Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 192 * 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 192 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 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -2097031.1 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 2 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 -2097031.1

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 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 192 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 143825,6319.131,-1319.777,28,1.9,46,-12.3 TGT_NAME JW

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.31 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.7 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 144608,6319.100,-1319.875,14,1.9,31,-12.3 MHEAD_RNG_PITCHd_Wd 20.1,29719,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014004 ALTIM_BOTTOM_PING 750.5,77.0

SM_CCo 22129,120.20,0.591,0,0,508,557.32 _24V_AH 23.6,33.747

SM_GC 1.28,0.00,0.00,120.20,0.000,0.000,0.591,70,2236,508,-10.25,0.17,557.32 _10V_AH 10.2,17.074

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53707,1070

TT8_MAMPS 0.023777 CAP_FILE_SIZE 141420,0

HUMID 1863 CFSIZE 260165632,246693888

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 28 GPS 160708,205858,6322.300,-1320.216,40,3.1,60,-12.4

ALTIM_TOP_PING 18.9,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 101.21 SBE_CT 776 24 440.03

Roll_motor 124 74 218.91 SBE_O2 734 19 329.29

VBD_pump_during_apogee 412 1151 11215.06 WL_BB2F 618 105 1531.56

VBD_pump_during_surface 120 591 1677.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.79 nil 0 0 0.00

Iridium_during_connect 26 160 101.02 nil 0 0 0.00

Iridium_during_xfer 274 223 1443.43

Transponder_ping 13 420 136.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.02

TT8 1860 19 375.76

LPSleep 17364 2 387.89

TT8_Active 721 19 145.68

TT8_Sampling 2117 39 859.67

TT8_CF8 649 45 303.26

TT8_Kalman 0 81 0.00

Analog_circuits 1743 12 213.41

GPS_charging 0 0 0.00

Compass 2059 8 168.04

RAFOS 0 0 0.00

Guidance and control:

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -120.90 0.000 2 0.000 0.000 68 2246 2993

151 -0.85 -146.6 3.5 -2.6 6 178 11.48 2.65 -9.20 0.000 4 0.170 0.069 2107 817 3378

371 -0.70 -146.6 33.1 -12.0 16 376 0.20 2.58 0.00 0.000 6 0.095 0.049 2146 2235 3378

698 -0.62 -146.6 64.8 -8.7 32 699 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2235 3378

1007 -0.54 -146.6 92.1 -8.5 47 1012 0.15 2.60 0.00 0.000 4 0.094 0.055 2179 817 3378

1063 -0.62 -146.6 96.3 -6.6 49 1070 0.00 2.58 0.00 0.000 6 0.000 0.049 2178 2237 3378

1381 -0.62 -146.6 119.1 -7.0 65 1382 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2237 3378

1688 -0.62 -146.6 139.4 -6.6 80 1690 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2237 3378

1998 -0.62 -146.6 158.6 -5.4 95 1999 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2237 3378

2307 -0.62 -146.6 176.5 -5.9 110 2311 0.00 2.60 0.00 0.000 4 0.000 0.071 2179 3640 3378

2339 -0.62 -146.6 178.7 -6.6 111 2345 0.00 2.53 0.00 0.000 6 0.000 0.048 2179 2229 3378

2655 -0.62 -146.6 198.8 -6.7 127 2656 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2229 3378

2965 -0.62 -146.6 220.7 -7.4 142 2966 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2230 3378

3274 -0.66 -146.6 243.0 -7.0 157 3276 0.12 0.00 0.00 0.000 6 0.047 0.000 2136 2230 3378

3584 -0.58 -146.6 269.4 -8.4 172 3585 0.17 0.00 0.00 0.000 6 0.084 0.000 2171 2229 3377

3892 -0.58 -146.6 288.9 -6.1 187 3893 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3377

4201 -0.58 -146.6 308.5 -6.6 202 4202 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3377

4511 -0.58 -146.6 329.2 -7.0 217 4512 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3377

4820 -0.58 -146.6 349.5 -6.4 232 4821 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2228 3377

5129 -0.58 -146.6 369.2 -6.3 247 5130 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2228 3377

5439 -0.58 -146.6 388.6 -6.4 262 5440 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3377

5748 -0.58 -146.6 408.0 -6.3 277 5749 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3377

6057 -0.58 -146.6 427.3 -6.2 292 6058 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3377

6367 -0.58 -146.6 447.4 -6.7 307 6371 0.00 2.65 0.00 0.000 4 0.000 0.074 2171 3640 3376

6407 -0.58 -146.6 450.1 -7.1 309 6411 0.00 2.53 0.00 0.000 6 0.000 0.048 2171 2230 3376

6733 -0.58 -146.6 472.5 -6.8 325 6734 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3376

7043 -0.58 -146.6 494.1 -6.8 340 7044 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3376

7351 -0.58 -146.6 516.4 -7.5 355 7352 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3376

7661 -0.58 -146.6 539.8 -7.5 370 7665 0.00 2.65 0.00 0.000 4 0.000 0.074 2171 3644 3376

7700 -0.58 -146.6 543.0 -8.4 372 7704 0.00 2.53 0.00 0.000 6 0.000 0.046 2171 2228 3376

8027 -0.58 -146.6 567.1 -7.2 388 8028 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3376

8335 -0.58 -146.6 591.4 -7.9 403 8336 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3376

8645 -0.58 -146.6 617.6 -8.5 418 8646 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3376

8954 -0.58 -146.6 639.4 -6.8 433 8958 0.00 2.65 0.00 0.000 4 0.000 0.073 2171 3639 3376

8994 -0.66 -146.6 642.6 -7.5 435 8998 0.00 2.53 0.00 0.000 6 0.000 0.047 2171 2228 3376

9322 -0.66 -146.6 659.0 -3.7 451 9326 0.00 2.55 0.00 0.000 4 0.000 0.058 2171 820 3376

9377 -0.74 -146.6 660.5 -1.5 453 9384 0.17 2.55 0.00 0.000 6 0.042 0.050 2118 2236 3376

9694 -0.62 -146.6 666.2 -2.4 469 9699 0.20 2.58 0.00 0.000 4 0.086 0.057 2162 820 3376

9784 -0.67 -146.6 669.2 -4.8 473 9789 0.00 2.55 0.00 0.000 6 0.000 0.050 2161 2240 3376

10105 -0.67 -146.6 696.3 -11.1 489 10106 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2240 3376

10417 -0.67 -146.6 732.5 -10.6 504 10418 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2240 3375

10723 -0.67 -146.6 757.3 -6.3 519 10724 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2240 3375

11032 -0.67 -146.6 776.9 -7.1 534 11034 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2240 3375

11342 -0.67 -146.6 804.5 -8.7 549 11343 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2240 3375

11628 end dive: BOTTOM_OBSTACLE_DETECTED

state 11628 begin apogee

11634 -0.31 0.0 818.2 4.3 563 11771 0.32 0.00 132.82 1.151 6 0.086 0.000 2228 2240 2781

11772 end apogee: CONTROL_FINISHED_OK

state 11772 begin climb

11775 0.85 146.6 822.8 0.0 570 11915 1.20 2.70 132.68 1.134 4 0.070 0.062 2482 839 2183

11974 0.87 164.3 815.9 5.5 579 12002 0.00 2.60 17.60 1.040 6 0.000 0.053 2482 2244 2110

12311 0.88 173.9 799.3 5.7 596 12322 0.00 0.00 9.80 0.964 6 0.000 0.000 2482 2244 2072

12620 0.92 216.9 781.0 4.8 611 12662 0.00 0.00 39.97 1.098 6 0.000 0.000 2482 2244 1897

12969 1.08 305.9 765.4 3.6 628 13056 0.20 2.70 79.90 1.114 4 0.048 0.065 2540 833 1533

13113 1.08 305.9 753.4 8.0 635 13118 0.00 2.62 0.00 0.000 6 0.000 0.054 2540 2246 1531

13441 1.08 305.9 726.6 8.1 651 13445 0.00 2.65 0.00 0.000 4 0.000 0.064 2540 826 1531

13480 1.08 305.9 723.3 8.6 653 13484 0.00 2.60 0.00 0.000 6 0.000 0.053 2540 2244 1531

13807 1.04 305.9 694.4 8.8 669 13808 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2244 1530

14116 0.99 305.9 666.8 9.2 684 14121 0.12 2.65 0.00 0.000 4 0.091 0.061 2516 824 1530

14188 0.99 305.9 660.5 8.7 687 14193 0.00 2.58 0.00 0.000 6 0.000 0.050 2516 2241 1529

14504 0.99 305.9 634.1 8.9 702 14505 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2241 1529

14813 0.99 305.9 609.7 8.5 717 14817 0.00 2.60 0.00 0.000 4 0.000 0.059 2516 830 1529

14863 1.04 305.9 605.1 8.3 719 14868 0.00 2.58 0.00 0.000 6 0.000 0.050 2515 2245 1529

15179 1.04 305.9 576.8 8.4 734 15183 0.00 2.62 0.00 0.000 4 0.000 0.074 2516 3650 1530

15228 1.09 305.9 572.4 8.5 736 15233 0.00 2.55 0.00 0.000 6 0.000 0.051 2516 2243 1530

15545 1.09 305.9 546.4 7.6 751 15549 0.00 2.62 0.00 0.000 4 0.000 0.064 2516 821 1530

15585 1.14 305.9 543.3 7.7 753 15590 0.15 2.58 0.00 0.000 6 0.049 0.051 2559 2238 1530

15912 1.05 305.9 513.2 9.5 769 15917 0.15 2.67 0.00 0.000 4 0.084 0.074 2529 3653 1530

15952 1.05 305.9 509.6 8.7 771 15956 0.00 2.58 0.00 0.000 6 0.000 0.052 2529 2238 1531

16278 1.05 305.9 482.9 8.4 787 16282 0.00 2.60 0.00 0.000 4 0.000 0.063 2529 825 1530

16323 1.05 305.9 479.0 8.3 789 16327 0.00 2.58 0.00 0.000 6 0.000 0.051 2529 2243 1531

16644 1.05 305.9 451.3 8.7 805 16645 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2243 1531

16953 1.05 305.9 423.0 9.3 820 16954 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2243 1530

17262 1.05 305.9 394.5 9.4 835 17266 0.00 2.62 0.00 0.000 4 0.000 0.062 2529 828 1531

17319 1.05 305.9 389.1 9.3 837 17325 0.00 2.58 0.00 0.000 6 0.000 0.051 2529 2242 1531

17635 1.05 305.9 359.0 9.4 853 17636 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2242 1531

17944 1.05 305.9 331.4 8.7 868 17948 0.00 2.62 0.00 0.000 4 0.000 0.062 2529 828 1532

17977 1.05 305.9 328.5 8.5 869 17983 0.00 2.58 0.00 0.000 6 0.000 0.051 2529 2242 1532

18292 1.05 305.9 302.2 8.1 885 18293 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2242 1532

18602 1.05 305.9 278.0 7.7 900 18606 0.00 2.62 0.00 0.000 4 0.000 0.061 2529 823 1532

18646 1.05 305.9 274.3 8.2 902 18650 0.00 2.58 0.00 0.000 6 0.000 0.051 2529 2243 1532

18966 1.05 305.9 249.3 7.7 918 18968 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2243 1532

19276 1.05 305.9 224.8 8.1 933 19280 0.00 2.62 0.00 0.000 4 0.000 0.061 2529 823 1531

19315 1.05 305.9 221.6 8.3 935 19320 0.00 2.58 0.00 0.000 6 0.000 0.051 2529 2240 1532

19643 1.05 305.9 194.7 8.5 951 19644 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2240 1532

19952 1.05 305.9 167.4 8.7 966 19953 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2239 1533

20262 1.05 305.9 142.3 7.9 981 20266 0.00 2.62 0.00 0.000 4 0.000 0.061 2529 821 1533

20317 1.05 305.9 137.7 7.9 983 20323 0.00 2.58 0.00 0.000 6 0.000 0.051 2529 2248 1533

20633 1.05 305.9 111.6 8.8 999 20634 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2248 1533

20942 1.05 305.9 84.8 8.2 1014 20944 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2248 1533

21251 1.05 305.9 63.1 6.3 1029 21252 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2248 1533

21560 1.05 305.9 43.1 6.7 1044 21565 0.00 2.62 0.00 0.000 4 0.000 0.061 2529 827 1533

21611 1.05 305.9 39.3 7.4 1046 21615 0.00 2.55 0.00 0.000 6 0.000 0.051 2529 2240 1533

21927 1.05 305.9 13.7 8.4 1061 21931 0.00 2.62 0.00 0.000 4 0.000 0.072 2529 3650 1534

21967 1.05 305.9 10.3 9.0 1063 21971 0.00 2.53 0.00 0.000 6 0.000 0.053 2529 2239 1534

22085 end climb: SURFACE_DEPTH_REACHED

state 22085 begin surface coast

22107 end surface coast: CONTROL_FINISHED_OK

state 22107 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	192	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	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-2097031.1	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	2	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	143825,6319.131,-1319.777,28,1.9,46,-12.3	TGT_NAME	JW
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.31	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.7	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	144608,6319.100,-1319.875,14,1.9,31,-12.3	MHEAD_RNG_PITCHd_Wd	20.1,29719,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.014004	ALTIM_BOTTOM_PING	750.5,77.0
SM_CCo	22129,120.20,0.591,0,0,508,557.32	_24V_AH	23.6,33.747
SM_GC	1.28,0.00,0.00,120.20,0.000,0.000,0.591,70,2236,508,-10.25,0.17,557.32	_10V_AH	10.2,17.074
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53707,1070
TT8_MAMPS	0.023777	CAP_FILE_SIZE	141420,0
HUMID	1863	CFSIZE	260165632,246693888
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	28	GPS	160708,205858,6322.300,-1320.216,40,3.1,60,-12.4
ALTIM_TOP_PING	18.9,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	101.21	SBE_CT	776	24	440.03
Roll_motor	124	74	218.91	SBE_O2	734	19	329.29
VBD_pump_during_apogee	412	1151	11215.06	WL_BB2F	618	105	1531.56
VBD_pump_during_surface	120	591	1677.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.79	nil	0	0	0.00
Iridium_during_connect	26	160	101.02	nil	0	0	0.00
Iridium_during_xfer	274	223	1443.43
Transponder_ping	13	420	136.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.02
TT8	1860	19	375.76
LPSleep	17364	2	387.89
TT8_Active	721	19	145.68
TT8_Sampling	2117	39	859.67
TT8_CF8	649	45	303.26
TT8_Kalman	0	81	0.00
Analog_circuits	1743	12	213.41
GPS_charging	0	0	0.00
Compass	2059	8	168.04
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-120.90	0.000	2	0.000	0.000	68	2246	2993
151	-0.85	-146.6	3.5	-2.6	6	178	11.48	2.65	-9.20	0.000	4	0.170	0.069	2107	817	3378
371	-0.70	-146.6	33.1	-12.0	16	376	0.20	2.58	0.00	0.000	6	0.095	0.049	2146	2235	3378
698	-0.62	-146.6	64.8	-8.7	32	699	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2235	3378
1007	-0.54	-146.6	92.1	-8.5	47	1012	0.15	2.60	0.00	0.000	4	0.094	0.055	2179	817	3378
1063	-0.62	-146.6	96.3	-6.6	49	1070	0.00	2.58	0.00	0.000	6	0.000	0.049	2178	2237	3378
1381	-0.62	-146.6	119.1	-7.0	65	1382	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2237	3378
1688	-0.62	-146.6	139.4	-6.6	80	1690	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2237	3378
1998	-0.62	-146.6	158.6	-5.4	95	1999	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2237	3378
2307	-0.62	-146.6	176.5	-5.9	110	2311	0.00	2.60	0.00	0.000	4	0.000	0.071	2179	3640	3378
2339	-0.62	-146.6	178.7	-6.6	111	2345	0.00	2.53	0.00	0.000	6	0.000	0.048	2179	2229	3378
2655	-0.62	-146.6	198.8	-6.7	127	2656	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2229	3378
2965	-0.62	-146.6	220.7	-7.4	142	2966	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2230	3378
3274	-0.66	-146.6	243.0	-7.0	157	3276	0.12	0.00	0.00	0.000	6	0.047	0.000	2136	2230	3378
3584	-0.58	-146.6	269.4	-8.4	172	3585	0.17	0.00	0.00	0.000	6	0.084	0.000	2171	2229	3377
3892	-0.58	-146.6	288.9	-6.1	187	3893	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3377
4201	-0.58	-146.6	308.5	-6.6	202	4202	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3377
4511	-0.58	-146.6	329.2	-7.0	217	4512	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3377
4820	-0.58	-146.6	349.5	-6.4	232	4821	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2228	3377
5129	-0.58	-146.6	369.2	-6.3	247	5130	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2228	3377
5439	-0.58	-146.6	388.6	-6.4	262	5440	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3377
5748	-0.58	-146.6	408.0	-6.3	277	5749	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3377
6057	-0.58	-146.6	427.3	-6.2	292	6058	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3377
6367	-0.58	-146.6	447.4	-6.7	307	6371	0.00	2.65	0.00	0.000	4	0.000	0.074	2171	3640	3376
6407	-0.58	-146.6	450.1	-7.1	309	6411	0.00	2.53	0.00	0.000	6	0.000	0.048	2171	2230	3376
6733	-0.58	-146.6	472.5	-6.8	325	6734	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3376
7043	-0.58	-146.6	494.1	-6.8	340	7044	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3376
7351	-0.58	-146.6	516.4	-7.5	355	7352	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3376
7661	-0.58	-146.6	539.8	-7.5	370	7665	0.00	2.65	0.00	0.000	4	0.000	0.074	2171	3644	3376
7700	-0.58	-146.6	543.0	-8.4	372	7704	0.00	2.53	0.00	0.000	6	0.000	0.046	2171	2228	3376
8027	-0.58	-146.6	567.1	-7.2	388	8028	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3376
8335	-0.58	-146.6	591.4	-7.9	403	8336	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3376
8645	-0.58	-146.6	617.6	-8.5	418	8646	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3376
8954	-0.58	-146.6	639.4	-6.8	433	8958	0.00	2.65	0.00	0.000	4	0.000	0.073	2171	3639	3376
8994	-0.66	-146.6	642.6	-7.5	435	8998	0.00	2.53	0.00	0.000	6	0.000	0.047	2171	2228	3376
9322	-0.66	-146.6	659.0	-3.7	451	9326	0.00	2.55	0.00	0.000	4	0.000	0.058	2171	820	3376
9377	-0.74	-146.6	660.5	-1.5	453	9384	0.17	2.55	0.00	0.000	6	0.042	0.050	2118	2236	3376
9694	-0.62	-146.6	666.2	-2.4	469	9699	0.20	2.58	0.00	0.000	4	0.086	0.057	2162	820	3376
9784	-0.67	-146.6	669.2	-4.8	473	9789	0.00	2.55	0.00	0.000	6	0.000	0.050	2161	2240	3376
10105	-0.67	-146.6	696.3	-11.1	489	10106	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2240	3376
10417	-0.67	-146.6	732.5	-10.6	504	10418	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2240	3375
10723	-0.67	-146.6	757.3	-6.3	519	10724	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2240	3375
11032	-0.67	-146.6	776.9	-7.1	534	11034	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2240	3375
11342	-0.67	-146.6	804.5	-8.7	549	11343	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2240	3375
11628	end dive: BOTTOM_OBSTACLE_DETECTED
state	11628	begin apogee
11634	-0.31	0.0	818.2	4.3	563	11771	0.32	0.00	132.82	1.151	6	0.086	0.000	2228	2240	2781
11772	end apogee: CONTROL_FINISHED_OK
state	11772	begin climb
11775	0.85	146.6	822.8	0.0	570	11915	1.20	2.70	132.68	1.134	4	0.070	0.062	2482	839	2183
11974	0.87	164.3	815.9	5.5	579	12002	0.00	2.60	17.60	1.040	6	0.000	0.053	2482	2244	2110
12311	0.88	173.9	799.3	5.7	596	12322	0.00	0.00	9.80	0.964	6	0.000	0.000	2482	2244	2072
12620	0.92	216.9	781.0	4.8	611	12662	0.00	0.00	39.97	1.098	6	0.000	0.000	2482	2244	1897
12969	1.08	305.9	765.4	3.6	628	13056	0.20	2.70	79.90	1.114	4	0.048	0.065	2540	833	1533
13113	1.08	305.9	753.4	8.0	635	13118	0.00	2.62	0.00	0.000	6	0.000	0.054	2540	2246	1531
13441	1.08	305.9	726.6	8.1	651	13445	0.00	2.65	0.00	0.000	4	0.000	0.064	2540	826	1531
13480	1.08	305.9	723.3	8.6	653	13484	0.00	2.60	0.00	0.000	6	0.000	0.053	2540	2244	1531
13807	1.04	305.9	694.4	8.8	669	13808	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2244	1530
14116	0.99	305.9	666.8	9.2	684	14121	0.12	2.65	0.00	0.000	4	0.091	0.061	2516	824	1530
14188	0.99	305.9	660.5	8.7	687	14193	0.00	2.58	0.00	0.000	6	0.000	0.050	2516	2241	1529
14504	0.99	305.9	634.1	8.9	702	14505	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2241	1529
14813	0.99	305.9	609.7	8.5	717	14817	0.00	2.60	0.00	0.000	4	0.000	0.059	2516	830	1529
14863	1.04	305.9	605.1	8.3	719	14868	0.00	2.58	0.00	0.000	6	0.000	0.050	2515	2245	1529
15179	1.04	305.9	576.8	8.4	734	15183	0.00	2.62	0.00	0.000	4	0.000	0.074	2516	3650	1530
15228	1.09	305.9	572.4	8.5	736	15233	0.00	2.55	0.00	0.000	6	0.000	0.051	2516	2243	1530
15545	1.09	305.9	546.4	7.6	751	15549	0.00	2.62	0.00	0.000	4	0.000	0.064	2516	821	1530
15585	1.14	305.9	543.3	7.7	753	15590	0.15	2.58	0.00	0.000	6	0.049	0.051	2559	2238	1530
15912	1.05	305.9	513.2	9.5	769	15917	0.15	2.67	0.00	0.000	4	0.084	0.074	2529	3653	1530
15952	1.05	305.9	509.6	8.7	771	15956	0.00	2.58	0.00	0.000	6	0.000	0.052	2529	2238	1531
16278	1.05	305.9	482.9	8.4	787	16282	0.00	2.60	0.00	0.000	4	0.000	0.063	2529	825	1530
16323	1.05	305.9	479.0	8.3	789	16327	0.00	2.58	0.00	0.000	6	0.000	0.051	2529	2243	1531
16644	1.05	305.9	451.3	8.7	805	16645	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2243	1531
16953	1.05	305.9	423.0	9.3	820	16954	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2243	1530
17262	1.05	305.9	394.5	9.4	835	17266	0.00	2.62	0.00	0.000	4	0.000	0.062	2529	828	1531
17319	1.05	305.9	389.1	9.3	837	17325	0.00	2.58	0.00	0.000	6	0.000	0.051	2529	2242	1531
17635	1.05	305.9	359.0	9.4	853	17636	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2242	1531
17944	1.05	305.9	331.4	8.7	868	17948	0.00	2.62	0.00	0.000	4	0.000	0.062	2529	828	1532
17977	1.05	305.9	328.5	8.5	869	17983	0.00	2.58	0.00	0.000	6	0.000	0.051	2529	2242	1532
18292	1.05	305.9	302.2	8.1	885	18293	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2242	1532
18602	1.05	305.9	278.0	7.7	900	18606	0.00	2.62	0.00	0.000	4	0.000	0.061	2529	823	1532
18646	1.05	305.9	274.3	8.2	902	18650	0.00	2.58	0.00	0.000	6	0.000	0.051	2529	2243	1532
18966	1.05	305.9	249.3	7.7	918	18968	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2243	1532
19276	1.05	305.9	224.8	8.1	933	19280	0.00	2.62	0.00	0.000	4	0.000	0.061	2529	823	1531
19315	1.05	305.9	221.6	8.3	935	19320	0.00	2.58	0.00	0.000	6	0.000	0.051	2529	2240	1532
19643	1.05	305.9	194.7	8.5	951	19644	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2240	1532
19952	1.05	305.9	167.4	8.7	966	19953	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2239	1533
20262	1.05	305.9	142.3	7.9	981	20266	0.00	2.62	0.00	0.000	4	0.000	0.061	2529	821	1533
20317	1.05	305.9	137.7	7.9	983	20323	0.00	2.58	0.00	0.000	6	0.000	0.051	2529	2248	1533
20633	1.05	305.9	111.6	8.8	999	20634	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2248	1533
20942	1.05	305.9	84.8	8.2	1014	20944	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2248	1533
21251	1.05	305.9	63.1	6.3	1029	21252	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2248	1533
21560	1.05	305.9	43.1	6.7	1044	21565	0.00	2.62	0.00	0.000	4	0.000	0.061	2529	827	1533
21611	1.05	305.9	39.3	7.4	1046	21615	0.00	2.55	0.00	0.000	6	0.000	0.051	2529	2240	1533
21927	1.05	305.9	13.7	8.4	1061	21931	0.00	2.62	0.00	0.000	4	0.000	0.072	2529	3650	1534
21967	1.05	305.9	10.3	9.0	1063	21971	0.00	2.53	0.00	0.000	6	0.000	0.053	2529	2239	1534
22085	end climb: SURFACE_DEPTH_REACHED
state	22085	begin surface coast
22107	end surface coast: CONTROL_FINISHED_OK
state	22107	begin surface