Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 19 * 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 19 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 7 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 -13534.896 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 -13534.896

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 7 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 19 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 204108,5930.261,-1855.357,41,1.1,41,-13.6 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 5940.906,-1855.183

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 205615,5930.107,-1855.183,13,1.2,13,-13.6 MHEAD_RNG_PITCHd_Wd 13.6,20000,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027874 XPDR_PINGS 46

SM_CCo 20130,0.00,0.000,0,0,2148,229.85 _24V_AH 23.4,12.124

SM_GC 0.93,11.65,0.00,0.00,0.051,0.000,0.000,594,2234,2148,-10.84,-0.03,229.85 _10V_AH 10.7,4.814

IRIDIUM_FIX 5907.03,-1850.21,020797,202043 DATA_FILE_SIZE 160877,2852

TT8_MAMPS 0.02301 CAP_FILE_SIZE 214135,0

HUMID 1577 CFSIZE 260165632,255381504

INTERNAL_PRESSURE 8.43782 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 080408,023325,5931.022,-1849.947,28,1.4,45,-13.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 196 126.93 SBE_CT 1974 24 1109.02

Roll_motor 93 161 354.56 SBE_O2 2137 19 950.19

VBD_pump_during_apogee 329 1441 11122.16 WL_BB2F 1821 105 4474.62

VBD_pump_during_surface 0 0 0.00 Optode 1177 33 909.42

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 85 103 206.41 nil 0 0 0.00

Iridium_during_connect 100 160 374.52 nil 0 0 0.00

Iridium_during_xfer 435 223 2271.22

Transponder_ping 11 420 113.02

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.14

TT8 4283 19 907.42

LPSleep 10511 2 246.31

TT8_Active 522 19 110.63

TT8_Sampling 4689 39 1997.27

TT8_CF8 1004 45 492.49

TT8_Kalman 0 0 0.00

Analog_circuits 2563 12 329.11

GPS_charging 0 0 0.00

Compass 4681 8 400.73

RAFOS 0 0 0.00

Guidance and control:

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.41 -146.0 0.0 0.0 0 95 0.00 0.00 -65.53 0.000 2 0.000 0.000 592 2229 3614

98 -1.41 -146.0 3.5 -7.4 12 122 12.50 2.78 -1.48 0.000 4 0.196 0.121 2643 830 3684

218 -1.41 -146.0 18.7 -9.6 33 225 0.00 2.65 0.00 0.000 6 0.000 0.095 2643 2239 3684

361 -1.41 -146.0 31.4 -9.4 58 366 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2240 3684

503 -1.41 -146.0 48.1 -10.8 83 509 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2240 3684

645 -1.41 -146.0 63.1 -9.1 108 651 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3684

787 -1.41 -146.0 76.4 -9.5 133 792 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2240 3684

928 -1.41 -146.0 89.8 -10.2 158 934 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2240 3685

1069 -1.41 -146.0 103.6 -10.1 183 1075 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2240 3685

1211 -1.41 -146.0 117.3 -9.5 208 1217 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2240 3685

1353 -1.41 -146.0 131.4 -10.0 233 1358 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2240 3684

1494 -1.41 -146.0 145.1 -10.0 258 1500 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

1635 -1.41 -146.0 158.3 -10.1 283 1640 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2240 3684

1978 -1.41 -146.0 190.9 -9.0 344 1984 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

2321 -1.41 -146.0 225.1 -10.4 405 2327 0.00 2.72 0.00 0.000 4 0.000 0.109 2643 3657 3685

2344 -1.41 -146.0 227.2 -9.0 409 2351 0.00 2.65 0.00 0.000 6 0.000 0.093 2643 2241 3685

2688 -1.41 -146.0 259.0 -9.6 470 2693 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2241 3685

3031 -1.41 -146.0 291.0 -9.6 531 3036 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

3373 -1.41 -146.0 322.6 -9.6 592 3379 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

3717 -1.41 -146.0 355.7 -9.6 653 3722 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

4059 -1.41 -146.0 389.2 -9.6 714 4064 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

4401 -1.41 -146.0 421.4 -9.7 775 4406 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

4744 -1.41 -146.0 454.4 -9.4 836 4750 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

5088 -1.41 -146.0 488.3 -9.8 897 5093 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

5430 -1.41 -146.0 521.5 -9.7 958 5435 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

5772 -1.41 -146.0 554.4 -9.2 1019 5778 0.00 2.75 0.00 0.000 4 0.000 0.119 2643 3645 3684

5807 -1.41 -146.0 557.9 -10.7 1025 5813 0.00 2.65 0.00 0.000 6 0.000 0.100 2643 2246 3685

6151 -1.41 -146.0 591.1 -9.9 1086 6156 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2246 3685

6480 -1.41 -146.0 622.7 -9.8 1125 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2246 3684

6799 -1.41 -146.0 653.1 -9.1 1155 6800 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2246 3685

7119 -1.41 -146.0 680.6 -8.5 1185 7123 0.00 2.78 0.00 0.000 4 0.000 0.123 2643 3650 3685

7158 -1.41 -146.0 684.4 -9.7 1188 7162 0.00 2.70 0.00 0.000 6 0.000 0.106 2643 2240 3685

7484 -1.41 -146.0 714.7 -9.5 1218 7485 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

7803 -1.41 -146.0 743.9 -8.6 1248 7804 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2241 3685

8121 -1.41 -146.0 770.8 -8.5 1278 8126 0.00 2.80 0.00 0.000 4 0.000 0.127 2643 3645 3684

8149 -1.41 -146.0 773.4 -9.3 1280 8154 0.00 2.70 0.00 0.000 6 0.000 0.109 2643 2243 3684

8477 -1.41 -146.0 801.2 -8.5 1310 8481 0.00 2.80 0.00 0.000 4 0.000 0.127 2643 3645 3683

8504 -1.41 -146.0 803.9 -9.4 1312 8509 0.00 2.72 0.00 0.000 6 0.000 0.109 2643 2235 3684

8832 -1.41 -146.0 829.7 -8.0 1342 8837 0.00 2.83 0.00 0.000 4 0.000 0.129 2643 3647 3684

8864 -1.41 -146.0 832.8 -9.1 1344 8871 0.00 2.70 0.00 0.000 6 0.000 0.111 2643 2249 3684

9191 -1.41 -146.0 862.0 -8.9 1375 9192 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2249 3683

9508 -1.41 -146.0 890.7 -8.9 1405 9513 0.00 2.83 0.00 0.000 4 0.000 0.133 2643 3645 3683

9530 -1.41 -146.0 892.9 -9.1 1406 9536 0.00 2.72 0.00 0.000 6 0.000 0.114 2643 2248 3683

9856 -1.41 -146.0 920.0 -8.0 1437 9857 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2248 3683

10175 -1.41 -146.0 944.2 -7.4 1467 10180 0.00 2.83 0.00 0.000 4 0.000 0.134 2643 3643 3682

10203 -1.41 -146.0 946.6 -8.9 1469 10207 0.00 2.72 0.00 0.000 6 0.000 0.117 2643 2257 3682

10529 -1.41 -146.0 972.2 -8.2 1499 10530 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2257 3682

10737 end dive: TARGET_DEPTH_EXCEEDED

state 10737 begin apogee

10743 -0.35 0.0 990.0 8.4 1519 10873 1.15 0.00 125.70 1.442 6 0.110 0.000 2875 2327 3085

10874 end apogee: CONTROL_FINISHED_OK

state 10874 begin climb

10876 1.41 146.0 993.1 0.0 1532 11013 1.77 3.00 124.22 1.393 4 0.064 0.137 3269 3740 2487

11060 1.28 146.0 977.3 14.6 1550 11066 0.17 2.85 0.00 0.000 6 0.119 0.120 3239 2331 2487

11385 1.23 146.0 936.3 12.5 1580 11386 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 2331 2486

11705 1.18 146.0 897.3 11.9 1610 11707 0.12 0.00 0.00 0.000 6 0.121 0.000 3217 2331 2486

12023 1.18 146.0 861.6 11.4 1640 12024 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 2331 2485

12340 1.18 146.0 825.7 11.1 1670 12341 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 2331 2485

12659 1.18 146.0 791.8 10.4 1700 12660 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2331 2485

12978 1.18 146.9 759.5 10.0 1730 12982 0.00 2.85 0.00 0.000 4 0.000 0.126 3218 3744 2484

13021 1.12 146.9 754.5 10.8 1733 13027 0.00 2.78 0.00 0.000 6 0.000 0.110 3218 2328 2485

13347 1.12 146.9 719.1 11.3 1764 13348 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 2328 2484

13664 1.12 146.9 684.6 10.1 1794 13669 0.00 2.83 0.00 0.000 4 0.000 0.122 3217 3744 2484

13697 1.06 146.9 681.0 10.6 1796 13704 0.12 2.72 0.00 0.000 6 0.122 0.107 3195 2337 2484

14022 1.08 163.8 651.2 9.2 1827 14042 0.00 0.00 15.55 1.201 6 0.000 0.000 3195 2338 2417

14362 1.08 163.8 617.9 10.4 1859 14363 0.00 0.00 0.00 0.000 6 0.000 0.000 3196 2337 2416

14687 1.10 175.0 584.2 9.5 1902 14703 0.00 0.00 10.95 1.110 6 0.000 0.000 3195 2337 2371

15042 1.13 201.2 550.4 8.8 1965 15068 0.00 0.00 23.02 1.117 6 0.000 0.000 3195 2337 2264

15406 1.13 203.8 514.0 9.9 2030 15411 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2338 2262

15748 1.13 203.8 479.6 10.0 2091 15760 0.00 2.80 3.65 0.681 4 0.000 0.112 3195 3737 2254

15788 1.13 203.8 475.4 10.6 2098 15794 0.00 2.67 0.00 0.000 6 0.000 0.097 3195 2338 2254

16132 1.14 209.5 440.8 9.7 2159 16143 0.00 0.00 6.75 0.933 6 0.000 0.000 3195 2338 2230

16480 1.16 225.8 404.3 9.2 2221 16502 0.00 0.00 15.20 1.005 6 0.000 0.000 3195 2338 2163

16840 1.16 225.8 365.2 12.0 2285 16845 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2338 2162

17182 1.16 225.8 329.1 10.5 2346 17187 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2338 2162

17525 1.16 225.8 291.9 11.5 2407 17531 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2338 2162

17867 1.16 225.8 256.1 10.2 2468 17873 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2338 2163

18210 1.16 225.8 218.5 11.0 2529 18215 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2339 2163

18552 1.20 225.8 180.9 12.2 2590 18558 0.12 0.00 0.00 0.000 6 0.068 0.000 3227 2338 2163

18896 1.20 225.8 136.3 14.1 2651 18902 0.00 0.00 0.00 0.000 6 0.000 0.000 3227 2338 2163

19039 1.20 225.8 117.9 13.0 2676 19045 0.00 2.72 0.00 0.000 4 0.000 0.108 3227 3747 2163

19074 1.20 225.8 113.5 11.6 2682 19081 0.00 2.62 0.00 0.000 6 0.000 0.091 3227 2347 2163

19219 1.21 229.2 98.2 9.8 2707 19232 0.00 2.80 4.57 0.650 4 0.000 0.110 3227 919 2149

19261 1.21 229.2 93.2 11.6 2714 19267 0.00 2.70 0.00 0.000 6 0.000 0.094 3227 2357 2149

19403 1.21 229.2 76.9 12.9 2739 19409 0.00 2.67 0.00 0.000 4 0.000 0.107 3227 3744 2149

19438 1.21 229.2 72.2 14.4 2745 19445 0.00 2.60 0.00 0.000 6 0.000 0.090 3227 2347 2149

19580 1.21 229.2 53.3 13.2 2770 19586 0.00 0.00 0.00 0.000 6 0.000 0.000 3227 2348 2150

19723 1.21 229.2 37.3 11.7 2795 19729 0.00 0.00 0.00 0.000 6 0.000 0.000 3227 2348 2150

19864 1.21 229.2 22.6 12.2 2820 19871 0.00 2.67 0.00 0.000 4 0.000 0.107 3227 3739 2150

19917 1.21 229.2 16.3 12.8 2829 19923 0.00 2.58 0.00 0.000 6 0.000 0.090 3227 2362 2150

20034 end climb: SURFACE_DEPTH_REACHED

state 20034 begin surface coast

20049 end surface coast: CONTROL_FINISHED_OK

state 20049 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	19	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	7	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	-13534.896	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	204108,5930.261,-1855.357,41,1.1,41,-13.6	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	5940.906,-1855.183
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	205615,5930.107,-1855.183,13,1.2,13,-13.6	MHEAD_RNG_PITCHd_Wd	13.6,20000,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	990

FINISH	0.5,1.027874	XPDR_PINGS	46
SM_CCo	20130,0.00,0.000,0,0,2148,229.85	_24V_AH	23.4,12.124
SM_GC	0.93,11.65,0.00,0.00,0.051,0.000,0.000,594,2234,2148,-10.84,-0.03,229.85	_10V_AH	10.7,4.814
IRIDIUM_FIX	5907.03,-1850.21,020797,202043	DATA_FILE_SIZE	160877,2852
TT8_MAMPS	0.02301	CAP_FILE_SIZE	214135,0
HUMID	1577	CFSIZE	260165632,255381504
INTERNAL_PRESSURE	8.43782	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	080408,023325,5931.022,-1849.947,28,1.4,45,-13.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	196	126.93	SBE_CT	1974	24	1109.02
Roll_motor	93	161	354.56	SBE_O2	2137	19	950.19
VBD_pump_during_apogee	329	1441	11122.16	WL_BB2F	1821	105	4474.62
VBD_pump_during_surface	0	0	0.00	Optode	1177	33	909.42
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	85	103	206.41	nil	0	0	0.00
Iridium_during_connect	100	160	374.52	nil	0	0	0.00
Iridium_during_xfer	435	223	2271.22
Transponder_ping	11	420	113.02
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.14
TT8	4283	19	907.42
LPSleep	10511	2	246.31
TT8_Active	522	19	110.63
TT8_Sampling	4689	39	1997.27
TT8_CF8	1004	45	492.49
TT8_Kalman	0	0	0.00
Analog_circuits	2563	12	329.11
GPS_charging	0	0	0.00
Compass	4681	8	400.73
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.41	-146.0	0.0	0.0	0	95	0.00	0.00	-65.53	0.000	2	0.000	0.000	592	2229	3614
98	-1.41	-146.0	3.5	-7.4	12	122	12.50	2.78	-1.48	0.000	4	0.196	0.121	2643	830	3684
218	-1.41	-146.0	18.7	-9.6	33	225	0.00	2.65	0.00	0.000	6	0.000	0.095	2643	2239	3684
361	-1.41	-146.0	31.4	-9.4	58	366	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2240	3684
503	-1.41	-146.0	48.1	-10.8	83	509	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2240	3684
645	-1.41	-146.0	63.1	-9.1	108	651	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3684
787	-1.41	-146.0	76.4	-9.5	133	792	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2240	3684
928	-1.41	-146.0	89.8	-10.2	158	934	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2240	3685
1069	-1.41	-146.0	103.6	-10.1	183	1075	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2240	3685
1211	-1.41	-146.0	117.3	-9.5	208	1217	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2240	3685
1353	-1.41	-146.0	131.4	-10.0	233	1358	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2240	3684
1494	-1.41	-146.0	145.1	-10.0	258	1500	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
1635	-1.41	-146.0	158.3	-10.1	283	1640	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2240	3684
1978	-1.41	-146.0	190.9	-9.0	344	1984	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
2321	-1.41	-146.0	225.1	-10.4	405	2327	0.00	2.72	0.00	0.000	4	0.000	0.109	2643	3657	3685
2344	-1.41	-146.0	227.2	-9.0	409	2351	0.00	2.65	0.00	0.000	6	0.000	0.093	2643	2241	3685
2688	-1.41	-146.0	259.0	-9.6	470	2693	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2241	3685
3031	-1.41	-146.0	291.0	-9.6	531	3036	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
3373	-1.41	-146.0	322.6	-9.6	592	3379	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
3717	-1.41	-146.0	355.7	-9.6	653	3722	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
4059	-1.41	-146.0	389.2	-9.6	714	4064	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
4401	-1.41	-146.0	421.4	-9.7	775	4406	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
4744	-1.41	-146.0	454.4	-9.4	836	4750	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
5088	-1.41	-146.0	488.3	-9.8	897	5093	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
5430	-1.41	-146.0	521.5	-9.7	958	5435	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
5772	-1.41	-146.0	554.4	-9.2	1019	5778	0.00	2.75	0.00	0.000	4	0.000	0.119	2643	3645	3684
5807	-1.41	-146.0	557.9	-10.7	1025	5813	0.00	2.65	0.00	0.000	6	0.000	0.100	2643	2246	3685
6151	-1.41	-146.0	591.1	-9.9	1086	6156	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2246	3685
6480	-1.41	-146.0	622.7	-9.8	1125	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2246	3684
6799	-1.41	-146.0	653.1	-9.1	1155	6800	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2246	3685
7119	-1.41	-146.0	680.6	-8.5	1185	7123	0.00	2.78	0.00	0.000	4	0.000	0.123	2643	3650	3685
7158	-1.41	-146.0	684.4	-9.7	1188	7162	0.00	2.70	0.00	0.000	6	0.000	0.106	2643	2240	3685
7484	-1.41	-146.0	714.7	-9.5	1218	7485	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
7803	-1.41	-146.0	743.9	-8.6	1248	7804	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2241	3685
8121	-1.41	-146.0	770.8	-8.5	1278	8126	0.00	2.80	0.00	0.000	4	0.000	0.127	2643	3645	3684
8149	-1.41	-146.0	773.4	-9.3	1280	8154	0.00	2.70	0.00	0.000	6	0.000	0.109	2643	2243	3684
8477	-1.41	-146.0	801.2	-8.5	1310	8481	0.00	2.80	0.00	0.000	4	0.000	0.127	2643	3645	3683
8504	-1.41	-146.0	803.9	-9.4	1312	8509	0.00	2.72	0.00	0.000	6	0.000	0.109	2643	2235	3684
8832	-1.41	-146.0	829.7	-8.0	1342	8837	0.00	2.83	0.00	0.000	4	0.000	0.129	2643	3647	3684
8864	-1.41	-146.0	832.8	-9.1	1344	8871	0.00	2.70	0.00	0.000	6	0.000	0.111	2643	2249	3684
9191	-1.41	-146.0	862.0	-8.9	1375	9192	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2249	3683
9508	-1.41	-146.0	890.7	-8.9	1405	9513	0.00	2.83	0.00	0.000	4	0.000	0.133	2643	3645	3683
9530	-1.41	-146.0	892.9	-9.1	1406	9536	0.00	2.72	0.00	0.000	6	0.000	0.114	2643	2248	3683
9856	-1.41	-146.0	920.0	-8.0	1437	9857	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2248	3683
10175	-1.41	-146.0	944.2	-7.4	1467	10180	0.00	2.83	0.00	0.000	4	0.000	0.134	2643	3643	3682
10203	-1.41	-146.0	946.6	-8.9	1469	10207	0.00	2.72	0.00	0.000	6	0.000	0.117	2643	2257	3682
10529	-1.41	-146.0	972.2	-8.2	1499	10530	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2257	3682
10737	end dive: TARGET_DEPTH_EXCEEDED
state	10737	begin apogee
10743	-0.35	0.0	990.0	8.4	1519	10873	1.15	0.00	125.70	1.442	6	0.110	0.000	2875	2327	3085
10874	end apogee: CONTROL_FINISHED_OK
state	10874	begin climb
10876	1.41	146.0	993.1	0.0	1532	11013	1.77	3.00	124.22	1.393	4	0.064	0.137	3269	3740	2487
11060	1.28	146.0	977.3	14.6	1550	11066	0.17	2.85	0.00	0.000	6	0.119	0.120	3239	2331	2487
11385	1.23	146.0	936.3	12.5	1580	11386	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	2331	2486
11705	1.18	146.0	897.3	11.9	1610	11707	0.12	0.00	0.00	0.000	6	0.121	0.000	3217	2331	2486
12023	1.18	146.0	861.6	11.4	1640	12024	0.00	0.00	0.00	0.000	6	0.000	0.000	3217	2331	2485
12340	1.18	146.0	825.7	11.1	1670	12341	0.00	0.00	0.00	0.000	6	0.000	0.000	3217	2331	2485
12659	1.18	146.0	791.8	10.4	1700	12660	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2331	2485
12978	1.18	146.9	759.5	10.0	1730	12982	0.00	2.85	0.00	0.000	4	0.000	0.126	3218	3744	2484
13021	1.12	146.9	754.5	10.8	1733	13027	0.00	2.78	0.00	0.000	6	0.000	0.110	3218	2328	2485
13347	1.12	146.9	719.1	11.3	1764	13348	0.00	0.00	0.00	0.000	6	0.000	0.000	3217	2328	2484
13664	1.12	146.9	684.6	10.1	1794	13669	0.00	2.83	0.00	0.000	4	0.000	0.122	3217	3744	2484
13697	1.06	146.9	681.0	10.6	1796	13704	0.12	2.72	0.00	0.000	6	0.122	0.107	3195	2337	2484
14022	1.08	163.8	651.2	9.2	1827	14042	0.00	0.00	15.55	1.201	6	0.000	0.000	3195	2338	2417
14362	1.08	163.8	617.9	10.4	1859	14363	0.00	0.00	0.00	0.000	6	0.000	0.000	3196	2337	2416
14687	1.10	175.0	584.2	9.5	1902	14703	0.00	0.00	10.95	1.110	6	0.000	0.000	3195	2337	2371
15042	1.13	201.2	550.4	8.8	1965	15068	0.00	0.00	23.02	1.117	6	0.000	0.000	3195	2337	2264
15406	1.13	203.8	514.0	9.9	2030	15411	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2338	2262
15748	1.13	203.8	479.6	10.0	2091	15760	0.00	2.80	3.65	0.681	4	0.000	0.112	3195	3737	2254
15788	1.13	203.8	475.4	10.6	2098	15794	0.00	2.67	0.00	0.000	6	0.000	0.097	3195	2338	2254
16132	1.14	209.5	440.8	9.7	2159	16143	0.00	0.00	6.75	0.933	6	0.000	0.000	3195	2338	2230
16480	1.16	225.8	404.3	9.2	2221	16502	0.00	0.00	15.20	1.005	6	0.000	0.000	3195	2338	2163
16840	1.16	225.8	365.2	12.0	2285	16845	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2338	2162
17182	1.16	225.8	329.1	10.5	2346	17187	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2338	2162
17525	1.16	225.8	291.9	11.5	2407	17531	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2338	2162
17867	1.16	225.8	256.1	10.2	2468	17873	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2338	2163
18210	1.16	225.8	218.5	11.0	2529	18215	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2339	2163
18552	1.20	225.8	180.9	12.2	2590	18558	0.12	0.00	0.00	0.000	6	0.068	0.000	3227	2338	2163
18896	1.20	225.8	136.3	14.1	2651	18902	0.00	0.00	0.00	0.000	6	0.000	0.000	3227	2338	2163
19039	1.20	225.8	117.9	13.0	2676	19045	0.00	2.72	0.00	0.000	4	0.000	0.108	3227	3747	2163
19074	1.20	225.8	113.5	11.6	2682	19081	0.00	2.62	0.00	0.000	6	0.000	0.091	3227	2347	2163
19219	1.21	229.2	98.2	9.8	2707	19232	0.00	2.80	4.57	0.650	4	0.000	0.110	3227	919	2149
19261	1.21	229.2	93.2	11.6	2714	19267	0.00	2.70	0.00	0.000	6	0.000	0.094	3227	2357	2149
19403	1.21	229.2	76.9	12.9	2739	19409	0.00	2.67	0.00	0.000	4	0.000	0.107	3227	3744	2149
19438	1.21	229.2	72.2	14.4	2745	19445	0.00	2.60	0.00	0.000	6	0.000	0.090	3227	2347	2149
19580	1.21	229.2	53.3	13.2	2770	19586	0.00	0.00	0.00	0.000	6	0.000	0.000	3227	2348	2150
19723	1.21	229.2	37.3	11.7	2795	19729	0.00	0.00	0.00	0.000	6	0.000	0.000	3227	2348	2150
19864	1.21	229.2	22.6	12.2	2820	19871	0.00	2.67	0.00	0.000	4	0.000	0.107	3227	3739	2150
19917	1.21	229.2	16.3	12.8	2829	19923	0.00	2.58	0.00	0.000	6	0.000	0.090	3227	2362	2150
20034	end climb: SURFACE_DEPTH_REACHED
state	20034	begin surface coast
20049	end surface coast: CONTROL_FINISHED_OK
state	20049	begin surface