Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 44 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING 270 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 44 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 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 2235 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2330 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 11 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 11 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 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 35

T_ABORT 720 CALL_TRIES 5 VBD_MIN 520 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3085 DEVICE6 -1

T_NO_W 120 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -14007.742 VBD_PUMP_AD_RATE_APOGEE 4 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 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2960 PRESSURE_YINT -1.4601949 SEABIRD_T_I 2.3931538e-05

MASS 51662 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0994887e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 14.2 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 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.2 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.0994887e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -1.4601949 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 -14007.742

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2960 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2330 KALMAN_USE 2 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2235 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3085 MASS 51662 R_PORT_OVSHOOT 11 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 11 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 0 SEABIRD_C_I -0.0037964056 VBD_MAX 3978

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 44 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 101937,5901.772,-1914.894,39,1.1,44,-13.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 5901.794,-1920.444

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 102751,5901.794,-1914.887,14,1.1,14,-13.6 MHEAD_RNG_PITCHd_Wd 283.6,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.014019 XPDR_PINGS 123

SM_CCo 19893,0.00,0.000,0,0,2030,258.79 _24V_AH 23.4,16.494

SM_GC 1.07,11.52,0.00,0.00,0.050,0.000,0.000,592,2229,2030,-10.85,-0.17,258.79 _10V_AH 10.7,9.805

IRIDIUM_FIX 5837.82,-1909.71,080797,040441 DATA_FILE_SIZE 157542,2813

TT8_MAMPS 0.02301 CAP_FILE_SIZE 212656,0

HUMID 1587 CFSIZE 260165632,252596224

INTERNAL_PRESSURE 8.44759 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.40 GPS 130408,160101,5901.285,-1922.559,40,1.5,45,-13.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 202 130.42 SBE_CT 1946 24 1093.04

Roll_motor 123 147 426.53 SBE_O2 2102 19 934.72

VBD_pump_during_apogee 384 1431 12889.06 WL_BB2F 1818 105 4467.28

VBD_pump_during_surface 0 0 0.00 Optode 1175 33 907.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.51 nil 0 0 0.00

Iridium_during_connect 32 160 123.19 nil 0 0 0.00

Iridium_during_xfer 276 223 1445.10

Transponder_ping 30 420 302.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.93

TT8 4241 19 898.69

LPSleep 10125 2 237.26

TT8_Active 592 19 125.55

TT8_Sampling 4663 39 1986.04

TT8_CF8 732 45 358.90

TT8_Kalman 0 0 0.00

Analog_circuits 2636 12 338.59

GPS_charging 0 0 0.00

Compass 4654 8 398.42

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

25 end surface: CONTROL_FINISHED_OK

state 26 begin dive

28 -1.29 -194.7 0.0 0.0 0 96 0.00 0.00 -65.15 0.000 2 0.000 0.000 590 2227 3497

99 -1.29 -194.7 3.3 -7.0 12 128 12.85 2.83 -8.65 0.000 4 0.202 0.120 2668 3665 3881

383 -1.29 -194.7 34.6 -9.4 62 390 0.00 2.70 0.00 0.000 6 0.000 0.093 2668 2233 3882

526 -1.29 -194.7 47.6 -8.7 87 532 0.00 2.75 0.00 0.000 4 0.000 0.110 2668 3649 3882

612 -1.29 -194.7 56.4 -10.8 102 618 0.00 2.70 0.00 0.000 6 0.000 0.094 2668 2226 3882

754 -1.29 -194.7 70.2 -10.2 127 760 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2226 3882

896 -1.29 -194.7 83.3 -9.0 152 902 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2226 3882

1037 -1.29 -194.7 96.3 -9.6 177 1043 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2226 3882

1180 -1.29 -194.7 108.8 -8.8 202 1185 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2226 3882

1321 -1.29 -194.7 121.3 -9.0 227 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2226 3882

1463 -1.29 -194.7 134.2 -9.3 252 1469 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2226 3882

1605 -1.29 -194.7 147.9 -9.9 277 1611 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2226 3882

1746 -1.29 -194.7 162.4 -10.5 302 1751 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2226 3881

2089 -1.29 -194.7 196.9 -9.6 363 2095 0.00 2.80 0.00 0.000 4 0.000 0.116 2668 3647 3882

2124 -1.29 -194.7 200.4 -10.4 369 2130 0.00 2.70 0.00 0.000 6 0.000 0.097 2668 2227 3882

2466 -1.29 -194.7 234.3 -10.1 430 2472 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2228 3882

2810 -1.29 -194.7 268.0 -10.1 491 2815 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2228 3882

3152 -1.29 -194.7 301.3 -9.6 552 3158 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2228 3882

3495 -1.29 -194.7 334.2 -9.6 613 3501 0.00 2.83 0.00 0.000 4 0.000 0.121 2668 3650 3882

3530 -1.29 -194.7 337.7 -10.1 619 3536 0.00 2.70 0.00 0.000 6 0.000 0.100 2668 2237 3882

3874 -1.29 -194.7 369.0 -9.1 680 3879 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2238 3882

4217 -1.29 -194.7 400.0 -8.9 741 4223 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2238 3882

4560 -1.29 -194.7 431.0 -8.9 802 4565 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2238 3882

4902 -1.29 -194.7 461.8 -9.2 863 4908 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2238 3882

5245 -1.29 -194.7 493.2 -9.5 924 5251 0.00 2.80 0.00 0.000 4 0.000 0.123 2668 3644 3882

5291 -1.29 -194.7 497.7 -9.5 932 5298 0.00 2.70 0.00 0.000 6 0.000 0.103 2668 2233 3882

5636 -1.29 -194.7 529.3 -9.0 993 5642 0.00 2.83 0.00 0.000 4 0.000 0.135 2668 823 3882

5666 -1.29 -194.7 532.1 -9.5 998 5672 0.00 2.75 0.00 0.000 6 0.000 0.109 2668 2238 3882

6010 -1.29 -194.7 561.8 -8.4 1059 6016 0.00 2.80 0.00 0.000 4 0.000 0.123 2668 3651 3882

6039 -1.29 -194.7 564.3 -9.5 1064 6045 0.00 2.70 0.00 0.000 6 0.000 0.100 2668 2231 3882

6383 -1.29 -194.7 593.1 -8.5 1125 6388 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2231 3882

6712 -1.29 -194.7 621.1 -9.0 1163 6713 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2231 3881

7032 -1.29 -194.7 651.3 -9.9 1193 7033 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2231 3881

7348 -1.29 -194.7 683.1 -10.0 1223 7353 0.00 2.88 0.00 0.000 4 0.000 0.131 2668 3653 3882

7376 -1.29 -194.7 685.9 -10.7 1225 7381 0.00 2.72 0.00 0.000 6 0.000 0.107 2668 2243 3881

7704 -1.29 -194.7 715.1 -8.2 1255 7709 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2244 3881

8030 -1.29 -194.7 742.8 -8.6 1286 8035 0.00 2.85 0.00 0.000 4 0.000 0.133 2668 3646 3881

8069 -1.29 -194.7 746.5 -9.5 1289 8073 0.00 2.72 0.00 0.000 6 0.000 0.112 2668 2248 3881

8395 -1.29 -194.7 774.7 -8.5 1319 8396 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2249 3881

8714 -1.29 -194.7 802.3 -8.3 1349 8718 0.00 2.97 0.00 0.000 4 0.000 0.147 2668 816 3880

8746 -1.29 -194.7 805.1 -8.3 1351 8752 0.00 2.83 0.00 0.000 6 0.000 0.120 2668 2246 3880

9074 -1.29 -194.7 831.7 -8.7 1382 9079 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2246 3880

9400 -1.29 -194.7 862.9 -9.4 1413 9401 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2246 3879

9719 -1.29 -194.7 891.3 -8.6 1443 9723 0.00 2.90 0.00 0.000 4 0.000 0.143 2668 3650 3880

9751 -1.29 -194.7 894.6 -10.1 1445 9757 0.00 2.75 0.00 0.000 6 0.000 0.114 2668 2244 3879

10077 -1.29 -194.7 924.0 -9.0 1476 10079 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2245 3879

10396 -1.29 -194.7 953.8 -9.3 1506 10397 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2245 3878

10715 -1.29 -194.7 982.6 -9.1 1536 10719 0.00 2.90 0.00 0.000 4 0.000 0.142 2669 3645 3878

10753 -1.29 -194.7 986.4 -10.2 1539 10758 0.00 2.78 0.00 0.000 6 0.000 0.122 2668 2250 3878

10799 end dive: TARGET_DEPTH_EXCEEDED

state 10799 begin apogee

10805 -0.35 0.0 990.8 9.4 1543 10974 1.02 0.00 164.88 1.432 6 0.109 0.000 2875 2337 3085

10975 end apogee: CONTROL_FINISHED_OK

state 10975 begin climb

10977 1.29 194.7 997.5 0.0 1560 11152 1.65 3.00 162.38 1.390 4 0.067 0.136 3235 3739 2290

11203 1.18 194.7 978.4 14.6 1581 11209 0.00 2.88 0.00 0.000 6 0.000 0.121 3235 2330 2290

11529 1.09 194.7 935.5 13.1 1612 11531 0.20 0.00 0.00 0.000 6 0.110 0.000 3198 2330 2288

11847 1.09 194.7 899.5 11.1 1642 11852 0.00 2.92 0.00 0.000 4 0.000 0.133 3198 3740 2288

11868 1.03 194.7 896.8 11.6 1643 11874 0.00 2.85 0.00 0.000 6 0.000 0.117 3198 2325 2288

12194 1.03 194.7 860.1 12.0 1674 12196 0.00 0.00 0.00 0.000 6 0.000 0.000 3198 2326 2287

12513 1.03 194.7 825.3 10.2 1704 12517 0.00 2.90 0.00 0.000 4 0.000 0.131 3198 3742 2287

12552 0.97 194.7 820.9 10.4 1707 12557 0.15 2.83 0.00 0.000 6 0.111 0.117 3171 2335 2287

12876 0.97 196.4 789.6 9.9 1737 12881 0.00 2.92 0.00 0.000 4 0.000 0.140 3170 918 2287

12904 0.97 196.4 786.8 10.7 1739 12908 0.00 2.80 0.00 0.000 6 0.000 0.114 3170 2337 2286

13228 1.01 225.3 755.4 9.0 1769 13258 0.00 0.00 26.83 1.262 6 0.000 0.000 3170 2337 2166

13577 1.03 245.0 722.9 9.3 1802 13601 0.00 2.97 17.77 1.204 4 0.000 0.132 3170 3737 2085

13619 1.05 258.0 718.7 9.5 1806 13641 0.00 2.80 12.80 1.134 6 0.000 0.111 3170 2339 2032

13959 1.05 258.0 682.4 11.3 1838 13960 0.00 0.00 0.00 0.000 6 0.000 0.000 3170 2339 2030

14277 1.05 258.0 647.9 10.1 1868 14282 0.00 2.88 0.00 0.000 4 0.000 0.130 3170 915 2030

14299 1.09 258.0 645.7 10.6 1869 14305 0.12 2.78 0.00 0.000 6 0.064 0.105 3203 2346 2030

14623 1.09 258.0 609.3 11.1 1900 14624 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2346 2029

14957 1.09 258.0 572.3 11.7 1952 14962 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2346 2029

15299 1.09 258.0 532.5 11.6 2013 15305 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2346 2029

15642 1.09 258.0 492.2 12.0 2074 15647 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2346 2029

15984 1.09 258.0 449.6 11.9 2135 15989 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2346 2029

16326 1.09 258.0 408.0 11.8 2196 16332 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2346 2029

16670 1.09 258.0 367.8 10.7 2257 16675 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2346 2030

17013 1.09 258.0 326.8 11.2 2318 17019 0.00 2.83 0.00 0.000 4 0.000 0.117 3203 916 2030

17036 1.09 258.0 324.0 12.1 2322 17042 0.00 2.72 0.00 0.000 6 0.000 0.100 3203 2343 2030

17380 1.09 258.0 283.9 11.6 2383 17386 0.00 0.00 0.00 0.000 6 0.000 0.000 3202 2343 2030

17722 1.09 258.0 244.5 12.0 2444 17728 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2343 2030

18065 1.09 258.0 204.6 11.6 2505 18071 0.00 2.83 0.00 0.000 4 0.000 0.117 3203 911 2030

18094 1.09 258.0 201.0 12.4 2510 18101 0.00 2.72 0.00 0.000 6 0.000 0.098 3203 2346 2030

18438 1.09 258.0 160.3 12.2 2571 18443 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2346 2030

18781 1.09 258.0 119.3 11.1 2632 18786 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2346 2030

18923 1.09 258.0 102.8 11.4 2657 18930 0.00 2.80 0.00 0.000 4 0.000 0.114 3203 916 2031

18966 1.09 258.0 97.7 12.5 2664 18972 0.00 2.67 0.00 0.000 6 0.000 0.096 3203 2328 2030

19108 1.09 258.0 80.6 12.0 2689 19114 0.00 2.72 0.00 0.000 4 0.000 0.109 3203 3738 2030

19127 1.09 258.0 78.4 11.2 2692 19133 0.00 2.67 0.00 0.000 6 0.000 0.094 3203 2325 2030

19269 1.09 258.0 61.7 11.3 2717 19275 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2326 2030

19411 1.09 258.0 45.3 11.3 2742 19416 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2326 2030

19552 1.09 258.0 29.1 10.2 2767 19558 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2326 2031

19694 1.09 258.0 13.0 10.4 2792 19699 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2326 2031

19793 end climb: SURFACE_DEPTH_REACHED

state 19794 begin surface coast

19812 end surface coast: CONTROL_FINISHED_OK

state 19812 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	270	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	44	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	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	2235	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2330	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	11	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	11	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	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	35
T_ABORT	720	CALL_TRIES	5	VBD_MIN	520	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3085	DEVICE6	-1
T_NO_W	120	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-14007.742	VBD_PUMP_AD_RATE_APOGEE	4	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	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2960	PRESSURE_YINT	-1.4601949	SEABIRD_T_I	2.3931538e-05
MASS	51662	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0994887e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	14.2	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	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	101937,5901.772,-1914.894,39,1.1,44,-13.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	5901.794,-1920.444
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	102751,5901.794,-1914.887,14,1.1,14,-13.6	MHEAD_RNG_PITCHd_Wd	283.6,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.3,1.014019	XPDR_PINGS	123
SM_CCo	19893,0.00,0.000,0,0,2030,258.79	_24V_AH	23.4,16.494
SM_GC	1.07,11.52,0.00,0.00,0.050,0.000,0.000,592,2229,2030,-10.85,-0.17,258.79	_10V_AH	10.7,9.805
IRIDIUM_FIX	5837.82,-1909.71,080797,040441	DATA_FILE_SIZE	157542,2813
TT8_MAMPS	0.02301	CAP_FILE_SIZE	212656,0
HUMID	1587	CFSIZE	260165632,252596224
INTERNAL_PRESSURE	8.44759	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.40	GPS	130408,160101,5901.285,-1922.559,40,1.5,45,-13.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	202	130.42	SBE_CT	1946	24	1093.04
Roll_motor	123	147	426.53	SBE_O2	2102	19	934.72
VBD_pump_during_apogee	384	1431	12889.06	WL_BB2F	1818	105	4467.28
VBD_pump_during_surface	0	0	0.00	Optode	1175	33	907.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.51	nil	0	0	0.00
Iridium_during_connect	32	160	123.19	nil	0	0	0.00
Iridium_during_xfer	276	223	1445.10
Transponder_ping	30	420	302.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.93
TT8	4241	19	898.69
LPSleep	10125	2	237.26
TT8_Active	592	19	125.55
TT8_Sampling	4663	39	1986.04
TT8_CF8	732	45	358.90
TT8_Kalman	0	0	0.00
Analog_circuits	2636	12	338.59
GPS_charging	0	0	0.00
Compass	4654	8	398.42
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
25	end surface: CONTROL_FINISHED_OK
state	26	begin dive
28	-1.29	-194.7	0.0	0.0	0	96	0.00	0.00	-65.15	0.000	2	0.000	0.000	590	2227	3497
99	-1.29	-194.7	3.3	-7.0	12	128	12.85	2.83	-8.65	0.000	4	0.202	0.120	2668	3665	3881
383	-1.29	-194.7	34.6	-9.4	62	390	0.00	2.70	0.00	0.000	6	0.000	0.093	2668	2233	3882
526	-1.29	-194.7	47.6	-8.7	87	532	0.00	2.75	0.00	0.000	4	0.000	0.110	2668	3649	3882
612	-1.29	-194.7	56.4	-10.8	102	618	0.00	2.70	0.00	0.000	6	0.000	0.094	2668	2226	3882
754	-1.29	-194.7	70.2	-10.2	127	760	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2226	3882
896	-1.29	-194.7	83.3	-9.0	152	902	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2226	3882
1037	-1.29	-194.7	96.3	-9.6	177	1043	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2226	3882
1180	-1.29	-194.7	108.8	-8.8	202	1185	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2226	3882
1321	-1.29	-194.7	121.3	-9.0	227	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2226	3882
1463	-1.29	-194.7	134.2	-9.3	252	1469	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2226	3882
1605	-1.29	-194.7	147.9	-9.9	277	1611	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2226	3882
1746	-1.29	-194.7	162.4	-10.5	302	1751	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2226	3881
2089	-1.29	-194.7	196.9	-9.6	363	2095	0.00	2.80	0.00	0.000	4	0.000	0.116	2668	3647	3882
2124	-1.29	-194.7	200.4	-10.4	369	2130	0.00	2.70	0.00	0.000	6	0.000	0.097	2668	2227	3882
2466	-1.29	-194.7	234.3	-10.1	430	2472	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2228	3882
2810	-1.29	-194.7	268.0	-10.1	491	2815	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2228	3882
3152	-1.29	-194.7	301.3	-9.6	552	3158	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2228	3882
3495	-1.29	-194.7	334.2	-9.6	613	3501	0.00	2.83	0.00	0.000	4	0.000	0.121	2668	3650	3882
3530	-1.29	-194.7	337.7	-10.1	619	3536	0.00	2.70	0.00	0.000	6	0.000	0.100	2668	2237	3882
3874	-1.29	-194.7	369.0	-9.1	680	3879	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2238	3882
4217	-1.29	-194.7	400.0	-8.9	741	4223	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2238	3882
4560	-1.29	-194.7	431.0	-8.9	802	4565	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2238	3882
4902	-1.29	-194.7	461.8	-9.2	863	4908	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2238	3882
5245	-1.29	-194.7	493.2	-9.5	924	5251	0.00	2.80	0.00	0.000	4	0.000	0.123	2668	3644	3882
5291	-1.29	-194.7	497.7	-9.5	932	5298	0.00	2.70	0.00	0.000	6	0.000	0.103	2668	2233	3882
5636	-1.29	-194.7	529.3	-9.0	993	5642	0.00	2.83	0.00	0.000	4	0.000	0.135	2668	823	3882
5666	-1.29	-194.7	532.1	-9.5	998	5672	0.00	2.75	0.00	0.000	6	0.000	0.109	2668	2238	3882
6010	-1.29	-194.7	561.8	-8.4	1059	6016	0.00	2.80	0.00	0.000	4	0.000	0.123	2668	3651	3882
6039	-1.29	-194.7	564.3	-9.5	1064	6045	0.00	2.70	0.00	0.000	6	0.000	0.100	2668	2231	3882
6383	-1.29	-194.7	593.1	-8.5	1125	6388	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2231	3882
6712	-1.29	-194.7	621.1	-9.0	1163	6713	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2231	3881
7032	-1.29	-194.7	651.3	-9.9	1193	7033	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2231	3881
7348	-1.29	-194.7	683.1	-10.0	1223	7353	0.00	2.88	0.00	0.000	4	0.000	0.131	2668	3653	3882
7376	-1.29	-194.7	685.9	-10.7	1225	7381	0.00	2.72	0.00	0.000	6	0.000	0.107	2668	2243	3881
7704	-1.29	-194.7	715.1	-8.2	1255	7709	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2244	3881
8030	-1.29	-194.7	742.8	-8.6	1286	8035	0.00	2.85	0.00	0.000	4	0.000	0.133	2668	3646	3881
8069	-1.29	-194.7	746.5	-9.5	1289	8073	0.00	2.72	0.00	0.000	6	0.000	0.112	2668	2248	3881
8395	-1.29	-194.7	774.7	-8.5	1319	8396	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2249	3881
8714	-1.29	-194.7	802.3	-8.3	1349	8718	0.00	2.97	0.00	0.000	4	0.000	0.147	2668	816	3880
8746	-1.29	-194.7	805.1	-8.3	1351	8752	0.00	2.83	0.00	0.000	6	0.000	0.120	2668	2246	3880
9074	-1.29	-194.7	831.7	-8.7	1382	9079	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2246	3880
9400	-1.29	-194.7	862.9	-9.4	1413	9401	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2246	3879
9719	-1.29	-194.7	891.3	-8.6	1443	9723	0.00	2.90	0.00	0.000	4	0.000	0.143	2668	3650	3880
9751	-1.29	-194.7	894.6	-10.1	1445	9757	0.00	2.75	0.00	0.000	6	0.000	0.114	2668	2244	3879
10077	-1.29	-194.7	924.0	-9.0	1476	10079	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2245	3879
10396	-1.29	-194.7	953.8	-9.3	1506	10397	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2245	3878
10715	-1.29	-194.7	982.6	-9.1	1536	10719	0.00	2.90	0.00	0.000	4	0.000	0.142	2669	3645	3878
10753	-1.29	-194.7	986.4	-10.2	1539	10758	0.00	2.78	0.00	0.000	6	0.000	0.122	2668	2250	3878
10799	end dive: TARGET_DEPTH_EXCEEDED
state	10799	begin apogee
10805	-0.35	0.0	990.8	9.4	1543	10974	1.02	0.00	164.88	1.432	6	0.109	0.000	2875	2337	3085
10975	end apogee: CONTROL_FINISHED_OK
state	10975	begin climb
10977	1.29	194.7	997.5	0.0	1560	11152	1.65	3.00	162.38	1.390	4	0.067	0.136	3235	3739	2290
11203	1.18	194.7	978.4	14.6	1581	11209	0.00	2.88	0.00	0.000	6	0.000	0.121	3235	2330	2290
11529	1.09	194.7	935.5	13.1	1612	11531	0.20	0.00	0.00	0.000	6	0.110	0.000	3198	2330	2288
11847	1.09	194.7	899.5	11.1	1642	11852	0.00	2.92	0.00	0.000	4	0.000	0.133	3198	3740	2288
11868	1.03	194.7	896.8	11.6	1643	11874	0.00	2.85	0.00	0.000	6	0.000	0.117	3198	2325	2288
12194	1.03	194.7	860.1	12.0	1674	12196	0.00	0.00	0.00	0.000	6	0.000	0.000	3198	2326	2287
12513	1.03	194.7	825.3	10.2	1704	12517	0.00	2.90	0.00	0.000	4	0.000	0.131	3198	3742	2287
12552	0.97	194.7	820.9	10.4	1707	12557	0.15	2.83	0.00	0.000	6	0.111	0.117	3171	2335	2287
12876	0.97	196.4	789.6	9.9	1737	12881	0.00	2.92	0.00	0.000	4	0.000	0.140	3170	918	2287
12904	0.97	196.4	786.8	10.7	1739	12908	0.00	2.80	0.00	0.000	6	0.000	0.114	3170	2337	2286
13228	1.01	225.3	755.4	9.0	1769	13258	0.00	0.00	26.83	1.262	6	0.000	0.000	3170	2337	2166
13577	1.03	245.0	722.9	9.3	1802	13601	0.00	2.97	17.77	1.204	4	0.000	0.132	3170	3737	2085
13619	1.05	258.0	718.7	9.5	1806	13641	0.00	2.80	12.80	1.134	6	0.000	0.111	3170	2339	2032
13959	1.05	258.0	682.4	11.3	1838	13960	0.00	0.00	0.00	0.000	6	0.000	0.000	3170	2339	2030
14277	1.05	258.0	647.9	10.1	1868	14282	0.00	2.88	0.00	0.000	4	0.000	0.130	3170	915	2030
14299	1.09	258.0	645.7	10.6	1869	14305	0.12	2.78	0.00	0.000	6	0.064	0.105	3203	2346	2030
14623	1.09	258.0	609.3	11.1	1900	14624	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2346	2029
14957	1.09	258.0	572.3	11.7	1952	14962	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2346	2029
15299	1.09	258.0	532.5	11.6	2013	15305	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2346	2029
15642	1.09	258.0	492.2	12.0	2074	15647	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2346	2029
15984	1.09	258.0	449.6	11.9	2135	15989	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2346	2029
16326	1.09	258.0	408.0	11.8	2196	16332	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2346	2029
16670	1.09	258.0	367.8	10.7	2257	16675	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2346	2030
17013	1.09	258.0	326.8	11.2	2318	17019	0.00	2.83	0.00	0.000	4	0.000	0.117	3203	916	2030
17036	1.09	258.0	324.0	12.1	2322	17042	0.00	2.72	0.00	0.000	6	0.000	0.100	3203	2343	2030
17380	1.09	258.0	283.9	11.6	2383	17386	0.00	0.00	0.00	0.000	6	0.000	0.000	3202	2343	2030
17722	1.09	258.0	244.5	12.0	2444	17728	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2343	2030
18065	1.09	258.0	204.6	11.6	2505	18071	0.00	2.83	0.00	0.000	4	0.000	0.117	3203	911	2030
18094	1.09	258.0	201.0	12.4	2510	18101	0.00	2.72	0.00	0.000	6	0.000	0.098	3203	2346	2030
18438	1.09	258.0	160.3	12.2	2571	18443	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2346	2030
18781	1.09	258.0	119.3	11.1	2632	18786	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2346	2030
18923	1.09	258.0	102.8	11.4	2657	18930	0.00	2.80	0.00	0.000	4	0.000	0.114	3203	916	2031
18966	1.09	258.0	97.7	12.5	2664	18972	0.00	2.67	0.00	0.000	6	0.000	0.096	3203	2328	2030
19108	1.09	258.0	80.6	12.0	2689	19114	0.00	2.72	0.00	0.000	4	0.000	0.109	3203	3738	2030
19127	1.09	258.0	78.4	11.2	2692	19133	0.00	2.67	0.00	0.000	6	0.000	0.094	3203	2325	2030
19269	1.09	258.0	61.7	11.3	2717	19275	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2326	2030
19411	1.09	258.0	45.3	11.3	2742	19416	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2326	2030
19552	1.09	258.0	29.1	10.2	2767	19558	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2326	2031
19694	1.09	258.0	13.0	10.4	2792	19699	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2326	2031
19793	end climb: SURFACE_DEPTH_REACHED
state	19794	begin surface coast
19812	end surface coast: CONTROL_FINISHED_OK
state	19812	begin surface