Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 332 * 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 332 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -19212.307 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 -19212.307

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 28 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 23 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 332 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 045708,6150.623,-2609.111,36,1.0,36,-18.7 TGT_NAME NW

_CALLS 1 TGT_LATLONG 6156.130,-2622.980

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050503,6150.629,-2609.051,11,1.1,11,-18.7 MHEAD_RNG_PITCHd_Wd 329.1,15845,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026005 _24V_AH 19.0,103.830

SM_CCo 17835,0.00,0.000,0,0,1078,488.88 _10V_AH 9.8,69.257

SM_GC 0.78,8.75,0.00,0.00,0.046,0.000,0.000,1430,2285,1078,-6.80,-0.42,488.88 DATA_FILE_SIZE 138983,1904

IRIDIUM_FIX 6126.23,-2706.49,060997,232343 CAP_FILE_SIZE 176663,0

TT8_MAMPS 0.026078 CFSIZE 260165632,225222656

HUMID 1834 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.88752 CURRENT 0.090, 47.8,1

TCM_TEMP 16.70 GPS 130608,100357,6153.043,-2611.675,40,1.3,42,-18.8

XPDR_PINGS 929

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 251 120.10 SBE_CT 1328 24 605.80

Roll_motor 184 117 411.93 SBE_O2 1413 19 510.19

VBD_pump_during_apogee 729 1511 20960.89 Optode 735 33 461.43

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1772 105 3535.54

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 29 103 57.88 nil 0 0 0.00

Iridium_during_connect 31 160 94.83 nil 0 0 0.00

Iridium_during_xfer 255 223 1084.21

Transponder_ping 232 420 1853.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.45

TT8 3894 19 755.77

LPSleep 9211 2 197.69

TT8_Active 954 19 185.25

TT8_Sampling 3490 39 1361.28

TT8_CF8 738 45 331.26

TT8_Kalman 0 0 0.00

Analog_circuits 2547 12 299.64

GPS_charging 0 0 0.00

Compass 3481 8 272.96

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 0 151 0.00 0.00 -126.28 0.000 2 0.000 0.000 1433 2277 3405

154 -0.86 -194.7 3.0 -4.2 17 185 12.07 2.92 -13.30 0.000 4 0.252 0.051 2725 3705 3865

296 -0.81 -194.7 24.2 -13.4 40 304 0.00 2.72 0.00 0.000 6 0.000 0.032 2725 2298 3867

440 -0.73 -194.7 44.0 -13.0 65 447 0.17 0.00 0.00 0.000 6 0.137 0.000 2754 2298 3867

583 -0.73 -194.7 56.6 -6.0 90 590 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2298 3867

927 -0.73 -194.7 90.6 -11.8 151 933 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2298 3867

1271 -0.73 -194.7 131.9 -11.5 212 1278 0.00 2.83 0.00 0.000 4 0.000 0.044 2754 3714 3867

1343 -0.73 -194.7 139.6 -10.8 224 1350 0.00 2.70 0.00 0.000 6 0.000 0.033 2754 2324 3867

1689 -0.73 -194.7 176.2 -10.2 285 1697 0.00 2.85 0.00 0.000 4 0.000 0.048 2754 889 3867

1727 -0.73 -194.7 180.0 -10.1 291 1734 0.00 2.78 0.00 0.000 6 0.000 0.030 2754 2331 3868

2071 -0.73 -194.7 214.6 -11.1 352 2078 0.00 2.72 0.00 0.000 4 0.000 0.045 2754 3709 3868

2153 -0.73 -194.7 223.8 -11.8 366 2161 0.00 2.67 0.00 0.000 6 0.000 0.032 2754 2335 3867

2500 -0.73 -194.7 262.7 -9.5 427 2507 0.00 2.88 0.00 0.000 4 0.000 0.049 2754 886 3867

2553 -0.78 -194.7 268.1 -9.7 436 2561 0.00 2.80 0.00 0.000 6 0.000 0.031 2754 2341 3867

2900 -0.78 -194.7 301.8 -9.6 497 2907 0.00 2.70 0.00 0.000 4 0.000 0.045 2754 3709 3867

2965 -0.78 -194.7 308.0 -9.2 508 2972 0.00 2.67 0.00 0.000 6 0.000 0.032 2754 2331 3867

3311 -0.78 -194.7 341.4 -10.3 569 3318 0.00 2.88 0.00 0.000 4 0.000 0.048 2754 886 3867

3348 -0.83 -194.7 345.1 -9.8 575 3356 0.00 2.83 0.00 0.000 6 0.000 0.031 2754 2348 3867

3680 -0.83 -194.7 377.9 -10.0 610 3685 0.00 2.70 0.00 0.000 4 0.000 0.046 2754 3707 3867

3755 -0.83 -194.7 385.3 -9.4 616 3759 0.00 2.67 0.00 0.000 6 0.000 0.034 2754 2337 3867

4082 -0.83 -194.7 415.0 -9.2 646 4087 0.00 2.90 0.00 0.000 4 0.000 0.050 2754 885 3867

4125 -0.88 -194.7 418.8 -9.0 649 4131 0.15 2.83 0.00 0.000 6 0.053 0.030 2721 2348 3866

4453 -0.81 -194.7 455.8 -11.7 679 4458 0.12 2.70 0.00 0.000 4 0.136 0.045 2737 3703 3866

4519 -0.81 -194.7 463.3 -10.6 684 4526 0.00 2.67 0.00 0.000 6 0.000 0.035 2737 2336 3866

4848 -0.81 -194.7 497.0 -10.7 715 4853 0.00 2.90 0.00 0.000 4 0.000 0.051 2737 891 3866

4899 -0.81 -194.7 502.6 -10.1 719 4904 0.00 2.83 0.00 0.000 6 0.000 0.031 2737 2348 3866

5226 -0.81 -194.7 538.2 -11.6 749 5230 0.00 2.72 0.00 0.000 4 0.000 0.048 2737 3711 3866

5281 -0.81 -194.7 545.0 -11.5 753 5288 0.00 2.67 0.00 0.000 6 0.000 0.034 2737 2340 3866

5608 -0.81 -194.7 581.0 -11.0 784 5613 0.00 2.92 0.00 0.000 4 0.000 0.053 2737 888 3866

5659 -0.81 -194.7 586.6 -10.2 788 5664 0.00 2.80 0.00 0.000 6 0.000 0.031 2737 2339 3865

5979 -0.81 -194.7 618.9 -9.9 809 5984 0.00 2.78 0.00 0.000 4 0.000 0.053 2737 3712 3865

6045 -0.81 -194.7 625.7 -10.3 812 6050 0.00 2.70 0.00 0.000 6 0.000 0.037 2737 2341 3865

6367 -0.81 -194.7 656.0 -9.2 828 6372 0.00 2.97 0.00 0.000 4 0.000 0.059 2737 886 3865

6423 -0.81 -194.7 661.2 -8.9 830 6430 0.00 2.83 0.00 0.000 6 0.000 0.034 2737 2334 3865

6739 -0.81 -194.7 689.3 -9.1 846 6743 0.00 2.85 0.00 0.000 4 0.000 0.062 2737 3711 3865

6824 -0.81 -194.7 697.5 -9.6 850 6829 0.00 2.78 0.00 0.000 6 0.000 0.047 2737 2342 3865

7152 -0.81 -194.7 730.4 -10.4 866 7157 0.00 3.10 0.00 0.000 4 0.000 0.073 2737 883 3865

7230 -0.81 -194.7 738.7 -9.7 869 7238 0.00 2.95 0.00 0.000 6 0.000 0.048 2737 2339 3864

7546 -0.81 -194.7 772.1 -10.5 885 7548 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2339 3864

7855 -0.81 -194.7 804.5 -10.3 900 7860 0.00 3.10 0.00 0.000 4 0.000 0.097 2737 3707 3864

7922 -0.81 -194.7 811.5 -10.4 903 7927 0.00 3.03 0.00 0.000 6 0.000 0.081 2737 2337 3864

8245 -0.81 -194.7 845.8 -10.9 919 8250 0.00 3.45 0.00 0.000 4 0.000 0.117 2737 886 3864

8286 -0.81 -194.7 850.4 -11.1 921 8291 0.00 3.33 0.00 0.000 6 0.000 0.095 2737 2339 3864

8614 -0.81 -194.7 884.3 -10.5 937 8615 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2339 3864

8924 -1.11 -194.7 894.4 0.0 952 8926 0.30 0.00 0.00 0.000 6 0.058 0.000 2680 2341 3863

9043 end dive: NO_VERTICAL_VELOCITY

state 9043 begin apogee

9050 -0.21 0.0 894.5 0.0 958 9266 1.12 0.00 207.07 1.512 6 0.104 0.000 2869 2772 3071

9267 end apogee: CONTROL_FINISHED_OK

state 9267 begin climb

9270 0.86 194.7 894.2 0.0 969 9494 1.42 3.30 211.77 1.446 4 0.091 0.048 3100 1331 2276

9517 0.73 194.7 875.1 11.9 980 9522 0.00 3.03 0.00 0.000 6 0.000 0.033 3100 2749 2276

9838 0.59 194.7 837.8 11.6 996 9843 0.28 2.35 0.00 0.000 4 0.114 0.054 3055 3901 2273

9856 0.48 194.7 835.9 11.3 997 9861 0.17 2.28 0.00 0.000 6 0.102 0.033 3027 2741 2273

10184 0.64 320.6 816.5 5.6 1013 10319 0.17 0.00 131.52 1.427 6 0.055 0.000 3062 2739 1764

10617 0.70 369.8 781.7 8.3 1034 10675 0.00 2.92 52.28 1.392 4 0.000 0.054 3062 1346 1562

10687 0.84 439.0 775.7 7.6 1037 10772 0.20 2.85 76.78 1.371 6 0.045 0.031 3104 2749 1280

11078 0.84 439.0 733.7 10.3 1056 11083 0.00 2.88 0.00 0.000 4 0.000 0.048 3104 1344 1271

11096 0.84 439.0 731.9 10.7 1057 11101 0.00 2.72 0.00 0.000 6 0.000 0.032 3104 2726 1270

11423 0.84 439.0 694.4 11.1 1073 11428 0.00 2.80 0.00 0.000 4 0.000 0.047 3104 1341 1269

11445 0.84 439.0 691.7 11.4 1074 11449 0.00 2.67 0.00 0.000 6 0.000 0.032 3104 2709 1268

11767 0.84 439.0 654.9 11.8 1090 11772 0.00 2.75 0.00 0.000 4 0.000 0.046 3104 1344 1268

11778 0.84 439.0 653.3 11.5 1090 11786 0.00 2.65 0.00 0.000 6 0.000 0.032 3104 2705 1268

12094 0.84 439.0 616.4 12.2 1106 12098 0.00 2.75 0.00 0.000 4 0.000 0.046 3104 1340 1268

12112 0.84 439.0 614.3 12.2 1107 12116 0.00 2.65 0.00 0.000 6 0.000 0.031 3104 2699 1267

12434 0.84 439.0 577.1 11.9 1131 12435 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2699 1267

12755 0.84 439.0 536.5 11.8 1161 12760 0.00 2.75 0.00 0.000 4 0.000 0.046 3104 1335 1267

12766 0.84 439.0 534.6 11.9 1161 12773 0.00 2.62 0.00 0.000 6 0.000 0.031 3104 2686 1267

13093 0.84 439.0 498.4 11.3 1192 13097 0.00 2.40 0.00 0.000 4 0.000 0.050 3104 3890 1266

13104 0.84 439.0 496.8 11.8 1192 13112 0.00 2.33 0.00 0.000 6 0.000 0.031 3104 2679 1266

13434 0.84 439.0 457.8 11.8 1223 13440 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2678 1266

13759 0.84 439.0 419.0 12.0 1254 13760 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2678 1267

14077 0.84 439.0 383.2 11.0 1284 14078 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2678 1266

14399 0.84 439.0 347.3 10.6 1316 14406 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2678 1266

14744 0.84 439.0 311.0 10.4 1377 14750 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2678 1266

15088 0.84 439.0 274.4 10.4 1438 15095 0.00 2.67 0.00 0.000 4 0.000 0.046 3104 1335 1266

15102 0.84 439.0 272.9 10.7 1440 15109 0.00 2.62 0.00 0.000 6 0.000 0.030 3104 2691 1266

15447 0.84 441.4 237.7 9.9 1501 15454 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2691 1266

15792 0.84 441.4 201.9 10.7 1562 15799 0.00 2.70 0.00 0.000 4 0.000 0.044 3104 1341 1266

15806 0.84 441.4 200.3 11.1 1564 15813 0.00 2.58 0.00 0.000 6 0.000 0.029 3104 2677 1266

16152 0.84 441.4 163.0 10.7 1625 16159 0.00 2.67 0.00 0.000 4 0.000 0.045 3104 1342 1266

16166 0.84 441.4 161.4 10.9 1627 16173 0.00 2.58 0.00 0.000 6 0.000 0.030 3104 2673 1266

16511 0.84 441.4 124.3 10.3 1688 16518 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2673 1266

16857 0.84 443.7 90.8 9.9 1749 16864 0.00 2.67 0.00 0.000 4 0.000 0.045 3104 1338 1266

16872 0.88 469.3 89.5 9.1 1751 16913 0.00 2.55 30.33 0.972 6 0.000 0.030 3104 2658 1155

17253 0.94 469.3 52.4 10.6 1817 17259 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2658 1152

17598 1.03 488.1 19.6 9.3 1878 17627 0.17 2.67 20.00 0.901 4 0.049 0.045 3146 1338 1080

17640 1.03 488.1 14.2 13.8 1884 17648 0.00 2.58 0.00 0.000 6 0.000 0.029 3146 2661 1080

17737 end climb: SURFACE_DEPTH_REACHED

state 17737 begin surface coast

17755 end surface coast: CONTROL_FINISHED_OK

state 17755 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	332	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-19212.307	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	045708,6150.623,-2609.111,36,1.0,36,-18.7	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	6156.130,-2622.980
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050503,6150.629,-2609.051,11,1.1,11,-18.7	MHEAD_RNG_PITCHd_Wd	329.1,15845,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.3,1.026005	_24V_AH	19.0,103.830
SM_CCo	17835,0.00,0.000,0,0,1078,488.88	_10V_AH	9.8,69.257
SM_GC	0.78,8.75,0.00,0.00,0.046,0.000,0.000,1430,2285,1078,-6.80,-0.42,488.88	DATA_FILE_SIZE	138983,1904
IRIDIUM_FIX	6126.23,-2706.49,060997,232343	CAP_FILE_SIZE	176663,0
TT8_MAMPS	0.026078	CFSIZE	260165632,225222656
HUMID	1834	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.88752	CURRENT	0.090, 47.8,1
TCM_TEMP	16.70	GPS	130608,100357,6153.043,-2611.675,40,1.3,42,-18.8
XPDR_PINGS	929

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	251	120.10	SBE_CT	1328	24	605.80
Roll_motor	184	117	411.93	SBE_O2	1413	19	510.19
VBD_pump_during_apogee	729	1511	20960.89	Optode	735	33	461.43
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1772	105	3535.54
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	29	103	57.88	nil	0	0	0.00
Iridium_during_connect	31	160	94.83	nil	0	0	0.00
Iridium_during_xfer	255	223	1084.21
Transponder_ping	232	420	1853.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.45
TT8	3894	19	755.77
LPSleep	9211	2	197.69
TT8_Active	954	19	185.25
TT8_Sampling	3490	39	1361.28
TT8_CF8	738	45	331.26
TT8_Kalman	0	0	0.00
Analog_circuits	2547	12	299.64
GPS_charging	0	0	0.00
Compass	3481	8	272.96
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	151	0.00	0.00	-126.28	0.000	2	0.000	0.000	1433	2277	3405
154	-0.86	-194.7	3.0	-4.2	17	185	12.07	2.92	-13.30	0.000	4	0.252	0.051	2725	3705	3865
296	-0.81	-194.7	24.2	-13.4	40	304	0.00	2.72	0.00	0.000	6	0.000	0.032	2725	2298	3867
440	-0.73	-194.7	44.0	-13.0	65	447	0.17	0.00	0.00	0.000	6	0.137	0.000	2754	2298	3867
583	-0.73	-194.7	56.6	-6.0	90	590	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2298	3867
927	-0.73	-194.7	90.6	-11.8	151	933	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2298	3867
1271	-0.73	-194.7	131.9	-11.5	212	1278	0.00	2.83	0.00	0.000	4	0.000	0.044	2754	3714	3867
1343	-0.73	-194.7	139.6	-10.8	224	1350	0.00	2.70	0.00	0.000	6	0.000	0.033	2754	2324	3867
1689	-0.73	-194.7	176.2	-10.2	285	1697	0.00	2.85	0.00	0.000	4	0.000	0.048	2754	889	3867
1727	-0.73	-194.7	180.0	-10.1	291	1734	0.00	2.78	0.00	0.000	6	0.000	0.030	2754	2331	3868
2071	-0.73	-194.7	214.6	-11.1	352	2078	0.00	2.72	0.00	0.000	4	0.000	0.045	2754	3709	3868
2153	-0.73	-194.7	223.8	-11.8	366	2161	0.00	2.67	0.00	0.000	6	0.000	0.032	2754	2335	3867
2500	-0.73	-194.7	262.7	-9.5	427	2507	0.00	2.88	0.00	0.000	4	0.000	0.049	2754	886	3867
2553	-0.78	-194.7	268.1	-9.7	436	2561	0.00	2.80	0.00	0.000	6	0.000	0.031	2754	2341	3867
2900	-0.78	-194.7	301.8	-9.6	497	2907	0.00	2.70	0.00	0.000	4	0.000	0.045	2754	3709	3867
2965	-0.78	-194.7	308.0	-9.2	508	2972	0.00	2.67	0.00	0.000	6	0.000	0.032	2754	2331	3867
3311	-0.78	-194.7	341.4	-10.3	569	3318	0.00	2.88	0.00	0.000	4	0.000	0.048	2754	886	3867
3348	-0.83	-194.7	345.1	-9.8	575	3356	0.00	2.83	0.00	0.000	6	0.000	0.031	2754	2348	3867
3680	-0.83	-194.7	377.9	-10.0	610	3685	0.00	2.70	0.00	0.000	4	0.000	0.046	2754	3707	3867
3755	-0.83	-194.7	385.3	-9.4	616	3759	0.00	2.67	0.00	0.000	6	0.000	0.034	2754	2337	3867
4082	-0.83	-194.7	415.0	-9.2	646	4087	0.00	2.90	0.00	0.000	4	0.000	0.050	2754	885	3867
4125	-0.88	-194.7	418.8	-9.0	649	4131	0.15	2.83	0.00	0.000	6	0.053	0.030	2721	2348	3866
4453	-0.81	-194.7	455.8	-11.7	679	4458	0.12	2.70	0.00	0.000	4	0.136	0.045	2737	3703	3866
4519	-0.81	-194.7	463.3	-10.6	684	4526	0.00	2.67	0.00	0.000	6	0.000	0.035	2737	2336	3866
4848	-0.81	-194.7	497.0	-10.7	715	4853	0.00	2.90	0.00	0.000	4	0.000	0.051	2737	891	3866
4899	-0.81	-194.7	502.6	-10.1	719	4904	0.00	2.83	0.00	0.000	6	0.000	0.031	2737	2348	3866
5226	-0.81	-194.7	538.2	-11.6	749	5230	0.00	2.72	0.00	0.000	4	0.000	0.048	2737	3711	3866
5281	-0.81	-194.7	545.0	-11.5	753	5288	0.00	2.67	0.00	0.000	6	0.000	0.034	2737	2340	3866
5608	-0.81	-194.7	581.0	-11.0	784	5613	0.00	2.92	0.00	0.000	4	0.000	0.053	2737	888	3866
5659	-0.81	-194.7	586.6	-10.2	788	5664	0.00	2.80	0.00	0.000	6	0.000	0.031	2737	2339	3865
5979	-0.81	-194.7	618.9	-9.9	809	5984	0.00	2.78	0.00	0.000	4	0.000	0.053	2737	3712	3865
6045	-0.81	-194.7	625.7	-10.3	812	6050	0.00	2.70	0.00	0.000	6	0.000	0.037	2737	2341	3865
6367	-0.81	-194.7	656.0	-9.2	828	6372	0.00	2.97	0.00	0.000	4	0.000	0.059	2737	886	3865
6423	-0.81	-194.7	661.2	-8.9	830	6430	0.00	2.83	0.00	0.000	6	0.000	0.034	2737	2334	3865
6739	-0.81	-194.7	689.3	-9.1	846	6743	0.00	2.85	0.00	0.000	4	0.000	0.062	2737	3711	3865
6824	-0.81	-194.7	697.5	-9.6	850	6829	0.00	2.78	0.00	0.000	6	0.000	0.047	2737	2342	3865
7152	-0.81	-194.7	730.4	-10.4	866	7157	0.00	3.10	0.00	0.000	4	0.000	0.073	2737	883	3865
7230	-0.81	-194.7	738.7	-9.7	869	7238	0.00	2.95	0.00	0.000	6	0.000	0.048	2737	2339	3864
7546	-0.81	-194.7	772.1	-10.5	885	7548	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2339	3864
7855	-0.81	-194.7	804.5	-10.3	900	7860	0.00	3.10	0.00	0.000	4	0.000	0.097	2737	3707	3864
7922	-0.81	-194.7	811.5	-10.4	903	7927	0.00	3.03	0.00	0.000	6	0.000	0.081	2737	2337	3864
8245	-0.81	-194.7	845.8	-10.9	919	8250	0.00	3.45	0.00	0.000	4	0.000	0.117	2737	886	3864
8286	-0.81	-194.7	850.4	-11.1	921	8291	0.00	3.33	0.00	0.000	6	0.000	0.095	2737	2339	3864
8614	-0.81	-194.7	884.3	-10.5	937	8615	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2339	3864
8924	-1.11	-194.7	894.4	0.0	952	8926	0.30	0.00	0.00	0.000	6	0.058	0.000	2680	2341	3863
9043	end dive: NO_VERTICAL_VELOCITY
state	9043	begin apogee
9050	-0.21	0.0	894.5	0.0	958	9266	1.12	0.00	207.07	1.512	6	0.104	0.000	2869	2772	3071
9267	end apogee: CONTROL_FINISHED_OK
state	9267	begin climb
9270	0.86	194.7	894.2	0.0	969	9494	1.42	3.30	211.77	1.446	4	0.091	0.048	3100	1331	2276
9517	0.73	194.7	875.1	11.9	980	9522	0.00	3.03	0.00	0.000	6	0.000	0.033	3100	2749	2276
9838	0.59	194.7	837.8	11.6	996	9843	0.28	2.35	0.00	0.000	4	0.114	0.054	3055	3901	2273
9856	0.48	194.7	835.9	11.3	997	9861	0.17	2.28	0.00	0.000	6	0.102	0.033	3027	2741	2273
10184	0.64	320.6	816.5	5.6	1013	10319	0.17	0.00	131.52	1.427	6	0.055	0.000	3062	2739	1764
10617	0.70	369.8	781.7	8.3	1034	10675	0.00	2.92	52.28	1.392	4	0.000	0.054	3062	1346	1562
10687	0.84	439.0	775.7	7.6	1037	10772	0.20	2.85	76.78	1.371	6	0.045	0.031	3104	2749	1280
11078	0.84	439.0	733.7	10.3	1056	11083	0.00	2.88	0.00	0.000	4	0.000	0.048	3104	1344	1271
11096	0.84	439.0	731.9	10.7	1057	11101	0.00	2.72	0.00	0.000	6	0.000	0.032	3104	2726	1270
11423	0.84	439.0	694.4	11.1	1073	11428	0.00	2.80	0.00	0.000	4	0.000	0.047	3104	1341	1269
11445	0.84	439.0	691.7	11.4	1074	11449	0.00	2.67	0.00	0.000	6	0.000	0.032	3104	2709	1268
11767	0.84	439.0	654.9	11.8	1090	11772	0.00	2.75	0.00	0.000	4	0.000	0.046	3104	1344	1268
11778	0.84	439.0	653.3	11.5	1090	11786	0.00	2.65	0.00	0.000	6	0.000	0.032	3104	2705	1268
12094	0.84	439.0	616.4	12.2	1106	12098	0.00	2.75	0.00	0.000	4	0.000	0.046	3104	1340	1268
12112	0.84	439.0	614.3	12.2	1107	12116	0.00	2.65	0.00	0.000	6	0.000	0.031	3104	2699	1267
12434	0.84	439.0	577.1	11.9	1131	12435	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2699	1267
12755	0.84	439.0	536.5	11.8	1161	12760	0.00	2.75	0.00	0.000	4	0.000	0.046	3104	1335	1267
12766	0.84	439.0	534.6	11.9	1161	12773	0.00	2.62	0.00	0.000	6	0.000	0.031	3104	2686	1267
13093	0.84	439.0	498.4	11.3	1192	13097	0.00	2.40	0.00	0.000	4	0.000	0.050	3104	3890	1266
13104	0.84	439.0	496.8	11.8	1192	13112	0.00	2.33	0.00	0.000	6	0.000	0.031	3104	2679	1266
13434	0.84	439.0	457.8	11.8	1223	13440	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2678	1266
13759	0.84	439.0	419.0	12.0	1254	13760	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2678	1267
14077	0.84	439.0	383.2	11.0	1284	14078	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2678	1266
14399	0.84	439.0	347.3	10.6	1316	14406	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2678	1266
14744	0.84	439.0	311.0	10.4	1377	14750	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2678	1266
15088	0.84	439.0	274.4	10.4	1438	15095	0.00	2.67	0.00	0.000	4	0.000	0.046	3104	1335	1266
15102	0.84	439.0	272.9	10.7	1440	15109	0.00	2.62	0.00	0.000	6	0.000	0.030	3104	2691	1266
15447	0.84	441.4	237.7	9.9	1501	15454	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2691	1266
15792	0.84	441.4	201.9	10.7	1562	15799	0.00	2.70	0.00	0.000	4	0.000	0.044	3104	1341	1266
15806	0.84	441.4	200.3	11.1	1564	15813	0.00	2.58	0.00	0.000	6	0.000	0.029	3104	2677	1266
16152	0.84	441.4	163.0	10.7	1625	16159	0.00	2.67	0.00	0.000	4	0.000	0.045	3104	1342	1266
16166	0.84	441.4	161.4	10.9	1627	16173	0.00	2.58	0.00	0.000	6	0.000	0.030	3104	2673	1266
16511	0.84	441.4	124.3	10.3	1688	16518	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2673	1266
16857	0.84	443.7	90.8	9.9	1749	16864	0.00	2.67	0.00	0.000	4	0.000	0.045	3104	1338	1266
16872	0.88	469.3	89.5	9.1	1751	16913	0.00	2.55	30.33	0.972	6	0.000	0.030	3104	2658	1155
17253	0.94	469.3	52.4	10.6	1817	17259	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2658	1152
17598	1.03	488.1	19.6	9.3	1878	17627	0.17	2.67	20.00	0.901	4	0.049	0.045	3146	1338	1080
17640	1.03	488.1	14.2	13.8	1884	17648	0.00	2.58	0.00	0.000	6	0.000	0.029	3146	2661	1080
17737	end climb: SURFACE_DEPTH_REACHED
state	17737	begin surface coast
17755	end surface coast: CONTROL_FINISHED_OK
state	17755	begin surface