Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 194 * 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 194 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 17 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 -2097091.2 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 -2097091.2

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 17 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 194 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 031308,6324.737,-1320.670,38,1.6,39,-12.4 TGT_NAME JW

_CALLS 2 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.21 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -52.7 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 032103,6324.665,-1320.762,12,2.0,12,-12.4 MHEAD_RNG_PITCHd_Wd 26.3,19720,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014712 ALTIM_BOTTOM_PING 750.7,83.9

SM_CCo 21814,109.00,0.596,0,0,508,557.32 _24V_AH 23.5,34.094

SM_GC 1.40,0.00,0.00,109.00,0.000,0.000,0.596,73,2241,508,-10.24,0.31,557.32 _10V_AH 10.1,17.267

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53664,1053

TT8_MAMPS 0.023777 CAP_FILE_SIZE 141418,0

HUMID 1848 CFSIZE 260165632,246562816

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 19 GPS 170708,092825,6328.201,-1318.915,41,1.9,60,-12.4

ALTIM_TOP_PING 19.9,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 100.62 SBE_CT 770 24 434.67

Roll_motor 124 74 218.11 SBE_O2 724 19 323.49

VBD_pump_during_apogee 429 1161 11721.35 WL_BB2F 609 105 1503.94

VBD_pump_during_surface 109 595 1526.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 89.14 nil 0 0 0.00

Iridium_during_connect 53 160 201.99 nil 0 0 0.00

Iridium_during_xfer 188 223 988.82

Transponder_ping 11 420 113.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.36

TT8 1849 19 369.96

LPSleep 17102 2 378.29

TT8_Active 696 19 139.25

TT8_Sampling 2127 39 855.20

TT8_CF8 621 45 287.67

TT8_Kalman 0 81 0.00

Analog_circuits 1749 12 212.05

GPS_charging 0 0 0.00

Compass 2089 8 168.83

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 0 143 0.00 0.00 -116.43 0.000 2 0.000 0.000 70 2230 2879

147 -0.85 -146.6 3.7 -3.0 6 177 11.45 2.62 -12.60 0.000 4 0.169 0.069 2108 826 3380

380 -0.70 -146.6 33.2 -11.4 16 385 0.20 2.58 0.00 0.000 6 0.097 0.049 2147 2240 3380

697 -0.62 -146.6 62.0 -9.3 31 698 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2240 3380

1006 -0.55 -146.6 89.6 -8.3 46 1007 0.17 0.00 0.00 0.000 6 0.123 0.000 2177 2240 3380

1315 -0.55 -146.6 112.1 -7.1 61 1316 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2240 3380

1626 -0.55 -146.6 131.8 -6.0 76 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2240 3380

1933 -0.55 -146.6 149.7 -5.7 91 1934 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2240 3381

2242 -0.55 -146.6 168.3 -6.2 106 2243 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2240 3380

2552 -0.55 -146.6 186.7 -6.1 121 2553 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2240 3381

2861 -0.55 -146.6 205.5 -6.2 136 2865 0.00 2.62 0.00 0.000 4 0.000 0.057 2177 810 3380

2905 -0.63 -146.6 208.3 -5.9 138 2910 0.00 2.58 0.00 0.000 6 0.000 0.049 2177 2232 3380

3227 -0.63 -146.6 228.3 -6.4 154 3228 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2232 3380

3536 -0.63 -146.6 248.8 -6.7 169 3537 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2232 3380

3845 -0.63 -146.6 269.3 -6.6 184 3846 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2233 3380

4155 -0.63 -146.6 289.5 -6.4 199 4156 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2233 3380

4463 -0.63 -146.6 308.7 -6.3 214 4465 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2233 3380

4773 -0.63 -146.6 327.8 -6.2 229 4774 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2233 3380

5082 -0.63 -146.6 347.1 -6.2 244 5084 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2233 3380

5392 -0.63 -146.6 365.5 -5.8 259 5393 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2233 3380

5701 -0.63 -146.6 383.4 -5.8 274 5703 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2233 3380

6010 -0.63 -146.6 401.8 -6.0 289 6011 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2233 3379

6319 -0.63 -146.6 422.8 -7.0 304 6320 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2234 3380

6629 -0.68 -146.6 445.0 -7.0 319 6631 0.12 0.00 0.00 0.000 6 0.054 0.000 2135 2233 3379

6938 -0.60 -146.6 472.2 -9.0 334 6940 0.17 0.00 0.00 0.000 6 0.087 0.000 2170 2233 3380

7247 -0.60 -146.6 493.7 -6.7 349 7248 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2234 3379

7557 -0.60 -146.6 513.2 -6.4 364 7558 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2234 3379

7865 -0.60 -146.6 532.5 -6.1 379 7870 0.00 2.62 0.00 0.000 4 0.000 0.070 2170 3648 3379

7909 -0.60 -146.6 535.6 -7.6 381 7914 0.00 2.55 0.00 0.000 6 0.000 0.046 2170 2221 3379

8231 -0.60 -146.6 555.7 -6.9 397 8232 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2222 3378

8540 -0.60 -146.6 577.6 -7.6 412 8544 0.00 2.65 0.00 0.000 4 0.000 0.068 2170 3643 3379

8589 -0.65 -146.6 581.7 -8.5 414 8594 0.00 2.53 0.00 0.000 6 0.000 0.046 2170 2225 3378

8905 -0.65 -146.6 609.0 -8.6 429 8907 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2225 3378

9214 -0.65 -146.6 632.6 -6.8 444 9218 0.00 2.55 0.00 0.000 4 0.000 0.058 2170 821 3378

9292 -0.71 -146.6 638.0 -7.2 447 9299 0.12 2.55 0.00 0.000 6 0.048 0.048 2130 2237 3378

9611 -0.64 -146.6 676.1 -12.4 463 9613 0.15 0.00 0.00 0.000 6 0.089 0.000 2159 2237 3378

9917 -0.64 -146.6 713.6 -10.1 478 9918 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2237 3378

10227 -0.64 -146.6 732.7 -6.3 493 10231 0.00 2.60 0.00 0.000 4 0.000 0.058 2159 817 3378

10260 -0.70 -146.6 735.0 -7.0 494 10266 0.00 2.55 0.00 0.000 6 0.000 0.048 2159 2234 3378

10575 -0.70 -146.6 756.0 -8.3 510 10579 0.00 2.60 0.00 0.000 4 0.000 0.058 2159 812 3378

10654 -0.77 -146.6 762.8 -7.9 513 10661 0.12 2.55 0.00 0.000 6 0.047 0.049 2118 2232 3378

10970 -0.65 -146.6 791.0 -9.6 529 10975 0.15 2.62 0.00 0.000 4 0.090 0.074 2152 3643 3378

11027 -0.65 -146.6 796.5 -9.7 531 11033 0.00 2.55 0.00 0.000 6 0.000 0.051 2152 2226 3378

11343 -0.65 -146.6 818.6 -6.9 547 11344 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2226 3377

11423 end dive: BOTTOM_OBSTACLE_DETECTED

state 11423 begin apogee

11430 -0.31 0.0 825.4 8.4 551 11566 0.40 0.00 133.80 1.161 6 0.112 0.000 2228 2226 2781

11567 end apogee: CONTROL_FINISHED_OK

state 11567 begin climb

11570 0.85 146.6 832.1 0.0 558 11711 1.23 2.78 132.85 1.144 4 0.079 0.074 2483 3647 2183

11768 0.80 146.6 819.6 6.6 568 11772 0.00 2.62 0.00 0.000 6 0.000 0.056 2483 2238 2183

12094 0.86 194.3 808.5 4.7 584 12144 0.00 2.78 43.45 1.110 4 0.000 0.074 2482 3644 1988

12274 1.00 328.9 800.1 2.3 592 12400 0.15 2.60 119.43 1.129 6 0.049 0.057 2526 2240 1440

12721 1.00 328.9 765.5 7.4 614 12725 0.00 2.67 0.00 0.000 4 0.000 0.070 2526 828 1438

12776 1.00 328.9 759.5 10.7 616 12783 0.00 2.58 0.00 0.000 6 0.000 0.052 2525 2235 1438

13092 1.00 328.9 728.2 8.8 632 13096 0.00 2.65 0.00 0.000 4 0.000 0.066 2526 830 1437

13177 1.00 328.9 720.0 9.9 636 13181 0.00 2.60 0.00 0.000 6 0.000 0.051 2526 2247 1436

13503 1.00 328.9 694.3 7.2 652 13507 0.00 2.67 0.00 0.000 4 0.000 0.064 2526 829 1436

13543 1.00 328.9 691.3 7.1 654 13547 0.00 2.60 0.00 0.000 6 0.000 0.051 2525 2247 1435

13869 1.00 328.9 663.3 8.8 670 13870 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2247 1435

14178 1.00 328.9 636.3 9.8 685 14182 0.00 2.65 0.00 0.000 4 0.000 0.063 2526 830 1435

14251 1.00 328.9 629.0 10.1 688 14255 0.00 2.58 0.00 0.000 6 0.000 0.049 2526 2247 1435

14566 1.00 328.9 601.6 7.5 703 14567 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2247 1435

14875 1.00 328.9 576.4 8.6 718 14880 0.00 2.65 0.00 0.000 4 0.000 0.063 2526 830 1436

14916 1.04 328.9 573.1 7.9 720 14920 0.00 2.55 0.00 0.000 6 0.000 0.048 2526 2241 1435

15243 1.04 328.9 544.9 8.3 736 15244 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2240 1435

15552 1.04 328.9 516.1 9.6 751 15553 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2241 1436

15862 1.04 328.9 486.7 9.1 766 15866 0.00 2.62 0.00 0.000 4 0.000 0.063 2525 829 1437

15905 1.04 328.9 482.6 8.7 768 15910 0.00 2.55 0.00 0.000 6 0.000 0.048 2525 2241 1436

16226 1.04 328.9 454.3 8.9 784 16228 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2241 1436

16536 1.04 328.9 427.5 8.4 799 16541 0.00 2.62 0.00 0.000 4 0.000 0.062 2526 827 1437

16581 1.04 328.9 423.8 7.8 801 16585 0.00 2.55 0.00 0.000 6 0.000 0.048 2526 2241 1437

16901 1.04 328.9 398.7 8.2 817 16902 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2241 1437

17211 1.04 328.9 370.7 9.6 832 17215 0.00 2.62 0.00 0.000 4 0.000 0.062 2526 827 1437

17260 1.04 328.9 365.6 10.1 834 17265 0.00 2.55 0.00 0.000 6 0.000 0.048 2525 2240 1437

17576 1.04 328.9 336.9 8.8 849 17577 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2240 1438

17886 1.04 328.9 311.8 7.7 864 17890 0.00 2.60 0.00 0.000 4 0.000 0.062 2526 829 1438

17941 1.04 328.9 307.4 7.5 866 17946 0.00 2.55 0.00 0.000 6 0.000 0.048 2526 2241 1438

18256 1.04 328.9 283.7 7.6 882 18257 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2241 1438

18566 1.08 328.9 260.2 7.7 897 18571 0.00 2.62 0.00 0.000 4 0.000 0.062 2526 824 1438

18616 1.08 328.9 256.2 7.8 899 18620 0.00 2.55 0.00 0.000 6 0.000 0.048 2526 2240 1438

18931 1.08 328.9 233.1 7.2 914 18935 0.00 2.60 0.00 0.000 4 0.000 0.062 2526 829 1439

18973 1.13 328.9 230.3 6.6 916 18978 0.00 2.55 0.00 0.000 6 0.000 0.048 2525 2240 1439

19301 1.13 328.9 207.1 7.3 932 19302 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2240 1439

19609 1.13 328.9 184.7 7.3 947 19614 0.00 2.60 0.00 0.000 4 0.000 0.061 2526 829 1439

19666 1.18 328.9 180.4 7.5 949 19672 0.12 2.55 0.00 0.000 6 0.051 0.048 2567 2245 1439

19982 1.10 328.9 149.3 10.4 965 19984 0.15 0.00 0.00 0.000 6 0.086 0.000 2536 2245 1439

20291 1.10 328.9 121.5 9.2 980 20292 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2245 1439

20601 1.10 328.9 91.1 9.9 995 20605 0.00 2.62 0.00 0.000 4 0.000 0.062 2536 825 1440

20640 1.10 328.9 87.3 9.3 997 20645 0.00 2.55 0.00 0.000 6 0.000 0.048 2536 2241 1440

20968 1.10 328.9 59.9 8.0 1013 20969 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2241 1440

21277 1.10 328.9 39.5 6.2 1028 21282 0.00 2.60 0.00 0.000 4 0.000 0.061 2536 829 1440

21333 1.10 328.9 35.6 6.7 1030 21339 0.00 2.53 0.00 0.000 6 0.000 0.048 2536 2241 1440

21650 1.10 328.9 12.0 7.8 1046 21651 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2241 1440

21770 end climb: SURFACE_DEPTH_REACHED

state 21770 begin surface coast

21792 end surface coast: CONTROL_FINISHED_OK

state 21792 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	194	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	17	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	-2097091.2	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	031308,6324.737,-1320.670,38,1.6,39,-12.4	TGT_NAME	JW
_CALLS	2	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.21	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-52.7	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	032103,6324.665,-1320.762,12,2.0,12,-12.4	MHEAD_RNG_PITCHd_Wd	26.3,19720,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.014712	ALTIM_BOTTOM_PING	750.7,83.9
SM_CCo	21814,109.00,0.596,0,0,508,557.32	_24V_AH	23.5,34.094
SM_GC	1.40,0.00,0.00,109.00,0.000,0.000,0.596,73,2241,508,-10.24,0.31,557.32	_10V_AH	10.1,17.267
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53664,1053
TT8_MAMPS	0.023777	CAP_FILE_SIZE	141418,0
HUMID	1848	CFSIZE	260165632,246562816
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	19	GPS	170708,092825,6328.201,-1318.915,41,1.9,60,-12.4
ALTIM_TOP_PING	19.9,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	100.62	SBE_CT	770	24	434.67
Roll_motor	124	74	218.11	SBE_O2	724	19	323.49
VBD_pump_during_apogee	429	1161	11721.35	WL_BB2F	609	105	1503.94
VBD_pump_during_surface	109	595	1526.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	89.14	nil	0	0	0.00
Iridium_during_connect	53	160	201.99	nil	0	0	0.00
Iridium_during_xfer	188	223	988.82
Transponder_ping	11	420	113.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.36
TT8	1849	19	369.96
LPSleep	17102	2	378.29
TT8_Active	696	19	139.25
TT8_Sampling	2127	39	855.20
TT8_CF8	621	45	287.67
TT8_Kalman	0	81	0.00
Analog_circuits	1749	12	212.05
GPS_charging	0	0	0.00
Compass	2089	8	168.83
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	143	0.00	0.00	-116.43	0.000	2	0.000	0.000	70	2230	2879
147	-0.85	-146.6	3.7	-3.0	6	177	11.45	2.62	-12.60	0.000	4	0.169	0.069	2108	826	3380
380	-0.70	-146.6	33.2	-11.4	16	385	0.20	2.58	0.00	0.000	6	0.097	0.049	2147	2240	3380
697	-0.62	-146.6	62.0	-9.3	31	698	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2240	3380
1006	-0.55	-146.6	89.6	-8.3	46	1007	0.17	0.00	0.00	0.000	6	0.123	0.000	2177	2240	3380
1315	-0.55	-146.6	112.1	-7.1	61	1316	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2240	3380
1626	-0.55	-146.6	131.8	-6.0	76	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2240	3380
1933	-0.55	-146.6	149.7	-5.7	91	1934	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2240	3381
2242	-0.55	-146.6	168.3	-6.2	106	2243	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2240	3380
2552	-0.55	-146.6	186.7	-6.1	121	2553	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2240	3381
2861	-0.55	-146.6	205.5	-6.2	136	2865	0.00	2.62	0.00	0.000	4	0.000	0.057	2177	810	3380
2905	-0.63	-146.6	208.3	-5.9	138	2910	0.00	2.58	0.00	0.000	6	0.000	0.049	2177	2232	3380
3227	-0.63	-146.6	228.3	-6.4	154	3228	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2232	3380
3536	-0.63	-146.6	248.8	-6.7	169	3537	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2232	3380
3845	-0.63	-146.6	269.3	-6.6	184	3846	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2233	3380
4155	-0.63	-146.6	289.5	-6.4	199	4156	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2233	3380
4463	-0.63	-146.6	308.7	-6.3	214	4465	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2233	3380
4773	-0.63	-146.6	327.8	-6.2	229	4774	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2233	3380
5082	-0.63	-146.6	347.1	-6.2	244	5084	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2233	3380
5392	-0.63	-146.6	365.5	-5.8	259	5393	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2233	3380
5701	-0.63	-146.6	383.4	-5.8	274	5703	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2233	3380
6010	-0.63	-146.6	401.8	-6.0	289	6011	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2233	3379
6319	-0.63	-146.6	422.8	-7.0	304	6320	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2234	3380
6629	-0.68	-146.6	445.0	-7.0	319	6631	0.12	0.00	0.00	0.000	6	0.054	0.000	2135	2233	3379
6938	-0.60	-146.6	472.2	-9.0	334	6940	0.17	0.00	0.00	0.000	6	0.087	0.000	2170	2233	3380
7247	-0.60	-146.6	493.7	-6.7	349	7248	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2234	3379
7557	-0.60	-146.6	513.2	-6.4	364	7558	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2234	3379
7865	-0.60	-146.6	532.5	-6.1	379	7870	0.00	2.62	0.00	0.000	4	0.000	0.070	2170	3648	3379
7909	-0.60	-146.6	535.6	-7.6	381	7914	0.00	2.55	0.00	0.000	6	0.000	0.046	2170	2221	3379
8231	-0.60	-146.6	555.7	-6.9	397	8232	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2222	3378
8540	-0.60	-146.6	577.6	-7.6	412	8544	0.00	2.65	0.00	0.000	4	0.000	0.068	2170	3643	3379
8589	-0.65	-146.6	581.7	-8.5	414	8594	0.00	2.53	0.00	0.000	6	0.000	0.046	2170	2225	3378
8905	-0.65	-146.6	609.0	-8.6	429	8907	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2225	3378
9214	-0.65	-146.6	632.6	-6.8	444	9218	0.00	2.55	0.00	0.000	4	0.000	0.058	2170	821	3378
9292	-0.71	-146.6	638.0	-7.2	447	9299	0.12	2.55	0.00	0.000	6	0.048	0.048	2130	2237	3378
9611	-0.64	-146.6	676.1	-12.4	463	9613	0.15	0.00	0.00	0.000	6	0.089	0.000	2159	2237	3378
9917	-0.64	-146.6	713.6	-10.1	478	9918	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2237	3378
10227	-0.64	-146.6	732.7	-6.3	493	10231	0.00	2.60	0.00	0.000	4	0.000	0.058	2159	817	3378
10260	-0.70	-146.6	735.0	-7.0	494	10266	0.00	2.55	0.00	0.000	6	0.000	0.048	2159	2234	3378
10575	-0.70	-146.6	756.0	-8.3	510	10579	0.00	2.60	0.00	0.000	4	0.000	0.058	2159	812	3378
10654	-0.77	-146.6	762.8	-7.9	513	10661	0.12	2.55	0.00	0.000	6	0.047	0.049	2118	2232	3378
10970	-0.65	-146.6	791.0	-9.6	529	10975	0.15	2.62	0.00	0.000	4	0.090	0.074	2152	3643	3378
11027	-0.65	-146.6	796.5	-9.7	531	11033	0.00	2.55	0.00	0.000	6	0.000	0.051	2152	2226	3378
11343	-0.65	-146.6	818.6	-6.9	547	11344	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2226	3377
11423	end dive: BOTTOM_OBSTACLE_DETECTED
state	11423	begin apogee
11430	-0.31	0.0	825.4	8.4	551	11566	0.40	0.00	133.80	1.161	6	0.112	0.000	2228	2226	2781
11567	end apogee: CONTROL_FINISHED_OK
state	11567	begin climb
11570	0.85	146.6	832.1	0.0	558	11711	1.23	2.78	132.85	1.144	4	0.079	0.074	2483	3647	2183
11768	0.80	146.6	819.6	6.6	568	11772	0.00	2.62	0.00	0.000	6	0.000	0.056	2483	2238	2183
12094	0.86	194.3	808.5	4.7	584	12144	0.00	2.78	43.45	1.110	4	0.000	0.074	2482	3644	1988
12274	1.00	328.9	800.1	2.3	592	12400	0.15	2.60	119.43	1.129	6	0.049	0.057	2526	2240	1440
12721	1.00	328.9	765.5	7.4	614	12725	0.00	2.67	0.00	0.000	4	0.000	0.070	2526	828	1438
12776	1.00	328.9	759.5	10.7	616	12783	0.00	2.58	0.00	0.000	6	0.000	0.052	2525	2235	1438
13092	1.00	328.9	728.2	8.8	632	13096	0.00	2.65	0.00	0.000	4	0.000	0.066	2526	830	1437
13177	1.00	328.9	720.0	9.9	636	13181	0.00	2.60	0.00	0.000	6	0.000	0.051	2526	2247	1436
13503	1.00	328.9	694.3	7.2	652	13507	0.00	2.67	0.00	0.000	4	0.000	0.064	2526	829	1436
13543	1.00	328.9	691.3	7.1	654	13547	0.00	2.60	0.00	0.000	6	0.000	0.051	2525	2247	1435
13869	1.00	328.9	663.3	8.8	670	13870	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2247	1435
14178	1.00	328.9	636.3	9.8	685	14182	0.00	2.65	0.00	0.000	4	0.000	0.063	2526	830	1435
14251	1.00	328.9	629.0	10.1	688	14255	0.00	2.58	0.00	0.000	6	0.000	0.049	2526	2247	1435
14566	1.00	328.9	601.6	7.5	703	14567	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2247	1435
14875	1.00	328.9	576.4	8.6	718	14880	0.00	2.65	0.00	0.000	4	0.000	0.063	2526	830	1436
14916	1.04	328.9	573.1	7.9	720	14920	0.00	2.55	0.00	0.000	6	0.000	0.048	2526	2241	1435
15243	1.04	328.9	544.9	8.3	736	15244	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2240	1435
15552	1.04	328.9	516.1	9.6	751	15553	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2241	1436
15862	1.04	328.9	486.7	9.1	766	15866	0.00	2.62	0.00	0.000	4	0.000	0.063	2525	829	1437
15905	1.04	328.9	482.6	8.7	768	15910	0.00	2.55	0.00	0.000	6	0.000	0.048	2525	2241	1436
16226	1.04	328.9	454.3	8.9	784	16228	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2241	1436
16536	1.04	328.9	427.5	8.4	799	16541	0.00	2.62	0.00	0.000	4	0.000	0.062	2526	827	1437
16581	1.04	328.9	423.8	7.8	801	16585	0.00	2.55	0.00	0.000	6	0.000	0.048	2526	2241	1437
16901	1.04	328.9	398.7	8.2	817	16902	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2241	1437
17211	1.04	328.9	370.7	9.6	832	17215	0.00	2.62	0.00	0.000	4	0.000	0.062	2526	827	1437
17260	1.04	328.9	365.6	10.1	834	17265	0.00	2.55	0.00	0.000	6	0.000	0.048	2525	2240	1437
17576	1.04	328.9	336.9	8.8	849	17577	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2240	1438
17886	1.04	328.9	311.8	7.7	864	17890	0.00	2.60	0.00	0.000	4	0.000	0.062	2526	829	1438
17941	1.04	328.9	307.4	7.5	866	17946	0.00	2.55	0.00	0.000	6	0.000	0.048	2526	2241	1438
18256	1.04	328.9	283.7	7.6	882	18257	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2241	1438
18566	1.08	328.9	260.2	7.7	897	18571	0.00	2.62	0.00	0.000	4	0.000	0.062	2526	824	1438
18616	1.08	328.9	256.2	7.8	899	18620	0.00	2.55	0.00	0.000	6	0.000	0.048	2526	2240	1438
18931	1.08	328.9	233.1	7.2	914	18935	0.00	2.60	0.00	0.000	4	0.000	0.062	2526	829	1439
18973	1.13	328.9	230.3	6.6	916	18978	0.00	2.55	0.00	0.000	6	0.000	0.048	2525	2240	1439
19301	1.13	328.9	207.1	7.3	932	19302	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2240	1439
19609	1.13	328.9	184.7	7.3	947	19614	0.00	2.60	0.00	0.000	4	0.000	0.061	2526	829	1439
19666	1.18	328.9	180.4	7.5	949	19672	0.12	2.55	0.00	0.000	6	0.051	0.048	2567	2245	1439
19982	1.10	328.9	149.3	10.4	965	19984	0.15	0.00	0.00	0.000	6	0.086	0.000	2536	2245	1439
20291	1.10	328.9	121.5	9.2	980	20292	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2245	1439
20601	1.10	328.9	91.1	9.9	995	20605	0.00	2.62	0.00	0.000	4	0.000	0.062	2536	825	1440
20640	1.10	328.9	87.3	9.3	997	20645	0.00	2.55	0.00	0.000	6	0.000	0.048	2536	2241	1440
20968	1.10	328.9	59.9	8.0	1013	20969	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2241	1440
21277	1.10	328.9	39.5	6.2	1028	21282	0.00	2.60	0.00	0.000	4	0.000	0.061	2536	829	1440
21333	1.10	328.9	35.6	6.7	1030	21339	0.00	2.53	0.00	0.000	6	0.000	0.048	2536	2241	1440
21650	1.10	328.9	12.0	7.8	1046	21651	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2241	1440
21770	end climb: SURFACE_DEPTH_REACHED
state	21770	begin surface coast
21792	end surface coast: CONTROL_FINISHED_OK
state	21792	begin surface