Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 382 * 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 382 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 24 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 -20143.41 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 -20143.41

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 24 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 382 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 040508,6144.723,-2558.277,35,1.0,35,-18.6 TGT_NAME NW

_CALLS 1 TGT_LATLONG 6156.130,-2622.980

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041251,6144.678,-2558.197,12,1.0,12,-18.6 MHEAD_RNG_PITCHd_Wd 328.7,30267,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.013519 _24V_AH 18.8,118.465

SM_CCo 18856,0.00,0.000,0,0,1304,433.45 _10V_AH 9.8,77.293

SM_GC 0.79,8.75,0.00,0.00,0.048,0.000,0.000,1432,2289,1304,-6.79,-0.31,433.45 DATA_FILE_SIZE 139203,1918

IRIDIUM_FIX 6121.73,-2607.48,160997,232358 CAP_FILE_SIZE 175755,0

TT8_MAMPS 0.026078 CFSIZE 260165632,220676096

HUMID 1864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91681 CURRENT 0.059,172.2,1

TCM_TEMP 16.60 GPS 230608,092838,6145.914,-2602.335,30,1.5,30,-18.6

XPDR_PINGS 976

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 253 115.27 SBE_CT 1322 24 596.84

Roll_motor 180 136 463.54 SBE_O2 1446 19 516.57

VBD_pump_during_apogee 687 1596 20636.85 Optode 723 33 449.12

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1694 105 3345.44

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 23 103 45.67 nil 0 0 0.00

Iridium_during_connect 31 160 96.18 nil 0 0 0.00

Iridium_during_xfer 250 223 1050.81

Transponder_ping 244 420 1926.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.80

TT8 3912 19 759.12

LPSleep 10278 2 220.60

TT8_Active 861 19 167.14

TT8_Sampling 3487 39 1360.43

TT8_CF8 765 45 343.50

TT8_Kalman 0 0 0.00

Analog_circuits 2466 12 290.07

GPS_charging 0 0 0.00

Compass 3481 8 272.92

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 90 0.00 0.00 -65.18 0.000 2 0.000 0.000 1432 2290 3464

93 -0.86 -194.7 3.1 -3.5 9 124 12.38 2.83 -10.90 0.000 4 0.253 0.054 2725 884 3866

199 -0.86 -194.7 20.0 -12.8 26 206 0.00 2.72 0.00 0.000 6 0.000 0.028 2725 2307 3867

346 -0.79 -194.7 38.1 -12.2 51 354 0.12 2.75 0.00 0.000 4 0.150 0.041 2741 3702 3868

428 -0.79 -194.7 47.2 -9.7 65 435 0.00 2.65 0.00 0.000 6 0.000 0.031 2741 2337 3868

572 -0.79 -194.7 62.3 -11.0 90 580 0.00 2.88 0.00 0.000 4 0.000 0.048 2741 885 3868

628 -0.79 -194.7 68.5 -11.3 99 635 0.00 2.88 0.00 0.000 6 0.000 0.030 2741 2370 3869

973 -0.79 -194.7 109.0 -11.7 160 981 0.00 2.62 0.00 0.000 4 0.000 0.044 2741 3703 3869

1066 -0.79 -194.7 119.7 -11.2 176 1074 0.00 2.60 0.00 0.000 6 0.000 0.032 2741 2364 3869

1413 -0.79 -194.7 160.9 -13.0 237 1420 0.00 2.95 0.00 0.000 4 0.000 0.048 2742 886 3869

1450 -0.79 -194.7 165.6 -12.8 243 1457 0.00 2.88 0.00 0.000 6 0.000 0.030 2741 2370 3869

1795 -0.79 -194.7 207.7 -12.1 304 1802 0.00 2.62 0.00 0.000 4 0.000 0.044 2741 3699 3869

1899 -0.79 -194.7 219.9 -11.5 322 1906 0.00 2.58 0.00 0.000 6 0.000 0.032 2741 2375 3869

2245 -0.79 -194.7 259.9 -11.6 383 2252 0.00 2.97 0.00 0.000 4 0.000 0.048 2741 888 3869

2282 -0.79 -194.7 264.1 -11.8 389 2289 0.00 2.90 0.00 0.000 6 0.000 0.031 2741 2381 3869

2627 -0.79 -194.7 301.5 -10.5 450 2634 0.00 2.62 0.00 0.000 4 0.000 0.045 2741 3704 3869

2704 -0.79 -194.7 309.6 -10.2 463 2711 0.00 2.58 0.00 0.000 6 0.000 0.033 2741 2382 3869

3050 -0.79 -194.7 346.8 -10.9 524 3057 0.00 2.97 0.00 0.000 4 0.000 0.049 2741 891 3869

3090 -0.79 -194.7 351.5 -10.8 530 3098 0.00 2.90 0.00 0.000 6 0.000 0.031 2741 2388 3869

3418 -0.79 -194.7 386.2 -10.6 561 3422 0.00 2.62 0.00 0.000 4 0.000 0.051 2741 3700 3869

3481 -0.79 -194.7 393.0 -10.3 566 3485 0.00 2.58 0.00 0.000 6 0.000 0.033 2741 2381 3869

3808 -0.79 -194.7 426.5 -10.0 596 3813 0.00 3.00 0.00 0.000 4 0.000 0.049 2741 885 3869

3840 -0.79 -194.7 430.3 -10.4 598 3848 0.00 2.95 0.00 0.000 6 0.000 0.030 2741 2401 3869

4169 -0.79 -194.7 463.7 -10.3 629 4175 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2401 3869

4494 -0.79 -194.7 498.1 -10.3 660 4495 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2401 3869

4813 -0.79 -194.7 530.8 -10.4 690 4815 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2401 3869

5131 -0.79 -194.7 564.2 -10.2 720 5132 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2401 3869

5450 -0.79 -194.7 597.5 -10.8 750 5451 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2401 3868

5770 -0.79 -194.7 632.2 -10.7 767 5775 0.00 3.15 0.00 0.000 4 0.000 0.055 2741 884 3868

5811 -0.79 -194.7 636.7 -11.3 769 5816 0.00 2.95 0.00 0.000 6 0.000 0.035 2742 2379 3868

6139 -0.79 -194.7 673.9 -11.5 785 6140 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2379 3868

6447 -0.79 -194.7 709.5 -11.4 800 6448 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2379 3868

6757 -0.79 -194.7 743.7 -11.3 815 6758 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2379 3868

7066 -0.79 -194.7 779.1 -11.3 830 7071 0.00 3.33 0.00 0.000 4 0.000 0.087 2741 896 3867

7107 -0.79 -194.7 783.7 -11.7 832 7111 0.00 3.12 0.00 0.000 6 0.000 0.064 2741 2363 3867

7433 -0.79 -194.7 819.3 -10.6 848 7438 0.00 3.05 0.00 0.000 4 0.000 0.100 2741 3694 3867

7488 -0.79 -194.7 825.3 -10.8 850 7496 0.00 2.92 0.00 0.000 6 0.000 0.085 2741 2383 3866

7804 -0.79 -194.7 857.7 -10.1 866 7809 0.00 3.60 0.00 0.000 4 0.000 0.120 2741 897 3866

7854 -0.83 -194.7 862.8 -10.2 868 7860 0.00 3.40 0.00 0.000 6 0.000 0.100 2741 2354 3866

8172 -0.83 -194.7 894.1 -9.9 883 8177 0.00 3.38 0.00 0.000 4 0.000 0.137 2741 3694 3865

8257 -0.83 -194.7 902.6 -8.6 887 8262 0.00 3.08 0.00 0.000 6 0.000 0.103 2741 2379 3865

8585 -0.83 -194.7 932.2 -9.1 903 8590 0.00 3.05 0.00 0.000 4 0.000 0.056 2741 890 3865

8640 -0.87 -194.7 937.4 -8.1 905 8647 0.00 2.92 0.00 0.000 6 0.000 0.035 2741 2371 3865

8957 -0.87 -194.7 965.1 -9.0 921 8961 0.00 2.72 0.00 0.000 4 0.000 0.061 2741 3698 3864

9020 -0.87 -194.7 970.9 -9.2 924 9024 0.00 2.65 0.00 0.000 6 0.000 0.040 2741 2373 3864

9240 end dive: TARGET_DEPTH_EXCEEDED

state 9240 begin apogee

9248 -0.21 0.0 990.6 8.9 935 9465 0.82 0.00 213.70 1.597 6 0.140 0.000 2867 2744 3071

9466 end apogee: CONTROL_FINISHED_OK

state 9466 begin climb

9469 0.86 194.7 998.9 0.0 946 9699 1.45 2.62 218.70 1.536 4 0.093 0.058 3099 3891 2277

9817 0.73 194.7 962.5 15.7 961 9825 0.15 2.33 0.00 0.000 6 0.124 0.036 3079 2748 2275

10134 0.64 194.7 921.6 12.0 977 10135 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2747 2274

10443 0.58 217.9 889.6 9.2 992 10475 0.17 2.45 24.73 1.430 4 0.116 0.054 3050 3892 2182

10493 0.68 301.9 885.4 7.1 994 10590 0.00 2.28 90.55 1.493 6 0.000 0.033 3050 2740 1842

10907 0.82 371.0 854.4 7.6 1014 10989 0.22 2.97 75.32 1.472 4 0.051 0.051 3099 1343 1557

11018 0.82 371.0 842.0 11.6 1018 11023 0.00 2.85 0.00 0.000 6 0.000 0.032 3099 2747 1554

11340 0.82 371.0 805.3 10.9 1034 11341 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2747 1550

11649 0.82 371.0 772.9 10.6 1049 11654 0.00 2.85 0.00 0.000 4 0.000 0.049 3099 1341 1549

11670 0.82 371.0 770.2 12.0 1050 11675 0.00 2.75 0.00 0.000 6 0.000 0.035 3099 2735 1549

11993 0.82 371.0 734.0 11.5 1066 11998 0.00 2.85 0.00 0.000 4 0.000 0.052 3099 1334 1548

12003 0.82 371.0 732.4 11.6 1066 12011 0.00 2.72 0.00 0.000 6 0.000 0.032 3099 2727 1547

12320 0.82 371.0 695.6 11.5 1082 12325 0.00 2.80 0.00 0.000 4 0.000 0.047 3099 1343 1547

12330 0.82 371.0 694.1 11.5 1082 12338 0.00 2.67 0.00 0.000 6 0.000 0.032 3099 2713 1546

12646 0.82 371.0 658.4 11.2 1098 12647 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2714 1546

12957 0.82 371.0 622.9 11.4 1113 12961 0.00 2.78 0.00 0.000 4 0.000 0.047 3099 1340 1546

12966 0.82 371.0 621.4 11.4 1113 12974 0.00 2.67 0.00 0.000 6 0.000 0.031 3099 2711 1546

13287 0.82 371.0 584.9 11.1 1135 13291 0.00 2.78 0.00 0.000 4 0.000 0.046 3099 1338 1546

13298 0.82 371.0 583.5 11.4 1135 13305 0.00 2.65 0.00 0.000 6 0.000 0.032 3099 2701 1545

13627 0.82 371.0 546.1 11.7 1166 13633 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2701 1545

13955 0.82 371.0 510.1 10.9 1197 13961 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2701 1545

14280 0.82 371.0 475.6 10.5 1228 14285 0.00 2.75 0.00 0.000 4 0.000 0.046 3099 1340 1546

14291 0.82 371.0 474.2 10.7 1228 14299 0.00 2.65 0.00 0.000 6 0.000 0.031 3099 2702 1545

14620 0.82 371.0 440.1 10.6 1259 14626 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2702 1545

14946 0.82 371.0 404.9 10.5 1290 14950 0.00 2.75 0.00 0.000 4 0.000 0.045 3099 1339 1545

14956 0.82 371.0 403.5 10.7 1290 14963 0.00 2.62 0.00 0.000 6 0.000 0.031 3099 2689 1545

15283 0.82 371.0 368.0 10.7 1321 15284 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2690 1545

15609 0.82 371.0 332.4 11.4 1365 15615 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2690 1545

15954 0.82 371.0 292.6 11.0 1426 15961 0.00 2.72 0.00 0.000 4 0.000 0.045 3099 1335 1545

15968 0.82 371.0 290.8 11.4 1428 15976 0.00 2.62 0.00 0.000 6 0.000 0.030 3099 2686 1545

16315 0.82 371.0 251.4 10.7 1489 16321 0.00 2.40 0.00 0.000 4 0.000 0.048 3099 3890 1545

16329 0.82 371.0 249.8 11.2 1491 16336 0.00 2.35 0.00 0.000 6 0.000 0.031 3099 2672 1545

16675 0.82 371.0 211.0 10.2 1552 16681 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2672 1545

17021 0.82 371.6 173.9 10.0 1613 17027 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2672 1545

17365 0.82 371.6 139.6 10.1 1674 17372 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2672 1545

17712 0.82 375.7 105.4 9.9 1735 17718 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2672 1545

18057 0.83 382.2 71.1 9.8 1796 18078 0.00 2.72 10.70 0.858 4 0.000 0.046 3099 1338 1511

18085 0.83 382.2 68.1 10.3 1800 18092 0.00 2.62 0.00 0.000 6 0.000 0.031 3099 2688 1511

18431 0.90 408.6 34.6 9.1 1861 18465 0.00 0.00 28.42 0.967 6 0.000 0.000 3099 2688 1404

18603 0.98 431.7 19.2 9.2 1890 18635 0.15 2.83 25.27 0.953 4 0.051 0.044 3137 1339 1309

18643 0.98 431.7 14.7 11.5 1895 18651 0.00 2.58 0.00 0.000 6 0.000 0.029 3137 2657 1308

18756 end climb: SURFACE_DEPTH_REACHED

state 18756 begin surface coast

18776 end surface coast: CONTROL_FINISHED_OK

state 18776 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	382	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	24	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	-20143.41	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	040508,6144.723,-2558.277,35,1.0,35,-18.6	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	6156.130,-2622.980
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041251,6144.678,-2558.197,12,1.0,12,-18.6	MHEAD_RNG_PITCHd_Wd	328.7,30267,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.2,1.013519	_24V_AH	18.8,118.465
SM_CCo	18856,0.00,0.000,0,0,1304,433.45	_10V_AH	9.8,77.293
SM_GC	0.79,8.75,0.00,0.00,0.048,0.000,0.000,1432,2289,1304,-6.79,-0.31,433.45	DATA_FILE_SIZE	139203,1918
IRIDIUM_FIX	6121.73,-2607.48,160997,232358	CAP_FILE_SIZE	175755,0
TT8_MAMPS	0.026078	CFSIZE	260165632,220676096
HUMID	1864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91681	CURRENT	0.059,172.2,1
TCM_TEMP	16.60	GPS	230608,092838,6145.914,-2602.335,30,1.5,30,-18.6
XPDR_PINGS	976

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	253	115.27	SBE_CT	1322	24	596.84
Roll_motor	180	136	463.54	SBE_O2	1446	19	516.57
VBD_pump_during_apogee	687	1596	20636.85	Optode	723	33	449.12
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1694	105	3345.44
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	23	103	45.67	nil	0	0	0.00
Iridium_during_connect	31	160	96.18	nil	0	0	0.00
Iridium_during_xfer	250	223	1050.81
Transponder_ping	244	420	1926.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.80
TT8	3912	19	759.12
LPSleep	10278	2	220.60
TT8_Active	861	19	167.14
TT8_Sampling	3487	39	1360.43
TT8_CF8	765	45	343.50
TT8_Kalman	0	0	0.00
Analog_circuits	2466	12	290.07
GPS_charging	0	0	0.00
Compass	3481	8	272.92
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	90	0.00	0.00	-65.18	0.000	2	0.000	0.000	1432	2290	3464
93	-0.86	-194.7	3.1	-3.5	9	124	12.38	2.83	-10.90	0.000	4	0.253	0.054	2725	884	3866
199	-0.86	-194.7	20.0	-12.8	26	206	0.00	2.72	0.00	0.000	6	0.000	0.028	2725	2307	3867
346	-0.79	-194.7	38.1	-12.2	51	354	0.12	2.75	0.00	0.000	4	0.150	0.041	2741	3702	3868
428	-0.79	-194.7	47.2	-9.7	65	435	0.00	2.65	0.00	0.000	6	0.000	0.031	2741	2337	3868
572	-0.79	-194.7	62.3	-11.0	90	580	0.00	2.88	0.00	0.000	4	0.000	0.048	2741	885	3868
628	-0.79	-194.7	68.5	-11.3	99	635	0.00	2.88	0.00	0.000	6	0.000	0.030	2741	2370	3869
973	-0.79	-194.7	109.0	-11.7	160	981	0.00	2.62	0.00	0.000	4	0.000	0.044	2741	3703	3869
1066	-0.79	-194.7	119.7	-11.2	176	1074	0.00	2.60	0.00	0.000	6	0.000	0.032	2741	2364	3869
1413	-0.79	-194.7	160.9	-13.0	237	1420	0.00	2.95	0.00	0.000	4	0.000	0.048	2742	886	3869
1450	-0.79	-194.7	165.6	-12.8	243	1457	0.00	2.88	0.00	0.000	6	0.000	0.030	2741	2370	3869
1795	-0.79	-194.7	207.7	-12.1	304	1802	0.00	2.62	0.00	0.000	4	0.000	0.044	2741	3699	3869
1899	-0.79	-194.7	219.9	-11.5	322	1906	0.00	2.58	0.00	0.000	6	0.000	0.032	2741	2375	3869
2245	-0.79	-194.7	259.9	-11.6	383	2252	0.00	2.97	0.00	0.000	4	0.000	0.048	2741	888	3869
2282	-0.79	-194.7	264.1	-11.8	389	2289	0.00	2.90	0.00	0.000	6	0.000	0.031	2741	2381	3869
2627	-0.79	-194.7	301.5	-10.5	450	2634	0.00	2.62	0.00	0.000	4	0.000	0.045	2741	3704	3869
2704	-0.79	-194.7	309.6	-10.2	463	2711	0.00	2.58	0.00	0.000	6	0.000	0.033	2741	2382	3869
3050	-0.79	-194.7	346.8	-10.9	524	3057	0.00	2.97	0.00	0.000	4	0.000	0.049	2741	891	3869
3090	-0.79	-194.7	351.5	-10.8	530	3098	0.00	2.90	0.00	0.000	6	0.000	0.031	2741	2388	3869
3418	-0.79	-194.7	386.2	-10.6	561	3422	0.00	2.62	0.00	0.000	4	0.000	0.051	2741	3700	3869
3481	-0.79	-194.7	393.0	-10.3	566	3485	0.00	2.58	0.00	0.000	6	0.000	0.033	2741	2381	3869
3808	-0.79	-194.7	426.5	-10.0	596	3813	0.00	3.00	0.00	0.000	4	0.000	0.049	2741	885	3869
3840	-0.79	-194.7	430.3	-10.4	598	3848	0.00	2.95	0.00	0.000	6	0.000	0.030	2741	2401	3869
4169	-0.79	-194.7	463.7	-10.3	629	4175	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2401	3869
4494	-0.79	-194.7	498.1	-10.3	660	4495	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2401	3869
4813	-0.79	-194.7	530.8	-10.4	690	4815	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2401	3869
5131	-0.79	-194.7	564.2	-10.2	720	5132	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2401	3869
5450	-0.79	-194.7	597.5	-10.8	750	5451	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2401	3868
5770	-0.79	-194.7	632.2	-10.7	767	5775	0.00	3.15	0.00	0.000	4	0.000	0.055	2741	884	3868
5811	-0.79	-194.7	636.7	-11.3	769	5816	0.00	2.95	0.00	0.000	6	0.000	0.035	2742	2379	3868
6139	-0.79	-194.7	673.9	-11.5	785	6140	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2379	3868
6447	-0.79	-194.7	709.5	-11.4	800	6448	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2379	3868
6757	-0.79	-194.7	743.7	-11.3	815	6758	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2379	3868
7066	-0.79	-194.7	779.1	-11.3	830	7071	0.00	3.33	0.00	0.000	4	0.000	0.087	2741	896	3867
7107	-0.79	-194.7	783.7	-11.7	832	7111	0.00	3.12	0.00	0.000	6	0.000	0.064	2741	2363	3867
7433	-0.79	-194.7	819.3	-10.6	848	7438	0.00	3.05	0.00	0.000	4	0.000	0.100	2741	3694	3867
7488	-0.79	-194.7	825.3	-10.8	850	7496	0.00	2.92	0.00	0.000	6	0.000	0.085	2741	2383	3866
7804	-0.79	-194.7	857.7	-10.1	866	7809	0.00	3.60	0.00	0.000	4	0.000	0.120	2741	897	3866
7854	-0.83	-194.7	862.8	-10.2	868	7860	0.00	3.40	0.00	0.000	6	0.000	0.100	2741	2354	3866
8172	-0.83	-194.7	894.1	-9.9	883	8177	0.00	3.38	0.00	0.000	4	0.000	0.137	2741	3694	3865
8257	-0.83	-194.7	902.6	-8.6	887	8262	0.00	3.08	0.00	0.000	6	0.000	0.103	2741	2379	3865
8585	-0.83	-194.7	932.2	-9.1	903	8590	0.00	3.05	0.00	0.000	4	0.000	0.056	2741	890	3865
8640	-0.87	-194.7	937.4	-8.1	905	8647	0.00	2.92	0.00	0.000	6	0.000	0.035	2741	2371	3865
8957	-0.87	-194.7	965.1	-9.0	921	8961	0.00	2.72	0.00	0.000	4	0.000	0.061	2741	3698	3864
9020	-0.87	-194.7	970.9	-9.2	924	9024	0.00	2.65	0.00	0.000	6	0.000	0.040	2741	2373	3864
9240	end dive: TARGET_DEPTH_EXCEEDED
state	9240	begin apogee
9248	-0.21	0.0	990.6	8.9	935	9465	0.82	0.00	213.70	1.597	6	0.140	0.000	2867	2744	3071
9466	end apogee: CONTROL_FINISHED_OK
state	9466	begin climb
9469	0.86	194.7	998.9	0.0	946	9699	1.45	2.62	218.70	1.536	4	0.093	0.058	3099	3891	2277
9817	0.73	194.7	962.5	15.7	961	9825	0.15	2.33	0.00	0.000	6	0.124	0.036	3079	2748	2275
10134	0.64	194.7	921.6	12.0	977	10135	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2747	2274
10443	0.58	217.9	889.6	9.2	992	10475	0.17	2.45	24.73	1.430	4	0.116	0.054	3050	3892	2182
10493	0.68	301.9	885.4	7.1	994	10590	0.00	2.28	90.55	1.493	6	0.000	0.033	3050	2740	1842
10907	0.82	371.0	854.4	7.6	1014	10989	0.22	2.97	75.32	1.472	4	0.051	0.051	3099	1343	1557
11018	0.82	371.0	842.0	11.6	1018	11023	0.00	2.85	0.00	0.000	6	0.000	0.032	3099	2747	1554
11340	0.82	371.0	805.3	10.9	1034	11341	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2747	1550
11649	0.82	371.0	772.9	10.6	1049	11654	0.00	2.85	0.00	0.000	4	0.000	0.049	3099	1341	1549
11670	0.82	371.0	770.2	12.0	1050	11675	0.00	2.75	0.00	0.000	6	0.000	0.035	3099	2735	1549
11993	0.82	371.0	734.0	11.5	1066	11998	0.00	2.85	0.00	0.000	4	0.000	0.052	3099	1334	1548
12003	0.82	371.0	732.4	11.6	1066	12011	0.00	2.72	0.00	0.000	6	0.000	0.032	3099	2727	1547
12320	0.82	371.0	695.6	11.5	1082	12325	0.00	2.80	0.00	0.000	4	0.000	0.047	3099	1343	1547
12330	0.82	371.0	694.1	11.5	1082	12338	0.00	2.67	0.00	0.000	6	0.000	0.032	3099	2713	1546
12646	0.82	371.0	658.4	11.2	1098	12647	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2714	1546
12957	0.82	371.0	622.9	11.4	1113	12961	0.00	2.78	0.00	0.000	4	0.000	0.047	3099	1340	1546
12966	0.82	371.0	621.4	11.4	1113	12974	0.00	2.67	0.00	0.000	6	0.000	0.031	3099	2711	1546
13287	0.82	371.0	584.9	11.1	1135	13291	0.00	2.78	0.00	0.000	4	0.000	0.046	3099	1338	1546
13298	0.82	371.0	583.5	11.4	1135	13305	0.00	2.65	0.00	0.000	6	0.000	0.032	3099	2701	1545
13627	0.82	371.0	546.1	11.7	1166	13633	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2701	1545
13955	0.82	371.0	510.1	10.9	1197	13961	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2701	1545
14280	0.82	371.0	475.6	10.5	1228	14285	0.00	2.75	0.00	0.000	4	0.000	0.046	3099	1340	1546
14291	0.82	371.0	474.2	10.7	1228	14299	0.00	2.65	0.00	0.000	6	0.000	0.031	3099	2702	1545
14620	0.82	371.0	440.1	10.6	1259	14626	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2702	1545
14946	0.82	371.0	404.9	10.5	1290	14950	0.00	2.75	0.00	0.000	4	0.000	0.045	3099	1339	1545
14956	0.82	371.0	403.5	10.7	1290	14963	0.00	2.62	0.00	0.000	6	0.000	0.031	3099	2689	1545
15283	0.82	371.0	368.0	10.7	1321	15284	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2690	1545
15609	0.82	371.0	332.4	11.4	1365	15615	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2690	1545
15954	0.82	371.0	292.6	11.0	1426	15961	0.00	2.72	0.00	0.000	4	0.000	0.045	3099	1335	1545
15968	0.82	371.0	290.8	11.4	1428	15976	0.00	2.62	0.00	0.000	6	0.000	0.030	3099	2686	1545
16315	0.82	371.0	251.4	10.7	1489	16321	0.00	2.40	0.00	0.000	4	0.000	0.048	3099	3890	1545
16329	0.82	371.0	249.8	11.2	1491	16336	0.00	2.35	0.00	0.000	6	0.000	0.031	3099	2672	1545
16675	0.82	371.0	211.0	10.2	1552	16681	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2672	1545
17021	0.82	371.6	173.9	10.0	1613	17027	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2672	1545
17365	0.82	371.6	139.6	10.1	1674	17372	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2672	1545
17712	0.82	375.7	105.4	9.9	1735	17718	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2672	1545
18057	0.83	382.2	71.1	9.8	1796	18078	0.00	2.72	10.70	0.858	4	0.000	0.046	3099	1338	1511
18085	0.83	382.2	68.1	10.3	1800	18092	0.00	2.62	0.00	0.000	6	0.000	0.031	3099	2688	1511
18431	0.90	408.6	34.6	9.1	1861	18465	0.00	0.00	28.42	0.967	6	0.000	0.000	3099	2688	1404
18603	0.98	431.7	19.2	9.2	1890	18635	0.15	2.83	25.27	0.953	4	0.051	0.044	3137	1339	1309
18643	0.98	431.7	14.7	11.5	1895	18651	0.00	2.58	0.00	0.000	6	0.000	0.029	3137	2657	1308
18756	end climb: SURFACE_DEPTH_REACHED
state	18756	begin surface coast
18776	end surface coast: CONTROL_FINISHED_OK
state	18776	begin surface