Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 254 * 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 254 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 31 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 -2112106.2 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 -2112106.2

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 31 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 254 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 230906,6240.979,-1212.689,35,1.0,41,-11.4 TGT_NAME FE

_CALLS 2 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.49 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -59.4 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 231731,6241.004,-1212.741,11,1.1,16,-11.4 MHEAD_RNG_PITCHd_Wd 137.4,34630,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.017555 ALTIM_BOTTOM_PING 675.9,92.3

SM_CCo 18011,0.00,0.000,0,0,1654,285.28 _24V_AH 23.6,40.414

SM_GC 1.68,11.85,0.00,0.00,0.068,0.000,0.000,66,2606,1654,-10.47,0.17,285.28 _10V_AH 10.1,20.811

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44346,865

TT8_MAMPS 0.02301 CAP_FILE_SIZE 133130,0

HUMID 1795 CFSIZE 260165632,244117504

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 230709,041906,6240.064,-1213.604,30,1.1,30,-11.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 181 118.30 SBE_CT 632 24 358.48

Roll_motor 152 68 245.96 SBE_O2 590 19 264.90

VBD_pump_during_apogee 385 1081 9829.43 WL_BB2F 513 105 1271.66

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 38 103 92.51 nil 0 0 0.00

Iridium_during_connect 52 160 199.44 nil 0 0 0.00

Iridium_during_xfer 219 223 1154.87

Transponder_ping 5 420 56.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.31

TT8 1570 19 314.15

LPSleep 14047 2 310.72

TT8_Active 490 19 98.05

TT8_Sampling 1783 39 716.83

TT8_CF8 618 45 286.28

TT8_Kalman 0 81 0.00

Analog_circuits 1413 12 171.29

GPS_charging 0 0 0.00

Compass 1735 8 140.23

RAFOS 0 0 0.00

Transponder 40 30 12.21

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.03 -146.6 0.0 0.0 0 77 0.00 0.00 -56.50 0.000 6 0.000 0.000 74 2604 3415

81 -1.03 -146.6 7.3 -13.6 3 102 11.85 2.53 0.00 0.000 4 0.182 0.034 2128 1193 3416

220 -1.03 -146.6 35.2 -11.1 9 225 0.00 2.47 0.00 0.000 6 0.000 0.035 2128 2593 3418

542 -0.98 -146.6 70.5 -10.3 25 547 0.00 2.35 0.00 0.000 4 0.000 0.062 2128 3863 3418

576 -0.93 -146.6 74.2 -10.2 26 583 0.15 2.17 0.00 0.000 6 0.102 0.025 2157 2570 3417

894 -0.93 -146.6 98.6 -7.3 42 895 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2569 3419

1202 -0.93 -146.6 120.7 -7.2 57 1203 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2569 3419

1510 -0.93 -146.6 145.2 -8.2 72 1512 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2569 3418

1820 -0.93 -146.6 170.5 -8.1 87 1821 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2569 3418

2129 -0.93 -146.6 195.3 -8.0 102 2130 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2569 3418

2438 -0.98 -146.6 220.3 -7.9 117 2439 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2569 3418

2748 -1.02 -146.6 243.8 -7.6 132 2749 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2569 3418

3057 -1.07 -146.6 267.5 -7.9 147 3059 0.15 0.00 0.00 0.000 6 0.041 0.000 2107 2569 3419

3367 -0.97 -146.6 299.9 -10.7 162 3375 0.17 2.40 0.00 0.000 4 0.098 0.062 2145 3863 3418

3397 -0.97 -146.6 303.2 -10.3 163 3401 0.00 2.12 0.00 0.000 6 0.000 0.025 2145 2597 3418

3724 -0.97 -146.6 331.2 -8.7 179 3728 0.00 2.42 0.00 0.000 4 0.000 0.038 2145 1215 3418

3769 -1.03 -146.6 335.2 -8.6 181 3773 0.00 2.45 0.00 0.000 6 0.000 0.035 2144 2612 3417

4089 -1.03 -146.6 363.4 -8.8 197 4093 0.00 2.45 0.00 0.000 4 0.000 0.036 2144 1217 3418

4119 -1.08 -146.6 365.9 -9.2 198 4123 0.00 2.42 0.00 0.000 6 0.000 0.034 2145 2599 3418

4435 -1.08 -146.6 394.1 -8.8 213 4439 0.00 2.33 0.00 0.000 4 0.000 0.065 2145 3857 3418

4468 -1.08 -146.6 397.4 -9.7 214 4474 0.00 2.12 0.00 0.000 6 0.000 0.025 2145 2592 3417

4783 -1.08 -146.6 424.4 -8.6 230 4787 0.00 2.40 0.00 0.000 4 0.000 0.039 2144 1216 3418

4834 -1.14 -146.6 428.7 -8.3 232 4839 0.15 2.42 0.00 0.000 6 0.043 0.035 2098 2600 3418

5156 -1.02 -146.6 464.1 -11.3 248 5158 0.20 0.00 0.00 0.000 6 0.092 0.000 2137 2600 3417

5464 -1.02 -146.6 492.4 -9.1 263 5469 0.00 2.42 0.00 0.000 4 0.000 0.038 2137 1218 3417

5492 -1.02 -146.6 494.9 -9.1 264 5496 0.00 2.40 0.00 0.000 6 0.000 0.035 2137 2600 3417

5814 -1.02 -146.6 523.0 -8.4 280 5815 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2601 3417

6123 -1.02 -146.6 548.9 -8.4 295 6127 0.00 2.42 0.00 0.000 4 0.000 0.038 2137 1217 3417

6145 -1.02 -146.6 550.8 -8.9 296 6149 0.00 2.42 0.00 0.000 6 0.000 0.035 2137 2600 3416

6466 -1.02 -146.6 578.7 -9.2 312 6470 0.00 2.33 0.00 0.000 4 0.000 0.067 2137 3858 3416

6505 -1.02 -146.6 582.8 -10.8 314 6509 0.00 2.12 0.00 0.000 6 0.000 0.025 2137 2596 3416

6838 -1.02 -146.6 614.7 -8.9 330 6842 0.00 2.40 0.00 0.000 4 0.000 0.040 2137 1217 3416

6893 -1.07 -146.6 619.6 -8.2 332 6898 0.00 2.42 0.00 0.000 6 0.000 0.035 2137 2600 3416

7209 -1.07 -146.6 644.8 -7.7 347 7213 0.00 2.45 0.00 0.000 4 0.000 0.037 2137 1207 3416

7243 -1.14 -146.6 647.4 -8.2 348 7249 0.12 2.45 0.00 0.000 6 0.046 0.035 2095 2600 3416

7560 -1.07 -146.6 677.8 -9.7 364 7565 0.15 2.35 0.00 0.000 4 0.096 0.068 2125 3860 3416

7650 -1.07 -146.6 686.2 -9.2 368 7654 0.00 2.12 0.00 0.000 6 0.000 0.026 2125 2600 3415

7977 -1.07 -146.6 708.9 -6.7 384 7978 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2597 3415

8286 -1.07 -146.6 733.8 -7.8 399 8290 0.00 2.45 0.00 0.000 4 0.000 0.041 2124 1206 3414

8336 -1.07 -146.6 737.6 -8.2 401 8341 0.00 2.47 0.00 0.000 6 0.000 0.038 2125 2607 3414

8614 end dive: BOTTOM_OBSTACLE_DETECTED

state 8614 begin apogee

8621 -0.31 0.0 758.5 10.0 415 8756 0.82 0.00 128.82 1.081 6 0.105 0.000 2290 2305 2816

8757 end apogee: CONTROL_FINISHED_OK

state 8757 begin climb

8760 1.03 146.6 764.5 0.0 422 8899 1.35 2.70 130.45 1.071 4 0.069 0.064 2579 3707 2218

8935 0.89 146.6 757.8 9.1 429 8940 0.12 2.47 0.00 0.000 6 0.104 0.031 2557 2317 2216

9252 0.81 151.8 732.4 7.3 444 9259 0.00 0.00 4.97 0.732 6 0.000 0.000 2557 2317 2198

9561 0.79 179.6 711.9 6.6 459 9595 0.12 2.65 26.42 1.009 4 0.103 0.051 2534 899 2083

9618 0.83 179.6 708.0 7.6 461 9624 0.00 2.53 0.00 0.000 6 0.000 0.036 2534 2307 2081

9935 0.95 241.2 688.3 5.4 477 9998 0.15 2.75 57.33 1.032 4 0.050 0.064 2576 3702 1833

10057 0.90 241.2 679.7 7.8 482 10061 0.00 2.47 0.00 0.000 6 0.000 0.030 2576 2300 1830

10374 0.90 243.0 655.6 7.4 497 10375 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2299 1825

10682 0.90 243.0 632.8 7.6 512 10683 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2299 1823

10991 0.90 243.0 609.0 8.6 527 10992 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2299 1823

11301 0.90 243.0 579.3 9.7 542 11302 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2299 1822

11610 0.90 243.0 550.9 8.7 557 11614 0.00 2.62 0.00 0.000 4 0.000 0.061 2576 3708 1822

11631 0.90 243.0 548.9 8.7 558 11635 0.00 2.47 0.00 0.000 6 0.000 0.029 2577 2294 1822

11952 0.90 243.0 522.0 8.3 574 11953 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2293 1822

12261 0.90 243.0 495.5 8.7 589 12262 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2293 1822

12570 0.90 243.0 468.5 8.8 604 12575 0.00 2.60 0.00 0.000 4 0.000 0.058 2576 3707 1822

12598 0.90 243.0 465.8 9.6 605 12602 0.00 2.45 0.00 0.000 6 0.000 0.028 2576 2296 1822

12914 0.90 243.0 438.4 8.6 620 12918 0.00 2.47 0.00 0.000 4 0.000 0.046 2576 900 1822

12947 0.90 243.0 435.3 8.7 621 12951 0.00 2.47 0.00 0.000 6 0.000 0.033 2577 2312 1821

13267 0.90 243.0 409.2 8.1 637 13272 0.00 2.55 0.00 0.000 4 0.000 0.058 2576 3698 1821

13301 0.90 243.0 406.3 8.2 638 13307 0.00 2.42 0.00 0.000 6 0.000 0.027 2576 2297 1821

13617 0.90 243.0 381.1 7.7 654 13621 0.00 2.50 0.00 0.000 4 0.000 0.044 2576 900 1821

13634 0.90 243.0 379.7 8.1 655 13638 0.00 2.45 0.00 0.000 6 0.000 0.031 2576 2306 1821

13961 0.90 243.0 352.9 8.5 671 13965 0.00 2.55 0.00 0.000 4 0.000 0.058 2576 3704 1821

13982 0.90 243.0 350.8 8.9 672 13987 0.00 2.42 0.00 0.000 6 0.000 0.026 2576 2298 1821

14303 0.90 243.0 323.1 8.7 688 14307 0.00 2.47 0.00 0.000 4 0.000 0.044 2577 898 1821

14327 0.90 243.0 321.1 8.6 689 14331 0.00 2.45 0.00 0.000 6 0.000 0.031 2576 2305 1821

14653 0.90 243.0 292.3 9.0 705 14657 0.00 2.58 0.00 0.000 4 0.000 0.057 2576 3708 1821

14675 0.90 243.0 290.2 9.5 706 14679 0.00 2.42 0.00 0.000 6 0.000 0.026 2576 2298 1822

14996 0.90 243.0 261.2 9.1 722 15001 0.00 2.47 0.00 0.000 4 0.000 0.043 2576 902 1822

15018 0.90 243.0 259.1 9.3 723 15022 0.00 2.45 0.00 0.000 6 0.000 0.031 2577 2309 1821

15339 0.90 243.0 229.7 9.1 739 15344 0.00 2.55 0.00 0.000 4 0.000 0.057 2577 3700 1822

15361 0.90 243.0 227.5 8.8 740 15365 0.00 2.42 0.00 0.000 6 0.000 0.026 2576 2294 1822

15683 0.90 243.0 199.0 9.2 756 15685 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2294 1822

15992 0.90 243.0 171.9 8.6 771 15993 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2293 1822

16302 0.90 243.0 145.9 8.3 786 16306 0.00 2.58 0.00 0.000 4 0.000 0.055 2576 3705 1821

16325 0.90 243.0 143.8 9.0 787 16329 0.00 2.42 0.00 0.000 6 0.000 0.026 2576 2296 1823

16646 0.90 243.0 115.5 8.9 803 16650 0.00 2.47 0.00 0.000 4 0.000 0.043 2576 904 1823

16667 0.90 243.0 113.5 8.5 804 16672 0.00 2.45 0.00 0.000 6 0.000 0.031 2576 2311 1822

16990 0.94 243.0 83.4 10.5 820 16991 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2311 1823

17298 0.94 243.0 49.0 9.9 835 17302 0.00 2.50 0.00 0.000 4 0.000 0.041 2576 904 1823

17325 0.99 243.0 46.6 9.1 836 17330 0.00 2.42 0.00 0.000 6 0.000 0.031 2576 2302 1822

17643 1.09 271.1 25.7 6.5 851 17673 0.00 2.62 25.38 0.578 4 0.000 0.055 2576 3702 1710

17691 1.20 283.0 22.4 7.1 853 17708 0.20 2.45 11.75 0.536 6 0.044 0.025 2633 2295 1663

17904 end climb: SURFACE_DEPTH_REACHED

state 17904 begin surface coast

17928 end surface coast: CONTROL_FINISHED_OK

state 17928 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	254	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	31	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	-2112106.2	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	230906,6240.979,-1212.689,35,1.0,41,-11.4	TGT_NAME	FE
_CALLS	2	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.49	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-59.4	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	231731,6241.004,-1212.741,11,1.1,16,-11.4	MHEAD_RNG_PITCHd_Wd	137.4,34630,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.017555	ALTIM_BOTTOM_PING	675.9,92.3
SM_CCo	18011,0.00,0.000,0,0,1654,285.28	_24V_AH	23.6,40.414
SM_GC	1.68,11.85,0.00,0.00,0.068,0.000,0.000,66,2606,1654,-10.47,0.17,285.28	_10V_AH	10.1,20.811
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44346,865
TT8_MAMPS	0.02301	CAP_FILE_SIZE	133130,0
HUMID	1795	CFSIZE	260165632,244117504
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	230709,041906,6240.064,-1213.604,30,1.1,30,-11.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	181	118.30	SBE_CT	632	24	358.48
Roll_motor	152	68	245.96	SBE_O2	590	19	264.90
VBD_pump_during_apogee	385	1081	9829.43	WL_BB2F	513	105	1271.66
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	38	103	92.51	nil	0	0	0.00
Iridium_during_connect	52	160	199.44	nil	0	0	0.00
Iridium_during_xfer	219	223	1154.87
Transponder_ping	5	420	56.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.31
TT8	1570	19	314.15
LPSleep	14047	2	310.72
TT8_Active	490	19	98.05
TT8_Sampling	1783	39	716.83
TT8_CF8	618	45	286.28
TT8_Kalman	0	81	0.00
Analog_circuits	1413	12	171.29
GPS_charging	0	0	0.00
Compass	1735	8	140.23
RAFOS	0	0	0.00
Transponder	40	30	12.21

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.03	-146.6	0.0	0.0	0	77	0.00	0.00	-56.50	0.000	6	0.000	0.000	74	2604	3415
81	-1.03	-146.6	7.3	-13.6	3	102	11.85	2.53	0.00	0.000	4	0.182	0.034	2128	1193	3416
220	-1.03	-146.6	35.2	-11.1	9	225	0.00	2.47	0.00	0.000	6	0.000	0.035	2128	2593	3418
542	-0.98	-146.6	70.5	-10.3	25	547	0.00	2.35	0.00	0.000	4	0.000	0.062	2128	3863	3418
576	-0.93	-146.6	74.2	-10.2	26	583	0.15	2.17	0.00	0.000	6	0.102	0.025	2157	2570	3417
894	-0.93	-146.6	98.6	-7.3	42	895	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2569	3419
1202	-0.93	-146.6	120.7	-7.2	57	1203	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2569	3419
1510	-0.93	-146.6	145.2	-8.2	72	1512	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2569	3418
1820	-0.93	-146.6	170.5	-8.1	87	1821	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2569	3418
2129	-0.93	-146.6	195.3	-8.0	102	2130	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2569	3418
2438	-0.98	-146.6	220.3	-7.9	117	2439	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2569	3418
2748	-1.02	-146.6	243.8	-7.6	132	2749	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2569	3418
3057	-1.07	-146.6	267.5	-7.9	147	3059	0.15	0.00	0.00	0.000	6	0.041	0.000	2107	2569	3419
3367	-0.97	-146.6	299.9	-10.7	162	3375	0.17	2.40	0.00	0.000	4	0.098	0.062	2145	3863	3418
3397	-0.97	-146.6	303.2	-10.3	163	3401	0.00	2.12	0.00	0.000	6	0.000	0.025	2145	2597	3418
3724	-0.97	-146.6	331.2	-8.7	179	3728	0.00	2.42	0.00	0.000	4	0.000	0.038	2145	1215	3418
3769	-1.03	-146.6	335.2	-8.6	181	3773	0.00	2.45	0.00	0.000	6	0.000	0.035	2144	2612	3417
4089	-1.03	-146.6	363.4	-8.8	197	4093	0.00	2.45	0.00	0.000	4	0.000	0.036	2144	1217	3418
4119	-1.08	-146.6	365.9	-9.2	198	4123	0.00	2.42	0.00	0.000	6	0.000	0.034	2145	2599	3418
4435	-1.08	-146.6	394.1	-8.8	213	4439	0.00	2.33	0.00	0.000	4	0.000	0.065	2145	3857	3418
4468	-1.08	-146.6	397.4	-9.7	214	4474	0.00	2.12	0.00	0.000	6	0.000	0.025	2145	2592	3417
4783	-1.08	-146.6	424.4	-8.6	230	4787	0.00	2.40	0.00	0.000	4	0.000	0.039	2144	1216	3418
4834	-1.14	-146.6	428.7	-8.3	232	4839	0.15	2.42	0.00	0.000	6	0.043	0.035	2098	2600	3418
5156	-1.02	-146.6	464.1	-11.3	248	5158	0.20	0.00	0.00	0.000	6	0.092	0.000	2137	2600	3417
5464	-1.02	-146.6	492.4	-9.1	263	5469	0.00	2.42	0.00	0.000	4	0.000	0.038	2137	1218	3417
5492	-1.02	-146.6	494.9	-9.1	264	5496	0.00	2.40	0.00	0.000	6	0.000	0.035	2137	2600	3417
5814	-1.02	-146.6	523.0	-8.4	280	5815	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2601	3417
6123	-1.02	-146.6	548.9	-8.4	295	6127	0.00	2.42	0.00	0.000	4	0.000	0.038	2137	1217	3417
6145	-1.02	-146.6	550.8	-8.9	296	6149	0.00	2.42	0.00	0.000	6	0.000	0.035	2137	2600	3416
6466	-1.02	-146.6	578.7	-9.2	312	6470	0.00	2.33	0.00	0.000	4	0.000	0.067	2137	3858	3416
6505	-1.02	-146.6	582.8	-10.8	314	6509	0.00	2.12	0.00	0.000	6	0.000	0.025	2137	2596	3416
6838	-1.02	-146.6	614.7	-8.9	330	6842	0.00	2.40	0.00	0.000	4	0.000	0.040	2137	1217	3416
6893	-1.07	-146.6	619.6	-8.2	332	6898	0.00	2.42	0.00	0.000	6	0.000	0.035	2137	2600	3416
7209	-1.07	-146.6	644.8	-7.7	347	7213	0.00	2.45	0.00	0.000	4	0.000	0.037	2137	1207	3416
7243	-1.14	-146.6	647.4	-8.2	348	7249	0.12	2.45	0.00	0.000	6	0.046	0.035	2095	2600	3416
7560	-1.07	-146.6	677.8	-9.7	364	7565	0.15	2.35	0.00	0.000	4	0.096	0.068	2125	3860	3416
7650	-1.07	-146.6	686.2	-9.2	368	7654	0.00	2.12	0.00	0.000	6	0.000	0.026	2125	2600	3415
7977	-1.07	-146.6	708.9	-6.7	384	7978	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2597	3415
8286	-1.07	-146.6	733.8	-7.8	399	8290	0.00	2.45	0.00	0.000	4	0.000	0.041	2124	1206	3414
8336	-1.07	-146.6	737.6	-8.2	401	8341	0.00	2.47	0.00	0.000	6	0.000	0.038	2125	2607	3414
8614	end dive: BOTTOM_OBSTACLE_DETECTED
state	8614	begin apogee
8621	-0.31	0.0	758.5	10.0	415	8756	0.82	0.00	128.82	1.081	6	0.105	0.000	2290	2305	2816
8757	end apogee: CONTROL_FINISHED_OK
state	8757	begin climb
8760	1.03	146.6	764.5	0.0	422	8899	1.35	2.70	130.45	1.071	4	0.069	0.064	2579	3707	2218
8935	0.89	146.6	757.8	9.1	429	8940	0.12	2.47	0.00	0.000	6	0.104	0.031	2557	2317	2216
9252	0.81	151.8	732.4	7.3	444	9259	0.00	0.00	4.97	0.732	6	0.000	0.000	2557	2317	2198
9561	0.79	179.6	711.9	6.6	459	9595	0.12	2.65	26.42	1.009	4	0.103	0.051	2534	899	2083
9618	0.83	179.6	708.0	7.6	461	9624	0.00	2.53	0.00	0.000	6	0.000	0.036	2534	2307	2081
9935	0.95	241.2	688.3	5.4	477	9998	0.15	2.75	57.33	1.032	4	0.050	0.064	2576	3702	1833
10057	0.90	241.2	679.7	7.8	482	10061	0.00	2.47	0.00	0.000	6	0.000	0.030	2576	2300	1830
10374	0.90	243.0	655.6	7.4	497	10375	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2299	1825
10682	0.90	243.0	632.8	7.6	512	10683	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2299	1823
10991	0.90	243.0	609.0	8.6	527	10992	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2299	1823
11301	0.90	243.0	579.3	9.7	542	11302	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2299	1822
11610	0.90	243.0	550.9	8.7	557	11614	0.00	2.62	0.00	0.000	4	0.000	0.061	2576	3708	1822
11631	0.90	243.0	548.9	8.7	558	11635	0.00	2.47	0.00	0.000	6	0.000	0.029	2577	2294	1822
11952	0.90	243.0	522.0	8.3	574	11953	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2293	1822
12261	0.90	243.0	495.5	8.7	589	12262	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2293	1822
12570	0.90	243.0	468.5	8.8	604	12575	0.00	2.60	0.00	0.000	4	0.000	0.058	2576	3707	1822
12598	0.90	243.0	465.8	9.6	605	12602	0.00	2.45	0.00	0.000	6	0.000	0.028	2576	2296	1822
12914	0.90	243.0	438.4	8.6	620	12918	0.00	2.47	0.00	0.000	4	0.000	0.046	2576	900	1822
12947	0.90	243.0	435.3	8.7	621	12951	0.00	2.47	0.00	0.000	6	0.000	0.033	2577	2312	1821
13267	0.90	243.0	409.2	8.1	637	13272	0.00	2.55	0.00	0.000	4	0.000	0.058	2576	3698	1821
13301	0.90	243.0	406.3	8.2	638	13307	0.00	2.42	0.00	0.000	6	0.000	0.027	2576	2297	1821
13617	0.90	243.0	381.1	7.7	654	13621	0.00	2.50	0.00	0.000	4	0.000	0.044	2576	900	1821
13634	0.90	243.0	379.7	8.1	655	13638	0.00	2.45	0.00	0.000	6	0.000	0.031	2576	2306	1821
13961	0.90	243.0	352.9	8.5	671	13965	0.00	2.55	0.00	0.000	4	0.000	0.058	2576	3704	1821
13982	0.90	243.0	350.8	8.9	672	13987	0.00	2.42	0.00	0.000	6	0.000	0.026	2576	2298	1821
14303	0.90	243.0	323.1	8.7	688	14307	0.00	2.47	0.00	0.000	4	0.000	0.044	2577	898	1821
14327	0.90	243.0	321.1	8.6	689	14331	0.00	2.45	0.00	0.000	6	0.000	0.031	2576	2305	1821
14653	0.90	243.0	292.3	9.0	705	14657	0.00	2.58	0.00	0.000	4	0.000	0.057	2576	3708	1821
14675	0.90	243.0	290.2	9.5	706	14679	0.00	2.42	0.00	0.000	6	0.000	0.026	2576	2298	1822
14996	0.90	243.0	261.2	9.1	722	15001	0.00	2.47	0.00	0.000	4	0.000	0.043	2576	902	1822
15018	0.90	243.0	259.1	9.3	723	15022	0.00	2.45	0.00	0.000	6	0.000	0.031	2577	2309	1821
15339	0.90	243.0	229.7	9.1	739	15344	0.00	2.55	0.00	0.000	4	0.000	0.057	2577	3700	1822
15361	0.90	243.0	227.5	8.8	740	15365	0.00	2.42	0.00	0.000	6	0.000	0.026	2576	2294	1822
15683	0.90	243.0	199.0	9.2	756	15685	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2294	1822
15992	0.90	243.0	171.9	8.6	771	15993	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2293	1822
16302	0.90	243.0	145.9	8.3	786	16306	0.00	2.58	0.00	0.000	4	0.000	0.055	2576	3705	1821
16325	0.90	243.0	143.8	9.0	787	16329	0.00	2.42	0.00	0.000	6	0.000	0.026	2576	2296	1823
16646	0.90	243.0	115.5	8.9	803	16650	0.00	2.47	0.00	0.000	4	0.000	0.043	2576	904	1823
16667	0.90	243.0	113.5	8.5	804	16672	0.00	2.45	0.00	0.000	6	0.000	0.031	2576	2311	1822
16990	0.94	243.0	83.4	10.5	820	16991	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2311	1823
17298	0.94	243.0	49.0	9.9	835	17302	0.00	2.50	0.00	0.000	4	0.000	0.041	2576	904	1823
17325	0.99	243.0	46.6	9.1	836	17330	0.00	2.42	0.00	0.000	6	0.000	0.031	2576	2302	1822
17643	1.09	271.1	25.7	6.5	851	17673	0.00	2.62	25.38	0.578	4	0.000	0.055	2576	3702	1710
17691	1.20	283.0	22.4	7.1	853	17708	0.20	2.45	11.75	0.536	6	0.044	0.025	2633	2295	1663
17904	end climb: SURFACE_DEPTH_REACHED
state	17904	begin surface coast
17928	end surface coast: CONTROL_FINISHED_OK
state	17928	begin surface