Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 29 * 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 29 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -2108116.2 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 -2108116.2

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 25 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 29 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 051606,6141.442,-854.511,43,1.1,43,-9.2 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.033,-0.237

_SM_DEPTHo 1.49 KALMAN_X -63018.3,2274.8,927.2,26216.5,-14978.9

_SM_ANGLEo -62.9 KALMAN_Y 112370.4,-3090.2,-828.3,-77071.7,19111.5

GPS2 052149,6141.470,-854.585,9,1.1,14,-9.2 MHEAD_RNG_PITCHd_Wd 138.3,33686,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.017385 ALTIM_BOTTOM_PING 775.3,85.1

SM_CCo 17978,0.00,0.000,0,0,1468,331.15 _24V_AH 23.5,11.012

SM_GC 1.37,11.98,0.00,0.00,0.086,0.000,0.000,75,2618,1468,-10.47,0.51,331.15 _10V_AH 10.1,4.431

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44263,862

TT8_MAMPS 0.02301 CAP_FILE_SIZE 138104,0

HUMID 1689 CFSIZE 260165632,256557056

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

XPDR_PINGS 23 GPS 100609,102331,6142.452,-856.613,37,1.8,37,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 188 127.59 SBE_CT 623 24 351.71

Roll_motor 175 81 335.64 SBE_O2 607 19 271.25

VBD_pump_during_apogee 426 1170 11731.74 WL_BB2F 479 105 1182.80

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 43.58 nil 0 0 0.00

Iridium_during_connect 27 160 102.51 nil 0 0 0.00

Iridium_during_xfer 177 223 929.09

Transponder_ping 12 420 123.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.14

TT8 1605 19 321.07

LPSleep 13689 2 302.79

TT8_Active 545 19 109.06

TT8_Sampling 1972 39 792.80

TT8_CF8 504 45 233.43

TT8_Kalman 33 81 27.55

Analog_circuits 1569 12 190.23

GPS_charging 0 0 0.00

Compass 1922 8 155.30

RAFOS 0 0 0.00

Transponder 46 30 14.07

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

16 -1.03 -146.6 0.0 0.0 0 79 0.00 0.00 -61.20 0.000 2 0.000 0.000 67 2605 3206

82 -1.03 -146.6 4.5 -7.3 3 105 12.07 2.53 -3.72 0.000 4 0.189 0.054 2129 1188 3415

267 -1.03 -146.6 30.6 -9.9 11 272 0.00 2.50 0.00 0.000 6 0.000 0.037 2129 2600 3416

589 -1.03 -146.6 65.0 -10.0 27 593 0.00 2.35 0.00 0.000 4 0.000 0.070 2129 3861 3415

622 -1.03 -146.6 68.8 -10.9 28 628 0.00 2.17 0.00 0.000 6 0.000 0.029 2129 2575 3416

939 -1.03 -146.6 107.1 -12.9 44 943 0.00 2.40 0.00 0.000 4 0.000 0.067 2129 3863 3416

966 -1.03 -146.6 111.2 -13.9 45 970 0.00 2.15 0.00 0.000 6 0.000 0.028 2129 2599 3416

1288 -1.03 -146.6 153.3 -11.9 61 1292 0.00 2.45 0.00 0.000 4 0.000 0.043 2129 1211 3417

1332 -1.09 -146.6 158.6 -11.4 63 1337 0.00 2.45 0.00 0.000 6 0.000 0.038 2129 2601 3417

1653 -1.09 -146.6 196.7 -12.1 79 1655 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2601 3417

1963 -1.09 -146.6 239.1 -14.0 94 1964 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2601 3417

2272 -1.09 -146.6 281.4 -12.5 109 2276 0.00 2.45 0.00 0.000 4 0.000 0.041 2129 1211 3418

2294 -1.13 -146.6 284.1 -11.6 110 2298 0.00 2.45 0.00 0.000 6 0.000 0.038 2129 2608 3418

2615 -1.13 -146.6 322.3 -11.1 126 2619 0.00 2.35 0.00 0.000 4 0.000 0.071 2129 3864 3417

2643 -1.13 -146.6 325.6 -11.7 127 2647 0.00 2.15 0.00 0.000 6 0.000 0.029 2129 2599 3417

2964 -1.13 -146.6 358.3 -9.4 143 2968 0.00 2.45 0.00 0.000 4 0.000 0.044 2129 1208 3418

3014 -1.19 -146.6 362.6 -8.3 145 3019 0.15 2.45 0.00 0.000 6 0.043 0.040 2083 2599 3417

3330 -1.08 -146.6 398.1 -11.1 160 3332 0.20 0.00 0.00 0.000 6 0.095 0.000 2122 2599 3417

3640 -1.08 -146.6 425.4 -8.6 175 3641 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2599 3417

3948 -1.08 -146.6 452.4 -8.7 190 3952 0.00 2.47 0.00 0.000 4 0.000 0.042 2122 1201 3417

4026 -1.13 -146.6 459.0 -8.5 193 4032 0.00 2.47 0.00 0.000 6 0.000 0.039 2122 2604 3417

4341 -1.13 -146.6 490.0 -10.3 209 4343 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2603 3417

4650 -1.13 -146.6 519.5 -9.6 224 4654 0.00 2.35 0.00 0.000 4 0.000 0.074 2122 3858 3416

4713 -1.13 -146.6 525.5 -9.9 227 4717 0.00 2.12 0.00 0.000 6 0.000 0.031 2122 2601 3416

5046 -1.13 -146.6 550.6 -7.1 243 5048 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2597 3416

5354 -1.13 -146.6 574.4 -8.2 258 5355 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2597 3415

5664 -1.13 -146.6 600.6 -8.6 273 5668 0.00 2.38 0.00 0.000 4 0.000 0.077 2122 3856 3416

5698 -1.13 -146.6 603.8 -9.2 274 5704 0.00 2.17 0.00 0.000 6 0.000 0.035 2122 2597 3415

6013 -1.13 -146.6 630.0 -7.7 290 6017 0.00 2.50 0.00 0.000 4 0.000 0.051 2122 1204 3415

6070 -1.19 -146.6 634.0 -7.3 292 6076 0.00 2.50 0.00 0.000 6 0.000 0.044 2122 2604 3415

6386 -1.23 -146.6 660.4 -9.4 308 6391 0.15 2.40 0.00 0.000 4 0.049 0.081 2079 3861 3414

6475 -1.13 -146.6 670.8 -12.1 312 6480 0.17 2.20 0.00 0.000 6 0.102 0.037 2112 2597 3413

6796 -1.13 -146.6 699.4 -8.9 328 6800 0.00 2.53 0.00 0.000 4 0.000 0.057 2112 1204 3411

6858 -1.13 -146.6 704.9 -8.3 331 6863 0.00 2.53 0.00 0.000 6 0.000 0.050 2111 2602 3411

7185 -1.13 -146.6 735.6 -9.7 347 7189 0.00 2.55 0.00 0.000 4 0.000 0.055 2111 1201 3411

7225 -1.17 -146.6 739.7 -10.2 349 7229 0.00 2.55 0.00 0.000 6 0.000 0.052 2112 2606 3411

7551 -1.17 -146.6 763.4 -5.7 365 7553 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2606 3409

7861 -1.17 -146.6 782.9 -2.1 380 7862 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2606 3407

8170 -1.17 -146.6 803.6 -9.1 395 8171 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2606 3406

8479 -1.17 -146.6 827.4 -7.7 410 8483 0.00 2.58 0.00 0.000 4 0.000 0.058 2111 1201 3404

8536 -1.23 -146.6 832.4 -10.4 412 8542 0.00 2.55 0.00 0.000 6 0.000 0.058 2112 2597 3404

8852 -1.48 -146.6 848.2 -3.3 428 8857 0.32 2.55 0.00 0.000 4 0.054 0.059 2033 1205 3403

9111 -1.74 -146.6 848.2 0.3 439 9117 0.25 2.55 0.00 0.000 6 0.067 0.052 1976 2609 3401

9258 end dive: NO_VERTICAL_VELOCITY

state 9259 begin apogee

9265 -0.31 0.0 848.3 0.0 447 9401 1.52 0.00 128.52 1.170 6 0.087 0.000 2294 2303 2817

9402 end apogee: CONTROL_FINISHED_OK

state 9402 begin climb

9405 1.03 146.6 847.9 0.0 454 9550 1.35 2.80 132.18 1.135 4 0.075 0.081 2580 3708 2217

9581 0.82 182.9 839.9 6.3 462 9621 0.20 2.58 33.10 1.085 6 0.098 0.044 2543 2300 2070

9948 0.82 182.9 804.9 9.5 480 9953 0.00 2.65 0.00 0.000 4 0.000 0.067 2543 893 2060

10184 0.86 211.8 783.5 6.5 490 10215 0.00 2.55 25.23 1.050 6 0.000 0.050 2543 2302 1953

10545 0.98 327.2 765.4 3.6 508 10661 0.15 2.78 107.50 1.095 4 0.058 0.079 2580 3702 1480

10700 0.98 327.2 755.2 8.5 515 10705 0.00 2.55 0.00 0.000 6 0.000 0.044 2580 2300 1477

11016 0.98 327.2 726.2 10.5 530 11020 0.00 2.65 0.00 0.000 4 0.000 0.068 2580 889 1470

11065 0.98 327.2 720.4 9.5 532 11070 0.00 2.60 0.00 0.000 6 0.000 0.051 2580 2307 1468

11381 0.98 327.2 684.4 11.7 547 11386 0.00 2.70 0.00 0.000 4 0.000 0.079 2579 3705 1467

11408 0.98 327.2 680.9 12.8 548 11412 0.00 2.53 0.00 0.000 6 0.000 0.043 2580 2299 1467

11724 0.98 327.2 643.3 12.4 563 11728 0.00 2.65 0.00 0.000 4 0.000 0.067 2580 890 1466

11756 0.98 327.2 639.0 13.2 564 11762 0.00 2.58 0.00 0.000 6 0.000 0.048 2580 2309 1465

12072 0.98 327.2 601.8 11.3 580 12076 0.00 2.67 0.00 0.000 4 0.000 0.076 2580 3708 1465

12127 0.98 327.2 595.5 11.8 582 12133 0.00 2.55 0.00 0.000 6 0.000 0.042 2580 2291 1465

12442 0.98 327.2 561.5 10.4 598 12447 0.00 2.70 0.00 0.000 4 0.000 0.072 2580 3708 1465

12470 0.98 327.2 558.5 10.3 599 12474 0.00 2.53 0.00 0.000 6 0.000 0.039 2580 2295 1465

12785 0.98 327.2 529.0 9.0 614 12786 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2295 1465

13095 0.98 327.2 499.2 9.8 629 13099 0.00 2.67 0.00 0.000 4 0.000 0.067 2580 3715 1465

13122 0.98 327.2 496.3 10.5 630 13126 0.00 2.53 0.00 0.000 6 0.000 0.036 2580 2291 1465

13437 0.98 327.2 462.3 10.6 645 13441 0.00 2.55 0.00 0.000 4 0.000 0.057 2580 889 1464

13526 0.98 327.2 451.6 12.2 649 13530 0.00 2.50 0.00 0.000 6 0.000 0.038 2580 2306 1464

13847 1.02 327.2 417.0 10.2 665 13851 0.00 2.58 0.00 0.000 4 0.000 0.051 2580 888 1465

13886 1.10 327.2 412.6 10.7 667 13891 0.00 2.50 0.00 0.000 6 0.000 0.038 2580 2302 1465

14213 1.10 327.2 379.8 9.8 683 14218 0.00 2.60 0.00 0.000 4 0.000 0.064 2580 3701 1464

14253 1.10 327.2 375.5 11.4 685 14257 0.00 2.45 0.00 0.000 6 0.000 0.033 2580 2296 1464

14580 1.14 327.2 342.7 9.3 701 14585 0.12 2.53 0.00 0.000 4 0.051 0.051 2618 897 1465

14620 1.07 327.2 338.3 11.7 703 14625 0.12 2.47 0.00 0.000 6 0.091 0.038 2595 2301 1465

14946 1.07 327.2 301.1 12.8 719 14950 0.00 2.53 0.00 0.000 4 0.000 0.049 2594 895 1465

14974 1.07 327.2 297.5 12.5 720 14978 0.00 2.47 0.00 0.000 6 0.000 0.037 2594 2302 1465

15295 1.07 327.2 264.4 10.6 736 15297 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2302 1466

15605 1.07 327.2 232.3 10.1 751 15609 0.00 2.55 0.00 0.000 4 0.000 0.048 2594 890 1466

15644 1.07 327.2 227.9 10.6 753 15649 0.00 2.47 0.00 0.000 6 0.000 0.036 2594 2302 1467

15971 1.07 327.2 194.5 10.2 769 15972 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2302 1467

16280 1.07 327.2 164.0 10.2 784 16284 0.00 2.53 0.00 0.000 4 0.000 0.046 2594 896 1468

16313 1.07 327.2 160.4 10.7 785 16320 0.00 2.45 0.00 0.000 6 0.000 0.037 2595 2298 1468

16630 1.07 327.2 128.0 10.4 801 16634 0.00 2.53 0.00 0.000 4 0.000 0.046 2594 892 1468

16673 1.07 327.2 123.0 10.4 803 16678 0.00 2.47 0.00 0.000 6 0.000 0.035 2594 2304 1467

16995 1.07 327.2 92.5 9.2 819 17000 0.00 2.53 0.00 0.000 4 0.000 0.047 2594 897 1468

17051 1.12 327.2 87.2 8.6 821 17058 0.00 2.45 0.00 0.000 6 0.000 0.035 2594 2306 1468

17367 1.12 327.2 55.3 11.1 837 17372 0.00 2.53 0.00 0.000 4 0.000 0.047 2594 897 1469

17395 1.12 327.2 52.1 12.2 838 17399 0.00 2.45 0.00 0.000 6 0.000 0.035 2594 2299 1469

17711 1.12 327.2 18.5 10.8 853 17712 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2299 1469

17873 end climb: SURFACE_DEPTH_REACHED

state 17873 begin surface coast

17895 end surface coast: CONTROL_FINISHED_OK

state 17895 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	29	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-2108116.2	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	051606,6141.442,-854.511,43,1.1,43,-9.2	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.033,-0.237
_SM_DEPTHo	1.49	KALMAN_X	-63018.3,2274.8,927.2,26216.5,-14978.9
_SM_ANGLEo	-62.9	KALMAN_Y	112370.4,-3090.2,-828.3,-77071.7,19111.5
GPS2	052149,6141.470,-854.585,9,1.1,14,-9.2	MHEAD_RNG_PITCHd_Wd	138.3,33686,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.017385	ALTIM_BOTTOM_PING	775.3,85.1
SM_CCo	17978,0.00,0.000,0,0,1468,331.15	_24V_AH	23.5,11.012
SM_GC	1.37,11.98,0.00,0.00,0.086,0.000,0.000,75,2618,1468,-10.47,0.51,331.15	_10V_AH	10.1,4.431
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44263,862
TT8_MAMPS	0.02301	CAP_FILE_SIZE	138104,0
HUMID	1689	CFSIZE	260165632,256557056
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	23	GPS	100609,102331,6142.452,-856.613,37,1.8,37,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	188	127.59	SBE_CT	623	24	351.71
Roll_motor	175	81	335.64	SBE_O2	607	19	271.25
VBD_pump_during_apogee	426	1170	11731.74	WL_BB2F	479	105	1182.80
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	43.58	nil	0	0	0.00
Iridium_during_connect	27	160	102.51	nil	0	0	0.00
Iridium_during_xfer	177	223	929.09
Transponder_ping	12	420	123.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.14
TT8	1605	19	321.07
LPSleep	13689	2	302.79
TT8_Active	545	19	109.06
TT8_Sampling	1972	39	792.80
TT8_CF8	504	45	233.43
TT8_Kalman	33	81	27.55
Analog_circuits	1569	12	190.23
GPS_charging	0	0	0.00
Compass	1922	8	155.30
RAFOS	0	0	0.00
Transponder	46	30	14.07

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
16	-1.03	-146.6	0.0	0.0	0	79	0.00	0.00	-61.20	0.000	2	0.000	0.000	67	2605	3206
82	-1.03	-146.6	4.5	-7.3	3	105	12.07	2.53	-3.72	0.000	4	0.189	0.054	2129	1188	3415
267	-1.03	-146.6	30.6	-9.9	11	272	0.00	2.50	0.00	0.000	6	0.000	0.037	2129	2600	3416
589	-1.03	-146.6	65.0	-10.0	27	593	0.00	2.35	0.00	0.000	4	0.000	0.070	2129	3861	3415
622	-1.03	-146.6	68.8	-10.9	28	628	0.00	2.17	0.00	0.000	6	0.000	0.029	2129	2575	3416
939	-1.03	-146.6	107.1	-12.9	44	943	0.00	2.40	0.00	0.000	4	0.000	0.067	2129	3863	3416
966	-1.03	-146.6	111.2	-13.9	45	970	0.00	2.15	0.00	0.000	6	0.000	0.028	2129	2599	3416
1288	-1.03	-146.6	153.3	-11.9	61	1292	0.00	2.45	0.00	0.000	4	0.000	0.043	2129	1211	3417
1332	-1.09	-146.6	158.6	-11.4	63	1337	0.00	2.45	0.00	0.000	6	0.000	0.038	2129	2601	3417
1653	-1.09	-146.6	196.7	-12.1	79	1655	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2601	3417
1963	-1.09	-146.6	239.1	-14.0	94	1964	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2601	3417
2272	-1.09	-146.6	281.4	-12.5	109	2276	0.00	2.45	0.00	0.000	4	0.000	0.041	2129	1211	3418
2294	-1.13	-146.6	284.1	-11.6	110	2298	0.00	2.45	0.00	0.000	6	0.000	0.038	2129	2608	3418
2615	-1.13	-146.6	322.3	-11.1	126	2619	0.00	2.35	0.00	0.000	4	0.000	0.071	2129	3864	3417
2643	-1.13	-146.6	325.6	-11.7	127	2647	0.00	2.15	0.00	0.000	6	0.000	0.029	2129	2599	3417
2964	-1.13	-146.6	358.3	-9.4	143	2968	0.00	2.45	0.00	0.000	4	0.000	0.044	2129	1208	3418
3014	-1.19	-146.6	362.6	-8.3	145	3019	0.15	2.45	0.00	0.000	6	0.043	0.040	2083	2599	3417
3330	-1.08	-146.6	398.1	-11.1	160	3332	0.20	0.00	0.00	0.000	6	0.095	0.000	2122	2599	3417
3640	-1.08	-146.6	425.4	-8.6	175	3641	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2599	3417
3948	-1.08	-146.6	452.4	-8.7	190	3952	0.00	2.47	0.00	0.000	4	0.000	0.042	2122	1201	3417
4026	-1.13	-146.6	459.0	-8.5	193	4032	0.00	2.47	0.00	0.000	6	0.000	0.039	2122	2604	3417
4341	-1.13	-146.6	490.0	-10.3	209	4343	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2603	3417
4650	-1.13	-146.6	519.5	-9.6	224	4654	0.00	2.35	0.00	0.000	4	0.000	0.074	2122	3858	3416
4713	-1.13	-146.6	525.5	-9.9	227	4717	0.00	2.12	0.00	0.000	6	0.000	0.031	2122	2601	3416
5046	-1.13	-146.6	550.6	-7.1	243	5048	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2597	3416
5354	-1.13	-146.6	574.4	-8.2	258	5355	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2597	3415
5664	-1.13	-146.6	600.6	-8.6	273	5668	0.00	2.38	0.00	0.000	4	0.000	0.077	2122	3856	3416
5698	-1.13	-146.6	603.8	-9.2	274	5704	0.00	2.17	0.00	0.000	6	0.000	0.035	2122	2597	3415
6013	-1.13	-146.6	630.0	-7.7	290	6017	0.00	2.50	0.00	0.000	4	0.000	0.051	2122	1204	3415
6070	-1.19	-146.6	634.0	-7.3	292	6076	0.00	2.50	0.00	0.000	6	0.000	0.044	2122	2604	3415
6386	-1.23	-146.6	660.4	-9.4	308	6391	0.15	2.40	0.00	0.000	4	0.049	0.081	2079	3861	3414
6475	-1.13	-146.6	670.8	-12.1	312	6480	0.17	2.20	0.00	0.000	6	0.102	0.037	2112	2597	3413
6796	-1.13	-146.6	699.4	-8.9	328	6800	0.00	2.53	0.00	0.000	4	0.000	0.057	2112	1204	3411
6858	-1.13	-146.6	704.9	-8.3	331	6863	0.00	2.53	0.00	0.000	6	0.000	0.050	2111	2602	3411
7185	-1.13	-146.6	735.6	-9.7	347	7189	0.00	2.55	0.00	0.000	4	0.000	0.055	2111	1201	3411
7225	-1.17	-146.6	739.7	-10.2	349	7229	0.00	2.55	0.00	0.000	6	0.000	0.052	2112	2606	3411
7551	-1.17	-146.6	763.4	-5.7	365	7553	0.00	0.00	0.00	0.000	6	0.000	0.000	2112	2606	3409
7861	-1.17	-146.6	782.9	-2.1	380	7862	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2606	3407
8170	-1.17	-146.6	803.6	-9.1	395	8171	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2606	3406
8479	-1.17	-146.6	827.4	-7.7	410	8483	0.00	2.58	0.00	0.000	4	0.000	0.058	2111	1201	3404
8536	-1.23	-146.6	832.4	-10.4	412	8542	0.00	2.55	0.00	0.000	6	0.000	0.058	2112	2597	3404
8852	-1.48	-146.6	848.2	-3.3	428	8857	0.32	2.55	0.00	0.000	4	0.054	0.059	2033	1205	3403
9111	-1.74	-146.6	848.2	0.3	439	9117	0.25	2.55	0.00	0.000	6	0.067	0.052	1976	2609	3401
9258	end dive: NO_VERTICAL_VELOCITY
state	9259	begin apogee
9265	-0.31	0.0	848.3	0.0	447	9401	1.52	0.00	128.52	1.170	6	0.087	0.000	2294	2303	2817
9402	end apogee: CONTROL_FINISHED_OK
state	9402	begin climb
9405	1.03	146.6	847.9	0.0	454	9550	1.35	2.80	132.18	1.135	4	0.075	0.081	2580	3708	2217
9581	0.82	182.9	839.9	6.3	462	9621	0.20	2.58	33.10	1.085	6	0.098	0.044	2543	2300	2070
9948	0.82	182.9	804.9	9.5	480	9953	0.00	2.65	0.00	0.000	4	0.000	0.067	2543	893	2060
10184	0.86	211.8	783.5	6.5	490	10215	0.00	2.55	25.23	1.050	6	0.000	0.050	2543	2302	1953
10545	0.98	327.2	765.4	3.6	508	10661	0.15	2.78	107.50	1.095	4	0.058	0.079	2580	3702	1480
10700	0.98	327.2	755.2	8.5	515	10705	0.00	2.55	0.00	0.000	6	0.000	0.044	2580	2300	1477
11016	0.98	327.2	726.2	10.5	530	11020	0.00	2.65	0.00	0.000	4	0.000	0.068	2580	889	1470
11065	0.98	327.2	720.4	9.5	532	11070	0.00	2.60	0.00	0.000	6	0.000	0.051	2580	2307	1468
11381	0.98	327.2	684.4	11.7	547	11386	0.00	2.70	0.00	0.000	4	0.000	0.079	2579	3705	1467
11408	0.98	327.2	680.9	12.8	548	11412	0.00	2.53	0.00	0.000	6	0.000	0.043	2580	2299	1467
11724	0.98	327.2	643.3	12.4	563	11728	0.00	2.65	0.00	0.000	4	0.000	0.067	2580	890	1466
11756	0.98	327.2	639.0	13.2	564	11762	0.00	2.58	0.00	0.000	6	0.000	0.048	2580	2309	1465
12072	0.98	327.2	601.8	11.3	580	12076	0.00	2.67	0.00	0.000	4	0.000	0.076	2580	3708	1465
12127	0.98	327.2	595.5	11.8	582	12133	0.00	2.55	0.00	0.000	6	0.000	0.042	2580	2291	1465
12442	0.98	327.2	561.5	10.4	598	12447	0.00	2.70	0.00	0.000	4	0.000	0.072	2580	3708	1465
12470	0.98	327.2	558.5	10.3	599	12474	0.00	2.53	0.00	0.000	6	0.000	0.039	2580	2295	1465
12785	0.98	327.2	529.0	9.0	614	12786	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2295	1465
13095	0.98	327.2	499.2	9.8	629	13099	0.00	2.67	0.00	0.000	4	0.000	0.067	2580	3715	1465
13122	0.98	327.2	496.3	10.5	630	13126	0.00	2.53	0.00	0.000	6	0.000	0.036	2580	2291	1465
13437	0.98	327.2	462.3	10.6	645	13441	0.00	2.55	0.00	0.000	4	0.000	0.057	2580	889	1464
13526	0.98	327.2	451.6	12.2	649	13530	0.00	2.50	0.00	0.000	6	0.000	0.038	2580	2306	1464
13847	1.02	327.2	417.0	10.2	665	13851	0.00	2.58	0.00	0.000	4	0.000	0.051	2580	888	1465
13886	1.10	327.2	412.6	10.7	667	13891	0.00	2.50	0.00	0.000	6	0.000	0.038	2580	2302	1465
14213	1.10	327.2	379.8	9.8	683	14218	0.00	2.60	0.00	0.000	4	0.000	0.064	2580	3701	1464
14253	1.10	327.2	375.5	11.4	685	14257	0.00	2.45	0.00	0.000	6	0.000	0.033	2580	2296	1464
14580	1.14	327.2	342.7	9.3	701	14585	0.12	2.53	0.00	0.000	4	0.051	0.051	2618	897	1465
14620	1.07	327.2	338.3	11.7	703	14625	0.12	2.47	0.00	0.000	6	0.091	0.038	2595	2301	1465
14946	1.07	327.2	301.1	12.8	719	14950	0.00	2.53	0.00	0.000	4	0.000	0.049	2594	895	1465
14974	1.07	327.2	297.5	12.5	720	14978	0.00	2.47	0.00	0.000	6	0.000	0.037	2594	2302	1465
15295	1.07	327.2	264.4	10.6	736	15297	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2302	1466
15605	1.07	327.2	232.3	10.1	751	15609	0.00	2.55	0.00	0.000	4	0.000	0.048	2594	890	1466
15644	1.07	327.2	227.9	10.6	753	15649	0.00	2.47	0.00	0.000	6	0.000	0.036	2594	2302	1467
15971	1.07	327.2	194.5	10.2	769	15972	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2302	1467
16280	1.07	327.2	164.0	10.2	784	16284	0.00	2.53	0.00	0.000	4	0.000	0.046	2594	896	1468
16313	1.07	327.2	160.4	10.7	785	16320	0.00	2.45	0.00	0.000	6	0.000	0.037	2595	2298	1468
16630	1.07	327.2	128.0	10.4	801	16634	0.00	2.53	0.00	0.000	4	0.000	0.046	2594	892	1468
16673	1.07	327.2	123.0	10.4	803	16678	0.00	2.47	0.00	0.000	6	0.000	0.035	2594	2304	1467
16995	1.07	327.2	92.5	9.2	819	17000	0.00	2.53	0.00	0.000	4	0.000	0.047	2594	897	1468
17051	1.12	327.2	87.2	8.6	821	17058	0.00	2.45	0.00	0.000	6	0.000	0.035	2594	2306	1468
17367	1.12	327.2	55.3	11.1	837	17372	0.00	2.53	0.00	0.000	4	0.000	0.047	2594	897	1469
17395	1.12	327.2	52.1	12.2	838	17399	0.00	2.45	0.00	0.000	6	0.000	0.035	2594	2299	1469
17711	1.12	327.2	18.5	10.8	853	17712	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2299	1469
17873	end climb: SURFACE_DEPTH_REACHED
state	17873	begin surface coast
17895	end surface coast: CONTROL_FINISHED_OK
state	17895	begin surface