Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 366 * 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 366 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 19 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -657284 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 -657284

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 19 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 366 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 155755,6323.099,-1320.665,23,1.4,40,-12.4 TGT_NAME IE

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.77 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 160416,6323.080,-1320.588,15,1.3,16,-12.4 MHEAD_RNG_PITCHd_Wd 175.1,15671,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027297 ALTIM_BOTTOM_PING 701.8,111.7

SM_CCo 16768,45.20,0.630,1,0,1316,300.00 _24V_AH 23.5,48.999

SM_GC 1.16,0.00,0.00,45.20,0.000,0.000,0.630,377,1594,1316,-10.57,-0.11,300.00 _10V_AH 10.2,24.608

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41227,799

TT8_MAMPS 0.02301 CAP_FILE_SIZE 131271,0

HUMID 1890 CFSIZE 254472192,235134976

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,44,1,0

XPDR_PINGS 0 GPS 201008,204608,6321.964,-1322.431,27,1.6,27,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 102.49 SBE_CT 588 24 331.71

Roll_motor 174 104 427.33 SBE_O2 546 19 244.10

VBD_pump_during_apogee 323 1224 9308.39 WL_BB2F 456 105 1125.64

VBD_pump_during_surface 45 629 668.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.39 nil 0 0 0.00

Iridium_during_connect 34 160 131.52 nil 0 0 0.00

Iridium_during_xfer 163 223 854.74

Transponder_ping 6 420 59.22

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.93

TT8 1546 19 312.29

LPSleep 12479 2 278.77

TT8_Active 506 19 102.28

TT8_Sampling 2042 39 829.16

TT8_CF8 627 45 292.97

TT8_Kalman 0 81 0.00

Analog_circuits 1537 12 188.19

GPS_charging 0 0 0.00

Compass 1984 8 161.92

RAFOS 0 0 0.00

Transponder 41 30 12.65

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 72 0.00 0.00 -50.72 0.000 2 0.000 0.000 374 1594 2359

77 -1.16 -146.6 3.2 -4.4 3 121 11.32 2.58 -26.33 0.000 4 0.174 0.091 2413 200 3138

392 -1.16 -146.6 40.8 -9.6 17 396 0.00 2.42 0.00 0.000 6 0.000 0.058 2412 1613 3139

719 -1.16 -146.6 80.0 -11.2 33 724 0.00 2.55 0.00 0.000 4 0.000 0.076 2412 203 3139

855 -1.16 -146.6 98.0 -14.5 39 859 0.00 2.40 0.00 0.000 6 0.000 0.058 2412 1605 3139

1179 -1.16 -146.6 139.2 -11.8 55 1183 0.00 2.53 0.00 0.000 4 0.000 0.076 2412 203 3139

1242 -1.16 -146.6 147.4 -13.0 58 1247 0.00 2.40 0.00 0.000 6 0.000 0.058 2412 1610 3140

1570 -1.16 -146.6 188.2 -12.7 74 1571 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1614 3139

1879 -1.16 -146.6 228.7 -13.6 89 1880 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1614 3139

2189 -1.16 -146.6 271.9 -14.4 104 2190 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1614 3140

2497 -1.16 -146.6 314.3 -13.5 119 2502 0.00 2.55 0.00 0.000 4 0.000 0.077 2412 199 3140

2554 -1.16 -146.6 322.3 -13.9 121 2560 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1601 3140

2871 -1.16 -146.6 362.7 -12.3 137 2872 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1605 3139

3179 -1.16 -146.6 399.2 -11.0 152 3183 0.00 2.53 0.00 0.000 4 0.000 0.078 2412 201 3139

3224 -1.16 -146.6 404.6 -12.2 154 3228 0.00 2.40 0.00 0.000 6 0.000 0.058 2412 1606 3139

3546 -1.16 -146.6 442.7 -12.0 170 3547 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1610 3140

3855 -1.16 -146.6 477.0 -10.8 185 3860 0.00 2.53 0.00 0.000 4 0.000 0.077 2412 205 3139

3913 -1.16 -146.6 483.5 -11.1 187 3919 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1604 3139

4230 -1.16 -146.6 514.4 -9.4 203 4231 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1605 3140

4539 -1.16 -146.6 540.6 -7.9 218 4540 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1605 3139

4848 -1.16 -146.6 564.0 -7.7 233 4850 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1605 3139

5158 -1.16 -146.6 589.9 -8.8 248 5162 0.00 2.53 0.00 0.000 4 0.000 0.077 2412 200 3139

5227 -1.16 -146.6 596.5 -9.2 251 5231 0.00 2.40 0.00 0.000 6 0.000 0.059 2413 1601 3140

5555 -1.16 -146.6 622.1 -7.4 267 5559 0.00 2.53 0.00 0.000 4 0.000 0.077 2412 200 3139

5605 -1.16 -146.6 626.4 -8.5 269 5609 0.00 2.40 0.00 0.000 6 0.000 0.059 2412 1600 3140

5922 -1.16 -146.6 647.4 -6.1 284 5926 0.00 2.53 0.00 0.000 4 0.000 0.078 2412 201 3139

5991 -1.16 -146.6 653.0 -8.7 287 5995 0.00 2.40 0.00 0.000 6 0.000 0.059 2412 1599 3139

6319 -1.16 -146.6 677.0 -7.5 303 6323 0.00 2.53 0.00 0.000 4 0.000 0.077 2412 199 3140

6382 -1.16 -146.6 682.2 -8.3 306 6387 0.00 2.42 0.00 0.000 6 0.000 0.060 2412 1604 3139

6716 -1.16 -146.6 708.5 -8.0 322 6720 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 208 3139

6756 -1.16 -146.6 712.2 -9.2 323 6762 0.00 2.40 0.00 0.000 6 0.000 0.060 2412 1601 3140

7072 -1.16 -146.6 743.6 -11.2 339 7077 0.00 2.50 0.00 0.000 4 0.000 0.078 2412 206 3140

7236 -1.16 -146.6 763.8 -12.5 346 7240 0.00 2.40 0.00 0.000 6 0.000 0.061 2412 1601 3140

7558 -1.16 -146.6 800.4 -11.3 362 7562 0.00 2.53 0.00 0.000 4 0.000 0.086 2412 2998 3139

7588 end dive: BOTTOM_OBSTACLE_DETECTED

state 7588 begin apogee

7599 -0.32 0.0 804.0 10.0 363 7730 0.90 0.00 128.00 1.225 6 0.114 0.000 2598 2189 2539

7731 end apogee: CONTROL_FINISHED_OK

state 7731 begin climb

7735 1.16 146.6 810.9 0.0 370 7868 1.48 2.80 123.72 1.198 4 0.069 0.104 2926 3591 1941

8100 1.19 161.6 791.4 7.4 386 8120 0.00 2.47 13.93 1.090 6 0.000 0.071 2927 2206 1879

8437 1.19 165.3 765.6 7.9 403 8447 0.00 2.67 4.45 0.791 4 0.000 0.099 2927 3600 1865

8465 1.19 165.3 763.2 8.9 404 8470 0.00 2.50 0.00 0.000 6 0.000 0.068 2926 2196 1865

8782 1.19 165.3 737.7 8.1 419 8786 0.00 2.53 0.00 0.000 4 0.000 0.077 2927 791 1865

8827 1.19 165.3 733.8 8.5 421 8831 0.00 2.45 0.00 0.000 6 0.000 0.063 2927 2196 1865

9154 1.19 165.3 707.0 8.6 437 9159 0.00 2.55 0.00 0.000 4 0.000 0.074 2927 783 1863

9205 1.19 165.3 702.0 9.8 439 9210 0.00 2.47 0.00 0.000 6 0.000 0.063 2927 2198 1863

9522 1.19 165.3 670.0 10.2 454 9526 0.00 2.53 0.00 0.000 4 0.000 0.073 2926 785 1861

9624 1.19 165.3 659.0 11.7 458 9628 0.00 2.47 0.00 0.000 6 0.000 0.063 2927 2199 1861

9940 1.19 165.3 625.6 10.2 473 9945 0.00 2.53 0.00 0.000 4 0.000 0.072 2927 791 1860

9986 1.19 165.3 620.8 10.5 475 9990 0.00 2.47 0.00 0.000 6 0.000 0.062 2927 2210 1861

10308 1.19 165.3 589.1 9.5 491 10312 0.00 2.53 0.00 0.000 4 0.000 0.071 2927 790 1861

10426 1.19 165.3 578.4 9.6 496 10430 0.00 2.45 0.00 0.000 6 0.000 0.062 2927 2199 1861

10748 1.19 165.3 551.2 8.5 512 10753 0.00 2.50 0.00 0.000 4 0.000 0.071 2927 792 1861

10811 1.19 165.3 545.6 9.0 515 10815 0.00 2.45 0.00 0.000 6 0.000 0.062 2927 2201 1861

11138 1.19 165.3 517.6 8.2 531 11143 0.00 2.50 0.00 0.000 4 0.000 0.071 2927 792 1861

11180 1.19 165.3 514.1 8.6 533 11184 0.00 2.45 0.00 0.000 6 0.000 0.061 2927 2206 1861

11507 1.19 165.6 488.2 8.0 549 11511 0.00 2.53 0.00 0.000 4 0.000 0.073 2927 789 1861

11580 1.20 169.9 482.0 7.8 552 11591 0.00 2.45 4.57 0.709 6 0.000 0.062 2927 2199 1846

11902 1.21 176.7 457.0 7.7 568 11916 0.00 2.60 7.28 0.822 4 0.000 0.072 2927 789 1819

11971 1.21 176.7 451.3 8.1 571 11975 0.00 2.47 0.00 0.000 6 0.000 0.061 2927 2206 1818

12298 1.21 176.7 424.5 8.3 587 12302 0.00 2.53 0.00 0.000 4 0.000 0.071 2926 785 1819

12372 1.21 176.7 417.7 8.9 590 12376 0.00 2.47 0.00 0.000 6 0.000 0.061 2926 2208 1819

12694 1.21 176.7 389.8 8.4 606 12698 0.00 2.53 0.00 0.000 4 0.000 0.071 2927 786 1819

12773 1.21 176.7 382.6 8.9 609 12779 0.00 2.45 0.00 0.000 6 0.000 0.061 2927 2199 1819

13089 1.21 176.7 357.1 8.0 625 13093 0.00 2.50 0.00 0.000 4 0.000 0.071 2926 789 1818

13185 1.23 185.7 349.2 7.7 629 13199 0.00 2.45 9.20 0.801 6 0.000 0.061 2926 2201 1782

13529 1.29 224.1 324.9 6.5 646 13571 0.12 2.62 32.22 0.870 4 0.067 0.071 2967 792 1624

13623 1.29 224.1 317.1 8.7 650 13627 0.00 2.47 0.00 0.000 6 0.000 0.061 2967 2204 1624

13951 1.29 224.1 287.9 9.2 666 13955 0.00 2.53 0.00 0.000 4 0.000 0.071 2967 789 1624

14041 1.29 224.1 278.6 9.7 670 14046 0.00 2.45 0.00 0.000 6 0.000 0.061 2967 2200 1625

14365 1.29 224.1 246.9 10.2 686 14369 0.00 2.50 0.00 0.000 4 0.000 0.071 2967 792 1625

14450 1.29 224.1 237.3 10.9 690 14454 0.00 2.45 0.00 0.000 6 0.000 0.061 2967 2208 1624

14783 1.29 224.1 198.4 11.9 706 14788 0.00 2.53 0.00 0.000 4 0.000 0.071 2967 789 1625

14908 1.29 224.1 183.3 12.2 711 14914 0.00 2.45 0.00 0.000 6 0.000 0.061 2967 2201 1624

15224 1.29 224.1 148.0 11.2 727 15229 0.00 2.50 0.00 0.000 4 0.000 0.071 2967 792 1625

15356 1.29 224.1 132.7 10.4 733 15361 0.00 2.45 0.00 0.000 6 0.000 0.061 2967 2203 1624

15686 1.29 224.1 101.3 11.4 749 15690 0.00 2.50 0.00 0.000 4 0.000 0.072 2966 792 1625

15787 1.29 224.1 90.7 9.7 753 15793 0.00 2.45 0.00 0.000 6 0.000 0.061 2967 2208 1625

16104 1.29 224.1 63.3 8.5 769 16108 0.00 2.53 0.00 0.000 4 0.000 0.072 2967 787 1625

16194 1.29 224.1 55.6 9.1 773 16198 0.00 2.45 0.00 0.000 6 0.000 0.061 2967 2200 1624

16517 1.29 224.1 21.9 13.4 789 16522 0.00 2.50 0.00 0.000 4 0.000 0.074 2967 792 1625

16591 1.29 224.1 13.0 10.5 792 16596 0.00 2.45 0.00 0.000 6 0.000 0.062 2967 2201 1625

16719 end climb: SURFACE_DEPTH_REACHED

state 16719 begin surface coast

16741 end surface coast: CONTROL_FINISHED_OK

state 16741 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	366	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	19	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-657284	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	155755,6323.099,-1320.665,23,1.4,40,-12.4	TGT_NAME	IE
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.77	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	160416,6323.080,-1320.588,15,1.3,16,-12.4	MHEAD_RNG_PITCHd_Wd	175.1,15671,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.4,1.027297	ALTIM_BOTTOM_PING	701.8,111.7
SM_CCo	16768,45.20,0.630,1,0,1316,300.00	_24V_AH	23.5,48.999
SM_GC	1.16,0.00,0.00,45.20,0.000,0.000,0.630,377,1594,1316,-10.57,-0.11,300.00	_10V_AH	10.2,24.608
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41227,799
TT8_MAMPS	0.02301	CAP_FILE_SIZE	131271,0
HUMID	1890	CFSIZE	254472192,235134976
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,44,1,0
XPDR_PINGS	0	GPS	201008,204608,6321.964,-1322.431,27,1.6,27,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	102.49	SBE_CT	588	24	331.71
Roll_motor	174	104	427.33	SBE_O2	546	19	244.10
VBD_pump_during_apogee	323	1224	9308.39	WL_BB2F	456	105	1125.64
VBD_pump_during_surface	45	629	668.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.39	nil	0	0	0.00
Iridium_during_connect	34	160	131.52	nil	0	0	0.00
Iridium_during_xfer	163	223	854.74
Transponder_ping	6	420	59.22
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.93
TT8	1546	19	312.29
LPSleep	12479	2	278.77
TT8_Active	506	19	102.28
TT8_Sampling	2042	39	829.16
TT8_CF8	627	45	292.97
TT8_Kalman	0	81	0.00
Analog_circuits	1537	12	188.19
GPS_charging	0	0	0.00
Compass	1984	8	161.92
RAFOS	0	0	0.00
Transponder	41	30	12.65

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	72	0.00	0.00	-50.72	0.000	2	0.000	0.000	374	1594	2359
77	-1.16	-146.6	3.2	-4.4	3	121	11.32	2.58	-26.33	0.000	4	0.174	0.091	2413	200	3138
392	-1.16	-146.6	40.8	-9.6	17	396	0.00	2.42	0.00	0.000	6	0.000	0.058	2412	1613	3139
719	-1.16	-146.6	80.0	-11.2	33	724	0.00	2.55	0.00	0.000	4	0.000	0.076	2412	203	3139
855	-1.16	-146.6	98.0	-14.5	39	859	0.00	2.40	0.00	0.000	6	0.000	0.058	2412	1605	3139
1179	-1.16	-146.6	139.2	-11.8	55	1183	0.00	2.53	0.00	0.000	4	0.000	0.076	2412	203	3139
1242	-1.16	-146.6	147.4	-13.0	58	1247	0.00	2.40	0.00	0.000	6	0.000	0.058	2412	1610	3140
1570	-1.16	-146.6	188.2	-12.7	74	1571	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1614	3139
1879	-1.16	-146.6	228.7	-13.6	89	1880	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1614	3139
2189	-1.16	-146.6	271.9	-14.4	104	2190	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1614	3140
2497	-1.16	-146.6	314.3	-13.5	119	2502	0.00	2.55	0.00	0.000	4	0.000	0.077	2412	199	3140
2554	-1.16	-146.6	322.3	-13.9	121	2560	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1601	3140
2871	-1.16	-146.6	362.7	-12.3	137	2872	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1605	3139
3179	-1.16	-146.6	399.2	-11.0	152	3183	0.00	2.53	0.00	0.000	4	0.000	0.078	2412	201	3139
3224	-1.16	-146.6	404.6	-12.2	154	3228	0.00	2.40	0.00	0.000	6	0.000	0.058	2412	1606	3139
3546	-1.16	-146.6	442.7	-12.0	170	3547	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1610	3140
3855	-1.16	-146.6	477.0	-10.8	185	3860	0.00	2.53	0.00	0.000	4	0.000	0.077	2412	205	3139
3913	-1.16	-146.6	483.5	-11.1	187	3919	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1604	3139
4230	-1.16	-146.6	514.4	-9.4	203	4231	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1605	3140
4539	-1.16	-146.6	540.6	-7.9	218	4540	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1605	3139
4848	-1.16	-146.6	564.0	-7.7	233	4850	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1605	3139
5158	-1.16	-146.6	589.9	-8.8	248	5162	0.00	2.53	0.00	0.000	4	0.000	0.077	2412	200	3139
5227	-1.16	-146.6	596.5	-9.2	251	5231	0.00	2.40	0.00	0.000	6	0.000	0.059	2413	1601	3140
5555	-1.16	-146.6	622.1	-7.4	267	5559	0.00	2.53	0.00	0.000	4	0.000	0.077	2412	200	3139
5605	-1.16	-146.6	626.4	-8.5	269	5609	0.00	2.40	0.00	0.000	6	0.000	0.059	2412	1600	3140
5922	-1.16	-146.6	647.4	-6.1	284	5926	0.00	2.53	0.00	0.000	4	0.000	0.078	2412	201	3139
5991	-1.16	-146.6	653.0	-8.7	287	5995	0.00	2.40	0.00	0.000	6	0.000	0.059	2412	1599	3139
6319	-1.16	-146.6	677.0	-7.5	303	6323	0.00	2.53	0.00	0.000	4	0.000	0.077	2412	199	3140
6382	-1.16	-146.6	682.2	-8.3	306	6387	0.00	2.42	0.00	0.000	6	0.000	0.060	2412	1604	3139
6716	-1.16	-146.6	708.5	-8.0	322	6720	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	208	3139
6756	-1.16	-146.6	712.2	-9.2	323	6762	0.00	2.40	0.00	0.000	6	0.000	0.060	2412	1601	3140
7072	-1.16	-146.6	743.6	-11.2	339	7077	0.00	2.50	0.00	0.000	4	0.000	0.078	2412	206	3140
7236	-1.16	-146.6	763.8	-12.5	346	7240	0.00	2.40	0.00	0.000	6	0.000	0.061	2412	1601	3140
7558	-1.16	-146.6	800.4	-11.3	362	7562	0.00	2.53	0.00	0.000	4	0.000	0.086	2412	2998	3139
7588	end dive: BOTTOM_OBSTACLE_DETECTED
state	7588	begin apogee
7599	-0.32	0.0	804.0	10.0	363	7730	0.90	0.00	128.00	1.225	6	0.114	0.000	2598	2189	2539
7731	end apogee: CONTROL_FINISHED_OK
state	7731	begin climb
7735	1.16	146.6	810.9	0.0	370	7868	1.48	2.80	123.72	1.198	4	0.069	0.104	2926	3591	1941
8100	1.19	161.6	791.4	7.4	386	8120	0.00	2.47	13.93	1.090	6	0.000	0.071	2927	2206	1879
8437	1.19	165.3	765.6	7.9	403	8447	0.00	2.67	4.45	0.791	4	0.000	0.099	2927	3600	1865
8465	1.19	165.3	763.2	8.9	404	8470	0.00	2.50	0.00	0.000	6	0.000	0.068	2926	2196	1865
8782	1.19	165.3	737.7	8.1	419	8786	0.00	2.53	0.00	0.000	4	0.000	0.077	2927	791	1865
8827	1.19	165.3	733.8	8.5	421	8831	0.00	2.45	0.00	0.000	6	0.000	0.063	2927	2196	1865
9154	1.19	165.3	707.0	8.6	437	9159	0.00	2.55	0.00	0.000	4	0.000	0.074	2927	783	1863
9205	1.19	165.3	702.0	9.8	439	9210	0.00	2.47	0.00	0.000	6	0.000	0.063	2927	2198	1863
9522	1.19	165.3	670.0	10.2	454	9526	0.00	2.53	0.00	0.000	4	0.000	0.073	2926	785	1861
9624	1.19	165.3	659.0	11.7	458	9628	0.00	2.47	0.00	0.000	6	0.000	0.063	2927	2199	1861
9940	1.19	165.3	625.6	10.2	473	9945	0.00	2.53	0.00	0.000	4	0.000	0.072	2927	791	1860
9986	1.19	165.3	620.8	10.5	475	9990	0.00	2.47	0.00	0.000	6	0.000	0.062	2927	2210	1861
10308	1.19	165.3	589.1	9.5	491	10312	0.00	2.53	0.00	0.000	4	0.000	0.071	2927	790	1861
10426	1.19	165.3	578.4	9.6	496	10430	0.00	2.45	0.00	0.000	6	0.000	0.062	2927	2199	1861
10748	1.19	165.3	551.2	8.5	512	10753	0.00	2.50	0.00	0.000	4	0.000	0.071	2927	792	1861
10811	1.19	165.3	545.6	9.0	515	10815	0.00	2.45	0.00	0.000	6	0.000	0.062	2927	2201	1861
11138	1.19	165.3	517.6	8.2	531	11143	0.00	2.50	0.00	0.000	4	0.000	0.071	2927	792	1861
11180	1.19	165.3	514.1	8.6	533	11184	0.00	2.45	0.00	0.000	6	0.000	0.061	2927	2206	1861
11507	1.19	165.6	488.2	8.0	549	11511	0.00	2.53	0.00	0.000	4	0.000	0.073	2927	789	1861
11580	1.20	169.9	482.0	7.8	552	11591	0.00	2.45	4.57	0.709	6	0.000	0.062	2927	2199	1846
11902	1.21	176.7	457.0	7.7	568	11916	0.00	2.60	7.28	0.822	4	0.000	0.072	2927	789	1819
11971	1.21	176.7	451.3	8.1	571	11975	0.00	2.47	0.00	0.000	6	0.000	0.061	2927	2206	1818
12298	1.21	176.7	424.5	8.3	587	12302	0.00	2.53	0.00	0.000	4	0.000	0.071	2926	785	1819
12372	1.21	176.7	417.7	8.9	590	12376	0.00	2.47	0.00	0.000	6	0.000	0.061	2926	2208	1819
12694	1.21	176.7	389.8	8.4	606	12698	0.00	2.53	0.00	0.000	4	0.000	0.071	2927	786	1819
12773	1.21	176.7	382.6	8.9	609	12779	0.00	2.45	0.00	0.000	6	0.000	0.061	2927	2199	1819
13089	1.21	176.7	357.1	8.0	625	13093	0.00	2.50	0.00	0.000	4	0.000	0.071	2926	789	1818
13185	1.23	185.7	349.2	7.7	629	13199	0.00	2.45	9.20	0.801	6	0.000	0.061	2926	2201	1782
13529	1.29	224.1	324.9	6.5	646	13571	0.12	2.62	32.22	0.870	4	0.067	0.071	2967	792	1624
13623	1.29	224.1	317.1	8.7	650	13627	0.00	2.47	0.00	0.000	6	0.000	0.061	2967	2204	1624
13951	1.29	224.1	287.9	9.2	666	13955	0.00	2.53	0.00	0.000	4	0.000	0.071	2967	789	1624
14041	1.29	224.1	278.6	9.7	670	14046	0.00	2.45	0.00	0.000	6	0.000	0.061	2967	2200	1625
14365	1.29	224.1	246.9	10.2	686	14369	0.00	2.50	0.00	0.000	4	0.000	0.071	2967	792	1625
14450	1.29	224.1	237.3	10.9	690	14454	0.00	2.45	0.00	0.000	6	0.000	0.061	2967	2208	1624
14783	1.29	224.1	198.4	11.9	706	14788	0.00	2.53	0.00	0.000	4	0.000	0.071	2967	789	1625
14908	1.29	224.1	183.3	12.2	711	14914	0.00	2.45	0.00	0.000	6	0.000	0.061	2967	2201	1624
15224	1.29	224.1	148.0	11.2	727	15229	0.00	2.50	0.00	0.000	4	0.000	0.071	2967	792	1625
15356	1.29	224.1	132.7	10.4	733	15361	0.00	2.45	0.00	0.000	6	0.000	0.061	2967	2203	1624
15686	1.29	224.1	101.3	11.4	749	15690	0.00	2.50	0.00	0.000	4	0.000	0.072	2966	792	1625
15787	1.29	224.1	90.7	9.7	753	15793	0.00	2.45	0.00	0.000	6	0.000	0.061	2967	2208	1625
16104	1.29	224.1	63.3	8.5	769	16108	0.00	2.53	0.00	0.000	4	0.000	0.072	2967	787	1625
16194	1.29	224.1	55.6	9.1	773	16198	0.00	2.45	0.00	0.000	6	0.000	0.061	2967	2200	1624
16517	1.29	224.1	21.9	13.4	789	16522	0.00	2.50	0.00	0.000	4	0.000	0.074	2967	792	1625
16591	1.29	224.1	13.0	10.5	792	16596	0.00	2.45	0.00	0.000	6	0.000	0.062	2967	2201	1625
16719	end climb: SURFACE_DEPTH_REACHED
state	16719	begin surface coast
16741	end surface coast: CONTROL_FINISHED_OK
state	16741	begin surface