Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 60 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING 215 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 60 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 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 2235 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2330 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 9 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 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 35

T_ABORT 720 CALL_TRIES 5 VBD_MIN 520 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3085 DEVICE6 -1

T_NO_W 120 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -14281.219 VBD_PUMP_AD_RATE_APOGEE 4 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 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2960 PRESSURE_YINT -1.4601949 SEABIRD_T_I 2.3931538e-05

MASS 51662 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0994887e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 14.2 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 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.2 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.0994887e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -1.4601949 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 -14281.219

CAPUPLOAD 0 HEADING 215 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2960 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2330 KALMAN_USE 2 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2235 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3085 MASS 51662 R_PORT_OVSHOOT 13 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 9 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0037964056 VBD_MAX 3978

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 60 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 052407,5929.715,-2127.032,73,1.1,78,-15.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 5921.022,-2130.378

_XMS_NAKs 7 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 053308,5929.869,-2127.220,13,1.0,30,-15.0 MHEAD_RNG_PITCHd_Wd 230.0,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.016377 XPDR_PINGS 136

SM_CCo 20049,0.00,0.000,0,0,1820,310.30 _24V_AH 23.5,19.424

SM_GC 0.94,11.50,0.00,0.00,0.048,0.000,0.000,593,2233,1820,-10.85,-0.06,310.30 _10V_AH 10.7,13.095

IRIDIUM_FIX 5907.03,-2118.98,110797,232305 DATA_FILE_SIZE 161061,2808

TT8_MAMPS 0.02301 CAP_FILE_SIZE 213132,0

HUMID 1588 CFSIZE 260165632,250757120

INTERNAL_PRESSURE 8.42806 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

TCM_TEMP 17.30 GPS 170408,110838,5930.646,-2132.797,28,1.6,28,-15.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 194 124.99 SBE_CT 1941 24 1095.26

Roll_motor 113 148 393.27 SBE_O2 2094 19 935.19

VBD_pump_during_apogee 428 1431 14421.45 WL_BB2F 1744 105 4304.21

VBD_pump_during_surface 0 0 0.00 Optode 1134 33 879.76

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 74.17 nil 0 0 0.00

Iridium_during_connect 34 160 128.35 nil 0 0 0.00

Iridium_during_xfer 305 223 1600.40

Transponder_ping 34 420 335.58

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.21

TT8 4216 19 893.37

LPSleep 10298 2 241.33

TT8_Active 636 19 134.90

TT8_Sampling 4656 39 1982.82

TT8_CF8 750 45 367.89

TT8_Kalman 0 0 0.00

Analog_circuits 2680 12 344.11

GPS_charging 0 0 0.00

Compass 4619 8 395.41

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.29 -194.7 0.0 0.0 0 133 0.00 0.00 -103.00 0.000 2 0.000 0.000 591 2227 3729

136 -1.29 -194.7 3.3 -5.4 19 160 12.60 2.80 -3.03 0.000 4 0.195 0.119 2670 826 3881

292 -1.29 -194.7 34.5 -18.8 46 298 0.00 2.70 0.00 0.000 6 0.000 0.095 2670 2248 3882

434 -1.29 -194.7 53.3 -9.2 71 441 0.00 2.70 0.00 0.000 4 0.000 0.106 2670 3644 3883

481 -1.29 -194.7 59.0 -13.6 79 487 0.00 2.67 0.00 0.000 6 0.000 0.090 2670 2225 3882

624 -1.29 -194.7 77.7 -8.7 104 630 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2226 3882

766 -1.29 -194.7 91.2 -9.9 129 772 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2226 3882

908 -1.29 -194.7 101.7 -7.2 154 914 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2226 3883

1050 -1.29 -194.7 115.4 -9.4 179 1056 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2225 3882

1192 -1.29 -194.7 128.3 -9.1 204 1198 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2226 3882

1333 -1.29 -194.7 141.4 -9.5 229 1339 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2226 3882

1475 -1.29 -194.7 153.9 -8.6 254 1481 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2225 3882

1818 -1.29 -194.7 190.6 -10.4 315 1824 0.00 2.80 0.00 0.000 4 0.000 0.111 2670 3650 3882

1892 -1.29 -194.7 198.2 -10.1 328 1898 0.00 2.65 0.00 0.000 6 0.000 0.093 2670 2245 3882

2236 -1.29 -194.7 228.5 -9.0 389 2241 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2246 3882

2578 -1.29 -194.7 261.2 -9.8 450 2584 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2246 3882

2922 -1.29 -194.7 295.3 -9.8 511 2927 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3882

3264 -1.29 -194.7 328.7 -9.6 572 3270 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3882

3608 -1.29 -194.7 362.0 -9.6 633 3613 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3882

3950 -1.29 -194.7 395.5 -9.8 694 3955 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3882

4292 -1.29 -194.7 427.9 -9.6 755 4297 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3882

4635 -1.29 -194.7 460.4 -9.0 816 4641 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3882

4978 -1.29 -194.7 491.8 -9.4 877 4983 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3881

5320 -1.29 -194.7 523.4 -8.8 938 5325 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3882

5663 -1.29 -194.7 553.7 -8.7 999 5668 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2245 3882

6005 -1.29 -194.7 583.7 -8.5 1060 6011 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3881

6346 -1.29 -194.7 613.5 -8.8 1108 6347 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3882

6666 -1.29 -194.7 640.9 -8.4 1138 6667 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3881

6984 -1.29 -194.7 667.4 -8.5 1168 6985 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3881

7303 -1.29 -194.7 693.8 -8.3 1198 7304 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2245 3881

7621 -1.29 -194.7 719.1 -7.7 1228 7622 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2246 3881

7940 -1.29 -194.7 744.6 -8.1 1258 7941 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2245 3881

8258 -1.29 -194.7 772.0 -8.9 1288 8263 0.00 2.90 0.00 0.000 4 0.000 0.135 2670 825 3881

8291 -1.29 -194.7 775.3 -10.0 1290 8297 0.00 2.80 0.00 0.000 6 0.000 0.115 2670 2242 3881

8617 -1.29 -194.7 804.5 -8.8 1321 8618 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2243 3880

8935 -1.29 -194.7 831.4 -8.5 1351 8940 0.00 2.85 0.00 0.000 4 0.000 0.137 2670 3646 3880

8979 -1.29 -194.7 835.4 -8.6 1354 8985 0.00 2.72 0.00 0.000 6 0.000 0.108 2670 2241 3880

9305 -1.29 -194.7 862.7 -8.6 1385 9310 0.00 2.95 0.00 0.000 4 0.000 0.140 2670 816 3880

9360 -1.29 -194.7 867.8 -9.0 1389 9366 0.00 2.83 0.00 0.000 6 0.000 0.119 2670 2238 3880

9687 -1.29 -194.7 895.0 -8.5 1420 9688 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2238 3880

10005 -1.29 -194.7 922.4 -8.3 1450 10010 0.00 2.90 0.00 0.000 4 0.000 0.138 2670 3653 3879

10033 -1.29 -194.7 924.9 -9.2 1452 10037 0.00 2.78 0.00 0.000 6 0.000 0.113 2670 2237 3879

10357 -1.29 -194.7 951.8 -8.3 1482 10358 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2238 3879

10678 -1.29 -194.7 978.8 -8.6 1512 10679 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2238 3878

10811 end dive: TARGET_DEPTH_EXCEEDED

state 10811 begin apogee

10817 -0.35 0.0 990.5 8.6 1525 10986 1.00 0.00 165.27 1.432 6 0.103 0.000 2874 2336 3085

10987 end apogee: CONTROL_FINISHED_OK

state 10987 begin climb

10990 1.29 194.7 996.7 0.0 1542 11161 1.65 3.05 162.77 1.394 4 0.064 0.140 3243 914 2291

11175 1.20 194.7 982.1 13.3 1560 11180 0.12 2.90 0.00 0.000 6 0.115 0.120 3222 2334 2290

11499 1.13 194.7 940.3 12.7 1590 11504 0.00 2.92 0.00 0.000 4 0.000 0.135 3222 3739 2289

11520 1.04 194.7 937.4 12.9 1591 11527 0.17 2.80 0.00 0.000 6 0.108 0.114 3190 2335 2289

11845 1.04 194.7 902.8 10.4 1622 11846 0.00 0.00 0.00 0.000 6 0.000 0.000 3189 2335 2288

12165 1.04 194.7 869.2 10.4 1652 12166 0.00 0.00 0.00 0.000 6 0.000 0.000 3189 2335 2288

12482 1.04 194.7 836.8 10.6 1682 12487 0.00 2.90 0.00 0.000 4 0.000 0.134 3189 919 2287

12543 1.04 194.7 830.1 11.5 1687 12548 0.00 2.83 0.00 0.000 6 0.000 0.117 3189 2337 2287

12867 1.04 194.7 796.5 10.4 1717 12872 0.00 2.90 0.00 0.000 4 0.000 0.133 3189 3744 2287

12911 0.99 194.7 791.5 11.1 1720 12917 0.00 2.75 0.00 0.000 6 0.000 0.108 3189 2342 2287

13237 0.99 194.7 756.8 10.7 1751 13242 0.00 2.90 0.00 0.000 4 0.000 0.133 3190 917 2287

13276 0.99 194.7 752.4 10.8 1754 13280 0.00 2.80 0.00 0.000 6 0.000 0.112 3190 2337 2287

13600 1.00 197.4 718.9 9.9 1784 13605 0.00 2.88 0.00 0.000 4 0.000 0.130 3189 3744 2287

13633 0.95 197.4 715.2 10.7 1786 13640 0.12 2.72 0.00 0.000 6 0.112 0.105 3167 2342 2287

13958 0.99 234.2 686.3 8.7 1817 13999 0.00 2.95 33.75 1.221 4 0.000 0.125 3167 915 2129

14034 1.04 234.2 679.1 10.4 1824 14038 0.00 2.80 0.00 0.000 6 0.000 0.107 3167 2333 2129

14358 1.04 234.2 646.8 10.0 1854 14359 0.00 0.00 0.00 0.000 6 0.000 0.000 3167 2333 2127

14678 1.04 241.0 615.3 9.8 1884 14690 0.00 2.92 6.97 1.022 4 0.000 0.120 3167 919 2102

14706 1.04 241.0 612.2 10.0 1886 14713 0.00 2.80 0.00 0.000 6 0.000 0.106 3167 2342 2102

15042 1.07 265.4 579.8 9.2 1935 15070 0.12 3.00 21.95 1.121 4 0.065 0.121 3200 913 2003

15087 1.07 265.4 574.7 12.2 1943 15093 0.00 2.80 0.00 0.000 6 0.000 0.104 3200 2335 2002

15430 1.07 265.4 533.7 11.8 2004 15436 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2335 1999

15774 1.07 265.4 491.8 12.3 2065 15779 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2335 1999

16116 1.07 265.4 448.8 11.9 2126 16121 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2335 1999

16458 1.07 265.4 406.7 11.5 2187 16463 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 2335 1999

16802 1.07 265.4 367.6 11.6 2248 16808 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2336 1999

17145 1.07 265.4 328.0 10.6 2309 17151 0.00 2.80 0.00 0.000 4 0.000 0.114 3200 914 2000

17164 1.07 265.4 326.1 10.2 2312 17171 0.00 2.72 0.00 0.000 6 0.000 0.100 3200 2334 2000

17508 1.07 265.4 290.0 13.0 2373 17513 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2334 2000

17850 1.07 265.4 251.3 11.6 2434 17856 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2334 2000

18193 1.08 267.4 213.7 9.9 2495 18198 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2334 2000

18535 1.10 289.0 177.5 9.2 2556 18564 0.00 2.83 20.67 0.881 4 0.000 0.110 3200 3742 1904

18576 1.13 308.0 173.9 9.3 2563 18599 0.00 2.75 17.15 0.833 6 0.000 0.091 3200 2313 1829

18937 1.13 308.0 131.5 11.2 2627 18943 0.00 2.72 0.00 0.000 4 0.000 0.110 3200 913 1825

18962 1.13 308.0 128.5 12.4 2631 18969 0.00 2.67 0.00 0.000 6 0.000 0.094 3200 2318 1825

19105 1.13 308.0 108.9 13.2 2656 19111 0.00 2.78 0.00 0.000 4 0.000 0.109 3200 3738 1824

19129 1.13 308.0 104.9 17.4 2660 19135 0.00 2.70 0.00 0.000 6 0.000 0.091 3200 2319 1824

19272 1.13 308.0 83.9 13.8 2685 19278 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2319 1825

19414 1.13 308.0 65.0 12.5 2710 19420 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2319 1825

19556 1.13 308.0 49.7 12.5 2735 19561 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2319 1825

19697 1.13 308.0 33.0 12.7 2760 19703 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2319 1825

19839 1.13 308.0 16.0 10.7 2785 19844 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2319 1825

19952 end climb: SURFACE_DEPTH_REACHED

state 19952 begin surface coast

19968 end surface coast: CONTROL_FINISHED_OK

state 19968 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	215	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	60	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	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	2235	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2330	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	9	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	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	35
T_ABORT	720	CALL_TRIES	5	VBD_MIN	520	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3085	DEVICE6	-1
T_NO_W	120	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-14281.219	VBD_PUMP_AD_RATE_APOGEE	4	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	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2960	PRESSURE_YINT	-1.4601949	SEABIRD_T_I	2.3931538e-05
MASS	51662	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0994887e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	14.2	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	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	052407,5929.715,-2127.032,73,1.1,78,-15.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	5921.022,-2130.378
_XMS_NAKs	7	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	053308,5929.869,-2127.220,13,1.0,30,-15.0	MHEAD_RNG_PITCHd_Wd	230.0,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.2,1.016377	XPDR_PINGS	136
SM_CCo	20049,0.00,0.000,0,0,1820,310.30	_24V_AH	23.5,19.424
SM_GC	0.94,11.50,0.00,0.00,0.048,0.000,0.000,593,2233,1820,-10.85,-0.06,310.30	_10V_AH	10.7,13.095
IRIDIUM_FIX	5907.03,-2118.98,110797,232305	DATA_FILE_SIZE	161061,2808
TT8_MAMPS	0.02301	CAP_FILE_SIZE	213132,0
HUMID	1588	CFSIZE	260165632,250757120
INTERNAL_PRESSURE	8.42806	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
TCM_TEMP	17.30	GPS	170408,110838,5930.646,-2132.797,28,1.6,28,-15.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	194	124.99	SBE_CT	1941	24	1095.26
Roll_motor	113	148	393.27	SBE_O2	2094	19	935.19
VBD_pump_during_apogee	428	1431	14421.45	WL_BB2F	1744	105	4304.21
VBD_pump_during_surface	0	0	0.00	Optode	1134	33	879.76
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	74.17	nil	0	0	0.00
Iridium_during_connect	34	160	128.35	nil	0	0	0.00
Iridium_during_xfer	305	223	1600.40
Transponder_ping	34	420	335.58
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.21
TT8	4216	19	893.37
LPSleep	10298	2	241.33
TT8_Active	636	19	134.90
TT8_Sampling	4656	39	1982.82
TT8_CF8	750	45	367.89
TT8_Kalman	0	0	0.00
Analog_circuits	2680	12	344.11
GPS_charging	0	0	0.00
Compass	4619	8	395.41
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.29	-194.7	0.0	0.0	0	133	0.00	0.00	-103.00	0.000	2	0.000	0.000	591	2227	3729
136	-1.29	-194.7	3.3	-5.4	19	160	12.60	2.80	-3.03	0.000	4	0.195	0.119	2670	826	3881
292	-1.29	-194.7	34.5	-18.8	46	298	0.00	2.70	0.00	0.000	6	0.000	0.095	2670	2248	3882
434	-1.29	-194.7	53.3	-9.2	71	441	0.00	2.70	0.00	0.000	4	0.000	0.106	2670	3644	3883
481	-1.29	-194.7	59.0	-13.6	79	487	0.00	2.67	0.00	0.000	6	0.000	0.090	2670	2225	3882
624	-1.29	-194.7	77.7	-8.7	104	630	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2226	3882
766	-1.29	-194.7	91.2	-9.9	129	772	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2226	3882
908	-1.29	-194.7	101.7	-7.2	154	914	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2226	3883
1050	-1.29	-194.7	115.4	-9.4	179	1056	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2225	3882
1192	-1.29	-194.7	128.3	-9.1	204	1198	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2226	3882
1333	-1.29	-194.7	141.4	-9.5	229	1339	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2226	3882
1475	-1.29	-194.7	153.9	-8.6	254	1481	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2225	3882
1818	-1.29	-194.7	190.6	-10.4	315	1824	0.00	2.80	0.00	0.000	4	0.000	0.111	2670	3650	3882
1892	-1.29	-194.7	198.2	-10.1	328	1898	0.00	2.65	0.00	0.000	6	0.000	0.093	2670	2245	3882
2236	-1.29	-194.7	228.5	-9.0	389	2241	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2246	3882
2578	-1.29	-194.7	261.2	-9.8	450	2584	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2246	3882
2922	-1.29	-194.7	295.3	-9.8	511	2927	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3882
3264	-1.29	-194.7	328.7	-9.6	572	3270	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3882
3608	-1.29	-194.7	362.0	-9.6	633	3613	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3882
3950	-1.29	-194.7	395.5	-9.8	694	3955	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3882
4292	-1.29	-194.7	427.9	-9.6	755	4297	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3882
4635	-1.29	-194.7	460.4	-9.0	816	4641	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3882
4978	-1.29	-194.7	491.8	-9.4	877	4983	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3881
5320	-1.29	-194.7	523.4	-8.8	938	5325	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3882
5663	-1.29	-194.7	553.7	-8.7	999	5668	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2245	3882
6005	-1.29	-194.7	583.7	-8.5	1060	6011	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3881
6346	-1.29	-194.7	613.5	-8.8	1108	6347	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3882
6666	-1.29	-194.7	640.9	-8.4	1138	6667	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3881
6984	-1.29	-194.7	667.4	-8.5	1168	6985	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3881
7303	-1.29	-194.7	693.8	-8.3	1198	7304	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2245	3881
7621	-1.29	-194.7	719.1	-7.7	1228	7622	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2246	3881
7940	-1.29	-194.7	744.6	-8.1	1258	7941	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2245	3881
8258	-1.29	-194.7	772.0	-8.9	1288	8263	0.00	2.90	0.00	0.000	4	0.000	0.135	2670	825	3881
8291	-1.29	-194.7	775.3	-10.0	1290	8297	0.00	2.80	0.00	0.000	6	0.000	0.115	2670	2242	3881
8617	-1.29	-194.7	804.5	-8.8	1321	8618	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2243	3880
8935	-1.29	-194.7	831.4	-8.5	1351	8940	0.00	2.85	0.00	0.000	4	0.000	0.137	2670	3646	3880
8979	-1.29	-194.7	835.4	-8.6	1354	8985	0.00	2.72	0.00	0.000	6	0.000	0.108	2670	2241	3880
9305	-1.29	-194.7	862.7	-8.6	1385	9310	0.00	2.95	0.00	0.000	4	0.000	0.140	2670	816	3880
9360	-1.29	-194.7	867.8	-9.0	1389	9366	0.00	2.83	0.00	0.000	6	0.000	0.119	2670	2238	3880
9687	-1.29	-194.7	895.0	-8.5	1420	9688	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2238	3880
10005	-1.29	-194.7	922.4	-8.3	1450	10010	0.00	2.90	0.00	0.000	4	0.000	0.138	2670	3653	3879
10033	-1.29	-194.7	924.9	-9.2	1452	10037	0.00	2.78	0.00	0.000	6	0.000	0.113	2670	2237	3879
10357	-1.29	-194.7	951.8	-8.3	1482	10358	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2238	3879
10678	-1.29	-194.7	978.8	-8.6	1512	10679	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2238	3878
10811	end dive: TARGET_DEPTH_EXCEEDED
state	10811	begin apogee
10817	-0.35	0.0	990.5	8.6	1525	10986	1.00	0.00	165.27	1.432	6	0.103	0.000	2874	2336	3085
10987	end apogee: CONTROL_FINISHED_OK
state	10987	begin climb
10990	1.29	194.7	996.7	0.0	1542	11161	1.65	3.05	162.77	1.394	4	0.064	0.140	3243	914	2291
11175	1.20	194.7	982.1	13.3	1560	11180	0.12	2.90	0.00	0.000	6	0.115	0.120	3222	2334	2290
11499	1.13	194.7	940.3	12.7	1590	11504	0.00	2.92	0.00	0.000	4	0.000	0.135	3222	3739	2289
11520	1.04	194.7	937.4	12.9	1591	11527	0.17	2.80	0.00	0.000	6	0.108	0.114	3190	2335	2289
11845	1.04	194.7	902.8	10.4	1622	11846	0.00	0.00	0.00	0.000	6	0.000	0.000	3189	2335	2288
12165	1.04	194.7	869.2	10.4	1652	12166	0.00	0.00	0.00	0.000	6	0.000	0.000	3189	2335	2288
12482	1.04	194.7	836.8	10.6	1682	12487	0.00	2.90	0.00	0.000	4	0.000	0.134	3189	919	2287
12543	1.04	194.7	830.1	11.5	1687	12548	0.00	2.83	0.00	0.000	6	0.000	0.117	3189	2337	2287
12867	1.04	194.7	796.5	10.4	1717	12872	0.00	2.90	0.00	0.000	4	0.000	0.133	3189	3744	2287
12911	0.99	194.7	791.5	11.1	1720	12917	0.00	2.75	0.00	0.000	6	0.000	0.108	3189	2342	2287
13237	0.99	194.7	756.8	10.7	1751	13242	0.00	2.90	0.00	0.000	4	0.000	0.133	3190	917	2287
13276	0.99	194.7	752.4	10.8	1754	13280	0.00	2.80	0.00	0.000	6	0.000	0.112	3190	2337	2287
13600	1.00	197.4	718.9	9.9	1784	13605	0.00	2.88	0.00	0.000	4	0.000	0.130	3189	3744	2287
13633	0.95	197.4	715.2	10.7	1786	13640	0.12	2.72	0.00	0.000	6	0.112	0.105	3167	2342	2287
13958	0.99	234.2	686.3	8.7	1817	13999	0.00	2.95	33.75	1.221	4	0.000	0.125	3167	915	2129
14034	1.04	234.2	679.1	10.4	1824	14038	0.00	2.80	0.00	0.000	6	0.000	0.107	3167	2333	2129
14358	1.04	234.2	646.8	10.0	1854	14359	0.00	0.00	0.00	0.000	6	0.000	0.000	3167	2333	2127
14678	1.04	241.0	615.3	9.8	1884	14690	0.00	2.92	6.97	1.022	4	0.000	0.120	3167	919	2102
14706	1.04	241.0	612.2	10.0	1886	14713	0.00	2.80	0.00	0.000	6	0.000	0.106	3167	2342	2102
15042	1.07	265.4	579.8	9.2	1935	15070	0.12	3.00	21.95	1.121	4	0.065	0.121	3200	913	2003
15087	1.07	265.4	574.7	12.2	1943	15093	0.00	2.80	0.00	0.000	6	0.000	0.104	3200	2335	2002
15430	1.07	265.4	533.7	11.8	2004	15436	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2335	1999
15774	1.07	265.4	491.8	12.3	2065	15779	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2335	1999
16116	1.07	265.4	448.8	11.9	2126	16121	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2335	1999
16458	1.07	265.4	406.7	11.5	2187	16463	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	2335	1999
16802	1.07	265.4	367.6	11.6	2248	16808	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2336	1999
17145	1.07	265.4	328.0	10.6	2309	17151	0.00	2.80	0.00	0.000	4	0.000	0.114	3200	914	2000
17164	1.07	265.4	326.1	10.2	2312	17171	0.00	2.72	0.00	0.000	6	0.000	0.100	3200	2334	2000
17508	1.07	265.4	290.0	13.0	2373	17513	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2334	2000
17850	1.07	265.4	251.3	11.6	2434	17856	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2334	2000
18193	1.08	267.4	213.7	9.9	2495	18198	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2334	2000
18535	1.10	289.0	177.5	9.2	2556	18564	0.00	2.83	20.67	0.881	4	0.000	0.110	3200	3742	1904
18576	1.13	308.0	173.9	9.3	2563	18599	0.00	2.75	17.15	0.833	6	0.000	0.091	3200	2313	1829
18937	1.13	308.0	131.5	11.2	2627	18943	0.00	2.72	0.00	0.000	4	0.000	0.110	3200	913	1825
18962	1.13	308.0	128.5	12.4	2631	18969	0.00	2.67	0.00	0.000	6	0.000	0.094	3200	2318	1825
19105	1.13	308.0	108.9	13.2	2656	19111	0.00	2.78	0.00	0.000	4	0.000	0.109	3200	3738	1824
19129	1.13	308.0	104.9	17.4	2660	19135	0.00	2.70	0.00	0.000	6	0.000	0.091	3200	2319	1824
19272	1.13	308.0	83.9	13.8	2685	19278	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2319	1825
19414	1.13	308.0	65.0	12.5	2710	19420	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2319	1825
19556	1.13	308.0	49.7	12.5	2735	19561	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2319	1825
19697	1.13	308.0	33.0	12.7	2760	19703	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2319	1825
19839	1.13	308.0	16.0	10.7	2785	19844	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2319	1825
19952	end climb: SURFACE_DEPTH_REACHED
state	19952	begin surface coast
19968	end surface coast: CONTROL_FINISHED_OK
state	19968	begin surface