Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 308 * 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 308 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 42 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 62 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 495 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 510 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 -52246.973 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 495

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 -52246.973

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 510

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 42 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 62 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 308 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 024637,5007.704,-14451.181,44,1.9,56,18.5 TGT_NAME C_NW

_CALLS 1 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.032,-0.058

_SM_DEPTHo 1.59 KALMAN_X 19192.7,14.8,40.1,-10975.8,842.8

_SM_ANGLEo -58.1 KALMAN_Y 231434.9,134.7,35.8,-218308.3,544.9

GPS2 025214,5007.695,-14451.190,32,2.0,32,18.5 MHEAD_RNG_PITCHd_Wd 190.2,497,-43.5,-6.667

SPEED_LIMITS 0.067,0.228 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.0,1.024904 XPDR_PINGS 84

SM_CCo 22661,184.60,0.657,0,0,1300,400.08 _24V_AH 23.2,56.838

SM_GC 1.64,0.00,0.00,184.60,0.000,0.000,0.657,494,1893,1300,-10.28,-0.17,400.08 _10V_AH 10.1,29.221

IRIDIUM_FIX 4949.70,-14451.95,231197,212100 DATA_FILE_SIZE 38030,605

TT8_MAMPS 0.029146 CAP_FILE_SIZE 167134,0

HUMID 1771 CFSIZE 260165632,238338048

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 300808,091558,5007.342,-14451.148,64,3.6,83,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 175 123.37 SBE_CT 428 24 238.79

Roll_motor 176 73 301.12 SBE_O2 486 19 214.56

VBD_pump_during_apogee 197 1338 6134.95 Optode 625 33 478.87

VBD_pump_during_surface 184 657 2815.11 WL_BB2F 389 105 947.75

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.52 nil 0 0 0.00

Iridium_during_connect 33 160 123.38 nil 0 0 0.00

Iridium_during_xfer 139 223 720.07

Transponder_ping 21 420 204.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.54

TT8 1530 19 306.06

LPSleep 17928 2 396.55

TT8_Active 569 19 113.86

TT8_Sampling 2608 39 1048.74

TT8_CF8 547 45 253.16

TT8_Kalman 33 81 27.59

Analog_circuits 1844 12 223.60

GPS_charging 0 0 0.00

Compass 2545 8 205.65

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 19 begin dive

21 -2.92 -14.2 0.0 0.0 0 95 0.00 0.00 -71.00 0.000 2 0.000 0.000 489 1894 2846

98 -2.93 -23.4 3.2 -3.8 7 121 8.55 2.33 -4.97 0.000 4 0.166 0.050 2086 3283 3030

313 -3.11 -23.4 56.9 -19.6 26 318 0.17 2.25 0.00 0.000 6 0.067 0.025 2043 1897 3032

643 -3.22 -23.4 124.4 -20.7 47 647 0.00 2.33 0.00 0.000 4 0.000 0.038 2043 502 3033

899 -3.22 -23.4 172.5 -16.7 56 906 0.00 2.22 0.00 0.000 6 0.000 0.022 2043 1908 3035

1213 -3.33 -23.4 221.4 -15.6 67 1217 0.15 2.35 0.00 0.000 4 0.074 0.038 2001 506 3034

1470 -3.28 -23.4 266.7 -17.3 74 1476 0.00 2.22 0.00 0.000 6 0.000 0.025 2001 1903 3034

1812 -3.34 -23.4 318.4 -15.0 84 1816 0.00 2.35 0.00 0.000 4 0.000 0.043 2001 503 3034

2070 -3.34 -23.4 361.9 -16.7 87 2076 0.00 2.22 0.00 0.000 6 0.000 0.028 2001 1901 3033

2380 -3.40 -23.4 410.2 -15.6 93 2384 0.00 2.35 0.00 0.000 4 0.000 0.041 2001 502 3033

2615 -3.36 -23.4 449.6 -17.2 96 2619 0.00 2.22 0.00 0.000 6 0.000 0.028 2001 1900 3032

2941 -3.43 -23.4 498.6 -15.0 102 2945 0.00 2.28 0.00 0.000 4 0.000 0.037 2001 3287 3031

2986 -3.48 -23.4 505.4 -15.7 102 2990 0.15 2.25 0.00 0.000 6 0.081 0.030 1966 1901 3031

3300 -3.48 -23.4 551.5 -14.6 108 3304 0.00 2.35 0.00 0.000 4 0.000 0.048 1967 499 3031

3357 -3.39 -23.4 559.9 -15.0 108 3362 0.12 2.22 0.00 0.000 6 0.166 0.028 1986 1903 3030

3667 -3.44 -23.4 602.3 -13.6 113 3671 0.00 2.35 0.00 0.000 4 0.000 0.043 1986 506 3030

3830 -3.39 -23.4 625.2 -13.4 115 3834 0.00 2.22 0.00 0.000 6 0.000 0.023 1986 1901 3030

4163 -3.44 -23.4 666.0 -12.1 121 4167 0.00 2.35 0.00 0.000 4 0.000 0.040 1986 505 3029

4421 -3.39 -23.4 699.6 -12.9 124 4427 0.00 2.22 0.00 0.000 6 0.000 0.026 1986 1900 3029

4731 -3.45 -23.4 736.5 -11.9 130 4735 0.00 2.35 0.00 0.000 4 0.000 0.045 1986 505 3028

4989 -3.40 -23.4 770.4 -13.1 133 4995 0.00 2.22 0.00 0.000 6 0.000 0.027 1986 1901 3028

5299 -3.46 -23.4 808.3 -12.1 139 5303 0.00 2.35 0.00 0.000 4 0.000 0.043 1986 508 3028

5540 -3.41 -23.4 838.0 -12.5 142 5544 0.00 2.22 0.00 0.000 6 0.000 0.026 1986 1900 3027

5861 -3.47 -23.4 873.4 -10.9 148 5865 0.00 2.38 0.00 0.000 4 0.000 0.046 1986 501 3026

5984 -3.43 -23.4 887.9 -11.8 149 5991 0.00 2.22 0.00 0.000 6 0.000 0.025 1986 1897 3026

6293 -3.49 -23.4 920.1 -10.4 155 6297 0.00 2.38 0.00 0.000 4 0.000 0.056 1986 510 3026

6355 -3.49 -23.4 926.8 -11.4 156 6359 0.00 2.25 0.00 0.000 6 0.000 0.035 1986 1894 3026

6726 -3.56 -23.4 965.1 -10.3 162 6731 0.15 2.42 0.00 0.000 4 0.086 0.063 1952 513 3026

6885 -3.47 -23.4 982.8 -10.9 164 6889 0.10 2.33 0.00 0.000 6 0.176 0.050 1966 1889 3025

6976 end dive: TARGET_DEPTH_EXCEEDED

state 6976 begin apogee

6982 -0.33 0.0 993.0 10.6 166 7011 3.53 0.00 22.50 1.338 6 0.150 0.000 2649 2103 2931

7011 end apogee: CONTROL_FINISHED_OK

state 7011 begin climb

7014 2.93 23.4 993.0 0.0 166 7046 3.15 2.55 22.30 1.309 4 0.058 0.066 3370 3508 2834

7069 2.93 23.4 991.1 6.8 167 7073 0.00 2.42 0.00 0.000 6 0.000 0.055 3371 2121 2834

7400 2.93 23.4 966.3 7.6 173 7401 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 2121 2833

7703 2.93 23.4 942.7 7.8 178 7704 0.00 0.00 0.00 0.000 6 0.000 0.000 3371 2121 2833

8006 2.93 23.4 919.9 7.6 183 8010 0.00 2.38 0.00 0.000 4 0.000 0.042 3371 3525 2832

8027 2.93 23.4 918.3 7.4 183 8031 0.00 2.38 0.00 0.000 6 0.000 0.033 3371 2085 2832

8364 2.93 23.4 893.5 7.3 189 8368 0.00 2.42 0.00 0.000 4 0.000 0.038 3371 3525 2832

8514 2.93 23.4 882.5 7.5 191 8518 0.00 2.35 0.00 0.000 6 0.000 0.031 3371 2091 2832

8864 2.93 24.9 860.3 6.2 197 8868 0.00 2.40 0.00 0.000 4 0.000 0.042 3371 3522 2832

8964 2.93 26.8 854.1 6.1 198 8973 0.00 2.33 4.10 0.835 6 0.000 0.028 3371 2097 2821

9295 2.93 27.6 833.2 6.4 204 9296 0.00 0.00 0.00 0.000 6 0.000 0.000 3371 2097 2821

9599 2.93 29.3 814.6 6.1 209 9604 0.00 0.00 3.95 0.797 6 0.000 0.000 3370 2097 2811

9901 2.93 29.9 795.3 6.5 214 9903 0.00 0.00 0.00 0.000 6 0.000 0.000 3371 2097 2811

10204 2.94 33.3 778.1 5.6 219 10212 0.00 0.00 5.32 0.937 6 0.000 0.000 3371 2097 2795

10508 2.94 34.5 759.2 6.3 224 10509 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 2097 2795

10811 2.94 35.1 739.6 6.5 229 10815 0.00 2.33 0.00 0.000 4 0.000 0.039 3371 700 2794

10826 2.94 35.1 738.4 6.7 229 10830 0.00 2.30 0.00 0.000 6 0.000 0.025 3371 2129 2794

11175 2.94 35.4 715.7 6.6 235 11179 0.00 2.40 0.00 0.000 4 0.000 0.038 3370 694 2794

11433 2.89 35.4 697.2 7.6 238 11439 0.00 2.28 0.00 0.000 6 0.000 0.028 3371 2104 2794

11743 2.89 36.4 677.6 6.3 244 11752 0.00 2.38 4.45 0.818 4 0.000 0.040 3371 698 2781

12005 2.85 36.4 657.7 8.0 247 12012 0.12 2.25 0.00 0.000 6 0.163 0.031 3351 2101 2782

12315 2.92 36.4 635.3 7.2 253 12319 0.00 2.33 0.00 0.000 4 0.000 0.044 3351 700 2782

12572 2.92 36.4 617.6 6.7 256 12576 0.00 2.25 0.00 0.000 6 0.000 0.025 3351 2101 2781

12888 3.00 39.3 599.3 5.8 262 12897 0.12 2.38 4.28 0.770 4 0.086 0.037 3379 694 2770

13151 2.95 43.0 584.0 5.5 265 13161 0.00 2.28 5.03 0.826 6 0.000 0.031 3379 2110 2755

13521 2.96 46.8 563.3 5.5 272 13531 0.00 2.38 4.82 0.802 4 0.000 0.038 3380 700 2740

13542 2.96 49.7 562.0 5.8 272 13551 0.00 2.28 4.43 0.751 6 0.000 0.027 3380 2101 2728

13884 3.00 49.7 539.2 6.9 278 13888 0.00 2.35 0.00 0.000 4 0.000 0.038 3380 696 2728

13933 3.00 49.7 535.6 7.2 278 13938 0.00 2.28 0.00 0.000 6 0.000 0.027 3379 2099 2727

14243 3.05 49.7 514.6 6.8 283 14244 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 2100 2728

14546 3.09 49.7 493.1 7.1 288 14550 0.00 2.30 0.00 0.000 4 0.000 0.040 3380 3490 2727

14601 3.09 49.7 488.7 8.0 288 14607 0.00 2.25 0.00 0.000 6 0.000 0.030 3379 2096 2727

14911 3.14 49.7 464.6 7.8 294 14915 0.12 2.33 0.00 0.000 4 0.088 0.037 3409 692 2727

15035 3.06 49.7 454.4 7.8 295 15041 0.00 2.25 0.00 0.000 6 0.000 0.026 3409 2103 2727

15344 3.06 49.7 431.3 7.5 301 15345 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 2103 2727

15647 3.06 49.7 410.3 6.9 306 15651 0.00 2.30 0.00 0.000 4 0.000 0.039 3408 3494 2727

15906 3.02 50.4 393.4 6.4 309 15912 0.12 2.25 0.00 0.000 6 0.166 0.030 3389 2098 2727

16215 3.02 55.6 377.4 5.1 315 16224 0.00 0.00 6.68 0.820 6 0.000 0.000 3389 2097 2704

16518 3.02 58.0 360.3 5.9 320 16524 0.00 0.00 3.78 0.617 6 0.000 0.000 3389 2098 2693

16822 3.07 60.5 342.2 5.9 325 16831 0.00 2.35 3.88 0.621 4 0.000 0.035 3389 3483 2684

16843 3.07 60.7 340.7 6.6 325 16847 0.00 2.25 0.00 0.000 6 0.000 0.025 3389 2100 2684

17187 3.12 63.2 320.0 5.9 331 17196 0.00 2.38 4.00 0.630 4 0.000 0.039 3389 700 2673

17344 3.12 63.2 308.8 7.3 333 17348 0.00 2.25 0.00 0.000 6 0.000 0.025 3389 2099 2672

17659 3.17 63.2 285.4 7.8 341 17661 0.12 0.00 0.00 0.000 6 0.091 0.000 3417 2102 2672

17964 3.17 63.7 264.2 6.5 351 17968 0.00 2.30 0.00 0.000 4 0.000 0.033 3416 3497 2672

18089 3.17 65.2 256.0 6.2 354 18095 0.00 2.25 0.00 0.000 6 0.000 0.028 3417 2099 2673

18402 3.17 67.9 237.8 5.8 365 18409 0.00 0.00 5.60 0.706 6 0.000 0.000 3417 2099 2654

18708 3.17 67.9 216.3 7.4 375 18712 0.00 2.33 0.00 0.000 4 0.000 0.038 3417 695 2653

18752 3.10 67.9 212.9 7.2 376 18756 0.00 2.25 0.00 0.000 6 0.000 0.030 3416 2101 2653

19070 3.10 71.1 193.3 5.7 387 19079 0.00 2.33 4.32 0.618 4 0.000 0.034 3417 3498 2641

19332 3.10 71.1 175.7 7.7 394 19338 0.00 2.25 0.00 0.000 6 0.000 0.025 3417 2099 2641

19645 3.10 73.8 156.4 5.8 405 19653 0.00 2.35 3.97 0.573 4 0.000 0.038 3416 3488 2630

19908 3.12 84.4 144.0 3.4 414 19923 0.00 2.25 10.12 0.746 6 0.000 0.024 3417 2090 2586

20246 3.12 90.6 126.4 4.7 431 20259 0.00 2.38 6.70 0.686 4 0.000 0.038 3417 705 2560

20514 3.11 112.6 117.2 -0.2 443 20538 0.00 2.25 18.77 0.759 6 0.000 0.029 3416 2111 2470

20868 3.18 117.0 101.1 5.3 460 20878 0.00 2.38 4.95 0.605 4 0.000 0.036 3416 700 2452

21131 3.18 118.4 85.9 6.2 472 21136 0.00 2.25 0.00 0.000 6 0.000 0.031 3417 2092 2452

21457 3.26 124.3 67.8 4.8 497 21469 0.00 2.38 7.28 0.664 4 0.000 0.039 3417 3491 2424

21722 3.31 124.3 48.3 7.6 520 21729 0.12 2.25 0.00 0.000 6 0.087 0.029 3445 2097 2423

22047 3.41 153.1 30.2 -2.4 551 22082 0.10 2.40 24.12 0.709 4 0.093 0.043 3469 706 2305

22335 3.39 167.2 27.8 2.3 576 22353 0.00 2.22 12.23 0.673 6 0.000 0.028 3469 2112 2248

22626 end climb: SURFACE_DEPTH_REACHED

state 22626 begin surface coast

22637 end surface coast: CONTROL_FINISHED_OK

state 22638 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	308	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	42	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	62	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	495	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	510	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	-52246.973	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	024637,5007.704,-14451.181,44,1.9,56,18.5	TGT_NAME	C_NW
_CALLS	1	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.032,-0.058
_SM_DEPTHo	1.59	KALMAN_X	19192.7,14.8,40.1,-10975.8,842.8
_SM_ANGLEo	-58.1	KALMAN_Y	231434.9,134.7,35.8,-218308.3,544.9
GPS2	025214,5007.695,-14451.190,32,2.0,32,18.5	MHEAD_RNG_PITCHd_Wd	190.2,497,-43.5,-6.667
SPEED_LIMITS	0.067,0.228	D_GRID	1001

FINISH	1.0,1.024904	XPDR_PINGS	84
SM_CCo	22661,184.60,0.657,0,0,1300,400.08	_24V_AH	23.2,56.838
SM_GC	1.64,0.00,0.00,184.60,0.000,0.000,0.657,494,1893,1300,-10.28,-0.17,400.08	_10V_AH	10.1,29.221
IRIDIUM_FIX	4949.70,-14451.95,231197,212100	DATA_FILE_SIZE	38030,605
TT8_MAMPS	0.029146	CAP_FILE_SIZE	167134,0
HUMID	1771	CFSIZE	260165632,238338048
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	300808,091558,5007.342,-14451.148,64,3.6,83,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	175	123.37	SBE_CT	428	24	238.79
Roll_motor	176	73	301.12	SBE_O2	486	19	214.56
VBD_pump_during_apogee	197	1338	6134.95	Optode	625	33	478.87
VBD_pump_during_surface	184	657	2815.11	WL_BB2F	389	105	947.75
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.52	nil	0	0	0.00
Iridium_during_connect	33	160	123.38	nil	0	0	0.00
Iridium_during_xfer	139	223	720.07
Transponder_ping	21	420	204.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.54
TT8	1530	19	306.06
LPSleep	17928	2	396.55
TT8_Active	569	19	113.86
TT8_Sampling	2608	39	1048.74
TT8_CF8	547	45	253.16
TT8_Kalman	33	81	27.59
Analog_circuits	1844	12	223.60
GPS_charging	0	0	0.00
Compass	2545	8	205.65
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	19	begin dive
21	-2.92	-14.2	0.0	0.0	0	95	0.00	0.00	-71.00	0.000	2	0.000	0.000	489	1894	2846
98	-2.93	-23.4	3.2	-3.8	7	121	8.55	2.33	-4.97	0.000	4	0.166	0.050	2086	3283	3030
313	-3.11	-23.4	56.9	-19.6	26	318	0.17	2.25	0.00	0.000	6	0.067	0.025	2043	1897	3032
643	-3.22	-23.4	124.4	-20.7	47	647	0.00	2.33	0.00	0.000	4	0.000	0.038	2043	502	3033
899	-3.22	-23.4	172.5	-16.7	56	906	0.00	2.22	0.00	0.000	6	0.000	0.022	2043	1908	3035
1213	-3.33	-23.4	221.4	-15.6	67	1217	0.15	2.35	0.00	0.000	4	0.074	0.038	2001	506	3034
1470	-3.28	-23.4	266.7	-17.3	74	1476	0.00	2.22	0.00	0.000	6	0.000	0.025	2001	1903	3034
1812	-3.34	-23.4	318.4	-15.0	84	1816	0.00	2.35	0.00	0.000	4	0.000	0.043	2001	503	3034
2070	-3.34	-23.4	361.9	-16.7	87	2076	0.00	2.22	0.00	0.000	6	0.000	0.028	2001	1901	3033
2380	-3.40	-23.4	410.2	-15.6	93	2384	0.00	2.35	0.00	0.000	4	0.000	0.041	2001	502	3033
2615	-3.36	-23.4	449.6	-17.2	96	2619	0.00	2.22	0.00	0.000	6	0.000	0.028	2001	1900	3032
2941	-3.43	-23.4	498.6	-15.0	102	2945	0.00	2.28	0.00	0.000	4	0.000	0.037	2001	3287	3031
2986	-3.48	-23.4	505.4	-15.7	102	2990	0.15	2.25	0.00	0.000	6	0.081	0.030	1966	1901	3031
3300	-3.48	-23.4	551.5	-14.6	108	3304	0.00	2.35	0.00	0.000	4	0.000	0.048	1967	499	3031
3357	-3.39	-23.4	559.9	-15.0	108	3362	0.12	2.22	0.00	0.000	6	0.166	0.028	1986	1903	3030
3667	-3.44	-23.4	602.3	-13.6	113	3671	0.00	2.35	0.00	0.000	4	0.000	0.043	1986	506	3030
3830	-3.39	-23.4	625.2	-13.4	115	3834	0.00	2.22	0.00	0.000	6	0.000	0.023	1986	1901	3030
4163	-3.44	-23.4	666.0	-12.1	121	4167	0.00	2.35	0.00	0.000	4	0.000	0.040	1986	505	3029
4421	-3.39	-23.4	699.6	-12.9	124	4427	0.00	2.22	0.00	0.000	6	0.000	0.026	1986	1900	3029
4731	-3.45	-23.4	736.5	-11.9	130	4735	0.00	2.35	0.00	0.000	4	0.000	0.045	1986	505	3028
4989	-3.40	-23.4	770.4	-13.1	133	4995	0.00	2.22	0.00	0.000	6	0.000	0.027	1986	1901	3028
5299	-3.46	-23.4	808.3	-12.1	139	5303	0.00	2.35	0.00	0.000	4	0.000	0.043	1986	508	3028
5540	-3.41	-23.4	838.0	-12.5	142	5544	0.00	2.22	0.00	0.000	6	0.000	0.026	1986	1900	3027
5861	-3.47	-23.4	873.4	-10.9	148	5865	0.00	2.38	0.00	0.000	4	0.000	0.046	1986	501	3026
5984	-3.43	-23.4	887.9	-11.8	149	5991	0.00	2.22	0.00	0.000	6	0.000	0.025	1986	1897	3026
6293	-3.49	-23.4	920.1	-10.4	155	6297	0.00	2.38	0.00	0.000	4	0.000	0.056	1986	510	3026
6355	-3.49	-23.4	926.8	-11.4	156	6359	0.00	2.25	0.00	0.000	6	0.000	0.035	1986	1894	3026
6726	-3.56	-23.4	965.1	-10.3	162	6731	0.15	2.42	0.00	0.000	4	0.086	0.063	1952	513	3026
6885	-3.47	-23.4	982.8	-10.9	164	6889	0.10	2.33	0.00	0.000	6	0.176	0.050	1966	1889	3025
6976	end dive: TARGET_DEPTH_EXCEEDED
state	6976	begin apogee
6982	-0.33	0.0	993.0	10.6	166	7011	3.53	0.00	22.50	1.338	6	0.150	0.000	2649	2103	2931
7011	end apogee: CONTROL_FINISHED_OK
state	7011	begin climb
7014	2.93	23.4	993.0	0.0	166	7046	3.15	2.55	22.30	1.309	4	0.058	0.066	3370	3508	2834
7069	2.93	23.4	991.1	6.8	167	7073	0.00	2.42	0.00	0.000	6	0.000	0.055	3371	2121	2834
7400	2.93	23.4	966.3	7.6	173	7401	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	2121	2833
7703	2.93	23.4	942.7	7.8	178	7704	0.00	0.00	0.00	0.000	6	0.000	0.000	3371	2121	2833
8006	2.93	23.4	919.9	7.6	183	8010	0.00	2.38	0.00	0.000	4	0.000	0.042	3371	3525	2832
8027	2.93	23.4	918.3	7.4	183	8031	0.00	2.38	0.00	0.000	6	0.000	0.033	3371	2085	2832
8364	2.93	23.4	893.5	7.3	189	8368	0.00	2.42	0.00	0.000	4	0.000	0.038	3371	3525	2832
8514	2.93	23.4	882.5	7.5	191	8518	0.00	2.35	0.00	0.000	6	0.000	0.031	3371	2091	2832
8864	2.93	24.9	860.3	6.2	197	8868	0.00	2.40	0.00	0.000	4	0.000	0.042	3371	3522	2832
8964	2.93	26.8	854.1	6.1	198	8973	0.00	2.33	4.10	0.835	6	0.000	0.028	3371	2097	2821
9295	2.93	27.6	833.2	6.4	204	9296	0.00	0.00	0.00	0.000	6	0.000	0.000	3371	2097	2821
9599	2.93	29.3	814.6	6.1	209	9604	0.00	0.00	3.95	0.797	6	0.000	0.000	3370	2097	2811
9901	2.93	29.9	795.3	6.5	214	9903	0.00	0.00	0.00	0.000	6	0.000	0.000	3371	2097	2811
10204	2.94	33.3	778.1	5.6	219	10212	0.00	0.00	5.32	0.937	6	0.000	0.000	3371	2097	2795
10508	2.94	34.5	759.2	6.3	224	10509	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	2097	2795
10811	2.94	35.1	739.6	6.5	229	10815	0.00	2.33	0.00	0.000	4	0.000	0.039	3371	700	2794
10826	2.94	35.1	738.4	6.7	229	10830	0.00	2.30	0.00	0.000	6	0.000	0.025	3371	2129	2794
11175	2.94	35.4	715.7	6.6	235	11179	0.00	2.40	0.00	0.000	4	0.000	0.038	3370	694	2794
11433	2.89	35.4	697.2	7.6	238	11439	0.00	2.28	0.00	0.000	6	0.000	0.028	3371	2104	2794
11743	2.89	36.4	677.6	6.3	244	11752	0.00	2.38	4.45	0.818	4	0.000	0.040	3371	698	2781
12005	2.85	36.4	657.7	8.0	247	12012	0.12	2.25	0.00	0.000	6	0.163	0.031	3351	2101	2782
12315	2.92	36.4	635.3	7.2	253	12319	0.00	2.33	0.00	0.000	4	0.000	0.044	3351	700	2782
12572	2.92	36.4	617.6	6.7	256	12576	0.00	2.25	0.00	0.000	6	0.000	0.025	3351	2101	2781
12888	3.00	39.3	599.3	5.8	262	12897	0.12	2.38	4.28	0.770	4	0.086	0.037	3379	694	2770
13151	2.95	43.0	584.0	5.5	265	13161	0.00	2.28	5.03	0.826	6	0.000	0.031	3379	2110	2755
13521	2.96	46.8	563.3	5.5	272	13531	0.00	2.38	4.82	0.802	4	0.000	0.038	3380	700	2740
13542	2.96	49.7	562.0	5.8	272	13551	0.00	2.28	4.43	0.751	6	0.000	0.027	3380	2101	2728
13884	3.00	49.7	539.2	6.9	278	13888	0.00	2.35	0.00	0.000	4	0.000	0.038	3380	696	2728
13933	3.00	49.7	535.6	7.2	278	13938	0.00	2.28	0.00	0.000	6	0.000	0.027	3379	2099	2727
14243	3.05	49.7	514.6	6.8	283	14244	0.00	0.00	0.00	0.000	6	0.000	0.000	3379	2100	2728
14546	3.09	49.7	493.1	7.1	288	14550	0.00	2.30	0.00	0.000	4	0.000	0.040	3380	3490	2727
14601	3.09	49.7	488.7	8.0	288	14607	0.00	2.25	0.00	0.000	6	0.000	0.030	3379	2096	2727
14911	3.14	49.7	464.6	7.8	294	14915	0.12	2.33	0.00	0.000	4	0.088	0.037	3409	692	2727
15035	3.06	49.7	454.4	7.8	295	15041	0.00	2.25	0.00	0.000	6	0.000	0.026	3409	2103	2727
15344	3.06	49.7	431.3	7.5	301	15345	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	2103	2727
15647	3.06	49.7	410.3	6.9	306	15651	0.00	2.30	0.00	0.000	4	0.000	0.039	3408	3494	2727
15906	3.02	50.4	393.4	6.4	309	15912	0.12	2.25	0.00	0.000	6	0.166	0.030	3389	2098	2727
16215	3.02	55.6	377.4	5.1	315	16224	0.00	0.00	6.68	0.820	6	0.000	0.000	3389	2097	2704
16518	3.02	58.0	360.3	5.9	320	16524	0.00	0.00	3.78	0.617	6	0.000	0.000	3389	2098	2693
16822	3.07	60.5	342.2	5.9	325	16831	0.00	2.35	3.88	0.621	4	0.000	0.035	3389	3483	2684
16843	3.07	60.7	340.7	6.6	325	16847	0.00	2.25	0.00	0.000	6	0.000	0.025	3389	2100	2684
17187	3.12	63.2	320.0	5.9	331	17196	0.00	2.38	4.00	0.630	4	0.000	0.039	3389	700	2673
17344	3.12	63.2	308.8	7.3	333	17348	0.00	2.25	0.00	0.000	6	0.000	0.025	3389	2099	2672
17659	3.17	63.2	285.4	7.8	341	17661	0.12	0.00	0.00	0.000	6	0.091	0.000	3417	2102	2672
17964	3.17	63.7	264.2	6.5	351	17968	0.00	2.30	0.00	0.000	4	0.000	0.033	3416	3497	2672
18089	3.17	65.2	256.0	6.2	354	18095	0.00	2.25	0.00	0.000	6	0.000	0.028	3417	2099	2673
18402	3.17	67.9	237.8	5.8	365	18409	0.00	0.00	5.60	0.706	6	0.000	0.000	3417	2099	2654
18708	3.17	67.9	216.3	7.4	375	18712	0.00	2.33	0.00	0.000	4	0.000	0.038	3417	695	2653
18752	3.10	67.9	212.9	7.2	376	18756	0.00	2.25	0.00	0.000	6	0.000	0.030	3416	2101	2653
19070	3.10	71.1	193.3	5.7	387	19079	0.00	2.33	4.32	0.618	4	0.000	0.034	3417	3498	2641
19332	3.10	71.1	175.7	7.7	394	19338	0.00	2.25	0.00	0.000	6	0.000	0.025	3417	2099	2641
19645	3.10	73.8	156.4	5.8	405	19653	0.00	2.35	3.97	0.573	4	0.000	0.038	3416	3488	2630
19908	3.12	84.4	144.0	3.4	414	19923	0.00	2.25	10.12	0.746	6	0.000	0.024	3417	2090	2586
20246	3.12	90.6	126.4	4.7	431	20259	0.00	2.38	6.70	0.686	4	0.000	0.038	3417	705	2560
20514	3.11	112.6	117.2	-0.2	443	20538	0.00	2.25	18.77	0.759	6	0.000	0.029	3416	2111	2470
20868	3.18	117.0	101.1	5.3	460	20878	0.00	2.38	4.95	0.605	4	0.000	0.036	3416	700	2452
21131	3.18	118.4	85.9	6.2	472	21136	0.00	2.25	0.00	0.000	6	0.000	0.031	3417	2092	2452
21457	3.26	124.3	67.8	4.8	497	21469	0.00	2.38	7.28	0.664	4	0.000	0.039	3417	3491	2424
21722	3.31	124.3	48.3	7.6	520	21729	0.12	2.25	0.00	0.000	6	0.087	0.029	3445	2097	2423
22047	3.41	153.1	30.2	-2.4	551	22082	0.10	2.40	24.12	0.709	4	0.093	0.043	3469	706	2305
22335	3.39	167.2	27.8	2.3	576	22353	0.00	2.22	12.23	0.673	6	0.000	0.028	3469	2112	2248
22626	end climb: SURFACE_DEPTH_REACHED
state	22626	begin surface coast
22637	end surface coast: CONTROL_FINISHED_OK
state	22638	begin surface