Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 87 * 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 87 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 -2094658.2 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 -2094658.2

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 87 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 225325,6134.490,-829.035,24,1.8,42,-9.0 TGT_NAME FBC_4

_CALLS 1 TGT_LATLONG 6140.000,-845.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.104,0.195

_SM_DEPTHo 1.13 KALMAN_X -138844.1,-2097.3,1431.1,-34122.8,-1753.6

_SM_ANGLEo -49.1 KALMAN_Y -74445.3,1522.0,3259.8,156428.1,-13554.8

GPS2 225846,6134.567,-829.121,13,2.0,18,-9.0 MHEAD_RNG_PITCHd_Wd 314.8,17206,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027249 ALTIM_BOTTOM_PING 800.2,55.2

SM_CCo 19653,4.78,0.466,0,0,509,557.32 _24V_AH 23.5,17.509

SM_GC 1.35,0.00,0.00,4.78,0.000,0.000,0.466,67,2311,509,-10.27,0.31,557.32 _10V_AH 10.1,8.907

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50542,946

TT8_MAMPS 0.023777 CAP_FILE_SIZE 143020,0

HUMID 1881 CFSIZE 260165632,252690432

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 52 GPS 260608,042837,6136.758,-842.537,37,2.0,42,-9.1

ALTIM_TOP_PING 19.9,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 100.28 SBE_CT 699 24 394.61

Roll_motor 177 95 398.90 SBE_O2 642 19 286.92

VBD_pump_during_apogee 630 1239 18354.02 WL_BB2F 520 105 1285.21

VBD_pump_during_surface 4 466 52.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.43 nil 0 0 0.00

Iridium_during_connect 29 160 110.98 nil 0 0 0.00

Iridium_during_xfer 147 223 774.19

Transponder_ping 20 420 199.87

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.57

TT8 1724 19 344.90

LPSleep 14787 2 327.07

TT8_Active 805 19 161.08

TT8_Sampling 2154 39 866.27

TT8_CF8 507 45 234.63

TT8_Kalman 33 81 27.56

Analog_circuits 1917 12 232.40

GPS_charging 0 0 0.00

Compass 2099 8 169.64

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -0.85 -146.6 0.0 0.0 0 169 0.00 0.00 -140.80 0.000 2 0.000 0.000 66 2310 3353

172 -0.85 -146.6 5.6 -4.7 7 194 11.45 2.70 -0.45 0.000 4 0.170 0.082 2108 3715 3381

413 -0.65 -146.6 47.4 -13.4 17 421 0.25 2.62 0.00 0.000 6 0.096 0.058 2157 2291 3381

730 -0.59 -146.6 78.4 -9.6 33 734 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 877 3381

815 -0.59 -146.6 85.5 -7.8 37 819 0.00 2.62 0.00 0.000 6 0.000 0.055 2157 2300 3381

1143 -0.59 -146.6 108.8 -7.6 53 1147 0.00 2.65 0.00 0.000 4 0.000 0.065 2157 881 3381

1198 -0.59 -146.6 112.5 -6.6 55 1204 0.00 2.62 0.00 0.000 6 0.000 0.055 2157 2303 3381

1514 -0.59 -146.6 133.2 -7.5 71 1515 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2303 3382

1823 -0.59 -146.6 153.1 -5.8 86 1828 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 881 3382

1879 -0.59 -146.6 156.8 -6.1 88 1885 0.00 2.62 0.00 0.000 6 0.000 0.056 2157 2300 3382

2195 -0.59 -146.6 177.9 -7.7 104 2196 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2300 3382

2504 -0.59 -146.6 202.2 -7.9 119 2508 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 877 3382

2570 -0.59 -146.6 207.7 -8.9 122 2574 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2304 3382

2891 -0.59 -146.6 233.8 -8.7 138 2892 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2304 3382

3200 -0.59 -146.6 261.7 -8.6 153 3204 0.00 2.67 0.00 0.000 4 0.000 0.068 2157 881 3382

3239 -0.59 -146.6 264.9 -8.0 155 3243 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2300 3382

3566 -0.59 -146.6 288.9 -7.5 171 3567 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2300 3382

3875 -0.59 -146.6 312.4 -7.6 186 3879 0.00 2.67 0.00 0.000 4 0.000 0.070 2157 881 3382

3919 -0.59 -146.6 316.0 -7.8 188 3923 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2299 3382

4239 -0.59 -146.6 339.3 -7.1 204 4244 0.00 2.67 0.00 0.000 4 0.000 0.070 2157 878 3381

4279 -0.59 -146.6 342.4 -7.8 206 4284 0.00 2.65 0.00 0.000 6 0.000 0.058 2157 2304 3382

4606 -0.59 -146.6 367.3 -7.7 222 4611 0.00 2.70 0.00 0.000 4 0.000 0.071 2157 874 3382

4656 -0.59 -146.6 371.4 -7.6 224 4661 0.00 2.62 0.00 0.000 6 0.000 0.058 2157 2300 3382

4972 -0.59 -146.6 396.8 -8.6 239 4976 0.00 2.67 0.00 0.000 4 0.000 0.070 2157 877 3381

5049 -0.63 -146.6 403.4 -8.2 242 5056 0.00 2.60 0.00 0.000 6 0.000 0.058 2157 2291 3381

5365 -0.63 -146.6 429.4 -8.5 258 5369 0.00 2.72 0.00 0.000 4 0.000 0.083 2157 3713 3381

5392 -0.63 -146.6 430.7 -5.0 259 5397 0.00 2.60 0.00 0.000 6 0.000 0.057 2157 2296 3382

5708 -0.63 -146.6 454.3 -6.4 274 5709 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2296 3381

6017 -0.63 -146.6 478.3 -5.7 289 6022 0.00 2.65 0.00 0.000 4 0.000 0.074 2157 885 3381

6130 -0.70 -146.6 482.0 -5.1 294 6135 0.00 2.62 0.00 0.000 6 0.000 0.060 2158 2298 3380

6450 -0.70 -146.6 505.5 -8.5 310 6455 0.00 2.67 0.00 0.000 4 0.000 0.071 2157 886 3380

6523 -0.78 -146.6 511.4 -7.7 313 6528 0.12 2.65 0.00 0.000 6 0.050 0.061 2118 2303 3380

6839 -0.66 -146.6 541.6 -10.1 328 6841 0.17 0.00 0.00 0.000 6 0.091 0.000 2152 2303 3379

7148 -0.66 -146.6 563.1 -6.4 343 7149 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2303 3378

7457 -0.66 -146.6 591.7 -9.8 358 7461 0.00 2.72 0.00 0.000 4 0.000 0.076 2152 880 3377

7501 -0.73 -146.6 596.1 -10.5 360 7506 0.00 2.67 0.00 0.000 6 0.000 0.065 2152 2301 3377

7823 -0.73 -146.6 620.3 -8.7 376 7824 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2301 3376

8132 -0.73 -146.6 645.5 -6.5 391 8133 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2301 3375

8441 -0.73 -146.6 663.3 -4.4 406 8442 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2301 3374

8751 -0.73 -146.6 686.0 -5.1 421 8752 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2301 3373

9060 -0.73 -146.6 711.8 -9.7 436 9061 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2301 3371

9369 -0.73 -146.6 738.9 -8.3 451 9370 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2302 3370

9678 -0.73 -146.6 773.8 -13.5 466 9682 0.00 2.70 0.00 0.000 4 0.000 0.080 2152 888 3369

9734 -0.79 -146.6 779.8 -8.9 468 9740 0.12 2.67 0.00 0.000 6 0.059 0.069 2118 2301 3369

10050 -0.70 -146.6 801.8 -9.0 484 10051 0.15 0.00 0.00 0.000 6 0.100 0.000 2146 2301 3368

10358 -0.70 -146.6 827.8 -6.9 499 10363 0.00 2.70 0.00 0.000 4 0.000 0.079 2146 887 3367

10437 -0.70 -146.6 832.8 -5.3 502 10443 0.00 2.67 0.00 0.000 6 0.000 0.070 2146 2303 3366

10626 end dive: BOTTOM_OBSTACLE_DETECTED

state 10626 begin apogee

10633 -0.31 0.0 846.3 9.0 512 10769 0.43 0.00 132.62 1.239 6 0.109 0.000 2228 2194 2781

10770 end apogee: CONTROL_FINISHED_OK

state 10770 begin climb

10773 0.85 146.6 856.2 0.0 519 10916 1.23 2.90 134.32 1.224 4 0.089 0.094 2480 3616 2184

10994 1.03 312.6 854.2 1.5 529 11154 0.20 2.70 149.85 1.214 6 0.065 0.067 2524 2196 1505

11481 1.03 312.6 822.1 6.2 553 11486 0.00 2.72 0.00 0.000 4 0.000 0.080 2524 788 1504

11537 1.03 312.6 816.7 9.7 555 11543 0.00 2.67 0.00 0.000 6 0.000 0.065 2524 2200 1504

11853 1.03 312.6 782.0 11.9 571 11854 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2200 1504

12162 1.03 312.6 754.3 8.3 586 12167 0.00 2.78 0.00 0.000 4 0.000 0.096 2524 3613 1503

12206 1.03 312.6 750.3 9.1 588 12211 0.00 2.70 0.00 0.000 6 0.000 0.071 2523 2193 1503

12527 1.03 312.6 725.1 7.6 604 12528 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2193 1503

12836 1.03 312.6 702.0 6.7 619 12837 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2193 1502

13145 1.03 312.6 680.9 6.0 634 13150 0.00 2.83 0.00 0.000 4 0.000 0.094 2524 3618 1502

13195 1.06 346.4 678.2 5.1 636 13231 0.00 2.70 30.15 1.128 6 0.000 0.071 2524 2196 1368

13554 1.08 360.0 662.3 5.6 654 13572 0.00 0.00 13.50 1.054 6 0.000 0.000 2523 2196 1313

13881 1.08 360.0 638.1 6.4 670 13886 0.00 2.72 0.00 0.000 4 0.000 0.083 2524 789 1312

13916 1.10 376.3 636.0 5.6 671 13937 0.00 2.67 15.75 1.058 6 0.000 0.064 2524 2204 1247

14247 1.10 376.3 605.8 9.7 687 14252 0.00 2.75 0.00 0.000 4 0.000 0.080 2524 788 1247

14320 1.23 458.5 601.1 3.7 690 14401 0.22 2.67 73.38 1.105 6 0.085 0.064 2567 2204 911

14723 1.16 458.5 560.7 15.0 710 14724 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2204 910

15032 1.16 458.5 514.5 12.4 725 15033 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2204 911

15341 1.26 549.7 498.1 3.5 740 15429 0.00 2.83 80.55 1.028 4 0.000 0.077 2568 787 540

15465 1.31 549.7 490.5 7.3 746 15469 0.00 2.67 0.00 0.000 6 0.000 0.059 2568 2201 540

15791 1.31 549.7 458.9 10.7 762 15796 0.00 2.72 0.00 0.000 4 0.000 0.077 2568 786 540

15886 1.31 549.7 448.8 10.6 766 15890 0.00 2.65 0.00 0.000 6 0.000 0.056 2568 2203 540

16202 1.31 549.7 410.5 12.7 781 16206 0.00 2.72 0.00 0.000 4 0.000 0.077 2568 786 541

16296 1.31 549.7 398.6 11.6 785 16301 0.00 2.62 0.00 0.000 6 0.000 0.055 2568 2201 541

16612 1.31 549.7 362.0 11.0 800 16616 0.00 2.70 0.00 0.000 4 0.000 0.074 2568 785 542

16689 1.31 549.7 353.3 9.8 803 16695 0.00 2.62 0.00 0.000 6 0.000 0.054 2568 2203 542

17005 1.31 549.7 318.0 10.6 819 17009 0.00 2.72 0.00 0.000 4 0.000 0.074 2568 783 542

17089 1.31 549.7 309.5 10.1 823 17093 0.00 2.62 0.00 0.000 6 0.000 0.054 2568 2201 542

17415 1.31 549.7 272.8 10.8 839 17420 0.00 2.70 0.00 0.000 4 0.000 0.072 2568 785 543

17500 1.31 549.7 263.6 10.1 843 17504 0.00 2.62 0.00 0.000 6 0.000 0.054 2568 2201 542

17826 1.31 549.7 230.5 10.2 859 17830 0.00 2.70 0.00 0.000 4 0.000 0.072 2568 786 543

17905 1.31 549.7 221.9 10.0 862 17911 0.00 2.62 0.00 0.000 6 0.000 0.054 2568 2204 544

18220 1.31 549.7 181.6 14.6 878 18225 0.00 2.70 0.00 0.000 4 0.000 0.072 2568 786 544

18299 1.31 549.7 171.0 12.1 881 18305 0.00 2.60 0.00 0.000 6 0.000 0.053 2568 2201 544

18615 1.31 549.7 123.1 14.9 897 18619 0.00 2.70 0.00 0.000 4 0.000 0.071 2568 779 545

18703 1.31 549.7 109.4 15.4 901 18708 0.00 2.62 0.00 0.000 6 0.000 0.052 2568 2205 544

19027 1.31 549.7 66.2 12.7 917 19031 0.00 2.70 0.00 0.000 4 0.000 0.070 2568 782 545

19090 1.31 549.7 59.3 11.5 920 19095 0.00 2.60 0.00 0.000 6 0.000 0.052 2568 2203 545

19418 1.31 549.7 21.0 12.7 936 19425 0.00 2.67 0.00 0.000 4 0.000 0.068 2568 779 545

19481 1.31 549.7 14.8 9.9 938 19488 0.00 2.60 0.00 0.000 6 0.000 0.052 2568 2204 545

19610 end climb: SURFACE_DEPTH_REACHED

state 19611 begin surface coast

19631 end surface coast: CONTROL_FINISHED_OK

state 19631 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	87	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	-2094658.2	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	225325,6134.490,-829.035,24,1.8,42,-9.0	TGT_NAME	FBC_4
_CALLS	1	TGT_LATLONG	6140.000,-845.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.104,0.195
_SM_DEPTHo	1.13	KALMAN_X	-138844.1,-2097.3,1431.1,-34122.8,-1753.6
_SM_ANGLEo	-49.1	KALMAN_Y	-74445.3,1522.0,3259.8,156428.1,-13554.8
GPS2	225846,6134.567,-829.121,13,2.0,18,-9.0	MHEAD_RNG_PITCHd_Wd	314.8,17206,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027249	ALTIM_BOTTOM_PING	800.2,55.2
SM_CCo	19653,4.78,0.466,0,0,509,557.32	_24V_AH	23.5,17.509
SM_GC	1.35,0.00,0.00,4.78,0.000,0.000,0.466,67,2311,509,-10.27,0.31,557.32	_10V_AH	10.1,8.907
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50542,946
TT8_MAMPS	0.023777	CAP_FILE_SIZE	143020,0
HUMID	1881	CFSIZE	260165632,252690432
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	52	GPS	260608,042837,6136.758,-842.537,37,2.0,42,-9.1
ALTIM_TOP_PING	19.9,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	100.28	SBE_CT	699	24	394.61
Roll_motor	177	95	398.90	SBE_O2	642	19	286.92
VBD_pump_during_apogee	630	1239	18354.02	WL_BB2F	520	105	1285.21
VBD_pump_during_surface	4	466	52.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.43	nil	0	0	0.00
Iridium_during_connect	29	160	110.98	nil	0	0	0.00
Iridium_during_xfer	147	223	774.19
Transponder_ping	20	420	199.87
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.57
TT8	1724	19	344.90
LPSleep	14787	2	327.07
TT8_Active	805	19	161.08
TT8_Sampling	2154	39	866.27
TT8_CF8	507	45	234.63
TT8_Kalman	33	81	27.56
Analog_circuits	1917	12	232.40
GPS_charging	0	0	0.00
Compass	2099	8	169.64
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-0.85	-146.6	0.0	0.0	0	169	0.00	0.00	-140.80	0.000	2	0.000	0.000	66	2310	3353
172	-0.85	-146.6	5.6	-4.7	7	194	11.45	2.70	-0.45	0.000	4	0.170	0.082	2108	3715	3381
413	-0.65	-146.6	47.4	-13.4	17	421	0.25	2.62	0.00	0.000	6	0.096	0.058	2157	2291	3381
730	-0.59	-146.6	78.4	-9.6	33	734	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	877	3381
815	-0.59	-146.6	85.5	-7.8	37	819	0.00	2.62	0.00	0.000	6	0.000	0.055	2157	2300	3381
1143	-0.59	-146.6	108.8	-7.6	53	1147	0.00	2.65	0.00	0.000	4	0.000	0.065	2157	881	3381
1198	-0.59	-146.6	112.5	-6.6	55	1204	0.00	2.62	0.00	0.000	6	0.000	0.055	2157	2303	3381
1514	-0.59	-146.6	133.2	-7.5	71	1515	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2303	3382
1823	-0.59	-146.6	153.1	-5.8	86	1828	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	881	3382
1879	-0.59	-146.6	156.8	-6.1	88	1885	0.00	2.62	0.00	0.000	6	0.000	0.056	2157	2300	3382
2195	-0.59	-146.6	177.9	-7.7	104	2196	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2300	3382
2504	-0.59	-146.6	202.2	-7.9	119	2508	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	877	3382
2570	-0.59	-146.6	207.7	-8.9	122	2574	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2304	3382
2891	-0.59	-146.6	233.8	-8.7	138	2892	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2304	3382
3200	-0.59	-146.6	261.7	-8.6	153	3204	0.00	2.67	0.00	0.000	4	0.000	0.068	2157	881	3382
3239	-0.59	-146.6	264.9	-8.0	155	3243	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2300	3382
3566	-0.59	-146.6	288.9	-7.5	171	3567	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2300	3382
3875	-0.59	-146.6	312.4	-7.6	186	3879	0.00	2.67	0.00	0.000	4	0.000	0.070	2157	881	3382
3919	-0.59	-146.6	316.0	-7.8	188	3923	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2299	3382
4239	-0.59	-146.6	339.3	-7.1	204	4244	0.00	2.67	0.00	0.000	4	0.000	0.070	2157	878	3381
4279	-0.59	-146.6	342.4	-7.8	206	4284	0.00	2.65	0.00	0.000	6	0.000	0.058	2157	2304	3382
4606	-0.59	-146.6	367.3	-7.7	222	4611	0.00	2.70	0.00	0.000	4	0.000	0.071	2157	874	3382
4656	-0.59	-146.6	371.4	-7.6	224	4661	0.00	2.62	0.00	0.000	6	0.000	0.058	2157	2300	3382
4972	-0.59	-146.6	396.8	-8.6	239	4976	0.00	2.67	0.00	0.000	4	0.000	0.070	2157	877	3381
5049	-0.63	-146.6	403.4	-8.2	242	5056	0.00	2.60	0.00	0.000	6	0.000	0.058	2157	2291	3381
5365	-0.63	-146.6	429.4	-8.5	258	5369	0.00	2.72	0.00	0.000	4	0.000	0.083	2157	3713	3381
5392	-0.63	-146.6	430.7	-5.0	259	5397	0.00	2.60	0.00	0.000	6	0.000	0.057	2157	2296	3382
5708	-0.63	-146.6	454.3	-6.4	274	5709	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2296	3381
6017	-0.63	-146.6	478.3	-5.7	289	6022	0.00	2.65	0.00	0.000	4	0.000	0.074	2157	885	3381
6130	-0.70	-146.6	482.0	-5.1	294	6135	0.00	2.62	0.00	0.000	6	0.000	0.060	2158	2298	3380
6450	-0.70	-146.6	505.5	-8.5	310	6455	0.00	2.67	0.00	0.000	4	0.000	0.071	2157	886	3380
6523	-0.78	-146.6	511.4	-7.7	313	6528	0.12	2.65	0.00	0.000	6	0.050	0.061	2118	2303	3380
6839	-0.66	-146.6	541.6	-10.1	328	6841	0.17	0.00	0.00	0.000	6	0.091	0.000	2152	2303	3379
7148	-0.66	-146.6	563.1	-6.4	343	7149	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2303	3378
7457	-0.66	-146.6	591.7	-9.8	358	7461	0.00	2.72	0.00	0.000	4	0.000	0.076	2152	880	3377
7501	-0.73	-146.6	596.1	-10.5	360	7506	0.00	2.67	0.00	0.000	6	0.000	0.065	2152	2301	3377
7823	-0.73	-146.6	620.3	-8.7	376	7824	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2301	3376
8132	-0.73	-146.6	645.5	-6.5	391	8133	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2301	3375
8441	-0.73	-146.6	663.3	-4.4	406	8442	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2301	3374
8751	-0.73	-146.6	686.0	-5.1	421	8752	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2301	3373
9060	-0.73	-146.6	711.8	-9.7	436	9061	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2301	3371
9369	-0.73	-146.6	738.9	-8.3	451	9370	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2302	3370
9678	-0.73	-146.6	773.8	-13.5	466	9682	0.00	2.70	0.00	0.000	4	0.000	0.080	2152	888	3369
9734	-0.79	-146.6	779.8	-8.9	468	9740	0.12	2.67	0.00	0.000	6	0.059	0.069	2118	2301	3369
10050	-0.70	-146.6	801.8	-9.0	484	10051	0.15	0.00	0.00	0.000	6	0.100	0.000	2146	2301	3368
10358	-0.70	-146.6	827.8	-6.9	499	10363	0.00	2.70	0.00	0.000	4	0.000	0.079	2146	887	3367
10437	-0.70	-146.6	832.8	-5.3	502	10443	0.00	2.67	0.00	0.000	6	0.000	0.070	2146	2303	3366
10626	end dive: BOTTOM_OBSTACLE_DETECTED
state	10626	begin apogee
10633	-0.31	0.0	846.3	9.0	512	10769	0.43	0.00	132.62	1.239	6	0.109	0.000	2228	2194	2781
10770	end apogee: CONTROL_FINISHED_OK
state	10770	begin climb
10773	0.85	146.6	856.2	0.0	519	10916	1.23	2.90	134.32	1.224	4	0.089	0.094	2480	3616	2184
10994	1.03	312.6	854.2	1.5	529	11154	0.20	2.70	149.85	1.214	6	0.065	0.067	2524	2196	1505
11481	1.03	312.6	822.1	6.2	553	11486	0.00	2.72	0.00	0.000	4	0.000	0.080	2524	788	1504
11537	1.03	312.6	816.7	9.7	555	11543	0.00	2.67	0.00	0.000	6	0.000	0.065	2524	2200	1504
11853	1.03	312.6	782.0	11.9	571	11854	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2200	1504
12162	1.03	312.6	754.3	8.3	586	12167	0.00	2.78	0.00	0.000	4	0.000	0.096	2524	3613	1503
12206	1.03	312.6	750.3	9.1	588	12211	0.00	2.70	0.00	0.000	6	0.000	0.071	2523	2193	1503
12527	1.03	312.6	725.1	7.6	604	12528	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2193	1503
12836	1.03	312.6	702.0	6.7	619	12837	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2193	1502
13145	1.03	312.6	680.9	6.0	634	13150	0.00	2.83	0.00	0.000	4	0.000	0.094	2524	3618	1502
13195	1.06	346.4	678.2	5.1	636	13231	0.00	2.70	30.15	1.128	6	0.000	0.071	2524	2196	1368
13554	1.08	360.0	662.3	5.6	654	13572	0.00	0.00	13.50	1.054	6	0.000	0.000	2523	2196	1313
13881	1.08	360.0	638.1	6.4	670	13886	0.00	2.72	0.00	0.000	4	0.000	0.083	2524	789	1312
13916	1.10	376.3	636.0	5.6	671	13937	0.00	2.67	15.75	1.058	6	0.000	0.064	2524	2204	1247
14247	1.10	376.3	605.8	9.7	687	14252	0.00	2.75	0.00	0.000	4	0.000	0.080	2524	788	1247
14320	1.23	458.5	601.1	3.7	690	14401	0.22	2.67	73.38	1.105	6	0.085	0.064	2567	2204	911
14723	1.16	458.5	560.7	15.0	710	14724	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2204	910
15032	1.16	458.5	514.5	12.4	725	15033	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2204	911
15341	1.26	549.7	498.1	3.5	740	15429	0.00	2.83	80.55	1.028	4	0.000	0.077	2568	787	540
15465	1.31	549.7	490.5	7.3	746	15469	0.00	2.67	0.00	0.000	6	0.000	0.059	2568	2201	540
15791	1.31	549.7	458.9	10.7	762	15796	0.00	2.72	0.00	0.000	4	0.000	0.077	2568	786	540
15886	1.31	549.7	448.8	10.6	766	15890	0.00	2.65	0.00	0.000	6	0.000	0.056	2568	2203	540
16202	1.31	549.7	410.5	12.7	781	16206	0.00	2.72	0.00	0.000	4	0.000	0.077	2568	786	541
16296	1.31	549.7	398.6	11.6	785	16301	0.00	2.62	0.00	0.000	6	0.000	0.055	2568	2201	541
16612	1.31	549.7	362.0	11.0	800	16616	0.00	2.70	0.00	0.000	4	0.000	0.074	2568	785	542
16689	1.31	549.7	353.3	9.8	803	16695	0.00	2.62	0.00	0.000	6	0.000	0.054	2568	2203	542
17005	1.31	549.7	318.0	10.6	819	17009	0.00	2.72	0.00	0.000	4	0.000	0.074	2568	783	542
17089	1.31	549.7	309.5	10.1	823	17093	0.00	2.62	0.00	0.000	6	0.000	0.054	2568	2201	542
17415	1.31	549.7	272.8	10.8	839	17420	0.00	2.70	0.00	0.000	4	0.000	0.072	2568	785	543
17500	1.31	549.7	263.6	10.1	843	17504	0.00	2.62	0.00	0.000	6	0.000	0.054	2568	2201	542
17826	1.31	549.7	230.5	10.2	859	17830	0.00	2.70	0.00	0.000	4	0.000	0.072	2568	786	543
17905	1.31	549.7	221.9	10.0	862	17911	0.00	2.62	0.00	0.000	6	0.000	0.054	2568	2204	544
18220	1.31	549.7	181.6	14.6	878	18225	0.00	2.70	0.00	0.000	4	0.000	0.072	2568	786	544
18299	1.31	549.7	171.0	12.1	881	18305	0.00	2.60	0.00	0.000	6	0.000	0.053	2568	2201	544
18615	1.31	549.7	123.1	14.9	897	18619	0.00	2.70	0.00	0.000	4	0.000	0.071	2568	779	545
18703	1.31	549.7	109.4	15.4	901	18708	0.00	2.62	0.00	0.000	6	0.000	0.052	2568	2205	544
19027	1.31	549.7	66.2	12.7	917	19031	0.00	2.70	0.00	0.000	4	0.000	0.070	2568	782	545
19090	1.31	549.7	59.3	11.5	920	19095	0.00	2.60	0.00	0.000	6	0.000	0.052	2568	2203	545
19418	1.31	549.7	21.0	12.7	936	19425	0.00	2.67	0.00	0.000	4	0.000	0.068	2568	779	545
19481	1.31	549.7	14.8	9.9	938	19488	0.00	2.60	0.00	0.000	6	0.000	0.052	2568	2204	545
19610	end climb: SURFACE_DEPTH_REACHED
state	19611	begin surface coast
19631	end surface coast: CONTROL_FINISHED_OK
state	19631	begin surface