Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 191 * 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 191 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -2096999.1 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 -2096999.1

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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 191 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 081132,6316.764,-1318.716,41,1.8,42,-12.3 TGT_NAME JW

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.29 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -55.9 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 082033,6316.722,-1318.752,11,2.0,11,-12.3 MHEAD_RNG_PITCHd_Wd 17.5,33992,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.018920 ALTIM_BOTTOM_PING 751.1,42.5

SM_CCo 22450,113.40,0.596,0,0,509,557.32 _24V_AH 23.6,33.576

SM_GC 1.38,0.00,0.00,113.40,0.000,0.000,0.596,68,2245,509,-10.26,0.42,557.32 _10V_AH 10.2,16.978

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53808,1084

TT8_MAMPS 0.02301 CAP_FILE_SIZE 131286,0

HUMID 1846 CFSIZE 260165632,246767616

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 39 GPS 160708,143825,6319.131,-1319.777,28,1.9,46,-12.3

ALTIM_TOP_PING 18.5,17.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 167 97.52 SBE_CT 792 24 448.95

Roll_motor 73 79 136.43 SBE_O2 747 19 335.33

VBD_pump_during_apogee 429 1145 11602.21 WL_BB2F 616 105 1527.12

VBD_pump_during_surface 113 595 1594.93 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 27 160 103.92 nil 0 0 0.00

Iridium_during_xfer 334 223 1758.99

Transponder_ping 16 420 166.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.74

TT8 1834 19 370.56

LPSleep 17892 2 399.68

TT8_Active 707 19 142.93

TT8_Sampling 1949 39 791.42

TT8_CF8 705 45 329.42

TT8_Kalman 0 81 0.00

Analog_circuits 1638 12 200.57

GPS_charging 0 0 0.00

Compass 1919 8 156.60

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 22 begin dive

25 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -120.65 0.000 2 0.000 0.000 72 2245 3019

151 -0.85 -146.6 4.3 -3.5 6 174 11.50 0.00 -8.05 0.000 6 0.168 0.000 2112 2245 3380

479 -0.65 -146.6 45.9 -11.2 22 480 0.22 0.00 0.00 0.000 6 0.094 0.000 2156 2245 3380

786 -0.65 -146.6 75.2 -9.3 37 790 0.00 2.62 0.00 0.000 4 0.000 0.058 2156 816 3380

835 -0.65 -146.6 79.7 -8.8 39 839 0.00 2.60 0.00 0.000 6 0.000 0.051 2156 2237 3380

1151 -0.65 -146.6 105.1 -8.2 54 1152 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2237 3380

1460 -0.65 -146.6 130.5 -8.3 69 1461 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2237 3380

1769 -0.65 -146.6 157.0 -8.4 84 1773 0.00 2.62 0.00 0.000 4 0.000 0.059 2156 810 3380

1809 -0.65 -146.6 160.1 -7.9 86 1814 0.00 2.60 0.00 0.000 6 0.000 0.051 2156 2233 3380

2136 -0.65 -146.6 182.7 -6.3 102 2137 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2233 3380

2445 -0.65 -146.6 203.5 -7.2 117 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2233 3380

2755 -0.65 -146.6 225.0 -6.7 132 2756 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2234 3380

3064 -0.65 -146.6 245.9 -6.5 147 3065 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2233 3380

3373 -0.65 -146.6 266.5 -6.7 162 3377 0.00 2.60 0.00 0.000 4 0.000 0.060 2156 817 3380

3423 -0.65 -146.6 270.1 -7.5 164 3427 0.00 2.58 0.00 0.000 6 0.000 0.052 2156 2235 3380

3738 -0.65 -146.6 292.3 -7.2 179 3739 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2235 3379

4048 -0.65 -146.6 314.5 -7.2 194 4049 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2236 3380

4357 -0.65 -146.6 337.3 -7.4 209 4358 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2235 3380

4666 -0.65 -146.6 361.1 -7.8 224 4667 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2236 3379

4975 -0.65 -146.6 385.8 -7.9 239 4980 0.00 2.60 0.00 0.000 4 0.000 0.061 2156 817 3380

5026 -0.65 -146.6 389.9 -7.9 241 5030 0.00 2.55 0.00 0.000 6 0.000 0.051 2158 2226 3379

5342 -0.65 -146.6 413.4 -7.3 256 5343 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3379

5651 -0.65 -146.6 435.4 -7.1 271 5652 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3379

5961 -0.65 -146.6 457.0 -7.0 286 5962 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3379

6269 -0.65 -146.6 477.7 -6.6 301 6271 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3379

6579 -0.65 -146.6 499.6 -6.9 316 6580 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3379

6889 -0.65 -146.6 520.8 -7.0 331 6890 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3379

7197 -0.65 -146.6 541.0 -6.4 346 7202 0.00 2.65 0.00 0.000 4 0.000 0.072 2156 3649 3379

7242 -0.65 -146.6 544.4 -7.5 348 7246 0.00 2.55 0.00 0.000 6 0.000 0.048 2156 2224 3379

7563 -0.65 -146.6 565.7 -6.2 364 7564 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2224 3379

7872 -0.65 -146.6 585.6 -6.3 379 7873 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2224 3379

8181 -0.65 -146.6 610.0 -8.1 394 8182 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2223 3378

8490 -0.65 -146.6 630.9 -7.0 409 8492 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2224 3378

8799 -0.65 -146.6 651.4 -6.5 424 8800 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2224 3378

9108 -0.65 -146.6 671.4 -6.4 439 9110 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2224 3377

9418 -0.65 -146.6 690.3 -6.8 454 9419 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2224 3378

9727 -0.65 -146.6 713.0 -7.5 469 9728 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2224 3377

10036 -0.65 -146.6 734.9 -7.0 484 10037 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2224 3378

10346 -0.65 -146.6 755.2 -6.6 499 10350 0.00 2.58 0.00 0.000 4 0.000 0.064 2158 820 3377

10391 -0.70 -146.6 757.7 -4.8 501 10395 0.00 2.58 0.00 0.000 6 0.000 0.054 2156 2237 3377

10711 -0.70 -146.6 778.3 -6.7 517 10712 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2237 3377

10812 end dive: BOTTOM_OBSTACLE_DETECTED

state 10812 begin apogee

10819 -0.31 0.0 784.8 7.4 522 10955 0.35 0.00 133.57 1.146 6 0.085 0.000 2228 2237 2781

10956 end apogee: CONTROL_FINISHED_OK

state 10956 begin climb

10959 0.85 146.6 790.9 0.0 529 11096 1.17 0.00 132.95 1.125 6 0.061 0.000 2484 2240 2183

11405 0.92 218.8 775.3 4.0 551 11473 0.00 0.00 65.80 1.104 6 0.000 0.000 2484 2240 1889

11774 0.98 218.8 753.8 6.4 569 11779 0.12 2.65 0.00 0.000 4 0.053 0.065 2519 830 1888

11847 0.92 218.8 748.4 7.0 572 11851 0.00 2.60 0.00 0.000 6 0.000 0.054 2519 2240 1887

12163 0.92 218.8 723.5 7.7 587 12167 0.00 2.67 0.00 0.000 4 0.000 0.079 2519 3650 1887

12195 0.92 218.8 720.5 8.4 588 12201 0.00 2.60 0.00 0.000 6 0.000 0.058 2519 2239 1887

12511 0.92 218.8 695.4 7.6 604 12512 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2239 1886

12821 0.86 218.8 673.5 7.7 619 12826 0.15 2.70 0.00 0.000 4 0.091 0.077 2485 3650 1885

12862 0.92 218.8 670.9 6.3 621 12866 0.00 2.60 0.00 0.000 6 0.000 0.055 2485 2239 1886

13189 0.98 224.0 651.0 5.9 637 13197 0.12 0.00 5.65 0.805 6 0.052 0.000 2520 2239 1867

13498 0.98 224.0 628.7 6.9 652 13499 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2239 1867

13806 0.98 224.0 607.7 7.1 667 13808 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2239 1867

14116 0.99 232.4 588.0 5.8 682 14131 0.00 2.70 9.18 0.883 4 0.000 0.074 2519 3648 1833

14194 0.94 232.4 583.0 6.4 685 14199 0.00 2.58 0.00 0.000 6 0.000 0.050 2520 2231 1833

14510 0.94 232.4 563.3 6.2 700 14511 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2231 1833

14819 0.94 232.4 544.2 6.8 715 14820 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2231 1833

15128 0.94 232.4 520.8 7.6 730 15129 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2231 1833

15438 0.94 233.1 500.5 6.0 745 15439 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2231 1834

15747 0.96 256.3 484.2 5.4 760 15777 0.00 2.80 22.15 0.902 4 0.000 0.073 2520 3653 1736

15806 0.96 256.3 480.5 6.4 762 15812 0.00 2.58 0.00 0.000 6 0.000 0.050 2520 2244 1736

16121 0.96 256.3 461.2 6.1 778 16126 0.00 2.60 0.00 0.000 4 0.000 0.062 2520 830 1736

16177 0.96 256.3 457.4 6.7 780 16184 0.00 2.58 0.00 0.000 6 0.000 0.050 2520 2244 1736

16493 0.96 256.3 436.5 7.0 796 16494 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1736

16802 0.96 256.3 412.5 8.2 811 16804 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1736

17112 0.96 256.3 387.0 8.3 826 17113 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1736

17421 0.96 256.3 362.1 7.9 841 17422 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1737

17730 0.96 256.3 338.1 7.7 856 17731 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2243 1737

18040 0.96 256.3 314.8 7.7 871 18041 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1737

18349 0.96 256.3 292.7 7.2 886 18350 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1737

18658 0.96 256.3 270.6 7.1 901 18659 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1738

18967 0.96 256.3 247.9 7.2 916 18968 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1738

19277 0.96 256.3 227.2 6.6 931 19278 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1737

19586 0.96 256.3 207.3 6.5 946 19587 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1738

19895 0.96 256.3 187.7 6.2 961 19896 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1738

20205 0.96 256.3 167.9 6.4 976 20206 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1738

20514 0.96 256.3 144.1 8.4 991 20515 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2244 1739

20823 0.96 256.3 117.9 8.3 1006 20827 0.00 2.62 0.00 0.000 4 0.000 0.071 2520 3651 1738

20863 0.96 256.3 114.6 8.9 1008 20867 0.00 2.53 0.00 0.000 6 0.000 0.050 2520 2240 1739

21189 0.96 256.3 90.6 6.8 1024 21191 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2240 1739

21499 1.00 285.4 72.0 5.2 1039 21529 0.00 2.65 25.25 0.648 4 0.000 0.060 2520 825 1616

21566 1.09 327.0 69.0 4.9 1042 21605 0.00 2.60 34.47 0.647 6 0.000 0.048 2520 2244 1447

21937 1.16 327.0 45.1 8.4 1060 21938 0.15 0.00 0.00 0.000 6 0.059 0.000 2560 2244 1448

22244 1.12 327.0 16.7 8.9 1075 22246 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2244 1447

22406 end climb: SURFACE_DEPTH_REACHED

state 22406 begin surface coast

22429 end surface coast: CONTROL_FINISHED_OK

state 22429 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	191	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-2096999.1	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	081132,6316.764,-1318.716,41,1.8,42,-12.3	TGT_NAME	JW
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.29	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-55.9	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	082033,6316.722,-1318.752,11,2.0,11,-12.3	MHEAD_RNG_PITCHd_Wd	17.5,33992,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.018920	ALTIM_BOTTOM_PING	751.1,42.5
SM_CCo	22450,113.40,0.596,0,0,509,557.32	_24V_AH	23.6,33.576
SM_GC	1.38,0.00,0.00,113.40,0.000,0.000,0.596,68,2245,509,-10.26,0.42,557.32	_10V_AH	10.2,16.978
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53808,1084
TT8_MAMPS	0.02301	CAP_FILE_SIZE	131286,0
HUMID	1846	CFSIZE	260165632,246767616
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	39	GPS	160708,143825,6319.131,-1319.777,28,1.9,46,-12.3
ALTIM_TOP_PING	18.5,17.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	167	97.52	SBE_CT	792	24	448.95
Roll_motor	73	79	136.43	SBE_O2	747	19	335.33
VBD_pump_during_apogee	429	1145	11602.21	WL_BB2F	616	105	1527.12
VBD_pump_during_surface	113	595	1594.93	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	27	160	103.92	nil	0	0	0.00
Iridium_during_xfer	334	223	1758.99
Transponder_ping	16	420	166.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.74
TT8	1834	19	370.56
LPSleep	17892	2	399.68
TT8_Active	707	19	142.93
TT8_Sampling	1949	39	791.42
TT8_CF8	705	45	329.42
TT8_Kalman	0	81	0.00
Analog_circuits	1638	12	200.57
GPS_charging	0	0	0.00
Compass	1919	8	156.60
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	22	begin dive
25	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-120.65	0.000	2	0.000	0.000	72	2245	3019
151	-0.85	-146.6	4.3	-3.5	6	174	11.50	0.00	-8.05	0.000	6	0.168	0.000	2112	2245	3380
479	-0.65	-146.6	45.9	-11.2	22	480	0.22	0.00	0.00	0.000	6	0.094	0.000	2156	2245	3380
786	-0.65	-146.6	75.2	-9.3	37	790	0.00	2.62	0.00	0.000	4	0.000	0.058	2156	816	3380
835	-0.65	-146.6	79.7	-8.8	39	839	0.00	2.60	0.00	0.000	6	0.000	0.051	2156	2237	3380
1151	-0.65	-146.6	105.1	-8.2	54	1152	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2237	3380
1460	-0.65	-146.6	130.5	-8.3	69	1461	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2237	3380
1769	-0.65	-146.6	157.0	-8.4	84	1773	0.00	2.62	0.00	0.000	4	0.000	0.059	2156	810	3380
1809	-0.65	-146.6	160.1	-7.9	86	1814	0.00	2.60	0.00	0.000	6	0.000	0.051	2156	2233	3380
2136	-0.65	-146.6	182.7	-6.3	102	2137	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2233	3380
2445	-0.65	-146.6	203.5	-7.2	117	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2233	3380
2755	-0.65	-146.6	225.0	-6.7	132	2756	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2234	3380
3064	-0.65	-146.6	245.9	-6.5	147	3065	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2233	3380
3373	-0.65	-146.6	266.5	-6.7	162	3377	0.00	2.60	0.00	0.000	4	0.000	0.060	2156	817	3380
3423	-0.65	-146.6	270.1	-7.5	164	3427	0.00	2.58	0.00	0.000	6	0.000	0.052	2156	2235	3380
3738	-0.65	-146.6	292.3	-7.2	179	3739	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2235	3379
4048	-0.65	-146.6	314.5	-7.2	194	4049	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2236	3380
4357	-0.65	-146.6	337.3	-7.4	209	4358	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2235	3380
4666	-0.65	-146.6	361.1	-7.8	224	4667	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2236	3379
4975	-0.65	-146.6	385.8	-7.9	239	4980	0.00	2.60	0.00	0.000	4	0.000	0.061	2156	817	3380
5026	-0.65	-146.6	389.9	-7.9	241	5030	0.00	2.55	0.00	0.000	6	0.000	0.051	2158	2226	3379
5342	-0.65	-146.6	413.4	-7.3	256	5343	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3379
5651	-0.65	-146.6	435.4	-7.1	271	5652	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3379
5961	-0.65	-146.6	457.0	-7.0	286	5962	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3379
6269	-0.65	-146.6	477.7	-6.6	301	6271	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3379
6579	-0.65	-146.6	499.6	-6.9	316	6580	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3379
6889	-0.65	-146.6	520.8	-7.0	331	6890	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3379
7197	-0.65	-146.6	541.0	-6.4	346	7202	0.00	2.65	0.00	0.000	4	0.000	0.072	2156	3649	3379
7242	-0.65	-146.6	544.4	-7.5	348	7246	0.00	2.55	0.00	0.000	6	0.000	0.048	2156	2224	3379
7563	-0.65	-146.6	565.7	-6.2	364	7564	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2224	3379
7872	-0.65	-146.6	585.6	-6.3	379	7873	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2224	3379
8181	-0.65	-146.6	610.0	-8.1	394	8182	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2223	3378
8490	-0.65	-146.6	630.9	-7.0	409	8492	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2224	3378
8799	-0.65	-146.6	651.4	-6.5	424	8800	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2224	3378
9108	-0.65	-146.6	671.4	-6.4	439	9110	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2224	3377
9418	-0.65	-146.6	690.3	-6.8	454	9419	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2224	3378
9727	-0.65	-146.6	713.0	-7.5	469	9728	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2224	3377
10036	-0.65	-146.6	734.9	-7.0	484	10037	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2224	3378
10346	-0.65	-146.6	755.2	-6.6	499	10350	0.00	2.58	0.00	0.000	4	0.000	0.064	2158	820	3377
10391	-0.70	-146.6	757.7	-4.8	501	10395	0.00	2.58	0.00	0.000	6	0.000	0.054	2156	2237	3377
10711	-0.70	-146.6	778.3	-6.7	517	10712	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2237	3377
10812	end dive: BOTTOM_OBSTACLE_DETECTED
state	10812	begin apogee
10819	-0.31	0.0	784.8	7.4	522	10955	0.35	0.00	133.57	1.146	6	0.085	0.000	2228	2237	2781
10956	end apogee: CONTROL_FINISHED_OK
state	10956	begin climb
10959	0.85	146.6	790.9	0.0	529	11096	1.17	0.00	132.95	1.125	6	0.061	0.000	2484	2240	2183
11405	0.92	218.8	775.3	4.0	551	11473	0.00	0.00	65.80	1.104	6	0.000	0.000	2484	2240	1889
11774	0.98	218.8	753.8	6.4	569	11779	0.12	2.65	0.00	0.000	4	0.053	0.065	2519	830	1888
11847	0.92	218.8	748.4	7.0	572	11851	0.00	2.60	0.00	0.000	6	0.000	0.054	2519	2240	1887
12163	0.92	218.8	723.5	7.7	587	12167	0.00	2.67	0.00	0.000	4	0.000	0.079	2519	3650	1887
12195	0.92	218.8	720.5	8.4	588	12201	0.00	2.60	0.00	0.000	6	0.000	0.058	2519	2239	1887
12511	0.92	218.8	695.4	7.6	604	12512	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2239	1886
12821	0.86	218.8	673.5	7.7	619	12826	0.15	2.70	0.00	0.000	4	0.091	0.077	2485	3650	1885
12862	0.92	218.8	670.9	6.3	621	12866	0.00	2.60	0.00	0.000	6	0.000	0.055	2485	2239	1886
13189	0.98	224.0	651.0	5.9	637	13197	0.12	0.00	5.65	0.805	6	0.052	0.000	2520	2239	1867
13498	0.98	224.0	628.7	6.9	652	13499	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2239	1867
13806	0.98	224.0	607.7	7.1	667	13808	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2239	1867
14116	0.99	232.4	588.0	5.8	682	14131	0.00	2.70	9.18	0.883	4	0.000	0.074	2519	3648	1833
14194	0.94	232.4	583.0	6.4	685	14199	0.00	2.58	0.00	0.000	6	0.000	0.050	2520	2231	1833
14510	0.94	232.4	563.3	6.2	700	14511	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2231	1833
14819	0.94	232.4	544.2	6.8	715	14820	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2231	1833
15128	0.94	232.4	520.8	7.6	730	15129	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2231	1833
15438	0.94	233.1	500.5	6.0	745	15439	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2231	1834
15747	0.96	256.3	484.2	5.4	760	15777	0.00	2.80	22.15	0.902	4	0.000	0.073	2520	3653	1736
15806	0.96	256.3	480.5	6.4	762	15812	0.00	2.58	0.00	0.000	6	0.000	0.050	2520	2244	1736
16121	0.96	256.3	461.2	6.1	778	16126	0.00	2.60	0.00	0.000	4	0.000	0.062	2520	830	1736
16177	0.96	256.3	457.4	6.7	780	16184	0.00	2.58	0.00	0.000	6	0.000	0.050	2520	2244	1736
16493	0.96	256.3	436.5	7.0	796	16494	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1736
16802	0.96	256.3	412.5	8.2	811	16804	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1736
17112	0.96	256.3	387.0	8.3	826	17113	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1736
17421	0.96	256.3	362.1	7.9	841	17422	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1737
17730	0.96	256.3	338.1	7.7	856	17731	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2243	1737
18040	0.96	256.3	314.8	7.7	871	18041	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1737
18349	0.96	256.3	292.7	7.2	886	18350	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1737
18658	0.96	256.3	270.6	7.1	901	18659	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1738
18967	0.96	256.3	247.9	7.2	916	18968	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1738
19277	0.96	256.3	227.2	6.6	931	19278	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1737
19586	0.96	256.3	207.3	6.5	946	19587	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1738
19895	0.96	256.3	187.7	6.2	961	19896	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1738
20205	0.96	256.3	167.9	6.4	976	20206	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1738
20514	0.96	256.3	144.1	8.4	991	20515	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2244	1739
20823	0.96	256.3	117.9	8.3	1006	20827	0.00	2.62	0.00	0.000	4	0.000	0.071	2520	3651	1738
20863	0.96	256.3	114.6	8.9	1008	20867	0.00	2.53	0.00	0.000	6	0.000	0.050	2520	2240	1739
21189	0.96	256.3	90.6	6.8	1024	21191	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2240	1739
21499	1.00	285.4	72.0	5.2	1039	21529	0.00	2.65	25.25	0.648	4	0.000	0.060	2520	825	1616
21566	1.09	327.0	69.0	4.9	1042	21605	0.00	2.60	34.47	0.647	6	0.000	0.048	2520	2244	1447
21937	1.16	327.0	45.1	8.4	1060	21938	0.15	0.00	0.00	0.000	6	0.059	0.000	2560	2244	1448
22244	1.12	327.0	16.7	8.9	1075	22246	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2244	1447
22406	end climb: SURFACE_DEPTH_REACHED
state	22406	begin surface coast
22429	end surface coast: CONTROL_FINISHED_OK
state	22429	begin surface