Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 191 * 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 340 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 191 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 14 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 -16683.816 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 100 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 0 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 -16683.816

CAPUPLOAD 0 HEADING 340 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 31 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 14 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 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 191 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 103301,6108.574,-2621.329,37,0.9,42,-18.4 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6118.779,-2623.123

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 104503,6108.631,-2621.350,14,1.5,14,-18.4 MHEAD_RNG_PITCHd_Wd 358.4,20000,-21.7,-10.000

SPEED_LIMITS 0.173,0.215 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.026220 XPDR_PINGS 976

SM_CCo 17827,26.12,0.951,0,0,2255,200.16 _24V_AH 19.4,64.228

SM_GC 0.87,0.00,0.00,26.12,0.000,0.000,0.951,1433,2282,2255,-6.84,-0.51,200.16 _10V_AH 9.8,46.978

IRIDIUM_FIX 6046.07,-2619.94,090897,101059 DATA_FILE_SIZE 132805,1807

TT8_MAMPS 0.026845 CAP_FILE_SIZE 176231,0

HUMID 1775 CFSIZE 260165632,238137344

INTERNAL_PRESSURE 8.96564 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,0

TCM_TEMP 16.40 GPS 150508,154408,6110.582,-2622.884,33,1.1,33,-18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 254 116.34 SBE_CT 1276 24 594.45

Roll_motor 167 122 399.08 SBE_O2 1313 19 484.25

VBD_pump_during_apogee 293 1632 9289.49 Optode 681 33 436.59

VBD_pump_during_surface 26 951 482.03 WL_BB2F 1608 105 3277.48

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 53 103 107.35 nil 0 0 0.00

Iridium_during_connect 63 160 196.09 nil 0 0 0.00

Iridium_during_xfer 399 223 1729.65

Transponder_ping 244 420 1988.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.79

TT8 2935 19 569.61

LPSleep 10890 2 233.73

TT8_Active 505 19 98.05

TT8_Sampling 3369 39 1314.21

TT8_CF8 861 45 386.46

TT8_Kalman 0 0 0.00

Analog_circuits 1987 12 233.70

GPS_charging 0 0 0.00

Compass 3364 8 263.74

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 25 begin dive

28 -1.03 -97.3 0.0 0.0 0 96 0.00 0.00 -66.35 0.000 2 0.000 0.000 1432 2283 3456

99 -1.03 -97.3 3.1 -4.4 12 118 11.68 2.88 -0.32 0.000 4 0.255 0.051 2686 3716 3468

258 -0.98 -97.3 26.7 -13.7 39 265 0.12 2.78 0.00 0.000 6 0.160 0.034 2701 2302 3468

400 -0.98 -97.3 45.0 -12.4 64 407 0.00 2.83 0.00 0.000 4 0.000 0.050 2700 886 3469

600 -0.98 -97.3 70.8 -12.2 99 606 0.00 2.75 0.00 0.000 6 0.000 0.028 2701 2316 3469

943 -0.98 -97.3 110.6 -11.6 160 950 0.00 2.88 0.00 0.000 4 0.000 0.048 2701 883 3470

1203 -0.98 -97.3 143.6 -12.7 206 1209 0.00 2.67 0.00 0.000 6 0.000 0.029 2701 2275 3470

1547 -0.98 -97.3 184.6 -11.7 267 1553 0.00 2.78 0.00 0.000 4 0.000 0.048 2701 892 3470

1750 -0.98 -97.3 209.7 -12.2 303 1756 0.00 2.62 0.00 0.000 6 0.000 0.031 2701 2256 3470

2093 -0.98 -97.3 251.2 -13.1 364 2099 0.00 2.75 0.00 0.000 4 0.000 0.048 2701 886 3470

2240 -0.98 -97.3 271.5 -13.6 390 2246 0.00 2.60 0.00 0.000 6 0.000 0.030 2701 2239 3470

2583 -0.98 -97.3 316.3 -13.4 451 2589 0.00 2.72 0.00 0.000 4 0.000 0.048 2701 884 3470

2685 -0.98 -97.3 329.9 -13.5 469 2691 0.00 2.60 0.00 0.000 6 0.000 0.030 2701 2238 3470

3024 -0.98 -97.3 369.6 -11.0 515 3029 0.00 2.70 0.00 0.000 4 0.000 0.048 2700 887 3470

3124 -0.98 -97.3 382.1 -12.9 523 3131 0.00 2.58 0.00 0.000 6 0.000 0.030 2701 2225 3470

3451 -0.98 -97.3 419.1 -11.4 554 3455 0.00 2.67 0.00 0.000 4 0.000 0.048 2701 892 3470

3579 -0.98 -97.3 434.7 -11.8 565 3584 0.00 2.55 0.00 0.000 6 0.000 0.031 2701 2214 3470

3907 -0.98 -97.3 470.7 -11.2 595 3912 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2215 3470

4232 -0.98 -97.3 506.1 -10.3 626 4236 0.00 2.67 0.00 0.000 4 0.000 0.049 2701 885 3470

4293 -0.98 -97.3 513.0 -11.6 631 4298 0.00 2.55 0.00 0.000 6 0.000 0.030 2701 2210 3470

4619 -0.98 -97.3 549.3 -11.2 661 4620 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2212 3470

4937 -0.98 -97.3 587.1 -11.9 691 4938 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2212 3470

5259 -0.98 -97.3 626.1 -12.0 712 5263 0.00 2.70 0.00 0.000 4 0.000 0.053 2701 886 3470

5353 -0.98 -97.3 638.1 -12.8 716 5357 0.00 2.55 0.00 0.000 6 0.000 0.032 2701 2195 3470

5669 -0.98 -97.3 676.8 -11.9 731 5673 0.00 2.70 0.00 0.000 4 0.000 0.058 2701 885 3469

5843 -0.98 -97.3 697.4 -11.1 739 5848 0.00 2.53 0.00 0.000 6 0.000 0.038 2701 2161 3469

6170 -0.98 -97.3 730.8 -10.4 755 6175 0.00 3.25 0.00 0.000 4 0.000 0.071 2701 3700 3468

6232 -0.98 -97.3 737.0 -9.9 758 6237 0.00 3.12 0.00 0.000 6 0.000 0.054 2701 2188 3469

6558 -0.98 -97.3 768.2 -9.4 774 6563 0.00 2.85 0.00 0.000 4 0.000 0.090 2701 892 3469

6652 -0.98 -97.3 777.9 -10.3 778 6656 0.00 2.70 0.00 0.000 6 0.000 0.061 2701 2176 3468

6974 -0.98 -97.3 807.8 -9.4 794 6975 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2176 3468

7284 -0.98 -97.3 836.6 -9.4 809 7285 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2176 3468

7592 -0.98 -97.3 866.6 -9.8 824 7593 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2176 3468

7901 -0.98 -97.3 897.5 -10.2 839 7907 0.00 3.67 0.00 0.000 4 0.000 0.123 2701 3698 3467

7974 -0.98 -97.3 905.1 -10.4 842 7978 0.00 3.03 0.00 0.000 6 0.000 0.041 2701 2186 3467

8289 -0.98 -97.3 935.4 -9.5 857 8294 0.00 2.65 0.00 0.000 4 0.000 0.060 2701 888 3467

8469 -0.98 -97.3 953.8 -10.1 865 8474 0.00 2.50 0.00 0.000 6 0.000 0.033 2701 2171 3467

8790 -0.98 -97.3 985.1 -9.8 881 8791 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2172 3467

8849 end dive: TARGET_DEPTH_EXCEEDED

state 8850 begin apogee

8856 -0.21 0.0 991.0 9.6 884 8963 1.12 0.00 103.43 1.632 6 0.149 0.000 2869 2746 3071

8963 end apogee: CONTROL_FINISHED_OK

state 8963 begin climb

8966 1.03 97.3 993.0 0.0 889 9078 1.55 0.00 107.90 1.601 6 0.080 0.000 3136 2745 2674

9382 0.90 97.3 941.2 14.1 910 9386 0.00 2.38 0.00 0.000 4 0.000 0.055 3136 3891 2672

9392 0.77 97.3 939.4 14.7 910 9399 0.30 2.30 0.00 0.000 6 0.130 0.034 3093 2744 2672

9708 0.77 97.3 901.1 11.7 926 9712 0.00 2.38 0.00 0.000 4 0.000 0.053 3093 3894 2672

9763 0.72 97.3 894.2 12.2 928 9770 0.00 2.28 0.00 0.000 6 0.000 0.034 3093 2752 2672

10078 0.72 97.3 860.2 10.3 944 10082 0.00 2.35 0.00 0.000 4 0.000 0.052 3093 3901 2671

10150 0.67 97.3 852.2 11.4 947 10155 0.17 2.25 0.00 0.000 6 0.133 0.035 3068 2750 2671

10471 0.69 112.5 822.8 9.0 963 10493 0.00 2.38 16.27 1.382 4 0.000 0.058 3068 3902 2612

10517 0.70 127.2 818.4 9.0 965 10538 0.00 2.25 16.58 1.421 6 0.000 0.034 3068 2761 2552

10847 0.70 127.2 785.5 10.3 981 10851 0.00 2.33 0.00 0.000 4 0.000 0.053 3068 3891 2551

10867 0.70 127.2 783.1 10.5 982 10872 0.00 2.22 0.00 0.000 6 0.000 0.034 3068 2775 2551

11195 0.70 127.2 749.5 10.1 998 11196 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2774 2551

11504 0.71 131.3 719.7 9.7 1013 11515 0.00 2.30 5.80 1.055 4 0.000 0.058 3069 3902 2535

11548 0.72 136.4 715.3 9.7 1015 11559 0.00 2.20 6.68 1.129 6 0.000 0.034 3068 2774 2515

11869 0.78 156.7 686.9 8.6 1030 11899 0.12 2.38 21.95 1.374 4 0.068 0.051 3091 3891 2432

11911 0.78 156.7 682.5 10.7 1032 11915 0.00 2.20 0.00 0.000 6 0.000 0.033 3091 2780 2431

12237 0.78 156.7 644.3 11.8 1048 12241 0.00 2.28 0.00 0.000 4 0.000 0.051 3091 3894 2430

12286 0.78 156.7 638.1 12.5 1050 12290 0.00 2.22 0.00 0.000 6 0.000 0.036 3091 2778 2430

12607 0.78 156.7 600.4 11.2 1066 12611 0.00 2.28 0.00 0.000 4 0.000 0.051 3091 3899 2430

12657 0.78 156.7 594.6 11.1 1070 12661 0.00 2.15 0.00 0.000 6 0.000 0.032 3091 2791 2430

12981 0.78 156.7 557.4 11.5 1100 12985 0.00 2.25 0.00 0.000 4 0.000 0.051 3091 3902 2430

13043 0.78 156.7 549.6 12.8 1105 13046 0.00 2.10 0.00 0.000 6 0.000 0.032 3091 2816 2430

13367 0.78 156.7 510.5 12.3 1135 13371 0.00 2.17 0.00 0.000 4 0.000 0.051 3091 3897 2430

13412 0.78 156.7 504.9 12.1 1139 13415 0.00 2.05 0.00 0.000 6 0.000 0.031 3091 2831 2430

13743 0.78 156.7 465.7 11.9 1170 13747 0.00 2.15 0.00 0.000 4 0.000 0.051 3092 3896 2430

13765 0.78 156.7 462.6 12.5 1172 13769 0.00 2.05 0.00 0.000 6 0.000 0.036 3091 2834 2430

14099 0.78 156.7 422.8 11.7 1203 14103 0.00 2.15 0.00 0.000 4 0.000 0.058 3091 3895 2430

14122 0.78 156.7 419.7 11.8 1205 14126 0.00 2.00 0.00 0.000 6 0.000 0.031 3091 2848 2430

14453 0.78 156.7 381.7 11.0 1236 14456 0.00 2.12 0.00 0.000 4 0.000 0.050 3091 3901 2430

14480 0.78 156.7 378.2 11.4 1238 14487 0.00 2.03 0.00 0.000 6 0.000 0.031 3091 2859 2431

14808 0.78 156.7 339.9 11.6 1276 14814 0.00 2.10 0.00 0.000 4 0.000 0.049 3091 3902 2431

14849 0.78 156.7 334.7 12.8 1283 14855 0.00 2.00 0.00 0.000 6 0.000 0.030 3091 2856 2431

15193 0.78 156.7 292.8 12.4 1344 15199 0.00 2.10 0.00 0.000 4 0.000 0.050 3091 3899 2431

15205 0.78 156.7 291.0 12.7 1346 15212 0.00 2.00 0.00 0.000 6 0.000 0.030 3091 2868 2431

15550 0.78 156.7 249.5 12.6 1407 15556 0.00 2.08 0.00 0.000 4 0.000 0.049 3091 3899 2431

15563 0.78 156.7 247.9 11.9 1409 15569 0.00 1.98 0.00 0.000 6 0.000 0.030 3091 2865 2431

15906 0.78 156.7 209.1 11.5 1470 15912 0.00 2.08 0.00 0.000 4 0.000 0.049 3091 3896 2431

15918 0.78 156.7 207.7 11.2 1472 15924 0.00 1.98 0.00 0.000 6 0.000 0.031 3091 2876 2431

16262 0.78 156.7 169.1 11.7 1533 16267 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2868 2432

16605 0.78 156.7 128.6 11.5 1594 16611 0.00 2.05 0.00 0.000 4 0.000 0.049 3091 3902 2432

16681 0.78 156.7 119.8 10.8 1607 16687 0.00 1.92 0.00 0.000 6 0.000 0.031 3091 2894 2432

17024 0.80 170.7 84.1 9.0 1668 17042 0.00 0.00 14.77 0.929 6 0.000 0.000 3091 2888 2375

17380 0.80 170.7 46.7 10.4 1731 17386 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2887 2374

17521 0.80 170.7 31.6 10.7 1756 17527 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2887 2374

17663 0.80 170.7 15.9 11.4 1781 17669 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2887 2374

17790 end climb: SURFACE_DEPTH_REACHED

state 17791 begin surface coast

17809 end surface coast: CONTROL_FINISHED_OK

state 17809 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	340	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	191	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	14	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	-16683.816	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	100	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	0	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	103301,6108.574,-2621.329,37,0.9,42,-18.4	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6118.779,-2623.123
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	104503,6108.631,-2621.350,14,1.5,14,-18.4	MHEAD_RNG_PITCHd_Wd	358.4,20000,-21.7,-10.000
SPEED_LIMITS	0.173,0.215	D_GRID	990

FINISH	0.2,1.026220	XPDR_PINGS	976
SM_CCo	17827,26.12,0.951,0,0,2255,200.16	_24V_AH	19.4,64.228
SM_GC	0.87,0.00,0.00,26.12,0.000,0.000,0.951,1433,2282,2255,-6.84,-0.51,200.16	_10V_AH	9.8,46.978
IRIDIUM_FIX	6046.07,-2619.94,090897,101059	DATA_FILE_SIZE	132805,1807
TT8_MAMPS	0.026845	CAP_FILE_SIZE	176231,0
HUMID	1775	CFSIZE	260165632,238137344
INTERNAL_PRESSURE	8.96564	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
TCM_TEMP	16.40	GPS	150508,154408,6110.582,-2622.884,33,1.1,33,-18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	254	116.34	SBE_CT	1276	24	594.45
Roll_motor	167	122	399.08	SBE_O2	1313	19	484.25
VBD_pump_during_apogee	293	1632	9289.49	Optode	681	33	436.59
VBD_pump_during_surface	26	951	482.03	WL_BB2F	1608	105	3277.48
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	53	103	107.35	nil	0	0	0.00
Iridium_during_connect	63	160	196.09	nil	0	0	0.00
Iridium_during_xfer	399	223	1729.65
Transponder_ping	244	420	1988.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.79
TT8	2935	19	569.61
LPSleep	10890	2	233.73
TT8_Active	505	19	98.05
TT8_Sampling	3369	39	1314.21
TT8_CF8	861	45	386.46
TT8_Kalman	0	0	0.00
Analog_circuits	1987	12	233.70
GPS_charging	0	0	0.00
Compass	3364	8	263.74
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	25	begin dive
28	-1.03	-97.3	0.0	0.0	0	96	0.00	0.00	-66.35	0.000	2	0.000	0.000	1432	2283	3456
99	-1.03	-97.3	3.1	-4.4	12	118	11.68	2.88	-0.32	0.000	4	0.255	0.051	2686	3716	3468
258	-0.98	-97.3	26.7	-13.7	39	265	0.12	2.78	0.00	0.000	6	0.160	0.034	2701	2302	3468
400	-0.98	-97.3	45.0	-12.4	64	407	0.00	2.83	0.00	0.000	4	0.000	0.050	2700	886	3469
600	-0.98	-97.3	70.8	-12.2	99	606	0.00	2.75	0.00	0.000	6	0.000	0.028	2701	2316	3469
943	-0.98	-97.3	110.6	-11.6	160	950	0.00	2.88	0.00	0.000	4	0.000	0.048	2701	883	3470
1203	-0.98	-97.3	143.6	-12.7	206	1209	0.00	2.67	0.00	0.000	6	0.000	0.029	2701	2275	3470
1547	-0.98	-97.3	184.6	-11.7	267	1553	0.00	2.78	0.00	0.000	4	0.000	0.048	2701	892	3470
1750	-0.98	-97.3	209.7	-12.2	303	1756	0.00	2.62	0.00	0.000	6	0.000	0.031	2701	2256	3470
2093	-0.98	-97.3	251.2	-13.1	364	2099	0.00	2.75	0.00	0.000	4	0.000	0.048	2701	886	3470
2240	-0.98	-97.3	271.5	-13.6	390	2246	0.00	2.60	0.00	0.000	6	0.000	0.030	2701	2239	3470
2583	-0.98	-97.3	316.3	-13.4	451	2589	0.00	2.72	0.00	0.000	4	0.000	0.048	2701	884	3470
2685	-0.98	-97.3	329.9	-13.5	469	2691	0.00	2.60	0.00	0.000	6	0.000	0.030	2701	2238	3470
3024	-0.98	-97.3	369.6	-11.0	515	3029	0.00	2.70	0.00	0.000	4	0.000	0.048	2700	887	3470
3124	-0.98	-97.3	382.1	-12.9	523	3131	0.00	2.58	0.00	0.000	6	0.000	0.030	2701	2225	3470
3451	-0.98	-97.3	419.1	-11.4	554	3455	0.00	2.67	0.00	0.000	4	0.000	0.048	2701	892	3470
3579	-0.98	-97.3	434.7	-11.8	565	3584	0.00	2.55	0.00	0.000	6	0.000	0.031	2701	2214	3470
3907	-0.98	-97.3	470.7	-11.2	595	3912	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2215	3470
4232	-0.98	-97.3	506.1	-10.3	626	4236	0.00	2.67	0.00	0.000	4	0.000	0.049	2701	885	3470
4293	-0.98	-97.3	513.0	-11.6	631	4298	0.00	2.55	0.00	0.000	6	0.000	0.030	2701	2210	3470
4619	-0.98	-97.3	549.3	-11.2	661	4620	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2212	3470
4937	-0.98	-97.3	587.1	-11.9	691	4938	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2212	3470
5259	-0.98	-97.3	626.1	-12.0	712	5263	0.00	2.70	0.00	0.000	4	0.000	0.053	2701	886	3470
5353	-0.98	-97.3	638.1	-12.8	716	5357	0.00	2.55	0.00	0.000	6	0.000	0.032	2701	2195	3470
5669	-0.98	-97.3	676.8	-11.9	731	5673	0.00	2.70	0.00	0.000	4	0.000	0.058	2701	885	3469
5843	-0.98	-97.3	697.4	-11.1	739	5848	0.00	2.53	0.00	0.000	6	0.000	0.038	2701	2161	3469
6170	-0.98	-97.3	730.8	-10.4	755	6175	0.00	3.25	0.00	0.000	4	0.000	0.071	2701	3700	3468
6232	-0.98	-97.3	737.0	-9.9	758	6237	0.00	3.12	0.00	0.000	6	0.000	0.054	2701	2188	3469
6558	-0.98	-97.3	768.2	-9.4	774	6563	0.00	2.85	0.00	0.000	4	0.000	0.090	2701	892	3469
6652	-0.98	-97.3	777.9	-10.3	778	6656	0.00	2.70	0.00	0.000	6	0.000	0.061	2701	2176	3468
6974	-0.98	-97.3	807.8	-9.4	794	6975	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2176	3468
7284	-0.98	-97.3	836.6	-9.4	809	7285	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2176	3468
7592	-0.98	-97.3	866.6	-9.8	824	7593	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2176	3468
7901	-0.98	-97.3	897.5	-10.2	839	7907	0.00	3.67	0.00	0.000	4	0.000	0.123	2701	3698	3467
7974	-0.98	-97.3	905.1	-10.4	842	7978	0.00	3.03	0.00	0.000	6	0.000	0.041	2701	2186	3467
8289	-0.98	-97.3	935.4	-9.5	857	8294	0.00	2.65	0.00	0.000	4	0.000	0.060	2701	888	3467
8469	-0.98	-97.3	953.8	-10.1	865	8474	0.00	2.50	0.00	0.000	6	0.000	0.033	2701	2171	3467
8790	-0.98	-97.3	985.1	-9.8	881	8791	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2172	3467
8849	end dive: TARGET_DEPTH_EXCEEDED
state	8850	begin apogee
8856	-0.21	0.0	991.0	9.6	884	8963	1.12	0.00	103.43	1.632	6	0.149	0.000	2869	2746	3071
8963	end apogee: CONTROL_FINISHED_OK
state	8963	begin climb
8966	1.03	97.3	993.0	0.0	889	9078	1.55	0.00	107.90	1.601	6	0.080	0.000	3136	2745	2674
9382	0.90	97.3	941.2	14.1	910	9386	0.00	2.38	0.00	0.000	4	0.000	0.055	3136	3891	2672
9392	0.77	97.3	939.4	14.7	910	9399	0.30	2.30	0.00	0.000	6	0.130	0.034	3093	2744	2672
9708	0.77	97.3	901.1	11.7	926	9712	0.00	2.38	0.00	0.000	4	0.000	0.053	3093	3894	2672
9763	0.72	97.3	894.2	12.2	928	9770	0.00	2.28	0.00	0.000	6	0.000	0.034	3093	2752	2672
10078	0.72	97.3	860.2	10.3	944	10082	0.00	2.35	0.00	0.000	4	0.000	0.052	3093	3901	2671
10150	0.67	97.3	852.2	11.4	947	10155	0.17	2.25	0.00	0.000	6	0.133	0.035	3068	2750	2671
10471	0.69	112.5	822.8	9.0	963	10493	0.00	2.38	16.27	1.382	4	0.000	0.058	3068	3902	2612
10517	0.70	127.2	818.4	9.0	965	10538	0.00	2.25	16.58	1.421	6	0.000	0.034	3068	2761	2552
10847	0.70	127.2	785.5	10.3	981	10851	0.00	2.33	0.00	0.000	4	0.000	0.053	3068	3891	2551
10867	0.70	127.2	783.1	10.5	982	10872	0.00	2.22	0.00	0.000	6	0.000	0.034	3068	2775	2551
11195	0.70	127.2	749.5	10.1	998	11196	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2774	2551
11504	0.71	131.3	719.7	9.7	1013	11515	0.00	2.30	5.80	1.055	4	0.000	0.058	3069	3902	2535
11548	0.72	136.4	715.3	9.7	1015	11559	0.00	2.20	6.68	1.129	6	0.000	0.034	3068	2774	2515
11869	0.78	156.7	686.9	8.6	1030	11899	0.12	2.38	21.95	1.374	4	0.068	0.051	3091	3891	2432
11911	0.78	156.7	682.5	10.7	1032	11915	0.00	2.20	0.00	0.000	6	0.000	0.033	3091	2780	2431
12237	0.78	156.7	644.3	11.8	1048	12241	0.00	2.28	0.00	0.000	4	0.000	0.051	3091	3894	2430
12286	0.78	156.7	638.1	12.5	1050	12290	0.00	2.22	0.00	0.000	6	0.000	0.036	3091	2778	2430
12607	0.78	156.7	600.4	11.2	1066	12611	0.00	2.28	0.00	0.000	4	0.000	0.051	3091	3899	2430
12657	0.78	156.7	594.6	11.1	1070	12661	0.00	2.15	0.00	0.000	6	0.000	0.032	3091	2791	2430
12981	0.78	156.7	557.4	11.5	1100	12985	0.00	2.25	0.00	0.000	4	0.000	0.051	3091	3902	2430
13043	0.78	156.7	549.6	12.8	1105	13046	0.00	2.10	0.00	0.000	6	0.000	0.032	3091	2816	2430
13367	0.78	156.7	510.5	12.3	1135	13371	0.00	2.17	0.00	0.000	4	0.000	0.051	3091	3897	2430
13412	0.78	156.7	504.9	12.1	1139	13415	0.00	2.05	0.00	0.000	6	0.000	0.031	3091	2831	2430
13743	0.78	156.7	465.7	11.9	1170	13747	0.00	2.15	0.00	0.000	4	0.000	0.051	3092	3896	2430
13765	0.78	156.7	462.6	12.5	1172	13769	0.00	2.05	0.00	0.000	6	0.000	0.036	3091	2834	2430
14099	0.78	156.7	422.8	11.7	1203	14103	0.00	2.15	0.00	0.000	4	0.000	0.058	3091	3895	2430
14122	0.78	156.7	419.7	11.8	1205	14126	0.00	2.00	0.00	0.000	6	0.000	0.031	3091	2848	2430
14453	0.78	156.7	381.7	11.0	1236	14456	0.00	2.12	0.00	0.000	4	0.000	0.050	3091	3901	2430
14480	0.78	156.7	378.2	11.4	1238	14487	0.00	2.03	0.00	0.000	6	0.000	0.031	3091	2859	2431
14808	0.78	156.7	339.9	11.6	1276	14814	0.00	2.10	0.00	0.000	4	0.000	0.049	3091	3902	2431
14849	0.78	156.7	334.7	12.8	1283	14855	0.00	2.00	0.00	0.000	6	0.000	0.030	3091	2856	2431
15193	0.78	156.7	292.8	12.4	1344	15199	0.00	2.10	0.00	0.000	4	0.000	0.050	3091	3899	2431
15205	0.78	156.7	291.0	12.7	1346	15212	0.00	2.00	0.00	0.000	6	0.000	0.030	3091	2868	2431
15550	0.78	156.7	249.5	12.6	1407	15556	0.00	2.08	0.00	0.000	4	0.000	0.049	3091	3899	2431
15563	0.78	156.7	247.9	11.9	1409	15569	0.00	1.98	0.00	0.000	6	0.000	0.030	3091	2865	2431
15906	0.78	156.7	209.1	11.5	1470	15912	0.00	2.08	0.00	0.000	4	0.000	0.049	3091	3896	2431
15918	0.78	156.7	207.7	11.2	1472	15924	0.00	1.98	0.00	0.000	6	0.000	0.031	3091	2876	2431
16262	0.78	156.7	169.1	11.7	1533	16267	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2868	2432
16605	0.78	156.7	128.6	11.5	1594	16611	0.00	2.05	0.00	0.000	4	0.000	0.049	3091	3902	2432
16681	0.78	156.7	119.8	10.8	1607	16687	0.00	1.92	0.00	0.000	6	0.000	0.031	3091	2894	2432
17024	0.80	170.7	84.1	9.0	1668	17042	0.00	0.00	14.77	0.929	6	0.000	0.000	3091	2888	2375
17380	0.80	170.7	46.7	10.4	1731	17386	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2887	2374
17521	0.80	170.7	31.6	10.7	1756	17527	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2887	2374
17663	0.80	170.7	15.9	11.4	1781	17669	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2887	2374
17790	end climb: SURFACE_DEPTH_REACHED
state	17791	begin surface coast
17809	end surface coast: CONTROL_FINISHED_OK
state	17809	begin surface