Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 268 * 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 268 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT 20

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2112351.5 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 -2112351.5

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 36 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 28 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 268 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 201201,6230.736,-1146.229,38,2.0,38,-11.1 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 1.57 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -62.7 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 202014,6230.719,-1146.337,13,1.4,13,-11.1 MHEAD_RNG_PITCHd_Wd 114.9,5581,-16.3,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026551 _24V_AH 23.6,42.206

SM_CCo 17115,22.92,0.564,0,0,1796,250.21 _10V_AH 10.1,21.891

SM_GC 1.88,0.00,0.00,22.92,0.000,0.000,0.564,78,2605,1796,-10.49,0.14,250.21 DATA_FILE_SIZE 41156,821

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 130443,0

TT8_MAMPS 0.023777 CFSIZE 260165632,243273728

HUMID 1805 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 17.30 GPS 260709,010730,6230.727,-1141.414,41,1.4,41,-11.1

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 188 131.69 SBE_CT 596 24 337.98

Roll_motor 147 74 258.85 SBE_O2 559 19 250.66

VBD_pump_during_apogee 292 1095 7554.87 WL_BB2F 476 105 1181.88

VBD_pump_during_surface 22 563 305.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 89.13 nil 0 0 0.00

Iridium_during_connect 56 160 212.96 nil 0 0 0.00

Iridium_during_xfer 210 223 1105.39

Transponder_ping 6 420 64.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.84

TT8 1524 19 304.92

LPSleep 13231 2 292.67

TT8_Active 445 19 89.19

TT8_Sampling 1829 39 735.35

TT8_CF8 598 45 277.08

TT8_Kalman 0 81 0.00

Analog_circuits 1368 12 165.85

GPS_charging 0 0 0.00

Compass 1783 8 144.09

RAFOS 0 0 0.00

Transponder 43 30 13.24

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 -1.14 -110.5 0.0 0.0 0 78 0.00 0.00 -58.55 0.000 6 0.000 0.000 80 2602 3270

81 -1.14 -110.5 5.6 -9.9 3 102 11.90 2.35 0.00 0.000 4 0.189 0.056 2108 3857 3271

344 -1.05 -110.5 52.2 -13.0 14 351 0.08 2.20 0.00 0.000 6 0.104 0.025 2135 2573 3272

660 -1.05 -110.5 78.8 -8.7 30 661 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2573 3273

969 -1.05 -110.5 110.0 -10.5 45 971 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2573 3273

1279 -1.05 -110.5 142.0 -10.0 60 1281 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2573 3273

1587 -1.05 -110.5 172.2 -9.5 75 1592 0.00 2.38 0.00 0.000 4 0.000 0.037 2136 1218 3273

1627 -1.15 -110.5 175.8 -9.2 77 1632 0.12 2.42 0.00 0.000 6 0.044 0.034 2096 2598 3273

1955 -1.08 -110.5 209.8 -10.1 93 1959 0.15 2.33 0.00 0.000 4 0.098 0.061 2124 3858 3273

2010 -1.08 -110.5 215.4 -9.9 95 2016 0.00 2.12 0.00 0.000 6 0.000 0.025 2124 2591 3273

2326 -1.08 -110.5 245.4 -10.1 111 2330 0.00 2.42 0.00 0.000 4 0.000 0.037 2124 1209 3273

2360 -1.13 -110.5 249.0 -9.8 112 2366 0.00 2.45 0.00 0.000 6 0.000 0.034 2124 2605 3273

2675 -1.13 -110.5 280.8 -9.9 128 2676 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2605 3273

2985 -1.13 -110.5 311.6 -10.0 143 2989 0.00 2.45 0.00 0.000 4 0.000 0.036 2124 1212 3273

3029 -1.20 -110.5 316.2 -9.7 145 3034 0.12 2.45 0.00 0.000 6 0.048 0.034 2086 2607 3273

3351 -1.11 -110.5 353.5 -11.7 161 3356 0.15 2.33 0.00 0.000 4 0.097 0.063 2113 3863 3272

3391 -1.11 -110.5 358.1 -11.5 163 3395 0.00 2.12 0.00 0.000 6 0.000 0.025 2113 2598 3273

3723 -1.11 -110.5 392.4 -10.1 179 3727 0.00 2.42 0.00 0.000 4 0.000 0.038 2114 1212 3272

3774 -1.15 -110.5 397.7 -9.9 181 3778 0.00 2.42 0.00 0.000 6 0.000 0.034 2114 2600 3272

4090 -1.15 -110.5 430.7 -10.4 196 4091 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2600 3272

4399 -1.15 -110.5 461.7 -9.6 211 4400 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2600 3272

4709 -1.15 -110.5 491.4 -9.5 226 4713 0.00 2.42 0.00 0.000 4 0.000 0.038 2112 1210 3272

4755 -1.20 -110.5 495.8 -9.5 228 4759 0.00 2.42 0.00 0.000 6 0.000 0.035 2114 2599 3271

5087 -1.20 -110.5 527.7 -9.8 244 5088 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2599 3272

5397 -1.20 -110.5 558.8 -10.5 259 5398 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2599 3271

5705 -1.20 -110.5 590.6 -10.1 274 5710 0.00 2.42 0.00 0.000 4 0.000 0.036 2113 1218 3271

5733 -1.20 -110.5 593.6 -10.6 275 5737 0.00 2.42 0.00 0.000 6 0.000 0.035 2114 2600 3271

6050 -1.20 -110.5 626.4 -10.6 290 6054 0.00 2.33 0.00 0.000 4 0.000 0.067 2114 3856 3271

6134 -1.20 -110.5 635.7 -10.7 294 6138 0.00 2.12 0.00 0.000 6 0.000 0.025 2113 2593 3271

6467 -1.20 -110.5 665.1 -8.0 310 6471 0.00 2.35 0.00 0.000 4 0.000 0.065 2113 3856 3271

6545 -1.20 -110.5 672.1 -9.2 313 6551 0.00 2.12 0.00 0.000 6 0.000 0.026 2113 2596 3271

6861 -1.20 -110.5 696.8 -7.8 329 6865 0.00 2.45 0.00 0.000 4 0.000 0.040 2113 1210 3271

6951 -1.26 -110.5 703.6 -7.7 333 6956 0.12 2.45 0.00 0.000 6 0.049 0.035 2076 2609 3271

7272 -1.19 -110.5 735.7 -9.8 349 7276 0.12 2.33 0.00 0.000 4 0.101 0.068 2099 3856 3270

7316 -1.19 -110.5 740.2 -10.1 351 7319 0.00 2.12 0.00 0.000 6 0.000 0.027 2100 2602 3271

7643 -1.19 -110.5 769.7 -9.5 367 7647 0.00 2.47 0.00 0.000 4 0.000 0.043 2099 1209 3268

7664 -1.19 -110.5 772.1 -9.9 368 7668 0.00 2.45 0.00 0.000 6 0.000 0.037 2099 2601 3268

7992 -1.72 -146.6 787.3 -0.1 384 7997 0.50 2.38 0.00 0.000 4 0.048 0.074 1978 3860 3267

8107 end dive: NO_VERTICAL_VELOCITY

state 8107 begin apogee

8117 -0.31 0.0 787.3 0.0 389 8220 1.45 0.00 98.88 1.095 6 0.079 0.000 2287 2316 2818

8221 end apogee: CONTROL_FINISHED_OK

state 8221 begin climb

8224 1.18 146.6 787.3 0.0 394 8372 1.52 2.72 132.27 1.085 4 0.073 0.062 2611 3712 2218

8486 1.04 146.6 770.6 9.5 406 8491 0.12 2.50 0.00 0.000 6 0.104 0.030 2589 2302 2215

8814 1.00 156.7 746.0 7.0 422 8827 0.00 0.00 9.43 0.908 6 0.000 0.000 2589 2302 2178

9145 0.95 156.7 718.3 8.5 438 9150 0.00 2.65 0.00 0.000 4 0.000 0.063 2589 3710 2174

9225 0.82 156.7 711.1 8.8 441 9232 0.25 2.50 0.00 0.000 6 0.106 0.030 2540 2292 2174

9542 0.98 212.4 692.8 5.0 457 9604 0.15 2.62 51.70 1.034 4 0.050 0.052 2583 895 1948

9643 0.98 212.4 685.9 7.8 461 9649 0.00 2.53 0.00 0.000 6 0.000 0.035 2583 2307 1945

9960 1.03 212.4 661.5 8.0 477 9964 0.00 2.62 0.00 0.000 4 0.000 0.064 2583 3705 1943

9986 1.03 212.4 659.2 8.1 478 9991 0.00 2.47 0.00 0.000 6 0.000 0.029 2583 2298 1943

10302 1.09 212.4 634.6 8.7 493 10307 0.00 2.65 0.00 0.000 4 0.000 0.061 2583 3708 1942

10392 1.09 212.4 625.6 10.1 497 10396 0.00 2.45 0.00 0.000 6 0.000 0.030 2583 2300 1942

10720 1.14 212.4 598.2 7.6 513 10725 0.12 2.62 0.00 0.000 4 0.051 0.059 2619 3705 1941

10748 1.08 212.4 595.6 10.1 514 10753 0.12 2.47 0.00 0.000 6 0.105 0.028 2597 2293 1941

11063 1.08 212.4 566.9 9.4 529 11064 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2292 1940

11373 1.08 212.4 538.7 8.7 544 11377 0.00 2.62 0.00 0.000 4 0.000 0.058 2597 3704 1941

11413 1.08 212.4 535.0 9.8 546 11417 0.00 2.45 0.00 0.000 6 0.000 0.027 2597 2293 1941

11739 1.08 212.4 504.5 9.8 562 11740 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2293 1940

12048 1.08 212.4 473.2 10.3 577 12053 0.00 2.60 0.00 0.000 4 0.000 0.056 2597 3707 1940

12081 1.08 212.4 469.4 11.1 578 12087 0.00 2.45 0.00 0.000 6 0.000 0.027 2597 2293 1941

12397 1.08 212.4 438.0 9.8 594 12399 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2293 1941

12706 1.08 212.4 408.2 9.3 609 12711 0.00 2.60 0.00 0.000 4 0.000 0.056 2597 3701 1941

12746 1.08 212.4 404.4 9.7 611 12751 0.00 2.42 0.00 0.000 6 0.000 0.026 2597 2295 1941

13074 1.08 212.4 374.6 9.0 627 13075 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2294 1941

13382 1.08 212.4 346.5 8.8 642 13387 0.00 2.60 0.00 0.000 4 0.000 0.055 2596 3702 1942

13416 1.08 212.4 343.1 9.5 643 13422 0.00 2.42 0.00 0.000 6 0.000 0.025 2597 2295 1941

13732 1.08 212.4 313.6 9.5 659 13733 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2292 1941

14040 1.08 212.4 283.9 9.7 674 14045 0.00 2.60 0.00 0.000 4 0.000 0.054 2597 3705 1941

14097 1.08 212.4 278.1 10.5 676 14104 0.00 2.42 0.00 0.000 6 0.000 0.026 2597 2297 1941

14414 1.08 212.4 248.3 9.2 692 14415 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2297 1941

14722 1.08 212.4 220.1 9.1 707 14727 0.00 2.60 0.00 0.000 4 0.000 0.054 2597 3710 1942

14762 1.08 212.4 216.1 10.0 709 14766 0.00 2.42 0.00 0.000 6 0.000 0.025 2597 2300 1942

15089 1.12 212.4 186.3 9.1 725 15090 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2300 1942

15397 1.12 212.4 157.9 9.1 740 15402 0.00 2.55 0.00 0.000 4 0.000 0.054 2598 3702 1943

15442 1.12 212.4 153.4 10.4 742 15446 0.00 2.42 0.00 0.000 6 0.000 0.025 2597 2292 1942

15764 1.16 212.4 122.5 9.8 758 15765 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2292 1942

16072 1.16 212.4 93.2 9.5 773 16076 0.00 2.60 0.00 0.000 4 0.000 0.054 2597 3706 1942

16122 1.16 212.4 87.7 10.7 775 16126 0.00 2.42 0.00 0.000 6 0.000 0.025 2597 2296 1942

16438 1.21 212.4 57.8 9.1 790 16443 0.12 2.58 0.00 0.000 4 0.047 0.053 2637 3704 1943

16466 1.13 212.4 54.7 10.8 791 16471 0.15 2.40 0.00 0.000 6 0.095 0.025 2608 2300 1942

16783 1.13 212.4 26.3 8.4 806 16784 0.00 0.00 0.00 0.000 6 0.000 0.000 2608 2300 1943

17068 end climb: SURFACE_DEPTH_REACHED

state 17068 begin surface coast

17091 end surface coast: CONTROL_FINISHED_OK

state 17092 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	268	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	20
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2112351.5	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	201201,6230.736,-1146.229,38,2.0,38,-11.1	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	1.57	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-62.7	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	202014,6230.719,-1146.337,13,1.4,13,-11.1	MHEAD_RNG_PITCHd_Wd	114.9,5581,-16.3,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.026551	_24V_AH	23.6,42.206
SM_CCo	17115,22.92,0.564,0,0,1796,250.21	_10V_AH	10.1,21.891
SM_GC	1.88,0.00,0.00,22.92,0.000,0.000,0.564,78,2605,1796,-10.49,0.14,250.21	DATA_FILE_SIZE	41156,821
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	130443,0
TT8_MAMPS	0.023777	CFSIZE	260165632,243273728
HUMID	1805	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	17.30	GPS	260709,010730,6230.727,-1141.414,41,1.4,41,-11.1
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	188	131.69	SBE_CT	596	24	337.98
Roll_motor	147	74	258.85	SBE_O2	559	19	250.66
VBD_pump_during_apogee	292	1095	7554.87	WL_BB2F	476	105	1181.88
VBD_pump_during_surface	22	563	305.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	89.13	nil	0	0	0.00
Iridium_during_connect	56	160	212.96	nil	0	0	0.00
Iridium_during_xfer	210	223	1105.39
Transponder_ping	6	420	64.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.84
TT8	1524	19	304.92
LPSleep	13231	2	292.67
TT8_Active	445	19	89.19
TT8_Sampling	1829	39	735.35
TT8_CF8	598	45	277.08
TT8_Kalman	0	81	0.00
Analog_circuits	1368	12	165.85
GPS_charging	0	0	0.00
Compass	1783	8	144.09
RAFOS	0	0	0.00
Transponder	43	30	13.24

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	-1.14	-110.5	0.0	0.0	0	78	0.00	0.00	-58.55	0.000	6	0.000	0.000	80	2602	3270
81	-1.14	-110.5	5.6	-9.9	3	102	11.90	2.35	0.00	0.000	4	0.189	0.056	2108	3857	3271
344	-1.05	-110.5	52.2	-13.0	14	351	0.08	2.20	0.00	0.000	6	0.104	0.025	2135	2573	3272
660	-1.05	-110.5	78.8	-8.7	30	661	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2573	3273
969	-1.05	-110.5	110.0	-10.5	45	971	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2573	3273
1279	-1.05	-110.5	142.0	-10.0	60	1281	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2573	3273
1587	-1.05	-110.5	172.2	-9.5	75	1592	0.00	2.38	0.00	0.000	4	0.000	0.037	2136	1218	3273
1627	-1.15	-110.5	175.8	-9.2	77	1632	0.12	2.42	0.00	0.000	6	0.044	0.034	2096	2598	3273
1955	-1.08	-110.5	209.8	-10.1	93	1959	0.15	2.33	0.00	0.000	4	0.098	0.061	2124	3858	3273
2010	-1.08	-110.5	215.4	-9.9	95	2016	0.00	2.12	0.00	0.000	6	0.000	0.025	2124	2591	3273
2326	-1.08	-110.5	245.4	-10.1	111	2330	0.00	2.42	0.00	0.000	4	0.000	0.037	2124	1209	3273
2360	-1.13	-110.5	249.0	-9.8	112	2366	0.00	2.45	0.00	0.000	6	0.000	0.034	2124	2605	3273
2675	-1.13	-110.5	280.8	-9.9	128	2676	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2605	3273
2985	-1.13	-110.5	311.6	-10.0	143	2989	0.00	2.45	0.00	0.000	4	0.000	0.036	2124	1212	3273
3029	-1.20	-110.5	316.2	-9.7	145	3034	0.12	2.45	0.00	0.000	6	0.048	0.034	2086	2607	3273
3351	-1.11	-110.5	353.5	-11.7	161	3356	0.15	2.33	0.00	0.000	4	0.097	0.063	2113	3863	3272
3391	-1.11	-110.5	358.1	-11.5	163	3395	0.00	2.12	0.00	0.000	6	0.000	0.025	2113	2598	3273
3723	-1.11	-110.5	392.4	-10.1	179	3727	0.00	2.42	0.00	0.000	4	0.000	0.038	2114	1212	3272
3774	-1.15	-110.5	397.7	-9.9	181	3778	0.00	2.42	0.00	0.000	6	0.000	0.034	2114	2600	3272
4090	-1.15	-110.5	430.7	-10.4	196	4091	0.00	0.00	0.00	0.000	6	0.000	0.000	2113	2600	3272
4399	-1.15	-110.5	461.7	-9.6	211	4400	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2600	3272
4709	-1.15	-110.5	491.4	-9.5	226	4713	0.00	2.42	0.00	0.000	4	0.000	0.038	2112	1210	3272
4755	-1.20	-110.5	495.8	-9.5	228	4759	0.00	2.42	0.00	0.000	6	0.000	0.035	2114	2599	3271
5087	-1.20	-110.5	527.7	-9.8	244	5088	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2599	3272
5397	-1.20	-110.5	558.8	-10.5	259	5398	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2599	3271
5705	-1.20	-110.5	590.6	-10.1	274	5710	0.00	2.42	0.00	0.000	4	0.000	0.036	2113	1218	3271
5733	-1.20	-110.5	593.6	-10.6	275	5737	0.00	2.42	0.00	0.000	6	0.000	0.035	2114	2600	3271
6050	-1.20	-110.5	626.4	-10.6	290	6054	0.00	2.33	0.00	0.000	4	0.000	0.067	2114	3856	3271
6134	-1.20	-110.5	635.7	-10.7	294	6138	0.00	2.12	0.00	0.000	6	0.000	0.025	2113	2593	3271
6467	-1.20	-110.5	665.1	-8.0	310	6471	0.00	2.35	0.00	0.000	4	0.000	0.065	2113	3856	3271
6545	-1.20	-110.5	672.1	-9.2	313	6551	0.00	2.12	0.00	0.000	6	0.000	0.026	2113	2596	3271
6861	-1.20	-110.5	696.8	-7.8	329	6865	0.00	2.45	0.00	0.000	4	0.000	0.040	2113	1210	3271
6951	-1.26	-110.5	703.6	-7.7	333	6956	0.12	2.45	0.00	0.000	6	0.049	0.035	2076	2609	3271
7272	-1.19	-110.5	735.7	-9.8	349	7276	0.12	2.33	0.00	0.000	4	0.101	0.068	2099	3856	3270
7316	-1.19	-110.5	740.2	-10.1	351	7319	0.00	2.12	0.00	0.000	6	0.000	0.027	2100	2602	3271
7643	-1.19	-110.5	769.7	-9.5	367	7647	0.00	2.47	0.00	0.000	4	0.000	0.043	2099	1209	3268
7664	-1.19	-110.5	772.1	-9.9	368	7668	0.00	2.45	0.00	0.000	6	0.000	0.037	2099	2601	3268
7992	-1.72	-146.6	787.3	-0.1	384	7997	0.50	2.38	0.00	0.000	4	0.048	0.074	1978	3860	3267
8107	end dive: NO_VERTICAL_VELOCITY
state	8107	begin apogee
8117	-0.31	0.0	787.3	0.0	389	8220	1.45	0.00	98.88	1.095	6	0.079	0.000	2287	2316	2818
8221	end apogee: CONTROL_FINISHED_OK
state	8221	begin climb
8224	1.18	146.6	787.3	0.0	394	8372	1.52	2.72	132.27	1.085	4	0.073	0.062	2611	3712	2218
8486	1.04	146.6	770.6	9.5	406	8491	0.12	2.50	0.00	0.000	6	0.104	0.030	2589	2302	2215
8814	1.00	156.7	746.0	7.0	422	8827	0.00	0.00	9.43	0.908	6	0.000	0.000	2589	2302	2178
9145	0.95	156.7	718.3	8.5	438	9150	0.00	2.65	0.00	0.000	4	0.000	0.063	2589	3710	2174
9225	0.82	156.7	711.1	8.8	441	9232	0.25	2.50	0.00	0.000	6	0.106	0.030	2540	2292	2174
9542	0.98	212.4	692.8	5.0	457	9604	0.15	2.62	51.70	1.034	4	0.050	0.052	2583	895	1948
9643	0.98	212.4	685.9	7.8	461	9649	0.00	2.53	0.00	0.000	6	0.000	0.035	2583	2307	1945
9960	1.03	212.4	661.5	8.0	477	9964	0.00	2.62	0.00	0.000	4	0.000	0.064	2583	3705	1943
9986	1.03	212.4	659.2	8.1	478	9991	0.00	2.47	0.00	0.000	6	0.000	0.029	2583	2298	1943
10302	1.09	212.4	634.6	8.7	493	10307	0.00	2.65	0.00	0.000	4	0.000	0.061	2583	3708	1942
10392	1.09	212.4	625.6	10.1	497	10396	0.00	2.45	0.00	0.000	6	0.000	0.030	2583	2300	1942
10720	1.14	212.4	598.2	7.6	513	10725	0.12	2.62	0.00	0.000	4	0.051	0.059	2619	3705	1941
10748	1.08	212.4	595.6	10.1	514	10753	0.12	2.47	0.00	0.000	6	0.105	0.028	2597	2293	1941
11063	1.08	212.4	566.9	9.4	529	11064	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2292	1940
11373	1.08	212.4	538.7	8.7	544	11377	0.00	2.62	0.00	0.000	4	0.000	0.058	2597	3704	1941
11413	1.08	212.4	535.0	9.8	546	11417	0.00	2.45	0.00	0.000	6	0.000	0.027	2597	2293	1941
11739	1.08	212.4	504.5	9.8	562	11740	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2293	1940
12048	1.08	212.4	473.2	10.3	577	12053	0.00	2.60	0.00	0.000	4	0.000	0.056	2597	3707	1940
12081	1.08	212.4	469.4	11.1	578	12087	0.00	2.45	0.00	0.000	6	0.000	0.027	2597	2293	1941
12397	1.08	212.4	438.0	9.8	594	12399	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2293	1941
12706	1.08	212.4	408.2	9.3	609	12711	0.00	2.60	0.00	0.000	4	0.000	0.056	2597	3701	1941
12746	1.08	212.4	404.4	9.7	611	12751	0.00	2.42	0.00	0.000	6	0.000	0.026	2597	2295	1941
13074	1.08	212.4	374.6	9.0	627	13075	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2294	1941
13382	1.08	212.4	346.5	8.8	642	13387	0.00	2.60	0.00	0.000	4	0.000	0.055	2596	3702	1942
13416	1.08	212.4	343.1	9.5	643	13422	0.00	2.42	0.00	0.000	6	0.000	0.025	2597	2295	1941
13732	1.08	212.4	313.6	9.5	659	13733	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2292	1941
14040	1.08	212.4	283.9	9.7	674	14045	0.00	2.60	0.00	0.000	4	0.000	0.054	2597	3705	1941
14097	1.08	212.4	278.1	10.5	676	14104	0.00	2.42	0.00	0.000	6	0.000	0.026	2597	2297	1941
14414	1.08	212.4	248.3	9.2	692	14415	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2297	1941
14722	1.08	212.4	220.1	9.1	707	14727	0.00	2.60	0.00	0.000	4	0.000	0.054	2597	3710	1942
14762	1.08	212.4	216.1	10.0	709	14766	0.00	2.42	0.00	0.000	6	0.000	0.025	2597	2300	1942
15089	1.12	212.4	186.3	9.1	725	15090	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2300	1942
15397	1.12	212.4	157.9	9.1	740	15402	0.00	2.55	0.00	0.000	4	0.000	0.054	2598	3702	1943
15442	1.12	212.4	153.4	10.4	742	15446	0.00	2.42	0.00	0.000	6	0.000	0.025	2597	2292	1942
15764	1.16	212.4	122.5	9.8	758	15765	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2292	1942
16072	1.16	212.4	93.2	9.5	773	16076	0.00	2.60	0.00	0.000	4	0.000	0.054	2597	3706	1942
16122	1.16	212.4	87.7	10.7	775	16126	0.00	2.42	0.00	0.000	6	0.000	0.025	2597	2296	1942
16438	1.21	212.4	57.8	9.1	790	16443	0.12	2.58	0.00	0.000	4	0.047	0.053	2637	3704	1943
16466	1.13	212.4	54.7	10.8	791	16471	0.15	2.40	0.00	0.000	6	0.095	0.025	2608	2300	1942
16783	1.13	212.4	26.3	8.4	806	16784	0.00	0.00	0.00	0.000	6	0.000	0.000	2608	2300	1943
17068	end climb: SURFACE_DEPTH_REACHED
state	17068	begin surface coast
17091	end surface coast: CONTROL_FINISHED_OK
state	17092	begin surface