Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 320 * 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 320 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 31 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 -18970.734 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 -18970.734

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 25 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 31 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 320 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 161734,6152.433,-2610.976,39,1.7,42,-18.8 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 0.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 162509,6152.472,-2611.022,11,1.5,11,-18.8 MHEAD_RNG_PITCHd_Wd 219.8,16817,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.013212 _24V_AH 19.1,99.981

SM_CCo 16827,0.00,0.000,0,0,1260,443.99 _10V_AH 9.8,67.272

SM_GC 0.81,8.62,0.00,0.00,0.047,0.000,0.000,1438,2299,1260,-6.79,-0.03,443.99 DATA_FILE_SIZE 136013,1826

IRIDIUM_FIX 6130.75,-2611.42,040997,111126 CAP_FILE_SIZE 169179,0

TT8_MAMPS 0.026078 CFSIZE 260165632,226336768

HUMID 1840 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89728 CURRENT 0.034,298.4,1

TCM_TEMP 16.50 GPS 100608,210707,6150.526,-2613.578,33,1.3,33,-18.8

XPDR_PINGS 880

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 253 121.10 SBE_CT 1257 24 576.31

Roll_motor 171 106 349.79 SBE_O2 1366 19 495.96

VBD_pump_during_apogee 674 1483 19116.66 Optode 702 33 443.03

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1701 105 3412.27

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 22 103 43.88 nil 0 0 0.00

Iridium_during_connect 31 160 97.52 nil 0 0 0.00

Iridium_during_xfer 249 223 1064.12

Transponder_ping 220 420 1764.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.15

TT8 3722 19 722.23

LPSleep 8658 2 185.82

TT8_Active 921 19 178.80

TT8_Sampling 3275 39 1277.40

TT8_CF8 688 45 309.18

TT8_Kalman 0 0 0.00

Analog_circuits 2402 12 282.51

GPS_charging 0 0 0.00

Compass 3266 8 256.12

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 -0.86 -194.7 0.0 0.0 0 149 0.00 0.00 -125.47 0.000 2 0.000 0.000 1433 2325 3482

152 -0.86 -194.7 3.2 -4.2 17 183 12.18 2.75 -10.65 0.000 4 0.253 0.052 2725 3701 3866

306 -0.81 -194.7 26.4 -12.9 42 314 0.00 2.72 0.00 0.000 6 0.000 0.032 2725 2300 3866

450 -0.73 -194.7 45.0 -12.6 67 458 0.17 2.83 0.00 0.000 4 0.154 0.048 2752 883 3867

487 -0.73 -194.7 49.3 -10.5 73 495 0.00 2.70 0.00 0.000 6 0.000 0.029 2752 2291 3867

631 -0.73 -194.7 64.4 -11.0 98 638 0.00 2.78 0.00 0.000 4 0.000 0.043 2752 3701 3867

651 -0.73 -194.7 66.7 -11.2 101 658 0.00 2.75 0.00 0.000 6 0.000 0.033 2752 2292 3866

996 -0.73 -194.7 106.9 -12.1 162 1004 0.00 2.80 0.00 0.000 4 0.000 0.044 2752 3701 3867

1039 -0.73 -194.7 112.0 -11.5 169 1046 0.00 2.72 0.00 0.000 6 0.000 0.034 2752 2305 3867

1384 -0.73 -194.7 150.1 -10.9 230 1392 0.00 2.80 0.00 0.000 4 0.000 0.044 2752 3706 3867

1416 -0.73 -194.7 153.5 -10.8 235 1423 0.00 2.70 0.00 0.000 6 0.000 0.033 2752 2318 3867

1761 -0.73 -194.7 190.6 -10.9 296 1769 0.00 2.78 0.00 0.000 4 0.000 0.044 2752 3706 3868

1798 -0.73 -194.7 194.6 -10.4 302 1806 0.00 2.67 0.00 0.000 6 0.000 0.033 2752 2329 3867

2145 -0.73 -194.7 231.7 -10.7 363 2151 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2329 3867

2490 -0.73 -194.7 267.9 -10.6 424 2497 0.00 2.75 0.00 0.000 4 0.000 0.045 2751 3703 3867

2521 -0.73 -194.7 271.3 -11.3 429 2528 0.00 2.65 0.00 0.000 6 0.000 0.033 2752 2339 3867

2866 -0.73 -194.7 309.6 -10.7 490 2873 0.00 2.72 0.00 0.000 4 0.000 0.044 2752 3701 3867

2887 -0.73 -194.7 311.7 -10.9 493 2895 0.00 2.65 0.00 0.000 6 0.000 0.032 2752 2337 3867

3233 -0.73 -194.7 348.5 -10.9 554 3240 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2336 3867

3562 -0.73 -194.7 381.9 -9.7 586 3567 0.00 2.72 0.00 0.000 4 0.000 0.045 2752 3700 3867

3580 -0.73 -194.7 383.8 -9.7 587 3585 0.00 2.65 0.00 0.000 6 0.000 0.032 2751 2340 3867

3909 -0.73 -194.7 416.2 -10.2 617 3916 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2338 3866

4234 -0.73 -194.7 451.1 -11.2 648 4238 0.00 2.72 0.00 0.000 4 0.000 0.045 2752 3706 3866

4252 -0.73 -194.7 452.9 -10.8 649 4257 0.00 2.65 0.00 0.000 6 0.000 0.034 2752 2346 3866

4580 -0.73 -194.7 489.8 -11.6 679 4586 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2344 3866

4905 -0.73 -194.7 526.1 -11.3 710 4906 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2344 3866

5224 -0.73 -194.7 560.0 -10.5 740 5228 0.00 2.75 0.00 0.000 4 0.000 0.048 2752 3703 3866

5233 -0.73 -194.7 561.1 -10.0 740 5241 0.00 2.65 0.00 0.000 6 0.000 0.034 2752 2345 3866

5561 -0.73 -194.7 593.6 -9.7 771 5562 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2343 3865

5881 -0.73 -194.7 625.8 -10.0 790 5885 0.00 2.78 0.00 0.000 4 0.000 0.053 2752 3699 3865

5899 -0.73 -194.7 627.5 -9.3 791 5903 0.00 2.65 0.00 0.000 6 0.000 0.037 2752 2355 3865

6227 -0.73 -194.7 658.5 -9.7 807 6231 0.00 2.78 0.00 0.000 4 0.000 0.056 2752 3700 3865

6248 -0.73 -194.7 660.7 -9.6 808 6252 0.00 2.65 0.00 0.000 6 0.000 0.039 2751 2365 3865

6569 -0.73 -194.7 690.2 -9.2 824 6570 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2365 3865

6879 -0.73 -194.7 717.9 -8.6 839 6880 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2365 3865

7187 -0.73 -194.7 744.9 -8.6 854 7189 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2364 3864

7497 -0.73 -194.7 772.9 -9.7 869 7498 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2365 3864

7807 -0.73 -194.7 801.1 -8.9 884 7808 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2364 3864

8116 -0.73 -194.7 829.8 -9.8 899 8121 0.00 3.12 0.00 0.000 4 0.000 0.107 2752 3696 3864

8133 -0.73 -194.7 831.5 -9.4 900 8138 0.00 2.97 0.00 0.000 6 0.000 0.088 2752 2376 3864

8461 -1.04 -194.7 840.7 -0.0 916 8463 0.30 0.00 0.00 0.000 6 0.055 0.000 2694 2375 3864

8561 end dive: NO_VERTICAL_VELOCITY

state 8561 begin apogee

8568 -0.21 0.0 840.7 0.0 921 8777 0.98 0.00 205.77 1.483 6 0.075 0.000 2871 2732 3071

8778 end apogee: CONTROL_FINISHED_OK

state 8778 begin climb

8781 0.86 194.7 840.5 0.0 931 8996 1.38 0.00 210.98 1.414 6 0.081 0.000 3100 2731 2277

9300 0.73 194.7 792.5 10.7 957 9304 0.00 2.60 0.00 0.000 4 0.000 0.088 3099 3908 2274

9355 0.61 194.7 785.7 11.3 959 9362 0.28 2.40 0.00 0.000 6 0.116 0.061 3058 2771 2274

9672 0.70 273.1 760.5 7.3 975 9760 0.00 3.20 80.32 1.401 4 0.000 0.074 3057 1336 1957

9799 0.77 330.2 750.8 8.0 980 9867 0.17 3.03 60.95 1.368 6 0.054 0.051 3091 2761 1725

10177 0.77 330.2 709.0 11.6 998 10181 0.00 2.38 0.00 0.000 4 0.000 0.068 3091 3899 1718

10217 0.77 330.2 704.2 12.1 1000 10221 0.00 2.35 0.00 0.000 6 0.000 0.044 3091 2735 1717

10543 0.77 330.2 665.5 11.7 1016 10548 0.00 2.88 0.00 0.000 4 0.000 0.058 3091 1335 1716

10576 0.77 330.2 661.6 11.5 1017 10583 0.00 2.80 0.00 0.000 6 0.000 0.036 3091 2749 1715

10892 0.77 330.2 628.7 10.6 1033 10896 0.00 2.33 0.00 0.000 4 0.000 0.058 3091 3903 1715

10947 0.77 330.2 622.3 11.5 1035 10954 0.00 2.28 0.00 0.000 6 0.000 0.035 3091 2734 1714

11266 0.77 330.2 588.7 10.4 1056 11271 0.00 2.80 0.00 0.000 4 0.000 0.050 3091 1339 1714

11307 0.77 330.2 584.4 11.0 1059 11312 0.00 2.75 0.00 0.000 6 0.000 0.033 3091 2751 1714

11632 0.77 330.2 549.6 10.1 1089 11636 0.00 2.30 0.00 0.000 4 0.000 0.052 3091 3903 1713

11662 0.87 330.2 546.5 10.9 1091 11666 0.00 2.25 0.00 0.000 6 0.000 0.032 3091 2737 1713

11989 0.95 333.3 513.9 9.9 1121 11994 0.15 2.78 0.00 0.000 4 0.051 0.047 3128 1344 1713

12063 0.90 333.3 505.1 11.8 1127 12066 0.00 2.40 0.00 0.000 6 0.000 0.030 3128 2597 1713

12395 0.90 333.3 467.6 11.3 1158 12400 0.00 2.53 0.00 0.000 4 0.000 0.046 3128 1337 1713

12447 0.84 333.3 461.2 11.9 1162 12452 0.15 2.35 0.00 0.000 6 0.098 0.030 3105 2557 1713

12773 0.93 334.9 427.9 9.9 1192 12777 0.00 2.45 0.00 0.000 4 0.000 0.048 3105 1333 1713

12856 0.93 334.9 418.5 10.6 1199 12863 0.00 2.55 0.00 0.000 6 0.000 0.031 3105 2650 1713

13184 1.00 334.9 385.4 10.3 1230 13188 0.15 2.47 0.00 0.000 4 0.052 0.048 3141 3895 1713

13280 0.88 334.9 371.4 15.4 1238 13286 0.17 2.75 0.00 0.000 6 0.112 0.034 3115 2487 1712

13615 0.81 334.9 328.9 13.2 1282 13622 0.00 2.83 0.00 0.000 4 0.000 0.045 3115 3894 1712

13714 0.74 334.9 315.9 12.8 1299 13721 0.20 2.65 0.00 0.000 6 0.104 0.032 3083 2531 1712

14061 0.77 362.0 283.0 9.1 1360 14103 0.00 2.85 31.65 1.094 4 0.000 0.045 3083 3900 1594

14155 0.77 362.0 274.0 10.6 1375 14162 0.00 2.65 0.00 0.000 6 0.000 0.032 3083 2550 1593

14501 0.81 395.1 243.3 8.8 1436 14542 0.00 2.83 35.03 1.077 4 0.000 0.045 3083 3897 1459

14584 0.88 410.7 235.9 9.5 1449 14613 0.15 2.60 17.92 1.017 6 0.055 0.031 3113 2577 1395

14956 0.88 410.7 195.9 10.9 1513 14962 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2577 1390

15300 0.88 412.6 158.9 9.9 1574 15307 0.00 2.65 0.00 0.000 4 0.000 0.046 3113 3900 1390

15365 0.88 412.6 151.8 10.6 1585 15372 0.00 2.53 0.00 0.000 6 0.000 0.032 3113 2595 1389

15711 0.88 412.6 113.8 11.1 1646 15719 0.00 2.60 0.00 0.000 4 0.000 0.047 3113 3897 1388

15754 0.88 412.6 108.7 11.4 1653 15761 0.00 2.47 0.00 0.000 6 0.000 0.031 3113 2616 1388

16100 0.88 412.6 69.6 10.6 1714 16106 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2616 1388

16442 0.88 412.6 31.6 12.2 1775 16450 0.00 2.55 0.00 0.000 4 0.000 0.046 3114 3901 1388

16495 0.88 412.6 25.6 11.6 1784 16503 0.00 2.45 0.00 0.000 6 0.000 0.032 3113 2626 1387

16640 0.88 412.6 9.9 10.9 1809 16648 0.00 2.55 0.00 0.000 4 0.000 0.048 3113 1338 1387

16677 0.97 442.6 6.0 9.0 1815 16720 0.00 2.50 32.10 0.919 6 0.000 0.030 3114 2644 1265

16725 end climb: SURFACE_DEPTH_REACHED

state 16725 begin surface coast

16748 end surface coast: CONTROL_FINISHED_OK

state 16748 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	320	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	31	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	-18970.734	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	161734,6152.433,-2610.976,39,1.7,42,-18.8	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	0.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	162509,6152.472,-2611.022,11,1.5,11,-18.8	MHEAD_RNG_PITCHd_Wd	219.8,16817,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.3,1.013212	_24V_AH	19.1,99.981
SM_CCo	16827,0.00,0.000,0,0,1260,443.99	_10V_AH	9.8,67.272
SM_GC	0.81,8.62,0.00,0.00,0.047,0.000,0.000,1438,2299,1260,-6.79,-0.03,443.99	DATA_FILE_SIZE	136013,1826
IRIDIUM_FIX	6130.75,-2611.42,040997,111126	CAP_FILE_SIZE	169179,0
TT8_MAMPS	0.026078	CFSIZE	260165632,226336768
HUMID	1840	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89728	CURRENT	0.034,298.4,1
TCM_TEMP	16.50	GPS	100608,210707,6150.526,-2613.578,33,1.3,33,-18.8
XPDR_PINGS	880

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	253	121.10	SBE_CT	1257	24	576.31
Roll_motor	171	106	349.79	SBE_O2	1366	19	495.96
VBD_pump_during_apogee	674	1483	19116.66	Optode	702	33	443.03
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1701	105	3412.27
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	22	103	43.88	nil	0	0	0.00
Iridium_during_connect	31	160	97.52	nil	0	0	0.00
Iridium_during_xfer	249	223	1064.12
Transponder_ping	220	420	1764.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.15
TT8	3722	19	722.23
LPSleep	8658	2	185.82
TT8_Active	921	19	178.80
TT8_Sampling	3275	39	1277.40
TT8_CF8	688	45	309.18
TT8_Kalman	0	0	0.00
Analog_circuits	2402	12	282.51
GPS_charging	0	0	0.00
Compass	3266	8	256.12
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	-0.86	-194.7	0.0	0.0	0	149	0.00	0.00	-125.47	0.000	2	0.000	0.000	1433	2325	3482
152	-0.86	-194.7	3.2	-4.2	17	183	12.18	2.75	-10.65	0.000	4	0.253	0.052	2725	3701	3866
306	-0.81	-194.7	26.4	-12.9	42	314	0.00	2.72	0.00	0.000	6	0.000	0.032	2725	2300	3866
450	-0.73	-194.7	45.0	-12.6	67	458	0.17	2.83	0.00	0.000	4	0.154	0.048	2752	883	3867
487	-0.73	-194.7	49.3	-10.5	73	495	0.00	2.70	0.00	0.000	6	0.000	0.029	2752	2291	3867
631	-0.73	-194.7	64.4	-11.0	98	638	0.00	2.78	0.00	0.000	4	0.000	0.043	2752	3701	3867
651	-0.73	-194.7	66.7	-11.2	101	658	0.00	2.75	0.00	0.000	6	0.000	0.033	2752	2292	3866
996	-0.73	-194.7	106.9	-12.1	162	1004	0.00	2.80	0.00	0.000	4	0.000	0.044	2752	3701	3867
1039	-0.73	-194.7	112.0	-11.5	169	1046	0.00	2.72	0.00	0.000	6	0.000	0.034	2752	2305	3867
1384	-0.73	-194.7	150.1	-10.9	230	1392	0.00	2.80	0.00	0.000	4	0.000	0.044	2752	3706	3867
1416	-0.73	-194.7	153.5	-10.8	235	1423	0.00	2.70	0.00	0.000	6	0.000	0.033	2752	2318	3867
1761	-0.73	-194.7	190.6	-10.9	296	1769	0.00	2.78	0.00	0.000	4	0.000	0.044	2752	3706	3868
1798	-0.73	-194.7	194.6	-10.4	302	1806	0.00	2.67	0.00	0.000	6	0.000	0.033	2752	2329	3867
2145	-0.73	-194.7	231.7	-10.7	363	2151	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2329	3867
2490	-0.73	-194.7	267.9	-10.6	424	2497	0.00	2.75	0.00	0.000	4	0.000	0.045	2751	3703	3867
2521	-0.73	-194.7	271.3	-11.3	429	2528	0.00	2.65	0.00	0.000	6	0.000	0.033	2752	2339	3867
2866	-0.73	-194.7	309.6	-10.7	490	2873	0.00	2.72	0.00	0.000	4	0.000	0.044	2752	3701	3867
2887	-0.73	-194.7	311.7	-10.9	493	2895	0.00	2.65	0.00	0.000	6	0.000	0.032	2752	2337	3867
3233	-0.73	-194.7	348.5	-10.9	554	3240	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2336	3867
3562	-0.73	-194.7	381.9	-9.7	586	3567	0.00	2.72	0.00	0.000	4	0.000	0.045	2752	3700	3867
3580	-0.73	-194.7	383.8	-9.7	587	3585	0.00	2.65	0.00	0.000	6	0.000	0.032	2751	2340	3867
3909	-0.73	-194.7	416.2	-10.2	617	3916	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2338	3866
4234	-0.73	-194.7	451.1	-11.2	648	4238	0.00	2.72	0.00	0.000	4	0.000	0.045	2752	3706	3866
4252	-0.73	-194.7	452.9	-10.8	649	4257	0.00	2.65	0.00	0.000	6	0.000	0.034	2752	2346	3866
4580	-0.73	-194.7	489.8	-11.6	679	4586	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2344	3866
4905	-0.73	-194.7	526.1	-11.3	710	4906	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2344	3866
5224	-0.73	-194.7	560.0	-10.5	740	5228	0.00	2.75	0.00	0.000	4	0.000	0.048	2752	3703	3866
5233	-0.73	-194.7	561.1	-10.0	740	5241	0.00	2.65	0.00	0.000	6	0.000	0.034	2752	2345	3866
5561	-0.73	-194.7	593.6	-9.7	771	5562	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2343	3865
5881	-0.73	-194.7	625.8	-10.0	790	5885	0.00	2.78	0.00	0.000	4	0.000	0.053	2752	3699	3865
5899	-0.73	-194.7	627.5	-9.3	791	5903	0.00	2.65	0.00	0.000	6	0.000	0.037	2752	2355	3865
6227	-0.73	-194.7	658.5	-9.7	807	6231	0.00	2.78	0.00	0.000	4	0.000	0.056	2752	3700	3865
6248	-0.73	-194.7	660.7	-9.6	808	6252	0.00	2.65	0.00	0.000	6	0.000	0.039	2751	2365	3865
6569	-0.73	-194.7	690.2	-9.2	824	6570	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2365	3865
6879	-0.73	-194.7	717.9	-8.6	839	6880	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2365	3865
7187	-0.73	-194.7	744.9	-8.6	854	7189	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2364	3864
7497	-0.73	-194.7	772.9	-9.7	869	7498	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2365	3864
7807	-0.73	-194.7	801.1	-8.9	884	7808	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2364	3864
8116	-0.73	-194.7	829.8	-9.8	899	8121	0.00	3.12	0.00	0.000	4	0.000	0.107	2752	3696	3864
8133	-0.73	-194.7	831.5	-9.4	900	8138	0.00	2.97	0.00	0.000	6	0.000	0.088	2752	2376	3864
8461	-1.04	-194.7	840.7	-0.0	916	8463	0.30	0.00	0.00	0.000	6	0.055	0.000	2694	2375	3864
8561	end dive: NO_VERTICAL_VELOCITY
state	8561	begin apogee
8568	-0.21	0.0	840.7	0.0	921	8777	0.98	0.00	205.77	1.483	6	0.075	0.000	2871	2732	3071
8778	end apogee: CONTROL_FINISHED_OK
state	8778	begin climb
8781	0.86	194.7	840.5	0.0	931	8996	1.38	0.00	210.98	1.414	6	0.081	0.000	3100	2731	2277
9300	0.73	194.7	792.5	10.7	957	9304	0.00	2.60	0.00	0.000	4	0.000	0.088	3099	3908	2274
9355	0.61	194.7	785.7	11.3	959	9362	0.28	2.40	0.00	0.000	6	0.116	0.061	3058	2771	2274
9672	0.70	273.1	760.5	7.3	975	9760	0.00	3.20	80.32	1.401	4	0.000	0.074	3057	1336	1957
9799	0.77	330.2	750.8	8.0	980	9867	0.17	3.03	60.95	1.368	6	0.054	0.051	3091	2761	1725
10177	0.77	330.2	709.0	11.6	998	10181	0.00	2.38	0.00	0.000	4	0.000	0.068	3091	3899	1718
10217	0.77	330.2	704.2	12.1	1000	10221	0.00	2.35	0.00	0.000	6	0.000	0.044	3091	2735	1717
10543	0.77	330.2	665.5	11.7	1016	10548	0.00	2.88	0.00	0.000	4	0.000	0.058	3091	1335	1716
10576	0.77	330.2	661.6	11.5	1017	10583	0.00	2.80	0.00	0.000	6	0.000	0.036	3091	2749	1715
10892	0.77	330.2	628.7	10.6	1033	10896	0.00	2.33	0.00	0.000	4	0.000	0.058	3091	3903	1715
10947	0.77	330.2	622.3	11.5	1035	10954	0.00	2.28	0.00	0.000	6	0.000	0.035	3091	2734	1714
11266	0.77	330.2	588.7	10.4	1056	11271	0.00	2.80	0.00	0.000	4	0.000	0.050	3091	1339	1714
11307	0.77	330.2	584.4	11.0	1059	11312	0.00	2.75	0.00	0.000	6	0.000	0.033	3091	2751	1714
11632	0.77	330.2	549.6	10.1	1089	11636	0.00	2.30	0.00	0.000	4	0.000	0.052	3091	3903	1713
11662	0.87	330.2	546.5	10.9	1091	11666	0.00	2.25	0.00	0.000	6	0.000	0.032	3091	2737	1713
11989	0.95	333.3	513.9	9.9	1121	11994	0.15	2.78	0.00	0.000	4	0.051	0.047	3128	1344	1713
12063	0.90	333.3	505.1	11.8	1127	12066	0.00	2.40	0.00	0.000	6	0.000	0.030	3128	2597	1713
12395	0.90	333.3	467.6	11.3	1158	12400	0.00	2.53	0.00	0.000	4	0.000	0.046	3128	1337	1713
12447	0.84	333.3	461.2	11.9	1162	12452	0.15	2.35	0.00	0.000	6	0.098	0.030	3105	2557	1713
12773	0.93	334.9	427.9	9.9	1192	12777	0.00	2.45	0.00	0.000	4	0.000	0.048	3105	1333	1713
12856	0.93	334.9	418.5	10.6	1199	12863	0.00	2.55	0.00	0.000	6	0.000	0.031	3105	2650	1713
13184	1.00	334.9	385.4	10.3	1230	13188	0.15	2.47	0.00	0.000	4	0.052	0.048	3141	3895	1713
13280	0.88	334.9	371.4	15.4	1238	13286	0.17	2.75	0.00	0.000	6	0.112	0.034	3115	2487	1712
13615	0.81	334.9	328.9	13.2	1282	13622	0.00	2.83	0.00	0.000	4	0.000	0.045	3115	3894	1712
13714	0.74	334.9	315.9	12.8	1299	13721	0.20	2.65	0.00	0.000	6	0.104	0.032	3083	2531	1712
14061	0.77	362.0	283.0	9.1	1360	14103	0.00	2.85	31.65	1.094	4	0.000	0.045	3083	3900	1594
14155	0.77	362.0	274.0	10.6	1375	14162	0.00	2.65	0.00	0.000	6	0.000	0.032	3083	2550	1593
14501	0.81	395.1	243.3	8.8	1436	14542	0.00	2.83	35.03	1.077	4	0.000	0.045	3083	3897	1459
14584	0.88	410.7	235.9	9.5	1449	14613	0.15	2.60	17.92	1.017	6	0.055	0.031	3113	2577	1395
14956	0.88	410.7	195.9	10.9	1513	14962	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	2577	1390
15300	0.88	412.6	158.9	9.9	1574	15307	0.00	2.65	0.00	0.000	4	0.000	0.046	3113	3900	1390
15365	0.88	412.6	151.8	10.6	1585	15372	0.00	2.53	0.00	0.000	6	0.000	0.032	3113	2595	1389
15711	0.88	412.6	113.8	11.1	1646	15719	0.00	2.60	0.00	0.000	4	0.000	0.047	3113	3897	1388
15754	0.88	412.6	108.7	11.4	1653	15761	0.00	2.47	0.00	0.000	6	0.000	0.031	3113	2616	1388
16100	0.88	412.6	69.6	10.6	1714	16106	0.00	0.00	0.00	0.000	6	0.000	0.000	3113	2616	1388
16442	0.88	412.6	31.6	12.2	1775	16450	0.00	2.55	0.00	0.000	4	0.000	0.046	3114	3901	1388
16495	0.88	412.6	25.6	11.6	1784	16503	0.00	2.45	0.00	0.000	6	0.000	0.032	3113	2626	1387
16640	0.88	412.6	9.9	10.9	1809	16648	0.00	2.55	0.00	0.000	4	0.000	0.048	3113	1338	1387
16677	0.97	442.6	6.0	9.0	1815	16720	0.00	2.50	32.10	0.919	6	0.000	0.030	3114	2644	1265
16725	end climb: SURFACE_DEPTH_REACHED
state	16725	begin surface coast
16748	end surface coast: CONTROL_FINISHED_OK
state	16748	begin surface