Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 18 * 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 18 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 340 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 -650462.94 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 1 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 330

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 -650462.94

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 340

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 1 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 25 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 41 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 18 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 151338,6337.697,-557.802,35,1.0,35,-8.3 TGT_NAME NSEC_S

_CALLS 1 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.124,-0.224

_SM_DEPTHo 1.49 KALMAN_X 42642.2,-282.4,202.3,-39086.3,2377.1

_SM_ANGLEo -58.6 KALMAN_Y 40720.6,-89.9,-4.5,-51385.3,2859.9

GPS2 152003,6337.819,-557.788,13,1.1,13,-8.3 MHEAD_RNG_PITCHd_Wd 217.4,107257,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026785 _24V_AH 23.3,6.154

SM_CCo 18227,39.85,0.733,0,0,1315,300.00 _10V_AH 10.1,3.467

SM_GC 1.70,0.00,0.00,39.85,0.000,0.000,0.733,380,1602,1315,-10.70,0.06,300.00 DATA_FILE_SIZE 44349,867

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 136723,0

TT8_MAMPS 0.023777 CFSIZE 254472192,250765312

HUMID 1976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,44,0,0

TCM_TEMP 19.20 GPS 010908,202658,6336.090,-559.870,27,2.1,46,-8.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 177 108.21 SBE_CT 656 24 366.97

Roll_motor 172 97 390.49 SBE_O2 592 19 262.08

VBD_pump_during_apogee 330 1366 10522.81 WL_BB2F 442 105 1083.60

VBD_pump_during_surface 39 733 680.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.65 nil 0 0 0.00

Iridium_during_connect 27 160 102.28 nil 0 0 0.00

Iridium_during_xfer 183 223 952.92

Transponder_ping 8 420 83.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.51

TT8 1642 19 328.44

LPSleep 13852 2 306.39

TT8_Active 509 19 101.98

TT8_Sampling 2025 39 814.39

TT8_CF8 627 45 290.49

TT8_Kalman 33 81 27.56

Analog_circuits 1536 12 186.23

GPS_charging 0 0 0.00

Compass 1973 8 159.44

RAFOS 0 0 0.00

Transponder 56 30 16.97

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 -1.38 -146.6 0.0 0.0 0 79 0.00 0.00 -60.58 0.000 2 0.000 0.000 376 1616 2747

83 -1.38 -146.6 4.5 -7.1 3 108 11.38 2.58 -8.30 0.000 4 0.178 0.091 2397 216 3140

362 -1.38 -146.6 52.0 -15.7 15 366 0.00 2.33 0.00 0.000 6 0.000 0.054 2397 1599 3142

679 -1.38 -146.6 91.7 -13.0 30 683 0.00 2.50 0.00 0.000 4 0.000 0.075 2397 213 3144

757 -1.38 -146.6 102.5 -13.8 33 763 0.00 2.33 0.00 0.000 6 0.000 0.055 2396 1599 3145

1074 -1.38 -146.6 142.8 -12.8 49 1078 0.00 2.53 0.00 0.000 4 0.000 0.076 2397 209 3147

1169 -1.38 -146.6 155.7 -13.6 53 1173 0.00 2.35 0.00 0.000 6 0.000 0.055 2397 1604 3147

1485 -1.38 -146.6 195.1 -12.3 68 1489 0.00 2.50 0.00 0.000 4 0.000 0.077 2397 213 3147

1552 -1.38 -146.6 204.0 -12.7 71 1556 0.00 2.35 0.00 0.000 6 0.000 0.055 2397 1605 3148

1874 -1.38 -146.6 243.5 -12.0 87 1878 0.00 2.53 0.00 0.000 4 0.000 0.077 2397 213 3148

1941 -1.38 -146.6 252.3 -12.7 90 1945 0.00 2.33 0.00 0.000 6 0.000 0.055 2397 1600 3148

2269 -1.38 -146.6 291.5 -12.0 106 2273 0.00 2.50 0.00 0.000 4 0.000 0.077 2397 2992 3149

2303 -1.38 -146.6 295.6 -12.4 107 2309 0.00 2.42 0.00 0.000 6 0.000 0.063 2397 1591 3149

2619 -1.38 -146.6 332.4 -11.4 123 2623 0.00 2.53 0.00 0.000 4 0.000 0.087 2397 212 3150

2753 -1.38 -146.6 349.3 -12.4 129 2758 0.00 2.35 0.00 0.000 6 0.000 0.055 2397 1595 3150

3081 -1.38 -146.6 387.9 -11.5 145 3082 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1595 3150

3390 -1.38 -146.6 423.8 -11.4 160 3394 0.00 2.53 0.00 0.000 4 0.000 0.084 2397 215 3150

3463 -1.38 -146.6 433.1 -12.9 163 3467 0.00 2.38 0.00 0.000 6 0.000 0.055 2397 1603 3150

3779 -1.38 -146.6 468.1 -10.7 178 3783 0.00 2.53 0.00 0.000 4 0.000 0.082 2397 216 3150

3830 -1.38 -146.6 474.2 -11.8 180 3835 0.00 2.38 0.00 0.000 6 0.000 0.056 2397 1603 3150

4153 -1.38 -146.6 508.5 -10.8 196 4154 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1603 3150

4462 -1.38 -146.6 541.5 -10.4 211 4466 0.00 2.55 0.00 0.000 4 0.000 0.083 2397 209 3148

4495 -1.38 -146.6 545.3 -10.9 212 4502 0.00 2.38 0.00 0.000 6 0.000 0.055 2397 1598 3148

4812 -1.38 -146.6 580.3 -11.2 228 4813 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1598 3147

5121 -1.38 -146.6 612.4 -10.0 243 5125 0.00 2.55 0.00 0.000 4 0.000 0.083 2397 207 3145

5199 -1.38 -146.6 620.8 -10.7 246 5205 0.00 2.40 0.00 0.000 6 0.000 0.055 2397 1605 3145

5518 -1.38 -146.6 651.4 -9.5 262 5523 0.00 2.55 0.00 0.000 4 0.000 0.084 2397 216 3144

5569 -1.38 -146.6 657.1 -11.6 264 5573 0.00 2.38 0.00 0.000 6 0.000 0.055 2397 1603 3144

5885 -1.38 -146.6 688.7 -10.2 279 5886 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1603 3143

6194 -1.38 -146.6 720.4 -10.2 294 6199 0.00 2.55 0.00 0.000 4 0.000 0.084 2397 212 3141

6268 -1.38 -146.6 728.8 -11.5 297 6272 0.00 2.38 0.00 0.000 6 0.000 0.055 2397 1601 3141

6584 -1.38 -146.6 761.4 -10.4 312 6586 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1601 3141

6894 -1.38 -146.6 792.7 -10.0 327 6895 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 1601 3139

7203 -1.38 -146.6 824.2 -10.1 342 7207 0.00 2.55 0.00 0.000 4 0.000 0.083 2397 208 3138

7253 -1.38 -146.6 830.0 -11.4 344 7257 0.00 2.40 0.00 0.000 6 0.000 0.056 2397 1603 3139

7569 -1.38 -146.6 862.2 -10.1 359 7571 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1603 3138

7879 -1.38 -146.6 893.5 -10.0 374 7880 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1603 3137

8188 -1.38 -146.6 923.8 -9.6 389 8192 0.00 2.55 0.00 0.000 4 0.000 0.083 2396 210 3136

8257 -1.38 -146.6 931.1 -10.7 392 8261 0.00 2.40 0.00 0.000 6 0.000 0.056 2397 1604 3136

8585 -1.38 -146.6 962.3 -9.3 408 8586 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1603 3135

8890 end dive: TARGET_DEPTH_EXCEEDED

state 8890 begin apogee

8899 -0.32 0.0 991.4 9.2 423 9033 1.15 0.00 127.88 1.367 6 0.114 0.000 2631 2205 2539

9034 end apogee: CONTROL_FINISHED_OK

state 9034 begin climb

9037 1.38 146.6 996.4 0.0 430 9171 1.75 2.75 125.07 1.328 4 0.077 0.097 3005 3609 1941

9394 1.38 146.6 969.0 10.9 446 9398 0.00 2.50 0.00 0.000 6 0.000 0.063 3005 2200 1941

9711 1.39 151.1 936.9 9.8 461 9722 0.00 2.67 6.15 1.118 4 0.000 0.085 3005 3606 1921

9756 1.39 151.1 931.9 11.3 463 9761 0.00 2.50 0.00 0.000 6 0.000 0.062 3005 2200 1921

10079 1.41 160.4 899.9 9.6 479 10093 0.00 2.67 9.30 1.170 4 0.000 0.085 3005 3607 1884

10133 1.41 160.4 894.1 10.2 481 10138 0.00 2.50 0.00 0.000 6 0.000 0.061 3005 2193 1883

10450 1.41 163.2 861.9 9.9 496 10460 0.00 2.65 3.97 0.828 4 0.000 0.084 3005 3602 1873

10519 1.41 163.2 854.4 10.9 499 10523 0.00 2.47 0.00 0.000 6 0.000 0.062 3005 2193 1873

10852 1.41 164.2 820.9 10.0 515 10857 0.00 2.62 0.00 0.000 4 0.000 0.085 3005 3604 1873

10920 1.41 164.2 813.7 10.8 518 10924 0.00 2.50 0.00 0.000 6 0.000 0.062 3005 2193 1873

11241 1.41 164.2 781.3 10.2 534 11246 0.00 2.62 0.00 0.000 4 0.000 0.085 3005 3609 1873

11297 1.41 164.2 775.4 10.4 536 11303 0.00 2.50 0.00 0.000 6 0.000 0.063 3005 2197 1873

11614 1.41 165.4 743.4 9.9 552 11623 0.00 2.65 3.78 0.772 4 0.000 0.085 3005 3608 1864

11664 1.41 165.4 737.9 10.3 554 11668 0.00 2.50 0.00 0.000 6 0.000 0.064 3005 2201 1864

11985 1.41 165.4 704.9 10.1 570 11990 0.00 2.60 0.00 0.000 4 0.000 0.086 3005 3602 1864

12031 1.41 165.4 700.0 11.1 572 12035 0.00 2.50 0.00 0.000 6 0.000 0.064 3005 2194 1863

12352 1.41 165.4 666.7 10.5 588 12356 0.00 2.60 0.00 0.000 4 0.000 0.086 3005 3604 1864

12402 1.41 165.4 661.2 10.7 590 12407 0.00 2.50 0.00 0.000 6 0.000 0.064 3005 2195 1864

12719 1.41 165.4 628.9 10.3 605 12720 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2196 1864

13028 1.41 165.4 596.5 10.4 620 13029 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2196 1864

13337 1.42 171.7 565.2 9.7 635 13351 0.00 2.70 6.85 0.958 4 0.000 0.084 3006 3604 1839

13432 1.42 171.7 555.1 10.7 639 13436 0.00 2.50 0.00 0.000 6 0.000 0.064 3005 2200 1839

13753 1.42 171.7 521.4 10.7 655 13758 0.00 2.62 0.00 0.000 4 0.000 0.086 3005 3605 1838

13804 1.42 171.7 515.8 10.8 657 13808 0.00 2.50 0.00 0.000 6 0.000 0.064 3005 2194 1838

14120 1.42 171.7 482.8 10.3 672 14125 0.00 2.58 0.00 0.000 4 0.000 0.085 3005 790 1838

14143 1.42 171.7 480.2 11.7 673 14147 0.00 2.45 0.00 0.000 6 0.000 0.056 3005 2216 1838

14464 1.44 180.7 448.1 9.6 689 14475 0.00 0.00 8.98 0.950 6 0.000 0.000 3006 2216 1801

14774 1.44 181.0 417.5 10.0 704 14778 0.00 2.55 0.00 0.000 4 0.000 0.074 3005 794 1801

14847 1.44 181.0 409.6 10.3 707 14851 0.00 2.42 0.00 0.000 6 0.000 0.055 3005 2206 1802

15169 1.48 205.3 379.9 8.9 723 15192 0.00 0.00 21.62 0.950 6 0.000 0.000 3005 2206 1701

15515 1.51 224.2 347.9 9.1 740 15538 0.12 2.62 16.83 0.934 4 0.073 0.087 3037 3593 1624

15578 1.51 224.2 340.8 12.1 742 15585 0.00 2.47 0.00 0.000 6 0.000 0.061 3038 2195 1624

15895 1.51 224.2 304.3 11.6 758 15899 0.00 2.60 0.00 0.000 4 0.000 0.085 3038 3599 1622

16075 1.51 224.2 281.3 12.6 766 16079 0.00 2.45 0.00 0.000 6 0.000 0.062 3038 2199 1622

16396 1.51 224.2 240.2 12.9 782 16401 0.00 2.60 0.00 0.000 4 0.000 0.084 3037 3601 1621

16430 1.51 224.2 235.7 13.5 783 16436 0.00 2.47 0.00 0.000 6 0.000 0.063 3038 2198 1621

16746 1.51 224.2 192.0 14.1 799 16751 0.00 2.58 0.00 0.000 4 0.000 0.084 3038 3594 1621

16842 1.51 224.2 177.7 14.7 803 16846 0.00 2.45 0.00 0.000 6 0.000 0.062 3038 2198 1621

17159 1.51 224.2 132.9 14.0 818 17163 0.00 2.58 0.00 0.000 4 0.000 0.084 3038 3595 1621

17254 1.51 224.2 119.4 13.0 822 17258 0.00 2.45 0.00 0.000 6 0.000 0.061 3038 2194 1621

17571 1.51 224.2 79.6 12.2 837 17572 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2195 1621

17880 1.51 224.2 41.6 12.1 852 17881 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2195 1621

18191 1.51 224.2 2.8 12.9 867 18195 0.00 2.20 0.00 0.000 3 0.000 0.076 3038 3421 1621

18195 end climb: SURFACE_DEPTH_REACHED

state 18195 begin surface coast

18199 end surface coast: CONTROL_FINISHED_OK

state 18199 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	18	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	340	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	-650462.94	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	1	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	151338,6337.697,-557.802,35,1.0,35,-8.3	TGT_NAME	NSEC_S
_CALLS	1	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.124,-0.224
_SM_DEPTHo	1.49	KALMAN_X	42642.2,-282.4,202.3,-39086.3,2377.1
_SM_ANGLEo	-58.6	KALMAN_Y	40720.6,-89.9,-4.5,-51385.3,2859.9
GPS2	152003,6337.819,-557.788,13,1.1,13,-8.3	MHEAD_RNG_PITCHd_Wd	217.4,107257,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.8,1.026785	_24V_AH	23.3,6.154
SM_CCo	18227,39.85,0.733,0,0,1315,300.00	_10V_AH	10.1,3.467
SM_GC	1.70,0.00,0.00,39.85,0.000,0.000,0.733,380,1602,1315,-10.70,0.06,300.00	DATA_FILE_SIZE	44349,867
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	136723,0
TT8_MAMPS	0.023777	CFSIZE	254472192,250765312
HUMID	1976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
TCM_TEMP	19.20	GPS	010908,202658,6336.090,-559.870,27,2.1,46,-8.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	177	108.21	SBE_CT	656	24	366.97
Roll_motor	172	97	390.49	SBE_O2	592	19	262.08
VBD_pump_during_apogee	330	1366	10522.81	WL_BB2F	442	105	1083.60
VBD_pump_during_surface	39	733	680.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.65	nil	0	0	0.00
Iridium_during_connect	27	160	102.28	nil	0	0	0.00
Iridium_during_xfer	183	223	952.92
Transponder_ping	8	420	83.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.51
TT8	1642	19	328.44
LPSleep	13852	2	306.39
TT8_Active	509	19	101.98
TT8_Sampling	2025	39	814.39
TT8_CF8	627	45	290.49
TT8_Kalman	33	81	27.56
Analog_circuits	1536	12	186.23
GPS_charging	0	0	0.00
Compass	1973	8	159.44
RAFOS	0	0	0.00
Transponder	56	30	16.97

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	-1.38	-146.6	0.0	0.0	0	79	0.00	0.00	-60.58	0.000	2	0.000	0.000	376	1616	2747
83	-1.38	-146.6	4.5	-7.1	3	108	11.38	2.58	-8.30	0.000	4	0.178	0.091	2397	216	3140
362	-1.38	-146.6	52.0	-15.7	15	366	0.00	2.33	0.00	0.000	6	0.000	0.054	2397	1599	3142
679	-1.38	-146.6	91.7	-13.0	30	683	0.00	2.50	0.00	0.000	4	0.000	0.075	2397	213	3144
757	-1.38	-146.6	102.5	-13.8	33	763	0.00	2.33	0.00	0.000	6	0.000	0.055	2396	1599	3145
1074	-1.38	-146.6	142.8	-12.8	49	1078	0.00	2.53	0.00	0.000	4	0.000	0.076	2397	209	3147
1169	-1.38	-146.6	155.7	-13.6	53	1173	0.00	2.35	0.00	0.000	6	0.000	0.055	2397	1604	3147
1485	-1.38	-146.6	195.1	-12.3	68	1489	0.00	2.50	0.00	0.000	4	0.000	0.077	2397	213	3147
1552	-1.38	-146.6	204.0	-12.7	71	1556	0.00	2.35	0.00	0.000	6	0.000	0.055	2397	1605	3148
1874	-1.38	-146.6	243.5	-12.0	87	1878	0.00	2.53	0.00	0.000	4	0.000	0.077	2397	213	3148
1941	-1.38	-146.6	252.3	-12.7	90	1945	0.00	2.33	0.00	0.000	6	0.000	0.055	2397	1600	3148
2269	-1.38	-146.6	291.5	-12.0	106	2273	0.00	2.50	0.00	0.000	4	0.000	0.077	2397	2992	3149
2303	-1.38	-146.6	295.6	-12.4	107	2309	0.00	2.42	0.00	0.000	6	0.000	0.063	2397	1591	3149
2619	-1.38	-146.6	332.4	-11.4	123	2623	0.00	2.53	0.00	0.000	4	0.000	0.087	2397	212	3150
2753	-1.38	-146.6	349.3	-12.4	129	2758	0.00	2.35	0.00	0.000	6	0.000	0.055	2397	1595	3150
3081	-1.38	-146.6	387.9	-11.5	145	3082	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1595	3150
3390	-1.38	-146.6	423.8	-11.4	160	3394	0.00	2.53	0.00	0.000	4	0.000	0.084	2397	215	3150
3463	-1.38	-146.6	433.1	-12.9	163	3467	0.00	2.38	0.00	0.000	6	0.000	0.055	2397	1603	3150
3779	-1.38	-146.6	468.1	-10.7	178	3783	0.00	2.53	0.00	0.000	4	0.000	0.082	2397	216	3150
3830	-1.38	-146.6	474.2	-11.8	180	3835	0.00	2.38	0.00	0.000	6	0.000	0.056	2397	1603	3150
4153	-1.38	-146.6	508.5	-10.8	196	4154	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1603	3150
4462	-1.38	-146.6	541.5	-10.4	211	4466	0.00	2.55	0.00	0.000	4	0.000	0.083	2397	209	3148
4495	-1.38	-146.6	545.3	-10.9	212	4502	0.00	2.38	0.00	0.000	6	0.000	0.055	2397	1598	3148
4812	-1.38	-146.6	580.3	-11.2	228	4813	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1598	3147
5121	-1.38	-146.6	612.4	-10.0	243	5125	0.00	2.55	0.00	0.000	4	0.000	0.083	2397	207	3145
5199	-1.38	-146.6	620.8	-10.7	246	5205	0.00	2.40	0.00	0.000	6	0.000	0.055	2397	1605	3145
5518	-1.38	-146.6	651.4	-9.5	262	5523	0.00	2.55	0.00	0.000	4	0.000	0.084	2397	216	3144
5569	-1.38	-146.6	657.1	-11.6	264	5573	0.00	2.38	0.00	0.000	6	0.000	0.055	2397	1603	3144
5885	-1.38	-146.6	688.7	-10.2	279	5886	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1603	3143
6194	-1.38	-146.6	720.4	-10.2	294	6199	0.00	2.55	0.00	0.000	4	0.000	0.084	2397	212	3141
6268	-1.38	-146.6	728.8	-11.5	297	6272	0.00	2.38	0.00	0.000	6	0.000	0.055	2397	1601	3141
6584	-1.38	-146.6	761.4	-10.4	312	6586	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1601	3141
6894	-1.38	-146.6	792.7	-10.0	327	6895	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	1601	3139
7203	-1.38	-146.6	824.2	-10.1	342	7207	0.00	2.55	0.00	0.000	4	0.000	0.083	2397	208	3138
7253	-1.38	-146.6	830.0	-11.4	344	7257	0.00	2.40	0.00	0.000	6	0.000	0.056	2397	1603	3139
7569	-1.38	-146.6	862.2	-10.1	359	7571	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1603	3138
7879	-1.38	-146.6	893.5	-10.0	374	7880	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1603	3137
8188	-1.38	-146.6	923.8	-9.6	389	8192	0.00	2.55	0.00	0.000	4	0.000	0.083	2396	210	3136
8257	-1.38	-146.6	931.1	-10.7	392	8261	0.00	2.40	0.00	0.000	6	0.000	0.056	2397	1604	3136
8585	-1.38	-146.6	962.3	-9.3	408	8586	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1603	3135
8890	end dive: TARGET_DEPTH_EXCEEDED
state	8890	begin apogee
8899	-0.32	0.0	991.4	9.2	423	9033	1.15	0.00	127.88	1.367	6	0.114	0.000	2631	2205	2539
9034	end apogee: CONTROL_FINISHED_OK
state	9034	begin climb
9037	1.38	146.6	996.4	0.0	430	9171	1.75	2.75	125.07	1.328	4	0.077	0.097	3005	3609	1941
9394	1.38	146.6	969.0	10.9	446	9398	0.00	2.50	0.00	0.000	6	0.000	0.063	3005	2200	1941
9711	1.39	151.1	936.9	9.8	461	9722	0.00	2.67	6.15	1.118	4	0.000	0.085	3005	3606	1921
9756	1.39	151.1	931.9	11.3	463	9761	0.00	2.50	0.00	0.000	6	0.000	0.062	3005	2200	1921
10079	1.41	160.4	899.9	9.6	479	10093	0.00	2.67	9.30	1.170	4	0.000	0.085	3005	3607	1884
10133	1.41	160.4	894.1	10.2	481	10138	0.00	2.50	0.00	0.000	6	0.000	0.061	3005	2193	1883
10450	1.41	163.2	861.9	9.9	496	10460	0.00	2.65	3.97	0.828	4	0.000	0.084	3005	3602	1873
10519	1.41	163.2	854.4	10.9	499	10523	0.00	2.47	0.00	0.000	6	0.000	0.062	3005	2193	1873
10852	1.41	164.2	820.9	10.0	515	10857	0.00	2.62	0.00	0.000	4	0.000	0.085	3005	3604	1873
10920	1.41	164.2	813.7	10.8	518	10924	0.00	2.50	0.00	0.000	6	0.000	0.062	3005	2193	1873
11241	1.41	164.2	781.3	10.2	534	11246	0.00	2.62	0.00	0.000	4	0.000	0.085	3005	3609	1873
11297	1.41	164.2	775.4	10.4	536	11303	0.00	2.50	0.00	0.000	6	0.000	0.063	3005	2197	1873
11614	1.41	165.4	743.4	9.9	552	11623	0.00	2.65	3.78	0.772	4	0.000	0.085	3005	3608	1864
11664	1.41	165.4	737.9	10.3	554	11668	0.00	2.50	0.00	0.000	6	0.000	0.064	3005	2201	1864
11985	1.41	165.4	704.9	10.1	570	11990	0.00	2.60	0.00	0.000	4	0.000	0.086	3005	3602	1864
12031	1.41	165.4	700.0	11.1	572	12035	0.00	2.50	0.00	0.000	6	0.000	0.064	3005	2194	1863
12352	1.41	165.4	666.7	10.5	588	12356	0.00	2.60	0.00	0.000	4	0.000	0.086	3005	3604	1864
12402	1.41	165.4	661.2	10.7	590	12407	0.00	2.50	0.00	0.000	6	0.000	0.064	3005	2195	1864
12719	1.41	165.4	628.9	10.3	605	12720	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2196	1864
13028	1.41	165.4	596.5	10.4	620	13029	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2196	1864
13337	1.42	171.7	565.2	9.7	635	13351	0.00	2.70	6.85	0.958	4	0.000	0.084	3006	3604	1839
13432	1.42	171.7	555.1	10.7	639	13436	0.00	2.50	0.00	0.000	6	0.000	0.064	3005	2200	1839
13753	1.42	171.7	521.4	10.7	655	13758	0.00	2.62	0.00	0.000	4	0.000	0.086	3005	3605	1838
13804	1.42	171.7	515.8	10.8	657	13808	0.00	2.50	0.00	0.000	6	0.000	0.064	3005	2194	1838
14120	1.42	171.7	482.8	10.3	672	14125	0.00	2.58	0.00	0.000	4	0.000	0.085	3005	790	1838
14143	1.42	171.7	480.2	11.7	673	14147	0.00	2.45	0.00	0.000	6	0.000	0.056	3005	2216	1838
14464	1.44	180.7	448.1	9.6	689	14475	0.00	0.00	8.98	0.950	6	0.000	0.000	3006	2216	1801
14774	1.44	181.0	417.5	10.0	704	14778	0.00	2.55	0.00	0.000	4	0.000	0.074	3005	794	1801
14847	1.44	181.0	409.6	10.3	707	14851	0.00	2.42	0.00	0.000	6	0.000	0.055	3005	2206	1802
15169	1.48	205.3	379.9	8.9	723	15192	0.00	0.00	21.62	0.950	6	0.000	0.000	3005	2206	1701
15515	1.51	224.2	347.9	9.1	740	15538	0.12	2.62	16.83	0.934	4	0.073	0.087	3037	3593	1624
15578	1.51	224.2	340.8	12.1	742	15585	0.00	2.47	0.00	0.000	6	0.000	0.061	3038	2195	1624
15895	1.51	224.2	304.3	11.6	758	15899	0.00	2.60	0.00	0.000	4	0.000	0.085	3038	3599	1622
16075	1.51	224.2	281.3	12.6	766	16079	0.00	2.45	0.00	0.000	6	0.000	0.062	3038	2199	1622
16396	1.51	224.2	240.2	12.9	782	16401	0.00	2.60	0.00	0.000	4	0.000	0.084	3037	3601	1621
16430	1.51	224.2	235.7	13.5	783	16436	0.00	2.47	0.00	0.000	6	0.000	0.063	3038	2198	1621
16746	1.51	224.2	192.0	14.1	799	16751	0.00	2.58	0.00	0.000	4	0.000	0.084	3038	3594	1621
16842	1.51	224.2	177.7	14.7	803	16846	0.00	2.45	0.00	0.000	6	0.000	0.062	3038	2198	1621
17159	1.51	224.2	132.9	14.0	818	17163	0.00	2.58	0.00	0.000	4	0.000	0.084	3038	3595	1621
17254	1.51	224.2	119.4	13.0	822	17258	0.00	2.45	0.00	0.000	6	0.000	0.061	3038	2194	1621
17571	1.51	224.2	79.6	12.2	837	17572	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2195	1621
17880	1.51	224.2	41.6	12.1	852	17881	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2195	1621
18191	1.51	224.2	2.8	12.9	867	18195	0.00	2.20	0.00	0.000	3	0.000	0.076	3038	3421	1621
18195	end climb: SURFACE_DEPTH_REACHED
state	18195	begin surface coast
18199	end surface coast: CONTROL_FINISHED_OK
state	18199	begin surface