Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 613 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 15 ESCAPE_HEADING 0 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 613 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3809 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2303 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2303 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 600 UPLOAD_DIVES_MAX -1 VBD_MIN 480 DEVICE2 20

T_MISSION 630 CALL_TRIES 5 VBD_MAX 3950 DEVICE3 53

T_ABORT 1440 CALL_WAIT 60 C_VBD 2931 DEVICE4 35

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -1 T_GPS 10 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -74045.867 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 57 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 120 RAFOS_HIT_WINDOW 3600 AH0_24V 147 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 120 AH0_10V 122.2 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3976 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2000 PRESSURE_YINT -1.9652373 SEABIRD_T_G 0.0043441742

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_H 0.00062523223

MASS 51458 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 1.8114715e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.1782754e-06

FERRY_MAX 45 PITCH_GAIN 23 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.019677

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1227477

HD_A 0.0037098001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00077646878

HD_B 0.012019 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00015901824

HD_C 3.2039999e-05 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 23 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3976 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 120 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011159377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -1.9652373 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 600

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 10

CALL_TRIES 5 HD_A 0.0037098001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.012019 RELAUNCH 1 T_GPS_CHARGE -74045.867

CAPMAXSIZE 100000 HD_C 3.2039999e-05 RHO 1.023 T_MISSION 630

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 57

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 144 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3809 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2000 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY -1

C_ROLL_CLIMB 2303 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2303 MASS 51458 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 34 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 15 SEABIRD_C_G -10.019677 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1227477 VBD_MAX 3950

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00077646878 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00015901824 VBD_MIN 480

DEVICE3 53 N_GPS 20 SEABIRD_T_G 0.0043441742 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 35 N_NOCOMM 1 SEABIRD_T_H 0.00062523223 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 1.8114715e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 1.1782754e-06 XPDR_DEVICE 24

DIVE 613 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.02 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 221020,4954.568,-14431.402,44,1.3,44,18.5 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4954.011,-14429.833

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.055,0.005

_SM_DEPTHo 2.36 KALMAN_X -86996.6,60.4,-132.2,133360.0,111.1

_SM_ANGLEo -64.4 KALMAN_Y 35382.2,367.7,80.8,-84711.7,-1210.3

GPS2 221638,4954.592,-14431.409,11,1.1,11,18.5 MHEAD_RNG_PITCHd_Wd 66.7,2165,-42.5,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.5,1.012916 XPDR_PINGS 30

SM_CCo 22977,111.45,0.601,0,0,1708,300.00 _24V_AH 23.3,88.356

SM_GC 2.31,0.00,0.00,111.45,0.000,0.000,0.601,98,2306,1708,-8.75,0.08,300.00 _10V_AH 10.4,76.440

IRIDIUM_FIX 4939.69,-14430.07,290399,151521 DATA_FILE_SIZE 38099,620

TT8_MAMPS 0.028379 CAP_FILE_SIZE 161473,0

HUMID 1701 CFSIZE 260165632,210976768

INTERNAL_PRESSURE 7.37333 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 15.60 GPS 030110,044336,4954.389,-14430.115,30,0.9,30,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 251 104.49 SBE_CT 434 24 242.78

Roll_motor 158 58 215.89 SBE_O2 508 19 225.00

VBD_pump_during_apogee 180 1224 5161.11 Optode 643 33 494.99

VBD_pump_during_surface 111 601 1561.52 WL_BB2F 713 105 1745.64

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.45 nil 0 0 0.00

Iridium_during_connect 27 160 103.44 nil 0 0 0.00

Iridium_during_xfer 162 223 844.86

Transponder_ping 7 420 73.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.88

TT8 1527 19 314.59

LPSleep 18234 2 415.32

TT8_Active 420 19 86.54

TT8_Sampling 2520 39 1043.41

TT8_CF8 754 45 359.61

TT8_Kalman 33 81 28.40

Analog_circuits 1629 12 203.41

GPS_charging 0 0 0.00

Compass 2485 8 206.81

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -1.86 -13.1 0.0 0.0 0 47 0.00 0.00 -26.08 0.000 2 0.000 0.000 97 2297 2381

51 -1.88 -22.1 3.0 -3.0 2 83 6.15 2.38 -20.08 0.000 4 0.234 0.058 1577 3707 3023

184 -1.92 -22.1 29.7 -27.9 8 187 0.00 2.20 0.00 0.000 6 0.000 0.032 1583 2303 3025

511 -2.01 -22.1 117.0 -26.5 30 515 0.00 2.28 0.00 0.000 4 0.000 0.048 1591 884 3025

620 -2.12 -22.1 139.6 -20.8 39 627 0.15 2.25 0.00 0.000 6 0.071 0.037 1523 2307 3025

946 -2.16 -22.1 208.3 -21.0 53 950 0.00 2.25 0.00 0.000 4 0.000 0.047 1529 894 3025

1077 -2.21 -22.1 234.8 -20.1 57 1081 0.00 2.22 0.00 0.000 6 0.000 0.041 1520 2303 3026

1419 -2.25 -22.1 304.6 -20.2 68 1423 0.00 2.22 0.00 0.000 4 0.000 0.043 1520 890 3026

1510 -2.28 -22.1 324.0 -21.8 69 1514 0.00 2.25 0.00 0.000 6 0.000 0.039 1510 2300 3026

1854 -2.31 -22.1 394.2 -20.3 75 1858 0.00 2.28 0.00 0.000 4 0.000 0.045 1510 888 3025

2081 -2.35 -22.1 440.0 -19.6 78 2085 0.00 2.28 0.00 0.000 6 0.000 0.038 1499 2303 3026

2426 -2.38 -22.1 504.9 -18.5 84 2430 0.00 2.30 0.00 0.000 4 0.000 0.044 1501 889 3026

2444 -2.40 -22.1 508.4 -17.8 84 2448 0.00 2.28 0.00 0.000 6 0.000 0.042 1493 2303 3025

2787 -2.40 -22.1 567.9 -17.3 90 2791 0.00 2.30 0.00 0.000 4 0.000 0.051 1493 890 3025

2934 -2.40 -22.1 593.0 -17.1 92 2938 0.00 2.28 0.00 0.000 6 0.000 0.038 1482 2305 3025

3283 -2.40 -22.1 652.5 -17.1 98 3287 0.00 2.30 0.00 0.000 4 0.000 0.048 1483 887 3025

3471 -2.40 -22.1 684.4 -16.2 100 3475 0.00 2.28 0.00 0.000 6 0.000 0.039 1472 2308 3025

3782 -2.40 -22.1 736.5 -16.7 105 3783 0.00 0.00 0.00 0.000 6 0.000 0.000 1472 2308 3024

4084 -2.40 -22.1 786.1 -16.2 110 4085 0.00 0.00 0.00 0.000 6 0.000 0.000 1471 2308 3024

4387 -2.40 -22.1 834.1 -15.7 115 4391 0.00 2.30 0.00 0.000 4 0.000 0.048 1460 3714 3023

4416 -2.34 -22.1 838.9 -17.5 115 4421 0.12 2.22 0.00 0.000 6 0.222 0.032 1486 2304 3023

4755 -2.34 -22.1 889.1 -14.8 121 4757 0.00 0.00 0.00 0.000 6 0.000 0.000 1486 2304 3023

5057 -2.34 -22.1 932.5 -14.3 126 5058 0.00 0.00 0.00 0.000 6 0.000 0.000 1486 2304 3023

5360 -2.34 -22.1 975.2 -14.0 131 5364 0.00 2.33 0.00 0.000 4 0.000 0.048 1490 897 3023

5400 -2.34 -22.1 981.2 -14.8 131 5404 0.00 2.28 0.00 0.000 6 0.000 0.041 1482 2303 3023

5475 end dive: TARGET_DEPTH_EXCEEDED

state 5475 begin apogee

5483 -0.22 0.0 991.8 13.7 133 5508 1.80 0.00 20.38 1.221 6 0.197 0.000 1946 2303 2932

5509 end apogee: CONTROL_FINISHED_OK

state 5509 begin climb

5512 1.88 22.1 991.8 0.0 133 5539 1.30 2.35 20.02 1.196 4 0.076 0.049 2409 3711 2841

5715 1.84 51.6 992.4 -2.8 136 5746 0.00 2.25 25.65 1.224 6 0.000 0.037 2419 2306 2720

6073 1.84 51.6 971.3 7.9 142 6077 0.00 2.30 0.00 0.000 4 0.000 0.046 2429 894 2719

6202 1.84 51.6 961.3 7.6 143 6208 0.10 2.30 0.00 0.000 6 0.236 0.044 2404 2315 2718

6513 1.88 51.6 938.3 7.4 149 6517 0.00 2.30 0.00 0.000 4 0.000 0.054 2413 893 2718

6586 1.92 51.6 932.8 7.5 150 6590 0.00 2.25 0.00 0.000 6 0.000 0.040 2411 2303 2718

6941 1.94 51.6 906.3 7.4 156 6945 0.00 2.30 0.00 0.000 4 0.000 0.051 2411 3719 2717

7157 1.89 51.6 888.5 8.3 159 7161 0.00 2.22 0.00 0.000 6 0.000 0.033 2419 2302 2717

7506 1.89 51.6 862.6 7.4 165 7510 0.00 2.30 0.00 0.000 4 0.000 0.048 2411 3720 2717

7565 1.84 51.6 858.2 7.9 165 7569 0.00 2.22 0.00 0.000 6 0.000 0.033 2419 2300 2717

7875 1.84 51.6 836.1 7.0 170 7879 0.00 2.28 0.00 0.000 4 0.000 0.054 2411 3711 2717

8135 1.79 51.6 816.9 7.6 173 8140 0.15 2.20 0.00 0.000 6 0.248 0.033 2390 2297 2717

8445 1.84 51.6 798.1 6.0 178 8446 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2297 2717

8748 1.89 51.6 781.2 5.5 183 8750 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2296 2717

9052 1.95 53.6 766.1 4.9 188 9056 0.12 2.33 0.00 0.000 4 0.089 0.047 2425 3714 2716

9249 1.87 53.6 754.4 5.8 190 9255 0.12 2.25 0.00 0.000 6 0.252 0.033 2411 2295 2716

9560 1.90 54.7 738.2 5.2 196 9564 0.00 2.35 0.00 0.000 4 0.000 0.048 2410 3721 2716

9820 1.85 58.9 724.5 4.3 199 9832 0.00 2.22 6.90 0.889 6 0.000 0.033 2418 2305 2690

10193 1.85 58.9 700.7 6.7 206 10197 0.00 2.30 0.00 0.000 4 0.000 0.047 2410 3715 2689

10451 1.80 58.9 682.9 6.5 209 10458 0.12 2.25 0.00 0.000 6 0.247 0.033 2396 2292 2689

10762 1.85 59.4 666.1 5.4 215 10763 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2292 2689

11066 1.90 62.9 652.2 4.5 220 11073 0.00 0.00 5.10 0.766 6 0.000 0.000 2396 2292 2673

11368 1.96 63.4 636.3 5.4 225 11370 0.10 0.00 0.00 0.000 6 0.092 0.000 2431 2291 2673

11671 1.96 63.4 618.7 5.8 230 11672 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2291 2673

11974 1.96 63.4 600.1 6.1 235 11978 0.00 2.33 0.00 0.000 4 0.000 0.047 2422 3712 2673

12008 1.89 63.4 597.9 6.0 235 12012 0.00 2.22 0.00 0.000 6 0.000 0.033 2431 2305 2673

12341 1.89 63.4 575.7 6.8 241 12342 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2304 2673

12643 1.89 63.4 556.2 6.3 246 12647 0.00 2.30 0.00 0.000 4 0.000 0.047 2422 3721 2672

12679 1.82 63.4 553.9 5.8 246 12684 0.17 2.25 0.00 0.000 6 0.236 0.033 2395 2295 2673

13012 1.87 66.0 537.2 4.7 252 13021 0.00 2.35 4.25 0.641 4 0.000 0.046 2385 3721 2661

13275 1.87 66.0 523.5 5.8 255 13282 0.00 2.22 0.00 0.000 6 0.000 0.034 2393 2306 2661

13587 1.93 69.6 509.1 4.5 261 13594 0.10 0.00 4.45 0.655 6 0.091 0.000 2431 2306 2647

13889 1.94 71.1 493.7 5.1 266 13893 0.00 2.30 0.00 0.000 4 0.000 0.048 2422 3715 2647

13970 1.88 73.9 489.6 4.7 267 13980 0.00 2.20 5.30 0.706 6 0.000 0.033 2430 2302 2629

14318 1.88 73.9 468.2 6.3 273 14320 0.10 0.00 0.00 0.000 6 0.232 0.000 2412 2301 2629

14622 1.92 73.9 449.6 6.0 278 14623 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2301 2629

14926 1.97 73.9 432.2 5.6 283 14930 0.00 2.30 0.00 0.000 4 0.000 0.045 2420 891 2629

15125 2.02 77.3 422.3 4.5 286 15134 0.00 2.28 4.38 0.617 6 0.000 0.039 2418 2306 2615

15497 2.05 77.9 402.3 5.3 292 15499 0.10 0.00 0.00 0.000 6 0.092 0.000 2453 2306 2615

15798 2.05 77.9 385.4 5.6 297 15802 0.00 2.28 0.00 0.000 4 0.000 0.046 2445 3719 2615

16041 1.98 77.9 371.3 5.7 300 16046 0.12 2.22 0.00 0.000 6 0.242 0.032 2430 2300 2614

16363 2.00 79.6 354.8 5.0 306 16369 0.00 0.00 3.58 0.515 6 0.000 0.000 2430 2300 2606

16667 2.03 81.8 339.8 4.9 311 16676 0.00 2.33 3.60 0.507 4 0.000 0.044 2420 3707 2597

16931 2.00 85.6 326.2 4.4 314 16941 0.00 2.22 4.55 0.595 6 0.000 0.032 2429 2294 2583

17311 2.02 85.8 306.0 5.4 321 17315 0.00 2.30 0.00 0.000 4 0.000 0.045 2420 3718 2582

17569 1.99 85.8 289.5 6.1 326 17576 0.00 2.22 0.00 0.000 6 0.000 0.031 2429 2304 2582

17884 2.02 85.8 271.9 5.5 337 17888 0.00 2.28 0.00 0.000 4 0.000 0.044 2422 3712 2582

18031 1.98 85.8 263.0 6.1 341 18035 0.00 2.22 0.00 0.000 6 0.000 0.031 2430 2291 2582

18351 2.01 91.2 248.6 4.0 352 18360 0.00 0.00 6.47 0.642 6 0.000 0.000 2431 2291 2558

18657 2.05 93.2 233.9 4.9 362 18658 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2291 2557

18962 2.08 93.2 217.7 5.6 372 18966 0.00 2.30 0.00 0.000 4 0.000 0.044 2422 3717 2557

19119 2.05 93.9 209.9 5.3 376 19128 0.00 2.25 3.58 0.462 6 0.000 0.031 2431 2299 2549

19443 2.09 95.4 193.0 5.1 387 19445 0.08 0.00 0.00 0.000 6 0.095 0.000 2465 2299 2548

19749 2.09 100.5 179.8 4.1 397 19763 0.00 2.33 7.12 0.626 4 0.000 0.043 2475 893 2520

20021 2.09 100.5 163.5 6.4 405 20025 0.00 2.25 0.00 0.000 6 0.000 0.036 2468 2306 2519

20338 2.10 105.9 148.5 4.0 416 20350 0.00 2.28 5.82 0.574 4 0.000 0.041 2476 891 2498

20604 2.11 117.0 138.1 2.4 439 20622 0.00 2.25 10.20 0.640 6 0.000 0.036 2477 2296 2452

20941 2.12 120.0 124.4 4.6 471 20953 0.00 2.28 3.85 0.451 4 0.000 0.042 2486 899 2440

21109 2.13 131.5 117.5 2.3 485 21127 0.00 2.22 10.55 0.628 6 0.000 0.035 2479 2312 2394

21447 2.16 140.3 106.4 3.0 517 21462 0.00 2.33 8.65 0.605 4 0.000 0.044 2477 3724 2358

21517 2.11 141.8 103.6 5.1 523 21522 0.12 2.22 0.00 0.000 6 0.228 0.031 2461 2304 2357

21850 2.19 159.2 99.8 0.6 554 21873 0.00 2.28 16.55 0.644 4 0.000 0.041 2470 887 2281

22127 2.27 159.2 82.0 9.3 578 22134 0.12 2.25 0.00 0.000 6 0.077 0.035 2512 2311 2277

22444 2.27 159.2 50.8 10.0 595 22448 0.00 2.25 0.00 0.000 4 0.000 0.041 2522 887 2277

22486 2.27 159.2 46.5 11.0 597 22491 0.10 2.22 0.00 0.000 6 0.217 0.035 2498 2306 2276

22816 2.30 159.2 12.9 10.2 613 22817 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2306 2276

22934 end climb: SURFACE_DEPTH_REACHED

state 22934 begin surface coast

22956 end surface coast: CONTROL_FINISHED_OK

state 22956 begin surface

ID	144	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	15	ESCAPE_HEADING	0	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	613	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3809	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2303	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2303	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	600	UPLOAD_DIVES_MAX	-1	VBD_MIN	480	DEVICE2	20
T_MISSION	630	CALL_TRIES	5	VBD_MAX	3950	DEVICE3	53
T_ABORT	1440	CALL_WAIT	60	C_VBD	2931	DEVICE4	35
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-1	T_GPS	10	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-74045.867	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	57	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	120	RAFOS_HIT_WINDOW	3600	AH0_24V	147	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	120	AH0_10V	122.2	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3976	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2000	PRESSURE_YINT	-1.9652373	SEABIRD_T_G	0.0043441742
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_H	0.00062523223
MASS	51458	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	1.8114715e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.1782754e-06
FERRY_MAX	45	PITCH_GAIN	23	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.019677
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1227477
HD_A	0.0037098001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00077646878
HD_B	0.012019	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00015901824
HD_C	3.2039999e-05	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	221020,4954.568,-14431.402,44,1.3,44,18.5	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4954.011,-14429.833
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.055,0.005
_SM_DEPTHo	2.36	KALMAN_X	-86996.6,60.4,-132.2,133360.0,111.1
_SM_ANGLEo	-64.4	KALMAN_Y	35382.2,367.7,80.8,-84711.7,-1210.3
GPS2	221638,4954.592,-14431.409,11,1.1,11,18.5	MHEAD_RNG_PITCHd_Wd	66.7,2165,-42.5,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.5,1.012916	XPDR_PINGS	30
SM_CCo	22977,111.45,0.601,0,0,1708,300.00	_24V_AH	23.3,88.356
SM_GC	2.31,0.00,0.00,111.45,0.000,0.000,0.601,98,2306,1708,-8.75,0.08,300.00	_10V_AH	10.4,76.440
IRIDIUM_FIX	4939.69,-14430.07,290399,151521	DATA_FILE_SIZE	38099,620
TT8_MAMPS	0.028379	CAP_FILE_SIZE	161473,0
HUMID	1701	CFSIZE	260165632,210976768
INTERNAL_PRESSURE	7.37333	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	15.60	GPS	030110,044336,4954.389,-14430.115,30,0.9,30,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	251	104.49	SBE_CT	434	24	242.78
Roll_motor	158	58	215.89	SBE_O2	508	19	225.00
VBD_pump_during_apogee	180	1224	5161.11	Optode	643	33	494.99
VBD_pump_during_surface	111	601	1561.52	WL_BB2F	713	105	1745.64
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.45	nil	0	0	0.00
Iridium_during_connect	27	160	103.44	nil	0	0	0.00
Iridium_during_xfer	162	223	844.86
Transponder_ping	7	420	73.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.88
TT8	1527	19	314.59
LPSleep	18234	2	415.32
TT8_Active	420	19	86.54
TT8_Sampling	2520	39	1043.41
TT8_CF8	754	45	359.61
TT8_Kalman	33	81	28.40
Analog_circuits	1629	12	203.41
GPS_charging	0	0	0.00
Compass	2485	8	206.81
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-1.86	-13.1	0.0	0.0	0	47	0.00	0.00	-26.08	0.000	2	0.000	0.000	97	2297	2381
51	-1.88	-22.1	3.0	-3.0	2	83	6.15	2.38	-20.08	0.000	4	0.234	0.058	1577	3707	3023
184	-1.92	-22.1	29.7	-27.9	8	187	0.00	2.20	0.00	0.000	6	0.000	0.032	1583	2303	3025
511	-2.01	-22.1	117.0	-26.5	30	515	0.00	2.28	0.00	0.000	4	0.000	0.048	1591	884	3025
620	-2.12	-22.1	139.6	-20.8	39	627	0.15	2.25	0.00	0.000	6	0.071	0.037	1523	2307	3025
946	-2.16	-22.1	208.3	-21.0	53	950	0.00	2.25	0.00	0.000	4	0.000	0.047	1529	894	3025
1077	-2.21	-22.1	234.8	-20.1	57	1081	0.00	2.22	0.00	0.000	6	0.000	0.041	1520	2303	3026
1419	-2.25	-22.1	304.6	-20.2	68	1423	0.00	2.22	0.00	0.000	4	0.000	0.043	1520	890	3026
1510	-2.28	-22.1	324.0	-21.8	69	1514	0.00	2.25	0.00	0.000	6	0.000	0.039	1510	2300	3026
1854	-2.31	-22.1	394.2	-20.3	75	1858	0.00	2.28	0.00	0.000	4	0.000	0.045	1510	888	3025
2081	-2.35	-22.1	440.0	-19.6	78	2085	0.00	2.28	0.00	0.000	6	0.000	0.038	1499	2303	3026
2426	-2.38	-22.1	504.9	-18.5	84	2430	0.00	2.30	0.00	0.000	4	0.000	0.044	1501	889	3026
2444	-2.40	-22.1	508.4	-17.8	84	2448	0.00	2.28	0.00	0.000	6	0.000	0.042	1493	2303	3025
2787	-2.40	-22.1	567.9	-17.3	90	2791	0.00	2.30	0.00	0.000	4	0.000	0.051	1493	890	3025
2934	-2.40	-22.1	593.0	-17.1	92	2938	0.00	2.28	0.00	0.000	6	0.000	0.038	1482	2305	3025
3283	-2.40	-22.1	652.5	-17.1	98	3287	0.00	2.30	0.00	0.000	4	0.000	0.048	1483	887	3025
3471	-2.40	-22.1	684.4	-16.2	100	3475	0.00	2.28	0.00	0.000	6	0.000	0.039	1472	2308	3025
3782	-2.40	-22.1	736.5	-16.7	105	3783	0.00	0.00	0.00	0.000	6	0.000	0.000	1472	2308	3024
4084	-2.40	-22.1	786.1	-16.2	110	4085	0.00	0.00	0.00	0.000	6	0.000	0.000	1471	2308	3024
4387	-2.40	-22.1	834.1	-15.7	115	4391	0.00	2.30	0.00	0.000	4	0.000	0.048	1460	3714	3023
4416	-2.34	-22.1	838.9	-17.5	115	4421	0.12	2.22	0.00	0.000	6	0.222	0.032	1486	2304	3023
4755	-2.34	-22.1	889.1	-14.8	121	4757	0.00	0.00	0.00	0.000	6	0.000	0.000	1486	2304	3023
5057	-2.34	-22.1	932.5	-14.3	126	5058	0.00	0.00	0.00	0.000	6	0.000	0.000	1486	2304	3023
5360	-2.34	-22.1	975.2	-14.0	131	5364	0.00	2.33	0.00	0.000	4	0.000	0.048	1490	897	3023
5400	-2.34	-22.1	981.2	-14.8	131	5404	0.00	2.28	0.00	0.000	6	0.000	0.041	1482	2303	3023
5475	end dive: TARGET_DEPTH_EXCEEDED
state	5475	begin apogee
5483	-0.22	0.0	991.8	13.7	133	5508	1.80	0.00	20.38	1.221	6	0.197	0.000	1946	2303	2932
5509	end apogee: CONTROL_FINISHED_OK
state	5509	begin climb
5512	1.88	22.1	991.8	0.0	133	5539	1.30	2.35	20.02	1.196	4	0.076	0.049	2409	3711	2841
5715	1.84	51.6	992.4	-2.8	136	5746	0.00	2.25	25.65	1.224	6	0.000	0.037	2419	2306	2720
6073	1.84	51.6	971.3	7.9	142	6077	0.00	2.30	0.00	0.000	4	0.000	0.046	2429	894	2719
6202	1.84	51.6	961.3	7.6	143	6208	0.10	2.30	0.00	0.000	6	0.236	0.044	2404	2315	2718
6513	1.88	51.6	938.3	7.4	149	6517	0.00	2.30	0.00	0.000	4	0.000	0.054	2413	893	2718
6586	1.92	51.6	932.8	7.5	150	6590	0.00	2.25	0.00	0.000	6	0.000	0.040	2411	2303	2718
6941	1.94	51.6	906.3	7.4	156	6945	0.00	2.30	0.00	0.000	4	0.000	0.051	2411	3719	2717
7157	1.89	51.6	888.5	8.3	159	7161	0.00	2.22	0.00	0.000	6	0.000	0.033	2419	2302	2717
7506	1.89	51.6	862.6	7.4	165	7510	0.00	2.30	0.00	0.000	4	0.000	0.048	2411	3720	2717
7565	1.84	51.6	858.2	7.9	165	7569	0.00	2.22	0.00	0.000	6	0.000	0.033	2419	2300	2717
7875	1.84	51.6	836.1	7.0	170	7879	0.00	2.28	0.00	0.000	4	0.000	0.054	2411	3711	2717
8135	1.79	51.6	816.9	7.6	173	8140	0.15	2.20	0.00	0.000	6	0.248	0.033	2390	2297	2717
8445	1.84	51.6	798.1	6.0	178	8446	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2297	2717
8748	1.89	51.6	781.2	5.5	183	8750	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2296	2717
9052	1.95	53.6	766.1	4.9	188	9056	0.12	2.33	0.00	0.000	4	0.089	0.047	2425	3714	2716
9249	1.87	53.6	754.4	5.8	190	9255	0.12	2.25	0.00	0.000	6	0.252	0.033	2411	2295	2716
9560	1.90	54.7	738.2	5.2	196	9564	0.00	2.35	0.00	0.000	4	0.000	0.048	2410	3721	2716
9820	1.85	58.9	724.5	4.3	199	9832	0.00	2.22	6.90	0.889	6	0.000	0.033	2418	2305	2690
10193	1.85	58.9	700.7	6.7	206	10197	0.00	2.30	0.00	0.000	4	0.000	0.047	2410	3715	2689
10451	1.80	58.9	682.9	6.5	209	10458	0.12	2.25	0.00	0.000	6	0.247	0.033	2396	2292	2689
10762	1.85	59.4	666.1	5.4	215	10763	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2292	2689
11066	1.90	62.9	652.2	4.5	220	11073	0.00	0.00	5.10	0.766	6	0.000	0.000	2396	2292	2673
11368	1.96	63.4	636.3	5.4	225	11370	0.10	0.00	0.00	0.000	6	0.092	0.000	2431	2291	2673
11671	1.96	63.4	618.7	5.8	230	11672	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2291	2673
11974	1.96	63.4	600.1	6.1	235	11978	0.00	2.33	0.00	0.000	4	0.000	0.047	2422	3712	2673
12008	1.89	63.4	597.9	6.0	235	12012	0.00	2.22	0.00	0.000	6	0.000	0.033	2431	2305	2673
12341	1.89	63.4	575.7	6.8	241	12342	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2304	2673
12643	1.89	63.4	556.2	6.3	246	12647	0.00	2.30	0.00	0.000	4	0.000	0.047	2422	3721	2672
12679	1.82	63.4	553.9	5.8	246	12684	0.17	2.25	0.00	0.000	6	0.236	0.033	2395	2295	2673
13012	1.87	66.0	537.2	4.7	252	13021	0.00	2.35	4.25	0.641	4	0.000	0.046	2385	3721	2661
13275	1.87	66.0	523.5	5.8	255	13282	0.00	2.22	0.00	0.000	6	0.000	0.034	2393	2306	2661
13587	1.93	69.6	509.1	4.5	261	13594	0.10	0.00	4.45	0.655	6	0.091	0.000	2431	2306	2647
13889	1.94	71.1	493.7	5.1	266	13893	0.00	2.30	0.00	0.000	4	0.000	0.048	2422	3715	2647
13970	1.88	73.9	489.6	4.7	267	13980	0.00	2.20	5.30	0.706	6	0.000	0.033	2430	2302	2629
14318	1.88	73.9	468.2	6.3	273	14320	0.10	0.00	0.00	0.000	6	0.232	0.000	2412	2301	2629
14622	1.92	73.9	449.6	6.0	278	14623	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2301	2629
14926	1.97	73.9	432.2	5.6	283	14930	0.00	2.30	0.00	0.000	4	0.000	0.045	2420	891	2629
15125	2.02	77.3	422.3	4.5	286	15134	0.00	2.28	4.38	0.617	6	0.000	0.039	2418	2306	2615
15497	2.05	77.9	402.3	5.3	292	15499	0.10	0.00	0.00	0.000	6	0.092	0.000	2453	2306	2615
15798	2.05	77.9	385.4	5.6	297	15802	0.00	2.28	0.00	0.000	4	0.000	0.046	2445	3719	2615
16041	1.98	77.9	371.3	5.7	300	16046	0.12	2.22	0.00	0.000	6	0.242	0.032	2430	2300	2614
16363	2.00	79.6	354.8	5.0	306	16369	0.00	0.00	3.58	0.515	6	0.000	0.000	2430	2300	2606
16667	2.03	81.8	339.8	4.9	311	16676	0.00	2.33	3.60	0.507	4	0.000	0.044	2420	3707	2597
16931	2.00	85.6	326.2	4.4	314	16941	0.00	2.22	4.55	0.595	6	0.000	0.032	2429	2294	2583
17311	2.02	85.8	306.0	5.4	321	17315	0.00	2.30	0.00	0.000	4	0.000	0.045	2420	3718	2582
17569	1.99	85.8	289.5	6.1	326	17576	0.00	2.22	0.00	0.000	6	0.000	0.031	2429	2304	2582
17884	2.02	85.8	271.9	5.5	337	17888	0.00	2.28	0.00	0.000	4	0.000	0.044	2422	3712	2582
18031	1.98	85.8	263.0	6.1	341	18035	0.00	2.22	0.00	0.000	6	0.000	0.031	2430	2291	2582
18351	2.01	91.2	248.6	4.0	352	18360	0.00	0.00	6.47	0.642	6	0.000	0.000	2431	2291	2558
18657	2.05	93.2	233.9	4.9	362	18658	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2291	2557
18962	2.08	93.2	217.7	5.6	372	18966	0.00	2.30	0.00	0.000	4	0.000	0.044	2422	3717	2557
19119	2.05	93.9	209.9	5.3	376	19128	0.00	2.25	3.58	0.462	6	0.000	0.031	2431	2299	2549
19443	2.09	95.4	193.0	5.1	387	19445	0.08	0.00	0.00	0.000	6	0.095	0.000	2465	2299	2548
19749	2.09	100.5	179.8	4.1	397	19763	0.00	2.33	7.12	0.626	4	0.000	0.043	2475	893	2520
20021	2.09	100.5	163.5	6.4	405	20025	0.00	2.25	0.00	0.000	6	0.000	0.036	2468	2306	2519
20338	2.10	105.9	148.5	4.0	416	20350	0.00	2.28	5.82	0.574	4	0.000	0.041	2476	891	2498
20604	2.11	117.0	138.1	2.4	439	20622	0.00	2.25	10.20	0.640	6	0.000	0.036	2477	2296	2452
20941	2.12	120.0	124.4	4.6	471	20953	0.00	2.28	3.85	0.451	4	0.000	0.042	2486	899	2440
21109	2.13	131.5	117.5	2.3	485	21127	0.00	2.22	10.55	0.628	6	0.000	0.035	2479	2312	2394
21447	2.16	140.3	106.4	3.0	517	21462	0.00	2.33	8.65	0.605	4	0.000	0.044	2477	3724	2358
21517	2.11	141.8	103.6	5.1	523	21522	0.12	2.22	0.00	0.000	6	0.228	0.031	2461	2304	2357
21850	2.19	159.2	99.8	0.6	554	21873	0.00	2.28	16.55	0.644	4	0.000	0.041	2470	887	2281
22127	2.27	159.2	82.0	9.3	578	22134	0.12	2.25	0.00	0.000	6	0.077	0.035	2512	2311	2277
22444	2.27	159.2	50.8	10.0	595	22448	0.00	2.25	0.00	0.000	4	0.000	0.041	2522	887	2277
22486	2.27	159.2	46.5	11.0	597	22491	0.10	2.22	0.00	0.000	6	0.217	0.035	2498	2306	2276
22816	2.30	159.2	12.9	10.2	613	22817	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2306	2276
22934	end climb: SURFACE_DEPTH_REACHED
state	22934	begin surface coast
22956	end surface coast: CONTROL_FINISHED_OK
state	22956	begin surface