Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING 0 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 15 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 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 2235 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2330 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 10 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 12 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 12 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 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 720 CALL_TRIES 5 VBD_MIN 520 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3085 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -13458.693 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 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 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2960 PRESSURE_YINT -1.4601949 SEABIRD_T_I 2.3931538e-05

MASS 51662 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0994887e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 14.2 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 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.2 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.0994887e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -1.4601949 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 -13458.693

CAPUPLOAD 0 HEADING 0 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 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2960 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2330 KALMAN_USE 2 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2235 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3085 MASS 51662 R_PORT_OVSHOOT 12 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 3978

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 15 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 215110,5931.829,-1930.335,33,1.7,35,-14.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 5942.538,-1930.219

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 215941,5931.739,-1930.219,10,2.0,19,-14.0 MHEAD_RNG_PITCHd_Wd 14.0,20000,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.006352 XPDR_PINGS 24

SM_CCo 19672,0.00,0.000,0,0,2167,225.19 _24V_AH 23.4,11.525

SM_GC 1.27,11.52,0.00,0.00,0.044,0.000,0.000,592,2224,2167,-10.84,-0.31,225.19 _10V_AH 10.7,3.997

IRIDIUM_FIX 5911.23,-1935.81,010797,161617 DATA_FILE_SIZE 160479,2835

TT8_MAMPS 0.02301 CAP_FILE_SIZE 212437,0

HUMID 1573 CFSIZE 260165632,255844352

INTERNAL_PRESSURE 8.45736 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.30 GPS 070408,032908,5931.907,-1922.119,41,1.0,41,-13.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 194 126.62 SBE_CT 1962 24 1102.09

Roll_motor 104 146 357.89 SBE_O2 2123 19 944.18

VBD_pump_during_apogee 325 1412 10770.83 WL_BB2F 1940 105 4767.19

VBD_pump_during_surface 0 0 0.00 Optode 1246 33 962.58

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.62 nil 0 0 0.00

Iridium_during_connect 42 160 159.19 nil 0 0 0.00

Iridium_during_xfer 279 223 1456.59

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 19 50 10.70

TT8 4274 19 905.49

LPSleep 9918 2 232.42

TT8_Active 525 19 111.34

TT8_Sampling 4708 39 2005.00

TT8_CF8 729 45 357.48

TT8_Kalman 0 0 0.00

Analog_circuits 2567 12 329.62

GPS_charging 0 0 0.00

Compass 4692 8 401.65

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

28 -1.41 -146.0 0.0 0.0 0 96 0.00 0.00 -65.43 0.000 2 0.000 0.000 588 2235 3621

99 -1.41 -146.0 3.4 -6.3 12 118 12.48 2.80 -1.33 0.000 4 0.195 0.118 2643 826 3684

142 -1.28 -146.0 11.9 -14.5 19 149 0.20 2.67 0.00 0.000 6 0.108 0.094 2681 2240 3684

288 -1.28 -146.0 22.7 -7.0 44 293 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2241 3684

429 -1.32 -146.0 36.4 -10.7 69 435 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2240 3684

571 -1.32 -146.0 47.3 -6.6 94 577 0.00 2.72 0.00 0.000 4 0.000 0.107 2681 825 3685

590 -1.32 -146.0 48.5 -6.4 97 596 0.00 2.65 0.00 0.000 6 0.000 0.092 2681 2236 3684

733 -1.32 -146.0 56.0 -5.1 122 739 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2236 3685

875 -1.32 -146.0 68.5 -9.3 147 881 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2236 3685

1017 -1.32 -146.0 80.5 -9.6 172 1022 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2236 3685

1158 -1.32 -146.0 93.8 -7.0 197 1164 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2236 3685

1300 -1.32 -146.0 102.7 -6.7 222 1306 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2236 3685

1442 -1.32 -146.0 111.1 -5.6 247 1448 0.00 2.67 0.00 0.000 4 0.000 0.105 2681 3647 3684

1478 -1.37 -146.0 113.4 -6.7 253 1485 0.00 2.62 0.00 0.000 6 0.000 0.088 2681 2234 3684

1621 -1.37 -146.0 122.6 -8.4 278 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2234 3685

1763 -1.37 -146.0 132.0 -5.7 303 1768 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2234 3685

1904 -1.37 -146.0 140.4 -7.0 328 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2234 3685

2046 -1.37 -146.0 149.1 -5.7 353 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2234 3685

2187 -1.37 -146.0 157.6 -6.9 378 2193 0.00 2.72 0.00 0.000 4 0.000 0.108 2681 3656 3685

2228 -1.43 -146.0 161.4 -10.4 385 2235 0.15 2.62 0.00 0.000 6 0.066 0.091 2645 2240 3685

2572 -1.43 -146.0 195.6 -10.0 446 2577 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2241 3684

2915 -1.43 -146.0 228.3 -9.3 507 2920 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3685

3258 -1.43 -146.0 261.1 -9.9 568 3263 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3684

3601 -1.43 -146.0 294.4 -9.6 629 3606 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3685

3943 -1.43 -146.0 327.9 -9.8 690 3949 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3684

4286 -1.43 -146.0 361.2 -9.8 751 4291 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3685

4628 -1.43 -146.0 395.1 -10.0 812 4633 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3685

4972 -1.43 -146.0 427.4 -9.3 873 4977 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3684

5314 -1.43 -146.0 459.4 -9.0 934 5319 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3684

5657 -1.43 -146.0 490.3 -9.1 995 5662 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3685

5999 -1.43 -146.0 520.4 -9.1 1056 6004 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3684

6342 -1.43 -146.0 552.1 -10.2 1117 6347 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2241 3685

6685 -1.43 -146.0 584.7 -10.0 1178 6691 0.00 2.83 0.00 0.000 4 0.000 0.131 2645 824 3685

6719 -1.43 -146.0 588.2 -10.6 1184 6726 0.00 2.75 0.00 0.000 6 0.000 0.110 2645 2257 3685

7051 -1.43 -146.0 621.0 -9.9 1225 7052 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2257 3684

7371 -1.43 -146.0 649.9 -8.9 1255 7376 0.00 2.72 0.00 0.000 4 0.000 0.122 2645 3654 3684

7399 -1.43 -146.0 652.7 -10.2 1257 7404 0.00 2.62 0.00 0.000 6 0.000 0.099 2645 2252 3685

7725 -1.43 -146.0 681.4 -8.9 1287 7726 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2253 3684

8044 -1.43 -146.0 707.9 -8.4 1317 8045 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2253 3684

8361 -1.43 -146.0 735.5 -8.5 1347 8362 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2253 3685

8681 -1.43 -146.0 764.0 -9.4 1377 8682 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2253 3684

8998 -1.43 -146.0 793.8 -9.2 1407 8999 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2253 3684

9316 -1.43 -146.0 821.8 -8.2 1437 9318 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2253 3683

9635 -1.43 -146.0 849.2 -8.7 1467 9640 0.00 2.80 0.00 0.000 4 0.000 0.131 2645 3650 3683

9663 -1.43 -146.0 851.7 -9.6 1469 9667 0.00 2.67 0.00 0.000 6 0.000 0.108 2645 2252 3684

9989 -1.43 -146.0 878.5 -8.2 1499 9994 0.00 2.95 0.00 0.000 4 0.000 0.146 2645 818 3684

10028 -1.43 -146.0 882.1 -8.8 1502 10033 0.00 2.80 0.00 0.000 6 0.000 0.117 2645 2249 3683

10352 -1.43 -146.0 908.6 -8.0 1532 10357 0.00 2.80 0.00 0.000 4 0.000 0.135 2645 3647 3683

10374 -1.43 -146.0 910.5 -9.0 1533 10380 0.00 2.70 0.00 0.000 6 0.000 0.109 2645 2242 3682

10700 -1.43 -146.0 938.1 -8.8 1564 10704 0.00 2.80 0.00 0.000 4 0.000 0.129 2645 3648 3682

10732 -1.43 -146.0 941.3 -9.3 1566 10738 0.00 2.67 0.00 0.000 6 0.000 0.110 2645 2251 3682

10810 end dive: HALF_MISSION_TIME_EXCEEDED

state 10810 begin apogee

10816 -0.35 0.0 948.4 9.0 1574 10945 1.12 0.00 125.18 1.412 6 0.104 0.000 2876 2339 3085

10946 end apogee: CONTROL_FINISHED_OK

state 10946 begin climb

10948 1.41 146.0 952.1 0.0 1587 11082 1.77 2.92 123.25 1.364 4 0.062 0.131 3265 3739 2489

11106 1.29 146.0 941.1 12.6 1602 11112 0.12 2.80 0.00 0.000 6 0.124 0.110 3245 2325 2488

11431 1.24 146.0 900.9 12.6 1632 11432 0.00 0.00 0.00 0.000 6 0.000 0.000 3245 2326 2488

11751 1.18 146.0 861.4 12.3 1662 11756 0.15 2.85 0.00 0.000 4 0.117 0.124 3217 3745 2487

11802 1.12 146.0 854.8 12.9 1666 11806 0.00 2.75 0.00 0.000 6 0.000 0.108 3217 2333 2486

12128 1.12 146.0 818.2 10.8 1696 12132 0.00 2.92 0.00 0.000 4 0.000 0.142 3217 919 2486

12159 1.12 146.0 814.3 11.2 1698 12166 0.00 2.78 0.00 0.000 6 0.000 0.110 3217 2340 2486

12486 1.12 146.0 779.9 10.8 1729 12490 0.00 2.83 0.00 0.000 4 0.000 0.129 3217 3743 2485

12518 1.06 146.0 776.0 11.3 1731 12525 0.10 2.70 0.00 0.000 6 0.110 0.104 3189 2334 2486

12843 1.09 170.3 745.8 8.9 1762 12866 0.00 0.00 21.33 1.253 6 0.000 0.000 3188 2334 2390

13180 1.09 170.3 712.4 10.1 1794 13182 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2334 2389

13501 1.10 175.1 680.6 9.8 1824 13512 0.00 2.80 5.50 0.973 4 0.000 0.117 3188 3741 2370

13540 1.10 175.1 676.3 10.3 1827 13546 0.00 2.67 0.00 0.000 6 0.000 0.099 3188 2342 2370

13866 1.10 180.6 644.6 9.7 1858 13875 0.00 0.00 6.40 1.022 6 0.000 0.000 3188 2343 2348

14194 1.10 180.6 612.2 10.0 1889 14196 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2343 2348

14523 1.10 180.6 577.8 10.6 1937 14528 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2343 2348

14865 1.11 183.2 542.2 9.9 1998 14871 0.00 0.00 3.92 0.749 6 0.000 0.000 3188 2343 2338

15209 1.11 183.7 506.9 10.0 2059 15214 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2343 2338

15551 1.11 183.7 470.8 11.1 2120 15557 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2343 2338

15894 1.11 183.7 432.5 11.9 2181 15899 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2343 2338

16236 1.11 183.7 394.6 10.8 2242 16242 0.00 2.70 0.00 0.000 4 0.000 0.110 3189 3742 2339

16276 1.11 183.7 390.1 11.9 2249 16282 0.00 2.60 0.00 0.000 6 0.000 0.091 3189 2346 2339

16620 1.11 185.7 354.4 9.9 2310 16626 0.00 0.00 4.18 0.703 6 0.000 0.000 3188 2345 2327

16963 1.11 189.1 320.6 9.8 2371 16970 0.00 0.00 4.72 0.748 6 0.000 0.000 3189 2345 2313

17307 1.14 212.6 286.6 8.9 2432 17329 0.00 0.00 20.27 0.948 6 0.000 0.000 3189 2345 2218

17667 1.19 212.6 249.8 10.8 2496 17674 0.15 2.78 0.00 0.000 4 0.064 0.111 3230 912 2217

17710 1.19 212.6 244.6 12.3 2503 17716 0.00 2.72 0.00 0.000 6 0.000 0.096 3230 2357 2217

18054 1.19 212.6 199.8 12.8 2564 18060 0.00 2.65 0.00 0.000 4 0.000 0.107 3230 3744 2217

18100 1.15 212.6 193.5 14.4 2572 18107 0.00 2.60 0.00 0.000 6 0.000 0.088 3229 2342 2217

18444 1.15 212.6 146.8 13.6 2633 18450 0.00 0.00 0.00 0.000 6 0.000 0.000 3230 2343 2217

18585 1.15 212.6 130.8 12.3 2658 18591 0.00 0.00 0.00 0.000 6 0.000 0.000 3230 2343 2217

18727 1.15 212.6 114.0 12.1 2683 18733 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 2343 2217

18868 1.15 212.6 97.0 12.9 2708 18875 0.00 2.67 0.00 0.000 4 0.000 0.105 3230 3741 2217

18909 1.15 212.6 91.3 12.6 2715 18915 0.00 2.55 0.00 0.000 6 0.000 0.088 3230 2365 2217

19053 1.16 224.4 72.7 9.5 2740 19070 0.00 0.00 11.23 0.818 6 0.000 0.000 3230 2365 2169

19207 1.16 224.4 55.6 11.4 2767 19213 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 2365 2168

19348 1.16 224.4 34.4 14.8 2792 19354 0.00 0.00 0.00 0.000 6 0.000 0.000 3230 2365 2168

19490 1.16 224.4 15.4 15.0 2817 19496 0.00 0.00 0.00 0.000 6 0.000 0.000 3230 2365 2168

19578 end climb: SURFACE_DEPTH_REACHED

state 19578 begin surface coast

19591 end surface coast: CONTROL_FINISHED_OK

state 19591 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	0	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	15	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	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	2235	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2330	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	10	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	12	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	12	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	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	720	CALL_TRIES	5	VBD_MIN	520	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3085	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-13458.693	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	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	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2960	PRESSURE_YINT	-1.4601949	SEABIRD_T_I	2.3931538e-05
MASS	51662	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0994887e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	14.2	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	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	215110,5931.829,-1930.335,33,1.7,35,-14.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	5942.538,-1930.219
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	215941,5931.739,-1930.219,10,2.0,19,-14.0	MHEAD_RNG_PITCHd_Wd	14.0,20000,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	990

FINISH	0.4,1.006352	XPDR_PINGS	24
SM_CCo	19672,0.00,0.000,0,0,2167,225.19	_24V_AH	23.4,11.525
SM_GC	1.27,11.52,0.00,0.00,0.044,0.000,0.000,592,2224,2167,-10.84,-0.31,225.19	_10V_AH	10.7,3.997
IRIDIUM_FIX	5911.23,-1935.81,010797,161617	DATA_FILE_SIZE	160479,2835
TT8_MAMPS	0.02301	CAP_FILE_SIZE	212437,0
HUMID	1573	CFSIZE	260165632,255844352
INTERNAL_PRESSURE	8.45736	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.30	GPS	070408,032908,5931.907,-1922.119,41,1.0,41,-13.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	194	126.62	SBE_CT	1962	24	1102.09
Roll_motor	104	146	357.89	SBE_O2	2123	19	944.18
VBD_pump_during_apogee	325	1412	10770.83	WL_BB2F	1940	105	4767.19
VBD_pump_during_surface	0	0	0.00	Optode	1246	33	962.58
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.62	nil	0	0	0.00
Iridium_during_connect	42	160	159.19	nil	0	0	0.00
Iridium_during_xfer	279	223	1456.59
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	19	50	10.70
TT8	4274	19	905.49
LPSleep	9918	2	232.42
TT8_Active	525	19	111.34
TT8_Sampling	4708	39	2005.00
TT8_CF8	729	45	357.48
TT8_Kalman	0	0	0.00
Analog_circuits	2567	12	329.62
GPS_charging	0	0	0.00
Compass	4692	8	401.65
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
28	-1.41	-146.0	0.0	0.0	0	96	0.00	0.00	-65.43	0.000	2	0.000	0.000	588	2235	3621
99	-1.41	-146.0	3.4	-6.3	12	118	12.48	2.80	-1.33	0.000	4	0.195	0.118	2643	826	3684
142	-1.28	-146.0	11.9	-14.5	19	149	0.20	2.67	0.00	0.000	6	0.108	0.094	2681	2240	3684
288	-1.28	-146.0	22.7	-7.0	44	293	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2241	3684
429	-1.32	-146.0	36.4	-10.7	69	435	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2240	3684
571	-1.32	-146.0	47.3	-6.6	94	577	0.00	2.72	0.00	0.000	4	0.000	0.107	2681	825	3685
590	-1.32	-146.0	48.5	-6.4	97	596	0.00	2.65	0.00	0.000	6	0.000	0.092	2681	2236	3684
733	-1.32	-146.0	56.0	-5.1	122	739	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2236	3685
875	-1.32	-146.0	68.5	-9.3	147	881	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2236	3685
1017	-1.32	-146.0	80.5	-9.6	172	1022	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2236	3685
1158	-1.32	-146.0	93.8	-7.0	197	1164	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2236	3685
1300	-1.32	-146.0	102.7	-6.7	222	1306	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2236	3685
1442	-1.32	-146.0	111.1	-5.6	247	1448	0.00	2.67	0.00	0.000	4	0.000	0.105	2681	3647	3684
1478	-1.37	-146.0	113.4	-6.7	253	1485	0.00	2.62	0.00	0.000	6	0.000	0.088	2681	2234	3684
1621	-1.37	-146.0	122.6	-8.4	278	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2234	3685
1763	-1.37	-146.0	132.0	-5.7	303	1768	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2234	3685
1904	-1.37	-146.0	140.4	-7.0	328	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2234	3685
2046	-1.37	-146.0	149.1	-5.7	353	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2234	3685
2187	-1.37	-146.0	157.6	-6.9	378	2193	0.00	2.72	0.00	0.000	4	0.000	0.108	2681	3656	3685
2228	-1.43	-146.0	161.4	-10.4	385	2235	0.15	2.62	0.00	0.000	6	0.066	0.091	2645	2240	3685
2572	-1.43	-146.0	195.6	-10.0	446	2577	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2241	3684
2915	-1.43	-146.0	228.3	-9.3	507	2920	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3685
3258	-1.43	-146.0	261.1	-9.9	568	3263	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3684
3601	-1.43	-146.0	294.4	-9.6	629	3606	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3685
3943	-1.43	-146.0	327.9	-9.8	690	3949	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3684
4286	-1.43	-146.0	361.2	-9.8	751	4291	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3685
4628	-1.43	-146.0	395.1	-10.0	812	4633	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3685
4972	-1.43	-146.0	427.4	-9.3	873	4977	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3684
5314	-1.43	-146.0	459.4	-9.0	934	5319	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3684
5657	-1.43	-146.0	490.3	-9.1	995	5662	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3685
5999	-1.43	-146.0	520.4	-9.1	1056	6004	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3684
6342	-1.43	-146.0	552.1	-10.2	1117	6347	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2241	3685
6685	-1.43	-146.0	584.7	-10.0	1178	6691	0.00	2.83	0.00	0.000	4	0.000	0.131	2645	824	3685
6719	-1.43	-146.0	588.2	-10.6	1184	6726	0.00	2.75	0.00	0.000	6	0.000	0.110	2645	2257	3685
7051	-1.43	-146.0	621.0	-9.9	1225	7052	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2257	3684
7371	-1.43	-146.0	649.9	-8.9	1255	7376	0.00	2.72	0.00	0.000	4	0.000	0.122	2645	3654	3684
7399	-1.43	-146.0	652.7	-10.2	1257	7404	0.00	2.62	0.00	0.000	6	0.000	0.099	2645	2252	3685
7725	-1.43	-146.0	681.4	-8.9	1287	7726	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2253	3684
8044	-1.43	-146.0	707.9	-8.4	1317	8045	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2253	3684
8361	-1.43	-146.0	735.5	-8.5	1347	8362	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2253	3685
8681	-1.43	-146.0	764.0	-9.4	1377	8682	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2253	3684
8998	-1.43	-146.0	793.8	-9.2	1407	8999	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2253	3684
9316	-1.43	-146.0	821.8	-8.2	1437	9318	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2253	3683
9635	-1.43	-146.0	849.2	-8.7	1467	9640	0.00	2.80	0.00	0.000	4	0.000	0.131	2645	3650	3683
9663	-1.43	-146.0	851.7	-9.6	1469	9667	0.00	2.67	0.00	0.000	6	0.000	0.108	2645	2252	3684
9989	-1.43	-146.0	878.5	-8.2	1499	9994	0.00	2.95	0.00	0.000	4	0.000	0.146	2645	818	3684
10028	-1.43	-146.0	882.1	-8.8	1502	10033	0.00	2.80	0.00	0.000	6	0.000	0.117	2645	2249	3683
10352	-1.43	-146.0	908.6	-8.0	1532	10357	0.00	2.80	0.00	0.000	4	0.000	0.135	2645	3647	3683
10374	-1.43	-146.0	910.5	-9.0	1533	10380	0.00	2.70	0.00	0.000	6	0.000	0.109	2645	2242	3682
10700	-1.43	-146.0	938.1	-8.8	1564	10704	0.00	2.80	0.00	0.000	4	0.000	0.129	2645	3648	3682
10732	-1.43	-146.0	941.3	-9.3	1566	10738	0.00	2.67	0.00	0.000	6	0.000	0.110	2645	2251	3682
10810	end dive: HALF_MISSION_TIME_EXCEEDED
state	10810	begin apogee
10816	-0.35	0.0	948.4	9.0	1574	10945	1.12	0.00	125.18	1.412	6	0.104	0.000	2876	2339	3085
10946	end apogee: CONTROL_FINISHED_OK
state	10946	begin climb
10948	1.41	146.0	952.1	0.0	1587	11082	1.77	2.92	123.25	1.364	4	0.062	0.131	3265	3739	2489
11106	1.29	146.0	941.1	12.6	1602	11112	0.12	2.80	0.00	0.000	6	0.124	0.110	3245	2325	2488
11431	1.24	146.0	900.9	12.6	1632	11432	0.00	0.00	0.00	0.000	6	0.000	0.000	3245	2326	2488
11751	1.18	146.0	861.4	12.3	1662	11756	0.15	2.85	0.00	0.000	4	0.117	0.124	3217	3745	2487
11802	1.12	146.0	854.8	12.9	1666	11806	0.00	2.75	0.00	0.000	6	0.000	0.108	3217	2333	2486
12128	1.12	146.0	818.2	10.8	1696	12132	0.00	2.92	0.00	0.000	4	0.000	0.142	3217	919	2486
12159	1.12	146.0	814.3	11.2	1698	12166	0.00	2.78	0.00	0.000	6	0.000	0.110	3217	2340	2486
12486	1.12	146.0	779.9	10.8	1729	12490	0.00	2.83	0.00	0.000	4	0.000	0.129	3217	3743	2485
12518	1.06	146.0	776.0	11.3	1731	12525	0.10	2.70	0.00	0.000	6	0.110	0.104	3189	2334	2486
12843	1.09	170.3	745.8	8.9	1762	12866	0.00	0.00	21.33	1.253	6	0.000	0.000	3188	2334	2390
13180	1.09	170.3	712.4	10.1	1794	13182	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2334	2389
13501	1.10	175.1	680.6	9.8	1824	13512	0.00	2.80	5.50	0.973	4	0.000	0.117	3188	3741	2370
13540	1.10	175.1	676.3	10.3	1827	13546	0.00	2.67	0.00	0.000	6	0.000	0.099	3188	2342	2370
13866	1.10	180.6	644.6	9.7	1858	13875	0.00	0.00	6.40	1.022	6	0.000	0.000	3188	2343	2348
14194	1.10	180.6	612.2	10.0	1889	14196	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2343	2348
14523	1.10	180.6	577.8	10.6	1937	14528	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2343	2348
14865	1.11	183.2	542.2	9.9	1998	14871	0.00	0.00	3.92	0.749	6	0.000	0.000	3188	2343	2338
15209	1.11	183.7	506.9	10.0	2059	15214	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2343	2338
15551	1.11	183.7	470.8	11.1	2120	15557	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2343	2338
15894	1.11	183.7	432.5	11.9	2181	15899	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2343	2338
16236	1.11	183.7	394.6	10.8	2242	16242	0.00	2.70	0.00	0.000	4	0.000	0.110	3189	3742	2339
16276	1.11	183.7	390.1	11.9	2249	16282	0.00	2.60	0.00	0.000	6	0.000	0.091	3189	2346	2339
16620	1.11	185.7	354.4	9.9	2310	16626	0.00	0.00	4.18	0.703	6	0.000	0.000	3188	2345	2327
16963	1.11	189.1	320.6	9.8	2371	16970	0.00	0.00	4.72	0.748	6	0.000	0.000	3189	2345	2313
17307	1.14	212.6	286.6	8.9	2432	17329	0.00	0.00	20.27	0.948	6	0.000	0.000	3189	2345	2218
17667	1.19	212.6	249.8	10.8	2496	17674	0.15	2.78	0.00	0.000	4	0.064	0.111	3230	912	2217
17710	1.19	212.6	244.6	12.3	2503	17716	0.00	2.72	0.00	0.000	6	0.000	0.096	3230	2357	2217
18054	1.19	212.6	199.8	12.8	2564	18060	0.00	2.65	0.00	0.000	4	0.000	0.107	3230	3744	2217
18100	1.15	212.6	193.5	14.4	2572	18107	0.00	2.60	0.00	0.000	6	0.000	0.088	3229	2342	2217
18444	1.15	212.6	146.8	13.6	2633	18450	0.00	0.00	0.00	0.000	6	0.000	0.000	3230	2343	2217
18585	1.15	212.6	130.8	12.3	2658	18591	0.00	0.00	0.00	0.000	6	0.000	0.000	3230	2343	2217
18727	1.15	212.6	114.0	12.1	2683	18733	0.00	0.00	0.00	0.000	6	0.000	0.000	3229	2343	2217
18868	1.15	212.6	97.0	12.9	2708	18875	0.00	2.67	0.00	0.000	4	0.000	0.105	3230	3741	2217
18909	1.15	212.6	91.3	12.6	2715	18915	0.00	2.55	0.00	0.000	6	0.000	0.088	3230	2365	2217
19053	1.16	224.4	72.7	9.5	2740	19070	0.00	0.00	11.23	0.818	6	0.000	0.000	3230	2365	2169
19207	1.16	224.4	55.6	11.4	2767	19213	0.00	0.00	0.00	0.000	6	0.000	0.000	3229	2365	2168
19348	1.16	224.4	34.4	14.8	2792	19354	0.00	0.00	0.00	0.000	6	0.000	0.000	3230	2365	2168
19490	1.16	224.4	15.4	15.0	2817	19496	0.00	0.00	0.00	0.000	6	0.000	0.000	3230	2365	2168
19578	end climb: SURFACE_DEPTH_REACHED
state	19578	begin surface coast
19591	end surface coast: CONTROL_FINISHED_OK
state	19591	begin surface