Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 10 * 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 10 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 480 DEVICE2 20

T_MISSION 480 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 -61002.133 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 150 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 0.039999999 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 440

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 -61002.133

CAPMAXSIZE 100000 HD_C 3.2039999e-05 RHO 1.023 T_MISSION 480

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 27 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 10 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 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 015236,5006.438,-14448.816,30,1.6,30,18.5 TGT_NAME C_NW

_CALLS 2 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.012,-0.074

_SM_DEPTHo 1.75 KALMAN_X -5329.9,437.1,493.6,18705.1,-2265.5

_SM_ANGLEo -65.7 KALMAN_Y 6464.8,-244.4,-217.6,6572.2,3042.2

GPS2 020107,5006.480,-14448.821,10,1.8,15,18.5 MHEAD_RNG_PITCHd_Wd 170.5,3108,-42.9,-7.500

SPEED_LIMITS 0.075,0.210 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.9,1.014292 XPDR_PINGS 34

SM_CCo 19058,103.78,0.648,0,0,1708,300.00 _24V_AH 24.4,4.784

SM_GC 1.69,0.00,0.00,103.78,0.000,0.000,0.648,100,2301,1708,-8.74,-0.03,300.00 _10V_AH 10.7,2.080

IRIDIUM_FIX 4949.70,-14449.20,100998,020254 DATA_FILE_SIZE 31730,496

TT8_MAMPS 0.029146 CAP_FILE_SIZE 148593,0

HUMID 1577 CFSIZE 260165632,258162688

INTERNAL_PRESSURE 7.39286 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 15.90 GPS 160609,072237,5005.354,-14449.620,33,1.2,33,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 270 127.83 SBE_CT 349 24 204.69

Roll_motor 150 74 273.89 SBE_O2 392 19 181.87

VBD_pump_during_apogee 176 1305 5629.95 Optode 508 33 409.71

VBD_pump_during_surface 103 648 1641.10 WL_BB2F 852 105 2182.85

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 51 103 129.55 nil 0 0 0.00

Iridium_during_connect 52 160 206.34 nil 0 0 0.00

Iridium_during_xfer 234 223 1278.31

Transponder_ping 8 420 87.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.30

TT8 1317 19 279.06

LPSleep 14978 2 350.98

TT8_Active 419 19 88.97

TT8_Sampling 2362 39 1005.89

TT8_CF8 601 45 294.55

TT8_Kalman 33 81 29.21

Analog_circuits 1517 12 194.80

GPS_charging 0 0 0.00

Compass 2325 8 199.08

RAFOS 0 0 0.00

Transponder 0 30 0.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.89 -20.7 0.0 0.0 0 59 0.00 0.00 -41.30 0.000 2 0.000 0.000 101 2300 2792

62 -1.90 -27.6 3.5 -5.8 4 79 6.18 2.33 -5.95 0.000 4 0.262 0.072 1589 885 3045

332 -2.07 -27.6 73.9 -25.2 27 339 0.12 2.30 0.00 0.000 6 0.088 0.051 1533 2309 3047

648 -2.13 -27.6 153.7 -21.6 44 652 0.00 2.30 0.00 0.000 4 0.000 0.058 1533 892 3048

782 -2.20 -27.6 182.4 -21.5 48 787 0.00 2.28 0.00 0.000 6 0.000 0.058 1523 2309 3048

1112 -2.26 -27.6 254.9 -22.0 59 1116 0.00 2.28 0.00 0.000 4 0.000 0.058 1523 893 3048

1370 -2.32 -27.6 311.5 -22.1 66 1376 0.00 2.28 0.00 0.000 6 0.000 0.054 1512 2313 3048

1680 -2.36 -27.6 376.6 -20.9 72 1685 0.10 2.30 0.00 0.000 4 0.097 0.058 1474 882 3048

1877 -2.32 -27.6 419.3 -21.1 75 1882 0.12 2.28 0.00 0.000 6 0.226 0.053 1491 2311 3048

2242 -2.32 -27.6 490.7 -19.3 81 2246 0.00 2.28 0.00 0.000 4 0.000 0.062 1492 891 3048

2500 -2.32 -27.6 538.0 -17.9 84 2507 0.00 2.28 0.00 0.000 6 0.000 0.058 1484 2300 3047

2810 -2.32 -27.6 592.3 -17.5 90 2814 0.00 2.25 0.00 0.000 4 0.000 0.062 1487 893 3047

3001 -2.32 -27.6 625.9 -17.8 92 3008 0.00 2.25 0.00 0.000 6 0.000 0.056 1479 2306 3046

3312 -2.32 -27.6 681.1 -17.9 98 3316 0.00 2.28 0.00 0.000 4 0.000 0.064 1478 886 3047

3552 -2.32 -27.6 726.2 -18.3 101 3557 0.12 2.28 0.00 0.000 6 0.239 0.058 1495 2312 3046

3879 -2.32 -27.6 783.8 -17.6 107 3883 0.00 2.30 0.00 0.000 4 0.000 0.064 1502 883 3046

3923 -2.32 -27.6 791.9 -17.6 107 3927 0.00 2.28 0.00 0.000 6 0.000 0.059 1494 2308 3046

4244 -2.32 -27.6 847.1 -17.1 113 4248 0.00 2.28 0.00 0.000 4 0.000 0.072 1494 897 3046

4259 -2.32 -27.6 850.3 -17.0 113 4263 0.00 2.25 0.00 0.000 6 0.000 0.060 1485 2306 3046

4609 -2.32 -27.6 909.2 -16.9 119 4610 0.00 0.00 0.00 0.000 6 0.000 0.000 1485 2306 3045

4912 -2.32 -27.6 958.6 -16.2 124 4916 0.00 2.30 0.00 0.000 4 0.000 0.068 1493 885 3045

4967 -2.32 -27.6 967.5 -15.8 124 4974 0.00 2.30 0.00 0.000 6 0.000 0.061 1484 2300 3046

5153 end dive: TARGET_DEPTH_EXCEEDED

state 5153 begin apogee

5158 -0.22 0.0 997.0 15.8 128 5186 1.90 0.00 23.45 1.305 6 0.267 0.000 1949 2300 2931

5187 end apogee: CONTROL_FINISHED_OK

state 5187 begin climb

5189 1.90 27.6 997.0 0.0 128 5216 1.48 0.00 23.45 1.268 6 0.138 0.000 2413 2300 2818

5519 1.86 46.5 987.9 2.9 134 5540 0.00 2.40 16.35 1.244 4 0.000 0.074 2410 3711 2740

5592 1.67 46.5 984.1 7.5 135 5597 0.25 2.30 0.00 0.000 6 0.266 0.056 2368 2310 2739

5947 1.76 46.5 957.3 7.6 141 5948 0.00 0.00 0.00 0.000 6 0.000 0.000 2368 2310 2739

6250 1.84 46.5 934.6 7.5 146 6255 0.12 2.35 0.00 0.000 4 0.127 0.071 2414 881 2738

6389 1.84 46.5 923.6 8.0 148 6393 0.00 2.33 0.00 0.000 6 0.000 0.059 2410 2308 2738

6749 1.84 46.5 895.9 7.7 154 6753 0.00 2.30 0.00 0.000 4 0.000 0.070 2399 3716 2738

7007 1.71 46.5 874.9 8.3 157 7014 0.12 2.30 0.00 0.000 6 0.265 0.056 2379 2307 2738

7317 1.77 49.6 853.8 6.8 163 7318 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2307 2737

7620 1.84 54.8 834.9 6.2 168 7634 0.00 2.38 7.47 1.045 4 0.000 0.068 2368 3714 2707

7720 1.80 54.8 826.9 8.8 169 7724 0.00 2.28 0.00 0.000 6 0.000 0.054 2377 2298 2706

8051 1.88 54.8 800.6 7.9 175 8056 0.12 2.33 0.00 0.000 4 0.121 0.071 2411 3716 2706

8073 1.81 54.8 798.6 9.2 175 8078 0.12 2.28 0.00 0.000 6 0.271 0.056 2397 2292 2706

8410 1.81 54.8 772.8 7.6 181 8414 0.00 2.33 0.00 0.000 4 0.000 0.067 2387 3719 2705

8667 1.73 54.8 751.5 8.3 184 8674 0.00 2.30 0.00 0.000 6 0.000 0.054 2395 2299 2706

8977 1.73 57.4 730.0 6.9 190 8986 0.00 2.35 3.50 0.669 4 0.000 0.065 2387 3712 2697

9105 1.65 57.4 720.1 7.6 191 9112 0.17 2.25 0.00 0.000 6 0.262 0.054 2360 2304 2697

9417 1.79 61.8 700.0 6.4 197 9424 0.10 0.00 5.30 0.868 6 0.122 0.000 2389 2304 2679

9718 1.84 61.8 677.3 7.6 202 9722 0.00 2.30 0.00 0.000 4 0.000 0.067 2382 3716 2679

9813 1.78 61.8 669.4 8.0 203 9817 0.00 2.25 0.00 0.000 6 0.000 0.053 2390 2303 2678

10151 1.84 63.8 645.4 7.0 209 10155 0.00 2.28 0.00 0.000 4 0.000 0.065 2401 888 2678

10332 1.89 69.8 633.9 6.0 211 10349 0.00 2.28 7.75 0.950 6 0.000 0.060 2398 2308 2646

10653 1.96 70.1 610.8 7.4 217 10654 0.10 0.00 0.00 0.000 6 0.120 0.000 2427 2308 2644

10955 1.96 70.6 588.2 7.4 222 10956 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2308 2644

11258 1.96 71.0 565.7 7.4 227 11262 0.00 2.28 0.00 0.000 4 0.000 0.067 2424 3717 2644

11438 1.81 71.0 550.6 8.0 229 11443 0.17 2.25 0.00 0.000 6 0.259 0.053 2396 2296 2645

11753 1.87 72.9 528.3 7.0 235 11762 0.00 2.30 4.03 0.683 4 0.000 0.065 2405 893 2633

11809 1.93 74.6 524.2 7.1 235 11814 0.10 2.25 0.00 0.000 6 0.124 0.054 2427 2305 2633

12119 1.93 74.7 501.2 7.5 240 12123 0.00 2.28 0.00 0.000 4 0.000 0.071 2424 3717 2632

12209 1.79 74.7 493.8 7.8 241 12214 0.20 2.25 0.00 0.000 6 0.258 0.053 2390 2294 2632

12547 1.87 78.4 471.3 6.6 247 12558 0.00 2.33 6.00 0.808 4 0.000 0.064 2381 3723 2610

12731 1.87 78.4 455.7 9.9 249 12735 0.00 2.28 0.00 0.000 6 0.000 0.052 2390 2296 2609

13048 1.96 78.4 429.0 8.5 255 13052 0.12 2.28 0.00 0.000 4 0.113 0.064 2442 880 2609

13265 1.96 78.4 409.9 8.2 258 13269 0.00 2.28 0.00 0.000 6 0.000 0.054 2438 2306 2609

13614 1.96 78.4 383.0 7.6 264 13618 0.00 2.28 0.00 0.000 4 0.000 0.065 2437 3725 2609

13873 1.80 84.3 364.1 6.1 267 13884 0.22 2.25 6.15 0.760 6 0.260 0.052 2397 2297 2586

14247 1.88 84.3 337.1 7.5 274 14248 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2298 2586

14548 1.97 86.3 315.7 7.0 279 14550 0.12 0.00 0.00 0.000 6 0.107 0.000 2437 2297 2586

14852 1.97 88.1 294.3 7.1 285 14861 0.00 2.30 4.62 0.652 4 0.000 0.064 2431 3716 2571

15114 1.83 88.1 271.6 9.0 292 15122 0.15 2.25 0.00 0.000 6 0.249 0.051 2403 2311 2570

15427 1.91 90.8 249.5 6.8 303 15436 0.00 2.30 3.67 0.552 4 0.000 0.064 2393 3710 2561

15690 1.87 90.8 229.3 7.6 310 15696 0.00 2.25 0.00 0.000 6 0.000 0.052 2402 2308 2560

16003 1.94 94.3 207.9 6.6 321 16012 0.00 2.30 4.70 0.615 4 0.000 0.064 2397 3721 2546

16265 1.91 105.6 190.8 4.8 328 16280 0.00 2.28 10.23 0.752 6 0.000 0.051 2405 2303 2500

16611 2.01 110.5 170.0 6.3 340 16622 0.12 2.30 5.32 0.634 4 0.104 0.063 2444 3715 2479

16735 1.88 110.5 160.4 8.1 343 16742 0.20 2.25 0.00 0.000 6 0.249 0.052 2410 2299 2477

17060 2.02 126.2 140.9 3.7 357 17083 0.10 2.35 13.30 0.737 4 0.107 0.068 2436 3710 2414

17156 1.97 134.3 136.0 5.5 361 17173 0.00 2.25 7.75 0.673 6 0.000 0.051 2445 2301 2382

17483 2.05 146.2 117.5 4.6 377 17498 0.00 2.30 10.90 0.701 4 0.000 0.061 2456 890 2333

17661 2.14 146.5 105.9 7.4 384 17666 0.00 2.28 0.00 0.000 6 0.000 0.052 2450 2306 2330

17983 2.23 146.5 80.8 8.2 400 17988 0.12 2.28 0.00 0.000 4 0.100 0.061 2492 3714 2329

18202 2.09 146.5 59.4 9.6 419 18207 0.20 2.22 0.00 0.000 6 0.252 0.050 2458 2300 2328

18534 2.16 148.1 35.4 7.1 450 18538 0.00 2.28 0.00 0.000 4 0.000 0.060 2450 3713 2328

18792 2.18 161.9 17.5 4.2 472 18810 0.00 2.25 12.80 0.652 6 0.000 0.048 2459 2302 2271

19019 end climb: SURFACE_DEPTH_REACHED

state 19019 begin surface coast

19042 end surface coast: CONTROL_FINISHED_OK

state 19042 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	10	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	480	DEVICE2	20
T_MISSION	480	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	-61002.133	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	150	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	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	015236,5006.438,-14448.816,30,1.6,30,18.5	TGT_NAME	C_NW
_CALLS	2	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.012,-0.074
_SM_DEPTHo	1.75	KALMAN_X	-5329.9,437.1,493.6,18705.1,-2265.5
_SM_ANGLEo	-65.7	KALMAN_Y	6464.8,-244.4,-217.6,6572.2,3042.2
GPS2	020107,5006.480,-14448.821,10,1.8,15,18.5	MHEAD_RNG_PITCHd_Wd	170.5,3108,-42.9,-7.500
SPEED_LIMITS	0.075,0.210	D_GRID	1001

FINISH	0.9,1.014292	XPDR_PINGS	34
SM_CCo	19058,103.78,0.648,0,0,1708,300.00	_24V_AH	24.4,4.784
SM_GC	1.69,0.00,0.00,103.78,0.000,0.000,0.648,100,2301,1708,-8.74,-0.03,300.00	_10V_AH	10.7,2.080
IRIDIUM_FIX	4949.70,-14449.20,100998,020254	DATA_FILE_SIZE	31730,496
TT8_MAMPS	0.029146	CAP_FILE_SIZE	148593,0
HUMID	1577	CFSIZE	260165632,258162688
INTERNAL_PRESSURE	7.39286	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	15.90	GPS	160609,072237,5005.354,-14449.620,33,1.2,33,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	270	127.83	SBE_CT	349	24	204.69
Roll_motor	150	74	273.89	SBE_O2	392	19	181.87
VBD_pump_during_apogee	176	1305	5629.95	Optode	508	33	409.71
VBD_pump_during_surface	103	648	1641.10	WL_BB2F	852	105	2182.85
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	51	103	129.55	nil	0	0	0.00
Iridium_during_connect	52	160	206.34	nil	0	0	0.00
Iridium_during_xfer	234	223	1278.31
Transponder_ping	8	420	87.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.30
TT8	1317	19	279.06
LPSleep	14978	2	350.98
TT8_Active	419	19	88.97
TT8_Sampling	2362	39	1005.89
TT8_CF8	601	45	294.55
TT8_Kalman	33	81	29.21
Analog_circuits	1517	12	194.80
GPS_charging	0	0	0.00
Compass	2325	8	199.08
RAFOS	0	0	0.00
Transponder	0	30	0.17

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.89	-20.7	0.0	0.0	0	59	0.00	0.00	-41.30	0.000	2	0.000	0.000	101	2300	2792
62	-1.90	-27.6	3.5	-5.8	4	79	6.18	2.33	-5.95	0.000	4	0.262	0.072	1589	885	3045
332	-2.07	-27.6	73.9	-25.2	27	339	0.12	2.30	0.00	0.000	6	0.088	0.051	1533	2309	3047
648	-2.13	-27.6	153.7	-21.6	44	652	0.00	2.30	0.00	0.000	4	0.000	0.058	1533	892	3048
782	-2.20	-27.6	182.4	-21.5	48	787	0.00	2.28	0.00	0.000	6	0.000	0.058	1523	2309	3048
1112	-2.26	-27.6	254.9	-22.0	59	1116	0.00	2.28	0.00	0.000	4	0.000	0.058	1523	893	3048
1370	-2.32	-27.6	311.5	-22.1	66	1376	0.00	2.28	0.00	0.000	6	0.000	0.054	1512	2313	3048
1680	-2.36	-27.6	376.6	-20.9	72	1685	0.10	2.30	0.00	0.000	4	0.097	0.058	1474	882	3048
1877	-2.32	-27.6	419.3	-21.1	75	1882	0.12	2.28	0.00	0.000	6	0.226	0.053	1491	2311	3048
2242	-2.32	-27.6	490.7	-19.3	81	2246	0.00	2.28	0.00	0.000	4	0.000	0.062	1492	891	3048
2500	-2.32	-27.6	538.0	-17.9	84	2507	0.00	2.28	0.00	0.000	6	0.000	0.058	1484	2300	3047
2810	-2.32	-27.6	592.3	-17.5	90	2814	0.00	2.25	0.00	0.000	4	0.000	0.062	1487	893	3047
3001	-2.32	-27.6	625.9	-17.8	92	3008	0.00	2.25	0.00	0.000	6	0.000	0.056	1479	2306	3046
3312	-2.32	-27.6	681.1	-17.9	98	3316	0.00	2.28	0.00	0.000	4	0.000	0.064	1478	886	3047
3552	-2.32	-27.6	726.2	-18.3	101	3557	0.12	2.28	0.00	0.000	6	0.239	0.058	1495	2312	3046
3879	-2.32	-27.6	783.8	-17.6	107	3883	0.00	2.30	0.00	0.000	4	0.000	0.064	1502	883	3046
3923	-2.32	-27.6	791.9	-17.6	107	3927	0.00	2.28	0.00	0.000	6	0.000	0.059	1494	2308	3046
4244	-2.32	-27.6	847.1	-17.1	113	4248	0.00	2.28	0.00	0.000	4	0.000	0.072	1494	897	3046
4259	-2.32	-27.6	850.3	-17.0	113	4263	0.00	2.25	0.00	0.000	6	0.000	0.060	1485	2306	3046
4609	-2.32	-27.6	909.2	-16.9	119	4610	0.00	0.00	0.00	0.000	6	0.000	0.000	1485	2306	3045
4912	-2.32	-27.6	958.6	-16.2	124	4916	0.00	2.30	0.00	0.000	4	0.000	0.068	1493	885	3045
4967	-2.32	-27.6	967.5	-15.8	124	4974	0.00	2.30	0.00	0.000	6	0.000	0.061	1484	2300	3046
5153	end dive: TARGET_DEPTH_EXCEEDED
state	5153	begin apogee
5158	-0.22	0.0	997.0	15.8	128	5186	1.90	0.00	23.45	1.305	6	0.267	0.000	1949	2300	2931
5187	end apogee: CONTROL_FINISHED_OK
state	5187	begin climb
5189	1.90	27.6	997.0	0.0	128	5216	1.48	0.00	23.45	1.268	6	0.138	0.000	2413	2300	2818
5519	1.86	46.5	987.9	2.9	134	5540	0.00	2.40	16.35	1.244	4	0.000	0.074	2410	3711	2740
5592	1.67	46.5	984.1	7.5	135	5597	0.25	2.30	0.00	0.000	6	0.266	0.056	2368	2310	2739
5947	1.76	46.5	957.3	7.6	141	5948	0.00	0.00	0.00	0.000	6	0.000	0.000	2368	2310	2739
6250	1.84	46.5	934.6	7.5	146	6255	0.12	2.35	0.00	0.000	4	0.127	0.071	2414	881	2738
6389	1.84	46.5	923.6	8.0	148	6393	0.00	2.33	0.00	0.000	6	0.000	0.059	2410	2308	2738
6749	1.84	46.5	895.9	7.7	154	6753	0.00	2.30	0.00	0.000	4	0.000	0.070	2399	3716	2738
7007	1.71	46.5	874.9	8.3	157	7014	0.12	2.30	0.00	0.000	6	0.265	0.056	2379	2307	2738
7317	1.77	49.6	853.8	6.8	163	7318	0.00	0.00	0.00	0.000	6	0.000	0.000	2378	2307	2737
7620	1.84	54.8	834.9	6.2	168	7634	0.00	2.38	7.47	1.045	4	0.000	0.068	2368	3714	2707
7720	1.80	54.8	826.9	8.8	169	7724	0.00	2.28	0.00	0.000	6	0.000	0.054	2377	2298	2706
8051	1.88	54.8	800.6	7.9	175	8056	0.12	2.33	0.00	0.000	4	0.121	0.071	2411	3716	2706
8073	1.81	54.8	798.6	9.2	175	8078	0.12	2.28	0.00	0.000	6	0.271	0.056	2397	2292	2706
8410	1.81	54.8	772.8	7.6	181	8414	0.00	2.33	0.00	0.000	4	0.000	0.067	2387	3719	2705
8667	1.73	54.8	751.5	8.3	184	8674	0.00	2.30	0.00	0.000	6	0.000	0.054	2395	2299	2706
8977	1.73	57.4	730.0	6.9	190	8986	0.00	2.35	3.50	0.669	4	0.000	0.065	2387	3712	2697
9105	1.65	57.4	720.1	7.6	191	9112	0.17	2.25	0.00	0.000	6	0.262	0.054	2360	2304	2697
9417	1.79	61.8	700.0	6.4	197	9424	0.10	0.00	5.30	0.868	6	0.122	0.000	2389	2304	2679
9718	1.84	61.8	677.3	7.6	202	9722	0.00	2.30	0.00	0.000	4	0.000	0.067	2382	3716	2679
9813	1.78	61.8	669.4	8.0	203	9817	0.00	2.25	0.00	0.000	6	0.000	0.053	2390	2303	2678
10151	1.84	63.8	645.4	7.0	209	10155	0.00	2.28	0.00	0.000	4	0.000	0.065	2401	888	2678
10332	1.89	69.8	633.9	6.0	211	10349	0.00	2.28	7.75	0.950	6	0.000	0.060	2398	2308	2646
10653	1.96	70.1	610.8	7.4	217	10654	0.10	0.00	0.00	0.000	6	0.120	0.000	2427	2308	2644
10955	1.96	70.6	588.2	7.4	222	10956	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2308	2644
11258	1.96	71.0	565.7	7.4	227	11262	0.00	2.28	0.00	0.000	4	0.000	0.067	2424	3717	2644
11438	1.81	71.0	550.6	8.0	229	11443	0.17	2.25	0.00	0.000	6	0.259	0.053	2396	2296	2645
11753	1.87	72.9	528.3	7.0	235	11762	0.00	2.30	4.03	0.683	4	0.000	0.065	2405	893	2633
11809	1.93	74.6	524.2	7.1	235	11814	0.10	2.25	0.00	0.000	6	0.124	0.054	2427	2305	2633
12119	1.93	74.7	501.2	7.5	240	12123	0.00	2.28	0.00	0.000	4	0.000	0.071	2424	3717	2632
12209	1.79	74.7	493.8	7.8	241	12214	0.20	2.25	0.00	0.000	6	0.258	0.053	2390	2294	2632
12547	1.87	78.4	471.3	6.6	247	12558	0.00	2.33	6.00	0.808	4	0.000	0.064	2381	3723	2610
12731	1.87	78.4	455.7	9.9	249	12735	0.00	2.28	0.00	0.000	6	0.000	0.052	2390	2296	2609
13048	1.96	78.4	429.0	8.5	255	13052	0.12	2.28	0.00	0.000	4	0.113	0.064	2442	880	2609
13265	1.96	78.4	409.9	8.2	258	13269	0.00	2.28	0.00	0.000	6	0.000	0.054	2438	2306	2609
13614	1.96	78.4	383.0	7.6	264	13618	0.00	2.28	0.00	0.000	4	0.000	0.065	2437	3725	2609
13873	1.80	84.3	364.1	6.1	267	13884	0.22	2.25	6.15	0.760	6	0.260	0.052	2397	2297	2586
14247	1.88	84.3	337.1	7.5	274	14248	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2298	2586
14548	1.97	86.3	315.7	7.0	279	14550	0.12	0.00	0.00	0.000	6	0.107	0.000	2437	2297	2586
14852	1.97	88.1	294.3	7.1	285	14861	0.00	2.30	4.62	0.652	4	0.000	0.064	2431	3716	2571
15114	1.83	88.1	271.6	9.0	292	15122	0.15	2.25	0.00	0.000	6	0.249	0.051	2403	2311	2570
15427	1.91	90.8	249.5	6.8	303	15436	0.00	2.30	3.67	0.552	4	0.000	0.064	2393	3710	2561
15690	1.87	90.8	229.3	7.6	310	15696	0.00	2.25	0.00	0.000	6	0.000	0.052	2402	2308	2560
16003	1.94	94.3	207.9	6.6	321	16012	0.00	2.30	4.70	0.615	4	0.000	0.064	2397	3721	2546
16265	1.91	105.6	190.8	4.8	328	16280	0.00	2.28	10.23	0.752	6	0.000	0.051	2405	2303	2500
16611	2.01	110.5	170.0	6.3	340	16622	0.12	2.30	5.32	0.634	4	0.104	0.063	2444	3715	2479
16735	1.88	110.5	160.4	8.1	343	16742	0.20	2.25	0.00	0.000	6	0.249	0.052	2410	2299	2477
17060	2.02	126.2	140.9	3.7	357	17083	0.10	2.35	13.30	0.737	4	0.107	0.068	2436	3710	2414
17156	1.97	134.3	136.0	5.5	361	17173	0.00	2.25	7.75	0.673	6	0.000	0.051	2445	2301	2382
17483	2.05	146.2	117.5	4.6	377	17498	0.00	2.30	10.90	0.701	4	0.000	0.061	2456	890	2333
17661	2.14	146.5	105.9	7.4	384	17666	0.00	2.28	0.00	0.000	6	0.000	0.052	2450	2306	2330
17983	2.23	146.5	80.8	8.2	400	17988	0.12	2.28	0.00	0.000	4	0.100	0.061	2492	3714	2329
18202	2.09	146.5	59.4	9.6	419	18207	0.20	2.22	0.00	0.000	6	0.252	0.050	2458	2300	2328
18534	2.16	148.1	35.4	7.1	450	18538	0.00	2.28	0.00	0.000	4	0.000	0.060	2450	3713	2328
18792	2.18	161.9	17.5	4.2	472	18810	0.00	2.25	12.80	0.652	6	0.000	0.048	2459	2302	2271
19019	end climb: SURFACE_DEPTH_REACHED
state	19019	begin surface coast
19042	end surface coast: CONTROL_FINISHED_OK
state	19042	begin surface