Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 328 * 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 328 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 24 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 -19117.691 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 -19117.691

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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 24 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 328 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 071502,6145.052,-2606.458,38,2.0,38,-18.7 TGT_NAME SE

_CALLS 1 TGT_LATLONG 6145.370,-2600.200

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 072238,6145.008,-2606.559,9,1.7,9,-18.7 MHEAD_RNG_PITCHd_Wd 105.0,5613,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.025209 _24V_AH 18.9,102.414

SM_CCo 19470,0.00,0.000,0,0,1262,443.75 _10V_AH 9.9,68.575

SM_GC 0.93,8.52,0.00,0.00,0.044,0.000,0.000,1432,2292,1262,-6.79,-0.23,443.75 DATA_FILE_SIZE 139143,1930

IRIDIUM_FIX 6121.73,-2603.39,060997,010132 CAP_FILE_SIZE 170284,0

TT8_MAMPS 0.026845 CFSIZE 260165632,225611776

HUMID 1843 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89728 CURRENT 0.131,259.5,1

TCM_TEMP 15.20 GPS 120608,124857,6144.768,-2603.055,32,2.2,51,-18.6

XPDR_PINGS 1048

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 247 110.62 SBE_CT 1333 24 604.76

Roll_motor 136 56 146.29 SBE_O2 1447 19 519.75

VBD_pump_during_apogee 690 1588 20723.32 Optode 692 33 432.10

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1701 105 3376.59

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 25 103 49.18 nil 0 0 0.00

Iridium_during_connect 31 160 95.68 nil 0 0 0.00

Iridium_during_xfer 243 223 1026.16

Transponder_ping 262 420 2079.76

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.43

TT8 3880 19 760.63

LPSleep 10999 2 238.49

TT8_Active 904 19 177.34

TT8_Sampling 3425 39 1349.69

TT8_CF8 695 45 315.35

TT8_Kalman 0 0 0.00

Analog_circuits 2458 12 292.10

GPS_charging 0 0 0.00

Compass 3418 8 270.74

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.86 -194.7 0.0 0.0 0 153 0.00 0.00 -128.15 0.000 2 0.000 0.000 1431 2280 3583

156 -0.86 -194.7 3.6 -4.1 17 186 11.98 2.85 -7.20 0.000 4 0.248 0.054 2725 884 3867

245 -0.82 -194.7 20.8 -13.5 31 252 0.00 2.72 0.00 0.000 6 0.000 0.029 2725 2307 3867

389 -0.74 -194.7 43.0 -15.6 56 396 0.15 0.00 0.00 0.000 6 0.146 0.000 2749 2307 3867

532 -0.74 -194.7 62.1 -13.2 81 538 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2307 3868

874 -0.74 -194.7 100.8 -11.8 142 881 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2307 3868

1219 -0.74 -194.7 140.0 -11.0 203 1225 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2307 3868

1564 -0.74 -194.7 178.7 -11.4 264 1571 0.00 2.75 0.00 0.000 4 0.000 0.044 2749 3703 3868

1595 -0.74 -194.7 182.3 -12.0 269 1603 0.00 2.75 0.00 0.000 6 0.000 0.032 2749 2288 3868

1940 -0.74 -194.7 222.7 -11.8 330 1947 0.00 2.83 0.00 0.000 4 0.000 0.044 2749 3702 3868

1960 -0.74 -194.7 225.0 -11.4 333 1967 0.00 2.72 0.00 0.000 6 0.000 0.032 2750 2300 3868

2305 -0.74 -194.7 264.8 -10.9 394 2312 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2299 3868

2650 -0.74 -194.7 303.6 -11.3 455 2657 0.00 2.83 0.00 0.000 4 0.000 0.044 2749 3710 3868

2686 -0.74 -194.7 307.7 -11.7 461 2693 0.00 2.75 0.00 0.000 6 0.000 0.032 2749 2297 3868

3031 -0.74 -194.7 345.2 -10.8 522 3040 0.00 2.83 0.00 0.000 4 0.000 0.044 2749 3710 3868

3053 -0.74 -194.7 347.4 -10.3 525 3060 0.00 2.72 0.00 0.000 6 0.000 0.033 2749 2311 3868

3388 -0.74 -194.7 382.2 -11.1 558 3392 0.00 2.80 0.00 0.000 4 0.000 0.044 2749 3709 3867

3409 -0.74 -194.7 384.9 -10.9 559 3416 0.00 2.70 0.00 0.000 6 0.000 0.032 2749 2318 3868

3736 -0.74 -194.7 418.7 -10.1 590 3737 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2316 3868

4053 -0.74 -194.7 449.7 -9.7 620 4058 0.00 2.80 0.00 0.000 4 0.000 0.046 2749 3707 3868

4071 -0.74 -194.7 451.3 -9.1 621 4076 0.00 2.72 0.00 0.000 6 0.000 0.033 2749 2310 3868

4399 -0.74 -194.7 480.1 -8.3 651 4403 0.00 2.80 0.00 0.000 4 0.000 0.047 2749 3701 3868

4429 -0.74 -194.7 482.8 -8.6 653 4433 0.00 2.70 0.00 0.000 6 0.000 0.032 2749 2317 3868

4757 -0.74 -194.7 507.9 -7.4 683 4763 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2316 3868

5082 -0.74 -194.7 532.2 -7.7 714 5087 0.00 2.80 0.00 0.000 4 0.000 0.047 2749 3705 3867

5104 -0.74 -194.7 534.0 -7.6 715 5111 0.00 2.70 0.00 0.000 6 0.000 0.032 2749 2318 3867

5433 -0.74 -194.7 558.5 -7.6 746 5440 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2317 3867

5759 -0.74 -194.7 586.4 -9.0 777 5763 0.00 2.83 0.00 0.000 4 0.000 0.050 2749 3709 3867

5793 -0.74 -194.7 589.6 -9.7 779 5801 0.00 2.70 0.00 0.000 6 0.000 0.034 2749 2330 3867

6112 -0.74 -194.7 620.4 -9.8 800 6114 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2329 3867

6423 -0.74 -194.7 648.5 -8.5 815 6427 0.00 2.83 0.00 0.000 4 0.000 0.056 2749 3700 3866

6455 -0.74 -194.7 651.7 -9.7 816 6463 0.00 2.70 0.00 0.000 6 0.000 0.038 2749 2335 3866

6771 -0.74 -194.7 682.5 -10.2 832 6772 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2334 3866

7081 -0.74 -194.7 715.6 -9.9 847 7082 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2334 3866

7390 -0.74 -194.7 744.2 -9.3 862 7391 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2334 3866

7699 -0.74 -194.7 773.6 -10.0 877 7700 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2334 3866

8008 -0.74 -194.7 805.3 -10.2 892 8009 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2333 3865

8318 -0.74 -194.7 836.1 -10.5 907 8319 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2334 3865

8626 -0.74 -194.7 869.6 -10.8 922 8627 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2334 3865

8937 -0.74 -194.7 902.4 -10.6 937 8939 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2334 3865

9245 -0.74 -194.7 934.9 -10.3 952 9247 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2333 3864

9554 -0.74 -194.7 965.2 -10.2 967 9555 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2327 3863

9820 end dive: TARGET_DEPTH_EXCEEDED

state 9820 begin apogee

9827 -0.21 0.0 992.0 9.7 980 10043 0.77 0.00 212.43 1.588 6 0.140 0.000 2868 2744 3071

10044 end apogee: CONTROL_FINISHED_OK

state 10044 begin climb

10047 0.86 194.7 999.5 0.0 991 10276 1.42 2.62 217.75 1.529 4 0.084 0.057 3101 3894 2276

10373 0.72 194.7 966.9 13.8 1006 10378 0.15 2.35 0.00 0.000 6 0.122 0.035 3081 2747 2274

10700 0.62 194.7 926.8 12.1 1022 10702 0.15 0.00 0.00 0.000 6 0.114 0.000 3059 2746 2273

11010 0.62 194.7 893.7 10.7 1037 11011 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2746 2272

11319 0.57 194.7 860.0 10.6 1052 11320 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2746 2272

11628 0.57 194.7 826.5 11.1 1067 11629 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2746 2272

11938 0.53 194.7 790.7 11.4 1082 11940 0.12 0.00 0.00 0.000 6 0.115 0.000 3040 2745 2271

12247 0.61 259.0 763.8 7.8 1097 12316 0.00 0.00 66.85 1.441 6 0.000 0.000 3039 2745 2015

12617 0.78 349.7 737.4 6.9 1115 12720 0.22 3.00 95.85 1.410 4 0.048 0.048 3090 1333 1644

12759 0.78 349.7 722.9 11.2 1121 12764 0.00 2.90 0.00 0.000 6 0.000 0.032 3090 2755 1640

13075 0.78 349.7 692.9 10.4 1136 13079 0.00 2.30 0.00 0.000 4 0.000 0.052 3090 3896 1637

13103 0.78 349.7 689.8 10.5 1137 13107 0.00 2.25 0.00 0.000 6 0.000 0.032 3090 2737 1636

13418 0.78 349.7 657.3 10.0 1152 13423 0.00 2.80 0.00 0.000 4 0.000 0.047 3090 1336 1635

13451 0.78 349.7 653.7 10.4 1153 13459 0.00 2.78 0.00 0.000 6 0.000 0.033 3090 2754 1634

13769 0.81 374.3 623.5 9.1 1169 13796 0.00 0.00 25.17 1.295 6 0.000 0.000 3090 2754 1545

14098 0.89 440.1 596.7 7.7 1187 14181 0.12 3.03 72.22 1.325 4 0.057 0.046 3117 1341 1275

14210 0.89 440.1 585.2 10.6 1196 14217 0.00 2.83 0.00 0.000 6 0.000 0.031 3117 2746 1272

14537 0.89 440.1 551.5 10.9 1227 14538 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2747 1267

14854 0.89 440.1 516.3 11.4 1257 14855 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2747 1267

15171 0.89 440.1 480.5 10.8 1287 15176 0.00 2.83 0.00 0.000 4 0.000 0.045 3117 1336 1266

15215 0.89 440.1 475.2 12.2 1290 15223 0.00 2.72 0.00 0.000 6 0.000 0.031 3117 2743 1265

15543 0.89 440.1 439.4 10.9 1321 15549 0.00 0.00 0.00 0.000 6 0.000 0.000 3118 2743 1265

15868 0.89 440.1 403.8 10.9 1352 15873 0.00 2.83 0.00 0.000 4 0.000 0.044 3117 1335 1264

15912 0.89 440.1 398.5 11.5 1355 15919 0.00 2.70 0.00 0.000 6 0.000 0.031 3117 2727 1264

16239 0.89 440.1 362.7 11.3 1386 16240 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2727 1264

16567 0.89 440.1 325.1 11.2 1435 16574 0.00 2.78 0.00 0.000 4 0.000 0.045 3117 1343 1264

16597 0.89 440.1 321.2 11.8 1440 16605 0.00 2.67 0.00 0.000 6 0.000 0.031 3117 2722 1264

16943 0.89 440.1 280.7 12.7 1501 16950 0.00 2.33 0.00 0.000 4 0.000 0.048 3117 3895 1264

16968 0.89 440.1 277.5 12.7 1505 16976 0.00 2.28 0.00 0.000 6 0.000 0.030 3117 2708 1263

17314 0.89 440.1 234.5 12.4 1566 17322 0.00 2.70 0.00 0.000 4 0.000 0.045 3117 1347 1263

17351 0.89 440.1 229.9 12.4 1572 17359 0.00 2.62 0.00 0.000 6 0.000 0.029 3117 2709 1263

17698 0.89 440.1 189.1 12.6 1633 17704 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2709 1263

18041 0.89 440.1 147.3 13.3 1694 18049 0.00 2.75 0.00 0.000 4 0.000 0.045 3118 1337 1263

18073 0.89 440.1 143.6 12.7 1699 18081 0.00 2.65 0.00 0.000 6 0.000 0.031 3117 2706 1263

18418 0.89 440.1 103.3 11.6 1760 18424 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2706 1263

18762 0.89 440.1 64.5 11.8 1821 18769 0.00 2.72 0.00 0.000 4 0.000 0.045 3118 1348 1263

18794 0.89 440.1 61.2 11.1 1826 18802 0.00 2.60 0.00 0.000 6 0.000 0.030 3117 2699 1263

19138 0.89 440.1 25.8 10.3 1887 19145 0.00 2.35 0.00 0.000 4 0.000 0.047 3118 3894 1263

19169 0.89 440.1 22.5 10.9 1892 19177 0.00 2.30 0.00 0.000 6 0.000 0.031 3117 2689 1262

19312 0.89 440.1 7.9 10.5 1917 19319 0.00 2.67 0.00 0.000 4 0.000 0.047 3118 1338 1262

19360 0.89 440.1 2.6 11.7 1925 19368 0.00 2.55 0.00 0.000 6 0.000 0.030 3118 2667 1262

19373 end climb: SURFACE_DEPTH_REACHED

state 19373 begin surface coast

19390 end surface coast: CONTROL_FINISHED_OK

state 19390 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	328	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	24	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	-19117.691	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	071502,6145.052,-2606.458,38,2.0,38,-18.7	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	6145.370,-2600.200
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	072238,6145.008,-2606.559,9,1.7,9,-18.7	MHEAD_RNG_PITCHd_Wd	105.0,5613,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.3,1.025209	_24V_AH	18.9,102.414
SM_CCo	19470,0.00,0.000,0,0,1262,443.75	_10V_AH	9.9,68.575
SM_GC	0.93,8.52,0.00,0.00,0.044,0.000,0.000,1432,2292,1262,-6.79,-0.23,443.75	DATA_FILE_SIZE	139143,1930
IRIDIUM_FIX	6121.73,-2603.39,060997,010132	CAP_FILE_SIZE	170284,0
TT8_MAMPS	0.026845	CFSIZE	260165632,225611776
HUMID	1843	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89728	CURRENT	0.131,259.5,1
TCM_TEMP	15.20	GPS	120608,124857,6144.768,-2603.055,32,2.2,51,-18.6
XPDR_PINGS	1048

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	247	110.62	SBE_CT	1333	24	604.76
Roll_motor	136	56	146.29	SBE_O2	1447	19	519.75
VBD_pump_during_apogee	690	1588	20723.32	Optode	692	33	432.10
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1701	105	3376.59
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	25	103	49.18	nil	0	0	0.00
Iridium_during_connect	31	160	95.68	nil	0	0	0.00
Iridium_during_xfer	243	223	1026.16
Transponder_ping	262	420	2079.76
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.43
TT8	3880	19	760.63
LPSleep	10999	2	238.49
TT8_Active	904	19	177.34
TT8_Sampling	3425	39	1349.69
TT8_CF8	695	45	315.35
TT8_Kalman	0	0	0.00
Analog_circuits	2458	12	292.10
GPS_charging	0	0	0.00
Compass	3418	8	270.74
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.86	-194.7	0.0	0.0	0	153	0.00	0.00	-128.15	0.000	2	0.000	0.000	1431	2280	3583
156	-0.86	-194.7	3.6	-4.1	17	186	11.98	2.85	-7.20	0.000	4	0.248	0.054	2725	884	3867
245	-0.82	-194.7	20.8	-13.5	31	252	0.00	2.72	0.00	0.000	6	0.000	0.029	2725	2307	3867
389	-0.74	-194.7	43.0	-15.6	56	396	0.15	0.00	0.00	0.000	6	0.146	0.000	2749	2307	3867
532	-0.74	-194.7	62.1	-13.2	81	538	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2307	3868
874	-0.74	-194.7	100.8	-11.8	142	881	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2307	3868
1219	-0.74	-194.7	140.0	-11.0	203	1225	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2307	3868
1564	-0.74	-194.7	178.7	-11.4	264	1571	0.00	2.75	0.00	0.000	4	0.000	0.044	2749	3703	3868
1595	-0.74	-194.7	182.3	-12.0	269	1603	0.00	2.75	0.00	0.000	6	0.000	0.032	2749	2288	3868
1940	-0.74	-194.7	222.7	-11.8	330	1947	0.00	2.83	0.00	0.000	4	0.000	0.044	2749	3702	3868
1960	-0.74	-194.7	225.0	-11.4	333	1967	0.00	2.72	0.00	0.000	6	0.000	0.032	2750	2300	3868
2305	-0.74	-194.7	264.8	-10.9	394	2312	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2299	3868
2650	-0.74	-194.7	303.6	-11.3	455	2657	0.00	2.83	0.00	0.000	4	0.000	0.044	2749	3710	3868
2686	-0.74	-194.7	307.7	-11.7	461	2693	0.00	2.75	0.00	0.000	6	0.000	0.032	2749	2297	3868
3031	-0.74	-194.7	345.2	-10.8	522	3040	0.00	2.83	0.00	0.000	4	0.000	0.044	2749	3710	3868
3053	-0.74	-194.7	347.4	-10.3	525	3060	0.00	2.72	0.00	0.000	6	0.000	0.033	2749	2311	3868
3388	-0.74	-194.7	382.2	-11.1	558	3392	0.00	2.80	0.00	0.000	4	0.000	0.044	2749	3709	3867
3409	-0.74	-194.7	384.9	-10.9	559	3416	0.00	2.70	0.00	0.000	6	0.000	0.032	2749	2318	3868
3736	-0.74	-194.7	418.7	-10.1	590	3737	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2316	3868
4053	-0.74	-194.7	449.7	-9.7	620	4058	0.00	2.80	0.00	0.000	4	0.000	0.046	2749	3707	3868
4071	-0.74	-194.7	451.3	-9.1	621	4076	0.00	2.72	0.00	0.000	6	0.000	0.033	2749	2310	3868
4399	-0.74	-194.7	480.1	-8.3	651	4403	0.00	2.80	0.00	0.000	4	0.000	0.047	2749	3701	3868
4429	-0.74	-194.7	482.8	-8.6	653	4433	0.00	2.70	0.00	0.000	6	0.000	0.032	2749	2317	3868
4757	-0.74	-194.7	507.9	-7.4	683	4763	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2316	3868
5082	-0.74	-194.7	532.2	-7.7	714	5087	0.00	2.80	0.00	0.000	4	0.000	0.047	2749	3705	3867
5104	-0.74	-194.7	534.0	-7.6	715	5111	0.00	2.70	0.00	0.000	6	0.000	0.032	2749	2318	3867
5433	-0.74	-194.7	558.5	-7.6	746	5440	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2317	3867
5759	-0.74	-194.7	586.4	-9.0	777	5763	0.00	2.83	0.00	0.000	4	0.000	0.050	2749	3709	3867
5793	-0.74	-194.7	589.6	-9.7	779	5801	0.00	2.70	0.00	0.000	6	0.000	0.034	2749	2330	3867
6112	-0.74	-194.7	620.4	-9.8	800	6114	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2329	3867
6423	-0.74	-194.7	648.5	-8.5	815	6427	0.00	2.83	0.00	0.000	4	0.000	0.056	2749	3700	3866
6455	-0.74	-194.7	651.7	-9.7	816	6463	0.00	2.70	0.00	0.000	6	0.000	0.038	2749	2335	3866
6771	-0.74	-194.7	682.5	-10.2	832	6772	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2334	3866
7081	-0.74	-194.7	715.6	-9.9	847	7082	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2334	3866
7390	-0.74	-194.7	744.2	-9.3	862	7391	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2334	3866
7699	-0.74	-194.7	773.6	-10.0	877	7700	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2334	3866
8008	-0.74	-194.7	805.3	-10.2	892	8009	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2333	3865
8318	-0.74	-194.7	836.1	-10.5	907	8319	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2334	3865
8626	-0.74	-194.7	869.6	-10.8	922	8627	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2334	3865
8937	-0.74	-194.7	902.4	-10.6	937	8939	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2334	3865
9245	-0.74	-194.7	934.9	-10.3	952	9247	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2333	3864
9554	-0.74	-194.7	965.2	-10.2	967	9555	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2327	3863
9820	end dive: TARGET_DEPTH_EXCEEDED
state	9820	begin apogee
9827	-0.21	0.0	992.0	9.7	980	10043	0.77	0.00	212.43	1.588	6	0.140	0.000	2868	2744	3071
10044	end apogee: CONTROL_FINISHED_OK
state	10044	begin climb
10047	0.86	194.7	999.5	0.0	991	10276	1.42	2.62	217.75	1.529	4	0.084	0.057	3101	3894	2276
10373	0.72	194.7	966.9	13.8	1006	10378	0.15	2.35	0.00	0.000	6	0.122	0.035	3081	2747	2274
10700	0.62	194.7	926.8	12.1	1022	10702	0.15	0.00	0.00	0.000	6	0.114	0.000	3059	2746	2273
11010	0.62	194.7	893.7	10.7	1037	11011	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2746	2272
11319	0.57	194.7	860.0	10.6	1052	11320	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2746	2272
11628	0.57	194.7	826.5	11.1	1067	11629	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2746	2272
11938	0.53	194.7	790.7	11.4	1082	11940	0.12	0.00	0.00	0.000	6	0.115	0.000	3040	2745	2271
12247	0.61	259.0	763.8	7.8	1097	12316	0.00	0.00	66.85	1.441	6	0.000	0.000	3039	2745	2015
12617	0.78	349.7	737.4	6.9	1115	12720	0.22	3.00	95.85	1.410	4	0.048	0.048	3090	1333	1644
12759	0.78	349.7	722.9	11.2	1121	12764	0.00	2.90	0.00	0.000	6	0.000	0.032	3090	2755	1640
13075	0.78	349.7	692.9	10.4	1136	13079	0.00	2.30	0.00	0.000	4	0.000	0.052	3090	3896	1637
13103	0.78	349.7	689.8	10.5	1137	13107	0.00	2.25	0.00	0.000	6	0.000	0.032	3090	2737	1636
13418	0.78	349.7	657.3	10.0	1152	13423	0.00	2.80	0.00	0.000	4	0.000	0.047	3090	1336	1635
13451	0.78	349.7	653.7	10.4	1153	13459	0.00	2.78	0.00	0.000	6	0.000	0.033	3090	2754	1634
13769	0.81	374.3	623.5	9.1	1169	13796	0.00	0.00	25.17	1.295	6	0.000	0.000	3090	2754	1545
14098	0.89	440.1	596.7	7.7	1187	14181	0.12	3.03	72.22	1.325	4	0.057	0.046	3117	1341	1275
14210	0.89	440.1	585.2	10.6	1196	14217	0.00	2.83	0.00	0.000	6	0.000	0.031	3117	2746	1272
14537	0.89	440.1	551.5	10.9	1227	14538	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2747	1267
14854	0.89	440.1	516.3	11.4	1257	14855	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2747	1267
15171	0.89	440.1	480.5	10.8	1287	15176	0.00	2.83	0.00	0.000	4	0.000	0.045	3117	1336	1266
15215	0.89	440.1	475.2	12.2	1290	15223	0.00	2.72	0.00	0.000	6	0.000	0.031	3117	2743	1265
15543	0.89	440.1	439.4	10.9	1321	15549	0.00	0.00	0.00	0.000	6	0.000	0.000	3118	2743	1265
15868	0.89	440.1	403.8	10.9	1352	15873	0.00	2.83	0.00	0.000	4	0.000	0.044	3117	1335	1264
15912	0.89	440.1	398.5	11.5	1355	15919	0.00	2.70	0.00	0.000	6	0.000	0.031	3117	2727	1264
16239	0.89	440.1	362.7	11.3	1386	16240	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2727	1264
16567	0.89	440.1	325.1	11.2	1435	16574	0.00	2.78	0.00	0.000	4	0.000	0.045	3117	1343	1264
16597	0.89	440.1	321.2	11.8	1440	16605	0.00	2.67	0.00	0.000	6	0.000	0.031	3117	2722	1264
16943	0.89	440.1	280.7	12.7	1501	16950	0.00	2.33	0.00	0.000	4	0.000	0.048	3117	3895	1264
16968	0.89	440.1	277.5	12.7	1505	16976	0.00	2.28	0.00	0.000	6	0.000	0.030	3117	2708	1263
17314	0.89	440.1	234.5	12.4	1566	17322	0.00	2.70	0.00	0.000	4	0.000	0.045	3117	1347	1263
17351	0.89	440.1	229.9	12.4	1572	17359	0.00	2.62	0.00	0.000	6	0.000	0.029	3117	2709	1263
17698	0.89	440.1	189.1	12.6	1633	17704	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2709	1263
18041	0.89	440.1	147.3	13.3	1694	18049	0.00	2.75	0.00	0.000	4	0.000	0.045	3118	1337	1263
18073	0.89	440.1	143.6	12.7	1699	18081	0.00	2.65	0.00	0.000	6	0.000	0.031	3117	2706	1263
18418	0.89	440.1	103.3	11.6	1760	18424	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2706	1263
18762	0.89	440.1	64.5	11.8	1821	18769	0.00	2.72	0.00	0.000	4	0.000	0.045	3118	1348	1263
18794	0.89	440.1	61.2	11.1	1826	18802	0.00	2.60	0.00	0.000	6	0.000	0.030	3117	2699	1263
19138	0.89	440.1	25.8	10.3	1887	19145	0.00	2.35	0.00	0.000	4	0.000	0.047	3118	3894	1263
19169	0.89	440.1	22.5	10.9	1892	19177	0.00	2.30	0.00	0.000	6	0.000	0.031	3117	2689	1262
19312	0.89	440.1	7.9	10.5	1917	19319	0.00	2.67	0.00	0.000	4	0.000	0.047	3118	1338	1262
19360	0.89	440.1	2.6	11.7	1925	19368	0.00	2.55	0.00	0.000	6	0.000	0.030	3118	2667	1262
19373	end climb: SURFACE_DEPTH_REACHED
state	19373	begin surface coast
19390	end surface coast: CONTROL_FINISHED_OK
state	19390	begin surface