Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 273 * 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 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 273 ESCAPE_HEADING 60 PITCH_ADJ_DBAND 1 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 2550 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_FINISH 0 SM_CC 350 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 570 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 2473 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 -696607.25 VBD_PUMP_AD_RATE_APOGEE 2 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 120 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 350

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 0 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 550

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 -696607.25

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 570

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 57

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 2000 KALMAN_USE 1 ROLL_MIN 180 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2550 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2473 MASS 50300 R_PORT_OVSHOOT 28 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 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 273 PHONE_DEVICE 48 SEABIRD_T_J 2.722762e-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 173438,4654.303,-12509.572,41,1.5,41,18.4 TGT_NAME GRAYS_HARBOR

_CALLS 1 TGT_LATLONG 4700.000,-12458.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.136,0.135

_SM_DEPTHo 2.03 KALMAN_X 6193.6,-670.0,-418.1,30263.5,2061.3

_SM_ANGLEo -64.6 KALMAN_Y 201378.6,-736.7,58.3,-336832.6,804.3

GPS2 173951,4654.257,-12509.607,16,1.9,16,18.4 MHEAD_RNG_PITCHd_Wd 26.9,18113,-12.5,-6.000

SPEED_LIMITS 0.099,0.182 D_GRID 674

Post-dive calculations and measurements:

FINISH 1.1,1.024471 XPDR_PINGS 1

SM_CCo 19870,38.20,0.709,2,0,1046,350.04 _24V_AH 22.5,46.837

SM_GC 2.51,0.00,0.00,38.20,0.000,0.000,0.709,26,2570,1046,-11.38,0.59,350.04 _10V_AH 10.2,29.542

IRIDIUM_FIX 4638.64,-12515.78,100997,111136 DATA_FILE_SIZE 28650,527

TT8_MAMPS 0.026078 CAP_FILE_SIZE 148583,0

HUMID 1856 CFSIZE 260165632,239054848

INTERNAL_PRESSURE 8.91636 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

TCM_TEMP 17.30 GPS 160608,231407,4655.793,-12508.451,31,1.6,31,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 125 79.46 SBE_CT 368 24 199.19

Roll_motor 224 99 503.38 SBE_O2 420 19 179.61

VBD_pump_during_apogee 381 1234 10588.37 WL_BB2F 452 105 1069.81

VBD_pump_during_surface 38 709 609.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.94 nil 0 0 0.00

Iridium_during_connect 26 160 94.81 nil 0 0 0.00

Iridium_during_xfer 121 223 607.41

Transponder_ping 5 420 54.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.27

TT8 1305 19 263.72

LPSleep 15644 2 349.48

TT8_Active 583 19 117.84

TT8_Sampling 2096 39 851.10

TT8_CF8 610 45 285.08

TT8_Kalman 33 81 27.86

Analog_circuits 1690 12 206.93

GPS_charging 0 0 0.00

Compass 2035 8 166.12

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

23 end surface: CONTROL_FINISHED_OK

state 25 begin dive

29 -1.28 -117.3 0.0 0.0 0 68 0.00 0.00 -37.00 0.000 2 0.000 0.000 30 2568 1810

73 -1.28 -117.3 3.2 -3.5 4 137 11.27 2.60 -42.78 0.000 4 0.123 0.062 2213 1148 2953

267 -1.14 -117.3 24.4 -12.0 21 274 0.20 2.47 0.00 0.000 6 0.126 0.040 2248 2550 2952

598 -1.09 -117.3 54.1 -8.9 52 603 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2550 2952

923 -1.09 -117.3 84.3 -8.7 81 927 0.00 2.50 0.00 0.000 4 0.000 0.049 2248 1148 2952

1053 -1.09 -117.3 95.6 -8.7 87 1057 0.00 2.50 0.00 0.000 6 0.000 0.042 2249 2559 2952

1381 -1.09 -117.3 122.3 -7.9 103 1385 0.00 2.53 0.00 0.000 4 0.000 0.048 2248 1148 2952

1453 -1.09 -117.3 128.3 -8.1 106 1457 0.00 2.47 0.00 0.000 6 0.000 0.041 2248 2553 2952

1769 -1.09 -117.3 153.9 -7.7 120 1770 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2553 2952

2094 -1.09 -117.3 178.2 -7.4 128 2098 0.00 2.53 0.00 0.000 4 0.000 0.050 2248 1146 2952

2234 -1.09 -117.3 188.3 -7.0 131 2238 0.00 2.50 0.00 0.000 6 0.000 0.043 2248 2558 2952

2547 -1.09 -117.3 210.2 -7.1 139 2548 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2558 2952

2872 -1.09 -117.3 235.0 -7.8 147 2877 0.00 2.55 0.00 0.000 4 0.000 0.051 2249 1141 2951

2991 -1.13 -117.3 244.5 -8.3 149 2995 0.00 2.50 0.00 0.000 6 0.000 0.044 2248 2552 2951

3323 -1.13 -117.3 270.0 -7.6 157 3327 0.00 2.53 0.00 0.000 4 0.000 0.051 2248 1147 2951

3391 -1.18 -117.3 275.4 -7.7 158 3396 0.00 2.50 0.00 0.000 6 0.000 0.045 2249 2555 2951

3732 -1.22 -117.3 301.0 -7.7 167 3736 0.00 2.55 0.00 0.000 4 0.000 0.052 2248 1138 2951

3794 -1.28 -117.3 306.2 -8.3 167 3799 0.12 2.50 0.00 0.000 6 0.104 0.045 2225 2548 2950

4135 -1.28 -117.3 334.6 -8.3 172 4139 0.00 2.55 0.00 0.000 4 0.000 0.054 2225 1141 2950

4207 -1.28 -117.3 340.9 -8.3 172 4212 0.00 2.53 0.00 0.000 6 0.000 0.048 2226 2559 2950

4537 -1.28 -117.3 368.6 -8.5 176 4541 0.00 2.58 0.00 0.000 4 0.000 0.059 2226 1147 2950

4576 -1.28 -117.3 372.0 -8.6 176 4580 0.00 2.53 0.00 0.000 6 0.000 0.051 2226 2554 2950

4939 -1.28 -117.3 403.4 -8.7 181 4944 0.00 2.60 0.00 0.000 4 0.000 0.064 2225 1142 2950

5046 -1.28 -117.3 412.1 -8.1 182 5051 0.00 2.55 0.00 0.000 6 0.000 0.056 2225 2548 2949

5432 -1.28 -117.3 438.9 -6.9 187 5436 0.00 2.60 0.00 0.000 4 0.000 0.070 2226 1148 2949

5476 -1.28 -117.3 441.9 -6.6 187 5480 0.00 2.58 0.00 0.000 6 0.000 0.061 2225 2552 2949

5833 -1.28 -117.3 462.8 -5.8 192 5838 0.00 2.65 0.00 0.000 4 0.000 0.075 2225 1146 2948

5901 -1.28 -117.3 466.8 -6.6 192 5906 0.00 2.60 0.00 0.000 6 0.000 0.069 2225 2552 2948

6237 -1.28 -117.3 485.5 -5.6 197 6241 0.00 2.65 0.00 0.000 4 0.000 0.081 2225 1154 2948

6292 -1.28 -117.3 488.9 -6.1 197 6297 0.00 2.62 0.00 0.000 6 0.000 0.074 2225 2548 2947

6639 -1.28 -117.3 509.5 -6.0 202 6643 0.00 2.70 0.00 0.000 4 0.000 0.089 2225 1152 2948

6724 -1.28 -117.3 514.6 -5.9 203 6729 0.00 2.70 0.00 0.000 6 0.000 0.084 2225 2554 2948

7051 -1.28 -117.3 533.7 -5.9 207 7056 0.00 2.67 0.00 0.000 4 0.000 0.087 2225 1152 2948

7131 -1.28 -117.3 538.4 -5.8 207 7137 0.00 2.67 0.00 0.000 6 0.000 0.081 2225 2554 2947

7461 -1.28 -117.3 557.4 -5.8 212 7465 0.00 2.70 0.00 0.000 4 0.000 0.086 2225 1147 2947

7522 -1.28 -117.3 561.1 -5.7 212 7527 0.00 2.67 0.00 0.000 6 0.000 0.080 2225 2555 2947

7863 -1.28 -117.3 582.4 -6.3 217 7868 0.00 2.70 0.00 0.000 4 0.000 0.086 2225 1147 2947

7953 -1.28 -117.3 588.7 -7.6 218 7957 0.00 2.67 0.00 0.000 6 0.000 0.080 2225 2554 2947

8274 -1.28 -117.3 611.1 -7.0 222 8278 0.00 2.67 0.00 0.000 4 0.000 0.085 2225 1153 2947

8319 -1.28 -117.3 614.3 -7.1 222 8323 0.00 2.65 0.00 0.000 6 0.000 0.077 2225 2558 2947

8676 -1.28 -117.3 637.9 -6.6 227 8680 0.00 2.70 0.00 0.000 4 0.000 0.084 2225 1151 2946

8777 -1.28 -117.3 645.3 -7.4 228 8781 0.00 2.67 0.00 0.000 6 0.000 0.079 2225 2558 2946

9168 -1.28 -117.3 673.6 -7.3 233 9172 0.00 2.67 0.00 0.000 4 0.000 0.085 2225 1151 2946

9175 end dive: TARGET_DEPTH_EXCEEDED

state 9175 begin apogee

9185 -0.45 0.0 674.5 7.4 233 9288 0.77 0.00 99.72 1.234 6 0.074 0.000 2392 2004 2473

9289 end apogee: CONTROL_FINISHED_OK

state 9289 begin climb

9292 1.28 117.3 677.4 0.0 234 9402 1.77 2.88 101.78 1.198 4 0.054 0.100 2779 605 1994

9440 1.05 129.9 677.5 5.5 236 9460 0.28 2.65 12.57 1.073 6 0.124 0.065 2730 2007 1942

9825 0.96 138.3 656.0 5.7 241 9839 0.00 2.83 8.93 1.034 4 0.000 0.098 2730 3411 1909

9979 0.85 138.3 646.8 6.1 242 9984 0.22 2.58 0.00 0.000 6 0.105 0.058 2687 2013 1909

10325 0.90 185.5 631.6 4.3 247 10370 0.00 0.00 43.20 1.177 6 0.000 0.000 2687 2013 1716

10648 0.92 198.8 613.8 5.5 251 10667 0.00 2.83 13.23 1.091 4 0.000 0.093 2687 3406 1662

10776 0.92 198.8 605.0 7.2 252 10780 0.00 2.60 0.00 0.000 6 0.000 0.055 2687 1993 1662

11144 0.92 198.8 581.9 6.3 257 11148 0.00 2.78 0.00 0.000 4 0.000 0.091 2687 3410 1662

11279 0.92 198.8 573.4 6.7 258 11283 0.00 2.58 0.00 0.000 6 0.000 0.056 2687 1997 1662

11636 0.98 210.7 553.4 5.6 263 11656 0.12 2.83 12.23 1.073 4 0.059 0.088 2721 3406 1614

11761 0.93 210.7 545.2 6.6 264 11766 0.00 2.58 0.00 0.000 6 0.000 0.054 2722 1998 1614

12135 0.93 210.7 520.8 6.5 269 12140 0.00 2.75 0.00 0.000 4 0.000 0.086 2721 3412 1614

12211 0.89 210.7 515.4 7.1 269 12216 0.15 2.58 0.00 0.000 6 0.125 0.051 2695 1992 1614

12540 0.89 210.7 493.1 6.7 273 12545 0.00 2.75 0.00 0.000 4 0.000 0.084 2695 3416 1614

12642 0.89 210.7 485.5 7.3 274 12646 0.00 2.58 0.00 0.000 6 0.000 0.049 2695 1992 1614

13033 0.89 210.7 458.0 7.0 279 13037 0.00 2.70 0.00 0.000 4 0.000 0.078 2695 3414 1613

13133 0.89 210.7 450.5 7.2 280 13138 0.00 2.55 0.00 0.000 6 0.000 0.048 2695 1998 1614

13525 0.93 210.7 422.0 7.3 285 13529 0.00 2.67 0.00 0.000 4 0.000 0.074 2695 3418 1614

13637 0.93 210.7 413.9 7.3 286 13642 0.00 2.53 0.00 0.000 6 0.000 0.046 2696 1999 1613

14018 0.97 210.7 388.7 6.6 291 14022 0.00 2.65 0.00 0.000 4 0.000 0.072 2696 3418 1614

14107 0.97 210.7 382.7 6.7 292 14112 0.00 2.53 0.00 0.000 6 0.000 0.044 2696 1998 1614

14429 0.99 223.8 364.6 5.5 296 14449 0.00 2.75 12.50 0.984 4 0.000 0.070 2695 3414 1561

14506 0.99 223.8 360.1 6.0 296 14511 0.00 2.53 0.00 0.000 6 0.000 0.043 2695 1987 1560

14837 1.04 224.7 340.5 6.0 300 14842 0.15 2.67 0.00 0.000 4 0.055 0.069 2735 3414 1560

14916 0.99 224.7 334.3 7.3 300 14922 0.00 2.50 0.00 0.000 6 0.000 0.041 2735 1999 1560

15246 0.99 224.7 307.0 8.3 305 15250 0.00 2.65 0.00 0.000 4 0.000 0.069 2735 3415 1560

15308 0.94 224.7 301.5 9.1 305 15313 0.15 2.53 0.00 0.000 6 0.120 0.041 2709 1988 1560

15650 0.94 224.7 276.6 7.1 313 15655 0.00 2.65 0.00 0.000 4 0.000 0.067 2709 3415 1560

15718 0.94 224.7 271.7 6.9 314 15722 0.00 2.50 0.00 0.000 6 0.000 0.041 2709 2001 1560

16056 0.98 224.7 248.7 6.9 323 16060 0.00 2.62 0.00 0.000 4 0.000 0.067 2709 3414 1560

16147 0.98 224.7 242.1 6.8 325 16151 0.00 2.50 0.00 0.000 6 0.000 0.041 2709 1998 1560

16465 0.98 224.7 221.4 6.4 333 16470 0.00 2.62 0.00 0.000 4 0.000 0.066 2709 3415 1560

16567 0.98 224.7 214.6 6.1 335 16571 0.00 2.50 0.00 0.000 6 0.000 0.041 2709 1998 1560

16916 1.03 224.7 192.4 6.4 344 16920 0.00 2.65 0.00 0.000 4 0.000 0.066 2709 3421 1560

17005 1.03 225.9 186.3 6.0 346 17010 0.00 2.53 0.00 0.000 6 0.000 0.041 2709 1989 1560

17325 1.07 225.9 166.5 6.1 354 17335 0.10 2.67 3.78 0.607 4 0.067 0.065 2738 3420 1552

17381 1.03 225.9 162.5 7.0 355 17386 0.00 2.53 0.00 0.000 6 0.000 0.040 2738 1992 1552

17697 1.03 225.9 137.9 8.4 366 17702 0.00 2.62 0.00 0.000 4 0.000 0.064 2738 3415 1552

17743 1.03 225.9 133.9 9.0 368 17747 0.00 2.47 0.00 0.000 6 0.000 0.039 2738 1996 1551

18064 1.03 225.9 108.6 7.4 384 18069 0.00 2.62 0.00 0.000 4 0.000 0.064 2738 3416 1552

18143 1.03 225.9 102.9 6.6 387 18149 0.00 2.50 0.00 0.000 6 0.000 0.039 2738 1991 1552

18460 1.06 252.4 84.8 5.0 403 18490 0.00 2.70 23.75 0.830 4 0.000 0.063 2738 3414 1444

18565 1.07 263.7 78.5 5.6 408 18582 0.00 2.50 12.50 0.782 6 0.000 0.039 2738 1997 1397

18902 1.15 263.7 56.0 7.1 440 18903 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 1996 1396

19223 1.24 276.6 34.8 5.5 470 19246 0.15 2.72 12.48 0.759 4 0.053 0.063 2783 3415 1345

19275 1.24 276.6 31.2 6.5 474 19281 0.00 2.50 0.00 0.000 6 0.000 0.039 2783 1999 1345

19605 1.33 304.6 14.1 5.0 505 19638 0.00 2.70 24.67 0.771 4 0.000 0.064 2783 3408 1230

19711 1.33 304.6 7.9 6.1 514 19717 0.00 2.47 0.00 0.000 6 0.000 0.038 2783 1999 1230

19811 end climb: SURFACE_DEPTH_REACHED

state 19811 begin surface coast

19844 end surface coast: CONTROL_FINISHED_OK

state 19844 begin surface

ID	101	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	273	ESCAPE_HEADING	60	PITCH_ADJ_DBAND	1	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	2550	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_FINISH	0	SM_CC	350	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	570	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	2473	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	-696607.25	VBD_PUMP_AD_RATE_APOGEE	2	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	120	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	173438,4654.303,-12509.572,41,1.5,41,18.4	TGT_NAME	GRAYS_HARBOR
_CALLS	1	TGT_LATLONG	4700.000,-12458.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.136,0.135
_SM_DEPTHo	2.03	KALMAN_X	6193.6,-670.0,-418.1,30263.5,2061.3
_SM_ANGLEo	-64.6	KALMAN_Y	201378.6,-736.7,58.3,-336832.6,804.3
GPS2	173951,4654.257,-12509.607,16,1.9,16,18.4	MHEAD_RNG_PITCHd_Wd	26.9,18113,-12.5,-6.000
SPEED_LIMITS	0.099,0.182	D_GRID	674

FINISH	1.1,1.024471	XPDR_PINGS	1
SM_CCo	19870,38.20,0.709,2,0,1046,350.04	_24V_AH	22.5,46.837
SM_GC	2.51,0.00,0.00,38.20,0.000,0.000,0.709,26,2570,1046,-11.38,0.59,350.04	_10V_AH	10.2,29.542
IRIDIUM_FIX	4638.64,-12515.78,100997,111136	DATA_FILE_SIZE	28650,527
TT8_MAMPS	0.026078	CAP_FILE_SIZE	148583,0
HUMID	1856	CFSIZE	260165632,239054848
INTERNAL_PRESSURE	8.91636	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
TCM_TEMP	17.30	GPS	160608,231407,4655.793,-12508.451,31,1.6,31,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	125	79.46	SBE_CT	368	24	199.19
Roll_motor	224	99	503.38	SBE_O2	420	19	179.61
VBD_pump_during_apogee	381	1234	10588.37	WL_BB2F	452	105	1069.81
VBD_pump_during_surface	38	709	609.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.94	nil	0	0	0.00
Iridium_during_connect	26	160	94.81	nil	0	0	0.00
Iridium_during_xfer	121	223	607.41
Transponder_ping	5	420	54.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.27
TT8	1305	19	263.72
LPSleep	15644	2	349.48
TT8_Active	583	19	117.84
TT8_Sampling	2096	39	851.10
TT8_CF8	610	45	285.08
TT8_Kalman	33	81	27.86
Analog_circuits	1690	12	206.93
GPS_charging	0	0	0.00
Compass	2035	8	166.12
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
23	end surface: CONTROL_FINISHED_OK
state	25	begin dive
29	-1.28	-117.3	0.0	0.0	0	68	0.00	0.00	-37.00	0.000	2	0.000	0.000	30	2568	1810
73	-1.28	-117.3	3.2	-3.5	4	137	11.27	2.60	-42.78	0.000	4	0.123	0.062	2213	1148	2953
267	-1.14	-117.3	24.4	-12.0	21	274	0.20	2.47	0.00	0.000	6	0.126	0.040	2248	2550	2952
598	-1.09	-117.3	54.1	-8.9	52	603	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2550	2952
923	-1.09	-117.3	84.3	-8.7	81	927	0.00	2.50	0.00	0.000	4	0.000	0.049	2248	1148	2952
1053	-1.09	-117.3	95.6	-8.7	87	1057	0.00	2.50	0.00	0.000	6	0.000	0.042	2249	2559	2952
1381	-1.09	-117.3	122.3	-7.9	103	1385	0.00	2.53	0.00	0.000	4	0.000	0.048	2248	1148	2952
1453	-1.09	-117.3	128.3	-8.1	106	1457	0.00	2.47	0.00	0.000	6	0.000	0.041	2248	2553	2952
1769	-1.09	-117.3	153.9	-7.7	120	1770	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2553	2952
2094	-1.09	-117.3	178.2	-7.4	128	2098	0.00	2.53	0.00	0.000	4	0.000	0.050	2248	1146	2952
2234	-1.09	-117.3	188.3	-7.0	131	2238	0.00	2.50	0.00	0.000	6	0.000	0.043	2248	2558	2952
2547	-1.09	-117.3	210.2	-7.1	139	2548	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2558	2952
2872	-1.09	-117.3	235.0	-7.8	147	2877	0.00	2.55	0.00	0.000	4	0.000	0.051	2249	1141	2951
2991	-1.13	-117.3	244.5	-8.3	149	2995	0.00	2.50	0.00	0.000	6	0.000	0.044	2248	2552	2951
3323	-1.13	-117.3	270.0	-7.6	157	3327	0.00	2.53	0.00	0.000	4	0.000	0.051	2248	1147	2951
3391	-1.18	-117.3	275.4	-7.7	158	3396	0.00	2.50	0.00	0.000	6	0.000	0.045	2249	2555	2951
3732	-1.22	-117.3	301.0	-7.7	167	3736	0.00	2.55	0.00	0.000	4	0.000	0.052	2248	1138	2951
3794	-1.28	-117.3	306.2	-8.3	167	3799	0.12	2.50	0.00	0.000	6	0.104	0.045	2225	2548	2950
4135	-1.28	-117.3	334.6	-8.3	172	4139	0.00	2.55	0.00	0.000	4	0.000	0.054	2225	1141	2950
4207	-1.28	-117.3	340.9	-8.3	172	4212	0.00	2.53	0.00	0.000	6	0.000	0.048	2226	2559	2950
4537	-1.28	-117.3	368.6	-8.5	176	4541	0.00	2.58	0.00	0.000	4	0.000	0.059	2226	1147	2950
4576	-1.28	-117.3	372.0	-8.6	176	4580	0.00	2.53	0.00	0.000	6	0.000	0.051	2226	2554	2950
4939	-1.28	-117.3	403.4	-8.7	181	4944	0.00	2.60	0.00	0.000	4	0.000	0.064	2225	1142	2950
5046	-1.28	-117.3	412.1	-8.1	182	5051	0.00	2.55	0.00	0.000	6	0.000	0.056	2225	2548	2949
5432	-1.28	-117.3	438.9	-6.9	187	5436	0.00	2.60	0.00	0.000	4	0.000	0.070	2226	1148	2949
5476	-1.28	-117.3	441.9	-6.6	187	5480	0.00	2.58	0.00	0.000	6	0.000	0.061	2225	2552	2949
5833	-1.28	-117.3	462.8	-5.8	192	5838	0.00	2.65	0.00	0.000	4	0.000	0.075	2225	1146	2948
5901	-1.28	-117.3	466.8	-6.6	192	5906	0.00	2.60	0.00	0.000	6	0.000	0.069	2225	2552	2948
6237	-1.28	-117.3	485.5	-5.6	197	6241	0.00	2.65	0.00	0.000	4	0.000	0.081	2225	1154	2948
6292	-1.28	-117.3	488.9	-6.1	197	6297	0.00	2.62	0.00	0.000	6	0.000	0.074	2225	2548	2947
6639	-1.28	-117.3	509.5	-6.0	202	6643	0.00	2.70	0.00	0.000	4	0.000	0.089	2225	1152	2948
6724	-1.28	-117.3	514.6	-5.9	203	6729	0.00	2.70	0.00	0.000	6	0.000	0.084	2225	2554	2948
7051	-1.28	-117.3	533.7	-5.9	207	7056	0.00	2.67	0.00	0.000	4	0.000	0.087	2225	1152	2948
7131	-1.28	-117.3	538.4	-5.8	207	7137	0.00	2.67	0.00	0.000	6	0.000	0.081	2225	2554	2947
7461	-1.28	-117.3	557.4	-5.8	212	7465	0.00	2.70	0.00	0.000	4	0.000	0.086	2225	1147	2947
7522	-1.28	-117.3	561.1	-5.7	212	7527	0.00	2.67	0.00	0.000	6	0.000	0.080	2225	2555	2947
7863	-1.28	-117.3	582.4	-6.3	217	7868	0.00	2.70	0.00	0.000	4	0.000	0.086	2225	1147	2947
7953	-1.28	-117.3	588.7	-7.6	218	7957	0.00	2.67	0.00	0.000	6	0.000	0.080	2225	2554	2947
8274	-1.28	-117.3	611.1	-7.0	222	8278	0.00	2.67	0.00	0.000	4	0.000	0.085	2225	1153	2947
8319	-1.28	-117.3	614.3	-7.1	222	8323	0.00	2.65	0.00	0.000	6	0.000	0.077	2225	2558	2947
8676	-1.28	-117.3	637.9	-6.6	227	8680	0.00	2.70	0.00	0.000	4	0.000	0.084	2225	1151	2946
8777	-1.28	-117.3	645.3	-7.4	228	8781	0.00	2.67	0.00	0.000	6	0.000	0.079	2225	2558	2946
9168	-1.28	-117.3	673.6	-7.3	233	9172	0.00	2.67	0.00	0.000	4	0.000	0.085	2225	1151	2946
9175	end dive: TARGET_DEPTH_EXCEEDED
state	9175	begin apogee
9185	-0.45	0.0	674.5	7.4	233	9288	0.77	0.00	99.72	1.234	6	0.074	0.000	2392	2004	2473
9289	end apogee: CONTROL_FINISHED_OK
state	9289	begin climb
9292	1.28	117.3	677.4	0.0	234	9402	1.77	2.88	101.78	1.198	4	0.054	0.100	2779	605	1994
9440	1.05	129.9	677.5	5.5	236	9460	0.28	2.65	12.57	1.073	6	0.124	0.065	2730	2007	1942
9825	0.96	138.3	656.0	5.7	241	9839	0.00	2.83	8.93	1.034	4	0.000	0.098	2730	3411	1909
9979	0.85	138.3	646.8	6.1	242	9984	0.22	2.58	0.00	0.000	6	0.105	0.058	2687	2013	1909
10325	0.90	185.5	631.6	4.3	247	10370	0.00	0.00	43.20	1.177	6	0.000	0.000	2687	2013	1716
10648	0.92	198.8	613.8	5.5	251	10667	0.00	2.83	13.23	1.091	4	0.000	0.093	2687	3406	1662
10776	0.92	198.8	605.0	7.2	252	10780	0.00	2.60	0.00	0.000	6	0.000	0.055	2687	1993	1662
11144	0.92	198.8	581.9	6.3	257	11148	0.00	2.78	0.00	0.000	4	0.000	0.091	2687	3410	1662
11279	0.92	198.8	573.4	6.7	258	11283	0.00	2.58	0.00	0.000	6	0.000	0.056	2687	1997	1662
11636	0.98	210.7	553.4	5.6	263	11656	0.12	2.83	12.23	1.073	4	0.059	0.088	2721	3406	1614
11761	0.93	210.7	545.2	6.6	264	11766	0.00	2.58	0.00	0.000	6	0.000	0.054	2722	1998	1614
12135	0.93	210.7	520.8	6.5	269	12140	0.00	2.75	0.00	0.000	4	0.000	0.086	2721	3412	1614
12211	0.89	210.7	515.4	7.1	269	12216	0.15	2.58	0.00	0.000	6	0.125	0.051	2695	1992	1614
12540	0.89	210.7	493.1	6.7	273	12545	0.00	2.75	0.00	0.000	4	0.000	0.084	2695	3416	1614
12642	0.89	210.7	485.5	7.3	274	12646	0.00	2.58	0.00	0.000	6	0.000	0.049	2695	1992	1614
13033	0.89	210.7	458.0	7.0	279	13037	0.00	2.70	0.00	0.000	4	0.000	0.078	2695	3414	1613
13133	0.89	210.7	450.5	7.2	280	13138	0.00	2.55	0.00	0.000	6	0.000	0.048	2695	1998	1614
13525	0.93	210.7	422.0	7.3	285	13529	0.00	2.67	0.00	0.000	4	0.000	0.074	2695	3418	1614
13637	0.93	210.7	413.9	7.3	286	13642	0.00	2.53	0.00	0.000	6	0.000	0.046	2696	1999	1613
14018	0.97	210.7	388.7	6.6	291	14022	0.00	2.65	0.00	0.000	4	0.000	0.072	2696	3418	1614
14107	0.97	210.7	382.7	6.7	292	14112	0.00	2.53	0.00	0.000	6	0.000	0.044	2696	1998	1614
14429	0.99	223.8	364.6	5.5	296	14449	0.00	2.75	12.50	0.984	4	0.000	0.070	2695	3414	1561
14506	0.99	223.8	360.1	6.0	296	14511	0.00	2.53	0.00	0.000	6	0.000	0.043	2695	1987	1560
14837	1.04	224.7	340.5	6.0	300	14842	0.15	2.67	0.00	0.000	4	0.055	0.069	2735	3414	1560
14916	0.99	224.7	334.3	7.3	300	14922	0.00	2.50	0.00	0.000	6	0.000	0.041	2735	1999	1560
15246	0.99	224.7	307.0	8.3	305	15250	0.00	2.65	0.00	0.000	4	0.000	0.069	2735	3415	1560
15308	0.94	224.7	301.5	9.1	305	15313	0.15	2.53	0.00	0.000	6	0.120	0.041	2709	1988	1560
15650	0.94	224.7	276.6	7.1	313	15655	0.00	2.65	0.00	0.000	4	0.000	0.067	2709	3415	1560
15718	0.94	224.7	271.7	6.9	314	15722	0.00	2.50	0.00	0.000	6	0.000	0.041	2709	2001	1560
16056	0.98	224.7	248.7	6.9	323	16060	0.00	2.62	0.00	0.000	4	0.000	0.067	2709	3414	1560
16147	0.98	224.7	242.1	6.8	325	16151	0.00	2.50	0.00	0.000	6	0.000	0.041	2709	1998	1560
16465	0.98	224.7	221.4	6.4	333	16470	0.00	2.62	0.00	0.000	4	0.000	0.066	2709	3415	1560
16567	0.98	224.7	214.6	6.1	335	16571	0.00	2.50	0.00	0.000	6	0.000	0.041	2709	1998	1560
16916	1.03	224.7	192.4	6.4	344	16920	0.00	2.65	0.00	0.000	4	0.000	0.066	2709	3421	1560
17005	1.03	225.9	186.3	6.0	346	17010	0.00	2.53	0.00	0.000	6	0.000	0.041	2709	1989	1560
17325	1.07	225.9	166.5	6.1	354	17335	0.10	2.67	3.78	0.607	4	0.067	0.065	2738	3420	1552
17381	1.03	225.9	162.5	7.0	355	17386	0.00	2.53	0.00	0.000	6	0.000	0.040	2738	1992	1552
17697	1.03	225.9	137.9	8.4	366	17702	0.00	2.62	0.00	0.000	4	0.000	0.064	2738	3415	1552
17743	1.03	225.9	133.9	9.0	368	17747	0.00	2.47	0.00	0.000	6	0.000	0.039	2738	1996	1551
18064	1.03	225.9	108.6	7.4	384	18069	0.00	2.62	0.00	0.000	4	0.000	0.064	2738	3416	1552
18143	1.03	225.9	102.9	6.6	387	18149	0.00	2.50	0.00	0.000	6	0.000	0.039	2738	1991	1552
18460	1.06	252.4	84.8	5.0	403	18490	0.00	2.70	23.75	0.830	4	0.000	0.063	2738	3414	1444
18565	1.07	263.7	78.5	5.6	408	18582	0.00	2.50	12.50	0.782	6	0.000	0.039	2738	1997	1397
18902	1.15	263.7	56.0	7.1	440	18903	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	1996	1396
19223	1.24	276.6	34.8	5.5	470	19246	0.15	2.72	12.48	0.759	4	0.053	0.063	2783	3415	1345
19275	1.24	276.6	31.2	6.5	474	19281	0.00	2.50	0.00	0.000	6	0.000	0.039	2783	1999	1345
19605	1.33	304.6	14.1	5.0	505	19638	0.00	2.70	24.67	0.771	4	0.000	0.064	2783	3408	1230
19711	1.33	304.6	7.9	6.1	514	19717	0.00	2.47	0.00	0.000	6	0.000	0.038	2783	1999	1230
19811	end climb: SURFACE_DEPTH_REACHED
state	19811	begin surface coast
19844	end surface coast: CONTROL_FINISHED_OK
state	19844	begin surface