Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 25 * 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 25 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 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 -35517.703 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 -35517.703

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 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 25 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 134607,6131.679,-258.761,36,1.7,41,-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 -0.263,-0.012

_SM_DEPTHo 1.12 KALMAN_X 89648.1,133.2,-1954.1,-78400.7,11066.6

_SM_ANGLEo -62.2 KALMAN_Y -25287.0,389.9,365.8,20175.9,-4395.2

GPS2 135257,6131.645,-258.571,14,1.0,14,-6.0 MHEAD_RNG_PITCHd_Wd 273.3,39008,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027399 XPDR_PINGS 1

SM_CCo 18904,25.00,0.599,3,0,1894,250.21 _24V_AH 23.0,6.393

SM_GC 1.16,0.00,0.00,25.00,0.000,0.000,0.599,43,2069,1894,-11.07,0.48,250.21 _10V_AH 10.1,3.510

IRIDIUM_FIX 6108.28,-256.02,140597,080834 DATA_FILE_SIZE 47398,906

TT8_MAMPS 0.026845 CFSIZE 260165632,255688704

HUMID 1701 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,28,3,0

INTERNAL_PRESSURE 8.40096 GPS 180208,191057,6130.537,-300.053,26,2.5,45,-6.0

TCM_TEMP 17.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 156 97.53 SBE_CT 675 24 372.65

Roll_motor 195 72 328.27 SBE_O2 612 19 267.72

VBD_pump_during_apogee 318 1481 10851.33 WL_BB2F 539 105 1301.95

VBD_pump_during_surface 25 599 344.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.16 nil 0 0 0.00

Iridium_during_connect 33 160 123.42 nil 0 0 0.00

Iridium_during_xfer 215 223 1106.08

Transponder_ping 8 420 84.53

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.18

TT8 1755 19 351.03

LPSleep 14200 2 314.10

TT8_Active 518 19 103.72

TT8_Sampling 2293 39 921.83

TT8_CF8 583 45 269.97

TT8_Kalman 33 81 27.55

Analog_circuits 1644 12 199.32

GPS_charging 0 0 0.00

Compass 2247 8 181.63

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

19 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.39 -146.6 0.0 0.0 0 106 0.00 0.00 -80.97 0.000 2 0.000 0.000 44 2062 3399

109 -1.39 -146.6 3.7 -4.0 4 131 11.82 2.53 -2.53 0.000 4 0.156 0.063 2139 3450 3516

193 -1.39 -146.6 19.9 -11.5 7 199 0.00 2.45 0.00 0.000 6 0.000 0.037 2140 2047 3517

509 -1.39 -146.6 56.3 -11.4 23 510 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2047 3517

818 -1.39 -146.6 92.3 -12.7 38 819 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2047 3517

1127 -1.39 -146.6 125.8 -10.7 53 1132 0.00 2.55 0.00 0.000 4 0.000 0.062 2140 642 3517

1171 -1.39 -146.6 131.1 -11.2 55 1176 0.00 2.40 0.00 0.000 6 0.000 0.035 2139 2048 3517

1493 -1.39 -146.6 168.0 -11.4 71 1497 0.00 2.55 0.00 0.000 4 0.000 0.059 2139 643 3518

1565 -1.39 -146.6 176.6 -11.2 74 1569 0.00 2.42 0.00 0.000 6 0.000 0.036 2139 2057 3518

1881 -1.39 -146.6 211.7 -10.9 89 1885 0.00 2.55 0.00 0.000 4 0.000 0.058 2139 646 3518

1953 -1.39 -146.6 219.9 -10.7 92 1957 0.00 2.40 0.00 0.000 6 0.000 0.036 2139 2050 3518

2270 -1.39 -146.6 253.3 -10.6 107 2274 0.00 2.55 0.00 0.000 4 0.000 0.059 2139 642 3518

2341 -1.39 -146.6 261.4 -10.8 110 2345 0.00 2.42 0.00 0.000 6 0.000 0.037 2139 2059 3519

2657 -1.39 -146.6 295.2 -10.9 125 2661 0.00 2.55 0.00 0.000 4 0.000 0.059 2139 648 3519

2768 -1.39 -146.6 308.0 -11.5 130 2772 0.00 2.40 0.00 0.000 6 0.000 0.037 2139 2053 3519

3089 -1.39 -146.6 343.8 -11.4 146 3093 0.00 2.55 0.00 0.000 4 0.000 0.060 2139 645 3519

3173 -1.39 -146.6 353.8 -12.0 150 3177 0.00 2.42 0.00 0.000 6 0.000 0.037 2139 2058 3519

3500 -1.39 -146.6 388.2 -10.0 166 3504 0.00 2.55 0.00 0.000 4 0.000 0.060 2139 648 3519

3539 -1.39 -146.6 392.4 -10.9 168 3543 0.00 2.40 0.00 0.000 6 0.000 0.037 2140 2051 3519

3865 -1.39 -146.6 421.9 -9.0 184 3870 0.00 2.55 0.00 0.000 4 0.000 0.061 2139 646 3520

3960 -1.39 -146.6 431.4 -10.0 188 3964 0.00 2.42 0.00 0.000 6 0.000 0.038 2139 2060 3519

4276 -1.39 -146.6 461.3 -10.0 203 4280 0.00 2.55 0.00 0.000 4 0.000 0.061 2139 648 3519

4319 -1.39 -146.6 466.1 -10.6 205 4324 0.00 2.42 0.00 0.000 6 0.000 0.038 2139 2059 3519

4642 -1.39 -146.6 499.6 -10.6 221 4646 0.00 2.55 0.00 0.000 4 0.000 0.061 2139 648 3519

4792 -1.39 -146.6 516.5 -11.1 227 4798 0.00 2.42 0.00 0.000 6 0.000 0.040 2139 2058 3519

5109 -1.39 -146.6 549.7 -10.2 243 5114 0.00 2.58 0.00 0.000 4 0.000 0.064 2139 646 3519

5231 -1.39 -146.6 563.0 -10.2 248 5235 0.00 2.42 0.00 0.000 6 0.000 0.042 2139 2051 3518

5553 -1.39 -146.6 594.0 -9.5 264 5554 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2051 3517

5862 -1.39 -146.6 624.1 -9.5 279 5866 0.00 2.58 0.00 0.000 4 0.000 0.066 2139 649 3515

5917 -1.39 -146.6 629.8 -10.1 281 5923 0.00 2.45 0.00 0.000 6 0.000 0.044 2139 2057 3515

6232 -1.39 -146.6 661.6 -10.3 297 6237 0.00 2.58 0.00 0.000 4 0.000 0.066 2139 648 3513

6340 -1.39 -146.6 673.6 -11.4 302 6344 0.00 2.45 0.00 0.000 6 0.000 0.044 2139 2054 3513

6665 -1.39 -146.6 707.1 -10.0 318 6670 0.00 2.58 0.00 0.000 4 0.000 0.066 2138 648 3511

6755 -1.39 -146.6 716.8 -11.3 322 6759 0.00 2.45 0.00 0.000 6 0.000 0.044 2139 2058 3511

7076 -1.39 -146.6 748.9 -9.9 338 7080 0.00 2.58 0.00 0.000 4 0.000 0.065 2139 648 3510

7169 -1.39 -146.6 758.5 -10.4 342 7174 0.00 2.45 0.00 0.000 6 0.000 0.045 2139 2053 3509

7485 -1.39 -146.6 788.4 -9.6 357 7490 0.00 2.58 0.00 0.000 4 0.000 0.066 2139 647 3509

7563 -1.39 -146.6 796.6 -10.2 360 7570 0.00 2.47 0.00 0.000 6 0.000 0.045 2139 2066 3509

7882 -1.39 -146.6 825.0 -8.9 376 7887 0.00 2.60 0.00 0.000 4 0.000 0.065 2139 645 3508

7973 -1.39 -146.6 834.1 -9.7 380 7977 0.00 2.47 0.00 0.000 6 0.000 0.044 2139 2057 3507

8296 -1.39 -146.6 864.1 -9.3 396 8300 0.00 2.58 0.00 0.000 4 0.000 0.066 2139 648 3506

8380 -1.39 -146.6 872.8 -10.5 400 8384 0.00 2.45 0.00 0.000 6 0.000 0.046 2139 2051 3506

8708 -1.39 -146.6 903.1 -9.0 416 8713 0.00 2.58 0.00 0.000 4 0.000 0.066 2139 646 3504

8781 -1.39 -146.6 910.3 -9.9 419 8785 0.00 2.47 0.00 0.000 6 0.000 0.046 2139 2055 3504

9097 -1.39 -146.6 938.6 -8.9 434 9101 0.00 2.58 0.00 0.000 4 0.000 0.067 2139 649 3504

9163 -1.39 -146.6 945.0 -9.5 437 9167 0.00 2.45 0.00 0.000 6 0.000 0.045 2139 2051 3504

9489 -1.39 -146.6 973.9 -8.8 453 9494 0.00 2.58 0.00 0.000 4 0.000 0.067 2139 650 3503

9556 -1.39 -146.6 980.4 -9.6 456 9561 0.00 2.47 0.00 0.000 6 0.000 0.045 2139 2058 3503

9668 end dive: TARGET_DEPTH_EXCEEDED

state 9669 begin apogee

9675 -0.33 0.0 990.4 8.8 462 9811 1.17 0.00 127.97 1.481 6 0.102 0.000 2372 1943 2915

9812 end apogee: CONTROL_FINISHED_OK

state 9812 begin climb

9814 1.39 146.6 994.8 0.0 469 9952 1.75 2.65 129.32 1.427 4 0.061 0.061 2747 3350 2316

10067 1.39 146.6 975.9 11.9 480 10071 0.00 2.53 0.00 0.000 6 0.000 0.049 2747 1955 2316

10395 1.39 146.6 939.2 11.1 496 10399 0.00 2.58 0.00 0.000 4 0.000 0.060 2747 3355 2316

10461 1.39 146.6 931.1 11.6 499 10465 0.00 2.53 0.00 0.000 6 0.000 0.048 2747 1943 2315

10782 1.39 146.6 895.8 10.8 515 10787 0.00 2.58 0.00 0.000 4 0.000 0.060 2747 3350 2315

10862 1.39 146.6 886.9 11.0 518 10868 0.00 2.53 0.00 0.000 6 0.000 0.048 2747 1943 2315

11177 1.39 146.6 853.0 10.6 534 11181 0.00 2.58 0.00 0.000 4 0.000 0.060 2747 3349 2315

11238 1.39 146.6 846.3 10.3 537 11243 0.00 2.50 0.00 0.000 6 0.000 0.048 2747 1949 2314

11565 1.39 146.6 812.0 10.3 553 11569 0.00 2.58 0.00 0.000 4 0.000 0.060 2747 3356 2314

11608 1.39 146.6 807.2 11.2 555 11613 0.00 2.53 0.00 0.000 6 0.000 0.048 2747 1947 2314

11930 1.39 146.6 774.3 10.1 571 11931 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1947 2314

12239 1.39 146.6 742.8 10.3 586 12244 0.00 2.58 0.00 0.000 4 0.000 0.060 2747 3357 2313

12328 1.39 146.6 733.0 11.0 590 12333 0.00 2.50 0.00 0.000 6 0.000 0.048 2746 1947 2313

12651 1.39 146.6 699.9 10.1 606 12652 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1947 2314

12960 1.39 148.8 668.5 9.9 621 12964 0.00 2.55 0.00 0.000 4 0.000 0.059 2747 3350 2313

13022 1.39 148.8 662.1 10.5 624 13026 0.00 2.50 0.00 0.000 6 0.000 0.048 2747 1940 2313

13348 1.39 148.8 629.2 10.2 640 13352 0.00 2.58 0.00 0.000 4 0.000 0.059 2747 3354 2313

13436 1.39 148.8 619.1 11.6 644 13440 0.00 2.50 0.00 0.000 6 0.000 0.048 2747 1951 2313

13757 1.39 148.8 584.0 10.8 660 13762 0.00 2.55 0.00 0.000 4 0.000 0.059 2747 3353 2313

13874 1.39 148.8 570.8 10.9 665 13879 0.00 2.47 0.00 0.000 6 0.000 0.048 2747 1948 2313

14190 1.39 148.8 538.5 10.0 680 14194 0.00 2.60 0.00 0.000 4 0.000 0.073 2747 547 2313

14274 1.39 148.8 529.4 11.7 684 14279 0.00 2.47 0.00 0.000 6 0.000 0.042 2747 1959 2313

14600 1.39 148.8 495.8 10.8 700 14601 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1959 2313

14909 1.39 148.8 464.2 10.1 715 14911 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1960 2313

15219 1.42 169.9 435.3 9.0 730 15244 0.00 2.58 20.27 1.115 4 0.000 0.059 2747 3348 2222

15417 1.42 169.9 414.3 10.9 739 15422 0.00 2.45 0.00 0.000 6 0.000 0.044 2747 1952 2222

15738 1.42 169.9 378.6 11.3 755 15743 0.00 2.53 0.00 0.000 4 0.000 0.054 2747 3356 2222

15850 1.42 169.9 364.7 12.4 760 15855 0.00 2.47 0.00 0.000 6 0.000 0.041 2747 1949 2222

16172 1.42 169.9 327.1 11.6 776 16176 0.00 2.50 0.00 0.000 4 0.000 0.052 2747 3350 2223

16228 1.42 169.9 320.3 11.8 778 16232 0.00 2.45 0.00 0.000 6 0.000 0.041 2747 1951 2223

16543 1.42 169.9 283.3 11.8 793 16544 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1951 2224

16852 1.42 169.9 246.3 12.2 808 16856 0.00 2.50 0.00 0.000 4 0.000 0.051 2747 3352 2224

16896 1.42 169.9 240.7 11.5 810 16901 0.00 2.42 0.00 0.000 6 0.000 0.039 2747 1951 2224

17218 1.42 169.9 202.8 11.6 826 17223 0.00 2.50 0.00 0.000 4 0.000 0.050 2747 3357 2226

17258 1.42 169.9 197.8 11.0 828 17262 0.00 2.42 0.00 0.000 6 0.000 0.038 2747 1949 2226

17584 1.42 169.9 161.4 11.8 844 17585 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1949 2227

17894 1.42 169.9 127.3 10.6 859 17898 0.00 2.47 0.00 0.000 4 0.000 0.048 2747 3351 2229

17967 1.48 219.5 120.4 7.7 862 18014 0.10 2.42 40.97 0.815 6 0.069 0.038 2772 1949 2020

18326 1.48 219.5 78.7 13.8 879 18327 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 1949 2020

18634 1.48 219.5 34.3 14.0 894 18638 0.00 2.50 0.00 0.000 4 0.000 0.048 2772 3354 2021

18673 1.48 219.5 28.6 13.8 896 18677 0.00 2.45 0.00 0.000 6 0.000 0.040 2772 1942 2021

18859 end climb: SURFACE_DEPTH_REACHED

state 18859 begin surface coast

18881 end surface coast: CONTROL_FINISHED_OK

state 18881 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	25	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	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	-35517.703	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	134607,6131.679,-258.761,36,1.7,41,-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	-0.263,-0.012
_SM_DEPTHo	1.12	KALMAN_X	89648.1,133.2,-1954.1,-78400.7,11066.6
_SM_ANGLEo	-62.2	KALMAN_Y	-25287.0,389.9,365.8,20175.9,-4395.2
GPS2	135257,6131.645,-258.571,14,1.0,14,-6.0	MHEAD_RNG_PITCHd_Wd	273.3,39008,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.027399	XPDR_PINGS	1
SM_CCo	18904,25.00,0.599,3,0,1894,250.21	_24V_AH	23.0,6.393
SM_GC	1.16,0.00,0.00,25.00,0.000,0.000,0.599,43,2069,1894,-11.07,0.48,250.21	_10V_AH	10.1,3.510
IRIDIUM_FIX	6108.28,-256.02,140597,080834	DATA_FILE_SIZE	47398,906
TT8_MAMPS	0.026845	CFSIZE	260165632,255688704
HUMID	1701	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,28,3,0
INTERNAL_PRESSURE	8.40096	GPS	180208,191057,6130.537,-300.053,26,2.5,45,-6.0
TCM_TEMP	17.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	156	97.53	SBE_CT	675	24	372.65
Roll_motor	195	72	328.27	SBE_O2	612	19	267.72
VBD_pump_during_apogee	318	1481	10851.33	WL_BB2F	539	105	1301.95
VBD_pump_during_surface	25	599	344.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.16	nil	0	0	0.00
Iridium_during_connect	33	160	123.42	nil	0	0	0.00
Iridium_during_xfer	215	223	1106.08
Transponder_ping	8	420	84.53
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.18
TT8	1755	19	351.03
LPSleep	14200	2	314.10
TT8_Active	518	19	103.72
TT8_Sampling	2293	39	921.83
TT8_CF8	583	45	269.97
TT8_Kalman	33	81	27.55
Analog_circuits	1644	12	199.32
GPS_charging	0	0	0.00
Compass	2247	8	181.63
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
19	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.39	-146.6	0.0	0.0	0	106	0.00	0.00	-80.97	0.000	2	0.000	0.000	44	2062	3399
109	-1.39	-146.6	3.7	-4.0	4	131	11.82	2.53	-2.53	0.000	4	0.156	0.063	2139	3450	3516
193	-1.39	-146.6	19.9	-11.5	7	199	0.00	2.45	0.00	0.000	6	0.000	0.037	2140	2047	3517
509	-1.39	-146.6	56.3	-11.4	23	510	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2047	3517
818	-1.39	-146.6	92.3	-12.7	38	819	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2047	3517
1127	-1.39	-146.6	125.8	-10.7	53	1132	0.00	2.55	0.00	0.000	4	0.000	0.062	2140	642	3517
1171	-1.39	-146.6	131.1	-11.2	55	1176	0.00	2.40	0.00	0.000	6	0.000	0.035	2139	2048	3517
1493	-1.39	-146.6	168.0	-11.4	71	1497	0.00	2.55	0.00	0.000	4	0.000	0.059	2139	643	3518
1565	-1.39	-146.6	176.6	-11.2	74	1569	0.00	2.42	0.00	0.000	6	0.000	0.036	2139	2057	3518
1881	-1.39	-146.6	211.7	-10.9	89	1885	0.00	2.55	0.00	0.000	4	0.000	0.058	2139	646	3518
1953	-1.39	-146.6	219.9	-10.7	92	1957	0.00	2.40	0.00	0.000	6	0.000	0.036	2139	2050	3518
2270	-1.39	-146.6	253.3	-10.6	107	2274	0.00	2.55	0.00	0.000	4	0.000	0.059	2139	642	3518
2341	-1.39	-146.6	261.4	-10.8	110	2345	0.00	2.42	0.00	0.000	6	0.000	0.037	2139	2059	3519
2657	-1.39	-146.6	295.2	-10.9	125	2661	0.00	2.55	0.00	0.000	4	0.000	0.059	2139	648	3519
2768	-1.39	-146.6	308.0	-11.5	130	2772	0.00	2.40	0.00	0.000	6	0.000	0.037	2139	2053	3519
3089	-1.39	-146.6	343.8	-11.4	146	3093	0.00	2.55	0.00	0.000	4	0.000	0.060	2139	645	3519
3173	-1.39	-146.6	353.8	-12.0	150	3177	0.00	2.42	0.00	0.000	6	0.000	0.037	2139	2058	3519
3500	-1.39	-146.6	388.2	-10.0	166	3504	0.00	2.55	0.00	0.000	4	0.000	0.060	2139	648	3519
3539	-1.39	-146.6	392.4	-10.9	168	3543	0.00	2.40	0.00	0.000	6	0.000	0.037	2140	2051	3519
3865	-1.39	-146.6	421.9	-9.0	184	3870	0.00	2.55	0.00	0.000	4	0.000	0.061	2139	646	3520
3960	-1.39	-146.6	431.4	-10.0	188	3964	0.00	2.42	0.00	0.000	6	0.000	0.038	2139	2060	3519
4276	-1.39	-146.6	461.3	-10.0	203	4280	0.00	2.55	0.00	0.000	4	0.000	0.061	2139	648	3519
4319	-1.39	-146.6	466.1	-10.6	205	4324	0.00	2.42	0.00	0.000	6	0.000	0.038	2139	2059	3519
4642	-1.39	-146.6	499.6	-10.6	221	4646	0.00	2.55	0.00	0.000	4	0.000	0.061	2139	648	3519
4792	-1.39	-146.6	516.5	-11.1	227	4798	0.00	2.42	0.00	0.000	6	0.000	0.040	2139	2058	3519
5109	-1.39	-146.6	549.7	-10.2	243	5114	0.00	2.58	0.00	0.000	4	0.000	0.064	2139	646	3519
5231	-1.39	-146.6	563.0	-10.2	248	5235	0.00	2.42	0.00	0.000	6	0.000	0.042	2139	2051	3518
5553	-1.39	-146.6	594.0	-9.5	264	5554	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2051	3517
5862	-1.39	-146.6	624.1	-9.5	279	5866	0.00	2.58	0.00	0.000	4	0.000	0.066	2139	649	3515
5917	-1.39	-146.6	629.8	-10.1	281	5923	0.00	2.45	0.00	0.000	6	0.000	0.044	2139	2057	3515
6232	-1.39	-146.6	661.6	-10.3	297	6237	0.00	2.58	0.00	0.000	4	0.000	0.066	2139	648	3513
6340	-1.39	-146.6	673.6	-11.4	302	6344	0.00	2.45	0.00	0.000	6	0.000	0.044	2139	2054	3513
6665	-1.39	-146.6	707.1	-10.0	318	6670	0.00	2.58	0.00	0.000	4	0.000	0.066	2138	648	3511
6755	-1.39	-146.6	716.8	-11.3	322	6759	0.00	2.45	0.00	0.000	6	0.000	0.044	2139	2058	3511
7076	-1.39	-146.6	748.9	-9.9	338	7080	0.00	2.58	0.00	0.000	4	0.000	0.065	2139	648	3510
7169	-1.39	-146.6	758.5	-10.4	342	7174	0.00	2.45	0.00	0.000	6	0.000	0.045	2139	2053	3509
7485	-1.39	-146.6	788.4	-9.6	357	7490	0.00	2.58	0.00	0.000	4	0.000	0.066	2139	647	3509
7563	-1.39	-146.6	796.6	-10.2	360	7570	0.00	2.47	0.00	0.000	6	0.000	0.045	2139	2066	3509
7882	-1.39	-146.6	825.0	-8.9	376	7887	0.00	2.60	0.00	0.000	4	0.000	0.065	2139	645	3508
7973	-1.39	-146.6	834.1	-9.7	380	7977	0.00	2.47	0.00	0.000	6	0.000	0.044	2139	2057	3507
8296	-1.39	-146.6	864.1	-9.3	396	8300	0.00	2.58	0.00	0.000	4	0.000	0.066	2139	648	3506
8380	-1.39	-146.6	872.8	-10.5	400	8384	0.00	2.45	0.00	0.000	6	0.000	0.046	2139	2051	3506
8708	-1.39	-146.6	903.1	-9.0	416	8713	0.00	2.58	0.00	0.000	4	0.000	0.066	2139	646	3504
8781	-1.39	-146.6	910.3	-9.9	419	8785	0.00	2.47	0.00	0.000	6	0.000	0.046	2139	2055	3504
9097	-1.39	-146.6	938.6	-8.9	434	9101	0.00	2.58	0.00	0.000	4	0.000	0.067	2139	649	3504
9163	-1.39	-146.6	945.0	-9.5	437	9167	0.00	2.45	0.00	0.000	6	0.000	0.045	2139	2051	3504
9489	-1.39	-146.6	973.9	-8.8	453	9494	0.00	2.58	0.00	0.000	4	0.000	0.067	2139	650	3503
9556	-1.39	-146.6	980.4	-9.6	456	9561	0.00	2.47	0.00	0.000	6	0.000	0.045	2139	2058	3503
9668	end dive: TARGET_DEPTH_EXCEEDED
state	9669	begin apogee
9675	-0.33	0.0	990.4	8.8	462	9811	1.17	0.00	127.97	1.481	6	0.102	0.000	2372	1943	2915
9812	end apogee: CONTROL_FINISHED_OK
state	9812	begin climb
9814	1.39	146.6	994.8	0.0	469	9952	1.75	2.65	129.32	1.427	4	0.061	0.061	2747	3350	2316
10067	1.39	146.6	975.9	11.9	480	10071	0.00	2.53	0.00	0.000	6	0.000	0.049	2747	1955	2316
10395	1.39	146.6	939.2	11.1	496	10399	0.00	2.58	0.00	0.000	4	0.000	0.060	2747	3355	2316
10461	1.39	146.6	931.1	11.6	499	10465	0.00	2.53	0.00	0.000	6	0.000	0.048	2747	1943	2315
10782	1.39	146.6	895.8	10.8	515	10787	0.00	2.58	0.00	0.000	4	0.000	0.060	2747	3350	2315
10862	1.39	146.6	886.9	11.0	518	10868	0.00	2.53	0.00	0.000	6	0.000	0.048	2747	1943	2315
11177	1.39	146.6	853.0	10.6	534	11181	0.00	2.58	0.00	0.000	4	0.000	0.060	2747	3349	2315
11238	1.39	146.6	846.3	10.3	537	11243	0.00	2.50	0.00	0.000	6	0.000	0.048	2747	1949	2314
11565	1.39	146.6	812.0	10.3	553	11569	0.00	2.58	0.00	0.000	4	0.000	0.060	2747	3356	2314
11608	1.39	146.6	807.2	11.2	555	11613	0.00	2.53	0.00	0.000	6	0.000	0.048	2747	1947	2314
11930	1.39	146.6	774.3	10.1	571	11931	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1947	2314
12239	1.39	146.6	742.8	10.3	586	12244	0.00	2.58	0.00	0.000	4	0.000	0.060	2747	3357	2313
12328	1.39	146.6	733.0	11.0	590	12333	0.00	2.50	0.00	0.000	6	0.000	0.048	2746	1947	2313
12651	1.39	146.6	699.9	10.1	606	12652	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1947	2314
12960	1.39	148.8	668.5	9.9	621	12964	0.00	2.55	0.00	0.000	4	0.000	0.059	2747	3350	2313
13022	1.39	148.8	662.1	10.5	624	13026	0.00	2.50	0.00	0.000	6	0.000	0.048	2747	1940	2313
13348	1.39	148.8	629.2	10.2	640	13352	0.00	2.58	0.00	0.000	4	0.000	0.059	2747	3354	2313
13436	1.39	148.8	619.1	11.6	644	13440	0.00	2.50	0.00	0.000	6	0.000	0.048	2747	1951	2313
13757	1.39	148.8	584.0	10.8	660	13762	0.00	2.55	0.00	0.000	4	0.000	0.059	2747	3353	2313
13874	1.39	148.8	570.8	10.9	665	13879	0.00	2.47	0.00	0.000	6	0.000	0.048	2747	1948	2313
14190	1.39	148.8	538.5	10.0	680	14194	0.00	2.60	0.00	0.000	4	0.000	0.073	2747	547	2313
14274	1.39	148.8	529.4	11.7	684	14279	0.00	2.47	0.00	0.000	6	0.000	0.042	2747	1959	2313
14600	1.39	148.8	495.8	10.8	700	14601	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1959	2313
14909	1.39	148.8	464.2	10.1	715	14911	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1960	2313
15219	1.42	169.9	435.3	9.0	730	15244	0.00	2.58	20.27	1.115	4	0.000	0.059	2747	3348	2222
15417	1.42	169.9	414.3	10.9	739	15422	0.00	2.45	0.00	0.000	6	0.000	0.044	2747	1952	2222
15738	1.42	169.9	378.6	11.3	755	15743	0.00	2.53	0.00	0.000	4	0.000	0.054	2747	3356	2222
15850	1.42	169.9	364.7	12.4	760	15855	0.00	2.47	0.00	0.000	6	0.000	0.041	2747	1949	2222
16172	1.42	169.9	327.1	11.6	776	16176	0.00	2.50	0.00	0.000	4	0.000	0.052	2747	3350	2223
16228	1.42	169.9	320.3	11.8	778	16232	0.00	2.45	0.00	0.000	6	0.000	0.041	2747	1951	2223
16543	1.42	169.9	283.3	11.8	793	16544	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1951	2224
16852	1.42	169.9	246.3	12.2	808	16856	0.00	2.50	0.00	0.000	4	0.000	0.051	2747	3352	2224
16896	1.42	169.9	240.7	11.5	810	16901	0.00	2.42	0.00	0.000	6	0.000	0.039	2747	1951	2224
17218	1.42	169.9	202.8	11.6	826	17223	0.00	2.50	0.00	0.000	4	0.000	0.050	2747	3357	2226
17258	1.42	169.9	197.8	11.0	828	17262	0.00	2.42	0.00	0.000	6	0.000	0.038	2747	1949	2226
17584	1.42	169.9	161.4	11.8	844	17585	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1949	2227
17894	1.42	169.9	127.3	10.6	859	17898	0.00	2.47	0.00	0.000	4	0.000	0.048	2747	3351	2229
17967	1.48	219.5	120.4	7.7	862	18014	0.10	2.42	40.97	0.815	6	0.069	0.038	2772	1949	2020
18326	1.48	219.5	78.7	13.8	879	18327	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	1949	2020
18634	1.48	219.5	34.3	14.0	894	18638	0.00	2.50	0.00	0.000	4	0.000	0.048	2772	3354	2021
18673	1.48	219.5	28.6	13.8	896	18677	0.00	2.45	0.00	0.000	6	0.000	0.040	2772	1942	2021
18859	end climb: SURFACE_DEPTH_REACHED
state	18859	begin surface coast
18881	end surface coast: CONTROL_FINISHED_OK
state	18881	begin surface