Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 130 * 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 130 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 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 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 -2078082 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 -2078082

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 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 130 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 093552,6228.575,-1031.556,40,2.4,59,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,-0.017

_SM_DEPTHo 1.16 KALMAN_X -70945.7,291.5,-376.6,-4515.3,-6702.3

_SM_ANGLEo -64.7 KALMAN_Y 128512.3,488.7,-11.6,-35750.7,1058.0

GPS2 094144,6228.544,-1031.469,14,2.0,31,-10.4 MHEAD_RNG_PITCHd_Wd 104.7,58933,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.022998 ALTIM_BOTTOM_PING 551.6,87.5

SM_CCo 17756,45.50,0.634,1,0,1593,300.00 _24V_AH 23.6,23.894

SM_GC 1.12,0.00,0.00,45.50,0.000,0.000,0.634,71,2401,1593,-10.76,0.03,300.00 _10V_AH 10.2,11.383

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44285,862

TT8_MAMPS 0.023777 CFSIZE 260165632,251764736

HUMID 2085 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,1,0

TCM_TEMP 17.40 GPS 051207,144038,6227.283,-1030.498,42,1.2,42,-10.4

XPDR_PINGS 12

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 102.23 SBE_CT 600 24 340.34

Roll_motor 155 75 279.47 SBE_O2 622 19 278.93

VBD_pump_during_apogee 302 1088 7771.18 WL_BB2F 553 105 1372.22

VBD_pump_during_surface 45 633 680.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.35 nil 0 0 0.00

Iridium_during_connect 46 160 175.81 nil 0 0 0.00

Iridium_during_xfer 158 223 834.87

Transponder_ping 7 420 76.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.84

TT8 1560 19 315.17

LPSleep 13833 2 309.02

TT8_Active 518 19 104.78

TT8_Sampling 1860 39 755.40

TT8_CF8 389 45 181.89

TT8_Kalman 33 81 27.85

Analog_circuits 1440 12 176.28

GPS_charging 0 0 0.00

Compass 1805 8 147.35

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

19 -0.85 -146.6 0.0 0.0 0 82 0.00 0.00 -61.78 0.000 2 0.000 0.000 74 2406 3131

85 -0.85 -146.6 3.7 -6.0 3 110 12.10 2.58 -6.40 0.000 4 0.173 0.076 2221 3765 3417

323 -0.85 -146.6 31.3 -9.7 13 330 0.00 2.47 0.00 0.000 6 0.000 0.045 2221 2405 3418

639 -0.85 -146.6 57.0 -8.2 29 643 0.00 2.62 0.00 0.000 4 0.000 0.064 2221 985 3418

709 -0.85 -146.6 63.1 -8.1 32 714 0.00 2.58 0.00 0.000 6 0.000 0.049 2221 2398 3418

1031 -0.85 -146.6 89.1 -8.2 48 1035 0.00 2.62 0.00 0.000 4 0.000 0.061 2221 978 3418

1069 -0.85 -146.6 92.2 -8.6 50 1074 0.00 2.58 0.00 0.000 6 0.000 0.050 2221 2400 3418

1395 -0.85 -146.6 118.4 -8.3 66 1400 0.00 2.62 0.00 0.000 4 0.000 0.063 2221 984 3418

1434 -0.85 -146.6 121.5 -8.0 68 1438 0.00 2.55 0.00 0.000 6 0.000 0.050 2221 2400 3418

1759 -0.85 -146.6 147.1 -7.7 84 1764 0.00 2.62 0.00 0.000 4 0.000 0.063 2219 982 3418

1836 -0.85 -146.6 153.2 -8.0 87 1843 0.00 2.58 0.00 0.000 6 0.000 0.051 2221 2398 3418

2151 -0.85 -146.6 176.6 -7.5 103 2156 0.00 2.60 0.00 0.000 4 0.000 0.063 2221 983 3418

2200 -0.85 -146.6 180.2 -6.6 105 2205 0.00 2.55 0.00 0.000 6 0.000 0.051 2221 2400 3418

2522 -0.85 -146.6 204.4 -7.8 121 2526 0.00 2.62 0.00 0.000 4 0.000 0.064 2221 982 3418

2576 -0.85 -146.6 208.9 -8.6 123 2582 0.00 2.58 0.00 0.000 6 0.000 0.051 2221 2399 3418

2891 -0.85 -146.6 233.3 -7.9 139 2892 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2399 3418

3200 -0.85 -146.6 257.4 -7.8 154 3205 0.00 2.62 0.00 0.000 4 0.000 0.064 2221 982 3418

3284 -0.85 -146.6 264.2 -7.7 158 3289 0.00 2.55 0.00 0.000 6 0.000 0.051 2221 2400 3418

3610 -0.85 -146.6 290.9 -8.3 174 3614 0.00 2.62 0.00 0.000 4 0.000 0.064 2221 982 3418

3664 -0.85 -146.6 295.5 -8.4 176 3671 0.00 2.55 0.00 0.000 6 0.000 0.052 2221 2401 3418

3979 -0.85 -146.6 322.5 -8.6 192 3984 0.00 2.62 0.00 0.000 4 0.000 0.064 2221 985 3418

4051 -0.85 -146.6 328.8 -9.4 195 4055 0.00 2.58 0.00 0.000 6 0.000 0.051 2221 2401 3418

4372 -0.85 -146.6 355.2 -7.8 211 4377 0.00 2.62 0.00 0.000 4 0.000 0.064 2221 982 3418

4415 -0.85 -146.6 359.0 -8.5 213 4420 0.00 2.58 0.00 0.000 6 0.000 0.051 2222 2398 3418

4742 -0.85 -146.6 384.2 -7.5 229 4747 0.00 2.60 0.00 0.000 4 0.000 0.064 2221 984 3419

4786 -0.85 -146.6 387.9 -8.3 231 4790 0.00 2.58 0.00 0.000 6 0.000 0.051 2222 2404 3418

5112 -0.85 -146.6 414.4 -8.1 247 5113 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3418

5421 -0.85 -146.6 439.1 -7.9 262 5423 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3418

5731 -0.85 -146.6 464.9 -8.7 277 5735 0.00 2.62 0.00 0.000 4 0.000 0.063 2222 983 3418

5807 -0.85 -146.6 471.6 -8.6 280 5815 0.00 2.58 0.00 0.000 6 0.000 0.051 2221 2400 3418

6123 -0.85 -146.6 498.0 -8.5 296 6128 0.00 2.60 0.00 0.000 4 0.000 0.064 2222 984 3418

6164 -0.85 -146.6 501.4 -7.8 298 6168 0.00 2.58 0.00 0.000 6 0.000 0.051 2222 2404 3418

6491 -0.85 -146.6 529.5 -9.0 314 6495 0.00 2.62 0.00 0.000 4 0.000 0.064 2222 983 3418

6530 -0.85 -146.6 533.1 -9.3 316 6534 0.00 2.55 0.00 0.000 6 0.000 0.051 2221 2400 3418

6855 -0.85 -146.6 559.6 -7.7 332 6856 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3418

7164 -0.85 -146.6 579.7 -5.7 347 7169 0.00 2.62 0.00 0.000 4 0.000 0.063 2221 977 3418

7226 -0.85 -146.6 583.3 -5.9 350 7230 0.00 2.58 0.00 0.000 6 0.000 0.052 2222 2404 3418

7551 -0.85 -146.6 603.7 -7.4 366 7556 0.00 2.62 0.00 0.000 4 0.000 0.064 2221 984 3418

7590 -0.85 -146.6 606.5 -7.0 368 7594 0.00 2.55 0.00 0.000 6 0.000 0.053 2222 2401 3418

7916 -0.85 -146.6 627.2 -5.5 384 7920 0.00 2.62 0.00 0.000 4 0.000 0.065 2221 982 3418

7946 end dive: BOTTOM_OBSTACLE_DETECTED

state 7946 begin apogee

7953 -0.31 0.0 629.5 7.8 385 8079 0.55 0.00 120.90 1.088 6 0.107 0.000 2335 2200 2818

8080 end apogee: CONTROL_FINISHED_OK

state 8080 begin climb

8082 0.85 146.6 633.6 0.0 392 8205 1.25 0.00 118.85 1.069 6 0.094 0.000 2589 2200 2218

8512 0.85 146.6 607.6 7.5 413 8513 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2200 2217

8821 0.85 146.6 584.4 6.8 428 8826 0.00 2.65 0.00 0.000 4 0.000 0.066 2589 788 2216

8848 0.87 168.2 583.0 5.4 429 8873 0.00 2.58 18.38 0.988 6 0.000 0.050 2589 2199 2131

9190 0.89 183.8 565.6 5.6 446 9212 0.00 2.72 13.90 0.963 4 0.000 0.074 2589 3609 2067

9238 0.89 183.8 562.6 6.6 448 9243 0.00 2.62 0.00 0.000 6 0.000 0.054 2588 2208 2067

9565 0.89 183.8 541.9 7.0 464 9570 0.00 2.65 0.00 0.000 4 0.000 0.068 2589 785 2065

9604 0.89 183.8 538.9 8.0 466 9608 0.00 2.58 0.00 0.000 6 0.000 0.048 2589 2201 2065

9929 0.89 183.8 512.8 7.5 482 9934 0.00 2.65 0.00 0.000 4 0.000 0.073 2589 3609 2064

9961 0.89 183.8 510.2 7.5 483 9968 0.00 2.60 0.00 0.000 6 0.000 0.053 2589 2207 2064

10277 0.89 183.8 490.5 6.3 499 10281 0.00 2.65 0.00 0.000 4 0.000 0.068 2589 782 2063

10308 0.89 183.8 488.4 6.5 500 10316 0.00 2.60 0.00 0.000 6 0.000 0.047 2590 2201 2063

10624 0.89 183.8 467.9 6.3 516 10625 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2199 2063

10934 0.89 183.8 448.9 6.2 531 10938 0.00 2.65 0.00 0.000 4 0.000 0.072 2589 3616 2063

11000 0.89 183.8 444.3 7.1 534 11005 0.00 2.60 0.00 0.000 6 0.000 0.054 2589 2191 2063

11320 0.89 183.8 423.3 6.3 550 11321 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2191 2063

11630 0.89 190.5 404.6 5.8 565 11638 0.00 0.00 6.47 0.752 6 0.000 0.000 2589 2190 2039

11939 0.91 209.4 386.8 5.5 580 11960 0.00 0.00 16.45 0.874 6 0.000 0.000 2589 2190 1962

12269 0.91 209.4 366.1 6.7 596 12270 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2191 1962

12578 0.91 209.4 345.9 6.6 611 12579 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2190 1962

12887 0.91 209.4 325.5 6.6 626 12888 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2191 1962

13196 0.91 209.4 305.5 6.7 641 13201 0.00 2.65 0.00 0.000 4 0.000 0.071 2589 3610 1962

13228 0.91 209.4 303.1 7.1 642 13235 0.00 2.60 0.00 0.000 6 0.000 0.054 2589 2203 1962

13544 0.91 209.4 283.2 6.1 658 13545 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2203 1962

13853 0.91 209.4 264.1 6.3 673 13854 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2203 1962

14163 0.91 209.4 243.5 6.9 688 14167 0.00 2.62 0.00 0.000 4 0.000 0.067 2589 784 1962

14194 0.91 209.4 241.2 6.9 689 14201 0.00 2.58 0.00 0.000 6 0.000 0.045 2589 2203 1962

14509 0.91 209.4 220.0 6.5 705 14514 0.00 2.60 0.00 0.000 4 0.000 0.069 2589 3615 1962

14536 0.91 209.4 218.2 6.9 706 14541 0.00 2.60 0.00 0.000 6 0.000 0.051 2589 2197 1962

14857 0.92 216.8 198.6 5.8 722 14871 0.00 2.67 7.60 0.680 4 0.000 0.064 2589 785 1933

14894 0.92 218.0 196.4 6.0 723 14901 0.10 2.55 0.00 0.000 6 0.075 0.044 2611 2199 1933

15209 0.92 218.0 176.4 6.3 739 15211 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2200 1933

15518 0.92 218.0 157.4 6.0 754 15519 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2199 1933

15828 0.92 218.0 137.1 7.0 769 15829 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2199 1933

16138 0.92 218.0 115.4 6.9 784 16139 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2199 1933

16447 0.92 218.0 91.9 7.7 799 16448 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2199 1933

16756 0.92 218.0 68.5 7.4 814 16760 0.00 2.60 0.00 0.000 4 0.000 0.061 2611 784 1933

16787 0.92 218.0 66.0 7.6 815 16794 0.00 2.55 0.00 0.000 6 0.000 0.043 2611 2198 1933

17104 0.92 218.0 42.9 6.8 831 17109 0.00 2.60 0.00 0.000 4 0.000 0.061 2611 782 1932

17143 0.92 218.0 40.1 8.1 833 17148 0.00 2.53 0.00 0.000 6 0.000 0.043 2611 2198 1933

17470 0.92 218.0 18.1 7.2 849 17471 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2198 1933

17715 end climb: SURFACE_DEPTH_REACHED

state 17715 begin surface coast

17737 end surface coast: CONTROL_FINISHED_OK

state 17737 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	130	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	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	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	-2078082	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	093552,6228.575,-1031.556,40,2.4,59,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,-0.017
_SM_DEPTHo	1.16	KALMAN_X	-70945.7,291.5,-376.6,-4515.3,-6702.3
_SM_ANGLEo	-64.7	KALMAN_Y	128512.3,488.7,-11.6,-35750.7,1058.0
GPS2	094144,6228.544,-1031.469,14,2.0,31,-10.4	MHEAD_RNG_PITCHd_Wd	104.7,58933,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.022998	ALTIM_BOTTOM_PING	551.6,87.5
SM_CCo	17756,45.50,0.634,1,0,1593,300.00	_24V_AH	23.6,23.894
SM_GC	1.12,0.00,0.00,45.50,0.000,0.000,0.634,71,2401,1593,-10.76,0.03,300.00	_10V_AH	10.2,11.383
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44285,862
TT8_MAMPS	0.023777	CFSIZE	260165632,251764736
HUMID	2085	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
TCM_TEMP	17.40	GPS	051207,144038,6227.283,-1030.498,42,1.2,42,-10.4
XPDR_PINGS	12

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	102.23	SBE_CT	600	24	340.34
Roll_motor	155	75	279.47	SBE_O2	622	19	278.93
VBD_pump_during_apogee	302	1088	7771.18	WL_BB2F	553	105	1372.22
VBD_pump_during_surface	45	633	680.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.35	nil	0	0	0.00
Iridium_during_connect	46	160	175.81	nil	0	0	0.00
Iridium_during_xfer	158	223	834.87
Transponder_ping	7	420	76.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.84
TT8	1560	19	315.17
LPSleep	13833	2	309.02
TT8_Active	518	19	104.78
TT8_Sampling	1860	39	755.40
TT8_CF8	389	45	181.89
TT8_Kalman	33	81	27.85
Analog_circuits	1440	12	176.28
GPS_charging	0	0	0.00
Compass	1805	8	147.35
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
19	-0.85	-146.6	0.0	0.0	0	82	0.00	0.00	-61.78	0.000	2	0.000	0.000	74	2406	3131
85	-0.85	-146.6	3.7	-6.0	3	110	12.10	2.58	-6.40	0.000	4	0.173	0.076	2221	3765	3417
323	-0.85	-146.6	31.3	-9.7	13	330	0.00	2.47	0.00	0.000	6	0.000	0.045	2221	2405	3418
639	-0.85	-146.6	57.0	-8.2	29	643	0.00	2.62	0.00	0.000	4	0.000	0.064	2221	985	3418
709	-0.85	-146.6	63.1	-8.1	32	714	0.00	2.58	0.00	0.000	6	0.000	0.049	2221	2398	3418
1031	-0.85	-146.6	89.1	-8.2	48	1035	0.00	2.62	0.00	0.000	4	0.000	0.061	2221	978	3418
1069	-0.85	-146.6	92.2	-8.6	50	1074	0.00	2.58	0.00	0.000	6	0.000	0.050	2221	2400	3418
1395	-0.85	-146.6	118.4	-8.3	66	1400	0.00	2.62	0.00	0.000	4	0.000	0.063	2221	984	3418
1434	-0.85	-146.6	121.5	-8.0	68	1438	0.00	2.55	0.00	0.000	6	0.000	0.050	2221	2400	3418
1759	-0.85	-146.6	147.1	-7.7	84	1764	0.00	2.62	0.00	0.000	4	0.000	0.063	2219	982	3418
1836	-0.85	-146.6	153.2	-8.0	87	1843	0.00	2.58	0.00	0.000	6	0.000	0.051	2221	2398	3418
2151	-0.85	-146.6	176.6	-7.5	103	2156	0.00	2.60	0.00	0.000	4	0.000	0.063	2221	983	3418
2200	-0.85	-146.6	180.2	-6.6	105	2205	0.00	2.55	0.00	0.000	6	0.000	0.051	2221	2400	3418
2522	-0.85	-146.6	204.4	-7.8	121	2526	0.00	2.62	0.00	0.000	4	0.000	0.064	2221	982	3418
2576	-0.85	-146.6	208.9	-8.6	123	2582	0.00	2.58	0.00	0.000	6	0.000	0.051	2221	2399	3418
2891	-0.85	-146.6	233.3	-7.9	139	2892	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2399	3418
3200	-0.85	-146.6	257.4	-7.8	154	3205	0.00	2.62	0.00	0.000	4	0.000	0.064	2221	982	3418
3284	-0.85	-146.6	264.2	-7.7	158	3289	0.00	2.55	0.00	0.000	6	0.000	0.051	2221	2400	3418
3610	-0.85	-146.6	290.9	-8.3	174	3614	0.00	2.62	0.00	0.000	4	0.000	0.064	2221	982	3418
3664	-0.85	-146.6	295.5	-8.4	176	3671	0.00	2.55	0.00	0.000	6	0.000	0.052	2221	2401	3418
3979	-0.85	-146.6	322.5	-8.6	192	3984	0.00	2.62	0.00	0.000	4	0.000	0.064	2221	985	3418
4051	-0.85	-146.6	328.8	-9.4	195	4055	0.00	2.58	0.00	0.000	6	0.000	0.051	2221	2401	3418
4372	-0.85	-146.6	355.2	-7.8	211	4377	0.00	2.62	0.00	0.000	4	0.000	0.064	2221	982	3418
4415	-0.85	-146.6	359.0	-8.5	213	4420	0.00	2.58	0.00	0.000	6	0.000	0.051	2222	2398	3418
4742	-0.85	-146.6	384.2	-7.5	229	4747	0.00	2.60	0.00	0.000	4	0.000	0.064	2221	984	3419
4786	-0.85	-146.6	387.9	-8.3	231	4790	0.00	2.58	0.00	0.000	6	0.000	0.051	2222	2404	3418
5112	-0.85	-146.6	414.4	-8.1	247	5113	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3418
5421	-0.85	-146.6	439.1	-7.9	262	5423	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3418
5731	-0.85	-146.6	464.9	-8.7	277	5735	0.00	2.62	0.00	0.000	4	0.000	0.063	2222	983	3418
5807	-0.85	-146.6	471.6	-8.6	280	5815	0.00	2.58	0.00	0.000	6	0.000	0.051	2221	2400	3418
6123	-0.85	-146.6	498.0	-8.5	296	6128	0.00	2.60	0.00	0.000	4	0.000	0.064	2222	984	3418
6164	-0.85	-146.6	501.4	-7.8	298	6168	0.00	2.58	0.00	0.000	6	0.000	0.051	2222	2404	3418
6491	-0.85	-146.6	529.5	-9.0	314	6495	0.00	2.62	0.00	0.000	4	0.000	0.064	2222	983	3418
6530	-0.85	-146.6	533.1	-9.3	316	6534	0.00	2.55	0.00	0.000	6	0.000	0.051	2221	2400	3418
6855	-0.85	-146.6	559.6	-7.7	332	6856	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3418
7164	-0.85	-146.6	579.7	-5.7	347	7169	0.00	2.62	0.00	0.000	4	0.000	0.063	2221	977	3418
7226	-0.85	-146.6	583.3	-5.9	350	7230	0.00	2.58	0.00	0.000	6	0.000	0.052	2222	2404	3418
7551	-0.85	-146.6	603.7	-7.4	366	7556	0.00	2.62	0.00	0.000	4	0.000	0.064	2221	984	3418
7590	-0.85	-146.6	606.5	-7.0	368	7594	0.00	2.55	0.00	0.000	6	0.000	0.053	2222	2401	3418
7916	-0.85	-146.6	627.2	-5.5	384	7920	0.00	2.62	0.00	0.000	4	0.000	0.065	2221	982	3418
7946	end dive: BOTTOM_OBSTACLE_DETECTED
state	7946	begin apogee
7953	-0.31	0.0	629.5	7.8	385	8079	0.55	0.00	120.90	1.088	6	0.107	0.000	2335	2200	2818
8080	end apogee: CONTROL_FINISHED_OK
state	8080	begin climb
8082	0.85	146.6	633.6	0.0	392	8205	1.25	0.00	118.85	1.069	6	0.094	0.000	2589	2200	2218
8512	0.85	146.6	607.6	7.5	413	8513	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2200	2217
8821	0.85	146.6	584.4	6.8	428	8826	0.00	2.65	0.00	0.000	4	0.000	0.066	2589	788	2216
8848	0.87	168.2	583.0	5.4	429	8873	0.00	2.58	18.38	0.988	6	0.000	0.050	2589	2199	2131
9190	0.89	183.8	565.6	5.6	446	9212	0.00	2.72	13.90	0.963	4	0.000	0.074	2589	3609	2067
9238	0.89	183.8	562.6	6.6	448	9243	0.00	2.62	0.00	0.000	6	0.000	0.054	2588	2208	2067
9565	0.89	183.8	541.9	7.0	464	9570	0.00	2.65	0.00	0.000	4	0.000	0.068	2589	785	2065
9604	0.89	183.8	538.9	8.0	466	9608	0.00	2.58	0.00	0.000	6	0.000	0.048	2589	2201	2065
9929	0.89	183.8	512.8	7.5	482	9934	0.00	2.65	0.00	0.000	4	0.000	0.073	2589	3609	2064
9961	0.89	183.8	510.2	7.5	483	9968	0.00	2.60	0.00	0.000	6	0.000	0.053	2589	2207	2064
10277	0.89	183.8	490.5	6.3	499	10281	0.00	2.65	0.00	0.000	4	0.000	0.068	2589	782	2063
10308	0.89	183.8	488.4	6.5	500	10316	0.00	2.60	0.00	0.000	6	0.000	0.047	2590	2201	2063
10624	0.89	183.8	467.9	6.3	516	10625	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2199	2063
10934	0.89	183.8	448.9	6.2	531	10938	0.00	2.65	0.00	0.000	4	0.000	0.072	2589	3616	2063
11000	0.89	183.8	444.3	7.1	534	11005	0.00	2.60	0.00	0.000	6	0.000	0.054	2589	2191	2063
11320	0.89	183.8	423.3	6.3	550	11321	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2191	2063
11630	0.89	190.5	404.6	5.8	565	11638	0.00	0.00	6.47	0.752	6	0.000	0.000	2589	2190	2039
11939	0.91	209.4	386.8	5.5	580	11960	0.00	0.00	16.45	0.874	6	0.000	0.000	2589	2190	1962
12269	0.91	209.4	366.1	6.7	596	12270	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2191	1962
12578	0.91	209.4	345.9	6.6	611	12579	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2190	1962
12887	0.91	209.4	325.5	6.6	626	12888	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2191	1962
13196	0.91	209.4	305.5	6.7	641	13201	0.00	2.65	0.00	0.000	4	0.000	0.071	2589	3610	1962
13228	0.91	209.4	303.1	7.1	642	13235	0.00	2.60	0.00	0.000	6	0.000	0.054	2589	2203	1962
13544	0.91	209.4	283.2	6.1	658	13545	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2203	1962
13853	0.91	209.4	264.1	6.3	673	13854	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2203	1962
14163	0.91	209.4	243.5	6.9	688	14167	0.00	2.62	0.00	0.000	4	0.000	0.067	2589	784	1962
14194	0.91	209.4	241.2	6.9	689	14201	0.00	2.58	0.00	0.000	6	0.000	0.045	2589	2203	1962
14509	0.91	209.4	220.0	6.5	705	14514	0.00	2.60	0.00	0.000	4	0.000	0.069	2589	3615	1962
14536	0.91	209.4	218.2	6.9	706	14541	0.00	2.60	0.00	0.000	6	0.000	0.051	2589	2197	1962
14857	0.92	216.8	198.6	5.8	722	14871	0.00	2.67	7.60	0.680	4	0.000	0.064	2589	785	1933
14894	0.92	218.0	196.4	6.0	723	14901	0.10	2.55	0.00	0.000	6	0.075	0.044	2611	2199	1933
15209	0.92	218.0	176.4	6.3	739	15211	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2200	1933
15518	0.92	218.0	157.4	6.0	754	15519	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2199	1933
15828	0.92	218.0	137.1	7.0	769	15829	0.00	0.00	0.00	0.000	6	0.000	0.000	2610	2199	1933
16138	0.92	218.0	115.4	6.9	784	16139	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2199	1933
16447	0.92	218.0	91.9	7.7	799	16448	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2199	1933
16756	0.92	218.0	68.5	7.4	814	16760	0.00	2.60	0.00	0.000	4	0.000	0.061	2611	784	1933
16787	0.92	218.0	66.0	7.6	815	16794	0.00	2.55	0.00	0.000	6	0.000	0.043	2611	2198	1933
17104	0.92	218.0	42.9	6.8	831	17109	0.00	2.60	0.00	0.000	4	0.000	0.061	2611	782	1932
17143	0.92	218.0	40.1	8.1	833	17148	0.00	2.53	0.00	0.000	6	0.000	0.043	2611	2198	1933
17470	0.92	218.0	18.1	7.2	849	17471	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2198	1933
17715	end climb: SURFACE_DEPTH_REACHED
state	17715	begin surface coast
17737	end surface coast: CONTROL_FINISHED_OK
state	17737	begin surface