Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 28 * 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 28 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -35602.461 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 -35602.461

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 22 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 28 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 060726,6131.813,-304.892,41,1.2,41,-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 -0.259,0.047

_SM_DEPTHo 1.14 KALMAN_X 98529.8,-1055.9,-338.7,-93183.1,5584.0

_SM_ANGLEo -65.9 KALMAN_Y -26878.5,768.3,-162.8,22368.7,-836.9

GPS2 061345,6131.882,-304.759,13,1.0,13,-6.1 MHEAD_RNG_PITCHd_Wd 286.4,33720,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027403 XPDR_PINGS 2

SM_CCo 19082,58.15,0.684,3,0,1894,250.21 _24V_AH 23.0,6.822

SM_GC 1.30,0.00,0.00,58.15,0.000,0.000,0.684,40,2067,1894,-11.09,0.42,250.21 _10V_AH 10.1,3.787

IRIDIUM_FIX 6108.28,-305.03,150597,000027 DATA_FILE_SIZE 47430,910

TT8_MAMPS 0.026845 CFSIZE 260165632,255479808

HUMID 1679 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,26,3,0

INTERNAL_PRESSURE 8.39119 GPS 190208,113508,6133.823,-306.008,37,0.9,37,-6.1

TCM_TEMP 17.10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 96.42 SBE_CT 679 24 375.30

Roll_motor 205 74 351.78 SBE_O2 615 19 268.86

VBD_pump_during_apogee 271 1481 9268.71 WL_BB2F 554 105 1339.39

VBD_pump_during_surface 58 684 915.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 91.32 nil 0 0 0.00

Iridium_during_connect 35 160 131.71 nil 0 0 0.00

Iridium_during_xfer 186 223 958.29

Transponder_ping 9 420 86.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.69

TT8 1783 19 356.58

LPSleep 14282 2 315.90

TT8_Active 529 19 105.97

TT8_Sampling 2387 39 959.85

TT8_CF8 550 45 254.57

TT8_Kalman 33 81 27.56

Analog_circuits 1685 12 204.28

GPS_charging 0 0 0.00

Compass 2339 8 188.99

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.39 -146.6 0.0 0.0 0 107 0.00 0.00 -81.80 0.000 2 0.000 0.000 42 2062 3471

110 -1.39 -146.6 4.6 -5.5 4 127 11.93 0.00 -0.85 0.000 6 0.156 0.000 2138 2063 3516

436 -1.39 -146.6 50.5 -11.4 20 440 0.00 2.58 0.00 0.000 4 0.000 0.058 2138 641 3517

530 -1.39 -146.6 62.3 -12.2 24 534 0.00 2.42 0.00 0.000 6 0.000 0.036 2138 2053 3517

851 -1.39 -146.6 98.9 -11.2 40 855 0.00 2.55 0.00 0.000 4 0.000 0.058 2139 640 3517

939 -1.39 -146.6 109.5 -12.6 44 944 0.00 2.42 0.00 0.000 6 0.000 0.037 2138 2058 3517

1261 -1.39 -146.6 147.4 -11.9 60 1266 0.00 2.55 0.00 0.000 4 0.000 0.059 2138 647 3518

1406 -1.39 -146.6 165.6 -12.1 66 1412 0.00 2.40 0.00 0.000 6 0.000 0.038 2138 2051 3518

1723 -1.39 -146.6 205.0 -12.5 82 1727 0.00 2.55 0.00 0.000 4 0.000 0.060 2138 645 3518

1817 -1.39 -146.6 217.7 -13.3 86 1821 0.00 2.42 0.00 0.000 6 0.000 0.037 2138 2059 3518

2135 -1.39 -146.6 253.9 -10.9 101 2139 0.00 2.55 0.00 0.000 4 0.000 0.059 2138 646 3518

2207 -1.39 -146.6 262.6 -11.8 104 2211 0.00 2.40 0.00 0.000 6 0.000 0.037 2138 2053 3518

2523 -1.39 -146.6 295.7 -10.0 119 2527 0.00 2.55 0.00 0.000 4 0.000 0.060 2138 645 3518

2611 -1.39 -146.6 305.0 -10.7 123 2615 0.00 2.42 0.00 0.000 6 0.000 0.038 2138 2057 3518

2932 -1.39 -146.6 338.6 -10.6 139 2937 0.00 2.55 0.00 0.000 4 0.000 0.060 2138 645 3518

3028 -1.39 -146.6 349.2 -11.5 143 3033 0.00 2.42 0.00 0.000 6 0.000 0.038 2138 2053 3518

3344 -1.39 -146.6 381.7 -10.1 158 3348 0.00 2.55 0.00 0.000 4 0.000 0.061 2138 645 3518

3421 -1.39 -146.6 390.2 -11.3 161 3427 0.00 2.42 0.00 0.000 6 0.000 0.038 2138 2060 3518

3736 -1.39 -146.6 424.0 -10.1 177 3741 0.00 2.55 0.00 0.000 4 0.000 0.060 2138 647 3519

3831 -1.39 -146.6 434.6 -11.0 181 3835 0.00 2.40 0.00 0.000 6 0.000 0.038 2138 2055 3519

4147 -1.39 -146.6 468.5 -10.6 196 4152 0.00 2.55 0.00 0.000 4 0.000 0.060 2138 644 3519

4255 -1.39 -146.6 479.8 -10.1 201 4259 0.00 2.42 0.00 0.000 6 0.000 0.038 2138 2059 3518

4581 -1.39 -146.6 512.5 -10.9 217 4582 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2060 3518

4890 -1.39 -146.6 546.2 -10.8 232 4894 0.00 2.58 0.00 0.000 4 0.000 0.061 2138 639 3518

5041 -1.39 -146.6 562.7 -10.6 239 5046 0.00 2.45 0.00 0.000 6 0.000 0.041 2138 2057 3518

5368 -1.39 -146.6 595.2 -10.1 255 5372 0.00 2.58 0.00 0.000 4 0.000 0.064 2138 644 3517

5564 -1.39 -146.6 616.1 -10.6 264 5568 0.00 2.45 0.00 0.000 6 0.000 0.043 2138 2053 3516

5890 -1.39 -146.6 648.3 -9.9 280 5894 0.00 2.58 0.00 0.000 4 0.000 0.064 2138 644 3515

5967 -1.39 -146.6 656.7 -10.4 283 5973 0.00 2.45 0.00 0.000 6 0.000 0.044 2138 2056 3515

6283 -1.39 -146.6 688.1 -9.8 299 6288 0.00 2.58 0.00 0.000 4 0.000 0.065 2138 646 3513

6350 -1.39 -146.6 695.2 -10.8 302 6354 0.00 2.45 0.00 0.000 6 0.000 0.044 2139 2051 3513

6673 -1.39 -146.6 725.3 -9.4 318 6677 0.00 2.58 0.00 0.000 4 0.000 0.066 2138 645 3511

6757 -1.39 -146.6 734.1 -10.4 322 6762 0.00 2.45 0.00 0.000 6 0.000 0.044 2138 2050 3511

7083 -1.39 -146.6 765.4 -9.6 338 7088 0.00 2.58 0.00 0.000 4 0.000 0.066 2138 644 3510

7168 -1.39 -146.6 773.8 -10.2 342 7172 0.00 2.47 0.00 0.000 6 0.000 0.045 2138 2058 3509

7494 -1.39 -146.6 803.3 -8.8 358 7499 0.00 2.60 0.00 0.000 4 0.000 0.067 2138 640 3509

7573 -1.39 -146.6 810.7 -9.4 361 7578 0.00 2.47 0.00 0.000 6 0.000 0.046 2138 2052 3509

7888 -1.39 -146.6 839.4 -9.2 377 7892 0.00 2.58 0.00 0.000 4 0.000 0.067 2139 647 3508

7974 -1.39 -146.6 847.5 -9.6 381 7978 0.00 2.45 0.00 0.000 6 0.000 0.046 2138 2052 3508

8306 -1.39 -146.6 877.8 -9.0 397 8311 0.00 2.58 0.00 0.000 4 0.000 0.067 2138 646 3506

8402 -1.39 -146.6 887.0 -9.1 401 8406 0.00 2.47 0.00 0.000 6 0.000 0.046 2138 2055 3506

8718 -1.39 -146.6 915.3 -8.9 416 8722 0.00 2.58 0.00 0.000 4 0.000 0.067 2138 647 3505

8807 -1.39 -146.6 923.6 -8.6 420 8811 0.00 2.47 0.00 0.000 6 0.000 0.046 2138 2056 3504

9129 -1.39 -146.6 951.6 -8.7 436 9133 0.00 2.60 0.00 0.000 4 0.000 0.067 2138 640 3504

9213 -1.39 -146.6 959.4 -9.6 440 9218 0.00 2.47 0.00 0.000 6 0.000 0.046 2138 2053 3504

9541 -1.39 -146.6 986.7 -8.3 456 9545 0.00 2.58 0.00 0.000 4 0.000 0.067 2138 647 3503

9577 end dive: TARGET_DEPTH_EXCEEDED

state 9578 begin apogee

9585 -0.33 0.0 990.2 9.1 458 9720 1.17 0.00 128.20 1.482 6 0.100 0.000 2372 1957 2915

9721 end apogee: CONTROL_FINISHED_OK

state 9721 begin climb

9724 1.39 146.6 994.0 0.0 465 9861 1.77 2.60 129.00 1.429 4 0.061 0.064 2751 3349 2317

10009 1.39 146.6 970.2 11.7 478 10013 0.00 2.50 0.00 0.000 6 0.000 0.048 2750 1951 2316

10330 1.39 146.6 933.0 11.5 494 10334 0.00 2.58 0.00 0.000 4 0.000 0.061 2750 3350 2316

10379 1.39 146.6 927.3 11.5 496 10383 0.00 2.53 0.00 0.000 6 0.000 0.048 2750 1943 2316

10697 1.39 146.6 893.2 10.5 511 10698 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1943 2315

11004 1.39 146.6 861.5 10.3 526 11009 0.00 2.58 0.00 0.000 4 0.000 0.060 2751 3350 2315

11099 1.39 146.6 851.3 10.9 530 11104 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1951 2315

11415 1.39 147.1 819.8 10.0 545 11419 0.00 2.58 0.00 0.000 4 0.000 0.061 2751 3357 2315

11464 1.39 147.1 814.5 10.3 547 11468 0.00 2.53 0.00 0.000 6 0.000 0.048 2750 1951 2314

11786 1.39 149.7 782.2 9.9 563 11795 0.00 2.58 4.12 0.940 4 0.000 0.060 2751 3353 2304

11846 1.39 149.7 775.9 10.3 565 11853 0.00 2.53 0.00 0.000 6 0.000 0.048 2751 1945 2304

12162 1.39 149.7 743.9 10.2 581 12163 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1946 2304

12471 1.39 149.7 712.6 10.3 596 12476 0.00 2.58 0.00 0.000 4 0.000 0.060 2750 3357 2303

12572 1.39 149.7 701.9 11.2 600 12578 0.00 2.50 0.00 0.000 6 0.000 0.048 2750 1951 2303

12888 1.40 155.8 670.8 9.7 616 12897 0.00 0.00 6.85 1.128 6 0.000 0.000 2750 1951 2279

13197 1.40 155.8 639.3 10.4 631 13201 0.00 2.55 0.00 0.000 4 0.000 0.060 2751 3355 2279

13353 1.40 155.8 621.6 11.1 638 13357 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1946 2279

13680 1.40 155.8 586.5 10.7 654 13684 0.00 2.60 0.00 0.000 4 0.000 0.074 2750 548 2279

13723 1.40 155.8 581.5 11.7 656 13728 0.00 2.47 0.00 0.000 6 0.000 0.044 2751 1959 2279

14044 1.40 155.8 544.9 11.6 672 14049 0.00 2.53 0.00 0.000 4 0.000 0.062 2751 3354 2279

14088 1.40 155.8 539.7 11.7 674 14093 0.00 2.50 0.00 0.000 6 0.000 0.047 2750 1946 2279

14410 1.40 155.8 502.6 11.5 690 14414 0.00 2.55 0.00 0.000 4 0.000 0.059 2751 3352 2279

14465 1.40 155.8 495.8 12.4 692 14471 0.00 2.47 0.00 0.000 6 0.000 0.046 2750 1950 2279

14780 1.40 155.8 462.3 10.6 708 14784 0.00 2.60 0.00 0.000 4 0.000 0.072 2751 543 2279

14874 1.40 155.8 451.9 11.4 712 14879 0.00 2.47 0.00 0.000 6 0.000 0.041 2751 1959 2278

15189 1.40 155.8 417.9 10.3 727 15193 0.00 2.47 0.00 0.000 4 0.000 0.058 2751 3349 2279

15357 1.40 155.8 399.9 10.8 734 15362 0.00 2.45 0.00 0.000 6 0.000 0.043 2750 1944 2279

15673 1.40 155.8 367.2 10.4 749 15677 0.00 2.55 0.00 0.000 4 0.000 0.068 2751 547 2280

15734 1.40 155.8 360.5 11.1 752 15738 0.00 2.42 0.00 0.000 6 0.000 0.038 2750 1948 2280

16060 1.40 155.8 325.0 11.2 768 16064 0.00 2.50 0.00 0.000 4 0.000 0.056 2751 3352 2280

16155 1.40 155.8 313.6 12.8 772 16159 0.00 2.42 0.00 0.000 6 0.000 0.040 2751 1952 2281

16470 1.40 155.8 278.2 10.9 787 16472 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1951 2281

16780 1.40 155.8 244.4 11.4 802 16783 0.00 2.50 0.00 0.000 4 0.000 0.051 2751 3356 2283

16831 1.40 155.8 238.4 11.9 804 16835 0.00 2.45 0.00 0.000 6 0.000 0.038 2751 1947 2283

17151 1.40 155.8 201.9 11.4 820 17152 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1947 2283

17460 1.40 155.8 165.5 11.7 835 17464 0.00 2.50 0.00 0.000 4 0.000 0.050 2750 3356 2284

17567 1.40 155.8 153.2 11.6 840 17571 0.00 2.45 0.00 0.000 6 0.000 0.039 2751 1949 2284

17900 1.40 156.5 119.7 10.0 856 17909 0.00 2.60 3.78 0.584 4 0.000 0.064 2751 547 2276

17960 1.40 156.5 113.2 10.8 858 17967 0.00 2.45 0.00 0.000 6 0.000 0.035 2751 1952 2276

18276 1.40 157.0 81.8 10.0 874 18280 0.00 2.47 0.00 0.000 4 0.000 0.052 2751 3352 2277

18332 1.40 157.0 75.5 10.8 876 18336 0.00 2.40 0.00 0.000 6 0.000 0.038 2750 1949 2277

18648 1.40 157.0 42.7 10.3 891 18652 0.00 2.47 0.00 0.000 4 0.000 0.050 2751 3352 2278

18703 1.40 157.0 36.3 11.0 893 18707 0.00 2.42 0.00 0.000 6 0.000 0.038 2750 1942 2278

19020 1.40 157.0 2.1 10.9 908 19021 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1942 2279

19037 end climb: SURFACE_DEPTH_REACHED

state 19038 begin surface coast

19059 end surface coast: CONTROL_FINISHED_OK

state 19060 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	28	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-35602.461	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	060726,6131.813,-304.892,41,1.2,41,-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	-0.259,0.047
_SM_DEPTHo	1.14	KALMAN_X	98529.8,-1055.9,-338.7,-93183.1,5584.0
_SM_ANGLEo	-65.9	KALMAN_Y	-26878.5,768.3,-162.8,22368.7,-836.9
GPS2	061345,6131.882,-304.759,13,1.0,13,-6.1	MHEAD_RNG_PITCHd_Wd	286.4,33720,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.027403	XPDR_PINGS	2
SM_CCo	19082,58.15,0.684,3,0,1894,250.21	_24V_AH	23.0,6.822
SM_GC	1.30,0.00,0.00,58.15,0.000,0.000,0.684,40,2067,1894,-11.09,0.42,250.21	_10V_AH	10.1,3.787
IRIDIUM_FIX	6108.28,-305.03,150597,000027	DATA_FILE_SIZE	47430,910
TT8_MAMPS	0.026845	CFSIZE	260165632,255479808
HUMID	1679	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,26,3,0
INTERNAL_PRESSURE	8.39119	GPS	190208,113508,6133.823,-306.008,37,0.9,37,-6.1
TCM_TEMP	17.10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	96.42	SBE_CT	679	24	375.30
Roll_motor	205	74	351.78	SBE_O2	615	19	268.86
VBD_pump_during_apogee	271	1481	9268.71	WL_BB2F	554	105	1339.39
VBD_pump_during_surface	58	684	915.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	91.32	nil	0	0	0.00
Iridium_during_connect	35	160	131.71	nil	0	0	0.00
Iridium_during_xfer	186	223	958.29
Transponder_ping	9	420	86.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.69
TT8	1783	19	356.58
LPSleep	14282	2	315.90
TT8_Active	529	19	105.97
TT8_Sampling	2387	39	959.85
TT8_CF8	550	45	254.57
TT8_Kalman	33	81	27.56
Analog_circuits	1685	12	204.28
GPS_charging	0	0	0.00
Compass	2339	8	188.99
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.39	-146.6	0.0	0.0	0	107	0.00	0.00	-81.80	0.000	2	0.000	0.000	42	2062	3471
110	-1.39	-146.6	4.6	-5.5	4	127	11.93	0.00	-0.85	0.000	6	0.156	0.000	2138	2063	3516
436	-1.39	-146.6	50.5	-11.4	20	440	0.00	2.58	0.00	0.000	4	0.000	0.058	2138	641	3517
530	-1.39	-146.6	62.3	-12.2	24	534	0.00	2.42	0.00	0.000	6	0.000	0.036	2138	2053	3517
851	-1.39	-146.6	98.9	-11.2	40	855	0.00	2.55	0.00	0.000	4	0.000	0.058	2139	640	3517
939	-1.39	-146.6	109.5	-12.6	44	944	0.00	2.42	0.00	0.000	6	0.000	0.037	2138	2058	3517
1261	-1.39	-146.6	147.4	-11.9	60	1266	0.00	2.55	0.00	0.000	4	0.000	0.059	2138	647	3518
1406	-1.39	-146.6	165.6	-12.1	66	1412	0.00	2.40	0.00	0.000	6	0.000	0.038	2138	2051	3518
1723	-1.39	-146.6	205.0	-12.5	82	1727	0.00	2.55	0.00	0.000	4	0.000	0.060	2138	645	3518
1817	-1.39	-146.6	217.7	-13.3	86	1821	0.00	2.42	0.00	0.000	6	0.000	0.037	2138	2059	3518
2135	-1.39	-146.6	253.9	-10.9	101	2139	0.00	2.55	0.00	0.000	4	0.000	0.059	2138	646	3518
2207	-1.39	-146.6	262.6	-11.8	104	2211	0.00	2.40	0.00	0.000	6	0.000	0.037	2138	2053	3518
2523	-1.39	-146.6	295.7	-10.0	119	2527	0.00	2.55	0.00	0.000	4	0.000	0.060	2138	645	3518
2611	-1.39	-146.6	305.0	-10.7	123	2615	0.00	2.42	0.00	0.000	6	0.000	0.038	2138	2057	3518
2932	-1.39	-146.6	338.6	-10.6	139	2937	0.00	2.55	0.00	0.000	4	0.000	0.060	2138	645	3518
3028	-1.39	-146.6	349.2	-11.5	143	3033	0.00	2.42	0.00	0.000	6	0.000	0.038	2138	2053	3518
3344	-1.39	-146.6	381.7	-10.1	158	3348	0.00	2.55	0.00	0.000	4	0.000	0.061	2138	645	3518
3421	-1.39	-146.6	390.2	-11.3	161	3427	0.00	2.42	0.00	0.000	6	0.000	0.038	2138	2060	3518
3736	-1.39	-146.6	424.0	-10.1	177	3741	0.00	2.55	0.00	0.000	4	0.000	0.060	2138	647	3519
3831	-1.39	-146.6	434.6	-11.0	181	3835	0.00	2.40	0.00	0.000	6	0.000	0.038	2138	2055	3519
4147	-1.39	-146.6	468.5	-10.6	196	4152	0.00	2.55	0.00	0.000	4	0.000	0.060	2138	644	3519
4255	-1.39	-146.6	479.8	-10.1	201	4259	0.00	2.42	0.00	0.000	6	0.000	0.038	2138	2059	3518
4581	-1.39	-146.6	512.5	-10.9	217	4582	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	2060	3518
4890	-1.39	-146.6	546.2	-10.8	232	4894	0.00	2.58	0.00	0.000	4	0.000	0.061	2138	639	3518
5041	-1.39	-146.6	562.7	-10.6	239	5046	0.00	2.45	0.00	0.000	6	0.000	0.041	2138	2057	3518
5368	-1.39	-146.6	595.2	-10.1	255	5372	0.00	2.58	0.00	0.000	4	0.000	0.064	2138	644	3517
5564	-1.39	-146.6	616.1	-10.6	264	5568	0.00	2.45	0.00	0.000	6	0.000	0.043	2138	2053	3516
5890	-1.39	-146.6	648.3	-9.9	280	5894	0.00	2.58	0.00	0.000	4	0.000	0.064	2138	644	3515
5967	-1.39	-146.6	656.7	-10.4	283	5973	0.00	2.45	0.00	0.000	6	0.000	0.044	2138	2056	3515
6283	-1.39	-146.6	688.1	-9.8	299	6288	0.00	2.58	0.00	0.000	4	0.000	0.065	2138	646	3513
6350	-1.39	-146.6	695.2	-10.8	302	6354	0.00	2.45	0.00	0.000	6	0.000	0.044	2139	2051	3513
6673	-1.39	-146.6	725.3	-9.4	318	6677	0.00	2.58	0.00	0.000	4	0.000	0.066	2138	645	3511
6757	-1.39	-146.6	734.1	-10.4	322	6762	0.00	2.45	0.00	0.000	6	0.000	0.044	2138	2050	3511
7083	-1.39	-146.6	765.4	-9.6	338	7088	0.00	2.58	0.00	0.000	4	0.000	0.066	2138	644	3510
7168	-1.39	-146.6	773.8	-10.2	342	7172	0.00	2.47	0.00	0.000	6	0.000	0.045	2138	2058	3509
7494	-1.39	-146.6	803.3	-8.8	358	7499	0.00	2.60	0.00	0.000	4	0.000	0.067	2138	640	3509
7573	-1.39	-146.6	810.7	-9.4	361	7578	0.00	2.47	0.00	0.000	6	0.000	0.046	2138	2052	3509
7888	-1.39	-146.6	839.4	-9.2	377	7892	0.00	2.58	0.00	0.000	4	0.000	0.067	2139	647	3508
7974	-1.39	-146.6	847.5	-9.6	381	7978	0.00	2.45	0.00	0.000	6	0.000	0.046	2138	2052	3508
8306	-1.39	-146.6	877.8	-9.0	397	8311	0.00	2.58	0.00	0.000	4	0.000	0.067	2138	646	3506
8402	-1.39	-146.6	887.0	-9.1	401	8406	0.00	2.47	0.00	0.000	6	0.000	0.046	2138	2055	3506
8718	-1.39	-146.6	915.3	-8.9	416	8722	0.00	2.58	0.00	0.000	4	0.000	0.067	2138	647	3505
8807	-1.39	-146.6	923.6	-8.6	420	8811	0.00	2.47	0.00	0.000	6	0.000	0.046	2138	2056	3504
9129	-1.39	-146.6	951.6	-8.7	436	9133	0.00	2.60	0.00	0.000	4	0.000	0.067	2138	640	3504
9213	-1.39	-146.6	959.4	-9.6	440	9218	0.00	2.47	0.00	0.000	6	0.000	0.046	2138	2053	3504
9541	-1.39	-146.6	986.7	-8.3	456	9545	0.00	2.58	0.00	0.000	4	0.000	0.067	2138	647	3503
9577	end dive: TARGET_DEPTH_EXCEEDED
state	9578	begin apogee
9585	-0.33	0.0	990.2	9.1	458	9720	1.17	0.00	128.20	1.482	6	0.100	0.000	2372	1957	2915
9721	end apogee: CONTROL_FINISHED_OK
state	9721	begin climb
9724	1.39	146.6	994.0	0.0	465	9861	1.77	2.60	129.00	1.429	4	0.061	0.064	2751	3349	2317
10009	1.39	146.6	970.2	11.7	478	10013	0.00	2.50	0.00	0.000	6	0.000	0.048	2750	1951	2316
10330	1.39	146.6	933.0	11.5	494	10334	0.00	2.58	0.00	0.000	4	0.000	0.061	2750	3350	2316
10379	1.39	146.6	927.3	11.5	496	10383	0.00	2.53	0.00	0.000	6	0.000	0.048	2750	1943	2316
10697	1.39	146.6	893.2	10.5	511	10698	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1943	2315
11004	1.39	146.6	861.5	10.3	526	11009	0.00	2.58	0.00	0.000	4	0.000	0.060	2751	3350	2315
11099	1.39	146.6	851.3	10.9	530	11104	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1951	2315
11415	1.39	147.1	819.8	10.0	545	11419	0.00	2.58	0.00	0.000	4	0.000	0.061	2751	3357	2315
11464	1.39	147.1	814.5	10.3	547	11468	0.00	2.53	0.00	0.000	6	0.000	0.048	2750	1951	2314
11786	1.39	149.7	782.2	9.9	563	11795	0.00	2.58	4.12	0.940	4	0.000	0.060	2751	3353	2304
11846	1.39	149.7	775.9	10.3	565	11853	0.00	2.53	0.00	0.000	6	0.000	0.048	2751	1945	2304
12162	1.39	149.7	743.9	10.2	581	12163	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1946	2304
12471	1.39	149.7	712.6	10.3	596	12476	0.00	2.58	0.00	0.000	4	0.000	0.060	2750	3357	2303
12572	1.39	149.7	701.9	11.2	600	12578	0.00	2.50	0.00	0.000	6	0.000	0.048	2750	1951	2303
12888	1.40	155.8	670.8	9.7	616	12897	0.00	0.00	6.85	1.128	6	0.000	0.000	2750	1951	2279
13197	1.40	155.8	639.3	10.4	631	13201	0.00	2.55	0.00	0.000	4	0.000	0.060	2751	3355	2279
13353	1.40	155.8	621.6	11.1	638	13357	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1946	2279
13680	1.40	155.8	586.5	10.7	654	13684	0.00	2.60	0.00	0.000	4	0.000	0.074	2750	548	2279
13723	1.40	155.8	581.5	11.7	656	13728	0.00	2.47	0.00	0.000	6	0.000	0.044	2751	1959	2279
14044	1.40	155.8	544.9	11.6	672	14049	0.00	2.53	0.00	0.000	4	0.000	0.062	2751	3354	2279
14088	1.40	155.8	539.7	11.7	674	14093	0.00	2.50	0.00	0.000	6	0.000	0.047	2750	1946	2279
14410	1.40	155.8	502.6	11.5	690	14414	0.00	2.55	0.00	0.000	4	0.000	0.059	2751	3352	2279
14465	1.40	155.8	495.8	12.4	692	14471	0.00	2.47	0.00	0.000	6	0.000	0.046	2750	1950	2279
14780	1.40	155.8	462.3	10.6	708	14784	0.00	2.60	0.00	0.000	4	0.000	0.072	2751	543	2279
14874	1.40	155.8	451.9	11.4	712	14879	0.00	2.47	0.00	0.000	6	0.000	0.041	2751	1959	2278
15189	1.40	155.8	417.9	10.3	727	15193	0.00	2.47	0.00	0.000	4	0.000	0.058	2751	3349	2279
15357	1.40	155.8	399.9	10.8	734	15362	0.00	2.45	0.00	0.000	6	0.000	0.043	2750	1944	2279
15673	1.40	155.8	367.2	10.4	749	15677	0.00	2.55	0.00	0.000	4	0.000	0.068	2751	547	2280
15734	1.40	155.8	360.5	11.1	752	15738	0.00	2.42	0.00	0.000	6	0.000	0.038	2750	1948	2280
16060	1.40	155.8	325.0	11.2	768	16064	0.00	2.50	0.00	0.000	4	0.000	0.056	2751	3352	2280
16155	1.40	155.8	313.6	12.8	772	16159	0.00	2.42	0.00	0.000	6	0.000	0.040	2751	1952	2281
16470	1.40	155.8	278.2	10.9	787	16472	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1951	2281
16780	1.40	155.8	244.4	11.4	802	16783	0.00	2.50	0.00	0.000	4	0.000	0.051	2751	3356	2283
16831	1.40	155.8	238.4	11.9	804	16835	0.00	2.45	0.00	0.000	6	0.000	0.038	2751	1947	2283
17151	1.40	155.8	201.9	11.4	820	17152	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1947	2283
17460	1.40	155.8	165.5	11.7	835	17464	0.00	2.50	0.00	0.000	4	0.000	0.050	2750	3356	2284
17567	1.40	155.8	153.2	11.6	840	17571	0.00	2.45	0.00	0.000	6	0.000	0.039	2751	1949	2284
17900	1.40	156.5	119.7	10.0	856	17909	0.00	2.60	3.78	0.584	4	0.000	0.064	2751	547	2276
17960	1.40	156.5	113.2	10.8	858	17967	0.00	2.45	0.00	0.000	6	0.000	0.035	2751	1952	2276
18276	1.40	157.0	81.8	10.0	874	18280	0.00	2.47	0.00	0.000	4	0.000	0.052	2751	3352	2277
18332	1.40	157.0	75.5	10.8	876	18336	0.00	2.40	0.00	0.000	6	0.000	0.038	2750	1949	2277
18648	1.40	157.0	42.7	10.3	891	18652	0.00	2.47	0.00	0.000	4	0.000	0.050	2751	3352	2278
18703	1.40	157.0	36.3	11.0	893	18707	0.00	2.42	0.00	0.000	6	0.000	0.038	2750	1942	2278
19020	1.40	157.0	2.1	10.9	908	19021	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1942	2279
19037	end climb: SURFACE_DEPTH_REACHED
state	19038	begin surface coast
19059	end surface coast: CONTROL_FINISHED_OK
state	19060	begin surface