Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 76 * 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 76 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 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 -2094377.2 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 -2094377.2

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 15 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 76 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 105607,6118.892,-746.594,37,1.6,43,-8.5 TGT_NAME FBC_3

_CALLS 2 TGT_LATLONG 6130.000,-828.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.190,-0.114

_SM_DEPTHo 1.23 KALMAN_X -85316.1,1113.9,-22079.1,-28895.5,1105.4

_SM_ANGLEo -54.7 KALMAN_Y -46304.1,528.5,-12648.3,116443.9,6572.7

GPS2 110511,6118.990,-746.521,16,2.1,35,-8.5 MHEAD_RNG_PITCHd_Wd 307.6,41945,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027133 ALTIM_BOTTOM_PING 725.3,37.9

SM_CCo 20585,106.25,0.608,0,0,509,557.32 _24V_AH 23.5,15.593

SM_GC 1.39,0.00,0.00,106.25,0.000,0.000,0.608,67,2292,509,-10.27,-0.23,557.32 _10V_AH 10.1,7.940

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50647,991

TT8_MAMPS 0.02301 CAP_FILE_SIZE 142393,0

HUMID 1841 CFSIZE 260165632,253415424

TCM_TEMP 19.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

XPDR_PINGS 51 GPS 230608,165240,6122.212,-754.155,62,1.9,65,-8.6

ALTIM_TOP_PING 19.6,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 168 104.69 SBE_CT 733 24 413.66

Roll_motor 150 95 339.82 SBE_O2 675 19 301.75

VBD_pump_during_apogee 449 1190 12568.73 WL_BB2F 572 105 1411.90

VBD_pump_during_surface 106 608 1518.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.52 nil 0 0 0.00

Iridium_during_connect 140 160 528.95 nil 0 0 0.00

Iridium_during_xfer 160 223 843.39

Transponder_ping 19 420 192.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 38 50 19.26

TT8 1775 19 355.09

LPSleep 16046 2 354.94

TT8_Active 748 19 149.66

TT8_Sampling 2024 39 813.96

TT8_CF8 639 45 295.61

TT8_Kalman 33 81 27.57

Analog_circuits 1750 12 212.22

GPS_charging 0 0 0.00

Compass 1956 8 158.11

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 0 146 0.00 0.00 -120.65 0.000 2 0.000 0.000 64 2309 2958

150 -0.85 -146.6 3.5 -2.7 6 180 11.45 2.75 -10.60 0.000 4 0.169 0.089 2108 3715 3378

265 -0.64 -146.6 19.8 -11.2 11 270 0.25 2.65 0.00 0.000 6 0.094 0.061 2157 2296 3379

588 -0.60 -146.6 46.8 -8.1 27 589 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2296 3379

896 -0.54 -146.6 69.8 -7.9 42 901 0.12 2.67 0.00 0.000 4 0.102 0.069 2180 874 3379

969 -0.63 -146.6 75.1 -7.0 45 973 0.00 2.65 0.00 0.000 6 0.000 0.058 2180 2299 3379

1285 -0.63 -146.6 97.8 -7.6 60 1286 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2299 3379

1594 -0.63 -146.6 116.9 -6.0 75 1598 0.00 2.67 0.00 0.000 4 0.000 0.067 2180 873 3379

1656 -0.72 -146.6 121.0 -6.8 78 1661 0.17 2.65 0.00 0.000 6 0.040 0.058 2126 2303 3379

1983 -0.59 -146.6 152.9 -9.7 94 1985 0.22 0.00 0.00 0.000 6 0.084 0.000 2171 2303 3379

2293 -0.59 -146.6 175.1 -7.1 109 2297 0.00 2.67 0.00 0.000 4 0.000 0.068 2171 878 3379

2359 -0.65 -146.6 180.6 -8.3 112 2364 0.00 2.65 0.00 0.000 6 0.000 0.058 2171 2306 3379

2681 -0.65 -146.6 207.7 -8.6 128 2685 0.00 2.70 0.00 0.000 4 0.000 0.069 2171 872 3379

2714 -0.71 -146.6 210.7 -8.9 129 2720 0.12 2.65 0.00 0.000 6 0.046 0.058 2129 2302 3379

3030 -0.59 -146.6 244.2 -10.5 145 3035 0.17 2.67 0.00 0.000 4 0.087 0.071 2167 880 3379

3080 -0.64 -146.6 248.8 -8.4 147 3084 0.00 2.62 0.00 0.000 6 0.000 0.058 2167 2300 3379

3395 -0.64 -146.6 273.8 -7.4 162 3396 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2300 3379

3705 -0.64 -146.6 297.5 -7.5 177 3709 0.00 2.67 0.00 0.000 4 0.000 0.071 2167 879 3379

3783 -0.70 -146.6 303.4 -7.3 180 3789 0.00 2.62 0.00 0.000 6 0.000 0.059 2167 2301 3379

4101 -0.70 -146.6 325.4 -6.9 196 4102 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2301 3379

4408 -0.70 -146.6 347.3 -7.8 211 4409 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2301 3379

4717 -0.70 -146.6 372.7 -8.6 226 4721 0.00 2.67 0.00 0.000 4 0.000 0.071 2167 875 3379

4802 -0.78 -146.6 379.9 -8.3 230 4807 0.17 2.62 0.00 0.000 6 0.041 0.058 2114 2302 3379

5129 -0.64 -146.6 411.8 -9.2 246 5131 0.22 0.00 0.00 0.000 6 0.085 0.000 2158 2302 3379

5438 -0.64 -146.6 432.7 -6.3 261 5442 0.00 2.67 0.00 0.000 4 0.000 0.071 2159 880 3379

5482 -0.69 -146.6 435.9 -7.0 263 5487 0.00 2.62 0.00 0.000 6 0.000 0.059 2159 2301 3379

5803 -0.69 -146.6 456.4 -6.5 279 5805 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2301 3379

6113 -0.69 -146.6 477.6 -7.0 294 6114 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2301 3378

6423 -0.69 -146.6 496.3 -5.6 309 6427 0.00 2.70 0.00 0.000 4 0.000 0.074 2159 877 3378

6490 -0.75 -146.6 500.3 -6.5 312 6495 0.12 2.65 0.00 0.000 6 0.048 0.062 2120 2300 3378

6812 -0.66 -146.6 524.9 -7.9 328 6813 0.17 0.00 0.00 0.000 6 0.089 0.000 2155 2300 3377

7120 -0.66 -146.6 545.1 -6.3 343 7121 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2300 3376

7429 -0.66 -146.6 565.9 -7.0 358 7431 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2300 3376

7739 -0.66 -146.6 586.5 -6.5 373 7740 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2300 3374

8048 -0.66 -146.6 606.9 -6.8 388 8052 0.00 2.72 0.00 0.000 4 0.000 0.080 2154 877 3373

8088 -0.71 -146.6 609.7 -7.5 390 8092 0.00 2.67 0.00 0.000 6 0.000 0.070 2154 2302 3372

8414 -0.71 -146.6 633.1 -7.3 406 8416 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2302 3372

8724 -0.71 -146.6 656.9 -7.2 421 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2302 3370

9033 -0.71 -146.6 676.8 -6.2 436 9034 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2302 3368

9342 -0.71 -146.6 697.3 -6.4 451 9347 0.00 2.72 0.00 0.000 4 0.000 0.081 2154 884 3368

9376 -0.78 -146.6 699.7 -7.4 452 9382 0.12 2.67 0.00 0.000 6 0.057 0.069 2120 2299 3367

9694 -0.68 -146.6 727.0 -9.2 468 9695 0.15 0.00 0.00 0.000 6 0.102 0.000 2148 2299 3366

10001 -0.68 -146.6 749.6 -7.3 483 10005 0.00 2.70 0.00 0.000 4 0.000 0.081 2148 885 3365

10053 end dive: BOTTOM_OBSTACLE_DETECTED

state 10053 begin apogee

10063 -0.31 0.0 753.2 6.7 485 10197 0.40 0.00 131.15 1.190 6 0.106 0.000 2228 2202 2781

10198 end apogee: CONTROL_FINISHED_OK

state 10198 begin climb

10201 0.85 146.6 758.2 0.0 492 10338 1.25 0.00 133.27 1.167 6 0.089 0.000 2482 2202 2183

10642 0.85 153.2 743.9 5.8 514 10656 0.00 2.80 7.45 0.955 4 0.000 0.080 2482 785 2156

10720 0.90 193.2 739.7 4.9 517 10764 0.00 2.70 37.20 1.139 6 0.000 0.067 2482 2202 1993

11083 0.92 210.7 719.1 5.5 535 11106 0.00 2.85 17.12 1.089 4 0.000 0.095 2482 3613 1921

11123 0.96 210.7 716.0 7.9 536 11130 0.12 2.72 0.00 0.000 6 0.064 0.073 2513 2200 1921

11439 0.92 210.7 692.6 6.8 552 11441 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2200 1920

11748 0.86 210.7 669.4 7.0 567 11750 0.15 0.00 0.00 0.000 6 0.097 0.000 2484 2200 1920

12057 0.86 210.7 650.0 6.5 582 12062 0.00 2.78 0.00 0.000 4 0.000 0.094 2484 3613 1919

12101 0.86 210.7 646.8 7.2 584 12106 0.00 2.70 0.00 0.000 6 0.000 0.074 2484 2200 1919

12422 0.86 210.7 626.1 6.3 600 12424 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2200 1919

12732 0.87 221.1 607.8 5.7 615 12747 0.00 2.85 10.30 0.999 4 0.000 0.095 2484 3615 1878

12775 0.87 221.1 605.1 6.1 616 12780 0.00 2.70 0.00 0.000 6 0.000 0.074 2484 2200 1878

13097 0.89 237.9 587.0 5.5 632 13116 0.00 0.00 16.33 1.046 6 0.000 0.000 2484 2200 1811

13426 0.89 240.0 567.8 5.9 648 13435 0.00 2.80 3.72 0.684 4 0.000 0.095 2484 3614 1802

13464 0.89 240.0 565.2 6.6 649 13470 0.00 2.72 0.00 0.000 6 0.000 0.074 2484 2194 1802

13780 0.89 240.2 547.0 6.0 665 13781 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2191 1801

14090 0.91 256.3 529.7 5.6 680 14109 0.00 0.00 15.68 1.013 6 0.000 0.000 2484 2191 1736

14419 0.99 328.5 513.6 4.0 696 14489 0.15 2.80 63.67 1.063 4 0.058 0.084 2522 780 1440

14554 0.94 328.5 505.9 6.2 702 14558 0.00 2.72 0.00 0.000 6 0.000 0.067 2522 2206 1439

14874 0.89 328.5 486.1 6.3 718 14880 0.15 2.78 0.00 0.000 4 0.101 0.096 2489 3614 1439

14925 0.95 328.5 482.9 6.5 720 14929 0.00 2.70 0.00 0.000 6 0.000 0.074 2489 2201 1439

15241 1.00 338.2 466.1 5.7 735 15253 0.12 0.00 9.75 0.912 6 0.058 0.000 2523 2201 1402

15549 1.00 338.2 441.1 9.0 750 15550 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2202 1402

15858 1.00 338.2 413.9 8.3 765 15863 0.00 2.72 0.00 0.000 4 0.000 0.083 2523 779 1402

15908 1.00 338.2 409.5 9.1 767 15913 0.00 2.67 0.00 0.000 6 0.000 0.063 2523 2200 1402

16224 0.96 338.2 381.9 8.9 782 16229 0.00 2.78 0.00 0.000 4 0.000 0.094 2523 3617 1402

16264 0.96 338.2 378.0 9.9 784 16269 0.00 2.72 0.00 0.000 6 0.000 0.074 2523 2194 1402

16591 0.96 338.2 345.4 11.1 800 16595 0.00 2.70 0.00 0.000 4 0.000 0.081 2523 785 1402

16640 0.96 338.2 339.7 11.2 802 16644 0.00 2.65 0.00 0.000 6 0.000 0.060 2523 2203 1401

16956 0.96 338.2 311.1 8.0 817 16957 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2203 1402

17265 0.96 338.2 288.1 7.6 832 17266 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2203 1403

17574 0.96 338.2 268.3 7.4 847 17578 0.00 2.72 0.00 0.000 4 0.000 0.087 2523 3616 1404

17613 0.96 338.2 264.7 10.1 849 17618 0.00 2.70 0.00 0.000 6 0.000 0.071 2523 2197 1404

17939 0.96 338.2 236.3 8.9 865 17944 0.00 2.67 0.00 0.000 4 0.000 0.075 2523 782 1405

17972 0.96 338.2 233.4 8.2 866 17978 0.00 2.62 0.00 0.000 6 0.000 0.057 2523 2201 1405

18288 0.96 338.2 206.2 8.4 882 18289 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2201 1405

18597 0.96 338.2 182.2 7.6 897 18601 0.00 2.67 0.00 0.000 4 0.000 0.071 2523 781 1406

18629 0.96 338.2 179.8 6.8 898 18635 0.00 2.62 0.00 0.000 6 0.000 0.056 2525 2203 1406

18945 0.96 338.2 156.4 8.1 914 18949 0.00 2.70 0.00 0.000 4 0.000 0.084 2523 3614 1407

18972 0.96 338.2 153.9 8.9 915 18976 0.00 2.67 0.00 0.000 6 0.000 0.067 2523 2192 1407

19288 0.96 338.2 121.3 11.1 930 19289 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2192 1408

19598 0.96 338.2 90.8 9.5 945 19599 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2192 1408

19906 0.96 338.2 61.1 9.3 960 19907 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2192 1409

20215 0.96 338.2 30.6 9.7 975 20216 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2192 1410

20525 0.96 338.2 3.9 8.4 990 20534 0.00 2.75 3.65 0.416 4 0.000 0.079 2523 3616 1402

20544 end climb: SURFACE_DEPTH_REACHED

state 20544 begin surface coast

20561 end surface coast: CONTROL_FINISHED_OK

state 20561 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	76	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	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	-2094377.2	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	105607,6118.892,-746.594,37,1.6,43,-8.5	TGT_NAME	FBC_3
_CALLS	2	TGT_LATLONG	6130.000,-828.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.190,-0.114
_SM_DEPTHo	1.23	KALMAN_X	-85316.1,1113.9,-22079.1,-28895.5,1105.4
_SM_ANGLEo	-54.7	KALMAN_Y	-46304.1,528.5,-12648.3,116443.9,6572.7
GPS2	110511,6118.990,-746.521,16,2.1,35,-8.5	MHEAD_RNG_PITCHd_Wd	307.6,41945,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027133	ALTIM_BOTTOM_PING	725.3,37.9
SM_CCo	20585,106.25,0.608,0,0,509,557.32	_24V_AH	23.5,15.593
SM_GC	1.39,0.00,0.00,106.25,0.000,0.000,0.608,67,2292,509,-10.27,-0.23,557.32	_10V_AH	10.1,7.940
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50647,991
TT8_MAMPS	0.02301	CAP_FILE_SIZE	142393,0
HUMID	1841	CFSIZE	260165632,253415424
TCM_TEMP	19.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
XPDR_PINGS	51	GPS	230608,165240,6122.212,-754.155,62,1.9,65,-8.6
ALTIM_TOP_PING	19.6,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	168	104.69	SBE_CT	733	24	413.66
Roll_motor	150	95	339.82	SBE_O2	675	19	301.75
VBD_pump_during_apogee	449	1190	12568.73	WL_BB2F	572	105	1411.90
VBD_pump_during_surface	106	608	1518.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.52	nil	0	0	0.00
Iridium_during_connect	140	160	528.95	nil	0	0	0.00
Iridium_during_xfer	160	223	843.39
Transponder_ping	19	420	192.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	38	50	19.26
TT8	1775	19	355.09
LPSleep	16046	2	354.94
TT8_Active	748	19	149.66
TT8_Sampling	2024	39	813.96
TT8_CF8	639	45	295.61
TT8_Kalman	33	81	27.57
Analog_circuits	1750	12	212.22
GPS_charging	0	0	0.00
Compass	1956	8	158.11
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	146	0.00	0.00	-120.65	0.000	2	0.000	0.000	64	2309	2958
150	-0.85	-146.6	3.5	-2.7	6	180	11.45	2.75	-10.60	0.000	4	0.169	0.089	2108	3715	3378
265	-0.64	-146.6	19.8	-11.2	11	270	0.25	2.65	0.00	0.000	6	0.094	0.061	2157	2296	3379
588	-0.60	-146.6	46.8	-8.1	27	589	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2296	3379
896	-0.54	-146.6	69.8	-7.9	42	901	0.12	2.67	0.00	0.000	4	0.102	0.069	2180	874	3379
969	-0.63	-146.6	75.1	-7.0	45	973	0.00	2.65	0.00	0.000	6	0.000	0.058	2180	2299	3379
1285	-0.63	-146.6	97.8	-7.6	60	1286	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2299	3379
1594	-0.63	-146.6	116.9	-6.0	75	1598	0.00	2.67	0.00	0.000	4	0.000	0.067	2180	873	3379
1656	-0.72	-146.6	121.0	-6.8	78	1661	0.17	2.65	0.00	0.000	6	0.040	0.058	2126	2303	3379
1983	-0.59	-146.6	152.9	-9.7	94	1985	0.22	0.00	0.00	0.000	6	0.084	0.000	2171	2303	3379
2293	-0.59	-146.6	175.1	-7.1	109	2297	0.00	2.67	0.00	0.000	4	0.000	0.068	2171	878	3379
2359	-0.65	-146.6	180.6	-8.3	112	2364	0.00	2.65	0.00	0.000	6	0.000	0.058	2171	2306	3379
2681	-0.65	-146.6	207.7	-8.6	128	2685	0.00	2.70	0.00	0.000	4	0.000	0.069	2171	872	3379
2714	-0.71	-146.6	210.7	-8.9	129	2720	0.12	2.65	0.00	0.000	6	0.046	0.058	2129	2302	3379
3030	-0.59	-146.6	244.2	-10.5	145	3035	0.17	2.67	0.00	0.000	4	0.087	0.071	2167	880	3379
3080	-0.64	-146.6	248.8	-8.4	147	3084	0.00	2.62	0.00	0.000	6	0.000	0.058	2167	2300	3379
3395	-0.64	-146.6	273.8	-7.4	162	3396	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2300	3379
3705	-0.64	-146.6	297.5	-7.5	177	3709	0.00	2.67	0.00	0.000	4	0.000	0.071	2167	879	3379
3783	-0.70	-146.6	303.4	-7.3	180	3789	0.00	2.62	0.00	0.000	6	0.000	0.059	2167	2301	3379
4101	-0.70	-146.6	325.4	-6.9	196	4102	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2301	3379
4408	-0.70	-146.6	347.3	-7.8	211	4409	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2301	3379
4717	-0.70	-146.6	372.7	-8.6	226	4721	0.00	2.67	0.00	0.000	4	0.000	0.071	2167	875	3379
4802	-0.78	-146.6	379.9	-8.3	230	4807	0.17	2.62	0.00	0.000	6	0.041	0.058	2114	2302	3379
5129	-0.64	-146.6	411.8	-9.2	246	5131	0.22	0.00	0.00	0.000	6	0.085	0.000	2158	2302	3379
5438	-0.64	-146.6	432.7	-6.3	261	5442	0.00	2.67	0.00	0.000	4	0.000	0.071	2159	880	3379
5482	-0.69	-146.6	435.9	-7.0	263	5487	0.00	2.62	0.00	0.000	6	0.000	0.059	2159	2301	3379
5803	-0.69	-146.6	456.4	-6.5	279	5805	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2301	3379
6113	-0.69	-146.6	477.6	-7.0	294	6114	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2301	3378
6423	-0.69	-146.6	496.3	-5.6	309	6427	0.00	2.70	0.00	0.000	4	0.000	0.074	2159	877	3378
6490	-0.75	-146.6	500.3	-6.5	312	6495	0.12	2.65	0.00	0.000	6	0.048	0.062	2120	2300	3378
6812	-0.66	-146.6	524.9	-7.9	328	6813	0.17	0.00	0.00	0.000	6	0.089	0.000	2155	2300	3377
7120	-0.66	-146.6	545.1	-6.3	343	7121	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2300	3376
7429	-0.66	-146.6	565.9	-7.0	358	7431	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2300	3376
7739	-0.66	-146.6	586.5	-6.5	373	7740	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2300	3374
8048	-0.66	-146.6	606.9	-6.8	388	8052	0.00	2.72	0.00	0.000	4	0.000	0.080	2154	877	3373
8088	-0.71	-146.6	609.7	-7.5	390	8092	0.00	2.67	0.00	0.000	6	0.000	0.070	2154	2302	3372
8414	-0.71	-146.6	633.1	-7.3	406	8416	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2302	3372
8724	-0.71	-146.6	656.9	-7.2	421	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2302	3370
9033	-0.71	-146.6	676.8	-6.2	436	9034	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2302	3368
9342	-0.71	-146.6	697.3	-6.4	451	9347	0.00	2.72	0.00	0.000	4	0.000	0.081	2154	884	3368
9376	-0.78	-146.6	699.7	-7.4	452	9382	0.12	2.67	0.00	0.000	6	0.057	0.069	2120	2299	3367
9694	-0.68	-146.6	727.0	-9.2	468	9695	0.15	0.00	0.00	0.000	6	0.102	0.000	2148	2299	3366
10001	-0.68	-146.6	749.6	-7.3	483	10005	0.00	2.70	0.00	0.000	4	0.000	0.081	2148	885	3365
10053	end dive: BOTTOM_OBSTACLE_DETECTED
state	10053	begin apogee
10063	-0.31	0.0	753.2	6.7	485	10197	0.40	0.00	131.15	1.190	6	0.106	0.000	2228	2202	2781
10198	end apogee: CONTROL_FINISHED_OK
state	10198	begin climb
10201	0.85	146.6	758.2	0.0	492	10338	1.25	0.00	133.27	1.167	6	0.089	0.000	2482	2202	2183
10642	0.85	153.2	743.9	5.8	514	10656	0.00	2.80	7.45	0.955	4	0.000	0.080	2482	785	2156
10720	0.90	193.2	739.7	4.9	517	10764	0.00	2.70	37.20	1.139	6	0.000	0.067	2482	2202	1993
11083	0.92	210.7	719.1	5.5	535	11106	0.00	2.85	17.12	1.089	4	0.000	0.095	2482	3613	1921
11123	0.96	210.7	716.0	7.9	536	11130	0.12	2.72	0.00	0.000	6	0.064	0.073	2513	2200	1921
11439	0.92	210.7	692.6	6.8	552	11441	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2200	1920
11748	0.86	210.7	669.4	7.0	567	11750	0.15	0.00	0.00	0.000	6	0.097	0.000	2484	2200	1920
12057	0.86	210.7	650.0	6.5	582	12062	0.00	2.78	0.00	0.000	4	0.000	0.094	2484	3613	1919
12101	0.86	210.7	646.8	7.2	584	12106	0.00	2.70	0.00	0.000	6	0.000	0.074	2484	2200	1919
12422	0.86	210.7	626.1	6.3	600	12424	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2200	1919
12732	0.87	221.1	607.8	5.7	615	12747	0.00	2.85	10.30	0.999	4	0.000	0.095	2484	3615	1878
12775	0.87	221.1	605.1	6.1	616	12780	0.00	2.70	0.00	0.000	6	0.000	0.074	2484	2200	1878
13097	0.89	237.9	587.0	5.5	632	13116	0.00	0.00	16.33	1.046	6	0.000	0.000	2484	2200	1811
13426	0.89	240.0	567.8	5.9	648	13435	0.00	2.80	3.72	0.684	4	0.000	0.095	2484	3614	1802
13464	0.89	240.0	565.2	6.6	649	13470	0.00	2.72	0.00	0.000	6	0.000	0.074	2484	2194	1802
13780	0.89	240.2	547.0	6.0	665	13781	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2191	1801
14090	0.91	256.3	529.7	5.6	680	14109	0.00	0.00	15.68	1.013	6	0.000	0.000	2484	2191	1736
14419	0.99	328.5	513.6	4.0	696	14489	0.15	2.80	63.67	1.063	4	0.058	0.084	2522	780	1440
14554	0.94	328.5	505.9	6.2	702	14558	0.00	2.72	0.00	0.000	6	0.000	0.067	2522	2206	1439
14874	0.89	328.5	486.1	6.3	718	14880	0.15	2.78	0.00	0.000	4	0.101	0.096	2489	3614	1439
14925	0.95	328.5	482.9	6.5	720	14929	0.00	2.70	0.00	0.000	6	0.000	0.074	2489	2201	1439
15241	1.00	338.2	466.1	5.7	735	15253	0.12	0.00	9.75	0.912	6	0.058	0.000	2523	2201	1402
15549	1.00	338.2	441.1	9.0	750	15550	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2202	1402
15858	1.00	338.2	413.9	8.3	765	15863	0.00	2.72	0.00	0.000	4	0.000	0.083	2523	779	1402
15908	1.00	338.2	409.5	9.1	767	15913	0.00	2.67	0.00	0.000	6	0.000	0.063	2523	2200	1402
16224	0.96	338.2	381.9	8.9	782	16229	0.00	2.78	0.00	0.000	4	0.000	0.094	2523	3617	1402
16264	0.96	338.2	378.0	9.9	784	16269	0.00	2.72	0.00	0.000	6	0.000	0.074	2523	2194	1402
16591	0.96	338.2	345.4	11.1	800	16595	0.00	2.70	0.00	0.000	4	0.000	0.081	2523	785	1402
16640	0.96	338.2	339.7	11.2	802	16644	0.00	2.65	0.00	0.000	6	0.000	0.060	2523	2203	1401
16956	0.96	338.2	311.1	8.0	817	16957	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2203	1402
17265	0.96	338.2	288.1	7.6	832	17266	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2203	1403
17574	0.96	338.2	268.3	7.4	847	17578	0.00	2.72	0.00	0.000	4	0.000	0.087	2523	3616	1404
17613	0.96	338.2	264.7	10.1	849	17618	0.00	2.70	0.00	0.000	6	0.000	0.071	2523	2197	1404
17939	0.96	338.2	236.3	8.9	865	17944	0.00	2.67	0.00	0.000	4	0.000	0.075	2523	782	1405
17972	0.96	338.2	233.4	8.2	866	17978	0.00	2.62	0.00	0.000	6	0.000	0.057	2523	2201	1405
18288	0.96	338.2	206.2	8.4	882	18289	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2201	1405
18597	0.96	338.2	182.2	7.6	897	18601	0.00	2.67	0.00	0.000	4	0.000	0.071	2523	781	1406
18629	0.96	338.2	179.8	6.8	898	18635	0.00	2.62	0.00	0.000	6	0.000	0.056	2525	2203	1406
18945	0.96	338.2	156.4	8.1	914	18949	0.00	2.70	0.00	0.000	4	0.000	0.084	2523	3614	1407
18972	0.96	338.2	153.9	8.9	915	18976	0.00	2.67	0.00	0.000	6	0.000	0.067	2523	2192	1407
19288	0.96	338.2	121.3	11.1	930	19289	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2192	1408
19598	0.96	338.2	90.8	9.5	945	19599	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2192	1408
19906	0.96	338.2	61.1	9.3	960	19907	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2192	1409
20215	0.96	338.2	30.6	9.7	975	20216	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2192	1410
20525	0.96	338.2	3.9	8.4	990	20534	0.00	2.75	3.65	0.416	4	0.000	0.079	2523	3616	1402
20544	end climb: SURFACE_DEPTH_REACHED
state	20544	begin surface coast
20561	end surface coast: CONTROL_FINISHED_OK
state	20561	begin surface