Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 129 * 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 129 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 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -2109903 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 -2109903

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 36 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 129 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 123237,6351.329,-1317.323,37,1.4,37,-12.5 TGT_NAME K1

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.59 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -67.6 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 123828,6351.407,-1317.347,14,2.7,33,-12.5 MHEAD_RNG_PITCHd_Wd 126.0,6542,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.026546 ALTIM_BOTTOM_PING 776.4,60.9

SM_CCo 18619,0.00,0.000,0,0,1633,290.44 _24V_AH 23.6,23.823

SM_GC 1.86,11.93,0.00,0.00,0.085,0.000,0.000,75,2601,1633,-10.45,0.06,290.44 _10V_AH 10.1,11.761

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44294,893

TT8_MAMPS 0.02301 CAP_FILE_SIZE 135242,0

HUMID 1734 CFSIZE 260165632,251011072

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 290609,175006,6351.388,-1314.448,24,1.6,24,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 181 117.69 SBE_CT 653 24 370.04

Roll_motor 157 72 271.14 SBE_O2 609 19 273.20

VBD_pump_during_apogee 393 1125 10454.97 WL_BB2F 499 105 1238.99

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 44.05 nil 0 0 0.00

Iridium_during_connect 26 160 100.48 nil 0 0 0.00

Iridium_during_xfer 160 223 847.20

Transponder_ping 6 420 66.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.31

TT8 1628 19 325.60

LPSleep 14433 2 319.25

TT8_Active 499 19 99.79

TT8_Sampling 1905 39 765.92

TT8_CF8 499 45 231.10

TT8_Kalman 0 81 0.00

Analog_circuits 1472 12 178.42

GPS_charging 0 0 0.00

Compass 1837 8 148.45

RAFOS 0 0 0.00

Transponder 46 30 14.05

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 77 0.00 0.00 -54.67 0.000 6 0.000 0.000 73 2608 3415

80 -1.03 -146.6 8.2 -15.6 3 94 11.80 0.00 0.00 0.000 6 0.181 0.000 2130 2608 3415

412 -1.03 -146.6 54.8 -9.9 19 416 0.00 2.30 0.00 0.000 4 0.000 0.064 2130 3851 3417

498 -1.03 -146.6 63.9 -10.6 23 502 0.00 2.15 0.00 0.000 6 0.000 0.026 2130 2580 3418

825 -1.03 -146.6 98.4 -10.4 39 829 0.00 2.40 0.00 0.000 4 0.000 0.039 2130 1212 3418

874 -1.03 -146.6 103.5 -9.4 41 878 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2595 3418

1196 -1.03 -146.6 133.8 -9.1 57 1200 0.00 2.33 0.00 0.000 4 0.000 0.064 2130 3858 3418

1228 -1.03 -146.6 137.3 -10.3 58 1235 0.00 2.12 0.00 0.000 6 0.000 0.027 2130 2594 3419

1544 -1.03 -146.6 169.9 -10.4 74 1548 0.00 2.42 0.00 0.000 4 0.000 0.040 2130 1209 3418

1600 -1.03 -146.6 176.0 -10.6 76 1604 0.00 2.45 0.00 0.000 6 0.000 0.035 2130 2603 3419

1916 -1.03 -146.6 208.4 -10.2 91 1917 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2603 3419

2226 -1.03 -146.6 242.1 -10.9 106 2227 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2603 3419

2534 -1.03 -146.6 273.7 -10.0 121 2535 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2604 3419

2844 -1.03 -146.6 303.3 -9.4 136 2845 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2604 3418

3153 -1.03 -146.6 330.3 -8.2 151 3154 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2604 3418

3462 -1.03 -146.6 355.2 -7.9 166 3466 0.00 2.45 0.00 0.000 4 0.000 0.039 2130 1214 3418

3489 -1.03 -146.6 357.5 -7.5 167 3493 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2600 3418

3805 -1.03 -146.6 381.4 -7.1 182 3806 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

4114 -1.03 -146.6 401.7 -6.5 197 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

4423 -1.03 -146.6 423.5 -7.6 212 4427 0.00 2.42 0.00 0.000 4 0.000 0.039 2130 1215 3418

4457 -1.07 -146.6 425.9 -6.8 213 4461 0.00 2.42 0.00 0.000 6 0.000 0.036 2130 2604 3418

4779 -1.07 -146.6 450.9 -8.0 229 4780 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2603 3417

5089 -1.07 -146.6 475.1 -7.3 244 5090 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2604 3417

5397 -1.07 -146.6 496.8 -6.9 259 5398 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2603 3417

5706 -1.07 -146.6 522.0 -8.8 274 5710 0.00 2.45 0.00 0.000 4 0.000 0.039 2130 1210 3417

5762 -1.12 -146.6 527.1 -9.3 276 5769 0.00 2.45 0.00 0.000 6 0.000 0.036 2130 2610 3417

6078 -1.12 -146.6 556.7 -9.5 292 6079 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2610 3417

6387 -1.12 -146.6 587.1 -10.6 307 6391 0.00 2.45 0.00 0.000 4 0.000 0.039 2130 1212 3417

6428 -1.19 -146.6 591.0 -9.6 309 6433 0.15 2.42 0.00 0.000 6 0.045 0.036 2086 2600 3417

6756 -1.07 -146.6 629.9 -11.6 325 6761 0.17 2.45 0.00 0.000 4 0.097 0.041 2122 1211 3417

6801 -1.11 -146.6 634.0 -7.5 327 6805 0.00 2.45 0.00 0.000 6 0.000 0.038 2122 2604 3416

7123 -1.11 -146.6 657.8 -6.4 343 7127 0.00 2.45 0.00 0.000 4 0.000 0.043 2123 1218 3417

7167 -1.11 -146.6 660.5 -5.6 345 7171 0.00 2.42 0.00 0.000 6 0.000 0.038 2123 2599 3417

7489 -1.11 -146.6 673.6 -3.6 361 7493 0.00 2.42 0.00 0.000 4 0.000 0.040 2123 1212 3416

7528 -1.17 -146.6 675.2 -4.0 362 7534 0.00 2.45 0.00 0.000 6 0.000 0.038 2123 2606 3416

7844 -1.17 -146.6 690.6 -6.4 378 7848 0.00 2.35 0.00 0.000 4 0.000 0.073 2123 3864 3416

7888 -1.17 -146.6 694.2 -8.2 380 7892 0.00 2.12 0.00 0.000 6 0.000 0.028 2123 2608 3415

8216 -1.17 -146.6 726.0 -10.4 396 8220 0.00 2.35 0.00 0.000 4 0.000 0.071 2123 3863 3415

8289 -1.17 -146.6 734.2 -11.1 399 8293 0.00 2.15 0.00 0.000 6 0.000 0.030 2123 2605 3415

8610 -1.17 -146.6 763.4 -9.1 415 8614 0.00 2.35 0.00 0.000 4 0.000 0.072 2123 3857 3414

8638 -1.17 -146.6 766.1 -10.2 416 8641 0.00 2.15 0.00 0.000 6 0.000 0.031 2123 2601 3414

8959 -1.17 -146.6 794.6 -8.6 432 8963 0.00 2.50 0.00 0.000 4 0.000 0.049 2123 1202 3414

8987 -1.22 -146.6 797.1 -9.0 433 8992 0.12 2.47 0.00 0.000 6 0.051 0.041 2086 2603 3413

9300 end dive: BOTTOM_OBSTACLE_DETECTED

state 9300 begin apogee

9307 -0.31 0.0 828.7 9.5 448 9443 1.05 0.00 130.40 1.126 6 0.120 0.000 2290 2293 2817

9443 end apogee: CONTROL_FINISHED_OK

state 9443 begin climb

9447 1.03 146.6 832.8 0.0 455 9586 1.38 2.58 131.48 1.117 4 0.079 0.051 2579 910 2217

9695 0.95 168.5 825.0 6.8 465 9723 0.00 2.50 20.02 1.043 6 0.000 0.039 2579 2305 2130

10033 0.88 168.5 799.8 7.5 482 10035 0.15 0.00 0.00 0.000 6 0.097 0.000 2551 2305 2124

10342 0.87 199.9 777.1 6.4 497 10373 0.00 0.00 28.77 1.055 6 0.000 0.000 2551 2305 2002

10673 0.93 258.7 759.6 5.5 513 10737 0.00 2.67 55.80 1.071 4 0.000 0.067 2551 3702 1760

10770 0.93 258.7 752.9 8.8 517 10774 0.00 2.47 0.00 0.000 6 0.000 0.032 2551 2311 1758

11087 1.02 287.4 731.0 6.5 532 11122 0.15 2.72 26.98 1.027 4 0.053 0.064 2591 3708 1645

11167 0.94 287.4 723.3 10.1 535 11174 0.12 2.50 0.00 0.000 6 0.105 0.032 2569 2302 1642

11483 0.94 287.4 696.1 8.9 551 11487 0.00 2.65 0.00 0.000 4 0.000 0.064 2569 3712 1639

11510 0.94 287.4 693.2 10.8 552 11514 0.00 2.50 0.00 0.000 6 0.000 0.031 2569 2295 1639

11825 0.94 287.4 660.3 11.4 567 11827 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2295 1637

12135 0.99 287.4 625.2 11.2 582 12139 0.00 2.55 0.00 0.000 4 0.000 0.051 2569 896 1637

12168 0.99 287.4 621.4 10.4 583 12174 0.00 2.50 0.00 0.000 6 0.000 0.037 2569 2311 1634

12484 1.03 287.4 587.5 10.0 599 12488 0.00 2.58 0.00 0.000 4 0.000 0.048 2569 888 1635

12573 1.03 287.4 578.7 9.9 603 12577 0.00 2.47 0.00 0.000 6 0.000 0.035 2569 2302 1634

12900 1.03 287.4 550.6 8.4 619 12901 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2302 1634

13209 1.03 287.4 522.1 9.5 634 13213 0.00 2.55 0.00 0.000 4 0.000 0.046 2569 888 1634

13230 1.03 287.4 520.0 9.7 635 13234 0.00 2.47 0.00 0.000 6 0.000 0.034 2569 2301 1634

13551 1.03 287.4 489.0 9.5 651 13555 0.00 2.53 0.00 0.000 4 0.000 0.045 2568 892 1634

13579 1.08 287.4 486.1 9.9 652 13584 0.12 2.47 0.00 0.000 6 0.049 0.033 2603 2308 1634

13900 1.03 287.4 450.7 11.3 668 13901 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2309 1634

14210 0.99 287.4 415.6 11.4 683 14215 0.15 2.53 0.00 0.000 4 0.093 0.044 2575 893 1634

14265 0.99 287.4 409.6 10.8 685 14272 0.00 2.45 0.00 0.000 6 0.000 0.034 2575 2301 1634

14581 0.99 287.4 379.7 9.4 701 14583 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2300 1634

14890 0.99 287.4 352.0 8.8 716 14894 0.00 2.53 0.00 0.000 4 0.000 0.044 2575 888 1635

14942 1.03 287.4 347.4 8.9 718 14946 0.00 2.47 0.00 0.000 6 0.000 0.033 2575 2308 1635

15263 1.03 287.4 321.3 8.1 734 15264 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2308 1635

15572 1.03 287.4 297.0 8.0 749 15576 0.00 2.53 0.00 0.000 4 0.000 0.044 2575 894 1635

15612 1.08 287.4 293.8 8.4 751 15616 0.00 2.45 0.00 0.000 6 0.000 0.033 2575 2304 1635

15938 1.08 287.4 265.8 8.9 767 15943 0.00 2.53 0.00 0.000 4 0.000 0.043 2575 890 1635

15960 1.08 287.4 263.6 9.4 768 15965 0.00 2.45 0.00 0.000 6 0.000 0.033 2575 2299 1635

16282 1.12 287.4 233.2 10.0 784 16284 0.12 0.00 0.00 0.000 6 0.050 0.000 2614 2300 1635

16592 1.06 287.4 195.8 12.2 799 16596 0.12 2.50 0.00 0.000 4 0.090 0.044 2590 894 1635

16653 1.06 287.4 188.4 10.4 802 16657 0.00 2.45 0.00 0.000 6 0.000 0.033 2590 2306 1635

16986 1.06 287.4 152.6 10.5 818 16990 0.00 2.53 0.00 0.000 4 0.000 0.043 2590 891 1636

17013 1.06 287.4 149.7 10.9 819 17017 0.00 2.45 0.00 0.000 6 0.000 0.033 2590 2301 1636

17329 1.06 287.4 119.3 9.4 834 17333 0.00 2.50 0.00 0.000 4 0.000 0.044 2590 892 1636

17369 1.06 287.4 115.5 9.4 836 17373 0.00 2.45 0.00 0.000 6 0.000 0.033 2590 2304 1636

17696 1.06 287.4 85.8 9.2 852 17700 0.00 2.53 0.00 0.000 4 0.000 0.042 2590 888 1636

17728 1.06 287.4 82.1 10.6 853 17735 0.00 2.45 0.00 0.000 6 0.000 0.033 2590 2302 1636

18046 1.06 287.4 50.3 10.3 869 18047 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2302 1636

18354 1.06 287.4 18.6 9.6 884 18358 0.00 2.53 0.00 0.000 4 0.000 0.043 2590 888 1637

18386 1.06 287.4 15.0 10.2 885 18393 0.00 2.45 0.00 0.000 6 0.000 0.033 2590 2306 1636

18516 end climb: SURFACE_DEPTH_REACHED

state 18516 begin surface coast

18536 end surface coast: CONTROL_FINISHED_OK

state 18536 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	129	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	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-2109903	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	123237,6351.329,-1317.323,37,1.4,37,-12.5	TGT_NAME	K1
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.59	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-67.6	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	123828,6351.407,-1317.347,14,2.7,33,-12.5	MHEAD_RNG_PITCHd_Wd	126.0,6542,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	1.1,1.026546	ALTIM_BOTTOM_PING	776.4,60.9
SM_CCo	18619,0.00,0.000,0,0,1633,290.44	_24V_AH	23.6,23.823
SM_GC	1.86,11.93,0.00,0.00,0.085,0.000,0.000,75,2601,1633,-10.45,0.06,290.44	_10V_AH	10.1,11.761
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44294,893
TT8_MAMPS	0.02301	CAP_FILE_SIZE	135242,0
HUMID	1734	CFSIZE	260165632,251011072
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	290609,175006,6351.388,-1314.448,24,1.6,24,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	181	117.69	SBE_CT	653	24	370.04
Roll_motor	157	72	271.14	SBE_O2	609	19	273.20
VBD_pump_during_apogee	393	1125	10454.97	WL_BB2F	499	105	1238.99
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	44.05	nil	0	0	0.00
Iridium_during_connect	26	160	100.48	nil	0	0	0.00
Iridium_during_xfer	160	223	847.20
Transponder_ping	6	420	66.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.31
TT8	1628	19	325.60
LPSleep	14433	2	319.25
TT8_Active	499	19	99.79
TT8_Sampling	1905	39	765.92
TT8_CF8	499	45	231.10
TT8_Kalman	0	81	0.00
Analog_circuits	1472	12	178.42
GPS_charging	0	0	0.00
Compass	1837	8	148.45
RAFOS	0	0	0.00
Transponder	46	30	14.05

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	77	0.00	0.00	-54.67	0.000	6	0.000	0.000	73	2608	3415
80	-1.03	-146.6	8.2	-15.6	3	94	11.80	0.00	0.00	0.000	6	0.181	0.000	2130	2608	3415
412	-1.03	-146.6	54.8	-9.9	19	416	0.00	2.30	0.00	0.000	4	0.000	0.064	2130	3851	3417
498	-1.03	-146.6	63.9	-10.6	23	502	0.00	2.15	0.00	0.000	6	0.000	0.026	2130	2580	3418
825	-1.03	-146.6	98.4	-10.4	39	829	0.00	2.40	0.00	0.000	4	0.000	0.039	2130	1212	3418
874	-1.03	-146.6	103.5	-9.4	41	878	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2595	3418
1196	-1.03	-146.6	133.8	-9.1	57	1200	0.00	2.33	0.00	0.000	4	0.000	0.064	2130	3858	3418
1228	-1.03	-146.6	137.3	-10.3	58	1235	0.00	2.12	0.00	0.000	6	0.000	0.027	2130	2594	3419
1544	-1.03	-146.6	169.9	-10.4	74	1548	0.00	2.42	0.00	0.000	4	0.000	0.040	2130	1209	3418
1600	-1.03	-146.6	176.0	-10.6	76	1604	0.00	2.45	0.00	0.000	6	0.000	0.035	2130	2603	3419
1916	-1.03	-146.6	208.4	-10.2	91	1917	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2603	3419
2226	-1.03	-146.6	242.1	-10.9	106	2227	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2603	3419
2534	-1.03	-146.6	273.7	-10.0	121	2535	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2604	3419
2844	-1.03	-146.6	303.3	-9.4	136	2845	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2604	3418
3153	-1.03	-146.6	330.3	-8.2	151	3154	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2604	3418
3462	-1.03	-146.6	355.2	-7.9	166	3466	0.00	2.45	0.00	0.000	4	0.000	0.039	2130	1214	3418
3489	-1.03	-146.6	357.5	-7.5	167	3493	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2600	3418
3805	-1.03	-146.6	381.4	-7.1	182	3806	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
4114	-1.03	-146.6	401.7	-6.5	197	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
4423	-1.03	-146.6	423.5	-7.6	212	4427	0.00	2.42	0.00	0.000	4	0.000	0.039	2130	1215	3418
4457	-1.07	-146.6	425.9	-6.8	213	4461	0.00	2.42	0.00	0.000	6	0.000	0.036	2130	2604	3418
4779	-1.07	-146.6	450.9	-8.0	229	4780	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2603	3417
5089	-1.07	-146.6	475.1	-7.3	244	5090	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2604	3417
5397	-1.07	-146.6	496.8	-6.9	259	5398	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2603	3417
5706	-1.07	-146.6	522.0	-8.8	274	5710	0.00	2.45	0.00	0.000	4	0.000	0.039	2130	1210	3417
5762	-1.12	-146.6	527.1	-9.3	276	5769	0.00	2.45	0.00	0.000	6	0.000	0.036	2130	2610	3417
6078	-1.12	-146.6	556.7	-9.5	292	6079	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2610	3417
6387	-1.12	-146.6	587.1	-10.6	307	6391	0.00	2.45	0.00	0.000	4	0.000	0.039	2130	1212	3417
6428	-1.19	-146.6	591.0	-9.6	309	6433	0.15	2.42	0.00	0.000	6	0.045	0.036	2086	2600	3417
6756	-1.07	-146.6	629.9	-11.6	325	6761	0.17	2.45	0.00	0.000	4	0.097	0.041	2122	1211	3417
6801	-1.11	-146.6	634.0	-7.5	327	6805	0.00	2.45	0.00	0.000	6	0.000	0.038	2122	2604	3416
7123	-1.11	-146.6	657.8	-6.4	343	7127	0.00	2.45	0.00	0.000	4	0.000	0.043	2123	1218	3417
7167	-1.11	-146.6	660.5	-5.6	345	7171	0.00	2.42	0.00	0.000	6	0.000	0.038	2123	2599	3417
7489	-1.11	-146.6	673.6	-3.6	361	7493	0.00	2.42	0.00	0.000	4	0.000	0.040	2123	1212	3416
7528	-1.17	-146.6	675.2	-4.0	362	7534	0.00	2.45	0.00	0.000	6	0.000	0.038	2123	2606	3416
7844	-1.17	-146.6	690.6	-6.4	378	7848	0.00	2.35	0.00	0.000	4	0.000	0.073	2123	3864	3416
7888	-1.17	-146.6	694.2	-8.2	380	7892	0.00	2.12	0.00	0.000	6	0.000	0.028	2123	2608	3415
8216	-1.17	-146.6	726.0	-10.4	396	8220	0.00	2.35	0.00	0.000	4	0.000	0.071	2123	3863	3415
8289	-1.17	-146.6	734.2	-11.1	399	8293	0.00	2.15	0.00	0.000	6	0.000	0.030	2123	2605	3415
8610	-1.17	-146.6	763.4	-9.1	415	8614	0.00	2.35	0.00	0.000	4	0.000	0.072	2123	3857	3414
8638	-1.17	-146.6	766.1	-10.2	416	8641	0.00	2.15	0.00	0.000	6	0.000	0.031	2123	2601	3414
8959	-1.17	-146.6	794.6	-8.6	432	8963	0.00	2.50	0.00	0.000	4	0.000	0.049	2123	1202	3414
8987	-1.22	-146.6	797.1	-9.0	433	8992	0.12	2.47	0.00	0.000	6	0.051	0.041	2086	2603	3413
9300	end dive: BOTTOM_OBSTACLE_DETECTED
state	9300	begin apogee
9307	-0.31	0.0	828.7	9.5	448	9443	1.05	0.00	130.40	1.126	6	0.120	0.000	2290	2293	2817
9443	end apogee: CONTROL_FINISHED_OK
state	9443	begin climb
9447	1.03	146.6	832.8	0.0	455	9586	1.38	2.58	131.48	1.117	4	0.079	0.051	2579	910	2217
9695	0.95	168.5	825.0	6.8	465	9723	0.00	2.50	20.02	1.043	6	0.000	0.039	2579	2305	2130
10033	0.88	168.5	799.8	7.5	482	10035	0.15	0.00	0.00	0.000	6	0.097	0.000	2551	2305	2124
10342	0.87	199.9	777.1	6.4	497	10373	0.00	0.00	28.77	1.055	6	0.000	0.000	2551	2305	2002
10673	0.93	258.7	759.6	5.5	513	10737	0.00	2.67	55.80	1.071	4	0.000	0.067	2551	3702	1760
10770	0.93	258.7	752.9	8.8	517	10774	0.00	2.47	0.00	0.000	6	0.000	0.032	2551	2311	1758
11087	1.02	287.4	731.0	6.5	532	11122	0.15	2.72	26.98	1.027	4	0.053	0.064	2591	3708	1645
11167	0.94	287.4	723.3	10.1	535	11174	0.12	2.50	0.00	0.000	6	0.105	0.032	2569	2302	1642
11483	0.94	287.4	696.1	8.9	551	11487	0.00	2.65	0.00	0.000	4	0.000	0.064	2569	3712	1639
11510	0.94	287.4	693.2	10.8	552	11514	0.00	2.50	0.00	0.000	6	0.000	0.031	2569	2295	1639
11825	0.94	287.4	660.3	11.4	567	11827	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2295	1637
12135	0.99	287.4	625.2	11.2	582	12139	0.00	2.55	0.00	0.000	4	0.000	0.051	2569	896	1637
12168	0.99	287.4	621.4	10.4	583	12174	0.00	2.50	0.00	0.000	6	0.000	0.037	2569	2311	1634
12484	1.03	287.4	587.5	10.0	599	12488	0.00	2.58	0.00	0.000	4	0.000	0.048	2569	888	1635
12573	1.03	287.4	578.7	9.9	603	12577	0.00	2.47	0.00	0.000	6	0.000	0.035	2569	2302	1634
12900	1.03	287.4	550.6	8.4	619	12901	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2302	1634
13209	1.03	287.4	522.1	9.5	634	13213	0.00	2.55	0.00	0.000	4	0.000	0.046	2569	888	1634
13230	1.03	287.4	520.0	9.7	635	13234	0.00	2.47	0.00	0.000	6	0.000	0.034	2569	2301	1634
13551	1.03	287.4	489.0	9.5	651	13555	0.00	2.53	0.00	0.000	4	0.000	0.045	2568	892	1634
13579	1.08	287.4	486.1	9.9	652	13584	0.12	2.47	0.00	0.000	6	0.049	0.033	2603	2308	1634
13900	1.03	287.4	450.7	11.3	668	13901	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2309	1634
14210	0.99	287.4	415.6	11.4	683	14215	0.15	2.53	0.00	0.000	4	0.093	0.044	2575	893	1634
14265	0.99	287.4	409.6	10.8	685	14272	0.00	2.45	0.00	0.000	6	0.000	0.034	2575	2301	1634
14581	0.99	287.4	379.7	9.4	701	14583	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2300	1634
14890	0.99	287.4	352.0	8.8	716	14894	0.00	2.53	0.00	0.000	4	0.000	0.044	2575	888	1635
14942	1.03	287.4	347.4	8.9	718	14946	0.00	2.47	0.00	0.000	6	0.000	0.033	2575	2308	1635
15263	1.03	287.4	321.3	8.1	734	15264	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2308	1635
15572	1.03	287.4	297.0	8.0	749	15576	0.00	2.53	0.00	0.000	4	0.000	0.044	2575	894	1635
15612	1.08	287.4	293.8	8.4	751	15616	0.00	2.45	0.00	0.000	6	0.000	0.033	2575	2304	1635
15938	1.08	287.4	265.8	8.9	767	15943	0.00	2.53	0.00	0.000	4	0.000	0.043	2575	890	1635
15960	1.08	287.4	263.6	9.4	768	15965	0.00	2.45	0.00	0.000	6	0.000	0.033	2575	2299	1635
16282	1.12	287.4	233.2	10.0	784	16284	0.12	0.00	0.00	0.000	6	0.050	0.000	2614	2300	1635
16592	1.06	287.4	195.8	12.2	799	16596	0.12	2.50	0.00	0.000	4	0.090	0.044	2590	894	1635
16653	1.06	287.4	188.4	10.4	802	16657	0.00	2.45	0.00	0.000	6	0.000	0.033	2590	2306	1635
16986	1.06	287.4	152.6	10.5	818	16990	0.00	2.53	0.00	0.000	4	0.000	0.043	2590	891	1636
17013	1.06	287.4	149.7	10.9	819	17017	0.00	2.45	0.00	0.000	6	0.000	0.033	2590	2301	1636
17329	1.06	287.4	119.3	9.4	834	17333	0.00	2.50	0.00	0.000	4	0.000	0.044	2590	892	1636
17369	1.06	287.4	115.5	9.4	836	17373	0.00	2.45	0.00	0.000	6	0.000	0.033	2590	2304	1636
17696	1.06	287.4	85.8	9.2	852	17700	0.00	2.53	0.00	0.000	4	0.000	0.042	2590	888	1636
17728	1.06	287.4	82.1	10.6	853	17735	0.00	2.45	0.00	0.000	6	0.000	0.033	2590	2302	1636
18046	1.06	287.4	50.3	10.3	869	18047	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2302	1636
18354	1.06	287.4	18.6	9.6	884	18358	0.00	2.53	0.00	0.000	4	0.000	0.043	2590	888	1637
18386	1.06	287.4	15.0	10.2	885	18393	0.00	2.45	0.00	0.000	6	0.000	0.033	2590	2306	1636
18516	end climb: SURFACE_DEPTH_REACHED
state	18516	begin surface coast
18536	end surface coast: CONTROL_FINISHED_OK
state	18536	begin surface