Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 283 * 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 283 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 38 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 -2112646.5 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 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 -2112646.5

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 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 38 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 283 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 235930,6219.869,-1043.587,39,1.1,39,-10.5 TGT_NAME DE

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.42 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.9 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 000501,6219.892,-1043.512,14,1.1,31,-10.5 MHEAD_RNG_PITCHd_Wd 151.5,11660,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026443 ALTIM_BOTTOM_PING 676.0,74.3

SM_CCo 17668,0.00,0.000,0,0,1749,261.98 _24V_AH 23.6,44.237

SM_GC 1.35,12.02,0.00,0.00,0.087,0.000,0.000,70,2606,1749,-10.45,0.17,261.98 _10V_AH 10.1,23.092

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44218,847

TT8_MAMPS 0.022243 CAP_FILE_SIZE 136020,0

HUMID 1803 CFSIZE 260165632,242307072

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 1 GPS 290709,050118,6219.426,-1035.769,42,1.8,54,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 178 126.32 SBE_CT 622 24 352.64

Roll_motor 165 70 275.19 SBE_O2 576 19 258.52

VBD_pump_during_apogee 376 1068 9485.87 WL_BB2F 509 105 1263.17

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 43.86 nil 0 0 0.00

Iridium_during_connect 28 160 107.74 nil 0 0 0.00

Iridium_during_xfer 138 223 726.93

Transponder_ping 6 420 59.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.80

TT8 1565 19 313.12

LPSleep 13579 2 300.38

TT8_Active 516 19 103.30

TT8_Sampling 1836 39 738.26

TT8_CF8 496 45 229.48

TT8_Kalman 0 81 0.00

Analog_circuits 1453 12 176.15

GPS_charging 0 0 0.00

Compass 1775 8 143.49

RAFOS 0 0 0.00

Transponder 39 30 12.10

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 78 0.00 0.00 -59.75 0.000 6 0.000 0.000 71 2595 3417

81 -1.03 -146.6 6.5 -12.2 3 103 11.80 2.50 0.00 0.000 4 0.179 0.034 2129 1195 3418

128 -0.63 -146.6 24.6 -26.2 5 133 0.50 2.50 0.00 0.000 6 0.131 0.035 2220 2607 3419

455 -0.82 -146.6 50.1 -7.8 21 460 0.17 2.47 0.00 0.000 4 0.050 0.035 2167 1197 3419

496 -0.88 -146.6 53.8 -9.4 23 500 0.00 2.47 0.00 0.000 6 0.000 0.033 2166 2605 3419

823 -0.94 -146.6 81.5 -7.8 39 827 0.00 2.47 0.00 0.000 4 0.000 0.035 2167 1197 3420

874 -1.06 -146.6 85.5 -7.2 41 879 0.17 2.47 0.00 0.000 6 0.038 0.034 2112 2602 3420

1191 -0.96 -146.6 117.6 -10.1 56 1193 0.20 0.00 0.00 0.000 6 0.091 0.000 2150 2602 3420

1499 -0.96 -146.6 143.0 -8.1 71 1504 0.00 2.47 0.00 0.000 4 0.000 0.035 2150 1195 3420

1527 -1.01 -146.6 145.3 -8.4 72 1532 0.00 2.47 0.00 0.000 6 0.000 0.034 2150 2603 3420

1844 -1.01 -146.6 170.2 -7.9 87 1845 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2603 3420

2152 -1.01 -146.6 194.3 -8.0 102 2156 0.00 2.47 0.00 0.000 4 0.000 0.036 2150 1197 3420

2202 -1.07 -146.6 198.6 -8.0 104 2207 0.12 2.47 0.00 0.000 6 0.046 0.035 2106 2605 3420

2519 -0.97 -146.6 232.6 -11.0 119 2521 0.20 0.00 0.00 0.000 6 0.092 0.000 2147 2605 3420

2827 -0.97 -146.6 261.2 -9.4 134 2831 0.00 2.47 0.00 0.000 4 0.000 0.036 2147 1198 3420

2860 -1.02 -146.6 264.3 -9.8 135 2866 0.00 2.47 0.00 0.000 6 0.000 0.035 2147 2609 3420

3177 -1.02 -146.6 294.7 -9.8 151 3181 0.00 2.50 0.00 0.000 4 0.000 0.036 2147 1191 3420

3210 -1.07 -146.6 298.2 -10.2 152 3216 0.00 2.47 0.00 0.000 6 0.000 0.035 2147 2600 3420

3525 -1.07 -146.6 328.2 -9.1 168 3529 0.00 2.47 0.00 0.000 4 0.000 0.037 2147 1195 3419

3553 -1.07 -146.6 330.7 -9.3 169 3557 0.00 2.47 0.00 0.000 6 0.000 0.035 2147 2603 3419

3868 -1.07 -146.6 357.5 -8.4 184 3869 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2603 3419

4177 -1.07 -146.6 382.3 -8.0 199 4182 0.00 2.47 0.00 0.000 4 0.000 0.037 2147 1198 3419

4234 -1.13 -146.6 386.8 -7.9 201 4241 0.15 2.47 0.00 0.000 6 0.043 0.035 2100 2608 3419

4550 -1.01 -146.6 420.2 -10.7 217 4552 0.20 0.00 0.00 0.000 6 0.094 0.000 2138 2607 3419

4859 -1.01 -146.6 447.8 -9.0 232 4864 0.00 2.47 0.00 0.000 4 0.000 0.037 2138 1198 3418

4900 -1.05 -146.6 451.3 -8.4 234 4904 0.00 2.47 0.00 0.000 6 0.000 0.035 2138 2609 3418

5226 -1.05 -146.6 480.6 -9.1 250 5230 0.00 2.50 0.00 0.000 4 0.000 0.037 2138 1191 3418

5260 -1.09 -146.6 483.6 -9.2 251 5266 0.00 2.47 0.00 0.000 6 0.000 0.035 2138 2600 3418

5575 -1.09 -146.6 511.9 -8.9 267 5576 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2600 3418

5884 -1.09 -146.6 538.8 -9.0 282 5889 0.00 2.47 0.00 0.000 4 0.000 0.037 2138 1194 3418

5930 -1.15 -146.6 542.8 -9.5 284 5935 0.15 2.47 0.00 0.000 6 0.044 0.035 2091 2603 3418

6251 -1.02 -146.6 580.7 -11.1 300 6253 0.22 0.00 0.00 0.000 6 0.094 0.000 2135 2603 3418

6560 -1.02 -146.6 608.8 -9.0 315 6565 0.00 2.47 0.00 0.000 4 0.000 0.037 2135 1197 3417

6582 -1.02 -146.6 610.7 -8.5 316 6587 0.00 2.47 0.00 0.000 6 0.000 0.035 2135 2605 3417

6903 -1.02 -146.6 637.6 -7.8 332 6908 0.00 2.35 0.00 0.000 4 0.000 0.069 2134 3863 3417

6948 -1.02 -146.6 641.5 -8.9 334 6952 0.00 2.17 0.00 0.000 6 0.000 0.026 2135 2579 3417

7270 -1.06 -146.6 663.7 -6.8 350 7271 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2577 3417

7578 -1.11 -146.6 684.4 -6.7 365 7583 0.00 2.42 0.00 0.000 4 0.000 0.042 2135 1211 3417

7613 -1.20 -146.6 687.1 -7.6 366 7619 0.17 2.45 0.00 0.000 6 0.041 0.036 2080 2600 3416

7929 -1.09 -146.6 719.7 -10.9 382 7933 0.17 2.35 0.00 0.000 4 0.096 0.071 2118 3857 3416

7984 -1.09 -146.6 725.0 -9.3 384 7990 0.00 2.12 0.00 0.000 6 0.000 0.028 2118 2603 3416

8173 end dive: BOTTOM_OBSTACLE_DETECTED

state 8173 begin apogee

8181 -0.31 0.0 740.7 8.0 394 8316 0.90 0.00 129.70 1.068 6 0.126 0.000 2290 2302 2817

8317 end apogee: CONTROL_FINISHED_OK

state 8317 begin climb

8320 1.03 146.6 747.1 0.0 401 8460 1.38 2.70 131.50 1.057 4 0.075 0.064 2581 3701 2218

8718 0.91 146.6 723.9 9.3 418 8723 0.12 2.45 0.00 0.000 6 0.097 0.030 2558 2311 2213

9040 0.90 180.0 701.1 6.4 434 9072 0.00 0.00 30.42 1.003 6 0.000 0.000 2558 2310 2083

9367 0.92 195.5 677.1 7.0 450 9390 0.00 2.65 14.77 0.945 4 0.000 0.064 2558 3700 2020

9407 0.94 216.1 674.3 6.8 451 9434 0.00 2.47 20.65 0.971 6 0.000 0.030 2558 2300 1935

9743 0.94 216.1 649.1 7.6 468 9748 0.00 2.62 0.00 0.000 4 0.000 0.064 2558 3701 1930

9788 0.94 216.1 644.9 9.3 470 9792 0.00 2.45 0.00 0.000 6 0.000 0.030 2558 2300 1930

10109 0.94 216.1 619.1 8.4 486 10113 0.00 2.55 0.00 0.000 4 0.000 0.051 2558 898 1929

10172 0.94 216.1 613.9 8.7 489 10176 0.00 2.47 0.00 0.000 6 0.000 0.036 2558 2302 1928

10505 1.00 229.6 590.3 7.0 505 10527 0.00 2.70 12.88 0.894 4 0.000 0.063 2558 3698 1880

10573 1.00 229.6 585.0 8.2 508 10577 0.00 2.47 0.00 0.000 6 0.000 0.030 2558 2296 1879

10900 1.07 236.6 561.9 7.3 524 10915 0.15 2.67 7.68 0.795 4 0.048 0.061 2601 3698 1851

10938 0.95 236.6 558.5 9.8 525 10945 0.17 2.47 0.00 0.000 6 0.097 0.029 2569 2292 1852

11254 0.95 236.6 533.3 8.0 541 11258 0.00 2.53 0.00 0.000 4 0.000 0.048 2568 892 1850

11282 0.95 236.6 530.8 8.9 542 11286 0.00 2.50 0.00 0.000 6 0.000 0.034 2568 2312 1849

11603 0.96 240.2 506.7 7.4 558 11612 0.00 2.60 4.93 0.656 4 0.000 0.061 2568 3699 1837

11635 0.96 240.2 504.0 7.9 559 11642 0.00 2.45 0.00 0.000 6 0.000 0.028 2568 2295 1836

11951 0.96 240.2 479.2 7.7 575 11952 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2295 1835

12260 0.96 246.5 456.1 7.3 590 12269 0.00 0.00 7.22 0.721 6 0.000 0.000 2569 2295 1813

12570 0.97 248.6 433.6 7.4 605 12575 0.00 2.60 0.00 0.000 4 0.000 0.058 2568 3704 1811

12592 0.97 248.6 431.7 7.6 606 12596 0.00 2.45 0.00 0.000 6 0.000 0.027 2568 2294 1811

12914 1.01 248.6 406.3 8.0 622 12915 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2294 1811

13222 1.01 248.6 381.7 7.8 637 13231 0.00 2.62 3.67 0.505 4 0.000 0.057 2568 3700 1803

13266 1.01 248.6 378.0 9.1 639 13270 0.00 2.45 0.00 0.000 6 0.000 0.027 2568 2292 1803

13594 1.05 248.6 352.2 8.0 655 13595 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2291 1803

13903 1.09 248.6 327.1 8.2 670 13905 0.12 0.00 0.00 0.000 6 0.046 0.000 2607 2290 1803

14212 1.04 248.6 295.4 10.3 685 14216 0.00 2.60 0.00 0.000 4 0.000 0.056 2607 3705 1803

14240 0.95 248.6 292.3 10.7 686 14245 0.20 2.42 0.00 0.000 6 0.091 0.026 2568 2300 1803

14556 1.00 248.6 265.3 8.3 701 14558 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2299 1803

14866 1.05 248.6 238.7 8.7 716 14870 0.00 2.58 0.00 0.000 4 0.000 0.055 2569 3700 1803

14899 1.05 248.6 235.6 9.3 717 14905 0.00 2.42 0.00 0.000 6 0.000 0.026 2569 2291 1803

15215 1.10 248.6 208.5 8.6 733 15220 0.15 2.58 0.00 0.000 4 0.044 0.054 2616 3702 1803

15242 1.02 248.6 205.5 10.7 734 15247 0.17 2.42 0.00 0.000 6 0.093 0.026 2582 2295 1803

15559 1.02 248.6 177.2 9.1 749 15560 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2294 1804

15867 1.02 248.6 149.1 9.2 764 15871 0.00 2.58 0.00 0.000 4 0.000 0.055 2582 3702 1803

15908 1.02 248.6 145.1 10.2 765 15914 0.00 2.42 0.00 0.000 6 0.000 0.026 2582 2292 1803

16224 1.02 248.6 116.6 8.7 781 16225 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2292 1803

16533 1.02 248.6 90.2 8.7 796 16537 0.00 2.58 0.00 0.000 4 0.000 0.054 2582 3700 1803

16595 1.02 248.6 84.3 9.6 799 16599 0.00 2.42 0.00 0.000 6 0.000 0.026 2582 2292 1803

16922 1.02 248.6 55.0 8.5 815 16926 0.00 2.47 0.00 0.000 4 0.000 0.042 2582 896 1804

16990 1.06 248.6 49.2 8.6 818 16994 0.00 2.45 0.00 0.000 6 0.000 0.031 2582 2306 1803

17312 1.13 261.1 25.1 7.1 834 17335 0.12 2.62 12.77 0.549 4 0.047 0.055 2624 3702 1752

17382 1.05 261.1 18.1 11.5 837 17387 0.17 2.42 0.00 0.000 6 0.091 0.025 2590 2296 1751

17562 end climb: SURFACE_DEPTH_REACHED

state 17562 begin surface coast

17584 end surface coast: CONTROL_FINISHED_OK

state 17584 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	283	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	38	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	-2112646.5	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	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	235930,6219.869,-1043.587,39,1.1,39,-10.5	TGT_NAME	DE
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.42	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.9	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	000501,6219.892,-1043.512,14,1.1,31,-10.5	MHEAD_RNG_PITCHd_Wd	151.5,11660,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.026443	ALTIM_BOTTOM_PING	676.0,74.3
SM_CCo	17668,0.00,0.000,0,0,1749,261.98	_24V_AH	23.6,44.237
SM_GC	1.35,12.02,0.00,0.00,0.087,0.000,0.000,70,2606,1749,-10.45,0.17,261.98	_10V_AH	10.1,23.092
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44218,847
TT8_MAMPS	0.022243	CAP_FILE_SIZE	136020,0
HUMID	1803	CFSIZE	260165632,242307072
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	1	GPS	290709,050118,6219.426,-1035.769,42,1.8,54,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	178	126.32	SBE_CT	622	24	352.64
Roll_motor	165	70	275.19	SBE_O2	576	19	258.52
VBD_pump_during_apogee	376	1068	9485.87	WL_BB2F	509	105	1263.17
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	43.86	nil	0	0	0.00
Iridium_during_connect	28	160	107.74	nil	0	0	0.00
Iridium_during_xfer	138	223	726.93
Transponder_ping	6	420	59.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.80
TT8	1565	19	313.12
LPSleep	13579	2	300.38
TT8_Active	516	19	103.30
TT8_Sampling	1836	39	738.26
TT8_CF8	496	45	229.48
TT8_Kalman	0	81	0.00
Analog_circuits	1453	12	176.15
GPS_charging	0	0	0.00
Compass	1775	8	143.49
RAFOS	0	0	0.00
Transponder	39	30	12.10

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	78	0.00	0.00	-59.75	0.000	6	0.000	0.000	71	2595	3417
81	-1.03	-146.6	6.5	-12.2	3	103	11.80	2.50	0.00	0.000	4	0.179	0.034	2129	1195	3418
128	-0.63	-146.6	24.6	-26.2	5	133	0.50	2.50	0.00	0.000	6	0.131	0.035	2220	2607	3419
455	-0.82	-146.6	50.1	-7.8	21	460	0.17	2.47	0.00	0.000	4	0.050	0.035	2167	1197	3419
496	-0.88	-146.6	53.8	-9.4	23	500	0.00	2.47	0.00	0.000	6	0.000	0.033	2166	2605	3419
823	-0.94	-146.6	81.5	-7.8	39	827	0.00	2.47	0.00	0.000	4	0.000	0.035	2167	1197	3420
874	-1.06	-146.6	85.5	-7.2	41	879	0.17	2.47	0.00	0.000	6	0.038	0.034	2112	2602	3420
1191	-0.96	-146.6	117.6	-10.1	56	1193	0.20	0.00	0.00	0.000	6	0.091	0.000	2150	2602	3420
1499	-0.96	-146.6	143.0	-8.1	71	1504	0.00	2.47	0.00	0.000	4	0.000	0.035	2150	1195	3420
1527	-1.01	-146.6	145.3	-8.4	72	1532	0.00	2.47	0.00	0.000	6	0.000	0.034	2150	2603	3420
1844	-1.01	-146.6	170.2	-7.9	87	1845	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2603	3420
2152	-1.01	-146.6	194.3	-8.0	102	2156	0.00	2.47	0.00	0.000	4	0.000	0.036	2150	1197	3420
2202	-1.07	-146.6	198.6	-8.0	104	2207	0.12	2.47	0.00	0.000	6	0.046	0.035	2106	2605	3420
2519	-0.97	-146.6	232.6	-11.0	119	2521	0.20	0.00	0.00	0.000	6	0.092	0.000	2147	2605	3420
2827	-0.97	-146.6	261.2	-9.4	134	2831	0.00	2.47	0.00	0.000	4	0.000	0.036	2147	1198	3420
2860	-1.02	-146.6	264.3	-9.8	135	2866	0.00	2.47	0.00	0.000	6	0.000	0.035	2147	2609	3420
3177	-1.02	-146.6	294.7	-9.8	151	3181	0.00	2.50	0.00	0.000	4	0.000	0.036	2147	1191	3420
3210	-1.07	-146.6	298.2	-10.2	152	3216	0.00	2.47	0.00	0.000	6	0.000	0.035	2147	2600	3420
3525	-1.07	-146.6	328.2	-9.1	168	3529	0.00	2.47	0.00	0.000	4	0.000	0.037	2147	1195	3419
3553	-1.07	-146.6	330.7	-9.3	169	3557	0.00	2.47	0.00	0.000	6	0.000	0.035	2147	2603	3419
3868	-1.07	-146.6	357.5	-8.4	184	3869	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2603	3419
4177	-1.07	-146.6	382.3	-8.0	199	4182	0.00	2.47	0.00	0.000	4	0.000	0.037	2147	1198	3419
4234	-1.13	-146.6	386.8	-7.9	201	4241	0.15	2.47	0.00	0.000	6	0.043	0.035	2100	2608	3419
4550	-1.01	-146.6	420.2	-10.7	217	4552	0.20	0.00	0.00	0.000	6	0.094	0.000	2138	2607	3419
4859	-1.01	-146.6	447.8	-9.0	232	4864	0.00	2.47	0.00	0.000	4	0.000	0.037	2138	1198	3418
4900	-1.05	-146.6	451.3	-8.4	234	4904	0.00	2.47	0.00	0.000	6	0.000	0.035	2138	2609	3418
5226	-1.05	-146.6	480.6	-9.1	250	5230	0.00	2.50	0.00	0.000	4	0.000	0.037	2138	1191	3418
5260	-1.09	-146.6	483.6	-9.2	251	5266	0.00	2.47	0.00	0.000	6	0.000	0.035	2138	2600	3418
5575	-1.09	-146.6	511.9	-8.9	267	5576	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2600	3418
5884	-1.09	-146.6	538.8	-9.0	282	5889	0.00	2.47	0.00	0.000	4	0.000	0.037	2138	1194	3418
5930	-1.15	-146.6	542.8	-9.5	284	5935	0.15	2.47	0.00	0.000	6	0.044	0.035	2091	2603	3418
6251	-1.02	-146.6	580.7	-11.1	300	6253	0.22	0.00	0.00	0.000	6	0.094	0.000	2135	2603	3418
6560	-1.02	-146.6	608.8	-9.0	315	6565	0.00	2.47	0.00	0.000	4	0.000	0.037	2135	1197	3417
6582	-1.02	-146.6	610.7	-8.5	316	6587	0.00	2.47	0.00	0.000	6	0.000	0.035	2135	2605	3417
6903	-1.02	-146.6	637.6	-7.8	332	6908	0.00	2.35	0.00	0.000	4	0.000	0.069	2134	3863	3417
6948	-1.02	-146.6	641.5	-8.9	334	6952	0.00	2.17	0.00	0.000	6	0.000	0.026	2135	2579	3417
7270	-1.06	-146.6	663.7	-6.8	350	7271	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2577	3417
7578	-1.11	-146.6	684.4	-6.7	365	7583	0.00	2.42	0.00	0.000	4	0.000	0.042	2135	1211	3417
7613	-1.20	-146.6	687.1	-7.6	366	7619	0.17	2.45	0.00	0.000	6	0.041	0.036	2080	2600	3416
7929	-1.09	-146.6	719.7	-10.9	382	7933	0.17	2.35	0.00	0.000	4	0.096	0.071	2118	3857	3416
7984	-1.09	-146.6	725.0	-9.3	384	7990	0.00	2.12	0.00	0.000	6	0.000	0.028	2118	2603	3416
8173	end dive: BOTTOM_OBSTACLE_DETECTED
state	8173	begin apogee
8181	-0.31	0.0	740.7	8.0	394	8316	0.90	0.00	129.70	1.068	6	0.126	0.000	2290	2302	2817
8317	end apogee: CONTROL_FINISHED_OK
state	8317	begin climb
8320	1.03	146.6	747.1	0.0	401	8460	1.38	2.70	131.50	1.057	4	0.075	0.064	2581	3701	2218
8718	0.91	146.6	723.9	9.3	418	8723	0.12	2.45	0.00	0.000	6	0.097	0.030	2558	2311	2213
9040	0.90	180.0	701.1	6.4	434	9072	0.00	0.00	30.42	1.003	6	0.000	0.000	2558	2310	2083
9367	0.92	195.5	677.1	7.0	450	9390	0.00	2.65	14.77	0.945	4	0.000	0.064	2558	3700	2020
9407	0.94	216.1	674.3	6.8	451	9434	0.00	2.47	20.65	0.971	6	0.000	0.030	2558	2300	1935
9743	0.94	216.1	649.1	7.6	468	9748	0.00	2.62	0.00	0.000	4	0.000	0.064	2558	3701	1930
9788	0.94	216.1	644.9	9.3	470	9792	0.00	2.45	0.00	0.000	6	0.000	0.030	2558	2300	1930
10109	0.94	216.1	619.1	8.4	486	10113	0.00	2.55	0.00	0.000	4	0.000	0.051	2558	898	1929
10172	0.94	216.1	613.9	8.7	489	10176	0.00	2.47	0.00	0.000	6	0.000	0.036	2558	2302	1928
10505	1.00	229.6	590.3	7.0	505	10527	0.00	2.70	12.88	0.894	4	0.000	0.063	2558	3698	1880
10573	1.00	229.6	585.0	8.2	508	10577	0.00	2.47	0.00	0.000	6	0.000	0.030	2558	2296	1879
10900	1.07	236.6	561.9	7.3	524	10915	0.15	2.67	7.68	0.795	4	0.048	0.061	2601	3698	1851
10938	0.95	236.6	558.5	9.8	525	10945	0.17	2.47	0.00	0.000	6	0.097	0.029	2569	2292	1852
11254	0.95	236.6	533.3	8.0	541	11258	0.00	2.53	0.00	0.000	4	0.000	0.048	2568	892	1850
11282	0.95	236.6	530.8	8.9	542	11286	0.00	2.50	0.00	0.000	6	0.000	0.034	2568	2312	1849
11603	0.96	240.2	506.7	7.4	558	11612	0.00	2.60	4.93	0.656	4	0.000	0.061	2568	3699	1837
11635	0.96	240.2	504.0	7.9	559	11642	0.00	2.45	0.00	0.000	6	0.000	0.028	2568	2295	1836
11951	0.96	240.2	479.2	7.7	575	11952	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2295	1835
12260	0.96	246.5	456.1	7.3	590	12269	0.00	0.00	7.22	0.721	6	0.000	0.000	2569	2295	1813
12570	0.97	248.6	433.6	7.4	605	12575	0.00	2.60	0.00	0.000	4	0.000	0.058	2568	3704	1811
12592	0.97	248.6	431.7	7.6	606	12596	0.00	2.45	0.00	0.000	6	0.000	0.027	2568	2294	1811
12914	1.01	248.6	406.3	8.0	622	12915	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2294	1811
13222	1.01	248.6	381.7	7.8	637	13231	0.00	2.62	3.67	0.505	4	0.000	0.057	2568	3700	1803
13266	1.01	248.6	378.0	9.1	639	13270	0.00	2.45	0.00	0.000	6	0.000	0.027	2568	2292	1803
13594	1.05	248.6	352.2	8.0	655	13595	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2291	1803
13903	1.09	248.6	327.1	8.2	670	13905	0.12	0.00	0.00	0.000	6	0.046	0.000	2607	2290	1803
14212	1.04	248.6	295.4	10.3	685	14216	0.00	2.60	0.00	0.000	4	0.000	0.056	2607	3705	1803
14240	0.95	248.6	292.3	10.7	686	14245	0.20	2.42	0.00	0.000	6	0.091	0.026	2568	2300	1803
14556	1.00	248.6	265.3	8.3	701	14558	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2299	1803
14866	1.05	248.6	238.7	8.7	716	14870	0.00	2.58	0.00	0.000	4	0.000	0.055	2569	3700	1803
14899	1.05	248.6	235.6	9.3	717	14905	0.00	2.42	0.00	0.000	6	0.000	0.026	2569	2291	1803
15215	1.10	248.6	208.5	8.6	733	15220	0.15	2.58	0.00	0.000	4	0.044	0.054	2616	3702	1803
15242	1.02	248.6	205.5	10.7	734	15247	0.17	2.42	0.00	0.000	6	0.093	0.026	2582	2295	1803
15559	1.02	248.6	177.2	9.1	749	15560	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2294	1804
15867	1.02	248.6	149.1	9.2	764	15871	0.00	2.58	0.00	0.000	4	0.000	0.055	2582	3702	1803
15908	1.02	248.6	145.1	10.2	765	15914	0.00	2.42	0.00	0.000	6	0.000	0.026	2582	2292	1803
16224	1.02	248.6	116.6	8.7	781	16225	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2292	1803
16533	1.02	248.6	90.2	8.7	796	16537	0.00	2.58	0.00	0.000	4	0.000	0.054	2582	3700	1803
16595	1.02	248.6	84.3	9.6	799	16599	0.00	2.42	0.00	0.000	6	0.000	0.026	2582	2292	1803
16922	1.02	248.6	55.0	8.5	815	16926	0.00	2.47	0.00	0.000	4	0.000	0.042	2582	896	1804
16990	1.06	248.6	49.2	8.6	818	16994	0.00	2.45	0.00	0.000	6	0.000	0.031	2582	2306	1803
17312	1.13	261.1	25.1	7.1	834	17335	0.12	2.62	12.77	0.549	4	0.047	0.055	2624	3702	1752
17382	1.05	261.1	18.1	11.5	837	17387	0.17	2.42	0.00	0.000	6	0.091	0.025	2590	2296	1751
17562	end climb: SURFACE_DEPTH_REACHED
state	17562	begin surface coast
17584	end surface coast: CONTROL_FINISHED_OK
state	17584	begin surface