Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 31 * 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 31 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 20 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 0 DEVICE2 20

T_MISSION 580 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 -77245.641 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 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 -77245.641

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 20 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 31 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 220856,6150.714,-914.114,48,1.1,48,-9.5 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.194,-0.107

_SM_DEPTHo 0.97 KALMAN_X -39405.6,242.4,6024.1,-17747.2,3990.2

_SM_ANGLEo -60.0 KALMAN_Y -5752.2,184.9,-773.5,54259.5,20698.5

GPS2 221750,6150.762,-913.863,9,1.7,14,-9.5 MHEAD_RNG_PITCHd_Wd 250.7,18253,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.012255 ALTIM_BOTTOM_PING 576.0,73.9

SM_CCo 16719,0.00,0.000,0,0,962,458.71 _24V_AH 23.8,9.853

SM_GC 0.91,10.93,0.00,0.00,0.035,0.000,0.000,423,2148,962,-10.38,-0.08,458.71 _10V_AH 10.0,3.456

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41142,795

TT8_MAMPS 0.029146 CAP_FILE_SIZE 139639,0

HUMID 1684 CFSIZE 254472192,250290176

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,0,0

XPDR_PINGS 560 GPS 120608,025901,6152.975,-914.217,62,1.5,62,-9.5

ALTIM_TOP_PING 19.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 81.94 SBE_CT 544 24 311.04

Roll_motor 207 88 438.65 SBE_O2 589 19 266.39

VBD_pump_during_apogee 510 1292 15708.62 WL_BB2F 474 105 1186.19

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 75 103 185.13 nil 0 0 0.00

Iridium_during_connect 55 160 211.41 nil 0 0 0.00

Iridium_during_xfer 212 223 1128.89

Transponder_ping 145 420 1449.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.39

TT8 1531 19 303.26

LPSleep 12504 2 273.85

TT8_Active 610 19 120.88

TT8_Sampling 1942 39 773.17

TT8_CF8 662 45 303.31

TT8_Kalman 33 81 27.28

Analog_circuits 1653 12 198.45

GPS_charging 0 0 0.00

Compass 1897 8 151.79

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 -0.97 -146.6 0.0 0.0 0 100 0.00 0.00 -71.60 0.000 6 0.000 0.000 418 2160 3429

104 -0.97 -146.6 5.5 -6.2 4 120 10.70 2.55 0.00 0.000 4 0.139 0.062 2483 3565 3431

311 -0.74 -146.6 39.6 -11.7 12 316 0.25 2.53 0.00 0.000 6 0.086 0.048 2536 2144 3433

629 -0.65 -146.6 65.8 -8.4 27 634 0.10 2.60 0.00 0.000 4 0.098 0.063 2556 3558 3433

696 -0.65 -146.6 72.4 -9.2 30 700 0.00 2.50 0.00 0.000 6 0.000 0.048 2556 2150 3433

1017 -0.65 -146.6 99.7 -7.9 46 1021 0.00 2.60 0.00 0.000 4 0.000 0.065 2556 3564 3433

1066 -0.65 -146.6 104.0 -8.1 48 1071 0.00 2.53 0.00 0.000 6 0.000 0.049 2555 2145 3433

1382 -0.65 -146.6 129.4 -8.2 63 1384 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2126 3433

1691 -0.65 -146.6 154.9 -8.5 78 1696 0.00 2.60 0.00 0.000 4 0.000 0.067 2555 3558 3433

1747 -0.65 -146.6 160.1 -9.1 80 1754 0.00 2.50 0.00 0.000 6 0.000 0.049 2556 2147 3433

2063 -0.65 -146.6 187.5 -8.8 96 2067 0.00 2.60 0.00 0.000 4 0.000 0.067 2556 3564 3433

2107 -0.65 -146.6 191.8 -9.6 98 2111 0.00 2.53 0.00 0.000 6 0.000 0.049 2556 2145 3433

2428 -0.65 -146.6 221.4 -9.2 114 2432 0.00 2.60 0.00 0.000 4 0.000 0.067 2556 3561 3433

2472 -0.65 -146.6 225.7 -9.6 116 2476 0.00 2.53 0.00 0.000 6 0.000 0.050 2556 2144 3433

2793 -0.65 -146.6 253.8 -8.3 132 2797 0.00 2.62 0.00 0.000 4 0.000 0.069 2556 3564 3433

2848 -0.65 -146.6 258.7 -8.8 134 2854 0.00 2.53 0.00 0.000 6 0.000 0.051 2556 2147 3433

3163 -0.65 -146.6 284.6 -7.9 150 3168 0.00 2.60 0.00 0.000 4 0.000 0.068 2556 3558 3433

3191 -0.65 -146.6 286.9 -8.1 151 3195 0.00 2.53 0.00 0.000 6 0.000 0.052 2556 2146 3433

3507 -0.65 -146.6 309.6 -6.8 166 3511 0.00 2.60 0.00 0.000 4 0.000 0.068 2556 3558 3433

3524 -0.65 -146.6 310.9 -7.0 167 3528 0.00 2.53 0.00 0.000 6 0.000 0.053 2556 2152 3432

3850 -0.65 -146.6 332.4 -6.7 183 3855 0.00 2.58 0.00 0.000 4 0.000 0.069 2556 3557 3433

3906 -0.65 -146.6 336.3 -7.1 185 3912 0.00 2.53 0.00 0.000 6 0.000 0.051 2556 2143 3432

4222 -0.65 -146.6 355.6 -6.2 201 4226 0.00 2.60 0.00 0.000 4 0.000 0.068 2556 3564 3432

4249 -0.65 -146.6 357.4 -6.4 202 4253 0.00 2.53 0.00 0.000 6 0.000 0.051 2556 2149 3432

4565 -0.65 -146.6 377.4 -6.4 217 4569 0.00 2.60 0.00 0.000 4 0.000 0.070 2556 3561 3432

4598 -0.65 -146.6 379.7 -7.2 218 4604 0.00 2.53 0.00 0.000 6 0.000 0.052 2556 2148 3432

4913 -0.65 -146.6 399.9 -6.4 234 4918 0.00 2.60 0.00 0.000 4 0.000 0.070 2556 3562 3431

4946 -0.65 -146.6 402.2 -6.8 235 4950 0.00 2.53 0.00 0.000 6 0.000 0.053 2556 2150 3432

5262 -0.65 -146.6 423.5 -6.9 250 5263 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2133 3432

5571 -0.65 -146.6 444.3 -6.3 265 5575 0.00 2.62 0.00 0.000 4 0.000 0.070 2556 3565 3431

5650 -0.65 -146.6 449.5 -6.2 268 5657 0.00 2.55 0.00 0.000 6 0.000 0.053 2556 2139 3431

5966 -0.65 -146.6 468.7 -6.0 284 5970 0.00 2.62 0.00 0.000 4 0.000 0.069 2556 3559 3430

6006 -0.65 -146.6 471.1 -6.2 286 6010 0.00 2.53 0.00 0.000 6 0.000 0.053 2556 2142 3431

6332 -0.65 -146.6 492.1 -6.9 302 6337 0.00 2.60 0.00 0.000 4 0.000 0.071 2556 3557 3430

6417 -0.65 -146.6 498.9 -8.4 306 6421 0.00 2.53 0.00 0.000 6 0.000 0.053 2556 2145 3430

6744 -0.65 -146.6 525.2 -7.7 322 6749 0.00 2.62 0.00 0.000 4 0.000 0.072 2556 3565 3430

6766 -0.65 -146.6 526.9 -6.9 323 6771 0.00 2.55 0.00 0.000 6 0.000 0.054 2556 2142 3430

7087 -0.65 -146.6 546.9 -6.6 339 7089 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2125 3430

7397 -0.65 -146.6 559.9 -3.4 354 7402 0.00 2.62 0.00 0.000 4 0.000 0.074 2556 3556 3430

7511 -0.65 -146.6 564.0 -3.4 359 7515 0.00 2.53 0.00 0.000 6 0.000 0.055 2556 2151 3430

7833 -0.65 -146.6 577.0 -4.9 375 7838 0.00 2.62 0.00 0.000 4 0.000 0.077 2556 3556 3430

7928 -0.65 -146.6 581.9 -5.1 379 7933 0.00 2.55 0.00 0.000 6 0.000 0.059 2556 2148 3430

8244 -0.65 -146.6 597.6 -5.6 394 8249 0.00 2.65 0.00 0.000 4 0.000 0.080 2556 3564 3430

8294 -0.65 -146.6 601.4 -7.4 396 8299 0.00 2.58 0.00 0.000 6 0.000 0.063 2556 2145 3430

8611 -0.74 -146.6 620.1 -4.0 411 8616 0.00 2.60 0.00 0.000 4 0.000 0.084 2556 743 3429

8631 -0.79 -146.6 620.6 -3.8 412 8636 0.12 2.60 0.00 0.000 6 0.058 0.071 2521 2146 3429

8955 end dive: BOTTOM_OBSTACLE_DETECTED

state 8955 begin apogee

8962 -0.33 0.0 640.4 5.8 428 9089 0.47 0.00 124.18 1.292 6 0.066 0.000 2626 2147 2832

9090 end apogee: CONTROL_FINISHED_OK

state 9090 begin climb

9093 0.97 146.6 640.0 0.0 434 9224 1.30 2.75 122.60 1.255 4 0.066 0.085 2908 3563 2234

9459 0.93 186.2 618.7 4.9 450 9499 0.00 2.65 34.25 1.217 6 0.000 0.068 2908 2144 2072

9818 0.86 186.2 595.2 9.1 468 9822 0.00 2.65 0.00 0.000 4 0.000 0.089 2908 746 2071

9885 0.90 255.1 592.0 4.1 471 9949 0.00 2.67 58.10 1.256 6 0.000 0.077 2908 2157 1790

10275 0.96 296.7 566.9 4.9 490 10317 0.00 2.80 35.47 1.252 4 0.000 0.088 2908 743 1622

10364 1.14 460.0 565.8 1.5 494 10508 0.15 2.67 136.10 1.251 6 0.057 0.075 2948 2149 956

10816 1.14 460.0 540.2 6.2 516 10821 0.00 2.67 0.00 0.000 4 0.000 0.087 2948 3560 956

10844 1.14 460.0 538.1 7.4 517 10848 0.00 2.65 0.00 0.000 6 0.000 0.071 2948 2151 957

11160 1.14 460.0 515.0 6.7 532 11164 0.00 2.62 0.00 0.000 4 0.000 0.082 2948 740 956

11237 1.14 460.0 509.6 7.9 535 11244 0.00 2.62 0.00 0.000 6 0.000 0.070 2948 2150 956

11553 1.14 460.0 482.9 9.2 551 11558 0.00 2.65 0.00 0.000 4 0.000 0.077 2948 740 956

11604 1.14 460.0 477.9 10.4 553 11608 0.00 2.62 0.00 0.000 6 0.000 0.065 2948 2155 956

11919 1.14 460.0 448.4 9.5 568 11924 0.00 2.65 0.00 0.000 4 0.000 0.074 2948 739 956

11964 1.14 460.0 443.7 10.6 570 11968 0.00 2.60 0.00 0.000 6 0.000 0.062 2948 2150 956

12285 1.14 460.0 412.4 9.8 586 12289 0.00 2.65 0.00 0.000 4 0.000 0.071 2948 736 957

12334 1.14 460.0 407.1 10.4 588 12339 0.00 2.60 0.00 0.000 6 0.000 0.060 2948 2156 957

12650 1.14 460.0 376.9 9.4 603 12654 0.00 2.62 0.00 0.000 4 0.000 0.071 2948 739 958

12695 1.14 460.0 372.5 9.7 605 12700 0.00 2.58 0.00 0.000 6 0.000 0.058 2948 2151 958

13017 1.14 460.0 343.4 8.9 621 13021 0.00 2.62 0.00 0.000 4 0.000 0.070 2948 738 958

13072 1.14 460.0 338.2 9.8 623 13078 0.00 2.58 0.00 0.000 6 0.000 0.058 2948 2155 959

13388 1.14 460.0 310.8 8.5 639 13392 0.00 2.60 0.00 0.000 4 0.000 0.068 2948 736 959

13432 1.14 460.0 306.7 9.4 641 13436 0.00 2.58 0.00 0.000 6 0.000 0.056 2948 2156 959

13753 1.14 460.0 279.0 8.7 657 13757 0.00 2.60 0.00 0.000 4 0.000 0.068 2948 738 960

13808 1.14 460.0 273.7 9.4 659 13814 0.00 2.55 0.00 0.000 6 0.000 0.056 2948 2150 960

14124 1.14 460.0 247.2 8.2 675 14128 0.00 2.60 0.00 0.000 4 0.000 0.067 2948 737 960

14167 1.14 460.0 243.3 8.7 677 14172 0.00 2.55 0.00 0.000 6 0.000 0.055 2948 2150 960

14489 1.18 460.0 216.6 8.6 693 14493 0.00 2.60 0.00 0.000 4 0.000 0.067 2948 739 960

14539 1.18 460.0 211.9 9.1 695 14543 0.00 2.55 0.00 0.000 6 0.000 0.055 2948 2150 961

14855 1.22 460.0 184.8 8.7 710 14859 0.00 2.58 0.00 0.000 4 0.000 0.067 2948 738 961

14905 1.26 460.0 180.2 9.2 712 14910 0.12 2.55 0.00 0.000 6 0.051 0.055 2990 2150 961

15223 1.14 460.0 139.2 13.7 727 15228 0.17 2.58 0.00 0.000 4 0.076 0.066 2948 737 961

15273 1.19 460.0 133.2 10.2 729 15277 0.00 2.55 0.00 0.000 6 0.000 0.054 2948 2152 962

15591 1.25 460.0 102.2 10.1 744 15596 0.10 2.60 0.00 0.000 4 0.056 0.065 2983 738 962

15655 1.17 460.0 94.4 12.2 747 15660 0.15 2.55 0.00 0.000 6 0.079 0.054 2951 2152 962

15984 1.22 460.0 62.7 9.2 763 15988 0.00 2.60 0.00 0.000 4 0.000 0.066 2951 737 962

16028 1.27 460.0 58.1 10.3 765 16033 0.10 2.55 0.00 0.000 6 0.057 0.054 2984 2155 962

16350 1.20 460.0 22.7 11.0 781 16355 0.12 2.60 0.00 0.000 4 0.081 0.064 2959 737 963

16384 1.24 460.0 19.4 7.7 782 16390 0.00 2.53 0.00 0.000 6 0.000 0.053 2959 2149 962

16614 end climb: SURFACE_DEPTH_REACHED

state 16614 begin surface coast

16638 end surface coast: CONTROL_FINISHED_OK

state 16638 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	31	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	20	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	0	DEVICE2	20
T_MISSION	580	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	-77245.641	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	220856,6150.714,-914.114,48,1.1,48,-9.5	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.194,-0.107
_SM_DEPTHo	0.97	KALMAN_X	-39405.6,242.4,6024.1,-17747.2,3990.2
_SM_ANGLEo	-60.0	KALMAN_Y	-5752.2,184.9,-773.5,54259.5,20698.5
GPS2	221750,6150.762,-913.863,9,1.7,14,-9.5	MHEAD_RNG_PITCHd_Wd	250.7,18253,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.012255	ALTIM_BOTTOM_PING	576.0,73.9
SM_CCo	16719,0.00,0.000,0,0,962,458.71	_24V_AH	23.8,9.853
SM_GC	0.91,10.93,0.00,0.00,0.035,0.000,0.000,423,2148,962,-10.38,-0.08,458.71	_10V_AH	10.0,3.456
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41142,795
TT8_MAMPS	0.029146	CAP_FILE_SIZE	139639,0
HUMID	1684	CFSIZE	254472192,250290176
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
XPDR_PINGS	560	GPS	120608,025901,6152.975,-914.217,62,1.5,62,-9.5
ALTIM_TOP_PING	19.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	81.94	SBE_CT	544	24	311.04
Roll_motor	207	88	438.65	SBE_O2	589	19	266.39
VBD_pump_during_apogee	510	1292	15708.62	WL_BB2F	474	105	1186.19
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	75	103	185.13	nil	0	0	0.00
Iridium_during_connect	55	160	211.41	nil	0	0	0.00
Iridium_during_xfer	212	223	1128.89
Transponder_ping	145	420	1449.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.39
TT8	1531	19	303.26
LPSleep	12504	2	273.85
TT8_Active	610	19	120.88
TT8_Sampling	1942	39	773.17
TT8_CF8	662	45	303.31
TT8_Kalman	33	81	27.28
Analog_circuits	1653	12	198.45
GPS_charging	0	0	0.00
Compass	1897	8	151.79
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	-0.97	-146.6	0.0	0.0	0	100	0.00	0.00	-71.60	0.000	6	0.000	0.000	418	2160	3429
104	-0.97	-146.6	5.5	-6.2	4	120	10.70	2.55	0.00	0.000	4	0.139	0.062	2483	3565	3431
311	-0.74	-146.6	39.6	-11.7	12	316	0.25	2.53	0.00	0.000	6	0.086	0.048	2536	2144	3433
629	-0.65	-146.6	65.8	-8.4	27	634	0.10	2.60	0.00	0.000	4	0.098	0.063	2556	3558	3433
696	-0.65	-146.6	72.4	-9.2	30	700	0.00	2.50	0.00	0.000	6	0.000	0.048	2556	2150	3433
1017	-0.65	-146.6	99.7	-7.9	46	1021	0.00	2.60	0.00	0.000	4	0.000	0.065	2556	3564	3433
1066	-0.65	-146.6	104.0	-8.1	48	1071	0.00	2.53	0.00	0.000	6	0.000	0.049	2555	2145	3433
1382	-0.65	-146.6	129.4	-8.2	63	1384	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2126	3433
1691	-0.65	-146.6	154.9	-8.5	78	1696	0.00	2.60	0.00	0.000	4	0.000	0.067	2555	3558	3433
1747	-0.65	-146.6	160.1	-9.1	80	1754	0.00	2.50	0.00	0.000	6	0.000	0.049	2556	2147	3433
2063	-0.65	-146.6	187.5	-8.8	96	2067	0.00	2.60	0.00	0.000	4	0.000	0.067	2556	3564	3433
2107	-0.65	-146.6	191.8	-9.6	98	2111	0.00	2.53	0.00	0.000	6	0.000	0.049	2556	2145	3433
2428	-0.65	-146.6	221.4	-9.2	114	2432	0.00	2.60	0.00	0.000	4	0.000	0.067	2556	3561	3433
2472	-0.65	-146.6	225.7	-9.6	116	2476	0.00	2.53	0.00	0.000	6	0.000	0.050	2556	2144	3433
2793	-0.65	-146.6	253.8	-8.3	132	2797	0.00	2.62	0.00	0.000	4	0.000	0.069	2556	3564	3433
2848	-0.65	-146.6	258.7	-8.8	134	2854	0.00	2.53	0.00	0.000	6	0.000	0.051	2556	2147	3433
3163	-0.65	-146.6	284.6	-7.9	150	3168	0.00	2.60	0.00	0.000	4	0.000	0.068	2556	3558	3433
3191	-0.65	-146.6	286.9	-8.1	151	3195	0.00	2.53	0.00	0.000	6	0.000	0.052	2556	2146	3433
3507	-0.65	-146.6	309.6	-6.8	166	3511	0.00	2.60	0.00	0.000	4	0.000	0.068	2556	3558	3433
3524	-0.65	-146.6	310.9	-7.0	167	3528	0.00	2.53	0.00	0.000	6	0.000	0.053	2556	2152	3432
3850	-0.65	-146.6	332.4	-6.7	183	3855	0.00	2.58	0.00	0.000	4	0.000	0.069	2556	3557	3433
3906	-0.65	-146.6	336.3	-7.1	185	3912	0.00	2.53	0.00	0.000	6	0.000	0.051	2556	2143	3432
4222	-0.65	-146.6	355.6	-6.2	201	4226	0.00	2.60	0.00	0.000	4	0.000	0.068	2556	3564	3432
4249	-0.65	-146.6	357.4	-6.4	202	4253	0.00	2.53	0.00	0.000	6	0.000	0.051	2556	2149	3432
4565	-0.65	-146.6	377.4	-6.4	217	4569	0.00	2.60	0.00	0.000	4	0.000	0.070	2556	3561	3432
4598	-0.65	-146.6	379.7	-7.2	218	4604	0.00	2.53	0.00	0.000	6	0.000	0.052	2556	2148	3432
4913	-0.65	-146.6	399.9	-6.4	234	4918	0.00	2.60	0.00	0.000	4	0.000	0.070	2556	3562	3431
4946	-0.65	-146.6	402.2	-6.8	235	4950	0.00	2.53	0.00	0.000	6	0.000	0.053	2556	2150	3432
5262	-0.65	-146.6	423.5	-6.9	250	5263	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2133	3432
5571	-0.65	-146.6	444.3	-6.3	265	5575	0.00	2.62	0.00	0.000	4	0.000	0.070	2556	3565	3431
5650	-0.65	-146.6	449.5	-6.2	268	5657	0.00	2.55	0.00	0.000	6	0.000	0.053	2556	2139	3431
5966	-0.65	-146.6	468.7	-6.0	284	5970	0.00	2.62	0.00	0.000	4	0.000	0.069	2556	3559	3430
6006	-0.65	-146.6	471.1	-6.2	286	6010	0.00	2.53	0.00	0.000	6	0.000	0.053	2556	2142	3431
6332	-0.65	-146.6	492.1	-6.9	302	6337	0.00	2.60	0.00	0.000	4	0.000	0.071	2556	3557	3430
6417	-0.65	-146.6	498.9	-8.4	306	6421	0.00	2.53	0.00	0.000	6	0.000	0.053	2556	2145	3430
6744	-0.65	-146.6	525.2	-7.7	322	6749	0.00	2.62	0.00	0.000	4	0.000	0.072	2556	3565	3430
6766	-0.65	-146.6	526.9	-6.9	323	6771	0.00	2.55	0.00	0.000	6	0.000	0.054	2556	2142	3430
7087	-0.65	-146.6	546.9	-6.6	339	7089	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2125	3430
7397	-0.65	-146.6	559.9	-3.4	354	7402	0.00	2.62	0.00	0.000	4	0.000	0.074	2556	3556	3430
7511	-0.65	-146.6	564.0	-3.4	359	7515	0.00	2.53	0.00	0.000	6	0.000	0.055	2556	2151	3430
7833	-0.65	-146.6	577.0	-4.9	375	7838	0.00	2.62	0.00	0.000	4	0.000	0.077	2556	3556	3430
7928	-0.65	-146.6	581.9	-5.1	379	7933	0.00	2.55	0.00	0.000	6	0.000	0.059	2556	2148	3430
8244	-0.65	-146.6	597.6	-5.6	394	8249	0.00	2.65	0.00	0.000	4	0.000	0.080	2556	3564	3430
8294	-0.65	-146.6	601.4	-7.4	396	8299	0.00	2.58	0.00	0.000	6	0.000	0.063	2556	2145	3430
8611	-0.74	-146.6	620.1	-4.0	411	8616	0.00	2.60	0.00	0.000	4	0.000	0.084	2556	743	3429
8631	-0.79	-146.6	620.6	-3.8	412	8636	0.12	2.60	0.00	0.000	6	0.058	0.071	2521	2146	3429
8955	end dive: BOTTOM_OBSTACLE_DETECTED
state	8955	begin apogee
8962	-0.33	0.0	640.4	5.8	428	9089	0.47	0.00	124.18	1.292	6	0.066	0.000	2626	2147	2832
9090	end apogee: CONTROL_FINISHED_OK
state	9090	begin climb
9093	0.97	146.6	640.0	0.0	434	9224	1.30	2.75	122.60	1.255	4	0.066	0.085	2908	3563	2234
9459	0.93	186.2	618.7	4.9	450	9499	0.00	2.65	34.25	1.217	6	0.000	0.068	2908	2144	2072
9818	0.86	186.2	595.2	9.1	468	9822	0.00	2.65	0.00	0.000	4	0.000	0.089	2908	746	2071
9885	0.90	255.1	592.0	4.1	471	9949	0.00	2.67	58.10	1.256	6	0.000	0.077	2908	2157	1790
10275	0.96	296.7	566.9	4.9	490	10317	0.00	2.80	35.47	1.252	4	0.000	0.088	2908	743	1622
10364	1.14	460.0	565.8	1.5	494	10508	0.15	2.67	136.10	1.251	6	0.057	0.075	2948	2149	956
10816	1.14	460.0	540.2	6.2	516	10821	0.00	2.67	0.00	0.000	4	0.000	0.087	2948	3560	956
10844	1.14	460.0	538.1	7.4	517	10848	0.00	2.65	0.00	0.000	6	0.000	0.071	2948	2151	957
11160	1.14	460.0	515.0	6.7	532	11164	0.00	2.62	0.00	0.000	4	0.000	0.082	2948	740	956
11237	1.14	460.0	509.6	7.9	535	11244	0.00	2.62	0.00	0.000	6	0.000	0.070	2948	2150	956
11553	1.14	460.0	482.9	9.2	551	11558	0.00	2.65	0.00	0.000	4	0.000	0.077	2948	740	956
11604	1.14	460.0	477.9	10.4	553	11608	0.00	2.62	0.00	0.000	6	0.000	0.065	2948	2155	956
11919	1.14	460.0	448.4	9.5	568	11924	0.00	2.65	0.00	0.000	4	0.000	0.074	2948	739	956
11964	1.14	460.0	443.7	10.6	570	11968	0.00	2.60	0.00	0.000	6	0.000	0.062	2948	2150	956
12285	1.14	460.0	412.4	9.8	586	12289	0.00	2.65	0.00	0.000	4	0.000	0.071	2948	736	957
12334	1.14	460.0	407.1	10.4	588	12339	0.00	2.60	0.00	0.000	6	0.000	0.060	2948	2156	957
12650	1.14	460.0	376.9	9.4	603	12654	0.00	2.62	0.00	0.000	4	0.000	0.071	2948	739	958
12695	1.14	460.0	372.5	9.7	605	12700	0.00	2.58	0.00	0.000	6	0.000	0.058	2948	2151	958
13017	1.14	460.0	343.4	8.9	621	13021	0.00	2.62	0.00	0.000	4	0.000	0.070	2948	738	958
13072	1.14	460.0	338.2	9.8	623	13078	0.00	2.58	0.00	0.000	6	0.000	0.058	2948	2155	959
13388	1.14	460.0	310.8	8.5	639	13392	0.00	2.60	0.00	0.000	4	0.000	0.068	2948	736	959
13432	1.14	460.0	306.7	9.4	641	13436	0.00	2.58	0.00	0.000	6	0.000	0.056	2948	2156	959
13753	1.14	460.0	279.0	8.7	657	13757	0.00	2.60	0.00	0.000	4	0.000	0.068	2948	738	960
13808	1.14	460.0	273.7	9.4	659	13814	0.00	2.55	0.00	0.000	6	0.000	0.056	2948	2150	960
14124	1.14	460.0	247.2	8.2	675	14128	0.00	2.60	0.00	0.000	4	0.000	0.067	2948	737	960
14167	1.14	460.0	243.3	8.7	677	14172	0.00	2.55	0.00	0.000	6	0.000	0.055	2948	2150	960
14489	1.18	460.0	216.6	8.6	693	14493	0.00	2.60	0.00	0.000	4	0.000	0.067	2948	739	960
14539	1.18	460.0	211.9	9.1	695	14543	0.00	2.55	0.00	0.000	6	0.000	0.055	2948	2150	961
14855	1.22	460.0	184.8	8.7	710	14859	0.00	2.58	0.00	0.000	4	0.000	0.067	2948	738	961
14905	1.26	460.0	180.2	9.2	712	14910	0.12	2.55	0.00	0.000	6	0.051	0.055	2990	2150	961
15223	1.14	460.0	139.2	13.7	727	15228	0.17	2.58	0.00	0.000	4	0.076	0.066	2948	737	961
15273	1.19	460.0	133.2	10.2	729	15277	0.00	2.55	0.00	0.000	6	0.000	0.054	2948	2152	962
15591	1.25	460.0	102.2	10.1	744	15596	0.10	2.60	0.00	0.000	4	0.056	0.065	2983	738	962
15655	1.17	460.0	94.4	12.2	747	15660	0.15	2.55	0.00	0.000	6	0.079	0.054	2951	2152	962
15984	1.22	460.0	62.7	9.2	763	15988	0.00	2.60	0.00	0.000	4	0.000	0.066	2951	737	962
16028	1.27	460.0	58.1	10.3	765	16033	0.10	2.55	0.00	0.000	6	0.057	0.054	2984	2155	962
16350	1.20	460.0	22.7	11.0	781	16355	0.12	2.60	0.00	0.000	4	0.081	0.064	2959	737	963
16384	1.24	460.0	19.4	7.7	782	16390	0.00	2.53	0.00	0.000	6	0.000	0.053	2959	2149	962
16614	end climb: SURFACE_DEPTH_REACHED
state	16614	begin surface coast
16638	end surface coast: CONTROL_FINISHED_OK
state	16638	begin surface