Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 30 * 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 30 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 28 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 -35628.395 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 -35628.395

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 28 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 30 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 170237,6135.925,-311.247,26,1.6,26,-6.2 TGT_NAME ESEC_SE

_CALLS 1 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.263,-0.019

_SM_DEPTHo 1.01 KALMAN_X 102001.8,-136.1,-1503.4,-102020.3,5660.5

_SM_ANGLEo -65.2 KALMAN_Y -23154.0,362.9,-261.2,26774.4,615.0

GPS2 170903,6136.007,-311.164,9,2.0,9,-6.2 MHEAD_RNG_PITCHd_Wd 272.2,31049,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027491 XPDR_PINGS 0

SM_CCo 19378,53.62,0.701,3,0,1894,250.21 _24V_AH 23.0,7.116

SM_GC 0.93,0.00,0.00,53.62,0.000,0.000,0.701,41,2067,1894,-11.08,0.42,250.21 _10V_AH 10.1,3.972

IRIDIUM_FIX 6108.28,-305.03,150597,111126 DATA_FILE_SIZE 47455,930

TT8_MAMPS 0.026845 CFSIZE 260165632,255344640

HUMID 1702 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,3,0

INTERNAL_PRESSURE 8.35213 GPS 190208,223507,6136.436,-313.769,27,1.4,27,-6.2

TCM_TEMP 16.50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 157 97.64 SBE_CT 700 24 386.66

Roll_motor 186 73 315.93 SBE_O2 628 19 274.54

VBD_pump_during_apogee 279 1494 9592.90 WL_BB2F 566 105 1367.47

VBD_pump_during_surface 53 701 864.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 77.64 nil 0 0 0.00

Iridium_during_connect 50 160 186.43 nil 0 0 0.00

Iridium_during_xfer 187 223 961.80

Transponder_ping 8 420 82.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.42

TT8 1765 19 353.11

LPSleep 14702 2 325.21

TT8_Active 542 19 108.55

TT8_Sampling 2254 39 906.44

TT8_CF8 563 45 260.86

TT8_Kalman 33 81 27.56

Analog_circuits 1644 12 199.28

GPS_charging 0 0 0.00

Compass 2220 8 179.39

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 0 112 0.00 0.00 -86.78 0.000 6 0.000 0.000 43 2060 3514

115 -1.39 -146.6 4.6 -4.0 5 137 11.85 2.60 0.00 0.000 4 0.157 0.054 2144 643 3515

153 -1.39 -146.6 18.1 -24.0 6 160 0.00 2.42 0.00 0.000 6 0.000 0.036 2144 2050 3516

469 -1.39 -146.6 53.8 -10.9 22 473 0.00 2.55 0.00 0.000 4 0.000 0.058 2144 640 3516

564 -1.39 -146.6 64.2 -11.1 26 568 0.00 2.42 0.00 0.000 6 0.000 0.035 2144 2055 3516

880 -1.39 -146.6 98.5 -11.1 41 885 0.00 2.55 0.00 0.000 4 0.000 0.058 2144 643 3517

981 -1.39 -146.6 110.3 -11.9 45 987 0.00 2.42 0.00 0.000 6 0.000 0.036 2144 2060 3516

1297 -1.39 -146.6 145.3 -10.9 61 1301 0.00 2.55 0.00 0.000 4 0.000 0.058 2144 642 3517

1391 -1.39 -146.6 156.3 -11.5 65 1395 0.00 2.42 0.00 0.000 6 0.000 0.036 2144 2058 3516

1707 -1.39 -146.6 191.2 -11.0 80 1711 0.00 2.55 0.00 0.000 4 0.000 0.059 2144 646 3517

1795 -1.39 -146.6 201.3 -11.2 84 1799 0.00 2.40 0.00 0.000 6 0.000 0.036 2144 2054 3517

2116 -1.39 -146.6 236.0 -10.6 100 2120 0.00 2.53 0.00 0.000 4 0.000 0.059 2144 647 3517

2193 -1.39 -146.6 244.4 -10.6 103 2199 0.00 2.40 0.00 0.000 6 0.000 0.037 2144 2054 3518

2510 -1.39 -146.6 275.7 -9.5 119 2514 0.00 2.55 0.00 0.000 4 0.000 0.061 2144 643 3517

2605 -1.39 -146.6 285.2 -9.5 123 2609 0.00 2.42 0.00 0.000 6 0.000 0.037 2144 2053 3518

2920 -1.39 -146.6 313.3 -8.9 138 2925 0.00 2.53 0.00 0.000 4 0.000 0.059 2144 646 3518

3066 -1.39 -146.6 327.6 -10.2 144 3072 0.00 2.42 0.00 0.000 6 0.000 0.037 2144 2057 3518

3381 -1.39 -146.6 359.7 -10.2 160 3385 0.00 2.55 0.00 0.000 4 0.000 0.061 2144 643 3518

3504 -1.39 -146.6 372.3 -9.5 165 3510 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2053 3518

3820 -1.39 -146.6 402.7 -10.0 181 3821 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2053 3517

4129 -1.39 -146.6 433.3 -9.9 196 4134 0.00 2.55 0.00 0.000 4 0.000 0.061 2144 643 3517

4192 -1.39 -146.6 439.8 -10.7 199 4196 0.00 2.42 0.00 0.000 6 0.000 0.039 2144 2058 3517

4524 -1.39 -146.6 473.1 -9.9 215 4528 0.00 2.58 0.00 0.000 4 0.000 0.063 2144 639 3517

4596 -1.39 -146.6 480.6 -10.4 218 4600 0.00 2.45 0.00 0.000 6 0.000 0.040 2144 2062 3517

4911 -1.39 -146.6 512.9 -10.8 233 4915 0.00 2.58 0.00 0.000 4 0.000 0.064 2144 647 3516

5000 -1.39 -146.6 523.1 -11.3 237 5004 0.00 2.42 0.00 0.000 6 0.000 0.041 2144 2053 3516

5320 -1.39 -146.6 556.1 -10.1 253 5324 0.00 2.58 0.00 0.000 4 0.000 0.065 2144 645 3515

5399 -1.39 -146.6 564.3 -10.4 256 5405 0.00 2.45 0.00 0.000 6 0.000 0.043 2144 2052 3514

5714 -1.39 -146.6 596.1 -10.1 272 5719 0.00 2.58 0.00 0.000 4 0.000 0.066 2144 647 3513

5816 -1.39 -146.6 607.0 -11.4 276 5822 0.00 2.45 0.00 0.000 6 0.000 0.044 2144 2051 3513

6131 -1.39 -146.6 639.7 -10.2 292 6136 0.00 2.58 0.00 0.000 4 0.000 0.066 2143 648 3512

6217 -1.39 -146.6 648.8 -11.4 296 6221 0.00 2.45 0.00 0.000 6 0.000 0.044 2144 2051 3511

6543 -1.39 -146.6 681.2 -9.7 312 6547 0.00 2.58 0.00 0.000 4 0.000 0.066 2144 646 3510

6620 -1.39 -146.6 689.4 -10.6 315 6627 0.00 2.45 0.00 0.000 6 0.000 0.044 2144 2051 3510

6937 -1.39 -146.6 719.5 -9.5 331 6941 0.00 2.58 0.00 0.000 4 0.000 0.066 2143 646 3509

7021 -1.39 -146.6 727.9 -9.7 335 7026 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2059 3509

7349 -1.39 -146.6 756.3 -8.4 351 7354 0.00 2.60 0.00 0.000 4 0.000 0.066 2143 640 3508

7416 -1.39 -146.6 762.6 -9.1 354 7421 0.00 2.47 0.00 0.000 6 0.000 0.044 2144 2050 3507

7738 -1.39 -146.6 789.4 -8.1 370 7742 0.00 2.58 0.00 0.000 4 0.000 0.067 2144 647 3506

7815 -1.39 -146.6 796.4 -9.2 373 7821 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2056 3507

8131 -1.39 -146.6 823.4 -8.7 389 8135 0.00 2.58 0.00 0.000 4 0.000 0.066 2144 647 3506

8203 -1.39 -146.6 830.3 -9.7 392 8207 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2056 3506

8519 -1.39 -146.6 858.3 -8.8 407 8523 0.00 2.58 0.00 0.000 4 0.000 0.066 2144 648 3505

8596 -1.39 -146.6 865.8 -9.2 410 8603 0.00 2.47 0.00 0.000 6 0.000 0.046 2143 2056 3505

8913 -1.39 -146.6 894.6 -9.2 426 8917 0.00 2.58 0.00 0.000 4 0.000 0.067 2143 648 3504

8985 -1.39 -146.6 901.7 -9.8 429 8989 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2056 3504

9302 -1.39 -146.6 930.8 -9.2 444 9306 0.00 2.60 0.00 0.000 4 0.000 0.067 2144 639 3503

9368 -1.39 -146.6 937.4 -10.0 447 9372 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2053 3503

9689 -1.39 -146.6 965.9 -8.7 463 9693 0.00 2.58 0.00 0.000 4 0.000 0.067 2144 648 3502

9773 -1.39 -146.6 973.6 -9.2 467 9778 0.00 2.47 0.00 0.000 6 0.000 0.046 2143 2058 3502

9973 end dive: TARGET_DEPTH_EXCEEDED

state 9974 begin apogee

9980 -0.33 0.0 991.8 9.0 477 10116 1.15 0.00 128.02 1.494 6 0.097 0.000 2374 1935 2915

10117 end apogee: CONTROL_FINISHED_OK

state 10117 begin climb

10119 1.39 146.6 996.2 0.0 484 10257 1.75 2.67 129.27 1.434 4 0.062 0.062 2747 3352 2317

10427 1.39 146.6 970.4 12.0 497 10432 0.00 2.50 0.00 0.000 6 0.000 0.048 2747 1958 2316

10743 1.39 146.6 935.1 11.1 512 10747 0.00 2.55 0.00 0.000 4 0.000 0.060 2747 3353 2316

10804 1.39 146.6 927.9 11.4 515 10809 0.00 2.50 0.00 0.000 6 0.000 0.048 2747 1950 2316

11132 1.39 146.6 891.5 11.3 531 11136 0.00 2.58 0.00 0.000 4 0.000 0.060 2747 3353 2315

11198 1.39 146.6 883.7 12.0 534 11202 0.00 2.53 0.00 0.000 6 0.000 0.048 2747 1942 2315

11518 1.39 146.6 848.4 10.9 550 11522 0.00 2.58 0.00 0.000 4 0.000 0.059 2747 3352 2315

11558 1.39 146.6 843.7 11.6 552 11562 0.00 2.53 0.00 0.000 6 0.000 0.048 2747 1941 2315

11884 1.39 146.6 807.7 10.8 568 11888 0.00 2.58 0.00 0.000 4 0.000 0.059 2747 3352 2315

11956 1.39 146.6 799.6 11.8 571 11960 0.00 2.50 0.00 0.000 6 0.000 0.048 2747 1949 2315

12272 1.39 146.6 765.0 11.2 586 12276 0.00 2.58 0.00 0.000 4 0.000 0.060 2747 3361 2314

12315 1.39 146.6 759.9 11.2 588 12320 0.00 2.50 0.00 0.000 6 0.000 0.048 2747 1949 2314

12636 1.39 146.6 724.9 11.1 604 12641 0.00 2.55 0.00 0.000 4 0.000 0.059 2747 3353 2314

12709 1.39 146.6 716.3 11.3 607 12713 0.00 2.50 0.00 0.000 6 0.000 0.048 2747 1946 2314

13030 1.39 146.6 680.1 11.3 623 13031 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1946 2314

13339 1.39 146.6 645.0 11.4 638 13343 0.00 2.58 0.00 0.000 4 0.000 0.059 2747 3360 2314

13416 1.39 146.6 635.7 11.8 641 13423 0.00 2.50 0.00 0.000 6 0.000 0.048 2747 1944 2314

13732 1.39 146.6 601.1 11.0 657 13733 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1944 2314

14041 1.39 146.6 569.2 10.0 672 14046 0.00 2.55 0.00 0.000 4 0.000 0.059 2747 3353 2314

14097 1.39 146.6 563.4 10.1 674 14103 0.00 2.50 0.00 0.000 6 0.000 0.047 2747 1946 2314

14412 1.41 161.8 533.2 9.3 690 14432 0.00 0.00 13.90 1.169 6 0.000 0.000 2747 1945 2254

14744 1.41 161.8 498.2 11.1 706 14745 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1945 2254

15052 1.41 161.8 464.2 10.5 721 15056 0.00 2.58 0.00 0.000 4 0.000 0.058 2747 3361 2254

15113 1.41 168.8 457.5 9.7 724 15128 0.00 2.50 7.95 1.048 6 0.000 0.046 2747 1946 2226

15444 1.41 168.8 418.5 11.8 740 15449 0.00 2.60 0.00 0.000 4 0.000 0.074 2747 547 2226

15555 1.41 168.8 404.3 12.9 745 15560 0.00 2.45 0.00 0.000 6 0.000 0.041 2747 1953 2226

15877 1.41 168.8 368.5 10.8 761 15882 0.00 2.60 0.00 0.000 4 0.000 0.069 2747 547 2226

15910 1.41 168.8 364.6 11.2 762 15916 0.00 2.45 0.00 0.000 6 0.000 0.041 2747 1947 2226

16226 1.41 168.8 329.9 11.2 778 16227 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1948 2226

16535 1.41 168.8 295.8 11.1 793 16536 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1949 2226

16844 1.41 168.8 263.0 10.3 808 16845 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1949 2226

17153 1.41 168.8 231.3 10.3 823 17154 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1949 2227

17464 1.41 168.8 199.3 10.8 838 17465 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1948 2227

17772 1.41 168.8 166.8 10.3 853 17773 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1949 2228

18082 1.41 168.8 135.4 10.2 868 18083 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 1949 2229

18391 1.41 168.8 103.2 10.5 883 18392 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1949 2230

18701 1.41 168.8 70.3 10.8 898 18705 0.00 2.55 0.00 0.000 4 0.000 0.062 2747 545 2231

18741 1.41 168.8 65.8 11.9 900 18745 0.00 2.42 0.00 0.000 6 0.000 0.036 2748 1951 2231

19068 1.41 168.8 29.9 11.1 916 19069 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1951 2232

19333 end climb: SURFACE_DEPTH_REACHED

state 19334 begin surface coast

19355 end surface coast: CONTROL_FINISHED_OK

state 19355 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	30	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	28	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	-35628.395	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	170237,6135.925,-311.247,26,1.6,26,-6.2	TGT_NAME	ESEC_SE
_CALLS	1	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.263,-0.019
_SM_DEPTHo	1.01	KALMAN_X	102001.8,-136.1,-1503.4,-102020.3,5660.5
_SM_ANGLEo	-65.2	KALMAN_Y	-23154.0,362.9,-261.2,26774.4,615.0
GPS2	170903,6136.007,-311.164,9,2.0,9,-6.2	MHEAD_RNG_PITCHd_Wd	272.2,31049,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.027491	XPDR_PINGS	0
SM_CCo	19378,53.62,0.701,3,0,1894,250.21	_24V_AH	23.0,7.116
SM_GC	0.93,0.00,0.00,53.62,0.000,0.000,0.701,41,2067,1894,-11.08,0.42,250.21	_10V_AH	10.1,3.972
IRIDIUM_FIX	6108.28,-305.03,150597,111126	DATA_FILE_SIZE	47455,930
TT8_MAMPS	0.026845	CFSIZE	260165632,255344640
HUMID	1702	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,3,0
INTERNAL_PRESSURE	8.35213	GPS	190208,223507,6136.436,-313.769,27,1.4,27,-6.2
TCM_TEMP	16.50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	157	97.64	SBE_CT	700	24	386.66
Roll_motor	186	73	315.93	SBE_O2	628	19	274.54
VBD_pump_during_apogee	279	1494	9592.90	WL_BB2F	566	105	1367.47
VBD_pump_during_surface	53	701	864.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	77.64	nil	0	0	0.00
Iridium_during_connect	50	160	186.43	nil	0	0	0.00
Iridium_during_xfer	187	223	961.80
Transponder_ping	8	420	82.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.42
TT8	1765	19	353.11
LPSleep	14702	2	325.21
TT8_Active	542	19	108.55
TT8_Sampling	2254	39	906.44
TT8_CF8	563	45	260.86
TT8_Kalman	33	81	27.56
Analog_circuits	1644	12	199.28
GPS_charging	0	0	0.00
Compass	2220	8	179.39
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	112	0.00	0.00	-86.78	0.000	6	0.000	0.000	43	2060	3514
115	-1.39	-146.6	4.6	-4.0	5	137	11.85	2.60	0.00	0.000	4	0.157	0.054	2144	643	3515
153	-1.39	-146.6	18.1	-24.0	6	160	0.00	2.42	0.00	0.000	6	0.000	0.036	2144	2050	3516
469	-1.39	-146.6	53.8	-10.9	22	473	0.00	2.55	0.00	0.000	4	0.000	0.058	2144	640	3516
564	-1.39	-146.6	64.2	-11.1	26	568	0.00	2.42	0.00	0.000	6	0.000	0.035	2144	2055	3516
880	-1.39	-146.6	98.5	-11.1	41	885	0.00	2.55	0.00	0.000	4	0.000	0.058	2144	643	3517
981	-1.39	-146.6	110.3	-11.9	45	987	0.00	2.42	0.00	0.000	6	0.000	0.036	2144	2060	3516
1297	-1.39	-146.6	145.3	-10.9	61	1301	0.00	2.55	0.00	0.000	4	0.000	0.058	2144	642	3517
1391	-1.39	-146.6	156.3	-11.5	65	1395	0.00	2.42	0.00	0.000	6	0.000	0.036	2144	2058	3516
1707	-1.39	-146.6	191.2	-11.0	80	1711	0.00	2.55	0.00	0.000	4	0.000	0.059	2144	646	3517
1795	-1.39	-146.6	201.3	-11.2	84	1799	0.00	2.40	0.00	0.000	6	0.000	0.036	2144	2054	3517
2116	-1.39	-146.6	236.0	-10.6	100	2120	0.00	2.53	0.00	0.000	4	0.000	0.059	2144	647	3517
2193	-1.39	-146.6	244.4	-10.6	103	2199	0.00	2.40	0.00	0.000	6	0.000	0.037	2144	2054	3518
2510	-1.39	-146.6	275.7	-9.5	119	2514	0.00	2.55	0.00	0.000	4	0.000	0.061	2144	643	3517
2605	-1.39	-146.6	285.2	-9.5	123	2609	0.00	2.42	0.00	0.000	6	0.000	0.037	2144	2053	3518
2920	-1.39	-146.6	313.3	-8.9	138	2925	0.00	2.53	0.00	0.000	4	0.000	0.059	2144	646	3518
3066	-1.39	-146.6	327.6	-10.2	144	3072	0.00	2.42	0.00	0.000	6	0.000	0.037	2144	2057	3518
3381	-1.39	-146.6	359.7	-10.2	160	3385	0.00	2.55	0.00	0.000	4	0.000	0.061	2144	643	3518
3504	-1.39	-146.6	372.3	-9.5	165	3510	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2053	3518
3820	-1.39	-146.6	402.7	-10.0	181	3821	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2053	3517
4129	-1.39	-146.6	433.3	-9.9	196	4134	0.00	2.55	0.00	0.000	4	0.000	0.061	2144	643	3517
4192	-1.39	-146.6	439.8	-10.7	199	4196	0.00	2.42	0.00	0.000	6	0.000	0.039	2144	2058	3517
4524	-1.39	-146.6	473.1	-9.9	215	4528	0.00	2.58	0.00	0.000	4	0.000	0.063	2144	639	3517
4596	-1.39	-146.6	480.6	-10.4	218	4600	0.00	2.45	0.00	0.000	6	0.000	0.040	2144	2062	3517
4911	-1.39	-146.6	512.9	-10.8	233	4915	0.00	2.58	0.00	0.000	4	0.000	0.064	2144	647	3516
5000	-1.39	-146.6	523.1	-11.3	237	5004	0.00	2.42	0.00	0.000	6	0.000	0.041	2144	2053	3516
5320	-1.39	-146.6	556.1	-10.1	253	5324	0.00	2.58	0.00	0.000	4	0.000	0.065	2144	645	3515
5399	-1.39	-146.6	564.3	-10.4	256	5405	0.00	2.45	0.00	0.000	6	0.000	0.043	2144	2052	3514
5714	-1.39	-146.6	596.1	-10.1	272	5719	0.00	2.58	0.00	0.000	4	0.000	0.066	2144	647	3513
5816	-1.39	-146.6	607.0	-11.4	276	5822	0.00	2.45	0.00	0.000	6	0.000	0.044	2144	2051	3513
6131	-1.39	-146.6	639.7	-10.2	292	6136	0.00	2.58	0.00	0.000	4	0.000	0.066	2143	648	3512
6217	-1.39	-146.6	648.8	-11.4	296	6221	0.00	2.45	0.00	0.000	6	0.000	0.044	2144	2051	3511
6543	-1.39	-146.6	681.2	-9.7	312	6547	0.00	2.58	0.00	0.000	4	0.000	0.066	2144	646	3510
6620	-1.39	-146.6	689.4	-10.6	315	6627	0.00	2.45	0.00	0.000	6	0.000	0.044	2144	2051	3510
6937	-1.39	-146.6	719.5	-9.5	331	6941	0.00	2.58	0.00	0.000	4	0.000	0.066	2143	646	3509
7021	-1.39	-146.6	727.9	-9.7	335	7026	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2059	3509
7349	-1.39	-146.6	756.3	-8.4	351	7354	0.00	2.60	0.00	0.000	4	0.000	0.066	2143	640	3508
7416	-1.39	-146.6	762.6	-9.1	354	7421	0.00	2.47	0.00	0.000	6	0.000	0.044	2144	2050	3507
7738	-1.39	-146.6	789.4	-8.1	370	7742	0.00	2.58	0.00	0.000	4	0.000	0.067	2144	647	3506
7815	-1.39	-146.6	796.4	-9.2	373	7821	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2056	3507
8131	-1.39	-146.6	823.4	-8.7	389	8135	0.00	2.58	0.00	0.000	4	0.000	0.066	2144	647	3506
8203	-1.39	-146.6	830.3	-9.7	392	8207	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2056	3506
8519	-1.39	-146.6	858.3	-8.8	407	8523	0.00	2.58	0.00	0.000	4	0.000	0.066	2144	648	3505
8596	-1.39	-146.6	865.8	-9.2	410	8603	0.00	2.47	0.00	0.000	6	0.000	0.046	2143	2056	3505
8913	-1.39	-146.6	894.6	-9.2	426	8917	0.00	2.58	0.00	0.000	4	0.000	0.067	2143	648	3504
8985	-1.39	-146.6	901.7	-9.8	429	8989	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2056	3504
9302	-1.39	-146.6	930.8	-9.2	444	9306	0.00	2.60	0.00	0.000	4	0.000	0.067	2144	639	3503
9368	-1.39	-146.6	937.4	-10.0	447	9372	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2053	3503
9689	-1.39	-146.6	965.9	-8.7	463	9693	0.00	2.58	0.00	0.000	4	0.000	0.067	2144	648	3502
9773	-1.39	-146.6	973.6	-9.2	467	9778	0.00	2.47	0.00	0.000	6	0.000	0.046	2143	2058	3502
9973	end dive: TARGET_DEPTH_EXCEEDED
state	9974	begin apogee
9980	-0.33	0.0	991.8	9.0	477	10116	1.15	0.00	128.02	1.494	6	0.097	0.000	2374	1935	2915
10117	end apogee: CONTROL_FINISHED_OK
state	10117	begin climb
10119	1.39	146.6	996.2	0.0	484	10257	1.75	2.67	129.27	1.434	4	0.062	0.062	2747	3352	2317
10427	1.39	146.6	970.4	12.0	497	10432	0.00	2.50	0.00	0.000	6	0.000	0.048	2747	1958	2316
10743	1.39	146.6	935.1	11.1	512	10747	0.00	2.55	0.00	0.000	4	0.000	0.060	2747	3353	2316
10804	1.39	146.6	927.9	11.4	515	10809	0.00	2.50	0.00	0.000	6	0.000	0.048	2747	1950	2316
11132	1.39	146.6	891.5	11.3	531	11136	0.00	2.58	0.00	0.000	4	0.000	0.060	2747	3353	2315
11198	1.39	146.6	883.7	12.0	534	11202	0.00	2.53	0.00	0.000	6	0.000	0.048	2747	1942	2315
11518	1.39	146.6	848.4	10.9	550	11522	0.00	2.58	0.00	0.000	4	0.000	0.059	2747	3352	2315
11558	1.39	146.6	843.7	11.6	552	11562	0.00	2.53	0.00	0.000	6	0.000	0.048	2747	1941	2315
11884	1.39	146.6	807.7	10.8	568	11888	0.00	2.58	0.00	0.000	4	0.000	0.059	2747	3352	2315
11956	1.39	146.6	799.6	11.8	571	11960	0.00	2.50	0.00	0.000	6	0.000	0.048	2747	1949	2315
12272	1.39	146.6	765.0	11.2	586	12276	0.00	2.58	0.00	0.000	4	0.000	0.060	2747	3361	2314
12315	1.39	146.6	759.9	11.2	588	12320	0.00	2.50	0.00	0.000	6	0.000	0.048	2747	1949	2314
12636	1.39	146.6	724.9	11.1	604	12641	0.00	2.55	0.00	0.000	4	0.000	0.059	2747	3353	2314
12709	1.39	146.6	716.3	11.3	607	12713	0.00	2.50	0.00	0.000	6	0.000	0.048	2747	1946	2314
13030	1.39	146.6	680.1	11.3	623	13031	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1946	2314
13339	1.39	146.6	645.0	11.4	638	13343	0.00	2.58	0.00	0.000	4	0.000	0.059	2747	3360	2314
13416	1.39	146.6	635.7	11.8	641	13423	0.00	2.50	0.00	0.000	6	0.000	0.048	2747	1944	2314
13732	1.39	146.6	601.1	11.0	657	13733	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1944	2314
14041	1.39	146.6	569.2	10.0	672	14046	0.00	2.55	0.00	0.000	4	0.000	0.059	2747	3353	2314
14097	1.39	146.6	563.4	10.1	674	14103	0.00	2.50	0.00	0.000	6	0.000	0.047	2747	1946	2314
14412	1.41	161.8	533.2	9.3	690	14432	0.00	0.00	13.90	1.169	6	0.000	0.000	2747	1945	2254
14744	1.41	161.8	498.2	11.1	706	14745	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1945	2254
15052	1.41	161.8	464.2	10.5	721	15056	0.00	2.58	0.00	0.000	4	0.000	0.058	2747	3361	2254
15113	1.41	168.8	457.5	9.7	724	15128	0.00	2.50	7.95	1.048	6	0.000	0.046	2747	1946	2226
15444	1.41	168.8	418.5	11.8	740	15449	0.00	2.60	0.00	0.000	4	0.000	0.074	2747	547	2226
15555	1.41	168.8	404.3	12.9	745	15560	0.00	2.45	0.00	0.000	6	0.000	0.041	2747	1953	2226
15877	1.41	168.8	368.5	10.8	761	15882	0.00	2.60	0.00	0.000	4	0.000	0.069	2747	547	2226
15910	1.41	168.8	364.6	11.2	762	15916	0.00	2.45	0.00	0.000	6	0.000	0.041	2747	1947	2226
16226	1.41	168.8	329.9	11.2	778	16227	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1948	2226
16535	1.41	168.8	295.8	11.1	793	16536	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1949	2226
16844	1.41	168.8	263.0	10.3	808	16845	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1949	2226
17153	1.41	168.8	231.3	10.3	823	17154	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1949	2227
17464	1.41	168.8	199.3	10.8	838	17465	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1948	2227
17772	1.41	168.8	166.8	10.3	853	17773	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1949	2228
18082	1.41	168.8	135.4	10.2	868	18083	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	1949	2229
18391	1.41	168.8	103.2	10.5	883	18392	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1949	2230
18701	1.41	168.8	70.3	10.8	898	18705	0.00	2.55	0.00	0.000	4	0.000	0.062	2747	545	2231
18741	1.41	168.8	65.8	11.9	900	18745	0.00	2.42	0.00	0.000	6	0.000	0.036	2748	1951	2231
19068	1.41	168.8	29.9	11.1	916	19069	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1951	2232
19333	end climb: SURFACE_DEPTH_REACHED
state	19334	begin surface coast
19355	end surface coast: CONTROL_FINISHED_OK
state	19355	begin surface