Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 355 * 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 355 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 24 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 -657034.38 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 -657034.38

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 24 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 355 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 072708,6336.130,-1320.374,23,1.6,23,-12.5 TGT_NAME IE

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.33 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -60.4 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 073327,6336.146,-1320.326,34,1.6,34,-12.5 MHEAD_RNG_PITCHd_Wd 186.0,39412,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.015634 ALTIM_BOTTOM_PING 775.4,91.0

SM_CCo 17471,8.38,0.585,0,0,1316,300.00 _24V_AH 23.5,47.228

SM_GC 1.88,0.00,0.00,8.38,0.000,0.000,0.585,378,1597,1316,-10.57,-0.06,300.00 _10V_AH 10.2,23.632

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44236,829

TT8_MAMPS 0.023777 CAP_FILE_SIZE 135651,0

HUMID 1883 CFSIZE 254472192,235851776

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,42,1,0

XPDR_PINGS 0 GPS 181008,122631,6334.807,-1321.740,39,1.1,39,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 180 107.06 SBE_CT 619 24 349.39

Roll_motor 178 101 425.59 SBE_O2 566 19 252.73

VBD_pump_during_apogee 380 1256 11234.67 WL_BB2F 459 105 1134.14

VBD_pump_during_surface 8 585 115.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.41 nil 0 0 0.00

Iridium_during_connect 31 160 117.88 nil 0 0 0.00

Iridium_during_xfer 149 223 781.36

Transponder_ping 6 420 66.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.23

TT8 1586 19 320.51

LPSleep 13026 2 290.98

TT8_Active 526 19 106.23

TT8_Sampling 2101 39 853.32

TT8_CF8 620 45 289.88

TT8_Kalman 0 81 0.00

Analog_circuits 1586 12 194.20

GPS_charging 0 0 0.00

Compass 2024 8 165.20

RAFOS 0 0 0.00

Transponder 46 30 14.12

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 98 0.00 0.00 -79.43 0.000 6 0.000 0.000 375 1588 3138

102 -1.16 -146.6 5.5 -7.0 4 124 11.45 2.55 0.00 0.000 4 0.180 0.074 2412 3010 3142

176 -1.16 -146.6 23.2 -12.6 7 180 0.00 2.45 0.00 0.000 6 0.000 0.064 2412 1603 3144

499 -1.16 -146.6 59.7 -12.0 23 500 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1603 3143

807 -1.16 -146.6 100.8 -13.8 38 811 0.00 2.53 0.00 0.000 4 0.000 0.081 2412 201 3143

863 -1.16 -146.6 109.0 -14.5 40 869 0.00 2.42 0.00 0.000 6 0.000 0.058 2412 1625 3143

1181 -1.16 -146.6 151.9 -13.2 56 1185 0.00 2.55 0.00 0.000 4 0.000 0.076 2411 201 3143

1250 -1.16 -146.6 161.4 -13.6 59 1255 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1598 3143

1578 -1.16 -146.6 202.8 -12.0 75 1583 0.00 2.47 0.00 0.000 4 0.000 0.076 2412 2992 3144

1629 -1.16 -146.6 209.1 -11.4 77 1634 0.00 2.42 0.00 0.000 6 0.000 0.064 2412 1591 3144

1946 -1.16 -146.6 244.2 -10.6 92 1950 0.00 2.47 0.00 0.000 4 0.000 0.077 2412 203 3145

2009 -1.16 -146.6 251.0 -10.9 95 2013 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1604 3144

2336 -1.16 -146.6 284.4 -10.4 111 2337 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1607 3144

2646 -1.16 -146.6 315.5 -9.7 126 2650 0.00 2.50 0.00 0.000 4 0.000 0.078 2411 212 3144

2725 -1.16 -146.6 324.1 -10.6 129 2731 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1604 3144

3041 -1.16 -146.6 352.7 -8.3 145 3046 0.00 2.47 0.00 0.000 4 0.000 0.080 2412 2993 3144

3082 -1.16 -146.6 355.8 -7.8 147 3087 0.00 2.40 0.00 0.000 6 0.000 0.065 2412 1602 3145

3411 -1.16 -146.6 379.4 -7.2 163 3415 0.00 2.50 0.00 0.000 4 0.000 0.081 2412 209 3144

3456 -1.16 -146.6 383.4 -8.8 165 3460 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1607 3144

3778 -1.16 -146.6 411.0 -8.8 181 3779 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1608 3144

4087 -1.16 -146.6 438.9 -10.0 196 4088 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1609 3144

4396 -1.16 -146.6 471.1 -10.4 211 4400 0.00 2.53 0.00 0.000 4 0.000 0.078 2411 201 3144

4437 -1.16 -146.6 475.6 -10.8 212 4443 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1595 3145

4754 -1.16 -146.6 509.0 -10.6 228 4755 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1598 3144

5063 -1.16 -146.6 542.3 -10.8 243 5067 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 206 3144

5107 -1.16 -146.6 547.5 -11.7 245 5112 0.00 2.40 0.00 0.000 6 0.000 0.059 2412 1604 3144

5430 -1.16 -146.6 584.4 -12.2 261 5432 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1604 3144

5740 -1.16 -146.6 625.2 -13.7 276 5744 0.00 2.50 0.00 0.000 4 0.000 0.077 2411 205 3144

5797 -1.16 -146.6 634.3 -15.5 278 5801 0.00 2.40 0.00 0.000 6 0.000 0.060 2412 1601 3144

6114 -1.16 -146.6 677.0 -12.7 293 6115 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1601 3144

6422 -1.16 -146.6 710.7 -10.5 308 6427 0.00 2.50 0.00 0.000 4 0.000 0.077 2411 203 3144

6576 -1.16 -146.6 730.4 -13.4 315 6580 0.00 2.40 0.00 0.000 6 0.000 0.060 2412 1599 3144

6905 -1.16 -146.6 764.6 -4.5 331 6909 0.00 2.55 0.00 0.000 4 0.000 0.092 2412 2996 3143

6955 -1.16 -146.6 769.7 -11.4 333 6960 0.00 2.45 0.00 0.000 6 0.000 0.068 2412 1593 3144

7272 -1.16 -146.6 773.5 1.2 348 7276 0.00 2.47 0.00 0.000 4 0.000 0.083 2412 212 3143

7346 -1.16 -146.6 772.0 7.3 351 7350 0.00 2.40 0.00 0.000 6 0.000 0.060 2412 1610 3143

7664 -1.16 -146.6 795.3 -5.8 366 7668 0.00 2.53 0.00 0.000 4 0.000 0.087 2412 2998 3143

7704 -1.16 -146.6 800.0 -10.1 368 7709 0.00 2.45 0.00 0.000 6 0.000 0.070 2412 1602 3143

8031 -1.16 -146.6 809.6 -2.2 384 8036 0.00 2.50 0.00 0.000 4 0.000 0.080 2412 2995 3142

8140 -1.16 -146.6 816.5 -2.4 389 8145 0.00 2.40 0.00 0.000 6 0.000 0.062 2412 1592 3142

8468 -1.16 -146.6 824.1 -2.1 405 8472 0.00 2.53 0.00 0.000 4 0.000 0.082 2412 2995 3142

8513 -1.16 -146.6 826.4 -5.2 407 8518 0.00 2.42 0.00 0.000 6 0.000 0.069 2412 1608 3142

8835 -1.16 -146.6 851.3 -10.9 423 8840 0.00 2.53 0.00 0.000 4 0.000 0.082 2412 2996 3141

8877 end dive: BOTTOM_OBSTACLE_DETECTED

state 8878 begin apogee

8887 -0.32 0.0 856.9 13.9 425 9028 0.88 0.00 132.35 1.256 6 0.105 0.000 2597 2180 2538

9029 end apogee: CONTROL_FINISHED_OK

state 9029 begin climb

9034 1.16 146.6 854.3 0.0 432 9166 1.55 2.78 124.43 1.231 4 0.085 0.101 2928 3595 1941

9440 1.17 151.1 815.3 7.8 450 9452 0.00 2.47 4.97 0.841 6 0.000 0.067 2928 2203 1923

9761 1.17 151.1 784.0 10.1 466 9766 0.00 2.62 0.00 0.000 4 0.000 0.094 2928 3594 1923

9825 1.17 151.1 775.5 14.3 469 9829 0.00 2.47 0.00 0.000 6 0.000 0.067 2928 2199 1921

10152 1.17 151.1 735.8 9.2 485 10153 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2198 1920

10461 1.17 153.1 706.0 7.9 500 10462 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2198 1919

10771 1.30 233.5 684.9 4.9 515 10846 0.15 2.62 68.80 1.151 4 0.064 0.078 2973 784 1586

10880 1.30 233.5 677.2 8.3 519 10885 0.00 2.50 0.00 0.000 6 0.000 0.061 2973 2201 1585

11197 1.34 257.8 652.0 7.1 534 11223 0.00 2.60 21.27 1.071 4 0.000 0.072 2973 791 1486

11321 1.39 291.1 643.6 6.7 539 11356 0.00 2.47 28.70 1.075 6 0.000 0.061 2974 2201 1351

11683 1.39 291.1 613.3 9.6 557 11687 0.00 2.53 0.00 0.000 4 0.000 0.073 2973 792 1349

11791 1.39 291.1 600.7 12.0 562 11795 0.00 2.47 0.00 0.000 6 0.000 0.062 2973 2207 1349

12118 1.39 291.1 559.2 13.8 578 12122 0.00 2.55 0.00 0.000 4 0.000 0.073 2973 784 1349

12214 1.39 291.1 545.6 14.9 582 12218 0.00 2.47 0.00 0.000 6 0.000 0.062 2973 2199 1349

12530 1.39 291.1 508.3 10.8 597 12534 0.00 2.53 0.00 0.000 4 0.000 0.072 2973 785 1349

12615 1.39 291.1 499.0 10.1 601 12620 0.00 2.47 0.00 0.000 6 0.000 0.062 2973 2202 1349

12944 1.39 291.1 464.7 10.7 617 12948 0.00 2.53 0.00 0.000 4 0.000 0.072 2973 786 1349

13033 1.39 291.1 454.0 11.0 621 13037 0.00 2.47 0.00 0.000 6 0.000 0.062 2974 2205 1349

13356 1.39 291.1 419.0 10.3 637 13360 0.00 2.53 0.00 0.000 4 0.000 0.072 2973 782 1349

13457 1.39 291.1 407.9 10.7 641 13462 0.00 2.47 0.00 0.000 6 0.000 0.062 2973 2200 1349

13774 1.39 291.1 376.7 9.8 656 13778 0.00 2.50 0.00 0.000 4 0.000 0.071 2973 791 1349

13876 1.39 291.1 365.3 10.9 660 13883 0.00 2.45 0.00 0.000 6 0.000 0.061 2973 2203 1349

14193 1.39 291.1 331.0 10.8 676 14197 0.00 2.50 0.00 0.000 4 0.000 0.071 2973 788 1349

14288 1.39 291.1 320.1 11.4 680 14292 0.00 2.45 0.00 0.000 6 0.000 0.062 2973 2201 1349

14605 1.39 291.1 286.0 10.8 695 14609 0.00 2.50 0.00 0.000 4 0.000 0.071 2973 789 1349

14683 1.39 291.1 276.8 11.2 698 14690 0.00 2.45 0.00 0.000 6 0.000 0.062 2973 2201 1349

15000 1.39 291.1 242.2 10.9 714 15004 0.00 2.50 0.00 0.000 4 0.000 0.072 2973 789 1349

15096 1.39 291.1 230.9 10.9 718 15100 0.00 2.47 0.00 0.000 6 0.000 0.062 2973 2206 1349

15424 1.39 291.1 197.5 10.3 734 15428 0.00 2.53 0.00 0.000 4 0.000 0.072 2974 783 1349

15520 1.39 291.1 186.9 10.8 738 15524 0.00 2.47 0.00 0.000 6 0.000 0.062 2973 2209 1349

15836 1.39 291.1 156.9 9.4 753 15840 0.00 2.53 0.00 0.000 4 0.000 0.072 2973 785 1350

15944 1.39 291.1 146.3 9.2 758 15948 0.00 2.45 0.00 0.000 6 0.000 0.062 2973 2200 1349

16272 1.39 291.1 116.6 10.2 774 16276 0.00 2.53 0.00 0.000 4 0.000 0.071 2973 784 1349

16373 1.39 291.1 105.1 11.6 778 16379 0.00 2.47 0.00 0.000 6 0.000 0.062 2973 2200 1349

16690 1.39 291.1 74.8 8.7 794 16695 0.00 2.50 0.00 0.000 4 0.000 0.072 2973 788 1349

16856 1.39 291.1 58.5 9.8 801 16860 0.00 2.45 0.00 0.000 6 0.000 0.062 2973 2200 1349

17179 1.39 291.1 27.0 10.2 817 17184 0.00 2.53 0.00 0.000 4 0.000 0.071 2974 785 1349

17253 1.39 291.1 18.6 9.5 820 17257 0.00 2.45 0.00 0.000 6 0.000 0.062 2973 2200 1349

17421 end climb: SURFACE_DEPTH_REACHED

state 17422 begin surface coast

17445 end surface coast: CONTROL_FINISHED_OK

state 17445 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	355	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	24	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	-657034.38	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	072708,6336.130,-1320.374,23,1.6,23,-12.5	TGT_NAME	IE
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.33	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-60.4	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	073327,6336.146,-1320.326,34,1.6,34,-12.5	MHEAD_RNG_PITCHd_Wd	186.0,39412,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.6,1.015634	ALTIM_BOTTOM_PING	775.4,91.0
SM_CCo	17471,8.38,0.585,0,0,1316,300.00	_24V_AH	23.5,47.228
SM_GC	1.88,0.00,0.00,8.38,0.000,0.000,0.585,378,1597,1316,-10.57,-0.06,300.00	_10V_AH	10.2,23.632
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44236,829
TT8_MAMPS	0.023777	CAP_FILE_SIZE	135651,0
HUMID	1883	CFSIZE	254472192,235851776
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,42,1,0
XPDR_PINGS	0	GPS	181008,122631,6334.807,-1321.740,39,1.1,39,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	180	107.06	SBE_CT	619	24	349.39
Roll_motor	178	101	425.59	SBE_O2	566	19	252.73
VBD_pump_during_apogee	380	1256	11234.67	WL_BB2F	459	105	1134.14
VBD_pump_during_surface	8	585	115.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.41	nil	0	0	0.00
Iridium_during_connect	31	160	117.88	nil	0	0	0.00
Iridium_during_xfer	149	223	781.36
Transponder_ping	6	420	66.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.23
TT8	1586	19	320.51
LPSleep	13026	2	290.98
TT8_Active	526	19	106.23
TT8_Sampling	2101	39	853.32
TT8_CF8	620	45	289.88
TT8_Kalman	0	81	0.00
Analog_circuits	1586	12	194.20
GPS_charging	0	0	0.00
Compass	2024	8	165.20
RAFOS	0	0	0.00
Transponder	46	30	14.12

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	98	0.00	0.00	-79.43	0.000	6	0.000	0.000	375	1588	3138
102	-1.16	-146.6	5.5	-7.0	4	124	11.45	2.55	0.00	0.000	4	0.180	0.074	2412	3010	3142
176	-1.16	-146.6	23.2	-12.6	7	180	0.00	2.45	0.00	0.000	6	0.000	0.064	2412	1603	3144
499	-1.16	-146.6	59.7	-12.0	23	500	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1603	3143
807	-1.16	-146.6	100.8	-13.8	38	811	0.00	2.53	0.00	0.000	4	0.000	0.081	2412	201	3143
863	-1.16	-146.6	109.0	-14.5	40	869	0.00	2.42	0.00	0.000	6	0.000	0.058	2412	1625	3143
1181	-1.16	-146.6	151.9	-13.2	56	1185	0.00	2.55	0.00	0.000	4	0.000	0.076	2411	201	3143
1250	-1.16	-146.6	161.4	-13.6	59	1255	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1598	3143
1578	-1.16	-146.6	202.8	-12.0	75	1583	0.00	2.47	0.00	0.000	4	0.000	0.076	2412	2992	3144
1629	-1.16	-146.6	209.1	-11.4	77	1634	0.00	2.42	0.00	0.000	6	0.000	0.064	2412	1591	3144
1946	-1.16	-146.6	244.2	-10.6	92	1950	0.00	2.47	0.00	0.000	4	0.000	0.077	2412	203	3145
2009	-1.16	-146.6	251.0	-10.9	95	2013	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1604	3144
2336	-1.16	-146.6	284.4	-10.4	111	2337	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1607	3144
2646	-1.16	-146.6	315.5	-9.7	126	2650	0.00	2.50	0.00	0.000	4	0.000	0.078	2411	212	3144
2725	-1.16	-146.6	324.1	-10.6	129	2731	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1604	3144
3041	-1.16	-146.6	352.7	-8.3	145	3046	0.00	2.47	0.00	0.000	4	0.000	0.080	2412	2993	3144
3082	-1.16	-146.6	355.8	-7.8	147	3087	0.00	2.40	0.00	0.000	6	0.000	0.065	2412	1602	3145
3411	-1.16	-146.6	379.4	-7.2	163	3415	0.00	2.50	0.00	0.000	4	0.000	0.081	2412	209	3144
3456	-1.16	-146.6	383.4	-8.8	165	3460	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1607	3144
3778	-1.16	-146.6	411.0	-8.8	181	3779	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1608	3144
4087	-1.16	-146.6	438.9	-10.0	196	4088	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1609	3144
4396	-1.16	-146.6	471.1	-10.4	211	4400	0.00	2.53	0.00	0.000	4	0.000	0.078	2411	201	3144
4437	-1.16	-146.6	475.6	-10.8	212	4443	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1595	3145
4754	-1.16	-146.6	509.0	-10.6	228	4755	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1598	3144
5063	-1.16	-146.6	542.3	-10.8	243	5067	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	206	3144
5107	-1.16	-146.6	547.5	-11.7	245	5112	0.00	2.40	0.00	0.000	6	0.000	0.059	2412	1604	3144
5430	-1.16	-146.6	584.4	-12.2	261	5432	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1604	3144
5740	-1.16	-146.6	625.2	-13.7	276	5744	0.00	2.50	0.00	0.000	4	0.000	0.077	2411	205	3144
5797	-1.16	-146.6	634.3	-15.5	278	5801	0.00	2.40	0.00	0.000	6	0.000	0.060	2412	1601	3144
6114	-1.16	-146.6	677.0	-12.7	293	6115	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1601	3144
6422	-1.16	-146.6	710.7	-10.5	308	6427	0.00	2.50	0.00	0.000	4	0.000	0.077	2411	203	3144
6576	-1.16	-146.6	730.4	-13.4	315	6580	0.00	2.40	0.00	0.000	6	0.000	0.060	2412	1599	3144
6905	-1.16	-146.6	764.6	-4.5	331	6909	0.00	2.55	0.00	0.000	4	0.000	0.092	2412	2996	3143
6955	-1.16	-146.6	769.7	-11.4	333	6960	0.00	2.45	0.00	0.000	6	0.000	0.068	2412	1593	3144
7272	-1.16	-146.6	773.5	1.2	348	7276	0.00	2.47	0.00	0.000	4	0.000	0.083	2412	212	3143
7346	-1.16	-146.6	772.0	7.3	351	7350	0.00	2.40	0.00	0.000	6	0.000	0.060	2412	1610	3143
7664	-1.16	-146.6	795.3	-5.8	366	7668	0.00	2.53	0.00	0.000	4	0.000	0.087	2412	2998	3143
7704	-1.16	-146.6	800.0	-10.1	368	7709	0.00	2.45	0.00	0.000	6	0.000	0.070	2412	1602	3143
8031	-1.16	-146.6	809.6	-2.2	384	8036	0.00	2.50	0.00	0.000	4	0.000	0.080	2412	2995	3142
8140	-1.16	-146.6	816.5	-2.4	389	8145	0.00	2.40	0.00	0.000	6	0.000	0.062	2412	1592	3142
8468	-1.16	-146.6	824.1	-2.1	405	8472	0.00	2.53	0.00	0.000	4	0.000	0.082	2412	2995	3142
8513	-1.16	-146.6	826.4	-5.2	407	8518	0.00	2.42	0.00	0.000	6	0.000	0.069	2412	1608	3142
8835	-1.16	-146.6	851.3	-10.9	423	8840	0.00	2.53	0.00	0.000	4	0.000	0.082	2412	2996	3141
8877	end dive: BOTTOM_OBSTACLE_DETECTED
state	8878	begin apogee
8887	-0.32	0.0	856.9	13.9	425	9028	0.88	0.00	132.35	1.256	6	0.105	0.000	2597	2180	2538
9029	end apogee: CONTROL_FINISHED_OK
state	9029	begin climb
9034	1.16	146.6	854.3	0.0	432	9166	1.55	2.78	124.43	1.231	4	0.085	0.101	2928	3595	1941
9440	1.17	151.1	815.3	7.8	450	9452	0.00	2.47	4.97	0.841	6	0.000	0.067	2928	2203	1923
9761	1.17	151.1	784.0	10.1	466	9766	0.00	2.62	0.00	0.000	4	0.000	0.094	2928	3594	1923
9825	1.17	151.1	775.5	14.3	469	9829	0.00	2.47	0.00	0.000	6	0.000	0.067	2928	2199	1921
10152	1.17	151.1	735.8	9.2	485	10153	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2198	1920
10461	1.17	153.1	706.0	7.9	500	10462	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2198	1919
10771	1.30	233.5	684.9	4.9	515	10846	0.15	2.62	68.80	1.151	4	0.064	0.078	2973	784	1586
10880	1.30	233.5	677.2	8.3	519	10885	0.00	2.50	0.00	0.000	6	0.000	0.061	2973	2201	1585
11197	1.34	257.8	652.0	7.1	534	11223	0.00	2.60	21.27	1.071	4	0.000	0.072	2973	791	1486
11321	1.39	291.1	643.6	6.7	539	11356	0.00	2.47	28.70	1.075	6	0.000	0.061	2974	2201	1351
11683	1.39	291.1	613.3	9.6	557	11687	0.00	2.53	0.00	0.000	4	0.000	0.073	2973	792	1349
11791	1.39	291.1	600.7	12.0	562	11795	0.00	2.47	0.00	0.000	6	0.000	0.062	2973	2207	1349
12118	1.39	291.1	559.2	13.8	578	12122	0.00	2.55	0.00	0.000	4	0.000	0.073	2973	784	1349
12214	1.39	291.1	545.6	14.9	582	12218	0.00	2.47	0.00	0.000	6	0.000	0.062	2973	2199	1349
12530	1.39	291.1	508.3	10.8	597	12534	0.00	2.53	0.00	0.000	4	0.000	0.072	2973	785	1349
12615	1.39	291.1	499.0	10.1	601	12620	0.00	2.47	0.00	0.000	6	0.000	0.062	2973	2202	1349
12944	1.39	291.1	464.7	10.7	617	12948	0.00	2.53	0.00	0.000	4	0.000	0.072	2973	786	1349
13033	1.39	291.1	454.0	11.0	621	13037	0.00	2.47	0.00	0.000	6	0.000	0.062	2974	2205	1349
13356	1.39	291.1	419.0	10.3	637	13360	0.00	2.53	0.00	0.000	4	0.000	0.072	2973	782	1349
13457	1.39	291.1	407.9	10.7	641	13462	0.00	2.47	0.00	0.000	6	0.000	0.062	2973	2200	1349
13774	1.39	291.1	376.7	9.8	656	13778	0.00	2.50	0.00	0.000	4	0.000	0.071	2973	791	1349
13876	1.39	291.1	365.3	10.9	660	13883	0.00	2.45	0.00	0.000	6	0.000	0.061	2973	2203	1349
14193	1.39	291.1	331.0	10.8	676	14197	0.00	2.50	0.00	0.000	4	0.000	0.071	2973	788	1349
14288	1.39	291.1	320.1	11.4	680	14292	0.00	2.45	0.00	0.000	6	0.000	0.062	2973	2201	1349
14605	1.39	291.1	286.0	10.8	695	14609	0.00	2.50	0.00	0.000	4	0.000	0.071	2973	789	1349
14683	1.39	291.1	276.8	11.2	698	14690	0.00	2.45	0.00	0.000	6	0.000	0.062	2973	2201	1349
15000	1.39	291.1	242.2	10.9	714	15004	0.00	2.50	0.00	0.000	4	0.000	0.072	2973	789	1349
15096	1.39	291.1	230.9	10.9	718	15100	0.00	2.47	0.00	0.000	6	0.000	0.062	2973	2206	1349
15424	1.39	291.1	197.5	10.3	734	15428	0.00	2.53	0.00	0.000	4	0.000	0.072	2974	783	1349
15520	1.39	291.1	186.9	10.8	738	15524	0.00	2.47	0.00	0.000	6	0.000	0.062	2973	2209	1349
15836	1.39	291.1	156.9	9.4	753	15840	0.00	2.53	0.00	0.000	4	0.000	0.072	2973	785	1350
15944	1.39	291.1	146.3	9.2	758	15948	0.00	2.45	0.00	0.000	6	0.000	0.062	2973	2200	1349
16272	1.39	291.1	116.6	10.2	774	16276	0.00	2.53	0.00	0.000	4	0.000	0.071	2973	784	1349
16373	1.39	291.1	105.1	11.6	778	16379	0.00	2.47	0.00	0.000	6	0.000	0.062	2973	2200	1349
16690	1.39	291.1	74.8	8.7	794	16695	0.00	2.50	0.00	0.000	4	0.000	0.072	2973	788	1349
16856	1.39	291.1	58.5	9.8	801	16860	0.00	2.45	0.00	0.000	6	0.000	0.062	2973	2200	1349
17179	1.39	291.1	27.0	10.2	817	17184	0.00	2.53	0.00	0.000	4	0.000	0.071	2974	785	1349
17253	1.39	291.1	18.6	9.5	820	17257	0.00	2.45	0.00	0.000	6	0.000	0.062	2973	2200	1349
17421	end climb: SURFACE_DEPTH_REACHED
state	17422	begin surface coast
17445	end surface coast: CONTROL_FINISHED_OK
state	17445	begin surface