Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 361 * 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 361 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 576.94562 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -657163.19 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 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 576.94562

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 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 -657163.19

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 34 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 361 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 142208,6326.710,-1325.116,24,1.9,24,-12.4 TGT_NAME IE

_CALLS 5 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.24 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -50.0 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 143923,6326.707,-1325.412,11,2.8,30,-12.4 MHEAD_RNG_PITCHd_Wd 170.6,23354,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027134 ALTIM_BOTTOM_PING 825.5,68.1

SM_CCo 17497,100.60,0.594,0,0,186,576.95 _24V_AH 23.5,48.142

SM_GC 0.84,0.00,0.00,100.60,0.000,0.000,0.594,379,1601,186,-10.56,0.03,576.95 _10V_AH 10.2,24.162

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44280,835

TT8_MAMPS 0.023777 CAP_FILE_SIZE 138297,0

HUMID 1827 CFSIZE 254472192,235429888

TCM_TEMP 19.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,24,1,0

XPDR_PINGS 4 GPS 191008,193426,6325.080,-1327.592,40,1.1,40,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 177 108.57 SBE_CT 616 24 347.69

Roll_motor 171 105 422.26 SBE_O2 569 19 254.45

VBD_pump_during_apogee 453 1274 13598.85 WL_BB2F 459 105 1134.63

VBD_pump_during_surface 100 594 1405.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 194 103 470.62 nil 0 0 0.00

Iridium_during_connect 201 160 756.98 nil 0 0 0.00

Iridium_during_xfer 210 223 1100.80

Transponder_ping 8 420 83.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.89

TT8 1585 19 320.30

LPSleep 13229 2 295.53

TT8_Active 669 19 135.19

TT8_Sampling 2111 39 857.12

TT8_CF8 1035 45 483.59

TT8_Kalman 0 81 0.00

Analog_circuits 1735 12 212.44

GPS_charging 0 0 0.00

Compass 2033 8 165.90

RAFOS 0 0 0.00

Transponder 52 30 15.99

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 79 0.00 0.00 -60.45 0.000 2 0.000 0.000 378 1622 2722

83 -1.16 -146.6 3.7 -5.6 3 113 11.40 2.58 -10.45 0.000 4 0.177 0.090 2415 201 3138

361 -1.16 -146.6 42.2 -13.3 15 365 0.00 2.40 0.00 0.000 6 0.000 0.058 2414 1606 3139

677 -1.16 -146.6 72.3 -9.8 30 681 0.00 2.50 0.00 0.000 4 0.000 0.075 2414 210 3138

746 -1.16 -146.6 80.2 -11.3 33 750 0.00 2.38 0.00 0.000 6 0.000 0.058 2414 1602 3138

1068 -1.16 -146.6 114.8 -11.0 49 1072 0.00 2.50 0.00 0.000 4 0.000 0.074 2414 206 3139

1131 -1.16 -146.6 122.4 -12.6 52 1135 0.00 2.38 0.00 0.000 6 0.000 0.058 2414 1600 3139

1459 -1.16 -146.6 155.5 -9.7 68 1463 0.00 2.47 0.00 0.000 4 0.000 0.075 2414 210 3138

1498 -1.16 -146.6 160.0 -11.2 69 1504 0.00 2.38 0.00 0.000 6 0.000 0.058 2414 1606 3138

1814 -1.16 -146.6 194.7 -11.0 85 1816 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 1606 3139

2124 -1.16 -146.6 228.3 -10.7 100 2126 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 1606 3139

2433 -1.16 -146.6 261.7 -11.1 115 2434 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 1606 3140

2742 -1.16 -146.6 295.8 -11.1 130 2747 0.00 2.50 0.00 0.000 4 0.000 0.076 2414 210 3139

2806 -1.16 -146.6 303.4 -11.7 133 2810 0.00 2.38 0.00 0.000 6 0.000 0.058 2416 1603 3139

3133 -1.16 -146.6 340.3 -11.1 149 3137 0.00 2.50 0.00 0.000 4 0.000 0.077 2414 210 3139

3178 -1.16 -146.6 345.7 -11.8 151 3182 0.00 2.38 0.00 0.000 6 0.000 0.058 2415 1599 3139

3500 -1.16 -146.6 382.3 -11.4 167 3504 0.00 2.50 0.00 0.000 4 0.000 0.077 2414 209 3139

3540 -1.16 -146.6 387.3 -12.4 169 3544 0.00 2.38 0.00 0.000 6 0.000 0.059 2414 1601 3139

3868 -1.16 -146.6 423.5 -11.1 185 3869 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 1604 3139

4177 -1.16 -146.6 457.3 -11.1 200 4181 0.00 2.50 0.00 0.000 4 0.000 0.077 2415 211 3139

4239 -1.16 -146.6 464.7 -11.6 203 4243 0.00 2.38 0.00 0.000 6 0.000 0.059 2414 1601 3139

4570 -1.16 -146.6 502.2 -11.9 219 4571 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 1604 3139

4876 -1.16 -146.6 539.8 -11.9 234 4877 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 1604 3139

5188 -1.16 -146.6 575.6 -11.6 249 5192 0.00 2.50 0.00 0.000 4 0.000 0.077 2414 210 3139

5233 -1.16 -146.6 581.4 -11.8 251 5237 0.00 2.38 0.00 0.000 6 0.000 0.059 2415 1598 3139

5554 -1.16 -146.6 622.2 -13.4 267 5556 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 1602 3139

5864 -1.16 -146.6 660.4 -12.3 282 5868 0.00 2.50 0.00 0.000 4 0.000 0.077 2414 210 3139

5954 -1.16 -146.6 672.2 -13.6 286 5958 0.00 2.40 0.00 0.000 6 0.000 0.060 2414 1601 3139

6275 -1.16 -146.6 711.0 -11.6 302 6280 0.00 2.55 0.00 0.000 4 0.000 0.091 2414 2999 3139

6316 -1.16 -146.6 715.8 -11.5 304 6320 0.00 2.42 0.00 0.000 6 0.000 0.068 2414 1600 3139

6644 -1.16 -146.6 752.7 -11.0 320 6648 0.00 2.50 0.00 0.000 4 0.000 0.082 2415 206 3139

6790 -1.16 -146.6 769.5 -10.9 326 6796 0.00 2.40 0.00 0.000 6 0.000 0.059 2414 1609 3139

7107 -1.16 -146.6 802.6 -10.6 342 7111 0.00 2.50 0.00 0.000 4 0.000 0.086 2414 2995 3138

7174 -1.16 -146.6 809.6 -10.3 345 7178 0.00 2.42 0.00 0.000 6 0.000 0.067 2414 1600 3139

7501 -1.16 -146.6 842.7 -10.1 361 7506 0.00 2.50 0.00 0.000 4 0.000 0.083 2415 211 3139

7704 -1.16 -146.6 864.6 -9.5 370 7708 0.00 2.40 0.00 0.000 6 0.000 0.060 2415 1612 3139

7919 end dive: BOTTOM_OBSTACLE_DETECTED

state 7919 begin apogee

7929 -0.32 0.0 885.9 10.9 381 8069 0.90 0.00 131.82 1.275 6 0.110 0.000 2599 2194 2539

8070 end apogee: CONTROL_FINISHED_OK

state 8070 begin climb

8074 1.16 146.6 894.8 0.0 388 8208 1.50 2.78 125.12 1.258 4 0.074 0.105 2927 3590 1941

8232 1.19 161.2 887.2 7.4 396 8251 0.00 2.47 13.75 1.118 6 0.000 0.067 2927 2201 1880

8581 1.19 165.2 858.1 7.8 413 8591 0.00 2.65 4.57 0.828 4 0.000 0.091 2927 3603 1864

8648 1.19 165.2 852.6 9.9 416 8652 0.00 2.50 0.00 0.000 6 0.000 0.067 2927 2199 1864

8970 1.25 202.0 830.3 6.6 432 9008 0.00 0.00 32.30 1.218 6 0.000 0.000 2927 2199 1715

9319 1.25 202.0 801.0 8.3 449 9320 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2199 1712

9628 1.25 202.0 773.6 9.1 464 9629 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2199 1710

9938 1.25 202.0 744.8 8.9 479 9942 0.00 2.55 0.00 0.000 4 0.000 0.077 2926 786 1707

9994 1.25 202.0 739.6 9.5 481 9998 0.00 2.47 0.00 0.000 6 0.000 0.062 2927 2198 1707

10310 1.25 202.0 713.1 9.1 496 10315 0.00 2.53 0.00 0.000 4 0.000 0.073 2927 789 1707

10384 1.25 202.0 705.8 10.2 499 10389 0.00 2.47 0.00 0.000 6 0.000 0.063 2926 2202 1707

10701 1.25 203.1 674.6 8.0 514 10705 0.00 2.55 0.00 0.000 4 0.000 0.074 2927 787 1707

10742 1.25 203.1 671.2 9.3 516 10746 0.00 2.47 0.00 0.000 6 0.000 0.063 2927 2201 1706

11069 1.25 203.1 642.1 8.3 532 11074 0.00 2.53 0.00 0.000 4 0.000 0.074 2927 790 1706

11200 1.25 203.1 629.2 10.8 538 11204 0.00 2.50 0.00 0.000 6 0.000 0.063 2927 2208 1706

11533 1.25 203.1 595.5 9.9 554 11537 0.00 2.53 0.00 0.000 4 0.000 0.073 2927 790 1707

11635 1.25 203.1 585.0 11.0 558 11641 0.00 2.47 0.00 0.000 6 0.000 0.062 2927 2202 1706

11951 1.25 203.1 554.1 9.8 574 11955 0.00 2.53 0.00 0.000 4 0.000 0.072 2927 783 1706

12036 1.25 203.1 545.5 10.1 577 12042 0.00 2.50 0.00 0.000 6 0.000 0.062 2927 2209 1706

12352 1.25 203.1 515.5 9.3 593 12356 0.00 2.55 0.00 0.000 4 0.000 0.072 2926 787 1707

12436 1.25 203.1 507.3 9.5 596 12442 0.00 2.47 0.00 0.000 6 0.000 0.062 2927 2202 1707

12753 1.25 203.1 479.6 8.7 612 12758 0.00 2.50 0.00 0.000 4 0.000 0.073 2927 792 1707

12866 1.25 203.1 469.4 9.1 617 12870 0.00 2.47 0.00 0.000 6 0.000 0.062 2926 2208 1707

13187 1.25 203.1 442.6 8.4 633 13192 0.00 2.53 0.00 0.000 4 0.000 0.072 2927 787 1707

13301 1.25 203.1 432.5 9.5 638 13305 0.00 2.45 0.00 0.000 6 0.000 0.061 2927 2200 1706

13622 1.27 211.6 405.7 7.7 654 13637 0.12 2.53 8.75 0.831 4 0.067 0.071 2968 792 1676

13728 1.27 211.6 395.7 10.3 658 13734 0.00 2.47 0.00 0.000 6 0.000 0.061 2968 2201 1676

14044 1.27 211.6 365.4 9.7 674 14048 0.00 2.50 0.00 0.000 4 0.000 0.071 2968 789 1676

14100 1.27 211.6 359.5 10.6 676 14106 0.00 2.47 0.00 0.000 6 0.000 0.061 2968 2204 1676

14417 1.27 211.6 329.4 9.7 692 14421 0.00 2.50 0.00 0.000 4 0.000 0.071 2968 792 1676

14512 1.27 211.6 319.6 9.5 696 14517 0.00 2.47 0.00 0.000 6 0.000 0.062 2968 2210 1676

14830 1.27 211.6 289.9 9.9 711 14833 0.00 2.50 0.00 0.000 4 0.000 0.071 2968 791 1676

14938 1.27 211.6 278.1 10.6 715 14946 0.00 2.47 0.00 0.000 6 0.000 0.062 2968 2206 1676

15255 1.27 211.6 245.2 10.4 731 15259 0.00 2.50 0.00 0.000 4 0.000 0.071 2968 792 1676

15328 1.27 211.6 237.1 11.1 734 15333 0.00 2.47 0.00 0.000 6 0.000 0.062 2968 2212 1676

15645 1.27 211.6 205.5 9.1 749 15649 0.00 2.53 0.00 0.000 4 0.000 0.071 2968 786 1676

15763 1.27 211.6 193.2 10.6 754 15767 0.00 2.47 0.00 0.000 6 0.000 0.061 2968 2207 1676

16079 1.27 211.6 161.9 11.5 769 16084 0.00 2.53 0.00 0.000 4 0.000 0.071 2968 791 1676

16194 1.27 211.6 147.1 13.6 774 16198 0.00 2.45 0.00 0.000 6 0.000 0.062 2968 2197 1676

16516 1.27 211.6 107.8 10.7 790 16520 0.00 2.50 0.00 0.000 4 0.000 0.069 2968 782 1676

16600 1.27 211.6 98.5 13.1 793 16606 0.00 2.47 0.00 0.000 6 0.000 0.061 2968 2204 1676

16917 1.27 211.6 58.1 8.6 809 16921 0.00 2.53 0.00 0.000 4 0.000 0.074 2968 787 1676

16990 1.33 251.3 52.1 6.5 812 17028 0.00 2.47 32.30 0.682 6 0.000 0.061 2968 2208 1513

17354 1.66 458.0 13.6 0.1 830 17463 0.28 0.00 105.32 0.645 2 0.060 0.000 3046 2209 952

17463 end climb: SURFACE_DEPTH_REACHED

state 17464 begin surface coast

17471 end surface coast: CONTROL_FINISHED_OK

state 17471 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	361	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	576.94562	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-657163.19	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	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	142208,6326.710,-1325.116,24,1.9,24,-12.4	TGT_NAME	IE
_CALLS	5	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.24	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-50.0	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	143923,6326.707,-1325.412,11,2.8,30,-12.4	MHEAD_RNG_PITCHd_Wd	170.6,23354,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.5,1.027134	ALTIM_BOTTOM_PING	825.5,68.1
SM_CCo	17497,100.60,0.594,0,0,186,576.95	_24V_AH	23.5,48.142
SM_GC	0.84,0.00,0.00,100.60,0.000,0.000,0.594,379,1601,186,-10.56,0.03,576.95	_10V_AH	10.2,24.162
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44280,835
TT8_MAMPS	0.023777	CAP_FILE_SIZE	138297,0
HUMID	1827	CFSIZE	254472192,235429888
TCM_TEMP	19.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
XPDR_PINGS	4	GPS	191008,193426,6325.080,-1327.592,40,1.1,40,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	177	108.57	SBE_CT	616	24	347.69
Roll_motor	171	105	422.26	SBE_O2	569	19	254.45
VBD_pump_during_apogee	453	1274	13598.85	WL_BB2F	459	105	1134.63
VBD_pump_during_surface	100	594	1405.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	194	103	470.62	nil	0	0	0.00
Iridium_during_connect	201	160	756.98	nil	0	0	0.00
Iridium_during_xfer	210	223	1100.80
Transponder_ping	8	420	83.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.89
TT8	1585	19	320.30
LPSleep	13229	2	295.53
TT8_Active	669	19	135.19
TT8_Sampling	2111	39	857.12
TT8_CF8	1035	45	483.59
TT8_Kalman	0	81	0.00
Analog_circuits	1735	12	212.44
GPS_charging	0	0	0.00
Compass	2033	8	165.90
RAFOS	0	0	0.00
Transponder	52	30	15.99

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	79	0.00	0.00	-60.45	0.000	2	0.000	0.000	378	1622	2722
83	-1.16	-146.6	3.7	-5.6	3	113	11.40	2.58	-10.45	0.000	4	0.177	0.090	2415	201	3138
361	-1.16	-146.6	42.2	-13.3	15	365	0.00	2.40	0.00	0.000	6	0.000	0.058	2414	1606	3139
677	-1.16	-146.6	72.3	-9.8	30	681	0.00	2.50	0.00	0.000	4	0.000	0.075	2414	210	3138
746	-1.16	-146.6	80.2	-11.3	33	750	0.00	2.38	0.00	0.000	6	0.000	0.058	2414	1602	3138
1068	-1.16	-146.6	114.8	-11.0	49	1072	0.00	2.50	0.00	0.000	4	0.000	0.074	2414	206	3139
1131	-1.16	-146.6	122.4	-12.6	52	1135	0.00	2.38	0.00	0.000	6	0.000	0.058	2414	1600	3139
1459	-1.16	-146.6	155.5	-9.7	68	1463	0.00	2.47	0.00	0.000	4	0.000	0.075	2414	210	3138
1498	-1.16	-146.6	160.0	-11.2	69	1504	0.00	2.38	0.00	0.000	6	0.000	0.058	2414	1606	3138
1814	-1.16	-146.6	194.7	-11.0	85	1816	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	1606	3139
2124	-1.16	-146.6	228.3	-10.7	100	2126	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	1606	3139
2433	-1.16	-146.6	261.7	-11.1	115	2434	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	1606	3140
2742	-1.16	-146.6	295.8	-11.1	130	2747	0.00	2.50	0.00	0.000	4	0.000	0.076	2414	210	3139
2806	-1.16	-146.6	303.4	-11.7	133	2810	0.00	2.38	0.00	0.000	6	0.000	0.058	2416	1603	3139
3133	-1.16	-146.6	340.3	-11.1	149	3137	0.00	2.50	0.00	0.000	4	0.000	0.077	2414	210	3139
3178	-1.16	-146.6	345.7	-11.8	151	3182	0.00	2.38	0.00	0.000	6	0.000	0.058	2415	1599	3139
3500	-1.16	-146.6	382.3	-11.4	167	3504	0.00	2.50	0.00	0.000	4	0.000	0.077	2414	209	3139
3540	-1.16	-146.6	387.3	-12.4	169	3544	0.00	2.38	0.00	0.000	6	0.000	0.059	2414	1601	3139
3868	-1.16	-146.6	423.5	-11.1	185	3869	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	1604	3139
4177	-1.16	-146.6	457.3	-11.1	200	4181	0.00	2.50	0.00	0.000	4	0.000	0.077	2415	211	3139
4239	-1.16	-146.6	464.7	-11.6	203	4243	0.00	2.38	0.00	0.000	6	0.000	0.059	2414	1601	3139
4570	-1.16	-146.6	502.2	-11.9	219	4571	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	1604	3139
4876	-1.16	-146.6	539.8	-11.9	234	4877	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	1604	3139
5188	-1.16	-146.6	575.6	-11.6	249	5192	0.00	2.50	0.00	0.000	4	0.000	0.077	2414	210	3139
5233	-1.16	-146.6	581.4	-11.8	251	5237	0.00	2.38	0.00	0.000	6	0.000	0.059	2415	1598	3139
5554	-1.16	-146.6	622.2	-13.4	267	5556	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	1602	3139
5864	-1.16	-146.6	660.4	-12.3	282	5868	0.00	2.50	0.00	0.000	4	0.000	0.077	2414	210	3139
5954	-1.16	-146.6	672.2	-13.6	286	5958	0.00	2.40	0.00	0.000	6	0.000	0.060	2414	1601	3139
6275	-1.16	-146.6	711.0	-11.6	302	6280	0.00	2.55	0.00	0.000	4	0.000	0.091	2414	2999	3139
6316	-1.16	-146.6	715.8	-11.5	304	6320	0.00	2.42	0.00	0.000	6	0.000	0.068	2414	1600	3139
6644	-1.16	-146.6	752.7	-11.0	320	6648	0.00	2.50	0.00	0.000	4	0.000	0.082	2415	206	3139
6790	-1.16	-146.6	769.5	-10.9	326	6796	0.00	2.40	0.00	0.000	6	0.000	0.059	2414	1609	3139
7107	-1.16	-146.6	802.6	-10.6	342	7111	0.00	2.50	0.00	0.000	4	0.000	0.086	2414	2995	3138
7174	-1.16	-146.6	809.6	-10.3	345	7178	0.00	2.42	0.00	0.000	6	0.000	0.067	2414	1600	3139
7501	-1.16	-146.6	842.7	-10.1	361	7506	0.00	2.50	0.00	0.000	4	0.000	0.083	2415	211	3139
7704	-1.16	-146.6	864.6	-9.5	370	7708	0.00	2.40	0.00	0.000	6	0.000	0.060	2415	1612	3139
7919	end dive: BOTTOM_OBSTACLE_DETECTED
state	7919	begin apogee
7929	-0.32	0.0	885.9	10.9	381	8069	0.90	0.00	131.82	1.275	6	0.110	0.000	2599	2194	2539
8070	end apogee: CONTROL_FINISHED_OK
state	8070	begin climb
8074	1.16	146.6	894.8	0.0	388	8208	1.50	2.78	125.12	1.258	4	0.074	0.105	2927	3590	1941
8232	1.19	161.2	887.2	7.4	396	8251	0.00	2.47	13.75	1.118	6	0.000	0.067	2927	2201	1880
8581	1.19	165.2	858.1	7.8	413	8591	0.00	2.65	4.57	0.828	4	0.000	0.091	2927	3603	1864
8648	1.19	165.2	852.6	9.9	416	8652	0.00	2.50	0.00	0.000	6	0.000	0.067	2927	2199	1864
8970	1.25	202.0	830.3	6.6	432	9008	0.00	0.00	32.30	1.218	6	0.000	0.000	2927	2199	1715
9319	1.25	202.0	801.0	8.3	449	9320	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2199	1712
9628	1.25	202.0	773.6	9.1	464	9629	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2199	1710
9938	1.25	202.0	744.8	8.9	479	9942	0.00	2.55	0.00	0.000	4	0.000	0.077	2926	786	1707
9994	1.25	202.0	739.6	9.5	481	9998	0.00	2.47	0.00	0.000	6	0.000	0.062	2927	2198	1707
10310	1.25	202.0	713.1	9.1	496	10315	0.00	2.53	0.00	0.000	4	0.000	0.073	2927	789	1707
10384	1.25	202.0	705.8	10.2	499	10389	0.00	2.47	0.00	0.000	6	0.000	0.063	2926	2202	1707
10701	1.25	203.1	674.6	8.0	514	10705	0.00	2.55	0.00	0.000	4	0.000	0.074	2927	787	1707
10742	1.25	203.1	671.2	9.3	516	10746	0.00	2.47	0.00	0.000	6	0.000	0.063	2927	2201	1706
11069	1.25	203.1	642.1	8.3	532	11074	0.00	2.53	0.00	0.000	4	0.000	0.074	2927	790	1706
11200	1.25	203.1	629.2	10.8	538	11204	0.00	2.50	0.00	0.000	6	0.000	0.063	2927	2208	1706
11533	1.25	203.1	595.5	9.9	554	11537	0.00	2.53	0.00	0.000	4	0.000	0.073	2927	790	1707
11635	1.25	203.1	585.0	11.0	558	11641	0.00	2.47	0.00	0.000	6	0.000	0.062	2927	2202	1706
11951	1.25	203.1	554.1	9.8	574	11955	0.00	2.53	0.00	0.000	4	0.000	0.072	2927	783	1706
12036	1.25	203.1	545.5	10.1	577	12042	0.00	2.50	0.00	0.000	6	0.000	0.062	2927	2209	1706
12352	1.25	203.1	515.5	9.3	593	12356	0.00	2.55	0.00	0.000	4	0.000	0.072	2926	787	1707
12436	1.25	203.1	507.3	9.5	596	12442	0.00	2.47	0.00	0.000	6	0.000	0.062	2927	2202	1707
12753	1.25	203.1	479.6	8.7	612	12758	0.00	2.50	0.00	0.000	4	0.000	0.073	2927	792	1707
12866	1.25	203.1	469.4	9.1	617	12870	0.00	2.47	0.00	0.000	6	0.000	0.062	2926	2208	1707
13187	1.25	203.1	442.6	8.4	633	13192	0.00	2.53	0.00	0.000	4	0.000	0.072	2927	787	1707
13301	1.25	203.1	432.5	9.5	638	13305	0.00	2.45	0.00	0.000	6	0.000	0.061	2927	2200	1706
13622	1.27	211.6	405.7	7.7	654	13637	0.12	2.53	8.75	0.831	4	0.067	0.071	2968	792	1676
13728	1.27	211.6	395.7	10.3	658	13734	0.00	2.47	0.00	0.000	6	0.000	0.061	2968	2201	1676
14044	1.27	211.6	365.4	9.7	674	14048	0.00	2.50	0.00	0.000	4	0.000	0.071	2968	789	1676
14100	1.27	211.6	359.5	10.6	676	14106	0.00	2.47	0.00	0.000	6	0.000	0.061	2968	2204	1676
14417	1.27	211.6	329.4	9.7	692	14421	0.00	2.50	0.00	0.000	4	0.000	0.071	2968	792	1676
14512	1.27	211.6	319.6	9.5	696	14517	0.00	2.47	0.00	0.000	6	0.000	0.062	2968	2210	1676
14830	1.27	211.6	289.9	9.9	711	14833	0.00	2.50	0.00	0.000	4	0.000	0.071	2968	791	1676
14938	1.27	211.6	278.1	10.6	715	14946	0.00	2.47	0.00	0.000	6	0.000	0.062	2968	2206	1676
15255	1.27	211.6	245.2	10.4	731	15259	0.00	2.50	0.00	0.000	4	0.000	0.071	2968	792	1676
15328	1.27	211.6	237.1	11.1	734	15333	0.00	2.47	0.00	0.000	6	0.000	0.062	2968	2212	1676
15645	1.27	211.6	205.5	9.1	749	15649	0.00	2.53	0.00	0.000	4	0.000	0.071	2968	786	1676
15763	1.27	211.6	193.2	10.6	754	15767	0.00	2.47	0.00	0.000	6	0.000	0.061	2968	2207	1676
16079	1.27	211.6	161.9	11.5	769	16084	0.00	2.53	0.00	0.000	4	0.000	0.071	2968	791	1676
16194	1.27	211.6	147.1	13.6	774	16198	0.00	2.45	0.00	0.000	6	0.000	0.062	2968	2197	1676
16516	1.27	211.6	107.8	10.7	790	16520	0.00	2.50	0.00	0.000	4	0.000	0.069	2968	782	1676
16600	1.27	211.6	98.5	13.1	793	16606	0.00	2.47	0.00	0.000	6	0.000	0.061	2968	2204	1676
16917	1.27	211.6	58.1	8.6	809	16921	0.00	2.53	0.00	0.000	4	0.000	0.074	2968	787	1676
16990	1.33	251.3	52.1	6.5	812	17028	0.00	2.47	32.30	0.682	6	0.000	0.061	2968	2208	1513
17354	1.66	458.0	13.6	0.1	830	17463	0.28	0.00	105.32	0.645	2	0.060	0.000	3046	2209	952
17463	end climb: SURFACE_DEPTH_REACHED
state	17464	begin surface coast
17471	end surface coast: CONTROL_FINISHED_OK
state	17471	begin surface