Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HD_C 1.0513e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 13 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 10 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 160 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 4736 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 30 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 53

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 480 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3950 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2931 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16970.836 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 500 AH0_24V 91.800003 SEABIRD_T_G 0.0043142079

SPEED_FACTOR 1 PITCH_MAX 3812 AH0_10V 61.200001 SEABIRD_T_H 0.00062953553

RHO 1.023 C_PITCH 2728 PRESSURE_YINT -2.1256177 SEABIRD_T_I 2.3274781e-05

MASS 51458 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_J 2.4096155e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.012566

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1222577

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011971687

HD_A 0.0044757999 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.000188736

HD_B 0.0099689998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3812 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 500 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011159377 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.1256177 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0044757999 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099689998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 1.0513e-05 RHO 1.023 T_GPS_CHARGE -16970.836

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 144 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2728 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 160 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2931 MASS 51458 R_PORT_OVSHOOT 28 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 13 SEABIRD_C_G -10.012566 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1222577 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011971687 VBD_MAX 3950

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.000188736 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043142079 VBD_MIN 480

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062953553 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3274781e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 10 PHONE_DEVICE 48 SEABIRD_T_J 2.4096155e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 204345,5005.340,-14443.244,112,2.3,131,18.5 TGT_NAME C_NW

_CALLS 1 TGT_LATLONG 5007.080,-14438.068

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.257,0.052

_SM_DEPTHo 1.49 KALMAN_X -1434.6,186.6,-363.4,19282.3,819.9

_SM_ANGLEo -61.6 KALMAN_Y 8131.9,9.3,-210.4,1030.3,2004.6

GPS2 204905,5005.352,-14443.290,79,1.4,79,18.5 MHEAD_RNG_PITCHd_Wd 60.0,6978,-18.5,-10.000

SPEED_LIMITS 0.100,0.262 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.8,1.025372 XPDR_PINGS 82

SM_CCo 18515,89.90,0.647,5,0,1299,400.08 _24V_AH 23.3,7.924

SM_GC 1.41,0.00,0.00,89.90,0.000,0.000,0.647,498,1998,1299,-10.26,-0.06,400.08 _10V_AH 10.1,3.443

IRIDIUM_FIX 4946.36,-14446.46,030997,151521 DATA_FILE_SIZE 28601,489

TT8_MAMPS 0.029913 CAP_FILE_SIZE 123177,0

HUMID 1687 CFSIZE 260165632,257581056

INTERNAL_PRESSURE 7.60771 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,7,0

TCM_TEMP 13.60 GPS 100608,020230,5006.741,-14438.702,66,3.7,85,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 98.88 SBE_CT 347 24 194.38

Roll_motor 166 97 377.67 SBE_O2 388 19 172.20

VBD_pump_during_apogee 405 1369 12935.41 Optode 502 33 386.53

VBD_pump_during_surface 89 646 1354.37 WL_BB2F 301 105 737.02

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.24 nil 0 0 0.00

Iridium_during_connect 24 160 93.15 nil 0 0 0.00

Iridium_during_xfer 117 223 610.00

Transponder_ping 20 420 200.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 80 50 40.71

TT8 1158 19 231.62

LPSleep 15029 2 332.43

TT8_Active 687 19 137.48

TT8_Sampling 1773 39 713.01

TT8_CF8 308 45 142.63

TT8_Kalman 33 81 27.56

Analog_circuits 1607 12 194.80

GPS_charging 0 0 0.00

Compass 1680 8 135.82

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

16 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -1.41 -146.6 0.0 0.0 0 103 0.00 0.00 -82.03 0.000 2 0.000 0.000 496 1993 2905

105 -1.41 -146.6 3.0 -3.8 8 141 10.32 2.47 -19.10 0.000 4 0.169 0.071 2416 3395 3532

181 -1.41 -146.6 11.8 -13.6 15 185 0.00 2.35 0.00 0.000 6 0.000 0.045 2416 2002 3533

505 -1.41 -146.6 57.4 -13.6 45 509 0.00 2.45 0.00 0.000 4 0.000 0.063 2416 598 3534

626 -1.41 -146.6 75.1 -14.1 55 633 0.00 2.38 0.00 0.000 6 0.000 0.042 2416 1995 3534

953 -1.41 -146.6 117.4 -12.4 73 957 0.00 2.45 0.00 0.000 4 0.000 0.067 2416 594 3534

1108 -1.41 -146.6 137.2 -12.7 80 1113 0.00 2.38 0.00 0.000 6 0.000 0.042 2416 1993 3534

1443 -1.47 -146.6 176.5 -11.8 93 1447 0.00 2.45 0.00 0.000 4 0.000 0.068 2416 592 3535

1545 -1.47 -146.6 188.9 -11.9 96 1549 0.00 2.38 0.00 0.000 6 0.000 0.050 2416 2000 3535

1879 -1.52 -146.6 227.7 -11.5 107 1883 0.00 2.47 0.00 0.000 4 0.000 0.065 2417 590 3535

2000 -1.57 -146.6 242.9 -12.7 110 2008 0.10 2.40 0.00 0.000 6 0.067 0.050 2385 1999 3534

2313 -1.57 -146.6 281.3 -12.0 121 2317 0.00 2.45 0.00 0.000 4 0.000 0.064 2385 596 3534

2429 -1.57 -146.6 296.0 -12.9 124 2434 0.00 2.38 0.00 0.000 6 0.000 0.045 2385 1993 3535

2774 -1.57 -146.6 336.2 -11.7 131 2778 0.00 2.45 0.00 0.000 4 0.000 0.063 2384 597 3535

2958 -1.57 -146.6 359.3 -12.5 133 2963 0.00 2.38 0.00 0.000 6 0.000 0.048 2385 1994 3535

3279 -1.57 -146.6 395.9 -11.4 139 3283 0.00 2.45 0.00 0.000 4 0.000 0.066 2384 591 3535

3396 -1.57 -146.6 410.1 -12.3 140 3401 0.00 2.38 0.00 0.000 6 0.000 0.051 2385 2004 3534

3710 -1.57 -146.6 446.2 -11.6 146 3714 0.00 2.45 0.00 0.000 4 0.000 0.065 2384 598 3534

3828 -1.57 -146.6 461.2 -12.7 147 3832 0.00 2.35 0.00 0.000 6 0.000 0.047 2385 2000 3534

4142 -1.57 -146.6 497.7 -11.6 153 4147 0.00 2.45 0.00 0.000 4 0.000 0.071 2385 598 3534

4264 -1.57 -146.6 513.3 -12.4 154 4271 0.00 2.38 0.00 0.000 6 0.000 0.048 2385 1996 3534

4573 -1.57 -146.6 549.9 -11.8 160 4578 0.00 2.45 0.00 0.000 4 0.000 0.069 2385 596 3534

4684 -1.57 -146.6 564.2 -13.2 161 4689 0.00 2.40 0.00 0.000 6 0.000 0.046 2385 2002 3534

5005 -1.57 -146.6 602.5 -11.9 167 5009 0.00 2.45 0.00 0.000 4 0.000 0.062 2385 598 3534

5120 -1.57 -146.6 616.9 -11.9 168 5125 0.00 2.38 0.00 0.000 6 0.000 0.046 2385 1994 3534

5435 -1.57 -146.6 652.6 -11.3 174 5439 0.00 2.45 0.00 0.000 4 0.000 0.063 2384 595 3534

5540 -1.57 -146.6 665.4 -11.7 175 5545 0.00 2.38 0.00 0.000 6 0.000 0.048 2385 1996 3533

5872 -1.57 -146.6 702.6 -11.3 181 5876 0.00 2.45 0.00 0.000 4 0.000 0.069 2385 597 3533

5988 -1.57 -146.6 716.8 -12.6 182 5993 0.00 2.38 0.00 0.000 6 0.000 0.049 2385 1994 3533

6303 -1.57 -146.6 752.2 -11.2 188 6307 0.00 2.45 0.00 0.000 4 0.000 0.069 2385 594 3533

6397 -1.57 -146.6 763.6 -11.9 189 6402 0.00 2.38 0.00 0.000 6 0.000 0.045 2385 1994 3533

6735 -1.57 -146.6 801.7 -11.2 195 6739 0.00 2.45 0.00 0.000 4 0.000 0.067 2384 593 3533

6851 -1.57 -146.6 815.5 -12.3 196 6856 0.00 2.40 0.00 0.000 6 0.000 0.047 2385 2002 3532

7166 -1.57 -146.6 848.5 -10.4 202 7170 0.00 2.47 0.00 0.000 4 0.000 0.067 2384 597 3532

7227 -1.57 -146.6 855.0 -10.3 203 7231 0.00 2.38 0.00 0.000 6 0.000 0.051 2384 2005 3532

7591 -1.57 -146.6 891.2 -9.8 209 7595 0.00 2.50 0.00 0.000 4 0.000 0.077 2384 595 3532

7690 -1.57 -146.6 901.8 -10.8 210 7694 0.00 2.38 0.00 0.000 6 0.000 0.048 2385 2000 3532

8021 -1.57 -146.6 935.4 -10.1 216 8025 0.00 2.53 0.00 0.000 4 0.000 0.079 2384 597 3532

8154 -1.57 -146.6 950.1 -10.9 218 8159 0.00 2.45 0.00 0.000 6 0.000 0.060 2385 1993 3532

8520 -1.57 -146.6 988.2 -10.5 224 8524 0.00 2.60 0.00 0.000 4 0.000 0.097 2384 598 3532

8539 end dive: TARGET_DEPTH_EXCEEDED

state 8539 begin apogee

8545 -0.33 0.0 990.6 11.0 224 8679 1.25 0.00 130.18 1.369 6 0.107 0.000 2649 2099 2931

8680 end apogee: CONTROL_FINISHED_OK

state 8680 begin climb

8682 1.41 146.6 994.4 0.0 226 8819 1.73 2.70 128.80 1.334 4 0.071 0.097 3036 3512 2332

8993 1.22 146.6 971.0 10.9 230 9000 0.22 2.50 0.00 0.000 6 0.128 0.067 2994 2109 2326

9303 1.20 174.9 943.9 8.7 236 9342 0.00 2.65 27.65 1.197 4 0.000 0.078 2994 692 2216

9365 1.13 174.9 937.8 10.0 237 9370 0.00 2.47 0.00 0.000 6 0.000 0.054 2994 2116 2215

9729 1.14 179.4 902.3 9.8 243 9739 0.00 2.55 4.85 0.927 4 0.000 0.072 2994 689 2199

9760 1.08 179.4 898.9 10.7 243 9765 0.15 2.42 0.00 0.000 6 0.134 0.045 2968 2106 2198

10091 1.10 193.1 867.9 9.4 249 10107 0.00 0.00 14.20 1.197 6 0.000 0.000 2968 2105 2143

10395 1.17 206.8 839.3 9.4 254 10418 0.00 0.00 16.00 1.065 6 0.000 0.000 2968 2106 2087

10698 1.24 219.1 810.7 9.4 259 10713 0.12 0.00 12.40 1.153 6 0.085 0.000 2997 2107 2037

11000 1.24 219.1 778.8 10.5 264 11005 0.00 2.53 0.00 0.000 4 0.000 0.064 2997 678 2034

11038 1.24 219.1 774.3 11.0 264 11043 0.00 2.45 0.00 0.000 6 0.000 0.045 2997 2102 2034

11364 1.24 219.1 740.3 10.5 270 11368 0.00 2.42 0.00 0.000 4 0.000 0.058 2997 3502 2033

11396 1.24 219.1 736.6 11.6 270 11401 0.00 2.42 0.00 0.000 6 0.000 0.048 2997 2089 2032

11734 1.24 219.1 701.4 10.5 276 11738 0.00 2.45 0.00 0.000 4 0.000 0.066 2997 693 2032

11766 1.24 219.1 697.5 12.2 276 11770 0.00 2.42 0.00 0.000 6 0.000 0.051 2997 2100 2032

12097 1.24 219.1 660.5 11.1 282 12102 0.00 2.47 0.00 0.000 4 0.000 0.069 2997 691 2032

12118 1.24 219.1 657.9 11.1 282 12123 0.00 2.42 0.00 0.000 6 0.000 0.050 2997 2100 2032

12461 1.24 219.1 621.0 10.7 288 12462 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2103 2032

12764 1.24 219.1 590.0 10.1 293 12765 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2103 2032

13067 1.24 219.1 558.0 10.6 298 13069 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2103 2032

13370 1.24 219.1 525.2 10.8 303 13374 0.00 2.47 0.00 0.000 4 0.000 0.067 2997 687 2032

13402 1.24 219.1 521.4 11.1 303 13407 0.00 2.42 0.00 0.000 6 0.000 0.051 2997 2100 2031

13736 1.24 219.1 486.1 10.7 309 13740 0.00 2.45 0.00 0.000 4 0.000 0.067 2997 695 2031

13761 1.24 219.1 482.9 11.2 309 13766 0.00 2.40 0.00 0.000 6 0.000 0.044 2997 2098 2031

14099 1.24 219.1 447.5 10.5 315 14103 0.00 2.45 0.00 0.000 4 0.000 0.061 2997 693 2031

14125 1.24 219.1 444.5 11.1 315 14130 0.00 2.40 0.00 0.000 6 0.000 0.051 2997 2097 2031

14463 1.24 219.4 410.3 10.0 321 14464 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2100 2032

14766 1.25 230.1 381.2 9.5 326 14778 0.00 0.00 10.30 0.904 6 0.000 0.000 2997 2100 1993

15069 1.31 237.5 351.9 9.7 331 15083 0.00 2.53 8.15 0.854 4 0.000 0.060 2997 694 1962

15117 1.31 237.5 346.9 10.8 331 15122 0.00 2.42 0.00 0.000 6 0.000 0.048 2997 2102 1961

15438 1.37 248.8 316.1 9.5 337 15452 0.12 0.00 11.20 0.867 6 0.085 0.000 3026 2104 1916

15742 1.37 248.8 283.6 10.8 344 15743 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2104 1914

16048 1.37 248.8 250.5 10.7 354 16052 0.00 2.45 0.00 0.000 4 0.000 0.067 3026 695 1913

16075 1.37 248.8 247.4 11.4 355 16079 0.00 2.38 0.00 0.000 6 0.000 0.047 3026 2098 1913

16409 1.37 248.8 211.0 10.9 366 16410 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2101 1913

16715 1.38 250.6 179.4 9.9 376 16716 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2101 1912

17021 1.39 257.3 149.5 9.7 386 17031 0.00 0.00 8.43 0.753 6 0.000 0.000 3026 2101 1882

17331 1.41 277.2 119.5 9.1 401 17355 0.00 2.53 18.58 0.771 4 0.000 0.060 3026 699 1800

17405 1.41 277.2 112.0 10.3 404 17409 0.00 2.40 0.00 0.000 6 0.000 0.049 3026 2111 1798

17728 1.51 293.5 82.2 9.3 420 17748 0.12 0.00 14.77 0.738 6 0.083 0.000 3057 2114 1734

18066 1.51 295.4 47.0 9.9 450 18070 0.00 2.40 0.00 0.000 4 0.000 0.058 3057 3504 1731

18172 1.51 295.4 35.6 10.7 459 18176 0.00 2.38 0.00 0.000 6 0.000 0.048 3057 2089 1729

18485 end climb: SURFACE_DEPTH_REACHED

state 18485 begin surface coast

18496 end surface coast: CONTROL_FINISHED_OK

state 18496 begin surface

ID	144	HD_C	1.0513e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	13	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	10	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	160	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	4736	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	30	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	53
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	480	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3950	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2931	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16970.836	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	500	AH0_24V	91.800003	SEABIRD_T_G	0.0043142079
SPEED_FACTOR	1	PITCH_MAX	3812	AH0_10V	61.200001	SEABIRD_T_H	0.00062953553
RHO	1.023	C_PITCH	2728	PRESSURE_YINT	-2.1256177	SEABIRD_T_I	2.3274781e-05
MASS	51458	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_J	2.4096155e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.012566
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1222577
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011971687
HD_A	0.0044757999	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.000188736
HD_B	0.0099689998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	204345,5005.340,-14443.244,112,2.3,131,18.5	TGT_NAME	C_NW
_CALLS	1	TGT_LATLONG	5007.080,-14438.068
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.257,0.052
_SM_DEPTHo	1.49	KALMAN_X	-1434.6,186.6,-363.4,19282.3,819.9
_SM_ANGLEo	-61.6	KALMAN_Y	8131.9,9.3,-210.4,1030.3,2004.6
GPS2	204905,5005.352,-14443.290,79,1.4,79,18.5	MHEAD_RNG_PITCHd_Wd	60.0,6978,-18.5,-10.000
SPEED_LIMITS	0.100,0.262	D_GRID	1001

FINISH	0.8,1.025372	XPDR_PINGS	82
SM_CCo	18515,89.90,0.647,5,0,1299,400.08	_24V_AH	23.3,7.924
SM_GC	1.41,0.00,0.00,89.90,0.000,0.000,0.647,498,1998,1299,-10.26,-0.06,400.08	_10V_AH	10.1,3.443
IRIDIUM_FIX	4946.36,-14446.46,030997,151521	DATA_FILE_SIZE	28601,489
TT8_MAMPS	0.029913	CAP_FILE_SIZE	123177,0
HUMID	1687	CFSIZE	260165632,257581056
INTERNAL_PRESSURE	7.60771	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,7,0
TCM_TEMP	13.60	GPS	100608,020230,5006.741,-14438.702,66,3.7,85,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	98.88	SBE_CT	347	24	194.38
Roll_motor	166	97	377.67	SBE_O2	388	19	172.20
VBD_pump_during_apogee	405	1369	12935.41	Optode	502	33	386.53
VBD_pump_during_surface	89	646	1354.37	WL_BB2F	301	105	737.02
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.24	nil	0	0	0.00
Iridium_during_connect	24	160	93.15	nil	0	0	0.00
Iridium_during_xfer	117	223	610.00
Transponder_ping	20	420	200.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	80	50	40.71
TT8	1158	19	231.62
LPSleep	15029	2	332.43
TT8_Active	687	19	137.48
TT8_Sampling	1773	39	713.01
TT8_CF8	308	45	142.63
TT8_Kalman	33	81	27.56
Analog_circuits	1607	12	194.80
GPS_charging	0	0	0.00
Compass	1680	8	135.82
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
16	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-1.41	-146.6	0.0	0.0	0	103	0.00	0.00	-82.03	0.000	2	0.000	0.000	496	1993	2905
105	-1.41	-146.6	3.0	-3.8	8	141	10.32	2.47	-19.10	0.000	4	0.169	0.071	2416	3395	3532
181	-1.41	-146.6	11.8	-13.6	15	185	0.00	2.35	0.00	0.000	6	0.000	0.045	2416	2002	3533
505	-1.41	-146.6	57.4	-13.6	45	509	0.00	2.45	0.00	0.000	4	0.000	0.063	2416	598	3534
626	-1.41	-146.6	75.1	-14.1	55	633	0.00	2.38	0.00	0.000	6	0.000	0.042	2416	1995	3534
953	-1.41	-146.6	117.4	-12.4	73	957	0.00	2.45	0.00	0.000	4	0.000	0.067	2416	594	3534
1108	-1.41	-146.6	137.2	-12.7	80	1113	0.00	2.38	0.00	0.000	6	0.000	0.042	2416	1993	3534
1443	-1.47	-146.6	176.5	-11.8	93	1447	0.00	2.45	0.00	0.000	4	0.000	0.068	2416	592	3535
1545	-1.47	-146.6	188.9	-11.9	96	1549	0.00	2.38	0.00	0.000	6	0.000	0.050	2416	2000	3535
1879	-1.52	-146.6	227.7	-11.5	107	1883	0.00	2.47	0.00	0.000	4	0.000	0.065	2417	590	3535
2000	-1.57	-146.6	242.9	-12.7	110	2008	0.10	2.40	0.00	0.000	6	0.067	0.050	2385	1999	3534
2313	-1.57	-146.6	281.3	-12.0	121	2317	0.00	2.45	0.00	0.000	4	0.000	0.064	2385	596	3534
2429	-1.57	-146.6	296.0	-12.9	124	2434	0.00	2.38	0.00	0.000	6	0.000	0.045	2385	1993	3535
2774	-1.57	-146.6	336.2	-11.7	131	2778	0.00	2.45	0.00	0.000	4	0.000	0.063	2384	597	3535
2958	-1.57	-146.6	359.3	-12.5	133	2963	0.00	2.38	0.00	0.000	6	0.000	0.048	2385	1994	3535
3279	-1.57	-146.6	395.9	-11.4	139	3283	0.00	2.45	0.00	0.000	4	0.000	0.066	2384	591	3535
3396	-1.57	-146.6	410.1	-12.3	140	3401	0.00	2.38	0.00	0.000	6	0.000	0.051	2385	2004	3534
3710	-1.57	-146.6	446.2	-11.6	146	3714	0.00	2.45	0.00	0.000	4	0.000	0.065	2384	598	3534
3828	-1.57	-146.6	461.2	-12.7	147	3832	0.00	2.35	0.00	0.000	6	0.000	0.047	2385	2000	3534
4142	-1.57	-146.6	497.7	-11.6	153	4147	0.00	2.45	0.00	0.000	4	0.000	0.071	2385	598	3534
4264	-1.57	-146.6	513.3	-12.4	154	4271	0.00	2.38	0.00	0.000	6	0.000	0.048	2385	1996	3534
4573	-1.57	-146.6	549.9	-11.8	160	4578	0.00	2.45	0.00	0.000	4	0.000	0.069	2385	596	3534
4684	-1.57	-146.6	564.2	-13.2	161	4689	0.00	2.40	0.00	0.000	6	0.000	0.046	2385	2002	3534
5005	-1.57	-146.6	602.5	-11.9	167	5009	0.00	2.45	0.00	0.000	4	0.000	0.062	2385	598	3534
5120	-1.57	-146.6	616.9	-11.9	168	5125	0.00	2.38	0.00	0.000	6	0.000	0.046	2385	1994	3534
5435	-1.57	-146.6	652.6	-11.3	174	5439	0.00	2.45	0.00	0.000	4	0.000	0.063	2384	595	3534
5540	-1.57	-146.6	665.4	-11.7	175	5545	0.00	2.38	0.00	0.000	6	0.000	0.048	2385	1996	3533
5872	-1.57	-146.6	702.6	-11.3	181	5876	0.00	2.45	0.00	0.000	4	0.000	0.069	2385	597	3533
5988	-1.57	-146.6	716.8	-12.6	182	5993	0.00	2.38	0.00	0.000	6	0.000	0.049	2385	1994	3533
6303	-1.57	-146.6	752.2	-11.2	188	6307	0.00	2.45	0.00	0.000	4	0.000	0.069	2385	594	3533
6397	-1.57	-146.6	763.6	-11.9	189	6402	0.00	2.38	0.00	0.000	6	0.000	0.045	2385	1994	3533
6735	-1.57	-146.6	801.7	-11.2	195	6739	0.00	2.45	0.00	0.000	4	0.000	0.067	2384	593	3533
6851	-1.57	-146.6	815.5	-12.3	196	6856	0.00	2.40	0.00	0.000	6	0.000	0.047	2385	2002	3532
7166	-1.57	-146.6	848.5	-10.4	202	7170	0.00	2.47	0.00	0.000	4	0.000	0.067	2384	597	3532
7227	-1.57	-146.6	855.0	-10.3	203	7231	0.00	2.38	0.00	0.000	6	0.000	0.051	2384	2005	3532
7591	-1.57	-146.6	891.2	-9.8	209	7595	0.00	2.50	0.00	0.000	4	0.000	0.077	2384	595	3532
7690	-1.57	-146.6	901.8	-10.8	210	7694	0.00	2.38	0.00	0.000	6	0.000	0.048	2385	2000	3532
8021	-1.57	-146.6	935.4	-10.1	216	8025	0.00	2.53	0.00	0.000	4	0.000	0.079	2384	597	3532
8154	-1.57	-146.6	950.1	-10.9	218	8159	0.00	2.45	0.00	0.000	6	0.000	0.060	2385	1993	3532
8520	-1.57	-146.6	988.2	-10.5	224	8524	0.00	2.60	0.00	0.000	4	0.000	0.097	2384	598	3532
8539	end dive: TARGET_DEPTH_EXCEEDED
state	8539	begin apogee
8545	-0.33	0.0	990.6	11.0	224	8679	1.25	0.00	130.18	1.369	6	0.107	0.000	2649	2099	2931
8680	end apogee: CONTROL_FINISHED_OK
state	8680	begin climb
8682	1.41	146.6	994.4	0.0	226	8819	1.73	2.70	128.80	1.334	4	0.071	0.097	3036	3512	2332
8993	1.22	146.6	971.0	10.9	230	9000	0.22	2.50	0.00	0.000	6	0.128	0.067	2994	2109	2326
9303	1.20	174.9	943.9	8.7	236	9342	0.00	2.65	27.65	1.197	4	0.000	0.078	2994	692	2216
9365	1.13	174.9	937.8	10.0	237	9370	0.00	2.47	0.00	0.000	6	0.000	0.054	2994	2116	2215
9729	1.14	179.4	902.3	9.8	243	9739	0.00	2.55	4.85	0.927	4	0.000	0.072	2994	689	2199
9760	1.08	179.4	898.9	10.7	243	9765	0.15	2.42	0.00	0.000	6	0.134	0.045	2968	2106	2198
10091	1.10	193.1	867.9	9.4	249	10107	0.00	0.00	14.20	1.197	6	0.000	0.000	2968	2105	2143
10395	1.17	206.8	839.3	9.4	254	10418	0.00	0.00	16.00	1.065	6	0.000	0.000	2968	2106	2087
10698	1.24	219.1	810.7	9.4	259	10713	0.12	0.00	12.40	1.153	6	0.085	0.000	2997	2107	2037
11000	1.24	219.1	778.8	10.5	264	11005	0.00	2.53	0.00	0.000	4	0.000	0.064	2997	678	2034
11038	1.24	219.1	774.3	11.0	264	11043	0.00	2.45	0.00	0.000	6	0.000	0.045	2997	2102	2034
11364	1.24	219.1	740.3	10.5	270	11368	0.00	2.42	0.00	0.000	4	0.000	0.058	2997	3502	2033
11396	1.24	219.1	736.6	11.6	270	11401	0.00	2.42	0.00	0.000	6	0.000	0.048	2997	2089	2032
11734	1.24	219.1	701.4	10.5	276	11738	0.00	2.45	0.00	0.000	4	0.000	0.066	2997	693	2032
11766	1.24	219.1	697.5	12.2	276	11770	0.00	2.42	0.00	0.000	6	0.000	0.051	2997	2100	2032
12097	1.24	219.1	660.5	11.1	282	12102	0.00	2.47	0.00	0.000	4	0.000	0.069	2997	691	2032
12118	1.24	219.1	657.9	11.1	282	12123	0.00	2.42	0.00	0.000	6	0.000	0.050	2997	2100	2032
12461	1.24	219.1	621.0	10.7	288	12462	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2103	2032
12764	1.24	219.1	590.0	10.1	293	12765	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2103	2032
13067	1.24	219.1	558.0	10.6	298	13069	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2103	2032
13370	1.24	219.1	525.2	10.8	303	13374	0.00	2.47	0.00	0.000	4	0.000	0.067	2997	687	2032
13402	1.24	219.1	521.4	11.1	303	13407	0.00	2.42	0.00	0.000	6	0.000	0.051	2997	2100	2031
13736	1.24	219.1	486.1	10.7	309	13740	0.00	2.45	0.00	0.000	4	0.000	0.067	2997	695	2031
13761	1.24	219.1	482.9	11.2	309	13766	0.00	2.40	0.00	0.000	6	0.000	0.044	2997	2098	2031
14099	1.24	219.1	447.5	10.5	315	14103	0.00	2.45	0.00	0.000	4	0.000	0.061	2997	693	2031
14125	1.24	219.1	444.5	11.1	315	14130	0.00	2.40	0.00	0.000	6	0.000	0.051	2997	2097	2031
14463	1.24	219.4	410.3	10.0	321	14464	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2100	2032
14766	1.25	230.1	381.2	9.5	326	14778	0.00	0.00	10.30	0.904	6	0.000	0.000	2997	2100	1993
15069	1.31	237.5	351.9	9.7	331	15083	0.00	2.53	8.15	0.854	4	0.000	0.060	2997	694	1962
15117	1.31	237.5	346.9	10.8	331	15122	0.00	2.42	0.00	0.000	6	0.000	0.048	2997	2102	1961
15438	1.37	248.8	316.1	9.5	337	15452	0.12	0.00	11.20	0.867	6	0.085	0.000	3026	2104	1916
15742	1.37	248.8	283.6	10.8	344	15743	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2104	1914
16048	1.37	248.8	250.5	10.7	354	16052	0.00	2.45	0.00	0.000	4	0.000	0.067	3026	695	1913
16075	1.37	248.8	247.4	11.4	355	16079	0.00	2.38	0.00	0.000	6	0.000	0.047	3026	2098	1913
16409	1.37	248.8	211.0	10.9	366	16410	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2101	1913
16715	1.38	250.6	179.4	9.9	376	16716	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2101	1912
17021	1.39	257.3	149.5	9.7	386	17031	0.00	0.00	8.43	0.753	6	0.000	0.000	3026	2101	1882
17331	1.41	277.2	119.5	9.1	401	17355	0.00	2.53	18.58	0.771	4	0.000	0.060	3026	699	1800
17405	1.41	277.2	112.0	10.3	404	17409	0.00	2.40	0.00	0.000	6	0.000	0.049	3026	2111	1798
17728	1.51	293.5	82.2	9.3	420	17748	0.12	0.00	14.77	0.738	6	0.083	0.000	3057	2114	1734
18066	1.51	295.4	47.0	9.9	450	18070	0.00	2.40	0.00	0.000	4	0.000	0.058	3057	3504	1731
18172	1.51	295.4	35.6	10.7	459	18176	0.00	2.38	0.00	0.000	6	0.000	0.048	3057	2089	1729
18485	end climb: SURFACE_DEPTH_REACHED
state	18485	begin surface coast
18496	end surface coast: CONTROL_FINISHED_OK
state	18496	begin surface