Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 89 * 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 89 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -78314.18 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 -78314.18

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 28 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 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 89 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 231631,6207.408,-924.285,72,1.7,72,-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 0.190,-0.067

_SM_DEPTHo 0.88 KALMAN_X -127514.8,2810.3,897.1,63629.2,-17059.6

_SM_ANGLEo -62.9 KALMAN_Y 50012.0,-4180.0,-1262.6,34524.5,47217.9

GPS2 232202,6207.512,-924.242,12,1.2,17,-9.7 MHEAD_RNG_PITCHd_Wd 119.2,50460,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.014837 ALTIM_BOTTOM_PING 550.2,7.8

SM_CCo 16066,35.28,0.783,0,0,1396,300.00 _24V_AH 23.9,19.327

SM_GC 0.63,0.00,0.00,35.28,0.000,0.000,0.783,419,2132,1396,-10.49,-0.11,300.00 _10V_AH 10.1,8.616

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38044,772

TT8_MAMPS 0.029146 CAP_FILE_SIZE 126225,0

HUMID 1695 CFSIZE 254472192,246386688

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

XPDR_PINGS 521 GPS 250608,035237,6209.132,-916.543,37,1.0,42,-9.6

ALTIM_TOP_PING 20.0,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 82.70 SBE_CT 529 24 303.46

Roll_motor 163 77 302.25 SBE_O2 571 19 259.46

VBD_pump_during_apogee 296 1194 8458.81 WL_BB2F 544 105 1365.46

VBD_pump_during_surface 35 783 660.22 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 27 160 106.17 nil 0 0 0.00

Iridium_during_xfer 140 223 746.52

Transponder_ping 135 420 1355.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.73

TT8 1459 19 291.83

LPSleep 12290 2 271.85

TT8_Active 491 19 98.35

TT8_Sampling 1688 39 678.78

TT8_CF8 503 45 232.70

TT8_Kalman 33 81 27.58

Analog_circuits 1345 12 163.06

GPS_charging 0 0 0.00

Compass 1651 8 133.44

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 99 0.00 0.00 -70.68 0.000 6 0.000 0.000 420 2122 3099

102 -1.03 -117.3 2.1 -2.7 3 119 10.60 2.50 0.00 0.000 4 0.139 0.057 2466 747 3100

258 -0.72 -117.3 20.1 -10.2 9 263 0.35 2.53 0.00 0.000 6 0.091 0.049 2539 2159 3100

587 -0.63 -117.3 46.5 -7.9 25 592 0.10 2.50 0.00 0.000 4 0.108 0.061 2559 3553 3101

654 -0.63 -117.3 51.7 -7.4 28 659 0.00 2.47 0.00 0.000 6 0.000 0.047 2559 2158 3101

976 -0.63 -117.3 71.3 -5.4 44 980 0.00 2.55 0.00 0.000 4 0.000 0.060 2559 3557 3102

1084 -0.58 -117.3 76.5 -4.5 49 1088 0.00 2.45 0.00 0.000 6 0.000 0.044 2559 2175 3102

1411 -0.58 -117.3 94.9 -8.1 65 1415 0.00 2.53 0.00 0.000 4 0.000 0.061 2559 3557 3102

1541 -0.54 -117.3 106.6 -8.2 71 1546 0.10 2.42 0.00 0.000 6 0.101 0.048 2579 2192 3102

1871 -0.58 -117.3 122.9 -3.4 87 1875 0.00 2.60 0.00 0.000 4 0.000 0.064 2579 747 3103

1949 -0.63 -117.3 125.4 -3.3 90 1955 0.00 2.53 0.00 0.000 6 0.000 0.051 2579 2163 3103

2268 -0.67 -117.3 138.2 -4.9 106 2273 0.12 2.60 0.00 0.000 4 0.051 0.063 2542 743 3103

2308 -0.59 -117.3 140.9 -7.0 108 2314 0.15 2.53 0.00 0.000 6 0.091 0.052 2573 2155 3103

2635 -0.59 -117.3 160.2 -6.1 124 2640 0.00 2.53 0.00 0.000 4 0.000 0.063 2573 3565 3103

2648 -0.59 -117.3 161.0 -6.2 124 2654 0.00 2.50 0.00 0.000 6 0.000 0.049 2573 2159 3103

2963 -0.59 -117.3 184.7 -8.1 140 2965 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2156 3103

3272 -0.59 -117.3 210.3 -8.0 155 3274 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2157 3103

3582 -0.59 -117.3 232.0 -6.5 170 3586 0.00 2.55 0.00 0.000 4 0.000 0.063 2573 3562 3103

3592 -0.59 -117.3 232.6 -6.5 170 3599 0.00 2.50 0.00 0.000 6 0.000 0.051 2573 2149 3103

3909 -0.59 -117.3 250.3 -5.3 186 3910 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2149 3103

4218 -0.59 -117.3 265.4 -4.9 201 4219 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2148 3102

4527 -0.59 -117.3 281.3 -5.3 216 4531 0.00 2.53 0.00 0.000 4 0.000 0.068 2573 743 3103

4538 -0.59 -117.3 282.0 -5.5 216 4544 0.00 2.53 0.00 0.000 6 0.000 0.054 2573 2150 3102

4856 -0.63 -117.3 300.9 -6.6 232 4860 0.00 2.55 0.00 0.000 4 0.000 0.067 2573 742 3102

4905 -0.63 -117.3 304.7 -7.4 234 4910 0.00 2.50 0.00 0.000 6 0.000 0.054 2574 2135 3102

5221 -0.63 -117.3 327.3 -7.1 249 5225 0.00 2.53 0.00 0.000 4 0.000 0.066 2573 749 3102

5232 -0.63 -117.3 328.0 -7.0 249 5238 0.00 2.47 0.00 0.000 6 0.000 0.053 2573 2128 3102

5547 -0.63 -117.3 352.1 -7.7 265 5552 0.00 2.53 0.00 0.000 4 0.000 0.068 2573 749 3101

5558 -0.63 -117.3 353.0 -7.8 265 5565 0.00 2.47 0.00 0.000 6 0.000 0.054 2573 2124 3101

5875 -0.68 -117.3 374.9 -6.1 281 5876 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2124 3101

6185 -0.72 -117.3 386.6 -3.5 296 6189 0.12 2.58 0.00 0.000 4 0.051 0.067 2533 3557 3101

6195 -0.72 -117.3 387.0 -3.3 296 6201 0.00 2.55 0.00 0.000 6 0.000 0.054 2533 2131 3101

6513 -0.65 -117.3 400.5 -4.4 312 6518 0.12 2.62 0.00 0.000 4 0.096 0.066 2559 3564 3101

6586 -0.65 -117.3 403.7 -4.0 315 6590 0.00 2.58 0.00 0.000 6 0.000 0.052 2559 2121 3101

6902 -0.65 -117.3 409.7 -1.2 330 6906 0.00 2.65 0.00 0.000 4 0.000 0.067 2559 3560 3101

6913 -0.65 -117.3 409.9 -1.8 330 6919 0.00 2.53 0.00 0.000 6 0.000 0.053 2559 2143 3100

7229 -0.65 -117.3 416.1 -2.6 346 7234 0.00 2.60 0.00 0.000 4 0.000 0.067 2559 3557 3101

7252 -0.65 -117.3 416.8 -2.9 347 7256 0.00 2.53 0.00 0.000 6 0.000 0.052 2558 2141 3100

7573 -0.65 -117.3 428.8 -4.2 363 7574 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2123 3100

7882 -0.65 -117.3 427.8 -1.1 378 7883 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2123 3100

8191 -0.65 -117.3 447.1 -9.7 393 8195 0.00 2.60 0.00 0.000 4 0.000 0.067 2559 3556 3100

8246 -0.65 -117.3 453.6 -11.9 395 8253 0.00 2.47 0.00 0.000 6 0.000 0.051 2559 2155 3100

8563 -0.65 -117.3 489.6 -10.7 411 8567 0.00 2.58 0.00 0.000 4 0.000 0.071 2559 3556 3100

8674 -0.65 -117.3 501.2 -10.0 416 8679 0.00 2.42 0.00 0.000 6 0.000 0.054 2559 2201 3100

8996 -0.65 -117.3 521.8 -4.3 432 9000 0.00 2.60 0.00 0.000 4 0.000 0.071 2559 759 3100

9040 -0.65 -117.3 524.0 -4.8 434 9045 0.00 2.55 0.00 0.000 6 0.000 0.058 2559 2167 3100

9363 -0.70 -117.3 541.3 -3.9 450 9367 0.00 2.53 0.00 0.000 4 0.000 0.074 2559 3562 3100

9380 -0.70 -117.3 541.9 -3.4 451 9385 0.00 2.42 0.00 0.000 6 0.000 0.058 2559 2213 3100

9542 end dive: BOTTOM_OBSTACLE_DETECTED

state 9542 begin apogee

9550 -0.33 0.0 550.2 4.4 459 9651 0.32 0.00 98.57 1.195 6 0.084 0.000 2626 2085 2620

9652 end apogee: CONTROL_FINISHED_OK

state 9652 begin climb

9655 1.03 117.3 553.3 0.0 464 9764 1.38 2.70 97.00 1.164 4 0.071 0.076 2922 705 2141

9798 0.95 117.3 544.7 10.6 471 9803 0.00 2.60 0.00 0.000 6 0.000 0.061 2922 2105 2140

10114 0.95 117.3 521.7 7.0 486 10119 0.00 2.58 0.00 0.000 4 0.000 0.073 2922 3509 2139

10161 0.88 117.3 518.6 7.0 488 10166 0.15 2.60 0.00 0.000 6 0.087 0.061 2892 2095 2139

10483 1.10 218.4 506.2 2.5 504 10572 0.20 2.65 83.05 1.165 4 0.047 0.077 2947 689 1728

10606 1.13 238.1 502.1 5.3 510 10630 0.00 2.60 17.55 1.083 6 0.000 0.064 2946 2090 1649

10953 1.13 238.1 480.7 7.2 527 10958 0.00 2.62 0.00 0.000 4 0.000 0.074 2946 3507 1649

11003 1.13 238.1 475.7 10.1 529 11007 0.00 2.62 0.00 0.000 6 0.000 0.062 2946 2083 1649

11318 1.13 238.1 437.0 13.7 544 11320 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2083 1648

11628 1.13 238.1 394.5 13.0 559 11629 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2064 1648

11937 1.13 238.1 352.8 13.9 574 11941 0.00 2.62 0.00 0.000 4 0.000 0.067 2946 3507 1647

11999 1.13 238.1 344.2 13.8 577 12003 0.00 2.55 0.00 0.000 6 0.000 0.054 2946 2096 1647

12325 1.13 238.1 305.6 10.5 593 12330 0.00 2.55 0.00 0.000 4 0.000 0.071 2947 691 1647

12354 1.13 238.1 302.5 11.2 594 12359 0.00 2.58 0.00 0.000 6 0.000 0.057 2946 2116 1647

12670 1.13 238.1 272.5 8.7 609 12674 0.00 2.53 0.00 0.000 4 0.000 0.065 2946 3513 1647

12710 1.13 238.1 268.9 9.4 611 12714 0.00 2.53 0.00 0.000 6 0.000 0.054 2946 2108 1647

13036 1.13 238.1 243.2 7.5 627 13041 0.00 2.58 0.00 0.000 4 0.000 0.069 2946 683 1648

13076 1.13 238.1 240.0 8.0 629 13081 0.00 2.58 0.00 0.000 6 0.000 0.054 2946 2115 1648

13403 1.13 238.1 217.1 7.2 645 13408 0.00 2.50 0.00 0.000 4 0.000 0.064 2946 3508 1648

13448 1.17 238.1 213.4 7.6 647 13452 0.00 2.53 0.00 0.000 6 0.000 0.054 2946 2100 1648

13769 1.17 238.1 189.6 7.6 663 13771 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2100 1649

14079 1.17 238.1 165.1 8.3 678 14083 0.00 2.58 0.00 0.000 4 0.000 0.063 2946 3508 1649

14129 1.22 238.1 160.6 8.7 680 14133 0.00 2.47 0.00 0.000 6 0.000 0.051 2946 2122 1649

14445 1.22 238.1 134.4 8.2 695 14446 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2122 1649

14754 1.22 238.1 109.2 8.7 710 14756 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2122 1649

15063 1.22 238.1 77.4 10.1 725 15068 0.00 2.58 0.00 0.000 4 0.000 0.066 2946 685 1650

15091 1.22 238.1 74.4 10.3 726 15095 0.00 2.58 0.00 0.000 6 0.000 0.051 2946 2133 1650

15409 1.22 238.1 47.0 7.6 741 15410 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2132 1650

15717 1.27 238.1 25.0 6.7 756 15722 0.12 2.65 0.00 0.000 4 0.049 0.065 2988 685 1650

15757 1.19 238.1 21.2 10.4 758 15762 0.15 2.58 0.00 0.000 6 0.080 0.051 2957 2129 1650

16019 end climb: SURFACE_DEPTH_REACHED

state 16020 begin surface coast

16044 end surface coast: CONTROL_FINISHED_OK

state 16044 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	89	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-78314.18	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	231631,6207.408,-924.285,72,1.7,72,-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	0.190,-0.067
_SM_DEPTHo	0.88	KALMAN_X	-127514.8,2810.3,897.1,63629.2,-17059.6
_SM_ANGLEo	-62.9	KALMAN_Y	50012.0,-4180.0,-1262.6,34524.5,47217.9
GPS2	232202,6207.512,-924.242,12,1.2,17,-9.7	MHEAD_RNG_PITCHd_Wd	119.2,50460,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.0,1.014837	ALTIM_BOTTOM_PING	550.2,7.8
SM_CCo	16066,35.28,0.783,0,0,1396,300.00	_24V_AH	23.9,19.327
SM_GC	0.63,0.00,0.00,35.28,0.000,0.000,0.783,419,2132,1396,-10.49,-0.11,300.00	_10V_AH	10.1,8.616
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38044,772
TT8_MAMPS	0.029146	CAP_FILE_SIZE	126225,0
HUMID	1695	CFSIZE	254472192,246386688
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
XPDR_PINGS	521	GPS	250608,035237,6209.132,-916.543,37,1.0,42,-9.6
ALTIM_TOP_PING	20.0,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	82.70	SBE_CT	529	24	303.46
Roll_motor	163	77	302.25	SBE_O2	571	19	259.46
VBD_pump_during_apogee	296	1194	8458.81	WL_BB2F	544	105	1365.46
VBD_pump_during_surface	35	783	660.22	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	106.17	nil	0	0	0.00
Iridium_during_xfer	140	223	746.52
Transponder_ping	135	420	1355.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.73
TT8	1459	19	291.83
LPSleep	12290	2	271.85
TT8_Active	491	19	98.35
TT8_Sampling	1688	39	678.78
TT8_CF8	503	45	232.70
TT8_Kalman	33	81	27.58
Analog_circuits	1345	12	163.06
GPS_charging	0	0	0.00
Compass	1651	8	133.44
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	99	0.00	0.00	-70.68	0.000	6	0.000	0.000	420	2122	3099
102	-1.03	-117.3	2.1	-2.7	3	119	10.60	2.50	0.00	0.000	4	0.139	0.057	2466	747	3100
258	-0.72	-117.3	20.1	-10.2	9	263	0.35	2.53	0.00	0.000	6	0.091	0.049	2539	2159	3100
587	-0.63	-117.3	46.5	-7.9	25	592	0.10	2.50	0.00	0.000	4	0.108	0.061	2559	3553	3101
654	-0.63	-117.3	51.7	-7.4	28	659	0.00	2.47	0.00	0.000	6	0.000	0.047	2559	2158	3101
976	-0.63	-117.3	71.3	-5.4	44	980	0.00	2.55	0.00	0.000	4	0.000	0.060	2559	3557	3102
1084	-0.58	-117.3	76.5	-4.5	49	1088	0.00	2.45	0.00	0.000	6	0.000	0.044	2559	2175	3102
1411	-0.58	-117.3	94.9	-8.1	65	1415	0.00	2.53	0.00	0.000	4	0.000	0.061	2559	3557	3102
1541	-0.54	-117.3	106.6	-8.2	71	1546	0.10	2.42	0.00	0.000	6	0.101	0.048	2579	2192	3102
1871	-0.58	-117.3	122.9	-3.4	87	1875	0.00	2.60	0.00	0.000	4	0.000	0.064	2579	747	3103
1949	-0.63	-117.3	125.4	-3.3	90	1955	0.00	2.53	0.00	0.000	6	0.000	0.051	2579	2163	3103
2268	-0.67	-117.3	138.2	-4.9	106	2273	0.12	2.60	0.00	0.000	4	0.051	0.063	2542	743	3103
2308	-0.59	-117.3	140.9	-7.0	108	2314	0.15	2.53	0.00	0.000	6	0.091	0.052	2573	2155	3103
2635	-0.59	-117.3	160.2	-6.1	124	2640	0.00	2.53	0.00	0.000	4	0.000	0.063	2573	3565	3103
2648	-0.59	-117.3	161.0	-6.2	124	2654	0.00	2.50	0.00	0.000	6	0.000	0.049	2573	2159	3103
2963	-0.59	-117.3	184.7	-8.1	140	2965	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2156	3103
3272	-0.59	-117.3	210.3	-8.0	155	3274	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2157	3103
3582	-0.59	-117.3	232.0	-6.5	170	3586	0.00	2.55	0.00	0.000	4	0.000	0.063	2573	3562	3103
3592	-0.59	-117.3	232.6	-6.5	170	3599	0.00	2.50	0.00	0.000	6	0.000	0.051	2573	2149	3103
3909	-0.59	-117.3	250.3	-5.3	186	3910	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2149	3103
4218	-0.59	-117.3	265.4	-4.9	201	4219	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2148	3102
4527	-0.59	-117.3	281.3	-5.3	216	4531	0.00	2.53	0.00	0.000	4	0.000	0.068	2573	743	3103
4538	-0.59	-117.3	282.0	-5.5	216	4544	0.00	2.53	0.00	0.000	6	0.000	0.054	2573	2150	3102
4856	-0.63	-117.3	300.9	-6.6	232	4860	0.00	2.55	0.00	0.000	4	0.000	0.067	2573	742	3102
4905	-0.63	-117.3	304.7	-7.4	234	4910	0.00	2.50	0.00	0.000	6	0.000	0.054	2574	2135	3102
5221	-0.63	-117.3	327.3	-7.1	249	5225	0.00	2.53	0.00	0.000	4	0.000	0.066	2573	749	3102
5232	-0.63	-117.3	328.0	-7.0	249	5238	0.00	2.47	0.00	0.000	6	0.000	0.053	2573	2128	3102
5547	-0.63	-117.3	352.1	-7.7	265	5552	0.00	2.53	0.00	0.000	4	0.000	0.068	2573	749	3101
5558	-0.63	-117.3	353.0	-7.8	265	5565	0.00	2.47	0.00	0.000	6	0.000	0.054	2573	2124	3101
5875	-0.68	-117.3	374.9	-6.1	281	5876	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2124	3101
6185	-0.72	-117.3	386.6	-3.5	296	6189	0.12	2.58	0.00	0.000	4	0.051	0.067	2533	3557	3101
6195	-0.72	-117.3	387.0	-3.3	296	6201	0.00	2.55	0.00	0.000	6	0.000	0.054	2533	2131	3101
6513	-0.65	-117.3	400.5	-4.4	312	6518	0.12	2.62	0.00	0.000	4	0.096	0.066	2559	3564	3101
6586	-0.65	-117.3	403.7	-4.0	315	6590	0.00	2.58	0.00	0.000	6	0.000	0.052	2559	2121	3101
6902	-0.65	-117.3	409.7	-1.2	330	6906	0.00	2.65	0.00	0.000	4	0.000	0.067	2559	3560	3101
6913	-0.65	-117.3	409.9	-1.8	330	6919	0.00	2.53	0.00	0.000	6	0.000	0.053	2559	2143	3100
7229	-0.65	-117.3	416.1	-2.6	346	7234	0.00	2.60	0.00	0.000	4	0.000	0.067	2559	3557	3101
7252	-0.65	-117.3	416.8	-2.9	347	7256	0.00	2.53	0.00	0.000	6	0.000	0.052	2558	2141	3100
7573	-0.65	-117.3	428.8	-4.2	363	7574	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2123	3100
7882	-0.65	-117.3	427.8	-1.1	378	7883	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2123	3100
8191	-0.65	-117.3	447.1	-9.7	393	8195	0.00	2.60	0.00	0.000	4	0.000	0.067	2559	3556	3100
8246	-0.65	-117.3	453.6	-11.9	395	8253	0.00	2.47	0.00	0.000	6	0.000	0.051	2559	2155	3100
8563	-0.65	-117.3	489.6	-10.7	411	8567	0.00	2.58	0.00	0.000	4	0.000	0.071	2559	3556	3100
8674	-0.65	-117.3	501.2	-10.0	416	8679	0.00	2.42	0.00	0.000	6	0.000	0.054	2559	2201	3100
8996	-0.65	-117.3	521.8	-4.3	432	9000	0.00	2.60	0.00	0.000	4	0.000	0.071	2559	759	3100
9040	-0.65	-117.3	524.0	-4.8	434	9045	0.00	2.55	0.00	0.000	6	0.000	0.058	2559	2167	3100
9363	-0.70	-117.3	541.3	-3.9	450	9367	0.00	2.53	0.00	0.000	4	0.000	0.074	2559	3562	3100
9380	-0.70	-117.3	541.9	-3.4	451	9385	0.00	2.42	0.00	0.000	6	0.000	0.058	2559	2213	3100
9542	end dive: BOTTOM_OBSTACLE_DETECTED
state	9542	begin apogee
9550	-0.33	0.0	550.2	4.4	459	9651	0.32	0.00	98.57	1.195	6	0.084	0.000	2626	2085	2620
9652	end apogee: CONTROL_FINISHED_OK
state	9652	begin climb
9655	1.03	117.3	553.3	0.0	464	9764	1.38	2.70	97.00	1.164	4	0.071	0.076	2922	705	2141
9798	0.95	117.3	544.7	10.6	471	9803	0.00	2.60	0.00	0.000	6	0.000	0.061	2922	2105	2140
10114	0.95	117.3	521.7	7.0	486	10119	0.00	2.58	0.00	0.000	4	0.000	0.073	2922	3509	2139
10161	0.88	117.3	518.6	7.0	488	10166	0.15	2.60	0.00	0.000	6	0.087	0.061	2892	2095	2139
10483	1.10	218.4	506.2	2.5	504	10572	0.20	2.65	83.05	1.165	4	0.047	0.077	2947	689	1728
10606	1.13	238.1	502.1	5.3	510	10630	0.00	2.60	17.55	1.083	6	0.000	0.064	2946	2090	1649
10953	1.13	238.1	480.7	7.2	527	10958	0.00	2.62	0.00	0.000	4	0.000	0.074	2946	3507	1649
11003	1.13	238.1	475.7	10.1	529	11007	0.00	2.62	0.00	0.000	6	0.000	0.062	2946	2083	1649
11318	1.13	238.1	437.0	13.7	544	11320	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2083	1648
11628	1.13	238.1	394.5	13.0	559	11629	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2064	1648
11937	1.13	238.1	352.8	13.9	574	11941	0.00	2.62	0.00	0.000	4	0.000	0.067	2946	3507	1647
11999	1.13	238.1	344.2	13.8	577	12003	0.00	2.55	0.00	0.000	6	0.000	0.054	2946	2096	1647
12325	1.13	238.1	305.6	10.5	593	12330	0.00	2.55	0.00	0.000	4	0.000	0.071	2947	691	1647
12354	1.13	238.1	302.5	11.2	594	12359	0.00	2.58	0.00	0.000	6	0.000	0.057	2946	2116	1647
12670	1.13	238.1	272.5	8.7	609	12674	0.00	2.53	0.00	0.000	4	0.000	0.065	2946	3513	1647
12710	1.13	238.1	268.9	9.4	611	12714	0.00	2.53	0.00	0.000	6	0.000	0.054	2946	2108	1647
13036	1.13	238.1	243.2	7.5	627	13041	0.00	2.58	0.00	0.000	4	0.000	0.069	2946	683	1648
13076	1.13	238.1	240.0	8.0	629	13081	0.00	2.58	0.00	0.000	6	0.000	0.054	2946	2115	1648
13403	1.13	238.1	217.1	7.2	645	13408	0.00	2.50	0.00	0.000	4	0.000	0.064	2946	3508	1648
13448	1.17	238.1	213.4	7.6	647	13452	0.00	2.53	0.00	0.000	6	0.000	0.054	2946	2100	1648
13769	1.17	238.1	189.6	7.6	663	13771	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2100	1649
14079	1.17	238.1	165.1	8.3	678	14083	0.00	2.58	0.00	0.000	4	0.000	0.063	2946	3508	1649
14129	1.22	238.1	160.6	8.7	680	14133	0.00	2.47	0.00	0.000	6	0.000	0.051	2946	2122	1649
14445	1.22	238.1	134.4	8.2	695	14446	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2122	1649
14754	1.22	238.1	109.2	8.7	710	14756	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2122	1649
15063	1.22	238.1	77.4	10.1	725	15068	0.00	2.58	0.00	0.000	4	0.000	0.066	2946	685	1650
15091	1.22	238.1	74.4	10.3	726	15095	0.00	2.58	0.00	0.000	6	0.000	0.051	2946	2133	1650
15409	1.22	238.1	47.0	7.6	741	15410	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2132	1650
15717	1.27	238.1	25.0	6.7	756	15722	0.12	2.65	0.00	0.000	4	0.049	0.065	2988	685	1650
15757	1.19	238.1	21.2	10.4	758	15762	0.15	2.58	0.00	0.000	6	0.080	0.051	2957	2129	1650
16019	end climb: SURFACE_DEPTH_REACHED
state	16020	begin surface coast
16044	end surface coast: CONTROL_FINISHED_OK
state	16044	begin surface