Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 29 * 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 29 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 39 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 -35617.035 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 -35617.035

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 39 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 29 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 113508,6133.823,-306.008,37,0.9,37,-6.1 TGT_NAME ESEC_SE

_CALLS 2 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.192,0.181

_SM_DEPTHo 1.12 KALMAN_X 101680.2,-482.5,183.0,-98295.8,4443.6

_SM_ANGLEo -64.8 KALMAN_Y -25443.3,936.8,1167.1,23240.9,-3359.3

GPS2 114526,6133.945,-305.757,12,1.0,12,-6.1 MHEAD_RNG_PITCHd_Wd 319.4,33900,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.0,1.027407 XPDR_PINGS 0

SM_CCo 18858,40.90,0.675,3,0,1895,250.21 _24V_AH 23.0,6.975

SM_GC 0.68,0.00,0.00,40.90,0.000,0.000,0.675,42,2060,1895,-11.08,0.23,250.21 _10V_AH 10.1,3.881

IRIDIUM_FIX 6108.28,-305.28,150597,111155 DATA_FILE_SIZE 47463,907

TT8_MAMPS 0.026845 CFSIZE 260165632,255406080

HUMID 1697 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,27,3,0

INTERNAL_PRESSURE 8.38143 GPS 190208,170237,6135.925,-311.247,26,1.6,26,-6.2

TCM_TEMP 19.90

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 96.27 SBE_CT 675 24 373.06

Roll_motor 206 72 341.85 SBE_O2 613 19 268.01

VBD_pump_during_apogee 301 1488 10339.98 WL_BB2F 542 105 1311.31

VBD_pump_during_surface 40 674 634.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 189.01 nil 0 0 0.00

Iridium_during_connect 77 160 284.11 nil 0 0 0.00

Iridium_during_xfer 271 223 1391.31

Transponder_ping 8 420 82.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.04

TT8 1768 19 353.71

LPSleep 14148 2 312.95

TT8_Active 540 19 108.18

TT8_Sampling 2333 39 937.85

TT8_CF8 739 45 342.29

TT8_Kalman 33 81 27.56

Analog_circuits 1675 12 203.10

GPS_charging 0 0 0.00

Compass 2285 8 184.66

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 0 106 0.00 0.00 -80.75 0.000 2 0.000 0.000 39 2066 3459

109 -1.39 -146.6 4.7 -5.7 4 131 11.82 2.62 -1.15 0.000 4 0.156 0.071 2141 654 3517

269 -1.39 -146.6 30.8 -12.8 11 273 0.00 2.40 0.00 0.000 6 0.000 0.037 2141 2042 3517

596 -1.39 -146.6 67.9 -11.5 27 600 0.00 2.55 0.00 0.000 4 0.000 0.060 2141 642 3517

658 -1.39 -146.6 74.9 -12.0 30 662 0.00 2.42 0.00 0.000 6 0.000 0.036 2141 2052 3517

985 -1.39 -146.6 111.2 -11.3 46 990 0.00 2.55 0.00 0.000 4 0.000 0.060 2141 648 3518

1052 -1.39 -146.6 119.3 -12.0 49 1056 0.00 2.42 0.00 0.000 6 0.000 0.037 2141 2057 3518

1373 -1.39 -146.6 155.5 -11.3 65 1377 0.00 2.55 0.00 0.000 4 0.000 0.059 2141 647 3518

1507 -1.39 -146.6 171.4 -11.9 71 1511 0.00 2.42 0.00 0.000 6 0.000 0.037 2141 2060 3518

1829 -1.39 -146.6 207.9 -11.4 87 1833 0.00 2.58 0.00 0.000 4 0.000 0.061 2141 643 3518

1936 -1.39 -146.6 220.5 -11.5 92 1940 0.00 2.42 0.00 0.000 6 0.000 0.038 2141 2051 3518

2262 -1.39 -146.6 257.1 -11.2 108 2266 0.00 2.55 0.00 0.000 4 0.000 0.060 2141 644 3518

2379 -1.39 -146.6 271.2 -12.1 113 2383 0.00 2.40 0.00 0.000 6 0.000 0.038 2141 2053 3518

2700 -1.39 -146.6 306.1 -10.6 129 2704 0.00 2.55 0.00 0.000 4 0.000 0.060 2141 647 3519

2777 -1.39 -146.6 314.8 -10.2 132 2783 0.00 2.42 0.00 0.000 6 0.000 0.038 2141 2058 3518

3093 -1.39 -146.6 346.8 -10.1 148 3097 0.00 2.58 0.00 0.000 4 0.000 0.061 2141 641 3518

3155 -1.39 -146.6 353.5 -11.1 151 3159 0.00 2.42 0.00 0.000 6 0.000 0.038 2141 2054 3518

3481 -1.39 -146.6 388.8 -10.9 167 3485 0.00 2.55 0.00 0.000 4 0.000 0.061 2141 648 3518

3603 -1.39 -146.6 403.1 -11.1 172 3609 0.00 2.40 0.00 0.000 6 0.000 0.038 2141 2052 3519

3919 -1.39 -146.6 433.3 -8.7 188 3923 0.00 2.53 0.00 0.000 4 0.000 0.061 2141 648 3518

4053 -1.39 -146.6 445.4 -8.3 194 4057 0.00 2.42 0.00 0.000 6 0.000 0.039 2141 2056 3518

4374 -1.39 -146.6 473.1 -9.5 210 4378 0.00 2.55 0.00 0.000 4 0.000 0.062 2141 645 3518

4527 -1.39 -146.6 488.0 -9.9 217 4532 0.00 2.42 0.00 0.000 6 0.000 0.041 2141 2051 3518

4854 -1.39 -146.6 519.5 -9.6 233 4859 0.00 2.58 0.00 0.000 4 0.000 0.064 2141 643 3517

4984 -1.39 -146.6 533.2 -10.9 239 4988 0.00 2.45 0.00 0.000 6 0.000 0.042 2141 2053 3517

5310 -1.39 -146.6 568.5 -10.8 255 5314 0.00 2.58 0.00 0.000 4 0.000 0.065 2141 641 3516

5426 -1.39 -146.6 582.2 -11.9 260 5431 0.00 2.45 0.00 0.000 6 0.000 0.043 2141 2051 3515

5742 -1.39 -146.6 617.2 -11.0 275 5746 0.00 2.58 0.00 0.000 4 0.000 0.066 2141 647 3514

5804 -1.39 -146.6 624.1 -10.7 278 5808 0.00 2.45 0.00 0.000 6 0.000 0.044 2141 2051 3514

6130 -1.39 -146.6 656.6 -9.6 294 6135 0.00 2.58 0.00 0.000 4 0.000 0.067 2141 648 3512

6220 -1.39 -146.6 665.9 -10.5 298 6224 0.00 2.45 0.00 0.000 6 0.000 0.044 2141 2053 3512

6540 -1.39 -146.6 698.5 -10.6 314 6544 0.00 2.58 0.00 0.000 4 0.000 0.067 2141 647 3510

6606 -1.39 -146.6 706.1 -11.1 317 6610 0.00 2.45 0.00 0.000 6 0.000 0.044 2141 2051 3510

6927 -1.39 -146.6 738.8 -10.0 333 6931 0.00 2.58 0.00 0.000 4 0.000 0.067 2141 647 3509

7004 -1.39 -146.6 747.2 -10.8 336 7010 0.00 2.42 0.00 0.000 6 0.000 0.045 2141 2051 3509

7320 -1.39 -146.6 777.4 -9.2 352 7324 0.00 2.58 0.00 0.000 4 0.000 0.066 2141 644 3508

7409 -1.39 -146.6 786.3 -10.0 356 7413 0.00 2.47 0.00 0.000 6 0.000 0.045 2141 2057 3508

7730 -1.39 -146.6 814.6 -8.4 372 7734 0.00 2.58 0.00 0.000 4 0.000 0.066 2141 647 3507

7796 -1.39 -146.6 820.7 -9.0 375 7801 0.00 2.47 0.00 0.000 6 0.000 0.045 2140 2058 3507

8120 -1.39 -146.6 847.5 -8.2 391 8124 0.00 2.60 0.00 0.000 4 0.000 0.067 2141 640 3506

8192 -1.39 -146.6 854.2 -9.1 394 8196 0.00 2.47 0.00 0.000 6 0.000 0.045 2141 2056 3506

8513 -1.39 -146.6 880.5 -8.1 410 8517 0.00 2.58 0.00 0.000 4 0.000 0.067 2141 648 3504

8590 -1.39 -146.6 887.5 -8.9 413 8596 0.00 2.47 0.00 0.000 6 0.000 0.045 2141 2058 3504

8906 -1.39 -146.6 913.7 -8.2 429 8910 0.00 2.60 0.00 0.000 4 0.000 0.067 2141 641 3504

8990 -1.39 -146.6 921.3 -9.4 433 8995 0.00 2.47 0.00 0.000 6 0.000 0.045 2141 2055 3504

9317 -1.39 -146.6 948.9 -8.3 449 9322 0.00 2.58 0.00 0.000 4 0.000 0.067 2141 646 3503

9407 -1.39 -146.6 957.1 -9.0 453 9411 0.00 2.45 0.00 0.000 6 0.000 0.046 2141 2051 3503

9734 -1.39 -146.6 983.3 -7.5 469 9738 0.00 2.58 0.00 0.000 4 0.000 0.067 2141 648 3502

9815 end dive: TARGET_DEPTH_EXCEEDED

state 9815 begin apogee

9823 -0.33 0.0 990.5 8.1 473 9958 1.15 0.00 128.43 1.489 6 0.095 0.000 2372 1954 2914

9959 end apogee: CONTROL_FINISHED_OK

state 9959 begin climb

9961 1.39 146.6 993.4 0.0 480 10099 1.75 2.65 128.95 1.429 4 0.061 0.063 2747 3357 2317

10174 1.39 146.6 976.7 13.4 490 10179 0.00 2.53 0.00 0.000 6 0.000 0.048 2748 1949 2317

10502 1.39 146.6 935.0 12.8 506 10506 0.00 2.58 0.00 0.000 4 0.000 0.059 2748 3353 2316

10564 1.39 146.6 926.7 13.0 509 10568 0.00 2.53 0.00 0.000 6 0.000 0.048 2747 1948 2316

10890 1.39 146.6 885.0 12.8 525 10894 0.00 2.58 0.00 0.000 4 0.000 0.059 2748 3354 2315

10939 1.39 146.6 878.5 13.1 527 10943 0.00 2.50 0.00 0.000 6 0.000 0.048 2748 1950 2315

11255 1.39 146.6 839.1 12.5 542 11259 0.00 2.55 0.00 0.000 4 0.000 0.060 2748 3350 2315

11316 1.39 146.6 831.3 12.8 545 11320 0.00 2.50 0.00 0.000 6 0.000 0.048 2748 1950 2315

11644 1.39 146.6 791.4 12.1 561 11645 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1949 2315

11953 1.39 146.6 754.9 11.9 576 11957 0.00 2.55 0.00 0.000 4 0.000 0.059 2748 3350 2315

12025 1.39 146.6 746.1 12.1 579 12029 0.00 2.50 0.00 0.000 6 0.000 0.048 2748 1950 2314

12340 1.39 146.6 711.2 10.7 594 12341 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1951 2315

12651 1.39 146.6 677.0 10.9 609 12655 0.00 2.55 0.00 0.000 4 0.000 0.059 2748 3350 2315

12713 1.39 146.6 669.8 11.6 612 12717 0.00 2.50 0.00 0.000 6 0.000 0.049 2747 1944 2314

13039 1.39 146.6 634.6 10.8 628 13040 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1944 2314

13348 1.39 146.6 602.0 10.5 643 13352 0.00 2.55 0.00 0.000 4 0.000 0.058 2748 3351 2314

13414 1.39 146.6 594.4 11.3 646 13418 0.00 2.47 0.00 0.000 6 0.000 0.047 2748 1949 2314

13735 1.39 146.6 559.4 10.4 662 13740 0.00 2.55 0.00 0.000 4 0.000 0.058 2748 3354 2314

13830 1.39 146.6 549.2 10.3 666 13834 0.00 2.47 0.00 0.000 6 0.000 0.048 2748 1948 2314

14146 1.41 168.9 519.2 9.0 681 14173 0.00 2.65 19.92 1.188 4 0.000 0.058 2748 3352 2226

14209 1.42 174.2 513.0 9.8 684 14223 0.00 2.50 6.28 0.996 6 0.000 0.047 2748 1951 2204

14539 1.42 174.2 479.5 10.5 700 14543 0.00 2.55 0.00 0.000 4 0.000 0.057 2748 3354 2204

14583 1.42 174.2 474.5 11.2 702 14587 0.00 2.50 0.00 0.000 6 0.000 0.047 2747 1944 2204

14903 1.42 174.2 437.7 11.5 718 14904 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1944 2204

15213 1.44 187.3 405.4 9.4 733 15234 0.00 2.67 12.62 1.075 4 0.000 0.072 2748 555 2151

15295 1.44 187.3 396.3 10.1 736 15302 0.00 2.45 0.00 0.000 6 0.000 0.040 2748 1952 2151

15611 1.44 187.3 363.0 10.1 752 15615 0.00 2.60 0.00 0.000 4 0.000 0.069 2748 548 2151

15672 1.44 187.3 356.5 10.3 755 15677 0.00 2.42 0.00 0.000 6 0.000 0.039 2748 1947 2151

16006 1.44 191.9 323.4 9.8 771 16013 0.00 0.00 5.78 0.867 6 0.000 0.000 2748 1947 2132

16314 1.44 191.9 291.8 10.8 786 16316 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1948 2132

16624 1.44 191.9 258.3 10.9 801 16625 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1948 2133

16933 1.44 191.9 223.4 11.2 816 16937 0.00 2.55 0.00 0.000 4 0.000 0.063 2748 547 2134

16988 1.44 191.9 216.5 11.8 818 16994 0.00 2.42 0.00 0.000 6 0.000 0.036 2748 1950 2134

17303 1.44 191.9 179.4 11.7 834 17308 0.00 2.58 0.00 0.000 4 0.000 0.062 2748 540 2135

17366 1.44 191.9 171.7 11.7 837 17370 0.00 2.45 0.00 0.000 6 0.000 0.036 2748 1956 2135

17693 1.44 191.9 133.6 12.0 853 17694 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1956 2136

18002 1.44 191.9 97.7 11.2 868 18007 0.00 2.58 0.00 0.000 4 0.000 0.061 2748 541 2137

18075 1.44 191.9 89.0 11.8 871 18079 0.00 2.42 0.00 0.000 6 0.000 0.035 2748 1951 2137

18391 1.44 191.9 53.7 11.4 886 18395 0.00 2.55 0.00 0.000 4 0.000 0.061 2748 540 2138

18475 1.44 191.9 43.5 12.9 890 18479 0.00 2.42 0.00 0.000 6 0.000 0.035 2748 1951 2138

18803 1.44 191.9 5.1 12.4 906 18807 0.00 2.55 0.00 0.000 4 0.000 0.061 2748 546 2139

18827 end climb: SURFACE_DEPTH_REACHED

state 18827 begin surface coast

18834 end surface coast: CONTROL_FINISHED_OK

state 18834 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	29	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	39	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	-35617.035	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	113508,6133.823,-306.008,37,0.9,37,-6.1	TGT_NAME	ESEC_SE
_CALLS	2	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.192,0.181
_SM_DEPTHo	1.12	KALMAN_X	101680.2,-482.5,183.0,-98295.8,4443.6
_SM_ANGLEo	-64.8	KALMAN_Y	-25443.3,936.8,1167.1,23240.9,-3359.3
GPS2	114526,6133.945,-305.757,12,1.0,12,-6.1	MHEAD_RNG_PITCHd_Wd	319.4,33900,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	1.0,1.027407	XPDR_PINGS	0
SM_CCo	18858,40.90,0.675,3,0,1895,250.21	_24V_AH	23.0,6.975
SM_GC	0.68,0.00,0.00,40.90,0.000,0.000,0.675,42,2060,1895,-11.08,0.23,250.21	_10V_AH	10.1,3.881
IRIDIUM_FIX	6108.28,-305.28,150597,111155	DATA_FILE_SIZE	47463,907
TT8_MAMPS	0.026845	CFSIZE	260165632,255406080
HUMID	1697	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,27,3,0
INTERNAL_PRESSURE	8.38143	GPS	190208,170237,6135.925,-311.247,26,1.6,26,-6.2
TCM_TEMP	19.90

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	96.27	SBE_CT	675	24	373.06
Roll_motor	206	72	341.85	SBE_O2	613	19	268.01
VBD_pump_during_apogee	301	1488	10339.98	WL_BB2F	542	105	1311.31
VBD_pump_during_surface	40	674	634.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	189.01	nil	0	0	0.00
Iridium_during_connect	77	160	284.11	nil	0	0	0.00
Iridium_during_xfer	271	223	1391.31
Transponder_ping	8	420	82.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.04
TT8	1768	19	353.71
LPSleep	14148	2	312.95
TT8_Active	540	19	108.18
TT8_Sampling	2333	39	937.85
TT8_CF8	739	45	342.29
TT8_Kalman	33	81	27.56
Analog_circuits	1675	12	203.10
GPS_charging	0	0	0.00
Compass	2285	8	184.66
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	106	0.00	0.00	-80.75	0.000	2	0.000	0.000	39	2066	3459
109	-1.39	-146.6	4.7	-5.7	4	131	11.82	2.62	-1.15	0.000	4	0.156	0.071	2141	654	3517
269	-1.39	-146.6	30.8	-12.8	11	273	0.00	2.40	0.00	0.000	6	0.000	0.037	2141	2042	3517
596	-1.39	-146.6	67.9	-11.5	27	600	0.00	2.55	0.00	0.000	4	0.000	0.060	2141	642	3517
658	-1.39	-146.6	74.9	-12.0	30	662	0.00	2.42	0.00	0.000	6	0.000	0.036	2141	2052	3517
985	-1.39	-146.6	111.2	-11.3	46	990	0.00	2.55	0.00	0.000	4	0.000	0.060	2141	648	3518
1052	-1.39	-146.6	119.3	-12.0	49	1056	0.00	2.42	0.00	0.000	6	0.000	0.037	2141	2057	3518
1373	-1.39	-146.6	155.5	-11.3	65	1377	0.00	2.55	0.00	0.000	4	0.000	0.059	2141	647	3518
1507	-1.39	-146.6	171.4	-11.9	71	1511	0.00	2.42	0.00	0.000	6	0.000	0.037	2141	2060	3518
1829	-1.39	-146.6	207.9	-11.4	87	1833	0.00	2.58	0.00	0.000	4	0.000	0.061	2141	643	3518
1936	-1.39	-146.6	220.5	-11.5	92	1940	0.00	2.42	0.00	0.000	6	0.000	0.038	2141	2051	3518
2262	-1.39	-146.6	257.1	-11.2	108	2266	0.00	2.55	0.00	0.000	4	0.000	0.060	2141	644	3518
2379	-1.39	-146.6	271.2	-12.1	113	2383	0.00	2.40	0.00	0.000	6	0.000	0.038	2141	2053	3518
2700	-1.39	-146.6	306.1	-10.6	129	2704	0.00	2.55	0.00	0.000	4	0.000	0.060	2141	647	3519
2777	-1.39	-146.6	314.8	-10.2	132	2783	0.00	2.42	0.00	0.000	6	0.000	0.038	2141	2058	3518
3093	-1.39	-146.6	346.8	-10.1	148	3097	0.00	2.58	0.00	0.000	4	0.000	0.061	2141	641	3518
3155	-1.39	-146.6	353.5	-11.1	151	3159	0.00	2.42	0.00	0.000	6	0.000	0.038	2141	2054	3518
3481	-1.39	-146.6	388.8	-10.9	167	3485	0.00	2.55	0.00	0.000	4	0.000	0.061	2141	648	3518
3603	-1.39	-146.6	403.1	-11.1	172	3609	0.00	2.40	0.00	0.000	6	0.000	0.038	2141	2052	3519
3919	-1.39	-146.6	433.3	-8.7	188	3923	0.00	2.53	0.00	0.000	4	0.000	0.061	2141	648	3518
4053	-1.39	-146.6	445.4	-8.3	194	4057	0.00	2.42	0.00	0.000	6	0.000	0.039	2141	2056	3518
4374	-1.39	-146.6	473.1	-9.5	210	4378	0.00	2.55	0.00	0.000	4	0.000	0.062	2141	645	3518
4527	-1.39	-146.6	488.0	-9.9	217	4532	0.00	2.42	0.00	0.000	6	0.000	0.041	2141	2051	3518
4854	-1.39	-146.6	519.5	-9.6	233	4859	0.00	2.58	0.00	0.000	4	0.000	0.064	2141	643	3517
4984	-1.39	-146.6	533.2	-10.9	239	4988	0.00	2.45	0.00	0.000	6	0.000	0.042	2141	2053	3517
5310	-1.39	-146.6	568.5	-10.8	255	5314	0.00	2.58	0.00	0.000	4	0.000	0.065	2141	641	3516
5426	-1.39	-146.6	582.2	-11.9	260	5431	0.00	2.45	0.00	0.000	6	0.000	0.043	2141	2051	3515
5742	-1.39	-146.6	617.2	-11.0	275	5746	0.00	2.58	0.00	0.000	4	0.000	0.066	2141	647	3514
5804	-1.39	-146.6	624.1	-10.7	278	5808	0.00	2.45	0.00	0.000	6	0.000	0.044	2141	2051	3514
6130	-1.39	-146.6	656.6	-9.6	294	6135	0.00	2.58	0.00	0.000	4	0.000	0.067	2141	648	3512
6220	-1.39	-146.6	665.9	-10.5	298	6224	0.00	2.45	0.00	0.000	6	0.000	0.044	2141	2053	3512
6540	-1.39	-146.6	698.5	-10.6	314	6544	0.00	2.58	0.00	0.000	4	0.000	0.067	2141	647	3510
6606	-1.39	-146.6	706.1	-11.1	317	6610	0.00	2.45	0.00	0.000	6	0.000	0.044	2141	2051	3510
6927	-1.39	-146.6	738.8	-10.0	333	6931	0.00	2.58	0.00	0.000	4	0.000	0.067	2141	647	3509
7004	-1.39	-146.6	747.2	-10.8	336	7010	0.00	2.42	0.00	0.000	6	0.000	0.045	2141	2051	3509
7320	-1.39	-146.6	777.4	-9.2	352	7324	0.00	2.58	0.00	0.000	4	0.000	0.066	2141	644	3508
7409	-1.39	-146.6	786.3	-10.0	356	7413	0.00	2.47	0.00	0.000	6	0.000	0.045	2141	2057	3508
7730	-1.39	-146.6	814.6	-8.4	372	7734	0.00	2.58	0.00	0.000	4	0.000	0.066	2141	647	3507
7796	-1.39	-146.6	820.7	-9.0	375	7801	0.00	2.47	0.00	0.000	6	0.000	0.045	2140	2058	3507
8120	-1.39	-146.6	847.5	-8.2	391	8124	0.00	2.60	0.00	0.000	4	0.000	0.067	2141	640	3506
8192	-1.39	-146.6	854.2	-9.1	394	8196	0.00	2.47	0.00	0.000	6	0.000	0.045	2141	2056	3506
8513	-1.39	-146.6	880.5	-8.1	410	8517	0.00	2.58	0.00	0.000	4	0.000	0.067	2141	648	3504
8590	-1.39	-146.6	887.5	-8.9	413	8596	0.00	2.47	0.00	0.000	6	0.000	0.045	2141	2058	3504
8906	-1.39	-146.6	913.7	-8.2	429	8910	0.00	2.60	0.00	0.000	4	0.000	0.067	2141	641	3504
8990	-1.39	-146.6	921.3	-9.4	433	8995	0.00	2.47	0.00	0.000	6	0.000	0.045	2141	2055	3504
9317	-1.39	-146.6	948.9	-8.3	449	9322	0.00	2.58	0.00	0.000	4	0.000	0.067	2141	646	3503
9407	-1.39	-146.6	957.1	-9.0	453	9411	0.00	2.45	0.00	0.000	6	0.000	0.046	2141	2051	3503
9734	-1.39	-146.6	983.3	-7.5	469	9738	0.00	2.58	0.00	0.000	4	0.000	0.067	2141	648	3502
9815	end dive: TARGET_DEPTH_EXCEEDED
state	9815	begin apogee
9823	-0.33	0.0	990.5	8.1	473	9958	1.15	0.00	128.43	1.489	6	0.095	0.000	2372	1954	2914
9959	end apogee: CONTROL_FINISHED_OK
state	9959	begin climb
9961	1.39	146.6	993.4	0.0	480	10099	1.75	2.65	128.95	1.429	4	0.061	0.063	2747	3357	2317
10174	1.39	146.6	976.7	13.4	490	10179	0.00	2.53	0.00	0.000	6	0.000	0.048	2748	1949	2317
10502	1.39	146.6	935.0	12.8	506	10506	0.00	2.58	0.00	0.000	4	0.000	0.059	2748	3353	2316
10564	1.39	146.6	926.7	13.0	509	10568	0.00	2.53	0.00	0.000	6	0.000	0.048	2747	1948	2316
10890	1.39	146.6	885.0	12.8	525	10894	0.00	2.58	0.00	0.000	4	0.000	0.059	2748	3354	2315
10939	1.39	146.6	878.5	13.1	527	10943	0.00	2.50	0.00	0.000	6	0.000	0.048	2748	1950	2315
11255	1.39	146.6	839.1	12.5	542	11259	0.00	2.55	0.00	0.000	4	0.000	0.060	2748	3350	2315
11316	1.39	146.6	831.3	12.8	545	11320	0.00	2.50	0.00	0.000	6	0.000	0.048	2748	1950	2315
11644	1.39	146.6	791.4	12.1	561	11645	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1949	2315
11953	1.39	146.6	754.9	11.9	576	11957	0.00	2.55	0.00	0.000	4	0.000	0.059	2748	3350	2315
12025	1.39	146.6	746.1	12.1	579	12029	0.00	2.50	0.00	0.000	6	0.000	0.048	2748	1950	2314
12340	1.39	146.6	711.2	10.7	594	12341	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1951	2315
12651	1.39	146.6	677.0	10.9	609	12655	0.00	2.55	0.00	0.000	4	0.000	0.059	2748	3350	2315
12713	1.39	146.6	669.8	11.6	612	12717	0.00	2.50	0.00	0.000	6	0.000	0.049	2747	1944	2314
13039	1.39	146.6	634.6	10.8	628	13040	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1944	2314
13348	1.39	146.6	602.0	10.5	643	13352	0.00	2.55	0.00	0.000	4	0.000	0.058	2748	3351	2314
13414	1.39	146.6	594.4	11.3	646	13418	0.00	2.47	0.00	0.000	6	0.000	0.047	2748	1949	2314
13735	1.39	146.6	559.4	10.4	662	13740	0.00	2.55	0.00	0.000	4	0.000	0.058	2748	3354	2314
13830	1.39	146.6	549.2	10.3	666	13834	0.00	2.47	0.00	0.000	6	0.000	0.048	2748	1948	2314
14146	1.41	168.9	519.2	9.0	681	14173	0.00	2.65	19.92	1.188	4	0.000	0.058	2748	3352	2226
14209	1.42	174.2	513.0	9.8	684	14223	0.00	2.50	6.28	0.996	6	0.000	0.047	2748	1951	2204
14539	1.42	174.2	479.5	10.5	700	14543	0.00	2.55	0.00	0.000	4	0.000	0.057	2748	3354	2204
14583	1.42	174.2	474.5	11.2	702	14587	0.00	2.50	0.00	0.000	6	0.000	0.047	2747	1944	2204
14903	1.42	174.2	437.7	11.5	718	14904	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1944	2204
15213	1.44	187.3	405.4	9.4	733	15234	0.00	2.67	12.62	1.075	4	0.000	0.072	2748	555	2151
15295	1.44	187.3	396.3	10.1	736	15302	0.00	2.45	0.00	0.000	6	0.000	0.040	2748	1952	2151
15611	1.44	187.3	363.0	10.1	752	15615	0.00	2.60	0.00	0.000	4	0.000	0.069	2748	548	2151
15672	1.44	187.3	356.5	10.3	755	15677	0.00	2.42	0.00	0.000	6	0.000	0.039	2748	1947	2151
16006	1.44	191.9	323.4	9.8	771	16013	0.00	0.00	5.78	0.867	6	0.000	0.000	2748	1947	2132
16314	1.44	191.9	291.8	10.8	786	16316	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1948	2132
16624	1.44	191.9	258.3	10.9	801	16625	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1948	2133
16933	1.44	191.9	223.4	11.2	816	16937	0.00	2.55	0.00	0.000	4	0.000	0.063	2748	547	2134
16988	1.44	191.9	216.5	11.8	818	16994	0.00	2.42	0.00	0.000	6	0.000	0.036	2748	1950	2134
17303	1.44	191.9	179.4	11.7	834	17308	0.00	2.58	0.00	0.000	4	0.000	0.062	2748	540	2135
17366	1.44	191.9	171.7	11.7	837	17370	0.00	2.45	0.00	0.000	6	0.000	0.036	2748	1956	2135
17693	1.44	191.9	133.6	12.0	853	17694	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1956	2136
18002	1.44	191.9	97.7	11.2	868	18007	0.00	2.58	0.00	0.000	4	0.000	0.061	2748	541	2137
18075	1.44	191.9	89.0	11.8	871	18079	0.00	2.42	0.00	0.000	6	0.000	0.035	2748	1951	2137
18391	1.44	191.9	53.7	11.4	886	18395	0.00	2.55	0.00	0.000	4	0.000	0.061	2748	540	2138
18475	1.44	191.9	43.5	12.9	890	18479	0.00	2.42	0.00	0.000	6	0.000	0.035	2748	1951	2138
18803	1.44	191.9	5.1	12.4	906	18807	0.00	2.55	0.00	0.000	4	0.000	0.061	2748	546	2139
18827	end climb: SURFACE_DEPTH_REACHED
state	18827	begin surface coast
18834	end surface coast: CONTROL_FINISHED_OK
state	18834	begin surface