Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 369 * 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 369 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 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 -657352.94 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 -657352.94

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2675 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 369 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 062656,6320.728,-1321.619,51,1.6,51,-12.4 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 1.68 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -57.1 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 063308,6320.678,-1321.600,9,1.6,14,-12.4 MHEAD_RNG_PITCHd_Wd 164.8,11868,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.026912 ALTIM_BOTTOM_PING 777.0,66.4

SM_CCo 16770,28.42,0.614,1,0,1315,300.00 _24V_AH 23.5,49.424

SM_GC 1.87,0.00,0.00,28.42,0.000,0.000,0.614,383,1620,1315,-10.54,0.57,300.00 _10V_AH 10.2,24.856

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41078,794

TT8_MAMPS 0.023777 CAP_FILE_SIZE 133349,0

HUMID 1898 CFSIZE 254472192,234938368

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,41,2,0

XPDR_PINGS 0 GPS 211008,111456,6319.223,-1324.184,38,1.5,38,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 102.80 SBE_CT 586 24 330.92

Roll_motor 178 106 446.65 SBE_O2 541 19 241.93

VBD_pump_during_apogee 351 1224 10124.45 WL_BB2F 459 105 1134.14

VBD_pump_during_surface 28 614 410.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.67 nil 0 0 0.00

Iridium_during_connect 28 160 105.78 nil 0 0 0.00

Iridium_during_xfer 155 223 815.67

Transponder_ping 6 420 66.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.93

TT8 1553 19 313.73

LPSleep 12353 2 275.94

TT8_Active 522 19 105.44

TT8_Sampling 2118 39 860.16

TT8_CF8 630 45 294.48

TT8_Kalman 0 81 0.00

Analog_circuits 1591 12 194.80

GPS_charging 0 0 0.00

Compass 2056 8 167.84

RAFOS 0 0 0.00

Transponder 46 30 14.11

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 82 0.00 0.00 -60.12 0.000 2 0.000 0.000 375 1581 2628

86 -1.16 -146.6 4.1 -5.8 3 117 11.32 2.50 -12.43 0.000 4 0.174 0.091 2413 218 3139

387 -1.16 -146.6 44.4 -12.3 16 391 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1621 3139

709 -1.16 -146.6 79.6 -12.4 32 713 0.00 2.53 0.00 0.000 4 0.000 0.075 2413 215 3139

782 -1.16 -146.6 89.0 -12.5 35 786 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1605 3139

1100 -1.16 -146.6 124.0 -10.9 50 1101 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1608 3140

1408 -1.16 -146.6 157.6 -10.4 65 1411 0.00 2.50 0.00 0.000 4 0.000 0.074 2413 209 3140

1499 -1.16 -146.6 167.9 -11.7 69 1503 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1612 3139

1832 -1.16 -146.6 199.5 -9.1 85 1839 0.00 2.45 0.00 0.000 4 0.000 0.077 2413 2991 3139

1890 -1.16 -146.6 204.9 -8.6 87 1895 0.00 2.40 0.00 0.000 6 0.000 0.064 2411 1605 3140

2207 -1.16 -146.6 234.3 -9.4 102 2211 0.00 2.50 0.00 0.000 4 0.000 0.079 2413 201 3140

2269 -1.16 -146.6 240.7 -10.1 104 2276 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1603 3140

2586 -1.16 -146.6 269.4 -8.8 120 2588 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1603 3140

2895 -1.16 -146.6 297.9 -9.4 135 2896 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1603 3140

3204 -1.16 -146.6 328.4 -10.6 150 3205 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1603 3139

3514 -1.16 -146.6 364.3 -11.9 165 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1603 3140

3824 -1.16 -146.6 402.3 -12.2 180 3828 0.00 2.53 0.00 0.000 4 0.000 0.081 2413 203 3140

3886 -1.16 -146.6 410.6 -13.2 183 3891 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1597 3140

4215 -1.16 -146.6 449.8 -12.2 199 4220 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 203 3140

4283 -1.16 -146.6 458.6 -12.9 202 4287 0.00 2.40 0.00 0.000 6 0.000 0.059 2413 1608 3140

4610 -1.16 -146.6 498.5 -12.3 218 4614 0.00 2.50 0.00 0.000 4 0.000 0.084 2413 2996 3139

4644 -1.16 -146.6 502.6 -11.9 219 4650 0.00 2.42 0.00 0.000 6 0.000 0.066 2413 1599 3139

4960 -1.16 -146.6 539.0 -10.3 235 4964 0.00 2.50 0.00 0.000 4 0.000 0.084 2413 212 3139

5022 -1.16 -146.6 546.4 -12.4 238 5027 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1607 3140

5352 -1.16 -146.6 577.0 -10.3 254 5356 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 211 3140

5410 -1.16 -146.6 583.4 -10.8 256 5416 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1601 3140

5726 -1.16 -146.6 616.0 -12.7 272 5730 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 210 3140

5812 -1.16 -146.6 628.8 -15.5 276 5816 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1600 3140

6139 -1.16 -146.6 673.0 -13.1 292 6143 0.00 2.53 0.00 0.000 4 0.000 0.087 2413 2995 3140

6174 -1.16 -146.6 678.0 -13.0 293 6180 0.00 2.42 0.00 0.000 6 0.000 0.068 2413 1601 3140

6490 -1.16 -146.6 718.3 -13.5 309 6494 0.00 2.50 0.00 0.000 4 0.000 0.082 2413 207 3140

6676 -1.16 -146.6 743.5 -13.9 317 6680 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1600 3139

6993 -1.16 -146.6 781.5 -10.8 332 6997 0.00 2.50 0.00 0.000 4 0.000 0.084 2413 2992 3140

7079 -1.16 -146.6 790.4 -11.2 336 7083 0.00 2.42 0.00 0.000 6 0.000 0.068 2413 1602 3140

7406 -1.16 -146.6 820.7 -11.8 352 7410 0.00 2.50 0.00 0.000 4 0.000 0.082 2413 207 3141

7491 -1.16 -146.6 833.2 -12.4 355 7498 0.00 2.40 0.00 0.000 6 0.000 0.060 2413 1612 3140

7515 end dive: BOTTOM_OBSTACLE_DETECTED

state 7515 begin apogee

7525 -0.32 0.0 836.4 12.6 357 7665 0.90 0.00 131.48 1.225 6 0.105 0.000 2600 2190 2538

7666 end apogee: CONTROL_FINISHED_OK

state 7666 begin climb

7670 1.16 146.6 842.5 0.0 364 7803 1.50 2.80 123.82 1.220 4 0.072 0.107 2930 3593 1941

8077 1.19 164.7 825.0 7.3 382 8101 0.00 2.47 16.58 1.125 6 0.000 0.067 2930 2198 1867

8418 1.29 223.9 800.5 5.8 399 8474 0.10 2.70 49.80 1.214 4 0.072 0.094 2961 3594 1625

8568 1.29 223.9 787.2 9.8 405 8575 0.00 2.47 0.00 0.000 6 0.000 0.067 2962 2197 1625

8885 1.29 223.9 759.8 8.1 421 8886 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2197 1624

9194 1.31 241.0 736.8 7.3 436 9216 0.00 2.58 15.10 1.115 4 0.000 0.076 2962 796 1556

9257 1.32 242.9 731.9 7.9 438 9263 0.00 2.47 0.00 0.000 6 0.000 0.063 2962 2195 1555

9573 1.32 242.9 705.4 9.1 454 9577 0.00 2.53 0.00 0.000 4 0.000 0.073 2962 795 1555

9642 1.32 242.9 697.9 11.1 457 9646 0.00 2.47 0.00 0.000 6 0.000 0.063 2962 2205 1554

9970 1.32 242.9 660.3 12.5 473 9975 0.00 2.53 0.00 0.000 4 0.000 0.072 2962 794 1554

10057 1.32 242.9 649.3 12.9 477 10062 0.00 2.47 0.00 0.000 6 0.000 0.063 2961 2206 1554

10385 1.32 242.9 613.6 10.1 493 10389 0.00 2.53 0.00 0.000 4 0.000 0.072 2962 786 1554

10469 1.32 242.9 604.6 10.3 496 10476 0.00 2.47 0.00 0.000 6 0.000 0.061 2962 2206 1554

10786 1.32 242.9 575.2 8.9 512 10790 0.00 2.50 0.00 0.000 4 0.000 0.072 2962 795 1554

10898 1.32 242.9 564.3 9.5 517 10902 0.00 2.45 0.00 0.000 6 0.000 0.061 2962 2210 1554

11226 1.32 242.9 533.2 8.8 533 11230 0.00 2.53 0.00 0.000 4 0.000 0.072 2962 792 1554

11345 1.32 242.9 520.4 12.0 538 11349 0.00 2.45 0.00 0.000 6 0.000 0.061 2962 2200 1553

11661 1.32 242.9 485.4 10.6 553 11665 0.00 2.53 0.00 0.000 4 0.000 0.071 2962 788 1554

11734 1.32 242.9 477.4 11.5 556 11738 0.00 2.45 0.00 0.000 6 0.000 0.062 2962 2198 1554

12051 1.32 242.9 443.6 11.2 571 12055 0.00 2.50 0.00 0.000 4 0.000 0.071 2962 786 1554

12119 1.32 242.9 435.6 11.3 574 12124 0.00 2.47 0.00 0.000 6 0.000 0.062 2962 2210 1554

12447 1.32 242.9 400.2 10.9 590 12451 0.00 2.50 0.00 0.000 4 0.000 0.071 2962 795 1554

12561 1.32 242.9 386.9 12.1 595 12566 0.00 2.45 0.00 0.000 6 0.000 0.062 2962 2208 1554

12889 1.32 242.9 349.1 11.5 611 12893 0.00 2.50 0.00 0.000 4 0.000 0.071 2962 793 1554

12968 1.32 242.9 340.2 11.7 614 12974 0.00 2.45 0.00 0.000 6 0.000 0.062 2962 2200 1554

13284 1.32 242.9 310.6 8.8 630 13288 0.00 2.50 0.00 0.000 4 0.000 0.071 2962 796 1554

13374 1.32 242.9 302.0 9.0 634 13379 0.00 2.45 0.00 0.000 6 0.000 0.061 2962 2204 1554

13697 1.32 242.9 274.6 8.3 650 13701 0.00 2.50 0.00 0.000 4 0.000 0.072 2962 792 1554

13765 1.32 242.9 268.6 8.8 653 13769 0.00 2.45 0.00 0.000 6 0.000 0.062 2962 2205 1554

14093 1.32 242.9 240.3 8.9 669 14097 0.00 2.50 0.00 0.000 4 0.000 0.072 2962 796 1554

14211 1.32 242.9 228.4 9.7 674 14215 0.00 2.42 0.00 0.000 6 0.000 0.062 2962 2200 1552

14533 1.32 242.9 200.5 8.3 690 14537 0.00 2.50 0.00 0.000 4 0.000 0.072 2962 793 1554

14623 1.32 242.9 192.7 8.3 694 14627 0.00 2.45 0.00 0.000 6 0.000 0.061 2962 2204 1554

14945 1.32 245.8 166.4 7.9 710 14955 0.00 2.55 5.85 0.620 4 0.000 0.071 2962 786 1536

15076 1.32 245.8 154.9 9.0 716 15080 0.00 2.45 0.00 0.000 6 0.000 0.061 2962 2198 1536

15404 1.32 245.8 125.4 9.0 732 15408 0.00 2.50 0.00 0.000 4 0.000 0.072 2962 789 1536

15511 1.32 245.8 114.5 10.3 736 15517 0.00 2.45 0.00 0.000 6 0.000 0.062 2962 2200 1535

15829 1.34 254.9 88.2 7.7 752 15843 0.00 2.53 9.10 0.645 4 0.000 0.072 2962 793 1498

15951 1.34 254.9 75.5 8.8 757 15956 0.00 2.45 0.00 0.000 6 0.000 0.062 2962 2200 1498

16270 1.34 254.9 46.1 11.4 772 16274 0.00 2.50 0.00 0.000 4 0.000 0.073 2962 796 1498

16342 1.34 254.9 38.6 8.3 775 16347 0.00 2.45 0.00 0.000 6 0.000 0.062 2962 2204 1498

16659 1.34 254.9 7.9 8.4 790 16663 0.00 2.53 0.00 0.000 4 0.000 0.073 2962 786 1498

16723 end climb: SURFACE_DEPTH_REACHED

state 16723 begin surface coast

16742 end surface coast: CONTROL_FINISHED_OK

state 16743 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	369	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	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	-657352.94	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	062656,6320.728,-1321.619,51,1.6,51,-12.4	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	1.68	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-57.1	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	063308,6320.678,-1321.600,9,1.6,14,-12.4	MHEAD_RNG_PITCHd_Wd	164.8,11868,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.5,1.026912	ALTIM_BOTTOM_PING	777.0,66.4
SM_CCo	16770,28.42,0.614,1,0,1315,300.00	_24V_AH	23.5,49.424
SM_GC	1.87,0.00,0.00,28.42,0.000,0.000,0.614,383,1620,1315,-10.54,0.57,300.00	_10V_AH	10.2,24.856
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41078,794
TT8_MAMPS	0.023777	CAP_FILE_SIZE	133349,0
HUMID	1898	CFSIZE	254472192,234938368
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,41,2,0
XPDR_PINGS	0	GPS	211008,111456,6319.223,-1324.184,38,1.5,38,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	102.80	SBE_CT	586	24	330.92
Roll_motor	178	106	446.65	SBE_O2	541	19	241.93
VBD_pump_during_apogee	351	1224	10124.45	WL_BB2F	459	105	1134.14
VBD_pump_during_surface	28	614	410.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.67	nil	0	0	0.00
Iridium_during_connect	28	160	105.78	nil	0	0	0.00
Iridium_during_xfer	155	223	815.67
Transponder_ping	6	420	66.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.93
TT8	1553	19	313.73
LPSleep	12353	2	275.94
TT8_Active	522	19	105.44
TT8_Sampling	2118	39	860.16
TT8_CF8	630	45	294.48
TT8_Kalman	0	81	0.00
Analog_circuits	1591	12	194.80
GPS_charging	0	0	0.00
Compass	2056	8	167.84
RAFOS	0	0	0.00
Transponder	46	30	14.11

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	82	0.00	0.00	-60.12	0.000	2	0.000	0.000	375	1581	2628
86	-1.16	-146.6	4.1	-5.8	3	117	11.32	2.50	-12.43	0.000	4	0.174	0.091	2413	218	3139
387	-1.16	-146.6	44.4	-12.3	16	391	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1621	3139
709	-1.16	-146.6	79.6	-12.4	32	713	0.00	2.53	0.00	0.000	4	0.000	0.075	2413	215	3139
782	-1.16	-146.6	89.0	-12.5	35	786	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1605	3139
1100	-1.16	-146.6	124.0	-10.9	50	1101	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1608	3140
1408	-1.16	-146.6	157.6	-10.4	65	1411	0.00	2.50	0.00	0.000	4	0.000	0.074	2413	209	3140
1499	-1.16	-146.6	167.9	-11.7	69	1503	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1612	3139
1832	-1.16	-146.6	199.5	-9.1	85	1839	0.00	2.45	0.00	0.000	4	0.000	0.077	2413	2991	3139
1890	-1.16	-146.6	204.9	-8.6	87	1895	0.00	2.40	0.00	0.000	6	0.000	0.064	2411	1605	3140
2207	-1.16	-146.6	234.3	-9.4	102	2211	0.00	2.50	0.00	0.000	4	0.000	0.079	2413	201	3140
2269	-1.16	-146.6	240.7	-10.1	104	2276	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1603	3140
2586	-1.16	-146.6	269.4	-8.8	120	2588	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1603	3140
2895	-1.16	-146.6	297.9	-9.4	135	2896	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1603	3140
3204	-1.16	-146.6	328.4	-10.6	150	3205	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1603	3139
3514	-1.16	-146.6	364.3	-11.9	165	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1603	3140
3824	-1.16	-146.6	402.3	-12.2	180	3828	0.00	2.53	0.00	0.000	4	0.000	0.081	2413	203	3140
3886	-1.16	-146.6	410.6	-13.2	183	3891	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1597	3140
4215	-1.16	-146.6	449.8	-12.2	199	4220	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	203	3140
4283	-1.16	-146.6	458.6	-12.9	202	4287	0.00	2.40	0.00	0.000	6	0.000	0.059	2413	1608	3140
4610	-1.16	-146.6	498.5	-12.3	218	4614	0.00	2.50	0.00	0.000	4	0.000	0.084	2413	2996	3139
4644	-1.16	-146.6	502.6	-11.9	219	4650	0.00	2.42	0.00	0.000	6	0.000	0.066	2413	1599	3139
4960	-1.16	-146.6	539.0	-10.3	235	4964	0.00	2.50	0.00	0.000	4	0.000	0.084	2413	212	3139
5022	-1.16	-146.6	546.4	-12.4	238	5027	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1607	3140
5352	-1.16	-146.6	577.0	-10.3	254	5356	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	211	3140
5410	-1.16	-146.6	583.4	-10.8	256	5416	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1601	3140
5726	-1.16	-146.6	616.0	-12.7	272	5730	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	210	3140
5812	-1.16	-146.6	628.8	-15.5	276	5816	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1600	3140
6139	-1.16	-146.6	673.0	-13.1	292	6143	0.00	2.53	0.00	0.000	4	0.000	0.087	2413	2995	3140
6174	-1.16	-146.6	678.0	-13.0	293	6180	0.00	2.42	0.00	0.000	6	0.000	0.068	2413	1601	3140
6490	-1.16	-146.6	718.3	-13.5	309	6494	0.00	2.50	0.00	0.000	4	0.000	0.082	2413	207	3140
6676	-1.16	-146.6	743.5	-13.9	317	6680	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1600	3139
6993	-1.16	-146.6	781.5	-10.8	332	6997	0.00	2.50	0.00	0.000	4	0.000	0.084	2413	2992	3140
7079	-1.16	-146.6	790.4	-11.2	336	7083	0.00	2.42	0.00	0.000	6	0.000	0.068	2413	1602	3140
7406	-1.16	-146.6	820.7	-11.8	352	7410	0.00	2.50	0.00	0.000	4	0.000	0.082	2413	207	3141
7491	-1.16	-146.6	833.2	-12.4	355	7498	0.00	2.40	0.00	0.000	6	0.000	0.060	2413	1612	3140
7515	end dive: BOTTOM_OBSTACLE_DETECTED
state	7515	begin apogee
7525	-0.32	0.0	836.4	12.6	357	7665	0.90	0.00	131.48	1.225	6	0.105	0.000	2600	2190	2538
7666	end apogee: CONTROL_FINISHED_OK
state	7666	begin climb
7670	1.16	146.6	842.5	0.0	364	7803	1.50	2.80	123.82	1.220	4	0.072	0.107	2930	3593	1941
8077	1.19	164.7	825.0	7.3	382	8101	0.00	2.47	16.58	1.125	6	0.000	0.067	2930	2198	1867
8418	1.29	223.9	800.5	5.8	399	8474	0.10	2.70	49.80	1.214	4	0.072	0.094	2961	3594	1625
8568	1.29	223.9	787.2	9.8	405	8575	0.00	2.47	0.00	0.000	6	0.000	0.067	2962	2197	1625
8885	1.29	223.9	759.8	8.1	421	8886	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2197	1624
9194	1.31	241.0	736.8	7.3	436	9216	0.00	2.58	15.10	1.115	4	0.000	0.076	2962	796	1556
9257	1.32	242.9	731.9	7.9	438	9263	0.00	2.47	0.00	0.000	6	0.000	0.063	2962	2195	1555
9573	1.32	242.9	705.4	9.1	454	9577	0.00	2.53	0.00	0.000	4	0.000	0.073	2962	795	1555
9642	1.32	242.9	697.9	11.1	457	9646	0.00	2.47	0.00	0.000	6	0.000	0.063	2962	2205	1554
9970	1.32	242.9	660.3	12.5	473	9975	0.00	2.53	0.00	0.000	4	0.000	0.072	2962	794	1554
10057	1.32	242.9	649.3	12.9	477	10062	0.00	2.47	0.00	0.000	6	0.000	0.063	2961	2206	1554
10385	1.32	242.9	613.6	10.1	493	10389	0.00	2.53	0.00	0.000	4	0.000	0.072	2962	786	1554
10469	1.32	242.9	604.6	10.3	496	10476	0.00	2.47	0.00	0.000	6	0.000	0.061	2962	2206	1554
10786	1.32	242.9	575.2	8.9	512	10790	0.00	2.50	0.00	0.000	4	0.000	0.072	2962	795	1554
10898	1.32	242.9	564.3	9.5	517	10902	0.00	2.45	0.00	0.000	6	0.000	0.061	2962	2210	1554
11226	1.32	242.9	533.2	8.8	533	11230	0.00	2.53	0.00	0.000	4	0.000	0.072	2962	792	1554
11345	1.32	242.9	520.4	12.0	538	11349	0.00	2.45	0.00	0.000	6	0.000	0.061	2962	2200	1553
11661	1.32	242.9	485.4	10.6	553	11665	0.00	2.53	0.00	0.000	4	0.000	0.071	2962	788	1554
11734	1.32	242.9	477.4	11.5	556	11738	0.00	2.45	0.00	0.000	6	0.000	0.062	2962	2198	1554
12051	1.32	242.9	443.6	11.2	571	12055	0.00	2.50	0.00	0.000	4	0.000	0.071	2962	786	1554
12119	1.32	242.9	435.6	11.3	574	12124	0.00	2.47	0.00	0.000	6	0.000	0.062	2962	2210	1554
12447	1.32	242.9	400.2	10.9	590	12451	0.00	2.50	0.00	0.000	4	0.000	0.071	2962	795	1554
12561	1.32	242.9	386.9	12.1	595	12566	0.00	2.45	0.00	0.000	6	0.000	0.062	2962	2208	1554
12889	1.32	242.9	349.1	11.5	611	12893	0.00	2.50	0.00	0.000	4	0.000	0.071	2962	793	1554
12968	1.32	242.9	340.2	11.7	614	12974	0.00	2.45	0.00	0.000	6	0.000	0.062	2962	2200	1554
13284	1.32	242.9	310.6	8.8	630	13288	0.00	2.50	0.00	0.000	4	0.000	0.071	2962	796	1554
13374	1.32	242.9	302.0	9.0	634	13379	0.00	2.45	0.00	0.000	6	0.000	0.061	2962	2204	1554
13697	1.32	242.9	274.6	8.3	650	13701	0.00	2.50	0.00	0.000	4	0.000	0.072	2962	792	1554
13765	1.32	242.9	268.6	8.8	653	13769	0.00	2.45	0.00	0.000	6	0.000	0.062	2962	2205	1554
14093	1.32	242.9	240.3	8.9	669	14097	0.00	2.50	0.00	0.000	4	0.000	0.072	2962	796	1554
14211	1.32	242.9	228.4	9.7	674	14215	0.00	2.42	0.00	0.000	6	0.000	0.062	2962	2200	1552
14533	1.32	242.9	200.5	8.3	690	14537	0.00	2.50	0.00	0.000	4	0.000	0.072	2962	793	1554
14623	1.32	242.9	192.7	8.3	694	14627	0.00	2.45	0.00	0.000	6	0.000	0.061	2962	2204	1554
14945	1.32	245.8	166.4	7.9	710	14955	0.00	2.55	5.85	0.620	4	0.000	0.071	2962	786	1536
15076	1.32	245.8	154.9	9.0	716	15080	0.00	2.45	0.00	0.000	6	0.000	0.061	2962	2198	1536
15404	1.32	245.8	125.4	9.0	732	15408	0.00	2.50	0.00	0.000	4	0.000	0.072	2962	789	1536
15511	1.32	245.8	114.5	10.3	736	15517	0.00	2.45	0.00	0.000	6	0.000	0.062	2962	2200	1535
15829	1.34	254.9	88.2	7.7	752	15843	0.00	2.53	9.10	0.645	4	0.000	0.072	2962	793	1498
15951	1.34	254.9	75.5	8.8	757	15956	0.00	2.45	0.00	0.000	6	0.000	0.062	2962	2200	1498
16270	1.34	254.9	46.1	11.4	772	16274	0.00	2.50	0.00	0.000	4	0.000	0.073	2962	796	1498
16342	1.34	254.9	38.6	8.3	775	16347	0.00	2.45	0.00	0.000	6	0.000	0.062	2962	2204	1498
16659	1.34	254.9	7.9	8.4	790	16663	0.00	2.53	0.00	0.000	4	0.000	0.073	2962	786	1498
16723	end climb: SURFACE_DEPTH_REACHED
state	16723	begin surface coast
16742	end surface coast: CONTROL_FINISHED_OK
state	16743	begin surface