Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 27 * 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 27 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 29 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 -35586.605 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 -35586.605

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 29 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 27 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 004038,6131.349,-301.696,30,1.3,30,-6.1 TGT_NAME ESEC_SE

_CALLS 1 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.258,0.055

_SM_DEPTHo 1.19 KALMAN_X 94418.8,253.8,176.8,-88087.9,1682.9

_SM_ANGLEo -62.9 KALMAN_Y -26545.8,-54.3,493.1,21257.1,-1685.8

GPS2 004729,6131.373,-301.563,12,2.1,31,-6.1 MHEAD_RNG_PITCHd_Wd 288.1,36314,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.015656 XPDR_PINGS 0

SM_CCo 19007,46.35,0.665,3,0,1895,250.21 _24V_AH 23.0,6.685

SM_GC 1.00,0.00,0.00,46.35,0.000,0.000,0.665,42,2062,1895,-11.08,0.28,250.21 _10V_AH 10.1,3.694

IRIDIUM_FIX 6108.28,-300.53,140597,191902 DATA_FILE_SIZE 47402,913

TT8_MAMPS 0.026845 CFSIZE 260165632,255553536

HUMID 1702 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,3,0

INTERNAL_PRESSURE 8.39119 GPS 190208,060726,6131.813,-304.892,41,1.2,41,-6.1

TCM_TEMP 17.10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 154 95.77 SBE_CT 684 24 377.67

Roll_motor 190 71 312.33 SBE_O2 617 19 269.65

VBD_pump_during_apogee 290 1487 9928.26 WL_BB2F 558 105 1348.78

VBD_pump_during_surface 46 664 708.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 92.80 nil 0 0 0.00

Iridium_during_connect 36 160 133.93 nil 0 0 0.00

Iridium_during_xfer 194 223 999.36

Transponder_ping 8 420 82.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.24

TT8 1744 19 348.93

LPSleep 14386 2 318.20

TT8_Active 525 19 105.03

TT8_Sampling 2254 39 906.21

TT8_CF8 563 45 260.85

TT8_Kalman 33 81 27.55

Analog_circuits 1613 12 195.61

GPS_charging 0 0 0.00

Compass 2194 8 177.30

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 21 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 39 2065 3395

110 -1.39 -146.6 3.9 -4.2 4 130 11.95 2.53 -2.47 0.000 4 0.155 0.064 2140 3445 3515

158 -1.39 -146.6 17.5 -17.0 6 162 0.00 2.45 0.00 0.000 6 0.000 0.038 2140 2046 3516

474 -1.39 -146.6 56.3 -12.7 21 478 0.00 2.55 0.00 0.000 4 0.000 0.062 2140 641 3517

507 -1.39 -146.6 60.3 -11.7 22 514 0.00 2.45 0.00 0.000 6 0.000 0.036 2140 2052 3517

823 -1.39 -146.6 93.5 -10.5 38 828 0.00 2.55 0.00 0.000 4 0.000 0.059 2140 643 3517

908 -1.39 -146.6 102.8 -10.9 42 913 0.00 2.45 0.00 0.000 6 0.000 0.038 2140 2056 3517

1236 -1.39 -146.6 136.8 -10.1 58 1240 0.00 2.55 0.00 0.000 4 0.000 0.059 2140 647 3518

1307 -1.39 -146.6 144.4 -10.3 61 1311 0.00 2.42 0.00 0.000 6 0.000 0.037 2140 2058 3518

1626 -1.39 -146.6 175.7 -9.8 76 1630 0.00 2.55 0.00 0.000 4 0.000 0.059 2140 648 3518

1737 -1.39 -146.6 187.1 -9.6 81 1742 0.00 2.42 0.00 0.000 6 0.000 0.038 2140 2051 3518

2058 -1.39 -146.6 219.3 -10.6 97 2062 0.00 2.55 0.00 0.000 4 0.000 0.059 2140 645 3518

2147 -1.39 -146.6 229.5 -11.5 101 2151 0.00 2.42 0.00 0.000 6 0.000 0.038 2140 2055 3518

2468 -1.39 -146.6 264.1 -10.9 117 2473 0.00 2.55 0.00 0.000 4 0.000 0.060 2140 646 3518

2569 -1.39 -146.6 275.9 -11.6 121 2575 0.00 2.42 0.00 0.000 6 0.000 0.038 2140 2062 3518

2884 -1.39 -146.6 309.7 -10.3 137 2889 0.00 2.55 0.00 0.000 4 0.000 0.060 2140 647 3518

2985 -1.39 -146.6 320.7 -11.0 141 2991 0.00 2.40 0.00 0.000 6 0.000 0.038 2140 2054 3518

3300 -1.39 -146.6 355.2 -11.2 157 3304 0.00 2.55 0.00 0.000 4 0.000 0.060 2140 643 3518

3378 -1.39 -146.6 364.3 -11.7 160 3384 0.00 2.42 0.00 0.000 6 0.000 0.038 2140 2047 3518

3694 -1.39 -146.6 398.6 -10.9 176 3698 0.00 2.53 0.00 0.000 4 0.000 0.059 2140 648 3518

3749 -1.39 -146.6 405.1 -11.8 178 3755 0.00 2.40 0.00 0.000 6 0.000 0.038 2140 2058 3518

4065 -1.39 -146.6 436.9 -9.3 194 4069 0.00 2.55 0.00 0.000 4 0.000 0.059 2140 644 3518

4165 -1.39 -146.6 447.0 -11.1 198 4171 0.00 2.40 0.00 0.000 6 0.000 0.038 2140 2051 3518

4481 -1.39 -146.6 477.4 -9.3 214 4485 0.00 2.53 0.00 0.000 4 0.000 0.060 2140 648 3518

4565 -1.39 -146.6 486.0 -9.8 218 4570 0.00 2.40 0.00 0.000 6 0.000 0.039 2140 2052 3518

4892 -1.39 -146.6 517.0 -9.1 234 4897 0.00 2.55 0.00 0.000 4 0.000 0.062 2140 646 3518

4933 -1.39 -146.6 520.7 -9.9 236 4938 0.00 2.42 0.00 0.000 6 0.000 0.040 2140 2053 3518

5262 -1.39 -146.6 552.2 -9.8 252 5266 0.00 2.55 0.00 0.000 4 0.000 0.064 2141 648 3517

5288 -1.39 -146.6 555.2 -10.7 253 5293 0.00 2.40 0.00 0.000 6 0.000 0.041 2140 2050 3517

5610 -1.39 -146.6 587.9 -10.3 269 5614 0.00 2.55 0.00 0.000 4 0.000 0.064 2140 649 3515

5694 -1.39 -146.6 597.1 -11.3 273 5698 0.00 2.42 0.00 0.000 6 0.000 0.043 2140 2052 3515

6020 -1.39 -146.6 634.9 -12.3 289 6024 0.00 2.55 0.00 0.000 4 0.000 0.064 2140 645 3514

6109 -1.39 -146.6 645.9 -12.1 293 6113 0.00 2.45 0.00 0.000 6 0.000 0.042 2140 2060 3514

6430 -1.39 -146.6 682.5 -10.9 309 6434 0.00 2.58 0.00 0.000 4 0.000 0.064 2140 647 3512

6536 -1.39 -146.6 694.5 -11.1 314 6540 0.00 2.42 0.00 0.000 6 0.000 0.044 2140 2051 3512

6868 -1.39 -146.6 729.8 -10.5 330 6873 0.00 2.58 0.00 0.000 4 0.000 0.066 2140 645 3510

6963 -1.39 -146.6 740.0 -10.5 334 6968 0.00 2.45 0.00 0.000 6 0.000 0.044 2140 2051 3509

7279 -1.39 -146.6 771.3 -9.7 349 7283 0.00 2.58 0.00 0.000 4 0.000 0.066 2140 646 3509

7356 -1.39 -146.6 779.2 -10.3 352 7362 0.00 2.45 0.00 0.000 6 0.000 0.044 2140 2058 3509

7672 -1.39 -146.6 807.9 -9.0 368 7676 0.00 2.58 0.00 0.000 4 0.000 0.066 2140 649 3508

7744 -1.39 -146.6 814.9 -9.3 371 7748 0.00 2.45 0.00 0.000 6 0.000 0.044 2140 2051 3508

8065 -1.39 -146.6 842.9 -8.9 387 8069 0.00 2.58 0.00 0.000 4 0.000 0.066 2140 648 3507

8143 -1.39 -146.6 850.5 -10.2 390 8150 0.00 2.45 0.00 0.000 6 0.000 0.044 2140 2053 3507

8460 -1.39 -146.6 879.0 -9.1 406 8464 0.00 2.55 0.00 0.000 4 0.000 0.066 2140 649 3505

8544 -1.39 -146.6 887.1 -9.8 410 8548 0.00 2.45 0.00 0.000 6 0.000 0.045 2140 2058 3505

8871 -1.39 -146.6 916.3 -9.0 426 8875 0.00 2.58 0.00 0.000 4 0.000 0.066 2140 644 3504

8933 -1.39 -146.6 922.3 -9.5 429 8937 0.00 2.45 0.00 0.000 6 0.000 0.045 2140 2053 3504

9259 -1.39 -146.6 952.4 -9.1 445 9264 0.00 2.58 0.00 0.000 4 0.000 0.066 2140 646 3503

9349 -1.39 -146.6 961.2 -9.7 449 9353 0.00 2.47 0.00 0.000 6 0.000 0.045 2140 2060 3503

9669 -1.39 -146.6 989.1 -8.4 465 9674 0.00 2.58 0.00 0.000 4 0.000 0.066 2140 643 3503

9677 end dive: TARGET_DEPTH_EXCEEDED

state 9678 begin apogee

9685 -0.33 0.0 990.0 8.3 465 9817 1.15 0.00 127.53 1.487 6 0.102 0.000 2371 1956 2915

9818 end apogee: CONTROL_FINISHED_OK

state 9818 begin climb

9820 1.39 146.6 993.7 0.0 472 9958 1.77 2.62 129.10 1.427 4 0.061 0.063 2751 3354 2316

10141 1.39 146.6 966.9 11.6 486 10146 0.00 2.53 0.00 0.000 6 0.000 0.048 2750 1952 2316

10468 1.39 146.6 929.0 11.8 502 10472 0.00 2.58 0.00 0.000 4 0.000 0.060 2751 3354 2315

10534 1.39 146.6 920.8 12.7 505 10538 0.00 2.53 0.00 0.000 6 0.000 0.048 2751 1949 2315

10856 1.39 146.6 882.6 12.0 521 10857 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1949 2315

11165 1.39 146.6 845.9 11.8 536 11169 0.00 2.58 0.00 0.000 4 0.000 0.060 2751 3357 2316

11272 1.39 146.6 832.9 12.5 541 11276 0.00 2.53 0.00 0.000 6 0.000 0.048 2751 1941 2315

11599 1.39 146.6 796.4 11.1 557 11600 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1941 2315

11908 1.39 146.6 763.3 10.4 572 11912 0.00 2.58 0.00 0.000 4 0.000 0.060 2751 3350 2314

11993 1.39 146.6 754.0 10.8 576 11997 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1943 2314

12319 1.39 147.5 721.2 10.0 592 12324 0.00 2.58 0.00 0.000 4 0.000 0.060 2751 3354 2314

12381 1.39 147.5 714.6 10.7 595 12386 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1947 2314

12709 1.39 147.5 681.9 10.2 611 12710 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1947 2314

13018 1.39 147.5 651.2 10.1 626 13019 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1948 2314

13327 1.40 156.8 620.9 9.6 641 13339 0.00 0.00 9.75 1.170 6 0.000 0.000 2751 1947 2275

13638 1.41 162.0 590.6 9.8 656 13652 0.00 2.62 6.47 1.059 4 0.000 0.058 2751 3351 2253

13743 1.42 170.6 579.8 9.6 660 13757 0.00 2.50 9.18 1.124 6 0.000 0.047 2751 1947 2218

14080 1.42 170.6 545.1 10.6 677 14084 0.00 2.55 0.00 0.000 4 0.000 0.058 2750 3352 2218

14146 1.42 170.6 537.1 12.4 680 14150 0.00 2.47 0.00 0.000 6 0.000 0.046 2751 1949 2218

14468 1.42 170.6 498.8 12.1 696 14472 0.00 2.55 0.00 0.000 4 0.000 0.058 2751 3354 2218

14562 1.42 170.6 487.3 11.8 700 14566 0.00 2.47 0.00 0.000 6 0.000 0.044 2751 1946 2218

14877 1.42 170.6 451.5 11.3 715 14882 0.00 2.60 0.00 0.000 4 0.000 0.071 2751 541 2218

14922 1.42 170.6 445.9 12.5 717 14926 0.00 2.45 0.00 0.000 6 0.000 0.041 2751 1954 2218

15248 1.42 170.6 406.2 11.9 733 15249 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1956 2218

15558 1.42 170.6 369.9 11.0 748 15559 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1956 2219

15867 1.42 170.6 338.1 10.2 763 15868 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1956 2220

16176 1.42 170.6 304.6 11.5 778 16177 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 1956 2221

16486 1.42 170.6 268.5 11.7 793 16487 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1956 2222

16795 1.42 170.6 234.5 10.5 808 16799 0.00 2.58 0.00 0.000 4 0.000 0.063 2751 543 2222

16844 1.42 170.6 229.4 10.9 810 16848 0.00 2.42 0.00 0.000 6 0.000 0.037 2751 1946 2222

17159 1.42 170.6 195.9 10.7 825 17161 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1946 2223

17470 1.42 170.6 161.8 11.2 840 17471 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1947 2224

17778 1.42 170.6 129.9 10.3 855 17782 0.00 2.55 0.00 0.000 4 0.000 0.061 2750 540 2224

17834 1.42 170.6 123.4 10.9 857 17838 0.00 2.42 0.00 0.000 6 0.000 0.036 2751 1951 2225

18150 1.42 170.6 88.4 10.9 872 18154 0.00 2.55 0.00 0.000 4 0.000 0.061 2751 545 2225

18194 1.42 170.6 83.3 11.2 874 18199 0.00 2.42 0.00 0.000 6 0.000 0.036 2751 1951 2225

18516 1.42 170.6 49.0 10.6 890 18521 0.00 2.55 0.00 0.000 4 0.000 0.061 2750 546 2226

18561 1.42 170.6 43.4 11.0 892 18565 0.00 2.40 0.00 0.000 6 0.000 0.035 2750 1951 2226

18882 1.42 176.8 10.4 9.7 908 18892 0.00 0.00 8.23 0.680 6 0.000 0.000 2751 1951 2194

18962 end climb: SURFACE_DEPTH_REACHED

state 18962 begin surface coast

18984 end surface coast: CONTROL_FINISHED_OK

state 18984 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	27	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	29	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	-35586.605	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	004038,6131.349,-301.696,30,1.3,30,-6.1	TGT_NAME	ESEC_SE
_CALLS	1	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.258,0.055
_SM_DEPTHo	1.19	KALMAN_X	94418.8,253.8,176.8,-88087.9,1682.9
_SM_ANGLEo	-62.9	KALMAN_Y	-26545.8,-54.3,493.1,21257.1,-1685.8
GPS2	004729,6131.373,-301.563,12,2.1,31,-6.1	MHEAD_RNG_PITCHd_Wd	288.1,36314,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.2,1.015656	XPDR_PINGS	0
SM_CCo	19007,46.35,0.665,3,0,1895,250.21	_24V_AH	23.0,6.685
SM_GC	1.00,0.00,0.00,46.35,0.000,0.000,0.665,42,2062,1895,-11.08,0.28,250.21	_10V_AH	10.1,3.694
IRIDIUM_FIX	6108.28,-300.53,140597,191902	DATA_FILE_SIZE	47402,913
TT8_MAMPS	0.026845	CFSIZE	260165632,255553536
HUMID	1702	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,3,0
INTERNAL_PRESSURE	8.39119	GPS	190208,060726,6131.813,-304.892,41,1.2,41,-6.1
TCM_TEMP	17.10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	154	95.77	SBE_CT	684	24	377.67
Roll_motor	190	71	312.33	SBE_O2	617	19	269.65
VBD_pump_during_apogee	290	1487	9928.26	WL_BB2F	558	105	1348.78
VBD_pump_during_surface	46	664	708.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	92.80	nil	0	0	0.00
Iridium_during_connect	36	160	133.93	nil	0	0	0.00
Iridium_during_xfer	194	223	999.36
Transponder_ping	8	420	82.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.24
TT8	1744	19	348.93
LPSleep	14386	2	318.20
TT8_Active	525	19	105.03
TT8_Sampling	2254	39	906.21
TT8_CF8	563	45	260.85
TT8_Kalman	33	81	27.55
Analog_circuits	1613	12	195.61
GPS_charging	0	0	0.00
Compass	2194	8	177.30
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	21	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	39	2065	3395
110	-1.39	-146.6	3.9	-4.2	4	130	11.95	2.53	-2.47	0.000	4	0.155	0.064	2140	3445	3515
158	-1.39	-146.6	17.5	-17.0	6	162	0.00	2.45	0.00	0.000	6	0.000	0.038	2140	2046	3516
474	-1.39	-146.6	56.3	-12.7	21	478	0.00	2.55	0.00	0.000	4	0.000	0.062	2140	641	3517
507	-1.39	-146.6	60.3	-11.7	22	514	0.00	2.45	0.00	0.000	6	0.000	0.036	2140	2052	3517
823	-1.39	-146.6	93.5	-10.5	38	828	0.00	2.55	0.00	0.000	4	0.000	0.059	2140	643	3517
908	-1.39	-146.6	102.8	-10.9	42	913	0.00	2.45	0.00	0.000	6	0.000	0.038	2140	2056	3517
1236	-1.39	-146.6	136.8	-10.1	58	1240	0.00	2.55	0.00	0.000	4	0.000	0.059	2140	647	3518
1307	-1.39	-146.6	144.4	-10.3	61	1311	0.00	2.42	0.00	0.000	6	0.000	0.037	2140	2058	3518
1626	-1.39	-146.6	175.7	-9.8	76	1630	0.00	2.55	0.00	0.000	4	0.000	0.059	2140	648	3518
1737	-1.39	-146.6	187.1	-9.6	81	1742	0.00	2.42	0.00	0.000	6	0.000	0.038	2140	2051	3518
2058	-1.39	-146.6	219.3	-10.6	97	2062	0.00	2.55	0.00	0.000	4	0.000	0.059	2140	645	3518
2147	-1.39	-146.6	229.5	-11.5	101	2151	0.00	2.42	0.00	0.000	6	0.000	0.038	2140	2055	3518
2468	-1.39	-146.6	264.1	-10.9	117	2473	0.00	2.55	0.00	0.000	4	0.000	0.060	2140	646	3518
2569	-1.39	-146.6	275.9	-11.6	121	2575	0.00	2.42	0.00	0.000	6	0.000	0.038	2140	2062	3518
2884	-1.39	-146.6	309.7	-10.3	137	2889	0.00	2.55	0.00	0.000	4	0.000	0.060	2140	647	3518
2985	-1.39	-146.6	320.7	-11.0	141	2991	0.00	2.40	0.00	0.000	6	0.000	0.038	2140	2054	3518
3300	-1.39	-146.6	355.2	-11.2	157	3304	0.00	2.55	0.00	0.000	4	0.000	0.060	2140	643	3518
3378	-1.39	-146.6	364.3	-11.7	160	3384	0.00	2.42	0.00	0.000	6	0.000	0.038	2140	2047	3518
3694	-1.39	-146.6	398.6	-10.9	176	3698	0.00	2.53	0.00	0.000	4	0.000	0.059	2140	648	3518
3749	-1.39	-146.6	405.1	-11.8	178	3755	0.00	2.40	0.00	0.000	6	0.000	0.038	2140	2058	3518
4065	-1.39	-146.6	436.9	-9.3	194	4069	0.00	2.55	0.00	0.000	4	0.000	0.059	2140	644	3518
4165	-1.39	-146.6	447.0	-11.1	198	4171	0.00	2.40	0.00	0.000	6	0.000	0.038	2140	2051	3518
4481	-1.39	-146.6	477.4	-9.3	214	4485	0.00	2.53	0.00	0.000	4	0.000	0.060	2140	648	3518
4565	-1.39	-146.6	486.0	-9.8	218	4570	0.00	2.40	0.00	0.000	6	0.000	0.039	2140	2052	3518
4892	-1.39	-146.6	517.0	-9.1	234	4897	0.00	2.55	0.00	0.000	4	0.000	0.062	2140	646	3518
4933	-1.39	-146.6	520.7	-9.9	236	4938	0.00	2.42	0.00	0.000	6	0.000	0.040	2140	2053	3518
5262	-1.39	-146.6	552.2	-9.8	252	5266	0.00	2.55	0.00	0.000	4	0.000	0.064	2141	648	3517
5288	-1.39	-146.6	555.2	-10.7	253	5293	0.00	2.40	0.00	0.000	6	0.000	0.041	2140	2050	3517
5610	-1.39	-146.6	587.9	-10.3	269	5614	0.00	2.55	0.00	0.000	4	0.000	0.064	2140	649	3515
5694	-1.39	-146.6	597.1	-11.3	273	5698	0.00	2.42	0.00	0.000	6	0.000	0.043	2140	2052	3515
6020	-1.39	-146.6	634.9	-12.3	289	6024	0.00	2.55	0.00	0.000	4	0.000	0.064	2140	645	3514
6109	-1.39	-146.6	645.9	-12.1	293	6113	0.00	2.45	0.00	0.000	6	0.000	0.042	2140	2060	3514
6430	-1.39	-146.6	682.5	-10.9	309	6434	0.00	2.58	0.00	0.000	4	0.000	0.064	2140	647	3512
6536	-1.39	-146.6	694.5	-11.1	314	6540	0.00	2.42	0.00	0.000	6	0.000	0.044	2140	2051	3512
6868	-1.39	-146.6	729.8	-10.5	330	6873	0.00	2.58	0.00	0.000	4	0.000	0.066	2140	645	3510
6963	-1.39	-146.6	740.0	-10.5	334	6968	0.00	2.45	0.00	0.000	6	0.000	0.044	2140	2051	3509
7279	-1.39	-146.6	771.3	-9.7	349	7283	0.00	2.58	0.00	0.000	4	0.000	0.066	2140	646	3509
7356	-1.39	-146.6	779.2	-10.3	352	7362	0.00	2.45	0.00	0.000	6	0.000	0.044	2140	2058	3509
7672	-1.39	-146.6	807.9	-9.0	368	7676	0.00	2.58	0.00	0.000	4	0.000	0.066	2140	649	3508
7744	-1.39	-146.6	814.9	-9.3	371	7748	0.00	2.45	0.00	0.000	6	0.000	0.044	2140	2051	3508
8065	-1.39	-146.6	842.9	-8.9	387	8069	0.00	2.58	0.00	0.000	4	0.000	0.066	2140	648	3507
8143	-1.39	-146.6	850.5	-10.2	390	8150	0.00	2.45	0.00	0.000	6	0.000	0.044	2140	2053	3507
8460	-1.39	-146.6	879.0	-9.1	406	8464	0.00	2.55	0.00	0.000	4	0.000	0.066	2140	649	3505
8544	-1.39	-146.6	887.1	-9.8	410	8548	0.00	2.45	0.00	0.000	6	0.000	0.045	2140	2058	3505
8871	-1.39	-146.6	916.3	-9.0	426	8875	0.00	2.58	0.00	0.000	4	0.000	0.066	2140	644	3504
8933	-1.39	-146.6	922.3	-9.5	429	8937	0.00	2.45	0.00	0.000	6	0.000	0.045	2140	2053	3504
9259	-1.39	-146.6	952.4	-9.1	445	9264	0.00	2.58	0.00	0.000	4	0.000	0.066	2140	646	3503
9349	-1.39	-146.6	961.2	-9.7	449	9353	0.00	2.47	0.00	0.000	6	0.000	0.045	2140	2060	3503
9669	-1.39	-146.6	989.1	-8.4	465	9674	0.00	2.58	0.00	0.000	4	0.000	0.066	2140	643	3503
9677	end dive: TARGET_DEPTH_EXCEEDED
state	9678	begin apogee
9685	-0.33	0.0	990.0	8.3	465	9817	1.15	0.00	127.53	1.487	6	0.102	0.000	2371	1956	2915
9818	end apogee: CONTROL_FINISHED_OK
state	9818	begin climb
9820	1.39	146.6	993.7	0.0	472	9958	1.77	2.62	129.10	1.427	4	0.061	0.063	2751	3354	2316
10141	1.39	146.6	966.9	11.6	486	10146	0.00	2.53	0.00	0.000	6	0.000	0.048	2750	1952	2316
10468	1.39	146.6	929.0	11.8	502	10472	0.00	2.58	0.00	0.000	4	0.000	0.060	2751	3354	2315
10534	1.39	146.6	920.8	12.7	505	10538	0.00	2.53	0.00	0.000	6	0.000	0.048	2751	1949	2315
10856	1.39	146.6	882.6	12.0	521	10857	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1949	2315
11165	1.39	146.6	845.9	11.8	536	11169	0.00	2.58	0.00	0.000	4	0.000	0.060	2751	3357	2316
11272	1.39	146.6	832.9	12.5	541	11276	0.00	2.53	0.00	0.000	6	0.000	0.048	2751	1941	2315
11599	1.39	146.6	796.4	11.1	557	11600	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1941	2315
11908	1.39	146.6	763.3	10.4	572	11912	0.00	2.58	0.00	0.000	4	0.000	0.060	2751	3350	2314
11993	1.39	146.6	754.0	10.8	576	11997	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1943	2314
12319	1.39	147.5	721.2	10.0	592	12324	0.00	2.58	0.00	0.000	4	0.000	0.060	2751	3354	2314
12381	1.39	147.5	714.6	10.7	595	12386	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1947	2314
12709	1.39	147.5	681.9	10.2	611	12710	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1947	2314
13018	1.39	147.5	651.2	10.1	626	13019	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1948	2314
13327	1.40	156.8	620.9	9.6	641	13339	0.00	0.00	9.75	1.170	6	0.000	0.000	2751	1947	2275
13638	1.41	162.0	590.6	9.8	656	13652	0.00	2.62	6.47	1.059	4	0.000	0.058	2751	3351	2253
13743	1.42	170.6	579.8	9.6	660	13757	0.00	2.50	9.18	1.124	6	0.000	0.047	2751	1947	2218
14080	1.42	170.6	545.1	10.6	677	14084	0.00	2.55	0.00	0.000	4	0.000	0.058	2750	3352	2218
14146	1.42	170.6	537.1	12.4	680	14150	0.00	2.47	0.00	0.000	6	0.000	0.046	2751	1949	2218
14468	1.42	170.6	498.8	12.1	696	14472	0.00	2.55	0.00	0.000	4	0.000	0.058	2751	3354	2218
14562	1.42	170.6	487.3	11.8	700	14566	0.00	2.47	0.00	0.000	6	0.000	0.044	2751	1946	2218
14877	1.42	170.6	451.5	11.3	715	14882	0.00	2.60	0.00	0.000	4	0.000	0.071	2751	541	2218
14922	1.42	170.6	445.9	12.5	717	14926	0.00	2.45	0.00	0.000	6	0.000	0.041	2751	1954	2218
15248	1.42	170.6	406.2	11.9	733	15249	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1956	2218
15558	1.42	170.6	369.9	11.0	748	15559	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1956	2219
15867	1.42	170.6	338.1	10.2	763	15868	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1956	2220
16176	1.42	170.6	304.6	11.5	778	16177	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	1956	2221
16486	1.42	170.6	268.5	11.7	793	16487	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1956	2222
16795	1.42	170.6	234.5	10.5	808	16799	0.00	2.58	0.00	0.000	4	0.000	0.063	2751	543	2222
16844	1.42	170.6	229.4	10.9	810	16848	0.00	2.42	0.00	0.000	6	0.000	0.037	2751	1946	2222
17159	1.42	170.6	195.9	10.7	825	17161	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1946	2223
17470	1.42	170.6	161.8	11.2	840	17471	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1947	2224
17778	1.42	170.6	129.9	10.3	855	17782	0.00	2.55	0.00	0.000	4	0.000	0.061	2750	540	2224
17834	1.42	170.6	123.4	10.9	857	17838	0.00	2.42	0.00	0.000	6	0.000	0.036	2751	1951	2225
18150	1.42	170.6	88.4	10.9	872	18154	0.00	2.55	0.00	0.000	4	0.000	0.061	2751	545	2225
18194	1.42	170.6	83.3	11.2	874	18199	0.00	2.42	0.00	0.000	6	0.000	0.036	2751	1951	2225
18516	1.42	170.6	49.0	10.6	890	18521	0.00	2.55	0.00	0.000	4	0.000	0.061	2750	546	2226
18561	1.42	170.6	43.4	11.0	892	18565	0.00	2.40	0.00	0.000	6	0.000	0.035	2750	1951	2226
18882	1.42	176.8	10.4	9.7	908	18892	0.00	0.00	8.23	0.680	6	0.000	0.000	2751	1951	2194
18962	end climb: SURFACE_DEPTH_REACHED
state	18962	begin surface coast
18984	end surface coast: CONTROL_FINISHED_OK
state	18984	begin surface