Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 357 * 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 357 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 -657063.44 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 -657063.44

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 357 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 171008,6331.937,-1325.233,41,1.2,41,-12.5 TGT_NAME IE

_CALLS 3 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.42 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -58.8 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 172214,6331.829,-1325.717,12,1.5,12,-12.5 MHEAD_RNG_PITCHd_Wd 176.5,32421,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.017304 ALTIM_BOTTOM_PING 900.3,58.1

SM_CCo 18752,45.25,0.625,1,0,1316,300.00 _24V_AH 23.4,47.543

SM_GC 1.56,0.00,0.00,45.25,0.000,0.000,0.625,376,1618,1316,-10.58,0.54,300.00 _10V_AH 10.2,23.807

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44284,891

TT8_MAMPS 0.023777 CAP_FILE_SIZE 146676,0

HUMID 1887 CFSIZE 254472192,235716608

TCM_TEMP 19.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,31,2,0

XPDR_PINGS 2 GPS 181008,223708,6329.815,-1326.964,26,1.4,26,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 174 102.00 SBE_CT 664 24 373.25

Roll_motor 188 110 486.79 SBE_O2 608 19 270.47

VBD_pump_during_apogee 325 1334 10179.93 WL_BB2F 483 105 1188.69

VBD_pump_during_surface 45 625 661.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 114 103 276.31 nil 0 0 0.00

Iridium_during_connect 159 160 597.19 nil 0 0 0.00

Iridium_during_xfer 186 223 971.33

Transponder_ping 8 420 86.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.12

TT8 1729 19 349.34

LPSleep 14057 2 314.02

TT8_Active 538 19 108.83

TT8_Sampling 2313 39 939.22

TT8_CF8 889 45 415.53

TT8_Kalman 0 81 0.00

Analog_circuits 1689 12 206.77

GPS_charging 0 0 0.00

Compass 2249 8 183.60

RAFOS 0 0 0.00

Transponder 57 30 17.46

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

20 -1.16 -146.6 0.0 0.0 0 79 0.00 0.00 -57.22 0.000 2 0.000 0.000 380 1586 2456

83 -1.16 -146.6 3.1 -3.7 3 126 11.30 2.50 -23.40 0.000 4 0.175 0.090 2412 221 3137

398 -1.16 -146.6 37.3 -10.9 17 403 0.00 2.40 0.00 0.000 6 0.000 0.058 2412 1620 3139

726 -1.16 -146.6 76.5 -12.7 33 730 0.00 2.53 0.00 0.000 4 0.000 0.075 2412 212 3139

857 -1.16 -146.6 94.8 -15.0 39 862 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1604 3138

1188 -1.16 -146.6 139.9 -13.5 55 1192 0.00 2.47 0.00 0.000 4 0.000 0.077 2412 2992 3139

1244 -1.16 -146.6 147.6 -12.7 57 1250 0.00 2.42 0.00 0.000 6 0.000 0.064 2412 1594 3138

1560 -1.16 -146.6 190.2 -13.6 73 1565 0.00 2.47 0.00 0.000 4 0.000 0.077 2412 206 3138

1651 -1.16 -146.6 203.1 -14.1 77 1655 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1607 3139

1972 -1.16 -146.6 241.4 -11.1 93 1974 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1608 3139

2282 -1.16 -146.6 273.3 -10.4 108 2287 0.00 2.50 0.00 0.000 4 0.000 0.075 2412 206 3139

2361 -1.16 -146.6 282.3 -10.8 111 2367 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1601 3139

2678 -1.16 -146.6 312.3 -8.5 127 2682 0.00 2.50 0.00 0.000 4 0.000 0.076 2412 209 3139

2718 -1.16 -146.6 316.0 -9.8 129 2723 0.00 2.38 0.00 0.000 6 0.000 0.058 2411 1601 3139

3046 -1.16 -146.6 343.6 -7.9 145 3047 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1605 3139

3355 -1.16 -146.6 371.6 -9.3 160 3359 0.00 2.50 0.00 0.000 4 0.000 0.078 2412 212 3139

3419 -1.16 -146.6 377.6 -9.7 163 3423 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1607 3139

3746 -1.16 -146.6 407.3 -9.1 179 3747 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1610 3139

4055 -1.16 -146.6 434.6 -8.5 194 4060 0.00 2.53 0.00 0.000 4 0.000 0.080 2412 212 3139

4135 -1.16 -146.6 441.8 -9.0 197 4141 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1603 3139

4451 -1.16 -146.6 467.1 -8.2 213 4452 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1606 3139

4760 -1.16 -146.6 493.5 -9.1 228 4765 0.00 2.53 0.00 0.000 4 0.000 0.080 2412 210 3139

4825 -1.16 -146.6 499.3 -9.1 231 4830 0.00 2.38 0.00 0.000 6 0.000 0.059 2412 1598 3139

5158 -1.16 -146.6 532.4 -10.5 247 5162 0.00 2.50 0.00 0.000 4 0.000 0.078 2412 210 3139

5237 -1.16 -146.6 541.5 -11.4 250 5243 0.00 2.38 0.00 0.000 6 0.000 0.059 2412 1600 3139

5555 -1.16 -146.6 575.3 -10.3 266 5556 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1602 3139

5863 -1.16 -146.6 605.8 -10.3 281 5868 0.00 2.47 0.00 0.000 4 0.000 0.077 2412 213 3139

5898 -1.16 -146.6 609.8 -12.0 282 5904 0.00 2.38 0.00 0.000 6 0.000 0.060 2412 1599 3139

6215 -1.16 -146.6 642.2 -10.7 298 6216 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1599 3139

6525 -1.16 -146.6 675.9 -11.1 313 6529 0.00 2.50 0.00 0.000 4 0.000 0.079 2411 206 3138

6610 -1.16 -146.6 685.9 -12.3 317 6615 0.00 2.40 0.00 0.000 6 0.000 0.060 2412 1602 3139

6938 -1.16 -146.6 722.9 -11.2 333 6942 0.00 2.50 0.00 0.000 4 0.000 0.079 2412 210 3139

7010 -1.16 -146.6 732.1 -12.8 336 7015 0.00 2.40 0.00 0.000 6 0.000 0.060 2412 1601 3138

7328 -1.16 -146.6 768.3 -10.1 351 7332 0.00 2.55 0.00 0.000 4 0.000 0.094 2412 2997 3139

7390 -1.16 -146.6 774.3 -9.0 353 7396 0.00 2.42 0.00 0.000 6 0.000 0.068 2412 1602 3139

7706 -1.16 -146.6 803.2 -8.6 369 7710 0.00 2.53 0.00 0.000 4 0.000 0.085 2412 203 3139

7869 -1.16 -146.6 820.2 -12.7 376 7874 0.00 2.40 0.00 0.000 6 0.000 0.060 2412 1609 3139

8186 -1.16 -146.6 854.9 -10.2 391 8190 0.00 2.53 0.00 0.000 4 0.000 0.079 2412 205 3139

8407 -1.16 -146.6 873.3 -10.2 401 8411 0.00 2.38 0.00 0.000 6 0.000 0.061 2412 1596 3139

8739 -1.16 -146.6 898.7 -8.7 417 8743 0.00 2.50 0.00 0.000 4 0.000 0.081 2411 210 3139

8801 -1.16 -146.6 904.2 -8.6 419 8807 0.00 2.40 0.00 0.000 6 0.000 0.061 2412 1605 3139

9117 -1.16 -146.6 935.5 -8.8 435 9118 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1609 3139

9258 end dive: BOTTOM_OBSTACLE_DETECTED

state 9258 begin apogee

9268 -0.32 0.0 949.1 9.8 442 9410 0.95 0.00 132.90 1.335 6 0.125 0.000 2601 2200 2538

9410 end apogee: CONTROL_FINISHED_OK

state 9410 begin climb

9414 1.16 146.6 954.8 0.0 449 9551 1.50 2.80 125.82 1.318 4 0.081 0.110 2925 3609 1940

9682 1.16 146.6 939.1 10.2 461 9686 0.00 2.53 0.00 0.000 6 0.000 0.067 2925 2192 1938

9999 1.17 150.2 910.8 7.9 476 10005 0.00 0.00 4.12 0.812 6 0.000 0.000 2925 2192 1926

10308 1.20 168.3 887.6 7.3 491 10330 0.00 2.60 16.65 1.216 4 0.000 0.079 2925 792 1852

10350 1.20 168.3 884.4 9.1 493 10355 0.00 2.50 0.00 0.000 6 0.000 0.062 2925 2204 1852

10677 1.20 170.2 856.6 7.9 509 10682 0.00 2.55 0.00 0.000 4 0.000 0.074 2925 792 1851

10774 1.28 222.4 849.9 6.0 513 10828 0.12 2.47 46.47 1.272 6 0.069 0.063 2960 2200 1631

11141 1.28 222.4 812.5 12.5 531 11146 0.00 2.53 0.00 0.000 4 0.000 0.074 2960 793 1629

11233 1.28 222.4 801.1 11.2 535 11237 0.00 2.47 0.00 0.000 6 0.000 0.064 2960 2199 1628

11555 1.28 222.4 765.3 12.9 551 11557 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2200 1627

11864 1.28 222.4 732.8 9.1 566 11868 0.00 2.53 0.00 0.000 4 0.000 0.074 2960 793 1626

11955 1.28 222.4 722.9 11.7 570 11960 0.00 2.47 0.00 0.000 6 0.000 0.063 2960 2207 1627

12283 1.28 222.4 682.5 12.7 586 12288 0.00 2.53 0.00 0.000 4 0.000 0.073 2960 794 1625

12385 1.28 222.4 668.3 13.5 590 12391 0.00 2.47 0.00 0.000 6 0.000 0.063 2960 2201 1625

12702 1.28 222.4 628.8 12.1 606 12706 0.00 2.50 0.00 0.000 4 0.000 0.074 2960 794 1625

12781 1.28 222.4 618.7 12.3 609 12785 0.00 2.47 0.00 0.000 6 0.000 0.063 2960 2201 1625

13097 1.28 222.4 582.8 10.9 624 13101 0.00 2.53 0.00 0.000 4 0.000 0.073 2960 786 1625

13177 1.28 222.4 574.3 10.4 627 13181 0.00 2.50 0.00 0.000 6 0.000 0.062 2961 2210 1625

13493 1.28 222.4 544.7 8.8 642 13497 0.00 2.53 0.00 0.000 4 0.000 0.073 2960 791 1625

13612 1.28 222.4 533.8 9.1 647 13616 0.00 2.47 0.00 0.000 6 0.000 0.063 2960 2204 1625

13934 1.28 222.4 506.7 8.3 663 13938 0.00 2.50 0.00 0.000 4 0.000 0.073 2960 794 1625

14031 1.28 222.4 498.0 9.1 667 14035 0.00 2.47 0.00 0.000 6 0.000 0.063 2960 2207 1625

14353 1.28 222.4 470.7 8.3 683 14357 0.00 2.53 0.00 0.000 4 0.000 0.072 2960 786 1625

14448 1.28 222.4 461.5 9.8 687 14452 0.00 2.47 0.00 0.000 6 0.000 0.062 2961 2199 1626

14764 1.28 222.4 431.6 9.6 702 14768 0.00 2.50 0.00 0.000 4 0.000 0.072 2960 791 1625

14862 1.28 222.4 421.9 10.5 706 14867 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2205 1625

15184 1.28 222.4 392.0 9.5 722 15188 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 791 1625

15271 1.28 222.4 382.9 11.0 726 15275 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2210 1625

15598 1.28 222.4 346.8 11.9 742 15602 0.00 2.53 0.00 0.000 4 0.000 0.071 2961 785 1625

15721 1.28 222.4 330.5 12.6 747 15727 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2201 1625

16038 1.28 222.4 291.4 12.1 763 16042 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 783 1625

16156 1.28 222.4 277.0 11.8 768 16160 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2200 1625

16478 1.28 222.4 241.4 10.9 784 16482 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 792 1625

16574 1.28 222.4 230.4 12.0 788 16578 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2210 1625

16901 1.28 222.4 192.0 12.1 804 16905 0.00 2.53 0.00 0.000 4 0.000 0.071 2960 792 1625

16958 1.28 222.4 184.7 12.7 806 16964 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2204 1625

17275 1.28 222.4 146.7 12.0 822 17279 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 792 1625

17376 1.28 222.4 133.9 11.7 826 17382 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2198 1625

17695 1.28 222.4 99.6 10.7 842 17699 0.00 2.50 0.00 0.000 4 0.000 0.071 2960 786 1625

17803 1.28 222.4 87.7 12.3 847 17807 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2202 1625

18132 1.28 222.4 55.7 9.3 863 18136 0.00 2.50 0.00 0.000 4 0.000 0.072 2960 790 1625

18241 1.28 222.4 45.0 10.1 868 18245 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2205 1625

18570 1.28 222.4 14.8 8.7 884 18574 0.00 2.53 0.00 0.000 4 0.000 0.070 2960 783 1625

18701 end climb: SURFACE_DEPTH_REACHED

state 18701 begin surface coast

18725 end surface coast: CONTROL_FINISHED_OK

state 18726 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	357	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	-657063.44	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	171008,6331.937,-1325.233,41,1.2,41,-12.5	TGT_NAME	IE
_CALLS	3	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.42	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-58.8	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	172214,6331.829,-1325.717,12,1.5,12,-12.5	MHEAD_RNG_PITCHd_Wd	176.5,32421,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.7,1.017304	ALTIM_BOTTOM_PING	900.3,58.1
SM_CCo	18752,45.25,0.625,1,0,1316,300.00	_24V_AH	23.4,47.543
SM_GC	1.56,0.00,0.00,45.25,0.000,0.000,0.625,376,1618,1316,-10.58,0.54,300.00	_10V_AH	10.2,23.807
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44284,891
TT8_MAMPS	0.023777	CAP_FILE_SIZE	146676,0
HUMID	1887	CFSIZE	254472192,235716608
TCM_TEMP	19.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,31,2,0
XPDR_PINGS	2	GPS	181008,223708,6329.815,-1326.964,26,1.4,26,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	174	102.00	SBE_CT	664	24	373.25
Roll_motor	188	110	486.79	SBE_O2	608	19	270.47
VBD_pump_during_apogee	325	1334	10179.93	WL_BB2F	483	105	1188.69
VBD_pump_during_surface	45	625	661.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	114	103	276.31	nil	0	0	0.00
Iridium_during_connect	159	160	597.19	nil	0	0	0.00
Iridium_during_xfer	186	223	971.33
Transponder_ping	8	420	86.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.12
TT8	1729	19	349.34
LPSleep	14057	2	314.02
TT8_Active	538	19	108.83
TT8_Sampling	2313	39	939.22
TT8_CF8	889	45	415.53
TT8_Kalman	0	81	0.00
Analog_circuits	1689	12	206.77
GPS_charging	0	0	0.00
Compass	2249	8	183.60
RAFOS	0	0	0.00
Transponder	57	30	17.46

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
20	-1.16	-146.6	0.0	0.0	0	79	0.00	0.00	-57.22	0.000	2	0.000	0.000	380	1586	2456
83	-1.16	-146.6	3.1	-3.7	3	126	11.30	2.50	-23.40	0.000	4	0.175	0.090	2412	221	3137
398	-1.16	-146.6	37.3	-10.9	17	403	0.00	2.40	0.00	0.000	6	0.000	0.058	2412	1620	3139
726	-1.16	-146.6	76.5	-12.7	33	730	0.00	2.53	0.00	0.000	4	0.000	0.075	2412	212	3139
857	-1.16	-146.6	94.8	-15.0	39	862	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1604	3138
1188	-1.16	-146.6	139.9	-13.5	55	1192	0.00	2.47	0.00	0.000	4	0.000	0.077	2412	2992	3139
1244	-1.16	-146.6	147.6	-12.7	57	1250	0.00	2.42	0.00	0.000	6	0.000	0.064	2412	1594	3138
1560	-1.16	-146.6	190.2	-13.6	73	1565	0.00	2.47	0.00	0.000	4	0.000	0.077	2412	206	3138
1651	-1.16	-146.6	203.1	-14.1	77	1655	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1607	3139
1972	-1.16	-146.6	241.4	-11.1	93	1974	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1608	3139
2282	-1.16	-146.6	273.3	-10.4	108	2287	0.00	2.50	0.00	0.000	4	0.000	0.075	2412	206	3139
2361	-1.16	-146.6	282.3	-10.8	111	2367	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1601	3139
2678	-1.16	-146.6	312.3	-8.5	127	2682	0.00	2.50	0.00	0.000	4	0.000	0.076	2412	209	3139
2718	-1.16	-146.6	316.0	-9.8	129	2723	0.00	2.38	0.00	0.000	6	0.000	0.058	2411	1601	3139
3046	-1.16	-146.6	343.6	-7.9	145	3047	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1605	3139
3355	-1.16	-146.6	371.6	-9.3	160	3359	0.00	2.50	0.00	0.000	4	0.000	0.078	2412	212	3139
3419	-1.16	-146.6	377.6	-9.7	163	3423	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1607	3139
3746	-1.16	-146.6	407.3	-9.1	179	3747	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1610	3139
4055	-1.16	-146.6	434.6	-8.5	194	4060	0.00	2.53	0.00	0.000	4	0.000	0.080	2412	212	3139
4135	-1.16	-146.6	441.8	-9.0	197	4141	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1603	3139
4451	-1.16	-146.6	467.1	-8.2	213	4452	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1606	3139
4760	-1.16	-146.6	493.5	-9.1	228	4765	0.00	2.53	0.00	0.000	4	0.000	0.080	2412	210	3139
4825	-1.16	-146.6	499.3	-9.1	231	4830	0.00	2.38	0.00	0.000	6	0.000	0.059	2412	1598	3139
5158	-1.16	-146.6	532.4	-10.5	247	5162	0.00	2.50	0.00	0.000	4	0.000	0.078	2412	210	3139
5237	-1.16	-146.6	541.5	-11.4	250	5243	0.00	2.38	0.00	0.000	6	0.000	0.059	2412	1600	3139
5555	-1.16	-146.6	575.3	-10.3	266	5556	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1602	3139
5863	-1.16	-146.6	605.8	-10.3	281	5868	0.00	2.47	0.00	0.000	4	0.000	0.077	2412	213	3139
5898	-1.16	-146.6	609.8	-12.0	282	5904	0.00	2.38	0.00	0.000	6	0.000	0.060	2412	1599	3139
6215	-1.16	-146.6	642.2	-10.7	298	6216	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1599	3139
6525	-1.16	-146.6	675.9	-11.1	313	6529	0.00	2.50	0.00	0.000	4	0.000	0.079	2411	206	3138
6610	-1.16	-146.6	685.9	-12.3	317	6615	0.00	2.40	0.00	0.000	6	0.000	0.060	2412	1602	3139
6938	-1.16	-146.6	722.9	-11.2	333	6942	0.00	2.50	0.00	0.000	4	0.000	0.079	2412	210	3139
7010	-1.16	-146.6	732.1	-12.8	336	7015	0.00	2.40	0.00	0.000	6	0.000	0.060	2412	1601	3138
7328	-1.16	-146.6	768.3	-10.1	351	7332	0.00	2.55	0.00	0.000	4	0.000	0.094	2412	2997	3139
7390	-1.16	-146.6	774.3	-9.0	353	7396	0.00	2.42	0.00	0.000	6	0.000	0.068	2412	1602	3139
7706	-1.16	-146.6	803.2	-8.6	369	7710	0.00	2.53	0.00	0.000	4	0.000	0.085	2412	203	3139
7869	-1.16	-146.6	820.2	-12.7	376	7874	0.00	2.40	0.00	0.000	6	0.000	0.060	2412	1609	3139
8186	-1.16	-146.6	854.9	-10.2	391	8190	0.00	2.53	0.00	0.000	4	0.000	0.079	2412	205	3139
8407	-1.16	-146.6	873.3	-10.2	401	8411	0.00	2.38	0.00	0.000	6	0.000	0.061	2412	1596	3139
8739	-1.16	-146.6	898.7	-8.7	417	8743	0.00	2.50	0.00	0.000	4	0.000	0.081	2411	210	3139
8801	-1.16	-146.6	904.2	-8.6	419	8807	0.00	2.40	0.00	0.000	6	0.000	0.061	2412	1605	3139
9117	-1.16	-146.6	935.5	-8.8	435	9118	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1609	3139
9258	end dive: BOTTOM_OBSTACLE_DETECTED
state	9258	begin apogee
9268	-0.32	0.0	949.1	9.8	442	9410	0.95	0.00	132.90	1.335	6	0.125	0.000	2601	2200	2538
9410	end apogee: CONTROL_FINISHED_OK
state	9410	begin climb
9414	1.16	146.6	954.8	0.0	449	9551	1.50	2.80	125.82	1.318	4	0.081	0.110	2925	3609	1940
9682	1.16	146.6	939.1	10.2	461	9686	0.00	2.53	0.00	0.000	6	0.000	0.067	2925	2192	1938
9999	1.17	150.2	910.8	7.9	476	10005	0.00	0.00	4.12	0.812	6	0.000	0.000	2925	2192	1926
10308	1.20	168.3	887.6	7.3	491	10330	0.00	2.60	16.65	1.216	4	0.000	0.079	2925	792	1852
10350	1.20	168.3	884.4	9.1	493	10355	0.00	2.50	0.00	0.000	6	0.000	0.062	2925	2204	1852
10677	1.20	170.2	856.6	7.9	509	10682	0.00	2.55	0.00	0.000	4	0.000	0.074	2925	792	1851
10774	1.28	222.4	849.9	6.0	513	10828	0.12	2.47	46.47	1.272	6	0.069	0.063	2960	2200	1631
11141	1.28	222.4	812.5	12.5	531	11146	0.00	2.53	0.00	0.000	4	0.000	0.074	2960	793	1629
11233	1.28	222.4	801.1	11.2	535	11237	0.00	2.47	0.00	0.000	6	0.000	0.064	2960	2199	1628
11555	1.28	222.4	765.3	12.9	551	11557	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2200	1627
11864	1.28	222.4	732.8	9.1	566	11868	0.00	2.53	0.00	0.000	4	0.000	0.074	2960	793	1626
11955	1.28	222.4	722.9	11.7	570	11960	0.00	2.47	0.00	0.000	6	0.000	0.063	2960	2207	1627
12283	1.28	222.4	682.5	12.7	586	12288	0.00	2.53	0.00	0.000	4	0.000	0.073	2960	794	1625
12385	1.28	222.4	668.3	13.5	590	12391	0.00	2.47	0.00	0.000	6	0.000	0.063	2960	2201	1625
12702	1.28	222.4	628.8	12.1	606	12706	0.00	2.50	0.00	0.000	4	0.000	0.074	2960	794	1625
12781	1.28	222.4	618.7	12.3	609	12785	0.00	2.47	0.00	0.000	6	0.000	0.063	2960	2201	1625
13097	1.28	222.4	582.8	10.9	624	13101	0.00	2.53	0.00	0.000	4	0.000	0.073	2960	786	1625
13177	1.28	222.4	574.3	10.4	627	13181	0.00	2.50	0.00	0.000	6	0.000	0.062	2961	2210	1625
13493	1.28	222.4	544.7	8.8	642	13497	0.00	2.53	0.00	0.000	4	0.000	0.073	2960	791	1625
13612	1.28	222.4	533.8	9.1	647	13616	0.00	2.47	0.00	0.000	6	0.000	0.063	2960	2204	1625
13934	1.28	222.4	506.7	8.3	663	13938	0.00	2.50	0.00	0.000	4	0.000	0.073	2960	794	1625
14031	1.28	222.4	498.0	9.1	667	14035	0.00	2.47	0.00	0.000	6	0.000	0.063	2960	2207	1625
14353	1.28	222.4	470.7	8.3	683	14357	0.00	2.53	0.00	0.000	4	0.000	0.072	2960	786	1625
14448	1.28	222.4	461.5	9.8	687	14452	0.00	2.47	0.00	0.000	6	0.000	0.062	2961	2199	1626
14764	1.28	222.4	431.6	9.6	702	14768	0.00	2.50	0.00	0.000	4	0.000	0.072	2960	791	1625
14862	1.28	222.4	421.9	10.5	706	14867	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2205	1625
15184	1.28	222.4	392.0	9.5	722	15188	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	791	1625
15271	1.28	222.4	382.9	11.0	726	15275	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2210	1625
15598	1.28	222.4	346.8	11.9	742	15602	0.00	2.53	0.00	0.000	4	0.000	0.071	2961	785	1625
15721	1.28	222.4	330.5	12.6	747	15727	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2201	1625
16038	1.28	222.4	291.4	12.1	763	16042	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	783	1625
16156	1.28	222.4	277.0	11.8	768	16160	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2200	1625
16478	1.28	222.4	241.4	10.9	784	16482	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	792	1625
16574	1.28	222.4	230.4	12.0	788	16578	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2210	1625
16901	1.28	222.4	192.0	12.1	804	16905	0.00	2.53	0.00	0.000	4	0.000	0.071	2960	792	1625
16958	1.28	222.4	184.7	12.7	806	16964	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2204	1625
17275	1.28	222.4	146.7	12.0	822	17279	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	792	1625
17376	1.28	222.4	133.9	11.7	826	17382	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2198	1625
17695	1.28	222.4	99.6	10.7	842	17699	0.00	2.50	0.00	0.000	4	0.000	0.071	2960	786	1625
17803	1.28	222.4	87.7	12.3	847	17807	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2202	1625
18132	1.28	222.4	55.7	9.3	863	18136	0.00	2.50	0.00	0.000	4	0.000	0.072	2960	790	1625
18241	1.28	222.4	45.0	10.1	868	18245	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2205	1625
18570	1.28	222.4	14.8	8.7	884	18574	0.00	2.53	0.00	0.000	4	0.000	0.070	2960	783	1625
18701	end climb: SURFACE_DEPTH_REACHED
state	18701	begin surface coast
18725	end surface coast: CONTROL_FINISHED_OK
state	18726	begin surface