Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 155 * 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 155 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -79528.672 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 -79528.672

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 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 23 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 155 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 004238,6214.489,-904.974,40,1.0,40,-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 -0.038,-0.198

_SM_DEPTHo 0.54 KALMAN_X -66014.4,97.8,-274.1,99169.1,11871.4

_SM_ANGLEo -51.8 KALMAN_Y 137791.3,-2568.5,-1307.0,-86965.7,27562.9

GPS2 004757,6214.562,-904.968,16,1.3,16,-9.5 MHEAD_RNG_PITCHd_Wd 200.3,62382,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.2,1.027040 ALTIM_BOTTOM_PING 450.5,14.0

SM_CCo 14758,170.57,0.766,0,0,390,547.02 _24V_AH 23.9,32.155

SM_GC 0.30,0.00,0.00,170.57,0.000,0.000,0.766,419,2122,390,-10.49,-0.79,547.02 _10V_AH 10.1,15.614

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34786,710

TT8_MAMPS 0.029146 CAP_FILE_SIZE 124021,0

HUMID 1680 CFSIZE 254472192,241143808

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

XPDR_PINGS 547 GPS 130708,045856,6215.197,-903.157,38,1.4,38,-9.5

ALTIM_TOP_PING 19.8,19.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 136 86.47 SBE_CT 485 24 278.27

Roll_motor 184 67 298.03 SBE_O2 521 19 236.95

VBD_pump_during_apogee 311 1100 8204.00 WL_BB2F 559 105 1403.70

VBD_pump_during_surface 170 766 3123.73 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 27 160 103.53 nil 0 0 0.00

Iridium_during_xfer 132 223 708.06

Transponder_ping 140 420 1410.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.51

TT8 1379 19 275.94

LPSleep 11007 2 243.47

TT8_Active 679 19 135.96

TT8_Sampling 1688 39 678.89

TT8_CF8 495 45 229.10

TT8_Kalman 33 81 27.57

Analog_circuits 1546 12 187.41

GPS_charging 0 0 0.00

Compass 1650 8 133.38

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.03 -117.3 0.0 0.0 0 138 0.00 0.00 -111.40 0.000 6 0.000 0.000 421 2182 3099

141 -1.03 -117.3 2.1 -1.8 5 157 10.60 2.47 0.00 0.000 4 0.137 0.057 2471 3564 3098

165 0.66 -117.3 7.5 -14.1 7 174 1.77 2.53 0.00 0.000 6 0.089 0.047 2840 2147 3098

498 -0.17 -117.3 19.8 -3.5 23 503 0.80 2.55 0.00 0.000 4 0.054 0.056 2660 3561 3098

611 -0.49 -117.3 24.3 -3.7 28 617 0.30 2.78 0.00 0.000 6 0.039 0.043 2576 1983 3097

933 -0.49 -117.3 43.5 -7.0 44 938 0.00 2.85 0.00 0.000 4 0.000 0.058 2576 3559 3097

954 -0.49 -117.3 45.3 -7.6 45 959 0.00 2.78 0.00 0.000 6 0.000 0.046 2576 1996 3097

1278 -0.49 -117.3 70.6 -7.6 61 1283 0.00 2.83 0.00 0.000 4 0.000 0.058 2576 3564 3097

1289 -0.49 -117.3 71.5 -7.2 61 1295 0.00 2.80 0.00 0.000 6 0.000 0.046 2576 1975 3097

1607 -0.49 -117.3 89.2 -5.1 77 1611 0.00 2.85 0.00 0.000 4 0.000 0.058 2576 3560 3098

1617 -0.49 -117.3 90.0 -5.0 77 1623 0.00 2.78 0.00 0.000 6 0.000 0.048 2576 1992 3098

1936 -0.49 -117.3 102.1 -3.1 93 1940 0.00 2.83 0.00 0.000 4 0.000 0.058 2576 3563 3098

1991 -0.49 -117.3 104.7 -5.4 95 1998 0.00 2.75 0.00 0.000 6 0.000 0.048 2576 2011 3098

2308 -0.49 -117.3 119.5 -4.4 111 2312 0.00 2.83 0.00 0.000 4 0.000 0.061 2576 3565 3098

2319 -0.49 -117.3 120.1 -4.5 111 2325 0.00 2.78 0.00 0.000 6 0.000 0.050 2576 2001 3098

2635 -0.49 -117.3 133.6 -4.0 127 2640 0.00 2.80 0.00 0.000 4 0.000 0.060 2576 3558 3098

2686 -0.49 -117.3 136.0 -5.2 129 2691 0.00 2.72 0.00 0.000 6 0.000 0.048 2576 2019 3098

3004 -0.49 -117.3 150.3 -4.9 144 3008 0.00 2.78 0.00 0.000 4 0.000 0.061 2576 3557 3098

3061 -0.49 -117.3 153.4 -5.8 146 3067 0.00 2.70 0.00 0.000 6 0.000 0.048 2576 2034 3098

3378 -0.49 -117.3 171.0 -5.8 162 3382 0.00 2.78 0.00 0.000 4 0.000 0.062 2576 3557 3097

3399 -0.49 -117.3 172.4 -6.1 163 3403 0.00 2.72 0.00 0.000 6 0.000 0.051 2576 2034 3097

3720 -0.49 -117.3 194.8 -7.7 179 3724 0.00 2.78 0.00 0.000 4 0.000 0.063 2576 3563 3097

3764 -0.49 -117.3 198.4 -8.1 181 3768 0.00 2.70 0.00 0.000 6 0.000 0.051 2576 2048 3097

4085 -0.49 -117.3 224.4 -8.4 197 4089 0.00 2.75 0.00 0.000 4 0.000 0.063 2576 3565 3096

4157 -0.49 -117.3 230.4 -8.1 200 4161 0.00 2.70 0.00 0.000 6 0.000 0.048 2576 2044 3097

4473 -0.49 -117.3 254.8 -7.3 215 4478 0.00 2.78 0.00 0.000 4 0.000 0.062 2576 3564 3096

4552 -0.49 -117.3 260.8 -7.5 218 4558 0.00 2.67 0.00 0.000 6 0.000 0.050 2576 2060 3096

4868 -0.49 -117.3 280.5 -5.2 234 4873 0.00 2.72 0.00 0.000 4 0.000 0.063 2576 3561 3096

4913 -0.49 -117.3 282.9 -5.4 236 4918 0.00 2.65 0.00 0.000 6 0.000 0.050 2576 2067 3096

5235 -0.49 -117.3 296.3 -3.9 252 5239 0.00 2.72 0.00 0.000 4 0.000 0.063 2576 3557 3096

5245 -0.49 -117.3 296.7 -3.5 252 5251 0.00 2.65 0.00 0.000 6 0.000 0.051 2576 2071 3095

5562 -0.53 -117.3 308.0 -3.6 268 5567 0.00 2.72 0.00 0.000 4 0.000 0.064 2576 3561 3096

5573 -0.53 -117.3 308.5 -3.6 268 5579 0.00 2.67 0.00 0.000 6 0.000 0.051 2576 2059 3095

5890 -0.57 -117.3 321.1 -4.4 284 5894 0.00 2.72 0.00 0.000 4 0.000 0.064 2576 3557 3095

5953 -0.57 -117.3 324.4 -5.2 287 5957 0.00 2.62 0.00 0.000 6 0.000 0.051 2576 2075 3095

6279 -0.57 -117.3 340.7 -5.2 303 6284 0.00 2.70 0.00 0.000 4 0.000 0.065 2576 3557 3095

6335 -0.57 -117.3 343.3 -4.9 305 6342 0.00 2.62 0.00 0.000 6 0.000 0.051 2576 2084 3095

6652 -0.57 -117.3 357.1 -4.2 321 6657 0.00 2.70 0.00 0.000 4 0.000 0.065 2576 3562 3095

6669 -0.57 -117.3 357.9 -4.0 322 6674 0.00 2.62 0.00 0.000 6 0.000 0.051 2576 2088 3094

6998 -0.61 -117.3 371.9 -4.4 338 7002 0.00 2.70 0.00 0.000 4 0.000 0.064 2576 3560 3094

7019 -0.61 -117.3 373.0 -4.4 339 7024 0.00 2.62 0.00 0.000 6 0.000 0.051 2576 2088 3094

7341 -0.61 -117.3 387.9 -5.1 355 7346 0.00 2.67 0.00 0.000 4 0.000 0.065 2576 3564 3094

7481 -0.65 -117.3 398.6 -8.0 361 7486 0.00 2.58 0.00 0.000 6 0.000 0.051 2576 2115 3093

7798 -0.71 -117.3 419.5 -6.0 376 7803 0.15 2.62 0.00 0.000 4 0.049 0.064 2525 3556 3093

7955 -0.61 -117.3 431.9 -7.7 383 7960 0.20 2.55 0.00 0.000 6 0.088 0.051 2568 2124 3093

8277 -0.61 -117.3 445.7 -2.8 399 8281 0.00 2.47 0.00 0.000 4 0.000 0.066 2568 748 3093

8357 -0.61 -117.3 448.3 -3.3 402 8363 0.00 2.47 0.00 0.000 6 0.000 0.054 2568 2123 3093

8505 end dive: BOTTOM_OBSTACLE_DETECTED

state 8505 begin apogee

8511 -0.33 0.0 455.5 4.9 410 8612 0.28 0.00 97.75 1.101 6 0.082 0.000 2626 2123 2619

8613 end apogee: CONTROL_FINISHED_OK

state 8613 begin climb

8616 1.03 117.3 458.4 0.0 415 8718 1.38 0.00 96.85 1.073 6 0.067 0.000 2925 2124 2140

9027 1.03 117.3 433.9 6.5 435 9032 0.00 2.53 0.00 0.000 4 0.000 0.067 2925 3507 2140

9083 1.03 117.3 430.3 6.1 437 9089 0.00 2.58 0.00 0.000 6 0.000 0.056 2925 2095 2139

9399 1.03 117.3 410.7 7.1 453 9404 0.00 2.55 0.00 0.000 4 0.000 0.067 2924 686 2139

9444 1.03 117.3 406.8 8.3 455 9448 0.00 2.58 0.00 0.000 6 0.000 0.057 2925 2118 2139

9765 1.03 117.3 378.9 8.9 471 9769 0.00 2.53 0.00 0.000 4 0.000 0.066 2925 3509 2138

9837 1.03 117.3 372.1 9.7 474 9842 0.00 2.50 0.00 0.000 6 0.000 0.053 2925 2123 2138

10153 1.03 117.3 343.6 8.6 489 10154 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2123 2137

10462 1.03 117.3 320.4 6.8 504 10466 0.00 2.55 0.00 0.000 4 0.000 0.064 2925 3509 2137

10576 1.03 117.3 312.1 7.3 509 10580 0.00 2.47 0.00 0.000 6 0.000 0.051 2925 2134 2137

10897 1.03 117.3 291.4 6.1 525 10901 0.00 2.53 0.00 0.000 4 0.000 0.063 2925 3510 2137

10963 1.03 117.3 287.1 6.2 528 10967 0.00 2.42 0.00 0.000 6 0.000 0.051 2925 2161 2137

11285 1.06 138.6 269.2 5.3 544 11304 0.00 0.00 17.95 0.948 6 0.000 0.000 2925 2161 2055

11613 1.15 193.2 255.2 4.1 560 11665 0.10 2.53 45.30 0.967 4 0.054 0.061 2960 3510 1831

11725 1.17 202.6 249.1 5.7 565 11742 0.00 2.42 9.07 0.848 6 0.000 0.051 2960 2170 1794

12051 1.17 202.6 227.8 7.3 581 12056 0.00 2.67 0.00 0.000 4 0.000 0.066 2960 680 1794

12103 1.12 202.6 223.2 9.1 583 12107 0.00 2.70 0.00 0.000 6 0.000 0.053 2960 2179 1794

12418 1.12 202.6 197.0 8.4 598 12423 0.00 2.40 0.00 0.000 4 0.000 0.062 2960 3511 1793

12482 1.12 202.6 191.2 9.0 601 12486 0.00 2.40 0.00 0.000 6 0.000 0.051 2960 2176 1793

12809 1.12 202.6 163.2 8.3 617 12813 0.00 2.67 0.00 0.000 4 0.000 0.065 2960 687 1793

12858 1.12 202.6 158.8 9.0 619 12863 0.00 2.67 0.00 0.000 6 0.000 0.054 2960 2178 1794

13175 1.12 202.6 131.8 9.0 634 13179 0.00 2.40 0.00 0.000 4 0.000 0.063 2960 3512 1793

13240 1.12 202.6 126.1 9.0 637 13244 0.00 2.40 0.00 0.000 6 0.000 0.050 2960 2170 1793

13567 1.12 202.6 95.3 11.4 653 13571 0.00 2.65 0.00 0.000 4 0.000 0.065 2960 690 1793

13629 1.12 202.6 86.5 14.2 656 13633 0.00 2.67 0.00 0.000 6 0.000 0.053 2960 2177 1794

13956 1.12 202.6 48.9 10.1 672 13958 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2177 1794

14266 1.16 258.5 31.7 4.1 687 14312 0.00 0.00 44.95 0.813 6 0.000 0.000 2960 2177 1566

14637 1.21 258.5 7.5 8.3 705 14641 0.00 2.40 0.00 0.000 4 0.000 0.060 2960 3517 1565

14677 1.27 258.5 4.0 8.0 707 14682 0.00 2.42 0.00 0.000 6 0.000 0.049 2960 2153 1565

14713 end climb: SURFACE_DEPTH_REACHED

state 14713 begin surface coast

14735 end surface coast: CONTROL_FINISHED_OK

state 14735 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	155	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-79528.672	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	004238,6214.489,-904.974,40,1.0,40,-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	-0.038,-0.198
_SM_DEPTHo	0.54	KALMAN_X	-66014.4,97.8,-274.1,99169.1,11871.4
_SM_ANGLEo	-51.8	KALMAN_Y	137791.3,-2568.5,-1307.0,-86965.7,27562.9
GPS2	004757,6214.562,-904.968,16,1.3,16,-9.5	MHEAD_RNG_PITCHd_Wd	200.3,62382,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	-0.2,1.027040	ALTIM_BOTTOM_PING	450.5,14.0
SM_CCo	14758,170.57,0.766,0,0,390,547.02	_24V_AH	23.9,32.155
SM_GC	0.30,0.00,0.00,170.57,0.000,0.000,0.766,419,2122,390,-10.49,-0.79,547.02	_10V_AH	10.1,15.614
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34786,710
TT8_MAMPS	0.029146	CAP_FILE_SIZE	124021,0
HUMID	1680	CFSIZE	254472192,241143808
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
XPDR_PINGS	547	GPS	130708,045856,6215.197,-903.157,38,1.4,38,-9.5
ALTIM_TOP_PING	19.8,19.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	136	86.47	SBE_CT	485	24	278.27
Roll_motor	184	67	298.03	SBE_O2	521	19	236.95
VBD_pump_during_apogee	311	1100	8204.00	WL_BB2F	559	105	1403.70
VBD_pump_during_surface	170	766	3123.73	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	103.53	nil	0	0	0.00
Iridium_during_xfer	132	223	708.06
Transponder_ping	140	420	1410.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.51
TT8	1379	19	275.94
LPSleep	11007	2	243.47
TT8_Active	679	19	135.96
TT8_Sampling	1688	39	678.89
TT8_CF8	495	45	229.10
TT8_Kalman	33	81	27.57
Analog_circuits	1546	12	187.41
GPS_charging	0	0	0.00
Compass	1650	8	133.38
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.03	-117.3	0.0	0.0	0	138	0.00	0.00	-111.40	0.000	6	0.000	0.000	421	2182	3099
141	-1.03	-117.3	2.1	-1.8	5	157	10.60	2.47	0.00	0.000	4	0.137	0.057	2471	3564	3098
165	0.66	-117.3	7.5	-14.1	7	174	1.77	2.53	0.00	0.000	6	0.089	0.047	2840	2147	3098
498	-0.17	-117.3	19.8	-3.5	23	503	0.80	2.55	0.00	0.000	4	0.054	0.056	2660	3561	3098
611	-0.49	-117.3	24.3	-3.7	28	617	0.30	2.78	0.00	0.000	6	0.039	0.043	2576	1983	3097
933	-0.49	-117.3	43.5	-7.0	44	938	0.00	2.85	0.00	0.000	4	0.000	0.058	2576	3559	3097
954	-0.49	-117.3	45.3	-7.6	45	959	0.00	2.78	0.00	0.000	6	0.000	0.046	2576	1996	3097
1278	-0.49	-117.3	70.6	-7.6	61	1283	0.00	2.83	0.00	0.000	4	0.000	0.058	2576	3564	3097
1289	-0.49	-117.3	71.5	-7.2	61	1295	0.00	2.80	0.00	0.000	6	0.000	0.046	2576	1975	3097
1607	-0.49	-117.3	89.2	-5.1	77	1611	0.00	2.85	0.00	0.000	4	0.000	0.058	2576	3560	3098
1617	-0.49	-117.3	90.0	-5.0	77	1623	0.00	2.78	0.00	0.000	6	0.000	0.048	2576	1992	3098
1936	-0.49	-117.3	102.1	-3.1	93	1940	0.00	2.83	0.00	0.000	4	0.000	0.058	2576	3563	3098
1991	-0.49	-117.3	104.7	-5.4	95	1998	0.00	2.75	0.00	0.000	6	0.000	0.048	2576	2011	3098
2308	-0.49	-117.3	119.5	-4.4	111	2312	0.00	2.83	0.00	0.000	4	0.000	0.061	2576	3565	3098
2319	-0.49	-117.3	120.1	-4.5	111	2325	0.00	2.78	0.00	0.000	6	0.000	0.050	2576	2001	3098
2635	-0.49	-117.3	133.6	-4.0	127	2640	0.00	2.80	0.00	0.000	4	0.000	0.060	2576	3558	3098
2686	-0.49	-117.3	136.0	-5.2	129	2691	0.00	2.72	0.00	0.000	6	0.000	0.048	2576	2019	3098
3004	-0.49	-117.3	150.3	-4.9	144	3008	0.00	2.78	0.00	0.000	4	0.000	0.061	2576	3557	3098
3061	-0.49	-117.3	153.4	-5.8	146	3067	0.00	2.70	0.00	0.000	6	0.000	0.048	2576	2034	3098
3378	-0.49	-117.3	171.0	-5.8	162	3382	0.00	2.78	0.00	0.000	4	0.000	0.062	2576	3557	3097
3399	-0.49	-117.3	172.4	-6.1	163	3403	0.00	2.72	0.00	0.000	6	0.000	0.051	2576	2034	3097
3720	-0.49	-117.3	194.8	-7.7	179	3724	0.00	2.78	0.00	0.000	4	0.000	0.063	2576	3563	3097
3764	-0.49	-117.3	198.4	-8.1	181	3768	0.00	2.70	0.00	0.000	6	0.000	0.051	2576	2048	3097
4085	-0.49	-117.3	224.4	-8.4	197	4089	0.00	2.75	0.00	0.000	4	0.000	0.063	2576	3565	3096
4157	-0.49	-117.3	230.4	-8.1	200	4161	0.00	2.70	0.00	0.000	6	0.000	0.048	2576	2044	3097
4473	-0.49	-117.3	254.8	-7.3	215	4478	0.00	2.78	0.00	0.000	4	0.000	0.062	2576	3564	3096
4552	-0.49	-117.3	260.8	-7.5	218	4558	0.00	2.67	0.00	0.000	6	0.000	0.050	2576	2060	3096
4868	-0.49	-117.3	280.5	-5.2	234	4873	0.00	2.72	0.00	0.000	4	0.000	0.063	2576	3561	3096
4913	-0.49	-117.3	282.9	-5.4	236	4918	0.00	2.65	0.00	0.000	6	0.000	0.050	2576	2067	3096
5235	-0.49	-117.3	296.3	-3.9	252	5239	0.00	2.72	0.00	0.000	4	0.000	0.063	2576	3557	3096
5245	-0.49	-117.3	296.7	-3.5	252	5251	0.00	2.65	0.00	0.000	6	0.000	0.051	2576	2071	3095
5562	-0.53	-117.3	308.0	-3.6	268	5567	0.00	2.72	0.00	0.000	4	0.000	0.064	2576	3561	3096
5573	-0.53	-117.3	308.5	-3.6	268	5579	0.00	2.67	0.00	0.000	6	0.000	0.051	2576	2059	3095
5890	-0.57	-117.3	321.1	-4.4	284	5894	0.00	2.72	0.00	0.000	4	0.000	0.064	2576	3557	3095
5953	-0.57	-117.3	324.4	-5.2	287	5957	0.00	2.62	0.00	0.000	6	0.000	0.051	2576	2075	3095
6279	-0.57	-117.3	340.7	-5.2	303	6284	0.00	2.70	0.00	0.000	4	0.000	0.065	2576	3557	3095
6335	-0.57	-117.3	343.3	-4.9	305	6342	0.00	2.62	0.00	0.000	6	0.000	0.051	2576	2084	3095
6652	-0.57	-117.3	357.1	-4.2	321	6657	0.00	2.70	0.00	0.000	4	0.000	0.065	2576	3562	3095
6669	-0.57	-117.3	357.9	-4.0	322	6674	0.00	2.62	0.00	0.000	6	0.000	0.051	2576	2088	3094
6998	-0.61	-117.3	371.9	-4.4	338	7002	0.00	2.70	0.00	0.000	4	0.000	0.064	2576	3560	3094
7019	-0.61	-117.3	373.0	-4.4	339	7024	0.00	2.62	0.00	0.000	6	0.000	0.051	2576	2088	3094
7341	-0.61	-117.3	387.9	-5.1	355	7346	0.00	2.67	0.00	0.000	4	0.000	0.065	2576	3564	3094
7481	-0.65	-117.3	398.6	-8.0	361	7486	0.00	2.58	0.00	0.000	6	0.000	0.051	2576	2115	3093
7798	-0.71	-117.3	419.5	-6.0	376	7803	0.15	2.62	0.00	0.000	4	0.049	0.064	2525	3556	3093
7955	-0.61	-117.3	431.9	-7.7	383	7960	0.20	2.55	0.00	0.000	6	0.088	0.051	2568	2124	3093
8277	-0.61	-117.3	445.7	-2.8	399	8281	0.00	2.47	0.00	0.000	4	0.000	0.066	2568	748	3093
8357	-0.61	-117.3	448.3	-3.3	402	8363	0.00	2.47	0.00	0.000	6	0.000	0.054	2568	2123	3093
8505	end dive: BOTTOM_OBSTACLE_DETECTED
state	8505	begin apogee
8511	-0.33	0.0	455.5	4.9	410	8612	0.28	0.00	97.75	1.101	6	0.082	0.000	2626	2123	2619
8613	end apogee: CONTROL_FINISHED_OK
state	8613	begin climb
8616	1.03	117.3	458.4	0.0	415	8718	1.38	0.00	96.85	1.073	6	0.067	0.000	2925	2124	2140
9027	1.03	117.3	433.9	6.5	435	9032	0.00	2.53	0.00	0.000	4	0.000	0.067	2925	3507	2140
9083	1.03	117.3	430.3	6.1	437	9089	0.00	2.58	0.00	0.000	6	0.000	0.056	2925	2095	2139
9399	1.03	117.3	410.7	7.1	453	9404	0.00	2.55	0.00	0.000	4	0.000	0.067	2924	686	2139
9444	1.03	117.3	406.8	8.3	455	9448	0.00	2.58	0.00	0.000	6	0.000	0.057	2925	2118	2139
9765	1.03	117.3	378.9	8.9	471	9769	0.00	2.53	0.00	0.000	4	0.000	0.066	2925	3509	2138
9837	1.03	117.3	372.1	9.7	474	9842	0.00	2.50	0.00	0.000	6	0.000	0.053	2925	2123	2138
10153	1.03	117.3	343.6	8.6	489	10154	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2123	2137
10462	1.03	117.3	320.4	6.8	504	10466	0.00	2.55	0.00	0.000	4	0.000	0.064	2925	3509	2137
10576	1.03	117.3	312.1	7.3	509	10580	0.00	2.47	0.00	0.000	6	0.000	0.051	2925	2134	2137
10897	1.03	117.3	291.4	6.1	525	10901	0.00	2.53	0.00	0.000	4	0.000	0.063	2925	3510	2137
10963	1.03	117.3	287.1	6.2	528	10967	0.00	2.42	0.00	0.000	6	0.000	0.051	2925	2161	2137
11285	1.06	138.6	269.2	5.3	544	11304	0.00	0.00	17.95	0.948	6	0.000	0.000	2925	2161	2055
11613	1.15	193.2	255.2	4.1	560	11665	0.10	2.53	45.30	0.967	4	0.054	0.061	2960	3510	1831
11725	1.17	202.6	249.1	5.7	565	11742	0.00	2.42	9.07	0.848	6	0.000	0.051	2960	2170	1794
12051	1.17	202.6	227.8	7.3	581	12056	0.00	2.67	0.00	0.000	4	0.000	0.066	2960	680	1794
12103	1.12	202.6	223.2	9.1	583	12107	0.00	2.70	0.00	0.000	6	0.000	0.053	2960	2179	1794
12418	1.12	202.6	197.0	8.4	598	12423	0.00	2.40	0.00	0.000	4	0.000	0.062	2960	3511	1793
12482	1.12	202.6	191.2	9.0	601	12486	0.00	2.40	0.00	0.000	6	0.000	0.051	2960	2176	1793
12809	1.12	202.6	163.2	8.3	617	12813	0.00	2.67	0.00	0.000	4	0.000	0.065	2960	687	1793
12858	1.12	202.6	158.8	9.0	619	12863	0.00	2.67	0.00	0.000	6	0.000	0.054	2960	2178	1794
13175	1.12	202.6	131.8	9.0	634	13179	0.00	2.40	0.00	0.000	4	0.000	0.063	2960	3512	1793
13240	1.12	202.6	126.1	9.0	637	13244	0.00	2.40	0.00	0.000	6	0.000	0.050	2960	2170	1793
13567	1.12	202.6	95.3	11.4	653	13571	0.00	2.65	0.00	0.000	4	0.000	0.065	2960	690	1793
13629	1.12	202.6	86.5	14.2	656	13633	0.00	2.67	0.00	0.000	6	0.000	0.053	2960	2177	1794
13956	1.12	202.6	48.9	10.1	672	13958	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2177	1794
14266	1.16	258.5	31.7	4.1	687	14312	0.00	0.00	44.95	0.813	6	0.000	0.000	2960	2177	1566
14637	1.21	258.5	7.5	8.3	705	14641	0.00	2.40	0.00	0.000	4	0.000	0.060	2960	3517	1565
14677	1.27	258.5	4.0	8.0	707	14682	0.00	2.42	0.00	0.000	6	0.000	0.049	2960	2153	1565
14713	end climb: SURFACE_DEPTH_REACHED
state	14713	begin surface coast
14735	end surface coast: CONTROL_FINISHED_OK
state	14735	begin surface