Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 116 * 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 116 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 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 -2077785.8 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 -2077785.8

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 17 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 116 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 151735,6209.716,-1030.398,11,2.4,31,-10.3 TGT_NAME IFRS1K

_CALLS 1 TGT_LATLONG 6210.000,-1055.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.086,-0.204

_SM_DEPTHo 1.03 KALMAN_X -32849.1,1080.5,-93.0,-42787.7,12651.8

_SM_ANGLEo -48.9 KALMAN_Y 126782.4,-874.3,-6871.9,-60622.5,81675.6

GPS2 152159,6209.729,-1030.438,11,3.6,30,-10.3 MHEAD_RNG_PITCHd_Wd 213.2,21245,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027266 ALTIM_BOTTOM_PING 751.5,97.8

SM_CCo 19436,0.00,0.000,0,0,1267,380.46 _24V_AH 23.5,22.001

SM_GC 1.19,11.38,0.00,0.00,0.044,0.000,0.000,73,2402,1267,-10.68,0.06,380.46 _10V_AH 10.2,10.011

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47336,938

TT8_MAMPS 0.02301 CFSIZE 260165632,252764160

HUMID 2098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

TCM_TEMP 19.50 GPS 011207,204756,6207.849,-1035.172,39,1.6,39,-10.3

XPDR_PINGS 21

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 103.46 SBE_CT 652 24 367.91

Roll_motor 178 85 359.99 SBE_O2 670 19 299.37

VBD_pump_during_apogee 434 1249 12746.74 WL_BB2F 531 105 1311.25

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 32 103 78.91 nil 0 0 0.00

Iridium_during_connect 48 160 181.84 nil 0 0 0.00

Iridium_during_xfer 93 223 489.78

Transponder_ping 11 420 115.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.08

TT8 1726 19 348.75

LPSleep 14923 2 333.37

TT8_Active 578 19 116.93

TT8_Sampling 2163 39 878.16

TT8_CF8 321 45 150.28

TT8_Kalman 33 81 27.82

Analog_circuits 1666 12 204.04

GPS_charging 0 0 0.00

Compass 2095 8 171.03

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 18 begin dive

20 -0.85 -146.6 0.0 0.0 0 103 0.00 0.00 -81.40 0.000 2 0.000 0.000 62 2406 2958

106 -0.85 -146.6 3.1 -2.9 4 135 12.18 2.65 -11.73 0.000 4 0.172 0.071 2223 986 3417

373 -0.85 -146.6 31.7 -9.3 16 377 0.00 2.58 0.00 0.000 6 0.000 0.051 2224 2401 3418

699 -0.85 -146.6 59.8 -4.1 32 703 0.00 2.62 0.00 0.000 4 0.000 0.061 2224 980 3417

764 -0.85 -146.6 63.5 -5.7 35 769 0.00 2.58 0.00 0.000 6 0.000 0.050 2224 2408 3417

1091 -0.85 -146.6 87.7 -6.2 51 1093 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2408 3418

1400 -0.85 -146.6 108.5 -7.5 66 1405 0.00 2.62 0.00 0.000 4 0.000 0.061 2224 985 3418

1488 -0.85 -146.6 114.4 -6.1 70 1493 0.00 2.58 0.00 0.000 6 0.000 0.051 2224 2396 3417

1816 -0.85 -146.6 136.9 -7.5 86 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2395 3416

2125 -0.85 -146.6 163.8 -8.1 101 2129 0.00 2.60 0.00 0.000 4 0.000 0.063 2224 985 3418

2185 -0.85 -146.6 168.5 -7.7 104 2190 0.00 2.53 0.00 0.000 6 0.000 0.051 2224 2400 3418

2511 -0.85 -146.6 194.4 -8.3 120 2512 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2400 3418

2820 -0.85 -146.6 219.0 -7.7 135 2824 0.00 2.62 0.00 0.000 4 0.000 0.064 2224 983 3417

2904 -0.85 -146.6 225.0 -6.9 139 2909 0.00 2.55 0.00 0.000 6 0.000 0.051 2224 2398 3417

3235 -0.85 -146.6 250.6 -7.8 155 3240 0.00 2.62 0.00 0.000 4 0.000 0.063 2224 977 3418

3307 -0.85 -146.6 256.8 -8.9 158 3311 0.00 2.60 0.00 0.000 6 0.000 0.051 2224 2403 3417

3628 -0.85 -146.6 283.0 -8.5 174 3632 0.00 2.60 0.00 0.000 4 0.000 0.064 2224 985 3417

3689 -0.85 -146.6 288.1 -8.5 177 3693 0.00 2.55 0.00 0.000 6 0.000 0.051 2224 2401 3418

4013 -0.85 -146.6 313.2 -7.5 193 4018 0.00 2.60 0.00 0.000 4 0.000 0.062 2224 985 3417

4068 -0.85 -146.6 317.9 -8.6 195 4075 0.00 2.60 0.00 0.000 6 0.000 0.051 2224 2400 3417

4384 -0.85 -146.6 339.8 -7.0 211 4385 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2400 3417

4693 -0.85 -146.6 362.0 -6.9 226 4697 0.00 2.62 0.00 0.000 4 0.000 0.064 2224 979 3418

4741 -0.85 -146.6 365.5 -7.1 228 4746 0.00 2.60 0.00 0.000 6 0.000 0.051 2224 2404 3418

5063 -0.85 -146.6 388.5 -7.2 244 5064 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2404 3417

5372 -0.85 -146.6 411.6 -7.9 259 5373 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2404 3418

5681 -0.85 -146.6 437.3 -8.0 274 5682 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2404 3417

5990 -0.85 -146.6 463.5 -8.8 289 5994 0.00 2.62 0.00 0.000 4 0.000 0.065 2224 985 3417

6039 -0.85 -146.6 467.5 -7.7 291 6044 0.00 2.58 0.00 0.000 6 0.000 0.052 2224 2400 3417

6360 -0.85 -146.6 492.6 -7.9 307 6365 0.00 2.62 0.00 0.000 4 0.000 0.064 2224 981 3417

6415 -0.85 -146.6 496.8 -7.4 309 6422 0.00 2.58 0.00 0.000 6 0.000 0.052 2224 2396 3417

6730 -0.85 -146.6 521.1 -7.5 325 6731 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2395 3417

7040 -0.85 -146.6 544.2 -7.5 340 7044 0.00 2.62 0.00 0.000 4 0.000 0.066 2224 982 3417

7088 -0.85 -146.6 547.8 -7.5 342 7093 0.00 2.58 0.00 0.000 6 0.000 0.053 2224 2393 3417

7409 -0.85 -146.6 570.6 -6.9 358 7410 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2393 3417

7718 -0.85 -146.6 591.0 -6.3 373 7719 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2392 3417

8028 -0.85 -146.6 608.4 -5.6 388 8032 0.00 2.60 0.00 0.000 4 0.000 0.066 2224 984 3417

8099 -0.85 -146.6 612.6 -5.7 391 8103 0.00 2.58 0.00 0.000 6 0.000 0.053 2224 2401 3417

8420 -0.85 -146.6 630.2 -5.8 407 8421 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2401 3417

8731 -0.85 -146.6 650.0 -6.8 422 8735 0.00 2.62 0.00 0.000 4 0.000 0.067 2224 984 3417

8796 -0.85 -146.6 654.7 -6.9 425 8801 0.00 2.60 0.00 0.000 6 0.000 0.053 2224 2398 3417

9123 -0.85 -146.6 680.4 -7.9 441 9125 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2398 3416

9433 -0.85 -146.6 700.8 -6.4 456 9434 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2398 3416

9742 -0.85 -146.6 732.2 -11.8 471 9743 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2398 3416

10051 -0.85 -146.6 770.9 -14.6 486 10055 0.00 2.58 0.00 0.000 4 0.000 0.077 2224 3769 3416

10134 -0.85 -146.6 782.8 -13.2 490 10138 0.00 2.47 0.00 0.000 6 0.000 0.054 2223 2400 3416

10461 -0.85 -146.6 804.9 -5.6 506 10462 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2400 3416

10770 -0.85 -146.6 816.8 -2.6 521 10774 0.00 2.65 0.00 0.000 4 0.000 0.076 2224 986 3416

10841 -0.85 -146.6 819.5 -3.4 524 10846 0.00 2.58 0.00 0.000 6 0.000 0.061 2224 2398 3416

11162 -0.85 -146.6 837.6 -7.0 540 11163 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2398 3416

11202 end dive: BOTTOM_OBSTACLE_DETECTED

state 11202 begin apogee

11206 -0.31 0.0 841.0 7.5 542 11332 0.57 0.00 122.72 1.249 6 0.115 0.000 2337 2194 2817

11333 end apogee: CONTROL_FINISHED_OK

state 11333 begin climb

11334 0.85 146.6 844.2 0.0 548 11463 1.23 2.83 120.55 1.231 4 0.091 0.086 2586 3612 2218

11520 0.85 146.6 834.6 6.8 557 11525 0.00 2.65 0.00 0.000 6 0.000 0.065 2586 2207 2218

11846 0.85 146.6 811.6 9.2 573 11847 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2207 2216

12155 0.85 146.6 780.6 8.4 588 12160 0.00 2.70 0.00 0.000 4 0.000 0.083 2586 3611 2215

12288 0.94 232.3 773.6 3.7 594 12367 0.15 2.65 69.30 1.230 6 0.066 0.061 2625 2191 1868

12674 0.94 237.4 754.5 5.9 613 12681 0.00 0.00 4.97 0.879 6 0.000 0.000 2625 2190 1849

12983 0.94 237.4 722.3 11.7 628 12985 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2190 1848

13293 0.94 237.4 692.2 7.9 643 13294 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2190 1848

13602 1.03 315.3 677.7 3.9 658 13672 0.00 2.78 63.12 1.167 4 0.000 0.072 2625 3610 1531

13695 1.10 380.7 674.1 4.2 662 13756 0.12 2.62 53.45 1.142 6 0.052 0.057 2663 2202 1263

14077 1.10 380.7 637.2 12.3 681 14081 0.00 2.67 0.00 0.000 4 0.000 0.071 2663 785 1263

14137 1.10 380.7 629.5 12.8 684 14142 0.00 2.60 0.00 0.000 6 0.000 0.048 2663 2208 1263

14463 1.10 380.7 589.1 12.3 700 14467 0.00 2.67 0.00 0.000 4 0.000 0.067 2663 783 1264

14511 1.10 380.7 582.8 11.9 702 14516 0.00 2.60 0.00 0.000 6 0.000 0.047 2663 2198 1264

14832 1.10 380.7 544.3 12.3 718 14837 0.00 2.65 0.00 0.000 4 0.000 0.066 2662 777 1264

14887 1.10 380.7 537.1 12.5 720 14894 0.00 2.60 0.00 0.000 6 0.000 0.046 2663 2199 1264

15203 1.10 380.7 497.2 12.5 736 15207 0.00 2.65 0.00 0.000 4 0.000 0.067 2663 784 1265

15256 1.10 380.7 490.1 12.6 738 15263 0.00 2.58 0.00 0.000 6 0.000 0.046 2663 2196 1265

15572 1.10 380.7 452.5 11.2 754 15577 0.00 2.62 0.00 0.000 4 0.000 0.066 2663 783 1265

15638 1.10 380.7 445.2 10.9 757 15643 0.00 2.58 0.00 0.000 6 0.000 0.045 2663 2195 1265

15964 1.10 380.7 408.9 11.1 773 15969 0.00 2.62 0.00 0.000 4 0.000 0.067 2663 784 1266

16008 1.10 380.7 403.9 11.6 775 16012 0.00 2.55 0.00 0.000 6 0.000 0.046 2663 2200 1266

16335 1.10 380.7 365.6 11.6 791 16339 0.00 2.62 0.00 0.000 4 0.000 0.065 2663 784 1266

16383 1.10 380.7 359.8 11.4 793 16388 0.00 2.55 0.00 0.000 6 0.000 0.046 2663 2198 1267

16704 1.10 380.7 323.6 11.2 809 16709 0.00 2.65 0.00 0.000 4 0.000 0.067 2663 779 1267

16747 1.10 380.7 318.8 11.2 811 16752 0.00 2.58 0.00 0.000 6 0.000 0.045 2663 2195 1267

17074 1.10 380.7 282.1 11.1 827 17078 0.00 2.65 0.00 0.000 4 0.000 0.067 2663 775 1267

17123 1.10 380.7 276.6 10.5 829 17128 0.00 2.58 0.00 0.000 6 0.000 0.045 2663 2208 1267

17444 1.10 380.7 238.1 12.1 845 17448 0.00 2.65 0.00 0.000 4 0.000 0.065 2663 783 1267

17500 1.10 380.7 231.5 11.3 847 17506 0.00 2.55 0.00 0.000 6 0.000 0.045 2663 2206 1268

17815 1.10 380.7 195.2 11.2 863 17819 0.00 2.65 0.00 0.000 4 0.000 0.066 2663 781 1268

17857 1.10 380.7 190.2 10.1 865 17862 0.00 2.58 0.00 0.000 6 0.000 0.044 2663 2201 1268

18184 1.10 380.7 150.0 13.4 881 18189 0.00 2.62 0.00 0.000 4 0.000 0.065 2663 783 1268

18234 1.10 380.7 143.4 12.2 883 18238 0.00 2.55 0.00 0.000 6 0.000 0.045 2662 2206 1268

18555 1.10 380.7 102.6 13.7 899 18559 0.00 2.65 0.00 0.000 4 0.000 0.067 2662 782 1268

18616 1.10 380.7 93.0 15.8 902 18620 0.00 2.55 0.00 0.000 6 0.000 0.044 2663 2205 1268

18942 1.10 380.7 51.2 13.1 918 18946 0.00 2.65 0.00 0.000 4 0.000 0.064 2662 773 1268

18995 1.10 380.7 45.5 11.6 920 19003 0.00 2.58 0.00 0.000 6 0.000 0.044 2662 2197 1269

19311 1.10 380.7 3.6 13.2 936 19316 0.00 2.70 0.00 0.000 4 0.000 0.079 2663 778 1269

19330 end climb: SURFACE_DEPTH_REACHED

state 19331 begin surface coast

19354 end surface coast: CONTROL_FINISHED_OK

state 19354 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	116	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	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	-2077785.8	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	151735,6209.716,-1030.398,11,2.4,31,-10.3	TGT_NAME	IFRS1K
_CALLS	1	TGT_LATLONG	6210.000,-1055.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.086,-0.204
_SM_DEPTHo	1.03	KALMAN_X	-32849.1,1080.5,-93.0,-42787.7,12651.8
_SM_ANGLEo	-48.9	KALMAN_Y	126782.4,-874.3,-6871.9,-60622.5,81675.6
GPS2	152159,6209.729,-1030.438,11,3.6,30,-10.3	MHEAD_RNG_PITCHd_Wd	213.2,21245,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027266	ALTIM_BOTTOM_PING	751.5,97.8
SM_CCo	19436,0.00,0.000,0,0,1267,380.46	_24V_AH	23.5,22.001
SM_GC	1.19,11.38,0.00,0.00,0.044,0.000,0.000,73,2402,1267,-10.68,0.06,380.46	_10V_AH	10.2,10.011
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47336,938
TT8_MAMPS	0.02301	CFSIZE	260165632,252764160
HUMID	2098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
TCM_TEMP	19.50	GPS	011207,204756,6207.849,-1035.172,39,1.6,39,-10.3
XPDR_PINGS	21

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	103.46	SBE_CT	652	24	367.91
Roll_motor	178	85	359.99	SBE_O2	670	19	299.37
VBD_pump_during_apogee	434	1249	12746.74	WL_BB2F	531	105	1311.25
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	32	103	78.91	nil	0	0	0.00
Iridium_during_connect	48	160	181.84	nil	0	0	0.00
Iridium_during_xfer	93	223	489.78
Transponder_ping	11	420	115.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.08
TT8	1726	19	348.75
LPSleep	14923	2	333.37
TT8_Active	578	19	116.93
TT8_Sampling	2163	39	878.16
TT8_CF8	321	45	150.28
TT8_Kalman	33	81	27.82
Analog_circuits	1666	12	204.04
GPS_charging	0	0	0.00
Compass	2095	8	171.03
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	18	begin dive
20	-0.85	-146.6	0.0	0.0	0	103	0.00	0.00	-81.40	0.000	2	0.000	0.000	62	2406	2958
106	-0.85	-146.6	3.1	-2.9	4	135	12.18	2.65	-11.73	0.000	4	0.172	0.071	2223	986	3417
373	-0.85	-146.6	31.7	-9.3	16	377	0.00	2.58	0.00	0.000	6	0.000	0.051	2224	2401	3418
699	-0.85	-146.6	59.8	-4.1	32	703	0.00	2.62	0.00	0.000	4	0.000	0.061	2224	980	3417
764	-0.85	-146.6	63.5	-5.7	35	769	0.00	2.58	0.00	0.000	6	0.000	0.050	2224	2408	3417
1091	-0.85	-146.6	87.7	-6.2	51	1093	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2408	3418
1400	-0.85	-146.6	108.5	-7.5	66	1405	0.00	2.62	0.00	0.000	4	0.000	0.061	2224	985	3418
1488	-0.85	-146.6	114.4	-6.1	70	1493	0.00	2.58	0.00	0.000	6	0.000	0.051	2224	2396	3417
1816	-0.85	-146.6	136.9	-7.5	86	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2395	3416
2125	-0.85	-146.6	163.8	-8.1	101	2129	0.00	2.60	0.00	0.000	4	0.000	0.063	2224	985	3418
2185	-0.85	-146.6	168.5	-7.7	104	2190	0.00	2.53	0.00	0.000	6	0.000	0.051	2224	2400	3418
2511	-0.85	-146.6	194.4	-8.3	120	2512	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2400	3418
2820	-0.85	-146.6	219.0	-7.7	135	2824	0.00	2.62	0.00	0.000	4	0.000	0.064	2224	983	3417
2904	-0.85	-146.6	225.0	-6.9	139	2909	0.00	2.55	0.00	0.000	6	0.000	0.051	2224	2398	3417
3235	-0.85	-146.6	250.6	-7.8	155	3240	0.00	2.62	0.00	0.000	4	0.000	0.063	2224	977	3418
3307	-0.85	-146.6	256.8	-8.9	158	3311	0.00	2.60	0.00	0.000	6	0.000	0.051	2224	2403	3417
3628	-0.85	-146.6	283.0	-8.5	174	3632	0.00	2.60	0.00	0.000	4	0.000	0.064	2224	985	3417
3689	-0.85	-146.6	288.1	-8.5	177	3693	0.00	2.55	0.00	0.000	6	0.000	0.051	2224	2401	3418
4013	-0.85	-146.6	313.2	-7.5	193	4018	0.00	2.60	0.00	0.000	4	0.000	0.062	2224	985	3417
4068	-0.85	-146.6	317.9	-8.6	195	4075	0.00	2.60	0.00	0.000	6	0.000	0.051	2224	2400	3417
4384	-0.85	-146.6	339.8	-7.0	211	4385	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2400	3417
4693	-0.85	-146.6	362.0	-6.9	226	4697	0.00	2.62	0.00	0.000	4	0.000	0.064	2224	979	3418
4741	-0.85	-146.6	365.5	-7.1	228	4746	0.00	2.60	0.00	0.000	6	0.000	0.051	2224	2404	3418
5063	-0.85	-146.6	388.5	-7.2	244	5064	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2404	3417
5372	-0.85	-146.6	411.6	-7.9	259	5373	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2404	3418
5681	-0.85	-146.6	437.3	-8.0	274	5682	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2404	3417
5990	-0.85	-146.6	463.5	-8.8	289	5994	0.00	2.62	0.00	0.000	4	0.000	0.065	2224	985	3417
6039	-0.85	-146.6	467.5	-7.7	291	6044	0.00	2.58	0.00	0.000	6	0.000	0.052	2224	2400	3417
6360	-0.85	-146.6	492.6	-7.9	307	6365	0.00	2.62	0.00	0.000	4	0.000	0.064	2224	981	3417
6415	-0.85	-146.6	496.8	-7.4	309	6422	0.00	2.58	0.00	0.000	6	0.000	0.052	2224	2396	3417
6730	-0.85	-146.6	521.1	-7.5	325	6731	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2395	3417
7040	-0.85	-146.6	544.2	-7.5	340	7044	0.00	2.62	0.00	0.000	4	0.000	0.066	2224	982	3417
7088	-0.85	-146.6	547.8	-7.5	342	7093	0.00	2.58	0.00	0.000	6	0.000	0.053	2224	2393	3417
7409	-0.85	-146.6	570.6	-6.9	358	7410	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2393	3417
7718	-0.85	-146.6	591.0	-6.3	373	7719	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2392	3417
8028	-0.85	-146.6	608.4	-5.6	388	8032	0.00	2.60	0.00	0.000	4	0.000	0.066	2224	984	3417
8099	-0.85	-146.6	612.6	-5.7	391	8103	0.00	2.58	0.00	0.000	6	0.000	0.053	2224	2401	3417
8420	-0.85	-146.6	630.2	-5.8	407	8421	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2401	3417
8731	-0.85	-146.6	650.0	-6.8	422	8735	0.00	2.62	0.00	0.000	4	0.000	0.067	2224	984	3417
8796	-0.85	-146.6	654.7	-6.9	425	8801	0.00	2.60	0.00	0.000	6	0.000	0.053	2224	2398	3417
9123	-0.85	-146.6	680.4	-7.9	441	9125	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2398	3416
9433	-0.85	-146.6	700.8	-6.4	456	9434	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2398	3416
9742	-0.85	-146.6	732.2	-11.8	471	9743	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2398	3416
10051	-0.85	-146.6	770.9	-14.6	486	10055	0.00	2.58	0.00	0.000	4	0.000	0.077	2224	3769	3416
10134	-0.85	-146.6	782.8	-13.2	490	10138	0.00	2.47	0.00	0.000	6	0.000	0.054	2223	2400	3416
10461	-0.85	-146.6	804.9	-5.6	506	10462	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2400	3416
10770	-0.85	-146.6	816.8	-2.6	521	10774	0.00	2.65	0.00	0.000	4	0.000	0.076	2224	986	3416
10841	-0.85	-146.6	819.5	-3.4	524	10846	0.00	2.58	0.00	0.000	6	0.000	0.061	2224	2398	3416
11162	-0.85	-146.6	837.6	-7.0	540	11163	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2398	3416
11202	end dive: BOTTOM_OBSTACLE_DETECTED
state	11202	begin apogee
11206	-0.31	0.0	841.0	7.5	542	11332	0.57	0.00	122.72	1.249	6	0.115	0.000	2337	2194	2817
11333	end apogee: CONTROL_FINISHED_OK
state	11333	begin climb
11334	0.85	146.6	844.2	0.0	548	11463	1.23	2.83	120.55	1.231	4	0.091	0.086	2586	3612	2218
11520	0.85	146.6	834.6	6.8	557	11525	0.00	2.65	0.00	0.000	6	0.000	0.065	2586	2207	2218
11846	0.85	146.6	811.6	9.2	573	11847	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2207	2216
12155	0.85	146.6	780.6	8.4	588	12160	0.00	2.70	0.00	0.000	4	0.000	0.083	2586	3611	2215
12288	0.94	232.3	773.6	3.7	594	12367	0.15	2.65	69.30	1.230	6	0.066	0.061	2625	2191	1868
12674	0.94	237.4	754.5	5.9	613	12681	0.00	0.00	4.97	0.879	6	0.000	0.000	2625	2190	1849
12983	0.94	237.4	722.3	11.7	628	12985	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2190	1848
13293	0.94	237.4	692.2	7.9	643	13294	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2190	1848
13602	1.03	315.3	677.7	3.9	658	13672	0.00	2.78	63.12	1.167	4	0.000	0.072	2625	3610	1531
13695	1.10	380.7	674.1	4.2	662	13756	0.12	2.62	53.45	1.142	6	0.052	0.057	2663	2202	1263
14077	1.10	380.7	637.2	12.3	681	14081	0.00	2.67	0.00	0.000	4	0.000	0.071	2663	785	1263
14137	1.10	380.7	629.5	12.8	684	14142	0.00	2.60	0.00	0.000	6	0.000	0.048	2663	2208	1263
14463	1.10	380.7	589.1	12.3	700	14467	0.00	2.67	0.00	0.000	4	0.000	0.067	2663	783	1264
14511	1.10	380.7	582.8	11.9	702	14516	0.00	2.60	0.00	0.000	6	0.000	0.047	2663	2198	1264
14832	1.10	380.7	544.3	12.3	718	14837	0.00	2.65	0.00	0.000	4	0.000	0.066	2662	777	1264
14887	1.10	380.7	537.1	12.5	720	14894	0.00	2.60	0.00	0.000	6	0.000	0.046	2663	2199	1264
15203	1.10	380.7	497.2	12.5	736	15207	0.00	2.65	0.00	0.000	4	0.000	0.067	2663	784	1265
15256	1.10	380.7	490.1	12.6	738	15263	0.00	2.58	0.00	0.000	6	0.000	0.046	2663	2196	1265
15572	1.10	380.7	452.5	11.2	754	15577	0.00	2.62	0.00	0.000	4	0.000	0.066	2663	783	1265
15638	1.10	380.7	445.2	10.9	757	15643	0.00	2.58	0.00	0.000	6	0.000	0.045	2663	2195	1265
15964	1.10	380.7	408.9	11.1	773	15969	0.00	2.62	0.00	0.000	4	0.000	0.067	2663	784	1266
16008	1.10	380.7	403.9	11.6	775	16012	0.00	2.55	0.00	0.000	6	0.000	0.046	2663	2200	1266
16335	1.10	380.7	365.6	11.6	791	16339	0.00	2.62	0.00	0.000	4	0.000	0.065	2663	784	1266
16383	1.10	380.7	359.8	11.4	793	16388	0.00	2.55	0.00	0.000	6	0.000	0.046	2663	2198	1267
16704	1.10	380.7	323.6	11.2	809	16709	0.00	2.65	0.00	0.000	4	0.000	0.067	2663	779	1267
16747	1.10	380.7	318.8	11.2	811	16752	0.00	2.58	0.00	0.000	6	0.000	0.045	2663	2195	1267
17074	1.10	380.7	282.1	11.1	827	17078	0.00	2.65	0.00	0.000	4	0.000	0.067	2663	775	1267
17123	1.10	380.7	276.6	10.5	829	17128	0.00	2.58	0.00	0.000	6	0.000	0.045	2663	2208	1267
17444	1.10	380.7	238.1	12.1	845	17448	0.00	2.65	0.00	0.000	4	0.000	0.065	2663	783	1267
17500	1.10	380.7	231.5	11.3	847	17506	0.00	2.55	0.00	0.000	6	0.000	0.045	2663	2206	1268
17815	1.10	380.7	195.2	11.2	863	17819	0.00	2.65	0.00	0.000	4	0.000	0.066	2663	781	1268
17857	1.10	380.7	190.2	10.1	865	17862	0.00	2.58	0.00	0.000	6	0.000	0.044	2663	2201	1268
18184	1.10	380.7	150.0	13.4	881	18189	0.00	2.62	0.00	0.000	4	0.000	0.065	2663	783	1268
18234	1.10	380.7	143.4	12.2	883	18238	0.00	2.55	0.00	0.000	6	0.000	0.045	2662	2206	1268
18555	1.10	380.7	102.6	13.7	899	18559	0.00	2.65	0.00	0.000	4	0.000	0.067	2662	782	1268
18616	1.10	380.7	93.0	15.8	902	18620	0.00	2.55	0.00	0.000	6	0.000	0.044	2663	2205	1268
18942	1.10	380.7	51.2	13.1	918	18946	0.00	2.65	0.00	0.000	4	0.000	0.064	2662	773	1268
18995	1.10	380.7	45.5	11.6	920	19003	0.00	2.58	0.00	0.000	6	0.000	0.044	2662	2197	1269
19311	1.10	380.7	3.6	13.2	936	19316	0.00	2.70	0.00	0.000	4	0.000	0.079	2663	778	1269
19330	end climb: SURFACE_DEPTH_REACHED
state	19331	begin surface coast
19354	end surface coast: CONTROL_FINISHED_OK
state	19354	begin surface