Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 293 * 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 -1 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 293 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -18517.064 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 2 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 -18517.064

CAPUPLOAD 0 HEADING -1 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 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 18 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 2 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 293 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 083058,6157.166,-2602.138,35,99.0,54,-18.7 TGT_NAME NE

_CALLS 1 TGT_LATLONG 6156.130,-2600.200

_XMS_NAKs 1 TGT_RADIUS 2000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 083732,6157.178,-2602.191,11,1.1,11,-18.7 MHEAD_RNG_PITCHd_Wd 157.2,2604,-15.4,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.014549 _24V_AH 19.0,91.841

SM_CCo 17651,0.00,0.000,0,0,1231,451.11 _10V_AH 9.8,62.982

SM_GC 0.65,8.43,0.00,0.00,0.039,0.000,0.000,1434,2306,1231,-6.79,0.14,451.11 DATA_FILE_SIZE 136162,1872

IRIDIUM_FIX 6130.75,-2601.20,300897,050540 CAP_FILE_SIZE 176410,0

TT8_MAMPS 0.026845 CFSIZE 260165632,228749312

HUMID 1821 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.88752 CURRENT 0.025, 97.8,1

TCM_TEMP 14.80 GPS 050608,133331,6154.990,-2558.419,40,1.5,40,-18.7

XPDR_PINGS 961

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 248 114.50 SBE_CT 1309 24 597.01

Roll_motor 192 126 462.87 SBE_O2 1391 19 502.34

VBD_pump_during_apogee 692 1516 19945.01 Optode 700 33 439.51

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1725 105 3441.55

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 28 103 55.72 nil 0 0 0.00

Iridium_during_connect 39 160 121.57 nil 0 0 0.00

Iridium_during_xfer 199 223 846.37

Transponder_ping 240 420 1917.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.35

TT8 3848 19 746.83

LPSleep 9302 2 199.65

TT8_Active 881 19 171.09

TT8_Sampling 3367 39 1313.53

TT8_CF8 648 45 291.27

TT8_Kalman 0 0 0.00

Analog_circuits 2417 12 284.34

GPS_charging 0 0 0.00

Compass 3364 8 263.76

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.87 -183.4 0.0 0.0 0 95 0.00 0.00 -71.57 0.000 2 0.000 0.000 1436 2293 3538

99 -0.88 -194.7 3.4 -5.4 10 129 11.95 2.88 -8.50 0.000 4 0.249 0.056 2721 893 3867

186 -0.81 -194.7 21.1 -16.2 24 194 0.12 2.72 0.00 0.000 6 0.130 0.029 2738 2313 3868

332 -0.76 -194.7 39.7 -12.7 49 340 0.00 2.85 0.00 0.000 4 0.000 0.047 2738 888 3868

363 -0.76 -194.7 43.9 -12.0 54 371 0.00 2.65 0.00 0.000 6 0.000 0.029 2738 2270 3868

508 -0.72 -194.7 61.8 -12.8 79 515 0.15 2.85 0.00 0.000 4 0.142 0.043 2762 3705 3869

523 -0.72 -194.7 63.6 -12.6 81 530 0.00 2.80 0.00 0.000 6 0.000 0.034 2762 2273 3869

866 -0.72 -194.7 104.6 -11.7 142 873 0.00 2.85 0.00 0.000 4 0.000 0.044 2761 3700 3869

880 -0.72 -194.7 106.2 -11.4 144 888 0.00 2.80 0.00 0.000 6 0.000 0.035 2762 2267 3869

1228 -0.72 -194.7 142.3 -9.8 205 1234 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2266 3869

1572 -0.72 -194.7 177.8 -10.7 266 1580 0.00 2.88 0.00 0.000 4 0.000 0.045 2761 3701 3869

1586 -0.72 -194.7 179.3 -10.4 268 1594 0.00 2.80 0.00 0.000 6 0.000 0.034 2762 2264 3869

1933 -0.72 -194.7 218.5 -11.1 329 1940 0.00 2.88 0.00 0.000 4 0.000 0.044 2763 3700 3870

1947 -0.72 -194.7 220.0 -11.1 331 1954 0.00 2.80 0.00 0.000 6 0.000 0.033 2763 2266 3869

2293 -0.72 -194.7 257.7 -10.9 392 2300 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2265 3870

2638 -0.72 -194.7 293.8 -10.1 453 2644 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2265 3870

2982 -0.72 -194.7 327.5 -9.5 514 2990 0.00 2.90 0.00 0.000 4 0.000 0.045 2762 3707 3870

2997 -0.72 -194.7 328.8 -9.6 516 3004 0.00 2.80 0.00 0.000 6 0.000 0.034 2762 2273 3869

3335 -0.72 -194.7 361.4 -9.5 566 3340 0.00 2.88 0.00 0.000 4 0.000 0.046 2762 3701 3870

3353 -0.72 -194.7 363.0 -9.5 567 3358 0.00 2.78 0.00 0.000 6 0.000 0.034 2762 2282 3870

3681 -0.72 -194.7 392.3 -8.4 597 3686 0.00 2.85 0.00 0.000 4 0.000 0.046 2762 3700 3870

3700 -0.72 -194.7 394.0 -8.5 598 3704 0.00 2.78 0.00 0.000 6 0.000 0.034 2762 2279 3869

4029 -0.72 -194.7 421.9 -8.7 628 4033 0.00 2.88 0.00 0.000 4 0.000 0.046 2762 3707 3869

4039 -0.72 -194.7 423.2 -9.1 628 4046 0.00 2.78 0.00 0.000 6 0.000 0.034 2762 2288 3870

4366 -0.72 -194.7 453.4 -9.2 659 4371 0.00 2.85 0.00 0.000 4 0.000 0.046 2762 3703 3869

4384 -0.72 -194.7 455.2 -9.2 660 4388 0.00 2.78 0.00 0.000 6 0.000 0.035 2762 2288 3870

4712 -0.72 -194.7 486.4 -9.5 690 4717 0.00 2.85 0.00 0.000 4 0.000 0.047 2762 3700 3869

4734 -0.72 -194.7 488.9 -9.5 691 4741 0.00 2.75 0.00 0.000 6 0.000 0.035 2762 2296 3869

5061 -0.72 -194.7 518.9 -9.3 722 5065 0.00 2.85 0.00 0.000 4 0.000 0.048 2762 3705 3869

5078 -0.72 -194.7 520.6 -9.1 723 5083 0.00 2.75 0.00 0.000 6 0.000 0.035 2762 2305 3869

5406 -0.72 -194.7 553.5 -10.7 753 5410 0.00 2.83 0.00 0.000 4 0.000 0.049 2762 3699 3869

5422 -0.72 -194.7 555.6 -10.3 754 5427 0.00 2.75 0.00 0.000 6 0.000 0.035 2762 2302 3869

5750 -0.72 -194.7 588.3 -9.6 784 5754 0.00 2.85 0.00 0.000 4 0.000 0.051 2762 3699 3869

5767 -0.72 -194.7 590.2 -9.5 785 5772 0.00 2.75 0.00 0.000 6 0.000 0.036 2762 2305 3869

6097 -0.72 -194.7 623.4 -9.9 805 6101 0.00 2.88 0.00 0.000 4 0.000 0.054 2762 3706 3869

6138 -0.77 -194.7 627.3 -10.1 807 6142 0.00 2.75 0.00 0.000 6 0.000 0.038 2762 2318 3869

6465 -0.81 -194.7 659.3 -9.5 823 6470 0.00 2.85 0.00 0.000 4 0.000 0.057 2761 3697 3869

6483 -0.81 -194.7 661.0 -9.2 824 6487 0.00 2.75 0.00 0.000 6 0.000 0.041 2762 2317 3868

6810 -0.81 -194.7 692.3 -9.4 840 6814 0.00 2.90 0.00 0.000 4 0.000 0.061 2762 3701 3868

6832 -0.85 -194.7 694.5 -9.7 841 6837 0.15 2.78 0.00 0.000 6 0.067 0.044 2734 2322 3868

7154 -0.85 -194.7 734.1 -12.6 857 7159 0.00 2.92 0.00 0.000 4 0.000 0.067 2734 3697 3868

7164 -0.85 -194.7 735.6 -12.6 857 7171 0.00 2.83 0.00 0.000 6 0.000 0.050 2734 2317 3868

7480 -0.85 -194.7 774.4 -12.1 873 7481 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2315 3868

7789 -0.85 -194.7 809.4 -11.2 888 7794 0.00 3.28 0.00 0.000 4 0.000 0.105 2734 889 3868

7829 -0.85 -194.7 814.0 -11.5 890 7834 0.00 3.05 0.00 0.000 6 0.000 0.077 2733 2291 3867

8156 -0.85 -194.7 850.8 -11.7 906 8157 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2291 3867

8466 -0.85 -194.7 886.1 -11.5 921 8467 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2291 3867

8777 -1.14 -194.7 895.9 -0.0 936 8779 0.32 0.00 0.00 0.000 6 0.059 0.000 2672 2291 3867

8875 end dive: NO_VERTICAL_VELOCITY

state 8876 begin apogee

8882 -0.21 0.0 895.8 0.0 941 9098 1.12 0.00 209.30 1.516 6 0.084 0.000 2872 2750 3071

9099 end apogee: CONTROL_FINISHED_OK

state 9099 begin climb

9102 0.88 194.7 895.7 0.0 952 9320 1.40 0.00 213.15 1.450 6 0.081 0.000 3104 2750 2277

9620 0.75 194.7 841.8 12.2 977 9625 0.00 2.67 0.00 0.000 4 0.000 0.112 3104 3908 2274

9683 0.61 194.7 833.7 12.9 980 9688 0.32 2.55 0.00 0.000 6 0.118 0.080 3055 2756 2274

10010 0.70 262.0 806.9 7.5 996 10083 0.00 0.00 69.93 1.420 6 0.000 0.000 3055 2755 2002

10387 0.77 320.5 777.1 7.8 1014 10456 0.15 3.22 61.50 1.401 4 0.060 0.074 3088 1336 1763

10502 0.77 320.5 764.8 11.1 1019 10507 0.00 3.03 0.00 0.000 6 0.000 0.054 3088 2751 1761

10829 0.77 320.5 729.1 10.7 1035 10833 0.00 2.40 0.00 0.000 4 0.000 0.069 3088 3902 1757

10901 0.77 320.5 720.7 11.8 1038 10905 0.00 2.33 0.00 0.000 6 0.000 0.044 3088 2748 1756

11218 0.72 320.5 687.8 10.5 1053 11219 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2748 1755

11526 0.72 320.5 654.7 10.3 1068 11531 0.00 2.40 0.00 0.000 4 0.000 0.059 3088 3911 1755

11570 0.72 320.5 649.8 11.1 1070 11574 0.00 2.28 0.00 0.000 6 0.000 0.036 3088 2748 1754

11898 0.72 320.5 615.9 10.3 1086 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2748 1754

12212 0.72 320.5 583.1 10.1 1108 12216 0.00 2.38 0.00 0.000 4 0.000 0.054 3088 3911 1754

12252 0.72 320.5 578.9 10.1 1111 12256 0.00 2.20 0.00 0.000 6 0.000 0.032 3088 2765 1753

12582 0.75 341.0 547.7 9.2 1142 12609 0.00 2.92 20.65 1.239 4 0.000 0.049 3088 1342 1679

12651 0.76 348.9 540.9 9.7 1148 12667 0.00 2.85 10.05 1.145 6 0.000 0.032 3088 2783 1648

12994 0.76 348.9 502.5 12.0 1180 12998 0.00 2.22 0.00 0.000 4 0.000 0.051 3088 3901 1645

13045 0.76 348.9 496.1 12.7 1184 13049 0.00 2.20 0.00 0.000 6 0.000 0.033 3088 2766 1645

13372 0.76 348.9 456.0 12.8 1214 13376 0.00 2.85 0.00 0.000 4 0.000 0.048 3088 1337 1644

13412 0.76 348.9 450.6 13.1 1217 13417 0.00 2.83 0.00 0.000 6 0.000 0.031 3088 2786 1644

13737 0.76 348.9 409.4 11.7 1247 13739 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2786 1644

14056 0.76 348.9 373.2 11.0 1277 14058 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2786 1644

14379 0.76 348.9 338.7 10.5 1316 14387 0.00 2.90 0.00 0.000 4 0.000 0.044 3088 1339 1643

14427 0.76 348.9 333.6 10.8 1324 14435 0.00 2.80 0.00 0.000 6 0.000 0.031 3088 2774 1643

14773 0.76 348.9 298.3 11.0 1385 14780 0.00 2.22 0.00 0.000 4 0.000 0.050 3088 3900 1643

14814 0.76 348.9 293.8 10.1 1392 14822 0.00 2.22 0.00 0.000 6 0.000 0.031 3088 2756 1643

15160 0.76 348.9 256.1 11.2 1453 15167 0.00 2.80 0.00 0.000 4 0.000 0.045 3089 1341 1643

15212 0.76 348.9 250.0 11.4 1462 15220 0.00 2.78 0.00 0.000 6 0.000 0.030 3088 2770 1643

15558 0.76 348.9 210.8 11.3 1523 15565 0.00 2.20 0.00 0.000 4 0.000 0.049 3088 3888 1643

15599 0.76 348.9 206.0 11.2 1530 15607 0.00 2.20 0.00 0.000 6 0.000 0.031 3088 2758 1642

15946 0.78 365.7 170.4 9.4 1591 15973 0.00 2.85 17.95 0.992 4 0.000 0.045 3088 1340 1580

16019 0.80 382.1 163.3 9.4 1603 16046 0.00 2.78 18.60 1.021 6 0.000 0.031 3088 2757 1513

16386 0.81 393.3 128.6 9.6 1667 16400 0.00 0.00 12.45 0.929 6 0.000 0.000 3088 2757 1467

16738 0.88 445.0 96.9 8.1 1729 16799 0.12 0.00 53.85 0.991 6 0.057 0.000 3117 2757 1255

17139 0.88 445.0 50.0 11.1 1798 17146 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2757 1250

17282 0.88 445.0 32.1 10.5 1823 17289 0.00 2.83 0.00 0.000 4 0.000 0.044 3117 1344 1248

17330 0.88 445.0 26.3 10.8 1831 17338 0.00 2.72 0.00 0.000 6 0.000 0.031 3117 2750 1247

17474 0.88 445.0 10.3 12.2 1856 17481 0.00 2.25 0.00 0.000 4 0.000 0.049 3117 3888 1247

17522 0.88 450.6 5.1 9.8 1864 17537 0.00 2.17 4.85 0.636 6 0.000 0.031 3117 2752 1234

17553 end climb: SURFACE_DEPTH_REACHED

state 17554 begin surface coast

17571 end surface coast: CONTROL_FINISHED_OK

state 17572 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	293	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-18517.064	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	2	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	083058,6157.166,-2602.138,35,99.0,54,-18.7	TGT_NAME	NE
_CALLS	1	TGT_LATLONG	6156.130,-2600.200
_XMS_NAKs	1	TGT_RADIUS	2000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	083732,6157.178,-2602.191,11,1.1,11,-18.7	MHEAD_RNG_PITCHd_Wd	157.2,2604,-15.4,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.0,1.014549	_24V_AH	19.0,91.841
SM_CCo	17651,0.00,0.000,0,0,1231,451.11	_10V_AH	9.8,62.982
SM_GC	0.65,8.43,0.00,0.00,0.039,0.000,0.000,1434,2306,1231,-6.79,0.14,451.11	DATA_FILE_SIZE	136162,1872
IRIDIUM_FIX	6130.75,-2601.20,300897,050540	CAP_FILE_SIZE	176410,0
TT8_MAMPS	0.026845	CFSIZE	260165632,228749312
HUMID	1821	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.88752	CURRENT	0.025, 97.8,1
TCM_TEMP	14.80	GPS	050608,133331,6154.990,-2558.419,40,1.5,40,-18.7
XPDR_PINGS	961

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	248	114.50	SBE_CT	1309	24	597.01
Roll_motor	192	126	462.87	SBE_O2	1391	19	502.34
VBD_pump_during_apogee	692	1516	19945.01	Optode	700	33	439.51
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1725	105	3441.55
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	28	103	55.72	nil	0	0	0.00
Iridium_during_connect	39	160	121.57	nil	0	0	0.00
Iridium_during_xfer	199	223	846.37
Transponder_ping	240	420	1917.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.35
TT8	3848	19	746.83
LPSleep	9302	2	199.65
TT8_Active	881	19	171.09
TT8_Sampling	3367	39	1313.53
TT8_CF8	648	45	291.27
TT8_Kalman	0	0	0.00
Analog_circuits	2417	12	284.34
GPS_charging	0	0	0.00
Compass	3364	8	263.76
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.87	-183.4	0.0	0.0	0	95	0.00	0.00	-71.57	0.000	2	0.000	0.000	1436	2293	3538
99	-0.88	-194.7	3.4	-5.4	10	129	11.95	2.88	-8.50	0.000	4	0.249	0.056	2721	893	3867
186	-0.81	-194.7	21.1	-16.2	24	194	0.12	2.72	0.00	0.000	6	0.130	0.029	2738	2313	3868
332	-0.76	-194.7	39.7	-12.7	49	340	0.00	2.85	0.00	0.000	4	0.000	0.047	2738	888	3868
363	-0.76	-194.7	43.9	-12.0	54	371	0.00	2.65	0.00	0.000	6	0.000	0.029	2738	2270	3868
508	-0.72	-194.7	61.8	-12.8	79	515	0.15	2.85	0.00	0.000	4	0.142	0.043	2762	3705	3869
523	-0.72	-194.7	63.6	-12.6	81	530	0.00	2.80	0.00	0.000	6	0.000	0.034	2762	2273	3869
866	-0.72	-194.7	104.6	-11.7	142	873	0.00	2.85	0.00	0.000	4	0.000	0.044	2761	3700	3869
880	-0.72	-194.7	106.2	-11.4	144	888	0.00	2.80	0.00	0.000	6	0.000	0.035	2762	2267	3869
1228	-0.72	-194.7	142.3	-9.8	205	1234	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2266	3869
1572	-0.72	-194.7	177.8	-10.7	266	1580	0.00	2.88	0.00	0.000	4	0.000	0.045	2761	3701	3869
1586	-0.72	-194.7	179.3	-10.4	268	1594	0.00	2.80	0.00	0.000	6	0.000	0.034	2762	2264	3869
1933	-0.72	-194.7	218.5	-11.1	329	1940	0.00	2.88	0.00	0.000	4	0.000	0.044	2763	3700	3870
1947	-0.72	-194.7	220.0	-11.1	331	1954	0.00	2.80	0.00	0.000	6	0.000	0.033	2763	2266	3869
2293	-0.72	-194.7	257.7	-10.9	392	2300	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2265	3870
2638	-0.72	-194.7	293.8	-10.1	453	2644	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2265	3870
2982	-0.72	-194.7	327.5	-9.5	514	2990	0.00	2.90	0.00	0.000	4	0.000	0.045	2762	3707	3870
2997	-0.72	-194.7	328.8	-9.6	516	3004	0.00	2.80	0.00	0.000	6	0.000	0.034	2762	2273	3869
3335	-0.72	-194.7	361.4	-9.5	566	3340	0.00	2.88	0.00	0.000	4	0.000	0.046	2762	3701	3870
3353	-0.72	-194.7	363.0	-9.5	567	3358	0.00	2.78	0.00	0.000	6	0.000	0.034	2762	2282	3870
3681	-0.72	-194.7	392.3	-8.4	597	3686	0.00	2.85	0.00	0.000	4	0.000	0.046	2762	3700	3870
3700	-0.72	-194.7	394.0	-8.5	598	3704	0.00	2.78	0.00	0.000	6	0.000	0.034	2762	2279	3869
4029	-0.72	-194.7	421.9	-8.7	628	4033	0.00	2.88	0.00	0.000	4	0.000	0.046	2762	3707	3869
4039	-0.72	-194.7	423.2	-9.1	628	4046	0.00	2.78	0.00	0.000	6	0.000	0.034	2762	2288	3870
4366	-0.72	-194.7	453.4	-9.2	659	4371	0.00	2.85	0.00	0.000	4	0.000	0.046	2762	3703	3869
4384	-0.72	-194.7	455.2	-9.2	660	4388	0.00	2.78	0.00	0.000	6	0.000	0.035	2762	2288	3870
4712	-0.72	-194.7	486.4	-9.5	690	4717	0.00	2.85	0.00	0.000	4	0.000	0.047	2762	3700	3869
4734	-0.72	-194.7	488.9	-9.5	691	4741	0.00	2.75	0.00	0.000	6	0.000	0.035	2762	2296	3869
5061	-0.72	-194.7	518.9	-9.3	722	5065	0.00	2.85	0.00	0.000	4	0.000	0.048	2762	3705	3869
5078	-0.72	-194.7	520.6	-9.1	723	5083	0.00	2.75	0.00	0.000	6	0.000	0.035	2762	2305	3869
5406	-0.72	-194.7	553.5	-10.7	753	5410	0.00	2.83	0.00	0.000	4	0.000	0.049	2762	3699	3869
5422	-0.72	-194.7	555.6	-10.3	754	5427	0.00	2.75	0.00	0.000	6	0.000	0.035	2762	2302	3869
5750	-0.72	-194.7	588.3	-9.6	784	5754	0.00	2.85	0.00	0.000	4	0.000	0.051	2762	3699	3869
5767	-0.72	-194.7	590.2	-9.5	785	5772	0.00	2.75	0.00	0.000	6	0.000	0.036	2762	2305	3869
6097	-0.72	-194.7	623.4	-9.9	805	6101	0.00	2.88	0.00	0.000	4	0.000	0.054	2762	3706	3869
6138	-0.77	-194.7	627.3	-10.1	807	6142	0.00	2.75	0.00	0.000	6	0.000	0.038	2762	2318	3869
6465	-0.81	-194.7	659.3	-9.5	823	6470	0.00	2.85	0.00	0.000	4	0.000	0.057	2761	3697	3869
6483	-0.81	-194.7	661.0	-9.2	824	6487	0.00	2.75	0.00	0.000	6	0.000	0.041	2762	2317	3868
6810	-0.81	-194.7	692.3	-9.4	840	6814	0.00	2.90	0.00	0.000	4	0.000	0.061	2762	3701	3868
6832	-0.85	-194.7	694.5	-9.7	841	6837	0.15	2.78	0.00	0.000	6	0.067	0.044	2734	2322	3868
7154	-0.85	-194.7	734.1	-12.6	857	7159	0.00	2.92	0.00	0.000	4	0.000	0.067	2734	3697	3868
7164	-0.85	-194.7	735.6	-12.6	857	7171	0.00	2.83	0.00	0.000	6	0.000	0.050	2734	2317	3868
7480	-0.85	-194.7	774.4	-12.1	873	7481	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2315	3868
7789	-0.85	-194.7	809.4	-11.2	888	7794	0.00	3.28	0.00	0.000	4	0.000	0.105	2734	889	3868
7829	-0.85	-194.7	814.0	-11.5	890	7834	0.00	3.05	0.00	0.000	6	0.000	0.077	2733	2291	3867
8156	-0.85	-194.7	850.8	-11.7	906	8157	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2291	3867
8466	-0.85	-194.7	886.1	-11.5	921	8467	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2291	3867
8777	-1.14	-194.7	895.9	-0.0	936	8779	0.32	0.00	0.00	0.000	6	0.059	0.000	2672	2291	3867
8875	end dive: NO_VERTICAL_VELOCITY
state	8876	begin apogee
8882	-0.21	0.0	895.8	0.0	941	9098	1.12	0.00	209.30	1.516	6	0.084	0.000	2872	2750	3071
9099	end apogee: CONTROL_FINISHED_OK
state	9099	begin climb
9102	0.88	194.7	895.7	0.0	952	9320	1.40	0.00	213.15	1.450	6	0.081	0.000	3104	2750	2277
9620	0.75	194.7	841.8	12.2	977	9625	0.00	2.67	0.00	0.000	4	0.000	0.112	3104	3908	2274
9683	0.61	194.7	833.7	12.9	980	9688	0.32	2.55	0.00	0.000	6	0.118	0.080	3055	2756	2274
10010	0.70	262.0	806.9	7.5	996	10083	0.00	0.00	69.93	1.420	6	0.000	0.000	3055	2755	2002
10387	0.77	320.5	777.1	7.8	1014	10456	0.15	3.22	61.50	1.401	4	0.060	0.074	3088	1336	1763
10502	0.77	320.5	764.8	11.1	1019	10507	0.00	3.03	0.00	0.000	6	0.000	0.054	3088	2751	1761
10829	0.77	320.5	729.1	10.7	1035	10833	0.00	2.40	0.00	0.000	4	0.000	0.069	3088	3902	1757
10901	0.77	320.5	720.7	11.8	1038	10905	0.00	2.33	0.00	0.000	6	0.000	0.044	3088	2748	1756
11218	0.72	320.5	687.8	10.5	1053	11219	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2748	1755
11526	0.72	320.5	654.7	10.3	1068	11531	0.00	2.40	0.00	0.000	4	0.000	0.059	3088	3911	1755
11570	0.72	320.5	649.8	11.1	1070	11574	0.00	2.28	0.00	0.000	6	0.000	0.036	3088	2748	1754
11898	0.72	320.5	615.9	10.3	1086	11899	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2748	1754
12212	0.72	320.5	583.1	10.1	1108	12216	0.00	2.38	0.00	0.000	4	0.000	0.054	3088	3911	1754
12252	0.72	320.5	578.9	10.1	1111	12256	0.00	2.20	0.00	0.000	6	0.000	0.032	3088	2765	1753
12582	0.75	341.0	547.7	9.2	1142	12609	0.00	2.92	20.65	1.239	4	0.000	0.049	3088	1342	1679
12651	0.76	348.9	540.9	9.7	1148	12667	0.00	2.85	10.05	1.145	6	0.000	0.032	3088	2783	1648
12994	0.76	348.9	502.5	12.0	1180	12998	0.00	2.22	0.00	0.000	4	0.000	0.051	3088	3901	1645
13045	0.76	348.9	496.1	12.7	1184	13049	0.00	2.20	0.00	0.000	6	0.000	0.033	3088	2766	1645
13372	0.76	348.9	456.0	12.8	1214	13376	0.00	2.85	0.00	0.000	4	0.000	0.048	3088	1337	1644
13412	0.76	348.9	450.6	13.1	1217	13417	0.00	2.83	0.00	0.000	6	0.000	0.031	3088	2786	1644
13737	0.76	348.9	409.4	11.7	1247	13739	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2786	1644
14056	0.76	348.9	373.2	11.0	1277	14058	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2786	1644
14379	0.76	348.9	338.7	10.5	1316	14387	0.00	2.90	0.00	0.000	4	0.000	0.044	3088	1339	1643
14427	0.76	348.9	333.6	10.8	1324	14435	0.00	2.80	0.00	0.000	6	0.000	0.031	3088	2774	1643
14773	0.76	348.9	298.3	11.0	1385	14780	0.00	2.22	0.00	0.000	4	0.000	0.050	3088	3900	1643
14814	0.76	348.9	293.8	10.1	1392	14822	0.00	2.22	0.00	0.000	6	0.000	0.031	3088	2756	1643
15160	0.76	348.9	256.1	11.2	1453	15167	0.00	2.80	0.00	0.000	4	0.000	0.045	3089	1341	1643
15212	0.76	348.9	250.0	11.4	1462	15220	0.00	2.78	0.00	0.000	6	0.000	0.030	3088	2770	1643
15558	0.76	348.9	210.8	11.3	1523	15565	0.00	2.20	0.00	0.000	4	0.000	0.049	3088	3888	1643
15599	0.76	348.9	206.0	11.2	1530	15607	0.00	2.20	0.00	0.000	6	0.000	0.031	3088	2758	1642
15946	0.78	365.7	170.4	9.4	1591	15973	0.00	2.85	17.95	0.992	4	0.000	0.045	3088	1340	1580
16019	0.80	382.1	163.3	9.4	1603	16046	0.00	2.78	18.60	1.021	6	0.000	0.031	3088	2757	1513
16386	0.81	393.3	128.6	9.6	1667	16400	0.00	0.00	12.45	0.929	6	0.000	0.000	3088	2757	1467
16738	0.88	445.0	96.9	8.1	1729	16799	0.12	0.00	53.85	0.991	6	0.057	0.000	3117	2757	1255
17139	0.88	445.0	50.0	11.1	1798	17146	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2757	1250
17282	0.88	445.0	32.1	10.5	1823	17289	0.00	2.83	0.00	0.000	4	0.000	0.044	3117	1344	1248
17330	0.88	445.0	26.3	10.8	1831	17338	0.00	2.72	0.00	0.000	6	0.000	0.031	3117	2750	1247
17474	0.88	445.0	10.3	12.2	1856	17481	0.00	2.25	0.00	0.000	4	0.000	0.049	3117	3888	1247
17522	0.88	450.6	5.1	9.8	1864	17537	0.00	2.17	4.85	0.636	6	0.000	0.031	3117	2752	1234
17553	end climb: SURFACE_DEPTH_REACHED
state	17554	begin surface coast
17571	end surface coast: CONTROL_FINISHED_OK
state	17572	begin surface