Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 153 * 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 153 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 2200 ALTIM_PULSE 3

D_FINISH 0 SM_CC 350 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 32 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 32 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 600 N_NOSURFACE 0 ROLL_ADJ_GAIN 10 DEVICE2 20

T_MISSION 660 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 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 -212656.59 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 120 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 350

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 3 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 600

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 -212656.59

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 660

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 10 T_NO_W 120

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 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 2200 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 32 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 32 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 153 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 031900,4804.070,-12538.826,55,1.1,62,18.9 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 -0.177,-0.082

_SM_DEPTHo 1.12 KALMAN_X -5191.5,2100.9,67745.9,-116227.9,-58479.1

_SM_ANGLEo -69.4 KALMAN_Y 136666.0,2331.6,62615.2,-80392.8,-63250.2

GPS2 032350,4804.027,-12538.782,14,1.0,14,18.9 MHEAD_RNG_PITCHd_Wd 226.4,214186,-11.5,-5.500

SPEED_LIMITS 0.095,0.195 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.008174 ALTIM_BOTTOM_PING 477.4,43.4

SM_CCo 17564,46.40,0.792,0,0,1409,350.04 _24V_AH 23.0,55.500

SM_GC 1.20,0.00,0.00,46.40,0.000,0.000,0.792,863,2176,1409,-8.91,-0.68,350.04 _10V_AH 10.5,38.246

IRIDIUM_FIX 4801.38,-12541.66,170198,232353 DATA_FILE_SIZE 44258,905

TT8_MAMPS 0.027612 CAP_FILE_SIZE 128505,0

HUMID 2059 CFSIZE 260165632,248528896

INTERNAL_PRESSURE 8.70151 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.90 GPS 241008,081931,4803.727,-12540.951,40,1.8,40,18.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 148 95.67 SBE_CT 616 24 340.51

Roll_motor 120 82 227.83 SBE_O2 718 19 313.88

VBD_pump_during_apogee 323 1165 8680.47 WL_BB2F 1305 105 3153.35

VBD_pump_during_surface 46 791 844.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 56.31 nil 0 0 0.00

Iridium_during_connect 27 160 101.19 nil 0 0 0.00

Iridium_during_xfer 132 223 680.49

Transponder_ping 4 420 38.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.29

TT8 1642 19 341.57

LPSleep 13323 2 306.37

TT8_Active 514 19 107.02

TT8_Sampling 2015 39 842.34

TT8_CF8 405 45 195.05

TT8_Kalman 33 81 28.64

Analog_circuits 1439 12 181.42

GPS_charging 0 0 0.00

Compass 1992 8 167.35

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.67 -117.3 0.0 0.0 0 85 0.00 0.00 -61.67 0.000 2 0.000 0.000 864 2217 2794

88 -0.67 -117.3 3.4 -5.9 6 121 12.30 2.35 -11.73 0.000 4 0.148 0.077 2649 3593 3317

160 -0.46 -117.3 16.2 -12.3 12 167 0.28 2.22 0.00 0.000 6 0.081 0.041 2695 2190 3317

486 -0.46 -117.3 39.1 -6.6 43 487 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2184 3317

821 -0.52 -117.3 61.0 -7.2 101 827 0.00 2.25 0.00 0.000 4 0.000 0.059 2695 799 3317

862 -0.61 -117.3 64.0 -7.3 108 869 0.15 2.15 0.00 0.000 6 0.052 0.044 2660 2182 3317

1205 -0.56 -117.3 88.6 -6.2 158 1209 0.00 2.35 0.00 0.000 4 0.000 0.067 2660 3605 3317

1316 -0.51 -117.3 96.0 -7.0 167 1323 0.15 2.08 0.00 0.000 6 0.082 0.041 2686 2268 3317

1643 -0.61 -117.3 110.9 -4.9 198 1647 0.00 2.22 0.00 0.000 4 0.000 0.068 2686 3602 3318

1664 -0.70 -117.3 112.4 -6.0 199 1671 0.17 2.08 0.00 0.000 6 0.041 0.042 2635 2287 3318

1989 -0.59 -117.3 133.8 -7.0 230 1994 0.15 2.45 0.00 0.000 4 0.085 0.061 2665 788 3317

2021 -0.59 -117.3 136.1 -6.8 232 2028 0.00 2.40 0.00 0.000 6 0.000 0.048 2665 2299 3317

2345 -0.59 -117.3 155.5 -6.1 259 2349 0.00 2.42 0.00 0.000 4 0.000 0.059 2665 792 3317

2412 -0.66 -117.3 160.0 -6.8 262 2416 0.00 2.28 0.00 0.000 6 0.000 0.047 2665 2245 3317

2739 -0.66 -117.3 178.0 -4.9 278 2740 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2245 3317

3048 -0.66 -117.3 192.3 -4.9 293 3052 0.00 2.35 0.00 0.000 4 0.000 0.061 2664 787 3317

3081 -0.70 -117.3 194.2 -5.6 294 3088 0.00 2.25 0.00 0.000 6 0.000 0.047 2664 2235 3317

3397 -0.70 -117.3 210.5 -5.2 310 3398 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2235 3317

3707 -0.74 -117.3 225.2 -4.7 325 3709 0.15 0.00 0.00 0.000 6 0.058 0.000 2632 2235 3317

4016 -0.65 -117.3 245.5 -6.6 340 4020 0.15 2.35 0.00 0.000 4 0.086 0.061 2661 792 3317

4078 -0.70 -117.3 249.0 -5.8 343 4082 0.00 2.20 0.00 0.000 6 0.000 0.048 2661 2194 3317

4405 -0.70 -117.3 264.8 -4.7 359 4406 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2194 3317

4714 -0.70 -117.3 279.3 -4.4 374 4715 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2194 3317

5023 -0.70 -117.3 293.9 -4.8 389 5024 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2194 3317

5349 -0.70 -117.3 309.5 -4.8 399 5350 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2194 3317

5653 -0.70 -117.3 325.9 -5.4 404 5654 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2194 3317

5955 -0.70 -117.3 341.6 -5.1 409 5956 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2194 3316

6258 -0.70 -117.3 356.0 -4.8 414 6262 0.00 2.30 0.00 0.000 4 0.000 0.066 2661 786 3316

6285 -0.76 -117.3 357.6 -5.9 414 6289 0.15 2.22 0.00 0.000 6 0.058 0.048 2629 2205 3316

6622 -0.68 -117.3 380.1 -6.9 420 6626 0.12 2.33 0.00 0.000 4 0.094 0.073 2650 3602 3315

6676 -0.68 -117.3 383.9 -6.8 420 6683 0.00 2.15 0.00 0.000 6 0.000 0.045 2650 2247 3315

6986 -0.68 -117.3 401.9 -5.9 426 6990 0.00 2.38 0.00 0.000 4 0.000 0.068 2649 793 3315

7018 -0.68 -117.3 403.9 -6.4 426 7022 0.00 2.30 0.00 0.000 6 0.000 0.049 2650 2251 3315

7350 -0.68 -117.3 424.0 -6.0 432 7354 0.00 2.40 0.00 0.000 4 0.000 0.069 2650 791 3315

7382 -0.68 -117.3 426.2 -7.0 432 7386 0.00 2.30 0.00 0.000 6 0.000 0.049 2650 2230 3315

7714 -0.68 -117.3 448.5 -6.9 438 7718 0.00 2.35 0.00 0.000 4 0.000 0.071 2650 803 3315

7752 -0.68 -117.3 450.9 -6.0 438 7756 0.00 2.25 0.00 0.000 6 0.000 0.050 2650 2227 3314

8078 -0.68 -117.3 470.3 -5.7 444 8079 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2227 3314

8381 -0.68 -117.3 487.9 -5.7 449 8382 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2227 3313

8684 -0.68 -117.3 505.4 -5.8 454 8685 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2227 3313

8803 end dive: BOTTOM_OBSTACLE_DETECTED

state 8803 begin apogee

8808 -0.23 0.0 512.2 5.7 456 8908 0.57 0.00 96.18 1.166 6 0.071 0.000 2750 2227 2837

8908 end apogee: CONTROL_FINISHED_OK

state 8908 begin climb

8910 0.67 117.3 513.8 0.0 457 9020 1.08 2.53 100.22 1.115 4 0.046 0.076 2942 3606 2357

9054 0.41 117.3 511.2 7.0 459 9059 0.32 2.40 0.00 0.000 6 0.089 0.048 2893 2200 2357

9396 0.43 129.3 493.8 5.1 465 9414 0.00 2.40 11.62 1.046 4 0.000 0.082 2893 786 2309

9449 0.43 133.2 491.0 5.4 465 9461 0.00 2.30 5.45 0.855 6 0.000 0.054 2893 2200 2293

9763 0.45 145.6 474.9 5.1 471 9777 0.00 0.00 11.77 1.054 6 0.000 0.000 2893 2199 2243

10066 0.46 155.7 458.7 5.2 476 10078 0.00 0.00 10.20 1.033 6 0.000 0.000 2893 2200 2202

10370 0.52 155.7 441.1 6.0 481 10374 0.00 2.38 0.00 0.000 4 0.000 0.075 2893 787 2202

10424 0.52 155.7 437.6 5.9 481 10431 0.00 2.33 0.00 0.000 6 0.000 0.053 2893 2235 2202

10734 0.57 155.7 420.3 5.6 487 10739 0.15 2.40 0.00 0.000 4 0.061 0.073 2929 789 2202

10818 0.46 155.7 414.6 6.8 488 10822 0.15 2.10 0.00 0.000 6 0.093 0.052 2904 2112 2202

11166 0.46 155.7 394.3 5.9 494 11167 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 2112 2202

11469 0.46 157.6 377.7 5.4 499 11470 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 2112 2202

11772 0.48 168.6 361.9 5.2 504 11791 0.00 2.55 12.35 1.032 4 0.000 0.073 2903 3603 2149

11814 0.48 168.6 359.0 7.0 504 11818 0.00 2.45 0.00 0.000 6 0.000 0.048 2904 2076 2149

12140 0.48 168.6 339.9 5.9 510 12141 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 2076 2150

12443 0.52 168.6 322.8 5.6 515 12448 0.00 2.58 0.00 0.000 4 0.000 0.071 2903 3610 2149

12498 0.52 168.6 319.4 6.3 515 12505 0.00 2.42 0.00 0.000 6 0.000 0.049 2904 2083 2148

12808 0.58 181.4 303.5 5.1 521 12823 0.00 0.00 12.57 1.000 6 0.000 0.000 2904 2083 2097

13116 0.65 183.4 287.6 5.4 532 13117 0.20 0.00 0.00 0.000 6 0.054 0.000 2946 2083 2097

13424 0.56 183.4 264.1 7.9 547 13426 0.12 0.00 0.00 0.000 6 0.097 0.000 2925 2083 2097

13734 0.56 183.4 241.4 7.1 562 13735 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2083 2097

14042 0.56 183.4 221.0 6.0 577 14047 0.00 2.55 0.00 0.000 4 0.000 0.070 2925 3606 2097

14092 0.56 183.4 217.7 6.9 579 14096 0.00 2.40 0.00 0.000 6 0.000 0.047 2925 2098 2097

14413 0.56 183.4 199.3 6.1 595 14417 0.00 2.15 0.00 0.000 4 0.000 0.069 2925 783 2097

14440 0.56 183.4 197.6 6.9 596 14444 0.00 2.12 0.00 0.000 6 0.000 0.050 2925 2112 2097

14767 0.56 183.4 173.8 8.1 612 14768 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2113 2097

15077 0.56 183.4 148.3 7.3 628 15089 0.00 2.20 3.88 0.633 4 0.000 0.067 2925 786 2089

15151 0.56 183.4 143.4 6.4 634 15157 0.00 1.98 0.00 0.000 6 0.000 0.049 2925 2060 2089

15477 0.60 216.0 127.1 4.5 665 15511 0.00 2.65 28.02 0.920 4 0.000 0.069 2925 3607 1956

15560 0.60 216.0 122.1 6.6 672 15567 0.00 2.50 0.00 0.000 6 0.000 0.047 2925 2059 1956

15888 0.60 216.0 102.8 6.4 703 15889 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2059 1956

16205 0.67 216.0 82.1 6.9 733 16206 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2059 1956

16539 0.77 216.0 60.5 6.2 790 16546 0.17 2.58 0.00 0.000 4 0.055 0.067 2967 3606 1957

16679 0.68 216.0 48.9 8.1 814 16685 0.00 2.40 0.00 0.000 6 0.000 0.046 2967 2088 1957

17017 0.69 223.6 28.5 5.3 857 17032 0.00 2.15 8.57 0.792 4 0.000 0.066 2967 788 1925

17152 0.71 243.0 21.4 4.9 869 17174 0.00 1.92 17.40 0.834 6 0.000 0.048 2967 2017 1845

17492 0.72 253.7 2.3 5.2 901 17504 0.00 2.60 5.47 0.670 4 0.000 0.064 2967 3606 1801

17507 end climb: SURFACE_DEPTH_REACHED

state 17507 begin surface coast

17542 end surface coast: CONTROL_FINISHED_OK

state 17542 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	153	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	2200	ALTIM_PULSE	3
D_FINISH	0	SM_CC	350	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	32	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	32	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	600	N_NOSURFACE	0	ROLL_ADJ_GAIN	10	DEVICE2	20
T_MISSION	660	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	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	-212656.59	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	120	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	031900,4804.070,-12538.826,55,1.1,62,18.9	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	-0.177,-0.082
_SM_DEPTHo	1.12	KALMAN_X	-5191.5,2100.9,67745.9,-116227.9,-58479.1
_SM_ANGLEo	-69.4	KALMAN_Y	136666.0,2331.6,62615.2,-80392.8,-63250.2
GPS2	032350,4804.027,-12538.782,14,1.0,14,18.9	MHEAD_RNG_PITCHd_Wd	226.4,214186,-11.5,-5.500
SPEED_LIMITS	0.095,0.195	D_GRID	990

FINISH	0.3,1.008174	ALTIM_BOTTOM_PING	477.4,43.4
SM_CCo	17564,46.40,0.792,0,0,1409,350.04	_24V_AH	23.0,55.500
SM_GC	1.20,0.00,0.00,46.40,0.000,0.000,0.792,863,2176,1409,-8.91,-0.68,350.04	_10V_AH	10.5,38.246
IRIDIUM_FIX	4801.38,-12541.66,170198,232353	DATA_FILE_SIZE	44258,905
TT8_MAMPS	0.027612	CAP_FILE_SIZE	128505,0
HUMID	2059	CFSIZE	260165632,248528896
INTERNAL_PRESSURE	8.70151	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.90	GPS	241008,081931,4803.727,-12540.951,40,1.8,40,18.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	148	95.67	SBE_CT	616	24	340.51
Roll_motor	120	82	227.83	SBE_O2	718	19	313.88
VBD_pump_during_apogee	323	1165	8680.47	WL_BB2F	1305	105	3153.35
VBD_pump_during_surface	46	791	844.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	56.31	nil	0	0	0.00
Iridium_during_connect	27	160	101.19	nil	0	0	0.00
Iridium_during_xfer	132	223	680.49
Transponder_ping	4	420	38.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.29
TT8	1642	19	341.57
LPSleep	13323	2	306.37
TT8_Active	514	19	107.02
TT8_Sampling	2015	39	842.34
TT8_CF8	405	45	195.05
TT8_Kalman	33	81	28.64
Analog_circuits	1439	12	181.42
GPS_charging	0	0	0.00
Compass	1992	8	167.35
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.67	-117.3	0.0	0.0	0	85	0.00	0.00	-61.67	0.000	2	0.000	0.000	864	2217	2794
88	-0.67	-117.3	3.4	-5.9	6	121	12.30	2.35	-11.73	0.000	4	0.148	0.077	2649	3593	3317
160	-0.46	-117.3	16.2	-12.3	12	167	0.28	2.22	0.00	0.000	6	0.081	0.041	2695	2190	3317
486	-0.46	-117.3	39.1	-6.6	43	487	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2184	3317
821	-0.52	-117.3	61.0	-7.2	101	827	0.00	2.25	0.00	0.000	4	0.000	0.059	2695	799	3317
862	-0.61	-117.3	64.0	-7.3	108	869	0.15	2.15	0.00	0.000	6	0.052	0.044	2660	2182	3317
1205	-0.56	-117.3	88.6	-6.2	158	1209	0.00	2.35	0.00	0.000	4	0.000	0.067	2660	3605	3317
1316	-0.51	-117.3	96.0	-7.0	167	1323	0.15	2.08	0.00	0.000	6	0.082	0.041	2686	2268	3317
1643	-0.61	-117.3	110.9	-4.9	198	1647	0.00	2.22	0.00	0.000	4	0.000	0.068	2686	3602	3318
1664	-0.70	-117.3	112.4	-6.0	199	1671	0.17	2.08	0.00	0.000	6	0.041	0.042	2635	2287	3318
1989	-0.59	-117.3	133.8	-7.0	230	1994	0.15	2.45	0.00	0.000	4	0.085	0.061	2665	788	3317
2021	-0.59	-117.3	136.1	-6.8	232	2028	0.00	2.40	0.00	0.000	6	0.000	0.048	2665	2299	3317
2345	-0.59	-117.3	155.5	-6.1	259	2349	0.00	2.42	0.00	0.000	4	0.000	0.059	2665	792	3317
2412	-0.66	-117.3	160.0	-6.8	262	2416	0.00	2.28	0.00	0.000	6	0.000	0.047	2665	2245	3317
2739	-0.66	-117.3	178.0	-4.9	278	2740	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2245	3317
3048	-0.66	-117.3	192.3	-4.9	293	3052	0.00	2.35	0.00	0.000	4	0.000	0.061	2664	787	3317
3081	-0.70	-117.3	194.2	-5.6	294	3088	0.00	2.25	0.00	0.000	6	0.000	0.047	2664	2235	3317
3397	-0.70	-117.3	210.5	-5.2	310	3398	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2235	3317
3707	-0.74	-117.3	225.2	-4.7	325	3709	0.15	0.00	0.00	0.000	6	0.058	0.000	2632	2235	3317
4016	-0.65	-117.3	245.5	-6.6	340	4020	0.15	2.35	0.00	0.000	4	0.086	0.061	2661	792	3317
4078	-0.70	-117.3	249.0	-5.8	343	4082	0.00	2.20	0.00	0.000	6	0.000	0.048	2661	2194	3317
4405	-0.70	-117.3	264.8	-4.7	359	4406	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2194	3317
4714	-0.70	-117.3	279.3	-4.4	374	4715	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2194	3317
5023	-0.70	-117.3	293.9	-4.8	389	5024	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2194	3317
5349	-0.70	-117.3	309.5	-4.8	399	5350	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2194	3317
5653	-0.70	-117.3	325.9	-5.4	404	5654	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2194	3317
5955	-0.70	-117.3	341.6	-5.1	409	5956	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2194	3316
6258	-0.70	-117.3	356.0	-4.8	414	6262	0.00	2.30	0.00	0.000	4	0.000	0.066	2661	786	3316
6285	-0.76	-117.3	357.6	-5.9	414	6289	0.15	2.22	0.00	0.000	6	0.058	0.048	2629	2205	3316
6622	-0.68	-117.3	380.1	-6.9	420	6626	0.12	2.33	0.00	0.000	4	0.094	0.073	2650	3602	3315
6676	-0.68	-117.3	383.9	-6.8	420	6683	0.00	2.15	0.00	0.000	6	0.000	0.045	2650	2247	3315
6986	-0.68	-117.3	401.9	-5.9	426	6990	0.00	2.38	0.00	0.000	4	0.000	0.068	2649	793	3315
7018	-0.68	-117.3	403.9	-6.4	426	7022	0.00	2.30	0.00	0.000	6	0.000	0.049	2650	2251	3315
7350	-0.68	-117.3	424.0	-6.0	432	7354	0.00	2.40	0.00	0.000	4	0.000	0.069	2650	791	3315
7382	-0.68	-117.3	426.2	-7.0	432	7386	0.00	2.30	0.00	0.000	6	0.000	0.049	2650	2230	3315
7714	-0.68	-117.3	448.5	-6.9	438	7718	0.00	2.35	0.00	0.000	4	0.000	0.071	2650	803	3315
7752	-0.68	-117.3	450.9	-6.0	438	7756	0.00	2.25	0.00	0.000	6	0.000	0.050	2650	2227	3314
8078	-0.68	-117.3	470.3	-5.7	444	8079	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2227	3314
8381	-0.68	-117.3	487.9	-5.7	449	8382	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2227	3313
8684	-0.68	-117.3	505.4	-5.8	454	8685	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2227	3313
8803	end dive: BOTTOM_OBSTACLE_DETECTED
state	8803	begin apogee
8808	-0.23	0.0	512.2	5.7	456	8908	0.57	0.00	96.18	1.166	6	0.071	0.000	2750	2227	2837
8908	end apogee: CONTROL_FINISHED_OK
state	8908	begin climb
8910	0.67	117.3	513.8	0.0	457	9020	1.08	2.53	100.22	1.115	4	0.046	0.076	2942	3606	2357
9054	0.41	117.3	511.2	7.0	459	9059	0.32	2.40	0.00	0.000	6	0.089	0.048	2893	2200	2357
9396	0.43	129.3	493.8	5.1	465	9414	0.00	2.40	11.62	1.046	4	0.000	0.082	2893	786	2309
9449	0.43	133.2	491.0	5.4	465	9461	0.00	2.30	5.45	0.855	6	0.000	0.054	2893	2200	2293
9763	0.45	145.6	474.9	5.1	471	9777	0.00	0.00	11.77	1.054	6	0.000	0.000	2893	2199	2243
10066	0.46	155.7	458.7	5.2	476	10078	0.00	0.00	10.20	1.033	6	0.000	0.000	2893	2200	2202
10370	0.52	155.7	441.1	6.0	481	10374	0.00	2.38	0.00	0.000	4	0.000	0.075	2893	787	2202
10424	0.52	155.7	437.6	5.9	481	10431	0.00	2.33	0.00	0.000	6	0.000	0.053	2893	2235	2202
10734	0.57	155.7	420.3	5.6	487	10739	0.15	2.40	0.00	0.000	4	0.061	0.073	2929	789	2202
10818	0.46	155.7	414.6	6.8	488	10822	0.15	2.10	0.00	0.000	6	0.093	0.052	2904	2112	2202
11166	0.46	155.7	394.3	5.9	494	11167	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	2112	2202
11469	0.46	157.6	377.7	5.4	499	11470	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	2112	2202
11772	0.48	168.6	361.9	5.2	504	11791	0.00	2.55	12.35	1.032	4	0.000	0.073	2903	3603	2149
11814	0.48	168.6	359.0	7.0	504	11818	0.00	2.45	0.00	0.000	6	0.000	0.048	2904	2076	2149
12140	0.48	168.6	339.9	5.9	510	12141	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	2076	2150
12443	0.52	168.6	322.8	5.6	515	12448	0.00	2.58	0.00	0.000	4	0.000	0.071	2903	3610	2149
12498	0.52	168.6	319.4	6.3	515	12505	0.00	2.42	0.00	0.000	6	0.000	0.049	2904	2083	2148
12808	0.58	181.4	303.5	5.1	521	12823	0.00	0.00	12.57	1.000	6	0.000	0.000	2904	2083	2097
13116	0.65	183.4	287.6	5.4	532	13117	0.20	0.00	0.00	0.000	6	0.054	0.000	2946	2083	2097
13424	0.56	183.4	264.1	7.9	547	13426	0.12	0.00	0.00	0.000	6	0.097	0.000	2925	2083	2097
13734	0.56	183.4	241.4	7.1	562	13735	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2083	2097
14042	0.56	183.4	221.0	6.0	577	14047	0.00	2.55	0.00	0.000	4	0.000	0.070	2925	3606	2097
14092	0.56	183.4	217.7	6.9	579	14096	0.00	2.40	0.00	0.000	6	0.000	0.047	2925	2098	2097
14413	0.56	183.4	199.3	6.1	595	14417	0.00	2.15	0.00	0.000	4	0.000	0.069	2925	783	2097
14440	0.56	183.4	197.6	6.9	596	14444	0.00	2.12	0.00	0.000	6	0.000	0.050	2925	2112	2097
14767	0.56	183.4	173.8	8.1	612	14768	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2113	2097
15077	0.56	183.4	148.3	7.3	628	15089	0.00	2.20	3.88	0.633	4	0.000	0.067	2925	786	2089
15151	0.56	183.4	143.4	6.4	634	15157	0.00	1.98	0.00	0.000	6	0.000	0.049	2925	2060	2089
15477	0.60	216.0	127.1	4.5	665	15511	0.00	2.65	28.02	0.920	4	0.000	0.069	2925	3607	1956
15560	0.60	216.0	122.1	6.6	672	15567	0.00	2.50	0.00	0.000	6	0.000	0.047	2925	2059	1956
15888	0.60	216.0	102.8	6.4	703	15889	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2059	1956
16205	0.67	216.0	82.1	6.9	733	16206	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2059	1956
16539	0.77	216.0	60.5	6.2	790	16546	0.17	2.58	0.00	0.000	4	0.055	0.067	2967	3606	1957
16679	0.68	216.0	48.9	8.1	814	16685	0.00	2.40	0.00	0.000	6	0.000	0.046	2967	2088	1957
17017	0.69	223.6	28.5	5.3	857	17032	0.00	2.15	8.57	0.792	4	0.000	0.066	2967	788	1925
17152	0.71	243.0	21.4	4.9	869	17174	0.00	1.92	17.40	0.834	6	0.000	0.048	2967	2017	1845
17492	0.72	253.7	2.3	5.2	901	17504	0.00	2.60	5.47	0.670	4	0.000	0.064	2967	3606	1801
17507	end climb: SURFACE_DEPTH_REACHED
state	17507	begin surface coast
17542	end surface coast: CONTROL_FINISHED_OK
state	17542	begin surface