Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 25 * 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 25 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -77156.727 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 -77156.727

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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 25 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 125802,6138.458,-914.300,42,2.0,42,-9.4 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 6 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.049,0.240

_SM_DEPTHo 0.97 KALMAN_X -43403.6,1653.5,1981.6,-11385.1,-7085.9

_SM_ANGLEo -61.8 KALMAN_Y -46406.6,1881.6,1820.6,67840.6,-15756.4

GPS2 130703,6138.497,-914.084,15,1.5,15,-9.4 MHEAD_RNG_PITCHd_Wd 21.0,5370,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027128 ALTIM_BOTTOM_PING 752.0,91.2

SM_CCo 17126,0.00,0.000,0,0,1375,357.40 _24V_AH 23.7,8.575

SM_GC 0.92,11.15,0.00,0.00,0.032,0.000,0.000,417,2172,1375,-10.41,0.59,357.40 _10V_AH 10.0,2.907

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41157,818

TT8_MAMPS 0.029146 CAP_FILE_SIZE 134757,0

HUMID 1666 CFSIZE 254472192,250728448

TCM_TEMP 17.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,16,0,0

XPDR_PINGS 554 GPS 100608,175438,6141.559,-907.977,43,1.7,43,-9.4

ALTIM_TOP_PING 19.5,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 81.94 SBE_CT 561 24 319.27

Roll_motor 186 92 406.06 SBE_O2 603 19 271.78

VBD_pump_during_apogee 432 1449 14865.94 WL_BB2F 464 105 1156.94

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 78 103 190.41 nil 0 0 0.00

Iridium_during_connect 54 160 206.69 nil 0 0 0.00

Iridium_during_xfer 220 223 1162.77

Transponder_ping 145 420 1445.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.76

TT8 1528 19 302.61

LPSleep 13019 2 285.12

TT8_Active 575 19 114.03

TT8_Sampling 1876 39 747.03

TT8_CF8 662 45 303.21

TT8_Kalman 33 81 27.28

Analog_circuits 1547 12 185.69

GPS_charging 0 0 0.00

Compass 1833 8 146.71

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.22 -146.6 0.0 0.0 0 97 0.00 0.00 -71.75 0.000 6 0.000 0.000 420 2140 3430

100 -1.22 -146.6 2.6 -3.7 3 117 10.38 2.55 0.00 0.000 4 0.137 0.058 2427 737 3433

218 -1.00 -146.6 30.0 -15.7 7 223 0.25 2.55 0.00 0.000 6 0.091 0.051 2478 2156 3434

535 -0.92 -146.6 71.8 -12.7 22 539 0.10 2.53 0.00 0.000 4 0.102 0.064 2498 3558 3434

642 -0.92 -146.6 86.3 -11.8 27 646 0.00 2.53 0.00 0.000 6 0.000 0.048 2498 2139 3434

969 -0.92 -146.6 124.8 -11.8 43 970 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2119 3435

1277 -0.92 -146.6 159.8 -11.8 58 1282 0.00 2.60 0.00 0.000 4 0.000 0.063 2498 3559 3435

1372 -0.92 -146.6 171.5 -12.0 62 1377 0.00 2.50 0.00 0.000 6 0.000 0.048 2498 2151 3435

1688 -0.92 -146.6 206.1 -10.9 77 1689 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2133 3435

1997 -0.92 -146.6 236.5 -9.0 92 2001 0.00 2.53 0.00 0.000 4 0.000 0.065 2498 751 3435

2053 -0.92 -146.6 242.0 -10.0 94 2059 0.00 2.53 0.00 0.000 6 0.000 0.054 2498 2152 3435

2369 -0.92 -146.6 270.1 -9.0 110 2373 0.00 2.55 0.00 0.000 4 0.000 0.067 2498 3563 3435

2458 -0.92 -146.6 278.8 -9.9 114 2462 0.00 2.53 0.00 0.000 6 0.000 0.051 2498 2149 3434

2779 -0.92 -146.6 307.0 -8.6 130 2780 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2131 3434

3088 -0.92 -146.6 336.9 -10.5 145 3092 0.00 2.53 0.00 0.000 4 0.000 0.066 2498 748 3434

3137 -0.92 -146.6 342.3 -10.5 147 3142 0.00 2.53 0.00 0.000 6 0.000 0.054 2498 2151 3433

3454 -0.92 -146.6 376.0 -10.7 162 3458 0.00 2.58 0.00 0.000 4 0.000 0.070 2498 3567 3433

3538 -0.92 -146.6 385.1 -10.4 166 3543 0.00 2.55 0.00 0.000 6 0.000 0.054 2498 2145 3433

3865 -0.92 -146.6 417.0 -9.9 182 3866 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2127 3433

4176 -0.92 -146.6 451.0 -11.4 197 4177 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2127 3433

4484 -0.92 -146.6 482.6 -9.3 212 4485 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2127 3433

4793 -0.92 -146.6 511.8 -10.0 227 4797 0.00 2.62 0.00 0.000 4 0.000 0.070 2498 3563 3433

4893 -0.92 -146.6 522.9 -11.4 231 4899 0.00 2.55 0.00 0.000 6 0.000 0.054 2498 2142 3433

5211 -0.92 -146.6 551.6 -8.0 247 5215 0.00 2.53 0.00 0.000 4 0.000 0.065 2498 739 3432

5318 -0.92 -146.6 563.3 -10.2 252 5322 0.00 2.55 0.00 0.000 6 0.000 0.057 2498 2156 3432

5644 -0.92 -146.6 594.4 -9.4 268 5648 0.00 2.55 0.00 0.000 4 0.000 0.070 2498 3560 3432

5733 -0.92 -146.6 604.2 -10.5 272 5737 0.00 2.53 0.00 0.000 6 0.000 0.054 2498 2150 3432

6054 -0.92 -146.6 637.5 -10.6 288 6058 0.00 2.55 0.00 0.000 4 0.000 0.067 2498 740 3432

6143 -0.92 -146.6 647.4 -10.4 292 6147 0.00 2.55 0.00 0.000 6 0.000 0.058 2498 2150 3431

6464 -0.92 -146.6 679.4 -10.5 308 6465 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2149 3431

6773 -0.92 -146.6 714.2 -11.2 323 6778 0.00 2.60 0.00 0.000 4 0.000 0.076 2498 748 3431

7031 -0.96 -146.6 730.5 -7.4 334 7037 0.00 2.58 0.00 0.000 6 0.000 0.061 2498 2157 3432

7346 -0.96 -146.6 757.0 -8.5 350 7351 0.00 2.67 0.00 0.000 4 0.000 0.082 2498 747 3431

7419 -1.01 -146.6 763.8 -10.3 353 7424 0.00 2.60 0.00 0.000 6 0.000 0.067 2498 2151 3431

7736 -1.06 -146.6 792.4 -9.9 368 7741 0.15 2.65 0.00 0.000 4 0.060 0.086 2455 3562 3429

7943 -0.84 -146.6 811.3 -0.1 377 7949 0.30 2.62 0.00 0.000 6 0.104 0.074 2516 2155 3429

8195 end dive: BOTTOM_OBSTACLE_DETECTED

state 8195 begin apogee

8201 -0.33 0.0 833.6 8.5 389 8331 0.52 0.00 126.50 1.450 6 0.094 0.000 2622 2131 2832

8332 end apogee: CONTROL_FINISHED_OK

state 8332 begin climb

8335 1.22 146.6 834.5 0.0 395 8464 1.60 0.00 124.60 1.406 6 0.074 0.000 2963 2130 2234

8772 1.39 340.9 814.3 0.9 417 8939 0.15 0.00 163.62 1.394 6 0.058 0.000 3004 2127 1442

9245 1.29 340.9 763.8 10.4 440 9250 0.12 2.72 0.00 0.000 4 0.104 0.090 2982 3557 1442

9256 1.20 340.9 762.3 10.8 440 9262 0.00 2.67 0.00 0.000 6 0.000 0.075 2982 2146 1442

9571 1.20 340.9 727.4 13.4 456 9573 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2128 1441

9881 1.20 340.9 689.8 12.4 471 9885 0.00 2.67 0.00 0.000 4 0.000 0.092 2982 743 1440

9930 1.20 340.9 683.7 11.7 473 9935 0.00 2.67 0.00 0.000 6 0.000 0.078 2982 2148 1440

10246 1.20 340.9 651.9 10.2 488 10250 0.00 2.67 0.00 0.000 4 0.000 0.082 2982 743 1438

10267 1.20 340.9 649.7 9.7 489 10272 0.00 2.65 0.00 0.000 6 0.000 0.071 2982 2152 1438

10589 1.20 340.9 621.9 9.5 505 10593 0.00 2.67 0.00 0.000 4 0.000 0.078 2982 739 1438

10628 1.20 340.9 618.5 9.3 507 10633 0.00 2.62 0.00 0.000 6 0.000 0.064 2982 2161 1438

10954 1.20 340.9 587.3 10.9 523 10959 0.00 2.67 0.00 0.000 4 0.000 0.074 2982 736 1438

10983 1.20 340.9 584.3 11.4 524 10988 0.00 2.60 0.00 0.000 6 0.000 0.061 2982 2151 1438

11299 1.20 340.9 555.0 8.9 539 11303 0.00 2.62 0.00 0.000 4 0.000 0.071 2982 738 1439

11332 1.16 340.9 551.7 10.9 540 11339 0.15 2.58 0.00 0.000 6 0.089 0.060 2952 2150 1439

11649 1.25 352.2 528.7 7.6 556 11665 0.00 2.67 10.60 1.088 4 0.000 0.070 2952 738 1395

11689 1.35 358.8 525.4 7.8 557 11703 0.20 2.60 7.38 1.006 6 0.045 0.058 3005 2157 1368

12022 1.30 358.8 490.5 9.8 573 12027 0.12 2.65 0.00 0.000 4 0.091 0.068 2980 736 1368

12033 1.25 358.8 489.2 9.3 573 12039 0.00 2.58 0.00 0.000 6 0.000 0.058 2981 2149 1369

12348 1.25 358.8 462.5 10.2 589 12353 0.00 2.60 0.00 0.000 4 0.000 0.068 2981 738 1370

12366 1.25 358.8 460.5 10.8 590 12370 0.00 2.58 0.00 0.000 6 0.000 0.057 2981 2152 1370

12693 1.25 358.8 427.3 10.3 606 12697 0.00 2.60 0.00 0.000 4 0.000 0.068 2981 737 1370

12720 1.25 358.8 424.0 11.3 607 12724 0.00 2.58 0.00 0.000 6 0.000 0.057 2981 2153 1370

13035 1.25 358.8 391.3 10.3 622 13040 0.00 2.62 0.00 0.000 4 0.000 0.069 2981 734 1371

13068 1.25 358.8 387.4 11.6 623 13074 0.00 2.58 0.00 0.000 6 0.000 0.056 2981 2149 1371

13384 1.25 358.8 357.3 9.0 639 13388 0.00 2.60 0.00 0.000 4 0.000 0.068 2981 737 1372

13401 1.25 358.8 355.8 8.5 640 13405 0.00 2.55 0.00 0.000 6 0.000 0.055 2981 2149 1372

13728 1.25 358.8 324.0 10.3 656 13732 0.00 2.60 0.00 0.000 4 0.000 0.067 2981 737 1372

13749 1.25 358.8 321.5 10.1 657 13753 0.00 2.58 0.00 0.000 6 0.000 0.056 2981 2156 1372

14069 1.25 358.8 287.3 10.9 673 14074 0.00 2.60 0.00 0.000 4 0.000 0.067 2981 738 1373

14097 1.25 358.8 284.2 11.3 674 14101 0.00 2.55 0.00 0.000 6 0.000 0.056 2981 2151 1373

14412 1.25 358.8 252.0 11.8 689 14416 0.00 2.60 0.00 0.000 4 0.000 0.068 2980 738 1373

14422 1.25 358.8 250.7 11.3 689 14428 0.00 2.55 0.00 0.000 6 0.000 0.055 2981 2149 1372

14738 1.25 358.8 218.6 10.6 705 14742 0.00 2.60 0.00 0.000 4 0.000 0.067 2981 736 1373

14770 1.25 358.8 214.8 11.3 706 14776 0.00 2.55 0.00 0.000 6 0.000 0.054 2981 2151 1373

15086 1.25 358.8 180.5 10.2 722 15090 0.00 2.60 0.00 0.000 4 0.000 0.067 2981 738 1373

15103 1.25 358.8 178.8 9.8 723 15107 0.00 2.53 0.00 0.000 6 0.000 0.054 2981 2149 1374

15429 1.25 358.8 149.3 8.7 739 15434 0.00 2.58 0.00 0.000 4 0.000 0.066 2981 738 1374

15441 1.25 358.8 148.2 8.6 739 15448 0.00 2.55 0.00 0.000 6 0.000 0.054 2981 2154 1374

15757 1.25 358.8 118.4 9.0 755 15762 0.00 2.60 0.00 0.000 4 0.000 0.066 2981 738 1374

15769 1.25 358.8 117.3 8.6 755 15775 0.00 2.55 0.00 0.000 6 0.000 0.054 2981 2154 1374

16085 1.25 358.8 90.5 8.5 771 16089 0.00 2.58 0.00 0.000 4 0.000 0.064 2981 738 1375

16102 1.25 358.8 89.0 8.7 772 16107 0.00 2.55 0.00 0.000 6 0.000 0.053 2981 2155 1375

16430 1.25 358.8 63.1 8.4 788 16434 0.00 2.58 0.00 0.000 4 0.000 0.064 2981 738 1375

16485 1.30 358.8 57.3 10.0 790 16492 0.00 2.53 0.00 0.000 6 0.000 0.052 2981 2149 1375

16802 1.35 358.8 27.9 9.2 806 16806 0.00 2.60 0.00 0.000 4 0.000 0.064 2981 733 1375

16842 1.41 358.8 23.9 11.2 808 16847 0.12 2.55 0.00 0.000 6 0.048 0.052 3016 2153 1375

17022 end climb: SURFACE_DEPTH_REACHED

state 17022 begin surface coast

17044 end surface coast: CONTROL_FINISHED_OK

state 17044 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	25	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-77156.727	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	125802,6138.458,-914.300,42,2.0,42,-9.4	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	6	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.049,0.240
_SM_DEPTHo	0.97	KALMAN_X	-43403.6,1653.5,1981.6,-11385.1,-7085.9
_SM_ANGLEo	-61.8	KALMAN_Y	-46406.6,1881.6,1820.6,67840.6,-15756.4
GPS2	130703,6138.497,-914.084,15,1.5,15,-9.4	MHEAD_RNG_PITCHd_Wd	21.0,5370,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.2,1.027128	ALTIM_BOTTOM_PING	752.0,91.2
SM_CCo	17126,0.00,0.000,0,0,1375,357.40	_24V_AH	23.7,8.575
SM_GC	0.92,11.15,0.00,0.00,0.032,0.000,0.000,417,2172,1375,-10.41,0.59,357.40	_10V_AH	10.0,2.907
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41157,818
TT8_MAMPS	0.029146	CAP_FILE_SIZE	134757,0
HUMID	1666	CFSIZE	254472192,250728448
TCM_TEMP	17.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,16,0,0
XPDR_PINGS	554	GPS	100608,175438,6141.559,-907.977,43,1.7,43,-9.4
ALTIM_TOP_PING	19.5,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	81.94	SBE_CT	561	24	319.27
Roll_motor	186	92	406.06	SBE_O2	603	19	271.78
VBD_pump_during_apogee	432	1449	14865.94	WL_BB2F	464	105	1156.94
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	78	103	190.41	nil	0	0	0.00
Iridium_during_connect	54	160	206.69	nil	0	0	0.00
Iridium_during_xfer	220	223	1162.77
Transponder_ping	145	420	1445.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.76
TT8	1528	19	302.61
LPSleep	13019	2	285.12
TT8_Active	575	19	114.03
TT8_Sampling	1876	39	747.03
TT8_CF8	662	45	303.21
TT8_Kalman	33	81	27.28
Analog_circuits	1547	12	185.69
GPS_charging	0	0	0.00
Compass	1833	8	146.71
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.22	-146.6	0.0	0.0	0	97	0.00	0.00	-71.75	0.000	6	0.000	0.000	420	2140	3430
100	-1.22	-146.6	2.6	-3.7	3	117	10.38	2.55	0.00	0.000	4	0.137	0.058	2427	737	3433
218	-1.00	-146.6	30.0	-15.7	7	223	0.25	2.55	0.00	0.000	6	0.091	0.051	2478	2156	3434
535	-0.92	-146.6	71.8	-12.7	22	539	0.10	2.53	0.00	0.000	4	0.102	0.064	2498	3558	3434
642	-0.92	-146.6	86.3	-11.8	27	646	0.00	2.53	0.00	0.000	6	0.000	0.048	2498	2139	3434
969	-0.92	-146.6	124.8	-11.8	43	970	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2119	3435
1277	-0.92	-146.6	159.8	-11.8	58	1282	0.00	2.60	0.00	0.000	4	0.000	0.063	2498	3559	3435
1372	-0.92	-146.6	171.5	-12.0	62	1377	0.00	2.50	0.00	0.000	6	0.000	0.048	2498	2151	3435
1688	-0.92	-146.6	206.1	-10.9	77	1689	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2133	3435
1997	-0.92	-146.6	236.5	-9.0	92	2001	0.00	2.53	0.00	0.000	4	0.000	0.065	2498	751	3435
2053	-0.92	-146.6	242.0	-10.0	94	2059	0.00	2.53	0.00	0.000	6	0.000	0.054	2498	2152	3435
2369	-0.92	-146.6	270.1	-9.0	110	2373	0.00	2.55	0.00	0.000	4	0.000	0.067	2498	3563	3435
2458	-0.92	-146.6	278.8	-9.9	114	2462	0.00	2.53	0.00	0.000	6	0.000	0.051	2498	2149	3434
2779	-0.92	-146.6	307.0	-8.6	130	2780	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2131	3434
3088	-0.92	-146.6	336.9	-10.5	145	3092	0.00	2.53	0.00	0.000	4	0.000	0.066	2498	748	3434
3137	-0.92	-146.6	342.3	-10.5	147	3142	0.00	2.53	0.00	0.000	6	0.000	0.054	2498	2151	3433
3454	-0.92	-146.6	376.0	-10.7	162	3458	0.00	2.58	0.00	0.000	4	0.000	0.070	2498	3567	3433
3538	-0.92	-146.6	385.1	-10.4	166	3543	0.00	2.55	0.00	0.000	6	0.000	0.054	2498	2145	3433
3865	-0.92	-146.6	417.0	-9.9	182	3866	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2127	3433
4176	-0.92	-146.6	451.0	-11.4	197	4177	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2127	3433
4484	-0.92	-146.6	482.6	-9.3	212	4485	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2127	3433
4793	-0.92	-146.6	511.8	-10.0	227	4797	0.00	2.62	0.00	0.000	4	0.000	0.070	2498	3563	3433
4893	-0.92	-146.6	522.9	-11.4	231	4899	0.00	2.55	0.00	0.000	6	0.000	0.054	2498	2142	3433
5211	-0.92	-146.6	551.6	-8.0	247	5215	0.00	2.53	0.00	0.000	4	0.000	0.065	2498	739	3432
5318	-0.92	-146.6	563.3	-10.2	252	5322	0.00	2.55	0.00	0.000	6	0.000	0.057	2498	2156	3432
5644	-0.92	-146.6	594.4	-9.4	268	5648	0.00	2.55	0.00	0.000	4	0.000	0.070	2498	3560	3432
5733	-0.92	-146.6	604.2	-10.5	272	5737	0.00	2.53	0.00	0.000	6	0.000	0.054	2498	2150	3432
6054	-0.92	-146.6	637.5	-10.6	288	6058	0.00	2.55	0.00	0.000	4	0.000	0.067	2498	740	3432
6143	-0.92	-146.6	647.4	-10.4	292	6147	0.00	2.55	0.00	0.000	6	0.000	0.058	2498	2150	3431
6464	-0.92	-146.6	679.4	-10.5	308	6465	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2149	3431
6773	-0.92	-146.6	714.2	-11.2	323	6778	0.00	2.60	0.00	0.000	4	0.000	0.076	2498	748	3431
7031	-0.96	-146.6	730.5	-7.4	334	7037	0.00	2.58	0.00	0.000	6	0.000	0.061	2498	2157	3432
7346	-0.96	-146.6	757.0	-8.5	350	7351	0.00	2.67	0.00	0.000	4	0.000	0.082	2498	747	3431
7419	-1.01	-146.6	763.8	-10.3	353	7424	0.00	2.60	0.00	0.000	6	0.000	0.067	2498	2151	3431
7736	-1.06	-146.6	792.4	-9.9	368	7741	0.15	2.65	0.00	0.000	4	0.060	0.086	2455	3562	3429
7943	-0.84	-146.6	811.3	-0.1	377	7949	0.30	2.62	0.00	0.000	6	0.104	0.074	2516	2155	3429
8195	end dive: BOTTOM_OBSTACLE_DETECTED
state	8195	begin apogee
8201	-0.33	0.0	833.6	8.5	389	8331	0.52	0.00	126.50	1.450	6	0.094	0.000	2622	2131	2832
8332	end apogee: CONTROL_FINISHED_OK
state	8332	begin climb
8335	1.22	146.6	834.5	0.0	395	8464	1.60	0.00	124.60	1.406	6	0.074	0.000	2963	2130	2234
8772	1.39	340.9	814.3	0.9	417	8939	0.15	0.00	163.62	1.394	6	0.058	0.000	3004	2127	1442
9245	1.29	340.9	763.8	10.4	440	9250	0.12	2.72	0.00	0.000	4	0.104	0.090	2982	3557	1442
9256	1.20	340.9	762.3	10.8	440	9262	0.00	2.67	0.00	0.000	6	0.000	0.075	2982	2146	1442
9571	1.20	340.9	727.4	13.4	456	9573	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2128	1441
9881	1.20	340.9	689.8	12.4	471	9885	0.00	2.67	0.00	0.000	4	0.000	0.092	2982	743	1440
9930	1.20	340.9	683.7	11.7	473	9935	0.00	2.67	0.00	0.000	6	0.000	0.078	2982	2148	1440
10246	1.20	340.9	651.9	10.2	488	10250	0.00	2.67	0.00	0.000	4	0.000	0.082	2982	743	1438
10267	1.20	340.9	649.7	9.7	489	10272	0.00	2.65	0.00	0.000	6	0.000	0.071	2982	2152	1438
10589	1.20	340.9	621.9	9.5	505	10593	0.00	2.67	0.00	0.000	4	0.000	0.078	2982	739	1438
10628	1.20	340.9	618.5	9.3	507	10633	0.00	2.62	0.00	0.000	6	0.000	0.064	2982	2161	1438
10954	1.20	340.9	587.3	10.9	523	10959	0.00	2.67	0.00	0.000	4	0.000	0.074	2982	736	1438
10983	1.20	340.9	584.3	11.4	524	10988	0.00	2.60	0.00	0.000	6	0.000	0.061	2982	2151	1438
11299	1.20	340.9	555.0	8.9	539	11303	0.00	2.62	0.00	0.000	4	0.000	0.071	2982	738	1439
11332	1.16	340.9	551.7	10.9	540	11339	0.15	2.58	0.00	0.000	6	0.089	0.060	2952	2150	1439
11649	1.25	352.2	528.7	7.6	556	11665	0.00	2.67	10.60	1.088	4	0.000	0.070	2952	738	1395
11689	1.35	358.8	525.4	7.8	557	11703	0.20	2.60	7.38	1.006	6	0.045	0.058	3005	2157	1368
12022	1.30	358.8	490.5	9.8	573	12027	0.12	2.65	0.00	0.000	4	0.091	0.068	2980	736	1368
12033	1.25	358.8	489.2	9.3	573	12039	0.00	2.58	0.00	0.000	6	0.000	0.058	2981	2149	1369
12348	1.25	358.8	462.5	10.2	589	12353	0.00	2.60	0.00	0.000	4	0.000	0.068	2981	738	1370
12366	1.25	358.8	460.5	10.8	590	12370	0.00	2.58	0.00	0.000	6	0.000	0.057	2981	2152	1370
12693	1.25	358.8	427.3	10.3	606	12697	0.00	2.60	0.00	0.000	4	0.000	0.068	2981	737	1370
12720	1.25	358.8	424.0	11.3	607	12724	0.00	2.58	0.00	0.000	6	0.000	0.057	2981	2153	1370
13035	1.25	358.8	391.3	10.3	622	13040	0.00	2.62	0.00	0.000	4	0.000	0.069	2981	734	1371
13068	1.25	358.8	387.4	11.6	623	13074	0.00	2.58	0.00	0.000	6	0.000	0.056	2981	2149	1371
13384	1.25	358.8	357.3	9.0	639	13388	0.00	2.60	0.00	0.000	4	0.000	0.068	2981	737	1372
13401	1.25	358.8	355.8	8.5	640	13405	0.00	2.55	0.00	0.000	6	0.000	0.055	2981	2149	1372
13728	1.25	358.8	324.0	10.3	656	13732	0.00	2.60	0.00	0.000	4	0.000	0.067	2981	737	1372
13749	1.25	358.8	321.5	10.1	657	13753	0.00	2.58	0.00	0.000	6	0.000	0.056	2981	2156	1372
14069	1.25	358.8	287.3	10.9	673	14074	0.00	2.60	0.00	0.000	4	0.000	0.067	2981	738	1373
14097	1.25	358.8	284.2	11.3	674	14101	0.00	2.55	0.00	0.000	6	0.000	0.056	2981	2151	1373
14412	1.25	358.8	252.0	11.8	689	14416	0.00	2.60	0.00	0.000	4	0.000	0.068	2980	738	1373
14422	1.25	358.8	250.7	11.3	689	14428	0.00	2.55	0.00	0.000	6	0.000	0.055	2981	2149	1372
14738	1.25	358.8	218.6	10.6	705	14742	0.00	2.60	0.00	0.000	4	0.000	0.067	2981	736	1373
14770	1.25	358.8	214.8	11.3	706	14776	0.00	2.55	0.00	0.000	6	0.000	0.054	2981	2151	1373
15086	1.25	358.8	180.5	10.2	722	15090	0.00	2.60	0.00	0.000	4	0.000	0.067	2981	738	1373
15103	1.25	358.8	178.8	9.8	723	15107	0.00	2.53	0.00	0.000	6	0.000	0.054	2981	2149	1374
15429	1.25	358.8	149.3	8.7	739	15434	0.00	2.58	0.00	0.000	4	0.000	0.066	2981	738	1374
15441	1.25	358.8	148.2	8.6	739	15448	0.00	2.55	0.00	0.000	6	0.000	0.054	2981	2154	1374
15757	1.25	358.8	118.4	9.0	755	15762	0.00	2.60	0.00	0.000	4	0.000	0.066	2981	738	1374
15769	1.25	358.8	117.3	8.6	755	15775	0.00	2.55	0.00	0.000	6	0.000	0.054	2981	2154	1374
16085	1.25	358.8	90.5	8.5	771	16089	0.00	2.58	0.00	0.000	4	0.000	0.064	2981	738	1375
16102	1.25	358.8	89.0	8.7	772	16107	0.00	2.55	0.00	0.000	6	0.000	0.053	2981	2155	1375
16430	1.25	358.8	63.1	8.4	788	16434	0.00	2.58	0.00	0.000	4	0.000	0.064	2981	738	1375
16485	1.30	358.8	57.3	10.0	790	16492	0.00	2.53	0.00	0.000	6	0.000	0.052	2981	2149	1375
16802	1.35	358.8	27.9	9.2	806	16806	0.00	2.60	0.00	0.000	4	0.000	0.064	2981	733	1375
16842	1.41	358.8	23.9	11.2	808	16847	0.12	2.55	0.00	0.000	6	0.048	0.052	3016	2153	1375
17022	end climb: SURFACE_DEPTH_REACHED
state	17022	begin surface coast
17044	end surface coast: CONTROL_FINISHED_OK
state	17044	begin surface