Glider dive log

OcnStnPapa Aug08 * SG120 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 120 HD_C 8.0300997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3861 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 47.599998 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1090 TGT_DEFAULT_LON -122.3 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 350 HEAD_ERRBAND 10 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 16 INT_PRESSURE_YINT -2.4000001

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 395 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3895 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2876 DEVICE6 -1

T_NO_W 300 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17760.074 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 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 150 AH0_24V 147 SEABIRD_T_G 0.0043782545

SPEED_FACTOR 1 PITCH_MAX 3950 AH0_10V 122.2 SEABIRD_T_H 0.00063376746

RHO 1.023 C_PITCH 3317 PRESSURE_YINT -16.122175 SEABIRD_T_I 2.0789576e-05

MASS 51365 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 1.6847914e-06

NAV_MODE 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.138739

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1328104

KALMAN_USE 1 PITCH_GAIN 23 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00035406757

HD_A 0.0054608998 PITCH_TIMEOUT 19 COMPASS_USE 0 SEABIRD_C_J 0.00012259149

HD_B 0.011315 PITCH_AD_RATE 156 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 156 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.003125763 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 23 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3950 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 150 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -16.122175 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

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 0.0054608998 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.011315 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 8.0300997e-06 RHO 1.023 T_GPS_CHARGE -17760.074

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 120 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3861 T_WATCHDOG 10

C_PITCH 3317 INT_PRESSURE_YINT -2.4000001 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 176 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2400 KERMIT 0 ROLL_TIMEOUT 16 USE_BATHY -1

C_VBD 2876 MASS 51365 R_PORT_OVSHOOT 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -10.138739 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1328104 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00035406757 VBD_MAX 3895

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00012259149 VBD_MAXERRORS 1

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043782545 VBD_MIN 395

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063376746 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.0789576e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 5 PHONE_DEVICE 48 SEABIRD_T_J 1.6847914e-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 004637,5007.449,-14450.539,44,1.1,56,18.5 TGT_NAME NW

_CALLS 1 TGT_LATLONG 5021.009,-14511.944

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.226,0.102

_SM_DEPTHo 1.49 KALMAN_X 2760.7,252.4,-347.8,-3637.7,2397.6

_SM_ANGLEo -74.8 KALMAN_Y 46.4,8.0,-1.4,3496.0,33.6

GPS2 005103,5007.466,-14450.540,14,1.1,14,18.5 MHEAD_RNG_PITCHd_Wd 275.8,35621,-19.8,-10.000

SPEED_LIMITS 0.173,0.248 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.7,1.011471 ALTIM_TOP_PING 20.0,999.0

SM_CCo 17390,14.65,0.809,0,0,1448,350.04 _24V_AH 23.2,5.143

SM_GC 3.26,0.00,0.00,14.65,0.000,0.000,0.809,151,2397,1448,-9.90,-0.08,350.04 _10V_AH 10.6,1.660

IRIDIUM_FIX 4949.70,-14451.14,241197,212148 DATA_FILE_SIZE 25414,462

TT8_MAMPS 0.026078 CAP_FILE_SIZE 122025,0

HUMID 2268 CFSIZE 260165632,258101248

INTERNAL_PRESSURE 9.04575 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.60 GPS 310808,054328,5009.006,-14453.421,31,2.6,50,18.5

XPDR_PINGS 590

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 297 204.19 SBE_CT 355 24 197.81

Roll_motor 158 92 341.27 SBE_O2 339 19 149.72

VBD_pump_during_apogee 407 1510 14281.15 WL_BB2F 785 105 1914.50

VBD_pump_during_surface 14 809 275.03 Optode 166 33 127.56

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.52 nil 0 0 0.00

Iridium_during_connect 24 160 90.98 nil 0 0 0.00

Iridium_during_xfer 135 223 700.24

Transponder_ping 147 420 1439.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.88

TT8 1077 19 226.08

LPSleep 14258 2 331.01

TT8_Active 555 19 116.52

TT8_Sampling 1509 39 636.74

TT8_CF8 283 45 137.75

TT8_Kalman 33 81 28.91

Analog_circuits 1340 12 170.53

GPS_charging 0 0 0.00

Compass 1486 8 126.06

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.04 -146.6 0.0 0.0 0 62 0.00 0.00 -42.55 0.000 2 0.000 0.000 148 2408 2508

64 -1.04 -146.6 3.2 -5.6 4 108 13.20 2.42 -22.35 0.000 4 0.298 0.092 2973 996 3477

176 -0.80 -146.6 26.9 -23.4 14 181 0.30 2.33 0.00 0.000 6 0.202 0.067 3050 2405 3478

501 -0.80 -146.6 78.1 -13.4 44 505 0.00 2.35 0.00 0.000 4 0.000 0.076 3050 986 3480

567 -0.85 -146.6 87.2 -12.9 47 571 0.00 2.33 0.00 0.000 6 0.000 0.064 3045 2400 3481

893 -0.85 -146.6 132.5 -13.9 63 894 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2400 3481

1221 -0.91 -146.6 172.9 -11.5 76 1225 0.00 2.30 0.00 0.000 4 0.000 0.083 3043 3809 3482

1283 -0.97 -146.6 179.8 -10.8 78 1288 0.12 2.28 0.00 0.000 6 0.084 0.065 2991 2386 3481

1617 -0.93 -146.6 225.0 -13.8 89 1621 0.00 2.28 0.00 0.000 4 0.000 0.081 2991 991 3482

1644 -0.88 -146.6 228.8 -14.2 90 1649 0.17 2.28 0.00 0.000 6 0.187 0.066 3035 2402 3482

1978 -0.95 -146.6 269.4 -11.9 101 1982 0.00 2.30 0.00 0.000 4 0.000 0.082 3030 3820 3482

2032 -1.01 -146.6 276.1 -12.7 102 2040 0.08 2.30 0.00 0.000 6 0.074 0.066 2989 2397 3481

2344 -0.96 -146.6 318.7 -13.8 111 2348 0.00 2.28 0.00 0.000 4 0.000 0.080 2989 993 3481

2381 -0.96 -146.6 324.1 -13.4 111 2386 0.00 2.30 0.00 0.000 6 0.000 0.067 2988 2403 3481

2708 -0.92 -146.6 370.0 -14.1 117 2710 0.12 0.00 0.00 0.000 6 0.198 0.000 3017 2403 3481

3010 -0.92 -146.6 407.9 -12.4 122 3014 0.00 2.28 0.00 0.000 4 0.000 0.084 3016 3809 3481

3048 -0.92 -146.6 412.9 -12.4 122 3053 0.00 2.28 0.00 0.000 6 0.000 0.068 3016 2401 3481

3374 -0.92 -146.6 452.5 -12.1 128 3375 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2401 3481

3678 -0.96 -146.6 486.8 -11.3 133 3682 0.00 2.33 0.00 0.000 4 0.000 0.087 3016 3814 3480

3709 -0.96 -146.6 490.7 -12.1 133 3714 0.00 2.30 0.00 0.000 6 0.000 0.071 3016 2399 3480

4042 -1.01 -146.6 527.4 -11.0 139 4043 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2399 3480

4345 -1.06 -146.6 561.8 -11.3 144 4350 0.12 2.33 0.00 0.000 4 0.087 0.085 2964 3814 3479

4371 -0.99 -146.6 565.4 -15.1 144 4376 0.10 2.30 0.00 0.000 6 0.189 0.070 2992 2395 3479

4708 -0.99 -146.6 609.1 -12.9 150 4712 0.00 2.33 0.00 0.000 4 0.000 0.086 2989 3814 3479

4751 -0.99 -146.6 615.2 -13.9 150 4756 0.00 2.30 0.00 0.000 6 0.000 0.071 2989 2398 3479

5072 -0.99 -146.6 655.7 -12.7 156 5074 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2399 3479

5375 -0.99 -146.6 694.1 -12.6 161 5376 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2399 3479

5678 -0.99 -146.6 732.7 -12.7 166 5682 0.00 2.33 0.00 0.000 4 0.000 0.087 2989 3814 3478

5704 -0.99 -146.6 736.4 -13.7 166 5709 0.00 2.30 0.00 0.000 6 0.000 0.072 2989 2401 3478

6042 -0.99 -146.6 778.0 -12.3 172 6043 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2400 3478

6345 -0.99 -146.6 814.2 -11.9 177 6349 0.00 2.33 0.00 0.000 4 0.000 0.088 2989 3817 3477

6371 -0.99 -146.6 817.5 -12.8 177 6376 0.00 2.30 0.00 0.000 6 0.000 0.073 2989 2402 3477

6709 -0.99 -146.6 856.7 -11.6 183 6713 0.00 2.33 0.00 0.000 4 0.000 0.088 2989 3816 3477

6752 -0.99 -146.6 862.0 -12.0 183 6757 0.00 2.30 0.00 0.000 6 0.000 0.073 2989 2402 3477

7073 -0.99 -146.6 898.5 -11.5 189 7077 0.00 2.33 0.00 0.000 4 0.000 0.089 2989 3817 3477

7110 -0.99 -146.6 903.1 -12.5 189 7115 0.00 2.30 0.00 0.000 6 0.000 0.073 2989 2400 3477

7442 -0.99 -146.6 939.8 -11.0 195 7446 0.00 2.35 0.00 0.000 4 0.000 0.092 2989 3817 3477

7496 -0.99 -146.6 946.2 -11.4 195 7504 0.00 2.30 0.00 0.000 6 0.000 0.073 2989 2404 3476

7806 -0.99 -146.6 979.8 -10.9 201 7810 0.00 2.33 0.00 0.000 4 0.000 0.093 2989 3813 3476

7849 -0.99 -146.6 984.8 -11.7 201 7854 0.00 2.30 0.00 0.000 6 0.000 0.073 2989 2402 3477

7932 end dive: TARGET_DEPTH_EXCEEDED

state 7932 begin apogee

7936 -0.22 0.0 994.1 11.2 203 8065 0.88 0.00 125.88 1.510 6 0.181 0.000 3246 2190 2876

8066 end apogee: CONTROL_FINISHED_OK

state 8066 begin climb

8067 1.04 146.6 998.9 0.0 205 8204 1.33 2.62 127.75 1.450 4 0.114 0.091 3654 792 2278

8265 0.69 146.6 990.9 14.5 208 8270 0.43 2.47 0.00 0.000 6 0.222 0.071 3541 2200 2276

8608 0.62 149.4 956.6 9.9 214 8609 0.00 0.00 0.00 0.000 6 0.000 0.000 3541 2200 2274

8911 0.56 159.2 927.7 9.6 219 8930 0.15 2.50 11.68 1.325 4 0.217 0.091 3505 794 2225

8957 0.65 190.4 923.6 8.6 219 8990 0.00 2.40 27.75 1.394 6 0.000 0.071 3505 2202 2099

9338 0.76 218.1 890.7 8.7 226 9366 0.17 0.00 24.88 1.383 6 0.082 0.000 3572 2202 1986

9641 0.71 218.1 854.5 12.1 231 9642 0.00 0.00 0.00 0.000 6 0.000 0.000 3572 2201 1983

9944 0.66 218.1 815.4 13.0 236 9949 0.15 2.40 0.00 0.000 4 0.196 0.091 3533 795 1981

9981 0.72 218.1 810.8 11.4 236 9986 0.00 2.35 0.00 0.000 6 0.000 0.071 3533 2198 1981

10308 0.78 218.1 773.6 11.3 242 10313 0.10 2.40 0.00 0.000 4 0.101 0.091 3573 788 1981

10345 0.73 218.1 768.9 12.7 242 10350 0.00 2.35 0.00 0.000 6 0.000 0.067 3573 2206 1981

10672 0.68 218.1 726.3 13.0 248 10677 0.15 2.40 0.00 0.000 4 0.207 0.091 3534 789 1981

10703 0.75 218.1 722.4 11.1 248 10708 0.00 2.35 0.00 0.000 6 0.000 0.071 3534 2204 1981

11036 0.80 218.1 684.4 11.5 254 11040 0.12 2.33 0.00 0.000 4 0.092 0.087 3585 3611 1981

11061 0.68 218.1 680.7 14.1 254 11067 0.17 2.35 0.00 0.000 6 0.217 0.078 3539 2201 1980

11399 0.72 218.1 640.2 12.1 260 11403 0.00 2.35 0.00 0.000 4 0.000 0.090 3546 786 1981

11476 0.72 218.1 630.3 12.1 261 11481 0.00 2.33 0.00 0.000 6 0.000 0.071 3546 2195 1980

11830 0.72 218.1 585.7 12.6 267 11832 0.00 0.00 0.00 0.000 6 0.000 0.000 3546 2195 1980

12134 0.72 218.1 548.1 12.3 272 12135 0.00 0.00 0.00 0.000 6 0.000 0.000 3546 2195 1980

12437 0.72 218.1 512.3 11.8 277 12441 0.00 2.35 0.00 0.000 4 0.000 0.091 3546 787 1980

12480 0.77 218.1 507.4 11.4 277 12485 0.00 2.33 0.00 0.000 6 0.000 0.071 3546 2201 1980

12801 0.82 218.1 473.7 10.4 283 12803 0.10 0.00 0.00 0.000 6 0.100 0.000 3587 2201 1980

13104 0.76 218.1 439.3 11.3 288 13108 0.00 2.35 0.00 0.000 4 0.000 0.091 3587 789 1980

13175 0.70 218.1 431.3 11.2 289 13180 0.12 2.30 0.00 0.000 6 0.196 0.066 3550 2205 1980

13534 0.70 218.1 394.6 10.3 295 13535 0.00 0.00 0.00 0.000 6 0.000 0.000 3550 2204 1980

13837 0.70 218.1 363.8 10.1 300 13841 0.00 2.35 0.00 0.000 4 0.000 0.088 3559 786 1980

13874 0.70 218.1 359.8 10.4 300 13879 0.00 2.33 0.00 0.000 6 0.000 0.071 3559 2206 1980

14201 0.70 218.1 325.7 10.5 306 14205 0.00 2.35 0.00 0.000 4 0.000 0.090 3559 789 1980

14226 0.70 218.1 322.8 11.2 306 14231 0.00 2.30 0.00 0.000 6 0.000 0.069 3559 2199 1980

14565 0.70 218.1 287.0 10.7 313 14566 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2199 1980

14871 0.70 218.1 253.8 11.1 323 14875 0.00 2.35 0.00 0.000 4 0.000 0.088 3559 781 1980

14903 0.74 218.1 250.3 10.3 324 14907 0.00 2.30 0.00 0.000 6 0.000 0.068 3559 2198 1980

15238 0.79 218.1 213.9 10.8 335 15242 0.00 2.35 0.00 0.000 4 0.000 0.088 3559 778 1981

15314 0.83 218.1 205.3 10.9 337 15319 0.00 2.33 0.00 0.000 6 0.000 0.068 3559 2203 1980

15638 0.87 218.1 170.8 10.4 348 15643 0.12 2.30 0.00 0.000 4 0.099 0.087 3611 3610 1981

15687 0.67 218.1 164.4 13.1 349 15692 0.28 2.33 0.00 0.000 6 0.216 0.077 3538 2196 1981

16006 0.85 264.7 139.9 7.9 362 16050 0.15 2.40 36.80 0.967 4 0.087 0.086 3604 3610 1794

16077 0.77 264.7 131.8 12.7 365 16082 0.15 2.38 0.00 0.000 6 0.199 0.074 3572 2201 1791

16404 0.88 264.7 98.4 10.1 381 16408 0.00 2.38 0.00 0.000 4 0.000 0.087 3573 786 1789

16604 1.02 277.9 78.2 9.4 390 16623 0.17 2.35 11.12 0.883 6 0.070 0.069 3652 2201 1742

16940 0.96 277.9 37.0 11.9 422 16944 0.00 2.40 0.00 0.000 4 0.000 0.087 3653 778 1740

16983 0.91 277.9 31.9 11.1 425 16991 0.15 2.35 0.00 0.000 6 0.193 0.067 3612 2197 1740

17308 1.04 329.8 6.6 7.6 456 17355 0.12 1.70 41.75 0.864 3 0.094 0.084 3666 1201 1529

17356 end climb: SURFACE_DEPTH_REACHED

state 17356 begin surface coast

17372 end surface coast: CONTROL_FINISHED_OK

state 17372 begin surface

ID	120	HD_C	8.0300997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3861	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	47.599998	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1090	TGT_DEFAULT_LON	-122.3	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	350	HEAD_ERRBAND	10	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	16	INT_PRESSURE_YINT	-2.4000001
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	395	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3895	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2876	DEVICE6	-1
T_NO_W	300	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17760.074	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	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	150	AH0_24V	147	SEABIRD_T_G	0.0043782545
SPEED_FACTOR	1	PITCH_MAX	3950	AH0_10V	122.2	SEABIRD_T_H	0.00063376746
RHO	1.023	C_PITCH	3317	PRESSURE_YINT	-16.122175	SEABIRD_T_I	2.0789576e-05
MASS	51365	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	1.6847914e-06
NAV_MODE	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.138739
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1328104
KALMAN_USE	1	PITCH_GAIN	23	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00035406757
HD_A	0.0054608998	PITCH_TIMEOUT	19	COMPASS_USE	0	SEABIRD_C_J	0.00012259149
HD_B	0.011315	PITCH_AD_RATE	156	ALTIM_BOTTOM_PING_RANGE	0

GPS1	004637,5007.449,-14450.539,44,1.1,56,18.5	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	5021.009,-14511.944
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.226,0.102
_SM_DEPTHo	1.49	KALMAN_X	2760.7,252.4,-347.8,-3637.7,2397.6
_SM_ANGLEo	-74.8	KALMAN_Y	46.4,8.0,-1.4,3496.0,33.6
GPS2	005103,5007.466,-14450.540,14,1.1,14,18.5	MHEAD_RNG_PITCHd_Wd	275.8,35621,-19.8,-10.000
SPEED_LIMITS	0.173,0.248	D_GRID	1001

FINISH	0.7,1.011471	ALTIM_TOP_PING	20.0,999.0
SM_CCo	17390,14.65,0.809,0,0,1448,350.04	_24V_AH	23.2,5.143
SM_GC	3.26,0.00,0.00,14.65,0.000,0.000,0.809,151,2397,1448,-9.90,-0.08,350.04	_10V_AH	10.6,1.660
IRIDIUM_FIX	4949.70,-14451.14,241197,212148	DATA_FILE_SIZE	25414,462
TT8_MAMPS	0.026078	CAP_FILE_SIZE	122025,0
HUMID	2268	CFSIZE	260165632,258101248
INTERNAL_PRESSURE	9.04575	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.60	GPS	310808,054328,5009.006,-14453.421,31,2.6,50,18.5
XPDR_PINGS	590

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	297	204.19	SBE_CT	355	24	197.81
Roll_motor	158	92	341.27	SBE_O2	339	19	149.72
VBD_pump_during_apogee	407	1510	14281.15	WL_BB2F	785	105	1914.50
VBD_pump_during_surface	14	809	275.03	Optode	166	33	127.56
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.52	nil	0	0	0.00
Iridium_during_connect	24	160	90.98	nil	0	0	0.00
Iridium_during_xfer	135	223	700.24
Transponder_ping	147	420	1439.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.88
TT8	1077	19	226.08
LPSleep	14258	2	331.01
TT8_Active	555	19	116.52
TT8_Sampling	1509	39	636.74
TT8_CF8	283	45	137.75
TT8_Kalman	33	81	28.91
Analog_circuits	1340	12	170.53
GPS_charging	0	0	0.00
Compass	1486	8	126.06
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.04	-146.6	0.0	0.0	0	62	0.00	0.00	-42.55	0.000	2	0.000	0.000	148	2408	2508
64	-1.04	-146.6	3.2	-5.6	4	108	13.20	2.42	-22.35	0.000	4	0.298	0.092	2973	996	3477
176	-0.80	-146.6	26.9	-23.4	14	181	0.30	2.33	0.00	0.000	6	0.202	0.067	3050	2405	3478
501	-0.80	-146.6	78.1	-13.4	44	505	0.00	2.35	0.00	0.000	4	0.000	0.076	3050	986	3480
567	-0.85	-146.6	87.2	-12.9	47	571	0.00	2.33	0.00	0.000	6	0.000	0.064	3045	2400	3481
893	-0.85	-146.6	132.5	-13.9	63	894	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2400	3481
1221	-0.91	-146.6	172.9	-11.5	76	1225	0.00	2.30	0.00	0.000	4	0.000	0.083	3043	3809	3482
1283	-0.97	-146.6	179.8	-10.8	78	1288	0.12	2.28	0.00	0.000	6	0.084	0.065	2991	2386	3481
1617	-0.93	-146.6	225.0	-13.8	89	1621	0.00	2.28	0.00	0.000	4	0.000	0.081	2991	991	3482
1644	-0.88	-146.6	228.8	-14.2	90	1649	0.17	2.28	0.00	0.000	6	0.187	0.066	3035	2402	3482
1978	-0.95	-146.6	269.4	-11.9	101	1982	0.00	2.30	0.00	0.000	4	0.000	0.082	3030	3820	3482
2032	-1.01	-146.6	276.1	-12.7	102	2040	0.08	2.30	0.00	0.000	6	0.074	0.066	2989	2397	3481
2344	-0.96	-146.6	318.7	-13.8	111	2348	0.00	2.28	0.00	0.000	4	0.000	0.080	2989	993	3481
2381	-0.96	-146.6	324.1	-13.4	111	2386	0.00	2.30	0.00	0.000	6	0.000	0.067	2988	2403	3481
2708	-0.92	-146.6	370.0	-14.1	117	2710	0.12	0.00	0.00	0.000	6	0.198	0.000	3017	2403	3481
3010	-0.92	-146.6	407.9	-12.4	122	3014	0.00	2.28	0.00	0.000	4	0.000	0.084	3016	3809	3481
3048	-0.92	-146.6	412.9	-12.4	122	3053	0.00	2.28	0.00	0.000	6	0.000	0.068	3016	2401	3481
3374	-0.92	-146.6	452.5	-12.1	128	3375	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2401	3481
3678	-0.96	-146.6	486.8	-11.3	133	3682	0.00	2.33	0.00	0.000	4	0.000	0.087	3016	3814	3480
3709	-0.96	-146.6	490.7	-12.1	133	3714	0.00	2.30	0.00	0.000	6	0.000	0.071	3016	2399	3480
4042	-1.01	-146.6	527.4	-11.0	139	4043	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2399	3480
4345	-1.06	-146.6	561.8	-11.3	144	4350	0.12	2.33	0.00	0.000	4	0.087	0.085	2964	3814	3479
4371	-0.99	-146.6	565.4	-15.1	144	4376	0.10	2.30	0.00	0.000	6	0.189	0.070	2992	2395	3479
4708	-0.99	-146.6	609.1	-12.9	150	4712	0.00	2.33	0.00	0.000	4	0.000	0.086	2989	3814	3479
4751	-0.99	-146.6	615.2	-13.9	150	4756	0.00	2.30	0.00	0.000	6	0.000	0.071	2989	2398	3479
5072	-0.99	-146.6	655.7	-12.7	156	5074	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2399	3479
5375	-0.99	-146.6	694.1	-12.6	161	5376	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2399	3479
5678	-0.99	-146.6	732.7	-12.7	166	5682	0.00	2.33	0.00	0.000	4	0.000	0.087	2989	3814	3478
5704	-0.99	-146.6	736.4	-13.7	166	5709	0.00	2.30	0.00	0.000	6	0.000	0.072	2989	2401	3478
6042	-0.99	-146.6	778.0	-12.3	172	6043	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2400	3478
6345	-0.99	-146.6	814.2	-11.9	177	6349	0.00	2.33	0.00	0.000	4	0.000	0.088	2989	3817	3477
6371	-0.99	-146.6	817.5	-12.8	177	6376	0.00	2.30	0.00	0.000	6	0.000	0.073	2989	2402	3477
6709	-0.99	-146.6	856.7	-11.6	183	6713	0.00	2.33	0.00	0.000	4	0.000	0.088	2989	3816	3477
6752	-0.99	-146.6	862.0	-12.0	183	6757	0.00	2.30	0.00	0.000	6	0.000	0.073	2989	2402	3477
7073	-0.99	-146.6	898.5	-11.5	189	7077	0.00	2.33	0.00	0.000	4	0.000	0.089	2989	3817	3477
7110	-0.99	-146.6	903.1	-12.5	189	7115	0.00	2.30	0.00	0.000	6	0.000	0.073	2989	2400	3477
7442	-0.99	-146.6	939.8	-11.0	195	7446	0.00	2.35	0.00	0.000	4	0.000	0.092	2989	3817	3477
7496	-0.99	-146.6	946.2	-11.4	195	7504	0.00	2.30	0.00	0.000	6	0.000	0.073	2989	2404	3476
7806	-0.99	-146.6	979.8	-10.9	201	7810	0.00	2.33	0.00	0.000	4	0.000	0.093	2989	3813	3476
7849	-0.99	-146.6	984.8	-11.7	201	7854	0.00	2.30	0.00	0.000	6	0.000	0.073	2989	2402	3477
7932	end dive: TARGET_DEPTH_EXCEEDED
state	7932	begin apogee
7936	-0.22	0.0	994.1	11.2	203	8065	0.88	0.00	125.88	1.510	6	0.181	0.000	3246	2190	2876
8066	end apogee: CONTROL_FINISHED_OK
state	8066	begin climb
8067	1.04	146.6	998.9	0.0	205	8204	1.33	2.62	127.75	1.450	4	0.114	0.091	3654	792	2278
8265	0.69	146.6	990.9	14.5	208	8270	0.43	2.47	0.00	0.000	6	0.222	0.071	3541	2200	2276
8608	0.62	149.4	956.6	9.9	214	8609	0.00	0.00	0.00	0.000	6	0.000	0.000	3541	2200	2274
8911	0.56	159.2	927.7	9.6	219	8930	0.15	2.50	11.68	1.325	4	0.217	0.091	3505	794	2225
8957	0.65	190.4	923.6	8.6	219	8990	0.00	2.40	27.75	1.394	6	0.000	0.071	3505	2202	2099
9338	0.76	218.1	890.7	8.7	226	9366	0.17	0.00	24.88	1.383	6	0.082	0.000	3572	2202	1986
9641	0.71	218.1	854.5	12.1	231	9642	0.00	0.00	0.00	0.000	6	0.000	0.000	3572	2201	1983
9944	0.66	218.1	815.4	13.0	236	9949	0.15	2.40	0.00	0.000	4	0.196	0.091	3533	795	1981
9981	0.72	218.1	810.8	11.4	236	9986	0.00	2.35	0.00	0.000	6	0.000	0.071	3533	2198	1981
10308	0.78	218.1	773.6	11.3	242	10313	0.10	2.40	0.00	0.000	4	0.101	0.091	3573	788	1981
10345	0.73	218.1	768.9	12.7	242	10350	0.00	2.35	0.00	0.000	6	0.000	0.067	3573	2206	1981
10672	0.68	218.1	726.3	13.0	248	10677	0.15	2.40	0.00	0.000	4	0.207	0.091	3534	789	1981
10703	0.75	218.1	722.4	11.1	248	10708	0.00	2.35	0.00	0.000	6	0.000	0.071	3534	2204	1981
11036	0.80	218.1	684.4	11.5	254	11040	0.12	2.33	0.00	0.000	4	0.092	0.087	3585	3611	1981
11061	0.68	218.1	680.7	14.1	254	11067	0.17	2.35	0.00	0.000	6	0.217	0.078	3539	2201	1980
11399	0.72	218.1	640.2	12.1	260	11403	0.00	2.35	0.00	0.000	4	0.000	0.090	3546	786	1981
11476	0.72	218.1	630.3	12.1	261	11481	0.00	2.33	0.00	0.000	6	0.000	0.071	3546	2195	1980
11830	0.72	218.1	585.7	12.6	267	11832	0.00	0.00	0.00	0.000	6	0.000	0.000	3546	2195	1980
12134	0.72	218.1	548.1	12.3	272	12135	0.00	0.00	0.00	0.000	6	0.000	0.000	3546	2195	1980
12437	0.72	218.1	512.3	11.8	277	12441	0.00	2.35	0.00	0.000	4	0.000	0.091	3546	787	1980
12480	0.77	218.1	507.4	11.4	277	12485	0.00	2.33	0.00	0.000	6	0.000	0.071	3546	2201	1980
12801	0.82	218.1	473.7	10.4	283	12803	0.10	0.00	0.00	0.000	6	0.100	0.000	3587	2201	1980
13104	0.76	218.1	439.3	11.3	288	13108	0.00	2.35	0.00	0.000	4	0.000	0.091	3587	789	1980
13175	0.70	218.1	431.3	11.2	289	13180	0.12	2.30	0.00	0.000	6	0.196	0.066	3550	2205	1980
13534	0.70	218.1	394.6	10.3	295	13535	0.00	0.00	0.00	0.000	6	0.000	0.000	3550	2204	1980
13837	0.70	218.1	363.8	10.1	300	13841	0.00	2.35	0.00	0.000	4	0.000	0.088	3559	786	1980
13874	0.70	218.1	359.8	10.4	300	13879	0.00	2.33	0.00	0.000	6	0.000	0.071	3559	2206	1980
14201	0.70	218.1	325.7	10.5	306	14205	0.00	2.35	0.00	0.000	4	0.000	0.090	3559	789	1980
14226	0.70	218.1	322.8	11.2	306	14231	0.00	2.30	0.00	0.000	6	0.000	0.069	3559	2199	1980
14565	0.70	218.1	287.0	10.7	313	14566	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2199	1980
14871	0.70	218.1	253.8	11.1	323	14875	0.00	2.35	0.00	0.000	4	0.000	0.088	3559	781	1980
14903	0.74	218.1	250.3	10.3	324	14907	0.00	2.30	0.00	0.000	6	0.000	0.068	3559	2198	1980
15238	0.79	218.1	213.9	10.8	335	15242	0.00	2.35	0.00	0.000	4	0.000	0.088	3559	778	1981
15314	0.83	218.1	205.3	10.9	337	15319	0.00	2.33	0.00	0.000	6	0.000	0.068	3559	2203	1980
15638	0.87	218.1	170.8	10.4	348	15643	0.12	2.30	0.00	0.000	4	0.099	0.087	3611	3610	1981
15687	0.67	218.1	164.4	13.1	349	15692	0.28	2.33	0.00	0.000	6	0.216	0.077	3538	2196	1981
16006	0.85	264.7	139.9	7.9	362	16050	0.15	2.40	36.80	0.967	4	0.087	0.086	3604	3610	1794
16077	0.77	264.7	131.8	12.7	365	16082	0.15	2.38	0.00	0.000	6	0.199	0.074	3572	2201	1791
16404	0.88	264.7	98.4	10.1	381	16408	0.00	2.38	0.00	0.000	4	0.000	0.087	3573	786	1789
16604	1.02	277.9	78.2	9.4	390	16623	0.17	2.35	11.12	0.883	6	0.070	0.069	3652	2201	1742
16940	0.96	277.9	37.0	11.9	422	16944	0.00	2.40	0.00	0.000	4	0.000	0.087	3653	778	1740
16983	0.91	277.9	31.9	11.1	425	16991	0.15	2.35	0.00	0.000	6	0.193	0.067	3612	2197	1740
17308	1.04	329.8	6.6	7.6	456	17355	0.12	1.70	41.75	0.864	3	0.094	0.084	3666	1201	1529
17356	end climb: SURFACE_DEPTH_REACHED
state	17356	begin surface coast
17372	end surface coast: CONTROL_FINISHED_OK
state	17372	begin surface