Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 192 * 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 192 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 39 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 440 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 -80192.75 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 412.5

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 -80192.75

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

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 39 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 16 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 192 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 043637,6150.784,-904.639,26,1.2,26,-9.4 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.112,-0.191

_SM_DEPTHo 0.51 KALMAN_X 14967.8,-696.5,-971.4,-13938.1,7966.3

_SM_ANGLEo -57.0 KALMAN_Y 9878.9,-490.0,-723.6,-39505.6,4784.7

GPS2 044545,6150.701,-904.809,12,1.5,12,-9.4 MHEAD_RNG_PITCHd_Wd 219.8,18771,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.2,1.018171 ALTIM_BOTTOM_PING 575.9,75.2

SM_CCo 16766,215.10,0.777,0,0,390,547.02 _24V_AH 23.8,37.496

SM_GC 0.30,0.00,0.00,215.10,0.000,0.000,0.777,419,2124,390,-10.49,-0.74,547.02 _10V_AH 10.1,17.896

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41112,798

TT8_MAMPS 0.029146 CAP_FILE_SIZE 140134,0

HUMID 1674 CFSIZE 254472192,239452160

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,0,0

XPDR_PINGS 348 GPS 180708,093102,6148.826,-906.638,42,1.4,42,-9.4

ALTIM_TOP_PING 18.6,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 144 94.45 SBE_CT 548 24 313.22

Roll_motor 178 83 354.77 SBE_O2 595 19 269.16

VBD_pump_during_apogee 263 1315 8259.47 WL_BB2F 516 105 1290.60

VBD_pump_during_surface 215 776 3977.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.14 nil 0 0 0.00

Iridium_during_connect 61 160 233.43 nil 0 0 0.00

Iridium_during_xfer 228 223 1211.66

Transponder_ping 92 420 922.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.71

TT8 1543 19 308.70

LPSleep 12794 2 283.01

TT8_Active 708 19 141.66

TT8_Sampling 1792 39 720.67

TT8_CF8 693 45 320.84

TT8_Kalman 33 81 27.55

Analog_circuits 1615 12 195.83

GPS_charging 0 0 0.00

Compass 1753 8 141.69

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 -1.30 -117.3 0.0 0.0 0 138 0.00 0.00 -111.55 0.000 6 0.000 0.000 419 2131 3099

142 -1.30 -117.3 1.9 -1.4 5 158 10.45 2.47 0.00 0.000 4 0.145 0.057 2406 755 3098

164 0.22 -117.3 6.7 -12.3 5 173 1.62 2.53 0.00 0.000 6 0.094 0.048 2743 2162 3098

492 -0.54 -117.3 20.8 -3.6 21 497 0.70 2.55 0.00 0.000 4 0.047 0.054 2578 754 3098

543 -0.69 -117.3 24.1 -5.9 23 548 0.12 2.45 0.00 0.000 6 0.049 0.048 2537 2134 3097

862 -0.74 -117.3 48.4 -7.7 38 866 0.00 2.50 0.00 0.000 4 0.000 0.055 2536 753 3098

873 -0.79 -117.3 49.7 -7.9 38 879 0.00 2.42 0.00 0.000 6 0.000 0.048 2536 2119 3098

1191 -0.85 -117.3 74.3 -8.2 54 1195 0.00 2.45 0.00 0.000 4 0.000 0.058 2537 757 3098

1339 -0.90 -117.3 86.4 -7.3 60 1346 0.15 2.42 0.00 0.000 6 0.046 0.048 2490 2122 3098

1656 -0.85 -117.3 113.4 -8.2 76 1661 0.10 2.47 0.00 0.000 4 0.099 0.058 2512 758 3099

1669 -0.80 -117.3 114.3 -7.7 76 1676 0.00 2.45 0.00 0.000 6 0.000 0.049 2511 2131 3099

1986 -0.80 -117.3 137.3 -7.5 92 1987 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2131 3099

2294 -0.80 -117.3 160.0 -7.4 107 2299 0.00 2.50 0.00 0.000 4 0.000 0.059 2511 756 3099

2358 -0.80 -117.3 164.5 -7.3 110 2362 0.00 2.45 0.00 0.000 6 0.000 0.051 2512 2132 3098

2685 -0.80 -117.3 189.9 -7.9 126 2686 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2132 3098

2994 -0.80 -117.3 212.5 -6.9 141 2995 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2132 3098

3304 -0.80 -117.3 233.5 -7.0 156 3306 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2132 3098

3613 -0.80 -117.3 256.5 -7.5 171 3617 0.00 2.50 0.00 0.000 4 0.000 0.061 2512 752 3097

3640 -0.80 -117.3 258.8 -7.5 172 3644 0.00 2.47 0.00 0.000 6 0.000 0.051 2512 2134 3098

3957 -0.80 -117.3 282.9 -7.5 187 3961 0.00 2.47 0.00 0.000 4 0.000 0.062 2512 759 3097

3990 -0.80 -117.3 285.6 -8.0 188 3996 0.00 2.47 0.00 0.000 6 0.000 0.053 2511 2137 3097

4306 -0.80 -117.3 308.9 -7.5 204 4311 0.00 2.53 0.00 0.000 4 0.000 0.062 2512 754 3097

4340 -0.80 -117.3 311.6 -7.6 205 4347 0.00 2.45 0.00 0.000 6 0.000 0.053 2512 2123 3097

4657 -0.80 -117.3 334.4 -7.2 221 4661 0.00 2.47 0.00 0.000 4 0.000 0.063 2512 760 3096

4707 -0.80 -117.3 338.2 -7.0 223 4712 0.00 2.45 0.00 0.000 6 0.000 0.053 2511 2123 3096

5024 -0.80 -117.3 361.2 -7.6 238 5028 0.00 2.50 0.00 0.000 4 0.000 0.064 2512 758 3096

5080 -0.80 -117.3 365.5 -7.7 240 5086 0.00 2.45 0.00 0.000 6 0.000 0.053 2512 2123 3096

5397 -0.80 -117.3 389.8 -7.8 256 5398 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2125 3096

5705 -0.80 -117.3 414.1 -7.8 271 5707 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2125 3095

6015 -0.80 -117.3 438.4 -8.0 286 6019 0.00 2.50 0.00 0.000 4 0.000 0.064 2511 752 3095

6077 -0.80 -117.3 443.5 -7.8 289 6082 0.00 2.42 0.00 0.000 6 0.000 0.054 2512 2117 3095

6405 -0.80 -117.3 465.0 -5.9 305 6409 0.00 2.50 0.00 0.000 4 0.000 0.064 2512 757 3095

6500 -0.80 -117.3 470.8 -6.0 309 6505 0.00 2.42 0.00 0.000 6 0.000 0.054 2511 2108 3094

6817 -0.85 -117.3 486.3 -4.7 324 6821 0.00 2.62 0.00 0.000 4 0.000 0.067 2511 3556 3094

6828 -0.89 -117.3 486.6 -4.2 324 6834 0.00 2.60 0.00 0.000 6 0.000 0.054 2511 2104 3094

7147 -0.89 -117.3 500.9 -4.6 340 7148 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2086 3094

7453 -0.89 -117.3 521.1 -7.7 355 7457 0.00 2.72 0.00 0.000 4 0.000 0.074 2512 3563 3094

7463 -0.89 -117.3 522.0 -8.0 355 7470 0.00 2.65 0.00 0.000 6 0.000 0.061 2512 2099 3094

7781 -0.93 -117.3 543.2 -5.9 371 7785 0.00 2.72 0.00 0.000 4 0.000 0.077 2511 3559 3094

7859 -0.93 -117.3 548.3 -5.8 374 7865 0.00 2.65 0.00 0.000 6 0.000 0.061 2511 2103 3093

8176 -0.97 -117.3 567.3 -5.7 390 8181 0.00 2.72 0.00 0.000 4 0.000 0.079 2511 3554 3093

8216 -0.97 -117.3 570.0 -6.9 392 8220 0.00 2.62 0.00 0.000 6 0.000 0.062 2511 2111 3092

8543 -0.97 -117.3 587.2 -5.4 408 8547 0.00 2.72 0.00 0.000 4 0.000 0.080 2511 3553 3091

8660 -0.97 -117.3 594.1 -5.9 413 8665 0.00 2.60 0.00 0.000 6 0.000 0.064 2511 2122 3090

8977 -1.02 -117.3 612.2 -5.8 428 8982 0.15 2.72 0.00 0.000 4 0.060 0.081 2471 3560 3089

9073 -0.91 -117.3 619.5 -8.2 432 9078 0.15 2.62 0.00 0.000 6 0.107 0.066 2499 2130 3089

9389 -0.91 -117.3 640.6 -6.6 447 9393 0.00 2.67 0.00 0.000 4 0.000 0.084 2499 3550 3088

9397 end dive: BOTTOM_OBSTACLE_DETECTED

state 9397 begin apogee

9407 -0.33 0.0 641.4 6.7 447 9513 0.57 0.00 98.80 1.315 6 0.095 0.000 2621 2090 2620

9513 end apogee: CONTROL_FINISHED_OK

state 9513 begin climb

9516 1.30 117.3 644.4 0.0 453 9620 1.70 0.00 99.62 1.283 6 0.080 0.000 2979 2089 2141

9928 1.30 117.3 612.7 8.8 473 9932 0.00 2.67 0.00 0.000 4 0.000 0.082 2978 3503 2139

10098 1.26 117.3 596.4 9.7 480 10104 0.00 2.55 0.00 0.000 6 0.000 0.071 2979 2138 2138

10414 1.26 117.3 569.2 8.3 496 10415 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2122 2137

10724 1.29 133.5 545.8 7.3 511 10746 0.00 2.67 14.40 1.197 4 0.000 0.081 2979 3506 2074

10824 1.29 133.5 537.7 8.6 515 10829 0.00 2.55 0.00 0.000 6 0.000 0.067 2979 2147 2074

11140 1.29 133.5 511.2 8.4 530 11144 0.00 2.60 0.00 0.000 4 0.000 0.081 2979 3502 2073

11190 1.29 134.4 507.0 8.0 532 11195 0.00 2.47 0.00 0.000 6 0.000 0.067 2979 2167 2073

11506 1.32 151.4 485.4 7.2 547 11526 0.00 0.00 16.38 1.202 6 0.000 0.000 2979 2153 2002

11835 1.32 151.4 453.8 9.1 563 11840 0.00 2.53 0.00 0.000 4 0.000 0.078 2979 3502 2000

11882 1.32 151.4 450.1 8.1 565 11886 0.00 2.45 0.00 0.000 6 0.000 0.062 2979 2173 2000

12203 1.32 151.4 421.7 8.6 581 12207 0.00 2.53 0.00 0.000 4 0.000 0.074 2979 3509 1999

12247 1.32 151.4 417.6 9.5 583 12251 0.00 2.45 0.00 0.000 6 0.000 0.060 2979 2176 1998

12568 1.32 151.4 387.9 9.4 599 12573 0.00 2.72 0.00 0.000 4 0.000 0.071 2979 678 1999

12609 1.32 151.4 384.0 10.0 601 12613 0.00 2.75 0.00 0.000 6 0.000 0.061 2979 2192 1998

12935 1.32 151.4 353.8 9.4 617 12939 0.00 2.38 0.00 0.000 4 0.000 0.067 2979 3505 1999

12991 1.32 151.4 348.0 10.7 619 12995 0.00 2.38 0.00 0.000 6 0.000 0.054 2979 2191 1999

13307 1.32 151.4 318.5 8.9 634 13311 0.00 2.72 0.00 0.000 4 0.000 0.068 2980 681 2000

13369 1.32 151.4 312.7 9.5 637 13373 0.00 2.70 0.00 0.000 6 0.000 0.056 2980 2189 2000

13696 1.32 154.1 284.8 7.9 653 13705 0.00 2.42 4.10 0.703 4 0.000 0.064 2979 3505 1991

13750 1.32 154.1 280.2 8.2 655 13754 0.00 2.38 0.00 0.000 6 0.000 0.051 2979 2184 1990

14067 1.34 167.5 256.6 7.4 670 14089 0.00 2.78 12.35 0.942 4 0.000 0.064 2979 688 1937

14122 1.34 167.5 252.0 8.1 672 14127 0.00 2.72 0.00 0.000 6 0.000 0.054 2979 2192 1937

14439 1.40 173.6 227.7 7.7 687 14453 0.10 2.45 6.85 0.824 4 0.053 0.061 3013 3512 1911

14512 1.35 173.6 220.4 10.5 690 14516 0.00 2.35 0.00 0.000 6 0.000 0.050 3013 2200 1912

14833 1.35 173.6 186.7 11.1 706 14834 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2199 1912

15143 1.35 173.6 152.3 11.2 721 15144 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2197 1913

15452 1.35 173.6 119.2 10.8 736 15456 0.00 2.38 0.00 0.000 4 0.000 0.060 3013 3506 1913

15502 1.30 173.6 113.4 10.5 738 15507 0.15 2.33 0.00 0.000 6 0.087 0.049 2983 2207 1914

15819 1.38 177.8 86.9 7.8 753 15830 0.00 2.75 5.95 0.709 4 0.000 0.062 2983 681 1895

15883 1.44 182.1 81.8 7.8 756 15894 0.12 2.75 5.38 0.682 6 0.048 0.052 3021 2217 1876

16214 1.40 182.1 49.1 10.3 772 16218 0.00 2.30 0.00 0.000 4 0.000 0.060 3021 3507 1877

16258 1.36 182.1 43.8 10.7 774 16263 0.15 2.30 0.00 0.000 6 0.087 0.049 2993 2213 1877

16580 1.36 182.1 14.9 9.1 790 16584 0.00 2.72 0.00 0.000 4 0.000 0.062 2993 687 1877

16669 1.36 182.1 6.2 9.5 794 16674 0.00 2.72 0.00 0.000 6 0.000 0.048 2993 2218 1877

16719 end climb: SURFACE_DEPTH_REACHED

state 16719 begin surface coast

16743 end surface coast: CONTROL_FINISHED_OK

state 16743 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	192	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	39	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	440	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	-80192.75	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	043637,6150.784,-904.639,26,1.2,26,-9.4	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.112,-0.191
_SM_DEPTHo	0.51	KALMAN_X	14967.8,-696.5,-971.4,-13938.1,7966.3
_SM_ANGLEo	-57.0	KALMAN_Y	9878.9,-490.0,-723.6,-39505.6,4784.7
GPS2	044545,6150.701,-904.809,12,1.5,12,-9.4	MHEAD_RNG_PITCHd_Wd	219.8,18771,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.2,1.018171	ALTIM_BOTTOM_PING	575.9,75.2
SM_CCo	16766,215.10,0.777,0,0,390,547.02	_24V_AH	23.8,37.496
SM_GC	0.30,0.00,0.00,215.10,0.000,0.000,0.777,419,2124,390,-10.49,-0.74,547.02	_10V_AH	10.1,17.896
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41112,798
TT8_MAMPS	0.029146	CAP_FILE_SIZE	140134,0
HUMID	1674	CFSIZE	254472192,239452160
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
XPDR_PINGS	348	GPS	180708,093102,6148.826,-906.638,42,1.4,42,-9.4
ALTIM_TOP_PING	18.6,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	144	94.45	SBE_CT	548	24	313.22
Roll_motor	178	83	354.77	SBE_O2	595	19	269.16
VBD_pump_during_apogee	263	1315	8259.47	WL_BB2F	516	105	1290.60
VBD_pump_during_surface	215	776	3977.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.14	nil	0	0	0.00
Iridium_during_connect	61	160	233.43	nil	0	0	0.00
Iridium_during_xfer	228	223	1211.66
Transponder_ping	92	420	922.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.71
TT8	1543	19	308.70
LPSleep	12794	2	283.01
TT8_Active	708	19	141.66
TT8_Sampling	1792	39	720.67
TT8_CF8	693	45	320.84
TT8_Kalman	33	81	27.55
Analog_circuits	1615	12	195.83
GPS_charging	0	0	0.00
Compass	1753	8	141.69
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	-1.30	-117.3	0.0	0.0	0	138	0.00	0.00	-111.55	0.000	6	0.000	0.000	419	2131	3099
142	-1.30	-117.3	1.9	-1.4	5	158	10.45	2.47	0.00	0.000	4	0.145	0.057	2406	755	3098
164	0.22	-117.3	6.7	-12.3	5	173	1.62	2.53	0.00	0.000	6	0.094	0.048	2743	2162	3098
492	-0.54	-117.3	20.8	-3.6	21	497	0.70	2.55	0.00	0.000	4	0.047	0.054	2578	754	3098
543	-0.69	-117.3	24.1	-5.9	23	548	0.12	2.45	0.00	0.000	6	0.049	0.048	2537	2134	3097
862	-0.74	-117.3	48.4	-7.7	38	866	0.00	2.50	0.00	0.000	4	0.000	0.055	2536	753	3098
873	-0.79	-117.3	49.7	-7.9	38	879	0.00	2.42	0.00	0.000	6	0.000	0.048	2536	2119	3098
1191	-0.85	-117.3	74.3	-8.2	54	1195	0.00	2.45	0.00	0.000	4	0.000	0.058	2537	757	3098
1339	-0.90	-117.3	86.4	-7.3	60	1346	0.15	2.42	0.00	0.000	6	0.046	0.048	2490	2122	3098
1656	-0.85	-117.3	113.4	-8.2	76	1661	0.10	2.47	0.00	0.000	4	0.099	0.058	2512	758	3099
1669	-0.80	-117.3	114.3	-7.7	76	1676	0.00	2.45	0.00	0.000	6	0.000	0.049	2511	2131	3099
1986	-0.80	-117.3	137.3	-7.5	92	1987	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2131	3099
2294	-0.80	-117.3	160.0	-7.4	107	2299	0.00	2.50	0.00	0.000	4	0.000	0.059	2511	756	3099
2358	-0.80	-117.3	164.5	-7.3	110	2362	0.00	2.45	0.00	0.000	6	0.000	0.051	2512	2132	3098
2685	-0.80	-117.3	189.9	-7.9	126	2686	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2132	3098
2994	-0.80	-117.3	212.5	-6.9	141	2995	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2132	3098
3304	-0.80	-117.3	233.5	-7.0	156	3306	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2132	3098
3613	-0.80	-117.3	256.5	-7.5	171	3617	0.00	2.50	0.00	0.000	4	0.000	0.061	2512	752	3097
3640	-0.80	-117.3	258.8	-7.5	172	3644	0.00	2.47	0.00	0.000	6	0.000	0.051	2512	2134	3098
3957	-0.80	-117.3	282.9	-7.5	187	3961	0.00	2.47	0.00	0.000	4	0.000	0.062	2512	759	3097
3990	-0.80	-117.3	285.6	-8.0	188	3996	0.00	2.47	0.00	0.000	6	0.000	0.053	2511	2137	3097
4306	-0.80	-117.3	308.9	-7.5	204	4311	0.00	2.53	0.00	0.000	4	0.000	0.062	2512	754	3097
4340	-0.80	-117.3	311.6	-7.6	205	4347	0.00	2.45	0.00	0.000	6	0.000	0.053	2512	2123	3097
4657	-0.80	-117.3	334.4	-7.2	221	4661	0.00	2.47	0.00	0.000	4	0.000	0.063	2512	760	3096
4707	-0.80	-117.3	338.2	-7.0	223	4712	0.00	2.45	0.00	0.000	6	0.000	0.053	2511	2123	3096
5024	-0.80	-117.3	361.2	-7.6	238	5028	0.00	2.50	0.00	0.000	4	0.000	0.064	2512	758	3096
5080	-0.80	-117.3	365.5	-7.7	240	5086	0.00	2.45	0.00	0.000	6	0.000	0.053	2512	2123	3096
5397	-0.80	-117.3	389.8	-7.8	256	5398	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2125	3096
5705	-0.80	-117.3	414.1	-7.8	271	5707	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2125	3095
6015	-0.80	-117.3	438.4	-8.0	286	6019	0.00	2.50	0.00	0.000	4	0.000	0.064	2511	752	3095
6077	-0.80	-117.3	443.5	-7.8	289	6082	0.00	2.42	0.00	0.000	6	0.000	0.054	2512	2117	3095
6405	-0.80	-117.3	465.0	-5.9	305	6409	0.00	2.50	0.00	0.000	4	0.000	0.064	2512	757	3095
6500	-0.80	-117.3	470.8	-6.0	309	6505	0.00	2.42	0.00	0.000	6	0.000	0.054	2511	2108	3094
6817	-0.85	-117.3	486.3	-4.7	324	6821	0.00	2.62	0.00	0.000	4	0.000	0.067	2511	3556	3094
6828	-0.89	-117.3	486.6	-4.2	324	6834	0.00	2.60	0.00	0.000	6	0.000	0.054	2511	2104	3094
7147	-0.89	-117.3	500.9	-4.6	340	7148	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2086	3094
7453	-0.89	-117.3	521.1	-7.7	355	7457	0.00	2.72	0.00	0.000	4	0.000	0.074	2512	3563	3094
7463	-0.89	-117.3	522.0	-8.0	355	7470	0.00	2.65	0.00	0.000	6	0.000	0.061	2512	2099	3094
7781	-0.93	-117.3	543.2	-5.9	371	7785	0.00	2.72	0.00	0.000	4	0.000	0.077	2511	3559	3094
7859	-0.93	-117.3	548.3	-5.8	374	7865	0.00	2.65	0.00	0.000	6	0.000	0.061	2511	2103	3093
8176	-0.97	-117.3	567.3	-5.7	390	8181	0.00	2.72	0.00	0.000	4	0.000	0.079	2511	3554	3093
8216	-0.97	-117.3	570.0	-6.9	392	8220	0.00	2.62	0.00	0.000	6	0.000	0.062	2511	2111	3092
8543	-0.97	-117.3	587.2	-5.4	408	8547	0.00	2.72	0.00	0.000	4	0.000	0.080	2511	3553	3091
8660	-0.97	-117.3	594.1	-5.9	413	8665	0.00	2.60	0.00	0.000	6	0.000	0.064	2511	2122	3090
8977	-1.02	-117.3	612.2	-5.8	428	8982	0.15	2.72	0.00	0.000	4	0.060	0.081	2471	3560	3089
9073	-0.91	-117.3	619.5	-8.2	432	9078	0.15	2.62	0.00	0.000	6	0.107	0.066	2499	2130	3089
9389	-0.91	-117.3	640.6	-6.6	447	9393	0.00	2.67	0.00	0.000	4	0.000	0.084	2499	3550	3088
9397	end dive: BOTTOM_OBSTACLE_DETECTED
state	9397	begin apogee
9407	-0.33	0.0	641.4	6.7	447	9513	0.57	0.00	98.80	1.315	6	0.095	0.000	2621	2090	2620
9513	end apogee: CONTROL_FINISHED_OK
state	9513	begin climb
9516	1.30	117.3	644.4	0.0	453	9620	1.70	0.00	99.62	1.283	6	0.080	0.000	2979	2089	2141
9928	1.30	117.3	612.7	8.8	473	9932	0.00	2.67	0.00	0.000	4	0.000	0.082	2978	3503	2139
10098	1.26	117.3	596.4	9.7	480	10104	0.00	2.55	0.00	0.000	6	0.000	0.071	2979	2138	2138
10414	1.26	117.3	569.2	8.3	496	10415	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2122	2137
10724	1.29	133.5	545.8	7.3	511	10746	0.00	2.67	14.40	1.197	4	0.000	0.081	2979	3506	2074
10824	1.29	133.5	537.7	8.6	515	10829	0.00	2.55	0.00	0.000	6	0.000	0.067	2979	2147	2074
11140	1.29	133.5	511.2	8.4	530	11144	0.00	2.60	0.00	0.000	4	0.000	0.081	2979	3502	2073
11190	1.29	134.4	507.0	8.0	532	11195	0.00	2.47	0.00	0.000	6	0.000	0.067	2979	2167	2073
11506	1.32	151.4	485.4	7.2	547	11526	0.00	0.00	16.38	1.202	6	0.000	0.000	2979	2153	2002
11835	1.32	151.4	453.8	9.1	563	11840	0.00	2.53	0.00	0.000	4	0.000	0.078	2979	3502	2000
11882	1.32	151.4	450.1	8.1	565	11886	0.00	2.45	0.00	0.000	6	0.000	0.062	2979	2173	2000
12203	1.32	151.4	421.7	8.6	581	12207	0.00	2.53	0.00	0.000	4	0.000	0.074	2979	3509	1999
12247	1.32	151.4	417.6	9.5	583	12251	0.00	2.45	0.00	0.000	6	0.000	0.060	2979	2176	1998
12568	1.32	151.4	387.9	9.4	599	12573	0.00	2.72	0.00	0.000	4	0.000	0.071	2979	678	1999
12609	1.32	151.4	384.0	10.0	601	12613	0.00	2.75	0.00	0.000	6	0.000	0.061	2979	2192	1998
12935	1.32	151.4	353.8	9.4	617	12939	0.00	2.38	0.00	0.000	4	0.000	0.067	2979	3505	1999
12991	1.32	151.4	348.0	10.7	619	12995	0.00	2.38	0.00	0.000	6	0.000	0.054	2979	2191	1999
13307	1.32	151.4	318.5	8.9	634	13311	0.00	2.72	0.00	0.000	4	0.000	0.068	2980	681	2000
13369	1.32	151.4	312.7	9.5	637	13373	0.00	2.70	0.00	0.000	6	0.000	0.056	2980	2189	2000
13696	1.32	154.1	284.8	7.9	653	13705	0.00	2.42	4.10	0.703	4	0.000	0.064	2979	3505	1991
13750	1.32	154.1	280.2	8.2	655	13754	0.00	2.38	0.00	0.000	6	0.000	0.051	2979	2184	1990
14067	1.34	167.5	256.6	7.4	670	14089	0.00	2.78	12.35	0.942	4	0.000	0.064	2979	688	1937
14122	1.34	167.5	252.0	8.1	672	14127	0.00	2.72	0.00	0.000	6	0.000	0.054	2979	2192	1937
14439	1.40	173.6	227.7	7.7	687	14453	0.10	2.45	6.85	0.824	4	0.053	0.061	3013	3512	1911
14512	1.35	173.6	220.4	10.5	690	14516	0.00	2.35	0.00	0.000	6	0.000	0.050	3013	2200	1912
14833	1.35	173.6	186.7	11.1	706	14834	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2199	1912
15143	1.35	173.6	152.3	11.2	721	15144	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2197	1913
15452	1.35	173.6	119.2	10.8	736	15456	0.00	2.38	0.00	0.000	4	0.000	0.060	3013	3506	1913
15502	1.30	173.6	113.4	10.5	738	15507	0.15	2.33	0.00	0.000	6	0.087	0.049	2983	2207	1914
15819	1.38	177.8	86.9	7.8	753	15830	0.00	2.75	5.95	0.709	4	0.000	0.062	2983	681	1895
15883	1.44	182.1	81.8	7.8	756	15894	0.12	2.75	5.38	0.682	6	0.048	0.052	3021	2217	1876
16214	1.40	182.1	49.1	10.3	772	16218	0.00	2.30	0.00	0.000	4	0.000	0.060	3021	3507	1877
16258	1.36	182.1	43.8	10.7	774	16263	0.15	2.30	0.00	0.000	6	0.087	0.049	2993	2213	1877
16580	1.36	182.1	14.9	9.1	790	16584	0.00	2.72	0.00	0.000	4	0.000	0.062	2993	687	1877
16669	1.36	182.1	6.2	9.5	794	16674	0.00	2.72	0.00	0.000	6	0.000	0.048	2993	2218	1877
16719	end climb: SURFACE_DEPTH_REACHED
state	16719	begin surface coast
16743	end surface coast: CONTROL_FINISHED_OK
state	16743	begin surface