Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 215 * 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 290 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 215 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 -17076.889 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 -17076.889

CAPUPLOAD 0 HEADING 290 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 30 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 17 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 215 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 191256,6117.171,-2533.041,41,1.4,41,-18.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6120.922,-2538.044

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.01 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 192032,6117.229,-2533.178,10,1.3,15,-18.1 MHEAD_RNG_PITCHd_Wd 308.1,20000,-21.7,-10.000

SPEED_LIMITS 0.173,0.215 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.026240 XPDR_PINGS 1062

SM_CCo 18760,41.42,0.959,0,0,2254,200.16 _24V_AH 19.3,68.640

SM_GC 1.78,0.00,0.00,41.42,0.000,0.000,0.959,1437,2272,2254,-6.82,-0.79,200.16 _10V_AH 9.8,50.832

IRIDIUM_FIX 6050.49,-2529.92,140897,131308 DATA_FILE_SIZE 139161,1920

TT8_MAMPS 0.026078 CAP_FILE_SIZE 180304,0

HUMID 1796 CFSIZE 260165632,235823104

INTERNAL_PRESSURE 8.95588 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.30 GPS 210508,003537,6117.486,-2539.118,39,1.5,44,-18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 250 116.42 SBE_CT 1360 24 630.02

Roll_motor 163 138 435.32 SBE_O2 1400 19 513.70

VBD_pump_during_apogee 278 1619 8697.69 Optode 712 33 453.92

VBD_pump_during_surface 41 958 766.52 WL_BB2F 1704 105 3454.09

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 28 103 56.02 nil 0 0 0.00

Iridium_during_connect 49 160 154.31 nil 0 0 0.00

Iridium_during_xfer 234 223 1008.02

Transponder_ping 265 420 2152.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.14

TT8 3115 19 604.58

LPSleep 11391 2 244.49

TT8_Active 501 19 97.30

TT8_Sampling 3568 39 1391.88

TT8_CF8 665 45 298.86

TT8_Kalman 0 0 0.00

Analog_circuits 2067 12 243.19

GPS_charging 0 0 0.00

Compass 3561 8 279.22

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.03 -97.3 0.0 0.0 0 100 0.00 0.00 -68.00 0.000 6 0.000 0.000 1438 2287 3467

103 -1.03 -97.3 3.4 -6.4 13 121 11.52 2.80 0.00 0.000 4 0.251 0.045 2689 892 3469

145 -0.88 -97.3 12.7 -18.9 20 152 0.22 2.75 0.00 0.000 6 0.152 0.028 2720 2318 3470

290 -0.88 -97.3 27.8 -10.8 45 296 0.00 2.75 0.00 0.000 4 0.000 0.043 2720 3704 3470

549 -0.88 -97.3 56.2 -11.7 91 556 0.00 2.80 0.00 0.000 6 0.000 0.033 2720 2277 3470

892 -0.88 -97.3 91.8 -10.6 152 899 0.00 2.78 0.00 0.000 4 0.000 0.050 2720 889 3470

1151 -0.88 -97.3 121.0 -11.2 198 1158 0.00 2.65 0.00 0.000 6 0.000 0.029 2720 2268 3471

1496 -0.88 -97.3 155.5 -9.6 259 1503 0.00 2.75 0.00 0.000 4 0.000 0.048 2720 892 3471

1610 -0.88 -97.3 167.7 -11.0 279 1616 0.00 2.62 0.00 0.000 6 0.000 0.031 2720 2256 3471

1953 -0.88 -97.3 202.2 -10.2 340 1959 0.00 2.75 0.00 0.000 4 0.000 0.048 2720 885 3471

2078 -0.88 -97.3 215.7 -11.1 362 2084 0.00 2.62 0.00 0.000 6 0.000 0.030 2720 2252 3471

2423 -0.88 -97.3 250.3 -9.8 423 2429 0.00 2.88 0.00 0.000 4 0.000 0.044 2720 3703 3471

2490 -0.88 -97.3 257.3 -10.4 435 2497 0.00 2.85 0.00 0.000 6 0.000 0.033 2720 2242 3471

2834 -0.88 -97.3 291.1 -9.8 496 2840 0.00 2.70 0.00 0.000 4 0.000 0.050 2720 886 3471

2947 -0.88 -97.3 302.8 -10.3 516 2954 0.00 2.60 0.00 0.000 6 0.000 0.029 2720 2247 3471

3291 -0.88 -97.3 335.8 -9.7 577 3296 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2250 3471

3629 -0.88 -97.3 369.5 -10.0 621 3630 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2252 3471

3947 -0.88 -97.3 401.4 -10.1 651 3951 0.00 2.72 0.00 0.000 4 0.000 0.048 2720 890 3471

4071 -0.88 -97.3 414.1 -10.2 661 4077 0.00 2.58 0.00 0.000 6 0.000 0.031 2720 2233 3471

4398 -0.88 -97.3 445.1 -9.3 692 4400 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2234 3471

4714 -0.88 -97.3 475.3 -9.9 722 4715 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2235 3471

5034 -0.92 -97.3 506.9 -9.7 752 5035 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2237 3471

5353 -0.96 -97.3 538.0 -9.9 782 5357 0.00 2.72 0.00 0.000 4 0.000 0.050 2721 885 3471

5493 -1.00 -97.3 552.8 -10.1 794 5497 0.00 2.60 0.00 0.000 6 0.000 0.031 2720 2232 3471

5820 -1.05 -97.3 583.0 -9.3 824 5825 0.15 2.95 0.00 0.000 4 0.072 0.048 2690 3700 3471

5904 -1.05 -97.3 592.4 -11.1 831 5909 0.00 2.90 0.00 0.000 6 0.000 0.037 2690 2231 3471

6222 -1.05 -97.3 627.6 -11.1 849 6226 0.00 2.72 0.00 0.000 4 0.000 0.058 2689 892 3471

6422 -1.05 -97.3 651.4 -11.7 858 6426 0.00 2.62 0.00 0.000 6 0.000 0.034 2690 2237 3470

6750 -1.05 -97.3 685.7 -10.5 874 6751 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2237 3470

7059 -1.05 -97.3 717.3 -10.2 889 7060 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2237 3470

7367 -1.05 -97.3 748.8 -10.3 904 7372 0.00 2.92 0.00 0.000 4 0.000 0.078 2689 894 3470

7474 -1.05 -97.3 760.4 -11.6 909 7479 0.00 2.72 0.00 0.000 6 0.000 0.055 2689 2216 3470

7801 -1.05 -97.3 795.8 -11.1 925 7802 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2216 3470

8110 -1.05 -97.3 830.6 -11.3 940 8111 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2217 3469

8420 -1.05 -97.3 864.3 -10.4 955 8422 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2217 3469

8728 -1.05 -97.3 896.0 -10.2 970 8734 0.00 3.75 0.00 0.000 4 0.000 0.138 2689 3694 3469

8790 -1.05 -97.3 902.8 -11.6 973 8795 0.00 2.97 0.00 0.000 6 0.000 0.051 2689 2240 3469

9116 -1.05 -97.3 935.1 -9.7 989 9121 0.00 2.75 0.00 0.000 4 0.000 0.058 2689 894 3469

9200 -1.05 -97.3 943.8 -10.2 993 9204 0.00 2.62 0.00 0.000 6 0.000 0.033 2689 2239 3469

9526 -1.05 -97.3 975.4 -9.4 1009 9531 0.00 3.00 0.00 0.000 4 0.000 0.057 2689 3700 3468

9598 -1.05 -97.3 982.3 -9.7 1012 9603 0.00 2.90 0.00 0.000 6 0.000 0.043 2690 2260 3468

9684 end dive: TARGET_DEPTH_EXCEEDED

state 9684 begin apogee

9690 -0.21 0.0 990.3 9.2 1016 9798 1.25 0.00 104.10 1.620 6 0.160 0.000 2869 2740 3071

9799 end apogee: CONTROL_FINISHED_OK

state 9799 begin climb

9801 1.03 97.3 991.7 0.0 1021 9917 1.58 2.62 107.38 1.590 4 0.087 0.059 3137 3891 2674

10058 0.89 97.3 961.8 14.7 1033 10063 0.15 2.38 0.00 0.000 6 0.132 0.035 3118 2737 2673

10385 0.81 97.3 921.8 11.9 1049 10389 0.00 2.40 0.00 0.000 4 0.000 0.054 3118 3893 2672

10479 0.71 97.3 909.8 12.8 1053 10484 0.28 2.25 0.00 0.000 6 0.134 0.035 3078 2755 2672

10795 0.73 113.3 879.8 8.9 1068 10818 0.00 2.42 17.45 1.414 4 0.000 0.054 3078 3892 2609

10869 0.73 113.5 872.9 10.0 1071 10873 0.00 2.22 0.00 0.000 6 0.000 0.034 3078 2765 2607

11190 0.75 128.0 843.8 9.0 1087 11212 0.00 2.35 16.40 1.400 4 0.000 0.054 3078 3898 2548

11280 0.75 128.0 834.9 10.3 1091 11284 0.00 2.20 0.00 0.000 6 0.000 0.034 3078 2783 2547

11607 0.75 128.0 801.5 10.2 1107 11611 0.00 2.28 0.00 0.000 4 0.000 0.054 3078 3893 2547

11646 0.75 128.0 797.4 10.6 1109 11650 0.00 2.15 0.00 0.000 6 0.000 0.033 3078 2793 2547

11973 0.75 128.0 764.1 10.1 1125 11977 0.00 2.25 0.00 0.000 4 0.000 0.053 3078 3896 2547

12011 0.75 128.0 759.9 11.0 1126 12018 0.00 2.12 0.00 0.000 6 0.000 0.033 3078 2815 2547

12327 0.75 129.1 727.9 9.9 1142 12328 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2814 2547

12636 0.76 138.7 698.8 9.3 1157 12650 0.00 0.00 11.95 1.271 6 0.000 0.000 3078 2809 2505

12945 0.76 138.9 669.3 10.0 1172 12949 0.00 2.20 0.00 0.000 4 0.000 0.053 3078 3893 2504

12984 0.76 138.9 665.2 10.8 1174 12987 0.00 2.10 0.00 0.000 6 0.000 0.033 3078 2811 2504

13316 0.76 142.1 632.8 9.8 1190 13326 0.00 2.22 5.57 0.996 4 0.000 0.056 3078 3901 2490

13342 0.77 144.3 630.1 9.8 1191 13346 0.00 2.10 0.00 0.000 6 0.000 0.032 3078 2816 2490

13664 0.77 144.3 597.3 10.1 1208 13665 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2810 2490

13984 0.77 144.3 565.0 10.1 1238 13988 0.00 2.20 0.00 0.000 4 0.000 0.052 3077 3900 2490

14017 0.77 144.3 561.3 10.5 1240 14023 0.00 2.10 0.00 0.000 6 0.000 0.032 3078 2825 2490

14343 0.77 150.2 529.2 9.6 1271 14354 0.00 0.00 9.38 1.116 6 0.000 0.000 3078 2818 2458

14670 0.81 150.2 496.1 10.0 1302 14671 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2818 2458

14990 0.86 154.5 464.6 9.7 1332 15000 0.15 0.00 5.97 0.946 6 0.064 0.000 3107 2818 2441

15317 0.86 154.5 423.8 12.8 1363 15321 0.00 2.17 0.00 0.000 4 0.000 0.050 3107 3901 2441

15349 0.82 154.5 419.4 13.2 1365 15355 0.00 2.05 0.00 0.000 6 0.000 0.031 3107 2834 2441

15675 0.82 154.5 378.1 13.0 1396 15679 0.00 2.15 0.00 0.000 4 0.000 0.050 3107 3900 2441

15697 0.82 154.5 374.8 13.6 1398 15701 0.00 2.05 0.00 0.000 6 0.000 0.031 3107 2834 2441

16030 0.82 154.5 331.1 12.8 1441 16036 0.00 2.15 0.00 0.000 4 0.000 0.050 3107 3896 2441

16093 0.82 154.5 322.5 14.0 1452 16099 0.00 2.03 0.00 0.000 6 0.000 0.031 3107 2841 2441

16437 0.82 154.5 280.2 12.2 1513 16443 0.00 2.12 0.00 0.000 4 0.000 0.049 3107 3893 2441

16483 0.82 154.5 274.3 13.1 1521 16489 0.00 2.00 0.00 0.000 6 0.000 0.031 3107 2850 2441

16826 0.82 154.5 233.1 12.2 1582 16832 0.00 2.10 0.00 0.000 4 0.000 0.048 3107 3894 2442

16855 0.82 154.5 229.3 13.0 1587 16862 0.00 1.98 0.00 0.000 6 0.000 0.030 3107 2861 2442

17199 0.82 154.5 187.1 11.5 1648 17205 0.00 2.10 0.00 0.000 4 0.000 0.049 3107 3904 2442

17241 0.82 154.5 182.0 11.5 1655 17247 0.00 1.98 0.00 0.000 6 0.000 0.030 3107 2870 2442

17584 0.82 154.5 139.5 11.1 1716 17590 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2862 2442

17927 0.82 154.5 99.0 11.1 1777 17933 0.00 2.08 0.00 0.000 4 0.000 0.049 3107 3902 2442

17996 0.82 154.5 90.5 12.4 1789 18001 0.00 1.95 0.00 0.000 6 0.000 0.031 3107 2882 2442

18338 0.82 154.5 50.8 11.1 1850 18345 0.00 2.03 0.00 0.000 4 0.000 0.049 3107 3897 2442

18391 0.82 154.5 44.7 11.6 1859 18397 0.00 1.92 0.00 0.000 6 0.000 0.031 3107 2909 2443

18535 0.82 154.5 27.7 11.5 1884 18540 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2907 2443

18676 0.82 154.5 9.4 14.8 1909 18683 0.00 2.03 0.00 0.000 4 0.000 0.051 3107 3897 2442

18717 0.82 154.5 3.6 13.3 1916 18723 0.00 1.88 0.00 0.000 6 0.000 0.031 3107 2932 2443

18727 end climb: SURFACE_DEPTH_REACHED

state 18727 begin surface coast

18742 end surface coast: CONTROL_FINISHED_OK

state 18742 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	290	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	215	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	-17076.889	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	191256,6117.171,-2533.041,41,1.4,41,-18.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6120.922,-2538.044
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.01	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	192032,6117.229,-2533.178,10,1.3,15,-18.1	MHEAD_RNG_PITCHd_Wd	308.1,20000,-21.7,-10.000
SPEED_LIMITS	0.173,0.215	D_GRID	990

FINISH	0.4,1.026240	XPDR_PINGS	1062
SM_CCo	18760,41.42,0.959,0,0,2254,200.16	_24V_AH	19.3,68.640
SM_GC	1.78,0.00,0.00,41.42,0.000,0.000,0.959,1437,2272,2254,-6.82,-0.79,200.16	_10V_AH	9.8,50.832
IRIDIUM_FIX	6050.49,-2529.92,140897,131308	DATA_FILE_SIZE	139161,1920
TT8_MAMPS	0.026078	CAP_FILE_SIZE	180304,0
HUMID	1796	CFSIZE	260165632,235823104
INTERNAL_PRESSURE	8.95588	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.30	GPS	210508,003537,6117.486,-2539.118,39,1.5,44,-18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	250	116.42	SBE_CT	1360	24	630.02
Roll_motor	163	138	435.32	SBE_O2	1400	19	513.70
VBD_pump_during_apogee	278	1619	8697.69	Optode	712	33	453.92
VBD_pump_during_surface	41	958	766.52	WL_BB2F	1704	105	3454.09
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	28	103	56.02	nil	0	0	0.00
Iridium_during_connect	49	160	154.31	nil	0	0	0.00
Iridium_during_xfer	234	223	1008.02
Transponder_ping	265	420	2152.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.14
TT8	3115	19	604.58
LPSleep	11391	2	244.49
TT8_Active	501	19	97.30
TT8_Sampling	3568	39	1391.88
TT8_CF8	665	45	298.86
TT8_Kalman	0	0	0.00
Analog_circuits	2067	12	243.19
GPS_charging	0	0	0.00
Compass	3561	8	279.22
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.03	-97.3	0.0	0.0	0	100	0.00	0.00	-68.00	0.000	6	0.000	0.000	1438	2287	3467
103	-1.03	-97.3	3.4	-6.4	13	121	11.52	2.80	0.00	0.000	4	0.251	0.045	2689	892	3469
145	-0.88	-97.3	12.7	-18.9	20	152	0.22	2.75	0.00	0.000	6	0.152	0.028	2720	2318	3470
290	-0.88	-97.3	27.8	-10.8	45	296	0.00	2.75	0.00	0.000	4	0.000	0.043	2720	3704	3470
549	-0.88	-97.3	56.2	-11.7	91	556	0.00	2.80	0.00	0.000	6	0.000	0.033	2720	2277	3470
892	-0.88	-97.3	91.8	-10.6	152	899	0.00	2.78	0.00	0.000	4	0.000	0.050	2720	889	3470
1151	-0.88	-97.3	121.0	-11.2	198	1158	0.00	2.65	0.00	0.000	6	0.000	0.029	2720	2268	3471
1496	-0.88	-97.3	155.5	-9.6	259	1503	0.00	2.75	0.00	0.000	4	0.000	0.048	2720	892	3471
1610	-0.88	-97.3	167.7	-11.0	279	1616	0.00	2.62	0.00	0.000	6	0.000	0.031	2720	2256	3471
1953	-0.88	-97.3	202.2	-10.2	340	1959	0.00	2.75	0.00	0.000	4	0.000	0.048	2720	885	3471
2078	-0.88	-97.3	215.7	-11.1	362	2084	0.00	2.62	0.00	0.000	6	0.000	0.030	2720	2252	3471
2423	-0.88	-97.3	250.3	-9.8	423	2429	0.00	2.88	0.00	0.000	4	0.000	0.044	2720	3703	3471
2490	-0.88	-97.3	257.3	-10.4	435	2497	0.00	2.85	0.00	0.000	6	0.000	0.033	2720	2242	3471
2834	-0.88	-97.3	291.1	-9.8	496	2840	0.00	2.70	0.00	0.000	4	0.000	0.050	2720	886	3471
2947	-0.88	-97.3	302.8	-10.3	516	2954	0.00	2.60	0.00	0.000	6	0.000	0.029	2720	2247	3471
3291	-0.88	-97.3	335.8	-9.7	577	3296	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2250	3471
3629	-0.88	-97.3	369.5	-10.0	621	3630	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2252	3471
3947	-0.88	-97.3	401.4	-10.1	651	3951	0.00	2.72	0.00	0.000	4	0.000	0.048	2720	890	3471
4071	-0.88	-97.3	414.1	-10.2	661	4077	0.00	2.58	0.00	0.000	6	0.000	0.031	2720	2233	3471
4398	-0.88	-97.3	445.1	-9.3	692	4400	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2234	3471
4714	-0.88	-97.3	475.3	-9.9	722	4715	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2235	3471
5034	-0.92	-97.3	506.9	-9.7	752	5035	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2237	3471
5353	-0.96	-97.3	538.0	-9.9	782	5357	0.00	2.72	0.00	0.000	4	0.000	0.050	2721	885	3471
5493	-1.00	-97.3	552.8	-10.1	794	5497	0.00	2.60	0.00	0.000	6	0.000	0.031	2720	2232	3471
5820	-1.05	-97.3	583.0	-9.3	824	5825	0.15	2.95	0.00	0.000	4	0.072	0.048	2690	3700	3471
5904	-1.05	-97.3	592.4	-11.1	831	5909	0.00	2.90	0.00	0.000	6	0.000	0.037	2690	2231	3471
6222	-1.05	-97.3	627.6	-11.1	849	6226	0.00	2.72	0.00	0.000	4	0.000	0.058	2689	892	3471
6422	-1.05	-97.3	651.4	-11.7	858	6426	0.00	2.62	0.00	0.000	6	0.000	0.034	2690	2237	3470
6750	-1.05	-97.3	685.7	-10.5	874	6751	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2237	3470
7059	-1.05	-97.3	717.3	-10.2	889	7060	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2237	3470
7367	-1.05	-97.3	748.8	-10.3	904	7372	0.00	2.92	0.00	0.000	4	0.000	0.078	2689	894	3470
7474	-1.05	-97.3	760.4	-11.6	909	7479	0.00	2.72	0.00	0.000	6	0.000	0.055	2689	2216	3470
7801	-1.05	-97.3	795.8	-11.1	925	7802	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2216	3470
8110	-1.05	-97.3	830.6	-11.3	940	8111	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2217	3469
8420	-1.05	-97.3	864.3	-10.4	955	8422	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2217	3469
8728	-1.05	-97.3	896.0	-10.2	970	8734	0.00	3.75	0.00	0.000	4	0.000	0.138	2689	3694	3469
8790	-1.05	-97.3	902.8	-11.6	973	8795	0.00	2.97	0.00	0.000	6	0.000	0.051	2689	2240	3469
9116	-1.05	-97.3	935.1	-9.7	989	9121	0.00	2.75	0.00	0.000	4	0.000	0.058	2689	894	3469
9200	-1.05	-97.3	943.8	-10.2	993	9204	0.00	2.62	0.00	0.000	6	0.000	0.033	2689	2239	3469
9526	-1.05	-97.3	975.4	-9.4	1009	9531	0.00	3.00	0.00	0.000	4	0.000	0.057	2689	3700	3468
9598	-1.05	-97.3	982.3	-9.7	1012	9603	0.00	2.90	0.00	0.000	6	0.000	0.043	2690	2260	3468
9684	end dive: TARGET_DEPTH_EXCEEDED
state	9684	begin apogee
9690	-0.21	0.0	990.3	9.2	1016	9798	1.25	0.00	104.10	1.620	6	0.160	0.000	2869	2740	3071
9799	end apogee: CONTROL_FINISHED_OK
state	9799	begin climb
9801	1.03	97.3	991.7	0.0	1021	9917	1.58	2.62	107.38	1.590	4	0.087	0.059	3137	3891	2674
10058	0.89	97.3	961.8	14.7	1033	10063	0.15	2.38	0.00	0.000	6	0.132	0.035	3118	2737	2673
10385	0.81	97.3	921.8	11.9	1049	10389	0.00	2.40	0.00	0.000	4	0.000	0.054	3118	3893	2672
10479	0.71	97.3	909.8	12.8	1053	10484	0.28	2.25	0.00	0.000	6	0.134	0.035	3078	2755	2672
10795	0.73	113.3	879.8	8.9	1068	10818	0.00	2.42	17.45	1.414	4	0.000	0.054	3078	3892	2609
10869	0.73	113.5	872.9	10.0	1071	10873	0.00	2.22	0.00	0.000	6	0.000	0.034	3078	2765	2607
11190	0.75	128.0	843.8	9.0	1087	11212	0.00	2.35	16.40	1.400	4	0.000	0.054	3078	3898	2548
11280	0.75	128.0	834.9	10.3	1091	11284	0.00	2.20	0.00	0.000	6	0.000	0.034	3078	2783	2547
11607	0.75	128.0	801.5	10.2	1107	11611	0.00	2.28	0.00	0.000	4	0.000	0.054	3078	3893	2547
11646	0.75	128.0	797.4	10.6	1109	11650	0.00	2.15	0.00	0.000	6	0.000	0.033	3078	2793	2547
11973	0.75	128.0	764.1	10.1	1125	11977	0.00	2.25	0.00	0.000	4	0.000	0.053	3078	3896	2547
12011	0.75	128.0	759.9	11.0	1126	12018	0.00	2.12	0.00	0.000	6	0.000	0.033	3078	2815	2547
12327	0.75	129.1	727.9	9.9	1142	12328	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2814	2547
12636	0.76	138.7	698.8	9.3	1157	12650	0.00	0.00	11.95	1.271	6	0.000	0.000	3078	2809	2505
12945	0.76	138.9	669.3	10.0	1172	12949	0.00	2.20	0.00	0.000	4	0.000	0.053	3078	3893	2504
12984	0.76	138.9	665.2	10.8	1174	12987	0.00	2.10	0.00	0.000	6	0.000	0.033	3078	2811	2504
13316	0.76	142.1	632.8	9.8	1190	13326	0.00	2.22	5.57	0.996	4	0.000	0.056	3078	3901	2490
13342	0.77	144.3	630.1	9.8	1191	13346	0.00	2.10	0.00	0.000	6	0.000	0.032	3078	2816	2490
13664	0.77	144.3	597.3	10.1	1208	13665	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2810	2490
13984	0.77	144.3	565.0	10.1	1238	13988	0.00	2.20	0.00	0.000	4	0.000	0.052	3077	3900	2490
14017	0.77	144.3	561.3	10.5	1240	14023	0.00	2.10	0.00	0.000	6	0.000	0.032	3078	2825	2490
14343	0.77	150.2	529.2	9.6	1271	14354	0.00	0.00	9.38	1.116	6	0.000	0.000	3078	2818	2458
14670	0.81	150.2	496.1	10.0	1302	14671	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2818	2458
14990	0.86	154.5	464.6	9.7	1332	15000	0.15	0.00	5.97	0.946	6	0.064	0.000	3107	2818	2441
15317	0.86	154.5	423.8	12.8	1363	15321	0.00	2.17	0.00	0.000	4	0.000	0.050	3107	3901	2441
15349	0.82	154.5	419.4	13.2	1365	15355	0.00	2.05	0.00	0.000	6	0.000	0.031	3107	2834	2441
15675	0.82	154.5	378.1	13.0	1396	15679	0.00	2.15	0.00	0.000	4	0.000	0.050	3107	3900	2441
15697	0.82	154.5	374.8	13.6	1398	15701	0.00	2.05	0.00	0.000	6	0.000	0.031	3107	2834	2441
16030	0.82	154.5	331.1	12.8	1441	16036	0.00	2.15	0.00	0.000	4	0.000	0.050	3107	3896	2441
16093	0.82	154.5	322.5	14.0	1452	16099	0.00	2.03	0.00	0.000	6	0.000	0.031	3107	2841	2441
16437	0.82	154.5	280.2	12.2	1513	16443	0.00	2.12	0.00	0.000	4	0.000	0.049	3107	3893	2441
16483	0.82	154.5	274.3	13.1	1521	16489	0.00	2.00	0.00	0.000	6	0.000	0.031	3107	2850	2441
16826	0.82	154.5	233.1	12.2	1582	16832	0.00	2.10	0.00	0.000	4	0.000	0.048	3107	3894	2442
16855	0.82	154.5	229.3	13.0	1587	16862	0.00	1.98	0.00	0.000	6	0.000	0.030	3107	2861	2442
17199	0.82	154.5	187.1	11.5	1648	17205	0.00	2.10	0.00	0.000	4	0.000	0.049	3107	3904	2442
17241	0.82	154.5	182.0	11.5	1655	17247	0.00	1.98	0.00	0.000	6	0.000	0.030	3107	2870	2442
17584	0.82	154.5	139.5	11.1	1716	17590	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2862	2442
17927	0.82	154.5	99.0	11.1	1777	17933	0.00	2.08	0.00	0.000	4	0.000	0.049	3107	3902	2442
17996	0.82	154.5	90.5	12.4	1789	18001	0.00	1.95	0.00	0.000	6	0.000	0.031	3107	2882	2442
18338	0.82	154.5	50.8	11.1	1850	18345	0.00	2.03	0.00	0.000	4	0.000	0.049	3107	3897	2442
18391	0.82	154.5	44.7	11.6	1859	18397	0.00	1.92	0.00	0.000	6	0.000	0.031	3107	2909	2443
18535	0.82	154.5	27.7	11.5	1884	18540	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2907	2443
18676	0.82	154.5	9.4	14.8	1909	18683	0.00	2.03	0.00	0.000	4	0.000	0.051	3107	3897	2442
18717	0.82	154.5	3.6	13.3	1916	18723	0.00	1.88	0.00	0.000	6	0.000	0.031	3107	2932	2443
18727	end climb: SURFACE_DEPTH_REACHED
state	18727	begin surface coast
18742	end surface coast: CONTROL_FINISHED_OK
state	18742	begin surface