Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 15 * 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 15 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -131691.11 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 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 -131691.11

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 27 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 15 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 185138,6131.355,-253.427,83,1.2,83,-6.0 TGT_NAME ESEC_SE

_CALLS 2 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.216,0.138

_SM_DEPTHo 1.55 KALMAN_X 50110.0,-905.1,-472.5,-34558.7,6117.5

_SM_ANGLEo -54.9 KALMAN_Y -4068.7,652.5,692.1,-1891.8,-2456.0

GPS2 190315,6131.470,-252.889,13,1.2,13,-6.0 MHEAD_RNG_PITCHd_Wd 308.6,43918,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.015340 XPDR_PINGS 1

SM_CCo 19035,0.00,0.000,0,0,1476,261.00 _24V_AH 23.5,5.279

SM_GC 1.41,11.57,0.00,0.00,0.061,0.000,0.000,39,2381,1476,-10.52,0.03,261.00 _10V_AH 10.1,2.205

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47422,913

TT8_MAMPS 0.02301 CFSIZE 254472192,251629568

HUMID 1758 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 2.50 GPS 170208,002237,6132.939,-256.194,36,1.0,36,-6.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 176 106.34 SBE_CT 876 24 494.34

Roll_motor 152 112 403.34 SBE_O2 849 19 379.37

VBD_pump_during_apogee 345 1389 11291.81 WL_BB2F 461 105 1138.19

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 67 103 164.38 nil 0 0 0.00

Iridium_during_connect 84 160 316.41 nil 0 0 0.00

Iridium_during_xfer 312 223 1636.62

Transponder_ping 8 420 86.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.45

TT8 1694 19 338.85

LPSleep 15181 2 335.80

TT8_Active 535 19 107.13

TT8_Sampling 1438 39 578.15

TT8_CF8 881 45 407.63

TT8_Kalman 33 81 27.56

Analog_circuits 1475 12 178.87

GPS_charging 0 0 0.00

Compass 1052 26 276.50

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 72 0.00 0.00 -39.97 0.000 2 0.000 0.000 40 2382 2363

77 -1.38 -146.6 3.1 -7.8 2 119 11.15 2.55 -21.17 0.000 4 0.176 0.079 2035 970 3140

159 -1.38 -146.6 15.9 -12.6 5 165 0.00 2.42 0.00 0.000 6 0.000 0.059 2035 2377 3140

475 -1.38 -146.6 52.0 -13.3 21 476 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2376 3140

785 -1.38 -146.6 88.6 -12.9 36 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2376 3140

1094 -1.38 -146.6 127.9 -11.4 51 1095 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2377 3140

1403 -1.38 -146.6 161.4 -11.1 66 1407 0.00 2.50 0.00 0.000 4 0.000 0.071 2035 972 3141

1465 -1.38 -146.6 168.3 -11.6 69 1470 0.00 2.42 0.00 0.000 6 0.000 0.061 2035 2379 3141

1792 -1.38 -146.6 203.0 -10.4 85 1793 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2379 3141

2101 -1.38 -146.6 233.3 -9.6 100 2102 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2379 3141

2410 -1.38 -146.6 263.2 -10.0 115 2414 0.00 2.50 0.00 0.000 4 0.000 0.072 2035 974 3141

2455 -1.38 -146.6 268.0 -10.3 117 2459 0.00 2.45 0.00 0.000 6 0.000 0.062 2035 2385 3141

2776 -1.38 -146.6 302.5 -11.2 133 2777 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2385 3141

3085 -1.38 -146.6 339.4 -11.7 148 3089 0.00 2.53 0.00 0.000 4 0.000 0.073 2035 973 3141

3125 -1.38 -146.6 344.0 -12.0 150 3129 0.00 2.42 0.00 0.000 6 0.000 0.064 2035 2379 3141

3452 -1.38 -146.6 378.0 -10.3 166 3454 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2379 3141

3762 -1.38 -146.6 408.4 -9.4 181 3764 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2379 3141

4071 -1.38 -146.6 438.0 -10.1 196 4075 0.00 2.53 0.00 0.000 4 0.000 0.076 2035 976 3142

4182 -1.38 -146.6 449.9 -10.4 201 4187 0.00 2.45 0.00 0.000 6 0.000 0.065 2035 2378 3142

4509 -1.38 -146.6 481.5 -9.8 217 4510 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2379 3142

4819 -1.38 -146.6 511.8 -9.4 232 4823 0.00 2.53 0.00 0.000 4 0.000 0.079 2035 980 3144

4859 -1.38 -146.6 515.8 -9.4 234 4863 0.00 2.47 0.00 0.000 6 0.000 0.066 2035 2387 3144

5185 -1.38 -146.6 547.1 -9.6 250 5190 0.00 2.55 0.00 0.000 4 0.000 0.081 2035 981 3144

5219 -1.38 -146.6 550.7 -10.0 251 5225 0.00 2.47 0.00 0.000 6 0.000 0.066 2035 2380 3144

5535 -1.38 -146.6 580.9 -9.4 267 5536 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2380 3143

5845 -1.38 -146.6 609.8 -9.3 282 5849 0.00 2.55 0.00 0.000 4 0.000 0.084 2035 981 3142

5885 -1.38 -146.6 613.6 -9.3 284 5889 0.00 2.50 0.00 0.000 6 0.000 0.066 2035 2386 3142

6212 -1.38 -146.6 643.1 -8.9 300 6213 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2386 3140

6521 -1.38 -146.6 671.1 -9.0 315 6522 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2387 3139

6830 -1.38 -146.6 698.2 -8.5 330 6831 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2387 3137

7139 -1.38 -146.6 724.2 -8.5 345 7144 0.00 2.58 0.00 0.000 4 0.000 0.081 2035 976 3136

7180 -1.38 -146.6 727.8 -9.3 347 7184 0.00 2.47 0.00 0.000 6 0.000 0.067 2035 2386 3136

7507 -1.38 -146.6 756.6 -9.2 363 7508 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2386 3134

7816 -1.38 -146.6 785.2 -9.5 378 7820 0.00 2.55 0.00 0.000 4 0.000 0.080 2035 980 3132

7866 -1.38 -146.6 790.2 -10.0 380 7870 0.00 2.50 0.00 0.000 6 0.000 0.066 2035 2386 3132

8182 -1.38 -146.6 820.6 -10.0 395 8183 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2386 3131

8492 -1.38 -146.6 850.1 -9.6 410 8496 0.00 2.55 0.00 0.000 4 0.000 0.080 2035 981 3129

8547 -1.38 -146.6 856.0 -10.3 412 8553 0.00 2.47 0.00 0.000 6 0.000 0.065 2035 2381 3130

8863 -1.38 -146.6 886.2 -9.6 428 8864 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2381 3129

9173 -1.38 -146.6 914.7 -9.0 443 9174 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2380 3128

9482 -1.38 -146.6 942.5 -8.8 458 9486 0.00 2.55 0.00 0.000 4 0.000 0.079 2035 974 3127

9538 -1.38 -146.6 947.9 -9.6 460 9544 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2390 3127

9856 -1.38 -146.6 975.6 -8.6 476 9857 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2390 3125

10036 end dive: TARGET_DEPTH_EXCEEDED

state 10036 begin apogee

10044 -0.32 0.0 991.7 8.7 485 10171 1.15 0.00 122.85 1.389 6 0.110 0.000 2268 2154 2540

10171 end apogee: CONTROL_FINISHED_OK

state 10172 begin climb

10175 1.38 146.6 997.0 0.0 491 10306 1.67 2.83 122.12 1.364 4 0.074 0.109 2643 3573 1942

10544 1.46 196.1 984.7 7.7 509 10593 0.00 2.47 42.72 1.356 6 0.000 0.066 2643 2182 1739

10919 1.46 196.1 947.6 10.5 527 10920 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2182 1738

11226 1.46 196.1 916.1 10.1 542 11230 0.00 2.65 0.00 0.000 4 0.000 0.091 2644 760 1737

11292 1.46 196.1 908.9 11.5 545 11297 0.00 2.50 0.00 0.000 6 0.000 0.061 2643 2175 1737

11614 1.47 203.4 877.9 9.7 561 11623 0.00 0.00 7.65 1.128 6 0.000 0.000 2643 2175 1710

11923 1.48 208.8 847.8 9.7 576 11934 0.00 2.70 5.97 1.038 4 0.000 0.084 2643 763 1688

11974 1.48 208.8 842.3 10.8 578 11978 0.00 2.50 0.00 0.000 6 0.000 0.061 2643 2177 1688

12290 1.50 220.8 811.7 9.4 593 12304 0.10 0.00 11.80 1.188 6 0.079 0.000 2669 2178 1639

12600 1.50 220.8 777.8 11.2 608 12604 0.00 2.62 0.00 0.000 4 0.000 0.084 2669 766 1639

12677 1.50 220.8 768.1 12.8 611 12683 0.00 2.50 0.00 0.000 6 0.000 0.061 2670 2174 1638

12993 1.50 220.8 730.9 11.5 627 12997 0.00 2.62 0.00 0.000 4 0.000 0.083 2669 759 1638

13043 1.50 220.8 724.5 12.4 629 13047 0.00 2.47 0.00 0.000 6 0.000 0.061 2670 2171 1637

13359 1.50 220.8 689.0 11.2 644 13360 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2172 1637

13668 1.50 220.8 654.3 11.7 659 13672 0.00 2.60 0.00 0.000 4 0.000 0.083 2669 762 1637

13723 1.50 220.8 647.3 12.3 661 13729 0.00 2.47 0.00 0.000 6 0.000 0.061 2669 2175 1637

14039 1.50 220.8 611.1 11.2 677 14043 0.00 2.70 0.00 0.000 4 0.000 0.113 2669 3572 1637

14150 1.50 220.8 597.8 11.8 682 14155 0.00 2.50 0.00 0.000 6 0.000 0.066 2669 2168 1637

14472 1.50 220.8 564.4 10.1 698 14476 0.00 2.62 0.00 0.000 4 0.000 0.091 2669 764 1637

14566 1.50 220.8 553.8 11.2 702 14571 0.00 2.47 0.00 0.000 6 0.000 0.060 2670 2179 1637

14882 1.50 220.8 521.3 10.2 717 14887 0.00 2.67 0.00 0.000 4 0.000 0.110 2669 3572 1637

14944 1.50 220.8 515.0 11.6 720 14949 0.00 2.47 0.00 0.000 6 0.000 0.066 2669 2162 1636

15272 1.57 261.7 486.2 8.1 736 15313 0.00 2.70 32.80 1.050 4 0.000 0.092 2669 771 1473

15375 1.57 261.7 475.9 10.5 740 15382 0.00 2.47 0.00 0.000 6 0.000 0.059 2669 2174 1473

15692 1.57 261.7 439.8 11.9 756 15696 0.00 2.67 0.00 0.000 4 0.000 0.107 2669 3571 1473

15713 1.57 261.7 436.9 12.2 757 15717 0.00 2.47 0.00 0.000 6 0.000 0.064 2669 2165 1472

16035 1.57 261.7 397.5 12.0 773 16039 0.00 2.58 0.00 0.000 4 0.000 0.090 2669 769 1471

16191 1.57 261.7 377.8 12.6 780 16195 0.00 2.45 0.00 0.000 6 0.000 0.058 2669 2176 1471

16513 1.57 261.7 335.5 13.5 796 16517 0.00 2.58 0.00 0.000 4 0.000 0.078 2669 761 1470

16590 1.57 261.7 324.2 12.8 799 16596 0.00 2.42 0.00 0.000 6 0.000 0.057 2669 2175 1470

16906 1.57 261.7 283.3 13.0 815 16910 0.00 2.55 0.00 0.000 4 0.000 0.076 2669 766 1470

16961 1.57 261.7 275.5 12.8 817 16967 0.00 2.40 0.00 0.000 6 0.000 0.057 2670 2169 1471

17277 1.57 261.7 234.5 13.1 833 17281 0.00 2.53 0.00 0.000 4 0.000 0.075 2669 766 1471

17327 1.57 261.7 227.5 14.8 835 17331 0.00 2.40 0.00 0.000 6 0.000 0.057 2669 2170 1471

17642 1.57 261.7 186.6 12.2 850 17647 0.00 2.53 0.00 0.000 4 0.000 0.074 2669 766 1472

17687 1.57 261.7 181.3 11.3 852 17691 0.00 2.40 0.00 0.000 6 0.000 0.057 2670 2170 1472

18009 1.57 261.7 140.2 13.5 868 18010 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2170 1474

18318 1.57 261.7 96.2 13.9 883 18322 0.00 2.55 0.00 0.000 4 0.000 0.077 2670 764 1474

18358 1.57 261.7 90.2 16.0 885 18362 0.00 2.42 0.00 0.000 6 0.000 0.058 2669 2175 1474

18686 1.57 261.7 41.9 14.6 901 18690 0.00 2.53 0.00 0.000 4 0.000 0.074 2669 765 1476

18737 1.57 261.7 32.5 19.7 903 18741 0.00 2.40 0.00 0.000 6 0.000 0.058 2669 2165 1476

18926 end climb: SURFACE_DEPTH_REACHED

state 18926 begin surface coast

18950 end surface coast: CONTROL_FINISHED_OK

state 18950 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	15	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-131691.11	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	185138,6131.355,-253.427,83,1.2,83,-6.0	TGT_NAME	ESEC_SE
_CALLS	2	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.216,0.138
_SM_DEPTHo	1.55	KALMAN_X	50110.0,-905.1,-472.5,-34558.7,6117.5
_SM_ANGLEo	-54.9	KALMAN_Y	-4068.7,652.5,692.1,-1891.8,-2456.0
GPS2	190315,6131.470,-252.889,13,1.2,13,-6.0	MHEAD_RNG_PITCHd_Wd	308.6,43918,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.5,1.015340	XPDR_PINGS	1
SM_CCo	19035,0.00,0.000,0,0,1476,261.00	_24V_AH	23.5,5.279
SM_GC	1.41,11.57,0.00,0.00,0.061,0.000,0.000,39,2381,1476,-10.52,0.03,261.00	_10V_AH	10.1,2.205
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47422,913
TT8_MAMPS	0.02301	CFSIZE	254472192,251629568
HUMID	1758	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	2.50	GPS	170208,002237,6132.939,-256.194,36,1.0,36,-6.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	176	106.34	SBE_CT	876	24	494.34
Roll_motor	152	112	403.34	SBE_O2	849	19	379.37
VBD_pump_during_apogee	345	1389	11291.81	WL_BB2F	461	105	1138.19
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	67	103	164.38	nil	0	0	0.00
Iridium_during_connect	84	160	316.41	nil	0	0	0.00
Iridium_during_xfer	312	223	1636.62
Transponder_ping	8	420	86.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.45
TT8	1694	19	338.85
LPSleep	15181	2	335.80
TT8_Active	535	19	107.13
TT8_Sampling	1438	39	578.15
TT8_CF8	881	45	407.63
TT8_Kalman	33	81	27.56
Analog_circuits	1475	12	178.87
GPS_charging	0	0	0.00
Compass	1052	26	276.50
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	72	0.00	0.00	-39.97	0.000	2	0.000	0.000	40	2382	2363
77	-1.38	-146.6	3.1	-7.8	2	119	11.15	2.55	-21.17	0.000	4	0.176	0.079	2035	970	3140
159	-1.38	-146.6	15.9	-12.6	5	165	0.00	2.42	0.00	0.000	6	0.000	0.059	2035	2377	3140
475	-1.38	-146.6	52.0	-13.3	21	476	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2376	3140
785	-1.38	-146.6	88.6	-12.9	36	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2376	3140
1094	-1.38	-146.6	127.9	-11.4	51	1095	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2377	3140
1403	-1.38	-146.6	161.4	-11.1	66	1407	0.00	2.50	0.00	0.000	4	0.000	0.071	2035	972	3141
1465	-1.38	-146.6	168.3	-11.6	69	1470	0.00	2.42	0.00	0.000	6	0.000	0.061	2035	2379	3141
1792	-1.38	-146.6	203.0	-10.4	85	1793	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2379	3141
2101	-1.38	-146.6	233.3	-9.6	100	2102	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2379	3141
2410	-1.38	-146.6	263.2	-10.0	115	2414	0.00	2.50	0.00	0.000	4	0.000	0.072	2035	974	3141
2455	-1.38	-146.6	268.0	-10.3	117	2459	0.00	2.45	0.00	0.000	6	0.000	0.062	2035	2385	3141
2776	-1.38	-146.6	302.5	-11.2	133	2777	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2385	3141
3085	-1.38	-146.6	339.4	-11.7	148	3089	0.00	2.53	0.00	0.000	4	0.000	0.073	2035	973	3141
3125	-1.38	-146.6	344.0	-12.0	150	3129	0.00	2.42	0.00	0.000	6	0.000	0.064	2035	2379	3141
3452	-1.38	-146.6	378.0	-10.3	166	3454	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2379	3141
3762	-1.38	-146.6	408.4	-9.4	181	3764	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2379	3141
4071	-1.38	-146.6	438.0	-10.1	196	4075	0.00	2.53	0.00	0.000	4	0.000	0.076	2035	976	3142
4182	-1.38	-146.6	449.9	-10.4	201	4187	0.00	2.45	0.00	0.000	6	0.000	0.065	2035	2378	3142
4509	-1.38	-146.6	481.5	-9.8	217	4510	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2379	3142
4819	-1.38	-146.6	511.8	-9.4	232	4823	0.00	2.53	0.00	0.000	4	0.000	0.079	2035	980	3144
4859	-1.38	-146.6	515.8	-9.4	234	4863	0.00	2.47	0.00	0.000	6	0.000	0.066	2035	2387	3144
5185	-1.38	-146.6	547.1	-9.6	250	5190	0.00	2.55	0.00	0.000	4	0.000	0.081	2035	981	3144
5219	-1.38	-146.6	550.7	-10.0	251	5225	0.00	2.47	0.00	0.000	6	0.000	0.066	2035	2380	3144
5535	-1.38	-146.6	580.9	-9.4	267	5536	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2380	3143
5845	-1.38	-146.6	609.8	-9.3	282	5849	0.00	2.55	0.00	0.000	4	0.000	0.084	2035	981	3142
5885	-1.38	-146.6	613.6	-9.3	284	5889	0.00	2.50	0.00	0.000	6	0.000	0.066	2035	2386	3142
6212	-1.38	-146.6	643.1	-8.9	300	6213	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2386	3140
6521	-1.38	-146.6	671.1	-9.0	315	6522	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2387	3139
6830	-1.38	-146.6	698.2	-8.5	330	6831	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2387	3137
7139	-1.38	-146.6	724.2	-8.5	345	7144	0.00	2.58	0.00	0.000	4	0.000	0.081	2035	976	3136
7180	-1.38	-146.6	727.8	-9.3	347	7184	0.00	2.47	0.00	0.000	6	0.000	0.067	2035	2386	3136
7507	-1.38	-146.6	756.6	-9.2	363	7508	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2386	3134
7816	-1.38	-146.6	785.2	-9.5	378	7820	0.00	2.55	0.00	0.000	4	0.000	0.080	2035	980	3132
7866	-1.38	-146.6	790.2	-10.0	380	7870	0.00	2.50	0.00	0.000	6	0.000	0.066	2035	2386	3132
8182	-1.38	-146.6	820.6	-10.0	395	8183	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2386	3131
8492	-1.38	-146.6	850.1	-9.6	410	8496	0.00	2.55	0.00	0.000	4	0.000	0.080	2035	981	3129
8547	-1.38	-146.6	856.0	-10.3	412	8553	0.00	2.47	0.00	0.000	6	0.000	0.065	2035	2381	3130
8863	-1.38	-146.6	886.2	-9.6	428	8864	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2381	3129
9173	-1.38	-146.6	914.7	-9.0	443	9174	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2380	3128
9482	-1.38	-146.6	942.5	-8.8	458	9486	0.00	2.55	0.00	0.000	4	0.000	0.079	2035	974	3127
9538	-1.38	-146.6	947.9	-9.6	460	9544	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2390	3127
9856	-1.38	-146.6	975.6	-8.6	476	9857	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2390	3125
10036	end dive: TARGET_DEPTH_EXCEEDED
state	10036	begin apogee
10044	-0.32	0.0	991.7	8.7	485	10171	1.15	0.00	122.85	1.389	6	0.110	0.000	2268	2154	2540
10171	end apogee: CONTROL_FINISHED_OK
state	10172	begin climb
10175	1.38	146.6	997.0	0.0	491	10306	1.67	2.83	122.12	1.364	4	0.074	0.109	2643	3573	1942
10544	1.46	196.1	984.7	7.7	509	10593	0.00	2.47	42.72	1.356	6	0.000	0.066	2643	2182	1739
10919	1.46	196.1	947.6	10.5	527	10920	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2182	1738
11226	1.46	196.1	916.1	10.1	542	11230	0.00	2.65	0.00	0.000	4	0.000	0.091	2644	760	1737
11292	1.46	196.1	908.9	11.5	545	11297	0.00	2.50	0.00	0.000	6	0.000	0.061	2643	2175	1737
11614	1.47	203.4	877.9	9.7	561	11623	0.00	0.00	7.65	1.128	6	0.000	0.000	2643	2175	1710
11923	1.48	208.8	847.8	9.7	576	11934	0.00	2.70	5.97	1.038	4	0.000	0.084	2643	763	1688
11974	1.48	208.8	842.3	10.8	578	11978	0.00	2.50	0.00	0.000	6	0.000	0.061	2643	2177	1688
12290	1.50	220.8	811.7	9.4	593	12304	0.10	0.00	11.80	1.188	6	0.079	0.000	2669	2178	1639
12600	1.50	220.8	777.8	11.2	608	12604	0.00	2.62	0.00	0.000	4	0.000	0.084	2669	766	1639
12677	1.50	220.8	768.1	12.8	611	12683	0.00	2.50	0.00	0.000	6	0.000	0.061	2670	2174	1638
12993	1.50	220.8	730.9	11.5	627	12997	0.00	2.62	0.00	0.000	4	0.000	0.083	2669	759	1638
13043	1.50	220.8	724.5	12.4	629	13047	0.00	2.47	0.00	0.000	6	0.000	0.061	2670	2171	1637
13359	1.50	220.8	689.0	11.2	644	13360	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2172	1637
13668	1.50	220.8	654.3	11.7	659	13672	0.00	2.60	0.00	0.000	4	0.000	0.083	2669	762	1637
13723	1.50	220.8	647.3	12.3	661	13729	0.00	2.47	0.00	0.000	6	0.000	0.061	2669	2175	1637
14039	1.50	220.8	611.1	11.2	677	14043	0.00	2.70	0.00	0.000	4	0.000	0.113	2669	3572	1637
14150	1.50	220.8	597.8	11.8	682	14155	0.00	2.50	0.00	0.000	6	0.000	0.066	2669	2168	1637
14472	1.50	220.8	564.4	10.1	698	14476	0.00	2.62	0.00	0.000	4	0.000	0.091	2669	764	1637
14566	1.50	220.8	553.8	11.2	702	14571	0.00	2.47	0.00	0.000	6	0.000	0.060	2670	2179	1637
14882	1.50	220.8	521.3	10.2	717	14887	0.00	2.67	0.00	0.000	4	0.000	0.110	2669	3572	1637
14944	1.50	220.8	515.0	11.6	720	14949	0.00	2.47	0.00	0.000	6	0.000	0.066	2669	2162	1636
15272	1.57	261.7	486.2	8.1	736	15313	0.00	2.70	32.80	1.050	4	0.000	0.092	2669	771	1473
15375	1.57	261.7	475.9	10.5	740	15382	0.00	2.47	0.00	0.000	6	0.000	0.059	2669	2174	1473
15692	1.57	261.7	439.8	11.9	756	15696	0.00	2.67	0.00	0.000	4	0.000	0.107	2669	3571	1473
15713	1.57	261.7	436.9	12.2	757	15717	0.00	2.47	0.00	0.000	6	0.000	0.064	2669	2165	1472
16035	1.57	261.7	397.5	12.0	773	16039	0.00	2.58	0.00	0.000	4	0.000	0.090	2669	769	1471
16191	1.57	261.7	377.8	12.6	780	16195	0.00	2.45	0.00	0.000	6	0.000	0.058	2669	2176	1471
16513	1.57	261.7	335.5	13.5	796	16517	0.00	2.58	0.00	0.000	4	0.000	0.078	2669	761	1470
16590	1.57	261.7	324.2	12.8	799	16596	0.00	2.42	0.00	0.000	6	0.000	0.057	2669	2175	1470
16906	1.57	261.7	283.3	13.0	815	16910	0.00	2.55	0.00	0.000	4	0.000	0.076	2669	766	1470
16961	1.57	261.7	275.5	12.8	817	16967	0.00	2.40	0.00	0.000	6	0.000	0.057	2670	2169	1471
17277	1.57	261.7	234.5	13.1	833	17281	0.00	2.53	0.00	0.000	4	0.000	0.075	2669	766	1471
17327	1.57	261.7	227.5	14.8	835	17331	0.00	2.40	0.00	0.000	6	0.000	0.057	2669	2170	1471
17642	1.57	261.7	186.6	12.2	850	17647	0.00	2.53	0.00	0.000	4	0.000	0.074	2669	766	1472
17687	1.57	261.7	181.3	11.3	852	17691	0.00	2.40	0.00	0.000	6	0.000	0.057	2670	2170	1472
18009	1.57	261.7	140.2	13.5	868	18010	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2170	1474
18318	1.57	261.7	96.2	13.9	883	18322	0.00	2.55	0.00	0.000	4	0.000	0.077	2670	764	1474
18358	1.57	261.7	90.2	16.0	885	18362	0.00	2.42	0.00	0.000	6	0.000	0.058	2669	2175	1474
18686	1.57	261.7	41.9	14.6	901	18690	0.00	2.53	0.00	0.000	4	0.000	0.074	2669	765	1476
18737	1.57	261.7	32.5	19.7	903	18741	0.00	2.40	0.00	0.000	6	0.000	0.058	2669	2165	1476
18926	end climb: SURFACE_DEPTH_REACHED
state	18926	begin surface coast
18950	end surface coast: CONTROL_FINISHED_OK
state	18950	begin surface