Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 140 * 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 140 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 25 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 -2078329 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 -2078329

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 25 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 140 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 104125,6236.994,-1029.975,25,1.8,42,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,0.068

_SM_DEPTHo 1.22 KALMAN_X -115591.5,1709.1,895.7,38637.3,-26655.4

_SM_ANGLEo -55.7 KALMAN_Y 119404.3,323.6,-6.3,-10892.7,1184.5

GPS2 104627,6236.984,-1030.017,15,1.9,15,-10.5 MHEAD_RNG_PITCHd_Wd 82.5,48681,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027377 ALTIM_BOTTOM_PING 475.4,101.3

SM_CCo 15515,180.80,0.649,2,0,508,566.15 _24V_AH 23.6,25.222

SM_GC 1.30,0.00,0.00,180.80,0.000,0.000,0.649,67,2402,508,-10.78,0.06,566.15 _10V_AH 10.2,12.176

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37997,756

TT8_MAMPS 0.02301 CFSIZE 260165632,251187200

HUMID 2052 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,19,2,0

TCM_TEMP 16.90 GPS 071207,151008,6237.698,-1030.569,29,1.9,29,-10.5

XPDR_PINGS 20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 175 106.74 SBE_CT 542 24 307.34

Roll_motor 168 77 307.74 SBE_O2 528 19 237.17

VBD_pump_during_apogee 325 1055 8104.20 WL_BB2F 503 105 1247.65

VBD_pump_during_surface 180 648 2768.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.36 nil 0 0 0.00

Iridium_during_connect 36 160 139.10 nil 0 0 0.00

Iridium_during_xfer 138 223 727.16

Transponder_ping 8 420 86.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.74

TT8 1388 19 280.50

LPSleep 11917 2 266.21

TT8_Active 716 19 144.78

TT8_Sampling 1637 39 664.64

TT8_CF8 355 45 165.97

TT8_Kalman 33 81 27.84

Analog_circuits 1557 12 190.62

GPS_charging 0 0 0.00

Compass 1600 8 130.56

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 0 123 0.00 0.00 -101.72 0.000 2 0.000 0.000 68 2404 3107

125 -0.85 -146.6 3.9 -3.0 5 147 12.35 0.00 -7.22 0.000 6 0.176 0.000 2220 2404 3417

452 -0.85 -146.6 33.6 -8.9 21 456 0.00 2.65 0.00 0.000 4 0.000 0.062 2220 981 3417

506 -0.85 -146.6 37.7 -6.7 23 513 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2390 3417

823 -0.85 -146.6 58.9 -6.8 39 827 0.00 2.62 0.00 0.000 4 0.000 0.062 2221 976 3417

861 -0.85 -146.6 61.8 -7.1 41 866 0.00 2.60 0.00 0.000 6 0.000 0.052 2220 2405 3417

1188 -0.85 -146.6 84.5 -7.2 57 1192 0.00 2.65 0.00 0.000 4 0.000 0.065 2220 982 3417

1226 -0.85 -146.6 87.6 -8.3 59 1231 0.00 2.58 0.00 0.000 6 0.000 0.053 2220 2400 3418

1552 -0.85 -146.6 112.9 -7.8 75 1556 0.00 2.65 0.00 0.000 4 0.000 0.065 2220 975 3417

1578 -0.85 -146.6 115.1 -7.6 76 1582 0.00 2.60 0.00 0.000 6 0.000 0.054 2220 2406 3417

1899 -0.85 -146.6 139.5 -7.1 92 1904 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 983 3417

1930 -0.85 -146.6 141.8 -6.9 93 1938 0.00 2.60 0.00 0.000 6 0.000 0.055 2220 2395 3417

2246 -0.85 -146.6 162.0 -6.1 109 2247 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2395 3417

2556 -0.85 -146.6 180.4 -5.0 124 2560 0.00 2.65 0.00 0.000 4 0.000 0.068 2220 978 3417

2643 -0.85 -146.6 186.4 -9.1 128 2648 0.00 2.60 0.00 0.000 6 0.000 0.053 2220 2396 3417

2970 -0.85 -146.6 213.2 -7.9 144 2971 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2396 3417

3279 -0.85 -146.6 236.5 -8.0 159 3283 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 982 3417

3322 -0.85 -146.6 240.1 -8.7 161 3326 0.00 2.60 0.00 0.000 6 0.000 0.054 2220 2401 3417

3649 -0.85 -146.6 265.3 -7.5 177 3653 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 979 3417

3687 -0.85 -146.6 268.1 -7.4 179 3691 0.00 2.58 0.00 0.000 6 0.000 0.056 2220 2401 3418

4012 -0.85 -146.6 293.4 -8.1 195 4016 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 979 3417

4043 -0.85 -146.6 296.3 -8.7 196 4050 0.00 2.58 0.00 0.000 6 0.000 0.055 2220 2401 3417

4359 -0.85 -146.6 321.7 -8.0 212 4363 0.00 2.65 0.00 0.000 4 0.000 0.067 2221 976 3417

4397 -0.85 -146.6 324.7 -8.1 214 4402 0.00 2.58 0.00 0.000 6 0.000 0.054 2220 2401 3417

4730 -0.85 -146.6 351.0 -7.8 230 4734 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 974 3418

4761 -0.85 -146.6 353.9 -8.1 231 4768 0.00 2.60 0.00 0.000 6 0.000 0.054 2220 2393 3417

5077 -0.85 -146.6 377.6 -7.5 247 5081 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 980 3417

5109 -0.85 -146.6 380.0 -7.5 248 5115 0.00 2.58 0.00 0.000 6 0.000 0.056 2220 2401 3417

5424 -0.85 -146.6 402.3 -6.9 264 5428 0.00 2.65 0.00 0.000 4 0.000 0.067 2221 980 3417

5457 -0.85 -146.6 404.3 -6.0 265 5463 0.00 2.60 0.00 0.000 6 0.000 0.056 2220 2406 3417

5772 -0.85 -146.6 421.1 -4.7 281 5776 0.00 2.65 0.00 0.000 4 0.000 0.066 2220 980 3417

5810 -0.85 -146.6 422.9 -4.2 283 5815 0.00 2.58 0.00 0.000 6 0.000 0.054 2220 2400 3417

6136 -0.85 -146.6 435.7 -4.4 299 6141 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 982 3418

6169 -0.85 -146.6 437.3 -5.2 300 6176 0.00 2.58 0.00 0.000 6 0.000 0.055 2220 2406 3417

6484 -0.85 -146.6 459.3 -7.7 316 6488 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 982 3417

6522 -0.85 -146.6 462.4 -7.9 318 6527 0.00 2.55 0.00 0.000 6 0.000 0.056 2221 2400 3417

6848 -0.85 -146.6 490.1 -9.2 334 6852 0.00 2.58 0.00 0.000 4 0.000 0.077 2220 3771 3418

6879 -0.85 -146.6 493.4 -10.1 335 6887 0.00 2.50 0.00 0.000 6 0.000 0.050 2220 2401 3418

7195 -0.85 -146.6 519.1 -7.4 351 7200 0.00 2.62 0.00 0.000 4 0.000 0.071 2220 979 3418

7257 -0.85 -146.6 523.9 -7.7 354 7261 0.00 2.58 0.00 0.000 6 0.000 0.056 2220 2400 3418

7582 -0.85 -146.6 549.4 -8.0 370 7586 0.00 2.62 0.00 0.000 4 0.000 0.067 2220 985 3418

7624 -0.85 -146.6 553.2 -8.6 372 7629 0.00 2.60 0.00 0.000 6 0.000 0.057 2220 2396 3418

7806 end dive: BOTTOM_OBSTACLE_DETECTED

state 7806 begin apogee

7811 -0.31 0.0 567.0 7.4 381 7934 0.60 0.00 120.12 1.055 6 0.117 0.000 2337 2192 2817

7935 end apogee: CONTROL_FINISHED_OK

state 7935 begin climb

7937 0.85 146.6 569.6 0.0 387 8063 1.30 2.78 118.20 1.032 4 0.105 0.076 2592 3611 2218

8140 0.85 146.6 558.8 8.0 397 8145 0.00 2.65 0.00 0.000 6 0.000 0.057 2592 2208 2218

8467 0.89 188.3 540.1 4.9 413 8509 0.00 2.75 34.12 0.996 4 0.000 0.072 2592 786 2048

8586 0.89 188.3 533.6 6.0 418 8591 0.00 2.62 0.00 0.000 6 0.000 0.052 2592 2206 2047

8907 0.89 188.3 514.1 7.3 434 8908 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2206 2047

9216 0.89 188.3 488.7 8.2 449 9221 0.00 2.67 0.00 0.000 4 0.000 0.069 2592 785 2046

9256 0.89 188.3 485.3 9.1 451 9260 0.00 2.60 0.00 0.000 6 0.000 0.051 2592 2200 2045

9581 0.92 211.2 463.7 5.4 467 9605 0.00 2.75 18.88 0.953 4 0.000 0.077 2592 3616 1955

9634 0.93 223.0 460.8 5.7 469 9650 0.00 2.65 10.90 0.888 6 0.000 0.058 2592 2200 1907

9970 0.93 223.0 442.5 6.3 486 9975 0.00 2.67 0.00 0.000 4 0.000 0.071 2592 781 1906

10002 0.93 223.0 440.2 6.6 487 10009 0.00 2.62 0.00 0.000 6 0.000 0.049 2592 2202 1906

10317 0.93 223.0 418.8 6.7 503 10322 0.00 2.65 0.00 0.000 4 0.000 0.066 2592 785 1905

10366 0.93 223.0 415.2 7.8 505 10371 0.00 2.58 0.00 0.000 6 0.000 0.048 2592 2202 1905

10688 0.93 223.0 394.5 6.3 521 10689 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2202 1905

10997 0.93 223.0 371.7 7.5 536 11001 0.00 2.65 0.00 0.000 4 0.000 0.065 2592 784 1905

11035 0.93 223.0 368.7 7.6 538 11040 0.00 2.58 0.00 0.000 6 0.000 0.047 2592 2206 1905

11361 0.93 223.0 344.4 7.4 554 11362 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2206 1905

11670 0.93 223.0 318.9 9.3 569 11671 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2206 1905

11980 0.93 223.0 288.7 9.8 584 11984 0.00 2.65 0.00 0.000 4 0.000 0.066 2592 785 1906

12018 0.93 223.0 285.2 9.5 586 12022 0.00 2.55 0.00 0.000 6 0.000 0.046 2592 2201 1905

12343 0.93 223.0 260.9 6.1 602 12344 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2201 1906

12653 0.93 223.0 243.0 6.0 617 12654 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2201 1906

12962 0.96 250.5 226.0 5.2 632 12987 0.12 0.00 23.15 0.791 6 0.067 0.000 2627 2201 1794

13291 0.96 250.5 202.0 7.6 648 13295 0.00 2.62 0.00 0.000 4 0.000 0.064 2627 784 1794

13322 0.96 250.5 199.4 8.0 649 13329 0.00 2.55 0.00 0.000 6 0.000 0.046 2627 2202 1794

13638 0.96 250.5 173.9 8.6 665 13639 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2202 1794

13948 0.96 250.5 147.0 9.0 680 13952 0.00 2.65 0.00 0.000 4 0.000 0.064 2627 776 1794

13986 0.96 250.5 143.3 9.9 682 13990 0.00 2.58 0.00 0.000 6 0.000 0.045 2627 2207 1794

14312 0.96 250.5 112.4 9.7 698 14313 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2207 1794

14621 0.96 250.5 82.0 10.5 713 14625 0.00 2.65 0.00 0.000 4 0.000 0.063 2627 780 1794

14652 0.96 250.5 78.8 9.5 714 14659 0.00 2.58 0.00 0.000 6 0.000 0.046 2627 2196 1793

14970 0.96 250.5 48.7 9.2 730 14974 0.00 2.62 0.00 0.000 4 0.000 0.068 2627 3614 1794

14996 0.96 250.5 45.9 10.5 731 15000 0.00 2.60 0.00 0.000 6 0.000 0.054 2627 2194 1794

15317 0.96 250.5 14.7 9.1 747 15321 0.00 2.62 0.00 0.000 4 0.000 0.067 2627 777 1795

15356 0.96 250.5 10.9 9.8 749 15360 0.00 2.55 0.00 0.000 6 0.000 0.046 2627 2207 1795

15473 end climb: SURFACE_DEPTH_REACHED

state 15474 begin surface coast

15496 end surface coast: CONTROL_FINISHED_OK

state 15496 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	140	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	25	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	-2078329	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	104125,6236.994,-1029.975,25,1.8,42,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,0.068
_SM_DEPTHo	1.22	KALMAN_X	-115591.5,1709.1,895.7,38637.3,-26655.4
_SM_ANGLEo	-55.7	KALMAN_Y	119404.3,323.6,-6.3,-10892.7,1184.5
GPS2	104627,6236.984,-1030.017,15,1.9,15,-10.5	MHEAD_RNG_PITCHd_Wd	82.5,48681,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027377	ALTIM_BOTTOM_PING	475.4,101.3
SM_CCo	15515,180.80,0.649,2,0,508,566.15	_24V_AH	23.6,25.222
SM_GC	1.30,0.00,0.00,180.80,0.000,0.000,0.649,67,2402,508,-10.78,0.06,566.15	_10V_AH	10.2,12.176
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37997,756
TT8_MAMPS	0.02301	CFSIZE	260165632,251187200
HUMID	2052	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,19,2,0
TCM_TEMP	16.90	GPS	071207,151008,6237.698,-1030.569,29,1.9,29,-10.5
XPDR_PINGS	20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	175	106.74	SBE_CT	542	24	307.34
Roll_motor	168	77	307.74	SBE_O2	528	19	237.17
VBD_pump_during_apogee	325	1055	8104.20	WL_BB2F	503	105	1247.65
VBD_pump_during_surface	180	648	2768.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.36	nil	0	0	0.00
Iridium_during_connect	36	160	139.10	nil	0	0	0.00
Iridium_during_xfer	138	223	727.16
Transponder_ping	8	420	86.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.74
TT8	1388	19	280.50
LPSleep	11917	2	266.21
TT8_Active	716	19	144.78
TT8_Sampling	1637	39	664.64
TT8_CF8	355	45	165.97
TT8_Kalman	33	81	27.84
Analog_circuits	1557	12	190.62
GPS_charging	0	0	0.00
Compass	1600	8	130.56
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	123	0.00	0.00	-101.72	0.000	2	0.000	0.000	68	2404	3107
125	-0.85	-146.6	3.9	-3.0	5	147	12.35	0.00	-7.22	0.000	6	0.176	0.000	2220	2404	3417
452	-0.85	-146.6	33.6	-8.9	21	456	0.00	2.65	0.00	0.000	4	0.000	0.062	2220	981	3417
506	-0.85	-146.6	37.7	-6.7	23	513	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2390	3417
823	-0.85	-146.6	58.9	-6.8	39	827	0.00	2.62	0.00	0.000	4	0.000	0.062	2221	976	3417
861	-0.85	-146.6	61.8	-7.1	41	866	0.00	2.60	0.00	0.000	6	0.000	0.052	2220	2405	3417
1188	-0.85	-146.6	84.5	-7.2	57	1192	0.00	2.65	0.00	0.000	4	0.000	0.065	2220	982	3417
1226	-0.85	-146.6	87.6	-8.3	59	1231	0.00	2.58	0.00	0.000	6	0.000	0.053	2220	2400	3418
1552	-0.85	-146.6	112.9	-7.8	75	1556	0.00	2.65	0.00	0.000	4	0.000	0.065	2220	975	3417
1578	-0.85	-146.6	115.1	-7.6	76	1582	0.00	2.60	0.00	0.000	6	0.000	0.054	2220	2406	3417
1899	-0.85	-146.6	139.5	-7.1	92	1904	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	983	3417
1930	-0.85	-146.6	141.8	-6.9	93	1938	0.00	2.60	0.00	0.000	6	0.000	0.055	2220	2395	3417
2246	-0.85	-146.6	162.0	-6.1	109	2247	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2395	3417
2556	-0.85	-146.6	180.4	-5.0	124	2560	0.00	2.65	0.00	0.000	4	0.000	0.068	2220	978	3417
2643	-0.85	-146.6	186.4	-9.1	128	2648	0.00	2.60	0.00	0.000	6	0.000	0.053	2220	2396	3417
2970	-0.85	-146.6	213.2	-7.9	144	2971	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2396	3417
3279	-0.85	-146.6	236.5	-8.0	159	3283	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	982	3417
3322	-0.85	-146.6	240.1	-8.7	161	3326	0.00	2.60	0.00	0.000	6	0.000	0.054	2220	2401	3417
3649	-0.85	-146.6	265.3	-7.5	177	3653	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	979	3417
3687	-0.85	-146.6	268.1	-7.4	179	3691	0.00	2.58	0.00	0.000	6	0.000	0.056	2220	2401	3418
4012	-0.85	-146.6	293.4	-8.1	195	4016	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	979	3417
4043	-0.85	-146.6	296.3	-8.7	196	4050	0.00	2.58	0.00	0.000	6	0.000	0.055	2220	2401	3417
4359	-0.85	-146.6	321.7	-8.0	212	4363	0.00	2.65	0.00	0.000	4	0.000	0.067	2221	976	3417
4397	-0.85	-146.6	324.7	-8.1	214	4402	0.00	2.58	0.00	0.000	6	0.000	0.054	2220	2401	3417
4730	-0.85	-146.6	351.0	-7.8	230	4734	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	974	3418
4761	-0.85	-146.6	353.9	-8.1	231	4768	0.00	2.60	0.00	0.000	6	0.000	0.054	2220	2393	3417
5077	-0.85	-146.6	377.6	-7.5	247	5081	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	980	3417
5109	-0.85	-146.6	380.0	-7.5	248	5115	0.00	2.58	0.00	0.000	6	0.000	0.056	2220	2401	3417
5424	-0.85	-146.6	402.3	-6.9	264	5428	0.00	2.65	0.00	0.000	4	0.000	0.067	2221	980	3417
5457	-0.85	-146.6	404.3	-6.0	265	5463	0.00	2.60	0.00	0.000	6	0.000	0.056	2220	2406	3417
5772	-0.85	-146.6	421.1	-4.7	281	5776	0.00	2.65	0.00	0.000	4	0.000	0.066	2220	980	3417
5810	-0.85	-146.6	422.9	-4.2	283	5815	0.00	2.58	0.00	0.000	6	0.000	0.054	2220	2400	3417
6136	-0.85	-146.6	435.7	-4.4	299	6141	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	982	3418
6169	-0.85	-146.6	437.3	-5.2	300	6176	0.00	2.58	0.00	0.000	6	0.000	0.055	2220	2406	3417
6484	-0.85	-146.6	459.3	-7.7	316	6488	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	982	3417
6522	-0.85	-146.6	462.4	-7.9	318	6527	0.00	2.55	0.00	0.000	6	0.000	0.056	2221	2400	3417
6848	-0.85	-146.6	490.1	-9.2	334	6852	0.00	2.58	0.00	0.000	4	0.000	0.077	2220	3771	3418
6879	-0.85	-146.6	493.4	-10.1	335	6887	0.00	2.50	0.00	0.000	6	0.000	0.050	2220	2401	3418
7195	-0.85	-146.6	519.1	-7.4	351	7200	0.00	2.62	0.00	0.000	4	0.000	0.071	2220	979	3418
7257	-0.85	-146.6	523.9	-7.7	354	7261	0.00	2.58	0.00	0.000	6	0.000	0.056	2220	2400	3418
7582	-0.85	-146.6	549.4	-8.0	370	7586	0.00	2.62	0.00	0.000	4	0.000	0.067	2220	985	3418
7624	-0.85	-146.6	553.2	-8.6	372	7629	0.00	2.60	0.00	0.000	6	0.000	0.057	2220	2396	3418
7806	end dive: BOTTOM_OBSTACLE_DETECTED
state	7806	begin apogee
7811	-0.31	0.0	567.0	7.4	381	7934	0.60	0.00	120.12	1.055	6	0.117	0.000	2337	2192	2817
7935	end apogee: CONTROL_FINISHED_OK
state	7935	begin climb
7937	0.85	146.6	569.6	0.0	387	8063	1.30	2.78	118.20	1.032	4	0.105	0.076	2592	3611	2218
8140	0.85	146.6	558.8	8.0	397	8145	0.00	2.65	0.00	0.000	6	0.000	0.057	2592	2208	2218
8467	0.89	188.3	540.1	4.9	413	8509	0.00	2.75	34.12	0.996	4	0.000	0.072	2592	786	2048
8586	0.89	188.3	533.6	6.0	418	8591	0.00	2.62	0.00	0.000	6	0.000	0.052	2592	2206	2047
8907	0.89	188.3	514.1	7.3	434	8908	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2206	2047
9216	0.89	188.3	488.7	8.2	449	9221	0.00	2.67	0.00	0.000	4	0.000	0.069	2592	785	2046
9256	0.89	188.3	485.3	9.1	451	9260	0.00	2.60	0.00	0.000	6	0.000	0.051	2592	2200	2045
9581	0.92	211.2	463.7	5.4	467	9605	0.00	2.75	18.88	0.953	4	0.000	0.077	2592	3616	1955
9634	0.93	223.0	460.8	5.7	469	9650	0.00	2.65	10.90	0.888	6	0.000	0.058	2592	2200	1907
9970	0.93	223.0	442.5	6.3	486	9975	0.00	2.67	0.00	0.000	4	0.000	0.071	2592	781	1906
10002	0.93	223.0	440.2	6.6	487	10009	0.00	2.62	0.00	0.000	6	0.000	0.049	2592	2202	1906
10317	0.93	223.0	418.8	6.7	503	10322	0.00	2.65	0.00	0.000	4	0.000	0.066	2592	785	1905
10366	0.93	223.0	415.2	7.8	505	10371	0.00	2.58	0.00	0.000	6	0.000	0.048	2592	2202	1905
10688	0.93	223.0	394.5	6.3	521	10689	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2202	1905
10997	0.93	223.0	371.7	7.5	536	11001	0.00	2.65	0.00	0.000	4	0.000	0.065	2592	784	1905
11035	0.93	223.0	368.7	7.6	538	11040	0.00	2.58	0.00	0.000	6	0.000	0.047	2592	2206	1905
11361	0.93	223.0	344.4	7.4	554	11362	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2206	1905
11670	0.93	223.0	318.9	9.3	569	11671	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2206	1905
11980	0.93	223.0	288.7	9.8	584	11984	0.00	2.65	0.00	0.000	4	0.000	0.066	2592	785	1906
12018	0.93	223.0	285.2	9.5	586	12022	0.00	2.55	0.00	0.000	6	0.000	0.046	2592	2201	1905
12343	0.93	223.0	260.9	6.1	602	12344	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2201	1906
12653	0.93	223.0	243.0	6.0	617	12654	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2201	1906
12962	0.96	250.5	226.0	5.2	632	12987	0.12	0.00	23.15	0.791	6	0.067	0.000	2627	2201	1794
13291	0.96	250.5	202.0	7.6	648	13295	0.00	2.62	0.00	0.000	4	0.000	0.064	2627	784	1794
13322	0.96	250.5	199.4	8.0	649	13329	0.00	2.55	0.00	0.000	6	0.000	0.046	2627	2202	1794
13638	0.96	250.5	173.9	8.6	665	13639	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2202	1794
13948	0.96	250.5	147.0	9.0	680	13952	0.00	2.65	0.00	0.000	4	0.000	0.064	2627	776	1794
13986	0.96	250.5	143.3	9.9	682	13990	0.00	2.58	0.00	0.000	6	0.000	0.045	2627	2207	1794
14312	0.96	250.5	112.4	9.7	698	14313	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2207	1794
14621	0.96	250.5	82.0	10.5	713	14625	0.00	2.65	0.00	0.000	4	0.000	0.063	2627	780	1794
14652	0.96	250.5	78.8	9.5	714	14659	0.00	2.58	0.00	0.000	6	0.000	0.046	2627	2196	1793
14970	0.96	250.5	48.7	9.2	730	14974	0.00	2.62	0.00	0.000	4	0.000	0.068	2627	3614	1794
14996	0.96	250.5	45.9	10.5	731	15000	0.00	2.60	0.00	0.000	6	0.000	0.054	2627	2194	1794
15317	0.96	250.5	14.7	9.1	747	15321	0.00	2.62	0.00	0.000	4	0.000	0.067	2627	777	1795
15356	0.96	250.5	10.9	9.8	749	15360	0.00	2.55	0.00	0.000	6	0.000	0.046	2627	2207	1795
15473	end climb: SURFACE_DEPTH_REACHED
state	15474	begin surface coast
15496	end surface coast: CONTROL_FINISHED_OK
state	15496	begin surface