Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 147 * 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 147 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 1900 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 38 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 38 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 450 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 10 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 -40947.438 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 412.5

CALL_TRIES 5 HD_A 0.0044757999 RAFOS_PEAK_OFFSET 1.5 T_GPS 10

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 -40947.438

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

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 1900 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2931 MASS 51458 R_PORT_OVSHOOT 38 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 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 147 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 120457,5006.376,-14452.684,78,2.5,97,18.5 TGT_NAME C_NE

_CALLS 1 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.080,0.000

_SM_DEPTHo 1.78 KALMAN_X 5755.5,0.2,-264.5,1114.8,408.6

_SM_ANGLEo -59.9 KALMAN_Y 121952.9,63.7,-276.9,-110874.3,2084.2

GPS2 121116,5006.381,-14452.588,84,2.2,103,18.5 MHEAD_RNG_PITCHd_Wd 71.3,2906,-43.6,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

SM_CCo 18841,392.42,0.621,13,0,480,601.23 _24V_AH 23.4,30.524

SM_GC 1.64,12.75,0.00,0.00,0.048,0.000,0.000,494,1893,474,-10.20,-0.20,602.70 _10V_AH 10.2,15.464

IRIDIUM_FIX 4946.36,-14453.06,111097,050553 DATA_FILE_SIZE 28480,495

TT8_MAMPS 0.029146 CAP_FILE_SIZE 141466,0

HUMID 1717 CFSIZE 260165632,248791040

INTERNAL_PRESSURE 7.61748 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,13,0

TCM_TEMP 15.30 GPS 170708,173907,5007.103,-14451.245,162,1.7,174,18.5

XPDR_PINGS 79

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 173 118.95 SBE_CT 349 24 196.50

Roll_motor 162 85 323.93 SBE_O2 395 19 175.94

VBD_pump_during_apogee 166 1339 5231.55 Optode 511 33 395.27

VBD_pump_during_surface 392 621 5704.96 WL_BB2F 309 105 761.36

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.03 nil 0 0 0.00

Iridium_during_connect 25 160 95.57 nil 0 0 0.00

Iridium_during_xfer 132 223 693.72

Transponder_ping 19 420 194.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 104 50 53.28

TT8 1279 19 258.32

LPSleep 15053 2 336.26

TT8_Active 809 19 163.54

TT8_Sampling 2254 39 915.07

TT8_CF8 392 45 183.58

TT8_Kalman 33 81 27.84

Analog_circuits 1893 12 231.75

GPS_charging 0 0 0.00

Compass 2127 8 173.61

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -2.93 -18.7 0.0 0.0 0 84 0.00 0.00 -62.45 0.000 2 0.000 0.000 496 1887 2600

87 -2.95 -35.3 3.1 -3.2 6 120 8.45 2.42 -15.32 0.000 4 0.167 0.058 2079 3298 3077

372 -3.11 -35.3 61.1 -21.4 31 380 0.10 2.33 0.00 0.000 6 0.061 0.038 2047 1910 3080

691 -3.22 -35.3 132.7 -22.1 51 695 0.00 2.40 0.00 0.000 4 0.000 0.053 2047 498 3081

947 -3.22 -35.3 183.1 -18.3 60 954 0.00 2.33 0.00 0.000 6 0.000 0.036 2047 1900 3082

1261 -3.37 -35.3 237.0 -16.9 71 1266 0.20 2.40 0.00 0.000 4 0.067 0.054 1993 496 3082

1519 -3.37 -35.3 288.1 -20.0 78 1525 0.00 2.30 0.00 0.000 6 0.000 0.034 1993 1900 3081

1828 -3.44 -35.3 341.8 -17.0 85 1832 0.00 2.40 0.00 0.000 4 0.000 0.050 1993 499 3081

2086 -3.40 -35.3 387.9 -18.7 88 2092 0.00 2.30 0.00 0.000 6 0.000 0.037 1993 1900 3081

2395 -3.46 -35.3 437.1 -15.8 94 2399 0.00 2.35 0.00 0.000 4 0.000 0.049 1993 3298 3081

2652 -3.53 -35.3 474.7 -15.1 97 2659 0.15 2.33 0.00 0.000 6 0.077 0.041 1957 1893 3080

2961 -3.53 -35.3 521.7 -15.2 103 2962 0.00 0.00 0.00 0.000 6 0.000 0.000 1957 1893 3079

3264 -3.53 -35.3 566.3 -14.8 108 3268 0.00 2.38 0.00 0.000 4 0.000 0.053 1957 493 3079

3521 -3.44 -35.3 608.0 -15.5 111 3528 0.10 2.30 0.00 0.000 6 0.173 0.040 1972 1908 3078

3830 -3.44 -35.3 654.3 -14.8 117 3834 0.00 2.40 0.00 0.000 4 0.000 0.050 1972 498 3078

4087 -3.38 -35.3 694.1 -15.0 120 4092 0.10 2.30 0.00 0.000 6 0.172 0.034 1988 1898 3077

4402 -3.44 -35.3 736.8 -13.4 126 4406 0.00 2.40 0.00 0.000 4 0.000 0.051 1988 499 3077

4658 -3.44 -35.3 772.4 -13.5 129 4665 0.00 2.33 0.00 0.000 6 0.000 0.038 1988 1894 3077

4968 -3.51 -35.3 810.1 -12.1 135 4973 0.10 2.40 0.00 0.000 4 0.095 0.051 1964 495 3076

4977 -3.51 -35.3 811.3 -11.8 135 4982 0.00 2.33 0.00 0.000 6 0.000 0.039 1964 1897 3076

5332 -3.51 -35.3 853.0 -11.6 141 5335 0.00 2.38 0.00 0.000 4 0.000 0.053 1964 3300 3076

5487 -3.51 -35.3 871.5 -11.3 143 5492 0.00 2.35 0.00 0.000 6 0.000 0.039 1964 1897 3076

5837 -3.51 -35.3 910.2 -11.1 149 5842 0.00 2.42 0.00 0.000 4 0.000 0.061 1964 498 3075

6095 -3.45 -35.3 941.5 -12.7 152 6101 0.00 2.35 0.00 0.000 6 0.000 0.052 1964 1885 3075

6404 -3.45 -35.3 976.8 -11.5 158 6408 0.00 2.50 0.00 0.000 4 0.000 0.080 1963 494 3074

6512 end dive: TARGET_DEPTH_EXCEEDED

state 6512 begin apogee

6520 -0.33 0.0 990.5 12.4 159 6558 3.50 0.00 32.53 1.340 6 0.150 0.000 2651 2095 2931

6559 end apogee: CONTROL_FINISHED_OK

state 6559 begin climb

6561 2.95 35.3 992.0 0.0 160 6601 3.12 2.65 31.55 1.311 4 0.059 0.085 3373 3509 2787

6645 2.95 35.3 985.4 10.6 161 6650 0.00 2.50 0.00 0.000 6 0.000 0.058 3373 2111 2786

6988 2.95 35.3 950.6 10.1 167 6992 0.00 2.47 0.00 0.000 4 0.000 0.064 3373 3518 2785

7020 2.95 35.3 947.3 9.6 167 7025 0.00 2.47 0.00 0.000 6 0.000 0.048 3373 2090 2786

7358 2.95 35.3 914.4 9.7 173 7362 0.00 2.47 0.00 0.000 4 0.000 0.054 3373 3526 2785

7479 2.95 35.3 901.7 10.4 174 7486 0.00 2.42 0.00 0.000 6 0.000 0.038 3373 2093 2785

7789 2.99 35.3 869.3 10.6 180 7793 0.00 2.40 0.00 0.000 4 0.000 0.053 3373 688 2785

7877 2.95 35.3 859.5 10.9 181 7881 0.00 2.38 0.00 0.000 6 0.000 0.038 3373 2117 2785

8220 2.99 35.3 824.9 10.0 187 8221 0.00 0.00 0.00 0.000 6 0.000 0.000 3373 2117 2785

8523 2.99 35.3 796.5 9.3 192 8524 0.00 0.00 0.00 0.000 6 0.000 0.000 3373 2117 2784

8826 2.99 35.3 770.8 8.4 197 8830 0.00 2.35 0.00 0.000 4 0.000 0.053 3373 3505 2784

9082 2.99 35.3 749.7 8.5 200 9089 0.00 2.35 0.00 0.000 6 0.000 0.037 3373 2088 2784

9392 3.04 37.7 726.7 7.3 206 9396 0.00 2.40 0.00 0.000 4 0.000 0.048 3373 3502 2784

9463 3.04 40.9 721.3 7.1 207 9474 0.00 2.33 5.88 0.946 6 0.000 0.035 3373 2096 2764

9817 3.08 40.9 691.8 8.6 213 9819 0.12 0.00 0.00 0.000 6 0.085 0.000 3401 2096 2764

10119 3.08 40.9 665.6 8.6 218 10123 0.00 2.38 0.00 0.000 4 0.000 0.053 3401 694 2764

10337 3.00 40.9 646.4 9.1 221 10342 0.00 2.38 0.00 0.000 6 0.000 0.042 3401 2107 2763

10686 3.00 40.9 618.0 8.1 227 10690 0.00 2.40 0.00 0.000 4 0.000 0.048 3401 692 2763

10735 2.92 40.9 613.9 8.1 227 10739 0.20 2.35 0.00 0.000 6 0.157 0.041 3367 2110 2763

11050 2.98 43.0 590.5 7.4 233 11059 0.00 2.45 3.62 0.660 4 0.000 0.050 3367 699 2755

11076 2.98 43.0 588.2 8.3 233 11080 0.00 2.33 0.00 0.000 6 0.000 0.041 3367 2102 2755

11419 3.05 44.5 562.4 7.6 239 11421 0.10 0.00 0.00 0.000 6 0.092 0.000 3389 2103 2755

11723 3.05 46.5 540.0 7.4 244 11733 0.00 2.42 4.85 0.795 4 0.000 0.047 3389 690 2741

11929 3.00 46.5 523.0 8.5 247 11933 0.00 2.35 0.00 0.000 6 0.000 0.040 3390 2105 2740

12289 3.00 50.4 497.4 6.9 253 12296 0.00 0.00 4.97 0.790 6 0.000 0.000 3390 2105 2725

12592 3.00 50.4 473.6 8.0 258 12593 0.00 0.00 0.00 0.000 6 0.000 0.000 3390 2106 2725

12895 3.00 50.8 449.4 7.9 263 12899 0.00 2.40 0.00 0.000 4 0.000 0.050 3390 695 2725

13152 2.95 52.6 428.6 7.5 266 13159 0.00 2.33 0.00 0.000 6 0.000 0.036 3390 2102 2724

13461 2.96 56.9 407.2 6.8 272 13470 0.00 0.00 6.90 0.835 6 0.000 0.000 3389 2103 2700

13765 3.00 59.3 385.3 7.3 277 13770 0.00 0.00 3.85 0.637 6 0.000 0.000 3390 2104 2689

14068 3.05 60.4 362.2 7.7 282 14072 0.00 2.38 0.00 0.000 4 0.000 0.053 3390 3507 2688

14246 3.05 60.4 347.4 8.2 284 14251 0.00 2.33 0.00 0.000 6 0.000 0.032 3390 2095 2689

14561 3.10 60.4 321.6 8.2 290 14565 0.00 2.35 0.00 0.000 4 0.000 0.053 3389 697 2689

14615 3.10 60.4 316.9 8.6 290 14622 0.00 2.33 0.00 0.000 6 0.000 0.036 3389 2102 2689

14926 3.15 61.9 292.7 7.6 297 14935 0.10 2.42 4.07 0.634 4 0.094 0.046 3413 687 2678

14945 3.15 61.9 290.8 8.6 297 14950 0.00 2.38 0.00 0.000 6 0.000 0.038 3412 2098 2678

15264 3.15 62.2 265.8 7.9 308 15268 0.00 2.38 0.00 0.000 4 0.000 0.051 3413 3509 2678

15301 3.15 63.8 262.8 7.6 309 15306 0.00 2.33 0.00 0.000 6 0.000 0.033 3413 2093 2678

15631 3.16 67.9 239.0 6.8 320 15644 0.00 2.45 6.50 0.736 4 0.000 0.044 3413 3499 2654

15773 3.16 67.9 227.2 8.3 324 15777 0.00 2.33 0.00 0.000 6 0.000 0.038 3413 2093 2654

16102 3.16 70.6 201.9 7.2 335 16111 0.00 2.42 3.97 0.588 4 0.000 0.045 3413 3497 2643

16157 3.16 71.8 197.7 7.7 336 16162 0.00 2.33 0.00 0.000 6 0.000 0.039 3413 2109 2642

16475 3.17 73.3 174.0 7.6 347 16485 0.00 2.42 3.97 0.580 4 0.000 0.047 3412 702 2632

16738 3.12 75.7 153.6 7.3 354 16747 0.00 2.33 3.83 0.555 6 0.000 0.040 3413 2110 2622

17075 3.13 90.2 133.4 3.9 370 17097 0.00 2.47 13.02 0.749 4 0.000 0.049 3413 698 2562

17193 3.15 101.2 128.0 4.8 375 17209 0.00 2.33 10.27 0.722 6 0.000 0.035 3413 2101 2518

17518 3.23 113.8 107.7 4.4 391 17534 0.00 2.40 11.38 0.723 4 0.000 0.051 3413 3499 2466

17558 3.29 124.6 106.1 4.9 392 17573 0.12 2.33 9.75 0.691 6 0.086 0.035 3441 2099 2423

17885 3.34 124.6 77.6 8.5 408 17889 0.00 2.38 0.00 0.000 4 0.000 0.045 3441 3496 2422

18141 3.34 125.1 56.0 7.9 430 18148 0.00 2.33 0.00 0.000 6 0.000 0.039 3441 2104 2422

18468 3.39 126.3 31.7 7.7 461 18472 0.10 2.38 0.00 0.000 4 0.091 0.051 3465 3502 2421

18552 3.40 130.2 25.7 6.9 468 18564 0.00 2.33 5.93 0.608 6 0.000 0.033 3466 2093 2400

18838 end climb: NO_VERTICAL_VELOCITY

state 18838 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	147	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	1900	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	38	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	38	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	450	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	10	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	-40947.438	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	120457,5006.376,-14452.684,78,2.5,97,18.5	TGT_NAME	C_NE
_CALLS	1	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.080,0.000
_SM_DEPTHo	1.78	KALMAN_X	5755.5,0.2,-264.5,1114.8,408.6
_SM_ANGLEo	-59.9	KALMAN_Y	121952.9,63.7,-276.9,-110874.3,2084.2
GPS2	121116,5006.381,-14452.588,84,2.2,103,18.5	MHEAD_RNG_PITCHd_Wd	71.3,2906,-43.6,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

SM_CCo	18841,392.42,0.621,13,0,480,601.23	_24V_AH	23.4,30.524
SM_GC	1.64,12.75,0.00,0.00,0.048,0.000,0.000,494,1893,474,-10.20,-0.20,602.70	_10V_AH	10.2,15.464
IRIDIUM_FIX	4946.36,-14453.06,111097,050553	DATA_FILE_SIZE	28480,495
TT8_MAMPS	0.029146	CAP_FILE_SIZE	141466,0
HUMID	1717	CFSIZE	260165632,248791040
INTERNAL_PRESSURE	7.61748	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
TCM_TEMP	15.30	GPS	170708,173907,5007.103,-14451.245,162,1.7,174,18.5
XPDR_PINGS	79

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	173	118.95	SBE_CT	349	24	196.50
Roll_motor	162	85	323.93	SBE_O2	395	19	175.94
VBD_pump_during_apogee	166	1339	5231.55	Optode	511	33	395.27
VBD_pump_during_surface	392	621	5704.96	WL_BB2F	309	105	761.36
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.03	nil	0	0	0.00
Iridium_during_connect	25	160	95.57	nil	0	0	0.00
Iridium_during_xfer	132	223	693.72
Transponder_ping	19	420	194.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	104	50	53.28
TT8	1279	19	258.32
LPSleep	15053	2	336.26
TT8_Active	809	19	163.54
TT8_Sampling	2254	39	915.07
TT8_CF8	392	45	183.58
TT8_Kalman	33	81	27.84
Analog_circuits	1893	12	231.75
GPS_charging	0	0	0.00
Compass	2127	8	173.61
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-2.93	-18.7	0.0	0.0	0	84	0.00	0.00	-62.45	0.000	2	0.000	0.000	496	1887	2600
87	-2.95	-35.3	3.1	-3.2	6	120	8.45	2.42	-15.32	0.000	4	0.167	0.058	2079	3298	3077
372	-3.11	-35.3	61.1	-21.4	31	380	0.10	2.33	0.00	0.000	6	0.061	0.038	2047	1910	3080
691	-3.22	-35.3	132.7	-22.1	51	695	0.00	2.40	0.00	0.000	4	0.000	0.053	2047	498	3081
947	-3.22	-35.3	183.1	-18.3	60	954	0.00	2.33	0.00	0.000	6	0.000	0.036	2047	1900	3082
1261	-3.37	-35.3	237.0	-16.9	71	1266	0.20	2.40	0.00	0.000	4	0.067	0.054	1993	496	3082
1519	-3.37	-35.3	288.1	-20.0	78	1525	0.00	2.30	0.00	0.000	6	0.000	0.034	1993	1900	3081
1828	-3.44	-35.3	341.8	-17.0	85	1832	0.00	2.40	0.00	0.000	4	0.000	0.050	1993	499	3081
2086	-3.40	-35.3	387.9	-18.7	88	2092	0.00	2.30	0.00	0.000	6	0.000	0.037	1993	1900	3081
2395	-3.46	-35.3	437.1	-15.8	94	2399	0.00	2.35	0.00	0.000	4	0.000	0.049	1993	3298	3081
2652	-3.53	-35.3	474.7	-15.1	97	2659	0.15	2.33	0.00	0.000	6	0.077	0.041	1957	1893	3080
2961	-3.53	-35.3	521.7	-15.2	103	2962	0.00	0.00	0.00	0.000	6	0.000	0.000	1957	1893	3079
3264	-3.53	-35.3	566.3	-14.8	108	3268	0.00	2.38	0.00	0.000	4	0.000	0.053	1957	493	3079
3521	-3.44	-35.3	608.0	-15.5	111	3528	0.10	2.30	0.00	0.000	6	0.173	0.040	1972	1908	3078
3830	-3.44	-35.3	654.3	-14.8	117	3834	0.00	2.40	0.00	0.000	4	0.000	0.050	1972	498	3078
4087	-3.38	-35.3	694.1	-15.0	120	4092	0.10	2.30	0.00	0.000	6	0.172	0.034	1988	1898	3077
4402	-3.44	-35.3	736.8	-13.4	126	4406	0.00	2.40	0.00	0.000	4	0.000	0.051	1988	499	3077
4658	-3.44	-35.3	772.4	-13.5	129	4665	0.00	2.33	0.00	0.000	6	0.000	0.038	1988	1894	3077
4968	-3.51	-35.3	810.1	-12.1	135	4973	0.10	2.40	0.00	0.000	4	0.095	0.051	1964	495	3076
4977	-3.51	-35.3	811.3	-11.8	135	4982	0.00	2.33	0.00	0.000	6	0.000	0.039	1964	1897	3076
5332	-3.51	-35.3	853.0	-11.6	141	5335	0.00	2.38	0.00	0.000	4	0.000	0.053	1964	3300	3076
5487	-3.51	-35.3	871.5	-11.3	143	5492	0.00	2.35	0.00	0.000	6	0.000	0.039	1964	1897	3076
5837	-3.51	-35.3	910.2	-11.1	149	5842	0.00	2.42	0.00	0.000	4	0.000	0.061	1964	498	3075
6095	-3.45	-35.3	941.5	-12.7	152	6101	0.00	2.35	0.00	0.000	6	0.000	0.052	1964	1885	3075
6404	-3.45	-35.3	976.8	-11.5	158	6408	0.00	2.50	0.00	0.000	4	0.000	0.080	1963	494	3074
6512	end dive: TARGET_DEPTH_EXCEEDED
state	6512	begin apogee
6520	-0.33	0.0	990.5	12.4	159	6558	3.50	0.00	32.53	1.340	6	0.150	0.000	2651	2095	2931
6559	end apogee: CONTROL_FINISHED_OK
state	6559	begin climb
6561	2.95	35.3	992.0	0.0	160	6601	3.12	2.65	31.55	1.311	4	0.059	0.085	3373	3509	2787
6645	2.95	35.3	985.4	10.6	161	6650	0.00	2.50	0.00	0.000	6	0.000	0.058	3373	2111	2786
6988	2.95	35.3	950.6	10.1	167	6992	0.00	2.47	0.00	0.000	4	0.000	0.064	3373	3518	2785
7020	2.95	35.3	947.3	9.6	167	7025	0.00	2.47	0.00	0.000	6	0.000	0.048	3373	2090	2786
7358	2.95	35.3	914.4	9.7	173	7362	0.00	2.47	0.00	0.000	4	0.000	0.054	3373	3526	2785
7479	2.95	35.3	901.7	10.4	174	7486	0.00	2.42	0.00	0.000	6	0.000	0.038	3373	2093	2785
7789	2.99	35.3	869.3	10.6	180	7793	0.00	2.40	0.00	0.000	4	0.000	0.053	3373	688	2785
7877	2.95	35.3	859.5	10.9	181	7881	0.00	2.38	0.00	0.000	6	0.000	0.038	3373	2117	2785
8220	2.99	35.3	824.9	10.0	187	8221	0.00	0.00	0.00	0.000	6	0.000	0.000	3373	2117	2785
8523	2.99	35.3	796.5	9.3	192	8524	0.00	0.00	0.00	0.000	6	0.000	0.000	3373	2117	2784
8826	2.99	35.3	770.8	8.4	197	8830	0.00	2.35	0.00	0.000	4	0.000	0.053	3373	3505	2784
9082	2.99	35.3	749.7	8.5	200	9089	0.00	2.35	0.00	0.000	6	0.000	0.037	3373	2088	2784
9392	3.04	37.7	726.7	7.3	206	9396	0.00	2.40	0.00	0.000	4	0.000	0.048	3373	3502	2784
9463	3.04	40.9	721.3	7.1	207	9474	0.00	2.33	5.88	0.946	6	0.000	0.035	3373	2096	2764
9817	3.08	40.9	691.8	8.6	213	9819	0.12	0.00	0.00	0.000	6	0.085	0.000	3401	2096	2764
10119	3.08	40.9	665.6	8.6	218	10123	0.00	2.38	0.00	0.000	4	0.000	0.053	3401	694	2764
10337	3.00	40.9	646.4	9.1	221	10342	0.00	2.38	0.00	0.000	6	0.000	0.042	3401	2107	2763
10686	3.00	40.9	618.0	8.1	227	10690	0.00	2.40	0.00	0.000	4	0.000	0.048	3401	692	2763
10735	2.92	40.9	613.9	8.1	227	10739	0.20	2.35	0.00	0.000	6	0.157	0.041	3367	2110	2763
11050	2.98	43.0	590.5	7.4	233	11059	0.00	2.45	3.62	0.660	4	0.000	0.050	3367	699	2755
11076	2.98	43.0	588.2	8.3	233	11080	0.00	2.33	0.00	0.000	6	0.000	0.041	3367	2102	2755
11419	3.05	44.5	562.4	7.6	239	11421	0.10	0.00	0.00	0.000	6	0.092	0.000	3389	2103	2755
11723	3.05	46.5	540.0	7.4	244	11733	0.00	2.42	4.85	0.795	4	0.000	0.047	3389	690	2741
11929	3.00	46.5	523.0	8.5	247	11933	0.00	2.35	0.00	0.000	6	0.000	0.040	3390	2105	2740
12289	3.00	50.4	497.4	6.9	253	12296	0.00	0.00	4.97	0.790	6	0.000	0.000	3390	2105	2725
12592	3.00	50.4	473.6	8.0	258	12593	0.00	0.00	0.00	0.000	6	0.000	0.000	3390	2106	2725
12895	3.00	50.8	449.4	7.9	263	12899	0.00	2.40	0.00	0.000	4	0.000	0.050	3390	695	2725
13152	2.95	52.6	428.6	7.5	266	13159	0.00	2.33	0.00	0.000	6	0.000	0.036	3390	2102	2724
13461	2.96	56.9	407.2	6.8	272	13470	0.00	0.00	6.90	0.835	6	0.000	0.000	3389	2103	2700
13765	3.00	59.3	385.3	7.3	277	13770	0.00	0.00	3.85	0.637	6	0.000	0.000	3390	2104	2689
14068	3.05	60.4	362.2	7.7	282	14072	0.00	2.38	0.00	0.000	4	0.000	0.053	3390	3507	2688
14246	3.05	60.4	347.4	8.2	284	14251	0.00	2.33	0.00	0.000	6	0.000	0.032	3390	2095	2689
14561	3.10	60.4	321.6	8.2	290	14565	0.00	2.35	0.00	0.000	4	0.000	0.053	3389	697	2689
14615	3.10	60.4	316.9	8.6	290	14622	0.00	2.33	0.00	0.000	6	0.000	0.036	3389	2102	2689
14926	3.15	61.9	292.7	7.6	297	14935	0.10	2.42	4.07	0.634	4	0.094	0.046	3413	687	2678
14945	3.15	61.9	290.8	8.6	297	14950	0.00	2.38	0.00	0.000	6	0.000	0.038	3412	2098	2678
15264	3.15	62.2	265.8	7.9	308	15268	0.00	2.38	0.00	0.000	4	0.000	0.051	3413	3509	2678
15301	3.15	63.8	262.8	7.6	309	15306	0.00	2.33	0.00	0.000	6	0.000	0.033	3413	2093	2678
15631	3.16	67.9	239.0	6.8	320	15644	0.00	2.45	6.50	0.736	4	0.000	0.044	3413	3499	2654
15773	3.16	67.9	227.2	8.3	324	15777	0.00	2.33	0.00	0.000	6	0.000	0.038	3413	2093	2654
16102	3.16	70.6	201.9	7.2	335	16111	0.00	2.42	3.97	0.588	4	0.000	0.045	3413	3497	2643
16157	3.16	71.8	197.7	7.7	336	16162	0.00	2.33	0.00	0.000	6	0.000	0.039	3413	2109	2642
16475	3.17	73.3	174.0	7.6	347	16485	0.00	2.42	3.97	0.580	4	0.000	0.047	3412	702	2632
16738	3.12	75.7	153.6	7.3	354	16747	0.00	2.33	3.83	0.555	6	0.000	0.040	3413	2110	2622
17075	3.13	90.2	133.4	3.9	370	17097	0.00	2.47	13.02	0.749	4	0.000	0.049	3413	698	2562
17193	3.15	101.2	128.0	4.8	375	17209	0.00	2.33	10.27	0.722	6	0.000	0.035	3413	2101	2518
17518	3.23	113.8	107.7	4.4	391	17534	0.00	2.40	11.38	0.723	4	0.000	0.051	3413	3499	2466
17558	3.29	124.6	106.1	4.9	392	17573	0.12	2.33	9.75	0.691	6	0.086	0.035	3441	2099	2423
17885	3.34	124.6	77.6	8.5	408	17889	0.00	2.38	0.00	0.000	4	0.000	0.045	3441	3496	2422
18141	3.34	125.1	56.0	7.9	430	18148	0.00	2.33	0.00	0.000	6	0.000	0.039	3441	2104	2422
18468	3.39	126.3	31.7	7.7	461	18472	0.10	2.38	0.00	0.000	4	0.091	0.051	3465	3502	2421
18552	3.40	130.2	25.7	6.9	468	18564	0.00	2.33	5.93	0.608	6	0.000	0.033	3466	2093	2400
18838	end climb: NO_VERTICAL_VELOCITY
state	18838	begin surface