Glider dive log

OcnStnPapa Aug08 * SG120 * Dive index * Mission links * Dive 6 * 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 6 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 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 -17790.523 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 -17790.523

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 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 6 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 054328,5009.006,-14453.421,31,2.6,50,18.5 TGT_NAME NW

_CALLS 1 TGT_LATLONG 5021.009,-14511.944

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.221,0.114

_SM_DEPTHo 1.50 KALMAN_X 4033.8,-421.7,96.2,-8055.5,1682.6

_SM_ANGLEo -74.8 KALMAN_Y 817.6,89.2,80.2,5475.4,441.9

GPS2 054740,5009.040,-14453.384,9,3.0,28,18.5 MHEAD_RNG_PITCHd_Wd 278.8,31184,-19.8,-10.000

SPEED_LIMITS 0.173,0.248 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.5,1.015361 ALTIM_TOP_PING 19.8,999.0

SM_CCo 17975,60.78,0.849,0,0,1449,350.04 _24V_AH 23.2,5.329

SM_GC 1.73,0.00,0.00,60.78,0.000,0.000,0.849,148,2401,1449,-9.90,0.03,350.04 _10V_AH 10.6,1.740

IRIDIUM_FIX 4949.70,-14453.88,251197,000033 DATA_FILE_SIZE 28619,471

TT8_MAMPS 0.026845 CAP_FILE_SIZE 119206,0

HUMID 2220 CFSIZE 260165632,258043904

INTERNAL_PRESSURE 9.05552 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.90 GPS 310808,105037,5010.659,-14456.655,44,1.0,55,18.5

XPDR_PINGS 624

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 298 189.84 SBE_CT 360 24 200.80

Roll_motor 156 95 344.60 SBE_O2 347 19 153.10

VBD_pump_during_apogee 369 1504 12884.50 WL_BB2F 801 105 1952.27

VBD_pump_during_surface 60 849 1197.17 Optode 164 33 125.95

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.30 nil 0 0 0.00

Iridium_during_connect 28 160 104.35 nil 0 0 0.00

Iridium_during_xfer 101 223 526.71

Transponder_ping 156 420 1522.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.80

TT8 1102 19 231.29

LPSleep 14772 2 342.92

TT8_Active 560 19 117.65

TT8_Sampling 1606 39 677.67

TT8_CF8 254 45 123.57

TT8_Kalman 33 81 28.92

Analog_circuits 1374 12 174.80

GPS_charging 0 0 0.00

Compass 1562 8 132.54

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -1.04 -146.6 0.0 0.0 0 63 0.00 0.00 -43.10 0.000 2 0.000 0.000 150 2397 2515

65 -1.04 -146.6 3.4 -6.2 4 109 13.20 2.42 -21.77 0.000 4 0.298 0.095 2971 989 3476

327 -0.87 -146.6 55.8 -17.8 27 335 0.20 2.38 0.00 0.000 6 0.193 0.071 3028 2402 3478

658 -0.82 -146.6 104.0 -13.9 51 659 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2402 3479

967 -0.82 -146.6 142.5 -11.7 66 971 0.00 2.35 0.00 0.000 4 0.000 0.078 3028 981 3480

1038 -0.82 -146.6 150.9 -11.6 69 1043 0.00 2.35 0.00 0.000 6 0.000 0.071 3028 2395 3480

1356 -0.82 -146.6 188.5 -12.3 80 1360 0.00 2.33 0.00 0.000 4 0.000 0.079 3028 986 3481

1438 -0.82 -146.6 199.0 -12.8 82 1443 0.00 2.35 0.00 0.000 6 0.000 0.070 3028 2408 3480

1756 -0.82 -146.6 236.6 -12.0 93 1760 0.00 2.35 0.00 0.000 4 0.000 0.081 3028 981 3480

1939 -0.82 -146.6 258.6 -11.8 98 1944 0.00 2.33 0.00 0.000 6 0.000 0.071 3028 2393 3480

2257 -0.82 -146.6 295.3 -11.6 109 2261 0.00 2.33 0.00 0.000 4 0.000 0.081 3029 980 3480

2323 -0.82 -146.6 303.0 -11.8 111 2328 0.00 2.35 0.00 0.000 6 0.000 0.071 3028 2404 3480

2689 -0.82 -146.6 343.8 -11.1 117 2692 0.00 2.33 0.00 0.000 4 0.000 0.081 3028 987 3480

2756 -0.89 -146.6 351.3 -10.6 118 2760 0.00 2.33 0.00 0.000 6 0.000 0.073 3028 2412 3480

3120 -0.95 -146.6 391.7 -11.0 124 3124 0.00 2.30 0.00 0.000 4 0.000 0.092 3027 3810 3479

3141 -1.00 -146.6 394.1 -10.8 124 3146 0.00 2.30 0.00 0.000 6 0.000 0.069 3027 2391 3479

3490 -1.06 -146.6 431.0 -10.7 130 3492 0.15 0.00 0.00 0.000 6 0.081 0.000 2968 2391 3478

3793 -0.97 -146.6 474.2 -14.4 135 3798 0.15 2.28 0.00 0.000 4 0.192 0.082 3010 992 3478

3814 -0.97 -146.6 477.2 -14.0 135 3819 0.00 2.30 0.00 0.000 6 0.000 0.071 3004 2395 3478

4163 -0.97 -146.6 520.1 -12.4 141 4164 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2394 3478

4466 -0.97 -146.6 558.4 -12.7 146 4467 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2395 3478

4769 -0.97 -146.6 597.6 -12.9 151 4773 0.00 2.33 0.00 0.000 4 0.000 0.089 3004 3817 3478

4819 -0.97 -146.6 604.3 -13.7 151 4823 0.00 2.28 0.00 0.000 6 0.000 0.072 3004 2400 3478

5133 -0.97 -146.6 643.8 -12.4 157 5137 0.00 2.35 0.00 0.000 4 0.000 0.091 3003 3819 3478

5175 -0.97 -146.6 649.4 -12.7 157 5180 0.00 2.30 0.00 0.000 6 0.000 0.071 3004 2405 3477

5496 -0.97 -146.6 688.6 -12.2 163 5500 0.00 2.33 0.00 0.000 4 0.000 0.091 3004 3807 3477

5538 -0.97 -146.6 694.0 -12.8 163 5543 0.00 2.30 0.00 0.000 6 0.000 0.072 3004 2397 3477

5859 -0.97 -146.6 732.5 -12.1 169 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2398 3477

6162 -0.97 -146.6 767.4 -11.4 174 6167 0.00 2.35 0.00 0.000 4 0.000 0.092 3004 3813 3477

6201 -0.97 -146.6 771.9 -11.3 174 6205 0.00 2.28 0.00 0.000 6 0.000 0.073 3003 2397 3477

6521 -0.97 -146.6 807.5 -11.1 180 6524 0.00 2.35 0.00 0.000 4 0.000 0.093 3003 3817 3477

6558 -0.97 -146.6 811.8 -11.5 180 6563 0.00 2.30 0.00 0.000 6 0.000 0.073 3003 2403 3477

6890 -1.01 -146.6 846.9 -10.5 186 6894 0.00 2.35 0.00 0.000 4 0.000 0.093 3004 3814 3477

6928 -1.01 -146.6 851.1 -10.9 186 6932 0.00 2.30 0.00 0.000 6 0.000 0.073 3003 2404 3476

7255 -1.06 -146.6 884.1 -10.2 192 7259 0.00 2.35 0.00 0.000 4 0.000 0.093 3004 3817 3476

7286 -1.06 -146.6 887.7 -11.4 192 7291 0.00 2.33 0.00 0.000 6 0.000 0.074 3004 2396 3476

7619 -1.10 -146.6 922.7 -10.6 198 7624 0.12 2.35 0.00 0.000 4 0.091 0.091 2951 3813 3476

7645 -1.01 -146.6 926.4 -14.3 198 7650 0.10 2.30 0.00 0.000 6 0.189 0.072 2980 2399 3475

7982 -1.01 -146.6 968.5 -12.5 204 7986 0.00 2.35 0.00 0.000 4 0.000 0.093 2977 3816 3476

8019 -0.97 -146.6 973.5 -13.0 204 8024 0.00 2.33 0.00 0.000 6 0.000 0.074 2977 2395 3475

8168 end dive: TARGET_DEPTH_EXCEEDED

state 8168 begin apogee

8172 -0.22 0.0 992.7 12.9 207 8302 0.93 0.00 126.43 1.505 6 0.188 0.000 3244 2201 2876

8302 end apogee: CONTROL_FINISHED_OK

state 8302 begin climb

8304 1.04 146.6 999.0 0.0 209 8440 1.30 2.65 127.85 1.452 4 0.118 0.090 3654 789 2277

8467 0.66 146.6 997.6 11.6 211 8473 0.47 2.53 0.00 0.000 6 0.225 0.076 3532 2194 2276

8794 0.65 172.5 968.5 8.8 217 8819 0.00 0.00 22.95 1.392 6 0.000 0.000 3532 2194 2172

9097 0.66 180.0 939.3 9.7 222 9111 0.00 2.53 7.82 1.216 4 0.000 0.094 3532 789 2142

9132 0.66 184.0 935.6 9.8 222 9143 0.00 2.42 5.57 1.072 6 0.000 0.073 3532 2196 2125

9464 0.66 184.0 899.9 10.9 228 9468 0.00 2.42 0.00 0.000 4 0.000 0.093 3533 792 2124

9500 0.66 184.0 895.6 10.7 228 9506 0.00 2.40 0.00 0.000 6 0.000 0.073 3532 2206 2124

9827 0.66 184.0 858.9 11.2 234 9831 0.00 2.42 0.00 0.000 4 0.000 0.092 3532 787 2123

9869 0.66 184.0 853.8 12.0 234 9874 0.00 2.38 0.00 0.000 6 0.000 0.072 3533 2204 2123

10190 0.66 184.0 817.6 11.4 240 10192 0.00 0.00 0.00 0.000 6 0.000 0.000 3533 2204 2123

10494 0.66 184.0 783.9 11.1 245 10495 0.00 0.00 0.00 0.000 6 0.000 0.000 3533 2204 2123

10797 0.66 184.0 751.1 10.8 250 10798 0.00 0.00 0.00 0.000 6 0.000 0.000 3532 2204 2122

11100 0.66 184.0 718.6 10.8 255 11104 0.00 2.40 0.00 0.000 4 0.000 0.092 3533 780 2122

11142 0.66 184.0 713.9 10.8 255 11147 0.00 2.35 0.00 0.000 6 0.000 0.071 3532 2200 2122

11463 0.66 184.0 680.3 10.4 261 11464 0.00 0.00 0.00 0.000 6 0.000 0.000 3533 2200 2122

11766 0.66 184.0 649.6 10.0 266 11770 0.00 2.38 0.00 0.000 4 0.000 0.091 3532 778 2122

11816 0.66 185.2 644.7 9.9 266 11820 0.00 2.33 0.00 0.000 6 0.000 0.071 3533 2211 2122

12130 0.68 198.3 615.1 9.4 272 12149 0.00 2.40 12.57 1.214 4 0.000 0.087 3532 3618 2066

12177 0.63 198.3 610.2 10.6 272 12181 0.00 2.38 0.00 0.000 6 0.000 0.078 3532 2201 2065

12498 0.70 218.6 580.9 9.1 278 12518 0.00 0.00 18.00 1.220 6 0.000 0.000 3532 2202 1984

12801 0.79 230.4 552.4 9.5 283 12820 0.12 2.47 11.40 1.152 4 0.097 0.091 3586 790 1935

12852 0.74 230.4 546.1 12.2 283 12858 0.10 2.38 0.00 0.000 6 0.192 0.071 3559 2199 1934

13168 0.74 230.4 509.0 11.8 289 13169 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2199 1933

13471 0.74 230.4 473.8 11.6 294 13475 0.00 2.40 0.00 0.000 4 0.000 0.091 3559 782 1933

13532 0.74 230.4 466.7 12.3 295 13536 0.00 2.35 0.00 0.000 6 0.000 0.071 3559 2212 1933

13896 0.74 230.4 425.1 11.3 301 13897 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2212 1933

14199 0.74 230.4 390.6 11.4 306 14200 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2211 1933

14502 0.74 230.4 356.3 11.3 311 14506 0.00 2.38 0.00 0.000 4 0.000 0.091 3559 789 1933

14562 0.74 230.4 349.4 11.3 311 14570 0.00 2.33 0.00 0.000 6 0.000 0.068 3559 2204 1933

14872 0.74 230.4 315.7 10.9 317 14873 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2204 1933

15176 0.74 230.4 283.3 10.7 324 15177 0.00 0.00 0.00 0.000 6 0.000 0.000 3559 2204 1933

15483 0.74 230.4 250.5 10.7 334 15487 0.00 2.30 0.00 0.000 4 0.000 0.087 3559 3609 1933

15510 0.74 230.4 247.2 12.3 335 15514 0.00 2.33 0.00 0.000 6 0.000 0.079 3559 2188 1933

15844 0.79 230.4 210.4 10.7 346 15849 0.00 2.33 0.00 0.000 4 0.000 0.090 3559 780 1933

15916 0.85 234.2 202.9 9.8 348 15926 0.00 2.33 4.47 0.764 6 0.000 0.067 3559 2221 1920

16244 0.92 234.2 169.2 10.1 359 16249 0.15 2.40 0.00 0.000 4 0.086 0.087 3626 784 1920

16276 0.80 234.2 165.6 11.7 360 16281 0.17 2.33 0.00 0.000 6 0.206 0.068 3578 2203 1920

16592 0.80 234.2 132.9 10.1 373 16596 0.00 2.35 0.00 0.000 4 0.000 0.088 3586 789 1920

16848 0.84 265.5 109.7 8.6 384 16879 0.00 2.30 25.95 0.947 6 0.000 0.068 3586 2199 1792

17207 0.93 271.5 78.5 9.7 402 17219 0.00 2.40 6.03 0.793 4 0.000 0.087 3585 781 1768

17242 1.02 273.7 74.8 9.9 405 17247 0.17 2.35 0.00 0.000 6 0.081 0.068 3653 2210 1768

17567 0.95 273.7 32.3 12.6 435 17572 0.12 2.33 0.00 0.000 4 0.199 0.084 3625 3614 1766

17655 0.90 273.7 23.5 11.2 442 17662 0.00 2.35 0.00 0.000 6 0.000 0.077 3626 2204 1765

17925 end climb: SURFACE_DEPTH_REACHED

state 17925 begin surface coast

17958 end surface coast: CONTROL_FINISHED_OK

state 17959 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	6	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	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	-17790.523	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	054328,5009.006,-14453.421,31,2.6,50,18.5	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	5021.009,-14511.944
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.221,0.114
_SM_DEPTHo	1.50	KALMAN_X	4033.8,-421.7,96.2,-8055.5,1682.6
_SM_ANGLEo	-74.8	KALMAN_Y	817.6,89.2,80.2,5475.4,441.9
GPS2	054740,5009.040,-14453.384,9,3.0,28,18.5	MHEAD_RNG_PITCHd_Wd	278.8,31184,-19.8,-10.000
SPEED_LIMITS	0.173,0.248	D_GRID	1001

FINISH	0.5,1.015361	ALTIM_TOP_PING	19.8,999.0
SM_CCo	17975,60.78,0.849,0,0,1449,350.04	_24V_AH	23.2,5.329
SM_GC	1.73,0.00,0.00,60.78,0.000,0.000,0.849,148,2401,1449,-9.90,0.03,350.04	_10V_AH	10.6,1.740
IRIDIUM_FIX	4949.70,-14453.88,251197,000033	DATA_FILE_SIZE	28619,471
TT8_MAMPS	0.026845	CAP_FILE_SIZE	119206,0
HUMID	2220	CFSIZE	260165632,258043904
INTERNAL_PRESSURE	9.05552	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.90	GPS	310808,105037,5010.659,-14456.655,44,1.0,55,18.5
XPDR_PINGS	624

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	298	189.84	SBE_CT	360	24	200.80
Roll_motor	156	95	344.60	SBE_O2	347	19	153.10
VBD_pump_during_apogee	369	1504	12884.50	WL_BB2F	801	105	1952.27
VBD_pump_during_surface	60	849	1197.17	Optode	164	33	125.95
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.30	nil	0	0	0.00
Iridium_during_connect	28	160	104.35	nil	0	0	0.00
Iridium_during_xfer	101	223	526.71
Transponder_ping	156	420	1522.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.80
TT8	1102	19	231.29
LPSleep	14772	2	342.92
TT8_Active	560	19	117.65
TT8_Sampling	1606	39	677.67
TT8_CF8	254	45	123.57
TT8_Kalman	33	81	28.92
Analog_circuits	1374	12	174.80
GPS_charging	0	0	0.00
Compass	1562	8	132.54
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-1.04	-146.6	0.0	0.0	0	63	0.00	0.00	-43.10	0.000	2	0.000	0.000	150	2397	2515
65	-1.04	-146.6	3.4	-6.2	4	109	13.20	2.42	-21.77	0.000	4	0.298	0.095	2971	989	3476
327	-0.87	-146.6	55.8	-17.8	27	335	0.20	2.38	0.00	0.000	6	0.193	0.071	3028	2402	3478
658	-0.82	-146.6	104.0	-13.9	51	659	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2402	3479
967	-0.82	-146.6	142.5	-11.7	66	971	0.00	2.35	0.00	0.000	4	0.000	0.078	3028	981	3480
1038	-0.82	-146.6	150.9	-11.6	69	1043	0.00	2.35	0.00	0.000	6	0.000	0.071	3028	2395	3480
1356	-0.82	-146.6	188.5	-12.3	80	1360	0.00	2.33	0.00	0.000	4	0.000	0.079	3028	986	3481
1438	-0.82	-146.6	199.0	-12.8	82	1443	0.00	2.35	0.00	0.000	6	0.000	0.070	3028	2408	3480
1756	-0.82	-146.6	236.6	-12.0	93	1760	0.00	2.35	0.00	0.000	4	0.000	0.081	3028	981	3480
1939	-0.82	-146.6	258.6	-11.8	98	1944	0.00	2.33	0.00	0.000	6	0.000	0.071	3028	2393	3480
2257	-0.82	-146.6	295.3	-11.6	109	2261	0.00	2.33	0.00	0.000	4	0.000	0.081	3029	980	3480
2323	-0.82	-146.6	303.0	-11.8	111	2328	0.00	2.35	0.00	0.000	6	0.000	0.071	3028	2404	3480
2689	-0.82	-146.6	343.8	-11.1	117	2692	0.00	2.33	0.00	0.000	4	0.000	0.081	3028	987	3480
2756	-0.89	-146.6	351.3	-10.6	118	2760	0.00	2.33	0.00	0.000	6	0.000	0.073	3028	2412	3480
3120	-0.95	-146.6	391.7	-11.0	124	3124	0.00	2.30	0.00	0.000	4	0.000	0.092	3027	3810	3479
3141	-1.00	-146.6	394.1	-10.8	124	3146	0.00	2.30	0.00	0.000	6	0.000	0.069	3027	2391	3479
3490	-1.06	-146.6	431.0	-10.7	130	3492	0.15	0.00	0.00	0.000	6	0.081	0.000	2968	2391	3478
3793	-0.97	-146.6	474.2	-14.4	135	3798	0.15	2.28	0.00	0.000	4	0.192	0.082	3010	992	3478
3814	-0.97	-146.6	477.2	-14.0	135	3819	0.00	2.30	0.00	0.000	6	0.000	0.071	3004	2395	3478
4163	-0.97	-146.6	520.1	-12.4	141	4164	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2394	3478
4466	-0.97	-146.6	558.4	-12.7	146	4467	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2395	3478
4769	-0.97	-146.6	597.6	-12.9	151	4773	0.00	2.33	0.00	0.000	4	0.000	0.089	3004	3817	3478
4819	-0.97	-146.6	604.3	-13.7	151	4823	0.00	2.28	0.00	0.000	6	0.000	0.072	3004	2400	3478
5133	-0.97	-146.6	643.8	-12.4	157	5137	0.00	2.35	0.00	0.000	4	0.000	0.091	3003	3819	3478
5175	-0.97	-146.6	649.4	-12.7	157	5180	0.00	2.30	0.00	0.000	6	0.000	0.071	3004	2405	3477
5496	-0.97	-146.6	688.6	-12.2	163	5500	0.00	2.33	0.00	0.000	4	0.000	0.091	3004	3807	3477
5538	-0.97	-146.6	694.0	-12.8	163	5543	0.00	2.30	0.00	0.000	6	0.000	0.072	3004	2397	3477
5859	-0.97	-146.6	732.5	-12.1	169	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2398	3477
6162	-0.97	-146.6	767.4	-11.4	174	6167	0.00	2.35	0.00	0.000	4	0.000	0.092	3004	3813	3477
6201	-0.97	-146.6	771.9	-11.3	174	6205	0.00	2.28	0.00	0.000	6	0.000	0.073	3003	2397	3477
6521	-0.97	-146.6	807.5	-11.1	180	6524	0.00	2.35	0.00	0.000	4	0.000	0.093	3003	3817	3477
6558	-0.97	-146.6	811.8	-11.5	180	6563	0.00	2.30	0.00	0.000	6	0.000	0.073	3003	2403	3477
6890	-1.01	-146.6	846.9	-10.5	186	6894	0.00	2.35	0.00	0.000	4	0.000	0.093	3004	3814	3477
6928	-1.01	-146.6	851.1	-10.9	186	6932	0.00	2.30	0.00	0.000	6	0.000	0.073	3003	2404	3476
7255	-1.06	-146.6	884.1	-10.2	192	7259	0.00	2.35	0.00	0.000	4	0.000	0.093	3004	3817	3476
7286	-1.06	-146.6	887.7	-11.4	192	7291	0.00	2.33	0.00	0.000	6	0.000	0.074	3004	2396	3476
7619	-1.10	-146.6	922.7	-10.6	198	7624	0.12	2.35	0.00	0.000	4	0.091	0.091	2951	3813	3476
7645	-1.01	-146.6	926.4	-14.3	198	7650	0.10	2.30	0.00	0.000	6	0.189	0.072	2980	2399	3475
7982	-1.01	-146.6	968.5	-12.5	204	7986	0.00	2.35	0.00	0.000	4	0.000	0.093	2977	3816	3476
8019	-0.97	-146.6	973.5	-13.0	204	8024	0.00	2.33	0.00	0.000	6	0.000	0.074	2977	2395	3475
8168	end dive: TARGET_DEPTH_EXCEEDED
state	8168	begin apogee
8172	-0.22	0.0	992.7	12.9	207	8302	0.93	0.00	126.43	1.505	6	0.188	0.000	3244	2201	2876
8302	end apogee: CONTROL_FINISHED_OK
state	8302	begin climb
8304	1.04	146.6	999.0	0.0	209	8440	1.30	2.65	127.85	1.452	4	0.118	0.090	3654	789	2277
8467	0.66	146.6	997.6	11.6	211	8473	0.47	2.53	0.00	0.000	6	0.225	0.076	3532	2194	2276
8794	0.65	172.5	968.5	8.8	217	8819	0.00	0.00	22.95	1.392	6	0.000	0.000	3532	2194	2172
9097	0.66	180.0	939.3	9.7	222	9111	0.00	2.53	7.82	1.216	4	0.000	0.094	3532	789	2142
9132	0.66	184.0	935.6	9.8	222	9143	0.00	2.42	5.57	1.072	6	0.000	0.073	3532	2196	2125
9464	0.66	184.0	899.9	10.9	228	9468	0.00	2.42	0.00	0.000	4	0.000	0.093	3533	792	2124
9500	0.66	184.0	895.6	10.7	228	9506	0.00	2.40	0.00	0.000	6	0.000	0.073	3532	2206	2124
9827	0.66	184.0	858.9	11.2	234	9831	0.00	2.42	0.00	0.000	4	0.000	0.092	3532	787	2123
9869	0.66	184.0	853.8	12.0	234	9874	0.00	2.38	0.00	0.000	6	0.000	0.072	3533	2204	2123
10190	0.66	184.0	817.6	11.4	240	10192	0.00	0.00	0.00	0.000	6	0.000	0.000	3533	2204	2123
10494	0.66	184.0	783.9	11.1	245	10495	0.00	0.00	0.00	0.000	6	0.000	0.000	3533	2204	2123
10797	0.66	184.0	751.1	10.8	250	10798	0.00	0.00	0.00	0.000	6	0.000	0.000	3532	2204	2122
11100	0.66	184.0	718.6	10.8	255	11104	0.00	2.40	0.00	0.000	4	0.000	0.092	3533	780	2122
11142	0.66	184.0	713.9	10.8	255	11147	0.00	2.35	0.00	0.000	6	0.000	0.071	3532	2200	2122
11463	0.66	184.0	680.3	10.4	261	11464	0.00	0.00	0.00	0.000	6	0.000	0.000	3533	2200	2122
11766	0.66	184.0	649.6	10.0	266	11770	0.00	2.38	0.00	0.000	4	0.000	0.091	3532	778	2122
11816	0.66	185.2	644.7	9.9	266	11820	0.00	2.33	0.00	0.000	6	0.000	0.071	3533	2211	2122
12130	0.68	198.3	615.1	9.4	272	12149	0.00	2.40	12.57	1.214	4	0.000	0.087	3532	3618	2066
12177	0.63	198.3	610.2	10.6	272	12181	0.00	2.38	0.00	0.000	6	0.000	0.078	3532	2201	2065
12498	0.70	218.6	580.9	9.1	278	12518	0.00	0.00	18.00	1.220	6	0.000	0.000	3532	2202	1984
12801	0.79	230.4	552.4	9.5	283	12820	0.12	2.47	11.40	1.152	4	0.097	0.091	3586	790	1935
12852	0.74	230.4	546.1	12.2	283	12858	0.10	2.38	0.00	0.000	6	0.192	0.071	3559	2199	1934
13168	0.74	230.4	509.0	11.8	289	13169	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2199	1933
13471	0.74	230.4	473.8	11.6	294	13475	0.00	2.40	0.00	0.000	4	0.000	0.091	3559	782	1933
13532	0.74	230.4	466.7	12.3	295	13536	0.00	2.35	0.00	0.000	6	0.000	0.071	3559	2212	1933
13896	0.74	230.4	425.1	11.3	301	13897	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2212	1933
14199	0.74	230.4	390.6	11.4	306	14200	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2211	1933
14502	0.74	230.4	356.3	11.3	311	14506	0.00	2.38	0.00	0.000	4	0.000	0.091	3559	789	1933
14562	0.74	230.4	349.4	11.3	311	14570	0.00	2.33	0.00	0.000	6	0.000	0.068	3559	2204	1933
14872	0.74	230.4	315.7	10.9	317	14873	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2204	1933
15176	0.74	230.4	283.3	10.7	324	15177	0.00	0.00	0.00	0.000	6	0.000	0.000	3559	2204	1933
15483	0.74	230.4	250.5	10.7	334	15487	0.00	2.30	0.00	0.000	4	0.000	0.087	3559	3609	1933
15510	0.74	230.4	247.2	12.3	335	15514	0.00	2.33	0.00	0.000	6	0.000	0.079	3559	2188	1933
15844	0.79	230.4	210.4	10.7	346	15849	0.00	2.33	0.00	0.000	4	0.000	0.090	3559	780	1933
15916	0.85	234.2	202.9	9.8	348	15926	0.00	2.33	4.47	0.764	6	0.000	0.067	3559	2221	1920
16244	0.92	234.2	169.2	10.1	359	16249	0.15	2.40	0.00	0.000	4	0.086	0.087	3626	784	1920
16276	0.80	234.2	165.6	11.7	360	16281	0.17	2.33	0.00	0.000	6	0.206	0.068	3578	2203	1920
16592	0.80	234.2	132.9	10.1	373	16596	0.00	2.35	0.00	0.000	4	0.000	0.088	3586	789	1920
16848	0.84	265.5	109.7	8.6	384	16879	0.00	2.30	25.95	0.947	6	0.000	0.068	3586	2199	1792
17207	0.93	271.5	78.5	9.7	402	17219	0.00	2.40	6.03	0.793	4	0.000	0.087	3585	781	1768
17242	1.02	273.7	74.8	9.9	405	17247	0.17	2.35	0.00	0.000	6	0.081	0.068	3653	2210	1768
17567	0.95	273.7	32.3	12.6	435	17572	0.12	2.33	0.00	0.000	4	0.199	0.084	3625	3614	1766
17655	0.90	273.7	23.5	11.2	442	17662	0.00	2.35	0.00	0.000	6	0.000	0.077	3626	2204	1765
17925	end climb: SURFACE_DEPTH_REACHED
state	17925	begin surface coast
17958	end surface coast: CONTROL_FINISHED_OK
state	17959	begin surface