Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 9 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3772 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.130001 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -122.366 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2400 ALTIM_PULSE 3

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 25 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 15 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 403 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3857 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2837 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -209901.16 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 27 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 863 AH0_24V 147 SEABIRD_T_G 0.0044304794

SPEED_FACTOR 1 PITCH_MAX 3325 AH0_10V 122.2 SEABIRD_T_H 0.00064686994

RHO 1.023 C_PITCH 2800 PRESSURE_YINT -2.9385166 SEABIRD_T_I 2.8000688e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 3.1833417e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8991232

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.099651

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012204468

HD_A 0.0038945 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00018128238

HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3325 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 863 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.9385166 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.366

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -209901.16

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 119 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3772 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_ROLL_CLIMB 2400 KALMAN_USE 1 ROLL_MIN 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2837 MASS 51528 R_PORT_OVSHOOT 25 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 15 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -9.8991232 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.099651 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012204468 VBD_MAX 3857

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018128238 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044304794 VBD_MIN 403

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064686994 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8000688e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 9 PHONE_DEVICE 48 SEABIRD_T_J 3.1833417e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 114108,4700.655,-12507.680,25,1.3,25,18.4 TGT_NAME W_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.260,-0.043

_SM_DEPTHo 0.94 KALMAN_X 4665.9,179.8,-209.8,-16835.6,1469.1

_SM_ANGLEo -68.7 KALMAN_Y 3311.0,1350.7,204.8,-958.1,836.2

GPS2 114556,4700.650,-12507.680,14,1.3,31,18.4 MHEAD_RNG_PITCHd_Wd 242.2,217654,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.002131 XPDR_PINGS 42

SM_CCo 19573,20.33,0.759,0,0,1205,400.08 _24V_AH 22.5,35.566

SM_GC 0.61,0.00,0.00,20.33,0.000,0.000,0.759,861,2184,1205,-8.92,-0.45,400.08 _10V_AH 10.6,22.721

IRIDIUM_FIX 4638.64,-12638.96,111297,060635 DATA_FILE_SIZE 34827,689

TT8_MAMPS 0.027612 CAP_FILE_SIZE 144411,0

HUMID 2148 CFSIZE 260165632,258654208

INTERNAL_PRESSURE 8.68197 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,24,0,0

TCM_TEMP 17.10 GPS 160908,171459,4701.803,-12511.111,42,2.8,61,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 150 103.76 SBE_CT 467 24 252.58

Roll_motor 177 149 597.16 SBE_O2 553 19 236.73

VBD_pump_during_apogee 435 1463 14352.19 WL_BB2F 772 105 1825.70

VBD_pump_during_surface 20 759 347.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.28 nil 0 0 0.00

Iridium_during_connect 25 160 91.48 nil 0 0 0.00

Iridium_during_xfer 121 223 611.08

Transponder_ping 19 420 181.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.56

TT8 1425 19 299.28

LPSleep 15617 2 362.55

TT8_Active 607 19 127.54

TT8_Sampling 1851 39 781.16

TT8_CF8 380 45 184.53

TT8_Kalman 33 81 28.92

Analog_circuits 1561 12 198.61

GPS_charging 0 0 0.00

Compass 1789 8 151.76

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

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.00 -146.6 0.0 0.0 0 84 0.00 0.00 -60.90 0.000 2 0.000 0.000 861 2184 2620

87 -1.00 -146.6 3.1 -5.1 6 123 11.85 2.50 -18.08 0.000 4 0.150 0.103 2574 3606 3436

221 -0.73 -146.6 32.9 -19.4 18 226 0.38 2.33 0.00 0.000 6 0.092 0.067 2634 2205 3436

561 -0.73 -146.6 74.0 -11.1 74 566 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2205 3438

890 -0.83 -146.6 105.0 -8.9 110 894 0.00 2.40 0.00 0.000 4 0.000 0.091 2634 789 3438

940 -0.97 -146.6 109.5 -8.3 114 947 0.25 2.35 0.00 0.000 6 0.053 0.074 2585 2210 3438

1266 -0.90 -146.6 150.9 -12.6 145 1267 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2211 3438

1574 -0.85 -146.6 187.5 -11.7 160 1576 0.15 0.00 0.00 0.000 6 0.099 0.000 2611 2211 3438

1884 -0.90 -146.6 216.0 -9.1 175 1888 0.00 2.42 0.00 0.000 4 0.000 0.091 2611 792 3438

1939 -0.98 -146.6 221.4 -9.3 177 1946 0.12 2.33 0.00 0.000 6 0.071 0.074 2585 2205 3438

2255 -0.94 -146.6 257.2 -11.6 193 2256 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2205 3438

2563 -0.94 -146.6 293.5 -11.7 208 2567 0.00 2.40 0.00 0.000 4 0.000 0.098 2585 3606 3438

2579 -0.89 -146.6 295.5 -11.8 208 2586 0.00 2.35 0.00 0.000 6 0.000 0.077 2585 2188 3438

2929 -0.89 -146.6 334.8 -11.2 216 2931 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2188 3438

3232 -0.89 -146.6 369.7 -11.5 221 3237 0.00 2.40 0.00 0.000 4 0.000 0.096 2585 785 3437

3282 -0.89 -146.6 375.0 -10.0 221 3290 0.00 2.35 0.00 0.000 6 0.000 0.077 2585 2199 3437

3599 -0.89 -146.6 407.7 -10.3 227 3600 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2199 3437

3902 -0.89 -146.6 442.2 -11.5 232 3907 0.10 2.45 0.00 0.000 4 0.113 0.097 2601 789 3437

3934 -0.96 -146.6 445.9 -10.6 232 3939 0.00 2.35 0.00 0.000 6 0.000 0.078 2601 2198 3437

4261 -1.00 -146.6 478.6 -9.9 238 4263 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2198 3436

4564 -1.06 -146.6 506.0 -8.8 243 4569 0.15 2.47 0.00 0.000 4 0.067 0.100 2568 785 3436

4584 -1.06 -146.6 508.4 -10.1 243 4589 0.00 2.40 0.00 0.000 6 0.000 0.079 2568 2218 3436

4928 -0.99 -146.6 546.6 -11.3 249 4932 0.00 2.50 0.00 0.000 4 0.000 0.104 2568 795 3435

4976 -0.99 -146.6 552.3 -11.0 249 4981 0.00 2.38 0.00 0.000 6 0.000 0.081 2568 2203 3435

5292 -0.92 -146.6 586.1 -10.6 255 5294 0.17 0.00 0.00 0.000 6 0.103 0.000 2596 2204 3434

5597 -0.96 -146.6 613.5 -9.0 260 5601 0.00 2.53 0.00 0.000 4 0.000 0.110 2596 791 3434

5635 -1.04 -146.6 617.3 -9.3 260 5639 0.00 2.40 0.00 0.000 6 0.000 0.087 2596 2203 3434

5957 -1.09 -146.6 648.1 -9.7 266 5962 0.17 2.55 0.00 0.000 4 0.067 0.112 2561 788 3434

5990 -1.03 -146.6 652.0 -11.6 266 5994 0.00 2.42 0.00 0.000 6 0.000 0.091 2561 2205 3434

6321 -0.95 -146.6 690.1 -11.4 272 6323 0.17 0.00 0.00 0.000 6 0.103 0.000 2589 2205 3433

6626 -0.95 -146.6 716.7 -8.7 277 6630 0.00 2.53 0.00 0.000 4 0.000 0.107 2589 787 3433

6660 -1.00 -146.6 719.9 -9.2 277 6664 0.00 2.40 0.00 0.000 6 0.000 0.083 2589 2207 3433

6985 -1.00 -146.6 748.8 -9.0 283 6986 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2207 3432

7289 -1.00 -146.6 776.2 -9.0 288 7290 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2207 3432

7592 -1.00 -146.6 800.8 -8.0 293 7596 0.00 2.50 0.00 0.000 4 0.000 0.107 2589 795 3431

7624 -1.06 -146.6 803.4 -8.3 293 7629 0.00 2.38 0.00 0.000 6 0.000 0.084 2589 2199 3431

7952 -1.10 -146.6 829.0 -7.8 299 7953 0.15 0.00 0.00 0.000 6 0.073 0.000 2561 2199 3431

8254 -1.03 -146.6 858.1 -9.6 304 8258 0.00 2.50 0.00 0.000 4 0.000 0.108 2561 797 3431

8281 -0.97 -146.6 861.0 -9.6 304 8286 0.15 2.38 0.00 0.000 6 0.106 0.085 2584 2203 3431

8612 -0.97 -146.6 888.7 -8.4 310 8613 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2203 3430

8916 -0.97 -146.6 914.8 -8.6 315 8917 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2203 3430

9218 -0.97 -146.6 942.0 -9.2 320 9222 0.00 2.53 0.00 0.000 4 0.000 0.114 2584 798 3430

9239 -1.01 -146.6 943.9 -9.6 320 9243 0.00 2.40 0.00 0.000 6 0.000 0.087 2584 2202 3430

9575 -1.01 -146.6 973.2 -8.6 326 9580 0.00 2.55 0.00 0.000 4 0.000 0.113 2584 789 3429

9598 -1.06 -146.6 975.1 -8.8 326 9602 0.00 2.42 0.00 0.000 6 0.000 0.087 2584 2203 3429

9811 end dive: TARGET_DEPTH_EXCEEDED

state 9811 begin apogee

9816 -0.23 0.0 993.5 8.6 330 9947 0.98 0.00 127.30 1.463 6 0.088 0.000 2747 2406 2837

9948 end apogee: CONTROL_FINISHED_OK

state 9948 begin climb

9950 1.00 146.6 997.4 0.0 332 10093 1.60 2.92 133.73 1.416 4 0.052 0.150 3016 3761 2238

10183 0.71 146.6 977.1 15.3 335 10188 0.40 2.50 0.00 0.000 6 0.108 0.096 2958 2407 2238

10497 0.66 146.6 942.3 10.9 341 10502 0.00 2.60 0.00 0.000 4 0.000 0.113 2960 988 2238

10553 0.58 146.6 935.9 11.9 341 10559 0.20 2.47 0.00 0.000 6 0.109 0.090 2930 2400 2237

10862 0.65 161.9 906.9 9.3 347 10878 0.00 0.00 14.18 1.306 6 0.000 0.000 2930 2400 2177

11165 0.74 183.0 879.5 9.0 352 11191 0.15 2.60 19.95 1.339 4 0.071 0.111 2962 990 2089

11241 0.68 183.0 870.5 12.6 353 11245 0.00 2.47 0.00 0.000 6 0.000 0.090 2962 2399 2089

11589 0.68 183.0 827.5 12.3 359 11593 0.00 2.55 0.00 0.000 4 0.000 0.110 2963 990 2088

11639 0.64 183.0 821.4 12.4 359 11644 0.15 2.42 0.00 0.000 6 0.111 0.089 2940 2400 2088

11948 0.70 183.0 788.1 10.6 364 11952 0.00 2.55 0.00 0.000 4 0.000 0.110 2941 985 2088

12003 0.70 183.0 782.0 10.9 364 12010 0.00 2.42 0.00 0.000 6 0.000 0.089 2941 2400 2088

12313 0.77 183.0 748.7 10.8 370 12318 0.15 2.53 0.00 0.000 4 0.073 0.107 2973 991 2088

12375 0.69 183.0 740.9 12.9 371 12380 0.15 2.42 0.00 0.000 6 0.114 0.091 2952 2400 2088

12739 0.69 183.0 701.6 10.6 377 12743 0.00 2.53 0.00 0.000 4 0.000 0.108 2952 988 2088

12782 0.69 183.0 696.8 10.9 377 12786 0.00 2.42 0.00 0.000 6 0.000 0.089 2952 2403 2087

13102 0.69 183.0 664.0 10.2 383 13107 0.00 2.53 0.00 0.000 4 0.000 0.108 2953 990 2087

13157 0.69 183.0 657.9 11.0 383 13164 0.00 2.42 0.00 0.000 6 0.000 0.090 2953 2405 2087

13467 0.69 183.0 625.9 10.4 389 13471 0.00 2.53 0.00 0.000 4 0.000 0.107 2953 987 2087

13504 0.69 183.0 621.8 10.3 389 13509 0.00 2.42 0.00 0.000 6 0.000 0.089 2953 2406 2088

13831 0.69 183.0 588.0 10.4 395 13835 0.00 2.53 0.00 0.000 4 0.000 0.105 2953 981 2087

13879 0.69 183.0 582.6 10.6 395 13884 0.00 2.42 0.00 0.000 6 0.000 0.088 2953 2403 2087

14194 0.69 183.0 550.1 10.3 401 14198 0.00 2.50 0.00 0.000 4 0.000 0.104 2953 989 2087

14249 0.69 183.0 544.1 10.7 401 14255 0.00 2.40 0.00 0.000 6 0.000 0.088 2952 2400 2088

14559 0.73 183.0 511.2 10.7 407 14563 0.00 2.50 0.00 0.000 4 0.000 0.104 2953 986 2087

14591 0.73 183.0 507.5 10.8 407 14595 0.00 2.42 0.00 0.000 6 0.000 0.087 2953 2407 2087

14923 0.77 183.0 471.3 10.9 413 14927 0.00 2.50 0.00 0.000 4 0.000 0.102 2953 988 2087

14984 0.77 183.0 464.3 10.7 414 14988 0.00 2.42 0.00 0.000 6 0.000 0.089 2953 2403 2087

15348 0.82 183.0 424.3 10.9 420 15353 0.12 2.50 0.00 0.000 4 0.075 0.100 2978 986 2087

15410 0.75 183.0 417.2 12.3 421 15414 0.00 2.42 0.00 0.000 6 0.000 0.088 2978 2403 2088

15774 0.75 183.0 376.2 11.1 427 15775 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2403 2087

16077 0.75 183.0 343.9 10.6 432 16081 0.00 2.47 0.00 0.000 4 0.000 0.099 2978 988 2088

16160 0.69 183.0 334.7 10.8 433 16165 0.17 2.40 0.00 0.000 6 0.106 0.085 2952 2405 2088

16503 0.76 199.5 302.8 9.3 439 16522 0.00 2.45 14.50 1.004 4 0.000 0.098 2952 986 2023

16584 0.81 199.5 295.0 10.9 440 16591 0.12 2.38 0.00 0.000 6 0.073 0.084 2976 2402 2023

16899 0.81 199.5 261.6 10.4 456 16903 0.00 2.47 0.00 0.000 4 0.000 0.097 2977 987 2023

16944 0.81 199.5 256.6 10.1 458 16948 0.00 2.40 0.00 0.000 6 0.000 0.081 2976 2399 2023

17264 0.81 199.5 222.9 10.5 474 17265 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2400 2023

17574 0.81 199.5 191.2 10.6 489 17578 0.00 2.45 0.00 0.000 4 0.000 0.094 2977 988 2023

17628 0.81 199.5 185.1 12.6 491 17635 0.00 2.40 0.00 0.000 6 0.000 0.081 2977 2398 2023

17944 0.81 199.5 152.0 10.3 507 17948 0.00 2.45 0.00 0.000 4 0.000 0.093 2977 984 2023

17971 0.83 215.8 149.1 9.3 508 17994 0.00 2.38 14.38 0.907 6 0.000 0.078 2977 2400 1956

18312 0.88 215.8 112.6 11.2 540 18313 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2400 1956

18632 0.97 234.5 80.2 9.1 570 18656 0.15 2.45 16.02 0.866 4 0.067 0.091 3011 983 1880

18674 0.92 234.5 75.9 10.5 576 18680 0.00 2.38 0.00 0.000 6 0.000 0.077 3011 2400 1880

19018 0.93 246.4 42.2 9.5 637 19035 0.00 2.45 11.07 0.818 4 0.000 0.091 3011 985 1831

19079 0.93 246.4 35.8 11.7 644 19086 0.00 2.40 0.00 0.000 6 0.000 0.077 3011 2396 1831

19408 1.13 356.4 13.5 5.0 675 19500 0.15 0.00 84.75 0.801 6 0.067 0.000 3043 2396 1384

19540 end climb: SURFACE_DEPTH_REACHED

state 19540 begin surface coast

19552 end surface coast: CONTROL_FINISHED_OK

state 19552 begin surface

ID	119	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	9	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3772	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.130001	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-122.366	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2400	ALTIM_PULSE	3
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	25	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	15	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	403	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3857	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2837	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-209901.16	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	27	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	863	AH0_24V	147	SEABIRD_T_G	0.0044304794
SPEED_FACTOR	1	PITCH_MAX	3325	AH0_10V	122.2	SEABIRD_T_H	0.00064686994
RHO	1.023	C_PITCH	2800	PRESSURE_YINT	-2.9385166	SEABIRD_T_I	2.8000688e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	3.1833417e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8991232
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.099651
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012204468
HD_A	0.0038945	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00018128238
HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_BOTTOM_PING_RANGE	0

GPS1	114108,4700.655,-12507.680,25,1.3,25,18.4	TGT_NAME	W_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.260,-0.043
_SM_DEPTHo	0.94	KALMAN_X	4665.9,179.8,-209.8,-16835.6,1469.1
_SM_ANGLEo	-68.7	KALMAN_Y	3311.0,1350.7,204.8,-958.1,836.2
GPS2	114556,4700.650,-12507.680,14,1.3,31,18.4	MHEAD_RNG_PITCHd_Wd	242.2,217654,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	-0.0,1.002131	XPDR_PINGS	42
SM_CCo	19573,20.33,0.759,0,0,1205,400.08	_24V_AH	22.5,35.566
SM_GC	0.61,0.00,0.00,20.33,0.000,0.000,0.759,861,2184,1205,-8.92,-0.45,400.08	_10V_AH	10.6,22.721
IRIDIUM_FIX	4638.64,-12638.96,111297,060635	DATA_FILE_SIZE	34827,689
TT8_MAMPS	0.027612	CAP_FILE_SIZE	144411,0
HUMID	2148	CFSIZE	260165632,258654208
INTERNAL_PRESSURE	8.68197	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
TCM_TEMP	17.10	GPS	160908,171459,4701.803,-12511.111,42,2.8,61,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	150	103.76	SBE_CT	467	24	252.58
Roll_motor	177	149	597.16	SBE_O2	553	19	236.73
VBD_pump_during_apogee	435	1463	14352.19	WL_BB2F	772	105	1825.70
VBD_pump_during_surface	20	759	347.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.28	nil	0	0	0.00
Iridium_during_connect	25	160	91.48	nil	0	0	0.00
Iridium_during_xfer	121	223	611.08
Transponder_ping	19	420	181.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.56
TT8	1425	19	299.28
LPSleep	15617	2	362.55
TT8_Active	607	19	127.54
TT8_Sampling	1851	39	781.16
TT8_CF8	380	45	184.53
TT8_Kalman	33	81	28.92
Analog_circuits	1561	12	198.61
GPS_charging	0	0	0.00
Compass	1789	8	151.76
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
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.00	-146.6	0.0	0.0	0	84	0.00	0.00	-60.90	0.000	2	0.000	0.000	861	2184	2620
87	-1.00	-146.6	3.1	-5.1	6	123	11.85	2.50	-18.08	0.000	4	0.150	0.103	2574	3606	3436
221	-0.73	-146.6	32.9	-19.4	18	226	0.38	2.33	0.00	0.000	6	0.092	0.067	2634	2205	3436
561	-0.73	-146.6	74.0	-11.1	74	566	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2205	3438
890	-0.83	-146.6	105.0	-8.9	110	894	0.00	2.40	0.00	0.000	4	0.000	0.091	2634	789	3438
940	-0.97	-146.6	109.5	-8.3	114	947	0.25	2.35	0.00	0.000	6	0.053	0.074	2585	2210	3438
1266	-0.90	-146.6	150.9	-12.6	145	1267	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2211	3438
1574	-0.85	-146.6	187.5	-11.7	160	1576	0.15	0.00	0.00	0.000	6	0.099	0.000	2611	2211	3438
1884	-0.90	-146.6	216.0	-9.1	175	1888	0.00	2.42	0.00	0.000	4	0.000	0.091	2611	792	3438
1939	-0.98	-146.6	221.4	-9.3	177	1946	0.12	2.33	0.00	0.000	6	0.071	0.074	2585	2205	3438
2255	-0.94	-146.6	257.2	-11.6	193	2256	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2205	3438
2563	-0.94	-146.6	293.5	-11.7	208	2567	0.00	2.40	0.00	0.000	4	0.000	0.098	2585	3606	3438
2579	-0.89	-146.6	295.5	-11.8	208	2586	0.00	2.35	0.00	0.000	6	0.000	0.077	2585	2188	3438
2929	-0.89	-146.6	334.8	-11.2	216	2931	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2188	3438
3232	-0.89	-146.6	369.7	-11.5	221	3237	0.00	2.40	0.00	0.000	4	0.000	0.096	2585	785	3437
3282	-0.89	-146.6	375.0	-10.0	221	3290	0.00	2.35	0.00	0.000	6	0.000	0.077	2585	2199	3437
3599	-0.89	-146.6	407.7	-10.3	227	3600	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2199	3437
3902	-0.89	-146.6	442.2	-11.5	232	3907	0.10	2.45	0.00	0.000	4	0.113	0.097	2601	789	3437
3934	-0.96	-146.6	445.9	-10.6	232	3939	0.00	2.35	0.00	0.000	6	0.000	0.078	2601	2198	3437
4261	-1.00	-146.6	478.6	-9.9	238	4263	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2198	3436
4564	-1.06	-146.6	506.0	-8.8	243	4569	0.15	2.47	0.00	0.000	4	0.067	0.100	2568	785	3436
4584	-1.06	-146.6	508.4	-10.1	243	4589	0.00	2.40	0.00	0.000	6	0.000	0.079	2568	2218	3436
4928	-0.99	-146.6	546.6	-11.3	249	4932	0.00	2.50	0.00	0.000	4	0.000	0.104	2568	795	3435
4976	-0.99	-146.6	552.3	-11.0	249	4981	0.00	2.38	0.00	0.000	6	0.000	0.081	2568	2203	3435
5292	-0.92	-146.6	586.1	-10.6	255	5294	0.17	0.00	0.00	0.000	6	0.103	0.000	2596	2204	3434
5597	-0.96	-146.6	613.5	-9.0	260	5601	0.00	2.53	0.00	0.000	4	0.000	0.110	2596	791	3434
5635	-1.04	-146.6	617.3	-9.3	260	5639	0.00	2.40	0.00	0.000	6	0.000	0.087	2596	2203	3434
5957	-1.09	-146.6	648.1	-9.7	266	5962	0.17	2.55	0.00	0.000	4	0.067	0.112	2561	788	3434
5990	-1.03	-146.6	652.0	-11.6	266	5994	0.00	2.42	0.00	0.000	6	0.000	0.091	2561	2205	3434
6321	-0.95	-146.6	690.1	-11.4	272	6323	0.17	0.00	0.00	0.000	6	0.103	0.000	2589	2205	3433
6626	-0.95	-146.6	716.7	-8.7	277	6630	0.00	2.53	0.00	0.000	4	0.000	0.107	2589	787	3433
6660	-1.00	-146.6	719.9	-9.2	277	6664	0.00	2.40	0.00	0.000	6	0.000	0.083	2589	2207	3433
6985	-1.00	-146.6	748.8	-9.0	283	6986	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2207	3432
7289	-1.00	-146.6	776.2	-9.0	288	7290	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2207	3432
7592	-1.00	-146.6	800.8	-8.0	293	7596	0.00	2.50	0.00	0.000	4	0.000	0.107	2589	795	3431
7624	-1.06	-146.6	803.4	-8.3	293	7629	0.00	2.38	0.00	0.000	6	0.000	0.084	2589	2199	3431
7952	-1.10	-146.6	829.0	-7.8	299	7953	0.15	0.00	0.00	0.000	6	0.073	0.000	2561	2199	3431
8254	-1.03	-146.6	858.1	-9.6	304	8258	0.00	2.50	0.00	0.000	4	0.000	0.108	2561	797	3431
8281	-0.97	-146.6	861.0	-9.6	304	8286	0.15	2.38	0.00	0.000	6	0.106	0.085	2584	2203	3431
8612	-0.97	-146.6	888.7	-8.4	310	8613	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2203	3430
8916	-0.97	-146.6	914.8	-8.6	315	8917	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2203	3430
9218	-0.97	-146.6	942.0	-9.2	320	9222	0.00	2.53	0.00	0.000	4	0.000	0.114	2584	798	3430
9239	-1.01	-146.6	943.9	-9.6	320	9243	0.00	2.40	0.00	0.000	6	0.000	0.087	2584	2202	3430
9575	-1.01	-146.6	973.2	-8.6	326	9580	0.00	2.55	0.00	0.000	4	0.000	0.113	2584	789	3429
9598	-1.06	-146.6	975.1	-8.8	326	9602	0.00	2.42	0.00	0.000	6	0.000	0.087	2584	2203	3429
9811	end dive: TARGET_DEPTH_EXCEEDED
state	9811	begin apogee
9816	-0.23	0.0	993.5	8.6	330	9947	0.98	0.00	127.30	1.463	6	0.088	0.000	2747	2406	2837
9948	end apogee: CONTROL_FINISHED_OK
state	9948	begin climb
9950	1.00	146.6	997.4	0.0	332	10093	1.60	2.92	133.73	1.416	4	0.052	0.150	3016	3761	2238
10183	0.71	146.6	977.1	15.3	335	10188	0.40	2.50	0.00	0.000	6	0.108	0.096	2958	2407	2238
10497	0.66	146.6	942.3	10.9	341	10502	0.00	2.60	0.00	0.000	4	0.000	0.113	2960	988	2238
10553	0.58	146.6	935.9	11.9	341	10559	0.20	2.47	0.00	0.000	6	0.109	0.090	2930	2400	2237
10862	0.65	161.9	906.9	9.3	347	10878	0.00	0.00	14.18	1.306	6	0.000	0.000	2930	2400	2177
11165	0.74	183.0	879.5	9.0	352	11191	0.15	2.60	19.95	1.339	4	0.071	0.111	2962	990	2089
11241	0.68	183.0	870.5	12.6	353	11245	0.00	2.47	0.00	0.000	6	0.000	0.090	2962	2399	2089
11589	0.68	183.0	827.5	12.3	359	11593	0.00	2.55	0.00	0.000	4	0.000	0.110	2963	990	2088
11639	0.64	183.0	821.4	12.4	359	11644	0.15	2.42	0.00	0.000	6	0.111	0.089	2940	2400	2088
11948	0.70	183.0	788.1	10.6	364	11952	0.00	2.55	0.00	0.000	4	0.000	0.110	2941	985	2088
12003	0.70	183.0	782.0	10.9	364	12010	0.00	2.42	0.00	0.000	6	0.000	0.089	2941	2400	2088
12313	0.77	183.0	748.7	10.8	370	12318	0.15	2.53	0.00	0.000	4	0.073	0.107	2973	991	2088
12375	0.69	183.0	740.9	12.9	371	12380	0.15	2.42	0.00	0.000	6	0.114	0.091	2952	2400	2088
12739	0.69	183.0	701.6	10.6	377	12743	0.00	2.53	0.00	0.000	4	0.000	0.108	2952	988	2088
12782	0.69	183.0	696.8	10.9	377	12786	0.00	2.42	0.00	0.000	6	0.000	0.089	2952	2403	2087
13102	0.69	183.0	664.0	10.2	383	13107	0.00	2.53	0.00	0.000	4	0.000	0.108	2953	990	2087
13157	0.69	183.0	657.9	11.0	383	13164	0.00	2.42	0.00	0.000	6	0.000	0.090	2953	2405	2087
13467	0.69	183.0	625.9	10.4	389	13471	0.00	2.53	0.00	0.000	4	0.000	0.107	2953	987	2087
13504	0.69	183.0	621.8	10.3	389	13509	0.00	2.42	0.00	0.000	6	0.000	0.089	2953	2406	2088
13831	0.69	183.0	588.0	10.4	395	13835	0.00	2.53	0.00	0.000	4	0.000	0.105	2953	981	2087
13879	0.69	183.0	582.6	10.6	395	13884	0.00	2.42	0.00	0.000	6	0.000	0.088	2953	2403	2087
14194	0.69	183.0	550.1	10.3	401	14198	0.00	2.50	0.00	0.000	4	0.000	0.104	2953	989	2087
14249	0.69	183.0	544.1	10.7	401	14255	0.00	2.40	0.00	0.000	6	0.000	0.088	2952	2400	2088
14559	0.73	183.0	511.2	10.7	407	14563	0.00	2.50	0.00	0.000	4	0.000	0.104	2953	986	2087
14591	0.73	183.0	507.5	10.8	407	14595	0.00	2.42	0.00	0.000	6	0.000	0.087	2953	2407	2087
14923	0.77	183.0	471.3	10.9	413	14927	0.00	2.50	0.00	0.000	4	0.000	0.102	2953	988	2087
14984	0.77	183.0	464.3	10.7	414	14988	0.00	2.42	0.00	0.000	6	0.000	0.089	2953	2403	2087
15348	0.82	183.0	424.3	10.9	420	15353	0.12	2.50	0.00	0.000	4	0.075	0.100	2978	986	2087
15410	0.75	183.0	417.2	12.3	421	15414	0.00	2.42	0.00	0.000	6	0.000	0.088	2978	2403	2088
15774	0.75	183.0	376.2	11.1	427	15775	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2403	2087
16077	0.75	183.0	343.9	10.6	432	16081	0.00	2.47	0.00	0.000	4	0.000	0.099	2978	988	2088
16160	0.69	183.0	334.7	10.8	433	16165	0.17	2.40	0.00	0.000	6	0.106	0.085	2952	2405	2088
16503	0.76	199.5	302.8	9.3	439	16522	0.00	2.45	14.50	1.004	4	0.000	0.098	2952	986	2023
16584	0.81	199.5	295.0	10.9	440	16591	0.12	2.38	0.00	0.000	6	0.073	0.084	2976	2402	2023
16899	0.81	199.5	261.6	10.4	456	16903	0.00	2.47	0.00	0.000	4	0.000	0.097	2977	987	2023
16944	0.81	199.5	256.6	10.1	458	16948	0.00	2.40	0.00	0.000	6	0.000	0.081	2976	2399	2023
17264	0.81	199.5	222.9	10.5	474	17265	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2400	2023
17574	0.81	199.5	191.2	10.6	489	17578	0.00	2.45	0.00	0.000	4	0.000	0.094	2977	988	2023
17628	0.81	199.5	185.1	12.6	491	17635	0.00	2.40	0.00	0.000	6	0.000	0.081	2977	2398	2023
17944	0.81	199.5	152.0	10.3	507	17948	0.00	2.45	0.00	0.000	4	0.000	0.093	2977	984	2023
17971	0.83	215.8	149.1	9.3	508	17994	0.00	2.38	14.38	0.907	6	0.000	0.078	2977	2400	1956
18312	0.88	215.8	112.6	11.2	540	18313	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2400	1956
18632	0.97	234.5	80.2	9.1	570	18656	0.15	2.45	16.02	0.866	4	0.067	0.091	3011	983	1880
18674	0.92	234.5	75.9	10.5	576	18680	0.00	2.38	0.00	0.000	6	0.000	0.077	3011	2400	1880
19018	0.93	246.4	42.2	9.5	637	19035	0.00	2.45	11.07	0.818	4	0.000	0.091	3011	985	1831
19079	0.93	246.4	35.8	11.7	644	19086	0.00	2.40	0.00	0.000	6	0.000	0.077	3011	2396	1831
19408	1.13	356.4	13.5	5.0	675	19500	0.15	0.00	84.75	0.801	6	0.067	0.000	3043	2396	1384
19540	end climb: SURFACE_DEPTH_REACHED
state	19540	begin surface coast
19552	end surface coast: CONTROL_FINISHED_OK
state	19552	begin surface