Glider dive log

PortSusan 03Jul07 * SG001 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HD_B 0.0099099996 PITCH_AD_RATE 180 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 2.4896e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 12 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 180 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 3.5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 125

D_TGT 990 FIX_MISSING_TIMEOUT 3 ROLL_MAX 3791 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1978 ALTIM_FREQUENCY 15

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1978 ALTIM_PULSE 5

D_FINISH 7.0000001e-06 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

D_PITCH 1.5 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 100 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 10

D_CALL 2 FILEMGR 2 R_PORT_OVSHOOT 2 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 7 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 20 COMM_SEQ 0 ROLL_AD_RATE 500 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 20 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 528 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 550 UPLOAD_DIVES_MAX 5 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 421 DEVICE4 -1

T_TURN 240 CALL_WAIT 60 VBD_MAX 3792 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2257 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 200000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 1 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE -1 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN -2 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 1

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 32

T_WATCHDOG 10 T_GPS_CHARGE -445524.34 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 91.800003 SEABIRD_T_G 0.0042857998

SPEED_FACTOR 0.94999993 PITCH_MAX 3252 AH0_10V 61.200001 SEABIRD_T_H 0.00062588596

RHO 1.02765 C_PITCH 2263 PRESSURE_YINT 0.27000001 SEABIRD_T_I 2.1643695e-05

MASS 51747 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.0181028e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 1 SEABIRD_C_G -10.005328

FERRY_MAX 0 P_OVSHOOT 0.045000002 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1235065

KALMAN_USE 1 PITCH_GAIN 20 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015880254

HD_A 0.00312 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0001984441

AD7714Ch0Gain 1 D_FINISH 7.0000001e-06 PITCH_AD_RATE 180 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 20 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 1.5 PITCH_MAX 3252 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 15 D_SAFE 100 PITCH_MAXERRORS 1 SURFACE_URGENCY 5

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 20

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 20

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 3.5 FERRY_MAX 0 PRESSURE_YINT 0.27000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.045000002 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 16 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 528

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HD_C 2.4896e-05 RHO 1.02765 T_GPS_CHARGE -445524.34

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 550

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 1 ROLL_AD_RATE 500 T_RSLEEP 57

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN -2 ROLL_CNV 0.028270001 T_TURN 240

COURSE_BIAS 0 ID 1 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 10 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 1978 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 2 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 7 USE_ICE -1

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.005328 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1235065 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0015880254 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.0001984441 VBD_MAX 3792

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0042857998 VBD_MAXERRORS 20

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062588596 VBD_MIN 421

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1643695e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 12 PHONE_DEVICE 32 SEABIRD_T_J 2.0181028e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 2 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 170217,4659.188,-12531.579,31,1.1,31,18.0 TGT_NAME default

_CALLS 3 TGT_LATLONG 47.600,-122.300

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.169,-0.093

_SM_DEPTHo 0.34 KALMAN_X 8759.6,-408.6,-520.8,39531.8,4149.5

_SM_ANGLEo -50.0 KALMAN_Y 32799.0,-428.0,-484.6,-42306.7,4776.6

GPS2 171253,4659.217,-12531.555,22,1.1,23,18.0 MHEAD_RNG_PITCHd_Wd 100.7,14718744,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.026091 ALTIM_TOP_PING 19.7,18.9

SM_CCo 27855,92.07,0.001,0,0,833,350.04 ALTIM_BOTTOM_PING 900.1,91.1

SM_GC 0.34,0.00,0.00,92.07,0.000,0.000,0.001,629,2075,833,-7.55,2.80,350.04 _24V_AH 23.7,26.642

RAFOS_CLK 0 _10V_AH 9.6,3.967

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 40998,1213

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,241524736

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,48,1814,0,0

HUMID 2104 SOUNDSPEED 1465.0

INTERNAL_PRESSURE 26.0748 CURRENT 0.031,226.3,1

TCM_TEMP 15.00 GPS 080707,010117,4659.042,-12527.339,32,1.1,32,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 119 77.56 SBE_CT 1176 24 669.30

Roll_motor 270 60 384.69 nil 0 0 0.00

VBD_pump_during_apogee 302 0 5.49 nil 0 0 0.00

VBD_pump_during_surface 92 0 1.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 111 223 591.21

Transponder_ping 8 420 84.61

GPS 23 50 11.08

TT8 4253 19 813.44

LPSleep 18910 2 419.35

TT8_Active 814 19 155.68

TT8_Sampling 2547 39 976.33

TT8_CF8 2014 45 887.89

TT8_Kalman 33 81 26.25

Analog_circuits 2821 12 325.01

GPS_charging 0 0 0.00

Compass 2456 26 613.26

RAFOS 3240 1 46.66

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

37 end surface: CONTROL_FINISHED_OK

state 38 begin dive

44 -0.83 -116.8 0.0 0.0 0 114 0.00 0.00 -62.80 0.000 6 0.000 0.000 660 1852 2738

121 -0.83 -116.8 2.8 -4.3 10 139 7.15 2.70 0.00 0.000 4 0.000 0.000 2106 3607 2743

255 -0.83 -116.8 18.6 -11.3 31 265 0.05 3.45 0.00 0.000 6 0.000 0.000 2110 1805 2743

627 -0.83 -116.8 59.8 -10.9 92 635 0.05 2.20 0.00 0.000 4 0.000 0.000 2098 404 2742

928 -0.83 -116.8 91.5 -9.9 141 937 0.00 2.67 0.00 0.000 6 0.000 0.000 2118 2087 2746

1259 -0.83 -116.8 123.6 -9.1 166 1264 0.00 3.05 0.00 0.000 4 0.000 0.000 2104 408 2740

1542 -0.83 -116.8 148.5 -9.0 178 1555 0.30 3.55 0.00 0.000 6 0.000 0.000 2043 2030 2745

1866 -0.83 -116.8 179.8 -10.1 194 1873 0.00 3.53 0.00 0.000 4 0.000 0.000 2070 428 2739

2152 -0.83 -116.8 202.4 -6.8 206 2164 0.00 3.75 0.00 0.000 6 0.000 0.000 2059 2187 2743

2476 -0.83 -116.8 226.1 -7.6 222 2481 0.00 3.03 0.00 0.000 4 0.000 0.000 2052 389 2739

2757 -0.83 -116.8 247.8 -7.4 234 2770 0.20 3.25 0.00 0.000 6 0.000 0.000 2113 2146 2740

3081 -0.83 -116.8 270.7 -7.4 250 3088 0.00 3.45 0.00 0.000 4 0.000 0.000 2112 402 2742

3370 -0.83 -116.8 292.0 -7.5 262 3375 0.00 3.10 0.00 0.000 6 0.000 0.000 2107 2174 2740

3689 -0.83 -116.8 316.5 -8.0 277 3696 0.00 3.65 0.00 0.000 4 0.000 0.000 2087 405 2741

3979 -0.83 -116.8 341.8 -8.4 289 3984 0.00 2.90 0.00 0.000 6 0.000 0.000 2107 2188 2745

4298 -0.83 -116.8 369.0 -8.9 304 4305 0.00 3.75 0.00 0.000 4 0.000 0.000 2111 412 2749

4586 -0.83 -116.8 393.0 -8.1 316 4591 0.00 2.72 0.00 0.000 6 0.000 0.000 2098 2087 2747

4905 -0.83 -116.8 420.5 -8.5 331 4910 0.00 2.83 0.00 0.000 4 0.000 0.000 2115 429 2747

5188 -0.83 -116.8 444.8 -8.7 343 5193 0.00 2.60 0.00 0.000 6 0.000 0.000 2102 2101 2745

5507 -0.83 -116.8 470.4 -8.0 358 5514 0.08 3.38 0.00 0.000 4 0.002 0.000 2119 465 2739

5794 -0.83 -116.8 493.3 -7.4 370 5799 0.00 2.83 0.00 0.000 6 0.000 0.000 2095 2220 2744

6132 -0.83 -116.8 517.4 -7.0 380 6137 0.12 2.80 0.00 0.000 4 0.000 0.000 2098 401 2740

6412 -0.83 -116.8 536.9 -6.6 386 6417 0.00 2.75 0.00 0.000 6 0.000 0.000 2102 2206 2739

6729 -0.83 -116.8 556.8 -6.5 394 6733 0.00 2.70 0.00 0.000 4 0.000 0.000 2111 416 2742

7009 -0.83 -116.8 573.9 -6.1 400 7017 0.00 4.93 0.00 0.000 6 0.000 0.000 2102 2172 2744

7331 -0.83 -116.8 596.2 -7.1 408 7338 0.08 3.75 0.00 0.000 4 0.000 0.000 2092 368 2742

7616 -0.83 -116.8 618.2 -7.6 414 7622 0.22 2.80 0.00 0.000 6 0.000 0.000 2057 2138 2751

7933 -0.83 -116.8 642.4 -7.6 422 7938 0.00 2.90 0.00 0.000 4 0.000 0.000 2054 386 2743

8213 -0.83 -116.8 661.6 -6.4 428 8221 0.22 3.12 0.00 0.000 6 0.000 0.000 2121 2158 2743

8534 -0.83 -116.8 681.0 -6.0 436 8539 0.00 2.70 0.00 0.000 4 0.000 0.000 2101 311 2743

8815 -0.83 -116.8 700.0 -6.3 442 8820 0.00 3.00 0.00 0.000 6 0.000 0.000 2095 2222 2741

9131 -0.83 -116.8 720.9 -6.6 450 9136 0.03 2.72 0.00 0.000 4 0.000 0.000 2094 421 2747

9412 -0.83 -116.8 740.9 -7.8 456 9419 0.03 3.25 0.00 0.000 6 0.000 0.000 2077 1957 2739

9732 -0.83 -116.8 763.8 -6.9 464 9740 0.03 3.33 0.00 0.000 4 0.000 0.000 2107 439 2746

10017 -0.83 -116.8 783.7 -6.8 470 10022 0.00 2.60 0.00 0.000 6 0.000 0.000 2103 2121 2746

10333 -0.83 -116.8 805.2 -6.9 478 10341 0.05 3.58 0.00 0.000 4 0.000 0.000 2085 478 2747

10622 -0.83 -116.8 823.8 -6.4 484 10629 0.00 3.35 0.00 0.000 6 0.000 0.000 2106 2123 2737

10943 -0.83 -116.8 842.7 -5.7 492 10948 0.00 2.62 0.00 0.000 4 0.000 0.000 2104 443 2740

11230 -0.83 -116.8 859.3 -5.9 498 11235 0.00 2.60 0.00 0.000 6 0.000 0.000 2089 2132 2741

11547 -0.83 -116.8 876.5 -5.5 506 11555 0.00 3.75 0.00 0.000 4 0.000 0.000 2075 344 2745

11834 -0.83 -116.8 892.9 -6.1 512 11843 0.15 3.75 0.00 0.000 6 0.000 0.000 2046 2129 2746

12156 -0.83 -116.8 912.0 -5.9 520 12162 0.00 3.10 0.00 0.000 4 0.000 0.000 2051 474 2745

12440 -0.83 -116.8 927.7 -5.7 526 12445 0.40 2.50 0.00 0.000 6 0.000 0.000 2140 2174 2749

12757 -0.83 -116.8 945.3 -5.9 534 12765 0.45 3.83 0.00 0.000 4 0.000 0.000 2040 388 2745

13048 -0.83 -116.8 963.0 -5.7 540 13053 0.00 2.90 0.00 0.000 6 0.000 0.000 2062 2222 2744

13359 end dive: BOTTOM_OBSTACLE_DETECTED

state 13359 begin apogee

13372 -0.25 0.0 981.9 6.0 548 13490 0.95 0.00 114.70 0.001 6 0.000 0.000 2237 1815 2261

13490 end apogee: CONTROL_FINISHED_OK

state 13490 begin climb

13496 0.83 116.8 989.0 0.0 551 13618 1.02 3.30 112.50 0.001 4 0.000 0.000 2466 3615 1788

13898 0.83 116.8 981.1 7.8 559 13904 0.40 2.80 0.00 0.000 6 0.000 0.000 2383 1796 1786

14227 0.83 116.8 956.6 7.5 567 14234 0.32 3.33 0.00 0.000 4 0.000 0.000 2469 3506 1781

14516 0.83 116.8 934.7 8.2 573 14524 0.28 3.35 0.00 0.000 6 0.000 0.000 2430 1841 1786

14837 0.83 116.8 908.1 8.3 581 14845 0.00 3.95 0.00 0.000 4 0.000 0.000 2433 3501 1778

15123 0.83 116.8 884.3 8.1 587 15131 0.03 3.55 0.00 0.000 6 0.000 0.000 2436 1838 1783

15444 0.83 116.8 857.5 8.3 595 15445 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1847 1781

15769 0.83 116.8 830.7 8.1 603 15774 0.00 3.15 0.00 0.000 4 0.000 0.000 2428 3503 1781

16050 0.83 116.8 808.3 7.3 609 16057 0.00 3.45 0.00 0.000 6 0.000 0.000 2427 1891 1782

16371 0.83 116.8 783.4 7.8 617 16375 0.00 2.53 0.00 0.000 4 0.000 0.000 2419 3569 1790

16651 0.83 116.8 762.7 7.9 623 16659 0.10 3.75 0.00 0.000 6 0.000 0.000 2426 1791 1790

16973 0.83 123.1 742.4 6.0 631 16984 0.00 2.90 5.35 0.001 4 0.000 0.000 2427 3520 1761

17265 0.84 140.7 726.0 5.6 637 17293 0.00 2.58 16.00 0.000 6 0.000 0.000 2418 1874 1693

17619 0.87 140.7 703.6 6.7 646 17627 0.08 2.70 0.70 0.001 4 0.002 0.000 2469 3518 1689

17902 0.87 140.7 682.6 6.9 652 17907 0.00 2.90 0.00 0.000 6 0.000 0.000 2476 1878 1687

18219 0.87 140.7 658.6 7.7 660 18226 0.00 2.60 0.82 0.001 4 0.000 0.000 2452 3474 1685

18508 0.87 140.7 635.4 8.3 666 18514 0.10 2.70 0.00 0.000 6 0.000 0.000 2495 1860 1687

18825 0.87 140.7 610.7 7.5 674 18827 0.08 0.00 0.00 0.000 6 0.000 0.000 2468 1838 1685

19150 0.87 140.7 587.7 6.9 682 19155 0.00 2.92 0.00 0.000 4 0.000 0.000 2483 3600 1682

19430 0.87 140.7 568.8 7.5 688 19437 0.00 3.45 0.00 0.000 6 0.000 0.000 2478 1804 1688

19751 0.87 140.7 547.7 6.7 696 19759 0.50 3.55 0.00 0.000 4 0.000 0.000 2394 3562 1685

20041 0.87 140.7 527.0 6.7 702 20050 0.60 3.47 0.08 0.000 6 0.000 0.000 2508 1929 1687

20362 0.87 140.7 504.6 6.8 710 20370 0.68 3.35 0.00 0.000 4 0.000 0.000 2391 3467 1680

20645 0.87 140.7 485.7 7.0 720 20658 0.62 3.05 0.00 0.000 6 0.000 0.000 2522 1929 1680

20968 0.87 140.7 463.3 7.2 736 20976 0.52 3.25 0.00 0.000 4 0.000 0.000 2419 3582 1684

21251 0.87 140.7 442.3 8.1 748 21257 0.00 3.00 0.00 0.000 6 0.000 0.000 2407 1812 1689

21570 0.87 140.7 419.7 6.9 763 21576 0.03 3.10 0.00 0.000 4 0.000 0.000 2477 3574 1683

21857 0.87 140.7 400.7 6.3 775 21869 0.03 3.58 0.00 0.000 6 0.000 0.000 2463 1902 1679

22180 0.87 140.7 379.3 6.9 791 22186 0.32 2.92 0.00 0.000 4 0.000 0.000 2392 3556 1684

22460 0.87 140.7 360.3 7.6 803 22472 0.43 3.00 0.00 0.000 6 0.000 0.000 2470 1763 1686

22783 0.87 140.7 338.4 6.7 819 22791 0.05 3.72 0.00 0.000 4 0.000 0.000 2484 3520 1685

23074 0.87 145.0 318.3 6.1 831 23088 0.38 3.30 2.80 0.001 6 0.000 0.000 2387 1750 1668

23398 0.88 145.0 295.8 6.9 847 23406 0.38 3.62 0.00 0.000 4 0.000 0.000 2477 3535 1674

23682 0.88 145.0 276.5 7.1 859 23687 0.17 2.62 0.00 0.000 6 0.000 0.000 2450 1861 1675

24001 0.88 146.3 256.8 6.2 874 24010 0.08 2.60 1.52 0.001 4 0.000 0.000 2497 3532 1662

24285 0.88 156.7 239.6 5.9 886 24301 0.00 3.22 10.20 0.001 6 0.000 0.000 2497 1774 1622

24632 0.90 156.7 218.4 6.4 903 24640 0.08 3.75 0.00 0.000 4 0.000 0.000 2473 3586 1628

24927 0.90 156.7 199.3 6.3 915 24939 0.03 3.65 0.00 0.000 6 0.000 0.000 2488 1773 1625

25250 0.90 156.7 177.3 6.4 931 25257 0.00 3.40 0.00 0.000 4 0.000 0.000 2476 3622 1622

25540 0.90 156.7 157.1 7.5 943 25545 0.12 2.70 0.00 0.000 6 0.000 0.000 2430 1851 1624

25859 0.90 156.7 135.1 6.9 958 25866 0.00 3.35 0.00 0.000 4 0.000 0.000 2448 3524 1618

26050 0.90 195.9 122.0 4.8 966 26091 0.00 2.62 31.67 0.001 6 0.000 0.000 2443 1842 1464

26407 0.96 201.0 100.8 6.1 983 26423 0.40 0.00 4.05 0.001 6 0.000 0.000 2540 1833 1440

26799 0.97 203.0 81.7 6.2 1044 26807 0.30 0.00 1.60 0.001 6 0.000 0.000 2480 1824 1430

27170 0.97 203.0 53.7 8.9 1105 27178 0.00 2.50 0.00 0.000 4 0.000 0.000 2455 3504 1436

27471 0.97 203.0 29.0 7.9 1154 27480 0.00 2.70 0.00 0.000 6 0.000 0.000 2471 1820 1432

27803 end climb: SURFACE_DEPTH_REACHED

state 27803 begin surface coast

27827 end surface coast: CONTROL_FINISHED_OK

state 27827 begin surface

ID	1	HD_B	0.0099099996	PITCH_AD_RATE	180	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	2.4896e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	12	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	180	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	3.5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	125
D_TGT	990	FIX_MISSING_TIMEOUT	3	ROLL_MAX	3791	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1978	ALTIM_FREQUENCY	15
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1978	ALTIM_PULSE	5
D_FINISH	7.0000001e-06	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
D_PITCH	1.5	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	100	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	10
D_CALL	2	FILEMGR	2	R_PORT_OVSHOOT	2	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	7	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	20	COMM_SEQ	0	ROLL_AD_RATE	500	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	20	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	528	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	550	UPLOAD_DIVES_MAX	5	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	421	DEVICE4	-1
T_TURN	240	CALL_WAIT	60	VBD_MAX	3792	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2257	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	200000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	1	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	-1	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	-2	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	1
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	32
T_WATCHDOG	10	T_GPS_CHARGE	-445524.34	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	91.800003	SEABIRD_T_G	0.0042857998
SPEED_FACTOR	0.94999993	PITCH_MAX	3252	AH0_10V	61.200001	SEABIRD_T_H	0.00062588596
RHO	1.02765	C_PITCH	2263	PRESSURE_YINT	0.27000001	SEABIRD_T_I	2.1643695e-05
MASS	51747	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.0181028e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	1	SEABIRD_C_G	-10.005328
FERRY_MAX	0	P_OVSHOOT	0.045000002	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1235065
KALMAN_USE	1	PITCH_GAIN	20	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015880254
HD_A	0.00312	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0001984441

GPS1	170217,4659.188,-12531.579,31,1.1,31,18.0	TGT_NAME	default
_CALLS	3	TGT_LATLONG	47.600,-122.300
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.169,-0.093
_SM_DEPTHo	0.34	KALMAN_X	8759.6,-408.6,-520.8,39531.8,4149.5
_SM_ANGLEo	-50.0	KALMAN_Y	32799.0,-428.0,-484.6,-42306.7,4776.6
GPS2	171253,4659.217,-12531.555,22,1.1,23,18.0	MHEAD_RNG_PITCHd_Wd	100.7,14718744,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.5,1.026091	ALTIM_TOP_PING	19.7,18.9
SM_CCo	27855,92.07,0.001,0,0,833,350.04	ALTIM_BOTTOM_PING	900.1,91.1
SM_GC	0.34,0.00,0.00,92.07,0.000,0.000,0.001,629,2075,833,-7.55,2.80,350.04	_24V_AH	23.7,26.642
RAFOS_CLK	0	_10V_AH	9.6,3.967
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	40998,1213
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,241524736
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,48,1814,0,0
HUMID	2104	SOUNDSPEED	1465.0
INTERNAL_PRESSURE	26.0748	CURRENT	0.031,226.3,1
TCM_TEMP	15.00	GPS	080707,010117,4659.042,-12527.339,32,1.1,32,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	119	77.56	SBE_CT	1176	24	669.30
Roll_motor	270	60	384.69	nil	0	0	0.00
VBD_pump_during_apogee	302	0	5.49	nil	0	0	0.00
VBD_pump_during_surface	92	0	1.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	111	223	591.21
Transponder_ping	8	420	84.61
GPS	23	50	11.08
TT8	4253	19	813.44
LPSleep	18910	2	419.35
TT8_Active	814	19	155.68
TT8_Sampling	2547	39	976.33
TT8_CF8	2014	45	887.89
TT8_Kalman	33	81	26.25
Analog_circuits	2821	12	325.01
GPS_charging	0	0	0.00
Compass	2456	26	613.26
RAFOS	3240	1	46.66

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
37	end surface: CONTROL_FINISHED_OK
state	38	begin dive
44	-0.83	-116.8	0.0	0.0	0	114	0.00	0.00	-62.80	0.000	6	0.000	0.000	660	1852	2738
121	-0.83	-116.8	2.8	-4.3	10	139	7.15	2.70	0.00	0.000	4	0.000	0.000	2106	3607	2743
255	-0.83	-116.8	18.6	-11.3	31	265	0.05	3.45	0.00	0.000	6	0.000	0.000	2110	1805	2743
627	-0.83	-116.8	59.8	-10.9	92	635	0.05	2.20	0.00	0.000	4	0.000	0.000	2098	404	2742
928	-0.83	-116.8	91.5	-9.9	141	937	0.00	2.67	0.00	0.000	6	0.000	0.000	2118	2087	2746
1259	-0.83	-116.8	123.6	-9.1	166	1264	0.00	3.05	0.00	0.000	4	0.000	0.000	2104	408	2740
1542	-0.83	-116.8	148.5	-9.0	178	1555	0.30	3.55	0.00	0.000	6	0.000	0.000	2043	2030	2745
1866	-0.83	-116.8	179.8	-10.1	194	1873	0.00	3.53	0.00	0.000	4	0.000	0.000	2070	428	2739
2152	-0.83	-116.8	202.4	-6.8	206	2164	0.00	3.75	0.00	0.000	6	0.000	0.000	2059	2187	2743
2476	-0.83	-116.8	226.1	-7.6	222	2481	0.00	3.03	0.00	0.000	4	0.000	0.000	2052	389	2739
2757	-0.83	-116.8	247.8	-7.4	234	2770	0.20	3.25	0.00	0.000	6	0.000	0.000	2113	2146	2740
3081	-0.83	-116.8	270.7	-7.4	250	3088	0.00	3.45	0.00	0.000	4	0.000	0.000	2112	402	2742
3370	-0.83	-116.8	292.0	-7.5	262	3375	0.00	3.10	0.00	0.000	6	0.000	0.000	2107	2174	2740
3689	-0.83	-116.8	316.5	-8.0	277	3696	0.00	3.65	0.00	0.000	4	0.000	0.000	2087	405	2741
3979	-0.83	-116.8	341.8	-8.4	289	3984	0.00	2.90	0.00	0.000	6	0.000	0.000	2107	2188	2745
4298	-0.83	-116.8	369.0	-8.9	304	4305	0.00	3.75	0.00	0.000	4	0.000	0.000	2111	412	2749
4586	-0.83	-116.8	393.0	-8.1	316	4591	0.00	2.72	0.00	0.000	6	0.000	0.000	2098	2087	2747
4905	-0.83	-116.8	420.5	-8.5	331	4910	0.00	2.83	0.00	0.000	4	0.000	0.000	2115	429	2747
5188	-0.83	-116.8	444.8	-8.7	343	5193	0.00	2.60	0.00	0.000	6	0.000	0.000	2102	2101	2745
5507	-0.83	-116.8	470.4	-8.0	358	5514	0.08	3.38	0.00	0.000	4	0.002	0.000	2119	465	2739
5794	-0.83	-116.8	493.3	-7.4	370	5799	0.00	2.83	0.00	0.000	6	0.000	0.000	2095	2220	2744
6132	-0.83	-116.8	517.4	-7.0	380	6137	0.12	2.80	0.00	0.000	4	0.000	0.000	2098	401	2740
6412	-0.83	-116.8	536.9	-6.6	386	6417	0.00	2.75	0.00	0.000	6	0.000	0.000	2102	2206	2739
6729	-0.83	-116.8	556.8	-6.5	394	6733	0.00	2.70	0.00	0.000	4	0.000	0.000	2111	416	2742
7009	-0.83	-116.8	573.9	-6.1	400	7017	0.00	4.93	0.00	0.000	6	0.000	0.000	2102	2172	2744
7331	-0.83	-116.8	596.2	-7.1	408	7338	0.08	3.75	0.00	0.000	4	0.000	0.000	2092	368	2742
7616	-0.83	-116.8	618.2	-7.6	414	7622	0.22	2.80	0.00	0.000	6	0.000	0.000	2057	2138	2751
7933	-0.83	-116.8	642.4	-7.6	422	7938	0.00	2.90	0.00	0.000	4	0.000	0.000	2054	386	2743
8213	-0.83	-116.8	661.6	-6.4	428	8221	0.22	3.12	0.00	0.000	6	0.000	0.000	2121	2158	2743
8534	-0.83	-116.8	681.0	-6.0	436	8539	0.00	2.70	0.00	0.000	4	0.000	0.000	2101	311	2743
8815	-0.83	-116.8	700.0	-6.3	442	8820	0.00	3.00	0.00	0.000	6	0.000	0.000	2095	2222	2741
9131	-0.83	-116.8	720.9	-6.6	450	9136	0.03	2.72	0.00	0.000	4	0.000	0.000	2094	421	2747
9412	-0.83	-116.8	740.9	-7.8	456	9419	0.03	3.25	0.00	0.000	6	0.000	0.000	2077	1957	2739
9732	-0.83	-116.8	763.8	-6.9	464	9740	0.03	3.33	0.00	0.000	4	0.000	0.000	2107	439	2746
10017	-0.83	-116.8	783.7	-6.8	470	10022	0.00	2.60	0.00	0.000	6	0.000	0.000	2103	2121	2746
10333	-0.83	-116.8	805.2	-6.9	478	10341	0.05	3.58	0.00	0.000	4	0.000	0.000	2085	478	2747
10622	-0.83	-116.8	823.8	-6.4	484	10629	0.00	3.35	0.00	0.000	6	0.000	0.000	2106	2123	2737
10943	-0.83	-116.8	842.7	-5.7	492	10948	0.00	2.62	0.00	0.000	4	0.000	0.000	2104	443	2740
11230	-0.83	-116.8	859.3	-5.9	498	11235	0.00	2.60	0.00	0.000	6	0.000	0.000	2089	2132	2741
11547	-0.83	-116.8	876.5	-5.5	506	11555	0.00	3.75	0.00	0.000	4	0.000	0.000	2075	344	2745
11834	-0.83	-116.8	892.9	-6.1	512	11843	0.15	3.75	0.00	0.000	6	0.000	0.000	2046	2129	2746
12156	-0.83	-116.8	912.0	-5.9	520	12162	0.00	3.10	0.00	0.000	4	0.000	0.000	2051	474	2745
12440	-0.83	-116.8	927.7	-5.7	526	12445	0.40	2.50	0.00	0.000	6	0.000	0.000	2140	2174	2749
12757	-0.83	-116.8	945.3	-5.9	534	12765	0.45	3.83	0.00	0.000	4	0.000	0.000	2040	388	2745
13048	-0.83	-116.8	963.0	-5.7	540	13053	0.00	2.90	0.00	0.000	6	0.000	0.000	2062	2222	2744
13359	end dive: BOTTOM_OBSTACLE_DETECTED
state	13359	begin apogee
13372	-0.25	0.0	981.9	6.0	548	13490	0.95	0.00	114.70	0.001	6	0.000	0.000	2237	1815	2261
13490	end apogee: CONTROL_FINISHED_OK
state	13490	begin climb
13496	0.83	116.8	989.0	0.0	551	13618	1.02	3.30	112.50	0.001	4	0.000	0.000	2466	3615	1788
13898	0.83	116.8	981.1	7.8	559	13904	0.40	2.80	0.00	0.000	6	0.000	0.000	2383	1796	1786
14227	0.83	116.8	956.6	7.5	567	14234	0.32	3.33	0.00	0.000	4	0.000	0.000	2469	3506	1781
14516	0.83	116.8	934.7	8.2	573	14524	0.28	3.35	0.00	0.000	6	0.000	0.000	2430	1841	1786
14837	0.83	116.8	908.1	8.3	581	14845	0.00	3.95	0.00	0.000	4	0.000	0.000	2433	3501	1778
15123	0.83	116.8	884.3	8.1	587	15131	0.03	3.55	0.00	0.000	6	0.000	0.000	2436	1838	1783
15444	0.83	116.8	857.5	8.3	595	15445	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1847	1781
15769	0.83	116.8	830.7	8.1	603	15774	0.00	3.15	0.00	0.000	4	0.000	0.000	2428	3503	1781
16050	0.83	116.8	808.3	7.3	609	16057	0.00	3.45	0.00	0.000	6	0.000	0.000	2427	1891	1782
16371	0.83	116.8	783.4	7.8	617	16375	0.00	2.53	0.00	0.000	4	0.000	0.000	2419	3569	1790
16651	0.83	116.8	762.7	7.9	623	16659	0.10	3.75	0.00	0.000	6	0.000	0.000	2426	1791	1790
16973	0.83	123.1	742.4	6.0	631	16984	0.00	2.90	5.35	0.001	4	0.000	0.000	2427	3520	1761
17265	0.84	140.7	726.0	5.6	637	17293	0.00	2.58	16.00	0.000	6	0.000	0.000	2418	1874	1693
17619	0.87	140.7	703.6	6.7	646	17627	0.08	2.70	0.70	0.001	4	0.002	0.000	2469	3518	1689
17902	0.87	140.7	682.6	6.9	652	17907	0.00	2.90	0.00	0.000	6	0.000	0.000	2476	1878	1687
18219	0.87	140.7	658.6	7.7	660	18226	0.00	2.60	0.82	0.001	4	0.000	0.000	2452	3474	1685
18508	0.87	140.7	635.4	8.3	666	18514	0.10	2.70	0.00	0.000	6	0.000	0.000	2495	1860	1687
18825	0.87	140.7	610.7	7.5	674	18827	0.08	0.00	0.00	0.000	6	0.000	0.000	2468	1838	1685
19150	0.87	140.7	587.7	6.9	682	19155	0.00	2.92	0.00	0.000	4	0.000	0.000	2483	3600	1682
19430	0.87	140.7	568.8	7.5	688	19437	0.00	3.45	0.00	0.000	6	0.000	0.000	2478	1804	1688
19751	0.87	140.7	547.7	6.7	696	19759	0.50	3.55	0.00	0.000	4	0.000	0.000	2394	3562	1685
20041	0.87	140.7	527.0	6.7	702	20050	0.60	3.47	0.08	0.000	6	0.000	0.000	2508	1929	1687
20362	0.87	140.7	504.6	6.8	710	20370	0.68	3.35	0.00	0.000	4	0.000	0.000	2391	3467	1680
20645	0.87	140.7	485.7	7.0	720	20658	0.62	3.05	0.00	0.000	6	0.000	0.000	2522	1929	1680
20968	0.87	140.7	463.3	7.2	736	20976	0.52	3.25	0.00	0.000	4	0.000	0.000	2419	3582	1684
21251	0.87	140.7	442.3	8.1	748	21257	0.00	3.00	0.00	0.000	6	0.000	0.000	2407	1812	1689
21570	0.87	140.7	419.7	6.9	763	21576	0.03	3.10	0.00	0.000	4	0.000	0.000	2477	3574	1683
21857	0.87	140.7	400.7	6.3	775	21869	0.03	3.58	0.00	0.000	6	0.000	0.000	2463	1902	1679
22180	0.87	140.7	379.3	6.9	791	22186	0.32	2.92	0.00	0.000	4	0.000	0.000	2392	3556	1684
22460	0.87	140.7	360.3	7.6	803	22472	0.43	3.00	0.00	0.000	6	0.000	0.000	2470	1763	1686
22783	0.87	140.7	338.4	6.7	819	22791	0.05	3.72	0.00	0.000	4	0.000	0.000	2484	3520	1685
23074	0.87	145.0	318.3	6.1	831	23088	0.38	3.30	2.80	0.001	6	0.000	0.000	2387	1750	1668
23398	0.88	145.0	295.8	6.9	847	23406	0.38	3.62	0.00	0.000	4	0.000	0.000	2477	3535	1674
23682	0.88	145.0	276.5	7.1	859	23687	0.17	2.62	0.00	0.000	6	0.000	0.000	2450	1861	1675
24001	0.88	146.3	256.8	6.2	874	24010	0.08	2.60	1.52	0.001	4	0.000	0.000	2497	3532	1662
24285	0.88	156.7	239.6	5.9	886	24301	0.00	3.22	10.20	0.001	6	0.000	0.000	2497	1774	1622
24632	0.90	156.7	218.4	6.4	903	24640	0.08	3.75	0.00	0.000	4	0.000	0.000	2473	3586	1628
24927	0.90	156.7	199.3	6.3	915	24939	0.03	3.65	0.00	0.000	6	0.000	0.000	2488	1773	1625
25250	0.90	156.7	177.3	6.4	931	25257	0.00	3.40	0.00	0.000	4	0.000	0.000	2476	3622	1622
25540	0.90	156.7	157.1	7.5	943	25545	0.12	2.70	0.00	0.000	6	0.000	0.000	2430	1851	1624
25859	0.90	156.7	135.1	6.9	958	25866	0.00	3.35	0.00	0.000	4	0.000	0.000	2448	3524	1618
26050	0.90	195.9	122.0	4.8	966	26091	0.00	2.62	31.67	0.001	6	0.000	0.000	2443	1842	1464
26407	0.96	201.0	100.8	6.1	983	26423	0.40	0.00	4.05	0.001	6	0.000	0.000	2540	1833	1440
26799	0.97	203.0	81.7	6.2	1044	26807	0.30	0.00	1.60	0.001	6	0.000	0.000	2480	1824	1430
27170	0.97	203.0	53.7	8.9	1105	27178	0.00	2.50	0.00	0.000	4	0.000	0.000	2455	3504	1436
27471	0.97	203.0	29.0	7.9	1154	27480	0.00	2.70	0.00	0.000	6	0.000	0.000	2471	1820	1432
27803	end climb: SURFACE_DEPTH_REACHED
state	27803	begin surface coast
27827	end surface coast: CONTROL_FINISHED_OK
state	27827	begin surface