Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 51 * 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 51 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -651114.62 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 -651114.62

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 18 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 51 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 232601,6333.556,-714.894,37,1.0,43,-9.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6341.146,-732.063

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.38 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -64.5 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 233520,6333.510,-714.837,7,1.6,12,-9.0 MHEAD_RNG_PITCHd_Wd 324.0,20000,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.003609 _24V_AH 23.4,11.198

SM_CCo 18223,46.30,0.698,0,0,1315,300.00 _10V_AH 10.1,6.306

SM_GC 1.24,0.00,0.00,46.30,0.000,0.000,0.698,383,1606,1315,-10.68,0.14,300.00 DATA_FILE_SIZE 44267,874

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 125570,0

TT8_MAMPS 0.023777 CFSIZE 254472192,248647680

HUMID 1926 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,0,0

TCM_TEMP 17.20 GPS 090908,044138,6334.418,-718.335,40,0.8,40,-9.0

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 181 110.76 SBE_CT 657 24 369.34

Roll_motor 110 88 230.73 SBE_O2 597 19 265.43

VBD_pump_during_apogee 322 1356 10246.96 WL_BB2F 449 105 1104.64

VBD_pump_during_surface 46 697 756.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 182.02 nil 0 0 0.00

Iridium_during_connect 53 160 198.70 nil 0 0 0.00

Iridium_during_xfer 228 223 1193.41

Transponder_ping 8 420 86.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.27

TT8 1603 19 320.76

LPSleep 14118 2 312.29

TT8_Active 487 19 97.57

TT8_Sampling 1906 39 766.31

TT8_CF8 719 45 332.82

TT8_Kalman 0 81 0.00

Analog_circuits 1426 12 172.94

GPS_charging 0 0 0.00

Compass 1862 8 150.45

RAFOS 0 0 0.00

Transponder 55 30 16.97

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 84 0.00 0.00 -65.55 0.000 2 0.000 0.000 382 1595 2939

88 -1.38 -146.6 5.1 -6.3 4 111 11.40 2.47 -3.80 0.000 4 0.181 0.078 2396 3002 3138

375 -1.38 -146.6 51.0 -12.0 16 381 0.00 2.42 0.00 0.000 6 0.000 0.061 2396 1594 3140

693 -1.38 -146.6 91.2 -13.0 32 697 0.00 2.50 0.00 0.000 4 0.000 0.082 2397 214 3142

749 -1.38 -146.6 99.2 -13.7 34 755 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1630 3142

1065 -1.38 -146.6 140.5 -13.5 50 1070 0.00 2.55 0.00 0.000 4 0.000 0.077 2396 212 3143

1151 -1.38 -146.6 152.9 -14.7 54 1156 0.00 2.30 0.00 0.000 6 0.000 0.054 2396 1602 3143

1479 -1.38 -146.6 195.6 -12.8 70 1483 0.00 2.50 0.00 0.000 4 0.000 0.075 2396 209 3143

1535 -1.38 -146.6 203.3 -13.9 72 1541 0.00 2.30 0.00 0.000 6 0.000 0.054 2396 1603 3144

1851 -1.38 -146.6 243.2 -12.2 88 1856 0.00 2.50 0.00 0.000 4 0.000 0.076 2396 211 3144

1925 -1.38 -146.6 252.1 -11.7 91 1929 0.00 2.30 0.00 0.000 6 0.000 0.054 2396 1599 3144

2241 -1.38 -146.6 284.8 -10.0 106 2243 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1603 3144

2551 -1.38 -146.6 319.7 -12.3 121 2555 0.00 2.53 0.00 0.000 4 0.000 0.080 2397 209 3145

2624 -1.38 -146.6 329.8 -13.6 124 2628 0.00 2.33 0.00 0.000 6 0.000 0.054 2396 1599 3146

2946 -1.38 -146.6 370.2 -12.5 140 2947 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1602 3146

3255 -1.38 -146.6 402.1 -10.0 155 3256 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1602 3146

3564 -1.38 -146.6 430.8 -9.7 170 3566 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1602 3146

3873 -1.38 -146.6 463.3 -11.0 185 3874 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1603 3146

4182 -1.38 -146.6 497.9 -11.1 200 4187 0.00 2.53 0.00 0.000 4 0.000 0.079 2396 212 3146

4223 -1.38 -146.6 502.8 -11.6 202 4227 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1603 3146

4557 -1.38 -146.6 538.2 -10.2 218 4558 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1603 3145

4866 -1.38 -146.6 570.1 -10.1 233 4867 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1603 3144

5176 -1.38 -146.6 600.3 -9.9 248 5181 0.00 2.53 0.00 0.000 4 0.000 0.082 2396 213 3143

5217 -1.38 -146.6 604.8 -10.7 250 5221 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1602 3143

5544 -1.38 -146.6 639.1 -10.6 266 5546 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1602 3141

5854 -1.38 -146.6 673.2 -11.1 281 5855 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1602 3140

6163 -1.38 -146.6 707.6 -11.0 296 6167 0.00 2.53 0.00 0.000 4 0.000 0.082 2396 213 3139

6208 -1.38 -146.6 713.3 -11.9 298 6212 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1600 3139

6530 -1.38 -146.6 749.1 -10.8 314 6532 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1600 3137

6840 -1.38 -146.6 783.1 -10.9 329 6841 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1600 3136

7149 -1.38 -146.6 815.6 -10.4 344 7153 0.00 2.53 0.00 0.000 4 0.000 0.082 2396 212 3135

7190 -1.38 -146.6 820.0 -11.2 346 7194 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1604 3135

7517 -1.38 -146.6 853.2 -9.8 362 7519 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1604 3134

7827 -1.38 -146.6 883.4 -9.7 377 7828 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1604 3132

8136 -1.38 -146.6 912.8 -9.4 392 8140 0.00 2.53 0.00 0.000 4 0.000 0.080 2396 212 3132

8170 -1.38 -146.6 916.5 -10.5 393 8176 0.00 2.35 0.00 0.000 6 0.000 0.054 2396 1603 3132

8486 -1.38 -146.6 946.8 -9.6 409 8488 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1604 3132

8798 -1.38 -146.6 976.1 -9.6 424 8799 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1604 3131

8956 end dive: TARGET_DEPTH_EXCEEDED

state 8957 begin apogee

8966 -0.32 0.0 991.5 9.3 432 9100 1.17 0.00 128.07 1.356 6 0.119 0.000 2633 2195 2538

9100 end apogee: CONTROL_FINISHED_OK

state 9101 begin climb

9104 1.38 146.6 996.5 0.0 439 9238 1.75 2.70 125.32 1.322 4 0.084 0.089 3003 3602 1940

9467 1.38 146.6 967.2 11.0 455 9473 0.00 2.45 0.00 0.000 6 0.000 0.060 3003 2197 1940

9783 1.38 146.6 933.6 10.7 471 9785 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2196 1940

10093 1.38 146.6 900.8 10.6 486 10097 0.00 2.58 0.00 0.000 4 0.000 0.081 3003 3597 1938

10178 1.38 146.6 891.8 11.4 490 10182 0.00 2.42 0.00 0.000 6 0.000 0.058 3003 2198 1938

10505 1.38 146.6 858.3 10.3 506 10506 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2197 1938

10815 1.39 150.7 827.5 9.8 521 10821 0.00 0.00 4.72 0.897 6 0.000 0.000 3003 2197 1924

11124 1.40 160.3 797.6 9.6 536 11139 0.00 2.62 9.65 1.094 4 0.000 0.081 3003 3597 1885

11231 1.42 169.9 786.9 9.6 540 11246 0.00 2.45 9.68 1.085 6 0.000 0.060 3003 2199 1846

11563 1.44 180.2 754.9 9.5 556 11575 0.00 0.00 10.40 1.094 6 0.000 0.000 3003 2199 1803

11872 1.44 180.2 724.3 10.0 571 11873 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2199 1802

12181 1.44 180.2 692.9 10.1 586 12182 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2199 1803

12491 1.44 180.2 660.8 10.3 601 12494 0.00 2.58 0.00 0.000 4 0.000 0.083 3003 3599 1801

12552 1.44 180.2 653.8 10.6 603 12559 0.00 2.45 0.00 0.000 6 0.000 0.061 3003 2197 1801

12869 1.44 180.2 619.9 11.0 619 12870 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2197 1802

13178 1.44 180.2 586.4 10.7 634 13183 0.00 2.55 0.00 0.000 4 0.000 0.081 3003 3597 1801

13291 1.44 180.2 573.4 11.3 639 13295 0.00 2.45 0.00 0.000 6 0.000 0.061 3003 2197 1801

13612 1.44 180.2 538.9 10.6 655 13614 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2197 1801

13921 1.44 180.2 505.4 11.0 670 13926 0.00 2.55 0.00 0.000 4 0.000 0.082 3003 3597 1801

13994 1.44 180.2 496.9 11.6 673 13998 0.00 2.45 0.00 0.000 6 0.000 0.061 3003 2195 1801

14311 1.44 180.2 463.9 10.3 688 14312 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2195 1801

14620 1.44 180.2 431.9 10.2 703 14621 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2195 1801

14929 1.44 183.9 401.3 9.8 718 14938 0.00 2.60 4.12 0.748 4 0.000 0.081 3003 3604 1788

15072 1.46 192.0 387.0 9.6 724 15089 0.00 2.45 8.75 0.919 6 0.000 0.061 3003 2199 1755

15399 1.50 217.3 357.3 8.8 740 15424 0.12 0.00 22.20 0.927 6 0.073 0.000 3037 2199 1652

15729 1.50 217.3 320.3 11.9 756 15733 0.00 2.58 0.00 0.000 4 0.000 0.082 3037 3599 1651

15813 1.50 217.3 309.5 12.9 759 15819 0.00 2.45 0.00 0.000 6 0.000 0.060 3036 2196 1650

16129 1.50 217.3 268.1 13.4 775 16134 0.00 2.58 0.00 0.000 4 0.000 0.082 3036 3602 1649

16237 1.50 217.3 253.4 12.5 780 16241 0.00 2.45 0.00 0.000 6 0.000 0.062 3037 2199 1649

16565 1.50 217.3 211.5 13.0 796 16569 0.00 2.58 0.00 0.000 4 0.000 0.083 3036 3602 1648

16717 1.50 217.3 191.2 13.0 803 16722 0.00 2.45 0.00 0.000 6 0.000 0.061 3037 2197 1649

17045 1.50 217.3 147.9 13.2 819 17046 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2197 1649

17356 1.50 217.3 106.9 13.5 834 17360 0.00 2.55 0.00 0.000 4 0.000 0.082 3037 3597 1649

17429 1.50 217.3 96.2 14.9 837 17433 0.00 2.42 0.00 0.000 6 0.000 0.061 3036 2196 1649

17746 1.50 217.3 52.4 13.6 852 17747 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2196 1648

18056 1.50 217.3 14.0 11.5 867 18058 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2196 1649

18175 end climb: SURFACE_DEPTH_REACHED

state 18175 begin surface coast

18197 end surface coast: CONTROL_FINISHED_OK

state 18197 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	51	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-651114.62	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	232601,6333.556,-714.894,37,1.0,43,-9.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6341.146,-732.063
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.38	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-64.5	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	233520,6333.510,-714.837,7,1.6,12,-9.0	MHEAD_RNG_PITCHd_Wd	324.0,20000,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.5,1.003609	_24V_AH	23.4,11.198
SM_CCo	18223,46.30,0.698,0,0,1315,300.00	_10V_AH	10.1,6.306
SM_GC	1.24,0.00,0.00,46.30,0.000,0.000,0.698,383,1606,1315,-10.68,0.14,300.00	DATA_FILE_SIZE	44267,874
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	125570,0
TT8_MAMPS	0.023777	CFSIZE	254472192,248647680
HUMID	1926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
TCM_TEMP	17.20	GPS	090908,044138,6334.418,-718.335,40,0.8,40,-9.0
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	181	110.76	SBE_CT	657	24	369.34
Roll_motor	110	88	230.73	SBE_O2	597	19	265.43
VBD_pump_during_apogee	322	1356	10246.96	WL_BB2F	449	105	1104.64
VBD_pump_during_surface	46	697	756.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	182.02	nil	0	0	0.00
Iridium_during_connect	53	160	198.70	nil	0	0	0.00
Iridium_during_xfer	228	223	1193.41
Transponder_ping	8	420	86.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.27
TT8	1603	19	320.76
LPSleep	14118	2	312.29
TT8_Active	487	19	97.57
TT8_Sampling	1906	39	766.31
TT8_CF8	719	45	332.82
TT8_Kalman	0	81	0.00
Analog_circuits	1426	12	172.94
GPS_charging	0	0	0.00
Compass	1862	8	150.45
RAFOS	0	0	0.00
Transponder	55	30	16.97

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	84	0.00	0.00	-65.55	0.000	2	0.000	0.000	382	1595	2939
88	-1.38	-146.6	5.1	-6.3	4	111	11.40	2.47	-3.80	0.000	4	0.181	0.078	2396	3002	3138
375	-1.38	-146.6	51.0	-12.0	16	381	0.00	2.42	0.00	0.000	6	0.000	0.061	2396	1594	3140
693	-1.38	-146.6	91.2	-13.0	32	697	0.00	2.50	0.00	0.000	4	0.000	0.082	2397	214	3142
749	-1.38	-146.6	99.2	-13.7	34	755	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1630	3142
1065	-1.38	-146.6	140.5	-13.5	50	1070	0.00	2.55	0.00	0.000	4	0.000	0.077	2396	212	3143
1151	-1.38	-146.6	152.9	-14.7	54	1156	0.00	2.30	0.00	0.000	6	0.000	0.054	2396	1602	3143
1479	-1.38	-146.6	195.6	-12.8	70	1483	0.00	2.50	0.00	0.000	4	0.000	0.075	2396	209	3143
1535	-1.38	-146.6	203.3	-13.9	72	1541	0.00	2.30	0.00	0.000	6	0.000	0.054	2396	1603	3144
1851	-1.38	-146.6	243.2	-12.2	88	1856	0.00	2.50	0.00	0.000	4	0.000	0.076	2396	211	3144
1925	-1.38	-146.6	252.1	-11.7	91	1929	0.00	2.30	0.00	0.000	6	0.000	0.054	2396	1599	3144
2241	-1.38	-146.6	284.8	-10.0	106	2243	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1603	3144
2551	-1.38	-146.6	319.7	-12.3	121	2555	0.00	2.53	0.00	0.000	4	0.000	0.080	2397	209	3145
2624	-1.38	-146.6	329.8	-13.6	124	2628	0.00	2.33	0.00	0.000	6	0.000	0.054	2396	1599	3146
2946	-1.38	-146.6	370.2	-12.5	140	2947	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1602	3146
3255	-1.38	-146.6	402.1	-10.0	155	3256	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1602	3146
3564	-1.38	-146.6	430.8	-9.7	170	3566	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1602	3146
3873	-1.38	-146.6	463.3	-11.0	185	3874	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1603	3146
4182	-1.38	-146.6	497.9	-11.1	200	4187	0.00	2.53	0.00	0.000	4	0.000	0.079	2396	212	3146
4223	-1.38	-146.6	502.8	-11.6	202	4227	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1603	3146
4557	-1.38	-146.6	538.2	-10.2	218	4558	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1603	3145
4866	-1.38	-146.6	570.1	-10.1	233	4867	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1603	3144
5176	-1.38	-146.6	600.3	-9.9	248	5181	0.00	2.53	0.00	0.000	4	0.000	0.082	2396	213	3143
5217	-1.38	-146.6	604.8	-10.7	250	5221	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1602	3143
5544	-1.38	-146.6	639.1	-10.6	266	5546	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1602	3141
5854	-1.38	-146.6	673.2	-11.1	281	5855	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1602	3140
6163	-1.38	-146.6	707.6	-11.0	296	6167	0.00	2.53	0.00	0.000	4	0.000	0.082	2396	213	3139
6208	-1.38	-146.6	713.3	-11.9	298	6212	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1600	3139
6530	-1.38	-146.6	749.1	-10.8	314	6532	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1600	3137
6840	-1.38	-146.6	783.1	-10.9	329	6841	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1600	3136
7149	-1.38	-146.6	815.6	-10.4	344	7153	0.00	2.53	0.00	0.000	4	0.000	0.082	2396	212	3135
7190	-1.38	-146.6	820.0	-11.2	346	7194	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1604	3135
7517	-1.38	-146.6	853.2	-9.8	362	7519	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1604	3134
7827	-1.38	-146.6	883.4	-9.7	377	7828	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1604	3132
8136	-1.38	-146.6	912.8	-9.4	392	8140	0.00	2.53	0.00	0.000	4	0.000	0.080	2396	212	3132
8170	-1.38	-146.6	916.5	-10.5	393	8176	0.00	2.35	0.00	0.000	6	0.000	0.054	2396	1603	3132
8486	-1.38	-146.6	946.8	-9.6	409	8488	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1604	3132
8798	-1.38	-146.6	976.1	-9.6	424	8799	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	1604	3131
8956	end dive: TARGET_DEPTH_EXCEEDED
state	8957	begin apogee
8966	-0.32	0.0	991.5	9.3	432	9100	1.17	0.00	128.07	1.356	6	0.119	0.000	2633	2195	2538
9100	end apogee: CONTROL_FINISHED_OK
state	9101	begin climb
9104	1.38	146.6	996.5	0.0	439	9238	1.75	2.70	125.32	1.322	4	0.084	0.089	3003	3602	1940
9467	1.38	146.6	967.2	11.0	455	9473	0.00	2.45	0.00	0.000	6	0.000	0.060	3003	2197	1940
9783	1.38	146.6	933.6	10.7	471	9785	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2196	1940
10093	1.38	146.6	900.8	10.6	486	10097	0.00	2.58	0.00	0.000	4	0.000	0.081	3003	3597	1938
10178	1.38	146.6	891.8	11.4	490	10182	0.00	2.42	0.00	0.000	6	0.000	0.058	3003	2198	1938
10505	1.38	146.6	858.3	10.3	506	10506	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2197	1938
10815	1.39	150.7	827.5	9.8	521	10821	0.00	0.00	4.72	0.897	6	0.000	0.000	3003	2197	1924
11124	1.40	160.3	797.6	9.6	536	11139	0.00	2.62	9.65	1.094	4	0.000	0.081	3003	3597	1885
11231	1.42	169.9	786.9	9.6	540	11246	0.00	2.45	9.68	1.085	6	0.000	0.060	3003	2199	1846
11563	1.44	180.2	754.9	9.5	556	11575	0.00	0.00	10.40	1.094	6	0.000	0.000	3003	2199	1803
11872	1.44	180.2	724.3	10.0	571	11873	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2199	1802
12181	1.44	180.2	692.9	10.1	586	12182	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2199	1803
12491	1.44	180.2	660.8	10.3	601	12494	0.00	2.58	0.00	0.000	4	0.000	0.083	3003	3599	1801
12552	1.44	180.2	653.8	10.6	603	12559	0.00	2.45	0.00	0.000	6	0.000	0.061	3003	2197	1801
12869	1.44	180.2	619.9	11.0	619	12870	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2197	1802
13178	1.44	180.2	586.4	10.7	634	13183	0.00	2.55	0.00	0.000	4	0.000	0.081	3003	3597	1801
13291	1.44	180.2	573.4	11.3	639	13295	0.00	2.45	0.00	0.000	6	0.000	0.061	3003	2197	1801
13612	1.44	180.2	538.9	10.6	655	13614	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2197	1801
13921	1.44	180.2	505.4	11.0	670	13926	0.00	2.55	0.00	0.000	4	0.000	0.082	3003	3597	1801
13994	1.44	180.2	496.9	11.6	673	13998	0.00	2.45	0.00	0.000	6	0.000	0.061	3003	2195	1801
14311	1.44	180.2	463.9	10.3	688	14312	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2195	1801
14620	1.44	180.2	431.9	10.2	703	14621	0.00	0.00	0.00	0.000	6	0.000	0.000	3003	2195	1801
14929	1.44	183.9	401.3	9.8	718	14938	0.00	2.60	4.12	0.748	4	0.000	0.081	3003	3604	1788
15072	1.46	192.0	387.0	9.6	724	15089	0.00	2.45	8.75	0.919	6	0.000	0.061	3003	2199	1755
15399	1.50	217.3	357.3	8.8	740	15424	0.12	0.00	22.20	0.927	6	0.073	0.000	3037	2199	1652
15729	1.50	217.3	320.3	11.9	756	15733	0.00	2.58	0.00	0.000	4	0.000	0.082	3037	3599	1651
15813	1.50	217.3	309.5	12.9	759	15819	0.00	2.45	0.00	0.000	6	0.000	0.060	3036	2196	1650
16129	1.50	217.3	268.1	13.4	775	16134	0.00	2.58	0.00	0.000	4	0.000	0.082	3036	3602	1649
16237	1.50	217.3	253.4	12.5	780	16241	0.00	2.45	0.00	0.000	6	0.000	0.062	3037	2199	1649
16565	1.50	217.3	211.5	13.0	796	16569	0.00	2.58	0.00	0.000	4	0.000	0.083	3036	3602	1648
16717	1.50	217.3	191.2	13.0	803	16722	0.00	2.45	0.00	0.000	6	0.000	0.061	3037	2197	1649
17045	1.50	217.3	147.9	13.2	819	17046	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2197	1649
17356	1.50	217.3	106.9	13.5	834	17360	0.00	2.55	0.00	0.000	4	0.000	0.082	3037	3597	1649
17429	1.50	217.3	96.2	14.9	837	17433	0.00	2.42	0.00	0.000	6	0.000	0.061	3036	2196	1649
17746	1.50	217.3	52.4	13.6	852	17747	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2196	1648
18056	1.50	217.3	14.0	11.5	867	18058	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2196	1649
18175	end climb: SURFACE_DEPTH_REACHED
state	18175	begin surface coast
18197	end surface coast: CONTROL_FINISHED_OK
state	18197	begin surface