Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 241 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 241 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 558.0575 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

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 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 300 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -80821.969 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 558.0575

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -80821.969

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 28 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 241 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 154001,6328.831,-1313.598,37,1.2,42,-12.3 TGT_NAME JW

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.026,0.208

_SM_DEPTHo 2.96 KALMAN_X 306816.2,-225.1,-1415.2,-555371.1,-228.0

_SM_ANGLEo -52.4 KALMAN_Y -27283.8,-1630.1,1245.4,241999.3,3378.7

GPS2 154515,6328.830,-1313.650,14,1.0,14,-12.3 MHEAD_RNG_PITCHd_Wd 5.3,11480,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.1,1.026128 XPDR_PINGS 3

SM_CCo 22702,0.00,0.000,0,0,602,558.06 ALTIM_BOTTOM_PING 675.1,108.0

SM_GC 3.22,0.00,0.00,0.00,0.000,0.000,0.000,29,1878,602,-11.34,-0.62,558.06 _24V_AH 23.2,52.400

IRIDIUM_FIX 6308.26,-1358.66,050108,151548 _10V_AH 10.1,25.567

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53712,1074

HUMID 2049 CFSIZE 260165632,243376128

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

TCM_TEMP 18.70 GPS 050108,220537,6332.036,-1307.834,29,1.0,29,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 108 65.82 SBE_CT 793 24 441.73

Roll_motor 108 75 191.18 SBE_O2 725 19 319.65

VBD_pump_during_apogee 469 1296 14115.37 WL_BB2F 654 105 1595.27

VBD_pump_during_surface 35 746 617.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 88.86 nil 0 0 0.00

Iridium_during_connect 36 160 134.80 nil 0 0 0.00

Iridium_during_xfer 132 223 685.82

Transponder_ping 6 420 63.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.90

TT8 1884 19 376.91

LPSleep 17776 2 393.19

TT8_Active 661 19 132.35

TT8_Sampling 2248 39 903.86

TT8_CF8 450 45 208.40

TT8_Kalman 33 81 27.56

Analog_circuits 1795 12 217.66

GPS_charging 0 0 0.00

Compass 2212 8 178.77

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.94 -146.6 0.0 0.0 0 65 0.00 0.00 -41.62 0.000 2 0.000 0.000 28 1877 1507

67 -0.94 -146.6 3.1 -0.8 2 234 11.25 2.58 -147.80 0.000 4 0.109 0.060 2287 3297 3475

251 -0.94 -146.6 3.8 -6.6 10 258 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1894 3475

567 -0.94 -146.6 30.0 -7.9 26 571 0.00 2.60 0.00 0.000 4 0.000 0.068 2287 498 3475

583 -0.94 -146.6 31.3 -8.4 27 588 0.00 2.50 0.00 0.000 6 0.000 0.043 2287 1905 3474

910 -0.94 -146.6 58.2 -7.7 43 914 0.00 2.65 0.00 0.000 4 0.000 0.067 2287 493 3475

1166 -0.94 -146.6 78.9 -7.7 54 1173 0.00 2.47 0.00 0.000 6 0.000 0.041 2287 1898 3475

1484 -0.94 -146.6 101.3 -7.3 70 1488 0.00 2.62 0.00 0.000 4 0.000 0.067 2287 493 3475

1703 -0.94 -146.6 119.3 -9.6 80 1707 0.00 2.50 0.00 0.000 6 0.000 0.042 2287 1908 3475

2029 -0.94 -146.6 145.3 -6.8 96 2030 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3475

2338 -0.94 -146.6 168.2 -7.4 111 2340 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1911 3475

2648 -0.94 -146.6 189.0 -6.7 126 2649 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3475

2957 -0.94 -146.6 208.4 -6.5 141 2958 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3475

3266 -0.94 -146.6 228.7 -6.8 156 3267 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3475

3575 -0.94 -146.6 248.5 -6.2 171 3579 0.00 2.50 0.00 0.000 4 0.000 0.050 2287 3295 3475

3624 -0.94 -146.6 251.8 -6.9 173 3629 0.00 2.53 0.00 0.000 6 0.000 0.045 2287 1905 3475

3946 -0.94 -146.6 272.7 -6.9 189 3947 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

4255 -0.94 -146.6 293.6 -6.7 204 4256 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

4564 -0.94 -146.6 312.3 -6.1 219 4565 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

4874 -0.94 -146.6 330.4 -6.0 234 4875 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

5183 -0.94 -146.6 352.0 -7.2 249 5184 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

5492 -0.94 -146.6 373.4 -6.6 264 5493 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

5802 -0.94 -146.6 393.8 -6.7 279 5803 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

6110 -0.94 -146.6 414.0 -6.4 294 6112 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

6420 -0.94 -146.6 434.4 -6.3 309 6421 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

6729 -0.94 -146.6 455.0 -6.5 324 6731 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

7039 -0.94 -146.6 476.2 -6.9 339 7040 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1903 3474

7348 -0.94 -146.6 497.5 -7.2 354 7352 0.00 2.55 0.00 0.000 4 0.000 0.051 2287 3304 3473

7397 -0.94 -146.6 501.1 -7.6 356 7401 0.00 2.55 0.00 0.000 6 0.000 0.047 2287 1893 3473

7712 -0.94 -146.6 522.5 -6.8 371 7713 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3474

8022 -0.94 -146.6 542.3 -6.2 386 8023 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3474

8331 -0.94 -146.6 562.4 -6.7 401 8336 0.00 2.55 0.00 0.000 4 0.000 0.054 2287 3299 3473

8403 -0.94 -146.6 567.5 -7.2 404 8407 0.00 2.53 0.00 0.000 6 0.000 0.047 2287 1901 3473

8725 -0.94 -146.6 587.0 -5.7 420 8726 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3473

9034 -0.94 -146.6 605.8 -6.1 435 9038 0.00 2.55 0.00 0.000 4 0.000 0.054 2287 3297 3473

9095 -0.94 -146.6 610.0 -6.2 438 9099 0.00 2.53 0.00 0.000 6 0.000 0.048 2287 1900 3473

9421 -0.94 -146.6 635.1 -8.7 454 9422 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

9730 -0.94 -146.6 656.6 -5.1 469 9731 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

10039 -0.94 -146.6 667.3 -3.8 484 10040 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3473

10348 -0.94 -146.6 688.5 -10.5 499 10350 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3474

10658 -0.94 -146.6 714.7 -5.9 514 10659 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

10967 -0.94 -146.6 733.6 -7.9 529 10968 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

11276 -0.94 -146.6 763.7 -8.0 544 11281 0.00 2.58 0.00 0.000 4 0.000 0.060 2287 3302 3474

11361 -0.94 -146.6 768.7 -5.8 548 11365 0.00 2.58 0.00 0.000 6 0.000 0.054 2287 1898 3473

11520 end dive: BOTTOM_OBSTACLE_DETECTED

state 11520 begin apogee

11525 -0.36 0.0 774.4 4.0 556 11653 0.60 0.00 124.78 1.297 6 0.070 0.000 2418 2095 2878

11654 end apogee: CONTROL_FINISHED_OK

state 11654 begin climb

11657 0.94 146.6 773.5 0.0 562 11788 1.25 2.70 123.55 1.258 4 0.048 0.064 2704 3501 2280

12014 0.94 146.6 756.6 12.8 579 12018 0.00 2.58 0.00 0.000 6 0.000 0.054 2703 2103 2279

12329 0.99 187.8 744.0 4.8 594 12371 0.00 2.67 35.33 1.276 4 0.000 0.061 2703 3501 2111

12421 0.99 187.8 738.3 7.4 598 12426 0.00 2.60 0.00 0.000 6 0.000 0.054 2703 2092 2111

12742 0.99 187.8 719.8 10.1 614 12746 0.00 2.65 0.00 0.000 4 0.000 0.076 2704 692 2111

12813 0.99 187.8 711.6 10.2 617 12817 0.00 2.55 0.00 0.000 6 0.000 0.051 2703 2093 2110

13135 1.00 190.1 694.4 5.9 633 13139 0.00 2.60 0.00 0.000 4 0.000 0.061 2703 3501 2110

13297 1.00 190.1 680.7 8.2 640 13301 0.00 2.58 0.00 0.000 6 0.000 0.052 2703 2098 2110

13612 1.00 190.1 654.9 8.7 655 13616 0.00 2.62 0.00 0.000 4 0.000 0.074 2703 691 2110

13666 1.00 190.1 650.0 9.2 657 13673 0.00 2.53 0.00 0.000 6 0.000 0.048 2704 2104 2109

13982 1.00 190.1 628.1 6.1 673 13983 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2104 2109

14291 1.00 190.1 607.0 6.6 688 14292 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2105 2109

14600 1.00 190.1 585.5 7.4 703 14601 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2105 2108

14909 1.00 190.1 561.3 7.3 718 14911 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2106 2108

15219 1.10 276.9 545.2 3.4 733 15295 0.15 0.00 72.68 1.168 6 0.046 0.000 2757 2106 1749

15607 1.10 276.9 515.5 9.2 751 15612 0.12 2.58 0.00 0.000 4 0.084 0.054 2731 3502 1750

15668 1.10 276.9 509.6 9.1 754 15673 0.00 2.55 0.00 0.000 6 0.000 0.047 2731 2097 1750

15995 1.10 276.9 481.0 8.7 770 15996 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2098 1750

16304 1.10 276.9 454.2 8.5 785 16308 0.00 2.62 0.00 0.000 4 0.000 0.068 2730 691 1751

16358 1.10 276.9 449.3 8.7 787 16364 0.00 2.50 0.00 0.000 6 0.000 0.042 2731 2106 1751

16674 1.10 276.9 423.1 8.1 803 16675 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2110 1751

16983 1.10 276.9 399.2 7.8 818 16984 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2110 1752

17292 1.10 276.9 375.4 7.7 833 17293 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2110 1752

17601 1.10 276.9 351.2 7.9 848 17603 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2110 1752

17910 1.10 276.9 326.5 8.1 863 17912 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2110 1752

18220 1.10 276.9 302.2 7.9 878 18224 0.00 2.62 0.00 0.000 4 0.000 0.064 2731 691 1752

18269 1.10 276.9 298.1 8.2 880 18273 0.00 2.47 0.00 0.000 6 0.000 0.041 2731 2103 1752

18584 1.10 276.9 271.5 8.4 895 18585 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2106 1753

18893 1.10 276.9 244.7 8.7 910 18897 0.00 2.62 0.00 0.000 4 0.000 0.064 2731 691 1753

18942 1.10 276.9 240.1 9.0 912 18946 0.00 2.50 0.00 0.000 6 0.000 0.041 2731 2107 1753

19263 1.10 276.9 213.1 8.0 928 19264 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2112 1753

19572 1.10 276.9 188.0 8.1 943 19573 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2111 1753

19882 1.10 276.9 162.5 8.2 958 19886 0.00 2.62 0.00 0.000 4 0.000 0.062 2731 691 1753

19930 1.10 276.9 157.9 9.1 960 19935 0.00 2.47 0.00 0.000 6 0.000 0.040 2731 2102 1753

20252 1.10 276.9 131.1 8.3 976 20253 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2105 1754

20561 1.10 276.9 105.7 8.3 991 20563 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2105 1754

20872 1.10 276.9 80.0 7.8 1006 20873 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2105 1754

21180 1.10 276.9 58.0 7.4 1021 21184 0.00 2.60 0.00 0.000 4 0.000 0.061 2731 691 1754

21229 1.10 276.9 53.3 8.6 1023 21233 0.00 2.47 0.00 0.000 6 0.000 0.038 2731 2103 1754

21546 1.10 276.9 29.8 7.2 1038 21547 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2106 1754

21854 1.10 276.9 7.0 7.2 1053 21855 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2106 1754

22164 1.36 484.8 2.5 -0.1 1068 22279 0.28 2.67 108.62 0.769 4 0.051 0.062 2797 691 900

22285 1.61 690.3 2.2 -0.1 1074 22295 0.22 2.53 4.15 0.769 2 0.058 0.041 2846 2104 878

22296 end climb: SURFACE_DEPTH_REACHED

state 22296 begin surface coast

22300 end surface coast: NO_VERTICAL_VELOCITY

state 22300 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	241	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	558.0575	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
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	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	300	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-80821.969	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	154001,6328.831,-1313.598,37,1.2,42,-12.3	TGT_NAME	JW
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.026,0.208
_SM_DEPTHo	2.96	KALMAN_X	306816.2,-225.1,-1415.2,-555371.1,-228.0
_SM_ANGLEo	-52.4	KALMAN_Y	-27283.8,-1630.1,1245.4,241999.3,3378.7
GPS2	154515,6328.830,-1313.650,14,1.0,14,-12.3	MHEAD_RNG_PITCHd_Wd	5.3,11480,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	2.1,1.026128	XPDR_PINGS	3
SM_CCo	22702,0.00,0.000,0,0,602,558.06	ALTIM_BOTTOM_PING	675.1,108.0
SM_GC	3.22,0.00,0.00,0.00,0.000,0.000,0.000,29,1878,602,-11.34,-0.62,558.06	_24V_AH	23.2,52.400
IRIDIUM_FIX	6308.26,-1358.66,050108,151548	_10V_AH	10.1,25.567
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53712,1074
HUMID	2049	CFSIZE	260165632,243376128
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
TCM_TEMP	18.70	GPS	050108,220537,6332.036,-1307.834,29,1.0,29,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	108	65.82	SBE_CT	793	24	441.73
Roll_motor	108	75	191.18	SBE_O2	725	19	319.65
VBD_pump_during_apogee	469	1296	14115.37	WL_BB2F	654	105	1595.27
VBD_pump_during_surface	35	746	617.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	88.86	nil	0	0	0.00
Iridium_during_connect	36	160	134.80	nil	0	0	0.00
Iridium_during_xfer	132	223	685.82
Transponder_ping	6	420	63.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.90
TT8	1884	19	376.91
LPSleep	17776	2	393.19
TT8_Active	661	19	132.35
TT8_Sampling	2248	39	903.86
TT8_CF8	450	45	208.40
TT8_Kalman	33	81	27.56
Analog_circuits	1795	12	217.66
GPS_charging	0	0	0.00
Compass	2212	8	178.77
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.94	-146.6	0.0	0.0	0	65	0.00	0.00	-41.62	0.000	2	0.000	0.000	28	1877	1507
67	-0.94	-146.6	3.1	-0.8	2	234	11.25	2.58	-147.80	0.000	4	0.109	0.060	2287	3297	3475
251	-0.94	-146.6	3.8	-6.6	10	258	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1894	3475
567	-0.94	-146.6	30.0	-7.9	26	571	0.00	2.60	0.00	0.000	4	0.000	0.068	2287	498	3475
583	-0.94	-146.6	31.3	-8.4	27	588	0.00	2.50	0.00	0.000	6	0.000	0.043	2287	1905	3474
910	-0.94	-146.6	58.2	-7.7	43	914	0.00	2.65	0.00	0.000	4	0.000	0.067	2287	493	3475
1166	-0.94	-146.6	78.9	-7.7	54	1173	0.00	2.47	0.00	0.000	6	0.000	0.041	2287	1898	3475
1484	-0.94	-146.6	101.3	-7.3	70	1488	0.00	2.62	0.00	0.000	4	0.000	0.067	2287	493	3475
1703	-0.94	-146.6	119.3	-9.6	80	1707	0.00	2.50	0.00	0.000	6	0.000	0.042	2287	1908	3475
2029	-0.94	-146.6	145.3	-6.8	96	2030	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3475
2338	-0.94	-146.6	168.2	-7.4	111	2340	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1911	3475
2648	-0.94	-146.6	189.0	-6.7	126	2649	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3475
2957	-0.94	-146.6	208.4	-6.5	141	2958	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3475
3266	-0.94	-146.6	228.7	-6.8	156	3267	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3475
3575	-0.94	-146.6	248.5	-6.2	171	3579	0.00	2.50	0.00	0.000	4	0.000	0.050	2287	3295	3475
3624	-0.94	-146.6	251.8	-6.9	173	3629	0.00	2.53	0.00	0.000	6	0.000	0.045	2287	1905	3475
3946	-0.94	-146.6	272.7	-6.9	189	3947	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
4255	-0.94	-146.6	293.6	-6.7	204	4256	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
4564	-0.94	-146.6	312.3	-6.1	219	4565	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
4874	-0.94	-146.6	330.4	-6.0	234	4875	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
5183	-0.94	-146.6	352.0	-7.2	249	5184	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
5492	-0.94	-146.6	373.4	-6.6	264	5493	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
5802	-0.94	-146.6	393.8	-6.7	279	5803	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
6110	-0.94	-146.6	414.0	-6.4	294	6112	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
6420	-0.94	-146.6	434.4	-6.3	309	6421	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
6729	-0.94	-146.6	455.0	-6.5	324	6731	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
7039	-0.94	-146.6	476.2	-6.9	339	7040	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1903	3474
7348	-0.94	-146.6	497.5	-7.2	354	7352	0.00	2.55	0.00	0.000	4	0.000	0.051	2287	3304	3473
7397	-0.94	-146.6	501.1	-7.6	356	7401	0.00	2.55	0.00	0.000	6	0.000	0.047	2287	1893	3473
7712	-0.94	-146.6	522.5	-6.8	371	7713	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3474
8022	-0.94	-146.6	542.3	-6.2	386	8023	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3474
8331	-0.94	-146.6	562.4	-6.7	401	8336	0.00	2.55	0.00	0.000	4	0.000	0.054	2287	3299	3473
8403	-0.94	-146.6	567.5	-7.2	404	8407	0.00	2.53	0.00	0.000	6	0.000	0.047	2287	1901	3473
8725	-0.94	-146.6	587.0	-5.7	420	8726	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3473
9034	-0.94	-146.6	605.8	-6.1	435	9038	0.00	2.55	0.00	0.000	4	0.000	0.054	2287	3297	3473
9095	-0.94	-146.6	610.0	-6.2	438	9099	0.00	2.53	0.00	0.000	6	0.000	0.048	2287	1900	3473
9421	-0.94	-146.6	635.1	-8.7	454	9422	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
9730	-0.94	-146.6	656.6	-5.1	469	9731	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
10039	-0.94	-146.6	667.3	-3.8	484	10040	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3473
10348	-0.94	-146.6	688.5	-10.5	499	10350	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3474
10658	-0.94	-146.6	714.7	-5.9	514	10659	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
10967	-0.94	-146.6	733.6	-7.9	529	10968	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
11276	-0.94	-146.6	763.7	-8.0	544	11281	0.00	2.58	0.00	0.000	4	0.000	0.060	2287	3302	3474
11361	-0.94	-146.6	768.7	-5.8	548	11365	0.00	2.58	0.00	0.000	6	0.000	0.054	2287	1898	3473
11520	end dive: BOTTOM_OBSTACLE_DETECTED
state	11520	begin apogee
11525	-0.36	0.0	774.4	4.0	556	11653	0.60	0.00	124.78	1.297	6	0.070	0.000	2418	2095	2878
11654	end apogee: CONTROL_FINISHED_OK
state	11654	begin climb
11657	0.94	146.6	773.5	0.0	562	11788	1.25	2.70	123.55	1.258	4	0.048	0.064	2704	3501	2280
12014	0.94	146.6	756.6	12.8	579	12018	0.00	2.58	0.00	0.000	6	0.000	0.054	2703	2103	2279
12329	0.99	187.8	744.0	4.8	594	12371	0.00	2.67	35.33	1.276	4	0.000	0.061	2703	3501	2111
12421	0.99	187.8	738.3	7.4	598	12426	0.00	2.60	0.00	0.000	6	0.000	0.054	2703	2092	2111
12742	0.99	187.8	719.8	10.1	614	12746	0.00	2.65	0.00	0.000	4	0.000	0.076	2704	692	2111
12813	0.99	187.8	711.6	10.2	617	12817	0.00	2.55	0.00	0.000	6	0.000	0.051	2703	2093	2110
13135	1.00	190.1	694.4	5.9	633	13139	0.00	2.60	0.00	0.000	4	0.000	0.061	2703	3501	2110
13297	1.00	190.1	680.7	8.2	640	13301	0.00	2.58	0.00	0.000	6	0.000	0.052	2703	2098	2110
13612	1.00	190.1	654.9	8.7	655	13616	0.00	2.62	0.00	0.000	4	0.000	0.074	2703	691	2110
13666	1.00	190.1	650.0	9.2	657	13673	0.00	2.53	0.00	0.000	6	0.000	0.048	2704	2104	2109
13982	1.00	190.1	628.1	6.1	673	13983	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2104	2109
14291	1.00	190.1	607.0	6.6	688	14292	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2105	2109
14600	1.00	190.1	585.5	7.4	703	14601	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2105	2108
14909	1.00	190.1	561.3	7.3	718	14911	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2106	2108
15219	1.10	276.9	545.2	3.4	733	15295	0.15	0.00	72.68	1.168	6	0.046	0.000	2757	2106	1749
15607	1.10	276.9	515.5	9.2	751	15612	0.12	2.58	0.00	0.000	4	0.084	0.054	2731	3502	1750
15668	1.10	276.9	509.6	9.1	754	15673	0.00	2.55	0.00	0.000	6	0.000	0.047	2731	2097	1750
15995	1.10	276.9	481.0	8.7	770	15996	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2098	1750
16304	1.10	276.9	454.2	8.5	785	16308	0.00	2.62	0.00	0.000	4	0.000	0.068	2730	691	1751
16358	1.10	276.9	449.3	8.7	787	16364	0.00	2.50	0.00	0.000	6	0.000	0.042	2731	2106	1751
16674	1.10	276.9	423.1	8.1	803	16675	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2110	1751
16983	1.10	276.9	399.2	7.8	818	16984	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2110	1752
17292	1.10	276.9	375.4	7.7	833	17293	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2110	1752
17601	1.10	276.9	351.2	7.9	848	17603	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2110	1752
17910	1.10	276.9	326.5	8.1	863	17912	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2110	1752
18220	1.10	276.9	302.2	7.9	878	18224	0.00	2.62	0.00	0.000	4	0.000	0.064	2731	691	1752
18269	1.10	276.9	298.1	8.2	880	18273	0.00	2.47	0.00	0.000	6	0.000	0.041	2731	2103	1752
18584	1.10	276.9	271.5	8.4	895	18585	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2106	1753
18893	1.10	276.9	244.7	8.7	910	18897	0.00	2.62	0.00	0.000	4	0.000	0.064	2731	691	1753
18942	1.10	276.9	240.1	9.0	912	18946	0.00	2.50	0.00	0.000	6	0.000	0.041	2731	2107	1753
19263	1.10	276.9	213.1	8.0	928	19264	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2112	1753
19572	1.10	276.9	188.0	8.1	943	19573	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2111	1753
19882	1.10	276.9	162.5	8.2	958	19886	0.00	2.62	0.00	0.000	4	0.000	0.062	2731	691	1753
19930	1.10	276.9	157.9	9.1	960	19935	0.00	2.47	0.00	0.000	6	0.000	0.040	2731	2102	1753
20252	1.10	276.9	131.1	8.3	976	20253	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2105	1754
20561	1.10	276.9	105.7	8.3	991	20563	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2105	1754
20872	1.10	276.9	80.0	7.8	1006	20873	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2105	1754
21180	1.10	276.9	58.0	7.4	1021	21184	0.00	2.60	0.00	0.000	4	0.000	0.061	2731	691	1754
21229	1.10	276.9	53.3	8.6	1023	21233	0.00	2.47	0.00	0.000	6	0.000	0.038	2731	2103	1754
21546	1.10	276.9	29.8	7.2	1038	21547	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2106	1754
21854	1.10	276.9	7.0	7.2	1053	21855	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2106	1754
22164	1.36	484.8	2.5	-0.1	1068	22279	0.28	2.67	108.62	0.769	4	0.051	0.062	2797	691	900
22285	1.61	690.3	2.2	-0.1	1074	22295	0.22	2.53	4.15	0.769	2	0.058	0.041	2846	2104	878
22296	end climb: SURFACE_DEPTH_REACHED
state	22296	begin surface coast
22300	end surface coast: NO_VERTICAL_VELOCITY
state	22300	begin surface