Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 23 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 2.5700001e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 23 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3929 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2052 ALTIM_FREQUENCY 13

D_NO_BLEED 100 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1950 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

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 -1.784981

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 20 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 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 12 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 607 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3934 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2915 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 360 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -35467.016 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 24

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 45 AH0_24V 91.800003 SEABIRD_T_G 0.0043062796

SPEED_FACTOR 1 PITCH_MAX 3331 AH0_10V 61.200001 SEABIRD_T_H 0.0006289829

RHO 1.023 C_PITCH 2450 PRESSURE_YINT -16.564281 SEABIRD_T_I 2.2033064e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.057111e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.442612

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1821688

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015124022

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022414648

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 45 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 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.564281 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -8.75

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 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_GPS_CHARGE -35467.016

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 104 ROLL_MAX 3929 T_TURN_SAMPINT 5

C_PITCH 2450 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 12 T_WATCHDOG 10

C_ROLL_CLIMB 1950 INT_PRESSURE_YINT -1.784981 ROLL_MIN 176 UNCOM_BLEED 20

C_ROLL_DIVE 2052 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2915 MASS 52000 R_PORT_OVSHOOT 20 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.442612 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1821688 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015124022 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00022414648 VBD_MAX 3934

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043062796 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006289829 VBD_MIN 607

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2033064e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 23 PHONE_DEVICE 48 SEABIRD_T_J 2.057111e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 025107,6131.182,-257.936,33,1.0,33,-6.0 TGT_NAME ESEC_SE

_CALLS 1 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.159,0.210

_SM_DEPTHo 1.11 KALMAN_X 83691.8,-1385.0,-1559.8,-70595.5,11668.7

_SM_ANGLEo -59.5 KALMAN_Y -22120.3,590.7,-297.1,16584.3,-2885.4

GPS2 025757,6131.153,-257.722,11,1.0,11,-6.0 MHEAD_RNG_PITCHd_Wd 328.8,39603,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.017022 XPDR_PINGS 0

SM_CCo 19172,40.47,0.680,2,0,1893,250.21 _24V_AH 23.0,6.099

SM_GC 1.05,0.00,0.00,40.47,0.000,0.000,0.680,40,2067,1893,-11.09,0.42,250.21 _10V_AH 10.1,3.327

IRIDIUM_FIX 6108.28,-300.53,130597,212153 DATA_FILE_SIZE 47348,916

TT8_MAMPS 0.026845 CFSIZE 260165632,255827968

HUMID 1697 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,2,0

INTERNAL_PRESSURE 8.39119 GPS 180208,082046,6132.925,-257.502,36,2.4,55,-6.0

TCM_TEMP 17.10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 153 94.64 SBE_CT 680 24 375.61

Roll_motor 196 73 333.25 SBE_O2 619 19 270.55

VBD_pump_during_apogee 300 1486 10259.90 WL_BB2F 550 105 1330.05

VBD_pump_during_surface 40 680 633.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 89.06 nil 0 0 0.00

Iridium_during_connect 44 160 163.51 nil 0 0 0.00

Iridium_during_xfer 211 223 1085.66

Transponder_ping 8 420 82.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.65

TT8 1780 19 356.04

LPSleep 14355 2 317.53

TT8_Active 516 19 103.35

TT8_Sampling 2397 39 963.90

TT8_CF8 581 45 268.93

TT8_Kalman 33 81 27.56

Analog_circuits 1681 12 203.85

GPS_charging 0 0 0.00

Compass 2345 8 189.48

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.39 -146.6 0.0 0.0 0 86 0.00 0.00 -61.28 0.000 2 0.000 0.000 42 2044 3050

90 -1.39 -146.6 3.0 -4.6 3 121 11.77 2.58 -13.43 0.000 4 0.153 0.071 2145 643 3513

204 -1.39 -146.6 16.3 -11.3 8 209 0.00 2.42 0.00 0.000 6 0.000 0.035 2145 2057 3515

521 -1.39 -146.6 53.6 -11.3 23 525 0.00 2.58 0.00 0.000 4 0.000 0.059 2144 639 3515

629 -1.39 -146.6 65.5 -11.4 28 633 0.00 2.42 0.00 0.000 6 0.000 0.036 2144 2048 3515

955 -1.39 -146.6 98.5 -9.6 44 960 0.00 2.55 0.00 0.000 4 0.000 0.058 2144 644 3516

1056 -1.39 -146.6 110.1 -12.7 48 1062 0.00 2.42 0.00 0.000 6 0.000 0.036 2144 2058 3516

1372 -1.39 -146.6 149.1 -12.5 64 1377 0.00 2.58 0.00 0.000 4 0.000 0.059 2144 641 3516

1466 -1.39 -146.6 163.6 -15.5 68 1470 0.00 2.42 0.00 0.000 6 0.000 0.037 2144 2051 3516

1793 -1.39 -146.6 202.3 -11.3 84 1794 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2051 3517

2102 -1.39 -146.6 232.3 -10.1 99 2106 0.00 2.55 0.00 0.000 4 0.000 0.059 2144 645 3517

2181 -1.39 -146.6 240.6 -10.6 102 2187 0.00 2.42 0.00 0.000 6 0.000 0.037 2144 2053 3517

2496 -1.39 -146.6 272.3 -10.4 118 2500 0.00 2.55 0.00 0.000 4 0.000 0.059 2144 645 3517

2580 -1.39 -146.6 281.5 -11.0 122 2584 0.00 2.42 0.00 0.000 6 0.000 0.036 2144 2058 3517

2906 -1.39 -146.6 316.3 -10.3 138 2910 0.00 2.55 0.00 0.000 4 0.000 0.059 2145 646 3517

3035 -1.39 -146.6 330.1 -10.4 144 3039 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2057 3517

3361 -1.39 -146.6 364.5 -11.4 160 3365 0.00 2.55 0.00 0.000 4 0.000 0.060 2144 644 3517

3461 -1.39 -146.6 376.4 -12.2 164 3467 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2059 3517

3776 -1.39 -146.6 406.5 -8.6 180 3781 0.00 2.55 0.00 0.000 4 0.000 0.059 2144 646 3517

3894 -1.39 -146.6 417.3 -9.4 185 3898 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2051 3517

4209 -1.39 -146.6 449.9 -11.1 200 4217 0.00 2.55 0.00 0.000 4 0.000 0.060 2144 644 3517

4289 -1.39 -146.6 458.8 -10.7 203 4294 0.00 2.42 0.00 0.000 6 0.000 0.038 2144 2058 3517

4605 -1.39 -146.6 487.7 -9.7 218 4610 0.00 2.58 0.00 0.000 4 0.000 0.061 2144 642 3516

4835 -1.39 -146.6 513.3 -11.0 228 4839 0.00 2.42 0.00 0.000 6 0.000 0.040 2144 2051 3516

5151 -1.39 -146.6 545.4 -9.4 243 5155 0.00 2.55 0.00 0.000 4 0.000 0.064 2144 646 3515

5206 -1.39 -146.6 550.7 -9.1 245 5212 0.00 2.45 0.00 0.000 6 0.000 0.041 2144 2055 3515

5522 -1.39 -146.6 578.5 -9.0 261 5527 0.00 2.58 0.00 0.000 4 0.000 0.064 2144 646 3514

5572 -1.39 -146.6 583.5 -9.6 263 5577 0.00 2.45 0.00 0.000 6 0.000 0.043 2144 2052 3514

5888 -1.39 -146.6 611.1 -8.8 278 5892 0.00 2.58 0.00 0.000 4 0.000 0.066 2144 646 3512

5951 -1.39 -146.6 616.7 -9.6 281 5955 0.00 2.45 0.00 0.000 6 0.000 0.044 2144 2050 3512

6277 -1.39 -146.6 645.6 -9.0 297 6282 0.00 2.58 0.00 0.000 4 0.000 0.066 2144 646 3511

6327 -1.39 -146.6 650.8 -10.0 299 6331 0.00 2.45 0.00 0.000 6 0.000 0.044 2144 2053 3510

6649 -1.39 -146.6 681.1 -9.6 315 6653 0.00 2.58 0.00 0.000 4 0.000 0.067 2144 644 3510

6749 -1.39 -146.6 691.2 -9.8 319 6755 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2053 3509

7064 -1.39 -146.6 721.1 -9.7 335 7069 0.00 2.60 0.00 0.000 4 0.000 0.067 2144 640 3509

7142 -1.39 -146.6 729.3 -10.1 338 7148 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2058 3509

7458 -1.39 -146.6 759.9 -9.4 354 7462 0.00 2.60 0.00 0.000 4 0.000 0.067 2144 645 3507

7542 -1.39 -146.6 768.4 -9.9 358 7547 0.00 2.47 0.00 0.000 6 0.000 0.046 2144 2056 3506

7869 -1.39 -146.6 798.5 -8.8 374 7874 0.00 2.58 0.00 0.000 4 0.000 0.067 2144 646 3505

7947 -1.39 -146.6 805.9 -9.3 377 7953 0.00 2.47 0.00 0.000 6 0.000 0.046 2144 2054 3505

8263 -1.39 -146.6 832.1 -8.3 393 8267 0.00 2.60 0.00 0.000 4 0.000 0.067 2144 638 3503

8353 -1.39 -146.6 840.2 -9.0 397 8357 0.00 2.50 0.00 0.000 6 0.000 0.046 2144 2060 3503

8674 -1.39 -146.6 866.1 -7.9 413 8678 0.00 2.58 0.00 0.000 4 0.000 0.066 2144 646 3503

8769 -1.39 -146.6 874.1 -8.5 417 8773 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2055 3502

9084 -1.39 -146.6 899.1 -8.0 432 9089 0.00 2.60 0.00 0.000 4 0.000 0.067 2144 638 3502

9151 -1.39 -146.6 904.9 -9.1 435 9156 0.00 2.50 0.00 0.000 6 0.000 0.045 2144 2060 3501

9473 -1.39 -146.6 931.5 -8.2 451 9478 0.00 2.60 0.00 0.000 4 0.000 0.066 2144 645 3501

9552 -1.39 -146.6 938.7 -9.1 454 9558 0.00 2.47 0.00 0.000 6 0.000 0.046 2144 2051 3501

9867 -1.39 -146.6 965.1 -8.3 470 9872 0.00 2.60 0.00 0.000 4 0.000 0.068 2144 639 3500

9930 -1.39 -146.6 970.8 -9.4 473 9934 0.00 2.47 0.00 0.000 6 0.000 0.045 2144 2051 3500

10171 end dive: TARGET_DEPTH_EXCEEDED

state 10171 begin apogee

10177 -0.33 0.0 991.1 8.2 485 10309 1.15 0.00 127.40 1.486 6 0.100 0.000 2373 1939 2915

10309 end apogee: CONTROL_FINISHED_OK

state 10309 begin climb

10312 1.39 146.6 994.3 0.0 491 10450 1.77 2.67 129.80 1.429 4 0.064 0.061 2748 3356 2316

10610 1.39 146.6 969.4 12.5 504 10615 0.00 2.53 0.00 0.000 6 0.000 0.048 2748 1958 2316

10937 1.39 146.6 931.1 11.7 520 10941 0.00 2.55 0.00 0.000 4 0.000 0.059 2748 3349 2315

11003 1.39 146.6 923.0 12.1 523 11007 0.00 2.50 0.00 0.000 6 0.000 0.048 2748 1950 2315

11323 1.39 146.6 885.7 11.5 539 11327 0.00 2.58 0.00 0.000 4 0.000 0.060 2748 3351 2315

11390 1.39 146.6 877.4 12.5 542 11394 0.00 2.53 0.00 0.000 6 0.000 0.048 2748 1947 2314

11710 1.39 146.6 840.4 11.5 558 11711 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1946 2314

12020 1.39 146.6 805.1 11.4 573 12024 0.00 2.58 0.00 0.000 4 0.000 0.060 2748 3352 2314

12131 1.39 146.6 791.9 11.8 578 12135 0.00 2.50 0.00 0.000 6 0.000 0.048 2748 1946 2314

12451 1.39 146.6 756.7 10.9 594 12455 0.00 2.58 0.00 0.000 4 0.000 0.060 2748 3353 2313

12512 1.39 146.6 749.7 10.7 597 12517 0.00 2.53 0.00 0.000 6 0.000 0.048 2748 1946 2313

12839 1.39 146.6 714.7 10.6 613 12840 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1946 2313

13148 1.39 146.6 683.0 10.1 628 13152 0.00 2.55 0.00 0.000 4 0.000 0.059 2748 3350 2313

13265 1.39 146.6 670.8 10.6 633 13270 0.00 2.47 0.00 0.000 6 0.000 0.048 2748 1950 2313

13581 1.40 158.5 640.9 9.5 648 13597 0.00 2.67 11.00 1.207 4 0.000 0.074 2748 547 2268

13653 1.42 171.8 633.8 9.4 650 13673 0.00 2.47 13.35 1.210 6 0.000 0.042 2749 1956 2213

13995 1.42 171.8 598.3 10.5 667 13996 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1957 2213

14304 1.42 176.2 566.6 9.8 682 14315 0.00 2.55 5.70 1.012 4 0.000 0.060 2749 3347 2195

14366 1.42 176.2 560.1 10.1 685 14371 0.00 2.47 0.00 0.000 6 0.000 0.048 2748 1949 2195

14693 1.42 176.2 524.3 11.4 701 14695 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1949 2195

15003 1.42 176.2 487.6 12.3 716 15007 0.00 2.62 0.00 0.000 4 0.000 0.074 2748 541 2195

15132 1.42 176.2 469.9 13.0 722 15136 0.00 2.47 0.00 0.000 6 0.000 0.042 2748 1949 2195

15458 1.42 176.2 429.7 11.3 738 15462 0.00 2.53 0.00 0.000 4 0.000 0.060 2748 3349 2195

15670 1.42 176.2 403.2 12.6 747 15676 0.00 2.45 0.00 0.000 6 0.000 0.045 2748 1952 2195

15986 1.44 190.3 370.6 9.4 763 16007 0.00 2.60 12.85 1.044 4 0.000 0.055 2748 3350 2139

16091 1.44 190.3 359.6 10.3 767 16097 0.00 2.47 0.00 0.000 6 0.000 0.043 2748 1946 2139

16406 1.44 190.3 325.3 10.8 783 16410 0.00 2.53 0.00 0.000 4 0.000 0.053 2749 3350 2139

16457 1.44 190.3 319.9 10.9 785 16462 0.00 2.47 0.00 0.000 6 0.000 0.041 2748 1944 2139

16779 1.44 190.3 283.9 11.6 801 16783 0.00 2.58 0.00 0.000 4 0.000 0.067 2748 539 2140

16863 1.44 190.3 273.8 11.2 805 16867 0.00 2.45 0.00 0.000 6 0.000 0.037 2748 1953 2140

17190 1.44 190.3 236.2 12.0 821 17191 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1953 2141

17499 1.44 190.3 197.4 13.2 836 17504 0.00 2.58 0.00 0.000 4 0.000 0.063 2748 542 2143

17577 1.44 190.3 186.4 12.1 839 17583 0.00 2.42 0.00 0.000 6 0.000 0.035 2749 1949 2143

17892 1.44 190.3 148.3 11.4 855 17894 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1949 2144

18203 1.44 190.3 112.1 12.1 870 18207 0.00 2.55 0.00 0.000 4 0.000 0.061 2749 546 2145

18287 1.44 190.3 101.3 12.2 874 18292 0.00 2.42 0.00 0.000 6 0.000 0.035 2748 1955 2146

18615 1.44 190.3 61.4 11.9 890 18616 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1955 2147

18924 1.44 190.3 25.6 11.6 905 18925 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 1955 2147

19127 end climb: SURFACE_DEPTH_REACHED

state 19127 begin surface coast

19149 end surface coast: CONTROL_FINISHED_OK

state 19149 begin surface

ID	104	HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	2.5700001e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	23	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3929	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2052	ALTIM_FREQUENCY	13
D_NO_BLEED	100	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1950	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
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	-1.784981
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	20	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	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	12	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	607	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3934	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2915	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	360	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-35467.016	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	24
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	45	AH0_24V	91.800003	SEABIRD_T_G	0.0043062796
SPEED_FACTOR	1	PITCH_MAX	3331	AH0_10V	61.200001	SEABIRD_T_H	0.0006289829
RHO	1.023	C_PITCH	2450	PRESSURE_YINT	-16.564281	SEABIRD_T_I	2.2033064e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.057111e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.442612
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1821688
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015124022
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022414648

GPS1	025107,6131.182,-257.936,33,1.0,33,-6.0	TGT_NAME	ESEC_SE
_CALLS	1	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.159,0.210
_SM_DEPTHo	1.11	KALMAN_X	83691.8,-1385.0,-1559.8,-70595.5,11668.7
_SM_ANGLEo	-59.5	KALMAN_Y	-22120.3,590.7,-297.1,16584.3,-2885.4
GPS2	025757,6131.153,-257.722,11,1.0,11,-6.0	MHEAD_RNG_PITCHd_Wd	328.8,39603,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.2,1.017022	XPDR_PINGS	0
SM_CCo	19172,40.47,0.680,2,0,1893,250.21	_24V_AH	23.0,6.099
SM_GC	1.05,0.00,0.00,40.47,0.000,0.000,0.680,40,2067,1893,-11.09,0.42,250.21	_10V_AH	10.1,3.327
IRIDIUM_FIX	6108.28,-300.53,130597,212153	DATA_FILE_SIZE	47348,916
TT8_MAMPS	0.026845	CFSIZE	260165632,255827968
HUMID	1697	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,2,0
INTERNAL_PRESSURE	8.39119	GPS	180208,082046,6132.925,-257.502,36,2.4,55,-6.0
TCM_TEMP	17.10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	153	94.64	SBE_CT	680	24	375.61
Roll_motor	196	73	333.25	SBE_O2	619	19	270.55
VBD_pump_during_apogee	300	1486	10259.90	WL_BB2F	550	105	1330.05
VBD_pump_during_surface	40	680	633.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	89.06	nil	0	0	0.00
Iridium_during_connect	44	160	163.51	nil	0	0	0.00
Iridium_during_xfer	211	223	1085.66
Transponder_ping	8	420	82.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.65
TT8	1780	19	356.04
LPSleep	14355	2	317.53
TT8_Active	516	19	103.35
TT8_Sampling	2397	39	963.90
TT8_CF8	581	45	268.93
TT8_Kalman	33	81	27.56
Analog_circuits	1681	12	203.85
GPS_charging	0	0	0.00
Compass	2345	8	189.48
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.39	-146.6	0.0	0.0	0	86	0.00	0.00	-61.28	0.000	2	0.000	0.000	42	2044	3050
90	-1.39	-146.6	3.0	-4.6	3	121	11.77	2.58	-13.43	0.000	4	0.153	0.071	2145	643	3513
204	-1.39	-146.6	16.3	-11.3	8	209	0.00	2.42	0.00	0.000	6	0.000	0.035	2145	2057	3515
521	-1.39	-146.6	53.6	-11.3	23	525	0.00	2.58	0.00	0.000	4	0.000	0.059	2144	639	3515
629	-1.39	-146.6	65.5	-11.4	28	633	0.00	2.42	0.00	0.000	6	0.000	0.036	2144	2048	3515
955	-1.39	-146.6	98.5	-9.6	44	960	0.00	2.55	0.00	0.000	4	0.000	0.058	2144	644	3516
1056	-1.39	-146.6	110.1	-12.7	48	1062	0.00	2.42	0.00	0.000	6	0.000	0.036	2144	2058	3516
1372	-1.39	-146.6	149.1	-12.5	64	1377	0.00	2.58	0.00	0.000	4	0.000	0.059	2144	641	3516
1466	-1.39	-146.6	163.6	-15.5	68	1470	0.00	2.42	0.00	0.000	6	0.000	0.037	2144	2051	3516
1793	-1.39	-146.6	202.3	-11.3	84	1794	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2051	3517
2102	-1.39	-146.6	232.3	-10.1	99	2106	0.00	2.55	0.00	0.000	4	0.000	0.059	2144	645	3517
2181	-1.39	-146.6	240.6	-10.6	102	2187	0.00	2.42	0.00	0.000	6	0.000	0.037	2144	2053	3517
2496	-1.39	-146.6	272.3	-10.4	118	2500	0.00	2.55	0.00	0.000	4	0.000	0.059	2144	645	3517
2580	-1.39	-146.6	281.5	-11.0	122	2584	0.00	2.42	0.00	0.000	6	0.000	0.036	2144	2058	3517
2906	-1.39	-146.6	316.3	-10.3	138	2910	0.00	2.55	0.00	0.000	4	0.000	0.059	2145	646	3517
3035	-1.39	-146.6	330.1	-10.4	144	3039	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2057	3517
3361	-1.39	-146.6	364.5	-11.4	160	3365	0.00	2.55	0.00	0.000	4	0.000	0.060	2144	644	3517
3461	-1.39	-146.6	376.4	-12.2	164	3467	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2059	3517
3776	-1.39	-146.6	406.5	-8.6	180	3781	0.00	2.55	0.00	0.000	4	0.000	0.059	2144	646	3517
3894	-1.39	-146.6	417.3	-9.4	185	3898	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2051	3517
4209	-1.39	-146.6	449.9	-11.1	200	4217	0.00	2.55	0.00	0.000	4	0.000	0.060	2144	644	3517
4289	-1.39	-146.6	458.8	-10.7	203	4294	0.00	2.42	0.00	0.000	6	0.000	0.038	2144	2058	3517
4605	-1.39	-146.6	487.7	-9.7	218	4610	0.00	2.58	0.00	0.000	4	0.000	0.061	2144	642	3516
4835	-1.39	-146.6	513.3	-11.0	228	4839	0.00	2.42	0.00	0.000	6	0.000	0.040	2144	2051	3516
5151	-1.39	-146.6	545.4	-9.4	243	5155	0.00	2.55	0.00	0.000	4	0.000	0.064	2144	646	3515
5206	-1.39	-146.6	550.7	-9.1	245	5212	0.00	2.45	0.00	0.000	6	0.000	0.041	2144	2055	3515
5522	-1.39	-146.6	578.5	-9.0	261	5527	0.00	2.58	0.00	0.000	4	0.000	0.064	2144	646	3514
5572	-1.39	-146.6	583.5	-9.6	263	5577	0.00	2.45	0.00	0.000	6	0.000	0.043	2144	2052	3514
5888	-1.39	-146.6	611.1	-8.8	278	5892	0.00	2.58	0.00	0.000	4	0.000	0.066	2144	646	3512
5951	-1.39	-146.6	616.7	-9.6	281	5955	0.00	2.45	0.00	0.000	6	0.000	0.044	2144	2050	3512
6277	-1.39	-146.6	645.6	-9.0	297	6282	0.00	2.58	0.00	0.000	4	0.000	0.066	2144	646	3511
6327	-1.39	-146.6	650.8	-10.0	299	6331	0.00	2.45	0.00	0.000	6	0.000	0.044	2144	2053	3510
6649	-1.39	-146.6	681.1	-9.6	315	6653	0.00	2.58	0.00	0.000	4	0.000	0.067	2144	644	3510
6749	-1.39	-146.6	691.2	-9.8	319	6755	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2053	3509
7064	-1.39	-146.6	721.1	-9.7	335	7069	0.00	2.60	0.00	0.000	4	0.000	0.067	2144	640	3509
7142	-1.39	-146.6	729.3	-10.1	338	7148	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2058	3509
7458	-1.39	-146.6	759.9	-9.4	354	7462	0.00	2.60	0.00	0.000	4	0.000	0.067	2144	645	3507
7542	-1.39	-146.6	768.4	-9.9	358	7547	0.00	2.47	0.00	0.000	6	0.000	0.046	2144	2056	3506
7869	-1.39	-146.6	798.5	-8.8	374	7874	0.00	2.58	0.00	0.000	4	0.000	0.067	2144	646	3505
7947	-1.39	-146.6	805.9	-9.3	377	7953	0.00	2.47	0.00	0.000	6	0.000	0.046	2144	2054	3505
8263	-1.39	-146.6	832.1	-8.3	393	8267	0.00	2.60	0.00	0.000	4	0.000	0.067	2144	638	3503
8353	-1.39	-146.6	840.2	-9.0	397	8357	0.00	2.50	0.00	0.000	6	0.000	0.046	2144	2060	3503
8674	-1.39	-146.6	866.1	-7.9	413	8678	0.00	2.58	0.00	0.000	4	0.000	0.066	2144	646	3503
8769	-1.39	-146.6	874.1	-8.5	417	8773	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2055	3502
9084	-1.39	-146.6	899.1	-8.0	432	9089	0.00	2.60	0.00	0.000	4	0.000	0.067	2144	638	3502
9151	-1.39	-146.6	904.9	-9.1	435	9156	0.00	2.50	0.00	0.000	6	0.000	0.045	2144	2060	3501
9473	-1.39	-146.6	931.5	-8.2	451	9478	0.00	2.60	0.00	0.000	4	0.000	0.066	2144	645	3501
9552	-1.39	-146.6	938.7	-9.1	454	9558	0.00	2.47	0.00	0.000	6	0.000	0.046	2144	2051	3501
9867	-1.39	-146.6	965.1	-8.3	470	9872	0.00	2.60	0.00	0.000	4	0.000	0.068	2144	639	3500
9930	-1.39	-146.6	970.8	-9.4	473	9934	0.00	2.47	0.00	0.000	6	0.000	0.045	2144	2051	3500
10171	end dive: TARGET_DEPTH_EXCEEDED
state	10171	begin apogee
10177	-0.33	0.0	991.1	8.2	485	10309	1.15	0.00	127.40	1.486	6	0.100	0.000	2373	1939	2915
10309	end apogee: CONTROL_FINISHED_OK
state	10309	begin climb
10312	1.39	146.6	994.3	0.0	491	10450	1.77	2.67	129.80	1.429	4	0.064	0.061	2748	3356	2316
10610	1.39	146.6	969.4	12.5	504	10615	0.00	2.53	0.00	0.000	6	0.000	0.048	2748	1958	2316
10937	1.39	146.6	931.1	11.7	520	10941	0.00	2.55	0.00	0.000	4	0.000	0.059	2748	3349	2315
11003	1.39	146.6	923.0	12.1	523	11007	0.00	2.50	0.00	0.000	6	0.000	0.048	2748	1950	2315
11323	1.39	146.6	885.7	11.5	539	11327	0.00	2.58	0.00	0.000	4	0.000	0.060	2748	3351	2315
11390	1.39	146.6	877.4	12.5	542	11394	0.00	2.53	0.00	0.000	6	0.000	0.048	2748	1947	2314
11710	1.39	146.6	840.4	11.5	558	11711	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1946	2314
12020	1.39	146.6	805.1	11.4	573	12024	0.00	2.58	0.00	0.000	4	0.000	0.060	2748	3352	2314
12131	1.39	146.6	791.9	11.8	578	12135	0.00	2.50	0.00	0.000	6	0.000	0.048	2748	1946	2314
12451	1.39	146.6	756.7	10.9	594	12455	0.00	2.58	0.00	0.000	4	0.000	0.060	2748	3353	2313
12512	1.39	146.6	749.7	10.7	597	12517	0.00	2.53	0.00	0.000	6	0.000	0.048	2748	1946	2313
12839	1.39	146.6	714.7	10.6	613	12840	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1946	2313
13148	1.39	146.6	683.0	10.1	628	13152	0.00	2.55	0.00	0.000	4	0.000	0.059	2748	3350	2313
13265	1.39	146.6	670.8	10.6	633	13270	0.00	2.47	0.00	0.000	6	0.000	0.048	2748	1950	2313
13581	1.40	158.5	640.9	9.5	648	13597	0.00	2.67	11.00	1.207	4	0.000	0.074	2748	547	2268
13653	1.42	171.8	633.8	9.4	650	13673	0.00	2.47	13.35	1.210	6	0.000	0.042	2749	1956	2213
13995	1.42	171.8	598.3	10.5	667	13996	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1957	2213
14304	1.42	176.2	566.6	9.8	682	14315	0.00	2.55	5.70	1.012	4	0.000	0.060	2749	3347	2195
14366	1.42	176.2	560.1	10.1	685	14371	0.00	2.47	0.00	0.000	6	0.000	0.048	2748	1949	2195
14693	1.42	176.2	524.3	11.4	701	14695	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1949	2195
15003	1.42	176.2	487.6	12.3	716	15007	0.00	2.62	0.00	0.000	4	0.000	0.074	2748	541	2195
15132	1.42	176.2	469.9	13.0	722	15136	0.00	2.47	0.00	0.000	6	0.000	0.042	2748	1949	2195
15458	1.42	176.2	429.7	11.3	738	15462	0.00	2.53	0.00	0.000	4	0.000	0.060	2748	3349	2195
15670	1.42	176.2	403.2	12.6	747	15676	0.00	2.45	0.00	0.000	6	0.000	0.045	2748	1952	2195
15986	1.44	190.3	370.6	9.4	763	16007	0.00	2.60	12.85	1.044	4	0.000	0.055	2748	3350	2139
16091	1.44	190.3	359.6	10.3	767	16097	0.00	2.47	0.00	0.000	6	0.000	0.043	2748	1946	2139
16406	1.44	190.3	325.3	10.8	783	16410	0.00	2.53	0.00	0.000	4	0.000	0.053	2749	3350	2139
16457	1.44	190.3	319.9	10.9	785	16462	0.00	2.47	0.00	0.000	6	0.000	0.041	2748	1944	2139
16779	1.44	190.3	283.9	11.6	801	16783	0.00	2.58	0.00	0.000	4	0.000	0.067	2748	539	2140
16863	1.44	190.3	273.8	11.2	805	16867	0.00	2.45	0.00	0.000	6	0.000	0.037	2748	1953	2140
17190	1.44	190.3	236.2	12.0	821	17191	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1953	2141
17499	1.44	190.3	197.4	13.2	836	17504	0.00	2.58	0.00	0.000	4	0.000	0.063	2748	542	2143
17577	1.44	190.3	186.4	12.1	839	17583	0.00	2.42	0.00	0.000	6	0.000	0.035	2749	1949	2143
17892	1.44	190.3	148.3	11.4	855	17894	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1949	2144
18203	1.44	190.3	112.1	12.1	870	18207	0.00	2.55	0.00	0.000	4	0.000	0.061	2749	546	2145
18287	1.44	190.3	101.3	12.2	874	18292	0.00	2.42	0.00	0.000	6	0.000	0.035	2748	1955	2146
18615	1.44	190.3	61.4	11.9	890	18616	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1955	2147
18924	1.44	190.3	25.6	11.6	905	18925	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	1955	2147
19127	end climb: SURFACE_DEPTH_REACHED
state	19127	begin surface coast
19149	end surface coast: CONTROL_FINISHED_OK
state	19149	begin surface