Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 133 * 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 133 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 29 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 -2078129.1 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 -2078129.1

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 29 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 133 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 000626,6227.480,-1027.796,43,1.8,43,-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 0.220,-0.025

_SM_DEPTHo 1.37 KALMAN_X -85758.8,846.3,1101.6,11376.6,-18355.9

_SM_ANGLEo -64.2 KALMAN_Y 117409.9,-369.8,613.3,-26555.1,-10180.4

GPS2 001133,6227.384,-1027.921,13,1.3,13,-10.4 MHEAD_RNG_PITCHd_Wd 106.9,58278,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.015821 ALTIM_BOTTOM_PING 551.1,105.3

SM_CCo 16770,25.62,0.625,1,0,1593,300.00 _24V_AH 23.6,24.249

SM_GC 1.69,0.00,0.00,25.62,0.000,0.000,0.625,64,2416,1593,-10.79,0.45,300.00 _10V_AH 10.2,11.612

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41118,814

TT8_MAMPS 0.02301 CFSIZE 260165632,251588608

HUMID 2104 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,1,0

TCM_TEMP 16.90 GPS 061207,045337,6226.533,-1028.716,37,1.8,37,-10.4

XPDR_PINGS 26

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.16 SBE_CT 580 24 328.90

Roll_motor 172 74 302.53 SBE_O2 571 19 256.14

VBD_pump_during_apogee 333 1109 8740.42 WL_BB2F 497 105 1231.68

VBD_pump_during_surface 25 625 378.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.21 nil 0 0 0.00

Iridium_during_connect 38 160 144.42 nil 0 0 0.00

Iridium_during_xfer 143 223 757.32

Transponder_ping 11 420 109.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.86

TT8 1496 19 302.17

LPSleep 12942 2 289.11

TT8_Active 529 19 106.98

TT8_Sampling 1781 39 723.39

TT8_CF8 363 45 169.79

TT8_Kalman 33 81 27.84

Analog_circuits 1440 12 176.33

GPS_charging 0 0 0.00

Compass 1742 8 142.19

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 82 0.00 0.00 -61.62 0.000 2 0.000 0.000 70 2407 3143

85 -0.85 -146.6 3.8 -5.6 3 110 12.15 2.65 -6.10 0.000 4 0.174 0.071 2219 990 3417

182 -0.85 -146.6 16.9 -7.4 7 186 0.00 2.53 0.00 0.000 6 0.000 0.045 2219 2393 3418

503 -0.85 -146.6 43.4 -7.7 23 507 0.00 2.60 0.00 0.000 4 0.000 0.059 2219 982 3418

523 -0.85 -146.6 45.1 -7.9 24 528 0.00 2.58 0.00 0.000 6 0.000 0.046 2219 2400 3418

852 -0.85 -146.6 71.5 -8.0 40 856 0.00 2.62 0.00 0.000 4 0.000 0.061 2219 980 3418

906 -0.85 -146.6 76.4 -8.6 42 913 0.00 2.58 0.00 0.000 6 0.000 0.047 2219 2401 3417

1223 -0.85 -146.6 104.6 -9.2 58 1224 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2401 3418

1531 -0.85 -146.6 134.3 -9.8 73 1535 0.00 2.62 0.00 0.000 4 0.000 0.062 2219 981 3418

1608 -0.85 -146.6 141.9 -9.6 76 1615 0.00 2.58 0.00 0.000 6 0.000 0.048 2219 2403 3418

1923 -0.85 -146.6 172.1 -9.4 92 1927 0.00 2.62 0.00 0.000 4 0.000 0.063 2219 985 3418

1961 -0.85 -146.6 176.0 -10.9 94 1965 0.00 2.53 0.00 0.000 6 0.000 0.048 2219 2400 3418

2287 -0.85 -146.6 209.4 -9.9 110 2291 0.00 2.62 0.00 0.000 4 0.000 0.065 2219 984 3418

2352 -0.85 -146.6 215.8 -10.2 113 2357 0.00 2.58 0.00 0.000 6 0.000 0.049 2219 2403 3418

2679 -0.85 -146.6 245.5 -8.7 129 2683 0.00 2.62 0.00 0.000 4 0.000 0.065 2219 985 3418

2750 -0.85 -146.6 252.3 -10.0 132 2754 0.00 2.55 0.00 0.000 6 0.000 0.050 2219 2405 3418

3071 -0.85 -146.6 279.2 -9.0 148 3072 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2405 3418

3380 -0.85 -146.6 304.1 -8.0 163 3384 0.00 2.65 0.00 0.000 4 0.000 0.066 2219 980 3418

3447 -0.85 -146.6 309.8 -7.9 166 3451 0.00 2.58 0.00 0.000 6 0.000 0.049 2219 2407 3419

3766 -0.85 -146.6 332.5 -6.7 182 3770 0.00 2.65 0.00 0.000 4 0.000 0.065 2219 983 3418

3815 -0.85 -146.6 335.8 -7.0 184 3819 0.00 2.55 0.00 0.000 6 0.000 0.050 2219 2403 3418

4135 -0.85 -146.6 356.4 -7.0 200 4140 0.00 2.62 0.00 0.000 4 0.000 0.065 2219 984 3418

4167 -0.85 -146.6 358.7 -6.6 201 4174 0.00 2.58 0.00 0.000 6 0.000 0.051 2219 2398 3418

4483 -0.85 -146.6 379.5 -6.5 217 4488 0.00 2.60 0.00 0.000 4 0.000 0.064 2219 985 3418

4522 -0.85 -146.6 382.2 -6.5 219 4526 0.00 2.55 0.00 0.000 6 0.000 0.051 2219 2407 3418

4847 -0.85 -146.6 403.2 -6.3 235 4851 0.00 2.65 0.00 0.000 4 0.000 0.064 2219 976 3418

4879 -0.85 -146.6 405.5 -7.2 236 4885 0.00 2.55 0.00 0.000 6 0.000 0.050 2220 2400 3418

5194 -0.85 -146.6 427.1 -6.7 252 5195 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2400 3418

5503 -0.85 -146.6 448.4 -7.0 267 5507 0.00 2.60 0.00 0.000 4 0.000 0.064 2219 985 3418

5552 -0.85 -146.6 452.1 -7.4 269 5557 0.00 2.53 0.00 0.000 6 0.000 0.050 2219 2401 3418

5873 -0.85 -146.6 473.6 -6.5 285 5878 0.00 2.62 0.00 0.000 4 0.000 0.065 2219 983 3418

5922 -0.85 -146.6 476.9 -6.7 287 5926 0.00 2.55 0.00 0.000 6 0.000 0.050 2219 2407 3418

6243 -0.85 -146.6 494.4 -4.8 303 6244 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2407 3418

6552 -0.85 -146.6 509.9 -5.2 318 6556 0.00 2.62 0.00 0.000 4 0.000 0.064 2219 985 3418

6601 -0.85 -146.6 512.7 -5.5 320 6605 0.00 2.55 0.00 0.000 6 0.000 0.051 2219 2408 3418

6922 -0.85 -146.6 531.9 -6.0 336 6926 0.00 2.65 0.00 0.000 4 0.000 0.066 2219 979 3418

6954 -0.85 -146.6 533.9 -5.8 337 6960 0.00 2.55 0.00 0.000 6 0.000 0.049 2219 2404 3418

7269 -0.85 -146.6 553.7 -6.5 353 7273 0.00 2.62 0.00 0.000 4 0.000 0.064 2219 982 3418

7318 -0.85 -146.6 557.4 -7.8 355 7322 0.00 2.58 0.00 0.000 6 0.000 0.049 2219 2408 3418

7639 -0.85 -146.6 577.4 -6.3 371 7643 0.00 2.50 0.00 0.000 4 0.000 0.071 2219 3763 3418

7677 -0.85 -146.6 580.0 -6.8 373 7681 0.00 2.45 0.00 0.000 6 0.000 0.048 2219 2399 3418

8002 -0.85 -146.6 600.8 -6.2 389 8006 0.00 2.60 0.00 0.000 4 0.000 0.067 2219 986 3418

8073 -0.85 -146.6 605.6 -6.8 392 8078 0.00 2.58 0.00 0.000 6 0.000 0.052 2219 2399 3418

8394 -0.85 -146.6 626.2 -6.4 408 8398 0.00 2.55 0.00 0.000 4 0.000 0.074 2219 3763 3418

8437 -0.85 -146.6 629.6 -7.8 410 8441 0.00 2.47 0.00 0.000 6 0.000 0.049 2219 2392 3418

8721 end dive: BOTTOM_OBSTACLE_DETECTED

state 8721 begin apogee

8725 -0.31 0.0 647.0 6.2 424 8850 0.60 0.00 120.93 1.110 6 0.107 0.000 2339 2190 2817

8850 end apogee: CONTROL_FINISHED_OK

state 8850 begin climb

8852 0.85 146.6 649.4 0.0 430 8979 1.25 2.70 119.05 1.090 4 0.102 0.069 2589 793 2218

9058 0.85 146.6 636.5 8.1 440 9063 0.00 2.60 0.00 0.000 6 0.000 0.049 2589 2208 2217

9385 0.85 146.6 615.2 6.9 456 9389 0.00 2.65 0.00 0.000 4 0.000 0.072 2589 3612 2216

9506 0.85 146.6 606.3 7.7 461 9513 0.00 2.60 0.00 0.000 6 0.000 0.054 2589 2202 2216

9821 0.85 146.6 583.3 7.5 477 9826 0.00 2.65 0.00 0.000 4 0.000 0.070 2589 786 2215

9898 0.85 146.6 577.4 7.7 480 9905 0.00 2.60 0.00 0.000 6 0.000 0.049 2589 2198 2215

10214 0.86 160.2 558.3 5.6 496 10235 0.00 2.75 11.43 0.957 4 0.000 0.071 2589 3608 2164

10273 0.86 160.2 554.3 7.5 498 10279 0.00 2.65 0.00 0.000 6 0.000 0.055 2589 2198 2164

10589 0.89 185.6 536.6 5.3 514 10617 0.00 2.78 21.67 1.008 4 0.000 0.068 2589 782 2060

10657 0.89 185.6 532.8 6.1 517 10661 0.00 2.62 0.00 0.000 6 0.000 0.048 2589 2202 2059

10984 0.95 241.0 516.1 4.5 533 11032 0.12 0.00 45.45 1.025 6 0.067 0.000 2621 2202 1833

11333 0.97 258.1 495.1 5.5 550 11355 0.00 2.70 15.18 0.952 4 0.000 0.064 2621 785 1763

11377 0.97 258.1 492.2 6.8 552 11382 0.00 2.60 0.00 0.000 6 0.000 0.046 2621 2204 1763

11703 0.97 258.1 466.7 8.4 568 11708 0.00 2.65 0.00 0.000 4 0.000 0.064 2621 785 1762

11724 0.97 258.1 464.7 8.9 569 11729 0.00 2.58 0.00 0.000 6 0.000 0.046 2621 2191 1762

12051 0.97 258.1 436.8 8.4 585 12052 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2191 1762

12360 0.97 258.1 413.1 7.2 600 12365 0.00 2.62 0.00 0.000 4 0.000 0.064 2621 782 1761

12392 0.97 258.1 410.5 7.6 601 12399 0.00 2.58 0.00 0.000 6 0.000 0.044 2621 2200 1762

12708 0.97 258.1 384.6 8.6 617 12709 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2198 1763

13017 0.97 258.1 356.1 9.5 632 13018 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2199 1762

13326 0.97 258.1 326.0 10.1 647 13331 0.00 2.62 0.00 0.000 4 0.000 0.064 2621 782 1763

13353 0.97 258.1 323.1 10.9 648 13357 0.00 2.58 0.00 0.000 6 0.000 0.044 2621 2199 1761

13674 0.97 258.1 292.1 9.2 664 13675 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2199 1763

13983 0.97 258.1 263.5 9.5 679 13988 0.00 2.62 0.00 0.000 4 0.000 0.064 2621 785 1763

14010 0.97 258.1 260.9 9.5 680 14015 0.00 2.58 0.00 0.000 6 0.000 0.044 2621 2200 1764

14331 0.97 258.1 230.7 9.9 696 14332 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2200 1764

14641 0.97 258.1 201.7 9.4 711 14645 0.00 2.62 0.00 0.000 4 0.000 0.063 2621 784 1764

14679 0.97 258.1 197.9 9.8 713 14683 0.00 2.53 0.00 0.000 6 0.000 0.044 2621 2201 1764

15004 0.97 258.1 166.4 9.5 729 15005 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2201 1765

15314 0.97 258.1 134.7 10.6 744 15315 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2202 1765

15623 0.97 258.1 103.7 9.8 759 15627 0.00 2.62 0.00 0.000 4 0.000 0.063 2621 782 1766

15654 0.97 258.1 100.3 9.5 760 15661 0.00 2.58 0.00 0.000 6 0.000 0.044 2621 2204 1765

15972 0.97 258.1 70.8 9.2 776 15973 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2204 1766

16280 0.97 258.1 42.2 9.3 791 16281 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2204 1766

16589 0.97 258.1 14.6 8.4 806 16593 0.00 2.62 0.00 0.000 4 0.000 0.061 2621 779 1766

16620 0.97 258.1 11.3 10.3 807 16627 0.00 2.58 0.00 0.000 6 0.000 0.044 2621 2201 1766

16728 end climb: SURFACE_DEPTH_REACHED

state 16728 begin surface coast

16750 end surface coast: CONTROL_FINISHED_OK

state 16750 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	133	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	29	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	-2078129.1	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	000626,6227.480,-1027.796,43,1.8,43,-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	0.220,-0.025
_SM_DEPTHo	1.37	KALMAN_X	-85758.8,846.3,1101.6,11376.6,-18355.9
_SM_ANGLEo	-64.2	KALMAN_Y	117409.9,-369.8,613.3,-26555.1,-10180.4
GPS2	001133,6227.384,-1027.921,13,1.3,13,-10.4	MHEAD_RNG_PITCHd_Wd	106.9,58278,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.015821	ALTIM_BOTTOM_PING	551.1,105.3
SM_CCo	16770,25.62,0.625,1,0,1593,300.00	_24V_AH	23.6,24.249
SM_GC	1.69,0.00,0.00,25.62,0.000,0.000,0.625,64,2416,1593,-10.79,0.45,300.00	_10V_AH	10.2,11.612
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41118,814
TT8_MAMPS	0.02301	CFSIZE	260165632,251588608
HUMID	2104	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
TCM_TEMP	16.90	GPS	061207,045337,6226.533,-1028.716,37,1.8,37,-10.4
XPDR_PINGS	26

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.16	SBE_CT	580	24	328.90
Roll_motor	172	74	302.53	SBE_O2	571	19	256.14
VBD_pump_during_apogee	333	1109	8740.42	WL_BB2F	497	105	1231.68
VBD_pump_during_surface	25	625	378.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.21	nil	0	0	0.00
Iridium_during_connect	38	160	144.42	nil	0	0	0.00
Iridium_during_xfer	143	223	757.32
Transponder_ping	11	420	109.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.86
TT8	1496	19	302.17
LPSleep	12942	2	289.11
TT8_Active	529	19	106.98
TT8_Sampling	1781	39	723.39
TT8_CF8	363	45	169.79
TT8_Kalman	33	81	27.84
Analog_circuits	1440	12	176.33
GPS_charging	0	0	0.00
Compass	1742	8	142.19
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	82	0.00	0.00	-61.62	0.000	2	0.000	0.000	70	2407	3143
85	-0.85	-146.6	3.8	-5.6	3	110	12.15	2.65	-6.10	0.000	4	0.174	0.071	2219	990	3417
182	-0.85	-146.6	16.9	-7.4	7	186	0.00	2.53	0.00	0.000	6	0.000	0.045	2219	2393	3418
503	-0.85	-146.6	43.4	-7.7	23	507	0.00	2.60	0.00	0.000	4	0.000	0.059	2219	982	3418
523	-0.85	-146.6	45.1	-7.9	24	528	0.00	2.58	0.00	0.000	6	0.000	0.046	2219	2400	3418
852	-0.85	-146.6	71.5	-8.0	40	856	0.00	2.62	0.00	0.000	4	0.000	0.061	2219	980	3418
906	-0.85	-146.6	76.4	-8.6	42	913	0.00	2.58	0.00	0.000	6	0.000	0.047	2219	2401	3417
1223	-0.85	-146.6	104.6	-9.2	58	1224	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2401	3418
1531	-0.85	-146.6	134.3	-9.8	73	1535	0.00	2.62	0.00	0.000	4	0.000	0.062	2219	981	3418
1608	-0.85	-146.6	141.9	-9.6	76	1615	0.00	2.58	0.00	0.000	6	0.000	0.048	2219	2403	3418
1923	-0.85	-146.6	172.1	-9.4	92	1927	0.00	2.62	0.00	0.000	4	0.000	0.063	2219	985	3418
1961	-0.85	-146.6	176.0	-10.9	94	1965	0.00	2.53	0.00	0.000	6	0.000	0.048	2219	2400	3418
2287	-0.85	-146.6	209.4	-9.9	110	2291	0.00	2.62	0.00	0.000	4	0.000	0.065	2219	984	3418
2352	-0.85	-146.6	215.8	-10.2	113	2357	0.00	2.58	0.00	0.000	6	0.000	0.049	2219	2403	3418
2679	-0.85	-146.6	245.5	-8.7	129	2683	0.00	2.62	0.00	0.000	4	0.000	0.065	2219	985	3418
2750	-0.85	-146.6	252.3	-10.0	132	2754	0.00	2.55	0.00	0.000	6	0.000	0.050	2219	2405	3418
3071	-0.85	-146.6	279.2	-9.0	148	3072	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2405	3418
3380	-0.85	-146.6	304.1	-8.0	163	3384	0.00	2.65	0.00	0.000	4	0.000	0.066	2219	980	3418
3447	-0.85	-146.6	309.8	-7.9	166	3451	0.00	2.58	0.00	0.000	6	0.000	0.049	2219	2407	3419
3766	-0.85	-146.6	332.5	-6.7	182	3770	0.00	2.65	0.00	0.000	4	0.000	0.065	2219	983	3418
3815	-0.85	-146.6	335.8	-7.0	184	3819	0.00	2.55	0.00	0.000	6	0.000	0.050	2219	2403	3418
4135	-0.85	-146.6	356.4	-7.0	200	4140	0.00	2.62	0.00	0.000	4	0.000	0.065	2219	984	3418
4167	-0.85	-146.6	358.7	-6.6	201	4174	0.00	2.58	0.00	0.000	6	0.000	0.051	2219	2398	3418
4483	-0.85	-146.6	379.5	-6.5	217	4488	0.00	2.60	0.00	0.000	4	0.000	0.064	2219	985	3418
4522	-0.85	-146.6	382.2	-6.5	219	4526	0.00	2.55	0.00	0.000	6	0.000	0.051	2219	2407	3418
4847	-0.85	-146.6	403.2	-6.3	235	4851	0.00	2.65	0.00	0.000	4	0.000	0.064	2219	976	3418
4879	-0.85	-146.6	405.5	-7.2	236	4885	0.00	2.55	0.00	0.000	6	0.000	0.050	2220	2400	3418
5194	-0.85	-146.6	427.1	-6.7	252	5195	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2400	3418
5503	-0.85	-146.6	448.4	-7.0	267	5507	0.00	2.60	0.00	0.000	4	0.000	0.064	2219	985	3418
5552	-0.85	-146.6	452.1	-7.4	269	5557	0.00	2.53	0.00	0.000	6	0.000	0.050	2219	2401	3418
5873	-0.85	-146.6	473.6	-6.5	285	5878	0.00	2.62	0.00	0.000	4	0.000	0.065	2219	983	3418
5922	-0.85	-146.6	476.9	-6.7	287	5926	0.00	2.55	0.00	0.000	6	0.000	0.050	2219	2407	3418
6243	-0.85	-146.6	494.4	-4.8	303	6244	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2407	3418
6552	-0.85	-146.6	509.9	-5.2	318	6556	0.00	2.62	0.00	0.000	4	0.000	0.064	2219	985	3418
6601	-0.85	-146.6	512.7	-5.5	320	6605	0.00	2.55	0.00	0.000	6	0.000	0.051	2219	2408	3418
6922	-0.85	-146.6	531.9	-6.0	336	6926	0.00	2.65	0.00	0.000	4	0.000	0.066	2219	979	3418
6954	-0.85	-146.6	533.9	-5.8	337	6960	0.00	2.55	0.00	0.000	6	0.000	0.049	2219	2404	3418
7269	-0.85	-146.6	553.7	-6.5	353	7273	0.00	2.62	0.00	0.000	4	0.000	0.064	2219	982	3418
7318	-0.85	-146.6	557.4	-7.8	355	7322	0.00	2.58	0.00	0.000	6	0.000	0.049	2219	2408	3418
7639	-0.85	-146.6	577.4	-6.3	371	7643	0.00	2.50	0.00	0.000	4	0.000	0.071	2219	3763	3418
7677	-0.85	-146.6	580.0	-6.8	373	7681	0.00	2.45	0.00	0.000	6	0.000	0.048	2219	2399	3418
8002	-0.85	-146.6	600.8	-6.2	389	8006	0.00	2.60	0.00	0.000	4	0.000	0.067	2219	986	3418
8073	-0.85	-146.6	605.6	-6.8	392	8078	0.00	2.58	0.00	0.000	6	0.000	0.052	2219	2399	3418
8394	-0.85	-146.6	626.2	-6.4	408	8398	0.00	2.55	0.00	0.000	4	0.000	0.074	2219	3763	3418
8437	-0.85	-146.6	629.6	-7.8	410	8441	0.00	2.47	0.00	0.000	6	0.000	0.049	2219	2392	3418
8721	end dive: BOTTOM_OBSTACLE_DETECTED
state	8721	begin apogee
8725	-0.31	0.0	647.0	6.2	424	8850	0.60	0.00	120.93	1.110	6	0.107	0.000	2339	2190	2817
8850	end apogee: CONTROL_FINISHED_OK
state	8850	begin climb
8852	0.85	146.6	649.4	0.0	430	8979	1.25	2.70	119.05	1.090	4	0.102	0.069	2589	793	2218
9058	0.85	146.6	636.5	8.1	440	9063	0.00	2.60	0.00	0.000	6	0.000	0.049	2589	2208	2217
9385	0.85	146.6	615.2	6.9	456	9389	0.00	2.65	0.00	0.000	4	0.000	0.072	2589	3612	2216
9506	0.85	146.6	606.3	7.7	461	9513	0.00	2.60	0.00	0.000	6	0.000	0.054	2589	2202	2216
9821	0.85	146.6	583.3	7.5	477	9826	0.00	2.65	0.00	0.000	4	0.000	0.070	2589	786	2215
9898	0.85	146.6	577.4	7.7	480	9905	0.00	2.60	0.00	0.000	6	0.000	0.049	2589	2198	2215
10214	0.86	160.2	558.3	5.6	496	10235	0.00	2.75	11.43	0.957	4	0.000	0.071	2589	3608	2164
10273	0.86	160.2	554.3	7.5	498	10279	0.00	2.65	0.00	0.000	6	0.000	0.055	2589	2198	2164
10589	0.89	185.6	536.6	5.3	514	10617	0.00	2.78	21.67	1.008	4	0.000	0.068	2589	782	2060
10657	0.89	185.6	532.8	6.1	517	10661	0.00	2.62	0.00	0.000	6	0.000	0.048	2589	2202	2059
10984	0.95	241.0	516.1	4.5	533	11032	0.12	0.00	45.45	1.025	6	0.067	0.000	2621	2202	1833
11333	0.97	258.1	495.1	5.5	550	11355	0.00	2.70	15.18	0.952	4	0.000	0.064	2621	785	1763
11377	0.97	258.1	492.2	6.8	552	11382	0.00	2.60	0.00	0.000	6	0.000	0.046	2621	2204	1763
11703	0.97	258.1	466.7	8.4	568	11708	0.00	2.65	0.00	0.000	4	0.000	0.064	2621	785	1762
11724	0.97	258.1	464.7	8.9	569	11729	0.00	2.58	0.00	0.000	6	0.000	0.046	2621	2191	1762
12051	0.97	258.1	436.8	8.4	585	12052	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2191	1762
12360	0.97	258.1	413.1	7.2	600	12365	0.00	2.62	0.00	0.000	4	0.000	0.064	2621	782	1761
12392	0.97	258.1	410.5	7.6	601	12399	0.00	2.58	0.00	0.000	6	0.000	0.044	2621	2200	1762
12708	0.97	258.1	384.6	8.6	617	12709	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2198	1763
13017	0.97	258.1	356.1	9.5	632	13018	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2199	1762
13326	0.97	258.1	326.0	10.1	647	13331	0.00	2.62	0.00	0.000	4	0.000	0.064	2621	782	1763
13353	0.97	258.1	323.1	10.9	648	13357	0.00	2.58	0.00	0.000	6	0.000	0.044	2621	2199	1761
13674	0.97	258.1	292.1	9.2	664	13675	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2199	1763
13983	0.97	258.1	263.5	9.5	679	13988	0.00	2.62	0.00	0.000	4	0.000	0.064	2621	785	1763
14010	0.97	258.1	260.9	9.5	680	14015	0.00	2.58	0.00	0.000	6	0.000	0.044	2621	2200	1764
14331	0.97	258.1	230.7	9.9	696	14332	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2200	1764
14641	0.97	258.1	201.7	9.4	711	14645	0.00	2.62	0.00	0.000	4	0.000	0.063	2621	784	1764
14679	0.97	258.1	197.9	9.8	713	14683	0.00	2.53	0.00	0.000	6	0.000	0.044	2621	2201	1764
15004	0.97	258.1	166.4	9.5	729	15005	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2201	1765
15314	0.97	258.1	134.7	10.6	744	15315	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2202	1765
15623	0.97	258.1	103.7	9.8	759	15627	0.00	2.62	0.00	0.000	4	0.000	0.063	2621	782	1766
15654	0.97	258.1	100.3	9.5	760	15661	0.00	2.58	0.00	0.000	6	0.000	0.044	2621	2204	1765
15972	0.97	258.1	70.8	9.2	776	15973	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2204	1766
16280	0.97	258.1	42.2	9.3	791	16281	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2204	1766
16589	0.97	258.1	14.6	8.4	806	16593	0.00	2.62	0.00	0.000	4	0.000	0.061	2621	779	1766
16620	0.97	258.1	11.3	10.3	807	16627	0.00	2.58	0.00	0.000	6	0.000	0.044	2621	2201	1766
16728	end climb: SURFACE_DEPTH_REACHED
state	16728	begin surface coast
16750	end surface coast: CONTROL_FINISHED_OK
state	16750	begin surface