Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 308 * 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 308 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 32 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 25 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 -18739.828 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 -18739.828

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 32 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 25 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 308 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 100707,6151.294,-2611.625,24,2.0,24,-18.8 TGT_NAME NW

_CALLS 3 TGT_LATLONG 6156.130,-2622.980

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.70 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 102326,6151.347,-2611.709,8,1.9,13,-18.8 MHEAD_RNG_PITCHd_Wd 335.4,13225,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.025898 _24V_AH 18.9,96.578

SM_CCo 18058,0.00,0.000,0,0,940,522.73 _10V_AH 9.8,65.404

SM_GC 0.63,8.73,0.00,0.00,0.046,0.000,0.000,1431,2295,940,-6.80,-0.14,522.73 DATA_FILE_SIZE 136248,1866

IRIDIUM_FIX 6130.75,-2609.41,020997,101027 CAP_FILE_SIZE 182582,0

TT8_MAMPS 0.026078 CFSIZE 260165632,227373056

HUMID 1819 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.87775 CURRENT 0.018,192.1,1

TCM_TEMP 16.40 GPS 080608,152622,6153.186,-2615.395,41,99.0,60,-18.8

XPDR_PINGS 973

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 252 118.04 SBE_CT 1315 24 596.88

Roll_motor 191 114 413.14 SBE_O2 1370 19 492.25

VBD_pump_during_apogee 773 1550 22669.30 Optode 724 33 451.87

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1691 105 3356.45

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 88 103 172.77 nil 0 0 0.00

Iridium_during_connect 170 160 516.98 nil 0 0 0.00

Iridium_during_xfer 434 223 1829.84

Transponder_ping 243 420 1930.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.35

TT8 3823 19 742.01

LPSleep 9671 2 207.58

TT8_Active 958 19 185.91

TT8_Sampling 3461 39 1350.27

TT8_CF8 1102 45 494.91

TT8_Kalman 0 0 0.00

Analog_circuits 2556 12 300.59

GPS_charging 0 0 0.00

Compass 3447 8 270.29

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.86 -194.7 0.0 0.0 0 163 0.00 0.00 -137.23 0.000 2 0.000 0.000 1429 2275 3604

167 -0.86 -194.7 3.2 -3.7 18 191 12.18 2.92 -6.65 0.000 4 0.252 0.051 2725 3703 3867

323 -0.79 -194.7 30.0 -13.8 44 331 0.12 2.72 0.00 0.000 6 0.140 0.032 2742 2303 3867

469 -0.74 -194.7 46.7 -10.9 69 476 0.00 2.80 0.00 0.000 4 0.000 0.048 2742 886 3868

563 -0.74 -194.7 57.5 -11.1 85 570 0.00 2.70 0.00 0.000 6 0.000 0.029 2742 2291 3867

905 -0.74 -194.7 96.3 -11.9 146 912 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2297 3868

1251 -0.74 -194.7 135.9 -11.5 207 1258 0.00 2.80 0.00 0.000 4 0.000 0.044 2742 3707 3868

1315 -0.74 -194.7 143.6 -11.9 218 1322 0.00 2.80 0.00 0.000 6 0.000 0.033 2742 2267 3868

1661 -0.74 -194.7 183.4 -11.4 279 1668 0.00 2.75 0.00 0.000 4 0.000 0.050 2742 882 3868

1709 -0.74 -194.7 189.0 -11.3 287 1716 0.00 2.70 0.00 0.000 6 0.000 0.030 2742 2290 3867

2054 -0.74 -194.7 227.2 -11.3 348 2061 0.00 2.80 0.00 0.000 4 0.000 0.044 2742 3704 3868

2124 -0.74 -194.7 235.2 -11.1 360 2131 0.00 2.78 0.00 0.000 6 0.000 0.034 2742 2276 3868

2470 -0.74 -194.7 271.7 -9.9 421 2477 0.00 2.75 0.00 0.000 4 0.000 0.049 2742 895 3868

2523 -0.74 -194.7 277.1 -9.9 430 2530 0.00 2.67 0.00 0.000 6 0.000 0.031 2742 2285 3868

2870 -0.74 -194.7 312.9 -10.5 491 2877 0.00 2.83 0.00 0.000 4 0.000 0.046 2742 3706 3868

2957 -0.74 -194.7 321.7 -9.9 506 2964 0.00 2.75 0.00 0.000 6 0.000 0.033 2742 2291 3868

3297 -0.74 -194.7 357.4 -10.0 560 3298 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2291 3867

3616 -0.74 -194.7 391.5 -11.0 590 3617 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2291 3867

3934 -0.74 -194.7 430.0 -12.9 620 3935 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2290 3867

4253 -0.74 -194.7 469.1 -11.4 650 4254 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2291 3867

4571 -0.74 -194.7 502.8 -10.3 680 4576 0.00 2.83 0.00 0.000 4 0.000 0.046 2742 3700 3867

4634 -0.74 -194.7 508.8 -10.0 685 4639 0.00 2.72 0.00 0.000 6 0.000 0.035 2742 2311 3867

4963 -0.74 -194.7 541.5 -10.1 715 4967 0.00 2.85 0.00 0.000 4 0.000 0.051 2742 886 3866

5014 -0.74 -194.7 547.1 -9.9 719 5019 0.00 2.75 0.00 0.000 6 0.000 0.031 2742 2307 3866

5342 -0.74 -194.7 582.5 -10.8 749 5346 0.00 2.83 0.00 0.000 4 0.000 0.051 2742 3714 3866

5408 -0.74 -194.7 589.9 -10.6 754 5415 0.00 2.78 0.00 0.000 6 0.000 0.035 2742 2300 3866

5740 -0.74 -194.7 622.1 -8.9 775 5745 0.00 2.88 0.00 0.000 4 0.000 0.057 2742 883 3866

5781 -0.74 -194.7 625.8 -8.9 777 5785 0.00 2.80 0.00 0.000 6 0.000 0.033 2742 2320 3866

6108 -0.74 -194.7 655.4 -10.0 793 6112 0.00 2.85 0.00 0.000 4 0.000 0.058 2742 3712 3865

6170 -0.74 -194.7 661.9 -10.3 796 6175 0.00 2.80 0.00 0.000 6 0.000 0.041 2742 2313 3866

6497 -0.74 -194.7 695.1 -10.2 812 6501 0.00 2.95 0.00 0.000 4 0.000 0.065 2742 889 3865

6559 -0.74 -194.7 701.1 -10.1 815 6564 0.00 2.83 0.00 0.000 6 0.000 0.038 2742 2317 3865

6887 -0.74 -194.7 731.0 -9.9 831 6891 0.00 2.92 0.00 0.000 4 0.000 0.068 2742 3715 3865

6971 -0.74 -194.7 740.1 -11.5 835 6976 0.00 2.88 0.00 0.000 6 0.000 0.052 2742 2318 3865

7299 -0.74 -194.7 780.2 -12.3 851 7303 0.00 3.17 0.00 0.000 4 0.000 0.092 2742 886 3865

7348 -0.74 -194.7 787.1 -13.1 853 7353 0.00 3.00 0.00 0.000 6 0.000 0.065 2742 2309 3865

7665 -0.74 -194.7 821.7 -10.8 868 7666 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2311 3865

7975 -0.74 -194.7 851.5 -5.9 883 7980 0.00 3.33 0.00 0.000 4 0.000 0.114 2742 3712 3864

8042 -0.74 -194.7 855.1 -3.0 886 8047 0.00 3.20 0.00 0.000 6 0.000 0.100 2741 2331 3864

8363 -0.74 -194.7 882.2 -8.1 902 8368 0.00 3.33 0.00 0.000 4 0.000 0.104 2741 879 3863

8406 -0.74 -194.7 886.8 -10.5 904 8411 0.00 2.88 0.00 0.000 6 0.000 0.033 2741 2356 3864

8727 -0.74 -194.7 920.0 -11.3 920 8732 0.00 2.78 0.00 0.000 4 0.000 0.056 2742 3719 3863

8800 -0.74 -194.7 927.0 -9.6 923 8804 0.00 2.78 0.00 0.000 6 0.000 0.041 2741 2329 3863

9117 -1.07 -194.7 934.2 0.1 938 9122 0.28 3.03 0.00 0.000 4 0.064 0.067 2688 877 3862

9187 end dive: NO_VERTICAL_VELOCITY

state 9187 begin apogee

9197 -0.21 0.0 934.2 0.0 941 9409 0.98 0.00 209.18 1.550 6 0.077 0.000 2868 2766 3071

9410 end apogee: CONTROL_FINISHED_OK

state 9410 begin climb

9413 0.86 194.7 934.1 0.0 952 9638 1.40 2.58 214.45 1.486 4 0.079 0.057 3099 3900 2276

9689 0.72 194.7 909.7 12.4 964 9697 0.15 2.42 0.00 0.000 6 0.121 0.034 3079 2740 2274

10005 0.65 215.2 878.8 9.3 980 10032 0.00 2.42 21.98 1.370 4 0.000 0.053 3079 3895 2192

10045 0.57 215.2 874.7 10.4 982 10050 0.22 2.30 0.00 0.000 6 0.109 0.035 3045 2747 2191

10372 0.66 294.5 849.6 7.2 998 10458 0.00 0.00 83.65 1.457 6 0.000 0.000 3045 2745 1870

10762 0.84 392.9 821.2 6.6 1017 10874 0.25 3.10 104.90 1.441 4 0.048 0.050 3100 1336 1469

10882 0.78 392.9 806.3 13.4 1022 10887 0.00 2.95 0.00 0.000 6 0.000 0.032 3100 2749 1466

11203 0.73 392.9 765.8 13.6 1038 11208 0.00 2.33 0.00 0.000 4 0.000 0.053 3099 3894 1461

11231 0.73 392.9 761.6 13.9 1039 11235 0.00 2.25 0.00 0.000 6 0.000 0.033 3100 2745 1459

11547 0.69 392.9 723.3 11.8 1054 11552 0.15 2.83 0.00 0.000 4 0.105 0.049 3073 1342 1459

11559 0.69 392.9 721.8 11.7 1054 11567 0.00 2.78 0.00 0.000 6 0.000 0.034 3073 2750 1458

11876 0.77 424.2 694.2 8.9 1070 11920 0.00 2.97 32.85 1.353 4 0.000 0.048 3073 1344 1340

11927 0.88 463.1 689.8 8.7 1072 11977 0.20 2.80 44.33 1.355 6 0.048 0.033 3115 2743 1183

12293 0.88 463.1 645.7 11.9 1090 12294 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2743 1176

12603 0.88 463.1 606.8 12.9 1105 12604 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2743 1175

12919 0.88 463.1 566.5 12.7 1132 12923 0.00 2.83 0.00 0.000 4 0.000 0.048 3115 1342 1174

12937 0.88 463.1 564.4 12.6 1133 12941 0.00 2.75 0.00 0.000 6 0.000 0.032 3115 2749 1173

13262 0.88 463.1 525.2 11.7 1163 13267 0.00 2.85 0.00 0.000 4 0.000 0.047 3115 1336 1172

13279 0.88 463.1 523.1 12.0 1164 13283 0.00 2.72 0.00 0.000 6 0.000 0.031 3115 2734 1172

13604 0.88 463.1 484.1 11.6 1194 13608 0.00 2.80 0.00 0.000 4 0.000 0.047 3115 1343 1172

13621 0.88 463.1 482.1 11.7 1195 13626 0.00 2.67 0.00 0.000 6 0.000 0.031 3115 2724 1172

13946 0.88 463.1 444.1 11.9 1225 13947 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2725 1171

14266 0.88 463.1 406.5 12.2 1255 14271 0.00 2.78 0.00 0.000 4 0.000 0.046 3115 1345 1171

14277 0.88 463.1 404.7 12.0 1255 14284 0.00 2.65 0.00 0.000 6 0.000 0.031 3115 2710 1171

14602 0.88 463.1 366.7 11.9 1286 14603 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2711 1171

14930 0.88 463.1 328.5 11.0 1332 14937 0.00 2.75 0.00 0.000 4 0.000 0.046 3115 1342 1171

14944 0.88 463.1 326.8 12.2 1334 14951 0.00 2.65 0.00 0.000 6 0.000 0.030 3115 2710 1171

15290 0.88 463.1 286.9 11.5 1395 15296 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2709 1171

15634 0.88 463.1 245.6 11.6 1456 15641 0.00 2.75 0.00 0.000 4 0.000 0.045 3115 1341 1171

15648 0.88 463.1 243.9 12.0 1458 15655 0.00 2.62 0.00 0.000 6 0.000 0.031 3115 2697 1171

15993 0.88 463.1 203.5 11.0 1519 15999 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2697 1171

16338 0.88 463.1 165.0 10.6 1580 16346 0.00 2.72 0.00 0.000 4 0.000 0.045 3115 1339 1171

16352 0.88 463.1 163.2 10.6 1582 16360 0.00 2.62 0.00 0.000 6 0.000 0.031 3115 2693 1171

16696 0.88 463.1 126.6 10.1 1643 16703 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2693 1171

17039 0.89 470.7 93.4 9.7 1704 17054 0.00 2.75 7.03 0.782 4 0.000 0.044 3115 1334 1152

17061 0.92 491.9 91.4 9.3 1707 17095 0.00 2.60 24.30 0.977 6 0.000 0.031 3115 2681 1065

17434 0.92 491.9 54.8 11.2 1772 17440 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2682 1062

17778 1.00 521.4 22.6 9.0 1833 17815 0.10 2.80 31.12 0.943 4 0.061 0.045 3138 1336 945

17845 1.00 521.4 15.1 12.3 1843 17852 0.00 2.67 0.00 0.000 6 0.000 0.030 3138 2701 943

17958 end climb: SURFACE_DEPTH_REACHED

state 17958 begin surface coast

17978 end surface coast: CONTROL_FINISHED_OK

state 17979 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	308	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	32	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	25	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	-18739.828	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	100707,6151.294,-2611.625,24,2.0,24,-18.8	TGT_NAME	NW
_CALLS	3	TGT_LATLONG	6156.130,-2622.980
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.70	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	102326,6151.347,-2611.709,8,1.9,13,-18.8	MHEAD_RNG_PITCHd_Wd	335.4,13225,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.1,1.025898	_24V_AH	18.9,96.578
SM_CCo	18058,0.00,0.000,0,0,940,522.73	_10V_AH	9.8,65.404
SM_GC	0.63,8.73,0.00,0.00,0.046,0.000,0.000,1431,2295,940,-6.80,-0.14,522.73	DATA_FILE_SIZE	136248,1866
IRIDIUM_FIX	6130.75,-2609.41,020997,101027	CAP_FILE_SIZE	182582,0
TT8_MAMPS	0.026078	CFSIZE	260165632,227373056
HUMID	1819	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.87775	CURRENT	0.018,192.1,1
TCM_TEMP	16.40	GPS	080608,152622,6153.186,-2615.395,41,99.0,60,-18.8
XPDR_PINGS	973

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	252	118.04	SBE_CT	1315	24	596.88
Roll_motor	191	114	413.14	SBE_O2	1370	19	492.25
VBD_pump_during_apogee	773	1550	22669.30	Optode	724	33	451.87
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1691	105	3356.45
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	88	103	172.77	nil	0	0	0.00
Iridium_during_connect	170	160	516.98	nil	0	0	0.00
Iridium_during_xfer	434	223	1829.84
Transponder_ping	243	420	1930.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.35
TT8	3823	19	742.01
LPSleep	9671	2	207.58
TT8_Active	958	19	185.91
TT8_Sampling	3461	39	1350.27
TT8_CF8	1102	45	494.91
TT8_Kalman	0	0	0.00
Analog_circuits	2556	12	300.59
GPS_charging	0	0	0.00
Compass	3447	8	270.29
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.86	-194.7	0.0	0.0	0	163	0.00	0.00	-137.23	0.000	2	0.000	0.000	1429	2275	3604
167	-0.86	-194.7	3.2	-3.7	18	191	12.18	2.92	-6.65	0.000	4	0.252	0.051	2725	3703	3867
323	-0.79	-194.7	30.0	-13.8	44	331	0.12	2.72	0.00	0.000	6	0.140	0.032	2742	2303	3867
469	-0.74	-194.7	46.7	-10.9	69	476	0.00	2.80	0.00	0.000	4	0.000	0.048	2742	886	3868
563	-0.74	-194.7	57.5	-11.1	85	570	0.00	2.70	0.00	0.000	6	0.000	0.029	2742	2291	3867
905	-0.74	-194.7	96.3	-11.9	146	912	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2297	3868
1251	-0.74	-194.7	135.9	-11.5	207	1258	0.00	2.80	0.00	0.000	4	0.000	0.044	2742	3707	3868
1315	-0.74	-194.7	143.6	-11.9	218	1322	0.00	2.80	0.00	0.000	6	0.000	0.033	2742	2267	3868
1661	-0.74	-194.7	183.4	-11.4	279	1668	0.00	2.75	0.00	0.000	4	0.000	0.050	2742	882	3868
1709	-0.74	-194.7	189.0	-11.3	287	1716	0.00	2.70	0.00	0.000	6	0.000	0.030	2742	2290	3867
2054	-0.74	-194.7	227.2	-11.3	348	2061	0.00	2.80	0.00	0.000	4	0.000	0.044	2742	3704	3868
2124	-0.74	-194.7	235.2	-11.1	360	2131	0.00	2.78	0.00	0.000	6	0.000	0.034	2742	2276	3868
2470	-0.74	-194.7	271.7	-9.9	421	2477	0.00	2.75	0.00	0.000	4	0.000	0.049	2742	895	3868
2523	-0.74	-194.7	277.1	-9.9	430	2530	0.00	2.67	0.00	0.000	6	0.000	0.031	2742	2285	3868
2870	-0.74	-194.7	312.9	-10.5	491	2877	0.00	2.83	0.00	0.000	4	0.000	0.046	2742	3706	3868
2957	-0.74	-194.7	321.7	-9.9	506	2964	0.00	2.75	0.00	0.000	6	0.000	0.033	2742	2291	3868
3297	-0.74	-194.7	357.4	-10.0	560	3298	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2291	3867
3616	-0.74	-194.7	391.5	-11.0	590	3617	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2291	3867
3934	-0.74	-194.7	430.0	-12.9	620	3935	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2290	3867
4253	-0.74	-194.7	469.1	-11.4	650	4254	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2291	3867
4571	-0.74	-194.7	502.8	-10.3	680	4576	0.00	2.83	0.00	0.000	4	0.000	0.046	2742	3700	3867
4634	-0.74	-194.7	508.8	-10.0	685	4639	0.00	2.72	0.00	0.000	6	0.000	0.035	2742	2311	3867
4963	-0.74	-194.7	541.5	-10.1	715	4967	0.00	2.85	0.00	0.000	4	0.000	0.051	2742	886	3866
5014	-0.74	-194.7	547.1	-9.9	719	5019	0.00	2.75	0.00	0.000	6	0.000	0.031	2742	2307	3866
5342	-0.74	-194.7	582.5	-10.8	749	5346	0.00	2.83	0.00	0.000	4	0.000	0.051	2742	3714	3866
5408	-0.74	-194.7	589.9	-10.6	754	5415	0.00	2.78	0.00	0.000	6	0.000	0.035	2742	2300	3866
5740	-0.74	-194.7	622.1	-8.9	775	5745	0.00	2.88	0.00	0.000	4	0.000	0.057	2742	883	3866
5781	-0.74	-194.7	625.8	-8.9	777	5785	0.00	2.80	0.00	0.000	6	0.000	0.033	2742	2320	3866
6108	-0.74	-194.7	655.4	-10.0	793	6112	0.00	2.85	0.00	0.000	4	0.000	0.058	2742	3712	3865
6170	-0.74	-194.7	661.9	-10.3	796	6175	0.00	2.80	0.00	0.000	6	0.000	0.041	2742	2313	3866
6497	-0.74	-194.7	695.1	-10.2	812	6501	0.00	2.95	0.00	0.000	4	0.000	0.065	2742	889	3865
6559	-0.74	-194.7	701.1	-10.1	815	6564	0.00	2.83	0.00	0.000	6	0.000	0.038	2742	2317	3865
6887	-0.74	-194.7	731.0	-9.9	831	6891	0.00	2.92	0.00	0.000	4	0.000	0.068	2742	3715	3865
6971	-0.74	-194.7	740.1	-11.5	835	6976	0.00	2.88	0.00	0.000	6	0.000	0.052	2742	2318	3865
7299	-0.74	-194.7	780.2	-12.3	851	7303	0.00	3.17	0.00	0.000	4	0.000	0.092	2742	886	3865
7348	-0.74	-194.7	787.1	-13.1	853	7353	0.00	3.00	0.00	0.000	6	0.000	0.065	2742	2309	3865
7665	-0.74	-194.7	821.7	-10.8	868	7666	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2311	3865
7975	-0.74	-194.7	851.5	-5.9	883	7980	0.00	3.33	0.00	0.000	4	0.000	0.114	2742	3712	3864
8042	-0.74	-194.7	855.1	-3.0	886	8047	0.00	3.20	0.00	0.000	6	0.000	0.100	2741	2331	3864
8363	-0.74	-194.7	882.2	-8.1	902	8368	0.00	3.33	0.00	0.000	4	0.000	0.104	2741	879	3863
8406	-0.74	-194.7	886.8	-10.5	904	8411	0.00	2.88	0.00	0.000	6	0.000	0.033	2741	2356	3864
8727	-0.74	-194.7	920.0	-11.3	920	8732	0.00	2.78	0.00	0.000	4	0.000	0.056	2742	3719	3863
8800	-0.74	-194.7	927.0	-9.6	923	8804	0.00	2.78	0.00	0.000	6	0.000	0.041	2741	2329	3863
9117	-1.07	-194.7	934.2	0.1	938	9122	0.28	3.03	0.00	0.000	4	0.064	0.067	2688	877	3862
9187	end dive: NO_VERTICAL_VELOCITY
state	9187	begin apogee
9197	-0.21	0.0	934.2	0.0	941	9409	0.98	0.00	209.18	1.550	6	0.077	0.000	2868	2766	3071
9410	end apogee: CONTROL_FINISHED_OK
state	9410	begin climb
9413	0.86	194.7	934.1	0.0	952	9638	1.40	2.58	214.45	1.486	4	0.079	0.057	3099	3900	2276
9689	0.72	194.7	909.7	12.4	964	9697	0.15	2.42	0.00	0.000	6	0.121	0.034	3079	2740	2274
10005	0.65	215.2	878.8	9.3	980	10032	0.00	2.42	21.98	1.370	4	0.000	0.053	3079	3895	2192
10045	0.57	215.2	874.7	10.4	982	10050	0.22	2.30	0.00	0.000	6	0.109	0.035	3045	2747	2191
10372	0.66	294.5	849.6	7.2	998	10458	0.00	0.00	83.65	1.457	6	0.000	0.000	3045	2745	1870
10762	0.84	392.9	821.2	6.6	1017	10874	0.25	3.10	104.90	1.441	4	0.048	0.050	3100	1336	1469
10882	0.78	392.9	806.3	13.4	1022	10887	0.00	2.95	0.00	0.000	6	0.000	0.032	3100	2749	1466
11203	0.73	392.9	765.8	13.6	1038	11208	0.00	2.33	0.00	0.000	4	0.000	0.053	3099	3894	1461
11231	0.73	392.9	761.6	13.9	1039	11235	0.00	2.25	0.00	0.000	6	0.000	0.033	3100	2745	1459
11547	0.69	392.9	723.3	11.8	1054	11552	0.15	2.83	0.00	0.000	4	0.105	0.049	3073	1342	1459
11559	0.69	392.9	721.8	11.7	1054	11567	0.00	2.78	0.00	0.000	6	0.000	0.034	3073	2750	1458
11876	0.77	424.2	694.2	8.9	1070	11920	0.00	2.97	32.85	1.353	4	0.000	0.048	3073	1344	1340
11927	0.88	463.1	689.8	8.7	1072	11977	0.20	2.80	44.33	1.355	6	0.048	0.033	3115	2743	1183
12293	0.88	463.1	645.7	11.9	1090	12294	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2743	1176
12603	0.88	463.1	606.8	12.9	1105	12604	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2743	1175
12919	0.88	463.1	566.5	12.7	1132	12923	0.00	2.83	0.00	0.000	4	0.000	0.048	3115	1342	1174
12937	0.88	463.1	564.4	12.6	1133	12941	0.00	2.75	0.00	0.000	6	0.000	0.032	3115	2749	1173
13262	0.88	463.1	525.2	11.7	1163	13267	0.00	2.85	0.00	0.000	4	0.000	0.047	3115	1336	1172
13279	0.88	463.1	523.1	12.0	1164	13283	0.00	2.72	0.00	0.000	6	0.000	0.031	3115	2734	1172
13604	0.88	463.1	484.1	11.6	1194	13608	0.00	2.80	0.00	0.000	4	0.000	0.047	3115	1343	1172
13621	0.88	463.1	482.1	11.7	1195	13626	0.00	2.67	0.00	0.000	6	0.000	0.031	3115	2724	1172
13946	0.88	463.1	444.1	11.9	1225	13947	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2725	1171
14266	0.88	463.1	406.5	12.2	1255	14271	0.00	2.78	0.00	0.000	4	0.000	0.046	3115	1345	1171
14277	0.88	463.1	404.7	12.0	1255	14284	0.00	2.65	0.00	0.000	6	0.000	0.031	3115	2710	1171
14602	0.88	463.1	366.7	11.9	1286	14603	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2711	1171
14930	0.88	463.1	328.5	11.0	1332	14937	0.00	2.75	0.00	0.000	4	0.000	0.046	3115	1342	1171
14944	0.88	463.1	326.8	12.2	1334	14951	0.00	2.65	0.00	0.000	6	0.000	0.030	3115	2710	1171
15290	0.88	463.1	286.9	11.5	1395	15296	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2709	1171
15634	0.88	463.1	245.6	11.6	1456	15641	0.00	2.75	0.00	0.000	4	0.000	0.045	3115	1341	1171
15648	0.88	463.1	243.9	12.0	1458	15655	0.00	2.62	0.00	0.000	6	0.000	0.031	3115	2697	1171
15993	0.88	463.1	203.5	11.0	1519	15999	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2697	1171
16338	0.88	463.1	165.0	10.6	1580	16346	0.00	2.72	0.00	0.000	4	0.000	0.045	3115	1339	1171
16352	0.88	463.1	163.2	10.6	1582	16360	0.00	2.62	0.00	0.000	6	0.000	0.031	3115	2693	1171
16696	0.88	463.1	126.6	10.1	1643	16703	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2693	1171
17039	0.89	470.7	93.4	9.7	1704	17054	0.00	2.75	7.03	0.782	4	0.000	0.044	3115	1334	1152
17061	0.92	491.9	91.4	9.3	1707	17095	0.00	2.60	24.30	0.977	6	0.000	0.031	3115	2681	1065
17434	0.92	491.9	54.8	11.2	1772	17440	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2682	1062
17778	1.00	521.4	22.6	9.0	1833	17815	0.10	2.80	31.12	0.943	4	0.061	0.045	3138	1336	945
17845	1.00	521.4	15.1	12.3	1843	17852	0.00	2.67	0.00	0.000	6	0.000	0.030	3138	2701	943
17958	end climb: SURFACE_DEPTH_REACHED
state	17958	begin surface coast
17978	end surface coast: CONTROL_FINISHED_OK
state	17979	begin surface