Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 25 * 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 25 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 18 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 -131921.19 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 -131921.19

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 18 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 25 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 025007,6132.101,-314.065,36,1.0,36,-6.2 TGT_NAME ESEC_SE

_CALLS 1 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.256,0.005

_SM_DEPTHo 1.42 KALMAN_X 78834.0,-90.0,-456.4,-82599.7,3481.8

_SM_ANGLEo -63.7 KALMAN_Y -3655.6,532.4,171.1,-431.2,-589.8

GPS2 025633,6132.141,-313.832,12,1.0,12,-6.2 MHEAD_RNG_PITCHd_Wd 277.3,26072,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.014096 XPDR_PINGS 0

SM_CCo 18526,9.07,0.682,0,0,1520,250.21 _24V_AH 23.4,6.851

SM_GC 2.83,0.00,0.00,9.07,0.000,0.000,0.682,35,2380,1520,-10.60,0.00,250.21 _10V_AH 10.1,3.097

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44161,894

TT8_MAMPS 0.023777 CFSIZE 254472192,250982400

HUMID 1742 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 1.00 GPS 190208,080801,6133.330,-316.517,57,1.8,57,-6.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 179 107.83 SBE_CT 871 24 489.62

Roll_motor 167 138 541.85 SBE_O2 845 19 375.94

VBD_pump_during_apogee 320 1492 11183.44 WL_BB2F 471 105 1158.35

VBD_pump_during_surface 9 681 144.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.43 nil 0 0 0.00

Iridium_during_connect 44 160 166.17 nil 0 0 0.00

Iridium_during_xfer 169 223 884.51

Transponder_ping 8 420 83.54

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.95

TT8 1670 19 334.10

LPSleep 14645 2 323.95

TT8_Active 536 19 107.24

TT8_Sampling 1433 39 576.04

TT8_CF8 639 45 295.82

TT8_Kalman 33 81 27.56

Analog_circuits 1473 12 178.60

GPS_charging 0 0 0.00

Compass 1048 26 275.32

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 -59.60 0.000 2 0.000 0.000 36 2380 2836

96 -1.38 -146.6 5.5 -10.0 3 119 11.23 2.75 -6.00 0.000 4 0.179 0.120 2035 3782 3141

192 -1.38 -146.6 25.4 -13.5 7 196 0.00 2.42 0.00 0.000 6 0.000 0.061 2035 2372 3141

514 -1.38 -146.6 61.2 -10.4 23 515 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2371 3143

823 -1.38 -146.6 96.0 -11.4 38 824 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2372 3144

1132 -1.38 -146.6 131.4 -11.0 53 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2371 3144

1441 -1.38 -146.6 164.9 -10.8 68 1445 0.00 2.47 0.00 0.000 4 0.000 0.074 2036 977 3145

1474 -1.38 -146.6 168.6 -11.1 69 1479 0.00 2.42 0.00 0.000 6 0.000 0.061 2035 2380 3145

1790 -1.38 -146.6 203.7 -11.6 85 1791 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2380 3145

2099 -1.38 -146.6 236.1 -10.5 100 2103 0.00 2.50 0.00 0.000 4 0.000 0.073 2035 979 3145

2143 -1.38 -146.6 241.0 -10.3 102 2148 0.00 2.45 0.00 0.000 6 0.000 0.061 2035 2388 3145

2465 -1.38 -146.6 275.4 -10.8 118 2466 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2388 3145

2773 -1.38 -146.6 308.0 -10.4 133 2774 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2388 3145

3082 -1.38 -146.6 341.8 -10.7 148 3087 0.00 2.55 0.00 0.000 4 0.000 0.076 2035 977 3145

3127 -1.38 -146.6 346.9 -12.0 150 3131 0.00 2.45 0.00 0.000 6 0.000 0.063 2035 2384 3145

3449 -1.38 -146.6 380.5 -9.8 166 3450 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2383 3145

3758 -1.38 -146.6 410.7 -10.1 181 3762 0.00 2.55 0.00 0.000 4 0.000 0.078 2035 974 3145

3836 -1.38 -146.6 420.0 -12.4 184 3842 0.00 2.42 0.00 0.000 6 0.000 0.064 2035 2386 3145

4152 -1.38 -146.6 456.7 -10.4 200 4156 0.00 2.55 0.00 0.000 4 0.000 0.078 2035 978 3145

4196 -1.38 -146.6 461.4 -10.3 202 4200 0.00 2.47 0.00 0.000 6 0.000 0.064 2035 2382 3145

4518 -1.38 -146.6 490.6 -9.7 218 4522 0.00 2.83 0.00 0.000 4 0.000 0.138 2035 3784 3145

4595 -1.38 -146.6 498.5 -10.3 221 4601 0.00 2.47 0.00 0.000 6 0.000 0.071 2035 2383 3145

4914 -1.38 -146.6 526.7 -8.6 237 4918 0.00 2.60 0.00 0.000 4 0.000 0.091 2035 971 3145

4980 -1.38 -146.6 533.2 -9.7 240 4985 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2387 3145

5303 -1.38 -146.6 560.6 -8.7 256 5304 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2387 3145

5612 -1.38 -146.6 588.2 -9.1 271 5617 0.00 2.60 0.00 0.000 4 0.000 0.084 2035 974 3143

5685 -1.38 -146.6 595.5 -9.8 274 5690 0.00 2.47 0.00 0.000 6 0.000 0.066 2035 2380 3143

6003 -1.38 -146.6 625.9 -9.7 289 6007 0.00 2.58 0.00 0.000 4 0.000 0.082 2035 973 3142

6047 -1.38 -146.6 630.6 -10.6 291 6051 0.00 2.47 0.00 0.000 6 0.000 0.066 2035 2379 3142

6368 -1.38 -146.6 660.5 -9.5 307 6372 0.00 2.58 0.00 0.000 4 0.000 0.082 2035 972 3141

6407 -1.38 -146.6 664.4 -10.3 309 6412 0.00 2.50 0.00 0.000 6 0.000 0.065 2035 2383 3141

6735 -1.38 -146.6 695.6 -9.6 325 6740 0.00 2.58 0.00 0.000 4 0.000 0.081 2035 973 3140

6781 -1.38 -146.6 700.3 -9.9 327 6785 0.00 2.50 0.00 0.000 6 0.000 0.065 2035 2381 3139

7102 -1.38 -146.6 731.4 -9.3 343 7103 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2381 3138

7411 -1.38 -146.6 761.2 -9.6 358 7412 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2381 3137

7721 -1.38 -146.6 791.0 -9.8 373 7725 0.00 2.58 0.00 0.000 4 0.000 0.081 2035 970 3135

7784 -1.38 -146.6 797.3 -10.5 376 7788 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2385 3135

8111 -1.38 -146.6 828.1 -9.2 392 8115 0.00 2.58 0.00 0.000 4 0.000 0.081 2035 973 3135

8151 -1.38 -146.6 831.9 -9.8 394 8155 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2388 3135

8478 -1.38 -146.6 861.7 -9.3 410 8482 0.00 2.58 0.00 0.000 4 0.000 0.081 2035 974 3134

8511 -1.38 -146.6 865.1 -9.5 411 8516 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2385 3134

8827 -1.38 -146.6 893.5 -8.8 427 8832 0.00 2.58 0.00 0.000 4 0.000 0.080 2035 971 3134

8884 -1.38 -146.6 898.7 -8.8 429 8889 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2384 3133

9201 -1.38 -146.6 926.3 -9.0 445 9205 0.00 2.58 0.00 0.000 4 0.000 0.080 2035 965 3133

9241 -1.38 -146.6 930.0 -9.0 447 9245 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2384 3132

9568 -1.38 -146.6 957.1 -8.1 463 9569 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2384 3132

9877 -1.38 -146.6 981.6 -7.9 478 9881 0.00 2.58 0.00 0.000 4 0.000 0.080 2035 969 3131

9933 -1.38 -146.6 986.4 -8.8 480 9939 0.00 2.50 0.00 0.000 6 0.000 0.064 2035 2382 3131

9977 end dive: TARGET_DEPTH_EXCEEDED

state 9977 begin apogee

9985 -0.32 0.0 990.4 8.4 483 10113 1.15 0.00 124.32 1.378 6 0.112 0.000 2268 2157 2540

10114 end apogee: CONTROL_FINISHED_OK

state 10114 begin climb

10118 1.38 146.6 994.9 0.0 489 10249 1.67 2.80 122.80 1.349 4 0.074 0.107 2642 3573 1942

10299 1.52 232.7 996.4 6.0 498 10379 0.12 2.50 73.07 1.493 6 0.074 0.065 2673 2177 1591

10696 1.52 232.7 948.2 13.0 518 10700 0.00 2.62 0.00 0.000 4 0.000 0.092 2673 768 1590

10735 1.52 232.7 942.9 13.6 520 10740 0.00 2.50 0.00 0.000 6 0.000 0.061 2673 2183 1589

11063 1.52 232.7 901.2 12.7 536 11064 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2185 1589

11373 1.52 232.7 863.7 12.0 551 11374 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2185 1589

11682 1.52 232.7 826.6 12.1 566 11686 0.00 2.62 0.00 0.000 4 0.000 0.086 2673 769 1588

11726 1.52 232.7 820.9 12.6 568 11730 0.00 2.47 0.00 0.000 6 0.000 0.061 2673 2172 1589

12047 1.52 232.7 783.4 11.8 584 12048 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2172 1588

12356 1.52 232.7 747.1 11.6 599 12357 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2173 1588

12665 1.52 232.7 712.6 10.9 614 12667 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2175 1588

12974 1.52 232.7 678.4 11.1 629 12979 0.00 2.60 0.00 0.000 4 0.000 0.086 2673 766 1588

13024 1.52 232.7 672.6 11.1 631 13029 0.00 2.47 0.00 0.000 6 0.000 0.061 2673 2174 1588

13341 1.52 232.7 637.5 11.1 646 13342 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2175 1587

13650 1.52 232.7 602.1 11.7 661 13655 0.00 2.60 0.00 0.000 4 0.000 0.085 2673 766 1588

13785 1.52 232.7 584.7 12.4 667 13789 0.00 2.47 0.00 0.000 6 0.000 0.061 2673 2172 1588

14106 1.52 232.7 545.9 12.2 683 14110 0.00 2.60 0.00 0.000 4 0.000 0.083 2673 763 1588

14138 1.52 232.7 541.4 13.6 684 14144 0.00 2.47 0.00 0.000 6 0.000 0.060 2674 2175 1588

14454 1.52 232.7 502.3 12.7 700 14459 0.00 2.72 0.00 0.000 4 0.000 0.114 2673 3572 1587

14532 1.52 232.7 491.9 12.9 703 14537 0.00 2.47 0.00 0.000 6 0.000 0.066 2674 2165 1588

14848 1.52 232.7 451.7 13.0 719 14852 0.00 2.55 0.00 0.000 4 0.000 0.086 2673 770 1586

14903 1.52 232.7 443.9 13.8 721 14908 0.00 2.45 0.00 0.000 6 0.000 0.059 2673 2171 1587

15218 1.52 232.7 403.9 12.5 737 15223 0.00 2.67 0.00 0.000 4 0.000 0.108 2673 3568 1587

15336 1.52 232.7 389.2 11.0 742 15340 0.00 2.47 0.00 0.000 6 0.000 0.064 2673 2160 1587

15651 1.52 232.7 351.5 11.3 757 15656 0.00 2.55 0.00 0.000 4 0.000 0.084 2673 768 1586

15747 1.52 232.7 340.3 11.8 761 15751 0.00 2.45 0.00 0.000 6 0.000 0.058 2673 2180 1586

16063 1.52 232.7 302.2 12.4 776 16067 0.00 2.62 0.00 0.000 4 0.000 0.102 2673 3568 1586

16215 1.52 232.7 282.4 12.3 783 16219 0.00 2.42 0.00 0.000 6 0.000 0.064 2673 2167 1586

16542 1.52 232.7 243.7 11.7 799 16546 0.00 2.53 0.00 0.000 4 0.000 0.081 2673 774 1586

16619 1.52 232.7 233.9 11.9 802 16625 0.00 2.40 0.00 0.000 6 0.000 0.057 2673 2174 1586

16935 1.52 232.7 194.6 12.7 818 16940 0.00 2.53 0.00 0.000 4 0.000 0.076 2673 774 1588

16991 1.52 232.7 187.2 13.3 820 16997 0.00 2.40 0.00 0.000 6 0.000 0.058 2673 2167 1588

17308 1.52 232.7 150.0 11.5 836 17309 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2167 1589

17617 1.52 232.7 112.8 12.3 851 17622 0.00 2.53 0.00 0.000 4 0.000 0.077 2673 772 1589

17684 1.52 232.7 103.7 14.2 854 17689 0.00 2.40 0.00 0.000 6 0.000 0.058 2673 2170 1589

18008 1.52 232.7 62.1 13.0 870 18012 0.00 2.53 0.00 0.000 4 0.000 0.076 2673 773 1591

18119 1.52 232.7 46.8 14.1 875 18124 0.00 2.40 0.00 0.000 6 0.000 0.058 2673 2171 1591

18443 1.52 232.7 7.1 12.1 891 18444 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2171 1592

18479 end climb: SURFACE_DEPTH_REACHED

state 18479 begin surface coast

18501 end surface coast: CONTROL_FINISHED_OK

state 18501 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	25	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	18	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	-131921.19	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	025007,6132.101,-314.065,36,1.0,36,-6.2	TGT_NAME	ESEC_SE
_CALLS	1	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.256,0.005
_SM_DEPTHo	1.42	KALMAN_X	78834.0,-90.0,-456.4,-82599.7,3481.8
_SM_ANGLEo	-63.7	KALMAN_Y	-3655.6,532.4,171.1,-431.2,-589.8
GPS2	025633,6132.141,-313.832,12,1.0,12,-6.2	MHEAD_RNG_PITCHd_Wd	277.3,26072,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	0.3,1.014096	XPDR_PINGS	0
SM_CCo	18526,9.07,0.682,0,0,1520,250.21	_24V_AH	23.4,6.851
SM_GC	2.83,0.00,0.00,9.07,0.000,0.000,0.682,35,2380,1520,-10.60,0.00,250.21	_10V_AH	10.1,3.097
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44161,894
TT8_MAMPS	0.023777	CFSIZE	254472192,250982400
HUMID	1742	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	1.00	GPS	190208,080801,6133.330,-316.517,57,1.8,57,-6.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	179	107.83	SBE_CT	871	24	489.62
Roll_motor	167	138	541.85	SBE_O2	845	19	375.94
VBD_pump_during_apogee	320	1492	11183.44	WL_BB2F	471	105	1158.35
VBD_pump_during_surface	9	681	144.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.43	nil	0	0	0.00
Iridium_during_connect	44	160	166.17	nil	0	0	0.00
Iridium_during_xfer	169	223	884.51
Transponder_ping	8	420	83.54
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.95
TT8	1670	19	334.10
LPSleep	14645	2	323.95
TT8_Active	536	19	107.24
TT8_Sampling	1433	39	576.04
TT8_CF8	639	45	295.82
TT8_Kalman	33	81	27.56
Analog_circuits	1473	12	178.60
GPS_charging	0	0	0.00
Compass	1048	26	275.32
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	-59.60	0.000	2	0.000	0.000	36	2380	2836
96	-1.38	-146.6	5.5	-10.0	3	119	11.23	2.75	-6.00	0.000	4	0.179	0.120	2035	3782	3141
192	-1.38	-146.6	25.4	-13.5	7	196	0.00	2.42	0.00	0.000	6	0.000	0.061	2035	2372	3141
514	-1.38	-146.6	61.2	-10.4	23	515	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2371	3143
823	-1.38	-146.6	96.0	-11.4	38	824	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2372	3144
1132	-1.38	-146.6	131.4	-11.0	53	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2371	3144
1441	-1.38	-146.6	164.9	-10.8	68	1445	0.00	2.47	0.00	0.000	4	0.000	0.074	2036	977	3145
1474	-1.38	-146.6	168.6	-11.1	69	1479	0.00	2.42	0.00	0.000	6	0.000	0.061	2035	2380	3145
1790	-1.38	-146.6	203.7	-11.6	85	1791	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2380	3145
2099	-1.38	-146.6	236.1	-10.5	100	2103	0.00	2.50	0.00	0.000	4	0.000	0.073	2035	979	3145
2143	-1.38	-146.6	241.0	-10.3	102	2148	0.00	2.45	0.00	0.000	6	0.000	0.061	2035	2388	3145
2465	-1.38	-146.6	275.4	-10.8	118	2466	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2388	3145
2773	-1.38	-146.6	308.0	-10.4	133	2774	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2388	3145
3082	-1.38	-146.6	341.8	-10.7	148	3087	0.00	2.55	0.00	0.000	4	0.000	0.076	2035	977	3145
3127	-1.38	-146.6	346.9	-12.0	150	3131	0.00	2.45	0.00	0.000	6	0.000	0.063	2035	2384	3145
3449	-1.38	-146.6	380.5	-9.8	166	3450	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2383	3145
3758	-1.38	-146.6	410.7	-10.1	181	3762	0.00	2.55	0.00	0.000	4	0.000	0.078	2035	974	3145
3836	-1.38	-146.6	420.0	-12.4	184	3842	0.00	2.42	0.00	0.000	6	0.000	0.064	2035	2386	3145
4152	-1.38	-146.6	456.7	-10.4	200	4156	0.00	2.55	0.00	0.000	4	0.000	0.078	2035	978	3145
4196	-1.38	-146.6	461.4	-10.3	202	4200	0.00	2.47	0.00	0.000	6	0.000	0.064	2035	2382	3145
4518	-1.38	-146.6	490.6	-9.7	218	4522	0.00	2.83	0.00	0.000	4	0.000	0.138	2035	3784	3145
4595	-1.38	-146.6	498.5	-10.3	221	4601	0.00	2.47	0.00	0.000	6	0.000	0.071	2035	2383	3145
4914	-1.38	-146.6	526.7	-8.6	237	4918	0.00	2.60	0.00	0.000	4	0.000	0.091	2035	971	3145
4980	-1.38	-146.6	533.2	-9.7	240	4985	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2387	3145
5303	-1.38	-146.6	560.6	-8.7	256	5304	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2387	3145
5612	-1.38	-146.6	588.2	-9.1	271	5617	0.00	2.60	0.00	0.000	4	0.000	0.084	2035	974	3143
5685	-1.38	-146.6	595.5	-9.8	274	5690	0.00	2.47	0.00	0.000	6	0.000	0.066	2035	2380	3143
6003	-1.38	-146.6	625.9	-9.7	289	6007	0.00	2.58	0.00	0.000	4	0.000	0.082	2035	973	3142
6047	-1.38	-146.6	630.6	-10.6	291	6051	0.00	2.47	0.00	0.000	6	0.000	0.066	2035	2379	3142
6368	-1.38	-146.6	660.5	-9.5	307	6372	0.00	2.58	0.00	0.000	4	0.000	0.082	2035	972	3141
6407	-1.38	-146.6	664.4	-10.3	309	6412	0.00	2.50	0.00	0.000	6	0.000	0.065	2035	2383	3141
6735	-1.38	-146.6	695.6	-9.6	325	6740	0.00	2.58	0.00	0.000	4	0.000	0.081	2035	973	3140
6781	-1.38	-146.6	700.3	-9.9	327	6785	0.00	2.50	0.00	0.000	6	0.000	0.065	2035	2381	3139
7102	-1.38	-146.6	731.4	-9.3	343	7103	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2381	3138
7411	-1.38	-146.6	761.2	-9.6	358	7412	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2381	3137
7721	-1.38	-146.6	791.0	-9.8	373	7725	0.00	2.58	0.00	0.000	4	0.000	0.081	2035	970	3135
7784	-1.38	-146.6	797.3	-10.5	376	7788	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2385	3135
8111	-1.38	-146.6	828.1	-9.2	392	8115	0.00	2.58	0.00	0.000	4	0.000	0.081	2035	973	3135
8151	-1.38	-146.6	831.9	-9.8	394	8155	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2388	3135
8478	-1.38	-146.6	861.7	-9.3	410	8482	0.00	2.58	0.00	0.000	4	0.000	0.081	2035	974	3134
8511	-1.38	-146.6	865.1	-9.5	411	8516	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2385	3134
8827	-1.38	-146.6	893.5	-8.8	427	8832	0.00	2.58	0.00	0.000	4	0.000	0.080	2035	971	3134
8884	-1.38	-146.6	898.7	-8.8	429	8889	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2384	3133
9201	-1.38	-146.6	926.3	-9.0	445	9205	0.00	2.58	0.00	0.000	4	0.000	0.080	2035	965	3133
9241	-1.38	-146.6	930.0	-9.0	447	9245	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2384	3132
9568	-1.38	-146.6	957.1	-8.1	463	9569	0.00	0.00	0.00	0.000	6	0.000	0.000	2035	2384	3132
9877	-1.38	-146.6	981.6	-7.9	478	9881	0.00	2.58	0.00	0.000	4	0.000	0.080	2035	969	3131
9933	-1.38	-146.6	986.4	-8.8	480	9939	0.00	2.50	0.00	0.000	6	0.000	0.064	2035	2382	3131
9977	end dive: TARGET_DEPTH_EXCEEDED
state	9977	begin apogee
9985	-0.32	0.0	990.4	8.4	483	10113	1.15	0.00	124.32	1.378	6	0.112	0.000	2268	2157	2540
10114	end apogee: CONTROL_FINISHED_OK
state	10114	begin climb
10118	1.38	146.6	994.9	0.0	489	10249	1.67	2.80	122.80	1.349	4	0.074	0.107	2642	3573	1942
10299	1.52	232.7	996.4	6.0	498	10379	0.12	2.50	73.07	1.493	6	0.074	0.065	2673	2177	1591
10696	1.52	232.7	948.2	13.0	518	10700	0.00	2.62	0.00	0.000	4	0.000	0.092	2673	768	1590
10735	1.52	232.7	942.9	13.6	520	10740	0.00	2.50	0.00	0.000	6	0.000	0.061	2673	2183	1589
11063	1.52	232.7	901.2	12.7	536	11064	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2185	1589
11373	1.52	232.7	863.7	12.0	551	11374	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2185	1589
11682	1.52	232.7	826.6	12.1	566	11686	0.00	2.62	0.00	0.000	4	0.000	0.086	2673	769	1588
11726	1.52	232.7	820.9	12.6	568	11730	0.00	2.47	0.00	0.000	6	0.000	0.061	2673	2172	1589
12047	1.52	232.7	783.4	11.8	584	12048	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2172	1588
12356	1.52	232.7	747.1	11.6	599	12357	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2173	1588
12665	1.52	232.7	712.6	10.9	614	12667	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2175	1588
12974	1.52	232.7	678.4	11.1	629	12979	0.00	2.60	0.00	0.000	4	0.000	0.086	2673	766	1588
13024	1.52	232.7	672.6	11.1	631	13029	0.00	2.47	0.00	0.000	6	0.000	0.061	2673	2174	1588
13341	1.52	232.7	637.5	11.1	646	13342	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2175	1587
13650	1.52	232.7	602.1	11.7	661	13655	0.00	2.60	0.00	0.000	4	0.000	0.085	2673	766	1588
13785	1.52	232.7	584.7	12.4	667	13789	0.00	2.47	0.00	0.000	6	0.000	0.061	2673	2172	1588
14106	1.52	232.7	545.9	12.2	683	14110	0.00	2.60	0.00	0.000	4	0.000	0.083	2673	763	1588
14138	1.52	232.7	541.4	13.6	684	14144	0.00	2.47	0.00	0.000	6	0.000	0.060	2674	2175	1588
14454	1.52	232.7	502.3	12.7	700	14459	0.00	2.72	0.00	0.000	4	0.000	0.114	2673	3572	1587
14532	1.52	232.7	491.9	12.9	703	14537	0.00	2.47	0.00	0.000	6	0.000	0.066	2674	2165	1588
14848	1.52	232.7	451.7	13.0	719	14852	0.00	2.55	0.00	0.000	4	0.000	0.086	2673	770	1586
14903	1.52	232.7	443.9	13.8	721	14908	0.00	2.45	0.00	0.000	6	0.000	0.059	2673	2171	1587
15218	1.52	232.7	403.9	12.5	737	15223	0.00	2.67	0.00	0.000	4	0.000	0.108	2673	3568	1587
15336	1.52	232.7	389.2	11.0	742	15340	0.00	2.47	0.00	0.000	6	0.000	0.064	2673	2160	1587
15651	1.52	232.7	351.5	11.3	757	15656	0.00	2.55	0.00	0.000	4	0.000	0.084	2673	768	1586
15747	1.52	232.7	340.3	11.8	761	15751	0.00	2.45	0.00	0.000	6	0.000	0.058	2673	2180	1586
16063	1.52	232.7	302.2	12.4	776	16067	0.00	2.62	0.00	0.000	4	0.000	0.102	2673	3568	1586
16215	1.52	232.7	282.4	12.3	783	16219	0.00	2.42	0.00	0.000	6	0.000	0.064	2673	2167	1586
16542	1.52	232.7	243.7	11.7	799	16546	0.00	2.53	0.00	0.000	4	0.000	0.081	2673	774	1586
16619	1.52	232.7	233.9	11.9	802	16625	0.00	2.40	0.00	0.000	6	0.000	0.057	2673	2174	1586
16935	1.52	232.7	194.6	12.7	818	16940	0.00	2.53	0.00	0.000	4	0.000	0.076	2673	774	1588
16991	1.52	232.7	187.2	13.3	820	16997	0.00	2.40	0.00	0.000	6	0.000	0.058	2673	2167	1588
17308	1.52	232.7	150.0	11.5	836	17309	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2167	1589
17617	1.52	232.7	112.8	12.3	851	17622	0.00	2.53	0.00	0.000	4	0.000	0.077	2673	772	1589
17684	1.52	232.7	103.7	14.2	854	17689	0.00	2.40	0.00	0.000	6	0.000	0.058	2673	2170	1589
18008	1.52	232.7	62.1	13.0	870	18012	0.00	2.53	0.00	0.000	4	0.000	0.076	2673	773	1591
18119	1.52	232.7	46.8	14.1	875	18124	0.00	2.40	0.00	0.000	6	0.000	0.058	2673	2171	1591
18443	1.52	232.7	7.1	12.1	891	18444	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2171	1592
18479	end climb: SURFACE_DEPTH_REACHED
state	18479	begin surface coast
18501	end surface coast: CONTROL_FINISHED_OK
state	18501	begin surface