Glider dive log

Philippines Feb08 * SG122 * Dive index * Mission links * Dive 142 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 122 HD_C 5.1899999e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 6 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 142 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 168 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3733 ALTIM_PING_DEPTH 500

D_TGT 990 TGT_DEFAULT_LAT 47.599998 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1040 TGT_DEFAULT_LON -122.3 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 100 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2375 ALTIM_PULSE 9

D_FINISH 0 SM_CC 475 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

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 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 60 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 36 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 366 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 -1

T_MISSION 439 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 417 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3757 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2678 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -2 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 0.00167 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -29981.555 VBD_PUMP_AD_RATE_APOGEE 4 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 150 RAFOS_CORR_THRESH 70 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 250 AH0_24V 91.800003 SEABIRD_T_G 0.0044208211

SPEED_FACTOR 1 PITCH_MAX 3579 AH0_10V 61.200001 SEABIRD_T_H 0.00065343338

RHO 1.0274 C_PITCH 2905 PRESSURE_YINT -4.1162887 SEABIRD_T_I 2.7514026e-05

MASS 51598 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00025722419 SEABIRD_T_J 3.0288847e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.084093

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1290534

KALMAN_USE 2 PITCH_GAIN 14.76 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015321091

HD_A 0.0026499999 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00018406138

HD_B 0.0112 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 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 100 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14.76 SM_CC 475

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3579 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 250 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 500 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 9 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00025722419 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -4.1162887 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 70 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 366

CALL_TRIES 5 HD_A 0.0026499999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0112 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.1899999e-05 RHO 1.0274 T_GPS_CHARGE -29981.555

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 439

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 122 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3733 T_WATCHDOG 10

C_PITCH 2905 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2375 KALMAN_USE 2 ROLL_MIN 168 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -2

C_VBD 2678 MASS 51598 R_PORT_OVSHOOT 60 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.084093 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1290534 VBD_DBAND 2

DEVICE2 -1 NAV_MODE 2 SEABIRD_C_I -0.0015321091 VBD_MAX 3757

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00018406138 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044208211 VBD_MIN 417

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065343338 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7514026e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 142 PHONE_DEVICE 48 SEABIRD_T_J 3.0288847e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 203707,1247.459,12029.899,28,1.1,28,-0.8 TGT_NAME EAST

_CALLS 1 TGT_LATLONG 1250.710,12042.750

_XMS_NAKs 0 TGT_RADIUS 1000.000

_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 -74.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 204237,1247.458,12029.905,16,1.9,32,-0.8 MHEAD_RNG_PITCHd_Wd 88.0,23962,-17.4,-9.016

SPEED_LIMITS 0.156,0.209 D_GRID 827

Post-dive calculations and measurements:

FINISH -0.2,1.021185 _24V_AH 23.3,27.203

SM_CCo 18691,38.55,0.556,0,0,740,475.15 _10V_AH 10.2,13.346

SM_GC 0.56,0.00,0.00,38.55,0.000,0.000,0.556,251,2180,740,-12.20,0.85,475.15 DATA_FILE_SIZE 56636,1795

IRIDIUM_FIX 1241.04,12026.36,090697,161642 CAP_FILE_SIZE 178574,0

TT8_MAMPS 0.023777 CFSIZE 260165632,246099968

HUMID 1892 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.59998 CURRENT 0.026, 89.3,1

TCM_TEMP 24.50 GPS 160308,015632,1247.391,12032.257,39,1.2,39,-0.8

XPDR_PINGS 462

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 171 128.82 SBE_CT 1204 24 673.81

Roll_motor 155 62 227.43 nil 0 0 0.00

VBD_pump_during_apogee 448 1254 13090.22 nil 0 0 0.00

VBD_pump_during_surface 38 556 499.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.72 nil 0 0 0.00

Iridium_during_connect 37 160 141.35 nil 0 0 0.00

Iridium_during_xfer 143 223 745.16

Transponder_ping 123 420 1211.02

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.36

TT8 3756 19 758.61

LPSleep 11240 2 251.10

TT8_Active 714 19 144.22

TT8_Sampling 2875 39 1167.41

TT8_CF8 481 45 225.13

TT8_Kalman 0 0 0.00

Analog_circuits 2144 12 262.49

GPS_charging 0 0 0.00

Compass 2816 8 229.86

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

20 -1.42 -146.0 0.0 0.0 0 85 0.00 0.00 -62.53 0.000 2 0.000 0.000 252 2112 2432

87 -1.42 -146.0 3.2 -8.1 10 126 13.52 2.53 -15.80 0.000 4 0.171 0.052 2590 3555 3276

224 -1.10 -146.0 37.3 -23.8 33 232 0.38 2.30 0.00 0.000 6 0.114 0.027 2661 2165 3277

569 -1.00 -146.0 91.6 -13.8 94 577 0.12 2.38 0.00 0.000 4 0.119 0.040 2683 3552 3279

594 -0.93 -146.0 94.9 -12.9 98 602 0.00 2.30 0.00 0.000 6 0.000 0.026 2683 2159 3279

939 -0.93 -146.0 134.7 -10.8 159 946 0.00 2.42 0.00 0.000 4 0.000 0.044 2683 748 3281

969 -0.97 -146.0 137.9 -10.4 164 976 0.00 2.38 0.00 0.000 6 0.000 0.028 2683 2170 3281

1314 -1.03 -146.0 169.1 -8.8 225 1321 0.00 2.35 0.00 0.000 4 0.000 0.044 2683 3546 3282

1406 -1.13 -146.0 177.3 -9.2 241 1416 0.12 2.22 0.00 0.000 6 0.053 0.028 2642 2196 3282

1753 -1.13 -146.0 208.6 -8.4 302 1760 0.00 2.50 0.00 0.000 4 0.000 0.046 2642 756 3282

1791 -1.17 -146.0 211.9 -9.3 308 1798 0.00 2.45 0.00 0.000 6 0.000 0.029 2642 2217 3282

2137 -1.17 -146.0 241.9 -8.8 369 2144 0.00 2.30 0.00 0.000 4 0.000 0.047 2642 3557 3282

2206 -1.17 -146.0 248.6 -9.8 381 2213 0.00 2.22 0.00 0.000 6 0.000 0.030 2642 2219 3282

2534 -1.21 -146.0 277.0 -8.2 413 2535 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2216 3280

2853 -1.25 -146.0 304.1 -8.2 443 2857 0.00 2.30 0.00 0.000 4 0.000 0.048 2642 3545 3279

2893 -1.29 -146.0 308.0 -9.2 446 2897 0.00 2.17 0.00 0.000 6 0.000 0.031 2642 2249 3279

3219 -1.34 -146.0 334.5 -8.2 476 3221 0.12 0.00 0.00 0.000 6 0.058 0.000 2604 2247 3277

3536 -1.30 -146.0 364.2 -9.1 506 3538 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2247 3275

3854 -1.27 -146.0 393.4 -10.1 536 3859 0.12 2.65 0.00 0.000 4 0.104 0.052 2627 758 3273

3887 -1.31 -146.0 396.6 -9.4 538 3894 0.00 2.53 0.00 0.000 6 0.000 0.033 2627 2234 3273

4213 -1.31 -146.0 423.2 -8.1 569 4214 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2235 3271

4532 -1.34 -146.0 448.4 -8.2 599 4533 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2235 3269

4849 -1.38 -146.0 475.7 -9.1 629 4854 0.00 2.62 0.00 0.000 4 0.000 0.054 2627 763 3267

4900 -1.43 -146.0 480.2 -9.0 633 4905 0.17 2.53 0.00 0.000 6 0.050 0.036 2577 2230 3267

5221 -1.36 -146.0 512.5 -10.0 657 5223 0.17 0.00 0.00 0.000 6 0.106 0.000 2609 2230 3265

5530 -1.36 -146.0 539.3 -8.6 672 5532 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2229 3263

5840 -1.36 -146.0 565.4 -8.8 687 5844 0.00 2.62 0.00 0.000 4 0.000 0.056 2609 762 3261

5883 -1.36 -146.0 569.6 -9.1 689 5888 0.00 2.55 0.00 0.000 6 0.000 0.038 2609 2222 3261

6209 -1.36 -146.0 598.2 -9.1 705 6213 0.00 2.33 0.00 0.000 4 0.000 0.057 2609 3543 3259

6255 -1.36 -146.0 602.3 -9.8 707 6259 0.00 2.22 0.00 0.000 6 0.000 0.035 2608 2234 3258

6581 -1.36 -146.0 629.8 -8.7 723 6586 0.00 2.65 0.00 0.000 4 0.000 0.058 2609 747 3257

6619 -1.36 -146.0 633.2 -9.0 724 6626 0.00 2.53 0.00 0.000 6 0.000 0.038 2609 2213 3257

6935 -1.36 -146.0 658.3 -7.8 740 6939 0.00 2.35 0.00 0.000 4 0.000 0.057 2609 3544 3256

6978 -1.36 -146.0 662.0 -8.1 742 6982 0.00 2.22 0.00 0.000 6 0.000 0.036 2609 2235 3256

7306 -1.36 -146.0 687.2 -7.7 758 7310 0.00 2.65 0.00 0.000 4 0.000 0.059 2609 758 3253

7339 -1.36 -146.0 690.0 -8.5 759 7346 0.00 2.50 0.00 0.000 6 0.000 0.036 2610 2209 3254

7654 -1.36 -146.0 713.2 -7.4 775 7658 0.00 2.35 0.00 0.000 4 0.000 0.058 2609 3542 3253

7687 -1.36 -146.0 715.9 -7.6 776 7695 0.00 2.25 0.00 0.000 6 0.000 0.036 2609 2222 3252

8003 -1.36 -146.0 738.8 -7.6 792 8004 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2221 3251

8312 -1.36 -146.0 763.7 -8.3 807 8316 0.00 2.35 0.00 0.000 4 0.000 0.058 2609 3541 3250

8362 -1.36 -146.0 768.2 -9.4 809 8366 0.00 2.22 0.00 0.000 6 0.000 0.037 2609 2241 3250

8683 -1.36 -146.0 794.1 -7.8 825 8688 0.00 2.65 0.00 0.000 4 0.000 0.061 2609 764 3248

8710 -1.36 -146.0 796.3 -7.9 826 8714 0.00 2.53 0.00 0.000 6 0.000 0.038 2609 2219 3248

9025 -1.36 -146.0 818.8 -7.1 841 9027 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2220 3247

9147 end dive: TARGET_DEPTH_EXCEEDED

state 9147 begin apogee

9152 -0.34 0.0 828.1 7.8 847 9275 1.10 0.00 119.60 1.254 6 0.101 0.000 2829 2369 2678

9276 end apogee: CONTROL_FINISHED_OK

state 9276 begin climb

9278 1.42 146.0 832.2 0.0 853 9416 1.80 2.58 123.65 1.206 4 0.058 0.063 3219 3721 2082

9455 1.16 146.0 820.9 13.3 861 9463 0.35 2.33 0.00 0.000 6 0.127 0.041 3158 2396 2081

9771 1.05 146.0 789.3 10.0 877 9773 0.12 0.00 0.00 0.000 6 0.123 0.000 3137 2395 2079

10080 1.00 146.2 761.3 9.0 892 10085 0.00 2.60 0.00 0.000 4 0.000 0.060 3137 962 2079

10175 0.92 146.2 752.5 9.3 896 10180 0.17 2.50 0.00 0.000 6 0.120 0.040 3105 2383 2078

10491 0.94 158.0 726.1 8.4 911 10503 0.00 0.00 9.88 1.233 6 0.000 0.000 3105 2383 2033

10800 0.95 159.0 698.6 9.0 926 10804 0.00 2.58 0.00 0.000 4 0.000 0.059 3106 966 2032

10871 0.95 159.0 692.0 9.2 929 10875 0.00 2.45 0.00 0.000 6 0.000 0.040 3105 2364 2031

11192 0.97 170.9 664.2 8.4 945 11205 0.00 0.00 10.73 1.208 6 0.000 0.000 3105 2365 1981

11502 0.98 179.9 637.9 8.6 960 11516 0.00 2.62 7.95 1.194 4 0.000 0.058 3105 969 1944

11578 0.98 179.9 631.1 9.2 963 11582 0.00 2.45 0.00 0.000 6 0.000 0.039 3105 2359 1944

11894 1.03 191.8 604.0 8.4 978 11906 0.12 0.00 10.25 1.170 6 0.071 0.000 3135 2359 1896

12203 1.03 191.8 575.4 9.0 993 12207 0.00 2.53 0.00 0.000 4 0.000 0.058 3135 967 1894

12242 1.03 191.8 571.6 10.0 995 12246 0.00 2.45 0.00 0.000 6 0.000 0.039 3135 2368 1894

12568 1.04 196.4 542.4 8.8 1011 12574 0.00 0.00 4.22 1.142 6 0.000 0.000 3135 2368 1877

12877 1.04 196.4 513.7 9.3 1026 12881 0.00 2.53 0.00 0.000 4 0.000 0.057 3135 967 1876

12931 1.04 196.4 508.3 10.2 1028 12939 0.00 2.42 0.00 0.000 6 0.000 0.038 3135 2345 1877

13255 1.05 199.6 478.8 8.9 1054 13264 0.00 0.00 3.05 1.093 6 0.000 0.000 3135 2344 1863

13583 1.07 215.8 450.2 8.2 1085 13607 0.00 2.58 13.55 1.052 4 0.000 0.055 3135 972 1797

13634 1.07 215.8 445.5 9.2 1089 13642 0.00 2.40 0.00 0.000 6 0.000 0.037 3135 2322 1797

13961 1.07 215.8 415.5 9.4 1120 13965 0.00 2.50 0.00 0.000 4 0.000 0.058 3135 3723 1797

13988 1.07 215.8 412.7 10.9 1122 13992 0.00 2.40 0.00 0.000 6 0.000 0.037 3135 2325 1797

14318 1.07 215.8 382.3 9.1 1153 14322 0.00 2.42 0.00 0.000 4 0.000 0.057 3135 972 1796

14390 1.07 215.8 375.3 9.4 1159 14394 0.00 2.33 0.00 0.000 6 0.000 0.036 3135 2314 1796

14717 1.09 226.4 346.3 8.5 1189 14728 0.00 0.00 9.27 0.988 6 0.000 0.000 3135 2314 1754

15043 1.09 226.4 315.1 9.2 1220 15044 0.00 0.00 0.00 0.000 6 0.000 0.000 3135 2314 1753

15364 1.14 230.5 286.5 8.8 1250 15372 0.00 0.00 3.55 0.957 6 0.000 0.000 3135 2314 1738

15692 1.18 234.7 258.1 8.8 1281 15703 0.12 0.00 3.80 0.940 6 0.060 0.000 3174 2314 1721

16033 1.15 234.7 225.1 9.4 1335 16040 0.00 2.50 0.00 0.000 4 0.000 0.054 3174 3734 1721

16086 1.09 234.7 220.0 9.8 1344 16094 0.17 2.47 0.00 0.000 6 0.120 0.035 3144 2288 1721

16432 1.17 255.7 192.8 7.9 1405 16454 0.00 2.45 17.40 0.821 4 0.000 0.051 3144 966 1635

16547 1.27 281.8 183.6 7.7 1424 16577 0.17 2.30 21.12 0.795 6 0.055 0.034 3193 2299 1528

16915 1.29 294.4 149.5 8.4 1488 16929 0.00 2.47 10.00 0.787 4 0.000 0.050 3193 960 1476

17004 1.29 295.0 141.5 9.0 1503 17011 0.00 2.30 0.00 0.000 6 0.000 0.033 3194 2297 1474

17347 1.42 342.4 115.3 6.6 1564 17390 0.00 0.00 38.72 0.700 6 0.000 0.000 3194 2297 1280

17725 1.58 376.6 85.7 7.3 1629 17761 0.22 2.42 26.67 0.669 4 0.046 0.047 3259 976 1141

17790 1.58 376.6 78.8 12.0 1640 17796 0.00 2.25 0.00 0.000 6 0.000 0.031 3259 2288 1140

18134 1.58 376.6 45.1 9.3 1701 18141 0.00 2.33 0.00 0.000 4 0.000 0.045 3259 962 1139

18220 1.61 392.1 37.7 8.2 1716 18238 0.00 2.22 11.80 0.637 6 0.000 0.029 3259 2284 1079

18576 1.68 396.1 7.8 8.8 1779 18584 0.00 2.38 2.78 0.628 4 0.000 0.044 3259 960 1063

18644 end climb: SURFACE_DEPTH_REACHED

state 18644 begin surface coast

18668 end surface coast: CONTROL_FINISHED_OK

state 18668 begin surface

ID	122	HD_C	5.1899999e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	6	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	142	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	168	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3733	ALTIM_PING_DEPTH	500
D_TGT	990	TGT_DEFAULT_LAT	47.599998	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1040	TGT_DEFAULT_LON	-122.3	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	100	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2375	ALTIM_PULSE	9
D_FINISH	0	SM_CC	475	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
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	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	60	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	36	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	366	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	-1
T_MISSION	439	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	417	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3757	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2678	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-2	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	0.00167	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-29981.555	VBD_PUMP_AD_RATE_APOGEE	4	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	150	RAFOS_CORR_THRESH	70	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	250	AH0_24V	91.800003	SEABIRD_T_G	0.0044208211
SPEED_FACTOR	1	PITCH_MAX	3579	AH0_10V	61.200001	SEABIRD_T_H	0.00065343338
RHO	1.0274	C_PITCH	2905	PRESSURE_YINT	-4.1162887	SEABIRD_T_I	2.7514026e-05
MASS	51598	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00025722419	SEABIRD_T_J	3.0288847e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.084093
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1290534
KALMAN_USE	2	PITCH_GAIN	14.76	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015321091
HD_A	0.0026499999	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00018406138
HD_B	0.0112	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	203707,1247.459,12029.899,28,1.1,28,-0.8	TGT_NAME	EAST
_CALLS	1	TGT_LATLONG	1250.710,12042.750
_XMS_NAKs	0	TGT_RADIUS	1000.000
_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	-74.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	204237,1247.458,12029.905,16,1.9,32,-0.8	MHEAD_RNG_PITCHd_Wd	88.0,23962,-17.4,-9.016
SPEED_LIMITS	0.156,0.209	D_GRID	827

FINISH	-0.2,1.021185	_24V_AH	23.3,27.203
SM_CCo	18691,38.55,0.556,0,0,740,475.15	_10V_AH	10.2,13.346
SM_GC	0.56,0.00,0.00,38.55,0.000,0.000,0.556,251,2180,740,-12.20,0.85,475.15	DATA_FILE_SIZE	56636,1795
IRIDIUM_FIX	1241.04,12026.36,090697,161642	CAP_FILE_SIZE	178574,0
TT8_MAMPS	0.023777	CFSIZE	260165632,246099968
HUMID	1892	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.59998	CURRENT	0.026, 89.3,1
TCM_TEMP	24.50	GPS	160308,015632,1247.391,12032.257,39,1.2,39,-0.8
XPDR_PINGS	462

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	171	128.82	SBE_CT	1204	24	673.81
Roll_motor	155	62	227.43	nil	0	0	0.00
VBD_pump_during_apogee	448	1254	13090.22	nil	0	0	0.00
VBD_pump_during_surface	38	556	499.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.72	nil	0	0	0.00
Iridium_during_connect	37	160	141.35	nil	0	0	0.00
Iridium_during_xfer	143	223	745.16
Transponder_ping	123	420	1211.02
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.36
TT8	3756	19	758.61
LPSleep	11240	2	251.10
TT8_Active	714	19	144.22
TT8_Sampling	2875	39	1167.41
TT8_CF8	481	45	225.13
TT8_Kalman	0	0	0.00
Analog_circuits	2144	12	262.49
GPS_charging	0	0	0.00
Compass	2816	8	229.86
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
20	-1.42	-146.0	0.0	0.0	0	85	0.00	0.00	-62.53	0.000	2	0.000	0.000	252	2112	2432
87	-1.42	-146.0	3.2	-8.1	10	126	13.52	2.53	-15.80	0.000	4	0.171	0.052	2590	3555	3276
224	-1.10	-146.0	37.3	-23.8	33	232	0.38	2.30	0.00	0.000	6	0.114	0.027	2661	2165	3277
569	-1.00	-146.0	91.6	-13.8	94	577	0.12	2.38	0.00	0.000	4	0.119	0.040	2683	3552	3279
594	-0.93	-146.0	94.9	-12.9	98	602	0.00	2.30	0.00	0.000	6	0.000	0.026	2683	2159	3279
939	-0.93	-146.0	134.7	-10.8	159	946	0.00	2.42	0.00	0.000	4	0.000	0.044	2683	748	3281
969	-0.97	-146.0	137.9	-10.4	164	976	0.00	2.38	0.00	0.000	6	0.000	0.028	2683	2170	3281
1314	-1.03	-146.0	169.1	-8.8	225	1321	0.00	2.35	0.00	0.000	4	0.000	0.044	2683	3546	3282
1406	-1.13	-146.0	177.3	-9.2	241	1416	0.12	2.22	0.00	0.000	6	0.053	0.028	2642	2196	3282
1753	-1.13	-146.0	208.6	-8.4	302	1760	0.00	2.50	0.00	0.000	4	0.000	0.046	2642	756	3282
1791	-1.17	-146.0	211.9	-9.3	308	1798	0.00	2.45	0.00	0.000	6	0.000	0.029	2642	2217	3282
2137	-1.17	-146.0	241.9	-8.8	369	2144	0.00	2.30	0.00	0.000	4	0.000	0.047	2642	3557	3282
2206	-1.17	-146.0	248.6	-9.8	381	2213	0.00	2.22	0.00	0.000	6	0.000	0.030	2642	2219	3282
2534	-1.21	-146.0	277.0	-8.2	413	2535	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2216	3280
2853	-1.25	-146.0	304.1	-8.2	443	2857	0.00	2.30	0.00	0.000	4	0.000	0.048	2642	3545	3279
2893	-1.29	-146.0	308.0	-9.2	446	2897	0.00	2.17	0.00	0.000	6	0.000	0.031	2642	2249	3279
3219	-1.34	-146.0	334.5	-8.2	476	3221	0.12	0.00	0.00	0.000	6	0.058	0.000	2604	2247	3277
3536	-1.30	-146.0	364.2	-9.1	506	3538	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2247	3275
3854	-1.27	-146.0	393.4	-10.1	536	3859	0.12	2.65	0.00	0.000	4	0.104	0.052	2627	758	3273
3887	-1.31	-146.0	396.6	-9.4	538	3894	0.00	2.53	0.00	0.000	6	0.000	0.033	2627	2234	3273
4213	-1.31	-146.0	423.2	-8.1	569	4214	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2235	3271
4532	-1.34	-146.0	448.4	-8.2	599	4533	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2235	3269
4849	-1.38	-146.0	475.7	-9.1	629	4854	0.00	2.62	0.00	0.000	4	0.000	0.054	2627	763	3267
4900	-1.43	-146.0	480.2	-9.0	633	4905	0.17	2.53	0.00	0.000	6	0.050	0.036	2577	2230	3267
5221	-1.36	-146.0	512.5	-10.0	657	5223	0.17	0.00	0.00	0.000	6	0.106	0.000	2609	2230	3265
5530	-1.36	-146.0	539.3	-8.6	672	5532	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2229	3263
5840	-1.36	-146.0	565.4	-8.8	687	5844	0.00	2.62	0.00	0.000	4	0.000	0.056	2609	762	3261
5883	-1.36	-146.0	569.6	-9.1	689	5888	0.00	2.55	0.00	0.000	6	0.000	0.038	2609	2222	3261
6209	-1.36	-146.0	598.2	-9.1	705	6213	0.00	2.33	0.00	0.000	4	0.000	0.057	2609	3543	3259
6255	-1.36	-146.0	602.3	-9.8	707	6259	0.00	2.22	0.00	0.000	6	0.000	0.035	2608	2234	3258
6581	-1.36	-146.0	629.8	-8.7	723	6586	0.00	2.65	0.00	0.000	4	0.000	0.058	2609	747	3257
6619	-1.36	-146.0	633.2	-9.0	724	6626	0.00	2.53	0.00	0.000	6	0.000	0.038	2609	2213	3257
6935	-1.36	-146.0	658.3	-7.8	740	6939	0.00	2.35	0.00	0.000	4	0.000	0.057	2609	3544	3256
6978	-1.36	-146.0	662.0	-8.1	742	6982	0.00	2.22	0.00	0.000	6	0.000	0.036	2609	2235	3256
7306	-1.36	-146.0	687.2	-7.7	758	7310	0.00	2.65	0.00	0.000	4	0.000	0.059	2609	758	3253
7339	-1.36	-146.0	690.0	-8.5	759	7346	0.00	2.50	0.00	0.000	6	0.000	0.036	2610	2209	3254
7654	-1.36	-146.0	713.2	-7.4	775	7658	0.00	2.35	0.00	0.000	4	0.000	0.058	2609	3542	3253
7687	-1.36	-146.0	715.9	-7.6	776	7695	0.00	2.25	0.00	0.000	6	0.000	0.036	2609	2222	3252
8003	-1.36	-146.0	738.8	-7.6	792	8004	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2221	3251
8312	-1.36	-146.0	763.7	-8.3	807	8316	0.00	2.35	0.00	0.000	4	0.000	0.058	2609	3541	3250
8362	-1.36	-146.0	768.2	-9.4	809	8366	0.00	2.22	0.00	0.000	6	0.000	0.037	2609	2241	3250
8683	-1.36	-146.0	794.1	-7.8	825	8688	0.00	2.65	0.00	0.000	4	0.000	0.061	2609	764	3248
8710	-1.36	-146.0	796.3	-7.9	826	8714	0.00	2.53	0.00	0.000	6	0.000	0.038	2609	2219	3248
9025	-1.36	-146.0	818.8	-7.1	841	9027	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2220	3247
9147	end dive: TARGET_DEPTH_EXCEEDED
state	9147	begin apogee
9152	-0.34	0.0	828.1	7.8	847	9275	1.10	0.00	119.60	1.254	6	0.101	0.000	2829	2369	2678
9276	end apogee: CONTROL_FINISHED_OK
state	9276	begin climb
9278	1.42	146.0	832.2	0.0	853	9416	1.80	2.58	123.65	1.206	4	0.058	0.063	3219	3721	2082
9455	1.16	146.0	820.9	13.3	861	9463	0.35	2.33	0.00	0.000	6	0.127	0.041	3158	2396	2081
9771	1.05	146.0	789.3	10.0	877	9773	0.12	0.00	0.00	0.000	6	0.123	0.000	3137	2395	2079
10080	1.00	146.2	761.3	9.0	892	10085	0.00	2.60	0.00	0.000	4	0.000	0.060	3137	962	2079
10175	0.92	146.2	752.5	9.3	896	10180	0.17	2.50	0.00	0.000	6	0.120	0.040	3105	2383	2078
10491	0.94	158.0	726.1	8.4	911	10503	0.00	0.00	9.88	1.233	6	0.000	0.000	3105	2383	2033
10800	0.95	159.0	698.6	9.0	926	10804	0.00	2.58	0.00	0.000	4	0.000	0.059	3106	966	2032
10871	0.95	159.0	692.0	9.2	929	10875	0.00	2.45	0.00	0.000	6	0.000	0.040	3105	2364	2031
11192	0.97	170.9	664.2	8.4	945	11205	0.00	0.00	10.73	1.208	6	0.000	0.000	3105	2365	1981
11502	0.98	179.9	637.9	8.6	960	11516	0.00	2.62	7.95	1.194	4	0.000	0.058	3105	969	1944
11578	0.98	179.9	631.1	9.2	963	11582	0.00	2.45	0.00	0.000	6	0.000	0.039	3105	2359	1944
11894	1.03	191.8	604.0	8.4	978	11906	0.12	0.00	10.25	1.170	6	0.071	0.000	3135	2359	1896
12203	1.03	191.8	575.4	9.0	993	12207	0.00	2.53	0.00	0.000	4	0.000	0.058	3135	967	1894
12242	1.03	191.8	571.6	10.0	995	12246	0.00	2.45	0.00	0.000	6	0.000	0.039	3135	2368	1894
12568	1.04	196.4	542.4	8.8	1011	12574	0.00	0.00	4.22	1.142	6	0.000	0.000	3135	2368	1877
12877	1.04	196.4	513.7	9.3	1026	12881	0.00	2.53	0.00	0.000	4	0.000	0.057	3135	967	1876
12931	1.04	196.4	508.3	10.2	1028	12939	0.00	2.42	0.00	0.000	6	0.000	0.038	3135	2345	1877
13255	1.05	199.6	478.8	8.9	1054	13264	0.00	0.00	3.05	1.093	6	0.000	0.000	3135	2344	1863
13583	1.07	215.8	450.2	8.2	1085	13607	0.00	2.58	13.55	1.052	4	0.000	0.055	3135	972	1797
13634	1.07	215.8	445.5	9.2	1089	13642	0.00	2.40	0.00	0.000	6	0.000	0.037	3135	2322	1797
13961	1.07	215.8	415.5	9.4	1120	13965	0.00	2.50	0.00	0.000	4	0.000	0.058	3135	3723	1797
13988	1.07	215.8	412.7	10.9	1122	13992	0.00	2.40	0.00	0.000	6	0.000	0.037	3135	2325	1797
14318	1.07	215.8	382.3	9.1	1153	14322	0.00	2.42	0.00	0.000	4	0.000	0.057	3135	972	1796
14390	1.07	215.8	375.3	9.4	1159	14394	0.00	2.33	0.00	0.000	6	0.000	0.036	3135	2314	1796
14717	1.09	226.4	346.3	8.5	1189	14728	0.00	0.00	9.27	0.988	6	0.000	0.000	3135	2314	1754
15043	1.09	226.4	315.1	9.2	1220	15044	0.00	0.00	0.00	0.000	6	0.000	0.000	3135	2314	1753
15364	1.14	230.5	286.5	8.8	1250	15372	0.00	0.00	3.55	0.957	6	0.000	0.000	3135	2314	1738
15692	1.18	234.7	258.1	8.8	1281	15703	0.12	0.00	3.80	0.940	6	0.060	0.000	3174	2314	1721
16033	1.15	234.7	225.1	9.4	1335	16040	0.00	2.50	0.00	0.000	4	0.000	0.054	3174	3734	1721
16086	1.09	234.7	220.0	9.8	1344	16094	0.17	2.47	0.00	0.000	6	0.120	0.035	3144	2288	1721
16432	1.17	255.7	192.8	7.9	1405	16454	0.00	2.45	17.40	0.821	4	0.000	0.051	3144	966	1635
16547	1.27	281.8	183.6	7.7	1424	16577	0.17	2.30	21.12	0.795	6	0.055	0.034	3193	2299	1528
16915	1.29	294.4	149.5	8.4	1488	16929	0.00	2.47	10.00	0.787	4	0.000	0.050	3193	960	1476
17004	1.29	295.0	141.5	9.0	1503	17011	0.00	2.30	0.00	0.000	6	0.000	0.033	3194	2297	1474
17347	1.42	342.4	115.3	6.6	1564	17390	0.00	0.00	38.72	0.700	6	0.000	0.000	3194	2297	1280
17725	1.58	376.6	85.7	7.3	1629	17761	0.22	2.42	26.67	0.669	4	0.046	0.047	3259	976	1141
17790	1.58	376.6	78.8	12.0	1640	17796	0.00	2.25	0.00	0.000	6	0.000	0.031	3259	2288	1140
18134	1.58	376.6	45.1	9.3	1701	18141	0.00	2.33	0.00	0.000	4	0.000	0.045	3259	962	1139
18220	1.61	392.1	37.7	8.2	1716	18238	0.00	2.22	11.80	0.637	6	0.000	0.029	3259	2284	1079
18576	1.68	396.1	7.8	8.8	1779	18584	0.00	2.38	2.78	0.628	4	0.000	0.044	3259	960	1063
18644	end climb: SURFACE_DEPTH_REACHED
state	18644	begin surface coast
18668	end surface coast: CONTROL_FINISHED_OK
state	18668	begin surface