Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 146 * 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 146 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 33 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -79399.312 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 -79399.312

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 33 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 18 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 146 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 060238,6158.441,-919.715,35,1.2,35,-9.6 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.066,-0.190

_SM_DEPTHo 0.66 KALMAN_X -81539.7,-65.2,1371.9,100283.1,-13850.9

_SM_ANGLEo -52.9 KALMAN_Y 94554.9,-563.8,1124.5,-78061.9,29518.8

GPS2 060820,6158.517,-919.740,15,1.2,15,-9.6 MHEAD_RNG_PITCHd_Wd 170.5,33338,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.004431 ALTIM_BOTTOM_PING 450.0,103.6

SM_CCo 16476,0.00,0.000,0,0,390,547.02 _24V_AH 23.9,30.620

SM_GC 0.66,11.18,0.00,0.00,0.035,0.000,0.000,421,2175,390,-10.38,0.71,547.02 _10V_AH 10.1,14.874

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41230,785

TT8_MAMPS 0.029146 CAP_FILE_SIZE 138161,0

HUMID 1694 CFSIZE 254472192,241692672

TCM_TEMP 17.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,14,0,0

XPDR_PINGS 547 GPS 110708,104524,6200.932,-922.455,40,1.5,57,-9.6

ALTIM_TOP_PING 18.1,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 135 85.42 SBE_CT 535 24 307.37

Roll_motor 178 78 333.80 SBE_O2 579 19 263.23

VBD_pump_during_apogee 560 1194 15997.26 WL_BB2F 557 105 1400.15

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 37 103 92.96 nil 0 0 0.00

Iridium_during_connect 28 160 110.46 nil 0 0 0.00

Iridium_during_xfer 147 223 784.42

Transponder_ping 140 420 1410.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.94

TT8 1496 19 299.34

LPSleep 12186 2 269.55

TT8_Active 671 19 134.21

TT8_Sampling 1926 39 774.42

TT8_CF8 535 45 247.70

TT8_Kalman 33 81 27.57

Analog_circuits 1695 12 205.48

GPS_charging 0 0 0.00

Compass 1881 8 152.00

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 -110.40 0.000 6 0.000 0.000 423 2123 3099

141 -1.03 -117.3 2.2 -1.7 5 157 10.57 2.50 0.00 0.000 4 0.136 0.056 2469 745 3099

409 -0.71 -117.3 37.3 -11.3 16 415 0.35 2.53 0.00 0.000 6 0.089 0.048 2542 2156 3098

732 -0.63 -117.3 60.8 -7.2 32 736 0.00 2.55 0.00 0.000 4 0.000 0.058 2543 750 3097

765 -0.54 -117.3 63.3 -7.0 33 772 0.17 2.53 0.00 0.000 6 0.089 0.050 2580 2166 3097

1083 -0.54 -117.3 79.7 -4.7 49 1087 0.00 2.58 0.00 0.000 4 0.000 0.061 2580 753 3097

1101 -0.54 -117.3 80.5 -4.5 50 1106 0.00 2.53 0.00 0.000 6 0.000 0.049 2580 2176 3098

1430 -0.54 -117.3 90.8 -2.8 66 1431 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2176 3098

1739 -0.59 -117.3 100.2 -3.0 81 1743 0.00 2.47 0.00 0.000 4 0.000 0.061 2580 3561 3098

1750 -0.59 -117.3 100.6 -3.2 81 1756 0.00 2.45 0.00 0.000 6 0.000 0.048 2580 2181 3098

2067 -0.59 -117.3 110.2 -3.2 97 2071 0.00 2.53 0.00 0.000 4 0.000 0.061 2580 3564 3098

2077 -0.59 -117.3 110.6 -3.3 97 2084 0.00 2.47 0.00 0.000 6 0.000 0.048 2580 2171 3098

2395 -0.63 -117.3 120.2 -3.0 113 2399 0.00 2.55 0.00 0.000 4 0.000 0.064 2580 749 3098

2406 -0.67 -117.3 120.5 -2.8 113 2413 0.12 2.55 0.00 0.000 6 0.052 0.051 2543 2174 3098

2723 -0.61 -117.3 134.5 -4.8 129 2728 0.12 2.60 0.00 0.000 4 0.091 0.062 2568 748 3098

2735 -0.55 -117.3 135.1 -4.7 129 2741 0.00 2.55 0.00 0.000 6 0.000 0.052 2569 2171 3098

3053 -0.55 -117.3 150.7 -5.3 145 3057 0.00 2.58 0.00 0.000 4 0.000 0.063 2569 744 3098

3074 -0.55 -117.3 152.0 -5.6 146 3079 0.00 2.55 0.00 0.000 6 0.000 0.051 2569 2167 3098

3396 -0.55 -117.3 170.8 -6.1 162 3400 0.00 2.60 0.00 0.000 4 0.000 0.062 2569 744 3098

3446 -0.55 -117.3 174.2 -7.1 164 3450 0.00 2.53 0.00 0.000 6 0.000 0.052 2568 2148 3098

3761 -0.55 -117.3 195.6 -7.0 179 3766 0.00 2.55 0.00 0.000 4 0.000 0.062 2569 745 3097

3795 -0.55 -117.3 198.2 -7.3 180 3801 0.00 2.50 0.00 0.000 6 0.000 0.052 2568 2139 3097

4111 -0.55 -117.3 221.3 -7.5 196 4115 0.00 2.55 0.00 0.000 4 0.000 0.063 2568 744 3097

4177 -0.55 -117.3 226.6 -7.9 199 4182 0.00 2.47 0.00 0.000 6 0.000 0.053 2568 2123 3097

4499 -0.55 -117.3 252.7 -8.4 215 4503 0.00 2.50 0.00 0.000 4 0.000 0.063 2569 747 3096

4517 -0.55 -117.3 254.3 -8.5 216 4521 0.00 2.45 0.00 0.000 6 0.000 0.053 2569 2116 3096

4844 -0.55 -117.3 283.0 -9.0 232 4848 0.00 2.50 0.00 0.000 4 0.000 0.064 2568 744 3096

4877 -0.55 -117.3 286.4 -9.9 233 4883 0.00 2.45 0.00 0.000 6 0.000 0.053 2568 2111 3096

5193 -0.55 -117.3 314.7 -8.7 249 5197 0.00 2.50 0.00 0.000 4 0.000 0.064 2569 746 3096

5203 -0.55 -117.3 315.5 -8.4 249 5209 0.00 2.45 0.00 0.000 6 0.000 0.053 2569 2109 3096

5519 -0.55 -117.3 340.4 -7.6 265 5524 0.00 2.50 0.00 0.000 4 0.000 0.064 2569 744 3096

5547 -0.55 -117.3 342.8 -8.2 266 5551 0.00 2.45 0.00 0.000 6 0.000 0.053 2569 2110 3095

5863 -0.55 -117.3 365.2 -6.6 281 5868 0.00 2.50 0.00 0.000 4 0.000 0.065 2569 747 3096

5920 -0.55 -117.3 369.5 -7.8 283 5925 0.00 2.42 0.00 0.000 6 0.000 0.053 2569 2095 3096

6236 -0.55 -117.3 389.8 -5.9 299 6237 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2095 3095

6545 -0.55 -117.3 408.0 -5.9 314 6546 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2095 3095

6854 -0.55 -117.3 423.0 -4.5 329 6856 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2096 3095

7163 -0.55 -117.3 435.4 -4.5 344 7168 0.00 2.47 0.00 0.000 4 0.000 0.067 2569 745 3095

7175 -0.55 -117.3 435.9 -4.6 344 7181 0.00 2.42 0.00 0.000 6 0.000 0.054 2569 2091 3095

7492 -0.59 -117.3 448.8 -3.8 360 7496 0.00 2.47 0.00 0.000 4 0.000 0.067 2569 747 3095

7541 -0.59 -117.3 450.9 -3.8 362 7545 0.00 2.40 0.00 0.000 6 0.000 0.054 2568 2078 3095

7858 -0.64 -117.3 464.4 -5.4 377 7859 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2078 3095

8167 -0.64 -117.3 481.4 -4.7 392 8171 0.00 2.67 0.00 0.000 4 0.000 0.068 2568 3555 3095

8425 -0.64 -117.3 496.0 -4.8 403 8431 0.00 2.62 0.00 0.000 6 0.000 0.053 2569 2089 3094

8741 -0.69 -117.3 502.6 -3.1 419 8746 0.00 2.70 0.00 0.000 4 0.000 0.068 2569 3561 3094

8782 -0.69 -117.3 503.3 -2.6 421 8787 0.00 2.62 0.00 0.000 6 0.000 0.054 2569 2089 3094

9109 -0.69 -117.3 514.0 -8.4 437 9114 0.00 2.72 0.00 0.000 4 0.000 0.070 2569 3561 3094

9199 -0.69 -117.3 519.0 -5.0 441 9203 0.00 2.55 0.00 0.000 6 0.000 0.056 2569 2143 3093

9520 -0.69 -117.3 540.1 -3.9 457 9525 0.00 2.55 0.00 0.000 4 0.000 0.075 2569 748 3093

9532 -0.75 -117.3 540.6 -5.0 457 9539 0.15 2.55 0.00 0.000 6 0.054 0.061 2527 2146 3093

9742 end dive: BOTTOM_OBSTACLE_DETECTED

state 9742 begin apogee

9750 -0.33 0.0 544.0 3.8 468 9850 0.47 0.00 97.75 1.195 6 0.088 0.000 2624 2072 2620

9851 end apogee: CONTROL_FINISHED_OK

state 9851 begin climb

9854 1.03 117.3 542.8 0.0 473 9960 1.38 2.75 97.62 1.170 4 0.067 0.072 2922 3499 2141

10196 1.03 117.3 528.0 6.7 488 10202 0.00 2.55 0.00 0.000 6 0.000 0.062 2922 2122 2139

10512 1.08 151.3 508.6 4.8 504 10547 0.00 2.70 29.02 1.139 4 0.000 0.078 2922 690 2003

10676 1.08 151.3 497.1 8.3 511 10681 0.00 2.60 0.00 0.000 6 0.000 0.064 2922 2096 2002

10993 1.39 343.7 495.5 -0.6 526 11161 0.32 2.70 157.98 1.167 4 0.044 0.073 3009 3500 1218

11263 1.72 545.6 485.7 -0.9 538 11439 0.28 2.60 166.38 1.131 6 0.048 0.061 3076 2084 395

11762 1.54 545.6 432.1 12.4 563 11767 0.17 2.65 0.00 0.000 4 0.093 0.071 3040 3512 399

11802 1.49 545.6 427.5 8.4 565 11807 0.00 2.60 0.00 0.000 6 0.000 0.063 3039 2104 398

12129 1.42 545.6 394.2 11.5 581 12134 0.15 2.60 0.00 0.000 4 0.089 0.072 3009 680 399

12196 1.42 545.6 388.8 6.9 584 12201 0.00 2.58 0.00 0.000 6 0.000 0.058 3009 2095 399

12518 1.42 545.6 362.5 8.8 600 12522 0.00 2.60 0.00 0.000 4 0.000 0.070 3009 687 400

12557 1.42 545.6 358.9 9.4 602 12561 0.00 2.50 0.00 0.000 6 0.000 0.057 3009 2071 400

12884 1.44 559.4 337.4 5.5 618 12890 0.00 0.00 4.22 0.709 6 0.000 0.000 3009 2071 390

13193 1.48 584.2 322.2 5.2 633 13202 0.00 2.65 2.17 0.262 4 0.000 0.069 3009 678 390

13262 1.58 650.7 318.9 3.7 636 13267 0.17 2.47 0.05 0.190 6 0.046 0.054 3056 2052 391

13591 1.48 650.7 292.5 8.4 652 13601 0.15 2.67 2.15 0.249 4 0.084 0.063 3022 3506 390

13670 1.58 670.6 287.5 5.3 655 13674 0.00 2.62 0.00 0.000 6 0.000 0.054 3022 2054 390

13985 1.58 670.6 267.0 6.8 670 13991 0.10 2.47 0.15 0.141 4 0.055 0.068 3052 689 391

14053 1.53 670.6 260.5 9.6 673 14058 0.00 2.47 0.08 0.173 6 0.000 0.054 3052 2061 391

14375 1.44 670.6 226.5 10.6 689 14385 0.17 2.65 2.17 0.254 4 0.084 0.063 3014 3510 390

14436 1.55 670.6 221.3 7.4 691 14442 0.12 2.60 0.00 0.000 6 0.049 0.053 3051 2070 390

14752 1.45 670.6 183.4 12.6 707 14758 0.15 2.47 0.05 0.146 4 0.084 0.066 3017 690 390

14803 1.45 670.6 177.6 9.5 709 14808 0.00 2.50 0.00 0.000 6 0.000 0.053 3017 2082 390

15120 1.45 670.6 143.5 11.3 724 15121 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2083 390

15430 1.45 670.6 108.9 10.6 739 15435 0.00 2.58 0.05 0.196 4 0.000 0.067 3017 687 390

15497 1.45 670.6 101.5 9.9 742 15502 0.00 2.47 0.05 0.189 6 0.000 0.052 3017 2073 390

15819 1.45 670.6 65.0 11.6 758 15820 0.00 0.00 0.08 0.173 6 0.000 0.000 3017 2074 391

16129 1.45 670.6 29.5 11.2 773 16134 0.00 2.55 0.08 0.173 4 0.000 0.066 3017 691 391

16201 1.51 670.6 20.9 9.3 776 16206 0.00 2.42 0.08 0.170 6 0.000 0.051 3018 2047 391

16370 end climb: SURFACE_DEPTH_REACHED

state 16370 begin surface coast

16392 end surface coast: CONTROL_FINISHED_OK

state 16392 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	146	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	33	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-79399.312	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	060238,6158.441,-919.715,35,1.2,35,-9.6	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.066,-0.190
_SM_DEPTHo	0.66	KALMAN_X	-81539.7,-65.2,1371.9,100283.1,-13850.9
_SM_ANGLEo	-52.9	KALMAN_Y	94554.9,-563.8,1124.5,-78061.9,29518.8
GPS2	060820,6158.517,-919.740,15,1.2,15,-9.6	MHEAD_RNG_PITCHd_Wd	170.5,33338,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.1,1.004431	ALTIM_BOTTOM_PING	450.0,103.6
SM_CCo	16476,0.00,0.000,0,0,390,547.02	_24V_AH	23.9,30.620
SM_GC	0.66,11.18,0.00,0.00,0.035,0.000,0.000,421,2175,390,-10.38,0.71,547.02	_10V_AH	10.1,14.874
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41230,785
TT8_MAMPS	0.029146	CAP_FILE_SIZE	138161,0
HUMID	1694	CFSIZE	254472192,241692672
TCM_TEMP	17.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
XPDR_PINGS	547	GPS	110708,104524,6200.932,-922.455,40,1.5,57,-9.6
ALTIM_TOP_PING	18.1,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	135	85.42	SBE_CT	535	24	307.37
Roll_motor	178	78	333.80	SBE_O2	579	19	263.23
VBD_pump_during_apogee	560	1194	15997.26	WL_BB2F	557	105	1400.15
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	37	103	92.96	nil	0	0	0.00
Iridium_during_connect	28	160	110.46	nil	0	0	0.00
Iridium_during_xfer	147	223	784.42
Transponder_ping	140	420	1410.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.94
TT8	1496	19	299.34
LPSleep	12186	2	269.55
TT8_Active	671	19	134.21
TT8_Sampling	1926	39	774.42
TT8_CF8	535	45	247.70
TT8_Kalman	33	81	27.57
Analog_circuits	1695	12	205.48
GPS_charging	0	0	0.00
Compass	1881	8	152.00
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	-110.40	0.000	6	0.000	0.000	423	2123	3099
141	-1.03	-117.3	2.2	-1.7	5	157	10.57	2.50	0.00	0.000	4	0.136	0.056	2469	745	3099
409	-0.71	-117.3	37.3	-11.3	16	415	0.35	2.53	0.00	0.000	6	0.089	0.048	2542	2156	3098
732	-0.63	-117.3	60.8	-7.2	32	736	0.00	2.55	0.00	0.000	4	0.000	0.058	2543	750	3097
765	-0.54	-117.3	63.3	-7.0	33	772	0.17	2.53	0.00	0.000	6	0.089	0.050	2580	2166	3097
1083	-0.54	-117.3	79.7	-4.7	49	1087	0.00	2.58	0.00	0.000	4	0.000	0.061	2580	753	3097
1101	-0.54	-117.3	80.5	-4.5	50	1106	0.00	2.53	0.00	0.000	6	0.000	0.049	2580	2176	3098
1430	-0.54	-117.3	90.8	-2.8	66	1431	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2176	3098
1739	-0.59	-117.3	100.2	-3.0	81	1743	0.00	2.47	0.00	0.000	4	0.000	0.061	2580	3561	3098
1750	-0.59	-117.3	100.6	-3.2	81	1756	0.00	2.45	0.00	0.000	6	0.000	0.048	2580	2181	3098
2067	-0.59	-117.3	110.2	-3.2	97	2071	0.00	2.53	0.00	0.000	4	0.000	0.061	2580	3564	3098
2077	-0.59	-117.3	110.6	-3.3	97	2084	0.00	2.47	0.00	0.000	6	0.000	0.048	2580	2171	3098
2395	-0.63	-117.3	120.2	-3.0	113	2399	0.00	2.55	0.00	0.000	4	0.000	0.064	2580	749	3098
2406	-0.67	-117.3	120.5	-2.8	113	2413	0.12	2.55	0.00	0.000	6	0.052	0.051	2543	2174	3098
2723	-0.61	-117.3	134.5	-4.8	129	2728	0.12	2.60	0.00	0.000	4	0.091	0.062	2568	748	3098
2735	-0.55	-117.3	135.1	-4.7	129	2741	0.00	2.55	0.00	0.000	6	0.000	0.052	2569	2171	3098
3053	-0.55	-117.3	150.7	-5.3	145	3057	0.00	2.58	0.00	0.000	4	0.000	0.063	2569	744	3098
3074	-0.55	-117.3	152.0	-5.6	146	3079	0.00	2.55	0.00	0.000	6	0.000	0.051	2569	2167	3098
3396	-0.55	-117.3	170.8	-6.1	162	3400	0.00	2.60	0.00	0.000	4	0.000	0.062	2569	744	3098
3446	-0.55	-117.3	174.2	-7.1	164	3450	0.00	2.53	0.00	0.000	6	0.000	0.052	2568	2148	3098
3761	-0.55	-117.3	195.6	-7.0	179	3766	0.00	2.55	0.00	0.000	4	0.000	0.062	2569	745	3097
3795	-0.55	-117.3	198.2	-7.3	180	3801	0.00	2.50	0.00	0.000	6	0.000	0.052	2568	2139	3097
4111	-0.55	-117.3	221.3	-7.5	196	4115	0.00	2.55	0.00	0.000	4	0.000	0.063	2568	744	3097
4177	-0.55	-117.3	226.6	-7.9	199	4182	0.00	2.47	0.00	0.000	6	0.000	0.053	2568	2123	3097
4499	-0.55	-117.3	252.7	-8.4	215	4503	0.00	2.50	0.00	0.000	4	0.000	0.063	2569	747	3096
4517	-0.55	-117.3	254.3	-8.5	216	4521	0.00	2.45	0.00	0.000	6	0.000	0.053	2569	2116	3096
4844	-0.55	-117.3	283.0	-9.0	232	4848	0.00	2.50	0.00	0.000	4	0.000	0.064	2568	744	3096
4877	-0.55	-117.3	286.4	-9.9	233	4883	0.00	2.45	0.00	0.000	6	0.000	0.053	2568	2111	3096
5193	-0.55	-117.3	314.7	-8.7	249	5197	0.00	2.50	0.00	0.000	4	0.000	0.064	2569	746	3096
5203	-0.55	-117.3	315.5	-8.4	249	5209	0.00	2.45	0.00	0.000	6	0.000	0.053	2569	2109	3096
5519	-0.55	-117.3	340.4	-7.6	265	5524	0.00	2.50	0.00	0.000	4	0.000	0.064	2569	744	3096
5547	-0.55	-117.3	342.8	-8.2	266	5551	0.00	2.45	0.00	0.000	6	0.000	0.053	2569	2110	3095
5863	-0.55	-117.3	365.2	-6.6	281	5868	0.00	2.50	0.00	0.000	4	0.000	0.065	2569	747	3096
5920	-0.55	-117.3	369.5	-7.8	283	5925	0.00	2.42	0.00	0.000	6	0.000	0.053	2569	2095	3096
6236	-0.55	-117.3	389.8	-5.9	299	6237	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2095	3095
6545	-0.55	-117.3	408.0	-5.9	314	6546	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2095	3095
6854	-0.55	-117.3	423.0	-4.5	329	6856	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2096	3095
7163	-0.55	-117.3	435.4	-4.5	344	7168	0.00	2.47	0.00	0.000	4	0.000	0.067	2569	745	3095
7175	-0.55	-117.3	435.9	-4.6	344	7181	0.00	2.42	0.00	0.000	6	0.000	0.054	2569	2091	3095
7492	-0.59	-117.3	448.8	-3.8	360	7496	0.00	2.47	0.00	0.000	4	0.000	0.067	2569	747	3095
7541	-0.59	-117.3	450.9	-3.8	362	7545	0.00	2.40	0.00	0.000	6	0.000	0.054	2568	2078	3095
7858	-0.64	-117.3	464.4	-5.4	377	7859	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2078	3095
8167	-0.64	-117.3	481.4	-4.7	392	8171	0.00	2.67	0.00	0.000	4	0.000	0.068	2568	3555	3095
8425	-0.64	-117.3	496.0	-4.8	403	8431	0.00	2.62	0.00	0.000	6	0.000	0.053	2569	2089	3094
8741	-0.69	-117.3	502.6	-3.1	419	8746	0.00	2.70	0.00	0.000	4	0.000	0.068	2569	3561	3094
8782	-0.69	-117.3	503.3	-2.6	421	8787	0.00	2.62	0.00	0.000	6	0.000	0.054	2569	2089	3094
9109	-0.69	-117.3	514.0	-8.4	437	9114	0.00	2.72	0.00	0.000	4	0.000	0.070	2569	3561	3094
9199	-0.69	-117.3	519.0	-5.0	441	9203	0.00	2.55	0.00	0.000	6	0.000	0.056	2569	2143	3093
9520	-0.69	-117.3	540.1	-3.9	457	9525	0.00	2.55	0.00	0.000	4	0.000	0.075	2569	748	3093
9532	-0.75	-117.3	540.6	-5.0	457	9539	0.15	2.55	0.00	0.000	6	0.054	0.061	2527	2146	3093
9742	end dive: BOTTOM_OBSTACLE_DETECTED
state	9742	begin apogee
9750	-0.33	0.0	544.0	3.8	468	9850	0.47	0.00	97.75	1.195	6	0.088	0.000	2624	2072	2620
9851	end apogee: CONTROL_FINISHED_OK
state	9851	begin climb
9854	1.03	117.3	542.8	0.0	473	9960	1.38	2.75	97.62	1.170	4	0.067	0.072	2922	3499	2141
10196	1.03	117.3	528.0	6.7	488	10202	0.00	2.55	0.00	0.000	6	0.000	0.062	2922	2122	2139
10512	1.08	151.3	508.6	4.8	504	10547	0.00	2.70	29.02	1.139	4	0.000	0.078	2922	690	2003
10676	1.08	151.3	497.1	8.3	511	10681	0.00	2.60	0.00	0.000	6	0.000	0.064	2922	2096	2002
10993	1.39	343.7	495.5	-0.6	526	11161	0.32	2.70	157.98	1.167	4	0.044	0.073	3009	3500	1218
11263	1.72	545.6	485.7	-0.9	538	11439	0.28	2.60	166.38	1.131	6	0.048	0.061	3076	2084	395
11762	1.54	545.6	432.1	12.4	563	11767	0.17	2.65	0.00	0.000	4	0.093	0.071	3040	3512	399
11802	1.49	545.6	427.5	8.4	565	11807	0.00	2.60	0.00	0.000	6	0.000	0.063	3039	2104	398
12129	1.42	545.6	394.2	11.5	581	12134	0.15	2.60	0.00	0.000	4	0.089	0.072	3009	680	399
12196	1.42	545.6	388.8	6.9	584	12201	0.00	2.58	0.00	0.000	6	0.000	0.058	3009	2095	399
12518	1.42	545.6	362.5	8.8	600	12522	0.00	2.60	0.00	0.000	4	0.000	0.070	3009	687	400
12557	1.42	545.6	358.9	9.4	602	12561	0.00	2.50	0.00	0.000	6	0.000	0.057	3009	2071	400
12884	1.44	559.4	337.4	5.5	618	12890	0.00	0.00	4.22	0.709	6	0.000	0.000	3009	2071	390
13193	1.48	584.2	322.2	5.2	633	13202	0.00	2.65	2.17	0.262	4	0.000	0.069	3009	678	390
13262	1.58	650.7	318.9	3.7	636	13267	0.17	2.47	0.05	0.190	6	0.046	0.054	3056	2052	391
13591	1.48	650.7	292.5	8.4	652	13601	0.15	2.67	2.15	0.249	4	0.084	0.063	3022	3506	390
13670	1.58	670.6	287.5	5.3	655	13674	0.00	2.62	0.00	0.000	6	0.000	0.054	3022	2054	390
13985	1.58	670.6	267.0	6.8	670	13991	0.10	2.47	0.15	0.141	4	0.055	0.068	3052	689	391
14053	1.53	670.6	260.5	9.6	673	14058	0.00	2.47	0.08	0.173	6	0.000	0.054	3052	2061	391
14375	1.44	670.6	226.5	10.6	689	14385	0.17	2.65	2.17	0.254	4	0.084	0.063	3014	3510	390
14436	1.55	670.6	221.3	7.4	691	14442	0.12	2.60	0.00	0.000	6	0.049	0.053	3051	2070	390
14752	1.45	670.6	183.4	12.6	707	14758	0.15	2.47	0.05	0.146	4	0.084	0.066	3017	690	390
14803	1.45	670.6	177.6	9.5	709	14808	0.00	2.50	0.00	0.000	6	0.000	0.053	3017	2082	390
15120	1.45	670.6	143.5	11.3	724	15121	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2083	390
15430	1.45	670.6	108.9	10.6	739	15435	0.00	2.58	0.05	0.196	4	0.000	0.067	3017	687	390
15497	1.45	670.6	101.5	9.9	742	15502	0.00	2.47	0.05	0.189	6	0.000	0.052	3017	2073	390
15819	1.45	670.6	65.0	11.6	758	15820	0.00	0.00	0.08	0.173	6	0.000	0.000	3017	2074	391
16129	1.45	670.6	29.5	11.2	773	16134	0.00	2.55	0.08	0.173	4	0.000	0.066	3017	691	391
16201	1.51	670.6	20.9	9.3	776	16206	0.00	2.42	0.08	0.170	6	0.000	0.051	3018	2047	391
16370	end climb: SURFACE_DEPTH_REACHED
state	16370	begin surface coast
16392	end surface coast: CONTROL_FINISHED_OK
state	16392	begin surface