Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 196 * 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 196 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 -2097141.2 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 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 -2097141.2

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 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 196 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 142325,6330.249,-1317.913,34,1.8,52,-12.4 TGT_NAME JW

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.26 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -57.1 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 142832,6330.212,-1317.968,11,2.0,11,-12.4 MHEAD_RNG_PITCHd_Wd 27.8,9198,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.014729 ALTIM_BOTTOM_PING 751.4,72.1

SM_CCo 23104,147.90,0.597,0,0,507,557.32 _24V_AH 23.6,34.421

SM_GC 1.25,0.00,0.00,147.90,0.000,0.000,0.597,74,2246,507,-10.24,0.45,557.32 _10V_AH 10.2,17.444

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 56920,1118

TT8_MAMPS 0.023777 CAP_FILE_SIZE 135152,0

HUMID 1861 CFSIZE 260165632,246452224

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 15 GPS 170708,205738,6333.181,-1318.343,34,1.9,35,-12.4

ALTIM_TOP_PING 18.7,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 169 97.71 SBE_CT 817 24 463.24

Roll_motor 93 72 160.53 SBE_O2 771 19 346.01

VBD_pump_during_apogee 362 1148 9826.23 WL_BB2F 669 105 1660.22

VBD_pump_during_surface 147 596 2082.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.88 nil 0 0 0.00

Iridium_during_connect 25 160 97.18 nil 0 0 0.00

Iridium_during_xfer 147 223 773.77

Transponder_ping 10 420 104.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.08

TT8 1922 19 388.19

LPSleep 18331 2 409.48

TT8_Active 692 19 139.95

TT8_Sampling 2106 39 855.28

TT8_CF8 509 45 238.09

TT8_Kalman 0 81 0.00

Analog_circuits 1693 12 207.23

GPS_charging 0 0 0.00

Compass 2073 8 169.20

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 -121.07 0.000 2 0.000 0.000 71 2242 2942

151 -0.85 -146.6 4.1 -3.3 6 181 11.43 2.67 -10.45 0.000 4 0.170 0.071 2109 817 3380

351 -0.71 -146.6 29.6 -10.4 15 356 0.17 2.58 0.00 0.000 6 0.094 0.050 2142 2232 3381

679 -0.60 -146.6 57.6 -7.9 31 681 0.12 0.00 0.00 0.000 6 0.100 0.000 2166 2232 3381

988 -0.60 -146.6 73.8 -4.4 46 989 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2232 3381

1297 -0.60 -146.6 90.1 -6.0 61 1302 0.00 2.62 0.00 0.000 4 0.000 0.070 2166 3643 3381

1342 -0.60 -146.6 93.3 -7.1 63 1346 0.00 2.55 0.00 0.000 6 0.000 0.049 2166 2228 3381

1663 -0.60 -146.6 112.9 -6.2 79 1667 0.00 2.58 0.00 0.000 4 0.000 0.059 2166 816 3382

1707 -0.60 -146.6 115.7 -6.1 81 1712 0.00 2.58 0.00 0.000 6 0.000 0.050 2166 2236 3381

2028 -0.60 -146.6 137.1 -7.0 97 2029 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2236 3382

2337 -0.60 -146.6 159.7 -7.6 112 2339 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

2646 -0.60 -146.6 183.5 -7.8 127 2647 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3382

2955 -0.60 -146.6 208.5 -7.9 142 2957 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

3265 -0.60 -146.6 232.6 -7.7 157 3266 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

3574 -0.60 -146.6 256.7 -7.7 172 3575 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

3883 -0.60 -146.6 280.1 -7.7 187 3884 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

4193 -0.60 -146.6 304.4 -7.7 202 4194 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

4502 -0.60 -146.6 327.7 -7.6 217 4503 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

4812 -0.60 -146.6 350.7 -7.5 232 4813 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

5121 -0.60 -146.6 372.9 -7.0 247 5122 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

5430 -0.60 -146.6 393.5 -6.6 262 5431 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

5739 -0.60 -146.6 413.9 -6.7 277 5740 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3381

6049 -0.60 -146.6 433.9 -6.4 292 6050 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2236 3381

6357 -0.60 -146.6 455.0 -7.0 307 6358 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3380

6667 -0.60 -146.6 476.5 -7.0 322 6669 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3380

6976 -0.60 -146.6 498.1 -7.1 337 6977 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3380

7286 -0.60 -146.6 520.1 -7.1 352 7287 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3380

7594 -0.60 -146.6 542.5 -7.1 367 7596 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3380

7904 -0.60 -146.6 565.0 -7.0 382 7905 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3380

8213 -0.60 -146.6 587.5 -7.4 397 8215 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3380

8522 -0.60 -146.6 610.4 -7.5 412 8523 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3380

8831 -0.60 -146.6 634.2 -7.3 427 8833 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3380

9141 -0.60 -146.6 656.1 -7.0 442 9142 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3379

9450 -0.60 -146.6 679.0 -7.4 457 9451 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3379

9760 -0.60 -146.6 700.9 -6.8 472 9761 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2237 3379

10069 -0.60 -146.6 724.2 -8.0 487 10073 0.00 2.60 0.00 0.000 4 0.000 0.059 2166 819 3379

10109 -0.68 -146.6 727.5 -7.9 489 10113 0.00 2.55 0.00 0.000 6 0.000 0.050 2166 2235 3379

10435 -0.68 -146.6 753.0 -8.0 505 10436 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2235 3379

10744 -0.68 -146.6 780.8 -9.3 520 10745 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2235 3379

11053 -0.68 -146.6 809.7 -9.5 535 11055 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2235 3378

11092 end dive: BOTTOM_OBSTACLE_DETECTED

state 11092 begin apogee

11099 -0.31 0.0 813.5 9.4 537 11235 0.32 0.00 133.57 1.148 6 0.085 0.000 2233 2236 2781

11236 end apogee: CONTROL_FINISHED_OK

state 11236 begin climb

11239 0.85 146.6 822.4 0.0 544 11376 1.17 0.00 132.75 1.132 6 0.071 0.000 2481 2235 2183

11685 0.91 201.8 808.6 4.5 566 11741 0.00 2.70 50.40 1.103 4 0.000 0.062 2481 828 1957

11842 0.92 215.3 800.2 5.6 572 11861 0.00 2.58 13.62 1.009 6 0.000 0.052 2481 2239 1902

12185 1.02 243.1 781.9 5.2 589 12214 0.20 0.00 26.35 1.073 6 0.045 0.000 2534 2240 1789

12514 0.95 243.1 758.1 6.6 605 12516 0.15 0.00 0.00 0.000 6 0.091 0.000 2504 2240 1788

12822 0.95 243.1 740.3 6.3 620 12827 0.00 2.65 0.00 0.000 4 0.000 0.064 2504 826 1787

12878 0.95 243.1 737.0 6.0 622 12884 0.00 2.58 0.00 0.000 6 0.000 0.051 2504 2237 1786

13194 0.95 243.1 718.3 7.6 638 13198 0.00 2.65 0.00 0.000 4 0.000 0.070 2504 3650 1786

13238 0.95 243.1 714.0 10.1 640 13242 0.00 2.58 0.00 0.000 6 0.000 0.054 2504 2239 1786

13559 0.95 243.1 688.5 7.2 656 13563 0.00 2.62 0.00 0.000 4 0.000 0.064 2504 826 1786

13621 0.95 243.1 683.7 8.0 659 13625 0.00 2.58 0.00 0.000 6 0.000 0.049 2504 2240 1785

13947 0.95 243.1 657.7 8.5 675 13952 0.00 2.65 0.00 0.000 4 0.000 0.071 2504 3656 1785

14002 0.95 243.1 652.4 9.6 677 14008 0.00 2.58 0.00 0.000 6 0.000 0.053 2504 2238 1785

14318 0.95 243.1 622.1 9.8 693 14319 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2238 1785

14627 0.95 243.1 595.0 8.5 708 14628 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2238 1785

14937 0.95 243.1 570.1 8.2 723 14941 0.00 2.65 0.00 0.000 4 0.000 0.072 2504 3650 1785

14982 0.95 243.1 566.1 9.1 725 14986 0.00 2.55 0.00 0.000 6 0.000 0.051 2504 2240 1785

15303 0.95 243.1 541.8 6.9 741 15304 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2240 1785

15612 0.95 243.1 518.1 8.0 756 15613 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2240 1785

15922 0.95 243.1 494.0 7.6 771 15923 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2240 1785

16231 0.95 243.1 469.9 7.9 786 16232 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2240 1785

16540 0.95 243.1 446.4 7.5 801 16544 0.00 2.65 0.00 0.000 4 0.000 0.073 2504 3650 1786

16580 0.95 243.1 443.2 8.7 803 16584 0.00 2.55 0.00 0.000 6 0.000 0.051 2504 2241 1786

16906 0.95 243.1 419.8 6.9 819 16910 0.00 2.60 0.00 0.000 4 0.000 0.062 2504 827 1786

16946 0.95 243.1 417.0 6.8 821 16950 0.00 2.58 0.00 0.000 6 0.000 0.049 2504 2245 1786

17273 0.95 243.1 394.5 6.7 837 17274 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2245 1786

17581 0.95 243.1 374.9 6.5 852 17583 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2245 1786

17891 0.95 243.1 354.0 7.0 867 17895 0.00 2.62 0.00 0.000 4 0.000 0.072 2504 3650 1786

17935 0.95 243.1 350.7 7.6 869 17940 0.00 2.55 0.00 0.000 6 0.000 0.052 2504 2239 1786

18256 0.95 243.1 328.0 7.0 885 18257 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2239 1786

18565 0.95 243.1 306.6 6.7 900 18566 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2239 1787

18875 0.95 243.1 286.7 6.5 915 18876 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2239 1787

19186 0.95 243.1 266.9 6.3 930 19190 0.00 2.58 0.00 0.000 4 0.000 0.062 2504 828 1787

19225 0.95 243.1 263.9 8.0 932 19229 0.00 2.55 0.00 0.000 6 0.000 0.049 2504 2241 1787

19551 0.95 243.1 242.1 6.8 948 19553 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2240 1787

19860 0.95 243.1 222.5 6.4 963 19861 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2240 1787

20169 0.95 243.1 203.4 6.1 978 20171 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2240 1787

20479 0.95 243.1 184.4 6.4 993 20483 0.00 2.60 0.00 0.000 4 0.000 0.061 2504 827 1787

20541 1.00 243.1 180.3 6.4 996 20546 0.00 2.58 0.00 0.000 6 0.000 0.049 2504 2251 1787

20868 1.05 243.1 158.0 7.0 1012 20870 0.12 0.00 0.00 0.000 6 0.047 0.000 2541 2251 1787

21178 0.98 243.1 134.3 6.5 1027 21180 0.15 0.00 0.00 0.000 6 0.084 0.000 2510 2251 1787

21487 0.98 248.4 116.0 5.9 1042 21498 0.00 2.60 5.93 0.555 4 0.000 0.070 2510 3648 1767

21555 0.94 248.4 111.7 6.7 1045 21559 0.00 2.55 0.00 0.000 6 0.000 0.052 2510 2239 1767

21876 0.94 248.4 91.9 6.5 1061 21880 0.00 2.58 0.00 0.000 4 0.000 0.061 2510 828 1767

21948 0.94 248.4 87.1 6.7 1064 21952 0.00 2.55 0.00 0.000 6 0.000 0.048 2510 2243 1767

22264 0.94 248.4 64.4 7.7 1079 22266 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2243 1767

22573 0.94 248.4 38.9 8.6 1094 22574 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2243 1767

22883 0.94 248.4 14.1 7.6 1109 22887 0.00 2.60 0.00 0.000 4 0.000 0.061 2509 826 1767

22933 0.94 248.4 10.2 8.5 1111 22937 0.00 2.55 0.00 0.000 6 0.000 0.048 2510 2245 1768

23062 end climb: SURFACE_DEPTH_REACHED

state 23062 begin surface coast

23082 end surface coast: CONTROL_FINISHED_OK

state 23082 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	196	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	-2097141.2	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	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	142325,6330.249,-1317.913,34,1.8,52,-12.4	TGT_NAME	JW
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.26	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-57.1	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	142832,6330.212,-1317.968,11,2.0,11,-12.4	MHEAD_RNG_PITCHd_Wd	27.8,9198,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.014729	ALTIM_BOTTOM_PING	751.4,72.1
SM_CCo	23104,147.90,0.597,0,0,507,557.32	_24V_AH	23.6,34.421
SM_GC	1.25,0.00,0.00,147.90,0.000,0.000,0.597,74,2246,507,-10.24,0.45,557.32	_10V_AH	10.2,17.444
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	56920,1118
TT8_MAMPS	0.023777	CAP_FILE_SIZE	135152,0
HUMID	1861	CFSIZE	260165632,246452224
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	15	GPS	170708,205738,6333.181,-1318.343,34,1.9,35,-12.4
ALTIM_TOP_PING	18.7,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	169	97.71	SBE_CT	817	24	463.24
Roll_motor	93	72	160.53	SBE_O2	771	19	346.01
VBD_pump_during_apogee	362	1148	9826.23	WL_BB2F	669	105	1660.22
VBD_pump_during_surface	147	596	2082.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.88	nil	0	0	0.00
Iridium_during_connect	25	160	97.18	nil	0	0	0.00
Iridium_during_xfer	147	223	773.77
Transponder_ping	10	420	104.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.08
TT8	1922	19	388.19
LPSleep	18331	2	409.48
TT8_Active	692	19	139.95
TT8_Sampling	2106	39	855.28
TT8_CF8	509	45	238.09
TT8_Kalman	0	81	0.00
Analog_circuits	1693	12	207.23
GPS_charging	0	0	0.00
Compass	2073	8	169.20
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	-121.07	0.000	2	0.000	0.000	71	2242	2942
151	-0.85	-146.6	4.1	-3.3	6	181	11.43	2.67	-10.45	0.000	4	0.170	0.071	2109	817	3380
351	-0.71	-146.6	29.6	-10.4	15	356	0.17	2.58	0.00	0.000	6	0.094	0.050	2142	2232	3381
679	-0.60	-146.6	57.6	-7.9	31	681	0.12	0.00	0.00	0.000	6	0.100	0.000	2166	2232	3381
988	-0.60	-146.6	73.8	-4.4	46	989	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2232	3381
1297	-0.60	-146.6	90.1	-6.0	61	1302	0.00	2.62	0.00	0.000	4	0.000	0.070	2166	3643	3381
1342	-0.60	-146.6	93.3	-7.1	63	1346	0.00	2.55	0.00	0.000	6	0.000	0.049	2166	2228	3381
1663	-0.60	-146.6	112.9	-6.2	79	1667	0.00	2.58	0.00	0.000	4	0.000	0.059	2166	816	3382
1707	-0.60	-146.6	115.7	-6.1	81	1712	0.00	2.58	0.00	0.000	6	0.000	0.050	2166	2236	3381
2028	-0.60	-146.6	137.1	-7.0	97	2029	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2236	3382
2337	-0.60	-146.6	159.7	-7.6	112	2339	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
2646	-0.60	-146.6	183.5	-7.8	127	2647	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3382
2955	-0.60	-146.6	208.5	-7.9	142	2957	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
3265	-0.60	-146.6	232.6	-7.7	157	3266	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
3574	-0.60	-146.6	256.7	-7.7	172	3575	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
3883	-0.60	-146.6	280.1	-7.7	187	3884	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
4193	-0.60	-146.6	304.4	-7.7	202	4194	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
4502	-0.60	-146.6	327.7	-7.6	217	4503	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
4812	-0.60	-146.6	350.7	-7.5	232	4813	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
5121	-0.60	-146.6	372.9	-7.0	247	5122	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
5430	-0.60	-146.6	393.5	-6.6	262	5431	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
5739	-0.60	-146.6	413.9	-6.7	277	5740	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3381
6049	-0.60	-146.6	433.9	-6.4	292	6050	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2236	3381
6357	-0.60	-146.6	455.0	-7.0	307	6358	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3380
6667	-0.60	-146.6	476.5	-7.0	322	6669	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3380
6976	-0.60	-146.6	498.1	-7.1	337	6977	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3380
7286	-0.60	-146.6	520.1	-7.1	352	7287	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3380
7594	-0.60	-146.6	542.5	-7.1	367	7596	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3380
7904	-0.60	-146.6	565.0	-7.0	382	7905	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3380
8213	-0.60	-146.6	587.5	-7.4	397	8215	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3380
8522	-0.60	-146.6	610.4	-7.5	412	8523	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3380
8831	-0.60	-146.6	634.2	-7.3	427	8833	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3380
9141	-0.60	-146.6	656.1	-7.0	442	9142	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3379
9450	-0.60	-146.6	679.0	-7.4	457	9451	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3379
9760	-0.60	-146.6	700.9	-6.8	472	9761	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2237	3379
10069	-0.60	-146.6	724.2	-8.0	487	10073	0.00	2.60	0.00	0.000	4	0.000	0.059	2166	819	3379
10109	-0.68	-146.6	727.5	-7.9	489	10113	0.00	2.55	0.00	0.000	6	0.000	0.050	2166	2235	3379
10435	-0.68	-146.6	753.0	-8.0	505	10436	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2235	3379
10744	-0.68	-146.6	780.8	-9.3	520	10745	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2235	3379
11053	-0.68	-146.6	809.7	-9.5	535	11055	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2235	3378
11092	end dive: BOTTOM_OBSTACLE_DETECTED
state	11092	begin apogee
11099	-0.31	0.0	813.5	9.4	537	11235	0.32	0.00	133.57	1.148	6	0.085	0.000	2233	2236	2781
11236	end apogee: CONTROL_FINISHED_OK
state	11236	begin climb
11239	0.85	146.6	822.4	0.0	544	11376	1.17	0.00	132.75	1.132	6	0.071	0.000	2481	2235	2183
11685	0.91	201.8	808.6	4.5	566	11741	0.00	2.70	50.40	1.103	4	0.000	0.062	2481	828	1957
11842	0.92	215.3	800.2	5.6	572	11861	0.00	2.58	13.62	1.009	6	0.000	0.052	2481	2239	1902
12185	1.02	243.1	781.9	5.2	589	12214	0.20	0.00	26.35	1.073	6	0.045	0.000	2534	2240	1789
12514	0.95	243.1	758.1	6.6	605	12516	0.15	0.00	0.00	0.000	6	0.091	0.000	2504	2240	1788
12822	0.95	243.1	740.3	6.3	620	12827	0.00	2.65	0.00	0.000	4	0.000	0.064	2504	826	1787
12878	0.95	243.1	737.0	6.0	622	12884	0.00	2.58	0.00	0.000	6	0.000	0.051	2504	2237	1786
13194	0.95	243.1	718.3	7.6	638	13198	0.00	2.65	0.00	0.000	4	0.000	0.070	2504	3650	1786
13238	0.95	243.1	714.0	10.1	640	13242	0.00	2.58	0.00	0.000	6	0.000	0.054	2504	2239	1786
13559	0.95	243.1	688.5	7.2	656	13563	0.00	2.62	0.00	0.000	4	0.000	0.064	2504	826	1786
13621	0.95	243.1	683.7	8.0	659	13625	0.00	2.58	0.00	0.000	6	0.000	0.049	2504	2240	1785
13947	0.95	243.1	657.7	8.5	675	13952	0.00	2.65	0.00	0.000	4	0.000	0.071	2504	3656	1785
14002	0.95	243.1	652.4	9.6	677	14008	0.00	2.58	0.00	0.000	6	0.000	0.053	2504	2238	1785
14318	0.95	243.1	622.1	9.8	693	14319	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2238	1785
14627	0.95	243.1	595.0	8.5	708	14628	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2238	1785
14937	0.95	243.1	570.1	8.2	723	14941	0.00	2.65	0.00	0.000	4	0.000	0.072	2504	3650	1785
14982	0.95	243.1	566.1	9.1	725	14986	0.00	2.55	0.00	0.000	6	0.000	0.051	2504	2240	1785
15303	0.95	243.1	541.8	6.9	741	15304	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2240	1785
15612	0.95	243.1	518.1	8.0	756	15613	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2240	1785
15922	0.95	243.1	494.0	7.6	771	15923	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2240	1785
16231	0.95	243.1	469.9	7.9	786	16232	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2240	1785
16540	0.95	243.1	446.4	7.5	801	16544	0.00	2.65	0.00	0.000	4	0.000	0.073	2504	3650	1786
16580	0.95	243.1	443.2	8.7	803	16584	0.00	2.55	0.00	0.000	6	0.000	0.051	2504	2241	1786
16906	0.95	243.1	419.8	6.9	819	16910	0.00	2.60	0.00	0.000	4	0.000	0.062	2504	827	1786
16946	0.95	243.1	417.0	6.8	821	16950	0.00	2.58	0.00	0.000	6	0.000	0.049	2504	2245	1786
17273	0.95	243.1	394.5	6.7	837	17274	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2245	1786
17581	0.95	243.1	374.9	6.5	852	17583	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2245	1786
17891	0.95	243.1	354.0	7.0	867	17895	0.00	2.62	0.00	0.000	4	0.000	0.072	2504	3650	1786
17935	0.95	243.1	350.7	7.6	869	17940	0.00	2.55	0.00	0.000	6	0.000	0.052	2504	2239	1786
18256	0.95	243.1	328.0	7.0	885	18257	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2239	1786
18565	0.95	243.1	306.6	6.7	900	18566	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2239	1787
18875	0.95	243.1	286.7	6.5	915	18876	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2239	1787
19186	0.95	243.1	266.9	6.3	930	19190	0.00	2.58	0.00	0.000	4	0.000	0.062	2504	828	1787
19225	0.95	243.1	263.9	8.0	932	19229	0.00	2.55	0.00	0.000	6	0.000	0.049	2504	2241	1787
19551	0.95	243.1	242.1	6.8	948	19553	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2240	1787
19860	0.95	243.1	222.5	6.4	963	19861	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2240	1787
20169	0.95	243.1	203.4	6.1	978	20171	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2240	1787
20479	0.95	243.1	184.4	6.4	993	20483	0.00	2.60	0.00	0.000	4	0.000	0.061	2504	827	1787
20541	1.00	243.1	180.3	6.4	996	20546	0.00	2.58	0.00	0.000	6	0.000	0.049	2504	2251	1787
20868	1.05	243.1	158.0	7.0	1012	20870	0.12	0.00	0.00	0.000	6	0.047	0.000	2541	2251	1787
21178	0.98	243.1	134.3	6.5	1027	21180	0.15	0.00	0.00	0.000	6	0.084	0.000	2510	2251	1787
21487	0.98	248.4	116.0	5.9	1042	21498	0.00	2.60	5.93	0.555	4	0.000	0.070	2510	3648	1767
21555	0.94	248.4	111.7	6.7	1045	21559	0.00	2.55	0.00	0.000	6	0.000	0.052	2510	2239	1767
21876	0.94	248.4	91.9	6.5	1061	21880	0.00	2.58	0.00	0.000	4	0.000	0.061	2510	828	1767
21948	0.94	248.4	87.1	6.7	1064	21952	0.00	2.55	0.00	0.000	6	0.000	0.048	2510	2243	1767
22264	0.94	248.4	64.4	7.7	1079	22266	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2243	1767
22573	0.94	248.4	38.9	8.6	1094	22574	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2243	1767
22883	0.94	248.4	14.1	7.6	1109	22887	0.00	2.60	0.00	0.000	4	0.000	0.061	2509	826	1767
22933	0.94	248.4	10.2	8.5	1111	22937	0.00	2.55	0.00	0.000	6	0.000	0.048	2510	2245	1768
23062	end climb: SURFACE_DEPTH_REACHED
state	23062	begin surface coast
23082	end surface coast: CONTROL_FINISHED_OK
state	23082	begin surface