Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 275 * 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 275 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -2112508 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 -2112508

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 38 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 275 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 075809,6228.761,-1119.429,41,1.8,50,-10.9 TGT_NAME EE

_CALLS 2 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.40 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -59.2 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 080708,6228.780,-1119.564,16,1.9,16,-10.9 MHEAD_RNG_PITCHd_Wd 123.5,18179,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026794 ALTIM_BOTTOM_PING 675.7,104.9

SM_CCo 17969,0.00,0.000,0,0,1776,255.11 _24V_AH 23.6,43.179

SM_GC 1.45,12.02,0.00,0.00,0.085,0.000,0.000,73,2601,1776,-10.45,0.03,255.11 _10V_AH 10.1,22.462

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44236,864

TT8_MAMPS 0.02301 CAP_FILE_SIZE 135273,0

HUMID 1805 CFSIZE 260165632,242806784

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 270709,130831,6229.317,-1115.690,61,1.2,61,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 187 124.62 SBE_CT 636 24 360.48

Roll_motor 163 69 269.15 SBE_O2 592 19 265.51

VBD_pump_during_apogee 359 1083 9196.73 WL_BB2F 507 105 1258.42

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 36 103 88.36 nil 0 0 0.00

Iridium_during_connect 57 160 217.93 nil 0 0 0.00

Iridium_during_xfer 243 223 1282.07

Transponder_ping 5 420 56.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.51

TT8 1582 19 316.40

LPSleep 13952 2 308.61

TT8_Active 496 19 99.22

TT8_Sampling 1810 39 727.62

TT8_CF8 663 45 306.75

TT8_Kalman 0 81 0.00

Analog_circuits 1432 12 173.56

GPS_charging 0 0 0.00

Compass 1768 8 142.86

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.03 -146.6 0.0 0.0 0 87 0.00 0.00 -65.38 0.000 6 0.000 0.000 78 2607 3415

91 -1.03 -146.6 7.7 -8.8 4 112 12.02 2.53 0.00 0.000 4 0.188 0.034 2129 1195 3417

181 -1.03 -146.6 31.9 -12.0 8 185 0.00 2.47 0.00 0.000 6 0.000 0.035 2128 2597 3417

509 -0.97 -146.6 68.9 -9.3 24 513 0.00 2.35 0.00 0.000 4 0.000 0.062 2129 3865 3418

559 -0.97 -146.6 73.8 -8.7 26 563 0.00 2.17 0.00 0.000 6 0.000 0.025 2129 2579 3418

875 -0.93 -146.6 103.3 -10.5 41 877 0.15 0.00 0.00 0.000 6 0.134 0.000 2154 2577 3418

1185 -0.93 -146.6 133.5 -9.9 56 1189 0.00 2.38 0.00 0.000 4 0.000 0.061 2154 3861 3418

1212 -0.93 -146.6 136.5 -10.6 57 1215 0.00 2.12 0.00 0.000 6 0.000 0.025 2154 2600 3418

1533 -0.93 -146.6 168.6 -9.9 73 1537 0.00 2.42 0.00 0.000 4 0.000 0.037 2154 1216 3419

1606 -1.01 -146.6 175.7 -9.7 76 1611 0.00 2.45 0.00 0.000 6 0.000 0.034 2155 2612 3418

1922 -1.01 -146.6 205.9 -9.1 91 1926 0.00 2.45 0.00 0.000 4 0.000 0.035 2154 1215 3418

1950 -1.07 -146.6 208.5 -9.6 92 1954 0.12 2.42 0.00 0.000 6 0.046 0.034 2111 2599 3418

2266 -0.97 -146.6 245.4 -12.0 107 2268 0.17 0.00 0.00 0.000 6 0.096 0.000 2143 2599 3418

2575 -0.97 -146.6 275.5 -9.4 122 2579 0.00 2.45 0.00 0.000 4 0.000 0.036 2143 1208 3418

2609 -1.01 -146.6 278.6 -9.0 123 2615 0.00 2.45 0.00 0.000 6 0.000 0.035 2144 2601 3418

2924 -1.01 -146.6 305.7 -8.5 139 2925 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2601 3418

3233 -1.01 -146.6 332.4 -8.7 154 3238 0.00 2.45 0.00 0.000 4 0.000 0.037 2144 1211 3417

3279 -1.07 -146.6 336.6 -9.3 156 3283 0.00 2.45 0.00 0.000 6 0.000 0.035 2144 2607 3418

3599 -1.07 -146.6 365.7 -9.3 172 3601 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2607 3417

3909 -1.07 -146.6 394.9 -9.2 187 3913 0.00 2.45 0.00 0.000 4 0.000 0.037 2144 1212 3417

3959 -1.13 -146.6 399.5 -9.1 189 3964 0.15 2.45 0.00 0.000 6 0.044 0.035 2097 2610 3416

4275 -1.00 -146.6 434.8 -11.0 204 4277 0.22 0.00 0.00 0.000 6 0.094 0.000 2140 2610 3416

4585 -1.00 -146.6 460.0 -7.8 219 4589 0.00 2.45 0.00 0.000 4 0.000 0.037 2140 1216 3416

4626 -1.05 -146.6 463.1 -7.5 221 4630 0.00 2.42 0.00 0.000 6 0.000 0.035 2140 2600 3416

4952 -1.05 -146.6 490.0 -8.6 237 4954 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2600 3416

5262 -1.05 -146.6 516.7 -8.4 252 5266 0.00 2.45 0.00 0.000 4 0.000 0.037 2140 1207 3416

5296 -1.10 -146.6 519.7 -8.3 253 5302 0.00 2.45 0.00 0.000 6 0.000 0.035 2140 2601 3415

5611 -1.10 -146.6 544.6 -7.6 269 5613 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2602 3415

5921 -1.10 -146.6 568.3 -8.0 284 5925 0.00 2.45 0.00 0.000 4 0.000 0.037 2140 1212 3415

5966 -1.17 -146.6 571.9 -7.8 286 5971 0.17 2.45 0.00 0.000 6 0.041 0.035 2088 2609 3415

6289 -1.05 -146.6 607.6 -11.3 302 6291 0.22 0.00 0.00 0.000 6 0.094 0.000 2131 2609 3414

6597 -1.05 -146.6 634.9 -8.6 317 6601 0.00 2.45 0.00 0.000 4 0.000 0.037 2131 1215 3415

6636 -1.05 -146.6 638.3 -8.9 319 6640 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2599 3415

6963 -1.05 -146.6 670.7 -10.8 335 6967 0.00 2.35 0.00 0.000 4 0.000 0.067 2131 3860 3414

7030 -1.05 -146.6 678.1 -10.5 338 7034 0.00 2.12 0.00 0.000 6 0.000 0.025 2131 2599 3414

7357 -1.05 -146.6 709.4 -8.8 354 7361 0.00 2.42 0.00 0.000 4 0.000 0.040 2131 1217 3414

7419 -1.10 -146.6 713.8 -6.9 356 7426 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2598 3414

7735 -1.10 -146.6 733.1 -6.1 372 7739 0.00 2.35 0.00 0.000 4 0.000 0.070 2131 3861 3414

7785 -1.10 -146.6 737.0 -8.0 374 7789 0.00 2.12 0.00 0.000 6 0.000 0.027 2131 2609 3414

8113 -1.10 -146.6 762.3 -8.3 390 8114 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2606 3413

8213 end dive: BOTTOM_OBSTACLE_DETECTED

state 8213 begin apogee

8220 -0.31 0.0 771.2 8.7 395 8356 0.85 0.00 129.40 1.083 6 0.134 0.000 2291 2303 2816

8356 end apogee: CONTROL_FINISHED_OK

state 8356 begin climb

8359 1.03 146.6 775.9 0.0 402 8495 1.35 0.00 131.35 1.071 6 0.073 0.000 2579 2303 2218

8793 0.98 161.0 752.2 7.0 423 8814 0.00 2.70 13.48 0.953 4 0.000 0.063 2579 3700 2160

8861 0.87 161.0 746.8 8.1 426 8866 0.15 2.42 0.00 0.000 6 0.097 0.029 2551 2313 2158

9188 0.87 161.0 721.1 8.1 442 9192 0.00 2.60 0.00 0.000 4 0.000 0.062 2550 3701 2156

9228 0.80 161.0 717.8 8.6 444 9232 0.00 2.45 0.00 0.000 6 0.000 0.029 2551 2300 2156

9554 0.80 161.0 690.3 8.5 460 9559 0.00 2.62 0.00 0.000 4 0.000 0.062 2551 3701 2155

9611 0.73 161.0 685.4 8.6 462 9618 0.17 2.45 0.00 0.000 6 0.100 0.029 2518 2299 2155

9927 0.92 239.3 668.5 4.8 478 10005 0.20 2.60 71.85 1.020 4 0.044 0.050 2575 902 1840

10047 0.92 239.3 659.5 8.9 482 10054 0.00 2.50 0.00 0.000 6 0.000 0.035 2575 2302 1834

10363 0.92 239.3 634.2 7.9 498 10367 0.00 2.62 0.00 0.000 4 0.000 0.061 2575 3705 1831

10407 0.92 239.3 630.2 9.1 500 10411 0.00 2.45 0.00 0.000 6 0.000 0.029 2575 2300 1831

10734 0.92 239.3 601.9 9.0 516 10736 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2300 1830

11043 0.92 240.1 576.3 7.5 531 11048 0.00 2.55 0.00 0.000 4 0.000 0.048 2575 894 1829

11066 0.92 243.7 574.6 7.4 532 11070 0.00 2.47 0.00 0.000 6 0.000 0.034 2575 2299 1828

11387 0.92 243.7 550.8 7.6 548 11392 0.00 2.60 0.00 0.000 4 0.000 0.061 2574 3707 1828

11432 0.92 243.7 546.7 9.0 550 11436 0.00 2.45 0.00 0.000 6 0.000 0.028 2575 2296 1828

11753 0.92 243.7 520.2 8.7 566 11754 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2296 1828

12063 0.92 243.7 493.4 8.3 581 12064 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2296 1828

12371 0.92 243.7 467.9 8.2 596 12375 0.00 2.58 0.00 0.000 4 0.000 0.058 2574 3700 1828

12415 0.92 243.7 463.9 8.9 598 12419 0.00 2.42 0.00 0.000 6 0.000 0.027 2575 2300 1828

12736 0.92 243.7 436.2 8.9 614 12740 0.00 2.50 0.00 0.000 4 0.000 0.045 2575 904 1828

12757 0.92 243.7 434.0 9.2 615 12762 0.00 2.45 0.00 0.000 6 0.000 0.032 2575 2303 1828

13079 0.92 243.7 403.7 9.5 631 13083 0.00 2.58 0.00 0.000 4 0.000 0.058 2574 3701 1828

13101 0.92 243.7 401.4 10.0 632 13105 0.00 2.42 0.00 0.000 6 0.000 0.027 2575 2296 1828

13422 0.92 243.7 371.4 9.3 648 13423 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2295 1828

13732 0.92 243.7 343.6 9.2 663 13737 0.00 2.60 0.00 0.000 4 0.000 0.056 2575 3707 1828

13773 0.92 243.7 339.5 10.2 665 13777 0.00 2.42 0.00 0.000 6 0.000 0.027 2574 2299 1828

14099 0.92 243.7 310.5 8.7 681 14101 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2298 1828

14409 0.92 243.7 284.7 8.1 696 14413 0.00 2.58 0.00 0.000 4 0.000 0.055 2574 3702 1828

14431 0.92 243.7 282.8 8.8 697 14435 0.00 2.42 0.00 0.000 6 0.000 0.026 2575 2295 1829

14752 0.92 243.7 256.4 8.2 713 14753 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2295 1829

15061 0.92 243.7 230.1 8.4 728 15065 0.00 2.58 0.00 0.000 4 0.000 0.055 2575 3701 1829

15101 0.92 243.7 226.5 9.4 730 15105 0.00 2.42 0.00 0.000 6 0.000 0.026 2575 2293 1829

15428 0.92 243.7 199.7 8.0 746 15429 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2292 1829

15737 0.92 243.7 175.0 8.2 761 15741 0.00 2.60 0.00 0.000 4 0.000 0.056 2575 3709 1829

15758 0.92 243.7 173.2 8.3 762 15762 0.00 2.42 0.00 0.000 6 0.000 0.026 2575 2298 1829

16080 0.92 243.7 146.9 8.1 778 16081 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2297 1829

16390 0.92 243.7 121.8 8.1 793 16394 0.00 2.58 0.00 0.000 4 0.000 0.055 2575 3702 1829

16417 0.92 243.7 119.3 9.2 794 16421 0.00 2.42 0.00 0.000 6 0.000 0.026 2575 2292 1829

16734 0.92 247.1 96.2 7.4 809 16747 0.00 2.65 6.47 0.531 4 0.000 0.054 2575 3702 1808

16765 0.92 247.1 93.5 9.4 810 16769 0.00 2.42 0.00 0.000 6 0.000 0.026 2575 2297 1809

17082 0.97 247.1 68.1 7.7 825 17083 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2296 1807

17393 1.02 253.8 45.5 7.3 840 17406 0.00 2.55 7.28 0.518 4 0.000 0.041 2575 903 1781

17431 1.09 253.8 42.3 8.6 841 17438 0.10 2.45 0.00 0.000 6 0.054 0.031 2605 2307 1780

17749 1.09 253.8 14.9 8.2 857 17753 0.00 2.55 0.00 0.000 4 0.000 0.055 2604 3701 1779

17772 1.03 253.8 13.0 7.8 858 17776 0.00 2.42 0.00 0.000 6 0.000 0.025 2605 2293 1780

17864 end climb: SURFACE_DEPTH_REACHED

state 17864 begin surface coast

17885 end surface coast: CONTROL_FINISHED_OK

state 17885 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	275	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-2112508	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	075809,6228.761,-1119.429,41,1.8,50,-10.9	TGT_NAME	EE
_CALLS	2	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.40	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-59.2	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	080708,6228.780,-1119.564,16,1.9,16,-10.9	MHEAD_RNG_PITCHd_Wd	123.5,18179,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.026794	ALTIM_BOTTOM_PING	675.7,104.9
SM_CCo	17969,0.00,0.000,0,0,1776,255.11	_24V_AH	23.6,43.179
SM_GC	1.45,12.02,0.00,0.00,0.085,0.000,0.000,73,2601,1776,-10.45,0.03,255.11	_10V_AH	10.1,22.462
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44236,864
TT8_MAMPS	0.02301	CAP_FILE_SIZE	135273,0
HUMID	1805	CFSIZE	260165632,242806784
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	270709,130831,6229.317,-1115.690,61,1.2,61,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	187	124.62	SBE_CT	636	24	360.48
Roll_motor	163	69	269.15	SBE_O2	592	19	265.51
VBD_pump_during_apogee	359	1083	9196.73	WL_BB2F	507	105	1258.42
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	36	103	88.36	nil	0	0	0.00
Iridium_during_connect	57	160	217.93	nil	0	0	0.00
Iridium_during_xfer	243	223	1282.07
Transponder_ping	5	420	56.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.51
TT8	1582	19	316.40
LPSleep	13952	2	308.61
TT8_Active	496	19	99.22
TT8_Sampling	1810	39	727.62
TT8_CF8	663	45	306.75
TT8_Kalman	0	81	0.00
Analog_circuits	1432	12	173.56
GPS_charging	0	0	0.00
Compass	1768	8	142.86
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.03	-146.6	0.0	0.0	0	87	0.00	0.00	-65.38	0.000	6	0.000	0.000	78	2607	3415
91	-1.03	-146.6	7.7	-8.8	4	112	12.02	2.53	0.00	0.000	4	0.188	0.034	2129	1195	3417
181	-1.03	-146.6	31.9	-12.0	8	185	0.00	2.47	0.00	0.000	6	0.000	0.035	2128	2597	3417
509	-0.97	-146.6	68.9	-9.3	24	513	0.00	2.35	0.00	0.000	4	0.000	0.062	2129	3865	3418
559	-0.97	-146.6	73.8	-8.7	26	563	0.00	2.17	0.00	0.000	6	0.000	0.025	2129	2579	3418
875	-0.93	-146.6	103.3	-10.5	41	877	0.15	0.00	0.00	0.000	6	0.134	0.000	2154	2577	3418
1185	-0.93	-146.6	133.5	-9.9	56	1189	0.00	2.38	0.00	0.000	4	0.000	0.061	2154	3861	3418
1212	-0.93	-146.6	136.5	-10.6	57	1215	0.00	2.12	0.00	0.000	6	0.000	0.025	2154	2600	3418
1533	-0.93	-146.6	168.6	-9.9	73	1537	0.00	2.42	0.00	0.000	4	0.000	0.037	2154	1216	3419
1606	-1.01	-146.6	175.7	-9.7	76	1611	0.00	2.45	0.00	0.000	6	0.000	0.034	2155	2612	3418
1922	-1.01	-146.6	205.9	-9.1	91	1926	0.00	2.45	0.00	0.000	4	0.000	0.035	2154	1215	3418
1950	-1.07	-146.6	208.5	-9.6	92	1954	0.12	2.42	0.00	0.000	6	0.046	0.034	2111	2599	3418
2266	-0.97	-146.6	245.4	-12.0	107	2268	0.17	0.00	0.00	0.000	6	0.096	0.000	2143	2599	3418
2575	-0.97	-146.6	275.5	-9.4	122	2579	0.00	2.45	0.00	0.000	4	0.000	0.036	2143	1208	3418
2609	-1.01	-146.6	278.6	-9.0	123	2615	0.00	2.45	0.00	0.000	6	0.000	0.035	2144	2601	3418
2924	-1.01	-146.6	305.7	-8.5	139	2925	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2601	3418
3233	-1.01	-146.6	332.4	-8.7	154	3238	0.00	2.45	0.00	0.000	4	0.000	0.037	2144	1211	3417
3279	-1.07	-146.6	336.6	-9.3	156	3283	0.00	2.45	0.00	0.000	6	0.000	0.035	2144	2607	3418
3599	-1.07	-146.6	365.7	-9.3	172	3601	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2607	3417
3909	-1.07	-146.6	394.9	-9.2	187	3913	0.00	2.45	0.00	0.000	4	0.000	0.037	2144	1212	3417
3959	-1.13	-146.6	399.5	-9.1	189	3964	0.15	2.45	0.00	0.000	6	0.044	0.035	2097	2610	3416
4275	-1.00	-146.6	434.8	-11.0	204	4277	0.22	0.00	0.00	0.000	6	0.094	0.000	2140	2610	3416
4585	-1.00	-146.6	460.0	-7.8	219	4589	0.00	2.45	0.00	0.000	4	0.000	0.037	2140	1216	3416
4626	-1.05	-146.6	463.1	-7.5	221	4630	0.00	2.42	0.00	0.000	6	0.000	0.035	2140	2600	3416
4952	-1.05	-146.6	490.0	-8.6	237	4954	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2600	3416
5262	-1.05	-146.6	516.7	-8.4	252	5266	0.00	2.45	0.00	0.000	4	0.000	0.037	2140	1207	3416
5296	-1.10	-146.6	519.7	-8.3	253	5302	0.00	2.45	0.00	0.000	6	0.000	0.035	2140	2601	3415
5611	-1.10	-146.6	544.6	-7.6	269	5613	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2602	3415
5921	-1.10	-146.6	568.3	-8.0	284	5925	0.00	2.45	0.00	0.000	4	0.000	0.037	2140	1212	3415
5966	-1.17	-146.6	571.9	-7.8	286	5971	0.17	2.45	0.00	0.000	6	0.041	0.035	2088	2609	3415
6289	-1.05	-146.6	607.6	-11.3	302	6291	0.22	0.00	0.00	0.000	6	0.094	0.000	2131	2609	3414
6597	-1.05	-146.6	634.9	-8.6	317	6601	0.00	2.45	0.00	0.000	4	0.000	0.037	2131	1215	3415
6636	-1.05	-146.6	638.3	-8.9	319	6640	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2599	3415
6963	-1.05	-146.6	670.7	-10.8	335	6967	0.00	2.35	0.00	0.000	4	0.000	0.067	2131	3860	3414
7030	-1.05	-146.6	678.1	-10.5	338	7034	0.00	2.12	0.00	0.000	6	0.000	0.025	2131	2599	3414
7357	-1.05	-146.6	709.4	-8.8	354	7361	0.00	2.42	0.00	0.000	4	0.000	0.040	2131	1217	3414
7419	-1.10	-146.6	713.8	-6.9	356	7426	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2598	3414
7735	-1.10	-146.6	733.1	-6.1	372	7739	0.00	2.35	0.00	0.000	4	0.000	0.070	2131	3861	3414
7785	-1.10	-146.6	737.0	-8.0	374	7789	0.00	2.12	0.00	0.000	6	0.000	0.027	2131	2609	3414
8113	-1.10	-146.6	762.3	-8.3	390	8114	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2606	3413
8213	end dive: BOTTOM_OBSTACLE_DETECTED
state	8213	begin apogee
8220	-0.31	0.0	771.2	8.7	395	8356	0.85	0.00	129.40	1.083	6	0.134	0.000	2291	2303	2816
8356	end apogee: CONTROL_FINISHED_OK
state	8356	begin climb
8359	1.03	146.6	775.9	0.0	402	8495	1.35	0.00	131.35	1.071	6	0.073	0.000	2579	2303	2218
8793	0.98	161.0	752.2	7.0	423	8814	0.00	2.70	13.48	0.953	4	0.000	0.063	2579	3700	2160
8861	0.87	161.0	746.8	8.1	426	8866	0.15	2.42	0.00	0.000	6	0.097	0.029	2551	2313	2158
9188	0.87	161.0	721.1	8.1	442	9192	0.00	2.60	0.00	0.000	4	0.000	0.062	2550	3701	2156
9228	0.80	161.0	717.8	8.6	444	9232	0.00	2.45	0.00	0.000	6	0.000	0.029	2551	2300	2156
9554	0.80	161.0	690.3	8.5	460	9559	0.00	2.62	0.00	0.000	4	0.000	0.062	2551	3701	2155
9611	0.73	161.0	685.4	8.6	462	9618	0.17	2.45	0.00	0.000	6	0.100	0.029	2518	2299	2155
9927	0.92	239.3	668.5	4.8	478	10005	0.20	2.60	71.85	1.020	4	0.044	0.050	2575	902	1840
10047	0.92	239.3	659.5	8.9	482	10054	0.00	2.50	0.00	0.000	6	0.000	0.035	2575	2302	1834
10363	0.92	239.3	634.2	7.9	498	10367	0.00	2.62	0.00	0.000	4	0.000	0.061	2575	3705	1831
10407	0.92	239.3	630.2	9.1	500	10411	0.00	2.45	0.00	0.000	6	0.000	0.029	2575	2300	1831
10734	0.92	239.3	601.9	9.0	516	10736	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2300	1830
11043	0.92	240.1	576.3	7.5	531	11048	0.00	2.55	0.00	0.000	4	0.000	0.048	2575	894	1829
11066	0.92	243.7	574.6	7.4	532	11070	0.00	2.47	0.00	0.000	6	0.000	0.034	2575	2299	1828
11387	0.92	243.7	550.8	7.6	548	11392	0.00	2.60	0.00	0.000	4	0.000	0.061	2574	3707	1828
11432	0.92	243.7	546.7	9.0	550	11436	0.00	2.45	0.00	0.000	6	0.000	0.028	2575	2296	1828
11753	0.92	243.7	520.2	8.7	566	11754	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2296	1828
12063	0.92	243.7	493.4	8.3	581	12064	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2296	1828
12371	0.92	243.7	467.9	8.2	596	12375	0.00	2.58	0.00	0.000	4	0.000	0.058	2574	3700	1828
12415	0.92	243.7	463.9	8.9	598	12419	0.00	2.42	0.00	0.000	6	0.000	0.027	2575	2300	1828
12736	0.92	243.7	436.2	8.9	614	12740	0.00	2.50	0.00	0.000	4	0.000	0.045	2575	904	1828
12757	0.92	243.7	434.0	9.2	615	12762	0.00	2.45	0.00	0.000	6	0.000	0.032	2575	2303	1828
13079	0.92	243.7	403.7	9.5	631	13083	0.00	2.58	0.00	0.000	4	0.000	0.058	2574	3701	1828
13101	0.92	243.7	401.4	10.0	632	13105	0.00	2.42	0.00	0.000	6	0.000	0.027	2575	2296	1828
13422	0.92	243.7	371.4	9.3	648	13423	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2295	1828
13732	0.92	243.7	343.6	9.2	663	13737	0.00	2.60	0.00	0.000	4	0.000	0.056	2575	3707	1828
13773	0.92	243.7	339.5	10.2	665	13777	0.00	2.42	0.00	0.000	6	0.000	0.027	2574	2299	1828
14099	0.92	243.7	310.5	8.7	681	14101	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2298	1828
14409	0.92	243.7	284.7	8.1	696	14413	0.00	2.58	0.00	0.000	4	0.000	0.055	2574	3702	1828
14431	0.92	243.7	282.8	8.8	697	14435	0.00	2.42	0.00	0.000	6	0.000	0.026	2575	2295	1829
14752	0.92	243.7	256.4	8.2	713	14753	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2295	1829
15061	0.92	243.7	230.1	8.4	728	15065	0.00	2.58	0.00	0.000	4	0.000	0.055	2575	3701	1829
15101	0.92	243.7	226.5	9.4	730	15105	0.00	2.42	0.00	0.000	6	0.000	0.026	2575	2293	1829
15428	0.92	243.7	199.7	8.0	746	15429	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2292	1829
15737	0.92	243.7	175.0	8.2	761	15741	0.00	2.60	0.00	0.000	4	0.000	0.056	2575	3709	1829
15758	0.92	243.7	173.2	8.3	762	15762	0.00	2.42	0.00	0.000	6	0.000	0.026	2575	2298	1829
16080	0.92	243.7	146.9	8.1	778	16081	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2297	1829
16390	0.92	243.7	121.8	8.1	793	16394	0.00	2.58	0.00	0.000	4	0.000	0.055	2575	3702	1829
16417	0.92	243.7	119.3	9.2	794	16421	0.00	2.42	0.00	0.000	6	0.000	0.026	2575	2292	1829
16734	0.92	247.1	96.2	7.4	809	16747	0.00	2.65	6.47	0.531	4	0.000	0.054	2575	3702	1808
16765	0.92	247.1	93.5	9.4	810	16769	0.00	2.42	0.00	0.000	6	0.000	0.026	2575	2297	1809
17082	0.97	247.1	68.1	7.7	825	17083	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2296	1807
17393	1.02	253.8	45.5	7.3	840	17406	0.00	2.55	7.28	0.518	4	0.000	0.041	2575	903	1781
17431	1.09	253.8	42.3	8.6	841	17438	0.10	2.45	0.00	0.000	6	0.054	0.031	2605	2307	1780
17749	1.09	253.8	14.9	8.2	857	17753	0.00	2.55	0.00	0.000	4	0.000	0.055	2604	3701	1779
17772	1.03	253.8	13.0	7.8	858	17776	0.00	2.42	0.00	0.000	6	0.000	0.025	2605	2293	1780
17864	end climb: SURFACE_DEPTH_REACHED
state	17864	begin surface coast
17885	end surface coast: CONTROL_FINISHED_OK
state	17885	begin surface