Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 47 * 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 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 47 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 2550 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2000 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 450 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 -691595.06 VBD_PUMP_AD_RATE_APOGEE 2 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 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 0 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 412.5

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 -691595.06

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

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 57

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 2000 KALMAN_USE 1 ROLL_MIN 180 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2550 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2564 MASS 50300 R_PORT_OVSHOOT 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 47 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 194837,4726.734,-12703.803,28,1.8,28,18.7 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 -0.160,-0.175

_SM_DEPTHo 1.50 KALMAN_X 14548.3,131.6,-58.0,-120428.6,425.5

_SM_ANGLEo -65.6 KALMAN_Y 15642.6,-470.9,225.2,-91349.5,1734.3

GPS2 195407,4726.771,-12703.783,11,1.5,27,18.7 MHEAD_RNG_PITCHd_Wd 203.8,86602,-14.7,-8.000

SPEED_LIMITS 0.132,0.226 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.7,1.003840 XPDR_PINGS 0

SM_CCo 22236,88.78,0.753,2,0,933,400.08 _24V_AH 23.2,10.730

SM_GC 1.67,0.00,0.00,88.78,0.000,0.000,0.753,33,2550,933,-11.35,0.00,400.08 _10V_AH 10.1,5.080

IRIDIUM_FIX 4710.21,-12703.65,030797,131352 DATA_FILE_SIZE 37976,757

TT8_MAMPS 0.026078 CAP_FILE_SIZE 129565,0

HUMID 1796 CFSIZE 260165632,255684608

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 16.90 GPS 090408,020838,4724.946,-12706.826,33,1.7,33,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 141 92.82 SBE_CT 539 24 300.48

Roll_motor 131 104 319.38 SBE_O2 600 19 264.86

VBD_pump_during_apogee 370 1469 12632.71 WL_BB2F 851 105 2074.33

VBD_pump_during_surface 88 753 1551.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.31 nil 0 0 0.00

Iridium_during_connect 26 160 99.76 nil 0 0 0.00

Iridium_during_xfer 132 223 686.12

Transponder_ping 8 420 85.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 27 50 13.81

TT8 1473 19 294.63

LPSleep 18064 2 399.57

TT8_Active 631 19 126.36

TT8_Sampling 1899 39 763.46

TT8_CF8 604 45 279.41

TT8_Kalman 33 81 27.56

Analog_circuits 1558 12 188.95

GPS_charging 0 0 0.00

Compass 1855 8 149.95

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

28 -1.51 -146.6 0.0 0.0 0 88 0.00 0.00 -57.85 0.000 2 0.000 0.000 31 2555 2076

93 -1.51 -146.6 3.1 -3.8 6 151 11.45 2.60 -37.45 0.000 4 0.141 0.065 2164 1146 3163

187 -1.51 -146.6 13.3 -12.8 15 191 0.00 2.50 0.00 0.000 6 0.000 0.044 2164 2550 3162

521 -1.51 -146.6 60.4 -13.9 57 526 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2550 3162

859 -1.51 -146.6 108.8 -13.9 100 862 0.00 2.05 0.00 0.000 4 0.000 0.084 2164 3631 3162

962 -1.51 -146.6 123.2 -13.3 109 965 0.00 1.92 0.00 0.000 6 0.000 0.046 2164 2533 3162

1293 -1.51 -146.6 162.2 -11.4 135 1294 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2533 3162

1600 -1.51 -146.6 196.1 -11.1 150 1604 0.00 2.47 0.00 0.000 4 0.000 0.054 2164 1154 3162

1650 -1.51 -146.6 201.8 -11.0 152 1654 0.00 2.47 0.00 0.000 6 0.000 0.044 2165 2552 3162

1967 -1.51 -146.6 234.9 -10.2 167 1968 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2553 3163

2276 -1.51 -146.6 266.0 -9.9 182 2280 0.00 2.50 0.00 0.000 4 0.000 0.053 2164 1161 3162

2316 -1.51 -146.6 270.1 -10.3 184 2321 0.00 2.47 0.00 0.000 6 0.000 0.047 2164 2557 3162

2684 -1.51 -146.6 306.2 -10.0 200 2688 0.00 2.53 0.00 0.000 4 0.000 0.054 2165 1152 3162

2723 -1.51 -146.6 310.3 -9.8 200 2727 0.00 2.50 0.00 0.000 6 0.000 0.048 2164 2551 3162

3044 -1.51 -146.6 343.0 -10.2 206 3045 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2551 3162

3348 -1.51 -146.6 374.3 -10.3 211 3350 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2551 3162

3651 -1.51 -146.6 404.9 -10.1 216 3655 0.00 2.58 0.00 0.000 4 0.000 0.070 2164 1164 3161

3740 -1.51 -146.6 414.1 -10.2 217 3744 0.00 2.55 0.00 0.000 6 0.000 0.063 2164 2553 3161

4078 -1.51 -146.6 447.2 -9.8 223 4079 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2553 3161

4381 -1.51 -146.6 476.0 -9.4 228 4382 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2553 3160

4684 -1.51 -146.6 503.3 -9.0 233 4686 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2553 3160

4987 -1.51 -146.6 530.6 -9.0 238 4992 0.00 2.70 0.00 0.000 4 0.000 0.094 2164 1167 3160

5050 -1.51 -146.6 536.4 -9.6 239 5055 0.00 2.67 0.00 0.000 6 0.000 0.088 2165 2548 3159

5416 -1.51 -146.6 571.6 -9.8 245 5417 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2548 3159

5719 -1.51 -146.6 601.1 -9.7 250 5720 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2549 3159

6022 -1.51 -146.6 627.9 -8.8 255 6027 0.00 2.67 0.00 0.000 4 0.000 0.089 2165 1160 3158

6067 -1.51 -146.6 631.9 -8.5 255 6071 0.00 2.67 0.00 0.000 6 0.000 0.083 2164 2558 3158

6382 -1.51 -146.6 656.9 -7.9 261 6383 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2558 3158

6687 -1.51 -146.6 682.0 -8.3 266 6688 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2558 3158

6988 -1.51 -146.6 708.3 -8.7 271 6993 0.00 2.67 0.00 0.000 4 0.000 0.088 2164 1166 3157

7061 -1.51 -146.6 715.0 -9.1 272 7066 0.00 2.65 0.00 0.000 6 0.000 0.082 2164 2555 3157

7415 -1.51 -146.6 747.4 -9.2 278 7417 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2555 3157

7718 -1.51 -146.6 774.5 -8.9 283 7723 0.00 2.67 0.00 0.000 4 0.000 0.087 2164 1161 3157

7782 -1.51 -146.6 780.0 -8.6 284 7786 0.00 2.65 0.00 0.000 6 0.000 0.081 2165 2552 3157

8147 -1.51 -146.6 812.1 -8.8 290 8148 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2552 3156

8450 -1.51 -146.6 838.9 -8.9 295 8454 0.00 2.65 0.00 0.000 4 0.000 0.086 2164 1167 3157

8489 -1.51 -146.6 842.5 -9.1 295 8493 0.00 2.62 0.00 0.000 6 0.000 0.081 2164 2550 3156

8810 -1.51 -146.6 870.6 -8.8 301 8811 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2550 3156

9113 -1.51 -146.6 896.1 -8.4 306 9114 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2550 3156

9416 -1.51 -146.6 921.1 -8.3 311 9420 0.00 2.65 0.00 0.000 4 0.000 0.085 2165 1166 3155

9455 -1.51 -146.6 924.6 -8.9 311 9459 0.00 2.62 0.00 0.000 6 0.000 0.080 2164 2550 3155

9776 -1.51 -146.6 952.2 -8.7 317 9777 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2550 3155

10079 -1.51 -146.6 979.8 -9.1 322 10080 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2550 3155

10196 end dive: TARGET_DEPTH_EXCEEDED

state 10196 begin apogee

10205 -0.45 0.0 991.0 9.2 324 10335 1.10 0.00 126.35 1.470 6 0.077 0.000 2398 2024 2564

10336 end apogee: CONTROL_FINISHED_OK

state 10336 begin climb

10340 1.51 146.6 996.9 0.0 326 10475 1.95 2.95 127.05 1.424 4 0.053 0.104 2826 594 1966

10723 1.51 146.6 978.7 8.5 331 10729 0.00 2.65 0.00 0.000 6 0.000 0.067 2826 2000 1966

11033 1.51 146.6 952.4 8.5 337 11037 0.00 2.80 0.00 0.000 4 0.000 0.104 2826 3410 1966

11089 1.51 146.6 947.2 9.3 337 11095 0.00 2.62 0.00 0.000 6 0.000 0.061 2826 1996 1965

11399 1.51 146.6 919.1 9.1 343 11400 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 1996 1965

11702 1.51 146.6 892.2 8.9 348 11706 0.00 2.80 0.00 0.000 4 0.000 0.097 2827 3410 1965

11757 1.51 146.6 887.0 8.5 348 11763 0.00 2.62 0.00 0.000 6 0.000 0.061 2827 1990 1965

12067 1.51 146.6 860.2 8.5 354 12072 0.00 2.80 0.00 0.000 4 0.000 0.096 2826 3410 1965

12123 1.51 146.6 855.0 9.5 354 12129 0.00 2.60 0.00 0.000 6 0.000 0.060 2826 2001 1965

12433 1.51 146.6 829.1 8.3 360 12434 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2000 1965

12736 1.53 156.6 805.9 7.6 365 12748 0.00 0.00 9.90 1.220 6 0.000 0.000 2826 2000 1925

13039 1.55 176.2 784.0 7.3 370 13060 0.00 0.00 18.75 1.287 6 0.000 0.000 2826 2000 1845

13342 1.55 176.2 759.4 8.2 375 13343 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2000 1845

13645 1.55 176.2 732.4 9.0 380 13646 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2000 1845

13948 1.55 176.2 702.5 9.9 385 13949 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2000 1845

14251 1.55 176.2 672.5 9.9 390 14253 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2000 1845

14554 1.55 176.2 643.5 9.5 395 14559 0.00 2.78 0.00 0.000 4 0.000 0.094 2826 3417 1845

14610 1.55 176.2 638.1 9.0 395 14616 0.00 2.60 0.00 0.000 6 0.000 0.058 2826 1998 1845

14920 1.55 176.2 610.3 8.9 401 14921 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 1998 1845

15223 1.55 176.2 584.1 8.6 406 15224 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 1998 1845

15526 1.55 176.2 557.1 8.9 411 15531 0.00 2.75 0.00 0.000 4 0.000 0.091 2826 3411 1845

15594 1.55 176.2 550.7 9.9 412 15598 0.00 2.58 0.00 0.000 6 0.000 0.056 2826 1997 1845

15954 1.55 176.2 519.0 8.9 418 15958 0.00 2.75 0.00 0.000 4 0.000 0.098 2826 588 1845

16043 1.55 176.2 510.7 8.3 419 16048 0.00 2.60 0.00 0.000 6 0.000 0.059 2826 2005 1845

16382 1.55 176.2 480.5 9.0 425 16383 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2005 1845

16684 1.55 176.2 454.2 8.7 430 16686 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2007 1845

16987 1.55 176.2 427.6 8.7 435 16992 0.00 2.65 0.00 0.000 4 0.000 0.084 2826 3409 1845

17043 1.55 176.2 422.4 9.0 435 17050 0.00 2.55 0.00 0.000 6 0.000 0.050 2826 1986 1845

17354 1.55 176.2 395.1 8.8 441 17355 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 1986 1845

17656 1.55 176.2 369.7 8.3 446 17658 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 1986 1845

17960 1.56 181.6 345.9 7.8 451 17973 0.00 2.70 6.43 0.887 4 0.000 0.078 2826 594 1823

18036 1.56 181.6 339.4 8.2 452 18040 0.00 2.53 0.00 0.000 6 0.000 0.044 2826 2018 1823

18390 1.56 181.6 310.6 8.2 458 18392 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2018 1823

18698 1.57 190.5 286.8 7.7 467 18709 0.00 0.00 8.95 0.917 6 0.000 0.000 2826 2018 1787

19007 1.57 192.2 262.8 7.9 482 19008 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2018 1787

19314 1.57 192.2 237.7 8.2 497 19315 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2018 1787

19624 1.59 206.7 214.2 7.4 512 19642 0.00 0.00 14.85 0.917 6 0.000 0.000 2826 2018 1720

19954 1.59 206.7 186.5 8.8 528 19959 0.00 2.67 0.00 0.000 4 0.000 0.071 2826 590 1720

20089 1.59 206.7 173.1 10.7 534 20093 0.00 2.50 0.00 0.000 6 0.000 0.042 2826 2010 1720

20412 1.60 212.5 145.7 7.8 552 20425 0.00 2.65 6.85 0.784 4 0.000 0.066 2826 597 1696

20539 1.60 212.5 135.6 8.3 563 20544 0.00 2.50 0.00 0.000 6 0.000 0.043 2826 2010 1696

20865 1.62 228.2 111.6 7.4 593 20885 0.12 0.00 14.15 0.839 6 0.061 0.000 2859 2010 1632

21204 1.67 273.5 86.5 6.3 625 21248 0.00 2.67 37.25 0.840 4 0.000 0.070 2859 3398 1448

21312 1.67 273.5 77.9 9.4 637 21319 0.00 2.50 0.00 0.000 6 0.000 0.041 2859 1993 1447

21659 1.67 273.5 48.1 8.8 698 21665 0.00 2.60 0.00 0.000 4 0.000 0.072 2859 598 1448

21712 1.67 273.5 43.5 8.8 707 21718 0.00 2.47 0.00 0.000 6 0.000 0.041 2859 2002 1448

22041 1.67 273.5 14.6 8.4 741 22042 0.00 0.00 0.00 0.000 6 0.000 0.000 2859 2002 1448

22186 end climb: SURFACE_DEPTH_REACHED

state 22186 begin surface coast

22209 end surface coast: CONTROL_FINISHED_OK

state 22209 begin surface

ID	101	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	47	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	2550	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2000	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	450	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	-691595.06	VBD_PUMP_AD_RATE_APOGEE	2	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	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	194837,4726.734,-12703.803,28,1.8,28,18.7	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	-0.160,-0.175
_SM_DEPTHo	1.50	KALMAN_X	14548.3,131.6,-58.0,-120428.6,425.5
_SM_ANGLEo	-65.6	KALMAN_Y	15642.6,-470.9,225.2,-91349.5,1734.3
GPS2	195407,4726.771,-12703.783,11,1.5,27,18.7	MHEAD_RNG_PITCHd_Wd	203.8,86602,-14.7,-8.000
SPEED_LIMITS	0.132,0.226	D_GRID	1001

FINISH	0.7,1.003840	XPDR_PINGS	0
SM_CCo	22236,88.78,0.753,2,0,933,400.08	_24V_AH	23.2,10.730
SM_GC	1.67,0.00,0.00,88.78,0.000,0.000,0.753,33,2550,933,-11.35,0.00,400.08	_10V_AH	10.1,5.080
IRIDIUM_FIX	4710.21,-12703.65,030797,131352	DATA_FILE_SIZE	37976,757
TT8_MAMPS	0.026078	CAP_FILE_SIZE	129565,0
HUMID	1796	CFSIZE	260165632,255684608
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	16.90	GPS	090408,020838,4724.946,-12706.826,33,1.7,33,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	141	92.82	SBE_CT	539	24	300.48
Roll_motor	131	104	319.38	SBE_O2	600	19	264.86
VBD_pump_during_apogee	370	1469	12632.71	WL_BB2F	851	105	2074.33
VBD_pump_during_surface	88	753	1551.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.31	nil	0	0	0.00
Iridium_during_connect	26	160	99.76	nil	0	0	0.00
Iridium_during_xfer	132	223	686.12
Transponder_ping	8	420	85.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	27	50	13.81
TT8	1473	19	294.63
LPSleep	18064	2	399.57
TT8_Active	631	19	126.36
TT8_Sampling	1899	39	763.46
TT8_CF8	604	45	279.41
TT8_Kalman	33	81	27.56
Analog_circuits	1558	12	188.95
GPS_charging	0	0	0.00
Compass	1855	8	149.95
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
28	-1.51	-146.6	0.0	0.0	0	88	0.00	0.00	-57.85	0.000	2	0.000	0.000	31	2555	2076
93	-1.51	-146.6	3.1	-3.8	6	151	11.45	2.60	-37.45	0.000	4	0.141	0.065	2164	1146	3163
187	-1.51	-146.6	13.3	-12.8	15	191	0.00	2.50	0.00	0.000	6	0.000	0.044	2164	2550	3162
521	-1.51	-146.6	60.4	-13.9	57	526	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2550	3162
859	-1.51	-146.6	108.8	-13.9	100	862	0.00	2.05	0.00	0.000	4	0.000	0.084	2164	3631	3162
962	-1.51	-146.6	123.2	-13.3	109	965	0.00	1.92	0.00	0.000	6	0.000	0.046	2164	2533	3162
1293	-1.51	-146.6	162.2	-11.4	135	1294	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2533	3162
1600	-1.51	-146.6	196.1	-11.1	150	1604	0.00	2.47	0.00	0.000	4	0.000	0.054	2164	1154	3162
1650	-1.51	-146.6	201.8	-11.0	152	1654	0.00	2.47	0.00	0.000	6	0.000	0.044	2165	2552	3162
1967	-1.51	-146.6	234.9	-10.2	167	1968	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2553	3163
2276	-1.51	-146.6	266.0	-9.9	182	2280	0.00	2.50	0.00	0.000	4	0.000	0.053	2164	1161	3162
2316	-1.51	-146.6	270.1	-10.3	184	2321	0.00	2.47	0.00	0.000	6	0.000	0.047	2164	2557	3162
2684	-1.51	-146.6	306.2	-10.0	200	2688	0.00	2.53	0.00	0.000	4	0.000	0.054	2165	1152	3162
2723	-1.51	-146.6	310.3	-9.8	200	2727	0.00	2.50	0.00	0.000	6	0.000	0.048	2164	2551	3162
3044	-1.51	-146.6	343.0	-10.2	206	3045	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2551	3162
3348	-1.51	-146.6	374.3	-10.3	211	3350	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2551	3162
3651	-1.51	-146.6	404.9	-10.1	216	3655	0.00	2.58	0.00	0.000	4	0.000	0.070	2164	1164	3161
3740	-1.51	-146.6	414.1	-10.2	217	3744	0.00	2.55	0.00	0.000	6	0.000	0.063	2164	2553	3161
4078	-1.51	-146.6	447.2	-9.8	223	4079	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2553	3161
4381	-1.51	-146.6	476.0	-9.4	228	4382	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2553	3160
4684	-1.51	-146.6	503.3	-9.0	233	4686	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2553	3160
4987	-1.51	-146.6	530.6	-9.0	238	4992	0.00	2.70	0.00	0.000	4	0.000	0.094	2164	1167	3160
5050	-1.51	-146.6	536.4	-9.6	239	5055	0.00	2.67	0.00	0.000	6	0.000	0.088	2165	2548	3159
5416	-1.51	-146.6	571.6	-9.8	245	5417	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2548	3159
5719	-1.51	-146.6	601.1	-9.7	250	5720	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2549	3159
6022	-1.51	-146.6	627.9	-8.8	255	6027	0.00	2.67	0.00	0.000	4	0.000	0.089	2165	1160	3158
6067	-1.51	-146.6	631.9	-8.5	255	6071	0.00	2.67	0.00	0.000	6	0.000	0.083	2164	2558	3158
6382	-1.51	-146.6	656.9	-7.9	261	6383	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2558	3158
6687	-1.51	-146.6	682.0	-8.3	266	6688	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2558	3158
6988	-1.51	-146.6	708.3	-8.7	271	6993	0.00	2.67	0.00	0.000	4	0.000	0.088	2164	1166	3157
7061	-1.51	-146.6	715.0	-9.1	272	7066	0.00	2.65	0.00	0.000	6	0.000	0.082	2164	2555	3157
7415	-1.51	-146.6	747.4	-9.2	278	7417	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2555	3157
7718	-1.51	-146.6	774.5	-8.9	283	7723	0.00	2.67	0.00	0.000	4	0.000	0.087	2164	1161	3157
7782	-1.51	-146.6	780.0	-8.6	284	7786	0.00	2.65	0.00	0.000	6	0.000	0.081	2165	2552	3157
8147	-1.51	-146.6	812.1	-8.8	290	8148	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2552	3156
8450	-1.51	-146.6	838.9	-8.9	295	8454	0.00	2.65	0.00	0.000	4	0.000	0.086	2164	1167	3157
8489	-1.51	-146.6	842.5	-9.1	295	8493	0.00	2.62	0.00	0.000	6	0.000	0.081	2164	2550	3156
8810	-1.51	-146.6	870.6	-8.8	301	8811	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2550	3156
9113	-1.51	-146.6	896.1	-8.4	306	9114	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2550	3156
9416	-1.51	-146.6	921.1	-8.3	311	9420	0.00	2.65	0.00	0.000	4	0.000	0.085	2165	1166	3155
9455	-1.51	-146.6	924.6	-8.9	311	9459	0.00	2.62	0.00	0.000	6	0.000	0.080	2164	2550	3155
9776	-1.51	-146.6	952.2	-8.7	317	9777	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2550	3155
10079	-1.51	-146.6	979.8	-9.1	322	10080	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2550	3155
10196	end dive: TARGET_DEPTH_EXCEEDED
state	10196	begin apogee
10205	-0.45	0.0	991.0	9.2	324	10335	1.10	0.00	126.35	1.470	6	0.077	0.000	2398	2024	2564
10336	end apogee: CONTROL_FINISHED_OK
state	10336	begin climb
10340	1.51	146.6	996.9	0.0	326	10475	1.95	2.95	127.05	1.424	4	0.053	0.104	2826	594	1966
10723	1.51	146.6	978.7	8.5	331	10729	0.00	2.65	0.00	0.000	6	0.000	0.067	2826	2000	1966
11033	1.51	146.6	952.4	8.5	337	11037	0.00	2.80	0.00	0.000	4	0.000	0.104	2826	3410	1966
11089	1.51	146.6	947.2	9.3	337	11095	0.00	2.62	0.00	0.000	6	0.000	0.061	2826	1996	1965
11399	1.51	146.6	919.1	9.1	343	11400	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	1996	1965
11702	1.51	146.6	892.2	8.9	348	11706	0.00	2.80	0.00	0.000	4	0.000	0.097	2827	3410	1965
11757	1.51	146.6	887.0	8.5	348	11763	0.00	2.62	0.00	0.000	6	0.000	0.061	2827	1990	1965
12067	1.51	146.6	860.2	8.5	354	12072	0.00	2.80	0.00	0.000	4	0.000	0.096	2826	3410	1965
12123	1.51	146.6	855.0	9.5	354	12129	0.00	2.60	0.00	0.000	6	0.000	0.060	2826	2001	1965
12433	1.51	146.6	829.1	8.3	360	12434	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2000	1965
12736	1.53	156.6	805.9	7.6	365	12748	0.00	0.00	9.90	1.220	6	0.000	0.000	2826	2000	1925
13039	1.55	176.2	784.0	7.3	370	13060	0.00	0.00	18.75	1.287	6	0.000	0.000	2826	2000	1845
13342	1.55	176.2	759.4	8.2	375	13343	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2000	1845
13645	1.55	176.2	732.4	9.0	380	13646	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2000	1845
13948	1.55	176.2	702.5	9.9	385	13949	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2000	1845
14251	1.55	176.2	672.5	9.9	390	14253	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2000	1845
14554	1.55	176.2	643.5	9.5	395	14559	0.00	2.78	0.00	0.000	4	0.000	0.094	2826	3417	1845
14610	1.55	176.2	638.1	9.0	395	14616	0.00	2.60	0.00	0.000	6	0.000	0.058	2826	1998	1845
14920	1.55	176.2	610.3	8.9	401	14921	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	1998	1845
15223	1.55	176.2	584.1	8.6	406	15224	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	1998	1845
15526	1.55	176.2	557.1	8.9	411	15531	0.00	2.75	0.00	0.000	4	0.000	0.091	2826	3411	1845
15594	1.55	176.2	550.7	9.9	412	15598	0.00	2.58	0.00	0.000	6	0.000	0.056	2826	1997	1845
15954	1.55	176.2	519.0	8.9	418	15958	0.00	2.75	0.00	0.000	4	0.000	0.098	2826	588	1845
16043	1.55	176.2	510.7	8.3	419	16048	0.00	2.60	0.00	0.000	6	0.000	0.059	2826	2005	1845
16382	1.55	176.2	480.5	9.0	425	16383	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2005	1845
16684	1.55	176.2	454.2	8.7	430	16686	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2007	1845
16987	1.55	176.2	427.6	8.7	435	16992	0.00	2.65	0.00	0.000	4	0.000	0.084	2826	3409	1845
17043	1.55	176.2	422.4	9.0	435	17050	0.00	2.55	0.00	0.000	6	0.000	0.050	2826	1986	1845
17354	1.55	176.2	395.1	8.8	441	17355	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	1986	1845
17656	1.55	176.2	369.7	8.3	446	17658	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	1986	1845
17960	1.56	181.6	345.9	7.8	451	17973	0.00	2.70	6.43	0.887	4	0.000	0.078	2826	594	1823
18036	1.56	181.6	339.4	8.2	452	18040	0.00	2.53	0.00	0.000	6	0.000	0.044	2826	2018	1823
18390	1.56	181.6	310.6	8.2	458	18392	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2018	1823
18698	1.57	190.5	286.8	7.7	467	18709	0.00	0.00	8.95	0.917	6	0.000	0.000	2826	2018	1787
19007	1.57	192.2	262.8	7.9	482	19008	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2018	1787
19314	1.57	192.2	237.7	8.2	497	19315	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2018	1787
19624	1.59	206.7	214.2	7.4	512	19642	0.00	0.00	14.85	0.917	6	0.000	0.000	2826	2018	1720
19954	1.59	206.7	186.5	8.8	528	19959	0.00	2.67	0.00	0.000	4	0.000	0.071	2826	590	1720
20089	1.59	206.7	173.1	10.7	534	20093	0.00	2.50	0.00	0.000	6	0.000	0.042	2826	2010	1720
20412	1.60	212.5	145.7	7.8	552	20425	0.00	2.65	6.85	0.784	4	0.000	0.066	2826	597	1696
20539	1.60	212.5	135.6	8.3	563	20544	0.00	2.50	0.00	0.000	6	0.000	0.043	2826	2010	1696
20865	1.62	228.2	111.6	7.4	593	20885	0.12	0.00	14.15	0.839	6	0.061	0.000	2859	2010	1632
21204	1.67	273.5	86.5	6.3	625	21248	0.00	2.67	37.25	0.840	4	0.000	0.070	2859	3398	1448
21312	1.67	273.5	77.9	9.4	637	21319	0.00	2.50	0.00	0.000	6	0.000	0.041	2859	1993	1447
21659	1.67	273.5	48.1	8.8	698	21665	0.00	2.60	0.00	0.000	4	0.000	0.072	2859	598	1448
21712	1.67	273.5	43.5	8.8	707	21718	0.00	2.47	0.00	0.000	6	0.000	0.041	2859	2002	1448
22041	1.67	273.5	14.6	8.4	741	22042	0.00	0.00	0.00	0.000	6	0.000	0.000	2859	2002	1448
22186	end climb: SURFACE_DEPTH_REACHED
state	22186	begin surface coast
22209	end surface coast: CONTROL_FINISHED_OK
state	22209	begin surface