Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 11 * 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 11 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 29 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 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 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 5 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 -17208.463 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 330

CALL_TRIES 5 HD_A 0.0044757999 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

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 -17208.463

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

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 26 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 11 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 020230,5006.741,-14438.702,66,3.7,85,18.6 TGT_NAME NW

_CALLS 1 TGT_LATLONG 5020.579,-14459.120

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.180,0.191

_SM_DEPTHo 1.54 KALMAN_X -1838.2,258.9,421.0,24393.8,-1529.9

_SM_ANGLEo -60.4 KALMAN_Y 9783.8,-400.6,229.2,2085.0,1536.9

GPS2 021058,5006.830,-14438.618,217,2.3,236,18.6 MHEAD_RNG_PITCHd_Wd 298.1,35151,-18.5,-10.000

SPEED_LIMITS 0.100,0.262 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.8,1.025456 XPDR_PINGS 78

SM_CCo 18999,81.32,0.661,3,0,1300,400.08 _24V_AH 23.3,8.094

SM_GC 1.38,0.00,0.00,81.32,0.000,0.000,0.661,491,1906,1300,-10.29,0.20,400.08 _10V_AH 10.1,3.519

IRIDIUM_FIX 4949.70,-14441.78,030997,202046 DATA_FILE_SIZE 28636,493

TT8_MAMPS 0.029146 CAP_FILE_SIZE 125989,0

HUMID 1707 CFSIZE 260165632,257523712

INTERNAL_PRESSURE 7.61748 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,4,0

TCM_TEMP 15.10 GPS 100608,073544,5008.721,-14442.206,294,2.7,301,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 101.44 SBE_CT 350 24 196.06

Roll_motor 167 102 397.11 SBE_O2 398 19 176.28

VBD_pump_during_apogee 407 1369 13002.51 Optode 510 33 392.38

VBD_pump_during_surface 81 661 1252.80 WL_BB2F 292 105 715.80

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.49 nil 0 0 0.00

Iridium_during_connect 26 160 97.17 nil 0 0 0.00

Iridium_during_xfer 144 223 750.91

Transponder_ping 19 420 190.83

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 236 50 119.68

TT8 1147 19 229.47

LPSleep 15692 2 347.11

TT8_Active 656 19 131.21

TT8_Sampling 1758 39 706.92

TT8_CF8 356 45 165.02

TT8_Kalman 33 81 27.55

Analog_circuits 1519 12 184.21

GPS_charging 0 0 0.00

Compass 1518 8 122.72

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -1.41 -146.6 0.0 0.0 0 103 0.00 0.00 -81.88 0.000 2 0.000 0.000 498 1998 2939

105 -1.41 -146.6 3.3 -4.4 8 139 10.30 2.65 -17.23 0.000 4 0.169 0.074 2416 494 3531

296 -1.41 -146.6 30.3 -15.9 25 300 0.00 2.35 0.00 0.000 6 0.000 0.050 2416 1902 3532

627 -1.41 -146.6 78.1 -13.6 56 631 0.00 2.47 0.00 0.000 4 0.000 0.060 2416 490 3533

838 -1.41 -146.6 108.3 -14.1 65 845 0.00 2.38 0.00 0.000 6 0.000 0.041 2416 1893 3534

1155 -1.45 -146.6 144.2 -11.1 81 1159 0.00 2.45 0.00 0.000 4 0.000 0.065 2416 498 3533

1188 -1.45 -146.6 148.1 -11.2 82 1194 0.00 2.35 0.00 0.000 6 0.000 0.048 2416 1902 3533

1520 -1.50 -146.6 184.4 -11.0 94 1524 0.00 2.45 0.00 0.000 4 0.000 0.061 2416 499 3533

1618 -1.50 -146.6 196.6 -12.5 97 1623 0.00 2.38 0.00 0.000 6 0.000 0.048 2416 1898 3533

1954 -1.56 -146.6 235.4 -11.5 108 1959 0.12 2.45 0.00 0.000 4 0.081 0.067 2385 498 3533

2015 -1.51 -146.6 243.4 -13.1 110 2019 0.00 2.35 0.00 0.000 6 0.000 0.044 2384 1902 3533

2354 -1.51 -146.6 284.1 -11.6 121 2358 0.00 2.45 0.00 0.000 4 0.000 0.067 2385 498 3533

2403 -1.47 -146.6 290.3 -12.4 122 2407 0.10 2.35 0.00 0.000 6 0.131 0.045 2403 1903 3533

2748 -1.47 -146.6 328.6 -11.1 130 2752 0.00 2.45 0.00 0.000 4 0.000 0.063 2403 496 3533

2848 -1.47 -146.6 340.4 -12.0 131 2852 0.00 2.38 0.00 0.000 6 0.000 0.044 2403 1893 3533

3186 -1.51 -146.6 376.7 -10.8 137 3190 0.00 2.45 0.00 0.000 4 0.000 0.071 2403 497 3533

3319 -1.51 -146.6 391.9 -11.3 139 3323 0.00 2.38 0.00 0.000 6 0.000 0.049 2402 1893 3533

3685 -1.56 -146.6 429.7 -10.3 145 3689 0.00 2.45 0.00 0.000 4 0.000 0.065 2403 495 3533

3727 -1.56 -146.6 434.7 -11.5 145 3732 0.00 2.38 0.00 0.000 6 0.000 0.050 2403 1895 3532

4048 -1.61 -146.6 467.5 -10.3 151 4053 0.12 2.45 0.00 0.000 4 0.086 0.067 2372 497 3532

4097 -1.55 -146.6 473.8 -12.9 151 4101 0.00 2.35 0.00 0.000 6 0.000 0.048 2372 1903 3532

4411 -1.55 -146.6 511.0 -11.7 157 4416 0.00 2.47 0.00 0.000 4 0.000 0.066 2372 492 3532

4455 -1.50 -146.6 516.6 -12.6 157 4460 0.15 2.35 0.00 0.000 6 0.123 0.050 2401 1900 3532

4776 -1.55 -146.6 548.9 -9.9 163 4779 0.00 2.45 0.00 0.000 4 0.000 0.064 2400 498 3532

4824 -1.55 -146.6 554.3 -10.7 163 4829 0.00 2.38 0.00 0.000 6 0.000 0.049 2400 1899 3532

5146 -1.60 -146.6 583.7 -9.1 169 5150 0.00 2.45 0.00 0.000 4 0.000 0.064 2400 499 3531

5195 -1.60 -146.6 588.4 -9.0 169 5199 0.00 2.35 0.00 0.000 6 0.000 0.043 2400 1906 3531

5510 -1.65 -146.6 616.0 -8.8 175 5515 0.15 2.47 0.00 0.000 4 0.081 0.066 2359 497 3531

5593 -1.56 -146.6 625.4 -11.5 176 5598 0.15 2.35 0.00 0.000 6 0.123 0.048 2387 1901 3531

5935 -1.56 -146.6 657.7 -9.4 182 5939 0.00 2.45 0.00 0.000 4 0.000 0.071 2387 498 3531

5978 -1.56 -146.6 662.4 -10.7 182 5983 0.00 2.38 0.00 0.000 6 0.000 0.046 2387 1899 3531

6299 -1.56 -146.6 693.2 -9.7 188 6301 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 1900 3530

6602 -1.56 -146.6 723.4 -10.0 193 6606 0.00 2.45 0.00 0.000 4 0.000 0.068 2387 499 3530

6697 -1.56 -146.6 733.8 -11.1 194 6701 0.00 2.35 0.00 0.000 6 0.000 0.043 2388 1906 3530

7027 -1.56 -146.6 769.7 -10.9 200 7031 0.00 2.47 0.00 0.000 4 0.000 0.070 2387 498 3530

7075 -1.56 -146.6 775.7 -12.3 200 7080 0.00 2.38 0.00 0.000 6 0.000 0.044 2387 1900 3530

7392 -1.56 -146.6 811.6 -11.4 206 7393 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 1900 3531

7693 -1.56 -146.6 844.5 -10.8 211 7697 0.00 2.47 0.00 0.000 4 0.000 0.068 2387 494 3530

7736 -1.56 -146.6 849.6 -11.7 211 7741 0.00 2.38 0.00 0.000 6 0.000 0.047 2387 1894 3530

8057 -1.56 -146.6 882.6 -10.3 217 8058 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 1893 3530

8360 -1.56 -146.6 912.3 -9.8 222 8365 0.00 2.50 0.00 0.000 4 0.000 0.076 2387 494 3530

8454 -1.56 -146.6 922.6 -11.2 223 8459 0.00 2.40 0.00 0.000 6 0.000 0.053 2387 1890 3529

8792 -1.61 -146.6 956.3 -10.0 229 8793 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 1890 3529

9095 -1.66 -146.6 986.3 -10.0 234 9100 0.00 2.58 0.00 0.000 4 0.000 0.102 2387 503 3529

9131 end dive: TARGET_DEPTH_EXCEEDED

state 9131 begin apogee

9138 -0.33 0.0 990.4 10.9 234 9271 1.23 0.00 129.25 1.370 6 0.106 0.000 2649 2103 2931

9272 end apogee: CONTROL_FINISHED_OK

state 9272 begin climb

9274 1.41 146.6 993.4 0.0 236 9411 1.70 2.70 128.27 1.337 4 0.070 0.094 3032 3510 2332

9483 1.23 146.6 980.7 10.6 239 9488 0.17 2.53 0.00 0.000 6 0.131 0.071 3001 2112 2328

9827 1.19 167.3 949.6 9.1 245 9858 0.00 2.62 20.88 1.154 4 0.000 0.081 3000 686 2248

9886 1.10 167.3 943.7 10.9 246 9891 0.17 2.50 0.00 0.000 6 0.127 0.053 2968 2113 2246

10251 1.14 201.1 912.6 8.5 252 10284 0.00 0.00 31.73 1.269 6 0.000 0.000 2969 2113 2111

10554 1.22 216.8 884.4 9.3 257 10575 0.10 2.60 15.10 1.203 4 0.091 0.074 2992 686 2046

10619 1.17 216.8 876.8 13.1 258 10623 0.00 2.45 0.00 0.000 6 0.000 0.046 2992 2113 2044

10984 1.17 216.8 836.2 11.1 264 10985 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2113 2042

11287 1.17 216.8 803.2 10.9 269 11288 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2113 2042

11590 1.17 216.8 769.9 11.0 274 11591 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2113 2041

11893 1.17 216.8 738.2 10.4 279 11898 0.00 2.53 0.00 0.000 4 0.000 0.061 2992 676 2041

11942 1.17 216.8 732.6 11.0 279 11947 0.00 2.45 0.00 0.000 6 0.000 0.053 2992 2099 2040

12259 1.17 216.8 700.2 10.4 285 12260 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2099 2040

12560 1.17 216.8 668.9 10.3 290 12565 0.00 2.47 0.00 0.000 4 0.000 0.067 2992 682 2040

12592 1.17 216.8 665.2 11.1 290 12597 0.00 2.42 0.00 0.000 6 0.000 0.044 2992 2097 2040

12924 1.18 218.6 632.0 9.9 296 12928 0.00 2.47 0.00 0.000 4 0.000 0.064 2992 681 2040

12956 1.18 218.6 628.6 10.2 296 12961 0.00 2.42 0.00 0.000 6 0.000 0.044 2992 2097 2039

13288 1.18 218.6 595.2 10.1 302 13289 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2099 2040

13591 1.18 219.5 565.0 10.0 307 13592 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2100 2040

13894 1.19 229.5 536.0 9.5 312 13913 0.00 2.53 11.82 1.008 4 0.000 0.064 2992 674 1994

13940 1.19 229.5 531.2 10.5 312 13945 0.00 2.47 0.00 0.000 6 0.000 0.045 2992 2103 1993

14262 1.25 238.3 500.5 9.6 318 14276 0.00 2.53 9.12 0.950 4 0.000 0.066 2992 683 1959

14303 1.25 238.3 496.1 10.3 318 14308 0.00 2.45 0.00 0.000 6 0.000 0.051 2992 2104 1958

14630 1.31 243.2 464.2 9.8 324 14641 0.00 2.50 5.88 0.840 4 0.000 0.058 2992 682 1938

14674 1.31 243.2 459.7 10.6 324 14678 0.00 2.42 0.00 0.000 6 0.000 0.050 2992 2094 1938

14995 1.38 250.9 428.7 9.6 330 15005 0.15 0.00 8.15 0.894 6 0.079 0.000 3027 2098 1908

15297 1.38 250.9 395.1 11.1 335 15298 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2098 1906

15600 1.38 250.9 362.7 10.6 340 15602 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2098 1906

15903 1.38 250.9 330.3 10.8 345 15904 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2098 1906

16206 1.38 250.9 296.5 11.1 350 16211 0.00 2.47 0.00 0.000 4 0.000 0.062 3027 674 1906

16239 1.33 250.9 292.4 12.2 351 16243 0.00 2.40 0.00 0.000 6 0.000 0.046 3027 2100 1906

16573 1.33 250.9 253.7 11.5 362 16575 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2102 1906

16879 1.33 250.9 218.7 11.2 372 16881 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2102 1906

17186 1.33 250.9 186.0 10.6 382 17190 0.00 2.47 0.00 0.000 4 0.000 0.060 3027 679 1906

17217 1.33 250.9 182.4 11.0 383 17222 0.00 2.42 0.00 0.000 6 0.000 0.045 3027 2097 1905

17552 1.33 250.9 148.5 10.2 394 17553 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2100 1906

17862 1.34 257.9 117.8 9.7 409 17876 0.00 2.50 7.35 0.720 4 0.000 0.056 3027 3506 1879

17922 1.36 277.4 112.2 9.1 411 17950 0.00 2.38 18.25 0.762 6 0.000 0.039 3027 2085 1799

18259 1.46 301.6 81.7 8.9 428 18285 0.00 2.45 21.58 0.745 4 0.000 0.058 3027 698 1700

18301 1.54 301.6 77.5 10.7 430 18308 0.12 2.42 0.00 0.000 6 0.067 0.044 3062 2099 1699

18626 1.54 301.6 40.9 10.9 461 18630 0.00 2.45 0.00 0.000 4 0.000 0.065 3062 696 1696

18688 1.54 301.6 33.7 12.0 466 18692 0.00 2.38 0.00 0.000 6 0.000 0.051 3062 2101 1695

18968 end climb: SURFACE_DEPTH_REACHED

state 18968 begin surface coast

18980 end surface coast: CONTROL_FINISHED_OK

state 18980 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	11	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	29	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	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	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	5	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	-17208.463	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	020230,5006.741,-14438.702,66,3.7,85,18.6	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	5020.579,-14459.120
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.180,0.191
_SM_DEPTHo	1.54	KALMAN_X	-1838.2,258.9,421.0,24393.8,-1529.9
_SM_ANGLEo	-60.4	KALMAN_Y	9783.8,-400.6,229.2,2085.0,1536.9
GPS2	021058,5006.830,-14438.618,217,2.3,236,18.6	MHEAD_RNG_PITCHd_Wd	298.1,35151,-18.5,-10.000
SPEED_LIMITS	0.100,0.262	D_GRID	1001

FINISH	0.8,1.025456	XPDR_PINGS	78
SM_CCo	18999,81.32,0.661,3,0,1300,400.08	_24V_AH	23.3,8.094
SM_GC	1.38,0.00,0.00,81.32,0.000,0.000,0.661,491,1906,1300,-10.29,0.20,400.08	_10V_AH	10.1,3.519
IRIDIUM_FIX	4949.70,-14441.78,030997,202046	DATA_FILE_SIZE	28636,493
TT8_MAMPS	0.029146	CAP_FILE_SIZE	125989,0
HUMID	1707	CFSIZE	260165632,257523712
INTERNAL_PRESSURE	7.61748	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,4,0
TCM_TEMP	15.10	GPS	100608,073544,5008.721,-14442.206,294,2.7,301,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	101.44	SBE_CT	350	24	196.06
Roll_motor	167	102	397.11	SBE_O2	398	19	176.28
VBD_pump_during_apogee	407	1369	13002.51	Optode	510	33	392.38
VBD_pump_during_surface	81	661	1252.80	WL_BB2F	292	105	715.80
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.49	nil	0	0	0.00
Iridium_during_connect	26	160	97.17	nil	0	0	0.00
Iridium_during_xfer	144	223	750.91
Transponder_ping	19	420	190.83
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	236	50	119.68
TT8	1147	19	229.47
LPSleep	15692	2	347.11
TT8_Active	656	19	131.21
TT8_Sampling	1758	39	706.92
TT8_CF8	356	45	165.02
TT8_Kalman	33	81	27.55
Analog_circuits	1519	12	184.21
GPS_charging	0	0	0.00
Compass	1518	8	122.72
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-1.41	-146.6	0.0	0.0	0	103	0.00	0.00	-81.88	0.000	2	0.000	0.000	498	1998	2939
105	-1.41	-146.6	3.3	-4.4	8	139	10.30	2.65	-17.23	0.000	4	0.169	0.074	2416	494	3531
296	-1.41	-146.6	30.3	-15.9	25	300	0.00	2.35	0.00	0.000	6	0.000	0.050	2416	1902	3532
627	-1.41	-146.6	78.1	-13.6	56	631	0.00	2.47	0.00	0.000	4	0.000	0.060	2416	490	3533
838	-1.41	-146.6	108.3	-14.1	65	845	0.00	2.38	0.00	0.000	6	0.000	0.041	2416	1893	3534
1155	-1.45	-146.6	144.2	-11.1	81	1159	0.00	2.45	0.00	0.000	4	0.000	0.065	2416	498	3533
1188	-1.45	-146.6	148.1	-11.2	82	1194	0.00	2.35	0.00	0.000	6	0.000	0.048	2416	1902	3533
1520	-1.50	-146.6	184.4	-11.0	94	1524	0.00	2.45	0.00	0.000	4	0.000	0.061	2416	499	3533
1618	-1.50	-146.6	196.6	-12.5	97	1623	0.00	2.38	0.00	0.000	6	0.000	0.048	2416	1898	3533
1954	-1.56	-146.6	235.4	-11.5	108	1959	0.12	2.45	0.00	0.000	4	0.081	0.067	2385	498	3533
2015	-1.51	-146.6	243.4	-13.1	110	2019	0.00	2.35	0.00	0.000	6	0.000	0.044	2384	1902	3533
2354	-1.51	-146.6	284.1	-11.6	121	2358	0.00	2.45	0.00	0.000	4	0.000	0.067	2385	498	3533
2403	-1.47	-146.6	290.3	-12.4	122	2407	0.10	2.35	0.00	0.000	6	0.131	0.045	2403	1903	3533
2748	-1.47	-146.6	328.6	-11.1	130	2752	0.00	2.45	0.00	0.000	4	0.000	0.063	2403	496	3533
2848	-1.47	-146.6	340.4	-12.0	131	2852	0.00	2.38	0.00	0.000	6	0.000	0.044	2403	1893	3533
3186	-1.51	-146.6	376.7	-10.8	137	3190	0.00	2.45	0.00	0.000	4	0.000	0.071	2403	497	3533
3319	-1.51	-146.6	391.9	-11.3	139	3323	0.00	2.38	0.00	0.000	6	0.000	0.049	2402	1893	3533
3685	-1.56	-146.6	429.7	-10.3	145	3689	0.00	2.45	0.00	0.000	4	0.000	0.065	2403	495	3533
3727	-1.56	-146.6	434.7	-11.5	145	3732	0.00	2.38	0.00	0.000	6	0.000	0.050	2403	1895	3532
4048	-1.61	-146.6	467.5	-10.3	151	4053	0.12	2.45	0.00	0.000	4	0.086	0.067	2372	497	3532
4097	-1.55	-146.6	473.8	-12.9	151	4101	0.00	2.35	0.00	0.000	6	0.000	0.048	2372	1903	3532
4411	-1.55	-146.6	511.0	-11.7	157	4416	0.00	2.47	0.00	0.000	4	0.000	0.066	2372	492	3532
4455	-1.50	-146.6	516.6	-12.6	157	4460	0.15	2.35	0.00	0.000	6	0.123	0.050	2401	1900	3532
4776	-1.55	-146.6	548.9	-9.9	163	4779	0.00	2.45	0.00	0.000	4	0.000	0.064	2400	498	3532
4824	-1.55	-146.6	554.3	-10.7	163	4829	0.00	2.38	0.00	0.000	6	0.000	0.049	2400	1899	3532
5146	-1.60	-146.6	583.7	-9.1	169	5150	0.00	2.45	0.00	0.000	4	0.000	0.064	2400	499	3531
5195	-1.60	-146.6	588.4	-9.0	169	5199	0.00	2.35	0.00	0.000	6	0.000	0.043	2400	1906	3531
5510	-1.65	-146.6	616.0	-8.8	175	5515	0.15	2.47	0.00	0.000	4	0.081	0.066	2359	497	3531
5593	-1.56	-146.6	625.4	-11.5	176	5598	0.15	2.35	0.00	0.000	6	0.123	0.048	2387	1901	3531
5935	-1.56	-146.6	657.7	-9.4	182	5939	0.00	2.45	0.00	0.000	4	0.000	0.071	2387	498	3531
5978	-1.56	-146.6	662.4	-10.7	182	5983	0.00	2.38	0.00	0.000	6	0.000	0.046	2387	1899	3531
6299	-1.56	-146.6	693.2	-9.7	188	6301	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	1900	3530
6602	-1.56	-146.6	723.4	-10.0	193	6606	0.00	2.45	0.00	0.000	4	0.000	0.068	2387	499	3530
6697	-1.56	-146.6	733.8	-11.1	194	6701	0.00	2.35	0.00	0.000	6	0.000	0.043	2388	1906	3530
7027	-1.56	-146.6	769.7	-10.9	200	7031	0.00	2.47	0.00	0.000	4	0.000	0.070	2387	498	3530
7075	-1.56	-146.6	775.7	-12.3	200	7080	0.00	2.38	0.00	0.000	6	0.000	0.044	2387	1900	3530
7392	-1.56	-146.6	811.6	-11.4	206	7393	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	1900	3531
7693	-1.56	-146.6	844.5	-10.8	211	7697	0.00	2.47	0.00	0.000	4	0.000	0.068	2387	494	3530
7736	-1.56	-146.6	849.6	-11.7	211	7741	0.00	2.38	0.00	0.000	6	0.000	0.047	2387	1894	3530
8057	-1.56	-146.6	882.6	-10.3	217	8058	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	1893	3530
8360	-1.56	-146.6	912.3	-9.8	222	8365	0.00	2.50	0.00	0.000	4	0.000	0.076	2387	494	3530
8454	-1.56	-146.6	922.6	-11.2	223	8459	0.00	2.40	0.00	0.000	6	0.000	0.053	2387	1890	3529
8792	-1.61	-146.6	956.3	-10.0	229	8793	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	1890	3529
9095	-1.66	-146.6	986.3	-10.0	234	9100	0.00	2.58	0.00	0.000	4	0.000	0.102	2387	503	3529
9131	end dive: TARGET_DEPTH_EXCEEDED
state	9131	begin apogee
9138	-0.33	0.0	990.4	10.9	234	9271	1.23	0.00	129.25	1.370	6	0.106	0.000	2649	2103	2931
9272	end apogee: CONTROL_FINISHED_OK
state	9272	begin climb
9274	1.41	146.6	993.4	0.0	236	9411	1.70	2.70	128.27	1.337	4	0.070	0.094	3032	3510	2332
9483	1.23	146.6	980.7	10.6	239	9488	0.17	2.53	0.00	0.000	6	0.131	0.071	3001	2112	2328
9827	1.19	167.3	949.6	9.1	245	9858	0.00	2.62	20.88	1.154	4	0.000	0.081	3000	686	2248
9886	1.10	167.3	943.7	10.9	246	9891	0.17	2.50	0.00	0.000	6	0.127	0.053	2968	2113	2246
10251	1.14	201.1	912.6	8.5	252	10284	0.00	0.00	31.73	1.269	6	0.000	0.000	2969	2113	2111
10554	1.22	216.8	884.4	9.3	257	10575	0.10	2.60	15.10	1.203	4	0.091	0.074	2992	686	2046
10619	1.17	216.8	876.8	13.1	258	10623	0.00	2.45	0.00	0.000	6	0.000	0.046	2992	2113	2044
10984	1.17	216.8	836.2	11.1	264	10985	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2113	2042
11287	1.17	216.8	803.2	10.9	269	11288	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2113	2042
11590	1.17	216.8	769.9	11.0	274	11591	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2113	2041
11893	1.17	216.8	738.2	10.4	279	11898	0.00	2.53	0.00	0.000	4	0.000	0.061	2992	676	2041
11942	1.17	216.8	732.6	11.0	279	11947	0.00	2.45	0.00	0.000	6	0.000	0.053	2992	2099	2040
12259	1.17	216.8	700.2	10.4	285	12260	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2099	2040
12560	1.17	216.8	668.9	10.3	290	12565	0.00	2.47	0.00	0.000	4	0.000	0.067	2992	682	2040
12592	1.17	216.8	665.2	11.1	290	12597	0.00	2.42	0.00	0.000	6	0.000	0.044	2992	2097	2040
12924	1.18	218.6	632.0	9.9	296	12928	0.00	2.47	0.00	0.000	4	0.000	0.064	2992	681	2040
12956	1.18	218.6	628.6	10.2	296	12961	0.00	2.42	0.00	0.000	6	0.000	0.044	2992	2097	2039
13288	1.18	218.6	595.2	10.1	302	13289	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2099	2040
13591	1.18	219.5	565.0	10.0	307	13592	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2100	2040
13894	1.19	229.5	536.0	9.5	312	13913	0.00	2.53	11.82	1.008	4	0.000	0.064	2992	674	1994
13940	1.19	229.5	531.2	10.5	312	13945	0.00	2.47	0.00	0.000	6	0.000	0.045	2992	2103	1993
14262	1.25	238.3	500.5	9.6	318	14276	0.00	2.53	9.12	0.950	4	0.000	0.066	2992	683	1959
14303	1.25	238.3	496.1	10.3	318	14308	0.00	2.45	0.00	0.000	6	0.000	0.051	2992	2104	1958
14630	1.31	243.2	464.2	9.8	324	14641	0.00	2.50	5.88	0.840	4	0.000	0.058	2992	682	1938
14674	1.31	243.2	459.7	10.6	324	14678	0.00	2.42	0.00	0.000	6	0.000	0.050	2992	2094	1938
14995	1.38	250.9	428.7	9.6	330	15005	0.15	0.00	8.15	0.894	6	0.079	0.000	3027	2098	1908
15297	1.38	250.9	395.1	11.1	335	15298	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2098	1906
15600	1.38	250.9	362.7	10.6	340	15602	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2098	1906
15903	1.38	250.9	330.3	10.8	345	15904	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2098	1906
16206	1.38	250.9	296.5	11.1	350	16211	0.00	2.47	0.00	0.000	4	0.000	0.062	3027	674	1906
16239	1.33	250.9	292.4	12.2	351	16243	0.00	2.40	0.00	0.000	6	0.000	0.046	3027	2100	1906
16573	1.33	250.9	253.7	11.5	362	16575	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2102	1906
16879	1.33	250.9	218.7	11.2	372	16881	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2102	1906
17186	1.33	250.9	186.0	10.6	382	17190	0.00	2.47	0.00	0.000	4	0.000	0.060	3027	679	1906
17217	1.33	250.9	182.4	11.0	383	17222	0.00	2.42	0.00	0.000	6	0.000	0.045	3027	2097	1905
17552	1.33	250.9	148.5	10.2	394	17553	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2100	1906
17862	1.34	257.9	117.8	9.7	409	17876	0.00	2.50	7.35	0.720	4	0.000	0.056	3027	3506	1879
17922	1.36	277.4	112.2	9.1	411	17950	0.00	2.38	18.25	0.762	6	0.000	0.039	3027	2085	1799
18259	1.46	301.6	81.7	8.9	428	18285	0.00	2.45	21.58	0.745	4	0.000	0.058	3027	698	1700
18301	1.54	301.6	77.5	10.7	430	18308	0.12	2.42	0.00	0.000	6	0.067	0.044	3062	2099	1699
18626	1.54	301.6	40.9	10.9	461	18630	0.00	2.45	0.00	0.000	4	0.000	0.065	3062	696	1696
18688	1.54	301.6	33.7	12.0	466	18692	0.00	2.38	0.00	0.000	6	0.000	0.051	3062	2101	1695
18968	end climb: SURFACE_DEPTH_REACHED
state	18968	begin surface coast
18980	end surface coast: CONTROL_FINISHED_OK
state	18980	begin surface