109	3861	3416
6780	-1.11	-146.6	655.2	-14.2	325	6784	0.00	2.15	0.00	0.000	6	0.000	0.034	2108	2609	3416
7107	-1.11	-146.6	683.3	-8.1	341	7111	0.00	2.53	0.00	0.000	4	0.000	0.051	2108	1199	3415
7185	-1.11	-146.6	688.7	-6.9	344	7191	0.00	2.50	0.00	0.000	6	0.000	0.046	2108	2599	3416
7500	-1.11	-146.6	710.2	-8.6	360	7504	0.00	2.53	0.00	0.000	4	0.000	0.052	2108	1201	3415
7562	-1.11	-146.6	716.1	-10.5	363	7566	0.00	2.53	0.00	0.000	6	0.000	0.049	2108	2602	3415
7888	-1.11	-146.6	751.4	-10.5	379	7892	0.00	2.42	0.00	0.000	4	0.000	0.090	2109	3860	3413
7950	-1.11	-146.6	756.4	-7.0	382	7954	0.00	2.20	0.00	0.000	6	0.000	0.042	2108	2609	3412
8282	-1.11	-146.6	786.6	-10.3	398	8283	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2607	3411
8485	end dive: BOTTOM_OBSTACLE_DETECTED
state	8486	begin apogee
8493	-0.31	0.0	809.2	10.5	408	8628	0.98	0.00	128.25	1.115	6	0.144	0.000	2289	2305	2817
8629	end apogee: CONTROL_FINISHED_OK
state	8629	begin climb
8632	1.03	146.6	817.3	0.0	415	8772	1.40	2.78	131.25	1.108	4	0.083	0.081	2581	3705	2219
9029	0.81	146.6	799.5	9.1	432	9034	0.25	2.55	0.00	0.000	6	0.108	0.044	2535	2301	2211
9350	0.86	189.6	778.1	6.0	448	9395	0.00	2.80	38.03	1.066	4	0.000	0.081	2535	3700	2043
9527	0.88	254.9	762.2	5.3	456	9592	0.00	2.55	60.12	1.071	6	0.000	0.044	2535	2295	1777
9923	0.94	254.9	732.1	9.7	475	9928	0.12	2.72	0.00	0.000	4	0.060	0.079	2567	3704	1767
10001	0.87	254.9	721.9	13.4	478	10008	0.00	2.55	0.00	0.000	6	0.000	0.044	2567	2293	1767
10317	0.87	254.9	675.7	14.5	494	10321	0.00	2.72	0.00	0.000	4	0.000	0.078	2567	3705	1765
10349	0.87	254.9	671.2	13.6	495	10356	0.00	2.53	0.00	0.000	6	0.000	0.044	2567	2301	1765
10665	0.87	254.9	637.3	9.0	511	10667	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2301	1763
10975	0.90	274.9	615.3	6.8	526	10994	0.00	0.00	17.08	0.948	6	0.000	0.000	2567	2300	1696
11304	0.96	336.9	596.8	5.4	542	11370	0.00	2.78	58.15	0.988	4	0.000	0.070	2567	3709	1441
11412	1.02	354.6	590.0	6.9	547	11434	0.00	2.55	16.73	0.915	6	0.000	0.040	2567	2291	1370
11743	1.12	360.2	567.7	7.3	563	11752	0.17	0.00	5.47	0.714	6	0.058	0.000	2614	2290	1348
12074	1.12	360.2	527.7	14.1	579	12075	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2289	1345
12384	1.07	360.2	485.9	13.6	594	12388	0.00	2.58	0.00	0.000	4	0.000	0.056	2614	885	1345
12446	1.07	360.2	477.1	14.6	597	12450	0.00	2.53	0.00	0.000	6	0.000	0.039	2614	2314	1344
12772	1.07	360.2	430.9	14.6	613	12777	0.12	2.60	0.00	0.000	4	0.096	0.050	2591	884	1344
12816	1.14	360.2	425.2	11.7	615	12820	0.00	2.53	0.00	0.000	6	0.000	0.039	2591	2308	1343
13138	1.18	360.2	385.7	12.1	631	13140	0.12	0.00	0.00	0.000	6	0.051	0.000	2629	2308	1343
13447	1.13	360.2	339.7	15.0	646	13452	0.12	2.58	0.00	0.000	4	0.096	0.051	2605	888	1343
13509	1.13	360.2	330.6	13.8	649	13514	0.00	2.50	0.00	0.000	6	0.000	0.037	2605	2309	1343
13835	1.13	360.2	289.1	12.5	665	13839	0.00	2.58	0.00	0.000	4	0.000	0.049	2605	882	1343
13868	1.13	360.2	284.7	13.5	666	13874	0.00	2.50	0.00	0.000	6	0.000	0.036	2605	2305	1343
14183	1.13	360.2	245.6	13.5	682	14188	0.00	2.55	0.00	0.000	4	0.000	0.049	2605	889	1343
14211	1.13	360.2	241.3	14.5	683	14215	0.00	2.47	0.00	0.000	6	0.000	0.035	2605	2302	1343
14526	1.13	360.2	200.8	12.5	698	14531	0.00	2.55	0.00	0.000	4	0.000	0.048	2605	883	1343
14582	1.13	360.2	193.3	13.8	700	14588	0.00	2.47	0.00	0.000	6	0.000	0.036	2605	2299	1344
14898	1.13	360.2	152.8	12.3	716	14899	0.00	0.00	0.00	0.000	6	0.000	0.000	2605	2299	1343
15207	1.13	360.2	119.5	10.8	731	15211	0.00	2.53	0.00	0.000	4	0.000	0.048	2605	888	1344
15247	1.13	360.2	115.3	10.5	733	15251	0.00	2.47	0.00	0.000	6	0.000	0.035	2605	2304	1343
15573	1.13	360.2	83.1	9.9	749	15578	0.00	2.55	0.00	0.000	4	0.000	0.047	2605	881	1344
15663	1.13	360.2	73.5	11.7	753	15667	0.00	2.47	0.00	0.000	6	0.000	0.035	2605	2299	1344
15984	1.13	360.2	41.7	10.6	769	15989	0.00	2.53	0.00	0.000	4	0.000	0.047	2605	888	1344
16017	1.13	360.2	37.7	11.8	770	16024	0.00	2.45	0.00	0.000	6	0.000	0.035	2605	2301	1344
16335	1.13	360.2	3.4	10.8	786	16339	0.00	2.22	0.00	0.000	3	0.000	0.044	2605	1043	1345
16340	end climb: SURFACE_DEPTH_REACHED
state	16340	begin surface coast
16377	end surface coast: CONTROL_FINISHED_OK
state	16377	begin surface