Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 11 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3772 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.130001 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -122.366 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2400 ALTIM_PULSE 3

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 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 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 403 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3857 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2837 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -209933.3 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 27 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 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 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 863 AH0_24V 147 SEABIRD_T_G 0.0044304794

SPEED_FACTOR 1 PITCH_MAX 3325 AH0_10V 122.2 SEABIRD_T_H 0.00064686994

RHO 1.023 C_PITCH 2800 PRESSURE_YINT -2.9385166 SEABIRD_T_I 2.8000688e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 3.1833417e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8991232

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.099651

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012204468

HD_A 0.0038945 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00018128238

HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3325 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 863 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.9385166 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.366

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -209933.3

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 119 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3772 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_ROLL_CLIMB 2400 KALMAN_USE 1 ROLL_MIN 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2837 MASS 51528 R_PORT_OVSHOOT 25 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -9.8991232 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.099651 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012204468 VBD_MAX 3857

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018128238 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044304794 VBD_MIN 403

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064686994 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8000688e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 11 PHONE_DEVICE 48 SEABIRD_T_J 3.1833417e-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 224338,4702.474,-12514.542,31,1.5,31,18.4 TGT_NAME W_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.162,-0.208

_SM_DEPTHo 1.00 KALMAN_X 6507.0,-782.8,125.4,-26726.6,1518.1

_SM_ANGLEo -70.0 KALMAN_Y 11719.4,-427.6,-38.4,-3989.1,4082.9

GPS2 224802,4702.461,-12514.544,13,1.5,13,18.4 MHEAD_RNG_PITCHd_Wd 199.5,209030,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.003176 ALTIM_BOTTOM_PING 901.6,6.0

SM_CCo 17633,26.85,0.774,0,0,1205,400.08 _24V_AH 22.6,35.901

SM_GC 0.97,0.00,0.00,26.85,0.000,0.000,0.774,861,2189,1205,-8.91,-0.34,400.08 _10V_AH 10.6,22.893

IRIDIUM_FIX 4641.78,-12516.85,111297,171717 DATA_FILE_SIZE 31727,653

TT8_MAMPS 0.027612 CAP_FILE_SIZE 130685,0

HUMID 2123 CFSIZE 260165632,258543616

INTERNAL_PRESSURE 8.69174 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,0,0

TCM_TEMP 16.80 GPS 170908,034437,4701.206,-12516.774,40,2.0,46,18.4

XPDR_PINGS 26

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 150 98.87 SBE_CT 444 24 241.19

Roll_motor 161 132 485.36 SBE_O2 525 19 225.72

VBD_pump_during_apogee 426 1402 13529.52 WL_BB2F 765 105 1815.60

VBD_pump_during_surface 26 773 469.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 61.56 nil 0 0 0.00

Iridium_during_connect 22 160 83.10 nil 0 0 0.00

Iridium_during_xfer 116 223 585.12

Transponder_ping 14 420 140.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.92

TT8 1342 19 281.77

LPSleep 13886 2 322.37

TT8_Active 567 19 119.16

TT8_Sampling 1771 39 747.27

TT8_CF8 356 45 173.18

TT8_Kalman 33 81 28.91

Analog_circuits 1479 12 188.18

GPS_charging 0 0 0.00

Compass 1724 8 146.27

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

20 -1.00 -146.6 0.0 0.0 0 84 0.00 0.00 -61.83 0.000 2 0.000 0.000 864 2191 2627

87 -1.00 -146.6 3.1 -5.2 6 126 11.88 2.47 -18.48 0.000 4 0.150 0.097 2572 3602 3436

295 -0.78 -146.6 46.1 -17.0 28 302 0.35 2.30 0.00 0.000 6 0.093 0.062 2628 2192 3436

636 -0.78 -146.6 87.6 -10.7 83 640 0.00 2.42 0.00 0.000 4 0.000 0.089 2628 3608 3438

670 -0.83 -146.6 91.3 -11.1 86 674 0.00 2.33 0.00 0.000 6 0.000 0.069 2628 2200 3438

996 -0.91 -146.6 120.5 -8.5 116 1001 0.15 2.40 0.00 0.000 4 0.063 0.090 2597 792 3438

1073 -0.91 -146.6 128.9 -10.4 122 1080 0.00 2.35 0.00 0.000 6 0.000 0.071 2597 2196 3438

1395 -0.91 -146.6 164.5 -11.1 147 1399 0.00 2.40 0.00 0.000 4 0.000 0.087 2597 790 3438

1466 -0.91 -146.6 172.2 -10.7 150 1470 0.00 2.35 0.00 0.000 6 0.000 0.071 2597 2209 3438

1788 -0.91 -146.6 206.1 -10.3 166 1789 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2209 3438

2097 -0.91 -146.6 238.6 -10.6 181 2101 0.00 2.42 0.00 0.000 4 0.000 0.089 2597 790 3438

2140 -0.91 -146.6 243.4 -10.6 183 2144 0.00 2.35 0.00 0.000 6 0.000 0.073 2597 2209 3438

2468 -0.91 -146.6 276.7 -9.9 199 2473 0.00 2.42 0.00 0.000 4 0.000 0.090 2597 790 3438

2531 -0.95 -146.6 282.8 -9.3 202 2535 0.00 2.35 0.00 0.000 6 0.000 0.074 2597 2206 3438

2895 -0.95 -146.6 316.9 -9.2 214 2899 0.00 2.42 0.00 0.000 4 0.000 0.091 2597 794 3438

2939 -0.99 -146.6 321.0 -9.7 214 2943 0.00 2.35 0.00 0.000 6 0.000 0.074 2597 2207 3437

3254 -0.99 -146.6 351.4 -9.8 220 3255 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2208 3438

3557 -0.99 -146.6 382.0 -10.1 225 3561 0.00 2.45 0.00 0.000 4 0.000 0.093 2597 784 3437

3595 -1.04 -146.6 386.2 -10.5 225 3600 0.12 2.35 0.00 0.000 6 0.073 0.076 2572 2201 3438

3916 -0.95 -146.6 423.8 -11.9 231 3918 0.12 0.00 0.00 0.000 6 0.108 0.000 2591 2201 3437

4218 -0.95 -146.6 455.1 -10.2 236 4222 0.00 2.45 0.00 0.000 4 0.000 0.102 2591 3609 3436

4250 -0.95 -146.6 458.7 -10.8 236 4254 0.00 2.40 0.00 0.000 6 0.000 0.080 2591 2200 3436

4582 -0.95 -146.6 493.1 -10.4 242 4586 0.00 2.42 0.00 0.000 4 0.000 0.100 2591 792 3436

4620 -0.95 -146.6 497.0 -9.6 242 4624 0.00 2.35 0.00 0.000 6 0.000 0.077 2591 2201 3436

4947 -0.95 -146.6 528.2 -9.7 248 4948 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2201 3435

5249 -0.95 -146.6 556.9 -9.5 253 5250 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2201 3435

5552 -0.95 -146.6 586.4 -9.8 258 5556 0.00 2.50 0.00 0.000 4 0.000 0.105 2591 789 3434

5607 -1.00 -146.6 592.2 -10.2 258 5614 0.00 2.38 0.00 0.000 6 0.000 0.084 2591 2198 3434

5916 -1.00 -146.6 623.3 -10.1 264 5917 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2198 3434

6221 -1.00 -146.6 653.3 -9.9 269 6225 0.00 2.53 0.00 0.000 4 0.000 0.112 2590 793 3433

6248 -1.04 -146.6 656.2 -10.2 269 6252 0.00 2.40 0.00 0.000 6 0.000 0.091 2590 2199 3433

6579 -1.04 -146.6 687.6 -9.4 275 6581 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2199 3433

6884 -1.04 -146.6 715.6 -9.2 280 6885 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2199 3433

7185 -1.04 -146.6 740.9 -8.3 285 7190 0.00 2.65 0.00 0.000 4 0.000 0.133 2591 790 3432

7224 -1.11 -146.6 744.2 -8.5 285 7229 0.17 2.55 0.00 0.000 6 0.065 0.115 2558 2195 3432

7546 -1.01 -146.6 775.5 -9.8 291 7550 0.12 2.58 0.00 0.000 4 0.112 0.120 2576 3610 3431

7573 -0.96 -146.6 778.4 -9.9 291 7577 0.00 2.40 0.00 0.000 6 0.000 0.087 2577 2202 3431

7904 -0.96 -146.6 806.3 -8.3 297 7908 0.00 2.50 0.00 0.000 4 0.000 0.109 2577 787 3431

7925 -0.96 -146.6 808.3 -8.8 297 7929 0.00 2.40 0.00 0.000 6 0.000 0.084 2577 2206 3431

8268 -0.96 -146.6 840.2 -9.5 303 8272 0.00 2.53 0.00 0.000 4 0.000 0.107 2577 787 3431

8300 -0.96 -146.6 843.6 -9.8 303 8304 0.00 2.42 0.00 0.000 6 0.000 0.085 2577 2207 3431

8632 -0.96 -146.6 877.5 -10.3 309 8634 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2208 3431

8877 end dive: BOTTOM_OBSTACLE_DETECTED

state 8877 begin apogee

8882 -0.23 0.0 901.6 10.0 313 9011 1.02 0.00 125.97 1.402 6 0.088 0.000 2747 2402 2837

9012 end apogee: CONTROL_FINISHED_OK

state 9012 begin climb

9014 1.00 146.6 906.1 0.0 315 9155 1.58 2.83 131.57 1.355 4 0.049 0.129 3015 3754 2239

9245 0.71 146.6 887.9 15.0 318 9251 0.38 2.47 0.00 0.000 6 0.108 0.091 2960 2402 2239

9565 0.66 146.6 852.4 10.9 324 9570 0.00 2.58 0.00 0.000 4 0.000 0.120 2960 3766 2239

9632 0.55 146.6 844.2 12.5 325 9637 0.25 2.40 0.00 0.000 6 0.115 0.090 2924 2397 2239

9998 0.65 157.1 809.1 9.5 331 10013 0.00 2.53 10.48 1.210 4 0.000 0.108 2924 989 2195

10091 0.70 157.1 799.6 10.8 332 10096 0.15 2.45 0.00 0.000 6 0.067 0.087 2953 2400 2195

10422 0.70 157.1 762.2 11.4 338 10423 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2400 2195

10725 0.70 157.1 728.4 11.0 343 10726 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2400 2195

11028 0.70 157.1 695.1 11.0 348 11033 0.00 2.53 0.00 0.000 4 0.000 0.106 2953 985 2195

11061 0.70 157.1 691.3 10.6 348 11065 0.00 2.42 0.00 0.000 6 0.000 0.087 2953 2403 2194

11393 0.71 162.4 658.3 9.8 354 11403 0.00 2.50 5.82 1.018 4 0.000 0.104 2954 986 2174

11447 0.71 162.4 652.7 10.0 354 11454 0.00 2.42 0.00 0.000 6 0.000 0.087 2953 2409 2174

11757 0.73 178.7 623.7 9.3 360 11777 0.00 2.55 15.27 1.203 4 0.000 0.104 2953 983 2107

11817 0.74 187.6 617.8 9.6 361 11831 0.00 2.45 9.12 1.105 6 0.000 0.087 2953 2403 2071

12186 0.75 197.3 582.3 9.6 367 12200 0.00 2.53 9.68 1.111 4 0.000 0.104 2954 986 2032

12250 0.75 198.3 575.8 10.0 368 12255 0.00 2.42 0.00 0.000 6 0.000 0.086 2953 2402 2032

12616 0.80 198.3 539.4 10.0 374 12620 0.00 2.50 0.00 0.000 4 0.000 0.102 2953 991 2032

12688 0.81 201.7 531.8 9.8 375 12699 0.12 2.40 5.55 0.941 6 0.071 0.087 2977 2399 2014

13042 0.81 201.7 491.5 11.5 381 13043 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2399 2014

13345 0.81 201.7 457.0 11.3 386 13349 0.00 2.50 0.00 0.000 4 0.000 0.102 2977 983 2013

13399 0.76 201.7 450.3 11.9 386 13406 0.00 2.40 0.00 0.000 6 0.000 0.086 2977 2399 2014

13708 0.76 201.7 413.2 12.1 392 13709 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2399 2014

14011 0.76 201.7 377.8 11.7 397 14016 0.00 2.47 0.00 0.000 4 0.000 0.099 2977 985 2014

14083 0.76 201.7 369.0 12.4 398 14087 0.00 2.40 0.00 0.000 6 0.000 0.084 2977 2390 2014

14443 0.76 201.7 325.7 12.1 404 14447 0.00 2.45 0.00 0.000 4 0.000 0.097 2977 986 2014

14475 0.76 201.7 321.6 12.1 404 14479 0.00 2.38 0.00 0.000 6 0.000 0.083 2977 2400 2014

14789 0.76 201.7 286.3 10.9 413 14793 0.00 2.45 0.00 0.000 4 0.000 0.096 2977 990 2014

14832 0.76 201.7 281.3 11.0 415 14836 0.00 2.38 0.00 0.000 6 0.000 0.082 2977 2401 2014

15159 0.76 201.7 246.0 10.9 431 15163 0.00 2.45 0.00 0.000 4 0.000 0.094 2977 984 2014

15207 0.76 201.7 240.7 10.2 433 15212 0.00 2.38 0.00 0.000 6 0.000 0.081 2977 2400 2014

15529 0.76 201.7 208.1 10.7 449 15533 0.00 2.45 0.00 0.000 4 0.000 0.094 2977 980 2014

15590 0.76 201.7 201.0 11.3 452 15595 0.00 2.40 0.00 0.000 6 0.000 0.081 2977 2406 2014

15917 0.76 201.7 164.1 11.0 468 15921 0.00 2.42 0.00 0.000 4 0.000 0.091 2977 989 2015

15949 0.76 201.7 160.4 11.0 469 15954 0.00 2.38 0.00 0.000 6 0.000 0.079 2977 2396 2015

16277 0.78 222.8 128.6 9.0 495 16300 0.00 2.45 17.85 0.907 4 0.000 0.091 2977 988 1928

16335 0.80 235.6 123.2 9.4 500 16351 0.00 2.38 11.60 0.864 6 0.000 0.078 2978 2401 1876

16670 0.86 235.6 89.7 10.4 531 16671 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2401 1876

17002 0.97 243.1 57.9 9.7 582 17015 0.15 2.47 7.50 0.783 4 0.065 0.088 3011 979 1846

17096 0.97 243.1 48.4 10.4 598 17102 0.00 2.38 0.00 0.000 6 0.000 0.077 3010 2400 1846

17431 1.18 342.1 16.9 5.5 636 17515 0.20 0.00 76.55 0.809 6 0.061 0.000 3053 2400 1441

17597 end climb: SURFACE_DEPTH_REACHED

state 17597 begin surface coast

17612 end surface coast: CONTROL_FINISHED_OK

state 17612 begin surface

ID	119	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	11	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3772	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.130001	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-122.366	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2400	ALTIM_PULSE	3
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	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	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	403	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3857	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2837	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-209933.3	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	27	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	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	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	863	AH0_24V	147	SEABIRD_T_G	0.0044304794
SPEED_FACTOR	1	PITCH_MAX	3325	AH0_10V	122.2	SEABIRD_T_H	0.00064686994
RHO	1.023	C_PITCH	2800	PRESSURE_YINT	-2.9385166	SEABIRD_T_I	2.8000688e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	3.1833417e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8991232
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.099651
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012204468
HD_A	0.0038945	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00018128238
HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_BOTTOM_PING_RANGE	0

GPS1	224338,4702.474,-12514.542,31,1.5,31,18.4	TGT_NAME	W_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.162,-0.208
_SM_DEPTHo	1.00	KALMAN_X	6507.0,-782.8,125.4,-26726.6,1518.1
_SM_ANGLEo	-70.0	KALMAN_Y	11719.4,-427.6,-38.4,-3989.1,4082.9
GPS2	224802,4702.461,-12514.544,13,1.5,13,18.4	MHEAD_RNG_PITCHd_Wd	199.5,209030,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.2,1.003176	ALTIM_BOTTOM_PING	901.6,6.0
SM_CCo	17633,26.85,0.774,0,0,1205,400.08	_24V_AH	22.6,35.901
SM_GC	0.97,0.00,0.00,26.85,0.000,0.000,0.774,861,2189,1205,-8.91,-0.34,400.08	_10V_AH	10.6,22.893
IRIDIUM_FIX	4641.78,-12516.85,111297,171717	DATA_FILE_SIZE	31727,653
TT8_MAMPS	0.027612	CAP_FILE_SIZE	130685,0
HUMID	2123	CFSIZE	260165632,258543616
INTERNAL_PRESSURE	8.69174	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
TCM_TEMP	16.80	GPS	170908,034437,4701.206,-12516.774,40,2.0,46,18.4
XPDR_PINGS	26

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	150	98.87	SBE_CT	444	24	241.19
Roll_motor	161	132	485.36	SBE_O2	525	19	225.72
VBD_pump_during_apogee	426	1402	13529.52	WL_BB2F	765	105	1815.60
VBD_pump_during_surface	26	773	469.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	61.56	nil	0	0	0.00
Iridium_during_connect	22	160	83.10	nil	0	0	0.00
Iridium_during_xfer	116	223	585.12
Transponder_ping	14	420	140.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.92
TT8	1342	19	281.77
LPSleep	13886	2	322.37
TT8_Active	567	19	119.16
TT8_Sampling	1771	39	747.27
TT8_CF8	356	45	173.18
TT8_Kalman	33	81	28.91
Analog_circuits	1479	12	188.18
GPS_charging	0	0	0.00
Compass	1724	8	146.27
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
20	-1.00	-146.6	0.0	0.0	0	84	0.00	0.00	-61.83	0.000	2	0.000	0.000	864	2191	2627
87	-1.00	-146.6	3.1	-5.2	6	126	11.88	2.47	-18.48	0.000	4	0.150	0.097	2572	3602	3436
295	-0.78	-146.6	46.1	-17.0	28	302	0.35	2.30	0.00	0.000	6	0.093	0.062	2628	2192	3436
636	-0.78	-146.6	87.6	-10.7	83	640	0.00	2.42	0.00	0.000	4	0.000	0.089	2628	3608	3438
670	-0.83	-146.6	91.3	-11.1	86	674	0.00	2.33	0.00	0.000	6	0.000	0.069	2628	2200	3438
996	-0.91	-146.6	120.5	-8.5	116	1001	0.15	2.40	0.00	0.000	4	0.063	0.090	2597	792	3438
1073	-0.91	-146.6	128.9	-10.4	122	1080	0.00	2.35	0.00	0.000	6	0.000	0.071	2597	2196	3438
1395	-0.91	-146.6	164.5	-11.1	147	1399	0.00	2.40	0.00	0.000	4	0.000	0.087	2597	790	3438
1466	-0.91	-146.6	172.2	-10.7	150	1470	0.00	2.35	0.00	0.000	6	0.000	0.071	2597	2209	3438
1788	-0.91	-146.6	206.1	-10.3	166	1789	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2209	3438
2097	-0.91	-146.6	238.6	-10.6	181	2101	0.00	2.42	0.00	0.000	4	0.000	0.089	2597	790	3438
2140	-0.91	-146.6	243.4	-10.6	183	2144	0.00	2.35	0.00	0.000	6	0.000	0.073	2597	2209	3438
2468	-0.91	-146.6	276.7	-9.9	199	2473	0.00	2.42	0.00	0.000	4	0.000	0.090	2597	790	3438
2531	-0.95	-146.6	282.8	-9.3	202	2535	0.00	2.35	0.00	0.000	6	0.000	0.074	2597	2206	3438
2895	-0.95	-146.6	316.9	-9.2	214	2899	0.00	2.42	0.00	0.000	4	0.000	0.091	2597	794	3438
2939	-0.99	-146.6	321.0	-9.7	214	2943	0.00	2.35	0.00	0.000	6	0.000	0.074	2597	2207	3437
3254	-0.99	-146.6	351.4	-9.8	220	3255	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2208	3438
3557	-0.99	-146.6	382.0	-10.1	225	3561	0.00	2.45	0.00	0.000	4	0.000	0.093	2597	784	3437
3595	-1.04	-146.6	386.2	-10.5	225	3600	0.12	2.35	0.00	0.000	6	0.073	0.076	2572	2201	3438
3916	-0.95	-146.6	423.8	-11.9	231	3918	0.12	0.00	0.00	0.000	6	0.108	0.000	2591	2201	3437
4218	-0.95	-146.6	455.1	-10.2	236	4222	0.00	2.45	0.00	0.000	4	0.000	0.102	2591	3609	3436
4250	-0.95	-146.6	458.7	-10.8	236	4254	0.00	2.40	0.00	0.000	6	0.000	0.080	2591	2200	3436
4582	-0.95	-146.6	493.1	-10.4	242	4586	0.00	2.42	0.00	0.000	4	0.000	0.100	2591	792	3436
4620	-0.95	-146.6	497.0	-9.6	242	4624	0.00	2.35	0.00	0.000	6	0.000	0.077	2591	2201	3436
4947	-0.95	-146.6	528.2	-9.7	248	4948	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2201	3435
5249	-0.95	-146.6	556.9	-9.5	253	5250	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2201	3435
5552	-0.95	-146.6	586.4	-9.8	258	5556	0.00	2.50	0.00	0.000	4	0.000	0.105	2591	789	3434
5607	-1.00	-146.6	592.2	-10.2	258	5614	0.00	2.38	0.00	0.000	6	0.000	0.084	2591	2198	3434
5916	-1.00	-146.6	623.3	-10.1	264	5917	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2198	3434
6221	-1.00	-146.6	653.3	-9.9	269	6225	0.00	2.53	0.00	0.000	4	0.000	0.112	2590	793	3433
6248	-1.04	-146.6	656.2	-10.2	269	6252	0.00	2.40	0.00	0.000	6	0.000	0.091	2590	2199	3433
6579	-1.04	-146.6	687.6	-9.4	275	6581	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2199	3433
6884	-1.04	-146.6	715.6	-9.2	280	6885	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2199	3433
7185	-1.04	-146.6	740.9	-8.3	285	7190	0.00	2.65	0.00	0.000	4	0.000	0.133	2591	790	3432
7224	-1.11	-146.6	744.2	-8.5	285	7229	0.17	2.55	0.00	0.000	6	0.065	0.115	2558	2195	3432
7546	-1.01	-146.6	775.5	-9.8	291	7550	0.12	2.58	0.00	0.000	4	0.112	0.120	2576	3610	3431
7573	-0.96	-146.6	778.4	-9.9	291	7577	0.00	2.40	0.00	0.000	6	0.000	0.087	2577	2202	3431
7904	-0.96	-146.6	806.3	-8.3	297	7908	0.00	2.50	0.00	0.000	4	0.000	0.109	2577	787	3431
7925	-0.96	-146.6	808.3	-8.8	297	7929	0.00	2.40	0.00	0.000	6	0.000	0.084	2577	2206	3431
8268	-0.96	-146.6	840.2	-9.5	303	8272	0.00	2.53	0.00	0.000	4	0.000	0.107	2577	787	3431
8300	-0.96	-146.6	843.6	-9.8	303	8304	0.00	2.42	0.00	0.000	6	0.000	0.085	2577	2207	3431
8632	-0.96	-146.6	877.5	-10.3	309	8634	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2208	3431
8877	end dive: BOTTOM_OBSTACLE_DETECTED
state	8877	begin apogee
8882	-0.23	0.0	901.6	10.0	313	9011	1.02	0.00	125.97	1.402	6	0.088	0.000	2747	2402	2837
9012	end apogee: CONTROL_FINISHED_OK
state	9012	begin climb
9014	1.00	146.6	906.1	0.0	315	9155	1.58	2.83	131.57	1.355	4	0.049	0.129	3015	3754	2239
9245	0.71	146.6	887.9	15.0	318	9251	0.38	2.47	0.00	0.000	6	0.108	0.091	2960	2402	2239
9565	0.66	146.6	852.4	10.9	324	9570	0.00	2.58	0.00	0.000	4	0.000	0.120	2960	3766	2239
9632	0.55	146.6	844.2	12.5	325	9637	0.25	2.40	0.00	0.000	6	0.115	0.090	2924	2397	2239
9998	0.65	157.1	809.1	9.5	331	10013	0.00	2.53	10.48	1.210	4	0.000	0.108	2924	989	2195
10091	0.70	157.1	799.6	10.8	332	10096	0.15	2.45	0.00	0.000	6	0.067	0.087	2953	2400	2195
10422	0.70	157.1	762.2	11.4	338	10423	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2400	2195
10725	0.70	157.1	728.4	11.0	343	10726	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2400	2195
11028	0.70	157.1	695.1	11.0	348	11033	0.00	2.53	0.00	0.000	4	0.000	0.106	2953	985	2195
11061	0.70	157.1	691.3	10.6	348	11065	0.00	2.42	0.00	0.000	6	0.000	0.087	2953	2403	2194
11393	0.71	162.4	658.3	9.8	354	11403	0.00	2.50	5.82	1.018	4	0.000	0.104	2954	986	2174
11447	0.71	162.4	652.7	10.0	354	11454	0.00	2.42	0.00	0.000	6	0.000	0.087	2953	2409	2174
11757	0.73	178.7	623.7	9.3	360	11777	0.00	2.55	15.27	1.203	4	0.000	0.104	2953	983	2107
11817	0.74	187.6	617.8	9.6	361	11831	0.00	2.45	9.12	1.105	6	0.000	0.087	2953	2403	2071
12186	0.75	197.3	582.3	9.6	367	12200	0.00	2.53	9.68	1.111	4	0.000	0.104	2954	986	2032
12250	0.75	198.3	575.8	10.0	368	12255	0.00	2.42	0.00	0.000	6	0.000	0.086	2953	2402	2032
12616	0.80	198.3	539.4	10.0	374	12620	0.00	2.50	0.00	0.000	4	0.000	0.102	2953	991	2032
12688	0.81	201.7	531.8	9.8	375	12699	0.12	2.40	5.55	0.941	6	0.071	0.087	2977	2399	2014
13042	0.81	201.7	491.5	11.5	381	13043	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2399	2014
13345	0.81	201.7	457.0	11.3	386	13349	0.00	2.50	0.00	0.000	4	0.000	0.102	2977	983	2013
13399	0.76	201.7	450.3	11.9	386	13406	0.00	2.40	0.00	0.000	6	0.000	0.086	2977	2399	2014
13708	0.76	201.7	413.2	12.1	392	13709	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2399	2014
14011	0.76	201.7	377.8	11.7	397	14016	0.00	2.47	0.00	0.000	4	0.000	0.099	2977	985	2014
14083	0.76	201.7	369.0	12.4	398	14087	0.00	2.40	0.00	0.000	6	0.000	0.084	2977	2390	2014
14443	0.76	201.7	325.7	12.1	404	14447	0.00	2.45	0.00	0.000	4	0.000	0.097	2977	986	2014
14475	0.76	201.7	321.6	12.1	404	14479	0.00	2.38	0.00	0.000	6	0.000	0.083	2977	2400	2014
14789	0.76	201.7	286.3	10.9	413	14793	0.00	2.45	0.00	0.000	4	0.000	0.096	2977	990	2014
14832	0.76	201.7	281.3	11.0	415	14836	0.00	2.38	0.00	0.000	6	0.000	0.082	2977	2401	2014
15159	0.76	201.7	246.0	10.9	431	15163	0.00	2.45	0.00	0.000	4	0.000	0.094	2977	984	2014
15207	0.76	201.7	240.7	10.2	433	15212	0.00	2.38	0.00	0.000	6	0.000	0.081	2977	2400	2014
15529	0.76	201.7	208.1	10.7	449	15533	0.00	2.45	0.00	0.000	4	0.000	0.094	2977	980	2014
15590	0.76	201.7	201.0	11.3	452	15595	0.00	2.40	0.00	0.000	6	0.000	0.081	2977	2406	2014
15917	0.76	201.7	164.1	11.0	468	15921	0.00	2.42	0.00	0.000	4	0.000	0.091	2977	989	2015
15949	0.76	201.7	160.4	11.0	469	15954	0.00	2.38	0.00	0.000	6	0.000	0.079	2977	2396	2015
16277	0.78	222.8	128.6	9.0	495	16300	0.00	2.45	17.85	0.907	4	0.000	0.091	2977	988	1928
16335	0.80	235.6	123.2	9.4	500	16351	0.00	2.38	11.60	0.864	6	0.000	0.078	2978	2401	1876
16670	0.86	235.6	89.7	10.4	531	16671	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2401	1876
17002	0.97	243.1	57.9	9.7	582	17015	0.15	2.47	7.50	0.783	4	0.065	0.088	3011	979	1846
17096	0.97	243.1	48.4	10.4	598	17102	0.00	2.38	0.00	0.000	6	0.000	0.077	3010	2400	1846
17431	1.18	342.1	16.9	5.5	636	17515	0.20	0.00	76.55	0.809	6	0.061	0.000	3053	2400	1441
17597	end climb: SURFACE_DEPTH_REACHED
state	17597	begin surface coast
17612	end surface coast: CONTROL_FINISHED_OK
state	17612	begin surface