Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 67 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING 270 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 67 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -2108795.2 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 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 -2108795.2

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 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 32 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 67 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 060337,6202.699,-1030.402,27,1.3,27,-10.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6202.666,-1053.543

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.43 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -58.8 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 060907,6202.666,-1030.507,11,1.4,11,-10.2 MHEAD_RNG_PITCHd_Wd 280.2,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.019244 ALTIM_BOTTOM_PING 950.4,24.9

SM_CCo 21152,0.00,0.000,0,0,1667,282.10 _24V_AH 23.5,15.599

SM_GC 1.65,11.95,0.00,0.00,0.087,0.000,0.000,65,2607,1667,-10.47,0.17,282.10 _10V_AH 10.1,6.860

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50515,1018

TT8_MAMPS 0.02301 CAP_FILE_SIZE 135925,0

HUMID 1711 CFSIZE 260165632,254701568

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 GPS 160609,120307,6201.945,-1044.368,31,1.0,32,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 190 123.31 SBE_CT 746 24 421.08

Roll_motor 110 79 207.75 SBE_O2 693 19 309.49

VBD_pump_during_apogee 398 1187 11114.73 WL_BB2F 565 105 1394.40

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 43.73 nil 0 0 0.00

Iridium_during_connect 26 160 99.59 nil 0 0 0.00

Iridium_during_xfer 167 223 877.64

Transponder_ping 8 420 86.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.02

TT8 1805 19 360.99

LPSleep 16602 2 367.23

TT8_Active 527 19 105.42

TT8_Sampling 2046 39 822.67

TT8_CF8 500 45 231.45

TT8_Kalman 0 81 0.00

Analog_circuits 1527 12 185.16

GPS_charging 0 0 0.00

Compass 2000 8 161.60

RAFOS 0 0 0.00

Transponder 60 30 18.32

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 98 0.00 0.00 -81.10 0.000 2 0.000 0.000 74 2609 3216

101 -1.03 -146.6 4.6 -5.1 4 124 12.10 2.50 -3.53 0.000 4 0.191 0.052 2131 1195 3415

215 -1.03 -146.6 22.4 -7.5 9 220 0.00 2.47 0.00 0.000 6 0.000 0.038 2131 2593 3417

542 -1.03 -146.6 45.3 -8.3 25 547 0.00 2.38 0.00 0.000 4 0.000 0.067 2131 3867 3417

654 -1.03 -146.6 57.2 -10.4 30 658 0.00 2.20 0.00 0.000 6 0.000 0.028 2131 2573 3417

976 -1.03 -146.6 94.9 -12.2 46 977 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2572 3418

1285 -1.03 -146.6 118.6 -6.9 61 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2571 3418

1595 -1.03 -146.6 146.8 -10.0 76 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2572 3418

1904 -1.03 -146.6 176.8 -9.4 91 1906 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2572 3418

2213 -1.03 -146.6 207.7 -10.7 106 2214 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2571 3418

2523 -1.03 -146.6 246.1 -13.0 121 2524 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2571 3418

2831 -1.03 -146.6 288.1 -13.5 136 2833 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2571 3418

3141 -1.03 -146.6 327.7 -12.4 151 3142 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2571 3418

3450 -1.03 -146.6 360.1 -9.4 166 3454 0.00 2.40 0.00 0.000 4 0.000 0.042 2131 1212 3418

3500 -1.08 -146.6 364.6 -8.3 168 3504 0.00 2.45 0.00 0.000 6 0.000 0.038 2131 2600 3418

3815 -1.08 -146.6 389.7 -7.7 183 3817 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3417

4125 -1.08 -146.6 414.1 -8.2 198 4126 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3417

4434 -1.08 -146.6 440.5 -8.5 213 4438 0.00 2.45 0.00 0.000 4 0.000 0.041 2131 1210 3417

4502 -1.14 -146.6 446.3 -8.7 216 4506 0.00 2.45 0.00 0.000 6 0.000 0.038 2131 2600 3417

4824 -1.14 -146.6 476.1 -9.7 232 4825 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3417

5132 -1.14 -146.6 507.6 -9.9 247 5136 0.00 2.45 0.00 0.000 4 0.000 0.041 2131 1212 3416

5171 -1.19 -146.6 511.5 -9.5 249 5177 0.15 2.45 0.00 0.000 6 0.044 0.039 2086 2600 3416

5503 -1.08 -146.6 550.9 -11.9 265 5505 0.20 0.00 0.00 0.000 6 0.097 0.000 2124 2602 3416

5807 -1.08 -146.6 578.6 -8.3 280 5808 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2602 3416

6117 -1.08 -146.6 604.5 -7.9 295 6121 0.00 2.47 0.00 0.000 4 0.000 0.041 2124 1206 3416

6174 -1.08 -146.6 608.4 -7.0 297 6180 0.00 2.47 0.00 0.000 6 0.000 0.039 2124 2608 3416

6490 -1.08 -146.6 634.9 -9.0 313 6491 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2608 3415

6799 -1.08 -146.6 669.4 -12.5 328 6803 0.00 2.45 0.00 0.000 4 0.000 0.042 2124 1213 3415

6871 -1.13 -146.6 678.6 -12.9 331 6876 0.00 2.45 0.00 0.000 6 0.000 0.040 2124 2600 3415

7193 -1.13 -146.6 708.8 -8.4 347 7194 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2600 3415

7502 -1.13 -146.6 739.0 -10.8 362 7506 0.00 2.45 0.00 0.000 4 0.000 0.042 2124 1212 3415

7564 -1.18 -146.6 745.9 -11.1 365 7568 0.00 2.45 0.00 0.000 6 0.000 0.041 2124 2601 3415

7897 -1.18 -146.6 785.7 -12.0 381 7898 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2601 3415

8205 -1.18 -146.6 816.7 -7.8 396 8207 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2601 3415

8515 -1.18 -146.6 838.7 -7.7 411 8516 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2602 3415

8824 -1.18 -146.6 860.0 -6.3 426 8828 0.00 2.38 0.00 0.000 4 0.000 0.080 2124 3862 3415

8875 -1.18 -146.6 863.3 -7.3 428 8879 0.00 2.15 0.00 0.000 6 0.000 0.033 2124 2613 3415

9202 -1.18 -146.6 884.4 -7.4 444 9203 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2610 3414

9512 -1.22 -146.6 908.4 -8.0 459 9513 0.15 0.00 0.00 0.000 6 0.048 0.000 2081 2610 3415

9821 -1.14 -146.6 940.0 -10.4 474 9826 0.15 2.55 0.00 0.000 4 0.104 0.052 2109 1199 3414

9946 -1.14 -146.6 951.6 -9.6 479 9952 0.00 2.50 0.00 0.000 6 0.000 0.048 2109 2598 3413

10114 end dive: BOTTOM_OBSTACLE_DETECTED

state 10115 begin apogee

10121 -0.31 0.0 966.6 8.9 488 10258 0.90 0.00 132.90 1.187 6 0.105 0.000 2290 2294 2817

10259 end apogee: CONTROL_FINISHED_OK

state 10259 begin climb

10262 1.03 146.6 970.8 0.0 495 10404 1.40 2.62 134.57 1.177 4 0.074 0.056 2582 908 2218

10472 0.90 159.7 964.1 7.1 505 10490 0.15 2.55 12.55 1.033 6 0.101 0.044 2555 2311 2165

10801 0.88 199.4 941.3 6.1 521 10845 0.00 2.72 37.25 1.127 4 0.000 0.074 2555 3704 2003

10885 0.78 199.4 933.7 9.8 525 10890 0.12 2.50 0.00 0.000 6 0.111 0.038 2533 2313 2001

11207 0.78 199.4 907.3 8.3 541 11211 0.00 2.62 0.00 0.000 4 0.000 0.061 2533 897 1996

11250 0.78 199.4 903.6 8.2 543 11255 0.00 2.53 0.00 0.000 6 0.000 0.044 2533 2305 1995

11572 0.80 212.2 881.7 7.1 559 11593 0.00 2.78 11.90 1.012 4 0.000 0.073 2533 3707 1951

11666 0.82 229.7 875.3 6.9 563 11691 0.00 2.53 18.12 1.060 6 0.000 0.038 2533 2298 1880

12016 0.90 256.8 855.6 6.6 580 12048 0.10 2.75 26.30 1.084 4 0.061 0.071 2561 3709 1769

12093 0.85 256.8 848.7 8.5 583 12099 0.00 2.53 0.00 0.000 6 0.000 0.038 2561 2301 1769

12409 0.85 256.8 827.2 7.8 599 12410 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2301 1765

12718 0.85 256.8 795.7 9.9 614 12722 0.00 2.65 0.00 0.000 4 0.000 0.068 2561 3711 1763

12758 0.85 256.8 791.7 10.7 616 12762 0.00 2.50 0.00 0.000 6 0.000 0.035 2561 2299 1763

13084 0.85 256.8 757.8 11.3 632 13085 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2299 1762

13394 0.86 265.7 730.9 7.2 647 13404 0.00 0.00 8.70 0.874 6 0.000 0.000 2561 2299 1733

13703 0.88 281.4 709.0 7.0 662 13723 0.00 0.00 16.05 0.944 6 0.000 0.000 2561 2299 1670

14032 0.93 281.4 683.6 8.6 678 14033 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2299 1668

14341 0.93 281.4 656.8 9.2 693 14342 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2299 1667

14651 0.98 281.4 628.6 8.7 708 14652 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2299 1667

14960 1.03 281.4 603.2 8.0 723 14962 0.10 0.00 0.00 0.000 6 0.057 0.000 2588 2299 1667

15269 1.03 281.4 572.4 10.6 738 15270 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2299 1667

15578 1.03 281.4 537.7 11.4 753 15580 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2299 1667

15888 1.03 281.4 504.8 10.6 768 15889 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2299 1667

16197 1.03 281.4 471.2 10.7 783 16201 0.00 2.53 0.00 0.000 4 0.000 0.051 2588 894 1667

16248 1.03 281.4 465.6 11.4 785 16253 0.00 2.47 0.00 0.000 6 0.000 0.036 2589 2305 1667

16570 1.03 281.4 432.5 9.6 801 16571 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2305 1668

16879 1.03 281.4 403.3 9.4 816 16880 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2305 1667

17189 1.03 281.4 375.4 8.8 831 17192 0.00 2.53 0.00 0.000 4 0.000 0.046 2589 892 1667

17222 1.03 281.4 372.0 9.6 832 17226 0.00 2.47 0.00 0.000 6 0.000 0.036 2589 2306 1667

17537 1.03 281.4 342.9 9.0 847 17538 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2306 1667

17847 1.03 281.4 314.6 9.3 862 17848 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2307 1667

18156 1.03 281.4 286.6 9.0 877 18160 0.00 2.53 0.00 0.000 4 0.000 0.045 2589 892 1668

18194 1.03 281.4 282.8 9.9 878 18200 0.00 2.47 0.00 0.000 6 0.000 0.036 2589 2308 1668

18510 1.03 281.4 253.6 9.4 894 18511 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2308 1668

18819 1.03 281.4 222.5 10.4 909 18820 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2308 1668

19129 1.03 281.4 187.4 12.0 924 19130 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2308 1668

19438 1.03 281.4 150.1 11.6 939 19442 0.00 2.53 0.00 0.000 4 0.000 0.045 2589 885 1668

19493 1.03 281.4 143.9 10.8 941 19499 0.00 2.47 0.00 0.000 6 0.000 0.036 2589 2304 1668

19809 1.03 281.4 110.3 10.1 957 19810 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2304 1668

20120 1.03 281.4 82.7 7.9 972 20121 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2304 1668

20427 1.03 281.4 58.0 8.4 987 20432 0.00 2.53 0.00 0.000 4 0.000 0.044 2589 885 1668

20535 1.03 281.4 48.3 8.8 992 20539 0.00 2.47 0.00 0.000 6 0.000 0.035 2588 2305 1668

20862 1.03 281.4 20.6 8.5 1008 20866 0.00 2.53 0.00 0.000 4 0.000 0.045 2589 887 1668

20969 1.03 281.4 10.4 11.3 1013 20974 0.00 2.47 0.00 0.000 6 0.000 0.035 2589 2309 1668

21046 end climb: SURFACE_DEPTH_REACHED

state 21047 begin surface coast

21069 end surface coast: CONTROL_FINISHED_OK

state 21069 begin surface

ID	16	HEADING	270	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	67	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-2108795.2	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	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	060337,6202.699,-1030.402,27,1.3,27,-10.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6202.666,-1053.543
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.43	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-58.8	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	060907,6202.666,-1030.507,11,1.4,11,-10.2	MHEAD_RNG_PITCHd_Wd	280.2,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.019244	ALTIM_BOTTOM_PING	950.4,24.9
SM_CCo	21152,0.00,0.000,0,0,1667,282.10	_24V_AH	23.5,15.599
SM_GC	1.65,11.95,0.00,0.00,0.087,0.000,0.000,65,2607,1667,-10.47,0.17,282.10	_10V_AH	10.1,6.860
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50515,1018
TT8_MAMPS	0.02301	CAP_FILE_SIZE	135925,0
HUMID	1711	CFSIZE	260165632,254701568
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	GPS	160609,120307,6201.945,-1044.368,31,1.0,32,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	190	123.31	SBE_CT	746	24	421.08
Roll_motor	110	79	207.75	SBE_O2	693	19	309.49
VBD_pump_during_apogee	398	1187	11114.73	WL_BB2F	565	105	1394.40
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	43.73	nil	0	0	0.00
Iridium_during_connect	26	160	99.59	nil	0	0	0.00
Iridium_during_xfer	167	223	877.64
Transponder_ping	8	420	86.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.02
TT8	1805	19	360.99
LPSleep	16602	2	367.23
TT8_Active	527	19	105.42
TT8_Sampling	2046	39	822.67
TT8_CF8	500	45	231.45
TT8_Kalman	0	81	0.00
Analog_circuits	1527	12	185.16
GPS_charging	0	0	0.00
Compass	2000	8	161.60
RAFOS	0	0	0.00
Transponder	60	30	18.32

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	98	0.00	0.00	-81.10	0.000	2	0.000	0.000	74	2609	3216
101	-1.03	-146.6	4.6	-5.1	4	124	12.10	2.50	-3.53	0.000	4	0.191	0.052	2131	1195	3415
215	-1.03	-146.6	22.4	-7.5	9	220	0.00	2.47	0.00	0.000	6	0.000	0.038	2131	2593	3417
542	-1.03	-146.6	45.3	-8.3	25	547	0.00	2.38	0.00	0.000	4	0.000	0.067	2131	3867	3417
654	-1.03	-146.6	57.2	-10.4	30	658	0.00	2.20	0.00	0.000	6	0.000	0.028	2131	2573	3417
976	-1.03	-146.6	94.9	-12.2	46	977	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2572	3418
1285	-1.03	-146.6	118.6	-6.9	61	1287	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2571	3418
1595	-1.03	-146.6	146.8	-10.0	76	1596	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2572	3418
1904	-1.03	-146.6	176.8	-9.4	91	1906	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2572	3418
2213	-1.03	-146.6	207.7	-10.7	106	2214	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2571	3418
2523	-1.03	-146.6	246.1	-13.0	121	2524	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2571	3418
2831	-1.03	-146.6	288.1	-13.5	136	2833	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2571	3418
3141	-1.03	-146.6	327.7	-12.4	151	3142	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2571	3418
3450	-1.03	-146.6	360.1	-9.4	166	3454	0.00	2.40	0.00	0.000	4	0.000	0.042	2131	1212	3418
3500	-1.08	-146.6	364.6	-8.3	168	3504	0.00	2.45	0.00	0.000	6	0.000	0.038	2131	2600	3418
3815	-1.08	-146.6	389.7	-7.7	183	3817	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3417
4125	-1.08	-146.6	414.1	-8.2	198	4126	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3417
4434	-1.08	-146.6	440.5	-8.5	213	4438	0.00	2.45	0.00	0.000	4	0.000	0.041	2131	1210	3417
4502	-1.14	-146.6	446.3	-8.7	216	4506	0.00	2.45	0.00	0.000	6	0.000	0.038	2131	2600	3417
4824	-1.14	-146.6	476.1	-9.7	232	4825	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3417
5132	-1.14	-146.6	507.6	-9.9	247	5136	0.00	2.45	0.00	0.000	4	0.000	0.041	2131	1212	3416
5171	-1.19	-146.6	511.5	-9.5	249	5177	0.15	2.45	0.00	0.000	6	0.044	0.039	2086	2600	3416
5503	-1.08	-146.6	550.9	-11.9	265	5505	0.20	0.00	0.00	0.000	6	0.097	0.000	2124	2602	3416
5807	-1.08	-146.6	578.6	-8.3	280	5808	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2602	3416
6117	-1.08	-146.6	604.5	-7.9	295	6121	0.00	2.47	0.00	0.000	4	0.000	0.041	2124	1206	3416
6174	-1.08	-146.6	608.4	-7.0	297	6180	0.00	2.47	0.00	0.000	6	0.000	0.039	2124	2608	3416
6490	-1.08	-146.6	634.9	-9.0	313	6491	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2608	3415
6799	-1.08	-146.6	669.4	-12.5	328	6803	0.00	2.45	0.00	0.000	4	0.000	0.042	2124	1213	3415
6871	-1.13	-146.6	678.6	-12.9	331	6876	0.00	2.45	0.00	0.000	6	0.000	0.040	2124	2600	3415
7193	-1.13	-146.6	708.8	-8.4	347	7194	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2600	3415
7502	-1.13	-146.6	739.0	-10.8	362	7506	0.00	2.45	0.00	0.000	4	0.000	0.042	2124	1212	3415
7564	-1.18	-146.6	745.9	-11.1	365	7568	0.00	2.45	0.00	0.000	6	0.000	0.041	2124	2601	3415
7897	-1.18	-146.6	785.7	-12.0	381	7898	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2601	3415
8205	-1.18	-146.6	816.7	-7.8	396	8207	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2601	3415
8515	-1.18	-146.6	838.7	-7.7	411	8516	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2602	3415
8824	-1.18	-146.6	860.0	-6.3	426	8828	0.00	2.38	0.00	0.000	4	0.000	0.080	2124	3862	3415
8875	-1.18	-146.6	863.3	-7.3	428	8879	0.00	2.15	0.00	0.000	6	0.000	0.033	2124	2613	3415
9202	-1.18	-146.6	884.4	-7.4	444	9203	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2610	3414
9512	-1.22	-146.6	908.4	-8.0	459	9513	0.15	0.00	0.00	0.000	6	0.048	0.000	2081	2610	3415
9821	-1.14	-146.6	940.0	-10.4	474	9826	0.15	2.55	0.00	0.000	4	0.104	0.052	2109	1199	3414
9946	-1.14	-146.6	951.6	-9.6	479	9952	0.00	2.50	0.00	0.000	6	0.000	0.048	2109	2598	3413
10114	end dive: BOTTOM_OBSTACLE_DETECTED
state	10115	begin apogee
10121	-0.31	0.0	966.6	8.9	488	10258	0.90	0.00	132.90	1.187	6	0.105	0.000	2290	2294	2817
10259	end apogee: CONTROL_FINISHED_OK
state	10259	begin climb
10262	1.03	146.6	970.8	0.0	495	10404	1.40	2.62	134.57	1.177	4	0.074	0.056	2582	908	2218
10472	0.90	159.7	964.1	7.1	505	10490	0.15	2.55	12.55	1.033	6	0.101	0.044	2555	2311	2165
10801	0.88	199.4	941.3	6.1	521	10845	0.00	2.72	37.25	1.127	4	0.000	0.074	2555	3704	2003
10885	0.78	199.4	933.7	9.8	525	10890	0.12	2.50	0.00	0.000	6	0.111	0.038	2533	2313	2001
11207	0.78	199.4	907.3	8.3	541	11211	0.00	2.62	0.00	0.000	4	0.000	0.061	2533	897	1996
11250	0.78	199.4	903.6	8.2	543	11255	0.00	2.53	0.00	0.000	6	0.000	0.044	2533	2305	1995
11572	0.80	212.2	881.7	7.1	559	11593	0.00	2.78	11.90	1.012	4	0.000	0.073	2533	3707	1951
11666	0.82	229.7	875.3	6.9	563	11691	0.00	2.53	18.12	1.060	6	0.000	0.038	2533	2298	1880
12016	0.90	256.8	855.6	6.6	580	12048	0.10	2.75	26.30	1.084	4	0.061	0.071	2561	3709	1769
12093	0.85	256.8	848.7	8.5	583	12099	0.00	2.53	0.00	0.000	6	0.000	0.038	2561	2301	1769
12409	0.85	256.8	827.2	7.8	599	12410	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2301	1765
12718	0.85	256.8	795.7	9.9	614	12722	0.00	2.65	0.00	0.000	4	0.000	0.068	2561	3711	1763
12758	0.85	256.8	791.7	10.7	616	12762	0.00	2.50	0.00	0.000	6	0.000	0.035	2561	2299	1763
13084	0.85	256.8	757.8	11.3	632	13085	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2299	1762
13394	0.86	265.7	730.9	7.2	647	13404	0.00	0.00	8.70	0.874	6	0.000	0.000	2561	2299	1733
13703	0.88	281.4	709.0	7.0	662	13723	0.00	0.00	16.05	0.944	6	0.000	0.000	2561	2299	1670
14032	0.93	281.4	683.6	8.6	678	14033	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2299	1668
14341	0.93	281.4	656.8	9.2	693	14342	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2299	1667
14651	0.98	281.4	628.6	8.7	708	14652	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2299	1667
14960	1.03	281.4	603.2	8.0	723	14962	0.10	0.00	0.00	0.000	6	0.057	0.000	2588	2299	1667
15269	1.03	281.4	572.4	10.6	738	15270	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2299	1667
15578	1.03	281.4	537.7	11.4	753	15580	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2299	1667
15888	1.03	281.4	504.8	10.6	768	15889	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2299	1667
16197	1.03	281.4	471.2	10.7	783	16201	0.00	2.53	0.00	0.000	4	0.000	0.051	2588	894	1667
16248	1.03	281.4	465.6	11.4	785	16253	0.00	2.47	0.00	0.000	6	0.000	0.036	2589	2305	1667
16570	1.03	281.4	432.5	9.6	801	16571	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2305	1668
16879	1.03	281.4	403.3	9.4	816	16880	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2305	1667
17189	1.03	281.4	375.4	8.8	831	17192	0.00	2.53	0.00	0.000	4	0.000	0.046	2589	892	1667
17222	1.03	281.4	372.0	9.6	832	17226	0.00	2.47	0.00	0.000	6	0.000	0.036	2589	2306	1667
17537	1.03	281.4	342.9	9.0	847	17538	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2306	1667
17847	1.03	281.4	314.6	9.3	862	17848	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2307	1667
18156	1.03	281.4	286.6	9.0	877	18160	0.00	2.53	0.00	0.000	4	0.000	0.045	2589	892	1668
18194	1.03	281.4	282.8	9.9	878	18200	0.00	2.47	0.00	0.000	6	0.000	0.036	2589	2308	1668
18510	1.03	281.4	253.6	9.4	894	18511	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2308	1668
18819	1.03	281.4	222.5	10.4	909	18820	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2308	1668
19129	1.03	281.4	187.4	12.0	924	19130	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2308	1668
19438	1.03	281.4	150.1	11.6	939	19442	0.00	2.53	0.00	0.000	4	0.000	0.045	2589	885	1668
19493	1.03	281.4	143.9	10.8	941	19499	0.00	2.47	0.00	0.000	6	0.000	0.036	2589	2304	1668
19809	1.03	281.4	110.3	10.1	957	19810	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2304	1668
20120	1.03	281.4	82.7	7.9	972	20121	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2304	1668
20427	1.03	281.4	58.0	8.4	987	20432	0.00	2.53	0.00	0.000	4	0.000	0.044	2589	885	1668
20535	1.03	281.4	48.3	8.8	992	20539	0.00	2.47	0.00	0.000	6	0.000	0.035	2588	2305	1668
20862	1.03	281.4	20.6	8.5	1008	20866	0.00	2.53	0.00	0.000	4	0.000	0.045	2589	887	1668
20969	1.03	281.4	10.4	11.3	1013	20974	0.00	2.47	0.00	0.000	6	0.000	0.035	2589	2309	1668
21046	end climb: SURFACE_DEPTH_REACHED
state	21047	begin surface coast
21069	end surface coast: CONTROL_FINISHED_OK
state	21069	begin surface