Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 289 * 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 289 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 35 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 -2112730.5 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 -2112730.5

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 35 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 289 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 053337,6212.134,-1019.216,36,1.1,36,-10.2 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 1.46 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -65.9 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 054326,6211.999,-1019.103,12,1.9,12,-10.2 MHEAD_RNG_PITCHd_Wd 127.4,28369,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.023667 ALTIM_BOTTOM_PING 776.0,64.7

SM_CCo 17873,0.00,0.000,0,0,1526,316.68 _24V_AH 23.5,45.092

SM_GC 1.56,12.12,0.00,0.00,0.088,0.000,0.000,74,2605,1526,-10.47,0.14,316.68 _10V_AH 10.1,23.563

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44271,858

TT8_MAMPS 0.02301 CAP_FILE_SIZE 141069,0

HUMID 1831 CFSIZE 260165632,241930240

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 300709,104255,6208.832,-1014.461,40,2.0,40,-10.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 177 121.69 SBE_CT 630 24 355.56

Roll_motor 168 70 279.25 SBE_O2 583 19 260.67

VBD_pump_during_apogee 424 1132 11282.83 WL_BB2F 470 105 1160.18

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 99.91 nil 0 0 0.00

Iridium_during_connect 60 160 228.98 nil 0 0 0.00

Iridium_during_xfer 287 223 1507.22

Transponder_ping 6 420 66.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.24

TT8 1603 19 320.67

LPSleep 13717 2 303.43

TT8_Active 551 19 110.34

TT8_Sampling 1869 39 751.69

TT8_CF8 714 45 330.36

TT8_Kalman 0 81 0.00

Analog_circuits 1514 12 183.55

GPS_charging 0 0 0.00

Compass 1819 8 146.99

RAFOS 0 0 0.00

Transponder 48 30 14.76

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 13 begin dive

16 -1.03 -146.6 0.0 0.0 0 77 0.00 0.00 -57.33 0.000 6 0.000 0.000 69 2602 3416

81 -1.03 -146.6 7.2 -13.8 3 102 11.77 2.35 0.00 0.000 4 0.178 0.057 2129 3857 3416

321 -0.97 -146.6 51.3 -12.2 13 328 0.00 2.17 0.00 0.000 6 0.000 0.026 2129 2576 3418

638 -0.91 -146.6 85.9 -10.1 29 643 0.17 2.42 0.00 0.000 4 0.137 0.038 2161 1205 3418

701 -1.01 -146.6 91.5 -8.8 32 706 0.00 2.45 0.00 0.000 6 0.000 0.035 2161 2594 3418

1029 -1.06 -146.6 125.9 -10.7 48 1031 0.15 0.00 0.00 0.000 6 0.046 0.000 2110 2595 3418

1338 -0.96 -146.6 165.6 -12.6 63 1343 0.17 2.35 0.00 0.000 4 0.093 0.062 2148 3867 3418

1378 -0.96 -146.6 170.2 -11.1 65 1382 0.00 2.15 0.00 0.000 6 0.000 0.026 2148 2593 3418

1712 -0.96 -146.6 200.8 -8.8 81 1716 0.00 2.42 0.00 0.000 4 0.000 0.038 2148 1215 3418

1774 -1.01 -146.6 206.3 -8.7 83 1780 0.00 2.45 0.00 0.000 6 0.000 0.035 2148 2603 3419

2089 -1.01 -146.6 234.2 -8.9 99 2090 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2604 3418

2398 -1.01 -146.6 262.0 -9.0 114 2403 0.00 2.47 0.00 0.000 4 0.000 0.038 2148 1205 3418

2462 -1.07 -146.6 267.4 -8.6 117 2466 0.00 2.47 0.00 0.000 6 0.000 0.035 2148 2609 3418

2788 -1.07 -146.6 295.3 -8.3 133 2792 0.00 2.47 0.00 0.000 4 0.000 0.038 2148 1209 3418

2821 -1.13 -146.6 298.1 -8.1 134 2828 0.15 2.45 0.00 0.000 6 0.043 0.035 2100 2601 3417

3137 -1.00 -146.6 331.4 -10.7 150 3139 0.20 0.00 0.00 0.000 6 0.095 0.000 2138 2601 3417

3446 -1.00 -146.6 357.5 -8.4 165 3450 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1213 3417

3490 -1.00 -146.6 361.3 -8.1 167 3494 0.00 2.45 0.00 0.000 6 0.000 0.035 2138 2604 3417

3811 -1.00 -146.6 389.9 -9.1 183 3814 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1212 3417

3844 -1.00 -146.6 393.2 -9.7 184 3848 0.00 2.45 0.00 0.000 6 0.000 0.035 2138 2603 3417

4160 -1.00 -146.6 424.4 -10.2 199 4165 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1213 3416

4187 -1.00 -146.6 427.4 -10.2 200 4191 0.00 2.45 0.00 0.000 6 0.000 0.035 2138 2605 3416

4508 -1.00 -146.6 459.1 -9.5 216 4512 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1211 3416

4553 -1.05 -146.6 463.3 -9.0 218 4557 0.00 2.45 0.00 0.000 6 0.000 0.035 2138 2600 3416

4886 -1.05 -146.6 491.4 -7.8 234 4890 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1212 3416

4919 -1.05 -146.6 494.1 -7.7 235 4926 0.00 2.45 0.00 0.000 6 0.000 0.035 2138 2609 3416

5236 -1.05 -146.6 519.0 -8.5 251 5240 0.00 2.47 0.00 0.000 4 0.000 0.038 2138 1207 3416

5281 -1.10 -146.6 522.9 -8.0 253 5285 0.00 2.45 0.00 0.000 6 0.000 0.035 2138 2600 3416

5602 -1.10 -146.6 553.8 -9.8 269 5606 0.00 2.45 0.00 0.000 4 0.000 0.038 2138 1211 3416

5647 -1.15 -146.6 558.5 -10.1 271 5652 0.15 2.45 0.00 0.000 6 0.044 0.035 2091 2605 3416

5968 -1.02 -146.6 598.7 -12.3 287 5970 0.22 0.00 0.00 0.000 6 0.096 0.000 2134 2604 3416

6277 -1.02 -146.6 627.2 -9.8 302 6278 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2603 3416

6587 -1.02 -146.6 653.6 -8.4 317 6591 0.00 2.45 0.00 0.000 4 0.000 0.038 2134 1212 3415

6678 -1.09 -146.6 661.2 -7.9 321 6682 0.00 2.42 0.00 0.000 6 0.000 0.036 2134 2599 3415

7011 -1.09 -146.6 686.7 -7.7 337 7015 0.00 2.35 0.00 0.000 4 0.000 0.069 2134 3858 3415

7051 -1.09 -146.6 690.1 -8.5 339 7054 0.00 2.12 0.00 0.000 6 0.000 0.027 2134 2601 3415

7383 -1.13 -146.6 719.0 -8.6 355 7387 0.00 2.45 0.00 0.000 4 0.000 0.041 2134 1213 3414

7502 -1.20 -146.6 729.0 -8.6 360 7507 0.17 2.45 0.00 0.000 6 0.041 0.038 2081 2605 3414

7818 -1.09 -146.6 763.7 -11.2 375 7823 0.17 2.35 0.00 0.000 4 0.096 0.071 2119 3858 3414

7850 -1.09 -146.6 767.4 -10.3 376 7857 0.00 2.15 0.00 0.000 6 0.000 0.029 2119 2604 3413

8167 -1.09 -146.6 797.3 -9.1 392 8171 0.00 2.50 0.00 0.000 4 0.000 0.044 2118 1203 3413

8194 -1.09 -146.6 800.0 -9.9 393 8199 0.00 2.47 0.00 0.000 6 0.000 0.039 2118 2597 3413

8511 -1.09 -146.6 826.7 -8.8 408 8512 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2597 3412

8570 end dive: BOTTOM_OBSTACLE_DETECTED

state 8570 begin apogee

8577 -0.31 0.0 831.6 8.1 411 8712 0.90 0.00 130.80 1.132 6 0.133 0.000 2288 2299 2817

8713 end apogee: CONTROL_FINISHED_OK

state 8713 begin climb

8716 1.03 146.6 836.0 0.0 418 8857 1.40 2.62 133.18 1.122 4 0.074 0.049 2582 916 2217

8916 0.96 160.7 830.4 7.0 427 8936 0.00 2.50 13.60 1.002 6 0.000 0.038 2582 2303 2161

9253 0.91 160.7 802.7 7.9 444 9255 0.12 0.00 0.00 0.000 6 0.095 0.000 2558 2303 2155

9563 0.86 160.7 779.2 7.7 459 9567 0.00 2.65 0.00 0.000 4 0.000 0.069 2558 3708 2154

9631 0.75 160.7 773.4 8.5 462 9636 0.17 2.47 0.00 0.000 6 0.102 0.031 2526 2309 2154

9952 0.80 160.7 749.5 7.8 478 9954 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2309 2153

10263 0.86 160.9 726.1 7.5 493 10264 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2309 2152

10571 0.98 208.0 705.4 5.9 508 10617 0.17 0.00 43.17 1.048 6 0.048 0.000 2577 2309 1968

10942 1.06 281.2 683.8 5.0 526 11014 0.00 0.00 69.22 1.043 6 0.000 0.000 2577 2308 1670

11314 1.08 300.9 660.4 6.8 544 11338 0.00 2.70 18.50 0.964 4 0.000 0.064 2577 3701 1589

11358 1.09 309.0 657.4 7.2 546 11372 0.00 2.50 9.23 0.870 6 0.000 0.030 2577 2297 1556

11690 1.15 309.0 630.4 9.5 562 11695 0.15 2.58 0.00 0.000 4 0.051 0.051 2619 891 1551

11723 1.10 309.0 626.3 12.0 563 11730 0.00 2.53 0.00 0.000 6 0.000 0.036 2620 2308 1550

12040 1.04 309.0 583.9 13.9 579 12045 0.17 2.60 0.00 0.000 4 0.094 0.061 2582 3706 1549

12073 1.04 309.0 579.2 13.5 580 12079 0.00 2.47 0.00 0.000 6 0.000 0.030 2582 2296 1549

12389 1.08 309.0 542.4 10.9 596 12393 0.00 2.53 0.00 0.000 4 0.000 0.049 2582 898 1548

12436 1.15 309.0 537.1 11.7 598 12441 0.12 2.47 0.00 0.000 6 0.052 0.035 2619 2303 1546

12763 1.10 309.0 500.8 10.0 614 12764 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2303 1547

13072 1.05 309.0 470.2 9.8 629 13077 0.15 2.55 0.00 0.000 4 0.091 0.044 2590 889 1547

13094 1.05 309.0 468.0 9.6 630 13099 0.00 2.50 0.00 0.000 6 0.000 0.033 2590 2309 1546

13416 1.05 309.0 440.4 8.8 646 13417 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2309 1546

13725 1.05 309.0 409.7 10.4 661 13729 0.00 2.55 0.00 0.000 4 0.000 0.044 2590 892 1546

13753 1.05 309.0 406.5 11.3 662 13758 0.00 2.47 0.00 0.000 6 0.000 0.033 2590 2302 1546

14075 1.05 309.0 370.3 11.5 678 14079 0.00 2.53 0.00 0.000 4 0.000 0.043 2590 895 1547

14096 1.05 309.0 367.6 11.5 679 14100 0.00 2.47 0.00 0.000 6 0.000 0.032 2590 2308 1546

14417 1.05 309.0 333.0 10.4 695 14418 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2308 1547

14726 1.05 309.0 304.0 8.5 710 14730 0.00 2.55 0.00 0.000 4 0.000 0.044 2590 891 1546

14747 1.05 309.0 302.0 8.6 711 14751 0.00 2.47 0.00 0.000 6 0.000 0.033 2590 2304 1547

15068 1.05 309.0 275.6 8.4 727 15072 0.00 2.53 0.00 0.000 4 0.000 0.043 2590 895 1547

15096 1.10 309.0 273.0 8.9 728 15100 0.00 2.47 0.00 0.000 6 0.000 0.032 2590 2309 1547

15412 1.10 309.0 244.3 9.5 743 15413 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2309 1547

15722 1.14 309.0 213.6 9.9 758 15726 0.00 2.55 0.00 0.000 4 0.000 0.043 2591 889 1548

15766 1.20 309.0 208.9 10.5 760 15771 0.12 2.47 0.00 0.000 6 0.047 0.033 2630 2304 1547

16088 1.13 309.0 174.5 10.2 776 16093 0.12 2.53 0.00 0.000 4 0.092 0.041 2606 891 1548

16112 1.13 309.0 172.2 10.1 777 16116 0.00 2.47 0.00 0.000 6 0.000 0.032 2607 2305 1548

16433 1.13 309.0 136.4 12.9 793 16437 0.00 2.53 0.00 0.000 4 0.000 0.043 2606 895 1548

16472 1.13 309.0 131.0 13.4 795 16477 0.00 2.45 0.00 0.000 6 0.000 0.033 2606 2300 1548

16800 1.13 309.0 91.5 10.4 811 16801 0.00 0.00 0.00 0.000 6 0.000 0.000 2607 2300 1548

17109 1.14 315.9 67.2 7.3 826 17122 0.00 2.58 6.40 0.512 4 0.000 0.058 2606 3701 1528

17163 1.14 315.9 62.9 7.7 828 17167 0.00 2.45 0.00 0.000 6 0.000 0.027 2606 2291 1528

17480 1.14 315.9 33.5 12.0 843 17484 0.00 2.47 0.00 0.000 4 0.000 0.044 2607 899 1528

17588 1.19 315.9 20.3 10.6 848 17592 0.00 2.45 0.00 0.000 6 0.000 0.033 2606 2302 1527

17769 end climb: SURFACE_DEPTH_REACHED

state 17769 begin surface coast

17789 end surface coast: CONTROL_FINISHED_OK

state 17789 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	289	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	35	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	-2112730.5	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	053337,6212.134,-1019.216,36,1.1,36,-10.2	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	1.46	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-65.9	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	054326,6211.999,-1019.103,12,1.9,12,-10.2	MHEAD_RNG_PITCHd_Wd	127.4,28369,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.023667	ALTIM_BOTTOM_PING	776.0,64.7
SM_CCo	17873,0.00,0.000,0,0,1526,316.68	_24V_AH	23.5,45.092
SM_GC	1.56,12.12,0.00,0.00,0.088,0.000,0.000,74,2605,1526,-10.47,0.14,316.68	_10V_AH	10.1,23.563
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44271,858
TT8_MAMPS	0.02301	CAP_FILE_SIZE	141069,0
HUMID	1831	CFSIZE	260165632,241930240
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	300709,104255,6208.832,-1014.461,40,2.0,40,-10.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	177	121.69	SBE_CT	630	24	355.56
Roll_motor	168	70	279.25	SBE_O2	583	19	260.67
VBD_pump_during_apogee	424	1132	11282.83	WL_BB2F	470	105	1160.18
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	99.91	nil	0	0	0.00
Iridium_during_connect	60	160	228.98	nil	0	0	0.00
Iridium_during_xfer	287	223	1507.22
Transponder_ping	6	420	66.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.24
TT8	1603	19	320.67
LPSleep	13717	2	303.43
TT8_Active	551	19	110.34
TT8_Sampling	1869	39	751.69
TT8_CF8	714	45	330.36
TT8_Kalman	0	81	0.00
Analog_circuits	1514	12	183.55
GPS_charging	0	0	0.00
Compass	1819	8	146.99
RAFOS	0	0	0.00
Transponder	48	30	14.76

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	13	begin dive
16	-1.03	-146.6	0.0	0.0	0	77	0.00	0.00	-57.33	0.000	6	0.000	0.000	69	2602	3416
81	-1.03	-146.6	7.2	-13.8	3	102	11.77	2.35	0.00	0.000	4	0.178	0.057	2129	3857	3416
321	-0.97	-146.6	51.3	-12.2	13	328	0.00	2.17	0.00	0.000	6	0.000	0.026	2129	2576	3418
638	-0.91	-146.6	85.9	-10.1	29	643	0.17	2.42	0.00	0.000	4	0.137	0.038	2161	1205	3418
701	-1.01	-146.6	91.5	-8.8	32	706	0.00	2.45	0.00	0.000	6	0.000	0.035	2161	2594	3418
1029	-1.06	-146.6	125.9	-10.7	48	1031	0.15	0.00	0.00	0.000	6	0.046	0.000	2110	2595	3418
1338	-0.96	-146.6	165.6	-12.6	63	1343	0.17	2.35	0.00	0.000	4	0.093	0.062	2148	3867	3418
1378	-0.96	-146.6	170.2	-11.1	65	1382	0.00	2.15	0.00	0.000	6	0.000	0.026	2148	2593	3418
1712	-0.96	-146.6	200.8	-8.8	81	1716	0.00	2.42	0.00	0.000	4	0.000	0.038	2148	1215	3418
1774	-1.01	-146.6	206.3	-8.7	83	1780	0.00	2.45	0.00	0.000	6	0.000	0.035	2148	2603	3419
2089	-1.01	-146.6	234.2	-8.9	99	2090	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2604	3418
2398	-1.01	-146.6	262.0	-9.0	114	2403	0.00	2.47	0.00	0.000	4	0.000	0.038	2148	1205	3418
2462	-1.07	-146.6	267.4	-8.6	117	2466	0.00	2.47	0.00	0.000	6	0.000	0.035	2148	2609	3418
2788	-1.07	-146.6	295.3	-8.3	133	2792	0.00	2.47	0.00	0.000	4	0.000	0.038	2148	1209	3418
2821	-1.13	-146.6	298.1	-8.1	134	2828	0.15	2.45	0.00	0.000	6	0.043	0.035	2100	2601	3417
3137	-1.00	-146.6	331.4	-10.7	150	3139	0.20	0.00	0.00	0.000	6	0.095	0.000	2138	2601	3417
3446	-1.00	-146.6	357.5	-8.4	165	3450	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1213	3417
3490	-1.00	-146.6	361.3	-8.1	167	3494	0.00	2.45	0.00	0.000	6	0.000	0.035	2138	2604	3417
3811	-1.00	-146.6	389.9	-9.1	183	3814	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1212	3417
3844	-1.00	-146.6	393.2	-9.7	184	3848	0.00	2.45	0.00	0.000	6	0.000	0.035	2138	2603	3417
4160	-1.00	-146.6	424.4	-10.2	199	4165	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1213	3416
4187	-1.00	-146.6	427.4	-10.2	200	4191	0.00	2.45	0.00	0.000	6	0.000	0.035	2138	2605	3416
4508	-1.00	-146.6	459.1	-9.5	216	4512	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1211	3416
4553	-1.05	-146.6	463.3	-9.0	218	4557	0.00	2.45	0.00	0.000	6	0.000	0.035	2138	2600	3416
4886	-1.05	-146.6	491.4	-7.8	234	4890	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1212	3416
4919	-1.05	-146.6	494.1	-7.7	235	4926	0.00	2.45	0.00	0.000	6	0.000	0.035	2138	2609	3416
5236	-1.05	-146.6	519.0	-8.5	251	5240	0.00	2.47	0.00	0.000	4	0.000	0.038	2138	1207	3416
5281	-1.10	-146.6	522.9	-8.0	253	5285	0.00	2.45	0.00	0.000	6	0.000	0.035	2138	2600	3416
5602	-1.10	-146.6	553.8	-9.8	269	5606	0.00	2.45	0.00	0.000	4	0.000	0.038	2138	1211	3416
5647	-1.15	-146.6	558.5	-10.1	271	5652	0.15	2.45	0.00	0.000	6	0.044	0.035	2091	2605	3416
5968	-1.02	-146.6	598.7	-12.3	287	5970	0.22	0.00	0.00	0.000	6	0.096	0.000	2134	2604	3416
6277	-1.02	-146.6	627.2	-9.8	302	6278	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2603	3416
6587	-1.02	-146.6	653.6	-8.4	317	6591	0.00	2.45	0.00	0.000	4	0.000	0.038	2134	1212	3415
6678	-1.09	-146.6	661.2	-7.9	321	6682	0.00	2.42	0.00	0.000	6	0.000	0.036	2134	2599	3415
7011	-1.09	-146.6	686.7	-7.7	337	7015	0.00	2.35	0.00	0.000	4	0.000	0.069	2134	3858	3415
7051	-1.09	-146.6	690.1	-8.5	339	7054	0.00	2.12	0.00	0.000	6	0.000	0.027	2134	2601	3415
7383	-1.13	-146.6	719.0	-8.6	355	7387	0.00	2.45	0.00	0.000	4	0.000	0.041	2134	1213	3414
7502	-1.20	-146.6	729.0	-8.6	360	7507	0.17	2.45	0.00	0.000	6	0.041	0.038	2081	2605	3414
7818	-1.09	-146.6	763.7	-11.2	375	7823	0.17	2.35	0.00	0.000	4	0.096	0.071	2119	3858	3414
7850	-1.09	-146.6	767.4	-10.3	376	7857	0.00	2.15	0.00	0.000	6	0.000	0.029	2119	2604	3413
8167	-1.09	-146.6	797.3	-9.1	392	8171	0.00	2.50	0.00	0.000	4	0.000	0.044	2118	1203	3413
8194	-1.09	-146.6	800.0	-9.9	393	8199	0.00	2.47	0.00	0.000	6	0.000	0.039	2118	2597	3413
8511	-1.09	-146.6	826.7	-8.8	408	8512	0.00	0.00	0.00	0.000	6	0.000	0.000	2118	2597	3412
8570	end dive: BOTTOM_OBSTACLE_DETECTED
state	8570	begin apogee
8577	-0.31	0.0	831.6	8.1	411	8712	0.90	0.00	130.80	1.132	6	0.133	0.000	2288	2299	2817
8713	end apogee: CONTROL_FINISHED_OK
state	8713	begin climb
8716	1.03	146.6	836.0	0.0	418	8857	1.40	2.62	133.18	1.122	4	0.074	0.049	2582	916	2217
8916	0.96	160.7	830.4	7.0	427	8936	0.00	2.50	13.60	1.002	6	0.000	0.038	2582	2303	2161
9253	0.91	160.7	802.7	7.9	444	9255	0.12	0.00	0.00	0.000	6	0.095	0.000	2558	2303	2155
9563	0.86	160.7	779.2	7.7	459	9567	0.00	2.65	0.00	0.000	4	0.000	0.069	2558	3708	2154
9631	0.75	160.7	773.4	8.5	462	9636	0.17	2.47	0.00	0.000	6	0.102	0.031	2526	2309	2154
9952	0.80	160.7	749.5	7.8	478	9954	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2309	2153
10263	0.86	160.9	726.1	7.5	493	10264	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2309	2152
10571	0.98	208.0	705.4	5.9	508	10617	0.17	0.00	43.17	1.048	6	0.048	0.000	2577	2309	1968
10942	1.06	281.2	683.8	5.0	526	11014	0.00	0.00	69.22	1.043	6	0.000	0.000	2577	2308	1670
11314	1.08	300.9	660.4	6.8	544	11338	0.00	2.70	18.50	0.964	4	0.000	0.064	2577	3701	1589
11358	1.09	309.0	657.4	7.2	546	11372	0.00	2.50	9.23	0.870	6	0.000	0.030	2577	2297	1556
11690	1.15	309.0	630.4	9.5	562	11695	0.15	2.58	0.00	0.000	4	0.051	0.051	2619	891	1551
11723	1.10	309.0	626.3	12.0	563	11730	0.00	2.53	0.00	0.000	6	0.000	0.036	2620	2308	1550
12040	1.04	309.0	583.9	13.9	579	12045	0.17	2.60	0.00	0.000	4	0.094	0.061	2582	3706	1549
12073	1.04	309.0	579.2	13.5	580	12079	0.00	2.47	0.00	0.000	6	0.000	0.030	2582	2296	1549
12389	1.08	309.0	542.4	10.9	596	12393	0.00	2.53	0.00	0.000	4	0.000	0.049	2582	898	1548
12436	1.15	309.0	537.1	11.7	598	12441	0.12	2.47	0.00	0.000	6	0.052	0.035	2619	2303	1546
12763	1.10	309.0	500.8	10.0	614	12764	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2303	1547
13072	1.05	309.0	470.2	9.8	629	13077	0.15	2.55	0.00	0.000	4	0.091	0.044	2590	889	1547
13094	1.05	309.0	468.0	9.6	630	13099	0.00	2.50	0.00	0.000	6	0.000	0.033	2590	2309	1546
13416	1.05	309.0	440.4	8.8	646	13417	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2309	1546
13725	1.05	309.0	409.7	10.4	661	13729	0.00	2.55	0.00	0.000	4	0.000	0.044	2590	892	1546
13753	1.05	309.0	406.5	11.3	662	13758	0.00	2.47	0.00	0.000	6	0.000	0.033	2590	2302	1546
14075	1.05	309.0	370.3	11.5	678	14079	0.00	2.53	0.00	0.000	4	0.000	0.043	2590	895	1547
14096	1.05	309.0	367.6	11.5	679	14100	0.00	2.47	0.00	0.000	6	0.000	0.032	2590	2308	1546
14417	1.05	309.0	333.0	10.4	695	14418	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2308	1547
14726	1.05	309.0	304.0	8.5	710	14730	0.00	2.55	0.00	0.000	4	0.000	0.044	2590	891	1546
14747	1.05	309.0	302.0	8.6	711	14751	0.00	2.47	0.00	0.000	6	0.000	0.033	2590	2304	1547
15068	1.05	309.0	275.6	8.4	727	15072	0.00	2.53	0.00	0.000	4	0.000	0.043	2590	895	1547
15096	1.10	309.0	273.0	8.9	728	15100	0.00	2.47	0.00	0.000	6	0.000	0.032	2590	2309	1547
15412	1.10	309.0	244.3	9.5	743	15413	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2309	1547
15722	1.14	309.0	213.6	9.9	758	15726	0.00	2.55	0.00	0.000	4	0.000	0.043	2591	889	1548
15766	1.20	309.0	208.9	10.5	760	15771	0.12	2.47	0.00	0.000	6	0.047	0.033	2630	2304	1547
16088	1.13	309.0	174.5	10.2	776	16093	0.12	2.53	0.00	0.000	4	0.092	0.041	2606	891	1548
16112	1.13	309.0	172.2	10.1	777	16116	0.00	2.47	0.00	0.000	6	0.000	0.032	2607	2305	1548
16433	1.13	309.0	136.4	12.9	793	16437	0.00	2.53	0.00	0.000	4	0.000	0.043	2606	895	1548
16472	1.13	309.0	131.0	13.4	795	16477	0.00	2.45	0.00	0.000	6	0.000	0.033	2606	2300	1548
16800	1.13	309.0	91.5	10.4	811	16801	0.00	0.00	0.00	0.000	6	0.000	0.000	2607	2300	1548
17109	1.14	315.9	67.2	7.3	826	17122	0.00	2.58	6.40	0.512	4	0.000	0.058	2606	3701	1528
17163	1.14	315.9	62.9	7.7	828	17167	0.00	2.45	0.00	0.000	6	0.000	0.027	2606	2291	1528
17480	1.14	315.9	33.5	12.0	843	17484	0.00	2.47	0.00	0.000	4	0.000	0.044	2607	899	1528
17588	1.19	315.9	20.3	10.6	848	17592	0.00	2.45	0.00	0.000	6	0.000	0.033	2606	2302	1527
17769	end climb: SURFACE_DEPTH_REACHED
state	17769	begin surface coast
17789	end surface coast: CONTROL_FINISHED_OK
state	17789	begin surface