Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 360 * 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 360 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -657129.44 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2675 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -657129.44

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2675 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 360 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 085525,6326.852,-1327.017,30,1.4,47,-12.5 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 1.39 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -62.5 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 090144,6326.891,-1327.127,8,1.4,13,-12.5 MHEAD_RNG_PITCHd_Wd 167.8,24232,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026647 ALTIM_BOTTOM_PING 826.2,87.4

SM_CCo 19102,26.15,0.604,1,0,1315,300.00 _24V_AH 23.5,47.959

SM_GC 1.25,0.00,0.00,26.15,0.000,0.000,0.604,378,1622,1315,-10.57,0.62,300.00 _10V_AH 10.2,24.072

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47503,904

TT8_MAMPS 0.021476 CAP_FILE_SIZE 148381,0

HUMID 1865 CFSIZE 254472192,235507712

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,36,2,0

XPDR_PINGS 0 GPS 191008,142208,6326.710,-1325.116,24,1.9,24,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 175 103.60 SBE_CT 673 24 379.89

Roll_motor 199 107 502.60 SBE_O2 617 19 275.79

VBD_pump_during_apogee 351 1287 10620.57 WL_BB2F 507 105 1253.05

VBD_pump_during_surface 26 603 370.95 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 36 160 138.95 nil 0 0 0.00

Iridium_during_xfer 152 223 796.60

Transponder_ping 7 420 71.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.59

TT8 1752 19 353.84

LPSleep 14219 2 317.63

TT8_Active 531 19 107.41

TT8_Sampling 2341 39 950.58

TT8_CF8 666 45 311.59

TT8_Kalman 0 81 0.00

Analog_circuits 1706 12 208.92

GPS_charging 0 0 0.00

Compass 2278 8 185.89

RAFOS 0 0 0.00

Transponder 49 30 15.11

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 -60.08 0.000 2 0.000 0.000 377 1591 2711

86 -1.16 -146.6 3.5 -4.9 3 117 11.38 2.53 -11.00 0.000 4 0.176 0.089 2414 205 3139

319 -1.16 -146.6 33.8 -10.5 13 324 0.00 2.42 0.00 0.000 6 0.000 0.058 2414 1621 3139

636 -1.16 -146.6 68.3 -10.9 28 640 0.00 2.55 0.00 0.000 4 0.000 0.075 2413 206 3139

687 -1.16 -146.6 74.3 -11.4 30 691 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1611 3139

1004 -1.16 -146.6 108.7 -11.1 45 1005 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1611 3139

1313 -1.16 -146.6 142.2 -11.2 60 1317 0.00 2.53 0.00 0.000 4 0.000 0.075 2413 201 3139

1405 -1.16 -146.6 151.5 -9.6 64 1409 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1610 3139

1732 -1.16 -146.6 181.1 -9.6 80 1733 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1612 3139

2041 -1.16 -146.6 211.6 -9.9 95 2045 0.00 2.53 0.00 0.000 4 0.000 0.075 2413 201 3140

2149 -1.16 -146.6 223.0 -10.3 100 2153 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1602 3140

2482 -1.16 -146.6 257.7 -10.7 116 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1603 3140

2792 -1.16 -146.6 292.3 -12.0 131 2796 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 209 3140

2848 -1.16 -146.6 299.6 -13.0 133 2855 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1606 3140

3164 -1.16 -146.6 333.1 -10.0 149 3165 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1606 3140

3474 -1.16 -146.6 362.2 -9.0 164 3478 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 209 3140

3530 -1.16 -146.6 367.7 -10.0 166 3534 0.00 2.35 0.00 0.000 6 0.000 0.058 2413 1595 3140

3847 -1.16 -146.6 395.6 -8.6 181 3848 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1599 3140

4157 -1.16 -146.6 422.0 -8.6 196 4161 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 201 3140

4213 -1.16 -146.6 427.0 -8.9 198 4219 0.00 2.40 0.00 0.000 6 0.000 0.059 2413 1607 3140

4532 -1.16 -146.6 451.7 -7.8 214 4533 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1611 3140

4839 -1.16 -146.6 477.0 -8.4 229 4843 0.00 2.53 0.00 0.000 4 0.000 0.077 2413 201 3140

4924 -1.16 -146.6 485.0 -9.9 233 4928 0.00 2.40 0.00 0.000 6 0.000 0.059 2413 1605 3140

5251 -1.16 -146.6 512.6 -8.4 249 5252 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1609 3140

5561 -1.16 -146.6 538.9 -8.6 264 5565 0.00 2.50 0.00 0.000 4 0.000 0.076 2413 209 3140

5634 -1.16 -146.6 545.8 -9.8 267 5638 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1595 3140

5950 -1.16 -146.6 573.4 -9.2 282 5954 0.00 2.53 0.00 0.000 4 0.000 0.086 2413 2996 3140

6001 -1.16 -146.6 578.1 -9.6 284 6006 0.00 2.42 0.00 0.000 6 0.000 0.067 2413 1599 3140

6323 -1.16 -146.6 609.9 -10.3 300 6328 0.00 2.53 0.00 0.000 4 0.000 0.084 2413 202 3140

6369 -1.16 -146.6 615.1 -12.3 302 6373 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1612 3140

6692 -1.16 -146.6 651.3 -11.5 318 6696 0.00 2.53 0.00 0.000 4 0.000 0.077 2413 203 3140

6793 -1.16 -146.6 663.9 -12.9 322 6799 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1597 3140

7110 -1.16 -146.6 705.5 -14.7 338 7114 0.00 2.50 0.00 0.000 4 0.000 0.079 2413 210 3140

7308 -1.16 -146.6 738.1 -16.8 347 7313 0.00 2.38 0.00 0.000 6 0.000 0.061 2413 1598 3140

7637 -1.16 -146.6 784.4 -14.3 363 7641 0.00 2.50 0.00 0.000 4 0.000 0.080 2414 209 3140

7767 -1.16 -146.6 802.6 -13.6 369 7771 0.00 2.40 0.00 0.000 6 0.000 0.061 2413 1600 3140

8095 -1.16 -146.6 839.5 -10.7 385 8099 0.00 2.53 0.00 0.000 4 0.000 0.081 2413 201 3140

8207 -1.16 -146.6 852.3 -12.0 390 8211 0.00 2.42 0.00 0.000 6 0.000 0.061 2413 1601 3140

8529 -1.16 -146.6 878.9 -7.5 406 8530 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1601 3140

8752 end dive: BOTTOM_OBSTACLE_DETECTED

state 8752 begin apogee

8762 -0.32 0.0 903.8 11.0 417 8903 0.95 0.00 132.95 1.287 6 0.129 0.000 2601 2196 2539

8904 end apogee: CONTROL_FINISHED_OK

state 8904 begin climb

8908 1.16 146.6 911.0 0.0 424 9042 1.52 2.60 125.65 1.275 4 0.084 0.074 2926 789 1941

9052 1.16 146.6 904.1 9.9 430 9058 0.00 2.53 0.00 0.000 6 0.000 0.065 2927 2201 1940

9368 1.16 146.6 882.5 9.4 446 9373 0.00 2.72 0.00 0.000 4 0.000 0.107 2927 3612 1939

9557 1.16 146.6 866.5 11.4 454 9561 0.00 2.50 0.00 0.000 6 0.000 0.067 2926 2198 1937

9873 1.16 146.6 836.5 8.9 469 9878 0.00 2.55 0.00 0.000 4 0.000 0.079 2927 792 1937

9896 1.16 146.6 834.5 8.8 470 9901 0.00 2.50 0.00 0.000 6 0.000 0.063 2927 2212 1937

10220 1.16 146.6 804.5 8.5 486 10224 0.00 2.55 0.00 0.000 4 0.000 0.074 2926 794 1936

10310 1.16 146.6 796.7 8.3 490 10314 0.00 2.47 0.00 0.000 6 0.000 0.064 2927 2198 1936

10632 1.27 210.1 775.5 5.6 506 10695 0.10 2.62 53.00 1.234 4 0.071 0.074 2958 800 1681

10736 1.27 211.6 768.7 7.9 510 10743 0.00 2.50 0.00 0.000 6 0.000 0.064 2958 2207 1681

11053 1.33 250.5 747.8 6.5 526 11095 0.00 2.62 34.60 1.191 4 0.000 0.074 2958 786 1516

11142 1.33 250.5 741.1 8.1 530 11147 0.00 2.53 0.00 0.000 6 0.000 0.064 2958 2207 1516

11470 1.33 250.5 714.8 8.0 546 11475 0.00 2.55 0.00 0.000 4 0.000 0.073 2958 789 1514

11579 1.33 250.5 705.4 8.7 551 11584 0.00 2.50 0.00 0.000 6 0.000 0.064 2958 2208 1514

11907 1.33 250.5 678.6 8.2 567 11911 0.00 2.53 0.00 0.000 4 0.000 0.073 2958 793 1513

12019 1.33 250.5 668.4 9.1 572 12023 0.00 2.47 0.00 0.000 6 0.000 0.063 2958 2203 1513

12341 1.33 250.5 641.2 8.5 588 12345 0.00 2.53 0.00 0.000 4 0.000 0.072 2958 789 1513

12404 1.33 250.5 635.6 9.1 591 12408 0.00 2.47 0.00 0.000 6 0.000 0.063 2958 2203 1513

12731 1.33 250.5 608.9 8.2 607 12735 0.00 2.53 0.00 0.000 4 0.000 0.072 2958 786 1513

12782 1.33 250.5 604.1 9.2 609 12786 0.00 2.47 0.00 0.000 6 0.000 0.063 2958 2201 1513

13098 1.33 250.5 576.0 9.3 624 13103 0.00 2.50 0.00 0.000 4 0.000 0.072 2958 792 1514

13172 1.33 250.5 568.9 10.0 627 13176 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2201 1513

13489 1.33 250.5 539.8 9.2 642 13493 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 787 1513

13590 1.33 250.5 529.3 10.2 646 13594 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2201 1513

13908 1.33 250.5 499.4 9.4 661 13912 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 791 1514

14003 1.33 250.5 489.6 10.1 665 14007 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2203 1514

14319 1.33 250.5 459.2 10.0 680 14323 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 791 1514

14421 1.33 250.5 448.2 11.9 684 14425 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2205 1513

14737 1.33 250.5 415.1 10.8 699 14741 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 792 1514

14839 1.33 250.5 403.7 11.7 703 14845 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2207 1514

15157 1.33 250.5 370.9 10.7 719 15161 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 792 1514

15252 1.33 250.5 359.6 11.6 723 15257 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2209 1513

15569 1.33 250.5 326.8 10.6 738 15573 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 789 1514

15661 1.33 250.5 316.7 10.8 742 15665 0.00 2.47 0.00 0.000 6 0.000 0.063 2958 2201 1514

15994 1.33 250.5 282.9 9.9 758 15998 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 786 1513

16084 1.33 250.5 273.2 11.0 762 16088 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2202 1514

16405 1.33 250.5 241.9 9.9 778 16409 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 790 1514

16524 1.33 250.5 229.1 10.6 783 16529 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2209 1514

16840 1.33 250.5 198.0 9.5 798 16844 0.00 2.53 0.00 0.000 4 0.000 0.071 2959 783 1514

16942 1.33 250.5 188.2 10.2 802 16946 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2203 1514

17259 1.33 250.5 161.3 8.6 817 17263 0.00 2.53 0.00 0.000 4 0.000 0.072 2958 786 1513

17326 1.33 250.5 154.9 9.2 820 17331 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2208 1514

17649 1.34 254.5 128.8 7.8 836 17659 0.00 2.55 4.95 0.569 4 0.000 0.071 2958 785 1501

17762 1.34 254.5 119.3 8.0 841 17766 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2208 1500

18084 1.34 254.5 91.9 9.6 857 18088 0.00 2.53 0.00 0.000 4 0.000 0.072 2958 784 1501

18208 1.34 254.5 79.2 9.1 862 18215 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2201 1501

18526 1.34 254.5 49.0 8.7 878 18531 0.00 2.50 0.00 0.000 4 0.000 0.072 2958 789 1501

18650 1.34 254.5 37.1 11.1 883 18656 0.00 2.47 0.00 0.000 6 0.000 0.064 2958 2207 1501

18969 1.34 254.5 5.4 12.0 899 18973 0.00 2.53 0.00 0.000 4 0.000 0.072 2958 789 1501

19016 end climb: SURFACE_DEPTH_REACHED

state 19016 begin surface coast

19075 end surface coast: CONTROL_FINISHED_OK

state 19075 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	360	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-657129.44	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2675	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	085525,6326.852,-1327.017,30,1.4,47,-12.5	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	1.39	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-62.5	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	090144,6326.891,-1327.127,8,1.4,13,-12.5	MHEAD_RNG_PITCHd_Wd	167.8,24232,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.3,1.026647	ALTIM_BOTTOM_PING	826.2,87.4
SM_CCo	19102,26.15,0.604,1,0,1315,300.00	_24V_AH	23.5,47.959
SM_GC	1.25,0.00,0.00,26.15,0.000,0.000,0.604,378,1622,1315,-10.57,0.62,300.00	_10V_AH	10.2,24.072
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47503,904
TT8_MAMPS	0.021476	CAP_FILE_SIZE	148381,0
HUMID	1865	CFSIZE	254472192,235507712
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,36,2,0
XPDR_PINGS	0	GPS	191008,142208,6326.710,-1325.116,24,1.9,24,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	175	103.60	SBE_CT	673	24	379.89
Roll_motor	199	107	502.60	SBE_O2	617	19	275.79
VBD_pump_during_apogee	351	1287	10620.57	WL_BB2F	507	105	1253.05
VBD_pump_during_surface	26	603	370.95	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	36	160	138.95	nil	0	0	0.00
Iridium_during_xfer	152	223	796.60
Transponder_ping	7	420	71.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.59
TT8	1752	19	353.84
LPSleep	14219	2	317.63
TT8_Active	531	19	107.41
TT8_Sampling	2341	39	950.58
TT8_CF8	666	45	311.59
TT8_Kalman	0	81	0.00
Analog_circuits	1706	12	208.92
GPS_charging	0	0	0.00
Compass	2278	8	185.89
RAFOS	0	0	0.00
Transponder	49	30	15.11

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	-60.08	0.000	2	0.000	0.000	377	1591	2711
86	-1.16	-146.6	3.5	-4.9	3	117	11.38	2.53	-11.00	0.000	4	0.176	0.089	2414	205	3139
319	-1.16	-146.6	33.8	-10.5	13	324	0.00	2.42	0.00	0.000	6	0.000	0.058	2414	1621	3139
636	-1.16	-146.6	68.3	-10.9	28	640	0.00	2.55	0.00	0.000	4	0.000	0.075	2413	206	3139
687	-1.16	-146.6	74.3	-11.4	30	691	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1611	3139
1004	-1.16	-146.6	108.7	-11.1	45	1005	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1611	3139
1313	-1.16	-146.6	142.2	-11.2	60	1317	0.00	2.53	0.00	0.000	4	0.000	0.075	2413	201	3139
1405	-1.16	-146.6	151.5	-9.6	64	1409	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1610	3139
1732	-1.16	-146.6	181.1	-9.6	80	1733	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1612	3139
2041	-1.16	-146.6	211.6	-9.9	95	2045	0.00	2.53	0.00	0.000	4	0.000	0.075	2413	201	3140
2149	-1.16	-146.6	223.0	-10.3	100	2153	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1602	3140
2482	-1.16	-146.6	257.7	-10.7	116	2484	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1603	3140
2792	-1.16	-146.6	292.3	-12.0	131	2796	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	209	3140
2848	-1.16	-146.6	299.6	-13.0	133	2855	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1606	3140
3164	-1.16	-146.6	333.1	-10.0	149	3165	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1606	3140
3474	-1.16	-146.6	362.2	-9.0	164	3478	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	209	3140
3530	-1.16	-146.6	367.7	-10.0	166	3534	0.00	2.35	0.00	0.000	6	0.000	0.058	2413	1595	3140
3847	-1.16	-146.6	395.6	-8.6	181	3848	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1599	3140
4157	-1.16	-146.6	422.0	-8.6	196	4161	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	201	3140
4213	-1.16	-146.6	427.0	-8.9	198	4219	0.00	2.40	0.00	0.000	6	0.000	0.059	2413	1607	3140
4532	-1.16	-146.6	451.7	-7.8	214	4533	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1611	3140
4839	-1.16	-146.6	477.0	-8.4	229	4843	0.00	2.53	0.00	0.000	4	0.000	0.077	2413	201	3140
4924	-1.16	-146.6	485.0	-9.9	233	4928	0.00	2.40	0.00	0.000	6	0.000	0.059	2413	1605	3140
5251	-1.16	-146.6	512.6	-8.4	249	5252	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1609	3140
5561	-1.16	-146.6	538.9	-8.6	264	5565	0.00	2.50	0.00	0.000	4	0.000	0.076	2413	209	3140
5634	-1.16	-146.6	545.8	-9.8	267	5638	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1595	3140
5950	-1.16	-146.6	573.4	-9.2	282	5954	0.00	2.53	0.00	0.000	4	0.000	0.086	2413	2996	3140
6001	-1.16	-146.6	578.1	-9.6	284	6006	0.00	2.42	0.00	0.000	6	0.000	0.067	2413	1599	3140
6323	-1.16	-146.6	609.9	-10.3	300	6328	0.00	2.53	0.00	0.000	4	0.000	0.084	2413	202	3140
6369	-1.16	-146.6	615.1	-12.3	302	6373	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1612	3140
6692	-1.16	-146.6	651.3	-11.5	318	6696	0.00	2.53	0.00	0.000	4	0.000	0.077	2413	203	3140
6793	-1.16	-146.6	663.9	-12.9	322	6799	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1597	3140
7110	-1.16	-146.6	705.5	-14.7	338	7114	0.00	2.50	0.00	0.000	4	0.000	0.079	2413	210	3140
7308	-1.16	-146.6	738.1	-16.8	347	7313	0.00	2.38	0.00	0.000	6	0.000	0.061	2413	1598	3140
7637	-1.16	-146.6	784.4	-14.3	363	7641	0.00	2.50	0.00	0.000	4	0.000	0.080	2414	209	3140
7767	-1.16	-146.6	802.6	-13.6	369	7771	0.00	2.40	0.00	0.000	6	0.000	0.061	2413	1600	3140
8095	-1.16	-146.6	839.5	-10.7	385	8099	0.00	2.53	0.00	0.000	4	0.000	0.081	2413	201	3140
8207	-1.16	-146.6	852.3	-12.0	390	8211	0.00	2.42	0.00	0.000	6	0.000	0.061	2413	1601	3140
8529	-1.16	-146.6	878.9	-7.5	406	8530	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1601	3140
8752	end dive: BOTTOM_OBSTACLE_DETECTED
state	8752	begin apogee
8762	-0.32	0.0	903.8	11.0	417	8903	0.95	0.00	132.95	1.287	6	0.129	0.000	2601	2196	2539
8904	end apogee: CONTROL_FINISHED_OK
state	8904	begin climb
8908	1.16	146.6	911.0	0.0	424	9042	1.52	2.60	125.65	1.275	4	0.084	0.074	2926	789	1941
9052	1.16	146.6	904.1	9.9	430	9058	0.00	2.53	0.00	0.000	6	0.000	0.065	2927	2201	1940
9368	1.16	146.6	882.5	9.4	446	9373	0.00	2.72	0.00	0.000	4	0.000	0.107	2927	3612	1939
9557	1.16	146.6	866.5	11.4	454	9561	0.00	2.50	0.00	0.000	6	0.000	0.067	2926	2198	1937
9873	1.16	146.6	836.5	8.9	469	9878	0.00	2.55	0.00	0.000	4	0.000	0.079	2927	792	1937
9896	1.16	146.6	834.5	8.8	470	9901	0.00	2.50	0.00	0.000	6	0.000	0.063	2927	2212	1937
10220	1.16	146.6	804.5	8.5	486	10224	0.00	2.55	0.00	0.000	4	0.000	0.074	2926	794	1936
10310	1.16	146.6	796.7	8.3	490	10314	0.00	2.47	0.00	0.000	6	0.000	0.064	2927	2198	1936
10632	1.27	210.1	775.5	5.6	506	10695	0.10	2.62	53.00	1.234	4	0.071	0.074	2958	800	1681
10736	1.27	211.6	768.7	7.9	510	10743	0.00	2.50	0.00	0.000	6	0.000	0.064	2958	2207	1681
11053	1.33	250.5	747.8	6.5	526	11095	0.00	2.62	34.60	1.191	4	0.000	0.074	2958	786	1516
11142	1.33	250.5	741.1	8.1	530	11147	0.00	2.53	0.00	0.000	6	0.000	0.064	2958	2207	1516
11470	1.33	250.5	714.8	8.0	546	11475	0.00	2.55	0.00	0.000	4	0.000	0.073	2958	789	1514
11579	1.33	250.5	705.4	8.7	551	11584	0.00	2.50	0.00	0.000	6	0.000	0.064	2958	2208	1514
11907	1.33	250.5	678.6	8.2	567	11911	0.00	2.53	0.00	0.000	4	0.000	0.073	2958	793	1513
12019	1.33	250.5	668.4	9.1	572	12023	0.00	2.47	0.00	0.000	6	0.000	0.063	2958	2203	1513
12341	1.33	250.5	641.2	8.5	588	12345	0.00	2.53	0.00	0.000	4	0.000	0.072	2958	789	1513
12404	1.33	250.5	635.6	9.1	591	12408	0.00	2.47	0.00	0.000	6	0.000	0.063	2958	2203	1513
12731	1.33	250.5	608.9	8.2	607	12735	0.00	2.53	0.00	0.000	4	0.000	0.072	2958	786	1513
12782	1.33	250.5	604.1	9.2	609	12786	0.00	2.47	0.00	0.000	6	0.000	0.063	2958	2201	1513
13098	1.33	250.5	576.0	9.3	624	13103	0.00	2.50	0.00	0.000	4	0.000	0.072	2958	792	1514
13172	1.33	250.5	568.9	10.0	627	13176	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2201	1513
13489	1.33	250.5	539.8	9.2	642	13493	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	787	1513
13590	1.33	250.5	529.3	10.2	646	13594	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2201	1513
13908	1.33	250.5	499.4	9.4	661	13912	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	791	1514
14003	1.33	250.5	489.6	10.1	665	14007	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2203	1514
14319	1.33	250.5	459.2	10.0	680	14323	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	791	1514
14421	1.33	250.5	448.2	11.9	684	14425	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2205	1513
14737	1.33	250.5	415.1	10.8	699	14741	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	792	1514
14839	1.33	250.5	403.7	11.7	703	14845	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2207	1514
15157	1.33	250.5	370.9	10.7	719	15161	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	792	1514
15252	1.33	250.5	359.6	11.6	723	15257	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2209	1513
15569	1.33	250.5	326.8	10.6	738	15573	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	789	1514
15661	1.33	250.5	316.7	10.8	742	15665	0.00	2.47	0.00	0.000	6	0.000	0.063	2958	2201	1514
15994	1.33	250.5	282.9	9.9	758	15998	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	786	1513
16084	1.33	250.5	273.2	11.0	762	16088	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2202	1514
16405	1.33	250.5	241.9	9.9	778	16409	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	790	1514
16524	1.33	250.5	229.1	10.6	783	16529	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2209	1514
16840	1.33	250.5	198.0	9.5	798	16844	0.00	2.53	0.00	0.000	4	0.000	0.071	2959	783	1514
16942	1.33	250.5	188.2	10.2	802	16946	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2203	1514
17259	1.33	250.5	161.3	8.6	817	17263	0.00	2.53	0.00	0.000	4	0.000	0.072	2958	786	1513
17326	1.33	250.5	154.9	9.2	820	17331	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2208	1514
17649	1.34	254.5	128.8	7.8	836	17659	0.00	2.55	4.95	0.569	4	0.000	0.071	2958	785	1501
17762	1.34	254.5	119.3	8.0	841	17766	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2208	1500
18084	1.34	254.5	91.9	9.6	857	18088	0.00	2.53	0.00	0.000	4	0.000	0.072	2958	784	1501
18208	1.34	254.5	79.2	9.1	862	18215	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2201	1501
18526	1.34	254.5	49.0	8.7	878	18531	0.00	2.50	0.00	0.000	4	0.000	0.072	2958	789	1501
18650	1.34	254.5	37.1	11.1	883	18656	0.00	2.47	0.00	0.000	6	0.000	0.064	2958	2207	1501
18969	1.34	254.5	5.4	12.0	899	18973	0.00	2.53	0.00	0.000	4	0.000	0.072	2958	789	1501
19016	end climb: SURFACE_DEPTH_REACHED
state	19016	begin surface coast
19075	end surface coast: CONTROL_FINISHED_OK
state	19075	begin surface