Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING 90 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 22 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 182 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3816 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT -2030 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON 5900 C_ROLL_DIVE 2260 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 8 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 490 DEVICE4 35

T_TURN 270 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -4426.0503 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 1469 AH0_24V 150 SEABIRD_T_G 0.0043273759

SPEED_FACTOR 1 PITCH_MAX 4022 AH0_10V 100 SEABIRD_T_H 0.00064184016

RHO 1.0273 C_PITCH 2800 PRESSURE_YINT -13.47135 SEABIRD_T_I 2.4188148e-05

MASS 51457 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1530041e-05 SEABIRD_T_J 2.4070987e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.197048

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1695373

KALMAN_USE 2 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015330453

HD_A 0.0038360001 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015523176

HD_B 0.010078 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 27 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1469 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 9.1530041e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 0 PRESSURE_YINT -13.47135 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON 5900

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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0273 T_GPS_CHARGE -4426.0503

CAPUPLOAD 0 HEADING 90 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 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COMPASS_USE 0 ID 143 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3816 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2050 KALMAN_USE 2 ROLL_MIN 182 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2260 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51457 R_PORT_OVSHOOT 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 22 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.197048 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1695373 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0015330453 VBD_MAX 3964

DEVICE3 53 N_FILEKB 8 SEABIRD_C_J 0.00015523176 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273759 VBD_MIN 490

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064184016 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4188148e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 22 PHONE_DEVICE 48 SEABIRD_T_J 2.4070987e-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 034527,5913.482,-1918.511,31,2.0,50,-13.7 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 5913.303,-1912.962

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -41.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 035623,5913.303,-1918.488,13,2.4,32,-13.7 MHEAD_RNG_PITCHd_Wd 103.7,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.024605 XPDR_PINGS 431

SM_CCo 17136,0.00,0.000,0,0,1551,372.86 _24V_AH 19.9,17.231

SM_GC 0.70,7.18,0.00,0.00,0.046,0.000,0.000,1471,2285,1551,-6.08,0.68,372.86 _10V_AH 9.7,9.263

IRIDIUM_FIX 5850.29,-1916.61,030797,030358 DATA_FILE_SIZE 177183,2377

TT8_MAMPS 0.022243 CAP_FILE_SIZE 194478,0

HUMID 1645 CFSIZE 260165632,255320064

INTERNAL_PRESSURE 8.19367 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 GPS 080408,084346,5910.153,-1913.954,36,2.3,55,-13.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 102.39 SBE_CT 1722 24 822.46

Roll_motor 157 70 221.59 SBE_O2 1698 19 642.24

VBD_pump_during_apogee 583 1514 17576.81 Optode 1096 33 720.22

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1541 105 3221.89

VBD_valve 0 0 0.00 WL_BBFL2VMT 3016 105 6303.84

Iridium_during_init 47 103 97.29 nil 0 0 0.00

Iridium_during_connect 64 160 206.29 nil 0 0 0.00

Iridium_during_xfer 342 223 1518.90

Transponder_ping 107 420 900.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 16.88

TT8 3630 19 697.21

LPSleep 7143 2 151.76

TT8_Active 730 19 140.23

TT8_Sampling 5553 39 2143.80

TT8_CF8 708 45 314.86

TT8_Kalman 0 0 0.00

Analog_circuits 2659 12 309.52

GPS_charging 0 0 0.00

Compass 5542 8 430.13

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

25 -0.82 -194.7 0.0 0.0 0 151 0.00 0.00 -123.10 0.000 2 0.000 0.000 1467 2248 3668

153 -0.82 -194.7 3.9 -7.9 17 177 9.95 2.83 -4.05 0.000 4 0.257 0.067 2612 862 3867

350 -0.74 -194.7 45.4 -16.8 53 359 0.12 2.78 0.00 0.000 6 0.134 0.049 2633 2250 3868

486 -0.66 -194.7 67.4 -16.5 78 494 0.12 0.00 0.00 0.000 6 0.140 0.000 2650 2250 3868

620 -0.66 -194.7 87.2 -14.0 103 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2250 3868

753 -0.66 -194.7 104.8 -12.4 128 760 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2250 3868

886 -0.66 -194.7 123.8 -16.4 153 894 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2250 3868

1019 -0.66 -194.7 142.2 -13.0 178 1027 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2250 3868

1156 -0.66 -194.7 160.6 -13.3 203 1161 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2250 3868

1484 -0.66 -194.7 203.8 -12.8 264 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2250 3868

1816 -0.66 -194.7 247.3 -13.8 325 1822 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2250 3868

2144 -0.66 -194.7 291.9 -13.3 386 2152 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2250 3868

2476 -0.66 -194.7 335.8 -13.3 447 2482 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2250 3868

2811 -0.66 -194.7 382.0 -13.6 508 2820 0.00 2.83 0.00 0.000 4 0.000 0.054 2650 3676 3868

2830 -0.66 -194.7 384.6 -13.7 511 2837 0.00 2.75 0.00 0.000 6 0.000 0.041 2650 2243 3868

3170 -0.66 -194.7 430.8 -13.6 572 3178 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2239 3868

3514 -0.66 -194.7 476.8 -12.9 633 3520 0.00 2.83 0.00 0.000 4 0.000 0.053 2650 3685 3868

3539 -0.66 -194.7 480.1 -12.9 637 3545 0.00 2.75 0.00 0.000 6 0.000 0.041 2650 2248 3868

3878 -0.66 -194.7 525.0 -13.3 698 3883 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2245 3868

4215 -0.66 -194.7 567.3 -12.0 747 4220 0.00 2.83 0.00 0.000 4 0.000 0.056 2650 3682 3868

4247 -0.66 -194.7 571.3 -12.2 749 4254 0.00 2.75 0.00 0.000 6 0.000 0.043 2650 2251 3868

4573 -0.66 -194.7 611.3 -12.5 780 4574 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2250 3868

4891 -0.66 -194.7 650.0 -11.8 810 4895 0.00 2.85 0.00 0.000 4 0.000 0.060 2650 3681 3868

4917 -0.66 -194.7 653.3 -12.5 812 4922 0.00 2.75 0.00 0.000 6 0.000 0.048 2650 2267 3868

5244 -0.66 -194.7 692.3 -12.6 842 5245 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2266 3868

5559 -0.66 -194.7 732.6 -12.7 872 5560 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2267 3868

5879 -0.66 -194.7 770.3 -12.1 902 5880 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2267 3868

6197 -0.66 -194.7 810.4 -12.9 932 6198 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2267 3868

6515 -0.66 -194.7 849.0 -12.3 962 6519 0.00 2.85 0.00 0.000 4 0.000 0.071 2650 844 3868

6535 -0.66 -194.7 851.5 -12.1 963 6542 0.00 2.78 0.00 0.000 6 0.000 0.048 2650 2269 3867

6860 -0.66 -194.7 888.7 -11.2 994 6861 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2270 3867

7178 -0.66 -194.7 925.6 -11.7 1024 7179 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2270 3867

7497 -0.66 -194.7 962.0 -11.4 1054 7498 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2272 3867

7739 end dive: TARGET_DEPTH_EXCEEDED

state 7739 begin apogee

7744 -0.19 0.0 990.2 11.9 1077 7946 0.60 0.00 198.25 1.515 6 0.117 0.000 2754 2042 3071

7947 end apogee: CONTROL_FINISHED_OK

state 7947 begin climb

7949 0.82 194.7 999.1 0.0 1097 8157 1.25 3.15 197.73 1.378 4 0.087 0.058 2974 3464 2277

8274 0.66 194.7 967.7 15.1 1127 8281 0.20 2.95 0.00 0.000 6 0.146 0.051 2947 2055 2273

8599 0.55 194.7 927.9 12.0 1158 8604 0.17 2.97 0.00 0.000 4 0.137 0.070 2919 632 2272

8710 0.57 214.4 916.7 9.3 1167 8737 0.00 2.85 20.20 1.426 6 0.000 0.044 2919 2073 2196

9054 0.60 239.9 885.0 9.1 1200 9087 0.00 2.95 26.73 1.382 4 0.000 0.058 2919 3467 2092

9147 0.61 250.8 875.9 9.6 1208 9165 0.00 2.83 12.40 1.223 6 0.000 0.048 2919 2081 2048

9482 0.65 280.4 845.2 9.0 1240 9519 0.12 2.85 30.52 1.359 4 0.075 0.054 2942 3456 1928

9541 0.59 280.4 838.7 11.9 1245 9546 0.00 2.80 0.00 0.000 6 0.000 0.048 2943 2093 1926

9866 0.52 280.4 800.4 12.3 1275 9868 0.17 0.00 0.00 0.000 6 0.127 0.000 2916 2092 1924

10185 0.55 300.3 770.1 9.3 1305 10215 0.00 2.80 21.00 1.384 4 0.000 0.056 2916 3461 1845

10242 0.60 303.9 764.5 9.9 1310 10252 0.00 2.72 5.12 0.887 6 0.000 0.048 2917 2112 1832

10572 0.65 350.8 734.8 8.4 1341 10627 0.12 2.83 48.53 1.282 4 0.071 0.054 2941 3457 1640

10722 0.65 350.8 718.0 11.9 1355 10726 0.00 2.72 0.00 0.000 6 0.000 0.049 2941 2114 1636

11045 0.65 350.8 680.1 11.9 1385 11050 0.00 2.72 0.00 0.000 4 0.000 0.053 2941 3465 1634

11153 0.65 350.8 667.4 11.8 1394 11157 0.00 2.70 0.00 0.000 6 0.000 0.046 2941 2107 1633

11476 0.65 350.8 628.8 12.1 1424 11481 0.00 2.97 0.00 0.000 4 0.000 0.066 2941 634 1633

11492 0.65 350.8 626.8 12.3 1425 11496 0.00 2.90 0.00 0.000 6 0.000 0.040 2941 2137 1633

11816 0.65 350.8 588.8 11.6 1455 11817 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2137 1632

12134 0.65 350.8 551.0 12.0 1485 12135 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2137 1632

12464 0.65 350.8 510.8 11.7 1544 12471 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2137 1632

12807 0.65 350.8 470.1 11.7 1605 12813 0.00 3.00 0.00 0.000 4 0.000 0.061 2941 632 1632

12831 0.65 350.8 467.0 11.9 1609 12837 0.00 2.85 0.00 0.000 6 0.000 0.039 2941 2136 1632

13170 0.65 350.8 426.0 12.2 1670 13175 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2136 1632

13508 0.65 350.8 385.8 10.8 1731 13513 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2136 1632

13845 0.65 350.8 346.2 10.7 1792 13853 0.00 3.00 0.00 0.000 4 0.000 0.061 2941 638 1632

13866 0.65 350.8 343.9 11.7 1795 13872 0.00 2.80 0.00 0.000 6 0.000 0.039 2941 2127 1632

14195 0.65 350.8 306.0 11.7 1856 14203 0.00 2.60 0.00 0.000 4 0.000 0.051 2941 3458 1632

14216 0.65 350.8 303.8 11.8 1859 14222 0.00 2.60 0.00 0.000 6 0.000 0.044 2941 2105 1631

14545 0.65 350.8 266.6 10.6 1920 14553 0.00 2.92 0.00 0.000 4 0.000 0.061 2941 635 1631

14577 0.65 350.8 263.2 11.7 1925 14583 0.00 2.80 0.00 0.000 6 0.000 0.038 2941 2121 1631

14906 0.65 350.8 226.8 10.5 1986 14914 0.00 2.62 0.00 0.000 4 0.000 0.050 2941 3464 1631

14938 0.65 350.8 223.3 11.6 1991 14944 0.00 2.62 0.00 0.000 6 0.000 0.043 2941 2099 1631

15268 0.65 350.8 188.2 10.8 2052 15276 0.00 2.90 0.00 0.000 4 0.000 0.061 2941 641 1631

15294 0.65 350.8 185.4 10.7 2056 15302 0.00 2.83 0.00 0.000 6 0.000 0.040 2941 2117 1631

15627 0.65 350.8 149.3 11.7 2117 15635 0.00 2.62 0.00 0.000 4 0.000 0.050 2941 3459 1631

15652 0.65 350.8 146.4 11.0 2121 15660 0.00 2.62 0.00 0.000 6 0.000 0.044 2940 2111 1631

15787 0.65 350.8 132.4 10.2 2146 15795 0.00 2.92 0.00 0.000 4 0.000 0.062 2941 644 1631

15817 0.65 350.8 129.1 10.1 2151 15825 0.00 2.83 0.00 0.000 6 0.000 0.039 2941 2121 1631

15951 0.67 360.4 115.8 9.7 2176 15967 0.00 2.62 9.00 0.819 4 0.000 0.050 2941 3472 1600

15990 0.67 360.4 111.9 10.2 2182 15998 0.00 2.65 0.00 0.000 6 0.000 0.042 2941 2112 1599

16125 0.67 367.6 98.9 9.8 2207 16140 0.00 2.92 8.35 0.806 4 0.000 0.062 2941 638 1571

16158 0.67 367.6 95.4 10.4 2212 16166 0.00 2.85 0.00 0.000 6 0.000 0.038 2941 2119 1571

16292 0.68 367.8 81.7 10.0 2237 16300 0.00 2.65 0.00 0.000 4 0.000 0.051 2941 3461 1570

16318 0.68 367.8 78.8 10.7 2241 16326 0.00 2.67 0.00 0.000 6 0.000 0.044 2941 2100 1570

16452 0.68 367.8 65.0 11.4 2266 16460 0.00 2.92 0.00 0.000 4 0.000 0.063 2941 640 1570

16478 0.68 367.8 62.1 10.1 2270 16486 0.00 2.85 0.00 0.000 6 0.000 0.039 2940 2118 1569

16612 0.68 371.6 47.9 9.9 2295 16628 0.00 2.65 5.25 0.698 4 0.000 0.049 2941 3459 1555

16645 0.68 371.6 43.9 12.1 2300 16652 0.00 2.62 0.00 0.000 6 0.000 0.043 2941 2123 1555

16779 0.68 371.6 31.7 10.6 2325 16787 0.00 2.97 0.00 0.000 4 0.000 0.064 2940 645 1555

16810 0.68 371.6 27.8 11.8 2330 16817 0.00 2.85 0.00 0.000 6 0.000 0.039 2941 2124 1554

16943 0.68 371.6 11.5 10.6 2355 16951 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2124 1554

17039 end climb: SURFACE_DEPTH_REACHED

state 17039 begin surface coast

17062 end surface coast: CONTROL_FINISHED_OK

state 17062 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	90	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	22	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	182	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3816	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	-2030	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	5900	C_ROLL_DIVE	2260	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	8	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	490	DEVICE4	35
T_TURN	270	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-4426.0503	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	1469	AH0_24V	150	SEABIRD_T_G	0.0043273759
SPEED_FACTOR	1	PITCH_MAX	4022	AH0_10V	100	SEABIRD_T_H	0.00064184016
RHO	1.0273	C_PITCH	2800	PRESSURE_YINT	-13.47135	SEABIRD_T_I	2.4188148e-05
MASS	51457	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1530041e-05	SEABIRD_T_J	2.4070987e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.197048
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1695373
KALMAN_USE	2	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015330453
HD_A	0.0038360001	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015523176
HD_B	0.010078	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	034527,5913.482,-1918.511,31,2.0,50,-13.7	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	5913.303,-1912.962
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-41.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	035623,5913.303,-1918.488,13,2.4,32,-13.7	MHEAD_RNG_PITCHd_Wd	103.7,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	-0.1,1.024605	XPDR_PINGS	431
SM_CCo	17136,0.00,0.000,0,0,1551,372.86	_24V_AH	19.9,17.231
SM_GC	0.70,7.18,0.00,0.00,0.046,0.000,0.000,1471,2285,1551,-6.08,0.68,372.86	_10V_AH	9.7,9.263
IRIDIUM_FIX	5850.29,-1916.61,030797,030358	DATA_FILE_SIZE	177183,2377
TT8_MAMPS	0.022243	CAP_FILE_SIZE	194478,0
HUMID	1645	CFSIZE	260165632,255320064
INTERNAL_PRESSURE	8.19367	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	GPS	080408,084346,5910.153,-1913.954,36,2.3,55,-13.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	102.39	SBE_CT	1722	24	822.46
Roll_motor	157	70	221.59	SBE_O2	1698	19	642.24
VBD_pump_during_apogee	583	1514	17576.81	Optode	1096	33	720.22
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1541	105	3221.89
VBD_valve	0	0	0.00	WL_BBFL2VMT	3016	105	6303.84
Iridium_during_init	47	103	97.29	nil	0	0	0.00
Iridium_during_connect	64	160	206.29	nil	0	0	0.00
Iridium_during_xfer	342	223	1518.90
Transponder_ping	107	420	900.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	16.88
TT8	3630	19	697.21
LPSleep	7143	2	151.76
TT8_Active	730	19	140.23
TT8_Sampling	5553	39	2143.80
TT8_CF8	708	45	314.86
TT8_Kalman	0	0	0.00
Analog_circuits	2659	12	309.52
GPS_charging	0	0	0.00
Compass	5542	8	430.13
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
25	-0.82	-194.7	0.0	0.0	0	151	0.00	0.00	-123.10	0.000	2	0.000	0.000	1467	2248	3668
153	-0.82	-194.7	3.9	-7.9	17	177	9.95	2.83	-4.05	0.000	4	0.257	0.067	2612	862	3867
350	-0.74	-194.7	45.4	-16.8	53	359	0.12	2.78	0.00	0.000	6	0.134	0.049	2633	2250	3868
486	-0.66	-194.7	67.4	-16.5	78	494	0.12	0.00	0.00	0.000	6	0.140	0.000	2650	2250	3868
620	-0.66	-194.7	87.2	-14.0	103	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2250	3868
753	-0.66	-194.7	104.8	-12.4	128	760	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2250	3868
886	-0.66	-194.7	123.8	-16.4	153	894	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2250	3868
1019	-0.66	-194.7	142.2	-13.0	178	1027	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2250	3868
1156	-0.66	-194.7	160.6	-13.3	203	1161	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2250	3868
1484	-0.66	-194.7	203.8	-12.8	264	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2250	3868
1816	-0.66	-194.7	247.3	-13.8	325	1822	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2250	3868
2144	-0.66	-194.7	291.9	-13.3	386	2152	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2250	3868
2476	-0.66	-194.7	335.8	-13.3	447	2482	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2250	3868
2811	-0.66	-194.7	382.0	-13.6	508	2820	0.00	2.83	0.00	0.000	4	0.000	0.054	2650	3676	3868
2830	-0.66	-194.7	384.6	-13.7	511	2837	0.00	2.75	0.00	0.000	6	0.000	0.041	2650	2243	3868
3170	-0.66	-194.7	430.8	-13.6	572	3178	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2239	3868
3514	-0.66	-194.7	476.8	-12.9	633	3520	0.00	2.83	0.00	0.000	4	0.000	0.053	2650	3685	3868
3539	-0.66	-194.7	480.1	-12.9	637	3545	0.00	2.75	0.00	0.000	6	0.000	0.041	2650	2248	3868
3878	-0.66	-194.7	525.0	-13.3	698	3883	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2245	3868
4215	-0.66	-194.7	567.3	-12.0	747	4220	0.00	2.83	0.00	0.000	4	0.000	0.056	2650	3682	3868
4247	-0.66	-194.7	571.3	-12.2	749	4254	0.00	2.75	0.00	0.000	6	0.000	0.043	2650	2251	3868
4573	-0.66	-194.7	611.3	-12.5	780	4574	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2250	3868
4891	-0.66	-194.7	650.0	-11.8	810	4895	0.00	2.85	0.00	0.000	4	0.000	0.060	2650	3681	3868
4917	-0.66	-194.7	653.3	-12.5	812	4922	0.00	2.75	0.00	0.000	6	0.000	0.048	2650	2267	3868
5244	-0.66	-194.7	692.3	-12.6	842	5245	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2266	3868
5559	-0.66	-194.7	732.6	-12.7	872	5560	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2267	3868
5879	-0.66	-194.7	770.3	-12.1	902	5880	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2267	3868
6197	-0.66	-194.7	810.4	-12.9	932	6198	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2267	3868
6515	-0.66	-194.7	849.0	-12.3	962	6519	0.00	2.85	0.00	0.000	4	0.000	0.071	2650	844	3868
6535	-0.66	-194.7	851.5	-12.1	963	6542	0.00	2.78	0.00	0.000	6	0.000	0.048	2650	2269	3867
6860	-0.66	-194.7	888.7	-11.2	994	6861	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2270	3867
7178	-0.66	-194.7	925.6	-11.7	1024	7179	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2270	3867
7497	-0.66	-194.7	962.0	-11.4	1054	7498	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2272	3867
7739	end dive: TARGET_DEPTH_EXCEEDED
state	7739	begin apogee
7744	-0.19	0.0	990.2	11.9	1077	7946	0.60	0.00	198.25	1.515	6	0.117	0.000	2754	2042	3071
7947	end apogee: CONTROL_FINISHED_OK
state	7947	begin climb
7949	0.82	194.7	999.1	0.0	1097	8157	1.25	3.15	197.73	1.378	4	0.087	0.058	2974	3464	2277
8274	0.66	194.7	967.7	15.1	1127	8281	0.20	2.95	0.00	0.000	6	0.146	0.051	2947	2055	2273
8599	0.55	194.7	927.9	12.0	1158	8604	0.17	2.97	0.00	0.000	4	0.137	0.070	2919	632	2272
8710	0.57	214.4	916.7	9.3	1167	8737	0.00	2.85	20.20	1.426	6	0.000	0.044	2919	2073	2196
9054	0.60	239.9	885.0	9.1	1200	9087	0.00	2.95	26.73	1.382	4	0.000	0.058	2919	3467	2092
9147	0.61	250.8	875.9	9.6	1208	9165	0.00	2.83	12.40	1.223	6	0.000	0.048	2919	2081	2048
9482	0.65	280.4	845.2	9.0	1240	9519	0.12	2.85	30.52	1.359	4	0.075	0.054	2942	3456	1928
9541	0.59	280.4	838.7	11.9	1245	9546	0.00	2.80	0.00	0.000	6	0.000	0.048	2943	2093	1926
9866	0.52	280.4	800.4	12.3	1275	9868	0.17	0.00	0.00	0.000	6	0.127	0.000	2916	2092	1924
10185	0.55	300.3	770.1	9.3	1305	10215	0.00	2.80	21.00	1.384	4	0.000	0.056	2916	3461	1845
10242	0.60	303.9	764.5	9.9	1310	10252	0.00	2.72	5.12	0.887	6	0.000	0.048	2917	2112	1832
10572	0.65	350.8	734.8	8.4	1341	10627	0.12	2.83	48.53	1.282	4	0.071	0.054	2941	3457	1640
10722	0.65	350.8	718.0	11.9	1355	10726	0.00	2.72	0.00	0.000	6	0.000	0.049	2941	2114	1636
11045	0.65	350.8	680.1	11.9	1385	11050	0.00	2.72	0.00	0.000	4	0.000	0.053	2941	3465	1634
11153	0.65	350.8	667.4	11.8	1394	11157	0.00	2.70	0.00	0.000	6	0.000	0.046	2941	2107	1633
11476	0.65	350.8	628.8	12.1	1424	11481	0.00	2.97	0.00	0.000	4	0.000	0.066	2941	634	1633
11492	0.65	350.8	626.8	12.3	1425	11496	0.00	2.90	0.00	0.000	6	0.000	0.040	2941	2137	1633
11816	0.65	350.8	588.8	11.6	1455	11817	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2137	1632
12134	0.65	350.8	551.0	12.0	1485	12135	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2137	1632
12464	0.65	350.8	510.8	11.7	1544	12471	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2137	1632
12807	0.65	350.8	470.1	11.7	1605	12813	0.00	3.00	0.00	0.000	4	0.000	0.061	2941	632	1632
12831	0.65	350.8	467.0	11.9	1609	12837	0.00	2.85	0.00	0.000	6	0.000	0.039	2941	2136	1632
13170	0.65	350.8	426.0	12.2	1670	13175	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2136	1632
13508	0.65	350.8	385.8	10.8	1731	13513	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2136	1632
13845	0.65	350.8	346.2	10.7	1792	13853	0.00	3.00	0.00	0.000	4	0.000	0.061	2941	638	1632
13866	0.65	350.8	343.9	11.7	1795	13872	0.00	2.80	0.00	0.000	6	0.000	0.039	2941	2127	1632
14195	0.65	350.8	306.0	11.7	1856	14203	0.00	2.60	0.00	0.000	4	0.000	0.051	2941	3458	1632
14216	0.65	350.8	303.8	11.8	1859	14222	0.00	2.60	0.00	0.000	6	0.000	0.044	2941	2105	1631
14545	0.65	350.8	266.6	10.6	1920	14553	0.00	2.92	0.00	0.000	4	0.000	0.061	2941	635	1631
14577	0.65	350.8	263.2	11.7	1925	14583	0.00	2.80	0.00	0.000	6	0.000	0.038	2941	2121	1631
14906	0.65	350.8	226.8	10.5	1986	14914	0.00	2.62	0.00	0.000	4	0.000	0.050	2941	3464	1631
14938	0.65	350.8	223.3	11.6	1991	14944	0.00	2.62	0.00	0.000	6	0.000	0.043	2941	2099	1631
15268	0.65	350.8	188.2	10.8	2052	15276	0.00	2.90	0.00	0.000	4	0.000	0.061	2941	641	1631
15294	0.65	350.8	185.4	10.7	2056	15302	0.00	2.83	0.00	0.000	6	0.000	0.040	2941	2117	1631
15627	0.65	350.8	149.3	11.7	2117	15635	0.00	2.62	0.00	0.000	4	0.000	0.050	2941	3459	1631
15652	0.65	350.8	146.4	11.0	2121	15660	0.00	2.62	0.00	0.000	6	0.000	0.044	2940	2111	1631
15787	0.65	350.8	132.4	10.2	2146	15795	0.00	2.92	0.00	0.000	4	0.000	0.062	2941	644	1631
15817	0.65	350.8	129.1	10.1	2151	15825	0.00	2.83	0.00	0.000	6	0.000	0.039	2941	2121	1631
15951	0.67	360.4	115.8	9.7	2176	15967	0.00	2.62	9.00	0.819	4	0.000	0.050	2941	3472	1600
15990	0.67	360.4	111.9	10.2	2182	15998	0.00	2.65	0.00	0.000	6	0.000	0.042	2941	2112	1599
16125	0.67	367.6	98.9	9.8	2207	16140	0.00	2.92	8.35	0.806	4	0.000	0.062	2941	638	1571
16158	0.67	367.6	95.4	10.4	2212	16166	0.00	2.85	0.00	0.000	6	0.000	0.038	2941	2119	1571
16292	0.68	367.8	81.7	10.0	2237	16300	0.00	2.65	0.00	0.000	4	0.000	0.051	2941	3461	1570
16318	0.68	367.8	78.8	10.7	2241	16326	0.00	2.67	0.00	0.000	6	0.000	0.044	2941	2100	1570
16452	0.68	367.8	65.0	11.4	2266	16460	0.00	2.92	0.00	0.000	4	0.000	0.063	2941	640	1570
16478	0.68	367.8	62.1	10.1	2270	16486	0.00	2.85	0.00	0.000	6	0.000	0.039	2940	2118	1569
16612	0.68	371.6	47.9	9.9	2295	16628	0.00	2.65	5.25	0.698	4	0.000	0.049	2941	3459	1555
16645	0.68	371.6	43.9	12.1	2300	16652	0.00	2.62	0.00	0.000	6	0.000	0.043	2941	2123	1555
16779	0.68	371.6	31.7	10.6	2325	16787	0.00	2.97	0.00	0.000	4	0.000	0.064	2940	645	1555
16810	0.68	371.6	27.8	11.8	2330	16817	0.00	2.85	0.00	0.000	6	0.000	0.039	2941	2124	1554
16943	0.68	371.6	11.5	10.6	2355	16951	0.00	0.00	0.00	0.000	6	0.000	0.000	2941	2124	1554
17039	end climb: SURFACE_DEPTH_REACHED
state	17039	begin surface coast
17062	end surface coast: CONTROL_FINISHED_OK
state	17062	begin surface