Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 21 * 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 21 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -131824.44 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 -131824.44

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 31 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 21 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 042230,6130.072,-304.141,54,2.0,55,-6.1 TGT_NAME ESEC_SE

_CALLS 1 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.253,-0.042

_SM_DEPTHo 1.36 KALMAN_X 67681.8,49.2,-404.6,-62904.6,3893.1

_SM_ANGLEo -55.0 KALMAN_Y -3886.3,-100.5,-719.5,-2507.8,703.7

GPS2 042945,6130.059,-303.928,11,1.9,29,-6.1 MHEAD_RNG_PITCHd_Wd 266.7,33895,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.015618 XPDR_PINGS 0

SM_CCo 19296,1.77,0.142,0,0,1520,250.21 _24V_AH 23.5,6.257

SM_GC 2.35,0.00,0.00,1.77,0.000,0.000,0.142,38,2389,1520,-10.59,0.25,250.21 _10V_AH 10.1,2.746

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47453,930

TT8_MAMPS 0.023777 CFSIZE 254472192,251244544

HUMID 1744 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 2.50 GPS 180208,095337,6129.898,-305.058,37,1.3,37,-6.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 180 108.65 SBE_CT 907 24 511.76

Roll_motor 127 131 391.98 SBE_O2 881 19 393.57

VBD_pump_during_apogee 340 1385 11069.39 WL_BB2F 473 105 1167.62

VBD_pump_during_surface 1 141 5.92 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 39 160 147.48 nil 0 0 0.00

Iridium_during_xfer 200 223 1052.43

Transponder_ping 8 420 83.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.72

TT8 1685 19 337.12

LPSleep 15486 2 342.55

TT8_Active 522 19 104.47

TT8_Sampling 1386 39 557.29

TT8_CF8 656 45 303.53

TT8_Kalman 33 81 27.56

Analog_circuits 1412 12 171.23

GPS_charging 0 0 0.00

Compass 992 26 260.58

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

23 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -1.38 -146.6 0.0 0.0 0 89 0.00 0.00 -59.65 0.000 2 0.000 0.000 37 2395 2848

93 -1.38 -146.6 5.1 -7.8 3 116 11.23 2.67 -5.68 0.000 4 0.180 0.114 2033 3767 3139

122 -1.38 -146.6 16.6 -34.0 4 127 0.00 2.38 0.00 0.000 6 0.000 0.061 2033 2383 3139

444 -1.38 -146.6 60.3 -15.4 20 445 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2383 3140

755 -1.38 -146.6 101.5 -13.9 35 756 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2383 3141

1063 -1.38 -146.6 134.0 -9.9 50 1067 0.00 2.50 0.00 0.000 4 0.000 0.074 2033 977 3141

1096 -1.38 -146.6 137.9 -11.2 51 1102 0.00 2.42 0.00 0.000 6 0.000 0.061 2032 2372 3141

1411 -1.38 -146.6 174.7 -11.5 67 1412 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2371 3141

1721 -1.38 -146.6 209.6 -11.4 82 1725 0.00 2.47 0.00 0.000 4 0.000 0.071 2033 978 3142

1770 -1.38 -146.6 215.5 -11.3 84 1775 0.00 2.42 0.00 0.000 6 0.000 0.062 2033 2386 3142

2088 -1.38 -146.6 250.6 -10.8 99 2092 0.00 2.50 0.00 0.000 4 0.000 0.071 2033 979 3142

2122 -1.38 -146.6 254.4 -10.4 100 2129 0.00 2.45 0.00 0.000 6 0.000 0.061 2033 2387 3142

2439 -1.38 -146.6 287.1 -10.2 116 2440 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2387 3142

2749 -1.38 -146.6 319.9 -11.0 131 2750 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2387 3143

3059 -1.38 -146.6 350.4 -9.1 146 3063 0.00 2.53 0.00 0.000 4 0.000 0.074 2033 979 3143

3126 -1.38 -146.6 356.8 -9.7 149 3130 0.00 2.45 0.00 0.000 6 0.000 0.063 2033 2381 3143

3447 -1.38 -146.6 389.3 -10.4 165 3451 0.00 2.50 0.00 0.000 4 0.000 0.074 2033 981 3143

3474 -1.38 -146.6 392.2 -11.0 166 3478 0.00 2.42 0.00 0.000 6 0.000 0.064 2033 2379 3143

3791 -1.38 -146.6 423.8 -9.2 181 3796 0.00 2.78 0.00 0.000 4 0.000 0.130 2033 3782 3143

3840 -1.38 -146.6 429.0 -10.4 183 3845 0.00 2.42 0.00 0.000 6 0.000 0.067 2033 2384 3144

4157 -1.38 -146.6 461.8 -9.8 198 4161 0.00 2.53 0.00 0.000 4 0.000 0.081 2033 976 3144

4220 -1.38 -146.6 467.9 -9.8 201 4224 0.00 2.45 0.00 0.000 6 0.000 0.062 2033 2384 3143

4547 -1.38 -146.6 498.7 -9.8 217 4551 0.00 2.78 0.00 0.000 4 0.000 0.131 2033 3783 3143

4591 -1.38 -146.6 503.3 -10.9 219 4595 0.00 2.47 0.00 0.000 6 0.000 0.069 2033 2375 3143

4912 -1.38 -146.6 538.9 -12.2 235 4913 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2374 3143

5222 -1.38 -146.6 575.6 -11.5 250 5226 0.00 2.55 0.00 0.000 4 0.000 0.087 2033 970 3143

5311 -1.38 -146.6 586.2 -11.5 254 5315 0.00 2.45 0.00 0.000 6 0.000 0.063 2033 2380 3143

5632 -1.38 -146.6 618.6 -10.2 270 5633 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2381 3142

5941 -1.38 -146.6 649.2 -9.7 285 5943 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2381 3141

6251 -1.38 -146.6 678.4 -9.0 300 6252 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2381 3141

6560 -1.38 -146.6 703.8 -8.0 315 6561 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2382 3139

6869 -1.38 -146.6 728.0 -7.7 330 6870 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2381 3138

7179 -1.38 -146.6 751.8 -7.8 345 7180 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2381 3136

7488 -1.38 -146.6 776.2 -7.9 360 7493 0.00 2.55 0.00 0.000 4 0.000 0.081 2033 973 3136

7529 -1.38 -146.6 779.6 -8.0 362 7533 0.00 2.47 0.00 0.000 6 0.000 0.064 2033 2384 3135

7856 -1.38 -146.6 806.0 -8.2 378 7857 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2384 3134

8165 -1.38 -146.6 831.0 -7.9 393 8166 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2384 3133

8474 -1.38 -146.6 856.4 -8.4 408 8476 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2387 3132

8784 -1.38 -146.6 883.2 -8.5 423 8788 0.00 2.55 0.00 0.000 4 0.000 0.081 2033 976 3131

8829 -1.38 -146.6 887.3 -9.4 425 8833 0.00 2.47 0.00 0.000 6 0.000 0.064 2033 2381 3131

9151 -1.38 -146.6 914.2 -8.2 441 9152 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2381 3130

9460 -1.38 -146.6 940.4 -8.8 456 9465 0.00 2.55 0.00 0.000 4 0.000 0.080 2033 974 3129

9517 -1.38 -146.6 945.6 -9.4 458 9522 0.00 2.47 0.00 0.000 6 0.000 0.064 2033 2382 3128

9833 -1.38 -146.6 972.7 -8.4 474 9837 0.00 2.55 0.00 0.000 4 0.000 0.079 2033 975 3127

9866 -1.38 -146.6 975.7 -8.7 475 9872 0.00 2.47 0.00 0.000 6 0.000 0.063 2033 2384 3127

10034 end dive: TARGET_DEPTH_EXCEEDED

state 10034 begin apogee

10043 -0.32 0.0 990.1 8.5 484 10170 1.15 0.00 123.25 1.385 6 0.113 0.000 2265 2157 2540

10170 end apogee: CONTROL_FINISHED_OK

state 10171 begin climb

10174 1.38 146.6 994.9 0.0 490 10305 1.73 2.80 122.43 1.353 4 0.076 0.107 2639 3573 1942

10508 1.43 179.0 983.7 8.5 506 10542 0.00 2.47 28.67 1.337 6 0.000 0.065 2639 2182 1810

10873 1.43 179.0 948.8 10.0 524 10877 0.00 2.65 0.00 0.000 4 0.000 0.092 2639 759 1809

10917 1.43 179.0 944.0 10.1 526 10921 0.00 2.50 0.00 0.000 6 0.000 0.060 2639 2175 1808

11238 1.46 191.9 913.7 9.4 542 11259 0.00 2.67 12.25 1.225 4 0.000 0.084 2639 772 1756

11283 1.46 191.9 909.1 10.9 544 11287 0.00 2.47 0.00 0.000 6 0.000 0.060 2638 2169 1755

11609 1.47 202.9 877.3 9.5 560 11622 0.00 0.00 10.95 1.196 6 0.000 0.000 2639 2170 1712

11918 1.49 214.9 847.3 9.4 575 11940 0.12 2.70 11.12 1.183 4 0.076 0.086 2671 766 1663

11973 1.49 214.9 841.1 11.4 577 11978 0.00 2.50 0.00 0.000 6 0.000 0.061 2671 2172 1663

12289 1.49 214.9 807.4 10.6 592 12290 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2172 1662

12598 1.49 214.9 774.8 10.6 607 12600 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2174 1662

12908 1.49 214.9 741.2 10.9 622 12909 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2175 1662

13217 1.49 214.9 708.3 10.7 637 13221 0.00 2.67 0.00 0.000 4 0.000 0.109 2671 3572 1660

13250 1.49 214.9 704.5 11.1 638 13255 0.00 2.50 0.00 0.000 6 0.000 0.065 2671 2165 1661

13565 1.49 214.9 670.0 10.7 654 13570 0.00 2.60 0.00 0.000 4 0.000 0.094 2671 765 1661

13615 1.49 214.9 664.1 11.0 656 13620 0.00 2.47 0.00 0.000 6 0.000 0.061 2671 2176 1661

13932 1.49 214.9 631.5 10.1 671 13933 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2176 1661

14241 1.49 214.9 599.6 10.9 686 14242 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2177 1661

14551 1.51 224.5 569.3 9.6 701 14562 0.00 0.00 9.18 1.031 6 0.000 0.000 2671 2178 1624

14860 1.52 233.0 539.3 9.6 716 14874 0.00 2.72 8.48 0.979 4 0.000 0.108 2671 3573 1589

14928 1.54 248.0 532.8 9.3 719 14948 0.00 2.50 13.73 1.026 6 0.000 0.065 2671 2164 1529

15259 1.54 248.0 498.6 10.5 735 15260 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2164 1528

15568 1.54 248.0 464.1 11.8 750 15572 0.00 2.60 0.00 0.000 4 0.000 0.093 2672 765 1527

15652 1.54 248.0 452.9 13.2 754 15657 0.00 2.45 0.00 0.000 6 0.000 0.059 2671 2183 1527

15979 1.54 248.0 412.3 12.3 770 15980 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2184 1527

16289 1.54 248.0 374.0 13.1 785 16290 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2184 1526

16598 1.54 248.0 335.9 12.0 800 16599 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2183 1526

16907 1.54 248.0 298.8 12.0 815 16908 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2184 1526

17216 1.54 248.0 260.9 12.5 830 17221 0.00 2.55 0.00 0.000 4 0.000 0.077 2671 767 1526

17279 1.54 248.0 252.9 12.4 833 17283 0.00 2.38 0.00 0.000 6 0.000 0.057 2671 2171 1527

17606 1.54 248.0 213.3 12.5 849 17607 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2172 1527

17915 1.54 248.0 172.5 14.0 864 17919 0.00 2.62 0.00 0.000 4 0.000 0.100 2671 3572 1528

17947 1.54 248.0 167.3 14.4 865 17954 0.00 2.45 0.00 0.000 6 0.000 0.061 2671 2160 1528

18264 1.54 248.0 129.8 12.8 881 18265 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2160 1529

18575 1.54 248.0 92.4 12.1 896 18576 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2160 1531

18883 1.54 248.0 53.7 12.6 911 18884 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2160 1532

19192 1.54 248.0 12.5 14.6 926 19196 0.00 2.50 0.00 0.000 4 0.000 0.080 2671 767 1533

19225 1.54 248.0 7.0 16.0 927 19231 0.00 2.40 0.00 0.000 6 0.000 0.057 2671 2171 1533

19249 end climb: SURFACE_DEPTH_REACHED

state 19249 begin surface coast

19271 end surface coast: CONTROL_FINISHED_OK

state 19271 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	21	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-131824.44	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	042230,6130.072,-304.141,54,2.0,55,-6.1	TGT_NAME	ESEC_SE
_CALLS	1	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.253,-0.042
_SM_DEPTHo	1.36	KALMAN_X	67681.8,49.2,-404.6,-62904.6,3893.1
_SM_ANGLEo	-55.0	KALMAN_Y	-3886.3,-100.5,-719.5,-2507.8,703.7
GPS2	042945,6130.059,-303.928,11,1.9,29,-6.1	MHEAD_RNG_PITCHd_Wd	266.7,33895,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.5,1.015618	XPDR_PINGS	0
SM_CCo	19296,1.77,0.142,0,0,1520,250.21	_24V_AH	23.5,6.257
SM_GC	2.35,0.00,0.00,1.77,0.000,0.000,0.142,38,2389,1520,-10.59,0.25,250.21	_10V_AH	10.1,2.746
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47453,930
TT8_MAMPS	0.023777	CFSIZE	254472192,251244544
HUMID	1744	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	2.50	GPS	180208,095337,6129.898,-305.058,37,1.3,37,-6.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	180	108.65	SBE_CT	907	24	511.76
Roll_motor	127	131	391.98	SBE_O2	881	19	393.57
VBD_pump_during_apogee	340	1385	11069.39	WL_BB2F	473	105	1167.62
VBD_pump_during_surface	1	141	5.92	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	39	160	147.48	nil	0	0	0.00
Iridium_during_xfer	200	223	1052.43
Transponder_ping	8	420	83.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.72
TT8	1685	19	337.12
LPSleep	15486	2	342.55
TT8_Active	522	19	104.47
TT8_Sampling	1386	39	557.29
TT8_CF8	656	45	303.53
TT8_Kalman	33	81	27.56
Analog_circuits	1412	12	171.23
GPS_charging	0	0	0.00
Compass	992	26	260.58
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
23	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-1.38	-146.6	0.0	0.0	0	89	0.00	0.00	-59.65	0.000	2	0.000	0.000	37	2395	2848
93	-1.38	-146.6	5.1	-7.8	3	116	11.23	2.67	-5.68	0.000	4	0.180	0.114	2033	3767	3139
122	-1.38	-146.6	16.6	-34.0	4	127	0.00	2.38	0.00	0.000	6	0.000	0.061	2033	2383	3139
444	-1.38	-146.6	60.3	-15.4	20	445	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2383	3140
755	-1.38	-146.6	101.5	-13.9	35	756	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2383	3141
1063	-1.38	-146.6	134.0	-9.9	50	1067	0.00	2.50	0.00	0.000	4	0.000	0.074	2033	977	3141
1096	-1.38	-146.6	137.9	-11.2	51	1102	0.00	2.42	0.00	0.000	6	0.000	0.061	2032	2372	3141
1411	-1.38	-146.6	174.7	-11.5	67	1412	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2371	3141
1721	-1.38	-146.6	209.6	-11.4	82	1725	0.00	2.47	0.00	0.000	4	0.000	0.071	2033	978	3142
1770	-1.38	-146.6	215.5	-11.3	84	1775	0.00	2.42	0.00	0.000	6	0.000	0.062	2033	2386	3142
2088	-1.38	-146.6	250.6	-10.8	99	2092	0.00	2.50	0.00	0.000	4	0.000	0.071	2033	979	3142
2122	-1.38	-146.6	254.4	-10.4	100	2129	0.00	2.45	0.00	0.000	6	0.000	0.061	2033	2387	3142
2439	-1.38	-146.6	287.1	-10.2	116	2440	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2387	3142
2749	-1.38	-146.6	319.9	-11.0	131	2750	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	2387	3143
3059	-1.38	-146.6	350.4	-9.1	146	3063	0.00	2.53	0.00	0.000	4	0.000	0.074	2033	979	3143
3126	-1.38	-146.6	356.8	-9.7	149	3130	0.00	2.45	0.00	0.000	6	0.000	0.063	2033	2381	3143
3447	-1.38	-146.6	389.3	-10.4	165	3451	0.00	2.50	0.00	0.000	4	0.000	0.074	2033	981	3143
3474	-1.38	-146.6	392.2	-11.0	166	3478	0.00	2.42	0.00	0.000	6	0.000	0.064	2033	2379	3143
3791	-1.38	-146.6	423.8	-9.2	181	3796	0.00	2.78	0.00	0.000	4	0.000	0.130	2033	3782	3143
3840	-1.38	-146.6	429.0	-10.4	183	3845	0.00	2.42	0.00	0.000	6	0.000	0.067	2033	2384	3144
4157	-1.38	-146.6	461.8	-9.8	198	4161	0.00	2.53	0.00	0.000	4	0.000	0.081	2033	976	3144
4220	-1.38	-146.6	467.9	-9.8	201	4224	0.00	2.45	0.00	0.000	6	0.000	0.062	2033	2384	3143
4547	-1.38	-146.6	498.7	-9.8	217	4551	0.00	2.78	0.00	0.000	4	0.000	0.131	2033	3783	3143
4591	-1.38	-146.6	503.3	-10.9	219	4595	0.00	2.47	0.00	0.000	6	0.000	0.069	2033	2375	3143
4912	-1.38	-146.6	538.9	-12.2	235	4913	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2374	3143
5222	-1.38	-146.6	575.6	-11.5	250	5226	0.00	2.55	0.00	0.000	4	0.000	0.087	2033	970	3143
5311	-1.38	-146.6	586.2	-11.5	254	5315	0.00	2.45	0.00	0.000	6	0.000	0.063	2033	2380	3143
5632	-1.38	-146.6	618.6	-10.2	270	5633	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2381	3142
5941	-1.38	-146.6	649.2	-9.7	285	5943	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2381	3141
6251	-1.38	-146.6	678.4	-9.0	300	6252	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2381	3141
6560	-1.38	-146.6	703.8	-8.0	315	6561	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2382	3139
6869	-1.38	-146.6	728.0	-7.7	330	6870	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2381	3138
7179	-1.38	-146.6	751.8	-7.8	345	7180	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2381	3136
7488	-1.38	-146.6	776.2	-7.9	360	7493	0.00	2.55	0.00	0.000	4	0.000	0.081	2033	973	3136
7529	-1.38	-146.6	779.6	-8.0	362	7533	0.00	2.47	0.00	0.000	6	0.000	0.064	2033	2384	3135
7856	-1.38	-146.6	806.0	-8.2	378	7857	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2384	3134
8165	-1.38	-146.6	831.0	-7.9	393	8166	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2384	3133
8474	-1.38	-146.6	856.4	-8.4	408	8476	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2387	3132
8784	-1.38	-146.6	883.2	-8.5	423	8788	0.00	2.55	0.00	0.000	4	0.000	0.081	2033	976	3131
8829	-1.38	-146.6	887.3	-9.4	425	8833	0.00	2.47	0.00	0.000	6	0.000	0.064	2033	2381	3131
9151	-1.38	-146.6	914.2	-8.2	441	9152	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2381	3130
9460	-1.38	-146.6	940.4	-8.8	456	9465	0.00	2.55	0.00	0.000	4	0.000	0.080	2033	974	3129
9517	-1.38	-146.6	945.6	-9.4	458	9522	0.00	2.47	0.00	0.000	6	0.000	0.064	2033	2382	3128
9833	-1.38	-146.6	972.7	-8.4	474	9837	0.00	2.55	0.00	0.000	4	0.000	0.079	2033	975	3127
9866	-1.38	-146.6	975.7	-8.7	475	9872	0.00	2.47	0.00	0.000	6	0.000	0.063	2033	2384	3127
10034	end dive: TARGET_DEPTH_EXCEEDED
state	10034	begin apogee
10043	-0.32	0.0	990.1	8.5	484	10170	1.15	0.00	123.25	1.385	6	0.113	0.000	2265	2157	2540
10170	end apogee: CONTROL_FINISHED_OK
state	10171	begin climb
10174	1.38	146.6	994.9	0.0	490	10305	1.73	2.80	122.43	1.353	4	0.076	0.107	2639	3573	1942
10508	1.43	179.0	983.7	8.5	506	10542	0.00	2.47	28.67	1.337	6	0.000	0.065	2639	2182	1810
10873	1.43	179.0	948.8	10.0	524	10877	0.00	2.65	0.00	0.000	4	0.000	0.092	2639	759	1809
10917	1.43	179.0	944.0	10.1	526	10921	0.00	2.50	0.00	0.000	6	0.000	0.060	2639	2175	1808
11238	1.46	191.9	913.7	9.4	542	11259	0.00	2.67	12.25	1.225	4	0.000	0.084	2639	772	1756
11283	1.46	191.9	909.1	10.9	544	11287	0.00	2.47	0.00	0.000	6	0.000	0.060	2638	2169	1755
11609	1.47	202.9	877.3	9.5	560	11622	0.00	0.00	10.95	1.196	6	0.000	0.000	2639	2170	1712
11918	1.49	214.9	847.3	9.4	575	11940	0.12	2.70	11.12	1.183	4	0.076	0.086	2671	766	1663
11973	1.49	214.9	841.1	11.4	577	11978	0.00	2.50	0.00	0.000	6	0.000	0.061	2671	2172	1663
12289	1.49	214.9	807.4	10.6	592	12290	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2172	1662
12598	1.49	214.9	774.8	10.6	607	12600	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2174	1662
12908	1.49	214.9	741.2	10.9	622	12909	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2175	1662
13217	1.49	214.9	708.3	10.7	637	13221	0.00	2.67	0.00	0.000	4	0.000	0.109	2671	3572	1660
13250	1.49	214.9	704.5	11.1	638	13255	0.00	2.50	0.00	0.000	6	0.000	0.065	2671	2165	1661
13565	1.49	214.9	670.0	10.7	654	13570	0.00	2.60	0.00	0.000	4	0.000	0.094	2671	765	1661
13615	1.49	214.9	664.1	11.0	656	13620	0.00	2.47	0.00	0.000	6	0.000	0.061	2671	2176	1661
13932	1.49	214.9	631.5	10.1	671	13933	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2176	1661
14241	1.49	214.9	599.6	10.9	686	14242	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2177	1661
14551	1.51	224.5	569.3	9.6	701	14562	0.00	0.00	9.18	1.031	6	0.000	0.000	2671	2178	1624
14860	1.52	233.0	539.3	9.6	716	14874	0.00	2.72	8.48	0.979	4	0.000	0.108	2671	3573	1589
14928	1.54	248.0	532.8	9.3	719	14948	0.00	2.50	13.73	1.026	6	0.000	0.065	2671	2164	1529
15259	1.54	248.0	498.6	10.5	735	15260	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2164	1528
15568	1.54	248.0	464.1	11.8	750	15572	0.00	2.60	0.00	0.000	4	0.000	0.093	2672	765	1527
15652	1.54	248.0	452.9	13.2	754	15657	0.00	2.45	0.00	0.000	6	0.000	0.059	2671	2183	1527
15979	1.54	248.0	412.3	12.3	770	15980	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2184	1527
16289	1.54	248.0	374.0	13.1	785	16290	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2184	1526
16598	1.54	248.0	335.9	12.0	800	16599	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2183	1526
16907	1.54	248.0	298.8	12.0	815	16908	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2184	1526
17216	1.54	248.0	260.9	12.5	830	17221	0.00	2.55	0.00	0.000	4	0.000	0.077	2671	767	1526
17279	1.54	248.0	252.9	12.4	833	17283	0.00	2.38	0.00	0.000	6	0.000	0.057	2671	2171	1527
17606	1.54	248.0	213.3	12.5	849	17607	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2172	1527
17915	1.54	248.0	172.5	14.0	864	17919	0.00	2.62	0.00	0.000	4	0.000	0.100	2671	3572	1528
17947	1.54	248.0	167.3	14.4	865	17954	0.00	2.45	0.00	0.000	6	0.000	0.061	2671	2160	1528
18264	1.54	248.0	129.8	12.8	881	18265	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2160	1529
18575	1.54	248.0	92.4	12.1	896	18576	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2160	1531
18883	1.54	248.0	53.7	12.6	911	18884	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2160	1532
19192	1.54	248.0	12.5	14.6	926	19196	0.00	2.50	0.00	0.000	4	0.000	0.080	2671	767	1533
19225	1.54	248.0	7.0	16.0	927	19231	0.00	2.40	0.00	0.000	6	0.000	0.057	2671	2171	1533
19249	end climb: SURFACE_DEPTH_REACHED
state	19249	begin surface coast
19271	end surface coast: CONTROL_FINISHED_OK
state	19271	begin surface