Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 88 * 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 88 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -2109194 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 -2109194

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 34 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 88 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 122137,6239.718,-1222.572,29,1.2,29,-11.5 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.42 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -60.8 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 122726,6239.681,-1222.538,14,1.2,14,-11.5 MHEAD_RNG_PITCHd_Wd 309.5,40675,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.013996 ALTIM_BOTTOM_PING 800.5,39.5

SM_CCo 19675,0.00,0.000,0,0,1743,263.45 _24V_AH 23.6,18.484

SM_GC 1.53,12.10,0.00,0.00,0.094,0.000,0.000,76,2614,1743,-10.47,0.40,263.45 _10V_AH 10.1,8.732

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47356,946

TT8_MAMPS 0.02301 CAP_FILE_SIZE 132108,0

HUMID 1714 CFSIZE 260165632,253317120

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 210609,175700,6241.845,-1231.785,39,1.1,44,-11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 190 124.46 SBE_CT 687 24 389.59

Roll_motor 120 71 203.40 SBE_O2 653 19 293.04

VBD_pump_during_apogee 370 1110 9708.38 WL_BB2F 544 105 1348.43

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 17 103 43.72 nil 0 0 0.00

Iridium_during_connect 44 160 168.13 nil 0 0 0.00

Iridium_during_xfer 164 223 867.48

Transponder_ping 7 420 71.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.42

TT8 1699 19 339.77

LPSleep 15393 2 340.48

TT8_Active 479 19 95.91

TT8_Sampling 1940 39 779.95

TT8_CF8 510 45 236.27

TT8_Kalman 0 81 0.00

Analog_circuits 1437 12 174.22

GPS_charging 0 0 0.00

Compass 1897 8 153.35

RAFOS 0 0 0.00

Transponder 50 30 15.40

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

15 -1.03 -146.6 0.0 0.0 0 79 0.00 0.00 -61.30 0.000 2 0.000 0.000 76 2608 3173

82 -1.03 -146.6 4.8 -8.1 3 105 12.10 2.50 -4.28 0.000 4 0.190 0.053 2130 1196 3416

174 -1.03 -146.6 21.6 -9.0 7 178 0.00 2.47 0.00 0.000 6 0.000 0.037 2130 2597 3417

500 -1.03 -146.6 44.7 -8.9 23 504 0.00 2.47 0.00 0.000 4 0.000 0.038 2130 1194 3418

563 -1.03 -146.6 50.9 -10.0 26 567 0.00 2.47 0.00 0.000 6 0.000 0.035 2130 2601 3418

890 -1.03 -146.6 85.0 -9.1 42 891 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3419

1200 -1.03 -146.6 117.4 -10.9 57 1202 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3419

1508 -1.03 -146.6 145.5 -8.2 72 1509 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3419

1817 -1.03 -146.6 172.3 -8.7 87 1818 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3419

2127 -1.03 -146.6 196.2 -7.4 102 2131 0.00 2.50 0.00 0.000 4 0.000 0.041 2130 1189 3419

2171 -1.03 -146.6 199.5 -6.8 104 2176 0.00 2.50 0.00 0.000 6 0.000 0.038 2130 2607 3418

2493 -1.03 -146.6 223.0 -7.4 120 2494 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2607 3419

2802 -1.03 -146.6 246.6 -7.8 135 2803 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2607 3418

3111 -1.03 -146.6 271.2 -8.3 150 3115 0.00 2.47 0.00 0.000 4 0.000 0.041 2130 1195 3418

3160 -1.03 -146.6 275.5 -7.8 152 3165 0.00 2.47 0.00 0.000 6 0.000 0.039 2130 2602 3418

3482 -1.03 -146.6 302.8 -8.6 168 3483 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3418

3791 -1.03 -146.6 332.2 -10.4 183 3795 0.00 2.47 0.00 0.000 4 0.000 0.041 2130 1195 3418

3842 -1.07 -146.6 337.7 -10.7 185 3846 0.00 2.47 0.00 0.000 6 0.000 0.038 2130 2602 3418

4157 -1.07 -146.6 370.0 -9.7 200 4158 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3418

4467 -1.07 -146.6 399.7 -8.9 215 4468 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3417

4776 -1.07 -146.6 427.4 -8.8 230 4780 0.00 2.50 0.00 0.000 4 0.000 0.042 2130 1187 3418

4848 -1.12 -146.6 433.9 -8.9 233 4853 0.00 2.47 0.00 0.000 6 0.000 0.039 2130 2603 3417

5164 -1.12 -146.6 461.8 -8.5 248 5165 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2603 3418

5473 -1.12 -146.6 486.0 -7.4 263 5478 0.00 2.47 0.00 0.000 4 0.000 0.041 2130 1196 3417

5514 -1.17 -146.6 488.8 -6.5 265 5519 0.12 2.47 0.00 0.000 6 0.048 0.039 2090 2603 3417

5842 -1.05 -146.6 517.1 -8.3 281 5843 0.20 0.00 0.00 0.000 6 0.096 0.000 2129 2603 3417

6150 -1.05 -146.6 533.3 -4.2 296 6152 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2603 3416

6462 -1.05 -146.6 550.8 -7.9 311 6466 0.00 2.47 0.00 0.000 4 0.000 0.041 2129 1196 3416

6502 -1.10 -146.6 554.7 -9.8 313 6506 0.00 2.47 0.00 0.000 6 0.000 0.039 2129 2605 3416

6828 -1.10 -146.6 587.2 -10.1 329 6829 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2605 3416

7138 -1.10 -146.6 606.9 -5.7 344 7142 0.00 2.50 0.00 0.000 4 0.000 0.043 2129 1190 3416

7188 -1.16 -146.6 610.9 -7.7 346 7192 0.00 2.47 0.00 0.000 6 0.000 0.039 2130 2600 3416

7504 -1.16 -146.6 639.4 -9.4 361 7505 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3415

7814 -1.16 -146.6 657.1 -3.2 376 7818 0.00 2.47 0.00 0.000 4 0.000 0.042 2128 1196 3415

7854 -1.21 -146.6 658.1 -2.6 378 7859 0.15 2.47 0.00 0.000 6 0.047 0.040 2084 2601 3415

8181 -1.10 -146.6 695.8 -14.1 394 8186 0.17 2.47 0.00 0.000 4 0.097 0.042 2122 1194 3415

8259 -1.10 -146.6 704.5 -10.0 397 8265 0.00 2.50 0.00 0.000 6 0.000 0.041 2122 2609 3415

8577 -1.10 -146.6 726.2 -7.1 413 8578 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2609 3415

8885 -1.10 -146.6 751.8 -9.7 428 8886 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2609 3414

9195 -1.10 -146.6 776.8 -6.9 443 9196 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2609 3414

9502 -1.10 -146.6 790.9 -8.4 458 9506 0.00 2.53 0.00 0.000 4 0.000 0.048 2122 1195 3414

9558 -1.17 -146.6 796.7 -10.9 460 9565 0.00 2.50 0.00 0.000 6 0.000 0.044 2122 2605 3414

9874 -1.17 -146.6 824.7 -8.3 476 9879 0.00 2.53 0.00 0.000 4 0.000 0.048 2122 1192 3413

9947 -1.17 -146.6 829.7 -9.1 479 9951 0.00 2.53 0.00 0.000 6 0.000 0.048 2122 2601 3413

9971 end dive: BOTTOM_OBSTACLE_DETECTED

state 9971 begin apogee

9978 -0.31 0.0 831.4 7.2 480 10114 0.82 0.00 131.18 1.111 6 0.104 0.000 2288 2296 2817

10115 end apogee: CONTROL_FINISHED_OK

state 10115 begin climb

10118 1.03 146.6 833.6 0.0 487 10255 1.38 0.00 132.45 1.100 6 0.076 0.000 2579 2295 2219

10551 0.93 146.6 792.2 8.3 508 10552 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2294 2212

10860 0.91 186.0 776.9 6.2 523 10903 0.12 2.60 36.03 1.045 4 0.104 0.053 2555 908 2056

11012 0.85 186.0 763.7 10.1 529 11018 0.00 2.53 0.00 0.000 6 0.000 0.042 2556 2311 2051

11327 0.85 186.0 734.9 7.9 545 11332 0.00 2.65 0.00 0.000 4 0.000 0.071 2556 3704 2050

11400 0.78 191.3 729.2 7.3 548 11412 0.12 2.47 4.72 0.714 6 0.107 0.033 2533 2299 2038

11723 0.91 260.0 718.1 5.2 564 11794 0.12 0.00 66.03 1.039 6 0.054 0.000 2569 2299 1755

12111 0.91 260.0 678.8 8.8 583 12115 0.00 2.55 0.00 0.000 4 0.000 0.054 2569 901 1747

12240 0.91 260.0 667.0 10.0 589 12244 0.00 2.47 0.00 0.000 6 0.000 0.038 2569 2305 1745

12572 0.91 260.0 636.2 9.4 605 12573 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2305 1745

12881 0.91 260.0 600.3 13.2 620 12882 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2305 1744

13190 0.91 260.0 562.8 10.4 635 13195 0.00 2.55 0.00 0.000 4 0.000 0.048 2569 898 1744

13253 0.91 260.0 557.1 8.7 638 13257 0.00 2.47 0.00 0.000 6 0.000 0.037 2569 2304 1743

13579 0.91 260.0 531.8 7.6 654 13580 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2304 1743

13888 0.91 260.0 504.9 9.7 669 13893 0.00 2.53 0.00 0.000 4 0.000 0.047 2569 898 1743

13929 0.91 260.0 501.0 9.8 671 13933 0.00 2.47 0.00 0.000 6 0.000 0.036 2569 2308 1743

14255 0.91 260.0 468.6 10.1 687 14257 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2308 1743

14564 0.91 260.0 438.5 9.5 702 14566 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2308 1743

14874 0.91 260.0 411.3 8.6 717 14875 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2308 1743

15183 0.91 260.0 383.7 9.2 732 15184 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2308 1743

15492 0.91 260.0 354.8 9.6 747 15496 0.00 2.53 0.00 0.000 4 0.000 0.046 2569 898 1743

15542 0.91 260.0 349.7 10.8 749 15546 0.00 2.45 0.00 0.000 6 0.000 0.036 2569 2300 1743

15858 0.91 260.0 319.3 9.5 764 15859 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2300 1743

16167 0.91 260.0 292.6 8.0 779 16168 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2299 1743

16476 0.91 260.0 268.3 7.9 794 16480 0.00 2.50 0.00 0.000 4 0.000 0.045 2569 894 1744

16526 0.91 260.0 263.9 8.8 796 16531 0.00 2.47 0.00 0.000 6 0.000 0.035 2569 2309 1744

16847 0.91 260.0 236.7 8.3 812 16849 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2309 1744

17157 0.91 260.0 212.1 7.9 827 17158 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2309 1744

17466 0.91 260.0 185.3 9.1 842 17467 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2309 1745

17775 0.91 260.0 158.8 8.4 857 17776 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2309 1744

18085 0.91 260.0 132.9 8.6 872 18089 0.00 2.53 0.00 0.000 4 0.000 0.045 2569 895 1744

18130 0.95 260.0 128.7 8.5 874 18134 0.00 2.45 0.00 0.000 6 0.000 0.035 2569 2301 1744

18452 0.95 260.0 101.1 8.7 890 18453 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2301 1744

18761 0.95 260.0 73.3 8.7 905 18765 0.00 2.50 0.00 0.000 4 0.000 0.044 2569 895 1744

18805 1.00 260.0 69.3 9.2 907 18810 0.00 2.45 0.00 0.000 6 0.000 0.035 2569 2301 1744

19127 1.04 260.0 41.5 9.3 923 19132 0.00 2.60 0.00 0.000 4 0.000 0.061 2569 3710 1745

19168 1.04 260.0 37.6 9.0 925 19172 0.00 2.45 0.00 0.000 6 0.000 0.030 2569 2293 1745

19495 1.10 260.0 9.4 9.8 941 19500 0.15 2.47 0.00 0.000 4 0.054 0.044 2615 897 1745

19540 1.04 260.0 4.6 11.0 943 19545 0.15 2.45 0.00 0.000 6 0.089 0.035 2585 2305 1744

19569 end climb: SURFACE_DEPTH_REACHED

state 19570 begin surface coast

19591 end surface coast: CONTROL_FINISHED_OK

state 19592 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	88	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-2109194	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	122137,6239.718,-1222.572,29,1.2,29,-11.5	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.42	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-60.8	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	122726,6239.681,-1222.538,14,1.2,14,-11.5	MHEAD_RNG_PITCHd_Wd	309.5,40675,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.013996	ALTIM_BOTTOM_PING	800.5,39.5
SM_CCo	19675,0.00,0.000,0,0,1743,263.45	_24V_AH	23.6,18.484
SM_GC	1.53,12.10,0.00,0.00,0.094,0.000,0.000,76,2614,1743,-10.47,0.40,263.45	_10V_AH	10.1,8.732
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47356,946
TT8_MAMPS	0.02301	CAP_FILE_SIZE	132108,0
HUMID	1714	CFSIZE	260165632,253317120
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	210609,175700,6241.845,-1231.785,39,1.1,44,-11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	190	124.46	SBE_CT	687	24	389.59
Roll_motor	120	71	203.40	SBE_O2	653	19	293.04
VBD_pump_during_apogee	370	1110	9708.38	WL_BB2F	544	105	1348.43
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	17	103	43.72	nil	0	0	0.00
Iridium_during_connect	44	160	168.13	nil	0	0	0.00
Iridium_during_xfer	164	223	867.48
Transponder_ping	7	420	71.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.42
TT8	1699	19	339.77
LPSleep	15393	2	340.48
TT8_Active	479	19	95.91
TT8_Sampling	1940	39	779.95
TT8_CF8	510	45	236.27
TT8_Kalman	0	81	0.00
Analog_circuits	1437	12	174.22
GPS_charging	0	0	0.00
Compass	1897	8	153.35
RAFOS	0	0	0.00
Transponder	50	30	15.40

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
15	-1.03	-146.6	0.0	0.0	0	79	0.00	0.00	-61.30	0.000	2	0.000	0.000	76	2608	3173
82	-1.03	-146.6	4.8	-8.1	3	105	12.10	2.50	-4.28	0.000	4	0.190	0.053	2130	1196	3416
174	-1.03	-146.6	21.6	-9.0	7	178	0.00	2.47	0.00	0.000	6	0.000	0.037	2130	2597	3417
500	-1.03	-146.6	44.7	-8.9	23	504	0.00	2.47	0.00	0.000	4	0.000	0.038	2130	1194	3418
563	-1.03	-146.6	50.9	-10.0	26	567	0.00	2.47	0.00	0.000	6	0.000	0.035	2130	2601	3418
890	-1.03	-146.6	85.0	-9.1	42	891	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3419
1200	-1.03	-146.6	117.4	-10.9	57	1202	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3419
1508	-1.03	-146.6	145.5	-8.2	72	1509	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3419
1817	-1.03	-146.6	172.3	-8.7	87	1818	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3419
2127	-1.03	-146.6	196.2	-7.4	102	2131	0.00	2.50	0.00	0.000	4	0.000	0.041	2130	1189	3419
2171	-1.03	-146.6	199.5	-6.8	104	2176	0.00	2.50	0.00	0.000	6	0.000	0.038	2130	2607	3418
2493	-1.03	-146.6	223.0	-7.4	120	2494	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2607	3419
2802	-1.03	-146.6	246.6	-7.8	135	2803	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2607	3418
3111	-1.03	-146.6	271.2	-8.3	150	3115	0.00	2.47	0.00	0.000	4	0.000	0.041	2130	1195	3418
3160	-1.03	-146.6	275.5	-7.8	152	3165	0.00	2.47	0.00	0.000	6	0.000	0.039	2130	2602	3418
3482	-1.03	-146.6	302.8	-8.6	168	3483	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3418
3791	-1.03	-146.6	332.2	-10.4	183	3795	0.00	2.47	0.00	0.000	4	0.000	0.041	2130	1195	3418
3842	-1.07	-146.6	337.7	-10.7	185	3846	0.00	2.47	0.00	0.000	6	0.000	0.038	2130	2602	3418
4157	-1.07	-146.6	370.0	-9.7	200	4158	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3418
4467	-1.07	-146.6	399.7	-8.9	215	4468	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3417
4776	-1.07	-146.6	427.4	-8.8	230	4780	0.00	2.50	0.00	0.000	4	0.000	0.042	2130	1187	3418
4848	-1.12	-146.6	433.9	-8.9	233	4853	0.00	2.47	0.00	0.000	6	0.000	0.039	2130	2603	3417
5164	-1.12	-146.6	461.8	-8.5	248	5165	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2603	3418
5473	-1.12	-146.6	486.0	-7.4	263	5478	0.00	2.47	0.00	0.000	4	0.000	0.041	2130	1196	3417
5514	-1.17	-146.6	488.8	-6.5	265	5519	0.12	2.47	0.00	0.000	6	0.048	0.039	2090	2603	3417
5842	-1.05	-146.6	517.1	-8.3	281	5843	0.20	0.00	0.00	0.000	6	0.096	0.000	2129	2603	3417
6150	-1.05	-146.6	533.3	-4.2	296	6152	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2603	3416
6462	-1.05	-146.6	550.8	-7.9	311	6466	0.00	2.47	0.00	0.000	4	0.000	0.041	2129	1196	3416
6502	-1.10	-146.6	554.7	-9.8	313	6506	0.00	2.47	0.00	0.000	6	0.000	0.039	2129	2605	3416
6828	-1.10	-146.6	587.2	-10.1	329	6829	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2605	3416
7138	-1.10	-146.6	606.9	-5.7	344	7142	0.00	2.50	0.00	0.000	4	0.000	0.043	2129	1190	3416
7188	-1.16	-146.6	610.9	-7.7	346	7192	0.00	2.47	0.00	0.000	6	0.000	0.039	2130	2600	3416
7504	-1.16	-146.6	639.4	-9.4	361	7505	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3415
7814	-1.16	-146.6	657.1	-3.2	376	7818	0.00	2.47	0.00	0.000	4	0.000	0.042	2128	1196	3415
7854	-1.21	-146.6	658.1	-2.6	378	7859	0.15	2.47	0.00	0.000	6	0.047	0.040	2084	2601	3415
8181	-1.10	-146.6	695.8	-14.1	394	8186	0.17	2.47	0.00	0.000	4	0.097	0.042	2122	1194	3415
8259	-1.10	-146.6	704.5	-10.0	397	8265	0.00	2.50	0.00	0.000	6	0.000	0.041	2122	2609	3415
8577	-1.10	-146.6	726.2	-7.1	413	8578	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2609	3415
8885	-1.10	-146.6	751.8	-9.7	428	8886	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2609	3414
9195	-1.10	-146.6	776.8	-6.9	443	9196	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2609	3414
9502	-1.10	-146.6	790.9	-8.4	458	9506	0.00	2.53	0.00	0.000	4	0.000	0.048	2122	1195	3414
9558	-1.17	-146.6	796.7	-10.9	460	9565	0.00	2.50	0.00	0.000	6	0.000	0.044	2122	2605	3414
9874	-1.17	-146.6	824.7	-8.3	476	9879	0.00	2.53	0.00	0.000	4	0.000	0.048	2122	1192	3413
9947	-1.17	-146.6	829.7	-9.1	479	9951	0.00	2.53	0.00	0.000	6	0.000	0.048	2122	2601	3413
9971	end dive: BOTTOM_OBSTACLE_DETECTED
state	9971	begin apogee
9978	-0.31	0.0	831.4	7.2	480	10114	0.82	0.00	131.18	1.111	6	0.104	0.000	2288	2296	2817
10115	end apogee: CONTROL_FINISHED_OK
state	10115	begin climb
10118	1.03	146.6	833.6	0.0	487	10255	1.38	0.00	132.45	1.100	6	0.076	0.000	2579	2295	2219
10551	0.93	146.6	792.2	8.3	508	10552	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2294	2212
10860	0.91	186.0	776.9	6.2	523	10903	0.12	2.60	36.03	1.045	4	0.104	0.053	2555	908	2056
11012	0.85	186.0	763.7	10.1	529	11018	0.00	2.53	0.00	0.000	6	0.000	0.042	2556	2311	2051
11327	0.85	186.0	734.9	7.9	545	11332	0.00	2.65	0.00	0.000	4	0.000	0.071	2556	3704	2050
11400	0.78	191.3	729.2	7.3	548	11412	0.12	2.47	4.72	0.714	6	0.107	0.033	2533	2299	2038
11723	0.91	260.0	718.1	5.2	564	11794	0.12	0.00	66.03	1.039	6	0.054	0.000	2569	2299	1755
12111	0.91	260.0	678.8	8.8	583	12115	0.00	2.55	0.00	0.000	4	0.000	0.054	2569	901	1747
12240	0.91	260.0	667.0	10.0	589	12244	0.00	2.47	0.00	0.000	6	0.000	0.038	2569	2305	1745
12572	0.91	260.0	636.2	9.4	605	12573	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2305	1745
12881	0.91	260.0	600.3	13.2	620	12882	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2305	1744
13190	0.91	260.0	562.8	10.4	635	13195	0.00	2.55	0.00	0.000	4	0.000	0.048	2569	898	1744
13253	0.91	260.0	557.1	8.7	638	13257	0.00	2.47	0.00	0.000	6	0.000	0.037	2569	2304	1743
13579	0.91	260.0	531.8	7.6	654	13580	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2304	1743
13888	0.91	260.0	504.9	9.7	669	13893	0.00	2.53	0.00	0.000	4	0.000	0.047	2569	898	1743
13929	0.91	260.0	501.0	9.8	671	13933	0.00	2.47	0.00	0.000	6	0.000	0.036	2569	2308	1743
14255	0.91	260.0	468.6	10.1	687	14257	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2308	1743
14564	0.91	260.0	438.5	9.5	702	14566	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2308	1743
14874	0.91	260.0	411.3	8.6	717	14875	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2308	1743
15183	0.91	260.0	383.7	9.2	732	15184	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2308	1743
15492	0.91	260.0	354.8	9.6	747	15496	0.00	2.53	0.00	0.000	4	0.000	0.046	2569	898	1743
15542	0.91	260.0	349.7	10.8	749	15546	0.00	2.45	0.00	0.000	6	0.000	0.036	2569	2300	1743
15858	0.91	260.0	319.3	9.5	764	15859	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2300	1743
16167	0.91	260.0	292.6	8.0	779	16168	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2299	1743
16476	0.91	260.0	268.3	7.9	794	16480	0.00	2.50	0.00	0.000	4	0.000	0.045	2569	894	1744
16526	0.91	260.0	263.9	8.8	796	16531	0.00	2.47	0.00	0.000	6	0.000	0.035	2569	2309	1744
16847	0.91	260.0	236.7	8.3	812	16849	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2309	1744
17157	0.91	260.0	212.1	7.9	827	17158	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2309	1744
17466	0.91	260.0	185.3	9.1	842	17467	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2309	1745
17775	0.91	260.0	158.8	8.4	857	17776	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2309	1744
18085	0.91	260.0	132.9	8.6	872	18089	0.00	2.53	0.00	0.000	4	0.000	0.045	2569	895	1744
18130	0.95	260.0	128.7	8.5	874	18134	0.00	2.45	0.00	0.000	6	0.000	0.035	2569	2301	1744
18452	0.95	260.0	101.1	8.7	890	18453	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2301	1744
18761	0.95	260.0	73.3	8.7	905	18765	0.00	2.50	0.00	0.000	4	0.000	0.044	2569	895	1744
18805	1.00	260.0	69.3	9.2	907	18810	0.00	2.45	0.00	0.000	6	0.000	0.035	2569	2301	1744
19127	1.04	260.0	41.5	9.3	923	19132	0.00	2.60	0.00	0.000	4	0.000	0.061	2569	3710	1745
19168	1.04	260.0	37.6	9.0	925	19172	0.00	2.45	0.00	0.000	6	0.000	0.030	2569	2293	1745
19495	1.10	260.0	9.4	9.8	941	19500	0.15	2.47	0.00	0.000	4	0.054	0.044	2615	897	1745
19540	1.04	260.0	4.6	11.0	943	19545	0.15	2.45	0.00	0.000	6	0.089	0.035	2585	2305	1744
19569	end climb: SURFACE_DEPTH_REACHED
state	19570	begin surface coast
19591	end surface coast: CONTROL_FINISHED_OK
state	19592	begin surface