Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 150 * 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 150 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 547.01898 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 26 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 600 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 -79453.219 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 547.01898

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 -79453.219

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 600

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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 26 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 150 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 010631,6211.129,-918.833,60,1.4,60,-9.6 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.122,-0.160

_SM_DEPTHo 0.63 KALMAN_X -83830.0,1656.1,967.9,102010.7,-10317.5

_SM_ANGLEo -54.6 KALMAN_Y 135508.5,-5455.1,-2004.5,-87259.4,56740.5

GPS2 011145,6211.216,-918.808,12,1.3,12,-9.6 MHEAD_RNG_PITCHd_Wd 152.4,56379,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027033 ALTIM_BOTTOM_PING 475.5,57.1

SM_CCo 16360,152.60,0.783,0,0,390,547.02 _24V_AH 23.9,31.345

SM_GC 0.48,0.00,0.00,152.60,0.000,0.000,0.783,423,2176,390,-10.47,0.71,547.02 _10V_AH 10.1,15.205

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41058,782

TT8_MAMPS 0.028379 CAP_FILE_SIZE 140183,0

HUMID 1672 CFSIZE 254472192,241430528

TCM_TEMP 16.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,0,0

XPDR_PINGS 593 GPS 120708,054908,6214.353,-911.982,37,1.3,37,-9.6

ALTIM_TOP_PING 18.1,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 137 81.46 SBE_CT 535 24 306.91

Roll_motor 205 71 349.96 SBE_O2 579 19 263.03

VBD_pump_during_apogee 346 1169 9687.89 WL_BB2F 528 105 1326.99

VBD_pump_during_surface 152 783 2856.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.95 nil 0 0 0.00

Iridium_during_connect 26 160 101.68 nil 0 0 0.00

Iridium_during_xfer 132 223 705.31

Transponder_ping 152 420 1528.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.16

TT8 1521 19 304.35

LPSleep 12234 2 270.61

TT8_Active 689 19 137.92

TT8_Sampling 1857 39 746.62

TT8_CF8 525 45 243.09

TT8_Kalman 33 81 27.56

Analog_circuits 1662 12 201.52

GPS_charging 0 0 0.00

Compass 1820 8 147.07

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.03 -117.3 0.0 0.0 0 145 0.00 0.00 -112.80 0.000 6 0.000 0.000 418 2178 3099

149 -1.03 -117.3 3.2 -3.0 6 165 10.60 2.60 0.00 0.000 4 0.137 0.055 2468 739 3099

392 -0.71 -117.3 32.5 -10.4 16 397 0.35 2.53 0.00 0.000 6 0.086 0.048 2544 2151 3098

719 -0.62 -117.3 59.5 -8.2 32 724 0.00 2.58 0.00 0.000 4 0.000 0.059 2544 737 3098

738 -0.52 -117.3 61.0 -8.4 33 743 0.20 2.53 0.00 0.000 6 0.085 0.050 2585 2154 3098

1067 -0.52 -117.3 83.9 -7.2 49 1071 0.00 2.50 0.00 0.000 4 0.000 0.059 2585 3558 3098

1107 -0.57 -117.3 87.0 -6.9 51 1112 0.00 2.47 0.00 0.000 6 0.000 0.046 2585 2163 3099

1435 -0.62 -117.3 106.6 -5.7 67 1437 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2143 3098

1744 -0.68 -117.3 120.1 -3.5 82 1749 0.15 2.53 0.00 0.000 4 0.048 0.060 2539 748 3098

1795 -0.57 -117.3 122.1 -4.7 84 1800 0.17 2.50 0.00 0.000 6 0.087 0.050 2576 2144 3098

2112 -0.57 -117.3 131.1 -2.3 99 2116 0.00 2.55 0.00 0.000 4 0.000 0.061 2576 747 3098

2122 -0.57 -117.3 131.3 -2.1 99 2129 0.00 2.50 0.00 0.000 6 0.000 0.051 2576 2144 3098

2439 -0.57 -117.3 135.6 -1.1 115 2443 0.00 2.55 0.00 0.000 4 0.000 0.061 2576 745 3098

2518 -0.57 -117.3 136.5 -1.2 118 2524 0.00 2.45 0.00 0.000 6 0.000 0.051 2575 2117 3099

2834 -0.57 -117.3 140.7 -2.0 134 2839 0.00 2.50 0.00 0.000 4 0.000 0.062 2575 749 3099

2931 -0.57 -117.3 144.1 -3.5 138 2935 0.00 2.40 0.00 0.000 6 0.000 0.052 2575 2089 3098

3246 -0.57 -117.3 160.5 -6.3 153 3250 0.00 2.45 0.00 0.000 4 0.000 0.061 2575 746 3098

3268 -0.57 -117.3 161.9 -6.3 154 3272 0.00 2.38 0.00 0.000 6 0.000 0.051 2576 2070 3098

3590 -0.57 -117.3 185.3 -7.5 170 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2070 3098

3899 -0.57 -117.3 207.9 -7.1 185 3903 0.00 2.42 0.00 0.000 4 0.000 0.064 2575 751 3097

3926 -0.57 -117.3 210.1 -8.1 186 3930 0.00 2.40 0.00 0.000 6 0.000 0.052 2575 2085 3097

4243 -0.57 -117.3 230.7 -5.9 201 4247 0.00 2.45 0.00 0.000 4 0.000 0.064 2575 748 3097

4265 -0.57 -117.3 232.3 -6.1 202 4269 0.00 2.38 0.00 0.000 6 0.000 0.053 2575 2067 3097

4587 -0.57 -117.3 248.2 -4.5 218 4591 0.00 2.42 0.00 0.000 4 0.000 0.064 2575 745 3097

4632 -0.57 -117.3 250.4 -5.4 220 4636 0.00 2.38 0.00 0.000 6 0.000 0.054 2575 2064 3097

4960 -0.57 -117.3 263.6 -3.8 236 4964 0.00 2.42 0.00 0.000 4 0.000 0.064 2575 743 3097

5016 -0.57 -117.3 266.1 -5.1 238 5022 0.00 2.33 0.00 0.000 6 0.000 0.054 2575 2042 3097

5332 -0.57 -117.3 276.8 -3.1 254 5336 0.00 2.38 0.00 0.000 4 0.000 0.064 2575 751 3096

5373 -0.57 -117.3 278.1 -3.7 256 5377 0.00 2.30 0.00 0.000 6 0.000 0.053 2576 2032 3097

5700 -0.57 -117.3 288.5 -3.1 272 5701 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2033 3096

6009 -0.57 -117.3 298.5 -3.3 287 6013 0.00 2.75 0.00 0.000 4 0.000 0.065 2575 3563 3096

6032 -0.57 -117.3 299.4 -3.9 288 6037 0.00 2.72 0.00 0.000 6 0.000 0.051 2575 2032 3095

6354 -0.57 -117.3 312.7 -4.2 304 6359 0.00 2.80 0.00 0.000 4 0.000 0.065 2575 3561 3095

6404 -0.57 -117.3 315.0 -5.3 306 6409 0.00 2.67 0.00 0.000 6 0.000 0.050 2575 2046 3095

6721 -0.57 -117.3 330.5 -4.8 321 6725 0.00 2.75 0.00 0.000 4 0.000 0.064 2575 3559 3095

6761 -0.57 -117.3 332.7 -5.7 323 6766 0.00 2.67 0.00 0.000 6 0.000 0.050 2575 2049 3095

7088 -0.62 -117.3 353.7 -6.7 339 7092 0.00 2.75 0.00 0.000 4 0.000 0.065 2575 3558 3095

7121 -0.62 -117.3 356.1 -7.3 340 7127 0.00 2.67 0.00 0.000 6 0.000 0.051 2575 2051 3095

7437 -0.62 -117.3 378.2 -7.0 356 7442 0.00 2.75 0.00 0.000 4 0.000 0.066 2575 3558 3095

7515 -0.62 -117.3 383.8 -6.8 359 7521 0.00 2.65 0.00 0.000 6 0.000 0.050 2575 2067 3094

7832 -0.66 -117.3 402.9 -6.1 375 7836 0.00 2.70 0.00 0.000 4 0.000 0.064 2575 3559 3094

7916 -0.66 -117.3 407.6 -5.9 379 7921 0.00 2.60 0.00 0.000 6 0.000 0.048 2575 2086 3094

8244 -0.66 -117.3 417.8 -1.9 395 8248 0.00 2.70 0.00 0.000 4 0.000 0.064 2575 3558 3094

8272 -0.66 -117.3 418.3 -1.9 396 8276 0.00 2.60 0.00 0.000 6 0.000 0.051 2575 2095 3094

8589 -0.71 -117.3 422.1 -0.9 411 8594 0.12 2.67 0.00 0.000 4 0.053 0.064 2537 3561 3094

8623 -0.61 -117.3 422.7 -2.4 412 8629 0.12 2.60 0.00 0.000 6 0.094 0.051 2564 2103 3094

8939 -0.61 -117.3 428.2 -1.8 428 8944 0.00 2.67 0.00 0.000 4 0.000 0.067 2564 3564 3094

9012 -0.61 -117.3 429.5 -1.9 431 9016 0.00 2.58 0.00 0.000 6 0.000 0.051 2564 2123 3094

9329 -0.61 -117.3 436.1 -3.4 446 9334 0.00 2.65 0.00 0.000 4 0.000 0.068 2564 3564 3094

9357 -0.61 -117.3 437.6 -5.0 447 9362 0.00 2.58 0.00 0.000 6 0.000 0.052 2564 2120 3094

9673 -0.61 -117.3 454.7 -6.2 462 9677 0.00 2.65 0.00 0.000 4 0.000 0.067 2564 3558 3094

9685 -0.61 -117.3 455.4 -6.2 462 9691 0.00 2.58 0.00 0.000 6 0.000 0.052 2564 2112 3094

10001 -0.61 -117.3 473.2 -5.7 478 10006 0.00 2.67 0.00 0.000 4 0.000 0.067 2564 3564 3093

10012 -0.61 -117.3 473.9 -6.0 478 10019 0.00 2.58 0.00 0.000 6 0.000 0.054 2564 2126 3093

10329 -0.61 -117.3 493.5 -6.3 494 10333 0.00 2.65 0.00 0.000 4 0.000 0.071 2564 3561 3093

10350 -0.61 -117.3 495.3 -8.3 495 10354 0.00 2.55 0.00 0.000 6 0.000 0.057 2564 2147 3093

10672 -0.61 -117.3 514.9 -5.4 511 10676 0.00 2.62 0.00 0.000 4 0.000 0.071 2564 3559 3093

10831 -0.61 -117.3 522.0 -5.6 518 10835 0.00 2.47 0.00 0.000 6 0.000 0.054 2564 2181 3093

10840 end dive: BOTTOM_OBSTACLE_DETECTED

state 10840 begin apogee

10847 -0.33 0.0 522.8 6.6 519 10948 0.30 0.00 98.20 1.170 6 0.085 0.000 2624 2091 2620

10949 end apogee: CONTROL_FINISHED_OK

state 10949 begin climb

10952 1.03 117.3 525.6 0.0 524 11057 1.38 2.67 97.68 1.142 4 0.071 0.064 2921 3500 2141

11143 1.03 117.3 514.6 7.9 533 11148 0.00 2.53 0.00 0.000 6 0.000 0.056 2921 2117 2140

11470 1.03 117.3 487.4 9.6 549 11474 0.00 2.60 0.00 0.000 4 0.000 0.068 2921 3506 2139

11532 1.03 117.3 482.4 8.2 552 11536 0.00 2.50 0.00 0.000 6 0.000 0.056 2921 2134 2140

11858 1.03 117.3 453.8 10.1 568 11859 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2115 2139

12168 1.03 117.3 422.2 10.0 583 12172 0.00 2.58 0.00 0.000 4 0.000 0.069 2921 3512 2138

12245 1.03 117.3 414.3 9.6 586 12251 0.00 2.50 0.00 0.000 6 0.000 0.057 2921 2140 2138

12562 1.03 117.3 392.3 6.2 602 12566 0.00 2.65 0.00 0.000 4 0.000 0.070 2921 683 2138

12606 1.05 128.3 389.5 5.6 604 12623 0.00 2.67 10.18 0.986 6 0.000 0.058 2921 2160 2096

12932 1.17 202.1 377.3 3.5 620 12999 0.12 2.53 60.92 1.082 4 0.051 0.066 2960 3508 1795

13062 1.12 202.1 370.3 6.3 626 13066 0.00 2.47 0.00 0.000 6 0.000 0.054 2960 2155 1794

13383 1.12 231.4 353.8 5.0 642 13414 0.00 2.72 24.77 1.029 4 0.000 0.067 2960 690 1676

13453 1.12 231.4 349.8 6.2 645 13457 0.00 2.67 0.00 0.000 6 0.000 0.055 2960 2157 1676

13769 1.16 252.5 332.9 5.3 660 13795 0.00 2.53 18.83 0.996 4 0.000 0.064 2960 3502 1589

13846 1.17 263.9 328.6 5.6 663 13862 0.00 2.45 10.85 0.932 6 0.000 0.053 2960 2149 1544

14187 1.21 288.2 310.9 5.2 680 14213 0.00 2.72 21.58 0.988 4 0.000 0.067 2960 681 1445

14259 1.22 290.2 306.4 5.9 683 14263 0.00 2.67 0.00 0.000 6 0.000 0.054 2960 2162 1444

14575 1.22 290.2 287.2 7.1 698 14584 0.00 2.47 3.55 0.601 4 0.000 0.064 2960 3501 1436

14630 1.26 290.2 282.6 8.0 700 14634 0.00 2.45 0.00 0.000 6 0.000 0.051 2960 2150 1436

14946 1.26 290.2 248.3 13.1 715 14950 0.00 2.65 0.00 0.000 4 0.000 0.068 2960 681 1436

15001 1.26 290.2 239.8 14.8 717 15007 0.00 2.65 0.00 0.000 6 0.000 0.054 2960 2154 1436

15317 1.26 290.2 178.4 21.3 733 15321 0.00 2.45 0.00 0.000 4 0.000 0.062 2960 3516 1437

15344 1.32 290.2 172.3 20.6 734 15349 0.12 2.47 0.00 0.000 6 0.049 0.052 2999 2142 1437

15662 1.25 290.2 92.4 24.8 749 15667 0.12 2.62 0.00 0.000 4 0.084 0.066 2974 689 1437

15725 1.25 290.2 78.9 19.6 752 15729 0.00 2.60 0.00 0.000 6 0.000 0.053 2974 2135 1438

16053 1.25 290.2 29.3 12.5 768 16057 0.00 2.47 0.00 0.000 4 0.000 0.061 2974 3516 1437

16093 1.25 290.2 24.5 12.1 770 16098 0.00 2.50 0.00 0.000 6 0.000 0.051 2974 2119 1437

16315 end climb: SURFACE_DEPTH_REACHED

state 16315 begin surface coast

16337 end surface coast: CONTROL_FINISHED_OK

state 16337 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	150	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	547.01898	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	26	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	600	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	-79453.219	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	010631,6211.129,-918.833,60,1.4,60,-9.6	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.122,-0.160
_SM_DEPTHo	0.63	KALMAN_X	-83830.0,1656.1,967.9,102010.7,-10317.5
_SM_ANGLEo	-54.6	KALMAN_Y	135508.5,-5455.1,-2004.5,-87259.4,56740.5
GPS2	011145,6211.216,-918.808,12,1.3,12,-9.6	MHEAD_RNG_PITCHd_Wd	152.4,56379,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.5,1.027033	ALTIM_BOTTOM_PING	475.5,57.1
SM_CCo	16360,152.60,0.783,0,0,390,547.02	_24V_AH	23.9,31.345
SM_GC	0.48,0.00,0.00,152.60,0.000,0.000,0.783,423,2176,390,-10.47,0.71,547.02	_10V_AH	10.1,15.205
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41058,782
TT8_MAMPS	0.028379	CAP_FILE_SIZE	140183,0
HUMID	1672	CFSIZE	254472192,241430528
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
XPDR_PINGS	593	GPS	120708,054908,6214.353,-911.982,37,1.3,37,-9.6
ALTIM_TOP_PING	18.1,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	137	81.46	SBE_CT	535	24	306.91
Roll_motor	205	71	349.96	SBE_O2	579	19	263.03
VBD_pump_during_apogee	346	1169	9687.89	WL_BB2F	528	105	1326.99
VBD_pump_during_surface	152	783	2856.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.95	nil	0	0	0.00
Iridium_during_connect	26	160	101.68	nil	0	0	0.00
Iridium_during_xfer	132	223	705.31
Transponder_ping	152	420	1528.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.16
TT8	1521	19	304.35
LPSleep	12234	2	270.61
TT8_Active	689	19	137.92
TT8_Sampling	1857	39	746.62
TT8_CF8	525	45	243.09
TT8_Kalman	33	81	27.56
Analog_circuits	1662	12	201.52
GPS_charging	0	0	0.00
Compass	1820	8	147.07
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.03	-117.3	0.0	0.0	0	145	0.00	0.00	-112.80	0.000	6	0.000	0.000	418	2178	3099
149	-1.03	-117.3	3.2	-3.0	6	165	10.60	2.60	0.00	0.000	4	0.137	0.055	2468	739	3099
392	-0.71	-117.3	32.5	-10.4	16	397	0.35	2.53	0.00	0.000	6	0.086	0.048	2544	2151	3098
719	-0.62	-117.3	59.5	-8.2	32	724	0.00	2.58	0.00	0.000	4	0.000	0.059	2544	737	3098
738	-0.52	-117.3	61.0	-8.4	33	743	0.20	2.53	0.00	0.000	6	0.085	0.050	2585	2154	3098
1067	-0.52	-117.3	83.9	-7.2	49	1071	0.00	2.50	0.00	0.000	4	0.000	0.059	2585	3558	3098
1107	-0.57	-117.3	87.0	-6.9	51	1112	0.00	2.47	0.00	0.000	6	0.000	0.046	2585	2163	3099
1435	-0.62	-117.3	106.6	-5.7	67	1437	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2143	3098
1744	-0.68	-117.3	120.1	-3.5	82	1749	0.15	2.53	0.00	0.000	4	0.048	0.060	2539	748	3098
1795	-0.57	-117.3	122.1	-4.7	84	1800	0.17	2.50	0.00	0.000	6	0.087	0.050	2576	2144	3098
2112	-0.57	-117.3	131.1	-2.3	99	2116	0.00	2.55	0.00	0.000	4	0.000	0.061	2576	747	3098
2122	-0.57	-117.3	131.3	-2.1	99	2129	0.00	2.50	0.00	0.000	6	0.000	0.051	2576	2144	3098
2439	-0.57	-117.3	135.6	-1.1	115	2443	0.00	2.55	0.00	0.000	4	0.000	0.061	2576	745	3098
2518	-0.57	-117.3	136.5	-1.2	118	2524	0.00	2.45	0.00	0.000	6	0.000	0.051	2575	2117	3099
2834	-0.57	-117.3	140.7	-2.0	134	2839	0.00	2.50	0.00	0.000	4	0.000	0.062	2575	749	3099
2931	-0.57	-117.3	144.1	-3.5	138	2935	0.00	2.40	0.00	0.000	6	0.000	0.052	2575	2089	3098
3246	-0.57	-117.3	160.5	-6.3	153	3250	0.00	2.45	0.00	0.000	4	0.000	0.061	2575	746	3098
3268	-0.57	-117.3	161.9	-6.3	154	3272	0.00	2.38	0.00	0.000	6	0.000	0.051	2576	2070	3098
3590	-0.57	-117.3	185.3	-7.5	170	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2070	3098
3899	-0.57	-117.3	207.9	-7.1	185	3903	0.00	2.42	0.00	0.000	4	0.000	0.064	2575	751	3097
3926	-0.57	-117.3	210.1	-8.1	186	3930	0.00	2.40	0.00	0.000	6	0.000	0.052	2575	2085	3097
4243	-0.57	-117.3	230.7	-5.9	201	4247	0.00	2.45	0.00	0.000	4	0.000	0.064	2575	748	3097
4265	-0.57	-117.3	232.3	-6.1	202	4269	0.00	2.38	0.00	0.000	6	0.000	0.053	2575	2067	3097
4587	-0.57	-117.3	248.2	-4.5	218	4591	0.00	2.42	0.00	0.000	4	0.000	0.064	2575	745	3097
4632	-0.57	-117.3	250.4	-5.4	220	4636	0.00	2.38	0.00	0.000	6	0.000	0.054	2575	2064	3097
4960	-0.57	-117.3	263.6	-3.8	236	4964	0.00	2.42	0.00	0.000	4	0.000	0.064	2575	743	3097
5016	-0.57	-117.3	266.1	-5.1	238	5022	0.00	2.33	0.00	0.000	6	0.000	0.054	2575	2042	3097
5332	-0.57	-117.3	276.8	-3.1	254	5336	0.00	2.38	0.00	0.000	4	0.000	0.064	2575	751	3096
5373	-0.57	-117.3	278.1	-3.7	256	5377	0.00	2.30	0.00	0.000	6	0.000	0.053	2576	2032	3097
5700	-0.57	-117.3	288.5	-3.1	272	5701	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2033	3096
6009	-0.57	-117.3	298.5	-3.3	287	6013	0.00	2.75	0.00	0.000	4	0.000	0.065	2575	3563	3096
6032	-0.57	-117.3	299.4	-3.9	288	6037	0.00	2.72	0.00	0.000	6	0.000	0.051	2575	2032	3095
6354	-0.57	-117.3	312.7	-4.2	304	6359	0.00	2.80	0.00	0.000	4	0.000	0.065	2575	3561	3095
6404	-0.57	-117.3	315.0	-5.3	306	6409	0.00	2.67	0.00	0.000	6	0.000	0.050	2575	2046	3095
6721	-0.57	-117.3	330.5	-4.8	321	6725	0.00	2.75	0.00	0.000	4	0.000	0.064	2575	3559	3095
6761	-0.57	-117.3	332.7	-5.7	323	6766	0.00	2.67	0.00	0.000	6	0.000	0.050	2575	2049	3095
7088	-0.62	-117.3	353.7	-6.7	339	7092	0.00	2.75	0.00	0.000	4	0.000	0.065	2575	3558	3095
7121	-0.62	-117.3	356.1	-7.3	340	7127	0.00	2.67	0.00	0.000	6	0.000	0.051	2575	2051	3095
7437	-0.62	-117.3	378.2	-7.0	356	7442	0.00	2.75	0.00	0.000	4	0.000	0.066	2575	3558	3095
7515	-0.62	-117.3	383.8	-6.8	359	7521	0.00	2.65	0.00	0.000	6	0.000	0.050	2575	2067	3094
7832	-0.66	-117.3	402.9	-6.1	375	7836	0.00	2.70	0.00	0.000	4	0.000	0.064	2575	3559	3094
7916	-0.66	-117.3	407.6	-5.9	379	7921	0.00	2.60	0.00	0.000	6	0.000	0.048	2575	2086	3094
8244	-0.66	-117.3	417.8	-1.9	395	8248	0.00	2.70	0.00	0.000	4	0.000	0.064	2575	3558	3094
8272	-0.66	-117.3	418.3	-1.9	396	8276	0.00	2.60	0.00	0.000	6	0.000	0.051	2575	2095	3094
8589	-0.71	-117.3	422.1	-0.9	411	8594	0.12	2.67	0.00	0.000	4	0.053	0.064	2537	3561	3094
8623	-0.61	-117.3	422.7	-2.4	412	8629	0.12	2.60	0.00	0.000	6	0.094	0.051	2564	2103	3094
8939	-0.61	-117.3	428.2	-1.8	428	8944	0.00	2.67	0.00	0.000	4	0.000	0.067	2564	3564	3094
9012	-0.61	-117.3	429.5	-1.9	431	9016	0.00	2.58	0.00	0.000	6	0.000	0.051	2564	2123	3094
9329	-0.61	-117.3	436.1	-3.4	446	9334	0.00	2.65	0.00	0.000	4	0.000	0.068	2564	3564	3094
9357	-0.61	-117.3	437.6	-5.0	447	9362	0.00	2.58	0.00	0.000	6	0.000	0.052	2564	2120	3094
9673	-0.61	-117.3	454.7	-6.2	462	9677	0.00	2.65	0.00	0.000	4	0.000	0.067	2564	3558	3094
9685	-0.61	-117.3	455.4	-6.2	462	9691	0.00	2.58	0.00	0.000	6	0.000	0.052	2564	2112	3094
10001	-0.61	-117.3	473.2	-5.7	478	10006	0.00	2.67	0.00	0.000	4	0.000	0.067	2564	3564	3093
10012	-0.61	-117.3	473.9	-6.0	478	10019	0.00	2.58	0.00	0.000	6	0.000	0.054	2564	2126	3093
10329	-0.61	-117.3	493.5	-6.3	494	10333	0.00	2.65	0.00	0.000	4	0.000	0.071	2564	3561	3093
10350	-0.61	-117.3	495.3	-8.3	495	10354	0.00	2.55	0.00	0.000	6	0.000	0.057	2564	2147	3093
10672	-0.61	-117.3	514.9	-5.4	511	10676	0.00	2.62	0.00	0.000	4	0.000	0.071	2564	3559	3093
10831	-0.61	-117.3	522.0	-5.6	518	10835	0.00	2.47	0.00	0.000	6	0.000	0.054	2564	2181	3093
10840	end dive: BOTTOM_OBSTACLE_DETECTED
state	10840	begin apogee
10847	-0.33	0.0	522.8	6.6	519	10948	0.30	0.00	98.20	1.170	6	0.085	0.000	2624	2091	2620
10949	end apogee: CONTROL_FINISHED_OK
state	10949	begin climb
10952	1.03	117.3	525.6	0.0	524	11057	1.38	2.67	97.68	1.142	4	0.071	0.064	2921	3500	2141
11143	1.03	117.3	514.6	7.9	533	11148	0.00	2.53	0.00	0.000	6	0.000	0.056	2921	2117	2140
11470	1.03	117.3	487.4	9.6	549	11474	0.00	2.60	0.00	0.000	4	0.000	0.068	2921	3506	2139
11532	1.03	117.3	482.4	8.2	552	11536	0.00	2.50	0.00	0.000	6	0.000	0.056	2921	2134	2140
11858	1.03	117.3	453.8	10.1	568	11859	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2115	2139
12168	1.03	117.3	422.2	10.0	583	12172	0.00	2.58	0.00	0.000	4	0.000	0.069	2921	3512	2138
12245	1.03	117.3	414.3	9.6	586	12251	0.00	2.50	0.00	0.000	6	0.000	0.057	2921	2140	2138
12562	1.03	117.3	392.3	6.2	602	12566	0.00	2.65	0.00	0.000	4	0.000	0.070	2921	683	2138
12606	1.05	128.3	389.5	5.6	604	12623	0.00	2.67	10.18	0.986	6	0.000	0.058	2921	2160	2096
12932	1.17	202.1	377.3	3.5	620	12999	0.12	2.53	60.92	1.082	4	0.051	0.066	2960	3508	1795
13062	1.12	202.1	370.3	6.3	626	13066	0.00	2.47	0.00	0.000	6	0.000	0.054	2960	2155	1794
13383	1.12	231.4	353.8	5.0	642	13414	0.00	2.72	24.77	1.029	4	0.000	0.067	2960	690	1676
13453	1.12	231.4	349.8	6.2	645	13457	0.00	2.67	0.00	0.000	6	0.000	0.055	2960	2157	1676
13769	1.16	252.5	332.9	5.3	660	13795	0.00	2.53	18.83	0.996	4	0.000	0.064	2960	3502	1589
13846	1.17	263.9	328.6	5.6	663	13862	0.00	2.45	10.85	0.932	6	0.000	0.053	2960	2149	1544
14187	1.21	288.2	310.9	5.2	680	14213	0.00	2.72	21.58	0.988	4	0.000	0.067	2960	681	1445
14259	1.22	290.2	306.4	5.9	683	14263	0.00	2.67	0.00	0.000	6	0.000	0.054	2960	2162	1444
14575	1.22	290.2	287.2	7.1	698	14584	0.00	2.47	3.55	0.601	4	0.000	0.064	2960	3501	1436
14630	1.26	290.2	282.6	8.0	700	14634	0.00	2.45	0.00	0.000	6	0.000	0.051	2960	2150	1436
14946	1.26	290.2	248.3	13.1	715	14950	0.00	2.65	0.00	0.000	4	0.000	0.068	2960	681	1436
15001	1.26	290.2	239.8	14.8	717	15007	0.00	2.65	0.00	0.000	6	0.000	0.054	2960	2154	1436
15317	1.26	290.2	178.4	21.3	733	15321	0.00	2.45	0.00	0.000	4	0.000	0.062	2960	3516	1437
15344	1.32	290.2	172.3	20.6	734	15349	0.12	2.47	0.00	0.000	6	0.049	0.052	2999	2142	1437
15662	1.25	290.2	92.4	24.8	749	15667	0.12	2.62	0.00	0.000	4	0.084	0.066	2974	689	1437
15725	1.25	290.2	78.9	19.6	752	15729	0.00	2.60	0.00	0.000	6	0.000	0.053	2974	2135	1438
16053	1.25	290.2	29.3	12.5	768	16057	0.00	2.47	0.00	0.000	4	0.000	0.061	2974	3516	1437
16093	1.25	290.2	24.5	12.1	770	16098	0.00	2.50	0.00	0.000	6	0.000	0.051	2974	2119	1437
16315	end climb: SURFACE_DEPTH_REACHED
state	16315	begin surface coast
16337	end surface coast: CONTROL_FINISHED_OK
state	16337	begin surface