Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 41 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HD_B 0.0099099996 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 3 HD_C 2.4896e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 41 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 202 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3893 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2120 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

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 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 25 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 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 450 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 187 DEVICE4 -1

T_TURN 240 CALL_WAIT 60 VBD_MAX 3559 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2540 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00159 COMPASS_DEVICE 17

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -132294.17 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 21

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 42 AH0_24V 95.400002 SEABIRD_T_G 0.0042855334

SPEED_FACTOR 1 PITCH_MAX 3363 AH0_10V 61.200001 SEABIRD_T_H 0.00062604493

RHO 1.023 C_PITCH 2340 PRESSURE_YINT -15.807375 SEABIRD_T_I 2.1829796e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.0724553e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.9956274

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_C_H 1.1210338

KALMAN_USE 1 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_I -0.0011134691

HD_A 0.00312 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00016706332

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3363 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 42 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 0.00159 TCM_PITCH_OFFSET -0.69999999

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0.5

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.807375 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_GPS_CHARGE -132294.17

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 17 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 240

COURSE_BIAS 0 ID 14 ROLL_MAX 3893 T_TURN_SAMPINT 5

C_PITCH 2340 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2120 INT_PRESSURE_YINT 0 ROLL_MIN 202 UNCOM_BLEED 20

C_ROLL_DIVE 2320 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2540 MASS 52000 R_PORT_OVSHOOT 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -9.9956274 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1210338 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011134691 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00016706332 VBD_MAX 3559

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0042855334 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062604493 VBD_MIN 187

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1829796e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 41 PHONE_DEVICE 16 SEABIRD_T_J 2.0724553e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 120508,6126.239,-341.806,29,1.2,30,-6.4 TGT_NAME ESEC_NW

_CALLS 2 TGT_LATLONG 6140.000,-445.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.105,0.210

_SM_DEPTHo 0.88 KALMAN_X 135090.7,-393.0,464.4,-163997.5,1813.8

_SM_ANGLEo -56.2 KALMAN_Y -26452.0,345.1,827.8,11141.6,-4844.6

GPS2 121545,6126.326,-341.650,12,1.1,12,-6.4 MHEAD_RNG_PITCHd_Wd 339.9,61171,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.005179 XPDR_PINGS 1

SM_CCo 24782,15.05,0.710,0,0,1520,250.21 _24V_AH 23.5,9.583

SM_GC 1.25,0.00,0.00,15.05,0.000,0.000,0.710,37,2326,1520,-10.59,0.17,250.21 _10V_AH 10.1,4.789

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 59971,1197

TT8_MAMPS 0.024544 CFSIZE 254472192,249815040

HUMID 1735 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 0.50 GPS 230208,191307,6127.335,-346.841,143,1.8,148,-6.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 184 110.77 SBE_CT 1167 24 658.61

Roll_motor 80 111 211.18 SBE_O2 1133 19 506.10

VBD_pump_during_apogee 319 1379 10349.59 WL_BB2F 622 105 1535.02

VBD_pump_during_surface 15 710 251.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.53 nil 0 0 0.00

Iridium_during_connect 76 160 285.77 nil 0 0 0.00

Iridium_during_xfer 274 223 1438.30

Transponder_ping 9 420 88.83

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.92

TT8 2094 19 418.92

LPSleep 20307 2 449.19

TT8_Active 507 19 101.55

TT8_Sampling 1679 39 674.98

TT8_CF8 844 45 390.87

TT8_Kalman 33 81 27.56

Analog_circuits 1552 12 188.19

GPS_charging 0 0 0.00

Compass 1197 26 314.58

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -1.16 -146.6 0.0 0.0 0 110 0.00 0.00 -80.18 0.000 2 0.000 0.000 40 2329 3057

114 -1.16 -146.6 7.1 -9.1 4 136 11.62 2.65 -1.42 0.000 4 0.185 0.111 2083 3712 3141

153 -1.16 -146.6 24.0 -28.9 5 159 0.00 2.42 0.00 0.000 6 0.000 0.061 2083 2319 3143

472 -1.16 -146.6 53.3 -8.0 21 476 0.00 2.50 0.00 0.000 4 0.000 0.076 2083 917 3143

737 -1.16 -146.6 76.5 -8.8 33 741 0.00 2.40 0.00 0.000 6 0.000 0.060 2083 2311 3143

1064 -1.16 -146.6 104.1 -8.4 49 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2310 3143

1373 -1.16 -146.6 129.4 -8.3 64 1374 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2309 3143

1682 -1.16 -146.6 156.4 -8.4 79 1683 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2310 3143

1991 -1.16 -146.6 182.5 -8.6 94 1992 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2311 3143

2300 -1.16 -146.6 209.7 -8.8 109 2301 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2311 3143

2609 -1.16 -146.6 236.7 -8.4 124 2614 0.00 2.47 0.00 0.000 4 0.000 0.073 2083 916 3144

2654 -1.16 -146.6 240.7 -8.8 126 2658 0.00 2.42 0.00 0.000 6 0.000 0.060 2083 2328 3144

2975 -1.16 -146.6 266.5 -7.9 142 2976 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2328 3144

3284 -1.16 -146.6 290.6 -8.2 157 3285 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2329 3145

3593 -1.16 -146.6 317.4 -8.5 172 3594 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2329 3145

3903 -1.16 -146.6 342.1 -7.9 187 3905 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2329 3145

4212 -1.16 -146.6 368.8 -8.8 202 4213 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2329 3146

4521 -1.16 -146.6 395.1 -8.7 217 4522 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2329 3146

4830 -1.16 -146.6 421.3 -8.3 232 4832 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2329 3146

5140 -1.16 -146.6 441.5 -5.7 247 5141 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2329 3146

5449 -1.16 -146.6 463.0 -7.7 262 5450 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2329 3145

5758 -1.16 -146.6 488.3 -8.2 277 5759 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2329 3144

6068 -1.16 -146.6 511.8 -7.3 292 6072 0.00 2.58 0.00 0.000 4 0.000 0.086 2083 915 3144

6123 -1.16 -146.6 515.9 -7.3 294 6129 0.00 2.42 0.00 0.000 6 0.000 0.061 2083 2319 3143

6439 -1.16 -146.6 538.2 -7.3 310 6441 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3142

6749 -1.16 -146.6 558.3 -6.2 325 6750 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3141

7058 -1.16 -146.6 578.4 -6.9 340 7059 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3140

7368 -1.16 -146.6 601.0 -7.6 355 7369 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3140

7677 -1.16 -146.6 622.6 -6.8 370 7678 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3139

7986 -1.16 -146.6 643.2 -6.5 385 7987 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3138

8295 -1.16 -146.6 662.3 -6.2 400 8296 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3137

8605 -1.16 -146.6 682.5 -6.7 415 8606 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3136

8914 -1.16 -146.6 703.9 -7.1 430 8915 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3135

9225 -1.16 -146.6 726.2 -7.4 445 9226 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2320 3135

9532 -1.16 -146.6 748.0 -7.1 460 9533 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2319 3135

9841 -1.16 -146.6 769.3 -7.0 475 9843 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2320 3134

10151 -1.16 -146.6 790.8 -6.9 490 10155 0.00 2.53 0.00 0.000 4 0.000 0.081 2083 918 3133

10195 -1.16 -146.6 794.1 -7.4 492 10199 0.00 2.42 0.00 0.000 6 0.000 0.061 2083 2320 3133

10517 -1.16 -146.6 816.5 -6.9 508 10518 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2321 3133

10827 -1.16 -146.6 837.3 -6.7 523 10828 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2320 3133

11135 -1.16 -146.6 859.4 -7.5 538 11137 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2320 3132

11445 -1.16 -146.6 882.0 -7.4 553 11446 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2321 3132

11755 -1.16 -146.6 905.0 -7.3 568 11759 0.00 2.53 0.00 0.000 4 0.000 0.078 2083 916 3130

11799 -1.16 -146.6 908.5 -8.1 570 11803 0.00 2.42 0.00 0.000 6 0.000 0.060 2083 2326 3131

12121 -1.16 -146.6 931.4 -6.9 586 12122 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2326 3130

12430 -1.16 -146.6 952.1 -6.8 601 12434 0.00 2.53 0.00 0.000 4 0.000 0.078 2083 917 3130

12470 -1.16 -146.6 955.0 -6.9 603 12474 0.00 2.42 0.00 0.000 6 0.000 0.060 2083 2320 3130

12797 -1.16 -146.6 977.2 -6.7 619 12798 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2321 3130

12999 end dive: TARGET_DEPTH_EXCEEDED

state 12999 begin apogee

13008 -0.32 0.0 991.2 6.8 629 13135 0.90 0.00 124.30 1.380 6 0.103 0.000 2269 2113 2540

13136 end apogee: CONTROL_FINISHED_OK

state 13136 begin climb

13140 1.16 146.6 996.2 0.0 635 13270 1.50 2.62 122.32 1.349 4 0.074 0.086 2593 722 1942

13425 1.20 169.8 990.2 7.1 649 13452 0.00 2.45 20.92 1.306 6 0.000 0.059 2593 2130 1847

13772 1.20 169.9 962.9 8.0 666 13776 0.00 2.62 0.00 0.000 4 0.000 0.101 2593 3516 1847

13816 1.23 188.3 958.9 7.3 668 13839 0.00 2.45 16.85 1.287 6 0.000 0.061 2593 2123 1772

14162 1.23 188.3 928.1 8.7 685 14164 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2123 1772

14472 1.23 188.3 902.2 8.1 700 14473 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2123 1771

14781 1.25 200.9 877.7 7.5 715 14800 0.00 0.00 12.20 1.210 6 0.000 0.000 2593 2123 1720

15110 1.25 200.9 850.9 8.2 731 15112 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2123 1719

15419 1.25 200.9 826.0 8.1 746 15421 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2123 1719

15729 1.25 200.9 800.6 8.4 761 15730 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2123 1719

16038 1.25 200.9 774.4 8.4 776 16042 0.00 2.65 0.00 0.000 4 0.000 0.099 2593 3516 1719

16093 1.25 200.9 769.4 8.8 778 16099 0.00 2.45 0.00 0.000 6 0.000 0.062 2593 2118 1719

16409 1.25 200.9 743.4 8.2 794 16410 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2118 1719

16718 1.25 200.9 718.4 8.0 809 16719 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2118 1719

17028 1.25 200.9 692.8 8.6 824 17029 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2118 1719

17337 1.25 200.9 666.2 8.7 839 17338 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2118 1719

17646 1.25 200.9 640.5 8.1 854 17647 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2118 1719

17956 1.26 205.9 616.3 7.8 869 17963 0.00 0.00 5.50 0.907 6 0.000 0.000 2593 2118 1700

18265 1.28 219.2 592.5 7.5 884 18283 0.12 0.00 12.35 1.056 6 0.074 0.000 2625 2118 1646

18593 1.28 219.2 564.5 8.6 900 18595 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2118 1646

18903 1.28 219.2 537.7 8.7 915 18907 0.00 2.65 0.00 0.000 4 0.000 0.100 2625 3521 1645

18946 1.28 219.2 533.6 8.9 917 18951 0.00 2.47 0.00 0.000 6 0.000 0.063 2625 2115 1645

19268 1.28 219.2 504.5 9.2 933 19269 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2115 1645

19577 1.28 219.2 475.0 9.6 948 19578 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2115 1645

19886 1.28 219.2 443.4 10.7 963 19891 0.00 2.65 0.00 0.000 4 0.000 0.096 2625 3518 1645

19965 1.28 219.2 434.2 10.7 966 19970 0.00 2.45 0.00 0.000 6 0.000 0.063 2625 2122 1645

20280 1.28 219.2 400.7 9.6 982 20282 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2122 1645

20590 1.28 219.2 372.5 9.1 997 20594 0.00 2.60 0.00 0.000 4 0.000 0.094 2625 717 1645

20707 1.28 219.2 360.9 10.0 1002 20711 0.00 2.40 0.00 0.000 6 0.000 0.057 2625 2124 1645

21023 1.29 222.9 333.7 7.9 1017 21033 0.00 2.62 4.72 0.834 4 0.000 0.100 2626 3512 1632

21096 1.29 222.9 327.6 8.5 1020 21100 0.00 2.45 0.00 0.000 6 0.000 0.061 2625 2112 1631

21412 1.29 222.9 298.7 9.4 1035 21416 0.00 2.55 0.00 0.000 4 0.000 0.087 2626 715 1631

21542 1.29 222.9 286.2 10.0 1041 21546 0.00 2.40 0.00 0.000 6 0.000 0.057 2625 2131 1631

21869 1.29 222.9 258.0 8.4 1057 21871 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2131 1631

22178 1.29 222.9 230.9 9.3 1072 22180 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2131 1631

22488 1.29 222.9 204.2 8.3 1087 22489 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2131 1631

22797 1.29 222.9 177.5 8.5 1102 22798 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2131 1631

23106 1.29 222.9 151.0 8.6 1117 23107 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2131 1632

23416 1.29 222.9 121.0 10.8 1132 23418 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2132 1632

23727 1.29 222.9 85.7 11.2 1147 23731 0.00 2.53 0.00 0.000 4 0.000 0.078 2625 709 1633

23812 1.29 222.9 74.5 13.6 1151 23817 0.00 2.40 0.00 0.000 6 0.000 0.057 2625 2123 1634

24140 1.29 222.9 43.0 11.1 1167 24141 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2123 1635

24450 1.29 222.9 31.6 8.8 1182 24451 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2123 1636

24735 end climb: SURFACE_DEPTH_REACHED

state 24735 begin surface coast

24757 end surface coast: CONTROL_FINISHED_OK

state 24757 begin surface

ID	14	HD_B	0.0099099996	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	3	HD_C	2.4896e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	41	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	202	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3893	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2120	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
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	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	25	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	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	450	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	187	DEVICE4	-1
T_TURN	240	CALL_WAIT	60	VBD_MAX	3559	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2540	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00159	COMPASS_DEVICE	17
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-132294.17	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	21
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	42	AH0_24V	95.400002	SEABIRD_T_G	0.0042855334
SPEED_FACTOR	1	PITCH_MAX	3363	AH0_10V	61.200001	SEABIRD_T_H	0.00062604493
RHO	1.023	C_PITCH	2340	PRESSURE_YINT	-15.807375	SEABIRD_T_I	2.1829796e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.0724553e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9956274
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_C_H	1.1210338
KALMAN_USE	1	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_I	-0.0011134691
HD_A	0.00312	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00016706332

GPS1	120508,6126.239,-341.806,29,1.2,30,-6.4	TGT_NAME	ESEC_NW
_CALLS	2	TGT_LATLONG	6140.000,-445.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.105,0.210
_SM_DEPTHo	0.88	KALMAN_X	135090.7,-393.0,464.4,-163997.5,1813.8
_SM_ANGLEo	-56.2	KALMAN_Y	-26452.0,345.1,827.8,11141.6,-4844.6
GPS2	121545,6126.326,-341.650,12,1.1,12,-6.4	MHEAD_RNG_PITCHd_Wd	339.9,61171,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.1,1.005179	XPDR_PINGS	1
SM_CCo	24782,15.05,0.710,0,0,1520,250.21	_24V_AH	23.5,9.583
SM_GC	1.25,0.00,0.00,15.05,0.000,0.000,0.710,37,2326,1520,-10.59,0.17,250.21	_10V_AH	10.1,4.789
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	59971,1197
TT8_MAMPS	0.024544	CFSIZE	254472192,249815040
HUMID	1735	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	0.50	GPS	230208,191307,6127.335,-346.841,143,1.8,148,-6.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	184	110.77	SBE_CT	1167	24	658.61
Roll_motor	80	111	211.18	SBE_O2	1133	19	506.10
VBD_pump_during_apogee	319	1379	10349.59	WL_BB2F	622	105	1535.02
VBD_pump_during_surface	15	710	251.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.53	nil	0	0	0.00
Iridium_during_connect	76	160	285.77	nil	0	0	0.00
Iridium_during_xfer	274	223	1438.30
Transponder_ping	9	420	88.83
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.92
TT8	2094	19	418.92
LPSleep	20307	2	449.19
TT8_Active	507	19	101.55
TT8_Sampling	1679	39	674.98
TT8_CF8	844	45	390.87
TT8_Kalman	33	81	27.56
Analog_circuits	1552	12	188.19
GPS_charging	0	0	0.00
Compass	1197	26	314.58
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-1.16	-146.6	0.0	0.0	0	110	0.00	0.00	-80.18	0.000	2	0.000	0.000	40	2329	3057
114	-1.16	-146.6	7.1	-9.1	4	136	11.62	2.65	-1.42	0.000	4	0.185	0.111	2083	3712	3141
153	-1.16	-146.6	24.0	-28.9	5	159	0.00	2.42	0.00	0.000	6	0.000	0.061	2083	2319	3143
472	-1.16	-146.6	53.3	-8.0	21	476	0.00	2.50	0.00	0.000	4	0.000	0.076	2083	917	3143
737	-1.16	-146.6	76.5	-8.8	33	741	0.00	2.40	0.00	0.000	6	0.000	0.060	2083	2311	3143
1064	-1.16	-146.6	104.1	-8.4	49	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2310	3143
1373	-1.16	-146.6	129.4	-8.3	64	1374	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2309	3143
1682	-1.16	-146.6	156.4	-8.4	79	1683	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2310	3143
1991	-1.16	-146.6	182.5	-8.6	94	1992	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2311	3143
2300	-1.16	-146.6	209.7	-8.8	109	2301	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2311	3143
2609	-1.16	-146.6	236.7	-8.4	124	2614	0.00	2.47	0.00	0.000	4	0.000	0.073	2083	916	3144
2654	-1.16	-146.6	240.7	-8.8	126	2658	0.00	2.42	0.00	0.000	6	0.000	0.060	2083	2328	3144
2975	-1.16	-146.6	266.5	-7.9	142	2976	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2328	3144
3284	-1.16	-146.6	290.6	-8.2	157	3285	0.00	0.00	0.00	0.000	6	0.000	0.000	2084	2329	3145
3593	-1.16	-146.6	317.4	-8.5	172	3594	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2329	3145
3903	-1.16	-146.6	342.1	-7.9	187	3905	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2329	3145
4212	-1.16	-146.6	368.8	-8.8	202	4213	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2329	3146
4521	-1.16	-146.6	395.1	-8.7	217	4522	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2329	3146
4830	-1.16	-146.6	421.3	-8.3	232	4832	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2329	3146
5140	-1.16	-146.6	441.5	-5.7	247	5141	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2329	3146
5449	-1.16	-146.6	463.0	-7.7	262	5450	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2329	3145
5758	-1.16	-146.6	488.3	-8.2	277	5759	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2329	3144
6068	-1.16	-146.6	511.8	-7.3	292	6072	0.00	2.58	0.00	0.000	4	0.000	0.086	2083	915	3144
6123	-1.16	-146.6	515.9	-7.3	294	6129	0.00	2.42	0.00	0.000	6	0.000	0.061	2083	2319	3143
6439	-1.16	-146.6	538.2	-7.3	310	6441	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3142
6749	-1.16	-146.6	558.3	-6.2	325	6750	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3141
7058	-1.16	-146.6	578.4	-6.9	340	7059	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3140
7368	-1.16	-146.6	601.0	-7.6	355	7369	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3140
7677	-1.16	-146.6	622.6	-6.8	370	7678	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3139
7986	-1.16	-146.6	643.2	-6.5	385	7987	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3138
8295	-1.16	-146.6	662.3	-6.2	400	8296	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3137
8605	-1.16	-146.6	682.5	-6.7	415	8606	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3136
8914	-1.16	-146.6	703.9	-7.1	430	8915	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3135
9225	-1.16	-146.6	726.2	-7.4	445	9226	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2320	3135
9532	-1.16	-146.6	748.0	-7.1	460	9533	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2319	3135
9841	-1.16	-146.6	769.3	-7.0	475	9843	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2320	3134
10151	-1.16	-146.6	790.8	-6.9	490	10155	0.00	2.53	0.00	0.000	4	0.000	0.081	2083	918	3133
10195	-1.16	-146.6	794.1	-7.4	492	10199	0.00	2.42	0.00	0.000	6	0.000	0.061	2083	2320	3133
10517	-1.16	-146.6	816.5	-6.9	508	10518	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2321	3133
10827	-1.16	-146.6	837.3	-6.7	523	10828	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2320	3133
11135	-1.16	-146.6	859.4	-7.5	538	11137	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2320	3132
11445	-1.16	-146.6	882.0	-7.4	553	11446	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2321	3132
11755	-1.16	-146.6	905.0	-7.3	568	11759	0.00	2.53	0.00	0.000	4	0.000	0.078	2083	916	3130
11799	-1.16	-146.6	908.5	-8.1	570	11803	0.00	2.42	0.00	0.000	6	0.000	0.060	2083	2326	3131
12121	-1.16	-146.6	931.4	-6.9	586	12122	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2326	3130
12430	-1.16	-146.6	952.1	-6.8	601	12434	0.00	2.53	0.00	0.000	4	0.000	0.078	2083	917	3130
12470	-1.16	-146.6	955.0	-6.9	603	12474	0.00	2.42	0.00	0.000	6	0.000	0.060	2083	2320	3130
12797	-1.16	-146.6	977.2	-6.7	619	12798	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2321	3130
12999	end dive: TARGET_DEPTH_EXCEEDED
state	12999	begin apogee
13008	-0.32	0.0	991.2	6.8	629	13135	0.90	0.00	124.30	1.380	6	0.103	0.000	2269	2113	2540
13136	end apogee: CONTROL_FINISHED_OK
state	13136	begin climb
13140	1.16	146.6	996.2	0.0	635	13270	1.50	2.62	122.32	1.349	4	0.074	0.086	2593	722	1942
13425	1.20	169.8	990.2	7.1	649	13452	0.00	2.45	20.92	1.306	6	0.000	0.059	2593	2130	1847
13772	1.20	169.9	962.9	8.0	666	13776	0.00	2.62	0.00	0.000	4	0.000	0.101	2593	3516	1847
13816	1.23	188.3	958.9	7.3	668	13839	0.00	2.45	16.85	1.287	6	0.000	0.061	2593	2123	1772
14162	1.23	188.3	928.1	8.7	685	14164	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2123	1772
14472	1.23	188.3	902.2	8.1	700	14473	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2123	1771
14781	1.25	200.9	877.7	7.5	715	14800	0.00	0.00	12.20	1.210	6	0.000	0.000	2593	2123	1720
15110	1.25	200.9	850.9	8.2	731	15112	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2123	1719
15419	1.25	200.9	826.0	8.1	746	15421	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2123	1719
15729	1.25	200.9	800.6	8.4	761	15730	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2123	1719
16038	1.25	200.9	774.4	8.4	776	16042	0.00	2.65	0.00	0.000	4	0.000	0.099	2593	3516	1719
16093	1.25	200.9	769.4	8.8	778	16099	0.00	2.45	0.00	0.000	6	0.000	0.062	2593	2118	1719
16409	1.25	200.9	743.4	8.2	794	16410	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2118	1719
16718	1.25	200.9	718.4	8.0	809	16719	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2118	1719
17028	1.25	200.9	692.8	8.6	824	17029	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2118	1719
17337	1.25	200.9	666.2	8.7	839	17338	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2118	1719
17646	1.25	200.9	640.5	8.1	854	17647	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2118	1719
17956	1.26	205.9	616.3	7.8	869	17963	0.00	0.00	5.50	0.907	6	0.000	0.000	2593	2118	1700
18265	1.28	219.2	592.5	7.5	884	18283	0.12	0.00	12.35	1.056	6	0.074	0.000	2625	2118	1646
18593	1.28	219.2	564.5	8.6	900	18595	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2118	1646
18903	1.28	219.2	537.7	8.7	915	18907	0.00	2.65	0.00	0.000	4	0.000	0.100	2625	3521	1645
18946	1.28	219.2	533.6	8.9	917	18951	0.00	2.47	0.00	0.000	6	0.000	0.063	2625	2115	1645
19268	1.28	219.2	504.5	9.2	933	19269	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2115	1645
19577	1.28	219.2	475.0	9.6	948	19578	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2115	1645
19886	1.28	219.2	443.4	10.7	963	19891	0.00	2.65	0.00	0.000	4	0.000	0.096	2625	3518	1645
19965	1.28	219.2	434.2	10.7	966	19970	0.00	2.45	0.00	0.000	6	0.000	0.063	2625	2122	1645
20280	1.28	219.2	400.7	9.6	982	20282	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2122	1645
20590	1.28	219.2	372.5	9.1	997	20594	0.00	2.60	0.00	0.000	4	0.000	0.094	2625	717	1645
20707	1.28	219.2	360.9	10.0	1002	20711	0.00	2.40	0.00	0.000	6	0.000	0.057	2625	2124	1645
21023	1.29	222.9	333.7	7.9	1017	21033	0.00	2.62	4.72	0.834	4	0.000	0.100	2626	3512	1632
21096	1.29	222.9	327.6	8.5	1020	21100	0.00	2.45	0.00	0.000	6	0.000	0.061	2625	2112	1631
21412	1.29	222.9	298.7	9.4	1035	21416	0.00	2.55	0.00	0.000	4	0.000	0.087	2626	715	1631
21542	1.29	222.9	286.2	10.0	1041	21546	0.00	2.40	0.00	0.000	6	0.000	0.057	2625	2131	1631
21869	1.29	222.9	258.0	8.4	1057	21871	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2131	1631
22178	1.29	222.9	230.9	9.3	1072	22180	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2131	1631
22488	1.29	222.9	204.2	8.3	1087	22489	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2131	1631
22797	1.29	222.9	177.5	8.5	1102	22798	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2131	1631
23106	1.29	222.9	151.0	8.6	1117	23107	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2131	1632
23416	1.29	222.9	121.0	10.8	1132	23418	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2132	1632
23727	1.29	222.9	85.7	11.2	1147	23731	0.00	2.53	0.00	0.000	4	0.000	0.078	2625	709	1633
23812	1.29	222.9	74.5	13.6	1151	23817	0.00	2.40	0.00	0.000	6	0.000	0.057	2625	2123	1634
24140	1.29	222.9	43.0	11.1	1167	24141	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2123	1635
24450	1.29	222.9	31.6	8.8	1182	24451	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2123	1636
24735	end climb: SURFACE_DEPTH_REACHED
state	24735	begin surface coast
24757	end surface coast: CONTROL_FINISHED_OK
state	24757	begin surface