Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 44 * 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 44 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 2320 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2120 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 450 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 -132355.3 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 412.5

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 -132355.3

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

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 2120 INT_PRESSURE_YINT 0 ROLL_MIN 202 UNCOM_BLEED 20

C_ROLL_DIVE 2320 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2540 MASS 52000 R_PORT_OVSHOOT 26 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 44 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 090253,6128.799,-358.511,27,1.2,43,-6.5 TGT_NAME ESEC_NW

_CALLS 2 TGT_LATLONG 6140.000,-445.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.053

_SM_DEPTHo 1.19 KALMAN_X 133962.2,-467.5,-1685.1,-175382.2,3690.3

_SM_ANGLEo -61.1 KALMAN_Y -31302.0,40.6,-724.4,22469.0,-329.1

GPS2 091357,6128.820,-358.375,11,1.2,11,-6.5 MHEAD_RNG_PITCHd_Wd 289.6,45915,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.4,1.027538 XPDR_PINGS 1

SM_CCo 22676,0.00,0.000,0,0,1496,256.09 _24V_AH 23.5,10.118

SM_GC 1.40,11.32,0.00,0.00,0.058,0.000,0.000,37,2318,1496,-10.54,-0.06,256.09 _10V_AH 10.1,5.106

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53695,1090

TT8_MAMPS 0.023777 CFSIZE 254472192,249618432

HUMID 1746 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 0.50 GPS 240208,153432,6129.125,-404.770,65,1.1,66,-6.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 184 110.53 SBE_CT 1068 24 602.69

Roll_motor 91 129 279.79 SBE_O2 1035 19 462.53

VBD_pump_during_apogee 346 1375 11182.81 WL_BB2F 558 105 1379.04

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.52 nil 0 0 0.00

Iridium_during_connect 83 160 313.18 nil 0 0 0.00

Iridium_during_xfer 303 223 1591.09

Transponder_ping 8 420 86.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.63

TT8 1901 19 380.24

LPSleep 18545 2 410.20

TT8_Active 507 19 101.49

TT8_Sampling 1517 39 610.07

TT8_CF8 865 45 400.45

TT8_Kalman 33 81 27.57

Analog_circuits 1455 12 176.36

GPS_charging 0 0 0.00

Compass 1075 26 282.43

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 -1.16 -146.6 0.0 0.0 0 90 0.00 0.00 -60.08 0.000 2 0.000 0.000 36 2322 2581

94 -1.16 -146.6 3.8 -5.9 3 122 11.70 0.00 -13.40 0.000 6 0.184 0.000 2080 2320 3139

421 -1.16 -146.6 43.7 -10.1 19 426 0.00 2.50 0.00 0.000 4 0.000 0.073 2081 913 3140

472 -1.16 -146.6 49.9 -11.1 21 476 0.00 2.40 0.00 0.000 6 0.000 0.059 2080 2309 3140

790 -1.16 -146.6 77.1 -8.1 36 794 0.00 2.70 0.00 0.000 4 0.000 0.111 2080 3721 3141

822 -1.16 -146.6 80.8 -10.3 37 828 0.00 2.42 0.00 0.000 6 0.000 0.061 2081 2320 3141

1140 -1.16 -146.6 113.3 -10.4 53 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2320 3141

1448 -1.16 -146.6 142.2 -9.0 68 1449 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2320 3141

1757 -1.16 -146.6 166.8 -7.8 83 1758 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2320 3141

2066 -1.16 -146.6 195.7 -9.6 98 2067 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2320 3141

2375 -1.16 -146.6 225.0 -9.6 113 2379 0.00 2.47 0.00 0.000 4 0.000 0.077 2081 924 3141

2408 -1.16 -146.6 228.5 -10.0 114 2412 0.00 2.42 0.00 0.000 6 0.000 0.058 2081 2329 3142

2724 -1.16 -146.6 259.2 -9.8 129 2725 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2329 3143

3033 -1.16 -146.6 287.1 -8.5 144 3034 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2330 3143

3343 -1.16 -146.6 311.4 -7.4 159 3344 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2330 3143

3651 -1.16 -146.6 335.9 -8.2 174 3653 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2330 3143

3960 -1.16 -146.6 361.0 -8.2 189 3962 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2330 3143

4270 -1.16 -146.6 390.4 -9.8 204 4271 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2330 3143

4579 -1.16 -146.6 420.0 -9.1 219 4580 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2330 3144

4888 -1.16 -146.6 446.5 -8.1 234 4889 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2330 3144

5198 -1.16 -146.6 470.3 -7.9 249 5199 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2331 3143

5507 -1.16 -146.6 495.3 -8.2 264 5508 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2331 3142

5816 -1.16 -146.6 519.8 -7.5 279 5821 0.00 2.75 0.00 0.000 4 0.000 0.130 2081 3720 3141

5849 -1.16 -146.6 522.5 -8.1 280 5856 0.00 2.45 0.00 0.000 6 0.000 0.067 2080 2325 3141

6166 -1.16 -146.6 546.3 -7.4 296 6167 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2325 3140

6476 -1.16 -146.6 568.5 -7.2 311 6477 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2326 3140

6784 -1.16 -146.6 592.6 -8.3 326 6789 0.00 2.70 0.00 0.000 4 0.000 0.119 2080 3718 3138

6835 -1.16 -146.6 597.2 -9.2 328 6839 0.00 2.45 0.00 0.000 6 0.000 0.067 2080 2320 3138

7151 -1.16 -146.6 623.1 -8.2 343 7152 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2320 3137

7460 -1.16 -146.6 648.1 -8.0 358 7461 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2320 3136

7769 -1.16 -146.6 671.6 -7.5 373 7771 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2320 3135

8079 -1.16 -146.6 694.7 -7.5 388 8083 0.00 2.75 0.00 0.000 4 0.000 0.123 2081 3719 3134

8134 -1.16 -146.6 699.2 -8.4 390 8140 0.00 2.47 0.00 0.000 6 0.000 0.070 2080 2322 3134

8451 -1.16 -146.6 722.8 -7.5 406 8453 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2320 3134

8760 -1.16 -146.6 746.2 -7.8 421 8761 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2319 3134

9069 -1.16 -146.6 770.9 -8.0 436 9070 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2318 3134

9379 -1.16 -146.6 795.6 -8.3 451 9383 0.00 2.75 0.00 0.000 4 0.000 0.123 2081 3720 3132

9423 -1.16 -146.6 799.6 -9.1 453 9427 0.00 2.42 0.00 0.000 6 0.000 0.068 2081 2325 3132

9750 -1.16 -146.6 826.5 -8.5 469 9751 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2323 3130

10058 -1.16 -146.6 852.3 -8.4 484 10060 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2323 3130

10368 -1.16 -146.6 876.7 -7.4 499 10370 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2322 3129

10677 -1.16 -146.6 899.3 -7.3 514 10679 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2322 3129

10987 -1.16 -146.6 921.4 -7.0 529 10988 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2322 3129

11296 -1.16 -146.6 942.8 -6.9 544 11297 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2321 3128

11606 -1.16 -146.6 965.1 -7.4 559 11607 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2320 3128

11914 -1.16 -146.6 988.0 -7.2 574 11916 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2321 3127

11953 end dive: TARGET_DEPTH_EXCEEDED

state 11953 begin apogee

11961 -0.32 0.0 991.0 7.2 576 12089 0.90 0.00 124.28 1.375 6 0.105 0.000 2265 2110 2540

12090 end apogee: CONTROL_FINISHED_OK

state 12090 begin climb

12094 1.16 146.6 997.0 0.0 582 12224 1.50 2.65 122.47 1.346 4 0.077 0.088 2597 714 1942

12430 1.24 193.1 990.7 6.2 597 12476 0.00 2.45 40.12 1.329 6 0.000 0.057 2597 2134 1752

12789 1.25 202.4 964.5 7.6 615 12803 0.00 2.67 9.15 1.222 4 0.000 0.101 2597 3513 1715

12832 1.28 216.3 960.8 7.5 616 12850 0.00 2.47 13.27 1.209 6 0.000 0.061 2597 2111 1657

13180 1.28 216.3 932.4 8.1 633 13181 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2111 1657

13489 1.28 216.3 907.1 8.2 648 13493 0.00 2.65 0.00 0.000 4 0.000 0.096 2597 3513 1656

13529 1.28 216.3 903.7 8.8 650 13533 0.00 2.42 0.00 0.000 6 0.000 0.061 2597 2121 1656

13856 1.28 216.3 875.8 8.8 666 13857 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2121 1656

14165 1.28 216.3 847.8 9.3 681 14166 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2121 1656

14474 1.28 216.3 818.5 9.6 696 14476 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2121 1656

14784 1.28 216.3 788.6 9.6 711 14788 0.00 2.65 0.00 0.000 4 0.000 0.097 2597 3518 1656

14829 1.28 216.3 784.0 9.6 713 14833 0.00 2.45 0.00 0.000 6 0.000 0.061 2597 2117 1656

15150 1.28 216.3 752.9 9.8 729 15151 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2116 1656

15459 1.28 216.3 722.1 9.9 744 15463 0.00 2.65 0.00 0.000 4 0.000 0.097 2597 3516 1656

15492 1.28 216.3 718.6 10.6 745 15498 0.00 2.45 0.00 0.000 6 0.000 0.062 2597 2122 1655

15808 1.28 216.3 686.9 10.0 761 15810 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2122 1655

16117 1.28 216.3 656.0 9.8 776 16119 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2122 1655

16427 1.28 216.3 626.8 9.2 791 16431 0.00 2.65 0.00 0.000 4 0.000 0.099 2597 3519 1655

16471 1.28 216.3 622.3 9.1 793 16475 0.00 2.45 0.00 0.000 6 0.000 0.063 2597 2120 1655

16792 1.28 216.3 593.9 8.8 809 16793 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2120 1655

17101 1.28 216.3 567.5 8.5 824 17102 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2120 1655

17410 1.28 216.3 542.5 8.1 839 17412 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2120 1655

17720 1.30 229.6 518.5 7.5 854 17734 0.12 0.00 11.85 1.008 6 0.073 0.000 2630 2120 1604

18030 1.30 233.6 494.0 7.8 869 18037 0.00 0.00 5.00 0.811 6 0.000 0.000 2630 2120 1587

18339 1.34 256.5 470.0 7.1 884 18361 0.00 0.00 19.88 1.005 6 0.000 0.000 2630 2120 1494

18668 1.34 256.5 439.9 9.9 900 18672 0.00 2.65 0.00 0.000 4 0.000 0.097 2630 3516 1494

18712 1.34 256.5 434.7 12.8 902 18716 0.00 2.45 0.00 0.000 6 0.000 0.063 2630 2121 1493

19033 1.34 256.5 397.5 11.2 918 19034 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2121 1493

19342 1.34 256.5 361.9 11.2 933 19346 0.00 2.62 0.00 0.000 4 0.000 0.097 2630 714 1493

19405 1.34 256.5 354.2 13.1 936 19409 0.00 2.40 0.00 0.000 6 0.000 0.056 2630 2130 1492

19732 1.34 256.5 317.1 11.6 952 19733 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2130 1492

20041 1.34 256.5 283.8 9.9 967 20042 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2130 1492

20350 1.34 256.5 252.5 10.3 982 20354 0.00 2.55 0.00 0.000 4 0.000 0.098 2630 3510 1492

20422 1.34 256.5 244.3 11.6 985 20427 0.00 2.42 0.00 0.000 6 0.000 0.062 2630 2113 1492

20738 1.34 256.5 209.7 10.9 1000 20742 0.00 2.50 0.00 0.000 4 0.000 0.083 2630 720 1492

20794 1.34 256.5 203.4 12.9 1002 20800 0.00 2.38 0.00 0.000 6 0.000 0.055 2630 2122 1492

21110 1.34 256.5 170.3 10.4 1018 21111 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2123 1492

21420 1.34 256.5 137.8 10.7 1033 21421 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2123 1493

21729 1.34 256.5 101.2 12.3 1048 21730 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2123 1494

22038 1.34 256.5 65.0 11.6 1063 22043 0.00 2.53 0.00 0.000 4 0.000 0.078 2630 718 1496

22079 1.34 256.5 60.4 12.5 1065 22084 0.00 2.38 0.00 0.000 6 0.000 0.057 2630 2115 1496

22407 1.34 256.5 22.1 12.1 1081 22408 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2115 1497

22569 end climb: SURFACE_DEPTH_REACHED

state 22569 begin surface coast

22590 end surface coast: CONTROL_FINISHED_OK

state 22591 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	44	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	2320	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2120	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	450	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	-132355.3	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	090253,6128.799,-358.511,27,1.2,43,-6.5	TGT_NAME	ESEC_NW
_CALLS	2	TGT_LATLONG	6140.000,-445.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.053
_SM_DEPTHo	1.19	KALMAN_X	133962.2,-467.5,-1685.1,-175382.2,3690.3
_SM_ANGLEo	-61.1	KALMAN_Y	-31302.0,40.6,-724.4,22469.0,-329.1
GPS2	091357,6128.820,-358.375,11,1.2,11,-6.5	MHEAD_RNG_PITCHd_Wd	289.6,45915,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	1.4,1.027538	XPDR_PINGS	1
SM_CCo	22676,0.00,0.000,0,0,1496,256.09	_24V_AH	23.5,10.118
SM_GC	1.40,11.32,0.00,0.00,0.058,0.000,0.000,37,2318,1496,-10.54,-0.06,256.09	_10V_AH	10.1,5.106
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53695,1090
TT8_MAMPS	0.023777	CFSIZE	254472192,249618432
HUMID	1746	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	0.50	GPS	240208,153432,6129.125,-404.770,65,1.1,66,-6.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	184	110.53	SBE_CT	1068	24	602.69
Roll_motor	91	129	279.79	SBE_O2	1035	19	462.53
VBD_pump_during_apogee	346	1375	11182.81	WL_BB2F	558	105	1379.04
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.52	nil	0	0	0.00
Iridium_during_connect	83	160	313.18	nil	0	0	0.00
Iridium_during_xfer	303	223	1591.09
Transponder_ping	8	420	86.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.63
TT8	1901	19	380.24
LPSleep	18545	2	410.20
TT8_Active	507	19	101.49
TT8_Sampling	1517	39	610.07
TT8_CF8	865	45	400.45
TT8_Kalman	33	81	27.57
Analog_circuits	1455	12	176.36
GPS_charging	0	0	0.00
Compass	1075	26	282.43
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	-1.16	-146.6	0.0	0.0	0	90	0.00	0.00	-60.08	0.000	2	0.000	0.000	36	2322	2581
94	-1.16	-146.6	3.8	-5.9	3	122	11.70	0.00	-13.40	0.000	6	0.184	0.000	2080	2320	3139
421	-1.16	-146.6	43.7	-10.1	19	426	0.00	2.50	0.00	0.000	4	0.000	0.073	2081	913	3140
472	-1.16	-146.6	49.9	-11.1	21	476	0.00	2.40	0.00	0.000	6	0.000	0.059	2080	2309	3140
790	-1.16	-146.6	77.1	-8.1	36	794	0.00	2.70	0.00	0.000	4	0.000	0.111	2080	3721	3141
822	-1.16	-146.6	80.8	-10.3	37	828	0.00	2.42	0.00	0.000	6	0.000	0.061	2081	2320	3141
1140	-1.16	-146.6	113.3	-10.4	53	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2320	3141
1448	-1.16	-146.6	142.2	-9.0	68	1449	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2320	3141
1757	-1.16	-146.6	166.8	-7.8	83	1758	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2320	3141
2066	-1.16	-146.6	195.7	-9.6	98	2067	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2320	3141
2375	-1.16	-146.6	225.0	-9.6	113	2379	0.00	2.47	0.00	0.000	4	0.000	0.077	2081	924	3141
2408	-1.16	-146.6	228.5	-10.0	114	2412	0.00	2.42	0.00	0.000	6	0.000	0.058	2081	2329	3142
2724	-1.16	-146.6	259.2	-9.8	129	2725	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2329	3143
3033	-1.16	-146.6	287.1	-8.5	144	3034	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2330	3143
3343	-1.16	-146.6	311.4	-7.4	159	3344	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2330	3143
3651	-1.16	-146.6	335.9	-8.2	174	3653	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2330	3143
3960	-1.16	-146.6	361.0	-8.2	189	3962	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2330	3143
4270	-1.16	-146.6	390.4	-9.8	204	4271	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2330	3143
4579	-1.16	-146.6	420.0	-9.1	219	4580	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2330	3144
4888	-1.16	-146.6	446.5	-8.1	234	4889	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2330	3144
5198	-1.16	-146.6	470.3	-7.9	249	5199	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2331	3143
5507	-1.16	-146.6	495.3	-8.2	264	5508	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2331	3142
5816	-1.16	-146.6	519.8	-7.5	279	5821	0.00	2.75	0.00	0.000	4	0.000	0.130	2081	3720	3141
5849	-1.16	-146.6	522.5	-8.1	280	5856	0.00	2.45	0.00	0.000	6	0.000	0.067	2080	2325	3141
6166	-1.16	-146.6	546.3	-7.4	296	6167	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2325	3140
6476	-1.16	-146.6	568.5	-7.2	311	6477	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2326	3140
6784	-1.16	-146.6	592.6	-8.3	326	6789	0.00	2.70	0.00	0.000	4	0.000	0.119	2080	3718	3138
6835	-1.16	-146.6	597.2	-9.2	328	6839	0.00	2.45	0.00	0.000	6	0.000	0.067	2080	2320	3138
7151	-1.16	-146.6	623.1	-8.2	343	7152	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2320	3137
7460	-1.16	-146.6	648.1	-8.0	358	7461	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2320	3136
7769	-1.16	-146.6	671.6	-7.5	373	7771	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2320	3135
8079	-1.16	-146.6	694.7	-7.5	388	8083	0.00	2.75	0.00	0.000	4	0.000	0.123	2081	3719	3134
8134	-1.16	-146.6	699.2	-8.4	390	8140	0.00	2.47	0.00	0.000	6	0.000	0.070	2080	2322	3134
8451	-1.16	-146.6	722.8	-7.5	406	8453	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2320	3134
8760	-1.16	-146.6	746.2	-7.8	421	8761	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2319	3134
9069	-1.16	-146.6	770.9	-8.0	436	9070	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2318	3134
9379	-1.16	-146.6	795.6	-8.3	451	9383	0.00	2.75	0.00	0.000	4	0.000	0.123	2081	3720	3132
9423	-1.16	-146.6	799.6	-9.1	453	9427	0.00	2.42	0.00	0.000	6	0.000	0.068	2081	2325	3132
9750	-1.16	-146.6	826.5	-8.5	469	9751	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2323	3130
10058	-1.16	-146.6	852.3	-8.4	484	10060	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2323	3130
10368	-1.16	-146.6	876.7	-7.4	499	10370	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2322	3129
10677	-1.16	-146.6	899.3	-7.3	514	10679	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2322	3129
10987	-1.16	-146.6	921.4	-7.0	529	10988	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2322	3129
11296	-1.16	-146.6	942.8	-6.9	544	11297	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2321	3128
11606	-1.16	-146.6	965.1	-7.4	559	11607	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2320	3128
11914	-1.16	-146.6	988.0	-7.2	574	11916	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2321	3127
11953	end dive: TARGET_DEPTH_EXCEEDED
state	11953	begin apogee
11961	-0.32	0.0	991.0	7.2	576	12089	0.90	0.00	124.28	1.375	6	0.105	0.000	2265	2110	2540
12090	end apogee: CONTROL_FINISHED_OK
state	12090	begin climb
12094	1.16	146.6	997.0	0.0	582	12224	1.50	2.65	122.47	1.346	4	0.077	0.088	2597	714	1942
12430	1.24	193.1	990.7	6.2	597	12476	0.00	2.45	40.12	1.329	6	0.000	0.057	2597	2134	1752
12789	1.25	202.4	964.5	7.6	615	12803	0.00	2.67	9.15	1.222	4	0.000	0.101	2597	3513	1715
12832	1.28	216.3	960.8	7.5	616	12850	0.00	2.47	13.27	1.209	6	0.000	0.061	2597	2111	1657
13180	1.28	216.3	932.4	8.1	633	13181	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2111	1657
13489	1.28	216.3	907.1	8.2	648	13493	0.00	2.65	0.00	0.000	4	0.000	0.096	2597	3513	1656
13529	1.28	216.3	903.7	8.8	650	13533	0.00	2.42	0.00	0.000	6	0.000	0.061	2597	2121	1656
13856	1.28	216.3	875.8	8.8	666	13857	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2121	1656
14165	1.28	216.3	847.8	9.3	681	14166	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2121	1656
14474	1.28	216.3	818.5	9.6	696	14476	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2121	1656
14784	1.28	216.3	788.6	9.6	711	14788	0.00	2.65	0.00	0.000	4	0.000	0.097	2597	3518	1656
14829	1.28	216.3	784.0	9.6	713	14833	0.00	2.45	0.00	0.000	6	0.000	0.061	2597	2117	1656
15150	1.28	216.3	752.9	9.8	729	15151	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2116	1656
15459	1.28	216.3	722.1	9.9	744	15463	0.00	2.65	0.00	0.000	4	0.000	0.097	2597	3516	1656
15492	1.28	216.3	718.6	10.6	745	15498	0.00	2.45	0.00	0.000	6	0.000	0.062	2597	2122	1655
15808	1.28	216.3	686.9	10.0	761	15810	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2122	1655
16117	1.28	216.3	656.0	9.8	776	16119	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2122	1655
16427	1.28	216.3	626.8	9.2	791	16431	0.00	2.65	0.00	0.000	4	0.000	0.099	2597	3519	1655
16471	1.28	216.3	622.3	9.1	793	16475	0.00	2.45	0.00	0.000	6	0.000	0.063	2597	2120	1655
16792	1.28	216.3	593.9	8.8	809	16793	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2120	1655
17101	1.28	216.3	567.5	8.5	824	17102	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2120	1655
17410	1.28	216.3	542.5	8.1	839	17412	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2120	1655
17720	1.30	229.6	518.5	7.5	854	17734	0.12	0.00	11.85	1.008	6	0.073	0.000	2630	2120	1604
18030	1.30	233.6	494.0	7.8	869	18037	0.00	0.00	5.00	0.811	6	0.000	0.000	2630	2120	1587
18339	1.34	256.5	470.0	7.1	884	18361	0.00	0.00	19.88	1.005	6	0.000	0.000	2630	2120	1494
18668	1.34	256.5	439.9	9.9	900	18672	0.00	2.65	0.00	0.000	4	0.000	0.097	2630	3516	1494
18712	1.34	256.5	434.7	12.8	902	18716	0.00	2.45	0.00	0.000	6	0.000	0.063	2630	2121	1493
19033	1.34	256.5	397.5	11.2	918	19034	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2121	1493
19342	1.34	256.5	361.9	11.2	933	19346	0.00	2.62	0.00	0.000	4	0.000	0.097	2630	714	1493
19405	1.34	256.5	354.2	13.1	936	19409	0.00	2.40	0.00	0.000	6	0.000	0.056	2630	2130	1492
19732	1.34	256.5	317.1	11.6	952	19733	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2130	1492
20041	1.34	256.5	283.8	9.9	967	20042	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2130	1492
20350	1.34	256.5	252.5	10.3	982	20354	0.00	2.55	0.00	0.000	4	0.000	0.098	2630	3510	1492
20422	1.34	256.5	244.3	11.6	985	20427	0.00	2.42	0.00	0.000	6	0.000	0.062	2630	2113	1492
20738	1.34	256.5	209.7	10.9	1000	20742	0.00	2.50	0.00	0.000	4	0.000	0.083	2630	720	1492
20794	1.34	256.5	203.4	12.9	1002	20800	0.00	2.38	0.00	0.000	6	0.000	0.055	2630	2122	1492
21110	1.34	256.5	170.3	10.4	1018	21111	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2123	1492
21420	1.34	256.5	137.8	10.7	1033	21421	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2123	1493
21729	1.34	256.5	101.2	12.3	1048	21730	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2123	1494
22038	1.34	256.5	65.0	11.6	1063	22043	0.00	2.53	0.00	0.000	4	0.000	0.078	2630	718	1496
22079	1.34	256.5	60.4	12.5	1065	22084	0.00	2.38	0.00	0.000	6	0.000	0.057	2630	2115	1496
22407	1.34	256.5	22.1	12.1	1081	22408	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2115	1497
22569	end climb: SURFACE_DEPTH_REACHED
state	22569	begin surface coast
22590	end surface coast: CONTROL_FINISHED_OK
state	22591	begin surface