Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 291 * 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 291 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -2112797.5 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 -2112797.5

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 27 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 291 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 152006,6207.695,-1007.139,40,1.2,40,-10.1 TGT_NAME CE

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.36 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.1 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 152822,6207.766,-1006.852,12,2.5,31,-10.1 MHEAD_RNG_PITCHd_Wd 119.4,15484,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026316 ALTIM_BOTTOM_PING 750.3,68.5

SM_CCo 18481,0.00,0.000,0,0,1461,332.63 _24V_AH 23.5,45.447

SM_GC 1.49,12.27,0.00,0.00,0.091,0.000,0.000,68,2602,1461,-10.47,0.08,332.63 _10V_AH 10.1,23.727

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44360,886

TT8_MAMPS 0.02301 CAP_FILE_SIZE 138579,0

HUMID 1815 CFSIZE 260165632,241807360

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 300709,203754,6208.943,-957.498,38,1.6,38,-10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 177 120.64 SBE_CT 649 24 366.08

Roll_motor 153 73 265.87 SBE_O2 603 19 269.54

VBD_pump_during_apogee 426 1110 11124.90 WL_BB2F 494 105 1219.33

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 36 103 87.42 nil 0 0 0.00

Iridium_during_connect 58 160 218.63 nil 0 0 0.00

Iridium_during_xfer 191 223 1005.21

Transponder_ping 6 420 64.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.44

TT8 1636 19 327.21

LPSleep 14195 2 313.98

TT8_Active 574 19 114.82

TT8_Sampling 1964 39 789.77

TT8_CF8 601 45 278.36

TT8_Kalman 0 81 0.00

Analog_circuits 1571 12 190.46

GPS_charging 0 0 0.00

Compass 1894 8 153.10

RAFOS 0 0 0.00

Transponder 45 30 13.65

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 0 119 0.00 0.00 -101.50 0.000 2 0.000 0.000 73 2608 3350

123 -1.03 -146.6 5.4 -4.5 5 145 11.75 2.35 -1.05 0.000 4 0.177 0.071 2131 3854 3417

399 -0.94 -146.6 48.2 -16.0 17 404 0.12 2.17 0.00 0.000 6 0.098 0.025 2154 2574 3418

720 -0.94 -146.6 77.7 -3.6 33 721 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2573 3418

1031 -0.94 -146.6 102.5 -8.9 48 1035 0.00 2.40 0.00 0.000 4 0.000 0.038 2154 1212 3419

1127 -1.00 -146.6 111.6 -9.1 52 1131 0.00 2.45 0.00 0.000 6 0.000 0.034 2154 2601 3418

1444 -1.00 -146.6 134.8 -6.7 67 1449 0.00 2.45 0.00 0.000 4 0.000 0.036 2154 1212 3419

1500 -1.08 -146.6 139.1 -7.2 69 1508 0.15 2.45 0.00 0.000 6 0.039 0.035 2104 2601 3419

1817 -0.96 -146.6 174.2 -12.5 85 1822 0.20 2.33 0.00 0.000 4 0.094 0.061 2147 3859 3419

1866 -0.96 -146.6 180.0 -10.9 87 1870 0.00 2.15 0.00 0.000 6 0.000 0.026 2148 2589 3419

2188 -0.96 -146.6 211.7 -9.3 103 2192 0.00 2.42 0.00 0.000 4 0.000 0.038 2148 1212 3419

2228 -1.01 -146.6 215.2 -8.7 105 2233 0.00 2.45 0.00 0.000 6 0.000 0.035 2148 2601 3419

2556 -1.01 -146.6 243.9 -8.9 121 2557 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2602 3418

2866 -1.01 -146.6 271.0 -8.2 136 2870 0.00 2.45 0.00 0.000 4 0.000 0.038 2148 1214 3418

2917 -1.07 -146.6 275.3 -7.6 138 2921 0.00 2.45 0.00 0.000 6 0.000 0.035 2148 2601 3418

3239 -1.07 -146.6 300.1 -7.7 154 3243 0.00 2.45 0.00 0.000 4 0.000 0.038 2148 1213 3417

3280 -1.14 -146.6 303.1 -7.4 156 3285 0.17 2.45 0.00 0.000 6 0.041 0.035 2095 2603 3417

3607 -1.01 -146.6 337.8 -10.7 172 3609 0.22 0.00 0.00 0.000 6 0.096 0.000 2137 2603 3417

3916 -1.01 -146.6 364.1 -8.3 187 3917 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2603 3417

4225 -1.01 -146.6 390.6 -8.9 202 4229 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1214 3416

4293 -1.05 -146.6 396.6 -8.5 205 4297 0.00 2.45 0.00 0.000 6 0.000 0.036 2138 2603 3416

4620 -1.05 -146.6 427.5 -9.6 221 4624 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1214 3416

4660 -1.09 -146.6 431.2 -8.9 223 4664 0.00 2.45 0.00 0.000 6 0.000 0.035 2138 2603 3416

4986 -1.09 -146.6 459.8 -8.7 239 4987 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2603 3416

5296 -1.09 -146.6 486.6 -8.9 254 5300 0.00 2.45 0.00 0.000 4 0.000 0.038 2137 1213 3415

5370 -1.13 -146.6 493.0 -9.0 257 5375 0.12 2.45 0.00 0.000 6 0.048 0.035 2099 2601 3416

5687 -1.02 -146.6 526.0 -10.0 272 5689 0.20 0.00 0.00 0.000 6 0.099 0.000 2136 2601 3415

5997 -1.02 -146.6 550.1 -8.0 287 6001 0.00 2.45 0.00 0.000 4 0.000 0.038 2136 1214 3415

6029 -1.02 -146.6 553.1 -8.4 288 6035 0.00 2.45 0.00 0.000 6 0.000 0.035 2136 2603 3415

6346 -1.02 -146.6 579.5 -8.2 304 6350 0.00 2.45 0.00 0.000 4 0.000 0.038 2136 1213 3415

6386 -1.02 -146.6 582.8 -8.2 306 6390 0.00 2.45 0.00 0.000 6 0.000 0.036 2136 2603 3414

6712 -1.02 -146.6 612.6 -9.3 322 6716 0.00 2.47 0.00 0.000 4 0.000 0.038 2134 1206 3414

6756 -1.07 -146.6 616.8 -9.1 324 6761 0.00 2.47 0.00 0.000 6 0.000 0.036 2136 2610 3414

7078 -1.07 -146.6 645.4 -8.6 340 7079 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2610 3414

7387 -1.07 -146.6 671.4 -8.5 355 7391 0.00 2.47 0.00 0.000 4 0.000 0.038 2136 1211 3414

7466 -1.12 -146.6 678.6 -10.0 358 7472 0.00 2.45 0.00 0.000 6 0.000 0.036 2136 2599 3414

7781 -1.12 -146.6 706.5 -8.5 374 7785 0.00 2.45 0.00 0.000 4 0.000 0.038 2136 1212 3413

7814 -1.18 -146.6 709.0 -7.2 375 7822 0.15 2.45 0.00 0.000 6 0.044 0.037 2090 2602 3413

8132 -1.08 -146.6 739.6 -9.8 391 8137 0.17 2.35 0.00 0.000 4 0.097 0.069 2127 3858 3413

8187 -1.08 -146.6 744.0 -6.7 393 8193 0.00 2.15 0.00 0.000 6 0.000 0.028 2127 2601 3413

8503 -1.08 -146.6 766.2 -8.2 409 8508 0.00 2.47 0.00 0.000 4 0.000 0.043 2127 1209 3413

8548 -1.15 -146.6 770.1 -9.9 411 8553 0.00 2.47 0.00 0.000 6 0.000 0.038 2127 2606 3413

8869 -1.15 -146.6 795.3 -8.5 427 8873 0.00 2.35 0.00 0.000 4 0.000 0.074 2127 3857 3411

8932 -1.15 -146.6 800.1 -6.3 429 8939 0.00 2.17 0.00 0.000 6 0.000 0.031 2127 2608 3411

9060 end dive: BOTTOM_OBSTACLE_DETECTED

state 9060 begin apogee

9067 -0.31 0.0 809.9 8.1 436 9202 0.85 0.00 129.77 1.111 6 0.126 0.000 2289 2293 2817

9203 end apogee: CONTROL_FINISHED_OK

state 9203 begin climb

9206 1.03 146.6 812.9 0.0 443 9350 1.35 2.62 132.20 1.095 4 0.070 0.053 2580 900 2217

9608 0.91 146.6 789.1 9.3 461 9613 0.12 2.50 0.00 0.000 6 0.095 0.038 2557 2300 2209

9930 0.93 229.0 768.4 4.7 477 10013 0.00 2.65 74.75 1.071 4 0.000 0.049 2557 904 1880

10084 0.95 246.5 757.3 6.9 484 10106 0.00 2.50 16.48 0.985 6 0.000 0.038 2557 2300 1812

10415 1.01 246.5 729.9 9.1 500 10420 0.00 2.65 0.00 0.000 4 0.000 0.067 2556 3708 1805

10460 1.01 246.5 725.2 10.3 502 10464 0.00 2.50 0.00 0.000 6 0.000 0.031 2557 2299 1805

10781 1.06 246.5 698.5 7.9 518 10783 0.15 0.00 0.00 0.000 6 0.050 0.000 2599 2299 1803

11090 1.00 247.0 672.6 7.5 533 11091 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2299 1803

11399 0.94 247.0 644.6 10.0 548 11404 0.17 2.58 0.00 0.000 4 0.095 0.052 2561 892 1802

11421 0.94 247.0 642.3 10.6 549 11426 0.00 2.50 0.00 0.000 6 0.000 0.036 2561 2303 1800

11743 0.99 247.0 614.3 7.8 565 11744 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2303 1801

12052 1.04 247.0 589.7 8.6 580 12057 0.12 2.62 0.00 0.000 4 0.053 0.062 2598 3707 1801

12081 0.97 247.0 586.7 10.7 581 12086 0.15 2.47 0.00 0.000 6 0.098 0.030 2571 2295 1801

12397 0.97 247.0 558.3 8.6 596 12401 0.00 2.55 0.00 0.000 4 0.000 0.049 2570 892 1801

12424 0.97 247.0 555.8 8.1 597 12428 0.00 2.50 0.00 0.000 6 0.000 0.035 2570 2308 1800

12740 0.97 247.0 527.3 9.7 612 12744 0.00 2.60 0.00 0.000 4 0.000 0.061 2570 3704 1800

12761 0.97 247.0 525.0 10.0 613 12765 0.00 2.45 0.00 0.000 6 0.000 0.028 2569 2296 1800

13082 0.97 247.0 495.0 9.5 629 13083 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2296 1800

13391 0.97 247.0 466.4 8.9 644 13396 0.00 2.60 0.00 0.000 4 0.000 0.058 2570 3701 1800

13413 0.97 247.0 464.1 9.1 645 13418 0.00 2.45 0.00 0.000 6 0.000 0.028 2570 2294 1801

13736 0.97 247.0 436.4 8.2 661 13737 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2294 1801

14045 0.97 247.0 410.8 8.4 676 14049 0.00 2.62 0.00 0.000 4 0.000 0.058 2570 3709 1801

14072 0.97 247.0 408.2 8.6 677 14076 0.00 2.45 0.00 0.000 6 0.000 0.028 2570 2298 1801

14387 0.97 247.0 382.1 8.2 692 14388 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2298 1801

14697 0.97 247.0 356.2 8.4 707 14698 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2298 1801

15007 1.02 247.0 329.7 8.9 722 15008 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2297 1801

15315 1.06 247.0 301.6 9.0 737 15317 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2298 1802

15625 1.11 247.0 272.4 9.6 752 15630 0.15 2.58 0.00 0.000 4 0.044 0.056 2614 3701 1801

15665 0.98 247.0 267.6 12.5 754 15670 0.20 2.42 0.00 0.000 6 0.089 0.028 2575 2300 1802

15992 0.98 247.0 236.4 9.4 770 15993 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2300 1802

16301 0.98 247.0 207.5 9.5 785 16302 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2300 1802

16610 0.98 247.0 179.8 8.7 800 16611 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2300 1802

16920 1.03 292.8 157.8 5.9 815 16962 0.00 0.00 40.47 0.668 6 0.000 0.000 2575 2300 1622

17274 1.14 329.1 140.1 6.3 832 17313 0.15 2.58 32.58 0.650 4 0.044 0.046 2618 902 1474

17337 1.14 329.1 133.5 12.4 835 17341 0.00 2.47 0.00 0.000 6 0.000 0.033 2618 2301 1471

17664 1.14 329.1 87.5 15.8 851 17665 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2301 1468

17973 1.14 329.1 49.8 11.1 866 17977 0.00 2.53 0.00 0.000 4 0.000 0.043 2618 900 1466

18006 1.14 329.1 45.7 11.4 867 18012 0.00 2.45 0.00 0.000 6 0.000 0.033 2618 2302 1465

18324 1.14 329.1 8.2 11.7 883 18328 0.00 2.53 0.00 0.000 4 0.000 0.041 2618 895 1465

18370 end climb: SURFACE_DEPTH_REACHED

state 18371 begin surface coast

18394 end surface coast: CONTROL_FINISHED_OK

state 18394 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	291	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-2112797.5	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	152006,6207.695,-1007.139,40,1.2,40,-10.1	TGT_NAME	CE
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.36	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.1	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	152822,6207.766,-1006.852,12,2.5,31,-10.1	MHEAD_RNG_PITCHd_Wd	119.4,15484,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.026316	ALTIM_BOTTOM_PING	750.3,68.5
SM_CCo	18481,0.00,0.000,0,0,1461,332.63	_24V_AH	23.5,45.447
SM_GC	1.49,12.27,0.00,0.00,0.091,0.000,0.000,68,2602,1461,-10.47,0.08,332.63	_10V_AH	10.1,23.727
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44360,886
TT8_MAMPS	0.02301	CAP_FILE_SIZE	138579,0
HUMID	1815	CFSIZE	260165632,241807360
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	300709,203754,6208.943,-957.498,38,1.6,38,-10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	177	120.64	SBE_CT	649	24	366.08
Roll_motor	153	73	265.87	SBE_O2	603	19	269.54
VBD_pump_during_apogee	426	1110	11124.90	WL_BB2F	494	105	1219.33
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	36	103	87.42	nil	0	0	0.00
Iridium_during_connect	58	160	218.63	nil	0	0	0.00
Iridium_during_xfer	191	223	1005.21
Transponder_ping	6	420	64.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.44
TT8	1636	19	327.21
LPSleep	14195	2	313.98
TT8_Active	574	19	114.82
TT8_Sampling	1964	39	789.77
TT8_CF8	601	45	278.36
TT8_Kalman	0	81	0.00
Analog_circuits	1571	12	190.46
GPS_charging	0	0	0.00
Compass	1894	8	153.10
RAFOS	0	0	0.00
Transponder	45	30	13.65

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	119	0.00	0.00	-101.50	0.000	2	0.000	0.000	73	2608	3350
123	-1.03	-146.6	5.4	-4.5	5	145	11.75	2.35	-1.05	0.000	4	0.177	0.071	2131	3854	3417
399	-0.94	-146.6	48.2	-16.0	17	404	0.12	2.17	0.00	0.000	6	0.098	0.025	2154	2574	3418
720	-0.94	-146.6	77.7	-3.6	33	721	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2573	3418
1031	-0.94	-146.6	102.5	-8.9	48	1035	0.00	2.40	0.00	0.000	4	0.000	0.038	2154	1212	3419
1127	-1.00	-146.6	111.6	-9.1	52	1131	0.00	2.45	0.00	0.000	6	0.000	0.034	2154	2601	3418
1444	-1.00	-146.6	134.8	-6.7	67	1449	0.00	2.45	0.00	0.000	4	0.000	0.036	2154	1212	3419
1500	-1.08	-146.6	139.1	-7.2	69	1508	0.15	2.45	0.00	0.000	6	0.039	0.035	2104	2601	3419
1817	-0.96	-146.6	174.2	-12.5	85	1822	0.20	2.33	0.00	0.000	4	0.094	0.061	2147	3859	3419
1866	-0.96	-146.6	180.0	-10.9	87	1870	0.00	2.15	0.00	0.000	6	0.000	0.026	2148	2589	3419
2188	-0.96	-146.6	211.7	-9.3	103	2192	0.00	2.42	0.00	0.000	4	0.000	0.038	2148	1212	3419
2228	-1.01	-146.6	215.2	-8.7	105	2233	0.00	2.45	0.00	0.000	6	0.000	0.035	2148	2601	3419
2556	-1.01	-146.6	243.9	-8.9	121	2557	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2602	3418
2866	-1.01	-146.6	271.0	-8.2	136	2870	0.00	2.45	0.00	0.000	4	0.000	0.038	2148	1214	3418
2917	-1.07	-146.6	275.3	-7.6	138	2921	0.00	2.45	0.00	0.000	6	0.000	0.035	2148	2601	3418
3239	-1.07	-146.6	300.1	-7.7	154	3243	0.00	2.45	0.00	0.000	4	0.000	0.038	2148	1213	3417
3280	-1.14	-146.6	303.1	-7.4	156	3285	0.17	2.45	0.00	0.000	6	0.041	0.035	2095	2603	3417
3607	-1.01	-146.6	337.8	-10.7	172	3609	0.22	0.00	0.00	0.000	6	0.096	0.000	2137	2603	3417
3916	-1.01	-146.6	364.1	-8.3	187	3917	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2603	3417
4225	-1.01	-146.6	390.6	-8.9	202	4229	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1214	3416
4293	-1.05	-146.6	396.6	-8.5	205	4297	0.00	2.45	0.00	0.000	6	0.000	0.036	2138	2603	3416
4620	-1.05	-146.6	427.5	-9.6	221	4624	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1214	3416
4660	-1.09	-146.6	431.2	-8.9	223	4664	0.00	2.45	0.00	0.000	6	0.000	0.035	2138	2603	3416
4986	-1.09	-146.6	459.8	-8.7	239	4987	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2603	3416
5296	-1.09	-146.6	486.6	-8.9	254	5300	0.00	2.45	0.00	0.000	4	0.000	0.038	2137	1213	3415
5370	-1.13	-146.6	493.0	-9.0	257	5375	0.12	2.45	0.00	0.000	6	0.048	0.035	2099	2601	3416
5687	-1.02	-146.6	526.0	-10.0	272	5689	0.20	0.00	0.00	0.000	6	0.099	0.000	2136	2601	3415
5997	-1.02	-146.6	550.1	-8.0	287	6001	0.00	2.45	0.00	0.000	4	0.000	0.038	2136	1214	3415
6029	-1.02	-146.6	553.1	-8.4	288	6035	0.00	2.45	0.00	0.000	6	0.000	0.035	2136	2603	3415
6346	-1.02	-146.6	579.5	-8.2	304	6350	0.00	2.45	0.00	0.000	4	0.000	0.038	2136	1213	3415
6386	-1.02	-146.6	582.8	-8.2	306	6390	0.00	2.45	0.00	0.000	6	0.000	0.036	2136	2603	3414
6712	-1.02	-146.6	612.6	-9.3	322	6716	0.00	2.47	0.00	0.000	4	0.000	0.038	2134	1206	3414
6756	-1.07	-146.6	616.8	-9.1	324	6761	0.00	2.47	0.00	0.000	6	0.000	0.036	2136	2610	3414
7078	-1.07	-146.6	645.4	-8.6	340	7079	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2610	3414
7387	-1.07	-146.6	671.4	-8.5	355	7391	0.00	2.47	0.00	0.000	4	0.000	0.038	2136	1211	3414
7466	-1.12	-146.6	678.6	-10.0	358	7472	0.00	2.45	0.00	0.000	6	0.000	0.036	2136	2599	3414
7781	-1.12	-146.6	706.5	-8.5	374	7785	0.00	2.45	0.00	0.000	4	0.000	0.038	2136	1212	3413
7814	-1.18	-146.6	709.0	-7.2	375	7822	0.15	2.45	0.00	0.000	6	0.044	0.037	2090	2602	3413
8132	-1.08	-146.6	739.6	-9.8	391	8137	0.17	2.35	0.00	0.000	4	0.097	0.069	2127	3858	3413
8187	-1.08	-146.6	744.0	-6.7	393	8193	0.00	2.15	0.00	0.000	6	0.000	0.028	2127	2601	3413
8503	-1.08	-146.6	766.2	-8.2	409	8508	0.00	2.47	0.00	0.000	4	0.000	0.043	2127	1209	3413
8548	-1.15	-146.6	770.1	-9.9	411	8553	0.00	2.47	0.00	0.000	6	0.000	0.038	2127	2606	3413
8869	-1.15	-146.6	795.3	-8.5	427	8873	0.00	2.35	0.00	0.000	4	0.000	0.074	2127	3857	3411
8932	-1.15	-146.6	800.1	-6.3	429	8939	0.00	2.17	0.00	0.000	6	0.000	0.031	2127	2608	3411
9060	end dive: BOTTOM_OBSTACLE_DETECTED
state	9060	begin apogee
9067	-0.31	0.0	809.9	8.1	436	9202	0.85	0.00	129.77	1.111	6	0.126	0.000	2289	2293	2817
9203	end apogee: CONTROL_FINISHED_OK
state	9203	begin climb
9206	1.03	146.6	812.9	0.0	443	9350	1.35	2.62	132.20	1.095	4	0.070	0.053	2580	900	2217
9608	0.91	146.6	789.1	9.3	461	9613	0.12	2.50	0.00	0.000	6	0.095	0.038	2557	2300	2209
9930	0.93	229.0	768.4	4.7	477	10013	0.00	2.65	74.75	1.071	4	0.000	0.049	2557	904	1880
10084	0.95	246.5	757.3	6.9	484	10106	0.00	2.50	16.48	0.985	6	0.000	0.038	2557	2300	1812
10415	1.01	246.5	729.9	9.1	500	10420	0.00	2.65	0.00	0.000	4	0.000	0.067	2556	3708	1805
10460	1.01	246.5	725.2	10.3	502	10464	0.00	2.50	0.00	0.000	6	0.000	0.031	2557	2299	1805
10781	1.06	246.5	698.5	7.9	518	10783	0.15	0.00	0.00	0.000	6	0.050	0.000	2599	2299	1803
11090	1.00	247.0	672.6	7.5	533	11091	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2299	1803
11399	0.94	247.0	644.6	10.0	548	11404	0.17	2.58	0.00	0.000	4	0.095	0.052	2561	892	1802
11421	0.94	247.0	642.3	10.6	549	11426	0.00	2.50	0.00	0.000	6	0.000	0.036	2561	2303	1800
11743	0.99	247.0	614.3	7.8	565	11744	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2303	1801
12052	1.04	247.0	589.7	8.6	580	12057	0.12	2.62	0.00	0.000	4	0.053	0.062	2598	3707	1801
12081	0.97	247.0	586.7	10.7	581	12086	0.15	2.47	0.00	0.000	6	0.098	0.030	2571	2295	1801
12397	0.97	247.0	558.3	8.6	596	12401	0.00	2.55	0.00	0.000	4	0.000	0.049	2570	892	1801
12424	0.97	247.0	555.8	8.1	597	12428	0.00	2.50	0.00	0.000	6	0.000	0.035	2570	2308	1800
12740	0.97	247.0	527.3	9.7	612	12744	0.00	2.60	0.00	0.000	4	0.000	0.061	2570	3704	1800
12761	0.97	247.0	525.0	10.0	613	12765	0.00	2.45	0.00	0.000	6	0.000	0.028	2569	2296	1800
13082	0.97	247.0	495.0	9.5	629	13083	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2296	1800
13391	0.97	247.0	466.4	8.9	644	13396	0.00	2.60	0.00	0.000	4	0.000	0.058	2570	3701	1800
13413	0.97	247.0	464.1	9.1	645	13418	0.00	2.45	0.00	0.000	6	0.000	0.028	2570	2294	1801
13736	0.97	247.0	436.4	8.2	661	13737	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2294	1801
14045	0.97	247.0	410.8	8.4	676	14049	0.00	2.62	0.00	0.000	4	0.000	0.058	2570	3709	1801
14072	0.97	247.0	408.2	8.6	677	14076	0.00	2.45	0.00	0.000	6	0.000	0.028	2570	2298	1801
14387	0.97	247.0	382.1	8.2	692	14388	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2298	1801
14697	0.97	247.0	356.2	8.4	707	14698	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2298	1801
15007	1.02	247.0	329.7	8.9	722	15008	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2297	1801
15315	1.06	247.0	301.6	9.0	737	15317	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2298	1802
15625	1.11	247.0	272.4	9.6	752	15630	0.15	2.58	0.00	0.000	4	0.044	0.056	2614	3701	1801
15665	0.98	247.0	267.6	12.5	754	15670	0.20	2.42	0.00	0.000	6	0.089	0.028	2575	2300	1802
15992	0.98	247.0	236.4	9.4	770	15993	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2300	1802
16301	0.98	247.0	207.5	9.5	785	16302	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2300	1802
16610	0.98	247.0	179.8	8.7	800	16611	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2300	1802
16920	1.03	292.8	157.8	5.9	815	16962	0.00	0.00	40.47	0.668	6	0.000	0.000	2575	2300	1622
17274	1.14	329.1	140.1	6.3	832	17313	0.15	2.58	32.58	0.650	4	0.044	0.046	2618	902	1474
17337	1.14	329.1	133.5	12.4	835	17341	0.00	2.47	0.00	0.000	6	0.000	0.033	2618	2301	1471
17664	1.14	329.1	87.5	15.8	851	17665	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2301	1468
17973	1.14	329.1	49.8	11.1	866	17977	0.00	2.53	0.00	0.000	4	0.000	0.043	2618	900	1466
18006	1.14	329.1	45.7	11.4	867	18012	0.00	2.45	0.00	0.000	6	0.000	0.033	2618	2302	1465
18324	1.14	329.1	8.2	11.7	883	18328	0.00	2.53	0.00	0.000	4	0.000	0.041	2618	895	1465
18370	end climb: SURFACE_DEPTH_REACHED
state	18371	begin surface coast
18394	end surface coast: CONTROL_FINISHED_OK
state	18394	begin surface