Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 32 * 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 32 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -77263.406 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 -77263.406

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 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 32 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 025901,6152.975,-914.217,62,1.5,62,-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 0.089,-0.203

_SM_DEPTHo 0.90 KALMAN_X -39562.1,-875.7,13704.7,-24349.3,-7018.0

_SM_ANGLEo -56.3 KALMAN_Y 10858.2,-1857.7,-8810.5,51919.2,39993.5

GPS2 030432,6152.993,-914.073,12,1.1,17,-9.5 MHEAD_RNG_PITCHd_Wd 165.8,22375,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027108 ALTIM_BOTTOM_PING 525.7,65.8

SM_CCo 15043,0.00,0.000,0,0,1110,422.41 _24V_AH 23.8,10.040

SM_GC 0.97,10.95,0.00,0.00,0.037,0.000,0.000,420,2167,1110,-10.40,0.51,422.41 _10V_AH 10.0,3.531

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37938,720

TT8_MAMPS 0.029146 CAP_FILE_SIZE 124903,0

HUMID 1675 CFSIZE 254472192,250249216

TCM_TEMP 17.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,11,0,0

XPDR_PINGS 524 GPS 120608,071725,6151.755,-908.020,42,1.2,42,-9.4

ALTIM_TOP_PING 17.7,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 81.41 SBE_CT 492 24 281.39

Roll_motor 196 85 398.26 SBE_O2 533 19 241.29

VBD_pump_during_apogee 472 1222 13734.18 WL_BB2F 450 105 1125.96

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 92.57 nil 0 0 0.00

Iridium_during_connect 27 160 106.34 nil 0 0 0.00

Iridium_during_xfer 141 223 752.39

Transponder_ping 135 420 1354.46

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.57

TT8 1371 19 271.53

LPSleep 11197 2 245.22

TT8_Active 598 19 118.59

TT8_Sampling 1706 39 679.38

TT8_CF8 497 45 227.95

TT8_Kalman 33 81 27.29

Analog_circuits 1528 12 183.39

GPS_charging 0 0 0.00

Compass 1665 8 133.22

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

26 -0.97 -146.6 0.0 0.0 0 128 0.00 0.00 -99.07 0.000 6 0.000 0.000 423 2148 3431

132 -0.97 -146.6 5.0 -4.8 5 148 10.65 2.58 0.00 0.000 4 0.138 0.056 2480 734 3433

352 -0.76 -146.6 41.0 -12.4 14 357 0.25 2.53 0.00 0.000 6 0.085 0.051 2533 2149 3434

679 -0.68 -146.6 71.4 -9.3 30 683 0.00 2.55 0.00 0.000 4 0.000 0.061 2533 737 3434

729 -0.62 -146.6 76.4 -9.7 32 734 0.15 2.55 0.00 0.000 6 0.088 0.052 2566 2155 3434

1045 -0.62 -146.6 102.7 -8.6 47 1050 0.00 2.60 0.00 0.000 4 0.000 0.061 2566 732 3435

1056 -0.62 -146.6 103.7 -8.5 47 1063 0.00 2.55 0.00 0.000 6 0.000 0.053 2566 2151 3435

1372 -0.62 -146.6 131.0 -8.5 63 1373 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2152 3435

1681 -0.62 -146.6 154.4 -7.0 78 1685 0.00 2.55 0.00 0.000 4 0.000 0.067 2566 3557 3435

1691 -0.62 -146.6 155.3 -7.1 78 1697 0.00 2.53 0.00 0.000 6 0.000 0.051 2566 2143 3435

2008 -0.62 -146.6 176.0 -6.6 94 2012 0.00 2.62 0.00 0.000 4 0.000 0.067 2566 3565 3435

2018 -0.62 -146.6 176.8 -6.6 94 2024 0.00 2.53 0.00 0.000 6 0.000 0.049 2566 2147 3435

2334 -0.62 -146.6 198.2 -6.9 110 2338 0.00 2.60 0.00 0.000 4 0.000 0.067 2565 3557 3435

2396 -0.66 -146.6 202.5 -6.8 113 2400 0.00 2.50 0.00 0.000 6 0.000 0.049 2566 2150 3435

2722 -0.66 -146.6 224.4 -6.7 129 2727 0.00 2.60 0.00 0.000 4 0.000 0.067 2566 3557 3435

2763 -0.66 -146.6 227.3 -7.1 131 2767 0.00 2.53 0.00 0.000 6 0.000 0.051 2566 2143 3435

3090 -0.66 -146.6 250.7 -7.5 147 3095 0.00 2.60 0.00 0.000 4 0.000 0.067 2566 3558 3434

3112 -0.66 -146.6 252.6 -7.8 148 3116 0.00 2.50 0.00 0.000 6 0.000 0.050 2566 2151 3434

3433 -0.66 -146.6 277.1 -7.5 164 3438 0.00 2.60 0.00 0.000 4 0.000 0.068 2566 3559 3434

3474 -0.72 -146.6 280.5 -8.7 166 3479 0.10 2.53 0.00 0.000 6 0.056 0.051 2534 2145 3434

3801 -0.65 -146.6 310.0 -9.0 182 3806 0.10 2.62 0.00 0.000 4 0.096 0.069 2554 3560 3434

3819 -0.65 -146.6 311.4 -8.7 183 3823 0.00 2.53 0.00 0.000 6 0.000 0.053 2554 2151 3434

4145 -0.65 -146.6 337.0 -8.0 199 4149 0.00 2.60 0.00 0.000 4 0.000 0.069 2554 3558 3434

4166 -0.65 -146.6 339.0 -8.4 200 4171 0.00 2.53 0.00 0.000 6 0.000 0.053 2554 2151 3434

4488 -0.65 -146.6 364.0 -7.7 216 4492 0.00 2.60 0.00 0.000 4 0.000 0.070 2554 3558 3434

4509 -0.65 -146.6 365.9 -7.8 217 4514 0.00 2.53 0.00 0.000 6 0.000 0.053 2554 2149 3434

4831 -0.65 -146.6 391.8 -8.3 233 4835 0.00 2.60 0.00 0.000 4 0.000 0.070 2554 3564 3434

4847 -0.65 -146.6 393.1 -8.5 234 4852 0.00 2.53 0.00 0.000 6 0.000 0.054 2554 2150 3434

5174 -0.65 -146.6 422.6 -9.1 250 5179 0.00 2.62 0.00 0.000 4 0.000 0.071 2554 3562 3434

5219 -0.65 -146.6 426.8 -9.5 252 5223 0.00 2.55 0.00 0.000 6 0.000 0.054 2554 2142 3433

5539 -0.65 -146.6 453.9 -8.5 268 5544 0.00 2.62 0.00 0.000 4 0.000 0.069 2554 3560 3433

5562 -0.65 -146.6 455.8 -8.2 269 5566 0.00 2.53 0.00 0.000 6 0.000 0.052 2554 2150 3433

5883 -0.65 -146.6 478.9 -6.7 285 5887 0.00 2.60 0.00 0.000 4 0.000 0.071 2554 3557 3433

5939 -0.65 -146.6 482.8 -7.2 287 5945 0.00 2.53 0.00 0.000 6 0.000 0.053 2554 2150 3433

6256 -0.65 -146.6 502.4 -5.1 303 6260 0.00 2.62 0.00 0.000 4 0.000 0.071 2554 3558 3433

6363 -0.65 -146.6 508.8 -5.8 308 6367 0.00 2.53 0.00 0.000 6 0.000 0.054 2554 2142 3432

6692 -0.65 -146.6 525.7 -6.0 324 6696 0.00 2.62 0.00 0.000 4 0.000 0.074 2554 3556 3432

6702 -0.65 -146.6 526.6 -6.2 324 6708 0.00 2.55 0.00 0.000 6 0.000 0.058 2554 2147 3433

7018 -0.65 -146.6 550.3 -7.9 340 7022 0.00 2.65 0.00 0.000 4 0.000 0.076 2554 3558 3433

7106 -0.65 -146.6 557.6 -7.4 344 7111 0.00 2.55 0.00 0.000 6 0.000 0.058 2554 2150 3432

7428 -0.69 -146.6 580.2 -6.6 360 7433 0.00 2.67 0.00 0.000 4 0.000 0.082 2554 3557 3432

7453 end dive: BOTTOM_OBSTACLE_DETECTED

state 7454 begin apogee

7463 -0.33 0.0 581.8 6.4 361 7593 0.32 0.00 123.55 1.223 6 0.082 0.000 2624 2128 2832

7594 end apogee: CONTROL_FINISHED_OK

state 7594 begin climb

7597 0.97 146.6 584.1 0.0 368 7728 1.33 2.72 120.95 1.187 4 0.070 0.084 2909 744 2234

7759 0.87 146.6 573.6 8.4 375 7765 0.00 2.65 0.00 0.000 6 0.000 0.069 2909 2148 2234

8075 1.01 303.0 558.8 1.7 391 8211 0.00 2.78 128.07 1.188 4 0.000 0.085 2909 3554 1596

8251 1.20 422.7 555.6 2.7 399 8357 0.22 2.65 99.43 1.158 6 0.049 0.070 2970 2152 1108

8673 1.12 422.7 521.5 8.1 420 8678 0.12 2.67 0.00 0.000 4 0.088 0.084 2945 740 1109

8740 1.12 422.7 516.1 6.8 423 8744 0.00 2.65 0.00 0.000 6 0.000 0.071 2945 2150 1109

9061 1.12 422.7 487.2 8.9 439 9065 0.00 2.67 0.00 0.000 4 0.000 0.079 2945 739 1108

9110 1.12 422.7 481.9 10.6 441 9115 0.00 2.62 0.00 0.000 6 0.000 0.066 2944 2151 1107

9426 1.12 422.7 454.6 7.7 456 9427 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2150 1107

9735 1.12 422.7 433.6 6.8 471 9740 0.00 2.65 0.00 0.000 4 0.000 0.073 2944 737 1107

9807 1.12 422.7 428.5 7.5 474 9812 0.00 2.60 0.00 0.000 6 0.000 0.060 2945 2156 1107

10123 1.12 422.7 406.1 8.1 489 10127 0.00 2.62 0.00 0.000 4 0.000 0.071 2945 743 1107

10173 1.12 422.7 401.7 8.9 491 10177 0.00 2.55 0.00 0.000 6 0.000 0.058 2945 2150 1107

10489 1.12 422.7 373.5 9.1 506 10493 0.00 2.62 0.00 0.000 4 0.000 0.070 2944 738 1108

10538 1.12 422.7 368.5 10.0 508 10542 0.00 2.58 0.00 0.000 6 0.000 0.057 2945 2153 1108

10854 1.12 422.7 340.8 8.6 523 10858 0.00 2.60 0.00 0.000 4 0.000 0.069 2944 742 1108

10903 1.12 422.7 336.3 9.7 525 10908 0.00 2.58 0.00 0.000 6 0.000 0.057 2945 2160 1108

11219 1.12 422.7 311.4 8.0 540 11223 0.00 2.62 0.00 0.000 4 0.000 0.068 2945 736 1109

11269 1.12 422.7 307.3 8.8 542 11273 0.00 2.55 0.00 0.000 6 0.000 0.055 2945 2153 1109

11584 1.12 422.7 283.2 7.8 557 11588 0.00 2.62 0.00 0.000 4 0.000 0.067 2945 738 1109

11628 1.12 422.7 279.5 8.6 559 11632 0.00 2.55 0.00 0.000 6 0.000 0.056 2944 2150 1109

11949 1.12 422.7 256.1 7.1 575 11953 0.00 2.58 0.00 0.000 4 0.000 0.067 2945 742 1110

11998 1.12 422.7 252.2 8.1 577 12003 0.00 2.55 0.00 0.000 6 0.000 0.056 2945 2150 1110

12314 1.12 422.7 230.4 6.8 592 12318 0.00 2.60 0.00 0.000 4 0.000 0.067 2944 740 1110

12358 1.12 422.7 227.0 7.5 594 12362 0.00 2.55 0.00 0.000 6 0.000 0.056 2945 2149 1110

12679 1.16 422.7 204.5 7.1 610 12683 0.00 2.60 0.00 0.000 4 0.000 0.067 2944 740 1110

12723 1.16 422.7 201.2 7.6 612 12727 0.00 2.55 0.00 0.000 6 0.000 0.055 2945 2151 1110

13043 1.16 422.7 179.6 6.9 628 13048 0.00 2.60 0.00 0.000 4 0.000 0.067 2945 736 1110

13088 1.16 422.7 176.1 7.3 630 13092 0.00 2.55 0.00 0.000 6 0.000 0.054 2945 2150 1111

13409 1.20 422.7 151.6 8.0 646 13414 0.00 2.60 0.00 0.000 4 0.000 0.067 2945 740 1111

13460 1.25 422.7 147.2 8.2 648 13465 0.12 2.55 0.00 0.000 6 0.051 0.054 2984 2154 1111

13778 1.14 422.7 113.0 11.2 663 13780 0.17 0.00 0.00 0.000 6 0.076 0.000 2948 2154 1111

14085 1.14 422.7 87.0 8.5 678 14090 0.00 2.60 0.00 0.000 4 0.000 0.066 2947 739 1111

14149 1.18 422.7 81.2 8.9 681 14153 0.00 2.55 0.00 0.000 6 0.000 0.054 2948 2155 1111

14476 1.23 422.7 53.8 8.7 697 14481 0.00 2.60 0.00 0.000 4 0.000 0.065 2948 739 1112

14527 1.27 422.7 48.4 10.6 699 14532 0.12 2.55 0.00 0.000 6 0.050 0.054 2989 2157 1112

14844 1.17 422.7 10.0 12.4 714 14849 0.15 2.60 0.00 0.000 4 0.075 0.064 2952 740 1112

14884 1.17 422.7 5.8 8.9 716 14888 0.00 2.53 0.00 0.000 6 0.000 0.054 2952 2148 1112

14940 end climb: SURFACE_DEPTH_REACHED

state 14940 begin surface coast

14962 end surface coast: CONTROL_FINISHED_OK

state 14962 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	32	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-77263.406	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	025901,6152.975,-914.217,62,1.5,62,-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	0.089,-0.203
_SM_DEPTHo	0.90	KALMAN_X	-39562.1,-875.7,13704.7,-24349.3,-7018.0
_SM_ANGLEo	-56.3	KALMAN_Y	10858.2,-1857.7,-8810.5,51919.2,39993.5
GPS2	030432,6152.993,-914.073,12,1.1,17,-9.5	MHEAD_RNG_PITCHd_Wd	165.8,22375,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.027108	ALTIM_BOTTOM_PING	525.7,65.8
SM_CCo	15043,0.00,0.000,0,0,1110,422.41	_24V_AH	23.8,10.040
SM_GC	0.97,10.95,0.00,0.00,0.037,0.000,0.000,420,2167,1110,-10.40,0.51,422.41	_10V_AH	10.0,3.531
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37938,720
TT8_MAMPS	0.029146	CAP_FILE_SIZE	124903,0
HUMID	1675	CFSIZE	254472192,250249216
TCM_TEMP	17.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
XPDR_PINGS	524	GPS	120608,071725,6151.755,-908.020,42,1.2,42,-9.4
ALTIM_TOP_PING	17.7,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	81.41	SBE_CT	492	24	281.39
Roll_motor	196	85	398.26	SBE_O2	533	19	241.29
VBD_pump_during_apogee	472	1222	13734.18	WL_BB2F	450	105	1125.96
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	92.57	nil	0	0	0.00
Iridium_during_connect	27	160	106.34	nil	0	0	0.00
Iridium_during_xfer	141	223	752.39
Transponder_ping	135	420	1354.46
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.57
TT8	1371	19	271.53
LPSleep	11197	2	245.22
TT8_Active	598	19	118.59
TT8_Sampling	1706	39	679.38
TT8_CF8	497	45	227.95
TT8_Kalman	33	81	27.29
Analog_circuits	1528	12	183.39
GPS_charging	0	0	0.00
Compass	1665	8	133.22
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
26	-0.97	-146.6	0.0	0.0	0	128	0.00	0.00	-99.07	0.000	6	0.000	0.000	423	2148	3431
132	-0.97	-146.6	5.0	-4.8	5	148	10.65	2.58	0.00	0.000	4	0.138	0.056	2480	734	3433
352	-0.76	-146.6	41.0	-12.4	14	357	0.25	2.53	0.00	0.000	6	0.085	0.051	2533	2149	3434
679	-0.68	-146.6	71.4	-9.3	30	683	0.00	2.55	0.00	0.000	4	0.000	0.061	2533	737	3434
729	-0.62	-146.6	76.4	-9.7	32	734	0.15	2.55	0.00	0.000	6	0.088	0.052	2566	2155	3434
1045	-0.62	-146.6	102.7	-8.6	47	1050	0.00	2.60	0.00	0.000	4	0.000	0.061	2566	732	3435
1056	-0.62	-146.6	103.7	-8.5	47	1063	0.00	2.55	0.00	0.000	6	0.000	0.053	2566	2151	3435
1372	-0.62	-146.6	131.0	-8.5	63	1373	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2152	3435
1681	-0.62	-146.6	154.4	-7.0	78	1685	0.00	2.55	0.00	0.000	4	0.000	0.067	2566	3557	3435
1691	-0.62	-146.6	155.3	-7.1	78	1697	0.00	2.53	0.00	0.000	6	0.000	0.051	2566	2143	3435
2008	-0.62	-146.6	176.0	-6.6	94	2012	0.00	2.62	0.00	0.000	4	0.000	0.067	2566	3565	3435
2018	-0.62	-146.6	176.8	-6.6	94	2024	0.00	2.53	0.00	0.000	6	0.000	0.049	2566	2147	3435
2334	-0.62	-146.6	198.2	-6.9	110	2338	0.00	2.60	0.00	0.000	4	0.000	0.067	2565	3557	3435
2396	-0.66	-146.6	202.5	-6.8	113	2400	0.00	2.50	0.00	0.000	6	0.000	0.049	2566	2150	3435
2722	-0.66	-146.6	224.4	-6.7	129	2727	0.00	2.60	0.00	0.000	4	0.000	0.067	2566	3557	3435
2763	-0.66	-146.6	227.3	-7.1	131	2767	0.00	2.53	0.00	0.000	6	0.000	0.051	2566	2143	3435
3090	-0.66	-146.6	250.7	-7.5	147	3095	0.00	2.60	0.00	0.000	4	0.000	0.067	2566	3558	3434
3112	-0.66	-146.6	252.6	-7.8	148	3116	0.00	2.50	0.00	0.000	6	0.000	0.050	2566	2151	3434
3433	-0.66	-146.6	277.1	-7.5	164	3438	0.00	2.60	0.00	0.000	4	0.000	0.068	2566	3559	3434
3474	-0.72	-146.6	280.5	-8.7	166	3479	0.10	2.53	0.00	0.000	6	0.056	0.051	2534	2145	3434
3801	-0.65	-146.6	310.0	-9.0	182	3806	0.10	2.62	0.00	0.000	4	0.096	0.069	2554	3560	3434
3819	-0.65	-146.6	311.4	-8.7	183	3823	0.00	2.53	0.00	0.000	6	0.000	0.053	2554	2151	3434
4145	-0.65	-146.6	337.0	-8.0	199	4149	0.00	2.60	0.00	0.000	4	0.000	0.069	2554	3558	3434
4166	-0.65	-146.6	339.0	-8.4	200	4171	0.00	2.53	0.00	0.000	6	0.000	0.053	2554	2151	3434
4488	-0.65	-146.6	364.0	-7.7	216	4492	0.00	2.60	0.00	0.000	4	0.000	0.070	2554	3558	3434
4509	-0.65	-146.6	365.9	-7.8	217	4514	0.00	2.53	0.00	0.000	6	0.000	0.053	2554	2149	3434
4831	-0.65	-146.6	391.8	-8.3	233	4835	0.00	2.60	0.00	0.000	4	0.000	0.070	2554	3564	3434
4847	-0.65	-146.6	393.1	-8.5	234	4852	0.00	2.53	0.00	0.000	6	0.000	0.054	2554	2150	3434
5174	-0.65	-146.6	422.6	-9.1	250	5179	0.00	2.62	0.00	0.000	4	0.000	0.071	2554	3562	3434
5219	-0.65	-146.6	426.8	-9.5	252	5223	0.00	2.55	0.00	0.000	6	0.000	0.054	2554	2142	3433
5539	-0.65	-146.6	453.9	-8.5	268	5544	0.00	2.62	0.00	0.000	4	0.000	0.069	2554	3560	3433
5562	-0.65	-146.6	455.8	-8.2	269	5566	0.00	2.53	0.00	0.000	6	0.000	0.052	2554	2150	3433
5883	-0.65	-146.6	478.9	-6.7	285	5887	0.00	2.60	0.00	0.000	4	0.000	0.071	2554	3557	3433
5939	-0.65	-146.6	482.8	-7.2	287	5945	0.00	2.53	0.00	0.000	6	0.000	0.053	2554	2150	3433
6256	-0.65	-146.6	502.4	-5.1	303	6260	0.00	2.62	0.00	0.000	4	0.000	0.071	2554	3558	3433
6363	-0.65	-146.6	508.8	-5.8	308	6367	0.00	2.53	0.00	0.000	6	0.000	0.054	2554	2142	3432
6692	-0.65	-146.6	525.7	-6.0	324	6696	0.00	2.62	0.00	0.000	4	0.000	0.074	2554	3556	3432
6702	-0.65	-146.6	526.6	-6.2	324	6708	0.00	2.55	0.00	0.000	6	0.000	0.058	2554	2147	3433
7018	-0.65	-146.6	550.3	-7.9	340	7022	0.00	2.65	0.00	0.000	4	0.000	0.076	2554	3558	3433
7106	-0.65	-146.6	557.6	-7.4	344	7111	0.00	2.55	0.00	0.000	6	0.000	0.058	2554	2150	3432
7428	-0.69	-146.6	580.2	-6.6	360	7433	0.00	2.67	0.00	0.000	4	0.000	0.082	2554	3557	3432
7453	end dive: BOTTOM_OBSTACLE_DETECTED
state	7454	begin apogee
7463	-0.33	0.0	581.8	6.4	361	7593	0.32	0.00	123.55	1.223	6	0.082	0.000	2624	2128	2832
7594	end apogee: CONTROL_FINISHED_OK
state	7594	begin climb
7597	0.97	146.6	584.1	0.0	368	7728	1.33	2.72	120.95	1.187	4	0.070	0.084	2909	744	2234
7759	0.87	146.6	573.6	8.4	375	7765	0.00	2.65	0.00	0.000	6	0.000	0.069	2909	2148	2234
8075	1.01	303.0	558.8	1.7	391	8211	0.00	2.78	128.07	1.188	4	0.000	0.085	2909	3554	1596
8251	1.20	422.7	555.6	2.7	399	8357	0.22	2.65	99.43	1.158	6	0.049	0.070	2970	2152	1108
8673	1.12	422.7	521.5	8.1	420	8678	0.12	2.67	0.00	0.000	4	0.088	0.084	2945	740	1109
8740	1.12	422.7	516.1	6.8	423	8744	0.00	2.65	0.00	0.000	6	0.000	0.071	2945	2150	1109
9061	1.12	422.7	487.2	8.9	439	9065	0.00	2.67	0.00	0.000	4	0.000	0.079	2945	739	1108
9110	1.12	422.7	481.9	10.6	441	9115	0.00	2.62	0.00	0.000	6	0.000	0.066	2944	2151	1107
9426	1.12	422.7	454.6	7.7	456	9427	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2150	1107
9735	1.12	422.7	433.6	6.8	471	9740	0.00	2.65	0.00	0.000	4	0.000	0.073	2944	737	1107
9807	1.12	422.7	428.5	7.5	474	9812	0.00	2.60	0.00	0.000	6	0.000	0.060	2945	2156	1107
10123	1.12	422.7	406.1	8.1	489	10127	0.00	2.62	0.00	0.000	4	0.000	0.071	2945	743	1107
10173	1.12	422.7	401.7	8.9	491	10177	0.00	2.55	0.00	0.000	6	0.000	0.058	2945	2150	1107
10489	1.12	422.7	373.5	9.1	506	10493	0.00	2.62	0.00	0.000	4	0.000	0.070	2944	738	1108
10538	1.12	422.7	368.5	10.0	508	10542	0.00	2.58	0.00	0.000	6	0.000	0.057	2945	2153	1108
10854	1.12	422.7	340.8	8.6	523	10858	0.00	2.60	0.00	0.000	4	0.000	0.069	2944	742	1108
10903	1.12	422.7	336.3	9.7	525	10908	0.00	2.58	0.00	0.000	6	0.000	0.057	2945	2160	1108
11219	1.12	422.7	311.4	8.0	540	11223	0.00	2.62	0.00	0.000	4	0.000	0.068	2945	736	1109
11269	1.12	422.7	307.3	8.8	542	11273	0.00	2.55	0.00	0.000	6	0.000	0.055	2945	2153	1109
11584	1.12	422.7	283.2	7.8	557	11588	0.00	2.62	0.00	0.000	4	0.000	0.067	2945	738	1109
11628	1.12	422.7	279.5	8.6	559	11632	0.00	2.55	0.00	0.000	6	0.000	0.056	2944	2150	1109
11949	1.12	422.7	256.1	7.1	575	11953	0.00	2.58	0.00	0.000	4	0.000	0.067	2945	742	1110
11998	1.12	422.7	252.2	8.1	577	12003	0.00	2.55	0.00	0.000	6	0.000	0.056	2945	2150	1110
12314	1.12	422.7	230.4	6.8	592	12318	0.00	2.60	0.00	0.000	4	0.000	0.067	2944	740	1110
12358	1.12	422.7	227.0	7.5	594	12362	0.00	2.55	0.00	0.000	6	0.000	0.056	2945	2149	1110
12679	1.16	422.7	204.5	7.1	610	12683	0.00	2.60	0.00	0.000	4	0.000	0.067	2944	740	1110
12723	1.16	422.7	201.2	7.6	612	12727	0.00	2.55	0.00	0.000	6	0.000	0.055	2945	2151	1110
13043	1.16	422.7	179.6	6.9	628	13048	0.00	2.60	0.00	0.000	4	0.000	0.067	2945	736	1110
13088	1.16	422.7	176.1	7.3	630	13092	0.00	2.55	0.00	0.000	6	0.000	0.054	2945	2150	1111
13409	1.20	422.7	151.6	8.0	646	13414	0.00	2.60	0.00	0.000	4	0.000	0.067	2945	740	1111
13460	1.25	422.7	147.2	8.2	648	13465	0.12	2.55	0.00	0.000	6	0.051	0.054	2984	2154	1111
13778	1.14	422.7	113.0	11.2	663	13780	0.17	0.00	0.00	0.000	6	0.076	0.000	2948	2154	1111
14085	1.14	422.7	87.0	8.5	678	14090	0.00	2.60	0.00	0.000	4	0.000	0.066	2947	739	1111
14149	1.18	422.7	81.2	8.9	681	14153	0.00	2.55	0.00	0.000	6	0.000	0.054	2948	2155	1111
14476	1.23	422.7	53.8	8.7	697	14481	0.00	2.60	0.00	0.000	4	0.000	0.065	2948	739	1112
14527	1.27	422.7	48.4	10.6	699	14532	0.12	2.55	0.00	0.000	6	0.050	0.054	2989	2157	1112
14844	1.17	422.7	10.0	12.4	714	14849	0.15	2.60	0.00	0.000	4	0.075	0.064	2952	740	1112
14884	1.17	422.7	5.8	8.9	716	14888	0.00	2.53	0.00	0.000	6	0.000	0.054	2952	2148	1112
14940	end climb: SURFACE_DEPTH_REACHED
state	14940	begin surface coast
14962	end surface coast: CONTROL_FINISHED_OK
state	14962	begin surface