Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 12 * 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 20

MISSION 3 HD_C 2.4896e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 12 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 2380 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2170 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 30 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 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 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 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 -131646.81 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 20 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 330

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 -131646.81

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

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 2170 INT_PRESSURE_YINT 0 ROLL_MIN 202 UNCOM_BLEED 20

C_ROLL_DIVE 2380 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2540 MASS 52000 R_PORT_OVSHOOT 30 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 39 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 12 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 015908,6131.315,-246.844,27,1.4,27,-5.9 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.239,-0.093

_SM_DEPTHo 1.42 KALMAN_X 42487.5,-553.2,-1325.5,-20804.8,10101.8

_SM_ANGLEo -60.7 KALMAN_Y -1031.5,-124.6,-1055.3,-2727.2,1437.2

GPS2 020556,6131.290,-246.491,8,1.5,13,-5.9 MHEAD_RNG_PITCHd_Wd 254.7,341508,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027363 ALTIM_TOP_PING 19.9,19.5

SM_CCo 19537,15.23,0.703,0,0,1519,250.21 _24V_AH 23.5,4.823

SM_GC 2.44,0.00,0.00,15.23,0.000,0.000,0.703,35,2390,1519,-10.59,0.28,250.21 _10V_AH 10.1,1.938

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47327,941

TT8_MAMPS 0.023777 CFSIZE 254472192,251826176

HUMID 1726 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 3.00 GPS 160208,073407,6130.007,-247.134,37,1.9,42,-5.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 181 108.58 SBE_CT 916 24 516.73

Roll_motor 142 131 440.21 SBE_O2 891 19 398.22

VBD_pump_during_apogee 319 1389 10435.00 WL_BB2F 491 105 1213.61

VBD_pump_during_surface 15 702 251.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.77 nil 0 0 0.00

Iridium_during_connect 38 160 146.46 nil 0 0 0.00

Iridium_during_xfer 194 223 1020.40

Transponder_ping 8 420 86.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.74

TT8 1731 19 346.18

LPSleep 15611 2 345.32

TT8_Active 518 19 103.69

TT8_Sampling 1444 39 580.79

TT8_CF8 659 45 304.95

TT8_Kalman 33 81 27.55

Analog_circuits 1449 12 175.72

GPS_charging 0 0 0.00

Compass 1044 26 274.26

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -1.38 -146.6 0.0 0.0 0 90 0.00 0.00 -57.58 0.000 2 0.000 0.000 42 2396 2776

94 -1.38 -146.6 4.9 -8.7 3 119 11.25 2.65 -7.35 0.000 4 0.181 0.117 2035 3761 3140

153 -1.38 -146.6 18.0 -10.2 5 160 0.00 2.38 0.00 0.000 6 0.000 0.061 2034 2383 3141

470 -1.38 -146.6 53.8 -10.1 21 474 0.00 2.53 0.00 0.000 4 0.000 0.074 2034 974 3142

519 -1.38 -146.6 59.6 -11.3 23 524 0.00 2.40 0.00 0.000 6 0.000 0.061 2035 2358 3142

837 -1.38 -146.6 96.4 -11.6 38 842 0.00 2.78 0.00 0.000 4 0.000 0.116 2034 3784 3142

878 -1.38 -146.6 101.0 -10.6 40 882 0.00 2.42 0.00 0.000 6 0.000 0.062 2034 2381 3142

1206 -1.38 -146.6 135.7 -10.0 56 1210 0.00 2.53 0.00 0.000 4 0.000 0.075 2034 976 3142

1250 -1.38 -146.6 140.1 -8.7 58 1255 0.00 2.45 0.00 0.000 6 0.000 0.061 2035 2380 3142

1572 -1.38 -146.6 173.0 -10.2 74 1573 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2380 3142

1881 -1.38 -146.6 202.3 -9.1 89 1882 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2380 3143

2190 -1.38 -146.6 233.0 -10.5 104 2192 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2380 3143

2499 -1.38 -146.6 268.1 -11.5 119 2504 0.00 2.53 0.00 0.000 4 0.000 0.073 2035 975 3143

2527 -1.38 -146.6 271.4 -12.2 120 2531 0.00 2.45 0.00 0.000 6 0.000 0.061 2034 2384 3143

2843 -1.38 -146.6 306.3 -10.9 135 2844 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2384 3143

3152 -1.38 -146.6 341.2 -11.1 150 3156 0.00 2.53 0.00 0.000 4 0.000 0.075 2034 976 3144

3196 -1.38 -146.6 346.2 -11.3 152 3200 0.00 2.45 0.00 0.000 6 0.000 0.063 2035 2379 3144

3517 -1.38 -146.6 382.3 -11.2 168 3521 0.00 2.53 0.00 0.000 4 0.000 0.074 2034 979 3144

3544 -1.38 -146.6 385.5 -12.5 169 3548 0.00 2.45 0.00 0.000 6 0.000 0.064 2035 2378 3144

3860 -1.38 -146.6 419.3 -10.5 184 3861 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2380 3145

4169 -1.38 -146.6 452.7 -10.6 199 4173 0.00 2.80 0.00 0.000 4 0.000 0.131 2035 3785 3145

4247 -1.38 -146.6 460.7 -9.9 202 4252 0.00 2.45 0.00 0.000 6 0.000 0.067 2035 2382 3144

4563 -1.38 -146.6 491.2 -10.0 218 4564 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2382 3145

4873 -1.38 -146.6 522.8 -9.7 233 4877 0.00 2.75 0.00 0.000 4 0.000 0.121 2034 3785 3145

4937 -1.38 -146.6 529.0 -9.8 236 4942 0.00 2.47 0.00 0.000 6 0.000 0.071 2034 2378 3145

5265 -1.38 -146.6 559.6 -9.7 252 5269 0.00 2.60 0.00 0.000 4 0.000 0.091 2035 970 3145

5337 -1.38 -146.6 566.7 -9.4 255 5341 0.00 2.47 0.00 0.000 6 0.000 0.064 2034 2384 3145

5653 -1.38 -146.6 596.4 -9.4 270 5655 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2384 3145

5963 -1.38 -146.6 625.1 -9.3 285 5964 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2385 3144

6272 -1.38 -146.6 653.5 -9.2 300 6273 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2385 3143

6581 -1.38 -146.6 682.1 -9.3 315 6582 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2385 3142

6890 -1.38 -146.6 710.5 -9.2 330 6891 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2385 3140

7200 -1.38 -146.6 738.7 -9.0 345 7204 0.00 2.60 0.00 0.000 4 0.000 0.085 2035 974 3139

7244 -1.38 -146.6 743.3 -9.8 347 7248 0.00 2.50 0.00 0.000 6 0.000 0.066 2034 2380 3139

7566 -1.38 -146.6 771.3 -8.5 363 7567 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2380 3138

7874 -1.38 -146.6 798.5 -9.0 378 7876 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2380 3137

8185 -1.38 -146.6 826.2 -8.9 393 8186 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2380 3136

8493 -1.38 -146.6 854.0 -8.9 408 8498 0.00 2.58 0.00 0.000 4 0.000 0.081 2035 970 3135

8538 -1.38 -146.6 858.4 -9.6 410 8542 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2381 3134

8860 -1.38 -146.6 887.4 -9.0 426 8862 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2381 3132

9169 -1.38 -146.6 916.3 -9.6 441 9171 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2381 3131

9479 -1.38 -146.6 945.3 -9.3 456 9483 0.00 2.58 0.00 0.000 4 0.000 0.080 2034 974 3130

9512 -1.38 -146.6 948.6 -9.7 457 9517 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2386 3130

9828 -1.38 -146.6 978.0 -9.4 473 9829 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2387 3129

9968 end dive: TARGET_DEPTH_EXCEEDED

state 9968 begin apogee

9977 -0.32 0.0 991.4 9.1 480 10104 1.15 0.00 123.15 1.390 6 0.110 0.000 2267 2151 2540

10105 end apogee: CONTROL_FINISHED_OK

state 10105 begin climb

10108 1.38 146.6 997.1 0.0 486 10240 1.67 2.83 122.57 1.352 4 0.074 0.109 2641 3573 1941

10458 1.43 173.4 987.3 8.7 503 10487 0.00 2.50 24.17 1.335 6 0.000 0.067 2641 2168 1832

10807 1.45 191.0 956.8 9.2 520 10825 0.00 0.00 16.15 1.303 6 0.000 0.000 2641 2168 1761

11134 1.46 197.3 925.2 9.7 536 11147 0.00 2.72 6.82 1.120 4 0.000 0.092 2641 766 1735

11183 1.47 200.8 920.1 9.8 538 11193 0.00 2.50 4.53 0.915 6 0.000 0.059 2641 2177 1721

11504 1.47 203.4 888.1 9.9 553 11510 0.00 0.00 4.28 0.893 6 0.000 0.000 2641 2177 1710

11813 1.47 203.4 857.2 10.1 568 11814 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2179 1709

12122 1.47 203.4 825.5 10.3 583 12123 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2179 1708

12432 1.47 203.4 794.1 10.1 598 12436 0.00 2.62 0.00 0.000 4 0.000 0.085 2641 769 1708

12516 1.47 203.4 785.1 10.5 602 12520 0.00 2.47 0.00 0.000 6 0.000 0.061 2641 2172 1708

12843 1.49 216.4 753.9 9.4 618 12857 0.10 0.00 11.88 1.169 6 0.081 0.000 2666 2173 1657

13153 1.49 216.4 721.7 10.8 633 13157 0.00 2.62 0.00 0.000 4 0.000 0.085 2666 765 1656

13216 1.49 216.4 714.8 11.2 636 13220 0.00 2.47 0.00 0.000 6 0.000 0.061 2666 2170 1655

13543 1.49 216.4 679.8 10.8 652 13544 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2172 1656

13852 1.49 216.4 648.2 10.1 667 13853 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2172 1655

14161 1.49 216.4 616.3 10.6 682 14165 0.00 2.72 0.00 0.000 4 0.000 0.115 2666 3568 1655

14200 1.49 216.4 611.7 12.0 684 14205 0.00 2.47 0.00 0.000 6 0.000 0.068 2666 2170 1655

14528 1.49 216.4 577.1 10.4 700 14532 0.00 2.72 0.00 0.000 4 0.000 0.109 2666 3572 1655

14560 1.49 216.4 573.2 10.6 701 14566 0.00 2.50 0.00 0.000 6 0.000 0.067 2666 2165 1655

14876 1.49 216.4 539.6 10.6 717 14880 0.00 2.62 0.00 0.000 4 0.000 0.096 2666 766 1654

15028 1.49 216.4 522.3 10.8 724 15032 0.00 2.45 0.00 0.000 6 0.000 0.061 2666 2172 1654

15354 1.49 216.4 486.7 10.1 740 15359 0.00 2.70 0.00 0.000 4 0.000 0.110 2666 3572 1654

15630 1.50 222.1 458.1 9.7 752 15641 0.00 2.47 5.95 0.926 6 0.000 0.066 2666 2167 1634

15951 1.50 222.1 424.0 11.7 768 15952 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2167 1634

16260 1.50 222.1 388.9 11.3 783 16264 0.00 2.65 0.00 0.000 4 0.000 0.098 2666 3568 1634

16293 1.50 222.1 384.8 11.8 784 16298 0.00 2.47 0.00 0.000 6 0.000 0.064 2666 2164 1634

16608 1.50 222.1 349.5 11.2 800 16609 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2164 1634

16918 1.50 222.1 314.6 11.7 815 16919 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2164 1635

17227 1.50 222.1 277.8 12.0 830 17231 0.00 2.58 0.00 0.000 4 0.000 0.091 2666 770 1636

17271 1.50 222.1 272.1 11.5 832 17275 0.00 2.40 0.00 0.000 6 0.000 0.057 2664 2174 1636

17592 1.50 222.1 231.9 12.4 848 17596 0.00 2.60 0.00 0.000 4 0.000 0.095 2666 3568 1636

17641 1.50 222.1 225.6 11.7 850 17646 0.00 2.45 0.00 0.000 6 0.000 0.062 2666 2158 1637

17957 1.50 222.1 190.2 11.2 865 17958 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2161 1638

18267 1.50 222.1 154.9 11.5 880 18271 0.00 2.53 0.00 0.000 4 0.000 0.084 2666 772 1638

18306 1.50 222.1 149.9 13.4 882 18311 0.00 2.38 0.00 0.000 6 0.000 0.057 2665 2176 1638

18636 1.50 222.1 110.2 12.2 898 18640 0.00 2.53 0.00 0.000 4 0.000 0.073 2666 768 1640

18669 1.50 222.1 105.4 13.0 899 18675 0.00 2.42 0.00 0.000 6 0.000 0.058 2666 2177 1640

18987 1.50 222.1 65.7 13.1 915 18991 0.00 2.53 0.00 0.000 4 0.000 0.074 2666 770 1641

19009 1.50 222.1 62.8 11.4 916 19013 0.00 2.40 0.00 0.000 6 0.000 0.058 2666 2174 1641

19330 1.50 222.1 24.8 11.6 932 19335 0.00 2.50 0.00 0.000 4 0.000 0.072 2666 772 1641

19358 1.50 222.1 20.5 15.0 933 19362 0.00 2.38 0.00 0.000 6 0.000 0.061 2666 2169 1641

19490 end climb: SURFACE_DEPTH_REACHED

state 19490 begin surface coast

19512 end surface coast: CONTROL_FINISHED_OK

state 19512 begin surface

ID	14	HD_B	0.0099099996	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	3	HD_C	2.4896e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	12	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	2380	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2170	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	30	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	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	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	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	-131646.81	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	015908,6131.315,-246.844,27,1.4,27,-5.9	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.239,-0.093
_SM_DEPTHo	1.42	KALMAN_X	42487.5,-553.2,-1325.5,-20804.8,10101.8
_SM_ANGLEo	-60.7	KALMAN_Y	-1031.5,-124.6,-1055.3,-2727.2,1437.2
GPS2	020556,6131.290,-246.491,8,1.5,13,-5.9	MHEAD_RNG_PITCHd_Wd	254.7,341508,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.7,1.027363	ALTIM_TOP_PING	19.9,19.5
SM_CCo	19537,15.23,0.703,0,0,1519,250.21	_24V_AH	23.5,4.823
SM_GC	2.44,0.00,0.00,15.23,0.000,0.000,0.703,35,2390,1519,-10.59,0.28,250.21	_10V_AH	10.1,1.938
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47327,941
TT8_MAMPS	0.023777	CFSIZE	254472192,251826176
HUMID	1726	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	3.00	GPS	160208,073407,6130.007,-247.134,37,1.9,42,-5.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	181	108.58	SBE_CT	916	24	516.73
Roll_motor	142	131	440.21	SBE_O2	891	19	398.22
VBD_pump_during_apogee	319	1389	10435.00	WL_BB2F	491	105	1213.61
VBD_pump_during_surface	15	702	251.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.77	nil	0	0	0.00
Iridium_during_connect	38	160	146.46	nil	0	0	0.00
Iridium_during_xfer	194	223	1020.40
Transponder_ping	8	420	86.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.74
TT8	1731	19	346.18
LPSleep	15611	2	345.32
TT8_Active	518	19	103.69
TT8_Sampling	1444	39	580.79
TT8_CF8	659	45	304.95
TT8_Kalman	33	81	27.55
Analog_circuits	1449	12	175.72
GPS_charging	0	0	0.00
Compass	1044	26	274.26
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-1.38	-146.6	0.0	0.0	0	90	0.00	0.00	-57.58	0.000	2	0.000	0.000	42	2396	2776
94	-1.38	-146.6	4.9	-8.7	3	119	11.25	2.65	-7.35	0.000	4	0.181	0.117	2035	3761	3140
153	-1.38	-146.6	18.0	-10.2	5	160	0.00	2.38	0.00	0.000	6	0.000	0.061	2034	2383	3141
470	-1.38	-146.6	53.8	-10.1	21	474	0.00	2.53	0.00	0.000	4	0.000	0.074	2034	974	3142
519	-1.38	-146.6	59.6	-11.3	23	524	0.00	2.40	0.00	0.000	6	0.000	0.061	2035	2358	3142
837	-1.38	-146.6	96.4	-11.6	38	842	0.00	2.78	0.00	0.000	4	0.000	0.116	2034	3784	3142
878	-1.38	-146.6	101.0	-10.6	40	882	0.00	2.42	0.00	0.000	6	0.000	0.062	2034	2381	3142
1206	-1.38	-146.6	135.7	-10.0	56	1210	0.00	2.53	0.00	0.000	4	0.000	0.075	2034	976	3142
1250	-1.38	-146.6	140.1	-8.7	58	1255	0.00	2.45	0.00	0.000	6	0.000	0.061	2035	2380	3142
1572	-1.38	-146.6	173.0	-10.2	74	1573	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2380	3142
1881	-1.38	-146.6	202.3	-9.1	89	1882	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2380	3143
2190	-1.38	-146.6	233.0	-10.5	104	2192	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2380	3143
2499	-1.38	-146.6	268.1	-11.5	119	2504	0.00	2.53	0.00	0.000	4	0.000	0.073	2035	975	3143
2527	-1.38	-146.6	271.4	-12.2	120	2531	0.00	2.45	0.00	0.000	6	0.000	0.061	2034	2384	3143
2843	-1.38	-146.6	306.3	-10.9	135	2844	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2384	3143
3152	-1.38	-146.6	341.2	-11.1	150	3156	0.00	2.53	0.00	0.000	4	0.000	0.075	2034	976	3144
3196	-1.38	-146.6	346.2	-11.3	152	3200	0.00	2.45	0.00	0.000	6	0.000	0.063	2035	2379	3144
3517	-1.38	-146.6	382.3	-11.2	168	3521	0.00	2.53	0.00	0.000	4	0.000	0.074	2034	979	3144
3544	-1.38	-146.6	385.5	-12.5	169	3548	0.00	2.45	0.00	0.000	6	0.000	0.064	2035	2378	3144
3860	-1.38	-146.6	419.3	-10.5	184	3861	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2380	3145
4169	-1.38	-146.6	452.7	-10.6	199	4173	0.00	2.80	0.00	0.000	4	0.000	0.131	2035	3785	3145
4247	-1.38	-146.6	460.7	-9.9	202	4252	0.00	2.45	0.00	0.000	6	0.000	0.067	2035	2382	3144
4563	-1.38	-146.6	491.2	-10.0	218	4564	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2382	3145
4873	-1.38	-146.6	522.8	-9.7	233	4877	0.00	2.75	0.00	0.000	4	0.000	0.121	2034	3785	3145
4937	-1.38	-146.6	529.0	-9.8	236	4942	0.00	2.47	0.00	0.000	6	0.000	0.071	2034	2378	3145
5265	-1.38	-146.6	559.6	-9.7	252	5269	0.00	2.60	0.00	0.000	4	0.000	0.091	2035	970	3145
5337	-1.38	-146.6	566.7	-9.4	255	5341	0.00	2.47	0.00	0.000	6	0.000	0.064	2034	2384	3145
5653	-1.38	-146.6	596.4	-9.4	270	5655	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2384	3145
5963	-1.38	-146.6	625.1	-9.3	285	5964	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2385	3144
6272	-1.38	-146.6	653.5	-9.2	300	6273	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2385	3143
6581	-1.38	-146.6	682.1	-9.3	315	6582	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2385	3142
6890	-1.38	-146.6	710.5	-9.2	330	6891	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2385	3140
7200	-1.38	-146.6	738.7	-9.0	345	7204	0.00	2.60	0.00	0.000	4	0.000	0.085	2035	974	3139
7244	-1.38	-146.6	743.3	-9.8	347	7248	0.00	2.50	0.00	0.000	6	0.000	0.066	2034	2380	3139
7566	-1.38	-146.6	771.3	-8.5	363	7567	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2380	3138
7874	-1.38	-146.6	798.5	-9.0	378	7876	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2380	3137
8185	-1.38	-146.6	826.2	-8.9	393	8186	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2380	3136
8493	-1.38	-146.6	854.0	-8.9	408	8498	0.00	2.58	0.00	0.000	4	0.000	0.081	2035	970	3135
8538	-1.38	-146.6	858.4	-9.6	410	8542	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2381	3134
8860	-1.38	-146.6	887.4	-9.0	426	8862	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2381	3132
9169	-1.38	-146.6	916.3	-9.6	441	9171	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2381	3131
9479	-1.38	-146.6	945.3	-9.3	456	9483	0.00	2.58	0.00	0.000	4	0.000	0.080	2034	974	3130
9512	-1.38	-146.6	948.6	-9.7	457	9517	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2386	3130
9828	-1.38	-146.6	978.0	-9.4	473	9829	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2387	3129
9968	end dive: TARGET_DEPTH_EXCEEDED
state	9968	begin apogee
9977	-0.32	0.0	991.4	9.1	480	10104	1.15	0.00	123.15	1.390	6	0.110	0.000	2267	2151	2540
10105	end apogee: CONTROL_FINISHED_OK
state	10105	begin climb
10108	1.38	146.6	997.1	0.0	486	10240	1.67	2.83	122.57	1.352	4	0.074	0.109	2641	3573	1941
10458	1.43	173.4	987.3	8.7	503	10487	0.00	2.50	24.17	1.335	6	0.000	0.067	2641	2168	1832
10807	1.45	191.0	956.8	9.2	520	10825	0.00	0.00	16.15	1.303	6	0.000	0.000	2641	2168	1761
11134	1.46	197.3	925.2	9.7	536	11147	0.00	2.72	6.82	1.120	4	0.000	0.092	2641	766	1735
11183	1.47	200.8	920.1	9.8	538	11193	0.00	2.50	4.53	0.915	6	0.000	0.059	2641	2177	1721
11504	1.47	203.4	888.1	9.9	553	11510	0.00	0.00	4.28	0.893	6	0.000	0.000	2641	2177	1710
11813	1.47	203.4	857.2	10.1	568	11814	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2179	1709
12122	1.47	203.4	825.5	10.3	583	12123	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2179	1708
12432	1.47	203.4	794.1	10.1	598	12436	0.00	2.62	0.00	0.000	4	0.000	0.085	2641	769	1708
12516	1.47	203.4	785.1	10.5	602	12520	0.00	2.47	0.00	0.000	6	0.000	0.061	2641	2172	1708
12843	1.49	216.4	753.9	9.4	618	12857	0.10	0.00	11.88	1.169	6	0.081	0.000	2666	2173	1657
13153	1.49	216.4	721.7	10.8	633	13157	0.00	2.62	0.00	0.000	4	0.000	0.085	2666	765	1656
13216	1.49	216.4	714.8	11.2	636	13220	0.00	2.47	0.00	0.000	6	0.000	0.061	2666	2170	1655
13543	1.49	216.4	679.8	10.8	652	13544	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2172	1656
13852	1.49	216.4	648.2	10.1	667	13853	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2172	1655
14161	1.49	216.4	616.3	10.6	682	14165	0.00	2.72	0.00	0.000	4	0.000	0.115	2666	3568	1655
14200	1.49	216.4	611.7	12.0	684	14205	0.00	2.47	0.00	0.000	6	0.000	0.068	2666	2170	1655
14528	1.49	216.4	577.1	10.4	700	14532	0.00	2.72	0.00	0.000	4	0.000	0.109	2666	3572	1655
14560	1.49	216.4	573.2	10.6	701	14566	0.00	2.50	0.00	0.000	6	0.000	0.067	2666	2165	1655
14876	1.49	216.4	539.6	10.6	717	14880	0.00	2.62	0.00	0.000	4	0.000	0.096	2666	766	1654
15028	1.49	216.4	522.3	10.8	724	15032	0.00	2.45	0.00	0.000	6	0.000	0.061	2666	2172	1654
15354	1.49	216.4	486.7	10.1	740	15359	0.00	2.70	0.00	0.000	4	0.000	0.110	2666	3572	1654
15630	1.50	222.1	458.1	9.7	752	15641	0.00	2.47	5.95	0.926	6	0.000	0.066	2666	2167	1634
15951	1.50	222.1	424.0	11.7	768	15952	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2167	1634
16260	1.50	222.1	388.9	11.3	783	16264	0.00	2.65	0.00	0.000	4	0.000	0.098	2666	3568	1634
16293	1.50	222.1	384.8	11.8	784	16298	0.00	2.47	0.00	0.000	6	0.000	0.064	2666	2164	1634
16608	1.50	222.1	349.5	11.2	800	16609	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2164	1634
16918	1.50	222.1	314.6	11.7	815	16919	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2164	1635
17227	1.50	222.1	277.8	12.0	830	17231	0.00	2.58	0.00	0.000	4	0.000	0.091	2666	770	1636
17271	1.50	222.1	272.1	11.5	832	17275	0.00	2.40	0.00	0.000	6	0.000	0.057	2664	2174	1636
17592	1.50	222.1	231.9	12.4	848	17596	0.00	2.60	0.00	0.000	4	0.000	0.095	2666	3568	1636
17641	1.50	222.1	225.6	11.7	850	17646	0.00	2.45	0.00	0.000	6	0.000	0.062	2666	2158	1637
17957	1.50	222.1	190.2	11.2	865	17958	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2161	1638
18267	1.50	222.1	154.9	11.5	880	18271	0.00	2.53	0.00	0.000	4	0.000	0.084	2666	772	1638
18306	1.50	222.1	149.9	13.4	882	18311	0.00	2.38	0.00	0.000	6	0.000	0.057	2665	2176	1638
18636	1.50	222.1	110.2	12.2	898	18640	0.00	2.53	0.00	0.000	4	0.000	0.073	2666	768	1640
18669	1.50	222.1	105.4	13.0	899	18675	0.00	2.42	0.00	0.000	6	0.000	0.058	2666	2177	1640
18987	1.50	222.1	65.7	13.1	915	18991	0.00	2.53	0.00	0.000	4	0.000	0.074	2666	770	1641
19009	1.50	222.1	62.8	11.4	916	19013	0.00	2.40	0.00	0.000	6	0.000	0.058	2666	2174	1641
19330	1.50	222.1	24.8	11.6	932	19335	0.00	2.50	0.00	0.000	4	0.000	0.072	2666	772	1641
19358	1.50	222.1	20.5	15.0	933	19362	0.00	2.38	0.00	0.000	6	0.000	0.061	2666	2169	1641
19490	end climb: SURFACE_DEPTH_REACHED
state	19490	begin surface coast
19512	end surface coast: CONTROL_FINISHED_OK
state	19512	begin surface