Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 41 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING 315 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 41 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 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 50 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 -650960.12 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 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 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 -650960.12

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 340

CAPUPLOAD 0 HEADING 315 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 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 30 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 50 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 41 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 191026,6333.341,-634.289,40,1.0,40,-8.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6340.989,-651.312

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 2.01 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -66.4 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 191645,6333.353,-634.088,12,1.0,12,-8.6 MHEAD_RNG_PITCHd_Wd 323.6,20000,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.001656 _24V_AH 23.3,9.767

SM_CCo 17713,34.95,0.780,0,0,1316,300.00 _10V_AH 10.1,5.475

SM_GC 1.87,0.00,0.00,34.95,0.000,0.000,0.780,382,1601,1316,-10.69,0.03,300.00 DATA_FILE_SIZE 44260,851

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 129905,0

TT8_MAMPS 0.02301 CFSIZE 254472192,249286656

HUMID 2024 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,34,0,0

TCM_TEMP 14.40 GPS 070908,001407,6334.001,-639.780,25,1.4,25,-8.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 181 110.97 SBE_CT 637 24 356.67

Roll_motor 146 92 315.76 SBE_O2 581 19 257.62

VBD_pump_during_apogee 350 1357 11096.45 WL_BB2F 453 105 1108.90

VBD_pump_during_surface 34 780 635.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.63 nil 0 0 0.00

Iridium_during_connect 29 160 110.52 nil 0 0 0.00

Iridium_during_xfer 174 223 905.42

Transponder_ping 8 420 83.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.10

TT8 1604 19 320.81

LPSleep 13391 2 296.20

TT8_Active 508 19 101.78

TT8_Sampling 2022 39 812.96

TT8_CF8 607 45 280.89

TT8_Kalman 0 81 0.00

Analog_circuits 1518 12 184.08

GPS_charging 0 0 0.00

Compass 1970 8 159.25

RAFOS 0 0 0.00

Transponder 58 30 17.80

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 59 0.00 0.00 -40.90 0.000 2 0.000 0.000 381 1631 2193

63 -1.38 -146.6 3.4 -7.2 2 116 11.43 2.58 -34.62 0.000 4 0.182 0.091 2396 220 3137

192 -1.38 -146.6 16.8 -16.5 8 197 0.00 2.33 0.00 0.000 6 0.000 0.054 2395 1601 3138

522 -1.38 -146.6 62.8 -13.7 24 523 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1606 3140

830 -1.38 -146.6 104.2 -13.9 39 834 0.00 2.50 0.00 0.000 4 0.000 0.077 2396 221 3145

1066 -1.38 -146.6 139.0 -14.5 49 1073 0.00 2.30 0.00 0.000 6 0.000 0.054 2395 1603 3145

1382 -1.38 -146.6 178.4 -12.5 65 1387 0.00 2.50 0.00 0.000 4 0.000 0.078 2396 220 3148

1540 -1.38 -146.6 200.0 -14.0 72 1548 0.00 2.33 0.00 0.000 6 0.000 0.055 2395 1600 3148

1870 -1.38 -146.6 241.3 -12.3 88 1874 0.00 2.53 0.00 0.000 4 0.000 0.081 2395 219 3148

1979 -1.38 -146.6 255.1 -13.2 93 1983 0.00 2.35 0.00 0.000 6 0.000 0.055 2395 1604 3148

2306 -1.38 -146.6 295.3 -12.6 109 2310 0.00 2.53 0.00 0.000 4 0.000 0.079 2396 221 3149

2373 -1.38 -146.6 304.2 -13.4 112 2377 0.00 2.35 0.00 0.000 6 0.000 0.054 2395 1604 3148

2694 -1.38 -146.6 345.7 -13.1 128 2696 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1606 3148

3004 -1.38 -146.6 385.3 -12.8 143 3008 0.00 2.55 0.00 0.000 4 0.000 0.083 2395 214 3149

3067 -1.38 -146.6 393.5 -12.9 146 3071 0.00 2.38 0.00 0.000 6 0.000 0.054 2396 1607 3149

3394 -1.38 -146.6 432.2 -11.2 162 3398 0.00 2.55 0.00 0.000 4 0.000 0.083 2395 214 3148

3450 -1.38 -146.6 439.1 -12.2 164 3456 0.00 2.38 0.00 0.000 6 0.000 0.054 2395 1606 3148

3767 -1.38 -146.6 475.2 -11.6 180 3772 0.00 2.55 0.00 0.000 4 0.000 0.084 2395 217 3147

3824 -1.38 -146.6 482.4 -12.5 182 3830 0.00 2.35 0.00 0.000 6 0.000 0.054 2395 1601 3148

4140 -1.38 -146.6 519.3 -11.7 198 4144 0.00 2.53 0.00 0.000 4 0.000 0.084 2396 221 3146

4196 -1.38 -146.6 526.3 -12.4 200 4203 0.00 2.35 0.00 0.000 6 0.000 0.054 2395 1605 3146

4513 -1.38 -146.6 561.5 -10.9 216 4517 0.00 2.55 0.00 0.000 4 0.000 0.084 2395 219 3145

4557 -1.38 -146.6 566.9 -11.5 218 4562 0.00 2.35 0.00 0.000 6 0.000 0.054 2395 1602 3145

4880 -1.38 -146.6 601.0 -10.3 234 4884 0.00 2.55 0.00 0.000 4 0.000 0.084 2395 212 3143

4925 -1.38 -146.6 606.3 -11.3 236 4929 0.00 2.38 0.00 0.000 6 0.000 0.054 2395 1604 3143

5252 -1.38 -146.6 641.3 -10.8 252 5257 0.00 2.55 0.00 0.000 4 0.000 0.083 2395 214 3142

5303 -1.38 -146.6 647.2 -11.5 254 5307 0.00 2.38 0.00 0.000 6 0.000 0.054 2395 1610 3143

5619 -1.38 -146.6 681.9 -11.0 269 5624 0.00 2.55 0.00 0.000 4 0.000 0.084 2395 222 3142

5670 -1.38 -146.6 687.8 -11.5 271 5675 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1603 3142

5987 -1.38 -146.6 722.9 -11.4 286 5992 0.00 2.53 0.00 0.000 4 0.000 0.083 2396 222 3142

6032 -1.38 -146.6 728.4 -11.7 288 6036 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1601 3142

6354 -1.38 -146.6 764.7 -11.1 304 6355 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1601 3142

6663 -1.38 -146.6 799.1 -11.0 319 6667 0.00 2.53 0.00 0.000 4 0.000 0.083 2395 222 3141

6725 -1.38 -146.6 806.5 -11.4 322 6730 0.00 2.35 0.00 0.000 6 0.000 0.054 2395 1605 3141

7053 -1.38 -146.6 842.0 -10.7 338 7057 0.00 2.55 0.00 0.000 4 0.000 0.084 2395 213 3140

7098 -1.38 -146.6 847.4 -12.8 340 7102 0.00 2.35 0.00 0.000 6 0.000 0.054 2395 1601 3140

7420 -1.38 -146.6 882.7 -11.2 356 7421 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1602 3139

7729 -1.38 -146.6 916.3 -10.8 371 7734 0.00 2.53 0.00 0.000 4 0.000 0.081 2395 214 3139

7819 -1.38 -146.6 926.5 -11.5 375 7823 0.00 2.35 0.00 0.000 6 0.000 0.054 2395 1604 3138

8147 -1.38 -146.6 960.3 -10.2 391 8149 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 1604 3138

8453 end dive: TARGET_DEPTH_EXCEEDED

state 8453 begin apogee

8463 -0.32 0.0 991.4 10.0 406 8596 1.17 0.00 129.85 1.358 6 0.120 0.000 2632 2189 2539

8597 end apogee: CONTROL_FINISHED_OK

state 8597 begin climb

8601 1.38 146.6 997.1 0.0 413 8735 1.73 2.75 126.22 1.326 4 0.076 0.093 3003 3604 1940

9009 1.40 157.9 969.9 9.5 431 9025 0.00 2.45 11.07 1.274 6 0.000 0.060 3003 2203 1894

9342 1.43 176.1 938.3 9.1 448 9364 0.00 2.70 17.30 1.250 4 0.000 0.081 3003 3601 1820

9478 1.43 176.1 924.4 10.7 454 9483 0.00 2.45 0.00 0.000 6 0.000 0.060 3003 2200 1820

9806 1.44 184.6 893.0 9.6 470 9816 0.00 0.00 8.43 1.136 6 0.000 0.000 3003 2200 1786

10116 1.46 195.6 863.7 9.5 485 10136 0.00 2.65 11.23 1.160 4 0.000 0.081 3003 3599 1740

10193 1.46 195.6 855.7 10.2 488 10198 0.00 2.45 0.00 0.000 6 0.000 0.060 3003 2199 1740

10515 1.46 195.6 823.5 10.2 504 10516 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2199 1740

10825 1.46 195.6 791.0 10.7 519 10829 0.00 2.60 0.00 0.000 4 0.000 0.084 3003 3607 1740

10887 1.46 195.6 784.1 12.3 522 10892 0.00 2.47 0.00 0.000 6 0.000 0.061 3003 2196 1740

11215 1.46 195.6 748.2 11.1 538 11216 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2197 1740

11524 1.46 195.6 713.9 11.1 553 11528 0.00 2.58 0.00 0.000 4 0.000 0.081 3003 3601 1740

11609 1.46 195.6 703.9 12.1 557 11613 0.00 2.45 0.00 0.000 6 0.000 0.061 3003 2200 1740

11942 1.46 195.6 667.0 10.7 573 11943 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2200 1739

12252 1.46 195.6 633.0 11.1 588 12256 0.00 2.58 0.00 0.000 4 0.000 0.082 3003 3601 1740

12315 1.46 195.6 625.8 10.7 591 12319 0.00 2.45 0.00 0.000 6 0.000 0.061 3003 2200 1740

12642 1.46 195.6 590.2 10.8 607 12643 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2200 1740

12951 1.46 195.6 556.9 10.8 622 12953 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2200 1740

13260 1.46 195.6 522.5 11.0 637 13265 0.00 2.60 0.00 0.000 4 0.000 0.082 3003 3605 1740

13324 1.46 195.6 515.2 11.8 640 13328 0.00 2.45 0.00 0.000 6 0.000 0.061 3004 2201 1740

13651 1.46 195.6 477.6 11.5 656 13653 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2201 1740

13961 1.46 195.6 441.5 11.7 671 13962 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2201 1740

14269 1.46 195.6 406.6 11.4 686 14274 0.00 2.58 0.00 0.000 4 0.000 0.083 3003 3603 1740

14337 1.46 195.6 398.9 10.5 689 14342 0.00 2.45 0.00 0.000 6 0.000 0.061 3003 2199 1740

14660 1.51 225.3 368.1 8.6 705 14688 0.12 0.00 25.60 0.950 6 0.074 0.000 3036 2199 1619

14989 1.51 225.3 332.9 11.6 721 14993 0.00 2.58 0.00 0.000 4 0.000 0.081 3036 3602 1619

15113 1.51 225.3 316.9 11.6 726 15119 0.00 2.45 0.00 0.000 6 0.000 0.061 3036 2199 1619

15429 1.51 225.3 277.6 13.7 742 15433 0.00 2.58 0.00 0.000 4 0.000 0.082 3036 3605 1618

15496 1.51 225.3 268.1 14.7 745 15500 0.00 2.47 0.00 0.000 6 0.000 0.062 3036 2196 1618

15818 1.51 225.3 223.3 14.4 761 15819 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2196 1618

16127 1.51 225.3 180.8 13.5 776 16128 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2196 1618

16437 1.51 225.3 140.2 12.8 791 16438 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2196 1619

16747 1.51 225.3 104.7 10.8 806 16751 0.00 2.58 0.00 0.000 4 0.000 0.082 3036 3602 1618

16925 1.51 225.3 83.7 13.4 814 16929 0.00 2.45 0.00 0.000 6 0.000 0.062 3036 2198 1618

17253 1.55 250.6 49.6 8.8 830 17279 0.00 2.65 21.10 0.834 4 0.000 0.080 3036 3602 1516

17382 1.55 250.6 35.7 12.3 836 17387 0.00 2.45 0.00 0.000 6 0.000 0.061 3036 2197 1515

17665 end climb: SURFACE_DEPTH_REACHED

state 17665 begin surface coast

17687 end surface coast: CONTROL_FINISHED_OK

state 17687 begin surface

ID	14	HEADING	315	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	41	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	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	50	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	-650960.12	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	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	191026,6333.341,-634.289,40,1.0,40,-8.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6340.989,-651.312
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	2.01	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-66.4	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	191645,6333.353,-634.088,12,1.0,12,-8.6	MHEAD_RNG_PITCHd_Wd	323.6,20000,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.7,1.001656	_24V_AH	23.3,9.767
SM_CCo	17713,34.95,0.780,0,0,1316,300.00	_10V_AH	10.1,5.475
SM_GC	1.87,0.00,0.00,34.95,0.000,0.000,0.780,382,1601,1316,-10.69,0.03,300.00	DATA_FILE_SIZE	44260,851
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	129905,0
TT8_MAMPS	0.02301	CFSIZE	254472192,249286656
HUMID	2024	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
TCM_TEMP	14.40	GPS	070908,001407,6334.001,-639.780,25,1.4,25,-8.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	181	110.97	SBE_CT	637	24	356.67
Roll_motor	146	92	315.76	SBE_O2	581	19	257.62
VBD_pump_during_apogee	350	1357	11096.45	WL_BB2F	453	105	1108.90
VBD_pump_during_surface	34	780	635.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.63	nil	0	0	0.00
Iridium_during_connect	29	160	110.52	nil	0	0	0.00
Iridium_during_xfer	174	223	905.42
Transponder_ping	8	420	83.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.10
TT8	1604	19	320.81
LPSleep	13391	2	296.20
TT8_Active	508	19	101.78
TT8_Sampling	2022	39	812.96
TT8_CF8	607	45	280.89
TT8_Kalman	0	81	0.00
Analog_circuits	1518	12	184.08
GPS_charging	0	0	0.00
Compass	1970	8	159.25
RAFOS	0	0	0.00
Transponder	58	30	17.80

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	59	0.00	0.00	-40.90	0.000	2	0.000	0.000	381	1631	2193
63	-1.38	-146.6	3.4	-7.2	2	116	11.43	2.58	-34.62	0.000	4	0.182	0.091	2396	220	3137
192	-1.38	-146.6	16.8	-16.5	8	197	0.00	2.33	0.00	0.000	6	0.000	0.054	2395	1601	3138
522	-1.38	-146.6	62.8	-13.7	24	523	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1606	3140
830	-1.38	-146.6	104.2	-13.9	39	834	0.00	2.50	0.00	0.000	4	0.000	0.077	2396	221	3145
1066	-1.38	-146.6	139.0	-14.5	49	1073	0.00	2.30	0.00	0.000	6	0.000	0.054	2395	1603	3145
1382	-1.38	-146.6	178.4	-12.5	65	1387	0.00	2.50	0.00	0.000	4	0.000	0.078	2396	220	3148
1540	-1.38	-146.6	200.0	-14.0	72	1548	0.00	2.33	0.00	0.000	6	0.000	0.055	2395	1600	3148
1870	-1.38	-146.6	241.3	-12.3	88	1874	0.00	2.53	0.00	0.000	4	0.000	0.081	2395	219	3148
1979	-1.38	-146.6	255.1	-13.2	93	1983	0.00	2.35	0.00	0.000	6	0.000	0.055	2395	1604	3148
2306	-1.38	-146.6	295.3	-12.6	109	2310	0.00	2.53	0.00	0.000	4	0.000	0.079	2396	221	3149
2373	-1.38	-146.6	304.2	-13.4	112	2377	0.00	2.35	0.00	0.000	6	0.000	0.054	2395	1604	3148
2694	-1.38	-146.6	345.7	-13.1	128	2696	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1606	3148
3004	-1.38	-146.6	385.3	-12.8	143	3008	0.00	2.55	0.00	0.000	4	0.000	0.083	2395	214	3149
3067	-1.38	-146.6	393.5	-12.9	146	3071	0.00	2.38	0.00	0.000	6	0.000	0.054	2396	1607	3149
3394	-1.38	-146.6	432.2	-11.2	162	3398	0.00	2.55	0.00	0.000	4	0.000	0.083	2395	214	3148
3450	-1.38	-146.6	439.1	-12.2	164	3456	0.00	2.38	0.00	0.000	6	0.000	0.054	2395	1606	3148
3767	-1.38	-146.6	475.2	-11.6	180	3772	0.00	2.55	0.00	0.000	4	0.000	0.084	2395	217	3147
3824	-1.38	-146.6	482.4	-12.5	182	3830	0.00	2.35	0.00	0.000	6	0.000	0.054	2395	1601	3148
4140	-1.38	-146.6	519.3	-11.7	198	4144	0.00	2.53	0.00	0.000	4	0.000	0.084	2396	221	3146
4196	-1.38	-146.6	526.3	-12.4	200	4203	0.00	2.35	0.00	0.000	6	0.000	0.054	2395	1605	3146
4513	-1.38	-146.6	561.5	-10.9	216	4517	0.00	2.55	0.00	0.000	4	0.000	0.084	2395	219	3145
4557	-1.38	-146.6	566.9	-11.5	218	4562	0.00	2.35	0.00	0.000	6	0.000	0.054	2395	1602	3145
4880	-1.38	-146.6	601.0	-10.3	234	4884	0.00	2.55	0.00	0.000	4	0.000	0.084	2395	212	3143
4925	-1.38	-146.6	606.3	-11.3	236	4929	0.00	2.38	0.00	0.000	6	0.000	0.054	2395	1604	3143
5252	-1.38	-146.6	641.3	-10.8	252	5257	0.00	2.55	0.00	0.000	4	0.000	0.083	2395	214	3142
5303	-1.38	-146.6	647.2	-11.5	254	5307	0.00	2.38	0.00	0.000	6	0.000	0.054	2395	1610	3143
5619	-1.38	-146.6	681.9	-11.0	269	5624	0.00	2.55	0.00	0.000	4	0.000	0.084	2395	222	3142
5670	-1.38	-146.6	687.8	-11.5	271	5675	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1603	3142
5987	-1.38	-146.6	722.9	-11.4	286	5992	0.00	2.53	0.00	0.000	4	0.000	0.083	2396	222	3142
6032	-1.38	-146.6	728.4	-11.7	288	6036	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1601	3142
6354	-1.38	-146.6	764.7	-11.1	304	6355	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1601	3142
6663	-1.38	-146.6	799.1	-11.0	319	6667	0.00	2.53	0.00	0.000	4	0.000	0.083	2395	222	3141
6725	-1.38	-146.6	806.5	-11.4	322	6730	0.00	2.35	0.00	0.000	6	0.000	0.054	2395	1605	3141
7053	-1.38	-146.6	842.0	-10.7	338	7057	0.00	2.55	0.00	0.000	4	0.000	0.084	2395	213	3140
7098	-1.38	-146.6	847.4	-12.8	340	7102	0.00	2.35	0.00	0.000	6	0.000	0.054	2395	1601	3140
7420	-1.38	-146.6	882.7	-11.2	356	7421	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1602	3139
7729	-1.38	-146.6	916.3	-10.8	371	7734	0.00	2.53	0.00	0.000	4	0.000	0.081	2395	214	3139
7819	-1.38	-146.6	926.5	-11.5	375	7823	0.00	2.35	0.00	0.000	6	0.000	0.054	2395	1604	3138
8147	-1.38	-146.6	960.3	-10.2	391	8149	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	1604	3138
8453	end dive: TARGET_DEPTH_EXCEEDED
state	8453	begin apogee
8463	-0.32	0.0	991.4	10.0	406	8596	1.17	0.00	129.85	1.358	6	0.120	0.000	2632	2189	2539
8597	end apogee: CONTROL_FINISHED_OK
state	8597	begin climb
8601	1.38	146.6	997.1	0.0	413	8735	1.73	2.75	126.22	1.326	4	0.076	0.093	3003	3604	1940
9009	1.40	157.9	969.9	9.5	431	9025	0.00	2.45	11.07	1.274	6	0.000	0.060	3003	2203	1894
9342	1.43	176.1	938.3	9.1	448	9364	0.00	2.70	17.30	1.250	4	0.000	0.081	3003	3601	1820
9478	1.43	176.1	924.4	10.7	454	9483	0.00	2.45	0.00	0.000	6	0.000	0.060	3003	2200	1820
9806	1.44	184.6	893.0	9.6	470	9816	0.00	0.00	8.43	1.136	6	0.000	0.000	3003	2200	1786
10116	1.46	195.6	863.7	9.5	485	10136	0.00	2.65	11.23	1.160	4	0.000	0.081	3003	3599	1740
10193	1.46	195.6	855.7	10.2	488	10198	0.00	2.45	0.00	0.000	6	0.000	0.060	3003	2199	1740
10515	1.46	195.6	823.5	10.2	504	10516	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2199	1740
10825	1.46	195.6	791.0	10.7	519	10829	0.00	2.60	0.00	0.000	4	0.000	0.084	3003	3607	1740
10887	1.46	195.6	784.1	12.3	522	10892	0.00	2.47	0.00	0.000	6	0.000	0.061	3003	2196	1740
11215	1.46	195.6	748.2	11.1	538	11216	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2197	1740
11524	1.46	195.6	713.9	11.1	553	11528	0.00	2.58	0.00	0.000	4	0.000	0.081	3003	3601	1740
11609	1.46	195.6	703.9	12.1	557	11613	0.00	2.45	0.00	0.000	6	0.000	0.061	3003	2200	1740
11942	1.46	195.6	667.0	10.7	573	11943	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2200	1739
12252	1.46	195.6	633.0	11.1	588	12256	0.00	2.58	0.00	0.000	4	0.000	0.082	3003	3601	1740
12315	1.46	195.6	625.8	10.7	591	12319	0.00	2.45	0.00	0.000	6	0.000	0.061	3003	2200	1740
12642	1.46	195.6	590.2	10.8	607	12643	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2200	1740
12951	1.46	195.6	556.9	10.8	622	12953	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2200	1740
13260	1.46	195.6	522.5	11.0	637	13265	0.00	2.60	0.00	0.000	4	0.000	0.082	3003	3605	1740
13324	1.46	195.6	515.2	11.8	640	13328	0.00	2.45	0.00	0.000	6	0.000	0.061	3004	2201	1740
13651	1.46	195.6	477.6	11.5	656	13653	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2201	1740
13961	1.46	195.6	441.5	11.7	671	13962	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2201	1740
14269	1.46	195.6	406.6	11.4	686	14274	0.00	2.58	0.00	0.000	4	0.000	0.083	3003	3603	1740
14337	1.46	195.6	398.9	10.5	689	14342	0.00	2.45	0.00	0.000	6	0.000	0.061	3003	2199	1740
14660	1.51	225.3	368.1	8.6	705	14688	0.12	0.00	25.60	0.950	6	0.074	0.000	3036	2199	1619
14989	1.51	225.3	332.9	11.6	721	14993	0.00	2.58	0.00	0.000	4	0.000	0.081	3036	3602	1619
15113	1.51	225.3	316.9	11.6	726	15119	0.00	2.45	0.00	0.000	6	0.000	0.061	3036	2199	1619
15429	1.51	225.3	277.6	13.7	742	15433	0.00	2.58	0.00	0.000	4	0.000	0.082	3036	3605	1618
15496	1.51	225.3	268.1	14.7	745	15500	0.00	2.47	0.00	0.000	6	0.000	0.062	3036	2196	1618
15818	1.51	225.3	223.3	14.4	761	15819	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2196	1618
16127	1.51	225.3	180.8	13.5	776	16128	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2196	1618
16437	1.51	225.3	140.2	12.8	791	16438	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2196	1619
16747	1.51	225.3	104.7	10.8	806	16751	0.00	2.58	0.00	0.000	4	0.000	0.082	3036	3602	1618
16925	1.51	225.3	83.7	13.4	814	16929	0.00	2.45	0.00	0.000	6	0.000	0.062	3036	2198	1618
17253	1.55	250.6	49.6	8.8	830	17279	0.00	2.65	21.10	0.834	4	0.000	0.080	3036	3602	1516
17382	1.55	250.6	35.7	12.3	836	17387	0.00	2.45	0.00	0.000	6	0.000	0.061	3036	2197	1515
17665	end climb: SURFACE_DEPTH_REACHED
state	17665	begin surface coast
17687	end surface coast: CONTROL_FINISHED_OK
state	17687	begin surface