Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 101 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 24 ESCAPE_HEADING 60 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 180 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3635 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.150002 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -125.67 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 20 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 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 294 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3583 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2564 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 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -691091.06 VBD_PUMP_AD_RATE_APOGEE 2 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 10 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 30 PITCH_MIN 29 AH0_24V 91.800003 SEABIRD_T_G 0.0043762224

SPEED_FACTOR 0.94999993 PITCH_MAX 3302 AH0_10V 61.200001 SEABIRD_T_H 0.0006433985

RHO 1.023 C_PITCH 2500 PRESSURE_YINT -14.435382 SEABIRD_T_I 2.5567888e-05

MASS 50300 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.722762e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.209094

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -1.3 SEABIRD_C_H 1.1488034

KALMAN_USE 1 PITCH_GAIN 11 TCM_ROLL_OFFSET -0.2 SEABIRD_C_I -0.0015548224

HD_A 0.0034169999 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00021813136

HD_B 0.0095870001 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 11 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3302 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 29 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 17 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 60 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET -1.3

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET -0.2

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.435382 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

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 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -691091.06

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 101 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3635 T_WATCHDOG 10

C_PITCH 2500 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 180 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2600 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2564 MASS 50300 R_PORT_OVSHOOT 42 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_BLEED_AD_RATE 10

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.209094 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1488034 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015548224 VBD_MAX 3583

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021813136 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043762224 VBD_MIN 294

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006433985 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5567888e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 24 PHONE_DEVICE 48 SEABIRD_T_J 2.722762e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 201532,4759.345,-12557.662,42,1.9,42,18.9 TGT_NAME SW_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.239,-0.102

_SM_DEPTHo 1.52 KALMAN_X 13217.9,736.6,-554.7,-37378.5,2350.5

_SM_ANGLEo -65.3 KALMAN_Y 1035.5,-50.8,106.3,-16877.5,361.9

GPS2 202108,4759.256,-12557.639,12,1.4,12,18.8 MHEAD_RNG_PITCHd_Wd 228.1,189550,-17.9,-10.000

SPEED_LIMITS 0.165,0.247 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.024069 ALTIM_TOP_PING 19.9,19.0

SM_CCo 17830,45.25,0.713,2,0,933,400.08 _24V_AH 23.2,6.790

SM_GC 1.97,0.00,0.00,45.25,0.000,0.000,0.713,33,2605,933,-11.35,0.14,400.08 _10V_AH 10.1,3.007

IRIDIUM_FIX 4742.09,-12554.31,280697,151546 DATA_FILE_SIZE 31732,612

TT8_MAMPS 0.026078 CAP_FILE_SIZE 135880,0

HUMID 1794 CFSIZE 260165632,257093632

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

TCM_TEMP 17.00 GPS 040408,012137,4757.955,-12600.418,35,1.2,35,18.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 125 84.69 SBE_CT 426 24 237.50

Roll_motor 164 98 377.26 SBE_O2 498 19 219.95

VBD_pump_during_apogee 431 1464 14678.27 WL_BB2F 698 105 1702.19

VBD_pump_during_surface 45 712 748.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.73 nil 0 0 0.00

Iridium_during_connect 32 160 119.38 nil 0 0 0.00

Iridium_during_xfer 148 223 770.80

Transponder_ping 9 420 87.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.53

TT8 1374 19 274.86

LPSleep 13348 2 295.25

TT8_Active 594 19 118.82

TT8_Sampling 2314 39 930.29

TT8_CF8 604 45 279.79

TT8_Kalman 33 81 27.55

Analog_circuits 1725 12 209.11

GPS_charging 0 0 0.00

Compass 2256 8 182.32

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.81 -146.6 0.0 0.0 0 78 0.00 0.00 -50.22 0.000 2 0.000 0.000 28 2563 2016

83 -1.81 -146.6 3.5 -5.1 5 131 10.82 2.03 -32.22 0.000 4 0.125 0.096 2103 3621 3162

341 -1.81 -146.6 52.1 -18.6 33 348 0.00 1.83 0.00 0.000 6 0.000 0.048 2103 2606 3162

682 -1.81 -146.6 107.3 -15.8 79 686 0.00 1.95 0.00 0.000 4 0.000 0.081 2103 3629 3162

729 -1.81 -146.6 114.5 -15.6 83 732 0.00 1.83 0.00 0.000 6 0.000 0.048 2103 2591 3161

1070 -1.81 -146.6 166.7 -15.8 110 1072 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2591 3162

1379 -1.81 -146.6 211.5 -14.0 125 1383 0.00 2.50 0.00 0.000 4 0.000 0.053 2103 1199 3161

1443 -1.81 -146.6 220.1 -13.9 128 1447 0.00 2.53 0.00 0.000 6 0.000 0.048 2103 2604 3161

1770 -1.81 -146.6 265.2 -13.6 144 1772 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2604 3161

2078 -1.81 -146.6 308.3 -13.7 157 2079 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2604 3162

2381 -1.81 -146.6 349.9 -13.8 162 2385 0.00 2.55 0.00 0.000 4 0.000 0.058 2103 1206 3161

2449 -1.81 -146.6 359.3 -13.7 163 2453 0.00 2.55 0.00 0.000 6 0.000 0.057 2103 2601 3161

2814 -1.81 -146.6 408.8 -13.5 169 2819 0.00 2.60 0.00 0.000 4 0.000 0.067 2103 1200 3161

2877 -1.81 -146.6 417.0 -12.4 170 2882 0.00 2.60 0.00 0.000 6 0.000 0.066 2102 2598 3161

3243 -1.81 -146.6 463.5 -12.6 176 3245 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2598 3161

3549 -1.81 -146.6 502.4 -12.8 181 3554 0.00 2.72 0.00 0.000 4 0.000 0.094 2103 1205 3160

3616 -1.81 -146.6 511.4 -12.2 182 3621 0.00 2.75 0.00 0.000 6 0.000 0.096 2103 2601 3160

3977 -1.81 -146.6 556.8 -12.7 188 3981 0.00 2.70 0.00 0.000 4 0.000 0.089 2103 1207 3160

4021 -1.81 -146.6 562.7 -12.4 188 4026 0.00 2.72 0.00 0.000 6 0.000 0.090 2102 2605 3160

4338 -1.81 -146.6 601.3 -12.2 194 4342 0.00 2.72 0.00 0.000 4 0.000 0.091 2103 1202 3159

4371 -1.81 -146.6 605.5 -12.5 194 4375 0.00 2.72 0.00 0.000 6 0.000 0.090 2103 2604 3159

4697 -1.81 -146.6 642.9 -11.5 200 4701 0.00 2.70 0.00 0.000 4 0.000 0.089 2103 1209 3159

4736 -1.81 -146.6 647.5 -11.5 200 4740 0.00 2.70 0.00 0.000 6 0.000 0.087 2103 2601 3159

5056 -1.81 -146.6 683.0 -11.1 206 5058 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2602 3158

5360 -1.81 -146.6 718.8 -11.7 211 5364 0.00 2.70 0.00 0.000 4 0.000 0.087 2103 1199 3157

5398 -1.81 -146.6 723.6 -12.4 211 5403 0.00 2.70 0.00 0.000 6 0.000 0.085 2103 2601 3157

5719 -1.81 -146.6 761.3 -11.8 217 5721 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2602 3157

6024 -1.81 -146.6 794.7 -10.9 222 6028 0.00 2.67 0.00 0.000 4 0.000 0.087 2103 1209 3157

6087 -1.81 -146.6 801.9 -11.0 223 6091 0.00 2.70 0.00 0.000 6 0.000 0.086 2103 2604 3157

6452 -1.81 -146.6 841.0 -10.8 229 6456 0.00 2.70 0.00 0.000 4 0.000 0.087 2103 1200 3156

6514 -1.81 -146.6 847.8 -11.3 230 6519 0.00 2.72 0.00 0.000 6 0.000 0.086 2103 2609 3156

6880 -1.81 -146.6 887.1 -10.7 236 6881 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2609 3156

7183 -1.81 -146.6 918.8 -10.4 241 7184 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2609 3155

7487 -1.81 -146.6 951.1 -10.6 246 7491 0.00 2.70 0.00 0.000 4 0.000 0.087 2103 1210 3155

7554 -1.81 -146.6 958.6 -11.3 247 7558 0.00 2.67 0.00 0.000 6 0.000 0.084 2103 2601 3155

7850 end dive: TARGET_DEPTH_EXCEEDED

state 7850 begin apogee

7859 -0.45 0.0 990.9 10.9 252 7989 1.40 0.00 126.10 1.465 6 0.077 0.000 2398 2210 2564

7989 end apogee: CONTROL_FINISHED_OK

state 7989 begin climb

7993 1.81 146.6 995.9 0.0 254 8129 2.20 2.90 126.85 1.420 4 0.048 0.099 2896 787 1966

8334 1.81 146.6 974.6 11.3 259 8339 0.00 2.72 0.00 0.000 6 0.000 0.076 2896 2202 1966

8683 1.81 146.6 935.3 11.5 265 8687 0.00 2.80 0.00 0.000 4 0.000 0.094 2897 791 1966

8823 1.81 146.6 919.3 11.8 267 8827 0.00 2.72 0.00 0.000 6 0.000 0.077 2897 2207 1965

9177 1.81 146.6 880.7 10.8 273 9182 0.00 2.80 0.00 0.000 4 0.000 0.094 2897 792 1964

9317 1.81 146.6 865.4 10.6 275 9322 0.00 2.70 0.00 0.000 6 0.000 0.075 2896 2203 1964

9671 1.81 146.6 828.9 10.3 281 9676 0.00 2.80 0.00 0.000 4 0.000 0.094 2897 785 1964

9884 1.81 146.6 806.7 10.9 284 9889 0.00 2.72 0.00 0.000 6 0.000 0.077 2896 2207 1964

10234 1.81 146.6 771.3 10.2 290 10238 0.00 2.80 0.00 0.000 4 0.000 0.093 2897 785 1964

10474 1.82 150.9 746.8 9.8 293 10484 0.00 2.70 4.85 0.960 6 0.000 0.076 2896 2201 1949

10794 1.82 150.9 714.5 10.2 299 10799 0.00 2.78 0.00 0.000 4 0.000 0.092 2896 789 1949

10940 1.82 150.9 699.0 10.7 301 10945 0.00 2.70 0.00 0.000 6 0.000 0.075 2897 2203 1949

11289 1.82 150.9 663.3 10.3 307 11293 0.00 2.78 0.00 0.000 4 0.000 0.092 2896 789 1949

11465 1.82 150.9 644.5 11.1 309 11470 0.00 2.67 0.00 0.000 6 0.000 0.074 2896 2201 1949

11786 1.82 150.9 611.1 10.2 315 11790 0.00 2.75 0.00 0.000 4 0.000 0.091 2896 792 1949

11916 1.82 158.0 598.5 9.7 317 11930 0.00 2.67 8.02 1.065 6 0.000 0.074 2897 2202 1918

12287 1.85 176.2 564.2 9.1 323 12311 0.00 2.85 16.73 1.145 4 0.000 0.091 2896 789 1845

12515 1.86 186.3 541.7 9.5 326 12530 0.00 2.67 10.35 1.068 6 0.000 0.071 2896 2202 1804

12852 1.86 186.3 507.8 10.2 332 12856 0.00 2.75 0.00 0.000 4 0.000 0.087 2896 791 1804

13110 1.86 186.3 480.9 10.2 335 13116 0.00 2.65 0.00 0.000 6 0.000 0.064 2897 2209 1804

13420 1.86 186.3 447.6 10.9 341 13425 0.00 2.70 0.00 0.000 4 0.000 0.079 2897 791 1804

13677 1.86 186.3 417.9 11.4 344 13684 0.00 2.58 0.00 0.000 6 0.000 0.055 2897 2203 1804

13987 1.86 186.3 382.8 11.4 350 13992 0.00 2.65 0.00 0.000 4 0.000 0.069 2897 789 1804

14222 1.86 186.3 355.5 11.0 353 14227 0.00 2.55 0.00 0.000 6 0.000 0.048 2896 2208 1804

14549 1.86 186.3 319.3 11.0 359 14554 0.00 2.65 0.00 0.000 4 0.000 0.066 2896 780 1804

14774 1.86 186.3 294.6 10.4 363 14778 0.00 2.55 0.00 0.000 6 0.000 0.047 2897 2204 1804

15096 1.87 191.7 262.7 9.7 379 15109 0.00 2.65 6.32 0.835 4 0.000 0.064 2897 784 1782

15261 1.87 191.7 244.8 11.3 386 15266 0.00 2.53 0.00 0.000 6 0.000 0.044 2897 2202 1782

15578 1.87 191.7 212.7 10.0 401 15582 0.00 2.62 0.00 0.000 4 0.000 0.064 2896 785 1782

15836 1.87 198.2 186.7 9.7 412 15850 0.00 2.53 7.10 0.818 6 0.000 0.044 2896 2211 1756

16174 1.87 198.7 153.8 10.0 429 16178 0.00 2.62 0.00 0.000 4 0.000 0.063 2897 788 1755

16340 1.89 210.9 137.2 9.4 442 16362 0.00 2.53 11.85 0.848 6 0.000 0.044 2897 2205 1704

16681 1.89 210.9 102.7 10.2 474 16682 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2205 1704

17005 1.93 241.2 70.7 8.6 512 17040 0.10 2.72 26.15 0.831 4 0.075 0.061 2920 786 1580

17065 1.94 249.9 65.4 9.6 522 17078 0.00 2.55 8.48 0.739 6 0.000 0.042 2920 2203 1545

17413 1.97 279.3 33.5 8.6 577 17446 0.00 2.70 24.42 0.793 4 0.000 0.060 2920 793 1425

17699 2.05 344.8 8.9 6.9 602 17761 0.12 2.50 54.65 0.776 6 0.102 0.042 2942 2205 1157

17787 end climb: SURFACE_DEPTH_REACHED

state 17787 begin surface coast

17801 end surface coast: CONTROL_FINISHED_OK

state 17802 begin surface

ID	101	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	24	ESCAPE_HEADING	60	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	180	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3635	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.150002	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-125.67	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	20	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	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	294	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3583	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2564	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	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-691091.06	VBD_PUMP_AD_RATE_APOGEE	2	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	10	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	30	PITCH_MIN	29	AH0_24V	91.800003	SEABIRD_T_G	0.0043762224
SPEED_FACTOR	0.94999993	PITCH_MAX	3302	AH0_10V	61.200001	SEABIRD_T_H	0.0006433985
RHO	1.023	C_PITCH	2500	PRESSURE_YINT	-14.435382	SEABIRD_T_I	2.5567888e-05
MASS	50300	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.722762e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.209094
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-1.3	SEABIRD_C_H	1.1488034
KALMAN_USE	1	PITCH_GAIN	11	TCM_ROLL_OFFSET	-0.2	SEABIRD_C_I	-0.0015548224
HD_A	0.0034169999	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_J	0.00021813136
HD_B	0.0095870001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	201532,4759.345,-12557.662,42,1.9,42,18.9	TGT_NAME	SW_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.239,-0.102
_SM_DEPTHo	1.52	KALMAN_X	13217.9,736.6,-554.7,-37378.5,2350.5
_SM_ANGLEo	-65.3	KALMAN_Y	1035.5,-50.8,106.3,-16877.5,361.9
GPS2	202108,4759.256,-12557.639,12,1.4,12,18.8	MHEAD_RNG_PITCHd_Wd	228.1,189550,-17.9,-10.000
SPEED_LIMITS	0.165,0.247	D_GRID	1000

FINISH	0.7,1.024069	ALTIM_TOP_PING	19.9,19.0
SM_CCo	17830,45.25,0.713,2,0,933,400.08	_24V_AH	23.2,6.790
SM_GC	1.97,0.00,0.00,45.25,0.000,0.000,0.713,33,2605,933,-11.35,0.14,400.08	_10V_AH	10.1,3.007
IRIDIUM_FIX	4742.09,-12554.31,280697,151546	DATA_FILE_SIZE	31732,612
TT8_MAMPS	0.026078	CAP_FILE_SIZE	135880,0
HUMID	1794	CFSIZE	260165632,257093632
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
TCM_TEMP	17.00	GPS	040408,012137,4757.955,-12600.418,35,1.2,35,18.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	125	84.69	SBE_CT	426	24	237.50
Roll_motor	164	98	377.26	SBE_O2	498	19	219.95
VBD_pump_during_apogee	431	1464	14678.27	WL_BB2F	698	105	1702.19
VBD_pump_during_surface	45	712	748.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.73	nil	0	0	0.00
Iridium_during_connect	32	160	119.38	nil	0	0	0.00
Iridium_during_xfer	148	223	770.80
Transponder_ping	9	420	87.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.53
TT8	1374	19	274.86
LPSleep	13348	2	295.25
TT8_Active	594	19	118.82
TT8_Sampling	2314	39	930.29
TT8_CF8	604	45	279.79
TT8_Kalman	33	81	27.55
Analog_circuits	1725	12	209.11
GPS_charging	0	0	0.00
Compass	2256	8	182.32
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.81	-146.6	0.0	0.0	0	78	0.00	0.00	-50.22	0.000	2	0.000	0.000	28	2563	2016
83	-1.81	-146.6	3.5	-5.1	5	131	10.82	2.03	-32.22	0.000	4	0.125	0.096	2103	3621	3162
341	-1.81	-146.6	52.1	-18.6	33	348	0.00	1.83	0.00	0.000	6	0.000	0.048	2103	2606	3162
682	-1.81	-146.6	107.3	-15.8	79	686	0.00	1.95	0.00	0.000	4	0.000	0.081	2103	3629	3162
729	-1.81	-146.6	114.5	-15.6	83	732	0.00	1.83	0.00	0.000	6	0.000	0.048	2103	2591	3161
1070	-1.81	-146.6	166.7	-15.8	110	1072	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2591	3162
1379	-1.81	-146.6	211.5	-14.0	125	1383	0.00	2.50	0.00	0.000	4	0.000	0.053	2103	1199	3161
1443	-1.81	-146.6	220.1	-13.9	128	1447	0.00	2.53	0.00	0.000	6	0.000	0.048	2103	2604	3161
1770	-1.81	-146.6	265.2	-13.6	144	1772	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2604	3161
2078	-1.81	-146.6	308.3	-13.7	157	2079	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2604	3162
2381	-1.81	-146.6	349.9	-13.8	162	2385	0.00	2.55	0.00	0.000	4	0.000	0.058	2103	1206	3161
2449	-1.81	-146.6	359.3	-13.7	163	2453	0.00	2.55	0.00	0.000	6	0.000	0.057	2103	2601	3161
2814	-1.81	-146.6	408.8	-13.5	169	2819	0.00	2.60	0.00	0.000	4	0.000	0.067	2103	1200	3161
2877	-1.81	-146.6	417.0	-12.4	170	2882	0.00	2.60	0.00	0.000	6	0.000	0.066	2102	2598	3161
3243	-1.81	-146.6	463.5	-12.6	176	3245	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2598	3161
3549	-1.81	-146.6	502.4	-12.8	181	3554	0.00	2.72	0.00	0.000	4	0.000	0.094	2103	1205	3160
3616	-1.81	-146.6	511.4	-12.2	182	3621	0.00	2.75	0.00	0.000	6	0.000	0.096	2103	2601	3160
3977	-1.81	-146.6	556.8	-12.7	188	3981	0.00	2.70	0.00	0.000	4	0.000	0.089	2103	1207	3160
4021	-1.81	-146.6	562.7	-12.4	188	4026	0.00	2.72	0.00	0.000	6	0.000	0.090	2102	2605	3160
4338	-1.81	-146.6	601.3	-12.2	194	4342	0.00	2.72	0.00	0.000	4	0.000	0.091	2103	1202	3159
4371	-1.81	-146.6	605.5	-12.5	194	4375	0.00	2.72	0.00	0.000	6	0.000	0.090	2103	2604	3159
4697	-1.81	-146.6	642.9	-11.5	200	4701	0.00	2.70	0.00	0.000	4	0.000	0.089	2103	1209	3159
4736	-1.81	-146.6	647.5	-11.5	200	4740	0.00	2.70	0.00	0.000	6	0.000	0.087	2103	2601	3159
5056	-1.81	-146.6	683.0	-11.1	206	5058	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2602	3158
5360	-1.81	-146.6	718.8	-11.7	211	5364	0.00	2.70	0.00	0.000	4	0.000	0.087	2103	1199	3157
5398	-1.81	-146.6	723.6	-12.4	211	5403	0.00	2.70	0.00	0.000	6	0.000	0.085	2103	2601	3157
5719	-1.81	-146.6	761.3	-11.8	217	5721	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2602	3157
6024	-1.81	-146.6	794.7	-10.9	222	6028	0.00	2.67	0.00	0.000	4	0.000	0.087	2103	1209	3157
6087	-1.81	-146.6	801.9	-11.0	223	6091	0.00	2.70	0.00	0.000	6	0.000	0.086	2103	2604	3157
6452	-1.81	-146.6	841.0	-10.8	229	6456	0.00	2.70	0.00	0.000	4	0.000	0.087	2103	1200	3156
6514	-1.81	-146.6	847.8	-11.3	230	6519	0.00	2.72	0.00	0.000	6	0.000	0.086	2103	2609	3156
6880	-1.81	-146.6	887.1	-10.7	236	6881	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2609	3156
7183	-1.81	-146.6	918.8	-10.4	241	7184	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2609	3155
7487	-1.81	-146.6	951.1	-10.6	246	7491	0.00	2.70	0.00	0.000	4	0.000	0.087	2103	1210	3155
7554	-1.81	-146.6	958.6	-11.3	247	7558	0.00	2.67	0.00	0.000	6	0.000	0.084	2103	2601	3155
7850	end dive: TARGET_DEPTH_EXCEEDED
state	7850	begin apogee
7859	-0.45	0.0	990.9	10.9	252	7989	1.40	0.00	126.10	1.465	6	0.077	0.000	2398	2210	2564
7989	end apogee: CONTROL_FINISHED_OK
state	7989	begin climb
7993	1.81	146.6	995.9	0.0	254	8129	2.20	2.90	126.85	1.420	4	0.048	0.099	2896	787	1966
8334	1.81	146.6	974.6	11.3	259	8339	0.00	2.72	0.00	0.000	6	0.000	0.076	2896	2202	1966
8683	1.81	146.6	935.3	11.5	265	8687	0.00	2.80	0.00	0.000	4	0.000	0.094	2897	791	1966
8823	1.81	146.6	919.3	11.8	267	8827	0.00	2.72	0.00	0.000	6	0.000	0.077	2897	2207	1965
9177	1.81	146.6	880.7	10.8	273	9182	0.00	2.80	0.00	0.000	4	0.000	0.094	2897	792	1964
9317	1.81	146.6	865.4	10.6	275	9322	0.00	2.70	0.00	0.000	6	0.000	0.075	2896	2203	1964
9671	1.81	146.6	828.9	10.3	281	9676	0.00	2.80	0.00	0.000	4	0.000	0.094	2897	785	1964
9884	1.81	146.6	806.7	10.9	284	9889	0.00	2.72	0.00	0.000	6	0.000	0.077	2896	2207	1964
10234	1.81	146.6	771.3	10.2	290	10238	0.00	2.80	0.00	0.000	4	0.000	0.093	2897	785	1964
10474	1.82	150.9	746.8	9.8	293	10484	0.00	2.70	4.85	0.960	6	0.000	0.076	2896	2201	1949
10794	1.82	150.9	714.5	10.2	299	10799	0.00	2.78	0.00	0.000	4	0.000	0.092	2896	789	1949
10940	1.82	150.9	699.0	10.7	301	10945	0.00	2.70	0.00	0.000	6	0.000	0.075	2897	2203	1949
11289	1.82	150.9	663.3	10.3	307	11293	0.00	2.78	0.00	0.000	4	0.000	0.092	2896	789	1949
11465	1.82	150.9	644.5	11.1	309	11470	0.00	2.67	0.00	0.000	6	0.000	0.074	2896	2201	1949
11786	1.82	150.9	611.1	10.2	315	11790	0.00	2.75	0.00	0.000	4	0.000	0.091	2896	792	1949
11916	1.82	158.0	598.5	9.7	317	11930	0.00	2.67	8.02	1.065	6	0.000	0.074	2897	2202	1918
12287	1.85	176.2	564.2	9.1	323	12311	0.00	2.85	16.73	1.145	4	0.000	0.091	2896	789	1845
12515	1.86	186.3	541.7	9.5	326	12530	0.00	2.67	10.35	1.068	6	0.000	0.071	2896	2202	1804
12852	1.86	186.3	507.8	10.2	332	12856	0.00	2.75	0.00	0.000	4	0.000	0.087	2896	791	1804
13110	1.86	186.3	480.9	10.2	335	13116	0.00	2.65	0.00	0.000	6	0.000	0.064	2897	2209	1804
13420	1.86	186.3	447.6	10.9	341	13425	0.00	2.70	0.00	0.000	4	0.000	0.079	2897	791	1804
13677	1.86	186.3	417.9	11.4	344	13684	0.00	2.58	0.00	0.000	6	0.000	0.055	2897	2203	1804
13987	1.86	186.3	382.8	11.4	350	13992	0.00	2.65	0.00	0.000	4	0.000	0.069	2897	789	1804
14222	1.86	186.3	355.5	11.0	353	14227	0.00	2.55	0.00	0.000	6	0.000	0.048	2896	2208	1804
14549	1.86	186.3	319.3	11.0	359	14554	0.00	2.65	0.00	0.000	4	0.000	0.066	2896	780	1804
14774	1.86	186.3	294.6	10.4	363	14778	0.00	2.55	0.00	0.000	6	0.000	0.047	2897	2204	1804
15096	1.87	191.7	262.7	9.7	379	15109	0.00	2.65	6.32	0.835	4	0.000	0.064	2897	784	1782
15261	1.87	191.7	244.8	11.3	386	15266	0.00	2.53	0.00	0.000	6	0.000	0.044	2897	2202	1782
15578	1.87	191.7	212.7	10.0	401	15582	0.00	2.62	0.00	0.000	4	0.000	0.064	2896	785	1782
15836	1.87	198.2	186.7	9.7	412	15850	0.00	2.53	7.10	0.818	6	0.000	0.044	2896	2211	1756
16174	1.87	198.7	153.8	10.0	429	16178	0.00	2.62	0.00	0.000	4	0.000	0.063	2897	788	1755
16340	1.89	210.9	137.2	9.4	442	16362	0.00	2.53	11.85	0.848	6	0.000	0.044	2897	2205	1704
16681	1.89	210.9	102.7	10.2	474	16682	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2205	1704
17005	1.93	241.2	70.7	8.6	512	17040	0.10	2.72	26.15	0.831	4	0.075	0.061	2920	786	1580
17065	1.94	249.9	65.4	9.6	522	17078	0.00	2.55	8.48	0.739	6	0.000	0.042	2920	2203	1545
17413	1.97	279.3	33.5	8.6	577	17446	0.00	2.70	24.42	0.793	4	0.000	0.060	2920	793	1425
17699	2.05	344.8	8.9	6.9	602	17761	0.12	2.50	54.65	0.776	6	0.102	0.042	2942	2205	1157
17787	end climb: SURFACE_DEPTH_REACHED
state	17787	begin surface coast
17801	end surface coast: CONTROL_FINISHED_OK
state	17802	begin surface