Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 26 * 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 26 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 41 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 -35551.832 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 -35551.832

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 41 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 26 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 191057,6130.537,-300.053,26,2.5,45,-6.0 TGT_NAME ESEC_SE

_CALLS 2 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.253,0.073

_SM_DEPTHo 1.18 KALMAN_X 90035.2,1172.9,259.3,-83141.3,1305.3

_SM_ANGLEo -64.6 KALMAN_Y -25953.3,-302.1,157.3,19749.3,-1916.8

GPS2 192129,6130.564,-259.841,12,2.1,31,-6.0 MHEAD_RNG_PITCHd_Wd 292.1,37597,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027392 XPDR_PINGS 1

SM_CCo 18977,37.97,0.653,3,0,1894,250.21 _24V_AH 23.0,6.543

SM_GC 0.92,0.00,0.00,37.97,0.000,0.000,0.653,39,2063,1894,-11.09,0.31,250.21 _10V_AH 10.1,3.604

IRIDIUM_FIX 6108.28,-300.53,140597,191943 DATA_FILE_SIZE 47480,910

TT8_MAMPS 0.026845 CFSIZE 260165632,255619072

HUMID 1685 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,31,3,0

INTERNAL_PRESSURE 8.40096 GPS 190208,004038,6131.349,-301.696,30,1.3,30,-6.1

TCM_TEMP 17.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 96.24 SBE_CT 679 24 374.85

Roll_motor 185 70 300.94 SBE_O2 615 19 268.84

VBD_pump_during_apogee 307 1484 10482.11 WL_BB2F 548 105 1325.37

VBD_pump_during_surface 37 652 570.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 78 103 185.13 nil 0 0 0.00

Iridium_during_connect 77 160 286.53 nil 0 0 0.00

Iridium_during_xfer 267 223 1371.72

Transponder_ping 8 420 84.53

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.92

TT8 1750 19 349.97

LPSleep 14377 2 318.02

TT8_Active 528 19 105.71

TT8_Sampling 2277 39 915.33

TT8_CF8 725 45 335.68

TT8_Kalman 33 81 27.55

Analog_circuits 1630 12 197.66

GPS_charging 0 0 0.00

Compass 2213 8 178.87

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 -79.40 0.000 2 0.000 0.000 43 2069 3431

110 -1.39 -146.6 4.4 -4.9 4 132 11.82 2.50 -1.75 0.000 4 0.156 0.063 2139 3440 3516

171 -1.39 -146.6 18.3 -11.1 6 178 0.00 2.45 0.00 0.000 6 0.000 0.038 2139 2048 3517

487 -1.39 -146.6 51.5 -10.1 22 488 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2047 3517

796 -1.39 -146.6 91.2 -12.5 37 801 0.00 2.55 0.00 0.000 4 0.000 0.063 2139 646 3517

840 -1.39 -146.6 96.7 -12.3 39 845 0.00 2.38 0.00 0.000 6 0.000 0.035 2139 2039 3517

1163 -1.39 -146.6 134.2 -11.8 55 1167 0.00 2.53 0.00 0.000 4 0.000 0.060 2139 647 3518

1257 -1.39 -146.6 145.7 -11.9 59 1261 0.00 2.42 0.00 0.000 6 0.000 0.036 2139 2056 3518

1578 -1.39 -146.6 182.4 -11.3 75 1583 0.00 2.55 0.00 0.000 4 0.000 0.059 2139 648 3518

1645 -1.39 -146.6 190.2 -11.7 78 1649 0.00 2.40 0.00 0.000 6 0.000 0.035 2139 2050 3518

1966 -1.39 -146.6 226.3 -11.5 94 1970 0.00 2.55 0.00 0.000 4 0.000 0.059 2139 643 3518

2079 -1.39 -146.6 239.5 -12.2 99 2084 0.00 2.42 0.00 0.000 6 0.000 0.036 2139 2055 3518

2401 -1.39 -146.6 275.6 -11.4 115 2405 0.00 2.53 0.00 0.000 4 0.000 0.059 2139 648 3518

2485 -1.39 -146.6 285.8 -11.9 119 2489 0.00 2.40 0.00 0.000 6 0.000 0.036 2139 2059 3518

2817 -1.39 -146.6 325.1 -11.7 135 2822 0.00 2.55 0.00 0.000 4 0.000 0.059 2139 648 3519

2940 -1.39 -146.6 339.6 -11.5 140 2947 0.00 2.42 0.00 0.000 6 0.000 0.036 2139 2049 3519

3257 -1.39 -146.6 373.0 -10.4 156 3261 0.00 2.53 0.00 0.000 4 0.000 0.059 2139 648 3518

3306 -1.39 -146.6 378.3 -10.6 158 3310 0.00 2.40 0.00 0.000 6 0.000 0.036 2139 2052 3519

3622 -1.39 -146.6 410.0 -9.6 173 3626 0.00 2.55 0.00 0.000 4 0.000 0.058 2139 642 3519

3661 -1.39 -146.6 414.0 -10.3 175 3665 0.00 2.42 0.00 0.000 6 0.000 0.036 2139 2059 3519

3988 -1.39 -146.6 447.6 -10.4 191 3992 0.00 2.55 0.00 0.000 4 0.000 0.059 2139 646 3519

4055 -1.39 -146.6 454.7 -10.3 194 4059 0.00 2.40 0.00 0.000 6 0.000 0.037 2139 2051 3519

4375 -1.39 -146.6 486.2 -10.0 210 4380 0.00 2.55 0.00 0.000 4 0.000 0.060 2139 643 3519

4448 -1.39 -146.6 493.9 -9.6 213 4453 0.00 2.42 0.00 0.000 6 0.000 0.038 2139 2050 3519

4764 -1.39 -146.6 522.3 -8.9 228 4768 0.00 2.55 0.00 0.000 4 0.000 0.061 2139 647 3519

4871 -1.39 -146.6 532.6 -9.5 233 4875 0.00 2.42 0.00 0.000 6 0.000 0.041 2139 2052 3518

5197 -1.39 -146.6 563.8 -9.6 249 5201 0.00 2.55 0.00 0.000 4 0.000 0.063 2139 649 3517

5264 -1.39 -146.6 570.6 -9.4 252 5268 0.00 2.45 0.00 0.000 6 0.000 0.041 2139 2057 3517

5585 -1.39 -146.6 602.3 -9.9 268 5589 0.00 2.58 0.00 0.000 4 0.000 0.064 2139 648 3515

5651 -1.39 -146.6 609.4 -11.2 271 5655 0.00 2.42 0.00 0.000 6 0.000 0.041 2139 2054 3515

5977 -1.39 -146.6 642.1 -10.2 287 5981 0.00 2.58 0.00 0.000 4 0.000 0.065 2139 646 3514

6099 -1.39 -146.6 655.3 -10.6 292 6105 0.00 2.45 0.00 0.000 6 0.000 0.043 2139 2058 3513

6415 -1.39 -146.6 685.1 -9.2 308 6420 0.00 2.58 0.00 0.000 4 0.000 0.066 2139 648 3511

6504 -1.39 -146.6 694.1 -10.2 312 6509 0.00 2.45 0.00 0.000 6 0.000 0.044 2139 2057 3511

6827 -1.39 -146.6 722.3 -8.7 328 6832 0.00 2.58 0.00 0.000 4 0.000 0.066 2140 648 3510

6906 -1.39 -146.6 729.8 -8.9 331 6912 0.00 2.45 0.00 0.000 6 0.000 0.044 2139 2049 3509

7222 -1.39 -146.6 757.7 -8.7 347 7226 0.00 2.58 0.00 0.000 4 0.000 0.066 2139 646 3509

7307 -1.39 -146.6 765.8 -9.9 351 7311 0.00 2.47 0.00 0.000 6 0.000 0.045 2139 2059 3509

7633 -1.39 -146.6 795.2 -9.3 367 7637 0.00 2.58 0.00 0.000 4 0.000 0.065 2139 648 3507

7718 -1.39 -146.6 803.6 -9.6 371 7722 0.00 2.45 0.00 0.000 6 0.000 0.044 2139 2053 3508

8045 -1.39 -146.6 834.7 -9.5 387 8049 0.00 2.58 0.00 0.000 4 0.000 0.066 2139 648 3506

8129 -1.39 -146.6 843.4 -10.7 391 8134 0.00 2.47 0.00 0.000 6 0.000 0.045 2139 2062 3505

8459 -1.39 -146.6 875.2 -9.8 407 8463 0.00 2.60 0.00 0.000 4 0.000 0.066 2139 643 3504

8544 -1.39 -146.6 884.4 -10.8 411 8548 0.00 2.47 0.00 0.000 6 0.000 0.045 2139 2056 3504

8870 -1.39 -146.6 917.6 -10.1 427 8874 0.00 2.58 0.00 0.000 4 0.000 0.067 2139 648 3503

8964 -1.39 -146.6 927.7 -10.3 431 8968 0.00 2.45 0.00 0.000 6 0.000 0.045 2139 2055 3503

9280 -1.39 -146.6 958.6 -9.6 446 9285 0.00 2.58 0.00 0.000 4 0.000 0.067 2139 649 3502

9365 -1.39 -146.6 967.3 -10.2 450 9369 0.00 2.45 0.00 0.000 6 0.000 0.045 2138 2052 3502

9606 end dive: TARGET_DEPTH_EXCEEDED

state 9606 begin apogee

9612 -0.33 0.0 990.2 9.0 462 9748 1.17 0.00 127.85 1.484 6 0.098 0.000 2374 1942 2915

9749 end apogee: CONTROL_FINISHED_OK

state 9749 begin climb

9751 1.39 146.6 994.9 0.0 469 9889 1.75 2.65 129.12 1.429 4 0.061 0.061 2749 3349 2316

10059 1.39 146.6 969.8 11.9 482 10063 0.00 2.50 0.00 0.000 6 0.000 0.048 2749 1949 2316

10375 1.39 146.6 933.7 11.4 497 10379 0.00 2.58 0.00 0.000 4 0.000 0.060 2749 3349 2316

10424 1.39 146.6 927.7 11.9 499 10428 0.00 2.50 0.00 0.000 6 0.000 0.048 2749 1948 2316

10739 1.39 146.6 891.2 11.6 514 10740 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1948 2316

11049 1.39 146.6 855.6 11.4 529 11053 0.00 2.55 0.00 0.000 4 0.000 0.059 2749 3350 2315

11120 1.39 146.6 847.0 11.9 532 11125 0.00 2.53 0.00 0.000 6 0.000 0.048 2749 1943 2315

11436 1.39 146.6 813.5 10.3 547 11437 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1943 2315

11745 1.39 146.6 781.5 10.6 562 11750 0.00 2.55 0.00 0.000 4 0.000 0.058 2749 3350 2314

11817 1.39 146.6 773.4 11.1 565 11822 0.00 2.50 0.00 0.000 6 0.000 0.048 2749 1948 2314

12133 1.39 146.6 740.7 10.3 580 12137 0.00 2.55 0.00 0.000 4 0.000 0.059 2749 3350 2314

12188 1.39 146.6 734.6 11.4 582 12194 0.00 2.50 0.00 0.000 6 0.000 0.048 2749 1947 2314

12503 1.39 146.6 700.5 10.9 598 12505 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1947 2314

12813 1.39 146.6 667.3 10.8 613 12817 0.00 2.55 0.00 0.000 4 0.000 0.059 2749 3350 2314

12897 1.39 146.6 657.8 11.1 617 12901 0.00 2.47 0.00 0.000 6 0.000 0.048 2749 1951 2313

13223 1.39 146.6 621.4 11.2 633 13224 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1951 2313

13532 1.39 146.6 589.8 10.0 648 13536 0.00 2.55 0.00 0.000 4 0.000 0.058 2749 3353 2313

13621 1.39 146.6 580.4 10.5 652 13625 0.00 2.47 0.00 0.000 6 0.000 0.047 2749 1949 2313

13942 1.39 148.1 548.6 9.9 668 13946 0.00 2.53 0.00 0.000 4 0.000 0.058 2749 3350 2313

14030 1.39 148.1 539.3 10.0 672 14034 0.00 2.45 0.00 0.000 6 0.000 0.047 2750 1951 2313

14357 1.40 160.4 508.1 9.4 688 14379 0.00 2.60 12.43 1.147 4 0.000 0.058 2749 3343 2260

14440 1.41 167.2 499.5 9.7 691 14455 0.00 2.47 7.65 1.043 6 0.000 0.046 2749 1952 2233

14777 1.42 173.8 465.8 9.7 708 14786 0.00 0.00 7.43 1.025 6 0.000 0.000 2749 1952 2206

15088 1.42 176.3 434.7 9.9 723 15094 0.00 0.00 4.10 0.808 6 0.000 0.000 2749 1952 2196

15395 1.42 176.3 402.7 10.4 738 15400 0.00 2.53 0.00 0.000 4 0.000 0.055 2749 3352 2196

15502 1.42 176.3 390.8 12.0 743 15507 0.00 2.47 0.00 0.000 6 0.000 0.043 2749 1944 2196

15829 1.42 176.3 354.6 11.4 759 15830 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1944 2196

16138 1.42 176.3 319.2 11.3 774 16143 0.00 2.53 0.00 0.000 4 0.000 0.052 2749 3357 2197

16194 1.42 176.3 312.5 11.7 776 16200 0.00 2.45 0.00 0.000 6 0.000 0.040 2749 1946 2197

16509 1.42 176.3 277.5 11.4 792 16510 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1947 2199

16819 1.42 176.3 240.3 11.9 807 16823 0.00 2.50 0.00 0.000 4 0.000 0.051 2749 3353 2199

16885 1.42 176.3 232.1 12.0 810 16889 0.00 2.45 0.00 0.000 6 0.000 0.040 2749 1951 2200

17206 1.42 176.3 193.8 11.5 826 17207 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1951 2201

17517 1.42 176.3 158.6 11.2 841 17518 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1951 2201

17824 1.42 176.3 124.0 11.0 856 17829 0.00 2.47 0.00 0.000 4 0.000 0.048 2749 3353 2202

17897 1.42 176.3 115.6 11.4 859 17901 0.00 2.42 0.00 0.000 6 0.000 0.038 2749 1949 2203

18213 1.42 176.3 79.8 11.3 874 18214 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1949 2204

18522 1.43 180.3 45.6 9.8 889 18536 0.00 2.53 6.75 0.675 4 0.000 0.050 2749 3354 2178

18576 1.44 193.7 40.3 9.4 891 18593 0.00 2.45 11.75 0.722 6 0.000 0.038 2749 1951 2125

18915 1.44 193.7 4.0 11.7 908 18916 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1951 2126

18933 end climb: SURFACE_DEPTH_REACHED

state 18933 begin surface coast

18955 end surface coast: CONTROL_FINISHED_OK

state 18955 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	26	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	41	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	-35551.832	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	191057,6130.537,-300.053,26,2.5,45,-6.0	TGT_NAME	ESEC_SE
_CALLS	2	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.253,0.073
_SM_DEPTHo	1.18	KALMAN_X	90035.2,1172.9,259.3,-83141.3,1305.3
_SM_ANGLEo	-64.6	KALMAN_Y	-25953.3,-302.1,157.3,19749.3,-1916.8
GPS2	192129,6130.564,-259.841,12,2.1,31,-6.0	MHEAD_RNG_PITCHd_Wd	292.1,37597,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.027392	XPDR_PINGS	1
SM_CCo	18977,37.97,0.653,3,0,1894,250.21	_24V_AH	23.0,6.543
SM_GC	0.92,0.00,0.00,37.97,0.000,0.000,0.653,39,2063,1894,-11.09,0.31,250.21	_10V_AH	10.1,3.604
IRIDIUM_FIX	6108.28,-300.53,140597,191943	DATA_FILE_SIZE	47480,910
TT8_MAMPS	0.026845	CFSIZE	260165632,255619072
HUMID	1685	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,31,3,0
INTERNAL_PRESSURE	8.40096	GPS	190208,004038,6131.349,-301.696,30,1.3,30,-6.1
TCM_TEMP	17.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	96.24	SBE_CT	679	24	374.85
Roll_motor	185	70	300.94	SBE_O2	615	19	268.84
VBD_pump_during_apogee	307	1484	10482.11	WL_BB2F	548	105	1325.37
VBD_pump_during_surface	37	652	570.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	78	103	185.13	nil	0	0	0.00
Iridium_during_connect	77	160	286.53	nil	0	0	0.00
Iridium_during_xfer	267	223	1371.72
Transponder_ping	8	420	84.53
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.92
TT8	1750	19	349.97
LPSleep	14377	2	318.02
TT8_Active	528	19	105.71
TT8_Sampling	2277	39	915.33
TT8_CF8	725	45	335.68
TT8_Kalman	33	81	27.55
Analog_circuits	1630	12	197.66
GPS_charging	0	0	0.00
Compass	2213	8	178.87
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	-79.40	0.000	2	0.000	0.000	43	2069	3431
110	-1.39	-146.6	4.4	-4.9	4	132	11.82	2.50	-1.75	0.000	4	0.156	0.063	2139	3440	3516
171	-1.39	-146.6	18.3	-11.1	6	178	0.00	2.45	0.00	0.000	6	0.000	0.038	2139	2048	3517
487	-1.39	-146.6	51.5	-10.1	22	488	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2047	3517
796	-1.39	-146.6	91.2	-12.5	37	801	0.00	2.55	0.00	0.000	4	0.000	0.063	2139	646	3517
840	-1.39	-146.6	96.7	-12.3	39	845	0.00	2.38	0.00	0.000	6	0.000	0.035	2139	2039	3517
1163	-1.39	-146.6	134.2	-11.8	55	1167	0.00	2.53	0.00	0.000	4	0.000	0.060	2139	647	3518
1257	-1.39	-146.6	145.7	-11.9	59	1261	0.00	2.42	0.00	0.000	6	0.000	0.036	2139	2056	3518
1578	-1.39	-146.6	182.4	-11.3	75	1583	0.00	2.55	0.00	0.000	4	0.000	0.059	2139	648	3518
1645	-1.39	-146.6	190.2	-11.7	78	1649	0.00	2.40	0.00	0.000	6	0.000	0.035	2139	2050	3518
1966	-1.39	-146.6	226.3	-11.5	94	1970	0.00	2.55	0.00	0.000	4	0.000	0.059	2139	643	3518
2079	-1.39	-146.6	239.5	-12.2	99	2084	0.00	2.42	0.00	0.000	6	0.000	0.036	2139	2055	3518
2401	-1.39	-146.6	275.6	-11.4	115	2405	0.00	2.53	0.00	0.000	4	0.000	0.059	2139	648	3518
2485	-1.39	-146.6	285.8	-11.9	119	2489	0.00	2.40	0.00	0.000	6	0.000	0.036	2139	2059	3518
2817	-1.39	-146.6	325.1	-11.7	135	2822	0.00	2.55	0.00	0.000	4	0.000	0.059	2139	648	3519
2940	-1.39	-146.6	339.6	-11.5	140	2947	0.00	2.42	0.00	0.000	6	0.000	0.036	2139	2049	3519
3257	-1.39	-146.6	373.0	-10.4	156	3261	0.00	2.53	0.00	0.000	4	0.000	0.059	2139	648	3518
3306	-1.39	-146.6	378.3	-10.6	158	3310	0.00	2.40	0.00	0.000	6	0.000	0.036	2139	2052	3519
3622	-1.39	-146.6	410.0	-9.6	173	3626	0.00	2.55	0.00	0.000	4	0.000	0.058	2139	642	3519
3661	-1.39	-146.6	414.0	-10.3	175	3665	0.00	2.42	0.00	0.000	6	0.000	0.036	2139	2059	3519
3988	-1.39	-146.6	447.6	-10.4	191	3992	0.00	2.55	0.00	0.000	4	0.000	0.059	2139	646	3519
4055	-1.39	-146.6	454.7	-10.3	194	4059	0.00	2.40	0.00	0.000	6	0.000	0.037	2139	2051	3519
4375	-1.39	-146.6	486.2	-10.0	210	4380	0.00	2.55	0.00	0.000	4	0.000	0.060	2139	643	3519
4448	-1.39	-146.6	493.9	-9.6	213	4453	0.00	2.42	0.00	0.000	6	0.000	0.038	2139	2050	3519
4764	-1.39	-146.6	522.3	-8.9	228	4768	0.00	2.55	0.00	0.000	4	0.000	0.061	2139	647	3519
4871	-1.39	-146.6	532.6	-9.5	233	4875	0.00	2.42	0.00	0.000	6	0.000	0.041	2139	2052	3518
5197	-1.39	-146.6	563.8	-9.6	249	5201	0.00	2.55	0.00	0.000	4	0.000	0.063	2139	649	3517
5264	-1.39	-146.6	570.6	-9.4	252	5268	0.00	2.45	0.00	0.000	6	0.000	0.041	2139	2057	3517
5585	-1.39	-146.6	602.3	-9.9	268	5589	0.00	2.58	0.00	0.000	4	0.000	0.064	2139	648	3515
5651	-1.39	-146.6	609.4	-11.2	271	5655	0.00	2.42	0.00	0.000	6	0.000	0.041	2139	2054	3515
5977	-1.39	-146.6	642.1	-10.2	287	5981	0.00	2.58	0.00	0.000	4	0.000	0.065	2139	646	3514
6099	-1.39	-146.6	655.3	-10.6	292	6105	0.00	2.45	0.00	0.000	6	0.000	0.043	2139	2058	3513
6415	-1.39	-146.6	685.1	-9.2	308	6420	0.00	2.58	0.00	0.000	4	0.000	0.066	2139	648	3511
6504	-1.39	-146.6	694.1	-10.2	312	6509	0.00	2.45	0.00	0.000	6	0.000	0.044	2139	2057	3511
6827	-1.39	-146.6	722.3	-8.7	328	6832	0.00	2.58	0.00	0.000	4	0.000	0.066	2140	648	3510
6906	-1.39	-146.6	729.8	-8.9	331	6912	0.00	2.45	0.00	0.000	6	0.000	0.044	2139	2049	3509
7222	-1.39	-146.6	757.7	-8.7	347	7226	0.00	2.58	0.00	0.000	4	0.000	0.066	2139	646	3509
7307	-1.39	-146.6	765.8	-9.9	351	7311	0.00	2.47	0.00	0.000	6	0.000	0.045	2139	2059	3509
7633	-1.39	-146.6	795.2	-9.3	367	7637	0.00	2.58	0.00	0.000	4	0.000	0.065	2139	648	3507
7718	-1.39	-146.6	803.6	-9.6	371	7722	0.00	2.45	0.00	0.000	6	0.000	0.044	2139	2053	3508
8045	-1.39	-146.6	834.7	-9.5	387	8049	0.00	2.58	0.00	0.000	4	0.000	0.066	2139	648	3506
8129	-1.39	-146.6	843.4	-10.7	391	8134	0.00	2.47	0.00	0.000	6	0.000	0.045	2139	2062	3505
8459	-1.39	-146.6	875.2	-9.8	407	8463	0.00	2.60	0.00	0.000	4	0.000	0.066	2139	643	3504
8544	-1.39	-146.6	884.4	-10.8	411	8548	0.00	2.47	0.00	0.000	6	0.000	0.045	2139	2056	3504
8870	-1.39	-146.6	917.6	-10.1	427	8874	0.00	2.58	0.00	0.000	4	0.000	0.067	2139	648	3503
8964	-1.39	-146.6	927.7	-10.3	431	8968	0.00	2.45	0.00	0.000	6	0.000	0.045	2139	2055	3503
9280	-1.39	-146.6	958.6	-9.6	446	9285	0.00	2.58	0.00	0.000	4	0.000	0.067	2139	649	3502
9365	-1.39	-146.6	967.3	-10.2	450	9369	0.00	2.45	0.00	0.000	6	0.000	0.045	2138	2052	3502
9606	end dive: TARGET_DEPTH_EXCEEDED
state	9606	begin apogee
9612	-0.33	0.0	990.2	9.0	462	9748	1.17	0.00	127.85	1.484	6	0.098	0.000	2374	1942	2915
9749	end apogee: CONTROL_FINISHED_OK
state	9749	begin climb
9751	1.39	146.6	994.9	0.0	469	9889	1.75	2.65	129.12	1.429	4	0.061	0.061	2749	3349	2316
10059	1.39	146.6	969.8	11.9	482	10063	0.00	2.50	0.00	0.000	6	0.000	0.048	2749	1949	2316
10375	1.39	146.6	933.7	11.4	497	10379	0.00	2.58	0.00	0.000	4	0.000	0.060	2749	3349	2316
10424	1.39	146.6	927.7	11.9	499	10428	0.00	2.50	0.00	0.000	6	0.000	0.048	2749	1948	2316
10739	1.39	146.6	891.2	11.6	514	10740	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1948	2316
11049	1.39	146.6	855.6	11.4	529	11053	0.00	2.55	0.00	0.000	4	0.000	0.059	2749	3350	2315
11120	1.39	146.6	847.0	11.9	532	11125	0.00	2.53	0.00	0.000	6	0.000	0.048	2749	1943	2315
11436	1.39	146.6	813.5	10.3	547	11437	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1943	2315
11745	1.39	146.6	781.5	10.6	562	11750	0.00	2.55	0.00	0.000	4	0.000	0.058	2749	3350	2314
11817	1.39	146.6	773.4	11.1	565	11822	0.00	2.50	0.00	0.000	6	0.000	0.048	2749	1948	2314
12133	1.39	146.6	740.7	10.3	580	12137	0.00	2.55	0.00	0.000	4	0.000	0.059	2749	3350	2314
12188	1.39	146.6	734.6	11.4	582	12194	0.00	2.50	0.00	0.000	6	0.000	0.048	2749	1947	2314
12503	1.39	146.6	700.5	10.9	598	12505	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1947	2314
12813	1.39	146.6	667.3	10.8	613	12817	0.00	2.55	0.00	0.000	4	0.000	0.059	2749	3350	2314
12897	1.39	146.6	657.8	11.1	617	12901	0.00	2.47	0.00	0.000	6	0.000	0.048	2749	1951	2313
13223	1.39	146.6	621.4	11.2	633	13224	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1951	2313
13532	1.39	146.6	589.8	10.0	648	13536	0.00	2.55	0.00	0.000	4	0.000	0.058	2749	3353	2313
13621	1.39	146.6	580.4	10.5	652	13625	0.00	2.47	0.00	0.000	6	0.000	0.047	2749	1949	2313
13942	1.39	148.1	548.6	9.9	668	13946	0.00	2.53	0.00	0.000	4	0.000	0.058	2749	3350	2313
14030	1.39	148.1	539.3	10.0	672	14034	0.00	2.45	0.00	0.000	6	0.000	0.047	2750	1951	2313
14357	1.40	160.4	508.1	9.4	688	14379	0.00	2.60	12.43	1.147	4	0.000	0.058	2749	3343	2260
14440	1.41	167.2	499.5	9.7	691	14455	0.00	2.47	7.65	1.043	6	0.000	0.046	2749	1952	2233
14777	1.42	173.8	465.8	9.7	708	14786	0.00	0.00	7.43	1.025	6	0.000	0.000	2749	1952	2206
15088	1.42	176.3	434.7	9.9	723	15094	0.00	0.00	4.10	0.808	6	0.000	0.000	2749	1952	2196
15395	1.42	176.3	402.7	10.4	738	15400	0.00	2.53	0.00	0.000	4	0.000	0.055	2749	3352	2196
15502	1.42	176.3	390.8	12.0	743	15507	0.00	2.47	0.00	0.000	6	0.000	0.043	2749	1944	2196
15829	1.42	176.3	354.6	11.4	759	15830	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1944	2196
16138	1.42	176.3	319.2	11.3	774	16143	0.00	2.53	0.00	0.000	4	0.000	0.052	2749	3357	2197
16194	1.42	176.3	312.5	11.7	776	16200	0.00	2.45	0.00	0.000	6	0.000	0.040	2749	1946	2197
16509	1.42	176.3	277.5	11.4	792	16510	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1947	2199
16819	1.42	176.3	240.3	11.9	807	16823	0.00	2.50	0.00	0.000	4	0.000	0.051	2749	3353	2199
16885	1.42	176.3	232.1	12.0	810	16889	0.00	2.45	0.00	0.000	6	0.000	0.040	2749	1951	2200
17206	1.42	176.3	193.8	11.5	826	17207	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1951	2201
17517	1.42	176.3	158.6	11.2	841	17518	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1951	2201
17824	1.42	176.3	124.0	11.0	856	17829	0.00	2.47	0.00	0.000	4	0.000	0.048	2749	3353	2202
17897	1.42	176.3	115.6	11.4	859	17901	0.00	2.42	0.00	0.000	6	0.000	0.038	2749	1949	2203
18213	1.42	176.3	79.8	11.3	874	18214	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1949	2204
18522	1.43	180.3	45.6	9.8	889	18536	0.00	2.53	6.75	0.675	4	0.000	0.050	2749	3354	2178
18576	1.44	193.7	40.3	9.4	891	18593	0.00	2.45	11.75	0.722	6	0.000	0.038	2749	1951	2125
18915	1.44	193.7	4.0	11.7	908	18916	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1951	2126
18933	end climb: SURFACE_DEPTH_REACHED
state	18933	begin surface coast
18955	end surface coast: CONTROL_FINISHED_OK
state	18955	begin surface