Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 165 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 0 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 165 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 275 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 588 DEVICE2 20

T_MISSION 530 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2745 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -3 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -113989.46 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2657 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 15.9 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 15.9 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3700 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -113989.46

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 530

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2657 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2745 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 165 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 205025,6651.790,-5706.399,38,1.4,38,-37.4 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.068,0.223

_SM_DEPTHo 2.37 KALMAN_X 6539.5,-16.3,-160.6,15545.9,1642.2

_SM_ANGLEo -67.2 KALMAN_Y -14376.2,-27.9,386.6,9585.0,-3932.4

GPS2 205521,6651.752,-5706.450,12,1.4,12,-37.4 MHEAD_RNG_PITCHd_Wd 20.3,24727,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 691

Post-dive calculations and measurements:

FINISH 1.6,1.016597 TCM_TEMP 15.70

SM_CCo 17487,0.00,0.000,0,0,1498,305.64 XPDR_PINGS 50

SM_GC 2.51,7.15,0.00,0.00,0.056,0.000,0.000,331,2238,1498,-10.59,0.20,305.64 _24V_AH 22.8,31.805

RAFOS_CLK 712 _10V_AH 10.6,14.637

RAFOS 4,1223671444,20.750000,20.734444,66,65,63,60,60,57,163,824,217,194,204,126 DATA_FILE_SIZE 31596,891

RAFOS_FIX 6652.449219,-5708.029785,101008,161627,5,89,1.07 CAP_FILE_SIZE 134891,0

IRIDIUM_FIX 6625.71,-5705.69,040198,151520 CFSIZE 260165632,240668672

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1816 SOUNDSPEED 1458.2

INTERNAL_PRESSURE 9.90272 GPS 111008,014902,6653.730,-5707.345,36,1.7,36,-37.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 256 149.53 SBE_CT 621 24 339.98

Roll_motor 129 75 221.85 SBE_O2 0 0 0.00

VBD_pump_during_apogee 386 1298 11451.06 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 61.74 nil 0 0 0.00

Iridium_during_connect 36 160 133.20 nil 0 0 0.00

Iridium_during_xfer 123 223 626.46

Transponder_ping 12 420 119.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.56

TT8 1695 19 358.11

LPSleep 13374 2 327.50

TT8_Active 527 19 111.34

TT8_Sampling 1803 39 763.20

TT8_CF8 380 45 185.14

TT8_Kalman 33 81 28.96

Analog_circuits 1493 12 189.91

GPS_charging 0 0 0.00

Compass 1778 8 150.86

RAFOS 1800 1 28.62

Transponder 0 5 0.03

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.00 -146.0 0.0 0.0 0 69 0.00 0.00 -52.12 0.000 2 0.000 0.000 337 2234 2727

71 -1.00 -146.0 3.2 -1.7 9 106 8.60 0.00 -21.77 0.000 6 0.256 0.000 2439 2234 3343

444 -0.75 -146.0 49.3 -10.2 75 450 0.20 0.00 0.00 0.000 6 0.146 0.000 2503 2234 3348

787 -0.75 -146.0 76.1 -7.4 136 793 0.00 2.22 0.00 0.000 4 0.000 0.072 2494 3594 3349

860 -0.75 -146.0 82.1 -8.2 149 867 0.00 2.17 0.00 0.000 6 0.000 0.045 2494 2210 3349

1205 -0.75 -146.0 108.0 -7.4 197 1209 0.00 2.22 0.00 0.000 4 0.000 0.061 2494 816 3349

1295 -0.68 -146.0 115.3 -8.3 201 1300 0.10 2.28 0.00 0.000 6 0.143 0.061 2511 2234 3349

1623 -0.74 -146.0 138.3 -7.0 217 1624 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2234 3349

1930 -0.81 -146.0 161.0 -7.5 232 1932 0.12 0.00 0.00 0.000 6 0.083 0.000 2460 2234 3348

2240 -0.69 -146.0 188.3 -8.4 247 2244 0.17 2.30 0.00 0.000 4 0.146 0.064 2510 827 3348

2334 -0.69 -146.0 195.1 -6.7 251 2338 0.00 2.28 0.00 0.000 6 0.000 0.062 2502 2245 3348

2655 -0.74 -146.0 212.1 -4.7 267 2656 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2244 3347

2965 -0.81 -146.0 225.4 -4.3 282 2969 0.00 2.33 0.00 0.000 4 0.000 0.064 2502 818 3347

3014 -0.81 -146.0 227.9 -4.6 284 3018 0.00 2.33 0.00 0.000 6 0.000 0.061 2492 2243 3347

3335 -0.81 -146.0 243.8 -5.4 300 3339 0.00 2.22 0.00 0.000 4 0.000 0.075 2482 3606 3347

3396 -0.81 -146.0 247.8 -6.2 302 3403 0.00 2.20 0.00 0.000 6 0.000 0.052 2482 2228 3347

3713 -0.81 -146.0 267.7 -6.5 318 3717 0.00 2.28 0.00 0.000 4 0.000 0.064 2482 812 3346

3841 -0.81 -146.0 276.8 -7.0 323 3848 0.00 2.33 0.00 0.000 6 0.000 0.061 2471 2238 3346

4157 -0.81 -146.0 297.8 -6.6 339 4158 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2238 3346

4466 -0.81 -146.0 317.5 -6.2 354 4467 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2238 3346

4775 -0.81 -146.0 336.1 -5.9 369 4779 0.00 2.30 0.00 0.000 4 0.000 0.062 2471 820 3347

4876 -0.73 -146.0 342.4 -6.4 373 4881 0.15 2.30 0.00 0.000 6 0.137 0.060 2503 2240 3347

5191 -0.85 -146.0 357.9 -5.0 388 5193 0.12 0.00 0.00 0.000 6 0.081 0.000 2451 2240 3348

5501 -0.75 -146.0 379.0 -6.8 403 5503 0.15 0.00 0.00 0.000 6 0.147 0.000 2492 2240 3348

5810 -0.83 -146.0 396.6 -5.8 418 5811 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2240 3348

6116 -0.90 -146.0 414.6 -6.0 427 6117 0.12 0.00 0.00 0.000 6 0.083 0.000 2440 2240 3348

6440 -0.76 -146.0 439.5 -7.8 435 6445 0.17 2.35 0.00 0.000 4 0.150 0.061 2497 816 3348

6530 -0.76 -146.0 445.2 -6.1 437 6534 0.00 2.28 0.00 0.000 6 0.000 0.059 2489 2236 3348

6860 -0.82 -146.0 463.9 -5.5 445 6864 0.00 2.17 0.00 0.000 4 0.000 0.072 2479 3594 3349

6911 -0.87 -146.0 466.9 -6.1 446 6915 0.00 2.17 0.00 0.000 6 0.000 0.049 2479 2216 3348

7234 -0.87 -146.0 485.8 -5.7 454 7238 0.00 2.25 0.00 0.000 4 0.000 0.061 2479 810 3349

7363 -0.87 -146.0 493.6 -6.4 456 7369 0.00 2.30 0.00 0.000 6 0.000 0.058 2469 2235 3349

7694 -0.87 -146.0 513.7 -6.2 465 7698 0.00 2.20 0.00 0.000 4 0.000 0.071 2458 3598 3349

7765 -0.87 -146.0 518.8 -7.1 466 7770 0.00 2.20 0.00 0.000 6 0.000 0.048 2458 2226 3349

8109 -0.81 -146.0 541.3 -6.6 475 8114 0.10 2.25 0.00 0.000 4 0.154 0.061 2484 820 3349

8203 -0.81 -146.0 547.2 -6.1 477 8207 0.00 2.30 0.00 0.000 6 0.000 0.061 2476 2241 3349

8527 -0.81 -146.0 566.1 -5.8 485 8528 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2241 3349

8852 -0.81 -146.0 584.9 -5.7 493 8854 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2241 3349

9177 -0.81 -146.0 604.1 -5.9 501 9178 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2241 3349

9502 -0.81 -146.0 623.5 -6.0 509 9506 0.00 2.35 0.00 0.000 4 0.000 0.062 2476 814 3349

9579 -0.81 -146.0 628.6 -6.6 510 9585 0.00 2.33 0.00 0.000 6 0.000 0.060 2466 2235 3349

9910 -0.81 -146.0 648.8 -6.1 519 9914 0.00 2.20 0.00 0.000 4 0.000 0.072 2455 3598 3349

9993 -0.81 -146.0 654.4 -7.3 520 10001 0.08 2.20 0.00 0.000 6 0.147 0.048 2480 2227 3349

10325 -0.81 -146.0 672.1 -5.3 529 10326 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2227 3349

10651 -0.86 -146.0 689.1 -5.4 537 10654 0.00 2.25 0.00 0.000 4 0.000 0.063 2480 826 3349

10688 end dive: TARGET_DEPTH_EXCEEDED

state 10688 begin apogee

10695 -0.31 0.0 691.3 5.3 537 10822 0.32 0.00 123.50 1.299 6 0.130 0.000 2583 1746 2745

10823 end apogee: CONTROL_FINISHED_OK

state 10823 begin climb

10825 1.00 146.0 693.3 0.0 541 10961 0.93 2.62 127.35 1.223 4 0.101 0.064 2877 3154 2148

10985 0.64 146.0 680.1 11.3 545 10990 0.35 2.53 0.00 0.000 6 0.139 0.051 2794 1744 2144

11312 0.72 160.0 657.7 6.6 553 11331 0.00 2.53 12.20 1.118 4 0.000 0.064 2794 3154 2092

11343 0.75 182.7 655.4 6.3 553 11369 0.00 2.45 20.85 1.165 6 0.000 0.051 2801 1727 2000

11679 0.81 183.9 632.3 7.0 562 11684 0.12 2.45 0.00 0.000 4 0.077 0.064 2855 3158 1995

11718 0.53 183.9 628.1 11.2 563 11723 0.32 2.40 0.00 0.000 6 0.137 0.053 2772 1727 1994

12042 0.98 183.9 606.0 7.3 571 12047 0.28 2.40 0.00 0.000 4 0.071 0.064 2877 3158 1993

12177 0.63 183.9 590.1 13.2 574 12182 0.32 2.35 0.00 0.000 6 0.138 0.054 2792 1734 1992

12499 0.76 196.8 567.9 6.6 582 12513 0.12 0.00 12.48 1.144 6 0.074 0.000 2849 1734 1942

12820 0.63 196.8 535.2 10.3 590 12825 0.20 2.38 0.00 0.000 4 0.126 0.067 2789 3156 1940

12832 0.52 196.8 534.1 10.2 590 12836 0.12 2.35 0.00 0.000 6 0.135 0.053 2761 1727 1939

13179 1.20 196.8 506.8 9.2 599 13184 0.45 2.38 0.00 0.000 4 0.103 0.066 2909 3155 1938

13189 1.83 196.8 505.8 9.5 599 13194 0.43 2.33 0.00 0.000 6 0.059 0.052 3079 1729 1938

13537 0.84 196.8 410.3 29.4 608 13542 0.80 2.30 0.00 0.000 4 0.173 0.067 2853 333 1938

13631 0.75 196.8 397.1 9.4 610 13636 0.12 2.28 0.00 0.000 6 0.128 0.055 2817 1762 1939

13952 0.75 196.8 372.5 7.6 626 13956 0.00 2.20 0.00 0.000 4 0.000 0.068 2817 3156 1938

13984 0.67 196.8 369.7 8.5 627 13989 0.10 2.28 0.00 0.000 6 0.142 0.054 2798 1734 1937

14305 0.82 228.7 349.9 6.0 643 14335 0.12 0.00 27.33 1.085 6 0.077 0.000 2853 1734 1812

14635 0.70 228.7 317.9 9.7 659 14637 0.17 0.00 0.00 0.000 6 0.123 0.000 2802 1734 1806

14944 0.86 264.6 299.2 5.9 674 14980 0.15 2.45 30.70 1.040 4 0.071 0.067 2866 3154 1665

14991 0.70 264.6 294.7 9.6 675 14997 0.25 2.35 0.00 0.000 6 0.130 0.052 2804 1741 1663

15307 0.91 301.7 274.9 5.8 690 15342 0.17 0.00 32.38 1.010 6 0.067 0.000 2877 1740 1515

15637 0.75 301.7 237.0 11.8 706 15642 0.20 2.38 0.00 0.000 4 0.120 0.065 2821 325 1506

15654 0.70 301.7 235.1 11.0 707 15657 0.00 2.35 0.00 0.000 6 0.000 0.052 2821 1746 1506

15985 0.86 301.7 211.9 7.2 723 15990 0.08 2.30 0.00 0.000 4 0.095 0.065 2867 3157 1504

16030 0.72 301.7 207.0 12.1 725 16035 0.22 2.33 0.00 0.000 6 0.125 0.053 2809 1730 1504

16356 1.34 301.7 176.6 11.7 741 16361 0.40 2.30 0.00 0.000 4 0.083 0.067 2956 328 1503

16373 1.82 301.7 174.4 12.1 742 16378 0.30 2.30 0.00 0.000 6 0.058 0.051 3082 1754 1503

16695 1.02 301.7 79.5 29.5 764 16702 0.68 2.38 0.00 0.000 4 0.162 0.065 2887 322 1503

16742 0.86 301.7 71.3 14.1 772 16749 0.17 2.28 0.00 0.000 6 0.116 0.054 2833 1741 1503

17086 1.50 301.7 43.5 9.3 833 17092 0.43 0.00 0.00 0.000 6 0.087 0.000 2988 1741 1503

17393 end climb: SURFACE_DEPTH_REACHED

state 17393 begin surface coast

17411 end surface coast: CONTROL_FINISHED_OK

state 17411 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	0	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	165	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	275	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	588	DEVICE2	20
T_MISSION	530	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2745	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-3	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-113989.46	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2657	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	15.9	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	205025,6651.790,-5706.399,38,1.4,38,-37.4	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.068,0.223
_SM_DEPTHo	2.37	KALMAN_X	6539.5,-16.3,-160.6,15545.9,1642.2
_SM_ANGLEo	-67.2	KALMAN_Y	-14376.2,-27.9,386.6,9585.0,-3932.4
GPS2	205521,6651.752,-5706.450,12,1.4,12,-37.4	MHEAD_RNG_PITCHd_Wd	20.3,24727,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	691

FINISH	1.6,1.016597	TCM_TEMP	15.70
SM_CCo	17487,0.00,0.000,0,0,1498,305.64	XPDR_PINGS	50
SM_GC	2.51,7.15,0.00,0.00,0.056,0.000,0.000,331,2238,1498,-10.59,0.20,305.64	_24V_AH	22.8,31.805
RAFOS_CLK	712	_10V_AH	10.6,14.637
RAFOS	4,1223671444,20.750000,20.734444,66,65,63,60,60,57,163,824,217,194,204,126	DATA_FILE_SIZE	31596,891
RAFOS_FIX	6652.449219,-5708.029785,101008,161627,5,89,1.07	CAP_FILE_SIZE	134891,0
IRIDIUM_FIX	6625.71,-5705.69,040198,151520	CFSIZE	260165632,240668672
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1816	SOUNDSPEED	1458.2
INTERNAL_PRESSURE	9.90272	GPS	111008,014902,6653.730,-5707.345,36,1.7,36,-37.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	256	149.53	SBE_CT	621	24	339.98
Roll_motor	129	75	221.85	SBE_O2	0	0	0.00
VBD_pump_during_apogee	386	1298	11451.06	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	61.74	nil	0	0	0.00
Iridium_during_connect	36	160	133.20	nil	0	0	0.00
Iridium_during_xfer	123	223	626.46
Transponder_ping	12	420	119.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.56
TT8	1695	19	358.11
LPSleep	13374	2	327.50
TT8_Active	527	19	111.34
TT8_Sampling	1803	39	763.20
TT8_CF8	380	45	185.14
TT8_Kalman	33	81	28.96
Analog_circuits	1493	12	189.91
GPS_charging	0	0	0.00
Compass	1778	8	150.86
RAFOS	1800	1	28.62
Transponder	0	5	0.03

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.00	-146.0	0.0	0.0	0	69	0.00	0.00	-52.12	0.000	2	0.000	0.000	337	2234	2727
71	-1.00	-146.0	3.2	-1.7	9	106	8.60	0.00	-21.77	0.000	6	0.256	0.000	2439	2234	3343
444	-0.75	-146.0	49.3	-10.2	75	450	0.20	0.00	0.00	0.000	6	0.146	0.000	2503	2234	3348
787	-0.75	-146.0	76.1	-7.4	136	793	0.00	2.22	0.00	0.000	4	0.000	0.072	2494	3594	3349
860	-0.75	-146.0	82.1	-8.2	149	867	0.00	2.17	0.00	0.000	6	0.000	0.045	2494	2210	3349
1205	-0.75	-146.0	108.0	-7.4	197	1209	0.00	2.22	0.00	0.000	4	0.000	0.061	2494	816	3349
1295	-0.68	-146.0	115.3	-8.3	201	1300	0.10	2.28	0.00	0.000	6	0.143	0.061	2511	2234	3349
1623	-0.74	-146.0	138.3	-7.0	217	1624	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2234	3349
1930	-0.81	-146.0	161.0	-7.5	232	1932	0.12	0.00	0.00	0.000	6	0.083	0.000	2460	2234	3348
2240	-0.69	-146.0	188.3	-8.4	247	2244	0.17	2.30	0.00	0.000	4	0.146	0.064	2510	827	3348
2334	-0.69	-146.0	195.1	-6.7	251	2338	0.00	2.28	0.00	0.000	6	0.000	0.062	2502	2245	3348
2655	-0.74	-146.0	212.1	-4.7	267	2656	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2244	3347
2965	-0.81	-146.0	225.4	-4.3	282	2969	0.00	2.33	0.00	0.000	4	0.000	0.064	2502	818	3347
3014	-0.81	-146.0	227.9	-4.6	284	3018	0.00	2.33	0.00	0.000	6	0.000	0.061	2492	2243	3347
3335	-0.81	-146.0	243.8	-5.4	300	3339	0.00	2.22	0.00	0.000	4	0.000	0.075	2482	3606	3347
3396	-0.81	-146.0	247.8	-6.2	302	3403	0.00	2.20	0.00	0.000	6	0.000	0.052	2482	2228	3347
3713	-0.81	-146.0	267.7	-6.5	318	3717	0.00	2.28	0.00	0.000	4	0.000	0.064	2482	812	3346
3841	-0.81	-146.0	276.8	-7.0	323	3848	0.00	2.33	0.00	0.000	6	0.000	0.061	2471	2238	3346
4157	-0.81	-146.0	297.8	-6.6	339	4158	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2238	3346
4466	-0.81	-146.0	317.5	-6.2	354	4467	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2238	3346
4775	-0.81	-146.0	336.1	-5.9	369	4779	0.00	2.30	0.00	0.000	4	0.000	0.062	2471	820	3347
4876	-0.73	-146.0	342.4	-6.4	373	4881	0.15	2.30	0.00	0.000	6	0.137	0.060	2503	2240	3347
5191	-0.85	-146.0	357.9	-5.0	388	5193	0.12	0.00	0.00	0.000	6	0.081	0.000	2451	2240	3348
5501	-0.75	-146.0	379.0	-6.8	403	5503	0.15	0.00	0.00	0.000	6	0.147	0.000	2492	2240	3348
5810	-0.83	-146.0	396.6	-5.8	418	5811	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2240	3348
6116	-0.90	-146.0	414.6	-6.0	427	6117	0.12	0.00	0.00	0.000	6	0.083	0.000	2440	2240	3348
6440	-0.76	-146.0	439.5	-7.8	435	6445	0.17	2.35	0.00	0.000	4	0.150	0.061	2497	816	3348
6530	-0.76	-146.0	445.2	-6.1	437	6534	0.00	2.28	0.00	0.000	6	0.000	0.059	2489	2236	3348
6860	-0.82	-146.0	463.9	-5.5	445	6864	0.00	2.17	0.00	0.000	4	0.000	0.072	2479	3594	3349
6911	-0.87	-146.0	466.9	-6.1	446	6915	0.00	2.17	0.00	0.000	6	0.000	0.049	2479	2216	3348
7234	-0.87	-146.0	485.8	-5.7	454	7238	0.00	2.25	0.00	0.000	4	0.000	0.061	2479	810	3349
7363	-0.87	-146.0	493.6	-6.4	456	7369	0.00	2.30	0.00	0.000	6	0.000	0.058	2469	2235	3349
7694	-0.87	-146.0	513.7	-6.2	465	7698	0.00	2.20	0.00	0.000	4	0.000	0.071	2458	3598	3349
7765	-0.87	-146.0	518.8	-7.1	466	7770	0.00	2.20	0.00	0.000	6	0.000	0.048	2458	2226	3349
8109	-0.81	-146.0	541.3	-6.6	475	8114	0.10	2.25	0.00	0.000	4	0.154	0.061	2484	820	3349
8203	-0.81	-146.0	547.2	-6.1	477	8207	0.00	2.30	0.00	0.000	6	0.000	0.061	2476	2241	3349
8527	-0.81	-146.0	566.1	-5.8	485	8528	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2241	3349
8852	-0.81	-146.0	584.9	-5.7	493	8854	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2241	3349
9177	-0.81	-146.0	604.1	-5.9	501	9178	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2241	3349
9502	-0.81	-146.0	623.5	-6.0	509	9506	0.00	2.35	0.00	0.000	4	0.000	0.062	2476	814	3349
9579	-0.81	-146.0	628.6	-6.6	510	9585	0.00	2.33	0.00	0.000	6	0.000	0.060	2466	2235	3349
9910	-0.81	-146.0	648.8	-6.1	519	9914	0.00	2.20	0.00	0.000	4	0.000	0.072	2455	3598	3349
9993	-0.81	-146.0	654.4	-7.3	520	10001	0.08	2.20	0.00	0.000	6	0.147	0.048	2480	2227	3349
10325	-0.81	-146.0	672.1	-5.3	529	10326	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2227	3349
10651	-0.86	-146.0	689.1	-5.4	537	10654	0.00	2.25	0.00	0.000	4	0.000	0.063	2480	826	3349
10688	end dive: TARGET_DEPTH_EXCEEDED
state	10688	begin apogee
10695	-0.31	0.0	691.3	5.3	537	10822	0.32	0.00	123.50	1.299	6	0.130	0.000	2583	1746	2745
10823	end apogee: CONTROL_FINISHED_OK
state	10823	begin climb
10825	1.00	146.0	693.3	0.0	541	10961	0.93	2.62	127.35	1.223	4	0.101	0.064	2877	3154	2148
10985	0.64	146.0	680.1	11.3	545	10990	0.35	2.53	0.00	0.000	6	0.139	0.051	2794	1744	2144
11312	0.72	160.0	657.7	6.6	553	11331	0.00	2.53	12.20	1.118	4	0.000	0.064	2794	3154	2092
11343	0.75	182.7	655.4	6.3	553	11369	0.00	2.45	20.85	1.165	6	0.000	0.051	2801	1727	2000
11679	0.81	183.9	632.3	7.0	562	11684	0.12	2.45	0.00	0.000	4	0.077	0.064	2855	3158	1995
11718	0.53	183.9	628.1	11.2	563	11723	0.32	2.40	0.00	0.000	6	0.137	0.053	2772	1727	1994
12042	0.98	183.9	606.0	7.3	571	12047	0.28	2.40	0.00	0.000	4	0.071	0.064	2877	3158	1993
12177	0.63	183.9	590.1	13.2	574	12182	0.32	2.35	0.00	0.000	6	0.138	0.054	2792	1734	1992
12499	0.76	196.8	567.9	6.6	582	12513	0.12	0.00	12.48	1.144	6	0.074	0.000	2849	1734	1942
12820	0.63	196.8	535.2	10.3	590	12825	0.20	2.38	0.00	0.000	4	0.126	0.067	2789	3156	1940
12832	0.52	196.8	534.1	10.2	590	12836	0.12	2.35	0.00	0.000	6	0.135	0.053	2761	1727	1939
13179	1.20	196.8	506.8	9.2	599	13184	0.45	2.38	0.00	0.000	4	0.103	0.066	2909	3155	1938
13189	1.83	196.8	505.8	9.5	599	13194	0.43	2.33	0.00	0.000	6	0.059	0.052	3079	1729	1938
13537	0.84	196.8	410.3	29.4	608	13542	0.80	2.30	0.00	0.000	4	0.173	0.067	2853	333	1938
13631	0.75	196.8	397.1	9.4	610	13636	0.12	2.28	0.00	0.000	6	0.128	0.055	2817	1762	1939
13952	0.75	196.8	372.5	7.6	626	13956	0.00	2.20	0.00	0.000	4	0.000	0.068	2817	3156	1938
13984	0.67	196.8	369.7	8.5	627	13989	0.10	2.28	0.00	0.000	6	0.142	0.054	2798	1734	1937
14305	0.82	228.7	349.9	6.0	643	14335	0.12	0.00	27.33	1.085	6	0.077	0.000	2853	1734	1812
14635	0.70	228.7	317.9	9.7	659	14637	0.17	0.00	0.00	0.000	6	0.123	0.000	2802	1734	1806
14944	0.86	264.6	299.2	5.9	674	14980	0.15	2.45	30.70	1.040	4	0.071	0.067	2866	3154	1665
14991	0.70	264.6	294.7	9.6	675	14997	0.25	2.35	0.00	0.000	6	0.130	0.052	2804	1741	1663
15307	0.91	301.7	274.9	5.8	690	15342	0.17	0.00	32.38	1.010	6	0.067	0.000	2877	1740	1515
15637	0.75	301.7	237.0	11.8	706	15642	0.20	2.38	0.00	0.000	4	0.120	0.065	2821	325	1506
15654	0.70	301.7	235.1	11.0	707	15657	0.00	2.35	0.00	0.000	6	0.000	0.052	2821	1746	1506
15985	0.86	301.7	211.9	7.2	723	15990	0.08	2.30	0.00	0.000	4	0.095	0.065	2867	3157	1504
16030	0.72	301.7	207.0	12.1	725	16035	0.22	2.33	0.00	0.000	6	0.125	0.053	2809	1730	1504
16356	1.34	301.7	176.6	11.7	741	16361	0.40	2.30	0.00	0.000	4	0.083	0.067	2956	328	1503
16373	1.82	301.7	174.4	12.1	742	16378	0.30	2.30	0.00	0.000	6	0.058	0.051	3082	1754	1503
16695	1.02	301.7	79.5	29.5	764	16702	0.68	2.38	0.00	0.000	4	0.162	0.065	2887	322	1503
16742	0.86	301.7	71.3	14.1	772	16749	0.17	2.28	0.00	0.000	6	0.116	0.054	2833	1741	1503
17086	1.50	301.7	43.5	9.3	833	17092	0.43	0.00	0.00	0.000	6	0.087	0.000	2988	1741	1503
17393	end climb: SURFACE_DEPTH_REACHED
state	17393	begin surface coast
17411	end surface coast: CONTROL_FINISHED_OK
state	17411	begin surface