Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 234 * 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 234 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 28 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 -2111766.8 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -2111766.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 36 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 234 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 193437,6249.964,-1304.118,36,0.9,36,-12.0 TGT_NAME GE

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 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 -63.3 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 193938,6249.947,-1304.159,16,1.1,16,-12.0 MHEAD_RNG_PITCHd_Wd 128.1,41827,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.013763 ALTIM_BOTTOM_PING 725.3,51.2

SM_CCo 18014,0.00,0.000,0,0,1655,285.04 _24V_AH 23.6,37.810

SM_GC 1.66,12.10,0.00,0.00,0.086,0.000,0.000,68,2609,1655,-10.47,0.28,285.04 _10V_AH 10.1,19.246

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44249,865

TT8_MAMPS 0.02301 CAP_FILE_SIZE 127861,0

HUMID 1793 CFSIZE 260165632,245350400

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

XPDR_PINGS 0 GPS 190709,004130,6248.275,-1301.611,38,0.9,43,-11.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 182 118.36 SBE_CT 630 24 357.37

Roll_motor 148 69 243.95 SBE_O2 594 19 266.76

VBD_pump_during_apogee 389 1077 9916.01 WL_BB2F 487 105 1208.27

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 43.81 nil 0 0 0.00

Iridium_during_connect 29 160 110.27 nil 0 0 0.00

Iridium_during_xfer 134 223 706.15

Transponder_ping 6 420 61.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.17

TT8 1568 19 313.67

LPSleep 14020 2 310.12

TT8_Active 491 19 98.23

TT8_Sampling 1762 39 708.36

TT8_CF8 472 45 218.72

TT8_Kalman 0 81 0.00

Analog_circuits 1401 12 169.89

GPS_charging 0 0 0.00

Compass 1715 8 138.62

RAFOS 0 0 0.00

Transponder 43 30 13.06

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.03 -146.6 0.0 0.0 0 61 0.00 0.00 -41.97 0.000 2 0.000 0.000 72 2607 2987

64 -1.03 -146.6 4.1 -10.6 2 90 11.93 2.55 -8.07 0.000 4 0.183 0.051 2132 1198 3418

223 -1.03 -146.6 26.3 -11.0 9 228 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2600 3419

552 -1.03 -146.6 62.3 -12.1 25 553 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2600 3419

860 -1.03 -146.6 98.0 -11.6 40 861 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2600 3419

1170 -1.03 -146.6 131.6 -10.9 55 1171 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2600 3419

1478 -1.03 -146.6 166.2 -10.7 70 1482 0.00 2.47 0.00 0.000 4 0.000 0.036 2132 1190 3419

1505 -1.03 -146.6 169.1 -10.7 71 1509 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2601 3418

1822 -1.03 -146.6 195.2 -7.1 86 1823 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3419

2130 -1.03 -146.6 217.2 -7.3 101 2135 0.00 2.47 0.00 0.000 4 0.000 0.037 2132 1191 3420

2153 -1.03 -146.6 218.9 -7.4 102 2157 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2603 3419

2474 -1.03 -146.6 243.8 -7.9 118 2475 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2603 3419

2782 -1.03 -146.6 270.0 -8.8 133 2784 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2603 3419

3092 -1.03 -146.6 298.3 -9.1 148 3093 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2603 3419

3402 -1.03 -146.6 325.4 -8.7 163 3406 0.00 2.47 0.00 0.000 4 0.000 0.038 2132 1192 3419

3441 -1.03 -146.6 328.8 -8.6 164 3447 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2606 3419

3757 -1.03 -146.6 355.5 -8.5 180 3758 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2606 3419

4066 -1.03 -146.6 382.6 -8.5 195 4071 0.00 2.47 0.00 0.000 4 0.000 0.038 2131 1195 3419

4094 -1.03 -146.6 385.2 -8.5 196 4098 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2608 3419

4410 -1.03 -146.6 411.8 -8.4 211 4411 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2608 3419

4720 -1.03 -146.6 437.1 -8.0 226 4724 0.00 2.47 0.00 0.000 4 0.000 0.038 2133 1195 3419

4764 -1.03 -146.6 440.8 -8.0 228 4768 0.00 2.47 0.00 0.000 6 0.000 0.035 2133 2610 3419

5085 -1.03 -146.6 468.5 -9.2 244 5086 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2610 3419

5394 -1.03 -146.6 497.8 -9.3 259 5399 0.00 2.47 0.00 0.000 4 0.000 0.037 2133 1196 3418

5428 -1.03 -146.6 500.9 -9.0 260 5434 0.00 2.45 0.00 0.000 6 0.000 0.035 2133 2600 3418

5744 -1.03 -146.6 530.5 -9.6 276 5747 0.00 2.33 0.00 0.000 4 0.000 0.067 2132 3858 3418

5777 -1.03 -146.6 534.0 -9.7 277 5781 0.00 2.15 0.00 0.000 6 0.000 0.025 2132 2579 3418

6098 -1.03 -146.6 565.1 -9.5 293 6102 0.00 2.40 0.00 0.000 4 0.000 0.039 2132 1206 3418

6154 -1.07 -146.6 570.3 -8.8 295 6160 0.00 2.45 0.00 0.000 6 0.000 0.035 2132 2609 3418

6470 -1.07 -146.6 599.7 -9.3 311 6475 0.00 2.33 0.00 0.000 4 0.000 0.067 2132 3863 3418

6498 -1.07 -146.6 602.5 -10.4 312 6502 0.00 2.12 0.00 0.000 6 0.000 0.026 2132 2596 3418

6824 -1.07 -146.6 631.8 -8.0 328 6829 0.00 2.42 0.00 0.000 4 0.000 0.040 2132 1212 3418

6876 -1.13 -146.6 635.6 -7.4 330 6880 0.00 2.42 0.00 0.000 6 0.000 0.035 2132 2600 3418

7191 -1.13 -146.6 659.5 -7.7 345 7195 0.00 2.33 0.00 0.000 4 0.000 0.068 2132 3857 3417

7219 -1.13 -146.6 661.6 -8.3 346 7222 0.00 2.12 0.00 0.000 6 0.000 0.026 2133 2592 3417

7540 -1.13 -146.6 687.4 -7.9 362 7544 0.00 2.42 0.00 0.000 4 0.000 0.041 2133 1211 3417

7568 -1.18 -146.6 689.8 -8.5 363 7573 0.15 2.45 0.00 0.000 6 0.042 0.036 2084 2607 3417

7884 -1.08 -146.6 721.2 -9.5 378 7889 0.17 2.33 0.00 0.000 4 0.098 0.070 2121 3857 3417

7936 -1.08 -146.6 726.0 -8.5 380 7940 0.00 2.12 0.00 0.000 6 0.000 0.028 2121 2602 3416

8264 -1.08 -146.6 752.7 -8.2 396 8268 0.00 2.45 0.00 0.000 4 0.000 0.044 2121 1206 3415

8297 -1.13 -146.6 755.6 -8.4 397 8302 0.00 2.45 0.00 0.000 6 0.000 0.036 2122 2601 3415

8425 end dive: BOTTOM_OBSTACLE_DETECTED

state 8425 begin apogee

8432 -0.31 0.0 766.5 8.9 403 8567 0.82 0.00 129.02 1.078 6 0.099 0.000 2289 2297 2817

8568 end apogee: CONTROL_FINISHED_OK

state 8568 begin climb

8571 1.03 146.6 772.6 0.0 410 8710 1.40 0.00 130.10 1.069 6 0.071 0.000 2583 2297 2218

9020 0.98 177.0 750.7 6.5 432 9054 0.00 2.72 27.67 1.016 4 0.000 0.063 2583 3694 2095

9085 0.86 177.0 745.7 8.0 435 9090 0.17 2.45 0.00 0.000 6 0.106 0.030 2551 2309 2093

9413 0.89 201.7 723.5 6.7 451 9442 0.00 2.65 22.95 0.999 4 0.000 0.051 2551 906 1993

9460 0.91 218.9 720.1 6.9 453 9484 0.00 2.50 17.30 0.968 6 0.000 0.035 2551 2309 1924

9806 0.96 218.9 694.1 7.7 470 9808 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2308 1919

10116 1.03 231.5 672.3 7.1 485 10136 0.15 0.00 12.10 0.920 6 0.051 0.000 2592 2309 1872

10445 0.99 231.5 643.4 9.0 501 10450 0.00 2.60 0.00 0.000 4 0.000 0.064 2593 3704 1869

10467 0.92 231.5 641.1 10.0 502 10472 0.17 2.45 0.00 0.000 6 0.105 0.029 2561 2299 1870

10788 0.97 231.5 615.3 8.1 518 10793 0.00 2.55 0.00 0.000 4 0.000 0.051 2560 893 1868

10829 1.02 231.5 612.0 9.2 520 10833 0.00 2.47 0.00 0.000 6 0.000 0.035 2561 2302 1867

11156 1.02 231.5 586.2 7.9 536 11161 0.00 2.60 0.00 0.000 4 0.000 0.061 2561 3706 1867

11196 1.02 231.5 582.7 9.4 538 11200 0.00 2.45 0.00 0.000 6 0.000 0.029 2561 2293 1867

11528 1.06 231.5 553.3 9.4 554 11533 0.15 2.53 0.00 0.000 4 0.051 0.048 2601 895 1867

11573 0.99 231.5 548.2 12.1 556 11578 0.12 2.47 0.00 0.000 6 0.095 0.034 2577 2309 1866

11894 0.99 231.5 513.6 10.7 572 11898 0.00 2.58 0.00 0.000 4 0.000 0.060 2577 3704 1867

11921 0.99 231.5 510.7 11.2 573 11925 0.00 2.42 0.00 0.000 6 0.000 0.028 2577 2295 1867

12242 0.99 231.5 478.8 9.8 589 12243 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2295 1866

12552 0.99 231.5 449.9 8.9 604 12553 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2295 1867

12860 0.99 231.5 423.5 8.4 619 12861 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2295 1867

13170 0.99 231.5 399.0 7.9 634 13171 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2295 1867

13479 0.99 231.5 374.2 7.9 649 13480 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2294 1866

13788 0.99 231.5 348.7 8.3 664 13792 0.00 2.58 0.00 0.000 4 0.000 0.058 2577 3700 1867

13809 0.99 231.5 346.7 9.6 665 13814 0.00 2.40 0.00 0.000 6 0.000 0.027 2577 2297 1868

14130 0.99 231.5 320.5 7.9 681 14135 0.00 2.47 0.00 0.000 4 0.000 0.044 2577 902 1868

14152 0.99 231.5 318.6 8.3 682 14156 0.00 2.42 0.00 0.000 6 0.000 0.032 2576 2301 1868

14474 0.99 231.5 293.9 7.8 698 14478 0.00 2.55 0.00 0.000 4 0.000 0.057 2577 3698 1867

14495 0.99 231.5 291.9 8.2 699 14499 0.00 2.40 0.00 0.000 6 0.000 0.027 2577 2295 1867

14821 0.99 231.5 266.6 8.1 715 14825 0.00 2.47 0.00 0.000 4 0.000 0.044 2577 897 1867

14844 0.99 231.5 264.7 8.4 716 14848 0.00 2.45 0.00 0.000 6 0.000 0.032 2577 2309 1867

15165 0.99 231.5 238.5 7.8 732 15166 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2309 1868

15474 1.00 236.7 215.2 7.3 747 15482 0.00 0.00 5.78 0.567 6 0.000 0.000 2577 2309 1851

15784 1.01 243.0 193.1 7.3 762 15793 0.00 0.00 7.20 0.591 6 0.000 0.000 2576 2309 1826

16092 1.01 243.0 170.1 7.6 777 16094 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2309 1825

16402 1.01 243.0 146.4 7.5 792 16404 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2309 1825

16712 1.04 275.8 126.8 6.4 807 16748 0.00 2.58 30.42 0.648 4 0.000 0.042 2577 898 1689

16765 1.11 282.9 122.9 7.3 808 16780 0.12 2.47 7.35 0.548 6 0.048 0.031 2609 2308 1663

17102 1.11 282.9 86.8 12.1 825 17107 0.00 2.55 0.00 0.000 4 0.000 0.056 2609 3699 1659

17124 1.11 282.9 83.7 12.8 826 17129 0.00 2.42 0.00 0.000 6 0.000 0.027 2609 2294 1659

17447 1.11 282.9 44.5 12.3 842 17452 0.00 2.47 0.00 0.000 4 0.000 0.044 2609 900 1658

17488 1.11 282.9 39.7 10.3 844 17492 0.00 2.45 0.00 0.000 6 0.000 0.031 2610 2311 1656

17815 1.11 282.9 8.5 8.7 860 17819 0.00 2.53 0.00 0.000 4 0.000 0.054 2610 3698 1656

17842 1.11 282.9 5.5 9.4 861 17846 0.00 2.40 0.00 0.000 6 0.000 0.027 2610 2299 1657

17887 end climb: SURFACE_DEPTH_REACHED

state 17888 begin surface coast

17930 end surface coast: CONTROL_FINISHED_OK

state 17930 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	234	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	28	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	-2111766.8	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	193437,6249.964,-1304.118,36,0.9,36,-12.0	TGT_NAME	GE
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	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	-63.3	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	193938,6249.947,-1304.159,16,1.1,16,-12.0	MHEAD_RNG_PITCHd_Wd	128.1,41827,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.013763	ALTIM_BOTTOM_PING	725.3,51.2
SM_CCo	18014,0.00,0.000,0,0,1655,285.04	_24V_AH	23.6,37.810
SM_GC	1.66,12.10,0.00,0.00,0.086,0.000,0.000,68,2609,1655,-10.47,0.28,285.04	_10V_AH	10.1,19.246
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44249,865
TT8_MAMPS	0.02301	CAP_FILE_SIZE	127861,0
HUMID	1793	CFSIZE	260165632,245350400
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	190709,004130,6248.275,-1301.611,38,0.9,43,-11.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	182	118.36	SBE_CT	630	24	357.37
Roll_motor	148	69	243.95	SBE_O2	594	19	266.76
VBD_pump_during_apogee	389	1077	9916.01	WL_BB2F	487	105	1208.27
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	43.81	nil	0	0	0.00
Iridium_during_connect	29	160	110.27	nil	0	0	0.00
Iridium_during_xfer	134	223	706.15
Transponder_ping	6	420	61.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.17
TT8	1568	19	313.67
LPSleep	14020	2	310.12
TT8_Active	491	19	98.23
TT8_Sampling	1762	39	708.36
TT8_CF8	472	45	218.72
TT8_Kalman	0	81	0.00
Analog_circuits	1401	12	169.89
GPS_charging	0	0	0.00
Compass	1715	8	138.62
RAFOS	0	0	0.00
Transponder	43	30	13.06

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.03	-146.6	0.0	0.0	0	61	0.00	0.00	-41.97	0.000	2	0.000	0.000	72	2607	2987
64	-1.03	-146.6	4.1	-10.6	2	90	11.93	2.55	-8.07	0.000	4	0.183	0.051	2132	1198	3418
223	-1.03	-146.6	26.3	-11.0	9	228	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2600	3419
552	-1.03	-146.6	62.3	-12.1	25	553	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2600	3419
860	-1.03	-146.6	98.0	-11.6	40	861	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2600	3419
1170	-1.03	-146.6	131.6	-10.9	55	1171	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2600	3419
1478	-1.03	-146.6	166.2	-10.7	70	1482	0.00	2.47	0.00	0.000	4	0.000	0.036	2132	1190	3419
1505	-1.03	-146.6	169.1	-10.7	71	1509	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2601	3418
1822	-1.03	-146.6	195.2	-7.1	86	1823	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3419
2130	-1.03	-146.6	217.2	-7.3	101	2135	0.00	2.47	0.00	0.000	4	0.000	0.037	2132	1191	3420
2153	-1.03	-146.6	218.9	-7.4	102	2157	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2603	3419
2474	-1.03	-146.6	243.8	-7.9	118	2475	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2603	3419
2782	-1.03	-146.6	270.0	-8.8	133	2784	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2603	3419
3092	-1.03	-146.6	298.3	-9.1	148	3093	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2603	3419
3402	-1.03	-146.6	325.4	-8.7	163	3406	0.00	2.47	0.00	0.000	4	0.000	0.038	2132	1192	3419
3441	-1.03	-146.6	328.8	-8.6	164	3447	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2606	3419
3757	-1.03	-146.6	355.5	-8.5	180	3758	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2606	3419
4066	-1.03	-146.6	382.6	-8.5	195	4071	0.00	2.47	0.00	0.000	4	0.000	0.038	2131	1195	3419
4094	-1.03	-146.6	385.2	-8.5	196	4098	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2608	3419
4410	-1.03	-146.6	411.8	-8.4	211	4411	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2608	3419
4720	-1.03	-146.6	437.1	-8.0	226	4724	0.00	2.47	0.00	0.000	4	0.000	0.038	2133	1195	3419
4764	-1.03	-146.6	440.8	-8.0	228	4768	0.00	2.47	0.00	0.000	6	0.000	0.035	2133	2610	3419
5085	-1.03	-146.6	468.5	-9.2	244	5086	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2610	3419
5394	-1.03	-146.6	497.8	-9.3	259	5399	0.00	2.47	0.00	0.000	4	0.000	0.037	2133	1196	3418
5428	-1.03	-146.6	500.9	-9.0	260	5434	0.00	2.45	0.00	0.000	6	0.000	0.035	2133	2600	3418
5744	-1.03	-146.6	530.5	-9.6	276	5747	0.00	2.33	0.00	0.000	4	0.000	0.067	2132	3858	3418
5777	-1.03	-146.6	534.0	-9.7	277	5781	0.00	2.15	0.00	0.000	6	0.000	0.025	2132	2579	3418
6098	-1.03	-146.6	565.1	-9.5	293	6102	0.00	2.40	0.00	0.000	4	0.000	0.039	2132	1206	3418
6154	-1.07	-146.6	570.3	-8.8	295	6160	0.00	2.45	0.00	0.000	6	0.000	0.035	2132	2609	3418
6470	-1.07	-146.6	599.7	-9.3	311	6475	0.00	2.33	0.00	0.000	4	0.000	0.067	2132	3863	3418
6498	-1.07	-146.6	602.5	-10.4	312	6502	0.00	2.12	0.00	0.000	6	0.000	0.026	2132	2596	3418
6824	-1.07	-146.6	631.8	-8.0	328	6829	0.00	2.42	0.00	0.000	4	0.000	0.040	2132	1212	3418
6876	-1.13	-146.6	635.6	-7.4	330	6880	0.00	2.42	0.00	0.000	6	0.000	0.035	2132	2600	3418
7191	-1.13	-146.6	659.5	-7.7	345	7195	0.00	2.33	0.00	0.000	4	0.000	0.068	2132	3857	3417
7219	-1.13	-146.6	661.6	-8.3	346	7222	0.00	2.12	0.00	0.000	6	0.000	0.026	2133	2592	3417
7540	-1.13	-146.6	687.4	-7.9	362	7544	0.00	2.42	0.00	0.000	4	0.000	0.041	2133	1211	3417
7568	-1.18	-146.6	689.8	-8.5	363	7573	0.15	2.45	0.00	0.000	6	0.042	0.036	2084	2607	3417
7884	-1.08	-146.6	721.2	-9.5	378	7889	0.17	2.33	0.00	0.000	4	0.098	0.070	2121	3857	3417
7936	-1.08	-146.6	726.0	-8.5	380	7940	0.00	2.12	0.00	0.000	6	0.000	0.028	2121	2602	3416
8264	-1.08	-146.6	752.7	-8.2	396	8268	0.00	2.45	0.00	0.000	4	0.000	0.044	2121	1206	3415
8297	-1.13	-146.6	755.6	-8.4	397	8302	0.00	2.45	0.00	0.000	6	0.000	0.036	2122	2601	3415
8425	end dive: BOTTOM_OBSTACLE_DETECTED
state	8425	begin apogee
8432	-0.31	0.0	766.5	8.9	403	8567	0.82	0.00	129.02	1.078	6	0.099	0.000	2289	2297	2817
8568	end apogee: CONTROL_FINISHED_OK
state	8568	begin climb
8571	1.03	146.6	772.6	0.0	410	8710	1.40	0.00	130.10	1.069	6	0.071	0.000	2583	2297	2218
9020	0.98	177.0	750.7	6.5	432	9054	0.00	2.72	27.67	1.016	4	0.000	0.063	2583	3694	2095
9085	0.86	177.0	745.7	8.0	435	9090	0.17	2.45	0.00	0.000	6	0.106	0.030	2551	2309	2093
9413	0.89	201.7	723.5	6.7	451	9442	0.00	2.65	22.95	0.999	4	0.000	0.051	2551	906	1993
9460	0.91	218.9	720.1	6.9	453	9484	0.00	2.50	17.30	0.968	6	0.000	0.035	2551	2309	1924
9806	0.96	218.9	694.1	7.7	470	9808	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2308	1919
10116	1.03	231.5	672.3	7.1	485	10136	0.15	0.00	12.10	0.920	6	0.051	0.000	2592	2309	1872
10445	0.99	231.5	643.4	9.0	501	10450	0.00	2.60	0.00	0.000	4	0.000	0.064	2593	3704	1869
10467	0.92	231.5	641.1	10.0	502	10472	0.17	2.45	0.00	0.000	6	0.105	0.029	2561	2299	1870
10788	0.97	231.5	615.3	8.1	518	10793	0.00	2.55	0.00	0.000	4	0.000	0.051	2560	893	1868
10829	1.02	231.5	612.0	9.2	520	10833	0.00	2.47	0.00	0.000	6	0.000	0.035	2561	2302	1867
11156	1.02	231.5	586.2	7.9	536	11161	0.00	2.60	0.00	0.000	4	0.000	0.061	2561	3706	1867
11196	1.02	231.5	582.7	9.4	538	11200	0.00	2.45	0.00	0.000	6	0.000	0.029	2561	2293	1867
11528	1.06	231.5	553.3	9.4	554	11533	0.15	2.53	0.00	0.000	4	0.051	0.048	2601	895	1867
11573	0.99	231.5	548.2	12.1	556	11578	0.12	2.47	0.00	0.000	6	0.095	0.034	2577	2309	1866
11894	0.99	231.5	513.6	10.7	572	11898	0.00	2.58	0.00	0.000	4	0.000	0.060	2577	3704	1867
11921	0.99	231.5	510.7	11.2	573	11925	0.00	2.42	0.00	0.000	6	0.000	0.028	2577	2295	1867
12242	0.99	231.5	478.8	9.8	589	12243	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2295	1866
12552	0.99	231.5	449.9	8.9	604	12553	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2295	1867
12860	0.99	231.5	423.5	8.4	619	12861	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2295	1867
13170	0.99	231.5	399.0	7.9	634	13171	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2295	1867
13479	0.99	231.5	374.2	7.9	649	13480	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2294	1866
13788	0.99	231.5	348.7	8.3	664	13792	0.00	2.58	0.00	0.000	4	0.000	0.058	2577	3700	1867
13809	0.99	231.5	346.7	9.6	665	13814	0.00	2.40	0.00	0.000	6	0.000	0.027	2577	2297	1868
14130	0.99	231.5	320.5	7.9	681	14135	0.00	2.47	0.00	0.000	4	0.000	0.044	2577	902	1868
14152	0.99	231.5	318.6	8.3	682	14156	0.00	2.42	0.00	0.000	6	0.000	0.032	2576	2301	1868
14474	0.99	231.5	293.9	7.8	698	14478	0.00	2.55	0.00	0.000	4	0.000	0.057	2577	3698	1867
14495	0.99	231.5	291.9	8.2	699	14499	0.00	2.40	0.00	0.000	6	0.000	0.027	2577	2295	1867
14821	0.99	231.5	266.6	8.1	715	14825	0.00	2.47	0.00	0.000	4	0.000	0.044	2577	897	1867
14844	0.99	231.5	264.7	8.4	716	14848	0.00	2.45	0.00	0.000	6	0.000	0.032	2577	2309	1867
15165	0.99	231.5	238.5	7.8	732	15166	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2309	1868
15474	1.00	236.7	215.2	7.3	747	15482	0.00	0.00	5.78	0.567	6	0.000	0.000	2577	2309	1851
15784	1.01	243.0	193.1	7.3	762	15793	0.00	0.00	7.20	0.591	6	0.000	0.000	2576	2309	1826
16092	1.01	243.0	170.1	7.6	777	16094	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2309	1825
16402	1.01	243.0	146.4	7.5	792	16404	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2309	1825
16712	1.04	275.8	126.8	6.4	807	16748	0.00	2.58	30.42	0.648	4	0.000	0.042	2577	898	1689
16765	1.11	282.9	122.9	7.3	808	16780	0.12	2.47	7.35	0.548	6	0.048	0.031	2609	2308	1663
17102	1.11	282.9	86.8	12.1	825	17107	0.00	2.55	0.00	0.000	4	0.000	0.056	2609	3699	1659
17124	1.11	282.9	83.7	12.8	826	17129	0.00	2.42	0.00	0.000	6	0.000	0.027	2609	2294	1659
17447	1.11	282.9	44.5	12.3	842	17452	0.00	2.47	0.00	0.000	4	0.000	0.044	2609	900	1658
17488	1.11	282.9	39.7	10.3	844	17492	0.00	2.45	0.00	0.000	6	0.000	0.031	2610	2311	1656
17815	1.11	282.9	8.5	8.7	860	17819	0.00	2.53	0.00	0.000	4	0.000	0.054	2610	3698	1656
17842	1.11	282.9	5.5	9.4	861	17846	0.00	2.40	0.00	0.000	6	0.000	0.027	2610	2299	1657
17887	end climb: SURFACE_DEPTH_REACHED
state	17888	begin surface coast
17930	end surface coast: CONTROL_FINISHED_OK
state	17930	begin surface