Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 102 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 142 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING 10 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 102 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 5900 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON -2030 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

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 -1.65

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 30 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 475 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 240 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 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -14739.725 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1435 AH0_24V 150 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3965 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2920 PRESSURE_YINT -2.876246 SEABIRD_T_I 2.3931538e-05

MASS 51804 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1518581e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3965 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1435 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1518581e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.876246 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 5900

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -2030

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0273 T_GPS_CHARGE -14739.725

CAPUPLOAD 0 HEADING 10 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 240

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 142 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 T_WATCHDOG 10

C_PITCH 2920 INT_PRESSURE_YINT -1.65 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2750 KALMAN_USE 2 ROLL_MIN 220 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51804 R_PORT_OVSHOOT 30 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 23 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0037964056 VBD_MAX 3964

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 475

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 102 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 152807,6011.679,-2225.154,34,1.6,39,-15.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6022.278,-2224.356

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 153601,6011.644,-2225.283,13,1.8,29,-15.8 MHEAD_RNG_PITCHd_Wd 25.8,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.026195 XPDR_PINGS 795

SM_CCo 19317,0.00,0.000,0,0,1192,460.92 _24V_AH 19.6,36.042

SM_GC 0.62,8.18,0.00,0.00,0.041,0.000,0.000,1430,2289,1192,-6.80,-0.31,460.92 _10V_AH 9.7,29.667

IRIDIUM_FIX 5945.20,-2232.21,200797,101026 DATA_FILE_SIZE 142296,1954

TT8_MAMPS 0.026845 CAP_FILE_SIZE 186895,0

HUMID 1749 CFSIZE 260165632,246628352

INTERNAL_PRESSURE 8.88752 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.30 GPS 250408,205931,6013.512,-2227.664,35,1.4,40,-15.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 248 112.88 SBE_CT 1353 24 636.49

Roll_motor 188 124 458.16 SBE_O2 1405 19 523.46

VBD_pump_during_apogee 701 1597 21962.97 Optode 728 33 471.02

VBD_pump_during_surface 0 0 0.00 WL_BB2F 980 105 2017.66

VBD_valve 0 0 0.00 WL_BBFL2VMT 1822 105 3750.60

Iridium_during_init 30 103 62.16 nil 0 0 0.00

Iridium_during_connect 33 160 104.49 nil 0 0 0.00

Iridium_during_xfer 257 223 1125.58

Transponder_ping 198 420 1636.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.10

TT8 3095 19 594.44

LPSleep 10759 2 228.55

TT8_Active 840 19 161.34

TT8_Sampling 4434 39 1712.06

TT8_CF8 641 45 285.03

TT8_Kalman 0 0 0.00

Analog_circuits 2541 12 295.79

GPS_charging 0 0 0.00

Compass 4409 8 342.21

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

23 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -0.86 -194.7 0.0 0.0 0 158 0.00 0.00 -129.10 0.000 2 0.000 0.000 1432 2278 3541

161 -0.86 -194.7 3.2 -5.5 18 192 11.32 2.90 -9.02 0.000 4 0.249 0.052 2725 3702 3867

367 -0.79 -194.7 35.3 -13.7 55 375 0.10 2.75 0.00 0.000 6 0.138 0.034 2741 2312 3867

501 -0.74 -194.7 53.0 -12.8 80 509 0.00 2.88 0.00 0.000 4 0.000 0.050 2741 888 3867

587 -0.74 -194.7 64.1 -12.5 95 593 0.00 2.72 0.00 0.000 6 0.000 0.029 2741 2303 3868

917 -0.69 -194.7 105.5 -12.5 156 925 0.15 0.00 0.00 0.000 6 0.134 0.000 2766 2303 3868

1249 -0.69 -194.7 138.8 -10.2 217 1255 0.00 2.83 0.00 0.000 4 0.000 0.048 2766 885 3868

1296 -0.74 -194.7 143.5 -10.4 225 1302 0.00 2.67 0.00 0.000 6 0.000 0.029 2766 2287 3868

1635 -0.74 -194.7 176.6 -9.7 286 1641 0.00 2.80 0.00 0.000 4 0.000 0.044 2766 3709 3868

1700 -0.74 -194.7 182.7 -9.5 297 1707 0.00 2.78 0.00 0.000 6 0.000 0.033 2766 2273 3868

2040 -0.74 -194.7 216.3 -9.8 358 2045 0.00 2.72 0.00 0.000 4 0.000 0.049 2766 894 3868

2081 -0.79 -194.7 220.4 -10.2 365 2087 0.00 2.67 0.00 0.000 6 0.000 0.028 2766 2297 3868

2421 -0.79 -194.7 253.6 -9.4 426 2427 0.00 2.75 0.00 0.000 4 0.000 0.044 2766 3702 3867

2486 -0.79 -194.7 259.6 -9.3 437 2492 0.00 2.72 0.00 0.000 6 0.000 0.032 2766 2291 3868

2825 -0.79 -194.7 292.2 -9.7 498 2831 0.00 2.78 0.00 0.000 4 0.000 0.050 2766 884 3868

2867 -0.83 -194.7 296.2 -9.9 505 2874 0.15 2.72 0.00 0.000 6 0.056 0.028 2736 2316 3868

3208 -0.78 -194.7 337.7 -11.7 566 3214 0.00 2.83 0.00 0.000 4 0.000 0.047 2735 887 3868

3250 -0.78 -194.7 342.7 -12.3 573 3257 0.00 2.67 0.00 0.000 6 0.000 0.029 2735 2292 3868

3580 -0.74 -194.7 382.9 -12.1 609 3582 0.15 0.00 0.00 0.000 6 0.129 0.000 2756 2293 3868

3899 -0.74 -194.7 415.7 -9.9 639 3900 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2293 3868

4214 -0.74 -194.7 447.0 -9.7 669 4215 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2293 3868

4533 -0.74 -194.7 478.3 -10.0 699 4534 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2293 3868

4854 -0.74 -194.7 510.4 -10.0 729 4858 0.00 2.78 0.00 0.000 4 0.000 0.047 2756 3700 3868

4905 -0.74 -194.7 515.8 -10.3 733 4910 0.00 2.75 0.00 0.000 6 0.000 0.033 2756 2280 3868

5231 -0.74 -194.7 549.2 -10.5 763 5235 0.00 2.75 0.00 0.000 4 0.000 0.051 2756 887 3868

5270 -0.74 -194.7 553.5 -11.0 766 5274 0.00 2.67 0.00 0.000 6 0.000 0.030 2757 2288 3868

5596 -0.74 -194.7 585.2 -9.8 796 5600 0.00 2.83 0.00 0.000 4 0.000 0.051 2756 3710 3867

5661 -0.74 -194.7 592.0 -10.0 801 5668 0.00 2.78 0.00 0.000 6 0.000 0.035 2757 2288 3867

5980 -0.74 -194.7 622.1 -9.6 821 5981 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2288 3867

6289 -0.74 -194.7 651.6 -9.7 836 6293 0.00 2.90 0.00 0.000 4 0.000 0.057 2756 3711 3867

6343 -0.74 -194.7 657.1 -9.7 838 6350 0.00 2.78 0.00 0.000 6 0.000 0.041 2756 2306 3867

6659 -0.74 -194.7 687.8 -9.7 854 6664 0.00 2.90 0.00 0.000 4 0.000 0.065 2757 883 3866

6691 -0.74 -194.7 691.2 -10.3 855 6697 0.00 2.78 0.00 0.000 6 0.000 0.038 2757 2302 3866

7007 -0.74 -194.7 721.2 -9.4 871 7011 0.00 2.92 0.00 0.000 4 0.000 0.068 2756 3716 3866

7056 -0.74 -194.7 726.0 -9.7 873 7061 0.00 2.88 0.00 0.000 6 0.000 0.052 2757 2299 3866

7371 -0.74 -194.7 754.5 -9.0 888 7372 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2298 3865

7680 -0.74 -194.7 780.8 -8.5 903 7685 0.00 3.05 0.00 0.000 4 0.000 0.082 2756 3709 3865

7742 -0.74 -194.7 786.0 -8.8 906 7747 0.00 2.95 0.00 0.000 6 0.000 0.069 2757 2313 3865

8068 -0.74 -194.7 815.1 -9.1 922 8069 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2313 3864

8377 -0.74 -194.7 843.0 -8.9 937 8378 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2313 3865

8686 -0.74 -194.7 870.2 -8.7 952 8691 0.00 3.33 0.00 0.000 4 0.000 0.124 2757 3703 3864

8753 -0.74 -194.7 876.4 -9.4 955 8758 0.00 3.25 0.00 0.000 6 0.000 0.116 2756 2321 3863

9074 -0.74 -194.7 903.7 -8.3 971 9075 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2317 3863

9382 -0.74 -194.7 930.2 -8.6 986 9384 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2317 3863

9692 -0.74 -194.7 957.3 -8.9 1001 9696 0.00 2.85 0.00 0.000 4 0.000 0.058 2757 3709 3863

9764 -0.74 -194.7 963.8 -9.6 1004 9769 0.00 2.75 0.00 0.000 6 0.000 0.041 2756 2319 3863

10077 end dive: TARGET_DEPTH_EXCEEDED

state 10077 begin apogee

10083 -0.21 0.0 991.1 8.6 1019 10288 0.68 0.00 201.65 1.598 6 0.123 0.000 2867 2752 3071

10289 end apogee: CONTROL_FINISHED_OK

state 10289 begin climb

10291 0.86 194.7 996.9 0.0 1029 10516 1.40 2.60 210.27 1.545 4 0.083 0.058 3100 3894 2277

10667 0.67 194.7 950.4 16.0 1046 10674 0.22 2.38 0.00 0.000 6 0.130 0.035 3070 2742 2274

10982 0.56 194.7 911.8 11.8 1062 10987 0.15 2.42 0.00 0.000 4 0.125 0.053 3046 3903 2274

11038 0.53 202.2 905.7 9.7 1064 11052 0.00 2.25 8.57 1.210 6 0.000 0.034 3046 2768 2247

11375 0.50 216.7 873.6 9.5 1081 11394 0.00 0.00 16.20 1.372 6 0.000 0.000 3046 2767 2187

11703 0.51 224.9 842.2 9.7 1097 11717 0.00 2.38 9.65 1.267 4 0.000 0.057 3046 3902 2154

11734 0.51 224.9 838.9 10.2 1097 11740 0.00 2.25 0.00 0.000 6 0.000 0.033 3046 2767 2154

12049 0.52 231.7 807.9 9.8 1113 12063 0.00 2.38 8.60 1.222 4 0.000 0.054 3045 3893 2126

12075 0.52 231.7 805.2 10.3 1114 12079 0.00 2.22 0.00 0.000 6 0.000 0.032 3046 2779 2125

12402 0.53 235.0 773.0 9.9 1130 12408 0.00 0.00 4.62 0.946 6 0.000 0.000 3046 2777 2113

12711 0.54 246.7 743.0 9.6 1145 12733 0.00 2.35 13.48 1.309 4 0.000 0.058 3046 3897 2064

12756 0.55 256.7 738.5 9.7 1147 12776 0.00 2.17 12.02 1.300 6 0.000 0.032 3045 2788 2024

13085 0.55 256.7 703.9 10.6 1163 13086 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2787 2022

13394 0.55 256.7 671.2 10.3 1178 13395 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2786 2022

13704 0.57 272.4 641.0 9.5 1193 13724 0.00 0.00 16.80 1.282 6 0.000 0.000 3046 2785 1960

14033 0.58 282.5 609.4 9.7 1209 14046 0.00 0.00 11.57 1.203 6 0.000 0.000 3045 2784 1919

14348 0.61 304.5 578.9 9.2 1234 14381 0.00 3.00 23.55 1.277 4 0.000 0.048 3045 1348 1828

14393 0.64 326.1 574.7 9.3 1238 14426 0.00 2.92 23.40 1.272 6 0.000 0.031 3045 2808 1742

14742 0.66 346.8 541.3 9.3 1271 14770 0.00 3.05 22.17 1.232 4 0.000 0.045 3045 1339 1656

14782 0.71 384.0 537.6 8.7 1274 14829 0.15 2.95 40.65 1.266 6 0.049 0.031 3077 2802 1505

15148 0.66 384.0 488.7 13.7 1308 15149 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2802 1497

15467 0.61 384.0 443.9 14.1 1338 15473 0.15 2.95 0.00 0.000 4 0.110 0.044 3051 1346 1496

15477 0.61 384.0 442.1 13.9 1338 15484 0.00 2.85 0.00 0.000 6 0.000 0.031 3051 2797 1496

15807 0.69 409.4 411.3 9.1 1369 15839 0.00 3.00 25.25 1.161 4 0.000 0.045 3051 1345 1400

15862 0.81 452.9 405.7 8.5 1374 15918 0.22 2.85 46.70 1.187 6 0.042 0.030 3098 2776 1223

16240 0.71 452.9 340.3 18.4 1413 16247 0.15 2.22 0.00 0.000 4 0.121 0.046 3074 3890 1216

16267 0.65 452.9 335.7 16.7 1417 16273 0.00 2.17 0.00 0.000 6 0.000 0.031 3074 2774 1216

16605 0.65 452.9 292.8 13.2 1478 16612 0.00 2.88 0.00 0.000 4 0.000 0.046 3074 1336 1214

16636 0.65 452.9 289.3 12.9 1483 16642 0.00 2.83 0.00 0.000 6 0.000 0.030 3074 2780 1213

16975 0.65 452.9 248.8 11.7 1544 16983 0.00 2.90 0.00 0.000 4 0.000 0.044 3074 1350 1212

17000 0.65 452.9 245.8 11.8 1548 17008 0.00 2.78 0.00 0.000 6 0.000 0.031 3074 2759 1212

17344 0.65 452.9 207.5 11.0 1609 17350 0.00 2.83 0.00 0.000 4 0.000 0.044 3074 1343 1212

17363 0.65 452.9 205.2 11.5 1612 17371 0.00 2.75 0.00 0.000 6 0.000 0.030 3073 2749 1211

17706 0.65 452.9 166.6 10.6 1673 17712 0.00 2.80 0.00 0.000 4 0.000 0.044 3073 1345 1211

17718 0.65 452.9 164.9 10.9 1675 17724 0.00 2.72 0.00 0.000 6 0.000 0.030 3074 2752 1211

18051 0.65 452.9 128.3 10.7 1736 18059 0.00 2.83 0.00 0.000 4 0.000 0.045 3074 1350 1211

18073 0.65 455.8 126.2 9.9 1739 18079 0.00 2.67 0.00 0.000 6 0.000 0.030 3074 2736 1211

18402 0.65 455.8 90.1 10.6 1800 18410 0.00 2.80 0.00 0.000 4 0.000 0.044 3074 1341 1211

18415 0.65 455.8 88.6 11.4 1802 18423 0.00 2.67 0.00 0.000 6 0.000 0.030 3074 2716 1211

18748 0.65 455.8 51.5 11.6 1863 18754 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2717 1211

19069 0.70 460.1 17.1 9.9 1924 19084 0.00 2.78 6.20 0.723 4 0.000 0.045 3074 1344 1194

19093 0.74 460.1 14.5 10.6 1927 19101 0.00 2.67 0.00 0.000 6 0.000 0.030 3074 2716 1194

19215 end climb: SURFACE_DEPTH_REACHED

state 19215 begin surface coast

19239 end surface coast: CONTROL_FINISHED_OK

state 19239 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	10	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	102	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	5900	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	-2030	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
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	-1.65
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	30	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	475	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	240	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	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-14739.725	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1435	AH0_24V	150	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3965	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2920	PRESSURE_YINT	-2.876246	SEABIRD_T_I	2.3931538e-05
MASS	51804	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1518581e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	152807,6011.679,-2225.154,34,1.6,39,-15.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6022.278,-2224.356
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	153601,6011.644,-2225.283,13,1.8,29,-15.8	MHEAD_RNG_PITCHd_Wd	25.8,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.1,1.026195	XPDR_PINGS	795
SM_CCo	19317,0.00,0.000,0,0,1192,460.92	_24V_AH	19.6,36.042
SM_GC	0.62,8.18,0.00,0.00,0.041,0.000,0.000,1430,2289,1192,-6.80,-0.31,460.92	_10V_AH	9.7,29.667
IRIDIUM_FIX	5945.20,-2232.21,200797,101026	DATA_FILE_SIZE	142296,1954
TT8_MAMPS	0.026845	CAP_FILE_SIZE	186895,0
HUMID	1749	CFSIZE	260165632,246628352
INTERNAL_PRESSURE	8.88752	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.30	GPS	250408,205931,6013.512,-2227.664,35,1.4,40,-15.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	248	112.88	SBE_CT	1353	24	636.49
Roll_motor	188	124	458.16	SBE_O2	1405	19	523.46
VBD_pump_during_apogee	701	1597	21962.97	Optode	728	33	471.02
VBD_pump_during_surface	0	0	0.00	WL_BB2F	980	105	2017.66
VBD_valve	0	0	0.00	WL_BBFL2VMT	1822	105	3750.60
Iridium_during_init	30	103	62.16	nil	0	0	0.00
Iridium_during_connect	33	160	104.49	nil	0	0	0.00
Iridium_during_xfer	257	223	1125.58
Transponder_ping	198	420	1636.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.10
TT8	3095	19	594.44
LPSleep	10759	2	228.55
TT8_Active	840	19	161.34
TT8_Sampling	4434	39	1712.06
TT8_CF8	641	45	285.03
TT8_Kalman	0	0	0.00
Analog_circuits	2541	12	295.79
GPS_charging	0	0	0.00
Compass	4409	8	342.21
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
23	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-0.86	-194.7	0.0	0.0	0	158	0.00	0.00	-129.10	0.000	2	0.000	0.000	1432	2278	3541
161	-0.86	-194.7	3.2	-5.5	18	192	11.32	2.90	-9.02	0.000	4	0.249	0.052	2725	3702	3867
367	-0.79	-194.7	35.3	-13.7	55	375	0.10	2.75	0.00	0.000	6	0.138	0.034	2741	2312	3867
501	-0.74	-194.7	53.0	-12.8	80	509	0.00	2.88	0.00	0.000	4	0.000	0.050	2741	888	3867
587	-0.74	-194.7	64.1	-12.5	95	593	0.00	2.72	0.00	0.000	6	0.000	0.029	2741	2303	3868
917	-0.69	-194.7	105.5	-12.5	156	925	0.15	0.00	0.00	0.000	6	0.134	0.000	2766	2303	3868
1249	-0.69	-194.7	138.8	-10.2	217	1255	0.00	2.83	0.00	0.000	4	0.000	0.048	2766	885	3868
1296	-0.74	-194.7	143.5	-10.4	225	1302	0.00	2.67	0.00	0.000	6	0.000	0.029	2766	2287	3868
1635	-0.74	-194.7	176.6	-9.7	286	1641	0.00	2.80	0.00	0.000	4	0.000	0.044	2766	3709	3868
1700	-0.74	-194.7	182.7	-9.5	297	1707	0.00	2.78	0.00	0.000	6	0.000	0.033	2766	2273	3868
2040	-0.74	-194.7	216.3	-9.8	358	2045	0.00	2.72	0.00	0.000	4	0.000	0.049	2766	894	3868
2081	-0.79	-194.7	220.4	-10.2	365	2087	0.00	2.67	0.00	0.000	6	0.000	0.028	2766	2297	3868
2421	-0.79	-194.7	253.6	-9.4	426	2427	0.00	2.75	0.00	0.000	4	0.000	0.044	2766	3702	3867
2486	-0.79	-194.7	259.6	-9.3	437	2492	0.00	2.72	0.00	0.000	6	0.000	0.032	2766	2291	3868
2825	-0.79	-194.7	292.2	-9.7	498	2831	0.00	2.78	0.00	0.000	4	0.000	0.050	2766	884	3868
2867	-0.83	-194.7	296.2	-9.9	505	2874	0.15	2.72	0.00	0.000	6	0.056	0.028	2736	2316	3868
3208	-0.78	-194.7	337.7	-11.7	566	3214	0.00	2.83	0.00	0.000	4	0.000	0.047	2735	887	3868
3250	-0.78	-194.7	342.7	-12.3	573	3257	0.00	2.67	0.00	0.000	6	0.000	0.029	2735	2292	3868
3580	-0.74	-194.7	382.9	-12.1	609	3582	0.15	0.00	0.00	0.000	6	0.129	0.000	2756	2293	3868
3899	-0.74	-194.7	415.7	-9.9	639	3900	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2293	3868
4214	-0.74	-194.7	447.0	-9.7	669	4215	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2293	3868
4533	-0.74	-194.7	478.3	-10.0	699	4534	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2293	3868
4854	-0.74	-194.7	510.4	-10.0	729	4858	0.00	2.78	0.00	0.000	4	0.000	0.047	2756	3700	3868
4905	-0.74	-194.7	515.8	-10.3	733	4910	0.00	2.75	0.00	0.000	6	0.000	0.033	2756	2280	3868
5231	-0.74	-194.7	549.2	-10.5	763	5235	0.00	2.75	0.00	0.000	4	0.000	0.051	2756	887	3868
5270	-0.74	-194.7	553.5	-11.0	766	5274	0.00	2.67	0.00	0.000	6	0.000	0.030	2757	2288	3868
5596	-0.74	-194.7	585.2	-9.8	796	5600	0.00	2.83	0.00	0.000	4	0.000	0.051	2756	3710	3867
5661	-0.74	-194.7	592.0	-10.0	801	5668	0.00	2.78	0.00	0.000	6	0.000	0.035	2757	2288	3867
5980	-0.74	-194.7	622.1	-9.6	821	5981	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2288	3867
6289	-0.74	-194.7	651.6	-9.7	836	6293	0.00	2.90	0.00	0.000	4	0.000	0.057	2756	3711	3867
6343	-0.74	-194.7	657.1	-9.7	838	6350	0.00	2.78	0.00	0.000	6	0.000	0.041	2756	2306	3867
6659	-0.74	-194.7	687.8	-9.7	854	6664	0.00	2.90	0.00	0.000	4	0.000	0.065	2757	883	3866
6691	-0.74	-194.7	691.2	-10.3	855	6697	0.00	2.78	0.00	0.000	6	0.000	0.038	2757	2302	3866
7007	-0.74	-194.7	721.2	-9.4	871	7011	0.00	2.92	0.00	0.000	4	0.000	0.068	2756	3716	3866
7056	-0.74	-194.7	726.0	-9.7	873	7061	0.00	2.88	0.00	0.000	6	0.000	0.052	2757	2299	3866
7371	-0.74	-194.7	754.5	-9.0	888	7372	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2298	3865
7680	-0.74	-194.7	780.8	-8.5	903	7685	0.00	3.05	0.00	0.000	4	0.000	0.082	2756	3709	3865
7742	-0.74	-194.7	786.0	-8.8	906	7747	0.00	2.95	0.00	0.000	6	0.000	0.069	2757	2313	3865
8068	-0.74	-194.7	815.1	-9.1	922	8069	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2313	3864
8377	-0.74	-194.7	843.0	-8.9	937	8378	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2313	3865
8686	-0.74	-194.7	870.2	-8.7	952	8691	0.00	3.33	0.00	0.000	4	0.000	0.124	2757	3703	3864
8753	-0.74	-194.7	876.4	-9.4	955	8758	0.00	3.25	0.00	0.000	6	0.000	0.116	2756	2321	3863
9074	-0.74	-194.7	903.7	-8.3	971	9075	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2317	3863
9382	-0.74	-194.7	930.2	-8.6	986	9384	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2317	3863
9692	-0.74	-194.7	957.3	-8.9	1001	9696	0.00	2.85	0.00	0.000	4	0.000	0.058	2757	3709	3863
9764	-0.74	-194.7	963.8	-9.6	1004	9769	0.00	2.75	0.00	0.000	6	0.000	0.041	2756	2319	3863
10077	end dive: TARGET_DEPTH_EXCEEDED
state	10077	begin apogee
10083	-0.21	0.0	991.1	8.6	1019	10288	0.68	0.00	201.65	1.598	6	0.123	0.000	2867	2752	3071
10289	end apogee: CONTROL_FINISHED_OK
state	10289	begin climb
10291	0.86	194.7	996.9	0.0	1029	10516	1.40	2.60	210.27	1.545	4	0.083	0.058	3100	3894	2277
10667	0.67	194.7	950.4	16.0	1046	10674	0.22	2.38	0.00	0.000	6	0.130	0.035	3070	2742	2274
10982	0.56	194.7	911.8	11.8	1062	10987	0.15	2.42	0.00	0.000	4	0.125	0.053	3046	3903	2274
11038	0.53	202.2	905.7	9.7	1064	11052	0.00	2.25	8.57	1.210	6	0.000	0.034	3046	2768	2247
11375	0.50	216.7	873.6	9.5	1081	11394	0.00	0.00	16.20	1.372	6	0.000	0.000	3046	2767	2187
11703	0.51	224.9	842.2	9.7	1097	11717	0.00	2.38	9.65	1.267	4	0.000	0.057	3046	3902	2154
11734	0.51	224.9	838.9	10.2	1097	11740	0.00	2.25	0.00	0.000	6	0.000	0.033	3046	2767	2154
12049	0.52	231.7	807.9	9.8	1113	12063	0.00	2.38	8.60	1.222	4	0.000	0.054	3045	3893	2126
12075	0.52	231.7	805.2	10.3	1114	12079	0.00	2.22	0.00	0.000	6	0.000	0.032	3046	2779	2125
12402	0.53	235.0	773.0	9.9	1130	12408	0.00	0.00	4.62	0.946	6	0.000	0.000	3046	2777	2113
12711	0.54	246.7	743.0	9.6	1145	12733	0.00	2.35	13.48	1.309	4	0.000	0.058	3046	3897	2064
12756	0.55	256.7	738.5	9.7	1147	12776	0.00	2.17	12.02	1.300	6	0.000	0.032	3045	2788	2024
13085	0.55	256.7	703.9	10.6	1163	13086	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2787	2022
13394	0.55	256.7	671.2	10.3	1178	13395	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2786	2022
13704	0.57	272.4	641.0	9.5	1193	13724	0.00	0.00	16.80	1.282	6	0.000	0.000	3046	2785	1960
14033	0.58	282.5	609.4	9.7	1209	14046	0.00	0.00	11.57	1.203	6	0.000	0.000	3045	2784	1919
14348	0.61	304.5	578.9	9.2	1234	14381	0.00	3.00	23.55	1.277	4	0.000	0.048	3045	1348	1828
14393	0.64	326.1	574.7	9.3	1238	14426	0.00	2.92	23.40	1.272	6	0.000	0.031	3045	2808	1742
14742	0.66	346.8	541.3	9.3	1271	14770	0.00	3.05	22.17	1.232	4	0.000	0.045	3045	1339	1656
14782	0.71	384.0	537.6	8.7	1274	14829	0.15	2.95	40.65	1.266	6	0.049	0.031	3077	2802	1505
15148	0.66	384.0	488.7	13.7	1308	15149	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2802	1497
15467	0.61	384.0	443.9	14.1	1338	15473	0.15	2.95	0.00	0.000	4	0.110	0.044	3051	1346	1496
15477	0.61	384.0	442.1	13.9	1338	15484	0.00	2.85	0.00	0.000	6	0.000	0.031	3051	2797	1496
15807	0.69	409.4	411.3	9.1	1369	15839	0.00	3.00	25.25	1.161	4	0.000	0.045	3051	1345	1400
15862	0.81	452.9	405.7	8.5	1374	15918	0.22	2.85	46.70	1.187	6	0.042	0.030	3098	2776	1223
16240	0.71	452.9	340.3	18.4	1413	16247	0.15	2.22	0.00	0.000	4	0.121	0.046	3074	3890	1216
16267	0.65	452.9	335.7	16.7	1417	16273	0.00	2.17	0.00	0.000	6	0.000	0.031	3074	2774	1216
16605	0.65	452.9	292.8	13.2	1478	16612	0.00	2.88	0.00	0.000	4	0.000	0.046	3074	1336	1214
16636	0.65	452.9	289.3	12.9	1483	16642	0.00	2.83	0.00	0.000	6	0.000	0.030	3074	2780	1213
16975	0.65	452.9	248.8	11.7	1544	16983	0.00	2.90	0.00	0.000	4	0.000	0.044	3074	1350	1212
17000	0.65	452.9	245.8	11.8	1548	17008	0.00	2.78	0.00	0.000	6	0.000	0.031	3074	2759	1212
17344	0.65	452.9	207.5	11.0	1609	17350	0.00	2.83	0.00	0.000	4	0.000	0.044	3074	1343	1212
17363	0.65	452.9	205.2	11.5	1612	17371	0.00	2.75	0.00	0.000	6	0.000	0.030	3073	2749	1211
17706	0.65	452.9	166.6	10.6	1673	17712	0.00	2.80	0.00	0.000	4	0.000	0.044	3073	1345	1211
17718	0.65	452.9	164.9	10.9	1675	17724	0.00	2.72	0.00	0.000	6	0.000	0.030	3074	2752	1211
18051	0.65	452.9	128.3	10.7	1736	18059	0.00	2.83	0.00	0.000	4	0.000	0.045	3074	1350	1211
18073	0.65	455.8	126.2	9.9	1739	18079	0.00	2.67	0.00	0.000	6	0.000	0.030	3074	2736	1211
18402	0.65	455.8	90.1	10.6	1800	18410	0.00	2.80	0.00	0.000	4	0.000	0.044	3074	1341	1211
18415	0.65	455.8	88.6	11.4	1802	18423	0.00	2.67	0.00	0.000	6	0.000	0.030	3074	2716	1211
18748	0.65	455.8	51.5	11.6	1863	18754	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2717	1211
19069	0.70	460.1	17.1	9.9	1924	19084	0.00	2.78	6.20	0.723	4	0.000	0.045	3074	1344	1194
19093	0.74	460.1	14.5	10.6	1927	19101	0.00	2.67	0.00	0.000	6	0.000	0.030	3074	2716	1194
19215	end climb: SURFACE_DEPTH_REACHED
state	19215	begin surface coast
19239	end surface coast: CONTROL_FINISHED_OK
state	19239	begin surface