Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 193 * 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 193 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 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 -2097078 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 -2097078

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 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 193 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 205858,6322.300,-1320.216,40,3.1,60,-12.4 TGT_NAME JW

_CALLS 3 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.23 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -57.2 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 211137,6322.261,-1320.098,34,1.8,44,-12.4 MHEAD_RNG_PITCHd_Wd 22.5,23964,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.3,1.027095 ALTIM_BOTTOM_PING 775.5,32.5

SM_CCo 21460,134.62,0.597,0,0,509,557.32 _24V_AH 23.6,33.920

SM_GC 1.25,0.00,0.00,134.62,0.000,0.000,0.597,71,2228,509,-10.25,-0.08,557.32 _10V_AH 10.2,17.171

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53682,1038

TT8_MAMPS 0.02301 CAP_FILE_SIZE 140711,0

HUMID 1856 CFSIZE 260165632,246632448

TCM_TEMP 19.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 42 GPS 170708,031308,6324.737,-1320.670,38,1.6,39,-12.4

ALTIM_TOP_PING 18.6,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 100.59 SBE_CT 758 24 429.55

Roll_motor 114 81 220.32 SBE_O2 716 19 321.28

VBD_pump_during_apogee 389 1150 10585.13 WL_BB2F 604 105 1497.52

VBD_pump_during_surface 134 596 1895.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 132.60 nil 0 0 0.00

Iridium_during_connect 91 160 347.23 nil 0 0 0.00

Iridium_during_xfer 321 223 1691.97

Transponder_ping 17 420 175.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 46 50 23.56

TT8 1812 19 366.15

LPSleep 16957 2 378.81

TT8_Active 708 19 143.15

TT8_Sampling 2076 39 842.97

TT8_CF8 794 45 371.37

TT8_Kalman 0 81 0.00

Analog_circuits 1700 12 208.15

GPS_charging 0 0 0.00

Compass 2000 8 163.27

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.85 -146.6 0.0 0.0 0 148 0.00 0.00 -121.38 0.000 2 0.000 0.000 69 2235 3022

152 -0.85 -146.6 4.3 -3.5 6 177 11.45 2.62 -7.90 0.000 4 0.168 0.070 2109 817 3381

324 -0.70 -146.6 28.9 -11.3 13 331 0.17 2.58 0.00 0.000 6 0.095 0.051 2143 2231 3381

642 -0.60 -146.6 60.2 -9.0 29 644 0.12 0.00 0.00 0.000 6 0.098 0.000 2167 2231 3381

949 -0.60 -146.6 79.3 -6.4 44 950 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2231 3382

1258 -0.60 -146.6 102.9 -8.4 59 1263 0.00 2.65 0.00 0.000 4 0.000 0.072 2166 3646 3382

1299 -0.60 -146.6 106.4 -9.2 61 1303 0.00 2.55 0.00 0.000 6 0.000 0.049 2166 2228 3382

1626 -0.60 -146.6 132.6 -7.7 77 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2228 3382

1934 -0.60 -146.6 159.0 -8.7 92 1935 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2228 3381

2243 -0.60 -146.6 185.0 -8.4 107 2248 0.00 2.58 0.00 0.000 4 0.000 0.059 2166 816 3382

2300 -0.65 -146.6 189.8 -8.6 109 2306 0.00 2.58 0.00 0.000 6 0.000 0.052 2166 2230 3382

2615 -0.65 -146.6 215.0 -7.7 125 2616 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2231 3382

2925 -0.65 -146.6 237.0 -6.8 140 2926 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3382

3234 -0.65 -146.6 256.8 -6.5 155 3235 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2230 3381

3543 -0.65 -146.6 278.1 -7.2 170 3544 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2231 3381

3855 -0.65 -146.6 301.3 -7.7 185 3856 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2231 3381

4163 -0.65 -146.6 325.2 -7.8 200 4164 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2231 3381

4471 -0.65 -146.6 349.1 -7.6 215 4472 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2230 3381

4780 -0.65 -146.6 372.4 -7.6 230 4781 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2230 3381

5090 -0.65 -146.6 395.2 -7.2 245 5091 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2231 3380

5399 -0.65 -146.6 419.0 -7.9 260 5400 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2231 3380

5708 -0.65 -146.6 446.2 -9.1 275 5709 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2231 3380

6018 -0.65 -146.6 473.5 -8.7 290 6019 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2231 3380

6326 -0.65 -146.6 498.6 -7.8 305 6331 0.00 2.60 0.00 0.000 4 0.000 0.058 2167 814 3380

6371 -0.71 -146.6 502.2 -8.2 307 6376 0.00 2.58 0.00 0.000 6 0.000 0.051 2166 2233 3380

6692 -0.71 -146.6 524.8 -6.8 323 6693 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2233 3379

7001 -0.71 -146.6 547.0 -7.6 338 7002 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2233 3380

7311 -0.71 -146.6 572.2 -8.2 353 7315 0.00 2.60 0.00 0.000 4 0.000 0.058 2166 813 3379

7355 -0.78 -146.6 575.8 -8.1 355 7360 0.17 2.58 0.00 0.000 6 0.042 0.051 2113 2234 3379

7677 -0.65 -146.6 609.8 -11.3 371 7682 0.20 2.65 0.00 0.000 4 0.087 0.074 2156 3647 3379

7717 -0.65 -146.6 613.2 -8.0 373 7721 0.00 2.55 0.00 0.000 6 0.000 0.049 2156 2228 3379

8043 -0.65 -146.6 638.5 -7.9 389 8044 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3379

8352 -0.65 -146.6 662.0 -7.6 404 8353 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3378

8662 -0.65 -146.6 681.8 -6.0 419 8663 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2226 3379

8971 -0.65 -146.6 701.6 -6.8 434 8972 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2227 3378

9280 -0.65 -146.6 722.4 -6.8 449 9284 0.00 2.58 0.00 0.000 4 0.000 0.060 2156 814 3378

9320 -0.72 -146.6 725.0 -6.2 451 9330 0.00 2.58 0.00 0.000 6 0.000 0.054 2156 2232 3378

9657 -0.72 -146.6 746.2 -6.6 467 9658 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2232 3378

9967 -0.72 -146.6 765.4 -5.6 482 9968 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2232 3377

10276 -0.72 -146.6 786.6 -8.1 497 10280 0.00 2.62 0.00 0.000 4 0.000 0.065 2156 822 3377

10320 -0.77 -146.6 790.1 -8.0 499 10325 0.12 2.58 0.00 0.000 6 0.051 0.056 2117 2232 3377

10412 end dive: BOTTOM_OBSTACLE_DETECTED

state 10412 begin apogee

10419 -0.31 0.0 799.3 10.1 504 10556 0.55 0.00 133.45 1.151 6 0.086 0.000 2227 2232 2781

10556 end apogee: CONTROL_FINISHED_OK

state 10556 begin climb

10559 0.85 146.6 806.9 0.0 511 10702 1.17 2.83 132.38 1.134 4 0.077 0.081 2478 3644 2183

10861 0.98 225.3 795.5 3.8 525 10938 0.15 2.60 70.93 1.110 6 0.048 0.058 2521 2243 1862

11248 0.93 225.3 770.4 7.1 543 11252 0.00 2.67 0.00 0.000 4 0.000 0.068 2521 824 1861

11337 0.93 225.3 763.8 7.0 547 11341 0.00 2.62 0.00 0.000 6 0.000 0.054 2521 2246 1860

11658 0.86 225.3 743.2 6.9 563 11663 0.17 2.70 0.00 0.000 4 0.086 0.079 2484 3653 1860

11771 0.91 225.3 736.3 6.3 568 11775 0.00 2.60 0.00 0.000 6 0.000 0.057 2483 2239 1860

12092 0.99 237.1 717.6 5.7 584 12106 0.15 0.00 11.68 0.986 6 0.050 0.000 2525 2239 1814

12402 0.96 245.9 699.3 5.8 599 12417 0.00 2.67 9.35 0.943 4 0.000 0.065 2525 830 1778

12464 0.96 245.9 694.8 7.4 601 12468 0.00 2.62 0.00 0.000 6 0.000 0.054 2525 2247 1777

12790 0.96 245.9 669.8 7.7 617 12791 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2247 1777

13100 0.89 245.9 647.6 6.9 632 13105 0.15 2.65 0.00 0.000 4 0.087 0.077 2494 3650 1776

13173 0.94 249.0 642.1 5.9 635 13185 0.00 2.58 4.22 0.691 6 0.000 0.052 2494 2237 1766

13495 1.02 278.8 624.7 5.2 651 13525 0.12 0.00 27.85 1.014 6 0.050 0.000 2531 2236 1644

13823 1.02 278.8 603.3 6.3 667 13828 0.00 2.62 0.00 0.000 4 0.000 0.064 2532 824 1643

13868 1.02 278.8 600.1 7.0 669 13872 0.00 2.60 0.00 0.000 6 0.000 0.051 2531 2244 1643

14189 1.02 278.8 574.7 8.4 685 14190 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2244 1643

14498 1.02 278.8 546.7 9.0 700 14502 0.00 2.65 0.00 0.000 4 0.000 0.061 2531 824 1642

14560 1.02 278.8 540.9 9.0 703 14564 0.00 2.60 0.00 0.000 6 0.000 0.050 2531 2246 1643

14886 1.02 278.8 510.7 8.8 719 14887 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2246 1643

15195 1.02 278.8 484.5 8.3 734 15196 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2246 1644

15504 1.02 278.8 457.7 8.9 749 15509 0.00 2.65 0.00 0.000 4 0.000 0.061 2531 818 1644

15549 1.02 278.8 453.6 9.1 751 15553 0.00 2.58 0.00 0.000 6 0.000 0.050 2531 2240 1644

15870 1.02 278.8 427.5 7.4 767 15871 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2240 1644

16179 1.02 278.8 405.0 7.1 782 16180 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2240 1644

16488 1.02 278.8 382.7 7.3 797 16489 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2240 1645

16798 1.02 278.8 359.7 7.6 812 16802 0.00 2.60 0.00 0.000 4 0.000 0.061 2531 828 1645

16841 1.02 278.8 356.0 8.0 814 16846 0.00 2.58 0.00 0.000 6 0.000 0.051 2531 2246 1645

17162 1.02 278.8 329.8 8.2 830 17164 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2247 1646

17472 1.02 278.8 304.2 8.2 845 17476 0.00 2.62 0.00 0.000 4 0.000 0.060 2531 827 1646

17511 1.02 278.8 300.7 8.8 847 17516 0.00 2.58 0.00 0.000 6 0.000 0.051 2532 2242 1644

17838 1.02 278.8 274.5 7.5 863 17839 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2242 1646

18148 1.02 278.8 251.9 7.3 878 18149 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2242 1646

18457 1.02 278.8 228.3 7.7 893 18461 0.00 2.62 0.00 0.000 4 0.000 0.061 2531 821 1647

18500 1.02 278.8 224.6 8.1 895 18505 0.00 2.58 0.00 0.000 6 0.000 0.051 2531 2242 1646

18822 1.02 278.8 200.8 7.3 911 18823 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2242 1647

19131 1.02 278.8 179.2 6.9 926 19132 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2242 1647

19440 1.02 278.8 156.4 7.7 941 19442 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2242 1647

19750 1.02 278.8 131.8 7.6 956 19751 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2242 1647

20059 1.02 278.8 110.1 7.0 971 20063 0.00 2.62 0.00 0.000 4 0.000 0.061 2531 820 1647

20099 1.02 278.8 106.8 8.3 973 20103 0.00 2.58 0.00 0.000 6 0.000 0.050 2531 2246 1647

20426 1.02 278.8 80.7 7.8 989 20430 0.00 2.62 0.00 0.000 4 0.000 0.072 2531 3652 1647

20458 1.02 278.8 77.7 8.8 990 20465 0.00 2.55 0.00 0.000 6 0.000 0.052 2531 2238 1647

20776 1.02 278.8 50.5 8.9 1006 20777 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2238 1647

21084 1.02 278.8 27.6 7.3 1021 21085 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2238 1648

21393 1.02 278.8 5.2 7.5 1036 21397 0.00 2.58 0.00 0.000 4 0.000 0.060 2531 820 1648

21430 end climb: SURFACE_DEPTH_REACHED

state 21430 begin surface coast

21435 end surface coast: CONTROL_FINISHED_OK

state 21435 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	193	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	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	-2097078	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	205858,6322.300,-1320.216,40,3.1,60,-12.4	TGT_NAME	JW
_CALLS	3	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.23	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-57.2	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	211137,6322.261,-1320.098,34,1.8,44,-12.4	MHEAD_RNG_PITCHd_Wd	22.5,23964,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	1.3,1.027095	ALTIM_BOTTOM_PING	775.5,32.5
SM_CCo	21460,134.62,0.597,0,0,509,557.32	_24V_AH	23.6,33.920
SM_GC	1.25,0.00,0.00,134.62,0.000,0.000,0.597,71,2228,509,-10.25,-0.08,557.32	_10V_AH	10.2,17.171
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53682,1038
TT8_MAMPS	0.02301	CAP_FILE_SIZE	140711,0
HUMID	1856	CFSIZE	260165632,246632448
TCM_TEMP	19.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	42	GPS	170708,031308,6324.737,-1320.670,38,1.6,39,-12.4
ALTIM_TOP_PING	18.6,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	100.59	SBE_CT	758	24	429.55
Roll_motor	114	81	220.32	SBE_O2	716	19	321.28
VBD_pump_during_apogee	389	1150	10585.13	WL_BB2F	604	105	1497.52
VBD_pump_during_surface	134	596	1895.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	132.60	nil	0	0	0.00
Iridium_during_connect	91	160	347.23	nil	0	0	0.00
Iridium_during_xfer	321	223	1691.97
Transponder_ping	17	420	175.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	46	50	23.56
TT8	1812	19	366.15
LPSleep	16957	2	378.81
TT8_Active	708	19	143.15
TT8_Sampling	2076	39	842.97
TT8_CF8	794	45	371.37
TT8_Kalman	0	81	0.00
Analog_circuits	1700	12	208.15
GPS_charging	0	0	0.00
Compass	2000	8	163.27
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.85	-146.6	0.0	0.0	0	148	0.00	0.00	-121.38	0.000	2	0.000	0.000	69	2235	3022
152	-0.85	-146.6	4.3	-3.5	6	177	11.45	2.62	-7.90	0.000	4	0.168	0.070	2109	817	3381
324	-0.70	-146.6	28.9	-11.3	13	331	0.17	2.58	0.00	0.000	6	0.095	0.051	2143	2231	3381
642	-0.60	-146.6	60.2	-9.0	29	644	0.12	0.00	0.00	0.000	6	0.098	0.000	2167	2231	3381
949	-0.60	-146.6	79.3	-6.4	44	950	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2231	3382
1258	-0.60	-146.6	102.9	-8.4	59	1263	0.00	2.65	0.00	0.000	4	0.000	0.072	2166	3646	3382
1299	-0.60	-146.6	106.4	-9.2	61	1303	0.00	2.55	0.00	0.000	6	0.000	0.049	2166	2228	3382
1626	-0.60	-146.6	132.6	-7.7	77	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2228	3382
1934	-0.60	-146.6	159.0	-8.7	92	1935	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2228	3381
2243	-0.60	-146.6	185.0	-8.4	107	2248	0.00	2.58	0.00	0.000	4	0.000	0.059	2166	816	3382
2300	-0.65	-146.6	189.8	-8.6	109	2306	0.00	2.58	0.00	0.000	6	0.000	0.052	2166	2230	3382
2615	-0.65	-146.6	215.0	-7.7	125	2616	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2231	3382
2925	-0.65	-146.6	237.0	-6.8	140	2926	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3382
3234	-0.65	-146.6	256.8	-6.5	155	3235	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2230	3381
3543	-0.65	-146.6	278.1	-7.2	170	3544	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2231	3381
3855	-0.65	-146.6	301.3	-7.7	185	3856	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2231	3381
4163	-0.65	-146.6	325.2	-7.8	200	4164	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2231	3381
4471	-0.65	-146.6	349.1	-7.6	215	4472	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2230	3381
4780	-0.65	-146.6	372.4	-7.6	230	4781	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2230	3381
5090	-0.65	-146.6	395.2	-7.2	245	5091	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2231	3380
5399	-0.65	-146.6	419.0	-7.9	260	5400	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2231	3380
5708	-0.65	-146.6	446.2	-9.1	275	5709	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2231	3380
6018	-0.65	-146.6	473.5	-8.7	290	6019	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2231	3380
6326	-0.65	-146.6	498.6	-7.8	305	6331	0.00	2.60	0.00	0.000	4	0.000	0.058	2167	814	3380
6371	-0.71	-146.6	502.2	-8.2	307	6376	0.00	2.58	0.00	0.000	6	0.000	0.051	2166	2233	3380
6692	-0.71	-146.6	524.8	-6.8	323	6693	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2233	3379
7001	-0.71	-146.6	547.0	-7.6	338	7002	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2233	3380
7311	-0.71	-146.6	572.2	-8.2	353	7315	0.00	2.60	0.00	0.000	4	0.000	0.058	2166	813	3379
7355	-0.78	-146.6	575.8	-8.1	355	7360	0.17	2.58	0.00	0.000	6	0.042	0.051	2113	2234	3379
7677	-0.65	-146.6	609.8	-11.3	371	7682	0.20	2.65	0.00	0.000	4	0.087	0.074	2156	3647	3379
7717	-0.65	-146.6	613.2	-8.0	373	7721	0.00	2.55	0.00	0.000	6	0.000	0.049	2156	2228	3379
8043	-0.65	-146.6	638.5	-7.9	389	8044	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3379
8352	-0.65	-146.6	662.0	-7.6	404	8353	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3378
8662	-0.65	-146.6	681.8	-6.0	419	8663	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2226	3379
8971	-0.65	-146.6	701.6	-6.8	434	8972	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2227	3378
9280	-0.65	-146.6	722.4	-6.8	449	9284	0.00	2.58	0.00	0.000	4	0.000	0.060	2156	814	3378
9320	-0.72	-146.6	725.0	-6.2	451	9330	0.00	2.58	0.00	0.000	6	0.000	0.054	2156	2232	3378
9657	-0.72	-146.6	746.2	-6.6	467	9658	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2232	3378
9967	-0.72	-146.6	765.4	-5.6	482	9968	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2232	3377
10276	-0.72	-146.6	786.6	-8.1	497	10280	0.00	2.62	0.00	0.000	4	0.000	0.065	2156	822	3377
10320	-0.77	-146.6	790.1	-8.0	499	10325	0.12	2.58	0.00	0.000	6	0.051	0.056	2117	2232	3377
10412	end dive: BOTTOM_OBSTACLE_DETECTED
state	10412	begin apogee
10419	-0.31	0.0	799.3	10.1	504	10556	0.55	0.00	133.45	1.151	6	0.086	0.000	2227	2232	2781
10556	end apogee: CONTROL_FINISHED_OK
state	10556	begin climb
10559	0.85	146.6	806.9	0.0	511	10702	1.17	2.83	132.38	1.134	4	0.077	0.081	2478	3644	2183
10861	0.98	225.3	795.5	3.8	525	10938	0.15	2.60	70.93	1.110	6	0.048	0.058	2521	2243	1862
11248	0.93	225.3	770.4	7.1	543	11252	0.00	2.67	0.00	0.000	4	0.000	0.068	2521	824	1861
11337	0.93	225.3	763.8	7.0	547	11341	0.00	2.62	0.00	0.000	6	0.000	0.054	2521	2246	1860
11658	0.86	225.3	743.2	6.9	563	11663	0.17	2.70	0.00	0.000	4	0.086	0.079	2484	3653	1860
11771	0.91	225.3	736.3	6.3	568	11775	0.00	2.60	0.00	0.000	6	0.000	0.057	2483	2239	1860
12092	0.99	237.1	717.6	5.7	584	12106	0.15	0.00	11.68	0.986	6	0.050	0.000	2525	2239	1814
12402	0.96	245.9	699.3	5.8	599	12417	0.00	2.67	9.35	0.943	4	0.000	0.065	2525	830	1778
12464	0.96	245.9	694.8	7.4	601	12468	0.00	2.62	0.00	0.000	6	0.000	0.054	2525	2247	1777
12790	0.96	245.9	669.8	7.7	617	12791	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2247	1777
13100	0.89	245.9	647.6	6.9	632	13105	0.15	2.65	0.00	0.000	4	0.087	0.077	2494	3650	1776
13173	0.94	249.0	642.1	5.9	635	13185	0.00	2.58	4.22	0.691	6	0.000	0.052	2494	2237	1766
13495	1.02	278.8	624.7	5.2	651	13525	0.12	0.00	27.85	1.014	6	0.050	0.000	2531	2236	1644
13823	1.02	278.8	603.3	6.3	667	13828	0.00	2.62	0.00	0.000	4	0.000	0.064	2532	824	1643
13868	1.02	278.8	600.1	7.0	669	13872	0.00	2.60	0.00	0.000	6	0.000	0.051	2531	2244	1643
14189	1.02	278.8	574.7	8.4	685	14190	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2244	1643
14498	1.02	278.8	546.7	9.0	700	14502	0.00	2.65	0.00	0.000	4	0.000	0.061	2531	824	1642
14560	1.02	278.8	540.9	9.0	703	14564	0.00	2.60	0.00	0.000	6	0.000	0.050	2531	2246	1643
14886	1.02	278.8	510.7	8.8	719	14887	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2246	1643
15195	1.02	278.8	484.5	8.3	734	15196	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2246	1644
15504	1.02	278.8	457.7	8.9	749	15509	0.00	2.65	0.00	0.000	4	0.000	0.061	2531	818	1644
15549	1.02	278.8	453.6	9.1	751	15553	0.00	2.58	0.00	0.000	6	0.000	0.050	2531	2240	1644
15870	1.02	278.8	427.5	7.4	767	15871	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2240	1644
16179	1.02	278.8	405.0	7.1	782	16180	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2240	1644
16488	1.02	278.8	382.7	7.3	797	16489	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2240	1645
16798	1.02	278.8	359.7	7.6	812	16802	0.00	2.60	0.00	0.000	4	0.000	0.061	2531	828	1645
16841	1.02	278.8	356.0	8.0	814	16846	0.00	2.58	0.00	0.000	6	0.000	0.051	2531	2246	1645
17162	1.02	278.8	329.8	8.2	830	17164	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2247	1646
17472	1.02	278.8	304.2	8.2	845	17476	0.00	2.62	0.00	0.000	4	0.000	0.060	2531	827	1646
17511	1.02	278.8	300.7	8.8	847	17516	0.00	2.58	0.00	0.000	6	0.000	0.051	2532	2242	1644
17838	1.02	278.8	274.5	7.5	863	17839	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2242	1646
18148	1.02	278.8	251.9	7.3	878	18149	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2242	1646
18457	1.02	278.8	228.3	7.7	893	18461	0.00	2.62	0.00	0.000	4	0.000	0.061	2531	821	1647
18500	1.02	278.8	224.6	8.1	895	18505	0.00	2.58	0.00	0.000	6	0.000	0.051	2531	2242	1646
18822	1.02	278.8	200.8	7.3	911	18823	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2242	1647
19131	1.02	278.8	179.2	6.9	926	19132	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2242	1647
19440	1.02	278.8	156.4	7.7	941	19442	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2242	1647
19750	1.02	278.8	131.8	7.6	956	19751	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2242	1647
20059	1.02	278.8	110.1	7.0	971	20063	0.00	2.62	0.00	0.000	4	0.000	0.061	2531	820	1647
20099	1.02	278.8	106.8	8.3	973	20103	0.00	2.58	0.00	0.000	6	0.000	0.050	2531	2246	1647
20426	1.02	278.8	80.7	7.8	989	20430	0.00	2.62	0.00	0.000	4	0.000	0.072	2531	3652	1647
20458	1.02	278.8	77.7	8.8	990	20465	0.00	2.55	0.00	0.000	6	0.000	0.052	2531	2238	1647
20776	1.02	278.8	50.5	8.9	1006	20777	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2238	1647
21084	1.02	278.8	27.6	7.3	1021	21085	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2238	1648
21393	1.02	278.8	5.2	7.5	1036	21397	0.00	2.58	0.00	0.000	4	0.000	0.060	2531	820	1648
21430	end climb: SURFACE_DEPTH_REACHED
state	21430	begin surface coast
21435	end surface coast: CONTROL_FINISHED_OK
state	21435	begin surface