Glider dive log

Monterey Jul07 * SG111 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 111 HD_B 0.0099999998 PITCH_AD_RATE 120 ALTIM_TOP_PING_RANGE 0

MISSION 1 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 21 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1.5 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 171 ALTIM_PING_DEPTH 0

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3808 ALTIM_PING_DELTA 0

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2400 ALTIM_PULSE 8

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 422.16129 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 4 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 599 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3942 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2320 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 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 0.0020000001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -91075.492 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 0

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 160 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 722 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3310 AH0_10V 61.200001 SEABIRD_T_H 0.0006414231

RHO 1.0275 C_PITCH 2110 PRESSURE_YINT -2.5243471 SEABIRD_T_I 2.3931538e-05

MASS 51939 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0714857e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00031207138

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 120 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 422.16129

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3310 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 722 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 8 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0020000001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.0714857e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.5243471 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 0 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_GPS_CHARGE -91075.492

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 4 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 111 ROLL_MAX 3808 T_TURN_SAMPINT 5

C_PITCH 2110 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2400 INT_PRESSURE_YINT 0 ROLL_MIN 171 UNCOM_BLEED 20

C_ROLL_DIVE 2300 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2320 MASS 51939 R_PORT_OVSHOOT 17 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 160 R_STBD_OVSHOOT 35 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.258962 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0037964056 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAX 3942

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_MIN 599

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 21 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 1.5 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 150237,3641.163,-12211.309,37,1.2,42,14.8 TGT_NAME TWO

_CALLS 3 TGT_LATLONG 3646.000,-12212.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.088,0.252

_SM_DEPTHo 0.95 KALMAN_X 18430.7,-310.4,-97.9,-35370.9,2143.4

_SM_ANGLEo -56.8 KALMAN_Y -68535.7,1138.0,708.2,56258.8,-7998.2

GPS2 151521,3640.996,-12211.192,12,1.8,12,14.8 MHEAD_RNG_PITCHd_Wd 300.4,9345,-16.9,-10.000

SPEED_LIMITS 0.173,0.267 D_GRID 1078

Post-dive calculations and measurements:

FINISH 0.4,1.021480 TCM_TEMP 19.20

SM_CCo 17708,35.05,0.658,0,0,599,422.16 XPDR_PINGS 369

SM_GC 1.17,0.00,0.00,35.05,0.000,0.000,0.658,719,2268,599,-6.40,-0.90,422.16 _24V_AH 23.1,9.576

RAFOS_CLK 811 _10V_AH 10.1,3.214

RAFOS 2,1185206942,16.166700,16.150555,45,40,40,0,0,0,1007,257,908,0,0,0 DATA_FILE_SIZE 53512,1490

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,256720896

IRIDIUM_FIX 3626.92,-12214.27,230707,191936 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1498.9

HUMID 3276 CURRENT 0.094,100.0,1

INTERNAL_PRESSURE 7.91046 GPS 230707,201338,3642.635,-12212.297,40,1.3,40,14.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 246 115.81 SBE_CT 1019 24 565.41

Roll_motor 199 79 367.98 SBE_O2 1227 19 538.89

VBD_pump_during_apogee 455 1362 14336.20 nil 0 0 0.00

VBD_pump_during_surface 35 658 532.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 269.33 nil 0 0 0.00

Iridium_during_connect 94 160 349.39 nil 0 0 0.00

Iridium_during_xfer 302 223 1558.18

Transponder_ping 92 420 895.01

GPS 13 50 6.87

TT8 3191 19 642.06

LPSleep 11152 2 260.19

TT8_Active 664 19 133.76

TT8_Sampling 2727 39 1099.71

TT8_CF8 781 45 362.25

TT8_Kalman 33 81 27.60

Analog_circuits 2069 12 250.87

GPS_charging 0 0 0.00

Compass 2688 8 217.26

RAFOS 1080 1 16.36

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.44 -155.7 0.0 0.0 0 90 0.00 0.00 -60.80 0.000 2 0.000 0.000 719 2290 2290

93 -1.44 -155.7 3.9 -9.6 9 121 7.53 2.47 -13.80 0.000 4 0.247 0.047 1787 3706 2958

151 -0.97 -155.7 20.1 -26.7 18 158 0.62 2.53 0.00 0.000 6 0.156 0.043 1894 2286 2958

497 -0.84 -155.7 82.3 -15.0 79 504 0.15 2.45 0.00 0.000 4 0.168 0.032 1920 3699 2961

561 -0.91 -155.7 90.8 -11.8 90 568 0.00 2.42 0.00 0.000 6 0.000 0.032 1920 2292 2961

906 -0.91 -155.7 131.9 -11.4 151 912 0.00 2.47 0.00 0.000 4 0.000 0.049 1920 896 2961

1003 -0.91 -155.7 143.3 -11.7 168 1010 0.00 2.38 0.00 0.000 6 0.000 0.026 1920 2318 2962

1348 -0.91 -155.7 183.2 -11.3 229 1354 0.00 2.53 0.00 0.000 4 0.000 0.048 1920 898 2962

1417 -0.91 -155.7 191.6 -11.9 241 1424 0.00 2.28 0.00 0.000 6 0.000 0.026 1920 2269 2961

1747 -0.91 -155.7 230.2 -11.8 278 1751 0.00 2.45 0.00 0.000 4 0.000 0.049 1920 887 2962

1779 -0.91 -155.7 234.4 -12.4 280 1786 0.00 2.28 0.00 0.000 6 0.000 0.027 1920 2235 2962

2105 -0.91 -155.7 274.9 -12.5 311 2109 0.00 2.38 0.00 0.000 4 0.000 0.051 1920 898 2962

2156 -0.91 -155.7 281.7 -13.4 315 2160 0.00 2.20 0.00 0.000 6 0.000 0.028 1920 2218 2961

2482 -0.91 -155.7 321.7 -11.7 345 2486 0.00 2.35 0.00 0.000 4 0.000 0.051 1920 898 2961

2532 -0.91 -155.7 328.0 -12.2 349 2536 0.00 2.17 0.00 0.000 6 0.000 0.027 1920 2200 2961

2858 -0.91 -155.7 365.5 -11.0 379 2859 0.00 0.00 0.00 0.000 6 0.000 0.000 1920 2203 2961

3175 -0.91 -155.7 400.4 -10.5 409 3179 0.00 2.35 0.00 0.000 4 0.000 0.054 1919 894 2960

3219 -0.91 -155.7 405.3 -10.7 412 3226 0.00 2.17 0.00 0.000 6 0.000 0.027 1920 2172 2960

3545 -0.91 -155.7 440.0 -10.6 443 3546 0.00 0.00 0.00 0.000 6 0.000 0.000 1920 2173 2959

3863 -0.91 -155.7 474.0 -10.8 473 3864 0.00 0.00 0.00 0.000 6 0.000 0.000 1920 2173 2958

4190 -0.97 -155.7 509.2 -11.1 500 4194 0.00 2.33 0.00 0.000 4 0.000 0.059 1919 892 2957

4229 -0.97 -155.7 513.8 -11.5 502 4233 0.00 2.15 0.00 0.000 6 0.000 0.028 1920 2162 2957

4556 -1.03 -155.7 549.2 -10.7 518 4561 0.15 2.70 0.00 0.000 4 0.067 0.054 1883 3666 2956

4588 -1.03 -155.7 553.4 -13.2 519 4596 0.00 2.70 0.00 0.000 6 0.000 0.062 1882 2194 2956

4905 -0.96 -155.7 595.2 -13.3 535 4906 0.00 0.00 0.00 0.000 6 0.000 0.000 1883 2192 2956

5214 -0.90 -155.7 636.8 -13.4 550 5219 0.15 2.67 0.00 0.000 4 0.140 0.058 1910 3660 2955

5258 -1.00 -155.7 642.1 -11.0 552 5262 0.00 2.72 0.00 0.000 6 0.000 0.069 1910 2186 2955

5579 -1.00 -155.7 676.8 -10.5 568 5583 0.00 2.35 0.00 0.000 4 0.000 0.066 1910 900 2954

5641 -1.00 -155.7 683.6 -10.9 571 5645 0.00 2.08 0.00 0.000 6 0.000 0.029 1910 2129 2954

5973 -1.00 -155.7 719.4 -10.9 587 5975 0.00 0.00 0.00 0.000 6 0.000 0.000 1911 2130 2954

6283 -1.00 -155.7 754.4 -11.6 602 6287 0.00 2.80 0.00 0.000 4 0.000 0.064 1911 3661 2954

6309 -1.08 -155.7 757.7 -12.1 603 6315 0.17 2.83 0.00 0.000 6 0.074 0.076 1873 2153 2953

6625 -1.00 -155.7 803.1 -14.2 618 6630 0.00 2.78 0.00 0.000 4 0.000 0.063 1873 3659 2952

6687 -1.00 -155.7 811.6 -13.3 621 6692 0.00 2.83 0.00 0.000 6 0.000 0.076 1873 2162 2952

7014 -0.91 -155.7 857.7 -14.4 637 7019 0.17 2.78 0.00 0.000 4 0.145 0.062 1905 3666 2952

7047 -0.99 -155.7 862.2 -12.6 638 7055 0.00 2.75 0.00 0.000 6 0.000 0.073 1905 2192 2952

7363 -0.99 -155.7 898.2 -10.8 654 7367 0.00 2.35 0.00 0.000 4 0.000 0.065 1905 901 2951

7412 -0.99 -155.7 903.9 -10.8 656 7416 0.00 2.12 0.00 0.000 6 0.000 0.029 1905 2136 2951

7733 -0.99 -155.7 938.1 -11.0 672 7738 0.00 2.78 0.00 0.000 4 0.000 0.063 1905 3661 2950

7766 -1.08 -155.7 942.0 -11.8 673 7774 0.15 2.80 0.00 0.000 6 0.080 0.074 1874 2160 2949

8082 -1.00 -155.7 984.9 -13.7 689 8086 0.00 2.80 0.00 0.000 4 0.000 0.067 1874 3665 2949

8119 end dive: TARGET_DEPTH_EXCEEDED

state 8119 begin apogee

8127 -0.33 0.0 990.1 13.2 691 8265 0.90 0.00 134.27 1.341 6 0.157 0.000 2032 2416 2320

8265 end apogee: CONTROL_FINISHED_OK

state 8265 begin climb

8267 1.44 155.7 997.7 0.0 698 8410 2.00 2.62 133.20 1.312 4 0.120 0.069 2419 3750 1685

8456 1.18 220.0 997.4 7.2 706 8517 0.30 2.58 54.58 1.309 6 0.152 0.071 2370 2400 1423

8826 1.00 220.0 958.7 10.9 724 8831 0.22 2.55 0.00 0.000 4 0.166 0.066 2331 3753 1421

8881 0.99 258.3 953.3 8.3 726 8919 0.00 2.53 32.85 1.303 6 0.000 0.074 2331 2421 1266

9237 1.04 282.5 923.1 9.0 744 9262 0.00 2.78 20.08 1.305 4 0.000 0.068 2331 988 1167

9515 1.04 282.5 893.5 10.6 756 9520 0.00 2.38 0.00 0.000 6 0.000 0.031 2330 2358 1166

9837 1.04 282.5 858.7 11.3 772 9841 0.00 2.55 0.00 0.000 4 0.000 0.064 2331 986 1165

9953 1.04 282.5 845.5 10.0 777 9958 0.00 2.38 0.00 0.000 6 0.000 0.032 2331 2338 1165

10275 1.05 288.7 814.4 9.7 793 10285 0.00 2.70 4.70 1.362 4 0.000 0.066 2330 3781 1142

10504 1.06 290.2 792.0 9.9 803 10508 0.00 2.58 0.00 0.000 6 0.000 0.071 2330 2407 1142

10826 1.12 319.9 764.1 8.7 819 10859 0.00 2.65 27.23 1.224 4 0.000 0.065 2331 3782 1015

10903 1.12 319.9 756.3 10.5 822 10910 0.00 2.58 0.00 0.000 6 0.000 0.074 2331 2433 1013

11219 1.14 330.3 725.8 9.5 838 11234 0.12 2.58 8.32 1.257 4 0.076 0.064 2357 3776 973

11436 1.14 330.3 697.3 12.4 847 11443 0.00 2.45 0.00 0.000 6 0.000 0.074 2357 2481 973

11752 1.14 330.3 659.0 11.7 863 11756 0.00 2.42 0.00 0.000 4 0.000 0.063 2357 3785 972

11836 1.14 330.3 648.1 11.4 867 11840 0.00 2.38 0.00 0.000 6 0.000 0.070 2357 2522 972

12163 1.14 330.3 611.0 11.4 883 12167 0.00 2.35 0.00 0.000 4 0.000 0.061 2357 3788 971

12273 1.14 330.3 598.0 11.0 888 12278 0.00 2.55 0.00 0.000 6 0.000 0.068 2357 2427 971

12601 1.14 330.3 558.2 12.1 904 12605 0.00 2.70 0.00 0.000 4 0.000 0.074 2357 984 972

12644 1.03 330.3 552.4 13.1 906 12649 0.12 2.50 0.00 0.000 6 0.152 0.032 2338 2432 971

12965 1.03 330.3 518.6 10.2 922 12969 0.00 2.70 0.00 0.000 4 0.000 0.068 2338 988 971

13049 1.03 330.3 509.3 10.9 926 13053 0.00 2.42 0.00 0.000 6 0.000 0.032 2338 2392 971

13373 1.05 341.8 478.3 9.5 952 13388 0.00 2.70 9.50 1.088 4 0.000 0.067 2338 989 925

13444 1.05 341.8 470.4 11.7 958 13452 0.00 2.40 0.00 0.000 6 0.000 0.032 2338 2374 924

13771 1.05 341.8 436.5 10.3 989 13775 0.00 2.58 0.00 0.000 4 0.000 0.066 2338 985 924

13859 1.05 341.8 426.3 11.8 996 13866 0.00 2.33 0.00 0.000 6 0.000 0.031 2338 2337 924

14185 1.05 341.8 391.6 10.5 1027 14190 0.00 2.50 0.00 0.000 4 0.000 0.064 2338 984 924

14225 1.05 341.8 387.2 10.4 1030 14229 0.00 2.30 0.00 0.000 6 0.000 0.031 2338 2328 924

14556 1.05 341.8 353.2 10.3 1061 14560 0.00 2.47 0.00 0.000 4 0.000 0.062 2338 983 924

14633 1.05 341.8 344.0 11.5 1067 14640 0.00 2.28 0.00 0.000 6 0.000 0.030 2338 2302 924

14960 1.05 341.8 308.3 11.4 1098 14964 0.00 2.40 0.00 0.000 4 0.000 0.061 2338 987 924

15034 1.05 341.8 299.6 11.4 1104 15038 0.00 2.17 0.00 0.000 6 0.000 0.030 2338 2268 924

15359 1.05 341.8 265.1 10.6 1134 15363 0.00 2.35 0.00 0.000 4 0.000 0.060 2338 981 924

15443 1.05 341.8 255.5 11.8 1141 15446 0.00 2.12 0.00 0.000 6 0.000 0.029 2338 2234 924

15775 1.14 352.2 222.6 9.5 1172 15788 0.00 2.38 8.32 0.907 4 0.000 0.058 2338 981 884

15823 1.14 352.2 217.5 10.6 1176 15826 0.00 2.10 0.00 0.000 6 0.000 0.029 2338 2217 883

16156 1.24 361.2 184.4 9.6 1220 16171 0.15 2.33 7.62 0.876 4 0.059 0.056 2381 984 846

16189 1.18 361.2 180.4 12.8 1225 16196 0.00 2.10 0.00 0.000 6 0.000 0.028 2381 2221 846

16534 1.18 361.2 134.4 13.3 1286 16541 0.00 2.75 0.00 0.000 4 0.000 0.039 2381 3789 845

16564 1.18 361.2 130.1 14.8 1291 16571 0.00 2.83 0.00 0.000 6 0.000 0.040 2381 2190 845

16908 1.18 361.2 82.4 13.4 1352 16915 0.00 2.80 0.00 0.000 4 0.000 0.038 2381 3788 845

16938 1.18 361.2 78.5 11.3 1357 16945 0.00 2.78 0.00 0.000 6 0.000 0.037 2381 2205 845

17282 1.22 379.8 40.9 9.2 1418 17303 0.00 2.90 14.93 0.725 4 0.000 0.038 2381 3795 771

17388 1.22 379.8 29.8 10.4 1436 17395 0.00 2.67 0.00 0.000 6 0.000 0.037 2381 2273 769

17668 end climb: SURFACE_DEPTH_REACHED

state 17668 begin surface coast

17692 end surface coast: CONTROL_FINISHED_OK

state 17693 begin surface

ID	111	HD_B	0.0099999998	PITCH_AD_RATE	120	ALTIM_TOP_PING_RANGE	0
MISSION	1	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	21	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1.5	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	171	ALTIM_PING_DEPTH	0
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3808	ALTIM_PING_DELTA	0
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2400	ALTIM_PULSE	8
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	422.16129	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	4	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	599	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3942	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2320	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	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	0.0020000001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-91075.492	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	0
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	160	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	722	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3310	AH0_10V	61.200001	SEABIRD_T_H	0.0006414231
RHO	1.0275	C_PITCH	2110	PRESSURE_YINT	-2.5243471	SEABIRD_T_I	2.3931538e-05
MASS	51939	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0714857e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00031207138

GPS1	150237,3641.163,-12211.309,37,1.2,42,14.8	TGT_NAME	TWO
_CALLS	3	TGT_LATLONG	3646.000,-12212.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.088,0.252
_SM_DEPTHo	0.95	KALMAN_X	18430.7,-310.4,-97.9,-35370.9,2143.4
_SM_ANGLEo	-56.8	KALMAN_Y	-68535.7,1138.0,708.2,56258.8,-7998.2
GPS2	151521,3640.996,-12211.192,12,1.8,12,14.8	MHEAD_RNG_PITCHd_Wd	300.4,9345,-16.9,-10.000
SPEED_LIMITS	0.173,0.267	D_GRID	1078

FINISH	0.4,1.021480	TCM_TEMP	19.20
SM_CCo	17708,35.05,0.658,0,0,599,422.16	XPDR_PINGS	369
SM_GC	1.17,0.00,0.00,35.05,0.000,0.000,0.658,719,2268,599,-6.40,-0.90,422.16	_24V_AH	23.1,9.576
RAFOS_CLK	811	_10V_AH	10.1,3.214
RAFOS	2,1185206942,16.166700,16.150555,45,40,40,0,0,0,1007,257,908,0,0,0	DATA_FILE_SIZE	53512,1490
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,256720896
IRIDIUM_FIX	3626.92,-12214.27,230707,191936	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1498.9
HUMID	3276	CURRENT	0.094,100.0,1
INTERNAL_PRESSURE	7.91046	GPS	230707,201338,3642.635,-12212.297,40,1.3,40,14.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	246	115.81	SBE_CT	1019	24	565.41
Roll_motor	199	79	367.98	SBE_O2	1227	19	538.89
VBD_pump_during_apogee	455	1362	14336.20	nil	0	0	0.00
VBD_pump_during_surface	35	658	532.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	269.33	nil	0	0	0.00
Iridium_during_connect	94	160	349.39	nil	0	0	0.00
Iridium_during_xfer	302	223	1558.18
Transponder_ping	92	420	895.01
GPS	13	50	6.87
TT8	3191	19	642.06
LPSleep	11152	2	260.19
TT8_Active	664	19	133.76
TT8_Sampling	2727	39	1099.71
TT8_CF8	781	45	362.25
TT8_Kalman	33	81	27.60
Analog_circuits	2069	12	250.87
GPS_charging	0	0	0.00
Compass	2688	8	217.26
RAFOS	1080	1	16.36

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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.44	-155.7	0.0	0.0	0	90	0.00	0.00	-60.80	0.000	2	0.000	0.000	719	2290	2290
93	-1.44	-155.7	3.9	-9.6	9	121	7.53	2.47	-13.80	0.000	4	0.247	0.047	1787	3706	2958
151	-0.97	-155.7	20.1	-26.7	18	158	0.62	2.53	0.00	0.000	6	0.156	0.043	1894	2286	2958
497	-0.84	-155.7	82.3	-15.0	79	504	0.15	2.45	0.00	0.000	4	0.168	0.032	1920	3699	2961
561	-0.91	-155.7	90.8	-11.8	90	568	0.00	2.42	0.00	0.000	6	0.000	0.032	1920	2292	2961
906	-0.91	-155.7	131.9	-11.4	151	912	0.00	2.47	0.00	0.000	4	0.000	0.049	1920	896	2961
1003	-0.91	-155.7	143.3	-11.7	168	1010	0.00	2.38	0.00	0.000	6	0.000	0.026	1920	2318	2962
1348	-0.91	-155.7	183.2	-11.3	229	1354	0.00	2.53	0.00	0.000	4	0.000	0.048	1920	898	2962
1417	-0.91	-155.7	191.6	-11.9	241	1424	0.00	2.28	0.00	0.000	6	0.000	0.026	1920	2269	2961
1747	-0.91	-155.7	230.2	-11.8	278	1751	0.00	2.45	0.00	0.000	4	0.000	0.049	1920	887	2962
1779	-0.91	-155.7	234.4	-12.4	280	1786	0.00	2.28	0.00	0.000	6	0.000	0.027	1920	2235	2962
2105	-0.91	-155.7	274.9	-12.5	311	2109	0.00	2.38	0.00	0.000	4	0.000	0.051	1920	898	2962
2156	-0.91	-155.7	281.7	-13.4	315	2160	0.00	2.20	0.00	0.000	6	0.000	0.028	1920	2218	2961
2482	-0.91	-155.7	321.7	-11.7	345	2486	0.00	2.35	0.00	0.000	4	0.000	0.051	1920	898	2961
2532	-0.91	-155.7	328.0	-12.2	349	2536	0.00	2.17	0.00	0.000	6	0.000	0.027	1920	2200	2961
2858	-0.91	-155.7	365.5	-11.0	379	2859	0.00	0.00	0.00	0.000	6	0.000	0.000	1920	2203	2961
3175	-0.91	-155.7	400.4	-10.5	409	3179	0.00	2.35	0.00	0.000	4	0.000	0.054	1919	894	2960
3219	-0.91	-155.7	405.3	-10.7	412	3226	0.00	2.17	0.00	0.000	6	0.000	0.027	1920	2172	2960
3545	-0.91	-155.7	440.0	-10.6	443	3546	0.00	0.00	0.00	0.000	6	0.000	0.000	1920	2173	2959
3863	-0.91	-155.7	474.0	-10.8	473	3864	0.00	0.00	0.00	0.000	6	0.000	0.000	1920	2173	2958
4190	-0.97	-155.7	509.2	-11.1	500	4194	0.00	2.33	0.00	0.000	4	0.000	0.059	1919	892	2957
4229	-0.97	-155.7	513.8	-11.5	502	4233	0.00	2.15	0.00	0.000	6	0.000	0.028	1920	2162	2957
4556	-1.03	-155.7	549.2	-10.7	518	4561	0.15	2.70	0.00	0.000	4	0.067	0.054	1883	3666	2956
4588	-1.03	-155.7	553.4	-13.2	519	4596	0.00	2.70	0.00	0.000	6	0.000	0.062	1882	2194	2956
4905	-0.96	-155.7	595.2	-13.3	535	4906	0.00	0.00	0.00	0.000	6	0.000	0.000	1883	2192	2956
5214	-0.90	-155.7	636.8	-13.4	550	5219	0.15	2.67	0.00	0.000	4	0.140	0.058	1910	3660	2955
5258	-1.00	-155.7	642.1	-11.0	552	5262	0.00	2.72	0.00	0.000	6	0.000	0.069	1910	2186	2955
5579	-1.00	-155.7	676.8	-10.5	568	5583	0.00	2.35	0.00	0.000	4	0.000	0.066	1910	900	2954
5641	-1.00	-155.7	683.6	-10.9	571	5645	0.00	2.08	0.00	0.000	6	0.000	0.029	1910	2129	2954
5973	-1.00	-155.7	719.4	-10.9	587	5975	0.00	0.00	0.00	0.000	6	0.000	0.000	1911	2130	2954
6283	-1.00	-155.7	754.4	-11.6	602	6287	0.00	2.80	0.00	0.000	4	0.000	0.064	1911	3661	2954
6309	-1.08	-155.7	757.7	-12.1	603	6315	0.17	2.83	0.00	0.000	6	0.074	0.076	1873	2153	2953
6625	-1.00	-155.7	803.1	-14.2	618	6630	0.00	2.78	0.00	0.000	4	0.000	0.063	1873	3659	2952
6687	-1.00	-155.7	811.6	-13.3	621	6692	0.00	2.83	0.00	0.000	6	0.000	0.076	1873	2162	2952
7014	-0.91	-155.7	857.7	-14.4	637	7019	0.17	2.78	0.00	0.000	4	0.145	0.062	1905	3666	2952
7047	-0.99	-155.7	862.2	-12.6	638	7055	0.00	2.75	0.00	0.000	6	0.000	0.073	1905	2192	2952
7363	-0.99	-155.7	898.2	-10.8	654	7367	0.00	2.35	0.00	0.000	4	0.000	0.065	1905	901	2951
7412	-0.99	-155.7	903.9	-10.8	656	7416	0.00	2.12	0.00	0.000	6	0.000	0.029	1905	2136	2951
7733	-0.99	-155.7	938.1	-11.0	672	7738	0.00	2.78	0.00	0.000	4	0.000	0.063	1905	3661	2950
7766	-1.08	-155.7	942.0	-11.8	673	7774	0.15	2.80	0.00	0.000	6	0.080	0.074	1874	2160	2949
8082	-1.00	-155.7	984.9	-13.7	689	8086	0.00	2.80	0.00	0.000	4	0.000	0.067	1874	3665	2949
8119	end dive: TARGET_DEPTH_EXCEEDED
state	8119	begin apogee
8127	-0.33	0.0	990.1	13.2	691	8265	0.90	0.00	134.27	1.341	6	0.157	0.000	2032	2416	2320
8265	end apogee: CONTROL_FINISHED_OK
state	8265	begin climb
8267	1.44	155.7	997.7	0.0	698	8410	2.00	2.62	133.20	1.312	4	0.120	0.069	2419	3750	1685
8456	1.18	220.0	997.4	7.2	706	8517	0.30	2.58	54.58	1.309	6	0.152	0.071	2370	2400	1423
8826	1.00	220.0	958.7	10.9	724	8831	0.22	2.55	0.00	0.000	4	0.166	0.066	2331	3753	1421
8881	0.99	258.3	953.3	8.3	726	8919	0.00	2.53	32.85	1.303	6	0.000	0.074	2331	2421	1266
9237	1.04	282.5	923.1	9.0	744	9262	0.00	2.78	20.08	1.305	4	0.000	0.068	2331	988	1167
9515	1.04	282.5	893.5	10.6	756	9520	0.00	2.38	0.00	0.000	6	0.000	0.031	2330	2358	1166
9837	1.04	282.5	858.7	11.3	772	9841	0.00	2.55	0.00	0.000	4	0.000	0.064	2331	986	1165
9953	1.04	282.5	845.5	10.0	777	9958	0.00	2.38	0.00	0.000	6	0.000	0.032	2331	2338	1165
10275	1.05	288.7	814.4	9.7	793	10285	0.00	2.70	4.70	1.362	4	0.000	0.066	2330	3781	1142
10504	1.06	290.2	792.0	9.9	803	10508	0.00	2.58	0.00	0.000	6	0.000	0.071	2330	2407	1142
10826	1.12	319.9	764.1	8.7	819	10859	0.00	2.65	27.23	1.224	4	0.000	0.065	2331	3782	1015
10903	1.12	319.9	756.3	10.5	822	10910	0.00	2.58	0.00	0.000	6	0.000	0.074	2331	2433	1013
11219	1.14	330.3	725.8	9.5	838	11234	0.12	2.58	8.32	1.257	4	0.076	0.064	2357	3776	973
11436	1.14	330.3	697.3	12.4	847	11443	0.00	2.45	0.00	0.000	6	0.000	0.074	2357	2481	973
11752	1.14	330.3	659.0	11.7	863	11756	0.00	2.42	0.00	0.000	4	0.000	0.063	2357	3785	972
11836	1.14	330.3	648.1	11.4	867	11840	0.00	2.38	0.00	0.000	6	0.000	0.070	2357	2522	972
12163	1.14	330.3	611.0	11.4	883	12167	0.00	2.35	0.00	0.000	4	0.000	0.061	2357	3788	971
12273	1.14	330.3	598.0	11.0	888	12278	0.00	2.55	0.00	0.000	6	0.000	0.068	2357	2427	971
12601	1.14	330.3	558.2	12.1	904	12605	0.00	2.70	0.00	0.000	4	0.000	0.074	2357	984	972
12644	1.03	330.3	552.4	13.1	906	12649	0.12	2.50	0.00	0.000	6	0.152	0.032	2338	2432	971
12965	1.03	330.3	518.6	10.2	922	12969	0.00	2.70	0.00	0.000	4	0.000	0.068	2338	988	971
13049	1.03	330.3	509.3	10.9	926	13053	0.00	2.42	0.00	0.000	6	0.000	0.032	2338	2392	971
13373	1.05	341.8	478.3	9.5	952	13388	0.00	2.70	9.50	1.088	4	0.000	0.067	2338	989	925
13444	1.05	341.8	470.4	11.7	958	13452	0.00	2.40	0.00	0.000	6	0.000	0.032	2338	2374	924
13771	1.05	341.8	436.5	10.3	989	13775	0.00	2.58	0.00	0.000	4	0.000	0.066	2338	985	924
13859	1.05	341.8	426.3	11.8	996	13866	0.00	2.33	0.00	0.000	6	0.000	0.031	2338	2337	924
14185	1.05	341.8	391.6	10.5	1027	14190	0.00	2.50	0.00	0.000	4	0.000	0.064	2338	984	924
14225	1.05	341.8	387.2	10.4	1030	14229	0.00	2.30	0.00	0.000	6	0.000	0.031	2338	2328	924
14556	1.05	341.8	353.2	10.3	1061	14560	0.00	2.47	0.00	0.000	4	0.000	0.062	2338	983	924
14633	1.05	341.8	344.0	11.5	1067	14640	0.00	2.28	0.00	0.000	6	0.000	0.030	2338	2302	924
14960	1.05	341.8	308.3	11.4	1098	14964	0.00	2.40	0.00	0.000	4	0.000	0.061	2338	987	924
15034	1.05	341.8	299.6	11.4	1104	15038	0.00	2.17	0.00	0.000	6	0.000	0.030	2338	2268	924
15359	1.05	341.8	265.1	10.6	1134	15363	0.00	2.35	0.00	0.000	4	0.000	0.060	2338	981	924
15443	1.05	341.8	255.5	11.8	1141	15446	0.00	2.12	0.00	0.000	6	0.000	0.029	2338	2234	924
15775	1.14	352.2	222.6	9.5	1172	15788	0.00	2.38	8.32	0.907	4	0.000	0.058	2338	981	884
15823	1.14	352.2	217.5	10.6	1176	15826	0.00	2.10	0.00	0.000	6	0.000	0.029	2338	2217	883
16156	1.24	361.2	184.4	9.6	1220	16171	0.15	2.33	7.62	0.876	4	0.059	0.056	2381	984	846
16189	1.18	361.2	180.4	12.8	1225	16196	0.00	2.10	0.00	0.000	6	0.000	0.028	2381	2221	846
16534	1.18	361.2	134.4	13.3	1286	16541	0.00	2.75	0.00	0.000	4	0.000	0.039	2381	3789	845
16564	1.18	361.2	130.1	14.8	1291	16571	0.00	2.83	0.00	0.000	6	0.000	0.040	2381	2190	845
16908	1.18	361.2	82.4	13.4	1352	16915	0.00	2.80	0.00	0.000	4	0.000	0.038	2381	3788	845
16938	1.18	361.2	78.5	11.3	1357	16945	0.00	2.78	0.00	0.000	6	0.000	0.037	2381	2205	845
17282	1.22	379.8	40.9	9.2	1418	17303	0.00	2.90	14.93	0.725	4	0.000	0.038	2381	3795	771
17388	1.22	379.8	29.8	10.4	1436	17395	0.00	2.67	0.00	0.000	6	0.000	0.037	2381	2273	769
17668	end climb: SURFACE_DEPTH_REACHED
state	17668	begin surface coast
17692	end surface coast: CONTROL_FINISHED_OK
state	17693	begin surface