Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 30 * 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 30 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -2108129.5 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 -2108129.5

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 29 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 30 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 102331,6142.452,-856.613,37,1.8,37,-9.3 TGT_NAME FBC_SIL

_CALLS 3 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.011,-0.239

_SM_DEPTHo 1.40 KALMAN_X -63647.5,2818.9,1385.3,23976.4,-15176.6

_SM_ANGLEo -59.7 KALMAN_Y 117670.2,-874.5,-1104.3,-82278.9,18656.2

GPS2 103356,6142.562,-856.662,12,1.4,12,-9.3 MHEAD_RNG_PITCHd_Wd 139.0,36388,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.026784 ALTIM_BOTTOM_PING 727.7,83.1

SM_CCo 16818,0.00,0.000,0,0,1444,336.80 _24V_AH 23.5,11.166

SM_GC 1.31,11.95,0.00,0.00,0.082,0.000,0.000,75,2610,1444,-10.45,0.28,336.80 _10V_AH 10.1,4.511

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41226,805

TT8_MAMPS 0.02301 CAP_FILE_SIZE 136287,0

HUMID 1716 CFSIZE 260165632,256491520

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 19 GPS 100609,151607,6142.553,-858.988,26,1.6,26,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 187 124.35 SBE_CT 578 24 326.13

Roll_motor 188 86 384.49 SBE_O2 567 19 253.20

VBD_pump_during_apogee 426 1119 11226.51 WL_BB2F 481 105 1187.10

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 54 103 131.84 nil 0 0 0.00

Iridium_during_connect 107 160 402.63 nil 0 0 0.00

Iridium_during_xfer 215 223 1129.95

Transponder_ping 11 420 108.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.33

TT8 1523 19 304.66

LPSleep 12861 2 284.48

TT8_Active 558 19 111.70

TT8_Sampling 1839 39 739.33

TT8_CF8 657 45 304.26

TT8_Kalman 33 81 27.55

Analog_circuits 1519 12 184.19

GPS_charging 0 0 0.00

Compass 1789 8 144.60

RAFOS 0 0 0.00

Transponder 43 30 13.17

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 -1.03 -146.6 0.0 0.0 0 78 0.00 0.00 -60.97 0.000 2 0.000 0.000 73 2619 3157

81 -1.03 -146.6 4.3 -6.9 3 104 12.02 2.55 -4.60 0.000 4 0.187 0.053 2132 1185 3416

285 -1.03 -146.6 31.7 -9.1 12 290 0.00 2.50 0.00 0.000 6 0.000 0.038 2132 2597 3416

612 -1.03 -146.6 60.1 -8.6 28 616 0.00 2.35 0.00 0.000 4 0.000 0.069 2132 3861 3416

689 -1.03 -146.6 66.7 -8.5 31 696 0.00 2.17 0.00 0.000 6 0.000 0.029 2132 2577 3416

1005 -1.03 -146.6 91.6 -7.8 47 1007 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2576 3417

1316 -1.03 -146.6 118.9 -9.1 62 1320 0.00 2.42 0.00 0.000 4 0.000 0.041 2132 1204 3417

1344 -1.03 -146.6 121.7 -8.1 63 1348 0.00 2.47 0.00 0.000 6 0.000 0.037 2132 2607 3417

1661 -1.03 -146.6 151.0 -9.8 78 1665 0.00 2.33 0.00 0.000 4 0.000 0.068 2132 3860 3417

1711 -1.03 -146.6 156.1 -10.1 80 1715 0.00 2.15 0.00 0.000 6 0.000 0.029 2132 2593 3417

2033 -1.03 -146.6 188.2 -10.3 96 2037 0.00 2.45 0.00 0.000 4 0.000 0.041 2132 1204 3418

2100 -1.08 -146.6 194.6 -9.4 99 2103 0.00 2.45 0.00 0.000 6 0.000 0.038 2132 2601 3418

2426 -1.08 -146.6 222.1 -7.7 115 2430 0.00 2.45 0.00 0.000 4 0.000 0.041 2133 1212 3418

2467 -1.15 -146.6 225.1 -7.5 117 2471 0.00 2.45 0.00 0.000 6 0.000 0.038 2132 2602 3418

2793 -1.15 -146.6 255.3 -9.7 133 2797 0.00 2.35 0.00 0.000 4 0.000 0.070 2132 3863 3417

2866 -1.15 -146.6 262.8 -10.1 136 2870 0.00 2.15 0.00 0.000 6 0.000 0.029 2132 2599 3417

3187 -1.15 -146.6 292.3 -9.4 152 3191 0.00 2.45 0.00 0.000 4 0.000 0.043 2132 1212 3417

3231 -1.20 -146.6 295.9 -8.0 154 3236 0.17 2.45 0.00 0.000 6 0.041 0.038 2081 2600 3418

3552 -1.07 -146.6 330.0 -10.1 170 3557 0.20 2.47 0.00 0.000 4 0.098 0.041 2123 1204 3418

3585 -1.07 -146.6 332.9 -7.9 171 3591 0.00 2.47 0.00 0.000 6 0.000 0.039 2123 2607 3417

3901 -1.07 -146.6 361.1 -9.3 187 3902 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2607 3417

4210 -1.07 -146.6 388.6 -8.5 202 4214 0.00 2.47 0.00 0.000 4 0.000 0.042 2123 1210 3417

4249 -1.07 -146.6 391.8 -7.9 204 4254 0.00 2.45 0.00 0.000 6 0.000 0.039 2122 2602 3417

4576 -1.07 -146.6 418.3 -7.9 220 4580 0.00 2.35 0.00 0.000 4 0.000 0.073 2123 3858 3416

4608 -1.07 -146.6 421.1 -8.4 221 4614 0.00 2.15 0.00 0.000 6 0.000 0.030 2123 2597 3416

4925 -1.07 -146.6 451.1 -12.4 237 4926 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2596 3416

5233 -1.07 -146.6 479.0 -7.7 252 5237 0.00 2.38 0.00 0.000 4 0.000 0.072 2123 3863 3416

5283 -1.07 -146.6 483.2 -8.4 254 5287 0.00 2.15 0.00 0.000 6 0.000 0.031 2123 2602 3416

5604 -1.07 -146.6 509.6 -8.4 270 5606 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2600 3416

5914 -1.07 -146.6 536.5 -8.9 285 5915 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2600 3416

6223 -1.07 -146.6 566.3 -9.8 300 6227 0.00 2.38 0.00 0.000 4 0.000 0.076 2123 3861 3415

6273 -1.07 -146.6 571.3 -10.0 302 6277 0.00 2.17 0.00 0.000 6 0.000 0.034 2123 2598 3415

6600 -1.07 -146.6 603.8 -10.5 318 6604 0.00 2.40 0.00 0.000 4 0.000 0.078 2123 3858 3415

6667 -1.12 -146.6 611.0 -10.9 321 6671 0.00 2.17 0.00 0.000 6 0.000 0.035 2122 2594 3415

6994 -1.12 -146.6 642.1 -12.3 337 6998 0.00 2.53 0.00 0.000 4 0.000 0.055 2123 1201 3415

7049 -1.19 -146.6 648.4 -12.1 339 7055 0.00 2.53 0.00 0.000 6 0.000 0.049 2123 2599 3414

7365 -1.19 -146.6 681.6 -10.4 355 7366 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2599 3412

7674 -1.19 -146.6 717.9 -13.1 370 7678 0.00 2.55 0.00 0.000 4 0.000 0.056 2123 1201 3411

7713 -1.27 -146.6 722.7 -12.7 372 7719 0.17 2.55 0.00 0.000 6 0.051 0.052 2077 2607 3411

8042 -1.17 -146.6 761.1 -12.3 388 8047 0.15 2.42 0.00 0.000 4 0.114 0.087 2104 3864 3409

8098 -1.17 -146.6 766.4 -9.2 390 8104 0.00 2.22 0.00 0.000 6 0.000 0.044 2104 2612 3409

8414 -1.05 -146.6 800.0 -13.4 406 8419 0.12 2.67 0.00 0.000 6 0.126 0.074 2126 1191 3407

8420 end dive: BOTTOM_OBSTACLE_DETECTED

state 8420 begin apogee

8428 -0.31 0.0 800.9 13.9 406 8564 0.80 0.00 128.00 1.119 6 0.113 0.000 2287 2308 2817

8565 end apogee: CONTROL_FINISHED_OK

state 8565 begin climb

8567 1.03 146.6 808.6 0.0 413 8707 1.42 2.80 131.30 1.102 4 0.095 0.084 2577 3708 2217

8800 0.76 146.6 798.3 8.4 423 8806 0.28 2.58 0.00 0.000 6 0.100 0.045 2525 2298 2212

9127 0.76 146.6 767.0 7.6 439 9131 0.00 2.65 0.00 0.000 4 0.000 0.068 2525 892 2207

9234 0.80 227.7 764.0 4.7 444 9312 0.00 2.55 72.00 1.071 6 0.000 0.051 2525 2301 1888

9624 0.88 227.7 737.4 7.8 462 9629 0.12 2.72 0.00 0.000 4 0.063 0.080 2556 3705 1878

9697 0.82 227.7 730.2 11.3 465 9701 0.00 2.55 0.00 0.000 6 0.000 0.044 2556 2296 1877

10012 0.82 227.7 698.1 10.3 480 10016 0.00 2.72 0.00 0.000 4 0.000 0.077 2556 3704 1875

10056 0.78 227.7 693.2 11.4 482 10061 0.15 2.53 0.00 0.000 6 0.108 0.043 2529 2298 1875

10378 0.96 332.6 677.8 3.9 498 10478 0.20 0.00 95.60 1.047 6 0.056 0.000 2575 2298 1461

10787 0.96 332.6 644.2 8.6 518 10791 0.00 2.72 0.00 0.000 4 0.000 0.077 2575 3711 1450

10814 0.96 332.6 641.7 9.4 519 10818 0.00 2.58 0.00 0.000 6 0.000 0.044 2575 2293 1450

11129 0.96 332.6 611.1 10.7 534 11133 0.00 2.65 0.00 0.000 4 0.000 0.068 2575 889 1447

11162 1.00 332.6 607.2 11.1 535 11169 0.00 2.58 0.00 0.000 6 0.000 0.048 2576 2305 1446

11478 1.00 332.6 576.0 11.0 551 11482 0.00 2.67 0.00 0.000 4 0.000 0.075 2575 3704 1445

11505 1.00 332.6 572.8 11.5 552 11509 0.00 2.53 0.00 0.000 6 0.000 0.041 2575 2299 1445

11820 1.00 332.6 537.9 11.0 567 11825 0.00 2.62 0.00 0.000 4 0.000 0.063 2575 886 1444

11842 1.00 332.6 535.8 9.2 568 11847 0.00 2.55 0.00 0.000 6 0.000 0.044 2575 2306 1443

12164 1.05 332.6 508.1 8.7 584 12168 0.00 2.60 0.00 0.000 4 0.000 0.057 2575 892 1443

12208 1.12 332.6 503.7 9.3 586 12213 0.15 2.50 0.00 0.000 6 0.063 0.041 2611 2301 1443

12529 1.06 332.6 469.0 11.5 602 12534 0.00 2.65 0.00 0.000 4 0.000 0.067 2611 3711 1443

12557 0.99 332.6 465.2 12.9 603 12563 0.20 2.50 0.00 0.000 6 0.117 0.036 2576 2296 1443

12873 1.03 332.6 433.1 10.0 618 12874 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2295 1443

13183 1.08 332.6 399.9 10.7 633 13187 0.00 2.55 0.00 0.000 4 0.000 0.054 2576 893 1443

13204 1.14 332.6 397.4 11.5 634 13210 0.15 2.50 0.00 0.000 6 0.064 0.038 2610 2307 1443

13526 1.10 332.6 359.8 11.4 650 13530 0.00 2.58 0.00 0.000 4 0.000 0.051 2611 891 1443

13565 1.10 332.6 354.8 12.9 652 13569 0.00 2.50 0.00 0.000 6 0.000 0.038 2611 2309 1444

13891 1.10 332.6 316.4 11.8 668 13895 0.00 2.58 0.00 0.000 4 0.000 0.049 2611 889 1444

13919 1.10 332.6 312.6 13.8 669 13923 0.00 2.50 0.00 0.000 6 0.000 0.037 2611 2309 1444

14240 1.10 332.6 273.1 11.6 685 14244 0.00 2.58 0.00 0.000 4 0.000 0.049 2611 887 1445

14267 1.10 332.6 269.5 11.9 686 14271 0.00 2.50 0.00 0.000 6 0.000 0.036 2611 2305 1444

14583 1.10 332.6 232.4 11.9 701 14587 0.00 2.55 0.00 0.000 4 0.000 0.049 2611 894 1446

14615 1.10 332.6 228.2 11.7 702 14622 0.00 2.47 0.00 0.000 6 0.000 0.036 2611 2304 1445

14931 1.10 332.6 190.2 12.3 718 14935 0.00 2.55 0.00 0.000 4 0.000 0.048 2611 891 1445

14986 1.10 332.6 183.3 12.0 720 14992 0.00 2.45 0.00 0.000 6 0.000 0.035 2611 2298 1445

15302 1.10 332.6 149.8 10.0 736 15306 0.00 2.53 0.00 0.000 4 0.000 0.048 2611 894 1445

15342 1.10 332.6 145.7 9.5 738 15346 0.00 2.45 0.00 0.000 6 0.000 0.035 2611 2300 1445

15675 1.10 332.6 110.7 10.3 754 15679 0.00 2.53 0.00 0.000 4 0.000 0.047 2611 892 1446

15747 1.10 332.6 102.7 10.6 757 15751 0.00 2.47 0.00 0.000 6 0.000 0.035 2611 2306 1446

16064 1.10 332.6 70.2 10.5 772 16069 0.00 2.55 0.00 0.000 4 0.000 0.048 2611 889 1446

16082 1.10 332.6 68.2 10.2 773 16086 0.00 2.47 0.00 0.000 6 0.000 0.035 2611 2306 1446

16409 1.10 332.6 36.8 10.0 789 16413 0.00 2.55 0.00 0.000 4 0.000 0.048 2611 891 1447

16449 1.10 332.6 32.4 11.4 791 16453 0.00 2.45 0.00 0.000 6 0.000 0.035 2611 2301 1447

16711 end climb: SURFACE_DEPTH_REACHED

state 16711 begin surface coast

16734 end surface coast: CONTROL_FINISHED_OK

state 16735 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	30	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-2108129.5	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	102331,6142.452,-856.613,37,1.8,37,-9.3	TGT_NAME	FBC_SIL
_CALLS	3	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.011,-0.239
_SM_DEPTHo	1.40	KALMAN_X	-63647.5,2818.9,1385.3,23976.4,-15176.6
_SM_ANGLEo	-59.7	KALMAN_Y	117670.2,-874.5,-1104.3,-82278.9,18656.2
GPS2	103356,6142.562,-856.662,12,1.4,12,-9.3	MHEAD_RNG_PITCHd_Wd	139.0,36388,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	1.2,1.026784	ALTIM_BOTTOM_PING	727.7,83.1
SM_CCo	16818,0.00,0.000,0,0,1444,336.80	_24V_AH	23.5,11.166
SM_GC	1.31,11.95,0.00,0.00,0.082,0.000,0.000,75,2610,1444,-10.45,0.28,336.80	_10V_AH	10.1,4.511
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41226,805
TT8_MAMPS	0.02301	CAP_FILE_SIZE	136287,0
HUMID	1716	CFSIZE	260165632,256491520
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	19	GPS	100609,151607,6142.553,-858.988,26,1.6,26,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	187	124.35	SBE_CT	578	24	326.13
Roll_motor	188	86	384.49	SBE_O2	567	19	253.20
VBD_pump_during_apogee	426	1119	11226.51	WL_BB2F	481	105	1187.10
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	54	103	131.84	nil	0	0	0.00
Iridium_during_connect	107	160	402.63	nil	0	0	0.00
Iridium_during_xfer	215	223	1129.95
Transponder_ping	11	420	108.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.33
TT8	1523	19	304.66
LPSleep	12861	2	284.48
TT8_Active	558	19	111.70
TT8_Sampling	1839	39	739.33
TT8_CF8	657	45	304.26
TT8_Kalman	33	81	27.55
Analog_circuits	1519	12	184.19
GPS_charging	0	0	0.00
Compass	1789	8	144.60
RAFOS	0	0	0.00
Transponder	43	30	13.17

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	-1.03	-146.6	0.0	0.0	0	78	0.00	0.00	-60.97	0.000	2	0.000	0.000	73	2619	3157
81	-1.03	-146.6	4.3	-6.9	3	104	12.02	2.55	-4.60	0.000	4	0.187	0.053	2132	1185	3416
285	-1.03	-146.6	31.7	-9.1	12	290	0.00	2.50	0.00	0.000	6	0.000	0.038	2132	2597	3416
612	-1.03	-146.6	60.1	-8.6	28	616	0.00	2.35	0.00	0.000	4	0.000	0.069	2132	3861	3416
689	-1.03	-146.6	66.7	-8.5	31	696	0.00	2.17	0.00	0.000	6	0.000	0.029	2132	2577	3416
1005	-1.03	-146.6	91.6	-7.8	47	1007	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2576	3417
1316	-1.03	-146.6	118.9	-9.1	62	1320	0.00	2.42	0.00	0.000	4	0.000	0.041	2132	1204	3417
1344	-1.03	-146.6	121.7	-8.1	63	1348	0.00	2.47	0.00	0.000	6	0.000	0.037	2132	2607	3417
1661	-1.03	-146.6	151.0	-9.8	78	1665	0.00	2.33	0.00	0.000	4	0.000	0.068	2132	3860	3417
1711	-1.03	-146.6	156.1	-10.1	80	1715	0.00	2.15	0.00	0.000	6	0.000	0.029	2132	2593	3417
2033	-1.03	-146.6	188.2	-10.3	96	2037	0.00	2.45	0.00	0.000	4	0.000	0.041	2132	1204	3418
2100	-1.08	-146.6	194.6	-9.4	99	2103	0.00	2.45	0.00	0.000	6	0.000	0.038	2132	2601	3418
2426	-1.08	-146.6	222.1	-7.7	115	2430	0.00	2.45	0.00	0.000	4	0.000	0.041	2133	1212	3418
2467	-1.15	-146.6	225.1	-7.5	117	2471	0.00	2.45	0.00	0.000	6	0.000	0.038	2132	2602	3418
2793	-1.15	-146.6	255.3	-9.7	133	2797	0.00	2.35	0.00	0.000	4	0.000	0.070	2132	3863	3417
2866	-1.15	-146.6	262.8	-10.1	136	2870	0.00	2.15	0.00	0.000	6	0.000	0.029	2132	2599	3417
3187	-1.15	-146.6	292.3	-9.4	152	3191	0.00	2.45	0.00	0.000	4	0.000	0.043	2132	1212	3417
3231	-1.20	-146.6	295.9	-8.0	154	3236	0.17	2.45	0.00	0.000	6	0.041	0.038	2081	2600	3418
3552	-1.07	-146.6	330.0	-10.1	170	3557	0.20	2.47	0.00	0.000	4	0.098	0.041	2123	1204	3418
3585	-1.07	-146.6	332.9	-7.9	171	3591	0.00	2.47	0.00	0.000	6	0.000	0.039	2123	2607	3417
3901	-1.07	-146.6	361.1	-9.3	187	3902	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2607	3417
4210	-1.07	-146.6	388.6	-8.5	202	4214	0.00	2.47	0.00	0.000	4	0.000	0.042	2123	1210	3417
4249	-1.07	-146.6	391.8	-7.9	204	4254	0.00	2.45	0.00	0.000	6	0.000	0.039	2122	2602	3417
4576	-1.07	-146.6	418.3	-7.9	220	4580	0.00	2.35	0.00	0.000	4	0.000	0.073	2123	3858	3416
4608	-1.07	-146.6	421.1	-8.4	221	4614	0.00	2.15	0.00	0.000	6	0.000	0.030	2123	2597	3416
4925	-1.07	-146.6	451.1	-12.4	237	4926	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2596	3416
5233	-1.07	-146.6	479.0	-7.7	252	5237	0.00	2.38	0.00	0.000	4	0.000	0.072	2123	3863	3416
5283	-1.07	-146.6	483.2	-8.4	254	5287	0.00	2.15	0.00	0.000	6	0.000	0.031	2123	2602	3416
5604	-1.07	-146.6	509.6	-8.4	270	5606	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2600	3416
5914	-1.07	-146.6	536.5	-8.9	285	5915	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2600	3416
6223	-1.07	-146.6	566.3	-9.8	300	6227	0.00	2.38	0.00	0.000	4	0.000	0.076	2123	3861	3415
6273	-1.07	-146.6	571.3	-10.0	302	6277	0.00	2.17	0.00	0.000	6	0.000	0.034	2123	2598	3415
6600	-1.07	-146.6	603.8	-10.5	318	6604	0.00	2.40	0.00	0.000	4	0.000	0.078	2123	3858	3415
6667	-1.12	-146.6	611.0	-10.9	321	6671	0.00	2.17	0.00	0.000	6	0.000	0.035	2122	2594	3415
6994	-1.12	-146.6	642.1	-12.3	337	6998	0.00	2.53	0.00	0.000	4	0.000	0.055	2123	1201	3415
7049	-1.19	-146.6	648.4	-12.1	339	7055	0.00	2.53	0.00	0.000	6	0.000	0.049	2123	2599	3414
7365	-1.19	-146.6	681.6	-10.4	355	7366	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2599	3412
7674	-1.19	-146.6	717.9	-13.1	370	7678	0.00	2.55	0.00	0.000	4	0.000	0.056	2123	1201	3411
7713	-1.27	-146.6	722.7	-12.7	372	7719	0.17	2.55	0.00	0.000	6	0.051	0.052	2077	2607	3411
8042	-1.17	-146.6	761.1	-12.3	388	8047	0.15	2.42	0.00	0.000	4	0.114	0.087	2104	3864	3409
8098	-1.17	-146.6	766.4	-9.2	390	8104	0.00	2.22	0.00	0.000	6	0.000	0.044	2104	2612	3409
8414	-1.05	-146.6	800.0	-13.4	406	8419	0.12	2.67	0.00	0.000	6	0.126	0.074	2126	1191	3407
8420	end dive: BOTTOM_OBSTACLE_DETECTED
state	8420	begin apogee
8428	-0.31	0.0	800.9	13.9	406	8564	0.80	0.00	128.00	1.119	6	0.113	0.000	2287	2308	2817
8565	end apogee: CONTROL_FINISHED_OK
state	8565	begin climb
8567	1.03	146.6	808.6	0.0	413	8707	1.42	2.80	131.30	1.102	4	0.095	0.084	2577	3708	2217
8800	0.76	146.6	798.3	8.4	423	8806	0.28	2.58	0.00	0.000	6	0.100	0.045	2525	2298	2212
9127	0.76	146.6	767.0	7.6	439	9131	0.00	2.65	0.00	0.000	4	0.000	0.068	2525	892	2207
9234	0.80	227.7	764.0	4.7	444	9312	0.00	2.55	72.00	1.071	6	0.000	0.051	2525	2301	1888
9624	0.88	227.7	737.4	7.8	462	9629	0.12	2.72	0.00	0.000	4	0.063	0.080	2556	3705	1878
9697	0.82	227.7	730.2	11.3	465	9701	0.00	2.55	0.00	0.000	6	0.000	0.044	2556	2296	1877
10012	0.82	227.7	698.1	10.3	480	10016	0.00	2.72	0.00	0.000	4	0.000	0.077	2556	3704	1875
10056	0.78	227.7	693.2	11.4	482	10061	0.15	2.53	0.00	0.000	6	0.108	0.043	2529	2298	1875
10378	0.96	332.6	677.8	3.9	498	10478	0.20	0.00	95.60	1.047	6	0.056	0.000	2575	2298	1461
10787	0.96	332.6	644.2	8.6	518	10791	0.00	2.72	0.00	0.000	4	0.000	0.077	2575	3711	1450
10814	0.96	332.6	641.7	9.4	519	10818	0.00	2.58	0.00	0.000	6	0.000	0.044	2575	2293	1450
11129	0.96	332.6	611.1	10.7	534	11133	0.00	2.65	0.00	0.000	4	0.000	0.068	2575	889	1447
11162	1.00	332.6	607.2	11.1	535	11169	0.00	2.58	0.00	0.000	6	0.000	0.048	2576	2305	1446
11478	1.00	332.6	576.0	11.0	551	11482	0.00	2.67	0.00	0.000	4	0.000	0.075	2575	3704	1445
11505	1.00	332.6	572.8	11.5	552	11509	0.00	2.53	0.00	0.000	6	0.000	0.041	2575	2299	1445
11820	1.00	332.6	537.9	11.0	567	11825	0.00	2.62	0.00	0.000	4	0.000	0.063	2575	886	1444
11842	1.00	332.6	535.8	9.2	568	11847	0.00	2.55	0.00	0.000	6	0.000	0.044	2575	2306	1443
12164	1.05	332.6	508.1	8.7	584	12168	0.00	2.60	0.00	0.000	4	0.000	0.057	2575	892	1443
12208	1.12	332.6	503.7	9.3	586	12213	0.15	2.50	0.00	0.000	6	0.063	0.041	2611	2301	1443
12529	1.06	332.6	469.0	11.5	602	12534	0.00	2.65	0.00	0.000	4	0.000	0.067	2611	3711	1443
12557	0.99	332.6	465.2	12.9	603	12563	0.20	2.50	0.00	0.000	6	0.117	0.036	2576	2296	1443
12873	1.03	332.6	433.1	10.0	618	12874	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2295	1443
13183	1.08	332.6	399.9	10.7	633	13187	0.00	2.55	0.00	0.000	4	0.000	0.054	2576	893	1443
13204	1.14	332.6	397.4	11.5	634	13210	0.15	2.50	0.00	0.000	6	0.064	0.038	2610	2307	1443
13526	1.10	332.6	359.8	11.4	650	13530	0.00	2.58	0.00	0.000	4	0.000	0.051	2611	891	1443
13565	1.10	332.6	354.8	12.9	652	13569	0.00	2.50	0.00	0.000	6	0.000	0.038	2611	2309	1444
13891	1.10	332.6	316.4	11.8	668	13895	0.00	2.58	0.00	0.000	4	0.000	0.049	2611	889	1444
13919	1.10	332.6	312.6	13.8	669	13923	0.00	2.50	0.00	0.000	6	0.000	0.037	2611	2309	1444
14240	1.10	332.6	273.1	11.6	685	14244	0.00	2.58	0.00	0.000	4	0.000	0.049	2611	887	1445
14267	1.10	332.6	269.5	11.9	686	14271	0.00	2.50	0.00	0.000	6	0.000	0.036	2611	2305	1444
14583	1.10	332.6	232.4	11.9	701	14587	0.00	2.55	0.00	0.000	4	0.000	0.049	2611	894	1446
14615	1.10	332.6	228.2	11.7	702	14622	0.00	2.47	0.00	0.000	6	0.000	0.036	2611	2304	1445
14931	1.10	332.6	190.2	12.3	718	14935	0.00	2.55	0.00	0.000	4	0.000	0.048	2611	891	1445
14986	1.10	332.6	183.3	12.0	720	14992	0.00	2.45	0.00	0.000	6	0.000	0.035	2611	2298	1445
15302	1.10	332.6	149.8	10.0	736	15306	0.00	2.53	0.00	0.000	4	0.000	0.048	2611	894	1445
15342	1.10	332.6	145.7	9.5	738	15346	0.00	2.45	0.00	0.000	6	0.000	0.035	2611	2300	1445
15675	1.10	332.6	110.7	10.3	754	15679	0.00	2.53	0.00	0.000	4	0.000	0.047	2611	892	1446
15747	1.10	332.6	102.7	10.6	757	15751	0.00	2.47	0.00	0.000	6	0.000	0.035	2611	2306	1446
16064	1.10	332.6	70.2	10.5	772	16069	0.00	2.55	0.00	0.000	4	0.000	0.048	2611	889	1446
16082	1.10	332.6	68.2	10.2	773	16086	0.00	2.47	0.00	0.000	6	0.000	0.035	2611	2306	1446
16409	1.10	332.6	36.8	10.0	789	16413	0.00	2.55	0.00	0.000	4	0.000	0.048	2611	891	1447
16449	1.10	332.6	32.4	11.4	791	16453	0.00	2.45	0.00	0.000	6	0.000	0.035	2611	2301	1447
16711	end climb: SURFACE_DEPTH_REACHED
state	16711	begin surface coast
16734	end surface coast: CONTROL_FINISHED_OK
state	16735	begin surface