Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 306 * 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 306 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 49 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 55 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 -52180.262 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 -52180.262

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 49 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 55 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 306 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 153137,5008.277,-14452.628,37,2.0,37,18.5 TGT_NAME C_NW

_CALLS 1 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.084,-0.086

_SM_DEPTHo 1.68 KALMAN_X 17593.7,-13.5,126.7,-11082.3,-63.9

_SM_ANGLEo -59.8 KALMAN_Y 230188.2,-64.9,-2.6,-215695.5,670.7

GPS2 153706,5008.305,-14452.585,30,1.5,30,18.5 MHEAD_RNG_PITCHd_Wd 117.5,2495,-31.8,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.1,1.024668 XPDR_PINGS 84

SM_CCo 19622,168.32,0.665,0,0,1300,400.08 _24V_AH 23.2,56.641

SM_GC 1.71,0.00,0.00,168.32,0.000,0.000,0.665,497,1892,1300,-10.26,-0.23,400.08 _10V_AH 10.1,29.038

IRIDIUM_FIX 4949.70,-14451.95,231197,101007 DATA_FILE_SIZE 31760,523

TT8_MAMPS 0.029146 CAP_FILE_SIZE 141701,0

HUMID 1780 CFSIZE 260165632,238497792

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

TCM_TEMP 16.00 GPS 290808,210927,5007.551,-14450.152,37,1.8,56,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 165 107.72 SBE_CT 370 24 206.33

Roll_motor 177 98 406.93 SBE_O2 423 19 186.47

VBD_pump_during_apogee 230 1376 7364.78 Optode 541 33 414.65

VBD_pump_during_surface 168 664 2596.88 WL_BB2F 327 105 796.88

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.52 nil 0 0 0.00

Iridium_during_connect 27 160 102.42 nil 0 0 0.00

Iridium_during_xfer 141 223 733.22

Transponder_ping 21 420 204.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.66

TT8 1261 19 252.18

LPSleep 15991 2 353.72

TT8_Active 557 19 111.54

TT8_Sampling 1816 39 730.08

TT8_CF8 495 45 229.06

TT8_Kalman 33 81 27.59

Analog_circuits 1523 12 184.59

GPS_charging 0 0 0.00

Compass 1773 8 143.33

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 -2.16 -34.5 0.0 0.0 0 95 0.00 0.00 -71.15 0.000 2 0.000 0.000 497 1895 2821

98 -2.19 -58.7 3.4 -4.3 7 121 9.38 2.38 -9.27 0.000 4 0.166 0.046 2244 3297 3173

263 -2.28 -58.7 39.7 -19.9 21 270 0.00 2.25 0.00 0.000 6 0.000 0.023 2244 1910 3175

585 -2.32 -58.7 99.7 -18.2 47 589 0.00 2.35 0.00 0.000 4 0.000 0.043 2244 495 3177

624 -2.32 -58.7 107.7 -20.3 48 631 0.00 2.28 0.00 0.000 6 0.000 0.022 2244 1901 3177

960 -2.40 -58.7 161.7 -15.6 64 964 0.15 2.38 0.00 0.000 4 0.073 0.041 2202 498 3178

988 -2.35 -58.7 166.4 -17.4 65 992 0.00 2.25 0.00 0.000 6 0.000 0.028 2203 1905 3178

1323 -2.35 -58.7 217.5 -14.7 76 1327 0.00 2.38 0.00 0.000 4 0.000 0.044 2202 501 3178

1580 -2.29 -58.7 261.1 -17.5 83 1587 0.12 2.25 0.00 0.000 6 0.146 0.024 2225 1906 3178

1923 -2.34 -58.7 313.1 -15.0 94 1927 0.00 2.38 0.00 0.000 4 0.000 0.044 2225 499 3178

2068 -2.34 -58.7 336.1 -16.5 96 2072 0.00 2.25 0.00 0.000 6 0.000 0.022 2225 1904 3177

2417 -2.39 -58.7 387.0 -14.5 102 2421 0.00 2.38 0.00 0.000 4 0.000 0.048 2225 496 3177

2472 -2.39 -58.7 395.4 -15.0 102 2478 0.00 2.25 0.00 0.000 6 0.000 0.028 2224 1899 3177

2781 -2.44 -58.7 437.9 -13.7 108 2786 0.12 2.35 0.00 0.000 4 0.081 0.047 2195 501 3176

2905 -2.36 -58.7 457.0 -15.6 109 2911 0.00 2.25 0.00 0.000 6 0.000 0.025 2194 1907 3176

3213 -2.36 -58.7 500.7 -14.0 115 3217 0.00 2.35 0.00 0.000 4 0.000 0.041 2195 503 3175

3365 -2.27 -58.7 522.7 -14.7 117 3369 0.20 2.22 0.00 0.000 6 0.142 0.031 2231 1899 3175

3715 -2.35 -58.7 564.9 -12.0 123 3719 0.00 2.35 0.00 0.000 4 0.000 0.042 2231 504 3174

3753 -2.35 -58.7 570.1 -12.3 123 3757 0.00 2.25 0.00 0.000 6 0.000 0.031 2231 1920 3174

4079 -2.43 -58.7 607.3 -11.4 129 4084 0.15 2.40 0.00 0.000 4 0.081 0.047 2191 496 3174

4238 -2.34 -58.7 628.9 -14.0 131 4243 0.12 2.25 0.00 0.000 6 0.150 0.025 2212 1901 3173

4574 -2.34 -58.7 669.4 -11.9 137 4578 0.00 2.38 0.00 0.000 4 0.000 0.041 2212 496 3173

4608 -2.29 -58.7 673.8 -12.8 137 4612 0.00 2.25 0.00 0.000 6 0.000 0.022 2212 1901 3173

4933 -2.33 -58.7 713.0 -12.0 143 4938 0.00 2.38 0.00 0.000 4 0.000 0.042 2212 498 3172

4995 -2.33 -58.7 720.9 -12.7 144 4999 0.00 2.28 0.00 0.000 6 0.000 0.024 2212 1911 3172

5362 -2.38 -58.7 763.7 -11.6 150 5366 0.00 2.38 0.00 0.000 4 0.000 0.044 2212 505 3172

5411 -2.38 -58.7 770.1 -12.1 150 5415 0.00 2.25 0.00 0.000 6 0.000 0.028 2213 1906 3172

5727 -2.43 -58.7 806.4 -11.6 156 5731 0.00 2.38 0.00 0.000 4 0.000 0.048 2212 505 3171

5838 -2.43 -58.7 820.7 -13.0 157 5843 0.00 2.22 0.00 0.000 6 0.000 0.023 2211 1900 3171

6165 -2.48 -58.7 857.7 -11.2 163 6169 0.12 2.38 0.00 0.000 4 0.084 0.044 2181 501 3171

6232 -2.37 -58.7 866.6 -13.4 164 6237 0.15 2.25 0.00 0.000 6 0.149 0.029 2207 1898 3171

6598 -2.42 -58.7 908.6 -11.5 170 6602 0.00 2.40 0.00 0.000 4 0.000 0.051 2207 501 3171

6666 -2.38 -58.7 917.2 -12.4 171 6670 0.00 2.28 0.00 0.000 6 0.000 0.032 2207 1899 3170

7026 -2.43 -58.7 957.3 -11.1 177 7027 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 1899 3170

7329 -2.47 -58.7 989.6 -10.6 182 7330 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 1898 3170

7386 end dive: TARGET_DEPTH_EXCEEDED

state 7386 begin apogee

7393 -0.33 0.0 995.9 10.6 183 7450 2.22 0.00 53.10 1.377 6 0.135 0.000 2650 2086 2931

7451 end apogee: CONTROL_FINISHED_OK

state 7451 begin climb

7453 2.19 58.7 997.7 0.0 184 7516 2.42 2.60 52.08 1.351 4 0.066 0.075 3208 3509 2691

7528 2.07 58.7 993.1 8.1 185 7533 0.15 2.45 0.00 0.000 6 0.149 0.053 3183 2115 2690

7882 2.03 58.7 955.1 10.9 191 7886 0.00 2.42 0.00 0.000 4 0.000 0.053 3183 3509 2689

7999 1.96 58.7 941.6 11.5 192 8004 0.15 2.38 0.00 0.000 6 0.146 0.041 3158 2090 2689

8308 1.96 58.7 910.7 9.9 197 8312 0.00 2.42 0.00 0.000 4 0.000 0.044 3157 3515 2688

8334 1.96 58.7 907.9 10.2 197 8339 0.00 2.38 0.00 0.000 6 0.000 0.035 3157 2075 2688

8674 1.96 58.7 876.0 9.4 203 8675 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2075 2688

8975 1.96 58.7 849.1 8.8 208 8976 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2075 2688

9278 1.96 58.7 823.7 8.3 213 9279 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2075 2687

9581 1.96 58.7 798.4 8.3 218 9585 0.00 2.42 0.00 0.000 4 0.000 0.039 3157 3518 2687

9608 1.96 58.7 795.8 9.6 218 9612 0.00 2.33 0.00 0.000 6 0.000 0.028 3157 2095 2687

9945 1.96 58.7 765.6 9.0 224 9949 0.00 2.35 0.00 0.000 4 0.000 0.043 3157 692 2687

9984 1.90 58.7 762.0 9.4 224 9988 0.00 2.33 0.00 0.000 6 0.000 0.031 3157 2126 2687

10303 1.90 58.7 733.2 8.9 230 10307 0.00 2.28 0.00 0.000 4 0.000 0.038 3157 3494 2686

10342 1.90 58.7 729.6 9.4 230 10346 0.00 2.28 0.00 0.000 6 0.000 0.031 3157 2093 2686

10668 1.90 58.7 701.7 8.6 236 10669 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2093 2686

10970 1.90 58.7 676.9 8.2 241 10974 0.00 2.33 0.00 0.000 4 0.000 0.048 3157 698 2687

11003 1.84 58.7 674.1 8.9 241 11008 0.15 2.28 0.00 0.000 6 0.149 0.032 3132 2107 2686

11329 1.92 62.3 649.7 7.4 247 11338 0.00 2.35 3.90 0.738 4 0.000 0.041 3131 3491 2677

11379 1.97 62.3 645.9 8.1 247 11384 0.12 2.28 0.00 0.000 6 0.084 0.025 3160 2093 2677

11693 1.97 62.3 620.3 8.3 253 11697 0.00 2.35 0.00 0.000 4 0.000 0.040 3161 3501 2677

11754 1.97 62.3 614.9 8.9 254 11758 0.00 2.28 0.00 0.000 6 0.000 0.029 3160 2099 2677

12119 1.97 62.3 583.6 8.6 260 12120 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 2099 2677

12422 1.97 62.3 556.6 9.0 265 12426 0.00 2.33 0.00 0.000 4 0.000 0.041 3160 701 2677

12477 1.92 62.3 551.2 9.1 265 12483 0.00 2.25 0.00 0.000 6 0.000 0.027 3160 2101 2676

12787 1.92 62.3 524.2 8.7 271 12788 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 2102 2676

13090 1.92 62.9 499.9 7.9 276 13091 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 2103 2676

13393 1.93 67.7 477.4 7.3 281 13404 0.00 2.38 6.38 0.861 4 0.000 0.038 3161 698 2654

13489 1.89 69.0 469.9 7.8 282 13493 0.00 2.28 0.00 0.000 6 0.000 0.026 3160 2102 2653

13820 1.90 74.6 445.7 7.1 288 13829 0.00 0.00 7.45 0.876 6 0.000 0.000 3161 2105 2626

14123 1.90 77.3 422.9 7.6 293 14132 0.00 2.38 4.12 0.679 4 0.000 0.038 3161 701 2614

14212 1.90 77.3 415.3 9.0 294 14216 0.00 2.28 0.00 0.000 6 0.000 0.028 3160 2104 2614

14555 1.95 78.4 388.3 7.8 300 14559 0.00 2.35 0.00 0.000 4 0.000 0.038 3161 701 2614

14626 1.95 78.4 382.2 8.4 301 14631 0.00 2.30 0.00 0.000 6 0.000 0.031 3161 2103 2614

14987 2.00 82.6 355.4 7.3 307 14998 0.00 2.38 6.05 0.784 4 0.000 0.039 3160 701 2594

15031 2.00 82.6 351.7 8.2 307 15035 0.00 2.28 0.00 0.000 6 0.000 0.026 3160 2100 2593

15353 2.05 84.6 327.3 7.7 313 15357 0.00 2.30 0.00 0.000 4 0.000 0.035 3161 3494 2593

15431 2.05 84.6 320.5 8.5 314 15435 0.00 2.28 0.00 0.000 6 0.000 0.031 3161 2088 2593

15749 2.11 84.6 294.2 8.1 320 15753 0.12 2.35 0.00 0.000 4 0.083 0.036 3190 3502 2592

15843 2.06 84.6 286.0 8.9 322 15849 0.00 2.28 0.00 0.000 6 0.000 0.024 3190 2097 2593

16156 2.06 85.3 261.5 7.9 333 16165 0.00 2.38 3.88 0.597 4 0.000 0.041 3189 705 2583

16257 1.99 85.3 252.7 8.7 336 16262 0.15 2.28 0.00 0.000 6 0.142 0.031 3164 2108 2583

16592 2.05 88.5 226.8 7.5 347 16602 0.00 2.33 4.72 0.654 4 0.000 0.035 3164 3497 2569

16722 2.05 88.5 216.8 8.0 350 16728 0.00 2.28 0.00 0.000 6 0.000 0.024 3164 2094 2569

17035 2.12 95.7 195.2 6.9 361 17045 0.10 0.00 7.60 0.744 6 0.091 0.000 3187 2093 2540

17341 2.12 95.7 169.1 9.0 371 17342 0.00 0.00 0.00 0.000 6 0.000 0.000 3187 2093 2540

17647 2.12 100.1 143.9 7.3 382 17657 0.00 2.33 5.10 0.642 4 0.000 0.039 3187 705 2522

17741 2.14 112.5 138.0 6.1 386 17757 0.00 2.25 11.35 0.752 6 0.000 0.030 3187 2112 2472

18081 2.22 140.1 121.5 3.7 403 18111 0.10 2.40 22.75 0.770 4 0.088 0.037 3211 3492 2360

18139 2.23 147.7 117.4 6.8 405 18154 0.00 2.28 7.97 0.680 6 0.000 0.025 3212 2102 2327

18477 2.28 147.7 86.3 9.8 422 18481 0.00 2.35 0.00 0.000 4 0.000 0.048 3212 698 2325

18494 2.28 147.7 84.7 9.7 423 18498 0.00 2.28 0.00 0.000 6 0.000 0.032 3212 2098 2325

18821 2.34 153.6 59.8 7.1 451 18829 0.10 0.00 5.95 0.631 6 0.089 0.000 3236 2101 2304

19147 2.38 186.9 32.7 2.8 482 19180 0.00 2.42 28.17 0.713 4 0.000 0.034 3236 3499 2167

19328 2.38 186.9 22.7 8.9 498 19332 0.00 2.28 0.00 0.000 6 0.000 0.030 3236 2099 2162

19576 end climb: SURFACE_DEPTH_REACHED

state 19576 begin surface coast

19600 end surface coast: CONTROL_FINISHED_OK

state 19600 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	306	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	49	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	55	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	-52180.262	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	153137,5008.277,-14452.628,37,2.0,37,18.5	TGT_NAME	C_NW
_CALLS	1	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.084,-0.086
_SM_DEPTHo	1.68	KALMAN_X	17593.7,-13.5,126.7,-11082.3,-63.9
_SM_ANGLEo	-59.8	KALMAN_Y	230188.2,-64.9,-2.6,-215695.5,670.7
GPS2	153706,5008.305,-14452.585,30,1.5,30,18.5	MHEAD_RNG_PITCHd_Wd	117.5,2495,-31.8,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

FINISH	1.1,1.024668	XPDR_PINGS	84
SM_CCo	19622,168.32,0.665,0,0,1300,400.08	_24V_AH	23.2,56.641
SM_GC	1.71,0.00,0.00,168.32,0.000,0.000,0.665,497,1892,1300,-10.26,-0.23,400.08	_10V_AH	10.1,29.038
IRIDIUM_FIX	4949.70,-14451.95,231197,101007	DATA_FILE_SIZE	31760,523
TT8_MAMPS	0.029146	CAP_FILE_SIZE	141701,0
HUMID	1780	CFSIZE	260165632,238497792
INTERNAL_PRESSURE	7.69561	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.00	GPS	290808,210927,5007.551,-14450.152,37,1.8,56,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	165	107.72	SBE_CT	370	24	206.33
Roll_motor	177	98	406.93	SBE_O2	423	19	186.47
VBD_pump_during_apogee	230	1376	7364.78	Optode	541	33	414.65
VBD_pump_during_surface	168	664	2596.88	WL_BB2F	327	105	796.88
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.52	nil	0	0	0.00
Iridium_during_connect	27	160	102.42	nil	0	0	0.00
Iridium_during_xfer	141	223	733.22
Transponder_ping	21	420	204.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.66
TT8	1261	19	252.18
LPSleep	15991	2	353.72
TT8_Active	557	19	111.54
TT8_Sampling	1816	39	730.08
TT8_CF8	495	45	229.06
TT8_Kalman	33	81	27.59
Analog_circuits	1523	12	184.59
GPS_charging	0	0	0.00
Compass	1773	8	143.33
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	-2.16	-34.5	0.0	0.0	0	95	0.00	0.00	-71.15	0.000	2	0.000	0.000	497	1895	2821
98	-2.19	-58.7	3.4	-4.3	7	121	9.38	2.38	-9.27	0.000	4	0.166	0.046	2244	3297	3173
263	-2.28	-58.7	39.7	-19.9	21	270	0.00	2.25	0.00	0.000	6	0.000	0.023	2244	1910	3175
585	-2.32	-58.7	99.7	-18.2	47	589	0.00	2.35	0.00	0.000	4	0.000	0.043	2244	495	3177
624	-2.32	-58.7	107.7	-20.3	48	631	0.00	2.28	0.00	0.000	6	0.000	0.022	2244	1901	3177
960	-2.40	-58.7	161.7	-15.6	64	964	0.15	2.38	0.00	0.000	4	0.073	0.041	2202	498	3178
988	-2.35	-58.7	166.4	-17.4	65	992	0.00	2.25	0.00	0.000	6	0.000	0.028	2203	1905	3178
1323	-2.35	-58.7	217.5	-14.7	76	1327	0.00	2.38	0.00	0.000	4	0.000	0.044	2202	501	3178
1580	-2.29	-58.7	261.1	-17.5	83	1587	0.12	2.25	0.00	0.000	6	0.146	0.024	2225	1906	3178
1923	-2.34	-58.7	313.1	-15.0	94	1927	0.00	2.38	0.00	0.000	4	0.000	0.044	2225	499	3178
2068	-2.34	-58.7	336.1	-16.5	96	2072	0.00	2.25	0.00	0.000	6	0.000	0.022	2225	1904	3177
2417	-2.39	-58.7	387.0	-14.5	102	2421	0.00	2.38	0.00	0.000	4	0.000	0.048	2225	496	3177
2472	-2.39	-58.7	395.4	-15.0	102	2478	0.00	2.25	0.00	0.000	6	0.000	0.028	2224	1899	3177
2781	-2.44	-58.7	437.9	-13.7	108	2786	0.12	2.35	0.00	0.000	4	0.081	0.047	2195	501	3176
2905	-2.36	-58.7	457.0	-15.6	109	2911	0.00	2.25	0.00	0.000	6	0.000	0.025	2194	1907	3176
3213	-2.36	-58.7	500.7	-14.0	115	3217	0.00	2.35	0.00	0.000	4	0.000	0.041	2195	503	3175
3365	-2.27	-58.7	522.7	-14.7	117	3369	0.20	2.22	0.00	0.000	6	0.142	0.031	2231	1899	3175
3715	-2.35	-58.7	564.9	-12.0	123	3719	0.00	2.35	0.00	0.000	4	0.000	0.042	2231	504	3174
3753	-2.35	-58.7	570.1	-12.3	123	3757	0.00	2.25	0.00	0.000	6	0.000	0.031	2231	1920	3174
4079	-2.43	-58.7	607.3	-11.4	129	4084	0.15	2.40	0.00	0.000	4	0.081	0.047	2191	496	3174
4238	-2.34	-58.7	628.9	-14.0	131	4243	0.12	2.25	0.00	0.000	6	0.150	0.025	2212	1901	3173
4574	-2.34	-58.7	669.4	-11.9	137	4578	0.00	2.38	0.00	0.000	4	0.000	0.041	2212	496	3173
4608	-2.29	-58.7	673.8	-12.8	137	4612	0.00	2.25	0.00	0.000	6	0.000	0.022	2212	1901	3173
4933	-2.33	-58.7	713.0	-12.0	143	4938	0.00	2.38	0.00	0.000	4	0.000	0.042	2212	498	3172
4995	-2.33	-58.7	720.9	-12.7	144	4999	0.00	2.28	0.00	0.000	6	0.000	0.024	2212	1911	3172
5362	-2.38	-58.7	763.7	-11.6	150	5366	0.00	2.38	0.00	0.000	4	0.000	0.044	2212	505	3172
5411	-2.38	-58.7	770.1	-12.1	150	5415	0.00	2.25	0.00	0.000	6	0.000	0.028	2213	1906	3172
5727	-2.43	-58.7	806.4	-11.6	156	5731	0.00	2.38	0.00	0.000	4	0.000	0.048	2212	505	3171
5838	-2.43	-58.7	820.7	-13.0	157	5843	0.00	2.22	0.00	0.000	6	0.000	0.023	2211	1900	3171
6165	-2.48	-58.7	857.7	-11.2	163	6169	0.12	2.38	0.00	0.000	4	0.084	0.044	2181	501	3171
6232	-2.37	-58.7	866.6	-13.4	164	6237	0.15	2.25	0.00	0.000	6	0.149	0.029	2207	1898	3171
6598	-2.42	-58.7	908.6	-11.5	170	6602	0.00	2.40	0.00	0.000	4	0.000	0.051	2207	501	3171
6666	-2.38	-58.7	917.2	-12.4	171	6670	0.00	2.28	0.00	0.000	6	0.000	0.032	2207	1899	3170
7026	-2.43	-58.7	957.3	-11.1	177	7027	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	1899	3170
7329	-2.47	-58.7	989.6	-10.6	182	7330	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	1898	3170
7386	end dive: TARGET_DEPTH_EXCEEDED
state	7386	begin apogee
7393	-0.33	0.0	995.9	10.6	183	7450	2.22	0.00	53.10	1.377	6	0.135	0.000	2650	2086	2931
7451	end apogee: CONTROL_FINISHED_OK
state	7451	begin climb
7453	2.19	58.7	997.7	0.0	184	7516	2.42	2.60	52.08	1.351	4	0.066	0.075	3208	3509	2691
7528	2.07	58.7	993.1	8.1	185	7533	0.15	2.45	0.00	0.000	6	0.149	0.053	3183	2115	2690
7882	2.03	58.7	955.1	10.9	191	7886	0.00	2.42	0.00	0.000	4	0.000	0.053	3183	3509	2689
7999	1.96	58.7	941.6	11.5	192	8004	0.15	2.38	0.00	0.000	6	0.146	0.041	3158	2090	2689
8308	1.96	58.7	910.7	9.9	197	8312	0.00	2.42	0.00	0.000	4	0.000	0.044	3157	3515	2688
8334	1.96	58.7	907.9	10.2	197	8339	0.00	2.38	0.00	0.000	6	0.000	0.035	3157	2075	2688
8674	1.96	58.7	876.0	9.4	203	8675	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	2075	2688
8975	1.96	58.7	849.1	8.8	208	8976	0.00	0.00	0.00	0.000	6	0.000	0.000	3157	2075	2688
9278	1.96	58.7	823.7	8.3	213	9279	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	2075	2687
9581	1.96	58.7	798.4	8.3	218	9585	0.00	2.42	0.00	0.000	4	0.000	0.039	3157	3518	2687
9608	1.96	58.7	795.8	9.6	218	9612	0.00	2.33	0.00	0.000	6	0.000	0.028	3157	2095	2687
9945	1.96	58.7	765.6	9.0	224	9949	0.00	2.35	0.00	0.000	4	0.000	0.043	3157	692	2687
9984	1.90	58.7	762.0	9.4	224	9988	0.00	2.33	0.00	0.000	6	0.000	0.031	3157	2126	2687
10303	1.90	58.7	733.2	8.9	230	10307	0.00	2.28	0.00	0.000	4	0.000	0.038	3157	3494	2686
10342	1.90	58.7	729.6	9.4	230	10346	0.00	2.28	0.00	0.000	6	0.000	0.031	3157	2093	2686
10668	1.90	58.7	701.7	8.6	236	10669	0.00	0.00	0.00	0.000	6	0.000	0.000	3157	2093	2686
10970	1.90	58.7	676.9	8.2	241	10974	0.00	2.33	0.00	0.000	4	0.000	0.048	3157	698	2687
11003	1.84	58.7	674.1	8.9	241	11008	0.15	2.28	0.00	0.000	6	0.149	0.032	3132	2107	2686
11329	1.92	62.3	649.7	7.4	247	11338	0.00	2.35	3.90	0.738	4	0.000	0.041	3131	3491	2677
11379	1.97	62.3	645.9	8.1	247	11384	0.12	2.28	0.00	0.000	6	0.084	0.025	3160	2093	2677
11693	1.97	62.3	620.3	8.3	253	11697	0.00	2.35	0.00	0.000	4	0.000	0.040	3161	3501	2677
11754	1.97	62.3	614.9	8.9	254	11758	0.00	2.28	0.00	0.000	6	0.000	0.029	3160	2099	2677
12119	1.97	62.3	583.6	8.6	260	12120	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	2099	2677
12422	1.97	62.3	556.6	9.0	265	12426	0.00	2.33	0.00	0.000	4	0.000	0.041	3160	701	2677
12477	1.92	62.3	551.2	9.1	265	12483	0.00	2.25	0.00	0.000	6	0.000	0.027	3160	2101	2676
12787	1.92	62.3	524.2	8.7	271	12788	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	2102	2676
13090	1.92	62.9	499.9	7.9	276	13091	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	2103	2676
13393	1.93	67.7	477.4	7.3	281	13404	0.00	2.38	6.38	0.861	4	0.000	0.038	3161	698	2654
13489	1.89	69.0	469.9	7.8	282	13493	0.00	2.28	0.00	0.000	6	0.000	0.026	3160	2102	2653
13820	1.90	74.6	445.7	7.1	288	13829	0.00	0.00	7.45	0.876	6	0.000	0.000	3161	2105	2626
14123	1.90	77.3	422.9	7.6	293	14132	0.00	2.38	4.12	0.679	4	0.000	0.038	3161	701	2614
14212	1.90	77.3	415.3	9.0	294	14216	0.00	2.28	0.00	0.000	6	0.000	0.028	3160	2104	2614
14555	1.95	78.4	388.3	7.8	300	14559	0.00	2.35	0.00	0.000	4	0.000	0.038	3161	701	2614
14626	1.95	78.4	382.2	8.4	301	14631	0.00	2.30	0.00	0.000	6	0.000	0.031	3161	2103	2614
14987	2.00	82.6	355.4	7.3	307	14998	0.00	2.38	6.05	0.784	4	0.000	0.039	3160	701	2594
15031	2.00	82.6	351.7	8.2	307	15035	0.00	2.28	0.00	0.000	6	0.000	0.026	3160	2100	2593
15353	2.05	84.6	327.3	7.7	313	15357	0.00	2.30	0.00	0.000	4	0.000	0.035	3161	3494	2593
15431	2.05	84.6	320.5	8.5	314	15435	0.00	2.28	0.00	0.000	6	0.000	0.031	3161	2088	2593
15749	2.11	84.6	294.2	8.1	320	15753	0.12	2.35	0.00	0.000	4	0.083	0.036	3190	3502	2592
15843	2.06	84.6	286.0	8.9	322	15849	0.00	2.28	0.00	0.000	6	0.000	0.024	3190	2097	2593
16156	2.06	85.3	261.5	7.9	333	16165	0.00	2.38	3.88	0.597	4	0.000	0.041	3189	705	2583
16257	1.99	85.3	252.7	8.7	336	16262	0.15	2.28	0.00	0.000	6	0.142	0.031	3164	2108	2583
16592	2.05	88.5	226.8	7.5	347	16602	0.00	2.33	4.72	0.654	4	0.000	0.035	3164	3497	2569
16722	2.05	88.5	216.8	8.0	350	16728	0.00	2.28	0.00	0.000	6	0.000	0.024	3164	2094	2569
17035	2.12	95.7	195.2	6.9	361	17045	0.10	0.00	7.60	0.744	6	0.091	0.000	3187	2093	2540
17341	2.12	95.7	169.1	9.0	371	17342	0.00	0.00	0.00	0.000	6	0.000	0.000	3187	2093	2540
17647	2.12	100.1	143.9	7.3	382	17657	0.00	2.33	5.10	0.642	4	0.000	0.039	3187	705	2522
17741	2.14	112.5	138.0	6.1	386	17757	0.00	2.25	11.35	0.752	6	0.000	0.030	3187	2112	2472
18081	2.22	140.1	121.5	3.7	403	18111	0.10	2.40	22.75	0.770	4	0.088	0.037	3211	3492	2360
18139	2.23	147.7	117.4	6.8	405	18154	0.00	2.28	7.97	0.680	6	0.000	0.025	3212	2102	2327
18477	2.28	147.7	86.3	9.8	422	18481	0.00	2.35	0.00	0.000	4	0.000	0.048	3212	698	2325
18494	2.28	147.7	84.7	9.7	423	18498	0.00	2.28	0.00	0.000	6	0.000	0.032	3212	2098	2325
18821	2.34	153.6	59.8	7.1	451	18829	0.10	0.00	5.95	0.631	6	0.089	0.000	3236	2101	2304
19147	2.38	186.9	32.7	2.8	482	19180	0.00	2.42	28.17	0.713	4	0.000	0.034	3236	3499	2167
19328	2.38	186.9	22.7	8.9	498	19332	0.00	2.28	0.00	0.000	6	0.000	0.030	3236	2099	2162
19576	end climb: SURFACE_DEPTH_REACHED
state	19576	begin surface coast
19600	end surface coast: CONTROL_FINISHED_OK
state	19600	begin surface