Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 71 * 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 71 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 14 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 -2094236.8 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 -2094236.8

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 14 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 71 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 040307,6108.849,-730.143,41,2.0,46,-8.3 TGT_NAME FBC_2

_CALLS 1 TGT_LATLONG 6115.000,-752.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.168,-0.144

_SM_DEPTHo 1.27 KALMAN_X -95144.5,1061.8,-4537.7,-21640.0,14780.5

_SM_ANGLEo -54.2 KALMAN_Y -67804.9,275.4,-653.3,107425.2,-543.5

GPS2 040908,6108.853,-730.025,15,2.0,32,-8.3 MHEAD_RNG_PITCHd_Wd 308.5,22645,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.017849 ALTIM_BOTTOM_PING 775.6,52.2

SM_CCo 21798,137.62,0.624,0,0,507,557.32 _24V_AH 23.5,14.724

SM_GC 1.25,0.00,0.00,137.62,0.000,0.000,0.624,67,2309,507,-10.27,0.25,557.32 _10V_AH 10.1,7.464

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53739,1047

TT8_MAMPS 0.023777 CAP_FILE_SIZE 141849,0

HUMID 1830 CFSIZE 260165632,253755392

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 51 GPS 220608,101656,6111.639,-732.530,38,1.1,38,-8.3

ALTIM_TOP_PING 18.8,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 167 98.19 SBE_CT 773 24 436.24

Roll_motor 140 96 319.03 SBE_O2 715 19 319.28

VBD_pump_during_apogee 389 1247 11413.63 WL_BB2F 587 105 1449.34

VBD_pump_during_surface 137 623 2016.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.82 nil 0 0 0.00

Iridium_during_connect 26 160 100.41 nil 0 0 0.00

Iridium_during_xfer 166 223 870.59

Transponder_ping 19 420 194.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.24

TT8 1859 19 371.82

LPSleep 17053 2 377.22

TT8_Active 719 19 143.89

TT8_Sampling 2132 39 857.19

TT8_CF8 528 45 244.70

TT8_Kalman 33 81 27.55

Analog_circuits 1758 12 213.15

GPS_charging 0 0 0.00

Compass 2071 8 167.35

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 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.65 0.000 2 0.000 0.000 64 2308 2950

150 -0.85 -146.6 3.9 -3.2 6 180 11.43 2.75 -10.40 0.000 4 0.168 0.088 2108 3713 3381

337 -0.65 -146.6 28.6 -11.4 14 342 0.25 2.62 0.00 0.000 6 0.093 0.061 2157 2297 3381

653 -0.65 -146.6 55.4 -8.5 29 654 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2296 3380

962 -0.65 -146.6 78.9 -7.5 44 964 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2296 3381

1271 -0.65 -146.6 101.9 -7.4 59 1276 0.00 2.65 0.00 0.000 4 0.000 0.071 2157 880 3380

1360 -0.65 -146.6 108.5 -7.0 63 1365 0.00 2.62 0.00 0.000 6 0.000 0.057 2158 2300 3380

1683 -0.65 -146.6 131.0 -6.9 79 1685 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2300 3380

1991 -0.65 -146.6 152.6 -7.0 94 1995 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 874 3380

2046 -0.65 -146.6 156.6 -7.4 96 2052 0.00 2.65 0.00 0.000 6 0.000 0.057 2157 2305 3381

2361 -0.65 -146.6 178.6 -7.1 112 2362 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2305 3380

2670 -0.65 -146.6 201.5 -7.6 127 2675 0.00 2.67 0.00 0.000 4 0.000 0.068 2157 878 3380

2743 -0.65 -146.6 207.1 -7.1 130 2747 0.00 2.65 0.00 0.000 6 0.000 0.058 2157 2308 3380

3059 -0.65 -146.6 230.8 -7.5 145 3060 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2308 3380

3368 -0.65 -146.6 257.1 -8.8 160 3372 0.00 2.67 0.00 0.000 4 0.000 0.070 2158 880 3380

3440 -0.65 -146.6 263.6 -8.9 163 3444 0.00 2.62 0.00 0.000 6 0.000 0.058 2157 2301 3381

3755 -0.65 -146.6 291.0 -8.5 178 3756 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2302 3380

4064 -0.65 -146.6 316.0 -7.6 193 4069 0.00 2.67 0.00 0.000 4 0.000 0.069 2158 874 3380

4142 -0.65 -146.6 321.8 -7.2 196 4148 0.00 2.65 0.00 0.000 6 0.000 0.058 2158 2303 3380

4458 -0.65 -146.6 343.6 -6.6 212 4462 0.00 2.67 0.00 0.000 4 0.000 0.071 2158 880 3380

4507 -0.65 -146.6 346.9 -6.5 214 4512 0.00 2.62 0.00 0.000 6 0.000 0.058 2157 2301 3380

4823 -0.65 -146.6 367.0 -6.8 229 4824 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2302 3381

5132 -0.65 -146.6 389.5 -7.5 244 5133 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2302 3380

5441 -0.65 -146.6 412.0 -7.1 259 5446 0.00 2.67 0.00 0.000 4 0.000 0.071 2157 880 3380

5509 -0.70 -146.6 417.0 -7.4 262 5513 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2301 3380

5829 -0.70 -146.6 437.8 -6.2 278 5830 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2302 3380

6139 -0.70 -146.6 455.4 -5.2 293 6143 0.00 2.67 0.00 0.000 4 0.000 0.071 2158 880 3380

6195 -0.76 -146.6 458.5 -5.9 295 6202 0.12 2.62 0.00 0.000 6 0.048 0.060 2116 2301 3380

6511 -0.64 -146.6 480.2 -6.9 311 6516 0.17 2.72 0.00 0.000 4 0.087 0.086 2155 3713 3380

6561 -0.64 -146.6 483.3 -5.9 313 6566 0.00 2.62 0.00 0.000 6 0.000 0.065 2155 2298 3380

6877 -0.64 -146.6 502.1 -6.9 328 6881 0.00 2.67 0.00 0.000 4 0.000 0.076 2155 884 3380

6921 -0.64 -146.6 505.4 -7.5 330 6925 0.00 2.65 0.00 0.000 6 0.000 0.063 2155 2299 3380

7242 -0.64 -146.6 529.7 -7.7 346 7243 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2299 3379

7551 -0.64 -146.6 553.3 -7.3 361 7552 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2299 3378

7861 -0.64 -146.6 575.2 -6.6 376 7862 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2300 3377

8170 -0.64 -146.6 594.7 -6.7 391 8174 0.00 2.70 0.00 0.000 4 0.000 0.078 2155 885 3376

8214 -0.69 -146.6 598.0 -7.2 393 8218 0.00 2.67 0.00 0.000 6 0.000 0.066 2154 2305 3375

8534 -0.69 -146.6 620.3 -7.0 409 8535 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2305 3374

8844 -0.69 -146.6 645.2 -9.5 424 8845 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2305 3373

9154 -0.69 -146.6 675.8 -10.0 439 9155 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2305 3372

9462 -0.69 -146.6 707.0 -10.2 454 9463 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2305 3371

9771 -0.69 -146.6 735.7 -9.1 469 9773 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2305 3369

10081 -0.69 -146.6 761.3 -7.6 484 10082 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2305 3368

10390 -0.69 -146.6 782.9 -7.2 499 10394 0.00 2.75 0.00 0.000 4 0.000 0.081 2154 880 3367

10430 -0.77 -146.6 786.0 -9.3 501 10435 0.00 2.67 0.00 0.000 6 0.000 0.070 2155 2301 3367

10756 -0.77 -146.6 810.2 -8.5 517 10761 0.00 2.72 0.00 0.000 4 0.000 0.081 2155 881 3366

10812 -0.86 -146.6 814.3 -7.4 519 10819 0.20 2.70 0.00 0.000 6 0.051 0.071 2103 2302 3366

10857 end dive: BOTTOM_OBSTACLE_DETECTED

state 10857 begin apogee

10864 -0.31 0.0 817.9 7.8 522 11001 0.65 0.00 133.02 1.248 6 0.107 0.000 2230 2196 2781

11001 end apogee: CONTROL_FINISHED_OK

state 11001 begin climb

11004 0.85 146.6 822.9 0.0 529 11149 1.23 2.95 135.27 1.223 4 0.087 0.096 2480 3613 2183

11202 0.91 202.3 819.6 4.5 538 11259 0.00 2.72 51.53 1.192 6 0.000 0.074 2480 2204 1956

11575 0.92 211.8 799.1 5.7 557 11590 0.00 2.83 10.00 1.052 4 0.000 0.084 2480 777 1917

11630 1.02 267.6 796.2 4.5 558 11690 0.20 2.70 51.90 1.191 6 0.068 0.065 2522 2199 1690

12006 1.02 267.6 767.7 7.2 577 12007 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2198 1689

12316 1.03 274.1 747.5 5.8 592 12325 0.00 0.00 7.47 0.989 6 0.000 0.000 2522 2198 1663

12625 1.03 274.1 727.7 6.3 607 12626 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2198 1663

12934 1.03 274.1 708.6 6.3 622 12935 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2198 1662

13244 1.03 274.1 689.3 6.1 637 13245 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2198 1662

13553 1.03 274.1 669.4 6.6 652 13554 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2198 1662

13862 1.03 274.1 648.7 6.8 667 13863 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2198 1662

14171 1.03 274.1 626.4 7.5 682 14173 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2198 1661

14480 1.03 274.1 603.0 7.4 697 14485 0.00 2.78 0.00 0.000 4 0.000 0.097 2523 3610 1660

14525 0.99 274.1 599.2 9.3 699 14529 0.00 2.70 0.00 0.000 6 0.000 0.074 2523 2196 1660

14846 0.99 274.1 574.1 7.8 715 14847 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2196 1660

15155 0.99 274.1 548.9 8.1 730 15156 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2196 1659

15464 0.99 274.1 524.3 7.6 745 15465 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2196 1660

15773 0.99 274.1 500.8 7.5 760 15774 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2196 1660

16082 0.99 274.1 474.3 9.2 775 16087 0.00 2.80 0.00 0.000 4 0.000 0.094 2523 3619 1660

16132 0.99 274.1 469.5 9.8 777 16136 0.00 2.72 0.00 0.000 6 0.000 0.076 2523 2196 1660

16447 0.99 274.1 443.3 8.4 792 16452 0.00 2.72 0.00 0.000 4 0.000 0.081 2523 775 1659

16520 0.99 274.1 437.1 9.3 795 16524 0.00 2.67 0.00 0.000 6 0.000 0.063 2523 2199 1659

16835 0.99 274.1 414.1 7.2 810 16836 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2199 1659

17145 0.99 274.1 395.5 6.1 825 17149 0.00 2.75 0.00 0.000 4 0.000 0.091 2523 3613 1659

17257 0.99 274.1 387.4 8.1 830 17262 0.00 2.70 0.00 0.000 6 0.000 0.074 2523 2197 1660

17579 0.99 274.1 365.5 7.2 846 17583 0.00 2.70 0.00 0.000 4 0.000 0.079 2523 782 1660

17628 0.99 274.1 361.5 8.7 848 17633 0.00 2.62 0.00 0.000 6 0.000 0.058 2523 2200 1660

17944 0.99 274.1 337.0 8.1 863 17948 0.00 2.75 0.00 0.000 4 0.000 0.087 2523 3618 1660

17976 0.99 274.1 334.0 8.8 864 17982 0.00 2.70 0.00 0.000 6 0.000 0.072 2523 2200 1661

18292 0.99 274.1 305.6 9.5 880 18293 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2200 1661

18601 0.99 274.1 276.3 9.0 895 18602 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2200 1662

18910 0.99 274.1 251.9 7.4 910 18915 0.00 2.75 0.00 0.000 4 0.000 0.084 2523 3620 1663

18961 0.99 274.1 248.0 7.3 912 18965 0.00 2.70 0.00 0.000 6 0.000 0.070 2523 2196 1663

19276 0.99 274.1 225.4 6.7 927 19277 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2197 1665

19585 0.99 274.1 202.9 8.0 942 19586 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2196 1666

19895 0.99 274.1 177.7 8.4 957 19899 0.00 2.72 0.00 0.000 4 0.000 0.083 2523 3614 1667

19940 0.99 274.1 173.5 9.8 959 19944 0.00 2.67 0.00 0.000 6 0.000 0.069 2523 2199 1667

20260 0.99 274.1 149.0 7.4 975 20262 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2199 1667

20570 0.99 274.1 124.0 8.9 990 20571 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2199 1668

20881 0.99 274.1 88.7 12.9 1005 20885 0.00 2.72 0.00 0.000 4 0.000 0.082 2523 3615 1668

20930 0.99 274.1 81.3 14.6 1007 20935 0.00 2.67 0.00 0.000 6 0.000 0.068 2523 2194 1669

21248 0.99 274.1 45.7 10.1 1022 21249 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2194 1669

21555 0.99 274.1 17.3 8.3 1037 21560 0.00 2.65 0.00 0.000 4 0.000 0.071 2523 779 1669

21606 0.99 274.1 13.0 7.9 1039 21610 0.00 2.62 0.00 0.000 6 0.000 0.055 2523 2204 1669

21754 end climb: SURFACE_DEPTH_REACHED

state 21754 begin surface coast

21776 end surface coast: CONTROL_FINISHED_OK

state 21776 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	71	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	14	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	-2094236.8	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	040307,6108.849,-730.143,41,2.0,46,-8.3	TGT_NAME	FBC_2
_CALLS	1	TGT_LATLONG	6115.000,-752.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.168,-0.144
_SM_DEPTHo	1.27	KALMAN_X	-95144.5,1061.8,-4537.7,-21640.0,14780.5
_SM_ANGLEo	-54.2	KALMAN_Y	-67804.9,275.4,-653.3,107425.2,-543.5
GPS2	040908,6108.853,-730.025,15,2.0,32,-8.3	MHEAD_RNG_PITCHd_Wd	308.5,22645,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.017849	ALTIM_BOTTOM_PING	775.6,52.2
SM_CCo	21798,137.62,0.624,0,0,507,557.32	_24V_AH	23.5,14.724
SM_GC	1.25,0.00,0.00,137.62,0.000,0.000,0.624,67,2309,507,-10.27,0.25,557.32	_10V_AH	10.1,7.464
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53739,1047
TT8_MAMPS	0.023777	CAP_FILE_SIZE	141849,0
HUMID	1830	CFSIZE	260165632,253755392
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	51	GPS	220608,101656,6111.639,-732.530,38,1.1,38,-8.3
ALTIM_TOP_PING	18.8,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	167	98.19	SBE_CT	773	24	436.24
Roll_motor	140	96	319.03	SBE_O2	715	19	319.28
VBD_pump_during_apogee	389	1247	11413.63	WL_BB2F	587	105	1449.34
VBD_pump_during_surface	137	623	2016.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.82	nil	0	0	0.00
Iridium_during_connect	26	160	100.41	nil	0	0	0.00
Iridium_during_xfer	166	223	870.59
Transponder_ping	19	420	194.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.24
TT8	1859	19	371.82
LPSleep	17053	2	377.22
TT8_Active	719	19	143.89
TT8_Sampling	2132	39	857.19
TT8_CF8	528	45	244.70
TT8_Kalman	33	81	27.55
Analog_circuits	1758	12	213.15
GPS_charging	0	0	0.00
Compass	2071	8	167.35
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	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.65	0.000	2	0.000	0.000	64	2308	2950
150	-0.85	-146.6	3.9	-3.2	6	180	11.43	2.75	-10.40	0.000	4	0.168	0.088	2108	3713	3381
337	-0.65	-146.6	28.6	-11.4	14	342	0.25	2.62	0.00	0.000	6	0.093	0.061	2157	2297	3381
653	-0.65	-146.6	55.4	-8.5	29	654	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2296	3380
962	-0.65	-146.6	78.9	-7.5	44	964	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2296	3381
1271	-0.65	-146.6	101.9	-7.4	59	1276	0.00	2.65	0.00	0.000	4	0.000	0.071	2157	880	3380
1360	-0.65	-146.6	108.5	-7.0	63	1365	0.00	2.62	0.00	0.000	6	0.000	0.057	2158	2300	3380
1683	-0.65	-146.6	131.0	-6.9	79	1685	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2300	3380
1991	-0.65	-146.6	152.6	-7.0	94	1995	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	874	3380
2046	-0.65	-146.6	156.6	-7.4	96	2052	0.00	2.65	0.00	0.000	6	0.000	0.057	2157	2305	3381
2361	-0.65	-146.6	178.6	-7.1	112	2362	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2305	3380
2670	-0.65	-146.6	201.5	-7.6	127	2675	0.00	2.67	0.00	0.000	4	0.000	0.068	2157	878	3380
2743	-0.65	-146.6	207.1	-7.1	130	2747	0.00	2.65	0.00	0.000	6	0.000	0.058	2157	2308	3380
3059	-0.65	-146.6	230.8	-7.5	145	3060	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2308	3380
3368	-0.65	-146.6	257.1	-8.8	160	3372	0.00	2.67	0.00	0.000	4	0.000	0.070	2158	880	3380
3440	-0.65	-146.6	263.6	-8.9	163	3444	0.00	2.62	0.00	0.000	6	0.000	0.058	2157	2301	3381
3755	-0.65	-146.6	291.0	-8.5	178	3756	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2302	3380
4064	-0.65	-146.6	316.0	-7.6	193	4069	0.00	2.67	0.00	0.000	4	0.000	0.069	2158	874	3380
4142	-0.65	-146.6	321.8	-7.2	196	4148	0.00	2.65	0.00	0.000	6	0.000	0.058	2158	2303	3380
4458	-0.65	-146.6	343.6	-6.6	212	4462	0.00	2.67	0.00	0.000	4	0.000	0.071	2158	880	3380
4507	-0.65	-146.6	346.9	-6.5	214	4512	0.00	2.62	0.00	0.000	6	0.000	0.058	2157	2301	3380
4823	-0.65	-146.6	367.0	-6.8	229	4824	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2302	3381
5132	-0.65	-146.6	389.5	-7.5	244	5133	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2302	3380
5441	-0.65	-146.6	412.0	-7.1	259	5446	0.00	2.67	0.00	0.000	4	0.000	0.071	2157	880	3380
5509	-0.70	-146.6	417.0	-7.4	262	5513	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2301	3380
5829	-0.70	-146.6	437.8	-6.2	278	5830	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2302	3380
6139	-0.70	-146.6	455.4	-5.2	293	6143	0.00	2.67	0.00	0.000	4	0.000	0.071	2158	880	3380
6195	-0.76	-146.6	458.5	-5.9	295	6202	0.12	2.62	0.00	0.000	6	0.048	0.060	2116	2301	3380
6511	-0.64	-146.6	480.2	-6.9	311	6516	0.17	2.72	0.00	0.000	4	0.087	0.086	2155	3713	3380
6561	-0.64	-146.6	483.3	-5.9	313	6566	0.00	2.62	0.00	0.000	6	0.000	0.065	2155	2298	3380
6877	-0.64	-146.6	502.1	-6.9	328	6881	0.00	2.67	0.00	0.000	4	0.000	0.076	2155	884	3380
6921	-0.64	-146.6	505.4	-7.5	330	6925	0.00	2.65	0.00	0.000	6	0.000	0.063	2155	2299	3380
7242	-0.64	-146.6	529.7	-7.7	346	7243	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2299	3379
7551	-0.64	-146.6	553.3	-7.3	361	7552	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2299	3378
7861	-0.64	-146.6	575.2	-6.6	376	7862	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2300	3377
8170	-0.64	-146.6	594.7	-6.7	391	8174	0.00	2.70	0.00	0.000	4	0.000	0.078	2155	885	3376
8214	-0.69	-146.6	598.0	-7.2	393	8218	0.00	2.67	0.00	0.000	6	0.000	0.066	2154	2305	3375
8534	-0.69	-146.6	620.3	-7.0	409	8535	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2305	3374
8844	-0.69	-146.6	645.2	-9.5	424	8845	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2305	3373
9154	-0.69	-146.6	675.8	-10.0	439	9155	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2305	3372
9462	-0.69	-146.6	707.0	-10.2	454	9463	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2305	3371
9771	-0.69	-146.6	735.7	-9.1	469	9773	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2305	3369
10081	-0.69	-146.6	761.3	-7.6	484	10082	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2305	3368
10390	-0.69	-146.6	782.9	-7.2	499	10394	0.00	2.75	0.00	0.000	4	0.000	0.081	2154	880	3367
10430	-0.77	-146.6	786.0	-9.3	501	10435	0.00	2.67	0.00	0.000	6	0.000	0.070	2155	2301	3367
10756	-0.77	-146.6	810.2	-8.5	517	10761	0.00	2.72	0.00	0.000	4	0.000	0.081	2155	881	3366
10812	-0.86	-146.6	814.3	-7.4	519	10819	0.20	2.70	0.00	0.000	6	0.051	0.071	2103	2302	3366
10857	end dive: BOTTOM_OBSTACLE_DETECTED
state	10857	begin apogee
10864	-0.31	0.0	817.9	7.8	522	11001	0.65	0.00	133.02	1.248	6	0.107	0.000	2230	2196	2781
11001	end apogee: CONTROL_FINISHED_OK
state	11001	begin climb
11004	0.85	146.6	822.9	0.0	529	11149	1.23	2.95	135.27	1.223	4	0.087	0.096	2480	3613	2183
11202	0.91	202.3	819.6	4.5	538	11259	0.00	2.72	51.53	1.192	6	0.000	0.074	2480	2204	1956
11575	0.92	211.8	799.1	5.7	557	11590	0.00	2.83	10.00	1.052	4	0.000	0.084	2480	777	1917
11630	1.02	267.6	796.2	4.5	558	11690	0.20	2.70	51.90	1.191	6	0.068	0.065	2522	2199	1690
12006	1.02	267.6	767.7	7.2	577	12007	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2198	1689
12316	1.03	274.1	747.5	5.8	592	12325	0.00	0.00	7.47	0.989	6	0.000	0.000	2522	2198	1663
12625	1.03	274.1	727.7	6.3	607	12626	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2198	1663
12934	1.03	274.1	708.6	6.3	622	12935	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2198	1662
13244	1.03	274.1	689.3	6.1	637	13245	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2198	1662
13553	1.03	274.1	669.4	6.6	652	13554	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2198	1662
13862	1.03	274.1	648.7	6.8	667	13863	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2198	1662
14171	1.03	274.1	626.4	7.5	682	14173	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2198	1661
14480	1.03	274.1	603.0	7.4	697	14485	0.00	2.78	0.00	0.000	4	0.000	0.097	2523	3610	1660
14525	0.99	274.1	599.2	9.3	699	14529	0.00	2.70	0.00	0.000	6	0.000	0.074	2523	2196	1660
14846	0.99	274.1	574.1	7.8	715	14847	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2196	1660
15155	0.99	274.1	548.9	8.1	730	15156	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2196	1659
15464	0.99	274.1	524.3	7.6	745	15465	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2196	1660
15773	0.99	274.1	500.8	7.5	760	15774	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2196	1660
16082	0.99	274.1	474.3	9.2	775	16087	0.00	2.80	0.00	0.000	4	0.000	0.094	2523	3619	1660
16132	0.99	274.1	469.5	9.8	777	16136	0.00	2.72	0.00	0.000	6	0.000	0.076	2523	2196	1660
16447	0.99	274.1	443.3	8.4	792	16452	0.00	2.72	0.00	0.000	4	0.000	0.081	2523	775	1659
16520	0.99	274.1	437.1	9.3	795	16524	0.00	2.67	0.00	0.000	6	0.000	0.063	2523	2199	1659
16835	0.99	274.1	414.1	7.2	810	16836	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2199	1659
17145	0.99	274.1	395.5	6.1	825	17149	0.00	2.75	0.00	0.000	4	0.000	0.091	2523	3613	1659
17257	0.99	274.1	387.4	8.1	830	17262	0.00	2.70	0.00	0.000	6	0.000	0.074	2523	2197	1660
17579	0.99	274.1	365.5	7.2	846	17583	0.00	2.70	0.00	0.000	4	0.000	0.079	2523	782	1660
17628	0.99	274.1	361.5	8.7	848	17633	0.00	2.62	0.00	0.000	6	0.000	0.058	2523	2200	1660
17944	0.99	274.1	337.0	8.1	863	17948	0.00	2.75	0.00	0.000	4	0.000	0.087	2523	3618	1660
17976	0.99	274.1	334.0	8.8	864	17982	0.00	2.70	0.00	0.000	6	0.000	0.072	2523	2200	1661
18292	0.99	274.1	305.6	9.5	880	18293	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2200	1661
18601	0.99	274.1	276.3	9.0	895	18602	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2200	1662
18910	0.99	274.1	251.9	7.4	910	18915	0.00	2.75	0.00	0.000	4	0.000	0.084	2523	3620	1663
18961	0.99	274.1	248.0	7.3	912	18965	0.00	2.70	0.00	0.000	6	0.000	0.070	2523	2196	1663
19276	0.99	274.1	225.4	6.7	927	19277	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2197	1665
19585	0.99	274.1	202.9	8.0	942	19586	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2196	1666
19895	0.99	274.1	177.7	8.4	957	19899	0.00	2.72	0.00	0.000	4	0.000	0.083	2523	3614	1667
19940	0.99	274.1	173.5	9.8	959	19944	0.00	2.67	0.00	0.000	6	0.000	0.069	2523	2199	1667
20260	0.99	274.1	149.0	7.4	975	20262	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2199	1667
20570	0.99	274.1	124.0	8.9	990	20571	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2199	1668
20881	0.99	274.1	88.7	12.9	1005	20885	0.00	2.72	0.00	0.000	4	0.000	0.082	2523	3615	1668
20930	0.99	274.1	81.3	14.6	1007	20935	0.00	2.67	0.00	0.000	6	0.000	0.068	2523	2194	1669
21248	0.99	274.1	45.7	10.1	1022	21249	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2194	1669
21555	0.99	274.1	17.3	8.3	1037	21560	0.00	2.65	0.00	0.000	4	0.000	0.071	2523	779	1669
21606	0.99	274.1	13.0	7.9	1039	21610	0.00	2.62	0.00	0.000	6	0.000	0.055	2523	2204	1669
21754	end climb: SURFACE_DEPTH_REACHED
state	21754	begin surface coast
21776	end surface coast: CONTROL_FINISHED_OK
state	21776	begin surface