Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 114 * 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 114 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 15 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 -2077737.4 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 -2077737.4

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 15 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 114 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 080758,6208.167,-1021.935,29,3.3,49,-10.2 TGT_NAME IFRS1K

_CALLS 1 TGT_LATLONG 6210.000,-1055.000

_XMS_NAKs 7 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.175,-0.136

_SM_DEPTHo 1.30 KALMAN_X -35452.0,-513.0,-1291.6,-29936.1,1878.0

_SM_ANGLEo -65.0 KALMAN_Y 108603.6,104.6,536.5,-53676.9,4934.9

GPS2 081435,6208.205,-1021.973,13,2.4,32,-10.2 MHEAD_RNG_PITCHd_Wd 242.3,28752,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.015922 ALTIM_BOTTOM_PING 776.6,64.4

SM_CCo 19529,0.00,0.000,0,0,1172,403.52 _24V_AH 23.5,21.719

SM_GC 1.33,11.30,0.00,0.00,0.041,0.000,0.000,73,2406,1172,-10.68,0.17,403.52 _10V_AH 10.2,9.886

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47539,943

TT8_MAMPS 0.02301 CFSIZE 260165632,252854272

HUMID 2090 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 17.40 GPS 011207,134227,6209.155,-1029.110,40,2.1,59,-10.3

XPDR_PINGS 16

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 103.62 SBE_CT 655 24 369.64

Roll_motor 172 79 319.69 SBE_O2 674 19 301.11

VBD_pump_during_apogee 453 1230 13103.32 WL_BB2F 521 105 1286.09

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 78.97 nil 0 0 0.00

Iridium_during_connect 39 160 147.00 nil 0 0 0.00

Iridium_during_xfer 211 223 1107.75

Transponder_ping 10 420 106.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.06

TT8 1716 19 346.60

LPSleep 15027 2 335.69

TT8_Active 633 19 127.98

TT8_Sampling 2117 39 859.61

TT8_CF8 431 45 201.36

TT8_Kalman 33 81 27.84

Analog_circuits 1667 12 204.05

GPS_charging 0 0 0.00

Compass 2048 8 167.16

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.85 -146.6 0.0 0.0 0 83 0.00 0.00 -62.47 0.000 2 0.000 0.000 72 2405 3193

85 -0.85 -146.6 4.1 -7.0 3 108 12.10 2.60 -4.72 0.000 4 0.173 0.078 2220 3766 3415

360 -0.85 -146.6 37.6 -8.7 15 364 0.00 2.50 0.00 0.000 6 0.000 0.046 2220 2395 3416

686 -0.85 -146.6 68.3 -9.0 31 691 0.00 2.55 0.00 0.000 4 0.000 0.068 2220 3763 3415

741 -0.85 -146.6 73.7 -10.5 33 748 0.00 2.47 0.00 0.000 6 0.000 0.047 2220 2402 3415

1057 -0.85 -146.6 103.0 -9.5 49 1061 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 986 3415

1118 -0.85 -146.6 108.0 -8.4 52 1122 0.00 2.55 0.00 0.000 6 0.000 0.049 2220 2400 3415

1444 -0.85 -146.6 137.2 -8.2 68 1445 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2399 3415

1752 -0.85 -146.6 163.3 -8.6 83 1757 0.00 2.62 0.00 0.000 4 0.000 0.064 2220 981 3415

1814 -0.85 -146.6 168.4 -8.3 86 1818 0.00 2.55 0.00 0.000 6 0.000 0.050 2220 2401 3415

2139 -0.85 -146.6 194.8 -8.2 102 2140 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3415

2448 -0.85 -146.6 220.6 -8.6 117 2453 0.00 2.62 0.00 0.000 4 0.000 0.065 2220 982 3416

2520 -0.85 -146.6 227.0 -9.1 120 2524 0.00 2.55 0.00 0.000 6 0.000 0.050 2220 2392 3416

2841 -0.85 -146.6 256.8 -9.3 136 2842 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2392 3415

3150 -0.85 -146.6 285.1 -9.0 151 3155 0.00 2.60 0.00 0.000 4 0.000 0.066 2220 986 3416

3205 -0.85 -146.6 290.1 -8.9 153 3212 0.00 2.55 0.00 0.000 6 0.000 0.051 2220 2393 3416

3520 -0.85 -146.6 316.1 -8.1 169 3521 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2393 3416

3829 -0.85 -146.6 340.5 -7.4 184 3834 0.00 2.60 0.00 0.000 4 0.000 0.067 2220 987 3416

3895 -0.85 -146.6 345.8 -7.1 187 3900 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2408 3416

4222 -0.85 -146.6 367.2 -6.4 203 4223 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2409 3415

4531 -0.85 -146.6 386.6 -6.5 218 4535 0.00 2.65 0.00 0.000 4 0.000 0.067 2222 981 3416

4593 -0.85 -146.6 391.0 -7.3 221 4597 0.00 2.55 0.00 0.000 6 0.000 0.051 2220 2400 3415

4918 -0.85 -146.6 414.8 -7.4 237 4919 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3416

5227 -0.85 -146.6 436.3 -6.4 252 5231 0.00 2.60 0.00 0.000 4 0.000 0.066 2221 988 3416

5316 -0.85 -146.6 441.3 -5.0 256 5320 0.00 2.55 0.00 0.000 6 0.000 0.052 2220 2406 3416

5642 -0.85 -146.6 456.7 -4.6 272 5644 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2406 3416

5952 -0.85 -146.6 471.0 -4.8 287 5956 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 988 3416

6028 -0.85 -146.6 474.7 -5.4 290 6035 0.00 2.58 0.00 0.000 6 0.000 0.053 2220 2401 3416

6344 -0.85 -146.6 492.2 -7.0 306 6345 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2401 3416

6653 -0.85 -146.6 516.5 -9.1 321 6658 0.00 2.62 0.00 0.000 4 0.000 0.066 2220 984 3415

6747 -0.85 -146.6 526.3 -10.6 325 6752 0.00 2.58 0.00 0.000 6 0.000 0.052 2220 2391 3416

7068 -0.85 -146.6 558.0 -9.3 341 7070 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2392 3416

7378 -0.85 -146.6 584.2 -7.8 356 7382 0.00 2.60 0.00 0.000 4 0.000 0.067 2220 986 3416

7465 -0.85 -146.6 590.6 -7.4 360 7470 0.00 2.60 0.00 0.000 6 0.000 0.052 2220 2402 3416

7793 -0.85 -146.6 609.7 -5.4 376 7797 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 986 3416

7841 -0.85 -146.6 612.7 -6.1 378 7846 0.00 2.58 0.00 0.000 6 0.000 0.053 2220 2405 3416

8162 -0.85 -146.6 632.6 -6.9 394 8163 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3416

8471 -0.85 -146.6 654.9 -7.7 409 8473 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3416

8781 -0.85 -146.6 677.4 -7.3 424 8782 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3416

9090 -0.85 -146.6 697.3 -6.0 439 9094 0.00 2.55 0.00 0.000 4 0.000 0.076 2220 3769 3416

9150 -0.85 -146.6 700.4 -4.7 442 9155 0.00 2.47 0.00 0.000 6 0.000 0.054 2220 2397 3415

9476 -0.85 -146.6 718.1 -6.8 458 9477 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2397 3415

9785 -0.85 -146.6 737.0 -5.8 473 9790 0.00 2.60 0.00 0.000 4 0.000 0.071 2220 988 3415

9847 -0.85 -146.6 740.6 -6.2 476 9852 0.00 2.58 0.00 0.000 6 0.000 0.054 2220 2403 3415

10172 -0.85 -146.6 756.2 -4.3 492 10177 0.00 2.55 0.00 0.000 4 0.000 0.079 2220 3765 3415

10249 -0.85 -146.6 761.3 -7.5 495 10257 0.00 2.47 0.00 0.000 6 0.000 0.054 2220 2410 3415

10565 -0.85 -146.6 787.6 -8.7 511 10570 0.00 2.62 0.00 0.000 4 0.000 0.072 2220 985 3415

10636 -0.85 -146.6 793.8 -8.6 514 10641 0.00 2.60 0.00 0.000 6 0.000 0.056 2220 2395 3415

10958 -0.85 -146.6 814.6 -6.4 530 10962 0.00 2.62 0.00 0.000 4 0.000 0.068 2220 977 3415

11012 -0.85 -146.6 818.1 -6.3 532 11019 0.00 2.62 0.00 0.000 6 0.000 0.058 2220 2405 3415

11202 end dive: BOTTOM_OBSTACLE_DETECTED

state 11202 begin apogee

11206 -0.31 0.0 831.8 6.7 542 11332 0.60 0.00 122.82 1.230 6 0.114 0.000 2339 2192 2817

11333 end apogee: CONTROL_FINISHED_OK

state 11333 begin climb

11335 0.85 146.6 834.3 0.0 548 11465 1.23 2.75 121.10 1.209 4 0.099 0.073 2584 796 2218

11522 0.85 146.6 828.3 6.5 557 11526 0.00 2.62 0.00 0.000 6 0.000 0.056 2584 2202 2218

11847 0.89 189.8 809.9 4.8 573 11889 0.00 2.78 36.00 1.180 4 0.000 0.074 2584 785 2042

11957 0.90 191.7 804.1 5.9 578 11961 0.00 2.62 0.00 0.000 6 0.000 0.055 2584 2201 2043

12282 0.90 191.7 770.4 10.5 594 12283 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2201 2040

12591 1.13 404.5 764.3 0.2 609 12772 0.32 0.00 173.30 1.212 6 0.058 0.000 2662 2201 1167

13080 1.13 404.5 710.1 11.1 633 13084 0.00 2.67 0.00 0.000 4 0.000 0.072 2662 789 1166

13163 1.13 404.5 701.3 9.6 637 13168 0.00 2.60 0.00 0.000 6 0.000 0.049 2663 2206 1166

13488 1.13 404.5 667.9 10.9 653 13489 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2205 1166

13797 1.13 404.5 632.2 11.6 668 13798 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2205 1166

14107 1.13 404.5 596.9 11.4 683 14111 0.00 2.67 0.00 0.000 4 0.000 0.067 2662 784 1167

14160 1.13 404.5 590.4 11.6 685 14168 0.00 2.58 0.00 0.000 6 0.000 0.045 2662 2197 1167

14476 1.13 404.5 554.9 11.3 701 14481 0.00 2.62 0.00 0.000 4 0.000 0.068 2662 789 1169

14538 1.13 404.5 547.7 11.4 704 14542 0.00 2.55 0.00 0.000 6 0.000 0.045 2662 2199 1168

14862 1.13 404.5 511.8 10.4 720 14867 0.00 2.65 0.00 0.000 4 0.000 0.067 2662 788 1168

14918 1.13 404.5 506.1 9.9 722 14924 0.00 2.55 0.00 0.000 6 0.000 0.046 2662 2202 1168

15233 1.13 404.5 474.5 10.2 738 15237 0.00 2.65 0.00 0.000 4 0.000 0.067 2662 786 1169

15287 1.13 404.5 468.9 10.1 740 15294 0.00 2.58 0.00 0.000 6 0.000 0.046 2663 2195 1169

15602 1.13 404.5 435.3 10.8 756 15604 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2195 1170

15912 1.13 404.5 398.8 12.4 771 15916 0.00 2.62 0.00 0.000 4 0.000 0.067 2662 788 1169

15983 1.13 404.5 389.4 12.3 774 15987 0.00 2.58 0.00 0.000 6 0.000 0.046 2662 2201 1170

16304 1.13 404.5 349.5 12.7 790 16308 0.00 2.62 0.00 0.000 4 0.000 0.067 2662 788 1171

16358 1.13 404.5 342.5 12.6 792 16365 0.00 2.58 0.00 0.000 6 0.000 0.046 2663 2214 1171

16673 1.13 404.5 302.7 12.8 808 16677 0.00 2.67 0.00 0.000 4 0.000 0.066 2662 778 1171

16722 1.13 404.5 296.3 13.0 810 16727 0.00 2.60 0.00 0.000 6 0.000 0.045 2662 2204 1171

17044 1.13 404.5 258.0 11.8 826 17048 0.00 2.62 0.00 0.000 4 0.000 0.066 2662 788 1171

17075 1.13 404.5 254.2 10.5 827 17082 0.00 2.58 0.00 0.000 6 0.000 0.045 2662 2202 1172

17390 1.13 404.5 220.2 10.4 843 17395 0.00 2.65 0.00 0.000 4 0.000 0.066 2663 779 1172

17433 1.13 404.5 215.9 9.1 845 17438 0.00 2.58 0.00 0.000 6 0.000 0.044 2662 2214 1171

17761 1.13 404.5 184.9 9.9 861 17762 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2214 1172

18070 1.13 404.5 149.7 11.2 876 18074 0.00 2.65 0.00 0.000 4 0.000 0.064 2662 786 1172

18141 1.13 404.5 141.8 9.9 879 18146 0.00 2.55 0.00 0.000 6 0.000 0.044 2662 2195 1172

18462 1.13 404.5 111.6 10.0 895 18467 0.00 2.62 0.00 0.000 4 0.000 0.067 2662 785 1172

18506 1.13 404.5 106.8 10.7 897 18510 0.00 2.55 0.00 0.000 6 0.000 0.044 2662 2207 1172

18833 1.13 404.5 70.1 11.5 913 18837 0.00 2.65 0.00 0.000 4 0.000 0.066 2662 781 1172

18886 1.13 404.5 63.7 13.8 915 18894 0.00 2.58 0.00 0.000 6 0.000 0.044 2662 2201 1173

19202 1.13 404.5 26.8 11.4 931 19203 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2201 1172

19428 end climb: SURFACE_DEPTH_REACHED

state 19428 begin surface coast

19450 end surface coast: CONTROL_FINISHED_OK

state 19450 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	114	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	15	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	-2077737.4	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	080758,6208.167,-1021.935,29,3.3,49,-10.2	TGT_NAME	IFRS1K
_CALLS	1	TGT_LATLONG	6210.000,-1055.000
_XMS_NAKs	7	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.175,-0.136
_SM_DEPTHo	1.30	KALMAN_X	-35452.0,-513.0,-1291.6,-29936.1,1878.0
_SM_ANGLEo	-65.0	KALMAN_Y	108603.6,104.6,536.5,-53676.9,4934.9
GPS2	081435,6208.205,-1021.973,13,2.4,32,-10.2	MHEAD_RNG_PITCHd_Wd	242.3,28752,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.015922	ALTIM_BOTTOM_PING	776.6,64.4
SM_CCo	19529,0.00,0.000,0,0,1172,403.52	_24V_AH	23.5,21.719
SM_GC	1.33,11.30,0.00,0.00,0.041,0.000,0.000,73,2406,1172,-10.68,0.17,403.52	_10V_AH	10.2,9.886
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47539,943
TT8_MAMPS	0.02301	CFSIZE	260165632,252854272
HUMID	2090	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	17.40	GPS	011207,134227,6209.155,-1029.110,40,2.1,59,-10.3
XPDR_PINGS	16

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	103.62	SBE_CT	655	24	369.64
Roll_motor	172	79	319.69	SBE_O2	674	19	301.11
VBD_pump_during_apogee	453	1230	13103.32	WL_BB2F	521	105	1286.09
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	78.97	nil	0	0	0.00
Iridium_during_connect	39	160	147.00	nil	0	0	0.00
Iridium_during_xfer	211	223	1107.75
Transponder_ping	10	420	106.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.06
TT8	1716	19	346.60
LPSleep	15027	2	335.69
TT8_Active	633	19	127.98
TT8_Sampling	2117	39	859.61
TT8_CF8	431	45	201.36
TT8_Kalman	33	81	27.84
Analog_circuits	1667	12	204.05
GPS_charging	0	0	0.00
Compass	2048	8	167.16
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.85	-146.6	0.0	0.0	0	83	0.00	0.00	-62.47	0.000	2	0.000	0.000	72	2405	3193
85	-0.85	-146.6	4.1	-7.0	3	108	12.10	2.60	-4.72	0.000	4	0.173	0.078	2220	3766	3415
360	-0.85	-146.6	37.6	-8.7	15	364	0.00	2.50	0.00	0.000	6	0.000	0.046	2220	2395	3416
686	-0.85	-146.6	68.3	-9.0	31	691	0.00	2.55	0.00	0.000	4	0.000	0.068	2220	3763	3415
741	-0.85	-146.6	73.7	-10.5	33	748	0.00	2.47	0.00	0.000	6	0.000	0.047	2220	2402	3415
1057	-0.85	-146.6	103.0	-9.5	49	1061	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	986	3415
1118	-0.85	-146.6	108.0	-8.4	52	1122	0.00	2.55	0.00	0.000	6	0.000	0.049	2220	2400	3415
1444	-0.85	-146.6	137.2	-8.2	68	1445	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2399	3415
1752	-0.85	-146.6	163.3	-8.6	83	1757	0.00	2.62	0.00	0.000	4	0.000	0.064	2220	981	3415
1814	-0.85	-146.6	168.4	-8.3	86	1818	0.00	2.55	0.00	0.000	6	0.000	0.050	2220	2401	3415
2139	-0.85	-146.6	194.8	-8.2	102	2140	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3415
2448	-0.85	-146.6	220.6	-8.6	117	2453	0.00	2.62	0.00	0.000	4	0.000	0.065	2220	982	3416
2520	-0.85	-146.6	227.0	-9.1	120	2524	0.00	2.55	0.00	0.000	6	0.000	0.050	2220	2392	3416
2841	-0.85	-146.6	256.8	-9.3	136	2842	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2392	3415
3150	-0.85	-146.6	285.1	-9.0	151	3155	0.00	2.60	0.00	0.000	4	0.000	0.066	2220	986	3416
3205	-0.85	-146.6	290.1	-8.9	153	3212	0.00	2.55	0.00	0.000	6	0.000	0.051	2220	2393	3416
3520	-0.85	-146.6	316.1	-8.1	169	3521	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2393	3416
3829	-0.85	-146.6	340.5	-7.4	184	3834	0.00	2.60	0.00	0.000	4	0.000	0.067	2220	987	3416
3895	-0.85	-146.6	345.8	-7.1	187	3900	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2408	3416
4222	-0.85	-146.6	367.2	-6.4	203	4223	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2409	3415
4531	-0.85	-146.6	386.6	-6.5	218	4535	0.00	2.65	0.00	0.000	4	0.000	0.067	2222	981	3416
4593	-0.85	-146.6	391.0	-7.3	221	4597	0.00	2.55	0.00	0.000	6	0.000	0.051	2220	2400	3415
4918	-0.85	-146.6	414.8	-7.4	237	4919	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3416
5227	-0.85	-146.6	436.3	-6.4	252	5231	0.00	2.60	0.00	0.000	4	0.000	0.066	2221	988	3416
5316	-0.85	-146.6	441.3	-5.0	256	5320	0.00	2.55	0.00	0.000	6	0.000	0.052	2220	2406	3416
5642	-0.85	-146.6	456.7	-4.6	272	5644	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2406	3416
5952	-0.85	-146.6	471.0	-4.8	287	5956	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	988	3416
6028	-0.85	-146.6	474.7	-5.4	290	6035	0.00	2.58	0.00	0.000	6	0.000	0.053	2220	2401	3416
6344	-0.85	-146.6	492.2	-7.0	306	6345	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2401	3416
6653	-0.85	-146.6	516.5	-9.1	321	6658	0.00	2.62	0.00	0.000	4	0.000	0.066	2220	984	3415
6747	-0.85	-146.6	526.3	-10.6	325	6752	0.00	2.58	0.00	0.000	6	0.000	0.052	2220	2391	3416
7068	-0.85	-146.6	558.0	-9.3	341	7070	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2392	3416
7378	-0.85	-146.6	584.2	-7.8	356	7382	0.00	2.60	0.00	0.000	4	0.000	0.067	2220	986	3416
7465	-0.85	-146.6	590.6	-7.4	360	7470	0.00	2.60	0.00	0.000	6	0.000	0.052	2220	2402	3416
7793	-0.85	-146.6	609.7	-5.4	376	7797	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	986	3416
7841	-0.85	-146.6	612.7	-6.1	378	7846	0.00	2.58	0.00	0.000	6	0.000	0.053	2220	2405	3416
8162	-0.85	-146.6	632.6	-6.9	394	8163	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3416
8471	-0.85	-146.6	654.9	-7.7	409	8473	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3416
8781	-0.85	-146.6	677.4	-7.3	424	8782	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3416
9090	-0.85	-146.6	697.3	-6.0	439	9094	0.00	2.55	0.00	0.000	4	0.000	0.076	2220	3769	3416
9150	-0.85	-146.6	700.4	-4.7	442	9155	0.00	2.47	0.00	0.000	6	0.000	0.054	2220	2397	3415
9476	-0.85	-146.6	718.1	-6.8	458	9477	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2397	3415
9785	-0.85	-146.6	737.0	-5.8	473	9790	0.00	2.60	0.00	0.000	4	0.000	0.071	2220	988	3415
9847	-0.85	-146.6	740.6	-6.2	476	9852	0.00	2.58	0.00	0.000	6	0.000	0.054	2220	2403	3415
10172	-0.85	-146.6	756.2	-4.3	492	10177	0.00	2.55	0.00	0.000	4	0.000	0.079	2220	3765	3415
10249	-0.85	-146.6	761.3	-7.5	495	10257	0.00	2.47	0.00	0.000	6	0.000	0.054	2220	2410	3415
10565	-0.85	-146.6	787.6	-8.7	511	10570	0.00	2.62	0.00	0.000	4	0.000	0.072	2220	985	3415
10636	-0.85	-146.6	793.8	-8.6	514	10641	0.00	2.60	0.00	0.000	6	0.000	0.056	2220	2395	3415
10958	-0.85	-146.6	814.6	-6.4	530	10962	0.00	2.62	0.00	0.000	4	0.000	0.068	2220	977	3415
11012	-0.85	-146.6	818.1	-6.3	532	11019	0.00	2.62	0.00	0.000	6	0.000	0.058	2220	2405	3415
11202	end dive: BOTTOM_OBSTACLE_DETECTED
state	11202	begin apogee
11206	-0.31	0.0	831.8	6.7	542	11332	0.60	0.00	122.82	1.230	6	0.114	0.000	2339	2192	2817
11333	end apogee: CONTROL_FINISHED_OK
state	11333	begin climb
11335	0.85	146.6	834.3	0.0	548	11465	1.23	2.75	121.10	1.209	4	0.099	0.073	2584	796	2218
11522	0.85	146.6	828.3	6.5	557	11526	0.00	2.62	0.00	0.000	6	0.000	0.056	2584	2202	2218
11847	0.89	189.8	809.9	4.8	573	11889	0.00	2.78	36.00	1.180	4	0.000	0.074	2584	785	2042
11957	0.90	191.7	804.1	5.9	578	11961	0.00	2.62	0.00	0.000	6	0.000	0.055	2584	2201	2043
12282	0.90	191.7	770.4	10.5	594	12283	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2201	2040
12591	1.13	404.5	764.3	0.2	609	12772	0.32	0.00	173.30	1.212	6	0.058	0.000	2662	2201	1167
13080	1.13	404.5	710.1	11.1	633	13084	0.00	2.67	0.00	0.000	4	0.000	0.072	2662	789	1166
13163	1.13	404.5	701.3	9.6	637	13168	0.00	2.60	0.00	0.000	6	0.000	0.049	2663	2206	1166
13488	1.13	404.5	667.9	10.9	653	13489	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2205	1166
13797	1.13	404.5	632.2	11.6	668	13798	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2205	1166
14107	1.13	404.5	596.9	11.4	683	14111	0.00	2.67	0.00	0.000	4	0.000	0.067	2662	784	1167
14160	1.13	404.5	590.4	11.6	685	14168	0.00	2.58	0.00	0.000	6	0.000	0.045	2662	2197	1167
14476	1.13	404.5	554.9	11.3	701	14481	0.00	2.62	0.00	0.000	4	0.000	0.068	2662	789	1169
14538	1.13	404.5	547.7	11.4	704	14542	0.00	2.55	0.00	0.000	6	0.000	0.045	2662	2199	1168
14862	1.13	404.5	511.8	10.4	720	14867	0.00	2.65	0.00	0.000	4	0.000	0.067	2662	788	1168
14918	1.13	404.5	506.1	9.9	722	14924	0.00	2.55	0.00	0.000	6	0.000	0.046	2662	2202	1168
15233	1.13	404.5	474.5	10.2	738	15237	0.00	2.65	0.00	0.000	4	0.000	0.067	2662	786	1169
15287	1.13	404.5	468.9	10.1	740	15294	0.00	2.58	0.00	0.000	6	0.000	0.046	2663	2195	1169
15602	1.13	404.5	435.3	10.8	756	15604	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2195	1170
15912	1.13	404.5	398.8	12.4	771	15916	0.00	2.62	0.00	0.000	4	0.000	0.067	2662	788	1169
15983	1.13	404.5	389.4	12.3	774	15987	0.00	2.58	0.00	0.000	6	0.000	0.046	2662	2201	1170
16304	1.13	404.5	349.5	12.7	790	16308	0.00	2.62	0.00	0.000	4	0.000	0.067	2662	788	1171
16358	1.13	404.5	342.5	12.6	792	16365	0.00	2.58	0.00	0.000	6	0.000	0.046	2663	2214	1171
16673	1.13	404.5	302.7	12.8	808	16677	0.00	2.67	0.00	0.000	4	0.000	0.066	2662	778	1171
16722	1.13	404.5	296.3	13.0	810	16727	0.00	2.60	0.00	0.000	6	0.000	0.045	2662	2204	1171
17044	1.13	404.5	258.0	11.8	826	17048	0.00	2.62	0.00	0.000	4	0.000	0.066	2662	788	1171
17075	1.13	404.5	254.2	10.5	827	17082	0.00	2.58	0.00	0.000	6	0.000	0.045	2662	2202	1172
17390	1.13	404.5	220.2	10.4	843	17395	0.00	2.65	0.00	0.000	4	0.000	0.066	2663	779	1172
17433	1.13	404.5	215.9	9.1	845	17438	0.00	2.58	0.00	0.000	6	0.000	0.044	2662	2214	1171
17761	1.13	404.5	184.9	9.9	861	17762	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2214	1172
18070	1.13	404.5	149.7	11.2	876	18074	0.00	2.65	0.00	0.000	4	0.000	0.064	2662	786	1172
18141	1.13	404.5	141.8	9.9	879	18146	0.00	2.55	0.00	0.000	6	0.000	0.044	2662	2195	1172
18462	1.13	404.5	111.6	10.0	895	18467	0.00	2.62	0.00	0.000	4	0.000	0.067	2662	785	1172
18506	1.13	404.5	106.8	10.7	897	18510	0.00	2.55	0.00	0.000	6	0.000	0.044	2662	2207	1172
18833	1.13	404.5	70.1	11.5	913	18837	0.00	2.65	0.00	0.000	4	0.000	0.066	2662	781	1172
18886	1.13	404.5	63.7	13.8	915	18894	0.00	2.58	0.00	0.000	6	0.000	0.044	2662	2201	1173
19202	1.13	404.5	26.8	11.4	931	19203	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2201	1172
19428	end climb: SURFACE_DEPTH_REACHED
state	19428	begin surface coast
19450	end surface coast: CONTROL_FINISHED_OK
state	19450	begin surface