Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 177 * 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 177 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 25 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 -114200.09 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 -114200.09

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 25 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 177 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 074856,6702.797,-5702.953,36,1.5,36,-37.6 TGT_NAME TARGET_ADD4_WB

_CALLS 2 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.215,-0.090

_SM_DEPTHo 2.50 KALMAN_X 14516.1,394.4,135.3,9499.0,-769.1

_SM_ANGLEo -68.8 KALMAN_Y -25440.5,563.7,-684.4,41630.0,243.6

GPS2 075632,6702.822,-5702.820,10,1.1,15,-37.6 MHEAD_RNG_PITCHd_Wd 285.0,24354,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 688

Post-dive calculations and measurements:

FINISH 1.8,1.026054 TCM_TEMP 16.20

SM_CCo 20017,0.00,0.000,0,0,1560,290.44 XPDR_PINGS 54

SM_GC 2.63,6.97,0.00,0.00,0.054,0.000,0.000,336,2233,1560,-10.57,0.08,290.44 _24V_AH 22.9,33.454

RAFOS_CLK 799 _10V_AH 10.6,15.398

RAFOS 0,1223885045,8.083333,8.068055,67,64,62,54,52,52,1016,169,226,193,124,210 DATA_FILE_SIZE 34724,1058

RAFOS_FIX 6703.892090,-5714.645996,131008,121228,4,99,0.53 CAP_FILE_SIZE 153203,0

IRIDIUM_FIX 6631.12,-5658.34,070198,080821 CFSIZE 260165632,239915008

TT8_MAMPS 0.026078 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1805 SOUNDSPEED 1461.4

INTERNAL_PRESSURE 9.93202 GPS 131008,133238,6702.953,-5710.529,28,0.9,28,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 253 132.88 SBE_CT 736 24 404.72

Roll_motor 139 85 272.22 SBE_O2 0 0 0.00

VBD_pump_during_apogee 371 1280 10885.98 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 49 103 117.17 nil 0 0 0.00

Iridium_during_connect 68 160 252.31 nil 0 0 0.00

Iridium_during_xfer 161 223 826.38

Transponder_ping 13 420 129.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.77

TT8 1983 19 418.86

LPSleep 15507 2 379.71

TT8_Active 512 19 108.12

TT8_Sampling 1983 39 839.17

TT8_CF8 508 45 247.57

TT8_Kalman 33 81 28.96

Analog_circuits 1576 12 200.49

GPS_charging 0 0 0.00

Compass 1955 8 165.86

RAFOS 3600 1 57.24

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 -51.88 0.000 2 0.000 0.000 332 2236 2788

72 -1.00 -146.0 3.3 -1.9 9 108 8.60 2.28 -19.15 0.000 4 0.253 0.085 2427 3595 3343

339 -0.66 -146.0 39.3 -14.6 56 346 0.30 2.22 0.00 0.000 6 0.142 0.049 2517 2209 3347

683 -0.66 -146.0 65.7 -6.3 117 688 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2209 3348

1026 -0.71 -146.0 88.2 -7.4 178 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2209 3349

1361 -0.77 -146.0 112.3 -7.3 216 1362 0.12 0.00 0.00 0.000 6 0.083 0.000 2462 2209 3349

1668 -0.65 -146.0 138.8 -8.3 231 1673 0.20 2.28 0.00 0.000 4 0.139 0.062 2528 812 3348

1758 -0.73 -146.0 144.3 -6.1 235 1762 0.00 2.35 0.00 0.000 6 0.000 0.061 2520 2232 3348

2079 -0.84 -146.0 163.4 -6.2 251 2080 0.15 0.00 0.00 0.000 6 0.072 0.000 2454 2232 3348

2387 -0.71 -146.0 190.6 -8.7 266 2389 0.17 0.00 0.00 0.000 6 0.146 0.000 2504 2232 3347

2698 -0.78 -146.0 210.8 -6.1 281 2699 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2232 3347

3006 -0.86 -146.0 228.6 -5.4 296 3011 0.12 2.30 0.00 0.000 4 0.083 0.074 2440 3601 3347

3068 -0.71 -146.0 233.1 -7.7 299 3073 0.22 2.20 0.00 0.000 6 0.144 0.051 2506 2226 3347

3396 -0.80 -146.0 248.9 -4.3 315 3400 0.10 2.28 0.00 0.000 4 0.091 0.062 2460 812 3346

3468 -0.68 -146.0 253.7 -6.9 318 3473 0.20 2.35 0.00 0.000 6 0.135 0.061 2509 2233 3346

3789 -0.79 -146.0 268.5 -4.9 334 3791 0.10 0.00 0.00 0.000 6 0.087 0.000 2464 2233 3346

4098 -0.74 -146.0 289.0 -6.9 349 4103 0.12 2.25 0.00 0.000 4 0.148 0.073 2490 3608 3346

4154 -0.81 -146.0 292.5 -6.2 351 4160 0.00 2.20 0.00 0.000 6 0.000 0.048 2490 2214 3346

4470 -0.81 -146.0 311.2 -6.1 367 4474 0.00 2.22 0.00 0.000 4 0.000 0.060 2490 817 3346

4532 -0.81 -146.0 315.5 -6.9 369 4538 0.00 2.35 0.00 0.000 6 0.000 0.059 2480 2243 3347

4848 -0.81 -146.0 335.0 -6.2 385 4852 0.00 2.20 0.00 0.000 4 0.000 0.072 2469 3605 3346

4909 -0.81 -146.0 339.4 -7.5 387 4916 0.00 2.20 0.00 0.000 6 0.000 0.048 2469 2228 3346

5227 -0.81 -146.0 359.4 -6.3 403 5230 0.00 2.22 0.00 0.000 4 0.000 0.061 2469 823 3347

5305 -0.73 -146.0 364.8 -6.7 406 5309 0.15 2.25 0.00 0.000 6 0.136 0.059 2502 2241 3348

5625 -0.83 -146.0 381.7 -5.4 422 5627 0.10 0.00 0.00 0.000 6 0.086 0.000 2458 2240 3348

5934 -0.76 -146.0 402.8 -6.8 436 5936 0.12 0.00 0.00 0.000 6 0.147 0.000 2491 2240 3348

6259 -0.83 -146.0 420.9 -5.5 444 6263 0.00 2.30 0.00 0.000 4 0.000 0.061 2491 812 3348

6315 -0.83 -146.0 424.2 -5.9 445 6318 0.00 2.28 0.00 0.000 6 0.000 0.058 2484 2242 3348

6633 -0.83 -146.0 442.8 -5.9 453 6634 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2241 3348

6958 -0.83 -146.0 460.9 -5.4 461 6959 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2241 3349

7283 -0.83 -146.0 476.8 -5.0 469 7286 0.00 2.33 0.00 0.000 4 0.000 0.058 2484 820 3349

7350 -0.83 -146.0 480.6 -5.7 470 7354 0.00 2.28 0.00 0.000 6 0.000 0.057 2474 2244 3349

7697 -0.83 -146.0 500.0 -5.5 479 7701 0.00 2.22 0.00 0.000 4 0.000 0.070 2463 3602 3350

7769 -0.83 -146.0 504.1 -6.3 480 7773 0.00 2.17 0.00 0.000 6 0.000 0.046 2463 2222 3350

8111 -0.83 -146.0 524.5 -6.0 489 8115 0.00 2.25 0.00 0.000 4 0.000 0.059 2463 825 3350

8178 -0.75 -146.0 528.9 -6.6 490 8183 0.15 2.33 0.00 0.000 6 0.133 0.058 2495 2236 3350

8526 -0.84 -146.0 547.1 -5.3 499 8527 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2236 3351

8851 -0.94 -146.0 564.1 -5.2 507 8856 0.15 2.35 0.00 0.000 4 0.075 0.058 2432 818 3351

8895 -0.74 -146.0 567.2 -8.0 508 8900 0.25 2.38 0.00 0.000 6 0.137 0.058 2496 2243 3351

9220 -0.85 -146.0 582.8 -4.6 516 9221 0.10 0.00 0.00 0.000 6 0.085 0.000 2453 2243 3350

9545 -0.77 -146.0 601.4 -5.7 524 9547 0.15 0.00 0.00 0.000 6 0.143 0.000 2495 2244 3351

9869 -0.87 -146.0 615.7 -4.4 532 9871 0.10 0.00 0.00 0.000 6 0.088 0.000 2451 2243 3350

10194 -0.79 -146.0 635.9 -6.4 540 10199 0.12 2.38 0.00 0.000 4 0.148 0.060 2486 816 3350

10261 -0.79 -146.0 639.7 -5.4 541 10265 0.00 2.38 0.00 0.000 6 0.000 0.058 2478 2242 3350

10608 -0.79 -146.0 658.1 -5.2 550 10612 0.00 2.20 0.00 0.000 4 0.000 0.072 2467 3594 3350

10658 -0.79 -146.0 661.0 -5.7 551 10662 0.00 2.17 0.00 0.000 6 0.000 0.047 2467 2221 3350

10983 -0.79 -146.0 679.1 -5.5 559 10987 0.00 2.25 0.00 0.000 4 0.000 0.061 2467 826 3350

11055 -0.73 -146.0 683.5 -5.8 560 11059 0.15 2.33 0.00 0.000 6 0.132 0.059 2500 2241 3350

11144 end dive: TARGET_DEPTH_EXCEEDED

state 11145 begin apogee

11151 -0.31 0.0 688.0 4.9 563 11277 0.28 0.00 123.60 1.281 6 0.122 0.000 2589 1733 2745

11278 end apogee: CONTROL_FINISHED_OK

state 11278 begin climb

11280 1.00 146.0 689.5 0.0 566 11414 0.88 2.62 126.72 1.207 4 0.098 0.063 2874 3147 2148

11426 0.72 146.0 677.0 10.7 569 11432 0.28 2.53 0.00 0.000 6 0.133 0.049 2812 1741 2145

11763 0.72 146.0 650.9 7.4 578 11764 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 1741 2142

12087 0.72 146.0 627.3 7.4 586 12088 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 1741 2140

12412 0.72 146.0 603.2 7.4 594 12413 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 1741 2140

12737 0.72 146.0 578.8 7.5 602 12739 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 1741 2139

13062 0.72 146.0 554.4 7.6 610 13066 0.00 2.40 0.00 0.000 4 0.000 0.065 2812 3149 2139

13077 0.72 146.0 553.2 7.6 610 13081 0.00 2.38 0.00 0.000 6 0.000 0.051 2819 1728 2139

13390 0.72 146.0 528.3 8.1 618 13394 0.00 2.40 0.00 0.000 4 0.000 0.065 2819 3156 2139

13411 0.64 146.0 526.5 7.8 618 13416 0.12 2.30 0.00 0.000 6 0.138 0.051 2794 1742 2138

13759 0.74 151.7 502.9 6.8 627 13766 0.10 0.00 4.47 0.828 6 0.085 0.000 2842 1742 2126

14084 0.64 151.7 473.2 9.2 635 14086 0.17 0.00 0.00 0.000 6 0.122 0.000 2790 1742 2125

14409 0.78 172.8 452.3 6.3 643 14434 0.12 2.42 18.77 1.116 4 0.077 0.067 2846 3156 2040

14456 0.60 172.8 447.9 10.1 644 14461 0.25 2.35 0.00 0.000 6 0.132 0.051 2783 1728 2038

14780 0.82 214.0 428.3 5.7 652 14822 0.17 0.00 35.65 1.114 6 0.065 0.000 2858 1728 1872

15126 0.70 214.0 393.0 10.3 662 15131 0.17 2.35 0.00 0.000 4 0.121 0.065 2815 333 1864

15153 0.75 214.0 390.5 8.5 663 15157 0.00 2.28 0.00 0.000 6 0.000 0.052 2815 1742 1864

15474 0.80 214.0 366.5 7.5 679 15478 0.00 2.28 0.00 0.000 4 0.000 0.066 2815 3161 1863

15519 0.80 214.0 362.6 9.1 681 15523 0.00 2.33 0.00 0.000 6 0.000 0.051 2825 1728 1862

15844 0.80 214.0 335.1 8.7 697 15845 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 1728 1862

16155 0.80 214.0 308.6 8.5 712 16159 0.00 2.30 0.00 0.000 4 0.000 0.067 2835 327 1862

16170 0.80 214.0 306.9 8.7 712 16177 0.00 2.30 0.00 0.000 6 0.000 0.052 2835 1742 1861

16486 0.80 214.0 277.7 9.4 728 16490 0.00 2.25 0.00 0.000 4 0.000 0.065 2835 3151 1862

16524 0.68 214.0 273.9 9.6 729 16531 0.15 2.25 0.00 0.000 6 0.131 0.051 2802 1733 1860

16840 0.85 231.8 252.6 6.5 745 16862 0.15 2.33 14.05 0.961 4 0.070 0.065 2878 326 1800

16873 0.75 231.8 249.6 9.4 746 16877 0.22 2.30 0.00 0.000 6 0.122 0.052 2810 1754 1800

17194 0.90 243.6 228.2 6.6 762 17211 0.15 2.33 11.27 0.917 4 0.068 0.064 2876 3161 1751

17238 0.68 243.6 223.6 10.4 763 17243 0.30 2.33 0.00 0.000 6 0.130 0.051 2795 1729 1748

17559 0.96 243.6 201.5 7.1 779 17561 0.22 0.00 0.00 0.000 6 0.077 0.000 2877 1729 1746

17868 1.09 243.6 171.6 9.4 794 17872 0.00 2.33 0.00 0.000 4 0.000 0.066 2883 322 1746

17924 1.01 243.6 166.4 8.9 796 17927 0.00 2.30 0.00 0.000 6 0.000 0.052 2883 1756 1746

18244 0.90 243.6 134.1 9.7 812 18248 0.12 2.22 0.00 0.000 4 0.137 0.064 2847 3159 1746

18294 0.84 243.6 129.6 8.2 814 18298 0.00 2.28 0.00 0.000 6 0.000 0.051 2855 1732 1746

18621 0.84 243.6 102.5 8.4 830 18624 0.00 2.30 0.00 0.000 4 0.000 0.067 2865 324 1746

18659 0.91 243.6 98.9 9.0 831 18666 0.00 2.28 0.00 0.000 6 0.000 0.052 2865 1745 1746

19003 0.91 243.6 68.3 8.5 892 19010 0.00 2.25 0.00 0.000 4 0.000 0.067 2865 3159 1746

19038 0.91 243.6 64.9 9.3 898 19044 0.00 2.28 0.00 0.000 6 0.000 0.054 2873 1731 1746

19381 1.02 287.0 39.6 5.6 959 19422 0.00 0.00 36.58 0.898 6 0.000 0.000 2873 1731 1575

19760 1.14 291.2 17.2 6.9 1026 19766 0.10 0.00 0.00 0.000 6 0.086 0.000 2918 1731 1566

19910 end climb: SURFACE_DEPTH_REACHED

state 19910 begin surface coast

19940 end surface coast: CONTROL_FINISHED_OK

state 19940 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	177	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	25	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	-114200.09	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	074856,6702.797,-5702.953,36,1.5,36,-37.6	TGT_NAME	TARGET_ADD4_WB
_CALLS	2	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.215,-0.090
_SM_DEPTHo	2.50	KALMAN_X	14516.1,394.4,135.3,9499.0,-769.1
_SM_ANGLEo	-68.8	KALMAN_Y	-25440.5,563.7,-684.4,41630.0,243.6
GPS2	075632,6702.822,-5702.820,10,1.1,15,-37.6	MHEAD_RNG_PITCHd_Wd	285.0,24354,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	688

FINISH	1.8,1.026054	TCM_TEMP	16.20
SM_CCo	20017,0.00,0.000,0,0,1560,290.44	XPDR_PINGS	54
SM_GC	2.63,6.97,0.00,0.00,0.054,0.000,0.000,336,2233,1560,-10.57,0.08,290.44	_24V_AH	22.9,33.454
RAFOS_CLK	799	_10V_AH	10.6,15.398
RAFOS	0,1223885045,8.083333,8.068055,67,64,62,54,52,52,1016,169,226,193,124,210	DATA_FILE_SIZE	34724,1058
RAFOS_FIX	6703.892090,-5714.645996,131008,121228,4,99,0.53	CAP_FILE_SIZE	153203,0
IRIDIUM_FIX	6631.12,-5658.34,070198,080821	CFSIZE	260165632,239915008
TT8_MAMPS	0.026078	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1805	SOUNDSPEED	1461.4
INTERNAL_PRESSURE	9.93202	GPS	131008,133238,6702.953,-5710.529,28,0.9,28,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	253	132.88	SBE_CT	736	24	404.72
Roll_motor	139	85	272.22	SBE_O2	0	0	0.00
VBD_pump_during_apogee	371	1280	10885.98	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	49	103	117.17	nil	0	0	0.00
Iridium_during_connect	68	160	252.31	nil	0	0	0.00
Iridium_during_xfer	161	223	826.38
Transponder_ping	13	420	129.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.77
TT8	1983	19	418.86
LPSleep	15507	2	379.71
TT8_Active	512	19	108.12
TT8_Sampling	1983	39	839.17
TT8_CF8	508	45	247.57
TT8_Kalman	33	81	28.96
Analog_circuits	1576	12	200.49
GPS_charging	0	0	0.00
Compass	1955	8	165.86
RAFOS	3600	1	57.24
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	-51.88	0.000	2	0.000	0.000	332	2236	2788
72	-1.00	-146.0	3.3	-1.9	9	108	8.60	2.28	-19.15	0.000	4	0.253	0.085	2427	3595	3343
339	-0.66	-146.0	39.3	-14.6	56	346	0.30	2.22	0.00	0.000	6	0.142	0.049	2517	2209	3347
683	-0.66	-146.0	65.7	-6.3	117	688	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2209	3348
1026	-0.71	-146.0	88.2	-7.4	178	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2209	3349
1361	-0.77	-146.0	112.3	-7.3	216	1362	0.12	0.00	0.00	0.000	6	0.083	0.000	2462	2209	3349
1668	-0.65	-146.0	138.8	-8.3	231	1673	0.20	2.28	0.00	0.000	4	0.139	0.062	2528	812	3348
1758	-0.73	-146.0	144.3	-6.1	235	1762	0.00	2.35	0.00	0.000	6	0.000	0.061	2520	2232	3348
2079	-0.84	-146.0	163.4	-6.2	251	2080	0.15	0.00	0.00	0.000	6	0.072	0.000	2454	2232	3348
2387	-0.71	-146.0	190.6	-8.7	266	2389	0.17	0.00	0.00	0.000	6	0.146	0.000	2504	2232	3347
2698	-0.78	-146.0	210.8	-6.1	281	2699	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2232	3347
3006	-0.86	-146.0	228.6	-5.4	296	3011	0.12	2.30	0.00	0.000	4	0.083	0.074	2440	3601	3347
3068	-0.71	-146.0	233.1	-7.7	299	3073	0.22	2.20	0.00	0.000	6	0.144	0.051	2506	2226	3347
3396	-0.80	-146.0	248.9	-4.3	315	3400	0.10	2.28	0.00	0.000	4	0.091	0.062	2460	812	3346
3468	-0.68	-146.0	253.7	-6.9	318	3473	0.20	2.35	0.00	0.000	6	0.135	0.061	2509	2233	3346
3789	-0.79	-146.0	268.5	-4.9	334	3791	0.10	0.00	0.00	0.000	6	0.087	0.000	2464	2233	3346
4098	-0.74	-146.0	289.0	-6.9	349	4103	0.12	2.25	0.00	0.000	4	0.148	0.073	2490	3608	3346
4154	-0.81	-146.0	292.5	-6.2	351	4160	0.00	2.20	0.00	0.000	6	0.000	0.048	2490	2214	3346
4470	-0.81	-146.0	311.2	-6.1	367	4474	0.00	2.22	0.00	0.000	4	0.000	0.060	2490	817	3346
4532	-0.81	-146.0	315.5	-6.9	369	4538	0.00	2.35	0.00	0.000	6	0.000	0.059	2480	2243	3347
4848	-0.81	-146.0	335.0	-6.2	385	4852	0.00	2.20	0.00	0.000	4	0.000	0.072	2469	3605	3346
4909	-0.81	-146.0	339.4	-7.5	387	4916	0.00	2.20	0.00	0.000	6	0.000	0.048	2469	2228	3346
5227	-0.81	-146.0	359.4	-6.3	403	5230	0.00	2.22	0.00	0.000	4	0.000	0.061	2469	823	3347
5305	-0.73	-146.0	364.8	-6.7	406	5309	0.15	2.25	0.00	0.000	6	0.136	0.059	2502	2241	3348
5625	-0.83	-146.0	381.7	-5.4	422	5627	0.10	0.00	0.00	0.000	6	0.086	0.000	2458	2240	3348
5934	-0.76	-146.0	402.8	-6.8	436	5936	0.12	0.00	0.00	0.000	6	0.147	0.000	2491	2240	3348
6259	-0.83	-146.0	420.9	-5.5	444	6263	0.00	2.30	0.00	0.000	4	0.000	0.061	2491	812	3348
6315	-0.83	-146.0	424.2	-5.9	445	6318	0.00	2.28	0.00	0.000	6	0.000	0.058	2484	2242	3348
6633	-0.83	-146.0	442.8	-5.9	453	6634	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2241	3348
6958	-0.83	-146.0	460.9	-5.4	461	6959	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2241	3349
7283	-0.83	-146.0	476.8	-5.0	469	7286	0.00	2.33	0.00	0.000	4	0.000	0.058	2484	820	3349
7350	-0.83	-146.0	480.6	-5.7	470	7354	0.00	2.28	0.00	0.000	6	0.000	0.057	2474	2244	3349
7697	-0.83	-146.0	500.0	-5.5	479	7701	0.00	2.22	0.00	0.000	4	0.000	0.070	2463	3602	3350
7769	-0.83	-146.0	504.1	-6.3	480	7773	0.00	2.17	0.00	0.000	6	0.000	0.046	2463	2222	3350
8111	-0.83	-146.0	524.5	-6.0	489	8115	0.00	2.25	0.00	0.000	4	0.000	0.059	2463	825	3350
8178	-0.75	-146.0	528.9	-6.6	490	8183	0.15	2.33	0.00	0.000	6	0.133	0.058	2495	2236	3350
8526	-0.84	-146.0	547.1	-5.3	499	8527	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2236	3351
8851	-0.94	-146.0	564.1	-5.2	507	8856	0.15	2.35	0.00	0.000	4	0.075	0.058	2432	818	3351
8895	-0.74	-146.0	567.2	-8.0	508	8900	0.25	2.38	0.00	0.000	6	0.137	0.058	2496	2243	3351
9220	-0.85	-146.0	582.8	-4.6	516	9221	0.10	0.00	0.00	0.000	6	0.085	0.000	2453	2243	3350
9545	-0.77	-146.0	601.4	-5.7	524	9547	0.15	0.00	0.00	0.000	6	0.143	0.000	2495	2244	3351
9869	-0.87	-146.0	615.7	-4.4	532	9871	0.10	0.00	0.00	0.000	6	0.088	0.000	2451	2243	3350
10194	-0.79	-146.0	635.9	-6.4	540	10199	0.12	2.38	0.00	0.000	4	0.148	0.060	2486	816	3350
10261	-0.79	-146.0	639.7	-5.4	541	10265	0.00	2.38	0.00	0.000	6	0.000	0.058	2478	2242	3350
10608	-0.79	-146.0	658.1	-5.2	550	10612	0.00	2.20	0.00	0.000	4	0.000	0.072	2467	3594	3350
10658	-0.79	-146.0	661.0	-5.7	551	10662	0.00	2.17	0.00	0.000	6	0.000	0.047	2467	2221	3350
10983	-0.79	-146.0	679.1	-5.5	559	10987	0.00	2.25	0.00	0.000	4	0.000	0.061	2467	826	3350
11055	-0.73	-146.0	683.5	-5.8	560	11059	0.15	2.33	0.00	0.000	6	0.132	0.059	2500	2241	3350
11144	end dive: TARGET_DEPTH_EXCEEDED
state	11145	begin apogee
11151	-0.31	0.0	688.0	4.9	563	11277	0.28	0.00	123.60	1.281	6	0.122	0.000	2589	1733	2745
11278	end apogee: CONTROL_FINISHED_OK
state	11278	begin climb
11280	1.00	146.0	689.5	0.0	566	11414	0.88	2.62	126.72	1.207	4	0.098	0.063	2874	3147	2148
11426	0.72	146.0	677.0	10.7	569	11432	0.28	2.53	0.00	0.000	6	0.133	0.049	2812	1741	2145
11763	0.72	146.0	650.9	7.4	578	11764	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	1741	2142
12087	0.72	146.0	627.3	7.4	586	12088	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	1741	2140
12412	0.72	146.0	603.2	7.4	594	12413	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	1741	2140
12737	0.72	146.0	578.8	7.5	602	12739	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	1741	2139
13062	0.72	146.0	554.4	7.6	610	13066	0.00	2.40	0.00	0.000	4	0.000	0.065	2812	3149	2139
13077	0.72	146.0	553.2	7.6	610	13081	0.00	2.38	0.00	0.000	6	0.000	0.051	2819	1728	2139
13390	0.72	146.0	528.3	8.1	618	13394	0.00	2.40	0.00	0.000	4	0.000	0.065	2819	3156	2139
13411	0.64	146.0	526.5	7.8	618	13416	0.12	2.30	0.00	0.000	6	0.138	0.051	2794	1742	2138
13759	0.74	151.7	502.9	6.8	627	13766	0.10	0.00	4.47	0.828	6	0.085	0.000	2842	1742	2126
14084	0.64	151.7	473.2	9.2	635	14086	0.17	0.00	0.00	0.000	6	0.122	0.000	2790	1742	2125
14409	0.78	172.8	452.3	6.3	643	14434	0.12	2.42	18.77	1.116	4	0.077	0.067	2846	3156	2040
14456	0.60	172.8	447.9	10.1	644	14461	0.25	2.35	0.00	0.000	6	0.132	0.051	2783	1728	2038
14780	0.82	214.0	428.3	5.7	652	14822	0.17	0.00	35.65	1.114	6	0.065	0.000	2858	1728	1872
15126	0.70	214.0	393.0	10.3	662	15131	0.17	2.35	0.00	0.000	4	0.121	0.065	2815	333	1864
15153	0.75	214.0	390.5	8.5	663	15157	0.00	2.28	0.00	0.000	6	0.000	0.052	2815	1742	1864
15474	0.80	214.0	366.5	7.5	679	15478	0.00	2.28	0.00	0.000	4	0.000	0.066	2815	3161	1863
15519	0.80	214.0	362.6	9.1	681	15523	0.00	2.33	0.00	0.000	6	0.000	0.051	2825	1728	1862
15844	0.80	214.0	335.1	8.7	697	15845	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	1728	1862
16155	0.80	214.0	308.6	8.5	712	16159	0.00	2.30	0.00	0.000	4	0.000	0.067	2835	327	1862
16170	0.80	214.0	306.9	8.7	712	16177	0.00	2.30	0.00	0.000	6	0.000	0.052	2835	1742	1861
16486	0.80	214.0	277.7	9.4	728	16490	0.00	2.25	0.00	0.000	4	0.000	0.065	2835	3151	1862
16524	0.68	214.0	273.9	9.6	729	16531	0.15	2.25	0.00	0.000	6	0.131	0.051	2802	1733	1860
16840	0.85	231.8	252.6	6.5	745	16862	0.15	2.33	14.05	0.961	4	0.070	0.065	2878	326	1800
16873	0.75	231.8	249.6	9.4	746	16877	0.22	2.30	0.00	0.000	6	0.122	0.052	2810	1754	1800
17194	0.90	243.6	228.2	6.6	762	17211	0.15	2.33	11.27	0.917	4	0.068	0.064	2876	3161	1751
17238	0.68	243.6	223.6	10.4	763	17243	0.30	2.33	0.00	0.000	6	0.130	0.051	2795	1729	1748
17559	0.96	243.6	201.5	7.1	779	17561	0.22	0.00	0.00	0.000	6	0.077	0.000	2877	1729	1746
17868	1.09	243.6	171.6	9.4	794	17872	0.00	2.33	0.00	0.000	4	0.000	0.066	2883	322	1746
17924	1.01	243.6	166.4	8.9	796	17927	0.00	2.30	0.00	0.000	6	0.000	0.052	2883	1756	1746
18244	0.90	243.6	134.1	9.7	812	18248	0.12	2.22	0.00	0.000	4	0.137	0.064	2847	3159	1746
18294	0.84	243.6	129.6	8.2	814	18298	0.00	2.28	0.00	0.000	6	0.000	0.051	2855	1732	1746
18621	0.84	243.6	102.5	8.4	830	18624	0.00	2.30	0.00	0.000	4	0.000	0.067	2865	324	1746
18659	0.91	243.6	98.9	9.0	831	18666	0.00	2.28	0.00	0.000	6	0.000	0.052	2865	1745	1746
19003	0.91	243.6	68.3	8.5	892	19010	0.00	2.25	0.00	0.000	4	0.000	0.067	2865	3159	1746
19038	0.91	243.6	64.9	9.3	898	19044	0.00	2.28	0.00	0.000	6	0.000	0.054	2873	1731	1746
19381	1.02	287.0	39.6	5.6	959	19422	0.00	0.00	36.58	0.898	6	0.000	0.000	2873	1731	1575
19760	1.14	291.2	17.2	6.9	1026	19766	0.10	0.00	0.00	0.000	6	0.086	0.000	2918	1731	1566
19910	end climb: SURFACE_DEPTH_REACHED
state	19910	begin surface coast
19940	end surface coast: CONTROL_FINISHED_OK
state	19940	begin surface