Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 134 * 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 134 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 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 -2078161.9 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 -2078161.9

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 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 134 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 045337,6226.533,-1028.716,37,1.8,37,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.171,0.140

_SM_DEPTHo 1.32 KALMAN_X -92951.1,1487.7,1040.3,17208.0,-25185.5

_SM_ANGLEo -61.9 KALMAN_Y 115836.6,1212.5,1067.2,-28679.5,-12401.0

GPS2 045926,6226.514,-1028.804,15,1.5,32,-10.4 MHEAD_RNG_PITCHd_Wd 61.0,59958,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.003552 ALTIM_BOTTOM_PING 550.7,95.9

SM_CCo 18100,52.50,0.648,1,0,1593,300.00 _24V_AH 23.6,24.363

SM_GC 1.41,0.00,0.00,52.50,0.000,0.000,0.648,73,2403,1593,-10.75,0.08,300.00 _10V_AH 10.2,11.694

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44222,880

TT8_MAMPS 0.02301 CFSIZE 260165632,251531264

HUMID 2098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,1,0

TCM_TEMP 15.80 GPS 061207,100408,6227.931,-1027.758,40,1.0,40,-10.4

XPDR_PINGS 22

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.31 SBE_CT 620 24 351.71

Roll_motor 168 80 319.35 SBE_O2 628 19 282.01

VBD_pump_during_apogee 295 1109 7741.71 WL_BB2F 576 105 1427.38

VBD_pump_during_surface 52 648 803.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.29 nil 0 0 0.00

Iridium_during_connect 36 160 137.71 nil 0 0 0.00

Iridium_during_xfer 170 223 895.74

Transponder_ping 10 420 99.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.40

TT8 1588 19 320.73

LPSleep 14174 2 316.64

TT8_Active 518 19 104.64

TT8_Sampling 1837 39 745.99

TT8_CF8 391 45 183.11

TT8_Kalman 33 81 27.84

Analog_circuits 1435 12 175.70

GPS_charging 0 0 0.00

Compass 1782 8 145.44

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 -61.80 0.000 2 0.000 0.000 64 2416 3136

86 -0.85 -146.6 3.7 -4.7 3 107 12.35 0.00 -6.47 0.000 6 0.175 0.000 2218 2416 3417

413 -0.85 -146.6 34.3 -8.1 19 417 0.00 2.67 0.00 0.000 4 0.000 0.062 2219 975 3419

466 -0.85 -146.6 39.2 -8.4 21 474 0.00 2.58 0.00 0.000 6 0.000 0.049 2218 2390 3418

784 -0.85 -146.6 63.8 -7.5 37 785 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2390 3418

1092 -0.85 -146.6 88.0 -7.9 52 1096 0.00 2.62 0.00 0.000 4 0.000 0.063 2218 976 3418

1140 -0.85 -146.6 91.9 -8.0 54 1145 0.00 2.58 0.00 0.000 6 0.000 0.050 2218 2404 3418

1461 -0.85 -146.6 116.4 -7.4 70 1466 0.00 2.65 0.00 0.000 4 0.000 0.064 2218 977 3418

1487 -0.85 -146.6 118.5 -8.3 71 1492 0.00 2.58 0.00 0.000 6 0.000 0.049 2218 2398 3418

1810 -0.85 -146.6 143.8 -8.4 87 1815 0.00 2.62 0.00 0.000 4 0.000 0.064 2218 981 3418

1831 -0.85 -146.6 145.9 -8.8 88 1836 0.00 2.58 0.00 0.000 6 0.000 0.050 2219 2398 3418

2158 -0.85 -146.6 173.5 -8.5 104 2162 0.00 2.62 0.00 0.000 4 0.000 0.064 2218 976 3418

2184 -0.85 -146.6 175.9 -8.8 105 2188 0.00 2.58 0.00 0.000 6 0.000 0.050 2219 2398 3418

2506 -0.85 -146.6 201.7 -8.0 121 2510 0.00 2.62 0.00 0.000 4 0.000 0.064 2218 983 3418

2548 -0.85 -146.6 205.4 -8.4 123 2553 0.00 2.58 0.00 0.000 6 0.000 0.051 2219 2395 3418

2875 -0.85 -146.6 231.2 -8.0 139 2880 0.00 2.62 0.00 0.000 4 0.000 0.066 2218 982 3418

2902 -0.85 -146.6 233.6 -8.8 140 2906 0.00 2.55 0.00 0.000 6 0.000 0.051 2218 2400 3418

3223 -0.85 -146.6 260.1 -8.2 156 3228 0.00 2.62 0.00 0.000 4 0.000 0.065 2219 982 3418

3255 -0.85 -146.6 262.8 -8.1 157 3262 0.00 2.55 0.00 0.000 6 0.000 0.051 2219 2401 3418

3571 -0.85 -146.6 288.4 -8.3 173 3575 0.00 2.62 0.00 0.000 4 0.000 0.066 2219 982 3418

3597 -0.85 -146.6 290.7 -9.1 174 3601 0.00 2.58 0.00 0.000 6 0.000 0.052 2219 2395 3418

3918 -0.85 -146.6 316.1 -8.0 190 3922 0.00 2.62 0.00 0.000 4 0.000 0.067 2218 982 3418

3949 -0.85 -146.6 318.6 -7.8 191 3956 0.00 2.58 0.00 0.000 6 0.000 0.052 2219 2395 3418

4265 -0.85 -146.6 342.2 -7.3 207 4266 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2395 3418

4574 -0.85 -146.6 363.3 -6.9 222 4578 0.00 2.62 0.00 0.000 4 0.000 0.066 2219 980 3419

4646 -0.85 -146.6 368.1 -6.8 225 4650 0.00 2.58 0.00 0.000 6 0.000 0.053 2219 2404 3418

4967 -0.85 -146.6 389.9 -7.1 241 4971 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 977 3418

4998 -0.85 -146.6 392.3 -7.7 242 5005 0.00 2.60 0.00 0.000 6 0.000 0.052 2219 2401 3418

5314 -0.85 -146.6 415.8 -7.7 258 5318 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 980 3419

5352 -0.85 -146.6 419.0 -8.0 260 5357 0.00 2.60 0.00 0.000 6 0.000 0.053 2218 2408 3418

5678 -0.85 -146.6 446.9 -8.8 276 5683 0.00 2.65 0.00 0.000 4 0.000 0.067 2219 982 3418

5717 -0.85 -146.6 450.5 -9.5 278 5721 0.00 2.55 0.00 0.000 6 0.000 0.053 2219 2400 3418

6042 -0.85 -146.6 481.6 -9.7 294 6043 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2400 3418

6351 -0.85 -146.6 508.2 -8.0 309 6356 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 982 3419

6451 -0.85 -146.6 516.4 -8.2 313 6458 0.00 2.58 0.00 0.000 6 0.000 0.054 2218 2406 3418

6766 -0.85 -146.6 540.0 -7.2 329 6770 0.00 2.65 0.00 0.000 4 0.000 0.064 2219 977 3418

6793 -0.85 -146.6 542.0 -7.5 330 6798 0.00 2.60 0.00 0.000 6 0.000 0.054 2219 2398 3418

7114 -0.85 -146.6 563.8 -7.3 346 7119 0.00 2.62 0.00 0.000 4 0.000 0.066 2219 982 3419

7163 -0.85 -146.6 567.8 -7.9 348 7168 0.00 2.58 0.00 0.000 6 0.000 0.056 2219 2400 3418

7484 -0.85 -146.6 591.7 -7.1 364 7489 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 983 3419

7505 -0.85 -146.6 593.4 -7.7 365 7510 0.00 2.60 0.00 0.000 6 0.000 0.056 2219 2402 3418

7832 -0.85 -146.6 617.2 -7.0 381 7837 0.00 2.58 0.00 0.000 4 0.000 0.081 2219 3763 3418

7893 -0.85 -146.6 621.6 -7.1 384 7898 0.00 2.47 0.00 0.000 6 0.000 0.054 2219 2397 3418

8115 end dive: BOTTOM_OBSTACLE_DETECTED

state 8115 begin apogee

8120 -0.31 0.0 636.8 6.5 395 8244 0.60 0.00 120.85 1.109 6 0.110 0.000 2338 2199 2818

8244 end apogee: CONTROL_FINISHED_OK

state 8244 begin climb

8246 0.85 146.6 640.3 0.0 401 8373 1.25 2.75 118.93 1.088 4 0.100 0.074 2588 792 2217

8390 0.87 164.7 634.8 5.5 408 8411 0.00 2.60 16.20 0.989 6 0.000 0.053 2587 2199 2144

8732 0.87 164.7 614.3 6.1 425 8736 0.00 2.67 0.00 0.000 4 0.000 0.075 2588 3609 2144

8775 0.87 164.7 611.4 7.0 427 8779 0.00 2.62 0.00 0.000 6 0.000 0.058 2588 2200 2144

9101 0.87 173.2 592.2 5.8 443 9115 0.00 2.75 7.88 0.897 4 0.000 0.079 2588 3604 2111

9144 0.87 173.2 589.5 6.7 445 9149 0.00 2.62 0.00 0.000 6 0.000 0.059 2588 2200 2111

9471 0.88 177.2 570.5 5.9 461 9481 0.00 2.70 5.10 0.775 4 0.000 0.073 2588 786 2093

9514 0.88 177.2 567.5 6.5 463 9518 0.00 2.62 0.00 0.000 6 0.000 0.052 2587 2196 2093

9841 0.88 177.2 545.9 6.8 479 9842 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2195 2092

10150 0.88 177.2 525.5 6.4 494 10154 0.00 2.65 0.00 0.000 4 0.000 0.067 2587 785 2091

10193 0.88 177.2 522.3 7.0 496 10197 0.00 2.62 0.00 0.000 6 0.000 0.052 2588 2203 2091

10520 0.88 180.4 502.5 5.9 512 10525 0.00 0.00 3.72 0.628 6 0.000 0.000 2588 2203 2081

10829 0.90 198.3 484.4 5.5 527 10851 0.00 2.72 15.95 0.963 4 0.000 0.067 2587 785 2007

10878 0.90 198.3 481.4 6.6 529 10882 0.00 2.62 0.00 0.000 6 0.000 0.050 2587 2195 2006

11204 0.90 198.3 460.0 7.1 545 11209 0.00 2.65 0.00 0.000 4 0.000 0.067 2587 782 2006

11230 0.90 198.3 458.1 7.5 546 11235 0.00 2.60 0.00 0.000 6 0.000 0.049 2588 2194 2006

11551 0.90 198.3 434.8 7.3 562 11556 0.00 2.65 0.00 0.000 4 0.000 0.072 2588 3607 2005

11590 0.90 198.3 431.6 8.6 564 11594 0.00 2.60 0.00 0.000 6 0.000 0.058 2587 2201 2005

11915 0.90 198.3 408.1 6.9 580 11920 0.00 2.65 0.00 0.000 4 0.000 0.069 2588 782 2005

11954 0.90 198.3 405.1 7.6 582 11959 0.00 2.58 0.00 0.000 6 0.000 0.048 2588 2207 2005

12280 0.90 198.3 381.6 6.8 598 12281 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2207 2006

12589 0.90 198.3 361.0 6.5 613 12590 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2207 2005

12898 0.90 198.3 340.0 6.5 628 12899 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2207 2005

13207 0.90 198.3 319.1 6.8 643 13208 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2207 2006

13516 0.90 198.3 299.2 6.4 658 13518 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2207 2007

13826 0.90 198.8 280.2 6.0 673 13827 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2207 2007

14135 0.90 198.8 261.3 6.1 688 14139 0.00 2.65 0.00 0.000 4 0.000 0.064 2586 778 2007

14166 0.90 198.8 259.3 6.2 689 14173 0.00 2.55 0.00 0.000 6 0.000 0.045 2587 2201 2008

14482 0.91 205.0 240.9 5.8 705 14496 0.00 2.67 7.15 0.696 4 0.000 0.066 2588 3607 1981

14517 0.91 205.0 238.5 7.5 706 14524 0.00 2.62 0.00 0.000 6 0.000 0.055 2588 2196 1981

14833 0.91 205.0 218.5 6.3 722 14838 0.00 2.60 0.00 0.000 4 0.000 0.067 2588 787 1981

14872 0.91 205.0 215.9 7.0 724 14876 0.00 2.50 0.00 0.000 6 0.000 0.044 2588 2201 1981

15197 0.91 205.0 194.1 6.9 740 15198 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 1981

15506 0.91 205.0 173.4 6.9 755 15508 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 1981

15815 0.91 205.0 152.1 6.7 770 15817 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 1981

16125 0.91 205.0 131.0 6.8 785 16126 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 1981

16435 0.91 205.0 110.1 6.8 800 16436 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 1981

16744 0.91 205.0 89.3 6.8 815 16745 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 1981

17053 0.91 205.0 69.0 6.7 830 17057 0.00 2.62 0.00 0.000 4 0.000 0.063 2588 779 1981

17084 0.91 205.0 66.7 7.5 831 17092 0.00 2.55 0.00 0.000 6 0.000 0.043 2588 2200 1981

17402 0.91 205.0 45.6 6.5 847 17403 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2199 1981

17710 0.91 205.0 24.4 6.2 862 17711 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2200 1981

18019 0.91 205.0 3.4 7.3 877 18020 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2200 1982

18058 end climb: SURFACE_DEPTH_REACHED

state 18058 begin surface coast

18081 end surface coast: CONTROL_FINISHED_OK

state 18081 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	134	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	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	-2078161.9	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	045337,6226.533,-1028.716,37,1.8,37,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.171,0.140
_SM_DEPTHo	1.32	KALMAN_X	-92951.1,1487.7,1040.3,17208.0,-25185.5
_SM_ANGLEo	-61.9	KALMAN_Y	115836.6,1212.5,1067.2,-28679.5,-12401.0
GPS2	045926,6226.514,-1028.804,15,1.5,32,-10.4	MHEAD_RNG_PITCHd_Wd	61.0,59958,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.003552	ALTIM_BOTTOM_PING	550.7,95.9
SM_CCo	18100,52.50,0.648,1,0,1593,300.00	_24V_AH	23.6,24.363
SM_GC	1.41,0.00,0.00,52.50,0.000,0.000,0.648,73,2403,1593,-10.75,0.08,300.00	_10V_AH	10.2,11.694
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44222,880
TT8_MAMPS	0.02301	CFSIZE	260165632,251531264
HUMID	2098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
TCM_TEMP	15.80	GPS	061207,100408,6227.931,-1027.758,40,1.0,40,-10.4
XPDR_PINGS	22

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.31	SBE_CT	620	24	351.71
Roll_motor	168	80	319.35	SBE_O2	628	19	282.01
VBD_pump_during_apogee	295	1109	7741.71	WL_BB2F	576	105	1427.38
VBD_pump_during_surface	52	648	803.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.29	nil	0	0	0.00
Iridium_during_connect	36	160	137.71	nil	0	0	0.00
Iridium_during_xfer	170	223	895.74
Transponder_ping	10	420	99.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.40
TT8	1588	19	320.73
LPSleep	14174	2	316.64
TT8_Active	518	19	104.64
TT8_Sampling	1837	39	745.99
TT8_CF8	391	45	183.11
TT8_Kalman	33	81	27.84
Analog_circuits	1435	12	175.70
GPS_charging	0	0	0.00
Compass	1782	8	145.44
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	-61.80	0.000	2	0.000	0.000	64	2416	3136
86	-0.85	-146.6	3.7	-4.7	3	107	12.35	0.00	-6.47	0.000	6	0.175	0.000	2218	2416	3417
413	-0.85	-146.6	34.3	-8.1	19	417	0.00	2.67	0.00	0.000	4	0.000	0.062	2219	975	3419
466	-0.85	-146.6	39.2	-8.4	21	474	0.00	2.58	0.00	0.000	6	0.000	0.049	2218	2390	3418
784	-0.85	-146.6	63.8	-7.5	37	785	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2390	3418
1092	-0.85	-146.6	88.0	-7.9	52	1096	0.00	2.62	0.00	0.000	4	0.000	0.063	2218	976	3418
1140	-0.85	-146.6	91.9	-8.0	54	1145	0.00	2.58	0.00	0.000	6	0.000	0.050	2218	2404	3418
1461	-0.85	-146.6	116.4	-7.4	70	1466	0.00	2.65	0.00	0.000	4	0.000	0.064	2218	977	3418
1487	-0.85	-146.6	118.5	-8.3	71	1492	0.00	2.58	0.00	0.000	6	0.000	0.049	2218	2398	3418
1810	-0.85	-146.6	143.8	-8.4	87	1815	0.00	2.62	0.00	0.000	4	0.000	0.064	2218	981	3418
1831	-0.85	-146.6	145.9	-8.8	88	1836	0.00	2.58	0.00	0.000	6	0.000	0.050	2219	2398	3418
2158	-0.85	-146.6	173.5	-8.5	104	2162	0.00	2.62	0.00	0.000	4	0.000	0.064	2218	976	3418
2184	-0.85	-146.6	175.9	-8.8	105	2188	0.00	2.58	0.00	0.000	6	0.000	0.050	2219	2398	3418
2506	-0.85	-146.6	201.7	-8.0	121	2510	0.00	2.62	0.00	0.000	4	0.000	0.064	2218	983	3418
2548	-0.85	-146.6	205.4	-8.4	123	2553	0.00	2.58	0.00	0.000	6	0.000	0.051	2219	2395	3418
2875	-0.85	-146.6	231.2	-8.0	139	2880	0.00	2.62	0.00	0.000	4	0.000	0.066	2218	982	3418
2902	-0.85	-146.6	233.6	-8.8	140	2906	0.00	2.55	0.00	0.000	6	0.000	0.051	2218	2400	3418
3223	-0.85	-146.6	260.1	-8.2	156	3228	0.00	2.62	0.00	0.000	4	0.000	0.065	2219	982	3418
3255	-0.85	-146.6	262.8	-8.1	157	3262	0.00	2.55	0.00	0.000	6	0.000	0.051	2219	2401	3418
3571	-0.85	-146.6	288.4	-8.3	173	3575	0.00	2.62	0.00	0.000	4	0.000	0.066	2219	982	3418
3597	-0.85	-146.6	290.7	-9.1	174	3601	0.00	2.58	0.00	0.000	6	0.000	0.052	2219	2395	3418
3918	-0.85	-146.6	316.1	-8.0	190	3922	0.00	2.62	0.00	0.000	4	0.000	0.067	2218	982	3418
3949	-0.85	-146.6	318.6	-7.8	191	3956	0.00	2.58	0.00	0.000	6	0.000	0.052	2219	2395	3418
4265	-0.85	-146.6	342.2	-7.3	207	4266	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2395	3418
4574	-0.85	-146.6	363.3	-6.9	222	4578	0.00	2.62	0.00	0.000	4	0.000	0.066	2219	980	3419
4646	-0.85	-146.6	368.1	-6.8	225	4650	0.00	2.58	0.00	0.000	6	0.000	0.053	2219	2404	3418
4967	-0.85	-146.6	389.9	-7.1	241	4971	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	977	3418
4998	-0.85	-146.6	392.3	-7.7	242	5005	0.00	2.60	0.00	0.000	6	0.000	0.052	2219	2401	3418
5314	-0.85	-146.6	415.8	-7.7	258	5318	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	980	3419
5352	-0.85	-146.6	419.0	-8.0	260	5357	0.00	2.60	0.00	0.000	6	0.000	0.053	2218	2408	3418
5678	-0.85	-146.6	446.9	-8.8	276	5683	0.00	2.65	0.00	0.000	4	0.000	0.067	2219	982	3418
5717	-0.85	-146.6	450.5	-9.5	278	5721	0.00	2.55	0.00	0.000	6	0.000	0.053	2219	2400	3418
6042	-0.85	-146.6	481.6	-9.7	294	6043	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2400	3418
6351	-0.85	-146.6	508.2	-8.0	309	6356	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	982	3419
6451	-0.85	-146.6	516.4	-8.2	313	6458	0.00	2.58	0.00	0.000	6	0.000	0.054	2218	2406	3418
6766	-0.85	-146.6	540.0	-7.2	329	6770	0.00	2.65	0.00	0.000	4	0.000	0.064	2219	977	3418
6793	-0.85	-146.6	542.0	-7.5	330	6798	0.00	2.60	0.00	0.000	6	0.000	0.054	2219	2398	3418
7114	-0.85	-146.6	563.8	-7.3	346	7119	0.00	2.62	0.00	0.000	4	0.000	0.066	2219	982	3419
7163	-0.85	-146.6	567.8	-7.9	348	7168	0.00	2.58	0.00	0.000	6	0.000	0.056	2219	2400	3418
7484	-0.85	-146.6	591.7	-7.1	364	7489	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	983	3419
7505	-0.85	-146.6	593.4	-7.7	365	7510	0.00	2.60	0.00	0.000	6	0.000	0.056	2219	2402	3418
7832	-0.85	-146.6	617.2	-7.0	381	7837	0.00	2.58	0.00	0.000	4	0.000	0.081	2219	3763	3418
7893	-0.85	-146.6	621.6	-7.1	384	7898	0.00	2.47	0.00	0.000	6	0.000	0.054	2219	2397	3418
8115	end dive: BOTTOM_OBSTACLE_DETECTED
state	8115	begin apogee
8120	-0.31	0.0	636.8	6.5	395	8244	0.60	0.00	120.85	1.109	6	0.110	0.000	2338	2199	2818
8244	end apogee: CONTROL_FINISHED_OK
state	8244	begin climb
8246	0.85	146.6	640.3	0.0	401	8373	1.25	2.75	118.93	1.088	4	0.100	0.074	2588	792	2217
8390	0.87	164.7	634.8	5.5	408	8411	0.00	2.60	16.20	0.989	6	0.000	0.053	2587	2199	2144
8732	0.87	164.7	614.3	6.1	425	8736	0.00	2.67	0.00	0.000	4	0.000	0.075	2588	3609	2144
8775	0.87	164.7	611.4	7.0	427	8779	0.00	2.62	0.00	0.000	6	0.000	0.058	2588	2200	2144
9101	0.87	173.2	592.2	5.8	443	9115	0.00	2.75	7.88	0.897	4	0.000	0.079	2588	3604	2111
9144	0.87	173.2	589.5	6.7	445	9149	0.00	2.62	0.00	0.000	6	0.000	0.059	2588	2200	2111
9471	0.88	177.2	570.5	5.9	461	9481	0.00	2.70	5.10	0.775	4	0.000	0.073	2588	786	2093
9514	0.88	177.2	567.5	6.5	463	9518	0.00	2.62	0.00	0.000	6	0.000	0.052	2587	2196	2093
9841	0.88	177.2	545.9	6.8	479	9842	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2195	2092
10150	0.88	177.2	525.5	6.4	494	10154	0.00	2.65	0.00	0.000	4	0.000	0.067	2587	785	2091
10193	0.88	177.2	522.3	7.0	496	10197	0.00	2.62	0.00	0.000	6	0.000	0.052	2588	2203	2091
10520	0.88	180.4	502.5	5.9	512	10525	0.00	0.00	3.72	0.628	6	0.000	0.000	2588	2203	2081
10829	0.90	198.3	484.4	5.5	527	10851	0.00	2.72	15.95	0.963	4	0.000	0.067	2587	785	2007
10878	0.90	198.3	481.4	6.6	529	10882	0.00	2.62	0.00	0.000	6	0.000	0.050	2587	2195	2006
11204	0.90	198.3	460.0	7.1	545	11209	0.00	2.65	0.00	0.000	4	0.000	0.067	2587	782	2006
11230	0.90	198.3	458.1	7.5	546	11235	0.00	2.60	0.00	0.000	6	0.000	0.049	2588	2194	2006
11551	0.90	198.3	434.8	7.3	562	11556	0.00	2.65	0.00	0.000	4	0.000	0.072	2588	3607	2005
11590	0.90	198.3	431.6	8.6	564	11594	0.00	2.60	0.00	0.000	6	0.000	0.058	2587	2201	2005
11915	0.90	198.3	408.1	6.9	580	11920	0.00	2.65	0.00	0.000	4	0.000	0.069	2588	782	2005
11954	0.90	198.3	405.1	7.6	582	11959	0.00	2.58	0.00	0.000	6	0.000	0.048	2588	2207	2005
12280	0.90	198.3	381.6	6.8	598	12281	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2207	2006
12589	0.90	198.3	361.0	6.5	613	12590	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2207	2005
12898	0.90	198.3	340.0	6.5	628	12899	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2207	2005
13207	0.90	198.3	319.1	6.8	643	13208	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2207	2006
13516	0.90	198.3	299.2	6.4	658	13518	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2207	2007
13826	0.90	198.8	280.2	6.0	673	13827	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2207	2007
14135	0.90	198.8	261.3	6.1	688	14139	0.00	2.65	0.00	0.000	4	0.000	0.064	2586	778	2007
14166	0.90	198.8	259.3	6.2	689	14173	0.00	2.55	0.00	0.000	6	0.000	0.045	2587	2201	2008
14482	0.91	205.0	240.9	5.8	705	14496	0.00	2.67	7.15	0.696	4	0.000	0.066	2588	3607	1981
14517	0.91	205.0	238.5	7.5	706	14524	0.00	2.62	0.00	0.000	6	0.000	0.055	2588	2196	1981
14833	0.91	205.0	218.5	6.3	722	14838	0.00	2.60	0.00	0.000	4	0.000	0.067	2588	787	1981
14872	0.91	205.0	215.9	7.0	724	14876	0.00	2.50	0.00	0.000	6	0.000	0.044	2588	2201	1981
15197	0.91	205.0	194.1	6.9	740	15198	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	1981
15506	0.91	205.0	173.4	6.9	755	15508	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	1981
15815	0.91	205.0	152.1	6.7	770	15817	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	1981
16125	0.91	205.0	131.0	6.8	785	16126	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	1981
16435	0.91	205.0	110.1	6.8	800	16436	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	1981
16744	0.91	205.0	89.3	6.8	815	16745	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	1981
17053	0.91	205.0	69.0	6.7	830	17057	0.00	2.62	0.00	0.000	4	0.000	0.063	2588	779	1981
17084	0.91	205.0	66.7	7.5	831	17092	0.00	2.55	0.00	0.000	6	0.000	0.043	2588	2200	1981
17402	0.91	205.0	45.6	6.5	847	17403	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2199	1981
17710	0.91	205.0	24.4	6.2	862	17711	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2200	1981
18019	0.91	205.0	3.4	7.3	877	18020	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2200	1982
18058	end climb: SURFACE_DEPTH_REACHED
state	18058	begin surface coast
18081	end surface coast: CONTROL_FINISHED_OK
state	18081	begin surface