Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 287 * 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 287 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 31 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 -2112699.5 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 -2112699.5

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 31 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 287 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 190637,6215.229,-1027.349,26,1.7,26,-10.3 TGT_NAME CE

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.36 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -62.1 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 191132,6215.197,-1027.408,12,1.8,12,-10.3 MHEAD_RNG_PITCHd_Wd 130.5,37533,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.0,1.026453 ALTIM_BOTTOM_PING 700.1,100.1

SM_CCo 17654,0.00,0.000,0,0,1145,410.14 _24V_AH 23.5,44.808

SM_GC 1.45,11.43,0.00,0.00,0.046,0.000,0.000,72,2593,1145,-10.47,-0.20,410.14 _10V_AH 10.1,23.396

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44361,843

TT8_MAMPS 0.02301 CAP_FILE_SIZE 132387,0

HUMID 1831 CFSIZE 260165632,242073600

TCM_TEMP 19.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 300709,000706,6213.392,-1024.757,26,1.2,26,-10.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 182 117.86 SBE_CT 613 24 346.09

Roll_motor 163 71 274.41 SBE_O2 574 19 256.34

VBD_pump_during_apogee 499 1105 12972.37 WL_BB2F 485 105 1197.83

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 44.29 nil 0 0 0.00

Iridium_during_connect 26 160 101.17 nil 0 0 0.00

Iridium_during_xfer 131 223 686.95

Transponder_ping 6 420 59.22

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.14

TT8 1554 19 310.87

LPSleep 13450 2 297.52

TT8_Active 603 19 120.68

TT8_Sampling 1856 39 746.08

TT8_CF8 481 45 222.50

TT8_Kalman 0 81 0.00

Analog_circuits 1585 12 192.18

GPS_charging 0 0 0.00

Compass 1805 8 145.90

RAFOS 0 0 0.00

Transponder 41 30 12.61

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.03 -146.6 0.0 0.0 0 94 0.00 0.00 -73.43 0.000 6 0.000 0.000 68 2603 3417

97 -1.03 -146.6 3.6 -5.1 3 119 11.93 2.38 0.00 0.000 4 0.183 0.059 2129 3863 3419

372 -0.95 -146.6 54.0 -12.3 15 377 0.12 2.20 0.00 0.000 6 0.104 0.027 2151 2572 3419

693 -0.95 -146.6 85.8 -8.2 31 694 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2570 3419

1005 -0.95 -146.6 105.0 -5.6 46 1009 0.00 2.38 0.00 0.000 4 0.000 0.061 2151 3855 3419

1038 -0.95 -146.6 107.4 -6.7 47 1044 0.00 2.12 0.00 0.000 6 0.000 0.026 2151 2596 3419

1354 -0.95 -146.6 132.8 -9.8 63 1358 0.00 2.45 0.00 0.000 4 0.000 0.039 2152 1209 3420

1404 -1.02 -146.6 138.2 -10.3 65 1409 0.00 2.45 0.00 0.000 6 0.000 0.035 2151 2599 3420

1720 -1.02 -146.6 169.3 -8.0 80 1724 0.00 2.45 0.00 0.000 4 0.000 0.037 2152 1210 3420

1753 -1.09 -146.6 171.8 -7.9 81 1760 0.12 2.45 0.00 0.000 6 0.044 0.035 2108 2599 3420

2069 -0.98 -146.6 204.5 -11.4 97 2071 0.20 0.00 0.00 0.000 6 0.097 0.000 2146 2599 3420

2377 -0.98 -146.6 235.5 -9.7 112 2382 0.00 2.45 0.00 0.000 4 0.000 0.038 2146 1214 3420

2405 -0.98 -146.6 238.1 -9.6 113 2409 0.00 2.45 0.00 0.000 6 0.000 0.035 2146 2601 3420

2727 -0.98 -146.6 264.5 -8.0 129 2731 0.00 2.45 0.00 0.000 4 0.000 0.038 2146 1214 3420

2760 -1.02 -146.6 267.3 -7.8 130 2766 0.00 2.45 0.00 0.000 6 0.000 0.035 2147 2607 3419

3077 -1.02 -146.6 294.0 -8.7 146 3078 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2607 3419

3385 -1.02 -146.6 322.4 -9.1 161 3389 0.00 2.47 0.00 0.000 4 0.000 0.038 2146 1208 3419

3457 -1.08 -146.6 329.1 -9.3 164 3461 0.00 2.45 0.00 0.000 6 0.000 0.036 2147 2600 3419

3773 -1.08 -146.6 358.1 -8.9 179 3775 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2600 3418

4082 -1.08 -146.6 383.3 -8.0 194 4086 0.00 2.45 0.00 0.000 4 0.000 0.038 2146 1212 3419

4126 -1.14 -146.6 386.9 -8.1 196 4131 0.17 2.45 0.00 0.000 6 0.042 0.035 2095 2602 3418

4448 -1.01 -146.6 423.3 -12.3 212 4450 0.22 0.00 0.00 0.000 6 0.095 0.000 2138 2602 3418

4756 -1.01 -146.6 456.0 -10.7 227 4760 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1214 3417

4807 -1.06 -146.6 461.4 -10.0 229 4811 0.00 2.45 0.00 0.000 6 0.000 0.036 2138 2605 3417

5123 -1.06 -146.6 489.9 -7.5 244 5124 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2605 3417

5432 -1.06 -146.6 511.3 -7.7 259 5436 0.00 2.47 0.00 0.000 4 0.000 0.038 2138 1206 3417

5483 -1.11 -146.6 516.0 -9.5 261 5487 0.00 2.45 0.00 0.000 6 0.000 0.036 2138 2600 3417

5799 -1.11 -146.6 549.7 -9.6 276 5804 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1212 3417

5832 -1.11 -146.6 552.7 -8.6 277 5836 0.00 2.45 0.00 0.000 6 0.000 0.036 2138 2600 3417

6148 -1.11 -146.6 583.2 -11.1 292 6152 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1212 3417

6192 -1.18 -146.6 587.8 -9.9 294 6197 0.17 2.45 0.00 0.000 6 0.043 0.036 2088 2601 3417

6513 -1.04 -146.6 624.0 -11.4 310 6518 0.20 2.35 0.00 0.000 4 0.096 0.067 2129 3861 3416

6553 -1.04 -146.6 628.2 -10.3 312 6557 0.00 2.15 0.00 0.000 6 0.000 0.027 2129 2592 3416

6886 -1.04 -146.6 648.5 -3.7 328 6890 0.00 2.45 0.00 0.000 4 0.000 0.041 2128 1209 3416

6937 -1.09 -146.6 649.8 -1.7 330 6941 0.00 2.45 0.00 0.000 6 0.000 0.036 2129 2600 3416

7253 -1.09 -146.6 667.5 -7.5 345 7257 0.00 2.35 0.00 0.000 4 0.000 0.070 2129 3861 3416

7293 -1.09 -146.6 670.9 -9.1 346 7299 0.00 2.15 0.00 0.000 6 0.000 0.028 2128 2600 3415

7608 -1.09 -146.6 698.7 -8.7 362 7612 0.00 2.47 0.00 0.000 4 0.000 0.042 2128 1210 3415

7688 -1.13 -146.6 705.3 -8.9 365 7694 0.00 2.47 0.00 0.000 6 0.000 0.038 2129 2609 3415

8004 -1.13 -146.6 731.9 -8.9 381 8008 0.00 2.50 0.00 0.000 4 0.000 0.041 2129 1203 3414

8049 -1.19 -146.6 736.1 -9.5 383 8054 0.12 2.47 0.00 0.000 6 0.047 0.038 2090 2599 3414

8370 -1.09 -146.6 770.2 -10.5 399 8375 0.15 2.38 0.00 0.000 4 0.100 0.071 2119 3864 3414

8425 -1.09 -146.6 776.2 -9.8 401 8431 0.00 2.17 0.00 0.000 6 0.000 0.031 2117 2608 3413

8594 end dive: BOTTOM_OBSTACLE_DETECTED

state 8594 begin apogee

8602 -0.31 0.0 791.2 8.7 410 8737 0.88 0.00 130.57 1.105 6 0.118 0.000 2288 2305 2817

8738 end apogee: CONTROL_FINISHED_OK

state 8738 begin climb

8741 1.03 146.6 797.0 0.0 417 8885 1.38 2.75 132.00 1.092 4 0.077 0.065 2578 3704 2217

8922 0.90 163.6 792.0 6.9 425 8944 0.12 2.50 16.50 0.999 6 0.101 0.031 2555 2306 2149

9263 0.90 168.7 766.3 7.3 442 9270 0.00 0.00 5.10 0.752 6 0.000 0.000 2556 2306 2129

9570 0.93 195.9 745.1 6.6 457 9602 0.00 2.70 26.15 1.027 4 0.000 0.064 2555 3700 2017

9670 0.87 195.9 737.9 7.7 461 9676 0.00 2.50 0.00 0.000 6 0.000 0.031 2555 2295 2015

9985 0.94 256.1 719.1 5.4 477 10048 0.00 2.62 56.80 1.051 4 0.000 0.053 2555 897 1771

10109 1.03 282.9 711.9 6.6 482 10141 0.12 2.53 25.98 1.010 6 0.053 0.038 2591 2303 1662

10450 1.03 282.9 680.4 9.0 499 10454 0.00 2.65 0.00 0.000 4 0.000 0.065 2591 3704 1655

10512 0.99 282.9 674.7 9.0 502 10517 0.00 2.50 0.00 0.000 6 0.000 0.031 2591 2293 1654

10839 0.99 286.7 648.8 7.4 518 10841 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2293 1654

11149 0.99 286.7 620.2 10.1 533 11150 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2293 1653

11458 0.99 286.7 588.3 10.2 548 11462 0.00 2.65 0.00 0.000 4 0.000 0.062 2591 3704 1652

11479 0.99 286.7 585.9 10.7 549 11483 0.00 2.47 0.00 0.000 6 0.000 0.030 2592 2297 1652

11800 0.99 286.7 555.8 9.0 565 11801 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2296 1651

12109 0.99 286.7 528.6 9.1 580 12110 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2296 1651

12418 0.99 286.7 498.8 10.0 595 12422 0.00 2.60 0.00 0.000 4 0.000 0.060 2591 3702 1651

12445 0.99 286.7 495.7 10.6 596 12449 0.00 2.45 0.00 0.000 6 0.000 0.029 2591 2298 1651

12762 0.99 286.7 464.3 9.9 611 12763 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2297 1651

13070 0.99 286.7 432.0 10.8 626 13075 0.00 2.62 0.00 0.000 4 0.000 0.059 2591 3709 1651

13092 0.99 286.7 429.3 11.8 627 13096 0.00 2.47 0.00 0.000 6 0.000 0.029 2591 2292 1651

13414 0.99 286.7 393.7 10.7 643 13418 0.00 2.47 0.00 0.000 4 0.000 0.046 2591 898 1651

13430 0.99 286.7 391.7 10.6 643 13436 0.00 2.47 0.00 0.000 6 0.000 0.034 2591 2309 1651

13746 0.99 286.7 361.3 8.9 659 13750 0.00 2.58 0.00 0.000 4 0.000 0.059 2591 3703 1651

13773 0.99 286.7 358.8 8.5 660 13777 0.00 2.45 0.00 0.000 6 0.000 0.028 2591 2296 1651

14089 0.99 286.7 331.8 8.5 675 14093 0.00 2.50 0.00 0.000 4 0.000 0.044 2591 898 1651

14110 0.99 286.7 329.8 9.3 676 14114 0.00 2.45 0.00 0.000 6 0.000 0.033 2591 2299 1651

14431 0.99 286.7 301.7 8.8 692 14432 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2297 1651

14740 0.99 286.7 274.9 8.4 707 14741 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2299 1651

15051 0.99 286.7 248.2 8.9 722 15056 0.00 2.60 0.00 0.000 4 0.000 0.058 2591 3708 1652

15073 0.99 286.7 245.8 9.1 723 15078 0.00 2.45 0.00 0.000 6 0.000 0.028 2591 2296 1652

15395 0.99 286.7 216.5 9.7 739 15399 0.00 2.50 0.00 0.000 4 0.000 0.044 2591 898 1652

15422 0.99 286.7 213.6 10.0 740 15426 0.00 2.47 0.00 0.000 6 0.000 0.033 2591 2309 1652

15738 0.99 286.7 183.8 9.5 755 15739 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2309 1652

16047 0.99 286.7 153.5 10.2 770 16052 0.00 2.53 0.00 0.000 4 0.000 0.043 2591 901 1652

16065 0.99 286.7 151.6 10.2 771 16070 0.00 2.45 0.00 0.000 6 0.000 0.033 2591 2302 1653

16393 0.99 286.7 117.0 10.7 787 16394 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2302 1652

16703 0.99 286.7 85.0 8.6 802 16704 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2303 1652

17013 1.06 344.3 65.9 5.5 817 17076 0.00 2.70 53.10 0.614 4 0.000 0.056 2591 3704 1412

17101 1.20 405.9 62.6 5.4 821 17165 0.12 2.47 53.25 0.603 6 0.045 0.028 2631 2297 1159

17475 1.20 405.9 14.1 12.8 839 17479 0.00 2.53 0.00 0.000 4 0.000 0.044 2631 900 1150

17561 end climb: SURFACE_DEPTH_REACHED

state 17561 begin surface coast

17567 end surface coast: CONTROL_FINISHED_OK

state 17568 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	287	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	31	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	-2112699.5	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	190637,6215.229,-1027.349,26,1.7,26,-10.3	TGT_NAME	CE
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.36	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-62.1	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	191132,6215.197,-1027.408,12,1.8,12,-10.3	MHEAD_RNG_PITCHd_Wd	130.5,37533,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	2.0,1.026453	ALTIM_BOTTOM_PING	700.1,100.1
SM_CCo	17654,0.00,0.000,0,0,1145,410.14	_24V_AH	23.5,44.808
SM_GC	1.45,11.43,0.00,0.00,0.046,0.000,0.000,72,2593,1145,-10.47,-0.20,410.14	_10V_AH	10.1,23.396
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44361,843
TT8_MAMPS	0.02301	CAP_FILE_SIZE	132387,0
HUMID	1831	CFSIZE	260165632,242073600
TCM_TEMP	19.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	300709,000706,6213.392,-1024.757,26,1.2,26,-10.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	182	117.86	SBE_CT	613	24	346.09
Roll_motor	163	71	274.41	SBE_O2	574	19	256.34
VBD_pump_during_apogee	499	1105	12972.37	WL_BB2F	485	105	1197.83
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	44.29	nil	0	0	0.00
Iridium_during_connect	26	160	101.17	nil	0	0	0.00
Iridium_during_xfer	131	223	686.95
Transponder_ping	6	420	59.22
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.14
TT8	1554	19	310.87
LPSleep	13450	2	297.52
TT8_Active	603	19	120.68
TT8_Sampling	1856	39	746.08
TT8_CF8	481	45	222.50
TT8_Kalman	0	81	0.00
Analog_circuits	1585	12	192.18
GPS_charging	0	0	0.00
Compass	1805	8	145.90
RAFOS	0	0	0.00
Transponder	41	30	12.61

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.03	-146.6	0.0	0.0	0	94	0.00	0.00	-73.43	0.000	6	0.000	0.000	68	2603	3417
97	-1.03	-146.6	3.6	-5.1	3	119	11.93	2.38	0.00	0.000	4	0.183	0.059	2129	3863	3419
372	-0.95	-146.6	54.0	-12.3	15	377	0.12	2.20	0.00	0.000	6	0.104	0.027	2151	2572	3419
693	-0.95	-146.6	85.8	-8.2	31	694	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2570	3419
1005	-0.95	-146.6	105.0	-5.6	46	1009	0.00	2.38	0.00	0.000	4	0.000	0.061	2151	3855	3419
1038	-0.95	-146.6	107.4	-6.7	47	1044	0.00	2.12	0.00	0.000	6	0.000	0.026	2151	2596	3419
1354	-0.95	-146.6	132.8	-9.8	63	1358	0.00	2.45	0.00	0.000	4	0.000	0.039	2152	1209	3420
1404	-1.02	-146.6	138.2	-10.3	65	1409	0.00	2.45	0.00	0.000	6	0.000	0.035	2151	2599	3420
1720	-1.02	-146.6	169.3	-8.0	80	1724	0.00	2.45	0.00	0.000	4	0.000	0.037	2152	1210	3420
1753	-1.09	-146.6	171.8	-7.9	81	1760	0.12	2.45	0.00	0.000	6	0.044	0.035	2108	2599	3420
2069	-0.98	-146.6	204.5	-11.4	97	2071	0.20	0.00	0.00	0.000	6	0.097	0.000	2146	2599	3420
2377	-0.98	-146.6	235.5	-9.7	112	2382	0.00	2.45	0.00	0.000	4	0.000	0.038	2146	1214	3420
2405	-0.98	-146.6	238.1	-9.6	113	2409	0.00	2.45	0.00	0.000	6	0.000	0.035	2146	2601	3420
2727	-0.98	-146.6	264.5	-8.0	129	2731	0.00	2.45	0.00	0.000	4	0.000	0.038	2146	1214	3420
2760	-1.02	-146.6	267.3	-7.8	130	2766	0.00	2.45	0.00	0.000	6	0.000	0.035	2147	2607	3419
3077	-1.02	-146.6	294.0	-8.7	146	3078	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2607	3419
3385	-1.02	-146.6	322.4	-9.1	161	3389	0.00	2.47	0.00	0.000	4	0.000	0.038	2146	1208	3419
3457	-1.08	-146.6	329.1	-9.3	164	3461	0.00	2.45	0.00	0.000	6	0.000	0.036	2147	2600	3419
3773	-1.08	-146.6	358.1	-8.9	179	3775	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2600	3418
4082	-1.08	-146.6	383.3	-8.0	194	4086	0.00	2.45	0.00	0.000	4	0.000	0.038	2146	1212	3419
4126	-1.14	-146.6	386.9	-8.1	196	4131	0.17	2.45	0.00	0.000	6	0.042	0.035	2095	2602	3418
4448	-1.01	-146.6	423.3	-12.3	212	4450	0.22	0.00	0.00	0.000	6	0.095	0.000	2138	2602	3418
4756	-1.01	-146.6	456.0	-10.7	227	4760	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1214	3417
4807	-1.06	-146.6	461.4	-10.0	229	4811	0.00	2.45	0.00	0.000	6	0.000	0.036	2138	2605	3417
5123	-1.06	-146.6	489.9	-7.5	244	5124	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2605	3417
5432	-1.06	-146.6	511.3	-7.7	259	5436	0.00	2.47	0.00	0.000	4	0.000	0.038	2138	1206	3417
5483	-1.11	-146.6	516.0	-9.5	261	5487	0.00	2.45	0.00	0.000	6	0.000	0.036	2138	2600	3417
5799	-1.11	-146.6	549.7	-9.6	276	5804	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1212	3417
5832	-1.11	-146.6	552.7	-8.6	277	5836	0.00	2.45	0.00	0.000	6	0.000	0.036	2138	2600	3417
6148	-1.11	-146.6	583.2	-11.1	292	6152	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1212	3417
6192	-1.18	-146.6	587.8	-9.9	294	6197	0.17	2.45	0.00	0.000	6	0.043	0.036	2088	2601	3417
6513	-1.04	-146.6	624.0	-11.4	310	6518	0.20	2.35	0.00	0.000	4	0.096	0.067	2129	3861	3416
6553	-1.04	-146.6	628.2	-10.3	312	6557	0.00	2.15	0.00	0.000	6	0.000	0.027	2129	2592	3416
6886	-1.04	-146.6	648.5	-3.7	328	6890	0.00	2.45	0.00	0.000	4	0.000	0.041	2128	1209	3416
6937	-1.09	-146.6	649.8	-1.7	330	6941	0.00	2.45	0.00	0.000	6	0.000	0.036	2129	2600	3416
7253	-1.09	-146.6	667.5	-7.5	345	7257	0.00	2.35	0.00	0.000	4	0.000	0.070	2129	3861	3416
7293	-1.09	-146.6	670.9	-9.1	346	7299	0.00	2.15	0.00	0.000	6	0.000	0.028	2128	2600	3415
7608	-1.09	-146.6	698.7	-8.7	362	7612	0.00	2.47	0.00	0.000	4	0.000	0.042	2128	1210	3415
7688	-1.13	-146.6	705.3	-8.9	365	7694	0.00	2.47	0.00	0.000	6	0.000	0.038	2129	2609	3415
8004	-1.13	-146.6	731.9	-8.9	381	8008	0.00	2.50	0.00	0.000	4	0.000	0.041	2129	1203	3414
8049	-1.19	-146.6	736.1	-9.5	383	8054	0.12	2.47	0.00	0.000	6	0.047	0.038	2090	2599	3414
8370	-1.09	-146.6	770.2	-10.5	399	8375	0.15	2.38	0.00	0.000	4	0.100	0.071	2119	3864	3414
8425	-1.09	-146.6	776.2	-9.8	401	8431	0.00	2.17	0.00	0.000	6	0.000	0.031	2117	2608	3413
8594	end dive: BOTTOM_OBSTACLE_DETECTED
state	8594	begin apogee
8602	-0.31	0.0	791.2	8.7	410	8737	0.88	0.00	130.57	1.105	6	0.118	0.000	2288	2305	2817
8738	end apogee: CONTROL_FINISHED_OK
state	8738	begin climb
8741	1.03	146.6	797.0	0.0	417	8885	1.38	2.75	132.00	1.092	4	0.077	0.065	2578	3704	2217
8922	0.90	163.6	792.0	6.9	425	8944	0.12	2.50	16.50	0.999	6	0.101	0.031	2555	2306	2149
9263	0.90	168.7	766.3	7.3	442	9270	0.00	0.00	5.10	0.752	6	0.000	0.000	2556	2306	2129
9570	0.93	195.9	745.1	6.6	457	9602	0.00	2.70	26.15	1.027	4	0.000	0.064	2555	3700	2017
9670	0.87	195.9	737.9	7.7	461	9676	0.00	2.50	0.00	0.000	6	0.000	0.031	2555	2295	2015
9985	0.94	256.1	719.1	5.4	477	10048	0.00	2.62	56.80	1.051	4	0.000	0.053	2555	897	1771
10109	1.03	282.9	711.9	6.6	482	10141	0.12	2.53	25.98	1.010	6	0.053	0.038	2591	2303	1662
10450	1.03	282.9	680.4	9.0	499	10454	0.00	2.65	0.00	0.000	4	0.000	0.065	2591	3704	1655
10512	0.99	282.9	674.7	9.0	502	10517	0.00	2.50	0.00	0.000	6	0.000	0.031	2591	2293	1654
10839	0.99	286.7	648.8	7.4	518	10841	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2293	1654
11149	0.99	286.7	620.2	10.1	533	11150	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2293	1653
11458	0.99	286.7	588.3	10.2	548	11462	0.00	2.65	0.00	0.000	4	0.000	0.062	2591	3704	1652
11479	0.99	286.7	585.9	10.7	549	11483	0.00	2.47	0.00	0.000	6	0.000	0.030	2592	2297	1652
11800	0.99	286.7	555.8	9.0	565	11801	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2296	1651
12109	0.99	286.7	528.6	9.1	580	12110	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2296	1651
12418	0.99	286.7	498.8	10.0	595	12422	0.00	2.60	0.00	0.000	4	0.000	0.060	2591	3702	1651
12445	0.99	286.7	495.7	10.6	596	12449	0.00	2.45	0.00	0.000	6	0.000	0.029	2591	2298	1651
12762	0.99	286.7	464.3	9.9	611	12763	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2297	1651
13070	0.99	286.7	432.0	10.8	626	13075	0.00	2.62	0.00	0.000	4	0.000	0.059	2591	3709	1651
13092	0.99	286.7	429.3	11.8	627	13096	0.00	2.47	0.00	0.000	6	0.000	0.029	2591	2292	1651
13414	0.99	286.7	393.7	10.7	643	13418	0.00	2.47	0.00	0.000	4	0.000	0.046	2591	898	1651
13430	0.99	286.7	391.7	10.6	643	13436	0.00	2.47	0.00	0.000	6	0.000	0.034	2591	2309	1651
13746	0.99	286.7	361.3	8.9	659	13750	0.00	2.58	0.00	0.000	4	0.000	0.059	2591	3703	1651
13773	0.99	286.7	358.8	8.5	660	13777	0.00	2.45	0.00	0.000	6	0.000	0.028	2591	2296	1651
14089	0.99	286.7	331.8	8.5	675	14093	0.00	2.50	0.00	0.000	4	0.000	0.044	2591	898	1651
14110	0.99	286.7	329.8	9.3	676	14114	0.00	2.45	0.00	0.000	6	0.000	0.033	2591	2299	1651
14431	0.99	286.7	301.7	8.8	692	14432	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2297	1651
14740	0.99	286.7	274.9	8.4	707	14741	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2299	1651
15051	0.99	286.7	248.2	8.9	722	15056	0.00	2.60	0.00	0.000	4	0.000	0.058	2591	3708	1652
15073	0.99	286.7	245.8	9.1	723	15078	0.00	2.45	0.00	0.000	6	0.000	0.028	2591	2296	1652
15395	0.99	286.7	216.5	9.7	739	15399	0.00	2.50	0.00	0.000	4	0.000	0.044	2591	898	1652
15422	0.99	286.7	213.6	10.0	740	15426	0.00	2.47	0.00	0.000	6	0.000	0.033	2591	2309	1652
15738	0.99	286.7	183.8	9.5	755	15739	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2309	1652
16047	0.99	286.7	153.5	10.2	770	16052	0.00	2.53	0.00	0.000	4	0.000	0.043	2591	901	1652
16065	0.99	286.7	151.6	10.2	771	16070	0.00	2.45	0.00	0.000	6	0.000	0.033	2591	2302	1653
16393	0.99	286.7	117.0	10.7	787	16394	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2302	1652
16703	0.99	286.7	85.0	8.6	802	16704	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2303	1652
17013	1.06	344.3	65.9	5.5	817	17076	0.00	2.70	53.10	0.614	4	0.000	0.056	2591	3704	1412
17101	1.20	405.9	62.6	5.4	821	17165	0.12	2.47	53.25	0.603	6	0.045	0.028	2631	2297	1159
17475	1.20	405.9	14.1	12.8	839	17479	0.00	2.53	0.00	0.000	4	0.000	0.044	2631	900	1150
17561	end climb: SURFACE_DEPTH_REACHED
state	17561	begin surface coast
17567	end surface coast: CONTROL_FINISHED_OK
state	17568	begin surface