Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 295 * 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 295 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -2112865 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 -2112865

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 32 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 295 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 094707,6206.896,-948.312,33,0.9,33,-9.9 TGT_NAME BE

_CALLS 2 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.58 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -66.1 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 095525,6206.841,-948.302,12,1.5,17,-9.9 MHEAD_RNG_PITCHd_Wd 154.1,49884,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.012971 ALTIM_BOTTOM_PING 625.1,100.7

SM_CCo 16310,0.00,0.000,0,0,1743,263.45 _24V_AH 23.6,45.958

SM_GC 1.63,12.10,0.00,0.00,0.094,0.000,0.000,75,2603,1743,-10.47,0.08,263.45 _10V_AH 10.1,24.015

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41152,782

TT8_MAMPS 0.02301 CAP_FILE_SIZE 127770,0

HUMID 1822 CFSIZE 260165632,241590272

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

XPDR_PINGS 0 GPS 310709,142837,6205.605,-947.664,28,1.7,28,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 179 123.05 SBE_CT 567 24 321.71

Roll_motor 148 66 233.15 SBE_O2 538 19 241.34

VBD_pump_during_apogee 370 1040 9084.19 WL_BB2F 474 105 1177.02

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 88.32 nil 0 0 0.00

Iridium_during_connect 78 160 294.66 nil 0 0 0.00

Iridium_during_xfer 194 223 1025.89

Transponder_ping 5 420 52.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.78

TT8 1478 19 295.63

LPSleep 12475 2 275.94

TT8_Active 493 19 98.72

TT8_Sampling 1753 39 705.07

TT8_CF8 606 45 280.50

TT8_Kalman 0 81 0.00

Analog_circuits 1383 12 167.74

GPS_charging 0 0 0.00

Compass 1706 8 137.87

RAFOS 0 0 0.00

Transponder 37 30 11.23

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.03 -146.6 0.0 0.0 0 80 0.00 0.00 -60.65 0.000 6 0.000 0.000 71 2613 3416

83 -1.03 -146.6 6.3 -11.3 3 105 11.85 2.33 0.00 0.000 4 0.179 0.058 2132 3850 3418

355 -0.98 -146.6 54.2 -11.5 15 359 0.00 2.17 0.00 0.000 6 0.000 0.025 2132 2570 3418

683 -0.98 -146.6 87.7 -8.7 31 687 0.00 2.38 0.00 0.000 4 0.000 0.059 2132 3856 3418

716 -0.93 -146.6 90.6 -8.3 32 723 0.12 2.12 0.00 0.000 6 0.129 0.025 2153 2593 3418

1034 -0.93 -146.6 113.4 -8.1 48 1038 0.00 2.42 0.00 0.000 4 0.000 0.038 2153 1218 3419

1101 -1.00 -146.6 119.4 -8.6 51 1105 0.00 2.42 0.00 0.000 6 0.000 0.035 2153 2594 3419

1422 -1.00 -146.6 149.5 -9.5 67 1424 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2594 3419

1732 -1.00 -146.6 178.9 -9.3 82 1736 0.00 2.42 0.00 0.000 4 0.000 0.037 2153 1218 3419

1794 -1.06 -146.6 184.4 -8.4 85 1799 0.12 2.42 0.00 0.000 6 0.046 0.035 2109 2600 3419

2121 -0.95 -146.6 223.8 -12.5 101 2123 0.22 0.00 0.00 0.000 6 0.096 0.000 2151 2600 3419

2431 -0.95 -146.6 252.2 -8.3 116 2435 0.00 2.42 0.00 0.000 4 0.000 0.038 2151 1219 3419

2471 -1.02 -146.6 255.5 -7.7 118 2475 0.00 2.42 0.00 0.000 6 0.000 0.035 2151 2600 3419

2798 -1.02 -146.6 282.6 -8.9 134 2802 0.00 2.42 0.00 0.000 4 0.000 0.038 2151 1210 3419

2831 -1.08 -146.6 285.8 -9.2 135 2836 0.12 2.45 0.00 0.000 6 0.047 0.035 2109 2601 3419

3147 -0.97 -146.6 321.4 -11.4 150 3152 0.17 2.33 0.00 0.000 4 0.097 0.064 2146 3860 3418

3175 -0.97 -146.6 324.4 -10.6 151 3179 0.00 2.12 0.00 0.000 6 0.000 0.026 2146 2601 3418

3496 -0.97 -146.6 353.5 -8.9 167 3500 0.00 2.42 0.00 0.000 4 0.000 0.038 2146 1215 3418

3557 -1.03 -146.6 358.6 -8.3 169 3563 0.00 2.45 0.00 0.000 6 0.000 0.035 2146 2607 3418

3873 -1.03 -146.6 386.8 -8.9 185 3877 0.00 2.45 0.00 0.000 4 0.000 0.038 2146 1215 3418

3912 -1.08 -146.6 390.2 -8.3 187 3917 0.10 2.45 0.00 0.000 6 0.049 0.035 2111 2608 3418

4243 -0.99 -146.6 425.1 -11.0 203 4245 0.17 0.00 0.00 0.000 6 0.094 0.000 2144 2609 3417

4548 -0.99 -146.6 453.2 -9.2 218 4552 0.00 2.45 0.00 0.000 4 0.000 0.038 2144 1210 3417

4604 -1.04 -146.6 458.3 -9.6 220 4608 0.00 2.45 0.00 0.000 6 0.000 0.035 2144 2604 3417

4920 -1.04 -146.6 486.8 -8.8 235 4924 0.00 2.45 0.00 0.000 4 0.000 0.038 2144 1212 3417

4960 -1.10 -146.6 490.0 -8.3 237 4965 0.12 2.45 0.00 0.000 6 0.046 0.035 2105 2606 3417

5289 -0.99 -146.6 525.1 -11.0 253 5291 0.20 0.00 0.00 0.000 6 0.095 0.000 2142 2605 3416

5597 -0.99 -146.6 551.4 -7.3 268 5601 0.00 2.45 0.00 0.000 4 0.000 0.038 2142 1211 3416

5704 -1.06 -146.6 558.6 -6.2 272 5710 0.00 2.45 0.00 0.000 6 0.000 0.036 2142 2602 3416

6020 -1.06 -146.6 578.7 -6.4 288 6022 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2602 3415

6329 -1.06 -146.6 600.4 -7.8 303 6333 0.00 2.45 0.00 0.000 4 0.000 0.038 2142 1209 3416

6408 -1.12 -146.6 606.6 -6.8 306 6413 0.12 2.45 0.00 0.000 6 0.046 0.036 2102 2599 3415

6725 -1.02 -146.6 637.5 -9.9 321 6730 0.17 2.35 0.00 0.000 4 0.093 0.067 2136 3861 3415

6797 -1.02 -146.6 643.8 -8.3 324 6801 0.00 2.12 0.00 0.000 6 0.000 0.027 2136 2603 3415

7119 -1.02 -146.6 667.4 -8.1 340 7123 0.00 2.45 0.00 0.000 4 0.000 0.041 2136 1212 3415

7170 -1.09 -146.6 671.4 -7.8 342 7174 0.00 2.42 0.00 0.000 6 0.000 0.036 2136 2600 3415

7491 -1.09 -146.6 695.9 -7.4 358 7495 0.00 2.45 0.00 0.000 4 0.000 0.038 2136 1210 3414

7581 -1.15 -146.6 702.4 -7.7 362 7586 0.12 2.45 0.00 0.000 6 0.047 0.038 2097 2599 3414

7715 end dive: BOTTOM_OBSTACLE_DETECTED

state 7715 begin apogee

7722 -0.31 0.0 715.9 10.4 369 7857 1.00 0.00 129.05 1.040 6 0.126 0.000 2288 2295 2816

7858 end apogee: CONTROL_FINISHED_OK

state 7858 begin climb

7861 1.03 146.6 719.4 0.0 376 8004 1.38 2.75 131.05 1.030 4 0.077 0.060 2578 3704 2218

8057 0.89 146.6 712.8 7.6 385 8062 0.12 2.42 0.00 0.000 6 0.092 0.028 2555 2311 2216

8379 0.93 178.2 693.0 6.4 401 8413 0.00 2.62 28.73 0.980 4 0.000 0.046 2555 909 2089

8512 0.94 187.2 683.9 7.2 407 8526 0.00 2.47 9.10 0.854 6 0.000 0.035 2555 2307 2053

8844 0.97 215.0 662.6 6.5 423 8877 0.00 2.60 26.60 0.966 4 0.000 0.044 2555 901 1940

8909 0.99 237.0 658.3 6.7 426 8938 0.10 2.50 21.75 0.946 6 0.054 0.035 2587 2303 1849

9262 0.99 237.0 627.7 9.4 443 9266 0.00 2.62 0.00 0.000 4 0.000 0.062 2587 3702 1844

9284 0.94 237.0 625.3 10.0 444 9289 0.12 2.45 0.00 0.000 6 0.100 0.028 2565 2302 1844

9605 0.94 237.0 598.9 8.3 460 9606 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2302 1843

9914 0.94 237.0 573.0 8.3 475 9915 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2302 1842

10224 0.94 237.0 546.8 8.6 490 10225 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2302 1842

10533 0.98 237.0 518.9 8.4 505 10538 0.00 2.62 0.00 0.000 4 0.000 0.060 2565 3704 1842

10573 0.98 237.0 515.2 9.2 507 10577 0.00 2.45 0.00 0.000 6 0.000 0.028 2565 2299 1842

10900 0.98 237.0 487.2 8.7 523 10904 0.00 2.53 0.00 0.000 4 0.000 0.047 2565 898 1842

10962 0.98 237.0 481.3 9.5 526 10967 0.00 2.47 0.00 0.000 6 0.000 0.033 2565 2308 1840

11289 0.98 237.0 451.1 9.6 542 11293 0.00 2.60 0.00 0.000 4 0.000 0.060 2565 3707 1840

11317 0.98 237.0 448.3 9.9 543 11321 0.00 2.45 0.00 0.000 6 0.000 0.028 2565 2296 1841

11638 0.98 237.0 419.0 8.6 559 11639 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2295 1840

11948 1.03 239.8 394.4 7.4 574 11952 0.00 2.60 0.00 0.000 4 0.000 0.058 2565 3701 1841

11981 1.03 239.8 391.7 8.3 575 11987 0.00 2.42 0.00 0.000 6 0.000 0.027 2565 2295 1841

12297 1.05 257.3 369.7 6.9 591 12318 0.10 0.00 18.25 0.775 6 0.051 0.000 2599 2295 1767

12626 1.05 257.3 340.3 9.5 607 12627 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 2295 1764

12936 1.05 257.3 309.3 10.5 622 12937 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2295 1764

13244 1.05 257.3 274.7 11.6 637 13248 0.00 2.50 0.00 0.000 4 0.000 0.044 2599 895 1764

13272 1.05 257.3 271.3 11.8 638 13276 0.00 2.47 0.00 0.000 6 0.000 0.033 2599 2306 1762

13593 1.05 257.3 236.3 10.4 654 13594 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2306 1763

13901 1.05 257.3 208.2 8.5 669 13906 0.00 2.55 0.00 0.000 4 0.000 0.058 2598 3701 1763

13925 1.00 257.3 206.2 9.0 670 13930 0.00 2.42 0.00 0.000 6 0.000 0.027 2598 2302 1763

14248 1.00 257.3 179.1 8.7 686 14249 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2302 1763

14556 1.00 257.3 149.6 9.7 701 14560 0.00 2.58 0.00 0.000 4 0.000 0.056 2599 3705 1763

14580 0.96 257.3 147.3 10.0 702 14585 0.15 2.45 0.00 0.000 6 0.091 0.027 2570 2292 1763

14908 1.01 262.4 122.0 7.3 718 14919 0.00 2.60 5.57 0.514 4 0.000 0.055 2570 3699 1746

14949 1.06 262.4 118.7 8.1 720 14953 0.00 2.42 0.00 0.000 6 0.000 0.027 2570 2294 1746

15283 1.12 262.4 90.3 8.8 736 15284 0.15 0.00 0.00 0.000 6 0.043 0.000 2613 2292 1746

15591 1.08 262.4 60.9 9.5 751 15595 0.00 2.47 0.00 0.000 4 0.000 0.043 2613 902 1746

15677 1.08 262.4 51.4 10.8 755 15681 0.00 2.45 0.00 0.000 6 0.000 0.032 2613 2305 1746

16004 1.08 262.4 18.3 10.0 771 16008 0.00 2.58 0.00 0.000 4 0.000 0.058 2613 3706 1746

16071 1.02 262.4 10.9 11.0 774 16076 0.17 2.42 0.00 0.000 6 0.087 0.027 2579 2299 1746

16184 end climb: SURFACE_DEPTH_REACHED

state 16184 begin surface coast

16225 end surface coast: CONTROL_FINISHED_OK

state 16226 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	295	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-2112865	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	094707,6206.896,-948.312,33,0.9,33,-9.9	TGT_NAME	BE
_CALLS	2	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.58	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-66.1	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	095525,6206.841,-948.302,12,1.5,17,-9.9	MHEAD_RNG_PITCHd_Wd	154.1,49884,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.012971	ALTIM_BOTTOM_PING	625.1,100.7
SM_CCo	16310,0.00,0.000,0,0,1743,263.45	_24V_AH	23.6,45.958
SM_GC	1.63,12.10,0.00,0.00,0.094,0.000,0.000,75,2603,1743,-10.47,0.08,263.45	_10V_AH	10.1,24.015
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41152,782
TT8_MAMPS	0.02301	CAP_FILE_SIZE	127770,0
HUMID	1822	CFSIZE	260165632,241590272
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	310709,142837,6205.605,-947.664,28,1.7,28,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	179	123.05	SBE_CT	567	24	321.71
Roll_motor	148	66	233.15	SBE_O2	538	19	241.34
VBD_pump_during_apogee	370	1040	9084.19	WL_BB2F	474	105	1177.02
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	88.32	nil	0	0	0.00
Iridium_during_connect	78	160	294.66	nil	0	0	0.00
Iridium_during_xfer	194	223	1025.89
Transponder_ping	5	420	52.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.78
TT8	1478	19	295.63
LPSleep	12475	2	275.94
TT8_Active	493	19	98.72
TT8_Sampling	1753	39	705.07
TT8_CF8	606	45	280.50
TT8_Kalman	0	81	0.00
Analog_circuits	1383	12	167.74
GPS_charging	0	0	0.00
Compass	1706	8	137.87
RAFOS	0	0	0.00
Transponder	37	30	11.23

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.03	-146.6	0.0	0.0	0	80	0.00	0.00	-60.65	0.000	6	0.000	0.000	71	2613	3416
83	-1.03	-146.6	6.3	-11.3	3	105	11.85	2.33	0.00	0.000	4	0.179	0.058	2132	3850	3418
355	-0.98	-146.6	54.2	-11.5	15	359	0.00	2.17	0.00	0.000	6	0.000	0.025	2132	2570	3418
683	-0.98	-146.6	87.7	-8.7	31	687	0.00	2.38	0.00	0.000	4	0.000	0.059	2132	3856	3418
716	-0.93	-146.6	90.6	-8.3	32	723	0.12	2.12	0.00	0.000	6	0.129	0.025	2153	2593	3418
1034	-0.93	-146.6	113.4	-8.1	48	1038	0.00	2.42	0.00	0.000	4	0.000	0.038	2153	1218	3419
1101	-1.00	-146.6	119.4	-8.6	51	1105	0.00	2.42	0.00	0.000	6	0.000	0.035	2153	2594	3419
1422	-1.00	-146.6	149.5	-9.5	67	1424	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2594	3419
1732	-1.00	-146.6	178.9	-9.3	82	1736	0.00	2.42	0.00	0.000	4	0.000	0.037	2153	1218	3419
1794	-1.06	-146.6	184.4	-8.4	85	1799	0.12	2.42	0.00	0.000	6	0.046	0.035	2109	2600	3419
2121	-0.95	-146.6	223.8	-12.5	101	2123	0.22	0.00	0.00	0.000	6	0.096	0.000	2151	2600	3419
2431	-0.95	-146.6	252.2	-8.3	116	2435	0.00	2.42	0.00	0.000	4	0.000	0.038	2151	1219	3419
2471	-1.02	-146.6	255.5	-7.7	118	2475	0.00	2.42	0.00	0.000	6	0.000	0.035	2151	2600	3419
2798	-1.02	-146.6	282.6	-8.9	134	2802	0.00	2.42	0.00	0.000	4	0.000	0.038	2151	1210	3419
2831	-1.08	-146.6	285.8	-9.2	135	2836	0.12	2.45	0.00	0.000	6	0.047	0.035	2109	2601	3419
3147	-0.97	-146.6	321.4	-11.4	150	3152	0.17	2.33	0.00	0.000	4	0.097	0.064	2146	3860	3418
3175	-0.97	-146.6	324.4	-10.6	151	3179	0.00	2.12	0.00	0.000	6	0.000	0.026	2146	2601	3418
3496	-0.97	-146.6	353.5	-8.9	167	3500	0.00	2.42	0.00	0.000	4	0.000	0.038	2146	1215	3418
3557	-1.03	-146.6	358.6	-8.3	169	3563	0.00	2.45	0.00	0.000	6	0.000	0.035	2146	2607	3418
3873	-1.03	-146.6	386.8	-8.9	185	3877	0.00	2.45	0.00	0.000	4	0.000	0.038	2146	1215	3418
3912	-1.08	-146.6	390.2	-8.3	187	3917	0.10	2.45	0.00	0.000	6	0.049	0.035	2111	2608	3418
4243	-0.99	-146.6	425.1	-11.0	203	4245	0.17	0.00	0.00	0.000	6	0.094	0.000	2144	2609	3417
4548	-0.99	-146.6	453.2	-9.2	218	4552	0.00	2.45	0.00	0.000	4	0.000	0.038	2144	1210	3417
4604	-1.04	-146.6	458.3	-9.6	220	4608	0.00	2.45	0.00	0.000	6	0.000	0.035	2144	2604	3417
4920	-1.04	-146.6	486.8	-8.8	235	4924	0.00	2.45	0.00	0.000	4	0.000	0.038	2144	1212	3417
4960	-1.10	-146.6	490.0	-8.3	237	4965	0.12	2.45	0.00	0.000	6	0.046	0.035	2105	2606	3417
5289	-0.99	-146.6	525.1	-11.0	253	5291	0.20	0.00	0.00	0.000	6	0.095	0.000	2142	2605	3416
5597	-0.99	-146.6	551.4	-7.3	268	5601	0.00	2.45	0.00	0.000	4	0.000	0.038	2142	1211	3416
5704	-1.06	-146.6	558.6	-6.2	272	5710	0.00	2.45	0.00	0.000	6	0.000	0.036	2142	2602	3416
6020	-1.06	-146.6	578.7	-6.4	288	6022	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2602	3415
6329	-1.06	-146.6	600.4	-7.8	303	6333	0.00	2.45	0.00	0.000	4	0.000	0.038	2142	1209	3416
6408	-1.12	-146.6	606.6	-6.8	306	6413	0.12	2.45	0.00	0.000	6	0.046	0.036	2102	2599	3415
6725	-1.02	-146.6	637.5	-9.9	321	6730	0.17	2.35	0.00	0.000	4	0.093	0.067	2136	3861	3415
6797	-1.02	-146.6	643.8	-8.3	324	6801	0.00	2.12	0.00	0.000	6	0.000	0.027	2136	2603	3415
7119	-1.02	-146.6	667.4	-8.1	340	7123	0.00	2.45	0.00	0.000	4	0.000	0.041	2136	1212	3415
7170	-1.09	-146.6	671.4	-7.8	342	7174	0.00	2.42	0.00	0.000	6	0.000	0.036	2136	2600	3415
7491	-1.09	-146.6	695.9	-7.4	358	7495	0.00	2.45	0.00	0.000	4	0.000	0.038	2136	1210	3414
7581	-1.15	-146.6	702.4	-7.7	362	7586	0.12	2.45	0.00	0.000	6	0.047	0.038	2097	2599	3414
7715	end dive: BOTTOM_OBSTACLE_DETECTED
state	7715	begin apogee
7722	-0.31	0.0	715.9	10.4	369	7857	1.00	0.00	129.05	1.040	6	0.126	0.000	2288	2295	2816
7858	end apogee: CONTROL_FINISHED_OK
state	7858	begin climb
7861	1.03	146.6	719.4	0.0	376	8004	1.38	2.75	131.05	1.030	4	0.077	0.060	2578	3704	2218
8057	0.89	146.6	712.8	7.6	385	8062	0.12	2.42	0.00	0.000	6	0.092	0.028	2555	2311	2216
8379	0.93	178.2	693.0	6.4	401	8413	0.00	2.62	28.73	0.980	4	0.000	0.046	2555	909	2089
8512	0.94	187.2	683.9	7.2	407	8526	0.00	2.47	9.10	0.854	6	0.000	0.035	2555	2307	2053
8844	0.97	215.0	662.6	6.5	423	8877	0.00	2.60	26.60	0.966	4	0.000	0.044	2555	901	1940
8909	0.99	237.0	658.3	6.7	426	8938	0.10	2.50	21.75	0.946	6	0.054	0.035	2587	2303	1849
9262	0.99	237.0	627.7	9.4	443	9266	0.00	2.62	0.00	0.000	4	0.000	0.062	2587	3702	1844
9284	0.94	237.0	625.3	10.0	444	9289	0.12	2.45	0.00	0.000	6	0.100	0.028	2565	2302	1844
9605	0.94	237.0	598.9	8.3	460	9606	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2302	1843
9914	0.94	237.0	573.0	8.3	475	9915	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2302	1842
10224	0.94	237.0	546.8	8.6	490	10225	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2302	1842
10533	0.98	237.0	518.9	8.4	505	10538	0.00	2.62	0.00	0.000	4	0.000	0.060	2565	3704	1842
10573	0.98	237.0	515.2	9.2	507	10577	0.00	2.45	0.00	0.000	6	0.000	0.028	2565	2299	1842
10900	0.98	237.0	487.2	8.7	523	10904	0.00	2.53	0.00	0.000	4	0.000	0.047	2565	898	1842
10962	0.98	237.0	481.3	9.5	526	10967	0.00	2.47	0.00	0.000	6	0.000	0.033	2565	2308	1840
11289	0.98	237.0	451.1	9.6	542	11293	0.00	2.60	0.00	0.000	4	0.000	0.060	2565	3707	1840
11317	0.98	237.0	448.3	9.9	543	11321	0.00	2.45	0.00	0.000	6	0.000	0.028	2565	2296	1841
11638	0.98	237.0	419.0	8.6	559	11639	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2295	1840
11948	1.03	239.8	394.4	7.4	574	11952	0.00	2.60	0.00	0.000	4	0.000	0.058	2565	3701	1841
11981	1.03	239.8	391.7	8.3	575	11987	0.00	2.42	0.00	0.000	6	0.000	0.027	2565	2295	1841
12297	1.05	257.3	369.7	6.9	591	12318	0.10	0.00	18.25	0.775	6	0.051	0.000	2599	2295	1767
12626	1.05	257.3	340.3	9.5	607	12627	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	2295	1764
12936	1.05	257.3	309.3	10.5	622	12937	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2295	1764
13244	1.05	257.3	274.7	11.6	637	13248	0.00	2.50	0.00	0.000	4	0.000	0.044	2599	895	1764
13272	1.05	257.3	271.3	11.8	638	13276	0.00	2.47	0.00	0.000	6	0.000	0.033	2599	2306	1762
13593	1.05	257.3	236.3	10.4	654	13594	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2306	1763
13901	1.05	257.3	208.2	8.5	669	13906	0.00	2.55	0.00	0.000	4	0.000	0.058	2598	3701	1763
13925	1.00	257.3	206.2	9.0	670	13930	0.00	2.42	0.00	0.000	6	0.000	0.027	2598	2302	1763
14248	1.00	257.3	179.1	8.7	686	14249	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2302	1763
14556	1.00	257.3	149.6	9.7	701	14560	0.00	2.58	0.00	0.000	4	0.000	0.056	2599	3705	1763
14580	0.96	257.3	147.3	10.0	702	14585	0.15	2.45	0.00	0.000	6	0.091	0.027	2570	2292	1763
14908	1.01	262.4	122.0	7.3	718	14919	0.00	2.60	5.57	0.514	4	0.000	0.055	2570	3699	1746
14949	1.06	262.4	118.7	8.1	720	14953	0.00	2.42	0.00	0.000	6	0.000	0.027	2570	2294	1746
15283	1.12	262.4	90.3	8.8	736	15284	0.15	0.00	0.00	0.000	6	0.043	0.000	2613	2292	1746
15591	1.08	262.4	60.9	9.5	751	15595	0.00	2.47	0.00	0.000	4	0.000	0.043	2613	902	1746
15677	1.08	262.4	51.4	10.8	755	15681	0.00	2.45	0.00	0.000	6	0.000	0.032	2613	2305	1746
16004	1.08	262.4	18.3	10.0	771	16008	0.00	2.58	0.00	0.000	4	0.000	0.058	2613	3706	1746
16071	1.02	262.4	10.9	11.0	774	16076	0.17	2.42	0.00	0.000	6	0.087	0.027	2579	2299	1746
16184	end climb: SURFACE_DEPTH_REACHED
state	16184	begin surface coast
16225	end surface coast: CONTROL_FINISHED_OK
state	16226	begin surface