Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 108 * 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 108 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -652140.5 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 -652140.5

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 108 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 194408,6442.673,-1002.108,39,1.4,40,-11.0 TGT_NAME NV

_CALLS 1 TGT_LATLONG 6454.000,-1040.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.61 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -61.0 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 195109,6442.692,-1002.204,11,1.3,11,-11.0 MHEAD_RNG_PITCHd_Wd 316.2,36336,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026928 ALTIM_BOTTOM_PING 875.8,16.4

SM_CCo 19931,33.55,0.736,0,0,1315,300.00 _24V_AH 23.4,18.557

SM_GC 1.65,0.00,0.00,33.55,0.000,0.000,0.736,382,1601,1315,-10.69,0.06,300.00 _10V_AH 10.1,10.899

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47386,953

TT8_MAMPS 0.023777 CAP_FILE_SIZE 136506,0

HUMID 1948 CFSIZE 254472192,245223424

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,1,0

XPDR_PINGS 0 GPS 210908,012538,6443.003,-1003.196,40,0.9,40,-11.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 177 107.17 SBE_CT 713 24 400.77

Roll_motor 136 107 342.48 SBE_O2 651 19 289.74

VBD_pump_during_apogee 351 1256 10329.90 WL_BB2F 522 105 1284.44

VBD_pump_during_surface 33 736 578.06 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 39 160 147.16 nil 0 0 0.00

Iridium_during_xfer 199 223 1039.05

Transponder_ping 8 420 78.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.86

TT8 1751 19 350.25

LPSleep 15283 2 338.05

TT8_Active 508 19 101.63

TT8_Sampling 2165 39 870.68

TT8_CF8 675 45 312.44

TT8_Kalman 0 81 0.00

Analog_circuits 1574 12 190.78

GPS_charging 0 0 0.00

Compass 2113 8 170.78

RAFOS 0 0 0.00

Transponder 55 30 16.73

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 -60.47 0.000 2 0.000 0.000 374 1591 2640

83 -1.16 -146.6 3.6 -4.7 3 114 11.60 2.50 -13.70 0.000 4 0.177 0.094 2448 213 3138

329 -1.16 -146.6 35.6 -11.8 14 333 0.00 2.38 0.00 0.000 6 0.000 0.054 2448 1621 3139

656 -1.16 -146.6 69.6 -10.4 30 661 0.00 2.55 0.00 0.000 4 0.000 0.077 2448 213 3142

758 -1.16 -146.6 81.7 -12.4 34 764 0.00 2.33 0.00 0.000 6 0.000 0.054 2448 1604 3143

1076 -1.16 -146.6 121.7 -12.9 50 1080 0.00 2.55 0.00 0.000 4 0.000 0.078 2448 209 3147

1255 -1.16 -146.6 144.9 -13.0 58 1259 0.00 2.35 0.00 0.000 6 0.000 0.055 2448 1605 3147

1587 -1.16 -146.6 182.8 -10.3 74 1592 0.00 2.45 0.00 0.000 4 0.000 0.074 2448 2981 3147

1605 -1.16 -146.6 184.8 -10.6 75 1610 0.00 2.40 0.00 0.000 6 0.000 0.064 2448 1595 3147

1939 -1.16 -146.6 215.4 -8.1 91 1943 0.00 2.53 0.00 0.000 4 0.000 0.084 2448 210 3148

1979 -1.16 -146.6 219.0 -9.2 92 1985 0.00 2.35 0.00 0.000 6 0.000 0.055 2448 1605 3148

2296 -1.16 -146.6 244.3 -8.0 108 2300 0.00 2.55 0.00 0.000 4 0.000 0.082 2448 212 3148

2385 -1.16 -146.6 252.4 -9.6 112 2390 0.00 2.35 0.00 0.000 6 0.000 0.055 2448 1600 3148

2707 -1.16 -146.6 281.5 -9.0 128 2712 0.00 2.47 0.00 0.000 4 0.000 0.078 2448 2983 3148

2748 -1.16 -146.6 285.0 -9.2 130 2752 0.00 2.42 0.00 0.000 6 0.000 0.064 2448 1592 3148

3076 -1.16 -146.6 313.8 -9.0 146 3080 0.00 2.55 0.00 0.000 4 0.000 0.089 2448 210 3148

3121 -1.16 -146.6 318.3 -9.9 148 3126 0.00 2.38 0.00 0.000 6 0.000 0.055 2448 1613 3148

3444 -1.16 -146.6 347.5 -9.1 164 3448 0.00 2.58 0.00 0.000 4 0.000 0.084 2448 213 3148

3544 -1.16 -146.6 357.9 -10.4 168 3551 0.00 2.35 0.00 0.000 6 0.000 0.056 2448 1595 3148

3861 -1.16 -146.6 390.7 -10.1 184 3865 0.00 2.55 0.00 0.000 4 0.000 0.086 2448 213 3148

3901 -1.16 -146.6 395.1 -11.3 186 3906 0.00 2.38 0.00 0.000 6 0.000 0.056 2448 1609 3148

4229 -1.16 -146.6 428.5 -10.0 202 4233 0.00 2.60 0.00 0.000 4 0.000 0.086 2448 205 3148

4315 -1.16 -146.6 437.1 -10.1 206 4319 0.00 2.38 0.00 0.000 6 0.000 0.056 2448 1600 3148

4642 -1.16 -146.6 466.1 -8.7 222 4644 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1604 3147

4951 -1.16 -146.6 493.3 -9.0 237 4952 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1604 3146

5261 -1.16 -146.6 520.6 -8.7 252 5262 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1604 3145

5570 -1.16 -146.6 547.2 -8.5 267 5571 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1604 3144

5879 -1.16 -146.6 573.4 -8.6 282 5883 0.00 2.58 0.00 0.000 4 0.000 0.087 2448 212 3143

5924 -1.16 -146.6 577.5 -9.4 284 5928 0.00 2.38 0.00 0.000 6 0.000 0.056 2448 1596 3143

6251 -1.16 -146.6 606.0 -8.9 300 6252 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1597 3142

6560 -1.16 -146.6 633.3 -8.7 315 6564 0.00 2.55 0.00 0.000 4 0.000 0.088 2448 215 3141

6596 -1.16 -146.6 636.5 -9.8 316 6600 0.00 2.38 0.00 0.000 6 0.000 0.055 2448 1605 3141

6913 -1.16 -146.6 665.2 -9.1 331 6914 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1605 3140

7222 -1.16 -146.6 691.4 -8.2 346 7223 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1605 3139

7532 -1.16 -146.6 717.3 -8.3 361 7536 0.00 2.58 0.00 0.000 4 0.000 0.087 2448 209 3139

7582 -1.16 -146.6 722.1 -10.1 363 7586 0.00 2.38 0.00 0.000 6 0.000 0.055 2448 1595 3139

7898 -1.16 -146.6 749.7 -8.6 378 7899 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1595 3138

8209 -1.16 -146.6 776.8 -8.8 393 8210 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1595 3138

8517 -1.16 -146.6 803.7 -8.9 408 8518 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1595 3138

8826 -1.16 -146.6 831.2 -9.4 423 8827 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1595 3137

9136 -1.16 -146.6 859.4 -9.4 438 9140 0.00 2.53 0.00 0.000 4 0.000 0.085 2449 213 3137

9186 -1.16 -146.6 864.8 -11.0 440 9190 0.00 2.38 0.00 0.000 6 0.000 0.055 2448 1603 3137

9354 end dive: BOTTOM_OBSTACLE_DETECTED

state 9354 begin apogee

9364 -0.32 0.0 882.2 11.0 448 9505 0.90 0.00 132.75 1.256 6 0.110 0.000 2632 2192 2539

9506 end apogee: CONTROL_FINISHED_OK

state 9506 begin climb

9510 1.16 146.6 889.0 0.0 455 9644 1.50 2.80 125.65 1.242 4 0.073 0.107 2960 3599 1941

9917 1.16 146.6 861.9 8.7 473 9923 0.00 2.50 0.00 0.000 6 0.000 0.066 2960 2199 1938

10233 1.16 146.6 836.5 8.2 489 10237 0.00 2.62 0.00 0.000 4 0.000 0.091 2959 3599 1938

10351 1.16 146.6 826.1 8.7 494 10355 0.00 2.47 0.00 0.000 6 0.000 0.064 2959 2198 1937

10667 1.16 146.6 799.7 8.5 509 10668 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2198 1938

10977 1.16 146.6 773.6 8.4 524 10978 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2198 1938

11286 1.16 146.6 748.5 8.2 539 11287 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2198 1937

11595 1.16 146.6 722.8 8.7 554 11596 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2199 1937

11904 1.16 146.6 696.8 8.2 569 11905 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2198 1937

12214 1.16 146.6 671.2 8.1 584 12218 0.00 2.62 0.00 0.000 4 0.000 0.091 2960 3601 1937

12276 1.16 146.6 666.0 8.1 587 12281 0.00 2.47 0.00 0.000 6 0.000 0.064 2960 2195 1937

12604 1.16 146.6 638.6 8.4 603 12605 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2195 1937

12913 1.16 146.6 612.3 8.0 618 12915 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2196 1937

13222 1.16 146.6 587.6 8.4 633 13224 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2195 1937

13532 1.19 161.6 561.5 7.4 648 13550 0.00 0.00 13.52 1.021 6 0.000 0.000 2960 2195 1879

13861 1.19 161.6 535.7 8.3 664 13866 0.00 2.62 0.00 0.000 4 0.000 0.089 2959 3599 1878

13918 1.19 161.6 530.7 8.8 666 13924 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2198 1879

14234 1.19 161.6 504.9 8.3 682 14235 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2198 1879

14544 1.19 161.6 478.3 8.7 697 14545 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2198 1878

14852 1.19 161.6 450.8 8.5 712 14854 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2198 1878

15162 1.19 161.6 424.8 8.2 727 15166 0.00 2.60 0.00 0.000 4 0.000 0.088 2959 3601 1878

15229 1.19 161.6 418.8 9.0 730 15233 0.00 2.45 0.00 0.000 6 0.000 0.061 2960 2197 1878

15551 1.19 161.6 390.2 9.2 746 15552 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2197 1878

15860 1.19 161.6 361.6 8.9 761 15861 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2196 1879

16170 1.19 161.6 332.3 9.5 776 16171 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2197 1878

16479 1.19 161.6 301.6 10.3 791 16483 0.00 2.53 0.00 0.000 4 0.000 0.079 2960 802 1878

16568 1.19 161.6 291.9 9.9 795 16573 0.00 2.40 0.00 0.000 6 0.000 0.054 2960 2208 1879

16890 1.19 161.6 261.6 8.4 811 16895 0.00 2.53 0.00 0.000 4 0.000 0.073 2960 800 1877

16986 1.19 161.6 253.5 8.2 815 16991 0.00 2.40 0.00 0.000 6 0.000 0.055 2960 2200 1877

17303 1.22 182.7 230.0 7.2 830 17328 0.00 2.60 18.45 0.855 4 0.000 0.073 2960 805 1792

17443 1.22 182.7 217.9 9.6 836 17447 0.00 2.42 0.00 0.000 6 0.000 0.056 2960 2202 1792

17764 1.22 182.7 188.9 9.3 852 17765 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2202 1791

18074 1.22 182.7 159.6 9.4 867 18078 0.00 2.53 0.00 0.000 4 0.000 0.075 2960 800 1790

18210 1.22 182.7 146.3 9.5 873 18214 0.00 2.40 0.00 0.000 6 0.000 0.057 2960 2202 1790

18544 1.24 191.1 117.0 7.7 889 18558 0.00 2.58 8.15 0.775 4 0.000 0.074 2960 801 1759

18617 1.27 209.9 111.5 7.3 892 18639 0.00 2.45 16.73 0.844 6 0.000 0.056 2960 2209 1683

18961 1.27 209.9 84.4 8.6 909 18966 0.00 2.53 0.00 0.000 4 0.000 0.074 2960 798 1681

19102 1.27 209.9 72.1 9.8 915 19106 0.00 2.42 0.00 0.000 6 0.000 0.057 2960 2198 1681

19419 1.34 254.3 50.6 6.3 930 19463 0.17 2.70 36.12 0.795 4 0.064 0.094 3011 3601 1501

19569 1.34 254.3 35.2 12.2 936 19576 0.00 2.45 0.00 0.000 6 0.000 0.062 3011 2199 1500

19884 end climb: SURFACE_DEPTH_REACHED

state 19884 begin surface coast

19904 end surface coast: CONTROL_FINISHED_OK

state 19905 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	108	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-652140.5	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	194408,6442.673,-1002.108,39,1.4,40,-11.0	TGT_NAME	NV
_CALLS	1	TGT_LATLONG	6454.000,-1040.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.61	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-61.0	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	195109,6442.692,-1002.204,11,1.3,11,-11.0	MHEAD_RNG_PITCHd_Wd	316.2,36336,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.6,1.026928	ALTIM_BOTTOM_PING	875.8,16.4
SM_CCo	19931,33.55,0.736,0,0,1315,300.00	_24V_AH	23.4,18.557
SM_GC	1.65,0.00,0.00,33.55,0.000,0.000,0.736,382,1601,1315,-10.69,0.06,300.00	_10V_AH	10.1,10.899
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47386,953
TT8_MAMPS	0.023777	CAP_FILE_SIZE	136506,0
HUMID	1948	CFSIZE	254472192,245223424
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
XPDR_PINGS	0	GPS	210908,012538,6443.003,-1003.196,40,0.9,40,-11.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	177	107.17	SBE_CT	713	24	400.77
Roll_motor	136	107	342.48	SBE_O2	651	19	289.74
VBD_pump_during_apogee	351	1256	10329.90	WL_BB2F	522	105	1284.44
VBD_pump_during_surface	33	736	578.06	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	39	160	147.16	nil	0	0	0.00
Iridium_during_xfer	199	223	1039.05
Transponder_ping	8	420	78.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.86
TT8	1751	19	350.25
LPSleep	15283	2	338.05
TT8_Active	508	19	101.63
TT8_Sampling	2165	39	870.68
TT8_CF8	675	45	312.44
TT8_Kalman	0	81	0.00
Analog_circuits	1574	12	190.78
GPS_charging	0	0	0.00
Compass	2113	8	170.78
RAFOS	0	0	0.00
Transponder	55	30	16.73

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	-60.47	0.000	2	0.000	0.000	374	1591	2640
83	-1.16	-146.6	3.6	-4.7	3	114	11.60	2.50	-13.70	0.000	4	0.177	0.094	2448	213	3138
329	-1.16	-146.6	35.6	-11.8	14	333	0.00	2.38	0.00	0.000	6	0.000	0.054	2448	1621	3139
656	-1.16	-146.6	69.6	-10.4	30	661	0.00	2.55	0.00	0.000	4	0.000	0.077	2448	213	3142
758	-1.16	-146.6	81.7	-12.4	34	764	0.00	2.33	0.00	0.000	6	0.000	0.054	2448	1604	3143
1076	-1.16	-146.6	121.7	-12.9	50	1080	0.00	2.55	0.00	0.000	4	0.000	0.078	2448	209	3147
1255	-1.16	-146.6	144.9	-13.0	58	1259	0.00	2.35	0.00	0.000	6	0.000	0.055	2448	1605	3147
1587	-1.16	-146.6	182.8	-10.3	74	1592	0.00	2.45	0.00	0.000	4	0.000	0.074	2448	2981	3147
1605	-1.16	-146.6	184.8	-10.6	75	1610	0.00	2.40	0.00	0.000	6	0.000	0.064	2448	1595	3147
1939	-1.16	-146.6	215.4	-8.1	91	1943	0.00	2.53	0.00	0.000	4	0.000	0.084	2448	210	3148
1979	-1.16	-146.6	219.0	-9.2	92	1985	0.00	2.35	0.00	0.000	6	0.000	0.055	2448	1605	3148
2296	-1.16	-146.6	244.3	-8.0	108	2300	0.00	2.55	0.00	0.000	4	0.000	0.082	2448	212	3148
2385	-1.16	-146.6	252.4	-9.6	112	2390	0.00	2.35	0.00	0.000	6	0.000	0.055	2448	1600	3148
2707	-1.16	-146.6	281.5	-9.0	128	2712	0.00	2.47	0.00	0.000	4	0.000	0.078	2448	2983	3148
2748	-1.16	-146.6	285.0	-9.2	130	2752	0.00	2.42	0.00	0.000	6	0.000	0.064	2448	1592	3148
3076	-1.16	-146.6	313.8	-9.0	146	3080	0.00	2.55	0.00	0.000	4	0.000	0.089	2448	210	3148
3121	-1.16	-146.6	318.3	-9.9	148	3126	0.00	2.38	0.00	0.000	6	0.000	0.055	2448	1613	3148
3444	-1.16	-146.6	347.5	-9.1	164	3448	0.00	2.58	0.00	0.000	4	0.000	0.084	2448	213	3148
3544	-1.16	-146.6	357.9	-10.4	168	3551	0.00	2.35	0.00	0.000	6	0.000	0.056	2448	1595	3148
3861	-1.16	-146.6	390.7	-10.1	184	3865	0.00	2.55	0.00	0.000	4	0.000	0.086	2448	213	3148
3901	-1.16	-146.6	395.1	-11.3	186	3906	0.00	2.38	0.00	0.000	6	0.000	0.056	2448	1609	3148
4229	-1.16	-146.6	428.5	-10.0	202	4233	0.00	2.60	0.00	0.000	4	0.000	0.086	2448	205	3148
4315	-1.16	-146.6	437.1	-10.1	206	4319	0.00	2.38	0.00	0.000	6	0.000	0.056	2448	1600	3148
4642	-1.16	-146.6	466.1	-8.7	222	4644	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1604	3147
4951	-1.16	-146.6	493.3	-9.0	237	4952	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1604	3146
5261	-1.16	-146.6	520.6	-8.7	252	5262	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1604	3145
5570	-1.16	-146.6	547.2	-8.5	267	5571	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1604	3144
5879	-1.16	-146.6	573.4	-8.6	282	5883	0.00	2.58	0.00	0.000	4	0.000	0.087	2448	212	3143
5924	-1.16	-146.6	577.5	-9.4	284	5928	0.00	2.38	0.00	0.000	6	0.000	0.056	2448	1596	3143
6251	-1.16	-146.6	606.0	-8.9	300	6252	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1597	3142
6560	-1.16	-146.6	633.3	-8.7	315	6564	0.00	2.55	0.00	0.000	4	0.000	0.088	2448	215	3141
6596	-1.16	-146.6	636.5	-9.8	316	6600	0.00	2.38	0.00	0.000	6	0.000	0.055	2448	1605	3141
6913	-1.16	-146.6	665.2	-9.1	331	6914	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1605	3140
7222	-1.16	-146.6	691.4	-8.2	346	7223	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1605	3139
7532	-1.16	-146.6	717.3	-8.3	361	7536	0.00	2.58	0.00	0.000	4	0.000	0.087	2448	209	3139
7582	-1.16	-146.6	722.1	-10.1	363	7586	0.00	2.38	0.00	0.000	6	0.000	0.055	2448	1595	3139
7898	-1.16	-146.6	749.7	-8.6	378	7899	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1595	3138
8209	-1.16	-146.6	776.8	-8.8	393	8210	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1595	3138
8517	-1.16	-146.6	803.7	-8.9	408	8518	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1595	3138
8826	-1.16	-146.6	831.2	-9.4	423	8827	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1595	3137
9136	-1.16	-146.6	859.4	-9.4	438	9140	0.00	2.53	0.00	0.000	4	0.000	0.085	2449	213	3137
9186	-1.16	-146.6	864.8	-11.0	440	9190	0.00	2.38	0.00	0.000	6	0.000	0.055	2448	1603	3137
9354	end dive: BOTTOM_OBSTACLE_DETECTED
state	9354	begin apogee
9364	-0.32	0.0	882.2	11.0	448	9505	0.90	0.00	132.75	1.256	6	0.110	0.000	2632	2192	2539
9506	end apogee: CONTROL_FINISHED_OK
state	9506	begin climb
9510	1.16	146.6	889.0	0.0	455	9644	1.50	2.80	125.65	1.242	4	0.073	0.107	2960	3599	1941
9917	1.16	146.6	861.9	8.7	473	9923	0.00	2.50	0.00	0.000	6	0.000	0.066	2960	2199	1938
10233	1.16	146.6	836.5	8.2	489	10237	0.00	2.62	0.00	0.000	4	0.000	0.091	2959	3599	1938
10351	1.16	146.6	826.1	8.7	494	10355	0.00	2.47	0.00	0.000	6	0.000	0.064	2959	2198	1937
10667	1.16	146.6	799.7	8.5	509	10668	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2198	1938
10977	1.16	146.6	773.6	8.4	524	10978	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2198	1938
11286	1.16	146.6	748.5	8.2	539	11287	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2198	1937
11595	1.16	146.6	722.8	8.7	554	11596	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2199	1937
11904	1.16	146.6	696.8	8.2	569	11905	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2198	1937
12214	1.16	146.6	671.2	8.1	584	12218	0.00	2.62	0.00	0.000	4	0.000	0.091	2960	3601	1937
12276	1.16	146.6	666.0	8.1	587	12281	0.00	2.47	0.00	0.000	6	0.000	0.064	2960	2195	1937
12604	1.16	146.6	638.6	8.4	603	12605	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2195	1937
12913	1.16	146.6	612.3	8.0	618	12915	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2196	1937
13222	1.16	146.6	587.6	8.4	633	13224	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2195	1937
13532	1.19	161.6	561.5	7.4	648	13550	0.00	0.00	13.52	1.021	6	0.000	0.000	2960	2195	1879
13861	1.19	161.6	535.7	8.3	664	13866	0.00	2.62	0.00	0.000	4	0.000	0.089	2959	3599	1878
13918	1.19	161.6	530.7	8.8	666	13924	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2198	1879
14234	1.19	161.6	504.9	8.3	682	14235	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2198	1879
14544	1.19	161.6	478.3	8.7	697	14545	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2198	1878
14852	1.19	161.6	450.8	8.5	712	14854	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2198	1878
15162	1.19	161.6	424.8	8.2	727	15166	0.00	2.60	0.00	0.000	4	0.000	0.088	2959	3601	1878
15229	1.19	161.6	418.8	9.0	730	15233	0.00	2.45	0.00	0.000	6	0.000	0.061	2960	2197	1878
15551	1.19	161.6	390.2	9.2	746	15552	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2197	1878
15860	1.19	161.6	361.6	8.9	761	15861	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2196	1879
16170	1.19	161.6	332.3	9.5	776	16171	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2197	1878
16479	1.19	161.6	301.6	10.3	791	16483	0.00	2.53	0.00	0.000	4	0.000	0.079	2960	802	1878
16568	1.19	161.6	291.9	9.9	795	16573	0.00	2.40	0.00	0.000	6	0.000	0.054	2960	2208	1879
16890	1.19	161.6	261.6	8.4	811	16895	0.00	2.53	0.00	0.000	4	0.000	0.073	2960	800	1877
16986	1.19	161.6	253.5	8.2	815	16991	0.00	2.40	0.00	0.000	6	0.000	0.055	2960	2200	1877
17303	1.22	182.7	230.0	7.2	830	17328	0.00	2.60	18.45	0.855	4	0.000	0.073	2960	805	1792
17443	1.22	182.7	217.9	9.6	836	17447	0.00	2.42	0.00	0.000	6	0.000	0.056	2960	2202	1792
17764	1.22	182.7	188.9	9.3	852	17765	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2202	1791
18074	1.22	182.7	159.6	9.4	867	18078	0.00	2.53	0.00	0.000	4	0.000	0.075	2960	800	1790
18210	1.22	182.7	146.3	9.5	873	18214	0.00	2.40	0.00	0.000	6	0.000	0.057	2960	2202	1790
18544	1.24	191.1	117.0	7.7	889	18558	0.00	2.58	8.15	0.775	4	0.000	0.074	2960	801	1759
18617	1.27	209.9	111.5	7.3	892	18639	0.00	2.45	16.73	0.844	6	0.000	0.056	2960	2209	1683
18961	1.27	209.9	84.4	8.6	909	18966	0.00	2.53	0.00	0.000	4	0.000	0.074	2960	798	1681
19102	1.27	209.9	72.1	9.8	915	19106	0.00	2.42	0.00	0.000	6	0.000	0.057	2960	2198	1681
19419	1.34	254.3	50.6	6.3	930	19463	0.17	2.70	36.12	0.795	4	0.064	0.094	3011	3601	1501
19569	1.34	254.3	35.2	12.2	936	19576	0.00	2.45	0.00	0.000	6	0.000	0.062	3011	2199	1500
19884	end climb: SURFACE_DEPTH_REACHED
state	19884	begin surface coast
19904	end surface coast: CONTROL_FINISHED_OK
state	19905	begin surface