Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 272 * 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 272 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 37 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -2112457.8 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 -2112457.8

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 37 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 39 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 272 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 162756,6227.703,-1131.438,39,2.2,58,-11.0 TGT_NAME EE

_CALLS 2 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.47 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -59.3 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 163710,6227.759,-1131.509,16,3.4,35,-11.0 MHEAD_RNG_PITCHd_Wd 111.7,27499,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.026538 ALTIM_BOTTOM_PING 750.1,66.3

SM_CCo 17838,0.00,0.000,0,0,1645,287.00 _24V_AH 23.6,42.733

SM_GC 1.55,11.95,0.00,0.00,0.077,0.000,0.000,73,2612,1645,-10.46,0.34,287.00 _10V_AH 10.1,22.213

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44327,855

TT8_MAMPS 0.02301 CAP_FILE_SIZE 136716,0

HUMID 1805 CFSIZE 260165632,243011584

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 GPS 260709,213600,6228.130,-1129.055,39,1.6,39,-10.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 184 120.51 SBE_CT 623 24 353.11

Roll_motor 167 69 276.32 SBE_O2 585 19 262.34

VBD_pump_during_apogee 392 1099 10186.22 WL_BB2F 506 105 1254.99

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 92.66 nil 0 0 0.00

Iridium_during_connect 63 160 239.67 nil 0 0 0.00

Iridium_during_xfer 233 223 1230.65

Transponder_ping 6 420 64.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.25

TT8 1575 19 315.08

LPSleep 13729 2 303.68

TT8_Active 510 19 102.13

TT8_Sampling 1916 39 770.55

TT8_CF8 652 45 302.04

TT8_Kalman 0 81 0.00

Analog_circuits 1490 12 180.69

GPS_charging 0 0 0.00

Compass 1844 8 149.03

RAFOS 0 0 0.00

Transponder 45 30 13.66

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 79 0.00 0.00 -61.33 0.000 2 0.000 0.000 60 2616 3314

82 -1.03 -146.6 5.3 -9.1 3 104 12.02 2.30 -1.70 0.000 4 0.185 0.070 2129 3839 3418

144 -0.95 -146.6 23.3 -15.8 5 151 0.08 2.17 0.00 0.000 6 0.091 0.025 2148 2572 3419

460 -0.95 -146.6 53.2 -9.4 21 464 0.00 2.35 0.00 0.000 4 0.000 0.058 2148 3843 3419

549 -0.95 -146.6 62.7 -10.2 25 552 0.00 2.10 0.00 0.000 6 0.000 0.024 2148 2595 3419

876 -0.95 -146.6 91.2 -7.6 41 878 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2592 3419

1185 -0.95 -146.6 114.6 -7.8 56 1189 0.00 2.33 0.00 0.000 4 0.000 0.059 2148 3852 3419

1212 -0.95 -146.6 116.8 -7.6 57 1216 0.00 2.10 0.00 0.000 6 0.000 0.025 2148 2601 3419

1534 -0.95 -146.6 144.1 -9.1 73 1539 0.00 2.42 0.00 0.000 4 0.000 0.037 2148 1221 3419

1599 -1.01 -146.6 149.8 -9.1 76 1604 0.00 2.40 0.00 0.000 6 0.000 0.034 2148 2588 3419

1931 -1.01 -146.6 182.9 -9.9 92 1932 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2588 3419

2241 -1.01 -146.6 212.3 -9.2 107 2245 0.00 2.42 0.00 0.000 4 0.000 0.035 2148 1210 3419

2281 -1.07 -146.6 216.0 -9.1 109 2285 0.00 2.45 0.00 0.000 6 0.000 0.033 2148 2608 3419

2607 -1.07 -146.6 245.0 -9.2 125 2611 0.00 2.45 0.00 0.000 4 0.000 0.036 2148 1215 3419

2641 -1.13 -146.6 248.1 -8.6 126 2648 0.15 2.42 0.00 0.000 6 0.042 0.034 2100 2600 3419

2957 -1.01 -146.6 285.7 -12.1 142 2959 0.20 0.00 0.00 0.000 6 0.095 0.000 2138 2600 3419

3266 -1.01 -146.6 315.5 -9.6 157 3270 0.00 2.42 0.00 0.000 4 0.000 0.036 2138 1219 3419

3311 -1.06 -146.6 319.8 -9.0 159 3315 0.00 2.42 0.00 0.000 6 0.000 0.034 2138 2601 3419

3632 -1.06 -146.6 349.4 -9.1 175 3636 0.00 2.45 0.00 0.000 4 0.000 0.037 2138 1211 3419

3665 -1.06 -146.6 352.7 -9.6 176 3671 0.00 2.45 0.00 0.000 6 0.000 0.034 2138 2609 3419

3981 -1.06 -146.6 379.5 -8.2 192 3985 0.00 2.45 0.00 0.000 4 0.000 0.036 2138 1217 3419

4008 -1.06 -146.6 381.9 -8.3 193 4012 0.00 2.40 0.00 0.000 6 0.000 0.034 2138 2601 3419

4329 -1.06 -146.6 409.6 -8.8 209 4333 0.00 2.42 0.00 0.000 4 0.000 0.036 2138 1219 3419

4356 -1.06 -146.6 412.1 -8.8 210 4361 0.00 2.42 0.00 0.000 6 0.000 0.034 2138 2602 3419

4672 -1.06 -146.6 441.7 -9.7 225 4676 0.00 2.45 0.00 0.000 4 0.000 0.036 2138 1211 3418

4704 -1.06 -146.6 445.1 -10.0 226 4710 0.00 2.45 0.00 0.000 6 0.000 0.034 2139 2609 3418

5021 -1.06 -146.6 476.3 -9.9 242 5025 0.00 2.45 0.00 0.000 4 0.000 0.036 2138 1212 3418

5054 -1.06 -146.6 480.0 -9.9 243 5060 0.00 2.45 0.00 0.000 6 0.000 0.034 2138 2610 3418

5370 -1.06 -146.6 510.3 -9.6 259 5374 0.00 2.45 0.00 0.000 4 0.000 0.036 2138 1215 3418

5403 -1.06 -146.6 513.5 -8.7 260 5409 0.00 2.42 0.00 0.000 6 0.000 0.034 2138 2601 3418

5719 -1.06 -146.6 541.8 -8.9 276 5723 0.00 2.42 0.00 0.000 4 0.000 0.036 2138 1219 3418

5760 -1.11 -146.6 545.4 -9.0 278 5764 0.00 2.42 0.00 0.000 6 0.000 0.034 2138 2601 3418

6087 -1.11 -146.6 572.4 -8.3 294 6091 0.00 2.42 0.00 0.000 4 0.000 0.036 2138 1220 3417

6121 -1.15 -146.6 575.3 -8.5 295 6128 0.15 2.42 0.00 0.000 6 0.044 0.034 2093 2608 3417

6438 -1.04 -146.6 608.5 -10.9 311 6440 0.20 0.00 0.00 0.000 6 0.094 0.000 2131 2608 3417

6747 -1.04 -146.6 639.7 -10.3 326 6748 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2608 3417

7055 -1.04 -146.6 670.9 -9.6 341 7060 0.00 2.45 0.00 0.000 4 0.000 0.038 2132 1211 3417

7096 -1.10 -146.6 674.4 -9.0 343 7104 0.00 2.45 0.00 0.000 6 0.000 0.035 2132 2608 3417

7431 -1.10 -146.6 702.8 -8.2 359 7435 0.00 2.33 0.00 0.000 4 0.000 0.067 2131 3861 3416

7548 -1.10 -146.6 713.2 -9.9 364 7552 0.00 2.12 0.00 0.000 6 0.000 0.025 2132 2600 3416

7870 -1.10 -146.6 740.3 -8.4 380 7874 0.00 2.45 0.00 0.000 4 0.000 0.041 2132 1214 3416

8006 -1.15 -146.6 751.4 -7.6 386 8011 0.12 2.45 0.00 0.000 6 0.048 0.036 2093 2602 3416

8327 -1.08 -146.6 781.3 -9.9 402 8332 0.15 2.47 0.00 0.000 4 0.097 0.038 2122 1205 3415

8367 -1.13 -146.6 785.2 -10.0 404 8372 0.00 2.47 0.00 0.000 6 0.000 0.038 2122 2608 3415

8610 end dive: BOTTOM_OBSTACLE_DETECTED

state 8610 begin apogee

8618 -0.31 0.0 806.6 9.4 416 8752 0.82 0.00 130.32 1.100 6 0.097 0.000 2290 2302 2817

8753 end apogee: CONTROL_FINISHED_OK

state 8753 begin climb

8756 1.03 146.6 810.5 0.0 423 8896 1.35 2.70 131.45 1.090 4 0.066 0.064 2581 3701 2218

9154 0.89 146.6 790.6 8.4 440 9159 0.15 2.45 0.00 0.000 6 0.108 0.029 2555 2315 2213

9476 0.88 178.5 768.0 6.4 456 9510 0.00 2.67 28.83 1.034 4 0.000 0.061 2554 3698 2088

9551 0.81 182.2 763.0 7.4 459 9563 0.00 2.47 4.90 0.736 6 0.000 0.029 2554 2302 2073

9872 0.81 182.2 739.6 8.5 475 9873 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2302 2070

10182 0.81 182.2 709.1 10.5 490 10186 0.00 2.58 0.00 0.000 4 0.000 0.051 2554 891 2069

10231 0.81 182.2 703.5 11.8 492 10235 0.00 2.50 0.00 0.000 6 0.000 0.035 2554 2302 2068

10547 0.81 182.2 674.2 8.6 507 10551 0.00 2.55 0.00 0.000 4 0.000 0.047 2554 897 2068

10587 0.81 182.2 670.9 8.4 509 10591 0.00 2.50 0.00 0.000 6 0.000 0.035 2554 2309 2066

10913 0.88 246.3 650.2 5.3 525 10980 0.00 2.70 59.85 1.010 4 0.000 0.061 2554 3698 1812

11022 0.90 267.5 643.6 6.8 530 11047 0.00 2.47 20.42 0.951 6 0.000 0.028 2554 2297 1726

11372 1.01 284.6 620.8 6.9 547 11395 0.12 2.72 16.65 0.920 4 0.055 0.059 2588 3705 1655

11419 1.01 284.6 616.6 9.3 549 11423 0.00 2.50 0.00 0.000 6 0.000 0.028 2588 2296 1654

11746 1.01 284.6 587.5 9.0 565 11747 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2296 1651

12055 1.01 284.6 558.0 10.0 580 12056 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2296 1650

12364 1.01 284.6 526.6 10.0 595 12368 0.00 2.62 0.00 0.000 4 0.000 0.058 2588 3709 1649

12397 1.01 284.6 523.0 11.0 596 12403 0.00 2.47 0.00 0.000 6 0.000 0.028 2588 2292 1649

12713 1.01 284.6 490.6 10.2 612 12717 0.00 2.53 0.00 0.000 4 0.000 0.047 2588 895 1649

12740 1.01 284.6 487.7 10.7 613 12745 0.00 2.47 0.00 0.000 6 0.000 0.031 2588 2306 1648

13056 1.01 284.6 455.6 10.2 628 13061 0.00 2.58 0.00 0.000 4 0.000 0.058 2588 3699 1648

13096 1.01 284.6 451.3 11.4 630 13101 0.00 2.45 0.00 0.000 6 0.000 0.027 2588 2291 1647

13423 1.01 284.6 417.4 10.3 646 13425 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2290 1647

13734 1.01 284.6 386.4 9.9 661 13738 0.00 2.62 0.00 0.000 4 0.000 0.056 2588 3707 1648

13755 1.01 284.6 384.1 9.7 662 13759 0.00 2.45 0.00 0.000 6 0.000 0.026 2588 2292 1648

14075 1.01 284.6 352.9 9.7 678 14077 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2292 1648

14385 1.01 284.6 323.6 9.2 693 14386 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2292 1648

14694 1.01 284.6 295.8 8.9 708 14695 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2292 1648

15003 1.01 284.6 267.0 9.6 723 15007 0.00 2.58 0.00 0.000 4 0.000 0.055 2588 3700 1648

15030 1.01 284.6 264.2 10.5 724 15034 0.00 2.42 0.00 0.000 6 0.000 0.026 2588 2296 1648

15346 1.01 284.6 232.7 10.3 739 15347 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2296 1648

15655 1.01 284.6 200.5 10.5 754 15659 0.00 2.58 0.00 0.000 4 0.000 0.054 2588 3700 1648

15687 1.01 284.6 196.7 10.9 755 15694 0.00 2.40 0.00 0.000 6 0.000 0.027 2588 2298 1648

16004 1.01 284.6 163.5 10.5 771 16005 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2297 1648

16313 1.01 284.6 132.7 9.5 786 16314 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2297 1649

16622 1.01 284.6 104.4 8.9 801 16626 0.00 2.58 0.00 0.000 4 0.000 0.054 2588 3700 1647

16655 1.01 284.6 101.0 10.5 802 16662 0.00 2.40 0.00 0.000 6 0.000 0.026 2588 2296 1649

16971 1.01 284.6 72.2 8.9 818 16975 0.00 2.47 0.00 0.000 4 0.000 0.043 2588 903 1648

17021 1.06 284.6 67.9 7.6 820 17025 0.00 2.42 0.00 0.000 6 0.000 0.031 2588 2304 1648

17343 1.12 284.6 43.2 7.9 836 17348 0.00 2.50 0.00 0.000 4 0.000 0.040 2588 902 1648

17416 1.20 284.6 36.3 9.2 839 17421 0.15 2.45 0.00 0.000 6 0.059 0.031 2628 2308 1648

17731 end climb: SURFACE_DEPTH_REACHED

state 17731 begin surface coast

17754 end surface coast: CONTROL_FINISHED_OK

state 17754 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	272	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	37	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-2112457.8	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	162756,6227.703,-1131.438,39,2.2,58,-11.0	TGT_NAME	EE
_CALLS	2	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.47	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-59.3	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	163710,6227.759,-1131.509,16,3.4,35,-11.0	MHEAD_RNG_PITCHd_Wd	111.7,27499,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	1.2,1.026538	ALTIM_BOTTOM_PING	750.1,66.3
SM_CCo	17838,0.00,0.000,0,0,1645,287.00	_24V_AH	23.6,42.733
SM_GC	1.55,11.95,0.00,0.00,0.077,0.000,0.000,73,2612,1645,-10.46,0.34,287.00	_10V_AH	10.1,22.213
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44327,855
TT8_MAMPS	0.02301	CAP_FILE_SIZE	136716,0
HUMID	1805	CFSIZE	260165632,243011584
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	GPS	260709,213600,6228.130,-1129.055,39,1.6,39,-10.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	184	120.51	SBE_CT	623	24	353.11
Roll_motor	167	69	276.32	SBE_O2	585	19	262.34
VBD_pump_during_apogee	392	1099	10186.22	WL_BB2F	506	105	1254.99
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	92.66	nil	0	0	0.00
Iridium_during_connect	63	160	239.67	nil	0	0	0.00
Iridium_during_xfer	233	223	1230.65
Transponder_ping	6	420	64.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.25
TT8	1575	19	315.08
LPSleep	13729	2	303.68
TT8_Active	510	19	102.13
TT8_Sampling	1916	39	770.55
TT8_CF8	652	45	302.04
TT8_Kalman	0	81	0.00
Analog_circuits	1490	12	180.69
GPS_charging	0	0	0.00
Compass	1844	8	149.03
RAFOS	0	0	0.00
Transponder	45	30	13.66

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	79	0.00	0.00	-61.33	0.000	2	0.000	0.000	60	2616	3314
82	-1.03	-146.6	5.3	-9.1	3	104	12.02	2.30	-1.70	0.000	4	0.185	0.070	2129	3839	3418
144	-0.95	-146.6	23.3	-15.8	5	151	0.08	2.17	0.00	0.000	6	0.091	0.025	2148	2572	3419
460	-0.95	-146.6	53.2	-9.4	21	464	0.00	2.35	0.00	0.000	4	0.000	0.058	2148	3843	3419
549	-0.95	-146.6	62.7	-10.2	25	552	0.00	2.10	0.00	0.000	6	0.000	0.024	2148	2595	3419
876	-0.95	-146.6	91.2	-7.6	41	878	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2592	3419
1185	-0.95	-146.6	114.6	-7.8	56	1189	0.00	2.33	0.00	0.000	4	0.000	0.059	2148	3852	3419
1212	-0.95	-146.6	116.8	-7.6	57	1216	0.00	2.10	0.00	0.000	6	0.000	0.025	2148	2601	3419
1534	-0.95	-146.6	144.1	-9.1	73	1539	0.00	2.42	0.00	0.000	4	0.000	0.037	2148	1221	3419
1599	-1.01	-146.6	149.8	-9.1	76	1604	0.00	2.40	0.00	0.000	6	0.000	0.034	2148	2588	3419
1931	-1.01	-146.6	182.9	-9.9	92	1932	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2588	3419
2241	-1.01	-146.6	212.3	-9.2	107	2245	0.00	2.42	0.00	0.000	4	0.000	0.035	2148	1210	3419
2281	-1.07	-146.6	216.0	-9.1	109	2285	0.00	2.45	0.00	0.000	6	0.000	0.033	2148	2608	3419
2607	-1.07	-146.6	245.0	-9.2	125	2611	0.00	2.45	0.00	0.000	4	0.000	0.036	2148	1215	3419
2641	-1.13	-146.6	248.1	-8.6	126	2648	0.15	2.42	0.00	0.000	6	0.042	0.034	2100	2600	3419
2957	-1.01	-146.6	285.7	-12.1	142	2959	0.20	0.00	0.00	0.000	6	0.095	0.000	2138	2600	3419
3266	-1.01	-146.6	315.5	-9.6	157	3270	0.00	2.42	0.00	0.000	4	0.000	0.036	2138	1219	3419
3311	-1.06	-146.6	319.8	-9.0	159	3315	0.00	2.42	0.00	0.000	6	0.000	0.034	2138	2601	3419
3632	-1.06	-146.6	349.4	-9.1	175	3636	0.00	2.45	0.00	0.000	4	0.000	0.037	2138	1211	3419
3665	-1.06	-146.6	352.7	-9.6	176	3671	0.00	2.45	0.00	0.000	6	0.000	0.034	2138	2609	3419
3981	-1.06	-146.6	379.5	-8.2	192	3985	0.00	2.45	0.00	0.000	4	0.000	0.036	2138	1217	3419
4008	-1.06	-146.6	381.9	-8.3	193	4012	0.00	2.40	0.00	0.000	6	0.000	0.034	2138	2601	3419
4329	-1.06	-146.6	409.6	-8.8	209	4333	0.00	2.42	0.00	0.000	4	0.000	0.036	2138	1219	3419
4356	-1.06	-146.6	412.1	-8.8	210	4361	0.00	2.42	0.00	0.000	6	0.000	0.034	2138	2602	3419
4672	-1.06	-146.6	441.7	-9.7	225	4676	0.00	2.45	0.00	0.000	4	0.000	0.036	2138	1211	3418
4704	-1.06	-146.6	445.1	-10.0	226	4710	0.00	2.45	0.00	0.000	6	0.000	0.034	2139	2609	3418
5021	-1.06	-146.6	476.3	-9.9	242	5025	0.00	2.45	0.00	0.000	4	0.000	0.036	2138	1212	3418
5054	-1.06	-146.6	480.0	-9.9	243	5060	0.00	2.45	0.00	0.000	6	0.000	0.034	2138	2610	3418
5370	-1.06	-146.6	510.3	-9.6	259	5374	0.00	2.45	0.00	0.000	4	0.000	0.036	2138	1215	3418
5403	-1.06	-146.6	513.5	-8.7	260	5409	0.00	2.42	0.00	0.000	6	0.000	0.034	2138	2601	3418
5719	-1.06	-146.6	541.8	-8.9	276	5723	0.00	2.42	0.00	0.000	4	0.000	0.036	2138	1219	3418
5760	-1.11	-146.6	545.4	-9.0	278	5764	0.00	2.42	0.00	0.000	6	0.000	0.034	2138	2601	3418
6087	-1.11	-146.6	572.4	-8.3	294	6091	0.00	2.42	0.00	0.000	4	0.000	0.036	2138	1220	3417
6121	-1.15	-146.6	575.3	-8.5	295	6128	0.15	2.42	0.00	0.000	6	0.044	0.034	2093	2608	3417
6438	-1.04	-146.6	608.5	-10.9	311	6440	0.20	0.00	0.00	0.000	6	0.094	0.000	2131	2608	3417
6747	-1.04	-146.6	639.7	-10.3	326	6748	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2608	3417
7055	-1.04	-146.6	670.9	-9.6	341	7060	0.00	2.45	0.00	0.000	4	0.000	0.038	2132	1211	3417
7096	-1.10	-146.6	674.4	-9.0	343	7104	0.00	2.45	0.00	0.000	6	0.000	0.035	2132	2608	3417
7431	-1.10	-146.6	702.8	-8.2	359	7435	0.00	2.33	0.00	0.000	4	0.000	0.067	2131	3861	3416
7548	-1.10	-146.6	713.2	-9.9	364	7552	0.00	2.12	0.00	0.000	6	0.000	0.025	2132	2600	3416
7870	-1.10	-146.6	740.3	-8.4	380	7874	0.00	2.45	0.00	0.000	4	0.000	0.041	2132	1214	3416
8006	-1.15	-146.6	751.4	-7.6	386	8011	0.12	2.45	0.00	0.000	6	0.048	0.036	2093	2602	3416
8327	-1.08	-146.6	781.3	-9.9	402	8332	0.15	2.47	0.00	0.000	4	0.097	0.038	2122	1205	3415
8367	-1.13	-146.6	785.2	-10.0	404	8372	0.00	2.47	0.00	0.000	6	0.000	0.038	2122	2608	3415
8610	end dive: BOTTOM_OBSTACLE_DETECTED
state	8610	begin apogee
8618	-0.31	0.0	806.6	9.4	416	8752	0.82	0.00	130.32	1.100	6	0.097	0.000	2290	2302	2817
8753	end apogee: CONTROL_FINISHED_OK
state	8753	begin climb
8756	1.03	146.6	810.5	0.0	423	8896	1.35	2.70	131.45	1.090	4	0.066	0.064	2581	3701	2218
9154	0.89	146.6	790.6	8.4	440	9159	0.15	2.45	0.00	0.000	6	0.108	0.029	2555	2315	2213
9476	0.88	178.5	768.0	6.4	456	9510	0.00	2.67	28.83	1.034	4	0.000	0.061	2554	3698	2088
9551	0.81	182.2	763.0	7.4	459	9563	0.00	2.47	4.90	0.736	6	0.000	0.029	2554	2302	2073
9872	0.81	182.2	739.6	8.5	475	9873	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2302	2070
10182	0.81	182.2	709.1	10.5	490	10186	0.00	2.58	0.00	0.000	4	0.000	0.051	2554	891	2069
10231	0.81	182.2	703.5	11.8	492	10235	0.00	2.50	0.00	0.000	6	0.000	0.035	2554	2302	2068
10547	0.81	182.2	674.2	8.6	507	10551	0.00	2.55	0.00	0.000	4	0.000	0.047	2554	897	2068
10587	0.81	182.2	670.9	8.4	509	10591	0.00	2.50	0.00	0.000	6	0.000	0.035	2554	2309	2066
10913	0.88	246.3	650.2	5.3	525	10980	0.00	2.70	59.85	1.010	4	0.000	0.061	2554	3698	1812
11022	0.90	267.5	643.6	6.8	530	11047	0.00	2.47	20.42	0.951	6	0.000	0.028	2554	2297	1726
11372	1.01	284.6	620.8	6.9	547	11395	0.12	2.72	16.65	0.920	4	0.055	0.059	2588	3705	1655
11419	1.01	284.6	616.6	9.3	549	11423	0.00	2.50	0.00	0.000	6	0.000	0.028	2588	2296	1654
11746	1.01	284.6	587.5	9.0	565	11747	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2296	1651
12055	1.01	284.6	558.0	10.0	580	12056	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2296	1650
12364	1.01	284.6	526.6	10.0	595	12368	0.00	2.62	0.00	0.000	4	0.000	0.058	2588	3709	1649
12397	1.01	284.6	523.0	11.0	596	12403	0.00	2.47	0.00	0.000	6	0.000	0.028	2588	2292	1649
12713	1.01	284.6	490.6	10.2	612	12717	0.00	2.53	0.00	0.000	4	0.000	0.047	2588	895	1649
12740	1.01	284.6	487.7	10.7	613	12745	0.00	2.47	0.00	0.000	6	0.000	0.031	2588	2306	1648
13056	1.01	284.6	455.6	10.2	628	13061	0.00	2.58	0.00	0.000	4	0.000	0.058	2588	3699	1648
13096	1.01	284.6	451.3	11.4	630	13101	0.00	2.45	0.00	0.000	6	0.000	0.027	2588	2291	1647
13423	1.01	284.6	417.4	10.3	646	13425	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2290	1647
13734	1.01	284.6	386.4	9.9	661	13738	0.00	2.62	0.00	0.000	4	0.000	0.056	2588	3707	1648
13755	1.01	284.6	384.1	9.7	662	13759	0.00	2.45	0.00	0.000	6	0.000	0.026	2588	2292	1648
14075	1.01	284.6	352.9	9.7	678	14077	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2292	1648
14385	1.01	284.6	323.6	9.2	693	14386	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2292	1648
14694	1.01	284.6	295.8	8.9	708	14695	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2292	1648
15003	1.01	284.6	267.0	9.6	723	15007	0.00	2.58	0.00	0.000	4	0.000	0.055	2588	3700	1648
15030	1.01	284.6	264.2	10.5	724	15034	0.00	2.42	0.00	0.000	6	0.000	0.026	2588	2296	1648
15346	1.01	284.6	232.7	10.3	739	15347	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2296	1648
15655	1.01	284.6	200.5	10.5	754	15659	0.00	2.58	0.00	0.000	4	0.000	0.054	2588	3700	1648
15687	1.01	284.6	196.7	10.9	755	15694	0.00	2.40	0.00	0.000	6	0.000	0.027	2588	2298	1648
16004	1.01	284.6	163.5	10.5	771	16005	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2297	1648
16313	1.01	284.6	132.7	9.5	786	16314	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2297	1649
16622	1.01	284.6	104.4	8.9	801	16626	0.00	2.58	0.00	0.000	4	0.000	0.054	2588	3700	1647
16655	1.01	284.6	101.0	10.5	802	16662	0.00	2.40	0.00	0.000	6	0.000	0.026	2588	2296	1649
16971	1.01	284.6	72.2	8.9	818	16975	0.00	2.47	0.00	0.000	4	0.000	0.043	2588	903	1648
17021	1.06	284.6	67.9	7.6	820	17025	0.00	2.42	0.00	0.000	6	0.000	0.031	2588	2304	1648
17343	1.12	284.6	43.2	7.9	836	17348	0.00	2.50	0.00	0.000	4	0.000	0.040	2588	902	1648
17416	1.20	284.6	36.3	9.2	839	17421	0.15	2.45	0.00	0.000	6	0.059	0.031	2628	2308	1648
17731	end climb: SURFACE_DEPTH_REACHED
state	17731	begin surface coast
17754	end surface coast: CONTROL_FINISHED_OK
state	17754	begin surface