Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 359 * 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 359 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 35 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 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 -19740.533 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 -19740.533

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 35 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 22 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 359 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 121725,6148.021,-2601.996,31,1.4,48,-18.6 TGT_NAME NW

_CALLS 1 TGT_LATLONG 6156.130,-2622.980

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 122559,6148.036,-2601.994,10,2.9,29,-18.6 MHEAD_RNG_PITCHd_Wd 323.0,23645,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.012417 _24V_AH 18.9,111.549

SM_CCo 18402,0.00,0.000,0,0,1172,465.82 _10V_AH 9.8,73.528

SM_GC 0.76,8.62,0.00,0.00,0.046,0.000,0.000,1436,2278,1172,-6.79,-0.62,465.82 DATA_FILE_SIZE 136081,1848

IRIDIUM_FIX 6121.73,-2601.40,120997,070743 CAP_FILE_SIZE 178976,0

TT8_MAMPS 0.026845 CFSIZE 260165632,222793728

HUMID 1844 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90705 CURRENT 0.094, 95.3,1

TCM_TEMP 15.00 GPS 180608,173408,6149.766,-2604.479,31,1.7,31,-18.7

XPDR_PINGS 1001

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 247 110.74 SBE_CT 1275 24 578.73

Roll_motor 207 144 569.67 SBE_O2 1393 19 500.55

VBD_pump_during_apogee 724 1586 21731.30 Optode 670 33 418.23

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1627 105 3230.01

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 29 103 56.92 nil 0 0 0.00

Iridium_during_connect 35 160 106.02 nil 0 0 0.00

Iridium_during_xfer 265 223 1120.48

Transponder_ping 250 420 1986.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.66

TT8 3793 19 736.09

LPSleep 9929 2 213.11

TT8_Active 951 19 184.67

TT8_Sampling 3445 39 1343.87

TT8_CF8 773 45 347.27

TT8_Kalman 0 0 0.00

Analog_circuits 2554 12 300.44

GPS_charging 0 0 0.00

Compass 3416 8 267.86

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

19 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.86 -194.7 0.0 0.0 0 159 0.00 0.00 -133.30 0.000 2 0.000 0.000 1434 2275 3561

162 -0.86 -194.7 3.4 -4.3 18 193 11.98 2.92 -7.88 0.000 4 0.248 0.051 2725 3709 3867

370 -0.79 -194.7 36.7 -13.7 53 378 0.12 2.72 0.00 0.000 6 0.139 0.031 2742 2305 3868

517 -0.75 -194.7 54.8 -12.2 78 524 0.00 2.80 0.00 0.000 4 0.000 0.048 2742 891 3869

569 -0.75 -194.7 61.7 -12.5 87 577 0.00 2.70 0.00 0.000 6 0.000 0.029 2742 2295 3869

914 -0.75 -194.7 104.5 -12.3 148 922 0.00 2.78 0.00 0.000 4 0.000 0.044 2742 3702 3869

996 -0.75 -194.7 114.4 -12.0 162 1004 0.00 2.75 0.00 0.000 6 0.000 0.033 2742 2289 3869

1342 -0.75 -194.7 157.6 -12.4 223 1348 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2289 3869

1688 -0.75 -194.7 201.4 -12.3 284 1695 0.00 2.83 0.00 0.000 4 0.000 0.044 2742 3700 3869

1759 -0.75 -194.7 210.3 -12.4 296 1766 0.00 2.72 0.00 0.000 6 0.000 0.033 2742 2300 3869

2105 -0.75 -194.7 251.6 -11.8 357 2111 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2299 3869

2449 -0.75 -194.7 292.1 -12.0 418 2457 0.00 2.83 0.00 0.000 4 0.000 0.045 2742 3704 3869

2509 -0.75 -194.7 299.1 -11.8 428 2516 0.00 2.72 0.00 0.000 6 0.000 0.033 2742 2307 3869

2855 -0.75 -194.7 339.5 -11.5 489 2862 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2306 3869

3191 -0.75 -194.7 380.0 -12.2 528 3192 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2305 3869

3510 -0.75 -194.7 418.6 -12.2 558 3515 0.00 2.80 0.00 0.000 4 0.000 0.046 2742 3700 3869

3576 -0.75 -194.7 426.9 -12.2 563 3583 0.00 2.70 0.00 0.000 6 0.000 0.034 2742 2318 3869

3904 -0.75 -194.7 467.9 -12.8 594 3908 0.00 2.85 0.00 0.000 4 0.000 0.050 2742 892 3868

3936 -0.75 -194.7 472.7 -13.0 596 3945 0.00 2.78 0.00 0.000 6 0.000 0.030 2742 2328 3868

4264 -0.75 -194.7 513.0 -12.4 627 4268 0.00 2.78 0.00 0.000 4 0.000 0.050 2742 3709 3868

4338 -0.75 -194.7 522.4 -12.3 633 4343 0.00 2.70 0.00 0.000 6 0.000 0.034 2742 2328 3868

4667 -0.75 -194.7 562.3 -12.3 663 4672 0.00 2.90 0.00 0.000 4 0.000 0.053 2742 892 3868

4710 -0.75 -194.7 568.3 -11.9 666 4718 0.00 2.80 0.00 0.000 6 0.000 0.031 2742 2333 3867

5049 -0.75 -194.7 607.2 -11.3 695 5054 0.00 2.78 0.00 0.000 4 0.000 0.051 2742 3709 3867

5115 -0.75 -194.7 615.0 -10.5 698 5120 0.00 2.72 0.00 0.000 6 0.000 0.036 2742 2331 3867

5439 -0.75 -194.7 648.1 -10.4 714 5444 0.00 2.97 0.00 0.000 4 0.000 0.059 2742 882 3867

5479 -0.75 -194.7 652.5 -10.8 716 5484 0.00 2.85 0.00 0.000 6 0.000 0.035 2742 2333 3867

5805 -0.75 -194.7 687.5 -11.1 732 5810 0.00 2.83 0.00 0.000 4 0.000 0.059 2742 3709 3867

5873 -0.75 -194.7 694.8 -11.0 735 5877 0.00 2.78 0.00 0.000 6 0.000 0.044 2742 2333 3867

6194 -0.75 -194.7 728.0 -10.2 751 6199 0.00 3.05 0.00 0.000 4 0.000 0.071 2741 889 3867

6243 -0.75 -194.7 733.5 -10.8 753 6248 0.00 2.92 0.00 0.000 6 0.000 0.046 2742 2339 3867

6561 -0.75 -194.7 768.8 -11.2 768 6566 0.00 3.00 0.00 0.000 4 0.000 0.081 2742 3716 3867

6661 -0.75 -194.7 780.2 -10.8 772 6669 0.00 2.90 0.00 0.000 6 0.000 0.064 2742 2345 3867

6977 -0.75 -194.7 813.3 -10.8 788 6982 0.00 3.33 0.00 0.000 4 0.000 0.100 2742 886 3866

7010 -0.75 -194.7 817.0 -11.6 789 7018 0.00 3.20 0.00 0.000 6 0.000 0.079 2742 2344 3866

7327 -0.75 -194.7 846.9 -9.2 805 7332 0.00 3.22 0.00 0.000 4 0.000 0.110 2742 3713 3866

7405 -0.75 -194.7 853.7 -8.6 808 7413 0.00 3.17 0.00 0.000 6 0.000 0.100 2742 2350 3866

7721 -0.75 -194.7 881.7 -9.3 824 7726 0.00 3.65 0.00 0.000 4 0.000 0.132 2742 884 3865

7762 -0.75 -194.7 885.6 -10.2 826 7767 0.00 3.50 0.00 0.000 6 0.000 0.111 2742 2344 3865

8089 -0.75 -194.7 918.2 -10.1 842 8094 0.00 3.55 0.00 0.000 4 0.000 0.145 2742 3712 3865

8167 -0.75 -194.7 926.1 -9.8 845 8175 0.00 2.88 0.00 0.000 6 0.000 0.057 2742 2325 3865

8483 -0.75 -194.7 955.3 -9.2 861 8488 0.00 2.95 0.00 0.000 4 0.000 0.060 2742 891 3864

8524 -0.75 -194.7 959.0 -9.2 863 8529 0.00 2.88 0.00 0.000 6 0.000 0.034 2742 2352 3864

8849 end dive: TARGET_DEPTH_EXCEEDED

state 8849 begin apogee

8856 -0.21 0.0 990.1 9.9 879 9073 0.85 0.00 211.98 1.586 6 0.143 0.000 2870 2766 3071

9073 end apogee: CONTROL_FINISHED_OK

state 9074 begin climb

9076 0.86 194.7 998.1 0.0 890 9302 1.42 2.58 215.15 1.516 4 0.091 0.060 3100 3890 2278

9387 0.73 194.7 969.1 13.6 904 9391 0.00 2.35 0.00 0.000 6 0.000 0.034 3100 2743 2276

9709 0.60 194.7 929.3 12.7 920 9714 0.28 2.38 0.00 0.000 4 0.117 0.054 3054 3894 2275

9730 0.53 194.7 926.6 11.6 921 9735 0.00 2.22 0.00 0.000 6 0.000 0.034 3055 2755 2275

10053 0.57 231.0 896.3 8.7 937 10093 0.00 0.00 38.70 1.473 6 0.000 0.000 3054 2753 2129

10403 0.59 248.1 863.4 9.4 954 10427 0.00 2.42 19.05 1.392 4 0.000 0.053 3054 3893 2059

10432 0.61 261.1 860.4 9.6 955 10453 0.00 2.22 15.45 1.358 6 0.000 0.033 3054 2763 2006

10782 0.69 326.4 831.8 7.7 972 10858 0.00 3.03 69.88 1.467 4 0.000 0.052 3054 1339 1739

10869 0.83 393.0 824.5 7.7 976 10954 0.25 2.90 73.88 1.434 6 0.044 0.031 3104 2763 1468

11264 0.83 393.0 780.5 11.7 995 11269 0.00 2.90 0.00 0.000 4 0.000 0.046 3105 1339 1460

11285 0.83 393.0 777.3 12.5 996 11290 0.00 2.78 0.00 0.000 6 0.000 0.032 3104 2745 1459

11608 0.83 393.0 738.3 11.7 1012 11610 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2746 1458

11917 0.83 393.0 703.6 11.1 1027 11922 0.00 2.85 0.00 0.000 4 0.000 0.047 3104 1334 1456

11951 0.83 393.0 699.2 12.3 1028 11959 0.00 2.75 0.00 0.000 6 0.000 0.032 3104 2743 1456

12267 0.83 393.0 661.5 11.8 1044 12268 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2744 1455

12577 0.83 393.0 626.2 11.1 1059 12582 0.00 2.83 0.00 0.000 4 0.000 0.046 3105 1341 1455

12599 0.83 393.0 623.4 11.0 1060 12604 0.00 2.70 0.00 0.000 6 0.000 0.032 3105 2726 1455

12924 0.83 393.0 587.5 10.9 1081 12929 0.00 2.80 0.00 0.000 4 0.000 0.051 3105 1336 1455

12943 0.83 393.0 585.4 11.1 1082 12947 0.00 2.70 0.00 0.000 6 0.000 0.032 3105 2720 1454

13268 0.83 393.0 549.3 11.0 1112 13272 0.00 2.78 0.00 0.000 4 0.000 0.045 3105 1342 1454

13278 0.83 393.0 548.0 11.2 1112 13285 0.00 2.65 0.00 0.000 6 0.000 0.031 3105 2706 1454

13606 0.83 393.0 510.2 11.5 1143 13612 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2707 1454

13931 0.83 393.0 472.6 11.1 1174 13936 0.00 2.75 0.00 0.000 4 0.000 0.044 3105 1337 1454

13950 0.83 393.0 470.6 11.2 1175 13954 0.00 2.65 0.00 0.000 6 0.000 0.031 3104 2698 1454

14276 0.83 393.0 432.3 11.6 1205 14277 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2698 1454

14595 0.83 393.0 396.5 11.2 1235 14599 0.00 2.72 0.00 0.000 4 0.000 0.044 3105 1341 1454

14605 0.83 393.0 395.1 11.0 1235 14612 0.00 2.62 0.00 0.000 6 0.000 0.031 3104 2695 1454

14934 0.83 393.0 360.7 10.4 1266 14941 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2696 1454

15272 0.84 402.5 326.7 9.7 1317 15285 0.00 0.00 8.43 0.937 6 0.000 0.000 3105 2696 1430

15624 0.84 402.5 289.7 10.7 1379 15631 0.00 2.72 0.00 0.000 4 0.000 0.044 3105 1334 1429

15643 0.84 402.5 287.5 10.8 1382 15650 0.00 2.62 0.00 0.000 6 0.000 0.031 3105 2685 1429

15990 0.84 402.5 252.1 10.7 1443 15997 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2685 1429

16335 0.86 418.1 216.9 9.5 1504 16362 0.00 2.75 18.08 1.017 4 0.000 0.044 3104 1346 1365

16370 0.87 428.3 213.5 9.6 1509 16390 0.00 2.62 12.88 1.001 6 0.000 0.030 3105 2686 1323

16730 0.87 428.3 180.2 10.1 1572 16737 0.00 2.70 0.00 0.000 4 0.000 0.044 3104 1339 1320

16744 0.88 439.7 178.7 9.6 1574 16766 0.00 2.58 12.88 0.953 6 0.000 0.030 3104 2670 1278

17104 0.90 449.0 143.3 9.7 1637 17125 0.00 2.72 10.88 0.910 4 0.000 0.044 3105 1343 1240

17133 0.96 463.9 140.5 9.5 1641 17156 0.12 2.55 17.70 0.981 6 0.054 0.030 3133 2653 1179

17497 0.96 463.9 98.8 10.4 1704 17504 0.00 2.65 0.00 0.000 4 0.000 0.045 3133 1334 1176

17511 0.96 463.9 97.0 10.2 1706 17518 0.00 2.55 0.00 0.000 6 0.000 0.030 3134 2650 1175

17856 0.96 463.9 55.0 13.6 1767 17864 0.00 2.62 0.00 0.000 4 0.000 0.045 3133 1341 1174

17871 0.96 463.9 52.9 13.6 1769 17878 0.00 2.50 0.00 0.000 6 0.000 0.029 3133 2636 1174

18216 0.96 463.9 12.1 11.2 1830 18224 0.00 2.58 0.00 0.000 4 0.000 0.046 3134 1343 1174

18231 0.96 463.9 10.4 11.5 1832 18238 0.00 2.45 0.00 0.000 6 0.000 0.029 3133 2621 1173

18304 end climb: SURFACE_DEPTH_REACHED

state 18304 begin surface coast

18322 end surface coast: CONTROL_FINISHED_OK

state 18322 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	359	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	35	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	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	-19740.533	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	121725,6148.021,-2601.996,31,1.4,48,-18.6	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	6156.130,-2622.980
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	122559,6148.036,-2601.994,10,2.9,29,-18.6	MHEAD_RNG_PITCHd_Wd	323.0,23645,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.2,1.012417	_24V_AH	18.9,111.549
SM_CCo	18402,0.00,0.000,0,0,1172,465.82	_10V_AH	9.8,73.528
SM_GC	0.76,8.62,0.00,0.00,0.046,0.000,0.000,1436,2278,1172,-6.79,-0.62,465.82	DATA_FILE_SIZE	136081,1848
IRIDIUM_FIX	6121.73,-2601.40,120997,070743	CAP_FILE_SIZE	178976,0
TT8_MAMPS	0.026845	CFSIZE	260165632,222793728
HUMID	1844	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90705	CURRENT	0.094, 95.3,1
TCM_TEMP	15.00	GPS	180608,173408,6149.766,-2604.479,31,1.7,31,-18.7
XPDR_PINGS	1001

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	247	110.74	SBE_CT	1275	24	578.73
Roll_motor	207	144	569.67	SBE_O2	1393	19	500.55
VBD_pump_during_apogee	724	1586	21731.30	Optode	670	33	418.23
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1627	105	3230.01
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	29	103	56.92	nil	0	0	0.00
Iridium_during_connect	35	160	106.02	nil	0	0	0.00
Iridium_during_xfer	265	223	1120.48
Transponder_ping	250	420	1986.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.66
TT8	3793	19	736.09
LPSleep	9929	2	213.11
TT8_Active	951	19	184.67
TT8_Sampling	3445	39	1343.87
TT8_CF8	773	45	347.27
TT8_Kalman	0	0	0.00
Analog_circuits	2554	12	300.44
GPS_charging	0	0	0.00
Compass	3416	8	267.86
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
19	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.86	-194.7	0.0	0.0	0	159	0.00	0.00	-133.30	0.000	2	0.000	0.000	1434	2275	3561
162	-0.86	-194.7	3.4	-4.3	18	193	11.98	2.92	-7.88	0.000	4	0.248	0.051	2725	3709	3867
370	-0.79	-194.7	36.7	-13.7	53	378	0.12	2.72	0.00	0.000	6	0.139	0.031	2742	2305	3868
517	-0.75	-194.7	54.8	-12.2	78	524	0.00	2.80	0.00	0.000	4	0.000	0.048	2742	891	3869
569	-0.75	-194.7	61.7	-12.5	87	577	0.00	2.70	0.00	0.000	6	0.000	0.029	2742	2295	3869
914	-0.75	-194.7	104.5	-12.3	148	922	0.00	2.78	0.00	0.000	4	0.000	0.044	2742	3702	3869
996	-0.75	-194.7	114.4	-12.0	162	1004	0.00	2.75	0.00	0.000	6	0.000	0.033	2742	2289	3869
1342	-0.75	-194.7	157.6	-12.4	223	1348	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2289	3869
1688	-0.75	-194.7	201.4	-12.3	284	1695	0.00	2.83	0.00	0.000	4	0.000	0.044	2742	3700	3869
1759	-0.75	-194.7	210.3	-12.4	296	1766	0.00	2.72	0.00	0.000	6	0.000	0.033	2742	2300	3869
2105	-0.75	-194.7	251.6	-11.8	357	2111	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2299	3869
2449	-0.75	-194.7	292.1	-12.0	418	2457	0.00	2.83	0.00	0.000	4	0.000	0.045	2742	3704	3869
2509	-0.75	-194.7	299.1	-11.8	428	2516	0.00	2.72	0.00	0.000	6	0.000	0.033	2742	2307	3869
2855	-0.75	-194.7	339.5	-11.5	489	2862	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2306	3869
3191	-0.75	-194.7	380.0	-12.2	528	3192	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2305	3869
3510	-0.75	-194.7	418.6	-12.2	558	3515	0.00	2.80	0.00	0.000	4	0.000	0.046	2742	3700	3869
3576	-0.75	-194.7	426.9	-12.2	563	3583	0.00	2.70	0.00	0.000	6	0.000	0.034	2742	2318	3869
3904	-0.75	-194.7	467.9	-12.8	594	3908	0.00	2.85	0.00	0.000	4	0.000	0.050	2742	892	3868
3936	-0.75	-194.7	472.7	-13.0	596	3945	0.00	2.78	0.00	0.000	6	0.000	0.030	2742	2328	3868
4264	-0.75	-194.7	513.0	-12.4	627	4268	0.00	2.78	0.00	0.000	4	0.000	0.050	2742	3709	3868
4338	-0.75	-194.7	522.4	-12.3	633	4343	0.00	2.70	0.00	0.000	6	0.000	0.034	2742	2328	3868
4667	-0.75	-194.7	562.3	-12.3	663	4672	0.00	2.90	0.00	0.000	4	0.000	0.053	2742	892	3868
4710	-0.75	-194.7	568.3	-11.9	666	4718	0.00	2.80	0.00	0.000	6	0.000	0.031	2742	2333	3867
5049	-0.75	-194.7	607.2	-11.3	695	5054	0.00	2.78	0.00	0.000	4	0.000	0.051	2742	3709	3867
5115	-0.75	-194.7	615.0	-10.5	698	5120	0.00	2.72	0.00	0.000	6	0.000	0.036	2742	2331	3867
5439	-0.75	-194.7	648.1	-10.4	714	5444	0.00	2.97	0.00	0.000	4	0.000	0.059	2742	882	3867
5479	-0.75	-194.7	652.5	-10.8	716	5484	0.00	2.85	0.00	0.000	6	0.000	0.035	2742	2333	3867
5805	-0.75	-194.7	687.5	-11.1	732	5810	0.00	2.83	0.00	0.000	4	0.000	0.059	2742	3709	3867
5873	-0.75	-194.7	694.8	-11.0	735	5877	0.00	2.78	0.00	0.000	6	0.000	0.044	2742	2333	3867
6194	-0.75	-194.7	728.0	-10.2	751	6199	0.00	3.05	0.00	0.000	4	0.000	0.071	2741	889	3867
6243	-0.75	-194.7	733.5	-10.8	753	6248	0.00	2.92	0.00	0.000	6	0.000	0.046	2742	2339	3867
6561	-0.75	-194.7	768.8	-11.2	768	6566	0.00	3.00	0.00	0.000	4	0.000	0.081	2742	3716	3867
6661	-0.75	-194.7	780.2	-10.8	772	6669	0.00	2.90	0.00	0.000	6	0.000	0.064	2742	2345	3867
6977	-0.75	-194.7	813.3	-10.8	788	6982	0.00	3.33	0.00	0.000	4	0.000	0.100	2742	886	3866
7010	-0.75	-194.7	817.0	-11.6	789	7018	0.00	3.20	0.00	0.000	6	0.000	0.079	2742	2344	3866
7327	-0.75	-194.7	846.9	-9.2	805	7332	0.00	3.22	0.00	0.000	4	0.000	0.110	2742	3713	3866
7405	-0.75	-194.7	853.7	-8.6	808	7413	0.00	3.17	0.00	0.000	6	0.000	0.100	2742	2350	3866
7721	-0.75	-194.7	881.7	-9.3	824	7726	0.00	3.65	0.00	0.000	4	0.000	0.132	2742	884	3865
7762	-0.75	-194.7	885.6	-10.2	826	7767	0.00	3.50	0.00	0.000	6	0.000	0.111	2742	2344	3865
8089	-0.75	-194.7	918.2	-10.1	842	8094	0.00	3.55	0.00	0.000	4	0.000	0.145	2742	3712	3865
8167	-0.75	-194.7	926.1	-9.8	845	8175	0.00	2.88	0.00	0.000	6	0.000	0.057	2742	2325	3865
8483	-0.75	-194.7	955.3	-9.2	861	8488	0.00	2.95	0.00	0.000	4	0.000	0.060	2742	891	3864
8524	-0.75	-194.7	959.0	-9.2	863	8529	0.00	2.88	0.00	0.000	6	0.000	0.034	2742	2352	3864
8849	end dive: TARGET_DEPTH_EXCEEDED
state	8849	begin apogee
8856	-0.21	0.0	990.1	9.9	879	9073	0.85	0.00	211.98	1.586	6	0.143	0.000	2870	2766	3071
9073	end apogee: CONTROL_FINISHED_OK
state	9074	begin climb
9076	0.86	194.7	998.1	0.0	890	9302	1.42	2.58	215.15	1.516	4	0.091	0.060	3100	3890	2278
9387	0.73	194.7	969.1	13.6	904	9391	0.00	2.35	0.00	0.000	6	0.000	0.034	3100	2743	2276
9709	0.60	194.7	929.3	12.7	920	9714	0.28	2.38	0.00	0.000	4	0.117	0.054	3054	3894	2275
9730	0.53	194.7	926.6	11.6	921	9735	0.00	2.22	0.00	0.000	6	0.000	0.034	3055	2755	2275
10053	0.57	231.0	896.3	8.7	937	10093	0.00	0.00	38.70	1.473	6	0.000	0.000	3054	2753	2129
10403	0.59	248.1	863.4	9.4	954	10427	0.00	2.42	19.05	1.392	4	0.000	0.053	3054	3893	2059
10432	0.61	261.1	860.4	9.6	955	10453	0.00	2.22	15.45	1.358	6	0.000	0.033	3054	2763	2006
10782	0.69	326.4	831.8	7.7	972	10858	0.00	3.03	69.88	1.467	4	0.000	0.052	3054	1339	1739
10869	0.83	393.0	824.5	7.7	976	10954	0.25	2.90	73.88	1.434	6	0.044	0.031	3104	2763	1468
11264	0.83	393.0	780.5	11.7	995	11269	0.00	2.90	0.00	0.000	4	0.000	0.046	3105	1339	1460
11285	0.83	393.0	777.3	12.5	996	11290	0.00	2.78	0.00	0.000	6	0.000	0.032	3104	2745	1459
11608	0.83	393.0	738.3	11.7	1012	11610	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2746	1458
11917	0.83	393.0	703.6	11.1	1027	11922	0.00	2.85	0.00	0.000	4	0.000	0.047	3104	1334	1456
11951	0.83	393.0	699.2	12.3	1028	11959	0.00	2.75	0.00	0.000	6	0.000	0.032	3104	2743	1456
12267	0.83	393.0	661.5	11.8	1044	12268	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2744	1455
12577	0.83	393.0	626.2	11.1	1059	12582	0.00	2.83	0.00	0.000	4	0.000	0.046	3105	1341	1455
12599	0.83	393.0	623.4	11.0	1060	12604	0.00	2.70	0.00	0.000	6	0.000	0.032	3105	2726	1455
12924	0.83	393.0	587.5	10.9	1081	12929	0.00	2.80	0.00	0.000	4	0.000	0.051	3105	1336	1455
12943	0.83	393.0	585.4	11.1	1082	12947	0.00	2.70	0.00	0.000	6	0.000	0.032	3105	2720	1454
13268	0.83	393.0	549.3	11.0	1112	13272	0.00	2.78	0.00	0.000	4	0.000	0.045	3105	1342	1454
13278	0.83	393.0	548.0	11.2	1112	13285	0.00	2.65	0.00	0.000	6	0.000	0.031	3105	2706	1454
13606	0.83	393.0	510.2	11.5	1143	13612	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2707	1454
13931	0.83	393.0	472.6	11.1	1174	13936	0.00	2.75	0.00	0.000	4	0.000	0.044	3105	1337	1454
13950	0.83	393.0	470.6	11.2	1175	13954	0.00	2.65	0.00	0.000	6	0.000	0.031	3104	2698	1454
14276	0.83	393.0	432.3	11.6	1205	14277	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2698	1454
14595	0.83	393.0	396.5	11.2	1235	14599	0.00	2.72	0.00	0.000	4	0.000	0.044	3105	1341	1454
14605	0.83	393.0	395.1	11.0	1235	14612	0.00	2.62	0.00	0.000	6	0.000	0.031	3104	2695	1454
14934	0.83	393.0	360.7	10.4	1266	14941	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2696	1454
15272	0.84	402.5	326.7	9.7	1317	15285	0.00	0.00	8.43	0.937	6	0.000	0.000	3105	2696	1430
15624	0.84	402.5	289.7	10.7	1379	15631	0.00	2.72	0.00	0.000	4	0.000	0.044	3105	1334	1429
15643	0.84	402.5	287.5	10.8	1382	15650	0.00	2.62	0.00	0.000	6	0.000	0.031	3105	2685	1429
15990	0.84	402.5	252.1	10.7	1443	15997	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2685	1429
16335	0.86	418.1	216.9	9.5	1504	16362	0.00	2.75	18.08	1.017	4	0.000	0.044	3104	1346	1365
16370	0.87	428.3	213.5	9.6	1509	16390	0.00	2.62	12.88	1.001	6	0.000	0.030	3105	2686	1323
16730	0.87	428.3	180.2	10.1	1572	16737	0.00	2.70	0.00	0.000	4	0.000	0.044	3104	1339	1320
16744	0.88	439.7	178.7	9.6	1574	16766	0.00	2.58	12.88	0.953	6	0.000	0.030	3104	2670	1278
17104	0.90	449.0	143.3	9.7	1637	17125	0.00	2.72	10.88	0.910	4	0.000	0.044	3105	1343	1240
17133	0.96	463.9	140.5	9.5	1641	17156	0.12	2.55	17.70	0.981	6	0.054	0.030	3133	2653	1179
17497	0.96	463.9	98.8	10.4	1704	17504	0.00	2.65	0.00	0.000	4	0.000	0.045	3133	1334	1176
17511	0.96	463.9	97.0	10.2	1706	17518	0.00	2.55	0.00	0.000	6	0.000	0.030	3134	2650	1175
17856	0.96	463.9	55.0	13.6	1767	17864	0.00	2.62	0.00	0.000	4	0.000	0.045	3133	1341	1174
17871	0.96	463.9	52.9	13.6	1769	17878	0.00	2.50	0.00	0.000	6	0.000	0.029	3133	2636	1174
18216	0.96	463.9	12.1	11.2	1830	18224	0.00	2.58	0.00	0.000	4	0.000	0.046	3134	1343	1174
18231	0.96	463.9	10.4	11.5	1832	18238	0.00	2.45	0.00	0.000	6	0.000	0.029	3133	2621	1173
18304	end climb: SURFACE_DEPTH_REACHED
state	18304	begin surface coast
18322	end surface coast: CONTROL_FINISHED_OK
state	18322	begin surface