Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 240 * 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 240 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 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 -2111856.5 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 -2111856.5

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 38 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 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 240 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 004824,6246.063,-1244.919,26,1.9,43,-11.8 TGT_NAME GE

_CALLS 2 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.65 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.4 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 005632,6246.095,-1245.100,11,1.9,11,-11.8 MHEAD_RNG_PITCHd_Wd 129.7,24145,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.026508 ALTIM_BOTTOM_PING 725.0,35.0

SM_CCo 17441,0.00,0.000,0,0,1706,272.53 _24V_AH 23.6,38.630

SM_GC 1.50,12.07,0.00,0.00,0.081,0.000,0.000,73,2606,1706,-10.46,0.17,272.53 _10V_AH 10.1,19.708

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41127,835

TT8_MAMPS 0.02301 CAP_FILE_SIZE 132915,0

HUMID 1795 CFSIZE 260165632,244985856

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 200709,054836,6246.339,-1242.569,26,1.4,26,-11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 187 128.28 SBE_CT 613 24 347.68

Roll_motor 162 72 276.03 SBE_O2 570 19 255.64

VBD_pump_during_apogee 374 1074 9489.63 WL_BB2F 515 105 1276.68

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 88.33 nil 0 0 0.00

Iridium_during_connect 58 160 219.80 nil 0 0 0.00

Iridium_during_xfer 208 223 1097.95

Transponder_ping 6 420 61.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.85

TT8 1535 19 307.13

LPSleep 13516 2 298.98

TT8_Active 504 19 100.85

TT8_Sampling 1763 39 708.98

TT8_CF8 609 45 281.77

TT8_Kalman 0 81 0.00

Analog_circuits 1423 12 172.48

GPS_charging 0 0 0.00

Compass 1721 8 139.07

RAFOS 0 0 0.00

Transponder 43 30 13.14

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 78 0.00 0.00 -61.65 0.000 6 0.000 0.000 61 2600 3416

81 -1.03 -146.6 5.3 -8.3 3 103 12.12 2.53 0.00 0.000 4 0.188 0.038 2130 1196 3418

127 -0.75 -146.6 22.1 -22.4 5 133 0.32 2.47 0.00 0.000 6 0.096 0.035 2194 2595 3418

456 -0.86 -146.6 41.5 -6.4 21 460 0.00 2.47 0.00 0.000 4 0.000 0.036 2194 1190 3418

489 -1.03 -146.6 44.5 -9.1 22 496 0.28 2.47 0.00 0.000 6 0.035 0.034 2116 2605 3419

807 -0.96 -146.6 76.8 -11.3 38 811 0.17 2.33 0.00 0.000 4 0.090 0.061 2154 3864 3419

902 -1.01 -146.6 86.7 -10.3 42 906 0.00 2.15 0.00 0.000 6 0.000 0.025 2153 2580 3419

1220 -1.05 -146.6 113.5 -8.1 57 1224 0.00 2.40 0.00 0.000 4 0.000 0.038 2155 1209 3419

1253 -1.12 -146.6 116.4 -8.2 58 1260 0.17 2.42 0.00 0.000 6 0.041 0.034 2099 2601 3419

1570 -1.02 -146.6 149.4 -10.5 74 1578 0.17 2.33 0.00 0.000 4 0.095 0.062 2137 3862 3419

1612 -1.02 -146.6 153.7 -9.5 75 1618 0.00 2.12 0.00 0.000 6 0.000 0.025 2137 2592 3419

1929 -1.02 -146.6 182.1 -9.3 91 1933 0.00 2.42 0.00 0.000 4 0.000 0.038 2137 1212 3419

1951 -1.02 -146.6 184.4 -9.6 92 1955 0.00 2.45 0.00 0.000 6 0.000 0.035 2137 2609 3419

2271 -1.02 -146.6 214.7 -9.8 108 2272 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2610 3420

2581 -1.02 -146.6 245.4 -10.2 123 2582 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2610 3419

2890 -1.02 -146.6 275.8 -9.5 138 2895 0.00 2.45 0.00 0.000 4 0.000 0.037 2137 1216 3419

2924 -1.02 -146.6 279.3 -9.6 139 2930 0.00 2.42 0.00 0.000 6 0.000 0.035 2137 2599 3419

3240 -1.02 -146.6 310.1 -9.8 155 3241 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2599 3418

3548 -1.02 -146.6 339.4 -9.7 170 3552 0.00 2.42 0.00 0.000 4 0.000 0.038 2137 1217 3418

3576 -1.02 -146.6 342.1 -9.9 171 3580 0.00 2.42 0.00 0.000 6 0.000 0.035 2137 2600 3418

3892 -1.02 -146.6 372.0 -9.2 186 3893 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2600 3418

4204 -1.02 -146.6 400.7 -9.4 201 4208 0.00 2.42 0.00 0.000 4 0.000 0.038 2137 1218 3418

4244 -1.06 -146.6 404.7 -9.1 203 4248 0.00 2.42 0.00 0.000 6 0.000 0.035 2137 2600 3418

4571 -1.06 -146.6 436.0 -9.6 219 4572 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2601 3417

4879 -1.06 -146.6 464.5 -9.3 234 4883 0.00 2.42 0.00 0.000 4 0.000 0.038 2137 1218 3417

4907 -1.06 -146.6 467.1 -9.3 235 4911 0.00 2.42 0.00 0.000 6 0.000 0.035 2137 2600 3417

5229 -1.06 -146.6 495.5 -8.7 251 5230 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2601 3417

5538 -1.06 -146.6 521.8 -8.6 266 5539 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2601 3416

5847 -1.06 -146.6 548.7 -8.8 281 5851 0.00 2.42 0.00 0.000 4 0.000 0.038 2137 1218 3417

5887 -1.12 -146.6 552.1 -8.4 283 5891 0.00 2.42 0.00 0.000 6 0.000 0.036 2137 2600 3417

6214 -1.12 -146.6 579.9 -8.5 299 6218 0.00 2.33 0.00 0.000 4 0.000 0.067 2137 3861 3416

6247 -1.12 -146.6 582.8 -9.3 300 6250 0.00 2.12 0.00 0.000 6 0.000 0.026 2137 2596 3416

6569 -1.12 -146.6 609.8 -8.5 316 6573 0.00 2.42 0.00 0.000 4 0.000 0.040 2137 1216 3416

6631 -1.19 -146.6 615.3 -8.8 319 6636 0.17 2.42 0.00 0.000 6 0.042 0.036 2086 2605 3416

6958 -1.10 -146.6 649.7 -10.5 335 6967 0.17 2.33 0.00 0.000 4 0.094 0.067 2119 3856 3416

6990 -1.10 -146.6 652.7 -9.9 336 6993 0.00 2.10 0.00 0.000 6 0.000 0.027 2120 2597 3416

7316 -1.10 -146.6 682.4 -9.4 352 7320 0.00 2.42 0.00 0.000 4 0.000 0.041 2120 1217 3414

7344 -1.10 -146.6 684.7 -8.7 353 7348 0.00 2.42 0.00 0.000 6 0.000 0.036 2120 2599 3415

7660 -1.10 -146.6 710.6 -7.8 368 7664 0.00 2.45 0.00 0.000 4 0.000 0.039 2120 1209 3415

7693 -1.15 -146.6 713.3 -7.8 369 7699 0.00 2.45 0.00 0.000 6 0.000 0.037 2120 2599 3415

8008 -1.15 -146.6 738.4 -8.2 385 8012 0.00 2.35 0.00 0.000 4 0.000 0.072 2120 3857 3414

8064 -1.15 -146.6 743.7 -10.4 387 8071 0.00 2.12 0.00 0.000 6 0.000 0.028 2120 2601 3414

8151 end dive: BOTTOM_OBSTACLE_DETECTED

state 8151 begin apogee

8158 -0.31 0.0 751.1 8.6 392 8293 0.85 0.00 128.93 1.075 6 0.100 0.000 2291 2309 2817

8294 end apogee: CONTROL_FINISHED_OK

state 8294 begin climb

8297 1.03 146.6 755.1 0.0 399 8435 1.35 2.62 129.98 1.063 4 0.067 0.050 2581 905 2218

8500 0.94 146.6 747.1 8.8 408 8504 0.00 2.50 0.00 0.000 6 0.000 0.035 2581 2308 2213

8816 0.83 146.6 720.8 8.0 423 8821 0.17 2.62 0.00 0.000 4 0.090 0.064 2544 3700 2212

8946 0.77 146.6 710.6 7.5 429 8950 0.00 2.45 0.00 0.000 6 0.000 0.030 2544 2303 2212

9272 0.80 173.9 689.1 6.6 445 9299 0.00 0.00 24.40 0.992 6 0.000 0.000 2544 2303 2108

9603 0.84 214.6 667.6 6.1 461 9648 0.00 2.70 38.05 1.005 4 0.000 0.062 2544 3698 1941

9716 0.84 214.6 660.0 7.6 466 9720 0.00 2.47 0.00 0.000 6 0.000 0.029 2544 2296 1939

10038 0.95 230.0 638.7 7.0 482 10060 0.00 2.60 14.62 0.928 4 0.000 0.051 2544 902 1878

10088 1.07 249.5 635.0 6.8 484 10114 0.22 2.50 19.67 0.948 6 0.043 0.035 2602 2305 1799

10433 1.02 249.5 603.2 9.4 501 10437 0.00 2.58 0.00 0.000 4 0.000 0.048 2602 894 1794

10455 0.96 249.5 600.7 9.8 502 10460 0.17 2.50 0.00 0.000 6 0.095 0.035 2569 2305 1793

10776 1.01 249.5 575.6 7.9 518 10780 0.00 2.60 0.00 0.000 4 0.000 0.062 2568 3700 1793

10804 1.01 249.5 573.3 8.8 519 10808 0.00 2.45 0.00 0.000 6 0.000 0.028 2569 2299 1793

11119 1.06 249.5 548.3 8.1 534 11121 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2299 1793

11429 1.11 249.5 523.5 8.1 549 11434 0.15 2.62 0.00 0.000 4 0.048 0.059 2609 3709 1792

11451 1.07 249.5 521.4 9.2 550 11456 0.00 2.45 0.00 0.000 6 0.000 0.028 2609 2299 1792

11773 1.00 249.5 488.6 10.3 566 11778 0.15 2.53 0.00 0.000 4 0.094 0.048 2580 901 1792

11806 1.00 249.5 485.2 9.8 567 11812 0.00 2.47 0.00 0.000 6 0.000 0.034 2580 2310 1790

12122 1.00 249.5 457.0 9.0 583 12123 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2311 1790

12431 1.00 249.5 428.6 9.1 598 12432 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2311 1790

12740 1.00 249.5 400.3 9.3 613 12744 0.00 2.55 0.00 0.000 4 0.000 0.044 2580 892 1790

12764 1.00 249.5 398.2 8.6 614 12768 0.00 2.47 0.00 0.000 6 0.000 0.033 2580 2309 1790

13090 1.00 249.5 368.1 9.2 630 13091 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2309 1790

13399 1.00 249.5 339.4 9.1 645 13400 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2309 1791

13709 1.00 249.5 311.0 9.2 660 13713 0.00 2.53 0.00 0.000 4 0.000 0.044 2580 897 1791

13736 1.00 249.5 308.3 9.0 661 13740 0.00 2.45 0.00 0.000 6 0.000 0.032 2580 2302 1790

14052 1.00 249.5 280.5 8.8 676 14056 0.00 2.58 0.00 0.000 4 0.000 0.057 2580 3701 1791

14079 1.00 249.5 277.8 10.1 677 14084 0.00 2.42 0.00 0.000 6 0.000 0.027 2580 2295 1792

14395 1.00 249.5 251.0 8.5 692 14399 0.00 2.47 0.00 0.000 4 0.000 0.044 2579 900 1791

14434 1.00 249.5 247.4 8.6 694 14439 0.00 2.45 0.00 0.000 6 0.000 0.033 2580 2307 1791

14762 1.00 249.5 218.6 9.0 710 14763 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2306 1791

15070 1.00 249.5 189.8 9.4 725 15072 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2306 1792

15380 1.00 249.5 161.1 9.3 740 15381 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2306 1792

15691 1.00 249.5 133.6 8.2 755 15696 0.00 2.50 0.00 0.000 4 0.000 0.042 2580 900 1792

15709 1.00 249.5 132.0 8.1 756 15713 0.00 2.42 0.00 0.000 6 0.000 0.031 2580 2302 1792

16042 1.00 249.5 105.1 8.0 772 16043 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2302 1792

16351 1.00 249.5 81.4 7.5 787 16355 0.00 2.50 0.00 0.000 4 0.000 0.042 2580 895 1792

16385 1.05 249.5 78.6 7.7 788 16392 0.00 2.45 0.00 0.000 6 0.000 0.032 2580 2303 1792

16701 1.05 249.5 55.6 7.8 804 16706 0.00 2.55 0.00 0.000 4 0.000 0.057 2580 3698 1792

16719 1.05 249.5 54.1 7.9 805 16724 0.00 2.40 0.00 0.000 6 0.000 0.027 2580 2296 1793

17048 1.11 270.6 30.6 6.8 821 17073 0.00 2.55 18.55 0.575 4 0.000 0.044 2580 908 1712

17102 1.19 270.6 25.8 8.2 823 17107 0.17 2.45 0.00 0.000 6 0.044 0.033 2629 2299 1710

17333 end climb: SURFACE_DEPTH_REACHED

state 17333 begin surface coast

17356 end surface coast: CONTROL_FINISHED_OK

state 17356 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	240	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	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	-2111856.5	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	004824,6246.063,-1244.919,26,1.9,43,-11.8	TGT_NAME	GE
_CALLS	2	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.65	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.4	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	005632,6246.095,-1245.100,11,1.9,11,-11.8	MHEAD_RNG_PITCHd_Wd	129.7,24145,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.9,1.026508	ALTIM_BOTTOM_PING	725.0,35.0
SM_CCo	17441,0.00,0.000,0,0,1706,272.53	_24V_AH	23.6,38.630
SM_GC	1.50,12.07,0.00,0.00,0.081,0.000,0.000,73,2606,1706,-10.46,0.17,272.53	_10V_AH	10.1,19.708
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41127,835
TT8_MAMPS	0.02301	CAP_FILE_SIZE	132915,0
HUMID	1795	CFSIZE	260165632,244985856
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	200709,054836,6246.339,-1242.569,26,1.4,26,-11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	187	128.28	SBE_CT	613	24	347.68
Roll_motor	162	72	276.03	SBE_O2	570	19	255.64
VBD_pump_during_apogee	374	1074	9489.63	WL_BB2F	515	105	1276.68
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	88.33	nil	0	0	0.00
Iridium_during_connect	58	160	219.80	nil	0	0	0.00
Iridium_during_xfer	208	223	1097.95
Transponder_ping	6	420	61.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.85
TT8	1535	19	307.13
LPSleep	13516	2	298.98
TT8_Active	504	19	100.85
TT8_Sampling	1763	39	708.98
TT8_CF8	609	45	281.77
TT8_Kalman	0	81	0.00
Analog_circuits	1423	12	172.48
GPS_charging	0	0	0.00
Compass	1721	8	139.07
RAFOS	0	0	0.00
Transponder	43	30	13.14

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	78	0.00	0.00	-61.65	0.000	6	0.000	0.000	61	2600	3416
81	-1.03	-146.6	5.3	-8.3	3	103	12.12	2.53	0.00	0.000	4	0.188	0.038	2130	1196	3418
127	-0.75	-146.6	22.1	-22.4	5	133	0.32	2.47	0.00	0.000	6	0.096	0.035	2194	2595	3418
456	-0.86	-146.6	41.5	-6.4	21	460	0.00	2.47	0.00	0.000	4	0.000	0.036	2194	1190	3418
489	-1.03	-146.6	44.5	-9.1	22	496	0.28	2.47	0.00	0.000	6	0.035	0.034	2116	2605	3419
807	-0.96	-146.6	76.8	-11.3	38	811	0.17	2.33	0.00	0.000	4	0.090	0.061	2154	3864	3419
902	-1.01	-146.6	86.7	-10.3	42	906	0.00	2.15	0.00	0.000	6	0.000	0.025	2153	2580	3419
1220	-1.05	-146.6	113.5	-8.1	57	1224	0.00	2.40	0.00	0.000	4	0.000	0.038	2155	1209	3419
1253	-1.12	-146.6	116.4	-8.2	58	1260	0.17	2.42	0.00	0.000	6	0.041	0.034	2099	2601	3419
1570	-1.02	-146.6	149.4	-10.5	74	1578	0.17	2.33	0.00	0.000	4	0.095	0.062	2137	3862	3419
1612	-1.02	-146.6	153.7	-9.5	75	1618	0.00	2.12	0.00	0.000	6	0.000	0.025	2137	2592	3419
1929	-1.02	-146.6	182.1	-9.3	91	1933	0.00	2.42	0.00	0.000	4	0.000	0.038	2137	1212	3419
1951	-1.02	-146.6	184.4	-9.6	92	1955	0.00	2.45	0.00	0.000	6	0.000	0.035	2137	2609	3419
2271	-1.02	-146.6	214.7	-9.8	108	2272	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2610	3420
2581	-1.02	-146.6	245.4	-10.2	123	2582	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2610	3419
2890	-1.02	-146.6	275.8	-9.5	138	2895	0.00	2.45	0.00	0.000	4	0.000	0.037	2137	1216	3419
2924	-1.02	-146.6	279.3	-9.6	139	2930	0.00	2.42	0.00	0.000	6	0.000	0.035	2137	2599	3419
3240	-1.02	-146.6	310.1	-9.8	155	3241	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2599	3418
3548	-1.02	-146.6	339.4	-9.7	170	3552	0.00	2.42	0.00	0.000	4	0.000	0.038	2137	1217	3418
3576	-1.02	-146.6	342.1	-9.9	171	3580	0.00	2.42	0.00	0.000	6	0.000	0.035	2137	2600	3418
3892	-1.02	-146.6	372.0	-9.2	186	3893	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2600	3418
4204	-1.02	-146.6	400.7	-9.4	201	4208	0.00	2.42	0.00	0.000	4	0.000	0.038	2137	1218	3418
4244	-1.06	-146.6	404.7	-9.1	203	4248	0.00	2.42	0.00	0.000	6	0.000	0.035	2137	2600	3418
4571	-1.06	-146.6	436.0	-9.6	219	4572	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2601	3417
4879	-1.06	-146.6	464.5	-9.3	234	4883	0.00	2.42	0.00	0.000	4	0.000	0.038	2137	1218	3417
4907	-1.06	-146.6	467.1	-9.3	235	4911	0.00	2.42	0.00	0.000	6	0.000	0.035	2137	2600	3417
5229	-1.06	-146.6	495.5	-8.7	251	5230	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2601	3417
5538	-1.06	-146.6	521.8	-8.6	266	5539	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2601	3416
5847	-1.06	-146.6	548.7	-8.8	281	5851	0.00	2.42	0.00	0.000	4	0.000	0.038	2137	1218	3417
5887	-1.12	-146.6	552.1	-8.4	283	5891	0.00	2.42	0.00	0.000	6	0.000	0.036	2137	2600	3417
6214	-1.12	-146.6	579.9	-8.5	299	6218	0.00	2.33	0.00	0.000	4	0.000	0.067	2137	3861	3416
6247	-1.12	-146.6	582.8	-9.3	300	6250	0.00	2.12	0.00	0.000	6	0.000	0.026	2137	2596	3416
6569	-1.12	-146.6	609.8	-8.5	316	6573	0.00	2.42	0.00	0.000	4	0.000	0.040	2137	1216	3416
6631	-1.19	-146.6	615.3	-8.8	319	6636	0.17	2.42	0.00	0.000	6	0.042	0.036	2086	2605	3416
6958	-1.10	-146.6	649.7	-10.5	335	6967	0.17	2.33	0.00	0.000	4	0.094	0.067	2119	3856	3416
6990	-1.10	-146.6	652.7	-9.9	336	6993	0.00	2.10	0.00	0.000	6	0.000	0.027	2120	2597	3416
7316	-1.10	-146.6	682.4	-9.4	352	7320	0.00	2.42	0.00	0.000	4	0.000	0.041	2120	1217	3414
7344	-1.10	-146.6	684.7	-8.7	353	7348	0.00	2.42	0.00	0.000	6	0.000	0.036	2120	2599	3415
7660	-1.10	-146.6	710.6	-7.8	368	7664	0.00	2.45	0.00	0.000	4	0.000	0.039	2120	1209	3415
7693	-1.15	-146.6	713.3	-7.8	369	7699	0.00	2.45	0.00	0.000	6	0.000	0.037	2120	2599	3415
8008	-1.15	-146.6	738.4	-8.2	385	8012	0.00	2.35	0.00	0.000	4	0.000	0.072	2120	3857	3414
8064	-1.15	-146.6	743.7	-10.4	387	8071	0.00	2.12	0.00	0.000	6	0.000	0.028	2120	2601	3414
8151	end dive: BOTTOM_OBSTACLE_DETECTED
state	8151	begin apogee
8158	-0.31	0.0	751.1	8.6	392	8293	0.85	0.00	128.93	1.075	6	0.100	0.000	2291	2309	2817
8294	end apogee: CONTROL_FINISHED_OK
state	8294	begin climb
8297	1.03	146.6	755.1	0.0	399	8435	1.35	2.62	129.98	1.063	4	0.067	0.050	2581	905	2218
8500	0.94	146.6	747.1	8.8	408	8504	0.00	2.50	0.00	0.000	6	0.000	0.035	2581	2308	2213
8816	0.83	146.6	720.8	8.0	423	8821	0.17	2.62	0.00	0.000	4	0.090	0.064	2544	3700	2212
8946	0.77	146.6	710.6	7.5	429	8950	0.00	2.45	0.00	0.000	6	0.000	0.030	2544	2303	2212
9272	0.80	173.9	689.1	6.6	445	9299	0.00	0.00	24.40	0.992	6	0.000	0.000	2544	2303	2108
9603	0.84	214.6	667.6	6.1	461	9648	0.00	2.70	38.05	1.005	4	0.000	0.062	2544	3698	1941
9716	0.84	214.6	660.0	7.6	466	9720	0.00	2.47	0.00	0.000	6	0.000	0.029	2544	2296	1939
10038	0.95	230.0	638.7	7.0	482	10060	0.00	2.60	14.62	0.928	4	0.000	0.051	2544	902	1878
10088	1.07	249.5	635.0	6.8	484	10114	0.22	2.50	19.67	0.948	6	0.043	0.035	2602	2305	1799
10433	1.02	249.5	603.2	9.4	501	10437	0.00	2.58	0.00	0.000	4	0.000	0.048	2602	894	1794
10455	0.96	249.5	600.7	9.8	502	10460	0.17	2.50	0.00	0.000	6	0.095	0.035	2569	2305	1793
10776	1.01	249.5	575.6	7.9	518	10780	0.00	2.60	0.00	0.000	4	0.000	0.062	2568	3700	1793
10804	1.01	249.5	573.3	8.8	519	10808	0.00	2.45	0.00	0.000	6	0.000	0.028	2569	2299	1793
11119	1.06	249.5	548.3	8.1	534	11121	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2299	1793
11429	1.11	249.5	523.5	8.1	549	11434	0.15	2.62	0.00	0.000	4	0.048	0.059	2609	3709	1792
11451	1.07	249.5	521.4	9.2	550	11456	0.00	2.45	0.00	0.000	6	0.000	0.028	2609	2299	1792
11773	1.00	249.5	488.6	10.3	566	11778	0.15	2.53	0.00	0.000	4	0.094	0.048	2580	901	1792
11806	1.00	249.5	485.2	9.8	567	11812	0.00	2.47	0.00	0.000	6	0.000	0.034	2580	2310	1790
12122	1.00	249.5	457.0	9.0	583	12123	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2311	1790
12431	1.00	249.5	428.6	9.1	598	12432	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2311	1790
12740	1.00	249.5	400.3	9.3	613	12744	0.00	2.55	0.00	0.000	4	0.000	0.044	2580	892	1790
12764	1.00	249.5	398.2	8.6	614	12768	0.00	2.47	0.00	0.000	6	0.000	0.033	2580	2309	1790
13090	1.00	249.5	368.1	9.2	630	13091	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2309	1790
13399	1.00	249.5	339.4	9.1	645	13400	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2309	1791
13709	1.00	249.5	311.0	9.2	660	13713	0.00	2.53	0.00	0.000	4	0.000	0.044	2580	897	1791
13736	1.00	249.5	308.3	9.0	661	13740	0.00	2.45	0.00	0.000	6	0.000	0.032	2580	2302	1790
14052	1.00	249.5	280.5	8.8	676	14056	0.00	2.58	0.00	0.000	4	0.000	0.057	2580	3701	1791
14079	1.00	249.5	277.8	10.1	677	14084	0.00	2.42	0.00	0.000	6	0.000	0.027	2580	2295	1792
14395	1.00	249.5	251.0	8.5	692	14399	0.00	2.47	0.00	0.000	4	0.000	0.044	2579	900	1791
14434	1.00	249.5	247.4	8.6	694	14439	0.00	2.45	0.00	0.000	6	0.000	0.033	2580	2307	1791
14762	1.00	249.5	218.6	9.0	710	14763	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2306	1791
15070	1.00	249.5	189.8	9.4	725	15072	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2306	1792
15380	1.00	249.5	161.1	9.3	740	15381	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2306	1792
15691	1.00	249.5	133.6	8.2	755	15696	0.00	2.50	0.00	0.000	4	0.000	0.042	2580	900	1792
15709	1.00	249.5	132.0	8.1	756	15713	0.00	2.42	0.00	0.000	6	0.000	0.031	2580	2302	1792
16042	1.00	249.5	105.1	8.0	772	16043	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2302	1792
16351	1.00	249.5	81.4	7.5	787	16355	0.00	2.50	0.00	0.000	4	0.000	0.042	2580	895	1792
16385	1.05	249.5	78.6	7.7	788	16392	0.00	2.45	0.00	0.000	6	0.000	0.032	2580	2303	1792
16701	1.05	249.5	55.6	7.8	804	16706	0.00	2.55	0.00	0.000	4	0.000	0.057	2580	3698	1792
16719	1.05	249.5	54.1	7.9	805	16724	0.00	2.40	0.00	0.000	6	0.000	0.027	2580	2296	1793
17048	1.11	270.6	30.6	6.8	821	17073	0.00	2.55	18.55	0.575	4	0.000	0.044	2580	908	1712
17102	1.19	270.6	25.8	8.2	823	17107	0.17	2.45	0.00	0.000	6	0.044	0.033	2629	2299	1710
17333	end climb: SURFACE_DEPTH_REACHED
state	17333	begin surface coast
17356	end surface coast: CONTROL_FINISHED_OK
state	17356	begin surface