Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 22 * 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 22 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 2150 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 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 2832 DEVICE6 -1

T_NO_W 120 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 -77112.359 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 150 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 300

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 412.5

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 -77112.359

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

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 2150 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2832 MASS 52000 R_PORT_OVSHOOT 14 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 22 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 221031,6138.749,-928.775,37,1.6,37,-9.5 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 8 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.015,0.245

_SM_DEPTHo 0.80 KALMAN_X -50055.6,2062.2,1410.4,-17511.4,-19019.0

_SM_ANGLEo -55.7 KALMAN_Y -32220.6,336.5,196.0,57138.4,-11247.9

GPS2 221647,6138.639,-928.707,15,2.2,34,-9.5 MHEAD_RNG_PITCHd_Wd 13.0,16159,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027122 ALTIM_BOTTOM_PING 851.4,82.2

SM_CCo 17920,0.00,0.000,0,0,1238,391.25 _24V_AH 23.7,7.919

SM_GC 0.82,11.12,0.00,0.00,0.038,0.000,0.000,421,2174,1238,-10.39,0.68,391.25 _10V_AH 10.0,2.665

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44317,859

TT8_MAMPS 0.029146 CAP_FILE_SIZE 140256,0

HUMID 1675 CFSIZE 254472192,250908672

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,22,0,0

XPDR_PINGS 607 GPS 100608,031755,6139.742,-928.362,63,1.6,63,-9.5

ALTIM_TOP_PING 17.5,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 82.19 SBE_CT 588 24 334.77

Roll_motor 181 95 411.73 SBE_O2 635 19 286.12

VBD_pump_during_apogee 469 1487 16536.11 WL_BB2F 443 105 1104.59

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 92.18 nil 0 0 0.00

Iridium_during_connect 29 160 111.41 nil 0 0 0.00

Iridium_during_xfer 173 223 917.76

Transponder_ping 159 420 1587.66

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.66

TT8 1610 19 318.90

LPSleep 13501 2 295.68

TT8_Active 607 19 120.34

TT8_Sampling 2028 39 807.52

TT8_CF8 544 45 249.17

TT8_Kalman 33 81 27.28

Analog_circuits 1656 12 198.81

GPS_charging 0 0 0.00

Compass 1958 8 156.66

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 -1.22 -146.6 0.0 0.0 0 120 0.00 0.00 -93.43 0.000 6 0.000 0.000 422 2170 3431

124 -1.22 -146.6 2.9 -3.2 4 140 10.35 2.60 0.00 0.000 4 0.137 0.058 2428 732 3433

381 -1.01 -146.6 55.7 -18.1 14 389 0.25 2.53 0.00 0.000 6 0.090 0.051 2480 2150 3434

698 -0.95 -146.6 100.5 -14.1 30 702 0.00 2.55 0.00 0.000 4 0.000 0.065 2480 3560 3434

787 -0.90 -146.6 111.7 -11.4 34 792 0.12 2.53 0.00 0.000 6 0.094 0.049 2506 2141 3435

1109 -0.90 -146.6 143.4 -8.9 50 1113 0.00 2.53 0.00 0.000 4 0.000 0.064 2506 738 3435

1171 -0.90 -146.6 148.6 -8.3 53 1176 0.00 2.55 0.00 0.000 6 0.000 0.054 2506 2153 3435

1498 -0.90 -146.6 173.1 -7.4 69 1503 0.00 2.55 0.00 0.000 4 0.000 0.067 2507 3563 3435

1593 -0.90 -146.6 180.9 -7.8 73 1598 0.00 2.53 0.00 0.000 6 0.000 0.050 2506 2147 3435

1909 -0.90 -146.6 205.6 -7.3 88 1914 0.00 2.60 0.00 0.000 4 0.000 0.067 2506 3556 3435

1999 -0.90 -146.6 212.6 -7.3 92 2003 0.00 2.50 0.00 0.000 6 0.000 0.050 2506 2149 3435

2320 -0.90 -146.6 235.2 -6.9 108 2321 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2132 3435

2629 -0.90 -146.6 257.9 -7.8 123 2634 0.00 2.58 0.00 0.000 4 0.000 0.067 2506 3554 3435

2708 -0.90 -146.6 264.6 -8.0 126 2714 0.00 2.53 0.00 0.000 6 0.000 0.051 2506 2141 3435

3024 -0.90 -146.6 289.5 -7.3 142 3028 0.00 2.47 0.00 0.000 4 0.000 0.065 2506 749 3434

3087 -0.94 -146.6 294.2 -6.9 145 3091 0.00 2.53 0.00 0.000 6 0.000 0.054 2506 2150 3434

3414 -0.94 -146.6 322.6 -9.1 161 3415 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2150 3434

3723 -0.94 -146.6 352.8 -9.9 176 3727 0.00 2.60 0.00 0.000 4 0.000 0.068 2506 743 3433

3808 -0.98 -146.6 361.3 -9.9 180 3812 0.00 2.55 0.00 0.000 6 0.000 0.057 2506 2151 3433

4135 -0.98 -146.6 393.0 -9.8 196 4139 0.00 2.58 0.00 0.000 4 0.000 0.071 2506 3564 3433

4279 -0.98 -146.6 406.8 -10.0 202 4285 0.00 2.55 0.00 0.000 6 0.000 0.054 2506 2146 3433

4595 -0.98 -146.6 437.1 -10.0 218 4599 0.00 2.53 0.00 0.000 4 0.000 0.068 2506 746 3433

4696 -1.02 -146.6 448.0 -11.0 222 4702 0.12 2.55 0.00 0.000 6 0.054 0.056 2469 2156 3433

5012 -0.95 -146.6 487.2 -12.7 238 5017 0.10 2.53 0.00 0.000 4 0.097 0.070 2490 3556 3433

5101 -0.95 -146.6 498.6 -12.5 242 5105 0.00 2.53 0.00 0.000 6 0.000 0.054 2490 2146 3433

5421 -0.95 -146.6 532.4 -10.1 258 5426 0.00 2.53 0.00 0.000 4 0.000 0.067 2490 747 3433

5500 -0.95 -146.6 540.2 -9.9 261 5506 0.00 2.55 0.00 0.000 6 0.000 0.056 2490 2156 3433

5815 -0.95 -146.6 571.7 -10.4 277 5820 0.00 2.55 0.00 0.000 4 0.000 0.070 2489 3562 3433

5882 -0.95 -146.6 579.0 -11.0 280 5887 0.00 2.55 0.00 0.000 6 0.000 0.054 2489 2146 3432

6204 -0.95 -146.6 610.0 -9.3 296 6205 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2126 3433

6513 -0.95 -146.6 638.3 -8.9 311 6514 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2127 3433

6823 -0.95 -146.6 666.8 -9.6 326 6824 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2127 3432

7132 -0.95 -146.6 699.5 -10.7 341 7136 0.00 2.55 0.00 0.000 4 0.000 0.069 2489 738 3432

7232 -0.95 -146.6 711.1 -12.5 345 7236 0.00 2.55 0.00 0.000 6 0.000 0.058 2490 2149 3432

7548 -0.95 -146.6 752.0 -13.8 360 7553 0.00 2.62 0.00 0.000 4 0.000 0.072 2489 741 3432

7656 -0.95 -146.6 767.0 -14.2 365 7660 0.00 2.55 0.00 0.000 6 0.000 0.058 2490 2150 3432

7982 -0.95 -146.6 808.9 -11.7 381 7987 0.00 2.62 0.00 0.000 4 0.000 0.075 2490 746 3432

8184 -0.95 -146.6 833.6 -12.1 390 8188 0.00 2.58 0.00 0.000 6 0.000 0.062 2490 2150 3432

8506 -1.01 -146.6 864.9 -7.5 406 8510 0.00 2.62 0.00 0.000 4 0.000 0.084 2490 3558 3432

8584 -1.05 -146.6 871.6 -9.2 409 8590 0.00 2.60 0.00 0.000 6 0.000 0.068 2490 2153 3432

8900 -1.05 -146.6 907.4 -12.1 425 8901 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2135 3431

9082 end dive: BOTTOM_OBSTACLE_DETECTED

state 9082 begin apogee

9089 -0.33 0.0 923.9 5.1 434 9220 0.62 0.00 127.50 1.487 6 0.084 0.000 2624 2126 2832

9220 end apogee: CONTROL_FINISHED_OK

state 9221 begin climb

9223 1.22 146.6 924.5 0.0 440 9360 1.58 2.80 125.85 1.459 4 0.072 0.093 2962 739 2234

9443 1.07 146.6 921.9 12.3 451 9448 0.15 2.70 0.00 0.000 6 0.100 0.077 2935 2149 2233

9770 1.04 159.1 900.6 7.5 467 9791 0.00 2.88 11.90 1.309 4 0.000 0.096 2935 739 2183

9831 0.94 159.1 896.4 8.0 469 9838 0.15 2.72 0.00 0.000 6 0.097 0.080 2903 2152 2183

10147 1.09 225.5 888.3 5.6 485 10213 0.15 2.80 57.28 1.473 4 0.061 0.092 2946 3561 1912

10241 1.09 225.5 881.1 8.4 489 10246 0.00 2.70 0.00 0.000 6 0.000 0.076 2946 2151 1912

10557 1.14 255.8 862.7 6.9 504 10589 0.00 2.83 27.27 1.445 4 0.000 0.093 2946 3561 1789

10598 1.24 320.3 860.6 5.7 506 10661 0.10 2.70 56.25 1.460 6 0.067 0.075 2973 2131 1526

10971 1.29 349.2 840.3 6.9 524 11002 0.00 2.70 25.98 1.420 4 0.000 0.086 2974 760 1408

11127 1.29 349.2 826.9 8.0 531 11132 0.00 2.65 0.00 0.000 6 0.000 0.075 2973 2153 1407

11449 1.29 349.2 786.9 12.8 547 11453 0.00 2.67 0.00 0.000 4 0.000 0.083 2974 759 1408

11459 1.29 349.2 785.0 13.7 547 11465 0.00 2.60 0.00 0.000 6 0.000 0.069 2973 2156 1407

11774 1.29 349.2 737.6 13.9 563 11779 0.00 2.65 0.00 0.000 4 0.000 0.078 2974 756 1408

11825 1.29 349.2 731.0 10.3 565 11829 0.00 2.60 0.00 0.000 6 0.000 0.065 2973 2158 1407

12140 1.29 349.2 697.0 9.4 580 12145 0.00 2.65 0.00 0.000 4 0.000 0.074 2973 750 1408

12158 1.29 349.2 695.2 9.9 581 12163 0.00 2.58 0.00 0.000 6 0.000 0.062 2973 2150 1408

12485 1.29 349.2 659.9 11.3 597 12486 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2149 1408

12794 1.29 349.2 626.6 10.4 612 12796 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2148 1409

13104 1.29 349.2 595.6 10.2 627 13105 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2149 1410

13413 1.29 349.2 565.1 9.9 642 13417 0.00 2.58 0.00 0.000 4 0.000 0.070 2973 758 1410

13423 1.29 349.2 563.9 10.0 642 13429 0.00 2.53 0.00 0.000 6 0.000 0.058 2973 2155 1411

13739 1.36 392.0 537.8 6.4 658 13783 0.00 2.70 37.12 1.180 4 0.000 0.069 2973 753 1234

13796 1.41 392.0 533.2 8.8 660 13803 0.15 2.58 0.00 0.000 6 0.057 0.056 3012 2152 1234

14113 1.35 392.0 494.6 13.2 676 14114 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2152 1235

14422 1.30 392.0 454.1 13.1 691 14424 0.15 0.00 0.00 0.000 6 0.085 0.000 2983 2152 1235

14731 1.30 392.0 415.7 14.0 706 14735 0.00 2.58 0.00 0.000 4 0.000 0.070 2982 754 1236

14747 1.30 392.0 413.1 14.3 707 14752 0.00 2.53 0.00 0.000 6 0.000 0.057 2982 2150 1236

15074 1.30 392.0 369.2 13.2 723 15079 0.00 2.60 0.00 0.000 4 0.000 0.069 2982 750 1236

15114 1.30 392.0 364.0 12.5 725 15119 0.00 2.55 0.00 0.000 6 0.000 0.056 2982 2159 1236

15442 1.30 392.0 327.9 11.0 741 15446 0.00 2.58 0.00 0.000 4 0.000 0.069 2982 757 1236

15458 1.30 392.0 325.9 11.4 742 15463 0.00 2.53 0.00 0.000 6 0.000 0.055 2982 2155 1236

15785 1.30 392.0 283.1 13.9 758 15790 0.00 2.58 0.00 0.000 4 0.000 0.068 2982 757 1237

15803 1.30 392.0 280.6 13.9 759 15807 0.00 2.53 0.00 0.000 6 0.000 0.055 2982 2151 1237

16129 1.35 392.0 237.2 12.9 775 16134 0.00 2.58 0.00 0.000 4 0.000 0.067 2983 757 1237

16147 1.35 392.0 234.8 13.1 776 16152 0.00 2.50 0.00 0.000 6 0.000 0.055 2982 2152 1237

16475 1.39 392.0 189.3 14.3 792 16479 0.00 2.58 0.00 0.000 4 0.000 0.068 2982 754 1238

16496 1.43 392.0 185.9 14.1 793 16501 0.12 2.53 0.00 0.000 6 0.050 0.054 3021 2151 1238

16818 1.39 392.0 134.4 15.9 809 16819 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2151 1238

17127 1.34 392.0 84.7 15.5 824 17132 0.15 2.58 0.00 0.000 4 0.085 0.066 2987 756 1238

17145 1.34 392.0 81.9 15.5 825 17150 0.00 2.53 0.00 0.000 6 0.000 0.054 2988 2155 1238

17473 1.38 392.0 40.4 12.5 841 17474 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2155 1238

17781 1.38 392.0 3.4 11.3 856 17785 0.00 2.58 0.00 0.000 4 0.000 0.066 2988 756 1239

17791 1.38 392.0 2.4 10.6 856 17797 0.00 2.47 0.00 0.000 6 0.000 0.051 2988 2155 1239

17816 end climb: SURFACE_DEPTH_REACHED

state 17816 begin surface coast

17838 end surface coast: CONTROL_FINISHED_OK

state 17838 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	22	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	2150	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	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	2832	DEVICE6	-1
T_NO_W	120	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	-77112.359	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	150	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	221031,6138.749,-928.775,37,1.6,37,-9.5	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	8	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.015,0.245
_SM_DEPTHo	0.80	KALMAN_X	-50055.6,2062.2,1410.4,-17511.4,-19019.0
_SM_ANGLEo	-55.7	KALMAN_Y	-32220.6,336.5,196.0,57138.4,-11247.9
GPS2	221647,6138.639,-928.707,15,2.2,34,-9.5	MHEAD_RNG_PITCHd_Wd	13.0,16159,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.1,1.027122	ALTIM_BOTTOM_PING	851.4,82.2
SM_CCo	17920,0.00,0.000,0,0,1238,391.25	_24V_AH	23.7,7.919
SM_GC	0.82,11.12,0.00,0.00,0.038,0.000,0.000,421,2174,1238,-10.39,0.68,391.25	_10V_AH	10.0,2.665
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44317,859
TT8_MAMPS	0.029146	CAP_FILE_SIZE	140256,0
HUMID	1675	CFSIZE	254472192,250908672
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
XPDR_PINGS	607	GPS	100608,031755,6139.742,-928.362,63,1.6,63,-9.5
ALTIM_TOP_PING	17.5,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	82.19	SBE_CT	588	24	334.77
Roll_motor	181	95	411.73	SBE_O2	635	19	286.12
VBD_pump_during_apogee	469	1487	16536.11	WL_BB2F	443	105	1104.59
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	92.18	nil	0	0	0.00
Iridium_during_connect	29	160	111.41	nil	0	0	0.00
Iridium_during_xfer	173	223	917.76
Transponder_ping	159	420	1587.66
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.66
TT8	1610	19	318.90
LPSleep	13501	2	295.68
TT8_Active	607	19	120.34
TT8_Sampling	2028	39	807.52
TT8_CF8	544	45	249.17
TT8_Kalman	33	81	27.28
Analog_circuits	1656	12	198.81
GPS_charging	0	0	0.00
Compass	1958	8	156.66
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	-1.22	-146.6	0.0	0.0	0	120	0.00	0.00	-93.43	0.000	6	0.000	0.000	422	2170	3431
124	-1.22	-146.6	2.9	-3.2	4	140	10.35	2.60	0.00	0.000	4	0.137	0.058	2428	732	3433
381	-1.01	-146.6	55.7	-18.1	14	389	0.25	2.53	0.00	0.000	6	0.090	0.051	2480	2150	3434
698	-0.95	-146.6	100.5	-14.1	30	702	0.00	2.55	0.00	0.000	4	0.000	0.065	2480	3560	3434
787	-0.90	-146.6	111.7	-11.4	34	792	0.12	2.53	0.00	0.000	6	0.094	0.049	2506	2141	3435
1109	-0.90	-146.6	143.4	-8.9	50	1113	0.00	2.53	0.00	0.000	4	0.000	0.064	2506	738	3435
1171	-0.90	-146.6	148.6	-8.3	53	1176	0.00	2.55	0.00	0.000	6	0.000	0.054	2506	2153	3435
1498	-0.90	-146.6	173.1	-7.4	69	1503	0.00	2.55	0.00	0.000	4	0.000	0.067	2507	3563	3435
1593	-0.90	-146.6	180.9	-7.8	73	1598	0.00	2.53	0.00	0.000	6	0.000	0.050	2506	2147	3435
1909	-0.90	-146.6	205.6	-7.3	88	1914	0.00	2.60	0.00	0.000	4	0.000	0.067	2506	3556	3435
1999	-0.90	-146.6	212.6	-7.3	92	2003	0.00	2.50	0.00	0.000	6	0.000	0.050	2506	2149	3435
2320	-0.90	-146.6	235.2	-6.9	108	2321	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2132	3435
2629	-0.90	-146.6	257.9	-7.8	123	2634	0.00	2.58	0.00	0.000	4	0.000	0.067	2506	3554	3435
2708	-0.90	-146.6	264.6	-8.0	126	2714	0.00	2.53	0.00	0.000	6	0.000	0.051	2506	2141	3435
3024	-0.90	-146.6	289.5	-7.3	142	3028	0.00	2.47	0.00	0.000	4	0.000	0.065	2506	749	3434
3087	-0.94	-146.6	294.2	-6.9	145	3091	0.00	2.53	0.00	0.000	6	0.000	0.054	2506	2150	3434
3414	-0.94	-146.6	322.6	-9.1	161	3415	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2150	3434
3723	-0.94	-146.6	352.8	-9.9	176	3727	0.00	2.60	0.00	0.000	4	0.000	0.068	2506	743	3433
3808	-0.98	-146.6	361.3	-9.9	180	3812	0.00	2.55	0.00	0.000	6	0.000	0.057	2506	2151	3433
4135	-0.98	-146.6	393.0	-9.8	196	4139	0.00	2.58	0.00	0.000	4	0.000	0.071	2506	3564	3433
4279	-0.98	-146.6	406.8	-10.0	202	4285	0.00	2.55	0.00	0.000	6	0.000	0.054	2506	2146	3433
4595	-0.98	-146.6	437.1	-10.0	218	4599	0.00	2.53	0.00	0.000	4	0.000	0.068	2506	746	3433
4696	-1.02	-146.6	448.0	-11.0	222	4702	0.12	2.55	0.00	0.000	6	0.054	0.056	2469	2156	3433
5012	-0.95	-146.6	487.2	-12.7	238	5017	0.10	2.53	0.00	0.000	4	0.097	0.070	2490	3556	3433
5101	-0.95	-146.6	498.6	-12.5	242	5105	0.00	2.53	0.00	0.000	6	0.000	0.054	2490	2146	3433
5421	-0.95	-146.6	532.4	-10.1	258	5426	0.00	2.53	0.00	0.000	4	0.000	0.067	2490	747	3433
5500	-0.95	-146.6	540.2	-9.9	261	5506	0.00	2.55	0.00	0.000	6	0.000	0.056	2490	2156	3433
5815	-0.95	-146.6	571.7	-10.4	277	5820	0.00	2.55	0.00	0.000	4	0.000	0.070	2489	3562	3433
5882	-0.95	-146.6	579.0	-11.0	280	5887	0.00	2.55	0.00	0.000	6	0.000	0.054	2489	2146	3432
6204	-0.95	-146.6	610.0	-9.3	296	6205	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2126	3433
6513	-0.95	-146.6	638.3	-8.9	311	6514	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2127	3433
6823	-0.95	-146.6	666.8	-9.6	326	6824	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2127	3432
7132	-0.95	-146.6	699.5	-10.7	341	7136	0.00	2.55	0.00	0.000	4	0.000	0.069	2489	738	3432
7232	-0.95	-146.6	711.1	-12.5	345	7236	0.00	2.55	0.00	0.000	6	0.000	0.058	2490	2149	3432
7548	-0.95	-146.6	752.0	-13.8	360	7553	0.00	2.62	0.00	0.000	4	0.000	0.072	2489	741	3432
7656	-0.95	-146.6	767.0	-14.2	365	7660	0.00	2.55	0.00	0.000	6	0.000	0.058	2490	2150	3432
7982	-0.95	-146.6	808.9	-11.7	381	7987	0.00	2.62	0.00	0.000	4	0.000	0.075	2490	746	3432
8184	-0.95	-146.6	833.6	-12.1	390	8188	0.00	2.58	0.00	0.000	6	0.000	0.062	2490	2150	3432
8506	-1.01	-146.6	864.9	-7.5	406	8510	0.00	2.62	0.00	0.000	4	0.000	0.084	2490	3558	3432
8584	-1.05	-146.6	871.6	-9.2	409	8590	0.00	2.60	0.00	0.000	6	0.000	0.068	2490	2153	3432
8900	-1.05	-146.6	907.4	-12.1	425	8901	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2135	3431
9082	end dive: BOTTOM_OBSTACLE_DETECTED
state	9082	begin apogee
9089	-0.33	0.0	923.9	5.1	434	9220	0.62	0.00	127.50	1.487	6	0.084	0.000	2624	2126	2832
9220	end apogee: CONTROL_FINISHED_OK
state	9221	begin climb
9223	1.22	146.6	924.5	0.0	440	9360	1.58	2.80	125.85	1.459	4	0.072	0.093	2962	739	2234
9443	1.07	146.6	921.9	12.3	451	9448	0.15	2.70	0.00	0.000	6	0.100	0.077	2935	2149	2233
9770	1.04	159.1	900.6	7.5	467	9791	0.00	2.88	11.90	1.309	4	0.000	0.096	2935	739	2183
9831	0.94	159.1	896.4	8.0	469	9838	0.15	2.72	0.00	0.000	6	0.097	0.080	2903	2152	2183
10147	1.09	225.5	888.3	5.6	485	10213	0.15	2.80	57.28	1.473	4	0.061	0.092	2946	3561	1912
10241	1.09	225.5	881.1	8.4	489	10246	0.00	2.70	0.00	0.000	6	0.000	0.076	2946	2151	1912
10557	1.14	255.8	862.7	6.9	504	10589	0.00	2.83	27.27	1.445	4	0.000	0.093	2946	3561	1789
10598	1.24	320.3	860.6	5.7	506	10661	0.10	2.70	56.25	1.460	6	0.067	0.075	2973	2131	1526
10971	1.29	349.2	840.3	6.9	524	11002	0.00	2.70	25.98	1.420	4	0.000	0.086	2974	760	1408
11127	1.29	349.2	826.9	8.0	531	11132	0.00	2.65	0.00	0.000	6	0.000	0.075	2973	2153	1407
11449	1.29	349.2	786.9	12.8	547	11453	0.00	2.67	0.00	0.000	4	0.000	0.083	2974	759	1408
11459	1.29	349.2	785.0	13.7	547	11465	0.00	2.60	0.00	0.000	6	0.000	0.069	2973	2156	1407
11774	1.29	349.2	737.6	13.9	563	11779	0.00	2.65	0.00	0.000	4	0.000	0.078	2974	756	1408
11825	1.29	349.2	731.0	10.3	565	11829	0.00	2.60	0.00	0.000	6	0.000	0.065	2973	2158	1407
12140	1.29	349.2	697.0	9.4	580	12145	0.00	2.65	0.00	0.000	4	0.000	0.074	2973	750	1408
12158	1.29	349.2	695.2	9.9	581	12163	0.00	2.58	0.00	0.000	6	0.000	0.062	2973	2150	1408
12485	1.29	349.2	659.9	11.3	597	12486	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2149	1408
12794	1.29	349.2	626.6	10.4	612	12796	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2148	1409
13104	1.29	349.2	595.6	10.2	627	13105	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2149	1410
13413	1.29	349.2	565.1	9.9	642	13417	0.00	2.58	0.00	0.000	4	0.000	0.070	2973	758	1410
13423	1.29	349.2	563.9	10.0	642	13429	0.00	2.53	0.00	0.000	6	0.000	0.058	2973	2155	1411
13739	1.36	392.0	537.8	6.4	658	13783	0.00	2.70	37.12	1.180	4	0.000	0.069	2973	753	1234
13796	1.41	392.0	533.2	8.8	660	13803	0.15	2.58	0.00	0.000	6	0.057	0.056	3012	2152	1234
14113	1.35	392.0	494.6	13.2	676	14114	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2152	1235
14422	1.30	392.0	454.1	13.1	691	14424	0.15	0.00	0.00	0.000	6	0.085	0.000	2983	2152	1235
14731	1.30	392.0	415.7	14.0	706	14735	0.00	2.58	0.00	0.000	4	0.000	0.070	2982	754	1236
14747	1.30	392.0	413.1	14.3	707	14752	0.00	2.53	0.00	0.000	6	0.000	0.057	2982	2150	1236
15074	1.30	392.0	369.2	13.2	723	15079	0.00	2.60	0.00	0.000	4	0.000	0.069	2982	750	1236
15114	1.30	392.0	364.0	12.5	725	15119	0.00	2.55	0.00	0.000	6	0.000	0.056	2982	2159	1236
15442	1.30	392.0	327.9	11.0	741	15446	0.00	2.58	0.00	0.000	4	0.000	0.069	2982	757	1236
15458	1.30	392.0	325.9	11.4	742	15463	0.00	2.53	0.00	0.000	6	0.000	0.055	2982	2155	1236
15785	1.30	392.0	283.1	13.9	758	15790	0.00	2.58	0.00	0.000	4	0.000	0.068	2982	757	1237
15803	1.30	392.0	280.6	13.9	759	15807	0.00	2.53	0.00	0.000	6	0.000	0.055	2982	2151	1237
16129	1.35	392.0	237.2	12.9	775	16134	0.00	2.58	0.00	0.000	4	0.000	0.067	2983	757	1237
16147	1.35	392.0	234.8	13.1	776	16152	0.00	2.50	0.00	0.000	6	0.000	0.055	2982	2152	1237
16475	1.39	392.0	189.3	14.3	792	16479	0.00	2.58	0.00	0.000	4	0.000	0.068	2982	754	1238
16496	1.43	392.0	185.9	14.1	793	16501	0.12	2.53	0.00	0.000	6	0.050	0.054	3021	2151	1238
16818	1.39	392.0	134.4	15.9	809	16819	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2151	1238
17127	1.34	392.0	84.7	15.5	824	17132	0.15	2.58	0.00	0.000	4	0.085	0.066	2987	756	1238
17145	1.34	392.0	81.9	15.5	825	17150	0.00	2.53	0.00	0.000	6	0.000	0.054	2988	2155	1238
17473	1.38	392.0	40.4	12.5	841	17474	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2155	1238
17781	1.38	392.0	3.4	11.3	856	17785	0.00	2.58	0.00	0.000	4	0.000	0.066	2988	756	1239
17791	1.38	392.0	2.4	10.6	856	17797	0.00	2.47	0.00	0.000	6	0.000	0.051	2988	2155	1239
17816	end climb: SURFACE_DEPTH_REACHED
state	17816	begin surface coast
17838	end surface coast: CONTROL_FINISHED_OK
state	17838	begin surface