Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 88 * 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 88 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 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 32 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 240 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 -78296.266 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 -78296.266

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 240

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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 32 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 88 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 182937,6205.155,-926.658,31,0.9,31,-9.7 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.074,-0.187

_SM_DEPTHo 0.74 KALMAN_X -131514.5,2306.0,2199.9,64573.1,-24325.3

_SM_ANGLEo -58.1 KALMAN_Y 45514.4,-2797.1,-2803.6,34905.6,51513.3

GPS2 183503,6205.204,-926.761,16,1.4,16,-9.7 MHEAD_RNG_PITCHd_Wd 168.0,46915,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.019758 ALTIM_BOTTOM_PING 501.1,86.7

SM_CCo 16686,37.67,0.788,0,0,1397,300.00 _24V_AH 23.9,19.193

SM_GC 0.68,0.00,0.00,37.67,0.000,0.000,0.788,420,2126,1397,-10.49,-0.68,300.00 _10V_AH 10.1,8.538

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41079,802

TT8_MAMPS 0.029146 CAP_FILE_SIZE 136384,0

HUMID 1681 CFSIZE 254472192,246431744

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

XPDR_PINGS 616 GPS 240608,231631,6207.408,-924.285,72,1.7,72,-9.7

ALTIM_TOP_PING 19.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 140 82.02 SBE_CT 548 24 314.80

Roll_motor 204 77 377.84 SBE_O2 584 19 265.52

VBD_pump_during_apogee 291 1208 8430.86 WL_BB2F 609 105 1529.23

VBD_pump_during_surface 37 787 709.28 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 37 160 143.24 nil 0 0 0.00

Iridium_during_xfer 132 223 706.65

Transponder_ping 158 420 1588.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.29

TT8 1528 19 305.60

LPSleep 12602 2 278.75

TT8_Active 540 19 108.15

TT8_Sampling 1856 39 746.47

TT8_CF8 524 45 242.66

TT8_Kalman 33 81 27.58

Analog_circuits 1497 12 181.49

GPS_charging 0 0 0.00

Compass 1815 8 146.68

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 -112.65 0.000 6 0.000 0.000 420 2158 3098

149 -1.03 -117.3 3.4 -3.1 6 165 10.62 2.58 0.00 0.000 4 0.140 0.058 2469 742 3098

304 -0.71 -117.3 22.5 -10.2 12 310 0.35 2.50 0.00 0.000 6 0.088 0.050 2544 2142 3096

634 -0.63 -117.3 43.6 -6.0 28 638 0.00 2.53 0.00 0.000 4 0.000 0.061 2544 3557 3096

662 -0.54 -117.3 45.5 -6.7 29 667 0.17 2.47 0.00 0.000 6 0.088 0.048 2580 2164 3096

978 -0.54 -117.3 59.5 -3.9 44 983 0.00 2.55 0.00 0.000 4 0.000 0.060 2580 3562 3096

990 -0.54 -117.3 60.0 -4.0 44 996 0.00 2.47 0.00 0.000 6 0.000 0.048 2580 2165 3096

1307 -0.54 -117.3 68.8 -3.2 60 1308 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2147 3096

1616 -0.58 -117.3 79.3 -3.9 75 1617 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2147 3096

1925 -0.62 -117.3 91.2 -4.0 90 1929 0.00 2.55 0.00 0.000 4 0.000 0.064 2580 745 3096

1975 -0.62 -117.3 93.4 -4.7 92 1979 0.00 2.55 0.00 0.000 6 0.000 0.051 2580 2169 3096

2292 -0.62 -117.3 106.5 -4.2 107 2296 0.00 2.60 0.00 0.000 4 0.000 0.063 2580 748 3096

2303 -0.62 -117.3 107.2 -4.0 107 2309 0.00 2.53 0.00 0.000 6 0.000 0.051 2580 2161 3097

2620 -0.67 -117.3 120.1 -4.6 123 2625 0.12 2.58 0.00 0.000 4 0.050 0.062 2543 749 3097

2699 -0.59 -117.3 125.1 -6.5 126 2706 0.12 2.50 0.00 0.000 6 0.093 0.052 2568 2144 3096

3015 -0.59 -117.3 138.9 -3.9 142 3019 0.00 2.55 0.00 0.000 4 0.000 0.064 2568 749 3096

3043 -0.59 -117.3 140.2 -5.0 143 3047 0.00 2.53 0.00 0.000 6 0.000 0.052 2568 2156 3096

3359 -0.59 -117.3 153.6 -4.8 158 3363 0.00 2.58 0.00 0.000 4 0.000 0.063 2568 746 3096

3381 -0.59 -117.3 154.5 -3.9 159 3385 0.00 2.53 0.00 0.000 6 0.000 0.052 2568 2153 3096

3703 -0.59 -117.3 166.0 -3.3 175 3707 0.00 2.58 0.00 0.000 4 0.000 0.064 2568 747 3096

3713 -0.59 -117.3 166.3 -3.2 175 3720 0.00 2.50 0.00 0.000 6 0.000 0.053 2568 2138 3096

4030 -0.59 -117.3 180.0 -5.5 191 4034 0.00 2.55 0.00 0.000 4 0.000 0.064 2568 747 3096

4115 -0.59 -117.3 185.5 -6.4 195 4119 0.00 2.50 0.00 0.000 6 0.000 0.054 2568 2139 3096

4442 -0.59 -117.3 206.0 -6.1 211 4446 0.00 2.55 0.00 0.000 4 0.000 0.066 2568 750 3095

4452 -0.59 -117.3 206.8 -6.1 211 4458 0.00 2.50 0.00 0.000 6 0.000 0.053 2568 2140 3095

4768 -0.59 -117.3 224.8 -5.5 227 4773 0.00 2.58 0.00 0.000 4 0.000 0.066 2568 739 3095

4791 -0.59 -117.3 226.1 -5.6 228 4795 0.00 2.47 0.00 0.000 6 0.000 0.054 2568 2124 3095

5118 -0.59 -117.3 244.2 -5.9 244 5122 0.00 2.53 0.00 0.000 4 0.000 0.064 2568 747 3095

5129 -0.59 -117.3 245.0 -6.2 244 5135 0.00 2.47 0.00 0.000 6 0.000 0.053 2568 2124 3094

5444 -0.59 -117.3 264.1 -6.0 260 5446 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2123 3095

5753 -0.59 -117.3 285.5 -7.5 275 5755 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2123 3095

6063 -0.59 -117.3 309.8 -8.3 290 6067 0.00 2.58 0.00 0.000 4 0.000 0.066 2568 3554 3094

6073 -0.59 -117.3 310.7 -8.3 290 6080 0.00 2.55 0.00 0.000 6 0.000 0.052 2568 2121 3094

6389 -0.59 -117.3 339.3 -9.2 306 6394 0.00 2.62 0.00 0.000 4 0.000 0.064 2568 3561 3094

6401 -0.59 -117.3 340.4 -9.2 306 6407 0.00 2.58 0.00 0.000 6 0.000 0.051 2568 2115 3093

6717 -0.59 -117.3 371.8 -10.2 322 6721 0.00 2.62 0.00 0.000 4 0.000 0.065 2568 3556 3094

6727 -0.59 -117.3 372.8 -10.0 322 6733 0.00 2.55 0.00 0.000 6 0.000 0.051 2568 2127 3094

7043 -0.59 -117.3 404.4 -10.0 338 7048 0.00 2.60 0.00 0.000 4 0.000 0.065 2568 3556 3094

7098 -0.59 -117.3 410.3 -10.8 340 7105 0.00 2.53 0.00 0.000 6 0.000 0.051 2568 2140 3093

7415 -0.59 -117.3 441.6 -9.5 356 7419 0.00 2.60 0.00 0.000 4 0.000 0.065 2568 3557 3093

7425 -0.59 -117.3 442.7 -9.4 356 7431 0.00 2.55 0.00 0.000 6 0.000 0.051 2568 2123 3094

7741 -0.59 -117.3 465.8 -6.3 372 7746 0.00 2.65 0.00 0.000 4 0.000 0.067 2568 3564 3094

7837 -0.59 -117.3 471.8 -5.7 376 7841 0.00 2.53 0.00 0.000 6 0.000 0.051 2568 2142 3093

8154 -0.59 -117.3 481.6 -2.2 391 8158 0.00 2.50 0.00 0.000 4 0.000 0.067 2568 753 3093

8171 -0.59 -117.3 482.1 -2.5 392 8175 0.00 2.45 0.00 0.000 6 0.000 0.054 2568 2120 3093

8498 -0.59 -117.3 481.7 1.8 408 8502 0.00 2.60 0.00 0.000 4 0.000 0.067 2568 3558 3093

8520 -0.59 -117.3 481.2 2.1 409 8524 0.00 2.55 0.00 0.000 6 0.000 0.054 2568 2127 3093

8841 -0.59 -117.3 481.0 -3.2 425 8845 0.00 2.65 0.00 0.000 4 0.000 0.067 2568 3562 3093

8853 -0.59 -117.3 481.6 -4.4 425 8860 0.00 2.58 0.00 0.000 6 0.000 0.054 2568 2105 3093

9170 -0.59 -117.3 511.5 -9.8 441 9174 0.00 2.45 0.00 0.000 4 0.000 0.071 2568 762 3093

9209 -0.59 -117.3 515.5 -10.6 443 9213 0.00 2.42 0.00 0.000 6 0.000 0.057 2568 2109 3093

9536 -0.64 -117.3 543.6 -8.6 459 9540 0.00 2.50 0.00 0.000 4 0.000 0.072 2568 761 3093

9670 -0.69 -117.3 554.6 -8.3 465 9675 0.00 2.45 0.00 0.000 6 0.000 0.061 2568 2109 3093

9993 -0.75 -117.3 577.4 -4.9 481 9995 0.15 0.00 0.00 0.000 6 0.054 0.000 2526 2109 3092

10010 end dive: BOTTOM_OBSTACLE_DETECTED

state 10010 begin apogee

10016 -0.33 0.0 578.8 5.3 482 10117 0.47 0.00 97.53 1.209 6 0.084 0.000 2624 2123 2620

10118 end apogee: CONTROL_FINISHED_OK

state 10118 begin climb

10121 1.03 117.3 585.0 0.0 487 10224 1.38 0.00 97.07 1.184 6 0.067 0.000 2923 2127 2141

10534 1.03 117.3 554.9 8.7 507 10538 0.00 2.58 0.00 0.000 4 0.000 0.075 2923 3507 2140

10589 0.99 117.3 549.3 10.6 509 10595 0.00 2.58 0.00 0.000 6 0.000 0.063 2922 2118 2140

10905 0.99 117.3 508.4 16.3 525 10909 0.00 2.65 0.00 0.000 4 0.000 0.077 2923 686 2138

10994 0.99 117.3 490.8 20.0 529 10998 0.00 2.60 0.00 0.000 6 0.000 0.064 2923 2099 2139

11315 0.99 117.3 432.2 14.9 545 11319 0.00 2.60 0.00 0.000 4 0.000 0.074 2923 3508 2137

11404 0.99 117.3 420.0 13.3 549 11408 0.00 2.55 0.00 0.000 6 0.000 0.058 2923 2111 2136

11725 1.05 158.5 395.1 4.6 565 11767 0.00 2.67 33.90 1.101 4 0.000 0.072 2923 691 1973

11795 1.18 235.7 392.6 3.4 568 11866 0.12 2.62 63.33 1.096 6 0.053 0.060 2962 2119 1658

12182 1.18 235.7 371.0 6.5 587 12186 0.00 2.55 0.00 0.000 4 0.000 0.068 2962 3513 1658

12267 1.18 235.7 365.3 6.9 591 12271 0.00 2.53 0.00 0.000 6 0.000 0.056 2962 2125 1658

12593 1.18 235.7 343.4 6.6 607 12598 0.00 2.62 0.00 0.000 4 0.000 0.071 2962 683 1658

12643 1.18 235.7 339.8 7.2 609 12648 0.00 2.62 0.00 0.000 6 0.000 0.056 2962 2135 1658

12959 1.18 235.7 315.7 8.4 624 12963 0.00 2.47 0.00 0.000 4 0.000 0.065 2962 3510 1658

13014 1.18 235.7 310.4 9.6 626 13020 0.00 2.50 0.00 0.000 6 0.000 0.053 2962 2126 1659

13330 1.18 235.7 281.6 9.2 642 13334 0.00 2.60 0.00 0.000 4 0.000 0.070 2962 690 1659

13369 1.18 235.7 277.6 10.0 644 13374 0.00 2.62 0.00 0.000 6 0.000 0.054 2962 2142 1658

13697 1.18 235.7 246.0 9.8 660 13701 0.00 2.47 0.00 0.000 4 0.000 0.064 2962 3514 1659

13747 1.18 235.7 241.1 9.0 662 13751 0.00 2.50 0.00 0.000 6 0.000 0.053 2962 2130 1659

14062 1.18 235.7 211.4 9.1 677 14067 0.00 2.60 0.00 0.000 4 0.000 0.068 2962 682 1659

14107 1.18 235.7 206.9 9.8 679 14112 0.00 2.62 0.00 0.000 6 0.000 0.053 2962 2146 1659

14428 1.18 235.7 179.9 7.8 695 14432 0.00 2.45 0.00 0.000 4 0.000 0.064 2962 3509 1660

14483 1.18 235.7 175.9 6.9 697 14489 0.00 2.47 0.00 0.000 6 0.000 0.052 2962 2133 1660

14799 1.18 235.7 151.8 8.3 713 14803 0.00 2.60 0.00 0.000 4 0.000 0.069 2962 691 1661

14848 1.18 235.7 146.8 9.3 715 14853 0.00 2.60 0.00 0.000 6 0.000 0.054 2962 2138 1661

15166 1.18 235.7 119.2 8.5 730 15170 0.00 2.47 0.00 0.000 4 0.000 0.063 2962 3516 1661

15230 1.18 235.7 113.4 8.8 733 15234 0.00 2.47 0.00 0.000 6 0.000 0.052 2962 2137 1661

15556 1.18 235.7 81.8 9.9 749 15561 0.00 2.62 0.00 0.000 4 0.000 0.067 2962 679 1661

15619 1.18 235.7 74.7 11.7 752 15624 0.00 2.60 0.00 0.000 6 0.000 0.052 2962 2140 1661

15947 1.18 235.7 46.9 7.1 768 15951 0.00 2.45 0.00 0.000 4 0.000 0.062 2962 3509 1661

16042 1.18 235.9 40.8 6.0 772 16046 0.00 2.42 0.00 0.000 6 0.000 0.051 2963 2157 1661

16358 1.18 235.9 21.3 6.3 787 16363 0.00 2.65 0.00 0.000 4 0.000 0.067 2962 685 1661

16400 1.18 235.9 18.6 7.2 789 16405 0.00 2.67 0.00 0.000 6 0.000 0.051 2962 2185 1661

16641 end climb: SURFACE_DEPTH_REACHED

state 16641 begin surface coast

16664 end surface coast: CONTROL_FINISHED_OK

state 16664 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	88	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	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	32	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	240	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	-78296.266	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	182937,6205.155,-926.658,31,0.9,31,-9.7	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.074,-0.187
_SM_DEPTHo	0.74	KALMAN_X	-131514.5,2306.0,2199.9,64573.1,-24325.3
_SM_ANGLEo	-58.1	KALMAN_Y	45514.4,-2797.1,-2803.6,34905.6,51513.3
GPS2	183503,6205.204,-926.761,16,1.4,16,-9.7	MHEAD_RNG_PITCHd_Wd	168.0,46915,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.0,1.019758	ALTIM_BOTTOM_PING	501.1,86.7
SM_CCo	16686,37.67,0.788,0,0,1397,300.00	_24V_AH	23.9,19.193
SM_GC	0.68,0.00,0.00,37.67,0.000,0.000,0.788,420,2126,1397,-10.49,-0.68,300.00	_10V_AH	10.1,8.538
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41079,802
TT8_MAMPS	0.029146	CAP_FILE_SIZE	136384,0
HUMID	1681	CFSIZE	254472192,246431744
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
XPDR_PINGS	616	GPS	240608,231631,6207.408,-924.285,72,1.7,72,-9.7
ALTIM_TOP_PING	19.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	140	82.02	SBE_CT	548	24	314.80
Roll_motor	204	77	377.84	SBE_O2	584	19	265.52
VBD_pump_during_apogee	291	1208	8430.86	WL_BB2F	609	105	1529.23
VBD_pump_during_surface	37	787	709.28	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	37	160	143.24	nil	0	0	0.00
Iridium_during_xfer	132	223	706.65
Transponder_ping	158	420	1588.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.29
TT8	1528	19	305.60
LPSleep	12602	2	278.75
TT8_Active	540	19	108.15
TT8_Sampling	1856	39	746.47
TT8_CF8	524	45	242.66
TT8_Kalman	33	81	27.58
Analog_circuits	1497	12	181.49
GPS_charging	0	0	0.00
Compass	1815	8	146.68
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	-112.65	0.000	6	0.000	0.000	420	2158	3098
149	-1.03	-117.3	3.4	-3.1	6	165	10.62	2.58	0.00	0.000	4	0.140	0.058	2469	742	3098
304	-0.71	-117.3	22.5	-10.2	12	310	0.35	2.50	0.00	0.000	6	0.088	0.050	2544	2142	3096
634	-0.63	-117.3	43.6	-6.0	28	638	0.00	2.53	0.00	0.000	4	0.000	0.061	2544	3557	3096
662	-0.54	-117.3	45.5	-6.7	29	667	0.17	2.47	0.00	0.000	6	0.088	0.048	2580	2164	3096
978	-0.54	-117.3	59.5	-3.9	44	983	0.00	2.55	0.00	0.000	4	0.000	0.060	2580	3562	3096
990	-0.54	-117.3	60.0	-4.0	44	996	0.00	2.47	0.00	0.000	6	0.000	0.048	2580	2165	3096
1307	-0.54	-117.3	68.8	-3.2	60	1308	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2147	3096
1616	-0.58	-117.3	79.3	-3.9	75	1617	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2147	3096
1925	-0.62	-117.3	91.2	-4.0	90	1929	0.00	2.55	0.00	0.000	4	0.000	0.064	2580	745	3096
1975	-0.62	-117.3	93.4	-4.7	92	1979	0.00	2.55	0.00	0.000	6	0.000	0.051	2580	2169	3096
2292	-0.62	-117.3	106.5	-4.2	107	2296	0.00	2.60	0.00	0.000	4	0.000	0.063	2580	748	3096
2303	-0.62	-117.3	107.2	-4.0	107	2309	0.00	2.53	0.00	0.000	6	0.000	0.051	2580	2161	3097
2620	-0.67	-117.3	120.1	-4.6	123	2625	0.12	2.58	0.00	0.000	4	0.050	0.062	2543	749	3097
2699	-0.59	-117.3	125.1	-6.5	126	2706	0.12	2.50	0.00	0.000	6	0.093	0.052	2568	2144	3096
3015	-0.59	-117.3	138.9	-3.9	142	3019	0.00	2.55	0.00	0.000	4	0.000	0.064	2568	749	3096
3043	-0.59	-117.3	140.2	-5.0	143	3047	0.00	2.53	0.00	0.000	6	0.000	0.052	2568	2156	3096
3359	-0.59	-117.3	153.6	-4.8	158	3363	0.00	2.58	0.00	0.000	4	0.000	0.063	2568	746	3096
3381	-0.59	-117.3	154.5	-3.9	159	3385	0.00	2.53	0.00	0.000	6	0.000	0.052	2568	2153	3096
3703	-0.59	-117.3	166.0	-3.3	175	3707	0.00	2.58	0.00	0.000	4	0.000	0.064	2568	747	3096
3713	-0.59	-117.3	166.3	-3.2	175	3720	0.00	2.50	0.00	0.000	6	0.000	0.053	2568	2138	3096
4030	-0.59	-117.3	180.0	-5.5	191	4034	0.00	2.55	0.00	0.000	4	0.000	0.064	2568	747	3096
4115	-0.59	-117.3	185.5	-6.4	195	4119	0.00	2.50	0.00	0.000	6	0.000	0.054	2568	2139	3096
4442	-0.59	-117.3	206.0	-6.1	211	4446	0.00	2.55	0.00	0.000	4	0.000	0.066	2568	750	3095
4452	-0.59	-117.3	206.8	-6.1	211	4458	0.00	2.50	0.00	0.000	6	0.000	0.053	2568	2140	3095
4768	-0.59	-117.3	224.8	-5.5	227	4773	0.00	2.58	0.00	0.000	4	0.000	0.066	2568	739	3095
4791	-0.59	-117.3	226.1	-5.6	228	4795	0.00	2.47	0.00	0.000	6	0.000	0.054	2568	2124	3095
5118	-0.59	-117.3	244.2	-5.9	244	5122	0.00	2.53	0.00	0.000	4	0.000	0.064	2568	747	3095
5129	-0.59	-117.3	245.0	-6.2	244	5135	0.00	2.47	0.00	0.000	6	0.000	0.053	2568	2124	3094
5444	-0.59	-117.3	264.1	-6.0	260	5446	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2123	3095
5753	-0.59	-117.3	285.5	-7.5	275	5755	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2123	3095
6063	-0.59	-117.3	309.8	-8.3	290	6067	0.00	2.58	0.00	0.000	4	0.000	0.066	2568	3554	3094
6073	-0.59	-117.3	310.7	-8.3	290	6080	0.00	2.55	0.00	0.000	6	0.000	0.052	2568	2121	3094
6389	-0.59	-117.3	339.3	-9.2	306	6394	0.00	2.62	0.00	0.000	4	0.000	0.064	2568	3561	3094
6401	-0.59	-117.3	340.4	-9.2	306	6407	0.00	2.58	0.00	0.000	6	0.000	0.051	2568	2115	3093
6717	-0.59	-117.3	371.8	-10.2	322	6721	0.00	2.62	0.00	0.000	4	0.000	0.065	2568	3556	3094
6727	-0.59	-117.3	372.8	-10.0	322	6733	0.00	2.55	0.00	0.000	6	0.000	0.051	2568	2127	3094
7043	-0.59	-117.3	404.4	-10.0	338	7048	0.00	2.60	0.00	0.000	4	0.000	0.065	2568	3556	3094
7098	-0.59	-117.3	410.3	-10.8	340	7105	0.00	2.53	0.00	0.000	6	0.000	0.051	2568	2140	3093
7415	-0.59	-117.3	441.6	-9.5	356	7419	0.00	2.60	0.00	0.000	4	0.000	0.065	2568	3557	3093
7425	-0.59	-117.3	442.7	-9.4	356	7431	0.00	2.55	0.00	0.000	6	0.000	0.051	2568	2123	3094
7741	-0.59	-117.3	465.8	-6.3	372	7746	0.00	2.65	0.00	0.000	4	0.000	0.067	2568	3564	3094
7837	-0.59	-117.3	471.8	-5.7	376	7841	0.00	2.53	0.00	0.000	6	0.000	0.051	2568	2142	3093
8154	-0.59	-117.3	481.6	-2.2	391	8158	0.00	2.50	0.00	0.000	4	0.000	0.067	2568	753	3093
8171	-0.59	-117.3	482.1	-2.5	392	8175	0.00	2.45	0.00	0.000	6	0.000	0.054	2568	2120	3093
8498	-0.59	-117.3	481.7	1.8	408	8502	0.00	2.60	0.00	0.000	4	0.000	0.067	2568	3558	3093
8520	-0.59	-117.3	481.2	2.1	409	8524	0.00	2.55	0.00	0.000	6	0.000	0.054	2568	2127	3093
8841	-0.59	-117.3	481.0	-3.2	425	8845	0.00	2.65	0.00	0.000	4	0.000	0.067	2568	3562	3093
8853	-0.59	-117.3	481.6	-4.4	425	8860	0.00	2.58	0.00	0.000	6	0.000	0.054	2568	2105	3093
9170	-0.59	-117.3	511.5	-9.8	441	9174	0.00	2.45	0.00	0.000	4	0.000	0.071	2568	762	3093
9209	-0.59	-117.3	515.5	-10.6	443	9213	0.00	2.42	0.00	0.000	6	0.000	0.057	2568	2109	3093
9536	-0.64	-117.3	543.6	-8.6	459	9540	0.00	2.50	0.00	0.000	4	0.000	0.072	2568	761	3093
9670	-0.69	-117.3	554.6	-8.3	465	9675	0.00	2.45	0.00	0.000	6	0.000	0.061	2568	2109	3093
9993	-0.75	-117.3	577.4	-4.9	481	9995	0.15	0.00	0.00	0.000	6	0.054	0.000	2526	2109	3092
10010	end dive: BOTTOM_OBSTACLE_DETECTED
state	10010	begin apogee
10016	-0.33	0.0	578.8	5.3	482	10117	0.47	0.00	97.53	1.209	6	0.084	0.000	2624	2123	2620
10118	end apogee: CONTROL_FINISHED_OK
state	10118	begin climb
10121	1.03	117.3	585.0	0.0	487	10224	1.38	0.00	97.07	1.184	6	0.067	0.000	2923	2127	2141
10534	1.03	117.3	554.9	8.7	507	10538	0.00	2.58	0.00	0.000	4	0.000	0.075	2923	3507	2140
10589	0.99	117.3	549.3	10.6	509	10595	0.00	2.58	0.00	0.000	6	0.000	0.063	2922	2118	2140
10905	0.99	117.3	508.4	16.3	525	10909	0.00	2.65	0.00	0.000	4	0.000	0.077	2923	686	2138
10994	0.99	117.3	490.8	20.0	529	10998	0.00	2.60	0.00	0.000	6	0.000	0.064	2923	2099	2139
11315	0.99	117.3	432.2	14.9	545	11319	0.00	2.60	0.00	0.000	4	0.000	0.074	2923	3508	2137
11404	0.99	117.3	420.0	13.3	549	11408	0.00	2.55	0.00	0.000	6	0.000	0.058	2923	2111	2136
11725	1.05	158.5	395.1	4.6	565	11767	0.00	2.67	33.90	1.101	4	0.000	0.072	2923	691	1973
11795	1.18	235.7	392.6	3.4	568	11866	0.12	2.62	63.33	1.096	6	0.053	0.060	2962	2119	1658
12182	1.18	235.7	371.0	6.5	587	12186	0.00	2.55	0.00	0.000	4	0.000	0.068	2962	3513	1658
12267	1.18	235.7	365.3	6.9	591	12271	0.00	2.53	0.00	0.000	6	0.000	0.056	2962	2125	1658
12593	1.18	235.7	343.4	6.6	607	12598	0.00	2.62	0.00	0.000	4	0.000	0.071	2962	683	1658
12643	1.18	235.7	339.8	7.2	609	12648	0.00	2.62	0.00	0.000	6	0.000	0.056	2962	2135	1658
12959	1.18	235.7	315.7	8.4	624	12963	0.00	2.47	0.00	0.000	4	0.000	0.065	2962	3510	1658
13014	1.18	235.7	310.4	9.6	626	13020	0.00	2.50	0.00	0.000	6	0.000	0.053	2962	2126	1659
13330	1.18	235.7	281.6	9.2	642	13334	0.00	2.60	0.00	0.000	4	0.000	0.070	2962	690	1659
13369	1.18	235.7	277.6	10.0	644	13374	0.00	2.62	0.00	0.000	6	0.000	0.054	2962	2142	1658
13697	1.18	235.7	246.0	9.8	660	13701	0.00	2.47	0.00	0.000	4	0.000	0.064	2962	3514	1659
13747	1.18	235.7	241.1	9.0	662	13751	0.00	2.50	0.00	0.000	6	0.000	0.053	2962	2130	1659
14062	1.18	235.7	211.4	9.1	677	14067	0.00	2.60	0.00	0.000	4	0.000	0.068	2962	682	1659
14107	1.18	235.7	206.9	9.8	679	14112	0.00	2.62	0.00	0.000	6	0.000	0.053	2962	2146	1659
14428	1.18	235.7	179.9	7.8	695	14432	0.00	2.45	0.00	0.000	4	0.000	0.064	2962	3509	1660
14483	1.18	235.7	175.9	6.9	697	14489	0.00	2.47	0.00	0.000	6	0.000	0.052	2962	2133	1660
14799	1.18	235.7	151.8	8.3	713	14803	0.00	2.60	0.00	0.000	4	0.000	0.069	2962	691	1661
14848	1.18	235.7	146.8	9.3	715	14853	0.00	2.60	0.00	0.000	6	0.000	0.054	2962	2138	1661
15166	1.18	235.7	119.2	8.5	730	15170	0.00	2.47	0.00	0.000	4	0.000	0.063	2962	3516	1661
15230	1.18	235.7	113.4	8.8	733	15234	0.00	2.47	0.00	0.000	6	0.000	0.052	2962	2137	1661
15556	1.18	235.7	81.8	9.9	749	15561	0.00	2.62	0.00	0.000	4	0.000	0.067	2962	679	1661
15619	1.18	235.7	74.7	11.7	752	15624	0.00	2.60	0.00	0.000	6	0.000	0.052	2962	2140	1661
15947	1.18	235.7	46.9	7.1	768	15951	0.00	2.45	0.00	0.000	4	0.000	0.062	2962	3509	1661
16042	1.18	235.9	40.8	6.0	772	16046	0.00	2.42	0.00	0.000	6	0.000	0.051	2963	2157	1661
16358	1.18	235.9	21.3	6.3	787	16363	0.00	2.65	0.00	0.000	4	0.000	0.067	2962	685	1661
16400	1.18	235.9	18.6	7.2	789	16405	0.00	2.67	0.00	0.000	6	0.000	0.051	2962	2185	1661
16641	end climb: SURFACE_DEPTH_REACHED
state	16641	begin surface coast
16664	end surface coast: CONTROL_FINISHED_OK
state	16664	begin surface