Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 51 * 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 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 51 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 2550 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2000 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 450 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 -691657.31 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 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 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 412.5

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 -691657.31

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

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 2564 MASS 50300 R_PORT_OVSHOOT 25 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 51 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 211026,4720.354,-12715.752,39,1.9,39,18.7 TGT_NAME SW_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.035,-0.235

_SM_DEPTHo 1.52 KALMAN_X 14366.9,462.7,64.2,-135486.2,-757.4

_SM_ANGLEo -63.6 KALMAN_Y 20167.3,-338.8,-1023.8,-106622.9,5569.1

GPS2 211539,4720.366,-12715.747,12,2.0,12,18.7 MHEAD_RNG_PITCHd_Wd 152.9,67430,-14.7,-8.000

SPEED_LIMITS 0.132,0.226 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.8,1.014945 XPDR_PINGS 0

SM_CCo 22142,91.72,0.769,1,0,932,400.08 _24V_AH 23.1,11.410

SM_GC 1.66,0.00,0.00,91.72,0.000,0.000,0.769,21,2529,932,-11.40,-0.59,400.08 _10V_AH 10.1,5.469

IRIDIUM_FIX 4703.87,-12711.26,040797,151555 DATA_FILE_SIZE 37915,740

TT8_MAMPS 0.026078 CAP_FILE_SIZE 134302,0

HUMID 1812 CFSIZE 260165632,255438848

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

TCM_TEMP 16.90 GPS 100408,032837,4718.006,-12715.090,34,1.8,34,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 151 96.12 SBE_CT 527 24 292.64

Roll_motor 135 105 327.75 SBE_O2 577 19 253.40

VBD_pump_during_apogee 373 1473 12728.50 WL_BB2F 820 105 1990.83

VBD_pump_during_surface 91 769 1630.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.39 nil 0 0 0.00

Iridium_during_connect 27 160 100.66 nil 0 0 0.00

Iridium_during_xfer 127 223 657.35

Transponder_ping 8 420 84.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.12

TT8 1493 19 298.60

LPSleep 17817 2 394.10

TT8_Active 614 19 122.85

TT8_Sampling 2043 39 821.27

TT8_CF8 593 45 274.57

TT8_Kalman 33 81 27.56

Analog_circuits 1612 12 195.47

GPS_charging 0 0 0.00

Compass 2001 8 161.76

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

29 -1.51 -146.6 0.0 0.0 0 98 0.00 0.00 -67.60 0.000 2 0.000 0.000 34 2554 2270

103 -1.51 -146.6 3.6 -4.9 7 147 11.68 2.05 -26.60 0.000 4 0.152 0.096 2159 3631 3161

367 -1.51 -146.6 44.8 -16.0 33 374 0.00 1.95 0.00 0.000 6 0.000 0.044 2160 2532 3161

707 -1.51 -146.6 96.3 -14.9 84 708 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2532 3161

1025 -1.51 -146.6 140.0 -13.0 114 1027 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2532 3161

1337 -1.51 -146.6 178.0 -11.5 133 1341 0.00 2.08 0.00 0.000 4 0.000 0.080 2160 3630 3161

1377 -1.51 -146.6 182.9 -12.3 134 1383 0.00 1.90 0.00 0.000 6 0.000 0.048 2160 2556 3161

1693 -1.51 -146.6 217.7 -11.2 150 1694 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2556 3161

2003 -1.51 -146.6 252.5 -11.3 165 2007 0.00 2.50 0.00 0.000 4 0.000 0.057 2160 1160 3160

2053 -1.51 -146.6 258.2 -11.2 167 2057 0.00 2.47 0.00 0.000 6 0.000 0.047 2160 2552 3160

2369 -1.51 -146.6 291.3 -10.7 182 2373 0.00 2.53 0.00 0.000 4 0.000 0.055 2160 1152 3160

2426 -1.51 -146.6 297.7 -11.0 184 2432 0.00 2.50 0.00 0.000 6 0.000 0.048 2160 2555 3160

2756 -1.51 -146.6 333.2 -10.7 191 2757 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2555 3160

3059 -1.51 -146.6 364.5 -10.3 196 3060 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2555 3161

3362 -1.51 -146.6 396.1 -10.4 201 3367 0.00 2.58 0.00 0.000 4 0.000 0.067 2160 1160 3160

3441 -1.51 -146.6 404.5 -10.6 202 3446 0.00 2.55 0.00 0.000 6 0.000 0.061 2160 2553 3160

3790 -1.51 -146.6 441.0 -10.5 208 3791 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2553 3160

4094 -1.51 -146.6 472.8 -10.5 213 4095 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2553 3160

4397 -1.51 -146.6 504.1 -10.3 218 4401 0.00 2.72 0.00 0.000 4 0.000 0.095 2160 1157 3159

4470 -1.51 -146.6 511.5 -9.6 219 4474 0.00 2.67 0.00 0.000 6 0.000 0.088 2160 2544 3159

4824 -1.51 -146.6 546.0 -9.8 225 4825 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2544 3158

5128 -1.51 -146.6 576.0 -9.9 230 5129 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2543 3158

5431 -1.51 -146.6 605.4 -9.7 235 5436 0.00 2.67 0.00 0.000 4 0.000 0.090 2160 1159 3157

5520 -1.51 -146.6 614.1 -9.3 236 5525 0.00 2.67 0.00 0.000 6 0.000 0.084 2160 2555 3157

5858 -1.51 -146.6 644.9 -9.2 242 5859 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2555 3157

6161 -1.51 -146.6 672.3 -9.0 247 6162 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2556 3156

6464 -1.51 -146.6 699.9 -9.1 252 6472 0.00 2.65 0.00 0.000 4 0.000 0.087 2160 1167 3156

6513 -1.51 -146.6 704.4 -9.9 252 6517 0.00 2.65 0.00 0.000 6 0.000 0.081 2160 2558 3155

6835 -1.51 -146.6 733.6 -9.0 258 6836 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2558 3155

7137 -1.51 -146.6 760.1 -8.7 263 7141 0.00 2.67 0.00 0.000 4 0.000 0.087 2160 1164 3155

7175 -1.51 -146.6 763.6 -8.9 263 7180 0.00 2.65 0.00 0.000 6 0.000 0.080 2160 2559 3155

7497 -1.51 -146.6 790.3 -8.3 269 7498 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2559 3155

7801 -1.51 -146.6 815.8 -8.4 274 7802 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2558 3155

8103 -1.51 -146.6 841.3 -8.4 279 8104 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2559 3154

8407 -1.51 -146.6 866.2 -8.2 284 8412 0.00 2.67 0.00 0.000 4 0.000 0.086 2160 1163 3154

8464 -1.51 -146.6 870.9 -7.9 284 8470 0.00 2.65 0.00 0.000 6 0.000 0.080 2160 2558 3154

8774 -1.51 -146.6 896.1 -8.2 290 8778 0.00 2.67 0.00 0.000 4 0.000 0.086 2160 1162 3154

8841 -1.51 -146.6 902.0 -9.1 291 8845 0.00 2.65 0.00 0.000 6 0.000 0.081 2160 2554 3154

9202 -1.51 -146.6 931.8 -8.3 297 9204 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2554 3154

9504 -1.51 -146.6 955.8 -8.0 302 9509 0.00 2.67 0.00 0.000 4 0.000 0.086 2160 1157 3154

9561 -1.51 -146.6 960.7 -8.2 302 9567 0.00 2.65 0.00 0.000 6 0.000 0.080 2160 2553 3154

9871 -1.51 -146.6 985.0 -7.8 308 9872 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2553 3153

9988 end dive: TARGET_DEPTH_EXCEEDED

state 9989 begin apogee

9997 -0.45 0.0 994.5 7.8 310 10127 1.12 0.00 126.43 1.473 6 0.078 0.000 2397 2023 2564

10128 end apogee: CONTROL_FINISHED_OK

state 10128 begin climb

10132 1.51 146.6 998.5 0.0 312 10269 1.95 2.95 127.88 1.427 4 0.053 0.105 2825 593 1966

10350 1.51 146.6 991.6 9.9 315 10355 0.00 2.67 0.00 0.000 6 0.000 0.066 2825 2007 1966

10683 1.51 146.6 962.9 8.6 321 10684 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2007 1966

10986 1.52 149.5 938.8 7.9 326 10996 0.00 2.88 4.25 0.915 4 0.000 0.100 2825 588 1955

11064 1.52 149.5 932.3 8.4 327 11069 0.00 2.67 0.00 0.000 6 0.000 0.066 2825 2009 1954

11413 1.53 158.5 905.5 7.7 333 11425 0.00 0.00 9.75 1.238 6 0.000 0.000 2825 2010 1917

11716 1.53 158.5 881.1 8.1 338 11720 0.00 2.83 0.00 0.000 4 0.000 0.098 2825 593 1917

11919 1.53 158.5 862.8 10.1 341 11923 0.00 2.65 0.00 0.000 6 0.000 0.065 2825 2009 1917

12279 1.53 158.5 828.4 9.7 347 12280 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2009 1917

12582 1.53 158.5 797.9 10.1 352 12586 0.00 2.80 0.00 0.000 4 0.000 0.097 2825 591 1916

12665 1.53 158.5 788.9 10.5 353 12670 0.00 2.62 0.00 0.000 6 0.000 0.064 2825 2000 1916

13009 1.53 158.5 755.7 9.6 359 13010 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2000 1916

13312 1.53 158.5 729.0 8.7 364 13313 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2001 1916

13616 1.53 162.6 705.2 7.8 369 13626 0.00 2.83 4.88 0.956 4 0.000 0.097 2825 591 1901

13711 1.53 162.6 697.1 8.0 370 13715 0.00 2.62 0.00 0.000 6 0.000 0.064 2825 2000 1901

14043 1.53 162.6 669.8 8.3 376 14044 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2000 1901

14346 1.53 162.6 643.2 8.7 381 14347 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2000 1901

14649 1.53 162.6 616.8 8.7 386 14650 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2002 1901

14952 1.53 162.6 590.5 8.7 391 14953 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2002 1901

15255 1.53 162.6 563.8 8.9 396 15256 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2003 1901

15558 1.53 162.6 537.6 8.6 401 15559 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2004 1901

15861 1.53 162.6 511.7 8.5 406 15866 0.00 2.75 0.00 0.000 4 0.000 0.093 2825 591 1901

15995 1.53 162.6 499.3 9.5 408 16000 0.00 2.58 0.00 0.000 6 0.000 0.058 2825 2001 1901

16356 1.53 162.6 468.4 8.5 414 16357 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2002 1901

16659 1.54 165.7 444.4 7.9 419 16669 0.00 2.75 4.93 0.855 4 0.000 0.083 2825 588 1888

16765 1.54 165.7 435.6 8.0 420 16770 0.00 2.58 0.00 0.000 6 0.000 0.051 2825 2008 1888

17087 1.54 167.8 410.3 7.9 426 17096 0.00 2.70 3.53 0.675 4 0.000 0.083 2825 3406 1879

17241 1.54 167.8 397.4 8.4 428 17245 0.00 2.53 0.00 0.000 6 0.000 0.048 2825 1996 1879

17590 1.55 178.5 370.1 7.6 434 17606 0.00 2.70 10.98 0.995 4 0.000 0.081 2825 594 1836

17696 1.55 178.5 361.5 8.0 435 17700 0.00 2.55 0.00 0.000 6 0.000 0.046 2825 2013 1835

18017 1.57 191.2 337.2 7.5 441 18036 0.00 2.78 11.95 0.982 4 0.000 0.073 2825 597 1783

18122 1.57 191.2 328.4 9.6 442 18126 0.00 2.53 0.00 0.000 6 0.000 0.044 2825 2010 1783

18448 1.57 191.2 301.2 8.4 448 18449 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2010 1784

18757 1.57 191.2 275.8 8.3 461 18758 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2010 1784

19066 1.59 205.7 251.8 7.4 476 19088 0.00 2.75 13.48 0.943 4 0.000 0.073 2825 597 1725

19150 1.59 205.7 244.7 8.2 479 19157 0.00 2.50 0.00 0.000 6 0.000 0.043 2825 2003 1725

19468 1.59 205.7 218.4 8.6 495 19470 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2004 1725

19776 1.59 205.7 191.7 9.1 510 19777 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2004 1725

20086 1.59 206.0 166.1 8.0 525 20090 0.00 2.62 0.00 0.000 4 0.000 0.069 2825 596 1725

20251 1.59 206.0 153.0 8.3 532 20255 0.00 2.47 0.00 0.000 6 0.000 0.042 2825 2005 1725

20578 1.59 207.0 127.4 8.0 560 20583 0.00 2.58 0.00 0.000 4 0.000 0.071 2825 3398 1725

20631 1.61 225.1 123.1 7.3 564 20654 0.12 2.50 17.27 0.867 6 0.075 0.042 2855 1980 1646

20973 1.67 271.3 98.2 6.2 596 21015 0.00 0.00 38.67 0.854 6 0.000 0.000 2855 1980 1457

21341 1.67 271.3 69.9 8.9 640 21346 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 1980 1457

21691 1.67 271.3 38.8 9.1 701 21692 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 1979 1457

22009 1.67 271.3 10.4 8.8 731 22014 0.00 2.65 0.00 0.000 4 0.000 0.066 2855 3408 1457

22104 end climb: SURFACE_DEPTH_REACHED

state 22104 begin surface coast

22116 end surface coast: CONTROL_FINISHED_OK

state 22116 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	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	51	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	2550	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2000	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	450	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	-691657.31	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	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	211026,4720.354,-12715.752,39,1.9,39,18.7	TGT_NAME	SW_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.035,-0.235
_SM_DEPTHo	1.52	KALMAN_X	14366.9,462.7,64.2,-135486.2,-757.4
_SM_ANGLEo	-63.6	KALMAN_Y	20167.3,-338.8,-1023.8,-106622.9,5569.1
GPS2	211539,4720.366,-12715.747,12,2.0,12,18.7	MHEAD_RNG_PITCHd_Wd	152.9,67430,-14.7,-8.000
SPEED_LIMITS	0.132,0.226	D_GRID	1001

FINISH	0.8,1.014945	XPDR_PINGS	0
SM_CCo	22142,91.72,0.769,1,0,932,400.08	_24V_AH	23.1,11.410
SM_GC	1.66,0.00,0.00,91.72,0.000,0.000,0.769,21,2529,932,-11.40,-0.59,400.08	_10V_AH	10.1,5.469
IRIDIUM_FIX	4703.87,-12711.26,040797,151555	DATA_FILE_SIZE	37915,740
TT8_MAMPS	0.026078	CAP_FILE_SIZE	134302,0
HUMID	1812	CFSIZE	260165632,255438848
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	16.90	GPS	100408,032837,4718.006,-12715.090,34,1.8,34,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	151	96.12	SBE_CT	527	24	292.64
Roll_motor	135	105	327.75	SBE_O2	577	19	253.40
VBD_pump_during_apogee	373	1473	12728.50	WL_BB2F	820	105	1990.83
VBD_pump_during_surface	91	769	1630.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.39	nil	0	0	0.00
Iridium_during_connect	27	160	100.66	nil	0	0	0.00
Iridium_during_xfer	127	223	657.35
Transponder_ping	8	420	84.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.12
TT8	1493	19	298.60
LPSleep	17817	2	394.10
TT8_Active	614	19	122.85
TT8_Sampling	2043	39	821.27
TT8_CF8	593	45	274.57
TT8_Kalman	33	81	27.56
Analog_circuits	1612	12	195.47
GPS_charging	0	0	0.00
Compass	2001	8	161.76
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
29	-1.51	-146.6	0.0	0.0	0	98	0.00	0.00	-67.60	0.000	2	0.000	0.000	34	2554	2270
103	-1.51	-146.6	3.6	-4.9	7	147	11.68	2.05	-26.60	0.000	4	0.152	0.096	2159	3631	3161
367	-1.51	-146.6	44.8	-16.0	33	374	0.00	1.95	0.00	0.000	6	0.000	0.044	2160	2532	3161
707	-1.51	-146.6	96.3	-14.9	84	708	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2532	3161
1025	-1.51	-146.6	140.0	-13.0	114	1027	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2532	3161
1337	-1.51	-146.6	178.0	-11.5	133	1341	0.00	2.08	0.00	0.000	4	0.000	0.080	2160	3630	3161
1377	-1.51	-146.6	182.9	-12.3	134	1383	0.00	1.90	0.00	0.000	6	0.000	0.048	2160	2556	3161
1693	-1.51	-146.6	217.7	-11.2	150	1694	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2556	3161
2003	-1.51	-146.6	252.5	-11.3	165	2007	0.00	2.50	0.00	0.000	4	0.000	0.057	2160	1160	3160
2053	-1.51	-146.6	258.2	-11.2	167	2057	0.00	2.47	0.00	0.000	6	0.000	0.047	2160	2552	3160
2369	-1.51	-146.6	291.3	-10.7	182	2373	0.00	2.53	0.00	0.000	4	0.000	0.055	2160	1152	3160
2426	-1.51	-146.6	297.7	-11.0	184	2432	0.00	2.50	0.00	0.000	6	0.000	0.048	2160	2555	3160
2756	-1.51	-146.6	333.2	-10.7	191	2757	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2555	3160
3059	-1.51	-146.6	364.5	-10.3	196	3060	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2555	3161
3362	-1.51	-146.6	396.1	-10.4	201	3367	0.00	2.58	0.00	0.000	4	0.000	0.067	2160	1160	3160
3441	-1.51	-146.6	404.5	-10.6	202	3446	0.00	2.55	0.00	0.000	6	0.000	0.061	2160	2553	3160
3790	-1.51	-146.6	441.0	-10.5	208	3791	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2553	3160
4094	-1.51	-146.6	472.8	-10.5	213	4095	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2553	3160
4397	-1.51	-146.6	504.1	-10.3	218	4401	0.00	2.72	0.00	0.000	4	0.000	0.095	2160	1157	3159
4470	-1.51	-146.6	511.5	-9.6	219	4474	0.00	2.67	0.00	0.000	6	0.000	0.088	2160	2544	3159
4824	-1.51	-146.6	546.0	-9.8	225	4825	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2544	3158
5128	-1.51	-146.6	576.0	-9.9	230	5129	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2543	3158
5431	-1.51	-146.6	605.4	-9.7	235	5436	0.00	2.67	0.00	0.000	4	0.000	0.090	2160	1159	3157
5520	-1.51	-146.6	614.1	-9.3	236	5525	0.00	2.67	0.00	0.000	6	0.000	0.084	2160	2555	3157
5858	-1.51	-146.6	644.9	-9.2	242	5859	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2555	3157
6161	-1.51	-146.6	672.3	-9.0	247	6162	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2556	3156
6464	-1.51	-146.6	699.9	-9.1	252	6472	0.00	2.65	0.00	0.000	4	0.000	0.087	2160	1167	3156
6513	-1.51	-146.6	704.4	-9.9	252	6517	0.00	2.65	0.00	0.000	6	0.000	0.081	2160	2558	3155
6835	-1.51	-146.6	733.6	-9.0	258	6836	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2558	3155
7137	-1.51	-146.6	760.1	-8.7	263	7141	0.00	2.67	0.00	0.000	4	0.000	0.087	2160	1164	3155
7175	-1.51	-146.6	763.6	-8.9	263	7180	0.00	2.65	0.00	0.000	6	0.000	0.080	2160	2559	3155
7497	-1.51	-146.6	790.3	-8.3	269	7498	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2559	3155
7801	-1.51	-146.6	815.8	-8.4	274	7802	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2558	3155
8103	-1.51	-146.6	841.3	-8.4	279	8104	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2559	3154
8407	-1.51	-146.6	866.2	-8.2	284	8412	0.00	2.67	0.00	0.000	4	0.000	0.086	2160	1163	3154
8464	-1.51	-146.6	870.9	-7.9	284	8470	0.00	2.65	0.00	0.000	6	0.000	0.080	2160	2558	3154
8774	-1.51	-146.6	896.1	-8.2	290	8778	0.00	2.67	0.00	0.000	4	0.000	0.086	2160	1162	3154
8841	-1.51	-146.6	902.0	-9.1	291	8845	0.00	2.65	0.00	0.000	6	0.000	0.081	2160	2554	3154
9202	-1.51	-146.6	931.8	-8.3	297	9204	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2554	3154
9504	-1.51	-146.6	955.8	-8.0	302	9509	0.00	2.67	0.00	0.000	4	0.000	0.086	2160	1157	3154
9561	-1.51	-146.6	960.7	-8.2	302	9567	0.00	2.65	0.00	0.000	6	0.000	0.080	2160	2553	3154
9871	-1.51	-146.6	985.0	-7.8	308	9872	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2553	3153
9988	end dive: TARGET_DEPTH_EXCEEDED
state	9989	begin apogee
9997	-0.45	0.0	994.5	7.8	310	10127	1.12	0.00	126.43	1.473	6	0.078	0.000	2397	2023	2564
10128	end apogee: CONTROL_FINISHED_OK
state	10128	begin climb
10132	1.51	146.6	998.5	0.0	312	10269	1.95	2.95	127.88	1.427	4	0.053	0.105	2825	593	1966
10350	1.51	146.6	991.6	9.9	315	10355	0.00	2.67	0.00	0.000	6	0.000	0.066	2825	2007	1966
10683	1.51	146.6	962.9	8.6	321	10684	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2007	1966
10986	1.52	149.5	938.8	7.9	326	10996	0.00	2.88	4.25	0.915	4	0.000	0.100	2825	588	1955
11064	1.52	149.5	932.3	8.4	327	11069	0.00	2.67	0.00	0.000	6	0.000	0.066	2825	2009	1954
11413	1.53	158.5	905.5	7.7	333	11425	0.00	0.00	9.75	1.238	6	0.000	0.000	2825	2010	1917
11716	1.53	158.5	881.1	8.1	338	11720	0.00	2.83	0.00	0.000	4	0.000	0.098	2825	593	1917
11919	1.53	158.5	862.8	10.1	341	11923	0.00	2.65	0.00	0.000	6	0.000	0.065	2825	2009	1917
12279	1.53	158.5	828.4	9.7	347	12280	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2009	1917
12582	1.53	158.5	797.9	10.1	352	12586	0.00	2.80	0.00	0.000	4	0.000	0.097	2825	591	1916
12665	1.53	158.5	788.9	10.5	353	12670	0.00	2.62	0.00	0.000	6	0.000	0.064	2825	2000	1916
13009	1.53	158.5	755.7	9.6	359	13010	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2000	1916
13312	1.53	158.5	729.0	8.7	364	13313	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2001	1916
13616	1.53	162.6	705.2	7.8	369	13626	0.00	2.83	4.88	0.956	4	0.000	0.097	2825	591	1901
13711	1.53	162.6	697.1	8.0	370	13715	0.00	2.62	0.00	0.000	6	0.000	0.064	2825	2000	1901
14043	1.53	162.6	669.8	8.3	376	14044	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2000	1901
14346	1.53	162.6	643.2	8.7	381	14347	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2000	1901
14649	1.53	162.6	616.8	8.7	386	14650	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2002	1901
14952	1.53	162.6	590.5	8.7	391	14953	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2002	1901
15255	1.53	162.6	563.8	8.9	396	15256	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2003	1901
15558	1.53	162.6	537.6	8.6	401	15559	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2004	1901
15861	1.53	162.6	511.7	8.5	406	15866	0.00	2.75	0.00	0.000	4	0.000	0.093	2825	591	1901
15995	1.53	162.6	499.3	9.5	408	16000	0.00	2.58	0.00	0.000	6	0.000	0.058	2825	2001	1901
16356	1.53	162.6	468.4	8.5	414	16357	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2002	1901
16659	1.54	165.7	444.4	7.9	419	16669	0.00	2.75	4.93	0.855	4	0.000	0.083	2825	588	1888
16765	1.54	165.7	435.6	8.0	420	16770	0.00	2.58	0.00	0.000	6	0.000	0.051	2825	2008	1888
17087	1.54	167.8	410.3	7.9	426	17096	0.00	2.70	3.53	0.675	4	0.000	0.083	2825	3406	1879
17241	1.54	167.8	397.4	8.4	428	17245	0.00	2.53	0.00	0.000	6	0.000	0.048	2825	1996	1879
17590	1.55	178.5	370.1	7.6	434	17606	0.00	2.70	10.98	0.995	4	0.000	0.081	2825	594	1836
17696	1.55	178.5	361.5	8.0	435	17700	0.00	2.55	0.00	0.000	6	0.000	0.046	2825	2013	1835
18017	1.57	191.2	337.2	7.5	441	18036	0.00	2.78	11.95	0.982	4	0.000	0.073	2825	597	1783
18122	1.57	191.2	328.4	9.6	442	18126	0.00	2.53	0.00	0.000	6	0.000	0.044	2825	2010	1783
18448	1.57	191.2	301.2	8.4	448	18449	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2010	1784
18757	1.57	191.2	275.8	8.3	461	18758	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2010	1784
19066	1.59	205.7	251.8	7.4	476	19088	0.00	2.75	13.48	0.943	4	0.000	0.073	2825	597	1725
19150	1.59	205.7	244.7	8.2	479	19157	0.00	2.50	0.00	0.000	6	0.000	0.043	2825	2003	1725
19468	1.59	205.7	218.4	8.6	495	19470	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2004	1725
19776	1.59	205.7	191.7	9.1	510	19777	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2004	1725
20086	1.59	206.0	166.1	8.0	525	20090	0.00	2.62	0.00	0.000	4	0.000	0.069	2825	596	1725
20251	1.59	206.0	153.0	8.3	532	20255	0.00	2.47	0.00	0.000	6	0.000	0.042	2825	2005	1725
20578	1.59	207.0	127.4	8.0	560	20583	0.00	2.58	0.00	0.000	4	0.000	0.071	2825	3398	1725
20631	1.61	225.1	123.1	7.3	564	20654	0.12	2.50	17.27	0.867	6	0.075	0.042	2855	1980	1646
20973	1.67	271.3	98.2	6.2	596	21015	0.00	0.00	38.67	0.854	6	0.000	0.000	2855	1980	1457
21341	1.67	271.3	69.9	8.9	640	21346	0.00	0.00	0.00	0.000	6	0.000	0.000	2855	1980	1457
21691	1.67	271.3	38.8	9.1	701	21692	0.00	0.00	0.00	0.000	6	0.000	0.000	2855	1979	1457
22009	1.67	271.3	10.4	8.8	731	22014	0.00	2.65	0.00	0.000	4	0.000	0.066	2855	3408	1457
22104	end climb: SURFACE_DEPTH_REACHED
state	22104	begin surface coast
22116	end surface coast: CONTROL_FINISHED_OK
state	22116	begin surface