Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 96 * 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 96 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 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 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 -78428.672 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 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 -78428.672

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 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 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 96 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 094358,6150.339,-915.795,26,2.3,45,-9.5 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.183,-0.084

_SM_DEPTHo 0.39 KALMAN_X -112107.1,-388.6,-450.9,60180.9,6049.3

_SM_ANGLEo -46.4 KALMAN_Y 35483.3,1433.5,389.9,9762.7,2694.2

GPS2 095039,6150.317,-916.005,13,1.7,13,-9.5 MHEAD_RNG_PITCHd_Wd 254.8,17806,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.015987 ALTIM_BOTTOM_PING 600.8,108.8

SM_CCo 22016,35.70,0.790,0,0,1396,300.00 _24V_AH 23.8,20.315

SM_GC 0.44,0.00,0.00,35.70,0.000,0.000,0.790,421,2144,1396,-10.48,-0.14,300.00 _10V_AH 10.1,9.221

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53768,1060

TT8_MAMPS 0.029146 CAP_FILE_SIZE 147793,0

HUMID 1679 CFSIZE 254472192,245886976

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,0,0

XPDR_PINGS 530 GPS 260608,160025,6149.964,-925.520,41,1.1,41,-9.6

ALTIM_TOP_PING 18.9,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 142 84.04 SBE_CT 728 24 416.39

Roll_motor 132 84 266.66 SBE_O2 785 19 355.13

VBD_pump_during_apogee 302 1341 9659.60 WL_BB2F 645 105 1613.13

VBD_pump_during_surface 35 790 671.24 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 38 160 146.46 nil 0 0 0.00

Iridium_during_xfer 185 223 982.33

Transponder_ping 137 420 1376.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.64

TT8 1908 19 381.58

LPSleep 17239 2 381.33

TT8_Active 501 19 100.32

TT8_Sampling 2187 39 879.28

TT8_CF8 607 45 280.90

TT8_Kalman 33 81 27.57

Analog_circuits 1564 12 189.64

GPS_charging 0 0 0.00

Compass 2153 8 174.00

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 -1.03 -117.3 0.0 0.0 0 133 0.00 0.00 -107.00 0.000 6 0.000 0.000 421 2143 3099

137 -1.03 -117.3 2.0 -1.6 5 153 10.70 2.58 0.00 0.000 4 0.143 0.062 2466 3566 3099

406 -0.71 -117.3 32.5 -9.5 16 411 0.35 2.50 0.00 0.000 6 0.089 0.046 2541 2160 3099

729 -0.63 -117.3 52.8 -7.0 32 734 0.10 2.58 0.00 0.000 4 0.102 0.060 2561 3564 3099

975 -0.63 -117.3 65.8 -3.9 43 980 0.00 2.53 0.00 0.000 6 0.000 0.046 2561 2134 3099

1298 -0.63 -117.3 75.8 -4.8 59 1299 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2129 3099

1606 -0.63 -117.3 95.1 -6.6 74 1611 0.00 2.62 0.00 0.000 4 0.000 0.061 2561 3571 3100

1696 -0.63 -117.3 102.0 -8.2 78 1700 0.00 2.53 0.00 0.000 6 0.000 0.048 2561 2149 3099

2017 -0.63 -117.3 126.2 -7.5 94 2018 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2145 3099

2328 -0.63 -117.3 149.4 -7.5 109 2329 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2145 3100

2635 -0.63 -117.3 170.6 -6.4 124 2640 0.00 2.60 0.00 0.000 4 0.000 0.064 2561 3567 3100

2676 -0.63 -117.3 173.3 -6.9 126 2680 0.00 2.50 0.00 0.000 6 0.000 0.050 2561 2154 3100

3002 -0.63 -117.3 191.2 -5.2 142 3007 0.00 2.58 0.00 0.000 4 0.000 0.063 2561 3564 3099

3026 -0.63 -117.3 192.4 -5.4 143 3031 0.00 2.50 0.00 0.000 6 0.000 0.050 2561 2154 3099

3348 -0.63 -117.3 209.0 -5.2 159 3349 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2154 3099

3659 -0.63 -117.3 225.6 -5.3 174 3664 0.00 2.58 0.00 0.000 4 0.000 0.064 2561 3568 3099

3682 -0.63 -117.3 227.1 -5.5 175 3686 0.00 2.53 0.00 0.000 6 0.000 0.051 2561 2151 3099

4004 -0.63 -117.3 244.6 -5.5 191 4005 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2151 3099

4313 -0.63 -117.3 262.6 -5.6 206 4314 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2150 3099

4622 -0.63 -117.3 281.1 -6.1 221 4627 0.00 2.58 0.00 0.000 4 0.000 0.066 2561 3562 3098

4657 -0.63 -117.3 283.4 -6.5 222 4663 0.00 2.50 0.00 0.000 6 0.000 0.053 2561 2163 3098

4973 -0.63 -117.3 303.7 -6.5 238 4977 0.00 2.55 0.00 0.000 4 0.000 0.067 2561 747 3098

5006 -0.63 -117.3 306.1 -7.2 239 5012 0.00 2.55 0.00 0.000 6 0.000 0.054 2561 2163 3098

5324 -0.63 -117.3 325.9 -6.3 255 5325 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2164 3098

5630 -0.63 -117.3 344.4 -6.1 270 5635 0.00 2.60 0.00 0.000 4 0.000 0.068 2561 745 3098

5681 -0.63 -117.3 347.6 -6.1 272 5685 0.00 2.55 0.00 0.000 6 0.000 0.055 2561 2160 3098

5996 -0.63 -117.3 366.4 -6.2 287 5997 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2158 3097

6306 -0.63 -117.3 384.6 -5.8 302 6307 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2159 3097

6615 -0.63 -117.3 402.0 -5.4 317 6617 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2159 3097

6925 -0.63 -117.3 418.3 -5.2 332 6926 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2160 3097

7234 -0.63 -117.3 435.0 -5.9 347 7235 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2160 3097

7543 -0.63 -117.3 454.1 -6.0 362 7547 0.00 2.60 0.00 0.000 4 0.000 0.068 2561 745 3097

7582 -0.63 -117.3 456.6 -6.7 364 7587 0.00 2.53 0.00 0.000 6 0.000 0.055 2561 2153 3097

7910 -0.63 -117.3 475.6 -6.2 380 7914 0.00 2.60 0.00 0.000 4 0.000 0.067 2561 739 3097

7928 -0.63 -117.3 476.9 -6.3 381 7932 0.00 2.55 0.00 0.000 6 0.000 0.056 2561 2160 3097

8254 -0.63 -117.3 498.3 -6.1 397 8258 0.00 2.53 0.00 0.000 4 0.000 0.067 2561 3557 3097

8304 -0.63 -117.3 501.7 -6.7 399 8308 0.00 2.50 0.00 0.000 6 0.000 0.053 2561 2149 3096

8620 -0.63 -117.3 520.4 -5.6 414 8624 0.00 2.53 0.00 0.000 4 0.000 0.066 2561 744 3096

8647 -0.63 -117.3 522.0 -5.7 415 8652 0.00 2.53 0.00 0.000 6 0.000 0.055 2561 2144 3096

8963 -0.63 -117.3 537.9 -4.2 430 8968 0.00 2.58 0.00 0.000 4 0.000 0.069 2561 3565 3096

9117 -0.63 -117.3 543.9 -4.0 437 9121 0.00 2.50 0.00 0.000 6 0.000 0.054 2561 2155 3096

9443 -0.63 -117.3 554.8 -3.7 453 9447 0.00 2.58 0.00 0.000 4 0.000 0.070 2561 3557 3096

9465 -0.63 -117.3 555.8 -4.4 454 9470 0.00 2.53 0.00 0.000 6 0.000 0.054 2561 2150 3096

9787 -0.63 -117.3 572.1 -5.6 470 9788 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2123 3096

10096 -0.63 -117.3 594.3 -7.1 485 10097 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2124 3096

10405 -0.63 -117.3 606.0 -2.6 500 10407 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2123 3096

10715 -0.63 -117.3 616.0 -3.5 515 10716 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2124 3095

11024 -0.63 -117.3 625.5 -3.2 530 11025 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2124 3095

11334 -0.67 -117.3 639.3 -4.7 545 11335 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2124 3095

11642 -0.67 -117.3 653.4 -3.8 560 11644 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2124 3094

11952 -0.67 -117.3 665.4 -4.4 575 11956 0.00 2.65 0.00 0.000 4 0.000 0.081 2561 3554 3093

11996 -0.67 -117.3 667.9 -6.2 577 12000 0.00 2.53 0.00 0.000 6 0.000 0.064 2561 2167 3092

12318 -0.71 -117.3 684.1 -5.2 593 12319 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2149 3092

12603 end dive: BOTTOM_OBSTACLE_DETECTED

state 12603 begin apogee

12610 -0.33 0.0 700.2 5.2 607 12712 0.32 0.00 99.18 1.341 6 0.087 0.000 2627 2071 2620

12713 end apogee: CONTROL_FINISHED_OK

state 12713 begin climb

12716 1.03 117.3 699.2 0.0 612 12820 1.40 0.00 98.90 1.312 6 0.078 0.000 2923 2082 2141

13128 1.03 117.3 672.8 6.3 632 13129 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2080 2140

13438 0.96 117.3 650.9 8.9 647 13443 0.00 2.72 0.00 0.000 4 0.000 0.084 2923 3510 2138

13578 0.96 117.3 636.2 8.9 653 13582 0.00 2.60 0.00 0.000 6 0.000 0.069 2923 2121 2137

13894 0.92 117.3 613.2 6.9 668 13896 0.12 0.00 0.00 0.000 6 0.097 0.000 2899 2121 2136

14203 1.01 147.0 595.6 5.0 683 14234 0.00 2.70 25.10 1.285 4 0.000 0.082 2899 3505 2020

14274 1.10 155.4 591.9 5.7 686 14289 0.17 2.65 8.88 1.145 6 0.054 0.067 2945 2088 1986

14619 1.03 155.4 566.2 8.0 703 14623 0.00 2.70 0.00 0.000 4 0.000 0.079 2945 3512 1984

14704 0.97 155.4 558.5 9.0 707 14709 0.17 2.60 0.00 0.000 6 0.091 0.063 2909 2103 1984

15030 0.97 155.4 536.2 7.1 723 15032 0.00 0.00 0.00 0.000 6 0.000 0.000 2909 2102 1984

15341 1.01 155.4 512.2 7.7 738 15345 0.00 2.62 0.00 0.000 4 0.000 0.073 2909 3508 1983

15403 1.07 155.4 507.4 7.7 741 15408 0.10 2.53 0.00 0.000 6 0.060 0.058 2941 2114 1984

15730 1.07 155.4 476.9 8.9 757 15731 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2114 1984

16039 1.07 155.4 454.5 6.8 772 16044 0.00 2.60 0.00 0.000 4 0.000 0.067 2941 3515 1984

16084 1.07 155.4 451.1 7.9 774 16088 0.00 2.53 0.00 0.000 6 0.000 0.056 2941 2122 1984

16405 1.07 155.4 430.4 6.2 790 16406 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2122 1985

16714 1.07 155.4 411.1 6.5 805 16718 0.00 2.55 0.00 0.000 4 0.000 0.067 2941 3509 1986

16776 1.07 155.4 406.4 6.6 808 16780 0.00 2.45 0.00 0.000 6 0.000 0.052 2941 2135 1986

17103 1.07 155.4 381.4 8.8 824 17104 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2135 1986

17411 1.07 155.4 350.9 10.2 839 17416 0.00 2.50 0.00 0.000 4 0.000 0.064 2942 3509 1987

17468 1.07 155.4 345.1 9.7 841 17474 0.00 2.45 0.00 0.000 6 0.000 0.053 2941 2146 1987

17784 1.07 155.4 313.8 9.5 857 17786 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2146 1988

18093 1.07 155.4 287.5 7.9 872 18097 0.00 2.50 0.00 0.000 4 0.000 0.064 2941 3510 1988

18126 1.07 155.4 284.6 9.4 873 18132 0.00 2.45 0.00 0.000 6 0.000 0.052 2941 2145 1988

18442 1.07 155.4 259.7 7.7 889 18443 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2145 1989

18752 1.07 155.4 236.7 7.0 904 18755 0.00 2.50 0.00 0.000 4 0.000 0.064 2941 3509 1989

18812 1.07 155.4 231.9 7.8 906 18818 0.00 2.42 0.00 0.000 6 0.000 0.050 2941 2151 1989

19128 1.09 166.3 213.1 5.6 922 19141 0.00 0.00 11.27 0.878 6 0.000 0.000 2941 2151 1941

19437 1.11 177.4 195.1 5.6 937 19453 0.00 2.53 10.70 0.864 4 0.000 0.062 2941 3515 1895

19492 1.11 177.4 191.7 6.1 938 19498 0.00 2.45 0.00 0.000 6 0.000 0.051 2941 2161 1895

19808 1.11 177.4 174.5 6.3 954 19809 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2161 1895

20117 1.11 177.4 145.3 10.1 969 20119 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2161 1895

20427 1.11 177.4 115.0 8.8 984 20428 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2161 1896

20736 1.11 177.4 92.1 6.5 999 20737 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2161 1895

21046 1.21 238.0 76.0 3.9 1014 21096 0.00 0.00 48.53 0.854 6 0.000 0.000 2941 2161 1649

21399 1.26 238.0 48.0 9.3 1031 21401 0.15 0.00 0.00 0.000 6 0.045 0.000 2986 2160 1648

21707 1.17 238.0 17.0 9.0 1046 21709 0.17 0.00 0.00 0.000 6 0.078 0.000 2949 2141 1649

21951 end climb: SURFACE_DEPTH_REACHED

state 21951 begin surface coast

21994 end surface coast: CONTROL_FINISHED_OK

state 21994 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	96	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	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	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	-78428.672	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	094358,6150.339,-915.795,26,2.3,45,-9.5	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.183,-0.084
_SM_DEPTHo	0.39	KALMAN_X	-112107.1,-388.6,-450.9,60180.9,6049.3
_SM_ANGLEo	-46.4	KALMAN_Y	35483.3,1433.5,389.9,9762.7,2694.2
GPS2	095039,6150.317,-916.005,13,1.7,13,-9.5	MHEAD_RNG_PITCHd_Wd	254.8,17806,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	-0.0,1.015987	ALTIM_BOTTOM_PING	600.8,108.8
SM_CCo	22016,35.70,0.790,0,0,1396,300.00	_24V_AH	23.8,20.315
SM_GC	0.44,0.00,0.00,35.70,0.000,0.000,0.790,421,2144,1396,-10.48,-0.14,300.00	_10V_AH	10.1,9.221
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53768,1060
TT8_MAMPS	0.029146	CAP_FILE_SIZE	147793,0
HUMID	1679	CFSIZE	254472192,245886976
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
XPDR_PINGS	530	GPS	260608,160025,6149.964,-925.520,41,1.1,41,-9.6
ALTIM_TOP_PING	18.9,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	142	84.04	SBE_CT	728	24	416.39
Roll_motor	132	84	266.66	SBE_O2	785	19	355.13
VBD_pump_during_apogee	302	1341	9659.60	WL_BB2F	645	105	1613.13
VBD_pump_during_surface	35	790	671.24	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	38	160	146.46	nil	0	0	0.00
Iridium_during_xfer	185	223	982.33
Transponder_ping	137	420	1376.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.64
TT8	1908	19	381.58
LPSleep	17239	2	381.33
TT8_Active	501	19	100.32
TT8_Sampling	2187	39	879.28
TT8_CF8	607	45	280.90
TT8_Kalman	33	81	27.57
Analog_circuits	1564	12	189.64
GPS_charging	0	0	0.00
Compass	2153	8	174.00
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	-1.03	-117.3	0.0	0.0	0	133	0.00	0.00	-107.00	0.000	6	0.000	0.000	421	2143	3099
137	-1.03	-117.3	2.0	-1.6	5	153	10.70	2.58	0.00	0.000	4	0.143	0.062	2466	3566	3099
406	-0.71	-117.3	32.5	-9.5	16	411	0.35	2.50	0.00	0.000	6	0.089	0.046	2541	2160	3099
729	-0.63	-117.3	52.8	-7.0	32	734	0.10	2.58	0.00	0.000	4	0.102	0.060	2561	3564	3099
975	-0.63	-117.3	65.8	-3.9	43	980	0.00	2.53	0.00	0.000	6	0.000	0.046	2561	2134	3099
1298	-0.63	-117.3	75.8	-4.8	59	1299	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2129	3099
1606	-0.63	-117.3	95.1	-6.6	74	1611	0.00	2.62	0.00	0.000	4	0.000	0.061	2561	3571	3100
1696	-0.63	-117.3	102.0	-8.2	78	1700	0.00	2.53	0.00	0.000	6	0.000	0.048	2561	2149	3099
2017	-0.63	-117.3	126.2	-7.5	94	2018	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2145	3099
2328	-0.63	-117.3	149.4	-7.5	109	2329	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2145	3100
2635	-0.63	-117.3	170.6	-6.4	124	2640	0.00	2.60	0.00	0.000	4	0.000	0.064	2561	3567	3100
2676	-0.63	-117.3	173.3	-6.9	126	2680	0.00	2.50	0.00	0.000	6	0.000	0.050	2561	2154	3100
3002	-0.63	-117.3	191.2	-5.2	142	3007	0.00	2.58	0.00	0.000	4	0.000	0.063	2561	3564	3099
3026	-0.63	-117.3	192.4	-5.4	143	3031	0.00	2.50	0.00	0.000	6	0.000	0.050	2561	2154	3099
3348	-0.63	-117.3	209.0	-5.2	159	3349	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2154	3099
3659	-0.63	-117.3	225.6	-5.3	174	3664	0.00	2.58	0.00	0.000	4	0.000	0.064	2561	3568	3099
3682	-0.63	-117.3	227.1	-5.5	175	3686	0.00	2.53	0.00	0.000	6	0.000	0.051	2561	2151	3099
4004	-0.63	-117.3	244.6	-5.5	191	4005	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2151	3099
4313	-0.63	-117.3	262.6	-5.6	206	4314	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2150	3099
4622	-0.63	-117.3	281.1	-6.1	221	4627	0.00	2.58	0.00	0.000	4	0.000	0.066	2561	3562	3098
4657	-0.63	-117.3	283.4	-6.5	222	4663	0.00	2.50	0.00	0.000	6	0.000	0.053	2561	2163	3098
4973	-0.63	-117.3	303.7	-6.5	238	4977	0.00	2.55	0.00	0.000	4	0.000	0.067	2561	747	3098
5006	-0.63	-117.3	306.1	-7.2	239	5012	0.00	2.55	0.00	0.000	6	0.000	0.054	2561	2163	3098
5324	-0.63	-117.3	325.9	-6.3	255	5325	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2164	3098
5630	-0.63	-117.3	344.4	-6.1	270	5635	0.00	2.60	0.00	0.000	4	0.000	0.068	2561	745	3098
5681	-0.63	-117.3	347.6	-6.1	272	5685	0.00	2.55	0.00	0.000	6	0.000	0.055	2561	2160	3098
5996	-0.63	-117.3	366.4	-6.2	287	5997	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2158	3097
6306	-0.63	-117.3	384.6	-5.8	302	6307	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2159	3097
6615	-0.63	-117.3	402.0	-5.4	317	6617	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2159	3097
6925	-0.63	-117.3	418.3	-5.2	332	6926	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2160	3097
7234	-0.63	-117.3	435.0	-5.9	347	7235	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2160	3097
7543	-0.63	-117.3	454.1	-6.0	362	7547	0.00	2.60	0.00	0.000	4	0.000	0.068	2561	745	3097
7582	-0.63	-117.3	456.6	-6.7	364	7587	0.00	2.53	0.00	0.000	6	0.000	0.055	2561	2153	3097
7910	-0.63	-117.3	475.6	-6.2	380	7914	0.00	2.60	0.00	0.000	4	0.000	0.067	2561	739	3097
7928	-0.63	-117.3	476.9	-6.3	381	7932	0.00	2.55	0.00	0.000	6	0.000	0.056	2561	2160	3097
8254	-0.63	-117.3	498.3	-6.1	397	8258	0.00	2.53	0.00	0.000	4	0.000	0.067	2561	3557	3097
8304	-0.63	-117.3	501.7	-6.7	399	8308	0.00	2.50	0.00	0.000	6	0.000	0.053	2561	2149	3096
8620	-0.63	-117.3	520.4	-5.6	414	8624	0.00	2.53	0.00	0.000	4	0.000	0.066	2561	744	3096
8647	-0.63	-117.3	522.0	-5.7	415	8652	0.00	2.53	0.00	0.000	6	0.000	0.055	2561	2144	3096
8963	-0.63	-117.3	537.9	-4.2	430	8968	0.00	2.58	0.00	0.000	4	0.000	0.069	2561	3565	3096
9117	-0.63	-117.3	543.9	-4.0	437	9121	0.00	2.50	0.00	0.000	6	0.000	0.054	2561	2155	3096
9443	-0.63	-117.3	554.8	-3.7	453	9447	0.00	2.58	0.00	0.000	4	0.000	0.070	2561	3557	3096
9465	-0.63	-117.3	555.8	-4.4	454	9470	0.00	2.53	0.00	0.000	6	0.000	0.054	2561	2150	3096
9787	-0.63	-117.3	572.1	-5.6	470	9788	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2123	3096
10096	-0.63	-117.3	594.3	-7.1	485	10097	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2124	3096
10405	-0.63	-117.3	606.0	-2.6	500	10407	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2123	3096
10715	-0.63	-117.3	616.0	-3.5	515	10716	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2124	3095
11024	-0.63	-117.3	625.5	-3.2	530	11025	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2124	3095
11334	-0.67	-117.3	639.3	-4.7	545	11335	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2124	3095
11642	-0.67	-117.3	653.4	-3.8	560	11644	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2124	3094
11952	-0.67	-117.3	665.4	-4.4	575	11956	0.00	2.65	0.00	0.000	4	0.000	0.081	2561	3554	3093
11996	-0.67	-117.3	667.9	-6.2	577	12000	0.00	2.53	0.00	0.000	6	0.000	0.064	2561	2167	3092
12318	-0.71	-117.3	684.1	-5.2	593	12319	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2149	3092
12603	end dive: BOTTOM_OBSTACLE_DETECTED
state	12603	begin apogee
12610	-0.33	0.0	700.2	5.2	607	12712	0.32	0.00	99.18	1.341	6	0.087	0.000	2627	2071	2620
12713	end apogee: CONTROL_FINISHED_OK
state	12713	begin climb
12716	1.03	117.3	699.2	0.0	612	12820	1.40	0.00	98.90	1.312	6	0.078	0.000	2923	2082	2141
13128	1.03	117.3	672.8	6.3	632	13129	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2080	2140
13438	0.96	117.3	650.9	8.9	647	13443	0.00	2.72	0.00	0.000	4	0.000	0.084	2923	3510	2138
13578	0.96	117.3	636.2	8.9	653	13582	0.00	2.60	0.00	0.000	6	0.000	0.069	2923	2121	2137
13894	0.92	117.3	613.2	6.9	668	13896	0.12	0.00	0.00	0.000	6	0.097	0.000	2899	2121	2136
14203	1.01	147.0	595.6	5.0	683	14234	0.00	2.70	25.10	1.285	4	0.000	0.082	2899	3505	2020
14274	1.10	155.4	591.9	5.7	686	14289	0.17	2.65	8.88	1.145	6	0.054	0.067	2945	2088	1986
14619	1.03	155.4	566.2	8.0	703	14623	0.00	2.70	0.00	0.000	4	0.000	0.079	2945	3512	1984
14704	0.97	155.4	558.5	9.0	707	14709	0.17	2.60	0.00	0.000	6	0.091	0.063	2909	2103	1984
15030	0.97	155.4	536.2	7.1	723	15032	0.00	0.00	0.00	0.000	6	0.000	0.000	2909	2102	1984
15341	1.01	155.4	512.2	7.7	738	15345	0.00	2.62	0.00	0.000	4	0.000	0.073	2909	3508	1983
15403	1.07	155.4	507.4	7.7	741	15408	0.10	2.53	0.00	0.000	6	0.060	0.058	2941	2114	1984
15730	1.07	155.4	476.9	8.9	757	15731	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2114	1984
16039	1.07	155.4	454.5	6.8	772	16044	0.00	2.60	0.00	0.000	4	0.000	0.067	2941	3515	1984
16084	1.07	155.4	451.1	7.9	774	16088	0.00	2.53	0.00	0.000	6	0.000	0.056	2941	2122	1984
16405	1.07	155.4	430.4	6.2	790	16406	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2122	1985
16714	1.07	155.4	411.1	6.5	805	16718	0.00	2.55	0.00	0.000	4	0.000	0.067	2941	3509	1986
16776	1.07	155.4	406.4	6.6	808	16780	0.00	2.45	0.00	0.000	6	0.000	0.052	2941	2135	1986
17103	1.07	155.4	381.4	8.8	824	17104	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2135	1986
17411	1.07	155.4	350.9	10.2	839	17416	0.00	2.50	0.00	0.000	4	0.000	0.064	2942	3509	1987
17468	1.07	155.4	345.1	9.7	841	17474	0.00	2.45	0.00	0.000	6	0.000	0.053	2941	2146	1987
17784	1.07	155.4	313.8	9.5	857	17786	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2146	1988
18093	1.07	155.4	287.5	7.9	872	18097	0.00	2.50	0.00	0.000	4	0.000	0.064	2941	3510	1988
18126	1.07	155.4	284.6	9.4	873	18132	0.00	2.45	0.00	0.000	6	0.000	0.052	2941	2145	1988
18442	1.07	155.4	259.7	7.7	889	18443	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2145	1989
18752	1.07	155.4	236.7	7.0	904	18755	0.00	2.50	0.00	0.000	4	0.000	0.064	2941	3509	1989
18812	1.07	155.4	231.9	7.8	906	18818	0.00	2.42	0.00	0.000	6	0.000	0.050	2941	2151	1989
19128	1.09	166.3	213.1	5.6	922	19141	0.00	0.00	11.27	0.878	6	0.000	0.000	2941	2151	1941
19437	1.11	177.4	195.1	5.6	937	19453	0.00	2.53	10.70	0.864	4	0.000	0.062	2941	3515	1895
19492	1.11	177.4	191.7	6.1	938	19498	0.00	2.45	0.00	0.000	6	0.000	0.051	2941	2161	1895
19808	1.11	177.4	174.5	6.3	954	19809	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2161	1895
20117	1.11	177.4	145.3	10.1	969	20119	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2161	1895
20427	1.11	177.4	115.0	8.8	984	20428	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2161	1896
20736	1.11	177.4	92.1	6.5	999	20737	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2161	1895
21046	1.21	238.0	76.0	3.9	1014	21096	0.00	0.00	48.53	0.854	6	0.000	0.000	2941	2161	1649
21399	1.26	238.0	48.0	9.3	1031	21401	0.15	0.00	0.00	0.000	6	0.045	0.000	2986	2160	1648
21707	1.17	238.0	17.0	9.0	1046	21709	0.17	0.00	0.00	0.000	6	0.078	0.000	2949	2141	1649
21951	end climb: SURFACE_DEPTH_REACHED
state	21951	begin surface coast
21994	end surface coast: CONTROL_FINISHED_OK
state	21994	begin surface