Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 113 * 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 113 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 300 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 -2077703.2 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 -2077703.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

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 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 113 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 020721,6207.411,-1014.434,41,2.1,61,-10.1 TGT_NAME IFRS1K

_CALLS 2 TGT_LATLONG 6210.000,-1055.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.189,-0.115

_SM_DEPTHo 1.33 KALMAN_X -38795.7,481.3,762.4,-22972.4,-6348.1

_SM_ANGLEo -65.5 KALMAN_Y 104235.6,-338.6,196.2,-49906.6,5462.5

GPS2 021515,6207.474,-1014.388,15,1.7,15,-10.1 MHEAD_RNG_PITCHd_Wd 248.7,35428,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.013507 ALTIM_BOTTOM_PING 750.5,99.2

SM_CCo 20989,28.23,0.594,2,0,1593,300.00 _24V_AH 23.5,21.546

SM_GC 1.41,0.00,0.00,28.23,0.000,0.000,0.594,73,2405,1593,-10.75,0.14,300.00 _10V_AH 10.2,9.798

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50471,1018

TT8_MAMPS 0.02301 CFSIZE 260165632,252915712

HUMID 2094 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

TCM_TEMP 17.40 GPS 011207,080758,6208.167,-1021.935,29,3.3,49,-10.2

XPDR_PINGS 28

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 98.92 SBE_CT 710 24 400.50

Roll_motor 125 81 239.45 SBE_O2 726 19 324.26

VBD_pump_during_apogee 332 1253 9803.11 WL_BB2F 586 105 1447.25

VBD_pump_during_surface 28 593 393.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.83 nil 0 0 0.00

Iridium_during_connect 115 160 432.79 nil 0 0 0.00

Iridium_during_xfer 138 223 726.55

Transponder_ping 13 420 133.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.94

TT8 1797 19 362.95

LPSleep 16687 2 372.76

TT8_Active 505 19 102.07

TT8_Sampling 2045 39 830.30

TT8_CF8 467 45 218.33

TT8_Kalman 33 81 27.84

Analog_circuits 1494 12 182.88

GPS_charging 0 0 0.00

Compass 2001 8 163.31

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.85 -146.6 0.0 0.0 0 83 0.00 0.00 -62.25 0.000 2 0.000 0.000 73 2405 3174

86 -0.85 -146.6 3.6 -5.5 3 105 12.10 0.00 -5.43 0.000 6 0.167 0.000 2219 2404 3416

413 -0.85 -146.6 34.0 -7.9 19 414 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3418

720 -0.85 -146.6 56.0 -7.8 34 722 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3418

1030 -0.85 -146.6 87.0 -8.0 49 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3417

1339 -0.85 -146.6 107.8 -6.3 64 1344 0.00 2.62 0.00 0.000 4 0.000 0.064 2219 981 3418

1410 -0.85 -146.6 113.7 -8.3 67 1415 0.00 2.58 0.00 0.000 6 0.000 0.049 2219 2393 3417

1732 -0.85 -146.6 140.5 -8.1 83 1733 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2393 3418

2041 -0.85 -146.6 166.4 -8.6 98 2042 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2393 3417

2350 -0.85 -146.6 194.4 -9.9 113 2354 0.00 2.60 0.00 0.000 4 0.000 0.064 2220 980 3417

2393 -0.85 -146.6 199.4 -11.0 115 2398 0.00 2.58 0.00 0.000 6 0.000 0.049 2220 2391 3417

2721 -0.85 -146.6 228.9 -8.9 131 2722 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2391 3417

3030 -0.85 -146.6 249.5 -6.0 146 3034 0.00 2.60 0.00 0.000 4 0.000 0.064 2220 980 3417

3084 -0.85 -146.6 252.8 -6.0 148 3090 0.00 2.58 0.00 0.000 6 0.000 0.050 2220 2392 3418

3399 -0.85 -146.6 272.6 -6.8 164 3403 0.00 2.60 0.00 0.000 4 0.000 0.061 2220 976 3418

3447 -0.85 -146.6 276.3 -7.1 166 3452 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2396 3418

3768 -0.85 -146.6 303.2 -9.5 182 3772 0.00 2.62 0.00 0.000 4 0.000 0.064 2220 975 3418

3823 -0.85 -146.6 307.9 -8.7 184 3830 0.00 2.60 0.00 0.000 6 0.000 0.050 2219 2414 3418

4138 -0.85 -146.6 332.1 -7.7 200 4142 0.00 2.65 0.00 0.000 4 0.000 0.065 2220 981 3418

4187 -0.85 -146.6 336.2 -8.4 202 4192 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2401 3418

4508 -0.85 -146.6 360.6 -6.8 218 4509 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2401 3418

4817 -0.85 -146.6 382.4 -6.8 233 4822 0.00 2.62 0.00 0.000 4 0.000 0.065 2220 979 3418

4872 -0.85 -146.6 386.3 -6.9 235 4879 0.00 2.60 0.00 0.000 6 0.000 0.052 2220 2400 3417

5188 -0.85 -146.6 406.7 -6.0 251 5189 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3418

5497 -0.85 -146.6 427.4 -7.1 266 5498 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3418

5807 -0.85 -146.6 450.2 -7.5 281 5808 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3417

6116 -0.85 -146.6 474.1 -7.8 296 6120 0.00 2.62 0.00 0.000 4 0.000 0.065 2220 975 3418

6158 -0.85 -146.6 477.3 -7.3 298 6163 0.00 2.60 0.00 0.000 6 0.000 0.051 2220 2395 3418

6485 -0.85 -146.6 499.0 -6.2 314 6486 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2395 3418

6794 -0.85 -146.6 517.5 -6.1 329 6796 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2395 3418

7103 -0.85 -146.6 537.2 -6.5 344 7104 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2395 3418

7413 -0.85 -146.6 558.8 -7.3 359 7417 0.00 2.60 0.00 0.000 4 0.000 0.064 2220 980 3418

7455 -0.85 -146.6 562.2 -7.8 361 7460 0.00 2.55 0.00 0.000 6 0.000 0.051 2220 2400 3418

7782 -0.85 -146.6 589.1 -8.4 377 7786 0.00 2.60 0.00 0.000 4 0.000 0.062 2220 981 3418

7866 -0.85 -146.6 596.4 -8.5 381 7870 0.00 2.55 0.00 0.000 6 0.000 0.050 2220 2400 3418

8191 -0.85 -146.6 624.3 -8.6 397 8195 0.00 2.60 0.00 0.000 4 0.000 0.062 2220 981 3418

8261 -0.85 -146.6 630.7 -9.1 400 8266 0.00 2.55 0.00 0.000 6 0.000 0.050 2220 2394 3418

8583 -0.85 -146.6 657.3 -7.8 416 8588 0.00 2.60 0.00 0.000 4 0.000 0.061 2220 974 3418

8649 -0.85 -146.6 662.7 -7.8 419 8654 0.00 2.58 0.00 0.000 6 0.000 0.050 2219 2400 3418

8976 -0.85 -146.6 686.0 -7.3 435 8977 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3418

9285 -0.85 -146.6 710.8 -8.6 450 9286 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3417

9594 -0.85 -146.6 738.1 -8.0 465 9599 0.00 2.60 0.00 0.000 4 0.000 0.063 2220 980 3417

9650 -0.85 -146.6 742.5 -7.9 467 9656 0.00 2.55 0.00 0.000 6 0.000 0.051 2220 2398 3417

9965 -0.85 -146.6 760.5 -4.6 483 9966 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2398 3417

10274 -0.85 -146.6 771.9 -3.7 498 10278 0.00 2.55 0.00 0.000 4 0.000 0.077 2220 3763 3417

10339 -0.85 -146.6 776.2 -6.7 501 10344 0.00 2.47 0.00 0.000 6 0.000 0.050 2220 2399 3417

10666 -0.85 -146.6 800.6 -5.9 517 10667 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2399 3417

10975 -0.85 -146.6 816.0 -5.9 532 10980 0.00 2.60 0.00 0.000 4 0.000 0.081 2220 3767 3417

11036 -0.85 -146.6 820.2 -6.9 535 11041 0.00 2.50 0.00 0.000 6 0.000 0.058 2220 2400 3417

11363 -0.85 -146.6 837.5 -6.1 551 11364 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3417

11402 end dive: BOTTOM_OBSTACLE_DETECTED

state 11402 begin apogee

11406 -0.31 0.0 841.0 8.1 553 11533 0.60 0.00 123.03 1.253 6 0.107 0.000 2340 2191 2818

11534 end apogee: CONTROL_FINISHED_OK

state 11534 begin climb

11535 0.85 146.6 843.4 0.0 559 11666 1.20 2.75 121.38 1.229 4 0.082 0.074 2589 799 2218

11678 0.96 254.9 841.2 3.0 566 11773 0.15 2.62 88.45 1.205 6 0.064 0.053 2627 2204 1777

12088 0.96 254.9 804.7 10.3 586 12090 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2205 1776

12398 0.96 254.9 771.5 11.6 601 12402 0.00 2.70 0.00 0.000 4 0.000 0.081 2627 3616 1774

12458 0.96 254.9 764.9 10.0 604 12463 0.00 2.62 0.00 0.000 6 0.000 0.061 2627 2201 1773

12784 0.96 254.9 738.3 7.7 620 12789 0.00 2.67 0.00 0.000 4 0.000 0.076 2627 3611 1772

12845 0.96 254.9 732.6 9.5 623 12849 0.00 2.62 0.00 0.000 6 0.000 0.058 2627 2194 1772

13170 0.96 254.9 706.6 7.4 639 13171 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2194 1769

13479 0.96 254.9 680.6 9.5 654 13480 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2194 1769

13788 0.96 254.9 650.3 9.3 669 13789 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2194 1769

14097 0.96 254.9 625.9 7.4 684 14099 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2194 1769

14407 0.96 254.9 606.0 6.9 699 14411 0.00 2.62 0.00 0.000 4 0.000 0.068 2627 785 1769

14472 0.96 254.9 600.6 9.3 702 14477 0.00 2.58 0.00 0.000 6 0.000 0.044 2627 2203 1769

14799 0.96 254.9 570.6 9.1 718 14800 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2203 1769

15108 0.96 254.9 542.1 9.4 733 15109 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2203 1770

15417 0.96 254.9 513.2 8.6 748 15418 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2203 1770

15726 0.96 254.9 489.1 7.7 763 15731 0.00 2.60 0.00 0.000 4 0.000 0.061 2627 784 1771

15781 0.96 254.9 484.7 8.2 765 15788 0.00 2.58 0.00 0.000 6 0.000 0.044 2627 2204 1772

16097 0.96 254.9 458.1 8.9 781 16101 0.00 2.62 0.00 0.000 4 0.000 0.061 2627 784 1772

16135 0.96 254.9 454.5 9.5 783 16139 0.00 2.53 0.00 0.000 6 0.000 0.043 2627 2202 1772

16460 0.96 254.9 422.9 10.1 799 16461 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2202 1772

16769 0.96 254.9 390.9 10.4 814 16770 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2203 1773

17078 0.96 254.9 359.1 10.5 829 17079 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2202 1772

17388 0.96 254.9 326.9 10.3 844 17389 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2202 1773

17697 0.96 254.9 296.0 10.1 859 17698 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2202 1773

18006 0.96 254.9 265.5 10.0 874 18007 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2202 1773

18316 0.96 254.9 235.4 9.5 889 18320 0.00 2.62 0.00 0.000 4 0.000 0.061 2627 776 1774

18358 0.96 254.9 230.8 11.4 891 18363 0.00 2.58 0.00 0.000 6 0.000 0.042 2627 2204 1773

18685 0.96 254.9 199.3 9.4 907 18686 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2205 1774

18994 0.96 254.9 171.9 8.3 922 18999 0.00 2.62 0.00 0.000 4 0.000 0.061 2627 777 1775

19078 0.96 254.9 164.7 9.0 926 19083 0.00 2.53 0.00 0.000 6 0.000 0.042 2627 2201 1775

19404 0.96 254.9 135.7 8.8 942 19405 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2201 1775

19714 0.96 254.9 107.2 8.5 957 19715 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2201 1775

20023 0.96 254.9 84.5 7.0 972 20027 0.00 2.60 0.00 0.000 4 0.000 0.060 2627 781 1776

20065 0.96 254.9 81.0 7.9 974 20070 0.00 2.55 0.00 0.000 6 0.000 0.041 2627 2201 1776

20393 0.96 254.9 52.5 9.3 990 20394 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2201 1776

20702 0.96 254.9 23.8 9.0 1005 20703 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2201 1776

20948 end climb: SURFACE_DEPTH_REACHED

state 20948 begin surface coast

20970 end surface coast: CONTROL_FINISHED_OK

state 20970 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	113	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	300	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	-2077703.2	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	020721,6207.411,-1014.434,41,2.1,61,-10.1	TGT_NAME	IFRS1K
_CALLS	2	TGT_LATLONG	6210.000,-1055.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.189,-0.115
_SM_DEPTHo	1.33	KALMAN_X	-38795.7,481.3,762.4,-22972.4,-6348.1
_SM_ANGLEo	-65.5	KALMAN_Y	104235.6,-338.6,196.2,-49906.6,5462.5
GPS2	021515,6207.474,-1014.388,15,1.7,15,-10.1	MHEAD_RNG_PITCHd_Wd	248.7,35428,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.013507	ALTIM_BOTTOM_PING	750.5,99.2
SM_CCo	20989,28.23,0.594,2,0,1593,300.00	_24V_AH	23.5,21.546
SM_GC	1.41,0.00,0.00,28.23,0.000,0.000,0.594,73,2405,1593,-10.75,0.14,300.00	_10V_AH	10.2,9.798
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50471,1018
TT8_MAMPS	0.02301	CFSIZE	260165632,252915712
HUMID	2094	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
TCM_TEMP	17.40	GPS	011207,080758,6208.167,-1021.935,29,3.3,49,-10.2
XPDR_PINGS	28

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	98.92	SBE_CT	710	24	400.50
Roll_motor	125	81	239.45	SBE_O2	726	19	324.26
VBD_pump_during_apogee	332	1253	9803.11	WL_BB2F	586	105	1447.25
VBD_pump_during_surface	28	593	393.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.83	nil	0	0	0.00
Iridium_during_connect	115	160	432.79	nil	0	0	0.00
Iridium_during_xfer	138	223	726.55
Transponder_ping	13	420	133.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.94
TT8	1797	19	362.95
LPSleep	16687	2	372.76
TT8_Active	505	19	102.07
TT8_Sampling	2045	39	830.30
TT8_CF8	467	45	218.33
TT8_Kalman	33	81	27.84
Analog_circuits	1494	12	182.88
GPS_charging	0	0	0.00
Compass	2001	8	163.31
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.85	-146.6	0.0	0.0	0	83	0.00	0.00	-62.25	0.000	2	0.000	0.000	73	2405	3174
86	-0.85	-146.6	3.6	-5.5	3	105	12.10	0.00	-5.43	0.000	6	0.167	0.000	2219	2404	3416
413	-0.85	-146.6	34.0	-7.9	19	414	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3418
720	-0.85	-146.6	56.0	-7.8	34	722	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3418
1030	-0.85	-146.6	87.0	-8.0	49	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3417
1339	-0.85	-146.6	107.8	-6.3	64	1344	0.00	2.62	0.00	0.000	4	0.000	0.064	2219	981	3418
1410	-0.85	-146.6	113.7	-8.3	67	1415	0.00	2.58	0.00	0.000	6	0.000	0.049	2219	2393	3417
1732	-0.85	-146.6	140.5	-8.1	83	1733	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2393	3418
2041	-0.85	-146.6	166.4	-8.6	98	2042	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2393	3417
2350	-0.85	-146.6	194.4	-9.9	113	2354	0.00	2.60	0.00	0.000	4	0.000	0.064	2220	980	3417
2393	-0.85	-146.6	199.4	-11.0	115	2398	0.00	2.58	0.00	0.000	6	0.000	0.049	2220	2391	3417
2721	-0.85	-146.6	228.9	-8.9	131	2722	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2391	3417
3030	-0.85	-146.6	249.5	-6.0	146	3034	0.00	2.60	0.00	0.000	4	0.000	0.064	2220	980	3417
3084	-0.85	-146.6	252.8	-6.0	148	3090	0.00	2.58	0.00	0.000	6	0.000	0.050	2220	2392	3418
3399	-0.85	-146.6	272.6	-6.8	164	3403	0.00	2.60	0.00	0.000	4	0.000	0.061	2220	976	3418
3447	-0.85	-146.6	276.3	-7.1	166	3452	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2396	3418
3768	-0.85	-146.6	303.2	-9.5	182	3772	0.00	2.62	0.00	0.000	4	0.000	0.064	2220	975	3418
3823	-0.85	-146.6	307.9	-8.7	184	3830	0.00	2.60	0.00	0.000	6	0.000	0.050	2219	2414	3418
4138	-0.85	-146.6	332.1	-7.7	200	4142	0.00	2.65	0.00	0.000	4	0.000	0.065	2220	981	3418
4187	-0.85	-146.6	336.2	-8.4	202	4192	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2401	3418
4508	-0.85	-146.6	360.6	-6.8	218	4509	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2401	3418
4817	-0.85	-146.6	382.4	-6.8	233	4822	0.00	2.62	0.00	0.000	4	0.000	0.065	2220	979	3418
4872	-0.85	-146.6	386.3	-6.9	235	4879	0.00	2.60	0.00	0.000	6	0.000	0.052	2220	2400	3417
5188	-0.85	-146.6	406.7	-6.0	251	5189	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3418
5497	-0.85	-146.6	427.4	-7.1	266	5498	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3418
5807	-0.85	-146.6	450.2	-7.5	281	5808	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3417
6116	-0.85	-146.6	474.1	-7.8	296	6120	0.00	2.62	0.00	0.000	4	0.000	0.065	2220	975	3418
6158	-0.85	-146.6	477.3	-7.3	298	6163	0.00	2.60	0.00	0.000	6	0.000	0.051	2220	2395	3418
6485	-0.85	-146.6	499.0	-6.2	314	6486	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2395	3418
6794	-0.85	-146.6	517.5	-6.1	329	6796	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2395	3418
7103	-0.85	-146.6	537.2	-6.5	344	7104	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2395	3418
7413	-0.85	-146.6	558.8	-7.3	359	7417	0.00	2.60	0.00	0.000	4	0.000	0.064	2220	980	3418
7455	-0.85	-146.6	562.2	-7.8	361	7460	0.00	2.55	0.00	0.000	6	0.000	0.051	2220	2400	3418
7782	-0.85	-146.6	589.1	-8.4	377	7786	0.00	2.60	0.00	0.000	4	0.000	0.062	2220	981	3418
7866	-0.85	-146.6	596.4	-8.5	381	7870	0.00	2.55	0.00	0.000	6	0.000	0.050	2220	2400	3418
8191	-0.85	-146.6	624.3	-8.6	397	8195	0.00	2.60	0.00	0.000	4	0.000	0.062	2220	981	3418
8261	-0.85	-146.6	630.7	-9.1	400	8266	0.00	2.55	0.00	0.000	6	0.000	0.050	2220	2394	3418
8583	-0.85	-146.6	657.3	-7.8	416	8588	0.00	2.60	0.00	0.000	4	0.000	0.061	2220	974	3418
8649	-0.85	-146.6	662.7	-7.8	419	8654	0.00	2.58	0.00	0.000	6	0.000	0.050	2219	2400	3418
8976	-0.85	-146.6	686.0	-7.3	435	8977	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3418
9285	-0.85	-146.6	710.8	-8.6	450	9286	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3417
9594	-0.85	-146.6	738.1	-8.0	465	9599	0.00	2.60	0.00	0.000	4	0.000	0.063	2220	980	3417
9650	-0.85	-146.6	742.5	-7.9	467	9656	0.00	2.55	0.00	0.000	6	0.000	0.051	2220	2398	3417
9965	-0.85	-146.6	760.5	-4.6	483	9966	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2398	3417
10274	-0.85	-146.6	771.9	-3.7	498	10278	0.00	2.55	0.00	0.000	4	0.000	0.077	2220	3763	3417
10339	-0.85	-146.6	776.2	-6.7	501	10344	0.00	2.47	0.00	0.000	6	0.000	0.050	2220	2399	3417
10666	-0.85	-146.6	800.6	-5.9	517	10667	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2399	3417
10975	-0.85	-146.6	816.0	-5.9	532	10980	0.00	2.60	0.00	0.000	4	0.000	0.081	2220	3767	3417
11036	-0.85	-146.6	820.2	-6.9	535	11041	0.00	2.50	0.00	0.000	6	0.000	0.058	2220	2400	3417
11363	-0.85	-146.6	837.5	-6.1	551	11364	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3417
11402	end dive: BOTTOM_OBSTACLE_DETECTED
state	11402	begin apogee
11406	-0.31	0.0	841.0	8.1	553	11533	0.60	0.00	123.03	1.253	6	0.107	0.000	2340	2191	2818
11534	end apogee: CONTROL_FINISHED_OK
state	11534	begin climb
11535	0.85	146.6	843.4	0.0	559	11666	1.20	2.75	121.38	1.229	4	0.082	0.074	2589	799	2218
11678	0.96	254.9	841.2	3.0	566	11773	0.15	2.62	88.45	1.205	6	0.064	0.053	2627	2204	1777
12088	0.96	254.9	804.7	10.3	586	12090	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2205	1776
12398	0.96	254.9	771.5	11.6	601	12402	0.00	2.70	0.00	0.000	4	0.000	0.081	2627	3616	1774
12458	0.96	254.9	764.9	10.0	604	12463	0.00	2.62	0.00	0.000	6	0.000	0.061	2627	2201	1773
12784	0.96	254.9	738.3	7.7	620	12789	0.00	2.67	0.00	0.000	4	0.000	0.076	2627	3611	1772
12845	0.96	254.9	732.6	9.5	623	12849	0.00	2.62	0.00	0.000	6	0.000	0.058	2627	2194	1772
13170	0.96	254.9	706.6	7.4	639	13171	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2194	1769
13479	0.96	254.9	680.6	9.5	654	13480	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2194	1769
13788	0.96	254.9	650.3	9.3	669	13789	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2194	1769
14097	0.96	254.9	625.9	7.4	684	14099	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2194	1769
14407	0.96	254.9	606.0	6.9	699	14411	0.00	2.62	0.00	0.000	4	0.000	0.068	2627	785	1769
14472	0.96	254.9	600.6	9.3	702	14477	0.00	2.58	0.00	0.000	6	0.000	0.044	2627	2203	1769
14799	0.96	254.9	570.6	9.1	718	14800	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2203	1769
15108	0.96	254.9	542.1	9.4	733	15109	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2203	1770
15417	0.96	254.9	513.2	8.6	748	15418	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2203	1770
15726	0.96	254.9	489.1	7.7	763	15731	0.00	2.60	0.00	0.000	4	0.000	0.061	2627	784	1771
15781	0.96	254.9	484.7	8.2	765	15788	0.00	2.58	0.00	0.000	6	0.000	0.044	2627	2204	1772
16097	0.96	254.9	458.1	8.9	781	16101	0.00	2.62	0.00	0.000	4	0.000	0.061	2627	784	1772
16135	0.96	254.9	454.5	9.5	783	16139	0.00	2.53	0.00	0.000	6	0.000	0.043	2627	2202	1772
16460	0.96	254.9	422.9	10.1	799	16461	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2202	1772
16769	0.96	254.9	390.9	10.4	814	16770	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2203	1773
17078	0.96	254.9	359.1	10.5	829	17079	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2202	1772
17388	0.96	254.9	326.9	10.3	844	17389	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2202	1773
17697	0.96	254.9	296.0	10.1	859	17698	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2202	1773
18006	0.96	254.9	265.5	10.0	874	18007	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2202	1773
18316	0.96	254.9	235.4	9.5	889	18320	0.00	2.62	0.00	0.000	4	0.000	0.061	2627	776	1774
18358	0.96	254.9	230.8	11.4	891	18363	0.00	2.58	0.00	0.000	6	0.000	0.042	2627	2204	1773
18685	0.96	254.9	199.3	9.4	907	18686	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2205	1774
18994	0.96	254.9	171.9	8.3	922	18999	0.00	2.62	0.00	0.000	4	0.000	0.061	2627	777	1775
19078	0.96	254.9	164.7	9.0	926	19083	0.00	2.53	0.00	0.000	6	0.000	0.042	2627	2201	1775
19404	0.96	254.9	135.7	8.8	942	19405	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2201	1775
19714	0.96	254.9	107.2	8.5	957	19715	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2201	1775
20023	0.96	254.9	84.5	7.0	972	20027	0.00	2.60	0.00	0.000	4	0.000	0.060	2627	781	1776
20065	0.96	254.9	81.0	7.9	974	20070	0.00	2.55	0.00	0.000	6	0.000	0.041	2627	2201	1776
20393	0.96	254.9	52.5	9.3	990	20394	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2201	1776
20702	0.96	254.9	23.8	9.0	1005	20703	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2201	1776
20948	end climb: SURFACE_DEPTH_REACHED
state	20948	begin surface coast
20970	end surface coast: CONTROL_FINISHED_OK
state	20970	begin surface