Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 80 * 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 1 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 80 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 9 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 390 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 -14599.688 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 -14599.688

CAPUPLOAD 0 HEADING 1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 390

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 9 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 80 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 231703,5917.468,-2152.823,44,1.5,44,-15.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 5928.408,-2152.826

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.90 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 232645,5917.610,-2152.922,12,1.7,12,-15.1 MHEAD_RNG_PITCHd_Wd 16.1,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.017501 XPDR_PINGS 90

SM_CCo 20171,0.00,0.000,0,0,1960,275.96 _24V_AH 23.4,23.103

SM_GC 0.90,11.50,0.00,0.00,0.045,0.000,0.000,591,2234,1960,-10.86,-0.03,275.96 _10V_AH 10.7,17.229

IRIDIUM_FIX 5850.29,-2149.65,160797,171704 DATA_FILE_SIZE 161001,2840

TT8_MAMPS 0.022243 CAP_FILE_SIZE 209648,0

HUMID 1597 CFSIZE 260165632,248401920

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,6,0,0,0

TCM_TEMP 16.80 GPS 220408,050432,5923.465,-2150.889,43,1.3,43,-15.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 207 134.85 SBE_CT 1967 24 1105.20

Roll_motor 94 158 350.90 SBE_O2 2146 19 954.47

VBD_pump_during_apogee 405 1445 13724.12 WL_BB2F 1791 105 4400.88

VBD_pump_during_surface 0 0 0.00 Optode 1165 33 899.99

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 75.26 nil 0 0 0.00

Iridium_during_connect 41 160 155.21 nil 0 0 0.00

Iridium_during_xfer 332 223 1733.54

Transponder_ping 22 420 221.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.41

TT8 4259 19 902.49

LPSleep 10396 2 243.61

TT8_Active 613 19 130.06

TT8_Sampling 4617 39 1966.41

TT8_CF8 834 45 408.80

TT8_Kalman 0 0 0.00

Analog_circuits 2626 12 337.23

GPS_charging 0 0 0.00

Compass 4623 8 395.78

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 89 0.00 0.00 -60.05 0.000 2 0.000 0.000 588 2228 3387

92 -1.29 -194.7 3.1 -6.5 11 123 13.02 2.85 -11.25 0.000 4 0.208 0.116 2668 3655 3881

249 -1.29 -194.7 22.9 -9.3 38 255 0.00 2.67 0.00 0.000 6 0.000 0.086 2668 2227 3882

393 -1.29 -194.7 37.5 -10.1 63 398 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2227 3882

534 -1.29 -194.7 50.1 -8.5 88 540 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2227 3882

676 -1.29 -194.7 62.2 -8.8 113 683 0.00 2.78 0.00 0.000 4 0.000 0.105 2668 3652 3882

706 -1.29 -194.7 65.1 -9.6 118 713 0.00 2.65 0.00 0.000 6 0.000 0.085 2668 2242 3882

850 -1.29 -194.7 78.1 -9.3 143 856 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2242 3882

992 -1.29 -194.7 91.3 -9.2 168 998 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2243 3882

1134 -1.29 -194.7 104.9 -9.5 193 1139 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2243 3882

1275 -1.29 -194.7 118.4 -9.7 218 1281 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2243 3882

1418 -1.29 -194.7 132.0 -9.7 243 1424 0.00 2.75 0.00 0.000 4 0.000 0.107 2668 3647 3882

1447 -1.29 -194.7 135.0 -10.0 248 1454 0.00 2.62 0.00 0.000 6 0.000 0.087 2668 2253 3882

1591 -1.29 -194.7 148.3 -9.3 273 1597 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2254 3882

1732 -1.29 -194.7 162.0 -9.3 298 1738 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2254 3882

2077 -1.29 -194.7 194.3 -9.6 359 2082 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2253 3882

2420 -1.29 -194.7 227.3 -9.4 420 2425 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2253 3882

2763 -1.29 -194.7 260.2 -9.5 481 2768 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2253 3882

3106 -1.29 -194.7 293.1 -9.6 542 3111 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2253 3882

3449 -1.29 -194.7 325.2 -9.2 603 3454 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2252 3882

3793 -1.29 -194.7 357.7 -9.7 664 3799 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2252 3882

4137 -1.29 -194.7 391.6 -9.9 725 4142 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2252 3882

4479 -1.29 -194.7 423.9 -9.2 786 4484 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2252 3882

4822 -1.29 -194.7 454.4 -9.0 847 4827 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2252 3882

5164 -1.29 -194.7 486.2 -9.8 908 5170 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2249 3882

5507 -1.29 -194.7 518.3 -9.6 969 5513 0.00 2.80 0.00 0.000 4 0.000 0.123 2668 3646 3882

5549 -1.29 -194.7 522.3 -10.1 976 5555 0.00 2.65 0.00 0.000 6 0.000 0.100 2668 2259 3882

5893 -1.29 -194.7 554.4 -9.1 1037 5898 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2260 3882

6235 -1.29 -194.7 584.9 -9.1 1098 6240 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2260 3882

6575 -1.29 -194.7 613.6 -8.5 1145 6576 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2260 3881

6893 -1.29 -194.7 641.9 -9.0 1175 6894 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2260 3881

7213 -1.29 -194.7 671.2 -9.0 1205 7215 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2260 3881

7532 -1.29 -194.7 699.1 -8.7 1235 7536 0.00 2.83 0.00 0.000 4 0.000 0.130 2668 3648 3880

7560 -1.29 -194.7 701.7 -9.5 1237 7564 0.00 2.70 0.00 0.000 6 0.000 0.107 2668 2259 3880

7888 -1.29 -194.7 729.1 -8.5 1267 7893 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2260 3880

8212 -1.29 -194.7 756.7 -8.7 1298 8213 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2260 3880

8531 -1.29 -194.7 783.3 -8.3 1328 8536 0.00 2.85 0.00 0.000 4 0.000 0.133 2668 3653 3879

8570 -1.29 -194.7 786.7 -8.5 1331 8575 0.00 2.70 0.00 0.000 6 0.000 0.109 2668 2270 3879

8896 -1.29 -194.7 813.7 -8.3 1361 8897 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2271 3879

9215 -1.29 -194.7 840.0 -8.4 1391 9216 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2271 3879

9531 -1.29 -194.7 866.4 -8.4 1421 9536 0.00 2.85 0.00 0.000 4 0.000 0.135 2668 3653 3878

9552 -1.29 -194.7 868.3 -8.5 1422 9559 0.00 2.72 0.00 0.000 6 0.000 0.112 2668 2269 3878

9879 -1.29 -194.7 895.3 -8.3 1453 9880 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2270 3878

10197 -1.29 -194.7 921.9 -8.6 1483 10202 0.00 2.83 0.00 0.000 4 0.000 0.135 2668 3646 3877

10229 -1.29 -194.7 925.0 -9.2 1485 10236 0.00 2.70 0.00 0.000 6 0.000 0.114 2668 2279 3877

10556 -1.29 -194.7 952.4 -8.4 1516 10557 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2280 3876

10874 -1.29 -194.7 979.3 -8.4 1546 10879 0.00 2.80 0.00 0.000 4 0.000 0.137 2668 3645 3876

10907 -1.29 -194.7 982.3 -9.0 1548 10913 0.00 2.70 0.00 0.000 6 0.000 0.115 2668 2281 3876

11006 end dive: TARGET_DEPTH_EXCEEDED

state 11006 begin apogee

11012 -0.35 0.0 990.5 8.0 1558 11181 1.05 0.00 164.68 1.445 6 0.114 0.000 2877 2328 3085

11181 end apogee: CONTROL_FINISHED_OK

state 11181 begin climb

11184 1.29 194.7 996.5 0.0 1575 11351 1.65 0.00 163.02 1.404 6 0.068 0.000 3239 2328 2291

11669 1.20 194.7 942.8 13.3 1622 11670 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 2328 2289

11989 1.11 194.7 900.2 13.4 1652 11991 0.20 0.00 0.00 0.000 6 0.112 0.000 3203 2328 2288

12307 1.07 194.7 864.2 11.1 1682 12309 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2328 2288

12626 1.03 194.7 830.5 10.0 1712 12627 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2328 2287

12945 0.99 194.7 798.4 10.1 1742 12946 0.15 0.00 0.00 0.000 6 0.114 0.000 3176 2328 2287

13262 1.01 215.2 769.7 9.3 1772 13282 0.00 0.00 18.33 1.278 6 0.000 0.000 3175 2328 2207

13599 1.01 215.2 736.7 10.1 1804 13600 0.00 0.00 0.00 0.000 6 0.000 0.000 3176 2328 2205

13919 1.01 215.2 704.3 10.5 1834 13924 0.00 2.90 0.00 0.000 4 0.000 0.129 3175 909 2205

13958 1.01 215.2 699.9 10.3 1837 13963 0.00 2.80 0.00 0.000 6 0.000 0.110 3175 2325 2205

14282 1.02 225.4 667.3 9.6 1867 14294 0.00 0.00 9.98 1.176 6 0.000 0.000 3175 2325 2166

14613 1.03 231.8 634.4 9.8 1898 14627 0.00 2.97 7.30 1.084 4 0.000 0.127 3175 3738 2139

14649 1.03 231.8 630.3 10.3 1901 14656 0.00 2.80 0.00 0.000 6 0.000 0.100 3175 2315 2138

14976 1.04 235.5 597.7 9.9 1934 14986 0.00 0.00 4.82 0.902 6 0.000 0.000 3175 2315 2124

15324 1.04 235.5 561.8 10.7 1996 15329 0.00 0.00 0.00 0.000 6 0.000 0.000 3175 2315 2124

15667 1.04 235.5 524.6 10.7 2057 15672 0.00 0.00 0.00 0.000 6 0.000 0.000 3175 2315 2123

16009 1.05 247.6 489.2 9.6 2118 16027 0.00 2.83 11.80 1.075 4 0.000 0.113 3175 913 2074

16063 1.05 247.6 483.9 10.4 2127 16069 0.00 2.78 0.00 0.000 6 0.000 0.100 3175 2334 2073

16407 1.07 261.7 449.6 9.5 2188 16429 0.00 2.90 13.32 1.044 4 0.000 0.117 3175 3736 2016

16481 1.09 274.9 442.0 9.5 2201 16503 0.00 2.72 12.62 1.008 6 0.000 0.094 3175 2329 1964

16841 1.09 274.9 406.6 10.3 2265 16847 0.00 2.80 0.00 0.000 4 0.000 0.114 3175 913 1961

16888 1.14 274.9 401.7 10.3 2273 16894 0.15 2.75 0.00 0.000 6 0.061 0.099 3214 2334 1961

17231 1.14 274.9 359.5 13.8 2334 17238 0.00 2.80 0.00 0.000 4 0.000 0.115 3214 3741 1961

17278 1.09 274.9 353.5 13.0 2342 17284 0.00 2.70 0.00 0.000 6 0.000 0.092 3214 2332 1960

17621 1.09 274.9 310.0 12.1 2403 17627 0.00 2.80 0.00 0.000 4 0.000 0.111 3214 910 1960

17656 1.09 274.9 305.4 11.9 2409 17662 0.00 2.75 0.00 0.000 6 0.000 0.096 3214 2340 1961

17999 1.09 274.9 260.4 14.0 2470 18005 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2341 1961

18342 1.09 274.9 216.2 12.6 2531 18347 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2340 1961

18684 1.09 274.9 171.6 11.9 2592 18690 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2340 1961

19027 1.09 274.9 129.5 12.9 2653 19033 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2340 1962

19170 1.09 274.9 112.2 12.7 2678 19176 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2341 1961

19311 1.09 274.9 94.5 11.5 2703 19317 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2341 1962

19453 1.09 274.9 77.2 12.4 2728 19459 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2341 1962

19595 1.09 274.9 60.1 10.7 2753 19601 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2341 1962

19737 1.09 274.9 42.9 12.0 2778 19743 0.00 2.72 0.00 0.000 4 0.000 0.106 3214 3743 1962

19760 1.09 274.9 39.5 12.9 2782 19767 0.00 2.65 0.00 0.000 6 0.000 0.084 3214 2333 1962

19903 1.09 274.9 21.9 10.6 2807 19909 0.00 0.00 0.00 0.000 6 0.000 0.000 3213 2333 1962

20045 1.09 274.9 5.1 14.5 2832 20050 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2333 1962

20073 end climb: SURFACE_DEPTH_REACHED

state 20073 begin surface coast

20090 end surface coast: CONTROL_FINISHED_OK

state 20090 begin surface

ID	140	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	80	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	9	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	390	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	-14599.688	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	231703,5917.468,-2152.823,44,1.5,44,-15.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	5928.408,-2152.826
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.90	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	232645,5917.610,-2152.922,12,1.7,12,-15.1	MHEAD_RNG_PITCHd_Wd	16.1,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.1,1.017501	XPDR_PINGS	90
SM_CCo	20171,0.00,0.000,0,0,1960,275.96	_24V_AH	23.4,23.103
SM_GC	0.90,11.50,0.00,0.00,0.045,0.000,0.000,591,2234,1960,-10.86,-0.03,275.96	_10V_AH	10.7,17.229
IRIDIUM_FIX	5850.29,-2149.65,160797,171704	DATA_FILE_SIZE	161001,2840
TT8_MAMPS	0.022243	CAP_FILE_SIZE	209648,0
HUMID	1597	CFSIZE	260165632,248401920
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,6,0,0,0
TCM_TEMP	16.80	GPS	220408,050432,5923.465,-2150.889,43,1.3,43,-15.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	207	134.85	SBE_CT	1967	24	1105.20
Roll_motor	94	158	350.90	SBE_O2	2146	19	954.47
VBD_pump_during_apogee	405	1445	13724.12	WL_BB2F	1791	105	4400.88
VBD_pump_during_surface	0	0	0.00	Optode	1165	33	899.99
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	75.26	nil	0	0	0.00
Iridium_during_connect	41	160	155.21	nil	0	0	0.00
Iridium_during_xfer	332	223	1733.54
Transponder_ping	22	420	221.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.41
TT8	4259	19	902.49
LPSleep	10396	2	243.61
TT8_Active	613	19	130.06
TT8_Sampling	4617	39	1966.41
TT8_CF8	834	45	408.80
TT8_Kalman	0	0	0.00
Analog_circuits	2626	12	337.23
GPS_charging	0	0	0.00
Compass	4623	8	395.78
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	89	0.00	0.00	-60.05	0.000	2	0.000	0.000	588	2228	3387
92	-1.29	-194.7	3.1	-6.5	11	123	13.02	2.85	-11.25	0.000	4	0.208	0.116	2668	3655	3881
249	-1.29	-194.7	22.9	-9.3	38	255	0.00	2.67	0.00	0.000	6	0.000	0.086	2668	2227	3882
393	-1.29	-194.7	37.5	-10.1	63	398	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2227	3882
534	-1.29	-194.7	50.1	-8.5	88	540	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2227	3882
676	-1.29	-194.7	62.2	-8.8	113	683	0.00	2.78	0.00	0.000	4	0.000	0.105	2668	3652	3882
706	-1.29	-194.7	65.1	-9.6	118	713	0.00	2.65	0.00	0.000	6	0.000	0.085	2668	2242	3882
850	-1.29	-194.7	78.1	-9.3	143	856	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2242	3882
992	-1.29	-194.7	91.3	-9.2	168	998	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2243	3882
1134	-1.29	-194.7	104.9	-9.5	193	1139	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2243	3882
1275	-1.29	-194.7	118.4	-9.7	218	1281	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2243	3882
1418	-1.29	-194.7	132.0	-9.7	243	1424	0.00	2.75	0.00	0.000	4	0.000	0.107	2668	3647	3882
1447	-1.29	-194.7	135.0	-10.0	248	1454	0.00	2.62	0.00	0.000	6	0.000	0.087	2668	2253	3882
1591	-1.29	-194.7	148.3	-9.3	273	1597	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2254	3882
1732	-1.29	-194.7	162.0	-9.3	298	1738	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2254	3882
2077	-1.29	-194.7	194.3	-9.6	359	2082	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2253	3882
2420	-1.29	-194.7	227.3	-9.4	420	2425	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2253	3882
2763	-1.29	-194.7	260.2	-9.5	481	2768	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2253	3882
3106	-1.29	-194.7	293.1	-9.6	542	3111	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2253	3882
3449	-1.29	-194.7	325.2	-9.2	603	3454	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2252	3882
3793	-1.29	-194.7	357.7	-9.7	664	3799	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2252	3882
4137	-1.29	-194.7	391.6	-9.9	725	4142	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2252	3882
4479	-1.29	-194.7	423.9	-9.2	786	4484	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2252	3882
4822	-1.29	-194.7	454.4	-9.0	847	4827	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2252	3882
5164	-1.29	-194.7	486.2	-9.8	908	5170	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2249	3882
5507	-1.29	-194.7	518.3	-9.6	969	5513	0.00	2.80	0.00	0.000	4	0.000	0.123	2668	3646	3882
5549	-1.29	-194.7	522.3	-10.1	976	5555	0.00	2.65	0.00	0.000	6	0.000	0.100	2668	2259	3882
5893	-1.29	-194.7	554.4	-9.1	1037	5898	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2260	3882
6235	-1.29	-194.7	584.9	-9.1	1098	6240	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2260	3882
6575	-1.29	-194.7	613.6	-8.5	1145	6576	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2260	3881
6893	-1.29	-194.7	641.9	-9.0	1175	6894	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2260	3881
7213	-1.29	-194.7	671.2	-9.0	1205	7215	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2260	3881
7532	-1.29	-194.7	699.1	-8.7	1235	7536	0.00	2.83	0.00	0.000	4	0.000	0.130	2668	3648	3880
7560	-1.29	-194.7	701.7	-9.5	1237	7564	0.00	2.70	0.00	0.000	6	0.000	0.107	2668	2259	3880
7888	-1.29	-194.7	729.1	-8.5	1267	7893	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2260	3880
8212	-1.29	-194.7	756.7	-8.7	1298	8213	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2260	3880
8531	-1.29	-194.7	783.3	-8.3	1328	8536	0.00	2.85	0.00	0.000	4	0.000	0.133	2668	3653	3879
8570	-1.29	-194.7	786.7	-8.5	1331	8575	0.00	2.70	0.00	0.000	6	0.000	0.109	2668	2270	3879
8896	-1.29	-194.7	813.7	-8.3	1361	8897	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2271	3879
9215	-1.29	-194.7	840.0	-8.4	1391	9216	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2271	3879
9531	-1.29	-194.7	866.4	-8.4	1421	9536	0.00	2.85	0.00	0.000	4	0.000	0.135	2668	3653	3878
9552	-1.29	-194.7	868.3	-8.5	1422	9559	0.00	2.72	0.00	0.000	6	0.000	0.112	2668	2269	3878
9879	-1.29	-194.7	895.3	-8.3	1453	9880	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2270	3878
10197	-1.29	-194.7	921.9	-8.6	1483	10202	0.00	2.83	0.00	0.000	4	0.000	0.135	2668	3646	3877
10229	-1.29	-194.7	925.0	-9.2	1485	10236	0.00	2.70	0.00	0.000	6	0.000	0.114	2668	2279	3877
10556	-1.29	-194.7	952.4	-8.4	1516	10557	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2280	3876
10874	-1.29	-194.7	979.3	-8.4	1546	10879	0.00	2.80	0.00	0.000	4	0.000	0.137	2668	3645	3876
10907	-1.29	-194.7	982.3	-9.0	1548	10913	0.00	2.70	0.00	0.000	6	0.000	0.115	2668	2281	3876
11006	end dive: TARGET_DEPTH_EXCEEDED
state	11006	begin apogee
11012	-0.35	0.0	990.5	8.0	1558	11181	1.05	0.00	164.68	1.445	6	0.114	0.000	2877	2328	3085
11181	end apogee: CONTROL_FINISHED_OK
state	11181	begin climb
11184	1.29	194.7	996.5	0.0	1575	11351	1.65	0.00	163.02	1.404	6	0.068	0.000	3239	2328	2291
11669	1.20	194.7	942.8	13.3	1622	11670	0.00	0.00	0.00	0.000	6	0.000	0.000	3239	2328	2289
11989	1.11	194.7	900.2	13.4	1652	11991	0.20	0.00	0.00	0.000	6	0.112	0.000	3203	2328	2288
12307	1.07	194.7	864.2	11.1	1682	12309	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2328	2288
12626	1.03	194.7	830.5	10.0	1712	12627	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2328	2287
12945	0.99	194.7	798.4	10.1	1742	12946	0.15	0.00	0.00	0.000	6	0.114	0.000	3176	2328	2287
13262	1.01	215.2	769.7	9.3	1772	13282	0.00	0.00	18.33	1.278	6	0.000	0.000	3175	2328	2207
13599	1.01	215.2	736.7	10.1	1804	13600	0.00	0.00	0.00	0.000	6	0.000	0.000	3176	2328	2205
13919	1.01	215.2	704.3	10.5	1834	13924	0.00	2.90	0.00	0.000	4	0.000	0.129	3175	909	2205
13958	1.01	215.2	699.9	10.3	1837	13963	0.00	2.80	0.00	0.000	6	0.000	0.110	3175	2325	2205
14282	1.02	225.4	667.3	9.6	1867	14294	0.00	0.00	9.98	1.176	6	0.000	0.000	3175	2325	2166
14613	1.03	231.8	634.4	9.8	1898	14627	0.00	2.97	7.30	1.084	4	0.000	0.127	3175	3738	2139
14649	1.03	231.8	630.3	10.3	1901	14656	0.00	2.80	0.00	0.000	6	0.000	0.100	3175	2315	2138
14976	1.04	235.5	597.7	9.9	1934	14986	0.00	0.00	4.82	0.902	6	0.000	0.000	3175	2315	2124
15324	1.04	235.5	561.8	10.7	1996	15329	0.00	0.00	0.00	0.000	6	0.000	0.000	3175	2315	2124
15667	1.04	235.5	524.6	10.7	2057	15672	0.00	0.00	0.00	0.000	6	0.000	0.000	3175	2315	2123
16009	1.05	247.6	489.2	9.6	2118	16027	0.00	2.83	11.80	1.075	4	0.000	0.113	3175	913	2074
16063	1.05	247.6	483.9	10.4	2127	16069	0.00	2.78	0.00	0.000	6	0.000	0.100	3175	2334	2073
16407	1.07	261.7	449.6	9.5	2188	16429	0.00	2.90	13.32	1.044	4	0.000	0.117	3175	3736	2016
16481	1.09	274.9	442.0	9.5	2201	16503	0.00	2.72	12.62	1.008	6	0.000	0.094	3175	2329	1964
16841	1.09	274.9	406.6	10.3	2265	16847	0.00	2.80	0.00	0.000	4	0.000	0.114	3175	913	1961
16888	1.14	274.9	401.7	10.3	2273	16894	0.15	2.75	0.00	0.000	6	0.061	0.099	3214	2334	1961
17231	1.14	274.9	359.5	13.8	2334	17238	0.00	2.80	0.00	0.000	4	0.000	0.115	3214	3741	1961
17278	1.09	274.9	353.5	13.0	2342	17284	0.00	2.70	0.00	0.000	6	0.000	0.092	3214	2332	1960
17621	1.09	274.9	310.0	12.1	2403	17627	0.00	2.80	0.00	0.000	4	0.000	0.111	3214	910	1960
17656	1.09	274.9	305.4	11.9	2409	17662	0.00	2.75	0.00	0.000	6	0.000	0.096	3214	2340	1961
17999	1.09	274.9	260.4	14.0	2470	18005	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2341	1961
18342	1.09	274.9	216.2	12.6	2531	18347	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2340	1961
18684	1.09	274.9	171.6	11.9	2592	18690	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2340	1961
19027	1.09	274.9	129.5	12.9	2653	19033	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2340	1962
19170	1.09	274.9	112.2	12.7	2678	19176	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2341	1961
19311	1.09	274.9	94.5	11.5	2703	19317	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2341	1962
19453	1.09	274.9	77.2	12.4	2728	19459	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2341	1962
19595	1.09	274.9	60.1	10.7	2753	19601	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2341	1962
19737	1.09	274.9	42.9	12.0	2778	19743	0.00	2.72	0.00	0.000	4	0.000	0.106	3214	3743	1962
19760	1.09	274.9	39.5	12.9	2782	19767	0.00	2.65	0.00	0.000	6	0.000	0.084	3214	2333	1962
19903	1.09	274.9	21.9	10.6	2807	19909	0.00	0.00	0.00	0.000	6	0.000	0.000	3213	2333	1962
20045	1.09	274.9	5.1	14.5	2832	20050	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2333	1962
20073	end climb: SURFACE_DEPTH_REACHED
state	20073	begin surface coast
20090	end surface coast: CONTROL_FINISHED_OK
state	20090	begin surface