Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 294 * 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 -1 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 294 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 11 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 390 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 -18650.127 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 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 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 2 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 -18650.127

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 390

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 13 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 11 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 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 294 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 080908,6156.805,-2613.752,28,1.0,28,-18.8 TGT_NAME SE

_CALLS 1 TGT_LATLONG 6137.290,-2543.110

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081709,6156.782,-2613.753,15,1.0,15,-18.8 MHEAD_RNG_PITCHd_Wd 162.0,45063,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027524 _24V_AH 23.2,62.992

SM_CCo 18309,0.00,0.000,0,0,1789,317.66 _10V_AH 10.6,52.093

SM_GC 1.30,11.52,0.00,0.00,0.044,0.000,0.000,590,2239,1789,-10.85,0.11,317.66 DATA_FILE_SIZE 120004,1978

IRIDIUM_FIX 6135.28,-2617.54,050997,030317 CAP_FILE_SIZE 182900,0

TT8_MAMPS 0.02301 CFSIZE 260165632,227827712

HUMID 1710 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,2,0,0

INTERNAL_PRESSURE 8.42806 CURRENT 0.064, 19.9,1

TCM_TEMP 17.90 GPS 110608,132338,6155.341,-2610.080,26,1.5,26,-18.8

XPDR_PINGS 388

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 184 114.35 SBE_CT 1370 24 763.21

Roll_motor 198 129 595.51 SBE_O2 1502 19 662.42

VBD_pump_during_apogee 435 1339 13542.19 WL_BB2F 1852 105 4513.01

VBD_pump_during_surface 0 0 0.00 Optode 594 33 455.12

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.67 nil 0 0 0.00

Iridium_during_connect 36 160 136.05 nil 0 0 0.00

Iridium_during_xfer 265 223 1374.45

Transponder_ping 97 420 945.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.12

TT8 4054 19 851.04

LPSleep 9765 2 226.69

TT8_Active 690 19 145.02

TT8_Sampling 3531 39 1489.67

TT8_CF8 727 45 353.05

TT8_Kalman 0 0 0.00

Analog_circuits 2249 12 286.10

GPS_charging 0 0 0.00

Compass 3523 8 298.83

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 -1.29 -194.7 0.0 0.0 0 96 0.00 0.00 -73.05 0.000 2 0.000 0.000 589 2232 3399

99 -1.29 -194.7 3.2 -5.7 10 130 12.30 2.78 -11.00 0.000 4 0.184 0.107 2672 825 3879

284 -1.29 -194.7 23.8 -9.3 41 291 0.00 2.65 0.00 0.000 6 0.000 0.082 2672 2243 3881

427 -1.29 -194.7 36.2 -8.0 66 434 0.00 2.65 0.00 0.000 4 0.000 0.088 2672 3650 3881

460 -1.29 -194.7 38.9 -8.4 71 468 0.00 2.67 0.00 0.000 6 0.000 0.078 2672 2214 3881

604 -1.29 -194.7 49.5 -7.5 96 611 0.00 2.65 0.00 0.000 4 0.000 0.094 2672 824 3881

640 -1.29 -194.7 52.4 -7.7 102 647 0.00 2.65 0.00 0.000 6 0.000 0.082 2672 2241 3881

985 -1.29 -194.7 81.1 -8.7 163 991 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2241 3881

1329 -1.29 -194.7 113.4 -9.9 224 1337 0.00 2.75 0.00 0.000 4 0.000 0.100 2672 826 3882

1360 -1.29 -194.7 116.6 -10.2 229 1367 0.00 2.67 0.00 0.000 6 0.000 0.087 2672 2234 3882

1706 -1.29 -194.7 148.2 -8.2 290 1713 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2234 3882

2051 -1.29 -194.7 173.2 -7.5 351 2058 0.00 2.75 0.00 0.000 4 0.000 0.104 2672 826 3882

2088 -1.29 -194.7 176.1 -7.8 357 2095 0.00 2.62 0.00 0.000 6 0.000 0.089 2672 2208 3882

2434 -1.29 -194.7 204.2 -8.5 418 2442 0.00 2.80 0.00 0.000 4 0.000 0.105 2672 3649 3882

2471 -1.29 -194.7 207.4 -8.7 424 2478 0.00 2.72 0.00 0.000 6 0.000 0.087 2672 2209 3882

2817 -1.29 -194.7 238.0 -8.9 485 2824 0.00 2.70 0.00 0.000 4 0.000 0.108 2672 824 3882

2848 -1.29 -194.7 240.9 -9.4 490 2855 0.00 2.65 0.00 0.000 6 0.000 0.093 2672 2209 3882

3194 -1.29 -194.7 271.6 -8.8 551 3201 0.00 2.83 0.00 0.000 4 0.000 0.108 2672 3650 3881

3225 -1.29 -194.7 274.4 -9.1 556 3233 0.00 2.72 0.00 0.000 6 0.000 0.088 2672 2212 3882

3571 -1.29 -194.7 305.5 -9.6 617 3578 0.00 2.75 0.00 0.000 4 0.000 0.111 2672 821 3881

3602 -1.29 -194.7 308.6 -10.1 622 3609 0.00 2.67 0.00 0.000 6 0.000 0.094 2672 2214 3882

3947 -1.29 -194.7 342.6 -9.7 683 3954 0.00 2.80 0.00 0.000 4 0.000 0.108 2672 3644 3881

3983 -1.29 -194.7 346.4 -10.0 689 3990 0.00 2.72 0.00 0.000 6 0.000 0.089 2672 2209 3881

4314 -1.29 -194.7 378.6 -9.7 723 4319 0.00 2.75 0.00 0.000 4 0.000 0.114 2672 818 3881

4343 -1.29 -194.7 381.7 -10.2 725 4348 0.00 2.70 0.00 0.000 6 0.000 0.096 2672 2220 3881

4670 -1.29 -194.7 412.4 -8.7 755 4675 0.00 2.80 0.00 0.000 4 0.000 0.108 2672 3650 3881

4699 -1.29 -194.7 415.2 -9.4 757 4704 0.00 2.75 0.00 0.000 6 0.000 0.091 2672 2206 3881

5027 -1.29 -194.7 443.2 -8.4 787 5032 0.00 2.75 0.00 0.000 4 0.000 0.115 2672 817 3881

5067 -1.29 -194.7 446.8 -8.5 790 5071 0.00 2.67 0.00 0.000 6 0.000 0.097 2672 2205 3881

5394 -1.29 -194.7 473.1 -7.7 820 5399 0.00 2.85 0.00 0.000 4 0.000 0.113 2672 3649 3881

5413 -1.29 -194.7 474.7 -7.6 821 5417 0.00 2.75 0.00 0.000 6 0.000 0.091 2672 2206 3881

5741 -1.29 -194.7 499.9 -7.7 851 5745 0.00 2.75 0.00 0.000 4 0.000 0.117 2672 824 3880

5773 -1.29 -194.7 502.9 -8.7 853 5780 0.00 2.67 0.00 0.000 6 0.000 0.098 2672 2207 3880

6100 -1.29 -194.7 528.4 -8.5 884 6105 0.00 2.85 0.00 0.000 4 0.000 0.114 2672 3648 3880

6142 -1.29 -194.7 532.2 -9.2 887 6147 0.00 2.78 0.00 0.000 6 0.000 0.092 2671 2193 3880

6470 -1.29 -194.7 560.0 -8.7 917 6474 0.00 2.72 0.00 0.000 4 0.000 0.117 2672 822 3880

6503 -1.29 -194.7 563.2 -9.5 919 6510 0.00 2.67 0.00 0.000 6 0.000 0.100 2672 2203 3879

6829 -1.29 -194.7 594.0 -9.8 950 6834 0.00 2.85 0.00 0.000 4 0.000 0.112 2672 3651 3879

6861 -1.29 -194.7 597.7 -10.8 952 6869 0.00 2.80 0.00 0.000 6 0.000 0.093 2672 2201 3879

7179 -1.29 -194.7 631.5 -10.9 969 7183 0.00 2.75 0.00 0.000 4 0.000 0.120 2672 824 3879

7196 -1.29 -194.7 633.5 -10.7 970 7200 0.00 2.70 0.00 0.000 6 0.000 0.101 2672 2214 3879

7522 -1.29 -194.7 666.5 -9.5 986 7527 0.00 2.85 0.00 0.000 4 0.000 0.117 2672 3645 3879

7563 -1.29 -194.7 670.2 -9.5 988 7567 0.00 2.78 0.00 0.000 6 0.000 0.096 2672 2200 3879

7889 -1.29 -194.7 700.5 -9.3 1004 7894 0.00 2.78 0.00 0.000 4 0.000 0.123 2672 821 3879

7933 -1.29 -194.7 704.9 -9.6 1006 7937 0.00 2.67 0.00 0.000 6 0.000 0.103 2672 2191 3879

8256 -1.29 -194.7 731.5 -8.1 1022 8260 0.00 2.95 0.00 0.000 4 0.000 0.125 2672 3649 3879

8283 -1.29 -194.7 734.1 -8.9 1023 8287 0.00 2.83 0.00 0.000 6 0.000 0.099 2671 2186 3880

8599 -1.29 -194.7 760.7 -8.3 1038 8604 0.00 2.75 0.00 0.000 4 0.000 0.126 2672 825 3879

8621 -1.29 -194.7 762.6 -8.2 1039 8625 0.00 2.70 0.00 0.000 6 0.000 0.103 2672 2209 3879

8944 -1.29 -194.7 788.3 -8.6 1055 8945 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2210 3879

9252 -1.29 -194.7 816.9 -9.3 1070 9253 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2210 3878

9561 -1.29 -194.7 845.5 -8.4 1085 9562 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2210 3878

9870 -1.29 -194.7 872.6 -8.3 1100 9871 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2210 3878

10094 end dive: NO_VERTICAL_VELOCITY

state 10094 begin apogee

10101 -0.35 0.0 875.1 0.0 1111 10269 0.95 0.00 164.35 1.340 6 0.052 0.000 2889 2337 3085

10269 end apogee: CONTROL_FINISHED_OK

state 10269 begin climb

10272 1.29 194.7 875.0 0.0 1119 10443 1.58 3.03 161.12 1.297 4 0.054 0.127 3240 915 2291

10477 1.22 194.7 860.4 13.0 1127 10482 0.00 2.83 0.00 0.000 6 0.000 0.107 3240 2330 2290

10793 1.14 194.7 821.5 12.2 1142 10795 0.17 0.00 0.00 0.000 6 0.106 0.000 3209 2330 2289

11104 1.09 194.7 788.2 10.7 1157 11108 0.00 2.90 0.00 0.000 4 0.000 0.124 3209 3737 2288

11125 1.04 194.7 785.5 11.3 1158 11130 0.12 2.80 0.00 0.000 6 0.112 0.100 3186 2318 2289

11446 1.06 217.0 754.6 9.2 1174 11472 0.00 2.95 19.92 1.213 4 0.000 0.126 3186 924 2200

11496 1.07 223.4 749.6 9.8 1176 11514 0.00 2.75 7.45 1.037 6 0.000 0.103 3186 2315 2173

11822 1.14 279.2 722.4 8.1 1192 11873 0.00 0.00 49.12 1.210 6 0.000 0.000 3186 2314 1946

12172 1.18 309.3 691.3 9.0 1209 12201 0.12 0.00 27.00 1.174 6 0.065 0.000 3218 2314 1824

12501 1.18 309.3 654.3 11.1 1225 12503 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2314 1820

12810 1.18 309.3 621.0 10.9 1240 12814 0.00 2.78 0.00 0.000 4 0.000 0.113 3218 919 1819

12836 1.18 309.3 617.6 12.1 1241 12841 0.00 2.72 0.00 0.000 6 0.000 0.099 3218 2317 1820

13158 1.18 309.3 583.1 11.3 1263 13162 0.00 2.88 0.00 0.000 4 0.000 0.118 3218 3737 1819

13174 1.18 309.3 581.1 11.3 1264 13179 0.00 2.80 0.00 0.000 6 0.000 0.093 3218 2302 1818

13500 1.18 316.2 547.0 9.8 1294 13511 0.00 0.00 6.65 0.969 6 0.000 0.000 3218 2302 1795

13830 1.18 316.2 513.4 10.0 1325 13831 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2302 1794

14147 1.18 316.2 478.6 11.2 1355 14148 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2302 1794

14465 1.18 316.2 443.3 11.1 1385 14469 0.00 2.72 0.00 0.000 4 0.000 0.110 3218 912 1794

14482 1.18 316.2 441.3 11.4 1386 14487 0.00 2.70 0.00 0.000 6 0.000 0.094 3218 2317 1795

14807 1.18 316.2 405.4 11.1 1416 14811 0.00 2.83 0.00 0.000 4 0.000 0.110 3218 3738 1794

14827 1.18 316.2 402.7 12.4 1417 14835 0.00 2.72 0.00 0.000 6 0.000 0.087 3218 2314 1793

15155 1.18 316.2 364.6 11.8 1448 15159 0.00 2.72 0.00 0.000 4 0.000 0.108 3218 918 1794

15173 1.18 316.2 362.3 11.8 1449 15177 0.00 2.70 0.00 0.000 6 0.000 0.094 3219 2325 1794

15510 1.18 316.2 320.3 11.9 1500 15517 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2325 1794

15855 1.18 316.2 276.8 12.5 1561 15861 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2325 1794

16199 1.18 316.2 233.6 11.6 1622 16206 0.00 2.75 0.00 0.000 4 0.000 0.104 3218 917 1794

16213 1.18 316.2 231.8 11.8 1624 16220 0.00 2.67 0.00 0.000 6 0.000 0.090 3218 2321 1794

16558 1.18 316.2 191.2 10.9 1685 16564 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2321 1794

16902 1.18 316.2 150.9 10.7 1746 16909 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2321 1794

17245 1.18 316.2 111.8 11.1 1807 17252 0.00 2.72 0.00 0.000 4 0.000 0.101 3218 915 1794

17270 1.18 316.2 108.8 11.4 1811 17278 0.00 2.62 0.00 0.000 6 0.000 0.087 3218 2308 1794

17616 1.18 316.2 68.8 11.3 1872 17624 0.00 2.80 0.00 0.000 4 0.000 0.104 3218 3737 1793

17659 1.18 316.2 63.3 14.4 1879 17666 0.00 2.70 0.00 0.000 6 0.000 0.084 3218 2320 1794

18002 1.18 316.2 24.3 10.3 1940 18010 0.00 2.67 0.00 0.000 4 0.000 0.098 3218 917 1794

18050 1.18 316.2 18.8 11.5 1948 18058 0.00 2.62 0.00 0.000 6 0.000 0.083 3218 2321 1794

18196 1.18 316.2 3.8 10.8 1973 18204 0.00 2.70 0.00 0.000 4 0.000 0.096 3219 911 1794

18214 end climb: SURFACE_DEPTH_REACHED

state 18214 begin surface coast

18225 end surface coast: CONTROL_FINISHED_OK

state 18225 begin surface

ID	140	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	294	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	11	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	390	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	-18650.127	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	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	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	2	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	080908,6156.805,-2613.752,28,1.0,28,-18.8	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	6137.290,-2543.110
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081709,6156.782,-2613.753,15,1.0,15,-18.8	MHEAD_RNG_PITCHd_Wd	162.0,45063,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.9,1.027524	_24V_AH	23.2,62.992
SM_CCo	18309,0.00,0.000,0,0,1789,317.66	_10V_AH	10.6,52.093
SM_GC	1.30,11.52,0.00,0.00,0.044,0.000,0.000,590,2239,1789,-10.85,0.11,317.66	DATA_FILE_SIZE	120004,1978
IRIDIUM_FIX	6135.28,-2617.54,050997,030317	CAP_FILE_SIZE	182900,0
TT8_MAMPS	0.02301	CFSIZE	260165632,227827712
HUMID	1710	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
INTERNAL_PRESSURE	8.42806	CURRENT	0.064, 19.9,1
TCM_TEMP	17.90	GPS	110608,132338,6155.341,-2610.080,26,1.5,26,-18.8
XPDR_PINGS	388

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	184	114.35	SBE_CT	1370	24	763.21
Roll_motor	198	129	595.51	SBE_O2	1502	19	662.42
VBD_pump_during_apogee	435	1339	13542.19	WL_BB2F	1852	105	4513.01
VBD_pump_during_surface	0	0	0.00	Optode	594	33	455.12
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.67	nil	0	0	0.00
Iridium_during_connect	36	160	136.05	nil	0	0	0.00
Iridium_during_xfer	265	223	1374.45
Transponder_ping	97	420	945.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.12
TT8	4054	19	851.04
LPSleep	9765	2	226.69
TT8_Active	690	19	145.02
TT8_Sampling	3531	39	1489.67
TT8_CF8	727	45	353.05
TT8_Kalman	0	0	0.00
Analog_circuits	2249	12	286.10
GPS_charging	0	0	0.00
Compass	3523	8	298.83
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	-1.29	-194.7	0.0	0.0	0	96	0.00	0.00	-73.05	0.000	2	0.000	0.000	589	2232	3399
99	-1.29	-194.7	3.2	-5.7	10	130	12.30	2.78	-11.00	0.000	4	0.184	0.107	2672	825	3879
284	-1.29	-194.7	23.8	-9.3	41	291	0.00	2.65	0.00	0.000	6	0.000	0.082	2672	2243	3881
427	-1.29	-194.7	36.2	-8.0	66	434	0.00	2.65	0.00	0.000	4	0.000	0.088	2672	3650	3881
460	-1.29	-194.7	38.9	-8.4	71	468	0.00	2.67	0.00	0.000	6	0.000	0.078	2672	2214	3881
604	-1.29	-194.7	49.5	-7.5	96	611	0.00	2.65	0.00	0.000	4	0.000	0.094	2672	824	3881
640	-1.29	-194.7	52.4	-7.7	102	647	0.00	2.65	0.00	0.000	6	0.000	0.082	2672	2241	3881
985	-1.29	-194.7	81.1	-8.7	163	991	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2241	3881
1329	-1.29	-194.7	113.4	-9.9	224	1337	0.00	2.75	0.00	0.000	4	0.000	0.100	2672	826	3882
1360	-1.29	-194.7	116.6	-10.2	229	1367	0.00	2.67	0.00	0.000	6	0.000	0.087	2672	2234	3882
1706	-1.29	-194.7	148.2	-8.2	290	1713	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2234	3882
2051	-1.29	-194.7	173.2	-7.5	351	2058	0.00	2.75	0.00	0.000	4	0.000	0.104	2672	826	3882
2088	-1.29	-194.7	176.1	-7.8	357	2095	0.00	2.62	0.00	0.000	6	0.000	0.089	2672	2208	3882
2434	-1.29	-194.7	204.2	-8.5	418	2442	0.00	2.80	0.00	0.000	4	0.000	0.105	2672	3649	3882
2471	-1.29	-194.7	207.4	-8.7	424	2478	0.00	2.72	0.00	0.000	6	0.000	0.087	2672	2209	3882
2817	-1.29	-194.7	238.0	-8.9	485	2824	0.00	2.70	0.00	0.000	4	0.000	0.108	2672	824	3882
2848	-1.29	-194.7	240.9	-9.4	490	2855	0.00	2.65	0.00	0.000	6	0.000	0.093	2672	2209	3882
3194	-1.29	-194.7	271.6	-8.8	551	3201	0.00	2.83	0.00	0.000	4	0.000	0.108	2672	3650	3881
3225	-1.29	-194.7	274.4	-9.1	556	3233	0.00	2.72	0.00	0.000	6	0.000	0.088	2672	2212	3882
3571	-1.29	-194.7	305.5	-9.6	617	3578	0.00	2.75	0.00	0.000	4	0.000	0.111	2672	821	3881
3602	-1.29	-194.7	308.6	-10.1	622	3609	0.00	2.67	0.00	0.000	6	0.000	0.094	2672	2214	3882
3947	-1.29	-194.7	342.6	-9.7	683	3954	0.00	2.80	0.00	0.000	4	0.000	0.108	2672	3644	3881
3983	-1.29	-194.7	346.4	-10.0	689	3990	0.00	2.72	0.00	0.000	6	0.000	0.089	2672	2209	3881
4314	-1.29	-194.7	378.6	-9.7	723	4319	0.00	2.75	0.00	0.000	4	0.000	0.114	2672	818	3881
4343	-1.29	-194.7	381.7	-10.2	725	4348	0.00	2.70	0.00	0.000	6	0.000	0.096	2672	2220	3881
4670	-1.29	-194.7	412.4	-8.7	755	4675	0.00	2.80	0.00	0.000	4	0.000	0.108	2672	3650	3881
4699	-1.29	-194.7	415.2	-9.4	757	4704	0.00	2.75	0.00	0.000	6	0.000	0.091	2672	2206	3881
5027	-1.29	-194.7	443.2	-8.4	787	5032	0.00	2.75	0.00	0.000	4	0.000	0.115	2672	817	3881
5067	-1.29	-194.7	446.8	-8.5	790	5071	0.00	2.67	0.00	0.000	6	0.000	0.097	2672	2205	3881
5394	-1.29	-194.7	473.1	-7.7	820	5399	0.00	2.85	0.00	0.000	4	0.000	0.113	2672	3649	3881
5413	-1.29	-194.7	474.7	-7.6	821	5417	0.00	2.75	0.00	0.000	6	0.000	0.091	2672	2206	3881
5741	-1.29	-194.7	499.9	-7.7	851	5745	0.00	2.75	0.00	0.000	4	0.000	0.117	2672	824	3880
5773	-1.29	-194.7	502.9	-8.7	853	5780	0.00	2.67	0.00	0.000	6	0.000	0.098	2672	2207	3880
6100	-1.29	-194.7	528.4	-8.5	884	6105	0.00	2.85	0.00	0.000	4	0.000	0.114	2672	3648	3880
6142	-1.29	-194.7	532.2	-9.2	887	6147	0.00	2.78	0.00	0.000	6	0.000	0.092	2671	2193	3880
6470	-1.29	-194.7	560.0	-8.7	917	6474	0.00	2.72	0.00	0.000	4	0.000	0.117	2672	822	3880
6503	-1.29	-194.7	563.2	-9.5	919	6510	0.00	2.67	0.00	0.000	6	0.000	0.100	2672	2203	3879
6829	-1.29	-194.7	594.0	-9.8	950	6834	0.00	2.85	0.00	0.000	4	0.000	0.112	2672	3651	3879
6861	-1.29	-194.7	597.7	-10.8	952	6869	0.00	2.80	0.00	0.000	6	0.000	0.093	2672	2201	3879
7179	-1.29	-194.7	631.5	-10.9	969	7183	0.00	2.75	0.00	0.000	4	0.000	0.120	2672	824	3879
7196	-1.29	-194.7	633.5	-10.7	970	7200	0.00	2.70	0.00	0.000	6	0.000	0.101	2672	2214	3879
7522	-1.29	-194.7	666.5	-9.5	986	7527	0.00	2.85	0.00	0.000	4	0.000	0.117	2672	3645	3879
7563	-1.29	-194.7	670.2	-9.5	988	7567	0.00	2.78	0.00	0.000	6	0.000	0.096	2672	2200	3879
7889	-1.29	-194.7	700.5	-9.3	1004	7894	0.00	2.78	0.00	0.000	4	0.000	0.123	2672	821	3879
7933	-1.29	-194.7	704.9	-9.6	1006	7937	0.00	2.67	0.00	0.000	6	0.000	0.103	2672	2191	3879
8256	-1.29	-194.7	731.5	-8.1	1022	8260	0.00	2.95	0.00	0.000	4	0.000	0.125	2672	3649	3879
8283	-1.29	-194.7	734.1	-8.9	1023	8287	0.00	2.83	0.00	0.000	6	0.000	0.099	2671	2186	3880
8599	-1.29	-194.7	760.7	-8.3	1038	8604	0.00	2.75	0.00	0.000	4	0.000	0.126	2672	825	3879
8621	-1.29	-194.7	762.6	-8.2	1039	8625	0.00	2.70	0.00	0.000	6	0.000	0.103	2672	2209	3879
8944	-1.29	-194.7	788.3	-8.6	1055	8945	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2210	3879
9252	-1.29	-194.7	816.9	-9.3	1070	9253	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2210	3878
9561	-1.29	-194.7	845.5	-8.4	1085	9562	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2210	3878
9870	-1.29	-194.7	872.6	-8.3	1100	9871	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2210	3878
10094	end dive: NO_VERTICAL_VELOCITY
state	10094	begin apogee
10101	-0.35	0.0	875.1	0.0	1111	10269	0.95	0.00	164.35	1.340	6	0.052	0.000	2889	2337	3085
10269	end apogee: CONTROL_FINISHED_OK
state	10269	begin climb
10272	1.29	194.7	875.0	0.0	1119	10443	1.58	3.03	161.12	1.297	4	0.054	0.127	3240	915	2291
10477	1.22	194.7	860.4	13.0	1127	10482	0.00	2.83	0.00	0.000	6	0.000	0.107	3240	2330	2290
10793	1.14	194.7	821.5	12.2	1142	10795	0.17	0.00	0.00	0.000	6	0.106	0.000	3209	2330	2289
11104	1.09	194.7	788.2	10.7	1157	11108	0.00	2.90	0.00	0.000	4	0.000	0.124	3209	3737	2288
11125	1.04	194.7	785.5	11.3	1158	11130	0.12	2.80	0.00	0.000	6	0.112	0.100	3186	2318	2289
11446	1.06	217.0	754.6	9.2	1174	11472	0.00	2.95	19.92	1.213	4	0.000	0.126	3186	924	2200
11496	1.07	223.4	749.6	9.8	1176	11514	0.00	2.75	7.45	1.037	6	0.000	0.103	3186	2315	2173
11822	1.14	279.2	722.4	8.1	1192	11873	0.00	0.00	49.12	1.210	6	0.000	0.000	3186	2314	1946
12172	1.18	309.3	691.3	9.0	1209	12201	0.12	0.00	27.00	1.174	6	0.065	0.000	3218	2314	1824
12501	1.18	309.3	654.3	11.1	1225	12503	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2314	1820
12810	1.18	309.3	621.0	10.9	1240	12814	0.00	2.78	0.00	0.000	4	0.000	0.113	3218	919	1819
12836	1.18	309.3	617.6	12.1	1241	12841	0.00	2.72	0.00	0.000	6	0.000	0.099	3218	2317	1820
13158	1.18	309.3	583.1	11.3	1263	13162	0.00	2.88	0.00	0.000	4	0.000	0.118	3218	3737	1819
13174	1.18	309.3	581.1	11.3	1264	13179	0.00	2.80	0.00	0.000	6	0.000	0.093	3218	2302	1818
13500	1.18	316.2	547.0	9.8	1294	13511	0.00	0.00	6.65	0.969	6	0.000	0.000	3218	2302	1795
13830	1.18	316.2	513.4	10.0	1325	13831	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2302	1794
14147	1.18	316.2	478.6	11.2	1355	14148	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2302	1794
14465	1.18	316.2	443.3	11.1	1385	14469	0.00	2.72	0.00	0.000	4	0.000	0.110	3218	912	1794
14482	1.18	316.2	441.3	11.4	1386	14487	0.00	2.70	0.00	0.000	6	0.000	0.094	3218	2317	1795
14807	1.18	316.2	405.4	11.1	1416	14811	0.00	2.83	0.00	0.000	4	0.000	0.110	3218	3738	1794
14827	1.18	316.2	402.7	12.4	1417	14835	0.00	2.72	0.00	0.000	6	0.000	0.087	3218	2314	1793
15155	1.18	316.2	364.6	11.8	1448	15159	0.00	2.72	0.00	0.000	4	0.000	0.108	3218	918	1794
15173	1.18	316.2	362.3	11.8	1449	15177	0.00	2.70	0.00	0.000	6	0.000	0.094	3219	2325	1794
15510	1.18	316.2	320.3	11.9	1500	15517	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2325	1794
15855	1.18	316.2	276.8	12.5	1561	15861	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2325	1794
16199	1.18	316.2	233.6	11.6	1622	16206	0.00	2.75	0.00	0.000	4	0.000	0.104	3218	917	1794
16213	1.18	316.2	231.8	11.8	1624	16220	0.00	2.67	0.00	0.000	6	0.000	0.090	3218	2321	1794
16558	1.18	316.2	191.2	10.9	1685	16564	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2321	1794
16902	1.18	316.2	150.9	10.7	1746	16909	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2321	1794
17245	1.18	316.2	111.8	11.1	1807	17252	0.00	2.72	0.00	0.000	4	0.000	0.101	3218	915	1794
17270	1.18	316.2	108.8	11.4	1811	17278	0.00	2.62	0.00	0.000	6	0.000	0.087	3218	2308	1794
17616	1.18	316.2	68.8	11.3	1872	17624	0.00	2.80	0.00	0.000	4	0.000	0.104	3218	3737	1793
17659	1.18	316.2	63.3	14.4	1879	17666	0.00	2.70	0.00	0.000	6	0.000	0.084	3218	2320	1794
18002	1.18	316.2	24.3	10.3	1940	18010	0.00	2.67	0.00	0.000	4	0.000	0.098	3218	917	1794
18050	1.18	316.2	18.8	11.5	1948	18058	0.00	2.62	0.00	0.000	6	0.000	0.083	3218	2321	1794
18196	1.18	316.2	3.8	10.8	1973	18204	0.00	2.70	0.00	0.000	4	0.000	0.096	3219	911	1794
18214	end climb: SURFACE_DEPTH_REACHED
state	18214	begin surface coast
18225	end surface coast: CONTROL_FINISHED_OK
state	18225	begin surface