Glider dive log

OcnStnPapa Aug08 * SG120 * Dive index * Mission links * Dive 543 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 120 HD_C 8.0300997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 543 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 7 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3861 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 47.599998 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1090 TGT_DEFAULT_LON -122.3 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 275 HEAD_ERRBAND 10 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 16 INT_PRESSURE_YINT -2.4000001

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 21 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 660 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 675 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 395 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3895 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2876 DEVICE6 -1

T_NO_W 300 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -29384.59 VBD_PUMP_AD_RATE_APOGEE 3 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 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 150 AH0_24V 147 SEABIRD_T_G 0.0043782545

SPEED_FACTOR 1 PITCH_MAX 3950 AH0_10V 122.2 SEABIRD_T_H 0.00063376746

RHO 1.023 C_PITCH 3317 PRESSURE_YINT -16.122175 SEABIRD_T_I 2.0789576e-05

MASS 51365 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 1.6847914e-06

NAV_MODE 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.138739

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1328104

KALMAN_USE 1 PITCH_GAIN 23 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00035406757

HD_A 0.0054608998 PITCH_TIMEOUT 19 COMPASS_USE 0 SEABIRD_C_J 0.00012259149

HD_B 0.011315 PITCH_AD_RATE 156 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 156 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.003125763 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 23 SM_CC 275

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3950 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 7 PITCH_MIN 150 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -16.122175 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 660

CALL_TRIES 5 HD_A 0.0054608998 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.011315 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 8.0300997e-06 RHO 1.023 T_GPS_CHARGE -29384.59

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 675

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 120 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3861 T_WATCHDOG 10

C_PITCH 3317 INT_PRESSURE_YINT -2.4000001 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 176 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2400 KERMIT 0 ROLL_TIMEOUT 16 USE_BATHY -1

C_VBD 2876 MASS 51365 R_PORT_OVSHOOT 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -10.138739 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1328104 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00035406757 VBD_MAX 3895

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00012259149 VBD_MAXERRORS 1

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043782545 VBD_MIN 395

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063376746 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.0789576e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 543 PHONE_DEVICE 48 SEABIRD_T_J 1.6847914e-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 103637,5006.401,-14450.204,39,1.3,39,18.5 TGT_NAME C_NW

_CALLS 3 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.007,0.087

_SM_DEPTHo 3.09 KALMAN_X -50589.0,127.3,-22.4,79321.7,-1078.7

_SM_ANGLEo -71.2 KALMAN_Y 112959.6,-60.3,195.2,-107589.6,-1495.9

GPS2 105138,5006.450,-14450.231,15,1.5,15,18.5 MHEAD_RNG_PITCHd_Wd 346.4,2113,-27.3,-5.000

SPEED_LIMITS 0.087,0.178 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.8,1.013200 XPDR_PINGS 895

SM_CCo 22569,67.60,0.836,0,0,1753,275.23 _24V_AH 22.4,106.267

SM_GC 3.78,0.00,0.00,67.60,0.000,0.000,0.836,144,2410,1753,-9.91,0.28,275.23 _10V_AH 10.4,73.174

IRIDIUM_FIX 4946.36,-14451.14,150698,101039 DATA_FILE_SIZE 34877,604

TT8_MAMPS 0.026845 CAP_FILE_SIZE 160258,0

HUMID 2086 CFSIZE 260165632,216559616

INTERNAL_PRESSURE 9.01645 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.50 GPS 210309,171207,5008.498,-14449.787,94,0.9,94,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 280 188.49 SBE_CT 462 24 248.40

Roll_motor 172 82 319.24 SBE_O2 441 19 188.05

VBD_pump_during_apogee 213 1481 7089.74 WL_BB2F 1026 105 2414.92

VBD_pump_during_surface 67 836 1265.95 Optode 620 33 458.63

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 94 103 219.13 nil 0 0 0.00

Iridium_during_connect 100 160 360.07 nil 0 0 0.00

Iridium_during_xfer 403 223 2017.07

Transponder_ping 223 420 2105.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.01

TT8 1460 19 300.78

LPSleep 18152 2 413.45

TT8_Active 415 19 85.62

TT8_Sampling 2411 39 998.22

TT8_CF8 1086 45 517.70

TT8_Kalman 33 81 28.39

Analog_circuits 1562 12 195.04

GPS_charging 0 0 0.00

Compass 2368 8 197.08

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

24 end surface: CONTROL_FINISHED_OK

state 25 begin dive

28 -1.22 -25.5 0.0 0.0 0 50 0.00 0.00 -20.30 0.000 2 0.000 0.000 133 2414 2239

54 -1.23 -36.7 3.3 -3.5 2 102 13.02 2.45 -28.83 0.000 4 0.281 0.082 2913 987 3027

200 -1.07 -36.7 20.6 -16.5 14 207 0.28 2.35 0.00 0.000 6 0.209 0.065 2971 2409 3029

529 -1.07 -36.7 73.8 -14.7 45 533 0.00 2.40 0.00 0.000 4 0.000 0.068 2971 991 3029

579 -1.07 -36.7 82.3 -16.1 48 583 0.00 2.35 0.00 0.000 6 0.000 0.064 2963 2405 3029

896 -1.07 -36.7 133.9 -15.8 63 900 0.00 2.38 0.00 0.000 4 0.000 0.081 2963 3809 3029

1027 -1.11 -36.7 152.8 -13.9 69 1031 0.00 2.28 0.00 0.000 6 0.000 0.055 2963 2386 3029

1369 -1.19 -36.7 193.3 -11.9 80 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2386 3030

1675 -1.27 -36.7 229.4 -11.6 90 1677 0.17 0.00 0.00 0.000 6 0.077 0.000 2894 2387 3030

1981 -1.18 -36.7 273.7 -14.8 100 1983 0.17 0.00 0.00 0.000 6 0.196 0.000 2935 2386 3030

2316 -1.18 -36.7 317.2 -13.0 109 2320 0.00 2.38 0.00 0.000 4 0.000 0.070 2934 984 3030

2343 -1.18 -36.7 321.0 -13.3 109 2348 0.00 2.35 0.00 0.000 6 0.000 0.064 2929 2401 3030

2677 -1.18 -36.7 363.6 -12.9 115 2681 0.00 2.40 0.00 0.000 4 0.000 0.068 2930 983 3030

2727 -1.18 -36.7 370.5 -12.7 115 2731 0.00 2.35 0.00 0.000 6 0.000 0.063 2921 2400 3030

3037 -1.18 -36.7 412.2 -13.6 120 3041 0.00 2.38 0.00 0.000 4 0.000 0.069 2921 994 3030

3066 -1.18 -36.7 416.4 -14.6 120 3070 0.00 2.33 0.00 0.000 6 0.000 0.064 2921 2399 3030

3404 -1.18 -36.7 460.8 -13.2 126 3409 0.00 2.38 0.00 0.000 4 0.000 0.070 2921 995 3030

3455 -1.18 -36.7 467.5 -12.6 126 3459 0.00 2.35 0.00 0.000 6 0.000 0.065 2921 2402 3030

3765 -1.18 -36.7 505.9 -12.5 131 3769 0.00 2.40 0.00 0.000 4 0.000 0.081 2921 3818 3029

3849 -1.18 -36.7 516.0 -11.5 132 3854 0.00 2.28 0.00 0.000 6 0.000 0.056 2921 2402 3029

4193 -1.18 -36.7 554.6 -11.2 138 4197 0.00 2.42 0.00 0.000 4 0.000 0.082 2921 3816 3029

4227 -1.18 -36.7 558.7 -12.3 138 4231 0.00 2.28 0.00 0.000 6 0.000 0.057 2921 2399 3029

4554 -1.18 -36.7 596.2 -11.5 144 4555 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2399 3029

4856 -1.18 -36.7 630.3 -11.2 149 4861 0.00 2.42 0.00 0.000 4 0.000 0.082 2921 3809 3029

4901 -1.18 -36.7 635.6 -11.8 149 4906 0.00 2.28 0.00 0.000 6 0.000 0.057 2920 2394 3029

5217 -1.18 -36.7 670.3 -11.0 155 5221 0.00 2.35 0.00 0.000 4 0.000 0.072 2921 990 3029

5257 -1.18 -36.7 674.8 -10.5 155 5261 0.00 2.38 0.00 0.000 6 0.000 0.065 2921 2412 3028

5578 -1.18 -36.7 709.3 -10.8 161 5579 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2411 3028

5881 -1.18 -36.7 741.3 -10.6 166 5885 0.00 2.42 0.00 0.000 4 0.000 0.071 2921 986 3028

5917 -1.18 -36.7 745.1 -10.6 166 5921 0.00 2.38 0.00 0.000 6 0.000 0.066 2921 2400 3028

6245 -1.18 -36.7 779.2 -10.4 172 6246 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2400 3028

6547 -1.22 -36.7 812.8 -11.1 177 6548 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2400 3028

6850 -1.26 -36.7 846.9 -11.3 182 6851 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2400 3028

7154 -1.31 -36.7 880.9 -11.2 187 7155 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2400 3028

7457 -1.36 -36.7 914.1 -10.9 192 7462 0.12 2.45 0.00 0.000 4 0.091 0.083 2868 3812 3027

7541 -1.22 -36.7 925.3 -13.7 193 7546 0.22 2.30 0.00 0.000 6 0.205 0.059 2920 2397 3027

7885 -1.27 -36.7 963.3 -10.9 199 7887 0.00 0.00 0.00 0.000 6 0.000 0.000 2920 2397 3027

8185 end dive: TARGET_DEPTH_EXCEEDED

state 8185 begin apogee

8194 -0.22 0.0 996.1 10.8 204 8232 1.17 0.00 35.15 1.481 6 0.179 0.000 3238 2200 2876

8233 end apogee: CONTROL_FINISHED_OK

state 8233 begin climb

8236 1.23 36.7 996.1 0.0 204 8278 1.40 2.50 34.88 1.443 4 0.093 0.076 3723 784 2725

8379 1.07 113.4 1001.2 -5.1 206 8456 0.25 2.35 70.38 1.460 6 0.229 0.062 3666 2206 2413

8795 1.00 113.4 968.4 10.7 213 8799 0.00 2.35 0.00 0.000 4 0.000 0.080 3666 3613 2411

8881 0.85 113.4 958.2 12.5 214 8886 0.30 2.33 0.00 0.000 6 0.218 0.065 3596 2195 2411

9226 0.96 113.4 926.3 9.2 220 9227 0.00 0.00 0.00 0.000 6 0.000 0.000 3596 2196 2410

9528 1.07 113.4 898.5 9.1 225 9530 0.20 0.00 0.00 0.000 6 0.084 0.000 3668 2195 2410

9831 1.01 113.4 866.6 10.5 230 9835 0.00 2.40 0.00 0.000 4 0.000 0.081 3670 789 2410

9934 0.94 113.4 855.6 11.2 231 9938 0.20 2.33 0.00 0.000 6 0.214 0.062 3624 2211 2409

10261 0.99 113.4 825.6 9.0 237 10262 0.00 0.00 0.00 0.000 6 0.000 0.000 3624 2210 2409

10564 1.04 113.4 799.9 8.4 242 10568 0.00 2.45 0.00 0.000 4 0.000 0.077 3633 785 2409

10699 1.04 113.4 788.3 8.6 244 10703 0.00 2.33 0.00 0.000 6 0.000 0.062 3633 2198 2409

11060 1.04 113.4 758.0 8.5 250 11064 0.00 2.45 0.00 0.000 4 0.000 0.077 3641 783 2409

11178 1.04 113.4 747.9 8.4 251 11182 0.00 2.35 0.00 0.000 6 0.000 0.064 3641 2206 2409

11489 1.04 113.4 722.5 8.1 256 11493 0.00 2.45 0.00 0.000 4 0.000 0.077 3648 778 2409

11665 1.04 113.4 707.7 7.9 258 11669 0.00 2.35 0.00 0.000 6 0.000 0.062 3646 2207 2409

11986 1.04 113.4 682.7 7.8 264 11988 0.00 0.00 0.00 0.000 6 0.000 0.000 3646 2207 2409

12289 1.04 113.4 659.5 7.6 269 12293 0.00 2.45 0.00 0.000 4 0.000 0.077 3654 780 2409

12479 1.04 113.4 642.7 9.1 271 12485 0.00 2.35 0.00 0.000 6 0.000 0.064 3654 2206 2408

12790 1.04 113.4 616.3 8.4 277 12794 0.00 2.38 0.00 0.000 4 0.000 0.081 3654 3618 2409

12835 0.92 113.4 612.2 9.0 277 12840 0.17 2.35 0.00 0.000 6 0.224 0.066 3616 2189 2409

13151 1.01 113.4 587.8 7.7 283 13152 0.00 0.00 0.00 0.000 6 0.000 0.000 3616 2190 2408

13454 1.09 113.4 563.2 8.2 288 13459 0.15 2.38 0.00 0.000 4 0.087 0.076 3683 777 2409

13522 1.01 113.4 556.6 9.9 289 13527 0.17 2.35 0.00 0.000 6 0.205 0.062 3642 2202 2409

13883 1.01 113.4 525.6 8.5 295 13887 0.00 2.38 0.00 0.000 4 0.000 0.079 3643 3619 2409

14066 0.93 113.4 509.9 8.4 297 14071 0.15 2.33 0.00 0.000 6 0.208 0.062 3619 2188 2409

14382 1.02 113.4 487.7 6.9 303 14383 0.00 0.00 0.00 0.000 6 0.000 0.000 3618 2189 2408

14686 1.10 113.4 467.3 6.7 308 14687 0.15 0.00 0.00 0.000 6 0.087 0.000 3674 2189 2408

14988 1.05 113.4 444.1 7.7 313 14992 0.00 2.42 0.00 0.000 4 0.000 0.077 3685 794 2409

15218 0.98 113.4 426.0 7.7 316 15223 0.20 2.35 0.00 0.000 6 0.201 0.064 3637 2213 2408

15551 0.98 113.4 403.2 6.8 322 15555 0.00 2.35 0.00 0.000 4 0.000 0.077 3632 3611 2409

15781 0.98 113.4 386.0 7.8 325 15785 0.00 2.33 0.00 0.000 6 0.000 0.061 3641 2199 2408

16119 0.98 113.4 362.6 7.0 331 16120 0.00 0.00 0.00 0.000 6 0.000 0.000 3641 2199 2408

16422 0.98 113.4 343.1 6.3 336 16426 0.00 2.45 0.00 0.000 4 0.000 0.078 3642 783 2409

16679 0.98 113.4 327.1 5.4 339 16685 0.00 2.35 0.00 0.000 6 0.000 0.062 3642 2213 2408

16989 0.98 113.4 309.5 5.7 345 16994 0.00 2.47 0.00 0.000 4 0.000 0.075 3653 785 2409

17120 0.98 113.4 301.9 5.3 347 17124 0.00 2.35 0.00 0.000 6 0.000 0.062 3653 2210 2409

17465 0.98 113.4 283.4 5.3 357 17469 0.00 2.38 0.00 0.000 4 0.000 0.079 3652 3615 2409

17561 0.89 113.4 277.8 6.5 359 17569 0.20 2.35 0.00 0.000 6 0.216 0.064 3609 2191 2409

17875 1.03 121.9 264.7 3.9 370 17890 0.12 2.50 8.07 0.928 4 0.094 0.077 3655 3606 2379

17943 0.95 121.9 260.9 5.8 372 17948 0.17 2.35 0.00 0.000 6 0.215 0.061 3627 2191 2378

18279 1.04 121.9 243.0 5.4 383 18283 0.00 2.42 0.00 0.000 4 0.000 0.075 3636 787 2379

18537 1.12 121.9 228.7 5.6 390 18544 0.12 2.33 0.00 0.000 6 0.090 0.061 3677 2207 2378

18851 1.12 121.9 210.7 5.5 401 18855 0.00 2.47 0.00 0.000 4 0.000 0.075 3687 782 2378

19055 1.06 121.9 199.6 5.9 407 19059 0.00 2.35 0.00 0.000 6 0.000 0.062 3687 2204 2379

19398 1.01 123.2 182.6 4.8 418 19400 0.17 0.00 0.00 0.000 6 0.206 0.000 3644 2204 2378

19703 1.07 123.2 166.8 5.2 428 19707 0.00 2.42 0.00 0.000 4 0.000 0.077 3644 3614 2379

19961 1.07 125.9 152.0 4.7 435 19973 0.00 2.38 5.38 0.775 6 0.000 0.060 3653 2191 2362

20283 1.13 139.1 140.3 3.3 450 20304 0.00 2.53 12.43 0.909 4 0.000 0.077 3653 3611 2308

20557 1.14 145.1 129.0 4.2 462 20573 0.00 2.38 6.60 0.811 6 0.000 0.063 3654 2202 2284

20884 1.29 184.2 122.1 -0.1 478 20927 0.20 2.53 33.25 0.920 4 0.077 0.077 3736 787 2124

21181 1.23 184.2 103.2 9.8 491 21185 0.00 2.33 0.00 0.000 6 0.000 0.061 3736 2210 2121

21506 1.18 184.2 74.8 8.1 510 21510 0.15 2.45 0.00 0.000 4 0.219 0.071 3706 787 2121

21763 1.18 184.2 55.4 9.3 532 21769 0.00 2.30 0.00 0.000 6 0.000 0.060 3706 2206 2121

22094 1.19 192.2 38.5 3.9 563 22106 0.00 2.53 7.57 0.788 4 0.000 0.075 3711 781 2092

22360 1.19 192.2 18.5 10.9 586 22367 0.00 2.30 0.00 0.000 6 0.000 0.061 3711 2198 2091

22481 end climb: SURFACE_DEPTH_REACHED

state 22481 begin surface coast

22546 end surface coast: CONTROL_FINISHED_OK

state 22546 begin surface

ID	120	HD_C	8.0300997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	543	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	7	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3861	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	47.599998	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1090	TGT_DEFAULT_LON	-122.3	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	275	HEAD_ERRBAND	10	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	16	INT_PRESSURE_YINT	-2.4000001
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	21	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	660	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	675	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	395	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3895	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2876	DEVICE6	-1
T_NO_W	300	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-29384.59	VBD_PUMP_AD_RATE_APOGEE	3	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	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	150	AH0_24V	147	SEABIRD_T_G	0.0043782545
SPEED_FACTOR	1	PITCH_MAX	3950	AH0_10V	122.2	SEABIRD_T_H	0.00063376746
RHO	1.023	C_PITCH	3317	PRESSURE_YINT	-16.122175	SEABIRD_T_I	2.0789576e-05
MASS	51365	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	1.6847914e-06
NAV_MODE	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.138739
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1328104
KALMAN_USE	1	PITCH_GAIN	23	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00035406757
HD_A	0.0054608998	PITCH_TIMEOUT	19	COMPASS_USE	0	SEABIRD_C_J	0.00012259149
HD_B	0.011315	PITCH_AD_RATE	156	ALTIM_BOTTOM_PING_RANGE	0

GPS1	103637,5006.401,-14450.204,39,1.3,39,18.5	TGT_NAME	C_NW
_CALLS	3	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.007,0.087
_SM_DEPTHo	3.09	KALMAN_X	-50589.0,127.3,-22.4,79321.7,-1078.7
_SM_ANGLEo	-71.2	KALMAN_Y	112959.6,-60.3,195.2,-107589.6,-1495.9
GPS2	105138,5006.450,-14450.231,15,1.5,15,18.5	MHEAD_RNG_PITCHd_Wd	346.4,2113,-27.3,-5.000
SPEED_LIMITS	0.087,0.178	D_GRID	1001

FINISH	1.8,1.013200	XPDR_PINGS	895
SM_CCo	22569,67.60,0.836,0,0,1753,275.23	_24V_AH	22.4,106.267
SM_GC	3.78,0.00,0.00,67.60,0.000,0.000,0.836,144,2410,1753,-9.91,0.28,275.23	_10V_AH	10.4,73.174
IRIDIUM_FIX	4946.36,-14451.14,150698,101039	DATA_FILE_SIZE	34877,604
TT8_MAMPS	0.026845	CAP_FILE_SIZE	160258,0
HUMID	2086	CFSIZE	260165632,216559616
INTERNAL_PRESSURE	9.01645	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.50	GPS	210309,171207,5008.498,-14449.787,94,0.9,94,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	280	188.49	SBE_CT	462	24	248.40
Roll_motor	172	82	319.24	SBE_O2	441	19	188.05
VBD_pump_during_apogee	213	1481	7089.74	WL_BB2F	1026	105	2414.92
VBD_pump_during_surface	67	836	1265.95	Optode	620	33	458.63
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	94	103	219.13	nil	0	0	0.00
Iridium_during_connect	100	160	360.07	nil	0	0	0.00
Iridium_during_xfer	403	223	2017.07
Transponder_ping	223	420	2105.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.01
TT8	1460	19	300.78
LPSleep	18152	2	413.45
TT8_Active	415	19	85.62
TT8_Sampling	2411	39	998.22
TT8_CF8	1086	45	517.70
TT8_Kalman	33	81	28.39
Analog_circuits	1562	12	195.04
GPS_charging	0	0	0.00
Compass	2368	8	197.08
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
24	end surface: CONTROL_FINISHED_OK
state	25	begin dive
28	-1.22	-25.5	0.0	0.0	0	50	0.00	0.00	-20.30	0.000	2	0.000	0.000	133	2414	2239
54	-1.23	-36.7	3.3	-3.5	2	102	13.02	2.45	-28.83	0.000	4	0.281	0.082	2913	987	3027
200	-1.07	-36.7	20.6	-16.5	14	207	0.28	2.35	0.00	0.000	6	0.209	0.065	2971	2409	3029
529	-1.07	-36.7	73.8	-14.7	45	533	0.00	2.40	0.00	0.000	4	0.000	0.068	2971	991	3029
579	-1.07	-36.7	82.3	-16.1	48	583	0.00	2.35	0.00	0.000	6	0.000	0.064	2963	2405	3029
896	-1.07	-36.7	133.9	-15.8	63	900	0.00	2.38	0.00	0.000	4	0.000	0.081	2963	3809	3029
1027	-1.11	-36.7	152.8	-13.9	69	1031	0.00	2.28	0.00	0.000	6	0.000	0.055	2963	2386	3029
1369	-1.19	-36.7	193.3	-11.9	80	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2386	3030
1675	-1.27	-36.7	229.4	-11.6	90	1677	0.17	0.00	0.00	0.000	6	0.077	0.000	2894	2387	3030
1981	-1.18	-36.7	273.7	-14.8	100	1983	0.17	0.00	0.00	0.000	6	0.196	0.000	2935	2386	3030
2316	-1.18	-36.7	317.2	-13.0	109	2320	0.00	2.38	0.00	0.000	4	0.000	0.070	2934	984	3030
2343	-1.18	-36.7	321.0	-13.3	109	2348	0.00	2.35	0.00	0.000	6	0.000	0.064	2929	2401	3030
2677	-1.18	-36.7	363.6	-12.9	115	2681	0.00	2.40	0.00	0.000	4	0.000	0.068	2930	983	3030
2727	-1.18	-36.7	370.5	-12.7	115	2731	0.00	2.35	0.00	0.000	6	0.000	0.063	2921	2400	3030
3037	-1.18	-36.7	412.2	-13.6	120	3041	0.00	2.38	0.00	0.000	4	0.000	0.069	2921	994	3030
3066	-1.18	-36.7	416.4	-14.6	120	3070	0.00	2.33	0.00	0.000	6	0.000	0.064	2921	2399	3030
3404	-1.18	-36.7	460.8	-13.2	126	3409	0.00	2.38	0.00	0.000	4	0.000	0.070	2921	995	3030
3455	-1.18	-36.7	467.5	-12.6	126	3459	0.00	2.35	0.00	0.000	6	0.000	0.065	2921	2402	3030
3765	-1.18	-36.7	505.9	-12.5	131	3769	0.00	2.40	0.00	0.000	4	0.000	0.081	2921	3818	3029
3849	-1.18	-36.7	516.0	-11.5	132	3854	0.00	2.28	0.00	0.000	6	0.000	0.056	2921	2402	3029
4193	-1.18	-36.7	554.6	-11.2	138	4197	0.00	2.42	0.00	0.000	4	0.000	0.082	2921	3816	3029
4227	-1.18	-36.7	558.7	-12.3	138	4231	0.00	2.28	0.00	0.000	6	0.000	0.057	2921	2399	3029
4554	-1.18	-36.7	596.2	-11.5	144	4555	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2399	3029
4856	-1.18	-36.7	630.3	-11.2	149	4861	0.00	2.42	0.00	0.000	4	0.000	0.082	2921	3809	3029
4901	-1.18	-36.7	635.6	-11.8	149	4906	0.00	2.28	0.00	0.000	6	0.000	0.057	2920	2394	3029
5217	-1.18	-36.7	670.3	-11.0	155	5221	0.00	2.35	0.00	0.000	4	0.000	0.072	2921	990	3029
5257	-1.18	-36.7	674.8	-10.5	155	5261	0.00	2.38	0.00	0.000	6	0.000	0.065	2921	2412	3028
5578	-1.18	-36.7	709.3	-10.8	161	5579	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2411	3028
5881	-1.18	-36.7	741.3	-10.6	166	5885	0.00	2.42	0.00	0.000	4	0.000	0.071	2921	986	3028
5917	-1.18	-36.7	745.1	-10.6	166	5921	0.00	2.38	0.00	0.000	6	0.000	0.066	2921	2400	3028
6245	-1.18	-36.7	779.2	-10.4	172	6246	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2400	3028
6547	-1.22	-36.7	812.8	-11.1	177	6548	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2400	3028
6850	-1.26	-36.7	846.9	-11.3	182	6851	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2400	3028
7154	-1.31	-36.7	880.9	-11.2	187	7155	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2400	3028
7457	-1.36	-36.7	914.1	-10.9	192	7462	0.12	2.45	0.00	0.000	4	0.091	0.083	2868	3812	3027
7541	-1.22	-36.7	925.3	-13.7	193	7546	0.22	2.30	0.00	0.000	6	0.205	0.059	2920	2397	3027
7885	-1.27	-36.7	963.3	-10.9	199	7887	0.00	0.00	0.00	0.000	6	0.000	0.000	2920	2397	3027
8185	end dive: TARGET_DEPTH_EXCEEDED
state	8185	begin apogee
8194	-0.22	0.0	996.1	10.8	204	8232	1.17	0.00	35.15	1.481	6	0.179	0.000	3238	2200	2876
8233	end apogee: CONTROL_FINISHED_OK
state	8233	begin climb
8236	1.23	36.7	996.1	0.0	204	8278	1.40	2.50	34.88	1.443	4	0.093	0.076	3723	784	2725
8379	1.07	113.4	1001.2	-5.1	206	8456	0.25	2.35	70.38	1.460	6	0.229	0.062	3666	2206	2413
8795	1.00	113.4	968.4	10.7	213	8799	0.00	2.35	0.00	0.000	4	0.000	0.080	3666	3613	2411
8881	0.85	113.4	958.2	12.5	214	8886	0.30	2.33	0.00	0.000	6	0.218	0.065	3596	2195	2411
9226	0.96	113.4	926.3	9.2	220	9227	0.00	0.00	0.00	0.000	6	0.000	0.000	3596	2196	2410
9528	1.07	113.4	898.5	9.1	225	9530	0.20	0.00	0.00	0.000	6	0.084	0.000	3668	2195	2410
9831	1.01	113.4	866.6	10.5	230	9835	0.00	2.40	0.00	0.000	4	0.000	0.081	3670	789	2410
9934	0.94	113.4	855.6	11.2	231	9938	0.20	2.33	0.00	0.000	6	0.214	0.062	3624	2211	2409
10261	0.99	113.4	825.6	9.0	237	10262	0.00	0.00	0.00	0.000	6	0.000	0.000	3624	2210	2409
10564	1.04	113.4	799.9	8.4	242	10568	0.00	2.45	0.00	0.000	4	0.000	0.077	3633	785	2409
10699	1.04	113.4	788.3	8.6	244	10703	0.00	2.33	0.00	0.000	6	0.000	0.062	3633	2198	2409
11060	1.04	113.4	758.0	8.5	250	11064	0.00	2.45	0.00	0.000	4	0.000	0.077	3641	783	2409
11178	1.04	113.4	747.9	8.4	251	11182	0.00	2.35	0.00	0.000	6	0.000	0.064	3641	2206	2409
11489	1.04	113.4	722.5	8.1	256	11493	0.00	2.45	0.00	0.000	4	0.000	0.077	3648	778	2409
11665	1.04	113.4	707.7	7.9	258	11669	0.00	2.35	0.00	0.000	6	0.000	0.062	3646	2207	2409
11986	1.04	113.4	682.7	7.8	264	11988	0.00	0.00	0.00	0.000	6	0.000	0.000	3646	2207	2409
12289	1.04	113.4	659.5	7.6	269	12293	0.00	2.45	0.00	0.000	4	0.000	0.077	3654	780	2409
12479	1.04	113.4	642.7	9.1	271	12485	0.00	2.35	0.00	0.000	6	0.000	0.064	3654	2206	2408
12790	1.04	113.4	616.3	8.4	277	12794	0.00	2.38	0.00	0.000	4	0.000	0.081	3654	3618	2409
12835	0.92	113.4	612.2	9.0	277	12840	0.17	2.35	0.00	0.000	6	0.224	0.066	3616	2189	2409
13151	1.01	113.4	587.8	7.7	283	13152	0.00	0.00	0.00	0.000	6	0.000	0.000	3616	2190	2408
13454	1.09	113.4	563.2	8.2	288	13459	0.15	2.38	0.00	0.000	4	0.087	0.076	3683	777	2409
13522	1.01	113.4	556.6	9.9	289	13527	0.17	2.35	0.00	0.000	6	0.205	0.062	3642	2202	2409
13883	1.01	113.4	525.6	8.5	295	13887	0.00	2.38	0.00	0.000	4	0.000	0.079	3643	3619	2409
14066	0.93	113.4	509.9	8.4	297	14071	0.15	2.33	0.00	0.000	6	0.208	0.062	3619	2188	2409
14382	1.02	113.4	487.7	6.9	303	14383	0.00	0.00	0.00	0.000	6	0.000	0.000	3618	2189	2408
14686	1.10	113.4	467.3	6.7	308	14687	0.15	0.00	0.00	0.000	6	0.087	0.000	3674	2189	2408
14988	1.05	113.4	444.1	7.7	313	14992	0.00	2.42	0.00	0.000	4	0.000	0.077	3685	794	2409
15218	0.98	113.4	426.0	7.7	316	15223	0.20	2.35	0.00	0.000	6	0.201	0.064	3637	2213	2408
15551	0.98	113.4	403.2	6.8	322	15555	0.00	2.35	0.00	0.000	4	0.000	0.077	3632	3611	2409
15781	0.98	113.4	386.0	7.8	325	15785	0.00	2.33	0.00	0.000	6	0.000	0.061	3641	2199	2408
16119	0.98	113.4	362.6	7.0	331	16120	0.00	0.00	0.00	0.000	6	0.000	0.000	3641	2199	2408
16422	0.98	113.4	343.1	6.3	336	16426	0.00	2.45	0.00	0.000	4	0.000	0.078	3642	783	2409
16679	0.98	113.4	327.1	5.4	339	16685	0.00	2.35	0.00	0.000	6	0.000	0.062	3642	2213	2408
16989	0.98	113.4	309.5	5.7	345	16994	0.00	2.47	0.00	0.000	4	0.000	0.075	3653	785	2409
17120	0.98	113.4	301.9	5.3	347	17124	0.00	2.35	0.00	0.000	6	0.000	0.062	3653	2210	2409
17465	0.98	113.4	283.4	5.3	357	17469	0.00	2.38	0.00	0.000	4	0.000	0.079	3652	3615	2409
17561	0.89	113.4	277.8	6.5	359	17569	0.20	2.35	0.00	0.000	6	0.216	0.064	3609	2191	2409
17875	1.03	121.9	264.7	3.9	370	17890	0.12	2.50	8.07	0.928	4	0.094	0.077	3655	3606	2379
17943	0.95	121.9	260.9	5.8	372	17948	0.17	2.35	0.00	0.000	6	0.215	0.061	3627	2191	2378
18279	1.04	121.9	243.0	5.4	383	18283	0.00	2.42	0.00	0.000	4	0.000	0.075	3636	787	2379
18537	1.12	121.9	228.7	5.6	390	18544	0.12	2.33	0.00	0.000	6	0.090	0.061	3677	2207	2378
18851	1.12	121.9	210.7	5.5	401	18855	0.00	2.47	0.00	0.000	4	0.000	0.075	3687	782	2378
19055	1.06	121.9	199.6	5.9	407	19059	0.00	2.35	0.00	0.000	6	0.000	0.062	3687	2204	2379
19398	1.01	123.2	182.6	4.8	418	19400	0.17	0.00	0.00	0.000	6	0.206	0.000	3644	2204	2378
19703	1.07	123.2	166.8	5.2	428	19707	0.00	2.42	0.00	0.000	4	0.000	0.077	3644	3614	2379
19961	1.07	125.9	152.0	4.7	435	19973	0.00	2.38	5.38	0.775	6	0.000	0.060	3653	2191	2362
20283	1.13	139.1	140.3	3.3	450	20304	0.00	2.53	12.43	0.909	4	0.000	0.077	3653	3611	2308
20557	1.14	145.1	129.0	4.2	462	20573	0.00	2.38	6.60	0.811	6	0.000	0.063	3654	2202	2284
20884	1.29	184.2	122.1	-0.1	478	20927	0.20	2.53	33.25	0.920	4	0.077	0.077	3736	787	2124
21181	1.23	184.2	103.2	9.8	491	21185	0.00	2.33	0.00	0.000	6	0.000	0.061	3736	2210	2121
21506	1.18	184.2	74.8	8.1	510	21510	0.15	2.45	0.00	0.000	4	0.219	0.071	3706	787	2121
21763	1.18	184.2	55.4	9.3	532	21769	0.00	2.30	0.00	0.000	6	0.000	0.060	3706	2206	2121
22094	1.19	192.2	38.5	3.9	563	22106	0.00	2.53	7.57	0.788	4	0.000	0.075	3711	781	2092
22360	1.19	192.2	18.5	10.9	586	22367	0.00	2.30	0.00	0.000	6	0.000	0.061	3711	2198	2091
22481	end climb: SURFACE_DEPTH_REACHED
state	22481	begin surface coast
22546	end surface coast: CONTROL_FINISHED_OK
state	22546	begin surface