Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 149 * 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 149 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 50 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 -79440.391 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 -79440.391

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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 50 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 149 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 202507,6208.734,-921.673,43,1.0,43,-9.6 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.062,-0.191

_SM_DEPTHo 0.68 KALMAN_X -84542.6,514.8,977.1,101287.9,-10174.7

_SM_ANGLEo -56.7 KALMAN_Y 127294.3,-1253.2,-3658.1,-85974.5,50772.5

GPS2 203351,6208.862,-921.704,10,1.1,10,-9.6 MHEAD_RNG_PITCHd_Wd 171.5,52451,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.016932 ALTIM_BOTTOM_PING 475.4,88.2

SM_CCo 16142,66.12,0.795,0,0,390,547.02 _24V_AH 23.9,31.174

SM_GC 0.47,0.00,0.00,66.12,0.000,0.000,0.795,418,2176,390,-10.50,0.82,547.02 _10V_AH 10.1,15.123

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38050,772

TT8_MAMPS 0.029146 CAP_FILE_SIZE 133748,0

HUMID 1699 CFSIZE 254472192,241508352

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,0,0

XPDR_PINGS 527 GPS 120708,010631,6211.129,-918.833,60,1.4,60,-9.6

ALTIM_TOP_PING 18.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 83.70 SBE_CT 527 24 302.52

Roll_motor 175 79 333.92 SBE_O2 570 19 258.86

VBD_pump_during_apogee 465 1193 13268.42 WL_BB2F 502 105 1262.22

VBD_pump_during_surface 66 795 1257.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.92 nil 0 0 0.00

Iridium_during_connect 61 160 234.73 nil 0 0 0.00

Iridium_during_xfer 193 223 1029.12

Transponder_ping 135 420 1362.66

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.47

TT8 1450 19 290.02

LPSleep 12211 2 270.10

TT8_Active 684 19 136.89

TT8_Sampling 1727 39 694.34

TT8_CF8 656 45 303.83

TT8_Kalman 33 81 27.57

Analog_circuits 1608 12 194.89

GPS_charging 0 0 0.00

Compass 1695 8 137.03

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 0 138 0.00 0.00 -111.95 0.000 6 0.000 0.000 418 2171 3099

142 -1.03 -117.3 2.0 -1.5 5 158 10.60 2.60 0.00 0.000 4 0.137 0.058 2469 740 3099

393 -0.71 -117.3 31.2 -9.6 15 399 0.35 2.47 0.00 0.000 6 0.085 0.049 2545 2124 3097

712 -0.63 -117.3 48.9 -4.9 30 716 0.00 2.50 0.00 0.000 4 0.000 0.058 2545 742 3097

736 -0.54 -117.3 50.3 -5.3 31 741 0.17 2.50 0.00 0.000 6 0.089 0.050 2581 2137 3097

1058 -0.54 -117.3 67.1 -5.5 47 1062 0.00 2.53 0.00 0.000 4 0.000 0.058 2581 744 3097

1075 -0.54 -117.3 68.2 -6.3 48 1080 0.00 2.47 0.00 0.000 6 0.000 0.050 2581 2132 3097

1403 -0.54 -117.3 90.5 -7.0 64 1407 0.00 2.53 0.00 0.000 4 0.000 0.060 2581 743 3097

1435 -0.54 -117.3 93.0 -7.3 65 1442 0.00 2.42 0.00 0.000 6 0.000 0.050 2581 2106 3097

1752 -0.58 -117.3 114.7 -6.8 81 1756 0.00 2.60 0.00 0.000 4 0.000 0.061 2581 3560 3098

1763 -0.63 -117.3 115.7 -7.0 81 1769 0.00 2.58 0.00 0.000 6 0.000 0.048 2581 2105 3097

2080 -0.63 -117.3 136.2 -6.6 97 2084 0.00 2.62 0.00 0.000 4 0.000 0.061 2581 3557 3098

2129 -0.63 -117.3 139.9 -7.4 99 2134 0.00 2.55 0.00 0.000 6 0.000 0.048 2581 2123 3097

2446 -0.67 -117.3 160.7 -6.1 114 2451 0.12 2.62 0.00 0.000 4 0.051 0.061 2543 3560 3098

2473 -0.60 -117.3 162.8 -7.4 115 2478 0.12 2.55 0.00 0.000 6 0.094 0.048 2569 2121 3097

2789 -0.60 -117.3 180.3 -5.1 130 2791 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2117 3097

3099 -0.60 -117.3 195.6 -4.9 145 3103 0.00 2.62 0.00 0.000 4 0.000 0.063 2569 3557 3097

3109 -0.60 -117.3 196.1 -4.9 145 3116 0.00 2.55 0.00 0.000 6 0.000 0.049 2569 2120 3097

3426 -0.60 -117.3 210.8 -5.1 161 3431 0.00 2.62 0.00 0.000 4 0.000 0.064 2569 3562 3097

3438 -0.60 -117.3 211.4 -4.8 161 3444 0.00 2.58 0.00 0.000 6 0.000 0.050 2569 2115 3096

3754 -0.60 -117.3 224.9 -4.0 177 3759 0.00 2.62 0.00 0.000 4 0.000 0.062 2569 3560 3096

3765 -0.60 -117.3 225.4 -4.0 177 3769 0.00 2.58 0.00 0.000 6 0.000 0.049 2569 2111 3096

4081 -0.60 -117.3 238.0 -4.0 192 4085 0.00 2.62 0.00 0.000 4 0.000 0.063 2569 3556 3096

4091 -0.60 -117.3 238.5 -4.0 192 4098 0.00 2.58 0.00 0.000 6 0.000 0.051 2569 2110 3096

4407 -0.60 -117.3 251.5 -4.0 208 4409 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2110 3096

4717 -0.60 -117.3 262.4 -3.2 223 4718 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2110 3095

5026 -0.60 -117.3 271.2 -2.4 238 5027 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2110 3095

5335 -0.60 -117.3 277.6 -2.0 253 5336 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2110 3095

5645 -0.60 -117.3 284.9 -2.3 268 5649 0.00 2.65 0.00 0.000 4 0.000 0.064 2569 3557 3095

5655 -0.60 -117.3 285.1 -2.2 268 5661 0.00 2.58 0.00 0.000 6 0.000 0.053 2569 2115 3095

5971 -0.60 -117.3 294.3 -3.5 284 5976 0.00 2.62 0.00 0.000 4 0.000 0.064 2569 3557 3095

5982 -0.60 -117.3 294.9 -3.9 284 5988 0.00 2.58 0.00 0.000 6 0.000 0.053 2569 2118 3095

6299 -0.60 -117.3 310.9 -5.9 300 6303 0.00 2.62 0.00 0.000 4 0.000 0.064 2569 3557 3094

6311 -0.60 -117.3 311.7 -6.3 300 6317 0.00 2.58 0.00 0.000 6 0.000 0.053 2569 2116 3094

6627 -0.60 -117.3 337.0 -9.2 316 6631 0.00 2.62 0.00 0.000 4 0.000 0.064 2569 3562 3094

6637 -0.60 -117.3 338.2 -9.6 316 6643 0.00 2.58 0.00 0.000 6 0.000 0.052 2569 2118 3094

6953 -0.60 -117.3 372.7 -11.2 332 6954 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2118 3094

7262 -0.60 -117.3 405.3 -10.1 347 7266 0.00 2.47 0.00 0.000 4 0.000 0.066 2569 741 3094

7273 -0.60 -117.3 406.5 -9.8 347 7279 0.00 2.47 0.00 0.000 6 0.000 0.054 2569 2118 3094

7589 -0.60 -117.3 439.6 -11.6 363 7593 0.00 2.53 0.00 0.000 4 0.000 0.066 2569 742 3094

7684 -0.60 -117.3 452.0 -13.1 367 7688 0.00 2.42 0.00 0.000 6 0.000 0.055 2569 2086 3094

8000 -0.60 -117.3 488.2 -9.7 382 8004 0.00 2.65 0.00 0.000 4 0.000 0.065 2569 3558 3094

8181 -0.60 -117.3 500.9 -5.0 390 8185 0.00 2.58 0.00 0.000 6 0.000 0.054 2569 2106 3094

8503 -0.65 -117.3 505.3 0.9 406 8508 0.00 2.45 0.00 0.000 4 0.000 0.067 2569 749 3093

8537 -0.65 -117.3 504.5 2.1 407 8543 0.00 2.45 0.00 0.000 6 0.000 0.056 2569 2104 3094

8854 -0.65 -117.3 497.8 1.8 423 8858 0.00 2.50 0.00 0.000 4 0.000 0.070 2569 749 3093

8971 -0.65 -117.3 499.6 -3.0 428 8975 0.00 2.40 0.00 0.000 6 0.000 0.058 2569 2074 3093

9287 -0.65 -117.3 510.8 -4.3 443 9288 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2074 3093

9597 -0.69 -117.3 523.0 -4.9 458 9602 0.00 2.70 0.00 0.000 4 0.000 0.074 2569 3557 3093

9608 -0.76 -117.3 523.3 -4.5 458 9615 0.17 2.65 0.00 0.000 6 0.051 0.058 2520 2089 3093

9924 -0.71 -117.3 546.4 -9.2 474 9929 0.10 2.72 0.00 0.000 4 0.104 0.071 2540 3563 3092

9936 -0.66 -117.3 546.7 -5.6 474 9942 0.00 2.70 0.00 0.000 6 0.000 0.059 2540 2052 3092

10187 end dive: BOTTOM_OBSTACLE_DETECTED

state 10187 begin apogee

10195 -0.33 0.0 553.8 4.0 487 10296 0.40 0.00 98.53 1.193 6 0.086 0.000 2624 2114 2620

10297 end apogee: CONTROL_FINISHED_OK

state 10297 begin climb

10300 1.03 117.3 556.1 0.0 492 10406 1.40 2.70 97.95 1.167 4 0.069 0.068 2925 684 2141

10436 1.03 117.3 548.2 9.1 498 10441 0.00 2.60 0.00 0.000 6 0.000 0.059 2925 2098 2141

10753 1.09 190.1 530.2 3.5 513 10819 0.00 2.65 61.12 1.143 4 0.000 0.070 2925 3506 1843

10903 1.09 190.1 523.1 6.5 520 10908 0.00 2.58 0.00 0.000 6 0.000 0.059 2925 2105 1843

11225 1.19 255.9 513.8 3.8 536 11288 0.15 2.67 54.83 1.144 4 0.051 0.074 2974 686 1576

11317 1.26 339.6 510.0 3.1 540 11395 0.00 2.62 70.00 1.136 6 0.000 0.061 2974 2105 1235

11706 1.32 373.3 491.4 4.8 559 11737 0.00 0.00 29.33 1.114 6 0.000 0.000 2974 2106 1099

12033 1.42 435.9 476.4 3.9 575 12095 0.15 2.72 53.42 1.126 4 0.050 0.073 3015 692 843

12149 1.37 435.9 467.7 8.2 580 12153 0.00 2.55 0.00 0.000 6 0.000 0.061 3014 2089 843

12471 1.30 435.9 432.4 13.2 596 12476 0.15 2.60 0.00 0.000 4 0.086 0.068 2981 3507 843

12521 1.40 435.9 425.7 12.2 598 12526 0.10 2.65 0.00 0.000 6 0.058 0.058 3012 2061 843

12837 1.34 435.9 382.4 13.5 613 12842 0.12 2.50 0.00 0.000 4 0.087 0.070 2988 681 842

12900 1.34 435.9 374.5 11.9 616 12904 0.00 2.50 0.00 0.000 6 0.000 0.056 2988 2067 843

13227 1.34 435.9 333.3 12.6 632 13231 0.00 2.60 0.00 0.000 4 0.000 0.065 2987 3508 842

13282 1.42 435.9 326.5 10.8 634 13288 0.00 2.62 0.00 0.000 6 0.000 0.054 2987 2059 843

13598 1.42 435.9 290.7 11.3 650 13602 0.00 2.47 0.00 0.000 4 0.000 0.069 2987 682 843

13660 1.42 435.9 283.7 11.1 653 13665 0.00 2.47 0.00 0.000 6 0.000 0.054 2987 2062 844

13987 1.42 435.9 250.3 9.7 669 13992 0.00 2.60 0.00 0.000 4 0.000 0.064 2987 3507 844

14028 1.51 435.9 246.4 9.6 671 14033 0.20 2.62 0.00 0.000 6 0.043 0.054 3042 2048 844

14356 1.39 435.9 199.1 15.0 687 14358 0.20 0.00 0.00 0.000 6 0.082 0.000 3003 2048 844

14664 1.39 435.9 160.4 12.1 702 14668 0.00 2.65 0.00 0.000 4 0.000 0.061 3003 3508 844

14737 1.44 435.9 152.5 10.1 705 14741 0.00 2.60 0.00 0.000 6 0.000 0.054 3002 2067 844

15053 1.44 435.9 116.1 12.5 720 15057 0.00 2.50 0.00 0.000 4 0.000 0.068 3003 684 844

15098 1.44 435.9 110.3 12.2 722 15102 0.00 2.50 0.00 0.000 6 0.000 0.052 3002 2081 844

15420 1.44 435.9 74.4 11.0 738 15421 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2081 844

15730 1.44 435.9 41.5 10.8 753 15734 0.00 2.58 0.00 0.000 4 0.000 0.067 3003 682 845

15770 1.44 435.9 36.7 11.3 755 15774 0.00 2.45 0.00 0.000 6 0.000 0.051 3003 2062 844

16094 end climb: SURFACE_DEPTH_REACHED

state 16094 begin surface coast

16119 end surface coast: CONTROL_FINISHED_OK

state 16119 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	149	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	50	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	-79440.391	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	202507,6208.734,-921.673,43,1.0,43,-9.6	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.062,-0.191
_SM_DEPTHo	0.68	KALMAN_X	-84542.6,514.8,977.1,101287.9,-10174.7
_SM_ANGLEo	-56.7	KALMAN_Y	127294.3,-1253.2,-3658.1,-85974.5,50772.5
GPS2	203351,6208.862,-921.704,10,1.1,10,-9.6	MHEAD_RNG_PITCHd_Wd	171.5,52451,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	-0.0,1.016932	ALTIM_BOTTOM_PING	475.4,88.2
SM_CCo	16142,66.12,0.795,0,0,390,547.02	_24V_AH	23.9,31.174
SM_GC	0.47,0.00,0.00,66.12,0.000,0.000,0.795,418,2176,390,-10.50,0.82,547.02	_10V_AH	10.1,15.123
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38050,772
TT8_MAMPS	0.029146	CAP_FILE_SIZE	133748,0
HUMID	1699	CFSIZE	254472192,241508352
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
XPDR_PINGS	527	GPS	120708,010631,6211.129,-918.833,60,1.4,60,-9.6
ALTIM_TOP_PING	18.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	83.70	SBE_CT	527	24	302.52
Roll_motor	175	79	333.92	SBE_O2	570	19	258.86
VBD_pump_during_apogee	465	1193	13268.42	WL_BB2F	502	105	1262.22
VBD_pump_during_surface	66	795	1257.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.92	nil	0	0	0.00
Iridium_during_connect	61	160	234.73	nil	0	0	0.00
Iridium_during_xfer	193	223	1029.12
Transponder_ping	135	420	1362.66
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.47
TT8	1450	19	290.02
LPSleep	12211	2	270.10
TT8_Active	684	19	136.89
TT8_Sampling	1727	39	694.34
TT8_CF8	656	45	303.83
TT8_Kalman	33	81	27.57
Analog_circuits	1608	12	194.89
GPS_charging	0	0	0.00
Compass	1695	8	137.03
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	138	0.00	0.00	-111.95	0.000	6	0.000	0.000	418	2171	3099
142	-1.03	-117.3	2.0	-1.5	5	158	10.60	2.60	0.00	0.000	4	0.137	0.058	2469	740	3099
393	-0.71	-117.3	31.2	-9.6	15	399	0.35	2.47	0.00	0.000	6	0.085	0.049	2545	2124	3097
712	-0.63	-117.3	48.9	-4.9	30	716	0.00	2.50	0.00	0.000	4	0.000	0.058	2545	742	3097
736	-0.54	-117.3	50.3	-5.3	31	741	0.17	2.50	0.00	0.000	6	0.089	0.050	2581	2137	3097
1058	-0.54	-117.3	67.1	-5.5	47	1062	0.00	2.53	0.00	0.000	4	0.000	0.058	2581	744	3097
1075	-0.54	-117.3	68.2	-6.3	48	1080	0.00	2.47	0.00	0.000	6	0.000	0.050	2581	2132	3097
1403	-0.54	-117.3	90.5	-7.0	64	1407	0.00	2.53	0.00	0.000	4	0.000	0.060	2581	743	3097
1435	-0.54	-117.3	93.0	-7.3	65	1442	0.00	2.42	0.00	0.000	6	0.000	0.050	2581	2106	3097
1752	-0.58	-117.3	114.7	-6.8	81	1756	0.00	2.60	0.00	0.000	4	0.000	0.061	2581	3560	3098
1763	-0.63	-117.3	115.7	-7.0	81	1769	0.00	2.58	0.00	0.000	6	0.000	0.048	2581	2105	3097
2080	-0.63	-117.3	136.2	-6.6	97	2084	0.00	2.62	0.00	0.000	4	0.000	0.061	2581	3557	3098
2129	-0.63	-117.3	139.9	-7.4	99	2134	0.00	2.55	0.00	0.000	6	0.000	0.048	2581	2123	3097
2446	-0.67	-117.3	160.7	-6.1	114	2451	0.12	2.62	0.00	0.000	4	0.051	0.061	2543	3560	3098
2473	-0.60	-117.3	162.8	-7.4	115	2478	0.12	2.55	0.00	0.000	6	0.094	0.048	2569	2121	3097
2789	-0.60	-117.3	180.3	-5.1	130	2791	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2117	3097
3099	-0.60	-117.3	195.6	-4.9	145	3103	0.00	2.62	0.00	0.000	4	0.000	0.063	2569	3557	3097
3109	-0.60	-117.3	196.1	-4.9	145	3116	0.00	2.55	0.00	0.000	6	0.000	0.049	2569	2120	3097
3426	-0.60	-117.3	210.8	-5.1	161	3431	0.00	2.62	0.00	0.000	4	0.000	0.064	2569	3562	3097
3438	-0.60	-117.3	211.4	-4.8	161	3444	0.00	2.58	0.00	0.000	6	0.000	0.050	2569	2115	3096
3754	-0.60	-117.3	224.9	-4.0	177	3759	0.00	2.62	0.00	0.000	4	0.000	0.062	2569	3560	3096
3765	-0.60	-117.3	225.4	-4.0	177	3769	0.00	2.58	0.00	0.000	6	0.000	0.049	2569	2111	3096
4081	-0.60	-117.3	238.0	-4.0	192	4085	0.00	2.62	0.00	0.000	4	0.000	0.063	2569	3556	3096
4091	-0.60	-117.3	238.5	-4.0	192	4098	0.00	2.58	0.00	0.000	6	0.000	0.051	2569	2110	3096
4407	-0.60	-117.3	251.5	-4.0	208	4409	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2110	3096
4717	-0.60	-117.3	262.4	-3.2	223	4718	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2110	3095
5026	-0.60	-117.3	271.2	-2.4	238	5027	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2110	3095
5335	-0.60	-117.3	277.6	-2.0	253	5336	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2110	3095
5645	-0.60	-117.3	284.9	-2.3	268	5649	0.00	2.65	0.00	0.000	4	0.000	0.064	2569	3557	3095
5655	-0.60	-117.3	285.1	-2.2	268	5661	0.00	2.58	0.00	0.000	6	0.000	0.053	2569	2115	3095
5971	-0.60	-117.3	294.3	-3.5	284	5976	0.00	2.62	0.00	0.000	4	0.000	0.064	2569	3557	3095
5982	-0.60	-117.3	294.9	-3.9	284	5988	0.00	2.58	0.00	0.000	6	0.000	0.053	2569	2118	3095
6299	-0.60	-117.3	310.9	-5.9	300	6303	0.00	2.62	0.00	0.000	4	0.000	0.064	2569	3557	3094
6311	-0.60	-117.3	311.7	-6.3	300	6317	0.00	2.58	0.00	0.000	6	0.000	0.053	2569	2116	3094
6627	-0.60	-117.3	337.0	-9.2	316	6631	0.00	2.62	0.00	0.000	4	0.000	0.064	2569	3562	3094
6637	-0.60	-117.3	338.2	-9.6	316	6643	0.00	2.58	0.00	0.000	6	0.000	0.052	2569	2118	3094
6953	-0.60	-117.3	372.7	-11.2	332	6954	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2118	3094
7262	-0.60	-117.3	405.3	-10.1	347	7266	0.00	2.47	0.00	0.000	4	0.000	0.066	2569	741	3094
7273	-0.60	-117.3	406.5	-9.8	347	7279	0.00	2.47	0.00	0.000	6	0.000	0.054	2569	2118	3094
7589	-0.60	-117.3	439.6	-11.6	363	7593	0.00	2.53	0.00	0.000	4	0.000	0.066	2569	742	3094
7684	-0.60	-117.3	452.0	-13.1	367	7688	0.00	2.42	0.00	0.000	6	0.000	0.055	2569	2086	3094
8000	-0.60	-117.3	488.2	-9.7	382	8004	0.00	2.65	0.00	0.000	4	0.000	0.065	2569	3558	3094
8181	-0.60	-117.3	500.9	-5.0	390	8185	0.00	2.58	0.00	0.000	6	0.000	0.054	2569	2106	3094
8503	-0.65	-117.3	505.3	0.9	406	8508	0.00	2.45	0.00	0.000	4	0.000	0.067	2569	749	3093
8537	-0.65	-117.3	504.5	2.1	407	8543	0.00	2.45	0.00	0.000	6	0.000	0.056	2569	2104	3094
8854	-0.65	-117.3	497.8	1.8	423	8858	0.00	2.50	0.00	0.000	4	0.000	0.070	2569	749	3093
8971	-0.65	-117.3	499.6	-3.0	428	8975	0.00	2.40	0.00	0.000	6	0.000	0.058	2569	2074	3093
9287	-0.65	-117.3	510.8	-4.3	443	9288	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2074	3093
9597	-0.69	-117.3	523.0	-4.9	458	9602	0.00	2.70	0.00	0.000	4	0.000	0.074	2569	3557	3093
9608	-0.76	-117.3	523.3	-4.5	458	9615	0.17	2.65	0.00	0.000	6	0.051	0.058	2520	2089	3093
9924	-0.71	-117.3	546.4	-9.2	474	9929	0.10	2.72	0.00	0.000	4	0.104	0.071	2540	3563	3092
9936	-0.66	-117.3	546.7	-5.6	474	9942	0.00	2.70	0.00	0.000	6	0.000	0.059	2540	2052	3092
10187	end dive: BOTTOM_OBSTACLE_DETECTED
state	10187	begin apogee
10195	-0.33	0.0	553.8	4.0	487	10296	0.40	0.00	98.53	1.193	6	0.086	0.000	2624	2114	2620
10297	end apogee: CONTROL_FINISHED_OK
state	10297	begin climb
10300	1.03	117.3	556.1	0.0	492	10406	1.40	2.70	97.95	1.167	4	0.069	0.068	2925	684	2141
10436	1.03	117.3	548.2	9.1	498	10441	0.00	2.60	0.00	0.000	6	0.000	0.059	2925	2098	2141
10753	1.09	190.1	530.2	3.5	513	10819	0.00	2.65	61.12	1.143	4	0.000	0.070	2925	3506	1843
10903	1.09	190.1	523.1	6.5	520	10908	0.00	2.58	0.00	0.000	6	0.000	0.059	2925	2105	1843
11225	1.19	255.9	513.8	3.8	536	11288	0.15	2.67	54.83	1.144	4	0.051	0.074	2974	686	1576
11317	1.26	339.6	510.0	3.1	540	11395	0.00	2.62	70.00	1.136	6	0.000	0.061	2974	2105	1235
11706	1.32	373.3	491.4	4.8	559	11737	0.00	0.00	29.33	1.114	6	0.000	0.000	2974	2106	1099
12033	1.42	435.9	476.4	3.9	575	12095	0.15	2.72	53.42	1.126	4	0.050	0.073	3015	692	843
12149	1.37	435.9	467.7	8.2	580	12153	0.00	2.55	0.00	0.000	6	0.000	0.061	3014	2089	843
12471	1.30	435.9	432.4	13.2	596	12476	0.15	2.60	0.00	0.000	4	0.086	0.068	2981	3507	843
12521	1.40	435.9	425.7	12.2	598	12526	0.10	2.65	0.00	0.000	6	0.058	0.058	3012	2061	843
12837	1.34	435.9	382.4	13.5	613	12842	0.12	2.50	0.00	0.000	4	0.087	0.070	2988	681	842
12900	1.34	435.9	374.5	11.9	616	12904	0.00	2.50	0.00	0.000	6	0.000	0.056	2988	2067	843
13227	1.34	435.9	333.3	12.6	632	13231	0.00	2.60	0.00	0.000	4	0.000	0.065	2987	3508	842
13282	1.42	435.9	326.5	10.8	634	13288	0.00	2.62	0.00	0.000	6	0.000	0.054	2987	2059	843
13598	1.42	435.9	290.7	11.3	650	13602	0.00	2.47	0.00	0.000	4	0.000	0.069	2987	682	843
13660	1.42	435.9	283.7	11.1	653	13665	0.00	2.47	0.00	0.000	6	0.000	0.054	2987	2062	844
13987	1.42	435.9	250.3	9.7	669	13992	0.00	2.60	0.00	0.000	4	0.000	0.064	2987	3507	844
14028	1.51	435.9	246.4	9.6	671	14033	0.20	2.62	0.00	0.000	6	0.043	0.054	3042	2048	844
14356	1.39	435.9	199.1	15.0	687	14358	0.20	0.00	0.00	0.000	6	0.082	0.000	3003	2048	844
14664	1.39	435.9	160.4	12.1	702	14668	0.00	2.65	0.00	0.000	4	0.000	0.061	3003	3508	844
14737	1.44	435.9	152.5	10.1	705	14741	0.00	2.60	0.00	0.000	6	0.000	0.054	3002	2067	844
15053	1.44	435.9	116.1	12.5	720	15057	0.00	2.50	0.00	0.000	4	0.000	0.068	3003	684	844
15098	1.44	435.9	110.3	12.2	722	15102	0.00	2.50	0.00	0.000	6	0.000	0.052	3002	2081	844
15420	1.44	435.9	74.4	11.0	738	15421	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2081	844
15730	1.44	435.9	41.5	10.8	753	15734	0.00	2.58	0.00	0.000	4	0.000	0.067	3003	682	845
15770	1.44	435.9	36.7	11.3	755	15774	0.00	2.45	0.00	0.000	6	0.000	0.051	3003	2062	844
16094	end climb: SURFACE_DEPTH_REACHED
state	16094	begin surface coast
16119	end surface coast: CONTROL_FINISHED_OK
state	16119	begin surface