Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 168 * 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 168 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 475 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 240 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16283.592 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 -16283.592

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 19 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 23 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0037964056 VBD_MAX 3964

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 475

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 3

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

DIVE 168 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 060503,6121.703,-2630.608,39,1.7,40,-18.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6130.647,-2633.388

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 061245,6121.801,-2630.433,15,1.5,15,-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 0.2,1.026265 XPDR_PINGS 992

SM_CCo 18917,0.00,0.000,0,0,1268,442.03 _24V_AH 19.4,57.993

SM_GC 0.76,8.60,0.00,0.00,0.048,0.000,0.000,1438,2290,1268,-6.79,-0.25,442.03 _10V_AH 9.7,43.038

IRIDIUM_FIX 6050.49,-2619.90,040897,010135 DATA_FILE_SIZE 139104,1892

TT8_MAMPS 0.026845 CAP_FILE_SIZE 179395,0

HUMID 1754 CFSIZE 260165632,240353280

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

TCM_TEMP 11.20 GPS 100508,112932,6125.851,-2633.781,37,1.7,37,-18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 255 119.66 SBE_CT 1323 24 616.26

Roll_motor 178 105 366.59 SBE_O2 1353 19 498.90

VBD_pump_during_apogee 681 1633 21612.12 Optode 671 33 429.82

VBD_pump_during_surface 0 0 0.00 WL_BB2F 927 105 1888.92

VBD_valve 0 0 0.00 WL_BBFL2VMT 1699 105 3461.99

Iridium_during_init 29 103 58.49 nil 0 0 0.00

Iridium_during_connect 34 160 107.92 nil 0 0 0.00

Iridium_during_xfer 258 223 1116.22

Transponder_ping 248 420 2020.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.60

TT8 2994 19 575.05

LPSleep 10641 2 226.06

TT8_Active 809 19 155.56

TT8_Sampling 4260 39 1644.70

TT8_CF8 652 45 289.71

TT8_Kalman 0 0 0.00

Analog_circuits 2488 12 289.71

GPS_charging 0 0 0.00

Compass 4260 8 330.58

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.86 -194.7 0.0 0.0 0 173 0.00 0.00 -143.95 0.000 2 0.000 0.000 1436 2293 3627

175 -0.86 -194.7 3.4 -4.5 20 200 11.88 2.83 -6.32 0.000 4 0.255 0.053 2725 883 3865

437 -0.80 -194.7 45.3 -14.6 68 445 0.08 2.78 0.00 0.000 6 0.133 0.030 2737 2302 3867

575 -0.80 -194.7 62.9 -11.1 93 582 0.00 2.85 0.00 0.000 4 0.000 0.047 2737 881 3866

656 -0.80 -194.7 72.1 -11.4 107 662 0.00 2.75 0.00 0.000 6 0.000 0.030 2737 2307 3867

985 -0.80 -194.7 110.7 -11.0 168 993 0.00 2.88 0.00 0.000 4 0.000 0.048 2738 887 3866

1038 -0.80 -194.7 116.6 -11.7 177 1045 0.00 2.70 0.00 0.000 6 0.000 0.031 2737 2290 3867

1371 -0.80 -194.7 153.7 -11.4 238 1376 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2291 3867

1709 -0.80 -194.7 194.4 -12.5 299 1715 0.00 2.83 0.00 0.000 4 0.000 0.048 2737 883 3867

1797 -0.80 -194.7 205.7 -12.8 315 1804 0.00 2.70 0.00 0.000 6 0.000 0.031 2737 2285 3866

2139 -0.80 -194.7 246.6 -11.7 376 2147 0.00 2.83 0.00 0.000 4 0.000 0.048 2738 887 3866

2225 -0.80 -194.7 257.7 -12.6 391 2231 0.00 2.62 0.00 0.000 6 0.000 0.031 2737 2253 3866

2565 -0.80 -194.7 300.0 -11.6 452 2573 0.00 2.78 0.00 0.000 4 0.000 0.048 2737 885 3866

2613 -0.80 -194.7 305.7 -12.0 460 2621 0.00 2.62 0.00 0.000 6 0.000 0.031 2737 2235 3867

2958 -0.80 -194.7 344.4 -10.9 521 2963 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2236 3866

3291 -0.80 -194.7 379.2 -10.3 557 3292 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2235 3866

3608 -0.80 -194.7 412.4 -10.3 587 3609 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2236 3867

3930 -0.80 -194.7 445.0 -10.3 617 3935 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2236 3866

4254 -0.80 -194.7 480.3 -11.1 648 4256 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2236 3866

4574 -0.80 -194.7 516.2 -11.5 678 4575 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2236 3866

4891 -0.80 -194.7 553.4 -11.6 708 4893 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2236 3866

5210 -0.80 -194.7 588.7 -10.7 738 5212 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2236 3867

5523 -0.80 -194.7 620.5 -9.5 758 5527 0.00 2.95 0.00 0.000 4 0.000 0.053 2737 3700 3866

5589 -0.80 -194.7 626.9 -9.4 761 5593 0.00 2.90 0.00 0.000 6 0.000 0.038 2737 2233 3866

5910 -0.80 -194.7 656.5 -9.0 777 5914 0.00 2.75 0.00 0.000 4 0.000 0.061 2737 885 3866

5959 -0.80 -194.7 661.4 -9.7 779 5963 0.00 2.62 0.00 0.000 6 0.000 0.033 2738 2232 3865

6274 -0.80 -194.7 692.4 -10.6 794 6279 0.00 3.03 0.00 0.000 4 0.000 0.061 2737 3702 3865

6358 -0.80 -194.7 701.5 -11.2 798 6363 0.00 2.95 0.00 0.000 6 0.000 0.048 2737 2246 3865

6683 -0.80 -194.7 738.5 -11.4 814 6688 0.00 2.90 0.00 0.000 4 0.000 0.078 2738 887 3865

6738 -0.80 -194.7 745.1 -11.8 816 6744 0.00 2.72 0.00 0.000 6 0.000 0.048 2738 2234 3865

7054 -0.80 -194.7 779.2 -10.4 832 7059 0.00 3.17 0.00 0.000 4 0.000 0.084 2737 3693 3865

7115 -0.80 -194.7 785.3 -10.2 835 7120 0.00 3.05 0.00 0.000 6 0.000 0.067 2737 2255 3865

7441 -0.80 -194.7 817.5 -9.7 851 7446 0.00 3.10 0.00 0.000 4 0.000 0.106 2737 890 3865

7530 -0.80 -194.7 826.5 -9.8 855 7534 0.00 2.95 0.00 0.000 6 0.000 0.081 2737 2238 3864

7850 -0.80 -194.7 856.6 -9.3 871 7855 0.00 2.97 0.00 0.000 4 0.000 0.054 2737 3707 3864

7934 -0.80 -194.7 864.6 -9.9 875 7939 0.00 2.90 0.00 0.000 6 0.000 0.040 2737 2248 3864

8260 -0.80 -194.7 894.6 -9.1 891 8264 0.00 2.80 0.00 0.000 4 0.000 0.059 2737 874 3864

8371 -0.80 -194.7 905.4 -9.9 896 8375 0.00 2.67 0.00 0.000 6 0.000 0.033 2737 2242 3863

8692 -0.80 -194.7 934.1 -8.8 912 8697 0.00 2.97 0.00 0.000 4 0.000 0.058 2737 3698 3863

8755 -0.80 -194.7 939.6 -9.1 915 8759 0.00 2.90 0.00 0.000 6 0.000 0.042 2737 2247 3863

9081 -0.80 -194.7 969.4 -9.1 931 9086 0.00 2.80 0.00 0.000 4 0.000 0.061 2737 881 3863

9130 -0.80 -194.7 974.3 -9.7 933 9135 0.00 2.67 0.00 0.000 6 0.000 0.033 2737 2249 3863

9319 end dive: TARGET_DEPTH_EXCEEDED

state 9320 begin apogee

9326 -0.21 0.0 991.6 9.1 942 9536 0.82 0.00 207.00 1.634 6 0.122 0.000 2871 2748 3071

9537 end apogee: CONTROL_FINISHED_OK

state 9537 begin climb

9539 0.86 194.7 997.1 0.0 952 9765 1.40 2.67 215.10 1.592 4 0.081 0.058 3100 3891 2276

9849 0.70 194.7 963.5 15.1 966 9856 0.17 2.40 0.00 0.000 6 0.133 0.035 3077 2743 2274

10165 0.58 194.7 925.6 11.9 982 10169 0.15 2.42 0.00 0.000 4 0.127 0.055 3053 3894 2274

10237 0.53 194.7 917.7 10.8 985 10241 0.00 2.22 0.00 0.000 6 0.000 0.032 3053 2771 2273

10557 0.47 194.7 884.6 10.3 1001 10559 0.17 0.00 0.00 0.000 6 0.111 0.000 3026 2770 2273

10867 0.54 253.5 859.2 8.0 1016 10929 0.00 0.00 60.38 1.527 6 0.000 0.000 3026 2769 2037

11237 0.63 323.5 830.8 7.6 1034 11318 0.15 0.00 74.10 1.508 6 0.058 0.000 3055 2768 1752

11628 0.63 323.5 789.9 10.6 1053 11629 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2768 1745

11936 0.63 323.5 757.9 10.4 1068 11938 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2768 1744

12245 0.63 323.5 726.5 10.5 1083 12246 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2767 1743

12555 0.63 323.5 694.1 10.5 1098 12559 0.00 2.88 0.00 0.000 4 0.000 0.048 3055 1338 1743

12564 0.63 323.5 692.9 10.7 1098 12571 0.00 2.83 0.00 0.000 6 0.000 0.031 3055 2777 1742

12879 0.63 323.5 660.0 10.5 1114 12884 0.00 2.92 0.00 0.000 4 0.000 0.045 3055 1332 1742

12889 0.63 323.5 658.8 10.5 1114 12895 0.00 2.85 0.00 0.000 6 0.000 0.032 3055 2780 1742

13204 0.63 323.5 625.1 10.9 1130 13209 0.00 2.92 0.00 0.000 4 0.000 0.046 3055 1333 1742

13214 0.63 323.5 623.9 11.0 1130 13220 0.00 2.80 0.00 0.000 6 0.000 0.032 3055 2762 1742

13532 0.63 323.5 589.3 11.2 1150 13533 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2762 1742

13850 0.63 323.5 554.8 10.4 1180 13855 0.00 2.88 0.00 0.000 4 0.000 0.046 3056 1333 1742

13860 0.63 323.5 553.6 10.1 1180 13867 0.00 2.80 0.00 0.000 6 0.000 0.032 3055 2765 1742

14186 0.64 332.6 521.6 9.7 1211 14197 0.00 0.00 8.52 1.089 6 0.000 0.000 3055 2765 1715

14515 0.64 335.9 489.9 9.9 1242 14527 0.00 2.88 5.38 0.923 4 0.000 0.050 3055 1341 1700

14532 0.65 343.2 487.9 9.7 1243 14549 0.00 2.80 9.23 1.118 6 0.000 0.033 3055 2763 1671

14868 0.65 343.2 453.1 10.6 1275 14869 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2764 1670

15187 0.65 343.2 419.4 10.3 1305 15192 0.00 2.88 0.00 0.000 4 0.000 0.045 3055 1335 1669

15204 0.65 343.2 417.4 10.5 1306 15209 0.00 2.78 0.00 0.000 6 0.000 0.031 3055 2757 1669

15530 0.67 359.4 384.8 9.4 1336 15555 0.00 2.83 18.02 1.161 4 0.000 0.045 3055 1338 1604

15560 0.67 359.4 381.6 10.1 1338 15566 0.00 2.78 0.00 0.000 6 0.000 0.031 3055 2746 1603

15889 0.68 366.2 350.2 9.8 1369 15905 0.00 2.88 8.25 1.002 4 0.000 0.044 3056 1345 1577

15912 0.68 366.8 347.5 10.0 1372 15919 0.00 2.75 0.00 0.000 6 0.000 0.031 3055 2731 1576

16255 0.68 366.8 314.1 10.2 1433 16261 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2730 1575

16594 0.68 366.8 278.9 10.5 1494 16600 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2730 1575

16936 0.76 401.1 243.5 8.8 1555 16979 0.15 2.92 36.60 1.125 4 0.054 0.044 3092 1334 1434

16985 0.71 401.1 237.1 15.2 1563 16992 0.00 2.78 0.00 0.000 6 0.000 0.031 3092 2726 1433

17325 0.65 401.1 186.7 15.0 1624 17334 0.17 2.35 0.00 0.000 4 0.109 0.048 3063 3885 1430

17374 0.70 401.1 180.8 10.8 1632 17382 0.00 2.25 0.00 0.000 6 0.000 0.031 3063 2742 1430

17718 0.75 401.1 146.7 10.4 1693 17724 0.00 2.78 0.00 0.000 4 0.000 0.045 3063 1348 1429

17732 0.80 401.1 145.2 10.3 1695 17739 0.15 2.72 0.00 0.000 6 0.051 0.031 3093 2748 1428

18066 0.73 401.1 97.1 15.0 1756 18073 0.00 0.00 0.00 0.000 6 0.000 0.000 3093 2749 1429

18398 0.67 401.1 48.0 16.3 1817 18407 0.15 2.30 0.00 0.000 4 0.110 0.048 3068 3893 1428

18425 0.67 401.1 44.2 14.1 1821 18434 0.00 2.22 0.00 0.000 6 0.000 0.032 3068 2758 1429

18561 0.67 401.1 29.5 10.3 1846 18569 0.00 2.85 0.00 0.000 4 0.000 0.047 3068 1342 1428

18579 0.67 401.1 27.7 11.2 1848 18587 0.00 2.75 0.00 0.000 6 0.000 0.031 3068 2742 1428

18716 0.71 401.5 14.7 10.0 1873 18724 0.00 2.30 0.00 0.000 4 0.000 0.048 3068 3889 1428

18733 0.81 440.5 13.0 8.6 1875 18778 0.10 2.22 39.33 0.976 6 0.048 0.033 3094 2757 1275

18826 end climb: SURFACE_DEPTH_REACHED

state 18826 begin surface coast

18839 end surface coast: CONTROL_FINISHED_OK

state 18839 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	168	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	475	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	240	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16283.592	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	060503,6121.703,-2630.608,39,1.7,40,-18.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6130.647,-2633.388
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	061245,6121.801,-2630.433,15,1.5,15,-18.6	MHEAD_RNG_PITCHd_Wd	343.6,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.2,1.026265	XPDR_PINGS	992
SM_CCo	18917,0.00,0.000,0,0,1268,442.03	_24V_AH	19.4,57.993
SM_GC	0.76,8.60,0.00,0.00,0.048,0.000,0.000,1438,2290,1268,-6.79,-0.25,442.03	_10V_AH	9.7,43.038
IRIDIUM_FIX	6050.49,-2619.90,040897,010135	DATA_FILE_SIZE	139104,1892
TT8_MAMPS	0.026845	CAP_FILE_SIZE	179395,0
HUMID	1754	CFSIZE	260165632,240353280
INTERNAL_PRESSURE	8.86798	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.20	GPS	100508,112932,6125.851,-2633.781,37,1.7,37,-18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	255	119.66	SBE_CT	1323	24	616.26
Roll_motor	178	105	366.59	SBE_O2	1353	19	498.90
VBD_pump_during_apogee	681	1633	21612.12	Optode	671	33	429.82
VBD_pump_during_surface	0	0	0.00	WL_BB2F	927	105	1888.92
VBD_valve	0	0	0.00	WL_BBFL2VMT	1699	105	3461.99
Iridium_during_init	29	103	58.49	nil	0	0	0.00
Iridium_during_connect	34	160	107.92	nil	0	0	0.00
Iridium_during_xfer	258	223	1116.22
Transponder_ping	248	420	2020.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.60
TT8	2994	19	575.05
LPSleep	10641	2	226.06
TT8_Active	809	19	155.56
TT8_Sampling	4260	39	1644.70
TT8_CF8	652	45	289.71
TT8_Kalman	0	0	0.00
Analog_circuits	2488	12	289.71
GPS_charging	0	0	0.00
Compass	4260	8	330.58
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.86	-194.7	0.0	0.0	0	173	0.00	0.00	-143.95	0.000	2	0.000	0.000	1436	2293	3627
175	-0.86	-194.7	3.4	-4.5	20	200	11.88	2.83	-6.32	0.000	4	0.255	0.053	2725	883	3865
437	-0.80	-194.7	45.3	-14.6	68	445	0.08	2.78	0.00	0.000	6	0.133	0.030	2737	2302	3867
575	-0.80	-194.7	62.9	-11.1	93	582	0.00	2.85	0.00	0.000	4	0.000	0.047	2737	881	3866
656	-0.80	-194.7	72.1	-11.4	107	662	0.00	2.75	0.00	0.000	6	0.000	0.030	2737	2307	3867
985	-0.80	-194.7	110.7	-11.0	168	993	0.00	2.88	0.00	0.000	4	0.000	0.048	2738	887	3866
1038	-0.80	-194.7	116.6	-11.7	177	1045	0.00	2.70	0.00	0.000	6	0.000	0.031	2737	2290	3867
1371	-0.80	-194.7	153.7	-11.4	238	1376	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2291	3867
1709	-0.80	-194.7	194.4	-12.5	299	1715	0.00	2.83	0.00	0.000	4	0.000	0.048	2737	883	3867
1797	-0.80	-194.7	205.7	-12.8	315	1804	0.00	2.70	0.00	0.000	6	0.000	0.031	2737	2285	3866
2139	-0.80	-194.7	246.6	-11.7	376	2147	0.00	2.83	0.00	0.000	4	0.000	0.048	2738	887	3866
2225	-0.80	-194.7	257.7	-12.6	391	2231	0.00	2.62	0.00	0.000	6	0.000	0.031	2737	2253	3866
2565	-0.80	-194.7	300.0	-11.6	452	2573	0.00	2.78	0.00	0.000	4	0.000	0.048	2737	885	3866
2613	-0.80	-194.7	305.7	-12.0	460	2621	0.00	2.62	0.00	0.000	6	0.000	0.031	2737	2235	3867
2958	-0.80	-194.7	344.4	-10.9	521	2963	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2236	3866
3291	-0.80	-194.7	379.2	-10.3	557	3292	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2235	3866
3608	-0.80	-194.7	412.4	-10.3	587	3609	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2236	3867
3930	-0.80	-194.7	445.0	-10.3	617	3935	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2236	3866
4254	-0.80	-194.7	480.3	-11.1	648	4256	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2236	3866
4574	-0.80	-194.7	516.2	-11.5	678	4575	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2236	3866
4891	-0.80	-194.7	553.4	-11.6	708	4893	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2236	3866
5210	-0.80	-194.7	588.7	-10.7	738	5212	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2236	3867
5523	-0.80	-194.7	620.5	-9.5	758	5527	0.00	2.95	0.00	0.000	4	0.000	0.053	2737	3700	3866
5589	-0.80	-194.7	626.9	-9.4	761	5593	0.00	2.90	0.00	0.000	6	0.000	0.038	2737	2233	3866
5910	-0.80	-194.7	656.5	-9.0	777	5914	0.00	2.75	0.00	0.000	4	0.000	0.061	2737	885	3866
5959	-0.80	-194.7	661.4	-9.7	779	5963	0.00	2.62	0.00	0.000	6	0.000	0.033	2738	2232	3865
6274	-0.80	-194.7	692.4	-10.6	794	6279	0.00	3.03	0.00	0.000	4	0.000	0.061	2737	3702	3865
6358	-0.80	-194.7	701.5	-11.2	798	6363	0.00	2.95	0.00	0.000	6	0.000	0.048	2737	2246	3865
6683	-0.80	-194.7	738.5	-11.4	814	6688	0.00	2.90	0.00	0.000	4	0.000	0.078	2738	887	3865
6738	-0.80	-194.7	745.1	-11.8	816	6744	0.00	2.72	0.00	0.000	6	0.000	0.048	2738	2234	3865
7054	-0.80	-194.7	779.2	-10.4	832	7059	0.00	3.17	0.00	0.000	4	0.000	0.084	2737	3693	3865
7115	-0.80	-194.7	785.3	-10.2	835	7120	0.00	3.05	0.00	0.000	6	0.000	0.067	2737	2255	3865
7441	-0.80	-194.7	817.5	-9.7	851	7446	0.00	3.10	0.00	0.000	4	0.000	0.106	2737	890	3865
7530	-0.80	-194.7	826.5	-9.8	855	7534	0.00	2.95	0.00	0.000	6	0.000	0.081	2737	2238	3864
7850	-0.80	-194.7	856.6	-9.3	871	7855	0.00	2.97	0.00	0.000	4	0.000	0.054	2737	3707	3864
7934	-0.80	-194.7	864.6	-9.9	875	7939	0.00	2.90	0.00	0.000	6	0.000	0.040	2737	2248	3864
8260	-0.80	-194.7	894.6	-9.1	891	8264	0.00	2.80	0.00	0.000	4	0.000	0.059	2737	874	3864
8371	-0.80	-194.7	905.4	-9.9	896	8375	0.00	2.67	0.00	0.000	6	0.000	0.033	2737	2242	3863
8692	-0.80	-194.7	934.1	-8.8	912	8697	0.00	2.97	0.00	0.000	4	0.000	0.058	2737	3698	3863
8755	-0.80	-194.7	939.6	-9.1	915	8759	0.00	2.90	0.00	0.000	6	0.000	0.042	2737	2247	3863
9081	-0.80	-194.7	969.4	-9.1	931	9086	0.00	2.80	0.00	0.000	4	0.000	0.061	2737	881	3863
9130	-0.80	-194.7	974.3	-9.7	933	9135	0.00	2.67	0.00	0.000	6	0.000	0.033	2737	2249	3863
9319	end dive: TARGET_DEPTH_EXCEEDED
state	9320	begin apogee
9326	-0.21	0.0	991.6	9.1	942	9536	0.82	0.00	207.00	1.634	6	0.122	0.000	2871	2748	3071
9537	end apogee: CONTROL_FINISHED_OK
state	9537	begin climb
9539	0.86	194.7	997.1	0.0	952	9765	1.40	2.67	215.10	1.592	4	0.081	0.058	3100	3891	2276
9849	0.70	194.7	963.5	15.1	966	9856	0.17	2.40	0.00	0.000	6	0.133	0.035	3077	2743	2274
10165	0.58	194.7	925.6	11.9	982	10169	0.15	2.42	0.00	0.000	4	0.127	0.055	3053	3894	2274
10237	0.53	194.7	917.7	10.8	985	10241	0.00	2.22	0.00	0.000	6	0.000	0.032	3053	2771	2273
10557	0.47	194.7	884.6	10.3	1001	10559	0.17	0.00	0.00	0.000	6	0.111	0.000	3026	2770	2273
10867	0.54	253.5	859.2	8.0	1016	10929	0.00	0.00	60.38	1.527	6	0.000	0.000	3026	2769	2037
11237	0.63	323.5	830.8	7.6	1034	11318	0.15	0.00	74.10	1.508	6	0.058	0.000	3055	2768	1752
11628	0.63	323.5	789.9	10.6	1053	11629	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2768	1745
11936	0.63	323.5	757.9	10.4	1068	11938	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2768	1744
12245	0.63	323.5	726.5	10.5	1083	12246	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2767	1743
12555	0.63	323.5	694.1	10.5	1098	12559	0.00	2.88	0.00	0.000	4	0.000	0.048	3055	1338	1743
12564	0.63	323.5	692.9	10.7	1098	12571	0.00	2.83	0.00	0.000	6	0.000	0.031	3055	2777	1742
12879	0.63	323.5	660.0	10.5	1114	12884	0.00	2.92	0.00	0.000	4	0.000	0.045	3055	1332	1742
12889	0.63	323.5	658.8	10.5	1114	12895	0.00	2.85	0.00	0.000	6	0.000	0.032	3055	2780	1742
13204	0.63	323.5	625.1	10.9	1130	13209	0.00	2.92	0.00	0.000	4	0.000	0.046	3055	1333	1742
13214	0.63	323.5	623.9	11.0	1130	13220	0.00	2.80	0.00	0.000	6	0.000	0.032	3055	2762	1742
13532	0.63	323.5	589.3	11.2	1150	13533	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2762	1742
13850	0.63	323.5	554.8	10.4	1180	13855	0.00	2.88	0.00	0.000	4	0.000	0.046	3056	1333	1742
13860	0.63	323.5	553.6	10.1	1180	13867	0.00	2.80	0.00	0.000	6	0.000	0.032	3055	2765	1742
14186	0.64	332.6	521.6	9.7	1211	14197	0.00	0.00	8.52	1.089	6	0.000	0.000	3055	2765	1715
14515	0.64	335.9	489.9	9.9	1242	14527	0.00	2.88	5.38	0.923	4	0.000	0.050	3055	1341	1700
14532	0.65	343.2	487.9	9.7	1243	14549	0.00	2.80	9.23	1.118	6	0.000	0.033	3055	2763	1671
14868	0.65	343.2	453.1	10.6	1275	14869	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2764	1670
15187	0.65	343.2	419.4	10.3	1305	15192	0.00	2.88	0.00	0.000	4	0.000	0.045	3055	1335	1669
15204	0.65	343.2	417.4	10.5	1306	15209	0.00	2.78	0.00	0.000	6	0.000	0.031	3055	2757	1669
15530	0.67	359.4	384.8	9.4	1336	15555	0.00	2.83	18.02	1.161	4	0.000	0.045	3055	1338	1604
15560	0.67	359.4	381.6	10.1	1338	15566	0.00	2.78	0.00	0.000	6	0.000	0.031	3055	2746	1603
15889	0.68	366.2	350.2	9.8	1369	15905	0.00	2.88	8.25	1.002	4	0.000	0.044	3056	1345	1577
15912	0.68	366.8	347.5	10.0	1372	15919	0.00	2.75	0.00	0.000	6	0.000	0.031	3055	2731	1576
16255	0.68	366.8	314.1	10.2	1433	16261	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2730	1575
16594	0.68	366.8	278.9	10.5	1494	16600	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2730	1575
16936	0.76	401.1	243.5	8.8	1555	16979	0.15	2.92	36.60	1.125	4	0.054	0.044	3092	1334	1434
16985	0.71	401.1	237.1	15.2	1563	16992	0.00	2.78	0.00	0.000	6	0.000	0.031	3092	2726	1433
17325	0.65	401.1	186.7	15.0	1624	17334	0.17	2.35	0.00	0.000	4	0.109	0.048	3063	3885	1430
17374	0.70	401.1	180.8	10.8	1632	17382	0.00	2.25	0.00	0.000	6	0.000	0.031	3063	2742	1430
17718	0.75	401.1	146.7	10.4	1693	17724	0.00	2.78	0.00	0.000	4	0.000	0.045	3063	1348	1429
17732	0.80	401.1	145.2	10.3	1695	17739	0.15	2.72	0.00	0.000	6	0.051	0.031	3093	2748	1428
18066	0.73	401.1	97.1	15.0	1756	18073	0.00	0.00	0.00	0.000	6	0.000	0.000	3093	2749	1429
18398	0.67	401.1	48.0	16.3	1817	18407	0.15	2.30	0.00	0.000	4	0.110	0.048	3068	3893	1428
18425	0.67	401.1	44.2	14.1	1821	18434	0.00	2.22	0.00	0.000	6	0.000	0.032	3068	2758	1429
18561	0.67	401.1	29.5	10.3	1846	18569	0.00	2.85	0.00	0.000	4	0.000	0.047	3068	1342	1428
18579	0.67	401.1	27.7	11.2	1848	18587	0.00	2.75	0.00	0.000	6	0.000	0.031	3068	2742	1428
18716	0.71	401.5	14.7	10.0	1873	18724	0.00	2.30	0.00	0.000	4	0.000	0.048	3068	3889	1428
18733	0.81	440.5	13.0	8.6	1875	18778	0.10	2.22	39.33	0.976	6	0.048	0.033	3094	2757	1275
18826	end climb: SURFACE_DEPTH_REACHED
state	18826	begin surface coast
18839	end surface coast: CONTROL_FINISHED_OK
state	18839	begin surface