Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 248 * 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 248 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 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 -2112011.8 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 -2112011.8

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 38 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 248 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 162724,6240.509,-1223.415,49,1.3,49,-11.5 TGT_NAME FE

_CALLS 1 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.68 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -60.3 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 163232,6240.498,-1223.481,12,1.8,12,-11.5 MHEAD_RNG_PITCHd_Wd 129.1,41959,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.025960 ALTIM_BOTTOM_PING 701.4,68.2

SM_CCo 17465,0.00,0.000,0,0,1656,284.79 _24V_AH 23.6,39.614

SM_GC 1.64,12.15,0.00,0.00,0.082,0.000,0.000,59,2625,1656,-10.47,0.71,284.79 _10V_AH 10.1,20.327

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44236,838

TT8_MAMPS 0.023777 CAP_FILE_SIZE 123376,0

HUMID 1786 CFSIZE 260165632,244498432

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

XPDR_PINGS 0 GPS 210709,212507,6241.083,-1218.889,35,1.8,35,-11.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 181 114.33 SBE_CT 613 24 347.37

Roll_motor 142 70 237.10 SBE_O2 572 19 256.52

VBD_pump_during_apogee 384 1069 9707.81 WL_BB2F 496 105 1229.49

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 17 103 43.71 nil 0 0 0.00

Iridium_during_connect 26 160 101.52 nil 0 0 0.00

Iridium_during_xfer 143 223 755.69

Transponder_ping 6 420 59.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.47

TT8 1522 19 304.44

LPSleep 13512 2 298.88

TT8_Active 475 19 95.01

TT8_Sampling 1786 39 718.14

TT8_CF8 475 45 220.05

TT8_Kalman 0 81 0.00

Analog_circuits 1390 12 168.50

GPS_charging 0 0 0.00

Compass 1744 8 140.92

RAFOS 0 0 0.00

Transponder 41 30 12.58

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 -42.10 0.000 2 0.000 0.000 62 2613 2976

64 -1.03 -146.6 4.3 -12.1 2 90 11.93 2.53 -8.12 0.000 4 0.182 0.048 2129 1195 3416

158 -1.03 -146.6 22.3 -13.4 6 162 0.00 2.47 0.00 0.000 6 0.000 0.036 2129 2590 3417

479 -1.03 -146.6 59.7 -11.7 22 483 0.00 2.35 0.00 0.000 4 0.000 0.062 2129 3860 3418

501 -0.98 -146.6 62.3 -10.8 23 505 0.00 2.17 0.00 0.000 6 0.000 0.025 2129 2573 3418

823 -0.98 -146.6 96.0 -10.0 39 824 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2570 3418

1133 -0.98 -146.6 125.6 -9.4 54 1137 0.00 2.38 0.00 0.000 4 0.000 0.061 2129 3860 3418

1165 -0.98 -146.6 129.1 -10.0 55 1172 0.00 2.12 0.00 0.000 6 0.000 0.025 2129 2592 3418

1482 -0.98 -146.6 158.9 -9.2 71 1486 0.00 2.42 0.00 0.000 4 0.000 0.038 2129 1211 3418

1526 -0.98 -146.6 162.9 -8.8 73 1530 0.00 2.45 0.00 0.000 6 0.000 0.035 2129 2606 3419

1847 -0.98 -146.6 191.1 -8.7 89 1848 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2606 3418

2156 -0.98 -146.6 218.2 -8.8 104 2161 0.00 2.45 0.00 0.000 4 0.000 0.038 2129 1214 3419

2197 -0.98 -146.6 221.7 -8.3 106 2201 0.00 2.45 0.00 0.000 6 0.000 0.035 2129 2611 3418

2524 -0.98 -146.6 250.5 -9.0 122 2525 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2612 3419

2833 -0.98 -146.6 278.8 -9.3 137 2837 0.00 2.45 0.00 0.000 4 0.000 0.037 2129 1215 3418

2882 -0.98 -146.6 283.6 -9.0 139 2886 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2600 3418

3198 -0.98 -146.6 313.4 -9.2 154 3199 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3418

3507 -0.98 -146.6 341.5 -9.3 169 3512 0.00 2.42 0.00 0.000 4 0.000 0.037 2129 1218 3418

3557 -0.98 -146.6 346.1 -8.6 171 3562 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2600 3418

3875 -0.98 -146.6 375.6 -9.4 186 3876 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2600 3418

4183 -0.98 -146.6 404.9 -9.4 201 4187 0.00 2.42 0.00 0.000 4 0.000 0.038 2129 1218 3418

4222 -0.98 -146.6 408.7 -9.2 203 4227 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2600 3418

4549 -0.98 -146.6 439.2 -9.2 219 4550 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3418

4859 -0.98 -146.6 467.6 -9.2 234 4863 0.00 2.42 0.00 0.000 4 0.000 0.038 2129 1219 3418

4886 -0.98 -146.6 470.3 -9.9 235 4890 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2601 3418

5201 -0.98 -146.6 499.6 -9.5 250 5203 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2601 3418

5511 -0.98 -146.6 529.4 -9.6 265 5515 0.00 2.33 0.00 0.000 4 0.000 0.066 2129 3857 3418

5556 -0.98 -146.6 534.5 -11.3 267 5559 0.00 2.10 0.00 0.000 6 0.000 0.025 2129 2601 3418

5882 -0.98 -146.6 565.5 -10.5 283 5886 0.00 2.42 0.00 0.000 4 0.000 0.040 2129 1218 3418

5968 -0.98 -146.6 571.6 -6.3 287 5972 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2603 3418

6295 -0.98 -146.6 593.3 -6.2 303 6299 0.00 2.42 0.00 0.000 4 0.000 0.036 2129 1214 3418

6356 -0.98 -146.6 597.4 -6.5 305 6363 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2600 3418

6673 -0.98 -146.6 621.4 -10.1 321 6677 0.00 2.33 0.00 0.000 4 0.000 0.067 2129 3859 3417

6689 -0.98 -146.6 623.2 -9.7 321 6695 0.00 2.12 0.00 0.000 6 0.000 0.026 2129 2594 3417

7004 -0.98 -146.6 653.4 -9.3 337 7009 0.00 2.42 0.00 0.000 4 0.000 0.040 2129 1214 3417

7084 -1.02 -146.6 660.0 -8.2 340 7090 0.00 2.45 0.00 0.000 6 0.000 0.036 2129 2609 3417

7399 -1.02 -146.6 686.0 -8.3 356 7401 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2610 3417

7709 -1.02 -146.6 711.2 -8.3 371 7713 0.00 2.45 0.00 0.000 4 0.000 0.038 2129 1211 3417

7787 -1.07 -146.6 718.0 -8.4 374 7792 0.00 2.45 0.00 0.000 6 0.000 0.036 2129 2603 3416

8103 -1.07 -146.6 744.1 -8.1 389 8107 0.00 2.35 0.00 0.000 4 0.000 0.071 2129 3862 3416

8166 -1.11 -146.6 749.5 -9.4 392 8169 0.00 2.12 0.00 0.000 6 0.000 0.028 2129 2609 3416

8310 end dive: BOTTOM_OBSTACLE_DETECTED

state 8310 begin apogee

8317 -0.31 0.0 760.8 8.2 399 8453 0.77 0.00 129.38 1.070 6 0.093 0.000 2288 2304 2815

8454 end apogee: CONTROL_FINISHED_OK

state 8454 begin climb

8457 1.03 146.6 763.7 0.0 406 8595 1.35 2.60 130.15 1.062 4 0.065 0.050 2579 911 2218

8802 1.02 217.6 747.0 5.1 421 8872 0.00 2.47 64.25 1.046 6 0.000 0.036 2579 2305 1929

9197 1.03 223.8 724.7 7.3 440 9208 0.00 2.65 5.93 0.788 4 0.000 0.064 2579 3701 1903

9253 1.03 223.8 719.2 10.2 442 9259 0.00 2.45 0.00 0.000 6 0.000 0.030 2579 2310 1904

9569 1.03 223.8 690.2 9.3 458 9573 0.00 2.58 0.00 0.000 4 0.000 0.051 2579 900 1901

9592 1.03 223.8 688.2 8.8 459 9596 0.00 2.50 0.00 0.000 6 0.000 0.035 2579 2306 1899

9912 1.03 223.8 657.1 8.8 475 9913 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2307 1899

10222 1.03 223.8 630.1 7.8 490 10226 0.00 2.60 0.00 0.000 4 0.000 0.062 2579 3701 1898

10232 1.03 223.8 629.2 7.7 490 10239 0.00 2.45 0.00 0.000 6 0.000 0.028 2579 2293 1898

10549 1.07 264.4 609.4 6.1 506 10592 0.00 2.58 38.33 0.968 4 0.000 0.050 2579 907 1739

10621 1.07 264.4 600.9 16.8 509 10625 0.00 2.50 0.00 0.000 6 0.000 0.035 2579 2309 1735

10936 1.07 264.4 566.8 10.5 524 10940 0.00 2.55 0.00 0.000 4 0.000 0.047 2579 905 1732

10980 1.13 264.4 561.8 11.5 526 10985 0.12 2.45 0.00 0.000 6 0.061 0.035 2608 2301 1731

11302 1.13 264.4 527.9 9.9 542 11303 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2302 1731

11610 1.13 264.4 498.2 9.4 557 11615 0.00 2.60 0.00 0.000 4 0.000 0.060 2608 3703 1731

11673 1.07 264.4 491.7 10.3 560 11677 0.00 2.42 0.00 0.000 6 0.000 0.028 2608 2303 1731

12006 1.07 264.4 460.8 9.1 576 12007 0.00 0.00 0.00 0.000 6 0.000 0.000 2608 2303 1731

12315 1.07 264.4 433.6 8.8 591 12316 0.00 0.00 0.00 0.000 6 0.000 0.000 2608 2303 1730

12624 1.07 264.4 407.3 8.3 606 12628 0.00 2.58 0.00 0.000 4 0.000 0.058 2608 3701 1731

12646 1.01 264.4 405.2 8.6 607 12651 0.15 2.42 0.00 0.000 6 0.107 0.028 2582 2300 1731

12967 1.01 264.4 380.1 7.8 623 12971 0.00 2.53 0.00 0.000 4 0.000 0.046 2582 892 1731

12988 1.01 264.4 378.2 8.8 624 12992 0.00 2.47 0.00 0.000 6 0.000 0.032 2582 2309 1730

13309 1.01 264.4 351.0 8.5 640 13313 0.00 2.58 0.00 0.000 4 0.000 0.058 2582 3705 1730

13331 1.01 264.4 349.0 8.9 641 13335 0.00 2.45 0.00 0.000 6 0.000 0.027 2582 2290 1730

13653 1.01 264.4 320.0 9.3 657 13657 0.00 2.50 0.00 0.000 4 0.000 0.044 2582 895 1730

13675 1.01 264.4 317.8 9.3 658 13679 0.00 2.45 0.00 0.000 6 0.000 0.032 2582 2301 1730

13995 1.01 264.4 289.1 8.7 674 13997 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2301 1730

14305 1.01 264.4 262.5 8.6 689 14306 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2301 1730

14614 1.01 264.4 236.2 8.6 704 14616 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2301 1730

14923 1.01 264.4 210.1 8.5 719 14924 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2299 1731

15232 1.01 264.4 183.7 8.5 734 15234 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2301 1731

15542 1.01 264.4 157.8 8.2 749 15543 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2301 1731

15851 1.01 264.4 132.4 8.3 764 15853 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2301 1731

16161 1.01 264.4 105.7 8.7 779 16163 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2301 1731

16471 1.05 264.4 79.7 8.4 794 16472 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2301 1731

16780 1.10 264.4 53.5 8.1 809 16784 0.00 2.58 0.00 0.000 4 0.000 0.057 2581 3705 1731

16812 1.10 264.4 50.6 7.8 810 16819 0.00 2.42 0.00 0.000 6 0.000 0.027 2582 2292 1731

17131 1.20 282.9 27.6 6.9 826 17154 0.17 2.50 16.42 0.565 4 0.048 0.041 2637 901 1662

17201 1.20 282.9 19.7 8.9 829 17205 0.00 2.45 0.00 0.000 6 0.000 0.031 2637 2300 1660

17360 end climb: SURFACE_DEPTH_REACHED

state 17360 begin surface coast

17382 end surface coast: CONTROL_FINISHED_OK

state 17382 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	248	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	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	-2112011.8	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	162724,6240.509,-1223.415,49,1.3,49,-11.5	TGT_NAME	FE
_CALLS	1	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.68	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-60.3	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	163232,6240.498,-1223.481,12,1.8,12,-11.5	MHEAD_RNG_PITCHd_Wd	129.1,41959,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.025960	ALTIM_BOTTOM_PING	701.4,68.2
SM_CCo	17465,0.00,0.000,0,0,1656,284.79	_24V_AH	23.6,39.614
SM_GC	1.64,12.15,0.00,0.00,0.082,0.000,0.000,59,2625,1656,-10.47,0.71,284.79	_10V_AH	10.1,20.327
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44236,838
TT8_MAMPS	0.023777	CAP_FILE_SIZE	123376,0
HUMID	1786	CFSIZE	260165632,244498432
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	210709,212507,6241.083,-1218.889,35,1.8,35,-11.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	181	114.33	SBE_CT	613	24	347.37
Roll_motor	142	70	237.10	SBE_O2	572	19	256.52
VBD_pump_during_apogee	384	1069	9707.81	WL_BB2F	496	105	1229.49
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	17	103	43.71	nil	0	0	0.00
Iridium_during_connect	26	160	101.52	nil	0	0	0.00
Iridium_during_xfer	143	223	755.69
Transponder_ping	6	420	59.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.47
TT8	1522	19	304.44
LPSleep	13512	2	298.88
TT8_Active	475	19	95.01
TT8_Sampling	1786	39	718.14
TT8_CF8	475	45	220.05
TT8_Kalman	0	81	0.00
Analog_circuits	1390	12	168.50
GPS_charging	0	0	0.00
Compass	1744	8	140.92
RAFOS	0	0	0.00
Transponder	41	30	12.58

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	-42.10	0.000	2	0.000	0.000	62	2613	2976
64	-1.03	-146.6	4.3	-12.1	2	90	11.93	2.53	-8.12	0.000	4	0.182	0.048	2129	1195	3416
158	-1.03	-146.6	22.3	-13.4	6	162	0.00	2.47	0.00	0.000	6	0.000	0.036	2129	2590	3417
479	-1.03	-146.6	59.7	-11.7	22	483	0.00	2.35	0.00	0.000	4	0.000	0.062	2129	3860	3418
501	-0.98	-146.6	62.3	-10.8	23	505	0.00	2.17	0.00	0.000	6	0.000	0.025	2129	2573	3418
823	-0.98	-146.6	96.0	-10.0	39	824	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2570	3418
1133	-0.98	-146.6	125.6	-9.4	54	1137	0.00	2.38	0.00	0.000	4	0.000	0.061	2129	3860	3418
1165	-0.98	-146.6	129.1	-10.0	55	1172	0.00	2.12	0.00	0.000	6	0.000	0.025	2129	2592	3418
1482	-0.98	-146.6	158.9	-9.2	71	1486	0.00	2.42	0.00	0.000	4	0.000	0.038	2129	1211	3418
1526	-0.98	-146.6	162.9	-8.8	73	1530	0.00	2.45	0.00	0.000	6	0.000	0.035	2129	2606	3419
1847	-0.98	-146.6	191.1	-8.7	89	1848	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2606	3418
2156	-0.98	-146.6	218.2	-8.8	104	2161	0.00	2.45	0.00	0.000	4	0.000	0.038	2129	1214	3419
2197	-0.98	-146.6	221.7	-8.3	106	2201	0.00	2.45	0.00	0.000	6	0.000	0.035	2129	2611	3418
2524	-0.98	-146.6	250.5	-9.0	122	2525	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2612	3419
2833	-0.98	-146.6	278.8	-9.3	137	2837	0.00	2.45	0.00	0.000	4	0.000	0.037	2129	1215	3418
2882	-0.98	-146.6	283.6	-9.0	139	2886	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2600	3418
3198	-0.98	-146.6	313.4	-9.2	154	3199	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3418
3507	-0.98	-146.6	341.5	-9.3	169	3512	0.00	2.42	0.00	0.000	4	0.000	0.037	2129	1218	3418
3557	-0.98	-146.6	346.1	-8.6	171	3562	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2600	3418
3875	-0.98	-146.6	375.6	-9.4	186	3876	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2600	3418
4183	-0.98	-146.6	404.9	-9.4	201	4187	0.00	2.42	0.00	0.000	4	0.000	0.038	2129	1218	3418
4222	-0.98	-146.6	408.7	-9.2	203	4227	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2600	3418
4549	-0.98	-146.6	439.2	-9.2	219	4550	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3418
4859	-0.98	-146.6	467.6	-9.2	234	4863	0.00	2.42	0.00	0.000	4	0.000	0.038	2129	1219	3418
4886	-0.98	-146.6	470.3	-9.9	235	4890	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2601	3418
5201	-0.98	-146.6	499.6	-9.5	250	5203	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2601	3418
5511	-0.98	-146.6	529.4	-9.6	265	5515	0.00	2.33	0.00	0.000	4	0.000	0.066	2129	3857	3418
5556	-0.98	-146.6	534.5	-11.3	267	5559	0.00	2.10	0.00	0.000	6	0.000	0.025	2129	2601	3418
5882	-0.98	-146.6	565.5	-10.5	283	5886	0.00	2.42	0.00	0.000	4	0.000	0.040	2129	1218	3418
5968	-0.98	-146.6	571.6	-6.3	287	5972	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2603	3418
6295	-0.98	-146.6	593.3	-6.2	303	6299	0.00	2.42	0.00	0.000	4	0.000	0.036	2129	1214	3418
6356	-0.98	-146.6	597.4	-6.5	305	6363	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2600	3418
6673	-0.98	-146.6	621.4	-10.1	321	6677	0.00	2.33	0.00	0.000	4	0.000	0.067	2129	3859	3417
6689	-0.98	-146.6	623.2	-9.7	321	6695	0.00	2.12	0.00	0.000	6	0.000	0.026	2129	2594	3417
7004	-0.98	-146.6	653.4	-9.3	337	7009	0.00	2.42	0.00	0.000	4	0.000	0.040	2129	1214	3417
7084	-1.02	-146.6	660.0	-8.2	340	7090	0.00	2.45	0.00	0.000	6	0.000	0.036	2129	2609	3417
7399	-1.02	-146.6	686.0	-8.3	356	7401	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2610	3417
7709	-1.02	-146.6	711.2	-8.3	371	7713	0.00	2.45	0.00	0.000	4	0.000	0.038	2129	1211	3417
7787	-1.07	-146.6	718.0	-8.4	374	7792	0.00	2.45	0.00	0.000	6	0.000	0.036	2129	2603	3416
8103	-1.07	-146.6	744.1	-8.1	389	8107	0.00	2.35	0.00	0.000	4	0.000	0.071	2129	3862	3416
8166	-1.11	-146.6	749.5	-9.4	392	8169	0.00	2.12	0.00	0.000	6	0.000	0.028	2129	2609	3416
8310	end dive: BOTTOM_OBSTACLE_DETECTED
state	8310	begin apogee
8317	-0.31	0.0	760.8	8.2	399	8453	0.77	0.00	129.38	1.070	6	0.093	0.000	2288	2304	2815
8454	end apogee: CONTROL_FINISHED_OK
state	8454	begin climb
8457	1.03	146.6	763.7	0.0	406	8595	1.35	2.60	130.15	1.062	4	0.065	0.050	2579	911	2218
8802	1.02	217.6	747.0	5.1	421	8872	0.00	2.47	64.25	1.046	6	0.000	0.036	2579	2305	1929
9197	1.03	223.8	724.7	7.3	440	9208	0.00	2.65	5.93	0.788	4	0.000	0.064	2579	3701	1903
9253	1.03	223.8	719.2	10.2	442	9259	0.00	2.45	0.00	0.000	6	0.000	0.030	2579	2310	1904
9569	1.03	223.8	690.2	9.3	458	9573	0.00	2.58	0.00	0.000	4	0.000	0.051	2579	900	1901
9592	1.03	223.8	688.2	8.8	459	9596	0.00	2.50	0.00	0.000	6	0.000	0.035	2579	2306	1899
9912	1.03	223.8	657.1	8.8	475	9913	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2307	1899
10222	1.03	223.8	630.1	7.8	490	10226	0.00	2.60	0.00	0.000	4	0.000	0.062	2579	3701	1898
10232	1.03	223.8	629.2	7.7	490	10239	0.00	2.45	0.00	0.000	6	0.000	0.028	2579	2293	1898
10549	1.07	264.4	609.4	6.1	506	10592	0.00	2.58	38.33	0.968	4	0.000	0.050	2579	907	1739
10621	1.07	264.4	600.9	16.8	509	10625	0.00	2.50	0.00	0.000	6	0.000	0.035	2579	2309	1735
10936	1.07	264.4	566.8	10.5	524	10940	0.00	2.55	0.00	0.000	4	0.000	0.047	2579	905	1732
10980	1.13	264.4	561.8	11.5	526	10985	0.12	2.45	0.00	0.000	6	0.061	0.035	2608	2301	1731
11302	1.13	264.4	527.9	9.9	542	11303	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2302	1731
11610	1.13	264.4	498.2	9.4	557	11615	0.00	2.60	0.00	0.000	4	0.000	0.060	2608	3703	1731
11673	1.07	264.4	491.7	10.3	560	11677	0.00	2.42	0.00	0.000	6	0.000	0.028	2608	2303	1731
12006	1.07	264.4	460.8	9.1	576	12007	0.00	0.00	0.00	0.000	6	0.000	0.000	2608	2303	1731
12315	1.07	264.4	433.6	8.8	591	12316	0.00	0.00	0.00	0.000	6	0.000	0.000	2608	2303	1730
12624	1.07	264.4	407.3	8.3	606	12628	0.00	2.58	0.00	0.000	4	0.000	0.058	2608	3701	1731
12646	1.01	264.4	405.2	8.6	607	12651	0.15	2.42	0.00	0.000	6	0.107	0.028	2582	2300	1731
12967	1.01	264.4	380.1	7.8	623	12971	0.00	2.53	0.00	0.000	4	0.000	0.046	2582	892	1731
12988	1.01	264.4	378.2	8.8	624	12992	0.00	2.47	0.00	0.000	6	0.000	0.032	2582	2309	1730
13309	1.01	264.4	351.0	8.5	640	13313	0.00	2.58	0.00	0.000	4	0.000	0.058	2582	3705	1730
13331	1.01	264.4	349.0	8.9	641	13335	0.00	2.45	0.00	0.000	6	0.000	0.027	2582	2290	1730
13653	1.01	264.4	320.0	9.3	657	13657	0.00	2.50	0.00	0.000	4	0.000	0.044	2582	895	1730
13675	1.01	264.4	317.8	9.3	658	13679	0.00	2.45	0.00	0.000	6	0.000	0.032	2582	2301	1730
13995	1.01	264.4	289.1	8.7	674	13997	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2301	1730
14305	1.01	264.4	262.5	8.6	689	14306	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2301	1730
14614	1.01	264.4	236.2	8.6	704	14616	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2301	1730
14923	1.01	264.4	210.1	8.5	719	14924	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2299	1731
15232	1.01	264.4	183.7	8.5	734	15234	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2301	1731
15542	1.01	264.4	157.8	8.2	749	15543	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2301	1731
15851	1.01	264.4	132.4	8.3	764	15853	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2301	1731
16161	1.01	264.4	105.7	8.7	779	16163	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2301	1731
16471	1.05	264.4	79.7	8.4	794	16472	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2301	1731
16780	1.10	264.4	53.5	8.1	809	16784	0.00	2.58	0.00	0.000	4	0.000	0.057	2581	3705	1731
16812	1.10	264.4	50.6	7.8	810	16819	0.00	2.42	0.00	0.000	6	0.000	0.027	2582	2292	1731
17131	1.20	282.9	27.6	6.9	826	17154	0.17	2.50	16.42	0.565	4	0.048	0.041	2637	901	1662
17201	1.20	282.9	19.7	8.9	829	17205	0.00	2.45	0.00	0.000	6	0.000	0.031	2637	2300	1660
17360	end climb: SURFACE_DEPTH_REACHED
state	17360	begin surface coast
17382	end surface coast: CONTROL_FINISHED_OK
state	17382	begin surface