Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 167 * 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 325 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 167 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 25 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 -16265.23 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 -16265.23

CAPUPLOAD 0 HEADING 325 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 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 25 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 167 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 005039,6117.732,-2629.306,38,1.6,38,-18.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6126.676,-2632.032

_XMS_NAKs 15 TGT_RADIUS 1852.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -41.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 005932,6117.830,-2629.071,13,1.8,30,-18.6 MHEAD_RNG_PITCHd_Wd 343.6,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.012994 XPDR_PINGS 861

SM_CCo 18238,0.00,0.000,0,0,1192,460.92 _24V_AH 19.4,57.660

SM_GC 0.61,8.70,0.00,0.00,0.054,0.000,0.000,1436,2301,1192,-6.80,0.03,460.92 _10V_AH 9.7,42.837

IRIDIUM_FIX 6050.49,-2631.91,030897,191902 DATA_FILE_SIZE 136272,1857

TT8_MAMPS 0.026078 CAP_FILE_SIZE 180455,0

HUMID 1770 CFSIZE 260165632,240443392

INTERNAL_PRESSURE 8.86798 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.50 GPS 100508,060503,6121.703,-2630.608,39,1.7,40,-18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 256 124.49 SBE_CT 1293 24 602.21

Roll_motor 172 98 331.45 SBE_O2 1324 19 488.36

VBD_pump_during_apogee 704 1631 22300.12 Optode 691 33 442.68

VBD_pump_during_surface 0 0 0.00 WL_BB2F 933 105 1900.55

VBD_valve 0 0 0.00 WL_BBFL2VMT 1725 105 3515.74

Iridium_during_init 24 103 48.53 nil 0 0 0.00

Iridium_during_connect 36 160 112.98 nil 0 0 0.00

Iridium_during_xfer 317 223 1373.24

Transponder_ping 215 420 1753.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 15.71

TT8 2941 19 564.85

LPSleep 9993 2 212.29

TT8_Active 845 19 162.48

TT8_Sampling 4268 39 1648.08

TT8_CF8 701 45 311.66

TT8_Kalman 0 0 0.00

Analog_circuits 2515 12 292.75

GPS_charging 0 0 0.00

Compass 4242 8 329.23

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

27 -0.86 -194.7 0.0 0.0 0 202 0.00 0.00 -172.23 0.000 2 0.000 0.000 1433 2288 3632

206 -0.86 -194.7 3.3 -4.2 24 230 11.93 2.85 -6.07 0.000 4 0.257 0.056 2727 881 3866

467 -0.79 -194.7 47.7 -11.5 72 475 0.00 2.78 0.00 0.000 6 0.000 0.030 2726 2298 3866

607 -0.74 -194.7 66.3 -12.6 97 612 0.17 0.00 0.00 0.000 6 0.143 0.000 2754 2304 3867

934 -0.74 -194.7 104.1 -11.9 158 942 0.00 2.85 0.00 0.000 4 0.000 0.048 2754 888 3867

1010 -0.74 -194.7 113.1 -12.4 171 1017 0.00 2.72 0.00 0.000 6 0.000 0.030 2754 2307 3867

1340 -0.74 -194.7 150.5 -10.8 232 1347 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2307 3867

1683 -0.74 -194.7 186.5 -10.6 293 1689 0.00 2.85 0.00 0.000 4 0.000 0.048 2754 880 3867

1739 -0.74 -194.7 192.8 -10.8 303 1745 0.00 2.70 0.00 0.000 6 0.000 0.030 2754 2288 3867

2081 -0.74 -194.7 229.2 -10.7 364 2089 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2288 3867

2425 -0.74 -194.7 266.5 -10.5 425 2430 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2289 3867

2764 -0.74 -194.7 303.4 -10.7 486 2770 0.00 2.80 0.00 0.000 4 0.000 0.048 2754 885 3867

2815 -0.78 -194.7 308.9 -10.8 495 2821 0.00 2.67 0.00 0.000 6 0.000 0.031 2754 2280 3867

3155 -0.78 -194.7 345.4 -10.9 556 3164 0.00 2.85 0.00 0.000 4 0.000 0.046 2754 3704 3866

3229 -0.78 -194.7 353.7 -11.0 566 3236 0.00 2.80 0.00 0.000 6 0.000 0.035 2754 2269 3866

3555 -0.78 -194.7 387.3 -10.2 597 3560 0.00 2.75 0.00 0.000 4 0.000 0.050 2754 883 3866

3617 -0.82 -194.7 393.9 -10.6 602 3621 0.00 2.67 0.00 0.000 6 0.000 0.029 2754 2280 3866

3944 -0.82 -194.7 426.6 -10.1 632 3948 0.00 2.83 0.00 0.000 4 0.000 0.045 2755 3706 3866

4020 -0.82 -194.7 434.8 -10.4 638 4027 0.00 2.80 0.00 0.000 6 0.000 0.035 2754 2269 3866

4346 -0.82 -194.7 467.7 -10.2 669 4350 0.00 2.75 0.00 0.000 4 0.000 0.051 2754 884 3866

4407 -0.87 -194.7 474.4 -10.5 674 4412 0.12 2.67 0.00 0.000 6 0.061 0.029 2730 2279 3866

4731 -0.87 -194.7 514.3 -12.1 704 4732 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2280 3866

5050 -0.87 -194.7 553.3 -12.7 734 5051 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2280 3866

5368 -0.87 -194.7 593.6 -12.8 764 5373 0.00 2.80 0.00 0.000 4 0.000 0.051 2729 891 3866

5456 -0.87 -194.7 605.4 -13.3 770 5460 0.00 2.67 0.00 0.000 6 0.000 0.032 2729 2272 3865

5783 -0.87 -194.7 647.2 -13.0 786 5784 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2274 3866

6092 -0.87 -194.7 686.3 -12.2 801 6097 0.00 2.85 0.00 0.000 4 0.000 0.059 2729 888 3865

6164 -0.87 -194.7 695.1 -11.9 804 6168 0.00 2.70 0.00 0.000 6 0.000 0.044 2729 2254 3865

6485 -0.87 -194.7 731.3 -11.0 820 6490 0.00 3.05 0.00 0.000 4 0.000 0.069 2729 3707 3865

6562 -0.87 -194.7 740.1 -11.1 823 6569 0.00 2.92 0.00 0.000 6 0.000 0.052 2729 2277 3865

6878 -0.87 -194.7 775.7 -11.5 839 6883 0.00 3.05 0.00 0.000 4 0.000 0.091 2729 891 3865

6977 -0.87 -194.7 787.5 -11.7 843 6984 0.00 2.88 0.00 0.000 6 0.000 0.064 2729 2261 3864

7293 -0.87 -194.7 821.8 -10.7 859 7298 0.00 3.28 0.00 0.000 4 0.000 0.099 2729 3710 3865

7355 -0.87 -194.7 828.5 -11.1 862 7360 0.00 3.20 0.00 0.000 6 0.000 0.089 2729 2279 3864

7681 -0.87 -194.7 861.6 -9.7 878 7686 0.00 3.05 0.00 0.000 4 0.000 0.089 2729 880 3864

7724 -0.87 -194.7 866.0 -10.1 880 7729 0.00 2.75 0.00 0.000 6 0.000 0.031 2729 2298 3864

8052 -0.87 -194.7 898.2 -9.9 896 8053 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2298 3864

8360 -0.87 -194.7 928.7 -9.7 911 8362 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2300 3863

8670 -0.87 -194.7 959.0 -9.5 926 8671 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2300 3863

8979 -0.87 -194.7 989.7 -10.5 941 8980 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2300 3863

8997 end dive: TARGET_DEPTH_EXCEEDED

state 8997 begin apogee

9003 -0.21 0.0 992.0 10.8 942 9214 0.88 0.00 206.68 1.631 6 0.130 0.000 2867 2746 3071

9214 end apogee: CONTROL_FINISHED_OK

state 9214 begin climb

9216 0.86 194.7 999.5 0.0 952 9442 1.40 2.60 214.75 1.589 4 0.079 0.058 3099 3891 2277

9561 0.70 194.7 962.7 15.5 968 9566 0.17 2.40 0.00 0.000 6 0.127 0.035 3076 2730 2275

9882 0.59 194.7 923.0 11.5 984 9887 0.17 2.45 0.00 0.000 4 0.119 0.054 3047 3903 2274

9954 0.56 208.7 915.8 9.5 987 9974 0.00 2.25 14.93 1.371 6 0.000 0.033 3047 2768 2221

10292 0.55 229.9 885.4 9.3 1004 10317 0.00 0.00 23.20 1.457 6 0.000 0.000 3047 2765 2133

10619 0.55 229.9 850.6 11.1 1020 10620 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2763 2131

10928 0.55 229.9 816.7 10.6 1035 10932 0.00 2.30 0.00 0.000 4 0.000 0.053 3048 3899 2130

10966 0.55 229.9 812.5 11.5 1036 10972 0.00 2.22 0.00 0.000 6 0.000 0.032 3047 2760 2130

11281 0.55 229.9 780.1 10.0 1052 11282 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2758 2130

11591 0.58 261.0 751.3 8.9 1067 11632 0.00 2.45 32.38 1.440 4 0.000 0.052 3047 3903 2004

11643 0.65 311.5 746.6 8.2 1069 11703 0.00 2.28 53.92 1.454 6 0.000 0.031 3047 2761 1800

12026 0.65 311.5 711.1 10.1 1088 12027 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 2760 1794

12334 0.65 311.5 678.3 10.6 1103 12338 0.00 2.33 0.00 0.000 4 0.000 0.051 3047 3901 1793

12351 0.65 311.5 676.5 10.8 1104 12355 0.00 2.22 0.00 0.000 6 0.000 0.031 3047 2760 1792

12677 0.65 314.1 642.9 9.9 1120 12678 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2759 1792

12987 0.72 374.6 616.0 7.9 1135 13060 0.15 2.47 65.45 1.378 4 0.060 0.051 3077 3897 1542

13067 0.68 374.6 607.6 10.9 1139 13071 0.00 2.28 0.00 0.000 6 0.000 0.031 3077 2769 1541

13392 0.64 374.6 570.6 12.7 1166 13393 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2766 1536

13710 0.59 374.6 528.7 13.7 1196 13715 0.15 2.30 0.00 0.000 4 0.109 0.049 3050 3899 1534

13742 0.59 374.6 524.5 10.7 1198 13749 0.00 2.17 0.00 0.000 6 0.000 0.031 3050 2778 1534

14069 0.67 394.8 493.9 9.3 1229 14095 0.00 2.92 20.62 1.225 4 0.000 0.048 3050 1338 1460

14107 0.75 415.5 490.2 9.3 1232 14141 0.17 2.85 23.10 1.244 6 0.049 0.030 3087 2776 1376

14460 0.68 415.5 441.6 13.7 1265 14461 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2776 1372

14778 0.62 415.5 396.6 14.3 1295 14783 0.15 2.20 0.00 0.000 4 0.110 0.048 3061 3891 1371

14809 0.62 415.5 392.3 11.2 1297 14816 0.00 2.17 0.00 0.000 6 0.000 0.031 3061 2783 1371

15137 0.68 419.8 361.0 9.9 1328 15150 0.00 2.92 4.85 0.801 4 0.000 0.048 3061 1341 1359

15162 0.73 419.8 358.3 10.2 1330 15167 0.00 2.80 0.00 0.000 6 0.000 0.031 3061 2774 1358

15498 0.80 438.3 326.3 9.4 1382 15528 0.17 2.95 20.75 1.128 4 0.052 0.045 3100 1345 1283

15542 0.74 438.3 320.9 14.0 1389 15549 0.00 2.80 0.00 0.000 6 0.000 0.031 3100 2758 1283

15884 0.65 438.3 265.2 16.4 1450 15890 0.20 2.28 0.00 0.000 4 0.110 0.048 3066 3901 1281

15918 0.65 438.3 260.2 12.6 1456 15926 0.00 2.22 0.00 0.000 6 0.000 0.031 3066 2766 1280

16262 0.70 438.3 225.1 10.5 1517 16268 0.00 2.83 0.00 0.000 4 0.000 0.045 3066 1345 1279

16288 0.75 438.3 222.4 11.0 1521 16294 0.00 2.78 0.00 0.000 6 0.000 0.031 3066 2765 1279

16631 0.81 441.8 187.7 9.9 1582 16643 0.15 2.88 4.55 0.712 4 0.054 0.044 3097 1335 1269

16654 0.81 441.8 184.8 11.4 1586 16661 0.00 2.75 0.00 0.000 6 0.000 0.031 3097 2750 1268

16994 0.74 441.8 131.9 16.0 1647 17000 0.00 2.28 0.00 0.000 4 0.000 0.048 3097 3888 1268

17022 0.69 441.8 127.0 15.5 1652 17029 0.12 2.20 0.00 0.000 6 0.097 0.032 3074 2765 1268

17356 0.69 441.8 89.5 10.1 1713 17362 0.00 2.83 0.00 0.000 4 0.000 0.047 3074 1336 1268

17373 0.69 441.8 87.4 11.9 1716 17381 0.00 2.78 0.00 0.000 6 0.000 0.031 3074 2749 1268

17708 0.69 441.8 52.2 13.0 1777 17714 0.00 2.83 0.00 0.000 4 0.000 0.045 3074 1338 1268

17732 0.69 441.8 49.5 11.2 1781 17740 0.00 2.75 0.00 0.000 6 0.000 0.031 3074 2742 1268

17870 0.75 459.5 36.3 9.4 1806 17900 0.00 2.85 19.42 0.943 4 0.000 0.045 3074 1349 1196

17909 0.79 459.5 32.1 10.4 1811 17917 0.00 2.72 0.00 0.000 6 0.000 0.031 3074 2725 1195

18046 0.85 459.6 18.6 10.0 1836 18054 0.15 0.00 0.00 0.000 6 0.052 0.000 3111 2725 1195

18148 end climb: SURFACE_DEPTH_REACHED

state 18148 begin surface coast

18160 end surface coast: CONTROL_FINISHED_OK

state 18160 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	325	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	167	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	25	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	-16265.23	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	005039,6117.732,-2629.306,38,1.6,38,-18.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6126.676,-2632.032
_XMS_NAKs	15	TGT_RADIUS	1852.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-41.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	005932,6117.830,-2629.071,13,1.8,30,-18.6	MHEAD_RNG_PITCHd_Wd	343.6,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.0,1.012994	XPDR_PINGS	861
SM_CCo	18238,0.00,0.000,0,0,1192,460.92	_24V_AH	19.4,57.660
SM_GC	0.61,8.70,0.00,0.00,0.054,0.000,0.000,1436,2301,1192,-6.80,0.03,460.92	_10V_AH	9.7,42.837
IRIDIUM_FIX	6050.49,-2631.91,030897,191902	DATA_FILE_SIZE	136272,1857
TT8_MAMPS	0.026078	CAP_FILE_SIZE	180455,0
HUMID	1770	CFSIZE	260165632,240443392
INTERNAL_PRESSURE	8.86798	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.50	GPS	100508,060503,6121.703,-2630.608,39,1.7,40,-18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	256	124.49	SBE_CT	1293	24	602.21
Roll_motor	172	98	331.45	SBE_O2	1324	19	488.36
VBD_pump_during_apogee	704	1631	22300.12	Optode	691	33	442.68
VBD_pump_during_surface	0	0	0.00	WL_BB2F	933	105	1900.55
VBD_valve	0	0	0.00	WL_BBFL2VMT	1725	105	3515.74
Iridium_during_init	24	103	48.53	nil	0	0	0.00
Iridium_during_connect	36	160	112.98	nil	0	0	0.00
Iridium_during_xfer	317	223	1373.24
Transponder_ping	215	420	1753.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	15.71
TT8	2941	19	564.85
LPSleep	9993	2	212.29
TT8_Active	845	19	162.48
TT8_Sampling	4268	39	1648.08
TT8_CF8	701	45	311.66
TT8_Kalman	0	0	0.00
Analog_circuits	2515	12	292.75
GPS_charging	0	0	0.00
Compass	4242	8	329.23
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
27	-0.86	-194.7	0.0	0.0	0	202	0.00	0.00	-172.23	0.000	2	0.000	0.000	1433	2288	3632
206	-0.86	-194.7	3.3	-4.2	24	230	11.93	2.85	-6.07	0.000	4	0.257	0.056	2727	881	3866
467	-0.79	-194.7	47.7	-11.5	72	475	0.00	2.78	0.00	0.000	6	0.000	0.030	2726	2298	3866
607	-0.74	-194.7	66.3	-12.6	97	612	0.17	0.00	0.00	0.000	6	0.143	0.000	2754	2304	3867
934	-0.74	-194.7	104.1	-11.9	158	942	0.00	2.85	0.00	0.000	4	0.000	0.048	2754	888	3867
1010	-0.74	-194.7	113.1	-12.4	171	1017	0.00	2.72	0.00	0.000	6	0.000	0.030	2754	2307	3867
1340	-0.74	-194.7	150.5	-10.8	232	1347	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2307	3867
1683	-0.74	-194.7	186.5	-10.6	293	1689	0.00	2.85	0.00	0.000	4	0.000	0.048	2754	880	3867
1739	-0.74	-194.7	192.8	-10.8	303	1745	0.00	2.70	0.00	0.000	6	0.000	0.030	2754	2288	3867
2081	-0.74	-194.7	229.2	-10.7	364	2089	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2288	3867
2425	-0.74	-194.7	266.5	-10.5	425	2430	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2289	3867
2764	-0.74	-194.7	303.4	-10.7	486	2770	0.00	2.80	0.00	0.000	4	0.000	0.048	2754	885	3867
2815	-0.78	-194.7	308.9	-10.8	495	2821	0.00	2.67	0.00	0.000	6	0.000	0.031	2754	2280	3867
3155	-0.78	-194.7	345.4	-10.9	556	3164	0.00	2.85	0.00	0.000	4	0.000	0.046	2754	3704	3866
3229	-0.78	-194.7	353.7	-11.0	566	3236	0.00	2.80	0.00	0.000	6	0.000	0.035	2754	2269	3866
3555	-0.78	-194.7	387.3	-10.2	597	3560	0.00	2.75	0.00	0.000	4	0.000	0.050	2754	883	3866
3617	-0.82	-194.7	393.9	-10.6	602	3621	0.00	2.67	0.00	0.000	6	0.000	0.029	2754	2280	3866
3944	-0.82	-194.7	426.6	-10.1	632	3948	0.00	2.83	0.00	0.000	4	0.000	0.045	2755	3706	3866
4020	-0.82	-194.7	434.8	-10.4	638	4027	0.00	2.80	0.00	0.000	6	0.000	0.035	2754	2269	3866
4346	-0.82	-194.7	467.7	-10.2	669	4350	0.00	2.75	0.00	0.000	4	0.000	0.051	2754	884	3866
4407	-0.87	-194.7	474.4	-10.5	674	4412	0.12	2.67	0.00	0.000	6	0.061	0.029	2730	2279	3866
4731	-0.87	-194.7	514.3	-12.1	704	4732	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2280	3866
5050	-0.87	-194.7	553.3	-12.7	734	5051	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2280	3866
5368	-0.87	-194.7	593.6	-12.8	764	5373	0.00	2.80	0.00	0.000	4	0.000	0.051	2729	891	3866
5456	-0.87	-194.7	605.4	-13.3	770	5460	0.00	2.67	0.00	0.000	6	0.000	0.032	2729	2272	3865
5783	-0.87	-194.7	647.2	-13.0	786	5784	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2274	3866
6092	-0.87	-194.7	686.3	-12.2	801	6097	0.00	2.85	0.00	0.000	4	0.000	0.059	2729	888	3865
6164	-0.87	-194.7	695.1	-11.9	804	6168	0.00	2.70	0.00	0.000	6	0.000	0.044	2729	2254	3865
6485	-0.87	-194.7	731.3	-11.0	820	6490	0.00	3.05	0.00	0.000	4	0.000	0.069	2729	3707	3865
6562	-0.87	-194.7	740.1	-11.1	823	6569	0.00	2.92	0.00	0.000	6	0.000	0.052	2729	2277	3865
6878	-0.87	-194.7	775.7	-11.5	839	6883	0.00	3.05	0.00	0.000	4	0.000	0.091	2729	891	3865
6977	-0.87	-194.7	787.5	-11.7	843	6984	0.00	2.88	0.00	0.000	6	0.000	0.064	2729	2261	3864
7293	-0.87	-194.7	821.8	-10.7	859	7298	0.00	3.28	0.00	0.000	4	0.000	0.099	2729	3710	3865
7355	-0.87	-194.7	828.5	-11.1	862	7360	0.00	3.20	0.00	0.000	6	0.000	0.089	2729	2279	3864
7681	-0.87	-194.7	861.6	-9.7	878	7686	0.00	3.05	0.00	0.000	4	0.000	0.089	2729	880	3864
7724	-0.87	-194.7	866.0	-10.1	880	7729	0.00	2.75	0.00	0.000	6	0.000	0.031	2729	2298	3864
8052	-0.87	-194.7	898.2	-9.9	896	8053	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2298	3864
8360	-0.87	-194.7	928.7	-9.7	911	8362	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2300	3863
8670	-0.87	-194.7	959.0	-9.5	926	8671	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2300	3863
8979	-0.87	-194.7	989.7	-10.5	941	8980	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2300	3863
8997	end dive: TARGET_DEPTH_EXCEEDED
state	8997	begin apogee
9003	-0.21	0.0	992.0	10.8	942	9214	0.88	0.00	206.68	1.631	6	0.130	0.000	2867	2746	3071
9214	end apogee: CONTROL_FINISHED_OK
state	9214	begin climb
9216	0.86	194.7	999.5	0.0	952	9442	1.40	2.60	214.75	1.589	4	0.079	0.058	3099	3891	2277
9561	0.70	194.7	962.7	15.5	968	9566	0.17	2.40	0.00	0.000	6	0.127	0.035	3076	2730	2275
9882	0.59	194.7	923.0	11.5	984	9887	0.17	2.45	0.00	0.000	4	0.119	0.054	3047	3903	2274
9954	0.56	208.7	915.8	9.5	987	9974	0.00	2.25	14.93	1.371	6	0.000	0.033	3047	2768	2221
10292	0.55	229.9	885.4	9.3	1004	10317	0.00	0.00	23.20	1.457	6	0.000	0.000	3047	2765	2133
10619	0.55	229.9	850.6	11.1	1020	10620	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2763	2131
10928	0.55	229.9	816.7	10.6	1035	10932	0.00	2.30	0.00	0.000	4	0.000	0.053	3048	3899	2130
10966	0.55	229.9	812.5	11.5	1036	10972	0.00	2.22	0.00	0.000	6	0.000	0.032	3047	2760	2130
11281	0.55	229.9	780.1	10.0	1052	11282	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2758	2130
11591	0.58	261.0	751.3	8.9	1067	11632	0.00	2.45	32.38	1.440	4	0.000	0.052	3047	3903	2004
11643	0.65	311.5	746.6	8.2	1069	11703	0.00	2.28	53.92	1.454	6	0.000	0.031	3047	2761	1800
12026	0.65	311.5	711.1	10.1	1088	12027	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	2760	1794
12334	0.65	311.5	678.3	10.6	1103	12338	0.00	2.33	0.00	0.000	4	0.000	0.051	3047	3901	1793
12351	0.65	311.5	676.5	10.8	1104	12355	0.00	2.22	0.00	0.000	6	0.000	0.031	3047	2760	1792
12677	0.65	314.1	642.9	9.9	1120	12678	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2759	1792
12987	0.72	374.6	616.0	7.9	1135	13060	0.15	2.47	65.45	1.378	4	0.060	0.051	3077	3897	1542
13067	0.68	374.6	607.6	10.9	1139	13071	0.00	2.28	0.00	0.000	6	0.000	0.031	3077	2769	1541
13392	0.64	374.6	570.6	12.7	1166	13393	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2766	1536
13710	0.59	374.6	528.7	13.7	1196	13715	0.15	2.30	0.00	0.000	4	0.109	0.049	3050	3899	1534
13742	0.59	374.6	524.5	10.7	1198	13749	0.00	2.17	0.00	0.000	6	0.000	0.031	3050	2778	1534
14069	0.67	394.8	493.9	9.3	1229	14095	0.00	2.92	20.62	1.225	4	0.000	0.048	3050	1338	1460
14107	0.75	415.5	490.2	9.3	1232	14141	0.17	2.85	23.10	1.244	6	0.049	0.030	3087	2776	1376
14460	0.68	415.5	441.6	13.7	1265	14461	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2776	1372
14778	0.62	415.5	396.6	14.3	1295	14783	0.15	2.20	0.00	0.000	4	0.110	0.048	3061	3891	1371
14809	0.62	415.5	392.3	11.2	1297	14816	0.00	2.17	0.00	0.000	6	0.000	0.031	3061	2783	1371
15137	0.68	419.8	361.0	9.9	1328	15150	0.00	2.92	4.85	0.801	4	0.000	0.048	3061	1341	1359
15162	0.73	419.8	358.3	10.2	1330	15167	0.00	2.80	0.00	0.000	6	0.000	0.031	3061	2774	1358
15498	0.80	438.3	326.3	9.4	1382	15528	0.17	2.95	20.75	1.128	4	0.052	0.045	3100	1345	1283
15542	0.74	438.3	320.9	14.0	1389	15549	0.00	2.80	0.00	0.000	6	0.000	0.031	3100	2758	1283
15884	0.65	438.3	265.2	16.4	1450	15890	0.20	2.28	0.00	0.000	4	0.110	0.048	3066	3901	1281
15918	0.65	438.3	260.2	12.6	1456	15926	0.00	2.22	0.00	0.000	6	0.000	0.031	3066	2766	1280
16262	0.70	438.3	225.1	10.5	1517	16268	0.00	2.83	0.00	0.000	4	0.000	0.045	3066	1345	1279
16288	0.75	438.3	222.4	11.0	1521	16294	0.00	2.78	0.00	0.000	6	0.000	0.031	3066	2765	1279
16631	0.81	441.8	187.7	9.9	1582	16643	0.15	2.88	4.55	0.712	4	0.054	0.044	3097	1335	1269
16654	0.81	441.8	184.8	11.4	1586	16661	0.00	2.75	0.00	0.000	6	0.000	0.031	3097	2750	1268
16994	0.74	441.8	131.9	16.0	1647	17000	0.00	2.28	0.00	0.000	4	0.000	0.048	3097	3888	1268
17022	0.69	441.8	127.0	15.5	1652	17029	0.12	2.20	0.00	0.000	6	0.097	0.032	3074	2765	1268
17356	0.69	441.8	89.5	10.1	1713	17362	0.00	2.83	0.00	0.000	4	0.000	0.047	3074	1336	1268
17373	0.69	441.8	87.4	11.9	1716	17381	0.00	2.78	0.00	0.000	6	0.000	0.031	3074	2749	1268
17708	0.69	441.8	52.2	13.0	1777	17714	0.00	2.83	0.00	0.000	4	0.000	0.045	3074	1338	1268
17732	0.69	441.8	49.5	11.2	1781	17740	0.00	2.75	0.00	0.000	6	0.000	0.031	3074	2742	1268
17870	0.75	459.5	36.3	9.4	1806	17900	0.00	2.85	19.42	0.943	4	0.000	0.045	3074	1349	1196
17909	0.79	459.5	32.1	10.4	1811	17917	0.00	2.72	0.00	0.000	6	0.000	0.031	3074	2725	1195
18046	0.85	459.6	18.6	10.0	1836	18054	0.15	0.00	0.00	0.000	6	0.052	0.000	3111	2725	1195
18148	end climb: SURFACE_DEPTH_REACHED
state	18148	begin surface coast
18160	end surface coast: CONTROL_FINISHED_OK
state	18160	begin surface