Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 367 * 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 367 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 20 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 -657299.94 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 -657299.94

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 20 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 367 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 204608,6321.964,-1322.431,27,1.6,27,-12.4 TGT_NAME IE

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.62 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -61.0 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 205257,6321.912,-1322.552,13,1.5,13,-12.4 MHEAD_RNG_PITCHd_Wd 166.2,14264,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027287 ALTIM_BOTTOM_PING 775.4,64.8

SM_CCo 16972,0.00,0.000,0,0,1278,309.32 _24V_AH 23.5,49.143

SM_GC 1.42,11.43,0.00,0.00,0.059,0.000,0.000,382,1616,1278,-10.50,0.51,309.32 _10V_AH 10.2,24.690

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41056,802

TT8_MAMPS 0.02301 CAP_FILE_SIZE 131254,0

HUMID 1880 CFSIZE 254472192,235073536

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,38,1,0

XPDR_PINGS 0 GPS 211008,013737,6321.662,-1322.102,38,1.5,43,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 175 104.74 SBE_CT 592 24 334.11

Roll_motor 173 108 443.88 SBE_O2 547 19 244.63

VBD_pump_during_apogee 393 1220 11283.67 WL_BB2F 457 105 1129.86

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.41 nil 0 0 0.00

Iridium_during_connect 28 160 105.47 nil 0 0 0.00

Iridium_during_xfer 193 223 1013.81

Transponder_ping 6 420 66.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.81

TT8 1548 19 312.66

LPSleep 12609 2 281.68

TT8_Active 519 19 104.84

TT8_Sampling 2045 39 830.26

TT8_CF8 659 45 308.16

TT8_Kalman 0 81 0.00

Analog_circuits 1554 12 190.29

GPS_charging 0 0 0.00

Compass 1988 8 162.22

RAFOS 0 0 0.00

Transponder 46 30 14.10

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -1.16 -146.6 0.0 0.0 0 79 0.00 0.00 -60.05 0.000 2 0.000 0.000 378 1593 2736

83 -1.16 -146.6 4.3 -6.4 3 109 11.35 2.55 -9.20 0.000 4 0.176 0.087 2413 3004 3139

116 -1.16 -146.6 11.8 -19.4 4 122 0.00 2.47 0.00 0.000 6 0.000 0.064 2413 1592 3139

433 -1.16 -146.6 49.8 -11.1 20 437 0.00 2.53 0.00 0.000 4 0.000 0.073 2413 3003 3139

634 -1.16 -146.6 70.6 -11.6 29 638 0.00 2.45 0.00 0.000 6 0.000 0.064 2413 1593 3139

967 -1.16 -146.6 105.1 -10.8 45 971 0.00 2.50 0.00 0.000 4 0.000 0.081 2413 206 3140

1023 -1.16 -146.6 111.6 -11.3 47 1029 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1614 3140

1342 -1.16 -146.6 141.3 -9.5 63 1346 0.00 2.53 0.00 0.000 4 0.000 0.076 2413 210 3140

1398 -1.16 -146.6 148.3 -11.2 65 1404 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1606 3140

1715 -1.16 -146.6 180.3 -10.1 81 1719 0.00 2.50 0.00 0.000 4 0.000 0.076 2413 210 3139

1801 -1.16 -146.6 189.3 -10.3 85 1805 0.00 2.35 0.00 0.000 6 0.000 0.058 2413 1594 3140

2134 -1.16 -146.6 224.3 -10.9 101 2139 0.00 2.50 0.00 0.000 4 0.000 0.076 2413 204 3140

2180 -1.16 -146.6 229.7 -11.3 103 2184 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1609 3141

2508 -1.16 -146.6 265.2 -10.8 119 2510 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1610 3140

2817 -1.16 -146.6 299.1 -11.4 134 2821 0.00 2.53 0.00 0.000 4 0.000 0.077 2412 202 3140

2890 -1.16 -146.6 308.0 -12.0 137 2894 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1600 3140

3207 -1.16 -146.6 342.7 -10.8 152 3208 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1602 3140

3518 -1.16 -146.6 376.6 -11.3 167 3519 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1603 3141

3826 -1.16 -146.6 410.8 -10.7 182 3830 0.00 2.53 0.00 0.000 4 0.000 0.078 2413 202 3140

3876 -1.16 -146.6 416.6 -10.7 184 3881 0.00 2.40 0.00 0.000 6 0.000 0.059 2413 1602 3140

4193 -1.16 -146.6 448.6 -10.1 199 4197 0.00 2.53 0.00 0.000 4 0.000 0.077 2413 202 3141

4249 -1.16 -146.6 455.1 -11.6 201 4255 0.00 2.40 0.00 0.000 6 0.000 0.059 2413 1605 3140

4565 -1.16 -146.6 487.9 -10.2 217 4566 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1608 3141

4874 -1.16 -146.6 516.9 -8.7 232 4879 0.00 2.53 0.00 0.000 4 0.000 0.077 2413 203 3140

4932 -1.16 -146.6 522.1 -8.7 234 4938 0.00 2.40 0.00 0.000 6 0.000 0.059 2413 1604 3140

5249 -1.16 -146.6 551.5 -9.1 250 5250 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1607 3141

5557 -1.16 -146.6 581.6 -10.7 265 5561 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 210 3140

5631 -1.16 -146.6 589.2 -10.3 268 5635 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1601 3141

5952 -1.16 -146.6 624.2 -10.7 284 5954 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1604 3141

6262 -1.16 -146.6 655.5 -10.6 299 6266 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 209 3141

6319 -1.16 -146.6 661.9 -10.8 301 6323 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1600 3141

6636 -1.16 -146.6 698.5 -12.5 316 6639 0.00 2.53 0.00 0.000 4 0.000 0.078 2412 201 3140

6686 -1.16 -146.6 705.8 -14.1 318 6691 0.00 2.40 0.00 0.000 6 0.000 0.060 2413 1600 3141

7009 -1.16 -146.6 741.3 -10.5 334 7013 0.00 2.53 0.00 0.000 4 0.000 0.087 2413 2998 3140

7088 -1.16 -146.6 750.5 -11.4 337 7092 0.00 2.45 0.00 0.000 6 0.000 0.069 2412 1596 3140

7411 -1.16 -146.6 780.2 -8.0 353 7415 0.00 2.50 0.00 0.000 4 0.000 0.083 2413 203 3141

7663 -1.16 -146.6 807.4 -12.1 364 7667 0.00 2.40 0.00 0.000 6 0.000 0.060 2413 1604 3141

7873 end dive: BOTTOM_OBSTACLE_DETECTED

state 7873 begin apogee

7883 -0.32 0.0 832.3 11.6 374 8023 0.93 0.00 131.05 1.220 6 0.107 0.000 2604 2195 2539

8023 end apogee: CONTROL_FINISHED_OK

state 8023 begin climb

8027 1.16 146.6 837.2 0.0 381 8160 1.48 2.78 124.38 1.215 4 0.071 0.109 2929 3596 1941

8401 1.17 150.6 826.9 7.8 398 8411 0.00 2.50 4.75 0.821 6 0.000 0.070 2929 2196 1924

8728 1.21 175.1 803.5 7.1 414 8755 0.00 2.72 22.02 1.160 4 0.000 0.097 2929 3597 1825

8825 1.21 175.1 794.6 10.5 418 8829 0.00 2.50 0.00 0.000 6 0.000 0.068 2929 2200 1823

9142 1.27 215.1 766.6 6.5 433 9181 0.10 0.00 34.53 1.177 6 0.071 0.000 2960 2200 1662

9492 1.33 250.7 743.2 6.6 450 9528 0.00 2.62 30.52 1.160 4 0.000 0.078 2961 792 1516

9574 1.33 250.7 736.2 9.2 453 9579 0.00 2.50 0.00 0.000 6 0.000 0.064 2961 2203 1516

9902 1.33 250.7 704.8 10.2 469 9903 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2204 1514

10212 1.33 250.7 672.6 10.5 484 10216 0.00 2.55 0.00 0.000 4 0.000 0.073 2960 792 1513

10297 1.33 250.7 662.7 12.0 488 10301 0.00 2.47 0.00 0.000 6 0.000 0.063 2960 2201 1513

10624 1.33 250.7 626.3 11.5 504 10628 0.00 2.53 0.00 0.000 4 0.000 0.073 2960 791 1512

10731 1.33 250.7 613.5 12.2 508 10738 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2206 1512

11048 1.33 250.7 578.4 11.3 524 11052 0.00 2.53 0.00 0.000 4 0.000 0.073 2961 791 1513

11093 1.33 250.7 572.9 12.5 526 11097 0.00 2.45 0.00 0.000 6 0.000 0.062 2961 2199 1512

11420 1.33 250.7 530.4 13.8 542 11424 0.00 2.53 0.00 0.000 4 0.000 0.073 2960 784 1513

11493 1.33 250.7 522.0 11.4 545 11497 0.00 2.47 0.00 0.000 6 0.000 0.063 2960 2203 1513

11810 1.33 250.7 488.5 10.9 560 11814 0.00 2.50 0.00 0.000 4 0.000 0.072 2961 792 1512

11899 1.33 250.7 478.7 10.1 564 11904 0.00 2.45 0.00 0.000 6 0.000 0.062 2961 2203 1512

12221 1.33 250.7 449.4 8.8 580 12226 0.00 2.53 0.00 0.000 4 0.000 0.072 2960 784 1513

12295 1.33 250.7 443.1 8.1 583 12299 0.00 2.47 0.00 0.000 6 0.000 0.062 2961 2210 1513

12617 1.33 250.7 415.0 8.5 599 12622 0.00 2.53 0.00 0.000 4 0.000 0.071 2960 785 1513

12696 1.33 250.7 407.7 8.7 602 12702 0.00 2.47 0.00 0.000 6 0.000 0.062 2960 2206 1512

13013 1.33 250.7 380.3 9.2 618 13017 0.00 2.50 0.00 0.000 4 0.000 0.071 2961 792 1513

13091 1.33 250.7 372.2 9.7 621 13096 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2202 1512

13409 1.33 250.7 343.8 8.5 636 13413 0.00 2.50 0.00 0.000 4 0.000 0.072 2961 788 1512

13482 1.33 250.7 336.8 9.6 639 13486 0.00 2.45 0.00 0.000 6 0.000 0.062 2960 2199 1512

13806 1.33 250.7 307.5 9.2 655 13810 0.00 2.50 0.00 0.000 4 0.000 0.071 2961 787 1513

13914 1.33 250.7 296.1 10.0 660 13919 0.00 2.45 0.00 0.000 6 0.000 0.062 2961 2199 1513

14242 1.33 250.7 264.2 9.3 676 14247 0.00 2.50 0.00 0.000 4 0.000 0.071 2961 789 1513

14355 1.33 250.7 253.1 10.3 681 14359 0.00 2.45 0.00 0.000 6 0.000 0.062 2961 2198 1513

14677 1.33 250.7 221.7 9.8 697 14681 0.00 2.50 0.00 0.000 4 0.000 0.072 2961 788 1513

14784 1.33 250.7 210.9 9.4 702 14789 0.00 2.45 0.00 0.000 6 0.000 0.062 2961 2201 1513

15113 1.33 250.7 179.8 9.4 718 15117 0.00 2.50 0.00 0.000 4 0.000 0.073 2961 792 1513

15230 1.33 250.7 168.9 9.1 723 15235 0.00 2.45 0.00 0.000 6 0.000 0.061 2961 2202 1513

15548 1.42 307.9 146.0 5.8 738 15600 0.10 2.60 46.22 0.746 4 0.071 0.073 2994 792 1283

15714 1.42 307.9 126.0 12.6 745 15720 0.00 2.47 0.00 0.000 6 0.000 0.062 2995 2206 1282

16031 1.42 307.9 88.9 11.7 761 16036 0.00 2.53 0.00 0.000 4 0.000 0.073 2994 792 1281

16110 1.42 307.9 80.0 10.5 764 16117 0.00 2.45 0.00 0.000 6 0.000 0.062 2994 2200 1281

16427 1.42 307.9 47.1 9.3 780 16431 0.00 2.53 0.00 0.000 4 0.000 0.074 2994 790 1281

16515 1.42 307.9 36.8 12.8 784 16519 0.00 2.47 0.00 0.000 6 0.000 0.062 2994 2205 1281

16844 1.42 307.9 2.1 9.5 800 16848 0.00 2.17 0.00 0.000 3 0.000 0.067 2994 960 1281

16848 end climb: SURFACE_DEPTH_REACHED

state 16848 begin surface coast

16886 end surface coast: CONTROL_FINISHED_OK

state 16886 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	367	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	20	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	-657299.94	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	204608,6321.964,-1322.431,27,1.6,27,-12.4	TGT_NAME	IE
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.62	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-61.0	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	205257,6321.912,-1322.552,13,1.5,13,-12.4	MHEAD_RNG_PITCHd_Wd	166.2,14264,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.4,1.027287	ALTIM_BOTTOM_PING	775.4,64.8
SM_CCo	16972,0.00,0.000,0,0,1278,309.32	_24V_AH	23.5,49.143
SM_GC	1.42,11.43,0.00,0.00,0.059,0.000,0.000,382,1616,1278,-10.50,0.51,309.32	_10V_AH	10.2,24.690
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41056,802
TT8_MAMPS	0.02301	CAP_FILE_SIZE	131254,0
HUMID	1880	CFSIZE	254472192,235073536
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
XPDR_PINGS	0	GPS	211008,013737,6321.662,-1322.102,38,1.5,43,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	175	104.74	SBE_CT	592	24	334.11
Roll_motor	173	108	443.88	SBE_O2	547	19	244.63
VBD_pump_during_apogee	393	1220	11283.67	WL_BB2F	457	105	1129.86
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.41	nil	0	0	0.00
Iridium_during_connect	28	160	105.47	nil	0	0	0.00
Iridium_during_xfer	193	223	1013.81
Transponder_ping	6	420	66.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.81
TT8	1548	19	312.66
LPSleep	12609	2	281.68
TT8_Active	519	19	104.84
TT8_Sampling	2045	39	830.26
TT8_CF8	659	45	308.16
TT8_Kalman	0	81	0.00
Analog_circuits	1554	12	190.29
GPS_charging	0	0	0.00
Compass	1988	8	162.22
RAFOS	0	0	0.00
Transponder	46	30	14.10

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-1.16	-146.6	0.0	0.0	0	79	0.00	0.00	-60.05	0.000	2	0.000	0.000	378	1593	2736
83	-1.16	-146.6	4.3	-6.4	3	109	11.35	2.55	-9.20	0.000	4	0.176	0.087	2413	3004	3139
116	-1.16	-146.6	11.8	-19.4	4	122	0.00	2.47	0.00	0.000	6	0.000	0.064	2413	1592	3139
433	-1.16	-146.6	49.8	-11.1	20	437	0.00	2.53	0.00	0.000	4	0.000	0.073	2413	3003	3139
634	-1.16	-146.6	70.6	-11.6	29	638	0.00	2.45	0.00	0.000	6	0.000	0.064	2413	1593	3139
967	-1.16	-146.6	105.1	-10.8	45	971	0.00	2.50	0.00	0.000	4	0.000	0.081	2413	206	3140
1023	-1.16	-146.6	111.6	-11.3	47	1029	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1614	3140
1342	-1.16	-146.6	141.3	-9.5	63	1346	0.00	2.53	0.00	0.000	4	0.000	0.076	2413	210	3140
1398	-1.16	-146.6	148.3	-11.2	65	1404	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1606	3140
1715	-1.16	-146.6	180.3	-10.1	81	1719	0.00	2.50	0.00	0.000	4	0.000	0.076	2413	210	3139
1801	-1.16	-146.6	189.3	-10.3	85	1805	0.00	2.35	0.00	0.000	6	0.000	0.058	2413	1594	3140
2134	-1.16	-146.6	224.3	-10.9	101	2139	0.00	2.50	0.00	0.000	4	0.000	0.076	2413	204	3140
2180	-1.16	-146.6	229.7	-11.3	103	2184	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1609	3141
2508	-1.16	-146.6	265.2	-10.8	119	2510	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1610	3140
2817	-1.16	-146.6	299.1	-11.4	134	2821	0.00	2.53	0.00	0.000	4	0.000	0.077	2412	202	3140
2890	-1.16	-146.6	308.0	-12.0	137	2894	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1600	3140
3207	-1.16	-146.6	342.7	-10.8	152	3208	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1602	3140
3518	-1.16	-146.6	376.6	-11.3	167	3519	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1603	3141
3826	-1.16	-146.6	410.8	-10.7	182	3830	0.00	2.53	0.00	0.000	4	0.000	0.078	2413	202	3140
3876	-1.16	-146.6	416.6	-10.7	184	3881	0.00	2.40	0.00	0.000	6	0.000	0.059	2413	1602	3140
4193	-1.16	-146.6	448.6	-10.1	199	4197	0.00	2.53	0.00	0.000	4	0.000	0.077	2413	202	3141
4249	-1.16	-146.6	455.1	-11.6	201	4255	0.00	2.40	0.00	0.000	6	0.000	0.059	2413	1605	3140
4565	-1.16	-146.6	487.9	-10.2	217	4566	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1608	3141
4874	-1.16	-146.6	516.9	-8.7	232	4879	0.00	2.53	0.00	0.000	4	0.000	0.077	2413	203	3140
4932	-1.16	-146.6	522.1	-8.7	234	4938	0.00	2.40	0.00	0.000	6	0.000	0.059	2413	1604	3140
5249	-1.16	-146.6	551.5	-9.1	250	5250	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1607	3141
5557	-1.16	-146.6	581.6	-10.7	265	5561	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	210	3140
5631	-1.16	-146.6	589.2	-10.3	268	5635	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1601	3141
5952	-1.16	-146.6	624.2	-10.7	284	5954	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1604	3141
6262	-1.16	-146.6	655.5	-10.6	299	6266	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	209	3141
6319	-1.16	-146.6	661.9	-10.8	301	6323	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1600	3141
6636	-1.16	-146.6	698.5	-12.5	316	6639	0.00	2.53	0.00	0.000	4	0.000	0.078	2412	201	3140
6686	-1.16	-146.6	705.8	-14.1	318	6691	0.00	2.40	0.00	0.000	6	0.000	0.060	2413	1600	3141
7009	-1.16	-146.6	741.3	-10.5	334	7013	0.00	2.53	0.00	0.000	4	0.000	0.087	2413	2998	3140
7088	-1.16	-146.6	750.5	-11.4	337	7092	0.00	2.45	0.00	0.000	6	0.000	0.069	2412	1596	3140
7411	-1.16	-146.6	780.2	-8.0	353	7415	0.00	2.50	0.00	0.000	4	0.000	0.083	2413	203	3141
7663	-1.16	-146.6	807.4	-12.1	364	7667	0.00	2.40	0.00	0.000	6	0.000	0.060	2413	1604	3141
7873	end dive: BOTTOM_OBSTACLE_DETECTED
state	7873	begin apogee
7883	-0.32	0.0	832.3	11.6	374	8023	0.93	0.00	131.05	1.220	6	0.107	0.000	2604	2195	2539
8023	end apogee: CONTROL_FINISHED_OK
state	8023	begin climb
8027	1.16	146.6	837.2	0.0	381	8160	1.48	2.78	124.38	1.215	4	0.071	0.109	2929	3596	1941
8401	1.17	150.6	826.9	7.8	398	8411	0.00	2.50	4.75	0.821	6	0.000	0.070	2929	2196	1924
8728	1.21	175.1	803.5	7.1	414	8755	0.00	2.72	22.02	1.160	4	0.000	0.097	2929	3597	1825
8825	1.21	175.1	794.6	10.5	418	8829	0.00	2.50	0.00	0.000	6	0.000	0.068	2929	2200	1823
9142	1.27	215.1	766.6	6.5	433	9181	0.10	0.00	34.53	1.177	6	0.071	0.000	2960	2200	1662
9492	1.33	250.7	743.2	6.6	450	9528	0.00	2.62	30.52	1.160	4	0.000	0.078	2961	792	1516
9574	1.33	250.7	736.2	9.2	453	9579	0.00	2.50	0.00	0.000	6	0.000	0.064	2961	2203	1516
9902	1.33	250.7	704.8	10.2	469	9903	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2204	1514
10212	1.33	250.7	672.6	10.5	484	10216	0.00	2.55	0.00	0.000	4	0.000	0.073	2960	792	1513
10297	1.33	250.7	662.7	12.0	488	10301	0.00	2.47	0.00	0.000	6	0.000	0.063	2960	2201	1513
10624	1.33	250.7	626.3	11.5	504	10628	0.00	2.53	0.00	0.000	4	0.000	0.073	2960	791	1512
10731	1.33	250.7	613.5	12.2	508	10738	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2206	1512
11048	1.33	250.7	578.4	11.3	524	11052	0.00	2.53	0.00	0.000	4	0.000	0.073	2961	791	1513
11093	1.33	250.7	572.9	12.5	526	11097	0.00	2.45	0.00	0.000	6	0.000	0.062	2961	2199	1512
11420	1.33	250.7	530.4	13.8	542	11424	0.00	2.53	0.00	0.000	4	0.000	0.073	2960	784	1513
11493	1.33	250.7	522.0	11.4	545	11497	0.00	2.47	0.00	0.000	6	0.000	0.063	2960	2203	1513
11810	1.33	250.7	488.5	10.9	560	11814	0.00	2.50	0.00	0.000	4	0.000	0.072	2961	792	1512
11899	1.33	250.7	478.7	10.1	564	11904	0.00	2.45	0.00	0.000	6	0.000	0.062	2961	2203	1512
12221	1.33	250.7	449.4	8.8	580	12226	0.00	2.53	0.00	0.000	4	0.000	0.072	2960	784	1513
12295	1.33	250.7	443.1	8.1	583	12299	0.00	2.47	0.00	0.000	6	0.000	0.062	2961	2210	1513
12617	1.33	250.7	415.0	8.5	599	12622	0.00	2.53	0.00	0.000	4	0.000	0.071	2960	785	1513
12696	1.33	250.7	407.7	8.7	602	12702	0.00	2.47	0.00	0.000	6	0.000	0.062	2960	2206	1512
13013	1.33	250.7	380.3	9.2	618	13017	0.00	2.50	0.00	0.000	4	0.000	0.071	2961	792	1513
13091	1.33	250.7	372.2	9.7	621	13096	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2202	1512
13409	1.33	250.7	343.8	8.5	636	13413	0.00	2.50	0.00	0.000	4	0.000	0.072	2961	788	1512
13482	1.33	250.7	336.8	9.6	639	13486	0.00	2.45	0.00	0.000	6	0.000	0.062	2960	2199	1512
13806	1.33	250.7	307.5	9.2	655	13810	0.00	2.50	0.00	0.000	4	0.000	0.071	2961	787	1513
13914	1.33	250.7	296.1	10.0	660	13919	0.00	2.45	0.00	0.000	6	0.000	0.062	2961	2199	1513
14242	1.33	250.7	264.2	9.3	676	14247	0.00	2.50	0.00	0.000	4	0.000	0.071	2961	789	1513
14355	1.33	250.7	253.1	10.3	681	14359	0.00	2.45	0.00	0.000	6	0.000	0.062	2961	2198	1513
14677	1.33	250.7	221.7	9.8	697	14681	0.00	2.50	0.00	0.000	4	0.000	0.072	2961	788	1513
14784	1.33	250.7	210.9	9.4	702	14789	0.00	2.45	0.00	0.000	6	0.000	0.062	2961	2201	1513
15113	1.33	250.7	179.8	9.4	718	15117	0.00	2.50	0.00	0.000	4	0.000	0.073	2961	792	1513
15230	1.33	250.7	168.9	9.1	723	15235	0.00	2.45	0.00	0.000	6	0.000	0.061	2961	2202	1513
15548	1.42	307.9	146.0	5.8	738	15600	0.10	2.60	46.22	0.746	4	0.071	0.073	2994	792	1283
15714	1.42	307.9	126.0	12.6	745	15720	0.00	2.47	0.00	0.000	6	0.000	0.062	2995	2206	1282
16031	1.42	307.9	88.9	11.7	761	16036	0.00	2.53	0.00	0.000	4	0.000	0.073	2994	792	1281
16110	1.42	307.9	80.0	10.5	764	16117	0.00	2.45	0.00	0.000	6	0.000	0.062	2994	2200	1281
16427	1.42	307.9	47.1	9.3	780	16431	0.00	2.53	0.00	0.000	4	0.000	0.074	2994	790	1281
16515	1.42	307.9	36.8	12.8	784	16519	0.00	2.47	0.00	0.000	6	0.000	0.062	2994	2205	1281
16844	1.42	307.9	2.1	9.5	800	16848	0.00	2.17	0.00	0.000	3	0.000	0.067	2994	960	1281
16848	end climb: SURFACE_DEPTH_REACHED
state	16848	begin surface coast
16886	end surface coast: CONTROL_FINISHED_OK
state	16886	begin surface