Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 86 * 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 86 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -2094638.6 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 -2094638.6

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 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 86 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 175708,6129.152,-825.379,40,1.1,40,-8.9 TGT_NAME FBC_4

_CALLS 2 TGT_LATLONG 6140.000,-845.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.118,0.187

_SM_DEPTHo 1.13 KALMAN_X -136187.3,331.0,-2963.5,-31199.1,7232.0

_SM_ANGLEo -49.1 KALMAN_Y -80951.4,3273.3,850.4,153524.3,-19955.4

GPS2 180809,6129.151,-825.030,13,1.3,13,-8.9 MHEAD_RNG_PITCHd_Wd 327.8,26680,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.005626 ALTIM_TOP_PING 19.3,19.6

SM_CCo 16935,44.97,0.602,0,0,508,557.32 _24V_AH 23.6,17.285

SM_GC 1.17,0.00,0.00,44.97,0.000,0.000,0.602,66,2307,508,-10.27,0.20,557.32 _10V_AH 10.1,8.817

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41205,809

TT8_MAMPS 0.023777 CAP_FILE_SIZE 140660,0

HUMID 1888 CFSIZE 260165632,252768256

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 44 GPS 250608,225325,6134.490,-829.035,24,1.8,42,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 101.88 SBE_CT 593 24 336.42

Roll_motor 176 91 379.76 SBE_O2 549 19 246.23

VBD_pump_during_apogee 534 1081 13635.50 WL_BB2F 481 105 1192.91

VBD_pump_during_surface 44 602 639.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 93.89 nil 0 0 0.00

Iridium_during_connect 54 160 205.29 nil 0 0 0.00

Iridium_during_xfer 331 223 1744.19

Transponder_ping 16 420 163.55

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.83

TT8 1540 19 308.08

LPSleep 12645 2 279.70

TT8_Active 705 19 141.08

TT8_Sampling 1983 39 797.34

TT8_CF8 749 45 346.67

TT8_Kalman 33 81 27.56

Analog_circuits 1745 12 211.53

GPS_charging 0 0 0.00

Compass 1934 8 156.32

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -121.18 0.000 2 0.000 0.000 62 2307 2957

151 -0.85 -146.6 3.7 -3.1 6 181 11.43 2.70 -10.10 0.000 4 0.168 0.088 2107 3710 3380

333 -0.63 -146.6 32.7 -13.7 14 338 0.28 2.60 0.00 0.000 6 0.094 0.058 2160 2298 3380

654 -0.63 -146.6 61.7 -8.9 30 659 0.00 2.65 0.00 0.000 4 0.000 0.068 2162 882 3380

721 -0.63 -146.6 67.8 -8.7 33 726 0.00 2.65 0.00 0.000 6 0.000 0.057 2162 2304 3380

1043 -0.63 -146.6 98.7 -9.7 49 1048 0.00 2.67 0.00 0.000 4 0.000 0.065 2162 876 3380

1092 -0.63 -146.6 103.0 -7.8 51 1097 0.00 2.60 0.00 0.000 6 0.000 0.057 2162 2302 3380

1408 -0.63 -146.6 127.6 -7.2 66 1410 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2302 3380

1718 -0.63 -146.6 150.0 -7.2 81 1723 0.00 2.65 0.00 0.000 4 0.000 0.066 2162 877 3380

1774 -0.63 -146.6 154.2 -7.2 83 1779 0.00 2.62 0.00 0.000 6 0.000 0.057 2161 2299 3380

2090 -0.63 -146.6 177.8 -8.0 98 2094 0.00 2.65 0.00 0.000 4 0.000 0.065 2162 881 3380

2162 -0.63 -146.6 183.8 -8.4 101 2166 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2301 3380

2478 -0.63 -146.6 209.3 -7.8 116 2479 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2300 3380

2787 -0.63 -146.6 234.8 -8.2 131 2789 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2300 3379

3097 -0.63 -146.6 257.6 -7.1 146 3101 0.00 2.67 0.00 0.000 4 0.000 0.067 2162 877 3380

3152 -0.63 -146.6 261.7 -7.1 148 3158 0.00 2.62 0.00 0.000 6 0.000 0.056 2162 2298 3380

3467 -0.63 -146.6 283.5 -6.3 164 3471 0.00 2.65 0.00 0.000 4 0.000 0.067 2162 881 3380

3511 -0.63 -146.6 286.6 -7.2 166 3515 0.00 2.62 0.00 0.000 6 0.000 0.056 2162 2303 3380

3832 -0.63 -146.6 307.4 -7.1 182 3836 0.00 2.67 0.00 0.000 4 0.000 0.069 2162 880 3380

3887 -0.63 -146.6 311.7 -7.9 184 3893 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2300 3380

4203 -0.63 -146.6 333.1 -7.0 200 4207 0.00 2.67 0.00 0.000 4 0.000 0.069 2162 877 3380

4258 -0.63 -146.6 337.1 -7.1 202 4264 0.00 2.60 0.00 0.000 6 0.000 0.057 2162 2302 3380

4573 -0.63 -146.6 357.7 -6.5 218 4577 0.00 2.67 0.00 0.000 4 0.000 0.069 2162 878 3380

4618 -0.68 -146.6 360.3 -6.3 220 4622 0.00 2.62 0.00 0.000 6 0.000 0.056 2162 2301 3380

4940 -0.68 -146.6 377.3 -4.8 236 4941 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2302 3379

5249 -0.68 -146.6 392.4 -5.1 251 5253 0.00 2.67 0.00 0.000 4 0.000 0.069 2162 876 3379

5311 -0.68 -146.6 395.4 -4.9 254 5316 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2302 3379

5638 -0.68 -146.6 411.5 -5.0 270 5643 0.00 2.67 0.00 0.000 4 0.000 0.070 2162 878 3379

5679 -0.72 -146.6 413.8 -5.4 272 5684 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2302 3379

6005 -0.72 -146.6 433.5 -6.5 288 6010 0.00 2.67 0.00 0.000 4 0.000 0.070 2162 881 3379

6056 -0.77 -146.6 436.8 -6.4 290 6061 0.15 2.62 0.00 0.000 6 0.044 0.057 2115 2303 3379

6372 -0.63 -146.6 460.9 -7.1 305 6377 0.20 2.67 0.00 0.000 4 0.087 0.071 2159 883 3379

6423 -0.69 -146.6 463.8 -5.2 307 6427 0.00 2.62 0.00 0.000 6 0.000 0.058 2159 2303 3379

6739 -0.69 -146.6 478.5 -4.9 322 6740 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2303 3378

7047 -0.69 -146.6 496.4 -6.6 337 7052 0.00 2.67 0.00 0.000 4 0.000 0.071 2159 883 3378

7088 -0.75 -146.6 498.8 -5.4 339 7093 0.00 2.62 0.00 0.000 6 0.000 0.058 2159 2307 3377

7414 -0.75 -146.6 527.2 -9.1 355 7419 0.12 2.67 0.00 0.000 4 0.048 0.066 2118 880 3378

7454 -0.70 -146.6 532.4 -14.3 357 7460 0.15 2.65 0.00 0.000 6 0.087 0.059 2149 2304 3378

7784 -0.61 -146.6 578.2 -15.9 373 7785 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2305 3377

8091 -0.55 -146.6 616.8 -11.7 388 8093 0.15 0.00 0.00 0.000 6 0.092 0.000 2178 2305 3377

8400 -0.62 -146.6 621.1 -4.8 403 8405 0.00 2.70 0.00 0.000 4 0.000 0.073 2178 878 3377

8479 -0.77 -146.6 626.0 3.5 406 8486 0.22 2.65 0.00 0.000 6 0.046 0.061 2118 2302 3377

8796 -0.67 -146.6 624.8 2.3 422 8801 0.15 2.72 0.00 0.000 4 0.090 0.087 2151 3708 3376

8824 -0.67 -146.6 626.1 -5.0 423 8828 0.00 2.62 0.00 0.000 6 0.000 0.065 2151 2297 3376

9140 -0.67 -146.6 640.8 -2.7 438 9141 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2297 3375

9449 -0.67 -146.6 651.1 -1.3 453 9453 0.00 2.67 0.00 0.000 4 0.000 0.076 2151 886 3374

9495 -0.72 -146.6 651.0 -0.1 455 9499 0.00 2.65 0.00 0.000 6 0.000 0.064 2151 2299 3374

9607 end dive: NO_VERTICAL_VELOCITY

state 9607 begin apogee

9614 -0.31 0.0 651.4 0.0 461 9749 0.40 0.00 129.65 1.081 6 0.094 0.000 2232 2204 2781

9750 end apogee: CONTROL_FINISHED_OK

state 9750 begin climb

9753 0.85 146.6 649.8 0.0 468 9890 1.17 2.78 129.38 1.059 4 0.077 0.071 2480 784 2183

10100 0.85 146.6 649.1 10.0 483 10105 0.00 2.67 0.00 0.000 6 0.000 0.064 2480 2199 2181

10421 0.85 146.6 622.0 10.1 499 10422 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2200 2181

10730 0.85 146.6 596.4 7.7 514 10731 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2200 2179

11040 0.78 146.6 576.7 8.8 529 11044 0.00 2.78 0.00 0.000 4 0.000 0.091 2480 3616 2180

11269 0.74 146.6 564.2 8.2 539 11274 0.00 2.70 0.00 0.000 6 0.000 0.069 2481 2193 2179

11585 0.74 146.6 542.4 7.3 554 11589 0.00 2.70 0.00 0.000 4 0.000 0.077 2481 781 2178

11805 0.88 322.0 534.3 1.2 564 11962 0.00 2.67 150.88 1.026 6 0.000 0.061 2480 2206 1468

12273 1.19 465.0 512.6 2.1 586 12404 0.32 2.80 124.35 0.995 4 0.064 0.089 2556 3614 885

12446 1.19 465.0 497.1 11.1 594 12450 0.00 2.70 0.00 0.000 6 0.000 0.067 2556 2203 884

12766 1.19 465.0 456.7 13.6 610 12771 0.00 2.72 0.00 0.000 4 0.000 0.074 2556 776 884

12878 1.19 465.0 439.9 16.0 615 12882 0.00 2.67 0.00 0.000 6 0.000 0.059 2556 2203 884

13199 1.19 465.0 392.3 13.6 631 13203 0.00 2.75 0.00 0.000 4 0.000 0.076 2556 779 884

13265 1.19 465.0 384.0 11.7 634 13269 0.00 2.65 0.00 0.000 6 0.000 0.056 2556 2201 883

13586 1.19 465.0 350.5 9.5 650 13590 0.00 2.72 0.00 0.000 4 0.000 0.075 2556 782 884

13630 1.19 465.0 346.1 9.4 652 13634 0.00 2.62 0.00 0.000 6 0.000 0.055 2556 2201 884

13950 1.19 465.0 314.2 10.3 668 13955 0.00 2.70 0.00 0.000 4 0.000 0.074 2556 782 884

14000 1.23 465.0 309.0 10.6 670 14005 0.00 2.62 0.00 0.000 6 0.000 0.054 2556 2202 884

14316 1.23 465.0 278.6 8.6 685 14320 0.00 2.72 0.00 0.000 4 0.000 0.072 2556 778 885

14388 1.23 465.0 272.4 8.8 688 14392 0.00 2.62 0.00 0.000 6 0.000 0.054 2556 2200 885

14703 1.23 465.0 245.4 8.8 703 14708 0.00 2.70 0.00 0.000 4 0.000 0.072 2556 781 885

14753 1.30 465.0 240.7 9.2 705 14758 0.12 2.62 0.00 0.000 6 0.072 0.054 2583 2203 886

15068 1.30 465.0 204.2 11.5 720 15070 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2203 886

15378 1.30 465.0 168.7 11.9 735 15382 0.00 2.70 0.00 0.000 4 0.000 0.071 2583 773 886

15462 1.30 465.0 159.3 10.9 739 15466 0.00 2.62 0.00 0.000 6 0.000 0.052 2583 2201 886

15791 1.25 465.0 119.3 11.9 755 15795 0.00 2.70 0.00 0.000 4 0.000 0.070 2584 775 887

15840 1.25 465.0 113.7 9.7 757 15845 0.00 2.62 0.00 0.000 6 0.000 0.052 2584 2204 887

16157 1.25 465.0 80.6 10.3 772 16162 0.00 2.70 0.00 0.000 4 0.000 0.069 2583 776 887

16201 1.25 465.0 75.8 10.0 774 16206 0.00 2.62 0.00 0.000 6 0.000 0.051 2584 2208 887

16523 1.25 465.0 40.6 11.3 790 16527 0.00 2.70 0.00 0.000 4 0.000 0.069 2584 782 888

16585 1.25 465.0 33.8 12.1 793 16590 0.00 2.60 0.00 0.000 6 0.000 0.051 2583 2206 888

16890 end climb: SURFACE_DEPTH_REACHED

state 16891 begin surface coast

16913 end surface coast: CONTROL_FINISHED_OK

state 16913 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	86	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-2094638.6	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	175708,6129.152,-825.379,40,1.1,40,-8.9	TGT_NAME	FBC_4
_CALLS	2	TGT_LATLONG	6140.000,-845.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.118,0.187
_SM_DEPTHo	1.13	KALMAN_X	-136187.3,331.0,-2963.5,-31199.1,7232.0
_SM_ANGLEo	-49.1	KALMAN_Y	-80951.4,3273.3,850.4,153524.3,-19955.4
GPS2	180809,6129.151,-825.030,13,1.3,13,-8.9	MHEAD_RNG_PITCHd_Wd	327.8,26680,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.005626	ALTIM_TOP_PING	19.3,19.6
SM_CCo	16935,44.97,0.602,0,0,508,557.32	_24V_AH	23.6,17.285
SM_GC	1.17,0.00,0.00,44.97,0.000,0.000,0.602,66,2307,508,-10.27,0.20,557.32	_10V_AH	10.1,8.817
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41205,809
TT8_MAMPS	0.023777	CAP_FILE_SIZE	140660,0
HUMID	1888	CFSIZE	260165632,252768256
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	44	GPS	250608,225325,6134.490,-829.035,24,1.8,42,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	101.88	SBE_CT	593	24	336.42
Roll_motor	176	91	379.76	SBE_O2	549	19	246.23
VBD_pump_during_apogee	534	1081	13635.50	WL_BB2F	481	105	1192.91
VBD_pump_during_surface	44	602	639.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	93.89	nil	0	0	0.00
Iridium_during_connect	54	160	205.29	nil	0	0	0.00
Iridium_during_xfer	331	223	1744.19
Transponder_ping	16	420	163.55
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.83
TT8	1540	19	308.08
LPSleep	12645	2	279.70
TT8_Active	705	19	141.08
TT8_Sampling	1983	39	797.34
TT8_CF8	749	45	346.67
TT8_Kalman	33	81	27.56
Analog_circuits	1745	12	211.53
GPS_charging	0	0	0.00
Compass	1934	8	156.32
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-121.18	0.000	2	0.000	0.000	62	2307	2957
151	-0.85	-146.6	3.7	-3.1	6	181	11.43	2.70	-10.10	0.000	4	0.168	0.088	2107	3710	3380
333	-0.63	-146.6	32.7	-13.7	14	338	0.28	2.60	0.00	0.000	6	0.094	0.058	2160	2298	3380
654	-0.63	-146.6	61.7	-8.9	30	659	0.00	2.65	0.00	0.000	4	0.000	0.068	2162	882	3380
721	-0.63	-146.6	67.8	-8.7	33	726	0.00	2.65	0.00	0.000	6	0.000	0.057	2162	2304	3380
1043	-0.63	-146.6	98.7	-9.7	49	1048	0.00	2.67	0.00	0.000	4	0.000	0.065	2162	876	3380
1092	-0.63	-146.6	103.0	-7.8	51	1097	0.00	2.60	0.00	0.000	6	0.000	0.057	2162	2302	3380
1408	-0.63	-146.6	127.6	-7.2	66	1410	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2302	3380
1718	-0.63	-146.6	150.0	-7.2	81	1723	0.00	2.65	0.00	0.000	4	0.000	0.066	2162	877	3380
1774	-0.63	-146.6	154.2	-7.2	83	1779	0.00	2.62	0.00	0.000	6	0.000	0.057	2161	2299	3380
2090	-0.63	-146.6	177.8	-8.0	98	2094	0.00	2.65	0.00	0.000	4	0.000	0.065	2162	881	3380
2162	-0.63	-146.6	183.8	-8.4	101	2166	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2301	3380
2478	-0.63	-146.6	209.3	-7.8	116	2479	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2300	3380
2787	-0.63	-146.6	234.8	-8.2	131	2789	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2300	3379
3097	-0.63	-146.6	257.6	-7.1	146	3101	0.00	2.67	0.00	0.000	4	0.000	0.067	2162	877	3380
3152	-0.63	-146.6	261.7	-7.1	148	3158	0.00	2.62	0.00	0.000	6	0.000	0.056	2162	2298	3380
3467	-0.63	-146.6	283.5	-6.3	164	3471	0.00	2.65	0.00	0.000	4	0.000	0.067	2162	881	3380
3511	-0.63	-146.6	286.6	-7.2	166	3515	0.00	2.62	0.00	0.000	6	0.000	0.056	2162	2303	3380
3832	-0.63	-146.6	307.4	-7.1	182	3836	0.00	2.67	0.00	0.000	4	0.000	0.069	2162	880	3380
3887	-0.63	-146.6	311.7	-7.9	184	3893	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2300	3380
4203	-0.63	-146.6	333.1	-7.0	200	4207	0.00	2.67	0.00	0.000	4	0.000	0.069	2162	877	3380
4258	-0.63	-146.6	337.1	-7.1	202	4264	0.00	2.60	0.00	0.000	6	0.000	0.057	2162	2302	3380
4573	-0.63	-146.6	357.7	-6.5	218	4577	0.00	2.67	0.00	0.000	4	0.000	0.069	2162	878	3380
4618	-0.68	-146.6	360.3	-6.3	220	4622	0.00	2.62	0.00	0.000	6	0.000	0.056	2162	2301	3380
4940	-0.68	-146.6	377.3	-4.8	236	4941	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2302	3379
5249	-0.68	-146.6	392.4	-5.1	251	5253	0.00	2.67	0.00	0.000	4	0.000	0.069	2162	876	3379
5311	-0.68	-146.6	395.4	-4.9	254	5316	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2302	3379
5638	-0.68	-146.6	411.5	-5.0	270	5643	0.00	2.67	0.00	0.000	4	0.000	0.070	2162	878	3379
5679	-0.72	-146.6	413.8	-5.4	272	5684	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2302	3379
6005	-0.72	-146.6	433.5	-6.5	288	6010	0.00	2.67	0.00	0.000	4	0.000	0.070	2162	881	3379
6056	-0.77	-146.6	436.8	-6.4	290	6061	0.15	2.62	0.00	0.000	6	0.044	0.057	2115	2303	3379
6372	-0.63	-146.6	460.9	-7.1	305	6377	0.20	2.67	0.00	0.000	4	0.087	0.071	2159	883	3379
6423	-0.69	-146.6	463.8	-5.2	307	6427	0.00	2.62	0.00	0.000	6	0.000	0.058	2159	2303	3379
6739	-0.69	-146.6	478.5	-4.9	322	6740	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2303	3378
7047	-0.69	-146.6	496.4	-6.6	337	7052	0.00	2.67	0.00	0.000	4	0.000	0.071	2159	883	3378
7088	-0.75	-146.6	498.8	-5.4	339	7093	0.00	2.62	0.00	0.000	6	0.000	0.058	2159	2307	3377
7414	-0.75	-146.6	527.2	-9.1	355	7419	0.12	2.67	0.00	0.000	4	0.048	0.066	2118	880	3378
7454	-0.70	-146.6	532.4	-14.3	357	7460	0.15	2.65	0.00	0.000	6	0.087	0.059	2149	2304	3378
7784	-0.61	-146.6	578.2	-15.9	373	7785	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2305	3377
8091	-0.55	-146.6	616.8	-11.7	388	8093	0.15	0.00	0.00	0.000	6	0.092	0.000	2178	2305	3377
8400	-0.62	-146.6	621.1	-4.8	403	8405	0.00	2.70	0.00	0.000	4	0.000	0.073	2178	878	3377
8479	-0.77	-146.6	626.0	3.5	406	8486	0.22	2.65	0.00	0.000	6	0.046	0.061	2118	2302	3377
8796	-0.67	-146.6	624.8	2.3	422	8801	0.15	2.72	0.00	0.000	4	0.090	0.087	2151	3708	3376
8824	-0.67	-146.6	626.1	-5.0	423	8828	0.00	2.62	0.00	0.000	6	0.000	0.065	2151	2297	3376
9140	-0.67	-146.6	640.8	-2.7	438	9141	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2297	3375
9449	-0.67	-146.6	651.1	-1.3	453	9453	0.00	2.67	0.00	0.000	4	0.000	0.076	2151	886	3374
9495	-0.72	-146.6	651.0	-0.1	455	9499	0.00	2.65	0.00	0.000	6	0.000	0.064	2151	2299	3374
9607	end dive: NO_VERTICAL_VELOCITY
state	9607	begin apogee
9614	-0.31	0.0	651.4	0.0	461	9749	0.40	0.00	129.65	1.081	6	0.094	0.000	2232	2204	2781
9750	end apogee: CONTROL_FINISHED_OK
state	9750	begin climb
9753	0.85	146.6	649.8	0.0	468	9890	1.17	2.78	129.38	1.059	4	0.077	0.071	2480	784	2183
10100	0.85	146.6	649.1	10.0	483	10105	0.00	2.67	0.00	0.000	6	0.000	0.064	2480	2199	2181
10421	0.85	146.6	622.0	10.1	499	10422	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2200	2181
10730	0.85	146.6	596.4	7.7	514	10731	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2200	2179
11040	0.78	146.6	576.7	8.8	529	11044	0.00	2.78	0.00	0.000	4	0.000	0.091	2480	3616	2180
11269	0.74	146.6	564.2	8.2	539	11274	0.00	2.70	0.00	0.000	6	0.000	0.069	2481	2193	2179
11585	0.74	146.6	542.4	7.3	554	11589	0.00	2.70	0.00	0.000	4	0.000	0.077	2481	781	2178
11805	0.88	322.0	534.3	1.2	564	11962	0.00	2.67	150.88	1.026	6	0.000	0.061	2480	2206	1468
12273	1.19	465.0	512.6	2.1	586	12404	0.32	2.80	124.35	0.995	4	0.064	0.089	2556	3614	885
12446	1.19	465.0	497.1	11.1	594	12450	0.00	2.70	0.00	0.000	6	0.000	0.067	2556	2203	884
12766	1.19	465.0	456.7	13.6	610	12771	0.00	2.72	0.00	0.000	4	0.000	0.074	2556	776	884
12878	1.19	465.0	439.9	16.0	615	12882	0.00	2.67	0.00	0.000	6	0.000	0.059	2556	2203	884
13199	1.19	465.0	392.3	13.6	631	13203	0.00	2.75	0.00	0.000	4	0.000	0.076	2556	779	884
13265	1.19	465.0	384.0	11.7	634	13269	0.00	2.65	0.00	0.000	6	0.000	0.056	2556	2201	883
13586	1.19	465.0	350.5	9.5	650	13590	0.00	2.72	0.00	0.000	4	0.000	0.075	2556	782	884
13630	1.19	465.0	346.1	9.4	652	13634	0.00	2.62	0.00	0.000	6	0.000	0.055	2556	2201	884
13950	1.19	465.0	314.2	10.3	668	13955	0.00	2.70	0.00	0.000	4	0.000	0.074	2556	782	884
14000	1.23	465.0	309.0	10.6	670	14005	0.00	2.62	0.00	0.000	6	0.000	0.054	2556	2202	884
14316	1.23	465.0	278.6	8.6	685	14320	0.00	2.72	0.00	0.000	4	0.000	0.072	2556	778	885
14388	1.23	465.0	272.4	8.8	688	14392	0.00	2.62	0.00	0.000	6	0.000	0.054	2556	2200	885
14703	1.23	465.0	245.4	8.8	703	14708	0.00	2.70	0.00	0.000	4	0.000	0.072	2556	781	885
14753	1.30	465.0	240.7	9.2	705	14758	0.12	2.62	0.00	0.000	6	0.072	0.054	2583	2203	886
15068	1.30	465.0	204.2	11.5	720	15070	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2203	886
15378	1.30	465.0	168.7	11.9	735	15382	0.00	2.70	0.00	0.000	4	0.000	0.071	2583	773	886
15462	1.30	465.0	159.3	10.9	739	15466	0.00	2.62	0.00	0.000	6	0.000	0.052	2583	2201	886
15791	1.25	465.0	119.3	11.9	755	15795	0.00	2.70	0.00	0.000	4	0.000	0.070	2584	775	887
15840	1.25	465.0	113.7	9.7	757	15845	0.00	2.62	0.00	0.000	6	0.000	0.052	2584	2204	887
16157	1.25	465.0	80.6	10.3	772	16162	0.00	2.70	0.00	0.000	4	0.000	0.069	2583	776	887
16201	1.25	465.0	75.8	10.0	774	16206	0.00	2.62	0.00	0.000	6	0.000	0.051	2584	2208	887
16523	1.25	465.0	40.6	11.3	790	16527	0.00	2.70	0.00	0.000	4	0.000	0.069	2584	782	888
16585	1.25	465.0	33.8	12.1	793	16590	0.00	2.60	0.00	0.000	6	0.000	0.051	2583	2206	888
16890	end climb: SURFACE_DEPTH_REACHED
state	16891	begin surface coast
16913	end surface coast: CONTROL_FINISHED_OK
state	16913	begin surface