Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 29 * 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 29 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 1525 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2275 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 576.94562 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -650702.19 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 576.94562

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 -650702.19

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 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1525 MASS 52000 R_PORT_OVSHOOT 20 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 29 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 023431,6323.932,-603.756,37,1.5,37,-8.2 TGT_NAME NSEC_S

_CALLS 5 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.101,-0.235

_SM_DEPTHo 1.49 KALMAN_X 62262.7,-34.1,155.9,-63786.3,1951.8

_SM_ANGLEo -58.8 KALMAN_Y 63186.5,-27.7,353.3,-99597.6,1591.9

GPS2 025033,6324.145,-603.739,14,1.7,14,-8.3 MHEAD_RNG_PITCHd_Wd 211.4,81763,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.010146 _24V_AH 23.4,7.804

SM_CCo 18543,191.27,0.670,0,0,187,576.95 _10V_AH 10.1,4.433

SM_GC 1.07,0.00,0.00,191.27,0.000,0.000,0.670,380,1518,187,-10.69,-0.20,576.95 DATA_FILE_SIZE 44308,888

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 130444,0

TT8_MAMPS 0.023777 CFSIZE 254472192,250032128

HUMID 1842 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,38,0,0

TCM_TEMP 17.40 GPS 040908,080508,6321.996,-605.262,35,1.2,41,-8.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 181 110.66 SBE_CT 667 24 375.04

Roll_motor 143 90 304.60 SBE_O2 606 19 269.45

VBD_pump_during_apogee 323 1359 10306.17 WL_BB2F 462 105 1135.20

VBD_pump_during_surface 191 670 3000.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 199 103 479.70 nil 0 0 0.00

Iridium_during_connect 375 160 1406.95 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 9 420 93.37

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.93

TT8 1640 19 328.06

LPSleep 14516 2 321.10

TT8_Active 652 19 130.39

TT8_Sampling 1932 39 776.69

TT8_CF8 959 45 443.88

TT8_Kalman 33 81 27.57

Analog_circuits 1628 12 197.40

GPS_charging 0 0 0.00

Compass 1885 8 152.36

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 78 0.00 0.00 -60.10 0.000 2 0.000 0.000 382 1523 2733

82 -1.38 -146.6 3.5 -4.2 3 108 11.38 2.40 -9.57 0.000 4 0.181 0.090 2395 202 3139

379 -1.38 -146.6 50.3 -14.2 16 383 0.00 2.22 0.00 0.000 6 0.000 0.054 2395 1544 3139

696 -1.38 -146.6 88.0 -11.2 31 700 0.00 2.40 0.00 0.000 4 0.000 0.074 2395 209 3142

783 -1.38 -146.6 98.6 -12.8 35 787 0.00 2.17 0.00 0.000 6 0.000 0.054 2395 1532 3143

1111 -1.38 -146.6 139.2 -12.7 51 1112 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1537 3144

1421 -1.38 -146.6 176.4 -11.6 66 1425 0.00 2.40 0.00 0.000 4 0.000 0.076 2395 201 3144

1522 -1.38 -146.6 189.5 -12.9 70 1526 0.00 2.20 0.00 0.000 6 0.000 0.054 2395 1533 3144

1844 -1.38 -146.6 227.6 -11.5 86 1848 0.00 2.38 0.00 0.000 4 0.000 0.076 2395 209 3144

1890 -1.38 -146.6 233.3 -12.4 88 1894 0.00 2.17 0.00 0.000 6 0.000 0.054 2395 1525 3144

2223 -1.38 -146.6 273.1 -12.3 104 2227 0.00 2.40 0.00 0.000 4 0.000 0.070 2395 2901 3144

2257 -1.38 -146.6 277.4 -11.0 105 2264 0.00 2.38 0.00 0.000 6 0.000 0.062 2395 1522 3144

2574 -1.38 -146.6 314.5 -11.3 121 2575 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1522 3145

2883 -1.38 -146.6 349.8 -11.5 136 2888 0.00 2.40 0.00 0.000 4 0.000 0.087 2395 207 3145

2962 -1.38 -146.6 359.8 -13.3 139 2966 0.00 2.20 0.00 0.000 6 0.000 0.055 2394 1531 3145

3278 -1.38 -146.6 395.3 -11.5 154 3282 0.00 2.40 0.00 0.000 4 0.000 0.074 2395 2896 3146

3306 -1.38 -146.6 398.4 -11.3 155 3310 0.00 2.35 0.00 0.000 6 0.000 0.061 2395 1526 3145

3628 -1.38 -146.6 431.9 -10.4 171 3632 0.00 2.42 0.00 0.000 4 0.000 0.071 2395 2903 3145

3661 -1.38 -146.6 435.5 -10.5 172 3668 0.00 2.38 0.00 0.000 6 0.000 0.063 2394 1529 3145

3978 -1.38 -146.6 470.0 -11.0 188 3979 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1529 3145

4287 -1.38 -146.6 504.6 -11.7 203 4291 0.00 2.45 0.00 0.000 4 0.000 0.071 2395 2903 3144

4327 -1.38 -146.6 509.7 -12.5 205 4331 0.00 2.40 0.00 0.000 6 0.000 0.064 2396 1524 3144

4655 -1.38 -146.6 548.2 -12.0 221 4656 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1524 3143

4964 -1.38 -146.6 583.7 -11.2 236 4968 0.00 2.42 0.00 0.000 4 0.000 0.071 2395 2895 3140

4998 -1.38 -146.6 587.8 -11.5 237 5004 0.00 2.40 0.00 0.000 6 0.000 0.064 2395 1522 3141

5314 -1.38 -146.6 622.5 -10.8 253 5315 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1521 3140

5623 -1.38 -146.6 656.0 -11.0 268 5627 0.00 2.42 0.00 0.000 4 0.000 0.071 2395 2895 3138

5663 -1.38 -146.6 660.4 -10.9 270 5667 0.00 2.40 0.00 0.000 6 0.000 0.066 2395 1524 3139

5991 -1.38 -146.6 696.4 -10.9 286 5992 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1525 3137

6300 -1.38 -146.6 728.8 -10.4 301 6301 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1525 3135

6610 -1.38 -146.6 759.8 -9.9 316 6614 0.00 2.42 0.00 0.000 4 0.000 0.071 2395 2898 3134

6666 -1.38 -146.6 765.6 -10.0 318 6672 0.00 2.40 0.00 0.000 6 0.000 0.064 2395 1524 3134

6983 -1.38 -146.6 795.8 -9.6 334 6984 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1524 3133

7293 -1.38 -146.6 825.2 -9.5 349 7297 0.00 2.42 0.00 0.000 4 0.000 0.069 2395 2900 3132

7327 -1.38 -146.6 828.6 -9.8 350 7333 0.00 2.40 0.00 0.000 6 0.000 0.063 2395 1520 3132

7644 -1.38 -146.6 858.4 -9.3 366 7645 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1520 3130

7953 -1.38 -146.6 887.3 -9.3 381 7957 0.00 2.42 0.00 0.000 4 0.000 0.067 2395 2900 3129

7994 -1.38 -146.6 891.2 -9.0 383 7998 0.00 2.40 0.00 0.000 6 0.000 0.062 2395 1516 3129

8321 -1.38 -146.6 921.1 -9.0 399 8322 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1516 3129

8630 -1.38 -146.6 948.8 -9.2 414 8635 0.00 2.42 0.00 0.000 4 0.000 0.067 2395 2900 3128

8672 -1.38 -146.6 952.6 -9.6 416 8676 0.00 2.38 0.00 0.000 6 0.000 0.062 2395 1522 3128

9006 -1.38 -146.6 982.2 -8.8 432 9007 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1522 3128

9104 end dive: TARGET_DEPTH_EXCEEDED

state 9104 begin apogee

9114 -0.32 0.0 991.2 8.8 437 9247 1.17 0.00 127.35 1.360 6 0.118 0.000 2632 2262 2538

9248 end apogee: CONTROL_FINISHED_OK

state 9248 begin climb

9252 1.38 146.6 994.8 0.0 444 9385 1.75 2.72 125.10 1.321 4 0.079 0.091 3006 3667 1940

9518 1.38 146.6 974.0 11.5 456 9523 0.00 2.47 0.00 0.000 6 0.000 0.060 3006 2257 1940

9835 1.38 146.6 939.8 10.7 471 9836 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2257 1940

10144 1.38 146.6 906.8 10.7 486 10149 0.00 2.60 0.00 0.000 4 0.000 0.084 3005 3668 1940

10200 1.38 146.6 900.8 10.5 488 10207 0.00 2.42 0.00 0.000 6 0.000 0.059 3006 2277 1939

10517 1.38 146.6 868.8 10.0 504 10518 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2277 1939

10826 1.38 146.6 837.1 10.5 519 10827 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2276 1939

11135 1.38 146.6 804.4 10.6 534 11139 0.00 2.58 0.00 0.000 4 0.000 0.084 3006 3668 1938

11191 1.38 146.6 798.1 11.3 536 11195 0.00 2.42 0.00 0.000 6 0.000 0.059 3006 2276 1939

11508 1.38 146.6 764.9 10.5 551 11509 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2276 1938

11817 1.38 146.6 733.3 10.1 566 11821 0.00 2.58 0.00 0.000 4 0.000 0.084 3007 3668 1938

11850 1.38 146.6 729.6 10.1 567 11856 0.00 2.42 0.00 0.000 6 0.000 0.060 3006 2276 1938

12167 1.38 146.6 698.0 10.0 583 12168 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2276 1938

12476 1.40 154.2 667.9 9.6 598 12485 0.00 0.00 7.43 0.999 6 0.000 0.000 3006 2276 1910

12786 1.41 162.0 637.7 9.6 613 12796 0.00 0.00 8.15 0.989 6 0.000 0.000 3006 2275 1878

13095 1.41 165.3 607.6 9.8 628 13104 0.00 2.60 4.72 0.825 4 0.000 0.085 3006 3668 1863

13145 1.42 170.6 602.2 9.8 630 13157 0.00 2.45 6.10 0.896 6 0.000 0.061 3006 2274 1842

13466 1.42 170.6 568.5 10.6 646 13468 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2274 1842

13776 1.42 170.6 534.3 11.2 661 13777 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2273 1842

14085 1.42 170.6 498.3 12.0 676 14086 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2273 1842

14394 1.42 170.6 461.7 11.9 691 14395 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2273 1842

14704 1.42 170.6 428.3 10.3 706 14708 0.00 2.55 0.00 0.000 4 0.000 0.084 3006 3668 1841

14750 1.42 170.6 423.5 10.7 708 14754 0.00 2.42 0.00 0.000 6 0.000 0.061 3006 2276 1840

15071 1.47 198.8 394.8 8.7 724 15101 0.00 2.65 24.00 0.977 4 0.000 0.079 3006 877 1728

15125 1.47 198.8 389.4 11.3 726 15129 0.00 2.42 0.00 0.000 6 0.000 0.054 3006 2282 1727

15441 1.47 198.8 356.6 10.6 741 15446 0.00 2.58 0.00 0.000 4 0.000 0.087 3006 3672 1726

15554 1.47 198.8 343.3 12.3 746 15558 0.00 2.42 0.00 0.000 6 0.000 0.060 3006 2274 1726

15875 1.47 198.8 304.4 12.4 762 15880 0.00 2.58 0.00 0.000 4 0.000 0.083 3006 3674 1726

15909 1.47 198.8 299.9 13.4 763 15915 0.00 2.42 0.00 0.000 6 0.000 0.060 3006 2275 1725

16226 1.47 198.8 261.5 11.1 779 16230 0.00 2.53 0.00 0.000 4 0.000 0.078 3006 871 1725

16253 1.47 198.8 258.2 12.4 780 16258 0.00 2.40 0.00 0.000 6 0.000 0.054 3006 2283 1725

16570 1.48 208.2 225.9 9.6 795 16584 0.00 2.60 8.80 0.851 4 0.000 0.084 3006 3674 1689

16675 1.48 208.2 215.1 10.3 799 16681 0.00 2.45 0.00 0.000 6 0.000 0.061 3006 2269 1689

16991 1.48 208.2 181.9 11.1 815 16993 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2269 1689

17301 1.48 208.2 146.1 11.9 830 17306 0.00 2.53 0.00 0.000 4 0.000 0.078 3006 870 1689

17335 1.48 208.2 141.6 11.4 831 17342 0.00 2.40 0.00 0.000 6 0.000 0.055 3006 2282 1689

17654 1.48 208.2 104.2 11.9 847 17658 0.00 2.53 0.00 0.000 4 0.000 0.070 3006 869 1689

17698 1.48 208.2 98.4 11.5 849 17703 0.00 2.40 0.00 0.000 6 0.000 0.055 3006 2278 1689

18021 1.50 220.4 64.2 9.4 865 18043 0.12 2.65 12.23 0.726 4 0.069 0.088 3044 3668 1640

18262 1.50 220.4 31.3 15.8 875 18269 0.00 2.40 0.00 0.000 6 0.000 0.061 3044 2269 1639

18493 end climb: SURFACE_DEPTH_REACHED

state 18493 begin surface coast

18517 end surface coast: CONTROL_FINISHED_OK

state 18517 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	29	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	1525	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2275	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	576.94562	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-650702.19	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	023431,6323.932,-603.756,37,1.5,37,-8.2	TGT_NAME	NSEC_S
_CALLS	5	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.101,-0.235
_SM_DEPTHo	1.49	KALMAN_X	62262.7,-34.1,155.9,-63786.3,1951.8
_SM_ANGLEo	-58.8	KALMAN_Y	63186.5,-27.7,353.3,-99597.6,1591.9
GPS2	025033,6324.145,-603.739,14,1.7,14,-8.3	MHEAD_RNG_PITCHd_Wd	211.4,81763,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.6,1.010146	_24V_AH	23.4,7.804
SM_CCo	18543,191.27,0.670,0,0,187,576.95	_10V_AH	10.1,4.433
SM_GC	1.07,0.00,0.00,191.27,0.000,0.000,0.670,380,1518,187,-10.69,-0.20,576.95	DATA_FILE_SIZE	44308,888
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	130444,0
TT8_MAMPS	0.023777	CFSIZE	254472192,250032128
HUMID	1842	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,38,0,0
TCM_TEMP	17.40	GPS	040908,080508,6321.996,-605.262,35,1.2,41,-8.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	181	110.66	SBE_CT	667	24	375.04
Roll_motor	143	90	304.60	SBE_O2	606	19	269.45
VBD_pump_during_apogee	323	1359	10306.17	WL_BB2F	462	105	1135.20
VBD_pump_during_surface	191	670	3000.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	199	103	479.70	nil	0	0	0.00
Iridium_during_connect	375	160	1406.95	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	9	420	93.37
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.93
TT8	1640	19	328.06
LPSleep	14516	2	321.10
TT8_Active	652	19	130.39
TT8_Sampling	1932	39	776.69
TT8_CF8	959	45	443.88
TT8_Kalman	33	81	27.57
Analog_circuits	1628	12	197.40
GPS_charging	0	0	0.00
Compass	1885	8	152.36
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	78	0.00	0.00	-60.10	0.000	2	0.000	0.000	382	1523	2733
82	-1.38	-146.6	3.5	-4.2	3	108	11.38	2.40	-9.57	0.000	4	0.181	0.090	2395	202	3139
379	-1.38	-146.6	50.3	-14.2	16	383	0.00	2.22	0.00	0.000	6	0.000	0.054	2395	1544	3139
696	-1.38	-146.6	88.0	-11.2	31	700	0.00	2.40	0.00	0.000	4	0.000	0.074	2395	209	3142
783	-1.38	-146.6	98.6	-12.8	35	787	0.00	2.17	0.00	0.000	6	0.000	0.054	2395	1532	3143
1111	-1.38	-146.6	139.2	-12.7	51	1112	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1537	3144
1421	-1.38	-146.6	176.4	-11.6	66	1425	0.00	2.40	0.00	0.000	4	0.000	0.076	2395	201	3144
1522	-1.38	-146.6	189.5	-12.9	70	1526	0.00	2.20	0.00	0.000	6	0.000	0.054	2395	1533	3144
1844	-1.38	-146.6	227.6	-11.5	86	1848	0.00	2.38	0.00	0.000	4	0.000	0.076	2395	209	3144
1890	-1.38	-146.6	233.3	-12.4	88	1894	0.00	2.17	0.00	0.000	6	0.000	0.054	2395	1525	3144
2223	-1.38	-146.6	273.1	-12.3	104	2227	0.00	2.40	0.00	0.000	4	0.000	0.070	2395	2901	3144
2257	-1.38	-146.6	277.4	-11.0	105	2264	0.00	2.38	0.00	0.000	6	0.000	0.062	2395	1522	3144
2574	-1.38	-146.6	314.5	-11.3	121	2575	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1522	3145
2883	-1.38	-146.6	349.8	-11.5	136	2888	0.00	2.40	0.00	0.000	4	0.000	0.087	2395	207	3145
2962	-1.38	-146.6	359.8	-13.3	139	2966	0.00	2.20	0.00	0.000	6	0.000	0.055	2394	1531	3145
3278	-1.38	-146.6	395.3	-11.5	154	3282	0.00	2.40	0.00	0.000	4	0.000	0.074	2395	2896	3146
3306	-1.38	-146.6	398.4	-11.3	155	3310	0.00	2.35	0.00	0.000	6	0.000	0.061	2395	1526	3145
3628	-1.38	-146.6	431.9	-10.4	171	3632	0.00	2.42	0.00	0.000	4	0.000	0.071	2395	2903	3145
3661	-1.38	-146.6	435.5	-10.5	172	3668	0.00	2.38	0.00	0.000	6	0.000	0.063	2394	1529	3145
3978	-1.38	-146.6	470.0	-11.0	188	3979	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1529	3145
4287	-1.38	-146.6	504.6	-11.7	203	4291	0.00	2.45	0.00	0.000	4	0.000	0.071	2395	2903	3144
4327	-1.38	-146.6	509.7	-12.5	205	4331	0.00	2.40	0.00	0.000	6	0.000	0.064	2396	1524	3144
4655	-1.38	-146.6	548.2	-12.0	221	4656	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1524	3143
4964	-1.38	-146.6	583.7	-11.2	236	4968	0.00	2.42	0.00	0.000	4	0.000	0.071	2395	2895	3140
4998	-1.38	-146.6	587.8	-11.5	237	5004	0.00	2.40	0.00	0.000	6	0.000	0.064	2395	1522	3141
5314	-1.38	-146.6	622.5	-10.8	253	5315	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1521	3140
5623	-1.38	-146.6	656.0	-11.0	268	5627	0.00	2.42	0.00	0.000	4	0.000	0.071	2395	2895	3138
5663	-1.38	-146.6	660.4	-10.9	270	5667	0.00	2.40	0.00	0.000	6	0.000	0.066	2395	1524	3139
5991	-1.38	-146.6	696.4	-10.9	286	5992	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1525	3137
6300	-1.38	-146.6	728.8	-10.4	301	6301	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1525	3135
6610	-1.38	-146.6	759.8	-9.9	316	6614	0.00	2.42	0.00	0.000	4	0.000	0.071	2395	2898	3134
6666	-1.38	-146.6	765.6	-10.0	318	6672	0.00	2.40	0.00	0.000	6	0.000	0.064	2395	1524	3134
6983	-1.38	-146.6	795.8	-9.6	334	6984	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1524	3133
7293	-1.38	-146.6	825.2	-9.5	349	7297	0.00	2.42	0.00	0.000	4	0.000	0.069	2395	2900	3132
7327	-1.38	-146.6	828.6	-9.8	350	7333	0.00	2.40	0.00	0.000	6	0.000	0.063	2395	1520	3132
7644	-1.38	-146.6	858.4	-9.3	366	7645	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1520	3130
7953	-1.38	-146.6	887.3	-9.3	381	7957	0.00	2.42	0.00	0.000	4	0.000	0.067	2395	2900	3129
7994	-1.38	-146.6	891.2	-9.0	383	7998	0.00	2.40	0.00	0.000	6	0.000	0.062	2395	1516	3129
8321	-1.38	-146.6	921.1	-9.0	399	8322	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1516	3129
8630	-1.38	-146.6	948.8	-9.2	414	8635	0.00	2.42	0.00	0.000	4	0.000	0.067	2395	2900	3128
8672	-1.38	-146.6	952.6	-9.6	416	8676	0.00	2.38	0.00	0.000	6	0.000	0.062	2395	1522	3128
9006	-1.38	-146.6	982.2	-8.8	432	9007	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1522	3128
9104	end dive: TARGET_DEPTH_EXCEEDED
state	9104	begin apogee
9114	-0.32	0.0	991.2	8.8	437	9247	1.17	0.00	127.35	1.360	6	0.118	0.000	2632	2262	2538
9248	end apogee: CONTROL_FINISHED_OK
state	9248	begin climb
9252	1.38	146.6	994.8	0.0	444	9385	1.75	2.72	125.10	1.321	4	0.079	0.091	3006	3667	1940
9518	1.38	146.6	974.0	11.5	456	9523	0.00	2.47	0.00	0.000	6	0.000	0.060	3006	2257	1940
9835	1.38	146.6	939.8	10.7	471	9836	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2257	1940
10144	1.38	146.6	906.8	10.7	486	10149	0.00	2.60	0.00	0.000	4	0.000	0.084	3005	3668	1940
10200	1.38	146.6	900.8	10.5	488	10207	0.00	2.42	0.00	0.000	6	0.000	0.059	3006	2277	1939
10517	1.38	146.6	868.8	10.0	504	10518	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2277	1939
10826	1.38	146.6	837.1	10.5	519	10827	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2276	1939
11135	1.38	146.6	804.4	10.6	534	11139	0.00	2.58	0.00	0.000	4	0.000	0.084	3006	3668	1938
11191	1.38	146.6	798.1	11.3	536	11195	0.00	2.42	0.00	0.000	6	0.000	0.059	3006	2276	1939
11508	1.38	146.6	764.9	10.5	551	11509	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2276	1938
11817	1.38	146.6	733.3	10.1	566	11821	0.00	2.58	0.00	0.000	4	0.000	0.084	3007	3668	1938
11850	1.38	146.6	729.6	10.1	567	11856	0.00	2.42	0.00	0.000	6	0.000	0.060	3006	2276	1938
12167	1.38	146.6	698.0	10.0	583	12168	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2276	1938
12476	1.40	154.2	667.9	9.6	598	12485	0.00	0.00	7.43	0.999	6	0.000	0.000	3006	2276	1910
12786	1.41	162.0	637.7	9.6	613	12796	0.00	0.00	8.15	0.989	6	0.000	0.000	3006	2275	1878
13095	1.41	165.3	607.6	9.8	628	13104	0.00	2.60	4.72	0.825	4	0.000	0.085	3006	3668	1863
13145	1.42	170.6	602.2	9.8	630	13157	0.00	2.45	6.10	0.896	6	0.000	0.061	3006	2274	1842
13466	1.42	170.6	568.5	10.6	646	13468	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2274	1842
13776	1.42	170.6	534.3	11.2	661	13777	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2273	1842
14085	1.42	170.6	498.3	12.0	676	14086	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2273	1842
14394	1.42	170.6	461.7	11.9	691	14395	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2273	1842
14704	1.42	170.6	428.3	10.3	706	14708	0.00	2.55	0.00	0.000	4	0.000	0.084	3006	3668	1841
14750	1.42	170.6	423.5	10.7	708	14754	0.00	2.42	0.00	0.000	6	0.000	0.061	3006	2276	1840
15071	1.47	198.8	394.8	8.7	724	15101	0.00	2.65	24.00	0.977	4	0.000	0.079	3006	877	1728
15125	1.47	198.8	389.4	11.3	726	15129	0.00	2.42	0.00	0.000	6	0.000	0.054	3006	2282	1727
15441	1.47	198.8	356.6	10.6	741	15446	0.00	2.58	0.00	0.000	4	0.000	0.087	3006	3672	1726
15554	1.47	198.8	343.3	12.3	746	15558	0.00	2.42	0.00	0.000	6	0.000	0.060	3006	2274	1726
15875	1.47	198.8	304.4	12.4	762	15880	0.00	2.58	0.00	0.000	4	0.000	0.083	3006	3674	1726
15909	1.47	198.8	299.9	13.4	763	15915	0.00	2.42	0.00	0.000	6	0.000	0.060	3006	2275	1725
16226	1.47	198.8	261.5	11.1	779	16230	0.00	2.53	0.00	0.000	4	0.000	0.078	3006	871	1725
16253	1.47	198.8	258.2	12.4	780	16258	0.00	2.40	0.00	0.000	6	0.000	0.054	3006	2283	1725
16570	1.48	208.2	225.9	9.6	795	16584	0.00	2.60	8.80	0.851	4	0.000	0.084	3006	3674	1689
16675	1.48	208.2	215.1	10.3	799	16681	0.00	2.45	0.00	0.000	6	0.000	0.061	3006	2269	1689
16991	1.48	208.2	181.9	11.1	815	16993	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2269	1689
17301	1.48	208.2	146.1	11.9	830	17306	0.00	2.53	0.00	0.000	4	0.000	0.078	3006	870	1689
17335	1.48	208.2	141.6	11.4	831	17342	0.00	2.40	0.00	0.000	6	0.000	0.055	3006	2282	1689
17654	1.48	208.2	104.2	11.9	847	17658	0.00	2.53	0.00	0.000	4	0.000	0.070	3006	869	1689
17698	1.48	208.2	98.4	11.5	849	17703	0.00	2.40	0.00	0.000	6	0.000	0.055	3006	2278	1689
18021	1.50	220.4	64.2	9.4	865	18043	0.12	2.65	12.23	0.726	4	0.069	0.088	3044	3668	1640
18262	1.50	220.4	31.3	15.8	875	18269	0.00	2.40	0.00	0.000	6	0.000	0.061	3044	2269	1639
18493	end climb: SURFACE_DEPTH_REACHED
state	18493	begin surface coast
18517	end surface coast: CONTROL_FINISHED_OK
state	18517	begin surface