Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 288 * 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 288 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 -2112717.5 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 -2112717.5

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 34 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 288 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 000706,6213.392,-1024.757,26,1.2,26,-10.3 TGT_NAME CE

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.37 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -60.9 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 001513,6213.460,-1024.720,12,1.6,17,-10.3 MHEAD_RNG_PITCHd_Wd 127.8,33939,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026466 ALTIM_BOTTOM_PING 750.7,66.9

SM_CCo 19014,0.00,0.000,0,0,1709,271.79 _24V_AH 23.5,44.939

SM_GC 1.64,12.15,0.00,0.00,0.091,0.000,0.000,70,2601,1709,-10.47,0.03,271.79 _10V_AH 10.1,23.481

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47391,909

TT8_MAMPS 0.02301 CAP_FILE_SIZE 143187,0

HUMID 1825 CFSIZE 260165632,241995776

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 300709,053337,6212.134,-1019.216,36,1.1,36,-10.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 174 117.95 SBE_CT 670 24 378.25

Roll_motor 159 73 275.73 SBE_O2 619 19 276.53

VBD_pump_during_apogee 387 1115 10174.90 WL_BB2F 530 105 1309.01

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 87.73 nil 0 0 0.00

Iridium_during_connect 56 160 212.59 nil 0 0 0.00

Iridium_during_xfer 195 223 1022.25

Transponder_ping 6 420 64.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.71

TT8 1688 19 337.63

LPSleep 14722 2 325.65

TT8_Active 516 19 103.32

TT8_Sampling 1953 39 785.10

TT8_CF8 616 45 285.01

TT8_Kalman 0 81 0.00

Analog_circuits 1517 12 183.87

GPS_charging 0 0 0.00

Compass 1903 8 153.78

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.03 -146.6 0.0 0.0 0 91 0.00 0.00 -70.90 0.000 2 0.000 0.000 72 2595 3084

94 -1.03 -146.6 4.1 -3.9 4 118 11.75 2.42 -6.05 0.000 4 0.175 0.074 2129 3864 3418

264 -0.92 -146.6 32.8 -12.8 11 269 0.15 2.20 0.00 0.000 6 0.101 0.026 2157 2579 3419

580 -0.92 -146.6 69.8 -10.4 26 584 0.00 2.40 0.00 0.000 4 0.000 0.061 2157 3868 3420

608 -0.92 -146.6 72.4 -9.2 27 612 0.00 2.17 0.00 0.000 6 0.000 0.026 2157 2587 3420

924 -0.92 -146.6 96.4 -6.6 42 925 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2586 3420

1236 -0.97 -146.6 120.0 -7.7 57 1240 0.00 2.42 0.00 0.000 4 0.000 0.038 2158 1215 3420

1292 -1.05 -146.6 124.1 -7.5 59 1299 0.12 2.45 0.00 0.000 6 0.043 0.035 2114 2608 3420

1608 -0.96 -146.6 153.5 -9.8 75 1610 0.17 0.00 0.00 0.000 6 0.096 0.000 2148 2607 3420

1916 -0.96 -146.6 179.7 -8.5 90 1921 0.00 2.47 0.00 0.000 4 0.000 0.038 2148 1209 3420

1967 -1.01 -146.6 184.0 -8.3 92 1971 0.00 2.45 0.00 0.000 6 0.000 0.035 2148 2600 3420

2288 -1.01 -146.6 212.2 -8.9 108 2290 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2600 3420

2597 -1.01 -146.6 240.5 -9.3 123 2601 0.00 2.42 0.00 0.000 4 0.000 0.038 2148 1217 3420

2653 -1.07 -146.6 245.6 -9.5 125 2657 0.00 2.45 0.00 0.000 6 0.000 0.035 2148 2605 3420

2969 -1.07 -146.6 274.2 -9.2 140 2973 0.00 2.45 0.00 0.000 4 0.000 0.038 2148 1218 3420

2996 -1.11 -146.6 276.9 -8.9 141 3001 0.15 2.45 0.00 0.000 6 0.043 0.035 2101 2608 3419

3313 -0.99 -146.6 312.3 -11.2 156 3315 0.20 0.00 0.00 0.000 6 0.097 0.000 2139 2608 3419

3622 -0.99 -146.6 339.9 -8.8 171 3626 0.00 2.47 0.00 0.000 4 0.000 0.038 2138 1209 3418

3663 -1.03 -146.6 343.5 -8.8 173 3667 0.00 2.45 0.00 0.000 6 0.000 0.035 2139 2599 3419

3990 -1.03 -146.6 371.8 -8.8 189 3991 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2599 3419

4299 -1.03 -146.6 399.7 -9.2 204 4306 0.00 2.45 0.00 0.000 4 0.000 0.038 2139 1212 3418

4357 -1.07 -146.6 405.2 -9.4 206 4362 0.00 2.45 0.00 0.000 6 0.000 0.035 2139 2601 3418

4674 -1.07 -146.6 435.1 -9.6 221 4678 0.00 2.45 0.00 0.000 4 0.000 0.038 2139 1216 3418

4701 -1.07 -146.6 438.0 -9.6 222 4705 0.00 2.45 0.00 0.000 6 0.000 0.035 2139 2608 3418

5016 -1.07 -146.6 466.0 -8.6 237 5020 0.00 2.47 0.00 0.000 4 0.000 0.038 2139 1209 3417

5050 -1.07 -146.6 468.8 -7.9 238 5056 0.00 2.45 0.00 0.000 6 0.000 0.035 2139 2601 3417

5365 -1.07 -146.6 494.7 -8.4 254 5370 0.00 2.45 0.00 0.000 4 0.000 0.038 2139 1215 3417

5393 -1.07 -146.6 497.2 -8.8 255 5397 0.00 2.45 0.00 0.000 6 0.000 0.035 2139 2605 3417

5715 -1.07 -146.6 526.7 -9.4 271 5719 0.00 2.45 0.00 0.000 4 0.000 0.038 2139 1209 3416

5766 -1.13 -146.6 531.5 -8.7 273 5771 0.12 2.45 0.00 0.000 6 0.048 0.036 2099 2605 3416

6087 -1.02 -146.6 568.7 -12.0 289 6089 0.20 0.00 0.00 0.000 6 0.096 0.000 2137 2605 3416

6397 -1.02 -146.6 600.8 -10.4 304 6398 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2605 3416

6705 -1.02 -146.6 630.0 -8.7 319 6709 0.00 2.47 0.00 0.000 4 0.000 0.039 2137 1211 3416

6732 -1.07 -146.6 632.3 -8.4 320 6736 0.00 2.45 0.00 0.000 6 0.000 0.036 2137 2606 3416

7055 -1.07 -146.6 657.2 -7.7 336 7059 0.00 2.35 0.00 0.000 4 0.000 0.069 2135 3863 3416

7088 -1.07 -146.6 660.1 -8.9 337 7094 0.00 2.15 0.00 0.000 6 0.000 0.028 2137 2597 3416

7403 -1.07 -146.6 685.2 -8.0 353 7407 0.00 2.45 0.00 0.000 4 0.000 0.041 2137 1214 3416

7506 -1.16 -146.6 693.6 -7.7 357 7511 0.15 2.45 0.00 0.000 6 0.044 0.038 2091 2600 3415

7822 -1.07 -146.6 724.1 -9.6 372 7827 0.17 2.38 0.00 0.000 4 0.095 0.071 2128 3863 3415

7873 -1.07 -146.6 728.8 -8.7 374 7877 0.00 2.15 0.00 0.000 6 0.000 0.028 2128 2603 3415

8194 -1.07 -146.6 754.1 -8.0 390 8198 0.00 2.50 0.00 0.000 4 0.000 0.044 2128 1206 3415

8260 -1.12 -146.6 759.5 -8.4 393 8265 0.00 2.47 0.00 0.000 6 0.000 0.039 2128 2598 3414

8582 -1.12 -146.6 785.2 -7.6 409 8583 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2599 3413

8867 end dive: BOTTOM_OBSTACLE_DETECTED

state 8867 begin apogee

8874 -0.31 0.0 808.9 8.8 423 9010 0.80 0.00 131.20 1.116 6 0.099 0.000 2290 2301 2817

9011 end apogee: CONTROL_FINISHED_OK

state 9011 begin climb

9014 1.03 146.6 814.3 0.0 430 9158 1.35 2.60 132.23 1.106 4 0.074 0.048 2575 911 2216

9347 0.99 165.7 799.6 6.8 445 9371 0.00 2.50 17.40 1.016 6 0.000 0.038 2575 2304 2141

9694 0.93 165.7 774.7 7.8 462 9699 0.00 2.65 0.00 0.000 4 0.000 0.068 2575 3703 2136

9739 0.84 165.7 770.7 8.7 464 9744 0.17 2.47 0.00 0.000 6 0.110 0.031 2544 2306 2136

10061 0.85 176.3 747.7 7.1 480 10073 0.00 0.00 10.50 0.945 6 0.000 0.000 2544 2307 2098

10369 0.87 196.5 726.7 6.8 495 10394 0.00 2.65 19.83 1.012 4 0.000 0.053 2543 902 2014

10429 0.92 196.9 722.2 7.5 497 10435 0.00 2.53 0.00 0.000 6 0.000 0.038 2543 2306 2012

10745 0.93 205.6 698.7 7.2 513 10760 0.00 2.70 9.45 0.910 4 0.000 0.067 2544 3710 1978

10813 0.93 210.0 693.5 7.4 516 10824 0.00 2.50 5.90 0.800 6 0.000 0.031 2543 2300 1960

11141 1.02 233.1 670.8 6.7 532 11171 0.17 2.65 22.85 0.999 4 0.051 0.052 2587 906 1865

11229 1.02 233.1 663.1 9.2 536 11234 0.00 2.53 0.00 0.000 6 0.000 0.038 2588 2309 1861

11557 1.02 233.1 634.7 8.4 552 11561 0.00 2.62 0.00 0.000 4 0.000 0.065 2587 3701 1860

11601 0.93 233.1 630.6 9.4 554 11606 0.12 2.47 0.00 0.000 6 0.114 0.031 2566 2299 1860

11922 0.93 235.2 605.9 7.4 570 11926 0.00 2.65 0.00 0.000 4 0.000 0.062 2566 3706 1859

12007 0.93 235.2 598.4 9.3 574 12011 0.00 2.47 0.00 0.000 6 0.000 0.031 2567 2302 1860

12333 0.94 236.6 572.6 7.5 590 12334 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2302 1859

12642 0.95 248.8 550.8 7.1 605 12662 0.00 0.00 15.18 0.887 6 0.000 0.000 2567 2300 1801

12973 0.99 248.8 524.1 8.5 621 12974 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2302 1799

13282 1.03 248.8 495.7 9.2 636 13286 0.00 2.60 0.00 0.000 4 0.000 0.060 2566 3702 1798

13303 1.03 248.8 493.5 9.4 637 13307 0.00 2.45 0.00 0.000 6 0.000 0.028 2566 2297 1798

13625 1.08 248.8 465.6 8.5 653 13626 0.12 0.00 0.00 0.000 6 0.052 0.000 2598 2296 1798

13933 1.03 248.8 435.1 9.8 668 13934 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2296 1798

14243 1.03 248.8 404.4 10.1 683 14244 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 2296 1798

14552 0.99 248.8 373.1 10.1 698 14557 0.12 2.60 0.00 0.000 4 0.094 0.058 2576 3704 1799

14579 0.99 248.8 370.2 9.3 699 14583 0.00 2.45 0.00 0.000 6 0.000 0.028 2576 2296 1799

14895 0.99 248.8 342.3 8.9 714 14896 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2296 1798

15204 0.99 248.8 315.3 8.4 729 15205 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2296 1799

15513 0.99 248.8 288.3 8.8 744 15517 0.00 2.60 0.00 0.000 4 0.000 0.057 2576 3710 1799

15534 0.99 248.8 286.2 9.2 745 15538 0.00 2.45 0.00 0.000 6 0.000 0.028 2576 2300 1799

15857 0.99 248.8 257.7 9.1 761 15858 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2300 1800

16165 0.99 248.8 229.6 9.1 776 16169 0.00 2.60 0.00 0.000 4 0.000 0.057 2576 3710 1800

16192 0.99 248.8 227.0 8.8 777 16196 0.00 2.45 0.00 0.000 6 0.000 0.028 2576 2297 1800

16508 0.99 248.8 200.3 8.0 792 16509 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2297 1800

16817 1.00 257.4 177.7 7.2 807 16831 0.00 2.62 9.20 0.614 4 0.000 0.056 2576 3709 1767

16871 1.01 262.4 173.6 7.3 809 16883 0.00 2.47 5.78 0.541 6 0.000 0.027 2576 2292 1747

17193 1.07 269.9 150.6 7.2 825 17203 0.00 0.00 8.48 0.585 6 0.000 0.000 2576 2292 1716

17503 1.12 269.9 127.3 7.6 840 17505 0.12 0.00 0.00 0.000 6 0.048 0.000 2614 2291 1714

17812 1.07 269.9 98.5 10.1 855 17817 0.12 2.60 0.00 0.000 4 0.091 0.055 2591 3702 1714

17839 1.07 269.9 95.7 9.9 856 17843 0.00 2.45 0.00 0.000 6 0.000 0.028 2590 2293 1713

18155 1.07 269.9 68.1 8.2 871 18159 0.00 2.50 0.00 0.000 4 0.000 0.044 2590 898 1714

18177 1.11 269.9 66.2 8.7 872 18182 0.00 2.45 0.00 0.000 6 0.000 0.032 2590 2304 1713

18500 1.16 269.9 40.0 7.8 888 18505 0.10 2.53 0.00 0.000 4 0.051 0.041 2626 892 1713

18564 1.11 269.9 33.3 10.4 891 18569 0.12 2.47 0.00 0.000 6 0.088 0.032 2602 2305 1713

18892 1.11 269.9 4.4 7.7 907 18893 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2305 1714

18909 end climb: SURFACE_DEPTH_REACHED

state 18909 begin surface coast

18931 end surface coast: CONTROL_FINISHED_OK

state 18931 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	288	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	-2112717.5	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	000706,6213.392,-1024.757,26,1.2,26,-10.3	TGT_NAME	CE
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.37	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-60.9	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	001513,6213.460,-1024.720,12,1.6,17,-10.3	MHEAD_RNG_PITCHd_Wd	127.8,33939,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.026466	ALTIM_BOTTOM_PING	750.7,66.9
SM_CCo	19014,0.00,0.000,0,0,1709,271.79	_24V_AH	23.5,44.939
SM_GC	1.64,12.15,0.00,0.00,0.091,0.000,0.000,70,2601,1709,-10.47,0.03,271.79	_10V_AH	10.1,23.481
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47391,909
TT8_MAMPS	0.02301	CAP_FILE_SIZE	143187,0
HUMID	1825	CFSIZE	260165632,241995776
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	300709,053337,6212.134,-1019.216,36,1.1,36,-10.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	174	117.95	SBE_CT	670	24	378.25
Roll_motor	159	73	275.73	SBE_O2	619	19	276.53
VBD_pump_during_apogee	387	1115	10174.90	WL_BB2F	530	105	1309.01
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	87.73	nil	0	0	0.00
Iridium_during_connect	56	160	212.59	nil	0	0	0.00
Iridium_during_xfer	195	223	1022.25
Transponder_ping	6	420	64.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.71
TT8	1688	19	337.63
LPSleep	14722	2	325.65
TT8_Active	516	19	103.32
TT8_Sampling	1953	39	785.10
TT8_CF8	616	45	285.01
TT8_Kalman	0	81	0.00
Analog_circuits	1517	12	183.87
GPS_charging	0	0	0.00
Compass	1903	8	153.78
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.03	-146.6	0.0	0.0	0	91	0.00	0.00	-70.90	0.000	2	0.000	0.000	72	2595	3084
94	-1.03	-146.6	4.1	-3.9	4	118	11.75	2.42	-6.05	0.000	4	0.175	0.074	2129	3864	3418
264	-0.92	-146.6	32.8	-12.8	11	269	0.15	2.20	0.00	0.000	6	0.101	0.026	2157	2579	3419
580	-0.92	-146.6	69.8	-10.4	26	584	0.00	2.40	0.00	0.000	4	0.000	0.061	2157	3868	3420
608	-0.92	-146.6	72.4	-9.2	27	612	0.00	2.17	0.00	0.000	6	0.000	0.026	2157	2587	3420
924	-0.92	-146.6	96.4	-6.6	42	925	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2586	3420
1236	-0.97	-146.6	120.0	-7.7	57	1240	0.00	2.42	0.00	0.000	4	0.000	0.038	2158	1215	3420
1292	-1.05	-146.6	124.1	-7.5	59	1299	0.12	2.45	0.00	0.000	6	0.043	0.035	2114	2608	3420
1608	-0.96	-146.6	153.5	-9.8	75	1610	0.17	0.00	0.00	0.000	6	0.096	0.000	2148	2607	3420
1916	-0.96	-146.6	179.7	-8.5	90	1921	0.00	2.47	0.00	0.000	4	0.000	0.038	2148	1209	3420
1967	-1.01	-146.6	184.0	-8.3	92	1971	0.00	2.45	0.00	0.000	6	0.000	0.035	2148	2600	3420
2288	-1.01	-146.6	212.2	-8.9	108	2290	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2600	3420
2597	-1.01	-146.6	240.5	-9.3	123	2601	0.00	2.42	0.00	0.000	4	0.000	0.038	2148	1217	3420
2653	-1.07	-146.6	245.6	-9.5	125	2657	0.00	2.45	0.00	0.000	6	0.000	0.035	2148	2605	3420
2969	-1.07	-146.6	274.2	-9.2	140	2973	0.00	2.45	0.00	0.000	4	0.000	0.038	2148	1218	3420
2996	-1.11	-146.6	276.9	-8.9	141	3001	0.15	2.45	0.00	0.000	6	0.043	0.035	2101	2608	3419
3313	-0.99	-146.6	312.3	-11.2	156	3315	0.20	0.00	0.00	0.000	6	0.097	0.000	2139	2608	3419
3622	-0.99	-146.6	339.9	-8.8	171	3626	0.00	2.47	0.00	0.000	4	0.000	0.038	2138	1209	3418
3663	-1.03	-146.6	343.5	-8.8	173	3667	0.00	2.45	0.00	0.000	6	0.000	0.035	2139	2599	3419
3990	-1.03	-146.6	371.8	-8.8	189	3991	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2599	3419
4299	-1.03	-146.6	399.7	-9.2	204	4306	0.00	2.45	0.00	0.000	4	0.000	0.038	2139	1212	3418
4357	-1.07	-146.6	405.2	-9.4	206	4362	0.00	2.45	0.00	0.000	6	0.000	0.035	2139	2601	3418
4674	-1.07	-146.6	435.1	-9.6	221	4678	0.00	2.45	0.00	0.000	4	0.000	0.038	2139	1216	3418
4701	-1.07	-146.6	438.0	-9.6	222	4705	0.00	2.45	0.00	0.000	6	0.000	0.035	2139	2608	3418
5016	-1.07	-146.6	466.0	-8.6	237	5020	0.00	2.47	0.00	0.000	4	0.000	0.038	2139	1209	3417
5050	-1.07	-146.6	468.8	-7.9	238	5056	0.00	2.45	0.00	0.000	6	0.000	0.035	2139	2601	3417
5365	-1.07	-146.6	494.7	-8.4	254	5370	0.00	2.45	0.00	0.000	4	0.000	0.038	2139	1215	3417
5393	-1.07	-146.6	497.2	-8.8	255	5397	0.00	2.45	0.00	0.000	6	0.000	0.035	2139	2605	3417
5715	-1.07	-146.6	526.7	-9.4	271	5719	0.00	2.45	0.00	0.000	4	0.000	0.038	2139	1209	3416
5766	-1.13	-146.6	531.5	-8.7	273	5771	0.12	2.45	0.00	0.000	6	0.048	0.036	2099	2605	3416
6087	-1.02	-146.6	568.7	-12.0	289	6089	0.20	0.00	0.00	0.000	6	0.096	0.000	2137	2605	3416
6397	-1.02	-146.6	600.8	-10.4	304	6398	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2605	3416
6705	-1.02	-146.6	630.0	-8.7	319	6709	0.00	2.47	0.00	0.000	4	0.000	0.039	2137	1211	3416
6732	-1.07	-146.6	632.3	-8.4	320	6736	0.00	2.45	0.00	0.000	6	0.000	0.036	2137	2606	3416
7055	-1.07	-146.6	657.2	-7.7	336	7059	0.00	2.35	0.00	0.000	4	0.000	0.069	2135	3863	3416
7088	-1.07	-146.6	660.1	-8.9	337	7094	0.00	2.15	0.00	0.000	6	0.000	0.028	2137	2597	3416
7403	-1.07	-146.6	685.2	-8.0	353	7407	0.00	2.45	0.00	0.000	4	0.000	0.041	2137	1214	3416
7506	-1.16	-146.6	693.6	-7.7	357	7511	0.15	2.45	0.00	0.000	6	0.044	0.038	2091	2600	3415
7822	-1.07	-146.6	724.1	-9.6	372	7827	0.17	2.38	0.00	0.000	4	0.095	0.071	2128	3863	3415
7873	-1.07	-146.6	728.8	-8.7	374	7877	0.00	2.15	0.00	0.000	6	0.000	0.028	2128	2603	3415
8194	-1.07	-146.6	754.1	-8.0	390	8198	0.00	2.50	0.00	0.000	4	0.000	0.044	2128	1206	3415
8260	-1.12	-146.6	759.5	-8.4	393	8265	0.00	2.47	0.00	0.000	6	0.000	0.039	2128	2598	3414
8582	-1.12	-146.6	785.2	-7.6	409	8583	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2599	3413
8867	end dive: BOTTOM_OBSTACLE_DETECTED
state	8867	begin apogee
8874	-0.31	0.0	808.9	8.8	423	9010	0.80	0.00	131.20	1.116	6	0.099	0.000	2290	2301	2817
9011	end apogee: CONTROL_FINISHED_OK
state	9011	begin climb
9014	1.03	146.6	814.3	0.0	430	9158	1.35	2.60	132.23	1.106	4	0.074	0.048	2575	911	2216
9347	0.99	165.7	799.6	6.8	445	9371	0.00	2.50	17.40	1.016	6	0.000	0.038	2575	2304	2141
9694	0.93	165.7	774.7	7.8	462	9699	0.00	2.65	0.00	0.000	4	0.000	0.068	2575	3703	2136
9739	0.84	165.7	770.7	8.7	464	9744	0.17	2.47	0.00	0.000	6	0.110	0.031	2544	2306	2136
10061	0.85	176.3	747.7	7.1	480	10073	0.00	0.00	10.50	0.945	6	0.000	0.000	2544	2307	2098
10369	0.87	196.5	726.7	6.8	495	10394	0.00	2.65	19.83	1.012	4	0.000	0.053	2543	902	2014
10429	0.92	196.9	722.2	7.5	497	10435	0.00	2.53	0.00	0.000	6	0.000	0.038	2543	2306	2012
10745	0.93	205.6	698.7	7.2	513	10760	0.00	2.70	9.45	0.910	4	0.000	0.067	2544	3710	1978
10813	0.93	210.0	693.5	7.4	516	10824	0.00	2.50	5.90	0.800	6	0.000	0.031	2543	2300	1960
11141	1.02	233.1	670.8	6.7	532	11171	0.17	2.65	22.85	0.999	4	0.051	0.052	2587	906	1865
11229	1.02	233.1	663.1	9.2	536	11234	0.00	2.53	0.00	0.000	6	0.000	0.038	2588	2309	1861
11557	1.02	233.1	634.7	8.4	552	11561	0.00	2.62	0.00	0.000	4	0.000	0.065	2587	3701	1860
11601	0.93	233.1	630.6	9.4	554	11606	0.12	2.47	0.00	0.000	6	0.114	0.031	2566	2299	1860
11922	0.93	235.2	605.9	7.4	570	11926	0.00	2.65	0.00	0.000	4	0.000	0.062	2566	3706	1859
12007	0.93	235.2	598.4	9.3	574	12011	0.00	2.47	0.00	0.000	6	0.000	0.031	2567	2302	1860
12333	0.94	236.6	572.6	7.5	590	12334	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2302	1859
12642	0.95	248.8	550.8	7.1	605	12662	0.00	0.00	15.18	0.887	6	0.000	0.000	2567	2300	1801
12973	0.99	248.8	524.1	8.5	621	12974	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2302	1799
13282	1.03	248.8	495.7	9.2	636	13286	0.00	2.60	0.00	0.000	4	0.000	0.060	2566	3702	1798
13303	1.03	248.8	493.5	9.4	637	13307	0.00	2.45	0.00	0.000	6	0.000	0.028	2566	2297	1798
13625	1.08	248.8	465.6	8.5	653	13626	0.12	0.00	0.00	0.000	6	0.052	0.000	2598	2296	1798
13933	1.03	248.8	435.1	9.8	668	13934	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2296	1798
14243	1.03	248.8	404.4	10.1	683	14244	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	2296	1798
14552	0.99	248.8	373.1	10.1	698	14557	0.12	2.60	0.00	0.000	4	0.094	0.058	2576	3704	1799
14579	0.99	248.8	370.2	9.3	699	14583	0.00	2.45	0.00	0.000	6	0.000	0.028	2576	2296	1799
14895	0.99	248.8	342.3	8.9	714	14896	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2296	1798
15204	0.99	248.8	315.3	8.4	729	15205	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2296	1799
15513	0.99	248.8	288.3	8.8	744	15517	0.00	2.60	0.00	0.000	4	0.000	0.057	2576	3710	1799
15534	0.99	248.8	286.2	9.2	745	15538	0.00	2.45	0.00	0.000	6	0.000	0.028	2576	2300	1799
15857	0.99	248.8	257.7	9.1	761	15858	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2300	1800
16165	0.99	248.8	229.6	9.1	776	16169	0.00	2.60	0.00	0.000	4	0.000	0.057	2576	3710	1800
16192	0.99	248.8	227.0	8.8	777	16196	0.00	2.45	0.00	0.000	6	0.000	0.028	2576	2297	1800
16508	0.99	248.8	200.3	8.0	792	16509	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2297	1800
16817	1.00	257.4	177.7	7.2	807	16831	0.00	2.62	9.20	0.614	4	0.000	0.056	2576	3709	1767
16871	1.01	262.4	173.6	7.3	809	16883	0.00	2.47	5.78	0.541	6	0.000	0.027	2576	2292	1747
17193	1.07	269.9	150.6	7.2	825	17203	0.00	0.00	8.48	0.585	6	0.000	0.000	2576	2292	1716
17503	1.12	269.9	127.3	7.6	840	17505	0.12	0.00	0.00	0.000	6	0.048	0.000	2614	2291	1714
17812	1.07	269.9	98.5	10.1	855	17817	0.12	2.60	0.00	0.000	4	0.091	0.055	2591	3702	1714
17839	1.07	269.9	95.7	9.9	856	17843	0.00	2.45	0.00	0.000	6	0.000	0.028	2590	2293	1713
18155	1.07	269.9	68.1	8.2	871	18159	0.00	2.50	0.00	0.000	4	0.000	0.044	2590	898	1714
18177	1.11	269.9	66.2	8.7	872	18182	0.00	2.45	0.00	0.000	6	0.000	0.032	2590	2304	1713
18500	1.16	269.9	40.0	7.8	888	18505	0.10	2.53	0.00	0.000	4	0.051	0.041	2626	892	1713
18564	1.11	269.9	33.3	10.4	891	18569	0.12	2.47	0.00	0.000	6	0.088	0.032	2602	2305	1713
18892	1.11	269.9	4.4	7.7	907	18893	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2305	1714
18909	end climb: SURFACE_DEPTH_REACHED
state	18909	begin surface coast
18931	end surface coast: CONTROL_FINISHED_OK
state	18931	begin surface