Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 349 * 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 349 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -656875.62 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 2675 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 -656875.62

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 2675 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 23 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 349 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 025037,6349.821,-1320.631,35,1.2,40,-12.6 TGT_NAME BT4

_CALLS 2 TGT_LATLONG 6339.000,-1315.000

_XMS_NAKs 4 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.49 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -60.1 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 030102,6349.826,-1320.640,11,1.5,28,-12.6 MHEAD_RNG_PITCHd_Wd 179.6,20578,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027152 ALTIM_BOTTOM_PING 900.1,9.2

SM_CCo 16989,0.00,0.000,0,0,1151,340.72 _24V_AH 23.5,46.314

SM_GC 1.18,11.38,0.00,0.00,0.054,0.000,0.000,373,1621,1151,-10.50,0.59,340.72 _10V_AH 10.2,23.142

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41197,808

TT8_MAMPS 0.022243 CAP_FILE_SIZE 136035,0

HUMID 1887 CFSIZE 254472192,236228608

TCM_TEMP 19.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,38,1,0

XPDR_PINGS 1 GPS 171008,074557,6346.956,-1321.459,26,2.6,45,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 179 107.66 SBE_CT 599 24 338.02

Roll_motor 179 108 456.76 SBE_O2 550 19 246.01

VBD_pump_during_apogee 423 1293 12854.68 WL_BB2F 440 105 1088.14

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 186.08 nil 0 0 0.00

Iridium_during_connect 56 160 213.42 nil 0 0 0.00

Iridium_during_xfer 260 223 1363.17

Transponder_ping 8 420 81.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.33

TT8 1542 19 311.51

LPSleep 12720 2 284.15

TT8_Active 553 19 111.74

TT8_Sampling 1997 39 810.83

TT8_CF8 796 45 372.04

TT8_Kalman 0 81 0.00

Analog_circuits 1580 12 193.51

GPS_charging 0 0 0.00

Compass 1925 8 157.15

RAFOS 0 0 0.00

Transponder 54 30 16.53

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 99 0.00 0.00 -80.25 0.000 2 0.000 0.000 375 1592 2967

103 -1.16 -146.6 5.0 -5.5 4 126 11.45 2.53 -3.50 0.000 4 0.179 0.086 2412 3006 3141

183 -1.16 -146.6 22.2 -14.4 7 187 0.00 2.45 0.00 0.000 6 0.000 0.064 2412 1600 3142

500 -1.16 -146.6 59.3 -11.8 22 501 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1600 3142

810 -1.16 -146.6 94.8 -11.0 37 815 0.00 2.50 0.00 0.000 4 0.000 0.081 2412 212 3143

867 -1.16 -146.6 101.7 -12.2 39 873 0.00 2.40 0.00 0.000 6 0.000 0.058 2412 1623 3142

1184 -1.16 -146.6 136.8 -10.6 55 1189 0.00 2.55 0.00 0.000 4 0.000 0.077 2410 204 3142

1308 -1.16 -146.6 152.1 -12.6 60 1315 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1604 3142

1625 -1.16 -146.6 187.4 -10.5 76 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1605 3143

1934 -1.16 -146.6 218.0 -10.1 91 1936 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1605 3142

2243 -1.16 -146.6 248.3 -10.0 106 2248 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 211 3142

2323 -1.16 -146.6 257.4 -11.4 109 2329 0.00 2.35 0.00 0.000 6 0.000 0.058 2412 1595 3143

2639 -1.16 -146.6 288.9 -9.2 125 2641 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1598 3143

2949 -1.16 -146.6 316.7 -8.5 140 2953 0.00 2.50 0.00 0.000 4 0.000 0.079 2412 212 3142

3000 -1.16 -146.6 321.4 -9.6 142 3004 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1604 3142

3322 -1.16 -146.6 346.7 -7.4 158 3323 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1609 3142

3631 -1.16 -146.6 369.3 -7.2 173 3635 0.00 2.53 0.00 0.000 4 0.000 0.079 2411 207 3142

3683 -1.16 -146.6 373.2 -7.9 175 3687 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1601 3142

4005 -1.16 -146.6 396.4 -7.3 191 4007 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1606 3142

4315 -1.16 -146.6 418.9 -7.5 206 4320 0.00 2.53 0.00 0.000 4 0.000 0.079 2412 208 3143

4361 -1.16 -146.6 422.5 -8.0 208 4365 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1601 3143

4683 -1.16 -146.6 447.1 -7.9 224 4684 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1604 3142

4992 -1.16 -146.6 473.5 -9.3 239 4997 0.00 2.53 0.00 0.000 4 0.000 0.081 2412 209 3143

5037 -1.16 -146.6 478.1 -10.2 241 5042 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1598 3142

5359 -1.16 -146.6 512.3 -11.1 257 5360 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1602 3143

5670 -1.16 -146.6 550.8 -12.5 272 5674 0.00 2.53 0.00 0.000 4 0.000 0.081 2411 205 3142

5704 -1.16 -146.6 555.5 -12.9 273 5708 0.00 2.40 0.00 0.000 6 0.000 0.059 2412 1603 3142

6020 -1.16 -146.6 596.5 -13.0 288 6024 0.00 2.50 0.00 0.000 4 0.000 0.080 2412 212 3142

6065 -1.16 -146.6 602.8 -14.0 290 6069 0.00 2.40 0.00 0.000 6 0.000 0.059 2412 1606 3143

6387 -1.16 -146.6 646.8 -14.3 306 6391 0.00 2.53 0.00 0.000 4 0.000 0.081 2412 206 3142

6487 -1.16 -146.6 662.5 -15.1 310 6494 0.00 2.40 0.00 0.000 6 0.000 0.060 2412 1599 3142

6805 -1.16 -146.6 706.2 -13.7 326 6809 0.00 2.58 0.00 0.000 4 0.000 0.092 2412 3003 3142

6849 -1.16 -146.6 712.4 -13.5 328 6854 0.00 2.45 0.00 0.000 6 0.000 0.069 2412 1604 3142

7172 -1.16 -146.6 758.6 -15.1 344 7173 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1604 3142

7481 -1.16 -146.6 802.3 -13.5 359 7485 0.00 2.53 0.00 0.000 4 0.000 0.087 2411 207 3142

7577 -1.16 -146.6 816.2 -14.4 363 7581 0.00 2.40 0.00 0.000 6 0.000 0.061 2412 1603 3142

7905 -1.16 -146.6 856.9 -11.1 379 7910 0.00 2.55 0.00 0.000 4 0.000 0.084 2412 207 3142

7969 -1.16 -146.6 863.2 -9.4 382 7973 0.00 2.42 0.00 0.000 6 0.000 0.061 2412 1606 3142

8296 -1.16 -146.6 894.5 -10.2 398 8300 0.00 2.55 0.00 0.000 4 0.000 0.084 2412 201 3142

8346 end dive: BOTTOM_OBSTACLE_DETECTED

state 8346 begin apogee

8358 -0.32 0.0 900.1 10.6 400 8500 0.90 0.00 133.00 1.293 6 0.118 0.000 2598 2198 2539

8501 end apogee: CONTROL_FINISHED_OK

state 8501 begin climb

8504 1.16 146.6 907.4 0.0 407 8638 1.52 2.80 124.95 1.277 4 0.080 0.108 2926 3607 1941

8676 1.16 146.6 899.8 8.6 415 8680 0.00 2.53 0.00 0.000 6 0.000 0.068 2926 2195 1940

8998 1.23 187.9 877.1 6.4 431 9040 0.00 2.60 35.15 1.235 4 0.000 0.079 2926 796 1772

9087 1.25 202.3 871.3 7.5 435 9109 0.00 2.50 13.98 1.141 6 0.000 0.063 2926 2208 1713

9419 1.26 204.8 847.0 7.9 451 9424 0.10 2.58 0.00 0.000 4 0.071 0.074 2958 788 1712

9510 1.26 205.4 839.5 8.0 455 9520 0.00 2.50 3.75 0.739 6 0.000 0.064 2958 2200 1700

9838 1.28 221.1 814.6 7.4 471 9860 0.00 2.62 15.23 1.171 4 0.000 0.076 2958 792 1635

9929 1.28 221.1 806.9 8.8 475 9933 0.00 2.50 0.00 0.000 6 0.000 0.064 2958 2200 1635

10257 1.28 221.1 775.1 9.1 491 10261 0.00 2.55 0.00 0.000 4 0.000 0.075 2958 789 1634

10336 1.28 221.1 766.5 11.2 494 10340 0.00 2.50 0.00 0.000 6 0.000 0.064 2958 2203 1633

10652 1.28 221.1 725.1 14.3 509 10656 0.00 2.55 0.00 0.000 4 0.000 0.074 2958 788 1632

10709 1.28 221.1 716.3 16.0 511 10715 0.00 2.50 0.00 0.000 6 0.000 0.064 2958 2201 1632

11025 1.28 221.1 672.5 12.4 527 11029 0.00 2.53 0.00 0.000 4 0.000 0.074 2958 794 1631

11122 1.28 221.1 659.4 14.1 531 11127 0.00 2.50 0.00 0.000 6 0.000 0.064 2958 2208 1630

11444 1.28 221.1 612.7 14.8 547 11449 0.00 2.55 0.00 0.000 4 0.000 0.074 2958 789 1630

11546 1.28 221.1 596.6 16.3 551 11552 0.00 2.47 0.00 0.000 6 0.000 0.063 2958 2201 1630

11863 1.28 221.1 550.1 14.8 567 11867 0.00 2.53 0.00 0.000 4 0.000 0.074 2958 794 1630

11907 1.28 221.1 542.9 15.7 569 11911 0.00 2.45 0.00 0.000 6 0.000 0.062 2958 2200 1630

12229 1.28 221.1 494.7 14.3 585 12232 0.00 2.53 0.00 0.000 4 0.000 0.074 2958 790 1630

12291 1.28 221.1 485.6 14.8 587 12297 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2208 1630

12609 1.28 221.1 443.8 13.0 603 12613 0.00 2.53 0.00 0.000 4 0.000 0.073 2958 792 1630

12694 1.28 221.1 432.2 13.5 607 12698 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2205 1631

13022 1.28 221.1 388.1 14.1 623 13026 0.00 2.50 0.00 0.000 4 0.000 0.072 2958 795 1630

13119 1.28 221.1 374.3 15.4 627 13123 0.00 2.47 0.00 0.000 6 0.000 0.061 2958 2208 1630

13441 1.28 221.1 334.1 11.7 643 13445 0.00 2.53 0.00 0.000 4 0.000 0.072 2958 786 1630

13536 1.28 221.1 322.9 10.5 647 13541 0.00 2.45 0.00 0.000 6 0.000 0.061 2958 2198 1630

13854 1.28 221.1 292.6 8.8 662 13858 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 791 1630

13941 1.28 221.1 284.9 8.5 666 13945 0.00 2.45 0.00 0.000 6 0.000 0.062 2958 2200 1630

14268 1.34 256.4 261.1 6.7 682 14303 0.00 2.60 28.95 0.836 4 0.000 0.072 2958 795 1492

14395 1.36 269.6 252.2 7.5 687 14412 0.00 2.47 11.80 0.765 6 0.000 0.062 2958 2208 1439

14729 1.47 339.9 232.6 5.3 704 14792 0.17 2.60 56.20 0.810 4 0.062 0.071 3014 794 1152

14911 1.47 339.9 217.3 8.7 712 14915 0.00 2.50 0.00 0.000 6 0.000 0.062 3014 2209 1151

15232 1.47 339.9 190.3 8.8 728 15236 0.00 2.55 0.00 0.000 4 0.000 0.072 3014 786 1151

15322 1.47 339.9 181.7 9.9 732 15326 0.00 2.47 0.00 0.000 6 0.000 0.062 3014 2201 1151

15644 1.47 339.9 151.3 9.9 748 15648 0.00 2.53 0.00 0.000 4 0.000 0.072 3014 789 1151

15711 1.47 339.9 143.9 11.4 751 15716 0.00 2.47 0.00 0.000 6 0.000 0.061 3014 2208 1151

16033 1.47 339.9 110.2 10.9 767 16037 0.00 2.53 0.00 0.000 4 0.000 0.073 3014 790 1151

16096 1.47 339.9 102.8 11.3 769 16102 0.00 2.45 0.00 0.000 6 0.000 0.062 3014 2201 1151

16414 1.47 339.9 66.1 12.6 785 16418 0.00 2.53 0.00 0.000 4 0.000 0.074 3014 788 1151

16504 1.47 339.9 53.9 13.6 789 16508 0.00 2.45 0.00 0.000 6 0.000 0.061 3014 2198 1151

16826 1.47 339.9 12.9 13.8 805 16830 0.00 2.50 0.00 0.000 4 0.000 0.074 3014 793 1151

16895 end climb: SURFACE_DEPTH_REACHED

state 16895 begin surface coast

16902 end surface coast: CONTROL_FINISHED_OK

state 16902 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	349	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-656875.62	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	2675	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	025037,6349.821,-1320.631,35,1.2,40,-12.6	TGT_NAME	BT4
_CALLS	2	TGT_LATLONG	6339.000,-1315.000
_XMS_NAKs	4	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.49	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-60.1	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	030102,6349.826,-1320.640,11,1.5,28,-12.6	MHEAD_RNG_PITCHd_Wd	179.6,20578,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.9,1.027152	ALTIM_BOTTOM_PING	900.1,9.2
SM_CCo	16989,0.00,0.000,0,0,1151,340.72	_24V_AH	23.5,46.314
SM_GC	1.18,11.38,0.00,0.00,0.054,0.000,0.000,373,1621,1151,-10.50,0.59,340.72	_10V_AH	10.2,23.142
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41197,808
TT8_MAMPS	0.022243	CAP_FILE_SIZE	136035,0
HUMID	1887	CFSIZE	254472192,236228608
TCM_TEMP	19.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
XPDR_PINGS	1	GPS	171008,074557,6346.956,-1321.459,26,2.6,45,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	179	107.66	SBE_CT	599	24	338.02
Roll_motor	179	108	456.76	SBE_O2	550	19	246.01
VBD_pump_during_apogee	423	1293	12854.68	WL_BB2F	440	105	1088.14
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	186.08	nil	0	0	0.00
Iridium_during_connect	56	160	213.42	nil	0	0	0.00
Iridium_during_xfer	260	223	1363.17
Transponder_ping	8	420	81.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.33
TT8	1542	19	311.51
LPSleep	12720	2	284.15
TT8_Active	553	19	111.74
TT8_Sampling	1997	39	810.83
TT8_CF8	796	45	372.04
TT8_Kalman	0	81	0.00
Analog_circuits	1580	12	193.51
GPS_charging	0	0	0.00
Compass	1925	8	157.15
RAFOS	0	0	0.00
Transponder	54	30	16.53

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	99	0.00	0.00	-80.25	0.000	2	0.000	0.000	375	1592	2967
103	-1.16	-146.6	5.0	-5.5	4	126	11.45	2.53	-3.50	0.000	4	0.179	0.086	2412	3006	3141
183	-1.16	-146.6	22.2	-14.4	7	187	0.00	2.45	0.00	0.000	6	0.000	0.064	2412	1600	3142
500	-1.16	-146.6	59.3	-11.8	22	501	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1600	3142
810	-1.16	-146.6	94.8	-11.0	37	815	0.00	2.50	0.00	0.000	4	0.000	0.081	2412	212	3143
867	-1.16	-146.6	101.7	-12.2	39	873	0.00	2.40	0.00	0.000	6	0.000	0.058	2412	1623	3142
1184	-1.16	-146.6	136.8	-10.6	55	1189	0.00	2.55	0.00	0.000	4	0.000	0.077	2410	204	3142
1308	-1.16	-146.6	152.1	-12.6	60	1315	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1604	3142
1625	-1.16	-146.6	187.4	-10.5	76	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1605	3143
1934	-1.16	-146.6	218.0	-10.1	91	1936	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1605	3142
2243	-1.16	-146.6	248.3	-10.0	106	2248	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	211	3142
2323	-1.16	-146.6	257.4	-11.4	109	2329	0.00	2.35	0.00	0.000	6	0.000	0.058	2412	1595	3143
2639	-1.16	-146.6	288.9	-9.2	125	2641	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1598	3143
2949	-1.16	-146.6	316.7	-8.5	140	2953	0.00	2.50	0.00	0.000	4	0.000	0.079	2412	212	3142
3000	-1.16	-146.6	321.4	-9.6	142	3004	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1604	3142
3322	-1.16	-146.6	346.7	-7.4	158	3323	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1609	3142
3631	-1.16	-146.6	369.3	-7.2	173	3635	0.00	2.53	0.00	0.000	4	0.000	0.079	2411	207	3142
3683	-1.16	-146.6	373.2	-7.9	175	3687	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1601	3142
4005	-1.16	-146.6	396.4	-7.3	191	4007	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1606	3142
4315	-1.16	-146.6	418.9	-7.5	206	4320	0.00	2.53	0.00	0.000	4	0.000	0.079	2412	208	3143
4361	-1.16	-146.6	422.5	-8.0	208	4365	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1601	3143
4683	-1.16	-146.6	447.1	-7.9	224	4684	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1604	3142
4992	-1.16	-146.6	473.5	-9.3	239	4997	0.00	2.53	0.00	0.000	4	0.000	0.081	2412	209	3143
5037	-1.16	-146.6	478.1	-10.2	241	5042	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1598	3142
5359	-1.16	-146.6	512.3	-11.1	257	5360	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1602	3143
5670	-1.16	-146.6	550.8	-12.5	272	5674	0.00	2.53	0.00	0.000	4	0.000	0.081	2411	205	3142
5704	-1.16	-146.6	555.5	-12.9	273	5708	0.00	2.40	0.00	0.000	6	0.000	0.059	2412	1603	3142
6020	-1.16	-146.6	596.5	-13.0	288	6024	0.00	2.50	0.00	0.000	4	0.000	0.080	2412	212	3142
6065	-1.16	-146.6	602.8	-14.0	290	6069	0.00	2.40	0.00	0.000	6	0.000	0.059	2412	1606	3143
6387	-1.16	-146.6	646.8	-14.3	306	6391	0.00	2.53	0.00	0.000	4	0.000	0.081	2412	206	3142
6487	-1.16	-146.6	662.5	-15.1	310	6494	0.00	2.40	0.00	0.000	6	0.000	0.060	2412	1599	3142
6805	-1.16	-146.6	706.2	-13.7	326	6809	0.00	2.58	0.00	0.000	4	0.000	0.092	2412	3003	3142
6849	-1.16	-146.6	712.4	-13.5	328	6854	0.00	2.45	0.00	0.000	6	0.000	0.069	2412	1604	3142
7172	-1.16	-146.6	758.6	-15.1	344	7173	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1604	3142
7481	-1.16	-146.6	802.3	-13.5	359	7485	0.00	2.53	0.00	0.000	4	0.000	0.087	2411	207	3142
7577	-1.16	-146.6	816.2	-14.4	363	7581	0.00	2.40	0.00	0.000	6	0.000	0.061	2412	1603	3142
7905	-1.16	-146.6	856.9	-11.1	379	7910	0.00	2.55	0.00	0.000	4	0.000	0.084	2412	207	3142
7969	-1.16	-146.6	863.2	-9.4	382	7973	0.00	2.42	0.00	0.000	6	0.000	0.061	2412	1606	3142
8296	-1.16	-146.6	894.5	-10.2	398	8300	0.00	2.55	0.00	0.000	4	0.000	0.084	2412	201	3142
8346	end dive: BOTTOM_OBSTACLE_DETECTED
state	8346	begin apogee
8358	-0.32	0.0	900.1	10.6	400	8500	0.90	0.00	133.00	1.293	6	0.118	0.000	2598	2198	2539
8501	end apogee: CONTROL_FINISHED_OK
state	8501	begin climb
8504	1.16	146.6	907.4	0.0	407	8638	1.52	2.80	124.95	1.277	4	0.080	0.108	2926	3607	1941
8676	1.16	146.6	899.8	8.6	415	8680	0.00	2.53	0.00	0.000	6	0.000	0.068	2926	2195	1940
8998	1.23	187.9	877.1	6.4	431	9040	0.00	2.60	35.15	1.235	4	0.000	0.079	2926	796	1772
9087	1.25	202.3	871.3	7.5	435	9109	0.00	2.50	13.98	1.141	6	0.000	0.063	2926	2208	1713
9419	1.26	204.8	847.0	7.9	451	9424	0.10	2.58	0.00	0.000	4	0.071	0.074	2958	788	1712
9510	1.26	205.4	839.5	8.0	455	9520	0.00	2.50	3.75	0.739	6	0.000	0.064	2958	2200	1700
9838	1.28	221.1	814.6	7.4	471	9860	0.00	2.62	15.23	1.171	4	0.000	0.076	2958	792	1635
9929	1.28	221.1	806.9	8.8	475	9933	0.00	2.50	0.00	0.000	6	0.000	0.064	2958	2200	1635
10257	1.28	221.1	775.1	9.1	491	10261	0.00	2.55	0.00	0.000	4	0.000	0.075	2958	789	1634
10336	1.28	221.1	766.5	11.2	494	10340	0.00	2.50	0.00	0.000	6	0.000	0.064	2958	2203	1633
10652	1.28	221.1	725.1	14.3	509	10656	0.00	2.55	0.00	0.000	4	0.000	0.074	2958	788	1632
10709	1.28	221.1	716.3	16.0	511	10715	0.00	2.50	0.00	0.000	6	0.000	0.064	2958	2201	1632
11025	1.28	221.1	672.5	12.4	527	11029	0.00	2.53	0.00	0.000	4	0.000	0.074	2958	794	1631
11122	1.28	221.1	659.4	14.1	531	11127	0.00	2.50	0.00	0.000	6	0.000	0.064	2958	2208	1630
11444	1.28	221.1	612.7	14.8	547	11449	0.00	2.55	0.00	0.000	4	0.000	0.074	2958	789	1630
11546	1.28	221.1	596.6	16.3	551	11552	0.00	2.47	0.00	0.000	6	0.000	0.063	2958	2201	1630
11863	1.28	221.1	550.1	14.8	567	11867	0.00	2.53	0.00	0.000	4	0.000	0.074	2958	794	1630
11907	1.28	221.1	542.9	15.7	569	11911	0.00	2.45	0.00	0.000	6	0.000	0.062	2958	2200	1630
12229	1.28	221.1	494.7	14.3	585	12232	0.00	2.53	0.00	0.000	4	0.000	0.074	2958	790	1630
12291	1.28	221.1	485.6	14.8	587	12297	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2208	1630
12609	1.28	221.1	443.8	13.0	603	12613	0.00	2.53	0.00	0.000	4	0.000	0.073	2958	792	1630
12694	1.28	221.1	432.2	13.5	607	12698	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2205	1631
13022	1.28	221.1	388.1	14.1	623	13026	0.00	2.50	0.00	0.000	4	0.000	0.072	2958	795	1630
13119	1.28	221.1	374.3	15.4	627	13123	0.00	2.47	0.00	0.000	6	0.000	0.061	2958	2208	1630
13441	1.28	221.1	334.1	11.7	643	13445	0.00	2.53	0.00	0.000	4	0.000	0.072	2958	786	1630
13536	1.28	221.1	322.9	10.5	647	13541	0.00	2.45	0.00	0.000	6	0.000	0.061	2958	2198	1630
13854	1.28	221.1	292.6	8.8	662	13858	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	791	1630
13941	1.28	221.1	284.9	8.5	666	13945	0.00	2.45	0.00	0.000	6	0.000	0.062	2958	2200	1630
14268	1.34	256.4	261.1	6.7	682	14303	0.00	2.60	28.95	0.836	4	0.000	0.072	2958	795	1492
14395	1.36	269.6	252.2	7.5	687	14412	0.00	2.47	11.80	0.765	6	0.000	0.062	2958	2208	1439
14729	1.47	339.9	232.6	5.3	704	14792	0.17	2.60	56.20	0.810	4	0.062	0.071	3014	794	1152
14911	1.47	339.9	217.3	8.7	712	14915	0.00	2.50	0.00	0.000	6	0.000	0.062	3014	2209	1151
15232	1.47	339.9	190.3	8.8	728	15236	0.00	2.55	0.00	0.000	4	0.000	0.072	3014	786	1151
15322	1.47	339.9	181.7	9.9	732	15326	0.00	2.47	0.00	0.000	6	0.000	0.062	3014	2201	1151
15644	1.47	339.9	151.3	9.9	748	15648	0.00	2.53	0.00	0.000	4	0.000	0.072	3014	789	1151
15711	1.47	339.9	143.9	11.4	751	15716	0.00	2.47	0.00	0.000	6	0.000	0.061	3014	2208	1151
16033	1.47	339.9	110.2	10.9	767	16037	0.00	2.53	0.00	0.000	4	0.000	0.073	3014	790	1151
16096	1.47	339.9	102.8	11.3	769	16102	0.00	2.45	0.00	0.000	6	0.000	0.062	3014	2201	1151
16414	1.47	339.9	66.1	12.6	785	16418	0.00	2.53	0.00	0.000	4	0.000	0.074	3014	788	1151
16504	1.47	339.9	53.9	13.6	789	16508	0.00	2.45	0.00	0.000	6	0.000	0.061	3014	2198	1151
16826	1.47	339.9	12.9	13.8	805	16830	0.00	2.50	0.00	0.000	4	0.000	0.074	3014	793	1151
16895	end climb: SURFACE_DEPTH_REACHED
state	16895	begin surface coast
16902	end surface coast: CONTROL_FINISHED_OK
state	16902	begin surface