Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 76 * 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 76 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 2100 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 42 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 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 2620 DEVICE6 -1

T_NO_W 240 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 -78057.25 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 120 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 -78057.25

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 240

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 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 42 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 76 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 013001,6157.477,-900.100,40,1.5,40,-9.4 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.126,-0.157

_SM_DEPTHo 0.84 KALMAN_X -74791.6,-2102.6,-961.5,39236.3,21593.9

_SM_ANGLEo -63.6 KALMAN_Y 561.2,-826.4,-1948.2,62458.3,8790.8

GPS2 013509,6157.399,-900.081,14,1.3,14,-9.4 MHEAD_RNG_PITCHd_Wd 228.0,31850,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.012708 ALTIM_BOTTOM_PING 500.8,56.6

SM_CCo 16852,0.00,0.000,0,0,1313,320.61 _24V_AH 23.9,17.105

SM_GC 0.73,11.05,0.00,0.00,0.037,0.000,0.000,427,2165,1313,-10.38,0.40,320.61 _10V_AH 10.1,7.465

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41163,807

TT8_MAMPS 0.028379 CAP_FILE_SIZE 131558,0

HUMID 1672 CFSIZE 254472192,247263232

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,27,0,0

XPDR_PINGS 512 GPS 220608,061808,6151.651,-905.686,38,1.0,38,-9.4

ALTIM_TOP_PING 19.5,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 137 88.51 SBE_CT 553 24 317.52

Roll_motor 184 80 355.27 SBE_O2 595 19 270.27

VBD_pump_during_apogee 363 1194 10390.90 WL_BB2F 573 105 1438.35

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 92.96 nil 0 0 0.00

Iridium_during_connect 27 160 103.70 nil 0 0 0.00

Iridium_during_xfer 129 223 687.90

Transponder_ping 132 420 1327.53

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.37

TT8 1519 19 303.89

LPSleep 12818 2 283.52

TT8_Active 499 19 99.83

TT8_Sampling 1830 39 735.66

TT8_CF8 493 45 228.38

TT8_Kalman 33 81 27.56

Analog_circuits 1438 12 174.38

GPS_charging 0 0 0.00

Compass 1793 8 144.95

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

24 -1.03 -117.3 0.0 0.0 0 96 0.00 0.00 -69.78 0.000 6 0.000 0.000 420 2116 3100

99 -1.03 -117.3 2.1 -3.4 3 116 10.57 2.60 0.00 0.000 4 0.137 0.058 2468 3561 3100

122 0.67 -117.3 7.4 -14.6 3 130 1.80 2.50 0.00 0.000 6 0.084 0.049 2845 2167 3102

449 -0.15 -117.3 21.2 -4.5 19 455 0.80 2.53 0.00 0.000 4 0.060 0.058 2667 3561 3102

583 -0.50 -117.3 27.8 -4.2 25 588 0.35 2.20 0.00 0.000 6 0.039 0.043 2572 2308 3102

910 -0.50 -117.3 48.3 -6.4 41 914 0.00 2.83 0.00 0.000 4 0.000 0.064 2572 740 3102

1004 -0.50 -117.3 54.7 -6.5 45 1009 0.00 2.85 0.00 0.000 6 0.000 0.051 2572 2332 3102

1321 -0.50 -117.3 72.1 -5.3 60 1326 0.00 2.90 0.00 0.000 4 0.000 0.063 2572 747 3103

1433 -0.50 -117.3 78.5 -5.7 65 1438 0.00 2.80 0.00 0.000 6 0.000 0.051 2572 2313 3103

1755 -0.50 -117.3 94.9 -5.3 81 1759 0.00 2.85 0.00 0.000 4 0.000 0.061 2572 747 3103

1795 -0.50 -117.3 97.1 -5.7 83 1799 0.00 2.78 0.00 0.000 6 0.000 0.051 2572 2301 3103

2122 -0.50 -117.3 114.6 -5.2 99 2127 0.00 2.83 0.00 0.000 4 0.000 0.063 2572 747 3103

2140 -0.50 -117.3 115.4 -5.2 100 2144 0.00 2.78 0.00 0.000 6 0.000 0.052 2572 2300 3103

2467 -0.50 -117.3 132.7 -5.2 116 2472 0.00 2.85 0.00 0.000 4 0.000 0.064 2572 742 3103

2500 -0.50 -117.3 134.6 -5.9 117 2507 0.00 2.78 0.00 0.000 6 0.000 0.053 2572 2290 3103

2816 -0.50 -117.3 153.9 -6.6 133 2821 0.00 2.83 0.00 0.000 4 0.000 0.063 2572 741 3103

2901 -0.50 -117.3 159.9 -7.1 137 2905 0.00 2.75 0.00 0.000 6 0.000 0.054 2572 2278 3103

3227 -0.50 -117.3 182.2 -6.8 153 3232 0.00 2.80 0.00 0.000 4 0.000 0.066 2572 749 3103

3295 -0.50 -117.3 187.0 -7.0 156 3300 0.00 2.70 0.00 0.000 6 0.000 0.053 2572 2254 3103

3616 -0.50 -117.3 206.9 -6.0 172 3620 0.00 2.78 0.00 0.000 4 0.000 0.065 2572 741 3103

3643 -0.50 -117.3 208.6 -6.2 173 3647 0.00 2.70 0.00 0.000 6 0.000 0.053 2572 2249 3103

3959 -0.50 -117.3 226.7 -5.7 188 3964 0.00 2.72 0.00 0.000 4 0.000 0.064 2572 747 3103

3977 -0.50 -117.3 227.7 -5.8 189 3982 0.00 2.67 0.00 0.000 6 0.000 0.054 2572 2245 3103

4304 -0.50 -117.3 246.7 -5.6 205 4308 0.00 2.75 0.00 0.000 4 0.000 0.066 2571 746 3103

4354 -0.50 -117.3 249.8 -6.2 207 4358 0.00 2.67 0.00 0.000 6 0.000 0.054 2572 2236 3103

4670 -0.50 -117.3 267.4 -5.6 222 4674 0.00 2.72 0.00 0.000 4 0.000 0.066 2572 747 3103

4714 -0.50 -117.3 270.0 -5.8 224 4718 0.00 2.65 0.00 0.000 6 0.000 0.054 2572 2227 3103

5035 -0.50 -117.3 287.2 -5.3 240 5040 0.00 2.70 0.00 0.000 4 0.000 0.065 2572 746 3103

5076 -0.50 -117.3 289.2 -5.1 242 5080 0.00 2.65 0.00 0.000 6 0.000 0.054 2572 2224 3103

5402 -0.50 -117.3 307.0 -5.9 258 5407 0.00 2.67 0.00 0.000 4 0.000 0.066 2572 746 3102

5413 -0.50 -117.3 307.7 -5.9 258 5419 0.00 2.65 0.00 0.000 6 0.000 0.054 2572 2223 3102

5729 -0.50 -117.3 328.9 -7.1 274 5733 0.00 2.67 0.00 0.000 4 0.000 0.067 2572 747 3102

5778 -0.50 -117.3 333.0 -8.8 276 5783 0.00 2.62 0.00 0.000 6 0.000 0.054 2572 2213 3102

6095 -0.54 -117.3 355.3 -7.0 291 6100 0.00 2.67 0.00 0.000 4 0.000 0.067 2572 747 3102

6139 -0.54 -117.3 358.6 -7.3 293 6143 0.00 2.62 0.00 0.000 6 0.000 0.054 2572 2209 3102

6460 -0.59 -117.3 379.4 -6.5 309 6465 0.00 2.67 0.00 0.000 4 0.000 0.067 2572 747 3102

6477 -0.59 -117.3 380.5 -6.3 310 6482 0.00 2.60 0.00 0.000 6 0.000 0.054 2572 2202 3102

6805 -0.59 -117.3 402.2 -6.2 326 6806 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2201 3102

7114 -0.63 -117.3 422.9 -7.7 341 7116 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2202 3101

7424 -0.68 -117.3 438.4 -3.2 356 7429 0.00 2.65 0.00 0.000 4 0.000 0.067 2572 747 3102

7442 -0.73 -117.3 439.1 -3.0 357 7447 0.15 2.62 0.00 0.000 6 0.051 0.054 2526 2213 3101

7772 -0.65 -117.3 456.5 -5.0 373 7774 0.15 0.00 0.00 0.000 6 0.093 0.000 2557 2214 3101

8078 -0.65 -117.3 469.1 -4.2 388 8082 0.00 2.42 0.00 0.000 4 0.000 0.068 2558 3557 3101

8106 -0.65 -117.3 470.4 -4.9 389 8110 0.00 2.42 0.00 0.000 6 0.000 0.054 2558 2200 3101

8422 -0.65 -117.3 490.4 -6.5 404 8426 0.00 2.53 0.00 0.000 4 0.000 0.070 2558 3566 3101

8529 -0.65 -117.3 496.5 -4.7 409 8534 0.00 2.40 0.00 0.000 6 0.000 0.055 2558 2213 3101

8857 -0.65 -117.3 510.5 -4.7 425 8861 0.00 2.50 0.00 0.000 4 0.000 0.072 2558 3559 3101

8970 -0.65 -117.3 516.2 -5.6 430 8974 0.00 2.42 0.00 0.000 6 0.000 0.059 2558 2216 3101

9292 -0.65 -117.3 531.4 -5.4 446 9296 0.00 2.70 0.00 0.000 4 0.000 0.081 2558 747 3101

9309 -0.65 -117.3 532.5 -5.8 447 9314 0.00 2.65 0.00 0.000 6 0.000 0.064 2558 2199 3101

9550 end dive: BOTTOM_OBSTACLE_DETECTED

state 9550 begin apogee

9557 -0.33 0.0 547.5 6.3 459 9659 0.32 0.00 99.20 1.195 6 0.086 0.000 2624 2101 2620

9660 end apogee: CONTROL_FINISHED_OK

state 9660 begin climb

9663 1.03 117.3 550.8 0.0 464 9769 1.38 2.72 97.50 1.170 4 0.072 0.077 2920 3510 2140

9813 1.04 158.0 544.5 4.6 471 9855 0.00 2.62 34.50 1.133 6 0.000 0.065 2920 2096 1976

10164 1.04 158.0 522.7 7.0 488 10165 0.00 0.00 0.00 0.000 6 0.000 0.000 2920 2096 1975

10473 1.04 158.0 501.1 7.5 503 10474 0.00 0.00 0.00 0.000 6 0.000 0.000 2920 2097 1974

10782 1.04 158.0 474.9 8.9 518 10787 0.00 2.67 0.00 0.000 4 0.000 0.078 2920 3509 1972

10838 1.04 158.0 469.8 9.5 520 10844 0.00 2.60 0.00 0.000 6 0.000 0.065 2920 2101 1972

11155 1.13 214.9 451.0 4.1 536 11209 0.10 2.78 46.83 1.164 4 0.060 0.074 2949 3515 1743

11244 1.15 222.7 446.7 5.7 540 11260 0.00 2.60 8.05 0.991 6 0.000 0.062 2950 2116 1711

11570 1.15 222.7 423.7 8.5 556 11571 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2116 1711

11879 1.15 222.7 399.1 6.8 571 11883 0.00 2.58 0.00 0.000 4 0.000 0.067 2950 3513 1711

11929 1.15 222.7 395.7 6.4 573 11933 0.00 2.55 0.00 0.000 6 0.000 0.058 2950 2115 1711

12245 1.15 222.7 369.7 9.2 588 12246 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2115 1711

12554 1.15 222.7 339.5 9.6 603 12558 0.00 2.55 0.00 0.000 4 0.000 0.064 2950 3512 1711

12617 1.15 222.7 333.6 9.4 606 12621 0.00 2.50 0.00 0.000 6 0.000 0.055 2950 2128 1711

12943 1.15 222.7 308.1 6.9 622 12947 0.00 2.62 0.00 0.000 4 0.000 0.071 2950 683 1712

12976 1.15 222.7 305.5 6.7 623 12982 0.00 2.62 0.00 0.000 6 0.000 0.054 2950 2140 1712

13291 1.15 222.7 282.9 7.1 639 13295 0.00 2.45 0.00 0.000 4 0.000 0.064 2951 3510 1712

13338 1.15 222.7 279.6 6.6 641 13342 0.00 2.47 0.00 0.000 6 0.000 0.054 2950 2133 1712

13664 1.15 222.7 256.5 7.6 657 13665 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2133 1713

13973 1.15 222.7 232.2 7.6 672 13978 0.00 2.50 0.00 0.000 4 0.000 0.062 2950 3511 1713

14006 1.15 222.7 229.6 7.6 673 14012 0.00 2.45 0.00 0.000 6 0.000 0.054 2950 2149 1713

14322 1.15 222.7 206.2 7.6 689 14323 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2149 1714

14632 1.15 222.7 184.2 7.1 704 14633 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2149 1714

14941 1.15 222.7 156.8 10.2 719 14945 0.00 2.47 0.00 0.000 4 0.000 0.062 2950 3511 1715

14982 1.15 222.7 152.4 11.3 721 14987 0.00 2.42 0.00 0.000 6 0.000 0.051 2950 2151 1715

15310 1.15 222.7 110.1 14.6 737 15314 0.00 2.65 0.00 0.000 4 0.000 0.068 2950 681 1715

15350 1.15 222.7 104.0 15.4 739 15354 0.00 2.65 0.00 0.000 6 0.000 0.053 2951 2165 1715

15677 1.15 222.7 65.4 8.8 755 15681 0.00 2.40 0.00 0.000 4 0.000 0.061 2950 3511 1715

15721 1.15 222.7 62.2 6.5 757 15726 0.00 2.42 0.00 0.000 6 0.000 0.051 2950 2155 1716

16043 1.30 320.4 52.3 2.7 773 16128 0.15 2.78 77.75 0.831 4 0.044 0.067 3002 689 1314

16187 1.25 320.4 43.0 7.2 779 16192 0.15 2.65 0.00 0.000 6 0.080 0.052 2972 2163 1314

16503 1.25 320.4 21.2 7.2 794 16504 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2162 1315

16748 end climb: SURFACE_DEPTH_REACHED

state 16748 begin surface coast

16769 end surface coast: CONTROL_FINISHED_OK

state 16770 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	76	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	2100	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	42	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	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	2620	DEVICE6	-1
T_NO_W	240	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	-78057.25	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	120	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	013001,6157.477,-900.100,40,1.5,40,-9.4	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.126,-0.157
_SM_DEPTHo	0.84	KALMAN_X	-74791.6,-2102.6,-961.5,39236.3,21593.9
_SM_ANGLEo	-63.6	KALMAN_Y	561.2,-826.4,-1948.2,62458.3,8790.8
GPS2	013509,6157.399,-900.081,14,1.3,14,-9.4	MHEAD_RNG_PITCHd_Wd	228.0,31850,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	-0.1,1.012708	ALTIM_BOTTOM_PING	500.8,56.6
SM_CCo	16852,0.00,0.000,0,0,1313,320.61	_24V_AH	23.9,17.105
SM_GC	0.73,11.05,0.00,0.00,0.037,0.000,0.000,427,2165,1313,-10.38,0.40,320.61	_10V_AH	10.1,7.465
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41163,807
TT8_MAMPS	0.028379	CAP_FILE_SIZE	131558,0
HUMID	1672	CFSIZE	254472192,247263232
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
XPDR_PINGS	512	GPS	220608,061808,6151.651,-905.686,38,1.0,38,-9.4
ALTIM_TOP_PING	19.5,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	137	88.51	SBE_CT	553	24	317.52
Roll_motor	184	80	355.27	SBE_O2	595	19	270.27
VBD_pump_during_apogee	363	1194	10390.90	WL_BB2F	573	105	1438.35
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	92.96	nil	0	0	0.00
Iridium_during_connect	27	160	103.70	nil	0	0	0.00
Iridium_during_xfer	129	223	687.90
Transponder_ping	132	420	1327.53
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.37
TT8	1519	19	303.89
LPSleep	12818	2	283.52
TT8_Active	499	19	99.83
TT8_Sampling	1830	39	735.66
TT8_CF8	493	45	228.38
TT8_Kalman	33	81	27.56
Analog_circuits	1438	12	174.38
GPS_charging	0	0	0.00
Compass	1793	8	144.95
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
24	-1.03	-117.3	0.0	0.0	0	96	0.00	0.00	-69.78	0.000	6	0.000	0.000	420	2116	3100
99	-1.03	-117.3	2.1	-3.4	3	116	10.57	2.60	0.00	0.000	4	0.137	0.058	2468	3561	3100
122	0.67	-117.3	7.4	-14.6	3	130	1.80	2.50	0.00	0.000	6	0.084	0.049	2845	2167	3102
449	-0.15	-117.3	21.2	-4.5	19	455	0.80	2.53	0.00	0.000	4	0.060	0.058	2667	3561	3102
583	-0.50	-117.3	27.8	-4.2	25	588	0.35	2.20	0.00	0.000	6	0.039	0.043	2572	2308	3102
910	-0.50	-117.3	48.3	-6.4	41	914	0.00	2.83	0.00	0.000	4	0.000	0.064	2572	740	3102
1004	-0.50	-117.3	54.7	-6.5	45	1009	0.00	2.85	0.00	0.000	6	0.000	0.051	2572	2332	3102
1321	-0.50	-117.3	72.1	-5.3	60	1326	0.00	2.90	0.00	0.000	4	0.000	0.063	2572	747	3103
1433	-0.50	-117.3	78.5	-5.7	65	1438	0.00	2.80	0.00	0.000	6	0.000	0.051	2572	2313	3103
1755	-0.50	-117.3	94.9	-5.3	81	1759	0.00	2.85	0.00	0.000	4	0.000	0.061	2572	747	3103
1795	-0.50	-117.3	97.1	-5.7	83	1799	0.00	2.78	0.00	0.000	6	0.000	0.051	2572	2301	3103
2122	-0.50	-117.3	114.6	-5.2	99	2127	0.00	2.83	0.00	0.000	4	0.000	0.063	2572	747	3103
2140	-0.50	-117.3	115.4	-5.2	100	2144	0.00	2.78	0.00	0.000	6	0.000	0.052	2572	2300	3103
2467	-0.50	-117.3	132.7	-5.2	116	2472	0.00	2.85	0.00	0.000	4	0.000	0.064	2572	742	3103
2500	-0.50	-117.3	134.6	-5.9	117	2507	0.00	2.78	0.00	0.000	6	0.000	0.053	2572	2290	3103
2816	-0.50	-117.3	153.9	-6.6	133	2821	0.00	2.83	0.00	0.000	4	0.000	0.063	2572	741	3103
2901	-0.50	-117.3	159.9	-7.1	137	2905	0.00	2.75	0.00	0.000	6	0.000	0.054	2572	2278	3103
3227	-0.50	-117.3	182.2	-6.8	153	3232	0.00	2.80	0.00	0.000	4	0.000	0.066	2572	749	3103
3295	-0.50	-117.3	187.0	-7.0	156	3300	0.00	2.70	0.00	0.000	6	0.000	0.053	2572	2254	3103
3616	-0.50	-117.3	206.9	-6.0	172	3620	0.00	2.78	0.00	0.000	4	0.000	0.065	2572	741	3103
3643	-0.50	-117.3	208.6	-6.2	173	3647	0.00	2.70	0.00	0.000	6	0.000	0.053	2572	2249	3103
3959	-0.50	-117.3	226.7	-5.7	188	3964	0.00	2.72	0.00	0.000	4	0.000	0.064	2572	747	3103
3977	-0.50	-117.3	227.7	-5.8	189	3982	0.00	2.67	0.00	0.000	6	0.000	0.054	2572	2245	3103
4304	-0.50	-117.3	246.7	-5.6	205	4308	0.00	2.75	0.00	0.000	4	0.000	0.066	2571	746	3103
4354	-0.50	-117.3	249.8	-6.2	207	4358	0.00	2.67	0.00	0.000	6	0.000	0.054	2572	2236	3103
4670	-0.50	-117.3	267.4	-5.6	222	4674	0.00	2.72	0.00	0.000	4	0.000	0.066	2572	747	3103
4714	-0.50	-117.3	270.0	-5.8	224	4718	0.00	2.65	0.00	0.000	6	0.000	0.054	2572	2227	3103
5035	-0.50	-117.3	287.2	-5.3	240	5040	0.00	2.70	0.00	0.000	4	0.000	0.065	2572	746	3103
5076	-0.50	-117.3	289.2	-5.1	242	5080	0.00	2.65	0.00	0.000	6	0.000	0.054	2572	2224	3103
5402	-0.50	-117.3	307.0	-5.9	258	5407	0.00	2.67	0.00	0.000	4	0.000	0.066	2572	746	3102
5413	-0.50	-117.3	307.7	-5.9	258	5419	0.00	2.65	0.00	0.000	6	0.000	0.054	2572	2223	3102
5729	-0.50	-117.3	328.9	-7.1	274	5733	0.00	2.67	0.00	0.000	4	0.000	0.067	2572	747	3102
5778	-0.50	-117.3	333.0	-8.8	276	5783	0.00	2.62	0.00	0.000	6	0.000	0.054	2572	2213	3102
6095	-0.54	-117.3	355.3	-7.0	291	6100	0.00	2.67	0.00	0.000	4	0.000	0.067	2572	747	3102
6139	-0.54	-117.3	358.6	-7.3	293	6143	0.00	2.62	0.00	0.000	6	0.000	0.054	2572	2209	3102
6460	-0.59	-117.3	379.4	-6.5	309	6465	0.00	2.67	0.00	0.000	4	0.000	0.067	2572	747	3102
6477	-0.59	-117.3	380.5	-6.3	310	6482	0.00	2.60	0.00	0.000	6	0.000	0.054	2572	2202	3102
6805	-0.59	-117.3	402.2	-6.2	326	6806	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2201	3102
7114	-0.63	-117.3	422.9	-7.7	341	7116	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2202	3101
7424	-0.68	-117.3	438.4	-3.2	356	7429	0.00	2.65	0.00	0.000	4	0.000	0.067	2572	747	3102
7442	-0.73	-117.3	439.1	-3.0	357	7447	0.15	2.62	0.00	0.000	6	0.051	0.054	2526	2213	3101
7772	-0.65	-117.3	456.5	-5.0	373	7774	0.15	0.00	0.00	0.000	6	0.093	0.000	2557	2214	3101
8078	-0.65	-117.3	469.1	-4.2	388	8082	0.00	2.42	0.00	0.000	4	0.000	0.068	2558	3557	3101
8106	-0.65	-117.3	470.4	-4.9	389	8110	0.00	2.42	0.00	0.000	6	0.000	0.054	2558	2200	3101
8422	-0.65	-117.3	490.4	-6.5	404	8426	0.00	2.53	0.00	0.000	4	0.000	0.070	2558	3566	3101
8529	-0.65	-117.3	496.5	-4.7	409	8534	0.00	2.40	0.00	0.000	6	0.000	0.055	2558	2213	3101
8857	-0.65	-117.3	510.5	-4.7	425	8861	0.00	2.50	0.00	0.000	4	0.000	0.072	2558	3559	3101
8970	-0.65	-117.3	516.2	-5.6	430	8974	0.00	2.42	0.00	0.000	6	0.000	0.059	2558	2216	3101
9292	-0.65	-117.3	531.4	-5.4	446	9296	0.00	2.70	0.00	0.000	4	0.000	0.081	2558	747	3101
9309	-0.65	-117.3	532.5	-5.8	447	9314	0.00	2.65	0.00	0.000	6	0.000	0.064	2558	2199	3101
9550	end dive: BOTTOM_OBSTACLE_DETECTED
state	9550	begin apogee
9557	-0.33	0.0	547.5	6.3	459	9659	0.32	0.00	99.20	1.195	6	0.086	0.000	2624	2101	2620
9660	end apogee: CONTROL_FINISHED_OK
state	9660	begin climb
9663	1.03	117.3	550.8	0.0	464	9769	1.38	2.72	97.50	1.170	4	0.072	0.077	2920	3510	2140
9813	1.04	158.0	544.5	4.6	471	9855	0.00	2.62	34.50	1.133	6	0.000	0.065	2920	2096	1976
10164	1.04	158.0	522.7	7.0	488	10165	0.00	0.00	0.00	0.000	6	0.000	0.000	2920	2096	1975
10473	1.04	158.0	501.1	7.5	503	10474	0.00	0.00	0.00	0.000	6	0.000	0.000	2920	2097	1974
10782	1.04	158.0	474.9	8.9	518	10787	0.00	2.67	0.00	0.000	4	0.000	0.078	2920	3509	1972
10838	1.04	158.0	469.8	9.5	520	10844	0.00	2.60	0.00	0.000	6	0.000	0.065	2920	2101	1972
11155	1.13	214.9	451.0	4.1	536	11209	0.10	2.78	46.83	1.164	4	0.060	0.074	2949	3515	1743
11244	1.15	222.7	446.7	5.7	540	11260	0.00	2.60	8.05	0.991	6	0.000	0.062	2950	2116	1711
11570	1.15	222.7	423.7	8.5	556	11571	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2116	1711
11879	1.15	222.7	399.1	6.8	571	11883	0.00	2.58	0.00	0.000	4	0.000	0.067	2950	3513	1711
11929	1.15	222.7	395.7	6.4	573	11933	0.00	2.55	0.00	0.000	6	0.000	0.058	2950	2115	1711
12245	1.15	222.7	369.7	9.2	588	12246	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2115	1711
12554	1.15	222.7	339.5	9.6	603	12558	0.00	2.55	0.00	0.000	4	0.000	0.064	2950	3512	1711
12617	1.15	222.7	333.6	9.4	606	12621	0.00	2.50	0.00	0.000	6	0.000	0.055	2950	2128	1711
12943	1.15	222.7	308.1	6.9	622	12947	0.00	2.62	0.00	0.000	4	0.000	0.071	2950	683	1712
12976	1.15	222.7	305.5	6.7	623	12982	0.00	2.62	0.00	0.000	6	0.000	0.054	2950	2140	1712
13291	1.15	222.7	282.9	7.1	639	13295	0.00	2.45	0.00	0.000	4	0.000	0.064	2951	3510	1712
13338	1.15	222.7	279.6	6.6	641	13342	0.00	2.47	0.00	0.000	6	0.000	0.054	2950	2133	1712
13664	1.15	222.7	256.5	7.6	657	13665	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2133	1713
13973	1.15	222.7	232.2	7.6	672	13978	0.00	2.50	0.00	0.000	4	0.000	0.062	2950	3511	1713
14006	1.15	222.7	229.6	7.6	673	14012	0.00	2.45	0.00	0.000	6	0.000	0.054	2950	2149	1713
14322	1.15	222.7	206.2	7.6	689	14323	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2149	1714
14632	1.15	222.7	184.2	7.1	704	14633	0.00	0.00	0.00	0.000	6	0.000	0.000	2950	2149	1714
14941	1.15	222.7	156.8	10.2	719	14945	0.00	2.47	0.00	0.000	4	0.000	0.062	2950	3511	1715
14982	1.15	222.7	152.4	11.3	721	14987	0.00	2.42	0.00	0.000	6	0.000	0.051	2950	2151	1715
15310	1.15	222.7	110.1	14.6	737	15314	0.00	2.65	0.00	0.000	4	0.000	0.068	2950	681	1715
15350	1.15	222.7	104.0	15.4	739	15354	0.00	2.65	0.00	0.000	6	0.000	0.053	2951	2165	1715
15677	1.15	222.7	65.4	8.8	755	15681	0.00	2.40	0.00	0.000	4	0.000	0.061	2950	3511	1715
15721	1.15	222.7	62.2	6.5	757	15726	0.00	2.42	0.00	0.000	6	0.000	0.051	2950	2155	1716
16043	1.30	320.4	52.3	2.7	773	16128	0.15	2.78	77.75	0.831	4	0.044	0.067	3002	689	1314
16187	1.25	320.4	43.0	7.2	779	16192	0.15	2.65	0.00	0.000	6	0.080	0.052	2972	2163	1314
16503	1.25	320.4	21.2	7.2	794	16504	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2162	1315
16748	end climb: SURFACE_DEPTH_REACHED
state	16748	begin surface coast
16769	end surface coast: CONTROL_FINISHED_OK
state	16770	begin surface