Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 368 * 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 368 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 25 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 -19913.131 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 -19913.131

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 26 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 25 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 368 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 085655,6156.391,-2612.659,36,1.8,36,-18.8 TGT_NAME NE

_CALLS 1 TGT_LATLONG 6156.130,-2600.200

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090457,6156.441,-2612.668,11,2.0,11,-18.8 MHEAD_RNG_PITCHd_Wd 123.6,10879,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025810 _24V_AH 19.1,114.364

SM_CCo 17036,0.00,0.000,0,0,915,528.87 _10V_AH 9.8,75.027

SM_GC 0.79,8.77,0.00,0.00,0.044,0.000,0.000,1432,2286,915,-6.80,-0.40,528.87 DATA_FILE_SIZE 139016,1906

IRIDIUM_FIX 6130.75,-2621.64,140997,040400 CAP_FILE_SIZE 168212,0

TT8_MAMPS 0.026078 CFSIZE 260165632,221949952

HUMID 1851 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.87775 CURRENT 0.078,113.2,1

TCM_TEMP 16.50 GPS 200608,135031,6155.285,-2606.281,40,1.1,40,-18.8

XPDR_PINGS 928

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 250 116.53 SBE_CT 1323 24 606.73

Roll_motor 153 84 246.59 SBE_O2 1421 19 515.77

VBD_pump_during_apogee 758 1473 21359.13 Optode 755 33 476.49

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1784 105 3578.37

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 29 103 58.85 nil 0 0 0.00

Iridium_during_connect 30 160 91.75 nil 0 0 0.00

Iridium_during_xfer 260 223 1109.22

Transponder_ping 232 420 1861.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.32

TT8 3785 19 734.45

LPSleep 8599 2 184.56

TT8_Active 1005 19 195.12

TT8_Sampling 3343 39 1304.05

TT8_CF8 767 45 344.45

TT8_Kalman 0 0 0.00

Analog_circuits 2534 12 298.06

GPS_charging 0 0 0.00

Compass 3347 8 262.45

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 19 begin dive

22 -0.86 -194.7 0.0 0.0 0 187 0.00 0.00 -161.48 0.000 2 0.000 0.000 1437 2284 3501

190 -0.86 -194.7 3.4 -5.0 21 221 12.00 2.85 -9.60 0.000 4 0.251 0.052 2725 3707 3866

242 -0.69 -194.7 13.7 -14.9 28 251 0.28 2.72 0.00 0.000 6 0.137 0.031 2765 2303 3867

388 -0.69 -194.7 26.8 -8.3 53 395 0.00 2.80 0.00 0.000 4 0.000 0.043 2765 3711 3867

402 -0.69 -194.7 28.2 -8.3 55 410 0.00 2.72 0.00 0.000 6 0.000 0.031 2765 2307 3868

547 -0.69 -194.7 42.7 -12.1 80 555 0.00 2.78 0.00 0.000 4 0.000 0.042 2765 3707 3867

573 -0.69 -194.7 46.1 -12.4 84 581 0.00 2.67 0.00 0.000 6 0.000 0.032 2765 2327 3868

717 -0.69 -194.7 61.2 -9.1 109 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2325 3868

1064 -0.69 -194.7 90.4 -9.1 170 1071 0.00 2.75 0.00 0.000 4 0.000 0.044 2765 3706 3868

1096 -0.69 -194.7 93.5 -9.3 175 1103 0.00 2.70 0.00 0.000 6 0.000 0.033 2765 2320 3868

1442 -0.69 -194.7 129.7 -10.0 236 1450 0.00 2.78 0.00 0.000 4 0.000 0.044 2765 3710 3868

1497 -0.69 -194.7 135.3 -10.1 245 1504 0.00 2.70 0.00 0.000 6 0.000 0.033 2765 2324 3868

1840 -0.69 -194.7 170.5 -10.2 306 1848 0.00 2.75 0.00 0.000 4 0.000 0.044 2765 3704 3868

1873 -0.69 -194.7 173.7 -10.8 311 1879 0.00 2.65 0.00 0.000 6 0.000 0.032 2765 2343 3868

2218 -0.69 -194.7 206.2 -9.0 372 2226 0.00 2.72 0.00 0.000 4 0.000 0.045 2765 3701 3868

2256 -0.69 -194.7 209.5 -8.8 378 2263 0.00 2.62 0.00 0.000 6 0.000 0.032 2765 2354 3868

2602 -0.69 -194.7 237.6 -8.7 439 2609 0.00 2.72 0.00 0.000 4 0.000 0.045 2765 3712 3868

2622 -0.69 -194.7 239.4 -8.6 442 2629 0.00 2.65 0.00 0.000 6 0.000 0.033 2765 2351 3868

2968 -0.69 -194.7 272.5 -10.7 503 2975 0.00 2.72 0.00 0.000 4 0.000 0.046 2765 3707 3868

2982 -0.69 -194.7 274.1 -10.5 505 2989 0.00 2.62 0.00 0.000 6 0.000 0.032 2765 2361 3868

3329 -0.69 -194.7 310.6 -10.0 566 3337 0.00 2.67 0.00 0.000 4 0.000 0.045 2765 3701 3868

3343 -0.69 -194.7 312.2 -10.0 568 3351 0.00 2.62 0.00 0.000 6 0.000 0.033 2765 2356 3868

3690 -0.69 -194.7 348.3 -10.6 629 3697 0.00 2.72 0.00 0.000 4 0.000 0.046 2765 3708 3867

3709 -0.69 -194.7 350.5 -10.9 632 3717 0.00 2.60 0.00 0.000 6 0.000 0.033 2765 2368 3867

4039 -0.69 -194.7 385.4 -10.7 663 4044 0.00 2.70 0.00 0.000 4 0.000 0.047 2765 3709 3867

4050 -0.69 -194.7 387.2 -10.6 663 4057 0.00 2.62 0.00 0.000 6 0.000 0.033 2765 2365 3867

4377 -0.69 -194.7 420.7 -10.4 694 4381 0.00 2.70 0.00 0.000 4 0.000 0.046 2765 3706 3867

4389 -0.69 -194.7 422.1 -10.5 694 4397 0.00 2.60 0.00 0.000 6 0.000 0.034 2765 2372 3866

4717 -0.69 -194.7 454.6 -9.7 725 4723 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2370 3866

5043 -0.69 -194.7 485.2 -9.2 756 5047 0.00 2.70 0.00 0.000 4 0.000 0.048 2765 3707 3866

5061 -0.69 -194.7 487.0 -9.4 757 5066 0.00 2.60 0.00 0.000 6 0.000 0.033 2765 2375 3866

5391 -0.69 -194.7 518.2 -9.5 787 5397 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2375 3866

5719 -0.69 -194.7 549.9 -9.7 818 5726 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2374 3865

6045 -0.69 -194.7 580.8 -9.1 849 6046 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2374 3865

6362 -0.69 -194.7 607.8 -8.4 875 6363 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2374 3865

6670 -0.69 -194.7 634.0 -8.7 890 6674 0.00 2.72 0.00 0.000 4 0.000 0.055 2765 3700 3865

6681 -0.73 -194.7 634.9 -8.5 890 6689 0.00 2.62 0.00 0.000 6 0.000 0.040 2765 2372 3865

6999 -0.73 -194.7 660.9 -8.6 906 7004 0.00 2.78 0.00 0.000 4 0.000 0.062 2765 3704 3865

7018 -0.77 -194.7 662.7 -8.8 907 7023 0.00 2.65 0.00 0.000 6 0.000 0.044 2765 2372 3865

7347 -0.81 -194.7 695.1 -10.3 923 7348 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2370 3864

7656 -0.86 -194.7 725.9 -9.6 938 7661 0.15 2.83 0.00 0.000 4 0.067 0.064 2733 3704 3864

7666 -0.86 -194.7 727.2 -9.6 938 7675 0.00 2.67 0.00 0.000 6 0.000 0.048 2733 2378 3863

7983 -0.86 -194.7 763.9 -11.3 954 7984 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2377 3863

8293 -0.86 -194.7 797.8 -10.8 969 8294 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2377 3864

8603 -1.01 -194.7 818.2 -0.0 984 8605 0.17 0.00 0.00 0.000 6 0.050 0.000 2696 2377 3863

8804 end dive: NO_VERTICAL_VELOCITY

state 8804 begin apogee

8812 -0.21 0.0 818.2 0.0 994 9020 0.98 0.00 204.38 1.473 6 0.078 0.000 2871 2734 3071

9021 end apogee: CONTROL_FINISHED_OK

state 9021 begin climb

9024 0.86 194.7 818.0 0.0 1004 9238 1.38 0.00 209.32 1.415 6 0.081 0.000 3101 2734 2277

9538 0.74 197.0 772.4 9.9 1029 9539 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2734 2274

9847 0.65 230.0 744.0 8.9 1044 9892 0.20 2.53 36.10 1.358 4 0.119 0.071 3068 3903 2133

9939 0.73 296.9 736.9 7.7 1048 10015 0.00 2.35 70.00 1.381 6 0.000 0.045 3067 2749 1860

10332 0.77 324.4 704.2 9.0 1067 10367 0.00 3.05 28.95 1.316 4 0.000 0.065 3068 1338 1747

10408 0.81 324.4 697.0 10.1 1070 10414 0.15 2.88 0.00 0.000 6 0.054 0.038 3097 2761 1746

10725 0.81 324.4 660.5 11.8 1085 10726 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2761 1744

11035 0.81 324.4 623.2 11.6 1100 11036 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2761 1743

11346 0.81 324.4 586.9 11.6 1120 11351 0.00 2.90 0.00 0.000 4 0.000 0.048 3097 1325 1743

11386 0.81 324.4 582.0 12.0 1123 11390 0.00 2.80 0.00 0.000 6 0.000 0.032 3097 2751 1742

11711 0.81 324.4 544.9 11.4 1153 11715 0.00 2.28 0.00 0.000 4 0.000 0.053 3097 3893 1741

11751 0.81 324.4 540.2 12.1 1156 11755 0.00 2.25 0.00 0.000 6 0.000 0.033 3097 2730 1741

12076 0.81 324.4 504.5 10.4 1186 12080 0.00 2.78 0.00 0.000 4 0.000 0.048 3098 1336 1741

12116 0.81 324.4 500.3 10.8 1189 12121 0.00 2.78 0.00 0.000 6 0.000 0.035 3097 2757 1740

12442 0.85 354.3 469.7 9.0 1219 12475 0.00 0.00 31.08 1.222 6 0.000 0.000 3097 2757 1626

12793 0.85 356.3 437.0 9.9 1252 12797 0.00 2.85 0.00 0.000 4 0.000 0.044 3097 1341 1622

12825 0.85 356.3 433.5 10.2 1254 12833 0.00 2.72 0.00 0.000 6 0.000 0.031 3097 2740 1622

13153 0.85 356.3 400.5 10.4 1285 13160 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2741 1622

13479 0.85 356.3 367.1 10.4 1316 13480 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2741 1621

13806 0.85 356.3 333.3 11.0 1360 13814 0.00 2.80 0.00 0.000 4 0.000 0.044 3097 1343 1621

13849 0.85 356.3 328.7 11.6 1367 13856 0.00 2.70 0.00 0.000 6 0.000 0.031 3098 2732 1621

14193 0.85 356.3 292.3 10.2 1428 14200 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2732 1621

14539 0.87 368.3 257.9 9.6 1489 14560 0.00 2.88 14.95 1.025 4 0.000 0.044 3097 1341 1569

14590 0.87 368.3 252.9 10.3 1497 14597 0.00 2.72 0.00 0.000 6 0.000 0.031 3097 2733 1568

14935 0.93 420.7 222.5 8.2 1558 14996 0.12 0.00 55.75 1.088 6 0.057 0.000 3127 2733 1354

15339 0.93 420.7 179.9 10.9 1627 15347 0.00 2.80 0.00 0.000 4 0.000 0.044 3126 1340 1348

15388 0.93 420.7 174.1 12.2 1635 15395 0.00 2.67 0.00 0.000 6 0.000 0.031 3126 2712 1347

15734 0.93 420.7 132.8 13.0 1696 15741 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2712 1346

16079 0.93 420.7 91.0 10.7 1757 16086 0.00 2.75 0.00 0.000 4 0.000 0.045 3127 1346 1346

16138 0.93 420.7 84.3 11.3 1767 16145 0.00 2.62 0.00 0.000 6 0.000 0.031 3126 2698 1345

16482 0.98 461.1 48.9 8.6 1828 16530 0.00 0.00 40.92 0.963 6 0.000 0.000 3126 2698 1190

16668 1.06 527.1 32.8 7.7 1859 16745 0.12 2.83 67.53 0.957 4 0.054 0.046 3153 1338 921

16775 1.06 527.1 21.1 11.8 1875 16783 0.00 2.67 0.00 0.000 6 0.000 0.030 3153 2688 919

16920 1.06 527.1 4.0 11.4 1900 16926 0.00 0.00 0.00 0.000 6 0.000 0.000 3154 2688 916

16937 end climb: SURFACE_DEPTH_REACHED

state 16937 begin surface coast

16955 end surface coast: CONTROL_FINISHED_OK

state 16955 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	368	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	25	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	-19913.131	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	085655,6156.391,-2612.659,36,1.8,36,-18.8	TGT_NAME	NE
_CALLS	1	TGT_LATLONG	6156.130,-2600.200
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090457,6156.441,-2612.668,11,2.0,11,-18.8	MHEAD_RNG_PITCHd_Wd	123.6,10879,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.3,1.025810	_24V_AH	19.1,114.364
SM_CCo	17036,0.00,0.000,0,0,915,528.87	_10V_AH	9.8,75.027
SM_GC	0.79,8.77,0.00,0.00,0.044,0.000,0.000,1432,2286,915,-6.80,-0.40,528.87	DATA_FILE_SIZE	139016,1906
IRIDIUM_FIX	6130.75,-2621.64,140997,040400	CAP_FILE_SIZE	168212,0
TT8_MAMPS	0.026078	CFSIZE	260165632,221949952
HUMID	1851	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.87775	CURRENT	0.078,113.2,1
TCM_TEMP	16.50	GPS	200608,135031,6155.285,-2606.281,40,1.1,40,-18.8
XPDR_PINGS	928

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	250	116.53	SBE_CT	1323	24	606.73
Roll_motor	153	84	246.59	SBE_O2	1421	19	515.77
VBD_pump_during_apogee	758	1473	21359.13	Optode	755	33	476.49
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1784	105	3578.37
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	29	103	58.85	nil	0	0	0.00
Iridium_during_connect	30	160	91.75	nil	0	0	0.00
Iridium_during_xfer	260	223	1109.22
Transponder_ping	232	420	1861.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.32
TT8	3785	19	734.45
LPSleep	8599	2	184.56
TT8_Active	1005	19	195.12
TT8_Sampling	3343	39	1304.05
TT8_CF8	767	45	344.45
TT8_Kalman	0	0	0.00
Analog_circuits	2534	12	298.06
GPS_charging	0	0	0.00
Compass	3347	8	262.45
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	19	begin dive
22	-0.86	-194.7	0.0	0.0	0	187	0.00	0.00	-161.48	0.000	2	0.000	0.000	1437	2284	3501
190	-0.86	-194.7	3.4	-5.0	21	221	12.00	2.85	-9.60	0.000	4	0.251	0.052	2725	3707	3866
242	-0.69	-194.7	13.7	-14.9	28	251	0.28	2.72	0.00	0.000	6	0.137	0.031	2765	2303	3867
388	-0.69	-194.7	26.8	-8.3	53	395	0.00	2.80	0.00	0.000	4	0.000	0.043	2765	3711	3867
402	-0.69	-194.7	28.2	-8.3	55	410	0.00	2.72	0.00	0.000	6	0.000	0.031	2765	2307	3868
547	-0.69	-194.7	42.7	-12.1	80	555	0.00	2.78	0.00	0.000	4	0.000	0.042	2765	3707	3867
573	-0.69	-194.7	46.1	-12.4	84	581	0.00	2.67	0.00	0.000	6	0.000	0.032	2765	2327	3868
717	-0.69	-194.7	61.2	-9.1	109	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2325	3868
1064	-0.69	-194.7	90.4	-9.1	170	1071	0.00	2.75	0.00	0.000	4	0.000	0.044	2765	3706	3868
1096	-0.69	-194.7	93.5	-9.3	175	1103	0.00	2.70	0.00	0.000	6	0.000	0.033	2765	2320	3868
1442	-0.69	-194.7	129.7	-10.0	236	1450	0.00	2.78	0.00	0.000	4	0.000	0.044	2765	3710	3868
1497	-0.69	-194.7	135.3	-10.1	245	1504	0.00	2.70	0.00	0.000	6	0.000	0.033	2765	2324	3868
1840	-0.69	-194.7	170.5	-10.2	306	1848	0.00	2.75	0.00	0.000	4	0.000	0.044	2765	3704	3868
1873	-0.69	-194.7	173.7	-10.8	311	1879	0.00	2.65	0.00	0.000	6	0.000	0.032	2765	2343	3868
2218	-0.69	-194.7	206.2	-9.0	372	2226	0.00	2.72	0.00	0.000	4	0.000	0.045	2765	3701	3868
2256	-0.69	-194.7	209.5	-8.8	378	2263	0.00	2.62	0.00	0.000	6	0.000	0.032	2765	2354	3868
2602	-0.69	-194.7	237.6	-8.7	439	2609	0.00	2.72	0.00	0.000	4	0.000	0.045	2765	3712	3868
2622	-0.69	-194.7	239.4	-8.6	442	2629	0.00	2.65	0.00	0.000	6	0.000	0.033	2765	2351	3868
2968	-0.69	-194.7	272.5	-10.7	503	2975	0.00	2.72	0.00	0.000	4	0.000	0.046	2765	3707	3868
2982	-0.69	-194.7	274.1	-10.5	505	2989	0.00	2.62	0.00	0.000	6	0.000	0.032	2765	2361	3868
3329	-0.69	-194.7	310.6	-10.0	566	3337	0.00	2.67	0.00	0.000	4	0.000	0.045	2765	3701	3868
3343	-0.69	-194.7	312.2	-10.0	568	3351	0.00	2.62	0.00	0.000	6	0.000	0.033	2765	2356	3868
3690	-0.69	-194.7	348.3	-10.6	629	3697	0.00	2.72	0.00	0.000	4	0.000	0.046	2765	3708	3867
3709	-0.69	-194.7	350.5	-10.9	632	3717	0.00	2.60	0.00	0.000	6	0.000	0.033	2765	2368	3867
4039	-0.69	-194.7	385.4	-10.7	663	4044	0.00	2.70	0.00	0.000	4	0.000	0.047	2765	3709	3867
4050	-0.69	-194.7	387.2	-10.6	663	4057	0.00	2.62	0.00	0.000	6	0.000	0.033	2765	2365	3867
4377	-0.69	-194.7	420.7	-10.4	694	4381	0.00	2.70	0.00	0.000	4	0.000	0.046	2765	3706	3867
4389	-0.69	-194.7	422.1	-10.5	694	4397	0.00	2.60	0.00	0.000	6	0.000	0.034	2765	2372	3866
4717	-0.69	-194.7	454.6	-9.7	725	4723	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2370	3866
5043	-0.69	-194.7	485.2	-9.2	756	5047	0.00	2.70	0.00	0.000	4	0.000	0.048	2765	3707	3866
5061	-0.69	-194.7	487.0	-9.4	757	5066	0.00	2.60	0.00	0.000	6	0.000	0.033	2765	2375	3866
5391	-0.69	-194.7	518.2	-9.5	787	5397	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2375	3866
5719	-0.69	-194.7	549.9	-9.7	818	5726	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2374	3865
6045	-0.69	-194.7	580.8	-9.1	849	6046	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2374	3865
6362	-0.69	-194.7	607.8	-8.4	875	6363	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2374	3865
6670	-0.69	-194.7	634.0	-8.7	890	6674	0.00	2.72	0.00	0.000	4	0.000	0.055	2765	3700	3865
6681	-0.73	-194.7	634.9	-8.5	890	6689	0.00	2.62	0.00	0.000	6	0.000	0.040	2765	2372	3865
6999	-0.73	-194.7	660.9	-8.6	906	7004	0.00	2.78	0.00	0.000	4	0.000	0.062	2765	3704	3865
7018	-0.77	-194.7	662.7	-8.8	907	7023	0.00	2.65	0.00	0.000	6	0.000	0.044	2765	2372	3865
7347	-0.81	-194.7	695.1	-10.3	923	7348	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2370	3864
7656	-0.86	-194.7	725.9	-9.6	938	7661	0.15	2.83	0.00	0.000	4	0.067	0.064	2733	3704	3864
7666	-0.86	-194.7	727.2	-9.6	938	7675	0.00	2.67	0.00	0.000	6	0.000	0.048	2733	2378	3863
7983	-0.86	-194.7	763.9	-11.3	954	7984	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2377	3863
8293	-0.86	-194.7	797.8	-10.8	969	8294	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2377	3864
8603	-1.01	-194.7	818.2	-0.0	984	8605	0.17	0.00	0.00	0.000	6	0.050	0.000	2696	2377	3863
8804	end dive: NO_VERTICAL_VELOCITY
state	8804	begin apogee
8812	-0.21	0.0	818.2	0.0	994	9020	0.98	0.00	204.38	1.473	6	0.078	0.000	2871	2734	3071
9021	end apogee: CONTROL_FINISHED_OK
state	9021	begin climb
9024	0.86	194.7	818.0	0.0	1004	9238	1.38	0.00	209.32	1.415	6	0.081	0.000	3101	2734	2277
9538	0.74	197.0	772.4	9.9	1029	9539	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2734	2274
9847	0.65	230.0	744.0	8.9	1044	9892	0.20	2.53	36.10	1.358	4	0.119	0.071	3068	3903	2133
9939	0.73	296.9	736.9	7.7	1048	10015	0.00	2.35	70.00	1.381	6	0.000	0.045	3067	2749	1860
10332	0.77	324.4	704.2	9.0	1067	10367	0.00	3.05	28.95	1.316	4	0.000	0.065	3068	1338	1747
10408	0.81	324.4	697.0	10.1	1070	10414	0.15	2.88	0.00	0.000	6	0.054	0.038	3097	2761	1746
10725	0.81	324.4	660.5	11.8	1085	10726	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2761	1744
11035	0.81	324.4	623.2	11.6	1100	11036	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2761	1743
11346	0.81	324.4	586.9	11.6	1120	11351	0.00	2.90	0.00	0.000	4	0.000	0.048	3097	1325	1743
11386	0.81	324.4	582.0	12.0	1123	11390	0.00	2.80	0.00	0.000	6	0.000	0.032	3097	2751	1742
11711	0.81	324.4	544.9	11.4	1153	11715	0.00	2.28	0.00	0.000	4	0.000	0.053	3097	3893	1741
11751	0.81	324.4	540.2	12.1	1156	11755	0.00	2.25	0.00	0.000	6	0.000	0.033	3097	2730	1741
12076	0.81	324.4	504.5	10.4	1186	12080	0.00	2.78	0.00	0.000	4	0.000	0.048	3098	1336	1741
12116	0.81	324.4	500.3	10.8	1189	12121	0.00	2.78	0.00	0.000	6	0.000	0.035	3097	2757	1740
12442	0.85	354.3	469.7	9.0	1219	12475	0.00	0.00	31.08	1.222	6	0.000	0.000	3097	2757	1626
12793	0.85	356.3	437.0	9.9	1252	12797	0.00	2.85	0.00	0.000	4	0.000	0.044	3097	1341	1622
12825	0.85	356.3	433.5	10.2	1254	12833	0.00	2.72	0.00	0.000	6	0.000	0.031	3097	2740	1622
13153	0.85	356.3	400.5	10.4	1285	13160	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2741	1622
13479	0.85	356.3	367.1	10.4	1316	13480	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2741	1621
13806	0.85	356.3	333.3	11.0	1360	13814	0.00	2.80	0.00	0.000	4	0.000	0.044	3097	1343	1621
13849	0.85	356.3	328.7	11.6	1367	13856	0.00	2.70	0.00	0.000	6	0.000	0.031	3098	2732	1621
14193	0.85	356.3	292.3	10.2	1428	14200	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2732	1621
14539	0.87	368.3	257.9	9.6	1489	14560	0.00	2.88	14.95	1.025	4	0.000	0.044	3097	1341	1569
14590	0.87	368.3	252.9	10.3	1497	14597	0.00	2.72	0.00	0.000	6	0.000	0.031	3097	2733	1568
14935	0.93	420.7	222.5	8.2	1558	14996	0.12	0.00	55.75	1.088	6	0.057	0.000	3127	2733	1354
15339	0.93	420.7	179.9	10.9	1627	15347	0.00	2.80	0.00	0.000	4	0.000	0.044	3126	1340	1348
15388	0.93	420.7	174.1	12.2	1635	15395	0.00	2.67	0.00	0.000	6	0.000	0.031	3126	2712	1347
15734	0.93	420.7	132.8	13.0	1696	15741	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2712	1346
16079	0.93	420.7	91.0	10.7	1757	16086	0.00	2.75	0.00	0.000	4	0.000	0.045	3127	1346	1346
16138	0.93	420.7	84.3	11.3	1767	16145	0.00	2.62	0.00	0.000	6	0.000	0.031	3126	2698	1345
16482	0.98	461.1	48.9	8.6	1828	16530	0.00	0.00	40.92	0.963	6	0.000	0.000	3126	2698	1190
16668	1.06	527.1	32.8	7.7	1859	16745	0.12	2.83	67.53	0.957	4	0.054	0.046	3153	1338	921
16775	1.06	527.1	21.1	11.8	1875	16783	0.00	2.67	0.00	0.000	6	0.000	0.030	3153	2688	919
16920	1.06	527.1	4.0	11.4	1900	16926	0.00	0.00	0.00	0.000	6	0.000	0.000	3154	2688	916
16937	end climb: SURFACE_DEPTH_REACHED
state	16937	begin surface coast
16955	end surface coast: CONTROL_FINISHED_OK
state	16955	begin surface