Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 95 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 95 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 16 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 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 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 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 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 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 -2094872.9 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

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 15

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 -2094872.9

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 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 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 95 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-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 215907,6150.248,-900.644,39,1.4,39,-9.3 TGT_NAME B1

_CALLS 2 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.071,-0.210

_SM_DEPTHo 1.19 KALMAN_X -153657.3,132.5,2567.9,-51181.8,-8038.6

_SM_ANGLEo -57.6 KALMAN_Y -74748.0,972.2,726.2,189101.0,7632.8

GPS2 220720,6150.334,-900.614,12,1.7,17,-9.3 MHEAD_RNG_PITCHd_Wd 212.0,7696,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.013789 ALTIM_BOTTOM_PING 500.3,90.6

SM_CCo 15910,135.27,0.627,0,0,508,557.32 _24V_AH 23.6,18.923

SM_GC 1.15,0.00,0.00,135.27,0.000,0.000,0.627,68,2301,508,-10.27,0.00,557.32 _10V_AH 10.1,9.659

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37997,765

TT8_MAMPS 0.023777 CAP_FILE_SIZE 124660,0

HUMID 1831 CFSIZE 260165632,252157952

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 39 GPS 280608,023707,6152.808,-900.367,42,1.1,48,-9.4

ALTIM_TOP_PING 18.5,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 163 93.98 SBE_CT 561 24 318.17

Roll_motor 177 96 403.92 SBE_O2 519 19 232.93

VBD_pump_during_apogee 375 1060 9403.38 WL_BB2F 512 105 1269.66

VBD_pump_during_surface 135 626 2000.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 93.58 nil 0 0 0.00

Iridium_during_connect 57 160 215.37 nil 0 0 0.00

Iridium_during_xfer 204 223 1078.64

Transponder_ping 14 420 138.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.66

TT8 1432 19 286.45

LPSleep 12079 2 267.19

TT8_Active 704 19 140.96

TT8_Sampling 1740 39 699.61

TT8_CF8 585 45 271.02

TT8_Kalman 33 81 27.55

Analog_circuits 1605 12 194.53

GPS_charging 0 0 0.00

Compass 1696 8 137.06

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 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.97 0.000 2 0.000 0.000 70 2307 2975

150 -0.85 -146.6 4.0 -3.3 6 177 11.30 2.70 -9.50 0.000 4 0.163 0.076 2109 877 3379

430 -0.72 -146.6 37.3 -10.1 18 437 0.15 2.62 0.00 0.000 6 0.093 0.057 2139 2298 3379

748 -0.64 -146.6 65.6 -8.7 34 753 0.10 2.67 0.00 0.000 4 0.098 0.062 2157 871 3379

812 -0.64 -146.6 70.8 -7.7 37 816 0.00 2.65 0.00 0.000 6 0.000 0.056 2157 2300 3379

1140 -0.64 -146.6 95.8 -8.2 53 1144 0.00 2.65 0.00 0.000 4 0.000 0.064 2157 880 3380

1195 -0.64 -146.6 100.7 -8.8 55 1201 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2301 3379

1511 -0.64 -146.6 126.7 -7.6 71 1515 0.00 2.67 0.00 0.000 4 0.000 0.064 2157 873 3379

1543 -0.64 -146.6 129.1 -6.8 72 1550 0.00 2.65 0.00 0.000 6 0.000 0.056 2158 2304 3379

1862 -0.64 -146.6 150.9 -7.4 88 1863 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2303 3379

2169 -0.64 -146.6 176.5 -8.7 103 2174 0.00 2.67 0.00 0.000 4 0.000 0.066 2157 878 3380

2232 -0.64 -146.6 181.9 -8.5 106 2236 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2300 3379

2558 -0.64 -146.6 205.9 -7.2 122 2560 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2300 3379

2867 -0.64 -146.6 227.3 -6.8 137 2872 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 874 3379

2917 -0.64 -146.6 230.9 -6.9 139 2922 0.00 2.65 0.00 0.000 6 0.000 0.057 2157 2303 3379

3233 -0.64 -146.6 252.2 -7.0 154 3234 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2303 3379

3542 -0.64 -146.6 274.5 -7.4 169 3547 0.00 2.65 0.00 0.000 4 0.000 0.067 2158 880 3379

3582 -0.64 -146.6 277.5 -8.0 171 3587 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2303 3379

3909 -0.64 -146.6 302.1 -7.3 187 3913 0.00 2.65 0.00 0.000 4 0.000 0.067 2156 879 3379

3975 -0.64 -146.6 306.8 -7.1 190 3980 0.00 2.62 0.00 0.000 6 0.000 0.058 2157 2300 3379

4297 -0.64 -146.6 330.5 -8.4 206 4301 0.00 2.70 0.00 0.000 4 0.000 0.083 2158 3712 3379

4330 -0.64 -146.6 333.5 -9.2 207 4335 0.00 2.62 0.00 0.000 6 0.000 0.059 2158 2291 3378

4645 -0.64 -146.6 356.7 -7.4 223 4650 0.00 2.62 0.00 0.000 4 0.000 0.068 2158 881 3379

4678 -0.64 -146.6 359.6 -7.8 224 4685 0.00 2.65 0.00 0.000 6 0.000 0.059 2158 2303 3379

4994 -0.64 -146.6 383.4 -7.6 240 4998 0.00 2.72 0.00 0.000 4 0.000 0.084 2158 3715 3379

5033 -0.64 -146.6 386.7 -8.3 242 5038 0.00 2.62 0.00 0.000 6 0.000 0.057 2158 2291 3379

5359 -0.64 -146.6 410.2 -6.8 258 5364 0.00 2.62 0.00 0.000 4 0.000 0.068 2158 884 3379

5392 -0.64 -146.6 412.4 -6.7 259 5398 0.00 2.65 0.00 0.000 6 0.000 0.059 2158 2307 3379

5708 -0.64 -146.6 430.9 -6.2 275 5712 0.00 2.67 0.00 0.000 4 0.000 0.068 2158 885 3379

5735 -0.64 -146.6 432.9 -6.9 276 5739 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2303 3379

6053 -0.64 -146.6 450.9 -5.1 291 6058 0.00 2.72 0.00 0.000 4 0.000 0.087 2158 3713 3379

6087 -0.64 -146.6 453.0 -5.9 292 6093 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2292 3379

6403 -0.64 -146.6 468.2 -5.0 308 6404 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2292 3378

6711 -0.64 -146.6 487.6 -6.5 323 6716 0.00 2.67 0.00 0.000 4 0.000 0.075 2158 879 3378

6745 -0.70 -146.6 489.7 -6.1 324 6751 0.00 2.67 0.00 0.000 6 0.000 0.064 2158 2305 3378

7061 -0.70 -146.6 516.9 -11.7 340 7062 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2305 3378

7370 -0.70 -146.6 534.1 -4.1 355 7374 0.00 2.72 0.00 0.000 4 0.000 0.074 2158 878 3376

7410 -0.76 -146.6 537.4 -8.6 357 7415 0.12 2.67 0.00 0.000 6 0.053 0.067 2120 2300 3376

7737 -0.67 -146.6 564.1 -9.7 373 7739 0.17 0.00 0.00 0.000 6 0.091 0.000 2154 2300 3374

7940 end dive: BOTTOM_OBSTACLE_DETECTED

state 7940 begin apogee

7947 -0.31 0.0 581.1 6.1 383 8083 0.38 0.00 130.23 1.061 6 0.091 0.000 2230 2193 2780

8083 end apogee: CONTROL_FINISHED_OK

state 8083 begin climb

8087 0.85 146.6 581.4 0.0 390 8223 1.17 2.78 129.00 1.040 4 0.077 0.074 2479 787 2183

8437 0.99 279.5 575.7 2.4 406 8562 0.17 2.67 116.40 1.042 6 0.066 0.064 2517 2199 1643

8884 0.99 279.5 548.8 7.3 428 8888 0.00 2.80 0.00 0.000 4 0.000 0.096 2517 3611 1641

8911 1.05 279.5 546.1 9.0 429 8916 0.00 2.70 0.00 0.000 6 0.000 0.069 2517 2200 1641

9227 1.05 279.5 520.0 8.2 444 9231 0.00 2.75 0.00 0.000 4 0.000 0.084 2517 785 1640

9248 1.05 279.5 518.1 9.6 445 9253 0.00 2.70 0.00 0.000 6 0.000 0.066 2517 2202 1639

9569 1.05 279.5 495.2 9.8 461 9574 0.00 2.80 0.00 0.000 4 0.000 0.095 2517 3619 1639

9597 1.05 279.5 492.9 8.4 462 9601 0.00 2.70 0.00 0.000 6 0.000 0.070 2517 2200 1639

9912 1.05 279.5 473.6 7.2 477 9913 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2200 1636

10222 1.05 279.5 447.4 8.1 492 10226 0.00 2.83 0.00 0.000 4 0.000 0.097 2517 3621 1637

10277 1.05 279.5 442.5 9.0 494 10283 0.00 2.70 0.00 0.000 6 0.000 0.072 2517 2199 1637

10592 1.05 279.5 419.4 7.2 510 10597 0.00 2.72 0.00 0.000 4 0.000 0.080 2517 779 1635

10620 1.05 279.5 417.1 8.5 511 10624 0.00 2.70 0.00 0.000 6 0.000 0.064 2517 2207 1635

10936 1.05 279.5 389.6 8.8 526 10940 0.00 2.75 0.00 0.000 4 0.000 0.091 2517 3615 1635

11008 1.05 279.5 382.7 9.6 529 11012 0.00 2.67 0.00 0.000 6 0.000 0.067 2517 2199 1635

11323 1.05 279.5 354.2 9.0 544 11324 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2199 1635

11633 1.05 279.5 329.6 8.1 559 11637 0.00 2.75 0.00 0.000 4 0.000 0.085 2517 3616 1635

11673 1.05 279.5 326.2 9.1 561 11677 0.00 2.67 0.00 0.000 6 0.000 0.064 2517 2189 1635

11999 1.05 279.5 299.9 7.9 577 12003 0.00 2.65 0.00 0.000 4 0.000 0.071 2517 785 1634

12043 1.05 279.5 296.3 7.7 579 12047 0.00 2.62 0.00 0.000 6 0.000 0.056 2517 2203 1635

12363 1.05 279.5 272.4 6.6 595 12368 0.00 2.72 0.00 0.000 4 0.000 0.084 2517 3621 1636

12408 1.05 279.5 268.9 7.9 597 12412 0.00 2.67 0.00 0.000 6 0.000 0.062 2517 2194 1636

12728 1.05 279.5 247.0 6.6 613 12730 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2194 1636

13037 1.05 279.5 225.9 7.0 628 13042 0.00 2.75 0.00 0.000 4 0.000 0.081 2517 3622 1637

13077 1.05 279.5 222.9 8.3 630 13081 0.00 2.65 0.00 0.000 6 0.000 0.060 2517 2190 1637

13403 1.05 279.5 197.9 8.1 646 13408 0.00 2.75 0.00 0.000 4 0.000 0.079 2517 3620 1638

13430 1.05 279.5 195.6 8.7 647 13435 0.00 2.62 0.00 0.000 6 0.000 0.059 2517 2202 1638

13746 1.05 279.5 169.0 7.9 662 13750 0.00 2.65 0.00 0.000 4 0.000 0.068 2517 782 1639

13773 1.10 279.5 166.8 8.1 663 13778 0.10 2.60 0.00 0.000 6 0.074 0.054 2540 2201 1638

14090 1.06 279.5 141.3 7.5 678 14091 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2201 1639

14399 1.06 279.5 117.7 8.2 693 14400 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2201 1640

14708 1.06 279.5 90.2 9.5 708 14712 0.00 2.70 0.00 0.000 4 0.000 0.081 2540 3615 1641

14757 1.06 279.5 85.2 10.0 710 14762 0.00 2.62 0.00 0.000 6 0.000 0.058 2541 2199 1641

15073 1.06 279.5 57.7 7.7 725 15078 0.00 2.72 0.00 0.000 4 0.000 0.079 2540 3616 1641

15106 1.06 279.5 55.2 7.2 726 15113 0.00 2.60 0.00 0.000 6 0.000 0.058 2540 2198 1641

15424 1.06 279.5 34.9 6.9 742 15428 0.00 2.65 0.00 0.000 4 0.000 0.067 2541 773 1642

15464 1.06 279.5 32.0 7.1 744 15468 0.00 2.62 0.00 0.000 6 0.000 0.054 2541 2203 1642

15790 1.06 279.5 6.9 8.3 760 15795 0.00 2.70 0.00 0.000 4 0.000 0.080 2541 3616 1642

15831 1.06 279.5 3.5 9.4 762 15835 0.00 2.62 0.00 0.000 6 0.000 0.060 2541 2194 1642

15867 end climb: SURFACE_DEPTH_REACHED

state 15867 begin surface coast

15888 end surface coast: CONTROL_FINISHED_OK

state 15888 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	95	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	16	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	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	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	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	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	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	-2094872.9	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	215907,6150.248,-900.644,39,1.4,39,-9.3	TGT_NAME	B1
_CALLS	2	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.071,-0.210
_SM_DEPTHo	1.19	KALMAN_X	-153657.3,132.5,2567.9,-51181.8,-8038.6
_SM_ANGLEo	-57.6	KALMAN_Y	-74748.0,972.2,726.2,189101.0,7632.8
GPS2	220720,6150.334,-900.614,12,1.7,17,-9.3	MHEAD_RNG_PITCHd_Wd	212.0,7696,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.013789	ALTIM_BOTTOM_PING	500.3,90.6
SM_CCo	15910,135.27,0.627,0,0,508,557.32	_24V_AH	23.6,18.923
SM_GC	1.15,0.00,0.00,135.27,0.000,0.000,0.627,68,2301,508,-10.27,0.00,557.32	_10V_AH	10.1,9.659
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37997,765
TT8_MAMPS	0.023777	CAP_FILE_SIZE	124660,0
HUMID	1831	CFSIZE	260165632,252157952
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	39	GPS	280608,023707,6152.808,-900.367,42,1.1,48,-9.4
ALTIM_TOP_PING	18.5,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	163	93.98	SBE_CT	561	24	318.17
Roll_motor	177	96	403.92	SBE_O2	519	19	232.93
VBD_pump_during_apogee	375	1060	9403.38	WL_BB2F	512	105	1269.66
VBD_pump_during_surface	135	626	2000.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	93.58	nil	0	0	0.00
Iridium_during_connect	57	160	215.37	nil	0	0	0.00
Iridium_during_xfer	204	223	1078.64
Transponder_ping	14	420	138.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.66
TT8	1432	19	286.45
LPSleep	12079	2	267.19
TT8_Active	704	19	140.96
TT8_Sampling	1740	39	699.61
TT8_CF8	585	45	271.02
TT8_Kalman	33	81	27.55
Analog_circuits	1605	12	194.53
GPS_charging	0	0	0.00
Compass	1696	8	137.06
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	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.97	0.000	2	0.000	0.000	70	2307	2975
150	-0.85	-146.6	4.0	-3.3	6	177	11.30	2.70	-9.50	0.000	4	0.163	0.076	2109	877	3379
430	-0.72	-146.6	37.3	-10.1	18	437	0.15	2.62	0.00	0.000	6	0.093	0.057	2139	2298	3379
748	-0.64	-146.6	65.6	-8.7	34	753	0.10	2.67	0.00	0.000	4	0.098	0.062	2157	871	3379
812	-0.64	-146.6	70.8	-7.7	37	816	0.00	2.65	0.00	0.000	6	0.000	0.056	2157	2300	3379
1140	-0.64	-146.6	95.8	-8.2	53	1144	0.00	2.65	0.00	0.000	4	0.000	0.064	2157	880	3380
1195	-0.64	-146.6	100.7	-8.8	55	1201	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2301	3379
1511	-0.64	-146.6	126.7	-7.6	71	1515	0.00	2.67	0.00	0.000	4	0.000	0.064	2157	873	3379
1543	-0.64	-146.6	129.1	-6.8	72	1550	0.00	2.65	0.00	0.000	6	0.000	0.056	2158	2304	3379
1862	-0.64	-146.6	150.9	-7.4	88	1863	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2303	3379
2169	-0.64	-146.6	176.5	-8.7	103	2174	0.00	2.67	0.00	0.000	4	0.000	0.066	2157	878	3380
2232	-0.64	-146.6	181.9	-8.5	106	2236	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2300	3379
2558	-0.64	-146.6	205.9	-7.2	122	2560	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2300	3379
2867	-0.64	-146.6	227.3	-6.8	137	2872	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	874	3379
2917	-0.64	-146.6	230.9	-6.9	139	2922	0.00	2.65	0.00	0.000	6	0.000	0.057	2157	2303	3379
3233	-0.64	-146.6	252.2	-7.0	154	3234	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2303	3379
3542	-0.64	-146.6	274.5	-7.4	169	3547	0.00	2.65	0.00	0.000	4	0.000	0.067	2158	880	3379
3582	-0.64	-146.6	277.5	-8.0	171	3587	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2303	3379
3909	-0.64	-146.6	302.1	-7.3	187	3913	0.00	2.65	0.00	0.000	4	0.000	0.067	2156	879	3379
3975	-0.64	-146.6	306.8	-7.1	190	3980	0.00	2.62	0.00	0.000	6	0.000	0.058	2157	2300	3379
4297	-0.64	-146.6	330.5	-8.4	206	4301	0.00	2.70	0.00	0.000	4	0.000	0.083	2158	3712	3379
4330	-0.64	-146.6	333.5	-9.2	207	4335	0.00	2.62	0.00	0.000	6	0.000	0.059	2158	2291	3378
4645	-0.64	-146.6	356.7	-7.4	223	4650	0.00	2.62	0.00	0.000	4	0.000	0.068	2158	881	3379
4678	-0.64	-146.6	359.6	-7.8	224	4685	0.00	2.65	0.00	0.000	6	0.000	0.059	2158	2303	3379
4994	-0.64	-146.6	383.4	-7.6	240	4998	0.00	2.72	0.00	0.000	4	0.000	0.084	2158	3715	3379
5033	-0.64	-146.6	386.7	-8.3	242	5038	0.00	2.62	0.00	0.000	6	0.000	0.057	2158	2291	3379
5359	-0.64	-146.6	410.2	-6.8	258	5364	0.00	2.62	0.00	0.000	4	0.000	0.068	2158	884	3379
5392	-0.64	-146.6	412.4	-6.7	259	5398	0.00	2.65	0.00	0.000	6	0.000	0.059	2158	2307	3379
5708	-0.64	-146.6	430.9	-6.2	275	5712	0.00	2.67	0.00	0.000	4	0.000	0.068	2158	885	3379
5735	-0.64	-146.6	432.9	-6.9	276	5739	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2303	3379
6053	-0.64	-146.6	450.9	-5.1	291	6058	0.00	2.72	0.00	0.000	4	0.000	0.087	2158	3713	3379
6087	-0.64	-146.6	453.0	-5.9	292	6093	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2292	3379
6403	-0.64	-146.6	468.2	-5.0	308	6404	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2292	3378
6711	-0.64	-146.6	487.6	-6.5	323	6716	0.00	2.67	0.00	0.000	4	0.000	0.075	2158	879	3378
6745	-0.70	-146.6	489.7	-6.1	324	6751	0.00	2.67	0.00	0.000	6	0.000	0.064	2158	2305	3378
7061	-0.70	-146.6	516.9	-11.7	340	7062	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2305	3378
7370	-0.70	-146.6	534.1	-4.1	355	7374	0.00	2.72	0.00	0.000	4	0.000	0.074	2158	878	3376
7410	-0.76	-146.6	537.4	-8.6	357	7415	0.12	2.67	0.00	0.000	6	0.053	0.067	2120	2300	3376
7737	-0.67	-146.6	564.1	-9.7	373	7739	0.17	0.00	0.00	0.000	6	0.091	0.000	2154	2300	3374
7940	end dive: BOTTOM_OBSTACLE_DETECTED
state	7940	begin apogee
7947	-0.31	0.0	581.1	6.1	383	8083	0.38	0.00	130.23	1.061	6	0.091	0.000	2230	2193	2780
8083	end apogee: CONTROL_FINISHED_OK
state	8083	begin climb
8087	0.85	146.6	581.4	0.0	390	8223	1.17	2.78	129.00	1.040	4	0.077	0.074	2479	787	2183
8437	0.99	279.5	575.7	2.4	406	8562	0.17	2.67	116.40	1.042	6	0.066	0.064	2517	2199	1643
8884	0.99	279.5	548.8	7.3	428	8888	0.00	2.80	0.00	0.000	4	0.000	0.096	2517	3611	1641
8911	1.05	279.5	546.1	9.0	429	8916	0.00	2.70	0.00	0.000	6	0.000	0.069	2517	2200	1641
9227	1.05	279.5	520.0	8.2	444	9231	0.00	2.75	0.00	0.000	4	0.000	0.084	2517	785	1640
9248	1.05	279.5	518.1	9.6	445	9253	0.00	2.70	0.00	0.000	6	0.000	0.066	2517	2202	1639
9569	1.05	279.5	495.2	9.8	461	9574	0.00	2.80	0.00	0.000	4	0.000	0.095	2517	3619	1639
9597	1.05	279.5	492.9	8.4	462	9601	0.00	2.70	0.00	0.000	6	0.000	0.070	2517	2200	1639
9912	1.05	279.5	473.6	7.2	477	9913	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2200	1636
10222	1.05	279.5	447.4	8.1	492	10226	0.00	2.83	0.00	0.000	4	0.000	0.097	2517	3621	1637
10277	1.05	279.5	442.5	9.0	494	10283	0.00	2.70	0.00	0.000	6	0.000	0.072	2517	2199	1637
10592	1.05	279.5	419.4	7.2	510	10597	0.00	2.72	0.00	0.000	4	0.000	0.080	2517	779	1635
10620	1.05	279.5	417.1	8.5	511	10624	0.00	2.70	0.00	0.000	6	0.000	0.064	2517	2207	1635
10936	1.05	279.5	389.6	8.8	526	10940	0.00	2.75	0.00	0.000	4	0.000	0.091	2517	3615	1635
11008	1.05	279.5	382.7	9.6	529	11012	0.00	2.67	0.00	0.000	6	0.000	0.067	2517	2199	1635
11323	1.05	279.5	354.2	9.0	544	11324	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2199	1635
11633	1.05	279.5	329.6	8.1	559	11637	0.00	2.75	0.00	0.000	4	0.000	0.085	2517	3616	1635
11673	1.05	279.5	326.2	9.1	561	11677	0.00	2.67	0.00	0.000	6	0.000	0.064	2517	2189	1635
11999	1.05	279.5	299.9	7.9	577	12003	0.00	2.65	0.00	0.000	4	0.000	0.071	2517	785	1634
12043	1.05	279.5	296.3	7.7	579	12047	0.00	2.62	0.00	0.000	6	0.000	0.056	2517	2203	1635
12363	1.05	279.5	272.4	6.6	595	12368	0.00	2.72	0.00	0.000	4	0.000	0.084	2517	3621	1636
12408	1.05	279.5	268.9	7.9	597	12412	0.00	2.67	0.00	0.000	6	0.000	0.062	2517	2194	1636
12728	1.05	279.5	247.0	6.6	613	12730	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2194	1636
13037	1.05	279.5	225.9	7.0	628	13042	0.00	2.75	0.00	0.000	4	0.000	0.081	2517	3622	1637
13077	1.05	279.5	222.9	8.3	630	13081	0.00	2.65	0.00	0.000	6	0.000	0.060	2517	2190	1637
13403	1.05	279.5	197.9	8.1	646	13408	0.00	2.75	0.00	0.000	4	0.000	0.079	2517	3620	1638
13430	1.05	279.5	195.6	8.7	647	13435	0.00	2.62	0.00	0.000	6	0.000	0.059	2517	2202	1638
13746	1.05	279.5	169.0	7.9	662	13750	0.00	2.65	0.00	0.000	4	0.000	0.068	2517	782	1639
13773	1.10	279.5	166.8	8.1	663	13778	0.10	2.60	0.00	0.000	6	0.074	0.054	2540	2201	1638
14090	1.06	279.5	141.3	7.5	678	14091	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2201	1639
14399	1.06	279.5	117.7	8.2	693	14400	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2201	1640
14708	1.06	279.5	90.2	9.5	708	14712	0.00	2.70	0.00	0.000	4	0.000	0.081	2540	3615	1641
14757	1.06	279.5	85.2	10.0	710	14762	0.00	2.62	0.00	0.000	6	0.000	0.058	2541	2199	1641
15073	1.06	279.5	57.7	7.7	725	15078	0.00	2.72	0.00	0.000	4	0.000	0.079	2540	3616	1641
15106	1.06	279.5	55.2	7.2	726	15113	0.00	2.60	0.00	0.000	6	0.000	0.058	2540	2198	1641
15424	1.06	279.5	34.9	6.9	742	15428	0.00	2.65	0.00	0.000	4	0.000	0.067	2541	773	1642
15464	1.06	279.5	32.0	7.1	744	15468	0.00	2.62	0.00	0.000	6	0.000	0.054	2541	2203	1642
15790	1.06	279.5	6.9	8.3	760	15795	0.00	2.70	0.00	0.000	4	0.000	0.080	2541	3616	1642
15831	1.06	279.5	3.5	9.4	762	15835	0.00	2.62	0.00	0.000	6	0.000	0.060	2541	2194	1642
15867	end climb: SURFACE_DEPTH_REACHED
state	15867	begin surface coast
15888	end surface coast: CONTROL_FINISHED_OK
state	15888	begin surface