Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 2.5700001e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 17 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3929 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2052 ALTIM_FREQUENCY 13

D_NO_BLEED 100 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1950 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 250 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.784981

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 12 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 607 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3934 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2915 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 360 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -35354.191 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 45 AH0_24V 91.800003 SEABIRD_T_G 0.0043062796

SPEED_FACTOR 1 PITCH_MAX 3331 AH0_10V 61.200001 SEABIRD_T_H 0.0006289829

RHO 1.023 C_PITCH 2450 PRESSURE_YINT -16.564281 SEABIRD_T_I 2.2033064e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.057111e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.442612

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1821688

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015124022

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022414648

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.564281 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -8.75

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_GPS_CHARGE -35354.191

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 104 ROLL_MAX 3929 T_TURN_SAMPINT 5

C_PITCH 2450 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 12 T_WATCHDOG 10

C_ROLL_CLIMB 1950 INT_PRESSURE_YINT -1.784981 ROLL_MIN 176 UNCOM_BLEED 20

C_ROLL_DIVE 2052 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2915 MASS 52000 R_PORT_OVSHOOT 22 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.442612 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1821688 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015124022 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00022414648 VBD_MAX 3934

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043062796 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006289829 VBD_MIN 607

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2033064e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 17 PHONE_DEVICE 48 SEABIRD_T_J 2.057111e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 221432,6131.455,-249.712,66,1.1,66,-6.0 TGT_NAME ESEC_SE

_CALLS 4 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.206,0.165

_SM_DEPTHo 1.06 KALMAN_X 62325.6,1078.0,-1712.8,-43826.3,8258.6

_SM_ANGLEo -55.5 KALMAN_Y -11432.4,430.2,262.7,6166.7,-2682.8

GPS2 223151,6131.526,-249.035,10,2.0,10,-5.9 MHEAD_RNG_PITCHd_Wd 314.6,47308,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027350 XPDR_PINGS 0

SM_CCo 18580,24.75,0.628,2,0,1894,250.21 _24V_AH 23.0,5.294

SM_GC 1.07,0.00,0.00,24.75,0.000,0.000,0.628,40,2074,1894,-11.09,0.62,250.21 _10V_AH 10.1,2.834

IRIDIUM_FIX 6108.28,-242.29,120597,222228 DATA_FILE_SIZE 44272,887

TT8_MAMPS 0.026845 CFSIZE 260165632,256196608

HUMID 1720 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,2,0

INTERNAL_PRESSURE 8.43026 GPS 170208,034407,6132.725,-251.800,31,1.7,31,-6.0

TCM_TEMP 16.30

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 160 99.64 SBE_CT 662 24 365.72

Roll_motor 196 72 329.36 SBE_O2 598 19 261.73

VBD_pump_during_apogee 318 1480 10854.23 WL_BB2F 541 105 1306.66

VBD_pump_during_surface 24 628 357.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 155 103 367.66 nil 0 0 0.00

Iridium_during_connect 185 160 681.22 nil 0 0 0.00

Iridium_during_xfer 384 223 1974.44

Transponder_ping 8 420 82.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.91

TT8 1728 19 345.57

LPSleep 14043 2 310.64

TT8_Active 514 19 102.94

TT8_Sampling 2326 39 935.36

TT8_CF8 1037 45 479.98

TT8_Kalman 33 81 27.56

Analog_circuits 1659 12 201.08

GPS_charging 0 0 0.00

Compass 2284 8 184.63

RAFOS 0 0 0.00

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.39 -146.6 0.0 0.0 0 87 0.00 0.00 -61.65 0.000 2 0.000 0.000 40 2066 3050

90 -1.39 -146.6 3.1 -4.6 3 120 12.00 2.50 -12.48 0.000 4 0.160 0.064 2144 3451 3515

372 -1.39 -146.6 47.0 -18.8 15 379 0.00 2.47 0.00 0.000 6 0.000 0.039 2144 2051 3515

689 -1.39 -146.6 87.1 -9.0 31 694 0.00 2.50 0.00 0.000 4 0.000 0.051 2144 3451 3516

790 -1.39 -146.6 96.5 -9.3 35 797 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2051 3516

1106 -1.39 -146.6 131.1 -12.9 51 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2050 3516

1416 -1.39 -146.6 163.2 -10.0 66 1420 0.00 2.55 0.00 0.000 4 0.000 0.064 2144 646 3516

1487 -1.39 -146.6 171.4 -11.3 69 1492 0.00 2.40 0.00 0.000 6 0.000 0.035 2144 2049 3516

1803 -1.39 -146.6 207.4 -11.4 84 1807 0.00 2.55 0.00 0.000 4 0.000 0.061 2144 646 3516

1858 -1.39 -146.6 213.9 -11.6 86 1864 0.00 2.42 0.00 0.000 6 0.000 0.036 2144 2053 3516

2173 -1.39 -146.6 249.9 -11.3 102 2181 0.00 2.55 0.00 0.000 4 0.000 0.060 2144 646 3516

2253 -1.39 -146.6 259.0 -11.1 105 2258 0.00 2.42 0.00 0.000 6 0.000 0.035 2144 2061 3516

2569 -1.39 -146.6 292.4 -10.7 120 2573 0.00 2.58 0.00 0.000 4 0.000 0.059 2144 639 3516

2675 -1.39 -146.6 304.9 -11.6 125 2680 0.00 2.42 0.00 0.000 6 0.000 0.035 2144 2059 3516

3002 -1.39 -146.6 344.6 -12.9 141 3007 0.00 2.55 0.00 0.000 4 0.000 0.059 2144 646 3516

3065 -1.39 -146.6 352.7 -12.5 144 3069 0.00 2.40 0.00 0.000 6 0.000 0.036 2144 2054 3516

3391 -1.39 -146.6 388.2 -10.3 160 3395 0.00 2.55 0.00 0.000 4 0.000 0.059 2144 639 3516

3522 -1.39 -146.6 401.6 -10.3 166 3526 0.00 2.40 0.00 0.000 6 0.000 0.036 2144 2051 3516

3849 -1.39 -146.6 433.6 -9.6 182 3853 0.00 2.53 0.00 0.000 4 0.000 0.059 2144 644 3516

3994 -1.39 -146.6 448.6 -10.5 188 4000 0.00 2.40 0.00 0.000 6 0.000 0.035 2144 2057 3516

4309 -1.39 -146.6 480.3 -10.4 204 4314 0.00 2.55 0.00 0.000 4 0.000 0.059 2144 641 3516

4485 -1.39 -146.6 499.6 -10.7 212 4490 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2058 3516

4817 -1.39 -146.6 534.0 -9.7 228 4822 0.00 2.55 0.00 0.000 4 0.000 0.062 2144 647 3516

4873 -1.39 -146.6 539.8 -10.3 230 4880 0.00 2.42 0.00 0.000 6 0.000 0.039 2144 2045 3515

5189 -1.39 -146.6 571.1 -9.7 246 5194 0.00 2.55 0.00 0.000 4 0.000 0.064 2144 644 3514

5290 -1.39 -146.6 581.9 -10.6 250 5297 0.00 2.45 0.00 0.000 6 0.000 0.041 2145 2049 3513

5606 -1.39 -146.6 613.8 -10.2 266 5610 0.00 2.58 0.00 0.000 4 0.000 0.065 2144 639 3512

5667 -1.39 -146.6 620.4 -10.6 269 5672 0.00 2.45 0.00 0.000 6 0.000 0.042 2144 2058 3512

5994 -1.39 -146.6 653.6 -10.0 285 5998 0.00 2.58 0.00 0.000 4 0.000 0.066 2144 647 3512

6071 -1.39 -146.6 661.8 -10.3 288 6077 0.00 2.42 0.00 0.000 6 0.000 0.043 2144 2051 3511

6389 -1.39 -146.6 691.8 -9.3 304 6393 0.00 2.58 0.00 0.000 4 0.000 0.067 2144 647 3509

6468 -1.39 -146.6 699.6 -9.8 307 6475 0.00 2.45 0.00 0.000 6 0.000 0.044 2144 2050 3509

6783 -1.39 -146.6 729.7 -9.9 323 6788 0.00 2.58 0.00 0.000 4 0.000 0.067 2144 644 3507

6884 -1.39 -146.6 740.3 -10.3 327 6890 0.00 2.45 0.00 0.000 6 0.000 0.045 2144 2052 3507

7199 -1.39 -146.6 770.2 -9.4 343 7204 0.00 2.60 0.00 0.000 4 0.000 0.068 2144 639 3505

7272 -1.39 -146.6 777.5 -9.8 346 7276 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2053 3505

7588 -1.39 -146.6 807.7 -9.6 361 7593 0.00 2.60 0.00 0.000 4 0.000 0.069 2144 639 3505

7655 -1.39 -146.6 814.5 -10.0 364 7659 0.00 2.47 0.00 0.000 6 0.000 0.046 2144 2051 3504

7976 -1.39 -146.6 844.9 -9.4 380 7980 0.00 2.60 0.00 0.000 4 0.000 0.069 2144 639 3503

8039 -1.39 -146.6 851.2 -10.3 383 8043 0.00 2.47 0.00 0.000 6 0.000 0.046 2144 2053 3503

8365 -1.39 -146.6 882.1 -9.4 399 8370 0.00 2.58 0.00 0.000 4 0.000 0.069 2144 647 3502

8450 -1.39 -146.6 890.6 -10.0 403 8454 0.00 2.47 0.00 0.000 6 0.000 0.047 2144 2061 3501

8776 -1.39 -146.6 922.0 -9.7 419 8780 0.00 2.60 0.00 0.000 4 0.000 0.069 2143 645 3500

8865 -1.39 -146.6 931.1 -10.4 423 8869 0.00 2.45 0.00 0.000 6 0.000 0.047 2144 2051 3500

9186 -1.39 -146.6 962.7 -10.0 439 9190 0.00 2.60 0.00 0.000 4 0.000 0.070 2143 640 3500

9258 -1.39 -146.6 970.2 -10.6 442 9262 0.00 2.47 0.00 0.000 6 0.000 0.047 2144 2051 3500

9467 end dive: TARGET_DEPTH_EXCEEDED

state 9467 begin apogee

9474 -0.33 0.0 991.1 9.7 452 9604 1.15 0.00 126.55 1.480 6 0.099 0.000 2373 1942 2915

9605 end apogee: CONTROL_FINISHED_OK

state 9605 begin climb

9607 1.39 146.6 996.4 0.0 458 9745 1.77 2.65 128.90 1.422 4 0.063 0.064 2749 3352 2317

9882 1.39 146.6 978.7 10.7 470 9887 0.00 2.53 0.00 0.000 6 0.000 0.051 2750 1953 2317

10209 1.39 146.6 943.7 10.9 486 10214 0.00 2.58 0.00 0.000 4 0.000 0.061 2749 3352 2316

10271 1.39 146.6 936.4 11.2 489 10276 0.00 2.53 0.00 0.000 6 0.000 0.051 2749 1950 2316

10598 1.39 146.6 899.5 11.7 505 10602 0.00 2.58 0.00 0.000 4 0.000 0.061 2749 3350 2315

10653 1.39 146.6 892.9 11.7 507 10659 0.00 2.50 0.00 0.000 6 0.000 0.050 2749 1949 2316

10968 1.39 146.6 856.3 11.8 523 10972 0.00 2.58 0.00 0.000 4 0.000 0.061 2749 3356 2315

11030 1.39 146.6 848.9 12.1 526 11034 0.00 2.53 0.00 0.000 6 0.000 0.050 2749 1949 2315

11356 1.39 146.6 810.9 11.3 542 11360 0.00 2.58 0.00 0.000 4 0.000 0.061 2749 3353 2315

11441 1.39 146.6 801.2 12.5 546 11445 0.00 2.53 0.00 0.000 6 0.000 0.050 2749 1948 2314

11767 1.39 146.6 766.2 10.6 562 11771 0.00 2.58 0.00 0.000 4 0.000 0.061 2749 3354 2314

11833 1.39 146.6 758.5 11.8 565 11838 0.00 2.53 0.00 0.000 6 0.000 0.050 2749 1943 2314

12155 1.39 146.6 723.8 10.7 581 12156 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1943 2314

12466 1.39 146.6 690.2 10.9 596 12470 0.00 2.58 0.00 0.000 4 0.000 0.061 2749 3353 2313

12515 1.39 146.6 684.3 11.7 598 12519 0.00 2.50 0.00 0.000 6 0.000 0.049 2749 1948 2313

12830 1.39 146.6 650.8 10.6 613 12831 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1949 2313

13140 1.39 146.6 617.8 10.8 628 13144 0.00 2.55 0.00 0.000 4 0.000 0.061 2749 3350 2313

13246 1.39 146.6 605.9 10.8 633 13251 0.00 2.50 0.00 0.000 6 0.000 0.050 2749 1947 2313

13572 1.39 146.6 572.1 10.2 649 13573 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1947 2313

13882 1.44 189.0 544.4 8.1 664 13925 0.00 2.62 36.25 1.210 4 0.000 0.059 2749 3350 2143

14027 1.44 189.0 530.1 10.8 670 14031 0.00 2.53 0.00 0.000 6 0.000 0.048 2749 1945 2143

14342 1.44 189.0 493.9 11.6 685 14343 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1945 2143

14652 1.45 199.7 461.6 9.5 700 14668 0.00 2.65 10.68 1.065 4 0.000 0.073 2750 545 2099

14893 1.45 199.7 430.0 14.3 710 14897 0.00 2.47 0.00 0.000 6 0.000 0.040 2749 1953 2099

15220 1.45 199.7 389.9 11.9 726 15224 0.00 2.60 0.00 0.000 4 0.000 0.065 2749 545 2099

15286 1.45 199.7 381.6 12.7 729 15290 0.00 2.45 0.00 0.000 6 0.000 0.038 2750 1948 2099

15607 1.45 199.7 346.0 11.0 745 15608 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1949 2100

15916 1.45 199.7 308.6 12.9 760 15921 0.00 2.58 0.00 0.000 4 0.000 0.064 2749 546 2102

15989 1.45 199.7 298.4 13.9 763 15993 0.00 2.42 0.00 0.000 6 0.000 0.036 2749 1953 2102

16304 1.45 199.7 260.0 12.0 778 16308 0.00 2.58 0.00 0.000 4 0.000 0.062 2749 541 2103

16353 1.45 199.7 253.5 12.8 780 16358 0.00 2.42 0.00 0.000 6 0.000 0.035 2750 1948 2103

16669 1.45 199.7 215.8 11.5 795 16673 0.00 2.58 0.00 0.000 4 0.000 0.062 2750 539 2104

16724 1.45 199.7 208.8 11.1 797 16730 0.00 2.45 0.00 0.000 6 0.000 0.035 2750 1958 2104

17039 1.45 199.7 168.8 12.7 813 17040 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1958 2105

17350 1.46 203.1 135.2 9.8 828 17360 0.00 2.60 5.88 0.688 4 0.000 0.061 2749 541 2085

17428 1.46 203.1 124.9 13.5 831 17434 0.00 2.42 0.00 0.000 6 0.000 0.034 2749 1950 2085

17744 1.46 203.1 87.9 12.4 847 17748 0.00 2.55 0.00 0.000 4 0.000 0.061 2749 540 2086

17794 1.47 214.7 82.0 9.5 849 17809 0.00 2.42 10.55 0.731 6 0.000 0.035 2749 1953 2039

18131 1.47 214.7 43.3 10.2 866 18132 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1953 2039

18440 1.47 214.7 13.6 13.0 881 18444 0.00 2.58 0.00 0.000 4 0.000 0.064 2749 539 2041

18483 1.47 214.7 6.5 16.3 883 18488 0.00 2.42 0.00 0.000 6 0.000 0.034 2749 1949 2041

18535 end climb: SURFACE_DEPTH_REACHED

state 18535 begin surface coast

18557 end surface coast: CONTROL_FINISHED_OK

state 18557 begin surface

ID	104	HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	2.5700001e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	17	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3929	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2052	ALTIM_FREQUENCY	13
D_NO_BLEED	100	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1950	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	250	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.784981
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	12	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	607	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3934	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2915	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	360	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-35354.191	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	45	AH0_24V	91.800003	SEABIRD_T_G	0.0043062796
SPEED_FACTOR	1	PITCH_MAX	3331	AH0_10V	61.200001	SEABIRD_T_H	0.0006289829
RHO	1.023	C_PITCH	2450	PRESSURE_YINT	-16.564281	SEABIRD_T_I	2.2033064e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.057111e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.442612
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1821688
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015124022
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022414648

GPS1	221432,6131.455,-249.712,66,1.1,66,-6.0	TGT_NAME	ESEC_SE
_CALLS	4	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.206,0.165
_SM_DEPTHo	1.06	KALMAN_X	62325.6,1078.0,-1712.8,-43826.3,8258.6
_SM_ANGLEo	-55.5	KALMAN_Y	-11432.4,430.2,262.7,6166.7,-2682.8
GPS2	223151,6131.526,-249.035,10,2.0,10,-5.9	MHEAD_RNG_PITCHd_Wd	314.6,47308,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.027350	XPDR_PINGS	0
SM_CCo	18580,24.75,0.628,2,0,1894,250.21	_24V_AH	23.0,5.294
SM_GC	1.07,0.00,0.00,24.75,0.000,0.000,0.628,40,2074,1894,-11.09,0.62,250.21	_10V_AH	10.1,2.834
IRIDIUM_FIX	6108.28,-242.29,120597,222228	DATA_FILE_SIZE	44272,887
TT8_MAMPS	0.026845	CFSIZE	260165632,256196608
HUMID	1720	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,2,0
INTERNAL_PRESSURE	8.43026	GPS	170208,034407,6132.725,-251.800,31,1.7,31,-6.0
TCM_TEMP	16.30

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	160	99.64	SBE_CT	662	24	365.72
Roll_motor	196	72	329.36	SBE_O2	598	19	261.73
VBD_pump_during_apogee	318	1480	10854.23	WL_BB2F	541	105	1306.66
VBD_pump_during_surface	24	628	357.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	155	103	367.66	nil	0	0	0.00
Iridium_during_connect	185	160	681.22	nil	0	0	0.00
Iridium_during_xfer	384	223	1974.44
Transponder_ping	8	420	82.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.91
TT8	1728	19	345.57
LPSleep	14043	2	310.64
TT8_Active	514	19	102.94
TT8_Sampling	2326	39	935.36
TT8_CF8	1037	45	479.98
TT8_Kalman	33	81	27.56
Analog_circuits	1659	12	201.08
GPS_charging	0	0	0.00
Compass	2284	8	184.63
RAFOS	0	0	0.00

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.39	-146.6	0.0	0.0	0	87	0.00	0.00	-61.65	0.000	2	0.000	0.000	40	2066	3050
90	-1.39	-146.6	3.1	-4.6	3	120	12.00	2.50	-12.48	0.000	4	0.160	0.064	2144	3451	3515
372	-1.39	-146.6	47.0	-18.8	15	379	0.00	2.47	0.00	0.000	6	0.000	0.039	2144	2051	3515
689	-1.39	-146.6	87.1	-9.0	31	694	0.00	2.50	0.00	0.000	4	0.000	0.051	2144	3451	3516
790	-1.39	-146.6	96.5	-9.3	35	797	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2051	3516
1106	-1.39	-146.6	131.1	-12.9	51	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2050	3516
1416	-1.39	-146.6	163.2	-10.0	66	1420	0.00	2.55	0.00	0.000	4	0.000	0.064	2144	646	3516
1487	-1.39	-146.6	171.4	-11.3	69	1492	0.00	2.40	0.00	0.000	6	0.000	0.035	2144	2049	3516
1803	-1.39	-146.6	207.4	-11.4	84	1807	0.00	2.55	0.00	0.000	4	0.000	0.061	2144	646	3516
1858	-1.39	-146.6	213.9	-11.6	86	1864	0.00	2.42	0.00	0.000	6	0.000	0.036	2144	2053	3516
2173	-1.39	-146.6	249.9	-11.3	102	2181	0.00	2.55	0.00	0.000	4	0.000	0.060	2144	646	3516
2253	-1.39	-146.6	259.0	-11.1	105	2258	0.00	2.42	0.00	0.000	6	0.000	0.035	2144	2061	3516
2569	-1.39	-146.6	292.4	-10.7	120	2573	0.00	2.58	0.00	0.000	4	0.000	0.059	2144	639	3516
2675	-1.39	-146.6	304.9	-11.6	125	2680	0.00	2.42	0.00	0.000	6	0.000	0.035	2144	2059	3516
3002	-1.39	-146.6	344.6	-12.9	141	3007	0.00	2.55	0.00	0.000	4	0.000	0.059	2144	646	3516
3065	-1.39	-146.6	352.7	-12.5	144	3069	0.00	2.40	0.00	0.000	6	0.000	0.036	2144	2054	3516
3391	-1.39	-146.6	388.2	-10.3	160	3395	0.00	2.55	0.00	0.000	4	0.000	0.059	2144	639	3516
3522	-1.39	-146.6	401.6	-10.3	166	3526	0.00	2.40	0.00	0.000	6	0.000	0.036	2144	2051	3516
3849	-1.39	-146.6	433.6	-9.6	182	3853	0.00	2.53	0.00	0.000	4	0.000	0.059	2144	644	3516
3994	-1.39	-146.6	448.6	-10.5	188	4000	0.00	2.40	0.00	0.000	6	0.000	0.035	2144	2057	3516
4309	-1.39	-146.6	480.3	-10.4	204	4314	0.00	2.55	0.00	0.000	4	0.000	0.059	2144	641	3516
4485	-1.39	-146.6	499.6	-10.7	212	4490	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2058	3516
4817	-1.39	-146.6	534.0	-9.7	228	4822	0.00	2.55	0.00	0.000	4	0.000	0.062	2144	647	3516
4873	-1.39	-146.6	539.8	-10.3	230	4880	0.00	2.42	0.00	0.000	6	0.000	0.039	2144	2045	3515
5189	-1.39	-146.6	571.1	-9.7	246	5194	0.00	2.55	0.00	0.000	4	0.000	0.064	2144	644	3514
5290	-1.39	-146.6	581.9	-10.6	250	5297	0.00	2.45	0.00	0.000	6	0.000	0.041	2145	2049	3513
5606	-1.39	-146.6	613.8	-10.2	266	5610	0.00	2.58	0.00	0.000	4	0.000	0.065	2144	639	3512
5667	-1.39	-146.6	620.4	-10.6	269	5672	0.00	2.45	0.00	0.000	6	0.000	0.042	2144	2058	3512
5994	-1.39	-146.6	653.6	-10.0	285	5998	0.00	2.58	0.00	0.000	4	0.000	0.066	2144	647	3512
6071	-1.39	-146.6	661.8	-10.3	288	6077	0.00	2.42	0.00	0.000	6	0.000	0.043	2144	2051	3511
6389	-1.39	-146.6	691.8	-9.3	304	6393	0.00	2.58	0.00	0.000	4	0.000	0.067	2144	647	3509
6468	-1.39	-146.6	699.6	-9.8	307	6475	0.00	2.45	0.00	0.000	6	0.000	0.044	2144	2050	3509
6783	-1.39	-146.6	729.7	-9.9	323	6788	0.00	2.58	0.00	0.000	4	0.000	0.067	2144	644	3507
6884	-1.39	-146.6	740.3	-10.3	327	6890	0.00	2.45	0.00	0.000	6	0.000	0.045	2144	2052	3507
7199	-1.39	-146.6	770.2	-9.4	343	7204	0.00	2.60	0.00	0.000	4	0.000	0.068	2144	639	3505
7272	-1.39	-146.6	777.5	-9.8	346	7276	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2053	3505
7588	-1.39	-146.6	807.7	-9.6	361	7593	0.00	2.60	0.00	0.000	4	0.000	0.069	2144	639	3505
7655	-1.39	-146.6	814.5	-10.0	364	7659	0.00	2.47	0.00	0.000	6	0.000	0.046	2144	2051	3504
7976	-1.39	-146.6	844.9	-9.4	380	7980	0.00	2.60	0.00	0.000	4	0.000	0.069	2144	639	3503
8039	-1.39	-146.6	851.2	-10.3	383	8043	0.00	2.47	0.00	0.000	6	0.000	0.046	2144	2053	3503
8365	-1.39	-146.6	882.1	-9.4	399	8370	0.00	2.58	0.00	0.000	4	0.000	0.069	2144	647	3502
8450	-1.39	-146.6	890.6	-10.0	403	8454	0.00	2.47	0.00	0.000	6	0.000	0.047	2144	2061	3501
8776	-1.39	-146.6	922.0	-9.7	419	8780	0.00	2.60	0.00	0.000	4	0.000	0.069	2143	645	3500
8865	-1.39	-146.6	931.1	-10.4	423	8869	0.00	2.45	0.00	0.000	6	0.000	0.047	2144	2051	3500
9186	-1.39	-146.6	962.7	-10.0	439	9190	0.00	2.60	0.00	0.000	4	0.000	0.070	2143	640	3500
9258	-1.39	-146.6	970.2	-10.6	442	9262	0.00	2.47	0.00	0.000	6	0.000	0.047	2144	2051	3500
9467	end dive: TARGET_DEPTH_EXCEEDED
state	9467	begin apogee
9474	-0.33	0.0	991.1	9.7	452	9604	1.15	0.00	126.55	1.480	6	0.099	0.000	2373	1942	2915
9605	end apogee: CONTROL_FINISHED_OK
state	9605	begin climb
9607	1.39	146.6	996.4	0.0	458	9745	1.77	2.65	128.90	1.422	4	0.063	0.064	2749	3352	2317
9882	1.39	146.6	978.7	10.7	470	9887	0.00	2.53	0.00	0.000	6	0.000	0.051	2750	1953	2317
10209	1.39	146.6	943.7	10.9	486	10214	0.00	2.58	0.00	0.000	4	0.000	0.061	2749	3352	2316
10271	1.39	146.6	936.4	11.2	489	10276	0.00	2.53	0.00	0.000	6	0.000	0.051	2749	1950	2316
10598	1.39	146.6	899.5	11.7	505	10602	0.00	2.58	0.00	0.000	4	0.000	0.061	2749	3350	2315
10653	1.39	146.6	892.9	11.7	507	10659	0.00	2.50	0.00	0.000	6	0.000	0.050	2749	1949	2316
10968	1.39	146.6	856.3	11.8	523	10972	0.00	2.58	0.00	0.000	4	0.000	0.061	2749	3356	2315
11030	1.39	146.6	848.9	12.1	526	11034	0.00	2.53	0.00	0.000	6	0.000	0.050	2749	1949	2315
11356	1.39	146.6	810.9	11.3	542	11360	0.00	2.58	0.00	0.000	4	0.000	0.061	2749	3353	2315
11441	1.39	146.6	801.2	12.5	546	11445	0.00	2.53	0.00	0.000	6	0.000	0.050	2749	1948	2314
11767	1.39	146.6	766.2	10.6	562	11771	0.00	2.58	0.00	0.000	4	0.000	0.061	2749	3354	2314
11833	1.39	146.6	758.5	11.8	565	11838	0.00	2.53	0.00	0.000	6	0.000	0.050	2749	1943	2314
12155	1.39	146.6	723.8	10.7	581	12156	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1943	2314
12466	1.39	146.6	690.2	10.9	596	12470	0.00	2.58	0.00	0.000	4	0.000	0.061	2749	3353	2313
12515	1.39	146.6	684.3	11.7	598	12519	0.00	2.50	0.00	0.000	6	0.000	0.049	2749	1948	2313
12830	1.39	146.6	650.8	10.6	613	12831	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1949	2313
13140	1.39	146.6	617.8	10.8	628	13144	0.00	2.55	0.00	0.000	4	0.000	0.061	2749	3350	2313
13246	1.39	146.6	605.9	10.8	633	13251	0.00	2.50	0.00	0.000	6	0.000	0.050	2749	1947	2313
13572	1.39	146.6	572.1	10.2	649	13573	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1947	2313
13882	1.44	189.0	544.4	8.1	664	13925	0.00	2.62	36.25	1.210	4	0.000	0.059	2749	3350	2143
14027	1.44	189.0	530.1	10.8	670	14031	0.00	2.53	0.00	0.000	6	0.000	0.048	2749	1945	2143
14342	1.44	189.0	493.9	11.6	685	14343	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1945	2143
14652	1.45	199.7	461.6	9.5	700	14668	0.00	2.65	10.68	1.065	4	0.000	0.073	2750	545	2099
14893	1.45	199.7	430.0	14.3	710	14897	0.00	2.47	0.00	0.000	6	0.000	0.040	2749	1953	2099
15220	1.45	199.7	389.9	11.9	726	15224	0.00	2.60	0.00	0.000	4	0.000	0.065	2749	545	2099
15286	1.45	199.7	381.6	12.7	729	15290	0.00	2.45	0.00	0.000	6	0.000	0.038	2750	1948	2099
15607	1.45	199.7	346.0	11.0	745	15608	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1949	2100
15916	1.45	199.7	308.6	12.9	760	15921	0.00	2.58	0.00	0.000	4	0.000	0.064	2749	546	2102
15989	1.45	199.7	298.4	13.9	763	15993	0.00	2.42	0.00	0.000	6	0.000	0.036	2749	1953	2102
16304	1.45	199.7	260.0	12.0	778	16308	0.00	2.58	0.00	0.000	4	0.000	0.062	2749	541	2103
16353	1.45	199.7	253.5	12.8	780	16358	0.00	2.42	0.00	0.000	6	0.000	0.035	2750	1948	2103
16669	1.45	199.7	215.8	11.5	795	16673	0.00	2.58	0.00	0.000	4	0.000	0.062	2750	539	2104
16724	1.45	199.7	208.8	11.1	797	16730	0.00	2.45	0.00	0.000	6	0.000	0.035	2750	1958	2104
17039	1.45	199.7	168.8	12.7	813	17040	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1958	2105
17350	1.46	203.1	135.2	9.8	828	17360	0.00	2.60	5.88	0.688	4	0.000	0.061	2749	541	2085
17428	1.46	203.1	124.9	13.5	831	17434	0.00	2.42	0.00	0.000	6	0.000	0.034	2749	1950	2085
17744	1.46	203.1	87.9	12.4	847	17748	0.00	2.55	0.00	0.000	4	0.000	0.061	2749	540	2086
17794	1.47	214.7	82.0	9.5	849	17809	0.00	2.42	10.55	0.731	6	0.000	0.035	2749	1953	2039
18131	1.47	214.7	43.3	10.2	866	18132	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1953	2039
18440	1.47	214.7	13.6	13.0	881	18444	0.00	2.58	0.00	0.000	4	0.000	0.064	2749	539	2041
18483	1.47	214.7	6.5	16.3	883	18488	0.00	2.42	0.00	0.000	6	0.000	0.034	2749	1949	2041
18535	end climb: SURFACE_DEPTH_REACHED
state	18535	begin surface coast
18557	end surface coast: CONTROL_FINISHED_OK
state	18557	begin surface