Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 81 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 81 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 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 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 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 -2094502.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

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 15

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 -2094502.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 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 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 81 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-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 155708,6128.301,-829.954,40,1.2,40,-8.9 TGT_NAME FBC_4

_CALLS 1 TGT_LATLONG 6140.000,-845.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.194,0.107

_SM_DEPTHo 1.31 KALMAN_X -164803.2,-146.1,15354.7,-24759.8,-63192.4

_SM_ANGLEo -58.9 KALMAN_Y -52643.9,1795.5,-1058.9,127058.2,-5524.8

GPS2 160228,6128.233,-829.893,14,1.8,21,-8.9 MHEAD_RNG_PITCHd_Wd 337.5,25519,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027064 ALTIM_BOTTOM_PING 625.8,107.6

SM_CCo 20276,110.03,0.594,1,0,508,557.32 _24V_AH 23.6,16.470

SM_GC 1.37,0.00,0.00,110.03,0.000,0.000,0.594,71,2306,508,-10.25,0.14,557.32 _10V_AH 10.1,8.399

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50671,981

TT8_MAMPS 0.02301 CAP_FILE_SIZE 145270,0

HUMID 1826 CFSIZE 260165632,253071360

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 19 GPS 240608,214431,6127.247,-832.896,40,1.1,40,-9.0

ALTIM_TOP_PING 19.6,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 103.91 SBE_CT 719 24 407.27

Roll_motor 170 93 376.69 SBE_O2 668 19 299.60

VBD_pump_during_apogee 423 1112 11134.32 WL_BB2F 589 105 1459.89

VBD_pump_during_surface 110 594 1543.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.64 nil 0 0 0.00

Iridium_during_connect 25 160 94.94 nil 0 0 0.00

Iridium_during_xfer 146 223 770.58

Transponder_ping 10 420 101.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 21 50 10.80

TT8 1778 19 355.59

LPSleep 15595 2 344.96

TT8_Active 722 19 144.41

TT8_Sampling 2115 39 850.33

TT8_CF8 499 45 231.25

TT8_Kalman 33 81 27.56

Analog_circuits 1789 12 216.88

GPS_charging 0 0 0.00

Compass 2061 8 166.57

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 -0.85 -146.6 0.0 0.0 0 149 0.00 0.00 -121.35 0.000 2 0.000 0.000 71 2304 3053

153 -0.85 -146.6 4.3 -3.4 6 178 11.45 2.75 -7.18 0.000 4 0.170 0.088 2110 3712 3380

431 -0.65 -146.6 45.7 -13.4 18 436 0.22 2.60 0.00 0.000 6 0.091 0.054 2154 2295 3380

748 -0.61 -146.6 76.5 -8.3 33 752 0.00 2.62 0.00 0.000 4 0.000 0.067 2154 884 3380

810 -0.61 -146.6 82.1 -9.1 36 814 0.00 2.65 0.00 0.000 6 0.000 0.058 2154 2305 3380

1136 -0.61 -146.6 109.7 -8.1 52 1138 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2305 3381

1446 -0.61 -146.6 132.8 -7.5 67 1450 0.00 2.65 0.00 0.000 4 0.000 0.064 2154 883 3381

1540 -0.61 -146.6 139.2 -7.2 71 1545 0.00 2.65 0.00 0.000 6 0.000 0.058 2154 2306 3380

1857 -0.56 -146.6 159.2 -6.5 86 1862 0.12 2.65 0.00 0.000 4 0.100 0.065 2177 883 3380

1903 -0.64 -146.6 162.3 -6.5 88 1907 0.00 2.62 0.00 0.000 6 0.000 0.058 2177 2299 3381

2223 -0.64 -146.6 184.2 -7.1 104 2224 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2300 3381

2533 -0.64 -146.6 206.0 -6.8 119 2537 0.00 2.65 0.00 0.000 4 0.000 0.067 2177 883 3381

2595 -0.73 -146.6 210.2 -6.9 122 2600 0.17 2.65 0.00 0.000 6 0.039 0.058 2122 2307 3381

2922 -0.59 -146.6 242.1 -10.2 138 2927 0.20 2.67 0.00 0.000 4 0.086 0.067 2166 883 3381

2966 -0.65 -146.6 245.9 -7.7 140 2971 0.00 2.62 0.00 0.000 6 0.000 0.059 2166 2299 3381

3288 -0.65 -146.6 267.8 -6.6 156 3289 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2300 3381

3598 -0.65 -146.6 286.2 -5.6 171 3602 0.00 2.65 0.00 0.000 4 0.000 0.068 2166 884 3380

3660 -0.71 -146.6 290.1 -6.8 174 3664 0.00 2.62 0.00 0.000 6 0.000 0.059 2166 2303 3381

3986 -0.71 -146.6 309.8 -6.2 190 3987 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2303 3380

4295 -0.71 -146.6 329.7 -6.9 205 4300 0.00 2.67 0.00 0.000 4 0.000 0.068 2166 881 3380

4363 -0.76 -146.6 334.1 -6.7 208 4368 0.15 2.62 0.00 0.000 6 0.043 0.058 2118 2299 3380

4684 -0.62 -146.6 362.6 -9.4 224 4689 0.20 2.67 0.00 0.000 4 0.086 0.068 2161 877 3380

4729 -0.67 -146.6 366.1 -6.8 226 4733 0.00 2.65 0.00 0.000 6 0.000 0.058 2161 2305 3380

5049 -0.67 -146.6 387.5 -6.3 242 5051 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2305 3380

5359 -0.67 -146.6 407.7 -6.3 257 5360 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2305 3380

5668 -0.67 -146.6 428.0 -6.4 272 5672 0.00 2.67 0.00 0.000 4 0.000 0.068 2161 877 3380

5730 -0.67 -146.6 432.0 -6.6 275 5734 0.00 2.62 0.00 0.000 6 0.000 0.059 2161 2300 3380

6056 -0.67 -146.6 452.3 -6.5 291 6058 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2300 3379

6366 -0.67 -146.6 470.5 -6.0 306 6371 0.00 2.65 0.00 0.000 4 0.000 0.067 2161 881 3379

6423 -0.71 -146.6 473.6 -5.4 308 6429 0.00 2.62 0.00 0.000 6 0.000 0.059 2161 2300 3380

6738 -0.71 -146.6 491.0 -5.8 324 6740 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2300 3380

7048 -0.71 -146.6 508.1 -5.0 339 7052 0.00 2.65 0.00 0.000 4 0.000 0.067 2161 884 3379

7092 -0.76 -146.6 510.6 -5.6 341 7097 0.12 2.62 0.00 0.000 6 0.047 0.058 2120 2304 3379

7414 -0.63 -146.6 536.6 -8.4 357 7419 0.17 2.67 0.00 0.000 4 0.089 0.068 2158 881 3379

7487 -0.67 -146.6 542.7 -7.3 360 7491 0.00 2.62 0.00 0.000 6 0.000 0.058 2159 2300 3379

7802 -0.67 -146.6 565.3 -6.8 375 7806 0.00 2.65 0.00 0.000 4 0.000 0.067 2158 884 3379

7842 -0.72 -146.6 568.4 -8.6 377 7846 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2299 3379

8168 -0.72 -146.6 593.1 -7.5 393 8169 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2300 3378

8477 -0.72 -146.6 616.1 -7.5 408 8482 0.00 2.65 0.00 0.000 4 0.000 0.067 2158 881 3378

8533 -0.72 -146.6 620.0 -7.0 410 8540 0.00 2.60 0.00 0.000 6 0.000 0.059 2158 2300 3379

8849 -0.72 -146.6 641.3 -7.1 426 8853 0.00 2.70 0.00 0.000 4 0.000 0.084 2158 3712 3378

8881 -0.72 -146.6 643.9 -7.9 427 8888 0.00 2.60 0.00 0.000 6 0.000 0.056 2158 2291 3378

9197 -0.72 -146.6 667.8 -7.6 443 9202 0.00 2.62 0.00 0.000 4 0.000 0.069 2158 886 3378

9260 -0.79 -146.6 672.0 -6.5 446 9265 0.15 2.62 0.00 0.000 6 0.044 0.058 2112 2303 3377

9587 -0.67 -146.6 697.8 -8.0 462 9593 0.17 2.65 0.00 0.000 4 0.088 0.067 2151 888 3377

9628 -0.73 -146.6 700.3 -5.7 464 9632 0.00 2.60 0.00 0.000 6 0.000 0.060 2151 2300 3377

9954 -0.73 -146.6 719.7 -5.8 480 9959 0.00 2.65 0.00 0.000 4 0.000 0.069 2151 889 3378

9995 -0.81 -146.6 722.7 -7.7 482 10000 0.12 2.65 0.00 0.000 6 0.047 0.062 2111 2305 3377

10010 end dive: BOTTOM_OBSTACLE_DETECTED

state 10010 begin apogee

10017 -0.31 0.0 723.6 5.7 483 10153 0.60 0.00 132.05 1.113 6 0.099 0.000 2230 2202 2781

10153 end apogee: CONTROL_FINISHED_OK

state 10153 begin climb

10156 0.85 146.6 729.9 0.0 490 10299 1.17 2.78 130.65 1.091 4 0.079 0.072 2477 785 2182

10345 0.99 278.8 726.5 2.4 499 10469 0.17 2.70 116.30 1.081 6 0.072 0.061 2515 2203 1644

10777 0.99 278.8 698.7 6.3 520 10781 0.00 2.80 0.00 0.000 4 0.000 0.094 2515 3615 1643

10832 0.99 278.8 694.8 7.4 522 10838 0.00 2.70 0.00 0.000 6 0.000 0.068 2515 2199 1643

11147 0.99 278.8 671.1 8.6 538 11152 0.00 2.72 0.00 0.000 4 0.000 0.080 2515 785 1641

11203 0.99 278.8 666.1 8.3 540 11210 0.00 2.65 0.00 0.000 6 0.000 0.060 2515 2201 1640

11519 0.99 278.8 641.6 8.0 556 11524 0.00 2.75 0.00 0.000 4 0.000 0.086 2515 3613 1640

11586 0.99 278.8 635.6 9.2 559 11590 0.00 2.65 0.00 0.000 6 0.000 0.061 2515 2194 1639

11906 0.99 278.8 607.5 8.7 575 11911 0.00 2.67 0.00 0.000 4 0.000 0.072 2515 786 1639

11951 0.99 278.8 604.0 8.3 577 11955 0.00 2.62 0.00 0.000 6 0.000 0.057 2516 2201 1638

12271 0.99 278.8 580.2 7.5 593 12272 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2200 1638

12581 0.99 278.8 557.8 7.3 608 12582 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2201 1638

12890 0.99 278.8 535.1 7.2 623 12894 0.00 2.72 0.00 0.000 4 0.000 0.084 2515 3614 1638

12933 0.99 278.8 532.0 6.8 625 12938 0.00 2.62 0.00 0.000 6 0.000 0.060 2515 2201 1638

13255 0.99 278.8 511.1 6.4 641 13256 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2202 1638

13564 0.99 278.8 487.1 8.7 656 13568 0.00 2.72 0.00 0.000 4 0.000 0.082 2515 3614 1639

13619 0.99 278.8 481.6 9.7 658 13625 0.00 2.62 0.00 0.000 6 0.000 0.060 2515 2202 1639

13934 0.99 278.8 453.8 7.9 674 13936 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2201 1639

14243 0.99 278.8 431.8 6.5 689 14245 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2201 1639

14553 0.99 278.8 411.8 6.4 704 14557 0.00 2.72 0.00 0.000 4 0.000 0.083 2515 3614 1639

14597 0.99 278.8 408.5 8.2 706 14601 0.00 2.62 0.00 0.000 6 0.000 0.061 2515 2195 1639

14918 0.99 278.8 386.4 6.9 722 14919 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2195 1640

15226 0.99 278.8 363.7 7.5 737 15228 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2195 1640

15536 0.99 278.8 339.9 7.6 752 15537 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2195 1640

15845 0.99 278.8 317.1 7.5 767 15849 0.00 2.75 0.00 0.000 4 0.000 0.082 2515 3620 1641

15884 0.99 278.8 313.8 9.1 769 15889 0.00 2.62 0.00 0.000 6 0.000 0.060 2515 2199 1641

16210 0.99 278.8 287.5 7.5 785 16212 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2199 1641

16520 0.99 278.8 265.3 6.9 800 16521 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2198 1641

16829 0.99 279.0 243.9 6.0 815 16830 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2199 1641

17139 1.04 320.2 226.8 4.9 830 17178 0.00 0.00 35.12 0.760 6 0.000 0.000 2515 2199 1475

17488 1.09 320.2 202.7 7.5 847 17493 0.10 2.72 0.00 0.000 4 0.066 0.080 2538 3617 1474

17527 1.09 320.2 199.2 9.9 849 17532 0.00 2.62 0.00 0.000 6 0.000 0.059 2538 2198 1474

17854 1.09 320.2 171.5 8.5 865 17859 0.00 2.65 0.00 0.000 4 0.000 0.068 2538 781 1474

17899 1.09 320.2 167.6 8.8 867 17903 0.00 2.62 0.00 0.000 6 0.000 0.053 2538 2205 1474

18220 1.09 320.2 140.6 8.0 883 18221 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2205 1474

18530 1.09 320.2 117.3 7.0 898 18532 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2205 1474

18838 1.09 320.2 95.9 6.9 913 18839 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2205 1475

19147 1.09 320.2 74.8 6.7 928 19149 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2205 1475

19457 1.09 320.2 54.0 6.5 943 19461 0.00 2.70 0.00 0.000 4 0.000 0.081 2538 3619 1475

19497 1.09 320.2 51.0 8.4 945 19501 0.00 2.62 0.00 0.000 6 0.000 0.059 2538 2199 1475

19823 1.10 330.2 30.9 5.7 961 19838 0.00 2.67 9.80 0.585 4 0.000 0.067 2538 776 1433

19878 1.10 330.2 27.4 6.2 962 19885 0.00 2.62 0.00 0.000 6 0.000 0.054 2538 2201 1433

20194 1.10 330.2 5.3 8.3 978 20195 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2201 1433

20232 end climb: SURFACE_DEPTH_REACHED

state 20232 begin surface coast

20254 end surface coast: CONTROL_FINISHED_OK

state 20254 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	81	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	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	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	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	-2094502.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	155708,6128.301,-829.954,40,1.2,40,-8.9	TGT_NAME	FBC_4
_CALLS	1	TGT_LATLONG	6140.000,-845.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.194,0.107
_SM_DEPTHo	1.31	KALMAN_X	-164803.2,-146.1,15354.7,-24759.8,-63192.4
_SM_ANGLEo	-58.9	KALMAN_Y	-52643.9,1795.5,-1058.9,127058.2,-5524.8
GPS2	160228,6128.233,-829.893,14,1.8,21,-8.9	MHEAD_RNG_PITCHd_Wd	337.5,25519,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027064	ALTIM_BOTTOM_PING	625.8,107.6
SM_CCo	20276,110.03,0.594,1,0,508,557.32	_24V_AH	23.6,16.470
SM_GC	1.37,0.00,0.00,110.03,0.000,0.000,0.594,71,2306,508,-10.25,0.14,557.32	_10V_AH	10.1,8.399
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50671,981
TT8_MAMPS	0.02301	CAP_FILE_SIZE	145270,0
HUMID	1826	CFSIZE	260165632,253071360
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	19	GPS	240608,214431,6127.247,-832.896,40,1.1,40,-9.0
ALTIM_TOP_PING	19.6,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	103.91	SBE_CT	719	24	407.27
Roll_motor	170	93	376.69	SBE_O2	668	19	299.60
VBD_pump_during_apogee	423	1112	11134.32	WL_BB2F	589	105	1459.89
VBD_pump_during_surface	110	594	1543.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.64	nil	0	0	0.00
Iridium_during_connect	25	160	94.94	nil	0	0	0.00
Iridium_during_xfer	146	223	770.58
Transponder_ping	10	420	101.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	21	50	10.80
TT8	1778	19	355.59
LPSleep	15595	2	344.96
TT8_Active	722	19	144.41
TT8_Sampling	2115	39	850.33
TT8_CF8	499	45	231.25
TT8_Kalman	33	81	27.56
Analog_circuits	1789	12	216.88
GPS_charging	0	0	0.00
Compass	2061	8	166.57
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	-0.85	-146.6	0.0	0.0	0	149	0.00	0.00	-121.35	0.000	2	0.000	0.000	71	2304	3053
153	-0.85	-146.6	4.3	-3.4	6	178	11.45	2.75	-7.18	0.000	4	0.170	0.088	2110	3712	3380
431	-0.65	-146.6	45.7	-13.4	18	436	0.22	2.60	0.00	0.000	6	0.091	0.054	2154	2295	3380
748	-0.61	-146.6	76.5	-8.3	33	752	0.00	2.62	0.00	0.000	4	0.000	0.067	2154	884	3380
810	-0.61	-146.6	82.1	-9.1	36	814	0.00	2.65	0.00	0.000	6	0.000	0.058	2154	2305	3380
1136	-0.61	-146.6	109.7	-8.1	52	1138	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2305	3381
1446	-0.61	-146.6	132.8	-7.5	67	1450	0.00	2.65	0.00	0.000	4	0.000	0.064	2154	883	3381
1540	-0.61	-146.6	139.2	-7.2	71	1545	0.00	2.65	0.00	0.000	6	0.000	0.058	2154	2306	3380
1857	-0.56	-146.6	159.2	-6.5	86	1862	0.12	2.65	0.00	0.000	4	0.100	0.065	2177	883	3380
1903	-0.64	-146.6	162.3	-6.5	88	1907	0.00	2.62	0.00	0.000	6	0.000	0.058	2177	2299	3381
2223	-0.64	-146.6	184.2	-7.1	104	2224	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2300	3381
2533	-0.64	-146.6	206.0	-6.8	119	2537	0.00	2.65	0.00	0.000	4	0.000	0.067	2177	883	3381
2595	-0.73	-146.6	210.2	-6.9	122	2600	0.17	2.65	0.00	0.000	6	0.039	0.058	2122	2307	3381
2922	-0.59	-146.6	242.1	-10.2	138	2927	0.20	2.67	0.00	0.000	4	0.086	0.067	2166	883	3381
2966	-0.65	-146.6	245.9	-7.7	140	2971	0.00	2.62	0.00	0.000	6	0.000	0.059	2166	2299	3381
3288	-0.65	-146.6	267.8	-6.6	156	3289	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2300	3381
3598	-0.65	-146.6	286.2	-5.6	171	3602	0.00	2.65	0.00	0.000	4	0.000	0.068	2166	884	3380
3660	-0.71	-146.6	290.1	-6.8	174	3664	0.00	2.62	0.00	0.000	6	0.000	0.059	2166	2303	3381
3986	-0.71	-146.6	309.8	-6.2	190	3987	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2303	3380
4295	-0.71	-146.6	329.7	-6.9	205	4300	0.00	2.67	0.00	0.000	4	0.000	0.068	2166	881	3380
4363	-0.76	-146.6	334.1	-6.7	208	4368	0.15	2.62	0.00	0.000	6	0.043	0.058	2118	2299	3380
4684	-0.62	-146.6	362.6	-9.4	224	4689	0.20	2.67	0.00	0.000	4	0.086	0.068	2161	877	3380
4729	-0.67	-146.6	366.1	-6.8	226	4733	0.00	2.65	0.00	0.000	6	0.000	0.058	2161	2305	3380
5049	-0.67	-146.6	387.5	-6.3	242	5051	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2305	3380
5359	-0.67	-146.6	407.7	-6.3	257	5360	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2305	3380
5668	-0.67	-146.6	428.0	-6.4	272	5672	0.00	2.67	0.00	0.000	4	0.000	0.068	2161	877	3380
5730	-0.67	-146.6	432.0	-6.6	275	5734	0.00	2.62	0.00	0.000	6	0.000	0.059	2161	2300	3380
6056	-0.67	-146.6	452.3	-6.5	291	6058	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2300	3379
6366	-0.67	-146.6	470.5	-6.0	306	6371	0.00	2.65	0.00	0.000	4	0.000	0.067	2161	881	3379
6423	-0.71	-146.6	473.6	-5.4	308	6429	0.00	2.62	0.00	0.000	6	0.000	0.059	2161	2300	3380
6738	-0.71	-146.6	491.0	-5.8	324	6740	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2300	3380
7048	-0.71	-146.6	508.1	-5.0	339	7052	0.00	2.65	0.00	0.000	4	0.000	0.067	2161	884	3379
7092	-0.76	-146.6	510.6	-5.6	341	7097	0.12	2.62	0.00	0.000	6	0.047	0.058	2120	2304	3379
7414	-0.63	-146.6	536.6	-8.4	357	7419	0.17	2.67	0.00	0.000	4	0.089	0.068	2158	881	3379
7487	-0.67	-146.6	542.7	-7.3	360	7491	0.00	2.62	0.00	0.000	6	0.000	0.058	2159	2300	3379
7802	-0.67	-146.6	565.3	-6.8	375	7806	0.00	2.65	0.00	0.000	4	0.000	0.067	2158	884	3379
7842	-0.72	-146.6	568.4	-8.6	377	7846	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2299	3379
8168	-0.72	-146.6	593.1	-7.5	393	8169	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2300	3378
8477	-0.72	-146.6	616.1	-7.5	408	8482	0.00	2.65	0.00	0.000	4	0.000	0.067	2158	881	3378
8533	-0.72	-146.6	620.0	-7.0	410	8540	0.00	2.60	0.00	0.000	6	0.000	0.059	2158	2300	3379
8849	-0.72	-146.6	641.3	-7.1	426	8853	0.00	2.70	0.00	0.000	4	0.000	0.084	2158	3712	3378
8881	-0.72	-146.6	643.9	-7.9	427	8888	0.00	2.60	0.00	0.000	6	0.000	0.056	2158	2291	3378
9197	-0.72	-146.6	667.8	-7.6	443	9202	0.00	2.62	0.00	0.000	4	0.000	0.069	2158	886	3378
9260	-0.79	-146.6	672.0	-6.5	446	9265	0.15	2.62	0.00	0.000	6	0.044	0.058	2112	2303	3377
9587	-0.67	-146.6	697.8	-8.0	462	9593	0.17	2.65	0.00	0.000	4	0.088	0.067	2151	888	3377
9628	-0.73	-146.6	700.3	-5.7	464	9632	0.00	2.60	0.00	0.000	6	0.000	0.060	2151	2300	3377
9954	-0.73	-146.6	719.7	-5.8	480	9959	0.00	2.65	0.00	0.000	4	0.000	0.069	2151	889	3378
9995	-0.81	-146.6	722.7	-7.7	482	10000	0.12	2.65	0.00	0.000	6	0.047	0.062	2111	2305	3377
10010	end dive: BOTTOM_OBSTACLE_DETECTED
state	10010	begin apogee
10017	-0.31	0.0	723.6	5.7	483	10153	0.60	0.00	132.05	1.113	6	0.099	0.000	2230	2202	2781
10153	end apogee: CONTROL_FINISHED_OK
state	10153	begin climb
10156	0.85	146.6	729.9	0.0	490	10299	1.17	2.78	130.65	1.091	4	0.079	0.072	2477	785	2182
10345	0.99	278.8	726.5	2.4	499	10469	0.17	2.70	116.30	1.081	6	0.072	0.061	2515	2203	1644
10777	0.99	278.8	698.7	6.3	520	10781	0.00	2.80	0.00	0.000	4	0.000	0.094	2515	3615	1643
10832	0.99	278.8	694.8	7.4	522	10838	0.00	2.70	0.00	0.000	6	0.000	0.068	2515	2199	1643
11147	0.99	278.8	671.1	8.6	538	11152	0.00	2.72	0.00	0.000	4	0.000	0.080	2515	785	1641
11203	0.99	278.8	666.1	8.3	540	11210	0.00	2.65	0.00	0.000	6	0.000	0.060	2515	2201	1640
11519	0.99	278.8	641.6	8.0	556	11524	0.00	2.75	0.00	0.000	4	0.000	0.086	2515	3613	1640
11586	0.99	278.8	635.6	9.2	559	11590	0.00	2.65	0.00	0.000	6	0.000	0.061	2515	2194	1639
11906	0.99	278.8	607.5	8.7	575	11911	0.00	2.67	0.00	0.000	4	0.000	0.072	2515	786	1639
11951	0.99	278.8	604.0	8.3	577	11955	0.00	2.62	0.00	0.000	6	0.000	0.057	2516	2201	1638
12271	0.99	278.8	580.2	7.5	593	12272	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2200	1638
12581	0.99	278.8	557.8	7.3	608	12582	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2201	1638
12890	0.99	278.8	535.1	7.2	623	12894	0.00	2.72	0.00	0.000	4	0.000	0.084	2515	3614	1638
12933	0.99	278.8	532.0	6.8	625	12938	0.00	2.62	0.00	0.000	6	0.000	0.060	2515	2201	1638
13255	0.99	278.8	511.1	6.4	641	13256	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2202	1638
13564	0.99	278.8	487.1	8.7	656	13568	0.00	2.72	0.00	0.000	4	0.000	0.082	2515	3614	1639
13619	0.99	278.8	481.6	9.7	658	13625	0.00	2.62	0.00	0.000	6	0.000	0.060	2515	2202	1639
13934	0.99	278.8	453.8	7.9	674	13936	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2201	1639
14243	0.99	278.8	431.8	6.5	689	14245	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2201	1639
14553	0.99	278.8	411.8	6.4	704	14557	0.00	2.72	0.00	0.000	4	0.000	0.083	2515	3614	1639
14597	0.99	278.8	408.5	8.2	706	14601	0.00	2.62	0.00	0.000	6	0.000	0.061	2515	2195	1639
14918	0.99	278.8	386.4	6.9	722	14919	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2195	1640
15226	0.99	278.8	363.7	7.5	737	15228	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2195	1640
15536	0.99	278.8	339.9	7.6	752	15537	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2195	1640
15845	0.99	278.8	317.1	7.5	767	15849	0.00	2.75	0.00	0.000	4	0.000	0.082	2515	3620	1641
15884	0.99	278.8	313.8	9.1	769	15889	0.00	2.62	0.00	0.000	6	0.000	0.060	2515	2199	1641
16210	0.99	278.8	287.5	7.5	785	16212	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2199	1641
16520	0.99	278.8	265.3	6.9	800	16521	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2198	1641
16829	0.99	279.0	243.9	6.0	815	16830	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2199	1641
17139	1.04	320.2	226.8	4.9	830	17178	0.00	0.00	35.12	0.760	6	0.000	0.000	2515	2199	1475
17488	1.09	320.2	202.7	7.5	847	17493	0.10	2.72	0.00	0.000	4	0.066	0.080	2538	3617	1474
17527	1.09	320.2	199.2	9.9	849	17532	0.00	2.62	0.00	0.000	6	0.000	0.059	2538	2198	1474
17854	1.09	320.2	171.5	8.5	865	17859	0.00	2.65	0.00	0.000	4	0.000	0.068	2538	781	1474
17899	1.09	320.2	167.6	8.8	867	17903	0.00	2.62	0.00	0.000	6	0.000	0.053	2538	2205	1474
18220	1.09	320.2	140.6	8.0	883	18221	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2205	1474
18530	1.09	320.2	117.3	7.0	898	18532	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2205	1474
18838	1.09	320.2	95.9	6.9	913	18839	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2205	1475
19147	1.09	320.2	74.8	6.7	928	19149	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2205	1475
19457	1.09	320.2	54.0	6.5	943	19461	0.00	2.70	0.00	0.000	4	0.000	0.081	2538	3619	1475
19497	1.09	320.2	51.0	8.4	945	19501	0.00	2.62	0.00	0.000	6	0.000	0.059	2538	2199	1475
19823	1.10	330.2	30.9	5.7	961	19838	0.00	2.67	9.80	0.585	4	0.000	0.067	2538	776	1433
19878	1.10	330.2	27.4	6.2	962	19885	0.00	2.62	0.00	0.000	6	0.000	0.054	2538	2201	1433
20194	1.10	330.2	5.3	8.3	978	20195	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2201	1433
20232	end climb: SURFACE_DEPTH_REACHED
state	20232	begin surface coast
20254	end surface coast: CONTROL_FINISHED_OK
state	20254	begin surface