Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 352 * 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 352 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 27 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 -656936.06 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 -656936.06

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 27 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 352 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 170156,6343.266,-1316.485,38,1.4,38,-12.5 TGT_NAME IE

_CALLS 4 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.51 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -56.8 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 171921,6343.335,-1316.539,12,1.3,12,-12.5 MHEAD_RNG_PITCHd_Wd 191.1,52492,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027198 ALTIM_BOTTOM_PING 776.7,72.4

SM_CCo 17306,26.08,0.606,1,0,1316,300.00 _24V_AH 23.5,46.795

SM_GC 1.40,0.00,0.00,26.08,0.000,0.000,0.606,375,1597,1316,-10.58,-0.08,300.00 _10V_AH 10.2,23.390

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41158,820

TT8_MAMPS 0.023777 CAP_FILE_SIZE 139651,0

HUMID 1872 CFSIZE 254472192,236036096

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,44,2,0

XPDR_PINGS 3 GPS 171008,221002,6341.278,-1317.515,38,1.1,38,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 177 104.40 SBE_CT 612 24 345.19

Roll_motor 171 111 448.09 SBE_O2 561 19 250.49

VBD_pump_during_apogee 353 1242 10316.25 WL_BB2F 483 105 1193.70

VBD_pump_during_surface 26 605 371.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 153 103 371.99 nil 0 0 0.00

Iridium_during_connect 123 160 463.37 nil 0 0 0.00

Iridium_during_xfer 433 223 2270.93

Transponder_ping 7 420 76.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.21

TT8 1572 19 317.54

LPSleep 13141 2 293.54

TT8_Active 522 19 105.44

TT8_Sampling 2030 39 824.42

TT8_CF8 1120 45 523.43

TT8_Kalman 0 81 0.00

Analog_circuits 1555 12 190.44

GPS_charging 0 0 0.00

Compass 1975 8 161.20

RAFOS 0 0 0.00

Transponder 49 30 15.01

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -1.16 -146.6 0.0 0.0 0 99 0.00 0.00 -79.30 0.000 2 0.000 0.000 379 1588 2850

103 -1.16 -146.6 4.6 -4.7 4 125 11.40 0.00 -6.40 0.000 6 0.177 0.000 2411 1588 3140

436 -1.16 -146.6 47.2 -10.9 20 438 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1588 3141

745 -1.16 -146.6 76.9 -9.5 35 749 0.00 2.47 0.00 0.000 4 0.000 0.077 2411 212 3140

801 -1.16 -146.6 83.1 -10.3 37 807 0.00 2.40 0.00 0.000 6 0.000 0.058 2411 1617 3140

1117 -1.16 -146.6 112.5 -8.8 53 1119 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1622 3140

1427 -1.16 -146.6 139.9 -9.4 68 1431 0.00 2.53 0.00 0.000 4 0.000 0.076 2412 208 3141

1518 -1.16 -146.6 149.9 -11.7 72 1526 0.00 2.38 0.00 0.000 6 0.000 0.058 2411 1605 3141

1854 -1.16 -146.6 187.4 -11.9 88 1858 0.00 2.50 0.00 0.000 4 0.000 0.076 2411 210 3141

1900 -1.16 -146.6 193.5 -13.7 90 1905 0.00 2.35 0.00 0.000 6 0.000 0.058 2411 1598 3142

2234 -1.16 -146.6 235.3 -12.4 106 2235 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1601 3141

2544 -1.16 -146.6 272.1 -11.5 121 2545 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1601 3141

2853 -1.16 -146.6 304.5 -10.3 136 2854 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1601 3142

3162 -1.16 -146.6 336.3 -9.9 151 3163 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1601 3141

3472 -1.16 -146.6 368.0 -10.2 166 3473 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1601 3141

3780 -1.16 -146.6 399.3 -10.5 181 3785 0.00 2.53 0.00 0.000 4 0.000 0.082 2411 212 3141

3849 -1.16 -146.6 407.2 -11.8 184 3853 0.00 2.38 0.00 0.000 6 0.000 0.059 2411 1598 3141

4176 -1.16 -146.6 445.2 -12.0 200 4178 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1601 3141

4485 -1.16 -146.6 481.1 -11.4 215 4486 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1601 3141

4794 -1.16 -146.6 515.6 -10.9 230 4799 0.00 2.50 0.00 0.000 4 0.000 0.078 2411 213 3142

4868 -1.16 -146.6 524.1 -11.2 233 4872 0.00 2.38 0.00 0.000 6 0.000 0.059 2412 1601 3142

5190 -1.16 -146.6 563.8 -14.1 249 5195 0.00 2.50 0.00 0.000 4 0.000 0.078 2411 209 3141

5280 -1.16 -146.6 578.3 -16.5 253 5285 0.00 2.40 0.00 0.000 6 0.000 0.059 2412 1604 3142

5603 -1.16 -146.6 631.1 -16.0 269 5607 0.00 2.53 0.00 0.000 4 0.000 0.090 2411 2996 3141

5676 -1.16 -146.6 642.7 -15.6 272 5680 0.00 2.42 0.00 0.000 6 0.000 0.067 2411 1605 3142

5993 -1.16 -146.6 685.2 -12.2 287 5997 0.00 2.53 0.00 0.000 4 0.000 0.085 2411 209 3141

6079 -1.16 -146.6 695.2 -11.7 291 6083 0.00 2.38 0.00 0.000 6 0.000 0.059 2411 1603 3141

6406 -1.16 -146.6 727.1 -9.4 307 6410 0.00 2.53 0.00 0.000 4 0.000 0.087 2411 2993 3141

6457 -1.16 -146.6 732.1 -9.6 309 6461 0.00 2.45 0.00 0.000 6 0.000 0.068 2411 1593 3141

6773 -1.16 -146.6 761.6 -9.5 324 6774 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1593 3141

7082 -1.16 -146.6 789.6 -8.6 339 7087 0.00 2.53 0.00 0.000 4 0.000 0.087 2411 203 3142

7179 -1.16 -146.6 798.8 -10.0 343 7183 0.00 2.40 0.00 0.000 6 0.000 0.060 2411 1598 3141

7495 -1.16 -146.6 826.4 -8.9 358 7499 0.00 2.50 0.00 0.000 4 0.000 0.081 2411 211 3141

7541 -1.16 -146.6 830.8 -9.7 360 7545 0.00 2.40 0.00 0.000 6 0.000 0.061 2411 1602 3141

7643 end dive: BOTTOM_OBSTACLE_DETECTED

state 7643 begin apogee

7653 -0.32 0.0 840.2 8.8 365 7795 0.93 0.00 132.60 1.243 6 0.109 0.000 2601 2199 2539

7795 end apogee: CONTROL_FINISHED_OK

state 7795 begin climb

7799 1.16 146.6 846.1 0.0 372 7936 1.50 2.80 124.70 1.230 4 0.081 0.111 2926 3602 1941

7993 1.20 169.5 835.4 7.1 381 8018 0.00 2.53 20.35 1.141 6 0.000 0.070 2924 2197 1847

8335 1.20 169.5 805.8 8.8 398 8339 0.00 2.55 0.00 0.000 4 0.000 0.077 2926 791 1845

8386 1.20 169.5 801.3 9.0 400 8390 0.00 2.50 0.00 0.000 6 0.000 0.064 2926 2205 1845

8702 1.28 220.8 778.1 6.0 415 8753 0.12 2.65 43.70 1.199 4 0.067 0.075 2963 795 1637

8861 1.31 235.6 766.2 7.4 422 8880 0.00 2.50 13.82 1.104 6 0.000 0.064 2963 2205 1578

9209 1.31 237.7 741.1 7.9 439 9213 0.00 2.58 0.00 0.000 4 0.000 0.075 2963 784 1575

9282 1.31 237.7 733.8 11.4 442 9286 0.00 2.50 0.00 0.000 6 0.000 0.064 2963 2198 1574

9599 1.31 237.7 702.3 10.1 457 9603 0.00 2.55 0.00 0.000 4 0.000 0.075 2963 786 1573

9677 1.31 237.7 693.7 10.4 460 9684 0.00 2.50 0.00 0.000 6 0.000 0.064 2963 2204 1572

9995 1.31 237.7 665.1 8.7 476 9999 0.00 2.53 0.00 0.000 4 0.000 0.074 2963 792 1571

10090 1.31 237.7 656.4 9.1 480 10095 0.00 2.47 0.00 0.000 6 0.000 0.063 2963 2203 1570

10418 1.31 237.7 628.1 8.7 496 10423 0.00 2.53 0.00 0.000 4 0.000 0.073 2963 791 1570

10460 1.31 237.7 624.4 9.2 498 10464 0.00 2.47 0.00 0.000 6 0.000 0.063 2963 2200 1570

10787 1.31 237.7 593.0 10.2 514 10791 0.00 2.53 0.00 0.000 4 0.000 0.073 2963 786 1570

10867 1.31 237.7 584.3 11.1 517 10873 0.00 2.47 0.00 0.000 6 0.000 0.064 2963 2198 1570

11184 1.31 237.7 553.4 9.5 533 11188 0.00 2.50 0.00 0.000 4 0.000 0.072 2963 791 1570

11296 1.31 237.7 541.3 11.3 538 11300 0.00 2.47 0.00 0.000 6 0.000 0.063 2963 2211 1570

11624 1.31 237.7 509.0 9.6 554 11628 0.00 2.53 0.00 0.000 4 0.000 0.072 2963 790 1570

11731 1.31 237.7 498.1 9.9 559 11736 0.00 2.45 0.00 0.000 6 0.000 0.063 2963 2198 1570

12065 1.31 237.7 468.3 8.8 575 12069 0.00 2.50 0.00 0.000 4 0.000 0.072 2963 791 1570

12155 1.31 237.7 459.7 10.1 579 12160 0.00 2.47 0.00 0.000 6 0.000 0.063 2963 2203 1570

12477 1.31 238.8 433.4 8.0 595 12482 0.00 2.50 0.00 0.000 4 0.000 0.071 2963 791 1570

12574 1.31 238.8 425.3 8.9 599 12578 0.00 2.45 0.00 0.000 6 0.000 0.063 2963 2199 1570

12891 1.32 242.4 400.8 7.9 614 12902 0.00 2.55 6.25 0.757 4 0.000 0.071 2963 786 1549

12987 1.32 242.4 392.3 8.6 618 12991 0.00 2.47 0.00 0.000 6 0.000 0.063 2963 2200 1548

13303 1.32 242.4 366.8 8.0 633 13308 0.00 2.50 0.00 0.000 4 0.000 0.071 2963 788 1549

13377 1.32 242.4 360.3 8.8 636 13381 0.00 2.45 0.00 0.000 6 0.000 0.062 2963 2199 1548

13698 1.34 255.2 335.6 7.5 652 13719 0.00 2.60 11.88 0.825 4 0.000 0.071 2963 788 1497

13794 1.34 255.2 327.5 8.5 656 13798 0.00 2.47 0.00 0.000 6 0.000 0.062 2963 2203 1497

14115 1.34 255.2 300.3 9.3 672 14119 0.00 2.53 0.00 0.000 4 0.000 0.071 2963 784 1497

14194 1.34 255.2 293.2 8.6 675 14198 0.00 2.47 0.00 0.000 6 0.000 0.062 2963 2207 1497

14510 1.34 255.2 264.2 8.8 690 14514 0.00 2.53 0.00 0.000 4 0.000 0.071 2963 782 1497

14589 1.34 255.2 256.6 9.3 693 14594 0.00 2.47 0.00 0.000 6 0.000 0.062 2963 2203 1497

14906 1.34 255.2 226.8 9.6 708 14910 0.00 2.50 0.00 0.000 4 0.000 0.072 2963 791 1497

15008 1.34 255.2 216.2 11.2 712 15012 0.00 2.45 0.00 0.000 6 0.000 0.062 2963 2200 1497

15324 1.34 255.2 185.5 9.6 727 15329 0.00 2.50 0.00 0.000 4 0.000 0.072 2963 790 1497

15421 1.34 255.2 175.9 10.9 731 15425 0.00 2.45 0.00 0.000 6 0.000 0.062 2963 2200 1497

15737 1.34 255.2 146.7 8.8 746 15742 0.00 2.53 0.00 0.000 4 0.000 0.071 2963 783 1497

15848 1.34 255.2 136.6 9.6 751 15852 0.00 2.47 0.00 0.000 6 0.000 0.062 2963 2209 1497

16177 1.34 255.2 107.0 9.6 767 16181 0.00 2.53 0.00 0.000 4 0.000 0.071 2963 786 1497

16285 1.34 255.2 95.5 10.3 772 16289 0.00 2.45 0.00 0.000 6 0.000 0.062 2963 2200 1497

16615 1.34 255.2 62.5 9.8 788 16620 0.00 2.50 0.00 0.000 4 0.000 0.072 2964 788 1497

16672 1.34 255.2 56.0 11.0 790 16678 0.00 2.45 0.00 0.000 6 0.000 0.062 2963 2200 1497

16988 1.34 255.2 29.1 12.0 806 16993 0.00 2.50 0.00 0.000 4 0.000 0.072 2964 788 1497

17077 1.34 255.2 18.8 12.1 810 17081 0.00 2.45 0.00 0.000 6 0.000 0.062 2963 2205 1497

17256 end climb: SURFACE_DEPTH_REACHED

state 17256 begin surface coast

17280 end surface coast: CONTROL_FINISHED_OK

state 17280 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	352	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	27	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	-656936.06	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	170156,6343.266,-1316.485,38,1.4,38,-12.5	TGT_NAME	IE
_CALLS	4	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.51	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-56.8	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	171921,6343.335,-1316.539,12,1.3,12,-12.5	MHEAD_RNG_PITCHd_Wd	191.1,52492,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.6,1.027198	ALTIM_BOTTOM_PING	776.7,72.4
SM_CCo	17306,26.08,0.606,1,0,1316,300.00	_24V_AH	23.5,46.795
SM_GC	1.40,0.00,0.00,26.08,0.000,0.000,0.606,375,1597,1316,-10.58,-0.08,300.00	_10V_AH	10.2,23.390
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41158,820
TT8_MAMPS	0.023777	CAP_FILE_SIZE	139651,0
HUMID	1872	CFSIZE	254472192,236036096
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,44,2,0
XPDR_PINGS	3	GPS	171008,221002,6341.278,-1317.515,38,1.1,38,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	177	104.40	SBE_CT	612	24	345.19
Roll_motor	171	111	448.09	SBE_O2	561	19	250.49
VBD_pump_during_apogee	353	1242	10316.25	WL_BB2F	483	105	1193.70
VBD_pump_during_surface	26	605	371.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	153	103	371.99	nil	0	0	0.00
Iridium_during_connect	123	160	463.37	nil	0	0	0.00
Iridium_during_xfer	433	223	2270.93
Transponder_ping	7	420	76.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.21
TT8	1572	19	317.54
LPSleep	13141	2	293.54
TT8_Active	522	19	105.44
TT8_Sampling	2030	39	824.42
TT8_CF8	1120	45	523.43
TT8_Kalman	0	81	0.00
Analog_circuits	1555	12	190.44
GPS_charging	0	0	0.00
Compass	1975	8	161.20
RAFOS	0	0	0.00
Transponder	49	30	15.01

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-1.16	-146.6	0.0	0.0	0	99	0.00	0.00	-79.30	0.000	2	0.000	0.000	379	1588	2850
103	-1.16	-146.6	4.6	-4.7	4	125	11.40	0.00	-6.40	0.000	6	0.177	0.000	2411	1588	3140
436	-1.16	-146.6	47.2	-10.9	20	438	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1588	3141
745	-1.16	-146.6	76.9	-9.5	35	749	0.00	2.47	0.00	0.000	4	0.000	0.077	2411	212	3140
801	-1.16	-146.6	83.1	-10.3	37	807	0.00	2.40	0.00	0.000	6	0.000	0.058	2411	1617	3140
1117	-1.16	-146.6	112.5	-8.8	53	1119	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1622	3140
1427	-1.16	-146.6	139.9	-9.4	68	1431	0.00	2.53	0.00	0.000	4	0.000	0.076	2412	208	3141
1518	-1.16	-146.6	149.9	-11.7	72	1526	0.00	2.38	0.00	0.000	6	0.000	0.058	2411	1605	3141
1854	-1.16	-146.6	187.4	-11.9	88	1858	0.00	2.50	0.00	0.000	4	0.000	0.076	2411	210	3141
1900	-1.16	-146.6	193.5	-13.7	90	1905	0.00	2.35	0.00	0.000	6	0.000	0.058	2411	1598	3142
2234	-1.16	-146.6	235.3	-12.4	106	2235	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1601	3141
2544	-1.16	-146.6	272.1	-11.5	121	2545	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1601	3141
2853	-1.16	-146.6	304.5	-10.3	136	2854	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1601	3142
3162	-1.16	-146.6	336.3	-9.9	151	3163	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1601	3141
3472	-1.16	-146.6	368.0	-10.2	166	3473	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1601	3141
3780	-1.16	-146.6	399.3	-10.5	181	3785	0.00	2.53	0.00	0.000	4	0.000	0.082	2411	212	3141
3849	-1.16	-146.6	407.2	-11.8	184	3853	0.00	2.38	0.00	0.000	6	0.000	0.059	2411	1598	3141
4176	-1.16	-146.6	445.2	-12.0	200	4178	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1601	3141
4485	-1.16	-146.6	481.1	-11.4	215	4486	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1601	3141
4794	-1.16	-146.6	515.6	-10.9	230	4799	0.00	2.50	0.00	0.000	4	0.000	0.078	2411	213	3142
4868	-1.16	-146.6	524.1	-11.2	233	4872	0.00	2.38	0.00	0.000	6	0.000	0.059	2412	1601	3142
5190	-1.16	-146.6	563.8	-14.1	249	5195	0.00	2.50	0.00	0.000	4	0.000	0.078	2411	209	3141
5280	-1.16	-146.6	578.3	-16.5	253	5285	0.00	2.40	0.00	0.000	6	0.000	0.059	2412	1604	3142
5603	-1.16	-146.6	631.1	-16.0	269	5607	0.00	2.53	0.00	0.000	4	0.000	0.090	2411	2996	3141
5676	-1.16	-146.6	642.7	-15.6	272	5680	0.00	2.42	0.00	0.000	6	0.000	0.067	2411	1605	3142
5993	-1.16	-146.6	685.2	-12.2	287	5997	0.00	2.53	0.00	0.000	4	0.000	0.085	2411	209	3141
6079	-1.16	-146.6	695.2	-11.7	291	6083	0.00	2.38	0.00	0.000	6	0.000	0.059	2411	1603	3141
6406	-1.16	-146.6	727.1	-9.4	307	6410	0.00	2.53	0.00	0.000	4	0.000	0.087	2411	2993	3141
6457	-1.16	-146.6	732.1	-9.6	309	6461	0.00	2.45	0.00	0.000	6	0.000	0.068	2411	1593	3141
6773	-1.16	-146.6	761.6	-9.5	324	6774	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1593	3141
7082	-1.16	-146.6	789.6	-8.6	339	7087	0.00	2.53	0.00	0.000	4	0.000	0.087	2411	203	3142
7179	-1.16	-146.6	798.8	-10.0	343	7183	0.00	2.40	0.00	0.000	6	0.000	0.060	2411	1598	3141
7495	-1.16	-146.6	826.4	-8.9	358	7499	0.00	2.50	0.00	0.000	4	0.000	0.081	2411	211	3141
7541	-1.16	-146.6	830.8	-9.7	360	7545	0.00	2.40	0.00	0.000	6	0.000	0.061	2411	1602	3141
7643	end dive: BOTTOM_OBSTACLE_DETECTED
state	7643	begin apogee
7653	-0.32	0.0	840.2	8.8	365	7795	0.93	0.00	132.60	1.243	6	0.109	0.000	2601	2199	2539
7795	end apogee: CONTROL_FINISHED_OK
state	7795	begin climb
7799	1.16	146.6	846.1	0.0	372	7936	1.50	2.80	124.70	1.230	4	0.081	0.111	2926	3602	1941
7993	1.20	169.5	835.4	7.1	381	8018	0.00	2.53	20.35	1.141	6	0.000	0.070	2924	2197	1847
8335	1.20	169.5	805.8	8.8	398	8339	0.00	2.55	0.00	0.000	4	0.000	0.077	2926	791	1845
8386	1.20	169.5	801.3	9.0	400	8390	0.00	2.50	0.00	0.000	6	0.000	0.064	2926	2205	1845
8702	1.28	220.8	778.1	6.0	415	8753	0.12	2.65	43.70	1.199	4	0.067	0.075	2963	795	1637
8861	1.31	235.6	766.2	7.4	422	8880	0.00	2.50	13.82	1.104	6	0.000	0.064	2963	2205	1578
9209	1.31	237.7	741.1	7.9	439	9213	0.00	2.58	0.00	0.000	4	0.000	0.075	2963	784	1575
9282	1.31	237.7	733.8	11.4	442	9286	0.00	2.50	0.00	0.000	6	0.000	0.064	2963	2198	1574
9599	1.31	237.7	702.3	10.1	457	9603	0.00	2.55	0.00	0.000	4	0.000	0.075	2963	786	1573
9677	1.31	237.7	693.7	10.4	460	9684	0.00	2.50	0.00	0.000	6	0.000	0.064	2963	2204	1572
9995	1.31	237.7	665.1	8.7	476	9999	0.00	2.53	0.00	0.000	4	0.000	0.074	2963	792	1571
10090	1.31	237.7	656.4	9.1	480	10095	0.00	2.47	0.00	0.000	6	0.000	0.063	2963	2203	1570
10418	1.31	237.7	628.1	8.7	496	10423	0.00	2.53	0.00	0.000	4	0.000	0.073	2963	791	1570
10460	1.31	237.7	624.4	9.2	498	10464	0.00	2.47	0.00	0.000	6	0.000	0.063	2963	2200	1570
10787	1.31	237.7	593.0	10.2	514	10791	0.00	2.53	0.00	0.000	4	0.000	0.073	2963	786	1570
10867	1.31	237.7	584.3	11.1	517	10873	0.00	2.47	0.00	0.000	6	0.000	0.064	2963	2198	1570
11184	1.31	237.7	553.4	9.5	533	11188	0.00	2.50	0.00	0.000	4	0.000	0.072	2963	791	1570
11296	1.31	237.7	541.3	11.3	538	11300	0.00	2.47	0.00	0.000	6	0.000	0.063	2963	2211	1570
11624	1.31	237.7	509.0	9.6	554	11628	0.00	2.53	0.00	0.000	4	0.000	0.072	2963	790	1570
11731	1.31	237.7	498.1	9.9	559	11736	0.00	2.45	0.00	0.000	6	0.000	0.063	2963	2198	1570
12065	1.31	237.7	468.3	8.8	575	12069	0.00	2.50	0.00	0.000	4	0.000	0.072	2963	791	1570
12155	1.31	237.7	459.7	10.1	579	12160	0.00	2.47	0.00	0.000	6	0.000	0.063	2963	2203	1570
12477	1.31	238.8	433.4	8.0	595	12482	0.00	2.50	0.00	0.000	4	0.000	0.071	2963	791	1570
12574	1.31	238.8	425.3	8.9	599	12578	0.00	2.45	0.00	0.000	6	0.000	0.063	2963	2199	1570
12891	1.32	242.4	400.8	7.9	614	12902	0.00	2.55	6.25	0.757	4	0.000	0.071	2963	786	1549
12987	1.32	242.4	392.3	8.6	618	12991	0.00	2.47	0.00	0.000	6	0.000	0.063	2963	2200	1548
13303	1.32	242.4	366.8	8.0	633	13308	0.00	2.50	0.00	0.000	4	0.000	0.071	2963	788	1549
13377	1.32	242.4	360.3	8.8	636	13381	0.00	2.45	0.00	0.000	6	0.000	0.062	2963	2199	1548
13698	1.34	255.2	335.6	7.5	652	13719	0.00	2.60	11.88	0.825	4	0.000	0.071	2963	788	1497
13794	1.34	255.2	327.5	8.5	656	13798	0.00	2.47	0.00	0.000	6	0.000	0.062	2963	2203	1497
14115	1.34	255.2	300.3	9.3	672	14119	0.00	2.53	0.00	0.000	4	0.000	0.071	2963	784	1497
14194	1.34	255.2	293.2	8.6	675	14198	0.00	2.47	0.00	0.000	6	0.000	0.062	2963	2207	1497
14510	1.34	255.2	264.2	8.8	690	14514	0.00	2.53	0.00	0.000	4	0.000	0.071	2963	782	1497
14589	1.34	255.2	256.6	9.3	693	14594	0.00	2.47	0.00	0.000	6	0.000	0.062	2963	2203	1497
14906	1.34	255.2	226.8	9.6	708	14910	0.00	2.50	0.00	0.000	4	0.000	0.072	2963	791	1497
15008	1.34	255.2	216.2	11.2	712	15012	0.00	2.45	0.00	0.000	6	0.000	0.062	2963	2200	1497
15324	1.34	255.2	185.5	9.6	727	15329	0.00	2.50	0.00	0.000	4	0.000	0.072	2963	790	1497
15421	1.34	255.2	175.9	10.9	731	15425	0.00	2.45	0.00	0.000	6	0.000	0.062	2963	2200	1497
15737	1.34	255.2	146.7	8.8	746	15742	0.00	2.53	0.00	0.000	4	0.000	0.071	2963	783	1497
15848	1.34	255.2	136.6	9.6	751	15852	0.00	2.47	0.00	0.000	6	0.000	0.062	2963	2209	1497
16177	1.34	255.2	107.0	9.6	767	16181	0.00	2.53	0.00	0.000	4	0.000	0.071	2963	786	1497
16285	1.34	255.2	95.5	10.3	772	16289	0.00	2.45	0.00	0.000	6	0.000	0.062	2963	2200	1497
16615	1.34	255.2	62.5	9.8	788	16620	0.00	2.50	0.00	0.000	4	0.000	0.072	2964	788	1497
16672	1.34	255.2	56.0	11.0	790	16678	0.00	2.45	0.00	0.000	6	0.000	0.062	2963	2200	1497
16988	1.34	255.2	29.1	12.0	806	16993	0.00	2.50	0.00	0.000	4	0.000	0.072	2964	788	1497
17077	1.34	255.2	18.8	12.1	810	17081	0.00	2.45	0.00	0.000	6	0.000	0.062	2963	2205	1497
17256	end climb: SURFACE_DEPTH_REACHED
state	17256	begin surface coast
17280	end surface coast: CONTROL_FINISHED_OK
state	17280	begin surface