Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 70 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING 270 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 70 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -2108841 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 -2108841

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 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 33 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 70 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 010237,6200.595,-1107.624,33,1.2,34,-10.6 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6200.667,-1130.685

_XMS_NAKs 8 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.38 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.3 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 011207,6200.667,-1107.674,13,1.4,13,-10.6 MHEAD_RNG_PITCHd_Wd 280.6,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026650 _24V_AH 23.5,16.015

SM_CCo 23412,0.00,0.000,0,0,1698,274.74 _10V_AH 10.1,7.144

SM_GC 1.52,11.88,0.00,0.00,0.079,0.000,0.000,66,2594,1698,-10.47,-0.17,274.74 DATA_FILE_SIZE 56810,1128

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 144412,0

TT8_MAMPS 0.02301 CFSIZE 260165632,254488576

HUMID 1715 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 170609,074355,6200.094,-1117.019,41,1.1,42,-10.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 191 126.96 SBE_CT 816 24 460.56

Roll_motor 85 70 140.95 SBE_O2 786 19 351.22

VBD_pump_during_apogee 387 1190 10840.63 WL_BB2F 593 105 1465.64

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 88.22 nil 0 0 0.00

Iridium_during_connect 68 160 258.15 nil 0 0 0.00

Iridium_during_xfer 274 223 1439.44

Transponder_ping 8 420 83.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.58

TT8 1948 19 389.63

LPSleep 18744 2 414.60

TT8_Active 479 19 95.85

TT8_Sampling 2122 39 853.26

TT8_CF8 680 45 314.98

TT8_Kalman 0 81 0.00

Analog_circuits 1501 12 182.01

GPS_charging 0 0 0.00

Compass 2079 8 168.04

RAFOS 0 0 0.00

Transponder 56 30 17.16

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 77 0.00 0.00 -56.58 0.000 6 0.000 0.000 72 2598 3416

80 -1.03 -146.6 6.4 -12.1 3 101 12.12 2.53 0.00 0.000 4 0.192 0.038 2129 1193 3417

242 -1.03 -146.6 38.2 -12.8 10 246 0.00 2.47 0.00 0.000 6 0.000 0.036 2130 2600 3417

563 -1.03 -146.6 71.4 -8.8 26 564 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

873 -1.03 -146.6 96.1 -7.7 41 875 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3418

1181 -1.03 -146.6 125.9 -10.7 56 1183 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

1491 -1.03 -146.6 158.9 -10.5 71 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3418

1800 -1.03 -146.6 191.6 -10.4 86 1801 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

2109 -1.03 -146.6 222.9 -9.8 101 2110 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

2418 -1.03 -146.6 249.6 -7.9 116 2419 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

2728 -1.03 -146.6 273.1 -7.9 131 2732 0.00 2.47 0.00 0.000 4 0.000 0.041 2130 1195 3418

2773 -1.08 -146.6 276.7 -7.3 133 2777 0.00 2.47 0.00 0.000 6 0.000 0.038 2130 2601 3417

3094 -1.08 -146.6 303.5 -8.0 149 3095 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3417

3403 -1.08 -146.6 329.8 -8.7 164 3407 0.00 2.47 0.00 0.000 4 0.000 0.041 2130 1195 3417

3447 -1.12 -146.6 333.6 -8.5 166 3452 0.00 2.47 0.00 0.000 6 0.000 0.038 2130 2601 3417

3768 -1.12 -146.6 362.2 -8.7 182 3769 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3417

4078 -1.12 -146.6 389.5 -8.8 197 4082 0.00 2.47 0.00 0.000 4 0.000 0.041 2130 1195 3417

4140 -1.16 -146.6 394.9 -8.6 200 4146 0.10 2.47 0.00 0.000 6 0.054 0.039 2096 2608 3417

4470 -1.05 -146.6 428.3 -10.4 216 4472 0.17 0.00 0.00 0.000 6 0.100 0.000 2128 2608 3417

4777 -1.05 -146.6 454.8 -8.6 231 4778 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2608 3417

5086 -1.05 -146.6 482.3 -8.7 246 5090 0.00 2.50 0.00 0.000 4 0.000 0.041 2128 1190 3417

5158 -1.05 -146.6 488.7 -9.0 249 5162 0.00 2.47 0.00 0.000 6 0.000 0.038 2128 2600 3416

5473 -1.05 -146.6 515.5 -8.6 264 5475 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2600 3416

5783 -1.05 -146.6 542.2 -8.5 279 5784 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2600 3416

6092 -1.05 -146.6 568.9 -8.7 294 6096 0.00 2.47 0.00 0.000 4 0.000 0.041 2128 1191 3416

6136 -1.10 -146.6 572.9 -8.9 296 6140 0.00 2.47 0.00 0.000 6 0.000 0.039 2128 2604 3416

6462 -1.10 -146.6 602.1 -9.1 312 6463 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2604 3416

6772 -1.10 -146.6 629.2 -8.7 327 6776 0.00 2.47 0.00 0.000 4 0.000 0.041 2128 1195 3416

6834 -1.15 -146.6 634.6 -8.8 330 6839 0.00 2.47 0.00 0.000 6 0.000 0.039 2128 2604 3416

7162 -1.15 -146.6 661.6 -8.0 346 7163 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2603 3415

7471 -1.15 -146.6 684.3 -7.1 361 7476 0.00 2.47 0.00 0.000 4 0.000 0.041 2128 1195 3415

7512 -1.19 -146.6 687.2 -7.1 363 7517 0.12 2.47 0.00 0.000 6 0.051 0.040 2089 2601 3415

7839 -1.09 -146.6 718.8 -9.8 379 7841 0.17 0.00 0.00 0.000 6 0.100 0.000 2122 2602 3415

8148 -1.09 -146.6 745.4 -8.6 394 8152 0.00 2.47 0.00 0.000 4 0.000 0.042 2121 1195 3415

8203 -1.09 -146.6 750.5 -9.0 396 8209 0.00 2.47 0.00 0.000 6 0.000 0.041 2121 2600 3415

8519 -1.09 -146.6 779.0 -8.5 412 8520 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2600 3415

8828 -1.09 -146.6 807.0 -9.4 427 8829 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2600 3415

9138 -1.09 -146.6 835.9 -8.8 442 9139 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2600 3415

9447 -1.09 -146.6 864.0 -9.5 457 9448 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2600 3415

9756 -1.09 -146.6 892.2 -8.8 472 9757 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2600 3414

10065 -1.09 -146.6 917.0 -8.2 487 10066 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2600 3414

10375 -1.09 -146.6 939.4 -6.8 502 10379 0.00 2.50 0.00 0.000 4 0.000 0.045 2121 1192 3414

10453 -1.14 -146.6 944.8 -6.7 505 10460 0.00 2.50 0.00 0.000 6 0.000 0.043 2122 2606 3414

10769 -1.14 -146.6 969.2 -7.8 521 10770 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2607 3413

11034 end dive: TARGET_DEPTH_EXCEEDED

state 11034 begin apogee

11041 -0.31 0.0 991.4 8.3 534 11178 0.88 0.00 132.93 1.190 6 0.136 0.000 2287 2293 2817

11179 end apogee: CONTROL_FINISHED_OK

state 11179 begin climb

11182 1.03 146.6 997.3 0.0 541 11327 1.38 2.58 134.80 1.183 4 0.076 0.051 2579 910 2218

11375 0.89 152.0 991.9 7.3 550 11387 0.12 2.50 5.75 0.848 6 0.097 0.041 2557 2302 2196

11705 0.82 152.0 964.9 8.8 566 11710 0.00 2.65 0.00 0.000 4 0.000 0.071 2557 3702 2193

11756 0.68 152.0 959.8 9.2 568 11761 0.25 2.47 0.00 0.000 6 0.097 0.035 2508 2303 2193

12071 0.75 152.0 935.5 7.5 583 12073 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2303 2191

12381 0.90 220.2 917.2 5.2 598 12448 0.20 0.00 63.85 1.131 6 0.047 0.000 2564 2303 1919

12756 0.90 220.2 888.3 8.8 616 12758 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2303 1912

13062 0.90 220.2 862.2 8.5 631 13064 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2303 1910

13372 0.90 220.2 834.7 9.0 646 13376 0.00 2.65 0.00 0.000 4 0.000 0.066 2564 3708 1909

13467 0.84 220.2 825.1 9.9 650 13472 0.12 2.47 0.00 0.000 6 0.099 0.033 2541 2299 1909

13783 0.90 230.7 801.5 7.1 665 13794 0.00 0.00 9.25 0.915 6 0.000 0.000 2541 2299 1876

14092 0.95 230.7 778.5 7.9 680 14094 0.12 0.00 0.00 0.000 6 0.051 0.000 2580 2299 1874

14401 0.90 230.7 747.9 10.4 695 14403 0.12 0.00 0.00 0.000 6 0.092 0.000 2556 2299 1874

14710 0.90 230.7 718.9 8.7 710 14712 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2299 1874

15019 0.90 230.7 692.7 8.5 725 15021 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2299 1874

15329 0.90 230.7 665.6 8.7 740 15330 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2299 1874

15638 0.90 230.7 638.4 8.9 755 15639 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2299 1874

15947 0.90 230.7 611.9 8.8 770 15948 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2298 1874

16257 0.90 230.7 584.8 8.8 785 16261 0.00 2.60 0.00 0.000 4 0.000 0.062 2556 3707 1874

16296 0.90 230.7 581.2 9.6 787 16301 0.00 2.45 0.00 0.000 6 0.000 0.031 2556 2298 1874

16623 0.90 230.7 552.3 8.8 803 16624 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2298 1874

16932 0.90 230.7 525.1 8.7 818 16933 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2298 1874

17242 0.90 230.7 498.7 8.3 833 17243 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2298 1874

17551 0.90 230.7 474.2 7.6 848 17555 0.00 2.60 0.00 0.000 4 0.000 0.061 2556 3711 1873

17594 0.90 230.7 470.3 9.0 850 17599 0.00 2.45 0.00 0.000 6 0.000 0.031 2556 2294 1874

17922 0.91 235.4 445.9 7.3 866 17930 0.00 0.00 5.90 0.647 6 0.000 0.000 2556 2293 1857

18231 0.91 235.4 422.2 7.7 881 18232 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2293 1857

18540 0.91 235.4 396.7 8.6 896 18541 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2293 1856

18850 0.95 235.4 370.2 8.6 911 18851 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2294 1856

19159 0.95 235.4 344.5 8.2 926 19160 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2293 1856

19469 0.99 235.4 319.8 7.7 941 19470 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2293 1857

19778 1.03 235.4 296.3 7.5 956 19780 0.12 0.00 0.00 0.000 6 0.049 0.000 2595 2293 1855

20087 0.96 235.4 268.2 9.1 971 20089 0.12 0.00 0.00 0.000 6 0.092 0.000 2571 2292 1856

20396 0.96 235.4 242.9 8.1 986 20397 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2292 1856

20705 0.96 235.4 219.6 7.6 1001 20706 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2292 1855

21014 0.96 235.4 195.9 7.7 1016 21016 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2292 1856

21324 0.96 235.4 171.5 7.8 1031 21325 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2292 1856

21633 0.97 239.1 148.4 7.4 1046 21640 0.00 0.00 4.95 0.486 6 0.000 0.000 2571 2293 1842

21944 1.00 272.0 128.7 6.4 1061 21976 0.00 0.00 30.10 0.626 6 0.000 0.000 2571 2292 1707

22273 1.00 272.0 100.8 9.7 1077 22274 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2292 1703

22581 1.04 272.0 71.3 8.7 1092 22582 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2292 1702

22890 1.04 272.0 45.2 8.7 1107 22894 0.00 2.50 0.00 0.000 4 0.000 0.048 2571 897 1700

22946 1.12 272.0 40.0 8.4 1109 22953 0.15 2.45 0.00 0.000 6 0.045 0.035 2609 2309 1699

23262 1.07 272.0 7.6 10.5 1125 23266 0.00 2.58 0.00 0.000 4 0.000 0.060 2610 3709 1700

23303 end climb: SURFACE_DEPTH_REACHED

state 23303 begin surface coast

23327 end surface coast: CONTROL_FINISHED_OK

state 23327 begin surface

ID	16	HEADING	270	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	70	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-2108841	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	010237,6200.595,-1107.624,33,1.2,34,-10.6	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6200.667,-1130.685
_XMS_NAKs	8	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.38	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.3	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	011207,6200.667,-1107.674,13,1.4,13,-10.6	MHEAD_RNG_PITCHd_Wd	280.6,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.026650	_24V_AH	23.5,16.015
SM_CCo	23412,0.00,0.000,0,0,1698,274.74	_10V_AH	10.1,7.144
SM_GC	1.52,11.88,0.00,0.00,0.079,0.000,0.000,66,2594,1698,-10.47,-0.17,274.74	DATA_FILE_SIZE	56810,1128
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	144412,0
TT8_MAMPS	0.02301	CFSIZE	260165632,254488576
HUMID	1715	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	170609,074355,6200.094,-1117.019,41,1.1,42,-10.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	191	126.96	SBE_CT	816	24	460.56
Roll_motor	85	70	140.95	SBE_O2	786	19	351.22
VBD_pump_during_apogee	387	1190	10840.63	WL_BB2F	593	105	1465.64
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	88.22	nil	0	0	0.00
Iridium_during_connect	68	160	258.15	nil	0	0	0.00
Iridium_during_xfer	274	223	1439.44
Transponder_ping	8	420	83.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.58
TT8	1948	19	389.63
LPSleep	18744	2	414.60
TT8_Active	479	19	95.85
TT8_Sampling	2122	39	853.26
TT8_CF8	680	45	314.98
TT8_Kalman	0	81	0.00
Analog_circuits	1501	12	182.01
GPS_charging	0	0	0.00
Compass	2079	8	168.04
RAFOS	0	0	0.00
Transponder	56	30	17.16

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	77	0.00	0.00	-56.58	0.000	6	0.000	0.000	72	2598	3416
80	-1.03	-146.6	6.4	-12.1	3	101	12.12	2.53	0.00	0.000	4	0.192	0.038	2129	1193	3417
242	-1.03	-146.6	38.2	-12.8	10	246	0.00	2.47	0.00	0.000	6	0.000	0.036	2130	2600	3417
563	-1.03	-146.6	71.4	-8.8	26	564	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
873	-1.03	-146.6	96.1	-7.7	41	875	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3418
1181	-1.03	-146.6	125.9	-10.7	56	1183	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
1491	-1.03	-146.6	158.9	-10.5	71	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3418
1800	-1.03	-146.6	191.6	-10.4	86	1801	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
2109	-1.03	-146.6	222.9	-9.8	101	2110	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
2418	-1.03	-146.6	249.6	-7.9	116	2419	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
2728	-1.03	-146.6	273.1	-7.9	131	2732	0.00	2.47	0.00	0.000	4	0.000	0.041	2130	1195	3418
2773	-1.08	-146.6	276.7	-7.3	133	2777	0.00	2.47	0.00	0.000	6	0.000	0.038	2130	2601	3417
3094	-1.08	-146.6	303.5	-8.0	149	3095	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3417
3403	-1.08	-146.6	329.8	-8.7	164	3407	0.00	2.47	0.00	0.000	4	0.000	0.041	2130	1195	3417
3447	-1.12	-146.6	333.6	-8.5	166	3452	0.00	2.47	0.00	0.000	6	0.000	0.038	2130	2601	3417
3768	-1.12	-146.6	362.2	-8.7	182	3769	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3417
4078	-1.12	-146.6	389.5	-8.8	197	4082	0.00	2.47	0.00	0.000	4	0.000	0.041	2130	1195	3417
4140	-1.16	-146.6	394.9	-8.6	200	4146	0.10	2.47	0.00	0.000	6	0.054	0.039	2096	2608	3417
4470	-1.05	-146.6	428.3	-10.4	216	4472	0.17	0.00	0.00	0.000	6	0.100	0.000	2128	2608	3417
4777	-1.05	-146.6	454.8	-8.6	231	4778	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2608	3417
5086	-1.05	-146.6	482.3	-8.7	246	5090	0.00	2.50	0.00	0.000	4	0.000	0.041	2128	1190	3417
5158	-1.05	-146.6	488.7	-9.0	249	5162	0.00	2.47	0.00	0.000	6	0.000	0.038	2128	2600	3416
5473	-1.05	-146.6	515.5	-8.6	264	5475	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2600	3416
5783	-1.05	-146.6	542.2	-8.5	279	5784	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2600	3416
6092	-1.05	-146.6	568.9	-8.7	294	6096	0.00	2.47	0.00	0.000	4	0.000	0.041	2128	1191	3416
6136	-1.10	-146.6	572.9	-8.9	296	6140	0.00	2.47	0.00	0.000	6	0.000	0.039	2128	2604	3416
6462	-1.10	-146.6	602.1	-9.1	312	6463	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2604	3416
6772	-1.10	-146.6	629.2	-8.7	327	6776	0.00	2.47	0.00	0.000	4	0.000	0.041	2128	1195	3416
6834	-1.15	-146.6	634.6	-8.8	330	6839	0.00	2.47	0.00	0.000	6	0.000	0.039	2128	2604	3416
7162	-1.15	-146.6	661.6	-8.0	346	7163	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2603	3415
7471	-1.15	-146.6	684.3	-7.1	361	7476	0.00	2.47	0.00	0.000	4	0.000	0.041	2128	1195	3415
7512	-1.19	-146.6	687.2	-7.1	363	7517	0.12	2.47	0.00	0.000	6	0.051	0.040	2089	2601	3415
7839	-1.09	-146.6	718.8	-9.8	379	7841	0.17	0.00	0.00	0.000	6	0.100	0.000	2122	2602	3415
8148	-1.09	-146.6	745.4	-8.6	394	8152	0.00	2.47	0.00	0.000	4	0.000	0.042	2121	1195	3415
8203	-1.09	-146.6	750.5	-9.0	396	8209	0.00	2.47	0.00	0.000	6	0.000	0.041	2121	2600	3415
8519	-1.09	-146.6	779.0	-8.5	412	8520	0.00	0.00	0.00	0.000	6	0.000	0.000	2121	2600	3415
8828	-1.09	-146.6	807.0	-9.4	427	8829	0.00	0.00	0.00	0.000	6	0.000	0.000	2121	2600	3415
9138	-1.09	-146.6	835.9	-8.8	442	9139	0.00	0.00	0.00	0.000	6	0.000	0.000	2121	2600	3415
9447	-1.09	-146.6	864.0	-9.5	457	9448	0.00	0.00	0.00	0.000	6	0.000	0.000	2121	2600	3415
9756	-1.09	-146.6	892.2	-8.8	472	9757	0.00	0.00	0.00	0.000	6	0.000	0.000	2121	2600	3414
10065	-1.09	-146.6	917.0	-8.2	487	10066	0.00	0.00	0.00	0.000	6	0.000	0.000	2121	2600	3414
10375	-1.09	-146.6	939.4	-6.8	502	10379	0.00	2.50	0.00	0.000	4	0.000	0.045	2121	1192	3414
10453	-1.14	-146.6	944.8	-6.7	505	10460	0.00	2.50	0.00	0.000	6	0.000	0.043	2122	2606	3414
10769	-1.14	-146.6	969.2	-7.8	521	10770	0.00	0.00	0.00	0.000	6	0.000	0.000	2121	2607	3413
11034	end dive: TARGET_DEPTH_EXCEEDED
state	11034	begin apogee
11041	-0.31	0.0	991.4	8.3	534	11178	0.88	0.00	132.93	1.190	6	0.136	0.000	2287	2293	2817
11179	end apogee: CONTROL_FINISHED_OK
state	11179	begin climb
11182	1.03	146.6	997.3	0.0	541	11327	1.38	2.58	134.80	1.183	4	0.076	0.051	2579	910	2218
11375	0.89	152.0	991.9	7.3	550	11387	0.12	2.50	5.75	0.848	6	0.097	0.041	2557	2302	2196
11705	0.82	152.0	964.9	8.8	566	11710	0.00	2.65	0.00	0.000	4	0.000	0.071	2557	3702	2193
11756	0.68	152.0	959.8	9.2	568	11761	0.25	2.47	0.00	0.000	6	0.097	0.035	2508	2303	2193
12071	0.75	152.0	935.5	7.5	583	12073	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2303	2191
12381	0.90	220.2	917.2	5.2	598	12448	0.20	0.00	63.85	1.131	6	0.047	0.000	2564	2303	1919
12756	0.90	220.2	888.3	8.8	616	12758	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2303	1912
13062	0.90	220.2	862.2	8.5	631	13064	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2303	1910
13372	0.90	220.2	834.7	9.0	646	13376	0.00	2.65	0.00	0.000	4	0.000	0.066	2564	3708	1909
13467	0.84	220.2	825.1	9.9	650	13472	0.12	2.47	0.00	0.000	6	0.099	0.033	2541	2299	1909
13783	0.90	230.7	801.5	7.1	665	13794	0.00	0.00	9.25	0.915	6	0.000	0.000	2541	2299	1876
14092	0.95	230.7	778.5	7.9	680	14094	0.12	0.00	0.00	0.000	6	0.051	0.000	2580	2299	1874
14401	0.90	230.7	747.9	10.4	695	14403	0.12	0.00	0.00	0.000	6	0.092	0.000	2556	2299	1874
14710	0.90	230.7	718.9	8.7	710	14712	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2299	1874
15019	0.90	230.7	692.7	8.5	725	15021	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2299	1874
15329	0.90	230.7	665.6	8.7	740	15330	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2299	1874
15638	0.90	230.7	638.4	8.9	755	15639	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2299	1874
15947	0.90	230.7	611.9	8.8	770	15948	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2298	1874
16257	0.90	230.7	584.8	8.8	785	16261	0.00	2.60	0.00	0.000	4	0.000	0.062	2556	3707	1874
16296	0.90	230.7	581.2	9.6	787	16301	0.00	2.45	0.00	0.000	6	0.000	0.031	2556	2298	1874
16623	0.90	230.7	552.3	8.8	803	16624	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2298	1874
16932	0.90	230.7	525.1	8.7	818	16933	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2298	1874
17242	0.90	230.7	498.7	8.3	833	17243	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2298	1874
17551	0.90	230.7	474.2	7.6	848	17555	0.00	2.60	0.00	0.000	4	0.000	0.061	2556	3711	1873
17594	0.90	230.7	470.3	9.0	850	17599	0.00	2.45	0.00	0.000	6	0.000	0.031	2556	2294	1874
17922	0.91	235.4	445.9	7.3	866	17930	0.00	0.00	5.90	0.647	6	0.000	0.000	2556	2293	1857
18231	0.91	235.4	422.2	7.7	881	18232	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2293	1857
18540	0.91	235.4	396.7	8.6	896	18541	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2293	1856
18850	0.95	235.4	370.2	8.6	911	18851	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2294	1856
19159	0.95	235.4	344.5	8.2	926	19160	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2293	1856
19469	0.99	235.4	319.8	7.7	941	19470	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2293	1857
19778	1.03	235.4	296.3	7.5	956	19780	0.12	0.00	0.00	0.000	6	0.049	0.000	2595	2293	1855
20087	0.96	235.4	268.2	9.1	971	20089	0.12	0.00	0.00	0.000	6	0.092	0.000	2571	2292	1856
20396	0.96	235.4	242.9	8.1	986	20397	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2292	1856
20705	0.96	235.4	219.6	7.6	1001	20706	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2292	1855
21014	0.96	235.4	195.9	7.7	1016	21016	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2292	1856
21324	0.96	235.4	171.5	7.8	1031	21325	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2292	1856
21633	0.97	239.1	148.4	7.4	1046	21640	0.00	0.00	4.95	0.486	6	0.000	0.000	2571	2293	1842
21944	1.00	272.0	128.7	6.4	1061	21976	0.00	0.00	30.10	0.626	6	0.000	0.000	2571	2292	1707
22273	1.00	272.0	100.8	9.7	1077	22274	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2292	1703
22581	1.04	272.0	71.3	8.7	1092	22582	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2292	1702
22890	1.04	272.0	45.2	8.7	1107	22894	0.00	2.50	0.00	0.000	4	0.000	0.048	2571	897	1700
22946	1.12	272.0	40.0	8.4	1109	22953	0.15	2.45	0.00	0.000	6	0.045	0.035	2609	2309	1699
23262	1.07	272.0	7.6	10.5	1125	23266	0.00	2.58	0.00	0.000	4	0.000	0.060	2610	3709	1700
23303	end climb: SURFACE_DEPTH_REACHED
state	23303	begin surface coast
23327	end surface coast: CONTROL_FINISHED_OK
state	23327	begin surface