Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 107 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 107 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00159 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -652124.31 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2705 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -652124.31

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2705 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 107 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 132738,6442.112,-959.071,31,2.0,31,-10.9 TGT_NAME NV

_CALLS 1 TGT_LATLONG 6454.000,-1040.000

_XMS_NAKs 8 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.39 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -58.5 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 133411,6442.115,-958.686,12,2.1,31,-10.9 MHEAD_RNG_PITCHd_Wd 315.0,39217,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.006750 ALTIM_BOTTOM_PING 875.3,66.6

SM_CCo 22039,50.53,0.742,0,0,1315,300.00 _24V_AH 23.4,18.419

SM_GC 1.37,0.00,0.00,50.53,0.000,0.000,0.742,374,1594,1315,-10.72,-0.14,300.00 _10V_AH 10.1,10.809

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53753,1060

TT8_MAMPS 0.023777 CAP_FILE_SIZE 144741,0

HUMID 1941 CFSIZE 254472192,245276672

TCM_TEMP 15.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,21,1,0

XPDR_PINGS 0 GPS 200908,194408,6442.673,-1002.108,39,1.4,40,-11.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 177 106.39 SBE_CT 803 24 451.33

Roll_motor 130 102 312.29 SBE_O2 725 19 322.64

VBD_pump_during_apogee 331 1296 10061.81 WL_BB2F 572 105 1407.09

VBD_pump_during_surface 50 741 876.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.02 nil 0 0 0.00

Iridium_during_connect 27 160 102.03 nil 0 0 0.00

Iridium_during_xfer 176 223 919.67

Transponder_ping 7 420 76.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.24

TT8 1910 19 382.01

LPSleep 17166 2 379.70

TT8_Active 518 19 103.65

TT8_Sampling 2235 39 898.56

TT8_CF8 659 45 305.22

TT8_Kalman 0 81 0.00

Analog_circuits 1605 12 194.63

GPS_charging 0 0 0.00

Compass 2170 8 175.37

RAFOS 0 0 0.00

Transponder 52 30 15.91

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 -1.16 -146.6 0.0 0.0 0 79 0.00 0.00 -60.78 0.000 2 0.000 0.000 381 1590 2641

83 -1.16 -146.6 3.3 -5.3 3 115 11.57 2.50 -14.12 0.000 4 0.178 0.091 2447 212 3137

339 -1.16 -146.6 36.4 -11.7 14 346 0.00 2.38 0.00 0.000 6 0.000 0.054 2448 1627 3139

656 -1.16 -146.6 67.5 -8.2 30 660 0.00 2.58 0.00 0.000 4 0.000 0.077 2448 209 3140

697 -1.16 -146.6 71.3 -10.2 32 701 0.00 2.35 0.00 0.000 6 0.000 0.054 2448 1610 3140

1030 -1.16 -146.6 99.9 -9.6 48 1035 0.00 2.53 0.00 0.000 4 0.000 0.077 2448 215 3142

1098 -1.16 -146.6 107.2 -10.9 51 1102 0.00 2.33 0.00 0.000 6 0.000 0.054 2448 1604 3143

1420 -1.16 -146.6 140.2 -10.5 67 1424 0.00 2.53 0.00 0.000 4 0.000 0.077 2448 215 3146

1506 -1.16 -146.6 149.6 -10.4 71 1511 0.00 2.30 0.00 0.000 6 0.000 0.054 2448 1604 3146

1839 -1.16 -146.6 182.1 -9.1 87 1843 0.00 2.55 0.00 0.000 4 0.000 0.079 2448 212 3148

1925 -1.16 -146.6 190.4 -9.2 91 1929 0.00 2.33 0.00 0.000 6 0.000 0.055 2448 1595 3147

2252 -1.16 -146.6 219.8 -9.1 107 2253 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1600 3149

2562 -1.16 -146.6 248.3 -9.0 122 2563 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1600 3148

2871 -1.16 -146.6 275.4 -8.4 137 2873 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1600 3148

3181 -1.16 -146.6 300.1 -7.5 152 3185 0.00 2.53 0.00 0.000 4 0.000 0.085 2447 220 3148

3229 -1.16 -146.6 304.3 -9.2 154 3233 0.00 2.35 0.00 0.000 6 0.000 0.056 2448 1605 3149

3557 -1.16 -146.6 328.3 -7.5 170 3562 0.00 2.55 0.00 0.000 4 0.000 0.085 2448 220 3148

3630 -1.16 -146.6 334.8 -9.2 173 3634 0.00 2.35 0.00 0.000 6 0.000 0.056 2448 1600 3148

3946 -1.16 -146.6 363.8 -9.7 188 3948 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1605 3148

4255 -1.16 -146.6 394.6 -9.3 203 4260 0.00 2.58 0.00 0.000 4 0.000 0.087 2448 211 3148

4301 -1.16 -146.6 398.1 -8.0 205 4305 0.00 2.35 0.00 0.000 6 0.000 0.055 2448 1592 3147

4623 -1.16 -146.6 428.3 -10.6 221 4624 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1597 3146

4933 -1.16 -146.6 451.2 -7.3 236 4935 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1597 3145

5244 -1.16 -146.6 475.9 -8.2 251 5248 0.00 2.55 0.00 0.000 4 0.000 0.089 2449 220 3144

5284 -1.16 -146.6 479.7 -9.2 253 5288 0.00 2.38 0.00 0.000 6 0.000 0.056 2448 1608 3144

5611 -1.16 -146.6 506.1 -7.9 269 5613 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1609 3143

5921 -1.16 -146.6 529.4 -7.5 284 5922 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1609 3142

6230 -1.16 -146.6 552.1 -7.1 299 6231 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1609 3141

6539 -1.16 -146.6 572.5 -6.6 314 6540 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1608 3140

6849 -1.16 -146.6 593.7 -7.3 329 6850 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1608 3139

7158 -1.16 -146.6 616.6 -7.8 344 7159 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1609 3139

7467 -1.16 -146.6 638.1 -7.1 359 7471 0.00 2.58 0.00 0.000 4 0.000 0.087 2448 212 3139

7518 -1.16 -146.6 642.3 -8.2 361 7522 0.00 2.38 0.00 0.000 6 0.000 0.055 2448 1599 3138

7840 -1.16 -146.6 666.2 -8.0 377 7841 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1600 3138

8149 -1.16 -146.6 692.3 -7.7 392 8150 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1600 3138

8459 -1.16 -146.6 714.6 -7.6 407 8460 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1600 3137

8768 -1.16 -146.6 737.5 -7.1 422 8769 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1600 3137

9077 -1.16 -146.6 760.0 -7.3 437 9078 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1600 3137

9386 -1.16 -146.6 783.3 -7.3 452 9390 0.00 2.55 0.00 0.000 4 0.000 0.086 2448 213 3135

9431 -1.16 -146.6 786.9 -8.3 454 9435 0.00 2.38 0.00 0.000 6 0.000 0.055 2448 1603 3135

9753 -1.16 -146.6 810.1 -7.3 470 9754 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1603 3135

10062 -1.16 -146.6 834.3 -8.0 485 10066 0.00 2.55 0.00 0.000 4 0.000 0.086 2448 215 3135

10102 -1.16 -146.6 837.5 -8.2 487 10106 0.00 2.38 0.00 0.000 6 0.000 0.055 2448 1605 3135

10429 -1.16 -146.6 864.0 -8.4 503 10430 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1611 3133

10738 -1.16 -146.6 888.5 -8.5 518 10739 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1612 3134

11047 -1.16 -146.6 915.6 -8.1 533 11048 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1612 3133

11250 end dive: BOTTOM_OBSTACLE_DETECTED

state 11250 begin apogee

11260 -0.32 0.0 933.2 8.8 543 11401 0.93 0.00 132.20 1.296 6 0.122 0.000 2633 2196 2539

11401 end apogee: CONTROL_FINISHED_OK

state 11401 begin climb

11405 1.16 146.6 939.5 0.0 550 11540 1.52 2.72 126.05 1.279 4 0.081 0.095 2956 3593 1941

11813 1.16 146.6 912.9 9.8 568 11819 0.00 2.45 0.00 0.000 6 0.000 0.060 2956 2196 1940

12130 1.19 162.2 887.9 7.4 584 12151 0.00 2.67 14.73 1.204 4 0.000 0.086 2956 3595 1877

12284 1.19 162.2 874.2 8.8 590 12291 0.00 2.45 0.00 0.000 6 0.000 0.059 2956 2194 1876

12601 1.19 162.2 847.1 8.5 606 12602 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2194 1875

12910 1.19 162.2 819.0 9.7 621 12911 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2194 1875

13219 1.19 162.2 791.1 9.3 636 13221 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2194 1875

13529 1.19 162.2 763.6 8.8 651 13533 0.00 2.60 0.00 0.000 4 0.000 0.086 2956 3596 1874

13585 1.19 162.2 758.3 9.1 653 13591 0.00 2.42 0.00 0.000 6 0.000 0.058 2956 2199 1874

13901 1.19 162.2 731.0 8.9 669 13902 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2199 1874

14210 1.19 162.2 704.2 8.4 684 14215 0.00 2.60 0.00 0.000 4 0.000 0.086 2956 3601 1875

14269 1.19 162.2 698.7 10.2 686 14275 0.00 2.42 0.00 0.000 6 0.000 0.058 2956 2200 1874

14585 1.19 162.2 668.8 9.7 702 14586 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2198 1875

14894 1.19 162.2 638.1 10.4 717 14895 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2200 1874

15204 1.19 162.2 606.4 10.3 732 15205 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2200 1874

15513 1.19 162.2 575.1 10.3 747 15514 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2200 1875

15822 1.19 162.2 542.0 10.7 762 15823 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2200 1874

16131 1.19 162.2 509.3 10.3 777 16133 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2200 1874

16440 1.19 162.2 480.0 9.0 792 16442 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2200 1874

16750 1.19 162.2 453.1 8.5 807 16751 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2200 1874

17059 1.19 162.2 425.5 9.1 822 17063 0.00 2.53 0.00 0.000 4 0.000 0.077 2956 798 1874

17110 1.19 162.2 420.8 9.3 824 17114 0.00 2.40 0.00 0.000 6 0.000 0.054 2956 2203 1874

17432 1.19 162.2 394.2 8.3 840 17436 0.00 2.53 0.00 0.000 4 0.000 0.071 2956 792 1875

17490 1.19 162.2 389.4 9.1 842 17496 0.00 2.42 0.00 0.000 6 0.000 0.055 2956 2204 1875

17806 1.19 164.5 363.8 7.9 858 17811 0.00 2.50 0.00 0.000 4 0.000 0.070 2956 800 1874

17847 1.19 164.5 360.3 8.3 860 17851 0.00 2.40 0.00 0.000 6 0.000 0.056 2957 2200 1874

18175 1.19 164.5 332.2 9.2 876 18176 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2200 1874

18484 1.19 164.5 302.4 10.3 891 18488 0.00 2.50 0.00 0.000 4 0.000 0.071 2957 798 1874

18598 1.19 164.5 289.7 11.1 896 18602 0.00 2.42 0.00 0.000 6 0.000 0.057 2956 2198 1874

18919 1.19 164.5 261.5 8.2 912 18920 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2198 1874

19229 1.20 166.0 236.9 7.9 927 19234 0.00 0.00 4.12 0.684 6 0.000 0.000 2956 2198 1862

19538 1.20 166.0 212.4 8.3 942 19542 0.00 2.50 0.00 0.000 4 0.000 0.072 2956 797 1862

19594 1.20 166.0 207.5 9.3 944 19598 0.00 2.42 0.00 0.000 6 0.000 0.056 2957 2200 1861

19910 1.21 173.2 182.6 7.7 959 19924 0.00 2.55 8.07 0.843 4 0.000 0.072 2956 804 1831

19988 1.21 178.3 176.7 7.8 962 20000 0.00 2.42 6.00 0.761 6 0.000 0.057 2956 2200 1809

20310 1.24 194.2 152.2 7.4 978 20329 0.00 0.00 14.32 0.861 6 0.000 0.000 2956 2199 1746

20640 1.24 194.2 124.8 8.7 994 20644 0.00 2.53 0.00 0.000 4 0.000 0.073 2956 799 1746

20707 1.24 194.2 118.8 8.2 997 20712 0.00 2.42 0.00 0.000 6 0.000 0.058 2956 2198 1745

21030 1.29 225.1 95.0 6.8 1013 21062 0.12 2.60 26.23 0.833 4 0.069 0.072 2991 796 1620

21119 1.29 225.1 86.7 10.8 1017 21124 0.00 2.47 0.00 0.000 6 0.000 0.057 2992 2210 1620

21442 1.29 225.1 54.2 10.9 1033 21446 0.00 2.65 0.00 0.000 4 0.000 0.102 2991 3599 1619

21492 1.29 225.1 48.9 9.9 1035 21496 0.00 2.45 0.00 0.000 6 0.000 0.061 2991 2195 1619

21809 1.29 225.1 21.5 8.5 1050 21813 0.00 2.47 0.00 0.000 4 0.000 0.074 2991 799 1618

21873 1.29 225.1 14.6 12.2 1053 21877 0.00 2.40 0.00 0.000 6 0.000 0.056 2991 2201 1617

21992 end climb: SURFACE_DEPTH_REACHED

state 21992 begin surface coast

22012 end surface coast: CONTROL_FINISHED_OK

state 22012 begin surface

ID	14	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	107	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00159	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-652124.31	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2705	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	132738,6442.112,-959.071,31,2.0,31,-10.9	TGT_NAME	NV
_CALLS	1	TGT_LATLONG	6454.000,-1040.000
_XMS_NAKs	8	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.39	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-58.5	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	133411,6442.115,-958.686,12,2.1,31,-10.9	MHEAD_RNG_PITCHd_Wd	315.0,39217,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.6,1.006750	ALTIM_BOTTOM_PING	875.3,66.6
SM_CCo	22039,50.53,0.742,0,0,1315,300.00	_24V_AH	23.4,18.419
SM_GC	1.37,0.00,0.00,50.53,0.000,0.000,0.742,374,1594,1315,-10.72,-0.14,300.00	_10V_AH	10.1,10.809
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53753,1060
TT8_MAMPS	0.023777	CAP_FILE_SIZE	144741,0
HUMID	1941	CFSIZE	254472192,245276672
TCM_TEMP	15.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
XPDR_PINGS	0	GPS	200908,194408,6442.673,-1002.108,39,1.4,40,-11.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	177	106.39	SBE_CT	803	24	451.33
Roll_motor	130	102	312.29	SBE_O2	725	19	322.64
VBD_pump_during_apogee	331	1296	10061.81	WL_BB2F	572	105	1407.09
VBD_pump_during_surface	50	741	876.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.02	nil	0	0	0.00
Iridium_during_connect	27	160	102.03	nil	0	0	0.00
Iridium_during_xfer	176	223	919.67
Transponder_ping	7	420	76.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.24
TT8	1910	19	382.01
LPSleep	17166	2	379.70
TT8_Active	518	19	103.65
TT8_Sampling	2235	39	898.56
TT8_CF8	659	45	305.22
TT8_Kalman	0	81	0.00
Analog_circuits	1605	12	194.63
GPS_charging	0	0	0.00
Compass	2170	8	175.37
RAFOS	0	0	0.00
Transponder	52	30	15.91

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	-1.16	-146.6	0.0	0.0	0	79	0.00	0.00	-60.78	0.000	2	0.000	0.000	381	1590	2641
83	-1.16	-146.6	3.3	-5.3	3	115	11.57	2.50	-14.12	0.000	4	0.178	0.091	2447	212	3137
339	-1.16	-146.6	36.4	-11.7	14	346	0.00	2.38	0.00	0.000	6	0.000	0.054	2448	1627	3139
656	-1.16	-146.6	67.5	-8.2	30	660	0.00	2.58	0.00	0.000	4	0.000	0.077	2448	209	3140
697	-1.16	-146.6	71.3	-10.2	32	701	0.00	2.35	0.00	0.000	6	0.000	0.054	2448	1610	3140
1030	-1.16	-146.6	99.9	-9.6	48	1035	0.00	2.53	0.00	0.000	4	0.000	0.077	2448	215	3142
1098	-1.16	-146.6	107.2	-10.9	51	1102	0.00	2.33	0.00	0.000	6	0.000	0.054	2448	1604	3143
1420	-1.16	-146.6	140.2	-10.5	67	1424	0.00	2.53	0.00	0.000	4	0.000	0.077	2448	215	3146
1506	-1.16	-146.6	149.6	-10.4	71	1511	0.00	2.30	0.00	0.000	6	0.000	0.054	2448	1604	3146
1839	-1.16	-146.6	182.1	-9.1	87	1843	0.00	2.55	0.00	0.000	4	0.000	0.079	2448	212	3148
1925	-1.16	-146.6	190.4	-9.2	91	1929	0.00	2.33	0.00	0.000	6	0.000	0.055	2448	1595	3147
2252	-1.16	-146.6	219.8	-9.1	107	2253	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1600	3149
2562	-1.16	-146.6	248.3	-9.0	122	2563	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1600	3148
2871	-1.16	-146.6	275.4	-8.4	137	2873	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1600	3148
3181	-1.16	-146.6	300.1	-7.5	152	3185	0.00	2.53	0.00	0.000	4	0.000	0.085	2447	220	3148
3229	-1.16	-146.6	304.3	-9.2	154	3233	0.00	2.35	0.00	0.000	6	0.000	0.056	2448	1605	3149
3557	-1.16	-146.6	328.3	-7.5	170	3562	0.00	2.55	0.00	0.000	4	0.000	0.085	2448	220	3148
3630	-1.16	-146.6	334.8	-9.2	173	3634	0.00	2.35	0.00	0.000	6	0.000	0.056	2448	1600	3148
3946	-1.16	-146.6	363.8	-9.7	188	3948	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1605	3148
4255	-1.16	-146.6	394.6	-9.3	203	4260	0.00	2.58	0.00	0.000	4	0.000	0.087	2448	211	3148
4301	-1.16	-146.6	398.1	-8.0	205	4305	0.00	2.35	0.00	0.000	6	0.000	0.055	2448	1592	3147
4623	-1.16	-146.6	428.3	-10.6	221	4624	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1597	3146
4933	-1.16	-146.6	451.2	-7.3	236	4935	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1597	3145
5244	-1.16	-146.6	475.9	-8.2	251	5248	0.00	2.55	0.00	0.000	4	0.000	0.089	2449	220	3144
5284	-1.16	-146.6	479.7	-9.2	253	5288	0.00	2.38	0.00	0.000	6	0.000	0.056	2448	1608	3144
5611	-1.16	-146.6	506.1	-7.9	269	5613	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1609	3143
5921	-1.16	-146.6	529.4	-7.5	284	5922	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1609	3142
6230	-1.16	-146.6	552.1	-7.1	299	6231	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1609	3141
6539	-1.16	-146.6	572.5	-6.6	314	6540	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1608	3140
6849	-1.16	-146.6	593.7	-7.3	329	6850	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1608	3139
7158	-1.16	-146.6	616.6	-7.8	344	7159	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1609	3139
7467	-1.16	-146.6	638.1	-7.1	359	7471	0.00	2.58	0.00	0.000	4	0.000	0.087	2448	212	3139
7518	-1.16	-146.6	642.3	-8.2	361	7522	0.00	2.38	0.00	0.000	6	0.000	0.055	2448	1599	3138
7840	-1.16	-146.6	666.2	-8.0	377	7841	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1600	3138
8149	-1.16	-146.6	692.3	-7.7	392	8150	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1600	3138
8459	-1.16	-146.6	714.6	-7.6	407	8460	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1600	3137
8768	-1.16	-146.6	737.5	-7.1	422	8769	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1600	3137
9077	-1.16	-146.6	760.0	-7.3	437	9078	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1600	3137
9386	-1.16	-146.6	783.3	-7.3	452	9390	0.00	2.55	0.00	0.000	4	0.000	0.086	2448	213	3135
9431	-1.16	-146.6	786.9	-8.3	454	9435	0.00	2.38	0.00	0.000	6	0.000	0.055	2448	1603	3135
9753	-1.16	-146.6	810.1	-7.3	470	9754	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1603	3135
10062	-1.16	-146.6	834.3	-8.0	485	10066	0.00	2.55	0.00	0.000	4	0.000	0.086	2448	215	3135
10102	-1.16	-146.6	837.5	-8.2	487	10106	0.00	2.38	0.00	0.000	6	0.000	0.055	2448	1605	3135
10429	-1.16	-146.6	864.0	-8.4	503	10430	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1611	3133
10738	-1.16	-146.6	888.5	-8.5	518	10739	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1612	3134
11047	-1.16	-146.6	915.6	-8.1	533	11048	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1612	3133
11250	end dive: BOTTOM_OBSTACLE_DETECTED
state	11250	begin apogee
11260	-0.32	0.0	933.2	8.8	543	11401	0.93	0.00	132.20	1.296	6	0.122	0.000	2633	2196	2539
11401	end apogee: CONTROL_FINISHED_OK
state	11401	begin climb
11405	1.16	146.6	939.5	0.0	550	11540	1.52	2.72	126.05	1.279	4	0.081	0.095	2956	3593	1941
11813	1.16	146.6	912.9	9.8	568	11819	0.00	2.45	0.00	0.000	6	0.000	0.060	2956	2196	1940
12130	1.19	162.2	887.9	7.4	584	12151	0.00	2.67	14.73	1.204	4	0.000	0.086	2956	3595	1877
12284	1.19	162.2	874.2	8.8	590	12291	0.00	2.45	0.00	0.000	6	0.000	0.059	2956	2194	1876
12601	1.19	162.2	847.1	8.5	606	12602	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2194	1875
12910	1.19	162.2	819.0	9.7	621	12911	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2194	1875
13219	1.19	162.2	791.1	9.3	636	13221	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2194	1875
13529	1.19	162.2	763.6	8.8	651	13533	0.00	2.60	0.00	0.000	4	0.000	0.086	2956	3596	1874
13585	1.19	162.2	758.3	9.1	653	13591	0.00	2.42	0.00	0.000	6	0.000	0.058	2956	2199	1874
13901	1.19	162.2	731.0	8.9	669	13902	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2199	1874
14210	1.19	162.2	704.2	8.4	684	14215	0.00	2.60	0.00	0.000	4	0.000	0.086	2956	3601	1875
14269	1.19	162.2	698.7	10.2	686	14275	0.00	2.42	0.00	0.000	6	0.000	0.058	2956	2200	1874
14585	1.19	162.2	668.8	9.7	702	14586	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2198	1875
14894	1.19	162.2	638.1	10.4	717	14895	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2200	1874
15204	1.19	162.2	606.4	10.3	732	15205	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2200	1874
15513	1.19	162.2	575.1	10.3	747	15514	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2200	1875
15822	1.19	162.2	542.0	10.7	762	15823	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2200	1874
16131	1.19	162.2	509.3	10.3	777	16133	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2200	1874
16440	1.19	162.2	480.0	9.0	792	16442	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2200	1874
16750	1.19	162.2	453.1	8.5	807	16751	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2200	1874
17059	1.19	162.2	425.5	9.1	822	17063	0.00	2.53	0.00	0.000	4	0.000	0.077	2956	798	1874
17110	1.19	162.2	420.8	9.3	824	17114	0.00	2.40	0.00	0.000	6	0.000	0.054	2956	2203	1874
17432	1.19	162.2	394.2	8.3	840	17436	0.00	2.53	0.00	0.000	4	0.000	0.071	2956	792	1875
17490	1.19	162.2	389.4	9.1	842	17496	0.00	2.42	0.00	0.000	6	0.000	0.055	2956	2204	1875
17806	1.19	164.5	363.8	7.9	858	17811	0.00	2.50	0.00	0.000	4	0.000	0.070	2956	800	1874
17847	1.19	164.5	360.3	8.3	860	17851	0.00	2.40	0.00	0.000	6	0.000	0.056	2957	2200	1874
18175	1.19	164.5	332.2	9.2	876	18176	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2200	1874
18484	1.19	164.5	302.4	10.3	891	18488	0.00	2.50	0.00	0.000	4	0.000	0.071	2957	798	1874
18598	1.19	164.5	289.7	11.1	896	18602	0.00	2.42	0.00	0.000	6	0.000	0.057	2956	2198	1874
18919	1.19	164.5	261.5	8.2	912	18920	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2198	1874
19229	1.20	166.0	236.9	7.9	927	19234	0.00	0.00	4.12	0.684	6	0.000	0.000	2956	2198	1862
19538	1.20	166.0	212.4	8.3	942	19542	0.00	2.50	0.00	0.000	4	0.000	0.072	2956	797	1862
19594	1.20	166.0	207.5	9.3	944	19598	0.00	2.42	0.00	0.000	6	0.000	0.056	2957	2200	1861
19910	1.21	173.2	182.6	7.7	959	19924	0.00	2.55	8.07	0.843	4	0.000	0.072	2956	804	1831
19988	1.21	178.3	176.7	7.8	962	20000	0.00	2.42	6.00	0.761	6	0.000	0.057	2956	2200	1809
20310	1.24	194.2	152.2	7.4	978	20329	0.00	0.00	14.32	0.861	6	0.000	0.000	2956	2199	1746
20640	1.24	194.2	124.8	8.7	994	20644	0.00	2.53	0.00	0.000	4	0.000	0.073	2956	799	1746
20707	1.24	194.2	118.8	8.2	997	20712	0.00	2.42	0.00	0.000	6	0.000	0.058	2956	2198	1745
21030	1.29	225.1	95.0	6.8	1013	21062	0.12	2.60	26.23	0.833	4	0.069	0.072	2991	796	1620
21119	1.29	225.1	86.7	10.8	1017	21124	0.00	2.47	0.00	0.000	6	0.000	0.057	2992	2210	1620
21442	1.29	225.1	54.2	10.9	1033	21446	0.00	2.65	0.00	0.000	4	0.000	0.102	2991	3599	1619
21492	1.29	225.1	48.9	9.9	1035	21496	0.00	2.45	0.00	0.000	6	0.000	0.061	2991	2195	1619
21809	1.29	225.1	21.5	8.5	1050	21813	0.00	2.47	0.00	0.000	4	0.000	0.074	2991	799	1618
21873	1.29	225.1	14.6	12.2	1053	21877	0.00	2.40	0.00	0.000	6	0.000	0.056	2991	2201	1617
21992	end climb: SURFACE_DEPTH_REACHED
state	21992	begin surface coast
22012	end surface coast: CONTROL_FINISHED_OK
state	22012	begin surface