Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 88 * 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 88 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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 32 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 -33567.344 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 2 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 -33567.344

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

CF8_MAXERRORS 2 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 29 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 88 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 014021,5019.206,-14509.685,137,2.2,156,18.5 TGT_NAME NW

_CALLS 1 TGT_LATLONG 5021.009,-14511.944

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,0.133

_SM_DEPTHo 1.58 KALMAN_X 5329.9,146.1,-102.4,-19206.0,-539.9

_SM_ANGLEo -55.3 KALMAN_Y 61944.4,-55.1,51.5,-27242.4,-40.3

GPS2 014704,5019.247,-14509.759,78,2.7,97,18.5 MHEAD_RNG_PITCHd_Wd 309.5,4161,-24.8,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.9,1.002922 XPDR_PINGS 80

SM_CCo 19007,180.23,0.659,0,0,1300,400.08 _24V_AH 23.4,20.636

SM_GC 1.40,0.00,0.00,180.23,0.000,0.000,0.659,491,1894,1300,-10.29,-0.14,400.08 _10V_AH 10.2,10.332

IRIDIUM_FIX 4959.75,-14510.41,240997,191939 DATA_FILE_SIZE 31725,518

TT8_MAMPS 0.029913 CAP_FILE_SIZE 129403,0

HUMID 1698 CFSIZE 260165632,252579840

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

TCM_TEMP 15.50 GPS 010708,071007,5021.286,-14511.847,105,2.0,105,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 168 106.12 SBE_CT 370 24 208.21

Roll_motor 169 110 438.72 SBE_O2 419 19 186.62

VBD_pump_during_apogee 242 1359 7714.73 Optode 539 33 416.65

VBD_pump_during_surface 180 658 2778.56 WL_BB2F 335 105 824.90

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.33 nil 0 0 0.00

Iridium_during_connect 39 160 148.72 nil 0 0 0.00

Iridium_during_xfer 153 223 803.19

Transponder_ping 20 420 196.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 98 50 50.06

TT8 1199 19 242.33

LPSleep 15698 2 350.66

TT8_Active 610 19 123.33

TT8_Sampling 1677 39 680.97

TT8_CF8 408 45 190.85

TT8_Kalman 33 81 27.84

Analog_circuits 1475 12 180.66

GPS_charging 0 0 0.00

Compass 1581 8 129.07

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.72 -57.0 0.0 0.0 0 93 0.00 0.00 -72.35 0.000 2 0.000 0.000 495 1891 2742

95 -1.78 -101.1 3.1 -3.9 7 129 9.88 2.47 -18.85 0.000 4 0.169 0.063 2336 3309 3346

286 -1.78 -101.1 35.1 -19.0 24 290 0.00 2.38 0.00 0.000 6 0.000 0.044 2336 1895 3349

614 -1.78 -101.1 91.5 -16.7 52 618 0.00 2.40 0.00 0.000 4 0.000 0.061 2336 498 3349

848 -1.78 -101.1 128.5 -15.2 62 855 0.00 2.35 0.00 0.000 6 0.000 0.042 2336 1902 3350

1173 -1.82 -101.1 174.2 -14.3 76 1177 0.00 2.42 0.00 0.000 4 0.000 0.057 2336 498 3350

1262 -1.82 -101.1 187.8 -14.9 78 1268 0.00 2.35 0.00 0.000 6 0.000 0.039 2336 1896 3350

1574 -1.88 -101.1 230.6 -13.4 89 1578 0.00 2.42 0.00 0.000 4 0.000 0.057 2336 498 3350

1651 -1.88 -101.1 241.6 -14.0 91 1656 0.00 2.35 0.00 0.000 6 0.000 0.042 2336 1893 3349

1975 -1.94 -101.1 282.3 -12.5 102 1980 0.12 2.42 0.00 0.000 4 0.077 0.059 2305 496 3350

2070 -1.87 -101.1 296.3 -14.9 105 2074 0.00 2.35 0.00 0.000 6 0.000 0.044 2305 1906 3349

2400 -1.87 -101.1 343.3 -14.2 111 2404 0.00 2.45 0.00 0.000 4 0.000 0.056 2305 494 3349

2438 -1.80 -101.1 349.1 -15.6 111 2443 0.08 2.38 0.00 0.000 6 0.110 0.038 2329 1901 3349

2764 -1.85 -101.1 390.6 -12.6 117 2768 0.00 2.42 0.00 0.000 4 0.000 0.062 2329 499 3349

2880 -1.85 -101.1 406.5 -14.0 118 2884 0.00 2.35 0.00 0.000 6 0.000 0.039 2329 1896 3349

3195 -1.91 -101.1 445.8 -12.4 124 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 1898 3348

3498 -1.97 -101.1 481.8 -11.7 129 3503 0.15 2.42 0.00 0.000 4 0.074 0.056 2288 499 3348

3559 -1.87 -101.1 490.3 -14.6 130 3564 0.17 2.35 0.00 0.000 6 0.127 0.041 2320 1908 3348

3929 -1.87 -101.1 534.7 -11.8 136 3933 0.00 2.45 0.00 0.000 4 0.000 0.064 2320 496 3347

4005 -1.87 -101.1 544.5 -12.5 137 4010 0.00 2.38 0.00 0.000 6 0.000 0.041 2320 1901 3348

4360 -1.91 -101.1 585.5 -11.5 143 4364 0.00 2.42 0.00 0.000 4 0.000 0.058 2320 498 3347

4398 -1.91 -101.1 590.3 -12.5 143 4402 0.00 2.38 0.00 0.000 6 0.000 0.039 2320 1904 3347

4725 -1.96 -101.1 626.9 -11.2 149 4729 0.00 2.45 0.00 0.000 4 0.000 0.058 2320 494 3346

4790 -1.96 -101.1 635.4 -12.8 150 4795 0.00 2.38 0.00 0.000 6 0.000 0.042 2320 1902 3346

5156 -2.00 -101.1 677.1 -11.3 156 5161 0.12 2.45 0.00 0.000 4 0.081 0.060 2289 494 3346

5233 -1.93 -101.1 687.4 -13.2 157 5237 0.00 2.38 0.00 0.000 6 0.000 0.040 2289 1918 3346

5587 -1.93 -101.1 730.5 -12.0 163 5591 0.00 2.47 0.00 0.000 4 0.000 0.062 2289 497 3345

5643 -1.86 -101.1 737.6 -13.2 163 5648 0.17 2.35 0.00 0.000 6 0.130 0.040 2321 1906 3345

5952 -1.92 -101.1 771.4 -10.8 168 5956 0.00 2.45 0.00 0.000 4 0.000 0.060 2321 499 3344

5989 -1.92 -101.1 775.8 -12.2 168 5993 0.00 2.38 0.00 0.000 6 0.000 0.040 2321 1902 3345

6315 -1.97 -101.1 810.8 -10.7 174 6317 0.00 0.00 0.00 0.000 6 0.000 0.000 2321 1904 3345

6618 -2.03 -101.1 842.8 -10.6 179 6623 0.15 2.45 0.00 0.000 4 0.077 0.063 2280 501 3344

6673 -1.94 -101.1 849.8 -13.2 179 6680 0.12 2.35 0.00 0.000 6 0.139 0.045 2302 1903 3344

6982 -1.94 -101.1 884.6 -11.2 185 6986 0.00 2.45 0.00 0.000 4 0.000 0.064 2302 501 3344

7070 -1.94 -101.1 895.8 -13.0 186 7075 0.00 2.38 0.00 0.000 6 0.000 0.045 2302 1898 3344

7420 -1.94 -101.1 936.2 -11.5 192 7424 0.00 2.50 0.00 0.000 4 0.000 0.071 2302 496 3344

7459 -1.90 -101.1 941.2 -12.3 192 7464 0.00 2.38 0.00 0.000 6 0.000 0.046 2302 1895 3344

7779 -1.90 -101.1 979.5 -11.8 198 7783 0.00 2.55 0.00 0.000 4 0.000 0.087 2301 503 3344

7811 -1.85 -101.1 983.7 -12.7 198 7816 0.10 2.42 0.00 0.000 6 0.148 0.058 2319 1894 3344

7904 end dive: TARGET_DEPTH_EXCEEDED

state 7904 begin apogee

7908 -0.33 0.0 994.3 11.0 200 8001 1.60 0.00 88.60 1.359 6 0.117 0.000 2649 2106 2931

8002 end apogee: CONTROL_FINISHED_OK

state 8002 begin climb

8003 1.78 101.1 996.5 0.0 201 8100 2.08 2.72 87.15 1.332 4 0.065 0.092 3117 3514 2517

8129 1.61 101.1 988.3 11.4 203 8134 0.20 2.53 0.00 0.000 6 0.131 0.066 3080 2107 2515

8448 1.61 101.1 953.9 10.8 209 8449 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2107 2513

8751 1.61 101.1 919.6 11.3 214 8752 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2107 2512

9054 1.57 101.1 884.6 11.5 219 9059 0.00 2.50 0.00 0.000 4 0.000 0.066 3080 677 2512

9109 1.47 101.1 877.8 12.4 219 9116 0.15 2.42 0.00 0.000 6 0.136 0.044 3053 2117 2512

9418 1.47 101.1 845.2 10.5 225 9423 0.00 2.50 0.00 0.000 4 0.000 0.063 3053 683 2512

9445 1.47 101.1 842.0 11.4 225 9450 0.00 2.40 0.00 0.000 6 0.000 0.046 3053 2099 2512

9782 1.47 101.1 807.6 10.2 231 9783 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2099 2511

10085 1.47 101.1 777.3 10.0 236 10089 0.00 2.47 0.00 0.000 4 0.000 0.064 3052 675 2511

10129 1.47 101.1 772.6 10.7 236 10133 0.00 2.40 0.00 0.000 6 0.000 0.044 3053 2091 2511

10449 1.47 101.1 740.3 10.1 242 10453 0.00 2.40 0.00 0.000 4 0.000 0.054 3053 3500 2511

10497 1.47 101.1 735.0 10.2 242 10502 0.00 2.40 0.00 0.000 6 0.000 0.043 3053 2083 2511

10818 1.47 101.1 703.6 9.8 248 10819 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2083 2511

11121 1.47 101.1 675.8 9.1 253 11122 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2083 2511

11424 1.47 101.1 649.3 8.7 258 11425 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2083 2511

11727 1.47 101.1 622.7 8.9 263 11731 0.00 2.40 0.00 0.000 4 0.000 0.064 3053 695 2510

11776 1.47 101.1 617.8 9.9 263 11781 0.00 2.38 0.00 0.000 6 0.000 0.043 3053 2096 2510

12093 1.47 101.1 589.3 9.1 269 12094 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2099 2510

12394 1.52 101.1 560.6 9.5 274 12396 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2099 2510

12697 1.52 101.1 531.2 9.8 279 12701 0.00 2.42 0.00 0.000 4 0.000 0.056 3053 691 2510

12746 1.52 101.1 526.1 10.7 279 12751 0.00 2.38 0.00 0.000 6 0.000 0.048 3053 2096 2510

13067 1.57 101.1 493.8 10.1 285 13068 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2099 2510

13370 1.61 101.1 465.0 9.5 290 13372 0.12 0.00 0.00 0.000 6 0.081 0.000 3082 2100 2510

13673 1.61 101.1 435.2 9.9 295 13677 0.00 2.42 0.00 0.000 4 0.000 0.062 3083 690 2510

13705 1.52 101.1 432.0 9.9 295 13709 0.12 2.35 0.00 0.000 6 0.136 0.041 3061 2101 2510

14036 1.52 101.1 402.3 8.9 301 14037 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2104 2510

14339 1.52 101.1 377.1 8.3 306 14343 0.00 2.42 0.00 0.000 4 0.000 0.054 3061 687 2510

14427 1.52 101.1 369.0 8.8 307 14432 0.00 2.38 0.00 0.000 6 0.000 0.044 3061 2092 2510

14778 1.52 101.1 338.1 8.9 313 14779 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2095 2510

15079 1.52 101.1 311.0 9.0 318 15083 0.00 2.42 0.00 0.000 4 0.000 0.060 3061 689 2510

15127 1.52 101.1 306.2 9.3 318 15132 0.00 2.38 0.00 0.000 6 0.000 0.044 3061 2092 2510

15445 1.52 101.1 279.9 8.1 328 15449 0.00 2.40 0.00 0.000 4 0.000 0.056 3061 3506 2511

15550 1.52 102.0 271.1 7.9 331 15554 0.00 2.38 0.00 0.000 6 0.000 0.038 3061 2096 2510

15879 1.57 105.6 245.8 7.7 342 15888 0.00 2.42 4.15 0.623 4 0.000 0.055 3061 691 2500

15946 1.57 105.6 240.3 8.4 344 15950 0.00 2.35 0.00 0.000 6 0.000 0.045 3061 2101 2500

16285 1.62 111.1 214.0 7.5 355 16293 0.00 0.00 6.10 0.714 6 0.000 0.000 3061 2104 2478

16592 1.69 124.4 192.4 6.7 365 16606 0.15 0.00 12.25 0.784 6 0.074 0.000 3099 2104 2423

16897 1.69 124.4 164.8 9.6 375 16898 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2105 2422

17217 1.69 124.4 133.9 9.0 388 17221 0.00 2.42 0.00 0.000 4 0.000 0.057 3098 698 2422

17271 1.61 124.4 128.0 12.0 390 17278 0.00 2.38 0.00 0.000 6 0.000 0.043 3098 2097 2422

17587 1.62 128.9 101.9 7.6 406 17597 0.00 2.40 5.32 0.637 4 0.000 0.048 3098 3506 2404

17652 1.63 141.1 97.5 6.9 409 17669 0.00 2.38 11.43 0.716 6 0.000 0.040 3098 2102 2354

17979 1.67 169.4 77.8 5.3 426 18011 0.00 2.50 23.77 0.726 4 0.000 0.061 3098 699 2239

18129 1.67 172.7 66.2 7.7 439 18139 0.00 2.35 3.80 0.506 6 0.000 0.040 3098 2107 2226

18465 1.75 175.0 39.3 7.8 471 18469 0.00 2.45 0.00 0.000 4 0.000 0.060 3098 690 2225

18541 1.75 175.0 31.9 9.6 477 18548 0.00 2.40 0.00 0.000 6 0.000 0.044 3098 2101 2224

18869 1.83 175.0 10.3 8.4 508 18874 0.12 2.42 0.00 0.000 4 0.079 0.054 3130 692 2224

18908 1.75 175.0 6.6 8.9 511 18913 0.12 2.35 0.00 0.000 6 0.137 0.038 3108 2102 2223

18965 end climb: SURFACE_DEPTH_REACHED

state 18965 begin surface coast

18988 end surface coast: CONTROL_FINISHED_OK

state 18988 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	88	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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	32	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	-33567.344	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	2	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	014021,5019.206,-14509.685,137,2.2,156,18.5	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	5021.009,-14511.944
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,0.133
_SM_DEPTHo	1.58	KALMAN_X	5329.9,146.1,-102.4,-19206.0,-539.9
_SM_ANGLEo	-55.3	KALMAN_Y	61944.4,-55.1,51.5,-27242.4,-40.3
GPS2	014704,5019.247,-14509.759,78,2.7,97,18.5	MHEAD_RNG_PITCHd_Wd	309.5,4161,-24.8,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

FINISH	0.9,1.002922	XPDR_PINGS	80
SM_CCo	19007,180.23,0.659,0,0,1300,400.08	_24V_AH	23.4,20.636
SM_GC	1.40,0.00,0.00,180.23,0.000,0.000,0.659,491,1894,1300,-10.29,-0.14,400.08	_10V_AH	10.2,10.332
IRIDIUM_FIX	4959.75,-14510.41,240997,191939	DATA_FILE_SIZE	31725,518
TT8_MAMPS	0.029913	CAP_FILE_SIZE	129403,0
HUMID	1698	CFSIZE	260165632,252579840
INTERNAL_PRESSURE	7.63701	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.50	GPS	010708,071007,5021.286,-14511.847,105,2.0,105,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	168	106.12	SBE_CT	370	24	208.21
Roll_motor	169	110	438.72	SBE_O2	419	19	186.62
VBD_pump_during_apogee	242	1359	7714.73	Optode	539	33	416.65
VBD_pump_during_surface	180	658	2778.56	WL_BB2F	335	105	824.90
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.33	nil	0	0	0.00
Iridium_during_connect	39	160	148.72	nil	0	0	0.00
Iridium_during_xfer	153	223	803.19
Transponder_ping	20	420	196.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	98	50	50.06
TT8	1199	19	242.33
LPSleep	15698	2	350.66
TT8_Active	610	19	123.33
TT8_Sampling	1677	39	680.97
TT8_CF8	408	45	190.85
TT8_Kalman	33	81	27.84
Analog_circuits	1475	12	180.66
GPS_charging	0	0	0.00
Compass	1581	8	129.07
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.72	-57.0	0.0	0.0	0	93	0.00	0.00	-72.35	0.000	2	0.000	0.000	495	1891	2742
95	-1.78	-101.1	3.1	-3.9	7	129	9.88	2.47	-18.85	0.000	4	0.169	0.063	2336	3309	3346
286	-1.78	-101.1	35.1	-19.0	24	290	0.00	2.38	0.00	0.000	6	0.000	0.044	2336	1895	3349
614	-1.78	-101.1	91.5	-16.7	52	618	0.00	2.40	0.00	0.000	4	0.000	0.061	2336	498	3349
848	-1.78	-101.1	128.5	-15.2	62	855	0.00	2.35	0.00	0.000	6	0.000	0.042	2336	1902	3350
1173	-1.82	-101.1	174.2	-14.3	76	1177	0.00	2.42	0.00	0.000	4	0.000	0.057	2336	498	3350
1262	-1.82	-101.1	187.8	-14.9	78	1268	0.00	2.35	0.00	0.000	6	0.000	0.039	2336	1896	3350
1574	-1.88	-101.1	230.6	-13.4	89	1578	0.00	2.42	0.00	0.000	4	0.000	0.057	2336	498	3350
1651	-1.88	-101.1	241.6	-14.0	91	1656	0.00	2.35	0.00	0.000	6	0.000	0.042	2336	1893	3349
1975	-1.94	-101.1	282.3	-12.5	102	1980	0.12	2.42	0.00	0.000	4	0.077	0.059	2305	496	3350
2070	-1.87	-101.1	296.3	-14.9	105	2074	0.00	2.35	0.00	0.000	6	0.000	0.044	2305	1906	3349
2400	-1.87	-101.1	343.3	-14.2	111	2404	0.00	2.45	0.00	0.000	4	0.000	0.056	2305	494	3349
2438	-1.80	-101.1	349.1	-15.6	111	2443	0.08	2.38	0.00	0.000	6	0.110	0.038	2329	1901	3349
2764	-1.85	-101.1	390.6	-12.6	117	2768	0.00	2.42	0.00	0.000	4	0.000	0.062	2329	499	3349
2880	-1.85	-101.1	406.5	-14.0	118	2884	0.00	2.35	0.00	0.000	6	0.000	0.039	2329	1896	3349
3195	-1.91	-101.1	445.8	-12.4	124	3196	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	1898	3348
3498	-1.97	-101.1	481.8	-11.7	129	3503	0.15	2.42	0.00	0.000	4	0.074	0.056	2288	499	3348
3559	-1.87	-101.1	490.3	-14.6	130	3564	0.17	2.35	0.00	0.000	6	0.127	0.041	2320	1908	3348
3929	-1.87	-101.1	534.7	-11.8	136	3933	0.00	2.45	0.00	0.000	4	0.000	0.064	2320	496	3347
4005	-1.87	-101.1	544.5	-12.5	137	4010	0.00	2.38	0.00	0.000	6	0.000	0.041	2320	1901	3348
4360	-1.91	-101.1	585.5	-11.5	143	4364	0.00	2.42	0.00	0.000	4	0.000	0.058	2320	498	3347
4398	-1.91	-101.1	590.3	-12.5	143	4402	0.00	2.38	0.00	0.000	6	0.000	0.039	2320	1904	3347
4725	-1.96	-101.1	626.9	-11.2	149	4729	0.00	2.45	0.00	0.000	4	0.000	0.058	2320	494	3346
4790	-1.96	-101.1	635.4	-12.8	150	4795	0.00	2.38	0.00	0.000	6	0.000	0.042	2320	1902	3346
5156	-2.00	-101.1	677.1	-11.3	156	5161	0.12	2.45	0.00	0.000	4	0.081	0.060	2289	494	3346
5233	-1.93	-101.1	687.4	-13.2	157	5237	0.00	2.38	0.00	0.000	6	0.000	0.040	2289	1918	3346
5587	-1.93	-101.1	730.5	-12.0	163	5591	0.00	2.47	0.00	0.000	4	0.000	0.062	2289	497	3345
5643	-1.86	-101.1	737.6	-13.2	163	5648	0.17	2.35	0.00	0.000	6	0.130	0.040	2321	1906	3345
5952	-1.92	-101.1	771.4	-10.8	168	5956	0.00	2.45	0.00	0.000	4	0.000	0.060	2321	499	3344
5989	-1.92	-101.1	775.8	-12.2	168	5993	0.00	2.38	0.00	0.000	6	0.000	0.040	2321	1902	3345
6315	-1.97	-101.1	810.8	-10.7	174	6317	0.00	0.00	0.00	0.000	6	0.000	0.000	2321	1904	3345
6618	-2.03	-101.1	842.8	-10.6	179	6623	0.15	2.45	0.00	0.000	4	0.077	0.063	2280	501	3344
6673	-1.94	-101.1	849.8	-13.2	179	6680	0.12	2.35	0.00	0.000	6	0.139	0.045	2302	1903	3344
6982	-1.94	-101.1	884.6	-11.2	185	6986	0.00	2.45	0.00	0.000	4	0.000	0.064	2302	501	3344
7070	-1.94	-101.1	895.8	-13.0	186	7075	0.00	2.38	0.00	0.000	6	0.000	0.045	2302	1898	3344
7420	-1.94	-101.1	936.2	-11.5	192	7424	0.00	2.50	0.00	0.000	4	0.000	0.071	2302	496	3344
7459	-1.90	-101.1	941.2	-12.3	192	7464	0.00	2.38	0.00	0.000	6	0.000	0.046	2302	1895	3344
7779	-1.90	-101.1	979.5	-11.8	198	7783	0.00	2.55	0.00	0.000	4	0.000	0.087	2301	503	3344
7811	-1.85	-101.1	983.7	-12.7	198	7816	0.10	2.42	0.00	0.000	6	0.148	0.058	2319	1894	3344
7904	end dive: TARGET_DEPTH_EXCEEDED
state	7904	begin apogee
7908	-0.33	0.0	994.3	11.0	200	8001	1.60	0.00	88.60	1.359	6	0.117	0.000	2649	2106	2931
8002	end apogee: CONTROL_FINISHED_OK
state	8002	begin climb
8003	1.78	101.1	996.5	0.0	201	8100	2.08	2.72	87.15	1.332	4	0.065	0.092	3117	3514	2517
8129	1.61	101.1	988.3	11.4	203	8134	0.20	2.53	0.00	0.000	6	0.131	0.066	3080	2107	2515
8448	1.61	101.1	953.9	10.8	209	8449	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2107	2513
8751	1.61	101.1	919.6	11.3	214	8752	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2107	2512
9054	1.57	101.1	884.6	11.5	219	9059	0.00	2.50	0.00	0.000	4	0.000	0.066	3080	677	2512
9109	1.47	101.1	877.8	12.4	219	9116	0.15	2.42	0.00	0.000	6	0.136	0.044	3053	2117	2512
9418	1.47	101.1	845.2	10.5	225	9423	0.00	2.50	0.00	0.000	4	0.000	0.063	3053	683	2512
9445	1.47	101.1	842.0	11.4	225	9450	0.00	2.40	0.00	0.000	6	0.000	0.046	3053	2099	2512
9782	1.47	101.1	807.6	10.2	231	9783	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2099	2511
10085	1.47	101.1	777.3	10.0	236	10089	0.00	2.47	0.00	0.000	4	0.000	0.064	3052	675	2511
10129	1.47	101.1	772.6	10.7	236	10133	0.00	2.40	0.00	0.000	6	0.000	0.044	3053	2091	2511
10449	1.47	101.1	740.3	10.1	242	10453	0.00	2.40	0.00	0.000	4	0.000	0.054	3053	3500	2511
10497	1.47	101.1	735.0	10.2	242	10502	0.00	2.40	0.00	0.000	6	0.000	0.043	3053	2083	2511
10818	1.47	101.1	703.6	9.8	248	10819	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2083	2511
11121	1.47	101.1	675.8	9.1	253	11122	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2083	2511
11424	1.47	101.1	649.3	8.7	258	11425	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2083	2511
11727	1.47	101.1	622.7	8.9	263	11731	0.00	2.40	0.00	0.000	4	0.000	0.064	3053	695	2510
11776	1.47	101.1	617.8	9.9	263	11781	0.00	2.38	0.00	0.000	6	0.000	0.043	3053	2096	2510
12093	1.47	101.1	589.3	9.1	269	12094	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2099	2510
12394	1.52	101.1	560.6	9.5	274	12396	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2099	2510
12697	1.52	101.1	531.2	9.8	279	12701	0.00	2.42	0.00	0.000	4	0.000	0.056	3053	691	2510
12746	1.52	101.1	526.1	10.7	279	12751	0.00	2.38	0.00	0.000	6	0.000	0.048	3053	2096	2510
13067	1.57	101.1	493.8	10.1	285	13068	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2099	2510
13370	1.61	101.1	465.0	9.5	290	13372	0.12	0.00	0.00	0.000	6	0.081	0.000	3082	2100	2510
13673	1.61	101.1	435.2	9.9	295	13677	0.00	2.42	0.00	0.000	4	0.000	0.062	3083	690	2510
13705	1.52	101.1	432.0	9.9	295	13709	0.12	2.35	0.00	0.000	6	0.136	0.041	3061	2101	2510
14036	1.52	101.1	402.3	8.9	301	14037	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2104	2510
14339	1.52	101.1	377.1	8.3	306	14343	0.00	2.42	0.00	0.000	4	0.000	0.054	3061	687	2510
14427	1.52	101.1	369.0	8.8	307	14432	0.00	2.38	0.00	0.000	6	0.000	0.044	3061	2092	2510
14778	1.52	101.1	338.1	8.9	313	14779	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2095	2510
15079	1.52	101.1	311.0	9.0	318	15083	0.00	2.42	0.00	0.000	4	0.000	0.060	3061	689	2510
15127	1.52	101.1	306.2	9.3	318	15132	0.00	2.38	0.00	0.000	6	0.000	0.044	3061	2092	2510
15445	1.52	101.1	279.9	8.1	328	15449	0.00	2.40	0.00	0.000	4	0.000	0.056	3061	3506	2511
15550	1.52	102.0	271.1	7.9	331	15554	0.00	2.38	0.00	0.000	6	0.000	0.038	3061	2096	2510
15879	1.57	105.6	245.8	7.7	342	15888	0.00	2.42	4.15	0.623	4	0.000	0.055	3061	691	2500
15946	1.57	105.6	240.3	8.4	344	15950	0.00	2.35	0.00	0.000	6	0.000	0.045	3061	2101	2500
16285	1.62	111.1	214.0	7.5	355	16293	0.00	0.00	6.10	0.714	6	0.000	0.000	3061	2104	2478
16592	1.69	124.4	192.4	6.7	365	16606	0.15	0.00	12.25	0.784	6	0.074	0.000	3099	2104	2423
16897	1.69	124.4	164.8	9.6	375	16898	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2105	2422
17217	1.69	124.4	133.9	9.0	388	17221	0.00	2.42	0.00	0.000	4	0.000	0.057	3098	698	2422
17271	1.61	124.4	128.0	12.0	390	17278	0.00	2.38	0.00	0.000	6	0.000	0.043	3098	2097	2422
17587	1.62	128.9	101.9	7.6	406	17597	0.00	2.40	5.32	0.637	4	0.000	0.048	3098	3506	2404
17652	1.63	141.1	97.5	6.9	409	17669	0.00	2.38	11.43	0.716	6	0.000	0.040	3098	2102	2354
17979	1.67	169.4	77.8	5.3	426	18011	0.00	2.50	23.77	0.726	4	0.000	0.061	3098	699	2239
18129	1.67	172.7	66.2	7.7	439	18139	0.00	2.35	3.80	0.506	6	0.000	0.040	3098	2107	2226
18465	1.75	175.0	39.3	7.8	471	18469	0.00	2.45	0.00	0.000	4	0.000	0.060	3098	690	2225
18541	1.75	175.0	31.9	9.6	477	18548	0.00	2.40	0.00	0.000	6	0.000	0.044	3098	2101	2224
18869	1.83	175.0	10.3	8.4	508	18874	0.12	2.42	0.00	0.000	4	0.079	0.054	3130	692	2224
18908	1.75	175.0	6.6	8.9	511	18913	0.12	2.35	0.00	0.000	6	0.137	0.038	3108	2102	2223
18965	end climb: SURFACE_DEPTH_REACHED
state	18965	begin surface coast
18988	end surface coast: CONTROL_FINISHED_OK
state	18988	begin surface