Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 42 * 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 42 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 2150 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 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 120 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 -77486.109 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -77486.109

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 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 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 2150 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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 22 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 42 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 234437,6139.424,-908.704,34,1.2,35,-9.4 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.120,0.006

_SM_DEPTHo 0.91 KALMAN_X -51047.0,180.1,-21.2,4545.8,1969.5

_SM_ANGLEo -60.3 KALMAN_Y -13732.1,420.3,-1317.3,41459.6,2784.5

GPS2 235051,6139.398,-908.654,14,1.2,14,-9.3 MHEAD_RNG_PITCHd_Wd 282.4,3613,-23.5,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.013361 ALTIM_TOP_PING 19.6,19.4

SM_CCo 19777,104.62,0.788,0,0,1397,300.00 _24V_AH 23.8,11.925

SM_GC 0.75,0.00,0.00,104.62,0.000,0.000,0.788,417,2136,1397,-10.50,-0.40,300.00 _10V_AH 10.1,4.629

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47312,945

TT8_MAMPS 0.029146 CAP_FILE_SIZE 149729,0

HUMID 1673 CFSIZE 254472192,249397248

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

XPDR_PINGS 720 GPS 150608,052426,6139.297,-908.145,40,1.7,40,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 82.23 SBE_CT 648 24 370.20

Roll_motor 168 73 294.67 SBE_O2 699 19 316.13

VBD_pump_during_apogee 156 1298 4831.23 WL_BB2F 536 105 1341.53

VBD_pump_during_surface 104 788 1963.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 28 160 108.11 nil 0 0 0.00

Iridium_during_xfer 172 223 916.16

Transponder_ping 186 420 1861.76

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.38

TT8 1807 19 361.43

LPSleep 15133 2 334.74

TT8_Active 440 19 88.04

TT8_Sampling 2291 39 921.25

TT8_CF8 575 45 266.39

TT8_Kalman 33 81 27.56

Analog_circuits 1540 12 186.69

GPS_charging 0 0 0.00

Compass 2244 8 181.36

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 -1.63 -38.5 0.0 0.0 0 85 0.00 0.00 -57.20 0.000 6 0.000 0.000 417 2156 2778

89 -1.67 -64.6 2.3 -3.3 3 111 9.88 2.58 -3.65 0.000 4 0.136 0.074 2330 3557 2884

364 -1.32 -64.6 31.4 -10.3 15 370 0.43 2.53 0.00 0.000 6 0.106 0.047 2412 2137 2885

687 -1.26 -64.6 56.7 -7.6 31 691 0.00 2.58 0.00 0.000 4 0.000 0.060 2412 3558 2885

857 -1.14 -64.6 68.9 -7.8 38 863 0.20 2.47 0.00 0.000 6 0.107 0.046 2451 2150 2885

1173 -1.14 -64.6 89.8 -6.9 54 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2130 2886

1482 -1.19 -64.6 110.6 -7.1 69 1486 0.00 2.53 0.00 0.000 4 0.000 0.063 2451 743 2886

1740 -1.19 -64.6 130.6 -8.4 80 1747 0.00 2.53 0.00 0.000 6 0.000 0.051 2451 2160 2886

2056 -1.19 -64.6 156.5 -7.7 96 2057 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2159 2886

2366 -1.19 -66.6 177.2 -5.8 111 2367 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2159 2886

2676 -1.27 -92.3 190.2 -3.3 126 2681 0.12 2.50 0.00 0.000 4 0.055 0.063 2417 3556 2886

2749 -1.19 -106.6 193.3 -4.5 129 2753 0.10 2.50 0.00 0.000 6 0.119 0.049 2434 2149 2886

3065 -1.21 -117.3 204.6 -3.7 144 3069 0.00 2.50 0.00 0.000 4 0.000 0.064 2434 747 2886

3127 -1.21 -117.3 207.1 -4.4 147 3131 0.00 2.50 0.00 0.000 6 0.000 0.052 2434 2150 2886

3453 -1.21 -117.3 221.4 -4.9 163 3458 0.00 2.55 0.00 0.000 4 0.000 0.064 2434 751 2886

3577 -1.21 -117.3 229.5 -7.0 168 3583 0.00 2.50 0.00 0.000 6 0.000 0.052 2434 2150 2886

3893 -1.21 -117.3 248.1 -5.8 184 3894 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2149 2886

4201 -1.21 -117.3 267.5 -6.9 199 4206 0.00 2.58 0.00 0.000 4 0.000 0.065 2434 744 2886

4252 -1.21 -117.3 271.3 -7.5 201 4256 0.00 2.53 0.00 0.000 6 0.000 0.054 2434 2148 2886

4568 -1.21 -117.3 294.3 -6.9 216 4569 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2148 2886

4877 -1.21 -117.3 313.6 -6.3 231 4881 0.00 2.55 0.00 0.000 4 0.000 0.067 2434 3564 2885

4933 -1.17 -117.3 317.2 -6.4 233 4939 0.00 2.53 0.00 0.000 6 0.000 0.051 2434 2146 2886

5249 -1.17 -117.3 335.2 -5.6 249 5250 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2127 2885

5558 -1.17 -117.3 353.0 -5.9 264 5562 0.00 2.50 0.00 0.000 4 0.000 0.066 2434 751 2885

5636 -1.17 -117.3 358.0 -6.1 267 5642 0.00 2.53 0.00 0.000 6 0.000 0.054 2434 2160 2885

5952 -1.17 -117.3 376.7 -5.8 283 5956 0.00 2.55 0.00 0.000 4 0.000 0.063 2434 750 2885

6007 -1.17 -117.3 380.0 -5.7 285 6014 0.00 2.53 0.00 0.000 6 0.000 0.054 2434 2160 2885

6324 -1.17 -117.3 398.1 -5.9 301 6328 0.00 2.58 0.00 0.000 4 0.000 0.062 2434 743 2885

6396 -1.17 -117.3 402.3 -5.5 304 6400 0.00 2.53 0.00 0.000 6 0.000 0.054 2434 2149 2884

6712 -1.17 -117.3 417.5 -4.4 319 6716 0.00 2.58 0.00 0.000 4 0.000 0.065 2434 741 2884

6756 -1.17 -117.3 419.9 -5.2 321 6761 0.00 2.53 0.00 0.000 6 0.000 0.054 2434 2152 2884

7078 -1.17 -117.3 436.5 -5.6 337 7082 0.00 2.55 0.00 0.000 4 0.000 0.068 2434 3562 2885

7265 -1.17 -117.3 448.2 -6.6 345 7269 0.00 2.53 0.00 0.000 6 0.000 0.053 2434 2148 2884

7580 -1.17 -117.3 467.9 -6.1 360 7581 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2130 2884

7890 -1.17 -117.3 485.9 -5.6 375 7891 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2121 2885

8199 -1.17 -117.3 502.6 -5.3 390 8200 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2121 2884

8508 -1.17 -117.3 520.2 -5.6 405 8509 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2121 2884

8818 -1.17 -117.3 536.8 -5.4 420 8822 0.00 2.60 0.00 0.000 4 0.000 0.067 2434 3562 2884

8867 -1.17 -117.3 540.0 -6.2 422 8872 0.00 2.50 0.00 0.000 6 0.000 0.053 2434 2150 2883

9183 -1.17 -117.3 557.1 -5.3 437 9185 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2149 2883

9492 -1.17 -117.3 572.8 -5.0 452 9494 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2146 2883

9802 -1.17 -117.3 587.2 -4.5 467 9806 0.00 2.58 0.00 0.000 4 0.000 0.067 2434 3556 2883

9991 -1.17 -117.3 596.3 -4.7 475 9998 0.00 2.50 0.00 0.000 6 0.000 0.052 2434 2139 2883

10308 -1.17 -117.3 609.8 -4.1 491 10312 0.00 2.60 0.00 0.000 4 0.000 0.068 2434 3555 2883

10393 -1.17 -117.3 613.3 -4.3 495 10398 0.00 2.50 0.00 0.000 6 0.000 0.052 2434 2147 2883

10720 -1.17 -117.3 627.3 -4.4 511 10721 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2128 2883

11029 -1.17 -117.3 642.9 -5.7 526 11034 0.00 2.60 0.00 0.000 4 0.000 0.068 2434 3558 2883

11288 -1.17 -117.3 656.9 -5.2 537 11294 0.00 2.53 0.00 0.000 6 0.000 0.053 2434 2125 2883

11604 -1.17 -117.3 669.4 -3.5 553 11608 0.00 2.60 0.00 0.000 4 0.000 0.069 2434 3560 2883

11721 -1.17 -117.3 674.4 -4.6 558 11726 0.00 2.47 0.00 0.000 6 0.000 0.052 2434 2169 2882

12037 -1.17 -117.3 687.6 -4.7 573 12041 0.00 2.55 0.00 0.000 4 0.000 0.068 2434 750 2883

12256 -1.17 -117.3 697.4 -3.9 583 12261 0.00 2.53 0.00 0.000 6 0.000 0.056 2434 2157 2883

12583 -1.17 -117.3 706.7 -2.3 599 12584 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2157 2883

12892 -1.17 -117.3 713.9 -1.7 614 12897 0.00 2.58 0.00 0.000 4 0.000 0.066 2434 749 2882

13095 -1.17 -117.3 720.6 -5.3 623 13099 0.00 2.53 0.00 0.000 6 0.000 0.058 2434 2150 2882

13416 -1.17 -117.3 731.1 -2.9 639 13420 0.00 2.55 0.00 0.000 4 0.000 0.072 2434 3555 2882

13575 -1.17 -117.3 734.0 -0.8 646 13579 0.00 2.53 0.00 0.000 6 0.000 0.056 2434 2142 2882

13707 end dive: NO_VERTICAL_VELOCITY

state 13707 begin apogee

13714 -0.33 0.0 734.6 0.0 653 13773 0.90 0.00 56.12 1.299 6 0.092 0.000 2622 2125 2621

13774 end apogee: CONTROL_FINISHED_OK

state 13774 begin climb

13777 1.75 117.3 733.6 0.0 656 13887 2.08 2.75 100.20 1.284 4 0.064 0.071 3082 3552 2141

13935 1.68 117.3 714.7 15.3 663 13940 0.00 2.55 0.00 0.000 6 0.000 0.058 3082 2164 2140

14251 1.62 117.3 667.8 14.4 678 14253 0.15 0.00 0.00 0.000 6 0.107 0.000 3055 2147 2140

14560 1.62 117.3 626.6 13.1 693 14564 0.00 2.60 0.00 0.000 4 0.000 0.069 3055 3556 2139

14638 1.62 117.3 615.9 13.0 696 14644 0.00 2.58 0.00 0.000 6 0.000 0.055 3055 2141 2139

14953 1.62 117.3 576.0 12.8 712 14958 0.00 2.62 0.00 0.000 4 0.000 0.067 3055 3555 2138

14993 1.62 117.3 570.7 12.7 714 14998 0.00 2.53 0.00 0.000 6 0.000 0.054 3054 2149 2138

15320 1.62 117.3 530.2 12.3 730 15324 0.00 2.60 0.00 0.000 4 0.000 0.067 3055 3554 2138

15415 1.62 117.3 518.0 12.6 734 15419 0.00 2.55 0.00 0.000 6 0.000 0.051 3055 2138 2138

15730 1.62 117.3 479.1 12.8 749 15731 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2120 2138

16039 1.62 117.3 442.0 12.2 764 16044 0.00 2.62 0.00 0.000 4 0.000 0.064 3054 3562 2138

16061 1.62 117.3 439.2 11.4 765 16066 0.00 2.55 0.00 0.000 6 0.000 0.053 3055 2143 2138

16383 1.62 117.3 402.7 10.9 781 16387 0.00 2.60 0.00 0.000 4 0.000 0.064 3055 3557 2138

16423 1.62 117.3 398.0 10.9 783 16427 0.00 2.50 0.00 0.000 6 0.000 0.051 3055 2149 2138

16749 1.62 117.3 360.2 11.4 799 16754 0.00 2.58 0.00 0.000 4 0.000 0.064 3054 3557 2138

16812 1.62 117.3 352.7 11.3 802 16816 0.00 2.53 0.00 0.000 6 0.000 0.051 3055 2141 2138

17138 1.62 117.3 314.4 12.0 818 17142 0.00 2.60 0.00 0.000 4 0.000 0.064 3055 3562 2138

17177 1.62 117.3 309.3 12.9 820 17182 0.00 2.53 0.00 0.000 6 0.000 0.050 3055 2143 2138

17505 1.62 117.3 269.8 12.1 836 17509 0.00 2.60 0.00 0.000 4 0.000 0.064 3054 3562 2138

17577 1.62 117.3 260.4 14.2 839 17581 0.00 2.50 0.00 0.000 6 0.000 0.049 3055 2151 2138

17893 1.62 117.3 221.6 12.8 854 17894 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2150 2139

18202 1.62 117.3 182.9 12.7 869 18206 0.00 2.58 0.00 0.000 4 0.000 0.063 3055 3558 2139

18246 1.62 117.3 176.9 13.1 871 18250 0.00 2.53 0.00 0.000 6 0.000 0.049 3054 2142 2139

18567 1.67 117.3 138.2 11.7 887 18572 0.00 2.58 0.00 0.000 4 0.000 0.062 3055 3557 2139

18608 1.67 117.3 133.3 12.5 889 18612 0.00 2.50 0.00 0.000 6 0.000 0.049 3054 2142 2139

18935 1.71 117.3 94.3 12.2 905 18936 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2141 2139

19244 1.75 117.3 59.7 10.3 920 19246 0.12 0.00 0.00 0.000 6 0.057 0.000 3088 2139 2139

19555 1.71 117.3 21.3 12.0 935 19559 0.00 2.58 0.00 0.000 4 0.000 0.061 3088 3556 2140

19573 1.65 117.3 18.9 12.8 936 19578 0.15 2.50 0.00 0.000 6 0.100 0.048 3061 2148 2139

19732 end climb: SURFACE_DEPTH_REACHED

state 19732 begin surface coast

19754 end surface coast: CONTROL_FINISHED_OK

state 19754 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	42	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	2150	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	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	120	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	-77486.109	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	234437,6139.424,-908.704,34,1.2,35,-9.4	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.120,0.006
_SM_DEPTHo	0.91	KALMAN_X	-51047.0,180.1,-21.2,4545.8,1969.5
_SM_ANGLEo	-60.3	KALMAN_Y	-13732.1,420.3,-1317.3,41459.6,2784.5
GPS2	235051,6139.398,-908.654,14,1.2,14,-9.3	MHEAD_RNG_PITCHd_Wd	282.4,3613,-23.5,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.3,1.013361	ALTIM_TOP_PING	19.6,19.4
SM_CCo	19777,104.62,0.788,0,0,1397,300.00	_24V_AH	23.8,11.925
SM_GC	0.75,0.00,0.00,104.62,0.000,0.000,0.788,417,2136,1397,-10.50,-0.40,300.00	_10V_AH	10.1,4.629
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47312,945
TT8_MAMPS	0.029146	CAP_FILE_SIZE	149729,0
HUMID	1673	CFSIZE	254472192,249397248
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
XPDR_PINGS	720	GPS	150608,052426,6139.297,-908.145,40,1.7,40,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	82.23	SBE_CT	648	24	370.20
Roll_motor	168	73	294.67	SBE_O2	699	19	316.13
VBD_pump_during_apogee	156	1298	4831.23	WL_BB2F	536	105	1341.53
VBD_pump_during_surface	104	788	1963.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	28	160	108.11	nil	0	0	0.00
Iridium_during_xfer	172	223	916.16
Transponder_ping	186	420	1861.76
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.38
TT8	1807	19	361.43
LPSleep	15133	2	334.74
TT8_Active	440	19	88.04
TT8_Sampling	2291	39	921.25
TT8_CF8	575	45	266.39
TT8_Kalman	33	81	27.56
Analog_circuits	1540	12	186.69
GPS_charging	0	0	0.00
Compass	2244	8	181.36
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	-1.63	-38.5	0.0	0.0	0	85	0.00	0.00	-57.20	0.000	6	0.000	0.000	417	2156	2778
89	-1.67	-64.6	2.3	-3.3	3	111	9.88	2.58	-3.65	0.000	4	0.136	0.074	2330	3557	2884
364	-1.32	-64.6	31.4	-10.3	15	370	0.43	2.53	0.00	0.000	6	0.106	0.047	2412	2137	2885
687	-1.26	-64.6	56.7	-7.6	31	691	0.00	2.58	0.00	0.000	4	0.000	0.060	2412	3558	2885
857	-1.14	-64.6	68.9	-7.8	38	863	0.20	2.47	0.00	0.000	6	0.107	0.046	2451	2150	2885
1173	-1.14	-64.6	89.8	-6.9	54	1174	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2130	2886
1482	-1.19	-64.6	110.6	-7.1	69	1486	0.00	2.53	0.00	0.000	4	0.000	0.063	2451	743	2886
1740	-1.19	-64.6	130.6	-8.4	80	1747	0.00	2.53	0.00	0.000	6	0.000	0.051	2451	2160	2886
2056	-1.19	-64.6	156.5	-7.7	96	2057	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2159	2886
2366	-1.19	-66.6	177.2	-5.8	111	2367	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2159	2886
2676	-1.27	-92.3	190.2	-3.3	126	2681	0.12	2.50	0.00	0.000	4	0.055	0.063	2417	3556	2886
2749	-1.19	-106.6	193.3	-4.5	129	2753	0.10	2.50	0.00	0.000	6	0.119	0.049	2434	2149	2886
3065	-1.21	-117.3	204.6	-3.7	144	3069	0.00	2.50	0.00	0.000	4	0.000	0.064	2434	747	2886
3127	-1.21	-117.3	207.1	-4.4	147	3131	0.00	2.50	0.00	0.000	6	0.000	0.052	2434	2150	2886
3453	-1.21	-117.3	221.4	-4.9	163	3458	0.00	2.55	0.00	0.000	4	0.000	0.064	2434	751	2886
3577	-1.21	-117.3	229.5	-7.0	168	3583	0.00	2.50	0.00	0.000	6	0.000	0.052	2434	2150	2886
3893	-1.21	-117.3	248.1	-5.8	184	3894	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2149	2886
4201	-1.21	-117.3	267.5	-6.9	199	4206	0.00	2.58	0.00	0.000	4	0.000	0.065	2434	744	2886
4252	-1.21	-117.3	271.3	-7.5	201	4256	0.00	2.53	0.00	0.000	6	0.000	0.054	2434	2148	2886
4568	-1.21	-117.3	294.3	-6.9	216	4569	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2148	2886
4877	-1.21	-117.3	313.6	-6.3	231	4881	0.00	2.55	0.00	0.000	4	0.000	0.067	2434	3564	2885
4933	-1.17	-117.3	317.2	-6.4	233	4939	0.00	2.53	0.00	0.000	6	0.000	0.051	2434	2146	2886
5249	-1.17	-117.3	335.2	-5.6	249	5250	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2127	2885
5558	-1.17	-117.3	353.0	-5.9	264	5562	0.00	2.50	0.00	0.000	4	0.000	0.066	2434	751	2885
5636	-1.17	-117.3	358.0	-6.1	267	5642	0.00	2.53	0.00	0.000	6	0.000	0.054	2434	2160	2885
5952	-1.17	-117.3	376.7	-5.8	283	5956	0.00	2.55	0.00	0.000	4	0.000	0.063	2434	750	2885
6007	-1.17	-117.3	380.0	-5.7	285	6014	0.00	2.53	0.00	0.000	6	0.000	0.054	2434	2160	2885
6324	-1.17	-117.3	398.1	-5.9	301	6328	0.00	2.58	0.00	0.000	4	0.000	0.062	2434	743	2885
6396	-1.17	-117.3	402.3	-5.5	304	6400	0.00	2.53	0.00	0.000	6	0.000	0.054	2434	2149	2884
6712	-1.17	-117.3	417.5	-4.4	319	6716	0.00	2.58	0.00	0.000	4	0.000	0.065	2434	741	2884
6756	-1.17	-117.3	419.9	-5.2	321	6761	0.00	2.53	0.00	0.000	6	0.000	0.054	2434	2152	2884
7078	-1.17	-117.3	436.5	-5.6	337	7082	0.00	2.55	0.00	0.000	4	0.000	0.068	2434	3562	2885
7265	-1.17	-117.3	448.2	-6.6	345	7269	0.00	2.53	0.00	0.000	6	0.000	0.053	2434	2148	2884
7580	-1.17	-117.3	467.9	-6.1	360	7581	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2130	2884
7890	-1.17	-117.3	485.9	-5.6	375	7891	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2121	2885
8199	-1.17	-117.3	502.6	-5.3	390	8200	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2121	2884
8508	-1.17	-117.3	520.2	-5.6	405	8509	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2121	2884
8818	-1.17	-117.3	536.8	-5.4	420	8822	0.00	2.60	0.00	0.000	4	0.000	0.067	2434	3562	2884
8867	-1.17	-117.3	540.0	-6.2	422	8872	0.00	2.50	0.00	0.000	6	0.000	0.053	2434	2150	2883
9183	-1.17	-117.3	557.1	-5.3	437	9185	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2149	2883
9492	-1.17	-117.3	572.8	-5.0	452	9494	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2146	2883
9802	-1.17	-117.3	587.2	-4.5	467	9806	0.00	2.58	0.00	0.000	4	0.000	0.067	2434	3556	2883
9991	-1.17	-117.3	596.3	-4.7	475	9998	0.00	2.50	0.00	0.000	6	0.000	0.052	2434	2139	2883
10308	-1.17	-117.3	609.8	-4.1	491	10312	0.00	2.60	0.00	0.000	4	0.000	0.068	2434	3555	2883
10393	-1.17	-117.3	613.3	-4.3	495	10398	0.00	2.50	0.00	0.000	6	0.000	0.052	2434	2147	2883
10720	-1.17	-117.3	627.3	-4.4	511	10721	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2128	2883
11029	-1.17	-117.3	642.9	-5.7	526	11034	0.00	2.60	0.00	0.000	4	0.000	0.068	2434	3558	2883
11288	-1.17	-117.3	656.9	-5.2	537	11294	0.00	2.53	0.00	0.000	6	0.000	0.053	2434	2125	2883
11604	-1.17	-117.3	669.4	-3.5	553	11608	0.00	2.60	0.00	0.000	4	0.000	0.069	2434	3560	2883
11721	-1.17	-117.3	674.4	-4.6	558	11726	0.00	2.47	0.00	0.000	6	0.000	0.052	2434	2169	2882
12037	-1.17	-117.3	687.6	-4.7	573	12041	0.00	2.55	0.00	0.000	4	0.000	0.068	2434	750	2883
12256	-1.17	-117.3	697.4	-3.9	583	12261	0.00	2.53	0.00	0.000	6	0.000	0.056	2434	2157	2883
12583	-1.17	-117.3	706.7	-2.3	599	12584	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2157	2883
12892	-1.17	-117.3	713.9	-1.7	614	12897	0.00	2.58	0.00	0.000	4	0.000	0.066	2434	749	2882
13095	-1.17	-117.3	720.6	-5.3	623	13099	0.00	2.53	0.00	0.000	6	0.000	0.058	2434	2150	2882
13416	-1.17	-117.3	731.1	-2.9	639	13420	0.00	2.55	0.00	0.000	4	0.000	0.072	2434	3555	2882
13575	-1.17	-117.3	734.0	-0.8	646	13579	0.00	2.53	0.00	0.000	6	0.000	0.056	2434	2142	2882
13707	end dive: NO_VERTICAL_VELOCITY
state	13707	begin apogee
13714	-0.33	0.0	734.6	0.0	653	13773	0.90	0.00	56.12	1.299	6	0.092	0.000	2622	2125	2621
13774	end apogee: CONTROL_FINISHED_OK
state	13774	begin climb
13777	1.75	117.3	733.6	0.0	656	13887	2.08	2.75	100.20	1.284	4	0.064	0.071	3082	3552	2141
13935	1.68	117.3	714.7	15.3	663	13940	0.00	2.55	0.00	0.000	6	0.000	0.058	3082	2164	2140
14251	1.62	117.3	667.8	14.4	678	14253	0.15	0.00	0.00	0.000	6	0.107	0.000	3055	2147	2140
14560	1.62	117.3	626.6	13.1	693	14564	0.00	2.60	0.00	0.000	4	0.000	0.069	3055	3556	2139
14638	1.62	117.3	615.9	13.0	696	14644	0.00	2.58	0.00	0.000	6	0.000	0.055	3055	2141	2139
14953	1.62	117.3	576.0	12.8	712	14958	0.00	2.62	0.00	0.000	4	0.000	0.067	3055	3555	2138
14993	1.62	117.3	570.7	12.7	714	14998	0.00	2.53	0.00	0.000	6	0.000	0.054	3054	2149	2138
15320	1.62	117.3	530.2	12.3	730	15324	0.00	2.60	0.00	0.000	4	0.000	0.067	3055	3554	2138
15415	1.62	117.3	518.0	12.6	734	15419	0.00	2.55	0.00	0.000	6	0.000	0.051	3055	2138	2138
15730	1.62	117.3	479.1	12.8	749	15731	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2120	2138
16039	1.62	117.3	442.0	12.2	764	16044	0.00	2.62	0.00	0.000	4	0.000	0.064	3054	3562	2138
16061	1.62	117.3	439.2	11.4	765	16066	0.00	2.55	0.00	0.000	6	0.000	0.053	3055	2143	2138
16383	1.62	117.3	402.7	10.9	781	16387	0.00	2.60	0.00	0.000	4	0.000	0.064	3055	3557	2138
16423	1.62	117.3	398.0	10.9	783	16427	0.00	2.50	0.00	0.000	6	0.000	0.051	3055	2149	2138
16749	1.62	117.3	360.2	11.4	799	16754	0.00	2.58	0.00	0.000	4	0.000	0.064	3054	3557	2138
16812	1.62	117.3	352.7	11.3	802	16816	0.00	2.53	0.00	0.000	6	0.000	0.051	3055	2141	2138
17138	1.62	117.3	314.4	12.0	818	17142	0.00	2.60	0.00	0.000	4	0.000	0.064	3055	3562	2138
17177	1.62	117.3	309.3	12.9	820	17182	0.00	2.53	0.00	0.000	6	0.000	0.050	3055	2143	2138
17505	1.62	117.3	269.8	12.1	836	17509	0.00	2.60	0.00	0.000	4	0.000	0.064	3054	3562	2138
17577	1.62	117.3	260.4	14.2	839	17581	0.00	2.50	0.00	0.000	6	0.000	0.049	3055	2151	2138
17893	1.62	117.3	221.6	12.8	854	17894	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2150	2139
18202	1.62	117.3	182.9	12.7	869	18206	0.00	2.58	0.00	0.000	4	0.000	0.063	3055	3558	2139
18246	1.62	117.3	176.9	13.1	871	18250	0.00	2.53	0.00	0.000	6	0.000	0.049	3054	2142	2139
18567	1.67	117.3	138.2	11.7	887	18572	0.00	2.58	0.00	0.000	4	0.000	0.062	3055	3557	2139
18608	1.67	117.3	133.3	12.5	889	18612	0.00	2.50	0.00	0.000	6	0.000	0.049	3054	2142	2139
18935	1.71	117.3	94.3	12.2	905	18936	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2141	2139
19244	1.75	117.3	59.7	10.3	920	19246	0.12	0.00	0.00	0.000	6	0.057	0.000	3088	2139	2139
19555	1.71	117.3	21.3	12.0	935	19559	0.00	2.58	0.00	0.000	4	0.000	0.061	3088	3556	2140
19573	1.65	117.3	18.9	12.8	936	19578	0.15	2.50	0.00	0.000	6	0.100	0.048	3061	2148	2139
19732	end climb: SURFACE_DEPTH_REACHED
state	19732	begin surface coast
19754	end surface coast: CONTROL_FINISHED_OK
state	19754	begin surface