Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 301 * 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 301 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 50 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 59 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 -51986.879 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 -51986.879

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 50 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 59 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 301 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 111339,5006.844,-14450.454,88,1.3,88,18.5 TGT_NAME C_NW

_CALLS 1 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.103,0.015

_SM_DEPTHo 1.54 KALMAN_X 15395.2,-16.8,-356.7,-5841.8,2010.6

_SM_ANGLEo -59.6 KALMAN_Y 229310.3,-29.7,39.1,-217556.6,821.4

GPS2 111908,5006.867,-14450.422,34,1.2,34,18.5 MHEAD_RNG_PITCHd_Wd 259.8,1314,-35.7,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.8,1.024401 XPDR_PINGS 84

SM_CCo 19819,163.57,0.659,0,0,1299,400.08 _24V_AH 23.2,56.114

SM_GC 1.49,0.00,0.00,163.57,0.000,0.000,0.659,493,1871,1299,-10.29,-0.82,400.08 _10V_AH 10.1,28.615

IRIDIUM_FIX 4949.70,-14453.88,221197,050530 DATA_FILE_SIZE 31856,527

TT8_MAMPS 0.029146 CAP_FILE_SIZE 148945,0

HUMID 1808 CFSIZE 260165632,238825472

INTERNAL_PRESSURE 7.69561 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 15.90 GPS 280808,165456,5006.986,-14451.229,51,1.3,70,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 165 110.89 SBE_CT 373 24 207.80

Roll_motor 168 85 332.67 SBE_O2 421 19 185.60

VBD_pump_during_apogee 230 1363 7280.80 Optode 545 33 417.28

VBD_pump_during_surface 163 658 2500.31 WL_BB2F 342 105 834.61

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.97 nil 0 0 0.00

Iridium_during_connect 28 160 105.09 nil 0 0 0.00

Iridium_during_xfer 139 223 720.49

Transponder_ping 21 420 204.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.93

TT8 1336 19 267.36

LPSleep 15775 2 348.94

TT8_Active 545 19 109.01

TT8_Sampling 2166 39 870.93

TT8_CF8 490 45 226.81

TT8_Kalman 33 81 27.57

Analog_circuits 1632 12 197.91

GPS_charging 0 0 0.00

Compass 2107 8 170.25

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 -2.42 -27.3 0.0 0.0 0 95 0.00 0.00 -71.28 0.000 2 0.000 0.000 496 1886 2813

97 -2.44 -45.9 3.2 -4.4 7 121 9.10 2.30 -8.52 0.000 4 0.166 0.048 2192 3285 3120

212 -2.44 -45.9 28.3 -24.2 17 216 0.00 2.25 0.00 0.000 6 0.000 0.031 2192 1907 3122

549 -2.51 -45.9 92.6 -19.7 45 553 0.00 2.35 0.00 0.000 4 0.000 0.041 2192 501 3124

791 -2.56 -45.9 144.1 -19.0 56 795 0.00 2.22 0.00 0.000 6 0.000 0.028 2192 1900 3124

1111 -2.65 -45.9 196.9 -16.3 67 1115 0.15 2.38 0.00 0.000 4 0.074 0.044 2150 498 3125

1201 -2.61 -45.9 213.7 -18.4 69 1207 0.00 2.22 0.00 0.000 6 0.000 0.025 2150 1897 3125

1513 -2.61 -45.9 265.6 -16.1 80 1517 0.00 2.35 0.00 0.000 4 0.000 0.041 2150 496 3124

1737 -2.56 -45.9 303.6 -16.6 86 1742 0.10 2.25 0.00 0.000 6 0.153 0.028 2166 1898 3125

2047 -2.62 -45.9 347.9 -14.1 91 2051 0.00 2.38 0.00 0.000 4 0.000 0.047 2166 496 3124

2153 -2.62 -45.9 363.9 -14.8 92 2157 0.00 2.25 0.00 0.000 6 0.000 0.022 2166 1900 3124

2473 -2.68 -45.9 406.3 -13.1 98 2477 0.00 2.35 0.00 0.000 4 0.000 0.048 2166 502 3123

2584 -2.68 -45.9 422.4 -14.3 99 2588 0.00 2.28 0.00 0.000 6 0.000 0.024 2166 1902 3123

2911 -2.76 -45.9 464.2 -12.7 105 2915 0.15 2.38 0.00 0.000 4 0.078 0.041 2126 497 3122

2973 -2.65 -45.9 473.1 -14.7 106 2977 0.12 2.25 0.00 0.000 6 0.155 0.023 2146 1901 3122

3337 -2.65 -45.9 521.1 -13.1 112 3341 0.00 2.38 0.00 0.000 4 0.000 0.044 2146 494 3122

3427 -2.60 -45.9 533.7 -14.0 113 3431 0.00 2.25 0.00 0.000 6 0.000 0.022 2146 1903 3121

3763 -2.60 -45.9 577.4 -12.9 119 3768 0.00 2.38 0.00 0.000 4 0.000 0.044 2146 495 3121

3835 -2.60 -45.9 587.4 -13.8 120 3840 0.00 2.28 0.00 0.000 6 0.000 0.023 2146 1899 3121

4196 -2.65 -45.9 631.9 -12.3 126 4200 0.00 2.38 0.00 0.000 4 0.000 0.049 2146 492 3120

4263 -2.65 -45.9 640.7 -13.5 127 4267 0.00 2.25 0.00 0.000 6 0.000 0.025 2146 1899 3120

4629 -2.71 -45.9 686.0 -12.5 133 4633 0.00 2.38 0.00 0.000 4 0.000 0.044 2146 495 3119

4797 -2.71 -45.9 708.8 -14.1 135 4801 0.00 2.25 0.00 0.000 6 0.000 0.024 2145 1898 3119

5123 -2.76 -45.9 748.6 -12.2 141 5127 0.00 2.38 0.00 0.000 4 0.000 0.050 2146 496 3119

5240 -2.76 -45.9 764.2 -12.5 142 5244 0.00 2.28 0.00 0.000 6 0.000 0.024 2146 1911 3118

5549 -2.82 -45.9 801.8 -12.1 147 5554 0.15 2.40 0.00 0.000 4 0.083 0.044 2107 495 3118

5707 -2.70 -45.9 822.9 -13.8 149 5712 0.17 2.25 0.00 0.000 6 0.150 0.022 2137 1898 3118

6044 -2.70 -45.9 862.8 -11.7 155 6048 0.00 2.38 0.00 0.000 4 0.000 0.049 2137 499 3117

6111 -2.65 -45.9 871.0 -12.7 156 6116 0.00 2.25 0.00 0.000 6 0.000 0.024 2137 1897 3117

6477 -2.65 -45.9 914.1 -11.8 162 6481 0.00 2.40 0.00 0.000 4 0.000 0.052 2137 504 3117

6611 -2.60 -45.9 930.9 -12.6 164 6616 0.12 2.28 0.00 0.000 6 0.158 0.033 2158 1891 3117

6970 -2.69 -45.9 969.1 -10.5 170 6975 0.00 2.45 0.00 0.000 4 0.000 0.067 2157 508 3116

7155 end dive: TARGET_DEPTH_EXCEEDED

state 7155 begin apogee

7163 -0.33 0.0 990.1 11.7 172 7209 2.42 0.00 41.75 1.364 6 0.137 0.000 2649 2093 2931

7210 end apogee: CONTROL_FINISHED_OK

state 7210 begin climb

7213 2.44 45.9 991.7 0.0 173 7263 2.70 2.60 41.25 1.338 4 0.063 0.071 3260 3504 2743

7303 2.33 45.9 985.5 10.3 175 7308 0.12 2.42 0.00 0.000 6 0.153 0.051 3239 2113 2743

7662 2.33 45.9 949.2 10.0 181 7666 0.00 2.47 0.00 0.000 4 0.000 0.062 3239 684 2741

7920 2.24 45.9 921.8 11.0 184 7927 0.12 2.38 0.00 0.000 6 0.156 0.035 3218 2126 2740

8229 2.24 45.9 893.6 9.0 190 8230 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2125 2740

8532 2.24 45.9 866.6 8.9 195 8533 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2125 2740

8835 2.24 45.9 839.9 8.7 200 8840 0.00 2.45 0.00 0.000 4 0.000 0.042 3218 680 2740

8880 2.19 45.9 835.6 9.4 200 8884 0.00 2.33 0.00 0.000 6 0.000 0.028 3218 2113 2740

9195 2.19 45.9 808.8 8.5 206 9197 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2113 2739

9497 2.19 45.9 783.9 8.2 211 9498 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2113 2739

9800 2.19 45.9 758.6 8.4 216 9804 0.00 2.42 0.00 0.000 4 0.000 0.041 3218 677 2739

10057 2.14 45.9 735.8 9.1 219 10062 0.12 2.30 0.00 0.000 6 0.155 0.031 3198 2101 2739

10368 2.21 46.5 711.5 7.9 224 10372 0.00 2.38 0.00 0.000 4 0.000 0.039 3197 680 2739

10417 2.21 46.5 707.3 8.4 224 10422 0.00 2.33 0.00 0.000 6 0.000 0.026 3197 2101 2739

10739 2.29 49.8 683.4 7.4 230 10745 0.12 0.00 4.38 0.815 6 0.084 0.000 3227 2104 2727

11042 2.29 51.2 660.1 7.7 235 11046 0.00 2.40 0.00 0.000 4 0.000 0.040 3228 678 2727

11299 2.24 52.1 639.2 7.8 238 11309 0.00 2.30 3.90 0.732 6 0.000 0.025 3227 2104 2717

11675 2.24 54.1 610.7 7.6 245 11676 0.00 0.00 0.00 0.000 6 0.000 0.000 3227 2104 2717

11978 2.24 58.1 588.6 7.2 250 11991 0.00 2.40 6.75 0.923 4 0.000 0.038 3227 680 2692

12015 2.19 58.1 585.8 8.3 250 12019 0.12 2.30 0.00 0.000 6 0.150 0.031 3206 2099 2692

12341 2.27 58.5 560.1 7.9 256 12342 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 2100 2693

12644 2.35 61.6 537.5 7.4 261 12651 0.15 0.00 4.72 0.782 6 0.081 0.000 3241 2102 2679

12946 2.35 61.6 512.8 8.3 266 12950 0.00 2.40 0.00 0.000 4 0.000 0.040 3241 673 2678

13070 2.28 61.6 501.9 8.7 267 13076 0.00 2.30 0.00 0.000 6 0.000 0.031 3241 2100 2678

13379 2.28 61.9 477.2 7.9 273 13383 0.00 2.38 0.00 0.000 4 0.000 0.041 3241 680 2678

13490 2.21 61.9 467.6 8.1 274 13495 0.15 2.30 0.00 0.000 6 0.149 0.030 3214 2107 2678

13805 2.28 63.7 443.7 7.7 280 13809 0.00 2.28 0.00 0.000 4 0.000 0.038 3214 3494 2678

13832 2.28 63.7 441.5 8.2 280 13836 0.00 2.30 0.00 0.000 6 0.000 0.024 3214 2072 2678

14176 2.35 63.7 414.4 8.0 286 14181 0.10 2.35 0.00 0.000 4 0.090 0.035 3238 3491 2678

14276 2.35 63.7 406.2 8.6 287 14280 0.00 2.25 0.00 0.000 6 0.000 0.023 3238 2098 2678

14601 2.35 65.0 380.7 7.7 293 14611 0.00 2.35 4.53 0.703 4 0.000 0.044 3238 700 2665

14634 2.30 65.0 378.0 8.6 293 14638 0.00 2.28 0.00 0.000 6 0.000 0.028 3238 2110 2665

14966 2.30 67.1 352.8 7.6 299 14970 0.00 2.35 0.00 0.000 4 0.000 0.040 3238 702 2665

15130 2.25 70.3 340.2 7.4 301 15141 0.00 2.25 6.03 0.772 6 0.000 0.023 3237 2103 2644

15462 2.26 73.4 315.5 7.4 307 15471 0.00 2.33 4.50 0.673 4 0.000 0.035 3238 3489 2631

15607 2.26 74.8 304.0 7.7 309 15611 0.00 2.25 0.00 0.000 6 0.000 0.028 3237 2101 2630

15934 2.26 78.2 279.0 7.3 319 15945 0.00 2.35 5.70 0.728 4 0.000 0.038 3238 700 2611

15973 2.22 78.2 276.0 8.1 320 15977 0.12 2.25 0.00 0.000 6 0.150 0.029 3216 2100 2611

16297 2.31 80.1 251.6 7.6 331 16301 0.00 2.35 0.00 0.000 4 0.000 0.045 3216 701 2611

16554 2.32 85.1 230.5 7.0 338 16568 0.00 2.25 7.05 0.747 6 0.000 0.027 3216 2102 2583

16899 2.41 87.6 203.8 7.5 350 16909 0.15 2.40 3.97 0.581 4 0.077 0.038 3256 704 2572

17089 2.36 89.4 187.6 7.7 355 17093 0.00 2.25 0.00 0.000 6 0.000 0.030 3256 2098 2573

17402 2.36 91.2 163.7 7.7 365 17408 0.00 0.00 4.62 0.624 6 0.000 0.000 3257 2100 2559

17719 2.38 105.7 143.9 5.2 377 17740 0.00 2.38 13.05 0.765 4 0.000 0.041 3256 3486 2499

17824 2.38 111.0 136.5 7.0 381 17835 0.00 2.28 5.78 0.650 6 0.000 0.024 3257 2089 2478

18157 2.45 117.3 111.6 6.8 398 18166 0.00 0.00 6.85 0.677 6 0.000 0.000 3256 2089 2452

18466 2.54 129.7 93.2 5.6 413 18480 0.10 0.00 11.18 0.719 6 0.088 0.000 3281 2089 2401

18780 2.54 129.8 68.7 8.0 434 18784 0.00 2.33 0.00 0.000 4 0.000 0.035 3281 3491 2400

19037 2.54 135.1 48.2 7.0 456 19047 0.00 2.25 5.78 0.616 6 0.000 0.025 3281 2099 2380

19373 2.69 173.8 36.3 0.4 488 19411 0.12 2.38 32.15 0.711 4 0.084 0.044 3311 703 2221

19447 2.71 192.5 33.8 4.3 494 19469 0.00 2.28 16.20 0.676 6 0.000 0.023 3311 2116 2145

19785 end climb: SURFACE_DEPTH_REACHED

state 19785 begin surface coast

19797 end surface coast: CONTROL_FINISHED_OK

state 19797 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	301	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	50	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	59	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	-51986.879	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	111339,5006.844,-14450.454,88,1.3,88,18.5	TGT_NAME	C_NW
_CALLS	1	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.103,0.015
_SM_DEPTHo	1.54	KALMAN_X	15395.2,-16.8,-356.7,-5841.8,2010.6
_SM_ANGLEo	-59.6	KALMAN_Y	229310.3,-29.7,39.1,-217556.6,821.4
GPS2	111908,5006.867,-14450.422,34,1.2,34,18.5	MHEAD_RNG_PITCHd_Wd	259.8,1314,-35.7,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

FINISH	0.8,1.024401	XPDR_PINGS	84
SM_CCo	19819,163.57,0.659,0,0,1299,400.08	_24V_AH	23.2,56.114
SM_GC	1.49,0.00,0.00,163.57,0.000,0.000,0.659,493,1871,1299,-10.29,-0.82,400.08	_10V_AH	10.1,28.615
IRIDIUM_FIX	4949.70,-14453.88,221197,050530	DATA_FILE_SIZE	31856,527
TT8_MAMPS	0.029146	CAP_FILE_SIZE	148945,0
HUMID	1808	CFSIZE	260165632,238825472
INTERNAL_PRESSURE	7.69561	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	15.90	GPS	280808,165456,5006.986,-14451.229,51,1.3,70,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	165	110.89	SBE_CT	373	24	207.80
Roll_motor	168	85	332.67	SBE_O2	421	19	185.60
VBD_pump_during_apogee	230	1363	7280.80	Optode	545	33	417.28
VBD_pump_during_surface	163	658	2500.31	WL_BB2F	342	105	834.61
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.97	nil	0	0	0.00
Iridium_during_connect	28	160	105.09	nil	0	0	0.00
Iridium_during_xfer	139	223	720.49
Transponder_ping	21	420	204.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.93
TT8	1336	19	267.36
LPSleep	15775	2	348.94
TT8_Active	545	19	109.01
TT8_Sampling	2166	39	870.93
TT8_CF8	490	45	226.81
TT8_Kalman	33	81	27.57
Analog_circuits	1632	12	197.91
GPS_charging	0	0	0.00
Compass	2107	8	170.25
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	-2.42	-27.3	0.0	0.0	0	95	0.00	0.00	-71.28	0.000	2	0.000	0.000	496	1886	2813
97	-2.44	-45.9	3.2	-4.4	7	121	9.10	2.30	-8.52	0.000	4	0.166	0.048	2192	3285	3120
212	-2.44	-45.9	28.3	-24.2	17	216	0.00	2.25	0.00	0.000	6	0.000	0.031	2192	1907	3122
549	-2.51	-45.9	92.6	-19.7	45	553	0.00	2.35	0.00	0.000	4	0.000	0.041	2192	501	3124
791	-2.56	-45.9	144.1	-19.0	56	795	0.00	2.22	0.00	0.000	6	0.000	0.028	2192	1900	3124
1111	-2.65	-45.9	196.9	-16.3	67	1115	0.15	2.38	0.00	0.000	4	0.074	0.044	2150	498	3125
1201	-2.61	-45.9	213.7	-18.4	69	1207	0.00	2.22	0.00	0.000	6	0.000	0.025	2150	1897	3125
1513	-2.61	-45.9	265.6	-16.1	80	1517	0.00	2.35	0.00	0.000	4	0.000	0.041	2150	496	3124
1737	-2.56	-45.9	303.6	-16.6	86	1742	0.10	2.25	0.00	0.000	6	0.153	0.028	2166	1898	3125
2047	-2.62	-45.9	347.9	-14.1	91	2051	0.00	2.38	0.00	0.000	4	0.000	0.047	2166	496	3124
2153	-2.62	-45.9	363.9	-14.8	92	2157	0.00	2.25	0.00	0.000	6	0.000	0.022	2166	1900	3124
2473	-2.68	-45.9	406.3	-13.1	98	2477	0.00	2.35	0.00	0.000	4	0.000	0.048	2166	502	3123
2584	-2.68	-45.9	422.4	-14.3	99	2588	0.00	2.28	0.00	0.000	6	0.000	0.024	2166	1902	3123
2911	-2.76	-45.9	464.2	-12.7	105	2915	0.15	2.38	0.00	0.000	4	0.078	0.041	2126	497	3122
2973	-2.65	-45.9	473.1	-14.7	106	2977	0.12	2.25	0.00	0.000	6	0.155	0.023	2146	1901	3122
3337	-2.65	-45.9	521.1	-13.1	112	3341	0.00	2.38	0.00	0.000	4	0.000	0.044	2146	494	3122
3427	-2.60	-45.9	533.7	-14.0	113	3431	0.00	2.25	0.00	0.000	6	0.000	0.022	2146	1903	3121
3763	-2.60	-45.9	577.4	-12.9	119	3768	0.00	2.38	0.00	0.000	4	0.000	0.044	2146	495	3121
3835	-2.60	-45.9	587.4	-13.8	120	3840	0.00	2.28	0.00	0.000	6	0.000	0.023	2146	1899	3121
4196	-2.65	-45.9	631.9	-12.3	126	4200	0.00	2.38	0.00	0.000	4	0.000	0.049	2146	492	3120
4263	-2.65	-45.9	640.7	-13.5	127	4267	0.00	2.25	0.00	0.000	6	0.000	0.025	2146	1899	3120
4629	-2.71	-45.9	686.0	-12.5	133	4633	0.00	2.38	0.00	0.000	4	0.000	0.044	2146	495	3119
4797	-2.71	-45.9	708.8	-14.1	135	4801	0.00	2.25	0.00	0.000	6	0.000	0.024	2145	1898	3119
5123	-2.76	-45.9	748.6	-12.2	141	5127	0.00	2.38	0.00	0.000	4	0.000	0.050	2146	496	3119
5240	-2.76	-45.9	764.2	-12.5	142	5244	0.00	2.28	0.00	0.000	6	0.000	0.024	2146	1911	3118
5549	-2.82	-45.9	801.8	-12.1	147	5554	0.15	2.40	0.00	0.000	4	0.083	0.044	2107	495	3118
5707	-2.70	-45.9	822.9	-13.8	149	5712	0.17	2.25	0.00	0.000	6	0.150	0.022	2137	1898	3118
6044	-2.70	-45.9	862.8	-11.7	155	6048	0.00	2.38	0.00	0.000	4	0.000	0.049	2137	499	3117
6111	-2.65	-45.9	871.0	-12.7	156	6116	0.00	2.25	0.00	0.000	6	0.000	0.024	2137	1897	3117
6477	-2.65	-45.9	914.1	-11.8	162	6481	0.00	2.40	0.00	0.000	4	0.000	0.052	2137	504	3117
6611	-2.60	-45.9	930.9	-12.6	164	6616	0.12	2.28	0.00	0.000	6	0.158	0.033	2158	1891	3117
6970	-2.69	-45.9	969.1	-10.5	170	6975	0.00	2.45	0.00	0.000	4	0.000	0.067	2157	508	3116
7155	end dive: TARGET_DEPTH_EXCEEDED
state	7155	begin apogee
7163	-0.33	0.0	990.1	11.7	172	7209	2.42	0.00	41.75	1.364	6	0.137	0.000	2649	2093	2931
7210	end apogee: CONTROL_FINISHED_OK
state	7210	begin climb
7213	2.44	45.9	991.7	0.0	173	7263	2.70	2.60	41.25	1.338	4	0.063	0.071	3260	3504	2743
7303	2.33	45.9	985.5	10.3	175	7308	0.12	2.42	0.00	0.000	6	0.153	0.051	3239	2113	2743
7662	2.33	45.9	949.2	10.0	181	7666	0.00	2.47	0.00	0.000	4	0.000	0.062	3239	684	2741
7920	2.24	45.9	921.8	11.0	184	7927	0.12	2.38	0.00	0.000	6	0.156	0.035	3218	2126	2740
8229	2.24	45.9	893.6	9.0	190	8230	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2125	2740
8532	2.24	45.9	866.6	8.9	195	8533	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2125	2740
8835	2.24	45.9	839.9	8.7	200	8840	0.00	2.45	0.00	0.000	4	0.000	0.042	3218	680	2740
8880	2.19	45.9	835.6	9.4	200	8884	0.00	2.33	0.00	0.000	6	0.000	0.028	3218	2113	2740
9195	2.19	45.9	808.8	8.5	206	9197	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2113	2739
9497	2.19	45.9	783.9	8.2	211	9498	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2113	2739
9800	2.19	45.9	758.6	8.4	216	9804	0.00	2.42	0.00	0.000	4	0.000	0.041	3218	677	2739
10057	2.14	45.9	735.8	9.1	219	10062	0.12	2.30	0.00	0.000	6	0.155	0.031	3198	2101	2739
10368	2.21	46.5	711.5	7.9	224	10372	0.00	2.38	0.00	0.000	4	0.000	0.039	3197	680	2739
10417	2.21	46.5	707.3	8.4	224	10422	0.00	2.33	0.00	0.000	6	0.000	0.026	3197	2101	2739
10739	2.29	49.8	683.4	7.4	230	10745	0.12	0.00	4.38	0.815	6	0.084	0.000	3227	2104	2727
11042	2.29	51.2	660.1	7.7	235	11046	0.00	2.40	0.00	0.000	4	0.000	0.040	3228	678	2727
11299	2.24	52.1	639.2	7.8	238	11309	0.00	2.30	3.90	0.732	6	0.000	0.025	3227	2104	2717
11675	2.24	54.1	610.7	7.6	245	11676	0.00	0.00	0.00	0.000	6	0.000	0.000	3227	2104	2717
11978	2.24	58.1	588.6	7.2	250	11991	0.00	2.40	6.75	0.923	4	0.000	0.038	3227	680	2692
12015	2.19	58.1	585.8	8.3	250	12019	0.12	2.30	0.00	0.000	6	0.150	0.031	3206	2099	2692
12341	2.27	58.5	560.1	7.9	256	12342	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	2100	2693
12644	2.35	61.6	537.5	7.4	261	12651	0.15	0.00	4.72	0.782	6	0.081	0.000	3241	2102	2679
12946	2.35	61.6	512.8	8.3	266	12950	0.00	2.40	0.00	0.000	4	0.000	0.040	3241	673	2678
13070	2.28	61.6	501.9	8.7	267	13076	0.00	2.30	0.00	0.000	6	0.000	0.031	3241	2100	2678
13379	2.28	61.9	477.2	7.9	273	13383	0.00	2.38	0.00	0.000	4	0.000	0.041	3241	680	2678
13490	2.21	61.9	467.6	8.1	274	13495	0.15	2.30	0.00	0.000	6	0.149	0.030	3214	2107	2678
13805	2.28	63.7	443.7	7.7	280	13809	0.00	2.28	0.00	0.000	4	0.000	0.038	3214	3494	2678
13832	2.28	63.7	441.5	8.2	280	13836	0.00	2.30	0.00	0.000	6	0.000	0.024	3214	2072	2678
14176	2.35	63.7	414.4	8.0	286	14181	0.10	2.35	0.00	0.000	4	0.090	0.035	3238	3491	2678
14276	2.35	63.7	406.2	8.6	287	14280	0.00	2.25	0.00	0.000	6	0.000	0.023	3238	2098	2678
14601	2.35	65.0	380.7	7.7	293	14611	0.00	2.35	4.53	0.703	4	0.000	0.044	3238	700	2665
14634	2.30	65.0	378.0	8.6	293	14638	0.00	2.28	0.00	0.000	6	0.000	0.028	3238	2110	2665
14966	2.30	67.1	352.8	7.6	299	14970	0.00	2.35	0.00	0.000	4	0.000	0.040	3238	702	2665
15130	2.25	70.3	340.2	7.4	301	15141	0.00	2.25	6.03	0.772	6	0.000	0.023	3237	2103	2644
15462	2.26	73.4	315.5	7.4	307	15471	0.00	2.33	4.50	0.673	4	0.000	0.035	3238	3489	2631
15607	2.26	74.8	304.0	7.7	309	15611	0.00	2.25	0.00	0.000	6	0.000	0.028	3237	2101	2630
15934	2.26	78.2	279.0	7.3	319	15945	0.00	2.35	5.70	0.728	4	0.000	0.038	3238	700	2611
15973	2.22	78.2	276.0	8.1	320	15977	0.12	2.25	0.00	0.000	6	0.150	0.029	3216	2100	2611
16297	2.31	80.1	251.6	7.6	331	16301	0.00	2.35	0.00	0.000	4	0.000	0.045	3216	701	2611
16554	2.32	85.1	230.5	7.0	338	16568	0.00	2.25	7.05	0.747	6	0.000	0.027	3216	2102	2583
16899	2.41	87.6	203.8	7.5	350	16909	0.15	2.40	3.97	0.581	4	0.077	0.038	3256	704	2572
17089	2.36	89.4	187.6	7.7	355	17093	0.00	2.25	0.00	0.000	6	0.000	0.030	3256	2098	2573
17402	2.36	91.2	163.7	7.7	365	17408	0.00	0.00	4.62	0.624	6	0.000	0.000	3257	2100	2559
17719	2.38	105.7	143.9	5.2	377	17740	0.00	2.38	13.05	0.765	4	0.000	0.041	3256	3486	2499
17824	2.38	111.0	136.5	7.0	381	17835	0.00	2.28	5.78	0.650	6	0.000	0.024	3257	2089	2478
18157	2.45	117.3	111.6	6.8	398	18166	0.00	0.00	6.85	0.677	6	0.000	0.000	3256	2089	2452
18466	2.54	129.7	93.2	5.6	413	18480	0.10	0.00	11.18	0.719	6	0.088	0.000	3281	2089	2401
18780	2.54	129.8	68.7	8.0	434	18784	0.00	2.33	0.00	0.000	4	0.000	0.035	3281	3491	2400
19037	2.54	135.1	48.2	7.0	456	19047	0.00	2.25	5.78	0.616	6	0.000	0.025	3281	2099	2380
19373	2.69	173.8	36.3	0.4	488	19411	0.12	2.38	32.15	0.711	4	0.084	0.044	3311	703	2221
19447	2.71	192.5	33.8	4.3	494	19469	0.00	2.28	16.20	0.676	6	0.000	0.023	3311	2116	2145
19785	end climb: SURFACE_DEPTH_REACHED
state	19785	begin surface coast
19797	end surface coast: CONTROL_FINISHED_OK
state	19797	begin surface