Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 85 * 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 85 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -2094624.5 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 -2094624.5

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 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 85 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 122857,6124.788,-823.478,50,2.2,69,-8.9 TGT_NAME FBC_4

_CALLS 2 TGT_LATLONG 6140.000,-845.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.026,0.220

_SM_DEPTHo 1.13 KALMAN_X -143364.9,1948.0,1745.3,-28774.4,-12302.1

_SM_ANGLEo -49.2 KALMAN_Y -85587.2,2770.4,699.8,150920.9,-33642.2

GPS2 123711,6124.832,-823.317,16,2.2,35,-8.9 MHEAD_RNG_PITCHd_Wd 334.7,33947,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027161 ALTIM_TOP_PING 19.7,19.1

SM_CCo 19007,59.12,0.599,0,0,508,557.32 _24V_AH 23.5,17.093

SM_GC 1.27,0.00,0.00,59.12,0.000,0.000,0.599,63,2306,508,-10.29,0.11,557.32 _10V_AH 10.1,8.731

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47414,913

TT8_MAMPS 0.023777 CAP_FILE_SIZE 145100,1

HUMID 1888 CFSIZE 260165632,252825600

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 52 GPS 250608,175708,6129.152,-825.379,40,1.1,40,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 103.42 SBE_CT 671 24 378.64

Roll_motor 186 92 403.77 SBE_O2 621 19 277.30

VBD_pump_during_apogee 527 1227 15206.19 WL_BB2F 529 105 1305.82

VBD_pump_during_surface 59 599 832.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.42 nil 0 0 0.00

Iridium_during_connect 52 160 199.25 nil 0 0 0.00

Iridium_during_xfer 197 223 1032.39

Transponder_ping 21 420 207.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.50

TT8 1695 19 338.99

LPSleep 14369 2 317.85

TT8_Active 764 19 152.85

TT8_Sampling 2140 39 860.52

TT8_CF8 593 45 274.68

TT8_Kalman 33 81 27.57

Analog_circuits 1842 12 223.28

GPS_charging 0 0 0.00

Compass 2061 8 166.54

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.93 0.000 2 0.000 0.000 70 2315 2988

150 -0.85 -146.6 3.9 -3.4 6 177 11.38 2.65 -9.12 0.000 4 0.173 0.084 2108 3709 3378

419 -0.64 -146.6 37.6 -10.2 18 424 0.25 2.60 0.00 0.000 6 0.093 0.054 2157 2294 3379

741 -0.60 -146.6 59.4 -7.6 34 745 0.00 2.62 0.00 0.000 4 0.000 0.065 2157 880 3379

841 -0.60 -146.6 68.4 -9.5 38 847 0.00 2.62 0.00 0.000 6 0.000 0.055 2155 2302 3379

1158 -0.60 -146.6 96.3 -8.5 54 1160 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2302 3379

1466 -0.60 -146.6 122.1 -8.3 69 1470 0.00 2.65 0.00 0.000 4 0.000 0.064 2157 880 3379

1515 -0.60 -146.6 126.2 -8.0 71 1520 0.00 2.58 0.00 0.000 6 0.000 0.055 2157 2302 3379

1832 -0.60 -146.6 152.2 -8.4 86 1833 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2302 3379

2141 -0.60 -146.6 177.5 -8.1 101 2145 0.00 2.65 0.00 0.000 4 0.000 0.065 2157 880 3379

2229 -0.60 -146.6 184.8 -8.0 105 2234 0.00 2.62 0.00 0.000 6 0.000 0.056 2157 2303 3379

2551 -0.60 -146.6 211.0 -8.1 121 2556 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 881 3379

2614 -0.60 -146.6 216.3 -8.0 124 2618 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2301 3379

2940 -0.60 -146.6 244.4 -9.1 140 2941 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2301 3379

3249 -0.60 -146.6 272.2 -9.1 155 3254 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 880 3379

3316 -0.60 -146.6 278.7 -9.8 158 3320 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2300 3379

3637 -0.60 -146.6 308.1 -8.8 174 3638 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2300 3377

3946 -0.60 -146.6 335.1 -8.7 189 3950 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 881 3378

4053 -0.60 -146.6 344.3 -8.7 194 4057 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2305 3378

4379 -0.60 -146.6 371.3 -8.2 210 4384 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 880 3378

4434 -0.60 -146.6 375.9 -8.4 212 4440 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2306 3378

4751 -0.60 -146.6 401.0 -8.0 228 4755 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 874 3378

4790 -0.60 -146.6 404.2 -8.2 230 4794 0.00 2.62 0.00 0.000 6 0.000 0.056 2157 2302 3378

5117 -0.60 -146.6 428.8 -7.0 246 5118 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2301 3378

5427 -0.60 -146.6 451.3 -7.8 261 5431 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 881 3378

5489 -0.60 -146.6 456.8 -8.7 264 5493 0.00 2.62 0.00 0.000 6 0.000 0.056 2157 2307 3378

5815 -0.60 -146.6 486.7 -9.0 280 5819 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 874 3377

5887 -0.60 -146.6 493.0 -8.9 283 5891 0.00 2.62 0.00 0.000 6 0.000 0.056 2157 2303 3377

6202 -0.60 -146.6 516.7 -7.8 298 6207 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 879 3378

6280 -0.60 -146.6 523.0 -8.1 301 6286 0.00 2.62 0.00 0.000 6 0.000 0.056 2157 2304 3377

6596 -0.60 -146.6 547.4 -7.9 317 6597 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2305 3377

6905 -0.60 -146.6 574.2 -9.1 332 6910 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 873 3377

6978 -0.65 -146.6 580.8 -9.2 335 6983 0.00 2.62 0.00 0.000 6 0.000 0.056 2157 2306 3377

7294 -0.65 -146.6 605.6 -7.7 350 7295 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2306 3377

7603 -0.65 -146.6 620.1 -1.8 365 7605 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2306 3376

7913 -0.60 -146.6 626.5 -2.7 380 7917 0.00 2.62 0.00 0.000 4 0.000 0.063 2157 880 3376

8002 -0.70 -146.6 638.5 -10.5 384 8007 0.00 2.60 0.00 0.000 6 0.000 0.058 2157 2298 3376

8323 -0.70 -146.6 667.8 -8.5 400 8327 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 880 3376

8363 -0.79 -146.6 671.3 -9.1 402 8368 0.15 2.62 0.00 0.000 6 0.044 0.058 2110 2302 3376

8692 -0.62 -146.6 708.4 -10.2 418 8697 0.22 2.70 0.00 0.000 4 0.091 0.082 2159 3709 3376

8719 -0.62 -146.6 712.9 -15.7 419 8724 0.00 2.60 0.00 0.000 6 0.000 0.061 2159 2294 3376

9036 -0.71 -146.6 737.3 -9.7 434 9037 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2293 3376

9345 -0.79 -146.6 747.8 -5.0 449 9347 0.15 0.00 0.00 0.000 6 0.048 0.000 2115 2293 3375

9654 -0.67 -146.6 773.4 -6.5 464 9659 0.15 2.67 0.00 0.000 4 0.095 0.078 2147 890 3374

9710 -0.75 -146.6 775.8 -3.1 466 9717 0.00 2.65 0.00 0.000 6 0.000 0.071 2149 2295 3374

10026 -0.75 -146.6 798.2 -13.3 482 10030 0.00 2.67 0.00 0.000 4 0.000 0.077 2149 892 3373

10083 -0.81 -146.6 804.8 -10.3 484 10090 0.12 2.67 0.00 0.000 6 0.053 0.068 2113 2308 3372

10399 -0.65 -146.6 838.7 -11.6 500 10404 0.20 2.72 0.00 0.000 4 0.102 0.079 2154 893 3370

10461 -0.73 -146.6 844.3 -12.4 503 10466 0.00 2.65 0.00 0.000 6 0.000 0.074 2154 2300 3370

10744 end dive: NO_VERTICAL_VELOCITY

state 10744 begin apogee

10752 -0.31 0.0 851.7 0.0 517 10888 0.38 0.00 132.55 1.227 6 0.091 0.000 2231 2205 2781

10888 end apogee: CONTROL_FINISHED_OK

state 10888 begin climb

10891 0.85 146.6 852.0 0.0 524 11035 1.20 2.83 133.00 1.199 4 0.089 0.075 2477 784 2183

11161 0.77 240.8 846.6 3.4 536 11254 0.00 2.70 85.82 1.186 6 0.000 0.064 2478 2204 1799

11564 0.65 280.4 821.7 4.9 556 11605 0.15 0.00 36.85 1.164 6 0.096 0.000 2444 2204 1637

11915 0.98 434.8 814.6 1.8 573 12061 0.28 2.85 139.05 1.197 4 0.060 0.092 2511 3611 1008

12084 1.15 434.8 801.6 10.9 581 12089 0.17 2.75 0.00 0.000 6 0.054 0.071 2555 2192 1007

12400 1.08 434.8 761.6 10.0 596 12405 0.10 2.72 0.00 0.000 4 0.104 0.084 2536 789 1007

12450 1.08 434.8 754.2 13.7 598 12454 0.00 2.67 0.00 0.000 6 0.000 0.064 2536 2201 1007

12765 1.08 434.8 701.7 15.0 613 12770 0.00 2.75 0.00 0.000 4 0.000 0.081 2536 787 1007

12815 1.08 434.8 695.8 10.5 615 12820 0.00 2.67 0.00 0.000 6 0.000 0.064 2536 2201 1006

13131 1.08 434.8 653.3 13.0 630 13135 0.00 2.75 0.00 0.000 4 0.000 0.090 2536 3613 1006

13215 1.08 434.8 642.3 13.4 634 13220 0.00 2.67 0.00 0.000 6 0.000 0.070 2536 2200 1006

13542 1.08 434.8 605.1 11.3 650 13547 0.00 2.72 0.00 0.000 4 0.000 0.081 2536 783 1005

13615 1.08 434.8 596.7 12.3 653 13619 0.00 2.65 0.00 0.000 6 0.000 0.059 2536 2201 1005

13930 1.08 434.8 561.5 11.0 668 13932 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2201 1005

14240 1.08 434.8 524.9 12.4 683 14244 0.00 2.70 0.00 0.000 4 0.000 0.074 2536 784 1005

14324 1.08 434.8 515.0 11.7 687 14329 0.00 2.62 0.00 0.000 6 0.000 0.057 2536 2203 1005

14650 1.08 434.8 478.2 11.2 703 14655 0.00 2.70 0.00 0.000 4 0.000 0.073 2536 778 1006

14690 1.08 434.8 473.7 10.8 705 14694 0.00 2.65 0.00 0.000 6 0.000 0.055 2536 2206 1006

15017 1.08 434.8 436.0 11.7 721 15018 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2207 1007

15326 1.08 434.8 400.9 10.7 736 15330 0.00 2.72 0.00 0.000 4 0.000 0.072 2536 782 1007

15394 1.08 434.8 393.2 10.4 739 15398 0.00 2.62 0.00 0.000 6 0.000 0.054 2536 2202 1008

15714 1.08 434.8 357.7 10.6 755 15715 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2203 1008

16023 1.08 434.8 324.2 11.0 770 16028 0.00 2.70 0.00 0.000 4 0.000 0.071 2536 783 1009

16112 1.08 434.8 314.2 10.9 774 16117 0.00 2.62 0.00 0.000 6 0.000 0.054 2536 2206 1009

16433 1.08 434.8 278.5 11.1 790 16438 0.00 2.67 0.00 0.000 4 0.000 0.071 2536 783 1010

16477 1.08 434.8 273.3 11.8 792 16482 0.00 2.62 0.00 0.000 6 0.000 0.054 2536 2207 1010

16799 1.08 434.8 235.8 11.9 808 16803 0.00 2.70 0.00 0.000 4 0.000 0.071 2537 778 1010

16838 1.08 434.8 231.1 12.4 810 16842 0.00 2.62 0.00 0.000 6 0.000 0.054 2536 2206 1010

17164 1.08 434.8 190.4 12.7 826 17165 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2206 1011

17474 1.08 434.8 152.6 12.1 841 17478 0.00 2.70 0.00 0.000 4 0.000 0.069 2536 776 1012

17546 1.08 434.8 144.1 11.1 844 17550 0.00 2.62 0.00 0.000 6 0.000 0.053 2536 2204 1012

17862 1.08 434.8 110.8 10.6 859 17866 0.00 2.70 0.00 0.000 4 0.000 0.068 2536 773 1012

17906 1.08 434.8 105.8 10.4 861 17910 0.00 2.62 0.00 0.000 6 0.000 0.052 2536 2207 1012

18227 1.08 434.8 71.7 10.3 877 18231 0.00 2.67 0.00 0.000 4 0.000 0.066 2537 782 1013

18276 1.08 434.8 66.4 9.1 879 18281 0.00 2.60 0.00 0.000 6 0.000 0.052 2536 2202 1012

18592 1.08 434.8 37.2 9.9 894 18597 0.00 2.67 0.00 0.000 4 0.000 0.067 2536 782 1013

18648 1.12 434.8 31.4 11.2 896 18655 0.00 2.58 0.00 0.000 6 0.000 0.053 2536 2199 1013

18963 end climb: SURFACE_DEPTH_REACHED

state 18963 begin surface coast

18983 end surface coast: CONTROL_FINISHED_OK

state 18986 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	85	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-2094624.5	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	122857,6124.788,-823.478,50,2.2,69,-8.9	TGT_NAME	FBC_4
_CALLS	2	TGT_LATLONG	6140.000,-845.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.026,0.220
_SM_DEPTHo	1.13	KALMAN_X	-143364.9,1948.0,1745.3,-28774.4,-12302.1
_SM_ANGLEo	-49.2	KALMAN_Y	-85587.2,2770.4,699.8,150920.9,-33642.2
GPS2	123711,6124.832,-823.317,16,2.2,35,-8.9	MHEAD_RNG_PITCHd_Wd	334.7,33947,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027161	ALTIM_TOP_PING	19.7,19.1
SM_CCo	19007,59.12,0.599,0,0,508,557.32	_24V_AH	23.5,17.093
SM_GC	1.27,0.00,0.00,59.12,0.000,0.000,0.599,63,2306,508,-10.29,0.11,557.32	_10V_AH	10.1,8.731
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47414,913
TT8_MAMPS	0.023777	CAP_FILE_SIZE	145100,1
HUMID	1888	CFSIZE	260165632,252825600
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	52	GPS	250608,175708,6129.152,-825.379,40,1.1,40,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	103.42	SBE_CT	671	24	378.64
Roll_motor	186	92	403.77	SBE_O2	621	19	277.30
VBD_pump_during_apogee	527	1227	15206.19	WL_BB2F	529	105	1305.82
VBD_pump_during_surface	59	599	832.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.42	nil	0	0	0.00
Iridium_during_connect	52	160	199.25	nil	0	0	0.00
Iridium_during_xfer	197	223	1032.39
Transponder_ping	21	420	207.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.50
TT8	1695	19	338.99
LPSleep	14369	2	317.85
TT8_Active	764	19	152.85
TT8_Sampling	2140	39	860.52
TT8_CF8	593	45	274.68
TT8_Kalman	33	81	27.57
Analog_circuits	1842	12	223.28
GPS_charging	0	0	0.00
Compass	2061	8	166.54
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.93	0.000	2	0.000	0.000	70	2315	2988
150	-0.85	-146.6	3.9	-3.4	6	177	11.38	2.65	-9.12	0.000	4	0.173	0.084	2108	3709	3378
419	-0.64	-146.6	37.6	-10.2	18	424	0.25	2.60	0.00	0.000	6	0.093	0.054	2157	2294	3379
741	-0.60	-146.6	59.4	-7.6	34	745	0.00	2.62	0.00	0.000	4	0.000	0.065	2157	880	3379
841	-0.60	-146.6	68.4	-9.5	38	847	0.00	2.62	0.00	0.000	6	0.000	0.055	2155	2302	3379
1158	-0.60	-146.6	96.3	-8.5	54	1160	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2302	3379
1466	-0.60	-146.6	122.1	-8.3	69	1470	0.00	2.65	0.00	0.000	4	0.000	0.064	2157	880	3379
1515	-0.60	-146.6	126.2	-8.0	71	1520	0.00	2.58	0.00	0.000	6	0.000	0.055	2157	2302	3379
1832	-0.60	-146.6	152.2	-8.4	86	1833	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2302	3379
2141	-0.60	-146.6	177.5	-8.1	101	2145	0.00	2.65	0.00	0.000	4	0.000	0.065	2157	880	3379
2229	-0.60	-146.6	184.8	-8.0	105	2234	0.00	2.62	0.00	0.000	6	0.000	0.056	2157	2303	3379
2551	-0.60	-146.6	211.0	-8.1	121	2556	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	881	3379
2614	-0.60	-146.6	216.3	-8.0	124	2618	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2301	3379
2940	-0.60	-146.6	244.4	-9.1	140	2941	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2301	3379
3249	-0.60	-146.6	272.2	-9.1	155	3254	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	880	3379
3316	-0.60	-146.6	278.7	-9.8	158	3320	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2300	3379
3637	-0.60	-146.6	308.1	-8.8	174	3638	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2300	3377
3946	-0.60	-146.6	335.1	-8.7	189	3950	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	881	3378
4053	-0.60	-146.6	344.3	-8.7	194	4057	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2305	3378
4379	-0.60	-146.6	371.3	-8.2	210	4384	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	880	3378
4434	-0.60	-146.6	375.9	-8.4	212	4440	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2306	3378
4751	-0.60	-146.6	401.0	-8.0	228	4755	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	874	3378
4790	-0.60	-146.6	404.2	-8.2	230	4794	0.00	2.62	0.00	0.000	6	0.000	0.056	2157	2302	3378
5117	-0.60	-146.6	428.8	-7.0	246	5118	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2301	3378
5427	-0.60	-146.6	451.3	-7.8	261	5431	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	881	3378
5489	-0.60	-146.6	456.8	-8.7	264	5493	0.00	2.62	0.00	0.000	6	0.000	0.056	2157	2307	3378
5815	-0.60	-146.6	486.7	-9.0	280	5819	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	874	3377
5887	-0.60	-146.6	493.0	-8.9	283	5891	0.00	2.62	0.00	0.000	6	0.000	0.056	2157	2303	3377
6202	-0.60	-146.6	516.7	-7.8	298	6207	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	879	3378
6280	-0.60	-146.6	523.0	-8.1	301	6286	0.00	2.62	0.00	0.000	6	0.000	0.056	2157	2304	3377
6596	-0.60	-146.6	547.4	-7.9	317	6597	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2305	3377
6905	-0.60	-146.6	574.2	-9.1	332	6910	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	873	3377
6978	-0.65	-146.6	580.8	-9.2	335	6983	0.00	2.62	0.00	0.000	6	0.000	0.056	2157	2306	3377
7294	-0.65	-146.6	605.6	-7.7	350	7295	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2306	3377
7603	-0.65	-146.6	620.1	-1.8	365	7605	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2306	3376
7913	-0.60	-146.6	626.5	-2.7	380	7917	0.00	2.62	0.00	0.000	4	0.000	0.063	2157	880	3376
8002	-0.70	-146.6	638.5	-10.5	384	8007	0.00	2.60	0.00	0.000	6	0.000	0.058	2157	2298	3376
8323	-0.70	-146.6	667.8	-8.5	400	8327	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	880	3376
8363	-0.79	-146.6	671.3	-9.1	402	8368	0.15	2.62	0.00	0.000	6	0.044	0.058	2110	2302	3376
8692	-0.62	-146.6	708.4	-10.2	418	8697	0.22	2.70	0.00	0.000	4	0.091	0.082	2159	3709	3376
8719	-0.62	-146.6	712.9	-15.7	419	8724	0.00	2.60	0.00	0.000	6	0.000	0.061	2159	2294	3376
9036	-0.71	-146.6	737.3	-9.7	434	9037	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2293	3376
9345	-0.79	-146.6	747.8	-5.0	449	9347	0.15	0.00	0.00	0.000	6	0.048	0.000	2115	2293	3375
9654	-0.67	-146.6	773.4	-6.5	464	9659	0.15	2.67	0.00	0.000	4	0.095	0.078	2147	890	3374
9710	-0.75	-146.6	775.8	-3.1	466	9717	0.00	2.65	0.00	0.000	6	0.000	0.071	2149	2295	3374
10026	-0.75	-146.6	798.2	-13.3	482	10030	0.00	2.67	0.00	0.000	4	0.000	0.077	2149	892	3373
10083	-0.81	-146.6	804.8	-10.3	484	10090	0.12	2.67	0.00	0.000	6	0.053	0.068	2113	2308	3372
10399	-0.65	-146.6	838.7	-11.6	500	10404	0.20	2.72	0.00	0.000	4	0.102	0.079	2154	893	3370
10461	-0.73	-146.6	844.3	-12.4	503	10466	0.00	2.65	0.00	0.000	6	0.000	0.074	2154	2300	3370
10744	end dive: NO_VERTICAL_VELOCITY
state	10744	begin apogee
10752	-0.31	0.0	851.7	0.0	517	10888	0.38	0.00	132.55	1.227	6	0.091	0.000	2231	2205	2781
10888	end apogee: CONTROL_FINISHED_OK
state	10888	begin climb
10891	0.85	146.6	852.0	0.0	524	11035	1.20	2.83	133.00	1.199	4	0.089	0.075	2477	784	2183
11161	0.77	240.8	846.6	3.4	536	11254	0.00	2.70	85.82	1.186	6	0.000	0.064	2478	2204	1799
11564	0.65	280.4	821.7	4.9	556	11605	0.15	0.00	36.85	1.164	6	0.096	0.000	2444	2204	1637
11915	0.98	434.8	814.6	1.8	573	12061	0.28	2.85	139.05	1.197	4	0.060	0.092	2511	3611	1008
12084	1.15	434.8	801.6	10.9	581	12089	0.17	2.75	0.00	0.000	6	0.054	0.071	2555	2192	1007
12400	1.08	434.8	761.6	10.0	596	12405	0.10	2.72	0.00	0.000	4	0.104	0.084	2536	789	1007
12450	1.08	434.8	754.2	13.7	598	12454	0.00	2.67	0.00	0.000	6	0.000	0.064	2536	2201	1007
12765	1.08	434.8	701.7	15.0	613	12770	0.00	2.75	0.00	0.000	4	0.000	0.081	2536	787	1007
12815	1.08	434.8	695.8	10.5	615	12820	0.00	2.67	0.00	0.000	6	0.000	0.064	2536	2201	1006
13131	1.08	434.8	653.3	13.0	630	13135	0.00	2.75	0.00	0.000	4	0.000	0.090	2536	3613	1006
13215	1.08	434.8	642.3	13.4	634	13220	0.00	2.67	0.00	0.000	6	0.000	0.070	2536	2200	1006
13542	1.08	434.8	605.1	11.3	650	13547	0.00	2.72	0.00	0.000	4	0.000	0.081	2536	783	1005
13615	1.08	434.8	596.7	12.3	653	13619	0.00	2.65	0.00	0.000	6	0.000	0.059	2536	2201	1005
13930	1.08	434.8	561.5	11.0	668	13932	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2201	1005
14240	1.08	434.8	524.9	12.4	683	14244	0.00	2.70	0.00	0.000	4	0.000	0.074	2536	784	1005
14324	1.08	434.8	515.0	11.7	687	14329	0.00	2.62	0.00	0.000	6	0.000	0.057	2536	2203	1005
14650	1.08	434.8	478.2	11.2	703	14655	0.00	2.70	0.00	0.000	4	0.000	0.073	2536	778	1006
14690	1.08	434.8	473.7	10.8	705	14694	0.00	2.65	0.00	0.000	6	0.000	0.055	2536	2206	1006
15017	1.08	434.8	436.0	11.7	721	15018	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2207	1007
15326	1.08	434.8	400.9	10.7	736	15330	0.00	2.72	0.00	0.000	4	0.000	0.072	2536	782	1007
15394	1.08	434.8	393.2	10.4	739	15398	0.00	2.62	0.00	0.000	6	0.000	0.054	2536	2202	1008
15714	1.08	434.8	357.7	10.6	755	15715	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2203	1008
16023	1.08	434.8	324.2	11.0	770	16028	0.00	2.70	0.00	0.000	4	0.000	0.071	2536	783	1009
16112	1.08	434.8	314.2	10.9	774	16117	0.00	2.62	0.00	0.000	6	0.000	0.054	2536	2206	1009
16433	1.08	434.8	278.5	11.1	790	16438	0.00	2.67	0.00	0.000	4	0.000	0.071	2536	783	1010
16477	1.08	434.8	273.3	11.8	792	16482	0.00	2.62	0.00	0.000	6	0.000	0.054	2536	2207	1010
16799	1.08	434.8	235.8	11.9	808	16803	0.00	2.70	0.00	0.000	4	0.000	0.071	2537	778	1010
16838	1.08	434.8	231.1	12.4	810	16842	0.00	2.62	0.00	0.000	6	0.000	0.054	2536	2206	1010
17164	1.08	434.8	190.4	12.7	826	17165	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2206	1011
17474	1.08	434.8	152.6	12.1	841	17478	0.00	2.70	0.00	0.000	4	0.000	0.069	2536	776	1012
17546	1.08	434.8	144.1	11.1	844	17550	0.00	2.62	0.00	0.000	6	0.000	0.053	2536	2204	1012
17862	1.08	434.8	110.8	10.6	859	17866	0.00	2.70	0.00	0.000	4	0.000	0.068	2536	773	1012
17906	1.08	434.8	105.8	10.4	861	17910	0.00	2.62	0.00	0.000	6	0.000	0.052	2536	2207	1012
18227	1.08	434.8	71.7	10.3	877	18231	0.00	2.67	0.00	0.000	4	0.000	0.066	2537	782	1013
18276	1.08	434.8	66.4	9.1	879	18281	0.00	2.60	0.00	0.000	6	0.000	0.052	2536	2202	1012
18592	1.08	434.8	37.2	9.9	894	18597	0.00	2.67	0.00	0.000	4	0.000	0.067	2536	782	1013
18648	1.12	434.8	31.4	11.2	896	18655	0.00	2.58	0.00	0.000	6	0.000	0.053	2536	2199	1013
18963	end climb: SURFACE_DEPTH_REACHED
state	18963	begin surface coast
18983	end surface coast: CONTROL_FINISHED_OK
state	18986	begin surface