Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 26 * 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 26 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 27 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 340 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 -650637.81 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 2705 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 1 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 330

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 -650637.81

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 340

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 2705 KALMAN_USE 1 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 27 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 26 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 102938,6327.317,-601.201,36,1.6,36,-8.2 TGT_NAME NSEC_S

_CALLS 2 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.162,-0.198

_SM_DEPTHo 1.27 KALMAN_X 56916.0,140.2,-536.0,-55909.8,3170.2

_SM_ANGLEo -53.2 KALMAN_Y 57007.7,0.6,-130.2,-87033.9,2814.2

GPS2 103945,6327.350,-601.272,11,1.0,11,-8.2 MHEAD_RNG_PITCHd_Wd 227.5,87749,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013075 _24V_AH 23.4,7.344

SM_CCo 18641,55.75,0.711,0,0,1315,300.00 _10V_AH 10.1,4.175

SM_GC 1.05,0.00,0.00,55.75,0.000,0.000,0.711,381,1587,1315,-10.69,-0.37,300.00 DATA_FILE_SIZE 44152,893

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 139516,0

TT8_MAMPS 0.025311 CFSIZE 254472192,250236928

HUMID 1933 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,37,0,0

TCM_TEMP 17.40 GPS 030908,155338,6326.444,-602.203,36,1.3,36,-8.2

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 177 107.95 SBE_CT 670 24 376.56

Roll_motor 156 95 351.83 SBE_O2 609 19 270.91

VBD_pump_during_apogee 306 1383 9924.61 WL_BB2F 463 105 1139.36

VBD_pump_during_surface 55 711 927.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 185.29 nil 0 0 0.00

Iridium_during_connect 67 160 252.28 nil 0 0 0.00

Iridium_during_xfer 261 223 1367.04

Transponder_ping 8 420 86.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.64

TT8 1677 19 335.47

LPSleep 14259 2 315.41

TT8_Active 520 19 104.05

TT8_Sampling 2056 39 826.83

TT8_CF8 793 45 366.85

TT8_Kalman 33 81 27.58

Analog_circuits 1547 12 187.58

GPS_charging 0 0 0.00

Compass 2006 8 162.14

RAFOS 0 0 0.00

Transponder 58 30 17.81

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 -1.38 -146.6 0.0 0.0 0 78 0.00 0.00 -60.10 0.000 2 0.000 0.000 382 1586 2725

82 -1.38 -146.6 3.7 -5.8 3 109 11.30 2.53 -9.70 0.000 4 0.178 0.082 2394 3006 3138

328 -1.38 -146.6 43.2 -13.1 14 332 0.00 2.42 0.00 0.000 6 0.000 0.060 2394 1599 3139

650 -1.38 -146.6 84.4 -13.5 30 654 0.00 2.50 0.00 0.000 4 0.000 0.082 2396 215 3142

838 -1.38 -146.6 110.5 -13.7 38 842 0.00 2.35 0.00 0.000 6 0.000 0.055 2395 1619 3143

1155 -1.38 -146.6 149.5 -11.6 53 1162 0.00 2.55 0.00 0.000 4 0.000 0.077 2395 212 3143

1248 -1.38 -146.6 161.5 -12.8 57 1253 0.00 2.33 0.00 0.000 6 0.000 0.055 2394 1601 3143

1578 -1.38 -146.6 200.3 -11.8 73 1582 0.00 2.50 0.00 0.000 4 0.000 0.077 2394 212 3143

1724 -1.38 -146.6 219.3 -12.6 79 1731 0.00 2.33 0.00 0.000 6 0.000 0.055 2395 1597 3143

2041 -1.38 -146.6 254.7 -11.2 95 2045 0.00 2.50 0.00 0.000 4 0.000 0.077 2394 215 3144

2131 -1.38 -146.6 265.7 -11.4 99 2136 0.00 2.33 0.00 0.000 6 0.000 0.056 2395 1598 3144

2466 -1.38 -146.6 302.0 -11.4 115 2470 0.00 2.53 0.00 0.000 4 0.000 0.080 2395 212 3146

2647 -1.38 -146.6 326.2 -13.5 123 2651 0.00 2.38 0.00 0.000 6 0.000 0.056 2394 1610 3146

2969 -1.38 -146.6 366.2 -12.4 139 2970 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1613 3147

3278 -1.38 -146.6 403.9 -12.0 154 3279 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1613 3147

3587 -1.38 -146.6 439.8 -11.2 169 3591 0.00 2.55 0.00 0.000 4 0.000 0.080 2394 215 3147

3643 -1.38 -146.6 446.7 -12.4 171 3649 0.00 2.35 0.00 0.000 6 0.000 0.055 2395 1600 3147

3959 -1.38 -146.6 480.4 -10.3 187 3960 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1603 3147

4268 -1.38 -146.6 511.8 -10.2 202 4273 0.00 2.55 0.00 0.000 4 0.000 0.081 2395 207 3145

4325 -1.38 -146.6 518.2 -11.3 204 4331 0.00 2.38 0.00 0.000 6 0.000 0.055 2395 1603 3145

4642 -1.38 -146.6 552.1 -11.2 220 4643 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1603 3143

4951 -1.38 -146.6 586.0 -10.8 235 4952 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1603 3142

5260 -1.38 -146.6 619.4 -10.5 250 5261 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1602 3141

5570 -1.38 -146.6 651.0 -10.0 265 5574 0.00 2.55 0.00 0.000 4 0.000 0.084 2394 208 3140

5610 -1.38 -146.6 655.5 -11.2 267 5614 0.00 2.38 0.00 0.000 6 0.000 0.055 2394 1596 3140

5937 -1.38 -146.6 687.6 -9.7 283 5939 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1597 3138

6247 -1.38 -146.6 717.8 -9.9 298 6251 0.00 2.53 0.00 0.000 4 0.000 0.084 2394 215 3137

6303 -1.38 -146.6 723.9 -11.1 300 6309 0.00 2.38 0.00 0.000 6 0.000 0.055 2394 1601 3136

6620 -1.38 -146.6 756.0 -10.2 316 6624 0.00 2.55 0.00 0.000 4 0.000 0.083 2395 209 3135

6667 -1.38 -146.6 761.2 -11.6 318 6672 0.00 2.38 0.00 0.000 6 0.000 0.055 2394 1602 3135

6995 -1.38 -146.6 795.1 -10.4 334 6996 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1602 3134

7306 -1.38 -146.6 826.6 -10.0 349 7307 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1602 3134

7614 -1.38 -146.6 856.9 -9.6 364 7618 0.00 2.55 0.00 0.000 4 0.000 0.083 2394 208 3133

7654 -1.38 -146.6 861.1 -10.8 366 7659 0.00 2.38 0.00 0.000 6 0.000 0.055 2394 1603 3132

7982 -1.38 -146.6 892.1 -9.2 382 7984 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1603 3131

8292 -1.38 -146.6 919.8 -9.1 397 8296 0.00 2.55 0.00 0.000 4 0.000 0.082 2394 209 3131

8336 -1.38 -146.6 924.4 -10.0 399 8341 0.00 2.38 0.00 0.000 6 0.000 0.055 2394 1596 3131

8658 -1.38 -146.6 954.7 -9.6 415 8660 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1597 3130

8968 -1.38 -146.6 984.4 -9.7 430 8969 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 1597 3129

9026 end dive: TARGET_DEPTH_EXCEEDED

state 9026 begin apogee

9035 -0.32 0.0 990.4 9.7 433 9169 1.17 0.00 126.68 1.384 6 0.115 0.000 2633 2197 2539

9169 end apogee: CONTROL_FINISHED_OK

state 9169 begin climb

9173 1.38 146.6 995.5 0.0 440 9306 1.75 2.75 124.65 1.350 4 0.086 0.096 3003 3602 1941

9428 1.38 146.6 979.1 11.4 451 9434 0.00 2.50 0.00 0.000 6 0.000 0.062 3003 2194 1941

9744 1.38 146.6 945.7 10.7 467 9749 0.00 2.62 0.00 0.000 4 0.000 0.084 3002 3604 1940

9800 1.38 146.6 939.4 12.0 469 9806 0.00 2.47 0.00 0.000 6 0.000 0.061 3003 2198 1940

10116 1.38 146.6 905.1 11.0 485 10121 0.00 2.60 0.00 0.000 4 0.000 0.084 3002 3602 1940

10185 1.38 146.6 897.1 11.7 488 10190 0.00 2.47 0.00 0.000 6 0.000 0.061 3003 2195 1939

10507 1.38 146.6 861.8 10.9 504 10512 0.00 2.62 0.00 0.000 4 0.000 0.084 3003 3608 1938

10549 1.38 146.6 857.3 11.2 506 10553 0.00 2.47 0.00 0.000 6 0.000 0.061 3003 2199 1939

10876 1.38 146.6 822.5 10.6 522 10881 0.00 2.60 0.00 0.000 4 0.000 0.084 3003 3602 1939

10926 1.38 146.6 817.1 10.8 524 10931 0.00 2.47 0.00 0.000 6 0.000 0.061 3003 2194 1939

11243 1.39 150.6 785.7 9.8 539 11253 0.00 2.65 4.97 0.951 4 0.000 0.084 3003 3601 1924

11315 1.39 150.6 778.0 10.5 542 11320 0.00 2.47 0.00 0.000 6 0.000 0.061 3003 2200 1924

11632 1.39 153.3 747.0 9.9 557 11638 0.00 0.00 4.03 0.810 6 0.000 0.000 3003 2200 1913

11941 1.39 153.3 715.5 10.5 572 11945 0.00 2.60 0.00 0.000 4 0.000 0.085 3003 3601 1913

11997 1.39 153.3 709.3 11.4 574 12003 0.00 2.47 0.00 0.000 6 0.000 0.062 3003 2197 1913

12313 1.39 153.3 676.1 10.6 590 12314 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2198 1913

12622 1.39 153.3 643.2 10.5 605 12627 0.00 2.60 0.00 0.000 4 0.000 0.086 3003 3602 1912

12690 1.39 153.3 635.4 11.9 608 12694 0.00 2.47 0.00 0.000 6 0.000 0.063 3003 2198 1912

13011 1.39 153.3 602.4 10.0 624 13016 0.00 2.60 0.00 0.000 4 0.000 0.085 3003 3608 1913

13079 1.39 153.3 595.1 10.7 627 13083 0.00 2.47 0.00 0.000 6 0.000 0.062 3003 2199 1913

13401 1.42 168.8 564.3 9.3 643 13422 0.00 2.67 14.07 1.049 4 0.000 0.084 3002 3606 1850

13457 1.43 173.3 558.7 9.8 645 13469 0.00 2.50 5.30 0.845 6 0.000 0.062 3003 2199 1832

13779 1.44 179.8 527.4 9.7 661 13788 0.00 0.00 7.07 0.934 6 0.000 0.000 3003 2199 1806

14088 1.44 179.8 495.5 10.2 676 14093 0.00 2.60 0.00 0.000 4 0.000 0.084 3003 3603 1806

14121 1.44 179.8 491.9 10.6 677 14128 0.00 2.47 0.00 0.000 6 0.000 0.063 3003 2192 1805

14438 1.46 195.0 461.6 9.3 693 14456 0.00 0.00 14.00 1.000 6 0.000 0.000 3003 2192 1743

14767 1.46 195.0 428.9 10.1 709 14772 0.00 2.60 0.00 0.000 4 0.000 0.084 3003 3604 1743

14868 1.46 195.0 418.3 10.3 713 14874 0.00 2.47 0.00 0.000 6 0.000 0.062 3003 2199 1742

15184 1.47 199.9 387.4 9.8 729 15195 0.00 2.65 5.75 0.890 4 0.000 0.084 3003 3609 1722

15286 1.47 199.9 376.6 10.2 733 15292 0.00 2.50 0.00 0.000 6 0.000 0.063 3003 2194 1722

15602 1.47 199.9 342.5 11.6 749 15603 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2195 1722

15911 1.47 199.9 308.4 10.5 764 15915 0.00 2.55 0.00 0.000 4 0.000 0.081 3003 795 1722

16080 1.47 199.9 289.8 11.2 771 16085 0.00 2.42 0.00 0.000 6 0.000 0.054 3003 2216 1722

16397 1.47 199.9 256.8 10.5 786 16398 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2216 1721

16706 1.47 199.9 223.0 10.9 801 16710 0.00 2.53 0.00 0.000 4 0.000 0.071 3003 793 1721

16791 1.47 199.9 213.1 12.7 804 16797 0.00 2.40 0.00 0.000 6 0.000 0.055 3003 2197 1721

17107 1.47 199.9 179.4 10.5 820 17109 0.10 0.00 0.00 0.000 6 0.072 0.000 3033 2197 1721

17417 1.47 199.9 143.9 11.6 835 17421 0.00 2.53 0.00 0.000 4 0.000 0.073 3034 792 1721

17467 1.47 199.9 137.6 12.2 837 17471 0.00 2.38 0.00 0.000 6 0.000 0.056 3034 2200 1721

17789 1.47 199.9 99.6 11.7 853 17793 0.00 2.50 0.00 0.000 4 0.000 0.070 3033 791 1721

17845 1.47 199.9 92.5 11.9 855 17851 0.00 2.40 0.00 0.000 6 0.000 0.057 3034 2200 1721

18163 1.47 199.9 54.7 11.6 871 18167 0.00 2.50 0.00 0.000 4 0.000 0.070 3034 787 1721

18248 1.47 199.9 44.9 11.1 875 18253 0.00 2.42 0.00 0.000 6 0.000 0.058 3034 2203 1720

18577 1.47 199.9 4.0 13.5 891 18578 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2203 1721

18593 end climb: SURFACE_DEPTH_REACHED

state 18594 begin surface coast

18615 end surface coast: CONTROL_FINISHED_OK

state 18616 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	26	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	27	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	340	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	-650637.81	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	2705	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	1	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	102938,6327.317,-601.201,36,1.6,36,-8.2	TGT_NAME	NSEC_S
_CALLS	2	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.162,-0.198
_SM_DEPTHo	1.27	KALMAN_X	56916.0,140.2,-536.0,-55909.8,3170.2
_SM_ANGLEo	-53.2	KALMAN_Y	57007.7,0.6,-130.2,-87033.9,2814.2
GPS2	103945,6327.350,-601.272,11,1.0,11,-8.2	MHEAD_RNG_PITCHd_Wd	227.5,87749,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.6,1.013075	_24V_AH	23.4,7.344
SM_CCo	18641,55.75,0.711,0,0,1315,300.00	_10V_AH	10.1,4.175
SM_GC	1.05,0.00,0.00,55.75,0.000,0.000,0.711,381,1587,1315,-10.69,-0.37,300.00	DATA_FILE_SIZE	44152,893
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	139516,0
TT8_MAMPS	0.025311	CFSIZE	254472192,250236928
HUMID	1933	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
TCM_TEMP	17.40	GPS	030908,155338,6326.444,-602.203,36,1.3,36,-8.2
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	177	107.95	SBE_CT	670	24	376.56
Roll_motor	156	95	351.83	SBE_O2	609	19	270.91
VBD_pump_during_apogee	306	1383	9924.61	WL_BB2F	463	105	1139.36
VBD_pump_during_surface	55	711	927.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	185.29	nil	0	0	0.00
Iridium_during_connect	67	160	252.28	nil	0	0	0.00
Iridium_during_xfer	261	223	1367.04
Transponder_ping	8	420	86.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.64
TT8	1677	19	335.47
LPSleep	14259	2	315.41
TT8_Active	520	19	104.05
TT8_Sampling	2056	39	826.83
TT8_CF8	793	45	366.85
TT8_Kalman	33	81	27.58
Analog_circuits	1547	12	187.58
GPS_charging	0	0	0.00
Compass	2006	8	162.14
RAFOS	0	0	0.00
Transponder	58	30	17.81

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	-1.38	-146.6	0.0	0.0	0	78	0.00	0.00	-60.10	0.000	2	0.000	0.000	382	1586	2725
82	-1.38	-146.6	3.7	-5.8	3	109	11.30	2.53	-9.70	0.000	4	0.178	0.082	2394	3006	3138
328	-1.38	-146.6	43.2	-13.1	14	332	0.00	2.42	0.00	0.000	6	0.000	0.060	2394	1599	3139
650	-1.38	-146.6	84.4	-13.5	30	654	0.00	2.50	0.00	0.000	4	0.000	0.082	2396	215	3142
838	-1.38	-146.6	110.5	-13.7	38	842	0.00	2.35	0.00	0.000	6	0.000	0.055	2395	1619	3143
1155	-1.38	-146.6	149.5	-11.6	53	1162	0.00	2.55	0.00	0.000	4	0.000	0.077	2395	212	3143
1248	-1.38	-146.6	161.5	-12.8	57	1253	0.00	2.33	0.00	0.000	6	0.000	0.055	2394	1601	3143
1578	-1.38	-146.6	200.3	-11.8	73	1582	0.00	2.50	0.00	0.000	4	0.000	0.077	2394	212	3143
1724	-1.38	-146.6	219.3	-12.6	79	1731	0.00	2.33	0.00	0.000	6	0.000	0.055	2395	1597	3143
2041	-1.38	-146.6	254.7	-11.2	95	2045	0.00	2.50	0.00	0.000	4	0.000	0.077	2394	215	3144
2131	-1.38	-146.6	265.7	-11.4	99	2136	0.00	2.33	0.00	0.000	6	0.000	0.056	2395	1598	3144
2466	-1.38	-146.6	302.0	-11.4	115	2470	0.00	2.53	0.00	0.000	4	0.000	0.080	2395	212	3146
2647	-1.38	-146.6	326.2	-13.5	123	2651	0.00	2.38	0.00	0.000	6	0.000	0.056	2394	1610	3146
2969	-1.38	-146.6	366.2	-12.4	139	2970	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1613	3147
3278	-1.38	-146.6	403.9	-12.0	154	3279	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1613	3147
3587	-1.38	-146.6	439.8	-11.2	169	3591	0.00	2.55	0.00	0.000	4	0.000	0.080	2394	215	3147
3643	-1.38	-146.6	446.7	-12.4	171	3649	0.00	2.35	0.00	0.000	6	0.000	0.055	2395	1600	3147
3959	-1.38	-146.6	480.4	-10.3	187	3960	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1603	3147
4268	-1.38	-146.6	511.8	-10.2	202	4273	0.00	2.55	0.00	0.000	4	0.000	0.081	2395	207	3145
4325	-1.38	-146.6	518.2	-11.3	204	4331	0.00	2.38	0.00	0.000	6	0.000	0.055	2395	1603	3145
4642	-1.38	-146.6	552.1	-11.2	220	4643	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1603	3143
4951	-1.38	-146.6	586.0	-10.8	235	4952	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1603	3142
5260	-1.38	-146.6	619.4	-10.5	250	5261	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1602	3141
5570	-1.38	-146.6	651.0	-10.0	265	5574	0.00	2.55	0.00	0.000	4	0.000	0.084	2394	208	3140
5610	-1.38	-146.6	655.5	-11.2	267	5614	0.00	2.38	0.00	0.000	6	0.000	0.055	2394	1596	3140
5937	-1.38	-146.6	687.6	-9.7	283	5939	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1597	3138
6247	-1.38	-146.6	717.8	-9.9	298	6251	0.00	2.53	0.00	0.000	4	0.000	0.084	2394	215	3137
6303	-1.38	-146.6	723.9	-11.1	300	6309	0.00	2.38	0.00	0.000	6	0.000	0.055	2394	1601	3136
6620	-1.38	-146.6	756.0	-10.2	316	6624	0.00	2.55	0.00	0.000	4	0.000	0.083	2395	209	3135
6667	-1.38	-146.6	761.2	-11.6	318	6672	0.00	2.38	0.00	0.000	6	0.000	0.055	2394	1602	3135
6995	-1.38	-146.6	795.1	-10.4	334	6996	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1602	3134
7306	-1.38	-146.6	826.6	-10.0	349	7307	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1602	3134
7614	-1.38	-146.6	856.9	-9.6	364	7618	0.00	2.55	0.00	0.000	4	0.000	0.083	2394	208	3133
7654	-1.38	-146.6	861.1	-10.8	366	7659	0.00	2.38	0.00	0.000	6	0.000	0.055	2394	1603	3132
7982	-1.38	-146.6	892.1	-9.2	382	7984	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1603	3131
8292	-1.38	-146.6	919.8	-9.1	397	8296	0.00	2.55	0.00	0.000	4	0.000	0.082	2394	209	3131
8336	-1.38	-146.6	924.4	-10.0	399	8341	0.00	2.38	0.00	0.000	6	0.000	0.055	2394	1596	3131
8658	-1.38	-146.6	954.7	-9.6	415	8660	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1597	3130
8968	-1.38	-146.6	984.4	-9.7	430	8969	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	1597	3129
9026	end dive: TARGET_DEPTH_EXCEEDED
state	9026	begin apogee
9035	-0.32	0.0	990.4	9.7	433	9169	1.17	0.00	126.68	1.384	6	0.115	0.000	2633	2197	2539
9169	end apogee: CONTROL_FINISHED_OK
state	9169	begin climb
9173	1.38	146.6	995.5	0.0	440	9306	1.75	2.75	124.65	1.350	4	0.086	0.096	3003	3602	1941
9428	1.38	146.6	979.1	11.4	451	9434	0.00	2.50	0.00	0.000	6	0.000	0.062	3003	2194	1941
9744	1.38	146.6	945.7	10.7	467	9749	0.00	2.62	0.00	0.000	4	0.000	0.084	3002	3604	1940
9800	1.38	146.6	939.4	12.0	469	9806	0.00	2.47	0.00	0.000	6	0.000	0.061	3003	2198	1940
10116	1.38	146.6	905.1	11.0	485	10121	0.00	2.60	0.00	0.000	4	0.000	0.084	3002	3602	1940
10185	1.38	146.6	897.1	11.7	488	10190	0.00	2.47	0.00	0.000	6	0.000	0.061	3003	2195	1939
10507	1.38	146.6	861.8	10.9	504	10512	0.00	2.62	0.00	0.000	4	0.000	0.084	3003	3608	1938
10549	1.38	146.6	857.3	11.2	506	10553	0.00	2.47	0.00	0.000	6	0.000	0.061	3003	2199	1939
10876	1.38	146.6	822.5	10.6	522	10881	0.00	2.60	0.00	0.000	4	0.000	0.084	3003	3602	1939
10926	1.38	146.6	817.1	10.8	524	10931	0.00	2.47	0.00	0.000	6	0.000	0.061	3003	2194	1939
11243	1.39	150.6	785.7	9.8	539	11253	0.00	2.65	4.97	0.951	4	0.000	0.084	3003	3601	1924
11315	1.39	150.6	778.0	10.5	542	11320	0.00	2.47	0.00	0.000	6	0.000	0.061	3003	2200	1924
11632	1.39	153.3	747.0	9.9	557	11638	0.00	0.00	4.03	0.810	6	0.000	0.000	3003	2200	1913
11941	1.39	153.3	715.5	10.5	572	11945	0.00	2.60	0.00	0.000	4	0.000	0.085	3003	3601	1913
11997	1.39	153.3	709.3	11.4	574	12003	0.00	2.47	0.00	0.000	6	0.000	0.062	3003	2197	1913
12313	1.39	153.3	676.1	10.6	590	12314	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2198	1913
12622	1.39	153.3	643.2	10.5	605	12627	0.00	2.60	0.00	0.000	4	0.000	0.086	3003	3602	1912
12690	1.39	153.3	635.4	11.9	608	12694	0.00	2.47	0.00	0.000	6	0.000	0.063	3003	2198	1912
13011	1.39	153.3	602.4	10.0	624	13016	0.00	2.60	0.00	0.000	4	0.000	0.085	3003	3608	1913
13079	1.39	153.3	595.1	10.7	627	13083	0.00	2.47	0.00	0.000	6	0.000	0.062	3003	2199	1913
13401	1.42	168.8	564.3	9.3	643	13422	0.00	2.67	14.07	1.049	4	0.000	0.084	3002	3606	1850
13457	1.43	173.3	558.7	9.8	645	13469	0.00	2.50	5.30	0.845	6	0.000	0.062	3003	2199	1832
13779	1.44	179.8	527.4	9.7	661	13788	0.00	0.00	7.07	0.934	6	0.000	0.000	3003	2199	1806
14088	1.44	179.8	495.5	10.2	676	14093	0.00	2.60	0.00	0.000	4	0.000	0.084	3003	3603	1806
14121	1.44	179.8	491.9	10.6	677	14128	0.00	2.47	0.00	0.000	6	0.000	0.063	3003	2192	1805
14438	1.46	195.0	461.6	9.3	693	14456	0.00	0.00	14.00	1.000	6	0.000	0.000	3003	2192	1743
14767	1.46	195.0	428.9	10.1	709	14772	0.00	2.60	0.00	0.000	4	0.000	0.084	3003	3604	1743
14868	1.46	195.0	418.3	10.3	713	14874	0.00	2.47	0.00	0.000	6	0.000	0.062	3003	2199	1742
15184	1.47	199.9	387.4	9.8	729	15195	0.00	2.65	5.75	0.890	4	0.000	0.084	3003	3609	1722
15286	1.47	199.9	376.6	10.2	733	15292	0.00	2.50	0.00	0.000	6	0.000	0.063	3003	2194	1722
15602	1.47	199.9	342.5	11.6	749	15603	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2195	1722
15911	1.47	199.9	308.4	10.5	764	15915	0.00	2.55	0.00	0.000	4	0.000	0.081	3003	795	1722
16080	1.47	199.9	289.8	11.2	771	16085	0.00	2.42	0.00	0.000	6	0.000	0.054	3003	2216	1722
16397	1.47	199.9	256.8	10.5	786	16398	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2216	1721
16706	1.47	199.9	223.0	10.9	801	16710	0.00	2.53	0.00	0.000	4	0.000	0.071	3003	793	1721
16791	1.47	199.9	213.1	12.7	804	16797	0.00	2.40	0.00	0.000	6	0.000	0.055	3003	2197	1721
17107	1.47	199.9	179.4	10.5	820	17109	0.10	0.00	0.00	0.000	6	0.072	0.000	3033	2197	1721
17417	1.47	199.9	143.9	11.6	835	17421	0.00	2.53	0.00	0.000	4	0.000	0.073	3034	792	1721
17467	1.47	199.9	137.6	12.2	837	17471	0.00	2.38	0.00	0.000	6	0.000	0.056	3034	2200	1721
17789	1.47	199.9	99.6	11.7	853	17793	0.00	2.50	0.00	0.000	4	0.000	0.070	3033	791	1721
17845	1.47	199.9	92.5	11.9	855	17851	0.00	2.40	0.00	0.000	6	0.000	0.057	3034	2200	1721
18163	1.47	199.9	54.7	11.6	871	18167	0.00	2.50	0.00	0.000	4	0.000	0.070	3034	787	1721
18248	1.47	199.9	44.9	11.1	875	18253	0.00	2.42	0.00	0.000	6	0.000	0.058	3034	2203	1720
18577	1.47	199.9	4.0	13.5	891	18578	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	2203	1721
18593	end climb: SURFACE_DEPTH_REACHED
state	18594	begin surface coast
18615	end surface coast: CONTROL_FINISHED_OK
state	18616	begin surface