Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 27 * 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 27 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 22 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 -131965.05 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 -131965.05

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 22 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 27 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 135008,6133.395,-319.694,77,1.5,77,-6.2 TGT_NAME ESEC_SE

_CALLS 2 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.238,-0.095

_SM_DEPTHo 1.21 KALMAN_X 83270.8,-30.1,-61.7,-92626.9,2171.8

_SM_ANGLEo -64.2 KALMAN_Y 295.6,3.6,158.0,-1371.6,568.6

GPS2 135939,6133.468,-319.657,9,1.8,9,-6.2 MHEAD_RNG_PITCHd_Wd 254.5,22209,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.0,1.027487 XPDR_PINGS 1

SM_CCo 18850,11.02,0.710,0,0,1519,250.45 _24V_AH 23.5,7.144

SM_GC 2.94,0.00,0.00,11.02,0.000,0.000,0.710,35,2381,1519,-10.61,0.03,250.45 _10V_AH 10.1,3.275

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47505,910

TT8_MAMPS 0.023777 CFSIZE 254472192,250851328

HUMID 1746 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 1.00 GPS 190208,191626,6132.488,-324.297,47,1.1,47,-6.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 183 111.25 SBE_CT 893 24 504.18

Roll_motor 152 110 395.17 SBE_O2 864 19 386.12

VBD_pump_during_apogee 315 1420 10538.50 WL_BB2F 490 105 1209.89

VBD_pump_during_surface 11 710 184.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.53 nil 0 0 0.00

Iridium_during_connect 117 160 442.34 nil 0 0 0.00

Iridium_during_xfer 187 223 980.04

Transponder_ping 8 420 86.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.65

TT8 1666 19 333.26

LPSleep 15076 2 333.47

TT8_Active 527 19 105.42

TT8_Sampling 1405 39 565.12

TT8_CF8 762 45 352.86

TT8_Kalman 33 81 27.59

Analog_circuits 1439 12 174.52

GPS_charging 0 0 0.00

Compass 1019 26 267.66

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -1.38 -146.6 0.0 0.0 0 89 0.00 0.00 -59.60 0.000 2 0.000 0.000 38 2389 2770

93 -1.38 -146.6 4.5 -7.4 3 115 11.43 0.00 -7.85 0.000 6 0.183 0.000 2034 2389 3140

420 -1.38 -146.6 49.1 -11.8 19 425 0.00 2.53 0.00 0.000 4 0.000 0.071 2034 982 3142

515 -1.38 -146.6 61.0 -11.8 23 520 0.00 2.45 0.00 0.000 6 0.000 0.061 2034 2384 3142

834 -1.38 -146.6 94.5 -9.8 38 838 0.00 2.53 0.00 0.000 4 0.000 0.073 2034 982 3143

878 -1.38 -146.6 99.1 -10.1 40 882 0.00 2.45 0.00 0.000 6 0.000 0.061 2034 2384 3142

1199 -1.38 -146.6 130.6 -10.2 56 1204 0.00 2.53 0.00 0.000 4 0.000 0.072 2033 982 3143

1233 -1.38 -146.6 134.3 -10.2 57 1239 0.00 2.45 0.00 0.000 6 0.000 0.061 2034 2380 3142

1549 -1.38 -146.6 169.0 -11.3 73 1550 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2380 3144

1858 -1.38 -146.6 204.1 -11.0 88 1862 0.00 2.53 0.00 0.000 4 0.000 0.073 2033 979 3144

1924 -1.38 -146.6 211.9 -11.3 91 1928 0.00 2.45 0.00 0.000 6 0.000 0.061 2035 2385 3144

2245 -1.38 -146.6 247.0 -10.8 107 2249 0.00 2.53 0.00 0.000 4 0.000 0.073 2034 983 3144

2285 -1.38 -146.6 251.2 -10.6 109 2289 0.00 2.42 0.00 0.000 6 0.000 0.062 2033 2380 3144

2611 -1.38 -146.6 285.6 -10.5 125 2616 0.00 2.53 0.00 0.000 4 0.000 0.074 2034 979 3144

2652 -1.38 -146.6 290.1 -11.6 127 2656 0.00 2.42 0.00 0.000 6 0.000 0.062 2033 2381 3144

2980 -1.38 -146.6 325.4 -10.8 143 2985 0.00 2.53 0.00 0.000 4 0.000 0.075 2034 976 3144

3036 -1.38 -146.6 331.9 -11.3 145 3042 0.00 2.47 0.00 0.000 6 0.000 0.063 2034 2383 3144

3353 -1.38 -146.6 363.9 -9.5 161 3355 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2382 3144

3662 -1.38 -146.6 395.6 -10.5 176 3663 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2383 3145

3971 -1.38 -146.6 428.0 -10.7 191 3976 0.00 2.55 0.00 0.000 4 0.000 0.079 2033 983 3145

4005 -1.38 -146.6 431.2 -8.8 192 4011 0.00 2.47 0.00 0.000 6 0.000 0.065 2032 2379 3145

4321 -1.38 -146.6 462.3 -10.0 208 4323 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2379 3144

4631 -1.38 -146.6 493.0 -9.8 223 4635 0.00 2.55 0.00 0.000 4 0.000 0.081 2034 984 3144

4664 -1.38 -146.6 496.6 -10.6 224 4669 0.00 2.47 0.00 0.000 6 0.000 0.064 2034 2382 3143

4980 -1.38 -146.6 528.6 -10.4 240 4984 0.00 2.55 0.00 0.000 4 0.000 0.081 2034 982 3143

5024 -1.38 -146.6 533.4 -10.8 242 5028 0.00 2.45 0.00 0.000 6 0.000 0.064 2033 2380 3144

5345 -1.38 -146.6 566.6 -10.3 258 5346 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2381 3141

5654 -1.38 -146.6 598.5 -10.2 273 5658 0.00 2.55 0.00 0.000 4 0.000 0.083 2034 985 3142

5704 -1.38 -146.6 603.8 -10.4 275 5708 0.00 2.47 0.00 0.000 6 0.000 0.065 2034 2381 3142

6019 -1.38 -146.6 636.2 -10.2 290 6024 0.00 2.55 0.00 0.000 4 0.000 0.082 2034 985 3141

6060 -1.38 -146.6 640.3 -11.0 292 6064 0.00 2.47 0.00 0.000 6 0.000 0.065 2034 2384 3141

6387 -1.38 -146.6 673.5 -10.3 308 6391 0.00 2.55 0.00 0.000 4 0.000 0.083 2034 985 3139

6426 -1.38 -146.6 677.7 -11.1 310 6431 0.00 2.47 0.00 0.000 6 0.000 0.065 2033 2385 3139

6754 -1.38 -146.6 711.4 -10.3 326 6759 0.00 2.58 0.00 0.000 4 0.000 0.081 2034 977 3138

6795 -1.38 -146.6 715.8 -11.2 328 6799 0.00 2.47 0.00 0.000 6 0.000 0.065 2034 2381 3137

7121 -1.38 -146.6 749.8 -10.3 344 7123 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2383 3136

7431 -1.38 -146.6 781.4 -10.2 359 7435 0.00 2.58 0.00 0.000 4 0.000 0.081 2034 982 3135

7493 -1.38 -146.6 788.1 -11.1 362 7497 0.00 2.47 0.00 0.000 6 0.000 0.064 2034 2381 3135

7819 -1.38 -146.6 821.2 -10.2 378 7821 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2381 3134

8129 -1.38 -146.6 853.5 -10.4 393 8133 0.00 2.55 0.00 0.000 4 0.000 0.081 2034 980 3135

8201 -1.38 -146.6 861.7 -10.8 396 8205 0.00 2.47 0.00 0.000 6 0.000 0.064 2034 2381 3134

8518 -1.38 -146.6 894.4 -10.1 411 8522 0.00 2.55 0.00 0.000 4 0.000 0.080 2034 980 3133

8558 -1.38 -146.6 898.5 -10.6 413 8562 0.00 2.47 0.00 0.000 6 0.000 0.064 2034 2384 3134

8884 -1.38 -146.6 932.2 -10.4 429 8886 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2384 3132

9193 -1.38 -146.6 963.5 -10.3 444 9198 0.00 2.55 0.00 0.000 4 0.000 0.079 2034 983 3132

9260 -1.38 -146.6 970.7 -11.1 447 9265 0.00 2.47 0.00 0.000 6 0.000 0.064 2034 2382 3132

9455 end dive: TARGET_DEPTH_EXCEEDED

state 9455 begin apogee

9463 -0.32 0.0 990.7 10.3 457 9590 1.15 0.00 123.20 1.420 6 0.112 0.000 2266 2163 2540

9591 end apogee: CONTROL_FINISHED_OK

state 9591 begin climb

9594 1.38 146.6 997.3 0.0 463 9725 1.70 2.80 122.07 1.371 4 0.079 0.108 2641 3573 1942

9922 1.49 213.5 991.0 6.9 479 9986 0.10 2.50 56.75 1.354 6 0.078 0.066 2666 2171 1669

10308 1.49 213.5 950.5 11.1 498 10309 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2171 1668

10618 1.49 213.5 915.3 11.6 513 10622 0.00 2.60 0.00 0.000 4 0.000 0.092 2666 768 1666

10662 1.49 213.5 909.9 12.0 515 10666 0.00 2.50 0.00 0.000 6 0.000 0.059 2666 2182 1667

10983 1.49 213.5 873.1 11.4 531 10984 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2182 1666

11292 1.49 213.5 837.9 11.4 546 11297 0.00 2.62 0.00 0.000 4 0.000 0.087 2666 768 1667

11370 1.49 213.5 828.2 12.4 549 11376 0.00 2.47 0.00 0.000 6 0.000 0.061 2666 2168 1666

11686 1.49 213.5 792.6 10.9 565 11687 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2169 1666

11995 1.49 213.5 758.5 11.1 580 11996 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2170 1665

12305 1.49 213.5 724.9 10.9 595 12306 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2172 1665

12614 1.49 213.5 691.9 10.6 610 12615 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2172 1665

12923 1.49 213.5 659.2 10.5 625 12927 0.00 2.62 0.00 0.000 4 0.000 0.091 2666 766 1665

12967 1.49 213.5 654.1 11.2 627 12971 0.00 2.47 0.00 0.000 6 0.000 0.061 2666 2172 1665

13288 1.49 213.5 620.1 10.5 643 13292 0.00 2.60 0.00 0.000 4 0.000 0.086 2664 769 1665

13321 1.49 213.5 616.3 10.6 644 13326 0.00 2.47 0.00 0.000 6 0.000 0.061 2666 2176 1665

13637 1.49 214.2 584.1 10.0 660 13638 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2176 1665

13946 1.51 229.4 554.6 9.3 675 13968 0.00 2.78 13.68 1.063 4 0.000 0.110 2666 3567 1603

14007 1.51 229.4 548.3 10.9 677 14013 0.00 2.53 0.00 0.000 6 0.000 0.066 2666 2169 1603

14323 1.51 229.4 515.5 11.0 693 14328 0.00 2.62 0.00 0.000 4 0.000 0.093 2666 764 1603

14441 1.51 229.4 501.4 11.3 698 14445 0.00 2.47 0.00 0.000 6 0.000 0.059 2666 2170 1602

14757 1.51 229.4 465.3 11.5 713 14761 0.00 2.70 0.00 0.000 4 0.000 0.109 2666 3569 1602

14829 1.51 229.4 456.2 12.4 716 14833 0.00 2.50 0.00 0.000 6 0.000 0.065 2666 2160 1602

15145 1.51 229.4 418.5 12.4 731 15146 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2160 1602

15455 1.51 229.4 382.5 11.5 746 15459 0.00 2.70 0.00 0.000 4 0.000 0.100 2666 3568 1602

15499 1.51 229.4 377.0 11.7 748 15503 0.00 2.47 0.00 0.000 6 0.000 0.064 2666 2166 1602

15820 1.51 229.4 339.9 11.8 764 15821 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2166 1602

16129 1.51 229.4 301.7 12.5 779 16130 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2166 1602

16438 1.51 229.4 262.7 12.1 794 16439 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2166 1602

16748 1.51 229.4 227.9 11.5 809 16749 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2166 1602

17057 1.51 229.4 194.4 10.5 824 17058 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2166 1602

17366 1.51 229.4 162.0 10.5 839 17371 0.00 2.58 0.00 0.000 4 0.000 0.089 2666 768 1602

17422 1.51 229.4 155.7 11.4 841 17428 0.00 2.42 0.00 0.000 6 0.000 0.057 2666 2183 1602

17739 1.51 229.4 122.4 10.6 857 17740 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2184 1603

18048 1.51 229.4 89.3 11.4 872 18052 0.00 2.58 0.00 0.000 4 0.000 0.077 2666 760 1604

18114 1.51 229.4 81.1 12.3 875 18119 0.00 2.42 0.00 0.000 6 0.000 0.058 2666 2175 1604

18437 1.51 229.4 46.4 10.7 891 18441 0.00 2.55 0.00 0.000 4 0.000 0.077 2666 763 1606

18469 1.51 229.4 42.4 11.5 892 18476 0.00 2.42 0.00 0.000 6 0.000 0.058 2666 2170 1605

18787 1.51 229.4 5.5 12.5 908 18789 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2170 1607

18803 end climb: SURFACE_DEPTH_REACHED

state 18804 begin surface coast

18825 end surface coast: CONTROL_FINISHED_OK

state 18825 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	27	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	22	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	-131965.05	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	135008,6133.395,-319.694,77,1.5,77,-6.2	TGT_NAME	ESEC_SE
_CALLS	2	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.238,-0.095
_SM_DEPTHo	1.21	KALMAN_X	83270.8,-30.1,-61.7,-92626.9,2171.8
_SM_ANGLEo	-64.2	KALMAN_Y	295.6,3.6,158.0,-1371.6,568.6
GPS2	135939,6133.468,-319.657,9,1.8,9,-6.2	MHEAD_RNG_PITCHd_Wd	254.5,22209,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	990

FINISH	1.0,1.027487	XPDR_PINGS	1
SM_CCo	18850,11.02,0.710,0,0,1519,250.45	_24V_AH	23.5,7.144
SM_GC	2.94,0.00,0.00,11.02,0.000,0.000,0.710,35,2381,1519,-10.61,0.03,250.45	_10V_AH	10.1,3.275
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47505,910
TT8_MAMPS	0.023777	CFSIZE	254472192,250851328
HUMID	1746	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	1.00	GPS	190208,191626,6132.488,-324.297,47,1.1,47,-6.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	183	111.25	SBE_CT	893	24	504.18
Roll_motor	152	110	395.17	SBE_O2	864	19	386.12
VBD_pump_during_apogee	315	1420	10538.50	WL_BB2F	490	105	1209.89
VBD_pump_during_surface	11	710	184.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.53	nil	0	0	0.00
Iridium_during_connect	117	160	442.34	nil	0	0	0.00
Iridium_during_xfer	187	223	980.04
Transponder_ping	8	420	86.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.65
TT8	1666	19	333.26
LPSleep	15076	2	333.47
TT8_Active	527	19	105.42
TT8_Sampling	1405	39	565.12
TT8_CF8	762	45	352.86
TT8_Kalman	33	81	27.59
Analog_circuits	1439	12	174.52
GPS_charging	0	0	0.00
Compass	1019	26	267.66
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-1.38	-146.6	0.0	0.0	0	89	0.00	0.00	-59.60	0.000	2	0.000	0.000	38	2389	2770
93	-1.38	-146.6	4.5	-7.4	3	115	11.43	0.00	-7.85	0.000	6	0.183	0.000	2034	2389	3140
420	-1.38	-146.6	49.1	-11.8	19	425	0.00	2.53	0.00	0.000	4	0.000	0.071	2034	982	3142
515	-1.38	-146.6	61.0	-11.8	23	520	0.00	2.45	0.00	0.000	6	0.000	0.061	2034	2384	3142
834	-1.38	-146.6	94.5	-9.8	38	838	0.00	2.53	0.00	0.000	4	0.000	0.073	2034	982	3143
878	-1.38	-146.6	99.1	-10.1	40	882	0.00	2.45	0.00	0.000	6	0.000	0.061	2034	2384	3142
1199	-1.38	-146.6	130.6	-10.2	56	1204	0.00	2.53	0.00	0.000	4	0.000	0.072	2033	982	3143
1233	-1.38	-146.6	134.3	-10.2	57	1239	0.00	2.45	0.00	0.000	6	0.000	0.061	2034	2380	3142
1549	-1.38	-146.6	169.0	-11.3	73	1550	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2380	3144
1858	-1.38	-146.6	204.1	-11.0	88	1862	0.00	2.53	0.00	0.000	4	0.000	0.073	2033	979	3144
1924	-1.38	-146.6	211.9	-11.3	91	1928	0.00	2.45	0.00	0.000	6	0.000	0.061	2035	2385	3144
2245	-1.38	-146.6	247.0	-10.8	107	2249	0.00	2.53	0.00	0.000	4	0.000	0.073	2034	983	3144
2285	-1.38	-146.6	251.2	-10.6	109	2289	0.00	2.42	0.00	0.000	6	0.000	0.062	2033	2380	3144
2611	-1.38	-146.6	285.6	-10.5	125	2616	0.00	2.53	0.00	0.000	4	0.000	0.074	2034	979	3144
2652	-1.38	-146.6	290.1	-11.6	127	2656	0.00	2.42	0.00	0.000	6	0.000	0.062	2033	2381	3144
2980	-1.38	-146.6	325.4	-10.8	143	2985	0.00	2.53	0.00	0.000	4	0.000	0.075	2034	976	3144
3036	-1.38	-146.6	331.9	-11.3	145	3042	0.00	2.47	0.00	0.000	6	0.000	0.063	2034	2383	3144
3353	-1.38	-146.6	363.9	-9.5	161	3355	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2382	3144
3662	-1.38	-146.6	395.6	-10.5	176	3663	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2383	3145
3971	-1.38	-146.6	428.0	-10.7	191	3976	0.00	2.55	0.00	0.000	4	0.000	0.079	2033	983	3145
4005	-1.38	-146.6	431.2	-8.8	192	4011	0.00	2.47	0.00	0.000	6	0.000	0.065	2032	2379	3145
4321	-1.38	-146.6	462.3	-10.0	208	4323	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2379	3144
4631	-1.38	-146.6	493.0	-9.8	223	4635	0.00	2.55	0.00	0.000	4	0.000	0.081	2034	984	3144
4664	-1.38	-146.6	496.6	-10.6	224	4669	0.00	2.47	0.00	0.000	6	0.000	0.064	2034	2382	3143
4980	-1.38	-146.6	528.6	-10.4	240	4984	0.00	2.55	0.00	0.000	4	0.000	0.081	2034	982	3143
5024	-1.38	-146.6	533.4	-10.8	242	5028	0.00	2.45	0.00	0.000	6	0.000	0.064	2033	2380	3144
5345	-1.38	-146.6	566.6	-10.3	258	5346	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2381	3141
5654	-1.38	-146.6	598.5	-10.2	273	5658	0.00	2.55	0.00	0.000	4	0.000	0.083	2034	985	3142
5704	-1.38	-146.6	603.8	-10.4	275	5708	0.00	2.47	0.00	0.000	6	0.000	0.065	2034	2381	3142
6019	-1.38	-146.6	636.2	-10.2	290	6024	0.00	2.55	0.00	0.000	4	0.000	0.082	2034	985	3141
6060	-1.38	-146.6	640.3	-11.0	292	6064	0.00	2.47	0.00	0.000	6	0.000	0.065	2034	2384	3141
6387	-1.38	-146.6	673.5	-10.3	308	6391	0.00	2.55	0.00	0.000	4	0.000	0.083	2034	985	3139
6426	-1.38	-146.6	677.7	-11.1	310	6431	0.00	2.47	0.00	0.000	6	0.000	0.065	2033	2385	3139
6754	-1.38	-146.6	711.4	-10.3	326	6759	0.00	2.58	0.00	0.000	4	0.000	0.081	2034	977	3138
6795	-1.38	-146.6	715.8	-11.2	328	6799	0.00	2.47	0.00	0.000	6	0.000	0.065	2034	2381	3137
7121	-1.38	-146.6	749.8	-10.3	344	7123	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2383	3136
7431	-1.38	-146.6	781.4	-10.2	359	7435	0.00	2.58	0.00	0.000	4	0.000	0.081	2034	982	3135
7493	-1.38	-146.6	788.1	-11.1	362	7497	0.00	2.47	0.00	0.000	6	0.000	0.064	2034	2381	3135
7819	-1.38	-146.6	821.2	-10.2	378	7821	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2381	3134
8129	-1.38	-146.6	853.5	-10.4	393	8133	0.00	2.55	0.00	0.000	4	0.000	0.081	2034	980	3135
8201	-1.38	-146.6	861.7	-10.8	396	8205	0.00	2.47	0.00	0.000	6	0.000	0.064	2034	2381	3134
8518	-1.38	-146.6	894.4	-10.1	411	8522	0.00	2.55	0.00	0.000	4	0.000	0.080	2034	980	3133
8558	-1.38	-146.6	898.5	-10.6	413	8562	0.00	2.47	0.00	0.000	6	0.000	0.064	2034	2384	3134
8884	-1.38	-146.6	932.2	-10.4	429	8886	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2384	3132
9193	-1.38	-146.6	963.5	-10.3	444	9198	0.00	2.55	0.00	0.000	4	0.000	0.079	2034	983	3132
9260	-1.38	-146.6	970.7	-11.1	447	9265	0.00	2.47	0.00	0.000	6	0.000	0.064	2034	2382	3132
9455	end dive: TARGET_DEPTH_EXCEEDED
state	9455	begin apogee
9463	-0.32	0.0	990.7	10.3	457	9590	1.15	0.00	123.20	1.420	6	0.112	0.000	2266	2163	2540
9591	end apogee: CONTROL_FINISHED_OK
state	9591	begin climb
9594	1.38	146.6	997.3	0.0	463	9725	1.70	2.80	122.07	1.371	4	0.079	0.108	2641	3573	1942
9922	1.49	213.5	991.0	6.9	479	9986	0.10	2.50	56.75	1.354	6	0.078	0.066	2666	2171	1669
10308	1.49	213.5	950.5	11.1	498	10309	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2171	1668
10618	1.49	213.5	915.3	11.6	513	10622	0.00	2.60	0.00	0.000	4	0.000	0.092	2666	768	1666
10662	1.49	213.5	909.9	12.0	515	10666	0.00	2.50	0.00	0.000	6	0.000	0.059	2666	2182	1667
10983	1.49	213.5	873.1	11.4	531	10984	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2182	1666
11292	1.49	213.5	837.9	11.4	546	11297	0.00	2.62	0.00	0.000	4	0.000	0.087	2666	768	1667
11370	1.49	213.5	828.2	12.4	549	11376	0.00	2.47	0.00	0.000	6	0.000	0.061	2666	2168	1666
11686	1.49	213.5	792.6	10.9	565	11687	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2169	1666
11995	1.49	213.5	758.5	11.1	580	11996	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2170	1665
12305	1.49	213.5	724.9	10.9	595	12306	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2172	1665
12614	1.49	213.5	691.9	10.6	610	12615	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2172	1665
12923	1.49	213.5	659.2	10.5	625	12927	0.00	2.62	0.00	0.000	4	0.000	0.091	2666	766	1665
12967	1.49	213.5	654.1	11.2	627	12971	0.00	2.47	0.00	0.000	6	0.000	0.061	2666	2172	1665
13288	1.49	213.5	620.1	10.5	643	13292	0.00	2.60	0.00	0.000	4	0.000	0.086	2664	769	1665
13321	1.49	213.5	616.3	10.6	644	13326	0.00	2.47	0.00	0.000	6	0.000	0.061	2666	2176	1665
13637	1.49	214.2	584.1	10.0	660	13638	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2176	1665
13946	1.51	229.4	554.6	9.3	675	13968	0.00	2.78	13.68	1.063	4	0.000	0.110	2666	3567	1603
14007	1.51	229.4	548.3	10.9	677	14013	0.00	2.53	0.00	0.000	6	0.000	0.066	2666	2169	1603
14323	1.51	229.4	515.5	11.0	693	14328	0.00	2.62	0.00	0.000	4	0.000	0.093	2666	764	1603
14441	1.51	229.4	501.4	11.3	698	14445	0.00	2.47	0.00	0.000	6	0.000	0.059	2666	2170	1602
14757	1.51	229.4	465.3	11.5	713	14761	0.00	2.70	0.00	0.000	4	0.000	0.109	2666	3569	1602
14829	1.51	229.4	456.2	12.4	716	14833	0.00	2.50	0.00	0.000	6	0.000	0.065	2666	2160	1602
15145	1.51	229.4	418.5	12.4	731	15146	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2160	1602
15455	1.51	229.4	382.5	11.5	746	15459	0.00	2.70	0.00	0.000	4	0.000	0.100	2666	3568	1602
15499	1.51	229.4	377.0	11.7	748	15503	0.00	2.47	0.00	0.000	6	0.000	0.064	2666	2166	1602
15820	1.51	229.4	339.9	11.8	764	15821	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2166	1602
16129	1.51	229.4	301.7	12.5	779	16130	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2166	1602
16438	1.51	229.4	262.7	12.1	794	16439	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2166	1602
16748	1.51	229.4	227.9	11.5	809	16749	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2166	1602
17057	1.51	229.4	194.4	10.5	824	17058	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2166	1602
17366	1.51	229.4	162.0	10.5	839	17371	0.00	2.58	0.00	0.000	4	0.000	0.089	2666	768	1602
17422	1.51	229.4	155.7	11.4	841	17428	0.00	2.42	0.00	0.000	6	0.000	0.057	2666	2183	1602
17739	1.51	229.4	122.4	10.6	857	17740	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2184	1603
18048	1.51	229.4	89.3	11.4	872	18052	0.00	2.58	0.00	0.000	4	0.000	0.077	2666	760	1604
18114	1.51	229.4	81.1	12.3	875	18119	0.00	2.42	0.00	0.000	6	0.000	0.058	2666	2175	1604
18437	1.51	229.4	46.4	10.7	891	18441	0.00	2.55	0.00	0.000	4	0.000	0.077	2666	763	1606
18469	1.51	229.4	42.4	11.5	892	18476	0.00	2.42	0.00	0.000	6	0.000	0.058	2666	2170	1605
18787	1.51	229.4	5.5	12.5	908	18789	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2170	1607
18803	end climb: SURFACE_DEPTH_REACHED
state	18804	begin surface coast
18825	end surface coast: CONTROL_FINISHED_OK
state	18825	begin surface