Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 24 * 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 24 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -77138.578 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 -77138.578

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 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 24 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 073701,6137.436,-924.299,40,0.9,40,-9.5 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.180,0.166

_SM_DEPTHo 0.77 KALMAN_X -48337.6,2157.0,524.1,-14408.4,-9728.1

_SM_ANGLEo -55.6 KALMAN_Y -42764.9,1162.0,-161.6,64839.0,-13018.0

GPS2 074214,6137.366,-924.157,11,1.3,11,-9.5 MHEAD_RNG_PITCHd_Wd 56.8,13375,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.015454 ALTIM_BOTTOM_PING 800.4,68.1

SM_CCo 18810,7.55,0.686,0,0,1609,300.00 _24V_AH 23.7,8.367

SM_GC 1.73,0.00,0.00,7.55,0.000,0.000,0.686,420,2151,1609,-10.49,0.03,300.00 _10V_AH 10.0,2.826

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47263,905

TT8_MAMPS 0.029146 CAP_FILE_SIZE 140247,0

HUMID 1675 CFSIZE 254472192,250781696

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

XPDR_PINGS 690 GPS 100608,125802,6138.458,-914.300,42,2.0,42,-9.4

ALTIM_TOP_PING 18.9,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 81.27 SBE_CT 619 24 352.44

Roll_motor 174 89 371.71 SBE_O2 667 19 300.48

VBD_pump_during_apogee 375 1420 12651.48 WL_BB2F 506 105 1260.46

VBD_pump_during_surface 7 685 122.70 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 31 160 118.61 nil 0 0 0.00

Iridium_during_xfer 133 223 708.12

Transponder_ping 179 420 1789.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.49

TT8 1674 19 331.57

LPSleep 14324 2 313.70

TT8_Active 558 19 110.52

TT8_Sampling 2059 39 819.54

TT8_CF8 516 45 236.35

TT8_Kalman 33 81 27.28

Analog_circuits 1604 12 192.59

GPS_charging 0 0 0.00

Compass 2016 8 161.29

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.22 -146.6 0.0 0.0 0 129 0.00 0.00 -101.35 0.000 2 0.000 0.000 421 2157 3243

132 -1.22 -146.6 3.5 -3.1 5 155 10.40 2.62 -4.55 0.000 4 0.139 0.077 2427 732 3432

391 -1.02 -146.6 46.9 -14.7 16 396 0.25 2.55 0.00 0.000 6 0.100 0.051 2477 2149 3432

709 -0.94 -146.6 94.0 -15.3 31 713 0.00 2.60 0.00 0.000 4 0.000 0.063 2477 733 3433

765 -0.89 -146.6 101.2 -11.3 33 772 0.12 2.55 0.00 0.000 6 0.097 0.052 2504 2150 3432

1081 -0.89 -146.6 125.7 -7.7 49 1085 0.00 2.53 0.00 0.000 4 0.000 0.064 2504 3556 3433

1144 -0.89 -146.6 131.0 -7.5 52 1149 0.00 2.53 0.00 0.000 6 0.000 0.050 2504 2141 3433

1471 -0.89 -146.6 151.6 -5.9 68 1472 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2121 3433

1780 -0.89 -146.6 160.5 -3.0 83 1784 0.00 2.60 0.00 0.000 4 0.000 0.065 2504 3558 3433

1932 -0.89 -146.6 167.1 -4.9 90 1936 0.00 2.50 0.00 0.000 6 0.000 0.049 2504 2147 3433

2259 -0.89 -146.6 187.9 -7.0 106 2260 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2128 3433

2569 -0.89 -146.6 208.1 -6.1 121 2573 0.00 2.60 0.00 0.000 4 0.000 0.065 2504 3562 3433

2636 -0.89 -146.6 212.7 -6.8 124 2640 0.00 2.53 0.00 0.000 6 0.000 0.050 2503 2145 3433

2957 -0.89 -146.6 229.1 -5.0 140 2958 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2127 3434

3267 -0.89 -146.6 250.9 -8.6 155 3268 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2127 3433

3575 -0.89 -146.6 282.2 -11.2 170 3576 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2126 3433

3885 -0.89 -146.6 315.9 -10.7 185 3889 0.00 2.53 0.00 0.000 4 0.000 0.067 2504 746 3433

3947 -0.89 -146.6 322.8 -11.6 188 3951 0.00 2.53 0.00 0.000 6 0.000 0.055 2504 2149 3433

4273 -0.89 -146.6 356.7 -9.6 204 4278 0.00 2.58 0.00 0.000 4 0.000 0.069 2504 3565 3433

4336 -0.89 -146.6 362.6 -9.0 207 4340 0.00 2.55 0.00 0.000 6 0.000 0.052 2504 2147 3433

4662 -0.89 -146.6 387.9 -7.7 223 4667 0.00 2.50 0.00 0.000 4 0.000 0.068 2504 747 3433

4741 -0.89 -146.6 394.8 -9.0 226 4747 0.00 2.53 0.00 0.000 6 0.000 0.055 2504 2150 3433

5057 -0.89 -146.6 420.9 -7.6 242 5058 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2149 3433

5366 -0.89 -146.6 444.4 -7.7 257 5370 0.00 2.55 0.00 0.000 4 0.000 0.069 2504 3556 3432

5439 -0.89 -146.6 450.5 -9.5 260 5443 0.00 2.53 0.00 0.000 6 0.000 0.054 2504 2149 3432

5755 -0.89 -146.6 477.4 -10.1 275 5756 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2133 3432

6064 -0.89 -146.6 510.0 -11.2 290 6068 0.00 2.60 0.00 0.000 4 0.000 0.069 2504 3564 3432

6119 -0.89 -146.6 516.2 -11.5 292 6125 0.00 2.53 0.00 0.000 6 0.000 0.052 2504 2148 3432

6434 -0.89 -146.6 546.7 -9.2 308 6439 0.00 2.53 0.00 0.000 4 0.000 0.067 2504 749 3432

6520 -0.94 -146.6 556.2 -12.5 312 6524 0.00 2.53 0.00 0.000 6 0.000 0.056 2504 2149 3432

6846 -0.94 -146.6 589.8 -10.5 328 6847 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2150 3431

7156 -0.94 -146.6 625.3 -11.7 343 7161 0.00 2.55 0.00 0.000 4 0.000 0.071 2504 3555 3431

7219 -0.94 -146.6 632.5 -11.5 346 7224 0.00 2.53 0.00 0.000 6 0.000 0.055 2504 2147 3431

7546 -0.94 -146.6 666.9 -9.4 362 7550 0.00 2.53 0.00 0.000 4 0.000 0.067 2504 745 3431

7646 -0.99 -146.6 677.4 -11.2 366 7652 0.00 2.55 0.00 0.000 6 0.000 0.057 2504 2152 3431

7962 -1.03 -146.6 709.5 -10.2 382 7967 0.12 2.58 0.00 0.000 4 0.056 0.071 2467 3565 3431

8041 -0.95 -146.6 718.9 -12.9 385 8048 0.12 2.55 0.00 0.000 6 0.095 0.057 2492 2150 3431

8358 -0.95 -146.6 750.1 -9.3 401 8362 0.00 2.62 0.00 0.000 4 0.000 0.071 2491 3565 3431

8435 -0.95 -146.6 757.1 -8.0 404 8441 0.00 2.55 0.00 0.000 6 0.000 0.056 2491 2149 3431

8751 -0.95 -146.6 783.6 -7.8 420 8756 0.00 2.55 0.00 0.000 4 0.000 0.072 2491 745 3430

8976 -0.95 -146.6 802.5 -9.1 430 8981 0.00 2.58 0.00 0.000 6 0.000 0.061 2491 2153 3431

9298 -0.95 -146.6 831.6 -8.9 446 9302 0.00 2.65 0.00 0.000 4 0.000 0.078 2491 746 3431

9556 -1.00 -146.6 854.0 -11.4 457 9562 0.00 2.60 0.00 0.000 6 0.000 0.066 2491 2153 3431

9601 end dive: BOTTOM_OBSTACLE_DETECTED

state 9601 begin apogee

9607 -0.33 0.0 858.6 10.2 460 9737 0.62 0.00 126.65 1.420 6 0.087 0.000 2623 2154 2832

9738 end apogee: CONTROL_FINISHED_OK

state 9738 begin climb

9741 1.22 146.6 864.1 0.0 466 9873 1.55 2.72 124.32 1.384 4 0.063 0.084 2963 3558 2233

10063 1.17 208.5 843.8 5.8 481 10125 0.00 2.62 53.38 1.354 6 0.000 0.068 2963 2138 1982

10439 1.12 224.7 816.9 7.4 499 10460 0.00 2.72 14.80 1.277 4 0.000 0.090 2963 756 1915

10500 1.10 258.8 812.2 6.8 501 10536 0.12 2.65 30.08 1.348 6 0.098 0.074 2940 2150 1777

10854 1.10 258.8 784.5 8.2 519 10859 0.00 2.70 0.00 0.000 4 0.000 0.087 2940 757 1777

10895 1.10 258.8 781.2 9.0 521 10899 0.00 2.62 0.00 0.000 6 0.000 0.071 2940 2152 1777

11221 1.14 258.8 754.5 8.0 537 11226 0.00 2.67 0.00 0.000 4 0.000 0.081 2941 753 1775

11250 1.19 258.8 751.9 9.1 538 11255 0.00 2.62 0.00 0.000 6 0.000 0.067 2940 2160 1775

11566 1.19 258.8 722.1 9.5 553 11567 0.00 0.00 0.00 0.000 6 0.000 0.000 2940 2158 1775

11876 1.24 258.8 695.4 8.8 568 11881 0.12 2.65 0.00 0.000 4 0.055 0.076 2975 757 1774

11893 1.24 258.8 693.6 9.1 569 11897 0.00 2.58 0.00 0.000 6 0.000 0.063 2975 2160 1774

12220 1.18 258.8 658.0 11.2 585 12221 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 2156 1774

12529 1.14 258.8 627.5 9.6 600 12534 0.15 2.60 0.00 0.000 4 0.089 0.071 2941 757 1774

12556 1.14 258.8 625.1 8.1 601 12561 0.00 2.53 0.00 0.000 6 0.000 0.059 2941 2148 1774

12873 1.23 289.7 603.3 6.9 616 12902 0.12 0.00 26.58 1.220 6 0.053 0.000 2976 2147 1651

13201 1.23 289.7 571.3 11.1 632 13205 0.00 2.60 0.00 0.000 4 0.000 0.070 2976 756 1651

13211 1.23 289.7 569.9 11.3 632 13217 0.00 2.55 0.00 0.000 6 0.000 0.058 2976 2150 1651

13527 1.23 289.7 538.0 11.3 648 13531 0.00 2.60 0.00 0.000 4 0.000 0.070 2976 756 1652

13537 1.23 289.7 536.4 12.2 648 13543 0.00 2.55 0.00 0.000 6 0.000 0.057 2976 2154 1652

13853 1.23 289.7 499.3 12.0 664 13857 0.00 2.60 0.00 0.000 4 0.000 0.070 2976 757 1652

13874 1.23 289.7 496.4 12.9 665 13879 0.00 2.55 0.00 0.000 6 0.000 0.057 2976 2160 1652

14195 1.23 289.7 456.4 11.3 681 14200 0.00 2.60 0.00 0.000 4 0.000 0.068 2976 753 1653

14223 1.23 289.7 453.3 11.1 682 14227 0.00 2.55 0.00 0.000 6 0.000 0.056 2976 2155 1654

14538 1.23 289.7 422.4 9.8 697 14543 0.00 2.58 0.00 0.000 4 0.000 0.067 2976 758 1654

14549 1.23 289.7 421.1 9.5 697 14555 0.00 2.53 0.00 0.000 6 0.000 0.056 2976 2150 1654

14865 1.23 289.7 391.9 8.9 713 14869 0.00 2.58 0.00 0.000 4 0.000 0.067 2977 757 1654

14875 1.23 289.7 390.8 8.8 713 14881 0.00 2.53 0.00 0.000 6 0.000 0.055 2976 2151 1654

15191 1.23 289.7 366.0 8.1 729 15192 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2150 1655

15500 1.23 289.7 336.8 9.9 744 15501 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2150 1655

15809 1.23 289.7 304.0 11.2 759 15814 0.00 2.58 0.00 0.000 4 0.000 0.067 2976 756 1655

15831 1.23 289.7 301.3 11.5 760 15836 0.00 2.53 0.00 0.000 6 0.000 0.055 2976 2152 1656

16153 1.23 289.7 263.0 12.1 776 16154 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2152 1656

16462 1.23 289.7 228.6 11.0 791 16463 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2151 1655

16771 1.23 289.7 193.8 11.3 806 16776 0.00 2.58 0.00 0.000 4 0.000 0.067 2976 750 1656

16793 1.23 289.7 191.2 11.4 807 16798 0.00 2.53 0.00 0.000 6 0.000 0.054 2976 2151 1656

17115 1.23 289.7 160.9 8.6 823 17119 0.00 2.58 0.00 0.000 4 0.000 0.066 2976 754 1656

17131 1.23 289.7 159.3 8.8 824 17136 0.00 2.50 0.00 0.000 6 0.000 0.054 2976 2150 1656

17459 1.23 289.7 130.5 8.7 840 17463 0.00 2.58 0.00 0.000 4 0.000 0.065 2977 750 1656

17491 1.23 289.7 127.2 9.9 841 17498 0.00 2.53 0.00 0.000 6 0.000 0.054 2977 2153 1657

17809 1.23 289.7 96.9 10.8 857 17810 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2153 1657

18117 1.23 289.7 62.5 10.5 872 18121 0.00 2.53 0.00 0.000 4 0.000 0.063 2977 3562 1657

18138 1.23 289.7 60.2 9.8 873 18143 0.00 2.50 0.00 0.000 6 0.000 0.051 2976 2163 1656

18461 1.23 289.7 29.9 9.2 889 18462 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2162 1657

18766 end climb: SURFACE_DEPTH_REACHED

state 18766 begin surface coast

18788 end surface coast: CONTROL_FINISHED_OK

state 18788 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	24	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-77138.578	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	073701,6137.436,-924.299,40,0.9,40,-9.5	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.180,0.166
_SM_DEPTHo	0.77	KALMAN_X	-48337.6,2157.0,524.1,-14408.4,-9728.1
_SM_ANGLEo	-55.6	KALMAN_Y	-42764.9,1162.0,-161.6,64839.0,-13018.0
GPS2	074214,6137.366,-924.157,11,1.3,11,-9.5	MHEAD_RNG_PITCHd_Wd	56.8,13375,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.2,1.015454	ALTIM_BOTTOM_PING	800.4,68.1
SM_CCo	18810,7.55,0.686,0,0,1609,300.00	_24V_AH	23.7,8.367
SM_GC	1.73,0.00,0.00,7.55,0.000,0.000,0.686,420,2151,1609,-10.49,0.03,300.00	_10V_AH	10.0,2.826
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47263,905
TT8_MAMPS	0.029146	CAP_FILE_SIZE	140247,0
HUMID	1675	CFSIZE	254472192,250781696
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
XPDR_PINGS	690	GPS	100608,125802,6138.458,-914.300,42,2.0,42,-9.4
ALTIM_TOP_PING	18.9,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	81.27	SBE_CT	619	24	352.44
Roll_motor	174	89	371.71	SBE_O2	667	19	300.48
VBD_pump_during_apogee	375	1420	12651.48	WL_BB2F	506	105	1260.46
VBD_pump_during_surface	7	685	122.70	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	31	160	118.61	nil	0	0	0.00
Iridium_during_xfer	133	223	708.12
Transponder_ping	179	420	1789.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.49
TT8	1674	19	331.57
LPSleep	14324	2	313.70
TT8_Active	558	19	110.52
TT8_Sampling	2059	39	819.54
TT8_CF8	516	45	236.35
TT8_Kalman	33	81	27.28
Analog_circuits	1604	12	192.59
GPS_charging	0	0	0.00
Compass	2016	8	161.29
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.22	-146.6	0.0	0.0	0	129	0.00	0.00	-101.35	0.000	2	0.000	0.000	421	2157	3243
132	-1.22	-146.6	3.5	-3.1	5	155	10.40	2.62	-4.55	0.000	4	0.139	0.077	2427	732	3432
391	-1.02	-146.6	46.9	-14.7	16	396	0.25	2.55	0.00	0.000	6	0.100	0.051	2477	2149	3432
709	-0.94	-146.6	94.0	-15.3	31	713	0.00	2.60	0.00	0.000	4	0.000	0.063	2477	733	3433
765	-0.89	-146.6	101.2	-11.3	33	772	0.12	2.55	0.00	0.000	6	0.097	0.052	2504	2150	3432
1081	-0.89	-146.6	125.7	-7.7	49	1085	0.00	2.53	0.00	0.000	4	0.000	0.064	2504	3556	3433
1144	-0.89	-146.6	131.0	-7.5	52	1149	0.00	2.53	0.00	0.000	6	0.000	0.050	2504	2141	3433
1471	-0.89	-146.6	151.6	-5.9	68	1472	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2121	3433
1780	-0.89	-146.6	160.5	-3.0	83	1784	0.00	2.60	0.00	0.000	4	0.000	0.065	2504	3558	3433
1932	-0.89	-146.6	167.1	-4.9	90	1936	0.00	2.50	0.00	0.000	6	0.000	0.049	2504	2147	3433
2259	-0.89	-146.6	187.9	-7.0	106	2260	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2128	3433
2569	-0.89	-146.6	208.1	-6.1	121	2573	0.00	2.60	0.00	0.000	4	0.000	0.065	2504	3562	3433
2636	-0.89	-146.6	212.7	-6.8	124	2640	0.00	2.53	0.00	0.000	6	0.000	0.050	2503	2145	3433
2957	-0.89	-146.6	229.1	-5.0	140	2958	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2127	3434
3267	-0.89	-146.6	250.9	-8.6	155	3268	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2127	3433
3575	-0.89	-146.6	282.2	-11.2	170	3576	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2126	3433
3885	-0.89	-146.6	315.9	-10.7	185	3889	0.00	2.53	0.00	0.000	4	0.000	0.067	2504	746	3433
3947	-0.89	-146.6	322.8	-11.6	188	3951	0.00	2.53	0.00	0.000	6	0.000	0.055	2504	2149	3433
4273	-0.89	-146.6	356.7	-9.6	204	4278	0.00	2.58	0.00	0.000	4	0.000	0.069	2504	3565	3433
4336	-0.89	-146.6	362.6	-9.0	207	4340	0.00	2.55	0.00	0.000	6	0.000	0.052	2504	2147	3433
4662	-0.89	-146.6	387.9	-7.7	223	4667	0.00	2.50	0.00	0.000	4	0.000	0.068	2504	747	3433
4741	-0.89	-146.6	394.8	-9.0	226	4747	0.00	2.53	0.00	0.000	6	0.000	0.055	2504	2150	3433
5057	-0.89	-146.6	420.9	-7.6	242	5058	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2149	3433
5366	-0.89	-146.6	444.4	-7.7	257	5370	0.00	2.55	0.00	0.000	4	0.000	0.069	2504	3556	3432
5439	-0.89	-146.6	450.5	-9.5	260	5443	0.00	2.53	0.00	0.000	6	0.000	0.054	2504	2149	3432
5755	-0.89	-146.6	477.4	-10.1	275	5756	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2133	3432
6064	-0.89	-146.6	510.0	-11.2	290	6068	0.00	2.60	0.00	0.000	4	0.000	0.069	2504	3564	3432
6119	-0.89	-146.6	516.2	-11.5	292	6125	0.00	2.53	0.00	0.000	6	0.000	0.052	2504	2148	3432
6434	-0.89	-146.6	546.7	-9.2	308	6439	0.00	2.53	0.00	0.000	4	0.000	0.067	2504	749	3432
6520	-0.94	-146.6	556.2	-12.5	312	6524	0.00	2.53	0.00	0.000	6	0.000	0.056	2504	2149	3432
6846	-0.94	-146.6	589.8	-10.5	328	6847	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2150	3431
7156	-0.94	-146.6	625.3	-11.7	343	7161	0.00	2.55	0.00	0.000	4	0.000	0.071	2504	3555	3431
7219	-0.94	-146.6	632.5	-11.5	346	7224	0.00	2.53	0.00	0.000	6	0.000	0.055	2504	2147	3431
7546	-0.94	-146.6	666.9	-9.4	362	7550	0.00	2.53	0.00	0.000	4	0.000	0.067	2504	745	3431
7646	-0.99	-146.6	677.4	-11.2	366	7652	0.00	2.55	0.00	0.000	6	0.000	0.057	2504	2152	3431
7962	-1.03	-146.6	709.5	-10.2	382	7967	0.12	2.58	0.00	0.000	4	0.056	0.071	2467	3565	3431
8041	-0.95	-146.6	718.9	-12.9	385	8048	0.12	2.55	0.00	0.000	6	0.095	0.057	2492	2150	3431
8358	-0.95	-146.6	750.1	-9.3	401	8362	0.00	2.62	0.00	0.000	4	0.000	0.071	2491	3565	3431
8435	-0.95	-146.6	757.1	-8.0	404	8441	0.00	2.55	0.00	0.000	6	0.000	0.056	2491	2149	3431
8751	-0.95	-146.6	783.6	-7.8	420	8756	0.00	2.55	0.00	0.000	4	0.000	0.072	2491	745	3430
8976	-0.95	-146.6	802.5	-9.1	430	8981	0.00	2.58	0.00	0.000	6	0.000	0.061	2491	2153	3431
9298	-0.95	-146.6	831.6	-8.9	446	9302	0.00	2.65	0.00	0.000	4	0.000	0.078	2491	746	3431
9556	-1.00	-146.6	854.0	-11.4	457	9562	0.00	2.60	0.00	0.000	6	0.000	0.066	2491	2153	3431
9601	end dive: BOTTOM_OBSTACLE_DETECTED
state	9601	begin apogee
9607	-0.33	0.0	858.6	10.2	460	9737	0.62	0.00	126.65	1.420	6	0.087	0.000	2623	2154	2832
9738	end apogee: CONTROL_FINISHED_OK
state	9738	begin climb
9741	1.22	146.6	864.1	0.0	466	9873	1.55	2.72	124.32	1.384	4	0.063	0.084	2963	3558	2233
10063	1.17	208.5	843.8	5.8	481	10125	0.00	2.62	53.38	1.354	6	0.000	0.068	2963	2138	1982
10439	1.12	224.7	816.9	7.4	499	10460	0.00	2.72	14.80	1.277	4	0.000	0.090	2963	756	1915
10500	1.10	258.8	812.2	6.8	501	10536	0.12	2.65	30.08	1.348	6	0.098	0.074	2940	2150	1777
10854	1.10	258.8	784.5	8.2	519	10859	0.00	2.70	0.00	0.000	4	0.000	0.087	2940	757	1777
10895	1.10	258.8	781.2	9.0	521	10899	0.00	2.62	0.00	0.000	6	0.000	0.071	2940	2152	1777
11221	1.14	258.8	754.5	8.0	537	11226	0.00	2.67	0.00	0.000	4	0.000	0.081	2941	753	1775
11250	1.19	258.8	751.9	9.1	538	11255	0.00	2.62	0.00	0.000	6	0.000	0.067	2940	2160	1775
11566	1.19	258.8	722.1	9.5	553	11567	0.00	0.00	0.00	0.000	6	0.000	0.000	2940	2158	1775
11876	1.24	258.8	695.4	8.8	568	11881	0.12	2.65	0.00	0.000	4	0.055	0.076	2975	757	1774
11893	1.24	258.8	693.6	9.1	569	11897	0.00	2.58	0.00	0.000	6	0.000	0.063	2975	2160	1774
12220	1.18	258.8	658.0	11.2	585	12221	0.00	0.00	0.00	0.000	6	0.000	0.000	2975	2156	1774
12529	1.14	258.8	627.5	9.6	600	12534	0.15	2.60	0.00	0.000	4	0.089	0.071	2941	757	1774
12556	1.14	258.8	625.1	8.1	601	12561	0.00	2.53	0.00	0.000	6	0.000	0.059	2941	2148	1774
12873	1.23	289.7	603.3	6.9	616	12902	0.12	0.00	26.58	1.220	6	0.053	0.000	2976	2147	1651
13201	1.23	289.7	571.3	11.1	632	13205	0.00	2.60	0.00	0.000	4	0.000	0.070	2976	756	1651
13211	1.23	289.7	569.9	11.3	632	13217	0.00	2.55	0.00	0.000	6	0.000	0.058	2976	2150	1651
13527	1.23	289.7	538.0	11.3	648	13531	0.00	2.60	0.00	0.000	4	0.000	0.070	2976	756	1652
13537	1.23	289.7	536.4	12.2	648	13543	0.00	2.55	0.00	0.000	6	0.000	0.057	2976	2154	1652
13853	1.23	289.7	499.3	12.0	664	13857	0.00	2.60	0.00	0.000	4	0.000	0.070	2976	757	1652
13874	1.23	289.7	496.4	12.9	665	13879	0.00	2.55	0.00	0.000	6	0.000	0.057	2976	2160	1652
14195	1.23	289.7	456.4	11.3	681	14200	0.00	2.60	0.00	0.000	4	0.000	0.068	2976	753	1653
14223	1.23	289.7	453.3	11.1	682	14227	0.00	2.55	0.00	0.000	6	0.000	0.056	2976	2155	1654
14538	1.23	289.7	422.4	9.8	697	14543	0.00	2.58	0.00	0.000	4	0.000	0.067	2976	758	1654
14549	1.23	289.7	421.1	9.5	697	14555	0.00	2.53	0.00	0.000	6	0.000	0.056	2976	2150	1654
14865	1.23	289.7	391.9	8.9	713	14869	0.00	2.58	0.00	0.000	4	0.000	0.067	2977	757	1654
14875	1.23	289.7	390.8	8.8	713	14881	0.00	2.53	0.00	0.000	6	0.000	0.055	2976	2151	1654
15191	1.23	289.7	366.0	8.1	729	15192	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2150	1655
15500	1.23	289.7	336.8	9.9	744	15501	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2150	1655
15809	1.23	289.7	304.0	11.2	759	15814	0.00	2.58	0.00	0.000	4	0.000	0.067	2976	756	1655
15831	1.23	289.7	301.3	11.5	760	15836	0.00	2.53	0.00	0.000	6	0.000	0.055	2976	2152	1656
16153	1.23	289.7	263.0	12.1	776	16154	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2152	1656
16462	1.23	289.7	228.6	11.0	791	16463	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2151	1655
16771	1.23	289.7	193.8	11.3	806	16776	0.00	2.58	0.00	0.000	4	0.000	0.067	2976	750	1656
16793	1.23	289.7	191.2	11.4	807	16798	0.00	2.53	0.00	0.000	6	0.000	0.054	2976	2151	1656
17115	1.23	289.7	160.9	8.6	823	17119	0.00	2.58	0.00	0.000	4	0.000	0.066	2976	754	1656
17131	1.23	289.7	159.3	8.8	824	17136	0.00	2.50	0.00	0.000	6	0.000	0.054	2976	2150	1656
17459	1.23	289.7	130.5	8.7	840	17463	0.00	2.58	0.00	0.000	4	0.000	0.065	2977	750	1656
17491	1.23	289.7	127.2	9.9	841	17498	0.00	2.53	0.00	0.000	6	0.000	0.054	2977	2153	1657
17809	1.23	289.7	96.9	10.8	857	17810	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2153	1657
18117	1.23	289.7	62.5	10.5	872	18121	0.00	2.53	0.00	0.000	4	0.000	0.063	2977	3562	1657
18138	1.23	289.7	60.2	9.8	873	18143	0.00	2.50	0.00	0.000	6	0.000	0.051	2976	2163	1656
18461	1.23	289.7	29.9	9.2	889	18462	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2162	1657
18766	end climb: SURFACE_DEPTH_REACHED
state	18766	begin surface coast
18788	end surface coast: CONTROL_FINISHED_OK
state	18788	begin surface