Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 101 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 28 ESCAPE_HEADING 60 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 180 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3635 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.150002 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -125.67 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 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 294 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3583 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2564 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -691199.94 VBD_PUMP_AD_RATE_APOGEE 2 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 29 AH0_24V 91.800003 SEABIRD_T_G 0.0043762224

SPEED_FACTOR 0.94999993 PITCH_MAX 3302 AH0_10V 61.200001 SEABIRD_T_H 0.0006433985

RHO 1.023 C_PITCH 2500 PRESSURE_YINT -14.435382 SEABIRD_T_I 2.5567888e-05

MASS 50300 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.722762e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.209094

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -1.3 SEABIRD_C_H 1.1488034

KALMAN_USE 1 PITCH_GAIN 11 TCM_ROLL_OFFSET -0.2 SEABIRD_C_I -0.0015548224

HD_A 0.0034169999 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00021813136

HD_B 0.0095870001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 11 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3302 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 29 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 17 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 60 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET -1.3

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET -0.2

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.435382 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -691199.94

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 101 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3635 T_WATCHDOG 10

C_PITCH 2500 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 180 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2600 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2564 MASS 50300 R_PORT_OVSHOOT 14 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 VBD_BLEED_AD_RATE 10

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.209094 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1488034 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015548224 VBD_MAX 3583

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021813136 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043762224 VBD_MIN 294

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006433985 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5567888e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 28 PHONE_DEVICE 48 SEABIRD_T_J 2.722762e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 164238,4753.542,-12608.463,29,1.4,29,18.8 TGT_NAME SW_47N_128W

_CALLS 5 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.239,-0.102

_SM_DEPTHo 1.44 KALMAN_X 15850.5,-426.1,-228.5,-52778.2,2114.9

_SM_ANGLEo -62.8 KALMAN_Y 788.0,132.2,4.8,-27383.2,204.6

GPS2 165851,4753.500,-12608.604,14,1.5,14,18.8 MHEAD_RNG_PITCHd_Wd 228.1,172086,-17.9,-10.000

SPEED_LIMITS 0.165,0.247 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.8,1.024329 ALTIM_TOP_PING 19.1,18.0

SM_CCo 17850,47.58,0.755,0,0,933,400.08 _24V_AH 23.2,7.484

SM_GC 2.22,0.00,0.00,47.58,0.000,0.000,0.755,33,2606,933,-11.35,0.17,400.08 _10V_AH 10.1,3.370

IRIDIUM_FIX 4735.69,-12602.11,290697,171754 DATA_FILE_SIZE 31645,608

TT8_MAMPS 0.026078 CAP_FILE_SIZE 134881,0

HUMID 1805 CFSIZE 260165632,256851968

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

TCM_TEMP 17.20 GPS 040408,215937,4752.729,-12612.497,41,1.2,41,18.8

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 159 110.57 SBE_CT 422 24 235.33

Roll_motor 170 98 390.75 SBE_O2 496 19 218.72

VBD_pump_during_apogee 424 1461 14382.98 WL_BB2F 688 105 1676.81

VBD_pump_during_surface 47 754 833.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 148 103 355.12 nil 0 0 0.00

Iridium_during_connect 330 160 1225.58 nil 0 0 0.00

Iridium_during_xfer 125 223 651.57

Transponder_ping 9 420 90.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.18

TT8 1340 19 268.13

LPSleep 13805 2 305.37

TT8_Active 597 19 119.54

TT8_Sampling 2152 39 865.36

TT8_CF8 987 45 456.80

TT8_Kalman 33 81 27.58

Analog_circuits 1660 12 201.26

GPS_charging 0 0 0.00

Compass 2093 8 169.19

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.81 -146.6 0.0 0.0 0 78 0.00 0.00 -49.97 0.000 2 0.000 0.000 34 2601 1981

83 -1.81 -146.6 3.2 -5.0 5 137 11.55 2.00 -34.58 0.000 4 0.160 0.099 2098 3626 3162

285 -1.81 -146.6 41.9 -19.4 23 292 0.00 1.88 0.00 0.000 6 0.000 0.047 2098 2575 3162

629 -1.81 -146.6 102.7 -16.3 73 633 0.00 2.45 0.00 0.000 4 0.000 0.051 2098 1196 3162

693 -1.81 -146.6 112.6 -15.5 78 697 0.00 2.53 0.00 0.000 6 0.000 0.045 2098 2602 3162

1030 -1.81 -146.6 162.7 -14.4 105 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2602 3162

1336 -1.81 -146.6 205.6 -13.1 120 1341 0.00 2.53 0.00 0.000 4 0.000 0.050 2098 1198 3162

1392 -1.81 -146.6 213.5 -13.5 122 1399 0.00 2.53 0.00 0.000 6 0.000 0.047 2098 2609 3162

1709 -1.81 -146.6 257.6 -14.2 138 1713 0.00 2.53 0.00 0.000 4 0.000 0.051 2098 1205 3162

1753 -1.81 -146.6 264.1 -14.1 140 1758 0.00 2.50 0.00 0.000 6 0.000 0.048 2098 2600 3162

2074 -1.81 -146.6 309.1 -13.9 154 2078 0.00 2.53 0.00 0.000 4 0.000 0.053 2098 1202 3162

2113 -1.81 -146.6 314.5 -14.0 154 2117 0.00 2.53 0.00 0.000 6 0.000 0.051 2098 2604 3162

2434 -1.81 -146.6 357.4 -13.3 160 2435 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2604 3162

2736 -1.81 -146.6 396.1 -12.8 165 2741 0.00 2.60 0.00 0.000 4 0.000 0.065 2098 1198 3161

2781 -1.81 -146.6 402.1 -13.1 165 2786 0.00 2.58 0.00 0.000 6 0.000 0.062 2098 2598 3161

3097 -1.81 -146.6 445.0 -13.8 171 3101 0.00 2.62 0.00 0.000 4 0.000 0.074 2098 1202 3161

3141 -1.81 -146.6 451.3 -14.0 171 3146 0.00 2.62 0.00 0.000 6 0.000 0.071 2098 2602 3161

3456 -1.81 -146.6 493.0 -13.1 177 3461 0.00 2.70 0.00 0.000 4 0.000 0.090 2098 1209 3161

3501 -1.81 -146.6 498.7 -12.9 177 3506 0.00 2.70 0.00 0.000 6 0.000 0.089 2098 2598 3161

3816 -1.81 -146.6 535.2 -11.3 183 3817 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2598 3160

4121 -1.81 -146.6 573.1 -12.5 188 4122 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2598 3160

4422 -1.81 -146.6 610.9 -12.4 193 4427 0.00 2.70 0.00 0.000 4 0.000 0.090 2098 1206 3160

4473 -1.81 -146.6 617.3 -12.6 193 4477 0.00 2.70 0.00 0.000 6 0.000 0.088 2098 2600 3159

4784 -1.81 -146.6 654.6 -12.1 198 4785 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2600 3159

5086 -1.81 -146.6 691.3 -12.2 203 5090 0.00 2.70 0.00 0.000 4 0.000 0.087 2098 1199 3158

5130 -1.81 -146.6 696.9 -12.6 203 5135 0.00 2.70 0.00 0.000 6 0.000 0.085 2098 2601 3158

5446 -1.81 -146.6 734.9 -12.1 209 5450 0.00 2.67 0.00 0.000 4 0.000 0.086 2098 1209 3157

5479 -1.81 -146.6 739.0 -11.6 209 5484 0.00 2.67 0.00 0.000 6 0.000 0.083 2098 2603 3158

5806 -1.81 -146.6 777.5 -11.8 215 5810 0.00 2.67 0.00 0.000 4 0.000 0.085 2098 1208 3157

5850 -1.81 -146.6 782.9 -11.5 215 5855 0.00 2.67 0.00 0.000 6 0.000 0.083 2098 2601 3157

6165 -1.81 -146.6 818.7 -11.3 221 6170 0.00 2.67 0.00 0.000 4 0.000 0.084 2098 1206 3157

6199 -1.81 -146.6 822.4 -11.4 221 6203 0.00 2.67 0.00 0.000 6 0.000 0.081 2098 2604 3156

6526 -1.81 -146.6 855.7 -10.2 227 6527 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2604 3156

6828 -1.81 -146.6 887.6 -10.6 232 6832 0.00 2.67 0.00 0.000 4 0.000 0.084 2098 1207 3156

6872 -1.81 -146.6 892.9 -11.7 232 6877 0.00 2.67 0.00 0.000 6 0.000 0.081 2098 2605 3156

7189 -1.81 -146.6 927.9 -11.1 238 7190 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2605 3156

7491 -1.81 -146.6 961.3 -11.1 243 7495 0.00 2.67 0.00 0.000 4 0.000 0.085 2098 1209 3155

7547 -1.81 -146.6 967.9 -11.6 243 7553 0.00 2.67 0.00 0.000 6 0.000 0.083 2098 2604 3155

7794 end dive: TARGET_DEPTH_EXCEEDED

state 7794 begin apogee

7803 -0.45 0.0 995.2 11.0 248 7933 1.42 0.00 126.47 1.462 6 0.081 0.000 2397 2213 2564

7934 end apogee: CONTROL_FINISHED_OK

state 7934 begin climb

7937 1.81 146.6 1000.7 0.0 250 8074 2.20 2.90 126.97 1.419 4 0.047 0.097 2896 789 1966

8206 1.81 146.6 988.9 10.2 254 8211 0.00 2.72 0.00 0.000 6 0.000 0.074 2896 2207 1966

8556 1.81 146.6 952.3 10.6 260 8560 0.00 2.83 0.00 0.000 4 0.000 0.094 2897 783 1965

8679 1.81 146.6 938.9 11.1 261 8685 0.00 2.72 0.00 0.000 6 0.000 0.074 2897 2208 1965

8989 1.81 146.6 907.2 10.2 267 8993 0.00 2.80 0.00 0.000 4 0.000 0.093 2897 791 1965

9129 1.81 146.6 892.1 10.7 269 9133 0.00 2.70 0.00 0.000 6 0.000 0.074 2897 2204 1965

9483 1.81 146.6 853.8 10.7 275 9487 0.00 2.80 0.00 0.000 4 0.000 0.093 2897 783 1964

9645 1.81 146.6 836.2 10.6 277 9650 0.00 2.70 0.00 0.000 6 0.000 0.074 2897 2206 1964

9978 1.81 147.0 803.1 10.0 283 9982 0.00 2.78 0.00 0.000 4 0.000 0.092 2897 789 1964

10135 1.81 147.0 787.6 10.2 285 10139 0.00 2.67 0.00 0.000 6 0.000 0.072 2896 2201 1964

10473 1.83 160.4 756.1 9.4 291 10492 0.00 2.85 12.73 1.228 4 0.000 0.091 2897 791 1910

10723 1.83 161.4 730.0 10.0 294 10728 0.00 2.67 0.00 0.000 6 0.000 0.074 2897 2201 1910

11039 1.84 169.1 699.9 9.6 300 11054 0.00 2.83 9.45 1.144 4 0.000 0.091 2897 791 1874

11239 1.84 169.1 678.5 10.4 303 11244 0.00 2.67 0.00 0.000 6 0.000 0.073 2897 2201 1874

11600 1.84 169.1 641.6 10.3 309 11604 0.00 2.78 0.00 0.000 4 0.000 0.091 2897 784 1873

11858 1.84 169.1 613.7 10.6 312 11864 0.00 2.67 0.00 0.000 6 0.000 0.072 2896 2201 1874

12168 1.84 169.1 581.1 10.5 318 12172 0.00 2.75 0.00 0.000 4 0.000 0.089 2897 785 1874

12420 1.84 174.1 555.0 9.8 321 12432 0.00 2.67 5.85 0.956 6 0.000 0.071 2897 2203 1854

12735 1.84 174.1 523.4 10.2 327 12736 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2204 1854

13038 1.84 174.1 490.4 10.9 332 13043 0.00 2.72 0.00 0.000 4 0.000 0.084 2897 791 1854

13297 1.85 176.1 462.6 9.9 335 13303 0.00 2.62 0.00 0.000 6 0.000 0.061 2897 2209 1854

13607 1.86 189.2 433.2 9.4 341 13627 0.00 2.78 14.35 1.055 4 0.000 0.076 2897 785 1792

13813 1.86 189.2 411.0 11.1 344 13817 0.00 2.58 0.00 0.000 6 0.000 0.053 2897 2202 1792

14167 1.86 189.2 372.9 10.9 350 14171 0.00 2.65 0.00 0.000 4 0.000 0.068 2897 784 1792

14251 1.86 189.2 363.1 11.2 351 14256 0.00 2.55 0.00 0.000 6 0.000 0.048 2897 2203 1792

14594 1.86 189.2 325.2 10.9 357 14599 0.00 2.65 0.00 0.000 4 0.000 0.066 2896 780 1792

14853 1.86 189.2 297.0 11.1 360 14859 0.00 2.53 0.00 0.000 6 0.000 0.045 2897 2202 1792

15171 1.89 207.3 266.5 9.2 376 15194 0.00 2.67 16.58 0.956 4 0.000 0.064 2896 789 1717

15412 1.89 207.3 242.3 10.3 386 15419 0.00 2.53 0.00 0.000 6 0.000 0.045 2896 2203 1717

15730 1.89 207.3 210.4 10.6 402 15735 0.00 2.62 0.00 0.000 4 0.000 0.064 2897 784 1718

15910 1.89 207.3 190.2 11.2 410 15914 0.00 2.55 0.00 0.000 6 0.000 0.045 2897 2206 1717

16237 1.89 207.3 152.1 11.5 426 16238 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2207 1718

16555 1.89 207.3 119.1 10.1 455 16559 0.00 2.62 0.00 0.000 4 0.000 0.061 2897 781 1718

16746 1.92 233.4 100.1 8.8 471 16774 0.00 2.53 22.50 0.852 6 0.000 0.043 2897 2211 1612

17102 1.94 248.1 64.4 9.3 518 17121 0.10 2.72 13.10 0.796 4 0.074 0.060 2920 787 1552

17377 1.98 282.7 39.8 8.4 566 17412 0.00 2.53 28.92 0.805 6 0.000 0.043 2920 2203 1410

17740 2.05 339.5 7.3 7.3 600 17792 0.12 0.00 47.15 0.778 6 0.064 0.000 2949 2203 1179

17800 end climb: SURFACE_DEPTH_REACHED

state 17800 begin surface coast

17823 end surface coast: CONTROL_FINISHED_OK

state 17823 begin surface

ID	101	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	28	ESCAPE_HEADING	60	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	180	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3635	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.150002	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-125.67	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	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	294	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3583	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2564	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-691199.94	VBD_PUMP_AD_RATE_APOGEE	2	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	29	AH0_24V	91.800003	SEABIRD_T_G	0.0043762224
SPEED_FACTOR	0.94999993	PITCH_MAX	3302	AH0_10V	61.200001	SEABIRD_T_H	0.0006433985
RHO	1.023	C_PITCH	2500	PRESSURE_YINT	-14.435382	SEABIRD_T_I	2.5567888e-05
MASS	50300	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.722762e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.209094
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-1.3	SEABIRD_C_H	1.1488034
KALMAN_USE	1	PITCH_GAIN	11	TCM_ROLL_OFFSET	-0.2	SEABIRD_C_I	-0.0015548224
HD_A	0.0034169999	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_J	0.00021813136
HD_B	0.0095870001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	164238,4753.542,-12608.463,29,1.4,29,18.8	TGT_NAME	SW_47N_128W
_CALLS	5	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.239,-0.102
_SM_DEPTHo	1.44	KALMAN_X	15850.5,-426.1,-228.5,-52778.2,2114.9
_SM_ANGLEo	-62.8	KALMAN_Y	788.0,132.2,4.8,-27383.2,204.6
GPS2	165851,4753.500,-12608.604,14,1.5,14,18.8	MHEAD_RNG_PITCHd_Wd	228.1,172086,-17.9,-10.000
SPEED_LIMITS	0.165,0.247	D_GRID	1001

FINISH	0.8,1.024329	ALTIM_TOP_PING	19.1,18.0
SM_CCo	17850,47.58,0.755,0,0,933,400.08	_24V_AH	23.2,7.484
SM_GC	2.22,0.00,0.00,47.58,0.000,0.000,0.755,33,2606,933,-11.35,0.17,400.08	_10V_AH	10.1,3.370
IRIDIUM_FIX	4735.69,-12602.11,290697,171754	DATA_FILE_SIZE	31645,608
TT8_MAMPS	0.026078	CAP_FILE_SIZE	134881,0
HUMID	1805	CFSIZE	260165632,256851968
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	17.20	GPS	040408,215937,4752.729,-12612.497,41,1.2,41,18.8
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	159	110.57	SBE_CT	422	24	235.33
Roll_motor	170	98	390.75	SBE_O2	496	19	218.72
VBD_pump_during_apogee	424	1461	14382.98	WL_BB2F	688	105	1676.81
VBD_pump_during_surface	47	754	833.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	148	103	355.12	nil	0	0	0.00
Iridium_during_connect	330	160	1225.58	nil	0	0	0.00
Iridium_during_xfer	125	223	651.57
Transponder_ping	9	420	90.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.18
TT8	1340	19	268.13
LPSleep	13805	2	305.37
TT8_Active	597	19	119.54
TT8_Sampling	2152	39	865.36
TT8_CF8	987	45	456.80
TT8_Kalman	33	81	27.58
Analog_circuits	1660	12	201.26
GPS_charging	0	0	0.00
Compass	2093	8	169.19
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.81	-146.6	0.0	0.0	0	78	0.00	0.00	-49.97	0.000	2	0.000	0.000	34	2601	1981
83	-1.81	-146.6	3.2	-5.0	5	137	11.55	2.00	-34.58	0.000	4	0.160	0.099	2098	3626	3162
285	-1.81	-146.6	41.9	-19.4	23	292	0.00	1.88	0.00	0.000	6	0.000	0.047	2098	2575	3162
629	-1.81	-146.6	102.7	-16.3	73	633	0.00	2.45	0.00	0.000	4	0.000	0.051	2098	1196	3162
693	-1.81	-146.6	112.6	-15.5	78	697	0.00	2.53	0.00	0.000	6	0.000	0.045	2098	2602	3162
1030	-1.81	-146.6	162.7	-14.4	105	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2602	3162
1336	-1.81	-146.6	205.6	-13.1	120	1341	0.00	2.53	0.00	0.000	4	0.000	0.050	2098	1198	3162
1392	-1.81	-146.6	213.5	-13.5	122	1399	0.00	2.53	0.00	0.000	6	0.000	0.047	2098	2609	3162
1709	-1.81	-146.6	257.6	-14.2	138	1713	0.00	2.53	0.00	0.000	4	0.000	0.051	2098	1205	3162
1753	-1.81	-146.6	264.1	-14.1	140	1758	0.00	2.50	0.00	0.000	6	0.000	0.048	2098	2600	3162
2074	-1.81	-146.6	309.1	-13.9	154	2078	0.00	2.53	0.00	0.000	4	0.000	0.053	2098	1202	3162
2113	-1.81	-146.6	314.5	-14.0	154	2117	0.00	2.53	0.00	0.000	6	0.000	0.051	2098	2604	3162
2434	-1.81	-146.6	357.4	-13.3	160	2435	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2604	3162
2736	-1.81	-146.6	396.1	-12.8	165	2741	0.00	2.60	0.00	0.000	4	0.000	0.065	2098	1198	3161
2781	-1.81	-146.6	402.1	-13.1	165	2786	0.00	2.58	0.00	0.000	6	0.000	0.062	2098	2598	3161
3097	-1.81	-146.6	445.0	-13.8	171	3101	0.00	2.62	0.00	0.000	4	0.000	0.074	2098	1202	3161
3141	-1.81	-146.6	451.3	-14.0	171	3146	0.00	2.62	0.00	0.000	6	0.000	0.071	2098	2602	3161
3456	-1.81	-146.6	493.0	-13.1	177	3461	0.00	2.70	0.00	0.000	4	0.000	0.090	2098	1209	3161
3501	-1.81	-146.6	498.7	-12.9	177	3506	0.00	2.70	0.00	0.000	6	0.000	0.089	2098	2598	3161
3816	-1.81	-146.6	535.2	-11.3	183	3817	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2598	3160
4121	-1.81	-146.6	573.1	-12.5	188	4122	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2598	3160
4422	-1.81	-146.6	610.9	-12.4	193	4427	0.00	2.70	0.00	0.000	4	0.000	0.090	2098	1206	3160
4473	-1.81	-146.6	617.3	-12.6	193	4477	0.00	2.70	0.00	0.000	6	0.000	0.088	2098	2600	3159
4784	-1.81	-146.6	654.6	-12.1	198	4785	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2600	3159
5086	-1.81	-146.6	691.3	-12.2	203	5090	0.00	2.70	0.00	0.000	4	0.000	0.087	2098	1199	3158
5130	-1.81	-146.6	696.9	-12.6	203	5135	0.00	2.70	0.00	0.000	6	0.000	0.085	2098	2601	3158
5446	-1.81	-146.6	734.9	-12.1	209	5450	0.00	2.67	0.00	0.000	4	0.000	0.086	2098	1209	3157
5479	-1.81	-146.6	739.0	-11.6	209	5484	0.00	2.67	0.00	0.000	6	0.000	0.083	2098	2603	3158
5806	-1.81	-146.6	777.5	-11.8	215	5810	0.00	2.67	0.00	0.000	4	0.000	0.085	2098	1208	3157
5850	-1.81	-146.6	782.9	-11.5	215	5855	0.00	2.67	0.00	0.000	6	0.000	0.083	2098	2601	3157
6165	-1.81	-146.6	818.7	-11.3	221	6170	0.00	2.67	0.00	0.000	4	0.000	0.084	2098	1206	3157
6199	-1.81	-146.6	822.4	-11.4	221	6203	0.00	2.67	0.00	0.000	6	0.000	0.081	2098	2604	3156
6526	-1.81	-146.6	855.7	-10.2	227	6527	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2604	3156
6828	-1.81	-146.6	887.6	-10.6	232	6832	0.00	2.67	0.00	0.000	4	0.000	0.084	2098	1207	3156
6872	-1.81	-146.6	892.9	-11.7	232	6877	0.00	2.67	0.00	0.000	6	0.000	0.081	2098	2605	3156
7189	-1.81	-146.6	927.9	-11.1	238	7190	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2605	3156
7491	-1.81	-146.6	961.3	-11.1	243	7495	0.00	2.67	0.00	0.000	4	0.000	0.085	2098	1209	3155
7547	-1.81	-146.6	967.9	-11.6	243	7553	0.00	2.67	0.00	0.000	6	0.000	0.083	2098	2604	3155
7794	end dive: TARGET_DEPTH_EXCEEDED
state	7794	begin apogee
7803	-0.45	0.0	995.2	11.0	248	7933	1.42	0.00	126.47	1.462	6	0.081	0.000	2397	2213	2564
7934	end apogee: CONTROL_FINISHED_OK
state	7934	begin climb
7937	1.81	146.6	1000.7	0.0	250	8074	2.20	2.90	126.97	1.419	4	0.047	0.097	2896	789	1966
8206	1.81	146.6	988.9	10.2	254	8211	0.00	2.72	0.00	0.000	6	0.000	0.074	2896	2207	1966
8556	1.81	146.6	952.3	10.6	260	8560	0.00	2.83	0.00	0.000	4	0.000	0.094	2897	783	1965
8679	1.81	146.6	938.9	11.1	261	8685	0.00	2.72	0.00	0.000	6	0.000	0.074	2897	2208	1965
8989	1.81	146.6	907.2	10.2	267	8993	0.00	2.80	0.00	0.000	4	0.000	0.093	2897	791	1965
9129	1.81	146.6	892.1	10.7	269	9133	0.00	2.70	0.00	0.000	6	0.000	0.074	2897	2204	1965
9483	1.81	146.6	853.8	10.7	275	9487	0.00	2.80	0.00	0.000	4	0.000	0.093	2897	783	1964
9645	1.81	146.6	836.2	10.6	277	9650	0.00	2.70	0.00	0.000	6	0.000	0.074	2897	2206	1964
9978	1.81	147.0	803.1	10.0	283	9982	0.00	2.78	0.00	0.000	4	0.000	0.092	2897	789	1964
10135	1.81	147.0	787.6	10.2	285	10139	0.00	2.67	0.00	0.000	6	0.000	0.072	2896	2201	1964
10473	1.83	160.4	756.1	9.4	291	10492	0.00	2.85	12.73	1.228	4	0.000	0.091	2897	791	1910
10723	1.83	161.4	730.0	10.0	294	10728	0.00	2.67	0.00	0.000	6	0.000	0.074	2897	2201	1910
11039	1.84	169.1	699.9	9.6	300	11054	0.00	2.83	9.45	1.144	4	0.000	0.091	2897	791	1874
11239	1.84	169.1	678.5	10.4	303	11244	0.00	2.67	0.00	0.000	6	0.000	0.073	2897	2201	1874
11600	1.84	169.1	641.6	10.3	309	11604	0.00	2.78	0.00	0.000	4	0.000	0.091	2897	784	1873
11858	1.84	169.1	613.7	10.6	312	11864	0.00	2.67	0.00	0.000	6	0.000	0.072	2896	2201	1874
12168	1.84	169.1	581.1	10.5	318	12172	0.00	2.75	0.00	0.000	4	0.000	0.089	2897	785	1874
12420	1.84	174.1	555.0	9.8	321	12432	0.00	2.67	5.85	0.956	6	0.000	0.071	2897	2203	1854
12735	1.84	174.1	523.4	10.2	327	12736	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2204	1854
13038	1.84	174.1	490.4	10.9	332	13043	0.00	2.72	0.00	0.000	4	0.000	0.084	2897	791	1854
13297	1.85	176.1	462.6	9.9	335	13303	0.00	2.62	0.00	0.000	6	0.000	0.061	2897	2209	1854
13607	1.86	189.2	433.2	9.4	341	13627	0.00	2.78	14.35	1.055	4	0.000	0.076	2897	785	1792
13813	1.86	189.2	411.0	11.1	344	13817	0.00	2.58	0.00	0.000	6	0.000	0.053	2897	2202	1792
14167	1.86	189.2	372.9	10.9	350	14171	0.00	2.65	0.00	0.000	4	0.000	0.068	2897	784	1792
14251	1.86	189.2	363.1	11.2	351	14256	0.00	2.55	0.00	0.000	6	0.000	0.048	2897	2203	1792
14594	1.86	189.2	325.2	10.9	357	14599	0.00	2.65	0.00	0.000	4	0.000	0.066	2896	780	1792
14853	1.86	189.2	297.0	11.1	360	14859	0.00	2.53	0.00	0.000	6	0.000	0.045	2897	2202	1792
15171	1.89	207.3	266.5	9.2	376	15194	0.00	2.67	16.58	0.956	4	0.000	0.064	2896	789	1717
15412	1.89	207.3	242.3	10.3	386	15419	0.00	2.53	0.00	0.000	6	0.000	0.045	2896	2203	1717
15730	1.89	207.3	210.4	10.6	402	15735	0.00	2.62	0.00	0.000	4	0.000	0.064	2897	784	1718
15910	1.89	207.3	190.2	11.2	410	15914	0.00	2.55	0.00	0.000	6	0.000	0.045	2897	2206	1717
16237	1.89	207.3	152.1	11.5	426	16238	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2207	1718
16555	1.89	207.3	119.1	10.1	455	16559	0.00	2.62	0.00	0.000	4	0.000	0.061	2897	781	1718
16746	1.92	233.4	100.1	8.8	471	16774	0.00	2.53	22.50	0.852	6	0.000	0.043	2897	2211	1612
17102	1.94	248.1	64.4	9.3	518	17121	0.10	2.72	13.10	0.796	4	0.074	0.060	2920	787	1552
17377	1.98	282.7	39.8	8.4	566	17412	0.00	2.53	28.92	0.805	6	0.000	0.043	2920	2203	1410
17740	2.05	339.5	7.3	7.3	600	17792	0.12	0.00	47.15	0.778	6	0.064	0.000	2949	2203	1179
17800	end climb: SURFACE_DEPTH_REACHED
state	17800	begin surface coast
17823	end surface coast: CONTROL_FINISHED_OK
state	17823	begin surface