Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 269 * 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 269 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 39 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -2112371.2 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 -2112371.2

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 39 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 269 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 010730,6230.727,-1141.414,41,1.4,41,-11.1 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.63 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -64.3 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 011301,6230.738,-1141.433,14,2.0,19,-11.1 MHEAD_RNG_PITCHd_Wd 117.8,37086,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026623 ALTIM_BOTTOM_PING 726.1,62.9

SM_CCo 16563,0.00,0.000,0,0,1609,296.32 _24V_AH 23.6,42.340

SM_GC 1.67,12.12,0.00,0.00,0.091,0.000,0.000,80,2605,1609,-10.45,0.14,296.32 _10V_AH 10.1,21.966

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41184,789

TT8_MAMPS 0.02301 CAP_FILE_SIZE 127572,0

HUMID 1804 CFSIZE 260165632,243204096

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

XPDR_PINGS 0 GPS 260709,055036,6228.183,-1138.800,36,1.0,36,-11.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 184 122.37 SBE_CT 576 24 326.68

Roll_motor 172 69 284.51 SBE_O2 538 19 241.61

VBD_pump_during_apogee 401 1089 10316.37 WL_BB2F 464 105 1152.18

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 18 103 44.50 nil 0 0 0.00

Iridium_during_connect 27 160 105.30 nil 0 0 0.00

Iridium_during_xfer 152 223 804.09

Transponder_ping 6 420 61.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 19 50 9.63

TT8 1465 19 293.15

LPSleep 12701 2 280.95

TT8_Active 512 19 102.51

TT8_Sampling 1711 39 688.02

TT8_CF8 500 45 231.45

TT8_Kalman 0 81 0.00

Analog_circuits 1417 12 171.78

GPS_charging 0 0 0.00

Compass 1659 8 134.08

RAFOS 0 0 0.00

Transponder 43 30 13.07

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 71 0.00 0.00 -53.70 0.000 6 0.000 0.000 78 2606 3416

74 -1.03 -146.6 3.8 -8.5 2 96 11.93 2.35 0.00 0.000 4 0.185 0.054 2129 3863 3418

188 -0.94 -146.6 32.1 -11.5 7 192 0.12 2.17 0.00 0.000 6 0.103 0.025 2152 2578 3418

514 -0.94 -146.6 63.4 -9.6 23 518 0.00 2.40 0.00 0.000 4 0.000 0.035 2151 1210 3420

571 -1.01 -146.6 68.5 -8.9 25 577 0.00 2.42 0.00 0.000 6 0.000 0.033 2152 2594 3419

887 -1.01 -146.6 96.2 -9.3 41 888 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2594 3420

1198 -1.01 -146.6 127.3 -10.1 56 1202 0.00 2.42 0.00 0.000 4 0.000 0.035 2153 1214 3420

1226 -1.05 -146.6 130.4 -10.2 57 1231 0.00 2.45 0.00 0.000 6 0.000 0.034 2152 2608 3420

1543 -1.05 -146.6 160.8 -9.3 72 1546 0.00 2.45 0.00 0.000 4 0.000 0.036 2152 1208 3420

1570 -1.10 -146.6 163.6 -9.6 73 1575 0.15 2.45 0.00 0.000 6 0.040 0.034 2105 2602 3420

1893 -0.98 -146.6 202.4 -12.3 89 1895 0.20 0.00 0.00 0.000 6 0.099 0.000 2142 2602 3420

2200 -0.98 -146.6 232.9 -9.4 104 2205 0.00 2.45 0.00 0.000 4 0.000 0.036 2142 1210 3420

2241 -1.03 -146.6 236.5 -8.8 106 2245 0.00 2.45 0.00 0.000 6 0.000 0.035 2142 2605 3420

2568 -1.03 -146.6 266.4 -9.1 122 2573 0.00 2.45 0.00 0.000 4 0.000 0.036 2142 1210 3420

2596 -1.03 -146.6 269.3 -9.8 123 2600 0.00 2.45 0.00 0.000 6 0.000 0.034 2143 2606 3419

2912 -1.03 -146.6 298.0 -9.2 138 2916 0.00 2.45 0.00 0.000 4 0.000 0.036 2142 1211 3419

2939 -1.03 -146.6 300.6 -9.1 139 2944 0.00 2.45 0.00 0.000 6 0.000 0.034 2142 2609 3419

3255 -1.03 -146.6 330.7 -9.7 154 3259 0.00 2.45 0.00 0.000 4 0.000 0.036 2142 1213 3419

3288 -1.07 -146.6 334.0 -9.9 155 3294 0.00 2.42 0.00 0.000 6 0.000 0.034 2142 2599 3419

3604 -1.07 -146.6 364.7 -9.6 171 3608 0.00 2.42 0.00 0.000 4 0.000 0.036 2142 1215 3419

3626 -1.07 -146.6 367.0 -9.6 172 3630 0.00 2.42 0.00 0.000 6 0.000 0.034 2142 2600 3419

3947 -1.07 -146.6 397.6 -9.7 188 3951 0.00 2.42 0.00 0.000 4 0.000 0.036 2142 1211 3419

3981 -1.11 -146.6 400.8 -9.4 189 3986 0.12 2.42 0.00 0.000 6 0.046 0.034 2103 2600 3419

4297 -1.00 -146.6 437.5 -11.6 204 4299 0.20 0.00 0.00 0.000 6 0.098 0.000 2140 2600 3419

4606 -1.00 -146.6 467.2 -9.4 219 4610 0.00 2.42 0.00 0.000 4 0.000 0.036 2140 1215 3418

4657 -1.05 -146.6 471.9 -8.7 221 4661 0.00 2.42 0.00 0.000 6 0.000 0.034 2140 2603 3419

4978 -1.05 -146.6 499.9 -8.6 237 4983 0.00 2.45 0.00 0.000 4 0.000 0.036 2140 1208 3419

5005 -1.05 -146.6 502.3 -8.3 238 5009 0.00 2.45 0.00 0.000 6 0.000 0.034 2140 2607 3419

5326 -1.05 -146.6 528.7 -8.3 254 5330 0.00 2.42 0.00 0.000 4 0.000 0.037 2140 1216 3419

5359 -1.10 -146.6 531.5 -8.2 255 5363 0.00 2.42 0.00 0.000 6 0.000 0.034 2140 2600 3418

5675 -1.10 -146.6 556.2 -7.6 270 5679 0.00 2.42 0.00 0.000 4 0.000 0.036 2140 1215 3418

5709 -1.14 -146.6 558.9 -8.0 271 5715 0.15 2.42 0.00 0.000 6 0.044 0.034 2095 2599 3418

6025 -1.03 -146.6 595.0 -12.6 287 6027 0.20 0.00 0.00 0.000 6 0.097 0.000 2133 2599 3418

6335 -1.03 -146.6 626.0 -9.7 302 6339 0.00 2.42 0.00 0.000 4 0.000 0.036 2133 1215 3417

6413 -1.08 -146.6 633.7 -9.3 305 6419 0.00 2.42 0.00 0.000 6 0.000 0.035 2133 2599 3418

6729 -1.08 -146.6 664.5 -9.3 321 6733 0.00 2.35 0.00 0.000 4 0.000 0.067 2133 3861 3418

6756 -1.08 -146.6 667.1 -9.5 322 6760 0.00 2.12 0.00 0.000 6 0.000 0.025 2133 2597 3418

7078 -1.12 -146.6 695.4 -10.5 338 7082 0.00 2.35 0.00 0.000 4 0.000 0.067 2133 3861 3417

7116 -1.12 -146.6 700.0 -12.4 339 7126 0.00 2.12 0.00 0.000 6 0.000 0.025 2133 2599 3417

7433 -1.16 -146.6 729.3 -8.2 355 7437 0.12 2.45 0.00 0.000 4 0.046 0.039 2093 1212 3417

7527 -1.16 -146.6 738.4 -10.5 359 7532 0.00 2.45 0.00 0.000 6 0.000 0.036 2094 2603 3416

7843 -1.08 -146.6 767.5 -9.1 374 7848 0.15 2.35 0.00 0.000 4 0.101 0.070 2121 3857 3417

7871 -1.08 -146.6 770.0 -9.1 375 7875 0.00 2.12 0.00 0.000 6 0.000 0.028 2122 2614 3416

8004 end dive: BOTTOM_OBSTACLE_DETECTED

state 8004 begin apogee

8011 -0.31 0.0 780.1 8.1 382 8147 0.85 0.00 130.60 1.090 6 0.110 0.000 2290 2305 2817

8147 end apogee: CONTROL_FINISHED_OK

state 8148 begin climb

8150 1.03 146.6 785.4 0.0 389 8290 1.35 2.62 131.68 1.085 4 0.070 0.050 2579 904 2219

8310 0.92 151.6 781.9 7.3 395 8321 0.00 2.50 5.78 0.793 6 0.000 0.035 2579 2301 2199

8643 0.83 151.6 757.1 8.0 412 8648 0.17 2.65 0.00 0.000 4 0.095 0.065 2541 3702 2193

8706 0.77 167.2 752.5 7.0 415 8728 0.00 2.45 14.80 0.976 6 0.000 0.030 2542 2305 2135

9037 0.84 231.0 730.8 5.3 431 9103 0.00 2.70 59.80 1.053 4 0.000 0.063 2541 3693 1875

9127 0.88 231.0 725.4 7.5 435 9131 0.00 2.47 0.00 0.000 6 0.000 0.030 2542 2303 1873

9449 1.03 292.4 706.7 5.4 451 9511 0.20 0.00 58.42 1.040 6 0.046 0.000 2598 2303 1624

9821 1.03 292.4 671.4 9.4 469 9825 0.00 2.62 0.00 0.000 4 0.000 0.063 2598 3701 1615

9862 1.03 292.4 667.5 10.2 471 9866 0.00 2.47 0.00 0.000 6 0.000 0.031 2598 2297 1615

10188 1.03 292.4 640.2 8.7 487 10192 0.00 2.62 0.00 0.000 4 0.000 0.062 2598 3703 1612

10215 1.03 292.4 637.5 9.8 488 10220 0.00 2.47 0.00 0.000 6 0.000 0.031 2597 2300 1613

10531 1.03 292.4 605.8 10.5 503 10535 0.00 2.55 0.00 0.000 4 0.000 0.051 2598 898 1611

10570 1.03 292.4 601.4 11.5 505 10575 0.00 2.50 0.00 0.000 6 0.000 0.035 2598 2311 1610

10898 1.03 292.4 566.8 10.7 521 10899 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2311 1611

11207 1.03 292.4 531.8 11.3 536 11211 0.00 2.58 0.00 0.000 4 0.000 0.045 2598 888 1610

11234 1.03 292.4 528.7 10.9 537 11238 0.00 2.50 0.00 0.000 6 0.000 0.033 2598 2307 1610

11550 1.03 292.4 495.7 10.0 552 11554 0.00 2.60 0.00 0.000 4 0.000 0.059 2598 3708 1610

11571 1.03 292.4 493.2 10.9 553 11575 0.00 2.45 0.00 0.000 6 0.000 0.027 2598 2296 1610

11892 1.03 292.4 462.5 9.7 569 11896 0.00 2.53 0.00 0.000 4 0.000 0.048 2598 898 1610

11919 1.03 292.4 459.8 10.0 570 11923 0.00 2.47 0.00 0.000 6 0.000 0.032 2597 2308 1609

12235 1.03 292.4 428.2 10.1 585 12239 0.00 2.58 0.00 0.000 4 0.000 0.058 2597 3701 1610

12262 1.03 292.4 425.2 10.7 586 12266 0.00 2.42 0.00 0.000 6 0.000 0.027 2598 2299 1610

12578 1.03 292.4 392.0 10.8 601 12580 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2299 1610

12887 1.03 292.4 359.1 10.6 616 12888 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2299 1610

13196 1.03 292.4 328.2 9.8 631 13197 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2299 1610

13506 1.03 292.4 298.1 9.6 646 13507 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2298 1610

13815 1.03 292.4 268.7 9.8 661 13818 0.00 2.58 0.00 0.000 4 0.000 0.055 2598 3701 1610

13838 1.03 292.4 266.2 10.6 662 13843 0.00 2.42 0.00 0.000 6 0.000 0.026 2598 2297 1610

14165 1.03 292.4 232.7 10.5 678 14169 0.00 2.50 0.00 0.000 4 0.000 0.044 2597 902 1610

14193 1.03 292.4 229.7 10.6 679 14197 0.00 2.42 0.00 0.000 6 0.000 0.031 2598 2302 1610

14514 1.03 292.4 194.6 11.0 695 14518 0.00 2.58 0.00 0.000 4 0.000 0.056 2597 3700 1610

14546 1.03 292.4 190.7 11.6 696 14552 0.00 2.42 0.00 0.000 6 0.000 0.026 2598 2297 1611

14862 1.03 292.4 156.9 10.3 712 14867 0.00 2.50 0.00 0.000 4 0.000 0.042 2597 897 1611

14890 1.03 292.4 154.0 10.1 713 14894 0.00 2.45 0.00 0.000 6 0.000 0.031 2598 2302 1610

15206 1.03 292.4 124.1 9.4 728 15210 0.00 2.58 0.00 0.000 4 0.000 0.056 2598 3701 1611

15233 1.03 292.4 121.3 10.0 729 15238 0.00 2.42 0.00 0.000 6 0.000 0.026 2597 2295 1611

15549 1.03 292.4 90.2 10.2 744 15550 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2295 1611

15859 1.08 292.4 58.6 9.9 759 15863 0.00 2.60 0.00 0.000 4 0.000 0.054 2598 3708 1611

15937 1.08 292.4 49.8 10.8 762 15944 0.00 2.42 0.00 0.000 6 0.000 0.026 2598 2295 1612

16253 1.08 292.4 20.6 8.6 778 16254 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2295 1612

16458 end climb: SURFACE_DEPTH_REACHED

state 16458 begin surface coast

16478 end surface coast: CONTROL_FINISHED_OK

state 16478 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	269	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	39	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-2112371.2	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	010730,6230.727,-1141.414,41,1.4,41,-11.1	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.63	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-64.3	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	011301,6230.738,-1141.433,14,2.0,19,-11.1	MHEAD_RNG_PITCHd_Wd	117.8,37086,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.026623	ALTIM_BOTTOM_PING	726.1,62.9
SM_CCo	16563,0.00,0.000,0,0,1609,296.32	_24V_AH	23.6,42.340
SM_GC	1.67,12.12,0.00,0.00,0.091,0.000,0.000,80,2605,1609,-10.45,0.14,296.32	_10V_AH	10.1,21.966
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41184,789
TT8_MAMPS	0.02301	CAP_FILE_SIZE	127572,0
HUMID	1804	CFSIZE	260165632,243204096
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	260709,055036,6228.183,-1138.800,36,1.0,36,-11.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	184	122.37	SBE_CT	576	24	326.68
Roll_motor	172	69	284.51	SBE_O2	538	19	241.61
VBD_pump_during_apogee	401	1089	10316.37	WL_BB2F	464	105	1152.18
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	18	103	44.50	nil	0	0	0.00
Iridium_during_connect	27	160	105.30	nil	0	0	0.00
Iridium_during_xfer	152	223	804.09
Transponder_ping	6	420	61.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	19	50	9.63
TT8	1465	19	293.15
LPSleep	12701	2	280.95
TT8_Active	512	19	102.51
TT8_Sampling	1711	39	688.02
TT8_CF8	500	45	231.45
TT8_Kalman	0	81	0.00
Analog_circuits	1417	12	171.78
GPS_charging	0	0	0.00
Compass	1659	8	134.08
RAFOS	0	0	0.00
Transponder	43	30	13.07

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	71	0.00	0.00	-53.70	0.000	6	0.000	0.000	78	2606	3416
74	-1.03	-146.6	3.8	-8.5	2	96	11.93	2.35	0.00	0.000	4	0.185	0.054	2129	3863	3418
188	-0.94	-146.6	32.1	-11.5	7	192	0.12	2.17	0.00	0.000	6	0.103	0.025	2152	2578	3418
514	-0.94	-146.6	63.4	-9.6	23	518	0.00	2.40	0.00	0.000	4	0.000	0.035	2151	1210	3420
571	-1.01	-146.6	68.5	-8.9	25	577	0.00	2.42	0.00	0.000	6	0.000	0.033	2152	2594	3419
887	-1.01	-146.6	96.2	-9.3	41	888	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2594	3420
1198	-1.01	-146.6	127.3	-10.1	56	1202	0.00	2.42	0.00	0.000	4	0.000	0.035	2153	1214	3420
1226	-1.05	-146.6	130.4	-10.2	57	1231	0.00	2.45	0.00	0.000	6	0.000	0.034	2152	2608	3420
1543	-1.05	-146.6	160.8	-9.3	72	1546	0.00	2.45	0.00	0.000	4	0.000	0.036	2152	1208	3420
1570	-1.10	-146.6	163.6	-9.6	73	1575	0.15	2.45	0.00	0.000	6	0.040	0.034	2105	2602	3420
1893	-0.98	-146.6	202.4	-12.3	89	1895	0.20	0.00	0.00	0.000	6	0.099	0.000	2142	2602	3420
2200	-0.98	-146.6	232.9	-9.4	104	2205	0.00	2.45	0.00	0.000	4	0.000	0.036	2142	1210	3420
2241	-1.03	-146.6	236.5	-8.8	106	2245	0.00	2.45	0.00	0.000	6	0.000	0.035	2142	2605	3420
2568	-1.03	-146.6	266.4	-9.1	122	2573	0.00	2.45	0.00	0.000	4	0.000	0.036	2142	1210	3420
2596	-1.03	-146.6	269.3	-9.8	123	2600	0.00	2.45	0.00	0.000	6	0.000	0.034	2143	2606	3419
2912	-1.03	-146.6	298.0	-9.2	138	2916	0.00	2.45	0.00	0.000	4	0.000	0.036	2142	1211	3419
2939	-1.03	-146.6	300.6	-9.1	139	2944	0.00	2.45	0.00	0.000	6	0.000	0.034	2142	2609	3419
3255	-1.03	-146.6	330.7	-9.7	154	3259	0.00	2.45	0.00	0.000	4	0.000	0.036	2142	1213	3419
3288	-1.07	-146.6	334.0	-9.9	155	3294	0.00	2.42	0.00	0.000	6	0.000	0.034	2142	2599	3419
3604	-1.07	-146.6	364.7	-9.6	171	3608	0.00	2.42	0.00	0.000	4	0.000	0.036	2142	1215	3419
3626	-1.07	-146.6	367.0	-9.6	172	3630	0.00	2.42	0.00	0.000	6	0.000	0.034	2142	2600	3419
3947	-1.07	-146.6	397.6	-9.7	188	3951	0.00	2.42	0.00	0.000	4	0.000	0.036	2142	1211	3419
3981	-1.11	-146.6	400.8	-9.4	189	3986	0.12	2.42	0.00	0.000	6	0.046	0.034	2103	2600	3419
4297	-1.00	-146.6	437.5	-11.6	204	4299	0.20	0.00	0.00	0.000	6	0.098	0.000	2140	2600	3419
4606	-1.00	-146.6	467.2	-9.4	219	4610	0.00	2.42	0.00	0.000	4	0.000	0.036	2140	1215	3418
4657	-1.05	-146.6	471.9	-8.7	221	4661	0.00	2.42	0.00	0.000	6	0.000	0.034	2140	2603	3419
4978	-1.05	-146.6	499.9	-8.6	237	4983	0.00	2.45	0.00	0.000	4	0.000	0.036	2140	1208	3419
5005	-1.05	-146.6	502.3	-8.3	238	5009	0.00	2.45	0.00	0.000	6	0.000	0.034	2140	2607	3419
5326	-1.05	-146.6	528.7	-8.3	254	5330	0.00	2.42	0.00	0.000	4	0.000	0.037	2140	1216	3419
5359	-1.10	-146.6	531.5	-8.2	255	5363	0.00	2.42	0.00	0.000	6	0.000	0.034	2140	2600	3418
5675	-1.10	-146.6	556.2	-7.6	270	5679	0.00	2.42	0.00	0.000	4	0.000	0.036	2140	1215	3418
5709	-1.14	-146.6	558.9	-8.0	271	5715	0.15	2.42	0.00	0.000	6	0.044	0.034	2095	2599	3418
6025	-1.03	-146.6	595.0	-12.6	287	6027	0.20	0.00	0.00	0.000	6	0.097	0.000	2133	2599	3418
6335	-1.03	-146.6	626.0	-9.7	302	6339	0.00	2.42	0.00	0.000	4	0.000	0.036	2133	1215	3417
6413	-1.08	-146.6	633.7	-9.3	305	6419	0.00	2.42	0.00	0.000	6	0.000	0.035	2133	2599	3418
6729	-1.08	-146.6	664.5	-9.3	321	6733	0.00	2.35	0.00	0.000	4	0.000	0.067	2133	3861	3418
6756	-1.08	-146.6	667.1	-9.5	322	6760	0.00	2.12	0.00	0.000	6	0.000	0.025	2133	2597	3418
7078	-1.12	-146.6	695.4	-10.5	338	7082	0.00	2.35	0.00	0.000	4	0.000	0.067	2133	3861	3417
7116	-1.12	-146.6	700.0	-12.4	339	7126	0.00	2.12	0.00	0.000	6	0.000	0.025	2133	2599	3417
7433	-1.16	-146.6	729.3	-8.2	355	7437	0.12	2.45	0.00	0.000	4	0.046	0.039	2093	1212	3417
7527	-1.16	-146.6	738.4	-10.5	359	7532	0.00	2.45	0.00	0.000	6	0.000	0.036	2094	2603	3416
7843	-1.08	-146.6	767.5	-9.1	374	7848	0.15	2.35	0.00	0.000	4	0.101	0.070	2121	3857	3417
7871	-1.08	-146.6	770.0	-9.1	375	7875	0.00	2.12	0.00	0.000	6	0.000	0.028	2122	2614	3416
8004	end dive: BOTTOM_OBSTACLE_DETECTED
state	8004	begin apogee
8011	-0.31	0.0	780.1	8.1	382	8147	0.85	0.00	130.60	1.090	6	0.110	0.000	2290	2305	2817
8147	end apogee: CONTROL_FINISHED_OK
state	8148	begin climb
8150	1.03	146.6	785.4	0.0	389	8290	1.35	2.62	131.68	1.085	4	0.070	0.050	2579	904	2219
8310	0.92	151.6	781.9	7.3	395	8321	0.00	2.50	5.78	0.793	6	0.000	0.035	2579	2301	2199
8643	0.83	151.6	757.1	8.0	412	8648	0.17	2.65	0.00	0.000	4	0.095	0.065	2541	3702	2193
8706	0.77	167.2	752.5	7.0	415	8728	0.00	2.45	14.80	0.976	6	0.000	0.030	2542	2305	2135
9037	0.84	231.0	730.8	5.3	431	9103	0.00	2.70	59.80	1.053	4	0.000	0.063	2541	3693	1875
9127	0.88	231.0	725.4	7.5	435	9131	0.00	2.47	0.00	0.000	6	0.000	0.030	2542	2303	1873
9449	1.03	292.4	706.7	5.4	451	9511	0.20	0.00	58.42	1.040	6	0.046	0.000	2598	2303	1624
9821	1.03	292.4	671.4	9.4	469	9825	0.00	2.62	0.00	0.000	4	0.000	0.063	2598	3701	1615
9862	1.03	292.4	667.5	10.2	471	9866	0.00	2.47	0.00	0.000	6	0.000	0.031	2598	2297	1615
10188	1.03	292.4	640.2	8.7	487	10192	0.00	2.62	0.00	0.000	4	0.000	0.062	2598	3703	1612
10215	1.03	292.4	637.5	9.8	488	10220	0.00	2.47	0.00	0.000	6	0.000	0.031	2597	2300	1613
10531	1.03	292.4	605.8	10.5	503	10535	0.00	2.55	0.00	0.000	4	0.000	0.051	2598	898	1611
10570	1.03	292.4	601.4	11.5	505	10575	0.00	2.50	0.00	0.000	6	0.000	0.035	2598	2311	1610
10898	1.03	292.4	566.8	10.7	521	10899	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2311	1611
11207	1.03	292.4	531.8	11.3	536	11211	0.00	2.58	0.00	0.000	4	0.000	0.045	2598	888	1610
11234	1.03	292.4	528.7	10.9	537	11238	0.00	2.50	0.00	0.000	6	0.000	0.033	2598	2307	1610
11550	1.03	292.4	495.7	10.0	552	11554	0.00	2.60	0.00	0.000	4	0.000	0.059	2598	3708	1610
11571	1.03	292.4	493.2	10.9	553	11575	0.00	2.45	0.00	0.000	6	0.000	0.027	2598	2296	1610
11892	1.03	292.4	462.5	9.7	569	11896	0.00	2.53	0.00	0.000	4	0.000	0.048	2598	898	1610
11919	1.03	292.4	459.8	10.0	570	11923	0.00	2.47	0.00	0.000	6	0.000	0.032	2597	2308	1609
12235	1.03	292.4	428.2	10.1	585	12239	0.00	2.58	0.00	0.000	4	0.000	0.058	2597	3701	1610
12262	1.03	292.4	425.2	10.7	586	12266	0.00	2.42	0.00	0.000	6	0.000	0.027	2598	2299	1610
12578	1.03	292.4	392.0	10.8	601	12580	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2299	1610
12887	1.03	292.4	359.1	10.6	616	12888	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2299	1610
13196	1.03	292.4	328.2	9.8	631	13197	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2299	1610
13506	1.03	292.4	298.1	9.6	646	13507	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2298	1610
13815	1.03	292.4	268.7	9.8	661	13818	0.00	2.58	0.00	0.000	4	0.000	0.055	2598	3701	1610
13838	1.03	292.4	266.2	10.6	662	13843	0.00	2.42	0.00	0.000	6	0.000	0.026	2598	2297	1610
14165	1.03	292.4	232.7	10.5	678	14169	0.00	2.50	0.00	0.000	4	0.000	0.044	2597	902	1610
14193	1.03	292.4	229.7	10.6	679	14197	0.00	2.42	0.00	0.000	6	0.000	0.031	2598	2302	1610
14514	1.03	292.4	194.6	11.0	695	14518	0.00	2.58	0.00	0.000	4	0.000	0.056	2597	3700	1610
14546	1.03	292.4	190.7	11.6	696	14552	0.00	2.42	0.00	0.000	6	0.000	0.026	2598	2297	1611
14862	1.03	292.4	156.9	10.3	712	14867	0.00	2.50	0.00	0.000	4	0.000	0.042	2597	897	1611
14890	1.03	292.4	154.0	10.1	713	14894	0.00	2.45	0.00	0.000	6	0.000	0.031	2598	2302	1610
15206	1.03	292.4	124.1	9.4	728	15210	0.00	2.58	0.00	0.000	4	0.000	0.056	2598	3701	1611
15233	1.03	292.4	121.3	10.0	729	15238	0.00	2.42	0.00	0.000	6	0.000	0.026	2597	2295	1611
15549	1.03	292.4	90.2	10.2	744	15550	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2295	1611
15859	1.08	292.4	58.6	9.9	759	15863	0.00	2.60	0.00	0.000	4	0.000	0.054	2598	3708	1611
15937	1.08	292.4	49.8	10.8	762	15944	0.00	2.42	0.00	0.000	6	0.000	0.026	2598	2295	1612
16253	1.08	292.4	20.6	8.6	778	16254	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2295	1612
16458	end climb: SURFACE_DEPTH_REACHED
state	16458	begin surface coast
16478	end surface coast: CONTROL_FINISHED_OK
state	16478	begin surface