Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 213 * 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 213 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 56 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 -44122.688 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 -44122.688

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 56 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 213 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 112421,5005.801,-14449.501,44,3.2,63,18.5 TGT_NAME C_NW

_CALLS 1 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.009,0.140

_SM_DEPTHo 1.66 KALMAN_X 380.9,-127.0,519.8,9560.1,-1476.4

_SM_ANGLEo -62.2 KALMAN_Y 162058.7,53.9,107.9,-152460.6,-263.0

GPS2 113004,5005.786,-14449.460,18,2.1,37,18.5 MHEAD_RNG_PITCHd_Wd 337.7,3615,-27.7,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.0,1.012178 XPDR_PINGS 68

SM_CCo 19296,150.93,0.660,0,0,1300,400.08 _24V_AH 23.3,41.407

SM_GC 1.51,0.00,0.00,150.93,0.000,0.000,0.660,494,1883,1300,-10.28,-0.48,400.08 _10V_AH 10.1,21.000

IRIDIUM_FIX 4943.02,-14454.99,291097,040451 DATA_FILE_SIZE 31810,530

TT8_MAMPS 0.029146 CAP_FILE_SIZE 132299,0

HUMID 1777 CFSIZE 260165632,244563968

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

TCM_TEMP 16.00 GPS 040808,165655,5007.732,-14450.695,55,1.4,72,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 164 104.41 SBE_CT 375 24 210.04

Roll_motor 140 114 373.32 SBE_O2 423 19 187.33

VBD_pump_during_apogee 263 1372 8433.26 Optode 548 33 421.56

VBD_pump_during_surface 150 659 2319.59 WL_BB2F 353 105 864.46

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.95 nil 0 0 0.00

Iridium_during_connect 29 160 111.18 nil 0 0 0.00

Iridium_during_xfer 155 223 807.81

Transponder_ping 17 420 166.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 38 50 19.34

TT8 1261 19 252.25

LPSleep 15661 2 346.41

TT8_Active 542 19 108.53

TT8_Sampling 1873 39 752.92

TT8_CF8 455 45 210.50

TT8_Kalman 33 81 27.59

Analog_circuits 1492 12 180.92

GPS_charging 0 0 0.00

Compass 1826 8 147.55

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 -1.90 -45.6 0.0 0.0 0 94 0.00 0.00 -72.20 0.000 2 0.000 0.000 497 1877 2812

97 -1.95 -82.9 3.2 -3.6 7 124 9.62 2.35 -12.25 0.000 4 0.165 0.047 2299 3293 3271

193 -1.88 -82.9 21.7 -21.1 15 197 0.00 2.25 0.00 0.000 6 0.000 0.031 2299 1916 3272

518 -1.88 -82.9 80.2 -18.5 45 522 0.00 2.38 0.00 0.000 4 0.000 0.051 2298 500 3274

748 -1.88 -82.9 123.5 -16.7 55 752 0.00 2.28 0.00 0.000 6 0.000 0.030 2299 1896 3275

1083 -1.94 -82.9 174.0 -15.0 69 1088 0.00 2.35 0.00 0.000 4 0.000 0.045 2299 503 3275

1251 -1.94 -82.9 200.7 -15.1 74 1255 0.00 2.25 0.00 0.000 6 0.000 0.032 2299 1903 3275

1586 -2.01 -82.9 248.4 -14.1 85 1590 0.00 2.38 0.00 0.000 4 0.000 0.048 2299 498 3276

1703 -2.01 -82.9 266.0 -15.1 88 1707 0.00 2.25 0.00 0.000 6 0.000 0.031 2299 1899 3275

2014 -2.09 -82.9 308.6 -13.9 97 2019 0.12 2.38 0.00 0.000 4 0.077 0.050 2267 499 3275

2193 -2.03 -82.9 336.8 -16.1 99 2197 0.00 2.25 0.00 0.000 6 0.000 0.028 2268 1898 3275

2506 -2.03 -82.9 382.5 -14.5 105 2510 0.00 2.38 0.00 0.000 4 0.000 0.051 2268 496 3274

2670 -1.99 -82.9 406.9 -15.2 107 2674 0.15 2.25 0.00 0.000 6 0.134 0.025 2295 1900 3274

3001 -2.06 -82.9 450.1 -13.0 113 3005 0.00 2.38 0.00 0.000 4 0.000 0.044 2295 497 3274

3197 -2.06 -82.9 477.8 -13.6 116 3201 0.00 2.25 0.00 0.000 6 0.000 0.028 2295 1901 3273

3568 -2.14 -82.9 524.4 -12.5 122 3573 0.15 2.38 0.00 0.000 4 0.074 0.050 2258 502 3273

3774 -2.08 -82.9 555.0 -14.6 125 3778 0.00 2.25 0.00 0.000 6 0.000 0.029 2259 1900 3273

4134 -2.08 -82.9 603.1 -13.3 131 4138 0.00 2.38 0.00 0.000 4 0.000 0.048 2258 496 3272

4161 -2.01 -82.9 607.0 -14.2 131 4165 0.15 2.28 0.00 0.000 6 0.137 0.030 2285 1911 3272

4492 -2.08 -82.9 648.6 -12.5 137 4496 0.00 2.40 0.00 0.000 4 0.000 0.045 2285 496 3272

4571 -2.08 -82.9 659.4 -14.0 138 4575 0.00 2.25 0.00 0.000 6 0.000 0.028 2285 1901 3271

4919 -2.14 -82.9 702.1 -12.1 144 4923 0.00 2.38 0.00 0.000 4 0.000 0.052 2285 502 3271

5013 -2.14 -82.9 714.4 -12.3 145 5017 0.00 2.25 0.00 0.000 6 0.000 0.028 2284 1900 3270

5351 -2.21 -82.9 752.1 -10.9 151 5356 0.15 2.38 0.00 0.000 4 0.077 0.047 2245 504 3270

5406 -2.11 -82.9 759.3 -13.5 151 5412 0.12 2.25 0.00 0.000 6 0.145 0.025 2266 1903 3270

5715 -2.11 -82.9 793.9 -11.2 157 5716 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 1904 3270

6018 -2.11 -82.9 827.9 -11.2 162 6022 0.00 2.38 0.00 0.000 4 0.000 0.049 2265 505 3269

6067 -2.07 -82.9 833.9 -12.3 162 6071 0.00 2.25 0.00 0.000 6 0.000 0.025 2265 1900 3269

6383 -2.07 -82.9 869.0 -11.1 168 6387 0.00 2.38 0.00 0.000 4 0.000 0.055 2265 505 3269

6416 -2.02 -82.9 873.0 -12.3 168 6421 0.10 2.25 0.00 0.000 6 0.149 0.025 2282 1901 3269

6750 -2.09 -82.9 908.1 -10.6 174 6754 0.00 2.40 0.00 0.000 4 0.000 0.054 2282 506 3269

6832 -2.09 -82.9 918.2 -12.4 175 6837 0.00 2.28 0.00 0.000 6 0.000 0.028 2282 1881 3269

7183 -2.16 -82.9 955.8 -10.7 181 7185 0.12 0.00 0.00 0.000 6 0.084 0.000 2253 1882 3268

7482 end dive: TARGET_DEPTH_EXCEEDED

state 7482 begin apogee

7488 -0.33 0.0 990.1 11.3 186 7565 1.98 0.00 72.90 1.372 6 0.124 0.000 2653 2093 2931

7566 end apogee: CONTROL_FINISHED_OK

state 7566 begin climb

7568 1.95 82.9 991.7 0.0 187 7648 2.17 2.60 71.47 1.342 4 0.065 0.069 3153 3502 2591

7732 1.81 82.9 976.6 12.6 189 7737 0.17 2.40 0.00 0.000 6 0.136 0.054 3122 2117 2590

8058 1.76 82.9 938.9 11.6 195 8059 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 2117 2589

8362 1.71 82.9 903.4 11.8 200 8364 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2117 2588

8664 1.67 82.9 868.3 11.6 205 8669 0.15 2.42 0.00 0.000 4 0.140 0.052 3091 685 2588

8737 1.67 82.9 860.1 11.7 206 8741 0.00 2.35 0.00 0.000 6 0.000 0.033 3091 2130 2588

9090 1.67 82.9 824.7 10.0 212 9091 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2130 2587

9393 1.67 82.9 795.7 9.5 217 9394 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 2130 2587

9696 1.67 82.9 768.3 9.0 222 9697 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2131 2587

9999 1.67 82.9 742.2 8.6 227 10000 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 2133 2587

10302 1.67 82.9 715.7 8.8 232 10306 0.00 2.45 0.00 0.000 4 0.000 0.047 3091 681 2586

10351 1.63 82.9 711.0 9.6 232 10355 0.00 2.30 0.00 0.000 6 0.000 0.030 3091 2105 2586

10666 1.63 82.9 683.5 8.8 238 10667 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2106 2586

10969 1.67 82.9 655.6 9.2 243 10970 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2108 2586

11272 1.67 82.9 627.4 9.3 248 11276 0.00 2.40 0.00 0.000 4 0.000 0.043 3091 682 2586

11343 1.67 82.9 619.9 10.1 249 11347 0.00 2.30 0.00 0.000 6 0.000 0.031 3091 2104 2586

11704 1.71 82.9 586.2 9.4 255 11708 0.00 2.30 0.00 0.000 4 0.000 0.041 3091 3495 2586

11771 1.71 82.9 579.7 10.0 256 11775 0.00 2.30 0.00 0.000 6 0.000 0.032 3091 2078 2586

12131 1.75 82.9 547.9 8.7 262 12132 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2078 2586

12433 1.80 84.2 523.7 7.9 267 12435 0.12 0.00 0.00 0.000 6 0.083 0.000 3121 2078 2586

12736 1.80 84.2 498.3 8.4 272 12737 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 2078 2586

13039 1.80 84.2 473.0 8.3 277 13043 0.00 2.30 0.00 0.000 4 0.000 0.048 3121 702 2586

13083 1.71 84.2 469.1 8.5 277 13087 0.00 2.25 0.00 0.000 6 0.000 0.034 3121 2103 2586

13397 1.71 84.2 441.8 8.6 283 13402 0.10 2.35 0.00 0.000 4 0.146 0.044 3103 697 2586

13566 1.66 84.2 427.0 8.5 285 13570 0.00 2.25 0.00 0.000 6 0.000 0.030 3103 2101 2586

13903 1.67 86.6 400.4 7.7 291 13912 0.00 2.35 3.85 0.648 4 0.000 0.039 3103 3492 2577

14126 1.67 86.6 381.5 9.0 294 14130 0.00 2.30 0.00 0.000 6 0.000 0.027 3103 2096 2577

14475 1.67 87.2 353.7 7.9 300 14476 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2097 2577

14778 1.67 91.4 330.7 7.5 305 14789 0.00 2.35 5.93 0.765 4 0.000 0.046 3104 702 2557

14844 1.67 91.4 325.2 8.1 306 14848 0.00 2.28 0.00 0.000 6 0.000 0.028 3104 2096 2557

15210 1.67 92.3 296.3 7.9 312 15214 0.00 2.35 0.00 0.000 4 0.000 0.044 3104 699 2556

15283 1.67 92.3 290.1 8.5 314 15287 0.00 2.25 0.00 0.000 6 0.000 0.030 3104 2101 2556

15606 1.68 94.9 264.5 7.7 325 15615 0.00 2.38 4.50 0.655 4 0.000 0.042 3104 704 2543

15643 1.68 94.9 261.5 8.5 326 15647 0.00 2.28 0.00 0.000 6 0.000 0.026 3104 2110 2544

15978 1.73 99.3 236.7 7.5 337 15988 0.00 2.40 5.22 0.690 4 0.000 0.041 3103 694 2527

16055 1.73 99.3 230.2 8.0 339 16059 0.00 2.30 0.00 0.000 6 0.000 0.033 3104 2107 2526

16380 1.78 102.2 205.7 7.7 350 16389 0.00 2.33 4.35 0.620 4 0.000 0.036 3103 3499 2514

16451 1.78 102.2 200.0 8.2 352 16455 0.00 2.30 0.00 0.000 6 0.000 0.029 3104 2100 2514

16787 1.84 105.5 174.8 7.6 363 16793 0.10 0.00 4.32 0.607 6 0.090 0.000 3127 2099 2501

17092 1.84 109.5 150.3 7.5 373 17102 0.00 2.35 5.05 0.645 4 0.000 0.041 3127 697 2484

17233 1.80 118.9 139.5 6.9 379 17247 0.00 2.25 9.12 0.731 6 0.000 0.025 3127 2105 2445

17576 1.87 140.3 116.5 5.5 396 17601 0.00 2.38 18.20 0.757 4 0.000 0.039 3127 3486 2357

17735 1.93 149.2 106.3 7.0 403 17749 0.00 2.28 8.57 0.695 6 0.000 0.027 3127 2090 2321

18067 2.02 157.3 84.0 7.0 419 18077 0.17 0.00 7.97 0.678 6 0.074 0.000 3170 2089 2289

18385 2.02 159.3 57.5 7.8 446 18386 0.00 0.00 0.00 0.000 6 0.000 0.000 3169 2089 2287

18701 2.02 159.3 30.8 8.2 476 18702 0.00 0.00 0.00 0.000 6 0.000 0.000 3170 2089 2287

19020 2.08 208.9 20.6 2.2 506 19064 0.00 0.00 42.30 0.698 6 0.000 0.000 3170 2089 2079

19251 end climb: SURFACE_DEPTH_REACHED

state 19252 begin surface coast

19275 end surface coast: CONTROL_FINISHED_OK

state 19275 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	213	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	56	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	-44122.688	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	112421,5005.801,-14449.501,44,3.2,63,18.5	TGT_NAME	C_NW
_CALLS	1	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.009,0.140
_SM_DEPTHo	1.66	KALMAN_X	380.9,-127.0,519.8,9560.1,-1476.4
_SM_ANGLEo	-62.2	KALMAN_Y	162058.7,53.9,107.9,-152460.6,-263.0
GPS2	113004,5005.786,-14449.460,18,2.1,37,18.5	MHEAD_RNG_PITCHd_Wd	337.7,3615,-27.7,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

FINISH	1.0,1.012178	XPDR_PINGS	68
SM_CCo	19296,150.93,0.660,0,0,1300,400.08	_24V_AH	23.3,41.407
SM_GC	1.51,0.00,0.00,150.93,0.000,0.000,0.660,494,1883,1300,-10.28,-0.48,400.08	_10V_AH	10.1,21.000
IRIDIUM_FIX	4943.02,-14454.99,291097,040451	DATA_FILE_SIZE	31810,530
TT8_MAMPS	0.029146	CAP_FILE_SIZE	132299,0
HUMID	1777	CFSIZE	260165632,244563968
INTERNAL_PRESSURE	7.67608	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.00	GPS	040808,165655,5007.732,-14450.695,55,1.4,72,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	164	104.41	SBE_CT	375	24	210.04
Roll_motor	140	114	373.32	SBE_O2	423	19	187.33
VBD_pump_during_apogee	263	1372	8433.26	Optode	548	33	421.56
VBD_pump_during_surface	150	659	2319.59	WL_BB2F	353	105	864.46
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.95	nil	0	0	0.00
Iridium_during_connect	29	160	111.18	nil	0	0	0.00
Iridium_during_xfer	155	223	807.81
Transponder_ping	17	420	166.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	38	50	19.34
TT8	1261	19	252.25
LPSleep	15661	2	346.41
TT8_Active	542	19	108.53
TT8_Sampling	1873	39	752.92
TT8_CF8	455	45	210.50
TT8_Kalman	33	81	27.59
Analog_circuits	1492	12	180.92
GPS_charging	0	0	0.00
Compass	1826	8	147.55
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	-1.90	-45.6	0.0	0.0	0	94	0.00	0.00	-72.20	0.000	2	0.000	0.000	497	1877	2812
97	-1.95	-82.9	3.2	-3.6	7	124	9.62	2.35	-12.25	0.000	4	0.165	0.047	2299	3293	3271
193	-1.88	-82.9	21.7	-21.1	15	197	0.00	2.25	0.00	0.000	6	0.000	0.031	2299	1916	3272
518	-1.88	-82.9	80.2	-18.5	45	522	0.00	2.38	0.00	0.000	4	0.000	0.051	2298	500	3274
748	-1.88	-82.9	123.5	-16.7	55	752	0.00	2.28	0.00	0.000	6	0.000	0.030	2299	1896	3275
1083	-1.94	-82.9	174.0	-15.0	69	1088	0.00	2.35	0.00	0.000	4	0.000	0.045	2299	503	3275
1251	-1.94	-82.9	200.7	-15.1	74	1255	0.00	2.25	0.00	0.000	6	0.000	0.032	2299	1903	3275
1586	-2.01	-82.9	248.4	-14.1	85	1590	0.00	2.38	0.00	0.000	4	0.000	0.048	2299	498	3276
1703	-2.01	-82.9	266.0	-15.1	88	1707	0.00	2.25	0.00	0.000	6	0.000	0.031	2299	1899	3275
2014	-2.09	-82.9	308.6	-13.9	97	2019	0.12	2.38	0.00	0.000	4	0.077	0.050	2267	499	3275
2193	-2.03	-82.9	336.8	-16.1	99	2197	0.00	2.25	0.00	0.000	6	0.000	0.028	2268	1898	3275
2506	-2.03	-82.9	382.5	-14.5	105	2510	0.00	2.38	0.00	0.000	4	0.000	0.051	2268	496	3274
2670	-1.99	-82.9	406.9	-15.2	107	2674	0.15	2.25	0.00	0.000	6	0.134	0.025	2295	1900	3274
3001	-2.06	-82.9	450.1	-13.0	113	3005	0.00	2.38	0.00	0.000	4	0.000	0.044	2295	497	3274
3197	-2.06	-82.9	477.8	-13.6	116	3201	0.00	2.25	0.00	0.000	6	0.000	0.028	2295	1901	3273
3568	-2.14	-82.9	524.4	-12.5	122	3573	0.15	2.38	0.00	0.000	4	0.074	0.050	2258	502	3273
3774	-2.08	-82.9	555.0	-14.6	125	3778	0.00	2.25	0.00	0.000	6	0.000	0.029	2259	1900	3273
4134	-2.08	-82.9	603.1	-13.3	131	4138	0.00	2.38	0.00	0.000	4	0.000	0.048	2258	496	3272
4161	-2.01	-82.9	607.0	-14.2	131	4165	0.15	2.28	0.00	0.000	6	0.137	0.030	2285	1911	3272
4492	-2.08	-82.9	648.6	-12.5	137	4496	0.00	2.40	0.00	0.000	4	0.000	0.045	2285	496	3272
4571	-2.08	-82.9	659.4	-14.0	138	4575	0.00	2.25	0.00	0.000	6	0.000	0.028	2285	1901	3271
4919	-2.14	-82.9	702.1	-12.1	144	4923	0.00	2.38	0.00	0.000	4	0.000	0.052	2285	502	3271
5013	-2.14	-82.9	714.4	-12.3	145	5017	0.00	2.25	0.00	0.000	6	0.000	0.028	2284	1900	3270
5351	-2.21	-82.9	752.1	-10.9	151	5356	0.15	2.38	0.00	0.000	4	0.077	0.047	2245	504	3270
5406	-2.11	-82.9	759.3	-13.5	151	5412	0.12	2.25	0.00	0.000	6	0.145	0.025	2266	1903	3270
5715	-2.11	-82.9	793.9	-11.2	157	5716	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	1904	3270
6018	-2.11	-82.9	827.9	-11.2	162	6022	0.00	2.38	0.00	0.000	4	0.000	0.049	2265	505	3269
6067	-2.07	-82.9	833.9	-12.3	162	6071	0.00	2.25	0.00	0.000	6	0.000	0.025	2265	1900	3269
6383	-2.07	-82.9	869.0	-11.1	168	6387	0.00	2.38	0.00	0.000	4	0.000	0.055	2265	505	3269
6416	-2.02	-82.9	873.0	-12.3	168	6421	0.10	2.25	0.00	0.000	6	0.149	0.025	2282	1901	3269
6750	-2.09	-82.9	908.1	-10.6	174	6754	0.00	2.40	0.00	0.000	4	0.000	0.054	2282	506	3269
6832	-2.09	-82.9	918.2	-12.4	175	6837	0.00	2.28	0.00	0.000	6	0.000	0.028	2282	1881	3269
7183	-2.16	-82.9	955.8	-10.7	181	7185	0.12	0.00	0.00	0.000	6	0.084	0.000	2253	1882	3268
7482	end dive: TARGET_DEPTH_EXCEEDED
state	7482	begin apogee
7488	-0.33	0.0	990.1	11.3	186	7565	1.98	0.00	72.90	1.372	6	0.124	0.000	2653	2093	2931
7566	end apogee: CONTROL_FINISHED_OK
state	7566	begin climb
7568	1.95	82.9	991.7	0.0	187	7648	2.17	2.60	71.47	1.342	4	0.065	0.069	3153	3502	2591
7732	1.81	82.9	976.6	12.6	189	7737	0.17	2.40	0.00	0.000	6	0.136	0.054	3122	2117	2590
8058	1.76	82.9	938.9	11.6	195	8059	0.00	0.00	0.00	0.000	6	0.000	0.000	3123	2117	2589
8362	1.71	82.9	903.4	11.8	200	8364	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2117	2588
8664	1.67	82.9	868.3	11.6	205	8669	0.15	2.42	0.00	0.000	4	0.140	0.052	3091	685	2588
8737	1.67	82.9	860.1	11.7	206	8741	0.00	2.35	0.00	0.000	6	0.000	0.033	3091	2130	2588
9090	1.67	82.9	824.7	10.0	212	9091	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2130	2587
9393	1.67	82.9	795.7	9.5	217	9394	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	2130	2587
9696	1.67	82.9	768.3	9.0	222	9697	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2131	2587
9999	1.67	82.9	742.2	8.6	227	10000	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	2133	2587
10302	1.67	82.9	715.7	8.8	232	10306	0.00	2.45	0.00	0.000	4	0.000	0.047	3091	681	2586
10351	1.63	82.9	711.0	9.6	232	10355	0.00	2.30	0.00	0.000	6	0.000	0.030	3091	2105	2586
10666	1.63	82.9	683.5	8.8	238	10667	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2106	2586
10969	1.67	82.9	655.6	9.2	243	10970	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2108	2586
11272	1.67	82.9	627.4	9.3	248	11276	0.00	2.40	0.00	0.000	4	0.000	0.043	3091	682	2586
11343	1.67	82.9	619.9	10.1	249	11347	0.00	2.30	0.00	0.000	6	0.000	0.031	3091	2104	2586
11704	1.71	82.9	586.2	9.4	255	11708	0.00	2.30	0.00	0.000	4	0.000	0.041	3091	3495	2586
11771	1.71	82.9	579.7	10.0	256	11775	0.00	2.30	0.00	0.000	6	0.000	0.032	3091	2078	2586
12131	1.75	82.9	547.9	8.7	262	12132	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2078	2586
12433	1.80	84.2	523.7	7.9	267	12435	0.12	0.00	0.00	0.000	6	0.083	0.000	3121	2078	2586
12736	1.80	84.2	498.3	8.4	272	12737	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	2078	2586
13039	1.80	84.2	473.0	8.3	277	13043	0.00	2.30	0.00	0.000	4	0.000	0.048	3121	702	2586
13083	1.71	84.2	469.1	8.5	277	13087	0.00	2.25	0.00	0.000	6	0.000	0.034	3121	2103	2586
13397	1.71	84.2	441.8	8.6	283	13402	0.10	2.35	0.00	0.000	4	0.146	0.044	3103	697	2586
13566	1.66	84.2	427.0	8.5	285	13570	0.00	2.25	0.00	0.000	6	0.000	0.030	3103	2101	2586
13903	1.67	86.6	400.4	7.7	291	13912	0.00	2.35	3.85	0.648	4	0.000	0.039	3103	3492	2577
14126	1.67	86.6	381.5	9.0	294	14130	0.00	2.30	0.00	0.000	6	0.000	0.027	3103	2096	2577
14475	1.67	87.2	353.7	7.9	300	14476	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2097	2577
14778	1.67	91.4	330.7	7.5	305	14789	0.00	2.35	5.93	0.765	4	0.000	0.046	3104	702	2557
14844	1.67	91.4	325.2	8.1	306	14848	0.00	2.28	0.00	0.000	6	0.000	0.028	3104	2096	2557
15210	1.67	92.3	296.3	7.9	312	15214	0.00	2.35	0.00	0.000	4	0.000	0.044	3104	699	2556
15283	1.67	92.3	290.1	8.5	314	15287	0.00	2.25	0.00	0.000	6	0.000	0.030	3104	2101	2556
15606	1.68	94.9	264.5	7.7	325	15615	0.00	2.38	4.50	0.655	4	0.000	0.042	3104	704	2543
15643	1.68	94.9	261.5	8.5	326	15647	0.00	2.28	0.00	0.000	6	0.000	0.026	3104	2110	2544
15978	1.73	99.3	236.7	7.5	337	15988	0.00	2.40	5.22	0.690	4	0.000	0.041	3103	694	2527
16055	1.73	99.3	230.2	8.0	339	16059	0.00	2.30	0.00	0.000	6	0.000	0.033	3104	2107	2526
16380	1.78	102.2	205.7	7.7	350	16389	0.00	2.33	4.35	0.620	4	0.000	0.036	3103	3499	2514
16451	1.78	102.2	200.0	8.2	352	16455	0.00	2.30	0.00	0.000	6	0.000	0.029	3104	2100	2514
16787	1.84	105.5	174.8	7.6	363	16793	0.10	0.00	4.32	0.607	6	0.090	0.000	3127	2099	2501
17092	1.84	109.5	150.3	7.5	373	17102	0.00	2.35	5.05	0.645	4	0.000	0.041	3127	697	2484
17233	1.80	118.9	139.5	6.9	379	17247	0.00	2.25	9.12	0.731	6	0.000	0.025	3127	2105	2445
17576	1.87	140.3	116.5	5.5	396	17601	0.00	2.38	18.20	0.757	4	0.000	0.039	3127	3486	2357
17735	1.93	149.2	106.3	7.0	403	17749	0.00	2.28	8.57	0.695	6	0.000	0.027	3127	2090	2321
18067	2.02	157.3	84.0	7.0	419	18077	0.17	0.00	7.97	0.678	6	0.074	0.000	3170	2089	2289
18385	2.02	159.3	57.5	7.8	446	18386	0.00	0.00	0.00	0.000	6	0.000	0.000	3169	2089	2287
18701	2.02	159.3	30.8	8.2	476	18702	0.00	0.00	0.00	0.000	6	0.000	0.000	3170	2089	2287
19020	2.08	208.9	20.6	2.2	506	19064	0.00	0.00	42.30	0.698	6	0.000	0.000	3170	2089	2079
19251	end climb: SURFACE_DEPTH_REACHED
state	19252	begin surface coast
19275	end surface coast: CONTROL_FINISHED_OK
state	19275	begin surface