Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 14 * 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 14 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -131675.73 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 -131675.73

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 14 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 132007,6130.805,-250.550,76,1.7,76,-6.0 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.256,-0.015

_SM_DEPTHo 1.38 KALMAN_X 48212.5,-1403.3,-846.9,-29532.3,6424.1

_SM_ANGLEo -63.1 KALMAN_Y -3778.7,148.7,-557.8,-1590.9,183.6

GPS2 132633,6130.843,-250.336,11,1.8,11,-6.0 MHEAD_RNG_PITCHd_Wd 272.7,338210,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027356 ALTIM_TOP_PING 18.3,16.8

SM_CCo 19324,2.65,0.346,0,0,1519,250.21 _24V_AH 23.5,5.122

SM_GC 2.07,0.00,0.00,2.65,0.000,0.000,0.346,40,2380,1519,-10.58,0.00,250.21 _10V_AH 10.1,2.116

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47389,930

TT8_MAMPS 0.02301 CFSIZE 254472192,251695104

HUMID 1734 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 3.00 GPS 160208,185138,6131.355,-253.427,83,1.2,83,-6.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 180 108.96 SBE_CT 897 24 506.09

Roll_motor 146 138 479.33 SBE_O2 872 19 389.36

VBD_pump_during_apogee 335 1379 10885.86 WL_BB2F 478 105 1180.49

VBD_pump_during_surface 2 345 21.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.76 nil 0 0 0.00

Iridium_during_connect 34 160 130.90 nil 0 0 0.00

Iridium_during_xfer 178 223 937.60

Transponder_ping 8 420 86.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.40

TT8 1723 19 344.73

LPSleep 15370 2 339.99

TT8_Active 528 19 105.62

TT8_Sampling 1454 39 584.71

TT8_CF8 638 45 295.38

TT8_Kalman 33 81 27.56

Analog_circuits 1472 12 178.41

GPS_charging 0 0 0.00

Compass 1061 26 278.83

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 92 0.00 0.00 -59.58 0.000 2 0.000 0.000 36 2393 2877

96 -1.38 -146.6 5.6 -9.5 3 119 11.27 2.55 -4.90 0.000 4 0.180 0.081 2033 972 3140

188 -1.38 -146.6 26.0 -11.8 7 193 0.00 2.45 0.00 0.000 6 0.000 0.061 2033 2378 3140

516 -1.38 -146.6 60.4 -10.8 23 517 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2378 3142

825 -1.38 -146.6 95.9 -10.8 38 827 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2378 3142

1135 -1.38 -146.6 128.9 -10.8 53 1136 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2378 3142

1443 -1.38 -146.6 157.9 -9.0 68 1445 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2378 3142

1753 -1.38 -146.6 186.8 -8.7 83 1754 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2378 3143

2062 -1.38 -146.6 216.4 -9.9 98 2067 0.00 2.50 0.00 0.000 4 0.000 0.071 2033 974 3144

2118 -1.38 -146.6 222.5 -11.1 100 2124 0.00 2.45 0.00 0.000 6 0.000 0.061 2033 2379 3144

2435 -1.38 -146.6 253.4 -9.2 116 2436 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2378 3144

2744 -1.38 -146.6 283.0 -10.0 131 2745 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2378 3145

3053 -1.38 -146.6 314.4 -9.8 146 3058 0.00 2.53 0.00 0.000 4 0.000 0.073 2033 967 3144

3098 -1.38 -146.6 319.2 -10.3 148 3102 0.00 2.47 0.00 0.000 6 0.000 0.063 2033 2383 3144

3419 -1.38 -146.6 345.3 -7.5 164 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2383 3144

3728 -1.38 -146.6 372.2 -9.3 179 3730 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2383 3144

4037 -1.38 -146.6 404.8 -10.9 194 4038 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2383 3144

4346 -1.38 -146.6 436.9 -10.4 209 4351 0.00 2.55 0.00 0.000 4 0.000 0.077 2033 971 3144

4397 -1.38 -146.6 442.4 -11.0 211 4401 0.00 2.47 0.00 0.000 6 0.000 0.064 2033 2384 3144

4713 -1.38 -146.6 474.2 -10.1 226 4718 0.00 2.80 0.00 0.000 4 0.000 0.137 2033 3787 3144

4753 -1.38 -146.6 478.9 -12.1 228 4758 0.00 2.45 0.00 0.000 6 0.000 0.068 2033 2374 3143

5080 -1.38 -146.6 514.0 -10.7 244 5085 0.00 2.53 0.00 0.000 4 0.000 0.084 2033 977 3143

5193 -1.38 -146.6 526.4 -11.7 249 5197 0.00 2.45 0.00 0.000 6 0.000 0.064 2033 2382 3143

5514 -1.38 -146.6 558.3 -9.6 265 5515 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2382 3144

5823 -1.38 -146.6 584.6 -8.2 280 5828 0.00 2.55 0.00 0.000 4 0.000 0.081 2033 974 3143

5868 -1.38 -146.6 588.4 -8.9 282 5873 0.00 2.45 0.00 0.000 6 0.000 0.065 2033 2380 3143

6190 -1.38 -146.6 614.8 -8.2 298 6195 0.00 2.83 0.00 0.000 4 0.000 0.139 2033 3782 3143

6230 -1.38 -146.6 618.3 -8.6 300 6235 0.00 2.47 0.00 0.000 6 0.000 0.073 2033 2376 3143

6558 -1.38 -146.6 644.1 -7.8 316 6563 0.00 2.58 0.00 0.000 4 0.000 0.091 2033 975 3142

6615 -1.38 -146.6 649.1 -8.8 318 6620 0.00 2.47 0.00 0.000 6 0.000 0.066 2032 2380 3142

6932 -1.38 -146.6 675.9 -8.9 334 6933 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2380 3142

7240 -1.38 -146.6 704.1 -9.5 349 7241 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2380 3140

7550 -1.38 -146.6 734.2 -9.9 364 7551 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2380 3138

7859 -1.38 -146.6 763.4 -9.4 379 7860 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2380 3137

8168 -1.38 -146.6 791.5 -9.1 394 8169 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2381 3136

8477 -1.38 -146.6 820.2 -9.2 409 8478 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2381 3134

8786 -1.38 -146.6 849.0 -9.3 424 8791 0.00 2.58 0.00 0.000 4 0.000 0.082 2033 968 3133

8832 -1.38 -146.6 853.7 -10.4 426 8837 0.00 2.50 0.00 0.000 6 0.000 0.064 2033 2385 3133

9154 -1.38 -146.6 884.0 -9.4 442 9155 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2385 3131

9464 -1.38 -146.6 913.4 -9.8 457 9468 0.00 2.58 0.00 0.000 4 0.000 0.081 2033 966 3130

9497 -1.38 -146.6 917.0 -9.5 458 9503 0.00 2.50 0.00 0.000 6 0.000 0.064 2033 2387 3130

9813 -1.38 -146.6 947.9 -9.8 474 9814 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2387 3130

10122 -1.38 -146.6 978.0 -9.5 489 10127 0.00 2.55 0.00 0.000 4 0.000 0.079 2033 974 3129

10156 -1.38 -146.6 981.5 -10.3 490 10162 0.00 2.47 0.00 0.000 6 0.000 0.064 2033 2384 3129

10263 end dive: TARGET_DEPTH_EXCEEDED

state 10263 begin apogee

10271 -0.32 0.0 991.6 9.3 496 10398 1.17 0.00 123.43 1.379 6 0.120 0.000 2267 2157 2540

10399 end apogee: CONTROL_FINISHED_OK

state 10399 begin climb

10403 1.38 146.6 997.3 0.0 502 10534 1.70 2.62 122.82 1.346 4 0.076 0.084 2646 770 1942

10763 1.47 199.2 987.4 7.5 519 10815 0.00 2.50 45.38 1.341 6 0.000 0.061 2646 2176 1727

11128 1.47 199.5 952.1 10.0 537 11129 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2176 1725

11434 1.47 203.8 921.3 9.8 552 11445 0.00 2.62 5.32 1.034 4 0.000 0.084 2646 777 1709

11496 1.47 203.8 914.8 10.8 555 11501 0.00 2.45 0.00 0.000 6 0.000 0.061 2646 2171 1709

11824 1.50 217.8 883.4 9.3 571 11842 0.00 0.00 12.80 1.221 6 0.000 0.000 2646 2171 1653

12153 1.50 217.8 850.4 10.2 587 12154 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2173 1653

12462 1.50 217.8 818.0 10.6 602 12466 0.00 2.60 0.00 0.000 4 0.000 0.083 2644 774 1652

12512 1.50 217.8 812.5 10.5 604 12516 0.00 2.47 0.00 0.000 6 0.000 0.061 2646 2172 1652

12828 1.50 217.8 779.7 10.3 619 12829 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2172 1652

13137 1.50 220.8 748.8 9.9 634 13143 0.00 0.00 4.57 0.887 6 0.000 0.000 2646 2175 1638

13446 1.50 220.8 717.4 10.3 649 13450 0.00 2.58 0.00 0.000 4 0.000 0.084 2646 776 1639

13487 1.50 220.8 712.9 12.3 651 13491 0.00 2.45 0.00 0.000 6 0.000 0.061 2646 2171 1638

13813 1.50 220.8 677.7 10.9 667 13817 0.00 2.70 0.00 0.000 4 0.000 0.110 2645 3573 1638

13868 1.50 220.8 670.9 12.8 669 13874 0.00 2.47 0.00 0.000 6 0.000 0.066 2646 2174 1638

14184 1.50 220.8 634.8 11.3 685 14188 0.00 2.62 0.00 0.000 4 0.000 0.094 2646 767 1638

14302 1.50 220.8 620.8 12.5 690 14307 0.00 2.45 0.00 0.000 6 0.000 0.061 2646 2172 1638

14618 1.50 220.8 584.8 11.1 705 14623 0.00 2.60 0.00 0.000 4 0.000 0.085 2646 760 1638

14658 1.50 220.8 580.1 12.3 707 14663 0.00 2.45 0.00 0.000 6 0.000 0.061 2646 2174 1638

14985 1.50 220.8 541.5 12.1 723 14990 0.00 2.60 0.00 0.000 4 0.000 0.084 2646 762 1637

15035 1.50 220.8 535.1 12.5 725 15040 0.00 2.47 0.00 0.000 6 0.000 0.061 2645 2177 1637

15351 1.50 220.8 501.0 10.8 740 15355 0.00 2.58 0.00 0.000 4 0.000 0.084 2646 763 1637

15625 1.50 220.8 472.4 10.3 752 15630 0.00 2.45 0.00 0.000 6 0.000 0.060 2646 2177 1637

15941 1.54 246.7 444.0 8.8 767 15969 0.12 2.62 21.58 1.023 4 0.074 0.079 2678 760 1534

16005 1.54 246.7 437.0 12.3 770 16009 0.00 2.47 0.00 0.000 6 0.000 0.058 2678 2171 1534

16332 1.54 246.7 399.5 11.8 786 16333 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2171 1533

16641 1.54 246.7 359.3 14.0 801 16646 0.00 2.55 0.00 0.000 4 0.000 0.077 2678 762 1533

16686 1.54 246.7 352.5 15.6 803 16690 0.00 2.42 0.00 0.000 6 0.000 0.058 2678 2174 1533

17007 1.54 246.7 304.6 14.4 819 17011 0.00 2.55 0.00 0.000 4 0.000 0.074 2678 757 1533

17073 1.54 246.7 294.4 16.0 822 17078 0.00 2.42 0.00 0.000 6 0.000 0.057 2678 2170 1534

17395 1.54 246.7 250.5 13.5 838 17399 0.00 2.53 0.00 0.000 4 0.000 0.074 2679 763 1534

17445 1.54 246.7 243.4 13.7 840 17449 0.00 2.40 0.00 0.000 6 0.000 0.057 2678 2171 1534

17760 1.54 246.7 206.8 11.5 855 17764 0.00 2.53 0.00 0.000 4 0.000 0.073 2678 758 1536

17850 1.54 246.7 195.4 12.3 859 17854 0.00 2.42 0.00 0.000 6 0.000 0.058 2678 2174 1536

18171 1.54 246.7 156.5 12.2 875 18175 0.00 2.53 0.00 0.000 4 0.000 0.074 2678 764 1536

18226 1.54 246.7 149.2 13.9 877 18232 0.00 2.40 0.00 0.000 6 0.000 0.058 2678 2167 1537

18542 1.54 246.7 108.8 13.9 893 18544 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2166 1537

18852 1.54 246.7 66.1 13.1 908 18857 0.00 2.65 0.00 0.000 4 0.000 0.105 2678 3572 1538

18907 1.54 246.7 57.8 13.7 910 18914 0.00 2.45 0.00 0.000 6 0.000 0.061 2678 2157 1538

19224 1.54 246.7 10.7 18.5 926 19228 0.00 2.47 0.00 0.000 4 0.000 0.076 2678 769 1540

19242 1.54 246.7 7.9 17.8 927 19246 0.00 2.38 0.00 0.000 6 0.000 0.057 2678 2175 1540

19277 end climb: SURFACE_DEPTH_REACHED

state 19277 begin surface coast

19299 end surface coast: CONTROL_FINISHED_OK

state 19299 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	14	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-131675.73	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	132007,6130.805,-250.550,76,1.7,76,-6.0	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.256,-0.015
_SM_DEPTHo	1.38	KALMAN_X	48212.5,-1403.3,-846.9,-29532.3,6424.1
_SM_ANGLEo	-63.1	KALMAN_Y	-3778.7,148.7,-557.8,-1590.9,183.6
GPS2	132633,6130.843,-250.336,11,1.8,11,-6.0	MHEAD_RNG_PITCHd_Wd	272.7,338210,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.7,1.027356	ALTIM_TOP_PING	18.3,16.8
SM_CCo	19324,2.65,0.346,0,0,1519,250.21	_24V_AH	23.5,5.122
SM_GC	2.07,0.00,0.00,2.65,0.000,0.000,0.346,40,2380,1519,-10.58,0.00,250.21	_10V_AH	10.1,2.116
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47389,930
TT8_MAMPS	0.02301	CFSIZE	254472192,251695104
HUMID	1734	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	3.00	GPS	160208,185138,6131.355,-253.427,83,1.2,83,-6.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	180	108.96	SBE_CT	897	24	506.09
Roll_motor	146	138	479.33	SBE_O2	872	19	389.36
VBD_pump_during_apogee	335	1379	10885.86	WL_BB2F	478	105	1180.49
VBD_pump_during_surface	2	345	21.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.76	nil	0	0	0.00
Iridium_during_connect	34	160	130.90	nil	0	0	0.00
Iridium_during_xfer	178	223	937.60
Transponder_ping	8	420	86.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.40
TT8	1723	19	344.73
LPSleep	15370	2	339.99
TT8_Active	528	19	105.62
TT8_Sampling	1454	39	584.71
TT8_CF8	638	45	295.38
TT8_Kalman	33	81	27.56
Analog_circuits	1472	12	178.41
GPS_charging	0	0	0.00
Compass	1061	26	278.83
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	92	0.00	0.00	-59.58	0.000	2	0.000	0.000	36	2393	2877
96	-1.38	-146.6	5.6	-9.5	3	119	11.27	2.55	-4.90	0.000	4	0.180	0.081	2033	972	3140
188	-1.38	-146.6	26.0	-11.8	7	193	0.00	2.45	0.00	0.000	6	0.000	0.061	2033	2378	3140
516	-1.38	-146.6	60.4	-10.8	23	517	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2378	3142
825	-1.38	-146.6	95.9	-10.8	38	827	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2378	3142
1135	-1.38	-146.6	128.9	-10.8	53	1136	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2378	3142
1443	-1.38	-146.6	157.9	-9.0	68	1445	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2378	3142
1753	-1.38	-146.6	186.8	-8.7	83	1754	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2378	3143
2062	-1.38	-146.6	216.4	-9.9	98	2067	0.00	2.50	0.00	0.000	4	0.000	0.071	2033	974	3144
2118	-1.38	-146.6	222.5	-11.1	100	2124	0.00	2.45	0.00	0.000	6	0.000	0.061	2033	2379	3144
2435	-1.38	-146.6	253.4	-9.2	116	2436	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2378	3144
2744	-1.38	-146.6	283.0	-10.0	131	2745	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2378	3145
3053	-1.38	-146.6	314.4	-9.8	146	3058	0.00	2.53	0.00	0.000	4	0.000	0.073	2033	967	3144
3098	-1.38	-146.6	319.2	-10.3	148	3102	0.00	2.47	0.00	0.000	6	0.000	0.063	2033	2383	3144
3419	-1.38	-146.6	345.3	-7.5	164	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2383	3144
3728	-1.38	-146.6	372.2	-9.3	179	3730	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2383	3144
4037	-1.38	-146.6	404.8	-10.9	194	4038	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2383	3144
4346	-1.38	-146.6	436.9	-10.4	209	4351	0.00	2.55	0.00	0.000	4	0.000	0.077	2033	971	3144
4397	-1.38	-146.6	442.4	-11.0	211	4401	0.00	2.47	0.00	0.000	6	0.000	0.064	2033	2384	3144
4713	-1.38	-146.6	474.2	-10.1	226	4718	0.00	2.80	0.00	0.000	4	0.000	0.137	2033	3787	3144
4753	-1.38	-146.6	478.9	-12.1	228	4758	0.00	2.45	0.00	0.000	6	0.000	0.068	2033	2374	3143
5080	-1.38	-146.6	514.0	-10.7	244	5085	0.00	2.53	0.00	0.000	4	0.000	0.084	2033	977	3143
5193	-1.38	-146.6	526.4	-11.7	249	5197	0.00	2.45	0.00	0.000	6	0.000	0.064	2033	2382	3143
5514	-1.38	-146.6	558.3	-9.6	265	5515	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2382	3144
5823	-1.38	-146.6	584.6	-8.2	280	5828	0.00	2.55	0.00	0.000	4	0.000	0.081	2033	974	3143
5868	-1.38	-146.6	588.4	-8.9	282	5873	0.00	2.45	0.00	0.000	6	0.000	0.065	2033	2380	3143
6190	-1.38	-146.6	614.8	-8.2	298	6195	0.00	2.83	0.00	0.000	4	0.000	0.139	2033	3782	3143
6230	-1.38	-146.6	618.3	-8.6	300	6235	0.00	2.47	0.00	0.000	6	0.000	0.073	2033	2376	3143
6558	-1.38	-146.6	644.1	-7.8	316	6563	0.00	2.58	0.00	0.000	4	0.000	0.091	2033	975	3142
6615	-1.38	-146.6	649.1	-8.8	318	6620	0.00	2.47	0.00	0.000	6	0.000	0.066	2032	2380	3142
6932	-1.38	-146.6	675.9	-8.9	334	6933	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2380	3142
7240	-1.38	-146.6	704.1	-9.5	349	7241	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2380	3140
7550	-1.38	-146.6	734.2	-9.9	364	7551	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2380	3138
7859	-1.38	-146.6	763.4	-9.4	379	7860	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2380	3137
8168	-1.38	-146.6	791.5	-9.1	394	8169	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2381	3136
8477	-1.38	-146.6	820.2	-9.2	409	8478	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2381	3134
8786	-1.38	-146.6	849.0	-9.3	424	8791	0.00	2.58	0.00	0.000	4	0.000	0.082	2033	968	3133
8832	-1.38	-146.6	853.7	-10.4	426	8837	0.00	2.50	0.00	0.000	6	0.000	0.064	2033	2385	3133
9154	-1.38	-146.6	884.0	-9.4	442	9155	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2385	3131
9464	-1.38	-146.6	913.4	-9.8	457	9468	0.00	2.58	0.00	0.000	4	0.000	0.081	2033	966	3130
9497	-1.38	-146.6	917.0	-9.5	458	9503	0.00	2.50	0.00	0.000	6	0.000	0.064	2033	2387	3130
9813	-1.38	-146.6	947.9	-9.8	474	9814	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2387	3130
10122	-1.38	-146.6	978.0	-9.5	489	10127	0.00	2.55	0.00	0.000	4	0.000	0.079	2033	974	3129
10156	-1.38	-146.6	981.5	-10.3	490	10162	0.00	2.47	0.00	0.000	6	0.000	0.064	2033	2384	3129
10263	end dive: TARGET_DEPTH_EXCEEDED
state	10263	begin apogee
10271	-0.32	0.0	991.6	9.3	496	10398	1.17	0.00	123.43	1.379	6	0.120	0.000	2267	2157	2540
10399	end apogee: CONTROL_FINISHED_OK
state	10399	begin climb
10403	1.38	146.6	997.3	0.0	502	10534	1.70	2.62	122.82	1.346	4	0.076	0.084	2646	770	1942
10763	1.47	199.2	987.4	7.5	519	10815	0.00	2.50	45.38	1.341	6	0.000	0.061	2646	2176	1727
11128	1.47	199.5	952.1	10.0	537	11129	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2176	1725
11434	1.47	203.8	921.3	9.8	552	11445	0.00	2.62	5.32	1.034	4	0.000	0.084	2646	777	1709
11496	1.47	203.8	914.8	10.8	555	11501	0.00	2.45	0.00	0.000	6	0.000	0.061	2646	2171	1709
11824	1.50	217.8	883.4	9.3	571	11842	0.00	0.00	12.80	1.221	6	0.000	0.000	2646	2171	1653
12153	1.50	217.8	850.4	10.2	587	12154	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2173	1653
12462	1.50	217.8	818.0	10.6	602	12466	0.00	2.60	0.00	0.000	4	0.000	0.083	2644	774	1652
12512	1.50	217.8	812.5	10.5	604	12516	0.00	2.47	0.00	0.000	6	0.000	0.061	2646	2172	1652
12828	1.50	217.8	779.7	10.3	619	12829	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2172	1652
13137	1.50	220.8	748.8	9.9	634	13143	0.00	0.00	4.57	0.887	6	0.000	0.000	2646	2175	1638
13446	1.50	220.8	717.4	10.3	649	13450	0.00	2.58	0.00	0.000	4	0.000	0.084	2646	776	1639
13487	1.50	220.8	712.9	12.3	651	13491	0.00	2.45	0.00	0.000	6	0.000	0.061	2646	2171	1638
13813	1.50	220.8	677.7	10.9	667	13817	0.00	2.70	0.00	0.000	4	0.000	0.110	2645	3573	1638
13868	1.50	220.8	670.9	12.8	669	13874	0.00	2.47	0.00	0.000	6	0.000	0.066	2646	2174	1638
14184	1.50	220.8	634.8	11.3	685	14188	0.00	2.62	0.00	0.000	4	0.000	0.094	2646	767	1638
14302	1.50	220.8	620.8	12.5	690	14307	0.00	2.45	0.00	0.000	6	0.000	0.061	2646	2172	1638
14618	1.50	220.8	584.8	11.1	705	14623	0.00	2.60	0.00	0.000	4	0.000	0.085	2646	760	1638
14658	1.50	220.8	580.1	12.3	707	14663	0.00	2.45	0.00	0.000	6	0.000	0.061	2646	2174	1638
14985	1.50	220.8	541.5	12.1	723	14990	0.00	2.60	0.00	0.000	4	0.000	0.084	2646	762	1637
15035	1.50	220.8	535.1	12.5	725	15040	0.00	2.47	0.00	0.000	6	0.000	0.061	2645	2177	1637
15351	1.50	220.8	501.0	10.8	740	15355	0.00	2.58	0.00	0.000	4	0.000	0.084	2646	763	1637
15625	1.50	220.8	472.4	10.3	752	15630	0.00	2.45	0.00	0.000	6	0.000	0.060	2646	2177	1637
15941	1.54	246.7	444.0	8.8	767	15969	0.12	2.62	21.58	1.023	4	0.074	0.079	2678	760	1534
16005	1.54	246.7	437.0	12.3	770	16009	0.00	2.47	0.00	0.000	6	0.000	0.058	2678	2171	1534
16332	1.54	246.7	399.5	11.8	786	16333	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2171	1533
16641	1.54	246.7	359.3	14.0	801	16646	0.00	2.55	0.00	0.000	4	0.000	0.077	2678	762	1533
16686	1.54	246.7	352.5	15.6	803	16690	0.00	2.42	0.00	0.000	6	0.000	0.058	2678	2174	1533
17007	1.54	246.7	304.6	14.4	819	17011	0.00	2.55	0.00	0.000	4	0.000	0.074	2678	757	1533
17073	1.54	246.7	294.4	16.0	822	17078	0.00	2.42	0.00	0.000	6	0.000	0.057	2678	2170	1534
17395	1.54	246.7	250.5	13.5	838	17399	0.00	2.53	0.00	0.000	4	0.000	0.074	2679	763	1534
17445	1.54	246.7	243.4	13.7	840	17449	0.00	2.40	0.00	0.000	6	0.000	0.057	2678	2171	1534
17760	1.54	246.7	206.8	11.5	855	17764	0.00	2.53	0.00	0.000	4	0.000	0.073	2678	758	1536
17850	1.54	246.7	195.4	12.3	859	17854	0.00	2.42	0.00	0.000	6	0.000	0.058	2678	2174	1536
18171	1.54	246.7	156.5	12.2	875	18175	0.00	2.53	0.00	0.000	4	0.000	0.074	2678	764	1536
18226	1.54	246.7	149.2	13.9	877	18232	0.00	2.40	0.00	0.000	6	0.000	0.058	2678	2167	1537
18542	1.54	246.7	108.8	13.9	893	18544	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2166	1537
18852	1.54	246.7	66.1	13.1	908	18857	0.00	2.65	0.00	0.000	4	0.000	0.105	2678	3572	1538
18907	1.54	246.7	57.8	13.7	910	18914	0.00	2.45	0.00	0.000	6	0.000	0.061	2678	2157	1538
19224	1.54	246.7	10.7	18.5	926	19228	0.00	2.47	0.00	0.000	4	0.000	0.076	2678	769	1540
19242	1.54	246.7	7.9	17.8	927	19246	0.00	2.38	0.00	0.000	6	0.000	0.057	2678	2175	1540
19277	end climb: SURFACE_DEPTH_REACHED
state	19277	begin surface coast
19299	end surface coast: CONTROL_FINISHED_OK
state	19299	begin surface