Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 77 * 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 77 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 18 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 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 -2094415.4 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 -2094415.4

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 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 77 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 165240,6122.212,-754.155,62,1.9,65,-8.6 TGT_NAME FBC_3

_CALLS 1 TGT_LATLONG 6130.000,-828.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.190,0.113

_SM_DEPTHo 1.30 KALMAN_X -80062.2,1004.5,-28019.4,-35048.3,-170658.9

_SM_ANGLEo -52.8 KALMAN_Y -35812.3,403.2,-12979.1,112485.1,-68602.8

GPS2 165911,6122.271,-754.223,17,3.4,36,-8.6 MHEAD_RNG_PITCHd_Wd 304.2,33104,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027087 ALTIM_BOTTOM_PING 675.1,46.6

SM_CCo 20152,83.40,0.621,0,0,508,557.32 _24V_AH 23.5,15.778

SM_GC 1.43,0.00,0.00,83.40,0.000,0.000,0.621,72,2306,508,-10.24,0.17,557.32 _10V_AH 10.1,8.032

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50692,971

TT8_MAMPS 0.023777 CAP_FILE_SIZE 143340,0

HUMID 1857 CFSIZE 260165632,253345792

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 44 GPS 230608,223857,6124.672,-806.782,36,2.7,56,-8.7

ALTIM_TOP_PING 20.0,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 102.53 SBE_CT 718 24 405.42

Roll_motor 161 95 362.97 SBE_O2 660 19 295.01

VBD_pump_during_apogee 479 1181 13322.64 WL_BB2F 570 105 1408.37

VBD_pump_during_surface 83 621 1217.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 80.50 nil 0 0 0.00

Iridium_during_connect 37 160 141.83 nil 0 0 0.00

Iridium_during_xfer 171 223 900.64

Transponder_ping 17 420 172.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 37 50 18.96

TT8 1749 19 349.92

LPSleep 15526 2 343.43

TT8_Active 775 19 155.03

TT8_Sampling 2023 39 813.22

TT8_CF8 552 45 255.77

TT8_Kalman 33 81 27.55

Analog_circuits 1783 12 216.11

GPS_charging 0 0 0.00

Compass 1956 8 158.05

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 0 131 0.00 0.00 -105.82 0.000 2 0.000 0.000 64 2291 2617

135 -0.85 -146.6 3.0 -1.8 6 179 11.40 2.78 -26.48 0.000 4 0.168 0.091 2107 3713 3380

218 -0.62 -146.6 10.4 -11.5 9 226 0.28 2.62 0.00 0.000 6 0.094 0.059 2161 2298 3380

534 -0.62 -146.6 35.5 -7.4 25 538 0.00 2.65 0.00 0.000 4 0.000 0.069 2161 884 3380

612 -0.62 -146.6 41.4 -7.2 28 618 0.00 2.62 0.00 0.000 6 0.000 0.060 2160 2300 3380

928 -0.62 -146.6 60.7 -5.7 44 929 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2300 3380

1237 -0.62 -146.6 83.4 -8.0 59 1241 0.00 2.67 0.00 0.000 4 0.000 0.068 2160 880 3381

1315 -0.62 -146.6 89.5 -7.3 62 1321 0.00 2.62 0.00 0.000 6 0.000 0.059 2160 2302 3381

1631 -0.62 -146.6 112.0 -7.7 78 1632 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2302 3381

1940 -0.62 -146.6 139.0 -9.5 93 1944 0.00 2.67 0.00 0.000 4 0.000 0.067 2160 878 3381

2006 -0.62 -146.6 145.6 -9.9 96 2011 0.00 2.65 0.00 0.000 6 0.000 0.059 2160 2305 3381

2327 -0.62 -146.6 171.3 -6.8 112 2332 0.00 2.67 0.00 0.000 4 0.000 0.067 2159 883 3381

2377 -0.62 -146.6 174.8 -7.2 114 2385 0.00 2.65 0.00 0.000 6 0.000 0.058 2161 2304 3381

2701 -0.62 -146.6 194.0 -5.9 130 2706 0.00 2.67 0.00 0.000 4 0.000 0.069 2160 881 3381

2802 -0.62 -146.6 200.8 -7.2 134 2808 0.00 2.65 0.00 0.000 6 0.000 0.059 2160 2305 3380

3117 -0.62 -146.6 222.8 -7.2 150 3122 0.00 2.67 0.00 0.000 4 0.000 0.069 2161 883 3381

3190 -0.62 -146.6 227.9 -6.9 153 3194 0.00 2.62 0.00 0.000 6 0.000 0.058 2160 2302 3381

3505 -0.62 -146.6 251.8 -8.0 168 3510 0.00 2.67 0.00 0.000 4 0.000 0.068 2161 876 3381

3533 -0.67 -146.6 254.3 -8.9 169 3538 0.00 2.62 0.00 0.000 6 0.000 0.057 2161 2298 3381

3850 -0.67 -146.6 275.6 -6.0 184 3851 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2299 3381

4158 -0.67 -146.6 293.9 -5.6 199 4163 0.00 2.70 0.00 0.000 4 0.000 0.082 2161 3714 3381

4192 -0.67 -146.6 295.6 -5.4 200 4199 0.00 2.62 0.00 0.000 6 0.000 0.064 2161 2299 3381

4508 -0.67 -146.6 307.5 -3.0 216 4513 0.00 2.67 0.00 0.000 4 0.000 0.072 2161 876 3381

4604 -0.71 -146.6 310.4 -3.6 220 4609 0.00 2.65 0.00 0.000 6 0.000 0.058 2161 2306 3381

4920 -0.71 -146.6 321.1 -3.4 235 4925 0.00 2.70 0.00 0.000 4 0.000 0.073 2161 878 3381

4965 -0.76 -146.6 322.6 -3.1 237 4970 0.12 2.62 0.00 0.000 6 0.048 0.058 2120 2300 3381

5286 -0.62 -146.6 339.1 -6.2 253 5291 0.17 2.70 0.00 0.000 4 0.088 0.074 2158 878 3381

5331 -0.66 -146.6 341.8 -5.3 255 5336 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2303 3381

5652 -0.66 -146.6 365.2 -9.0 271 5657 0.00 2.70 0.00 0.000 4 0.000 0.074 2158 875 3380

5685 -0.72 -146.6 368.5 -9.4 272 5691 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2298 3380

6001 -0.72 -146.6 410.2 -12.9 288 6002 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2299 3380

6310 -0.72 -146.6 430.7 -4.3 303 6315 0.00 2.67 0.00 0.000 4 0.000 0.074 2158 884 3379

6356 -0.77 -146.6 432.5 -4.0 305 6361 0.12 2.62 0.00 0.000 6 0.049 0.059 2119 2303 3379

6678 -0.65 -146.6 446.7 -4.9 321 6683 0.17 2.70 0.00 0.000 4 0.091 0.076 2156 885 3379

6723 -0.70 -146.6 448.7 -3.9 323 6728 0.00 2.62 0.00 0.000 6 0.000 0.061 2156 2299 3379

7045 -0.70 -146.6 464.5 -5.8 339 7046 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2299 3378

7354 -0.70 -146.6 486.0 -7.6 354 7358 0.00 2.70 0.00 0.000 4 0.000 0.077 2156 885 3378

7420 -0.76 -146.6 491.0 -7.5 357 7425 0.00 2.65 0.00 0.000 6 0.000 0.063 2156 2300 3377

7741 -0.76 -146.6 512.8 -6.1 373 7742 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2300 3376

8051 -0.76 -146.6 532.6 -5.9 388 8052 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2300 3375

8360 -0.76 -146.6 551.8 -6.2 403 8362 0.10 0.00 0.00 0.000 6 0.059 0.000 2126 2300 3373

8669 -0.68 -146.6 575.0 -7.3 418 8677 0.12 2.70 0.00 0.000 4 0.100 0.081 2150 889 3373

8751 -0.73 -146.6 579.4 -5.0 421 8755 0.00 2.65 0.00 0.000 6 0.000 0.067 2150 2304 3373

9067 -0.73 -146.6 592.8 -3.1 436 9068 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2304 3372

9377 -0.73 -146.6 598.6 -2.1 451 9381 0.00 2.72 0.00 0.000 4 0.000 0.082 2150 886 3370

9416 -0.73 -146.6 599.9 -3.3 453 9424 0.00 2.65 0.00 0.000 6 0.000 0.068 2151 2303 3370

9751 -0.73 -146.6 608.8 -3.1 469 9753 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2303 3369

10061 -0.73 -146.6 620.2 -3.1 484 10065 0.00 2.72 0.00 0.000 4 0.000 0.082 2150 886 3368

10111 -0.78 -146.6 621.8 -3.2 486 10116 0.00 2.67 0.00 0.000 6 0.000 0.070 2150 2308 3367

10427 -0.78 -146.6 635.4 -4.7 501 10429 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2308 3367

10736 -0.78 -146.6 654.6 -7.0 516 10738 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2308 3366

11045 -0.78 -146.6 673.9 -6.9 531 11050 0.00 2.75 0.00 0.000 4 0.000 0.082 2150 880 3365

11087 -0.84 -146.6 676.8 -7.9 533 11092 0.15 2.67 0.00 0.000 6 0.054 0.070 2110 2298 3365

11415 -0.72 -146.6 705.4 -9.0 549 11420 0.15 2.72 0.00 0.000 4 0.104 0.084 2141 886 3364

11472 -0.77 -146.6 710.6 -8.5 551 11478 0.00 2.67 0.00 0.000 6 0.000 0.071 2141 2301 3364

11496 end dive: BOTTOM_OBSTACLE_DETECTED

state 11496 begin apogee

11503 -0.31 0.0 712.5 7.3 553 11639 0.45 0.00 130.68 1.182 6 0.118 0.000 2227 2197 2781

11640 end apogee: CONTROL_FINISHED_OK

state 11640 begin climb

11643 0.85 146.6 721.0 0.0 560 11780 1.27 0.00 132.85 1.155 6 0.095 0.000 2483 2197 2183

12093 0.92 216.2 705.8 4.1 582 12158 0.00 0.00 63.53 1.139 6 0.000 0.000 2483 2197 1899

12459 1.02 310.5 687.8 3.4 600 12547 0.17 0.00 85.60 1.138 6 0.058 0.000 2527 2197 1515

12848 1.02 310.5 659.0 7.1 619 12849 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2197 1514

13157 1.02 310.5 632.2 9.0 634 13158 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2197 1513

13466 1.02 310.5 607.7 8.6 649 13467 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2197 1513

13775 1.02 310.5 582.6 8.3 664 13777 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2197 1513

14085 1.02 310.5 554.0 9.8 679 14086 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2197 1512

14394 1.02 310.5 520.8 11.2 694 14398 0.00 2.72 0.00 0.000 4 0.000 0.087 2527 788 1512

14438 1.02 310.5 516.1 10.5 696 14442 0.00 2.67 0.00 0.000 6 0.000 0.067 2527 2200 1511

14759 1.02 310.5 490.2 7.0 712 14763 0.00 2.80 0.00 0.000 4 0.000 0.096 2527 3617 1511

14791 1.02 310.5 487.6 8.4 713 14797 0.00 2.72 0.00 0.000 6 0.000 0.078 2527 2203 1512

15107 1.02 310.5 465.3 7.7 729 15108 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2204 1511

15416 1.02 310.5 434.8 10.1 744 15420 0.00 2.75 0.00 0.000 4 0.000 0.087 2527 782 1511

15449 1.02 310.5 431.5 9.3 745 15455 0.00 2.67 0.00 0.000 6 0.000 0.065 2527 2204 1509

15765 1.02 310.5 404.1 6.5 761 15769 0.00 2.75 0.00 0.000 4 0.000 0.083 2528 781 1510

15831 1.11 388.4 400.8 3.9 764 15908 0.00 2.67 67.00 1.000 6 0.000 0.064 2527 2203 1196

16218 1.16 388.4 378.8 6.9 783 16219 0.12 0.00 0.00 0.000 6 0.060 0.000 2559 2203 1196

16527 1.10 388.4 348.9 10.5 798 16531 0.00 2.75 0.00 0.000 4 0.000 0.079 2560 776 1196

16560 1.06 388.4 345.3 10.8 799 16566 0.15 2.65 0.00 0.000 6 0.089 0.059 2531 2201 1196

16875 1.06 388.4 318.9 7.9 815 16876 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2201 1196

17185 1.10 388.4 292.8 8.9 830 17186 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2201 1198

17494 1.15 388.4 261.7 10.0 845 17499 0.00 2.72 0.00 0.000 4 0.000 0.074 2530 775 1198

17561 1.20 388.4 255.3 9.5 848 17566 0.15 2.65 0.00 0.000 6 0.048 0.056 2572 2209 1199

17883 1.13 388.4 221.6 9.7 864 17885 0.12 0.00 0.00 0.000 6 0.089 0.000 2547 2210 1199

18191 1.13 388.4 195.3 8.6 879 18196 0.00 2.72 0.00 0.000 4 0.000 0.074 2547 779 1200

18219 1.13 388.4 192.8 9.3 880 18223 0.00 2.62 0.00 0.000 6 0.000 0.054 2547 2203 1200

18535 1.13 388.4 160.2 11.9 895 18539 0.00 2.70 0.00 0.000 4 0.000 0.079 2547 3622 1200

18562 1.13 388.4 156.7 12.8 896 18566 0.00 2.70 0.00 0.000 6 0.000 0.067 2547 2192 1201

18878 1.09 388.4 118.9 11.4 911 18882 0.00 2.67 0.00 0.000 4 0.000 0.073 2547 773 1201

18950 1.09 388.4 110.8 10.1 914 18955 0.00 2.62 0.00 0.000 6 0.000 0.053 2547 2204 1202

19267 1.09 388.4 80.3 9.4 929 19269 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2204 1203

19575 1.09 388.4 51.9 9.0 944 19576 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2204 1203

19885 1.09 388.4 24.0 8.9 959 19886 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2204 1204

20109 end climb: SURFACE_DEPTH_REACHED

state 20109 begin surface coast

20131 end surface coast: CONTROL_FINISHED_OK

state 20131 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	77	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	18	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	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	-2094415.4	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	165240,6122.212,-754.155,62,1.9,65,-8.6	TGT_NAME	FBC_3
_CALLS	1	TGT_LATLONG	6130.000,-828.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.190,0.113
_SM_DEPTHo	1.30	KALMAN_X	-80062.2,1004.5,-28019.4,-35048.3,-170658.9
_SM_ANGLEo	-52.8	KALMAN_Y	-35812.3,403.2,-12979.1,112485.1,-68602.8
GPS2	165911,6122.271,-754.223,17,3.4,36,-8.6	MHEAD_RNG_PITCHd_Wd	304.2,33104,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027087	ALTIM_BOTTOM_PING	675.1,46.6
SM_CCo	20152,83.40,0.621,0,0,508,557.32	_24V_AH	23.5,15.778
SM_GC	1.43,0.00,0.00,83.40,0.000,0.000,0.621,72,2306,508,-10.24,0.17,557.32	_10V_AH	10.1,8.032
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50692,971
TT8_MAMPS	0.023777	CAP_FILE_SIZE	143340,0
HUMID	1857	CFSIZE	260165632,253345792
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	44	GPS	230608,223857,6124.672,-806.782,36,2.7,56,-8.7
ALTIM_TOP_PING	20.0,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	102.53	SBE_CT	718	24	405.42
Roll_motor	161	95	362.97	SBE_O2	660	19	295.01
VBD_pump_during_apogee	479	1181	13322.64	WL_BB2F	570	105	1408.37
VBD_pump_during_surface	83	621	1217.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	80.50	nil	0	0	0.00
Iridium_during_connect	37	160	141.83	nil	0	0	0.00
Iridium_during_xfer	171	223	900.64
Transponder_ping	17	420	172.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	37	50	18.96
TT8	1749	19	349.92
LPSleep	15526	2	343.43
TT8_Active	775	19	155.03
TT8_Sampling	2023	39	813.22
TT8_CF8	552	45	255.77
TT8_Kalman	33	81	27.55
Analog_circuits	1783	12	216.11
GPS_charging	0	0	0.00
Compass	1956	8	158.05
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	131	0.00	0.00	-105.82	0.000	2	0.000	0.000	64	2291	2617
135	-0.85	-146.6	3.0	-1.8	6	179	11.40	2.78	-26.48	0.000	4	0.168	0.091	2107	3713	3380
218	-0.62	-146.6	10.4	-11.5	9	226	0.28	2.62	0.00	0.000	6	0.094	0.059	2161	2298	3380
534	-0.62	-146.6	35.5	-7.4	25	538	0.00	2.65	0.00	0.000	4	0.000	0.069	2161	884	3380
612	-0.62	-146.6	41.4	-7.2	28	618	0.00	2.62	0.00	0.000	6	0.000	0.060	2160	2300	3380
928	-0.62	-146.6	60.7	-5.7	44	929	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2300	3380
1237	-0.62	-146.6	83.4	-8.0	59	1241	0.00	2.67	0.00	0.000	4	0.000	0.068	2160	880	3381
1315	-0.62	-146.6	89.5	-7.3	62	1321	0.00	2.62	0.00	0.000	6	0.000	0.059	2160	2302	3381
1631	-0.62	-146.6	112.0	-7.7	78	1632	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2302	3381
1940	-0.62	-146.6	139.0	-9.5	93	1944	0.00	2.67	0.00	0.000	4	0.000	0.067	2160	878	3381
2006	-0.62	-146.6	145.6	-9.9	96	2011	0.00	2.65	0.00	0.000	6	0.000	0.059	2160	2305	3381
2327	-0.62	-146.6	171.3	-6.8	112	2332	0.00	2.67	0.00	0.000	4	0.000	0.067	2159	883	3381
2377	-0.62	-146.6	174.8	-7.2	114	2385	0.00	2.65	0.00	0.000	6	0.000	0.058	2161	2304	3381
2701	-0.62	-146.6	194.0	-5.9	130	2706	0.00	2.67	0.00	0.000	4	0.000	0.069	2160	881	3381
2802	-0.62	-146.6	200.8	-7.2	134	2808	0.00	2.65	0.00	0.000	6	0.000	0.059	2160	2305	3380
3117	-0.62	-146.6	222.8	-7.2	150	3122	0.00	2.67	0.00	0.000	4	0.000	0.069	2161	883	3381
3190	-0.62	-146.6	227.9	-6.9	153	3194	0.00	2.62	0.00	0.000	6	0.000	0.058	2160	2302	3381
3505	-0.62	-146.6	251.8	-8.0	168	3510	0.00	2.67	0.00	0.000	4	0.000	0.068	2161	876	3381
3533	-0.67	-146.6	254.3	-8.9	169	3538	0.00	2.62	0.00	0.000	6	0.000	0.057	2161	2298	3381
3850	-0.67	-146.6	275.6	-6.0	184	3851	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2299	3381
4158	-0.67	-146.6	293.9	-5.6	199	4163	0.00	2.70	0.00	0.000	4	0.000	0.082	2161	3714	3381
4192	-0.67	-146.6	295.6	-5.4	200	4199	0.00	2.62	0.00	0.000	6	0.000	0.064	2161	2299	3381
4508	-0.67	-146.6	307.5	-3.0	216	4513	0.00	2.67	0.00	0.000	4	0.000	0.072	2161	876	3381
4604	-0.71	-146.6	310.4	-3.6	220	4609	0.00	2.65	0.00	0.000	6	0.000	0.058	2161	2306	3381
4920	-0.71	-146.6	321.1	-3.4	235	4925	0.00	2.70	0.00	0.000	4	0.000	0.073	2161	878	3381
4965	-0.76	-146.6	322.6	-3.1	237	4970	0.12	2.62	0.00	0.000	6	0.048	0.058	2120	2300	3381
5286	-0.62	-146.6	339.1	-6.2	253	5291	0.17	2.70	0.00	0.000	4	0.088	0.074	2158	878	3381
5331	-0.66	-146.6	341.8	-5.3	255	5336	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2303	3381
5652	-0.66	-146.6	365.2	-9.0	271	5657	0.00	2.70	0.00	0.000	4	0.000	0.074	2158	875	3380
5685	-0.72	-146.6	368.5	-9.4	272	5691	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2298	3380
6001	-0.72	-146.6	410.2	-12.9	288	6002	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2299	3380
6310	-0.72	-146.6	430.7	-4.3	303	6315	0.00	2.67	0.00	0.000	4	0.000	0.074	2158	884	3379
6356	-0.77	-146.6	432.5	-4.0	305	6361	0.12	2.62	0.00	0.000	6	0.049	0.059	2119	2303	3379
6678	-0.65	-146.6	446.7	-4.9	321	6683	0.17	2.70	0.00	0.000	4	0.091	0.076	2156	885	3379
6723	-0.70	-146.6	448.7	-3.9	323	6728	0.00	2.62	0.00	0.000	6	0.000	0.061	2156	2299	3379
7045	-0.70	-146.6	464.5	-5.8	339	7046	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2299	3378
7354	-0.70	-146.6	486.0	-7.6	354	7358	0.00	2.70	0.00	0.000	4	0.000	0.077	2156	885	3378
7420	-0.76	-146.6	491.0	-7.5	357	7425	0.00	2.65	0.00	0.000	6	0.000	0.063	2156	2300	3377
7741	-0.76	-146.6	512.8	-6.1	373	7742	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2300	3376
8051	-0.76	-146.6	532.6	-5.9	388	8052	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2300	3375
8360	-0.76	-146.6	551.8	-6.2	403	8362	0.10	0.00	0.00	0.000	6	0.059	0.000	2126	2300	3373
8669	-0.68	-146.6	575.0	-7.3	418	8677	0.12	2.70	0.00	0.000	4	0.100	0.081	2150	889	3373
8751	-0.73	-146.6	579.4	-5.0	421	8755	0.00	2.65	0.00	0.000	6	0.000	0.067	2150	2304	3373
9067	-0.73	-146.6	592.8	-3.1	436	9068	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2304	3372
9377	-0.73	-146.6	598.6	-2.1	451	9381	0.00	2.72	0.00	0.000	4	0.000	0.082	2150	886	3370
9416	-0.73	-146.6	599.9	-3.3	453	9424	0.00	2.65	0.00	0.000	6	0.000	0.068	2151	2303	3370
9751	-0.73	-146.6	608.8	-3.1	469	9753	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2303	3369
10061	-0.73	-146.6	620.2	-3.1	484	10065	0.00	2.72	0.00	0.000	4	0.000	0.082	2150	886	3368
10111	-0.78	-146.6	621.8	-3.2	486	10116	0.00	2.67	0.00	0.000	6	0.000	0.070	2150	2308	3367
10427	-0.78	-146.6	635.4	-4.7	501	10429	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2308	3367
10736	-0.78	-146.6	654.6	-7.0	516	10738	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2308	3366
11045	-0.78	-146.6	673.9	-6.9	531	11050	0.00	2.75	0.00	0.000	4	0.000	0.082	2150	880	3365
11087	-0.84	-146.6	676.8	-7.9	533	11092	0.15	2.67	0.00	0.000	6	0.054	0.070	2110	2298	3365
11415	-0.72	-146.6	705.4	-9.0	549	11420	0.15	2.72	0.00	0.000	4	0.104	0.084	2141	886	3364
11472	-0.77	-146.6	710.6	-8.5	551	11478	0.00	2.67	0.00	0.000	6	0.000	0.071	2141	2301	3364
11496	end dive: BOTTOM_OBSTACLE_DETECTED
state	11496	begin apogee
11503	-0.31	0.0	712.5	7.3	553	11639	0.45	0.00	130.68	1.182	6	0.118	0.000	2227	2197	2781
11640	end apogee: CONTROL_FINISHED_OK
state	11640	begin climb
11643	0.85	146.6	721.0	0.0	560	11780	1.27	0.00	132.85	1.155	6	0.095	0.000	2483	2197	2183
12093	0.92	216.2	705.8	4.1	582	12158	0.00	0.00	63.53	1.139	6	0.000	0.000	2483	2197	1899
12459	1.02	310.5	687.8	3.4	600	12547	0.17	0.00	85.60	1.138	6	0.058	0.000	2527	2197	1515
12848	1.02	310.5	659.0	7.1	619	12849	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2197	1514
13157	1.02	310.5	632.2	9.0	634	13158	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2197	1513
13466	1.02	310.5	607.7	8.6	649	13467	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2197	1513
13775	1.02	310.5	582.6	8.3	664	13777	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2197	1513
14085	1.02	310.5	554.0	9.8	679	14086	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2197	1512
14394	1.02	310.5	520.8	11.2	694	14398	0.00	2.72	0.00	0.000	4	0.000	0.087	2527	788	1512
14438	1.02	310.5	516.1	10.5	696	14442	0.00	2.67	0.00	0.000	6	0.000	0.067	2527	2200	1511
14759	1.02	310.5	490.2	7.0	712	14763	0.00	2.80	0.00	0.000	4	0.000	0.096	2527	3617	1511
14791	1.02	310.5	487.6	8.4	713	14797	0.00	2.72	0.00	0.000	6	0.000	0.078	2527	2203	1512
15107	1.02	310.5	465.3	7.7	729	15108	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2204	1511
15416	1.02	310.5	434.8	10.1	744	15420	0.00	2.75	0.00	0.000	4	0.000	0.087	2527	782	1511
15449	1.02	310.5	431.5	9.3	745	15455	0.00	2.67	0.00	0.000	6	0.000	0.065	2527	2204	1509
15765	1.02	310.5	404.1	6.5	761	15769	0.00	2.75	0.00	0.000	4	0.000	0.083	2528	781	1510
15831	1.11	388.4	400.8	3.9	764	15908	0.00	2.67	67.00	1.000	6	0.000	0.064	2527	2203	1196
16218	1.16	388.4	378.8	6.9	783	16219	0.12	0.00	0.00	0.000	6	0.060	0.000	2559	2203	1196
16527	1.10	388.4	348.9	10.5	798	16531	0.00	2.75	0.00	0.000	4	0.000	0.079	2560	776	1196
16560	1.06	388.4	345.3	10.8	799	16566	0.15	2.65	0.00	0.000	6	0.089	0.059	2531	2201	1196
16875	1.06	388.4	318.9	7.9	815	16876	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2201	1196
17185	1.10	388.4	292.8	8.9	830	17186	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2201	1198
17494	1.15	388.4	261.7	10.0	845	17499	0.00	2.72	0.00	0.000	4	0.000	0.074	2530	775	1198
17561	1.20	388.4	255.3	9.5	848	17566	0.15	2.65	0.00	0.000	6	0.048	0.056	2572	2209	1199
17883	1.13	388.4	221.6	9.7	864	17885	0.12	0.00	0.00	0.000	6	0.089	0.000	2547	2210	1199
18191	1.13	388.4	195.3	8.6	879	18196	0.00	2.72	0.00	0.000	4	0.000	0.074	2547	779	1200
18219	1.13	388.4	192.8	9.3	880	18223	0.00	2.62	0.00	0.000	6	0.000	0.054	2547	2203	1200
18535	1.13	388.4	160.2	11.9	895	18539	0.00	2.70	0.00	0.000	4	0.000	0.079	2547	3622	1200
18562	1.13	388.4	156.7	12.8	896	18566	0.00	2.70	0.00	0.000	6	0.000	0.067	2547	2192	1201
18878	1.09	388.4	118.9	11.4	911	18882	0.00	2.67	0.00	0.000	4	0.000	0.073	2547	773	1201
18950	1.09	388.4	110.8	10.1	914	18955	0.00	2.62	0.00	0.000	6	0.000	0.053	2547	2204	1202
19267	1.09	388.4	80.3	9.4	929	19269	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2204	1203
19575	1.09	388.4	51.9	9.0	944	19576	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2204	1203
19885	1.09	388.4	24.0	8.9	959	19886	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2204	1204
20109	end climb: SURFACE_DEPTH_REACHED
state	20109	begin surface coast
20131	end surface coast: CONTROL_FINISHED_OK
state	20131	begin surface