Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 109 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 109 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 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 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2077577 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 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 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2077577

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 15 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 109 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 045738,6150.393,-958.765,30,1.9,30,-9.9 TGT_NAME IFRS1K

_CALLS 1 TGT_LATLONG 6210.000,-1055.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.024,0.220

_SM_DEPTHo 1.27 KALMAN_X -48193.1,1015.0,2744.6,-2497.6,-44913.3

_SM_ANGLEo -54.1 KALMAN_Y 97039.1,-565.9,734.2,-74516.4,-4101.4

GPS2 050215,6150.438,-958.882,15,1.9,15,-9.9 MHEAD_RNG_PITCHd_Wd 3.7,60557,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027274 ALTIM_BOTTOM_PING 800.3,71.5

SM_CCo 21051,29.88,0.593,2,0,1593,300.00 _24V_AH 23.5,20.970

SM_GC 1.28,0.00,0.00,29.88,0.000,0.000,0.593,72,2400,1593,-10.75,-0.03,300.00 _10V_AH 10.2,9.464

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50512,1020

TT8_MAMPS 0.023777 CFSIZE 260165632,253153280

HUMID 2102 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

TCM_TEMP 17.30 GPS 301107,105607,6154.121,-1006.363,43,1.3,55,-10.0

XPDR_PINGS 39

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 173 102.86 SBE_CT 716 24 404.27

Roll_motor 168 91 360.67 SBE_O2 727 19 325.04

VBD_pump_during_apogee 332 1296 10146.60 WL_BB2F 574 105 1417.75

VBD_pump_during_surface 29 592 416.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.88 nil 0 0 0.00

Iridium_during_connect 27 160 103.69 nil 0 0 0.00

Iridium_during_xfer 136 223 713.53

Transponder_ping 17 420 167.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.05

TT8 1840 19 371.78

LPSleep 16441 2 367.27

TT8_Active 523 19 105.79

TT8_Sampling 2227 39 904.18

TT8_CF8 345 45 161.44

TT8_Kalman 33 81 27.85

Analog_circuits 1622 12 198.62

GPS_charging 0 0 0.00

Compass 2172 8 177.25

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.85 -146.6 0.0 0.0 0 82 0.00 0.00 -62.03 0.000 2 0.000 0.000 73 2403 3155

85 -0.85 -146.6 3.1 -3.3 3 110 12.10 2.58 -6.10 0.000 4 0.173 0.083 2220 3760 3416

278 -0.85 -146.6 28.4 -13.9 11 285 0.00 2.47 0.00 0.000 6 0.000 0.047 2220 2404 3418

594 -0.85 -146.6 49.7 -7.2 27 598 0.00 2.62 0.00 0.000 4 0.000 0.065 2220 985 3418

636 -0.85 -146.6 52.7 -6.7 29 641 0.00 2.58 0.00 0.000 6 0.000 0.049 2220 2389 3418

963 -0.85 -146.6 72.4 -9.5 45 965 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2389 3418

1273 -0.85 -146.6 109.3 -11.6 60 1277 0.00 2.60 0.00 0.000 4 0.000 0.061 2220 976 3417

1311 -0.85 -146.6 113.2 -10.4 62 1315 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2399 3418

1637 -0.85 -146.6 143.6 -7.8 78 1641 0.00 2.60 0.00 0.000 4 0.000 0.063 2220 985 3417

1698 -0.85 -146.6 147.9 -7.7 81 1703 0.00 2.58 0.00 0.000 6 0.000 0.052 2220 2401 3418

2023 -0.85 -146.6 174.6 -8.6 97 2028 0.00 2.62 0.00 0.000 4 0.000 0.065 2220 985 3418

2068 -0.85 -146.6 178.8 -9.8 99 2072 0.00 2.58 0.00 0.000 6 0.000 0.052 2220 2401 3418

2393 -0.85 -146.6 212.4 -10.6 115 2394 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3418

2702 -0.85 -146.6 241.8 -8.6 130 2706 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 985 3418

2740 -0.85 -146.6 245.3 -8.9 132 2745 0.00 2.58 0.00 0.000 6 0.000 0.054 2220 2401 3418

3066 -0.85 -146.6 274.8 -9.2 148 3067 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3417

3375 -0.85 -146.6 303.9 -9.6 163 3379 0.00 2.62 0.00 0.000 4 0.000 0.064 2220 982 3418

3414 -0.85 -146.6 308.1 -11.0 165 3418 0.00 2.58 0.00 0.000 6 0.000 0.054 2220 2408 3418

3740 -0.85 -146.6 339.9 -10.0 181 3741 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2408 3418

4049 -0.85 -146.6 371.6 -10.2 196 4053 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 977 3418

4088 -0.85 -146.6 375.6 -11.3 198 4092 0.00 2.60 0.00 0.000 6 0.000 0.055 2220 2401 3418

4413 -0.85 -146.6 404.4 -7.7 214 4414 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3418

4723 -0.85 -146.6 426.0 -7.3 229 4727 0.00 2.62 0.00 0.000 4 0.000 0.066 2220 982 3418

4794 -0.85 -146.6 431.4 -7.0 232 4798 0.00 2.58 0.00 0.000 6 0.000 0.054 2220 2397 3418

5115 -0.85 -146.6 454.5 -7.2 248 5116 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2397 3418

5424 -0.85 -146.6 477.2 -7.5 263 5428 0.00 2.60 0.00 0.000 4 0.000 0.065 2220 979 3418

5507 -0.85 -146.6 483.9 -8.2 267 5512 0.00 2.58 0.00 0.000 6 0.000 0.053 2220 2398 3418

5833 -0.85 -146.6 508.3 -7.1 283 5834 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3418

6142 -0.85 -146.6 528.7 -6.6 298 6146 0.00 2.60 0.00 0.000 4 0.000 0.066 2220 984 3418

6191 -0.85 -146.6 532.0 -6.9 300 6196 0.00 2.60 0.00 0.000 6 0.000 0.052 2220 2402 3418

6512 -0.85 -146.6 553.7 -7.1 316 6517 0.00 2.60 0.00 0.000 4 0.000 0.063 2220 984 3418

6551 -0.85 -146.6 556.5 -7.5 318 6555 0.00 2.58 0.00 0.000 6 0.000 0.052 2220 2404 3418

6876 -0.85 -146.6 580.1 -7.7 334 6877 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3418

7185 -0.85 -146.6 606.2 -7.9 349 7186 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3418

7495 -0.85 -146.6 630.7 -7.4 364 7496 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3417

7805 -0.85 -146.6 651.0 -6.5 379 7809 0.00 2.62 0.00 0.000 4 0.000 0.065 2220 979 3417

7836 -0.85 -146.6 653.4 -7.6 380 7843 0.00 2.60 0.00 0.000 6 0.000 0.053 2220 2397 3417

8152 -0.85 -146.6 673.9 -5.1 396 8157 0.00 2.58 0.00 0.000 4 0.000 0.064 2220 984 3417

8218 -0.85 -146.6 677.9 -6.1 399 8222 0.00 2.60 0.00 0.000 6 0.000 0.051 2220 2404 3417

8545 -0.85 -146.6 704.5 -7.2 415 8549 0.00 2.62 0.00 0.000 4 0.000 0.066 2220 982 3417

8678 -0.85 -146.6 712.8 -6.9 421 8682 0.00 2.58 0.00 0.000 6 0.000 0.052 2220 2405 3417

9004 -0.85 -146.6 736.2 -5.7 437 9009 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 985 3416

9149 -0.85 -146.6 744.3 -4.7 443 9155 0.00 2.58 0.00 0.000 6 0.000 0.054 2220 2403 3417

9464 -0.85 -146.6 756.9 -4.4 459 9468 0.00 2.58 0.00 0.000 4 0.000 0.081 2220 3768 3417

9536 -0.85 -146.6 760.2 -3.9 462 9540 0.00 2.53 0.00 0.000 6 0.000 0.057 2220 2399 3417

9857 -0.85 -146.6 770.3 -3.7 478 9858 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2399 3417

10166 -0.85 -146.6 791.1 -8.0 493 10167 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3417

10475 -0.85 -146.6 821.4 -10.9 508 10479 0.00 2.67 0.00 0.000 4 0.000 0.079 2220 985 3416

10518 -0.85 -146.6 824.6 -6.7 510 10522 0.00 2.60 0.00 0.000 6 0.000 0.064 2220 2398 3416

10845 -0.85 -146.6 845.2 -6.7 526 10846 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3415

11155 -0.85 -146.6 861.2 -3.4 541 11159 0.00 2.62 0.00 0.000 4 0.000 0.091 2220 3765 3413

11291 end dive: NO_VERTICAL_VELOCITY

state 11292 begin apogee

11300 -0.31 0.0 861.1 0.0 547 11425 0.55 0.00 122.88 1.297 6 0.100 0.000 2335 2206 2817

11426 end apogee: CONTROL_FINISHED_OK

state 11427 begin climb

11428 0.85 146.6 861.1 0.0 553 11559 1.27 2.85 121.57 1.261 4 0.105 0.079 2588 779 2218

11654 0.85 146.6 848.0 8.1 563 11661 0.00 2.67 0.00 0.000 6 0.000 0.057 2588 2197 2216

11970 0.85 146.6 825.5 7.4 579 11975 0.00 2.72 0.00 0.000 4 0.000 0.084 2588 3613 2215

12046 0.85 146.6 819.7 7.3 582 12053 0.00 2.67 0.00 0.000 6 0.000 0.061 2588 2199 2214

12362 0.85 146.6 794.8 8.4 598 12366 0.00 2.70 0.00 0.000 4 0.000 0.079 2588 784 2214

12406 0.85 146.6 791.2 7.4 600 12411 0.00 2.62 0.00 0.000 6 0.000 0.058 2588 2201 2213

12727 0.95 246.4 773.6 3.3 616 12816 0.15 2.78 80.93 1.237 4 0.064 0.074 2632 784 1811

12844 0.96 253.5 767.4 5.8 621 12858 0.00 2.65 7.53 0.994 6 0.000 0.056 2632 2200 1783

13179 0.96 253.5 733.1 17.4 638 13184 0.00 2.70 0.00 0.000 4 0.000 0.081 2632 3613 1780

13218 0.96 253.5 724.8 21.7 640 13222 0.00 2.65 0.00 0.000 6 0.000 0.061 2632 2191 1780

13543 0.96 253.5 673.1 13.1 656 13548 0.00 2.65 0.00 0.000 4 0.000 0.075 2632 786 1778

13665 0.96 253.5 657.2 12.5 661 13672 0.00 2.62 0.00 0.000 6 0.000 0.051 2632 2204 1777

13980 0.96 253.5 619.4 11.9 677 13984 0.00 2.67 0.00 0.000 4 0.000 0.068 2632 778 1777

14012 0.96 253.5 615.3 12.6 678 14019 0.00 2.60 0.00 0.000 6 0.000 0.048 2632 2207 1777

14327 0.96 253.5 575.7 12.1 694 14329 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2207 1777

14637 0.96 253.5 543.8 9.0 709 14638 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2207 1778

14946 0.96 253.5 519.7 7.4 724 14947 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2207 1778

15255 0.96 253.5 491.3 10.1 739 15256 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2207 1779

15564 0.96 253.5 462.2 8.6 754 15569 0.00 2.65 0.00 0.000 4 0.000 0.067 2632 783 1780

15607 0.96 253.5 458.4 8.3 756 15612 0.00 2.58 0.00 0.000 6 0.000 0.045 2632 2213 1779

15934 0.96 253.5 434.6 6.7 772 15935 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2213 1780

16243 0.96 253.5 414.5 6.8 787 16248 0.00 2.65 0.00 0.000 4 0.000 0.065 2632 783 1781

16305 0.96 253.5 410.1 6.6 790 16309 0.00 2.55 0.00 0.000 6 0.000 0.046 2632 2201 1781

16630 0.96 253.5 389.4 6.3 806 16635 0.00 2.65 0.00 0.000 4 0.000 0.066 2632 773 1783

16679 0.96 253.5 386.1 7.4 808 16684 0.00 2.60 0.00 0.000 6 0.000 0.046 2632 2203 1783

17000 0.96 253.5 364.7 6.6 824 17002 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2203 1782

17309 0.96 253.5 340.5 8.6 839 17314 0.00 2.65 0.00 0.000 4 0.000 0.067 2632 779 1784

17364 0.96 253.5 335.6 8.6 841 17371 0.00 2.58 0.00 0.000 6 0.000 0.045 2632 2199 1785

17680 0.96 253.5 305.5 10.3 857 17681 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2199 1785

17989 0.96 253.5 272.0 10.8 872 17990 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2199 1785

18298 0.96 253.5 237.5 10.9 887 18302 0.00 2.62 0.00 0.000 4 0.000 0.064 2632 776 1786

18336 0.96 253.5 233.1 11.3 889 18340 0.00 2.55 0.00 0.000 6 0.000 0.046 2632 2201 1786

18661 0.96 253.5 202.7 8.3 905 18662 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2201 1786

18970 0.96 253.5 177.8 8.5 920 18971 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2201 1786

19280 0.96 253.5 157.4 6.5 935 19284 0.00 2.62 0.00 0.000 4 0.000 0.064 2632 782 1786

19351 0.96 253.5 151.4 8.8 938 19355 0.00 2.55 0.00 0.000 6 0.000 0.044 2632 2196 1787

19672 0.96 253.5 123.0 9.6 954 19673 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2196 1786

19981 0.96 253.5 100.0 7.9 969 19982 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2197 1787

20290 0.96 253.5 72.1 8.8 984 20291 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2197 1787

20600 0.96 253.5 41.4 10.0 999 20601 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2196 1787

20909 0.96 253.5 10.0 10.9 1014 20910 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2196 1786

21011 end climb: SURFACE_DEPTH_REACHED

state 21011 begin surface coast

21032 end surface coast: CONTROL_FINISHED_OK

state 21032 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	109	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	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	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2077577	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	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	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	045738,6150.393,-958.765,30,1.9,30,-9.9	TGT_NAME	IFRS1K
_CALLS	1	TGT_LATLONG	6210.000,-1055.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.024,0.220
_SM_DEPTHo	1.27	KALMAN_X	-48193.1,1015.0,2744.6,-2497.6,-44913.3
_SM_ANGLEo	-54.1	KALMAN_Y	97039.1,-565.9,734.2,-74516.4,-4101.4
GPS2	050215,6150.438,-958.882,15,1.9,15,-9.9	MHEAD_RNG_PITCHd_Wd	3.7,60557,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027274	ALTIM_BOTTOM_PING	800.3,71.5
SM_CCo	21051,29.88,0.593,2,0,1593,300.00	_24V_AH	23.5,20.970
SM_GC	1.28,0.00,0.00,29.88,0.000,0.000,0.593,72,2400,1593,-10.75,-0.03,300.00	_10V_AH	10.2,9.464
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50512,1020
TT8_MAMPS	0.023777	CFSIZE	260165632,253153280
HUMID	2102	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
TCM_TEMP	17.30	GPS	301107,105607,6154.121,-1006.363,43,1.3,55,-10.0
XPDR_PINGS	39

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	173	102.86	SBE_CT	716	24	404.27
Roll_motor	168	91	360.67	SBE_O2	727	19	325.04
VBD_pump_during_apogee	332	1296	10146.60	WL_BB2F	574	105	1417.75
VBD_pump_during_surface	29	592	416.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.88	nil	0	0	0.00
Iridium_during_connect	27	160	103.69	nil	0	0	0.00
Iridium_during_xfer	136	223	713.53
Transponder_ping	17	420	167.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.05
TT8	1840	19	371.78
LPSleep	16441	2	367.27
TT8_Active	523	19	105.79
TT8_Sampling	2227	39	904.18
TT8_CF8	345	45	161.44
TT8_Kalman	33	81	27.85
Analog_circuits	1622	12	198.62
GPS_charging	0	0	0.00
Compass	2172	8	177.25
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.85	-146.6	0.0	0.0	0	82	0.00	0.00	-62.03	0.000	2	0.000	0.000	73	2403	3155
85	-0.85	-146.6	3.1	-3.3	3	110	12.10	2.58	-6.10	0.000	4	0.173	0.083	2220	3760	3416
278	-0.85	-146.6	28.4	-13.9	11	285	0.00	2.47	0.00	0.000	6	0.000	0.047	2220	2404	3418
594	-0.85	-146.6	49.7	-7.2	27	598	0.00	2.62	0.00	0.000	4	0.000	0.065	2220	985	3418
636	-0.85	-146.6	52.7	-6.7	29	641	0.00	2.58	0.00	0.000	6	0.000	0.049	2220	2389	3418
963	-0.85	-146.6	72.4	-9.5	45	965	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2389	3418
1273	-0.85	-146.6	109.3	-11.6	60	1277	0.00	2.60	0.00	0.000	4	0.000	0.061	2220	976	3417
1311	-0.85	-146.6	113.2	-10.4	62	1315	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2399	3418
1637	-0.85	-146.6	143.6	-7.8	78	1641	0.00	2.60	0.00	0.000	4	0.000	0.063	2220	985	3417
1698	-0.85	-146.6	147.9	-7.7	81	1703	0.00	2.58	0.00	0.000	6	0.000	0.052	2220	2401	3418
2023	-0.85	-146.6	174.6	-8.6	97	2028	0.00	2.62	0.00	0.000	4	0.000	0.065	2220	985	3418
2068	-0.85	-146.6	178.8	-9.8	99	2072	0.00	2.58	0.00	0.000	6	0.000	0.052	2220	2401	3418
2393	-0.85	-146.6	212.4	-10.6	115	2394	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3418
2702	-0.85	-146.6	241.8	-8.6	130	2706	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	985	3418
2740	-0.85	-146.6	245.3	-8.9	132	2745	0.00	2.58	0.00	0.000	6	0.000	0.054	2220	2401	3418
3066	-0.85	-146.6	274.8	-9.2	148	3067	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3417
3375	-0.85	-146.6	303.9	-9.6	163	3379	0.00	2.62	0.00	0.000	4	0.000	0.064	2220	982	3418
3414	-0.85	-146.6	308.1	-11.0	165	3418	0.00	2.58	0.00	0.000	6	0.000	0.054	2220	2408	3418
3740	-0.85	-146.6	339.9	-10.0	181	3741	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2408	3418
4049	-0.85	-146.6	371.6	-10.2	196	4053	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	977	3418
4088	-0.85	-146.6	375.6	-11.3	198	4092	0.00	2.60	0.00	0.000	6	0.000	0.055	2220	2401	3418
4413	-0.85	-146.6	404.4	-7.7	214	4414	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3418
4723	-0.85	-146.6	426.0	-7.3	229	4727	0.00	2.62	0.00	0.000	4	0.000	0.066	2220	982	3418
4794	-0.85	-146.6	431.4	-7.0	232	4798	0.00	2.58	0.00	0.000	6	0.000	0.054	2220	2397	3418
5115	-0.85	-146.6	454.5	-7.2	248	5116	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2397	3418
5424	-0.85	-146.6	477.2	-7.5	263	5428	0.00	2.60	0.00	0.000	4	0.000	0.065	2220	979	3418
5507	-0.85	-146.6	483.9	-8.2	267	5512	0.00	2.58	0.00	0.000	6	0.000	0.053	2220	2398	3418
5833	-0.85	-146.6	508.3	-7.1	283	5834	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3418
6142	-0.85	-146.6	528.7	-6.6	298	6146	0.00	2.60	0.00	0.000	4	0.000	0.066	2220	984	3418
6191	-0.85	-146.6	532.0	-6.9	300	6196	0.00	2.60	0.00	0.000	6	0.000	0.052	2220	2402	3418
6512	-0.85	-146.6	553.7	-7.1	316	6517	0.00	2.60	0.00	0.000	4	0.000	0.063	2220	984	3418
6551	-0.85	-146.6	556.5	-7.5	318	6555	0.00	2.58	0.00	0.000	6	0.000	0.052	2220	2404	3418
6876	-0.85	-146.6	580.1	-7.7	334	6877	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3418
7185	-0.85	-146.6	606.2	-7.9	349	7186	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3418
7495	-0.85	-146.6	630.7	-7.4	364	7496	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3417
7805	-0.85	-146.6	651.0	-6.5	379	7809	0.00	2.62	0.00	0.000	4	0.000	0.065	2220	979	3417
7836	-0.85	-146.6	653.4	-7.6	380	7843	0.00	2.60	0.00	0.000	6	0.000	0.053	2220	2397	3417
8152	-0.85	-146.6	673.9	-5.1	396	8157	0.00	2.58	0.00	0.000	4	0.000	0.064	2220	984	3417
8218	-0.85	-146.6	677.9	-6.1	399	8222	0.00	2.60	0.00	0.000	6	0.000	0.051	2220	2404	3417
8545	-0.85	-146.6	704.5	-7.2	415	8549	0.00	2.62	0.00	0.000	4	0.000	0.066	2220	982	3417
8678	-0.85	-146.6	712.8	-6.9	421	8682	0.00	2.58	0.00	0.000	6	0.000	0.052	2220	2405	3417
9004	-0.85	-146.6	736.2	-5.7	437	9009	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	985	3416
9149	-0.85	-146.6	744.3	-4.7	443	9155	0.00	2.58	0.00	0.000	6	0.000	0.054	2220	2403	3417
9464	-0.85	-146.6	756.9	-4.4	459	9468	0.00	2.58	0.00	0.000	4	0.000	0.081	2220	3768	3417
9536	-0.85	-146.6	760.2	-3.9	462	9540	0.00	2.53	0.00	0.000	6	0.000	0.057	2220	2399	3417
9857	-0.85	-146.6	770.3	-3.7	478	9858	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2399	3417
10166	-0.85	-146.6	791.1	-8.0	493	10167	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3417
10475	-0.85	-146.6	821.4	-10.9	508	10479	0.00	2.67	0.00	0.000	4	0.000	0.079	2220	985	3416
10518	-0.85	-146.6	824.6	-6.7	510	10522	0.00	2.60	0.00	0.000	6	0.000	0.064	2220	2398	3416
10845	-0.85	-146.6	845.2	-6.7	526	10846	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3415
11155	-0.85	-146.6	861.2	-3.4	541	11159	0.00	2.62	0.00	0.000	4	0.000	0.091	2220	3765	3413
11291	end dive: NO_VERTICAL_VELOCITY
state	11292	begin apogee
11300	-0.31	0.0	861.1	0.0	547	11425	0.55	0.00	122.88	1.297	6	0.100	0.000	2335	2206	2817
11426	end apogee: CONTROL_FINISHED_OK
state	11427	begin climb
11428	0.85	146.6	861.1	0.0	553	11559	1.27	2.85	121.57	1.261	4	0.105	0.079	2588	779	2218
11654	0.85	146.6	848.0	8.1	563	11661	0.00	2.67	0.00	0.000	6	0.000	0.057	2588	2197	2216
11970	0.85	146.6	825.5	7.4	579	11975	0.00	2.72	0.00	0.000	4	0.000	0.084	2588	3613	2215
12046	0.85	146.6	819.7	7.3	582	12053	0.00	2.67	0.00	0.000	6	0.000	0.061	2588	2199	2214
12362	0.85	146.6	794.8	8.4	598	12366	0.00	2.70	0.00	0.000	4	0.000	0.079	2588	784	2214
12406	0.85	146.6	791.2	7.4	600	12411	0.00	2.62	0.00	0.000	6	0.000	0.058	2588	2201	2213
12727	0.95	246.4	773.6	3.3	616	12816	0.15	2.78	80.93	1.237	4	0.064	0.074	2632	784	1811
12844	0.96	253.5	767.4	5.8	621	12858	0.00	2.65	7.53	0.994	6	0.000	0.056	2632	2200	1783
13179	0.96	253.5	733.1	17.4	638	13184	0.00	2.70	0.00	0.000	4	0.000	0.081	2632	3613	1780
13218	0.96	253.5	724.8	21.7	640	13222	0.00	2.65	0.00	0.000	6	0.000	0.061	2632	2191	1780
13543	0.96	253.5	673.1	13.1	656	13548	0.00	2.65	0.00	0.000	4	0.000	0.075	2632	786	1778
13665	0.96	253.5	657.2	12.5	661	13672	0.00	2.62	0.00	0.000	6	0.000	0.051	2632	2204	1777
13980	0.96	253.5	619.4	11.9	677	13984	0.00	2.67	0.00	0.000	4	0.000	0.068	2632	778	1777
14012	0.96	253.5	615.3	12.6	678	14019	0.00	2.60	0.00	0.000	6	0.000	0.048	2632	2207	1777
14327	0.96	253.5	575.7	12.1	694	14329	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2207	1777
14637	0.96	253.5	543.8	9.0	709	14638	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2207	1778
14946	0.96	253.5	519.7	7.4	724	14947	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2207	1778
15255	0.96	253.5	491.3	10.1	739	15256	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2207	1779
15564	0.96	253.5	462.2	8.6	754	15569	0.00	2.65	0.00	0.000	4	0.000	0.067	2632	783	1780
15607	0.96	253.5	458.4	8.3	756	15612	0.00	2.58	0.00	0.000	6	0.000	0.045	2632	2213	1779
15934	0.96	253.5	434.6	6.7	772	15935	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2213	1780
16243	0.96	253.5	414.5	6.8	787	16248	0.00	2.65	0.00	0.000	4	0.000	0.065	2632	783	1781
16305	0.96	253.5	410.1	6.6	790	16309	0.00	2.55	0.00	0.000	6	0.000	0.046	2632	2201	1781
16630	0.96	253.5	389.4	6.3	806	16635	0.00	2.65	0.00	0.000	4	0.000	0.066	2632	773	1783
16679	0.96	253.5	386.1	7.4	808	16684	0.00	2.60	0.00	0.000	6	0.000	0.046	2632	2203	1783
17000	0.96	253.5	364.7	6.6	824	17002	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2203	1782
17309	0.96	253.5	340.5	8.6	839	17314	0.00	2.65	0.00	0.000	4	0.000	0.067	2632	779	1784
17364	0.96	253.5	335.6	8.6	841	17371	0.00	2.58	0.00	0.000	6	0.000	0.045	2632	2199	1785
17680	0.96	253.5	305.5	10.3	857	17681	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2199	1785
17989	0.96	253.5	272.0	10.8	872	17990	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2199	1785
18298	0.96	253.5	237.5	10.9	887	18302	0.00	2.62	0.00	0.000	4	0.000	0.064	2632	776	1786
18336	0.96	253.5	233.1	11.3	889	18340	0.00	2.55	0.00	0.000	6	0.000	0.046	2632	2201	1786
18661	0.96	253.5	202.7	8.3	905	18662	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2201	1786
18970	0.96	253.5	177.8	8.5	920	18971	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2201	1786
19280	0.96	253.5	157.4	6.5	935	19284	0.00	2.62	0.00	0.000	4	0.000	0.064	2632	782	1786
19351	0.96	253.5	151.4	8.8	938	19355	0.00	2.55	0.00	0.000	6	0.000	0.044	2632	2196	1787
19672	0.96	253.5	123.0	9.6	954	19673	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2196	1786
19981	0.96	253.5	100.0	7.9	969	19982	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2197	1787
20290	0.96	253.5	72.1	8.8	984	20291	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2197	1787
20600	0.96	253.5	41.4	10.0	999	20601	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2196	1787
20909	0.96	253.5	10.0	10.9	1014	20910	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2196	1786
21011	end climb: SURFACE_DEPTH_REACHED
state	21011	begin surface coast
21032	end surface coast: CONTROL_FINISHED_OK
state	21032	begin surface