Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 127 * 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 127 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 19 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 -2078019 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 -2078019

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 19 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 127 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 181237,6223.833,-1044.631,41,1.4,41,-10.5 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.198,0.100

_SM_DEPTHo 1.31 KALMAN_X -71393.3,43.9,5597.8,-21244.9,-14052.4

_SM_ANGLEo -63.9 KALMAN_Y 136215.6,-337.0,-2006.3,-49223.7,12684.4

GPS2 181838,6223.903,-1044.468,17,1.5,34,-10.5 MHEAD_RNG_PITCHd_Wd 73.8,72854,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.010964 ALTIM_BOTTOM_PING 600.1,97.8

SM_CCo 18469,41.60,0.625,1,0,1593,300.00 _24V_AH 23.6,23.530

SM_GC 1.00,0.00,0.00,41.60,0.000,0.000,0.625,77,2401,1593,-10.73,0.03,300.00 _10V_AH 10.2,11.139

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44253,896

TT8_MAMPS 0.02301 CFSIZE 260165632,251940864

HUMID 2081 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,1,0

TCM_TEMP 17.30 GPS 041207,232908,6225.349,-1038.605,30,1.6,30,-10.5

XPDR_PINGS 22

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 100.41 SBE_CT 625 24 354.14

Roll_motor 151 82 294.06 SBE_O2 646 19 290.08

VBD_pump_during_apogee 310 1134 8315.28 WL_BB2F 546 105 1353.25

VBD_pump_during_surface 41 625 613.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.30 nil 0 0 0.00

Iridium_during_connect 41 160 155.96 nil 0 0 0.00

Iridium_during_xfer 170 223 897.77

Transponder_ping 10 420 104.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.50

TT8 1611 19 325.55

LPSleep 14453 2 322.86

TT8_Active 520 19 105.15

TT8_Sampling 1890 39 767.56

TT8_CF8 401 45 187.45

TT8_Kalman 33 81 27.83

Analog_circuits 1452 12 177.75

GPS_charging 0 0 0.00

Compass 1837 8 149.90

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

20 -0.85 -146.6 0.0 0.0 0 83 0.00 0.00 -61.05 0.000 2 0.000 0.000 75 2403 3117

86 -0.85 -146.6 3.6 -4.9 3 111 12.00 2.58 -6.88 0.000 4 0.170 0.082 2220 3762 3416

263 -0.85 -146.6 23.3 -8.8 11 268 0.00 2.47 0.00 0.000 6 0.000 0.046 2220 2391 3417

589 -0.85 -146.6 50.4 -8.1 27 593 0.00 2.60 0.00 0.000 4 0.000 0.065 2220 985 3417

621 -0.85 -146.6 53.2 -8.6 28 628 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2395 3417

939 -0.85 -146.6 79.7 -8.8 44 943 0.00 2.60 0.00 0.000 4 0.000 0.062 2220 986 3417

970 -0.85 -146.6 82.4 -7.5 45 977 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2395 3418

1286 -0.85 -146.6 112.1 -9.4 61 1290 0.00 2.62 0.00 0.000 4 0.000 0.064 2220 979 3418

1306 -0.85 -146.6 114.2 -9.4 62 1311 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2406 3417

1633 -0.85 -146.6 141.0 -7.3 78 1638 0.00 2.62 0.00 0.000 4 0.000 0.063 2220 984 3417

1660 -0.85 -146.6 143.2 -7.8 79 1664 0.00 2.55 0.00 0.000 6 0.000 0.051 2220 2400 3418

1981 -0.85 -146.6 170.2 -8.2 95 1985 0.00 2.62 0.00 0.000 4 0.000 0.064 2220 982 3417

2012 -0.85 -146.6 172.7 -7.0 96 2019 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2395 3418

2328 -0.85 -146.6 195.4 -7.3 112 2329 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2395 3417

2637 -0.85 -146.6 220.4 -8.5 127 2641 0.00 2.62 0.00 0.000 4 0.000 0.065 2220 979 3418

2671 -0.85 -146.6 223.2 -8.4 128 2677 0.00 2.58 0.00 0.000 6 0.000 0.053 2220 2400 3417

2985 -0.85 -146.6 246.3 -6.5 144 2989 0.00 2.62 0.00 0.000 4 0.000 0.064 2220 980 3418

3024 -0.85 -146.6 248.7 -6.1 146 3029 0.00 2.58 0.00 0.000 6 0.000 0.052 2220 2406 3417

3350 -0.85 -146.6 272.2 -7.4 162 3351 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2406 3418

3659 -0.85 -146.6 297.7 -9.1 177 3663 0.00 2.62 0.00 0.000 4 0.000 0.064 2220 985 3417

3713 -0.85 -146.6 302.5 -8.9 179 3720 0.00 2.58 0.00 0.000 6 0.000 0.054 2221 2395 3417

4029 -0.85 -146.6 331.6 -10.0 195 4033 0.00 2.62 0.00 0.000 4 0.000 0.067 2221 982 3417

4060 -0.85 -146.6 335.2 -11.3 196 4067 0.00 2.60 0.00 0.000 6 0.000 0.053 2220 2392 3417

4375 -0.85 -146.6 366.4 -9.5 212 4377 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2392 3418

4685 -0.85 -146.6 393.1 -8.8 227 4689 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 981 3418

4733 -0.85 -146.6 397.7 -9.0 229 4738 0.00 2.60 0.00 0.000 6 0.000 0.054 2221 2403 3418

5055 -0.85 -146.6 425.4 -8.3 245 5059 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 977 3418

5087 -0.85 -146.6 428.3 -8.5 246 5093 0.00 2.58 0.00 0.000 6 0.000 0.054 2221 2408 3418

5402 -0.85 -146.6 453.2 -8.1 262 5406 0.00 2.62 0.00 0.000 4 0.000 0.065 2220 985 3418

5463 -0.85 -146.6 458.1 -8.6 265 5467 0.00 2.58 0.00 0.000 6 0.000 0.053 2220 2400 3418

5789 -0.85 -146.6 482.9 -7.4 281 5794 0.00 2.62 0.00 0.000 4 0.000 0.065 2220 982 3418

5828 -0.85 -146.6 485.9 -7.3 283 5832 0.00 2.58 0.00 0.000 6 0.000 0.052 2220 2398 3417

6153 -0.85 -146.6 509.9 -7.7 299 6154 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2399 3418

6462 -0.85 -146.6 532.5 -6.9 314 6464 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2399 3418

6771 -0.85 -146.6 554.2 -7.1 329 6776 0.00 2.55 0.00 0.000 4 0.000 0.076 2221 3764 3418

6820 -0.85 -146.6 558.2 -7.5 331 6825 0.00 2.50 0.00 0.000 6 0.000 0.052 2220 2399 3418

7142 -0.85 -146.6 579.3 -5.9 347 7143 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2399 3418

7451 -0.85 -146.6 598.7 -7.2 362 7455 0.00 2.62 0.00 0.000 4 0.000 0.070 2220 982 3418

7562 -0.85 -146.6 606.3 -7.1 367 7566 0.00 2.60 0.00 0.000 6 0.000 0.058 2220 2401 3418

7888 -0.85 -146.6 630.0 -7.7 383 7892 0.00 2.58 0.00 0.000 4 0.000 0.079 2220 3769 3418

7915 -0.85 -146.6 632.3 -9.0 384 7919 0.00 2.50 0.00 0.000 6 0.000 0.054 2220 2407 3418

8236 -0.85 -146.6 654.6 -6.3 400 8240 0.00 2.65 0.00 0.000 4 0.000 0.071 2220 983 3418

8414 -0.85 -146.6 666.4 -7.1 408 8418 0.00 2.60 0.00 0.000 6 0.000 0.057 2220 2404 3418

8740 -0.85 -146.6 687.7 -6.9 424 8741 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2404 3418

8760 end dive: BOTTOM_OBSTACLE_DETECTED

state 8760 begin apogee

8765 -0.31 0.0 689.1 6.9 425 8889 0.60 0.00 121.53 1.134 6 0.104 0.000 2341 2193 2817

8890 end apogee: CONTROL_FINISHED_OK

state 8890 begin climb

8892 0.85 146.6 691.7 0.0 431 9016 1.17 0.00 119.72 1.114 6 0.074 0.000 2590 2195 2218

9324 0.85 146.6 667.4 6.0 452 9328 0.00 2.72 0.00 0.000 4 0.000 0.077 2590 3615 2217

9362 0.85 146.6 664.8 6.8 454 9366 0.00 2.62 0.00 0.000 6 0.000 0.058 2590 2204 2216

9687 0.86 162.3 646.2 5.6 470 9709 0.00 2.78 13.73 1.008 4 0.000 0.074 2590 791 2154

9809 0.86 162.3 638.6 7.1 475 9813 0.00 2.60 0.00 0.000 6 0.000 0.054 2590 2198 2153

10130 0.86 162.3 618.9 6.0 491 10131 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2197 2151

10440 0.88 173.7 600.2 5.7 506 10452 0.00 0.00 10.48 0.965 6 0.000 0.000 2590 2197 2108

10749 0.88 173.7 581.7 6.5 521 10750 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2197 2107

11058 0.88 173.7 560.0 6.9 536 11062 0.00 2.65 0.00 0.000 4 0.000 0.067 2590 780 2106

11106 0.88 173.7 556.5 7.2 538 11111 0.00 2.60 0.00 0.000 6 0.000 0.049 2590 2207 2106

11427 0.88 173.7 534.6 7.4 554 11429 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2207 2106

11736 0.88 173.7 511.8 7.1 569 11737 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2207 2105

12046 0.88 179.3 491.7 5.8 584 12057 0.00 2.65 5.78 0.779 4 0.000 0.071 2590 3614 2084

12107 0.88 179.3 487.5 6.5 587 12112 0.00 2.62 0.00 0.000 6 0.000 0.057 2589 2193 2084

12432 0.88 179.3 465.4 7.2 603 12433 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2193 2085

12742 0.88 179.3 444.1 6.4 618 12743 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2191 2084

13051 0.88 179.3 424.6 6.3 633 13052 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2193 2085

13360 0.88 179.3 403.8 7.1 648 13361 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2193 2084

13669 0.88 179.3 382.3 6.9 663 13673 0.00 2.65 0.00 0.000 4 0.000 0.071 2590 3614 2085

13708 0.88 179.3 379.7 7.2 665 13712 0.00 2.60 0.00 0.000 6 0.000 0.059 2590 2197 2085

14034 0.93 227.8 362.0 4.7 681 14076 0.12 0.00 39.38 0.896 6 0.063 0.000 2622 2197 1887

14383 0.93 227.8 336.0 7.7 698 14385 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2197 1887

14692 0.93 227.8 310.2 8.4 713 14697 0.00 2.65 0.00 0.000 4 0.000 0.069 2622 3616 1887

14724 0.93 227.8 307.2 9.2 714 14731 0.00 2.65 0.00 0.000 6 0.000 0.059 2622 2202 1887

15040 0.93 227.8 277.0 9.6 730 15045 0.00 2.62 0.00 0.000 4 0.000 0.067 2622 785 1887

15083 0.93 227.8 272.7 9.6 732 15088 0.00 2.58 0.00 0.000 6 0.000 0.044 2622 2197 1887

15410 0.93 227.8 245.4 7.4 748 15411 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2197 1887

15720 0.93 227.8 223.9 7.1 763 15721 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2197 1887

16029 0.93 227.8 202.8 7.4 778 16033 0.00 2.62 0.00 0.000 4 0.000 0.070 2622 3616 1887

16060 0.93 227.8 200.3 8.2 779 16067 0.00 2.62 0.00 0.000 6 0.000 0.056 2622 2202 1887

16376 0.93 227.8 170.5 10.1 795 16377 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2202 1887

16685 0.93 227.8 143.4 8.6 810 16686 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2202 1887

16994 0.93 227.8 120.9 6.8 825 16996 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2202 1888

17304 0.93 227.8 95.9 8.1 840 17308 0.00 2.62 0.00 0.000 4 0.000 0.066 2622 781 1889

17330 0.93 227.8 93.7 8.9 841 17334 0.00 2.55 0.00 0.000 6 0.000 0.045 2622 2205 1888

17651 0.93 227.8 67.2 7.6 857 17656 0.00 2.60 0.00 0.000 4 0.000 0.069 2622 3612 1888

17683 0.93 227.8 64.3 8.1 858 17691 0.00 2.60 0.00 0.000 6 0.000 0.055 2622 2202 1888

18000 0.93 227.8 37.8 8.7 874 18004 0.00 2.62 0.00 0.000 4 0.000 0.068 2622 785 1889

18031 0.93 227.8 34.9 8.8 875 18038 0.00 2.58 0.00 0.000 6 0.000 0.048 2622 2197 1888

18348 0.93 227.8 8.6 7.8 891 18349 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2196 1890

18428 end climb: SURFACE_DEPTH_REACHED

state 18428 begin surface coast

18450 end surface coast: CONTROL_FINISHED_OK

state 18450 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	127	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	19	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	-2078019	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	181237,6223.833,-1044.631,41,1.4,41,-10.5	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.198,0.100
_SM_DEPTHo	1.31	KALMAN_X	-71393.3,43.9,5597.8,-21244.9,-14052.4
_SM_ANGLEo	-63.9	KALMAN_Y	136215.6,-337.0,-2006.3,-49223.7,12684.4
GPS2	181838,6223.903,-1044.468,17,1.5,34,-10.5	MHEAD_RNG_PITCHd_Wd	73.8,72854,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.010964	ALTIM_BOTTOM_PING	600.1,97.8
SM_CCo	18469,41.60,0.625,1,0,1593,300.00	_24V_AH	23.6,23.530
SM_GC	1.00,0.00,0.00,41.60,0.000,0.000,0.625,77,2401,1593,-10.73,0.03,300.00	_10V_AH	10.2,11.139
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44253,896
TT8_MAMPS	0.02301	CFSIZE	260165632,251940864
HUMID	2081	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
TCM_TEMP	17.30	GPS	041207,232908,6225.349,-1038.605,30,1.6,30,-10.5
XPDR_PINGS	22

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	100.41	SBE_CT	625	24	354.14
Roll_motor	151	82	294.06	SBE_O2	646	19	290.08
VBD_pump_during_apogee	310	1134	8315.28	WL_BB2F	546	105	1353.25
VBD_pump_during_surface	41	625	613.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.30	nil	0	0	0.00
Iridium_during_connect	41	160	155.96	nil	0	0	0.00
Iridium_during_xfer	170	223	897.77
Transponder_ping	10	420	104.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.50
TT8	1611	19	325.55
LPSleep	14453	2	322.86
TT8_Active	520	19	105.15
TT8_Sampling	1890	39	767.56
TT8_CF8	401	45	187.45
TT8_Kalman	33	81	27.83
Analog_circuits	1452	12	177.75
GPS_charging	0	0	0.00
Compass	1837	8	149.90
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
20	-0.85	-146.6	0.0	0.0	0	83	0.00	0.00	-61.05	0.000	2	0.000	0.000	75	2403	3117
86	-0.85	-146.6	3.6	-4.9	3	111	12.00	2.58	-6.88	0.000	4	0.170	0.082	2220	3762	3416
263	-0.85	-146.6	23.3	-8.8	11	268	0.00	2.47	0.00	0.000	6	0.000	0.046	2220	2391	3417
589	-0.85	-146.6	50.4	-8.1	27	593	0.00	2.60	0.00	0.000	4	0.000	0.065	2220	985	3417
621	-0.85	-146.6	53.2	-8.6	28	628	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2395	3417
939	-0.85	-146.6	79.7	-8.8	44	943	0.00	2.60	0.00	0.000	4	0.000	0.062	2220	986	3417
970	-0.85	-146.6	82.4	-7.5	45	977	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2395	3418
1286	-0.85	-146.6	112.1	-9.4	61	1290	0.00	2.62	0.00	0.000	4	0.000	0.064	2220	979	3418
1306	-0.85	-146.6	114.2	-9.4	62	1311	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2406	3417
1633	-0.85	-146.6	141.0	-7.3	78	1638	0.00	2.62	0.00	0.000	4	0.000	0.063	2220	984	3417
1660	-0.85	-146.6	143.2	-7.8	79	1664	0.00	2.55	0.00	0.000	6	0.000	0.051	2220	2400	3418
1981	-0.85	-146.6	170.2	-8.2	95	1985	0.00	2.62	0.00	0.000	4	0.000	0.064	2220	982	3417
2012	-0.85	-146.6	172.7	-7.0	96	2019	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2395	3418
2328	-0.85	-146.6	195.4	-7.3	112	2329	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2395	3417
2637	-0.85	-146.6	220.4	-8.5	127	2641	0.00	2.62	0.00	0.000	4	0.000	0.065	2220	979	3418
2671	-0.85	-146.6	223.2	-8.4	128	2677	0.00	2.58	0.00	0.000	6	0.000	0.053	2220	2400	3417
2985	-0.85	-146.6	246.3	-6.5	144	2989	0.00	2.62	0.00	0.000	4	0.000	0.064	2220	980	3418
3024	-0.85	-146.6	248.7	-6.1	146	3029	0.00	2.58	0.00	0.000	6	0.000	0.052	2220	2406	3417
3350	-0.85	-146.6	272.2	-7.4	162	3351	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2406	3418
3659	-0.85	-146.6	297.7	-9.1	177	3663	0.00	2.62	0.00	0.000	4	0.000	0.064	2220	985	3417
3713	-0.85	-146.6	302.5	-8.9	179	3720	0.00	2.58	0.00	0.000	6	0.000	0.054	2221	2395	3417
4029	-0.85	-146.6	331.6	-10.0	195	4033	0.00	2.62	0.00	0.000	4	0.000	0.067	2221	982	3417
4060	-0.85	-146.6	335.2	-11.3	196	4067	0.00	2.60	0.00	0.000	6	0.000	0.053	2220	2392	3417
4375	-0.85	-146.6	366.4	-9.5	212	4377	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2392	3418
4685	-0.85	-146.6	393.1	-8.8	227	4689	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	981	3418
4733	-0.85	-146.6	397.7	-9.0	229	4738	0.00	2.60	0.00	0.000	6	0.000	0.054	2221	2403	3418
5055	-0.85	-146.6	425.4	-8.3	245	5059	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	977	3418
5087	-0.85	-146.6	428.3	-8.5	246	5093	0.00	2.58	0.00	0.000	6	0.000	0.054	2221	2408	3418
5402	-0.85	-146.6	453.2	-8.1	262	5406	0.00	2.62	0.00	0.000	4	0.000	0.065	2220	985	3418
5463	-0.85	-146.6	458.1	-8.6	265	5467	0.00	2.58	0.00	0.000	6	0.000	0.053	2220	2400	3418
5789	-0.85	-146.6	482.9	-7.4	281	5794	0.00	2.62	0.00	0.000	4	0.000	0.065	2220	982	3418
5828	-0.85	-146.6	485.9	-7.3	283	5832	0.00	2.58	0.00	0.000	6	0.000	0.052	2220	2398	3417
6153	-0.85	-146.6	509.9	-7.7	299	6154	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2399	3418
6462	-0.85	-146.6	532.5	-6.9	314	6464	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2399	3418
6771	-0.85	-146.6	554.2	-7.1	329	6776	0.00	2.55	0.00	0.000	4	0.000	0.076	2221	3764	3418
6820	-0.85	-146.6	558.2	-7.5	331	6825	0.00	2.50	0.00	0.000	6	0.000	0.052	2220	2399	3418
7142	-0.85	-146.6	579.3	-5.9	347	7143	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2399	3418
7451	-0.85	-146.6	598.7	-7.2	362	7455	0.00	2.62	0.00	0.000	4	0.000	0.070	2220	982	3418
7562	-0.85	-146.6	606.3	-7.1	367	7566	0.00	2.60	0.00	0.000	6	0.000	0.058	2220	2401	3418
7888	-0.85	-146.6	630.0	-7.7	383	7892	0.00	2.58	0.00	0.000	4	0.000	0.079	2220	3769	3418
7915	-0.85	-146.6	632.3	-9.0	384	7919	0.00	2.50	0.00	0.000	6	0.000	0.054	2220	2407	3418
8236	-0.85	-146.6	654.6	-6.3	400	8240	0.00	2.65	0.00	0.000	4	0.000	0.071	2220	983	3418
8414	-0.85	-146.6	666.4	-7.1	408	8418	0.00	2.60	0.00	0.000	6	0.000	0.057	2220	2404	3418
8740	-0.85	-146.6	687.7	-6.9	424	8741	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2404	3418
8760	end dive: BOTTOM_OBSTACLE_DETECTED
state	8760	begin apogee
8765	-0.31	0.0	689.1	6.9	425	8889	0.60	0.00	121.53	1.134	6	0.104	0.000	2341	2193	2817
8890	end apogee: CONTROL_FINISHED_OK
state	8890	begin climb
8892	0.85	146.6	691.7	0.0	431	9016	1.17	0.00	119.72	1.114	6	0.074	0.000	2590	2195	2218
9324	0.85	146.6	667.4	6.0	452	9328	0.00	2.72	0.00	0.000	4	0.000	0.077	2590	3615	2217
9362	0.85	146.6	664.8	6.8	454	9366	0.00	2.62	0.00	0.000	6	0.000	0.058	2590	2204	2216
9687	0.86	162.3	646.2	5.6	470	9709	0.00	2.78	13.73	1.008	4	0.000	0.074	2590	791	2154
9809	0.86	162.3	638.6	7.1	475	9813	0.00	2.60	0.00	0.000	6	0.000	0.054	2590	2198	2153
10130	0.86	162.3	618.9	6.0	491	10131	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2197	2151
10440	0.88	173.7	600.2	5.7	506	10452	0.00	0.00	10.48	0.965	6	0.000	0.000	2590	2197	2108
10749	0.88	173.7	581.7	6.5	521	10750	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2197	2107
11058	0.88	173.7	560.0	6.9	536	11062	0.00	2.65	0.00	0.000	4	0.000	0.067	2590	780	2106
11106	0.88	173.7	556.5	7.2	538	11111	0.00	2.60	0.00	0.000	6	0.000	0.049	2590	2207	2106
11427	0.88	173.7	534.6	7.4	554	11429	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2207	2106
11736	0.88	173.7	511.8	7.1	569	11737	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2207	2105
12046	0.88	179.3	491.7	5.8	584	12057	0.00	2.65	5.78	0.779	4	0.000	0.071	2590	3614	2084
12107	0.88	179.3	487.5	6.5	587	12112	0.00	2.62	0.00	0.000	6	0.000	0.057	2589	2193	2084
12432	0.88	179.3	465.4	7.2	603	12433	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2193	2085
12742	0.88	179.3	444.1	6.4	618	12743	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2191	2084
13051	0.88	179.3	424.6	6.3	633	13052	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2193	2085
13360	0.88	179.3	403.8	7.1	648	13361	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2193	2084
13669	0.88	179.3	382.3	6.9	663	13673	0.00	2.65	0.00	0.000	4	0.000	0.071	2590	3614	2085
13708	0.88	179.3	379.7	7.2	665	13712	0.00	2.60	0.00	0.000	6	0.000	0.059	2590	2197	2085
14034	0.93	227.8	362.0	4.7	681	14076	0.12	0.00	39.38	0.896	6	0.063	0.000	2622	2197	1887
14383	0.93	227.8	336.0	7.7	698	14385	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2197	1887
14692	0.93	227.8	310.2	8.4	713	14697	0.00	2.65	0.00	0.000	4	0.000	0.069	2622	3616	1887
14724	0.93	227.8	307.2	9.2	714	14731	0.00	2.65	0.00	0.000	6	0.000	0.059	2622	2202	1887
15040	0.93	227.8	277.0	9.6	730	15045	0.00	2.62	0.00	0.000	4	0.000	0.067	2622	785	1887
15083	0.93	227.8	272.7	9.6	732	15088	0.00	2.58	0.00	0.000	6	0.000	0.044	2622	2197	1887
15410	0.93	227.8	245.4	7.4	748	15411	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2197	1887
15720	0.93	227.8	223.9	7.1	763	15721	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2197	1887
16029	0.93	227.8	202.8	7.4	778	16033	0.00	2.62	0.00	0.000	4	0.000	0.070	2622	3616	1887
16060	0.93	227.8	200.3	8.2	779	16067	0.00	2.62	0.00	0.000	6	0.000	0.056	2622	2202	1887
16376	0.93	227.8	170.5	10.1	795	16377	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2202	1887
16685	0.93	227.8	143.4	8.6	810	16686	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2202	1887
16994	0.93	227.8	120.9	6.8	825	16996	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2202	1888
17304	0.93	227.8	95.9	8.1	840	17308	0.00	2.62	0.00	0.000	4	0.000	0.066	2622	781	1889
17330	0.93	227.8	93.7	8.9	841	17334	0.00	2.55	0.00	0.000	6	0.000	0.045	2622	2205	1888
17651	0.93	227.8	67.2	7.6	857	17656	0.00	2.60	0.00	0.000	4	0.000	0.069	2622	3612	1888
17683	0.93	227.8	64.3	8.1	858	17691	0.00	2.60	0.00	0.000	6	0.000	0.055	2622	2202	1888
18000	0.93	227.8	37.8	8.7	874	18004	0.00	2.62	0.00	0.000	4	0.000	0.068	2622	785	1889
18031	0.93	227.8	34.9	8.8	875	18038	0.00	2.58	0.00	0.000	6	0.000	0.048	2622	2197	1888
18348	0.93	227.8	8.6	7.8	891	18349	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2196	1890
18428	end climb: SURFACE_DEPTH_REACHED
state	18428	begin surface coast
18450	end surface coast: CONTROL_FINISHED_OK
state	18450	begin surface