Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 138 * 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 138 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -2078281.6 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 -2078281.6

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 20 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 138 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 010852,6231.987,-1028.843,43,2.2,62,-10.4 TGT_NAME IFRSILL

_CALLS 5 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 9 TGT_RADIUS 5000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.188,0.117

_SM_DEPTHo 1.09 KALMAN_X -106765.4,1506.4,660.7,30824.1,-21759.7

_SM_ANGLEo -53.1 KALMAN_Y 114206.0,883.4,136.0,-15776.4,-7112.6

GPS2 012539,6231.904,-1029.393,12,1.8,12,-10.4 MHEAD_RNG_PITCHd_Wd 68.5,53550,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.024397 ALTIM_BOTTOM_PING 576.2,29.5

SM_CCo 16378,191.70,0.657,1,0,508,566.15 _24V_AH 23.6,24.921

SM_GC 1.18,0.00,0.00,191.70,0.000,0.000,0.657,72,2405,508,-10.75,0.14,566.15 _10V_AH 10.2,12.024

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41251,797

TT8_MAMPS 0.023777 CFSIZE 260165632,251260928

HUMID 2038 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,1,0

TCM_TEMP 17.00 GPS 071207,060409,6234.255,-1031.808,40,1.9,48,-10.4

XPDR_PINGS 26

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 103.04 SBE_CT 562 24 318.57

Roll_motor 158 80 301.06 SBE_O2 563 19 252.79

VBD_pump_during_apogee 302 1078 7701.26 WL_BB2F 533 105 1321.15

VBD_pump_during_surface 191 656 2970.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 163 103 396.72 nil 0 0 0.00

Iridium_during_connect 193 160 730.67 nil 0 0 0.00

Iridium_during_xfer 289 223 1526.00

Transponder_ping 11 420 111.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.19

TT8 1447 19 292.43

LPSleep 12928 2 288.81

TT8_Active 684 19 138.16

TT8_Sampling 1701 39 690.66

TT8_CF8 825 45 385.56

TT8_Kalman 33 81 27.86

Analog_circuits 1549 12 189.68

GPS_charging 0 0 0.00

Compass 1665 8 135.94

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 0 124 0.00 0.00 -102.55 0.000 2 0.000 0.000 68 2407 3068

126 -0.85 -146.6 3.5 -2.8 5 153 12.15 2.70 -8.45 0.000 4 0.173 0.081 2221 982 3416

179 -0.85 -146.6 11.6 -9.1 7 187 0.00 2.60 0.00 0.000 6 0.000 0.052 2222 2392 3416

497 -0.85 -146.6 38.9 -8.7 23 498 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2393 3416

805 -0.85 -146.6 68.6 -10.6 38 809 0.00 2.65 0.00 0.000 4 0.000 0.066 2221 976 3416

859 -0.85 -146.6 73.8 -8.8 40 866 0.00 2.62 0.00 0.000 6 0.000 0.053 2222 2401 3416

1175 -0.85 -146.6 93.3 -5.8 56 1176 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3416

1484 -0.85 -146.6 115.3 -5.8 71 1489 0.00 2.65 0.00 0.000 4 0.000 0.067 2221 982 3416

1523 -0.85 -146.6 117.7 -6.6 73 1527 0.00 2.60 0.00 0.000 6 0.000 0.054 2222 2404 3416

1848 -0.85 -146.6 139.7 -6.8 89 1853 0.00 2.67 0.00 0.000 4 0.000 0.067 2221 974 3416

1898 -0.85 -146.6 143.5 -7.8 91 1902 0.00 2.60 0.00 0.000 6 0.000 0.054 2222 2405 3416

2219 -0.85 -146.6 176.0 -8.8 107 2220 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2405 3416

2529 -0.85 -146.6 201.2 -8.5 122 2533 0.00 2.65 0.00 0.000 4 0.000 0.069 2221 982 3416

2577 -0.85 -146.6 205.4 -8.6 124 2582 0.00 2.58 0.00 0.000 6 0.000 0.054 2221 2402 3416

2898 -0.85 -146.6 229.9 -7.5 140 2902 0.00 2.65 0.00 0.000 4 0.000 0.068 2222 981 3416

2936 -0.85 -146.6 232.8 -7.5 142 2941 0.00 2.58 0.00 0.000 6 0.000 0.054 2222 2401 3416

3262 -0.85 -146.6 258.9 -8.0 158 3266 0.00 2.65 0.00 0.000 4 0.000 0.068 2221 981 3416

3288 -0.85 -146.6 261.0 -8.2 159 3293 0.00 2.58 0.00 0.000 6 0.000 0.056 2221 2399 3416

3609 -0.85 -146.6 283.6 -7.4 175 3614 0.00 2.65 0.00 0.000 4 0.000 0.070 2221 981 3416

3641 -0.85 -146.6 286.3 -7.9 176 3648 0.00 2.60 0.00 0.000 6 0.000 0.055 2222 2400 3416

3957 -0.85 -146.6 309.4 -7.2 192 3961 0.00 2.65 0.00 0.000 4 0.000 0.068 2222 979 3416

3995 -0.85 -146.6 312.1 -7.3 194 3999 0.00 2.58 0.00 0.000 6 0.000 0.055 2222 2400 3416

4320 -0.85 -146.6 336.0 -7.6 210 4321 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3416

4629 -0.85 -146.6 359.6 -7.4 225 4633 0.00 2.62 0.00 0.000 4 0.000 0.069 2222 982 3416

4694 -0.85 -146.6 364.6 -7.8 228 4699 0.00 2.60 0.00 0.000 6 0.000 0.055 2222 2398 3416

5021 -0.85 -146.6 389.8 -7.6 244 5026 0.00 2.65 0.00 0.000 4 0.000 0.067 2222 976 3416

5082 -0.85 -146.6 394.4 -7.9 247 5087 0.00 2.60 0.00 0.000 6 0.000 0.055 2222 2406 3416

5408 -0.85 -146.6 420.6 -8.7 263 5409 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2406 3416

5717 -0.85 -146.6 448.4 -8.4 278 5721 0.00 2.65 0.00 0.000 4 0.000 0.067 2222 982 3416

5743 -0.85 -146.6 450.5 -7.9 279 5747 0.00 2.60 0.00 0.000 6 0.000 0.054 2222 2401 3417

6065 -0.85 -146.6 470.6 -5.7 295 6069 0.00 2.62 0.00 0.000 4 0.000 0.068 2222 981 3417

6096 -0.85 -146.6 472.2 -5.4 296 6103 0.00 2.58 0.00 0.000 6 0.000 0.055 2222 2402 3417

6412 -0.85 -146.6 487.9 -5.3 312 6416 0.00 2.65 0.00 0.000 4 0.000 0.068 2222 979 3417

6466 -0.85 -146.6 491.7 -7.5 314 6473 0.00 2.60 0.00 0.000 6 0.000 0.055 2222 2397 3416

6781 -0.85 -146.6 514.3 -6.8 330 6782 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2397 3417

7091 -0.85 -146.6 529.3 -4.1 345 7095 0.00 2.65 0.00 0.000 4 0.000 0.069 2222 978 3416

7134 -0.85 -146.6 531.4 -4.9 347 7138 0.00 2.58 0.00 0.000 6 0.000 0.057 2222 2400 3417

7454 -0.85 -146.6 551.8 -7.5 363 7459 0.00 2.65 0.00 0.000 4 0.000 0.071 2222 982 3417

7503 -0.85 -146.6 556.1 -9.0 365 7508 0.00 2.60 0.00 0.000 6 0.000 0.058 2222 2395 3417

7825 -0.85 -146.6 582.4 -7.7 381 7829 0.00 2.60 0.00 0.000 4 0.000 0.081 2222 3770 3417

7908 -0.85 -146.6 589.1 -6.4 385 7912 0.00 2.53 0.00 0.000 6 0.000 0.058 2222 2393 3417

8006 end dive: BOTTOM_OBSTACLE_DETECTED

state 8006 begin apogee

8010 -0.31 0.0 596.0 7.3 390 8134 0.60 0.00 120.10 1.078 6 0.105 0.000 2342 2197 2818

8134 end apogee: CONTROL_FINISHED_OK

state 8135 begin climb

8136 0.85 146.6 598.7 0.0 396 8262 1.23 2.75 118.20 1.068 4 0.097 0.074 2591 791 2219

8284 0.89 184.1 592.7 5.0 403 8321 0.00 2.60 31.23 1.016 6 0.000 0.054 2591 2201 2066

8630 0.89 184.1 573.1 6.1 420 8634 0.00 2.70 0.00 0.000 4 0.000 0.079 2591 3619 2065

8684 0.89 189.7 569.8 5.8 422 8695 0.00 2.65 6.05 0.809 6 0.000 0.060 2591 2200 2043

9015 0.89 189.7 550.6 6.1 439 9020 0.00 2.70 0.00 0.000 4 0.000 0.074 2591 778 2041

9069 0.89 189.7 546.9 6.4 441 9076 0.00 2.65 0.00 0.000 6 0.000 0.054 2591 2201 2041

9385 0.93 222.7 528.9 5.1 457 9419 0.00 2.80 27.02 1.022 4 0.000 0.079 2591 3610 1908

9453 0.93 222.7 524.7 7.0 460 9457 0.00 2.65 0.00 0.000 6 0.000 0.061 2591 2199 1908

9780 0.93 222.7 501.5 7.5 476 9784 0.00 2.67 0.00 0.000 4 0.000 0.073 2591 784 1906

9823 0.93 222.7 498.1 8.2 478 9827 0.00 2.62 0.00 0.000 6 0.000 0.052 2591 2198 1906

10150 0.93 222.7 470.8 8.1 494 10154 0.00 2.67 0.00 0.000 4 0.000 0.070 2591 776 1905

10175 0.93 222.7 468.7 8.0 495 10180 0.00 2.62 0.00 0.000 6 0.000 0.051 2591 2195 1905

10497 0.93 222.7 443.3 7.6 511 10498 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2195 1904

10806 0.93 222.7 422.0 6.5 526 10808 0.10 0.00 0.00 0.000 6 0.073 0.000 2617 2194 1903

11116 0.93 222.7 396.9 8.7 541 11120 0.00 2.67 0.00 0.000 4 0.000 0.074 2617 3619 1904

11154 0.93 222.7 393.3 9.1 543 11158 0.00 2.62 0.00 0.000 6 0.000 0.060 2617 2197 1904

11479 0.93 222.7 368.0 7.3 559 11483 0.00 2.65 0.00 0.000 4 0.000 0.070 2617 779 1904

11540 0.93 222.7 363.4 7.7 562 11544 0.00 2.58 0.00 0.000 6 0.000 0.048 2617 2201 1903

11865 0.93 222.7 339.9 7.4 578 11866 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1904

12175 0.93 222.7 317.4 7.2 593 12176 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1904

12484 0.93 222.7 296.1 8.2 608 12485 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1904

12793 0.93 222.7 272.3 7.9 623 12794 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1906

13103 0.93 222.7 248.5 7.8 638 13104 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1906

13411 0.93 222.7 221.7 9.6 653 13416 0.00 2.62 0.00 0.000 4 0.000 0.064 2617 784 1906

13444 0.93 222.7 219.1 7.8 654 13451 0.00 2.58 0.00 0.000 6 0.000 0.048 2617 2197 1906

13759 0.93 222.7 197.3 7.0 670 13763 0.00 2.62 0.00 0.000 4 0.000 0.070 2617 3610 1907

13791 0.93 222.7 195.1 6.7 671 13797 0.00 2.58 0.00 0.000 6 0.000 0.055 2617 2200 1907

14106 0.93 222.7 171.6 8.2 687 14110 0.00 2.62 0.00 0.000 4 0.000 0.067 2617 778 1906

14144 0.93 222.7 168.4 7.8 689 14148 0.00 2.58 0.00 0.000 6 0.000 0.047 2617 2206 1908

14470 0.93 222.7 147.6 7.0 705 14474 0.00 2.60 0.00 0.000 4 0.000 0.068 2617 3612 1908

14495 0.93 222.7 145.6 7.6 706 14500 0.00 2.62 0.00 0.000 6 0.000 0.058 2617 2201 1908

14819 0.93 222.7 120.7 8.2 722 14823 0.00 2.62 0.00 0.000 4 0.000 0.066 2617 784 1908

14858 0.93 222.7 117.4 8.7 724 14862 0.00 2.55 0.00 0.000 6 0.000 0.048 2617 2201 1908

15184 0.93 222.7 90.8 7.8 740 15185 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1908

15493 0.93 222.7 63.0 9.4 755 15494 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2202 1908

15803 0.93 222.7 35.7 8.1 770 15804 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2202 1908

16111 0.93 222.7 18.5 6.1 785 16112 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2202 1908

16337 end climb: SURFACE_DEPTH_REACHED

state 16337 begin surface coast

16358 end surface coast: CONTROL_FINISHED_OK

state 16359 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	138	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-2078281.6	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	010852,6231.987,-1028.843,43,2.2,62,-10.4	TGT_NAME	IFRSILL
_CALLS	5	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	9	TGT_RADIUS	5000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.188,0.117
_SM_DEPTHo	1.09	KALMAN_X	-106765.4,1506.4,660.7,30824.1,-21759.7
_SM_ANGLEo	-53.1	KALMAN_Y	114206.0,883.4,136.0,-15776.4,-7112.6
GPS2	012539,6231.904,-1029.393,12,1.8,12,-10.4	MHEAD_RNG_PITCHd_Wd	68.5,53550,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.024397	ALTIM_BOTTOM_PING	576.2,29.5
SM_CCo	16378,191.70,0.657,1,0,508,566.15	_24V_AH	23.6,24.921
SM_GC	1.18,0.00,0.00,191.70,0.000,0.000,0.657,72,2405,508,-10.75,0.14,566.15	_10V_AH	10.2,12.024
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41251,797
TT8_MAMPS	0.023777	CFSIZE	260165632,251260928
HUMID	2038	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
TCM_TEMP	17.00	GPS	071207,060409,6234.255,-1031.808,40,1.9,48,-10.4
XPDR_PINGS	26

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	103.04	SBE_CT	562	24	318.57
Roll_motor	158	80	301.06	SBE_O2	563	19	252.79
VBD_pump_during_apogee	302	1078	7701.26	WL_BB2F	533	105	1321.15
VBD_pump_during_surface	191	656	2970.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	163	103	396.72	nil	0	0	0.00
Iridium_during_connect	193	160	730.67	nil	0	0	0.00
Iridium_during_xfer	289	223	1526.00
Transponder_ping	11	420	111.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.19
TT8	1447	19	292.43
LPSleep	12928	2	288.81
TT8_Active	684	19	138.16
TT8_Sampling	1701	39	690.66
TT8_CF8	825	45	385.56
TT8_Kalman	33	81	27.86
Analog_circuits	1549	12	189.68
GPS_charging	0	0	0.00
Compass	1665	8	135.94
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	124	0.00	0.00	-102.55	0.000	2	0.000	0.000	68	2407	3068
126	-0.85	-146.6	3.5	-2.8	5	153	12.15	2.70	-8.45	0.000	4	0.173	0.081	2221	982	3416
179	-0.85	-146.6	11.6	-9.1	7	187	0.00	2.60	0.00	0.000	6	0.000	0.052	2222	2392	3416
497	-0.85	-146.6	38.9	-8.7	23	498	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2393	3416
805	-0.85	-146.6	68.6	-10.6	38	809	0.00	2.65	0.00	0.000	4	0.000	0.066	2221	976	3416
859	-0.85	-146.6	73.8	-8.8	40	866	0.00	2.62	0.00	0.000	6	0.000	0.053	2222	2401	3416
1175	-0.85	-146.6	93.3	-5.8	56	1176	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3416
1484	-0.85	-146.6	115.3	-5.8	71	1489	0.00	2.65	0.00	0.000	4	0.000	0.067	2221	982	3416
1523	-0.85	-146.6	117.7	-6.6	73	1527	0.00	2.60	0.00	0.000	6	0.000	0.054	2222	2404	3416
1848	-0.85	-146.6	139.7	-6.8	89	1853	0.00	2.67	0.00	0.000	4	0.000	0.067	2221	974	3416
1898	-0.85	-146.6	143.5	-7.8	91	1902	0.00	2.60	0.00	0.000	6	0.000	0.054	2222	2405	3416
2219	-0.85	-146.6	176.0	-8.8	107	2220	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2405	3416
2529	-0.85	-146.6	201.2	-8.5	122	2533	0.00	2.65	0.00	0.000	4	0.000	0.069	2221	982	3416
2577	-0.85	-146.6	205.4	-8.6	124	2582	0.00	2.58	0.00	0.000	6	0.000	0.054	2221	2402	3416
2898	-0.85	-146.6	229.9	-7.5	140	2902	0.00	2.65	0.00	0.000	4	0.000	0.068	2222	981	3416
2936	-0.85	-146.6	232.8	-7.5	142	2941	0.00	2.58	0.00	0.000	6	0.000	0.054	2222	2401	3416
3262	-0.85	-146.6	258.9	-8.0	158	3266	0.00	2.65	0.00	0.000	4	0.000	0.068	2221	981	3416
3288	-0.85	-146.6	261.0	-8.2	159	3293	0.00	2.58	0.00	0.000	6	0.000	0.056	2221	2399	3416
3609	-0.85	-146.6	283.6	-7.4	175	3614	0.00	2.65	0.00	0.000	4	0.000	0.070	2221	981	3416
3641	-0.85	-146.6	286.3	-7.9	176	3648	0.00	2.60	0.00	0.000	6	0.000	0.055	2222	2400	3416
3957	-0.85	-146.6	309.4	-7.2	192	3961	0.00	2.65	0.00	0.000	4	0.000	0.068	2222	979	3416
3995	-0.85	-146.6	312.1	-7.3	194	3999	0.00	2.58	0.00	0.000	6	0.000	0.055	2222	2400	3416
4320	-0.85	-146.6	336.0	-7.6	210	4321	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3416
4629	-0.85	-146.6	359.6	-7.4	225	4633	0.00	2.62	0.00	0.000	4	0.000	0.069	2222	982	3416
4694	-0.85	-146.6	364.6	-7.8	228	4699	0.00	2.60	0.00	0.000	6	0.000	0.055	2222	2398	3416
5021	-0.85	-146.6	389.8	-7.6	244	5026	0.00	2.65	0.00	0.000	4	0.000	0.067	2222	976	3416
5082	-0.85	-146.6	394.4	-7.9	247	5087	0.00	2.60	0.00	0.000	6	0.000	0.055	2222	2406	3416
5408	-0.85	-146.6	420.6	-8.7	263	5409	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2406	3416
5717	-0.85	-146.6	448.4	-8.4	278	5721	0.00	2.65	0.00	0.000	4	0.000	0.067	2222	982	3416
5743	-0.85	-146.6	450.5	-7.9	279	5747	0.00	2.60	0.00	0.000	6	0.000	0.054	2222	2401	3417
6065	-0.85	-146.6	470.6	-5.7	295	6069	0.00	2.62	0.00	0.000	4	0.000	0.068	2222	981	3417
6096	-0.85	-146.6	472.2	-5.4	296	6103	0.00	2.58	0.00	0.000	6	0.000	0.055	2222	2402	3417
6412	-0.85	-146.6	487.9	-5.3	312	6416	0.00	2.65	0.00	0.000	4	0.000	0.068	2222	979	3417
6466	-0.85	-146.6	491.7	-7.5	314	6473	0.00	2.60	0.00	0.000	6	0.000	0.055	2222	2397	3416
6781	-0.85	-146.6	514.3	-6.8	330	6782	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2397	3417
7091	-0.85	-146.6	529.3	-4.1	345	7095	0.00	2.65	0.00	0.000	4	0.000	0.069	2222	978	3416
7134	-0.85	-146.6	531.4	-4.9	347	7138	0.00	2.58	0.00	0.000	6	0.000	0.057	2222	2400	3417
7454	-0.85	-146.6	551.8	-7.5	363	7459	0.00	2.65	0.00	0.000	4	0.000	0.071	2222	982	3417
7503	-0.85	-146.6	556.1	-9.0	365	7508	0.00	2.60	0.00	0.000	6	0.000	0.058	2222	2395	3417
7825	-0.85	-146.6	582.4	-7.7	381	7829	0.00	2.60	0.00	0.000	4	0.000	0.081	2222	3770	3417
7908	-0.85	-146.6	589.1	-6.4	385	7912	0.00	2.53	0.00	0.000	6	0.000	0.058	2222	2393	3417
8006	end dive: BOTTOM_OBSTACLE_DETECTED
state	8006	begin apogee
8010	-0.31	0.0	596.0	7.3	390	8134	0.60	0.00	120.10	1.078	6	0.105	0.000	2342	2197	2818
8134	end apogee: CONTROL_FINISHED_OK
state	8135	begin climb
8136	0.85	146.6	598.7	0.0	396	8262	1.23	2.75	118.20	1.068	4	0.097	0.074	2591	791	2219
8284	0.89	184.1	592.7	5.0	403	8321	0.00	2.60	31.23	1.016	6	0.000	0.054	2591	2201	2066
8630	0.89	184.1	573.1	6.1	420	8634	0.00	2.70	0.00	0.000	4	0.000	0.079	2591	3619	2065
8684	0.89	189.7	569.8	5.8	422	8695	0.00	2.65	6.05	0.809	6	0.000	0.060	2591	2200	2043
9015	0.89	189.7	550.6	6.1	439	9020	0.00	2.70	0.00	0.000	4	0.000	0.074	2591	778	2041
9069	0.89	189.7	546.9	6.4	441	9076	0.00	2.65	0.00	0.000	6	0.000	0.054	2591	2201	2041
9385	0.93	222.7	528.9	5.1	457	9419	0.00	2.80	27.02	1.022	4	0.000	0.079	2591	3610	1908
9453	0.93	222.7	524.7	7.0	460	9457	0.00	2.65	0.00	0.000	6	0.000	0.061	2591	2199	1908
9780	0.93	222.7	501.5	7.5	476	9784	0.00	2.67	0.00	0.000	4	0.000	0.073	2591	784	1906
9823	0.93	222.7	498.1	8.2	478	9827	0.00	2.62	0.00	0.000	6	0.000	0.052	2591	2198	1906
10150	0.93	222.7	470.8	8.1	494	10154	0.00	2.67	0.00	0.000	4	0.000	0.070	2591	776	1905
10175	0.93	222.7	468.7	8.0	495	10180	0.00	2.62	0.00	0.000	6	0.000	0.051	2591	2195	1905
10497	0.93	222.7	443.3	7.6	511	10498	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2195	1904
10806	0.93	222.7	422.0	6.5	526	10808	0.10	0.00	0.00	0.000	6	0.073	0.000	2617	2194	1903
11116	0.93	222.7	396.9	8.7	541	11120	0.00	2.67	0.00	0.000	4	0.000	0.074	2617	3619	1904
11154	0.93	222.7	393.3	9.1	543	11158	0.00	2.62	0.00	0.000	6	0.000	0.060	2617	2197	1904
11479	0.93	222.7	368.0	7.3	559	11483	0.00	2.65	0.00	0.000	4	0.000	0.070	2617	779	1904
11540	0.93	222.7	363.4	7.7	562	11544	0.00	2.58	0.00	0.000	6	0.000	0.048	2617	2201	1903
11865	0.93	222.7	339.9	7.4	578	11866	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1904
12175	0.93	222.7	317.4	7.2	593	12176	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1904
12484	0.93	222.7	296.1	8.2	608	12485	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1904
12793	0.93	222.7	272.3	7.9	623	12794	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1906
13103	0.93	222.7	248.5	7.8	638	13104	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1906
13411	0.93	222.7	221.7	9.6	653	13416	0.00	2.62	0.00	0.000	4	0.000	0.064	2617	784	1906
13444	0.93	222.7	219.1	7.8	654	13451	0.00	2.58	0.00	0.000	6	0.000	0.048	2617	2197	1906
13759	0.93	222.7	197.3	7.0	670	13763	0.00	2.62	0.00	0.000	4	0.000	0.070	2617	3610	1907
13791	0.93	222.7	195.1	6.7	671	13797	0.00	2.58	0.00	0.000	6	0.000	0.055	2617	2200	1907
14106	0.93	222.7	171.6	8.2	687	14110	0.00	2.62	0.00	0.000	4	0.000	0.067	2617	778	1906
14144	0.93	222.7	168.4	7.8	689	14148	0.00	2.58	0.00	0.000	6	0.000	0.047	2617	2206	1908
14470	0.93	222.7	147.6	7.0	705	14474	0.00	2.60	0.00	0.000	4	0.000	0.068	2617	3612	1908
14495	0.93	222.7	145.6	7.6	706	14500	0.00	2.62	0.00	0.000	6	0.000	0.058	2617	2201	1908
14819	0.93	222.7	120.7	8.2	722	14823	0.00	2.62	0.00	0.000	4	0.000	0.066	2617	784	1908
14858	0.93	222.7	117.4	8.7	724	14862	0.00	2.55	0.00	0.000	6	0.000	0.048	2617	2201	1908
15184	0.93	222.7	90.8	7.8	740	15185	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1908
15493	0.93	222.7	63.0	9.4	755	15494	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2202	1908
15803	0.93	222.7	35.7	8.1	770	15804	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2202	1908
16111	0.93	222.7	18.5	6.1	785	16112	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2202	1908
16337	end climb: SURFACE_DEPTH_REACHED
state	16337	begin surface coast
16358	end surface coast: CONTROL_FINISHED_OK
state	16359	begin surface