Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 297 * 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 297 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 39 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 46 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 300 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 -51818.629 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 -51818.629

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

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 39 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 46 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 297 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 125629,5007.316,-14449.971,40,2.2,59,18.5 TGT_NAME C_NW

_CALLS 1 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.114,-0.017

_SM_DEPTHo 1.51 KALMAN_X 13609.8,-119.5,-517.3,-3221.6,1707.7

_SM_ANGLEo -58.3 KALMAN_Y 227266.8,6.9,-195.3,-214485.3,780.8

GPS2 130221,5007.316,-14449.945,40,1.8,53,18.5 MHEAD_RNG_PITCHd_Wd 243.1,1176,-32.9,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.8,1.006066 XPDR_PINGS 70

SM_CCo 19244,162.40,0.658,0,0,1300,400.08 _24V_AH 23.2,55.704

SM_GC 1.40,0.00,0.00,162.40,0.000,0.000,0.658,496,1888,1300,-10.26,-0.34,400.08 _10V_AH 10.1,28.276

IRIDIUM_FIX 4946.36,-14448.39,211197,060632 DATA_FILE_SIZE 31680,530

TT8_MAMPS 0.029146 CAP_FILE_SIZE 131940,0

HUMID 1797 CFSIZE 260165632,239104000

INTERNAL_PRESSURE 7.68584 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.30 GPS 270808,182803,5007.125,-14451.175,40,1.9,40,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 164 109.13 SBE_CT 377 24 210.12

Roll_motor 138 108 348.89 SBE_O2 424 19 187.15

VBD_pump_during_apogee 236 1374 7527.06 Optode 549 33 420.72

VBD_pump_during_surface 162 658 2479.46 WL_BB2F 354 105 863.93

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.43 nil 0 0 0.00

Iridium_during_connect 25 160 93.42 nil 0 0 0.00

Iridium_during_xfer 143 223 743.09

Transponder_ping 17 420 170.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 53 50 26.83

TT8 1238 19 247.61

LPSleep 15666 2 346.52

TT8_Active 552 19 110.49

TT8_Sampling 1825 39 733.86

TT8_CF8 479 45 221.60

TT8_Kalman 33 81 27.57

Analog_circuits 1477 12 179.05

GPS_charging 0 0 0.00

Compass 1762 8 142.44

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

21 -2.23 -32.2 0.0 0.0 0 95 0.00 0.00 -71.22 0.000 2 0.000 0.000 491 1897 2760

98 -2.26 -58.6 3.1 -3.6 7 124 9.32 0.00 -11.32 0.000 6 0.165 0.000 2227 1897 3171

444 -2.26 -58.6 74.6 -19.0 40 445 0.00 0.00 0.00 0.000 6 0.000 0.000 2228 1897 3175

763 -2.32 -58.6 135.4 -18.6 57 767 0.00 2.35 0.00 0.000 4 0.000 0.041 2227 504 3176

1020 -2.32 -58.6 180.3 -16.5 66 1026 0.00 2.25 0.00 0.000 6 0.000 0.029 2227 1907 3177

1332 -2.41 -58.6 226.0 -14.1 77 1337 0.12 2.38 0.00 0.000 4 0.084 0.043 2198 505 3176

1433 -2.36 -58.6 242.9 -16.9 80 1437 0.00 2.22 0.00 0.000 6 0.000 0.027 2198 1900 3176

1761 -2.36 -58.6 292.5 -14.8 91 1765 0.00 2.35 0.00 0.000 4 0.000 0.043 2198 506 3176

1868 -2.36 -58.6 309.5 -15.6 93 1872 0.00 2.22 0.00 0.000 6 0.000 0.022 2198 1908 3176

2201 -2.36 -58.6 358.8 -14.7 99 2205 0.00 2.38 0.00 0.000 4 0.000 0.043 2198 505 3176

2268 -2.36 -58.6 369.6 -16.0 100 2272 0.00 2.25 0.00 0.000 6 0.000 0.029 2197 1908 3176

2633 -2.36 -58.6 421.4 -14.1 106 2637 0.00 2.35 0.00 0.000 4 0.000 0.043 2198 505 3175

2831 -2.36 -58.6 451.7 -15.1 108 2837 0.00 2.22 0.00 0.000 6 0.000 0.025 2198 1900 3174

3140 -2.40 -58.6 493.8 -13.5 114 3144 0.00 2.35 0.00 0.000 4 0.000 0.048 2198 499 3174

3173 -2.36 -58.6 498.5 -14.2 114 3177 0.00 2.25 0.00 0.000 6 0.000 0.026 2197 1904 3173

3504 -2.40 -58.6 541.1 -12.7 120 3508 0.00 2.38 0.00 0.000 4 0.000 0.048 2198 500 3173

3593 -2.40 -58.6 553.5 -13.7 121 3597 0.00 2.25 0.00 0.000 6 0.000 0.028 2198 1903 3172

3937 -2.44 -58.6 596.6 -12.6 127 3938 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 1904 3172

4240 -2.48 -58.6 633.9 -12.2 132 4244 0.00 2.38 0.00 0.000 4 0.000 0.048 2198 500 3172

4357 -2.48 -58.6 649.9 -13.6 133 4360 0.00 2.25 0.00 0.000 6 0.000 0.025 2198 1899 3172

4672 -2.54 -58.6 688.6 -12.3 139 4673 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 1901 3171

4975 -2.59 -58.6 725.9 -12.3 144 4980 0.15 2.38 0.00 0.000 4 0.082 0.043 2157 502 3171

5122 -2.48 -58.6 747.3 -14.9 146 5127 0.15 2.25 0.00 0.000 6 0.146 0.025 2183 1903 3171

5470 -2.48 -58.6 791.4 -12.5 152 5471 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 1904 3170

5773 -2.48 -58.6 828.2 -12.2 157 5777 0.00 2.38 0.00 0.000 4 0.000 0.045 2183 506 3170

5862 -2.42 -58.6 840.2 -13.3 158 5866 0.00 2.25 0.00 0.000 6 0.000 0.031 2183 1903 3170

6199 -2.42 -58.6 881.8 -12.3 164 6203 0.00 2.40 0.00 0.000 4 0.000 0.048 2183 502 3169

6254 -2.37 -58.6 889.3 -13.4 164 6261 0.15 2.25 0.00 0.000 6 0.150 0.030 2210 1898 3169

6564 -2.46 -58.6 925.2 -11.6 170 6568 0.00 2.42 0.00 0.000 4 0.000 0.058 2210 505 3169

6619 -2.46 -58.6 932.1 -12.6 170 6625 0.00 2.28 0.00 0.000 6 0.000 0.029 2210 1888 3169

6929 -2.56 -58.6 966.5 -11.0 176 6931 0.17 0.00 0.00 0.000 6 0.081 0.000 2169 1888 3169

7168 end dive: TARGET_DEPTH_EXCEEDED

state 7168 begin apogee

7174 -0.33 0.0 994.9 11.8 180 7231 2.42 0.00 52.35 1.374 6 0.136 0.000 2649 2100 2931

7232 end apogee: CONTROL_FINISHED_OK

state 7232 begin climb

7235 2.26 58.6 996.8 0.0 181 7297 2.50 2.60 51.50 1.346 4 0.065 0.077 3225 3501 2692

7421 2.15 58.6 979.5 12.0 183 7426 0.15 2.40 0.00 0.000 6 0.146 0.054 3199 2116 2690

7730 2.15 58.6 947.2 10.4 188 7731 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 2116 2689

8033 2.15 58.6 915.8 10.3 193 8035 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 2116 2689

8336 2.15 58.6 883.7 10.5 198 8340 0.00 2.38 0.00 0.000 4 0.000 0.047 3199 3523 2689

8369 2.07 58.6 880.2 11.0 198 8373 0.00 2.38 0.00 0.000 6 0.000 0.031 3199 2077 2688

8695 2.07 58.6 845.5 10.7 204 8696 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 2077 2688

8997 2.07 58.6 813.3 10.7 209 9001 0.00 2.30 0.00 0.000 4 0.000 0.042 3199 698 2688

9070 1.97 58.6 804.8 11.2 210 9075 0.22 2.30 0.00 0.000 6 0.142 0.031 3159 2125 2688

9429 2.03 58.6 769.5 9.8 216 9431 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2125 2687

9733 2.10 58.6 740.9 9.3 221 9735 0.10 0.00 0.00 0.000 6 0.089 0.000 3182 2127 2688

10035 2.10 58.6 713.5 8.9 226 10039 0.00 2.40 0.00 0.000 4 0.000 0.043 3182 697 2687

10135 2.03 58.6 704.5 9.1 227 10139 0.00 2.28 0.00 0.000 6 0.000 0.027 3182 2110 2687

10460 2.03 58.6 676.9 8.3 233 10461 0.00 0.00 0.00 0.000 6 0.000 0.000 3182 2111 2687

10764 2.03 58.6 651.6 8.3 238 10765 0.00 0.00 0.00 0.000 6 0.000 0.000 3182 2111 2687

11067 2.03 58.8 627.4 8.0 243 11068 0.00 0.00 0.00 0.000 6 0.000 0.000 3182 2111 2687

11370 2.03 59.9 603.9 7.8 248 11374 0.00 2.38 0.00 0.000 4 0.000 0.046 3182 695 2687

11425 1.98 59.9 599.4 8.1 248 11432 0.12 2.25 0.00 0.000 6 0.150 0.027 3162 2104 2687

11735 2.04 64.5 577.0 7.2 254 11742 0.00 0.00 5.75 0.873 6 0.000 0.000 3162 2107 2668

12037 2.12 67.2 554.2 7.6 259 12044 0.12 0.00 4.30 0.747 6 0.083 0.000 3191 2107 2656

12340 2.12 67.2 527.9 8.9 264 12344 0.00 2.38 0.00 0.000 4 0.000 0.041 3191 692 2656

12469 2.05 67.2 515.2 10.4 266 12474 0.00 2.28 0.00 0.000 6 0.000 0.031 3191 2101 2656

12835 2.05 67.2 481.5 9.1 272 12838 0.00 2.30 0.00 0.000 4 0.000 0.035 3191 3497 2656

12918 2.05 67.2 474.1 8.2 273 12922 0.00 2.28 0.00 0.000 6 0.000 0.025 3191 2089 2656

13266 2.05 67.2 442.6 9.0 279 13270 0.00 2.33 0.00 0.000 4 0.000 0.041 3191 694 2656

13300 1.97 67.2 439.4 9.7 279 13304 0.17 2.25 0.00 0.000 6 0.143 0.024 3160 2100 2656

13626 2.05 67.2 412.9 8.0 285 13630 0.00 2.35 0.00 0.000 4 0.000 0.040 3160 698 2656

13720 2.06 69.7 405.1 7.6 286 13730 0.00 2.25 3.90 0.649 6 0.000 0.025 3160 2105 2646

14058 2.15 75.1 380.8 7.1 292 14069 0.15 2.30 6.30 0.802 4 0.079 0.034 3200 3485 2623

14305 2.15 78.5 361.4 7.5 295 14315 0.00 2.25 4.53 0.688 6 0.000 0.024 3200 2096 2610

14625 2.16 84.1 338.8 7.1 301 14636 0.00 2.35 6.25 0.778 4 0.000 0.038 3200 702 2587

14704 2.11 87.6 332.5 7.4 302 14714 0.00 2.25 4.80 0.692 6 0.000 0.027 3200 2100 2573

15054 2.11 88.2 305.1 7.9 308 15058 0.00 2.35 0.00 0.000 4 0.000 0.040 3199 701 2572

15195 2.05 88.2 292.2 8.8 311 15200 0.12 2.25 0.00 0.000 6 0.146 0.024 3178 2102 2572

15524 2.13 89.0 265.4 7.9 322 15528 0.00 2.30 0.00 0.000 4 0.000 0.035 3178 3493 2572

15608 2.17 89.7 258.4 7.9 324 15613 0.10 2.25 0.00 0.000 6 0.088 0.025 3202 2099 2572

15925 2.17 89.7 231.8 8.3 335 15929 0.00 2.33 0.00 0.000 4 0.000 0.035 3202 3499 2572

16054 2.17 89.7 220.4 8.9 339 16058 0.00 2.28 0.00 0.000 6 0.000 0.024 3202 2099 2572

16389 2.17 90.3 193.1 7.9 350 16394 0.00 0.00 3.97 0.590 6 0.000 0.000 3202 2098 2562

16694 2.18 95.8 170.2 7.1 360 16705 0.00 2.35 6.18 0.697 4 0.000 0.034 3202 3499 2539

16739 2.18 99.7 166.8 7.4 361 16748 0.00 2.28 4.85 0.630 6 0.000 0.024 3202 2101 2524

17072 2.18 99.7 139.2 8.5 374 17073 0.00 0.00 0.00 0.000 6 0.000 0.000 3202 2101 2523

17383 2.25 112.3 117.3 5.9 389 17396 0.00 0.00 11.32 0.739 6 0.000 0.000 3202 2100 2473

17692 2.34 126.4 97.7 5.7 404 17712 0.15 0.00 12.60 0.733 6 0.077 0.000 3238 2101 2414

18021 2.36 139.0 78.6 5.9 421 18037 0.00 2.35 11.55 0.713 4 0.000 0.034 3238 3491 2362

18241 2.36 140.6 61.3 7.7 440 18245 0.00 2.28 0.00 0.000 6 0.000 0.029 3238 2099 2361

18568 2.38 156.8 39.7 5.3 470 18590 0.00 2.38 15.50 0.703 4 0.000 0.046 3238 698 2290

18843 2.43 193.6 31.2 1.9 494 18882 0.00 2.25 30.40 0.700 6 0.000 0.031 3238 2115 2139

19200 2.56 193.6 2.3 10.6 528 19204 0.17 1.92 0.00 0.000 3 0.074 0.043 3285 954 2133

19205 end climb: SURFACE_DEPTH_REACHED

state 19205 begin surface coast

19221 end surface coast: CONTROL_FINISHED_OK

state 19221 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	297	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	39	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	46	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	300	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	-51818.629	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	125629,5007.316,-14449.971,40,2.2,59,18.5	TGT_NAME	C_NW
_CALLS	1	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.114,-0.017
_SM_DEPTHo	1.51	KALMAN_X	13609.8,-119.5,-517.3,-3221.6,1707.7
_SM_ANGLEo	-58.3	KALMAN_Y	227266.8,6.9,-195.3,-214485.3,780.8
GPS2	130221,5007.316,-14449.945,40,1.8,53,18.5	MHEAD_RNG_PITCHd_Wd	243.1,1176,-32.9,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

FINISH	0.8,1.006066	XPDR_PINGS	70
SM_CCo	19244,162.40,0.658,0,0,1300,400.08	_24V_AH	23.2,55.704
SM_GC	1.40,0.00,0.00,162.40,0.000,0.000,0.658,496,1888,1300,-10.26,-0.34,400.08	_10V_AH	10.1,28.276
IRIDIUM_FIX	4946.36,-14448.39,211197,060632	DATA_FILE_SIZE	31680,530
TT8_MAMPS	0.029146	CAP_FILE_SIZE	131940,0
HUMID	1797	CFSIZE	260165632,239104000
INTERNAL_PRESSURE	7.68584	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.30	GPS	270808,182803,5007.125,-14451.175,40,1.9,40,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	164	109.13	SBE_CT	377	24	210.12
Roll_motor	138	108	348.89	SBE_O2	424	19	187.15
VBD_pump_during_apogee	236	1374	7527.06	Optode	549	33	420.72
VBD_pump_during_surface	162	658	2479.46	WL_BB2F	354	105	863.93
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.43	nil	0	0	0.00
Iridium_during_connect	25	160	93.42	nil	0	0	0.00
Iridium_during_xfer	143	223	743.09
Transponder_ping	17	420	170.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	53	50	26.83
TT8	1238	19	247.61
LPSleep	15666	2	346.52
TT8_Active	552	19	110.49
TT8_Sampling	1825	39	733.86
TT8_CF8	479	45	221.60
TT8_Kalman	33	81	27.57
Analog_circuits	1477	12	179.05
GPS_charging	0	0	0.00
Compass	1762	8	142.44
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
21	-2.23	-32.2	0.0	0.0	0	95	0.00	0.00	-71.22	0.000	2	0.000	0.000	491	1897	2760
98	-2.26	-58.6	3.1	-3.6	7	124	9.32	0.00	-11.32	0.000	6	0.165	0.000	2227	1897	3171
444	-2.26	-58.6	74.6	-19.0	40	445	0.00	0.00	0.00	0.000	6	0.000	0.000	2228	1897	3175
763	-2.32	-58.6	135.4	-18.6	57	767	0.00	2.35	0.00	0.000	4	0.000	0.041	2227	504	3176
1020	-2.32	-58.6	180.3	-16.5	66	1026	0.00	2.25	0.00	0.000	6	0.000	0.029	2227	1907	3177
1332	-2.41	-58.6	226.0	-14.1	77	1337	0.12	2.38	0.00	0.000	4	0.084	0.043	2198	505	3176
1433	-2.36	-58.6	242.9	-16.9	80	1437	0.00	2.22	0.00	0.000	6	0.000	0.027	2198	1900	3176
1761	-2.36	-58.6	292.5	-14.8	91	1765	0.00	2.35	0.00	0.000	4	0.000	0.043	2198	506	3176
1868	-2.36	-58.6	309.5	-15.6	93	1872	0.00	2.22	0.00	0.000	6	0.000	0.022	2198	1908	3176
2201	-2.36	-58.6	358.8	-14.7	99	2205	0.00	2.38	0.00	0.000	4	0.000	0.043	2198	505	3176
2268	-2.36	-58.6	369.6	-16.0	100	2272	0.00	2.25	0.00	0.000	6	0.000	0.029	2197	1908	3176
2633	-2.36	-58.6	421.4	-14.1	106	2637	0.00	2.35	0.00	0.000	4	0.000	0.043	2198	505	3175
2831	-2.36	-58.6	451.7	-15.1	108	2837	0.00	2.22	0.00	0.000	6	0.000	0.025	2198	1900	3174
3140	-2.40	-58.6	493.8	-13.5	114	3144	0.00	2.35	0.00	0.000	4	0.000	0.048	2198	499	3174
3173	-2.36	-58.6	498.5	-14.2	114	3177	0.00	2.25	0.00	0.000	6	0.000	0.026	2197	1904	3173
3504	-2.40	-58.6	541.1	-12.7	120	3508	0.00	2.38	0.00	0.000	4	0.000	0.048	2198	500	3173
3593	-2.40	-58.6	553.5	-13.7	121	3597	0.00	2.25	0.00	0.000	6	0.000	0.028	2198	1903	3172
3937	-2.44	-58.6	596.6	-12.6	127	3938	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	1904	3172
4240	-2.48	-58.6	633.9	-12.2	132	4244	0.00	2.38	0.00	0.000	4	0.000	0.048	2198	500	3172
4357	-2.48	-58.6	649.9	-13.6	133	4360	0.00	2.25	0.00	0.000	6	0.000	0.025	2198	1899	3172
4672	-2.54	-58.6	688.6	-12.3	139	4673	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	1901	3171
4975	-2.59	-58.6	725.9	-12.3	144	4980	0.15	2.38	0.00	0.000	4	0.082	0.043	2157	502	3171
5122	-2.48	-58.6	747.3	-14.9	146	5127	0.15	2.25	0.00	0.000	6	0.146	0.025	2183	1903	3171
5470	-2.48	-58.6	791.4	-12.5	152	5471	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	1904	3170
5773	-2.48	-58.6	828.2	-12.2	157	5777	0.00	2.38	0.00	0.000	4	0.000	0.045	2183	506	3170
5862	-2.42	-58.6	840.2	-13.3	158	5866	0.00	2.25	0.00	0.000	6	0.000	0.031	2183	1903	3170
6199	-2.42	-58.6	881.8	-12.3	164	6203	0.00	2.40	0.00	0.000	4	0.000	0.048	2183	502	3169
6254	-2.37	-58.6	889.3	-13.4	164	6261	0.15	2.25	0.00	0.000	6	0.150	0.030	2210	1898	3169
6564	-2.46	-58.6	925.2	-11.6	170	6568	0.00	2.42	0.00	0.000	4	0.000	0.058	2210	505	3169
6619	-2.46	-58.6	932.1	-12.6	170	6625	0.00	2.28	0.00	0.000	6	0.000	0.029	2210	1888	3169
6929	-2.56	-58.6	966.5	-11.0	176	6931	0.17	0.00	0.00	0.000	6	0.081	0.000	2169	1888	3169
7168	end dive: TARGET_DEPTH_EXCEEDED
state	7168	begin apogee
7174	-0.33	0.0	994.9	11.8	180	7231	2.42	0.00	52.35	1.374	6	0.136	0.000	2649	2100	2931
7232	end apogee: CONTROL_FINISHED_OK
state	7232	begin climb
7235	2.26	58.6	996.8	0.0	181	7297	2.50	2.60	51.50	1.346	4	0.065	0.077	3225	3501	2692
7421	2.15	58.6	979.5	12.0	183	7426	0.15	2.40	0.00	0.000	6	0.146	0.054	3199	2116	2690
7730	2.15	58.6	947.2	10.4	188	7731	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	2116	2689
8033	2.15	58.6	915.8	10.3	193	8035	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	2116	2689
8336	2.15	58.6	883.7	10.5	198	8340	0.00	2.38	0.00	0.000	4	0.000	0.047	3199	3523	2689
8369	2.07	58.6	880.2	11.0	198	8373	0.00	2.38	0.00	0.000	6	0.000	0.031	3199	2077	2688
8695	2.07	58.6	845.5	10.7	204	8696	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	2077	2688
8997	2.07	58.6	813.3	10.7	209	9001	0.00	2.30	0.00	0.000	4	0.000	0.042	3199	698	2688
9070	1.97	58.6	804.8	11.2	210	9075	0.22	2.30	0.00	0.000	6	0.142	0.031	3159	2125	2688
9429	2.03	58.6	769.5	9.8	216	9431	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	2125	2687
9733	2.10	58.6	740.9	9.3	221	9735	0.10	0.00	0.00	0.000	6	0.089	0.000	3182	2127	2688
10035	2.10	58.6	713.5	8.9	226	10039	0.00	2.40	0.00	0.000	4	0.000	0.043	3182	697	2687
10135	2.03	58.6	704.5	9.1	227	10139	0.00	2.28	0.00	0.000	6	0.000	0.027	3182	2110	2687
10460	2.03	58.6	676.9	8.3	233	10461	0.00	0.00	0.00	0.000	6	0.000	0.000	3182	2111	2687
10764	2.03	58.6	651.6	8.3	238	10765	0.00	0.00	0.00	0.000	6	0.000	0.000	3182	2111	2687
11067	2.03	58.8	627.4	8.0	243	11068	0.00	0.00	0.00	0.000	6	0.000	0.000	3182	2111	2687
11370	2.03	59.9	603.9	7.8	248	11374	0.00	2.38	0.00	0.000	4	0.000	0.046	3182	695	2687
11425	1.98	59.9	599.4	8.1	248	11432	0.12	2.25	0.00	0.000	6	0.150	0.027	3162	2104	2687
11735	2.04	64.5	577.0	7.2	254	11742	0.00	0.00	5.75	0.873	6	0.000	0.000	3162	2107	2668
12037	2.12	67.2	554.2	7.6	259	12044	0.12	0.00	4.30	0.747	6	0.083	0.000	3191	2107	2656
12340	2.12	67.2	527.9	8.9	264	12344	0.00	2.38	0.00	0.000	4	0.000	0.041	3191	692	2656
12469	2.05	67.2	515.2	10.4	266	12474	0.00	2.28	0.00	0.000	6	0.000	0.031	3191	2101	2656
12835	2.05	67.2	481.5	9.1	272	12838	0.00	2.30	0.00	0.000	4	0.000	0.035	3191	3497	2656
12918	2.05	67.2	474.1	8.2	273	12922	0.00	2.28	0.00	0.000	6	0.000	0.025	3191	2089	2656
13266	2.05	67.2	442.6	9.0	279	13270	0.00	2.33	0.00	0.000	4	0.000	0.041	3191	694	2656
13300	1.97	67.2	439.4	9.7	279	13304	0.17	2.25	0.00	0.000	6	0.143	0.024	3160	2100	2656
13626	2.05	67.2	412.9	8.0	285	13630	0.00	2.35	0.00	0.000	4	0.000	0.040	3160	698	2656
13720	2.06	69.7	405.1	7.6	286	13730	0.00	2.25	3.90	0.649	6	0.000	0.025	3160	2105	2646
14058	2.15	75.1	380.8	7.1	292	14069	0.15	2.30	6.30	0.802	4	0.079	0.034	3200	3485	2623
14305	2.15	78.5	361.4	7.5	295	14315	0.00	2.25	4.53	0.688	6	0.000	0.024	3200	2096	2610
14625	2.16	84.1	338.8	7.1	301	14636	0.00	2.35	6.25	0.778	4	0.000	0.038	3200	702	2587
14704	2.11	87.6	332.5	7.4	302	14714	0.00	2.25	4.80	0.692	6	0.000	0.027	3200	2100	2573
15054	2.11	88.2	305.1	7.9	308	15058	0.00	2.35	0.00	0.000	4	0.000	0.040	3199	701	2572
15195	2.05	88.2	292.2	8.8	311	15200	0.12	2.25	0.00	0.000	6	0.146	0.024	3178	2102	2572
15524	2.13	89.0	265.4	7.9	322	15528	0.00	2.30	0.00	0.000	4	0.000	0.035	3178	3493	2572
15608	2.17	89.7	258.4	7.9	324	15613	0.10	2.25	0.00	0.000	6	0.088	0.025	3202	2099	2572
15925	2.17	89.7	231.8	8.3	335	15929	0.00	2.33	0.00	0.000	4	0.000	0.035	3202	3499	2572
16054	2.17	89.7	220.4	8.9	339	16058	0.00	2.28	0.00	0.000	6	0.000	0.024	3202	2099	2572
16389	2.17	90.3	193.1	7.9	350	16394	0.00	0.00	3.97	0.590	6	0.000	0.000	3202	2098	2562
16694	2.18	95.8	170.2	7.1	360	16705	0.00	2.35	6.18	0.697	4	0.000	0.034	3202	3499	2539
16739	2.18	99.7	166.8	7.4	361	16748	0.00	2.28	4.85	0.630	6	0.000	0.024	3202	2101	2524
17072	2.18	99.7	139.2	8.5	374	17073	0.00	0.00	0.00	0.000	6	0.000	0.000	3202	2101	2523
17383	2.25	112.3	117.3	5.9	389	17396	0.00	0.00	11.32	0.739	6	0.000	0.000	3202	2100	2473
17692	2.34	126.4	97.7	5.7	404	17712	0.15	0.00	12.60	0.733	6	0.077	0.000	3238	2101	2414
18021	2.36	139.0	78.6	5.9	421	18037	0.00	2.35	11.55	0.713	4	0.000	0.034	3238	3491	2362
18241	2.36	140.6	61.3	7.7	440	18245	0.00	2.28	0.00	0.000	6	0.000	0.029	3238	2099	2361
18568	2.38	156.8	39.7	5.3	470	18590	0.00	2.38	15.50	0.703	4	0.000	0.046	3238	698	2290
18843	2.43	193.6	31.2	1.9	494	18882	0.00	2.25	30.40	0.700	6	0.000	0.031	3238	2115	2139
19200	2.56	193.6	2.3	10.6	528	19204	0.17	1.92	0.00	0.000	3	0.074	0.043	3285	954	2133
19205	end climb: SURFACE_DEPTH_REACHED
state	19205	begin surface coast
19221	end surface coast: CONTROL_FINISHED_OK
state	19221	begin surface