Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 190 * 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 190 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -2096987.2 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 -2096987.2

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 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 190 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 013926,6313.853,-1317.131,42,1.1,43,-12.3 TGT_NAME JW

_CALLS 2 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.25 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -54.8 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 015209,6313.753,-1317.261,12,1.5,12,-12.3 MHEAD_RNG_PITCHd_Wd 15.0,39394,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026403 ALTIM_BOTTOM_PING 751.1,59.0

SM_CCo 22509,150.80,0.592,0,0,508,557.32 _24V_AH 23.6,33.407

SM_GC 1.31,0.00,0.00,150.80,0.000,0.000,0.592,73,2243,508,-10.24,0.37,557.32 _10V_AH 10.2,16.883

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53710,1090

TT8_MAMPS 0.023777 CAP_FILE_SIZE 140190,2

HUMID 1845 CFSIZE 260165632,246824960

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

XPDR_PINGS 42 GPS 160708,081132,6316.764,-1318.716,41,1.8,42,-12.3

ALTIM_TOP_PING 19.9,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 181 107.12 SBE_CT 798 24 452.15

Roll_motor 99 83 195.43 SBE_O2 749 19 336.17

VBD_pump_during_apogee 358 1146 9702.15 WL_BB2F 621 105 1539.63

VBD_pump_during_surface 150 592 2107.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.27 nil 0 0 0.00

Iridium_during_connect 68 160 260.48 nil 0 0 0.00

Iridium_during_xfer 465 223 2452.23

Transponder_ping 17 420 170.98

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.45

TT8 1874 19 378.62

LPSleep 17910 2 400.09

TT8_Active 704 19 142.27

TT8_Sampling 2030 39 824.48

TT8_CF8 902 45 421.68

TT8_Kalman 0 81 0.00

Analog_circuits 1675 12 205.03

GPS_charging 0 0 0.00

Compass 2001 8 163.29

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

25 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -120.72 0.000 2 0.000 0.000 72 2231 2993

151 -0.85 -146.6 4.1 -3.5 6 173 10.68 0.00 -8.55 0.000 6 0.181 0.000 1976 2231 3380

484 -0.29 -146.6 75.5 -20.8 22 492 1.25 2.67 0.00 0.000 4 0.109 0.072 2227 3643 3380

529 -0.53 -146.6 80.0 -4.6 24 535 0.20 2.58 0.00 0.000 6 0.042 0.048 2175 2220 3380

856 -0.53 -146.6 103.7 -7.2 40 858 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2220 3380

1166 -0.53 -146.6 125.8 -7.2 55 1167 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2219 3380

1475 -0.53 -146.6 148.5 -7.6 70 1477 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2220 3380

1784 -0.53 -146.6 172.8 -7.8 85 1785 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2221 3380

2093 -0.53 -146.6 196.1 -7.5 100 2098 0.00 2.67 0.00 0.000 4 0.000 0.075 2175 3635 3380

2126 -0.53 -146.6 198.8 -8.4 101 2132 0.00 2.53 0.00 0.000 6 0.000 0.048 2175 2231 3380

2442 -0.53 -146.6 221.4 -7.0 117 2443 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3380

2751 -0.53 -146.6 242.0 -6.4 132 2752 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3380

3061 -0.53 -146.6 261.5 -6.4 147 3062 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3380

3369 -0.53 -146.6 281.3 -6.6 162 3371 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3380

3679 -0.53 -146.6 302.5 -6.8 177 3683 0.00 2.67 0.00 0.000 4 0.000 0.076 2175 3638 3380

3718 -0.53 -146.6 305.5 -7.8 179 3723 0.00 2.55 0.00 0.000 6 0.000 0.050 2175 2225 3380

4045 -0.53 -146.6 328.6 -7.1 195 4046 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2224 3380

4355 -0.53 -146.6 350.8 -7.4 210 4356 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2224 3380

4664 -0.53 -146.6 373.5 -7.6 225 4665 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2224 3379

4973 -0.53 -146.6 395.1 -6.7 240 4974 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2224 3379

5283 -0.53 -146.6 414.7 -6.3 255 5287 0.00 2.67 0.00 0.000 4 0.000 0.075 2175 3638 3379

5322 -0.53 -146.6 417.5 -7.1 257 5326 0.00 2.53 0.00 0.000 6 0.000 0.049 2175 2230 3379

5649 -0.53 -146.6 439.7 -7.1 273 5650 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3379

5957 -0.53 -146.6 461.9 -7.1 288 5959 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3379

6267 -0.53 -146.6 484.8 -7.4 303 6268 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3379

6576 -0.57 -146.6 507.4 -7.2 318 6578 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3379

6886 -0.61 -146.6 528.5 -6.9 333 6887 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3379

7196 -0.66 -146.6 550.3 -7.0 348 7197 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3379

7504 -0.70 -146.6 571.7 -7.0 363 7506 0.15 0.00 0.00 0.000 6 0.050 0.000 2132 2230 3378

7814 -0.62 -146.6 598.6 -8.5 378 7815 0.15 0.00 0.00 0.000 6 0.087 0.000 2162 2230 3378

8123 -0.62 -146.6 618.4 -6.8 393 8127 0.00 2.58 0.00 0.000 4 0.000 0.059 2162 816 3378

8189 -0.69 -146.6 623.4 -8.0 396 8194 0.00 2.55 0.00 0.000 6 0.000 0.051 2162 2228 3378

8510 -0.69 -146.6 648.3 -7.6 412 8515 0.00 2.62 0.00 0.000 4 0.000 0.075 2162 3638 3378

8573 -0.69 -146.6 653.3 -8.3 415 8577 0.00 2.53 0.00 0.000 6 0.000 0.048 2161 2228 3378

8899 -0.69 -146.6 677.3 -7.0 431 8900 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2228 3378

9209 -0.69 -146.6 696.8 -6.2 446 9210 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2228 3378

9518 -0.69 -146.6 715.9 -6.6 461 9519 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2228 3377

9827 -0.69 -146.6 738.2 -7.4 476 9832 0.00 2.67 0.00 0.000 4 0.000 0.080 2162 3636 3377

9883 -0.69 -146.6 742.9 -8.6 478 9889 0.00 2.53 0.00 0.000 6 0.000 0.051 2163 2230 3377

10199 -0.69 -146.6 765.6 -6.8 494 10203 0.00 2.60 0.00 0.000 4 0.000 0.067 2162 819 3377

10239 -0.77 -146.6 769.2 -10.0 496 10244 0.15 2.58 0.00 0.000 6 0.051 0.056 2120 2228 3377

10567 -0.69 -146.6 796.0 -10.5 512 10568 0.15 0.00 0.00 0.000 6 0.092 0.000 2149 2228 3377

10625 end dive: BOTTOM_OBSTACLE_DETECTED

state 10625 begin apogee

10632 -0.31 0.0 800.1 7.2 515 10768 0.40 0.00 133.32 1.147 6 0.086 0.000 2230 2228 2781

10769 end apogee: CONTROL_FINISHED_OK

state 10769 begin climb

10772 0.85 146.6 806.7 0.0 522 10913 1.12 0.00 132.82 1.131 6 0.049 0.000 2483 2228 2183

11226 0.80 146.6 787.4 6.7 544 11231 0.00 2.75 0.00 0.000 4 0.000 0.084 2483 3648 2181

11321 0.75 146.6 779.6 10.7 548 11326 0.00 2.60 0.00 0.000 6 0.000 0.057 2483 2242 2181

11637 0.84 232.8 762.4 3.6 563 11717 0.00 0.00 77.95 1.111 6 0.000 0.000 2483 2242 1832

12027 0.92 236.8 740.7 5.9 582 12034 0.00 0.00 5.38 0.804 6 0.000 0.000 2483 2242 1815

12336 1.00 236.8 722.2 6.1 597 12338 0.15 0.00 0.00 0.000 6 0.055 0.000 2521 2242 1814

12645 1.00 236.8 699.2 7.4 612 12646 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2242 1814

12954 1.00 236.8 675.5 7.9 627 12958 0.00 2.70 0.00 0.000 4 0.000 0.079 2522 3650 1814

13010 0.94 236.8 670.5 9.4 629 13016 0.00 2.60 0.00 0.000 6 0.000 0.054 2522 2231 1813

13325 0.94 236.8 644.8 8.2 645 13326 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2231 1813

13635 0.94 236.8 620.7 7.3 660 13636 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2231 1813

13944 0.94 236.8 599.0 6.9 675 13945 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2231 1813

14253 0.94 236.8 577.6 7.2 690 14257 0.00 2.60 0.00 0.000 4 0.000 0.064 2522 823 1813

14342 0.94 236.8 571.0 7.2 694 14346 0.00 2.58 0.00 0.000 6 0.000 0.051 2522 2242 1813

14663 0.94 236.8 546.8 7.8 710 14667 0.00 2.65 0.00 0.000 4 0.000 0.075 2522 3650 1813

14707 0.94 236.8 542.9 8.1 712 14711 0.00 2.55 0.00 0.000 6 0.000 0.051 2522 2241 1813

15028 0.94 236.8 516.7 8.1 728 15029 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2241 1813

15337 0.94 236.8 491.3 8.4 743 15339 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2241 1814

15646 0.94 236.8 467.6 7.4 758 15647 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2241 1814

15955 0.94 236.8 444.8 7.5 773 15957 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2241 1814

16265 0.94 236.8 422.7 7.1 788 16270 0.00 2.67 0.00 0.000 4 0.000 0.074 2522 3652 1815

16304 0.94 236.8 419.6 8.0 790 16309 0.00 2.58 0.00 0.000 6 0.000 0.051 2522 2235 1815

16631 0.94 236.8 397.3 6.6 806 16632 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2235 1815

16941 0.94 236.8 376.9 6.6 821 16942 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2234 1815

17250 0.94 236.8 355.9 6.9 836 17254 0.00 2.67 0.00 0.000 4 0.000 0.074 2521 3649 1816

17293 0.94 236.8 352.4 8.4 838 17298 0.00 2.55 0.00 0.000 6 0.000 0.051 2522 2239 1816

17615 0.94 236.8 328.6 7.6 854 17616 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2239 1816

17924 0.94 236.8 306.1 7.1 869 17925 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2239 1816

18233 0.94 236.8 285.3 7.0 884 18237 0.00 2.67 0.00 0.000 4 0.000 0.074 2522 3654 1816

18273 0.94 236.8 282.4 9.1 886 18277 0.00 2.58 0.00 0.000 6 0.000 0.051 2522 2233 1816

18599 0.94 236.8 258.6 7.3 902 18601 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2233 1816

18908 0.94 236.8 237.8 6.5 917 18909 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2233 1816

19217 0.94 236.8 218.7 6.0 932 19219 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2233 1816

19527 0.94 236.8 198.7 7.0 947 19528 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2233 1816

19836 0.94 236.8 176.9 7.2 962 19837 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2233 1817

20145 0.94 236.8 156.2 6.7 977 20146 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2233 1817

20456 0.94 236.8 134.2 7.6 992 20460 0.00 2.67 0.00 0.000 4 0.000 0.073 2522 3650 1817

20505 0.94 236.8 129.7 9.7 994 20509 0.00 2.55 0.00 0.000 6 0.000 0.051 2521 2235 1817

20822 0.94 236.8 109.2 6.2 1009 20824 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2235 1817

21131 0.94 236.8 89.5 6.2 1024 21135 0.00 2.67 0.00 0.000 4 0.000 0.073 2522 3654 1817

21170 0.94 236.8 86.8 6.7 1026 21175 0.00 2.55 0.00 0.000 6 0.000 0.051 2522 2240 1817

21497 0.94 236.8 66.0 6.9 1042 21498 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 1817

21807 0.94 237.3 45.5 6.0 1057 21811 0.00 2.65 0.00 0.000 4 0.000 0.072 2522 3650 1817

21857 0.95 245.5 42.2 5.8 1059 21871 0.00 2.55 9.05 0.569 6 0.000 0.051 2522 2234 1779

22201 0.95 245.5 19.9 7.0 1076 22205 0.00 2.58 0.00 0.000 4 0.000 0.062 2522 828 1779

22256 0.95 245.5 16.2 6.3 1078 22262 0.00 2.55 0.00 0.000 6 0.000 0.050 2522 2242 1779

22466 end climb: SURFACE_DEPTH_REACHED

state 22466 begin surface coast

22488 end surface coast: CONTROL_FINISHED_OK

state 22488 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	190	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-2096987.2	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	013926,6313.853,-1317.131,42,1.1,43,-12.3	TGT_NAME	JW
_CALLS	2	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.25	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-54.8	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	015209,6313.753,-1317.261,12,1.5,12,-12.3	MHEAD_RNG_PITCHd_Wd	15.0,39394,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.026403	ALTIM_BOTTOM_PING	751.1,59.0
SM_CCo	22509,150.80,0.592,0,0,508,557.32	_24V_AH	23.6,33.407
SM_GC	1.31,0.00,0.00,150.80,0.000,0.000,0.592,73,2243,508,-10.24,0.37,557.32	_10V_AH	10.2,16.883
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53710,1090
TT8_MAMPS	0.023777	CAP_FILE_SIZE	140190,2
HUMID	1845	CFSIZE	260165632,246824960
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	42	GPS	160708,081132,6316.764,-1318.716,41,1.8,42,-12.3
ALTIM_TOP_PING	19.9,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	181	107.12	SBE_CT	798	24	452.15
Roll_motor	99	83	195.43	SBE_O2	749	19	336.17
VBD_pump_during_apogee	358	1146	9702.15	WL_BB2F	621	105	1539.63
VBD_pump_during_surface	150	592	2107.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.27	nil	0	0	0.00
Iridium_during_connect	68	160	260.48	nil	0	0	0.00
Iridium_during_xfer	465	223	2452.23
Transponder_ping	17	420	170.98
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.45
TT8	1874	19	378.62
LPSleep	17910	2	400.09
TT8_Active	704	19	142.27
TT8_Sampling	2030	39	824.48
TT8_CF8	902	45	421.68
TT8_Kalman	0	81	0.00
Analog_circuits	1675	12	205.03
GPS_charging	0	0	0.00
Compass	2001	8	163.29
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
25	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-120.72	0.000	2	0.000	0.000	72	2231	2993
151	-0.85	-146.6	4.1	-3.5	6	173	10.68	0.00	-8.55	0.000	6	0.181	0.000	1976	2231	3380
484	-0.29	-146.6	75.5	-20.8	22	492	1.25	2.67	0.00	0.000	4	0.109	0.072	2227	3643	3380
529	-0.53	-146.6	80.0	-4.6	24	535	0.20	2.58	0.00	0.000	6	0.042	0.048	2175	2220	3380
856	-0.53	-146.6	103.7	-7.2	40	858	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2220	3380
1166	-0.53	-146.6	125.8	-7.2	55	1167	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2219	3380
1475	-0.53	-146.6	148.5	-7.6	70	1477	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2220	3380
1784	-0.53	-146.6	172.8	-7.8	85	1785	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2221	3380
2093	-0.53	-146.6	196.1	-7.5	100	2098	0.00	2.67	0.00	0.000	4	0.000	0.075	2175	3635	3380
2126	-0.53	-146.6	198.8	-8.4	101	2132	0.00	2.53	0.00	0.000	6	0.000	0.048	2175	2231	3380
2442	-0.53	-146.6	221.4	-7.0	117	2443	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3380
2751	-0.53	-146.6	242.0	-6.4	132	2752	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3380
3061	-0.53	-146.6	261.5	-6.4	147	3062	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3380
3369	-0.53	-146.6	281.3	-6.6	162	3371	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3380
3679	-0.53	-146.6	302.5	-6.8	177	3683	0.00	2.67	0.00	0.000	4	0.000	0.076	2175	3638	3380
3718	-0.53	-146.6	305.5	-7.8	179	3723	0.00	2.55	0.00	0.000	6	0.000	0.050	2175	2225	3380
4045	-0.53	-146.6	328.6	-7.1	195	4046	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2224	3380
4355	-0.53	-146.6	350.8	-7.4	210	4356	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2224	3380
4664	-0.53	-146.6	373.5	-7.6	225	4665	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2224	3379
4973	-0.53	-146.6	395.1	-6.7	240	4974	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2224	3379
5283	-0.53	-146.6	414.7	-6.3	255	5287	0.00	2.67	0.00	0.000	4	0.000	0.075	2175	3638	3379
5322	-0.53	-146.6	417.5	-7.1	257	5326	0.00	2.53	0.00	0.000	6	0.000	0.049	2175	2230	3379
5649	-0.53	-146.6	439.7	-7.1	273	5650	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3379
5957	-0.53	-146.6	461.9	-7.1	288	5959	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3379
6267	-0.53	-146.6	484.8	-7.4	303	6268	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3379
6576	-0.57	-146.6	507.4	-7.2	318	6578	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3379
6886	-0.61	-146.6	528.5	-6.9	333	6887	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3379
7196	-0.66	-146.6	550.3	-7.0	348	7197	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3379
7504	-0.70	-146.6	571.7	-7.0	363	7506	0.15	0.00	0.00	0.000	6	0.050	0.000	2132	2230	3378
7814	-0.62	-146.6	598.6	-8.5	378	7815	0.15	0.00	0.00	0.000	6	0.087	0.000	2162	2230	3378
8123	-0.62	-146.6	618.4	-6.8	393	8127	0.00	2.58	0.00	0.000	4	0.000	0.059	2162	816	3378
8189	-0.69	-146.6	623.4	-8.0	396	8194	0.00	2.55	0.00	0.000	6	0.000	0.051	2162	2228	3378
8510	-0.69	-146.6	648.3	-7.6	412	8515	0.00	2.62	0.00	0.000	4	0.000	0.075	2162	3638	3378
8573	-0.69	-146.6	653.3	-8.3	415	8577	0.00	2.53	0.00	0.000	6	0.000	0.048	2161	2228	3378
8899	-0.69	-146.6	677.3	-7.0	431	8900	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2228	3378
9209	-0.69	-146.6	696.8	-6.2	446	9210	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2228	3378
9518	-0.69	-146.6	715.9	-6.6	461	9519	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2228	3377
9827	-0.69	-146.6	738.2	-7.4	476	9832	0.00	2.67	0.00	0.000	4	0.000	0.080	2162	3636	3377
9883	-0.69	-146.6	742.9	-8.6	478	9889	0.00	2.53	0.00	0.000	6	0.000	0.051	2163	2230	3377
10199	-0.69	-146.6	765.6	-6.8	494	10203	0.00	2.60	0.00	0.000	4	0.000	0.067	2162	819	3377
10239	-0.77	-146.6	769.2	-10.0	496	10244	0.15	2.58	0.00	0.000	6	0.051	0.056	2120	2228	3377
10567	-0.69	-146.6	796.0	-10.5	512	10568	0.15	0.00	0.00	0.000	6	0.092	0.000	2149	2228	3377
10625	end dive: BOTTOM_OBSTACLE_DETECTED
state	10625	begin apogee
10632	-0.31	0.0	800.1	7.2	515	10768	0.40	0.00	133.32	1.147	6	0.086	0.000	2230	2228	2781
10769	end apogee: CONTROL_FINISHED_OK
state	10769	begin climb
10772	0.85	146.6	806.7	0.0	522	10913	1.12	0.00	132.82	1.131	6	0.049	0.000	2483	2228	2183
11226	0.80	146.6	787.4	6.7	544	11231	0.00	2.75	0.00	0.000	4	0.000	0.084	2483	3648	2181
11321	0.75	146.6	779.6	10.7	548	11326	0.00	2.60	0.00	0.000	6	0.000	0.057	2483	2242	2181
11637	0.84	232.8	762.4	3.6	563	11717	0.00	0.00	77.95	1.111	6	0.000	0.000	2483	2242	1832
12027	0.92	236.8	740.7	5.9	582	12034	0.00	0.00	5.38	0.804	6	0.000	0.000	2483	2242	1815
12336	1.00	236.8	722.2	6.1	597	12338	0.15	0.00	0.00	0.000	6	0.055	0.000	2521	2242	1814
12645	1.00	236.8	699.2	7.4	612	12646	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2242	1814
12954	1.00	236.8	675.5	7.9	627	12958	0.00	2.70	0.00	0.000	4	0.000	0.079	2522	3650	1814
13010	0.94	236.8	670.5	9.4	629	13016	0.00	2.60	0.00	0.000	6	0.000	0.054	2522	2231	1813
13325	0.94	236.8	644.8	8.2	645	13326	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2231	1813
13635	0.94	236.8	620.7	7.3	660	13636	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2231	1813
13944	0.94	236.8	599.0	6.9	675	13945	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2231	1813
14253	0.94	236.8	577.6	7.2	690	14257	0.00	2.60	0.00	0.000	4	0.000	0.064	2522	823	1813
14342	0.94	236.8	571.0	7.2	694	14346	0.00	2.58	0.00	0.000	6	0.000	0.051	2522	2242	1813
14663	0.94	236.8	546.8	7.8	710	14667	0.00	2.65	0.00	0.000	4	0.000	0.075	2522	3650	1813
14707	0.94	236.8	542.9	8.1	712	14711	0.00	2.55	0.00	0.000	6	0.000	0.051	2522	2241	1813
15028	0.94	236.8	516.7	8.1	728	15029	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2241	1813
15337	0.94	236.8	491.3	8.4	743	15339	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2241	1814
15646	0.94	236.8	467.6	7.4	758	15647	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2241	1814
15955	0.94	236.8	444.8	7.5	773	15957	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2241	1814
16265	0.94	236.8	422.7	7.1	788	16270	0.00	2.67	0.00	0.000	4	0.000	0.074	2522	3652	1815
16304	0.94	236.8	419.6	8.0	790	16309	0.00	2.58	0.00	0.000	6	0.000	0.051	2522	2235	1815
16631	0.94	236.8	397.3	6.6	806	16632	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2235	1815
16941	0.94	236.8	376.9	6.6	821	16942	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2234	1815
17250	0.94	236.8	355.9	6.9	836	17254	0.00	2.67	0.00	0.000	4	0.000	0.074	2521	3649	1816
17293	0.94	236.8	352.4	8.4	838	17298	0.00	2.55	0.00	0.000	6	0.000	0.051	2522	2239	1816
17615	0.94	236.8	328.6	7.6	854	17616	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2239	1816
17924	0.94	236.8	306.1	7.1	869	17925	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2239	1816
18233	0.94	236.8	285.3	7.0	884	18237	0.00	2.67	0.00	0.000	4	0.000	0.074	2522	3654	1816
18273	0.94	236.8	282.4	9.1	886	18277	0.00	2.58	0.00	0.000	6	0.000	0.051	2522	2233	1816
18599	0.94	236.8	258.6	7.3	902	18601	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2233	1816
18908	0.94	236.8	237.8	6.5	917	18909	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2233	1816
19217	0.94	236.8	218.7	6.0	932	19219	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2233	1816
19527	0.94	236.8	198.7	7.0	947	19528	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2233	1816
19836	0.94	236.8	176.9	7.2	962	19837	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2233	1817
20145	0.94	236.8	156.2	6.7	977	20146	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2233	1817
20456	0.94	236.8	134.2	7.6	992	20460	0.00	2.67	0.00	0.000	4	0.000	0.073	2522	3650	1817
20505	0.94	236.8	129.7	9.7	994	20509	0.00	2.55	0.00	0.000	6	0.000	0.051	2521	2235	1817
20822	0.94	236.8	109.2	6.2	1009	20824	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2235	1817
21131	0.94	236.8	89.5	6.2	1024	21135	0.00	2.67	0.00	0.000	4	0.000	0.073	2522	3654	1817
21170	0.94	236.8	86.8	6.7	1026	21175	0.00	2.55	0.00	0.000	6	0.000	0.051	2522	2240	1817
21497	0.94	236.8	66.0	6.9	1042	21498	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	1817
21807	0.94	237.3	45.5	6.0	1057	21811	0.00	2.65	0.00	0.000	4	0.000	0.072	2522	3650	1817
21857	0.95	245.5	42.2	5.8	1059	21871	0.00	2.55	9.05	0.569	6	0.000	0.051	2522	2234	1779
22201	0.95	245.5	19.9	7.0	1076	22205	0.00	2.58	0.00	0.000	4	0.000	0.062	2522	828	1779
22256	0.95	245.5	16.2	6.3	1078	22262	0.00	2.55	0.00	0.000	6	0.000	0.050	2522	2242	1779
22466	end climb: SURFACE_DEPTH_REACHED
state	22466	begin surface coast
22488	end surface coast: CONTROL_FINISHED_OK
state	22488	begin surface