Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 78 * 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 78 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 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 -2094449.1 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 -2094449.1

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 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 78 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 223857,6124.672,-806.782,36,2.7,56,-8.7 TGT_NAME FBC_3

_CALLS 1 TGT_LATLONG 6130.000,-828.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.162,0.151

_SM_DEPTHo 1.33 KALMAN_X -119899.3,853.1,-7693.4,-26716.4,-24971.3

_SM_ANGLEo -57.7 KALMAN_Y -43033.8,561.4,-6108.0,117131.9,4494.8

GPS2 224441,6124.675,-806.743,13,2.6,32,-8.7 MHEAD_RNG_PITCHd_Wd 306.4,21216,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013473 ALTIM_BOTTOM_PING 651.0,52.2

SM_CCo 18363,78.05,0.614,0,0,508,557.32 _24V_AH 23.5,15.956

SM_GC 1.36,0.00,0.00,78.05,0.000,0.000,0.614,66,2308,508,-10.28,0.23,557.32 _10V_AH 10.1,8.115

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44215,886

TT8_MAMPS 0.023777 CAP_FILE_SIZE 121787,0

HUMID 1832 CFSIZE 260165632,253313024

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 42 GPS 240608,035408,6126.234,-817.704,36,1.9,36,-8.8

ALTIM_TOP_PING 19.9,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 168 98.64 SBE_CT 659 24 371.98

Roll_motor 118 94 262.77 SBE_O2 602 19 269.22

VBD_pump_during_apogee 488 1156 13267.02 WL_BB2F 534 105 1319.08

VBD_pump_during_surface 78 614 1126.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.38 nil 0 0 0.00

Iridium_during_connect 26 160 99.02 nil 0 0 0.00

Iridium_during_xfer 158 223 830.98

Transponder_ping 16 420 165.32

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.73

TT8 1571 19 314.19

LPSleep 14186 2 313.79

TT8_Active 735 19 147.03

TT8_Sampling 1806 39 725.98

TT8_CF8 484 45 224.12

TT8_Kalman 33 81 27.56

Analog_circuits 1627 12 197.28

GPS_charging 0 0 0.00

Compass 1749 8 141.34

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 0 148 0.00 0.00 -120.80 0.000 2 0.000 0.000 73 2307 2926

152 -0.85 -146.6 3.3 -2.5 6 179 11.52 0.00 -11.75 0.000 6 0.169 0.000 2111 2307 3380

479 -0.66 -146.6 43.1 -11.6 22 481 0.22 0.00 0.00 0.000 6 0.093 0.000 2155 2307 3380

787 -0.62 -146.6 69.9 -8.8 37 788 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2308 3380

1096 -0.62 -146.6 93.2 -6.9 52 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2307 3381

1405 -0.62 -146.6 112.3 -6.0 67 1406 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2308 3381

1714 -0.62 -146.6 132.5 -6.7 82 1715 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2307 3381

2023 -0.62 -146.6 153.1 -6.5 97 2028 0.00 2.67 0.00 0.000 4 0.000 0.069 2155 874 3382

2108 -0.62 -146.6 158.9 -6.3 101 2112 0.00 2.60 0.00 0.000 6 0.000 0.055 2155 2302 3381

2434 -0.62 -146.6 184.5 -8.7 117 2435 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2302 3381

2743 -0.62 -146.6 208.8 -7.3 132 2748 0.00 2.67 0.00 0.000 4 0.000 0.069 2155 874 3381

2794 -0.62 -146.6 212.5 -7.1 134 2798 0.00 2.65 0.00 0.000 6 0.000 0.056 2155 2307 3381

3109 -0.62 -146.6 234.9 -6.9 149 3110 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2307 3382

3419 -0.62 -146.6 254.5 -5.5 164 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2308 3381

3728 -0.62 -146.6 274.9 -8.1 179 3733 0.00 2.70 0.00 0.000 4 0.000 0.071 2155 876 3381

3789 -0.62 -146.6 280.1 -8.7 181 3795 0.00 2.60 0.00 0.000 6 0.000 0.058 2155 2301 3381

4105 -0.62 -146.6 309.3 -9.7 197 4109 0.00 2.67 0.00 0.000 4 0.000 0.071 2155 879 3381

4144 -0.62 -146.6 313.1 -10.1 199 4148 0.00 2.62 0.00 0.000 6 0.000 0.058 2154 2304 3381

4470 -0.62 -146.6 337.8 -7.2 215 4474 0.00 2.67 0.00 0.000 4 0.000 0.071 2155 879 3381

4542 -0.62 -146.6 343.1 -8.6 218 4546 0.00 2.62 0.00 0.000 6 0.000 0.058 2155 2300 3381

4857 -0.62 -146.6 371.1 -8.5 233 4862 0.00 2.67 0.00 0.000 4 0.000 0.072 2155 879 3381

4902 -0.62 -146.6 374.7 -8.3 235 4906 0.00 2.62 0.00 0.000 6 0.000 0.059 2155 2302 3381

5223 -0.62 -146.6 398.6 -6.6 251 5224 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2302 3381

5532 -0.62 -146.6 420.5 -8.7 266 5533 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2302 3381

5841 -0.62 -146.6 445.7 -6.9 281 5842 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2302 3380

6151 -0.62 -146.6 466.7 -7.3 296 6155 0.00 2.70 0.00 0.000 4 0.000 0.074 2155 877 3380

6195 -0.67 -146.6 470.2 -7.7 298 6200 0.00 2.65 0.00 0.000 6 0.000 0.062 2155 2298 3380

6516 -0.67 -146.6 494.2 -7.2 314 6518 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2298 3379

6826 -0.67 -146.6 514.0 -6.2 329 6827 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2298 3378

7135 -0.67 -146.6 532.0 -5.8 344 7136 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2298 3378

7445 -0.67 -146.6 549.6 -5.6 359 7446 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2298 3376

7754 -0.67 -146.6 566.8 -6.6 374 7758 0.00 2.72 0.00 0.000 4 0.000 0.080 2155 876 3375

7794 -0.74 -146.6 569.6 -7.5 376 7799 0.00 2.67 0.00 0.000 6 0.000 0.066 2155 2305 3375

8120 -0.74 -146.6 594.5 -6.8 392 8121 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2306 3373

8430 -0.74 -146.6 615.7 -8.0 407 8431 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2305 3373

8739 -0.74 -146.6 634.9 -5.2 422 8744 0.00 2.75 0.00 0.000 4 0.000 0.084 2155 884 3372

8825 -0.81 -146.6 638.5 -4.4 426 8830 0.15 2.65 0.00 0.000 6 0.055 0.069 2115 2298 3371

9155 -0.72 -146.6 664.3 -4.7 442 9156 0.15 0.00 0.00 0.000 6 0.107 0.000 2142 2300 3369

9461 -0.72 -146.6 684.5 -10.4 457 9465 0.00 2.70 0.00 0.000 4 0.000 0.074 2142 880 3369

9505 -0.77 -146.6 688.4 -8.7 459 9510 0.00 2.70 0.00 0.000 6 0.000 0.069 2143 2310 3368

9555 end dive: BOTTOM_OBSTACLE_DETECTED

state 9556 begin apogee

9563 -0.31 0.0 694.3 11.7 462 9698 0.45 0.00 131.18 1.157 6 0.114 0.000 2229 2190 2781

9699 end apogee: CONTROL_FINISHED_OK

state 9699 begin climb

9702 0.85 146.6 700.0 0.0 469 9838 1.20 0.00 132.02 1.136 6 0.089 0.000 2477 2190 2183

10134 1.02 307.4 684.2 1.6 490 10281 0.20 0.00 144.07 1.124 6 0.061 0.000 2521 2190 1528

10583 1.02 307.4 647.0 8.1 512 10584 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2190 1527

10892 1.02 307.4 626.9 7.7 527 10897 0.00 2.83 0.00 0.000 4 0.000 0.094 2521 3616 1527

10964 1.02 307.4 618.8 13.4 530 10969 0.00 2.72 0.00 0.000 6 0.000 0.077 2521 2203 1526

11280 1.02 307.4 596.1 6.8 545 11284 0.00 2.75 0.00 0.000 4 0.000 0.087 2521 781 1526

11323 1.02 307.4 592.8 7.4 547 11328 0.00 2.67 0.00 0.000 6 0.000 0.066 2521 2197 1526

11644 1.02 307.4 568.7 8.0 563 11645 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2197 1526

11954 1.02 307.4 543.7 8.5 578 11955 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2197 1525

12263 1.02 307.4 518.7 8.0 593 12264 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2197 1524

12572 1.02 307.4 496.0 7.5 608 12576 0.00 2.78 0.00 0.000 4 0.000 0.094 2521 3613 1523

12611 1.02 307.4 493.7 6.1 610 12616 0.00 2.72 0.00 0.000 6 0.000 0.076 2521 2193 1523

12938 1.02 307.4 471.2 8.3 626 12942 0.00 2.80 0.00 0.000 4 0.000 0.090 2521 3620 1523

13045 1.02 307.4 460.7 9.5 631 13050 0.00 2.70 0.00 0.000 6 0.000 0.072 2521 2202 1522

13371 1.02 307.4 431.2 7.6 647 13373 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2201 1523

13680 1.02 307.4 410.1 7.0 662 13682 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2201 1523

13990 1.02 307.4 387.2 7.5 677 13994 0.00 2.75 0.00 0.000 4 0.000 0.085 2522 3618 1523

14022 1.02 307.4 384.5 8.4 678 14028 0.00 2.67 0.00 0.000 6 0.000 0.071 2522 2199 1523

14338 1.02 307.4 361.1 7.6 694 14342 0.00 2.67 0.00 0.000 4 0.000 0.074 2522 779 1524

14370 1.02 307.4 358.6 7.8 695 14377 0.00 2.62 0.00 0.000 6 0.000 0.056 2522 2201 1523

14686 1.02 307.4 334.1 7.3 711 14691 0.00 2.70 0.00 0.000 4 0.000 0.082 2522 3615 1525

14753 1.02 307.4 328.5 8.0 714 14757 0.00 2.67 0.00 0.000 6 0.000 0.068 2521 2198 1526

15073 1.09 366.6 310.2 4.4 730 15130 0.00 2.80 50.80 0.866 4 0.000 0.079 2521 3616 1285

15164 1.19 400.6 305.9 5.1 733 15200 0.17 2.70 30.02 0.838 6 0.052 0.067 2568 2201 1147

15525 1.14 400.6 278.0 7.9 751 15530 0.12 2.70 0.00 0.000 4 0.086 0.074 2544 782 1146

15575 1.14 400.6 273.4 8.3 753 15579 0.00 2.62 0.00 0.000 6 0.000 0.054 2544 2203 1146

15890 1.14 400.6 248.2 8.6 768 15891 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2203 1148

16199 1.14 400.6 218.3 10.0 783 16201 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2203 1148

16509 1.14 400.6 190.6 8.6 798 16513 0.00 2.67 0.00 0.000 4 0.000 0.070 2544 781 1149

16564 1.14 400.6 185.9 8.0 800 16570 0.00 2.62 0.00 0.000 6 0.000 0.054 2544 2208 1150

16880 1.14 400.6 149.6 14.5 816 16881 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2208 1150

17191 1.14 400.6 115.9 9.8 831 17195 0.00 2.70 0.00 0.000 4 0.000 0.070 2544 781 1150

17263 1.14 400.6 107.0 11.5 834 17267 0.00 2.60 0.00 0.000 6 0.000 0.052 2544 2203 1150

17579 1.14 400.6 74.2 8.7 849 17580 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2203 1151

17888 1.14 400.6 43.2 10.3 864 17889 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2203 1151

18197 1.14 400.6 14.0 9.3 879 18202 0.00 2.67 0.00 0.000 4 0.000 0.069 2544 782 1152

18253 1.14 400.6 7.8 11.5 881 18259 0.00 2.58 0.00 0.000 6 0.000 0.052 2544 2200 1152

18319 end climb: SURFACE_DEPTH_REACHED

state 18319 begin surface coast

18341 end surface coast: CONTROL_FINISHED_OK

state 18341 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	78	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	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	-2094449.1	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	223857,6124.672,-806.782,36,2.7,56,-8.7	TGT_NAME	FBC_3
_CALLS	1	TGT_LATLONG	6130.000,-828.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.162,0.151
_SM_DEPTHo	1.33	KALMAN_X	-119899.3,853.1,-7693.4,-26716.4,-24971.3
_SM_ANGLEo	-57.7	KALMAN_Y	-43033.8,561.4,-6108.0,117131.9,4494.8
GPS2	224441,6124.675,-806.743,13,2.6,32,-8.7	MHEAD_RNG_PITCHd_Wd	306.4,21216,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.013473	ALTIM_BOTTOM_PING	651.0,52.2
SM_CCo	18363,78.05,0.614,0,0,508,557.32	_24V_AH	23.5,15.956
SM_GC	1.36,0.00,0.00,78.05,0.000,0.000,0.614,66,2308,508,-10.28,0.23,557.32	_10V_AH	10.1,8.115
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44215,886
TT8_MAMPS	0.023777	CAP_FILE_SIZE	121787,0
HUMID	1832	CFSIZE	260165632,253313024
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	42	GPS	240608,035408,6126.234,-817.704,36,1.9,36,-8.8
ALTIM_TOP_PING	19.9,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	168	98.64	SBE_CT	659	24	371.98
Roll_motor	118	94	262.77	SBE_O2	602	19	269.22
VBD_pump_during_apogee	488	1156	13267.02	WL_BB2F	534	105	1319.08
VBD_pump_during_surface	78	614	1126.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.38	nil	0	0	0.00
Iridium_during_connect	26	160	99.02	nil	0	0	0.00
Iridium_during_xfer	158	223	830.98
Transponder_ping	16	420	165.32
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.73
TT8	1571	19	314.19
LPSleep	14186	2	313.79
TT8_Active	735	19	147.03
TT8_Sampling	1806	39	725.98
TT8_CF8	484	45	224.12
TT8_Kalman	33	81	27.56
Analog_circuits	1627	12	197.28
GPS_charging	0	0	0.00
Compass	1749	8	141.34
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	148	0.00	0.00	-120.80	0.000	2	0.000	0.000	73	2307	2926
152	-0.85	-146.6	3.3	-2.5	6	179	11.52	0.00	-11.75	0.000	6	0.169	0.000	2111	2307	3380
479	-0.66	-146.6	43.1	-11.6	22	481	0.22	0.00	0.00	0.000	6	0.093	0.000	2155	2307	3380
787	-0.62	-146.6	69.9	-8.8	37	788	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2308	3380
1096	-0.62	-146.6	93.2	-6.9	52	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2307	3381
1405	-0.62	-146.6	112.3	-6.0	67	1406	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2308	3381
1714	-0.62	-146.6	132.5	-6.7	82	1715	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2307	3381
2023	-0.62	-146.6	153.1	-6.5	97	2028	0.00	2.67	0.00	0.000	4	0.000	0.069	2155	874	3382
2108	-0.62	-146.6	158.9	-6.3	101	2112	0.00	2.60	0.00	0.000	6	0.000	0.055	2155	2302	3381
2434	-0.62	-146.6	184.5	-8.7	117	2435	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2302	3381
2743	-0.62	-146.6	208.8	-7.3	132	2748	0.00	2.67	0.00	0.000	4	0.000	0.069	2155	874	3381
2794	-0.62	-146.6	212.5	-7.1	134	2798	0.00	2.65	0.00	0.000	6	0.000	0.056	2155	2307	3381
3109	-0.62	-146.6	234.9	-6.9	149	3110	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2307	3382
3419	-0.62	-146.6	254.5	-5.5	164	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2308	3381
3728	-0.62	-146.6	274.9	-8.1	179	3733	0.00	2.70	0.00	0.000	4	0.000	0.071	2155	876	3381
3789	-0.62	-146.6	280.1	-8.7	181	3795	0.00	2.60	0.00	0.000	6	0.000	0.058	2155	2301	3381
4105	-0.62	-146.6	309.3	-9.7	197	4109	0.00	2.67	0.00	0.000	4	0.000	0.071	2155	879	3381
4144	-0.62	-146.6	313.1	-10.1	199	4148	0.00	2.62	0.00	0.000	6	0.000	0.058	2154	2304	3381
4470	-0.62	-146.6	337.8	-7.2	215	4474	0.00	2.67	0.00	0.000	4	0.000	0.071	2155	879	3381
4542	-0.62	-146.6	343.1	-8.6	218	4546	0.00	2.62	0.00	0.000	6	0.000	0.058	2155	2300	3381
4857	-0.62	-146.6	371.1	-8.5	233	4862	0.00	2.67	0.00	0.000	4	0.000	0.072	2155	879	3381
4902	-0.62	-146.6	374.7	-8.3	235	4906	0.00	2.62	0.00	0.000	6	0.000	0.059	2155	2302	3381
5223	-0.62	-146.6	398.6	-6.6	251	5224	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2302	3381
5532	-0.62	-146.6	420.5	-8.7	266	5533	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2302	3381
5841	-0.62	-146.6	445.7	-6.9	281	5842	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2302	3380
6151	-0.62	-146.6	466.7	-7.3	296	6155	0.00	2.70	0.00	0.000	4	0.000	0.074	2155	877	3380
6195	-0.67	-146.6	470.2	-7.7	298	6200	0.00	2.65	0.00	0.000	6	0.000	0.062	2155	2298	3380
6516	-0.67	-146.6	494.2	-7.2	314	6518	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2298	3379
6826	-0.67	-146.6	514.0	-6.2	329	6827	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2298	3378
7135	-0.67	-146.6	532.0	-5.8	344	7136	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2298	3378
7445	-0.67	-146.6	549.6	-5.6	359	7446	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2298	3376
7754	-0.67	-146.6	566.8	-6.6	374	7758	0.00	2.72	0.00	0.000	4	0.000	0.080	2155	876	3375
7794	-0.74	-146.6	569.6	-7.5	376	7799	0.00	2.67	0.00	0.000	6	0.000	0.066	2155	2305	3375
8120	-0.74	-146.6	594.5	-6.8	392	8121	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2306	3373
8430	-0.74	-146.6	615.7	-8.0	407	8431	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2305	3373
8739	-0.74	-146.6	634.9	-5.2	422	8744	0.00	2.75	0.00	0.000	4	0.000	0.084	2155	884	3372
8825	-0.81	-146.6	638.5	-4.4	426	8830	0.15	2.65	0.00	0.000	6	0.055	0.069	2115	2298	3371
9155	-0.72	-146.6	664.3	-4.7	442	9156	0.15	0.00	0.00	0.000	6	0.107	0.000	2142	2300	3369
9461	-0.72	-146.6	684.5	-10.4	457	9465	0.00	2.70	0.00	0.000	4	0.000	0.074	2142	880	3369
9505	-0.77	-146.6	688.4	-8.7	459	9510	0.00	2.70	0.00	0.000	6	0.000	0.069	2143	2310	3368
9555	end dive: BOTTOM_OBSTACLE_DETECTED
state	9556	begin apogee
9563	-0.31	0.0	694.3	11.7	462	9698	0.45	0.00	131.18	1.157	6	0.114	0.000	2229	2190	2781
9699	end apogee: CONTROL_FINISHED_OK
state	9699	begin climb
9702	0.85	146.6	700.0	0.0	469	9838	1.20	0.00	132.02	1.136	6	0.089	0.000	2477	2190	2183
10134	1.02	307.4	684.2	1.6	490	10281	0.20	0.00	144.07	1.124	6	0.061	0.000	2521	2190	1528
10583	1.02	307.4	647.0	8.1	512	10584	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2190	1527
10892	1.02	307.4	626.9	7.7	527	10897	0.00	2.83	0.00	0.000	4	0.000	0.094	2521	3616	1527
10964	1.02	307.4	618.8	13.4	530	10969	0.00	2.72	0.00	0.000	6	0.000	0.077	2521	2203	1526
11280	1.02	307.4	596.1	6.8	545	11284	0.00	2.75	0.00	0.000	4	0.000	0.087	2521	781	1526
11323	1.02	307.4	592.8	7.4	547	11328	0.00	2.67	0.00	0.000	6	0.000	0.066	2521	2197	1526
11644	1.02	307.4	568.7	8.0	563	11645	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2197	1526
11954	1.02	307.4	543.7	8.5	578	11955	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2197	1525
12263	1.02	307.4	518.7	8.0	593	12264	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2197	1524
12572	1.02	307.4	496.0	7.5	608	12576	0.00	2.78	0.00	0.000	4	0.000	0.094	2521	3613	1523
12611	1.02	307.4	493.7	6.1	610	12616	0.00	2.72	0.00	0.000	6	0.000	0.076	2521	2193	1523
12938	1.02	307.4	471.2	8.3	626	12942	0.00	2.80	0.00	0.000	4	0.000	0.090	2521	3620	1523
13045	1.02	307.4	460.7	9.5	631	13050	0.00	2.70	0.00	0.000	6	0.000	0.072	2521	2202	1522
13371	1.02	307.4	431.2	7.6	647	13373	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2201	1523
13680	1.02	307.4	410.1	7.0	662	13682	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2201	1523
13990	1.02	307.4	387.2	7.5	677	13994	0.00	2.75	0.00	0.000	4	0.000	0.085	2522	3618	1523
14022	1.02	307.4	384.5	8.4	678	14028	0.00	2.67	0.00	0.000	6	0.000	0.071	2522	2199	1523
14338	1.02	307.4	361.1	7.6	694	14342	0.00	2.67	0.00	0.000	4	0.000	0.074	2522	779	1524
14370	1.02	307.4	358.6	7.8	695	14377	0.00	2.62	0.00	0.000	6	0.000	0.056	2522	2201	1523
14686	1.02	307.4	334.1	7.3	711	14691	0.00	2.70	0.00	0.000	4	0.000	0.082	2522	3615	1525
14753	1.02	307.4	328.5	8.0	714	14757	0.00	2.67	0.00	0.000	6	0.000	0.068	2521	2198	1526
15073	1.09	366.6	310.2	4.4	730	15130	0.00	2.80	50.80	0.866	4	0.000	0.079	2521	3616	1285
15164	1.19	400.6	305.9	5.1	733	15200	0.17	2.70	30.02	0.838	6	0.052	0.067	2568	2201	1147
15525	1.14	400.6	278.0	7.9	751	15530	0.12	2.70	0.00	0.000	4	0.086	0.074	2544	782	1146
15575	1.14	400.6	273.4	8.3	753	15579	0.00	2.62	0.00	0.000	6	0.000	0.054	2544	2203	1146
15890	1.14	400.6	248.2	8.6	768	15891	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2203	1148
16199	1.14	400.6	218.3	10.0	783	16201	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2203	1148
16509	1.14	400.6	190.6	8.6	798	16513	0.00	2.67	0.00	0.000	4	0.000	0.070	2544	781	1149
16564	1.14	400.6	185.9	8.0	800	16570	0.00	2.62	0.00	0.000	6	0.000	0.054	2544	2208	1150
16880	1.14	400.6	149.6	14.5	816	16881	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2208	1150
17191	1.14	400.6	115.9	9.8	831	17195	0.00	2.70	0.00	0.000	4	0.000	0.070	2544	781	1150
17263	1.14	400.6	107.0	11.5	834	17267	0.00	2.60	0.00	0.000	6	0.000	0.052	2544	2203	1150
17579	1.14	400.6	74.2	8.7	849	17580	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2203	1151
17888	1.14	400.6	43.2	10.3	864	17889	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2203	1151
18197	1.14	400.6	14.0	9.3	879	18202	0.00	2.67	0.00	0.000	4	0.000	0.069	2544	782	1152
18253	1.14	400.6	7.8	11.5	881	18259	0.00	2.58	0.00	0.000	6	0.000	0.052	2544	2200	1152
18319	end climb: SURFACE_DEPTH_REACHED
state	18319	begin surface coast
18341	end surface coast: CONTROL_FINISHED_OK
state	18341	begin surface