Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 317 * 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 317 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 7 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 -18908.318 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 -18908.318

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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 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 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 317 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 013907,6156.465,-2601.007,26,2.0,26,-18.7 TGT_NAME SW

_CALLS 1 TGT_LATLONG 6145.370,-2622.980

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 014557,6156.503,-2601.063,13,1.9,13,-18.7 MHEAD_RNG_PITCHd_Wd 217.6,28180,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.025885 _24V_AH 19.0,99.086

SM_CCo 17251,0.00,0.000,0,0,845,545.79 _10V_AH 9.8,66.778

SM_GC 0.65,8.80,0.00,0.00,0.043,0.000,0.000,1435,2284,845,-6.79,-0.45,545.79 DATA_FILE_SIZE 136081,1857

IRIDIUM_FIX 6117.23,-2202.37,030997,212137 CAP_FILE_SIZE 171152,0

TT8_MAMPS 0.026078 CFSIZE 260165632,226619392

HUMID 1825 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.86798 CURRENT 0.061, 28.5,1

TCM_TEMP 16.60 GPS 100608,063502,6154.748,-2602.869,37,1.5,37,-18.7

XPDR_PINGS 886

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 247 116.74 SBE_CT 1281 24 584.27

Roll_motor 158 115 349.39 SBE_O2 1390 19 501.98

VBD_pump_during_apogee 789 1488 22318.51 Optode 711 33 446.38

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1720 105 3432.03

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 22 103 44.42 nil 0 0 0.00

Iridium_during_connect 31 160 96.13 nil 0 0 0.00

Iridium_during_xfer 216 223 915.67

Transponder_ping 221 420 1767.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.50

TT8 3777 19 733.03

LPSleep 8875 2 190.48

TT8_Active 911 19 176.77

TT8_Sampling 3433 39 1339.10

TT8_CF8 651 45 292.54

TT8_Kalman 0 0 0.00

Analog_circuits 2484 12 292.23

GPS_charging 0 0 0.00

Compass 3412 8 267.53

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.86 -194.7 0.0 0.0 0 90 0.00 0.00 -63.58 0.000 2 0.000 0.000 1432 2292 3412

93 -0.86 -194.7 3.2 -4.2 9 128 12.02 2.92 -12.73 0.000 4 0.248 0.053 2725 3718 3867

232 -0.80 -194.7 24.4 -12.8 32 240 0.12 2.78 0.00 0.000 6 0.144 0.033 2741 2292 3867

378 -0.75 -194.7 41.5 -11.6 57 385 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2292 3867

521 -0.75 -194.7 58.4 -11.2 82 527 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2292 3868

865 -0.71 -194.7 98.8 -11.6 143 872 0.15 0.00 0.00 0.000 6 0.182 0.000 2761 2292 3868

1208 -0.71 -194.7 132.6 -9.7 204 1216 0.00 2.85 0.00 0.000 4 0.000 0.044 2761 3721 3869

1279 -0.71 -194.7 139.2 -8.8 216 1287 0.00 2.80 0.00 0.000 6 0.000 0.033 2762 2283 3869

1626 -0.71 -194.7 172.9 -10.7 277 1633 0.00 2.88 0.00 0.000 4 0.000 0.044 2762 3720 3869

1674 -0.71 -194.7 178.1 -10.9 285 1681 0.00 2.78 0.00 0.000 6 0.000 0.033 2761 2296 3869

2019 -0.71 -194.7 214.6 -10.5 346 2026 0.00 2.88 0.00 0.000 4 0.000 0.044 2761 3730 3869

2078 -0.71 -194.7 220.9 -10.9 356 2086 0.00 2.75 0.00 0.000 6 0.000 0.033 2762 2315 3869

2424 -0.71 -194.7 257.8 -10.7 417 2431 0.00 2.83 0.00 0.000 4 0.000 0.045 2762 3724 3869

2450 -0.71 -194.7 260.4 -10.1 421 2457 0.00 2.72 0.00 0.000 6 0.000 0.032 2761 2324 3869

2796 -0.71 -194.7 294.5 -9.6 482 2804 0.00 2.83 0.00 0.000 4 0.000 0.045 2761 3729 3869

2833 -0.71 -194.7 298.1 -9.5 488 2841 0.00 2.70 0.00 0.000 6 0.000 0.032 2761 2339 3869

3179 -0.71 -194.7 332.3 -10.5 549 3186 0.00 2.78 0.00 0.000 4 0.000 0.045 2761 3719 3869

3204 -0.71 -194.7 335.1 -10.6 553 3212 0.00 2.67 0.00 0.000 6 0.000 0.032 2761 2344 3869

3540 -0.71 -194.7 368.5 -10.4 597 3544 0.00 2.78 0.00 0.000 4 0.000 0.046 2761 3725 3869

3568 -0.71 -194.7 371.5 -10.8 599 3573 0.00 2.67 0.00 0.000 6 0.000 0.033 2761 2350 3869

3896 -0.71 -194.7 406.0 -11.1 629 3900 0.00 2.78 0.00 0.000 4 0.000 0.045 2761 3729 3869

3917 -0.71 -194.7 408.8 -11.2 630 3925 0.00 2.67 0.00 0.000 6 0.000 0.033 2761 2356 3869

4246 -0.71 -194.7 443.6 -10.4 661 4252 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2355 3869

4571 -0.71 -194.7 477.4 -10.3 692 4572 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2355 3869

4891 -0.71 -194.7 509.9 -9.8 722 4896 0.00 2.75 0.00 0.000 4 0.000 0.047 2762 3721 3869

4912 -0.71 -194.7 512.3 -9.7 723 4920 0.00 2.65 0.00 0.000 6 0.000 0.033 2761 2361 3869

5240 -0.71 -194.7 542.7 -9.1 754 5245 0.00 2.75 0.00 0.000 4 0.000 0.048 2761 3721 3869

5258 -0.71 -194.7 544.4 -8.7 755 5262 0.00 2.65 0.00 0.000 6 0.000 0.032 2761 2362 3869

5587 -0.71 -194.7 573.4 -8.7 785 5592 0.00 2.75 0.00 0.000 4 0.000 0.049 2761 3721 3869

5605 -0.71 -194.7 575.4 -8.8 786 5610 0.00 2.65 0.00 0.000 6 0.000 0.033 2761 2365 3869

5931 -0.71 -194.7 603.6 -8.5 814 5932 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2364 3868

6239 -0.71 -194.7 633.5 -10.2 829 6244 0.00 2.83 0.00 0.000 4 0.000 0.056 2761 3725 3868

6283 -0.76 -194.7 638.1 -9.7 831 6288 0.00 2.65 0.00 0.000 6 0.000 0.037 2762 2381 3868

6605 -0.76 -194.7 669.9 -10.2 847 6606 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2379 3868

6914 -0.76 -194.7 702.6 -10.8 862 6916 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2379 3868

7224 -0.80 -194.7 733.7 -9.4 877 7226 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2379 3867

7534 -0.84 -194.7 759.3 -7.7 892 7536 0.15 0.00 0.00 0.000 6 0.064 0.000 2732 2379 3867

7843 -0.84 -194.7 791.9 -10.5 907 7844 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2379 3867

8153 -0.84 -194.7 825.6 -11.3 922 8154 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2379 3867

8462 -1.03 -194.7 855.0 -4.6 937 8468 0.17 3.22 0.00 0.000 4 0.060 0.116 2694 3712 3867

8712 end dive: NO_VERTICAL_VELOCITY

state 8713 begin apogee

8720 -0.21 0.0 854.9 0.0 948 8934 0.98 0.00 207.88 1.489 6 0.091 0.000 2867 2766 3071

8934 end apogee: CONTROL_FINISHED_OK

state 8934 begin climb

8937 0.86 194.7 854.8 0.0 959 9161 1.40 3.70 211.55 1.430 4 0.081 0.103 3100 1337 2277

9195 0.74 194.7 832.8 13.1 970 9203 0.00 3.40 0.00 0.000 6 0.000 0.085 3100 2751 2276

9511 0.60 194.7 794.9 12.3 986 9516 0.25 2.55 0.00 0.000 4 0.116 0.087 3058 3906 2274

9574 0.61 196.2 788.4 9.9 989 9579 0.00 2.45 0.00 0.000 6 0.000 0.063 3058 2748 2274

9902 0.66 238.0 760.3 8.5 1005 9955 0.00 3.17 44.55 1.381 4 0.000 0.075 3058 1334 2099

10013 0.70 269.3 750.7 8.9 1010 10058 0.00 3.00 33.53 1.361 6 0.000 0.051 3058 2764 1973

10369 0.75 313.6 722.7 8.5 1027 10423 0.12 3.12 46.67 1.366 4 0.062 0.060 3083 1338 1791

10458 0.75 313.6 713.2 10.8 1031 10463 0.00 2.88 0.00 0.000 6 0.000 0.041 3083 2737 1790

10786 0.75 313.6 679.1 10.2 1047 10790 0.00 2.40 0.00 0.000 4 0.000 0.063 3083 3905 1787

10840 0.75 313.6 672.9 10.8 1049 10848 0.00 2.35 0.00 0.000 6 0.000 0.038 3083 2714 1785

11157 0.75 316.5 642.8 9.9 1065 11162 0.00 2.80 0.00 0.000 4 0.000 0.055 3083 1336 1785

11201 0.75 316.5 638.2 10.1 1067 11206 0.00 2.75 0.00 0.000 6 0.000 0.035 3083 2743 1785

11522 0.75 316.5 607.3 10.1 1083 11526 0.00 2.33 0.00 0.000 4 0.000 0.054 3083 3902 1784

11549 0.75 316.5 604.0 10.8 1084 11554 0.00 2.30 0.00 0.000 6 0.000 0.033 3083 2701 1784

11882 0.76 324.3 571.5 9.7 1113 11900 0.00 0.00 11.07 1.132 6 0.000 0.000 3083 2701 1748

12220 0.76 324.3 538.3 10.2 1145 12224 0.00 2.70 0.00 0.000 4 0.000 0.048 3083 1345 1747

12252 0.76 324.3 534.5 10.7 1147 12260 0.00 2.70 0.00 0.000 6 0.000 0.031 3083 2734 1746

12577 0.76 324.3 500.5 10.5 1178 12581 0.00 2.30 0.00 0.000 4 0.000 0.051 3082 3891 1746

12618 0.76 324.3 496.2 10.7 1181 12622 0.00 2.28 0.00 0.000 6 0.000 0.031 3083 2712 1745

12950 0.76 324.3 462.2 10.3 1212 12955 0.00 2.72 0.00 0.000 4 0.000 0.046 3083 1337 1746

12995 0.76 324.3 457.1 10.6 1215 13002 0.00 2.70 0.00 0.000 6 0.000 0.030 3083 2732 1746

13322 0.76 325.3 423.8 10.0 1246 13326 0.00 2.30 0.00 0.000 4 0.000 0.050 3083 3890 1746

13355 0.77 329.3 420.0 9.9 1248 13366 0.00 2.28 6.50 0.921 6 0.000 0.031 3083 2708 1728

13687 0.80 349.9 386.3 9.3 1279 13715 0.00 2.75 23.08 1.145 4 0.000 0.046 3083 1343 1643

13754 0.86 403.1 380.4 8.2 1284 13821 0.12 2.70 57.20 1.183 6 0.057 0.029 3111 2721 1427

14144 0.86 403.1 338.6 10.0 1329 14150 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2720 1419

14489 0.92 448.8 306.8 8.4 1390 14541 0.00 0.00 47.15 1.118 6 0.000 0.000 3111 2720 1240

14879 0.97 493.6 274.2 8.4 1458 14933 0.00 2.90 46.92 1.091 4 0.000 0.044 3111 1346 1058

14980 1.05 523.9 265.5 8.9 1474 15023 0.20 2.70 32.08 1.057 6 0.046 0.030 3153 2715 936

15365 1.01 523.9 214.5 13.7 1540 15371 0.00 0.00 0.00 0.000 6 0.000 0.000 3153 2715 931

15710 1.01 523.9 165.0 16.2 1601 15717 0.00 2.75 0.00 0.000 4 0.000 0.046 3153 1346 929

15763 0.96 523.9 156.6 16.5 1610 15771 0.15 2.60 0.00 0.000 6 0.099 0.030 3130 2690 929

16108 0.96 523.9 114.2 11.0 1671 16114 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 2690 928

16452 0.96 523.9 79.8 10.8 1732 16460 0.00 2.70 0.00 0.000 4 0.000 0.046 3129 1337 928

16500 0.96 523.9 74.7 11.7 1740 16508 0.00 2.58 0.00 0.000 6 0.000 0.030 3130 2675 927

16845 0.96 523.9 37.6 12.2 1801 16852 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2675 927

16987 1.01 523.9 19.6 12.2 1826 16994 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2675 927

17130 1.12 563.7 4.0 8.6 1851 17154 0.15 0.00 20.85 0.887 2 0.054 0.000 3165 2683 849

17154 end climb: SURFACE_DEPTH_REACHED

state 17154 begin surface coast

17172 end surface coast: CONTROL_FINISHED_OK

state 17172 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	317	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	7	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	-18908.318	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	013907,6156.465,-2601.007,26,2.0,26,-18.7	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	6145.370,-2622.980
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	014557,6156.503,-2601.063,13,1.9,13,-18.7	MHEAD_RNG_PITCHd_Wd	217.6,28180,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.2,1.025885	_24V_AH	19.0,99.086
SM_CCo	17251,0.00,0.000,0,0,845,545.79	_10V_AH	9.8,66.778
SM_GC	0.65,8.80,0.00,0.00,0.043,0.000,0.000,1435,2284,845,-6.79,-0.45,545.79	DATA_FILE_SIZE	136081,1857
IRIDIUM_FIX	6117.23,-2202.37,030997,212137	CAP_FILE_SIZE	171152,0
TT8_MAMPS	0.026078	CFSIZE	260165632,226619392
HUMID	1825	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.86798	CURRENT	0.061, 28.5,1
TCM_TEMP	16.60	GPS	100608,063502,6154.748,-2602.869,37,1.5,37,-18.7
XPDR_PINGS	886

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	247	116.74	SBE_CT	1281	24	584.27
Roll_motor	158	115	349.39	SBE_O2	1390	19	501.98
VBD_pump_during_apogee	789	1488	22318.51	Optode	711	33	446.38
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1720	105	3432.03
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	22	103	44.42	nil	0	0	0.00
Iridium_during_connect	31	160	96.13	nil	0	0	0.00
Iridium_during_xfer	216	223	915.67
Transponder_ping	221	420	1767.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.50
TT8	3777	19	733.03
LPSleep	8875	2	190.48
TT8_Active	911	19	176.77
TT8_Sampling	3433	39	1339.10
TT8_CF8	651	45	292.54
TT8_Kalman	0	0	0.00
Analog_circuits	2484	12	292.23
GPS_charging	0	0	0.00
Compass	3412	8	267.53
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.86	-194.7	0.0	0.0	0	90	0.00	0.00	-63.58	0.000	2	0.000	0.000	1432	2292	3412
93	-0.86	-194.7	3.2	-4.2	9	128	12.02	2.92	-12.73	0.000	4	0.248	0.053	2725	3718	3867
232	-0.80	-194.7	24.4	-12.8	32	240	0.12	2.78	0.00	0.000	6	0.144	0.033	2741	2292	3867
378	-0.75	-194.7	41.5	-11.6	57	385	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2292	3867
521	-0.75	-194.7	58.4	-11.2	82	527	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2292	3868
865	-0.71	-194.7	98.8	-11.6	143	872	0.15	0.00	0.00	0.000	6	0.182	0.000	2761	2292	3868
1208	-0.71	-194.7	132.6	-9.7	204	1216	0.00	2.85	0.00	0.000	4	0.000	0.044	2761	3721	3869
1279	-0.71	-194.7	139.2	-8.8	216	1287	0.00	2.80	0.00	0.000	6	0.000	0.033	2762	2283	3869
1626	-0.71	-194.7	172.9	-10.7	277	1633	0.00	2.88	0.00	0.000	4	0.000	0.044	2762	3720	3869
1674	-0.71	-194.7	178.1	-10.9	285	1681	0.00	2.78	0.00	0.000	6	0.000	0.033	2761	2296	3869
2019	-0.71	-194.7	214.6	-10.5	346	2026	0.00	2.88	0.00	0.000	4	0.000	0.044	2761	3730	3869
2078	-0.71	-194.7	220.9	-10.9	356	2086	0.00	2.75	0.00	0.000	6	0.000	0.033	2762	2315	3869
2424	-0.71	-194.7	257.8	-10.7	417	2431	0.00	2.83	0.00	0.000	4	0.000	0.045	2762	3724	3869
2450	-0.71	-194.7	260.4	-10.1	421	2457	0.00	2.72	0.00	0.000	6	0.000	0.032	2761	2324	3869
2796	-0.71	-194.7	294.5	-9.6	482	2804	0.00	2.83	0.00	0.000	4	0.000	0.045	2761	3729	3869
2833	-0.71	-194.7	298.1	-9.5	488	2841	0.00	2.70	0.00	0.000	6	0.000	0.032	2761	2339	3869
3179	-0.71	-194.7	332.3	-10.5	549	3186	0.00	2.78	0.00	0.000	4	0.000	0.045	2761	3719	3869
3204	-0.71	-194.7	335.1	-10.6	553	3212	0.00	2.67	0.00	0.000	6	0.000	0.032	2761	2344	3869
3540	-0.71	-194.7	368.5	-10.4	597	3544	0.00	2.78	0.00	0.000	4	0.000	0.046	2761	3725	3869
3568	-0.71	-194.7	371.5	-10.8	599	3573	0.00	2.67	0.00	0.000	6	0.000	0.033	2761	2350	3869
3896	-0.71	-194.7	406.0	-11.1	629	3900	0.00	2.78	0.00	0.000	4	0.000	0.045	2761	3729	3869
3917	-0.71	-194.7	408.8	-11.2	630	3925	0.00	2.67	0.00	0.000	6	0.000	0.033	2761	2356	3869
4246	-0.71	-194.7	443.6	-10.4	661	4252	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2355	3869
4571	-0.71	-194.7	477.4	-10.3	692	4572	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2355	3869
4891	-0.71	-194.7	509.9	-9.8	722	4896	0.00	2.75	0.00	0.000	4	0.000	0.047	2762	3721	3869
4912	-0.71	-194.7	512.3	-9.7	723	4920	0.00	2.65	0.00	0.000	6	0.000	0.033	2761	2361	3869
5240	-0.71	-194.7	542.7	-9.1	754	5245	0.00	2.75	0.00	0.000	4	0.000	0.048	2761	3721	3869
5258	-0.71	-194.7	544.4	-8.7	755	5262	0.00	2.65	0.00	0.000	6	0.000	0.032	2761	2362	3869
5587	-0.71	-194.7	573.4	-8.7	785	5592	0.00	2.75	0.00	0.000	4	0.000	0.049	2761	3721	3869
5605	-0.71	-194.7	575.4	-8.8	786	5610	0.00	2.65	0.00	0.000	6	0.000	0.033	2761	2365	3869
5931	-0.71	-194.7	603.6	-8.5	814	5932	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2364	3868
6239	-0.71	-194.7	633.5	-10.2	829	6244	0.00	2.83	0.00	0.000	4	0.000	0.056	2761	3725	3868
6283	-0.76	-194.7	638.1	-9.7	831	6288	0.00	2.65	0.00	0.000	6	0.000	0.037	2762	2381	3868
6605	-0.76	-194.7	669.9	-10.2	847	6606	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2379	3868
6914	-0.76	-194.7	702.6	-10.8	862	6916	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2379	3868
7224	-0.80	-194.7	733.7	-9.4	877	7226	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2379	3867
7534	-0.84	-194.7	759.3	-7.7	892	7536	0.15	0.00	0.00	0.000	6	0.064	0.000	2732	2379	3867
7843	-0.84	-194.7	791.9	-10.5	907	7844	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2379	3867
8153	-0.84	-194.7	825.6	-11.3	922	8154	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2379	3867
8462	-1.03	-194.7	855.0	-4.6	937	8468	0.17	3.22	0.00	0.000	4	0.060	0.116	2694	3712	3867
8712	end dive: NO_VERTICAL_VELOCITY
state	8713	begin apogee
8720	-0.21	0.0	854.9	0.0	948	8934	0.98	0.00	207.88	1.489	6	0.091	0.000	2867	2766	3071
8934	end apogee: CONTROL_FINISHED_OK
state	8934	begin climb
8937	0.86	194.7	854.8	0.0	959	9161	1.40	3.70	211.55	1.430	4	0.081	0.103	3100	1337	2277
9195	0.74	194.7	832.8	13.1	970	9203	0.00	3.40	0.00	0.000	6	0.000	0.085	3100	2751	2276
9511	0.60	194.7	794.9	12.3	986	9516	0.25	2.55	0.00	0.000	4	0.116	0.087	3058	3906	2274
9574	0.61	196.2	788.4	9.9	989	9579	0.00	2.45	0.00	0.000	6	0.000	0.063	3058	2748	2274
9902	0.66	238.0	760.3	8.5	1005	9955	0.00	3.17	44.55	1.381	4	0.000	0.075	3058	1334	2099
10013	0.70	269.3	750.7	8.9	1010	10058	0.00	3.00	33.53	1.361	6	0.000	0.051	3058	2764	1973
10369	0.75	313.6	722.7	8.5	1027	10423	0.12	3.12	46.67	1.366	4	0.062	0.060	3083	1338	1791
10458	0.75	313.6	713.2	10.8	1031	10463	0.00	2.88	0.00	0.000	6	0.000	0.041	3083	2737	1790
10786	0.75	313.6	679.1	10.2	1047	10790	0.00	2.40	0.00	0.000	4	0.000	0.063	3083	3905	1787
10840	0.75	313.6	672.9	10.8	1049	10848	0.00	2.35	0.00	0.000	6	0.000	0.038	3083	2714	1785
11157	0.75	316.5	642.8	9.9	1065	11162	0.00	2.80	0.00	0.000	4	0.000	0.055	3083	1336	1785
11201	0.75	316.5	638.2	10.1	1067	11206	0.00	2.75	0.00	0.000	6	0.000	0.035	3083	2743	1785
11522	0.75	316.5	607.3	10.1	1083	11526	0.00	2.33	0.00	0.000	4	0.000	0.054	3083	3902	1784
11549	0.75	316.5	604.0	10.8	1084	11554	0.00	2.30	0.00	0.000	6	0.000	0.033	3083	2701	1784
11882	0.76	324.3	571.5	9.7	1113	11900	0.00	0.00	11.07	1.132	6	0.000	0.000	3083	2701	1748
12220	0.76	324.3	538.3	10.2	1145	12224	0.00	2.70	0.00	0.000	4	0.000	0.048	3083	1345	1747
12252	0.76	324.3	534.5	10.7	1147	12260	0.00	2.70	0.00	0.000	6	0.000	0.031	3083	2734	1746
12577	0.76	324.3	500.5	10.5	1178	12581	0.00	2.30	0.00	0.000	4	0.000	0.051	3082	3891	1746
12618	0.76	324.3	496.2	10.7	1181	12622	0.00	2.28	0.00	0.000	6	0.000	0.031	3083	2712	1745
12950	0.76	324.3	462.2	10.3	1212	12955	0.00	2.72	0.00	0.000	4	0.000	0.046	3083	1337	1746
12995	0.76	324.3	457.1	10.6	1215	13002	0.00	2.70	0.00	0.000	6	0.000	0.030	3083	2732	1746
13322	0.76	325.3	423.8	10.0	1246	13326	0.00	2.30	0.00	0.000	4	0.000	0.050	3083	3890	1746
13355	0.77	329.3	420.0	9.9	1248	13366	0.00	2.28	6.50	0.921	6	0.000	0.031	3083	2708	1728
13687	0.80	349.9	386.3	9.3	1279	13715	0.00	2.75	23.08	1.145	4	0.000	0.046	3083	1343	1643
13754	0.86	403.1	380.4	8.2	1284	13821	0.12	2.70	57.20	1.183	6	0.057	0.029	3111	2721	1427
14144	0.86	403.1	338.6	10.0	1329	14150	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2720	1419
14489	0.92	448.8	306.8	8.4	1390	14541	0.00	0.00	47.15	1.118	6	0.000	0.000	3111	2720	1240
14879	0.97	493.6	274.2	8.4	1458	14933	0.00	2.90	46.92	1.091	4	0.000	0.044	3111	1346	1058
14980	1.05	523.9	265.5	8.9	1474	15023	0.20	2.70	32.08	1.057	6	0.046	0.030	3153	2715	936
15365	1.01	523.9	214.5	13.7	1540	15371	0.00	0.00	0.00	0.000	6	0.000	0.000	3153	2715	931
15710	1.01	523.9	165.0	16.2	1601	15717	0.00	2.75	0.00	0.000	4	0.000	0.046	3153	1346	929
15763	0.96	523.9	156.6	16.5	1610	15771	0.15	2.60	0.00	0.000	6	0.099	0.030	3130	2690	929
16108	0.96	523.9	114.2	11.0	1671	16114	0.00	0.00	0.00	0.000	6	0.000	0.000	3130	2690	928
16452	0.96	523.9	79.8	10.8	1732	16460	0.00	2.70	0.00	0.000	4	0.000	0.046	3129	1337	928
16500	0.96	523.9	74.7	11.7	1740	16508	0.00	2.58	0.00	0.000	6	0.000	0.030	3130	2675	927
16845	0.96	523.9	37.6	12.2	1801	16852	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2675	927
16987	1.01	523.9	19.6	12.2	1826	16994	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2675	927
17130	1.12	563.7	4.0	8.6	1851	17154	0.15	0.00	20.85	0.887	2	0.054	0.000	3165	2683	849
17154	end climb: SURFACE_DEPTH_REACHED
state	17154	begin surface coast
17172	end surface coast: CONTROL_FINISHED_OK
state	17172	begin surface