Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 245 * 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 245 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -2111951 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 -2111951

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 37 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 245 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 013955,6244.146,-1229.899,40,1.8,40,-11.6 TGT_NAME GE

_CALLS 2 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_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 -54.4 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 014844,6244.114,-1230.085,12,1.3,12,-11.6 MHEAD_RNG_PITCHd_Wd 143.2,11472,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.015148 ALTIM_BOTTOM_PING 775.5,12.8

SM_CCo 18095,0.75,0.132,0,0,1797,250.21 _24V_AH 23.6,39.256

SM_GC 2.17,0.00,0.00,0.75,0.000,0.000,0.132,74,2610,1797,-10.51,0.28,250.21 _10V_AH 10.1,20.098

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44274,869

TT8_MAMPS 0.02301 CAP_FILE_SIZE 131969,0

HUMID 1798 CFSIZE 260165632,244674560

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 GPS 210709,065206,6243.417,-1227.359,45,1.3,45,-11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 180 115.81 SBE_CT 630 24 357.00

Roll_motor 154 69 252.15 SBE_O2 596 19 267.25

VBD_pump_during_apogee 355 1096 9201.37 WL_BB2F 515 105 1276.18

VBD_pump_during_surface 0 131 2.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.52 nil 0 0 0.00

Iridium_during_connect 57 160 217.98 nil 0 0 0.00

Iridium_during_xfer 205 223 1079.51

Transponder_ping 7 420 69.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.51

TT8 1581 19 316.25

LPSleep 14098 2 311.85

TT8_Active 507 19 101.50

TT8_Sampling 1793 39 721.05

TT8_CF8 647 45 299.31

TT8_Kalman 0 81 0.00

Analog_circuits 1406 12 170.46

GPS_charging 0 0 0.00

Compass 1749 8 141.35

RAFOS 0 0 0.00

Transponder 49 30 14.97

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 83 0.00 0.00 -65.62 0.000 6 0.000 0.000 61 2600 3416

86 -1.03 -146.6 6.3 -7.9 4 108 11.93 2.53 0.00 0.000 4 0.180 0.038 2132 1198 3418

177 -1.03 -146.6 31.3 -13.3 8 181 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2602 3419

504 -1.03 -146.6 65.0 -9.0 24 508 0.00 2.33 0.00 0.000 4 0.000 0.063 2132 3860 3419

554 -1.03 -146.6 69.8 -8.8 26 558 0.00 2.17 0.00 0.000 6 0.000 0.025 2132 2573 3419

870 -1.03 -146.6 96.2 -9.0 41 871 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2572 3419

1180 -1.03 -146.6 123.3 -9.2 56 1181 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2572 3420

1488 -1.03 -146.6 152.5 -9.4 71 1489 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2572 3419

1798 -1.03 -146.6 180.9 -9.2 86 1799 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2571 3419

2107 -1.03 -146.6 210.0 -9.5 101 2111 0.00 2.40 0.00 0.000 4 0.000 0.039 2132 1208 3418

2140 -1.03 -146.6 213.2 -8.8 102 2147 0.00 2.45 0.00 0.000 6 0.000 0.035 2132 2601 3419

2456 -1.03 -146.6 243.3 -9.5 118 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2601 3420

2765 -1.03 -146.6 273.9 -10.2 133 2769 0.00 2.45 0.00 0.000 4 0.000 0.038 2132 1205 3419

2804 -1.03 -146.6 277.8 -9.6 134 2810 0.00 2.45 0.00 0.000 6 0.000 0.035 2133 2600 3419

3120 -1.03 -146.6 309.7 -10.3 150 3121 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2600 3419

3429 -1.03 -146.6 341.0 -9.8 165 3433 0.00 2.45 0.00 0.000 4 0.000 0.038 2134 1208 3419

3457 -1.03 -146.6 343.7 -10.0 166 3461 0.00 2.45 0.00 0.000 6 0.000 0.035 2133 2602 3419

3773 -1.03 -146.6 373.0 -9.1 181 3775 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2601 3419

4083 -1.03 -146.6 400.7 -9.0 196 4087 0.00 2.45 0.00 0.000 4 0.000 0.038 2133 1207 3418

4134 -1.03 -146.6 405.4 -8.7 198 4138 0.00 2.45 0.00 0.000 6 0.000 0.035 2133 2601 3418

4449 -1.03 -146.6 433.2 -8.8 213 4453 0.00 2.45 0.00 0.000 4 0.000 0.038 2132 1211 3418

4482 -1.03 -146.6 436.3 -8.8 214 4489 0.00 2.45 0.00 0.000 6 0.000 0.035 2133 2608 3418

4798 -1.03 -146.6 463.0 -8.5 230 4803 0.00 2.45 0.00 0.000 4 0.000 0.038 2133 1213 3418

4826 -1.03 -146.6 465.4 -8.5 231 4830 0.00 2.42 0.00 0.000 6 0.000 0.035 2133 2599 3418

5142 -1.03 -146.6 492.1 -8.5 246 5143 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2599 3418

5452 -1.03 -146.6 516.8 -8.0 261 5453 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3417

5760 -1.03 -146.6 543.2 -8.5 276 5761 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2599 3417

6070 -1.03 -146.6 570.0 -8.7 291 6074 0.00 2.45 0.00 0.000 4 0.000 0.038 2132 1209 3417

6137 -1.08 -146.6 575.8 -8.8 294 6141 0.00 2.45 0.00 0.000 6 0.000 0.036 2133 2602 3417

6458 -1.08 -146.6 603.0 -7.8 310 6459 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3417

6767 -1.08 -146.6 628.9 -9.0 325 6772 0.00 2.45 0.00 0.000 4 0.000 0.039 2132 1211 3417

6853 -1.13 -146.6 636.7 -9.2 329 6857 0.00 2.45 0.00 0.000 6 0.000 0.036 2133 2606 3417

7179 -1.13 -146.6 664.9 -8.2 345 7183 0.00 2.45 0.00 0.000 4 0.000 0.039 2133 1213 3416

7230 -1.19 -146.6 668.8 -7.3 347 7235 0.15 2.42 0.00 0.000 6 0.044 0.037 2088 2601 3417

7546 -1.09 -146.6 699.3 -9.7 362 7551 0.17 2.35 0.00 0.000 4 0.095 0.069 2122 3859 3416

7631 -1.09 -146.6 706.7 -8.7 366 7635 0.00 2.12 0.00 0.000 6 0.000 0.028 2122 2605 3416

7963 -1.09 -146.6 734.3 -8.9 382 7968 0.00 2.47 0.00 0.000 4 0.000 0.043 2122 1208 3415

8058 -1.09 -146.6 743.1 -9.3 386 8063 0.00 2.47 0.00 0.000 6 0.000 0.038 2122 2609 3415

8375 -1.09 -146.6 772.3 -9.3 401 8376 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2609 3414

8455 end dive: BOTTOM_OBSTACLE_DETECTED

state 8455 begin apogee

8462 -0.31 0.0 779.3 8.6 405 8597 0.82 0.00 129.70 1.097 6 0.097 0.000 2289 2292 2817

8598 end apogee: CONTROL_FINISHED_OK

state 8598 begin climb

8600 1.03 146.6 785.4 0.0 412 8741 1.38 2.75 131.68 1.086 4 0.065 0.064 2584 3704 2218

8764 0.87 146.6 781.1 7.6 420 8770 0.17 2.47 0.00 0.000 6 0.095 0.031 2551 2313 2215

9087 0.86 190.3 760.4 6.0 436 9132 0.00 2.67 39.47 1.047 4 0.000 0.064 2551 3705 2041

9184 0.82 190.3 752.4 8.9 440 9188 0.00 2.47 0.00 0.000 6 0.000 0.030 2551 2300 2039

9499 0.82 190.3 727.5 7.9 455 9504 0.00 2.58 0.00 0.000 4 0.000 0.053 2551 896 2035

9549 0.82 190.3 723.1 8.6 457 9554 0.00 2.50 0.00 0.000 6 0.000 0.036 2551 2302 2033

9865 0.82 190.3 697.3 8.2 472 9870 0.00 2.65 0.00 0.000 4 0.000 0.065 2551 3704 2033

9898 0.82 190.3 694.1 9.1 473 9905 0.00 2.47 0.00 0.000 6 0.000 0.030 2551 2298 2033

10214 0.82 190.3 668.6 7.9 489 10218 0.00 2.62 0.00 0.000 4 0.000 0.063 2551 3702 2033

10254 0.82 190.3 665.2 9.0 491 10258 0.00 2.47 0.00 0.000 6 0.000 0.030 2551 2295 2033

10581 0.86 190.3 639.6 8.3 507 10585 0.00 2.55 0.00 0.000 4 0.000 0.052 2551 898 2031

10630 0.86 190.3 635.2 9.3 509 10635 0.00 2.47 0.00 0.000 6 0.000 0.036 2551 2303 2030

10946 0.86 195.1 609.8 7.3 524 10956 0.00 2.62 4.00 0.626 4 0.000 0.063 2551 3700 2021

10973 0.86 195.1 607.3 9.0 525 10978 0.00 2.47 0.00 0.000 6 0.000 0.029 2551 2289 2022

11296 0.91 195.1 582.4 7.6 541 11300 0.00 2.53 0.00 0.000 4 0.000 0.051 2551 895 2021

11351 0.91 195.1 577.7 8.9 543 11356 0.00 2.47 0.00 0.000 6 0.000 0.035 2551 2300 2020

11667 0.97 212.7 554.3 6.9 558 11690 0.00 2.72 17.52 0.904 4 0.000 0.061 2551 3704 1949

11719 0.98 214.4 550.5 7.4 560 11723 0.00 2.47 0.00 0.000 6 0.000 0.028 2551 2297 1949

12041 1.07 246.4 529.5 6.4 576 12079 0.20 0.00 33.10 0.915 6 0.045 0.000 2601 2294 1811

12389 1.02 246.4 497.4 9.3 593 12390 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2295 1805

12699 0.97 246.4 466.6 10.1 608 12704 0.15 2.60 0.00 0.000 4 0.095 0.059 2573 3700 1804

12738 0.97 246.4 462.6 9.4 610 12742 0.00 2.42 0.00 0.000 6 0.000 0.028 2573 2300 1804

13072 0.97 246.4 433.1 8.8 626 13073 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2300 1803

13381 0.97 246.4 406.9 8.6 641 13385 0.00 2.53 0.00 0.000 4 0.000 0.048 2573 898 1804

13402 0.97 246.4 404.7 9.0 642 13407 0.00 2.47 0.00 0.000 6 0.000 0.033 2573 2310 1802

13723 0.97 246.4 377.6 8.3 658 13728 0.00 2.58 0.00 0.000 4 0.000 0.059 2573 3701 1803

13746 0.97 246.4 375.6 8.8 659 13750 0.00 2.42 0.00 0.000 6 0.000 0.028 2573 2296 1803

14066 0.97 246.4 348.8 8.5 675 14071 0.00 2.50 0.00 0.000 4 0.000 0.046 2573 899 1803

14088 0.97 246.4 346.8 8.7 676 14093 0.00 2.45 0.00 0.000 6 0.000 0.033 2573 2304 1802

14410 0.97 246.4 319.1 8.6 692 14414 0.00 2.58 0.00 0.000 4 0.000 0.058 2573 3705 1803

14442 0.97 246.4 316.0 8.7 693 14447 0.00 2.42 0.00 0.000 6 0.000 0.028 2572 2298 1804

14758 0.97 246.4 288.4 8.7 708 14759 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2295 1803

15068 1.02 246.4 261.3 8.7 723 15069 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2295 1803

15377 1.06 246.4 234.7 8.4 738 15381 0.00 2.58 0.00 0.000 4 0.000 0.057 2573 3707 1803

15404 1.06 246.4 232.1 9.5 739 15408 0.00 2.42 0.00 0.000 6 0.000 0.028 2573 2298 1804

15720 1.11 246.4 206.5 8.1 754 15725 0.12 2.47 0.00 0.000 4 0.048 0.044 2613 900 1804

15742 1.11 246.4 204.5 9.3 755 15746 0.00 2.45 0.00 0.000 6 0.000 0.032 2613 2309 1803

16064 1.05 246.4 171.9 10.1 771 16066 0.12 0.00 0.00 0.000 6 0.094 0.000 2588 2308 1804

16373 1.05 246.4 144.3 8.6 786 16374 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2308 1804

16681 1.05 246.4 118.8 8.0 801 16683 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2308 1804

16992 1.05 246.4 93.7 8.7 816 16993 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2308 1804

17301 1.05 246.4 65.3 9.2 831 17302 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2308 1804

17609 1.05 246.4 36.7 8.7 846 17613 0.00 2.50 0.00 0.000 4 0.000 0.042 2588 902 1804

17628 1.09 246.4 35.3 8.4 847 17632 0.00 2.42 0.00 0.000 6 0.000 0.032 2588 2301 1804

17955 1.14 246.4 9.4 8.6 863 17960 0.00 2.58 0.00 0.000 4 0.000 0.058 2588 3705 1805

17973 1.14 246.4 7.4 8.4 864 17977 0.00 2.42 0.00 0.000 6 0.000 0.027 2588 2289 1805

18029 end climb: SURFACE_DEPTH_REACHED

state 18029 begin surface coast

18071 end surface coast: CONTROL_FINISHED_OK

state 18072 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	245	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-2111951	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	013955,6244.146,-1229.899,40,1.8,40,-11.6	TGT_NAME	GE
_CALLS	2	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_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	-54.4	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	014844,6244.114,-1230.085,12,1.3,12,-11.6	MHEAD_RNG_PITCHd_Wd	143.2,11472,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.015148	ALTIM_BOTTOM_PING	775.5,12.8
SM_CCo	18095,0.75,0.132,0,0,1797,250.21	_24V_AH	23.6,39.256
SM_GC	2.17,0.00,0.00,0.75,0.000,0.000,0.132,74,2610,1797,-10.51,0.28,250.21	_10V_AH	10.1,20.098
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44274,869
TT8_MAMPS	0.02301	CAP_FILE_SIZE	131969,0
HUMID	1798	CFSIZE	260165632,244674560
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	GPS	210709,065206,6243.417,-1227.359,45,1.3,45,-11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	180	115.81	SBE_CT	630	24	357.00
Roll_motor	154	69	252.15	SBE_O2	596	19	267.25
VBD_pump_during_apogee	355	1096	9201.37	WL_BB2F	515	105	1276.18
VBD_pump_during_surface	0	131	2.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.52	nil	0	0	0.00
Iridium_during_connect	57	160	217.98	nil	0	0	0.00
Iridium_during_xfer	205	223	1079.51
Transponder_ping	7	420	69.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.51
TT8	1581	19	316.25
LPSleep	14098	2	311.85
TT8_Active	507	19	101.50
TT8_Sampling	1793	39	721.05
TT8_CF8	647	45	299.31
TT8_Kalman	0	81	0.00
Analog_circuits	1406	12	170.46
GPS_charging	0	0	0.00
Compass	1749	8	141.35
RAFOS	0	0	0.00
Transponder	49	30	14.97

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	83	0.00	0.00	-65.62	0.000	6	0.000	0.000	61	2600	3416
86	-1.03	-146.6	6.3	-7.9	4	108	11.93	2.53	0.00	0.000	4	0.180	0.038	2132	1198	3418
177	-1.03	-146.6	31.3	-13.3	8	181	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2602	3419
504	-1.03	-146.6	65.0	-9.0	24	508	0.00	2.33	0.00	0.000	4	0.000	0.063	2132	3860	3419
554	-1.03	-146.6	69.8	-8.8	26	558	0.00	2.17	0.00	0.000	6	0.000	0.025	2132	2573	3419
870	-1.03	-146.6	96.2	-9.0	41	871	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2572	3419
1180	-1.03	-146.6	123.3	-9.2	56	1181	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2572	3420
1488	-1.03	-146.6	152.5	-9.4	71	1489	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2572	3419
1798	-1.03	-146.6	180.9	-9.2	86	1799	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2571	3419
2107	-1.03	-146.6	210.0	-9.5	101	2111	0.00	2.40	0.00	0.000	4	0.000	0.039	2132	1208	3418
2140	-1.03	-146.6	213.2	-8.8	102	2147	0.00	2.45	0.00	0.000	6	0.000	0.035	2132	2601	3419
2456	-1.03	-146.6	243.3	-9.5	118	2457	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2601	3420
2765	-1.03	-146.6	273.9	-10.2	133	2769	0.00	2.45	0.00	0.000	4	0.000	0.038	2132	1205	3419
2804	-1.03	-146.6	277.8	-9.6	134	2810	0.00	2.45	0.00	0.000	6	0.000	0.035	2133	2600	3419
3120	-1.03	-146.6	309.7	-10.3	150	3121	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2600	3419
3429	-1.03	-146.6	341.0	-9.8	165	3433	0.00	2.45	0.00	0.000	4	0.000	0.038	2134	1208	3419
3457	-1.03	-146.6	343.7	-10.0	166	3461	0.00	2.45	0.00	0.000	6	0.000	0.035	2133	2602	3419
3773	-1.03	-146.6	373.0	-9.1	181	3775	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2601	3419
4083	-1.03	-146.6	400.7	-9.0	196	4087	0.00	2.45	0.00	0.000	4	0.000	0.038	2133	1207	3418
4134	-1.03	-146.6	405.4	-8.7	198	4138	0.00	2.45	0.00	0.000	6	0.000	0.035	2133	2601	3418
4449	-1.03	-146.6	433.2	-8.8	213	4453	0.00	2.45	0.00	0.000	4	0.000	0.038	2132	1211	3418
4482	-1.03	-146.6	436.3	-8.8	214	4489	0.00	2.45	0.00	0.000	6	0.000	0.035	2133	2608	3418
4798	-1.03	-146.6	463.0	-8.5	230	4803	0.00	2.45	0.00	0.000	4	0.000	0.038	2133	1213	3418
4826	-1.03	-146.6	465.4	-8.5	231	4830	0.00	2.42	0.00	0.000	6	0.000	0.035	2133	2599	3418
5142	-1.03	-146.6	492.1	-8.5	246	5143	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2599	3418
5452	-1.03	-146.6	516.8	-8.0	261	5453	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3417
5760	-1.03	-146.6	543.2	-8.5	276	5761	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2599	3417
6070	-1.03	-146.6	570.0	-8.7	291	6074	0.00	2.45	0.00	0.000	4	0.000	0.038	2132	1209	3417
6137	-1.08	-146.6	575.8	-8.8	294	6141	0.00	2.45	0.00	0.000	6	0.000	0.036	2133	2602	3417
6458	-1.08	-146.6	603.0	-7.8	310	6459	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3417
6767	-1.08	-146.6	628.9	-9.0	325	6772	0.00	2.45	0.00	0.000	4	0.000	0.039	2132	1211	3417
6853	-1.13	-146.6	636.7	-9.2	329	6857	0.00	2.45	0.00	0.000	6	0.000	0.036	2133	2606	3417
7179	-1.13	-146.6	664.9	-8.2	345	7183	0.00	2.45	0.00	0.000	4	0.000	0.039	2133	1213	3416
7230	-1.19	-146.6	668.8	-7.3	347	7235	0.15	2.42	0.00	0.000	6	0.044	0.037	2088	2601	3417
7546	-1.09	-146.6	699.3	-9.7	362	7551	0.17	2.35	0.00	0.000	4	0.095	0.069	2122	3859	3416
7631	-1.09	-146.6	706.7	-8.7	366	7635	0.00	2.12	0.00	0.000	6	0.000	0.028	2122	2605	3416
7963	-1.09	-146.6	734.3	-8.9	382	7968	0.00	2.47	0.00	0.000	4	0.000	0.043	2122	1208	3415
8058	-1.09	-146.6	743.1	-9.3	386	8063	0.00	2.47	0.00	0.000	6	0.000	0.038	2122	2609	3415
8375	-1.09	-146.6	772.3	-9.3	401	8376	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2609	3414
8455	end dive: BOTTOM_OBSTACLE_DETECTED
state	8455	begin apogee
8462	-0.31	0.0	779.3	8.6	405	8597	0.82	0.00	129.70	1.097	6	0.097	0.000	2289	2292	2817
8598	end apogee: CONTROL_FINISHED_OK
state	8598	begin climb
8600	1.03	146.6	785.4	0.0	412	8741	1.38	2.75	131.68	1.086	4	0.065	0.064	2584	3704	2218
8764	0.87	146.6	781.1	7.6	420	8770	0.17	2.47	0.00	0.000	6	0.095	0.031	2551	2313	2215
9087	0.86	190.3	760.4	6.0	436	9132	0.00	2.67	39.47	1.047	4	0.000	0.064	2551	3705	2041
9184	0.82	190.3	752.4	8.9	440	9188	0.00	2.47	0.00	0.000	6	0.000	0.030	2551	2300	2039
9499	0.82	190.3	727.5	7.9	455	9504	0.00	2.58	0.00	0.000	4	0.000	0.053	2551	896	2035
9549	0.82	190.3	723.1	8.6	457	9554	0.00	2.50	0.00	0.000	6	0.000	0.036	2551	2302	2033
9865	0.82	190.3	697.3	8.2	472	9870	0.00	2.65	0.00	0.000	4	0.000	0.065	2551	3704	2033
9898	0.82	190.3	694.1	9.1	473	9905	0.00	2.47	0.00	0.000	6	0.000	0.030	2551	2298	2033
10214	0.82	190.3	668.6	7.9	489	10218	0.00	2.62	0.00	0.000	4	0.000	0.063	2551	3702	2033
10254	0.82	190.3	665.2	9.0	491	10258	0.00	2.47	0.00	0.000	6	0.000	0.030	2551	2295	2033
10581	0.86	190.3	639.6	8.3	507	10585	0.00	2.55	0.00	0.000	4	0.000	0.052	2551	898	2031
10630	0.86	190.3	635.2	9.3	509	10635	0.00	2.47	0.00	0.000	6	0.000	0.036	2551	2303	2030
10946	0.86	195.1	609.8	7.3	524	10956	0.00	2.62	4.00	0.626	4	0.000	0.063	2551	3700	2021
10973	0.86	195.1	607.3	9.0	525	10978	0.00	2.47	0.00	0.000	6	0.000	0.029	2551	2289	2022
11296	0.91	195.1	582.4	7.6	541	11300	0.00	2.53	0.00	0.000	4	0.000	0.051	2551	895	2021
11351	0.91	195.1	577.7	8.9	543	11356	0.00	2.47	0.00	0.000	6	0.000	0.035	2551	2300	2020
11667	0.97	212.7	554.3	6.9	558	11690	0.00	2.72	17.52	0.904	4	0.000	0.061	2551	3704	1949
11719	0.98	214.4	550.5	7.4	560	11723	0.00	2.47	0.00	0.000	6	0.000	0.028	2551	2297	1949
12041	1.07	246.4	529.5	6.4	576	12079	0.20	0.00	33.10	0.915	6	0.045	0.000	2601	2294	1811
12389	1.02	246.4	497.4	9.3	593	12390	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2295	1805
12699	0.97	246.4	466.6	10.1	608	12704	0.15	2.60	0.00	0.000	4	0.095	0.059	2573	3700	1804
12738	0.97	246.4	462.6	9.4	610	12742	0.00	2.42	0.00	0.000	6	0.000	0.028	2573	2300	1804
13072	0.97	246.4	433.1	8.8	626	13073	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2300	1803
13381	0.97	246.4	406.9	8.6	641	13385	0.00	2.53	0.00	0.000	4	0.000	0.048	2573	898	1804
13402	0.97	246.4	404.7	9.0	642	13407	0.00	2.47	0.00	0.000	6	0.000	0.033	2573	2310	1802
13723	0.97	246.4	377.6	8.3	658	13728	0.00	2.58	0.00	0.000	4	0.000	0.059	2573	3701	1803
13746	0.97	246.4	375.6	8.8	659	13750	0.00	2.42	0.00	0.000	6	0.000	0.028	2573	2296	1803
14066	0.97	246.4	348.8	8.5	675	14071	0.00	2.50	0.00	0.000	4	0.000	0.046	2573	899	1803
14088	0.97	246.4	346.8	8.7	676	14093	0.00	2.45	0.00	0.000	6	0.000	0.033	2573	2304	1802
14410	0.97	246.4	319.1	8.6	692	14414	0.00	2.58	0.00	0.000	4	0.000	0.058	2573	3705	1803
14442	0.97	246.4	316.0	8.7	693	14447	0.00	2.42	0.00	0.000	6	0.000	0.028	2572	2298	1804
14758	0.97	246.4	288.4	8.7	708	14759	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2295	1803
15068	1.02	246.4	261.3	8.7	723	15069	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2295	1803
15377	1.06	246.4	234.7	8.4	738	15381	0.00	2.58	0.00	0.000	4	0.000	0.057	2573	3707	1803
15404	1.06	246.4	232.1	9.5	739	15408	0.00	2.42	0.00	0.000	6	0.000	0.028	2573	2298	1804
15720	1.11	246.4	206.5	8.1	754	15725	0.12	2.47	0.00	0.000	4	0.048	0.044	2613	900	1804
15742	1.11	246.4	204.5	9.3	755	15746	0.00	2.45	0.00	0.000	6	0.000	0.032	2613	2309	1803
16064	1.05	246.4	171.9	10.1	771	16066	0.12	0.00	0.00	0.000	6	0.094	0.000	2588	2308	1804
16373	1.05	246.4	144.3	8.6	786	16374	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2308	1804
16681	1.05	246.4	118.8	8.0	801	16683	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2308	1804
16992	1.05	246.4	93.7	8.7	816	16993	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2308	1804
17301	1.05	246.4	65.3	9.2	831	17302	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2308	1804
17609	1.05	246.4	36.7	8.7	846	17613	0.00	2.50	0.00	0.000	4	0.000	0.042	2588	902	1804
17628	1.09	246.4	35.3	8.4	847	17632	0.00	2.42	0.00	0.000	6	0.000	0.032	2588	2301	1804
17955	1.14	246.4	9.4	8.6	863	17960	0.00	2.58	0.00	0.000	4	0.000	0.058	2588	3705	1805
17973	1.14	246.4	7.4	8.4	864	17977	0.00	2.42	0.00	0.000	6	0.000	0.027	2588	2289	1805
18029	end climb: SURFACE_DEPTH_REACHED
state	18029	begin surface coast
18071	end surface coast: CONTROL_FINISHED_OK
state	18072	begin surface