Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 24 * 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 24 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 31 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 -35500.871 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 -35500.871

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 31 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 24 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 082046,6132.925,-257.502,36,2.4,55,-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 -0.263,-0.013

_SM_DEPTHo 1.17 KALMAN_X 86176.4,-2879.3,669.9,-73318.0,7129.5

_SM_ANGLEo -63.5 KALMAN_Y -24699.0,1286.7,877.7,20633.6,-6792.1

GPS2 082747,6132.963,-257.202,11,2.5,30,-6.0 MHEAD_RNG_PITCHd_Wd 273.1,40682,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.012754 XPDR_PINGS 0

SM_CCo 18925,29.58,0.634,3,0,1895,250.21 _24V_AH 23.0,6.249

SM_GC 0.98,0.00,0.00,29.58,0.000,0.000,0.634,44,2061,1895,-11.07,0.23,250.21 _10V_AH 10.1,3.419

IRIDIUM_FIX 6108.28,-255.79,140597,030357 DATA_FILE_SIZE 47466,909

TT8_MAMPS 0.028379 CFSIZE 260165632,255758336

HUMID 1710 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,25,3,0

INTERNAL_PRESSURE 8.40096 GPS 180208,134607,6131.679,-258.761,36,1.7,41,-6.0

TCM_TEMP 17.30

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 97.01 SBE_CT 679 24 374.98

Roll_motor 206 73 349.84 SBE_O2 614 19 268.37

VBD_pump_during_apogee 319 1484 10921.27 WL_BB2F 544 105 1315.97

VBD_pump_during_surface 29 634 431.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 93.66 nil 0 0 0.00

Iridium_during_connect 40 160 149.51 nil 0 0 0.00

Iridium_during_xfer 201 223 1035.59

Transponder_ping 8 420 82.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.78

TT8 1753 19 350.70

LPSleep 14211 2 314.35

TT8_Active 548 19 109.72

TT8_Sampling 2286 39 919.11

TT8_CF8 587 45 271.78

TT8_Kalman 33 81 27.54

Analog_circuits 1665 12 201.84

GPS_charging 0 0 0.00

Compass 2228 8 180.05

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

25 -1.39 -146.6 0.0 0.0 0 107 0.00 0.00 -79.50 0.000 2 0.000 0.000 40 2067 3417

110 -1.39 -146.6 4.3 -4.6 4 132 11.85 2.62 -2.00 0.000 4 0.157 0.069 2142 646 3516

188 -1.39 -146.6 23.0 -15.6 7 192 0.00 2.42 0.00 0.000 6 0.000 0.035 2142 2058 3516

505 -1.39 -146.6 54.7 -9.9 22 509 0.00 2.55 0.00 0.000 4 0.000 0.058 2142 646 3517

548 -1.39 -146.6 59.7 -10.3 24 552 0.00 2.40 0.00 0.000 6 0.000 0.035 2142 2049 3517

871 -1.39 -146.6 91.8 -9.9 40 875 0.00 2.55 0.00 0.000 4 0.000 0.058 2142 643 3518

978 -1.39 -146.6 103.5 -10.9 45 982 0.00 2.42 0.00 0.000 6 0.000 0.036 2142 2054 3517

1305 -1.39 -146.6 138.1 -11.1 61 1309 0.00 2.55 0.00 0.000 4 0.000 0.059 2142 646 3518

1416 -1.39 -146.6 151.1 -11.7 66 1420 0.00 2.42 0.00 0.000 6 0.000 0.037 2142 2058 3518

1737 -1.39 -146.6 184.3 -10.6 82 1741 0.00 2.55 0.00 0.000 4 0.000 0.059 2142 646 3518

1803 -1.39 -146.6 191.7 -11.0 85 1807 0.00 2.42 0.00 0.000 6 0.000 0.037 2142 2058 3517

2125 -1.39 -146.6 224.7 -10.2 101 2130 0.00 2.55 0.00 0.000 4 0.000 0.059 2142 646 3519

2185 -1.39 -146.6 231.7 -10.9 103 2191 0.00 2.40 0.00 0.000 6 0.000 0.037 2142 2051 3518

2501 -1.39 -146.6 263.3 -9.7 119 2505 0.00 2.55 0.00 0.000 4 0.000 0.060 2142 646 3519

2586 -1.39 -146.6 272.1 -10.5 123 2590 0.00 2.42 0.00 0.000 6 0.000 0.037 2142 2057 3519

2912 -1.39 -146.6 307.9 -11.0 139 2913 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2057 3519

3221 -1.39 -146.6 337.1 -9.1 154 3225 0.00 2.58 0.00 0.000 4 0.000 0.061 2141 640 3519

3366 -1.39 -146.6 351.0 -10.1 160 3373 0.00 2.45 0.00 0.000 6 0.000 0.038 2142 2051 3519

3682 -1.39 -146.6 379.3 -8.9 176 3687 0.00 2.55 0.00 0.000 4 0.000 0.061 2142 644 3518

3755 -1.39 -146.6 386.3 -10.2 179 3759 0.00 2.42 0.00 0.000 6 0.000 0.038 2142 2058 3519

4070 -1.39 -146.6 418.9 -10.7 194 4074 0.00 2.58 0.00 0.000 4 0.000 0.061 2142 641 3519

4137 -1.39 -146.6 426.0 -10.3 197 4141 0.00 2.42 0.00 0.000 6 0.000 0.039 2142 2051 3519

4457 -1.39 -146.6 459.5 -10.7 213 4462 0.00 2.55 0.00 0.000 4 0.000 0.061 2142 647 3519

4569 -1.39 -146.6 471.7 -9.9 218 4574 0.00 2.42 0.00 0.000 6 0.000 0.040 2142 2051 3519

4891 -1.39 -146.6 502.4 -9.7 234 4892 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2051 3518

5200 -1.39 -146.6 531.8 -9.5 249 5204 0.00 2.58 0.00 0.000 4 0.000 0.064 2142 641 3517

5339 -1.39 -146.6 546.0 -10.0 255 5344 0.00 2.45 0.00 0.000 6 0.000 0.042 2142 2050 3517

5655 -1.39 -146.6 579.1 -11.1 270 5659 0.00 2.58 0.00 0.000 4 0.000 0.065 2141 645 3516

5766 -1.39 -146.6 592.2 -11.7 275 5770 0.00 2.45 0.00 0.000 6 0.000 0.044 2141 2053 3515

6088 -1.39 -146.6 625.6 -10.5 291 6092 0.00 2.58 0.00 0.000 4 0.000 0.066 2142 647 3513

6172 -1.39 -146.6 635.6 -12.1 295 6176 0.00 2.45 0.00 0.000 6 0.000 0.044 2141 2052 3513

6498 -1.39 -146.6 671.0 -10.8 311 6503 0.00 2.58 0.00 0.000 4 0.000 0.067 2142 647 3511

6543 -1.39 -146.6 676.1 -11.1 313 6547 0.00 2.45 0.00 0.000 6 0.000 0.044 2141 2053 3511

6864 -1.39 -146.6 709.1 -10.4 329 6868 0.00 2.60 0.00 0.000 4 0.000 0.067 2142 638 3510

6930 -1.39 -146.6 716.3 -11.2 332 6934 0.00 2.47 0.00 0.000 6 0.000 0.045 2141 2051 3510

7252 -1.39 -146.6 748.0 -9.9 348 7256 0.00 2.60 0.00 0.000 4 0.000 0.067 2142 638 3510

7346 -1.39 -146.6 758.3 -11.1 352 7350 0.00 2.45 0.00 0.000 6 0.000 0.045 2142 2051 3509

7667 -1.39 -146.6 789.7 -9.8 368 7671 0.00 2.60 0.00 0.000 4 0.000 0.068 2142 638 3508

7762 -1.39 -146.6 799.4 -10.0 372 7766 0.00 2.47 0.00 0.000 6 0.000 0.045 2142 2051 3508

8077 -1.39 -146.6 829.4 -9.5 387 8082 0.00 2.58 0.00 0.000 4 0.000 0.067 2142 646 3507

8172 -1.39 -146.6 839.4 -10.4 391 8177 0.00 2.45 0.00 0.000 6 0.000 0.046 2142 2049 3506

8490 -1.39 -146.6 869.3 -9.2 406 8494 0.00 2.55 0.00 0.000 4 0.000 0.067 2142 646 3505

8562 -1.39 -146.6 876.8 -10.4 409 8566 0.00 2.45 0.00 0.000 6 0.000 0.045 2142 2055 3505

8883 -1.39 -146.6 906.3 -9.0 425 8887 0.00 2.60 0.00 0.000 4 0.000 0.067 2142 642 3504

8983 -1.39 -146.6 916.1 -9.6 429 8989 0.00 2.47 0.00 0.000 6 0.000 0.046 2141 2051 3504

9298 -1.39 -146.6 945.2 -9.5 445 9303 0.00 2.60 0.00 0.000 4 0.000 0.067 2142 639 3503

9377 -1.39 -146.6 953.0 -10.0 448 9383 0.00 2.47 0.00 0.000 6 0.000 0.046 2142 2051 3503

9692 -1.39 -146.6 982.3 -9.2 464 9696 0.00 2.58 0.00 0.000 4 0.000 0.067 2142 646 3502

9768 end dive: TARGET_DEPTH_EXCEEDED

state 9768 begin apogee

9776 -0.33 0.0 990.4 10.4 467 9908 1.12 0.00 128.05 1.485 6 0.099 0.000 2369 1952 2916

9909 end apogee: CONTROL_FINISHED_OK

state 9909 begin climb

9911 1.39 146.6 995.6 0.0 474 10049 1.80 2.65 129.15 1.428 4 0.065 0.064 2749 3355 2316

10141 1.39 146.6 981.2 11.4 484 10146 0.00 2.53 0.00 0.000 6 0.000 0.049 2749 1950 2316

10467 1.39 146.6 945.6 10.7 500 10472 0.00 2.58 0.00 0.000 4 0.000 0.060 2749 3349 2316

10512 1.39 146.6 940.6 11.4 502 10516 0.00 2.53 0.00 0.000 6 0.000 0.048 2749 1947 2315

10832 1.39 146.6 906.0 10.8 518 10836 0.00 2.58 0.00 0.000 4 0.000 0.060 2749 3350 2315

10876 1.39 146.6 901.0 12.3 520 10880 0.00 2.53 0.00 0.000 6 0.000 0.048 2749 1946 2315

11198 1.39 146.6 867.9 10.1 536 11203 0.00 2.58 0.00 0.000 4 0.000 0.060 2749 3350 2315

11254 1.39 146.6 861.6 11.2 538 11260 0.00 2.53 0.00 0.000 6 0.000 0.048 2749 1943 2315

11569 1.39 146.6 829.4 10.2 554 11574 0.00 2.58 0.00 0.000 4 0.000 0.061 2749 3350 2314

11619 1.39 146.6 823.9 10.4 556 11623 0.00 2.50 0.00 0.000 6 0.000 0.048 2749 1950 2314

11940 1.39 146.6 790.2 10.4 572 11941 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1950 2314

12250 1.39 146.6 758.1 10.3 587 12254 0.00 2.58 0.00 0.000 4 0.000 0.060 2749 3356 2314

12335 1.39 146.6 748.9 10.7 591 12340 0.00 2.53 0.00 0.000 6 0.000 0.048 2749 1947 2313

12662 1.39 146.6 714.6 10.3 607 12666 0.00 2.58 0.00 0.000 4 0.000 0.061 2749 3354 2313

12705 1.39 146.6 709.8 10.5 609 12710 0.00 2.50 0.00 0.000 6 0.000 0.048 2749 1946 2313

13027 1.42 172.4 680.3 8.8 625 13052 0.00 0.00 23.12 1.284 6 0.000 0.000 2749 1946 2212

13358 1.43 179.9 648.9 9.7 641 13372 0.00 2.62 8.15 1.140 4 0.000 0.060 2749 3348 2181

13440 1.43 179.9 639.9 10.2 644 13446 0.00 2.50 0.00 0.000 6 0.000 0.048 2749 1946 2181

13756 1.44 190.0 609.1 9.5 660 13771 0.00 2.62 10.35 1.161 4 0.000 0.060 2749 3353 2139

13844 1.44 190.0 600.1 11.0 663 13848 0.00 2.50 0.00 0.000 6 0.000 0.048 2749 1949 2139

14165 1.45 199.4 570.0 9.6 679 14176 0.00 0.00 9.60 1.127 6 0.000 0.000 2749 1949 2102

14474 1.47 211.0 539.9 9.5 694 14495 0.00 2.62 11.35 1.134 4 0.000 0.059 2749 3357 2054

14567 1.47 211.0 530.4 10.4 698 14572 0.00 2.53 0.00 0.000 6 0.000 0.047 2749 1951 2054

14888 1.47 211.0 496.4 11.2 714 14892 0.00 2.55 0.00 0.000 4 0.000 0.060 2749 3350 2054

14994 1.47 211.0 483.6 12.2 718 15000 0.00 2.47 0.00 0.000 6 0.000 0.048 2749 1951 2054

15310 1.47 211.0 447.2 12.0 734 15311 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1951 2054

15619 1.47 211.0 407.8 12.7 749 15623 0.00 2.62 0.00 0.000 4 0.000 0.074 2749 542 2054

15651 1.47 211.0 403.5 13.2 750 15658 0.00 2.47 0.00 0.000 6 0.000 0.041 2749 1951 2053

15968 1.47 211.0 362.9 13.1 766 15972 0.00 2.60 0.00 0.000 4 0.000 0.068 2749 541 2054

16013 1.47 211.0 357.0 12.6 768 16017 0.00 2.47 0.00 0.000 6 0.000 0.041 2749 1953 2054

16333 1.47 211.0 318.3 13.2 784 16337 0.00 2.53 0.00 0.000 4 0.000 0.058 2749 3356 2054

16399 1.47 211.0 309.1 14.2 787 16403 0.00 2.45 0.00 0.000 6 0.000 0.041 2749 1950 2055

16720 1.47 211.0 265.5 13.5 803 16721 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1951 2055

17029 1.47 211.0 227.4 12.1 818 17033 0.00 2.50 0.00 0.000 4 0.000 0.051 2749 3353 2056

17068 1.47 211.0 222.7 12.2 819 17074 0.00 2.45 0.00 0.000 6 0.000 0.040 2749 1944 2056

17385 1.47 211.0 185.5 11.7 835 17386 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1943 2058

17693 1.47 211.0 149.0 11.5 850 17697 0.00 2.50 0.00 0.000 4 0.000 0.048 2749 3352 2059

17755 1.47 211.0 141.4 11.6 853 17760 0.00 2.45 0.00 0.000 6 0.000 0.038 2749 1944 2059

18083 1.47 211.0 101.7 12.3 869 18087 0.00 2.55 0.00 0.000 4 0.000 0.064 2749 541 2060

18115 1.47 211.0 97.1 13.2 870 18122 0.00 2.45 0.00 0.000 6 0.000 0.035 2749 1949 2060

18432 1.47 211.0 60.0 12.0 886 18433 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1949 2061

18741 1.47 211.0 20.9 13.7 901 18745 0.00 2.58 0.00 0.000 4 0.000 0.062 2749 538 2063

18773 1.47 211.0 16.6 11.4 902 18780 0.00 2.45 0.00 0.000 6 0.000 0.035 2749 1960 2063

18881 end climb: SURFACE_DEPTH_REACHED

state 18881 begin surface coast

18903 end surface coast: CONTROL_FINISHED_OK

state 18903 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	24	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	31	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	-35500.871	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	082046,6132.925,-257.502,36,2.4,55,-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	-0.263,-0.013
_SM_DEPTHo	1.17	KALMAN_X	86176.4,-2879.3,669.9,-73318.0,7129.5
_SM_ANGLEo	-63.5	KALMAN_Y	-24699.0,1286.7,877.7,20633.6,-6792.1
GPS2	082747,6132.963,-257.202,11,2.5,30,-6.0	MHEAD_RNG_PITCHd_Wd	273.1,40682,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.1,1.012754	XPDR_PINGS	0
SM_CCo	18925,29.58,0.634,3,0,1895,250.21	_24V_AH	23.0,6.249
SM_GC	0.98,0.00,0.00,29.58,0.000,0.000,0.634,44,2061,1895,-11.07,0.23,250.21	_10V_AH	10.1,3.419
IRIDIUM_FIX	6108.28,-255.79,140597,030357	DATA_FILE_SIZE	47466,909
TT8_MAMPS	0.028379	CFSIZE	260165632,255758336
HUMID	1710	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,25,3,0
INTERNAL_PRESSURE	8.40096	GPS	180208,134607,6131.679,-258.761,36,1.7,41,-6.0
TCM_TEMP	17.30

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	97.01	SBE_CT	679	24	374.98
Roll_motor	206	73	349.84	SBE_O2	614	19	268.37
VBD_pump_during_apogee	319	1484	10921.27	WL_BB2F	544	105	1315.97
VBD_pump_during_surface	29	634	431.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	93.66	nil	0	0	0.00
Iridium_during_connect	40	160	149.51	nil	0	0	0.00
Iridium_during_xfer	201	223	1035.59
Transponder_ping	8	420	82.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.78
TT8	1753	19	350.70
LPSleep	14211	2	314.35
TT8_Active	548	19	109.72
TT8_Sampling	2286	39	919.11
TT8_CF8	587	45	271.78
TT8_Kalman	33	81	27.54
Analog_circuits	1665	12	201.84
GPS_charging	0	0	0.00
Compass	2228	8	180.05
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
25	-1.39	-146.6	0.0	0.0	0	107	0.00	0.00	-79.50	0.000	2	0.000	0.000	40	2067	3417
110	-1.39	-146.6	4.3	-4.6	4	132	11.85	2.62	-2.00	0.000	4	0.157	0.069	2142	646	3516
188	-1.39	-146.6	23.0	-15.6	7	192	0.00	2.42	0.00	0.000	6	0.000	0.035	2142	2058	3516
505	-1.39	-146.6	54.7	-9.9	22	509	0.00	2.55	0.00	0.000	4	0.000	0.058	2142	646	3517
548	-1.39	-146.6	59.7	-10.3	24	552	0.00	2.40	0.00	0.000	6	0.000	0.035	2142	2049	3517
871	-1.39	-146.6	91.8	-9.9	40	875	0.00	2.55	0.00	0.000	4	0.000	0.058	2142	643	3518
978	-1.39	-146.6	103.5	-10.9	45	982	0.00	2.42	0.00	0.000	6	0.000	0.036	2142	2054	3517
1305	-1.39	-146.6	138.1	-11.1	61	1309	0.00	2.55	0.00	0.000	4	0.000	0.059	2142	646	3518
1416	-1.39	-146.6	151.1	-11.7	66	1420	0.00	2.42	0.00	0.000	6	0.000	0.037	2142	2058	3518
1737	-1.39	-146.6	184.3	-10.6	82	1741	0.00	2.55	0.00	0.000	4	0.000	0.059	2142	646	3518
1803	-1.39	-146.6	191.7	-11.0	85	1807	0.00	2.42	0.00	0.000	6	0.000	0.037	2142	2058	3517
2125	-1.39	-146.6	224.7	-10.2	101	2130	0.00	2.55	0.00	0.000	4	0.000	0.059	2142	646	3519
2185	-1.39	-146.6	231.7	-10.9	103	2191	0.00	2.40	0.00	0.000	6	0.000	0.037	2142	2051	3518
2501	-1.39	-146.6	263.3	-9.7	119	2505	0.00	2.55	0.00	0.000	4	0.000	0.060	2142	646	3519
2586	-1.39	-146.6	272.1	-10.5	123	2590	0.00	2.42	0.00	0.000	6	0.000	0.037	2142	2057	3519
2912	-1.39	-146.6	307.9	-11.0	139	2913	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2057	3519
3221	-1.39	-146.6	337.1	-9.1	154	3225	0.00	2.58	0.00	0.000	4	0.000	0.061	2141	640	3519
3366	-1.39	-146.6	351.0	-10.1	160	3373	0.00	2.45	0.00	0.000	6	0.000	0.038	2142	2051	3519
3682	-1.39	-146.6	379.3	-8.9	176	3687	0.00	2.55	0.00	0.000	4	0.000	0.061	2142	644	3518
3755	-1.39	-146.6	386.3	-10.2	179	3759	0.00	2.42	0.00	0.000	6	0.000	0.038	2142	2058	3519
4070	-1.39	-146.6	418.9	-10.7	194	4074	0.00	2.58	0.00	0.000	4	0.000	0.061	2142	641	3519
4137	-1.39	-146.6	426.0	-10.3	197	4141	0.00	2.42	0.00	0.000	6	0.000	0.039	2142	2051	3519
4457	-1.39	-146.6	459.5	-10.7	213	4462	0.00	2.55	0.00	0.000	4	0.000	0.061	2142	647	3519
4569	-1.39	-146.6	471.7	-9.9	218	4574	0.00	2.42	0.00	0.000	6	0.000	0.040	2142	2051	3519
4891	-1.39	-146.6	502.4	-9.7	234	4892	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2051	3518
5200	-1.39	-146.6	531.8	-9.5	249	5204	0.00	2.58	0.00	0.000	4	0.000	0.064	2142	641	3517
5339	-1.39	-146.6	546.0	-10.0	255	5344	0.00	2.45	0.00	0.000	6	0.000	0.042	2142	2050	3517
5655	-1.39	-146.6	579.1	-11.1	270	5659	0.00	2.58	0.00	0.000	4	0.000	0.065	2141	645	3516
5766	-1.39	-146.6	592.2	-11.7	275	5770	0.00	2.45	0.00	0.000	6	0.000	0.044	2141	2053	3515
6088	-1.39	-146.6	625.6	-10.5	291	6092	0.00	2.58	0.00	0.000	4	0.000	0.066	2142	647	3513
6172	-1.39	-146.6	635.6	-12.1	295	6176	0.00	2.45	0.00	0.000	6	0.000	0.044	2141	2052	3513
6498	-1.39	-146.6	671.0	-10.8	311	6503	0.00	2.58	0.00	0.000	4	0.000	0.067	2142	647	3511
6543	-1.39	-146.6	676.1	-11.1	313	6547	0.00	2.45	0.00	0.000	6	0.000	0.044	2141	2053	3511
6864	-1.39	-146.6	709.1	-10.4	329	6868	0.00	2.60	0.00	0.000	4	0.000	0.067	2142	638	3510
6930	-1.39	-146.6	716.3	-11.2	332	6934	0.00	2.47	0.00	0.000	6	0.000	0.045	2141	2051	3510
7252	-1.39	-146.6	748.0	-9.9	348	7256	0.00	2.60	0.00	0.000	4	0.000	0.067	2142	638	3510
7346	-1.39	-146.6	758.3	-11.1	352	7350	0.00	2.45	0.00	0.000	6	0.000	0.045	2142	2051	3509
7667	-1.39	-146.6	789.7	-9.8	368	7671	0.00	2.60	0.00	0.000	4	0.000	0.068	2142	638	3508
7762	-1.39	-146.6	799.4	-10.0	372	7766	0.00	2.47	0.00	0.000	6	0.000	0.045	2142	2051	3508
8077	-1.39	-146.6	829.4	-9.5	387	8082	0.00	2.58	0.00	0.000	4	0.000	0.067	2142	646	3507
8172	-1.39	-146.6	839.4	-10.4	391	8177	0.00	2.45	0.00	0.000	6	0.000	0.046	2142	2049	3506
8490	-1.39	-146.6	869.3	-9.2	406	8494	0.00	2.55	0.00	0.000	4	0.000	0.067	2142	646	3505
8562	-1.39	-146.6	876.8	-10.4	409	8566	0.00	2.45	0.00	0.000	6	0.000	0.045	2142	2055	3505
8883	-1.39	-146.6	906.3	-9.0	425	8887	0.00	2.60	0.00	0.000	4	0.000	0.067	2142	642	3504
8983	-1.39	-146.6	916.1	-9.6	429	8989	0.00	2.47	0.00	0.000	6	0.000	0.046	2141	2051	3504
9298	-1.39	-146.6	945.2	-9.5	445	9303	0.00	2.60	0.00	0.000	4	0.000	0.067	2142	639	3503
9377	-1.39	-146.6	953.0	-10.0	448	9383	0.00	2.47	0.00	0.000	6	0.000	0.046	2142	2051	3503
9692	-1.39	-146.6	982.3	-9.2	464	9696	0.00	2.58	0.00	0.000	4	0.000	0.067	2142	646	3502
9768	end dive: TARGET_DEPTH_EXCEEDED
state	9768	begin apogee
9776	-0.33	0.0	990.4	10.4	467	9908	1.12	0.00	128.05	1.485	6	0.099	0.000	2369	1952	2916
9909	end apogee: CONTROL_FINISHED_OK
state	9909	begin climb
9911	1.39	146.6	995.6	0.0	474	10049	1.80	2.65	129.15	1.428	4	0.065	0.064	2749	3355	2316
10141	1.39	146.6	981.2	11.4	484	10146	0.00	2.53	0.00	0.000	6	0.000	0.049	2749	1950	2316
10467	1.39	146.6	945.6	10.7	500	10472	0.00	2.58	0.00	0.000	4	0.000	0.060	2749	3349	2316
10512	1.39	146.6	940.6	11.4	502	10516	0.00	2.53	0.00	0.000	6	0.000	0.048	2749	1947	2315
10832	1.39	146.6	906.0	10.8	518	10836	0.00	2.58	0.00	0.000	4	0.000	0.060	2749	3350	2315
10876	1.39	146.6	901.0	12.3	520	10880	0.00	2.53	0.00	0.000	6	0.000	0.048	2749	1946	2315
11198	1.39	146.6	867.9	10.1	536	11203	0.00	2.58	0.00	0.000	4	0.000	0.060	2749	3350	2315
11254	1.39	146.6	861.6	11.2	538	11260	0.00	2.53	0.00	0.000	6	0.000	0.048	2749	1943	2315
11569	1.39	146.6	829.4	10.2	554	11574	0.00	2.58	0.00	0.000	4	0.000	0.061	2749	3350	2314
11619	1.39	146.6	823.9	10.4	556	11623	0.00	2.50	0.00	0.000	6	0.000	0.048	2749	1950	2314
11940	1.39	146.6	790.2	10.4	572	11941	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1950	2314
12250	1.39	146.6	758.1	10.3	587	12254	0.00	2.58	0.00	0.000	4	0.000	0.060	2749	3356	2314
12335	1.39	146.6	748.9	10.7	591	12340	0.00	2.53	0.00	0.000	6	0.000	0.048	2749	1947	2313
12662	1.39	146.6	714.6	10.3	607	12666	0.00	2.58	0.00	0.000	4	0.000	0.061	2749	3354	2313
12705	1.39	146.6	709.8	10.5	609	12710	0.00	2.50	0.00	0.000	6	0.000	0.048	2749	1946	2313
13027	1.42	172.4	680.3	8.8	625	13052	0.00	0.00	23.12	1.284	6	0.000	0.000	2749	1946	2212
13358	1.43	179.9	648.9	9.7	641	13372	0.00	2.62	8.15	1.140	4	0.000	0.060	2749	3348	2181
13440	1.43	179.9	639.9	10.2	644	13446	0.00	2.50	0.00	0.000	6	0.000	0.048	2749	1946	2181
13756	1.44	190.0	609.1	9.5	660	13771	0.00	2.62	10.35	1.161	4	0.000	0.060	2749	3353	2139
13844	1.44	190.0	600.1	11.0	663	13848	0.00	2.50	0.00	0.000	6	0.000	0.048	2749	1949	2139
14165	1.45	199.4	570.0	9.6	679	14176	0.00	0.00	9.60	1.127	6	0.000	0.000	2749	1949	2102
14474	1.47	211.0	539.9	9.5	694	14495	0.00	2.62	11.35	1.134	4	0.000	0.059	2749	3357	2054
14567	1.47	211.0	530.4	10.4	698	14572	0.00	2.53	0.00	0.000	6	0.000	0.047	2749	1951	2054
14888	1.47	211.0	496.4	11.2	714	14892	0.00	2.55	0.00	0.000	4	0.000	0.060	2749	3350	2054
14994	1.47	211.0	483.6	12.2	718	15000	0.00	2.47	0.00	0.000	6	0.000	0.048	2749	1951	2054
15310	1.47	211.0	447.2	12.0	734	15311	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1951	2054
15619	1.47	211.0	407.8	12.7	749	15623	0.00	2.62	0.00	0.000	4	0.000	0.074	2749	542	2054
15651	1.47	211.0	403.5	13.2	750	15658	0.00	2.47	0.00	0.000	6	0.000	0.041	2749	1951	2053
15968	1.47	211.0	362.9	13.1	766	15972	0.00	2.60	0.00	0.000	4	0.000	0.068	2749	541	2054
16013	1.47	211.0	357.0	12.6	768	16017	0.00	2.47	0.00	0.000	6	0.000	0.041	2749	1953	2054
16333	1.47	211.0	318.3	13.2	784	16337	0.00	2.53	0.00	0.000	4	0.000	0.058	2749	3356	2054
16399	1.47	211.0	309.1	14.2	787	16403	0.00	2.45	0.00	0.000	6	0.000	0.041	2749	1950	2055
16720	1.47	211.0	265.5	13.5	803	16721	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1951	2055
17029	1.47	211.0	227.4	12.1	818	17033	0.00	2.50	0.00	0.000	4	0.000	0.051	2749	3353	2056
17068	1.47	211.0	222.7	12.2	819	17074	0.00	2.45	0.00	0.000	6	0.000	0.040	2749	1944	2056
17385	1.47	211.0	185.5	11.7	835	17386	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1943	2058
17693	1.47	211.0	149.0	11.5	850	17697	0.00	2.50	0.00	0.000	4	0.000	0.048	2749	3352	2059
17755	1.47	211.0	141.4	11.6	853	17760	0.00	2.45	0.00	0.000	6	0.000	0.038	2749	1944	2059
18083	1.47	211.0	101.7	12.3	869	18087	0.00	2.55	0.00	0.000	4	0.000	0.064	2749	541	2060
18115	1.47	211.0	97.1	13.2	870	18122	0.00	2.45	0.00	0.000	6	0.000	0.035	2749	1949	2060
18432	1.47	211.0	60.0	12.0	886	18433	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1949	2061
18741	1.47	211.0	20.9	13.7	901	18745	0.00	2.58	0.00	0.000	4	0.000	0.062	2749	538	2063
18773	1.47	211.0	16.6	11.4	902	18780	0.00	2.45	0.00	0.000	6	0.000	0.035	2749	1960	2063
18881	end climb: SURFACE_DEPTH_REACHED
state	18881	begin surface coast
18903	end surface coast: CONTROL_FINISHED_OK
state	18903	begin surface