Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 144 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 144 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 547.01898 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 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 3 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 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 -79366.586 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 547.01898

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

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 5

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 -79366.586

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 17 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 144 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 193507,6148.968,-913.930,28,1.1,28,-9.5 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 1 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.142,-0.143

_SM_DEPTHo 0.63 KALMAN_X -68144.4,-197.1,4.6,93439.8,-3199.9

_SM_ANGLEo -53.7 KALMAN_Y 60384.3,3153.1,1587.1,-65601.8,-3771.1

GPS2 194515,6149.117,-913.899,16,1.9,16,-9.5 MHEAD_RNG_PITCHd_Wd 144.8,15247,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027053 ALTIM_BOTTOM_PING 600.2,64.5

SM_CCo 18617,0.00,0.000,0,0,390,547.02 _24V_AH 23.8,30.251

SM_GC 0.68,11.30,0.00,0.00,0.037,0.000,0.000,424,2172,390,-10.39,0.59,547.02 _10V_AH 10.1,14.703

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44300,887

TT8_MAMPS 0.029146 CAP_FILE_SIZE 153036,0

HUMID 1706 CFSIZE 254472192,241807360

TCM_TEMP 19.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,0,0

XPDR_PINGS 467 GPS 110708,005758,6153.433,-916.562,35,2.3,54,-9.5

ALTIM_TOP_PING 18.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 134 84.50 SBE_CT 607 24 347.15

Roll_motor 180 85 365.69 SBE_O2 657 19 297.45

VBD_pump_during_apogee 573 1302 17771.73 WL_BB2F 530 105 1325.47

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.13 nil 0 0 0.00

Iridium_during_connect 53 160 205.05 nil 0 0 0.00

Iridium_during_xfer 269 223 1432.89

Transponder_ping 122 420 1219.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.19

TT8 1670 19 334.05

LPSleep 14010 2 309.89

TT8_Active 689 19 137.90

TT8_Sampling 2088 39 839.39

TT8_CF8 753 45 348.57

TT8_Kalman 33 81 27.58

Analog_circuits 1792 12 217.23

GPS_charging 0 0 0.00

Compass 2039 8 164.78

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.03 -117.3 0.0 0.0 0 137 0.00 0.00 -110.95 0.000 6 0.000 0.000 417 2174 3099

141 -1.03 -117.3 2.0 -1.4 5 157 10.60 2.58 0.00 0.000 4 0.135 0.056 2468 744 3099

409 -0.70 -117.3 34.0 -10.0 16 415 0.38 2.53 0.00 0.000 6 0.085 0.049 2549 2158 3098

733 -0.62 -117.3 59.1 -7.8 32 738 0.00 2.58 0.00 0.000 4 0.000 0.058 2549 741 3098

879 -0.55 -117.3 70.7 -7.7 38 886 0.15 2.45 0.00 0.000 6 0.095 0.050 2579 2116 3098

1196 -0.55 -117.3 91.5 -6.8 54 1200 0.00 2.58 0.00 0.000 4 0.000 0.060 2579 3553 3098

1206 -0.55 -117.3 92.2 -6.7 54 1213 0.00 2.55 0.00 0.000 6 0.000 0.048 2579 2114 3099

1523 -0.55 -117.3 112.3 -5.6 70 1527 0.00 2.45 0.00 0.000 4 0.000 0.061 2579 747 3099

1534 -0.55 -117.3 113.0 -5.6 70 1540 0.00 2.42 0.00 0.000 6 0.000 0.049 2579 2104 3098

1851 -0.55 -117.3 125.6 -3.2 86 1855 0.00 2.47 0.00 0.000 4 0.000 0.061 2579 748 3098

1901 -0.59 -117.3 127.5 -3.8 88 1905 0.00 2.40 0.00 0.000 6 0.000 0.050 2579 2087 3098

2218 -0.63 -117.3 140.2 -4.9 103 2219 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2087 3098

2527 -0.68 -117.3 157.6 -5.8 118 2529 0.12 0.00 0.00 0.000 6 0.052 0.000 2542 2088 3098

2838 -0.61 -117.3 175.8 -5.6 133 2840 0.12 0.00 0.00 0.000 6 0.091 0.000 2568 2087 3098

3145 -0.61 -117.3 189.1 -4.2 148 3146 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2087 3098

3454 -0.61 -117.3 201.5 -4.2 163 3455 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2087 3098

3763 -0.61 -117.3 216.8 -5.3 178 3768 0.00 2.45 0.00 0.000 4 0.000 0.062 2567 747 3097

3808 -0.61 -117.3 219.4 -6.2 180 3813 0.00 2.42 0.00 0.000 6 0.000 0.052 2567 2096 3097

4130 -0.61 -117.3 236.3 -4.9 196 4132 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2096 3097

4440 -0.61 -117.3 250.5 -4.3 211 4442 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2097 3097

4749 -0.61 -117.3 262.5 -3.8 226 4750 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2096 3097

5058 -0.61 -117.3 274.0 -3.7 241 5059 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2097 3096

5368 -0.61 -117.3 285.6 -3.7 256 5372 0.00 2.62 0.00 0.000 4 0.000 0.066 2567 3553 3096

5379 -0.61 -117.3 286.0 -3.5 256 5385 0.00 2.62 0.00 0.000 6 0.000 0.052 2567 2084 3096

5695 -0.61 -117.3 298.1 -3.8 272 5699 0.00 2.67 0.00 0.000 4 0.000 0.064 2567 3553 3096

5722 -0.61 -117.3 299.3 -4.0 273 5727 0.00 2.60 0.00 0.000 6 0.000 0.051 2567 2096 3096

6039 -0.61 -117.3 313.2 -4.8 288 6043 0.00 2.67 0.00 0.000 4 0.000 0.064 2567 3564 3096

6101 -0.61 -117.3 316.7 -5.9 291 6106 0.00 2.58 0.00 0.000 6 0.000 0.049 2567 2108 3096

6429 -0.61 -117.3 335.9 -6.3 307 6433 0.00 2.65 0.00 0.000 4 0.000 0.064 2567 3562 3095

6478 -0.61 -117.3 339.6 -8.1 309 6483 0.00 2.55 0.00 0.000 6 0.000 0.050 2567 2131 3095

6794 -0.61 -117.3 363.5 -8.2 324 6798 0.00 2.60 0.00 0.000 4 0.000 0.066 2568 3557 3095

6815 -0.61 -117.3 365.5 -8.8 325 6820 0.00 2.53 0.00 0.000 6 0.000 0.051 2567 2140 3095

7138 -0.61 -117.3 392.1 -8.7 341 7139 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2139 3095

7446 -0.61 -117.3 420.4 -8.7 356 7451 0.00 2.60 0.00 0.000 4 0.000 0.064 2567 3556 3095

7457 -0.61 -117.3 421.5 -8.7 356 7463 0.00 2.55 0.00 0.000 6 0.000 0.053 2567 2131 3095

7774 -0.61 -117.3 447.9 -8.2 372 7778 0.00 2.60 0.00 0.000 4 0.000 0.065 2567 3553 3095

7817 -0.61 -117.3 451.7 -8.5 374 7822 0.00 2.47 0.00 0.000 6 0.000 0.052 2567 2159 3095

8140 -0.61 -117.3 475.2 -6.2 390 8144 0.00 2.58 0.00 0.000 4 0.000 0.065 2567 3555 3095

8184 -0.61 -117.3 478.3 -6.9 392 8188 0.00 2.47 0.00 0.000 6 0.000 0.052 2567 2173 3095

8505 -0.61 -117.3 496.2 -5.1 408 8509 0.00 2.55 0.00 0.000 4 0.000 0.067 2567 3553 3095

8555 -0.61 -117.3 499.2 -6.0 410 8560 0.00 2.42 0.00 0.000 6 0.000 0.052 2567 2198 3094

8871 -0.61 -117.3 510.9 -4.1 425 8876 0.00 2.60 0.00 0.000 4 0.000 0.067 2567 748 3094

8899 -0.61 -117.3 512.2 -5.0 426 8904 0.00 2.60 0.00 0.000 6 0.000 0.056 2567 2197 3094

9216 -0.61 -117.3 529.6 -5.4 441 9221 0.00 2.65 0.00 0.000 4 0.000 0.067 2567 747 3094

9311 -0.61 -117.3 533.9 -3.6 445 9316 0.00 2.58 0.00 0.000 6 0.000 0.058 2567 2170 3094

9627 -0.61 -117.3 542.5 -2.6 460 9632 0.00 2.60 0.00 0.000 4 0.000 0.068 2567 743 3093

9746 -0.65 -117.3 546.3 -2.7 465 9751 0.00 2.55 0.00 0.000 6 0.000 0.059 2567 2148 3094

10063 -0.72 -117.3 549.8 -0.6 480 10065 0.12 0.00 0.00 0.000 6 0.057 0.000 2532 2148 3094

10372 -0.58 -117.3 570.2 -8.6 495 10377 0.20 2.58 0.00 0.000 4 0.083 0.073 2578 3556 3093

10509 -0.69 -117.3 581.1 -13.3 501 10514 0.12 2.47 0.00 0.000 6 0.055 0.060 2541 2187 3093

10833 -0.63 -117.3 601.6 -5.5 517 10837 0.00 2.60 0.00 0.000 4 0.000 0.079 2541 3563 3092

11016 -0.54 -117.3 625.3 -14.0 525 11021 0.20 2.47 0.00 0.000 6 0.091 0.065 2582 2213 3092

11273 end dive: BOTTOM_OBSTACLE_DETECTED

state 11273 begin apogee

11280 -0.33 0.0 657.1 13.1 538 11383 0.22 0.00 99.60 1.302 6 0.087 0.000 2627 2101 2620

11383 end apogee: CONTROL_FINISHED_OK

state 11384 begin climb

11386 1.03 117.3 662.2 0.0 543 11493 1.38 2.72 98.93 1.276 4 0.071 0.082 2922 691 2141

11640 0.93 118.2 652.0 6.0 555 11645 0.00 2.60 0.00 0.000 6 0.000 0.068 2921 2098 2140

11968 0.83 118.2 621.1 15.0 571 11973 0.17 2.65 0.00 0.000 4 0.094 0.081 2883 3507 2138

12082 0.83 118.2 603.3 19.3 576 12086 0.00 2.62 0.00 0.000 6 0.000 0.069 2883 2105 2138

12403 0.91 118.2 557.2 9.4 592 12408 0.00 2.70 0.00 0.000 4 0.000 0.081 2883 3512 2136

12489 0.91 118.2 551.6 8.9 596 12493 0.00 2.55 0.00 0.000 6 0.000 0.066 2883 2141 2136

12816 1.45 424.2 556.9 -4.5 612 13083 0.55 2.80 254.18 1.256 4 0.044 0.085 3017 690 890

13147 1.54 572.0 555.1 0.9 627 13258 0.00 2.72 104.12 1.204 6 0.000 0.071 3017 2137 390

13586 1.54 572.0 532.3 8.0 649 13595 0.00 2.80 3.08 0.601 4 0.000 0.083 3017 690 390

13648 1.54 572.0 526.8 9.1 651 13655 0.00 2.65 0.03 0.258 6 0.000 0.068 3016 2108 391

13965 1.54 572.0 502.2 7.2 667 13968 0.00 0.00 2.15 0.275 6 0.000 0.000 3017 2108 390

14274 1.65 640.6 488.9 3.7 682 14283 0.17 2.70 1.88 0.160 4 0.051 0.077 3066 682 391

14335 1.52 640.6 484.5 7.8 684 14342 0.17 2.60 0.10 0.173 6 0.091 0.064 3033 2099 391

14653 1.54 687.6 471.3 4.4 700 14655 0.00 0.00 0.12 0.172 6 0.000 0.000 3032 2100 391

14961 1.58 745.9 460.0 4.0 715 14969 0.00 2.67 2.20 0.297 4 0.000 0.074 3032 689 390

15016 1.66 797.6 457.4 4.2 717 15021 0.12 2.53 0.00 0.000 6 0.054 0.061 3066 2079 390

15332 1.52 797.6 426.7 11.5 732 15338 0.17 2.60 0.08 0.152 4 0.090 0.067 3030 3507 390

15378 1.52 797.6 421.9 8.6 734 15383 0.00 2.62 0.05 0.195 6 0.000 0.058 3030 2064 391

15699 1.47 797.6 388.0 12.0 750 15708 0.00 2.55 2.22 0.301 4 0.000 0.067 3030 688 390

15738 1.47 797.6 382.7 12.6 751 15744 0.00 2.53 0.00 0.000 6 0.000 0.058 3030 2078 390

16054 1.43 797.6 341.7 13.0 767 16055 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2088 390

16363 1.43 797.6 300.8 13.5 782 16372 0.00 2.62 2.20 0.276 4 0.000 0.069 3030 682 390

16401 1.43 797.6 295.1 14.3 783 16407 0.00 2.50 0.00 0.000 6 0.000 0.054 3030 2070 390

16717 1.43 797.6 252.5 13.3 799 16721 0.00 2.58 0.00 0.000 4 0.000 0.063 3029 3509 391

16759 1.48 797.6 247.4 12.2 801 16763 0.00 2.60 0.00 0.000 6 0.000 0.054 3029 2065 390

17086 1.48 797.6 204.0 13.1 817 17095 0.00 2.55 2.22 0.278 4 0.000 0.068 3030 689 390

17146 1.48 797.6 195.6 12.6 819 17152 0.00 2.47 0.00 0.000 6 0.000 0.054 3029 2065 390

17462 1.48 797.6 152.1 14.2 835 17466 0.00 2.60 0.00 0.000 4 0.000 0.062 3030 3514 390

17506 1.54 797.6 145.8 12.3 837 17511 0.00 2.62 0.00 0.000 6 0.000 0.054 3029 2064 390

17830 1.54 797.6 100.2 14.2 853 17834 0.00 2.50 0.00 0.000 4 0.000 0.068 3029 681 390

17862 1.54 797.6 95.0 15.2 854 17869 0.00 2.50 0.00 0.000 6 0.000 0.052 3030 2079 391

18179 1.54 797.6 51.2 14.1 870 18181 0.00 0.00 0.12 0.160 6 0.000 0.000 3030 2080 391

18488 1.49 797.6 7.4 13.9 885 18493 0.00 2.58 0.08 0.172 4 0.000 0.068 3030 689 391

18526 end climb: SURFACE_DEPTH_REACHED

state 18526 begin surface coast

18531 end surface coast: CONTROL_FINISHED_OK

state 18531 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	144	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	547.01898	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	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	3	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	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	-79366.586	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	193507,6148.968,-913.930,28,1.1,28,-9.5	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	1	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.142,-0.143
_SM_DEPTHo	0.63	KALMAN_X	-68144.4,-197.1,4.6,93439.8,-3199.9
_SM_ANGLEo	-53.7	KALMAN_Y	60384.3,3153.1,1587.1,-65601.8,-3771.1
GPS2	194515,6149.117,-913.899,16,1.9,16,-9.5	MHEAD_RNG_PITCHd_Wd	144.8,15247,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.9,1.027053	ALTIM_BOTTOM_PING	600.2,64.5
SM_CCo	18617,0.00,0.000,0,0,390,547.02	_24V_AH	23.8,30.251
SM_GC	0.68,11.30,0.00,0.00,0.037,0.000,0.000,424,2172,390,-10.39,0.59,547.02	_10V_AH	10.1,14.703
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44300,887
TT8_MAMPS	0.029146	CAP_FILE_SIZE	153036,0
HUMID	1706	CFSIZE	254472192,241807360
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
XPDR_PINGS	467	GPS	110708,005758,6153.433,-916.562,35,2.3,54,-9.5
ALTIM_TOP_PING	18.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	134	84.50	SBE_CT	607	24	347.15
Roll_motor	180	85	365.69	SBE_O2	657	19	297.45
VBD_pump_during_apogee	573	1302	17771.73	WL_BB2F	530	105	1325.47
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.13	nil	0	0	0.00
Iridium_during_connect	53	160	205.05	nil	0	0	0.00
Iridium_during_xfer	269	223	1432.89
Transponder_ping	122	420	1219.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.19
TT8	1670	19	334.05
LPSleep	14010	2	309.89
TT8_Active	689	19	137.90
TT8_Sampling	2088	39	839.39
TT8_CF8	753	45	348.57
TT8_Kalman	33	81	27.58
Analog_circuits	1792	12	217.23
GPS_charging	0	0	0.00
Compass	2039	8	164.78
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.03	-117.3	0.0	0.0	0	137	0.00	0.00	-110.95	0.000	6	0.000	0.000	417	2174	3099
141	-1.03	-117.3	2.0	-1.4	5	157	10.60	2.58	0.00	0.000	4	0.135	0.056	2468	744	3099
409	-0.70	-117.3	34.0	-10.0	16	415	0.38	2.53	0.00	0.000	6	0.085	0.049	2549	2158	3098
733	-0.62	-117.3	59.1	-7.8	32	738	0.00	2.58	0.00	0.000	4	0.000	0.058	2549	741	3098
879	-0.55	-117.3	70.7	-7.7	38	886	0.15	2.45	0.00	0.000	6	0.095	0.050	2579	2116	3098
1196	-0.55	-117.3	91.5	-6.8	54	1200	0.00	2.58	0.00	0.000	4	0.000	0.060	2579	3553	3098
1206	-0.55	-117.3	92.2	-6.7	54	1213	0.00	2.55	0.00	0.000	6	0.000	0.048	2579	2114	3099
1523	-0.55	-117.3	112.3	-5.6	70	1527	0.00	2.45	0.00	0.000	4	0.000	0.061	2579	747	3099
1534	-0.55	-117.3	113.0	-5.6	70	1540	0.00	2.42	0.00	0.000	6	0.000	0.049	2579	2104	3098
1851	-0.55	-117.3	125.6	-3.2	86	1855	0.00	2.47	0.00	0.000	4	0.000	0.061	2579	748	3098
1901	-0.59	-117.3	127.5	-3.8	88	1905	0.00	2.40	0.00	0.000	6	0.000	0.050	2579	2087	3098
2218	-0.63	-117.3	140.2	-4.9	103	2219	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2087	3098
2527	-0.68	-117.3	157.6	-5.8	118	2529	0.12	0.00	0.00	0.000	6	0.052	0.000	2542	2088	3098
2838	-0.61	-117.3	175.8	-5.6	133	2840	0.12	0.00	0.00	0.000	6	0.091	0.000	2568	2087	3098
3145	-0.61	-117.3	189.1	-4.2	148	3146	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2087	3098
3454	-0.61	-117.3	201.5	-4.2	163	3455	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2087	3098
3763	-0.61	-117.3	216.8	-5.3	178	3768	0.00	2.45	0.00	0.000	4	0.000	0.062	2567	747	3097
3808	-0.61	-117.3	219.4	-6.2	180	3813	0.00	2.42	0.00	0.000	6	0.000	0.052	2567	2096	3097
4130	-0.61	-117.3	236.3	-4.9	196	4132	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2096	3097
4440	-0.61	-117.3	250.5	-4.3	211	4442	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2097	3097
4749	-0.61	-117.3	262.5	-3.8	226	4750	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2096	3097
5058	-0.61	-117.3	274.0	-3.7	241	5059	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2097	3096
5368	-0.61	-117.3	285.6	-3.7	256	5372	0.00	2.62	0.00	0.000	4	0.000	0.066	2567	3553	3096
5379	-0.61	-117.3	286.0	-3.5	256	5385	0.00	2.62	0.00	0.000	6	0.000	0.052	2567	2084	3096
5695	-0.61	-117.3	298.1	-3.8	272	5699	0.00	2.67	0.00	0.000	4	0.000	0.064	2567	3553	3096
5722	-0.61	-117.3	299.3	-4.0	273	5727	0.00	2.60	0.00	0.000	6	0.000	0.051	2567	2096	3096
6039	-0.61	-117.3	313.2	-4.8	288	6043	0.00	2.67	0.00	0.000	4	0.000	0.064	2567	3564	3096
6101	-0.61	-117.3	316.7	-5.9	291	6106	0.00	2.58	0.00	0.000	6	0.000	0.049	2567	2108	3096
6429	-0.61	-117.3	335.9	-6.3	307	6433	0.00	2.65	0.00	0.000	4	0.000	0.064	2567	3562	3095
6478	-0.61	-117.3	339.6	-8.1	309	6483	0.00	2.55	0.00	0.000	6	0.000	0.050	2567	2131	3095
6794	-0.61	-117.3	363.5	-8.2	324	6798	0.00	2.60	0.00	0.000	4	0.000	0.066	2568	3557	3095
6815	-0.61	-117.3	365.5	-8.8	325	6820	0.00	2.53	0.00	0.000	6	0.000	0.051	2567	2140	3095
7138	-0.61	-117.3	392.1	-8.7	341	7139	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2139	3095
7446	-0.61	-117.3	420.4	-8.7	356	7451	0.00	2.60	0.00	0.000	4	0.000	0.064	2567	3556	3095
7457	-0.61	-117.3	421.5	-8.7	356	7463	0.00	2.55	0.00	0.000	6	0.000	0.053	2567	2131	3095
7774	-0.61	-117.3	447.9	-8.2	372	7778	0.00	2.60	0.00	0.000	4	0.000	0.065	2567	3553	3095
7817	-0.61	-117.3	451.7	-8.5	374	7822	0.00	2.47	0.00	0.000	6	0.000	0.052	2567	2159	3095
8140	-0.61	-117.3	475.2	-6.2	390	8144	0.00	2.58	0.00	0.000	4	0.000	0.065	2567	3555	3095
8184	-0.61	-117.3	478.3	-6.9	392	8188	0.00	2.47	0.00	0.000	6	0.000	0.052	2567	2173	3095
8505	-0.61	-117.3	496.2	-5.1	408	8509	0.00	2.55	0.00	0.000	4	0.000	0.067	2567	3553	3095
8555	-0.61	-117.3	499.2	-6.0	410	8560	0.00	2.42	0.00	0.000	6	0.000	0.052	2567	2198	3094
8871	-0.61	-117.3	510.9	-4.1	425	8876	0.00	2.60	0.00	0.000	4	0.000	0.067	2567	748	3094
8899	-0.61	-117.3	512.2	-5.0	426	8904	0.00	2.60	0.00	0.000	6	0.000	0.056	2567	2197	3094
9216	-0.61	-117.3	529.6	-5.4	441	9221	0.00	2.65	0.00	0.000	4	0.000	0.067	2567	747	3094
9311	-0.61	-117.3	533.9	-3.6	445	9316	0.00	2.58	0.00	0.000	6	0.000	0.058	2567	2170	3094
9627	-0.61	-117.3	542.5	-2.6	460	9632	0.00	2.60	0.00	0.000	4	0.000	0.068	2567	743	3093
9746	-0.65	-117.3	546.3	-2.7	465	9751	0.00	2.55	0.00	0.000	6	0.000	0.059	2567	2148	3094
10063	-0.72	-117.3	549.8	-0.6	480	10065	0.12	0.00	0.00	0.000	6	0.057	0.000	2532	2148	3094
10372	-0.58	-117.3	570.2	-8.6	495	10377	0.20	2.58	0.00	0.000	4	0.083	0.073	2578	3556	3093
10509	-0.69	-117.3	581.1	-13.3	501	10514	0.12	2.47	0.00	0.000	6	0.055	0.060	2541	2187	3093
10833	-0.63	-117.3	601.6	-5.5	517	10837	0.00	2.60	0.00	0.000	4	0.000	0.079	2541	3563	3092
11016	-0.54	-117.3	625.3	-14.0	525	11021	0.20	2.47	0.00	0.000	6	0.091	0.065	2582	2213	3092
11273	end dive: BOTTOM_OBSTACLE_DETECTED
state	11273	begin apogee
11280	-0.33	0.0	657.1	13.1	538	11383	0.22	0.00	99.60	1.302	6	0.087	0.000	2627	2101	2620
11383	end apogee: CONTROL_FINISHED_OK
state	11384	begin climb
11386	1.03	117.3	662.2	0.0	543	11493	1.38	2.72	98.93	1.276	4	0.071	0.082	2922	691	2141
11640	0.93	118.2	652.0	6.0	555	11645	0.00	2.60	0.00	0.000	6	0.000	0.068	2921	2098	2140
11968	0.83	118.2	621.1	15.0	571	11973	0.17	2.65	0.00	0.000	4	0.094	0.081	2883	3507	2138
12082	0.83	118.2	603.3	19.3	576	12086	0.00	2.62	0.00	0.000	6	0.000	0.069	2883	2105	2138
12403	0.91	118.2	557.2	9.4	592	12408	0.00	2.70	0.00	0.000	4	0.000	0.081	2883	3512	2136
12489	0.91	118.2	551.6	8.9	596	12493	0.00	2.55	0.00	0.000	6	0.000	0.066	2883	2141	2136
12816	1.45	424.2	556.9	-4.5	612	13083	0.55	2.80	254.18	1.256	4	0.044	0.085	3017	690	890
13147	1.54	572.0	555.1	0.9	627	13258	0.00	2.72	104.12	1.204	6	0.000	0.071	3017	2137	390
13586	1.54	572.0	532.3	8.0	649	13595	0.00	2.80	3.08	0.601	4	0.000	0.083	3017	690	390
13648	1.54	572.0	526.8	9.1	651	13655	0.00	2.65	0.03	0.258	6	0.000	0.068	3016	2108	391
13965	1.54	572.0	502.2	7.2	667	13968	0.00	0.00	2.15	0.275	6	0.000	0.000	3017	2108	390
14274	1.65	640.6	488.9	3.7	682	14283	0.17	2.70	1.88	0.160	4	0.051	0.077	3066	682	391
14335	1.52	640.6	484.5	7.8	684	14342	0.17	2.60	0.10	0.173	6	0.091	0.064	3033	2099	391
14653	1.54	687.6	471.3	4.4	700	14655	0.00	0.00	0.12	0.172	6	0.000	0.000	3032	2100	391
14961	1.58	745.9	460.0	4.0	715	14969	0.00	2.67	2.20	0.297	4	0.000	0.074	3032	689	390
15016	1.66	797.6	457.4	4.2	717	15021	0.12	2.53	0.00	0.000	6	0.054	0.061	3066	2079	390
15332	1.52	797.6	426.7	11.5	732	15338	0.17	2.60	0.08	0.152	4	0.090	0.067	3030	3507	390
15378	1.52	797.6	421.9	8.6	734	15383	0.00	2.62	0.05	0.195	6	0.000	0.058	3030	2064	391
15699	1.47	797.6	388.0	12.0	750	15708	0.00	2.55	2.22	0.301	4	0.000	0.067	3030	688	390
15738	1.47	797.6	382.7	12.6	751	15744	0.00	2.53	0.00	0.000	6	0.000	0.058	3030	2078	390
16054	1.43	797.6	341.7	13.0	767	16055	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2088	390
16363	1.43	797.6	300.8	13.5	782	16372	0.00	2.62	2.20	0.276	4	0.000	0.069	3030	682	390
16401	1.43	797.6	295.1	14.3	783	16407	0.00	2.50	0.00	0.000	6	0.000	0.054	3030	2070	390
16717	1.43	797.6	252.5	13.3	799	16721	0.00	2.58	0.00	0.000	4	0.000	0.063	3029	3509	391
16759	1.48	797.6	247.4	12.2	801	16763	0.00	2.60	0.00	0.000	6	0.000	0.054	3029	2065	390
17086	1.48	797.6	204.0	13.1	817	17095	0.00	2.55	2.22	0.278	4	0.000	0.068	3030	689	390
17146	1.48	797.6	195.6	12.6	819	17152	0.00	2.47	0.00	0.000	6	0.000	0.054	3029	2065	390
17462	1.48	797.6	152.1	14.2	835	17466	0.00	2.60	0.00	0.000	4	0.000	0.062	3030	3514	390
17506	1.54	797.6	145.8	12.3	837	17511	0.00	2.62	0.00	0.000	6	0.000	0.054	3029	2064	390
17830	1.54	797.6	100.2	14.2	853	17834	0.00	2.50	0.00	0.000	4	0.000	0.068	3029	681	390
17862	1.54	797.6	95.0	15.2	854	17869	0.00	2.50	0.00	0.000	6	0.000	0.052	3030	2079	391
18179	1.54	797.6	51.2	14.1	870	18181	0.00	0.00	0.12	0.160	6	0.000	0.000	3030	2080	391
18488	1.49	797.6	7.4	13.9	885	18493	0.00	2.58	0.08	0.172	4	0.000	0.068	3030	689	391
18526	end climb: SURFACE_DEPTH_REACHED
state	18526	begin surface coast
18531	end surface coast: CONTROL_FINISHED_OK
state	18531	begin surface