Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 19 * 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 19 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -35391.656 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 -35391.656

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 21 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 19 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 092808,6133.484,-252.618,38,1.3,38,-6.0 TGT_NAME ESEC_SE

_CALLS 1 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.222,0.141

_SM_DEPTHo 1.07 KALMAN_X 71655.8,-3443.3,-618.9,-52563.8,12516.8

_SM_ANGLEo -60.3 KALMAN_Y -11844.9,210.7,60.2,10890.0,-879.8

GPS2 093457,6133.621,-252.215,15,1.6,15,-6.0 MHEAD_RNG_PITCHd_Wd 308.5,45255,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027046 XPDR_PINGS 0

SM_CCo 18597,40.88,0.666,3,0,1895,250.21 _24V_AH 22.9,5.584

SM_GC 0.81,0.00,0.00,40.88,0.000,0.000,0.666,44,2067,1895,-11.07,0.42,250.21 _10V_AH 10.1,3.021

IRIDIUM_FIX 6108.28,-251.52,130597,030341 DATA_FILE_SIZE 44270,885

TT8_MAMPS 0.026845 CFSIZE 260165632,256061440

HUMID 1697 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,28,3,0

INTERNAL_PRESSURE 8.36189 GPS 170208,144807,6133.539,-254.607,41,1.2,46,-6.0

TCM_TEMP 16.50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 158 98.69 SBE_CT 657 24 361.21

Roll_motor 195 73 330.36 SBE_O2 598 19 260.28

VBD_pump_during_apogee 296 1481 10068.16 WL_BB2F 527 105 1268.26

VBD_pump_during_surface 40 665 623.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 91.05 nil 0 0 0.00

Iridium_during_connect 34 160 127.76 nil 0 0 0.00

Iridium_during_xfer 213 223 1087.91

Transponder_ping 8 420 81.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.55

TT8 1740 19 348.11

LPSleep 13855 2 306.46

TT8_Active 518 19 103.73

TT8_Sampling 2364 39 950.29

TT8_CF8 581 45 269.05

TT8_Kalman 33 81 27.55

Analog_circuits 1665 12 201.84

GPS_charging 0 0 0.00

Compass 2312 8 186.82

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 0 106 0.00 0.00 -80.88 0.000 2 0.000 0.000 40 2069 3411

109 -1.39 -146.6 3.9 -4.2 4 129 12.02 2.50 -2.10 0.000 4 0.158 0.064 2137 3438 3516

185 -1.39 -146.6 20.8 -13.6 7 192 0.00 2.42 0.00 0.000 6 0.000 0.037 2138 2041 3516

501 -1.39 -146.6 62.3 -13.4 23 506 0.00 2.55 0.00 0.000 4 0.000 0.063 2138 642 3517

590 -1.39 -146.6 73.9 -13.2 27 595 0.00 2.40 0.00 0.000 6 0.000 0.036 2138 2046 3517

912 -1.39 -146.6 111.4 -11.2 43 916 0.00 2.55 0.00 0.000 4 0.000 0.061 2138 647 3518

1119 -1.39 -146.6 135.5 -13.0 52 1123 0.00 2.42 0.00 0.000 6 0.000 0.037 2138 2057 3518

1434 -1.39 -146.6 171.2 -11.1 67 1439 0.00 2.55 0.00 0.000 4 0.000 0.061 2138 648 3518

1551 -1.39 -146.6 185.5 -12.4 72 1556 0.00 2.42 0.00 0.000 6 0.000 0.037 2138 2056 3518

1867 -1.39 -146.6 222.4 -11.8 87 1871 0.00 2.55 0.00 0.000 4 0.000 0.061 2138 646 3518

1978 -1.39 -146.6 235.8 -11.2 92 1982 0.00 2.42 0.00 0.000 6 0.000 0.037 2137 2058 3519

2299 -1.39 -146.6 272.3 -11.5 108 2303 0.00 2.55 0.00 0.000 4 0.000 0.060 2138 648 3519

2416 -1.39 -146.6 285.5 -10.5 113 2421 0.00 2.42 0.00 0.000 6 0.000 0.038 2138 2059 3519

2732 -1.39 -146.6 318.9 -10.4 128 2736 0.00 2.55 0.00 0.000 4 0.000 0.061 2138 648 3519

2883 -1.39 -146.6 335.7 -11.0 135 2888 0.00 2.42 0.00 0.000 6 0.000 0.038 2138 2056 3519

3211 -1.39 -146.6 368.1 -10.3 151 3215 0.00 2.55 0.00 0.000 4 0.000 0.061 2138 649 3519

3318 -1.39 -146.6 379.8 -11.2 156 3322 0.00 2.40 0.00 0.000 6 0.000 0.038 2138 2051 3519

3651 -1.39 -146.6 414.9 -9.7 172 3655 0.00 2.55 0.00 0.000 4 0.000 0.061 2137 646 3519

3810 -1.39 -146.6 431.9 -11.2 179 3814 0.00 2.42 0.00 0.000 6 0.000 0.039 2138 2051 3519

4130 -1.39 -146.6 468.9 -11.5 195 4135 0.00 2.55 0.00 0.000 4 0.000 0.062 2138 648 3519

4208 -1.39 -146.6 478.1 -12.1 198 4214 0.00 2.42 0.00 0.000 6 0.000 0.040 2138 2061 3518

4524 -1.39 -146.6 510.9 -9.8 214 4528 0.00 2.58 0.00 0.000 4 0.000 0.063 2138 647 3518

4630 -1.39 -146.6 522.3 -11.2 219 4635 0.00 2.45 0.00 0.000 6 0.000 0.042 2138 2061 3518

4957 -1.39 -146.6 557.6 -11.1 235 4961 0.00 2.58 0.00 0.000 4 0.000 0.064 2138 649 3517

4984 -1.39 -146.6 560.9 -11.8 236 4988 0.00 2.42 0.00 0.000 6 0.000 0.042 2138 2051 3516

5300 -1.39 -146.6 596.4 -11.0 251 5305 0.00 2.58 0.00 0.000 4 0.000 0.065 2137 647 3515

5373 -1.39 -146.6 604.9 -11.4 254 5377 0.00 2.45 0.00 0.000 6 0.000 0.044 2137 2058 3515

5688 -1.39 -146.6 637.0 -9.9 269 5693 0.00 2.60 0.00 0.000 4 0.000 0.067 2137 642 3513

5760 -1.39 -146.6 644.6 -10.6 272 5765 0.00 2.45 0.00 0.000 6 0.000 0.044 2137 2050 3513

6083 -1.39 -146.6 675.4 -9.4 288 6087 0.00 2.58 0.00 0.000 4 0.000 0.067 2138 649 3512

6160 -1.39 -146.6 683.4 -10.1 291 6166 0.00 2.45 0.00 0.000 6 0.000 0.045 2137 2054 3511

6476 -1.39 -146.6 712.7 -9.3 307 6480 0.00 2.58 0.00 0.000 4 0.000 0.067 2137 647 3511

6561 -1.39 -146.6 721.2 -9.7 311 6565 0.00 2.45 0.00 0.000 6 0.000 0.046 2138 2053 3510

6893 -1.39 -146.6 752.0 -9.1 327 6897 0.00 2.58 0.00 0.000 4 0.000 0.067 2137 648 3510

6978 -1.39 -146.6 760.1 -9.8 331 6982 0.00 2.47 0.00 0.000 6 0.000 0.045 2137 2061 3509

7304 -1.39 -146.6 788.7 -8.7 347 7309 0.00 2.60 0.00 0.000 4 0.000 0.067 2137 646 3508

7390 -1.39 -146.6 796.3 -9.3 351 7395 0.00 2.47 0.00 0.000 6 0.000 0.045 2137 2058 3508

7720 -1.39 -146.6 825.6 -9.2 367 7724 0.00 2.60 0.00 0.000 4 0.000 0.067 2137 643 3507

7797 -1.39 -146.6 833.5 -9.9 370 7804 0.00 2.50 0.00 0.000 6 0.000 0.046 2137 2049 3507

8114 -1.39 -146.6 863.8 -9.7 386 8118 0.00 2.58 0.00 0.000 4 0.000 0.067 2138 647 3505

8208 -1.39 -146.6 873.9 -10.9 390 8212 0.00 2.45 0.00 0.000 6 0.000 0.044 2137 2053 3506

8524 -1.39 -146.6 904.7 -9.6 405 8528 0.00 2.58 0.00 0.000 4 0.000 0.067 2137 649 3505

8612 -1.39 -146.6 913.9 -10.0 409 8617 0.00 2.45 0.00 0.000 6 0.000 0.046 2137 2054 3504

8934 -1.39 -146.6 944.8 -9.5 425 8938 0.00 2.58 0.00 0.000 4 0.000 0.067 2137 649 3503

9023 -1.39 -146.6 953.8 -9.6 429 9027 0.00 2.47 0.00 0.000 6 0.000 0.045 2137 2059 3503

9344 -1.39 -146.6 983.4 -9.1 445 9348 0.00 2.60 0.00 0.000 4 0.000 0.067 2137 646 3503

9413 end dive: TARGET_DEPTH_EXCEEDED

state 9413 begin apogee

9421 -0.33 0.0 990.5 9.8 448 9553 1.17 0.00 127.97 1.481 6 0.105 0.000 2371 1952 2915

9554 end apogee: CONTROL_FINISHED_OK

state 9554 begin climb

9557 1.39 146.6 995.1 0.0 455 9694 1.80 2.62 129.50 1.423 4 0.065 0.063 2750 3356 2317

9797 1.39 146.6 978.3 11.2 465 9802 0.00 2.55 0.00 0.000 6 0.000 0.048 2751 1947 2316

10113 1.39 146.6 943.7 11.0 480 10114 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1947 2316

10422 1.39 146.6 910.3 11.0 495 10426 0.00 2.58 0.00 0.000 4 0.000 0.059 2751 3355 2316

10494 1.39 146.6 901.8 11.6 498 10498 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1950 2315

10809 1.39 146.6 867.3 11.1 513 10813 0.00 2.58 0.00 0.000 4 0.000 0.059 2751 3355 2315

10859 1.39 146.6 861.6 12.0 515 10863 0.00 2.53 0.00 0.000 6 0.000 0.049 2750 1948 2315

11174 1.39 146.6 825.7 11.6 530 11175 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1948 2314

11483 1.39 146.6 790.2 11.4 545 11488 0.00 2.58 0.00 0.000 4 0.000 0.059 2750 3357 2314

11561 1.39 146.6 780.7 11.6 548 11567 0.00 2.53 0.00 0.000 6 0.000 0.048 2751 1949 2314

11876 1.39 146.6 744.8 11.7 564 11881 0.00 2.58 0.00 0.000 4 0.000 0.058 2751 3360 2314

11942 1.39 146.6 736.7 12.7 567 11947 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1950 2313

12264 1.39 146.6 699.6 11.6 583 12265 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1951 2313

12573 1.39 146.6 665.0 10.9 598 12574 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1951 2313

12882 1.39 146.6 632.0 10.5 613 12886 0.00 2.55 0.00 0.000 4 0.000 0.059 2750 3352 2313

12976 1.39 146.6 621.7 10.4 617 12981 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1950 2313

13292 1.39 146.6 589.6 10.5 632 13296 0.00 2.55 0.00 0.000 4 0.000 0.058 2751 3360 2313

13386 1.39 146.6 579.2 10.4 636 13390 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1950 2313

13702 1.39 146.6 547.1 10.1 651 13706 0.00 2.55 0.00 0.000 4 0.000 0.058 2750 3353 2313

13786 1.39 146.6 538.1 10.8 655 13790 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1945 2313

14113 1.39 146.6 506.1 10.3 671 14114 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1945 2313

14422 1.39 146.6 470.0 12.0 686 14426 0.00 2.55 0.00 0.000 4 0.000 0.057 2750 3353 2313

14591 1.42 170.4 451.6 8.9 693 14618 0.00 2.47 20.58 1.134 6 0.000 0.046 2751 1951 2220

14927 1.42 170.4 420.2 11.2 710 14931 0.00 2.62 0.00 0.000 4 0.000 0.074 2751 540 2219

15066 1.42 170.4 402.8 11.5 716 15071 0.00 2.47 0.00 0.000 6 0.000 0.041 2751 1957 2220

15382 1.42 170.4 369.4 10.3 731 15387 0.00 2.62 0.00 0.000 4 0.000 0.067 2750 542 2220

15553 1.42 170.4 349.9 11.7 738 15559 0.00 2.45 0.00 0.000 6 0.000 0.039 2750 1951 2220

15868 1.42 170.4 315.7 10.7 754 15873 0.00 2.50 0.00 0.000 4 0.000 0.056 2751 3350 2221

15975 1.42 170.4 303.4 10.8 759 15979 0.00 2.45 0.00 0.000 6 0.000 0.042 2751 1950 2222

16307 1.42 170.4 267.1 11.1 775 16309 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1949 2222

16617 1.42 170.4 233.6 11.1 790 16621 0.00 2.50 0.00 0.000 4 0.000 0.051 2751 3350 2223

16683 1.42 170.4 225.7 12.5 793 16687 0.00 2.42 0.00 0.000 6 0.000 0.041 2751 1952 2224

17003 1.42 170.4 188.4 12.0 809 17008 0.00 2.50 0.00 0.000 4 0.000 0.050 2750 3356 2225

17053 1.42 170.4 181.9 12.7 811 17057 0.00 2.45 0.00 0.000 6 0.000 0.040 2751 1949 2225

17375 1.42 170.4 141.3 12.6 827 17376 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1949 2226

17684 1.42 170.4 102.0 12.5 842 17685 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1949 2226

17994 1.42 170.4 63.9 11.7 857 17998 0.00 2.50 0.00 0.000 4 0.000 0.050 2750 3355 2228

18071 1.42 170.4 55.1 11.9 860 18078 0.00 2.45 0.00 0.000 6 0.000 0.040 2751 1949 2228

18388 1.44 190.8 19.9 9.1 876 18413 0.00 2.58 18.80 0.746 4 0.000 0.050 2751 3353 2136

18456 1.44 190.8 12.3 12.6 879 18460 0.00 2.47 0.00 0.000 6 0.000 0.041 2750 1946 2136

18553 end climb: SURFACE_DEPTH_REACHED

state 18553 begin surface coast

18575 end surface coast: CONTROL_FINISHED_OK

state 18575 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	19	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-35391.656	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	092808,6133.484,-252.618,38,1.3,38,-6.0	TGT_NAME	ESEC_SE
_CALLS	1	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.222,0.141
_SM_DEPTHo	1.07	KALMAN_X	71655.8,-3443.3,-618.9,-52563.8,12516.8
_SM_ANGLEo	-60.3	KALMAN_Y	-11844.9,210.7,60.2,10890.0,-879.8
GPS2	093457,6133.621,-252.215,15,1.6,15,-6.0	MHEAD_RNG_PITCHd_Wd	308.5,45255,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.2,1.027046	XPDR_PINGS	0
SM_CCo	18597,40.88,0.666,3,0,1895,250.21	_24V_AH	22.9,5.584
SM_GC	0.81,0.00,0.00,40.88,0.000,0.000,0.666,44,2067,1895,-11.07,0.42,250.21	_10V_AH	10.1,3.021
IRIDIUM_FIX	6108.28,-251.52,130597,030341	DATA_FILE_SIZE	44270,885
TT8_MAMPS	0.026845	CFSIZE	260165632,256061440
HUMID	1697	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,28,3,0
INTERNAL_PRESSURE	8.36189	GPS	170208,144807,6133.539,-254.607,41,1.2,46,-6.0
TCM_TEMP	16.50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	158	98.69	SBE_CT	657	24	361.21
Roll_motor	195	73	330.36	SBE_O2	598	19	260.28
VBD_pump_during_apogee	296	1481	10068.16	WL_BB2F	527	105	1268.26
VBD_pump_during_surface	40	665	623.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	91.05	nil	0	0	0.00
Iridium_during_connect	34	160	127.76	nil	0	0	0.00
Iridium_during_xfer	213	223	1087.91
Transponder_ping	8	420	81.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.55
TT8	1740	19	348.11
LPSleep	13855	2	306.46
TT8_Active	518	19	103.73
TT8_Sampling	2364	39	950.29
TT8_CF8	581	45	269.05
TT8_Kalman	33	81	27.55
Analog_circuits	1665	12	201.84
GPS_charging	0	0	0.00
Compass	2312	8	186.82
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	106	0.00	0.00	-80.88	0.000	2	0.000	0.000	40	2069	3411
109	-1.39	-146.6	3.9	-4.2	4	129	12.02	2.50	-2.10	0.000	4	0.158	0.064	2137	3438	3516
185	-1.39	-146.6	20.8	-13.6	7	192	0.00	2.42	0.00	0.000	6	0.000	0.037	2138	2041	3516
501	-1.39	-146.6	62.3	-13.4	23	506	0.00	2.55	0.00	0.000	4	0.000	0.063	2138	642	3517
590	-1.39	-146.6	73.9	-13.2	27	595	0.00	2.40	0.00	0.000	6	0.000	0.036	2138	2046	3517
912	-1.39	-146.6	111.4	-11.2	43	916	0.00	2.55	0.00	0.000	4	0.000	0.061	2138	647	3518
1119	-1.39	-146.6	135.5	-13.0	52	1123	0.00	2.42	0.00	0.000	6	0.000	0.037	2138	2057	3518
1434	-1.39	-146.6	171.2	-11.1	67	1439	0.00	2.55	0.00	0.000	4	0.000	0.061	2138	648	3518
1551	-1.39	-146.6	185.5	-12.4	72	1556	0.00	2.42	0.00	0.000	6	0.000	0.037	2138	2056	3518
1867	-1.39	-146.6	222.4	-11.8	87	1871	0.00	2.55	0.00	0.000	4	0.000	0.061	2138	646	3518
1978	-1.39	-146.6	235.8	-11.2	92	1982	0.00	2.42	0.00	0.000	6	0.000	0.037	2137	2058	3519
2299	-1.39	-146.6	272.3	-11.5	108	2303	0.00	2.55	0.00	0.000	4	0.000	0.060	2138	648	3519
2416	-1.39	-146.6	285.5	-10.5	113	2421	0.00	2.42	0.00	0.000	6	0.000	0.038	2138	2059	3519
2732	-1.39	-146.6	318.9	-10.4	128	2736	0.00	2.55	0.00	0.000	4	0.000	0.061	2138	648	3519
2883	-1.39	-146.6	335.7	-11.0	135	2888	0.00	2.42	0.00	0.000	6	0.000	0.038	2138	2056	3519
3211	-1.39	-146.6	368.1	-10.3	151	3215	0.00	2.55	0.00	0.000	4	0.000	0.061	2138	649	3519
3318	-1.39	-146.6	379.8	-11.2	156	3322	0.00	2.40	0.00	0.000	6	0.000	0.038	2138	2051	3519
3651	-1.39	-146.6	414.9	-9.7	172	3655	0.00	2.55	0.00	0.000	4	0.000	0.061	2137	646	3519
3810	-1.39	-146.6	431.9	-11.2	179	3814	0.00	2.42	0.00	0.000	6	0.000	0.039	2138	2051	3519
4130	-1.39	-146.6	468.9	-11.5	195	4135	0.00	2.55	0.00	0.000	4	0.000	0.062	2138	648	3519
4208	-1.39	-146.6	478.1	-12.1	198	4214	0.00	2.42	0.00	0.000	6	0.000	0.040	2138	2061	3518
4524	-1.39	-146.6	510.9	-9.8	214	4528	0.00	2.58	0.00	0.000	4	0.000	0.063	2138	647	3518
4630	-1.39	-146.6	522.3	-11.2	219	4635	0.00	2.45	0.00	0.000	6	0.000	0.042	2138	2061	3518
4957	-1.39	-146.6	557.6	-11.1	235	4961	0.00	2.58	0.00	0.000	4	0.000	0.064	2138	649	3517
4984	-1.39	-146.6	560.9	-11.8	236	4988	0.00	2.42	0.00	0.000	6	0.000	0.042	2138	2051	3516
5300	-1.39	-146.6	596.4	-11.0	251	5305	0.00	2.58	0.00	0.000	4	0.000	0.065	2137	647	3515
5373	-1.39	-146.6	604.9	-11.4	254	5377	0.00	2.45	0.00	0.000	6	0.000	0.044	2137	2058	3515
5688	-1.39	-146.6	637.0	-9.9	269	5693	0.00	2.60	0.00	0.000	4	0.000	0.067	2137	642	3513
5760	-1.39	-146.6	644.6	-10.6	272	5765	0.00	2.45	0.00	0.000	6	0.000	0.044	2137	2050	3513
6083	-1.39	-146.6	675.4	-9.4	288	6087	0.00	2.58	0.00	0.000	4	0.000	0.067	2138	649	3512
6160	-1.39	-146.6	683.4	-10.1	291	6166	0.00	2.45	0.00	0.000	6	0.000	0.045	2137	2054	3511
6476	-1.39	-146.6	712.7	-9.3	307	6480	0.00	2.58	0.00	0.000	4	0.000	0.067	2137	647	3511
6561	-1.39	-146.6	721.2	-9.7	311	6565	0.00	2.45	0.00	0.000	6	0.000	0.046	2138	2053	3510
6893	-1.39	-146.6	752.0	-9.1	327	6897	0.00	2.58	0.00	0.000	4	0.000	0.067	2137	648	3510
6978	-1.39	-146.6	760.1	-9.8	331	6982	0.00	2.47	0.00	0.000	6	0.000	0.045	2137	2061	3509
7304	-1.39	-146.6	788.7	-8.7	347	7309	0.00	2.60	0.00	0.000	4	0.000	0.067	2137	646	3508
7390	-1.39	-146.6	796.3	-9.3	351	7395	0.00	2.47	0.00	0.000	6	0.000	0.045	2137	2058	3508
7720	-1.39	-146.6	825.6	-9.2	367	7724	0.00	2.60	0.00	0.000	4	0.000	0.067	2137	643	3507
7797	-1.39	-146.6	833.5	-9.9	370	7804	0.00	2.50	0.00	0.000	6	0.000	0.046	2137	2049	3507
8114	-1.39	-146.6	863.8	-9.7	386	8118	0.00	2.58	0.00	0.000	4	0.000	0.067	2138	647	3505
8208	-1.39	-146.6	873.9	-10.9	390	8212	0.00	2.45	0.00	0.000	6	0.000	0.044	2137	2053	3506
8524	-1.39	-146.6	904.7	-9.6	405	8528	0.00	2.58	0.00	0.000	4	0.000	0.067	2137	649	3505
8612	-1.39	-146.6	913.9	-10.0	409	8617	0.00	2.45	0.00	0.000	6	0.000	0.046	2137	2054	3504
8934	-1.39	-146.6	944.8	-9.5	425	8938	0.00	2.58	0.00	0.000	4	0.000	0.067	2137	649	3503
9023	-1.39	-146.6	953.8	-9.6	429	9027	0.00	2.47	0.00	0.000	6	0.000	0.045	2137	2059	3503
9344	-1.39	-146.6	983.4	-9.1	445	9348	0.00	2.60	0.00	0.000	4	0.000	0.067	2137	646	3503
9413	end dive: TARGET_DEPTH_EXCEEDED
state	9413	begin apogee
9421	-0.33	0.0	990.5	9.8	448	9553	1.17	0.00	127.97	1.481	6	0.105	0.000	2371	1952	2915
9554	end apogee: CONTROL_FINISHED_OK
state	9554	begin climb
9557	1.39	146.6	995.1	0.0	455	9694	1.80	2.62	129.50	1.423	4	0.065	0.063	2750	3356	2317
9797	1.39	146.6	978.3	11.2	465	9802	0.00	2.55	0.00	0.000	6	0.000	0.048	2751	1947	2316
10113	1.39	146.6	943.7	11.0	480	10114	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1947	2316
10422	1.39	146.6	910.3	11.0	495	10426	0.00	2.58	0.00	0.000	4	0.000	0.059	2751	3355	2316
10494	1.39	146.6	901.8	11.6	498	10498	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1950	2315
10809	1.39	146.6	867.3	11.1	513	10813	0.00	2.58	0.00	0.000	4	0.000	0.059	2751	3355	2315
10859	1.39	146.6	861.6	12.0	515	10863	0.00	2.53	0.00	0.000	6	0.000	0.049	2750	1948	2315
11174	1.39	146.6	825.7	11.6	530	11175	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1948	2314
11483	1.39	146.6	790.2	11.4	545	11488	0.00	2.58	0.00	0.000	4	0.000	0.059	2750	3357	2314
11561	1.39	146.6	780.7	11.6	548	11567	0.00	2.53	0.00	0.000	6	0.000	0.048	2751	1949	2314
11876	1.39	146.6	744.8	11.7	564	11881	0.00	2.58	0.00	0.000	4	0.000	0.058	2751	3360	2314
11942	1.39	146.6	736.7	12.7	567	11947	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1950	2313
12264	1.39	146.6	699.6	11.6	583	12265	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1951	2313
12573	1.39	146.6	665.0	10.9	598	12574	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1951	2313
12882	1.39	146.6	632.0	10.5	613	12886	0.00	2.55	0.00	0.000	4	0.000	0.059	2750	3352	2313
12976	1.39	146.6	621.7	10.4	617	12981	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1950	2313
13292	1.39	146.6	589.6	10.5	632	13296	0.00	2.55	0.00	0.000	4	0.000	0.058	2751	3360	2313
13386	1.39	146.6	579.2	10.4	636	13390	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1950	2313
13702	1.39	146.6	547.1	10.1	651	13706	0.00	2.55	0.00	0.000	4	0.000	0.058	2750	3353	2313
13786	1.39	146.6	538.1	10.8	655	13790	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1945	2313
14113	1.39	146.6	506.1	10.3	671	14114	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1945	2313
14422	1.39	146.6	470.0	12.0	686	14426	0.00	2.55	0.00	0.000	4	0.000	0.057	2750	3353	2313
14591	1.42	170.4	451.6	8.9	693	14618	0.00	2.47	20.58	1.134	6	0.000	0.046	2751	1951	2220
14927	1.42	170.4	420.2	11.2	710	14931	0.00	2.62	0.00	0.000	4	0.000	0.074	2751	540	2219
15066	1.42	170.4	402.8	11.5	716	15071	0.00	2.47	0.00	0.000	6	0.000	0.041	2751	1957	2220
15382	1.42	170.4	369.4	10.3	731	15387	0.00	2.62	0.00	0.000	4	0.000	0.067	2750	542	2220
15553	1.42	170.4	349.9	11.7	738	15559	0.00	2.45	0.00	0.000	6	0.000	0.039	2750	1951	2220
15868	1.42	170.4	315.7	10.7	754	15873	0.00	2.50	0.00	0.000	4	0.000	0.056	2751	3350	2221
15975	1.42	170.4	303.4	10.8	759	15979	0.00	2.45	0.00	0.000	6	0.000	0.042	2751	1950	2222
16307	1.42	170.4	267.1	11.1	775	16309	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1949	2222
16617	1.42	170.4	233.6	11.1	790	16621	0.00	2.50	0.00	0.000	4	0.000	0.051	2751	3350	2223
16683	1.42	170.4	225.7	12.5	793	16687	0.00	2.42	0.00	0.000	6	0.000	0.041	2751	1952	2224
17003	1.42	170.4	188.4	12.0	809	17008	0.00	2.50	0.00	0.000	4	0.000	0.050	2750	3356	2225
17053	1.42	170.4	181.9	12.7	811	17057	0.00	2.45	0.00	0.000	6	0.000	0.040	2751	1949	2225
17375	1.42	170.4	141.3	12.6	827	17376	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1949	2226
17684	1.42	170.4	102.0	12.5	842	17685	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1949	2226
17994	1.42	170.4	63.9	11.7	857	17998	0.00	2.50	0.00	0.000	4	0.000	0.050	2750	3355	2228
18071	1.42	170.4	55.1	11.9	860	18078	0.00	2.45	0.00	0.000	6	0.000	0.040	2751	1949	2228
18388	1.44	190.8	19.9	9.1	876	18413	0.00	2.58	18.80	0.746	4	0.000	0.050	2751	3353	2136
18456	1.44	190.8	12.3	12.6	879	18460	0.00	2.47	0.00	0.000	6	0.000	0.041	2750	1946	2136
18553	end climb: SURFACE_DEPTH_REACHED
state	18553	begin surface coast
18575	end surface coast: CONTROL_FINISHED_OK
state	18575	begin surface