Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 22 * 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 22 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -35453.215 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 -35453.215

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 20 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 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 22 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 212302,6131.988,-255.662,55,1.6,55,-6.0 TGT_NAME ESEC_SE

_CALLS 1 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.250,0.083

_SM_DEPTHo 1.07 KALMAN_X 75857.5,1470.8,575.0,-65656.4,663.2

_SM_ANGLEo -59.8 KALMAN_Y -18123.0,-842.3,292.8,14938.1,-2416.8

GPS2 212957,6131.974,-255.374,11,1.6,11,-6.0 MHEAD_RNG_PITCHd_Wd 294.4,41899,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027393 XPDR_PINGS 0

SM_CCo 19092,39.38,0.657,3,0,1894,250.21 _24V_AH 22.9,5.953

SM_GC 1.06,0.00,0.00,39.38,0.000,0.000,0.657,43,2045,1894,-11.08,-0.17,250.21 _10V_AH 10.1,3.235

IRIDIUM_FIX 6108.28,-251.52,130597,161610 DATA_FILE_SIZE 47539,916

TT8_MAMPS 0.026845 CFSIZE 260165632,255901696

HUMID 1690 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,30,3,0

INTERNAL_PRESSURE 8.39119 GPS 180208,025107,6131.182,-257.936,33,1.0,33,-6.0

TCM_TEMP 17.10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.99 SBE_CT 684 24 376.03

Roll_motor 186 72 307.47 SBE_O2 619 19 269.51

VBD_pump_during_apogee 309 1489 10557.86 WL_BB2F 539 105 1296.30

VBD_pump_during_surface 39 657 592.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 77.31 nil 0 0 0.00

Iridium_during_connect 50 160 183.67 nil 0 0 0.00

Iridium_during_xfer 213 223 1091.37

Transponder_ping 8 420 81.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.68

TT8 1756 19 351.30

LPSleep 14412 2 318.79

TT8_Active 530 19 106.17

TT8_Sampling 2273 39 914.06

TT8_CF8 585 45 270.70

TT8_Kalman 33 81 27.56

Analog_circuits 1637 12 198.52

GPS_charging 0 0 0.00

Compass 2231 8 180.28

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 0 107 0.00 0.00 -81.75 0.000 2 0.000 0.000 40 2070 3513

110 -1.39 -146.6 5.0 -5.8 4 131 11.93 2.65 0.00 0.000 4 0.159 0.060 2144 646 3514

155 -1.39 -146.6 18.4 -18.4 6 160 0.00 2.42 0.00 0.000 6 0.000 0.035 2144 2051 3514

482 -1.39 -146.6 55.8 -10.8 22 483 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2051 3515

792 -1.39 -146.6 90.4 -11.2 37 793 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2051 3516

1101 -1.39 -146.6 124.9 -11.3 52 1102 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2051 3516

1409 -1.39 -146.6 162.9 -12.2 67 1411 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2051 3516

1719 -1.39 -146.6 197.8 -10.7 82 1723 0.00 2.58 0.00 0.000 4 0.000 0.061 2144 639 3516

1803 -1.39 -146.6 207.0 -11.2 86 1808 0.00 2.42 0.00 0.000 6 0.000 0.037 2144 2050 3516

2130 -1.39 -146.6 241.1 -10.3 102 2134 0.00 2.55 0.00 0.000 4 0.000 0.060 2144 646 3517

2191 -1.39 -146.6 247.8 -10.5 105 2196 0.00 2.42 0.00 0.000 6 0.000 0.037 2144 2057 3517

2519 -1.39 -146.6 283.1 -11.1 121 2523 0.00 2.58 0.00 0.000 4 0.000 0.060 2144 638 3517

2580 -1.39 -146.6 290.2 -11.2 124 2584 0.00 2.42 0.00 0.000 6 0.000 0.037 2144 2051 3517

2912 -1.39 -146.6 324.3 -10.1 140 2916 0.00 2.55 0.00 0.000 4 0.000 0.060 2144 645 3517

2996 -1.39 -146.6 333.3 -11.1 144 3000 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2056 3517

3322 -1.39 -146.6 368.1 -10.1 160 3326 0.00 2.55 0.00 0.000 4 0.000 0.061 2144 646 3517

3400 -1.39 -146.6 375.5 -9.4 163 3406 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2051 3517

3715 -1.39 -146.6 405.6 -9.4 179 3720 0.00 2.55 0.00 0.000 4 0.000 0.061 2144 645 3517

3892 -1.39 -146.6 424.1 -10.5 187 3896 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2058 3517

4224 -1.39 -146.6 456.5 -10.0 203 4225 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2059 3517

4533 -1.39 -146.6 485.8 -9.5 218 4538 0.00 2.58 0.00 0.000 4 0.000 0.063 2143 646 3517

4583 -1.39 -146.6 491.0 -10.5 220 4587 0.00 2.42 0.00 0.000 6 0.000 0.040 2144 2057 3516

4899 -1.39 -146.6 521.2 -9.8 235 4903 0.00 2.58 0.00 0.000 4 0.000 0.064 2144 646 3516

4999 -1.39 -146.6 532.2 -10.9 239 5005 0.00 2.45 0.00 0.000 6 0.000 0.042 2144 2059 3515

5314 -1.39 -146.6 565.2 -10.0 255 5319 0.00 2.58 0.00 0.000 4 0.000 0.064 2144 646 3514

5376 -1.39 -146.6 571.7 -10.4 258 5381 0.00 2.45 0.00 0.000 6 0.000 0.043 2144 2053 3514

5703 -1.39 -146.6 603.6 -9.8 274 5708 0.00 2.60 0.00 0.000 4 0.000 0.067 2144 639 3512

5788 -1.39 -146.6 612.5 -10.0 278 5792 0.00 2.47 0.00 0.000 6 0.000 0.044 2144 2058 3513

6114 -1.39 -146.6 643.7 -9.5 294 6118 0.00 2.60 0.00 0.000 4 0.000 0.066 2144 644 3511

6192 -1.39 -146.6 651.4 -9.8 297 6198 0.00 2.47 0.00 0.000 6 0.000 0.044 2144 2056 3511

6509 -1.39 -146.6 679.6 -9.0 313 6513 0.00 2.60 0.00 0.000 4 0.000 0.067 2144 644 3510

6588 -1.39 -146.6 687.2 -9.3 316 6594 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2053 3509

6903 -1.39 -146.6 716.1 -9.2 332 6908 0.00 2.60 0.00 0.000 4 0.000 0.067 2143 640 3509

6989 -1.39 -146.6 724.2 -10.4 336 6993 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2052 3509

7315 -1.39 -146.6 754.6 -9.7 352 7319 0.00 2.58 0.00 0.000 4 0.000 0.067 2143 640 3508

7400 -1.39 -146.6 763.2 -10.7 356 7404 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2052 3508

7726 -1.39 -146.6 795.5 -9.6 372 7730 0.00 2.60 0.00 0.000 4 0.000 0.067 2143 637 3505

7814 -1.39 -146.6 804.6 -10.2 376 7819 0.00 2.45 0.00 0.000 6 0.000 0.045 2143 2052 3505

8136 -1.39 -146.6 835.1 -9.7 392 8140 0.00 2.58 0.00 0.000 4 0.000 0.067 2144 646 3504

8214 -1.39 -146.6 843.0 -10.0 395 8220 0.00 2.47 0.00 0.000 6 0.000 0.046 2144 2056 3504

8530 -1.39 -146.6 873.3 -9.7 411 8534 0.00 2.60 0.00 0.000 4 0.000 0.067 2144 641 3503

8630 -1.39 -146.6 883.5 -10.1 415 8637 0.00 2.50 0.00 0.000 6 0.000 0.046 2144 2054 3503

8946 -1.39 -146.6 912.4 -9.0 431 8951 0.00 2.58 0.00 0.000 4 0.000 0.067 2143 642 3502

9031 -1.39 -146.6 920.4 -9.0 435 9035 0.00 2.47 0.00 0.000 6 0.000 0.046 2144 2053 3502

9358 -1.39 -146.6 948.5 -8.6 451 9362 0.00 2.60 0.00 0.000 4 0.000 0.067 2144 639 3502

9442 -1.39 -146.6 956.3 -9.3 455 9447 0.00 2.47 0.00 0.000 6 0.000 0.046 2144 2053 3501

9770 -1.39 -146.6 983.8 -8.3 471 9774 0.00 2.58 0.00 0.000 4 0.000 0.067 2143 642 3501

9839 end dive: TARGET_DEPTH_EXCEEDED

state 9839 begin apogee

9847 -0.33 0.0 990.5 9.5 474 9980 1.12 0.00 127.22 1.490 6 0.100 0.000 2370 1953 2915

9980 end apogee: CONTROL_FINISHED_OK

state 9980 begin climb

9983 1.39 146.6 994.4 0.0 481 10121 1.80 2.62 129.35 1.431 4 0.065 0.063 2751 3351 2317

10236 1.39 146.6 975.3 12.2 492 10240 0.00 2.55 0.00 0.000 6 0.000 0.049 2750 1944 2316

10562 1.39 146.6 938.0 11.5 508 10563 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1944 2316

10871 1.39 146.6 902.5 11.4 523 10875 0.00 2.58 0.00 0.000 4 0.000 0.060 2750 3350 2316

10959 1.39 146.6 891.9 12.0 527 10963 0.00 2.53 0.00 0.000 6 0.000 0.048 2750 1949 2316

11286 1.39 146.6 856.1 10.8 543 11290 0.00 2.58 0.00 0.000 4 0.000 0.061 2750 3350 2315

11335 1.39 146.6 850.5 11.7 545 11340 0.00 2.50 0.00 0.000 6 0.000 0.048 2750 1947 2316

11651 1.39 146.6 817.3 10.5 560 11655 0.00 2.58 0.00 0.000 4 0.000 0.061 2750 3354 2315

11700 1.39 146.6 811.9 11.8 562 11704 0.00 2.50 0.00 0.000 6 0.000 0.048 2750 1948 2315

12015 1.39 146.6 779.3 10.0 577 12017 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1947 2315

12325 1.40 153.9 749.1 9.7 592 12334 0.00 0.00 7.53 1.177 6 0.000 0.000 2750 1947 2287

12634 1.40 156.4 718.7 9.9 607 12643 0.00 2.58 4.07 0.913 4 0.000 0.060 2750 3350 2277

12695 1.41 169.9 712.6 9.4 609 12714 0.00 2.53 13.90 1.256 6 0.000 0.048 2750 1943 2221

13032 1.42 174.9 680.1 9.8 626 13040 0.00 0.00 5.88 1.063 6 0.000 0.000 2750 1944 2202

13343 1.43 181.3 649.9 9.7 641 13357 0.00 2.62 7.47 1.123 4 0.000 0.059 2750 3346 2175

13441 1.43 181.3 639.0 11.0 645 13446 0.00 2.50 0.00 0.000 6 0.000 0.048 2750 1944 2175

13757 1.43 181.3 603.0 12.0 660 13761 0.00 2.58 0.00 0.000 4 0.000 0.060 2750 3352 2175

13841 1.43 181.3 592.8 11.7 664 13845 0.00 2.50 0.00 0.000 6 0.000 0.048 2750 1946 2174

14167 1.43 181.3 554.4 11.8 680 14171 0.00 2.58 0.00 0.000 4 0.000 0.060 2750 3353 2174

14297 1.43 181.3 537.8 13.8 686 14301 0.00 2.50 0.00 0.000 6 0.000 0.048 2750 1945 2174

14623 1.43 181.3 496.1 11.9 702 14627 0.00 2.58 0.00 0.000 4 0.000 0.059 2750 3358 2174

14678 1.43 181.3 489.6 11.3 704 14684 0.00 2.47 0.00 0.000 6 0.000 0.046 2750 1951 2174

14994 1.43 184.0 455.9 9.9 720 15003 0.00 2.58 3.65 0.769 4 0.000 0.058 2750 3348 2165

15071 1.43 184.0 447.8 10.5 723 15075 0.00 2.47 0.00 0.000 6 0.000 0.046 2750 1945 2165

15386 1.43 184.0 414.4 10.4 738 15391 0.00 2.60 0.00 0.000 4 0.000 0.072 2750 543 2165

15633 1.43 184.0 386.1 11.4 749 15637 0.00 2.47 0.00 0.000 6 0.000 0.041 2750 1958 2166

15953 1.44 189.9 354.7 9.7 765 15962 0.00 0.00 6.97 0.937 6 0.000 0.000 2750 1959 2140

16264 1.44 189.9 323.9 10.3 780 16266 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1960 2141

16572 1.44 189.9 290.2 11.6 795 16573 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1960 2142

16881 1.44 189.9 255.9 10.5 810 16882 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1959 2143

17190 1.44 189.9 224.4 10.3 825 17195 0.00 2.58 0.00 0.000 4 0.000 0.062 2750 545 2143

17240 1.44 189.9 218.9 10.8 827 17244 0.00 2.42 0.00 0.000 6 0.000 0.036 2750 1955 2144

17561 1.44 189.9 184.7 11.0 843 17565 0.00 2.50 0.00 0.000 4 0.000 0.054 2750 3361 2145

17627 1.44 189.9 177.2 10.7 846 17631 0.00 2.42 0.00 0.000 6 0.000 0.038 2750 1947 2145

17955 1.44 189.9 141.1 12.2 862 17956 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1947 2147

18264 1.44 189.9 103.1 11.7 877 18268 0.00 2.50 0.00 0.000 4 0.000 0.049 2750 3357 2147

18304 1.44 189.9 98.2 12.9 879 18308 0.00 2.42 0.00 0.000 6 0.000 0.037 2750 1949 2147

18630 1.44 189.9 57.2 13.3 895 18639 0.00 2.53 3.47 0.512 4 0.000 0.048 2750 3356 2140

18680 1.44 189.9 50.2 16.1 897 18684 0.00 2.45 0.00 0.000 6 0.000 0.038 2750 1946 2140

19001 1.44 189.9 10.8 12.2 913 19005 0.00 2.50 0.00 0.000 4 0.000 0.051 2750 3360 2141

19059 end climb: SURFACE_DEPTH_REACHED

state 19059 begin surface coast

19068 end surface coast: CONTROL_FINISHED_OK

state 19068 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	22	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-35453.215	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	212302,6131.988,-255.662,55,1.6,55,-6.0	TGT_NAME	ESEC_SE
_CALLS	1	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.250,0.083
_SM_DEPTHo	1.07	KALMAN_X	75857.5,1470.8,575.0,-65656.4,663.2
_SM_ANGLEo	-59.8	KALMAN_Y	-18123.0,-842.3,292.8,14938.1,-2416.8
GPS2	212957,6131.974,-255.374,11,1.6,11,-6.0	MHEAD_RNG_PITCHd_Wd	294.4,41899,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.8,1.027393	XPDR_PINGS	0
SM_CCo	19092,39.38,0.657,3,0,1894,250.21	_24V_AH	22.9,5.953
SM_GC	1.06,0.00,0.00,39.38,0.000,0.000,0.657,43,2045,1894,-11.08,-0.17,250.21	_10V_AH	10.1,3.235
IRIDIUM_FIX	6108.28,-251.52,130597,161610	DATA_FILE_SIZE	47539,916
TT8_MAMPS	0.026845	CFSIZE	260165632,255901696
HUMID	1690	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,30,3,0
INTERNAL_PRESSURE	8.39119	GPS	180208,025107,6131.182,-257.936,33,1.0,33,-6.0
TCM_TEMP	17.10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.99	SBE_CT	684	24	376.03
Roll_motor	186	72	307.47	SBE_O2	619	19	269.51
VBD_pump_during_apogee	309	1489	10557.86	WL_BB2F	539	105	1296.30
VBD_pump_during_surface	39	657	592.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	77.31	nil	0	0	0.00
Iridium_during_connect	50	160	183.67	nil	0	0	0.00
Iridium_during_xfer	213	223	1091.37
Transponder_ping	8	420	81.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.68
TT8	1756	19	351.30
LPSleep	14412	2	318.79
TT8_Active	530	19	106.17
TT8_Sampling	2273	39	914.06
TT8_CF8	585	45	270.70
TT8_Kalman	33	81	27.56
Analog_circuits	1637	12	198.52
GPS_charging	0	0	0.00
Compass	2231	8	180.28
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	107	0.00	0.00	-81.75	0.000	2	0.000	0.000	40	2070	3513
110	-1.39	-146.6	5.0	-5.8	4	131	11.93	2.65	0.00	0.000	4	0.159	0.060	2144	646	3514
155	-1.39	-146.6	18.4	-18.4	6	160	0.00	2.42	0.00	0.000	6	0.000	0.035	2144	2051	3514
482	-1.39	-146.6	55.8	-10.8	22	483	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2051	3515
792	-1.39	-146.6	90.4	-11.2	37	793	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2051	3516
1101	-1.39	-146.6	124.9	-11.3	52	1102	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2051	3516
1409	-1.39	-146.6	162.9	-12.2	67	1411	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2051	3516
1719	-1.39	-146.6	197.8	-10.7	82	1723	0.00	2.58	0.00	0.000	4	0.000	0.061	2144	639	3516
1803	-1.39	-146.6	207.0	-11.2	86	1808	0.00	2.42	0.00	0.000	6	0.000	0.037	2144	2050	3516
2130	-1.39	-146.6	241.1	-10.3	102	2134	0.00	2.55	0.00	0.000	4	0.000	0.060	2144	646	3517
2191	-1.39	-146.6	247.8	-10.5	105	2196	0.00	2.42	0.00	0.000	6	0.000	0.037	2144	2057	3517
2519	-1.39	-146.6	283.1	-11.1	121	2523	0.00	2.58	0.00	0.000	4	0.000	0.060	2144	638	3517
2580	-1.39	-146.6	290.2	-11.2	124	2584	0.00	2.42	0.00	0.000	6	0.000	0.037	2144	2051	3517
2912	-1.39	-146.6	324.3	-10.1	140	2916	0.00	2.55	0.00	0.000	4	0.000	0.060	2144	645	3517
2996	-1.39	-146.6	333.3	-11.1	144	3000	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2056	3517
3322	-1.39	-146.6	368.1	-10.1	160	3326	0.00	2.55	0.00	0.000	4	0.000	0.061	2144	646	3517
3400	-1.39	-146.6	375.5	-9.4	163	3406	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2051	3517
3715	-1.39	-146.6	405.6	-9.4	179	3720	0.00	2.55	0.00	0.000	4	0.000	0.061	2144	645	3517
3892	-1.39	-146.6	424.1	-10.5	187	3896	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2058	3517
4224	-1.39	-146.6	456.5	-10.0	203	4225	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2059	3517
4533	-1.39	-146.6	485.8	-9.5	218	4538	0.00	2.58	0.00	0.000	4	0.000	0.063	2143	646	3517
4583	-1.39	-146.6	491.0	-10.5	220	4587	0.00	2.42	0.00	0.000	6	0.000	0.040	2144	2057	3516
4899	-1.39	-146.6	521.2	-9.8	235	4903	0.00	2.58	0.00	0.000	4	0.000	0.064	2144	646	3516
4999	-1.39	-146.6	532.2	-10.9	239	5005	0.00	2.45	0.00	0.000	6	0.000	0.042	2144	2059	3515
5314	-1.39	-146.6	565.2	-10.0	255	5319	0.00	2.58	0.00	0.000	4	0.000	0.064	2144	646	3514
5376	-1.39	-146.6	571.7	-10.4	258	5381	0.00	2.45	0.00	0.000	6	0.000	0.043	2144	2053	3514
5703	-1.39	-146.6	603.6	-9.8	274	5708	0.00	2.60	0.00	0.000	4	0.000	0.067	2144	639	3512
5788	-1.39	-146.6	612.5	-10.0	278	5792	0.00	2.47	0.00	0.000	6	0.000	0.044	2144	2058	3513
6114	-1.39	-146.6	643.7	-9.5	294	6118	0.00	2.60	0.00	0.000	4	0.000	0.066	2144	644	3511
6192	-1.39	-146.6	651.4	-9.8	297	6198	0.00	2.47	0.00	0.000	6	0.000	0.044	2144	2056	3511
6509	-1.39	-146.6	679.6	-9.0	313	6513	0.00	2.60	0.00	0.000	4	0.000	0.067	2144	644	3510
6588	-1.39	-146.6	687.2	-9.3	316	6594	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2053	3509
6903	-1.39	-146.6	716.1	-9.2	332	6908	0.00	2.60	0.00	0.000	4	0.000	0.067	2143	640	3509
6989	-1.39	-146.6	724.2	-10.4	336	6993	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2052	3509
7315	-1.39	-146.6	754.6	-9.7	352	7319	0.00	2.58	0.00	0.000	4	0.000	0.067	2143	640	3508
7400	-1.39	-146.6	763.2	-10.7	356	7404	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2052	3508
7726	-1.39	-146.6	795.5	-9.6	372	7730	0.00	2.60	0.00	0.000	4	0.000	0.067	2143	637	3505
7814	-1.39	-146.6	804.6	-10.2	376	7819	0.00	2.45	0.00	0.000	6	0.000	0.045	2143	2052	3505
8136	-1.39	-146.6	835.1	-9.7	392	8140	0.00	2.58	0.00	0.000	4	0.000	0.067	2144	646	3504
8214	-1.39	-146.6	843.0	-10.0	395	8220	0.00	2.47	0.00	0.000	6	0.000	0.046	2144	2056	3504
8530	-1.39	-146.6	873.3	-9.7	411	8534	0.00	2.60	0.00	0.000	4	0.000	0.067	2144	641	3503
8630	-1.39	-146.6	883.5	-10.1	415	8637	0.00	2.50	0.00	0.000	6	0.000	0.046	2144	2054	3503
8946	-1.39	-146.6	912.4	-9.0	431	8951	0.00	2.58	0.00	0.000	4	0.000	0.067	2143	642	3502
9031	-1.39	-146.6	920.4	-9.0	435	9035	0.00	2.47	0.00	0.000	6	0.000	0.046	2144	2053	3502
9358	-1.39	-146.6	948.5	-8.6	451	9362	0.00	2.60	0.00	0.000	4	0.000	0.067	2144	639	3502
9442	-1.39	-146.6	956.3	-9.3	455	9447	0.00	2.47	0.00	0.000	6	0.000	0.046	2144	2053	3501
9770	-1.39	-146.6	983.8	-8.3	471	9774	0.00	2.58	0.00	0.000	4	0.000	0.067	2143	642	3501
9839	end dive: TARGET_DEPTH_EXCEEDED
state	9839	begin apogee
9847	-0.33	0.0	990.5	9.5	474	9980	1.12	0.00	127.22	1.490	6	0.100	0.000	2370	1953	2915
9980	end apogee: CONTROL_FINISHED_OK
state	9980	begin climb
9983	1.39	146.6	994.4	0.0	481	10121	1.80	2.62	129.35	1.431	4	0.065	0.063	2751	3351	2317
10236	1.39	146.6	975.3	12.2	492	10240	0.00	2.55	0.00	0.000	6	0.000	0.049	2750	1944	2316
10562	1.39	146.6	938.0	11.5	508	10563	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1944	2316
10871	1.39	146.6	902.5	11.4	523	10875	0.00	2.58	0.00	0.000	4	0.000	0.060	2750	3350	2316
10959	1.39	146.6	891.9	12.0	527	10963	0.00	2.53	0.00	0.000	6	0.000	0.048	2750	1949	2316
11286	1.39	146.6	856.1	10.8	543	11290	0.00	2.58	0.00	0.000	4	0.000	0.061	2750	3350	2315
11335	1.39	146.6	850.5	11.7	545	11340	0.00	2.50	0.00	0.000	6	0.000	0.048	2750	1947	2316
11651	1.39	146.6	817.3	10.5	560	11655	0.00	2.58	0.00	0.000	4	0.000	0.061	2750	3354	2315
11700	1.39	146.6	811.9	11.8	562	11704	0.00	2.50	0.00	0.000	6	0.000	0.048	2750	1948	2315
12015	1.39	146.6	779.3	10.0	577	12017	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1947	2315
12325	1.40	153.9	749.1	9.7	592	12334	0.00	0.00	7.53	1.177	6	0.000	0.000	2750	1947	2287
12634	1.40	156.4	718.7	9.9	607	12643	0.00	2.58	4.07	0.913	4	0.000	0.060	2750	3350	2277
12695	1.41	169.9	712.6	9.4	609	12714	0.00	2.53	13.90	1.256	6	0.000	0.048	2750	1943	2221
13032	1.42	174.9	680.1	9.8	626	13040	0.00	0.00	5.88	1.063	6	0.000	0.000	2750	1944	2202
13343	1.43	181.3	649.9	9.7	641	13357	0.00	2.62	7.47	1.123	4	0.000	0.059	2750	3346	2175
13441	1.43	181.3	639.0	11.0	645	13446	0.00	2.50	0.00	0.000	6	0.000	0.048	2750	1944	2175
13757	1.43	181.3	603.0	12.0	660	13761	0.00	2.58	0.00	0.000	4	0.000	0.060	2750	3352	2175
13841	1.43	181.3	592.8	11.7	664	13845	0.00	2.50	0.00	0.000	6	0.000	0.048	2750	1946	2174
14167	1.43	181.3	554.4	11.8	680	14171	0.00	2.58	0.00	0.000	4	0.000	0.060	2750	3353	2174
14297	1.43	181.3	537.8	13.8	686	14301	0.00	2.50	0.00	0.000	6	0.000	0.048	2750	1945	2174
14623	1.43	181.3	496.1	11.9	702	14627	0.00	2.58	0.00	0.000	4	0.000	0.059	2750	3358	2174
14678	1.43	181.3	489.6	11.3	704	14684	0.00	2.47	0.00	0.000	6	0.000	0.046	2750	1951	2174
14994	1.43	184.0	455.9	9.9	720	15003	0.00	2.58	3.65	0.769	4	0.000	0.058	2750	3348	2165
15071	1.43	184.0	447.8	10.5	723	15075	0.00	2.47	0.00	0.000	6	0.000	0.046	2750	1945	2165
15386	1.43	184.0	414.4	10.4	738	15391	0.00	2.60	0.00	0.000	4	0.000	0.072	2750	543	2165
15633	1.43	184.0	386.1	11.4	749	15637	0.00	2.47	0.00	0.000	6	0.000	0.041	2750	1958	2166
15953	1.44	189.9	354.7	9.7	765	15962	0.00	0.00	6.97	0.937	6	0.000	0.000	2750	1959	2140
16264	1.44	189.9	323.9	10.3	780	16266	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1960	2141
16572	1.44	189.9	290.2	11.6	795	16573	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1960	2142
16881	1.44	189.9	255.9	10.5	810	16882	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1959	2143
17190	1.44	189.9	224.4	10.3	825	17195	0.00	2.58	0.00	0.000	4	0.000	0.062	2750	545	2143
17240	1.44	189.9	218.9	10.8	827	17244	0.00	2.42	0.00	0.000	6	0.000	0.036	2750	1955	2144
17561	1.44	189.9	184.7	11.0	843	17565	0.00	2.50	0.00	0.000	4	0.000	0.054	2750	3361	2145
17627	1.44	189.9	177.2	10.7	846	17631	0.00	2.42	0.00	0.000	6	0.000	0.038	2750	1947	2145
17955	1.44	189.9	141.1	12.2	862	17956	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1947	2147
18264	1.44	189.9	103.1	11.7	877	18268	0.00	2.50	0.00	0.000	4	0.000	0.049	2750	3357	2147
18304	1.44	189.9	98.2	12.9	879	18308	0.00	2.42	0.00	0.000	6	0.000	0.037	2750	1949	2147
18630	1.44	189.9	57.2	13.3	895	18639	0.00	2.53	3.47	0.512	4	0.000	0.048	2750	3356	2140
18680	1.44	189.9	50.2	16.1	897	18684	0.00	2.45	0.00	0.000	6	0.000	0.038	2750	1946	2140
19001	1.44	189.9	10.8	12.2	913	19005	0.00	2.50	0.00	0.000	4	0.000	0.051	2750	3360	2141
19059	end climb: SURFACE_DEPTH_REACHED
state	19059	begin surface coast
19068	end surface coast: CONTROL_FINISHED_OK
state	19068	begin surface