Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 207 * 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 207 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 40 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 48 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 -43854.988 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 0 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 -43854.988

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

CF8_MAXERRORS 0 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 40 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 48 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 207 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 203528,4956.016,-14429.783,82,4.2,101,18.5 TGT_NAME SE

_CALLS 2 TGT_LATLONG 4954.011,-14429.833

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.056,-0.160

_SM_DEPTHo 1.61 KALMAN_X 993.3,-29.2,-343.2,32930.8,1513.7

_SM_ANGLEo -58.0 KALMAN_Y 159994.0,3.5,304.7,-168431.3,49.7

GPS2 204504,4956.125,-14429.954,46,6.9,65,18.5 MHEAD_RNG_PITCHd_Wd 180.6,3916,-22.9,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.1,1.024734 XPDR_PINGS 84

SM_CCo 19963,127.62,0.657,0,0,1300,400.08 _24V_AH 23.3,40.437

SM_GC 1.54,0.00,0.00,127.62,0.000,0.000,0.657,497,1902,1300,-10.26,0.06,400.08 _10V_AH 10.1,20.498

IRIDIUM_FIX 4939.69,-14430.07,271097,202053 DATA_FILE_SIZE 31758,539

TT8_MAMPS 0.029146 CAP_FILE_SIZE 138593,0

HUMID 1765 CFSIZE 260165632,244936704

INTERNAL_PRESSURE 7.67608 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.30 GPS 030808,022327,4954.474,-14430.446,101,5.3,120,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 161 96.91 SBE_CT 382 24 214.00

Roll_motor 172 115 463.62 SBE_O2 429 19 190.26

VBD_pump_during_apogee 304 1371 9717.87 Optode 557 33 428.60

VBD_pump_during_surface 127 657 1954.64 WL_BB2F 353 105 864.26

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 103 129.49 nil 0 0 0.00

Iridium_during_connect 66 160 246.88 nil 0 0 0.00

Iridium_during_xfer 232 223 1209.44

Transponder_ping 21 420 205.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 66 50 33.49

TT8 1262 19 252.43

LPSleep 16364 2 361.96

TT8_Active 583 19 116.70

TT8_Sampling 1859 39 747.48

TT8_CF8 599 45 277.23

TT8_Kalman 33 81 27.57

Analog_circuits 1548 12 187.72

GPS_charging 0 0 0.00

Compass 1781 8 143.92

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 18 begin dive

20 -1.61 -66.5 0.0 0.0 0 94 0.00 0.00 -71.40 0.000 2 0.000 0.000 491 1888 2840

96 -1.66 -108.1 3.5 -4.7 7 130 9.90 2.40 -13.57 0.000 4 0.162 0.058 2359 506 3375

378 -1.59 -108.1 51.3 -16.5 32 382 0.12 2.25 0.00 0.000 6 0.127 0.031 2381 1904 3378

698 -1.59 -108.1 100.5 -15.7 56 702 0.00 2.38 0.00 0.000 4 0.000 0.048 2382 502 3379

831 -1.59 -108.1 121.8 -16.0 62 835 0.00 2.25 0.00 0.000 6 0.000 0.031 2382 1898 3379

1147 -1.66 -108.1 164.0 -13.2 76 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 1901 3378

1454 -1.77 -108.1 201.5 -11.8 86 1458 0.15 2.38 0.00 0.000 4 0.067 0.050 2339 502 3379

1606 -1.72 -108.1 223.3 -14.1 90 1610 0.00 2.25 0.00 0.000 6 0.000 0.028 2339 1901 3379

1917 -1.72 -108.1 265.7 -13.5 100 1921 0.00 2.35 0.00 0.000 4 0.000 0.050 2339 506 3378

2022 -1.72 -108.1 281.0 -14.6 103 2026 0.00 2.25 0.00 0.000 6 0.000 0.028 2339 1900 3378

2355 -1.72 -108.1 324.1 -12.7 111 2359 0.00 2.38 0.00 0.000 4 0.000 0.050 2339 501 3378

2404 -1.72 -108.1 330.9 -13.8 111 2408 0.00 2.28 0.00 0.000 6 0.000 0.033 2339 1907 3378

2719 -1.72 -108.1 371.0 -12.7 117 2723 0.00 2.38 0.00 0.000 4 0.000 0.044 2339 508 3377

2874 -1.72 -108.1 391.9 -13.2 119 2879 0.00 2.28 0.00 0.000 6 0.000 0.031 2339 1898 3376

3217 -1.72 -108.1 433.0 -12.0 125 3221 0.00 2.38 0.00 0.000 4 0.000 0.045 2339 499 3376

3374 -1.72 -108.1 453.5 -13.3 127 3378 0.00 2.28 0.00 0.000 6 0.000 0.029 2339 1908 3376

3716 -1.72 -108.1 493.5 -11.5 133 3720 0.00 2.38 0.00 0.000 4 0.000 0.048 2339 508 3375

3800 -1.72 -108.1 504.0 -12.9 134 3804 0.00 2.25 0.00 0.000 6 0.000 0.032 2339 1903 3374

4142 -1.72 -108.1 543.9 -11.7 140 4146 0.00 2.38 0.00 0.000 4 0.000 0.048 2339 504 3374

4316 -1.72 -108.1 566.8 -13.5 142 4320 0.00 2.25 0.00 0.000 6 0.000 0.025 2339 1903 3374

4639 -1.72 -108.1 606.0 -12.3 148 4643 0.00 2.38 0.00 0.000 4 0.000 0.049 2339 505 3373

4721 -1.72 -108.1 617.6 -13.9 149 4725 0.00 2.28 0.00 0.000 6 0.000 0.031 2339 1900 3373

5070 -1.72 -108.1 659.8 -12.1 155 5074 0.00 2.38 0.00 0.000 4 0.000 0.052 2339 502 3372

5209 -1.72 -108.1 678.3 -12.8 157 5213 0.00 2.25 0.00 0.000 6 0.000 0.028 2339 1897 3372

5574 -1.72 -108.1 720.6 -11.3 163 5578 0.00 2.35 0.00 0.000 4 0.000 0.051 2339 505 3372

5662 -1.72 -108.1 731.1 -12.2 164 5666 0.00 2.28 0.00 0.000 6 0.000 0.031 2338 1910 3372

6011 -1.72 -108.1 767.7 -10.3 170 6015 0.00 2.38 0.00 0.000 4 0.000 0.051 2339 505 3371

6138 -1.72 -108.1 781.7 -10.9 171 6145 0.00 2.28 0.00 0.000 6 0.000 0.027 2339 1893 3371

6447 -1.72 -108.1 811.5 -9.5 177 6451 0.00 2.35 0.00 0.000 4 0.000 0.052 2339 509 3371

6536 -1.72 -108.1 820.8 -11.1 178 6540 0.00 2.25 0.00 0.000 6 0.000 0.033 2339 1900 3370

6885 -1.72 -108.1 853.7 -9.4 184 6889 0.00 2.38 0.00 0.000 4 0.000 0.056 2339 506 3370

6945 -1.72 -108.1 860.0 -10.1 184 6952 0.00 2.28 0.00 0.000 6 0.000 0.029 2338 1910 3370

7255 -1.77 -108.1 890.0 -9.7 190 7259 0.00 2.40 0.00 0.000 4 0.000 0.054 2339 510 3369

7327 -1.77 -108.1 897.8 -11.0 191 7331 0.00 2.25 0.00 0.000 6 0.000 0.027 2338 1895 3370

7687 -1.82 -108.1 933.9 -10.0 197 7691 0.00 2.42 0.00 0.000 4 0.000 0.065 2338 509 3369

7736 -1.82 -108.1 939.4 -11.0 197 7740 0.00 2.30 0.00 0.000 6 0.000 0.035 2339 1897 3369

8051 -1.87 -108.1 971.8 -10.3 203 8055 0.00 2.47 0.00 0.000 4 0.000 0.072 2339 510 3369

8094 -1.87 -108.1 977.0 -11.3 203 8099 0.00 2.35 0.00 0.000 6 0.000 0.048 2339 1897 3369

8231 end dive: TARGET_DEPTH_EXCEEDED

state 8231 begin apogee

8237 -0.33 0.0 991.8 10.8 206 8334 1.50 0.00 93.72 1.371 6 0.110 0.000 2651 2106 2931

8335 end apogee: CONTROL_FINISHED_OK

state 8335 begin climb

8337 1.66 108.1 994.0 0.0 207 8438 1.92 2.60 92.57 1.343 4 0.064 0.078 3090 3509 2490

8466 1.47 108.1 986.9 9.9 209 8472 0.22 2.42 0.00 0.000 6 0.127 0.054 3049 2121 2487

8826 1.47 108.1 953.1 9.3 215 8830 0.00 2.42 0.00 0.000 4 0.000 0.060 3048 3509 2485

8847 1.41 108.1 951.0 9.7 215 8851 0.00 2.40 0.00 0.000 6 0.000 0.043 3049 2095 2485

9190 1.36 108.1 920.4 8.9 221 9195 0.12 2.42 0.00 0.000 4 0.131 0.048 3026 3511 2484

9228 1.36 108.1 917.1 8.7 221 9232 0.00 2.38 0.00 0.000 6 0.000 0.031 3026 2086 2484

9554 1.36 108.1 890.9 8.0 227 9558 0.00 2.45 0.00 0.000 4 0.000 0.045 3027 3522 2484

9591 1.36 108.1 887.7 9.2 227 9595 0.00 2.38 0.00 0.000 6 0.000 0.033 3026 2088 2484

9917 1.36 108.1 860.5 8.3 233 9918 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2088 2484

10221 1.36 108.1 833.3 9.1 238 10224 0.00 2.42 0.00 0.000 4 0.000 0.044 3026 3522 2483

10275 1.36 108.1 827.9 9.8 238 10280 0.00 2.38 0.00 0.000 6 0.000 0.028 3026 2096 2483

10590 1.36 108.1 798.8 9.3 244 10594 0.00 2.35 0.00 0.000 4 0.000 0.045 3026 699 2483

10610 1.36 108.1 796.6 11.3 244 10615 0.00 2.33 0.00 0.000 6 0.000 0.034 3026 2132 2483

10954 1.36 108.1 764.6 9.4 250 10955 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2131 2482

11258 1.36 108.1 735.9 9.5 255 11262 0.00 2.42 0.00 0.000 4 0.000 0.044 3026 698 2483

11284 1.36 108.1 733.1 10.5 255 11288 0.00 2.30 0.00 0.000 6 0.000 0.026 3026 2103 2482

11622 1.36 108.1 703.3 8.9 261 11623 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2105 2482

11924 1.36 108.1 678.6 8.0 266 11928 0.00 2.33 0.00 0.000 4 0.000 0.040 3026 3495 2482

11946 1.38 119.0 677.0 7.1 266 11960 0.00 2.28 9.57 1.043 6 0.000 0.026 3026 2097 2444

12288 1.43 122.3 650.5 7.7 272 12294 0.00 0.00 4.25 0.781 6 0.000 0.000 3026 2097 2432

12592 1.47 122.4 626.6 8.0 277 12593 0.10 0.00 0.00 0.000 6 0.084 0.000 3051 2097 2432

12893 1.47 122.4 599.0 9.1 282 12895 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2097 2432

13197 1.47 122.4 569.3 9.9 287 13198 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2097 2432

13500 1.47 122.4 538.9 10.0 292 13504 0.00 2.35 0.00 0.000 4 0.000 0.044 3051 698 2432

13527 1.42 122.4 535.9 10.8 292 13531 0.00 2.28 0.00 0.000 6 0.000 0.033 3051 2105 2432

13858 1.42 122.4 503.6 9.7 298 13862 0.00 2.38 0.00 0.000 4 0.000 0.043 3051 697 2432

13886 1.36 122.4 500.7 10.3 298 13891 0.12 2.28 0.00 0.000 6 0.129 0.028 3027 2104 2432

14217 1.41 122.4 471.8 8.7 304 14221 0.00 2.30 0.00 0.000 4 0.000 0.038 3027 3493 2432

14257 1.41 122.4 468.3 8.1 304 14261 0.00 2.25 0.00 0.000 6 0.000 0.029 3027 2099 2432

14578 1.46 122.4 440.8 8.7 310 14579 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2099 2432

14880 1.51 122.4 414.0 8.8 315 14884 0.12 2.35 0.00 0.000 4 0.077 0.044 3058 697 2432

14935 1.44 122.4 408.1 11.0 315 14941 0.00 2.28 0.00 0.000 6 0.000 0.030 3058 2104 2432

15243 1.44 122.4 379.3 9.3 321 15247 0.00 2.30 0.00 0.000 4 0.000 0.038 3059 3497 2432

15309 1.44 122.4 372.7 9.7 322 15313 0.00 2.28 0.00 0.000 6 0.000 0.026 3058 2097 2432

15675 1.44 122.4 338.9 9.2 328 15676 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2097 2432

15978 1.44 122.4 311.2 9.1 333 15982 0.00 2.33 0.00 0.000 4 0.000 0.045 3058 700 2432

16027 1.38 122.4 306.2 10.1 333 16032 0.15 2.28 0.00 0.000 6 0.125 0.027 3031 2109 2432

16339 1.43 124.2 280.8 7.8 341 16343 0.00 2.38 0.00 0.000 4 0.000 0.044 3031 696 2432

16371 1.43 124.2 278.0 8.3 342 16375 0.00 2.28 0.00 0.000 6 0.000 0.029 3031 2104 2432

16706 1.51 138.0 254.4 6.9 353 16723 0.12 0.00 14.38 0.837 6 0.076 0.000 3063 2107 2367

17012 1.51 138.0 229.2 8.3 363 17013 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2107 2366

17318 1.51 138.0 202.3 8.8 373 17319 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2107 2366

17624 1.51 138.0 173.6 9.4 383 17628 0.00 2.33 0.00 0.000 4 0.000 0.038 3063 3501 2366

17640 1.51 138.0 171.9 9.6 383 17645 0.00 2.30 0.00 0.000 6 0.000 0.026 3063 2102 2366

17959 1.52 141.7 144.7 7.7 395 17969 0.00 2.38 4.53 0.610 4 0.000 0.050 3062 698 2353

18004 1.47 141.7 140.9 8.1 397 18009 0.00 2.28 0.00 0.000 6 0.000 0.027 3063 2102 2352

18331 1.49 157.2 118.1 6.7 413 18353 0.00 2.35 14.02 0.755 4 0.000 0.041 3063 3491 2289

18369 1.50 164.4 115.4 7.4 414 18383 0.00 2.33 7.40 0.676 6 0.000 0.026 3063 2095 2260

18706 1.58 175.3 90.5 7.1 431 18718 0.00 0.00 10.05 0.707 6 0.000 0.000 3063 2096 2216

19021 1.67 177.9 66.4 7.8 454 19023 0.12 0.00 0.00 0.000 6 0.075 0.000 3096 2095 2214

19339 1.67 179.8 39.9 7.8 484 19351 0.00 0.00 5.07 0.590 6 0.000 0.000 3096 2095 2197

19672 1.78 238.4 23.9 3.3 515 19726 0.00 2.38 48.55 0.696 4 0.000 0.049 3096 704 1956

19927 end climb: SURFACE_DEPTH_REACHED

state 19927 begin surface coast

19940 end surface coast: CONTROL_FINISHED_OK

state 19940 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	207	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	40	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	48	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	-43854.988	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	0	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	203528,4956.016,-14429.783,82,4.2,101,18.5	TGT_NAME	SE
_CALLS	2	TGT_LATLONG	4954.011,-14429.833
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.056,-0.160
_SM_DEPTHo	1.61	KALMAN_X	993.3,-29.2,-343.2,32930.8,1513.7
_SM_ANGLEo	-58.0	KALMAN_Y	159994.0,3.5,304.7,-168431.3,49.7
GPS2	204504,4956.125,-14429.954,46,6.9,65,18.5	MHEAD_RNG_PITCHd_Wd	180.6,3916,-22.9,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

FINISH	1.1,1.024734	XPDR_PINGS	84
SM_CCo	19963,127.62,0.657,0,0,1300,400.08	_24V_AH	23.3,40.437
SM_GC	1.54,0.00,0.00,127.62,0.000,0.000,0.657,497,1902,1300,-10.26,0.06,400.08	_10V_AH	10.1,20.498
IRIDIUM_FIX	4939.69,-14430.07,271097,202053	DATA_FILE_SIZE	31758,539
TT8_MAMPS	0.029146	CAP_FILE_SIZE	138593,0
HUMID	1765	CFSIZE	260165632,244936704
INTERNAL_PRESSURE	7.67608	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.30	GPS	030808,022327,4954.474,-14430.446,101,5.3,120,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	161	96.91	SBE_CT	382	24	214.00
Roll_motor	172	115	463.62	SBE_O2	429	19	190.26
VBD_pump_during_apogee	304	1371	9717.87	Optode	557	33	428.60
VBD_pump_during_surface	127	657	1954.64	WL_BB2F	353	105	864.26
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	103	129.49	nil	0	0	0.00
Iridium_during_connect	66	160	246.88	nil	0	0	0.00
Iridium_during_xfer	232	223	1209.44
Transponder_ping	21	420	205.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	66	50	33.49
TT8	1262	19	252.43
LPSleep	16364	2	361.96
TT8_Active	583	19	116.70
TT8_Sampling	1859	39	747.48
TT8_CF8	599	45	277.23
TT8_Kalman	33	81	27.57
Analog_circuits	1548	12	187.72
GPS_charging	0	0	0.00
Compass	1781	8	143.92
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	18	begin dive
20	-1.61	-66.5	0.0	0.0	0	94	0.00	0.00	-71.40	0.000	2	0.000	0.000	491	1888	2840
96	-1.66	-108.1	3.5	-4.7	7	130	9.90	2.40	-13.57	0.000	4	0.162	0.058	2359	506	3375
378	-1.59	-108.1	51.3	-16.5	32	382	0.12	2.25	0.00	0.000	6	0.127	0.031	2381	1904	3378
698	-1.59	-108.1	100.5	-15.7	56	702	0.00	2.38	0.00	0.000	4	0.000	0.048	2382	502	3379
831	-1.59	-108.1	121.8	-16.0	62	835	0.00	2.25	0.00	0.000	6	0.000	0.031	2382	1898	3379
1147	-1.66	-108.1	164.0	-13.2	76	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	1901	3378
1454	-1.77	-108.1	201.5	-11.8	86	1458	0.15	2.38	0.00	0.000	4	0.067	0.050	2339	502	3379
1606	-1.72	-108.1	223.3	-14.1	90	1610	0.00	2.25	0.00	0.000	6	0.000	0.028	2339	1901	3379
1917	-1.72	-108.1	265.7	-13.5	100	1921	0.00	2.35	0.00	0.000	4	0.000	0.050	2339	506	3378
2022	-1.72	-108.1	281.0	-14.6	103	2026	0.00	2.25	0.00	0.000	6	0.000	0.028	2339	1900	3378
2355	-1.72	-108.1	324.1	-12.7	111	2359	0.00	2.38	0.00	0.000	4	0.000	0.050	2339	501	3378
2404	-1.72	-108.1	330.9	-13.8	111	2408	0.00	2.28	0.00	0.000	6	0.000	0.033	2339	1907	3378
2719	-1.72	-108.1	371.0	-12.7	117	2723	0.00	2.38	0.00	0.000	4	0.000	0.044	2339	508	3377
2874	-1.72	-108.1	391.9	-13.2	119	2879	0.00	2.28	0.00	0.000	6	0.000	0.031	2339	1898	3376
3217	-1.72	-108.1	433.0	-12.0	125	3221	0.00	2.38	0.00	0.000	4	0.000	0.045	2339	499	3376
3374	-1.72	-108.1	453.5	-13.3	127	3378	0.00	2.28	0.00	0.000	6	0.000	0.029	2339	1908	3376
3716	-1.72	-108.1	493.5	-11.5	133	3720	0.00	2.38	0.00	0.000	4	0.000	0.048	2339	508	3375
3800	-1.72	-108.1	504.0	-12.9	134	3804	0.00	2.25	0.00	0.000	6	0.000	0.032	2339	1903	3374
4142	-1.72	-108.1	543.9	-11.7	140	4146	0.00	2.38	0.00	0.000	4	0.000	0.048	2339	504	3374
4316	-1.72	-108.1	566.8	-13.5	142	4320	0.00	2.25	0.00	0.000	6	0.000	0.025	2339	1903	3374
4639	-1.72	-108.1	606.0	-12.3	148	4643	0.00	2.38	0.00	0.000	4	0.000	0.049	2339	505	3373
4721	-1.72	-108.1	617.6	-13.9	149	4725	0.00	2.28	0.00	0.000	6	0.000	0.031	2339	1900	3373
5070	-1.72	-108.1	659.8	-12.1	155	5074	0.00	2.38	0.00	0.000	4	0.000	0.052	2339	502	3372
5209	-1.72	-108.1	678.3	-12.8	157	5213	0.00	2.25	0.00	0.000	6	0.000	0.028	2339	1897	3372
5574	-1.72	-108.1	720.6	-11.3	163	5578	0.00	2.35	0.00	0.000	4	0.000	0.051	2339	505	3372
5662	-1.72	-108.1	731.1	-12.2	164	5666	0.00	2.28	0.00	0.000	6	0.000	0.031	2338	1910	3372
6011	-1.72	-108.1	767.7	-10.3	170	6015	0.00	2.38	0.00	0.000	4	0.000	0.051	2339	505	3371
6138	-1.72	-108.1	781.7	-10.9	171	6145	0.00	2.28	0.00	0.000	6	0.000	0.027	2339	1893	3371
6447	-1.72	-108.1	811.5	-9.5	177	6451	0.00	2.35	0.00	0.000	4	0.000	0.052	2339	509	3371
6536	-1.72	-108.1	820.8	-11.1	178	6540	0.00	2.25	0.00	0.000	6	0.000	0.033	2339	1900	3370
6885	-1.72	-108.1	853.7	-9.4	184	6889	0.00	2.38	0.00	0.000	4	0.000	0.056	2339	506	3370
6945	-1.72	-108.1	860.0	-10.1	184	6952	0.00	2.28	0.00	0.000	6	0.000	0.029	2338	1910	3370
7255	-1.77	-108.1	890.0	-9.7	190	7259	0.00	2.40	0.00	0.000	4	0.000	0.054	2339	510	3369
7327	-1.77	-108.1	897.8	-11.0	191	7331	0.00	2.25	0.00	0.000	6	0.000	0.027	2338	1895	3370
7687	-1.82	-108.1	933.9	-10.0	197	7691	0.00	2.42	0.00	0.000	4	0.000	0.065	2338	509	3369
7736	-1.82	-108.1	939.4	-11.0	197	7740	0.00	2.30	0.00	0.000	6	0.000	0.035	2339	1897	3369
8051	-1.87	-108.1	971.8	-10.3	203	8055	0.00	2.47	0.00	0.000	4	0.000	0.072	2339	510	3369
8094	-1.87	-108.1	977.0	-11.3	203	8099	0.00	2.35	0.00	0.000	6	0.000	0.048	2339	1897	3369
8231	end dive: TARGET_DEPTH_EXCEEDED
state	8231	begin apogee
8237	-0.33	0.0	991.8	10.8	206	8334	1.50	0.00	93.72	1.371	6	0.110	0.000	2651	2106	2931
8335	end apogee: CONTROL_FINISHED_OK
state	8335	begin climb
8337	1.66	108.1	994.0	0.0	207	8438	1.92	2.60	92.57	1.343	4	0.064	0.078	3090	3509	2490
8466	1.47	108.1	986.9	9.9	209	8472	0.22	2.42	0.00	0.000	6	0.127	0.054	3049	2121	2487
8826	1.47	108.1	953.1	9.3	215	8830	0.00	2.42	0.00	0.000	4	0.000	0.060	3048	3509	2485
8847	1.41	108.1	951.0	9.7	215	8851	0.00	2.40	0.00	0.000	6	0.000	0.043	3049	2095	2485
9190	1.36	108.1	920.4	8.9	221	9195	0.12	2.42	0.00	0.000	4	0.131	0.048	3026	3511	2484
9228	1.36	108.1	917.1	8.7	221	9232	0.00	2.38	0.00	0.000	6	0.000	0.031	3026	2086	2484
9554	1.36	108.1	890.9	8.0	227	9558	0.00	2.45	0.00	0.000	4	0.000	0.045	3027	3522	2484
9591	1.36	108.1	887.7	9.2	227	9595	0.00	2.38	0.00	0.000	6	0.000	0.033	3026	2088	2484
9917	1.36	108.1	860.5	8.3	233	9918	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2088	2484
10221	1.36	108.1	833.3	9.1	238	10224	0.00	2.42	0.00	0.000	4	0.000	0.044	3026	3522	2483
10275	1.36	108.1	827.9	9.8	238	10280	0.00	2.38	0.00	0.000	6	0.000	0.028	3026	2096	2483
10590	1.36	108.1	798.8	9.3	244	10594	0.00	2.35	0.00	0.000	4	0.000	0.045	3026	699	2483
10610	1.36	108.1	796.6	11.3	244	10615	0.00	2.33	0.00	0.000	6	0.000	0.034	3026	2132	2483
10954	1.36	108.1	764.6	9.4	250	10955	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2131	2482
11258	1.36	108.1	735.9	9.5	255	11262	0.00	2.42	0.00	0.000	4	0.000	0.044	3026	698	2483
11284	1.36	108.1	733.1	10.5	255	11288	0.00	2.30	0.00	0.000	6	0.000	0.026	3026	2103	2482
11622	1.36	108.1	703.3	8.9	261	11623	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2105	2482
11924	1.36	108.1	678.6	8.0	266	11928	0.00	2.33	0.00	0.000	4	0.000	0.040	3026	3495	2482
11946	1.38	119.0	677.0	7.1	266	11960	0.00	2.28	9.57	1.043	6	0.000	0.026	3026	2097	2444
12288	1.43	122.3	650.5	7.7	272	12294	0.00	0.00	4.25	0.781	6	0.000	0.000	3026	2097	2432
12592	1.47	122.4	626.6	8.0	277	12593	0.10	0.00	0.00	0.000	6	0.084	0.000	3051	2097	2432
12893	1.47	122.4	599.0	9.1	282	12895	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2097	2432
13197	1.47	122.4	569.3	9.9	287	13198	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2097	2432
13500	1.47	122.4	538.9	10.0	292	13504	0.00	2.35	0.00	0.000	4	0.000	0.044	3051	698	2432
13527	1.42	122.4	535.9	10.8	292	13531	0.00	2.28	0.00	0.000	6	0.000	0.033	3051	2105	2432
13858	1.42	122.4	503.6	9.7	298	13862	0.00	2.38	0.00	0.000	4	0.000	0.043	3051	697	2432
13886	1.36	122.4	500.7	10.3	298	13891	0.12	2.28	0.00	0.000	6	0.129	0.028	3027	2104	2432
14217	1.41	122.4	471.8	8.7	304	14221	0.00	2.30	0.00	0.000	4	0.000	0.038	3027	3493	2432
14257	1.41	122.4	468.3	8.1	304	14261	0.00	2.25	0.00	0.000	6	0.000	0.029	3027	2099	2432
14578	1.46	122.4	440.8	8.7	310	14579	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2099	2432
14880	1.51	122.4	414.0	8.8	315	14884	0.12	2.35	0.00	0.000	4	0.077	0.044	3058	697	2432
14935	1.44	122.4	408.1	11.0	315	14941	0.00	2.28	0.00	0.000	6	0.000	0.030	3058	2104	2432
15243	1.44	122.4	379.3	9.3	321	15247	0.00	2.30	0.00	0.000	4	0.000	0.038	3059	3497	2432
15309	1.44	122.4	372.7	9.7	322	15313	0.00	2.28	0.00	0.000	6	0.000	0.026	3058	2097	2432
15675	1.44	122.4	338.9	9.2	328	15676	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2097	2432
15978	1.44	122.4	311.2	9.1	333	15982	0.00	2.33	0.00	0.000	4	0.000	0.045	3058	700	2432
16027	1.38	122.4	306.2	10.1	333	16032	0.15	2.28	0.00	0.000	6	0.125	0.027	3031	2109	2432
16339	1.43	124.2	280.8	7.8	341	16343	0.00	2.38	0.00	0.000	4	0.000	0.044	3031	696	2432
16371	1.43	124.2	278.0	8.3	342	16375	0.00	2.28	0.00	0.000	6	0.000	0.029	3031	2104	2432
16706	1.51	138.0	254.4	6.9	353	16723	0.12	0.00	14.38	0.837	6	0.076	0.000	3063	2107	2367
17012	1.51	138.0	229.2	8.3	363	17013	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2107	2366
17318	1.51	138.0	202.3	8.8	373	17319	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2107	2366
17624	1.51	138.0	173.6	9.4	383	17628	0.00	2.33	0.00	0.000	4	0.000	0.038	3063	3501	2366
17640	1.51	138.0	171.9	9.6	383	17645	0.00	2.30	0.00	0.000	6	0.000	0.026	3063	2102	2366
17959	1.52	141.7	144.7	7.7	395	17969	0.00	2.38	4.53	0.610	4	0.000	0.050	3062	698	2353
18004	1.47	141.7	140.9	8.1	397	18009	0.00	2.28	0.00	0.000	6	0.000	0.027	3063	2102	2352
18331	1.49	157.2	118.1	6.7	413	18353	0.00	2.35	14.02	0.755	4	0.000	0.041	3063	3491	2289
18369	1.50	164.4	115.4	7.4	414	18383	0.00	2.33	7.40	0.676	6	0.000	0.026	3063	2095	2260
18706	1.58	175.3	90.5	7.1	431	18718	0.00	0.00	10.05	0.707	6	0.000	0.000	3063	2096	2216
19021	1.67	177.9	66.4	7.8	454	19023	0.12	0.00	0.00	0.000	6	0.075	0.000	3096	2095	2214
19339	1.67	179.8	39.9	7.8	484	19351	0.00	0.00	5.07	0.590	6	0.000	0.000	3096	2095	2197
19672	1.78	238.4	23.9	3.3	515	19726	0.00	2.38	48.55	0.696	4	0.000	0.049	3096	704	1956
19927	end climb: SURFACE_DEPTH_REACHED
state	19927	begin surface coast
19940	end surface coast: CONTROL_FINISHED_OK
state	19940	begin surface