Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 18 * 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 18 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 -210057.28 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 -210057.28

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 26 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 18 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 110138,4654.976,-12533.670,27,1.3,27,18.4 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 -0.264,0.002

_SM_DEPTHo 1.17 KALMAN_X 9430.4,460.5,565.9,-55559.7,646.8

_SM_ANGLEo -70.2 KALMAN_Y 17500.3,-428.3,148.9,-23865.3,188.0

GPS2 110545,4654.943,-12533.701,10,1.6,10,18.4 MHEAD_RNG_PITCHd_Wd 252.1,185022,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.012129 XPDR_PINGS 23

SM_CCo 19557,40.97,0.805,0,0,1206,400.08 _24V_AH 22.6,37.083

SM_GC 1.73,0.00,0.00,40.97,0.000,0.000,0.805,864,2182,1206,-8.91,-0.51,400.08 _10V_AH 10.6,23.487

IRIDIUM_FIX 4638.64,-12528.96,131297,080851 DATA_FILE_SIZE 31670,657

TT8_MAMPS 0.027612 CAP_FILE_SIZE 144115,0

HUMID 2142 CFSIZE 260165632,258105344

INTERNAL_PRESSURE 8.69174 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,29,0,0

TCM_TEMP 17.00 GPS 180908,163437,4654.677,-12537.061,40,1.4,45,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 151 104.07 SBE_CT 446 24 242.45

Roll_motor 176 158 631.77 SBE_O2 536 19 230.17

VBD_pump_during_apogee 408 1471 13574.75 WL_BB2F 715 105 1697.37

VBD_pump_during_surface 40 804 745.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.38 nil 0 0 0.00

Iridium_during_connect 23 160 85.72 nil 0 0 0.00

Iridium_during_xfer 103 223 521.03

Transponder_ping 14 420 140.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.56

TT8 1406 19 295.14

LPSleep 15649 2 363.28

TT8_Active 619 19 130.01

TT8_Sampling 1815 39 765.95

TT8_CF8 360 45 175.05

TT8_Kalman 33 81 28.92

Analog_circuits 1544 12 196.43

GPS_charging 0 0 0.00

Compass 1772 8 150.27

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 -61.92 0.000 2 0.000 0.000 863 2185 2632

87 -1.00 -146.6 3.1 -4.6 6 123 11.80 2.38 -18.58 0.000 4 0.151 0.095 2573 798 3435

265 -0.75 -146.6 43.8 -17.0 23 272 0.35 2.30 0.00 0.000 6 0.093 0.061 2630 2205 3436

612 -0.79 -146.6 87.4 -12.8 80 616 0.00 2.38 0.00 0.000 4 0.000 0.081 2630 797 3437

629 -0.86 -146.6 89.3 -11.5 81 633 0.00 2.30 0.00 0.000 6 0.000 0.066 2630 2198 3438

956 -0.98 -146.6 121.6 -8.6 111 957 0.22 0.00 0.00 0.000 6 0.055 0.000 2585 2198 3438

1271 -0.91 -146.6 160.8 -12.7 137 1272 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2199 3438

1579 -0.85 -146.6 194.0 -9.8 152 1581 0.17 0.00 0.00 0.000 6 0.097 0.000 2614 2199 3437

1889 -0.92 -146.6 215.6 -7.0 167 1893 0.00 2.38 0.00 0.000 4 0.000 0.087 2614 798 3437

1934 -1.05 -146.6 219.2 -7.8 169 1939 0.22 2.33 0.00 0.000 6 0.056 0.073 2569 2207 3437

2256 -0.93 -146.6 256.3 -12.4 185 2261 0.15 2.40 0.00 0.000 4 0.103 0.087 2596 797 3437

2288 -0.93 -146.6 260.0 -10.2 186 2295 0.00 2.35 0.00 0.000 6 0.000 0.074 2596 2198 3438

2604 -0.93 -146.6 289.7 -9.4 202 2605 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2198 3438

2909 -0.93 -146.6 319.0 -9.8 211 2913 0.00 2.40 0.00 0.000 4 0.000 0.091 2596 790 3437

2958 -0.99 -146.6 324.1 -10.1 211 2962 0.00 2.35 0.00 0.000 6 0.000 0.075 2596 2205 3437

3273 -0.99 -146.6 356.2 -10.2 217 3277 0.00 2.42 0.00 0.000 4 0.000 0.091 2596 789 3437

3289 -0.99 -146.6 357.9 -10.3 217 3293 0.00 2.38 0.00 0.000 6 0.000 0.075 2596 2201 3437

3638 -0.99 -146.6 393.7 -10.3 223 3642 0.00 2.42 0.00 0.000 4 0.000 0.093 2596 788 3437

3672 -1.05 -146.6 397.2 -10.9 223 3677 0.12 2.35 0.00 0.000 6 0.071 0.077 2571 2202 3437

3997 -0.97 -146.6 435.4 -11.7 229 3998 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2201 3437

4300 -0.89 -146.6 468.4 -10.7 234 4305 0.15 2.45 0.00 0.000 4 0.104 0.095 2598 788 3436

4327 -0.89 -146.6 471.0 -9.2 234 4331 0.00 2.38 0.00 0.000 6 0.000 0.079 2598 2207 3437

4665 -0.94 -146.6 498.8 -8.3 240 4669 0.00 2.45 0.00 0.000 4 0.000 0.097 2598 793 3436

4686 -1.00 -146.6 500.6 -8.6 240 4690 0.00 2.35 0.00 0.000 6 0.000 0.080 2598 2200 3435

5024 -1.05 -146.6 527.7 -8.0 246 5026 0.15 0.00 0.00 0.000 6 0.070 0.000 2569 2201 3435

5326 -0.98 -146.6 558.3 -10.2 251 5327 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2200 3435

5629 -0.90 -146.6 590.2 -10.6 256 5631 0.20 0.00 0.00 0.000 6 0.101 0.000 2601 2200 3434

5932 -0.97 -146.6 614.6 -7.8 261 5936 0.00 2.50 0.00 0.000 4 0.000 0.114 2601 3604 3434

5965 -1.05 -146.6 617.4 -8.6 261 5970 0.17 2.38 0.00 0.000 6 0.064 0.084 2567 2201 3433

6291 -0.99 -146.6 647.2 -9.1 267 6292 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2201 3433

6594 -0.92 -146.6 674.3 -8.9 272 6596 0.17 0.00 0.00 0.000 6 0.104 0.000 2595 2201 3434

6897 -0.98 -146.6 694.3 -6.4 277 6898 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2201 3433

7200 -1.05 -146.6 713.0 -6.2 282 7205 0.12 2.62 0.00 0.000 4 0.075 0.133 2570 793 3432

7249 -1.05 -146.6 717.1 -8.6 282 7254 0.00 2.47 0.00 0.000 6 0.000 0.107 2570 2194 3432

7559 -1.05 -146.6 743.3 -8.6 287 7560 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2194 3432

7862 -1.05 -146.6 771.4 -9.3 292 7866 0.00 2.78 0.00 0.000 4 0.000 0.158 2570 3606 3431

7905 -1.05 -146.6 775.7 -9.2 292 7909 0.00 2.40 0.00 0.000 6 0.000 0.091 2570 2198 3430

8226 -1.01 -146.6 807.2 -9.8 298 8227 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2199 3431

8530 -1.01 -146.6 836.9 -9.8 303 8531 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2198 3430

8832 -1.01 -146.6 865.9 -9.5 308 8836 0.00 2.58 0.00 0.000 4 0.000 0.117 2569 3608 3430

8859 -0.97 -146.6 868.5 -9.5 308 8863 0.00 2.40 0.00 0.000 6 0.000 0.088 2570 2196 3430

9190 -0.97 -146.6 897.7 -8.8 314 9191 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2196 3430

9493 -0.97 -146.6 923.5 -8.5 319 9494 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2197 3429

9796 -0.97 -146.6 948.8 -8.3 324 9797 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2197 3429

10099 -0.97 -146.6 973.8 -8.1 329 10103 0.00 2.62 0.00 0.000 4 0.000 0.123 2569 3610 3429

10120 -0.97 -146.6 975.7 -9.2 329 10124 0.00 2.42 0.00 0.000 6 0.000 0.093 2570 2205 3428

10339 end dive: TARGET_DEPTH_EXCEEDED

state 10339 begin apogee

10345 -0.23 0.0 993.1 7.9 333 10475 1.08 0.00 126.62 1.471 6 0.092 0.000 2747 2407 2837

10475 end apogee: CONTROL_FINISHED_OK

state 10476 begin climb

10478 1.00 146.6 995.6 0.0 335 10616 1.62 0.00 134.18 1.418 6 0.051 0.000 3020 2407 2239

10885 0.73 146.6 947.8 14.7 342 10890 0.35 2.58 0.00 0.000 4 0.106 0.124 2964 3761 2239

10940 0.59 146.6 940.1 13.1 342 10947 0.22 2.42 0.00 0.000 6 0.110 0.093 2932 2399 2239

11249 0.60 153.7 909.8 9.7 348 11263 0.00 2.60 7.75 1.180 4 0.000 0.113 2932 988 2210

11303 0.62 167.1 904.4 9.4 348 11323 0.00 2.47 13.23 1.292 6 0.000 0.089 2932 2406 2154

11684 0.68 174.7 867.7 9.7 355 11698 0.00 2.60 7.82 1.185 4 0.000 0.110 2932 990 2124

11771 0.69 183.4 859.1 9.6 356 11786 0.00 2.47 9.60 1.230 6 0.000 0.091 2932 2409 2089

12119 0.79 201.4 827.2 9.2 362 12144 0.17 2.65 16.85 1.309 4 0.066 0.110 2968 989 2015

12223 0.72 201.4 815.1 12.5 363 12227 0.00 2.47 0.00 0.000 6 0.000 0.090 2968 2400 2014

12548 0.72 201.4 777.0 11.7 369 12552 0.00 2.55 0.00 0.000 4 0.000 0.110 2968 987 2013

12580 0.66 201.4 773.0 12.5 369 12585 0.15 2.45 0.00 0.000 6 0.112 0.090 2947 2406 2014

12905 0.66 201.4 738.2 10.8 375 12909 0.00 2.55 0.00 0.000 4 0.000 0.109 2946 982 2013

12971 0.66 201.4 730.9 10.8 376 12975 0.00 2.45 0.00 0.000 6 0.000 0.090 2946 2406 2013

13336 0.71 201.4 690.0 11.3 382 13341 0.00 2.53 0.00 0.000 4 0.000 0.107 2946 987 2013

13431 0.71 201.4 678.6 11.1 383 13435 0.00 2.42 0.00 0.000 6 0.000 0.090 2946 2402 2013

13768 0.77 201.4 640.4 11.3 389 13773 0.00 2.50 0.00 0.000 4 0.000 0.105 2946 989 2013

13857 0.77 201.4 630.2 11.4 390 13861 0.00 2.42 0.00 0.000 6 0.000 0.089 2946 2393 2013

14200 0.83 201.4 592.8 10.8 396 14205 0.15 2.47 0.00 0.000 4 0.069 0.103 2979 988 2013

14227 0.77 201.4 589.4 13.3 396 14231 0.00 2.40 0.00 0.000 6 0.000 0.087 2979 2408 2013

14565 0.71 201.4 544.3 13.5 402 14570 0.15 2.53 0.00 0.000 4 0.112 0.103 2953 980 2013

14608 0.71 201.4 538.5 12.1 402 14612 0.00 2.42 0.00 0.000 6 0.000 0.088 2953 2405 2013

14929 0.75 201.4 500.7 11.8 408 14933 0.00 2.50 0.00 0.000 4 0.000 0.103 2953 985 2013

14972 0.75 201.4 495.5 12.1 408 14976 0.00 2.40 0.00 0.000 6 0.000 0.087 2953 2401 2013

15293 0.79 201.4 461.3 10.6 414 15297 0.00 2.47 0.00 0.000 4 0.000 0.101 2953 988 2013

15364 0.79 201.4 453.6 11.2 415 15369 0.00 2.42 0.00 0.000 6 0.000 0.087 2953 2403 2013

15724 0.85 204.2 418.1 9.9 421 15734 0.15 2.47 3.78 0.719 4 0.069 0.101 2986 990 2004

15784 0.75 204.2 410.9 11.7 421 15791 0.15 2.40 0.00 0.000 6 0.113 0.086 2964 2410 2004

16093 0.75 204.2 377.7 10.7 427 16097 0.00 2.47 0.00 0.000 4 0.000 0.098 2964 988 2004

16147 0.75 204.2 371.6 11.9 427 16154 0.00 2.38 0.00 0.000 6 0.000 0.084 2963 2398 2004

16457 0.75 204.2 338.9 10.6 433 16461 0.00 2.45 0.00 0.000 4 0.000 0.097 2964 988 2004

16522 0.75 204.2 331.4 11.0 434 16527 0.00 2.38 0.00 0.000 6 0.000 0.083 2964 2404 2004

16848 0.75 204.2 294.3 11.4 440 16852 0.00 2.45 0.00 0.000 4 0.000 0.095 2964 986 2004

16914 0.75 204.2 286.7 11.3 443 16919 0.00 2.38 0.00 0.000 6 0.000 0.081 2964 2400 2004

17241 0.75 204.2 250.9 11.2 459 17245 0.00 2.42 0.00 0.000 4 0.000 0.094 2963 986 2005

17296 0.75 204.2 244.5 11.5 461 17301 0.00 2.38 0.00 0.000 6 0.000 0.081 2963 2402 2005

17618 0.75 204.2 207.8 11.3 477 17622 0.00 2.45 0.00 0.000 4 0.000 0.092 2964 976 2005

17717 0.75 204.2 196.7 10.8 481 17724 0.00 2.40 0.00 0.000 6 0.000 0.080 2964 2396 2005

18033 0.77 224.5 167.0 9.1 497 18056 0.00 2.47 17.42 0.943 4 0.000 0.092 2963 979 1921

18150 0.77 224.5 154.1 10.6 502 18154 0.00 2.40 0.00 0.000 6 0.000 0.078 2964 2408 1921

18477 0.89 272.5 120.5 7.8 531 18521 0.15 2.55 38.22 0.913 4 0.067 0.089 2997 978 1725

18584 0.93 300.3 111.0 8.7 540 18612 0.00 2.42 23.27 0.877 6 0.000 0.077 2997 2403 1612

18936 1.01 300.3 65.6 13.4 581 18942 0.12 2.45 0.00 0.000 4 0.069 0.087 3022 985 1611

18999 1.01 300.3 57.3 10.8 592 19005 0.00 2.38 0.00 0.000 6 0.000 0.076 3022 2400 1611

19335 1.06 300.3 18.3 11.4 639 19339 0.00 2.42 0.00 0.000 4 0.000 0.085 3022 985 1611

19408 1.12 310.4 10.8 9.5 645 19423 0.00 2.38 9.55 0.784 6 0.000 0.075 3022 2401 1571

19513 end climb: SURFACE_DEPTH_REACHED

state 19513 begin surface coast

19536 end surface coast: CONTROL_FINISHED_OK

state 19536 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	18	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	-210057.28	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	110138,4654.976,-12533.670,27,1.3,27,18.4	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	-0.264,0.002
_SM_DEPTHo	1.17	KALMAN_X	9430.4,460.5,565.9,-55559.7,646.8
_SM_ANGLEo	-70.2	KALMAN_Y	17500.3,-428.3,148.9,-23865.3,188.0
GPS2	110545,4654.943,-12533.701,10,1.6,10,18.4	MHEAD_RNG_PITCHd_Wd	252.1,185022,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.012129	XPDR_PINGS	23
SM_CCo	19557,40.97,0.805,0,0,1206,400.08	_24V_AH	22.6,37.083
SM_GC	1.73,0.00,0.00,40.97,0.000,0.000,0.805,864,2182,1206,-8.91,-0.51,400.08	_10V_AH	10.6,23.487
IRIDIUM_FIX	4638.64,-12528.96,131297,080851	DATA_FILE_SIZE	31670,657
TT8_MAMPS	0.027612	CAP_FILE_SIZE	144115,0
HUMID	2142	CFSIZE	260165632,258105344
INTERNAL_PRESSURE	8.69174	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
TCM_TEMP	17.00	GPS	180908,163437,4654.677,-12537.061,40,1.4,45,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	151	104.07	SBE_CT	446	24	242.45
Roll_motor	176	158	631.77	SBE_O2	536	19	230.17
VBD_pump_during_apogee	408	1471	13574.75	WL_BB2F	715	105	1697.37
VBD_pump_during_surface	40	804	745.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.38	nil	0	0	0.00
Iridium_during_connect	23	160	85.72	nil	0	0	0.00
Iridium_during_xfer	103	223	521.03
Transponder_ping	14	420	140.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.56
TT8	1406	19	295.14
LPSleep	15649	2	363.28
TT8_Active	619	19	130.01
TT8_Sampling	1815	39	765.95
TT8_CF8	360	45	175.05
TT8_Kalman	33	81	28.92
Analog_circuits	1544	12	196.43
GPS_charging	0	0	0.00
Compass	1772	8	150.27
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	-61.92	0.000	2	0.000	0.000	863	2185	2632
87	-1.00	-146.6	3.1	-4.6	6	123	11.80	2.38	-18.58	0.000	4	0.151	0.095	2573	798	3435
265	-0.75	-146.6	43.8	-17.0	23	272	0.35	2.30	0.00	0.000	6	0.093	0.061	2630	2205	3436
612	-0.79	-146.6	87.4	-12.8	80	616	0.00	2.38	0.00	0.000	4	0.000	0.081	2630	797	3437
629	-0.86	-146.6	89.3	-11.5	81	633	0.00	2.30	0.00	0.000	6	0.000	0.066	2630	2198	3438
956	-0.98	-146.6	121.6	-8.6	111	957	0.22	0.00	0.00	0.000	6	0.055	0.000	2585	2198	3438
1271	-0.91	-146.6	160.8	-12.7	137	1272	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2199	3438
1579	-0.85	-146.6	194.0	-9.8	152	1581	0.17	0.00	0.00	0.000	6	0.097	0.000	2614	2199	3437
1889	-0.92	-146.6	215.6	-7.0	167	1893	0.00	2.38	0.00	0.000	4	0.000	0.087	2614	798	3437
1934	-1.05	-146.6	219.2	-7.8	169	1939	0.22	2.33	0.00	0.000	6	0.056	0.073	2569	2207	3437
2256	-0.93	-146.6	256.3	-12.4	185	2261	0.15	2.40	0.00	0.000	4	0.103	0.087	2596	797	3437
2288	-0.93	-146.6	260.0	-10.2	186	2295	0.00	2.35	0.00	0.000	6	0.000	0.074	2596	2198	3438
2604	-0.93	-146.6	289.7	-9.4	202	2605	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2198	3438
2909	-0.93	-146.6	319.0	-9.8	211	2913	0.00	2.40	0.00	0.000	4	0.000	0.091	2596	790	3437
2958	-0.99	-146.6	324.1	-10.1	211	2962	0.00	2.35	0.00	0.000	6	0.000	0.075	2596	2205	3437
3273	-0.99	-146.6	356.2	-10.2	217	3277	0.00	2.42	0.00	0.000	4	0.000	0.091	2596	789	3437
3289	-0.99	-146.6	357.9	-10.3	217	3293	0.00	2.38	0.00	0.000	6	0.000	0.075	2596	2201	3437
3638	-0.99	-146.6	393.7	-10.3	223	3642	0.00	2.42	0.00	0.000	4	0.000	0.093	2596	788	3437
3672	-1.05	-146.6	397.2	-10.9	223	3677	0.12	2.35	0.00	0.000	6	0.071	0.077	2571	2202	3437
3997	-0.97	-146.6	435.4	-11.7	229	3998	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2201	3437
4300	-0.89	-146.6	468.4	-10.7	234	4305	0.15	2.45	0.00	0.000	4	0.104	0.095	2598	788	3436
4327	-0.89	-146.6	471.0	-9.2	234	4331	0.00	2.38	0.00	0.000	6	0.000	0.079	2598	2207	3437
4665	-0.94	-146.6	498.8	-8.3	240	4669	0.00	2.45	0.00	0.000	4	0.000	0.097	2598	793	3436
4686	-1.00	-146.6	500.6	-8.6	240	4690	0.00	2.35	0.00	0.000	6	0.000	0.080	2598	2200	3435
5024	-1.05	-146.6	527.7	-8.0	246	5026	0.15	0.00	0.00	0.000	6	0.070	0.000	2569	2201	3435
5326	-0.98	-146.6	558.3	-10.2	251	5327	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2200	3435
5629	-0.90	-146.6	590.2	-10.6	256	5631	0.20	0.00	0.00	0.000	6	0.101	0.000	2601	2200	3434
5932	-0.97	-146.6	614.6	-7.8	261	5936	0.00	2.50	0.00	0.000	4	0.000	0.114	2601	3604	3434
5965	-1.05	-146.6	617.4	-8.6	261	5970	0.17	2.38	0.00	0.000	6	0.064	0.084	2567	2201	3433
6291	-0.99	-146.6	647.2	-9.1	267	6292	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2201	3433
6594	-0.92	-146.6	674.3	-8.9	272	6596	0.17	0.00	0.00	0.000	6	0.104	0.000	2595	2201	3434
6897	-0.98	-146.6	694.3	-6.4	277	6898	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2201	3433
7200	-1.05	-146.6	713.0	-6.2	282	7205	0.12	2.62	0.00	0.000	4	0.075	0.133	2570	793	3432
7249	-1.05	-146.6	717.1	-8.6	282	7254	0.00	2.47	0.00	0.000	6	0.000	0.107	2570	2194	3432
7559	-1.05	-146.6	743.3	-8.6	287	7560	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2194	3432
7862	-1.05	-146.6	771.4	-9.3	292	7866	0.00	2.78	0.00	0.000	4	0.000	0.158	2570	3606	3431
7905	-1.05	-146.6	775.7	-9.2	292	7909	0.00	2.40	0.00	0.000	6	0.000	0.091	2570	2198	3430
8226	-1.01	-146.6	807.2	-9.8	298	8227	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2199	3431
8530	-1.01	-146.6	836.9	-9.8	303	8531	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2198	3430
8832	-1.01	-146.6	865.9	-9.5	308	8836	0.00	2.58	0.00	0.000	4	0.000	0.117	2569	3608	3430
8859	-0.97	-146.6	868.5	-9.5	308	8863	0.00	2.40	0.00	0.000	6	0.000	0.088	2570	2196	3430
9190	-0.97	-146.6	897.7	-8.8	314	9191	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2196	3430
9493	-0.97	-146.6	923.5	-8.5	319	9494	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2197	3429
9796	-0.97	-146.6	948.8	-8.3	324	9797	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2197	3429
10099	-0.97	-146.6	973.8	-8.1	329	10103	0.00	2.62	0.00	0.000	4	0.000	0.123	2569	3610	3429
10120	-0.97	-146.6	975.7	-9.2	329	10124	0.00	2.42	0.00	0.000	6	0.000	0.093	2570	2205	3428
10339	end dive: TARGET_DEPTH_EXCEEDED
state	10339	begin apogee
10345	-0.23	0.0	993.1	7.9	333	10475	1.08	0.00	126.62	1.471	6	0.092	0.000	2747	2407	2837
10475	end apogee: CONTROL_FINISHED_OK
state	10476	begin climb
10478	1.00	146.6	995.6	0.0	335	10616	1.62	0.00	134.18	1.418	6	0.051	0.000	3020	2407	2239
10885	0.73	146.6	947.8	14.7	342	10890	0.35	2.58	0.00	0.000	4	0.106	0.124	2964	3761	2239
10940	0.59	146.6	940.1	13.1	342	10947	0.22	2.42	0.00	0.000	6	0.110	0.093	2932	2399	2239
11249	0.60	153.7	909.8	9.7	348	11263	0.00	2.60	7.75	1.180	4	0.000	0.113	2932	988	2210
11303	0.62	167.1	904.4	9.4	348	11323	0.00	2.47	13.23	1.292	6	0.000	0.089	2932	2406	2154
11684	0.68	174.7	867.7	9.7	355	11698	0.00	2.60	7.82	1.185	4	0.000	0.110	2932	990	2124
11771	0.69	183.4	859.1	9.6	356	11786	0.00	2.47	9.60	1.230	6	0.000	0.091	2932	2409	2089
12119	0.79	201.4	827.2	9.2	362	12144	0.17	2.65	16.85	1.309	4	0.066	0.110	2968	989	2015
12223	0.72	201.4	815.1	12.5	363	12227	0.00	2.47	0.00	0.000	6	0.000	0.090	2968	2400	2014
12548	0.72	201.4	777.0	11.7	369	12552	0.00	2.55	0.00	0.000	4	0.000	0.110	2968	987	2013
12580	0.66	201.4	773.0	12.5	369	12585	0.15	2.45	0.00	0.000	6	0.112	0.090	2947	2406	2014
12905	0.66	201.4	738.2	10.8	375	12909	0.00	2.55	0.00	0.000	4	0.000	0.109	2946	982	2013
12971	0.66	201.4	730.9	10.8	376	12975	0.00	2.45	0.00	0.000	6	0.000	0.090	2946	2406	2013
13336	0.71	201.4	690.0	11.3	382	13341	0.00	2.53	0.00	0.000	4	0.000	0.107	2946	987	2013
13431	0.71	201.4	678.6	11.1	383	13435	0.00	2.42	0.00	0.000	6	0.000	0.090	2946	2402	2013
13768	0.77	201.4	640.4	11.3	389	13773	0.00	2.50	0.00	0.000	4	0.000	0.105	2946	989	2013
13857	0.77	201.4	630.2	11.4	390	13861	0.00	2.42	0.00	0.000	6	0.000	0.089	2946	2393	2013
14200	0.83	201.4	592.8	10.8	396	14205	0.15	2.47	0.00	0.000	4	0.069	0.103	2979	988	2013
14227	0.77	201.4	589.4	13.3	396	14231	0.00	2.40	0.00	0.000	6	0.000	0.087	2979	2408	2013
14565	0.71	201.4	544.3	13.5	402	14570	0.15	2.53	0.00	0.000	4	0.112	0.103	2953	980	2013
14608	0.71	201.4	538.5	12.1	402	14612	0.00	2.42	0.00	0.000	6	0.000	0.088	2953	2405	2013
14929	0.75	201.4	500.7	11.8	408	14933	0.00	2.50	0.00	0.000	4	0.000	0.103	2953	985	2013
14972	0.75	201.4	495.5	12.1	408	14976	0.00	2.40	0.00	0.000	6	0.000	0.087	2953	2401	2013
15293	0.79	201.4	461.3	10.6	414	15297	0.00	2.47	0.00	0.000	4	0.000	0.101	2953	988	2013
15364	0.79	201.4	453.6	11.2	415	15369	0.00	2.42	0.00	0.000	6	0.000	0.087	2953	2403	2013
15724	0.85	204.2	418.1	9.9	421	15734	0.15	2.47	3.78	0.719	4	0.069	0.101	2986	990	2004
15784	0.75	204.2	410.9	11.7	421	15791	0.15	2.40	0.00	0.000	6	0.113	0.086	2964	2410	2004
16093	0.75	204.2	377.7	10.7	427	16097	0.00	2.47	0.00	0.000	4	0.000	0.098	2964	988	2004
16147	0.75	204.2	371.6	11.9	427	16154	0.00	2.38	0.00	0.000	6	0.000	0.084	2963	2398	2004
16457	0.75	204.2	338.9	10.6	433	16461	0.00	2.45	0.00	0.000	4	0.000	0.097	2964	988	2004
16522	0.75	204.2	331.4	11.0	434	16527	0.00	2.38	0.00	0.000	6	0.000	0.083	2964	2404	2004
16848	0.75	204.2	294.3	11.4	440	16852	0.00	2.45	0.00	0.000	4	0.000	0.095	2964	986	2004
16914	0.75	204.2	286.7	11.3	443	16919	0.00	2.38	0.00	0.000	6	0.000	0.081	2964	2400	2004
17241	0.75	204.2	250.9	11.2	459	17245	0.00	2.42	0.00	0.000	4	0.000	0.094	2963	986	2005
17296	0.75	204.2	244.5	11.5	461	17301	0.00	2.38	0.00	0.000	6	0.000	0.081	2963	2402	2005
17618	0.75	204.2	207.8	11.3	477	17622	0.00	2.45	0.00	0.000	4	0.000	0.092	2964	976	2005
17717	0.75	204.2	196.7	10.8	481	17724	0.00	2.40	0.00	0.000	6	0.000	0.080	2964	2396	2005
18033	0.77	224.5	167.0	9.1	497	18056	0.00	2.47	17.42	0.943	4	0.000	0.092	2963	979	1921
18150	0.77	224.5	154.1	10.6	502	18154	0.00	2.40	0.00	0.000	6	0.000	0.078	2964	2408	1921
18477	0.89	272.5	120.5	7.8	531	18521	0.15	2.55	38.22	0.913	4	0.067	0.089	2997	978	1725
18584	0.93	300.3	111.0	8.7	540	18612	0.00	2.42	23.27	0.877	6	0.000	0.077	2997	2403	1612
18936	1.01	300.3	65.6	13.4	581	18942	0.12	2.45	0.00	0.000	4	0.069	0.087	3022	985	1611
18999	1.01	300.3	57.3	10.8	592	19005	0.00	2.38	0.00	0.000	6	0.000	0.076	3022	2400	1611
19335	1.06	300.3	18.3	11.4	639	19339	0.00	2.42	0.00	0.000	4	0.000	0.085	3022	985	1611
19408	1.12	310.4	10.8	9.5	645	19423	0.00	2.38	9.55	0.784	6	0.000	0.075	3022	2401	1571
19513	end climb: SURFACE_DEPTH_REACHED
state	19513	begin surface coast
19536	end surface coast: CONTROL_FINISHED_OK
state	19536	begin surface