Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 17 * 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 17 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 300 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 32 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 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 -19577.67 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 300

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 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 -19577.67

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 31 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 17 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 182737,5011.469,-14449.489,69,1.8,69,18.6 TGT_NAME NW

_CALLS 1 TGT_LATLONG 5020.579,-14459.120

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.027,-0.075

_SM_DEPTHo 1.56 KALMAN_X -1613.7,-110.6,291.8,264.4,-374.4

_SM_ANGLEo -61.5 KALMAN_Y 12650.7,-368.2,154.1,24723.6,1043.3

GPS2 182737,5011.469,-14449.489,69,1.8,69,18.6 MHEAD_RNG_PITCHd_Wd 141.7,20352,-43.6,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.8,1.025633 XPDR_PINGS 78

SM_CCo 19228,139.60,0.671,0,0,1707,300.00 _24V_AH 23.4,8.988

SM_GC 1.59,0.00,0.00,139.60,0.000,0.000,0.671,492,1899,1707,-10.29,-0.03,300.00 _10V_AH 10.1,4.039

IRIDIUM_FIX 4956.40,-14502.96,050997,070739 DATA_FILE_SIZE 31758,505

TT8_MAMPS 0.029146 CAP_FILE_SIZE 142365,0

HUMID 1683 CFSIZE 260165632,257138688

INTERNAL_PRESSURE 7.64678 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.30 GPS 100608,182737,5011.469,-14449.489,69,1.8,69,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 174 122.02 SBE_CT 359 24 201.72

Roll_motor 170 120 479.03 SBE_O2 408 19 181.47

VBD_pump_during_apogee 157 1336 4935.19 Optode 521 33 402.72

VBD_pump_during_surface 139 671 2192.32 WL_BB2F 306 105 752.80

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.62 nil 0 0 0.00

Iridium_during_connect 25 160 94.90 nil 0 0 0.00

Iridium_during_xfer 130 223 681.74

Transponder_ping 19 420 191.65

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 302 50 152.62

TT8 1288 19 257.76

LPSleep 15424 2 341.18

TT8_Active 483 19 96.75

TT8_Sampling 2378 39 956.16

TT8_CF8 361 45 167.17

TT8_Kalman 33 81 27.55

Analog_circuits 1540 12 186.76

GPS_charging 0 0 0.00

Compass 2054 8 166.01

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -2.93 -18.7 0.0 0.0 0 91 0.00 0.00 -66.03 0.000 6 0.000 0.000 496 1895 3010

93 -2.95 -32.3 3.6 -4.1 7 109 8.45 2.42 -1.55 0.000 4 0.168 0.067 2082 3305 3065

243 -3.13 -32.3 37.5 -23.8 20 250 0.17 2.35 0.00 0.000 6 0.078 0.047 2042 1899 3066

575 -3.26 -32.3 113.8 -21.9 45 580 0.10 2.42 0.00 0.000 4 0.091 0.058 2017 498 3067

731 -3.26 -32.3 145.8 -19.5 52 735 0.00 2.35 0.00 0.000 6 0.000 0.043 2017 1902 3067

1044 -3.34 -32.3 199.9 -16.9 63 1048 0.00 2.40 0.00 0.000 4 0.000 0.054 2017 3303 3067

1076 -3.41 -32.3 205.5 -16.4 64 1080 0.15 2.38 0.00 0.000 6 0.081 0.049 1982 1889 3067

1410 -3.41 -32.3 264.8 -17.9 75 1414 0.00 2.42 0.00 0.000 4 0.000 0.065 1982 492 3067

1499 -3.36 -32.3 281.9 -18.9 77 1505 0.00 2.38 0.00 0.000 6 0.000 0.050 1982 1894 3067

1809 -3.36 -32.3 337.8 -17.9 85 1813 0.00 2.42 0.00 0.000 4 0.000 0.061 1982 500 3068

1829 -3.36 -32.3 341.8 -18.1 85 1834 0.00 2.38 0.00 0.000 6 0.000 0.044 1982 1897 3067

2172 -3.36 -32.3 399.3 -16.6 91 2176 0.00 2.45 0.00 0.000 4 0.000 0.064 1982 493 3067

2261 -3.29 -32.3 414.2 -16.5 92 2266 0.15 2.38 0.00 0.000 6 0.163 0.048 2007 1909 3068

2604 -3.37 -32.3 465.5 -14.9 98 2608 0.00 2.45 0.00 0.000 4 0.000 0.063 2007 499 3068

2675 -3.37 -32.3 476.8 -15.4 99 2680 0.00 2.38 0.00 0.000 6 0.000 0.046 2007 1896 3067

3035 -3.46 -32.3 529.8 -14.7 105 3040 0.15 2.45 0.00 0.000 4 0.086 0.061 1973 492 3067

3292 -3.39 -32.3 570.2 -15.9 108 3298 0.00 2.40 0.00 0.000 6 0.000 0.051 1973 1903 3067

3601 -3.39 -32.3 615.5 -14.7 114 3605 0.00 2.45 0.00 0.000 4 0.000 0.064 1973 495 3067

3739 -3.33 -32.3 636.8 -15.3 116 3744 0.15 2.38 0.00 0.000 6 0.165 0.052 1997 1907 3067

4099 -3.41 -32.3 685.6 -13.5 122 4104 0.00 2.45 0.00 0.000 4 0.000 0.061 1998 497 3067

4154 -3.41 -32.3 693.7 -14.3 122 4161 0.00 2.38 0.00 0.000 6 0.000 0.051 1998 1897 3067

4464 -3.49 -32.3 734.7 -13.2 128 4468 0.15 2.45 0.00 0.000 4 0.087 0.065 1959 491 3067

4518 -3.41 -32.3 742.6 -14.4 128 4525 0.12 2.38 0.00 0.000 6 0.170 0.048 1979 1908 3067

4827 -3.47 -32.3 784.7 -13.7 134 4832 0.00 2.45 0.00 0.000 4 0.000 0.067 1979 499 3067

5084 -3.42 -32.3 821.6 -14.1 137 5091 0.00 2.35 0.00 0.000 6 0.000 0.051 1979 1885 3066

5394 -3.47 -32.3 862.1 -13.1 143 5395 0.00 0.00 0.00 0.000 6 0.000 0.000 1979 1886 3066

5697 -3.54 -32.3 898.6 -11.9 148 5701 0.00 2.45 0.00 0.000 4 0.000 0.069 1979 498 3066

5818 -3.50 -32.3 913.5 -12.2 149 5826 0.00 2.40 0.00 0.000 6 0.000 0.048 1978 1891 3066

6128 -3.56 -32.3 948.5 -11.2 155 6133 0.12 2.50 0.00 0.000 4 0.096 0.081 1951 501 3066

6233 -3.47 -32.3 961.4 -13.3 156 6238 0.10 2.42 0.00 0.000 6 0.174 0.062 1966 1895 3065

6496 end dive: TARGET_DEPTH_EXCEEDED

state 6496 begin apogee

6501 -0.33 0.0 990.8 11.0 161 6537 3.53 0.00 30.45 1.336 6 0.150 0.000 2649 2104 2931

6538 end apogee: CONTROL_FINISHED_OK

state 6538 begin climb

6539 2.95 32.3 990.8 0.0 161 6579 3.15 2.70 29.58 1.299 4 0.063 0.093 3375 3506 2799

6651 2.95 32.3 981.8 10.7 162 6656 0.00 2.53 0.00 0.000 6 0.000 0.067 3375 2116 2798

6972 2.95 32.3 948.7 10.1 168 6976 0.00 2.50 0.00 0.000 4 0.000 0.076 3374 3515 2798

7032 2.95 32.3 942.5 10.0 169 7037 0.00 2.47 0.00 0.000 6 0.000 0.057 3375 2084 2797

7397 2.95 32.3 907.5 9.5 175 7398 0.00 0.00 0.00 0.000 6 0.000 0.000 3375 2085 2797

7700 2.95 32.3 879.9 9.1 180 7704 0.00 2.42 0.00 0.000 4 0.000 0.060 3374 686 2797

7709 2.95 32.3 878.9 9.0 180 7713 0.00 2.45 0.00 0.000 6 0.000 0.043 3375 2119 2797

8063 2.95 32.3 847.9 8.8 186 8064 0.00 0.00 0.00 0.000 6 0.000 0.000 3375 2119 2797

8366 2.95 32.3 823.0 8.2 191 8370 0.00 2.40 0.00 0.000 4 0.000 0.059 3375 3508 2797

8386 2.95 32.8 821.2 7.9 191 8391 0.00 2.40 0.00 0.000 6 0.000 0.044 3375 2093 2797

8729 2.95 33.7 794.5 7.7 197 8733 0.00 2.40 0.00 0.000 4 0.000 0.058 3375 697 2797

8964 2.89 33.9 775.9 8.0 200 8969 0.00 2.38 0.00 0.000 6 0.000 0.044 3375 2096 2797

9303 2.90 38.2 752.9 6.8 206 9314 0.00 2.45 6.35 0.996 4 0.000 0.060 3375 693 2775

9409 2.85 38.2 744.4 9.0 207 9413 0.15 2.38 0.00 0.000 6 0.170 0.051 3351 2099 2775

9735 2.93 38.2 718.3 8.0 213 9736 0.00 0.00 0.00 0.000 6 0.000 0.000 3351 2099 2775

10038 3.01 38.5 694.3 7.9 218 10043 0.15 2.42 0.00 0.000 4 0.089 0.061 3388 3508 2775

10103 3.01 38.8 688.9 7.9 219 10108 0.00 2.40 0.00 0.000 6 0.000 0.041 3388 2095 2775

10469 3.01 40.1 660.6 7.6 225 10470 0.00 0.00 0.00 0.000 6 0.000 0.000 3388 2095 2775

10772 3.01 43.1 639.1 7.1 230 10780 0.00 0.00 6.03 0.931 6 0.000 0.000 3388 2095 2755

11075 3.01 44.6 616.3 7.6 235 11079 0.00 2.42 0.00 0.000 4 0.000 0.061 3388 3505 2755

11136 3.01 44.6 611.8 8.2 236 11140 0.00 2.35 0.00 0.000 6 0.000 0.048 3388 2100 2755

11500 3.02 48.2 586.2 7.0 242 11511 0.00 2.42 5.85 0.894 4 0.000 0.061 3388 3503 2735

11515 3.02 51.3 585.0 7.1 242 11525 0.00 2.38 4.68 0.788 6 0.000 0.041 3388 2099 2722

11862 3.02 51.3 555.3 8.7 248 11866 0.00 2.40 0.00 0.000 4 0.000 0.064 3388 697 2721

12119 2.97 51.3 532.4 8.1 251 12124 0.00 2.40 0.00 0.000 6 0.000 0.052 3388 2101 2721

12434 2.97 51.3 507.1 8.0 257 12438 0.00 2.42 0.00 0.000 4 0.000 0.058 3387 694 2721

12690 2.92 51.3 485.1 8.8 260 12698 0.08 2.40 0.00 0.000 6 0.154 0.053 3367 2101 2721

13000 2.99 52.2 461.1 7.7 266 13004 0.00 2.42 0.00 0.000 4 0.000 0.061 3367 688 2721

13015 2.99 52.9 459.8 7.8 266 13019 0.00 2.40 0.00 0.000 6 0.000 0.045 3367 2097 2721

13364 3.06 55.4 434.3 7.3 272 13372 0.12 0.00 5.20 0.788 6 0.097 0.000 3394 2100 2705

13666 3.06 55.4 409.4 8.2 277 13670 0.00 2.42 0.00 0.000 4 0.000 0.056 3394 3511 2705

13923 3.06 56.5 389.6 7.7 280 13930 0.00 2.40 0.00 0.000 6 0.000 0.048 3394 2095 2705

14233 3.07 60.6 368.2 6.8 286 14246 0.00 2.45 6.40 0.812 4 0.000 0.059 3394 3506 2683

14291 3.07 60.6 363.6 8.2 286 14297 0.00 2.40 0.00 0.000 6 0.000 0.046 3394 2099 2683

14600 3.07 60.6 338.3 8.3 292 14601 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2099 2683

14903 3.07 60.6 312.7 8.5 297 14904 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2099 2683

15207 3.07 60.6 287.8 8.3 304 15211 0.00 2.42 0.00 0.000 4 0.000 0.058 3394 3505 2683

15464 3.07 63.1 267.9 7.3 311 15475 0.00 2.38 3.85 0.612 6 0.000 0.043 3394 2102 2672

15810 3.12 65.8 241.8 7.2 323 15819 0.00 2.45 4.00 0.617 4 0.000 0.059 3394 3511 2662

16071 3.12 68.5 221.7 7.2 330 16082 0.00 2.40 3.97 0.607 6 0.000 0.048 3394 2098 2651

16418 3.18 71.5 196.5 7.1 342 16427 0.10 2.45 4.20 0.617 4 0.099 0.061 3416 3505 2639

16454 3.18 72.2 193.7 7.8 343 16459 0.00 2.38 0.00 0.000 6 0.000 0.041 3416 2107 2639

16789 3.18 72.2 167.2 8.2 354 16793 0.00 2.42 0.00 0.000 4 0.000 0.057 3416 694 2639

16984 3.11 72.2 151.3 8.8 360 16989 0.00 2.38 0.00 0.000 6 0.000 0.054 3416 2102 2639

17302 3.12 81.4 131.9 5.4 375 17315 0.00 0.00 9.50 0.742 6 0.000 0.000 3416 2103 2599

17632 3.15 105.5 117.2 1.1 391 17657 0.00 2.45 20.50 0.762 4 0.000 0.061 3416 3502 2500

17909 3.16 114.1 98.8 5.5 403 17924 0.00 2.38 8.43 0.700 6 0.000 0.042 3416 2092 2465

18246 3.24 123.4 82.0 5.3 420 18261 0.00 2.50 8.88 0.700 4 0.000 0.058 3416 3502 2427

18514 3.29 123.4 59.2 9.3 442 18519 0.12 2.38 0.00 0.000 6 0.092 0.043 3444 2092 2426

18839 3.34 125.5 31.6 7.4 472 18843 0.00 2.42 0.00 0.000 4 0.000 0.058 3444 3503 2426

19095 3.34 125.5 11.3 8.0 494 19102 0.00 2.40 0.00 0.000 6 0.000 0.048 3444 2099 2426

19197 end climb: SURFACE_DEPTH_REACHED

state 19197 begin surface coast

19208 end surface coast: CONTROL_FINISHED_OK

state 19208 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	17	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	300	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	32	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	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	-19577.67	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	182737,5011.469,-14449.489,69,1.8,69,18.6	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	5020.579,-14459.120
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.027,-0.075
_SM_DEPTHo	1.56	KALMAN_X	-1613.7,-110.6,291.8,264.4,-374.4
_SM_ANGLEo	-61.5	KALMAN_Y	12650.7,-368.2,154.1,24723.6,1043.3
GPS2	182737,5011.469,-14449.489,69,1.8,69,18.6	MHEAD_RNG_PITCHd_Wd	141.7,20352,-43.6,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

FINISH	0.8,1.025633	XPDR_PINGS	78
SM_CCo	19228,139.60,0.671,0,0,1707,300.00	_24V_AH	23.4,8.988
SM_GC	1.59,0.00,0.00,139.60,0.000,0.000,0.671,492,1899,1707,-10.29,-0.03,300.00	_10V_AH	10.1,4.039
IRIDIUM_FIX	4956.40,-14502.96,050997,070739	DATA_FILE_SIZE	31758,505
TT8_MAMPS	0.029146	CAP_FILE_SIZE	142365,0
HUMID	1683	CFSIZE	260165632,257138688
INTERNAL_PRESSURE	7.64678	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.30	GPS	100608,182737,5011.469,-14449.489,69,1.8,69,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	174	122.02	SBE_CT	359	24	201.72
Roll_motor	170	120	479.03	SBE_O2	408	19	181.47
VBD_pump_during_apogee	157	1336	4935.19	Optode	521	33	402.72
VBD_pump_during_surface	139	671	2192.32	WL_BB2F	306	105	752.80
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.62	nil	0	0	0.00
Iridium_during_connect	25	160	94.90	nil	0	0	0.00
Iridium_during_xfer	130	223	681.74
Transponder_ping	19	420	191.65
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	302	50	152.62
TT8	1288	19	257.76
LPSleep	15424	2	341.18
TT8_Active	483	19	96.75
TT8_Sampling	2378	39	956.16
TT8_CF8	361	45	167.17
TT8_Kalman	33	81	27.55
Analog_circuits	1540	12	186.76
GPS_charging	0	0	0.00
Compass	2054	8	166.01
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-2.93	-18.7	0.0	0.0	0	91	0.00	0.00	-66.03	0.000	6	0.000	0.000	496	1895	3010
93	-2.95	-32.3	3.6	-4.1	7	109	8.45	2.42	-1.55	0.000	4	0.168	0.067	2082	3305	3065
243	-3.13	-32.3	37.5	-23.8	20	250	0.17	2.35	0.00	0.000	6	0.078	0.047	2042	1899	3066
575	-3.26	-32.3	113.8	-21.9	45	580	0.10	2.42	0.00	0.000	4	0.091	0.058	2017	498	3067
731	-3.26	-32.3	145.8	-19.5	52	735	0.00	2.35	0.00	0.000	6	0.000	0.043	2017	1902	3067
1044	-3.34	-32.3	199.9	-16.9	63	1048	0.00	2.40	0.00	0.000	4	0.000	0.054	2017	3303	3067
1076	-3.41	-32.3	205.5	-16.4	64	1080	0.15	2.38	0.00	0.000	6	0.081	0.049	1982	1889	3067
1410	-3.41	-32.3	264.8	-17.9	75	1414	0.00	2.42	0.00	0.000	4	0.000	0.065	1982	492	3067
1499	-3.36	-32.3	281.9	-18.9	77	1505	0.00	2.38	0.00	0.000	6	0.000	0.050	1982	1894	3067
1809	-3.36	-32.3	337.8	-17.9	85	1813	0.00	2.42	0.00	0.000	4	0.000	0.061	1982	500	3068
1829	-3.36	-32.3	341.8	-18.1	85	1834	0.00	2.38	0.00	0.000	6	0.000	0.044	1982	1897	3067
2172	-3.36	-32.3	399.3	-16.6	91	2176	0.00	2.45	0.00	0.000	4	0.000	0.064	1982	493	3067
2261	-3.29	-32.3	414.2	-16.5	92	2266	0.15	2.38	0.00	0.000	6	0.163	0.048	2007	1909	3068
2604	-3.37	-32.3	465.5	-14.9	98	2608	0.00	2.45	0.00	0.000	4	0.000	0.063	2007	499	3068
2675	-3.37	-32.3	476.8	-15.4	99	2680	0.00	2.38	0.00	0.000	6	0.000	0.046	2007	1896	3067
3035	-3.46	-32.3	529.8	-14.7	105	3040	0.15	2.45	0.00	0.000	4	0.086	0.061	1973	492	3067
3292	-3.39	-32.3	570.2	-15.9	108	3298	0.00	2.40	0.00	0.000	6	0.000	0.051	1973	1903	3067
3601	-3.39	-32.3	615.5	-14.7	114	3605	0.00	2.45	0.00	0.000	4	0.000	0.064	1973	495	3067
3739	-3.33	-32.3	636.8	-15.3	116	3744	0.15	2.38	0.00	0.000	6	0.165	0.052	1997	1907	3067
4099	-3.41	-32.3	685.6	-13.5	122	4104	0.00	2.45	0.00	0.000	4	0.000	0.061	1998	497	3067
4154	-3.41	-32.3	693.7	-14.3	122	4161	0.00	2.38	0.00	0.000	6	0.000	0.051	1998	1897	3067
4464	-3.49	-32.3	734.7	-13.2	128	4468	0.15	2.45	0.00	0.000	4	0.087	0.065	1959	491	3067
4518	-3.41	-32.3	742.6	-14.4	128	4525	0.12	2.38	0.00	0.000	6	0.170	0.048	1979	1908	3067
4827	-3.47	-32.3	784.7	-13.7	134	4832	0.00	2.45	0.00	0.000	4	0.000	0.067	1979	499	3067
5084	-3.42	-32.3	821.6	-14.1	137	5091	0.00	2.35	0.00	0.000	6	0.000	0.051	1979	1885	3066
5394	-3.47	-32.3	862.1	-13.1	143	5395	0.00	0.00	0.00	0.000	6	0.000	0.000	1979	1886	3066
5697	-3.54	-32.3	898.6	-11.9	148	5701	0.00	2.45	0.00	0.000	4	0.000	0.069	1979	498	3066
5818	-3.50	-32.3	913.5	-12.2	149	5826	0.00	2.40	0.00	0.000	6	0.000	0.048	1978	1891	3066
6128	-3.56	-32.3	948.5	-11.2	155	6133	0.12	2.50	0.00	0.000	4	0.096	0.081	1951	501	3066
6233	-3.47	-32.3	961.4	-13.3	156	6238	0.10	2.42	0.00	0.000	6	0.174	0.062	1966	1895	3065
6496	end dive: TARGET_DEPTH_EXCEEDED
state	6496	begin apogee
6501	-0.33	0.0	990.8	11.0	161	6537	3.53	0.00	30.45	1.336	6	0.150	0.000	2649	2104	2931
6538	end apogee: CONTROL_FINISHED_OK
state	6538	begin climb
6539	2.95	32.3	990.8	0.0	161	6579	3.15	2.70	29.58	1.299	4	0.063	0.093	3375	3506	2799
6651	2.95	32.3	981.8	10.7	162	6656	0.00	2.53	0.00	0.000	6	0.000	0.067	3375	2116	2798
6972	2.95	32.3	948.7	10.1	168	6976	0.00	2.50	0.00	0.000	4	0.000	0.076	3374	3515	2798
7032	2.95	32.3	942.5	10.0	169	7037	0.00	2.47	0.00	0.000	6	0.000	0.057	3375	2084	2797
7397	2.95	32.3	907.5	9.5	175	7398	0.00	0.00	0.00	0.000	6	0.000	0.000	3375	2085	2797
7700	2.95	32.3	879.9	9.1	180	7704	0.00	2.42	0.00	0.000	4	0.000	0.060	3374	686	2797
7709	2.95	32.3	878.9	9.0	180	7713	0.00	2.45	0.00	0.000	6	0.000	0.043	3375	2119	2797
8063	2.95	32.3	847.9	8.8	186	8064	0.00	0.00	0.00	0.000	6	0.000	0.000	3375	2119	2797
8366	2.95	32.3	823.0	8.2	191	8370	0.00	2.40	0.00	0.000	4	0.000	0.059	3375	3508	2797
8386	2.95	32.8	821.2	7.9	191	8391	0.00	2.40	0.00	0.000	6	0.000	0.044	3375	2093	2797
8729	2.95	33.7	794.5	7.7	197	8733	0.00	2.40	0.00	0.000	4	0.000	0.058	3375	697	2797
8964	2.89	33.9	775.9	8.0	200	8969	0.00	2.38	0.00	0.000	6	0.000	0.044	3375	2096	2797
9303	2.90	38.2	752.9	6.8	206	9314	0.00	2.45	6.35	0.996	4	0.000	0.060	3375	693	2775
9409	2.85	38.2	744.4	9.0	207	9413	0.15	2.38	0.00	0.000	6	0.170	0.051	3351	2099	2775
9735	2.93	38.2	718.3	8.0	213	9736	0.00	0.00	0.00	0.000	6	0.000	0.000	3351	2099	2775
10038	3.01	38.5	694.3	7.9	218	10043	0.15	2.42	0.00	0.000	4	0.089	0.061	3388	3508	2775
10103	3.01	38.8	688.9	7.9	219	10108	0.00	2.40	0.00	0.000	6	0.000	0.041	3388	2095	2775
10469	3.01	40.1	660.6	7.6	225	10470	0.00	0.00	0.00	0.000	6	0.000	0.000	3388	2095	2775
10772	3.01	43.1	639.1	7.1	230	10780	0.00	0.00	6.03	0.931	6	0.000	0.000	3388	2095	2755
11075	3.01	44.6	616.3	7.6	235	11079	0.00	2.42	0.00	0.000	4	0.000	0.061	3388	3505	2755
11136	3.01	44.6	611.8	8.2	236	11140	0.00	2.35	0.00	0.000	6	0.000	0.048	3388	2100	2755
11500	3.02	48.2	586.2	7.0	242	11511	0.00	2.42	5.85	0.894	4	0.000	0.061	3388	3503	2735
11515	3.02	51.3	585.0	7.1	242	11525	0.00	2.38	4.68	0.788	6	0.000	0.041	3388	2099	2722
11862	3.02	51.3	555.3	8.7	248	11866	0.00	2.40	0.00	0.000	4	0.000	0.064	3388	697	2721
12119	2.97	51.3	532.4	8.1	251	12124	0.00	2.40	0.00	0.000	6	0.000	0.052	3388	2101	2721
12434	2.97	51.3	507.1	8.0	257	12438	0.00	2.42	0.00	0.000	4	0.000	0.058	3387	694	2721
12690	2.92	51.3	485.1	8.8	260	12698	0.08	2.40	0.00	0.000	6	0.154	0.053	3367	2101	2721
13000	2.99	52.2	461.1	7.7	266	13004	0.00	2.42	0.00	0.000	4	0.000	0.061	3367	688	2721
13015	2.99	52.9	459.8	7.8	266	13019	0.00	2.40	0.00	0.000	6	0.000	0.045	3367	2097	2721
13364	3.06	55.4	434.3	7.3	272	13372	0.12	0.00	5.20	0.788	6	0.097	0.000	3394	2100	2705
13666	3.06	55.4	409.4	8.2	277	13670	0.00	2.42	0.00	0.000	4	0.000	0.056	3394	3511	2705
13923	3.06	56.5	389.6	7.7	280	13930	0.00	2.40	0.00	0.000	6	0.000	0.048	3394	2095	2705
14233	3.07	60.6	368.2	6.8	286	14246	0.00	2.45	6.40	0.812	4	0.000	0.059	3394	3506	2683
14291	3.07	60.6	363.6	8.2	286	14297	0.00	2.40	0.00	0.000	6	0.000	0.046	3394	2099	2683
14600	3.07	60.6	338.3	8.3	292	14601	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2099	2683
14903	3.07	60.6	312.7	8.5	297	14904	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2099	2683
15207	3.07	60.6	287.8	8.3	304	15211	0.00	2.42	0.00	0.000	4	0.000	0.058	3394	3505	2683
15464	3.07	63.1	267.9	7.3	311	15475	0.00	2.38	3.85	0.612	6	0.000	0.043	3394	2102	2672
15810	3.12	65.8	241.8	7.2	323	15819	0.00	2.45	4.00	0.617	4	0.000	0.059	3394	3511	2662
16071	3.12	68.5	221.7	7.2	330	16082	0.00	2.40	3.97	0.607	6	0.000	0.048	3394	2098	2651
16418	3.18	71.5	196.5	7.1	342	16427	0.10	2.45	4.20	0.617	4	0.099	0.061	3416	3505	2639
16454	3.18	72.2	193.7	7.8	343	16459	0.00	2.38	0.00	0.000	6	0.000	0.041	3416	2107	2639
16789	3.18	72.2	167.2	8.2	354	16793	0.00	2.42	0.00	0.000	4	0.000	0.057	3416	694	2639
16984	3.11	72.2	151.3	8.8	360	16989	0.00	2.38	0.00	0.000	6	0.000	0.054	3416	2102	2639
17302	3.12	81.4	131.9	5.4	375	17315	0.00	0.00	9.50	0.742	6	0.000	0.000	3416	2103	2599
17632	3.15	105.5	117.2	1.1	391	17657	0.00	2.45	20.50	0.762	4	0.000	0.061	3416	3502	2500
17909	3.16	114.1	98.8	5.5	403	17924	0.00	2.38	8.43	0.700	6	0.000	0.042	3416	2092	2465
18246	3.24	123.4	82.0	5.3	420	18261	0.00	2.50	8.88	0.700	4	0.000	0.058	3416	3502	2427
18514	3.29	123.4	59.2	9.3	442	18519	0.12	2.38	0.00	0.000	6	0.092	0.043	3444	2092	2426
18839	3.34	125.5	31.6	7.4	472	18843	0.00	2.42	0.00	0.000	4	0.000	0.058	3444	3503	2426
19095	3.34	125.5	11.3	8.0	494	19102	0.00	2.40	0.00	0.000	6	0.000	0.048	3444	2099	2426
19197	end climb: SURFACE_DEPTH_REACHED
state	19197	begin surface coast
19208	end surface coast: CONTROL_FINISHED_OK
state	19208	begin surface