Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 84 * 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 84 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -2109117.2 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 -2109117.2

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 27 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 84 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 142125,6232.303,-1152.620,42,1.6,42,-11.2 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 7 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.64 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -67.5 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 142702,6232.289,-1152.672,11,1.5,11,-11.2 MHEAD_RNG_PITCHd_Wd 312.8,27277,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026501 ALTIM_BOTTOM_PING 726.1,94.6

SM_CCo 18951,0.57,0.120,0,0,1798,250.21 _24V_AH 23.6,17.943

SM_GC 2.83,0.00,0.00,0.57,0.000,0.000,0.120,68,2600,1798,-10.54,0.00,250.21 _10V_AH 10.1,8.396

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47407,914

TT8_MAMPS 0.021476 CAP_FILE_SIZE 127702,0

HUMID 1717 CFSIZE 260165632,253575168

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 GPS 200609,194437,6234.455,-1159.426,47,1.9,47,-11.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 177 118.54 SBE_CT 663 24 375.54

Roll_motor 105 81 202.14 SBE_O2 627 19 281.53

VBD_pump_during_apogee 361 1103 9427.94 WL_BB2F 520 105 1289.53

VBD_pump_during_surface 0 119 1.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.76 nil 0 0 0.00

Iridium_during_connect 26 160 99.07 nil 0 0 0.00

Iridium_during_xfer 173 223 910.47

Transponder_ping 6 420 61.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.81

TT8 1637 19 327.45

LPSleep 14868 2 328.87

TT8_Active 470 19 94.11

TT8_Sampling 1831 39 736.06

TT8_CF8 484 45 223.89

TT8_Kalman 0 81 0.00

Analog_circuits 1359 12 164.81

GPS_charging 0 0 0.00

Compass 1794 8 144.99

RAFOS 0 0 0.00

Transponder 43 30 13.09

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 12 begin dive

16 -1.03 -146.6 0.0 0.0 0 72 0.00 0.00 -54.35 0.000 6 0.000 0.000 73 2602 3418

75 -1.03 -146.6 3.8 -9.2 2 97 11.75 2.55 0.00 0.000 4 0.177 0.038 2136 1186 3418

214 -1.03 -146.6 32.9 -9.6 8 219 0.00 2.50 0.00 0.000 6 0.000 0.037 2136 2601 3419

536 -1.03 -146.6 68.2 -10.9 24 537 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2601 3420

845 -1.03 -146.6 99.5 -9.8 39 847 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2601 3420

1154 -1.03 -146.6 129.6 -9.6 54 1156 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2601 3420

1463 -1.03 -146.6 159.5 -9.5 69 1464 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2601 3421

1773 -1.03 -146.6 189.0 -9.8 84 1777 0.00 2.50 0.00 0.000 4 0.000 0.040 2136 1184 3420

1813 -1.09 -146.6 192.9 -9.3 86 1817 0.00 2.50 0.00 0.000 6 0.000 0.038 2136 2602 3420

2140 -1.09 -146.6 226.1 -10.1 102 2141 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2602 3420

2448 -1.09 -146.6 255.8 -9.5 117 2450 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2601 3419

2757 -1.09 -146.6 283.5 -8.8 132 2762 0.00 2.50 0.00 0.000 4 0.000 0.041 2136 1185 3420

2813 -1.13 -146.6 288.2 -8.5 134 2820 0.12 2.50 0.00 0.000 6 0.047 0.039 2096 2603 3420

3130 -1.03 -146.6 321.8 -10.9 150 3131 0.20 0.00 0.00 0.000 6 0.099 0.000 2134 2603 3420

3438 -1.03 -146.6 349.9 -8.9 165 3439 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2603 3420

3747 -1.03 -146.6 378.3 -9.2 180 3752 0.00 2.50 0.00 0.000 4 0.000 0.041 2134 1185 3419

3792 -1.09 -146.6 382.5 -9.5 182 3797 0.00 2.47 0.00 0.000 6 0.000 0.039 2134 2600 3420

4113 -1.09 -146.6 412.1 -9.1 198 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2600 3419

4423 -1.09 -146.6 439.8 -8.8 213 4424 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2600 3419

4732 -1.09 -146.6 467.3 -8.9 228 4733 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2600 3419

5041 -1.09 -146.6 494.9 -9.0 243 5045 0.00 2.50 0.00 0.000 4 0.000 0.041 2134 1181 3418

5086 -1.15 -146.6 499.1 -8.7 245 5091 0.12 2.50 0.00 0.000 6 0.048 0.039 2094 2602 3418

5408 -1.06 -146.6 534.4 -11.1 261 5410 0.17 0.00 0.00 0.000 6 0.100 0.000 2128 2603 3418

5717 -1.06 -146.6 562.8 -9.0 276 5718 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2603 3418

6026 -1.06 -146.6 589.2 -8.3 291 6030 0.00 2.50 0.00 0.000 4 0.000 0.041 2126 1184 3418

6082 -1.10 -146.6 594.0 -9.0 293 6086 0.00 2.50 0.00 0.000 6 0.000 0.039 2128 2603 3418

6397 -1.10 -146.6 620.7 -8.7 308 6398 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2604 3418

6707 -1.10 -146.6 646.4 -8.3 323 6711 0.00 2.50 0.00 0.000 4 0.000 0.042 2128 1189 3418

6746 -1.16 -146.6 649.6 -8.4 324 6752 0.00 2.50 0.00 0.000 6 0.000 0.040 2128 2608 3418

7062 -1.16 -146.6 675.2 -8.4 340 7063 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2608 3417

7371 -1.16 -146.6 699.6 -7.4 355 7372 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2608 3417

7680 -1.16 -146.6 722.7 -7.8 370 7681 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2608 3417

7989 -1.16 -146.6 748.0 -8.3 385 7990 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2608 3417

8299 -1.16 -146.6 772.9 -8.3 400 8303 0.00 2.38 0.00 0.000 4 0.000 0.081 2128 3862 3416

8343 -1.16 -146.6 777.2 -9.7 402 8347 0.00 2.20 0.00 0.000 6 0.000 0.035 2128 2593 3416

8671 -1.21 -146.6 803.4 -6.9 418 8675 0.15 2.50 0.00 0.000 4 0.047 0.051 2085 1198 3416

8746 end dive: BOTTOM_OBSTACLE_DETECTED

state 8746 begin apogee

8755 -0.31 0.0 810.8 10.5 421 8889 1.02 0.00 130.68 1.104 6 0.127 0.000 2285 2301 2817

8890 end apogee: CONTROL_FINISHED_OK

state 8890 begin climb

8893 1.03 146.6 816.9 0.0 428 9030 1.38 0.00 132.62 1.095 6 0.075 0.000 2578 2301 2218

9326 0.92 163.4 794.5 6.9 449 9348 0.00 2.62 15.43 0.986 4 0.000 0.054 2579 901 2150

9491 0.84 163.4 782.2 7.9 456 9496 0.17 2.53 0.00 0.000 6 0.094 0.042 2545 2305 2146

9811 0.84 163.4 758.3 7.9 472 9816 0.00 2.67 0.00 0.000 4 0.000 0.074 2546 3710 2146

9919 0.77 163.4 748.8 8.9 477 9923 0.00 2.50 0.00 0.000 6 0.000 0.036 2545 2305 2145

10246 0.80 187.4 724.6 6.7 493 10270 0.00 0.00 22.25 0.999 6 0.000 0.000 2545 2305 2054

10575 0.83 211.5 702.4 6.7 509 10604 0.00 2.72 23.42 0.992 4 0.000 0.068 2545 3702 1954

10663 0.83 211.5 695.7 8.2 513 10667 0.00 2.47 0.00 0.000 6 0.000 0.034 2546 2297 1952

10989 0.83 211.5 670.3 8.0 529 10993 0.00 2.62 0.00 0.000 4 0.000 0.067 2545 3703 1949

11038 0.83 211.5 665.9 8.8 531 11042 0.00 2.45 0.00 0.000 6 0.000 0.033 2545 2299 1949

11360 0.83 211.5 640.1 8.0 547 11361 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2299 1949

11669 0.83 217.9 617.0 7.3 562 11677 0.00 0.00 6.75 0.780 6 0.000 0.000 2545 2299 1928

11979 0.89 228.4 594.7 7.1 577 11992 0.00 0.00 11.32 0.858 6 0.000 0.000 2545 2298 1885

12287 0.89 228.4 571.3 7.7 592 12292 0.00 2.53 0.00 0.000 4 0.000 0.051 2545 895 1882

12332 0.94 228.4 567.5 8.1 594 12336 0.00 2.47 0.00 0.000 6 0.000 0.036 2545 2309 1881

12653 0.98 228.4 542.3 8.1 610 12658 0.15 2.60 0.00 0.000 4 0.048 0.064 2589 3705 1881

12698 0.86 228.4 537.6 10.6 612 12703 0.22 2.45 0.00 0.000 6 0.091 0.031 2545 2297 1881

13019 0.91 228.4 511.2 8.1 628 13020 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2296 1882

13328 0.95 228.4 485.3 8.1 643 13333 0.00 2.60 0.00 0.000 4 0.000 0.062 2546 3706 1881

13368 0.95 228.4 481.9 8.3 645 13373 0.10 2.45 0.00 0.000 6 0.055 0.031 2577 2296 1881

13696 0.95 228.4 451.7 9.3 661 13697 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2296 1882

14005 0.95 228.4 422.7 9.3 676 14006 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2296 1881

14314 0.95 228.4 394.1 9.2 691 14315 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2296 1881

14623 0.95 228.4 365.4 9.1 706 14624 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2296 1881

14933 0.95 228.4 338.3 8.4 721 14937 0.00 2.60 0.00 0.000 4 0.000 0.061 2577 3704 1881

14972 0.89 228.4 334.5 9.8 723 14977 0.12 2.45 0.00 0.000 6 0.096 0.031 2553 2293 1882

15299 0.94 236.2 310.1 7.2 739 15310 0.00 0.00 8.32 0.662 6 0.000 0.000 2553 2292 1854

15608 0.99 236.2 286.7 7.5 754 15610 0.10 0.00 0.00 0.000 6 0.053 0.000 2586 2291 1852

15917 0.94 236.2 258.9 9.2 769 15922 0.00 2.60 0.00 0.000 4 0.000 0.061 2586 3704 1852

15968 0.85 236.2 253.9 9.4 771 15973 0.20 2.42 0.00 0.000 6 0.091 0.030 2547 2299 1852

16285 0.93 247.0 230.6 7.1 786 16298 0.00 0.00 11.15 0.653 6 0.000 0.000 2548 2299 1810

16594 1.01 247.0 207.5 7.7 801 16596 0.15 0.00 0.00 0.000 6 0.045 0.000 2591 2298 1808

16902 1.01 247.0 178.3 9.5 816 16904 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2297 1808

17212 0.97 247.0 149.1 9.6 831 17213 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2298 1808

17523 0.93 247.0 118.8 9.8 846 17525 0.15 0.00 0.00 0.000 6 0.088 0.000 2561 2298 1808

17831 0.97 247.0 92.1 8.1 861 17835 0.00 2.60 0.00 0.000 4 0.000 0.061 2561 3709 1808

17870 0.97 247.0 88.8 8.8 863 17875 0.00 2.45 0.00 0.000 6 0.000 0.031 2561 2292 1807

18198 1.01 247.0 63.1 7.6 879 18202 0.00 2.47 0.00 0.000 4 0.000 0.048 2561 899 1807

18242 1.07 247.0 59.7 8.3 881 18247 0.15 2.45 0.00 0.000 6 0.045 0.035 2607 2307 1807

18564 1.00 247.0 32.1 9.0 897 18569 0.15 2.58 0.00 0.000 4 0.085 0.061 2578 3708 1807

18614 1.00 247.0 27.2 9.3 899 18618 0.00 2.42 0.00 0.000 6 0.000 0.029 2578 2297 1807

18907 end climb: SURFACE_DEPTH_REACHED

state 18907 begin surface coast

18928 end surface coast: CONTROL_FINISHED_OK

state 18929 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	84	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-2109117.2	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	142125,6232.303,-1152.620,42,1.6,42,-11.2	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	7	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.64	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-67.5	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	142702,6232.289,-1152.672,11,1.5,11,-11.2	MHEAD_RNG_PITCHd_Wd	312.8,27277,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.026501	ALTIM_BOTTOM_PING	726.1,94.6
SM_CCo	18951,0.57,0.120,0,0,1798,250.21	_24V_AH	23.6,17.943
SM_GC	2.83,0.00,0.00,0.57,0.000,0.000,0.120,68,2600,1798,-10.54,0.00,250.21	_10V_AH	10.1,8.396
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47407,914
TT8_MAMPS	0.021476	CAP_FILE_SIZE	127702,0
HUMID	1717	CFSIZE	260165632,253575168
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	GPS	200609,194437,6234.455,-1159.426,47,1.9,47,-11.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	177	118.54	SBE_CT	663	24	375.54
Roll_motor	105	81	202.14	SBE_O2	627	19	281.53
VBD_pump_during_apogee	361	1103	9427.94	WL_BB2F	520	105	1289.53
VBD_pump_during_surface	0	119	1.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.76	nil	0	0	0.00
Iridium_during_connect	26	160	99.07	nil	0	0	0.00
Iridium_during_xfer	173	223	910.47
Transponder_ping	6	420	61.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.81
TT8	1637	19	327.45
LPSleep	14868	2	328.87
TT8_Active	470	19	94.11
TT8_Sampling	1831	39	736.06
TT8_CF8	484	45	223.89
TT8_Kalman	0	81	0.00
Analog_circuits	1359	12	164.81
GPS_charging	0	0	0.00
Compass	1794	8	144.99
RAFOS	0	0	0.00
Transponder	43	30	13.09

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	12	begin dive
16	-1.03	-146.6	0.0	0.0	0	72	0.00	0.00	-54.35	0.000	6	0.000	0.000	73	2602	3418
75	-1.03	-146.6	3.8	-9.2	2	97	11.75	2.55	0.00	0.000	4	0.177	0.038	2136	1186	3418
214	-1.03	-146.6	32.9	-9.6	8	219	0.00	2.50	0.00	0.000	6	0.000	0.037	2136	2601	3419
536	-1.03	-146.6	68.2	-10.9	24	537	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2601	3420
845	-1.03	-146.6	99.5	-9.8	39	847	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2601	3420
1154	-1.03	-146.6	129.6	-9.6	54	1156	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2601	3420
1463	-1.03	-146.6	159.5	-9.5	69	1464	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2601	3421
1773	-1.03	-146.6	189.0	-9.8	84	1777	0.00	2.50	0.00	0.000	4	0.000	0.040	2136	1184	3420
1813	-1.09	-146.6	192.9	-9.3	86	1817	0.00	2.50	0.00	0.000	6	0.000	0.038	2136	2602	3420
2140	-1.09	-146.6	226.1	-10.1	102	2141	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2602	3420
2448	-1.09	-146.6	255.8	-9.5	117	2450	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2601	3419
2757	-1.09	-146.6	283.5	-8.8	132	2762	0.00	2.50	0.00	0.000	4	0.000	0.041	2136	1185	3420
2813	-1.13	-146.6	288.2	-8.5	134	2820	0.12	2.50	0.00	0.000	6	0.047	0.039	2096	2603	3420
3130	-1.03	-146.6	321.8	-10.9	150	3131	0.20	0.00	0.00	0.000	6	0.099	0.000	2134	2603	3420
3438	-1.03	-146.6	349.9	-8.9	165	3439	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2603	3420
3747	-1.03	-146.6	378.3	-9.2	180	3752	0.00	2.50	0.00	0.000	4	0.000	0.041	2134	1185	3419
3792	-1.09	-146.6	382.5	-9.5	182	3797	0.00	2.47	0.00	0.000	6	0.000	0.039	2134	2600	3420
4113	-1.09	-146.6	412.1	-9.1	198	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2600	3419
4423	-1.09	-146.6	439.8	-8.8	213	4424	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2600	3419
4732	-1.09	-146.6	467.3	-8.9	228	4733	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2600	3419
5041	-1.09	-146.6	494.9	-9.0	243	5045	0.00	2.50	0.00	0.000	4	0.000	0.041	2134	1181	3418
5086	-1.15	-146.6	499.1	-8.7	245	5091	0.12	2.50	0.00	0.000	6	0.048	0.039	2094	2602	3418
5408	-1.06	-146.6	534.4	-11.1	261	5410	0.17	0.00	0.00	0.000	6	0.100	0.000	2128	2603	3418
5717	-1.06	-146.6	562.8	-9.0	276	5718	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2603	3418
6026	-1.06	-146.6	589.2	-8.3	291	6030	0.00	2.50	0.00	0.000	4	0.000	0.041	2126	1184	3418
6082	-1.10	-146.6	594.0	-9.0	293	6086	0.00	2.50	0.00	0.000	6	0.000	0.039	2128	2603	3418
6397	-1.10	-146.6	620.7	-8.7	308	6398	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2604	3418
6707	-1.10	-146.6	646.4	-8.3	323	6711	0.00	2.50	0.00	0.000	4	0.000	0.042	2128	1189	3418
6746	-1.16	-146.6	649.6	-8.4	324	6752	0.00	2.50	0.00	0.000	6	0.000	0.040	2128	2608	3418
7062	-1.16	-146.6	675.2	-8.4	340	7063	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2608	3417
7371	-1.16	-146.6	699.6	-7.4	355	7372	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2608	3417
7680	-1.16	-146.6	722.7	-7.8	370	7681	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2608	3417
7989	-1.16	-146.6	748.0	-8.3	385	7990	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2608	3417
8299	-1.16	-146.6	772.9	-8.3	400	8303	0.00	2.38	0.00	0.000	4	0.000	0.081	2128	3862	3416
8343	-1.16	-146.6	777.2	-9.7	402	8347	0.00	2.20	0.00	0.000	6	0.000	0.035	2128	2593	3416
8671	-1.21	-146.6	803.4	-6.9	418	8675	0.15	2.50	0.00	0.000	4	0.047	0.051	2085	1198	3416
8746	end dive: BOTTOM_OBSTACLE_DETECTED
state	8746	begin apogee
8755	-0.31	0.0	810.8	10.5	421	8889	1.02	0.00	130.68	1.104	6	0.127	0.000	2285	2301	2817
8890	end apogee: CONTROL_FINISHED_OK
state	8890	begin climb
8893	1.03	146.6	816.9	0.0	428	9030	1.38	0.00	132.62	1.095	6	0.075	0.000	2578	2301	2218
9326	0.92	163.4	794.5	6.9	449	9348	0.00	2.62	15.43	0.986	4	0.000	0.054	2579	901	2150
9491	0.84	163.4	782.2	7.9	456	9496	0.17	2.53	0.00	0.000	6	0.094	0.042	2545	2305	2146
9811	0.84	163.4	758.3	7.9	472	9816	0.00	2.67	0.00	0.000	4	0.000	0.074	2546	3710	2146
9919	0.77	163.4	748.8	8.9	477	9923	0.00	2.50	0.00	0.000	6	0.000	0.036	2545	2305	2145
10246	0.80	187.4	724.6	6.7	493	10270	0.00	0.00	22.25	0.999	6	0.000	0.000	2545	2305	2054
10575	0.83	211.5	702.4	6.7	509	10604	0.00	2.72	23.42	0.992	4	0.000	0.068	2545	3702	1954
10663	0.83	211.5	695.7	8.2	513	10667	0.00	2.47	0.00	0.000	6	0.000	0.034	2546	2297	1952
10989	0.83	211.5	670.3	8.0	529	10993	0.00	2.62	0.00	0.000	4	0.000	0.067	2545	3703	1949
11038	0.83	211.5	665.9	8.8	531	11042	0.00	2.45	0.00	0.000	6	0.000	0.033	2545	2299	1949
11360	0.83	211.5	640.1	8.0	547	11361	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2299	1949
11669	0.83	217.9	617.0	7.3	562	11677	0.00	0.00	6.75	0.780	6	0.000	0.000	2545	2299	1928
11979	0.89	228.4	594.7	7.1	577	11992	0.00	0.00	11.32	0.858	6	0.000	0.000	2545	2298	1885
12287	0.89	228.4	571.3	7.7	592	12292	0.00	2.53	0.00	0.000	4	0.000	0.051	2545	895	1882
12332	0.94	228.4	567.5	8.1	594	12336	0.00	2.47	0.00	0.000	6	0.000	0.036	2545	2309	1881
12653	0.98	228.4	542.3	8.1	610	12658	0.15	2.60	0.00	0.000	4	0.048	0.064	2589	3705	1881
12698	0.86	228.4	537.6	10.6	612	12703	0.22	2.45	0.00	0.000	6	0.091	0.031	2545	2297	1881
13019	0.91	228.4	511.2	8.1	628	13020	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2296	1882
13328	0.95	228.4	485.3	8.1	643	13333	0.00	2.60	0.00	0.000	4	0.000	0.062	2546	3706	1881
13368	0.95	228.4	481.9	8.3	645	13373	0.10	2.45	0.00	0.000	6	0.055	0.031	2577	2296	1881
13696	0.95	228.4	451.7	9.3	661	13697	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2296	1882
14005	0.95	228.4	422.7	9.3	676	14006	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2296	1881
14314	0.95	228.4	394.1	9.2	691	14315	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2296	1881
14623	0.95	228.4	365.4	9.1	706	14624	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2296	1881
14933	0.95	228.4	338.3	8.4	721	14937	0.00	2.60	0.00	0.000	4	0.000	0.061	2577	3704	1881
14972	0.89	228.4	334.5	9.8	723	14977	0.12	2.45	0.00	0.000	6	0.096	0.031	2553	2293	1882
15299	0.94	236.2	310.1	7.2	739	15310	0.00	0.00	8.32	0.662	6	0.000	0.000	2553	2292	1854
15608	0.99	236.2	286.7	7.5	754	15610	0.10	0.00	0.00	0.000	6	0.053	0.000	2586	2291	1852
15917	0.94	236.2	258.9	9.2	769	15922	0.00	2.60	0.00	0.000	4	0.000	0.061	2586	3704	1852
15968	0.85	236.2	253.9	9.4	771	15973	0.20	2.42	0.00	0.000	6	0.091	0.030	2547	2299	1852
16285	0.93	247.0	230.6	7.1	786	16298	0.00	0.00	11.15	0.653	6	0.000	0.000	2548	2299	1810
16594	1.01	247.0	207.5	7.7	801	16596	0.15	0.00	0.00	0.000	6	0.045	0.000	2591	2298	1808
16902	1.01	247.0	178.3	9.5	816	16904	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2297	1808
17212	0.97	247.0	149.1	9.6	831	17213	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2298	1808
17523	0.93	247.0	118.8	9.8	846	17525	0.15	0.00	0.00	0.000	6	0.088	0.000	2561	2298	1808
17831	0.97	247.0	92.1	8.1	861	17835	0.00	2.60	0.00	0.000	4	0.000	0.061	2561	3709	1808
17870	0.97	247.0	88.8	8.8	863	17875	0.00	2.45	0.00	0.000	6	0.000	0.031	2561	2292	1807
18198	1.01	247.0	63.1	7.6	879	18202	0.00	2.47	0.00	0.000	4	0.000	0.048	2561	899	1807
18242	1.07	247.0	59.7	8.3	881	18247	0.15	2.45	0.00	0.000	6	0.045	0.035	2607	2307	1807
18564	1.00	247.0	32.1	9.0	897	18569	0.15	2.58	0.00	0.000	4	0.085	0.061	2578	3708	1807
18614	1.00	247.0	27.2	9.3	899	18618	0.00	2.42	0.00	0.000	6	0.000	0.029	2578	2297	1807
18907	end climb: SURFACE_DEPTH_REACHED
state	18907	begin surface coast
18928	end surface coast: CONTROL_FINISHED_OK
state	18929	begin surface