Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 261 * 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 261 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -2112202.8 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 -2112202.8

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 34 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 261 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 094301,6238.885,-1205.464,44,1.2,44,-11.4 TGT_NAME FE

_CALLS 3 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.41 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -63.7 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 095349,6238.991,-1205.342,12,1.3,12,-11.4 MHEAD_RNG_PITCHd_Wd 138.9,27329,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026568 ALTIM_BOTTOM_PING 750.2,14.2

SM_CCo 18537,3.60,0.382,0,0,1797,250.21 _24V_AH 23.6,41.321

SM_GC 2.73,0.00,0.00,3.60,0.000,0.000,0.382,73,2605,1797,-10.52,0.14,250.21 _10V_AH 10.1,21.354

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44316,892

TT8_MAMPS 0.023777 CAP_FILE_SIZE 140116,0

HUMID 1795 CFSIZE 260165632,243683328

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 GPS 240709,150431,6238.500,-1200.330,40,1.4,40,-11.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 174 115.15 SBE_CT 652 24 369.75

Roll_motor 148 73 258.75 SBE_O2 612 19 274.83

VBD_pump_during_apogee 351 1080 8973.15 WL_BB2F 519 105 1288.44

VBD_pump_during_surface 3 381 32.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 131.54 nil 0 0 0.00

Iridium_during_connect 79 160 300.13 nil 0 0 0.00

Iridium_during_xfer 256 223 1350.13

Transponder_ping 7 420 69.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.10

TT8 1634 19 326.89

LPSleep 14490 2 320.51

TT8_Active 482 19 96.40

TT8_Sampling 1871 39 752.32

TT8_CF8 711 45 329.21

TT8_Kalman 0 81 0.00

Analog_circuits 1435 12 173.97

GPS_charging 0 0 0.00

Compass 1823 8 147.33

RAFOS 0 0 0.00

Transponder 51 30 15.46

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 -60.83 0.000 2 0.000 0.000 73 2603 3081

81 -1.03 -146.6 4.2 -6.5 3 105 11.70 2.40 -6.28 0.000 4 0.175 0.074 2129 3858 3418

279 -0.95 -146.6 31.1 -9.7 11 286 0.12 2.17 0.00 0.000 6 0.101 0.025 2152 2569 3419

595 -0.95 -146.6 55.7 -8.0 27 599 0.00 2.40 0.00 0.000 4 0.000 0.037 2152 1209 3419

663 -1.01 -146.6 60.1 -5.9 30 667 0.00 2.45 0.00 0.000 6 0.000 0.034 2152 2599 3419

984 -1.01 -146.6 83.4 -9.0 46 985 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2600 3419

1293 -1.01 -146.6 111.8 -9.0 61 1297 0.00 2.45 0.00 0.000 4 0.000 0.035 2152 1208 3419

1321 -1.06 -146.6 114.2 -8.8 62 1326 0.12 2.45 0.00 0.000 6 0.044 0.034 2110 2599 3419

1637 -0.97 -146.6 147.4 -10.2 77 1642 0.17 2.33 0.00 0.000 4 0.093 0.061 2147 3860 3419

1671 -0.97 -146.6 150.5 -8.9 78 1677 0.00 2.15 0.00 0.000 6 0.000 0.025 2147 2598 3419

1988 -0.97 -146.6 175.4 -7.9 94 1992 0.00 2.42 0.00 0.000 4 0.000 0.037 2147 1219 3419

2021 -1.02 -146.6 178.1 -7.8 95 2028 0.00 2.42 0.00 0.000 6 0.000 0.034 2147 2600 3419

2337 -1.02 -146.6 203.8 -8.3 111 2339 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2600 3419

2647 -1.02 -146.6 230.0 -8.4 126 2651 0.00 2.42 0.00 0.000 4 0.000 0.037 2147 1219 3419

2691 -1.08 -146.6 233.7 -7.9 128 2696 0.12 2.42 0.00 0.000 6 0.047 0.035 2107 2600 3419

3013 -0.98 -146.6 267.6 -10.9 144 3015 0.20 0.00 0.00 0.000 6 0.092 0.000 2145 2600 3419

3321 -0.98 -146.6 294.2 -8.4 159 3325 0.00 2.42 0.00 0.000 4 0.000 0.037 2145 1218 3419

3361 -1.05 -146.6 297.5 -7.9 161 3365 0.00 2.42 0.00 0.000 6 0.000 0.035 2145 2600 3419

3689 -1.05 -146.6 324.6 -8.4 177 3690 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2600 3419

3998 -1.05 -146.6 350.9 -8.6 192 4002 0.00 2.42 0.00 0.000 4 0.000 0.037 2145 1218 3418

4042 -1.11 -146.6 354.9 -8.6 194 4047 0.12 2.42 0.00 0.000 6 0.047 0.035 2105 2600 3418

4364 -1.01 -146.6 388.0 -10.2 210 4366 0.17 0.00 0.00 0.000 6 0.091 0.000 2138 2600 3418

4672 -1.01 -146.6 412.9 -7.7 225 4676 0.00 2.42 0.00 0.000 4 0.000 0.037 2138 1220 3418

4700 -1.01 -146.6 415.0 -7.9 226 4704 0.00 2.42 0.00 0.000 6 0.000 0.035 2138 2599 3418

5017 -1.01 -146.6 438.8 -7.7 241 5018 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2600 3417

5325 -1.01 -146.6 461.9 -7.6 256 5329 0.00 2.42 0.00 0.000 4 0.000 0.036 2138 1219 3417

5352 -1.01 -146.6 464.1 -7.4 257 5357 0.00 2.42 0.00 0.000 6 0.000 0.035 2138 2600 3417

5668 -1.01 -146.6 488.2 -7.6 272 5670 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2600 3417

5977 -1.01 -146.6 512.2 -8.0 287 5981 0.00 2.42 0.00 0.000 4 0.000 0.037 2138 1219 3417

6017 -1.06 -146.6 515.2 -7.3 289 6021 0.00 2.42 0.00 0.000 6 0.000 0.035 2138 2600 3417

6345 -1.06 -146.6 543.0 -9.1 305 6346 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2600 3416

6653 -1.06 -146.6 572.3 -9.7 320 6654 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2600 3416

6964 -1.06 -146.6 601.6 -9.3 335 6968 0.00 2.42 0.00 0.000 4 0.000 0.038 2138 1218 3416

6991 -1.11 -146.6 604.3 -9.5 336 6995 0.00 2.42 0.00 0.000 6 0.000 0.035 2138 2600 3416

7308 -1.11 -146.6 629.0 -7.2 351 7309 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2600 3415

7618 -1.16 -146.6 647.7 -5.8 366 7623 0.15 2.42 0.00 0.000 4 0.044 0.037 2091 1220 3415

7646 -1.16 -146.6 649.9 -7.4 367 7651 0.00 2.42 0.00 0.000 6 0.000 0.036 2091 2601 3415

7967 -1.07 -146.6 674.9 -7.7 383 7969 0.17 0.00 0.00 0.000 6 0.096 0.000 2125 2601 3415

8277 -1.07 -146.6 694.3 -7.0 398 8278 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2601 3415

8585 -1.07 -146.6 716.4 -7.7 413 8589 0.00 2.35 0.00 0.000 4 0.000 0.071 2125 3856 3414

8634 -1.07 -146.6 720.9 -8.7 415 8638 0.00 2.12 0.00 0.000 6 0.000 0.028 2125 2609 3414

8956 -1.07 -146.6 746.1 -8.5 431 8961 0.00 2.50 0.00 0.000 4 0.000 0.044 2125 1204 3414

9020 -1.14 -146.6 750.9 -6.6 434 9024 0.00 2.47 0.00 0.000 6 0.000 0.041 2125 2597 3413

9075 end dive: BOTTOM_OBSTACLE_DETECTED

state 9075 begin apogee

9083 -0.31 0.0 755.9 8.7 437 9218 0.82 0.00 129.05 1.081 6 0.100 0.000 2290 2293 2817

9219 end apogee: CONTROL_FINISHED_OK

state 9219 begin climb

9222 1.03 146.6 760.8 0.0 444 9360 1.35 2.58 130.57 1.073 4 0.073 0.047 2578 911 2218

9571 0.96 154.8 741.3 7.2 459 9588 0.00 2.47 7.78 0.863 6 0.000 0.035 2578 2305 2184

9898 0.95 195.3 718.7 6.1 475 9941 0.00 2.75 37.80 1.032 4 0.000 0.066 2578 3699 2020

9988 0.86 195.3 711.6 8.9 479 9993 0.15 2.45 0.00 0.000 6 0.097 0.030 2550 2316 2018

10315 0.87 203.8 689.8 7.2 495 10329 0.00 2.65 8.07 0.865 4 0.000 0.051 2550 908 1983

10353 0.87 203.8 686.7 8.0 496 10359 0.00 2.50 0.00 0.000 6 0.000 0.037 2550 2304 1983

10668 0.87 203.8 661.6 8.0 512 10669 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2304 1981

10978 0.87 203.8 637.5 7.5 527 10982 0.00 2.55 0.00 0.000 4 0.000 0.048 2550 901 1981

11011 0.93 203.8 634.8 8.0 528 11017 0.00 2.50 0.00 0.000 6 0.000 0.037 2550 2305 1980

11327 0.99 219.7 612.7 7.0 544 11350 0.12 2.67 15.50 0.933 4 0.054 0.064 2585 3704 1921

11384 0.91 219.7 607.9 9.1 546 11389 0.15 2.50 0.00 0.000 6 0.100 0.030 2557 2294 1920

11701 1.00 242.9 586.4 6.7 561 11731 0.00 2.72 23.05 0.943 4 0.000 0.061 2557 3702 1825

11760 1.00 242.9 581.7 8.0 563 11766 0.00 2.50 0.00 0.000 6 0.000 0.029 2557 2292 1824

12076 1.06 242.9 556.5 8.2 579 12078 0.15 0.00 0.00 0.000 6 0.051 0.000 2599 2292 1822

12385 1.02 242.9 526.5 9.3 594 12389 0.00 2.62 0.00 0.000 4 0.000 0.060 2598 3702 1822

12407 0.96 242.9 524.2 10.2 595 12412 0.15 2.47 0.00 0.000 6 0.098 0.028 2570 2290 1822

12729 0.96 242.9 498.7 7.5 611 12730 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2290 1821

13037 0.96 242.9 475.3 7.6 626 13042 0.00 2.60 0.00 0.000 4 0.000 0.058 2570 3702 1821

13059 0.96 242.9 473.4 8.1 627 13064 0.00 2.45 0.00 0.000 6 0.000 0.027 2570 2294 1821

13380 0.96 242.9 447.9 8.0 643 13381 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2294 1821

13689 0.96 242.9 422.2 8.2 658 13693 0.00 2.62 0.00 0.000 4 0.000 0.058 2570 3711 1821

13710 0.96 242.9 420.2 8.7 659 13715 0.00 2.45 0.00 0.000 6 0.000 0.027 2570 2299 1821

14032 0.96 242.9 394.9 7.7 675 14033 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2298 1822

14341 0.96 242.9 370.9 7.8 690 14342 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2298 1822

14650 1.00 242.9 347.0 8.0 705 14655 0.00 2.58 0.00 0.000 4 0.000 0.057 2570 3705 1822

14678 1.00 242.9 344.6 8.8 706 14682 0.00 2.42 0.00 0.000 6 0.000 0.026 2570 2294 1822

14999 1.00 242.9 319.0 8.0 722 15001 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2294 1822

15309 1.00 242.9 293.9 8.1 737 15310 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2293 1822

15619 1.05 242.9 268.5 8.0 752 15623 0.00 2.60 0.00 0.000 4 0.000 0.056 2570 3707 1822

15652 1.05 242.9 265.5 8.9 753 15658 0.00 2.42 0.00 0.000 6 0.000 0.026 2570 2300 1822

15967 1.09 242.9 240.4 7.8 769 15969 0.12 0.00 0.00 0.000 6 0.047 0.000 2606 2299 1822

16277 1.03 242.9 210.0 10.1 784 16279 0.12 0.00 0.00 0.000 6 0.094 0.000 2583 2299 1822

16586 1.03 242.9 182.3 8.9 799 16590 0.00 2.58 0.00 0.000 4 0.000 0.056 2583 3711 1822

16627 1.03 242.9 178.6 9.3 801 16631 0.00 2.42 0.00 0.000 6 0.000 0.026 2583 2299 1822

16953 1.03 242.9 148.8 9.3 817 16955 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2299 1822

17263 1.03 242.9 119.2 9.8 832 17264 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2299 1822

17573 1.03 242.9 87.1 10.4 847 17578 0.00 2.58 0.00 0.000 4 0.000 0.055 2583 3704 1822

17602 1.03 242.9 83.7 11.4 848 17606 0.00 2.42 0.00 0.000 6 0.000 0.026 2583 2295 1822

17918 1.03 242.9 49.5 10.6 863 17922 0.00 2.47 0.00 0.000 4 0.000 0.044 2583 903 1822

17950 1.03 242.9 46.1 9.6 864 17957 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2304 1822

18269 1.08 242.9 20.3 7.7 880 18273 0.00 2.55 0.00 0.000 4 0.000 0.056 2583 3700 1823

18353 1.08 242.9 13.0 8.3 884 18358 0.00 2.42 0.00 0.000 6 0.000 0.026 2583 2291 1823

18492 end climb: SURFACE_DEPTH_REACHED

state 18492 begin surface coast

18514 end surface coast: CONTROL_FINISHED_OK

state 18514 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	261	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-2112202.8	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	094301,6238.885,-1205.464,44,1.2,44,-11.4	TGT_NAME	FE
_CALLS	3	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.41	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-63.7	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	095349,6238.991,-1205.342,12,1.3,12,-11.4	MHEAD_RNG_PITCHd_Wd	138.9,27329,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.026568	ALTIM_BOTTOM_PING	750.2,14.2
SM_CCo	18537,3.60,0.382,0,0,1797,250.21	_24V_AH	23.6,41.321
SM_GC	2.73,0.00,0.00,3.60,0.000,0.000,0.382,73,2605,1797,-10.52,0.14,250.21	_10V_AH	10.1,21.354
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44316,892
TT8_MAMPS	0.023777	CAP_FILE_SIZE	140116,0
HUMID	1795	CFSIZE	260165632,243683328
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	GPS	240709,150431,6238.500,-1200.330,40,1.4,40,-11.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	174	115.15	SBE_CT	652	24	369.75
Roll_motor	148	73	258.75	SBE_O2	612	19	274.83
VBD_pump_during_apogee	351	1080	8973.15	WL_BB2F	519	105	1288.44
VBD_pump_during_surface	3	381	32.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	131.54	nil	0	0	0.00
Iridium_during_connect	79	160	300.13	nil	0	0	0.00
Iridium_during_xfer	256	223	1350.13
Transponder_ping	7	420	69.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.10
TT8	1634	19	326.89
LPSleep	14490	2	320.51
TT8_Active	482	19	96.40
TT8_Sampling	1871	39	752.32
TT8_CF8	711	45	329.21
TT8_Kalman	0	81	0.00
Analog_circuits	1435	12	173.97
GPS_charging	0	0	0.00
Compass	1823	8	147.33
RAFOS	0	0	0.00
Transponder	51	30	15.46

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	-60.83	0.000	2	0.000	0.000	73	2603	3081
81	-1.03	-146.6	4.2	-6.5	3	105	11.70	2.40	-6.28	0.000	4	0.175	0.074	2129	3858	3418
279	-0.95	-146.6	31.1	-9.7	11	286	0.12	2.17	0.00	0.000	6	0.101	0.025	2152	2569	3419
595	-0.95	-146.6	55.7	-8.0	27	599	0.00	2.40	0.00	0.000	4	0.000	0.037	2152	1209	3419
663	-1.01	-146.6	60.1	-5.9	30	667	0.00	2.45	0.00	0.000	6	0.000	0.034	2152	2599	3419
984	-1.01	-146.6	83.4	-9.0	46	985	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2600	3419
1293	-1.01	-146.6	111.8	-9.0	61	1297	0.00	2.45	0.00	0.000	4	0.000	0.035	2152	1208	3419
1321	-1.06	-146.6	114.2	-8.8	62	1326	0.12	2.45	0.00	0.000	6	0.044	0.034	2110	2599	3419
1637	-0.97	-146.6	147.4	-10.2	77	1642	0.17	2.33	0.00	0.000	4	0.093	0.061	2147	3860	3419
1671	-0.97	-146.6	150.5	-8.9	78	1677	0.00	2.15	0.00	0.000	6	0.000	0.025	2147	2598	3419
1988	-0.97	-146.6	175.4	-7.9	94	1992	0.00	2.42	0.00	0.000	4	0.000	0.037	2147	1219	3419
2021	-1.02	-146.6	178.1	-7.8	95	2028	0.00	2.42	0.00	0.000	6	0.000	0.034	2147	2600	3419
2337	-1.02	-146.6	203.8	-8.3	111	2339	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2600	3419
2647	-1.02	-146.6	230.0	-8.4	126	2651	0.00	2.42	0.00	0.000	4	0.000	0.037	2147	1219	3419
2691	-1.08	-146.6	233.7	-7.9	128	2696	0.12	2.42	0.00	0.000	6	0.047	0.035	2107	2600	3419
3013	-0.98	-146.6	267.6	-10.9	144	3015	0.20	0.00	0.00	0.000	6	0.092	0.000	2145	2600	3419
3321	-0.98	-146.6	294.2	-8.4	159	3325	0.00	2.42	0.00	0.000	4	0.000	0.037	2145	1218	3419
3361	-1.05	-146.6	297.5	-7.9	161	3365	0.00	2.42	0.00	0.000	6	0.000	0.035	2145	2600	3419
3689	-1.05	-146.6	324.6	-8.4	177	3690	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2600	3419
3998	-1.05	-146.6	350.9	-8.6	192	4002	0.00	2.42	0.00	0.000	4	0.000	0.037	2145	1218	3418
4042	-1.11	-146.6	354.9	-8.6	194	4047	0.12	2.42	0.00	0.000	6	0.047	0.035	2105	2600	3418
4364	-1.01	-146.6	388.0	-10.2	210	4366	0.17	0.00	0.00	0.000	6	0.091	0.000	2138	2600	3418
4672	-1.01	-146.6	412.9	-7.7	225	4676	0.00	2.42	0.00	0.000	4	0.000	0.037	2138	1220	3418
4700	-1.01	-146.6	415.0	-7.9	226	4704	0.00	2.42	0.00	0.000	6	0.000	0.035	2138	2599	3418
5017	-1.01	-146.6	438.8	-7.7	241	5018	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2600	3417
5325	-1.01	-146.6	461.9	-7.6	256	5329	0.00	2.42	0.00	0.000	4	0.000	0.036	2138	1219	3417
5352	-1.01	-146.6	464.1	-7.4	257	5357	0.00	2.42	0.00	0.000	6	0.000	0.035	2138	2600	3417
5668	-1.01	-146.6	488.2	-7.6	272	5670	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2600	3417
5977	-1.01	-146.6	512.2	-8.0	287	5981	0.00	2.42	0.00	0.000	4	0.000	0.037	2138	1219	3417
6017	-1.06	-146.6	515.2	-7.3	289	6021	0.00	2.42	0.00	0.000	6	0.000	0.035	2138	2600	3417
6345	-1.06	-146.6	543.0	-9.1	305	6346	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2600	3416
6653	-1.06	-146.6	572.3	-9.7	320	6654	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2600	3416
6964	-1.06	-146.6	601.6	-9.3	335	6968	0.00	2.42	0.00	0.000	4	0.000	0.038	2138	1218	3416
6991	-1.11	-146.6	604.3	-9.5	336	6995	0.00	2.42	0.00	0.000	6	0.000	0.035	2138	2600	3416
7308	-1.11	-146.6	629.0	-7.2	351	7309	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2600	3415
7618	-1.16	-146.6	647.7	-5.8	366	7623	0.15	2.42	0.00	0.000	4	0.044	0.037	2091	1220	3415
7646	-1.16	-146.6	649.9	-7.4	367	7651	0.00	2.42	0.00	0.000	6	0.000	0.036	2091	2601	3415
7967	-1.07	-146.6	674.9	-7.7	383	7969	0.17	0.00	0.00	0.000	6	0.096	0.000	2125	2601	3415
8277	-1.07	-146.6	694.3	-7.0	398	8278	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2601	3415
8585	-1.07	-146.6	716.4	-7.7	413	8589	0.00	2.35	0.00	0.000	4	0.000	0.071	2125	3856	3414
8634	-1.07	-146.6	720.9	-8.7	415	8638	0.00	2.12	0.00	0.000	6	0.000	0.028	2125	2609	3414
8956	-1.07	-146.6	746.1	-8.5	431	8961	0.00	2.50	0.00	0.000	4	0.000	0.044	2125	1204	3414
9020	-1.14	-146.6	750.9	-6.6	434	9024	0.00	2.47	0.00	0.000	6	0.000	0.041	2125	2597	3413
9075	end dive: BOTTOM_OBSTACLE_DETECTED
state	9075	begin apogee
9083	-0.31	0.0	755.9	8.7	437	9218	0.82	0.00	129.05	1.081	6	0.100	0.000	2290	2293	2817
9219	end apogee: CONTROL_FINISHED_OK
state	9219	begin climb
9222	1.03	146.6	760.8	0.0	444	9360	1.35	2.58	130.57	1.073	4	0.073	0.047	2578	911	2218
9571	0.96	154.8	741.3	7.2	459	9588	0.00	2.47	7.78	0.863	6	0.000	0.035	2578	2305	2184
9898	0.95	195.3	718.7	6.1	475	9941	0.00	2.75	37.80	1.032	4	0.000	0.066	2578	3699	2020
9988	0.86	195.3	711.6	8.9	479	9993	0.15	2.45	0.00	0.000	6	0.097	0.030	2550	2316	2018
10315	0.87	203.8	689.8	7.2	495	10329	0.00	2.65	8.07	0.865	4	0.000	0.051	2550	908	1983
10353	0.87	203.8	686.7	8.0	496	10359	0.00	2.50	0.00	0.000	6	0.000	0.037	2550	2304	1983
10668	0.87	203.8	661.6	8.0	512	10669	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2304	1981
10978	0.87	203.8	637.5	7.5	527	10982	0.00	2.55	0.00	0.000	4	0.000	0.048	2550	901	1981
11011	0.93	203.8	634.8	8.0	528	11017	0.00	2.50	0.00	0.000	6	0.000	0.037	2550	2305	1980
11327	0.99	219.7	612.7	7.0	544	11350	0.12	2.67	15.50	0.933	4	0.054	0.064	2585	3704	1921
11384	0.91	219.7	607.9	9.1	546	11389	0.15	2.50	0.00	0.000	6	0.100	0.030	2557	2294	1920
11701	1.00	242.9	586.4	6.7	561	11731	0.00	2.72	23.05	0.943	4	0.000	0.061	2557	3702	1825
11760	1.00	242.9	581.7	8.0	563	11766	0.00	2.50	0.00	0.000	6	0.000	0.029	2557	2292	1824
12076	1.06	242.9	556.5	8.2	579	12078	0.15	0.00	0.00	0.000	6	0.051	0.000	2599	2292	1822
12385	1.02	242.9	526.5	9.3	594	12389	0.00	2.62	0.00	0.000	4	0.000	0.060	2598	3702	1822
12407	0.96	242.9	524.2	10.2	595	12412	0.15	2.47	0.00	0.000	6	0.098	0.028	2570	2290	1822
12729	0.96	242.9	498.7	7.5	611	12730	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2290	1821
13037	0.96	242.9	475.3	7.6	626	13042	0.00	2.60	0.00	0.000	4	0.000	0.058	2570	3702	1821
13059	0.96	242.9	473.4	8.1	627	13064	0.00	2.45	0.00	0.000	6	0.000	0.027	2570	2294	1821
13380	0.96	242.9	447.9	8.0	643	13381	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2294	1821
13689	0.96	242.9	422.2	8.2	658	13693	0.00	2.62	0.00	0.000	4	0.000	0.058	2570	3711	1821
13710	0.96	242.9	420.2	8.7	659	13715	0.00	2.45	0.00	0.000	6	0.000	0.027	2570	2299	1821
14032	0.96	242.9	394.9	7.7	675	14033	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2298	1822
14341	0.96	242.9	370.9	7.8	690	14342	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2298	1822
14650	1.00	242.9	347.0	8.0	705	14655	0.00	2.58	0.00	0.000	4	0.000	0.057	2570	3705	1822
14678	1.00	242.9	344.6	8.8	706	14682	0.00	2.42	0.00	0.000	6	0.000	0.026	2570	2294	1822
14999	1.00	242.9	319.0	8.0	722	15001	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2294	1822
15309	1.00	242.9	293.9	8.1	737	15310	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2293	1822
15619	1.05	242.9	268.5	8.0	752	15623	0.00	2.60	0.00	0.000	4	0.000	0.056	2570	3707	1822
15652	1.05	242.9	265.5	8.9	753	15658	0.00	2.42	0.00	0.000	6	0.000	0.026	2570	2300	1822
15967	1.09	242.9	240.4	7.8	769	15969	0.12	0.00	0.00	0.000	6	0.047	0.000	2606	2299	1822
16277	1.03	242.9	210.0	10.1	784	16279	0.12	0.00	0.00	0.000	6	0.094	0.000	2583	2299	1822
16586	1.03	242.9	182.3	8.9	799	16590	0.00	2.58	0.00	0.000	4	0.000	0.056	2583	3711	1822
16627	1.03	242.9	178.6	9.3	801	16631	0.00	2.42	0.00	0.000	6	0.000	0.026	2583	2299	1822
16953	1.03	242.9	148.8	9.3	817	16955	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2299	1822
17263	1.03	242.9	119.2	9.8	832	17264	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2299	1822
17573	1.03	242.9	87.1	10.4	847	17578	0.00	2.58	0.00	0.000	4	0.000	0.055	2583	3704	1822
17602	1.03	242.9	83.7	11.4	848	17606	0.00	2.42	0.00	0.000	6	0.000	0.026	2583	2295	1822
17918	1.03	242.9	49.5	10.6	863	17922	0.00	2.47	0.00	0.000	4	0.000	0.044	2583	903	1822
17950	1.03	242.9	46.1	9.6	864	17957	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2304	1822
18269	1.08	242.9	20.3	7.7	880	18273	0.00	2.55	0.00	0.000	4	0.000	0.056	2583	3700	1823
18353	1.08	242.9	13.0	8.3	884	18358	0.00	2.42	0.00	0.000	6	0.000	0.026	2583	2291	1823
18492	end climb: SURFACE_DEPTH_REACHED
state	18492	begin surface coast
18514	end surface coast: CONTROL_FINISHED_OK
state	18514	begin surface