Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING 165 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 13 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 182 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3816 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT -2030 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON 5900 C_ROLL_DIVE 2215 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2135 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 8 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 35 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 490 DEVICE4 35

T_TURN 270 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 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 0.0012300001 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 -4194.7153 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 1469 AH0_24V 150 SEABIRD_T_G 0.0043273759

SPEED_FACTOR 1 PITCH_MAX 4022 AH0_10V 100 SEABIRD_T_H 0.00064184016

RHO 1.0273 C_PITCH 2800 PRESSURE_YINT -13.47135 SEABIRD_T_I 2.4188148e-05

MASS 51457 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1530041e-05 SEABIRD_T_J 2.4070987e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.197048

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1695373

KALMAN_USE 2 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015330453

HD_A 0.0038360001 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015523176

HD_B 0.010078 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 27 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1469 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 9.1530041e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 0 PRESSURE_YINT -13.47135 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON 5900

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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0273 T_GPS_CHARGE -4194.7153

CAPUPLOAD 0 HEADING 165 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 120

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 270

COMPASS_USE 0 ID 143 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3816 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2135 KALMAN_USE 2 ROLL_MIN 182 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2215 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51457 R_PORT_OVSHOOT 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 35 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.197048 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1695373 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0015330453 VBD_MAX 3964

DEVICE3 53 N_FILEKB 8 SEABIRD_C_J 0.00015523176 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273759 VBD_MIN 490

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064184016 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4188148e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 13 PHONE_DEVICE 48 SEABIRD_T_J 2.4070987e-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 071408,5937.864,-2002.936,35,0.9,35,-14.3 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 5927.458,-2001.483

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 072533,5937.889,-2002.904,12,1.2,12,-14.3 MHEAD_RNG_PITCHd_Wd 179.3,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027306 XPDR_PINGS 373

SM_CCo 16995,0.00,0.000,0,0,1005,506.79 _24V_AH 19.9,14.555

SM_GC 0.72,7.38,0.00,0.00,0.044,0.000,0.000,1471,2222,1005,-6.08,0.20,506.79 _10V_AH 9.7,6.765

IRIDIUM_FIX 5915.45,-1950.98,010797,070752 DATA_FILE_SIZE 174235,2331

TT8_MAMPS 0.02301 CAP_FILE_SIZE 198796,0

HUMID 1626 CFSIZE 260165632,256319488

INTERNAL_PRESSURE 8.13508 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.00 GPS 060408,121008,5936.244,-1958.981,28,1.2,28,-14.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 260 112.67 SBE_CT 1691 24 808.06

Roll_motor 168 77 259.33 SBE_O2 1665 19 629.77

VBD_pump_during_apogee 726 1625 23485.82 Optode 1022 33 671.63

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1414 105 2956.51

VBD_valve 0 0 0.00 WL_BBFL2VMT 2762 105 5771.42

Iridium_during_init 58 103 119.32 nil 0 0 0.00

Iridium_during_connect 76 160 244.90 nil 0 0 0.00

Iridium_during_xfer 366 223 1625.90

Transponder_ping 93 420 779.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 6.98

TT8 3552 19 682.36

LPSleep 7205 2 153.08

TT8_Active 814 19 156.43

TT8_Sampling 5333 39 2059.06

TT8_CF8 748 45 332.44

TT8_Kalman 0 0 0.00

Analog_circuits 2730 12 317.85

GPS_charging 0 0 0.00

Compass 5335 8 414.01

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -0.82 -194.7 0.0 0.0 0 116 0.00 0.00 -87.40 0.000 2 0.000 0.000 1469 2246 3569

118 -0.82 -194.7 3.7 -7.4 12 142 10.10 2.80 -6.32 0.000 4 0.260 0.077 2612 3611 3867

418 -0.74 -194.7 60.6 -20.1 68 427 0.10 2.75 0.00 0.000 6 0.137 0.042 2630 2214 3867

554 -0.68 -194.7 81.9 -13.4 93 563 0.12 0.00 0.00 0.000 6 0.147 0.000 2647 2213 3867

688 -0.68 -194.7 99.0 -13.2 118 696 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2212 3868

822 -0.68 -194.7 116.9 -12.6 143 829 0.00 2.83 0.00 0.000 4 0.000 0.059 2647 3606 3868

838 -0.68 -194.7 118.9 -12.9 145 846 0.00 2.70 0.00 0.000 6 0.000 0.041 2647 2225 3868

972 -0.68 -194.7 136.3 -12.7 170 979 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2224 3867

1106 -0.68 -194.7 153.0 -12.4 195 1112 0.00 2.78 0.00 0.000 4 0.000 0.058 2647 3611 3867

1120 -0.68 -194.7 154.7 -12.5 197 1126 0.00 2.67 0.00 0.000 6 0.000 0.040 2647 2223 3868

1448 -0.68 -194.7 195.8 -12.6 258 1457 0.00 2.80 0.00 0.000 4 0.000 0.058 2647 3608 3867

1470 -0.68 -194.7 198.3 -12.4 261 1476 0.00 2.65 0.00 0.000 6 0.000 0.041 2647 2232 3867

1799 -0.68 -194.7 239.8 -12.6 322 1807 0.00 2.78 0.00 0.000 4 0.000 0.058 2647 3610 3867

1831 -0.68 -194.7 243.6 -13.0 327 1837 0.00 2.62 0.00 0.000 6 0.000 0.041 2647 2245 3867

2160 -0.68 -194.7 284.6 -12.6 388 2167 0.00 2.72 0.00 0.000 4 0.000 0.057 2647 3605 3867

2180 -0.68 -194.7 287.0 -12.6 391 2186 0.00 2.58 0.00 0.000 6 0.000 0.041 2646 2252 3867

2509 -0.68 -194.7 328.3 -12.4 452 2517 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2250 3867

2846 -0.68 -194.7 369.5 -12.1 513 2852 0.00 2.70 0.00 0.000 4 0.000 0.057 2647 3616 3867

2863 -0.68 -194.7 371.8 -12.2 516 2870 0.00 2.62 0.00 0.000 6 0.000 0.041 2647 2259 3867

3205 -0.68 -194.7 413.4 -12.5 577 3210 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

3543 -0.68 -194.7 454.9 -11.8 638 3548 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

3881 -0.68 -194.7 495.5 -12.0 699 3886 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

4220 -0.68 -194.7 535.4 -11.9 760 4227 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

4556 -0.68 -194.7 576.5 -12.5 802 4557 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

4875 -0.68 -194.7 616.2 -12.4 832 4876 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

5193 -0.68 -194.7 656.4 -12.3 862 5194 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

5512 -0.68 -194.7 695.4 -12.2 892 5513 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

5830 -0.68 -194.7 734.4 -12.1 922 5831 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

6149 -0.68 -194.7 773.1 -12.5 952 6150 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

6467 -0.68 -194.7 811.8 -11.9 982 6469 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2255 3867

6786 -0.68 -194.7 849.4 -11.9 1012 6790 0.00 2.70 0.00 0.000 4 0.000 0.064 2647 3609 3867

6802 -0.68 -194.7 851.3 -12.2 1013 6806 0.00 2.65 0.00 0.000 6 0.000 0.051 2647 2248 3867

7126 -0.68 -194.7 888.7 -11.4 1043 7131 0.00 2.70 0.00 0.000 4 0.000 0.064 2647 3605 3867

7147 -0.68 -194.7 891.4 -12.4 1044 7154 0.00 2.65 0.00 0.000 6 0.000 0.051 2647 2262 3866

7472 -0.68 -194.7 930.2 -12.3 1075 7477 0.00 2.70 0.00 0.000 4 0.000 0.063 2647 3613 3866

7481 -0.68 -194.7 931.4 -11.7 1075 7488 0.00 2.67 0.00 0.000 6 0.000 0.049 2647 2251 3866

7807 -0.68 -194.7 969.6 -11.3 1106 7808 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2251 3866

7996 end dive: TARGET_DEPTH_EXCEEDED

state 7996 begin apogee

8000 -0.19 0.0 990.7 10.9 1124 8209 0.62 0.00 203.18 1.625 6 0.117 0.000 2756 2128 3071

8210 end apogee: CONTROL_FINISHED_OK

state 8210 begin climb

8212 0.82 194.7 999.1 0.0 1145 8425 1.23 3.12 199.18 1.384 4 0.084 0.071 2972 734 2275

8519 0.68 194.7 972.3 12.9 1174 8527 0.15 2.85 0.00 0.000 6 0.140 0.045 2952 2124 2272

8844 0.55 194.7 933.5 12.1 1205 8850 0.17 2.95 0.00 0.000 4 0.139 0.061 2925 3547 2271

8883 0.50 194.7 929.3 10.3 1208 8888 0.00 2.88 0.00 0.000 6 0.000 0.051 2925 2141 2270

9208 0.48 216.9 899.3 9.2 1238 9240 0.00 3.03 22.30 1.440 4 0.000 0.071 2925 727 2186

9364 0.48 217.2 883.9 10.0 1252 9369 0.00 2.85 0.00 0.000 6 0.000 0.046 2925 2153 2184

9689 0.43 217.2 850.5 10.7 1282 9694 0.15 2.95 0.00 0.000 4 0.127 0.067 2899 726 2183

9834 0.46 240.8 837.0 9.2 1294 9864 0.00 2.80 25.02 1.439 6 0.000 0.045 2899 2153 2089

10184 0.58 303.5 808.0 7.8 1327 10256 0.15 2.97 63.50 1.335 4 0.067 0.058 2928 3555 1832

10283 0.58 303.5 797.6 11.1 1336 10290 0.00 2.92 0.00 0.000 6 0.000 0.051 2928 2152 1829

10608 0.58 303.5 763.3 10.7 1367 10613 0.00 2.95 0.00 0.000 4 0.000 0.071 2928 727 1827

10658 0.58 303.5 758.0 10.4 1371 10662 0.00 2.83 0.00 0.000 6 0.000 0.044 2928 2157 1826

10981 0.58 303.5 725.8 10.0 1401 10982 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2157 1826

11300 0.58 303.5 693.8 10.1 1431 11301 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2156 1825

11619 0.60 318.1 663.0 9.5 1461 11641 0.00 2.95 14.12 1.227 4 0.000 0.067 2928 726 1774

11668 0.63 343.7 658.2 9.1 1465 11706 0.00 2.78 28.12 1.317 6 0.000 0.043 2928 2146 1668

12023 0.65 357.2 625.1 9.5 1499 12044 0.00 2.85 14.23 1.269 4 0.000 0.054 2929 3552 1613

12139 0.72 375.8 614.0 9.4 1509 12167 0.15 2.85 20.05 1.134 6 0.067 0.045 2958 2125 1537

12484 0.64 375.8 565.8 14.3 1542 12488 0.00 2.88 0.00 0.000 4 0.000 0.051 2958 3557 1533

12583 0.64 375.8 552.8 12.5 1550 12590 0.00 2.85 0.00 0.000 6 0.000 0.046 2958 2118 1532

12924 0.56 375.8 503.6 14.2 1609 12931 0.17 2.80 0.00 0.000 4 0.129 0.061 2928 716 1532

12958 0.56 375.8 498.9 11.2 1615 12964 0.00 2.72 0.00 0.000 6 0.000 0.040 2928 2134 1531

13297 0.58 391.4 465.2 9.5 1676 13321 0.00 2.83 15.98 1.124 4 0.000 0.051 2928 3540 1474

13331 0.61 415.1 461.8 9.2 1682 13365 0.00 2.83 25.77 1.091 6 0.000 0.044 2928 2108 1376

13699 0.71 448.5 428.4 8.8 1748 13741 0.15 2.88 34.00 1.119 4 0.065 0.061 2958 721 1242

13779 0.71 448.5 418.2 12.7 1762 13785 0.00 2.75 0.00 0.000 6 0.000 0.039 2958 2117 1239

14119 0.66 448.5 368.4 14.8 1823 14124 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2117 1236

14450 0.62 448.5 319.7 13.6 1884 14459 0.15 2.83 0.00 0.000 4 0.125 0.060 2933 729 1235

14472 0.62 448.5 317.0 13.4 1887 14478 0.00 2.65 0.00 0.000 6 0.000 0.038 2932 2108 1235

14802 0.75 490.5 288.1 8.6 1948 14849 0.15 0.00 43.33 1.129 6 0.061 0.000 2970 2108 1070

15175 0.67 490.5 227.1 17.5 2015 15181 0.15 2.83 0.00 0.000 4 0.133 0.061 2945 720 1065

15211 0.67 490.5 221.6 13.1 2021 15217 0.00 2.67 0.00 0.000 6 0.000 0.038 2945 2102 1064

15540 0.72 490.5 186.1 10.9 2082 15548 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2103 1064

15875 0.78 495.2 150.9 9.8 2143 15889 0.12 2.80 4.88 0.703 4 0.069 0.061 2971 731 1051

15922 0.78 495.2 144.5 13.7 2151 15930 0.00 2.62 0.00 0.000 6 0.000 0.038 2972 2084 1050

16058 0.70 495.2 122.9 18.1 2176 16065 0.00 2.90 0.00 0.000 4 0.000 0.051 2972 3545 1050

16089 0.70 495.2 117.5 16.7 2181 16096 0.00 2.90 0.00 0.000 6 0.000 0.046 2972 2083 1050

16223 0.63 495.2 95.7 17.6 2206 16232 0.17 2.72 0.00 0.000 4 0.129 0.061 2942 728 1051

16265 0.70 495.2 89.8 11.4 2213 16273 0.00 2.58 0.00 0.000 6 0.000 0.037 2941 2067 1050

16401 0.79 505.7 78.4 9.6 2238 16424 0.15 2.95 12.50 0.837 4 0.060 0.051 2980 3541 1009

16447 0.79 505.7 72.4 14.1 2245 16455 0.00 2.95 0.00 0.000 6 0.000 0.045 2979 2059 1008

16583 0.69 505.7 47.8 18.6 2270 16591 0.15 2.70 0.00 0.000 4 0.138 0.062 2954 724 1007

16625 0.74 505.7 41.0 13.2 2277 16633 0.00 2.60 0.00 0.000 6 0.000 0.038 2955 2065 1007

16759 0.74 505.7 24.6 12.6 2302 16767 0.00 2.92 0.00 0.000 4 0.000 0.051 2955 3538 1006

16790 0.82 505.7 20.6 12.5 2307 16798 0.08 2.92 0.00 0.000 6 0.060 0.044 2976 2059 1006

16907 end climb: SURFACE_DEPTH_REACHED

state 16908 begin surface coast

16920 end surface coast: CONTROL_FINISHED_OK

state 16921 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	165	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	13	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	182	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3816	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	-2030	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	5900	C_ROLL_DIVE	2215	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2135	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	8	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	35	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	490	DEVICE4	35
T_TURN	270	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	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	0.0012300001	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	-4194.7153	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	1469	AH0_24V	150	SEABIRD_T_G	0.0043273759
SPEED_FACTOR	1	PITCH_MAX	4022	AH0_10V	100	SEABIRD_T_H	0.00064184016
RHO	1.0273	C_PITCH	2800	PRESSURE_YINT	-13.47135	SEABIRD_T_I	2.4188148e-05
MASS	51457	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1530041e-05	SEABIRD_T_J	2.4070987e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.197048
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1695373
KALMAN_USE	2	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015330453
HD_A	0.0038360001	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015523176
HD_B	0.010078	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	071408,5937.864,-2002.936,35,0.9,35,-14.3	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	5927.458,-2001.483
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	072533,5937.889,-2002.904,12,1.2,12,-14.3	MHEAD_RNG_PITCHd_Wd	179.3,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.3,1.027306	XPDR_PINGS	373
SM_CCo	16995,0.00,0.000,0,0,1005,506.79	_24V_AH	19.9,14.555
SM_GC	0.72,7.38,0.00,0.00,0.044,0.000,0.000,1471,2222,1005,-6.08,0.20,506.79	_10V_AH	9.7,6.765
IRIDIUM_FIX	5915.45,-1950.98,010797,070752	DATA_FILE_SIZE	174235,2331
TT8_MAMPS	0.02301	CAP_FILE_SIZE	198796,0
HUMID	1626	CFSIZE	260165632,256319488
INTERNAL_PRESSURE	8.13508	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.00	GPS	060408,121008,5936.244,-1958.981,28,1.2,28,-14.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	260	112.67	SBE_CT	1691	24	808.06
Roll_motor	168	77	259.33	SBE_O2	1665	19	629.77
VBD_pump_during_apogee	726	1625	23485.82	Optode	1022	33	671.63
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1414	105	2956.51
VBD_valve	0	0	0.00	WL_BBFL2VMT	2762	105	5771.42
Iridium_during_init	58	103	119.32	nil	0	0	0.00
Iridium_during_connect	76	160	244.90	nil	0	0	0.00
Iridium_during_xfer	366	223	1625.90
Transponder_ping	93	420	779.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	6.98
TT8	3552	19	682.36
LPSleep	7205	2	153.08
TT8_Active	814	19	156.43
TT8_Sampling	5333	39	2059.06
TT8_CF8	748	45	332.44
TT8_Kalman	0	0	0.00
Analog_circuits	2730	12	317.85
GPS_charging	0	0	0.00
Compass	5335	8	414.01
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-0.82	-194.7	0.0	0.0	0	116	0.00	0.00	-87.40	0.000	2	0.000	0.000	1469	2246	3569
118	-0.82	-194.7	3.7	-7.4	12	142	10.10	2.80	-6.32	0.000	4	0.260	0.077	2612	3611	3867
418	-0.74	-194.7	60.6	-20.1	68	427	0.10	2.75	0.00	0.000	6	0.137	0.042	2630	2214	3867
554	-0.68	-194.7	81.9	-13.4	93	563	0.12	0.00	0.00	0.000	6	0.147	0.000	2647	2213	3867
688	-0.68	-194.7	99.0	-13.2	118	696	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2212	3868
822	-0.68	-194.7	116.9	-12.6	143	829	0.00	2.83	0.00	0.000	4	0.000	0.059	2647	3606	3868
838	-0.68	-194.7	118.9	-12.9	145	846	0.00	2.70	0.00	0.000	6	0.000	0.041	2647	2225	3868
972	-0.68	-194.7	136.3	-12.7	170	979	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2224	3867
1106	-0.68	-194.7	153.0	-12.4	195	1112	0.00	2.78	0.00	0.000	4	0.000	0.058	2647	3611	3867
1120	-0.68	-194.7	154.7	-12.5	197	1126	0.00	2.67	0.00	0.000	6	0.000	0.040	2647	2223	3868
1448	-0.68	-194.7	195.8	-12.6	258	1457	0.00	2.80	0.00	0.000	4	0.000	0.058	2647	3608	3867
1470	-0.68	-194.7	198.3	-12.4	261	1476	0.00	2.65	0.00	0.000	6	0.000	0.041	2647	2232	3867
1799	-0.68	-194.7	239.8	-12.6	322	1807	0.00	2.78	0.00	0.000	4	0.000	0.058	2647	3610	3867
1831	-0.68	-194.7	243.6	-13.0	327	1837	0.00	2.62	0.00	0.000	6	0.000	0.041	2647	2245	3867
2160	-0.68	-194.7	284.6	-12.6	388	2167	0.00	2.72	0.00	0.000	4	0.000	0.057	2647	3605	3867
2180	-0.68	-194.7	287.0	-12.6	391	2186	0.00	2.58	0.00	0.000	6	0.000	0.041	2646	2252	3867
2509	-0.68	-194.7	328.3	-12.4	452	2517	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2250	3867
2846	-0.68	-194.7	369.5	-12.1	513	2852	0.00	2.70	0.00	0.000	4	0.000	0.057	2647	3616	3867
2863	-0.68	-194.7	371.8	-12.2	516	2870	0.00	2.62	0.00	0.000	6	0.000	0.041	2647	2259	3867
3205	-0.68	-194.7	413.4	-12.5	577	3210	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
3543	-0.68	-194.7	454.9	-11.8	638	3548	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
3881	-0.68	-194.7	495.5	-12.0	699	3886	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
4220	-0.68	-194.7	535.4	-11.9	760	4227	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
4556	-0.68	-194.7	576.5	-12.5	802	4557	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
4875	-0.68	-194.7	616.2	-12.4	832	4876	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
5193	-0.68	-194.7	656.4	-12.3	862	5194	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
5512	-0.68	-194.7	695.4	-12.2	892	5513	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
5830	-0.68	-194.7	734.4	-12.1	922	5831	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
6149	-0.68	-194.7	773.1	-12.5	952	6150	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
6467	-0.68	-194.7	811.8	-11.9	982	6469	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2255	3867
6786	-0.68	-194.7	849.4	-11.9	1012	6790	0.00	2.70	0.00	0.000	4	0.000	0.064	2647	3609	3867
6802	-0.68	-194.7	851.3	-12.2	1013	6806	0.00	2.65	0.00	0.000	6	0.000	0.051	2647	2248	3867
7126	-0.68	-194.7	888.7	-11.4	1043	7131	0.00	2.70	0.00	0.000	4	0.000	0.064	2647	3605	3867
7147	-0.68	-194.7	891.4	-12.4	1044	7154	0.00	2.65	0.00	0.000	6	0.000	0.051	2647	2262	3866
7472	-0.68	-194.7	930.2	-12.3	1075	7477	0.00	2.70	0.00	0.000	4	0.000	0.063	2647	3613	3866
7481	-0.68	-194.7	931.4	-11.7	1075	7488	0.00	2.67	0.00	0.000	6	0.000	0.049	2647	2251	3866
7807	-0.68	-194.7	969.6	-11.3	1106	7808	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2251	3866
7996	end dive: TARGET_DEPTH_EXCEEDED
state	7996	begin apogee
8000	-0.19	0.0	990.7	10.9	1124	8209	0.62	0.00	203.18	1.625	6	0.117	0.000	2756	2128	3071
8210	end apogee: CONTROL_FINISHED_OK
state	8210	begin climb
8212	0.82	194.7	999.1	0.0	1145	8425	1.23	3.12	199.18	1.384	4	0.084	0.071	2972	734	2275
8519	0.68	194.7	972.3	12.9	1174	8527	0.15	2.85	0.00	0.000	6	0.140	0.045	2952	2124	2272
8844	0.55	194.7	933.5	12.1	1205	8850	0.17	2.95	0.00	0.000	4	0.139	0.061	2925	3547	2271
8883	0.50	194.7	929.3	10.3	1208	8888	0.00	2.88	0.00	0.000	6	0.000	0.051	2925	2141	2270
9208	0.48	216.9	899.3	9.2	1238	9240	0.00	3.03	22.30	1.440	4	0.000	0.071	2925	727	2186
9364	0.48	217.2	883.9	10.0	1252	9369	0.00	2.85	0.00	0.000	6	0.000	0.046	2925	2153	2184
9689	0.43	217.2	850.5	10.7	1282	9694	0.15	2.95	0.00	0.000	4	0.127	0.067	2899	726	2183
9834	0.46	240.8	837.0	9.2	1294	9864	0.00	2.80	25.02	1.439	6	0.000	0.045	2899	2153	2089
10184	0.58	303.5	808.0	7.8	1327	10256	0.15	2.97	63.50	1.335	4	0.067	0.058	2928	3555	1832
10283	0.58	303.5	797.6	11.1	1336	10290	0.00	2.92	0.00	0.000	6	0.000	0.051	2928	2152	1829
10608	0.58	303.5	763.3	10.7	1367	10613	0.00	2.95	0.00	0.000	4	0.000	0.071	2928	727	1827
10658	0.58	303.5	758.0	10.4	1371	10662	0.00	2.83	0.00	0.000	6	0.000	0.044	2928	2157	1826
10981	0.58	303.5	725.8	10.0	1401	10982	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2157	1826
11300	0.58	303.5	693.8	10.1	1431	11301	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2156	1825
11619	0.60	318.1	663.0	9.5	1461	11641	0.00	2.95	14.12	1.227	4	0.000	0.067	2928	726	1774
11668	0.63	343.7	658.2	9.1	1465	11706	0.00	2.78	28.12	1.317	6	0.000	0.043	2928	2146	1668
12023	0.65	357.2	625.1	9.5	1499	12044	0.00	2.85	14.23	1.269	4	0.000	0.054	2929	3552	1613
12139	0.72	375.8	614.0	9.4	1509	12167	0.15	2.85	20.05	1.134	6	0.067	0.045	2958	2125	1537
12484	0.64	375.8	565.8	14.3	1542	12488	0.00	2.88	0.00	0.000	4	0.000	0.051	2958	3557	1533
12583	0.64	375.8	552.8	12.5	1550	12590	0.00	2.85	0.00	0.000	6	0.000	0.046	2958	2118	1532
12924	0.56	375.8	503.6	14.2	1609	12931	0.17	2.80	0.00	0.000	4	0.129	0.061	2928	716	1532
12958	0.56	375.8	498.9	11.2	1615	12964	0.00	2.72	0.00	0.000	6	0.000	0.040	2928	2134	1531
13297	0.58	391.4	465.2	9.5	1676	13321	0.00	2.83	15.98	1.124	4	0.000	0.051	2928	3540	1474
13331	0.61	415.1	461.8	9.2	1682	13365	0.00	2.83	25.77	1.091	6	0.000	0.044	2928	2108	1376
13699	0.71	448.5	428.4	8.8	1748	13741	0.15	2.88	34.00	1.119	4	0.065	0.061	2958	721	1242
13779	0.71	448.5	418.2	12.7	1762	13785	0.00	2.75	0.00	0.000	6	0.000	0.039	2958	2117	1239
14119	0.66	448.5	368.4	14.8	1823	14124	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2117	1236
14450	0.62	448.5	319.7	13.6	1884	14459	0.15	2.83	0.00	0.000	4	0.125	0.060	2933	729	1235
14472	0.62	448.5	317.0	13.4	1887	14478	0.00	2.65	0.00	0.000	6	0.000	0.038	2932	2108	1235
14802	0.75	490.5	288.1	8.6	1948	14849	0.15	0.00	43.33	1.129	6	0.061	0.000	2970	2108	1070
15175	0.67	490.5	227.1	17.5	2015	15181	0.15	2.83	0.00	0.000	4	0.133	0.061	2945	720	1065
15211	0.67	490.5	221.6	13.1	2021	15217	0.00	2.67	0.00	0.000	6	0.000	0.038	2945	2102	1064
15540	0.72	490.5	186.1	10.9	2082	15548	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2103	1064
15875	0.78	495.2	150.9	9.8	2143	15889	0.12	2.80	4.88	0.703	4	0.069	0.061	2971	731	1051
15922	0.78	495.2	144.5	13.7	2151	15930	0.00	2.62	0.00	0.000	6	0.000	0.038	2972	2084	1050
16058	0.70	495.2	122.9	18.1	2176	16065	0.00	2.90	0.00	0.000	4	0.000	0.051	2972	3545	1050
16089	0.70	495.2	117.5	16.7	2181	16096	0.00	2.90	0.00	0.000	6	0.000	0.046	2972	2083	1050
16223	0.63	495.2	95.7	17.6	2206	16232	0.17	2.72	0.00	0.000	4	0.129	0.061	2942	728	1051
16265	0.70	495.2	89.8	11.4	2213	16273	0.00	2.58	0.00	0.000	6	0.000	0.037	2941	2067	1050
16401	0.79	505.7	78.4	9.6	2238	16424	0.15	2.95	12.50	0.837	4	0.060	0.051	2980	3541	1009
16447	0.79	505.7	72.4	14.1	2245	16455	0.00	2.95	0.00	0.000	6	0.000	0.045	2979	2059	1008
16583	0.69	505.7	47.8	18.6	2270	16591	0.15	2.70	0.00	0.000	4	0.138	0.062	2954	724	1007
16625	0.74	505.7	41.0	13.2	2277	16633	0.00	2.60	0.00	0.000	6	0.000	0.038	2955	2065	1007
16759	0.74	505.7	24.6	12.6	2302	16767	0.00	2.92	0.00	0.000	4	0.000	0.051	2955	3538	1006
16790	0.82	505.7	20.6	12.5	2307	16798	0.08	2.92	0.00	0.000	6	0.060	0.044	2976	2059	1006
16907	end climb: SURFACE_DEPTH_REACHED
state	16908	begin surface coast
16920	end surface coast: CONTROL_FINISHED_OK
state	16921	begin surface