Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 151 * 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 151 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 35 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 -79468.852 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 -79468.852

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 35 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 151 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 054908,6214.353,-911.982,37,1.3,37,-9.6 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.107,-0.171

_SM_DEPTHo 0.60 KALMAN_X -79118.2,1271.5,506.4,104189.9,-4228.3

_SM_ANGLEo -55.1 KALMAN_Y 140035.5,-5028.4,-2551.1,-85772.8,58628.5

GPS2 055503,6214.395,-911.894,15,1.3,15,-9.6 MHEAD_RNG_PITCHd_Wd 157.6,61852,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027008 ALTIM_TOP_PING 19.6,999.0

SM_CCo 17109,121.43,0.776,0,0,390,547.02 _24V_AH 23.9,31.518

SM_GC 0.54,0.00,0.00,121.43,0.000,0.000,0.776,418,2152,390,-10.49,0.08,547.02 _10V_AH 10.1,15.292

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41157,814

TT8_MAMPS 0.028379 CAP_FILE_SIZE 149350,0

HUMID 1676 CFSIZE 254472192,241356800

TCM_TEMP 19.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,0,0

XPDR_PINGS 627 GPS 120708,104431,6214.607,-907.715,43,1.6,43,-9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 137 88.35 SBE_CT 556 24 319.40

Roll_motor 214 71 366.19 SBE_O2 600 19 272.70

VBD_pump_during_apogee 386 1147 10604.72 WL_BB2F 556 105 1396.11

VBD_pump_during_surface 121 776 2252.59 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 28 160 110.54 nil 0 0 0.00

Iridium_during_xfer 161 223 861.91

Transponder_ping 160 420 1611.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.58

TT8 1618 19 323.60

LPSleep 12597 2 278.65

TT8_Active 691 19 138.25

TT8_Sampling 2107 39 847.29

TT8_CF8 573 45 265.13

TT8_Kalman 33 81 27.57

Analog_circuits 1778 12 215.54

GPS_charging 0 0 0.00

Compass 2062 8 166.65

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 -111.55 0.000 6 0.000 0.000 424 2176 3099

142 -1.03 -117.3 2.1 -1.5 5 158 10.57 2.60 0.00 0.000 4 0.137 0.056 2468 741 3098

411 -0.71 -117.3 34.3 -11.0 16 416 0.35 2.50 0.00 0.000 6 0.086 0.049 2543 2137 3097

734 -0.61 -117.3 53.9 -4.7 32 738 0.12 2.53 0.00 0.000 4 0.092 0.057 2569 741 3098

991 -0.61 -117.3 65.1 -6.2 43 998 0.00 2.45 0.00 0.000 6 0.000 0.050 2569 2114 3098

1310 -0.61 -117.3 83.2 -3.7 59 1314 0.00 2.50 0.00 0.000 4 0.000 0.058 2569 738 3098

1480 -0.61 -117.3 86.1 -1.6 66 1486 0.00 2.40 0.00 0.000 6 0.000 0.048 2569 2088 3098

1798 -0.61 -117.3 96.8 -5.2 82 1802 0.00 2.45 0.00 0.000 4 0.000 0.058 2569 740 3098

1822 -0.61 -117.3 98.5 -6.4 83 1826 0.00 2.40 0.00 0.000 6 0.000 0.049 2569 2083 3098

2143 -0.61 -117.3 124.7 -9.6 99 2148 0.00 2.45 0.00 0.000 4 0.000 0.060 2569 740 3098

2284 -0.61 -117.3 141.5 -12.3 105 2288 0.00 2.38 0.00 0.000 6 0.000 0.051 2569 2062 3098

2600 -0.61 -117.3 172.1 -7.5 120 2605 0.00 2.40 0.00 0.000 4 0.000 0.061 2569 742 3098

2679 -0.61 -117.3 177.7 -5.7 123 2685 0.00 2.33 0.00 0.000 6 0.000 0.051 2569 2040 3097

2996 -0.61 -117.3 188.6 -2.1 139 3000 0.00 2.38 0.00 0.000 4 0.000 0.061 2569 741 3097

3058 -0.61 -117.3 190.0 -2.4 142 3062 0.00 2.33 0.00 0.000 6 0.000 0.052 2568 2038 3097

3386 -0.61 -117.3 194.3 -1.3 158 3390 0.00 2.38 0.00 0.000 4 0.000 0.062 2568 741 3097

3538 -0.61 -117.3 197.8 -2.5 165 3542 0.00 2.28 0.00 0.000 6 0.000 0.052 2568 2008 3097

3866 -0.61 -117.3 206.0 -2.8 181 3870 0.00 2.33 0.00 0.000 4 0.000 0.064 2568 741 3096

3885 -0.61 -117.3 206.6 -3.2 182 3889 0.00 2.25 0.00 0.000 6 0.000 0.053 2569 1998 3096

4212 -0.61 -117.3 217.2 -3.2 198 4216 0.00 2.30 0.00 0.000 4 0.000 0.064 2568 741 3096

4240 -0.61 -117.3 218.2 -3.1 199 4244 0.00 2.25 0.00 0.000 6 0.000 0.053 2568 1993 3096

4556 -0.61 -117.3 227.8 -2.4 214 4560 0.00 2.28 0.00 0.000 4 0.000 0.064 2569 742 3096

4567 -0.61 -117.3 228.0 -2.0 214 4571 0.00 2.25 0.00 0.000 6 0.000 0.052 2569 1994 3096

4883 -0.61 -117.3 236.4 -2.4 229 4885 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 1995 3096

5193 -0.61 -117.3 245.0 -3.0 244 5197 0.00 2.80 0.00 0.000 4 0.000 0.064 2569 3556 3096

5215 -0.61 -117.3 245.8 -3.0 245 5219 0.00 2.78 0.00 0.000 6 0.000 0.050 2569 1995 3096

5537 -0.61 -117.3 256.8 -3.5 261 5542 0.00 2.85 0.00 0.000 4 0.000 0.063 2568 3560 3095

5615 -0.61 -117.3 259.8 -3.9 264 5621 0.00 2.75 0.00 0.000 6 0.000 0.048 2569 2002 3095

5931 -0.61 -117.3 271.6 -3.8 280 5936 0.00 2.85 0.00 0.000 4 0.000 0.064 2569 3561 3095

5959 -0.61 -117.3 272.7 -4.1 281 5963 0.00 2.78 0.00 0.000 6 0.000 0.050 2568 2001 3095

6275 -0.61 -117.3 285.5 -4.2 296 6280 0.00 2.83 0.00 0.000 4 0.000 0.063 2568 3559 3095

6315 -0.61 -117.3 287.2 -4.7 298 6320 0.00 2.75 0.00 0.000 6 0.000 0.048 2568 2003 3094

6642 -0.61 -117.3 301.9 -4.8 314 6647 0.00 2.83 0.00 0.000 4 0.000 0.065 2568 3554 3095

6710 -0.61 -117.3 305.8 -6.0 317 6715 0.00 2.72 0.00 0.000 6 0.000 0.049 2568 2019 3094

7032 -0.61 -117.3 324.6 -6.2 333 7036 0.00 2.83 0.00 0.000 4 0.000 0.064 2568 3564 3094

7054 -0.61 -117.3 326.1 -7.0 334 7058 0.00 2.75 0.00 0.000 6 0.000 0.050 2568 2017 3094

7374 -0.61 -117.3 348.4 -7.4 350 7379 0.00 2.80 0.00 0.000 4 0.000 0.064 2569 3558 3094

7385 -0.61 -117.3 349.2 -7.4 350 7391 0.00 2.75 0.00 0.000 6 0.000 0.051 2568 2015 3094

7702 -0.61 -117.3 373.0 -8.1 366 7707 0.00 2.80 0.00 0.000 4 0.000 0.064 2568 3557 3094

7752 -0.61 -117.3 377.8 -9.7 368 7756 0.00 2.70 0.00 0.000 6 0.000 0.051 2568 2035 3093

8067 -0.61 -117.3 404.9 -8.5 383 8072 0.00 2.78 0.00 0.000 4 0.000 0.065 2569 3556 3094

8131 -0.61 -117.3 410.3 -8.6 386 8135 0.00 2.67 0.00 0.000 6 0.000 0.051 2568 2049 3093

8457 -0.61 -117.3 434.0 -6.8 402 8461 0.00 2.35 0.00 0.000 4 0.000 0.066 2569 742 3093

8467 -0.61 -117.3 434.7 -6.6 402 8473 0.00 2.33 0.00 0.000 6 0.000 0.054 2569 2031 3093

8784 -0.66 -117.3 454.2 -6.2 418 8788 0.00 2.38 0.00 0.000 4 0.000 0.067 2569 741 3093

8856 -0.66 -117.3 459.7 -7.5 421 8860 0.00 2.30 0.00 0.000 6 0.000 0.057 2568 2019 3093

9178 -0.66 -117.3 478.0 -5.5 437 9182 0.00 2.35 0.00 0.000 4 0.000 0.069 2568 741 3094

9196 -0.66 -117.3 479.0 -6.1 438 9200 0.00 2.33 0.00 0.000 6 0.000 0.057 2568 2027 3093

9523 -0.73 -117.3 494.4 -4.6 454 9529 0.12 2.78 0.00 0.000 4 0.060 0.071 2531 3556 3093

9782 -1.05 -117.3 494.4 0.3 465 9789 0.28 2.72 0.00 0.000 6 0.046 0.059 2456 2021 3093

10099 -1.35 -117.3 494.4 0.1 481 10104 0.20 2.80 0.00 0.000 4 0.051 0.069 2396 3561 3092

10147 end dive: NO_VERTICAL_VELOCITY

state 10147 begin apogee

10157 -0.33 0.0 494.4 0.0 483 10259 1.02 0.00 98.22 1.147 6 0.064 0.000 2625 2069 2620

10260 end apogee: CONTROL_FINISHED_OK

state 10260 begin climb

10263 1.03 117.3 494.1 0.0 488 10370 1.38 2.62 97.55 1.115 4 0.070 0.068 2922 693 2141

10427 0.98 117.3 483.3 7.2 495 10434 0.00 2.58 0.00 0.000 6 0.000 0.058 2922 2103 2141

10743 0.98 117.3 459.2 7.4 511 10748 0.00 2.58 0.00 0.000 4 0.000 0.070 2922 3507 2139

10844 0.98 117.3 450.1 10.0 515 10851 0.00 2.53 0.00 0.000 6 0.000 0.057 2922 2120 2139

11161 0.98 117.3 422.8 8.3 531 11165 0.00 2.58 0.00 0.000 4 0.000 0.069 2922 3506 2139

11223 0.98 117.3 417.8 7.7 534 11227 0.00 2.47 0.00 0.000 6 0.000 0.056 2922 2147 2138

11550 0.98 117.3 395.0 6.9 550 11554 0.00 2.67 0.00 0.000 4 0.000 0.071 2922 681 2138

11589 0.98 117.3 391.7 9.0 552 11594 0.00 2.70 0.00 0.000 6 0.000 0.058 2922 2173 2138

11917 1.08 182.1 373.5 3.8 568 11979 0.00 2.53 53.40 1.072 4 0.000 0.067 2922 3501 1877

12046 1.18 211.2 367.3 5.0 573 12077 0.15 2.42 25.30 1.035 6 0.049 0.054 2967 2173 1758

12402 1.13 211.2 339.0 8.8 591 12406 0.00 2.70 0.00 0.000 4 0.000 0.069 2967 689 1757

12457 1.06 211.2 333.3 9.7 593 12464 0.17 2.72 0.00 0.000 6 0.080 0.057 2931 2190 1757

12773 1.10 211.2 311.3 6.5 609 12777 0.00 2.38 0.00 0.000 4 0.000 0.065 2931 3509 1757

12824 1.16 211.2 307.5 7.1 611 12829 0.10 2.40 0.00 0.000 6 0.054 0.052 2964 2182 1757

13145 1.11 211.2 281.4 8.1 627 13147 0.10 0.00 0.00 0.000 6 0.086 0.000 2943 2182 1757

13454 1.13 222.9 262.8 5.6 642 13470 0.00 2.47 10.98 0.907 4 0.000 0.061 2943 3514 1710

13517 1.13 222.9 259.1 6.1 644 13521 0.00 2.38 0.00 0.000 6 0.000 0.052 2943 2203 1710

13844 1.14 227.1 239.8 5.9 660 13854 0.00 2.75 5.10 0.736 4 0.000 0.066 2943 690 1694

13932 1.14 227.1 234.3 6.5 664 13937 0.00 2.72 0.00 0.000 6 0.000 0.054 2943 2199 1693

14254 1.16 241.4 216.8 5.5 680 14276 0.00 2.45 13.23 0.895 4 0.000 0.063 2943 3511 1635

14310 1.22 241.4 213.3 6.4 682 14315 0.10 2.42 0.00 0.000 6 0.054 0.053 2976 2180 1635

14627 1.17 241.4 189.4 7.8 697 14631 0.00 2.67 0.00 0.000 4 0.000 0.067 2976 689 1635

14673 1.13 241.4 185.6 8.1 699 14678 0.15 2.72 0.00 0.000 6 0.080 0.054 2945 2201 1635

14994 1.13 241.4 162.8 7.7 715 14998 0.00 2.35 0.00 0.000 4 0.000 0.063 2945 3510 1635

15039 1.20 241.4 158.8 9.6 717 15043 0.00 2.38 0.00 0.000 6 0.000 0.052 2945 2188 1635

15367 1.24 241.4 129.9 9.5 733 15372 0.10 2.70 0.00 0.000 4 0.053 0.066 2978 691 1636

15423 1.19 241.4 123.3 11.5 735 15430 0.00 2.67 0.00 0.000 6 0.000 0.054 2978 2187 1635

15741 1.13 241.4 89.4 8.3 751 15746 0.15 2.38 0.00 0.000 4 0.078 0.061 2943 3509 1635

15806 1.34 328.8 86.5 3.0 754 15883 0.22 2.35 69.70 0.864 6 0.040 0.050 3005 2193 1278

16200 1.28 328.8 63.1 7.1 773 16205 0.15 2.72 0.00 0.000 4 0.082 0.066 2971 690 1279

16288 1.32 328.8 57.7 6.1 777 16292 0.00 2.70 0.00 0.000 6 0.000 0.052 2971 2188 1279

16617 1.40 343.2 38.4 5.5 793 16639 0.15 2.78 13.23 0.771 4 0.045 0.064 3021 693 1220

16719 1.31 343.2 29.0 10.4 797 16724 0.20 2.60 0.00 0.000 6 0.077 0.050 2979 2143 1220

17035 1.31 343.2 4.5 8.3 812 17039 0.00 2.67 0.00 0.000 4 0.000 0.064 2979 684 1220

17059 end climb: SURFACE_DEPTH_REACHED

state 17059 begin surface coast

17083 end surface coast: CONTROL_FINISHED_OK

state 17083 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	151	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	35	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	-79468.852	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	054908,6214.353,-911.982,37,1.3,37,-9.6	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.107,-0.171
_SM_DEPTHo	0.60	KALMAN_X	-79118.2,1271.5,506.4,104189.9,-4228.3
_SM_ANGLEo	-55.1	KALMAN_Y	140035.5,-5028.4,-2551.1,-85772.8,58628.5
GPS2	055503,6214.395,-911.894,15,1.3,15,-9.6	MHEAD_RNG_PITCHd_Wd	157.6,61852,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.1,1.027008	ALTIM_TOP_PING	19.6,999.0
SM_CCo	17109,121.43,0.776,0,0,390,547.02	_24V_AH	23.9,31.518
SM_GC	0.54,0.00,0.00,121.43,0.000,0.000,0.776,418,2152,390,-10.49,0.08,547.02	_10V_AH	10.1,15.292
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41157,814
TT8_MAMPS	0.028379	CAP_FILE_SIZE	149350,0
HUMID	1676	CFSIZE	254472192,241356800
TCM_TEMP	19.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
XPDR_PINGS	627	GPS	120708,104431,6214.607,-907.715,43,1.6,43,-9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	137	88.35	SBE_CT	556	24	319.40
Roll_motor	214	71	366.19	SBE_O2	600	19	272.70
VBD_pump_during_apogee	386	1147	10604.72	WL_BB2F	556	105	1396.11
VBD_pump_during_surface	121	776	2252.59	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	110.54	nil	0	0	0.00
Iridium_during_xfer	161	223	861.91
Transponder_ping	160	420	1611.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.58
TT8	1618	19	323.60
LPSleep	12597	2	278.65
TT8_Active	691	19	138.25
TT8_Sampling	2107	39	847.29
TT8_CF8	573	45	265.13
TT8_Kalman	33	81	27.57
Analog_circuits	1778	12	215.54
GPS_charging	0	0	0.00
Compass	2062	8	166.65
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	-111.55	0.000	6	0.000	0.000	424	2176	3099
142	-1.03	-117.3	2.1	-1.5	5	158	10.57	2.60	0.00	0.000	4	0.137	0.056	2468	741	3098
411	-0.71	-117.3	34.3	-11.0	16	416	0.35	2.50	0.00	0.000	6	0.086	0.049	2543	2137	3097
734	-0.61	-117.3	53.9	-4.7	32	738	0.12	2.53	0.00	0.000	4	0.092	0.057	2569	741	3098
991	-0.61	-117.3	65.1	-6.2	43	998	0.00	2.45	0.00	0.000	6	0.000	0.050	2569	2114	3098
1310	-0.61	-117.3	83.2	-3.7	59	1314	0.00	2.50	0.00	0.000	4	0.000	0.058	2569	738	3098
1480	-0.61	-117.3	86.1	-1.6	66	1486	0.00	2.40	0.00	0.000	6	0.000	0.048	2569	2088	3098
1798	-0.61	-117.3	96.8	-5.2	82	1802	0.00	2.45	0.00	0.000	4	0.000	0.058	2569	740	3098
1822	-0.61	-117.3	98.5	-6.4	83	1826	0.00	2.40	0.00	0.000	6	0.000	0.049	2569	2083	3098
2143	-0.61	-117.3	124.7	-9.6	99	2148	0.00	2.45	0.00	0.000	4	0.000	0.060	2569	740	3098
2284	-0.61	-117.3	141.5	-12.3	105	2288	0.00	2.38	0.00	0.000	6	0.000	0.051	2569	2062	3098
2600	-0.61	-117.3	172.1	-7.5	120	2605	0.00	2.40	0.00	0.000	4	0.000	0.061	2569	742	3098
2679	-0.61	-117.3	177.7	-5.7	123	2685	0.00	2.33	0.00	0.000	6	0.000	0.051	2569	2040	3097
2996	-0.61	-117.3	188.6	-2.1	139	3000	0.00	2.38	0.00	0.000	4	0.000	0.061	2569	741	3097
3058	-0.61	-117.3	190.0	-2.4	142	3062	0.00	2.33	0.00	0.000	6	0.000	0.052	2568	2038	3097
3386	-0.61	-117.3	194.3	-1.3	158	3390	0.00	2.38	0.00	0.000	4	0.000	0.062	2568	741	3097
3538	-0.61	-117.3	197.8	-2.5	165	3542	0.00	2.28	0.00	0.000	6	0.000	0.052	2568	2008	3097
3866	-0.61	-117.3	206.0	-2.8	181	3870	0.00	2.33	0.00	0.000	4	0.000	0.064	2568	741	3096
3885	-0.61	-117.3	206.6	-3.2	182	3889	0.00	2.25	0.00	0.000	6	0.000	0.053	2569	1998	3096
4212	-0.61	-117.3	217.2	-3.2	198	4216	0.00	2.30	0.00	0.000	4	0.000	0.064	2568	741	3096
4240	-0.61	-117.3	218.2	-3.1	199	4244	0.00	2.25	0.00	0.000	6	0.000	0.053	2568	1993	3096
4556	-0.61	-117.3	227.8	-2.4	214	4560	0.00	2.28	0.00	0.000	4	0.000	0.064	2569	742	3096
4567	-0.61	-117.3	228.0	-2.0	214	4571	0.00	2.25	0.00	0.000	6	0.000	0.052	2569	1994	3096
4883	-0.61	-117.3	236.4	-2.4	229	4885	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	1995	3096
5193	-0.61	-117.3	245.0	-3.0	244	5197	0.00	2.80	0.00	0.000	4	0.000	0.064	2569	3556	3096
5215	-0.61	-117.3	245.8	-3.0	245	5219	0.00	2.78	0.00	0.000	6	0.000	0.050	2569	1995	3096
5537	-0.61	-117.3	256.8	-3.5	261	5542	0.00	2.85	0.00	0.000	4	0.000	0.063	2568	3560	3095
5615	-0.61	-117.3	259.8	-3.9	264	5621	0.00	2.75	0.00	0.000	6	0.000	0.048	2569	2002	3095
5931	-0.61	-117.3	271.6	-3.8	280	5936	0.00	2.85	0.00	0.000	4	0.000	0.064	2569	3561	3095
5959	-0.61	-117.3	272.7	-4.1	281	5963	0.00	2.78	0.00	0.000	6	0.000	0.050	2568	2001	3095
6275	-0.61	-117.3	285.5	-4.2	296	6280	0.00	2.83	0.00	0.000	4	0.000	0.063	2568	3559	3095
6315	-0.61	-117.3	287.2	-4.7	298	6320	0.00	2.75	0.00	0.000	6	0.000	0.048	2568	2003	3094
6642	-0.61	-117.3	301.9	-4.8	314	6647	0.00	2.83	0.00	0.000	4	0.000	0.065	2568	3554	3095
6710	-0.61	-117.3	305.8	-6.0	317	6715	0.00	2.72	0.00	0.000	6	0.000	0.049	2568	2019	3094
7032	-0.61	-117.3	324.6	-6.2	333	7036	0.00	2.83	0.00	0.000	4	0.000	0.064	2568	3564	3094
7054	-0.61	-117.3	326.1	-7.0	334	7058	0.00	2.75	0.00	0.000	6	0.000	0.050	2568	2017	3094
7374	-0.61	-117.3	348.4	-7.4	350	7379	0.00	2.80	0.00	0.000	4	0.000	0.064	2569	3558	3094
7385	-0.61	-117.3	349.2	-7.4	350	7391	0.00	2.75	0.00	0.000	6	0.000	0.051	2568	2015	3094
7702	-0.61	-117.3	373.0	-8.1	366	7707	0.00	2.80	0.00	0.000	4	0.000	0.064	2568	3557	3094
7752	-0.61	-117.3	377.8	-9.7	368	7756	0.00	2.70	0.00	0.000	6	0.000	0.051	2568	2035	3093
8067	-0.61	-117.3	404.9	-8.5	383	8072	0.00	2.78	0.00	0.000	4	0.000	0.065	2569	3556	3094
8131	-0.61	-117.3	410.3	-8.6	386	8135	0.00	2.67	0.00	0.000	6	0.000	0.051	2568	2049	3093
8457	-0.61	-117.3	434.0	-6.8	402	8461	0.00	2.35	0.00	0.000	4	0.000	0.066	2569	742	3093
8467	-0.61	-117.3	434.7	-6.6	402	8473	0.00	2.33	0.00	0.000	6	0.000	0.054	2569	2031	3093
8784	-0.66	-117.3	454.2	-6.2	418	8788	0.00	2.38	0.00	0.000	4	0.000	0.067	2569	741	3093
8856	-0.66	-117.3	459.7	-7.5	421	8860	0.00	2.30	0.00	0.000	6	0.000	0.057	2568	2019	3093
9178	-0.66	-117.3	478.0	-5.5	437	9182	0.00	2.35	0.00	0.000	4	0.000	0.069	2568	741	3094
9196	-0.66	-117.3	479.0	-6.1	438	9200	0.00	2.33	0.00	0.000	6	0.000	0.057	2568	2027	3093
9523	-0.73	-117.3	494.4	-4.6	454	9529	0.12	2.78	0.00	0.000	4	0.060	0.071	2531	3556	3093
9782	-1.05	-117.3	494.4	0.3	465	9789	0.28	2.72	0.00	0.000	6	0.046	0.059	2456	2021	3093
10099	-1.35	-117.3	494.4	0.1	481	10104	0.20	2.80	0.00	0.000	4	0.051	0.069	2396	3561	3092
10147	end dive: NO_VERTICAL_VELOCITY
state	10147	begin apogee
10157	-0.33	0.0	494.4	0.0	483	10259	1.02	0.00	98.22	1.147	6	0.064	0.000	2625	2069	2620
10260	end apogee: CONTROL_FINISHED_OK
state	10260	begin climb
10263	1.03	117.3	494.1	0.0	488	10370	1.38	2.62	97.55	1.115	4	0.070	0.068	2922	693	2141
10427	0.98	117.3	483.3	7.2	495	10434	0.00	2.58	0.00	0.000	6	0.000	0.058	2922	2103	2141
10743	0.98	117.3	459.2	7.4	511	10748	0.00	2.58	0.00	0.000	4	0.000	0.070	2922	3507	2139
10844	0.98	117.3	450.1	10.0	515	10851	0.00	2.53	0.00	0.000	6	0.000	0.057	2922	2120	2139
11161	0.98	117.3	422.8	8.3	531	11165	0.00	2.58	0.00	0.000	4	0.000	0.069	2922	3506	2139
11223	0.98	117.3	417.8	7.7	534	11227	0.00	2.47	0.00	0.000	6	0.000	0.056	2922	2147	2138
11550	0.98	117.3	395.0	6.9	550	11554	0.00	2.67	0.00	0.000	4	0.000	0.071	2922	681	2138
11589	0.98	117.3	391.7	9.0	552	11594	0.00	2.70	0.00	0.000	6	0.000	0.058	2922	2173	2138
11917	1.08	182.1	373.5	3.8	568	11979	0.00	2.53	53.40	1.072	4	0.000	0.067	2922	3501	1877
12046	1.18	211.2	367.3	5.0	573	12077	0.15	2.42	25.30	1.035	6	0.049	0.054	2967	2173	1758
12402	1.13	211.2	339.0	8.8	591	12406	0.00	2.70	0.00	0.000	4	0.000	0.069	2967	689	1757
12457	1.06	211.2	333.3	9.7	593	12464	0.17	2.72	0.00	0.000	6	0.080	0.057	2931	2190	1757
12773	1.10	211.2	311.3	6.5	609	12777	0.00	2.38	0.00	0.000	4	0.000	0.065	2931	3509	1757
12824	1.16	211.2	307.5	7.1	611	12829	0.10	2.40	0.00	0.000	6	0.054	0.052	2964	2182	1757
13145	1.11	211.2	281.4	8.1	627	13147	0.10	0.00	0.00	0.000	6	0.086	0.000	2943	2182	1757
13454	1.13	222.9	262.8	5.6	642	13470	0.00	2.47	10.98	0.907	4	0.000	0.061	2943	3514	1710
13517	1.13	222.9	259.1	6.1	644	13521	0.00	2.38	0.00	0.000	6	0.000	0.052	2943	2203	1710
13844	1.14	227.1	239.8	5.9	660	13854	0.00	2.75	5.10	0.736	4	0.000	0.066	2943	690	1694
13932	1.14	227.1	234.3	6.5	664	13937	0.00	2.72	0.00	0.000	6	0.000	0.054	2943	2199	1693
14254	1.16	241.4	216.8	5.5	680	14276	0.00	2.45	13.23	0.895	4	0.000	0.063	2943	3511	1635
14310	1.22	241.4	213.3	6.4	682	14315	0.10	2.42	0.00	0.000	6	0.054	0.053	2976	2180	1635
14627	1.17	241.4	189.4	7.8	697	14631	0.00	2.67	0.00	0.000	4	0.000	0.067	2976	689	1635
14673	1.13	241.4	185.6	8.1	699	14678	0.15	2.72	0.00	0.000	6	0.080	0.054	2945	2201	1635
14994	1.13	241.4	162.8	7.7	715	14998	0.00	2.35	0.00	0.000	4	0.000	0.063	2945	3510	1635
15039	1.20	241.4	158.8	9.6	717	15043	0.00	2.38	0.00	0.000	6	0.000	0.052	2945	2188	1635
15367	1.24	241.4	129.9	9.5	733	15372	0.10	2.70	0.00	0.000	4	0.053	0.066	2978	691	1636
15423	1.19	241.4	123.3	11.5	735	15430	0.00	2.67	0.00	0.000	6	0.000	0.054	2978	2187	1635
15741	1.13	241.4	89.4	8.3	751	15746	0.15	2.38	0.00	0.000	4	0.078	0.061	2943	3509	1635
15806	1.34	328.8	86.5	3.0	754	15883	0.22	2.35	69.70	0.864	6	0.040	0.050	3005	2193	1278
16200	1.28	328.8	63.1	7.1	773	16205	0.15	2.72	0.00	0.000	4	0.082	0.066	2971	690	1279
16288	1.32	328.8	57.7	6.1	777	16292	0.00	2.70	0.00	0.000	6	0.000	0.052	2971	2188	1279
16617	1.40	343.2	38.4	5.5	793	16639	0.15	2.78	13.23	0.771	4	0.045	0.064	3021	693	1220
16719	1.31	343.2	29.0	10.4	797	16724	0.20	2.60	0.00	0.000	6	0.077	0.050	2979	2143	1220
17035	1.31	343.2	4.5	8.3	812	17039	0.00	2.67	0.00	0.000	4	0.000	0.064	2979	684	1220
17059	end climb: SURFACE_DEPTH_REACHED
state	17059	begin surface coast
17083	end surface coast: CONTROL_FINISHED_OK
state	17083	begin surface