Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 145 * 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 145 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -79382.961 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 -79382.961

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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 22 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 145 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 005758,6153.433,-916.562,35,2.3,54,-9.5 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.055,-0.193

_SM_DEPTHo 0.59 KALMAN_X -73507.5,-721.3,-1324.5,98316.3,-2487.2

_SM_ANGLEo -52.4 KALMAN_Y 75631.1,1526.0,1780.0,-71214.9,9542.9

GPS2 010339,6153.538,-916.662,15,1.3,15,-9.5 MHEAD_RNG_PITCHd_Wd 173.6,23746,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027080 ALTIM_BOTTOM_PING 475.4,97.6

SM_CCo 17596,213.43,0.769,0,0,390,547.02 _24V_AH 23.9,30.410

SM_GC 0.44,0.00,0.00,213.43,0.000,0.000,0.769,423,2127,390,-10.47,-0.62,547.02 _10V_AH 10.1,14.791

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44250,846

TT8_MAMPS 0.029146 CAP_FILE_SIZE 142822,0

HUMID 1651 CFSIZE 254472192,241750016

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,21,0,0

XPDR_PINGS 521 GPS 110708,060238,6158.441,-919.715,35,1.2,35,-9.6

ALTIM_TOP_PING 18.7,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 80.26 SBE_CT 580 24 332.83

Roll_motor 203 79 387.44 SBE_O2 624 19 283.45

VBD_pump_during_apogee 259 1224 7608.59 WL_BB2F 599 105 1503.78

VBD_pump_during_surface 213 769 3924.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.95 nil 0 0 0.00

Iridium_during_connect 27 160 106.17 nil 0 0 0.00

Iridium_during_xfer 145 223 777.84

Transponder_ping 134 420 1347.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.95

TT8 1612 19 322.56

LPSleep 13336 2 294.99

TT8_Active 697 19 139.42

TT8_Sampling 1954 39 785.53

TT8_CF8 549 45 254.23

TT8_Kalman 33 81 27.57

Analog_circuits 1689 12 204.81

GPS_charging 0 0 0.00

Compass 1914 8 154.68

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 0 142 0.00 0.00 -113.97 0.000 6 0.000 0.000 425 2151 3100

145 -1.03 -117.3 3.0 -2.8 6 162 10.57 2.58 0.00 0.000 4 0.138 0.057 2468 741 3099

190 -0.69 -117.3 11.2 -12.7 7 196 0.38 2.53 0.00 0.000 6 0.088 0.049 2548 2151 3098

512 -0.60 -117.3 34.5 -6.5 23 517 0.10 2.58 0.00 0.000 4 0.102 0.058 2568 738 3098

732 -0.60 -117.3 47.7 -6.1 33 737 0.00 2.55 0.00 0.000 6 0.000 0.050 2568 2171 3098

1059 -0.60 -117.3 66.5 -5.9 49 1064 0.00 2.60 0.00 0.000 4 0.000 0.060 2568 742 3098

1172 -0.60 -117.3 73.4 -6.1 54 1176 0.00 2.53 0.00 0.000 6 0.000 0.051 2568 2152 3098

1493 -0.60 -117.3 90.3 -5.2 70 1494 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2151 3099

1803 -0.60 -117.3 105.8 -5.0 85 1804 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2152 3099

2112 -0.60 -117.3 122.4 -5.5 100 2113 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2152 3099

2421 -0.60 -117.3 141.9 -6.5 115 2422 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2152 3099

2729 -0.60 -117.3 162.9 -6.8 130 2734 0.00 2.53 0.00 0.000 4 0.000 0.064 2568 3557 3099

2741 -0.60 -117.3 163.7 -6.6 130 2747 0.00 2.50 0.00 0.000 6 0.000 0.049 2568 2148 3098

3057 -0.60 -117.3 183.3 -6.0 146 3062 0.00 2.58 0.00 0.000 4 0.000 0.063 2568 3562 3098

3108 -0.60 -117.3 186.4 -6.0 148 3112 0.00 2.47 0.00 0.000 6 0.000 0.048 2568 2167 3098

3424 -0.60 -117.3 201.0 -4.2 163 3429 0.00 2.55 0.00 0.000 4 0.000 0.063 2568 3556 3098

3436 -0.60 -117.3 201.6 -4.1 163 3442 0.00 2.47 0.00 0.000 6 0.000 0.048 2568 2161 3098

3752 -0.60 -117.3 215.1 -4.6 179 3756 0.00 2.55 0.00 0.000 4 0.000 0.062 2568 3561 3098

3770 -0.60 -117.3 215.9 -4.7 180 3774 0.00 2.47 0.00 0.000 6 0.000 0.048 2568 2171 3098

4097 -0.60 -117.3 236.4 -7.1 196 4101 0.00 2.53 0.00 0.000 4 0.000 0.063 2568 3558 3098

4174 -0.60 -117.3 242.7 -7.7 199 4180 0.00 2.45 0.00 0.000 6 0.000 0.048 2569 2177 3098

4490 -0.60 -117.3 265.9 -7.3 215 4495 0.00 2.53 0.00 0.000 4 0.000 0.064 2568 3562 3098

4524 -0.60 -117.3 268.4 -7.1 216 4530 0.00 2.47 0.00 0.000 6 0.000 0.049 2568 2171 3098

4839 -0.60 -117.3 288.6 -6.1 232 4844 0.00 2.53 0.00 0.000 4 0.000 0.064 2568 3554 3098

4890 -0.60 -117.3 291.9 -6.5 234 4894 0.00 2.45 0.00 0.000 6 0.000 0.048 2568 2178 3097

5206 -0.60 -117.3 312.2 -7.0 249 5210 0.00 2.53 0.00 0.000 4 0.000 0.064 2568 3561 3097

5233 -0.60 -117.3 314.1 -6.8 250 5237 0.00 2.42 0.00 0.000 6 0.000 0.048 2568 2192 3097

5549 -0.60 -117.3 334.2 -6.2 265 5553 0.00 2.50 0.00 0.000 4 0.000 0.064 2568 3557 3097

5615 -0.60 -117.3 338.8 -7.0 268 5619 0.00 2.42 0.00 0.000 6 0.000 0.049 2568 2195 3097

5936 -0.60 -117.3 357.4 -5.3 284 5940 0.00 2.50 0.00 0.000 4 0.000 0.065 2569 3564 3097

5947 -0.60 -117.3 357.9 -5.1 284 5953 0.00 2.42 0.00 0.000 6 0.000 0.050 2568 2200 3097

6263 -0.60 -117.3 372.2 -3.8 300 6264 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2183 3097

6573 -0.60 -117.3 382.5 -3.5 315 6577 0.00 2.47 0.00 0.000 4 0.000 0.064 2568 3563 3096

6614 -0.60 -117.3 384.3 -4.3 317 6618 0.00 2.42 0.00 0.000 6 0.000 0.048 2568 2194 3096

6941 -0.60 -117.3 397.4 -4.5 333 6945 0.00 2.50 0.00 0.000 4 0.000 0.065 2568 3553 3096

6952 -0.60 -117.3 397.9 -4.4 333 6958 0.00 2.40 0.00 0.000 6 0.000 0.051 2568 2203 3096

7268 -0.60 -117.3 415.1 -6.2 349 7272 0.00 2.50 0.00 0.000 4 0.000 0.065 2568 3564 3096

7357 -0.60 -117.3 421.2 -7.3 353 7361 0.00 2.38 0.00 0.000 6 0.000 0.050 2568 2225 3096

7678 -0.60 -117.3 441.4 -6.0 369 7680 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2208 3096

7987 -0.60 -117.3 460.6 -5.1 384 7991 0.00 2.45 0.00 0.000 4 0.000 0.066 2568 3554 3095

7998 -0.60 -117.3 461.2 -4.5 384 8004 0.00 2.38 0.00 0.000 6 0.000 0.054 2568 2205 3095

8315 -0.64 -117.3 478.6 -5.3 400 8319 0.00 2.47 0.00 0.000 4 0.000 0.067 2568 3564 3095

8333 -0.69 -117.3 479.6 -5.4 401 8337 0.00 2.40 0.00 0.000 6 0.000 0.055 2568 2222 3095

8660 -0.75 -117.3 494.6 -3.9 417 8665 0.15 2.67 0.00 0.000 4 0.052 0.070 2520 742 3095

8723 -0.64 -117.3 497.9 -6.1 420 8729 0.17 2.65 0.00 0.000 6 0.091 0.060 2557 2202 3095

9051 -0.64 -117.3 513.0 -4.9 436 9052 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2202 3095

9360 -0.64 -117.3 532.6 -7.2 451 9365 0.00 2.70 0.00 0.000 4 0.000 0.074 2557 753 3095

9370 -0.64 -117.3 533.4 -7.1 451 9376 0.00 2.67 0.00 0.000 6 0.000 0.064 2557 2209 3094

9686 -0.64 -117.3 552.7 -7.9 467 9690 0.00 2.47 0.00 0.000 4 0.000 0.078 2557 3550 3094

9730 -0.68 -117.3 556.2 -8.9 469 9735 0.00 2.40 0.00 0.000 6 0.000 0.062 2557 2228 3094

9946 end dive: BOTTOM_OBSTACLE_DETECTED

state 9946 begin apogee

9954 -0.33 0.0 563.2 2.6 480 10055 0.32 0.00 98.25 1.225 6 0.087 0.000 2624 2104 2620

10056 end apogee: CONTROL_FINISHED_OK

state 10056 begin climb

10059 1.03 117.3 565.4 0.0 485 10169 1.40 2.70 98.32 1.197 4 0.061 0.080 2927 699 2140

10265 1.03 117.3 550.3 7.4 495 10269 0.00 2.60 0.00 0.000 6 0.000 0.065 2927 2095 2140

10586 0.97 117.3 526.9 7.7 511 10591 0.00 2.65 0.00 0.000 4 0.000 0.078 2927 3512 2138

10695 0.96 143.0 518.3 5.1 516 10724 0.00 2.55 22.00 1.148 6 0.000 0.064 2927 2134 2038

11050 0.98 152.8 496.7 5.7 533 11061 0.00 0.00 9.70 1.068 6 0.000 0.000 2927 2115 1998

11357 0.98 152.8 473.8 8.1 548 11361 0.00 2.62 0.00 0.000 4 0.000 0.077 2927 3512 1995

11434 0.98 152.8 467.2 8.7 551 11440 0.00 2.55 0.00 0.000 6 0.000 0.068 2927 2138 1995

11750 0.98 152.8 439.1 9.1 567 11755 0.00 2.58 0.00 0.000 4 0.000 0.075 2927 3514 1994

11823 0.98 152.8 432.2 9.7 570 11827 0.00 2.45 0.00 0.000 6 0.000 0.062 2928 2184 1994

12139 0.98 152.8 405.1 8.3 585 12143 0.00 2.75 0.00 0.000 4 0.000 0.072 2927 677 1993

12178 0.98 152.8 401.6 9.2 587 12183 0.00 2.78 0.00 0.000 6 0.000 0.062 2927 2203 1993

12506 0.98 152.8 374.8 8.2 603 12510 0.00 2.40 0.00 0.000 4 0.000 0.070 2928 3517 1993

12555 0.98 152.8 370.1 9.2 605 12560 0.00 2.42 0.00 0.000 6 0.000 0.056 2927 2184 1993

12871 0.98 152.8 345.8 7.2 620 12876 0.00 2.72 0.00 0.000 4 0.000 0.069 2928 678 1993

12921 0.98 152.8 341.7 8.1 622 12926 0.00 2.75 0.00 0.000 6 0.000 0.057 2928 2201 1993

13237 0.98 152.8 319.1 7.2 637 13241 0.00 2.38 0.00 0.000 4 0.000 0.065 2928 3515 1993

13292 0.98 152.8 314.9 8.1 639 13298 0.00 2.40 0.00 0.000 6 0.000 0.054 2928 2188 1993

13608 0.98 152.8 291.7 7.1 655 13613 0.00 2.72 0.00 0.000 4 0.000 0.068 2927 678 1994

13652 0.98 152.8 288.2 8.1 657 13657 0.00 2.75 0.00 0.000 6 0.000 0.054 2928 2206 1993

13973 0.98 152.8 262.9 8.1 673 13977 0.00 2.35 0.00 0.000 4 0.000 0.064 2927 3514 1994

14017 0.98 152.8 258.7 8.8 675 14021 0.00 2.38 0.00 0.000 6 0.000 0.053 2927 2189 1994

14338 0.98 152.8 233.3 8.0 691 14343 0.00 2.72 0.00 0.000 4 0.000 0.067 2928 677 1995

14383 0.98 152.8 229.3 9.4 693 14387 0.00 2.75 0.00 0.000 6 0.000 0.054 2927 2210 1995

14704 0.98 152.8 204.2 7.5 709 14708 0.00 2.35 0.00 0.000 4 0.000 0.064 2928 3517 1996

14776 0.98 152.8 198.0 8.5 712 14780 0.00 2.35 0.00 0.000 6 0.000 0.051 2928 2200 1996

15097 0.98 152.8 173.7 7.6 728 15102 0.00 2.72 0.00 0.000 4 0.000 0.067 2928 685 1997

15142 0.98 152.8 169.8 8.2 730 15146 0.00 2.75 0.00 0.000 6 0.000 0.053 2927 2221 1997

15463 0.98 152.8 145.0 7.6 746 15467 0.00 2.33 0.00 0.000 4 0.000 0.063 2927 3518 1997

15513 0.98 152.8 140.8 8.0 748 15517 0.00 2.35 0.00 0.000 6 0.000 0.051 2927 2196 1997

15835 0.98 152.8 116.8 7.3 764 15839 0.00 2.72 0.00 0.000 4 0.000 0.067 2928 681 1998

15890 0.98 152.8 112.4 7.4 766 15896 0.00 2.72 0.00 0.000 6 0.000 0.053 2928 2210 1998

16206 0.98 152.8 89.3 7.1 782 16210 0.00 2.33 0.00 0.000 4 0.000 0.061 2928 3511 1999

16270 1.02 152.8 84.8 7.4 785 16274 0.00 2.33 0.00 0.000 6 0.000 0.048 2928 2200 1999

16598 1.09 166.9 63.6 5.5 801 16619 0.00 2.80 12.88 0.792 4 0.000 0.064 2927 689 1939

16682 1.15 166.9 58.5 7.2 804 16688 0.00 2.75 0.00 0.000 6 0.000 0.053 2928 2219 1938

17000 1.24 188.8 42.1 5.3 820 17026 0.15 2.40 18.75 0.795 4 0.046 0.059 2979 3513 1850

17077 1.17 188.8 35.6 7.6 823 17082 0.12 2.38 0.00 0.000 6 0.081 0.049 2954 2196 1849

17394 1.17 188.8 13.5 8.3 838 17398 0.00 2.72 0.00 0.000 4 0.000 0.064 2954 680 1849

17443 1.17 188.8 8.9 8.8 840 17448 0.00 2.75 0.00 0.000 6 0.000 0.049 2954 2221 1849

17550 end climb: SURFACE_DEPTH_REACHED

state 17550 begin surface coast

17572 end surface coast: CONTROL_FINISHED_OK

state 17572 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	145	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-79382.961	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	005758,6153.433,-916.562,35,2.3,54,-9.5	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.055,-0.193
_SM_DEPTHo	0.59	KALMAN_X	-73507.5,-721.3,-1324.5,98316.3,-2487.2
_SM_ANGLEo	-52.4	KALMAN_Y	75631.1,1526.0,1780.0,-71214.9,9542.9
GPS2	010339,6153.538,-916.662,15,1.3,15,-9.5	MHEAD_RNG_PITCHd_Wd	173.6,23746,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.1,1.027080	ALTIM_BOTTOM_PING	475.4,97.6
SM_CCo	17596,213.43,0.769,0,0,390,547.02	_24V_AH	23.9,30.410
SM_GC	0.44,0.00,0.00,213.43,0.000,0.000,0.769,423,2127,390,-10.47,-0.62,547.02	_10V_AH	10.1,14.791
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44250,846
TT8_MAMPS	0.029146	CAP_FILE_SIZE	142822,0
HUMID	1651	CFSIZE	254472192,241750016
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
XPDR_PINGS	521	GPS	110708,060238,6158.441,-919.715,35,1.2,35,-9.6
ALTIM_TOP_PING	18.7,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	80.26	SBE_CT	580	24	332.83
Roll_motor	203	79	387.44	SBE_O2	624	19	283.45
VBD_pump_during_apogee	259	1224	7608.59	WL_BB2F	599	105	1503.78
VBD_pump_during_surface	213	769	3924.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.95	nil	0	0	0.00
Iridium_during_connect	27	160	106.17	nil	0	0	0.00
Iridium_during_xfer	145	223	777.84
Transponder_ping	134	420	1347.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.95
TT8	1612	19	322.56
LPSleep	13336	2	294.99
TT8_Active	697	19	139.42
TT8_Sampling	1954	39	785.53
TT8_CF8	549	45	254.23
TT8_Kalman	33	81	27.57
Analog_circuits	1689	12	204.81
GPS_charging	0	0	0.00
Compass	1914	8	154.68
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	142	0.00	0.00	-113.97	0.000	6	0.000	0.000	425	2151	3100
145	-1.03	-117.3	3.0	-2.8	6	162	10.57	2.58	0.00	0.000	4	0.138	0.057	2468	741	3099
190	-0.69	-117.3	11.2	-12.7	7	196	0.38	2.53	0.00	0.000	6	0.088	0.049	2548	2151	3098
512	-0.60	-117.3	34.5	-6.5	23	517	0.10	2.58	0.00	0.000	4	0.102	0.058	2568	738	3098
732	-0.60	-117.3	47.7	-6.1	33	737	0.00	2.55	0.00	0.000	6	0.000	0.050	2568	2171	3098
1059	-0.60	-117.3	66.5	-5.9	49	1064	0.00	2.60	0.00	0.000	4	0.000	0.060	2568	742	3098
1172	-0.60	-117.3	73.4	-6.1	54	1176	0.00	2.53	0.00	0.000	6	0.000	0.051	2568	2152	3098
1493	-0.60	-117.3	90.3	-5.2	70	1494	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2151	3099
1803	-0.60	-117.3	105.8	-5.0	85	1804	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2152	3099
2112	-0.60	-117.3	122.4	-5.5	100	2113	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2152	3099
2421	-0.60	-117.3	141.9	-6.5	115	2422	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2152	3099
2729	-0.60	-117.3	162.9	-6.8	130	2734	0.00	2.53	0.00	0.000	4	0.000	0.064	2568	3557	3099
2741	-0.60	-117.3	163.7	-6.6	130	2747	0.00	2.50	0.00	0.000	6	0.000	0.049	2568	2148	3098
3057	-0.60	-117.3	183.3	-6.0	146	3062	0.00	2.58	0.00	0.000	4	0.000	0.063	2568	3562	3098
3108	-0.60	-117.3	186.4	-6.0	148	3112	0.00	2.47	0.00	0.000	6	0.000	0.048	2568	2167	3098
3424	-0.60	-117.3	201.0	-4.2	163	3429	0.00	2.55	0.00	0.000	4	0.000	0.063	2568	3556	3098
3436	-0.60	-117.3	201.6	-4.1	163	3442	0.00	2.47	0.00	0.000	6	0.000	0.048	2568	2161	3098
3752	-0.60	-117.3	215.1	-4.6	179	3756	0.00	2.55	0.00	0.000	4	0.000	0.062	2568	3561	3098
3770	-0.60	-117.3	215.9	-4.7	180	3774	0.00	2.47	0.00	0.000	6	0.000	0.048	2568	2171	3098
4097	-0.60	-117.3	236.4	-7.1	196	4101	0.00	2.53	0.00	0.000	4	0.000	0.063	2568	3558	3098
4174	-0.60	-117.3	242.7	-7.7	199	4180	0.00	2.45	0.00	0.000	6	0.000	0.048	2569	2177	3098
4490	-0.60	-117.3	265.9	-7.3	215	4495	0.00	2.53	0.00	0.000	4	0.000	0.064	2568	3562	3098
4524	-0.60	-117.3	268.4	-7.1	216	4530	0.00	2.47	0.00	0.000	6	0.000	0.049	2568	2171	3098
4839	-0.60	-117.3	288.6	-6.1	232	4844	0.00	2.53	0.00	0.000	4	0.000	0.064	2568	3554	3098
4890	-0.60	-117.3	291.9	-6.5	234	4894	0.00	2.45	0.00	0.000	6	0.000	0.048	2568	2178	3097
5206	-0.60	-117.3	312.2	-7.0	249	5210	0.00	2.53	0.00	0.000	4	0.000	0.064	2568	3561	3097
5233	-0.60	-117.3	314.1	-6.8	250	5237	0.00	2.42	0.00	0.000	6	0.000	0.048	2568	2192	3097
5549	-0.60	-117.3	334.2	-6.2	265	5553	0.00	2.50	0.00	0.000	4	0.000	0.064	2568	3557	3097
5615	-0.60	-117.3	338.8	-7.0	268	5619	0.00	2.42	0.00	0.000	6	0.000	0.049	2568	2195	3097
5936	-0.60	-117.3	357.4	-5.3	284	5940	0.00	2.50	0.00	0.000	4	0.000	0.065	2569	3564	3097
5947	-0.60	-117.3	357.9	-5.1	284	5953	0.00	2.42	0.00	0.000	6	0.000	0.050	2568	2200	3097
6263	-0.60	-117.3	372.2	-3.8	300	6264	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2183	3097
6573	-0.60	-117.3	382.5	-3.5	315	6577	0.00	2.47	0.00	0.000	4	0.000	0.064	2568	3563	3096
6614	-0.60	-117.3	384.3	-4.3	317	6618	0.00	2.42	0.00	0.000	6	0.000	0.048	2568	2194	3096
6941	-0.60	-117.3	397.4	-4.5	333	6945	0.00	2.50	0.00	0.000	4	0.000	0.065	2568	3553	3096
6952	-0.60	-117.3	397.9	-4.4	333	6958	0.00	2.40	0.00	0.000	6	0.000	0.051	2568	2203	3096
7268	-0.60	-117.3	415.1	-6.2	349	7272	0.00	2.50	0.00	0.000	4	0.000	0.065	2568	3564	3096
7357	-0.60	-117.3	421.2	-7.3	353	7361	0.00	2.38	0.00	0.000	6	0.000	0.050	2568	2225	3096
7678	-0.60	-117.3	441.4	-6.0	369	7680	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2208	3096
7987	-0.60	-117.3	460.6	-5.1	384	7991	0.00	2.45	0.00	0.000	4	0.000	0.066	2568	3554	3095
7998	-0.60	-117.3	461.2	-4.5	384	8004	0.00	2.38	0.00	0.000	6	0.000	0.054	2568	2205	3095
8315	-0.64	-117.3	478.6	-5.3	400	8319	0.00	2.47	0.00	0.000	4	0.000	0.067	2568	3564	3095
8333	-0.69	-117.3	479.6	-5.4	401	8337	0.00	2.40	0.00	0.000	6	0.000	0.055	2568	2222	3095
8660	-0.75	-117.3	494.6	-3.9	417	8665	0.15	2.67	0.00	0.000	4	0.052	0.070	2520	742	3095
8723	-0.64	-117.3	497.9	-6.1	420	8729	0.17	2.65	0.00	0.000	6	0.091	0.060	2557	2202	3095
9051	-0.64	-117.3	513.0	-4.9	436	9052	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2202	3095
9360	-0.64	-117.3	532.6	-7.2	451	9365	0.00	2.70	0.00	0.000	4	0.000	0.074	2557	753	3095
9370	-0.64	-117.3	533.4	-7.1	451	9376	0.00	2.67	0.00	0.000	6	0.000	0.064	2557	2209	3094
9686	-0.64	-117.3	552.7	-7.9	467	9690	0.00	2.47	0.00	0.000	4	0.000	0.078	2557	3550	3094
9730	-0.68	-117.3	556.2	-8.9	469	9735	0.00	2.40	0.00	0.000	6	0.000	0.062	2557	2228	3094
9946	end dive: BOTTOM_OBSTACLE_DETECTED
state	9946	begin apogee
9954	-0.33	0.0	563.2	2.6	480	10055	0.32	0.00	98.25	1.225	6	0.087	0.000	2624	2104	2620
10056	end apogee: CONTROL_FINISHED_OK
state	10056	begin climb
10059	1.03	117.3	565.4	0.0	485	10169	1.40	2.70	98.32	1.197	4	0.061	0.080	2927	699	2140
10265	1.03	117.3	550.3	7.4	495	10269	0.00	2.60	0.00	0.000	6	0.000	0.065	2927	2095	2140
10586	0.97	117.3	526.9	7.7	511	10591	0.00	2.65	0.00	0.000	4	0.000	0.078	2927	3512	2138
10695	0.96	143.0	518.3	5.1	516	10724	0.00	2.55	22.00	1.148	6	0.000	0.064	2927	2134	2038
11050	0.98	152.8	496.7	5.7	533	11061	0.00	0.00	9.70	1.068	6	0.000	0.000	2927	2115	1998
11357	0.98	152.8	473.8	8.1	548	11361	0.00	2.62	0.00	0.000	4	0.000	0.077	2927	3512	1995
11434	0.98	152.8	467.2	8.7	551	11440	0.00	2.55	0.00	0.000	6	0.000	0.068	2927	2138	1995
11750	0.98	152.8	439.1	9.1	567	11755	0.00	2.58	0.00	0.000	4	0.000	0.075	2927	3514	1994
11823	0.98	152.8	432.2	9.7	570	11827	0.00	2.45	0.00	0.000	6	0.000	0.062	2928	2184	1994
12139	0.98	152.8	405.1	8.3	585	12143	0.00	2.75	0.00	0.000	4	0.000	0.072	2927	677	1993
12178	0.98	152.8	401.6	9.2	587	12183	0.00	2.78	0.00	0.000	6	0.000	0.062	2927	2203	1993
12506	0.98	152.8	374.8	8.2	603	12510	0.00	2.40	0.00	0.000	4	0.000	0.070	2928	3517	1993
12555	0.98	152.8	370.1	9.2	605	12560	0.00	2.42	0.00	0.000	6	0.000	0.056	2927	2184	1993
12871	0.98	152.8	345.8	7.2	620	12876	0.00	2.72	0.00	0.000	4	0.000	0.069	2928	678	1993
12921	0.98	152.8	341.7	8.1	622	12926	0.00	2.75	0.00	0.000	6	0.000	0.057	2928	2201	1993
13237	0.98	152.8	319.1	7.2	637	13241	0.00	2.38	0.00	0.000	4	0.000	0.065	2928	3515	1993
13292	0.98	152.8	314.9	8.1	639	13298	0.00	2.40	0.00	0.000	6	0.000	0.054	2928	2188	1993
13608	0.98	152.8	291.7	7.1	655	13613	0.00	2.72	0.00	0.000	4	0.000	0.068	2927	678	1994
13652	0.98	152.8	288.2	8.1	657	13657	0.00	2.75	0.00	0.000	6	0.000	0.054	2928	2206	1993
13973	0.98	152.8	262.9	8.1	673	13977	0.00	2.35	0.00	0.000	4	0.000	0.064	2927	3514	1994
14017	0.98	152.8	258.7	8.8	675	14021	0.00	2.38	0.00	0.000	6	0.000	0.053	2927	2189	1994
14338	0.98	152.8	233.3	8.0	691	14343	0.00	2.72	0.00	0.000	4	0.000	0.067	2928	677	1995
14383	0.98	152.8	229.3	9.4	693	14387	0.00	2.75	0.00	0.000	6	0.000	0.054	2927	2210	1995
14704	0.98	152.8	204.2	7.5	709	14708	0.00	2.35	0.00	0.000	4	0.000	0.064	2928	3517	1996
14776	0.98	152.8	198.0	8.5	712	14780	0.00	2.35	0.00	0.000	6	0.000	0.051	2928	2200	1996
15097	0.98	152.8	173.7	7.6	728	15102	0.00	2.72	0.00	0.000	4	0.000	0.067	2928	685	1997
15142	0.98	152.8	169.8	8.2	730	15146	0.00	2.75	0.00	0.000	6	0.000	0.053	2927	2221	1997
15463	0.98	152.8	145.0	7.6	746	15467	0.00	2.33	0.00	0.000	4	0.000	0.063	2927	3518	1997
15513	0.98	152.8	140.8	8.0	748	15517	0.00	2.35	0.00	0.000	6	0.000	0.051	2927	2196	1997
15835	0.98	152.8	116.8	7.3	764	15839	0.00	2.72	0.00	0.000	4	0.000	0.067	2928	681	1998
15890	0.98	152.8	112.4	7.4	766	15896	0.00	2.72	0.00	0.000	6	0.000	0.053	2928	2210	1998
16206	0.98	152.8	89.3	7.1	782	16210	0.00	2.33	0.00	0.000	4	0.000	0.061	2928	3511	1999
16270	1.02	152.8	84.8	7.4	785	16274	0.00	2.33	0.00	0.000	6	0.000	0.048	2928	2200	1999
16598	1.09	166.9	63.6	5.5	801	16619	0.00	2.80	12.88	0.792	4	0.000	0.064	2927	689	1939
16682	1.15	166.9	58.5	7.2	804	16688	0.00	2.75	0.00	0.000	6	0.000	0.053	2928	2219	1938
17000	1.24	188.8	42.1	5.3	820	17026	0.15	2.40	18.75	0.795	4	0.046	0.059	2979	3513	1850
17077	1.17	188.8	35.6	7.6	823	17082	0.12	2.38	0.00	0.000	6	0.081	0.049	2954	2196	1849
17394	1.17	188.8	13.5	8.3	838	17398	0.00	2.72	0.00	0.000	4	0.000	0.064	2954	680	1849
17443	1.17	188.8	8.9	8.8	840	17448	0.00	2.75	0.00	0.000	6	0.000	0.049	2954	2221	1849
17550	end climb: SURFACE_DEPTH_REACHED
state	17550	begin surface coast
17572	end surface coast: CONTROL_FINISHED_OK
state	17572	begin surface