Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 305 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 142 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 305 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 44 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 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 -18693.625 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1435 AH0_24V 150 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3965 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2920 PRESSURE_YINT -2.876246 SEABIRD_T_I 2.3931538e-05

MASS 51804 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1518581e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3965 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1435 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1518581e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.876246 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 5900

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -2030

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0273 T_GPS_CHARGE -18693.625

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 240

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 142 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 T_WATCHDOG 10

C_PITCH 2920 INT_PRESSURE_YINT -1.65 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2750 KALMAN_USE 2 ROLL_MIN 220 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51804 R_PORT_OVSHOOT 44 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 16 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0037964056 VBD_MAX 3964

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 475

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 305 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 183327,6145.051,-2558.921,26,2.1,45,-18.6 TGT_NAME NW

_CALLS 2 TGT_LATLONG 6156.130,-2622.980

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 184420,6145.105,-2558.923,10,2.0,15,-18.6 MHEAD_RNG_PITCHd_Wd 336.0,29262,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.019422 _24V_AH 18.9,95.526

SM_CCo 17961,0.00,0.000,0,0,1117,479.32 _10V_AH 9.8,64.897

SM_GC 0.59,8.52,0.00,0.00,0.044,0.000,0.000,1436,2292,1117,-6.79,-0.25,479.32 DATA_FILE_SIZE 129568,1786

IRIDIUM_FIX 6121.73,-2557.31,010997,181831 CAP_FILE_SIZE 176945,0

TT8_MAMPS 0.026078 CFSIZE 260165632,227680256

HUMID 1816 ERRORS 0,0,0,0,0,0,0,0,0,0,0,2,0,0,0

INTERNAL_PRESSURE 8.87775 CURRENT 0.120,280.3,1

TCM_TEMP 16.50 GPS 070608,234508,6147.225,-2605.193,30,1.5,30,-18.7

XPDR_PINGS 923

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 250 115.19 SBE_CT 1244 24 564.68

Roll_motor 186 125 442.91 SBE_O2 1320 19 474.37

VBD_pump_during_apogee 740 1589 22227.64 Optode 662 33 412.91

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1570 105 3117.45

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 62 103 121.73 nil 0 0 0.00

Iridium_during_connect 65 160 198.04 nil 0 0 0.00

Iridium_during_xfer 311 223 1311.19

Transponder_ping 230 420 1831.69

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.50

TT8 3687 19 715.59

LPSleep 9832 2 211.02

TT8_Active 915 19 177.60

TT8_Sampling 3347 39 1305.69

TT8_CF8 817 45 366.72

TT8_Kalman 0 0 0.00

Analog_circuits 2459 12 289.23

GPS_charging 0 0 0.00

Compass 3320 8 260.31

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.86 -194.7 0.0 0.0 0 99 0.00 0.00 -72.95 0.000 2 0.000 0.000 1428 2270 3491

102 -0.86 -194.7 3.3 -4.5 10 133 12.12 2.72 -10.15 0.000 4 0.251 0.055 2726 914 3866

246 -0.86 -194.7 24.7 -11.9 34 254 0.00 2.67 0.00 0.000 6 0.000 0.029 2726 2309 3867

390 -0.77 -194.7 43.2 -13.1 59 398 0.15 2.75 0.00 0.000 4 0.144 0.042 2749 3704 3868

472 -0.77 -194.7 52.9 -10.9 73 479 0.00 2.70 0.00 0.000 6 0.000 0.032 2750 2322 3868

817 -0.77 -194.7 87.4 -9.7 134 824 0.00 2.85 0.00 0.000 4 0.000 0.048 2749 882 3868

876 -0.77 -194.7 93.6 -10.1 144 884 0.00 2.72 0.00 0.000 6 0.000 0.029 2749 2307 3868

1222 -0.77 -194.7 131.6 -10.8 205 1229 0.00 2.78 0.00 0.000 4 0.000 0.044 2750 3710 3868

1293 -0.77 -194.7 139.2 -10.7 217 1300 0.00 2.78 0.00 0.000 6 0.000 0.033 2750 2286 3869

1638 -0.77 -194.7 177.2 -11.3 278 1646 0.00 2.78 0.00 0.000 4 0.000 0.049 2749 889 3868

1710 -0.82 -194.7 185.1 -10.7 290 1717 0.00 2.70 0.00 0.000 6 0.000 0.030 2749 2294 3869

2055 -0.82 -194.7 223.7 -11.4 351 2062 0.00 2.80 0.00 0.000 4 0.000 0.044 2749 3706 3869

2136 -0.82 -194.7 232.8 -10.9 365 2144 0.00 2.78 0.00 0.000 6 0.000 0.034 2749 2281 3868

2482 -0.82 -194.7 270.9 -11.4 426 2489 0.00 2.75 0.00 0.000 4 0.000 0.048 2749 896 3869

2524 -0.82 -194.7 275.7 -11.1 433 2531 0.00 2.70 0.00 0.000 6 0.000 0.029 2749 2300 3868

2869 -0.82 -194.7 315.5 -11.8 494 2876 0.00 2.78 0.00 0.000 4 0.000 0.045 2749 3701 3868

2945 -0.82 -194.7 324.5 -11.6 507 2952 0.00 2.75 0.00 0.000 6 0.000 0.033 2749 2290 3869

3289 -0.82 -194.7 365.8 -12.1 557 3293 0.00 2.78 0.00 0.000 4 0.000 0.048 2749 890 3868

3333 -0.86 -194.7 371.2 -11.3 560 3341 0.00 2.67 0.00 0.000 6 0.000 0.030 2750 2294 3868

3660 -0.86 -194.7 409.1 -11.5 591 3664 0.00 2.80 0.00 0.000 4 0.000 0.051 2750 3701 3868

3722 -0.86 -194.7 416.2 -10.8 596 3726 0.00 2.75 0.00 0.000 6 0.000 0.034 2749 2293 3869

4048 -0.86 -194.7 451.7 -11.1 626 4052 0.00 2.80 0.00 0.000 4 0.000 0.049 2750 884 3868

4100 -0.90 -194.7 457.3 -10.3 630 4105 0.15 2.72 0.00 0.000 6 0.055 0.030 2716 2301 3868

4425 -0.82 -194.7 500.6 -14.0 660 4427 0.15 0.00 0.00 0.000 6 0.144 0.000 2736 2302 3867

4745 -0.82 -194.7 538.2 -11.6 690 4749 0.00 2.80 0.00 0.000 4 0.000 0.048 2736 3700 3867

4807 -0.82 -194.7 545.4 -11.1 695 4811 0.00 2.78 0.00 0.000 6 0.000 0.034 2737 2282 3867

5134 -0.82 -194.7 581.5 -10.3 725 5139 0.00 2.80 0.00 0.000 4 0.000 0.052 2736 884 3867

5178 -0.82 -194.7 586.5 -10.1 728 5186 0.00 2.72 0.00 0.000 6 0.000 0.031 2737 2292 3867

5499 -0.82 -194.7 619.0 -10.2 750 5500 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2293 3867

5808 -0.82 -194.7 649.2 -9.3 765 5812 0.00 2.88 0.00 0.000 4 0.000 0.055 2736 3703 3867

5885 -0.82 -194.7 656.8 -9.6 768 5893 0.00 2.85 0.00 0.000 6 0.000 0.041 2737 2270 3867

6202 -0.82 -194.7 688.8 -10.8 784 6206 0.00 2.88 0.00 0.000 4 0.000 0.065 2736 885 3866

6264 -0.82 -194.7 696.1 -11.5 787 6269 0.00 2.75 0.00 0.000 6 0.000 0.038 2736 2276 3866

6591 -0.82 -194.7 737.6 -13.1 803 6595 0.00 3.03 0.00 0.000 4 0.000 0.069 2736 3709 3866

6657 -0.82 -194.7 746.3 -13.1 806 6662 0.00 2.92 0.00 0.000 6 0.000 0.053 2736 2287 3866

6978 -0.82 -194.7 787.4 -12.3 822 6983 0.00 3.15 0.00 0.000 4 0.000 0.097 2737 886 3866

7018 -0.82 -194.7 792.2 -12.4 824 7023 0.00 2.97 0.00 0.000 6 0.000 0.067 2736 2286 3866

7344 -0.82 -194.7 828.2 -10.8 840 7349 0.00 3.28 0.00 0.000 4 0.000 0.103 2736 3709 3866

7411 -0.82 -194.7 835.6 -11.0 843 7416 0.00 3.20 0.00 0.000 6 0.000 0.090 2736 2294 3866

7732 -0.82 -194.7 867.7 -10.2 859 7737 0.00 3.42 0.00 0.000 4 0.000 0.126 2736 886 3865

7774 -0.82 -194.7 871.9 -11.0 861 7779 0.00 3.30 0.00 0.000 6 0.000 0.104 2736 2299 3865

8100 -0.82 -194.7 906.9 -10.4 877 8105 0.00 3.38 0.00 0.000 4 0.000 0.116 2737 3719 3865

8167 -0.82 -194.7 913.5 -9.8 880 8172 0.00 2.88 0.00 0.000 6 0.000 0.041 2737 2277 3865

8489 -0.82 -194.7 945.9 -10.5 896 8493 0.00 2.85 0.00 0.000 4 0.000 0.060 2736 884 3864

8521 -0.82 -194.7 949.5 -11.0 897 8529 0.00 2.80 0.00 0.000 6 0.000 0.033 2737 2317 3864

8837 -0.82 -194.7 980.8 -10.2 913 8841 0.00 2.85 0.00 0.000 4 0.000 0.059 2737 3707 3864

8887 -0.82 -194.7 986.1 -10.9 915 8892 0.00 2.85 0.00 0.000 6 0.000 0.042 2736 2287 3864

8932 end dive: TARGET_DEPTH_EXCEEDED

state 8932 begin apogee

8939 -0.21 0.0 991.1 10.8 917 9156 0.88 0.00 211.65 1.589 6 0.146 0.000 2867 2750 3071

9156 end apogee: CONTROL_FINISHED_OK

state 9156 begin climb

9159 0.86 194.7 1001.8 0.0 928 9388 1.45 2.65 216.55 1.519 4 0.093 0.058 3099 3897 2277

9569 0.71 194.7 964.4 12.9 946 9574 0.15 2.33 0.00 0.000 6 0.125 0.035 3079 2744 2274

9885 0.62 194.7 929.5 11.1 961 9890 0.15 2.38 0.00 0.000 4 0.112 0.054 3053 3896 2273

9930 0.65 215.7 925.0 9.3 963 9957 0.00 2.25 22.42 1.428 6 0.000 0.035 3053 2750 2190

10274 0.68 244.1 895.3 9.0 980 10307 0.00 0.00 31.05 1.465 6 0.000 0.000 3053 2749 2075

10602 0.71 264.6 865.6 9.3 996 10626 0.00 0.00 22.45 1.421 6 0.000 0.000 3053 2749 1992

10932 0.71 264.6 831.3 11.1 1012 10933 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2749 1989

11241 0.74 290.1 800.3 9.1 1027 11271 0.15 0.00 27.70 1.419 6 0.058 0.000 3083 2749 1888

11571 0.68 296.3 766.1 9.8 1043 11585 0.00 2.40 7.62 1.159 4 0.000 0.052 3082 3900 1863

11603 0.63 301.7 762.6 9.8 1044 11617 0.15 2.20 7.32 1.156 6 0.109 0.032 3061 2766 1841

11926 0.68 341.5 736.1 8.6 1060 11977 0.00 2.95 43.95 1.414 4 0.000 0.048 3061 1346 1676

11984 0.75 397.8 730.6 8.0 1062 12058 0.12 2.88 61.92 1.389 6 0.058 0.031 3086 2772 1447

12366 0.75 397.8 685.6 12.1 1081 12370 0.00 2.90 0.00 0.000 4 0.000 0.045 3086 1342 1439

12398 0.75 397.8 681.3 12.5 1082 12406 0.00 2.78 0.00 0.000 6 0.000 0.033 3086 2749 1439

12715 0.75 397.8 639.7 13.1 1098 12717 0.00 0.00 0.00 0.000 6 0.000 0.000 3086 2749 1438

13024 0.75 397.8 599.9 12.3 1113 13025 0.00 0.00 0.00 0.000 6 0.000 0.000 3086 2750 1437

13345 0.76 400.5 565.1 9.9 1143 13349 0.00 2.83 0.00 0.000 4 0.000 0.046 3086 1343 1437

13355 0.76 403.1 563.7 9.9 1143 13365 0.00 2.72 4.57 0.843 6 0.000 0.032 3086 2743 1426

13693 0.79 424.9 532.1 9.2 1175 13729 0.00 2.92 25.08 1.253 4 0.000 0.046 3086 1341 1337

13734 0.82 451.1 528.1 9.1 1178 13770 0.00 2.75 29.92 1.258 6 0.000 0.032 3086 2730 1231

14091 0.89 476.5 496.3 9.1 1211 14128 0.15 2.88 27.80 1.226 4 0.052 0.046 3124 1344 1126

14134 0.85 476.5 490.9 12.7 1214 14142 0.00 2.75 0.00 0.000 6 0.000 0.032 3123 2726 1126

14463 0.85 476.5 448.1 12.9 1245 14469 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2725 1123

14788 0.85 476.5 403.9 12.9 1276 14789 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2725 1122

15107 0.85 476.5 362.6 13.1 1306 15108 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 2725 1121

15437 0.85 476.5 320.0 12.6 1356 15443 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2725 1121

15782 0.85 476.5 276.2 13.6 1417 15788 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2725 1121

16126 0.85 476.5 229.4 13.6 1478 16133 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 2725 1120

16472 0.85 476.5 180.8 13.5 1539 16479 0.00 2.78 0.00 0.000 4 0.000 0.044 3124 1339 1120

16486 0.85 476.5 178.7 14.3 1541 16493 0.00 2.67 0.00 0.000 6 0.000 0.031 3124 2719 1119

16830 0.85 476.5 128.0 14.6 1602 16837 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2719 1120

17176 0.85 476.5 83.1 13.4 1663 17182 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2720 1120

17519 0.85 476.5 38.9 12.2 1724 17527 0.00 2.75 0.00 0.000 4 0.000 0.044 3124 1338 1119

17545 0.85 476.5 35.8 11.6 1728 17553 0.00 2.62 0.00 0.000 6 0.000 0.031 3124 2704 1119

17688 0.85 476.8 20.3 10.0 1753 17696 0.00 2.70 0.00 0.000 4 0.000 0.045 3124 1346 1119

17709 0.85 476.8 18.2 10.2 1756 17716 0.00 2.58 0.00 0.000 6 0.000 0.031 3124 2685 1119

17852 0.85 476.8 2.3 10.8 1781 17859 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2686 1119

17863 end climb: SURFACE_DEPTH_REACHED

state 17863 begin surface coast

17881 end surface coast: CONTROL_FINISHED_OK

state 17881 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	305	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	44	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	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	-18693.625	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1435	AH0_24V	150	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3965	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2920	PRESSURE_YINT	-2.876246	SEABIRD_T_I	2.3931538e-05
MASS	51804	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1518581e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	183327,6145.051,-2558.921,26,2.1,45,-18.6	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	6156.130,-2622.980
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	184420,6145.105,-2558.923,10,2.0,15,-18.6	MHEAD_RNG_PITCHd_Wd	336.0,29262,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	-0.1,1.019422	_24V_AH	18.9,95.526
SM_CCo	17961,0.00,0.000,0,0,1117,479.32	_10V_AH	9.8,64.897
SM_GC	0.59,8.52,0.00,0.00,0.044,0.000,0.000,1436,2292,1117,-6.79,-0.25,479.32	DATA_FILE_SIZE	129568,1786
IRIDIUM_FIX	6121.73,-2557.31,010997,181831	CAP_FILE_SIZE	176945,0
TT8_MAMPS	0.026078	CFSIZE	260165632,227680256
HUMID	1816	ERRORS	0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
INTERNAL_PRESSURE	8.87775	CURRENT	0.120,280.3,1
TCM_TEMP	16.50	GPS	070608,234508,6147.225,-2605.193,30,1.5,30,-18.7
XPDR_PINGS	923

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	250	115.19	SBE_CT	1244	24	564.68
Roll_motor	186	125	442.91	SBE_O2	1320	19	474.37
VBD_pump_during_apogee	740	1589	22227.64	Optode	662	33	412.91
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1570	105	3117.45
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	62	103	121.73	nil	0	0	0.00
Iridium_during_connect	65	160	198.04	nil	0	0	0.00
Iridium_during_xfer	311	223	1311.19
Transponder_ping	230	420	1831.69
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.50
TT8	3687	19	715.59
LPSleep	9832	2	211.02
TT8_Active	915	19	177.60
TT8_Sampling	3347	39	1305.69
TT8_CF8	817	45	366.72
TT8_Kalman	0	0	0.00
Analog_circuits	2459	12	289.23
GPS_charging	0	0	0.00
Compass	3320	8	260.31
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.86	-194.7	0.0	0.0	0	99	0.00	0.00	-72.95	0.000	2	0.000	0.000	1428	2270	3491
102	-0.86	-194.7	3.3	-4.5	10	133	12.12	2.72	-10.15	0.000	4	0.251	0.055	2726	914	3866
246	-0.86	-194.7	24.7	-11.9	34	254	0.00	2.67	0.00	0.000	6	0.000	0.029	2726	2309	3867
390	-0.77	-194.7	43.2	-13.1	59	398	0.15	2.75	0.00	0.000	4	0.144	0.042	2749	3704	3868
472	-0.77	-194.7	52.9	-10.9	73	479	0.00	2.70	0.00	0.000	6	0.000	0.032	2750	2322	3868
817	-0.77	-194.7	87.4	-9.7	134	824	0.00	2.85	0.00	0.000	4	0.000	0.048	2749	882	3868
876	-0.77	-194.7	93.6	-10.1	144	884	0.00	2.72	0.00	0.000	6	0.000	0.029	2749	2307	3868
1222	-0.77	-194.7	131.6	-10.8	205	1229	0.00	2.78	0.00	0.000	4	0.000	0.044	2750	3710	3868
1293	-0.77	-194.7	139.2	-10.7	217	1300	0.00	2.78	0.00	0.000	6	0.000	0.033	2750	2286	3869
1638	-0.77	-194.7	177.2	-11.3	278	1646	0.00	2.78	0.00	0.000	4	0.000	0.049	2749	889	3868
1710	-0.82	-194.7	185.1	-10.7	290	1717	0.00	2.70	0.00	0.000	6	0.000	0.030	2749	2294	3869
2055	-0.82	-194.7	223.7	-11.4	351	2062	0.00	2.80	0.00	0.000	4	0.000	0.044	2749	3706	3869
2136	-0.82	-194.7	232.8	-10.9	365	2144	0.00	2.78	0.00	0.000	6	0.000	0.034	2749	2281	3868
2482	-0.82	-194.7	270.9	-11.4	426	2489	0.00	2.75	0.00	0.000	4	0.000	0.048	2749	896	3869
2524	-0.82	-194.7	275.7	-11.1	433	2531	0.00	2.70	0.00	0.000	6	0.000	0.029	2749	2300	3868
2869	-0.82	-194.7	315.5	-11.8	494	2876	0.00	2.78	0.00	0.000	4	0.000	0.045	2749	3701	3868
2945	-0.82	-194.7	324.5	-11.6	507	2952	0.00	2.75	0.00	0.000	6	0.000	0.033	2749	2290	3869
3289	-0.82	-194.7	365.8	-12.1	557	3293	0.00	2.78	0.00	0.000	4	0.000	0.048	2749	890	3868
3333	-0.86	-194.7	371.2	-11.3	560	3341	0.00	2.67	0.00	0.000	6	0.000	0.030	2750	2294	3868
3660	-0.86	-194.7	409.1	-11.5	591	3664	0.00	2.80	0.00	0.000	4	0.000	0.051	2750	3701	3868
3722	-0.86	-194.7	416.2	-10.8	596	3726	0.00	2.75	0.00	0.000	6	0.000	0.034	2749	2293	3869
4048	-0.86	-194.7	451.7	-11.1	626	4052	0.00	2.80	0.00	0.000	4	0.000	0.049	2750	884	3868
4100	-0.90	-194.7	457.3	-10.3	630	4105	0.15	2.72	0.00	0.000	6	0.055	0.030	2716	2301	3868
4425	-0.82	-194.7	500.6	-14.0	660	4427	0.15	0.00	0.00	0.000	6	0.144	0.000	2736	2302	3867
4745	-0.82	-194.7	538.2	-11.6	690	4749	0.00	2.80	0.00	0.000	4	0.000	0.048	2736	3700	3867
4807	-0.82	-194.7	545.4	-11.1	695	4811	0.00	2.78	0.00	0.000	6	0.000	0.034	2737	2282	3867
5134	-0.82	-194.7	581.5	-10.3	725	5139	0.00	2.80	0.00	0.000	4	0.000	0.052	2736	884	3867
5178	-0.82	-194.7	586.5	-10.1	728	5186	0.00	2.72	0.00	0.000	6	0.000	0.031	2737	2292	3867
5499	-0.82	-194.7	619.0	-10.2	750	5500	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2293	3867
5808	-0.82	-194.7	649.2	-9.3	765	5812	0.00	2.88	0.00	0.000	4	0.000	0.055	2736	3703	3867
5885	-0.82	-194.7	656.8	-9.6	768	5893	0.00	2.85	0.00	0.000	6	0.000	0.041	2737	2270	3867
6202	-0.82	-194.7	688.8	-10.8	784	6206	0.00	2.88	0.00	0.000	4	0.000	0.065	2736	885	3866
6264	-0.82	-194.7	696.1	-11.5	787	6269	0.00	2.75	0.00	0.000	6	0.000	0.038	2736	2276	3866
6591	-0.82	-194.7	737.6	-13.1	803	6595	0.00	3.03	0.00	0.000	4	0.000	0.069	2736	3709	3866
6657	-0.82	-194.7	746.3	-13.1	806	6662	0.00	2.92	0.00	0.000	6	0.000	0.053	2736	2287	3866
6978	-0.82	-194.7	787.4	-12.3	822	6983	0.00	3.15	0.00	0.000	4	0.000	0.097	2737	886	3866
7018	-0.82	-194.7	792.2	-12.4	824	7023	0.00	2.97	0.00	0.000	6	0.000	0.067	2736	2286	3866
7344	-0.82	-194.7	828.2	-10.8	840	7349	0.00	3.28	0.00	0.000	4	0.000	0.103	2736	3709	3866
7411	-0.82	-194.7	835.6	-11.0	843	7416	0.00	3.20	0.00	0.000	6	0.000	0.090	2736	2294	3866
7732	-0.82	-194.7	867.7	-10.2	859	7737	0.00	3.42	0.00	0.000	4	0.000	0.126	2736	886	3865
7774	-0.82	-194.7	871.9	-11.0	861	7779	0.00	3.30	0.00	0.000	6	0.000	0.104	2736	2299	3865
8100	-0.82	-194.7	906.9	-10.4	877	8105	0.00	3.38	0.00	0.000	4	0.000	0.116	2737	3719	3865
8167	-0.82	-194.7	913.5	-9.8	880	8172	0.00	2.88	0.00	0.000	6	0.000	0.041	2737	2277	3865
8489	-0.82	-194.7	945.9	-10.5	896	8493	0.00	2.85	0.00	0.000	4	0.000	0.060	2736	884	3864
8521	-0.82	-194.7	949.5	-11.0	897	8529	0.00	2.80	0.00	0.000	6	0.000	0.033	2737	2317	3864
8837	-0.82	-194.7	980.8	-10.2	913	8841	0.00	2.85	0.00	0.000	4	0.000	0.059	2737	3707	3864
8887	-0.82	-194.7	986.1	-10.9	915	8892	0.00	2.85	0.00	0.000	6	0.000	0.042	2736	2287	3864
8932	end dive: TARGET_DEPTH_EXCEEDED
state	8932	begin apogee
8939	-0.21	0.0	991.1	10.8	917	9156	0.88	0.00	211.65	1.589	6	0.146	0.000	2867	2750	3071
9156	end apogee: CONTROL_FINISHED_OK
state	9156	begin climb
9159	0.86	194.7	1001.8	0.0	928	9388	1.45	2.65	216.55	1.519	4	0.093	0.058	3099	3897	2277
9569	0.71	194.7	964.4	12.9	946	9574	0.15	2.33	0.00	0.000	6	0.125	0.035	3079	2744	2274
9885	0.62	194.7	929.5	11.1	961	9890	0.15	2.38	0.00	0.000	4	0.112	0.054	3053	3896	2273
9930	0.65	215.7	925.0	9.3	963	9957	0.00	2.25	22.42	1.428	6	0.000	0.035	3053	2750	2190
10274	0.68	244.1	895.3	9.0	980	10307	0.00	0.00	31.05	1.465	6	0.000	0.000	3053	2749	2075
10602	0.71	264.6	865.6	9.3	996	10626	0.00	0.00	22.45	1.421	6	0.000	0.000	3053	2749	1992
10932	0.71	264.6	831.3	11.1	1012	10933	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2749	1989
11241	0.74	290.1	800.3	9.1	1027	11271	0.15	0.00	27.70	1.419	6	0.058	0.000	3083	2749	1888
11571	0.68	296.3	766.1	9.8	1043	11585	0.00	2.40	7.62	1.159	4	0.000	0.052	3082	3900	1863
11603	0.63	301.7	762.6	9.8	1044	11617	0.15	2.20	7.32	1.156	6	0.109	0.032	3061	2766	1841
11926	0.68	341.5	736.1	8.6	1060	11977	0.00	2.95	43.95	1.414	4	0.000	0.048	3061	1346	1676
11984	0.75	397.8	730.6	8.0	1062	12058	0.12	2.88	61.92	1.389	6	0.058	0.031	3086	2772	1447
12366	0.75	397.8	685.6	12.1	1081	12370	0.00	2.90	0.00	0.000	4	0.000	0.045	3086	1342	1439
12398	0.75	397.8	681.3	12.5	1082	12406	0.00	2.78	0.00	0.000	6	0.000	0.033	3086	2749	1439
12715	0.75	397.8	639.7	13.1	1098	12717	0.00	0.00	0.00	0.000	6	0.000	0.000	3086	2749	1438
13024	0.75	397.8	599.9	12.3	1113	13025	0.00	0.00	0.00	0.000	6	0.000	0.000	3086	2750	1437
13345	0.76	400.5	565.1	9.9	1143	13349	0.00	2.83	0.00	0.000	4	0.000	0.046	3086	1343	1437
13355	0.76	403.1	563.7	9.9	1143	13365	0.00	2.72	4.57	0.843	6	0.000	0.032	3086	2743	1426
13693	0.79	424.9	532.1	9.2	1175	13729	0.00	2.92	25.08	1.253	4	0.000	0.046	3086	1341	1337
13734	0.82	451.1	528.1	9.1	1178	13770	0.00	2.75	29.92	1.258	6	0.000	0.032	3086	2730	1231
14091	0.89	476.5	496.3	9.1	1211	14128	0.15	2.88	27.80	1.226	4	0.052	0.046	3124	1344	1126
14134	0.85	476.5	490.9	12.7	1214	14142	0.00	2.75	0.00	0.000	6	0.000	0.032	3123	2726	1126
14463	0.85	476.5	448.1	12.9	1245	14469	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2725	1123
14788	0.85	476.5	403.9	12.9	1276	14789	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2725	1122
15107	0.85	476.5	362.6	13.1	1306	15108	0.00	0.00	0.00	0.000	6	0.000	0.000	3123	2725	1121
15437	0.85	476.5	320.0	12.6	1356	15443	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2725	1121
15782	0.85	476.5	276.2	13.6	1417	15788	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2725	1121
16126	0.85	476.5	229.4	13.6	1478	16133	0.00	0.00	0.00	0.000	6	0.000	0.000	3123	2725	1120
16472	0.85	476.5	180.8	13.5	1539	16479	0.00	2.78	0.00	0.000	4	0.000	0.044	3124	1339	1120
16486	0.85	476.5	178.7	14.3	1541	16493	0.00	2.67	0.00	0.000	6	0.000	0.031	3124	2719	1119
16830	0.85	476.5	128.0	14.6	1602	16837	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2719	1120
17176	0.85	476.5	83.1	13.4	1663	17182	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2720	1120
17519	0.85	476.5	38.9	12.2	1724	17527	0.00	2.75	0.00	0.000	4	0.000	0.044	3124	1338	1119
17545	0.85	476.5	35.8	11.6	1728	17553	0.00	2.62	0.00	0.000	6	0.000	0.031	3124	2704	1119
17688	0.85	476.8	20.3	10.0	1753	17696	0.00	2.70	0.00	0.000	4	0.000	0.045	3124	1346	1119
17709	0.85	476.8	18.2	10.2	1756	17716	0.00	2.58	0.00	0.000	6	0.000	0.031	3124	2685	1119
17852	0.85	476.8	2.3	10.8	1781	17859	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2686	1119
17863	end climb: SURFACE_DEPTH_REACHED
state	17863	begin surface coast
17881	end surface coast: CONTROL_FINISHED_OK
state	17881	begin surface