Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 59 * 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 215 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 59 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 12 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 13 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 -14250.285 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 -14250.285

CAPUPLOAD 0 HEADING 215 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 12 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 13 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 59 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 233632,5928.113,-2122.286,38,1.6,38,-14.9 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 5919.532,-2125.694

_XMS_NAKs 18 TGT_RADIUS 1852.000

_XMS_TOUTs 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 234938,5928.378,-2122.534,10,1.6,16,-14.9 MHEAD_RNG_PITCHd_Wd 229.9,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027752 XPDR_PINGS 115

SM_CCo 19939,0.00,0.000,0,0,1282,442.52 _24V_AH 23.5,19.236

SM_GC 0.92,11.73,0.00,0.00,0.044,0.000,0.000,591,2230,1282,-10.84,-0.14,442.52 _10V_AH 10.6,12.892

IRIDIUM_FIX 5907.03,-2121.38,110797,232347 DATA_FILE_SIZE 161009,2861

TT8_MAMPS 0.02301 CAP_FILE_SIZE 220042,0

HUMID 1571 CFSIZE 260165632,250871808

INTERNAL_PRESSURE 8.37923 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 18.30 GPS 170408,052407,5929.715,-2127.032,73,1.1,78,-15.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 191 123.24 SBE_CT 1975 24 1114.36

Roll_motor 123 148 428.49 SBE_O2 2137 19 954.26

VBD_pump_during_apogee 531 1397 17439.20 WL_BB2F 1866 105 4605.44

VBD_pump_during_surface 0 0 0.00 Optode 1206 33 935.40

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 60 103 145.84 nil 0 0 0.00

Iridium_during_connect 69 160 260.54 nil 0 0 0.00

Iridium_during_xfer 433 223 2274.30

Transponder_ping 28 420 283.76

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.98

TT8 4272 19 896.76

LPSleep 10063 2 233.61

TT8_Active 678 19 142.44

TT8_Sampling 4711 39 1987.59

TT8_CF8 967 45 469.91

TT8_Kalman 0 0 0.00

Analog_circuits 2778 12 353.36

GPS_charging 0 0 0.00

Compass 4697 8 398.39

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 0 107 0.00 0.00 -76.35 0.000 2 0.000 0.000 588 2232 3623

110 -1.29 -194.7 3.3 -6.1 14 135 12.50 2.78 -5.57 0.000 4 0.192 0.118 2671 826 3879

204 -1.29 -194.7 18.9 -12.5 30 211 0.00 2.70 0.00 0.000 6 0.000 0.094 2671 2241 3880

347 -1.29 -194.7 28.3 -6.6 55 353 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2241 3881

489 -1.29 -194.7 39.6 -7.4 80 495 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2241 3880

631 -1.29 -194.7 50.5 -9.5 105 636 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2241 3880

772 -1.29 -194.7 65.1 -10.4 130 778 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2242 3880

913 -1.29 -194.7 84.5 -13.7 155 919 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2241 3880

1056 -1.29 -194.7 99.2 -7.5 180 1061 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2242 3880

1197 -1.29 -194.7 112.7 -11.2 205 1204 0.00 2.78 0.00 0.000 4 0.000 0.110 2671 818 3880

1221 -1.29 -194.7 115.2 -10.5 209 1227 0.00 2.75 0.00 0.000 6 0.000 0.097 2671 2254 3880

1365 -1.29 -194.7 128.4 -9.6 234 1371 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2254 3880

1507 -1.29 -194.7 141.7 -9.3 259 1513 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2254 3880

1648 -1.29 -194.7 155.0 -9.4 284 1654 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2254 3880

1991 -1.29 -194.7 185.9 -9.1 345 1997 0.00 2.83 0.00 0.000 4 0.000 0.114 2671 820 3880

2071 -1.29 -194.7 193.1 -9.2 359 2077 0.00 2.78 0.00 0.000 6 0.000 0.101 2670 2261 3880

2414 -1.29 -194.7 222.6 -8.3 420 2420 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2261 3880

2758 -1.29 -194.7 252.9 -9.3 481 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2261 3880

3100 -1.29 -194.7 283.9 -9.1 542 3107 0.00 2.85 0.00 0.000 4 0.000 0.117 2671 824 3880

3130 -1.29 -194.7 286.7 -9.6 547 3137 0.00 2.78 0.00 0.000 6 0.000 0.104 2671 2260 3880

3474 -1.29 -194.7 318.4 -9.6 608 3479 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2261 3880

3817 -1.29 -194.7 350.4 -9.1 669 3823 0.00 2.85 0.00 0.000 4 0.000 0.120 2671 826 3880

3846 -1.29 -194.7 353.3 -10.1 674 3852 0.00 2.78 0.00 0.000 6 0.000 0.105 2671 2259 3880

4189 -1.29 -194.7 385.1 -9.2 735 4194 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2259 3880

4531 -1.29 -194.7 416.1 -8.9 796 4537 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2259 3880

4875 -1.29 -194.7 446.5 -8.5 857 4881 0.00 2.88 0.00 0.000 4 0.000 0.123 2671 823 3880

4904 -1.29 -194.7 449.2 -9.4 862 4910 0.00 2.78 0.00 0.000 6 0.000 0.106 2671 2256 3880

5248 -1.29 -194.7 479.4 -8.8 923 5254 0.00 2.72 0.00 0.000 4 0.000 0.114 2671 3656 3880

5271 -1.29 -194.7 481.5 -8.8 927 5277 0.00 2.65 0.00 0.000 6 0.000 0.096 2671 2256 3880

5616 -1.29 -194.7 512.3 -8.8 988 5622 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2257 3880

5960 -1.29 -194.7 543.3 -9.0 1049 5966 0.00 2.88 0.00 0.000 4 0.000 0.128 2671 821 3880

5989 -1.29 -194.7 546.0 -9.7 1054 5995 0.00 2.80 0.00 0.000 6 0.000 0.108 2671 2260 3880

6333 -1.29 -194.7 577.1 -9.2 1115 6338 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2260 3880

6671 -1.29 -194.7 605.5 -8.1 1170 6672 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2261 3880

6991 -1.29 -194.7 630.3 -7.5 1200 6992 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2261 3880

7310 -1.29 -194.7 656.0 -8.4 1230 7311 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2261 3880

7628 -1.29 -194.7 683.7 -8.9 1260 7630 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2261 3880

7947 -1.29 -194.7 712.0 -8.6 1290 7948 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2261 3880

8265 -1.29 -194.7 738.5 -8.1 1320 8266 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2262 3879

8584 -1.29 -194.7 764.7 -8.2 1350 8589 0.00 2.92 0.00 0.000 4 0.000 0.132 2671 824 3879

8612 -1.29 -194.7 767.2 -8.6 1352 8616 0.00 2.80 0.00 0.000 6 0.000 0.114 2671 2251 3879

8938 -1.29 -194.7 793.7 -8.5 1382 8943 0.00 2.83 0.00 0.000 4 0.000 0.130 2671 3653 3879

8977 -1.29 -194.7 797.4 -9.2 1385 8982 0.00 2.70 0.00 0.000 6 0.000 0.105 2671 2253 3879

9303 -1.29 -194.7 824.9 -8.1 1415 9304 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2254 3878

9621 -1.29 -194.7 849.5 -7.7 1445 9626 0.00 2.95 0.00 0.000 4 0.000 0.138 2671 817 3878

9655 -1.29 -194.7 852.3 -8.5 1447 9661 0.00 2.85 0.00 0.000 6 0.000 0.117 2671 2260 3879

9983 -1.29 -194.7 878.5 -8.4 1478 9988 0.00 2.83 0.00 0.000 4 0.000 0.134 2671 3651 3878

10012 -1.29 -194.7 881.2 -8.8 1480 10016 0.00 2.70 0.00 0.000 6 0.000 0.107 2671 2255 3878

10337 -1.29 -194.7 907.5 -8.1 1510 10341 0.00 2.95 0.00 0.000 4 0.000 0.141 2671 823 3877

10369 -1.29 -194.7 910.4 -9.7 1512 10375 0.00 2.85 0.00 0.000 6 0.000 0.117 2671 2262 3877

10695 -1.29 -194.7 936.9 -8.3 1543 10697 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2262 3877

10808 end dive: HALF_MISSION_TIME_EXCEEDED

state 10808 begin apogee

10814 -0.35 0.0 946.4 8.1 1554 10982 1.02 0.00 163.25 1.397 6 0.100 0.000 2881 2330 3085

10983 end apogee: CONTROL_FINISHED_OK

state 10983 begin climb

10985 1.29 194.7 952.2 0.0 1571 11158 1.62 3.03 161.65 1.358 4 0.061 0.133 3239 3738 2290

11175 1.17 194.7 938.3 12.7 1590 11181 0.12 2.85 0.00 0.000 6 0.117 0.111 3218 2323 2290

11500 1.11 194.7 899.2 12.4 1620 11505 0.00 2.92 0.00 0.000 4 0.000 0.129 3219 3741 2288

11521 1.03 194.7 896.4 12.6 1621 11528 0.12 2.78 0.00 0.000 6 0.104 0.112 3190 2338 2288

11845 1.03 194.7 861.4 10.5 1652 11847 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2339 2288

12164 1.03 194.7 829.2 10.1 1682 12165 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2339 2288

12484 1.05 208.9 797.4 9.5 1712 12503 0.00 0.00 13.12 1.238 6 0.000 0.000 3190 2339 2233

12822 1.05 208.9 762.4 10.9 1744 12824 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2339 2232

13140 1.05 208.9 727.6 10.5 1774 13141 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2339 2231

13460 1.05 213.6 696.0 9.8 1804 13468 0.00 0.00 5.38 0.962 6 0.000 0.000 3190 2339 2214

13788 1.05 213.6 661.7 10.4 1835 13793 0.00 2.83 0.00 0.000 4 0.000 0.121 3190 3739 2213

13804 1.05 213.6 659.7 11.0 1836 13809 0.00 2.72 0.00 0.000 6 0.000 0.100 3190 2337 2213

14129 1.05 213.6 625.4 10.4 1866 14130 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2337 2214

14451 1.05 213.6 591.7 10.4 1903 14456 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2338 2213

14793 1.06 217.0 556.9 9.9 1964 14805 0.00 2.83 4.70 0.838 4 0.000 0.116 3190 3740 2200

14817 1.06 217.0 554.3 11.1 1968 14823 0.00 2.67 0.00 0.000 6 0.000 0.094 3190 2344 2200

15161 1.06 217.0 518.1 10.1 2029 15166 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2344 2200

15503 1.06 217.0 480.5 10.9 2090 15508 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2345 2200

15845 1.06 217.0 443.0 10.5 2151 15851 0.00 2.80 0.00 0.000 4 0.000 0.117 3190 920 2200

15864 1.06 217.0 441.1 11.0 2154 15870 0.00 2.75 0.00 0.000 6 0.000 0.100 3190 2352 2200

16207 1.06 217.0 405.4 10.6 2215 16212 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2352 2200

16549 1.07 226.0 369.6 9.7 2276 16561 0.00 0.00 9.45 0.959 6 0.000 0.000 3190 2352 2162

16898 1.09 239.7 333.0 9.5 2338 16915 0.00 0.00 12.68 0.948 6 0.000 0.000 3190 2352 2106

17253 1.09 246.9 295.5 9.8 2401 17265 0.00 0.00 7.32 0.865 6 0.000 0.000 3190 2352 2078

17602 1.09 246.9 258.7 11.8 2463 17608 0.00 2.83 0.00 0.000 4 0.000 0.111 3190 915 2077

17626 1.09 246.9 256.2 11.7 2467 17632 0.00 2.75 0.00 0.000 6 0.000 0.096 3190 2351 2077

17969 1.09 246.9 218.6 10.8 2528 17974 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2351 2077

18312 1.09 246.9 180.5 11.1 2589 18317 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2351 2077

18655 1.09 246.9 144.0 10.7 2650 18661 0.00 2.72 0.00 0.000 4 0.000 0.110 3190 3742 2077

18685 1.09 246.9 140.7 10.4 2655 18691 0.00 2.65 0.00 0.000 6 0.000 0.091 3190 2344 2077

18828 1.09 246.9 125.4 11.2 2680 18835 0.00 2.72 0.00 0.000 4 0.000 0.110 3190 3740 2077

18858 1.09 246.9 121.6 12.0 2685 18864 0.00 2.65 0.00 0.000 6 0.000 0.091 3190 2342 2077

19002 1.09 246.9 104.9 10.1 2710 19007 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2342 2078

19143 1.09 246.9 88.4 11.3 2735 19149 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2343 2077

19285 1.09 246.9 72.2 11.3 2760 19292 0.00 2.72 0.00 0.000 4 0.000 0.109 3190 3740 2078

19304 1.09 246.9 69.8 12.5 2763 19310 0.00 2.62 0.00 0.000 6 0.000 0.090 3190 2352 2078

19446 1.09 246.9 50.7 11.9 2788 19452 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2353 2077

19589 1.33 438.8 40.3 3.3 2813 19749 0.22 0.00 153.48 0.775 6 0.055 0.000 3251 2352 1294

19845 end climb: SURFACE_DEPTH_REACHED

state 19845 begin surface coast

19858 end surface coast: CONTROL_FINISHED_OK

state 19858 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	215	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	59	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	12	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	13	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	-14250.285	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	233632,5928.113,-2122.286,38,1.6,38,-14.9	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	5919.532,-2125.694
_XMS_NAKs	18	TGT_RADIUS	1852.000
_XMS_TOUTs	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	234938,5928.378,-2122.534,10,1.6,16,-14.9	MHEAD_RNG_PITCHd_Wd	229.9,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.5,1.027752	XPDR_PINGS	115
SM_CCo	19939,0.00,0.000,0,0,1282,442.52	_24V_AH	23.5,19.236
SM_GC	0.92,11.73,0.00,0.00,0.044,0.000,0.000,591,2230,1282,-10.84,-0.14,442.52	_10V_AH	10.6,12.892
IRIDIUM_FIX	5907.03,-2121.38,110797,232347	DATA_FILE_SIZE	161009,2861
TT8_MAMPS	0.02301	CAP_FILE_SIZE	220042,0
HUMID	1571	CFSIZE	260165632,250871808
INTERNAL_PRESSURE	8.37923	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	18.30	GPS	170408,052407,5929.715,-2127.032,73,1.1,78,-15.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	191	123.24	SBE_CT	1975	24	1114.36
Roll_motor	123	148	428.49	SBE_O2	2137	19	954.26
VBD_pump_during_apogee	531	1397	17439.20	WL_BB2F	1866	105	4605.44
VBD_pump_during_surface	0	0	0.00	Optode	1206	33	935.40
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	60	103	145.84	nil	0	0	0.00
Iridium_during_connect	69	160	260.54	nil	0	0	0.00
Iridium_during_xfer	433	223	2274.30
Transponder_ping	28	420	283.76
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.98
TT8	4272	19	896.76
LPSleep	10063	2	233.61
TT8_Active	678	19	142.44
TT8_Sampling	4711	39	1987.59
TT8_CF8	967	45	469.91
TT8_Kalman	0	0	0.00
Analog_circuits	2778	12	353.36
GPS_charging	0	0	0.00
Compass	4697	8	398.39
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	107	0.00	0.00	-76.35	0.000	2	0.000	0.000	588	2232	3623
110	-1.29	-194.7	3.3	-6.1	14	135	12.50	2.78	-5.57	0.000	4	0.192	0.118	2671	826	3879
204	-1.29	-194.7	18.9	-12.5	30	211	0.00	2.70	0.00	0.000	6	0.000	0.094	2671	2241	3880
347	-1.29	-194.7	28.3	-6.6	55	353	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2241	3881
489	-1.29	-194.7	39.6	-7.4	80	495	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2241	3880
631	-1.29	-194.7	50.5	-9.5	105	636	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2241	3880
772	-1.29	-194.7	65.1	-10.4	130	778	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2242	3880
913	-1.29	-194.7	84.5	-13.7	155	919	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2241	3880
1056	-1.29	-194.7	99.2	-7.5	180	1061	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2242	3880
1197	-1.29	-194.7	112.7	-11.2	205	1204	0.00	2.78	0.00	0.000	4	0.000	0.110	2671	818	3880
1221	-1.29	-194.7	115.2	-10.5	209	1227	0.00	2.75	0.00	0.000	6	0.000	0.097	2671	2254	3880
1365	-1.29	-194.7	128.4	-9.6	234	1371	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2254	3880
1507	-1.29	-194.7	141.7	-9.3	259	1513	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2254	3880
1648	-1.29	-194.7	155.0	-9.4	284	1654	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2254	3880
1991	-1.29	-194.7	185.9	-9.1	345	1997	0.00	2.83	0.00	0.000	4	0.000	0.114	2671	820	3880
2071	-1.29	-194.7	193.1	-9.2	359	2077	0.00	2.78	0.00	0.000	6	0.000	0.101	2670	2261	3880
2414	-1.29	-194.7	222.6	-8.3	420	2420	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2261	3880
2758	-1.29	-194.7	252.9	-9.3	481	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2261	3880
3100	-1.29	-194.7	283.9	-9.1	542	3107	0.00	2.85	0.00	0.000	4	0.000	0.117	2671	824	3880
3130	-1.29	-194.7	286.7	-9.6	547	3137	0.00	2.78	0.00	0.000	6	0.000	0.104	2671	2260	3880
3474	-1.29	-194.7	318.4	-9.6	608	3479	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2261	3880
3817	-1.29	-194.7	350.4	-9.1	669	3823	0.00	2.85	0.00	0.000	4	0.000	0.120	2671	826	3880
3846	-1.29	-194.7	353.3	-10.1	674	3852	0.00	2.78	0.00	0.000	6	0.000	0.105	2671	2259	3880
4189	-1.29	-194.7	385.1	-9.2	735	4194	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2259	3880
4531	-1.29	-194.7	416.1	-8.9	796	4537	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2259	3880
4875	-1.29	-194.7	446.5	-8.5	857	4881	0.00	2.88	0.00	0.000	4	0.000	0.123	2671	823	3880
4904	-1.29	-194.7	449.2	-9.4	862	4910	0.00	2.78	0.00	0.000	6	0.000	0.106	2671	2256	3880
5248	-1.29	-194.7	479.4	-8.8	923	5254	0.00	2.72	0.00	0.000	4	0.000	0.114	2671	3656	3880
5271	-1.29	-194.7	481.5	-8.8	927	5277	0.00	2.65	0.00	0.000	6	0.000	0.096	2671	2256	3880
5616	-1.29	-194.7	512.3	-8.8	988	5622	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2257	3880
5960	-1.29	-194.7	543.3	-9.0	1049	5966	0.00	2.88	0.00	0.000	4	0.000	0.128	2671	821	3880
5989	-1.29	-194.7	546.0	-9.7	1054	5995	0.00	2.80	0.00	0.000	6	0.000	0.108	2671	2260	3880
6333	-1.29	-194.7	577.1	-9.2	1115	6338	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2260	3880
6671	-1.29	-194.7	605.5	-8.1	1170	6672	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2261	3880
6991	-1.29	-194.7	630.3	-7.5	1200	6992	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2261	3880
7310	-1.29	-194.7	656.0	-8.4	1230	7311	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2261	3880
7628	-1.29	-194.7	683.7	-8.9	1260	7630	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2261	3880
7947	-1.29	-194.7	712.0	-8.6	1290	7948	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2261	3880
8265	-1.29	-194.7	738.5	-8.1	1320	8266	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2262	3879
8584	-1.29	-194.7	764.7	-8.2	1350	8589	0.00	2.92	0.00	0.000	4	0.000	0.132	2671	824	3879
8612	-1.29	-194.7	767.2	-8.6	1352	8616	0.00	2.80	0.00	0.000	6	0.000	0.114	2671	2251	3879
8938	-1.29	-194.7	793.7	-8.5	1382	8943	0.00	2.83	0.00	0.000	4	0.000	0.130	2671	3653	3879
8977	-1.29	-194.7	797.4	-9.2	1385	8982	0.00	2.70	0.00	0.000	6	0.000	0.105	2671	2253	3879
9303	-1.29	-194.7	824.9	-8.1	1415	9304	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2254	3878
9621	-1.29	-194.7	849.5	-7.7	1445	9626	0.00	2.95	0.00	0.000	4	0.000	0.138	2671	817	3878
9655	-1.29	-194.7	852.3	-8.5	1447	9661	0.00	2.85	0.00	0.000	6	0.000	0.117	2671	2260	3879
9983	-1.29	-194.7	878.5	-8.4	1478	9988	0.00	2.83	0.00	0.000	4	0.000	0.134	2671	3651	3878
10012	-1.29	-194.7	881.2	-8.8	1480	10016	0.00	2.70	0.00	0.000	6	0.000	0.107	2671	2255	3878
10337	-1.29	-194.7	907.5	-8.1	1510	10341	0.00	2.95	0.00	0.000	4	0.000	0.141	2671	823	3877
10369	-1.29	-194.7	910.4	-9.7	1512	10375	0.00	2.85	0.00	0.000	6	0.000	0.117	2671	2262	3877
10695	-1.29	-194.7	936.9	-8.3	1543	10697	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2262	3877
10808	end dive: HALF_MISSION_TIME_EXCEEDED
state	10808	begin apogee
10814	-0.35	0.0	946.4	8.1	1554	10982	1.02	0.00	163.25	1.397	6	0.100	0.000	2881	2330	3085
10983	end apogee: CONTROL_FINISHED_OK
state	10983	begin climb
10985	1.29	194.7	952.2	0.0	1571	11158	1.62	3.03	161.65	1.358	4	0.061	0.133	3239	3738	2290
11175	1.17	194.7	938.3	12.7	1590	11181	0.12	2.85	0.00	0.000	6	0.117	0.111	3218	2323	2290
11500	1.11	194.7	899.2	12.4	1620	11505	0.00	2.92	0.00	0.000	4	0.000	0.129	3219	3741	2288
11521	1.03	194.7	896.4	12.6	1621	11528	0.12	2.78	0.00	0.000	6	0.104	0.112	3190	2338	2288
11845	1.03	194.7	861.4	10.5	1652	11847	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2339	2288
12164	1.03	194.7	829.2	10.1	1682	12165	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2339	2288
12484	1.05	208.9	797.4	9.5	1712	12503	0.00	0.00	13.12	1.238	6	0.000	0.000	3190	2339	2233
12822	1.05	208.9	762.4	10.9	1744	12824	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2339	2232
13140	1.05	208.9	727.6	10.5	1774	13141	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2339	2231
13460	1.05	213.6	696.0	9.8	1804	13468	0.00	0.00	5.38	0.962	6	0.000	0.000	3190	2339	2214
13788	1.05	213.6	661.7	10.4	1835	13793	0.00	2.83	0.00	0.000	4	0.000	0.121	3190	3739	2213
13804	1.05	213.6	659.7	11.0	1836	13809	0.00	2.72	0.00	0.000	6	0.000	0.100	3190	2337	2213
14129	1.05	213.6	625.4	10.4	1866	14130	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2337	2214
14451	1.05	213.6	591.7	10.4	1903	14456	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2338	2213
14793	1.06	217.0	556.9	9.9	1964	14805	0.00	2.83	4.70	0.838	4	0.000	0.116	3190	3740	2200
14817	1.06	217.0	554.3	11.1	1968	14823	0.00	2.67	0.00	0.000	6	0.000	0.094	3190	2344	2200
15161	1.06	217.0	518.1	10.1	2029	15166	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2344	2200
15503	1.06	217.0	480.5	10.9	2090	15508	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2345	2200
15845	1.06	217.0	443.0	10.5	2151	15851	0.00	2.80	0.00	0.000	4	0.000	0.117	3190	920	2200
15864	1.06	217.0	441.1	11.0	2154	15870	0.00	2.75	0.00	0.000	6	0.000	0.100	3190	2352	2200
16207	1.06	217.0	405.4	10.6	2215	16212	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2352	2200
16549	1.07	226.0	369.6	9.7	2276	16561	0.00	0.00	9.45	0.959	6	0.000	0.000	3190	2352	2162
16898	1.09	239.7	333.0	9.5	2338	16915	0.00	0.00	12.68	0.948	6	0.000	0.000	3190	2352	2106
17253	1.09	246.9	295.5	9.8	2401	17265	0.00	0.00	7.32	0.865	6	0.000	0.000	3190	2352	2078
17602	1.09	246.9	258.7	11.8	2463	17608	0.00	2.83	0.00	0.000	4	0.000	0.111	3190	915	2077
17626	1.09	246.9	256.2	11.7	2467	17632	0.00	2.75	0.00	0.000	6	0.000	0.096	3190	2351	2077
17969	1.09	246.9	218.6	10.8	2528	17974	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2351	2077
18312	1.09	246.9	180.5	11.1	2589	18317	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2351	2077
18655	1.09	246.9	144.0	10.7	2650	18661	0.00	2.72	0.00	0.000	4	0.000	0.110	3190	3742	2077
18685	1.09	246.9	140.7	10.4	2655	18691	0.00	2.65	0.00	0.000	6	0.000	0.091	3190	2344	2077
18828	1.09	246.9	125.4	11.2	2680	18835	0.00	2.72	0.00	0.000	4	0.000	0.110	3190	3740	2077
18858	1.09	246.9	121.6	12.0	2685	18864	0.00	2.65	0.00	0.000	6	0.000	0.091	3190	2342	2077
19002	1.09	246.9	104.9	10.1	2710	19007	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2342	2078
19143	1.09	246.9	88.4	11.3	2735	19149	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2343	2077
19285	1.09	246.9	72.2	11.3	2760	19292	0.00	2.72	0.00	0.000	4	0.000	0.109	3190	3740	2078
19304	1.09	246.9	69.8	12.5	2763	19310	0.00	2.62	0.00	0.000	6	0.000	0.090	3190	2352	2078
19446	1.09	246.9	50.7	11.9	2788	19452	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2353	2077
19589	1.33	438.8	40.3	3.3	2813	19749	0.22	0.00	153.48	0.775	6	0.055	0.000	3251	2352	1294
19845	end climb: SURFACE_DEPTH_REACHED
state	19845	begin surface coast
19858	end surface coast: CONTROL_FINISHED_OK
state	19858	begin surface