Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 259 * 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 259 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 59 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 54 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 -48367.785 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 -48367.785

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 59 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 54 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 259 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 032631,5019.393,-14511.222,132,1.7,132,18.5 TGT_NAME NW

_CALLS 1 TGT_LATLONG 5021.009,-14511.944

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.015,0.090

_SM_DEPTHo 1.61 KALMAN_X 1784.4,152.7,-309.2,-17210.9,-482.6

_SM_ANGLEo -62.0 KALMAN_Y 192212.6,-81.2,-196.6,-156982.3,785.1

GPS2 033226,5019.385,-14511.233,56,1.8,56,18.5 MHEAD_RNG_PITCHd_Wd 332.1,3122,-39.8,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

SM_CCo 19138,388.00,0.621,18,0,479,601.23 _24V_AH 23.3,49.233

SM_GC 1.59,12.38,0.00,0.00,0.044,0.000,0.000,490,1891,473,-10.22,-0.25,602.70 _10V_AH 10.2,24.965

IRIDIUM_FIX 4959.75,-14505.72,101197,212157 DATA_FILE_SIZE 28645,495

TT8_MAMPS 0.029146 CAP_FILE_SIZE 140617,0

HUMID 1776 CFSIZE 260165632,241586176

INTERNAL_PRESSURE 7.63701 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,18,0

TCM_TEMP 17.60 GPS 170808,090601,5020.824,-14511.355,194,1.7,194,18.5

XPDR_PINGS 79

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 164 111.43 SBE_CT 349 24 195.56

Roll_motor 138 97 315.31 SBE_O2 401 19 177.86

VBD_pump_during_apogee 182 1361 5781.98 Optode 509 33 391.91

VBD_pump_during_surface 388 621 5616.53 WL_BB2F 293 105 716.95

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 74.38 nil 0 0 0.00

Iridium_during_connect 31 160 115.97 nil 0 0 0.00

Iridium_during_xfer 141 223 733.81

Transponder_ping 19 420 193.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 56 50 28.86

TT8 1271 19 256.88

LPSleep 15405 2 344.13

TT8_Active 816 19 164.86

TT8_Sampling 2139 39 868.39

TT8_CF8 453 45 211.69

TT8_Kalman 33 81 27.84

Analog_circuits 1865 12 228.37

GPS_charging 0 0 0.00

Compass 2057 8 167.92

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -2.68 -22.1 0.0 0.0 0 83 0.00 0.00 -61.08 0.000 2 0.000 0.000 494 1875 2569

86 -2.70 -40.1 3.1 -3.7 6 120 8.73 2.33 -16.35 0.000 4 0.165 0.057 2134 519 3097

211 -2.66 -40.1 31.4 -28.0 17 215 0.00 2.22 0.00 0.000 6 0.000 0.028 2134 1907 3099

534 -2.77 -40.1 98.2 -21.5 43 538 0.00 2.33 0.00 0.000 4 0.000 0.038 2134 520 3101

791 -2.84 -40.1 146.2 -17.9 54 798 0.12 2.20 0.00 0.000 6 0.076 0.021 2103 1908 3102

1125 -2.95 -40.1 201.3 -16.6 66 1129 0.00 2.33 0.00 0.000 4 0.000 0.045 2103 522 3102

1382 -2.95 -40.1 247.1 -16.8 73 1388 0.00 2.20 0.00 0.000 6 0.000 0.029 2103 1904 3102

1695 -3.07 -40.1 298.0 -16.4 84 1699 0.15 2.30 0.00 0.000 4 0.074 0.042 2061 523 3102

1952 -3.00 -40.1 344.0 -17.7 88 1958 0.00 2.20 0.00 0.000 6 0.000 0.028 2061 1905 3101

2261 -3.04 -40.1 395.1 -16.5 94 2265 0.00 2.33 0.00 0.000 4 0.000 0.048 2061 522 3101

2519 -3.00 -40.1 437.8 -16.7 97 2525 0.00 2.20 0.00 0.000 6 0.000 0.025 2061 1903 3100

2828 -3.00 -40.1 484.3 -15.0 103 2832 0.00 2.33 0.00 0.000 4 0.000 0.041 2060 520 3099

2939 -2.93 -40.1 502.2 -16.1 104 2944 0.15 2.20 0.00 0.000 6 0.155 0.022 2086 1901 3099

3254 -3.01 -40.1 547.5 -14.2 110 3257 0.00 2.33 0.00 0.000 4 0.000 0.042 2086 515 3099

3377 -3.01 -40.1 565.7 -14.6 111 3381 0.00 2.20 0.00 0.000 6 0.000 0.022 2086 1899 3099

3686 -3.10 -40.1 606.6 -13.2 116 3691 0.15 2.33 0.00 0.000 4 0.078 0.042 2045 520 3098

3832 -3.02 -40.1 627.7 -14.7 118 3837 0.12 2.20 0.00 0.000 6 0.160 0.030 2066 1899 3097

4180 -3.07 -40.1 670.7 -12.0 124 4184 0.00 2.33 0.00 0.000 4 0.000 0.042 2066 520 3097

4325 -3.07 -40.1 689.2 -12.9 126 4329 0.00 2.20 0.00 0.000 6 0.000 0.028 2066 1900 3097

4680 -3.13 -40.1 731.5 -12.0 132 4681 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 1901 3097

4983 -3.19 -40.1 768.6 -12.4 137 4988 0.15 2.33 0.00 0.000 4 0.080 0.043 2025 525 3096

5167 -3.08 -40.1 794.6 -13.8 139 5172 0.15 2.20 0.00 0.000 6 0.158 0.031 2051 1898 3096

5476 -3.08 -40.1 834.8 -12.9 144 5480 0.00 2.33 0.00 0.000 4 0.000 0.051 2052 525 3095

5621 -3.02 -40.1 855.1 -14.1 146 5625 0.00 2.22 0.00 0.000 6 0.000 0.031 2052 1908 3095

5970 -3.02 -40.1 899.0 -12.5 152 5975 0.00 2.38 0.00 0.000 4 0.000 0.049 2052 522 3094

6178 -2.96 -40.1 926.5 -13.8 155 6182 0.15 2.25 0.00 0.000 6 0.160 0.037 2077 1890 3094

6532 -3.05 -40.1 965.9 -11.0 161 6536 0.00 2.40 0.00 0.000 4 0.000 0.070 2077 523 3094

6587 -3.05 -40.1 972.5 -11.4 161 6591 0.00 2.33 0.00 0.000 6 0.000 0.042 2077 1898 3094

6778 end dive: TARGET_DEPTH_EXCEEDED

state 6778 begin apogee

6784 -0.33 0.0 992.7 10.6 165 6826 2.90 0.00 36.58 1.361 6 0.140 0.000 2648 2100 2931

6826 end apogee: CONTROL_FINISHED_OK

state 6826 begin climb

6829 2.70 40.1 992.7 0.0 165 6875 2.92 2.60 35.95 1.331 4 0.058 0.074 3322 3501 2767

6938 2.65 40.1 984.3 11.1 167 6942 0.00 2.38 0.00 0.000 6 0.000 0.051 3322 2134 2766

7268 2.65 40.1 947.3 11.1 173 7270 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 2134 2766

7572 2.65 40.1 915.2 10.6 178 7573 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 2133 2765

7874 2.65 40.1 885.0 9.9 183 7876 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 2134 2765

8178 2.65 40.1 856.9 9.2 188 8182 0.00 2.45 0.00 0.000 4 0.000 0.042 3322 680 2765

8295 2.55 40.1 845.6 9.1 189 8300 0.20 2.35 0.00 0.000 6 0.152 0.028 3287 2127 2765

8605 2.60 40.1 819.7 8.4 194 8606 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2127 2765

8907 2.65 40.1 794.0 8.4 199 8911 0.00 2.45 0.00 0.000 4 0.000 0.040 3287 673 2764

9165 2.65 40.1 770.4 9.6 202 9172 0.00 2.33 0.00 0.000 6 0.000 0.028 3287 2111 2764

9474 2.70 40.1 743.3 8.8 208 9479 0.12 2.40 0.00 0.000 4 0.084 0.045 3316 678 2764

9675 2.62 40.1 723.6 9.7 211 9680 0.00 2.30 0.00 0.000 6 0.000 0.024 3316 2106 2764

10035 2.62 40.1 692.8 8.4 217 10039 0.00 2.28 0.00 0.000 4 0.000 0.036 3316 3493 2764

10123 2.62 40.1 685.6 8.2 218 10128 0.00 2.30 0.00 0.000 6 0.000 0.025 3316 2072 2763

10473 2.62 41.5 658.8 7.7 224 10474 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2072 2764

10775 2.62 44.5 636.7 7.3 229 10785 0.00 2.33 4.75 0.832 4 0.000 0.043 3316 694 2749

11040 2.54 44.5 614.3 8.2 233 11045 0.17 2.28 0.00 0.000 6 0.153 0.031 3286 2105 2749

11405 2.61 47.4 587.3 7.3 239 11411 0.00 0.00 4.43 0.779 6 0.000 0.000 3286 2107 2737

11708 2.68 49.2 564.5 7.6 244 11710 0.10 0.00 0.00 0.000 6 0.089 0.000 3309 2107 2737

12011 2.68 52.8 542.8 7.1 249 12022 0.00 2.38 6.40 0.887 4 0.000 0.038 3310 695 2714

12241 2.63 52.8 523.4 8.4 252 12245 0.00 2.28 0.00 0.000 6 0.000 0.030 3310 2104 2714

12578 2.64 55.5 498.1 7.4 258 12588 0.00 2.40 3.92 0.684 4 0.000 0.038 3309 703 2704

12678 2.59 55.5 490.2 8.5 259 12681 0.00 2.25 0.00 0.000 6 0.000 0.031 3310 2101 2704

13015 2.59 58.1 465.3 7.4 265 13021 0.00 0.00 3.92 0.675 6 0.000 0.000 3310 2101 2694

13318 2.59 58.1 441.2 8.0 270 13319 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2101 2693

13621 2.59 58.1 415.9 8.4 275 13622 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2102 2693

13924 2.63 58.1 391.1 8.2 280 13925 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2102 2693

14228 2.67 59.8 367.8 7.6 285 14232 0.00 2.35 0.00 0.000 4 0.000 0.044 3309 695 2693

14363 2.64 65.2 358.2 6.7 287 14377 0.00 2.25 7.45 0.832 6 0.000 0.024 3310 2105 2665

14727 2.69 65.2 329.8 8.0 293 14731 0.00 2.30 0.00 0.000 4 0.000 0.035 3310 3493 2664

14776 2.69 65.2 325.7 8.4 293 14780 0.00 2.25 0.00 0.000 6 0.000 0.030 3309 2096 2664

15097 2.74 65.2 300.0 8.1 299 15101 0.00 2.33 0.00 0.000 4 0.000 0.039 3310 693 2664

15248 2.74 65.5 287.0 7.9 303 15252 0.00 2.25 0.00 0.000 6 0.000 0.029 3310 2100 2664

15561 2.80 69.4 264.6 7.1 313 15572 0.12 2.30 5.28 0.708 4 0.085 0.037 3338 3488 2647

15600 2.76 70.4 261.5 7.8 314 15604 0.00 2.25 0.00 0.000 6 0.000 0.029 3338 2098 2647

15923 2.76 72.8 237.5 7.4 325 15932 0.00 2.33 4.43 0.644 4 0.000 0.035 3338 3485 2634

16185 2.76 72.8 215.1 8.6 332 16191 0.00 2.25 0.00 0.000 6 0.000 0.028 3338 2098 2634

16498 2.76 76.9 191.6 7.0 343 16505 0.00 0.00 5.05 0.664 6 0.000 0.000 3338 2098 2617

16804 2.77 79.0 168.3 7.5 353 16805 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 2098 2617

17120 2.77 84.4 145.3 6.7 364 17134 0.00 2.40 7.53 0.717 4 0.000 0.041 3338 701 2587

17182 2.72 85.4 140.8 7.7 366 17189 0.00 2.25 0.00 0.000 6 0.000 0.028 3338 2101 2586

17499 2.74 101.6 122.6 4.1 382 17522 0.00 2.38 15.18 0.760 4 0.000 0.040 3338 701 2516

17774 2.75 110.3 104.5 5.9 394 17791 0.00 2.25 8.40 0.700 6 0.000 0.023 3338 2108 2480

18100 2.83 128.3 92.2 3.6 410 18122 0.00 2.38 15.43 0.739 4 0.000 0.038 3338 704 2406

18201 2.83 129.8 85.7 7.6 414 18205 0.00 2.25 0.00 0.000 6 0.000 0.028 3338 2097 2406

18525 2.92 129.8 59.7 8.0 440 18530 0.10 2.35 0.00 0.000 4 0.089 0.044 3363 701 2406

18781 2.92 132.2 36.6 7.4 462 18791 0.00 2.28 4.88 0.578 6 0.000 0.027 3363 2106 2390

19118 3.02 165.4 31.3 0.0 494 19134 0.10 0.00 12.73 0.689 2 0.088 0.000 3386 2107 2331

19134 end climb: NO_VERTICAL_VELOCITY

state 19135 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	259	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	59	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	54	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	-48367.785	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	032631,5019.393,-14511.222,132,1.7,132,18.5	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	5021.009,-14511.944
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.015,0.090
_SM_DEPTHo	1.61	KALMAN_X	1784.4,152.7,-309.2,-17210.9,-482.6
_SM_ANGLEo	-62.0	KALMAN_Y	192212.6,-81.2,-196.6,-156982.3,785.1
GPS2	033226,5019.385,-14511.233,56,1.8,56,18.5	MHEAD_RNG_PITCHd_Wd	332.1,3122,-39.8,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

SM_CCo	19138,388.00,0.621,18,0,479,601.23	_24V_AH	23.3,49.233
SM_GC	1.59,12.38,0.00,0.00,0.044,0.000,0.000,490,1891,473,-10.22,-0.25,602.70	_10V_AH	10.2,24.965
IRIDIUM_FIX	4959.75,-14505.72,101197,212157	DATA_FILE_SIZE	28645,495
TT8_MAMPS	0.029146	CAP_FILE_SIZE	140617,0
HUMID	1776	CFSIZE	260165632,241586176
INTERNAL_PRESSURE	7.63701	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,18,0
TCM_TEMP	17.60	GPS	170808,090601,5020.824,-14511.355,194,1.7,194,18.5
XPDR_PINGS	79

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	164	111.43	SBE_CT	349	24	195.56
Roll_motor	138	97	315.31	SBE_O2	401	19	177.86
VBD_pump_during_apogee	182	1361	5781.98	Optode	509	33	391.91
VBD_pump_during_surface	388	621	5616.53	WL_BB2F	293	105	716.95
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	74.38	nil	0	0	0.00
Iridium_during_connect	31	160	115.97	nil	0	0	0.00
Iridium_during_xfer	141	223	733.81
Transponder_ping	19	420	193.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	56	50	28.86
TT8	1271	19	256.88
LPSleep	15405	2	344.13
TT8_Active	816	19	164.86
TT8_Sampling	2139	39	868.39
TT8_CF8	453	45	211.69
TT8_Kalman	33	81	27.84
Analog_circuits	1865	12	228.37
GPS_charging	0	0	0.00
Compass	2057	8	167.92
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-2.68	-22.1	0.0	0.0	0	83	0.00	0.00	-61.08	0.000	2	0.000	0.000	494	1875	2569
86	-2.70	-40.1	3.1	-3.7	6	120	8.73	2.33	-16.35	0.000	4	0.165	0.057	2134	519	3097
211	-2.66	-40.1	31.4	-28.0	17	215	0.00	2.22	0.00	0.000	6	0.000	0.028	2134	1907	3099
534	-2.77	-40.1	98.2	-21.5	43	538	0.00	2.33	0.00	0.000	4	0.000	0.038	2134	520	3101
791	-2.84	-40.1	146.2	-17.9	54	798	0.12	2.20	0.00	0.000	6	0.076	0.021	2103	1908	3102
1125	-2.95	-40.1	201.3	-16.6	66	1129	0.00	2.33	0.00	0.000	4	0.000	0.045	2103	522	3102
1382	-2.95	-40.1	247.1	-16.8	73	1388	0.00	2.20	0.00	0.000	6	0.000	0.029	2103	1904	3102
1695	-3.07	-40.1	298.0	-16.4	84	1699	0.15	2.30	0.00	0.000	4	0.074	0.042	2061	523	3102
1952	-3.00	-40.1	344.0	-17.7	88	1958	0.00	2.20	0.00	0.000	6	0.000	0.028	2061	1905	3101
2261	-3.04	-40.1	395.1	-16.5	94	2265	0.00	2.33	0.00	0.000	4	0.000	0.048	2061	522	3101
2519	-3.00	-40.1	437.8	-16.7	97	2525	0.00	2.20	0.00	0.000	6	0.000	0.025	2061	1903	3100
2828	-3.00	-40.1	484.3	-15.0	103	2832	0.00	2.33	0.00	0.000	4	0.000	0.041	2060	520	3099
2939	-2.93	-40.1	502.2	-16.1	104	2944	0.15	2.20	0.00	0.000	6	0.155	0.022	2086	1901	3099
3254	-3.01	-40.1	547.5	-14.2	110	3257	0.00	2.33	0.00	0.000	4	0.000	0.042	2086	515	3099
3377	-3.01	-40.1	565.7	-14.6	111	3381	0.00	2.20	0.00	0.000	6	0.000	0.022	2086	1899	3099
3686	-3.10	-40.1	606.6	-13.2	116	3691	0.15	2.33	0.00	0.000	4	0.078	0.042	2045	520	3098
3832	-3.02	-40.1	627.7	-14.7	118	3837	0.12	2.20	0.00	0.000	6	0.160	0.030	2066	1899	3097
4180	-3.07	-40.1	670.7	-12.0	124	4184	0.00	2.33	0.00	0.000	4	0.000	0.042	2066	520	3097
4325	-3.07	-40.1	689.2	-12.9	126	4329	0.00	2.20	0.00	0.000	6	0.000	0.028	2066	1900	3097
4680	-3.13	-40.1	731.5	-12.0	132	4681	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	1901	3097
4983	-3.19	-40.1	768.6	-12.4	137	4988	0.15	2.33	0.00	0.000	4	0.080	0.043	2025	525	3096
5167	-3.08	-40.1	794.6	-13.8	139	5172	0.15	2.20	0.00	0.000	6	0.158	0.031	2051	1898	3096
5476	-3.08	-40.1	834.8	-12.9	144	5480	0.00	2.33	0.00	0.000	4	0.000	0.051	2052	525	3095
5621	-3.02	-40.1	855.1	-14.1	146	5625	0.00	2.22	0.00	0.000	6	0.000	0.031	2052	1908	3095
5970	-3.02	-40.1	899.0	-12.5	152	5975	0.00	2.38	0.00	0.000	4	0.000	0.049	2052	522	3094
6178	-2.96	-40.1	926.5	-13.8	155	6182	0.15	2.25	0.00	0.000	6	0.160	0.037	2077	1890	3094
6532	-3.05	-40.1	965.9	-11.0	161	6536	0.00	2.40	0.00	0.000	4	0.000	0.070	2077	523	3094
6587	-3.05	-40.1	972.5	-11.4	161	6591	0.00	2.33	0.00	0.000	6	0.000	0.042	2077	1898	3094
6778	end dive: TARGET_DEPTH_EXCEEDED
state	6778	begin apogee
6784	-0.33	0.0	992.7	10.6	165	6826	2.90	0.00	36.58	1.361	6	0.140	0.000	2648	2100	2931
6826	end apogee: CONTROL_FINISHED_OK
state	6826	begin climb
6829	2.70	40.1	992.7	0.0	165	6875	2.92	2.60	35.95	1.331	4	0.058	0.074	3322	3501	2767
6938	2.65	40.1	984.3	11.1	167	6942	0.00	2.38	0.00	0.000	6	0.000	0.051	3322	2134	2766
7268	2.65	40.1	947.3	11.1	173	7270	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	2134	2766
7572	2.65	40.1	915.2	10.6	178	7573	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	2133	2765
7874	2.65	40.1	885.0	9.9	183	7876	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	2134	2765
8178	2.65	40.1	856.9	9.2	188	8182	0.00	2.45	0.00	0.000	4	0.000	0.042	3322	680	2765
8295	2.55	40.1	845.6	9.1	189	8300	0.20	2.35	0.00	0.000	6	0.152	0.028	3287	2127	2765
8605	2.60	40.1	819.7	8.4	194	8606	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2127	2765
8907	2.65	40.1	794.0	8.4	199	8911	0.00	2.45	0.00	0.000	4	0.000	0.040	3287	673	2764
9165	2.65	40.1	770.4	9.6	202	9172	0.00	2.33	0.00	0.000	6	0.000	0.028	3287	2111	2764
9474	2.70	40.1	743.3	8.8	208	9479	0.12	2.40	0.00	0.000	4	0.084	0.045	3316	678	2764
9675	2.62	40.1	723.6	9.7	211	9680	0.00	2.30	0.00	0.000	6	0.000	0.024	3316	2106	2764
10035	2.62	40.1	692.8	8.4	217	10039	0.00	2.28	0.00	0.000	4	0.000	0.036	3316	3493	2764
10123	2.62	40.1	685.6	8.2	218	10128	0.00	2.30	0.00	0.000	6	0.000	0.025	3316	2072	2763
10473	2.62	41.5	658.8	7.7	224	10474	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2072	2764
10775	2.62	44.5	636.7	7.3	229	10785	0.00	2.33	4.75	0.832	4	0.000	0.043	3316	694	2749
11040	2.54	44.5	614.3	8.2	233	11045	0.17	2.28	0.00	0.000	6	0.153	0.031	3286	2105	2749
11405	2.61	47.4	587.3	7.3	239	11411	0.00	0.00	4.43	0.779	6	0.000	0.000	3286	2107	2737
11708	2.68	49.2	564.5	7.6	244	11710	0.10	0.00	0.00	0.000	6	0.089	0.000	3309	2107	2737
12011	2.68	52.8	542.8	7.1	249	12022	0.00	2.38	6.40	0.887	4	0.000	0.038	3310	695	2714
12241	2.63	52.8	523.4	8.4	252	12245	0.00	2.28	0.00	0.000	6	0.000	0.030	3310	2104	2714
12578	2.64	55.5	498.1	7.4	258	12588	0.00	2.40	3.92	0.684	4	0.000	0.038	3309	703	2704
12678	2.59	55.5	490.2	8.5	259	12681	0.00	2.25	0.00	0.000	6	0.000	0.031	3310	2101	2704
13015	2.59	58.1	465.3	7.4	265	13021	0.00	0.00	3.92	0.675	6	0.000	0.000	3310	2101	2694
13318	2.59	58.1	441.2	8.0	270	13319	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2101	2693
13621	2.59	58.1	415.9	8.4	275	13622	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2102	2693
13924	2.63	58.1	391.1	8.2	280	13925	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2102	2693
14228	2.67	59.8	367.8	7.6	285	14232	0.00	2.35	0.00	0.000	4	0.000	0.044	3309	695	2693
14363	2.64	65.2	358.2	6.7	287	14377	0.00	2.25	7.45	0.832	6	0.000	0.024	3310	2105	2665
14727	2.69	65.2	329.8	8.0	293	14731	0.00	2.30	0.00	0.000	4	0.000	0.035	3310	3493	2664
14776	2.69	65.2	325.7	8.4	293	14780	0.00	2.25	0.00	0.000	6	0.000	0.030	3309	2096	2664
15097	2.74	65.2	300.0	8.1	299	15101	0.00	2.33	0.00	0.000	4	0.000	0.039	3310	693	2664
15248	2.74	65.5	287.0	7.9	303	15252	0.00	2.25	0.00	0.000	6	0.000	0.029	3310	2100	2664
15561	2.80	69.4	264.6	7.1	313	15572	0.12	2.30	5.28	0.708	4	0.085	0.037	3338	3488	2647
15600	2.76	70.4	261.5	7.8	314	15604	0.00	2.25	0.00	0.000	6	0.000	0.029	3338	2098	2647
15923	2.76	72.8	237.5	7.4	325	15932	0.00	2.33	4.43	0.644	4	0.000	0.035	3338	3485	2634
16185	2.76	72.8	215.1	8.6	332	16191	0.00	2.25	0.00	0.000	6	0.000	0.028	3338	2098	2634
16498	2.76	76.9	191.6	7.0	343	16505	0.00	0.00	5.05	0.664	6	0.000	0.000	3338	2098	2617
16804	2.77	79.0	168.3	7.5	353	16805	0.00	0.00	0.00	0.000	6	0.000	0.000	3338	2098	2617
17120	2.77	84.4	145.3	6.7	364	17134	0.00	2.40	7.53	0.717	4	0.000	0.041	3338	701	2587
17182	2.72	85.4	140.8	7.7	366	17189	0.00	2.25	0.00	0.000	6	0.000	0.028	3338	2101	2586
17499	2.74	101.6	122.6	4.1	382	17522	0.00	2.38	15.18	0.760	4	0.000	0.040	3338	701	2516
17774	2.75	110.3	104.5	5.9	394	17791	0.00	2.25	8.40	0.700	6	0.000	0.023	3338	2108	2480
18100	2.83	128.3	92.2	3.6	410	18122	0.00	2.38	15.43	0.739	4	0.000	0.038	3338	704	2406
18201	2.83	129.8	85.7	7.6	414	18205	0.00	2.25	0.00	0.000	6	0.000	0.028	3338	2097	2406
18525	2.92	129.8	59.7	8.0	440	18530	0.10	2.35	0.00	0.000	4	0.089	0.044	3363	701	2406
18781	2.92	132.2	36.6	7.4	462	18791	0.00	2.28	4.88	0.578	6	0.000	0.027	3363	2106	2390
19118	3.02	165.4	31.3	0.0	494	19134	0.10	0.00	12.73	0.689	2	0.088	0.000	3386	2107	2331
19134	end climb: NO_VERTICAL_VELOCITY
state	19135	begin surface