Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 137 * 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 137 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 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 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 -2078268.9 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 566.1524

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 -2078268.9

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 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 137 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 195215,6231.480,-1028.167,37,2.3,56,-10.4 TGT_NAME IFRSILL

_CALLS 5 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 24 TGT_RADIUS 5000.000

_XMS_TOUTs 6 KALMAN_CONTROL 0.192,0.110

_SM_DEPTHo 1.27 KALMAN_X -103182.6,1476.8,1959.5,26940.1,-24961.7

_SM_ANGLEo -62.0 KALMAN_Y 116913.0,179.9,776.5,-19193.7,-4392.4

GPS2 201129,6231.511,-1028.289,18,2.2,37,-10.4 MHEAD_RNG_PITCHd_Wd 70.6,53290,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027381 ALTIM_BOTTOM_PING 501.3,103.0

SM_CCo 17485,199.75,0.650,2,0,508,566.15 _24V_AH 23.6,24.761

SM_GC 1.14,0.00,0.00,199.75,0.000,0.000,0.650,71,2405,508,-10.76,0.14,566.15 _10V_AH 10.2,11.941

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44252,850

TT8_MAMPS 0.023777 CFSIZE 260165632,251326464

HUMID 2030 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,2,0

TCM_TEMP 15.90 GPS 071207,010852,6231.987,-1028.843,43,2.2,62,-10.4

XPDR_PINGS 26

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 175 104.25 SBE_CT 599 24 339.57

Roll_motor 168 79 318.10 SBE_O2 601 19 269.60

VBD_pump_during_apogee 297 1080 7581.88 WL_BB2F 569 105 1410.77

VBD_pump_during_surface 199 649 3062.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 163 103 396.74 nil 0 0 0.00

Iridium_during_connect 215 160 813.07 nil 0 0 0.00

Iridium_during_xfer 377 223 1988.30

Transponder_ping 10 420 104.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 38 50 19.42

TT8 1534 19 309.96

LPSleep 13884 2 310.15

TT8_Active 675 19 136.44

TT8_Sampling 1806 39 733.44

TT8_CF8 953 45 445.32

TT8_Kalman 33 81 27.84

Analog_circuits 1577 12 193.14

GPS_charging 0 0 0.00

Compass 1744 8 142.38

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 93 0.00 0.00 -70.68 0.000 6 0.000 0.000 75 2403 3416

95 -0.85 -146.6 5.6 -6.3 4 112 12.30 0.00 0.00 0.000 6 0.176 0.000 2217 2403 3419

423 -0.85 -146.6 38.4 -6.6 20 427 0.00 2.58 0.00 0.000 4 0.000 0.074 2217 3768 3421

449 -0.85 -146.6 40.9 -8.4 21 454 0.00 2.50 0.00 0.000 6 0.000 0.052 2217 2398 3421

770 -0.85 -146.6 66.2 -7.1 37 775 0.00 2.65 0.00 0.000 4 0.000 0.071 2218 983 3421

814 -0.85 -146.6 69.2 -6.1 39 818 0.00 2.58 0.00 0.000 6 0.000 0.056 2217 2400 3421

1141 -0.85 -146.6 92.7 -6.8 55 1142 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2400 3421

1451 -0.85 -146.6 117.2 -8.6 70 1456 0.00 2.67 0.00 0.000 4 0.000 0.070 2217 977 3421

1490 -0.85 -146.6 120.3 -7.3 72 1494 0.00 2.60 0.00 0.000 6 0.000 0.056 2217 2400 3421

1815 -0.85 -146.6 144.8 -7.4 88 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2400 3420

2124 -0.85 -146.6 167.2 -7.5 103 2129 0.00 2.67 0.00 0.000 4 0.000 0.071 2217 976 3421

2179 -0.85 -146.6 171.6 -8.0 105 2186 0.00 2.62 0.00 0.000 6 0.000 0.058 2217 2395 3421

2495 -0.85 -146.6 195.1 -7.5 121 2499 0.00 2.65 0.00 0.000 4 0.000 0.071 2217 983 3421

2526 -0.85 -146.6 197.8 -8.6 122 2533 0.00 2.60 0.00 0.000 6 0.000 0.058 2217 2407 3421

2841 -0.85 -146.6 222.1 -7.8 138 2846 0.00 2.67 0.00 0.000 4 0.000 0.072 2217 983 3421

2873 -0.85 -146.6 224.7 -8.0 139 2880 0.00 2.60 0.00 0.000 6 0.000 0.058 2217 2391 3421

3189 -0.85 -146.6 248.5 -7.7 155 3193 0.00 2.65 0.00 0.000 4 0.000 0.073 2217 983 3421

3215 -0.85 -146.6 250.6 -7.7 156 3220 0.00 2.62 0.00 0.000 6 0.000 0.058 2217 2398 3421

3537 -0.85 -146.6 275.1 -7.7 172 3541 0.00 2.65 0.00 0.000 4 0.000 0.074 2217 983 3421

3563 -0.85 -146.6 277.4 -8.4 173 3567 0.00 2.60 0.00 0.000 6 0.000 0.058 2217 2405 3421

3884 -0.85 -146.6 301.0 -7.4 189 3889 0.00 2.67 0.00 0.000 4 0.000 0.074 2217 983 3422

3923 -0.85 -146.6 303.9 -7.7 191 3928 0.00 2.60 0.00 0.000 6 0.000 0.059 2217 2401 3421

4249 -0.85 -146.6 328.5 -7.7 207 4254 0.00 2.67 0.00 0.000 4 0.000 0.073 2217 982 3420

4288 -0.85 -146.6 331.6 -7.9 209 4292 0.00 2.60 0.00 0.000 6 0.000 0.058 2217 2404 3421

4613 -0.85 -146.6 355.8 -7.5 225 4617 0.00 2.67 0.00 0.000 4 0.000 0.074 2217 979 3422

4667 -0.85 -146.6 360.0 -7.7 227 4674 0.00 2.60 0.00 0.000 6 0.000 0.058 2217 2404 3421

4982 -0.85 -146.6 384.4 -7.8 243 4987 0.00 2.67 0.00 0.000 4 0.000 0.074 2217 976 3422

5027 -0.85 -146.6 388.0 -8.3 245 5031 0.00 2.62 0.00 0.000 6 0.000 0.058 2217 2403 3422

5347 -0.85 -146.6 411.4 -7.1 261 5351 0.00 2.65 0.00 0.000 4 0.000 0.073 2218 982 3422

5373 -0.85 -146.6 413.5 -7.4 262 5377 0.00 2.60 0.00 0.000 6 0.000 0.057 2217 2398 3422

5694 -0.85 -146.6 436.9 -7.8 278 5695 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2398 3422

6003 -0.85 -146.6 459.9 -6.9 293 6008 0.00 2.65 0.00 0.000 4 0.000 0.071 2217 982 3422

6114 -0.85 -146.6 467.3 -6.9 298 6119 0.00 2.60 0.00 0.000 6 0.000 0.056 2217 2395 3422

6441 -0.85 -146.6 488.7 -6.3 314 6442 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2395 3421

6750 -0.85 -146.6 508.7 -6.0 329 6751 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2395 3422

7059 -0.85 -146.6 527.4 -6.4 344 7063 0.00 2.62 0.00 0.000 4 0.000 0.071 2217 983 3422

7090 -0.85 -146.6 529.8 -7.5 345 7098 0.00 2.62 0.00 0.000 6 0.000 0.059 2217 2400 3422

7407 -0.85 -146.6 552.8 -7.7 361 7411 0.00 2.67 0.00 0.000 4 0.000 0.073 2217 977 3422

7432 -0.85 -146.6 554.8 -7.9 362 7437 0.00 2.62 0.00 0.000 6 0.000 0.060 2217 2394 3422

7754 -0.85 -146.6 576.9 -6.5 378 7758 0.00 2.65 0.00 0.000 4 0.000 0.073 2217 983 3422

7808 -0.85 -146.6 580.7 -7.5 380 7815 0.00 2.62 0.00 0.000 6 0.000 0.061 2217 2395 3422

7998 end dive: BOTTOM_OBSTACLE_DETECTED

state 7998 begin apogee

8003 -0.31 0.0 594.3 7.5 390 8127 0.60 0.00 121.03 1.081 6 0.108 0.000 2337 2195 2816

8127 end apogee: CONTROL_FINISHED_OK

state 8128 begin climb

8129 0.85 146.6 598.4 0.0 396 8255 1.20 2.78 118.30 1.066 4 0.076 0.076 2589 785 2218

8333 0.85 146.6 590.1 7.5 405 8340 0.00 2.67 0.00 0.000 6 0.000 0.054 2589 2201 2216

8649 0.85 150.1 569.9 5.9 421 8658 0.00 2.70 4.18 0.675 4 0.000 0.072 2589 789 2204

8708 0.85 150.1 565.6 6.8 423 8715 0.00 2.65 0.00 0.000 6 0.000 0.056 2589 2198 2204

9023 0.85 150.1 545.0 6.5 439 9024 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2197 2203

9332 0.85 150.1 524.9 6.6 454 9334 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2198 2202

9642 0.85 150.1 504.2 6.8 469 9643 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2197 2202

9951 0.85 150.1 484.2 6.1 484 9952 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2197 2201

10260 0.85 150.1 465.5 6.4 499 10265 0.00 2.70 0.00 0.000 4 0.000 0.080 2589 3615 2200

10292 0.85 150.1 463.5 6.8 500 10299 0.00 2.67 0.00 0.000 6 0.000 0.064 2589 2201 2200

10608 0.86 162.4 445.8 5.7 516 10620 0.00 0.00 10.45 0.895 6 0.000 0.000 2589 2201 2155

10917 0.89 191.6 429.5 5.2 531 10947 0.00 2.75 24.42 0.953 4 0.000 0.073 2590 782 2036

10998 0.91 203.5 425.2 5.7 535 11014 0.00 2.60 11.02 0.872 6 0.000 0.051 2589 2201 1987

11322 0.91 203.5 406.1 6.2 550 11323 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2202 1986

11632 0.91 203.5 386.7 6.6 565 11636 0.00 2.65 0.00 0.000 4 0.000 0.075 2589 3619 1986

11657 0.91 203.5 384.7 7.4 566 11662 0.00 2.67 0.00 0.000 6 0.000 0.062 2589 2200 1986

11979 0.91 203.5 362.6 6.8 582 11983 0.00 2.65 0.00 0.000 4 0.000 0.071 2589 785 1986

12017 0.91 203.5 359.8 7.1 584 12022 0.00 2.58 0.00 0.000 6 0.000 0.048 2589 2204 1986

12343 0.91 203.5 339.0 6.3 600 12344 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2204 1986

12652 0.91 203.5 318.9 6.2 615 12653 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2204 1986

12961 0.91 203.5 297.9 6.8 630 12962 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2204 1987

13271 0.91 203.5 276.2 6.9 645 13272 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2204 1987

13580 0.91 203.5 255.4 6.6 660 13584 0.00 2.65 0.00 0.000 4 0.000 0.066 2589 780 1987

13606 0.91 203.5 253.4 6.7 661 13610 0.00 2.58 0.00 0.000 6 0.000 0.046 2589 2196 1988

13927 0.91 203.5 232.3 6.7 677 13931 0.00 2.62 0.00 0.000 4 0.000 0.071 2589 3613 1988

13953 0.91 203.5 230.4 6.9 678 13957 0.00 2.62 0.00 0.000 6 0.000 0.058 2589 2200 1988

14274 0.91 203.5 208.5 6.9 694 14278 0.00 2.62 0.00 0.000 4 0.000 0.068 2589 784 1989

14313 0.91 203.5 205.8 7.0 696 14317 0.00 2.55 0.00 0.000 6 0.000 0.046 2589 2203 1989

14638 0.91 203.5 184.3 6.6 712 14639 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2203 1989

14947 0.91 203.5 163.4 7.2 727 14948 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2203 1989

15257 0.91 203.5 145.8 7.1 742 15258 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2203 1989

15566 0.91 203.5 126.4 6.0 757 15570 0.00 2.62 0.00 0.000 4 0.000 0.064 2589 784 1990

15592 0.91 203.5 124.4 8.1 758 15596 0.00 2.55 0.00 0.000 6 0.000 0.044 2589 2195 1990

15915 0.91 203.5 100.3 7.3 774 15919 0.00 2.62 0.00 0.000 4 0.000 0.068 2589 3617 1990

15941 0.91 203.5 98.2 7.5 775 15946 0.00 2.60 0.00 0.000 6 0.000 0.054 2589 2191 1990

16262 0.91 203.5 77.1 6.0 791 16267 0.00 2.60 0.00 0.000 4 0.000 0.067 2587 785 1990

16289 0.91 203.5 75.2 7.2 792 16293 0.00 2.58 0.00 0.000 6 0.000 0.047 2589 2202 1990

16611 0.91 203.5 53.6 6.4 808 16615 0.00 2.60 0.00 0.000 4 0.000 0.069 2589 3609 1990

16649 0.91 203.5 51.2 6.6 810 16654 0.00 2.58 0.00 0.000 6 0.000 0.055 2589 2194 1990

16975 0.91 203.5 32.3 6.9 826 16979 0.00 2.62 0.00 0.000 4 0.000 0.068 2589 776 1990

17018 0.92 210.5 29.2 5.8 828 17035 0.00 2.55 7.88 0.598 6 0.000 0.048 2589 2199 1958

17345 0.92 210.5 9.4 7.2 844 17349 0.00 2.62 0.00 0.000 4 0.000 0.072 2590 3610 1958

17371 0.92 210.5 7.3 8.1 845 17375 0.00 2.58 0.00 0.000 6 0.000 0.057 2589 2202 1958

17443 end climb: SURFACE_DEPTH_REACHED

state 17443 begin surface coast

17465 end surface coast: CONTROL_FINISHED_OK

state 17465 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	137	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	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	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	-2078268.9	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	195215,6231.480,-1028.167,37,2.3,56,-10.4	TGT_NAME	IFRSILL
_CALLS	5	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	24	TGT_RADIUS	5000.000
_XMS_TOUTs	6	KALMAN_CONTROL	0.192,0.110
_SM_DEPTHo	1.27	KALMAN_X	-103182.6,1476.8,1959.5,26940.1,-24961.7
_SM_ANGLEo	-62.0	KALMAN_Y	116913.0,179.9,776.5,-19193.7,-4392.4
GPS2	201129,6231.511,-1028.289,18,2.2,37,-10.4	MHEAD_RNG_PITCHd_Wd	70.6,53290,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027381	ALTIM_BOTTOM_PING	501.3,103.0
SM_CCo	17485,199.75,0.650,2,0,508,566.15	_24V_AH	23.6,24.761
SM_GC	1.14,0.00,0.00,199.75,0.000,0.000,0.650,71,2405,508,-10.76,0.14,566.15	_10V_AH	10.2,11.941
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44252,850
TT8_MAMPS	0.023777	CFSIZE	260165632,251326464
HUMID	2030	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,2,0
TCM_TEMP	15.90	GPS	071207,010852,6231.987,-1028.843,43,2.2,62,-10.4
XPDR_PINGS	26

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	175	104.25	SBE_CT	599	24	339.57
Roll_motor	168	79	318.10	SBE_O2	601	19	269.60
VBD_pump_during_apogee	297	1080	7581.88	WL_BB2F	569	105	1410.77
VBD_pump_during_surface	199	649	3062.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	163	103	396.74	nil	0	0	0.00
Iridium_during_connect	215	160	813.07	nil	0	0	0.00
Iridium_during_xfer	377	223	1988.30
Transponder_ping	10	420	104.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	38	50	19.42
TT8	1534	19	309.96
LPSleep	13884	2	310.15
TT8_Active	675	19	136.44
TT8_Sampling	1806	39	733.44
TT8_CF8	953	45	445.32
TT8_Kalman	33	81	27.84
Analog_circuits	1577	12	193.14
GPS_charging	0	0	0.00
Compass	1744	8	142.38
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	93	0.00	0.00	-70.68	0.000	6	0.000	0.000	75	2403	3416
95	-0.85	-146.6	5.6	-6.3	4	112	12.30	0.00	0.00	0.000	6	0.176	0.000	2217	2403	3419
423	-0.85	-146.6	38.4	-6.6	20	427	0.00	2.58	0.00	0.000	4	0.000	0.074	2217	3768	3421
449	-0.85	-146.6	40.9	-8.4	21	454	0.00	2.50	0.00	0.000	6	0.000	0.052	2217	2398	3421
770	-0.85	-146.6	66.2	-7.1	37	775	0.00	2.65	0.00	0.000	4	0.000	0.071	2218	983	3421
814	-0.85	-146.6	69.2	-6.1	39	818	0.00	2.58	0.00	0.000	6	0.000	0.056	2217	2400	3421
1141	-0.85	-146.6	92.7	-6.8	55	1142	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2400	3421
1451	-0.85	-146.6	117.2	-8.6	70	1456	0.00	2.67	0.00	0.000	4	0.000	0.070	2217	977	3421
1490	-0.85	-146.6	120.3	-7.3	72	1494	0.00	2.60	0.00	0.000	6	0.000	0.056	2217	2400	3421
1815	-0.85	-146.6	144.8	-7.4	88	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2400	3420
2124	-0.85	-146.6	167.2	-7.5	103	2129	0.00	2.67	0.00	0.000	4	0.000	0.071	2217	976	3421
2179	-0.85	-146.6	171.6	-8.0	105	2186	0.00	2.62	0.00	0.000	6	0.000	0.058	2217	2395	3421
2495	-0.85	-146.6	195.1	-7.5	121	2499	0.00	2.65	0.00	0.000	4	0.000	0.071	2217	983	3421
2526	-0.85	-146.6	197.8	-8.6	122	2533	0.00	2.60	0.00	0.000	6	0.000	0.058	2217	2407	3421
2841	-0.85	-146.6	222.1	-7.8	138	2846	0.00	2.67	0.00	0.000	4	0.000	0.072	2217	983	3421
2873	-0.85	-146.6	224.7	-8.0	139	2880	0.00	2.60	0.00	0.000	6	0.000	0.058	2217	2391	3421
3189	-0.85	-146.6	248.5	-7.7	155	3193	0.00	2.65	0.00	0.000	4	0.000	0.073	2217	983	3421
3215	-0.85	-146.6	250.6	-7.7	156	3220	0.00	2.62	0.00	0.000	6	0.000	0.058	2217	2398	3421
3537	-0.85	-146.6	275.1	-7.7	172	3541	0.00	2.65	0.00	0.000	4	0.000	0.074	2217	983	3421
3563	-0.85	-146.6	277.4	-8.4	173	3567	0.00	2.60	0.00	0.000	6	0.000	0.058	2217	2405	3421
3884	-0.85	-146.6	301.0	-7.4	189	3889	0.00	2.67	0.00	0.000	4	0.000	0.074	2217	983	3422
3923	-0.85	-146.6	303.9	-7.7	191	3928	0.00	2.60	0.00	0.000	6	0.000	0.059	2217	2401	3421
4249	-0.85	-146.6	328.5	-7.7	207	4254	0.00	2.67	0.00	0.000	4	0.000	0.073	2217	982	3420
4288	-0.85	-146.6	331.6	-7.9	209	4292	0.00	2.60	0.00	0.000	6	0.000	0.058	2217	2404	3421
4613	-0.85	-146.6	355.8	-7.5	225	4617	0.00	2.67	0.00	0.000	4	0.000	0.074	2217	979	3422
4667	-0.85	-146.6	360.0	-7.7	227	4674	0.00	2.60	0.00	0.000	6	0.000	0.058	2217	2404	3421
4982	-0.85	-146.6	384.4	-7.8	243	4987	0.00	2.67	0.00	0.000	4	0.000	0.074	2217	976	3422
5027	-0.85	-146.6	388.0	-8.3	245	5031	0.00	2.62	0.00	0.000	6	0.000	0.058	2217	2403	3422
5347	-0.85	-146.6	411.4	-7.1	261	5351	0.00	2.65	0.00	0.000	4	0.000	0.073	2218	982	3422
5373	-0.85	-146.6	413.5	-7.4	262	5377	0.00	2.60	0.00	0.000	6	0.000	0.057	2217	2398	3422
5694	-0.85	-146.6	436.9	-7.8	278	5695	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2398	3422
6003	-0.85	-146.6	459.9	-6.9	293	6008	0.00	2.65	0.00	0.000	4	0.000	0.071	2217	982	3422
6114	-0.85	-146.6	467.3	-6.9	298	6119	0.00	2.60	0.00	0.000	6	0.000	0.056	2217	2395	3422
6441	-0.85	-146.6	488.7	-6.3	314	6442	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2395	3421
6750	-0.85	-146.6	508.7	-6.0	329	6751	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2395	3422
7059	-0.85	-146.6	527.4	-6.4	344	7063	0.00	2.62	0.00	0.000	4	0.000	0.071	2217	983	3422
7090	-0.85	-146.6	529.8	-7.5	345	7098	0.00	2.62	0.00	0.000	6	0.000	0.059	2217	2400	3422
7407	-0.85	-146.6	552.8	-7.7	361	7411	0.00	2.67	0.00	0.000	4	0.000	0.073	2217	977	3422
7432	-0.85	-146.6	554.8	-7.9	362	7437	0.00	2.62	0.00	0.000	6	0.000	0.060	2217	2394	3422
7754	-0.85	-146.6	576.9	-6.5	378	7758	0.00	2.65	0.00	0.000	4	0.000	0.073	2217	983	3422
7808	-0.85	-146.6	580.7	-7.5	380	7815	0.00	2.62	0.00	0.000	6	0.000	0.061	2217	2395	3422
7998	end dive: BOTTOM_OBSTACLE_DETECTED
state	7998	begin apogee
8003	-0.31	0.0	594.3	7.5	390	8127	0.60	0.00	121.03	1.081	6	0.108	0.000	2337	2195	2816
8127	end apogee: CONTROL_FINISHED_OK
state	8128	begin climb
8129	0.85	146.6	598.4	0.0	396	8255	1.20	2.78	118.30	1.066	4	0.076	0.076	2589	785	2218
8333	0.85	146.6	590.1	7.5	405	8340	0.00	2.67	0.00	0.000	6	0.000	0.054	2589	2201	2216
8649	0.85	150.1	569.9	5.9	421	8658	0.00	2.70	4.18	0.675	4	0.000	0.072	2589	789	2204
8708	0.85	150.1	565.6	6.8	423	8715	0.00	2.65	0.00	0.000	6	0.000	0.056	2589	2198	2204
9023	0.85	150.1	545.0	6.5	439	9024	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2197	2203
9332	0.85	150.1	524.9	6.6	454	9334	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2198	2202
9642	0.85	150.1	504.2	6.8	469	9643	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2197	2202
9951	0.85	150.1	484.2	6.1	484	9952	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2197	2201
10260	0.85	150.1	465.5	6.4	499	10265	0.00	2.70	0.00	0.000	4	0.000	0.080	2589	3615	2200
10292	0.85	150.1	463.5	6.8	500	10299	0.00	2.67	0.00	0.000	6	0.000	0.064	2589	2201	2200
10608	0.86	162.4	445.8	5.7	516	10620	0.00	0.00	10.45	0.895	6	0.000	0.000	2589	2201	2155
10917	0.89	191.6	429.5	5.2	531	10947	0.00	2.75	24.42	0.953	4	0.000	0.073	2590	782	2036
10998	0.91	203.5	425.2	5.7	535	11014	0.00	2.60	11.02	0.872	6	0.000	0.051	2589	2201	1987
11322	0.91	203.5	406.1	6.2	550	11323	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2202	1986
11632	0.91	203.5	386.7	6.6	565	11636	0.00	2.65	0.00	0.000	4	0.000	0.075	2589	3619	1986
11657	0.91	203.5	384.7	7.4	566	11662	0.00	2.67	0.00	0.000	6	0.000	0.062	2589	2200	1986
11979	0.91	203.5	362.6	6.8	582	11983	0.00	2.65	0.00	0.000	4	0.000	0.071	2589	785	1986
12017	0.91	203.5	359.8	7.1	584	12022	0.00	2.58	0.00	0.000	6	0.000	0.048	2589	2204	1986
12343	0.91	203.5	339.0	6.3	600	12344	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2204	1986
12652	0.91	203.5	318.9	6.2	615	12653	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2204	1986
12961	0.91	203.5	297.9	6.8	630	12962	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2204	1987
13271	0.91	203.5	276.2	6.9	645	13272	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2204	1987
13580	0.91	203.5	255.4	6.6	660	13584	0.00	2.65	0.00	0.000	4	0.000	0.066	2589	780	1987
13606	0.91	203.5	253.4	6.7	661	13610	0.00	2.58	0.00	0.000	6	0.000	0.046	2589	2196	1988
13927	0.91	203.5	232.3	6.7	677	13931	0.00	2.62	0.00	0.000	4	0.000	0.071	2589	3613	1988
13953	0.91	203.5	230.4	6.9	678	13957	0.00	2.62	0.00	0.000	6	0.000	0.058	2589	2200	1988
14274	0.91	203.5	208.5	6.9	694	14278	0.00	2.62	0.00	0.000	4	0.000	0.068	2589	784	1989
14313	0.91	203.5	205.8	7.0	696	14317	0.00	2.55	0.00	0.000	6	0.000	0.046	2589	2203	1989
14638	0.91	203.5	184.3	6.6	712	14639	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2203	1989
14947	0.91	203.5	163.4	7.2	727	14948	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2203	1989
15257	0.91	203.5	145.8	7.1	742	15258	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2203	1989
15566	0.91	203.5	126.4	6.0	757	15570	0.00	2.62	0.00	0.000	4	0.000	0.064	2589	784	1990
15592	0.91	203.5	124.4	8.1	758	15596	0.00	2.55	0.00	0.000	6	0.000	0.044	2589	2195	1990
15915	0.91	203.5	100.3	7.3	774	15919	0.00	2.62	0.00	0.000	4	0.000	0.068	2589	3617	1990
15941	0.91	203.5	98.2	7.5	775	15946	0.00	2.60	0.00	0.000	6	0.000	0.054	2589	2191	1990
16262	0.91	203.5	77.1	6.0	791	16267	0.00	2.60	0.00	0.000	4	0.000	0.067	2587	785	1990
16289	0.91	203.5	75.2	7.2	792	16293	0.00	2.58	0.00	0.000	6	0.000	0.047	2589	2202	1990
16611	0.91	203.5	53.6	6.4	808	16615	0.00	2.60	0.00	0.000	4	0.000	0.069	2589	3609	1990
16649	0.91	203.5	51.2	6.6	810	16654	0.00	2.58	0.00	0.000	6	0.000	0.055	2589	2194	1990
16975	0.91	203.5	32.3	6.9	826	16979	0.00	2.62	0.00	0.000	4	0.000	0.068	2589	776	1990
17018	0.92	210.5	29.2	5.8	828	17035	0.00	2.55	7.88	0.598	6	0.000	0.048	2589	2199	1958
17345	0.92	210.5	9.4	7.2	844	17349	0.00	2.62	0.00	0.000	4	0.000	0.072	2590	3610	1958
17371	0.92	210.5	7.3	8.1	845	17375	0.00	2.58	0.00	0.000	6	0.000	0.057	2589	2202	1958
17443	end climb: SURFACE_DEPTH_REACHED
state	17443	begin surface coast
17465	end surface coast: CONTROL_FINISHED_OK
state	17465	begin surface