Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 23 * 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 23 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 23 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 -650560.88 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 -650560.88

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 23 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 23 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 181256,6330.721,-603.554,66,1.4,66,-8.3 TGT_NAME NSEC_S

_CALLS 4 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.106,-0.233

_SM_DEPTHo 1.13 KALMAN_X 50413.3,-18.1,-255.5,-51291.1,2060.5

_SM_ANGLEo -57.4 KALMAN_Y 49163.7,154.1,-381.2,-72660.7,2223.4

GPS2 182845,6330.822,-603.426,14,1.5,14,-8.3 MHEAD_RNG_PITCHd_Wd 212.7,94131,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026828 _24V_AH 23.3,6.897

SM_CCo 18779,53.38,0.732,0,0,1315,300.00 _10V_AH 10.1,3.911

SM_GC 1.39,0.00,0.00,53.38,0.000,0.000,0.732,382,1623,1315,-10.69,0.62,300.00 DATA_FILE_SIZE 44221,897

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 141837,0

TT8_MAMPS 0.024544 CFSIZE 254472192,250433536

HUMID 1957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,39,0,0

TCM_TEMP 19.30 GPS 020908,234456,6329.953,-603.393,39,1.7,39,-8.3

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 180 109.40 SBE_CT 679 24 379.96

Roll_motor 155 92 335.33 SBE_O2 613 19 271.53

VBD_pump_during_apogee 315 1365 10032.25 WL_BB2F 465 105 1138.56

VBD_pump_during_surface 53 731 909.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 153 103 368.97 nil 0 0 0.00

Iridium_during_connect 106 160 395.79 nil 0 0 0.00

Iridium_during_xfer 349 223 1818.43

Transponder_ping 9 420 90.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.21

TT8 1684 19 336.92

LPSleep 14560 2 322.06

TT8_Active 502 19 100.44

TT8_Sampling 2027 39 815.21

TT8_CF8 1010 45 467.31

TT8_Kalman 33 81 27.57

Analog_circuits 1519 12 184.22

GPS_charging 0 0 0.00

Compass 1977 8 159.78

RAFOS 0 0 0.00

Transponder 55 30 16.96

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.38 -146.6 0.0 0.0 0 81 0.00 0.00 -60.38 0.000 2 0.000 0.000 383 1593 2736

85 -1.38 -146.6 3.2 -4.0 3 112 11.38 2.53 -9.85 0.000 4 0.180 0.091 2396 207 3136

382 -1.38 -146.6 51.5 -15.7 16 386 0.00 2.38 0.00 0.000 6 0.000 0.055 2396 1618 3137

704 -1.38 -146.6 89.8 -11.2 32 708 0.00 2.55 0.00 0.000 4 0.000 0.075 2396 206 3139

978 -1.38 -146.6 123.7 -12.6 44 982 0.00 2.35 0.00 0.000 6 0.000 0.055 2396 1607 3140

1295 -1.38 -146.6 159.8 -11.6 59 1299 0.00 2.53 0.00 0.000 4 0.000 0.076 2396 209 3141

1402 -1.38 -146.6 173.4 -12.4 64 1406 0.00 2.33 0.00 0.000 6 0.000 0.055 2396 1602 3141

1735 -1.38 -146.6 213.6 -12.1 80 1737 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1606 3141

2045 -1.38 -146.6 251.8 -12.5 95 2050 0.00 2.45 0.00 0.000 4 0.000 0.074 2396 2988 3142

2079 -1.38 -146.6 256.4 -12.1 96 2085 0.00 2.40 0.00 0.000 6 0.000 0.063 2395 1598 3144

2396 -1.38 -146.6 294.7 -12.3 112 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1598 3144

2705 -1.38 -146.6 330.3 -10.8 127 2706 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1599 3144

3014 -1.38 -146.6 364.1 -11.1 142 3018 0.00 2.55 0.00 0.000 4 0.000 0.088 2396 208 3144

3048 -1.38 -146.6 368.0 -11.4 143 3054 0.00 2.35 0.00 0.000 6 0.000 0.055 2396 1604 3144

3365 -1.38 -146.6 400.6 -10.0 159 3369 0.00 2.55 0.00 0.000 4 0.000 0.081 2396 209 3144

3433 -1.38 -146.6 408.1 -11.2 162 3437 0.00 2.35 0.00 0.000 6 0.000 0.055 2396 1597 3144

3755 -1.38 -146.6 440.5 -10.1 178 3758 0.00 2.53 0.00 0.000 4 0.000 0.084 2396 2991 3145

3783 -1.38 -146.6 443.4 -10.6 179 3787 0.00 2.42 0.00 0.000 6 0.000 0.063 2396 1595 3144

4105 -1.38 -146.6 476.3 -10.4 195 4109 0.00 2.55 0.00 0.000 4 0.000 0.090 2396 211 3143

4155 -1.38 -146.6 482.2 -11.2 197 4159 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1604 3143

4477 -1.38 -146.6 516.4 -10.3 213 4482 0.00 2.58 0.00 0.000 4 0.000 0.084 2396 207 3141

4518 -1.38 -146.6 521.0 -11.4 215 4522 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1600 3141

4845 -1.38 -146.6 556.0 -10.5 231 4847 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1603 3139

5154 -1.38 -146.6 588.6 -10.8 246 5156 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1603 3138

5464 -1.38 -146.6 622.7 -11.2 261 5468 0.00 2.55 0.00 0.000 4 0.000 0.084 2396 215 3137

5514 -1.38 -146.6 629.1 -12.5 263 5519 0.00 2.35 0.00 0.000 6 0.000 0.055 2396 1592 3137

5831 -1.38 -146.6 664.3 -10.7 278 5832 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1592 3135

6140 -1.38 -146.6 698.3 -11.0 293 6141 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1592 3134

6449 -1.38 -146.6 731.7 -10.8 308 6450 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1592 3132

6759 -1.38 -146.6 763.4 -9.9 323 6763 0.00 2.53 0.00 0.000 4 0.000 0.085 2396 216 3132

6815 -1.38 -146.6 769.5 -11.2 325 6821 0.00 2.38 0.00 0.000 6 0.000 0.055 2396 1606 3131

7132 -1.38 -146.6 799.5 -9.3 341 7133 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1605 3130

7441 -1.38 -146.6 827.8 -9.0 356 7442 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1605 3129

7750 -1.38 -146.6 855.4 -9.0 371 7754 0.00 2.55 0.00 0.000 4 0.000 0.083 2395 210 3129

7798 -1.38 -146.6 860.0 -10.3 373 7802 0.00 2.38 0.00 0.000 6 0.000 0.054 2396 1605 3129

8125 -1.38 -146.6 890.2 -9.2 389 8127 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1605 3127

8435 -1.38 -146.6 919.4 -9.3 404 8436 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1605 3127

8744 -1.38 -146.6 947.7 -9.1 419 8745 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1605 3127

9054 -1.38 -146.6 975.9 -9.2 434 9055 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1605 3126

9214 end dive: TARGET_DEPTH_EXCEEDED

state 9214 begin apogee

9224 -0.32 0.0 991.1 9.2 442 9357 1.17 0.00 126.50 1.365 6 0.117 0.000 2634 2197 2539

9358 end apogee: CONTROL_FINISHED_OK

state 9358 begin climb

9362 1.38 146.6 996.0 0.0 449 9496 1.73 2.72 125.43 1.328 4 0.081 0.093 3002 3601 1941

9663 1.38 146.6 974.5 11.5 463 9668 0.00 2.47 0.00 0.000 6 0.000 0.062 3002 2199 1940

9991 1.38 146.6 941.2 10.2 479 9995 0.00 2.60 0.00 0.000 4 0.000 0.084 3002 3601 1940

10041 1.38 146.6 935.7 10.9 481 10045 0.00 2.45 0.00 0.000 6 0.000 0.061 3002 2200 1940

10358 1.38 146.6 903.9 10.1 496 10362 0.00 2.62 0.00 0.000 4 0.000 0.084 3002 3605 1940

10398 1.39 151.5 900.0 9.8 498 10409 0.00 2.47 5.85 1.066 6 0.000 0.061 3002 2196 1921

10726 1.39 151.5 867.1 10.1 514 10730 0.00 2.60 0.00 0.000 4 0.000 0.084 3002 3601 1921

10788 1.39 151.5 860.7 11.8 517 10792 0.00 2.45 0.00 0.000 6 0.000 0.061 3001 2200 1921

11115 1.39 151.5 827.9 10.0 533 11120 0.00 2.60 0.00 0.000 4 0.000 0.084 3002 3602 1920

11165 1.39 151.5 822.5 10.7 535 11170 0.00 2.47 0.00 0.000 6 0.000 0.061 3002 2197 1921

11482 1.39 151.5 791.0 10.2 550 11483 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2197 1921

11791 1.39 151.5 759.3 10.3 565 11795 0.00 2.60 0.00 0.000 4 0.000 0.084 3002 3601 1919

11836 1.39 151.5 754.4 10.5 567 11840 0.00 2.47 0.00 0.000 6 0.000 0.061 3002 2196 1919

12158 1.40 154.6 722.1 9.9 583 12164 0.00 0.00 4.12 0.829 6 0.000 0.000 3002 2196 1908

12467 1.40 157.9 691.9 9.8 598 12477 0.00 2.62 4.62 0.876 4 0.000 0.084 3002 3601 1894

12511 1.41 164.1 687.4 9.7 600 12528 0.00 2.47 6.88 0.992 6 0.000 0.062 3002 2202 1870

12838 1.42 170.0 655.5 9.7 616 12846 0.00 0.00 6.53 0.980 6 0.000 0.000 3002 2202 1845

13147 1.42 170.0 624.1 10.1 631 13151 0.00 2.60 0.00 0.000 4 0.000 0.085 3002 3604 1845

13180 1.42 170.0 620.4 10.3 632 13185 0.00 2.47 0.00 0.000 6 0.000 0.062 3002 2201 1845

13496 1.42 170.0 587.4 10.2 647 13498 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2201 1845

13806 1.42 170.0 555.8 10.2 662 13810 0.00 2.60 0.00 0.000 4 0.000 0.084 3003 3605 1845

13884 1.42 170.0 547.5 10.0 665 13888 0.00 2.47 0.00 0.000 6 0.000 0.063 3002 2200 1845

14201 1.44 179.8 516.7 9.5 680 14216 0.00 2.65 9.90 1.004 4 0.000 0.084 3002 3603 1804

14269 1.44 179.8 509.8 10.5 682 14273 0.00 2.50 0.00 0.000 6 0.000 0.062 3002 2197 1804

14591 1.44 183.3 478.1 9.8 698 14600 0.00 2.62 4.45 0.807 4 0.000 0.084 3001 3604 1791

14659 1.44 183.3 470.8 10.6 701 14664 0.00 2.47 0.00 0.000 6 0.000 0.062 3003 2200 1791

14987 1.46 197.4 438.7 9.3 717 15008 0.00 2.67 13.00 0.979 4 0.000 0.084 3002 3597 1733

15082 1.46 197.4 428.8 10.4 721 15086 0.00 2.47 0.00 0.000 6 0.000 0.063 3002 2200 1733

15404 1.48 205.0 397.4 9.6 737 15419 0.10 2.65 8.10 0.920 4 0.078 0.083 3028 3597 1702

15471 1.48 205.0 389.4 11.8 740 15475 0.00 2.47 0.00 0.000 6 0.000 0.063 3028 2196 1702

15798 1.48 205.0 349.2 12.3 756 15803 0.00 2.60 0.00 0.000 4 0.000 0.084 3029 3602 1701

15844 1.48 205.0 343.2 12.6 758 15848 0.00 2.47 0.00 0.000 6 0.000 0.063 3029 2200 1701

16165 1.48 205.0 306.6 10.6 774 16170 0.00 2.60 0.00 0.000 4 0.000 0.085 3028 3608 1701

16319 1.48 205.0 289.5 11.4 781 16323 0.00 2.47 0.00 0.000 6 0.000 0.063 3029 2199 1701

16646 1.48 205.0 254.4 10.7 797 16650 0.00 2.58 0.00 0.000 4 0.000 0.083 3028 793 1700

16719 1.48 205.0 245.6 12.7 800 16723 0.00 2.42 0.00 0.000 6 0.000 0.054 3028 2213 1700

17035 1.48 205.0 207.6 11.7 815 17036 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2213 1700

17344 1.48 205.0 169.1 12.6 830 17349 0.00 2.53 0.00 0.000 4 0.000 0.073 3029 794 1700

17407 1.48 205.0 160.8 13.5 833 17412 0.00 2.40 0.00 0.000 6 0.000 0.055 3028 2200 1700

17735 1.48 205.0 119.9 12.1 849 17740 0.00 2.53 0.00 0.000 4 0.000 0.071 3028 785 1700

17764 1.48 205.0 116.1 13.5 850 17768 0.00 2.42 0.00 0.000 6 0.000 0.056 3028 2202 1699

18082 1.48 205.0 78.2 12.0 865 18083 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2203 1699

18390 1.48 205.0 41.5 11.8 880 18391 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2203 1700

18699 1.48 205.0 4.8 13.0 895 18703 0.00 2.50 0.00 0.000 4 0.000 0.071 3028 794 1700

18729 end climb: SURFACE_DEPTH_REACHED

state 18729 begin surface coast

18752 end surface coast: CONTROL_FINISHED_OK

state 18752 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	23	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	23	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	-650560.88	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	181256,6330.721,-603.554,66,1.4,66,-8.3	TGT_NAME	NSEC_S
_CALLS	4	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.106,-0.233
_SM_DEPTHo	1.13	KALMAN_X	50413.3,-18.1,-255.5,-51291.1,2060.5
_SM_ANGLEo	-57.4	KALMAN_Y	49163.7,154.1,-381.2,-72660.7,2223.4
GPS2	182845,6330.822,-603.426,14,1.5,14,-8.3	MHEAD_RNG_PITCHd_Wd	212.7,94131,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.8,1.026828	_24V_AH	23.3,6.897
SM_CCo	18779,53.38,0.732,0,0,1315,300.00	_10V_AH	10.1,3.911
SM_GC	1.39,0.00,0.00,53.38,0.000,0.000,0.732,382,1623,1315,-10.69,0.62,300.00	DATA_FILE_SIZE	44221,897
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	141837,0
TT8_MAMPS	0.024544	CFSIZE	254472192,250433536
HUMID	1957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
TCM_TEMP	19.30	GPS	020908,234456,6329.953,-603.393,39,1.7,39,-8.3
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	180	109.40	SBE_CT	679	24	379.96
Roll_motor	155	92	335.33	SBE_O2	613	19	271.53
VBD_pump_during_apogee	315	1365	10032.25	WL_BB2F	465	105	1138.56
VBD_pump_during_surface	53	731	909.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	153	103	368.97	nil	0	0	0.00
Iridium_during_connect	106	160	395.79	nil	0	0	0.00
Iridium_during_xfer	349	223	1818.43
Transponder_ping	9	420	90.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.21
TT8	1684	19	336.92
LPSleep	14560	2	322.06
TT8_Active	502	19	100.44
TT8_Sampling	2027	39	815.21
TT8_CF8	1010	45	467.31
TT8_Kalman	33	81	27.57
Analog_circuits	1519	12	184.22
GPS_charging	0	0	0.00
Compass	1977	8	159.78
RAFOS	0	0	0.00
Transponder	55	30	16.96

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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.38	-146.6	0.0	0.0	0	81	0.00	0.00	-60.38	0.000	2	0.000	0.000	383	1593	2736
85	-1.38	-146.6	3.2	-4.0	3	112	11.38	2.53	-9.85	0.000	4	0.180	0.091	2396	207	3136
382	-1.38	-146.6	51.5	-15.7	16	386	0.00	2.38	0.00	0.000	6	0.000	0.055	2396	1618	3137
704	-1.38	-146.6	89.8	-11.2	32	708	0.00	2.55	0.00	0.000	4	0.000	0.075	2396	206	3139
978	-1.38	-146.6	123.7	-12.6	44	982	0.00	2.35	0.00	0.000	6	0.000	0.055	2396	1607	3140
1295	-1.38	-146.6	159.8	-11.6	59	1299	0.00	2.53	0.00	0.000	4	0.000	0.076	2396	209	3141
1402	-1.38	-146.6	173.4	-12.4	64	1406	0.00	2.33	0.00	0.000	6	0.000	0.055	2396	1602	3141
1735	-1.38	-146.6	213.6	-12.1	80	1737	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1606	3141
2045	-1.38	-146.6	251.8	-12.5	95	2050	0.00	2.45	0.00	0.000	4	0.000	0.074	2396	2988	3142
2079	-1.38	-146.6	256.4	-12.1	96	2085	0.00	2.40	0.00	0.000	6	0.000	0.063	2395	1598	3144
2396	-1.38	-146.6	294.7	-12.3	112	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1598	3144
2705	-1.38	-146.6	330.3	-10.8	127	2706	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1599	3144
3014	-1.38	-146.6	364.1	-11.1	142	3018	0.00	2.55	0.00	0.000	4	0.000	0.088	2396	208	3144
3048	-1.38	-146.6	368.0	-11.4	143	3054	0.00	2.35	0.00	0.000	6	0.000	0.055	2396	1604	3144
3365	-1.38	-146.6	400.6	-10.0	159	3369	0.00	2.55	0.00	0.000	4	0.000	0.081	2396	209	3144
3433	-1.38	-146.6	408.1	-11.2	162	3437	0.00	2.35	0.00	0.000	6	0.000	0.055	2396	1597	3144
3755	-1.38	-146.6	440.5	-10.1	178	3758	0.00	2.53	0.00	0.000	4	0.000	0.084	2396	2991	3145
3783	-1.38	-146.6	443.4	-10.6	179	3787	0.00	2.42	0.00	0.000	6	0.000	0.063	2396	1595	3144
4105	-1.38	-146.6	476.3	-10.4	195	4109	0.00	2.55	0.00	0.000	4	0.000	0.090	2396	211	3143
4155	-1.38	-146.6	482.2	-11.2	197	4159	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1604	3143
4477	-1.38	-146.6	516.4	-10.3	213	4482	0.00	2.58	0.00	0.000	4	0.000	0.084	2396	207	3141
4518	-1.38	-146.6	521.0	-11.4	215	4522	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1600	3141
4845	-1.38	-146.6	556.0	-10.5	231	4847	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1603	3139
5154	-1.38	-146.6	588.6	-10.8	246	5156	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1603	3138
5464	-1.38	-146.6	622.7	-11.2	261	5468	0.00	2.55	0.00	0.000	4	0.000	0.084	2396	215	3137
5514	-1.38	-146.6	629.1	-12.5	263	5519	0.00	2.35	0.00	0.000	6	0.000	0.055	2396	1592	3137
5831	-1.38	-146.6	664.3	-10.7	278	5832	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1592	3135
6140	-1.38	-146.6	698.3	-11.0	293	6141	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1592	3134
6449	-1.38	-146.6	731.7	-10.8	308	6450	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1592	3132
6759	-1.38	-146.6	763.4	-9.9	323	6763	0.00	2.53	0.00	0.000	4	0.000	0.085	2396	216	3132
6815	-1.38	-146.6	769.5	-11.2	325	6821	0.00	2.38	0.00	0.000	6	0.000	0.055	2396	1606	3131
7132	-1.38	-146.6	799.5	-9.3	341	7133	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1605	3130
7441	-1.38	-146.6	827.8	-9.0	356	7442	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1605	3129
7750	-1.38	-146.6	855.4	-9.0	371	7754	0.00	2.55	0.00	0.000	4	0.000	0.083	2395	210	3129
7798	-1.38	-146.6	860.0	-10.3	373	7802	0.00	2.38	0.00	0.000	6	0.000	0.054	2396	1605	3129
8125	-1.38	-146.6	890.2	-9.2	389	8127	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1605	3127
8435	-1.38	-146.6	919.4	-9.3	404	8436	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1605	3127
8744	-1.38	-146.6	947.7	-9.1	419	8745	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1605	3127
9054	-1.38	-146.6	975.9	-9.2	434	9055	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1605	3126
9214	end dive: TARGET_DEPTH_EXCEEDED
state	9214	begin apogee
9224	-0.32	0.0	991.1	9.2	442	9357	1.17	0.00	126.50	1.365	6	0.117	0.000	2634	2197	2539
9358	end apogee: CONTROL_FINISHED_OK
state	9358	begin climb
9362	1.38	146.6	996.0	0.0	449	9496	1.73	2.72	125.43	1.328	4	0.081	0.093	3002	3601	1941
9663	1.38	146.6	974.5	11.5	463	9668	0.00	2.47	0.00	0.000	6	0.000	0.062	3002	2199	1940
9991	1.38	146.6	941.2	10.2	479	9995	0.00	2.60	0.00	0.000	4	0.000	0.084	3002	3601	1940
10041	1.38	146.6	935.7	10.9	481	10045	0.00	2.45	0.00	0.000	6	0.000	0.061	3002	2200	1940
10358	1.38	146.6	903.9	10.1	496	10362	0.00	2.62	0.00	0.000	4	0.000	0.084	3002	3605	1940
10398	1.39	151.5	900.0	9.8	498	10409	0.00	2.47	5.85	1.066	6	0.000	0.061	3002	2196	1921
10726	1.39	151.5	867.1	10.1	514	10730	0.00	2.60	0.00	0.000	4	0.000	0.084	3002	3601	1921
10788	1.39	151.5	860.7	11.8	517	10792	0.00	2.45	0.00	0.000	6	0.000	0.061	3001	2200	1921
11115	1.39	151.5	827.9	10.0	533	11120	0.00	2.60	0.00	0.000	4	0.000	0.084	3002	3602	1920
11165	1.39	151.5	822.5	10.7	535	11170	0.00	2.47	0.00	0.000	6	0.000	0.061	3002	2197	1921
11482	1.39	151.5	791.0	10.2	550	11483	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2197	1921
11791	1.39	151.5	759.3	10.3	565	11795	0.00	2.60	0.00	0.000	4	0.000	0.084	3002	3601	1919
11836	1.39	151.5	754.4	10.5	567	11840	0.00	2.47	0.00	0.000	6	0.000	0.061	3002	2196	1919
12158	1.40	154.6	722.1	9.9	583	12164	0.00	0.00	4.12	0.829	6	0.000	0.000	3002	2196	1908
12467	1.40	157.9	691.9	9.8	598	12477	0.00	2.62	4.62	0.876	4	0.000	0.084	3002	3601	1894
12511	1.41	164.1	687.4	9.7	600	12528	0.00	2.47	6.88	0.992	6	0.000	0.062	3002	2202	1870
12838	1.42	170.0	655.5	9.7	616	12846	0.00	0.00	6.53	0.980	6	0.000	0.000	3002	2202	1845
13147	1.42	170.0	624.1	10.1	631	13151	0.00	2.60	0.00	0.000	4	0.000	0.085	3002	3604	1845
13180	1.42	170.0	620.4	10.3	632	13185	0.00	2.47	0.00	0.000	6	0.000	0.062	3002	2201	1845
13496	1.42	170.0	587.4	10.2	647	13498	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2201	1845
13806	1.42	170.0	555.8	10.2	662	13810	0.00	2.60	0.00	0.000	4	0.000	0.084	3003	3605	1845
13884	1.42	170.0	547.5	10.0	665	13888	0.00	2.47	0.00	0.000	6	0.000	0.063	3002	2200	1845
14201	1.44	179.8	516.7	9.5	680	14216	0.00	2.65	9.90	1.004	4	0.000	0.084	3002	3603	1804
14269	1.44	179.8	509.8	10.5	682	14273	0.00	2.50	0.00	0.000	6	0.000	0.062	3002	2197	1804
14591	1.44	183.3	478.1	9.8	698	14600	0.00	2.62	4.45	0.807	4	0.000	0.084	3001	3604	1791
14659	1.44	183.3	470.8	10.6	701	14664	0.00	2.47	0.00	0.000	6	0.000	0.062	3003	2200	1791
14987	1.46	197.4	438.7	9.3	717	15008	0.00	2.67	13.00	0.979	4	0.000	0.084	3002	3597	1733
15082	1.46	197.4	428.8	10.4	721	15086	0.00	2.47	0.00	0.000	6	0.000	0.063	3002	2200	1733
15404	1.48	205.0	397.4	9.6	737	15419	0.10	2.65	8.10	0.920	4	0.078	0.083	3028	3597	1702
15471	1.48	205.0	389.4	11.8	740	15475	0.00	2.47	0.00	0.000	6	0.000	0.063	3028	2196	1702
15798	1.48	205.0	349.2	12.3	756	15803	0.00	2.60	0.00	0.000	4	0.000	0.084	3029	3602	1701
15844	1.48	205.0	343.2	12.6	758	15848	0.00	2.47	0.00	0.000	6	0.000	0.063	3029	2200	1701
16165	1.48	205.0	306.6	10.6	774	16170	0.00	2.60	0.00	0.000	4	0.000	0.085	3028	3608	1701
16319	1.48	205.0	289.5	11.4	781	16323	0.00	2.47	0.00	0.000	6	0.000	0.063	3029	2199	1701
16646	1.48	205.0	254.4	10.7	797	16650	0.00	2.58	0.00	0.000	4	0.000	0.083	3028	793	1700
16719	1.48	205.0	245.6	12.7	800	16723	0.00	2.42	0.00	0.000	6	0.000	0.054	3028	2213	1700
17035	1.48	205.0	207.6	11.7	815	17036	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2213	1700
17344	1.48	205.0	169.1	12.6	830	17349	0.00	2.53	0.00	0.000	4	0.000	0.073	3029	794	1700
17407	1.48	205.0	160.8	13.5	833	17412	0.00	2.40	0.00	0.000	6	0.000	0.055	3028	2200	1700
17735	1.48	205.0	119.9	12.1	849	17740	0.00	2.53	0.00	0.000	4	0.000	0.071	3028	785	1700
17764	1.48	205.0	116.1	13.5	850	17768	0.00	2.42	0.00	0.000	6	0.000	0.056	3028	2202	1699
18082	1.48	205.0	78.2	12.0	865	18083	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2203	1699
18390	1.48	205.0	41.5	11.8	880	18391	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2203	1700
18699	1.48	205.0	4.8	13.0	895	18703	0.00	2.50	0.00	0.000	4	0.000	0.071	3028	794	1700
18729	end climb: SURFACE_DEPTH_REACHED
state	18729	begin surface coast
18752	end surface coast: CONTROL_FINISHED_OK
state	18752	begin surface