Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 236 * 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 236 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 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 -2 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 -115170.8 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 -115170.8

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 -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2745 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 236 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 214408,6643.408,-6010.679,32,1.1,32,-38.0 TGT_NAME TARGET_ADD1_EB

_CALLS 1 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.166,0.164

_SM_DEPTHo 2.50 KALMAN_X 76996.1,-333.9,-209.1,-188414.6,1355.9

_SM_ANGLEo -67.6 KALMAN_Y -138584.9,721.4,-956.3,118936.3,-148.2

GPS2 215003,6643.412,-6010.713,11,1.3,11,-38.0 MHEAD_RNG_PITCHd_Wd 83.3,12631,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 574

Post-dive calculations and measurements:

FINISH 1.7,1.025396 TCM_TEMP 15.00

SM_CCo 16244,0.00,0.000,0,0,1410,327.72 XPDR_PINGS 33

SM_GC 2.56,7.18,0.00,0.00,0.058,0.000,0.000,337,2231,1410,-10.57,0.03,327.72 _24V_AH 22.6,42.600

RAFOS_CLK 698 _10V_AH 10.6,19.462

RAFOS 0,1225065841,0.083333,0.066944,68,64,63,63,54,52,535,205,221,170,188,233 DATA_FILE_SIZE 31570,925

RAFOS_FIX 149857.625000,1110628.375000,261008,202012,2,75,57400.97 CAP_FILE_SIZE 133438,0

IRIDIUM_FIX 6614.97,-6009.24,200198,171736 CFSIZE 260165632,235991040

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

HUMID 1797 SOUNDSPEED 1448.5

INTERNAL_PRESSURE 9.84413 GPS 271008,022432,6644.766,-6006.249,128,1.4,128,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 253 141.58 SBE_CT 647 24 351.42

Roll_motor 135 95 294.30 SBE_O2 0 0 0.00

VBD_pump_during_apogee 408 1245 11496.06 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 30 103 70.95 nil 0 0 0.00

Iridium_during_connect 37 160 134.50 nil 0 0 0.00

Iridium_during_xfer 173 223 872.12

Transponder_ping 8 420 78.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.81

TT8 1701 19 359.18

LPSleep 12186 2 298.40

TT8_Active 528 19 111.57

TT8_Sampling 1702 39 720.43

TT8_CF8 480 45 233.85

TT8_Kalman 33 81 28.97

Analog_circuits 1470 12 187.10

GPS_charging 0 0 0.00

Compass 1686 8 143.04

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

13 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.00 -146.0 0.0 0.0 0 58 0.00 0.00 -39.40 0.000 2 0.000 0.000 339 2239 2439

61 -1.00 -146.0 3.0 -1.4 7 114 8.68 2.35 -38.25 0.000 4 0.253 0.096 2429 3607 3345

255 -0.62 -146.0 28.8 -17.3 41 262 0.32 2.22 0.00 0.000 6 0.160 0.055 2525 2214 3348

599 -0.62 -146.0 59.4 -8.3 102 605 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2214 3350

942 -0.67 -146.0 86.7 -7.6 163 949 0.00 2.22 0.00 0.000 4 0.000 0.067 2525 812 3350

984 -0.67 -146.0 90.1 -8.2 170 991 0.00 2.35 0.00 0.000 6 0.000 0.068 2517 2239 3350

1316 -0.67 -146.0 116.2 -7.4 202 1320 0.00 2.33 0.00 0.000 4 0.000 0.067 2516 810 3350

1378 -0.67 -146.0 121.1 -8.0 204 1384 0.00 2.35 0.00 0.000 6 0.000 0.069 2506 2239 3350

1693 -0.67 -146.0 144.7 -7.6 220 1694 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2239 3350

2002 -0.67 -146.0 168.4 -7.7 235 2006 0.00 2.22 0.00 0.000 4 0.000 0.085 2496 3607 3349

2034 -0.67 -146.0 171.2 -8.7 236 2038 0.00 2.20 0.00 0.000 6 0.000 0.055 2496 2230 3349

2356 -0.67 -146.0 196.3 -7.7 252 2359 0.00 2.25 0.00 0.000 4 0.000 0.068 2496 819 3349

2440 -0.67 -146.0 203.2 -8.4 255 2447 0.10 2.33 0.00 0.000 6 0.148 0.070 2512 2232 3348

2756 -0.75 -146.0 224.5 -6.7 271 2760 0.00 2.30 0.00 0.000 4 0.000 0.067 2512 816 3348

2789 -0.75 -146.0 226.9 -7.1 272 2793 0.00 2.35 0.00 0.000 6 0.000 0.071 2504 2244 3349

3111 -0.80 -146.0 247.7 -6.3 288 3112 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2244 3349

3421 -0.85 -146.0 265.4 -5.5 303 3425 0.12 2.33 0.00 0.000 4 0.087 0.067 2453 817 3348

3464 -0.65 -146.0 268.9 -8.3 305 3469 0.25 2.33 0.00 0.000 6 0.146 0.071 2514 2233 3348

3785 -0.77 -146.0 285.0 -4.9 321 3790 0.10 2.30 0.00 0.000 4 0.095 0.067 2474 819 3348

3880 -0.67 -146.0 291.4 -6.8 325 3885 0.17 2.35 0.00 0.000 6 0.143 0.071 2512 2245 3348

4196 -0.79 -146.0 309.8 -6.1 340 4200 0.10 2.22 0.00 0.000 4 0.091 0.084 2461 3609 3348

4234 -0.71 -146.0 312.8 -8.2 341 4241 0.17 2.17 0.00 0.000 6 0.154 0.055 2508 2224 3347

4550 -0.82 -146.0 333.3 -6.3 357 4555 0.12 2.25 0.00 0.000 4 0.091 0.067 2458 819 3347

4589 -0.67 -146.0 336.6 -8.8 359 4594 0.22 2.33 0.00 0.000 6 0.143 0.069 2512 2234 3347

4916 -0.79 -146.0 357.2 -6.1 375 4918 0.10 0.00 0.00 0.000 6 0.092 0.000 2471 2234 3348

5225 -0.79 -146.0 379.1 -6.7 390 5229 0.00 2.30 0.00 0.000 4 0.000 0.066 2470 816 3348

5258 -0.71 -146.0 381.6 -7.7 391 5263 0.15 2.33 0.00 0.000 6 0.143 0.069 2501 2233 3348

5574 -0.81 -146.0 398.2 -4.9 406 5575 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2233 3348

5899 -0.91 -146.0 413.4 -4.4 415 5901 0.15 0.00 0.00 0.000 6 0.082 0.000 2442 2233 3349

6224 -0.78 -146.0 436.1 -7.3 423 6226 0.17 0.00 0.00 0.000 6 0.156 0.000 2490 2232 3348

6549 -0.84 -146.0 454.1 -5.4 431 6550 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2233 3349

6874 -0.91 -146.0 473.0 -6.0 439 6879 0.12 2.30 0.00 0.000 4 0.089 0.064 2440 812 3349

6907 -0.73 -146.0 475.5 -8.0 439 6912 0.25 2.35 0.00 0.000 6 0.143 0.067 2501 2243 3349

7238 -0.84 -146.0 494.8 -5.7 447 7240 0.12 0.00 0.00 0.000 6 0.086 0.000 2452 2243 3350

7563 -0.76 -146.0 518.4 -7.3 455 7568 0.15 2.38 0.00 0.000 4 0.152 0.063 2498 824 3350

7603 -0.84 -146.0 520.8 -5.7 456 7607 0.00 2.35 0.00 0.000 6 0.000 0.067 2490 2232 3350

7927 -0.90 -146.0 537.1 -5.0 464 7932 0.10 2.25 0.00 0.000 4 0.091 0.078 2435 3597 3350

7976 -0.77 -146.0 540.6 -7.4 465 7981 0.17 2.17 0.00 0.000 6 0.154 0.050 2488 2226 3350

8301 -0.85 -146.0 558.4 -5.8 473 8302 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2226 3351

8624 end dive: TARGET_DEPTH_EXCEEDED

state 8624 begin apogee

8630 -0.31 0.0 576.5 5.9 481 8757 0.32 0.00 124.35 1.246 6 0.128 0.000 2591 1740 2745

8758 end apogee: CONTROL_FINISHED_OK

state 8758 begin climb

8761 1.00 146.0 580.9 0.0 484 8892 0.88 0.00 127.97 1.176 6 0.106 0.000 2870 1740 2149

9212 0.80 146.0 543.0 9.7 495 9217 0.15 2.50 0.00 0.000 4 0.133 0.071 2829 3160 2143

9245 0.65 146.0 539.4 9.9 495 9252 0.17 2.42 0.00 0.000 6 0.135 0.053 2791 1733 2142

9578 0.82 182.4 520.2 5.8 504 9615 0.15 2.47 30.75 1.154 4 0.074 0.070 2854 3157 1999

9637 0.63 182.4 514.8 10.2 504 9642 0.25 2.38 0.00 0.000 6 0.137 0.052 2795 1735 1998

9979 0.81 201.6 492.2 6.4 513 9999 0.15 0.00 17.55 1.113 6 0.071 0.000 2858 1735 1922

10304 0.72 201.6 461.1 9.6 521 10308 0.17 2.33 0.00 0.000 4 0.125 0.067 2816 330 1918

10325 0.72 201.6 459.1 8.8 521 10329 0.00 2.33 0.00 0.000 6 0.000 0.057 2816 1748 1918

10668 0.80 201.6 434.6 7.0 530 10671 0.00 2.28 0.00 0.000 4 0.000 0.071 2816 3154 1917

10713 0.80 201.6 430.8 9.0 531 10717 0.00 2.28 0.00 0.000 6 0.000 0.053 2826 1729 1916

11036 0.80 201.6 406.3 7.5 539 11037 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 1729 1916

11344 0.80 201.6 382.6 8.0 551 11348 0.00 2.38 0.00 0.000 4 0.000 0.070 2826 3160 1917

11365 0.80 201.6 380.7 8.7 552 11369 0.00 2.28 0.00 0.000 6 0.000 0.053 2835 1737 1916

11697 0.80 201.6 354.4 7.6 568 11698 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 1737 1916

12007 0.80 201.6 331.7 7.3 583 12008 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 1737 1916

12318 0.84 201.6 309.3 7.3 598 12322 0.00 2.35 0.00 0.000 4 0.000 0.071 2835 3151 1916

12357 0.78 201.6 305.9 8.3 599 12363 0.00 2.28 0.00 0.000 6 0.000 0.053 2845 1735 1916

12672 0.78 201.6 283.1 7.3 615 12676 0.00 2.30 0.00 0.000 4 0.000 0.068 2855 323 1915

12699 0.78 201.6 280.9 8.1 616 12704 0.12 2.30 0.00 0.000 6 0.124 0.058 2820 1746 1916

13026 0.96 236.7 261.6 5.9 632 13062 0.15 2.33 29.60 1.050 4 0.075 0.071 2883 3146 1779

13124 0.73 236.7 251.7 11.8 636 13129 0.28 2.30 0.00 0.000 6 0.133 0.054 2813 1727 1773

13440 1.31 238.7 230.6 7.0 651 13445 0.38 2.35 0.00 0.000 4 0.095 0.067 2945 318 1771

13490 1.10 238.7 226.1 9.2 653 13495 0.20 2.35 0.00 0.000 6 0.149 0.058 2889 1748 1771

13806 1.03 238.7 198.9 8.6 668 13810 0.00 2.30 0.00 0.000 4 0.000 0.074 2889 3163 1771

13833 0.89 238.7 196.1 10.6 669 13838 0.17 2.28 0.00 0.000 6 0.137 0.055 2847 1734 1770

14160 1.03 266.3 173.6 6.1 685 14191 0.12 2.35 25.55 1.006 4 0.079 0.070 2913 330 1658

14208 0.93 266.3 169.5 8.7 687 14213 0.20 2.35 0.00 0.000 6 0.131 0.059 2855 1747 1657

14524 1.10 306.2 151.3 5.7 702 14568 0.15 2.38 35.25 0.984 4 0.074 0.073 2919 3159 1496

14613 0.88 306.2 142.0 12.8 706 14618 0.30 2.35 0.00 0.000 6 0.135 0.056 2842 1730 1491

14940 1.55 306.2 112.1 11.3 722 14945 0.45 2.33 0.00 0.000 4 0.094 0.070 2998 333 1485

14990 1.38 306.2 106.0 12.5 724 14994 0.17 2.33 0.00 0.000 6 0.161 0.061 2954 1741 1485

15329 1.19 306.2 61.0 13.1 778 15336 0.15 2.33 0.00 0.000 4 0.147 0.074 2909 3163 1483

15359 1.04 306.2 57.4 12.1 783 15366 0.15 2.30 0.00 0.000 6 0.139 0.058 2875 1732 1482

15704 1.23 321.0 31.1 6.5 844 15723 0.17 2.33 11.82 0.900 4 0.074 0.073 2958 319 1436

15746 1.23 321.0 27.2 9.3 851 15753 0.15 2.35 0.00 0.000 6 0.137 0.062 2916 1746 1435

16091 1.34 370.1 3.2 5.4 912 16099 0.12 0.00 5.53 0.771 2 0.084 0.000 2965 1746 1414

16100 end climb: SURFACE_DEPTH_REACHED

state 16100 begin surface coast

16166 end surface coast: CONTROL_FINISHED_OK

state 16167 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	236	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	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	-2	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	-115170.8	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	214408,6643.408,-6010.679,32,1.1,32,-38.0	TGT_NAME	TARGET_ADD1_EB
_CALLS	1	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.166,0.164
_SM_DEPTHo	2.50	KALMAN_X	76996.1,-333.9,-209.1,-188414.6,1355.9
_SM_ANGLEo	-67.6	KALMAN_Y	-138584.9,721.4,-956.3,118936.3,-148.2
GPS2	215003,6643.412,-6010.713,11,1.3,11,-38.0	MHEAD_RNG_PITCHd_Wd	83.3,12631,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	574

FINISH	1.7,1.025396	TCM_TEMP	15.00
SM_CCo	16244,0.00,0.000,0,0,1410,327.72	XPDR_PINGS	33
SM_GC	2.56,7.18,0.00,0.00,0.058,0.000,0.000,337,2231,1410,-10.57,0.03,327.72	_24V_AH	22.6,42.600
RAFOS_CLK	698	_10V_AH	10.6,19.462
RAFOS	0,1225065841,0.083333,0.066944,68,64,63,63,54,52,535,205,221,170,188,233	DATA_FILE_SIZE	31570,925
RAFOS_FIX	149857.625000,1110628.375000,261008,202012,2,75,57400.97	CAP_FILE_SIZE	133438,0
IRIDIUM_FIX	6614.97,-6009.24,200198,171736	CFSIZE	260165632,235991040
TT8_MAMPS	0.026078	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1797	SOUNDSPEED	1448.5
INTERNAL_PRESSURE	9.84413	GPS	271008,022432,6644.766,-6006.249,128,1.4,128,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	253	141.58	SBE_CT	647	24	351.42
Roll_motor	135	95	294.30	SBE_O2	0	0	0.00
VBD_pump_during_apogee	408	1245	11496.06	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	30	103	70.95	nil	0	0	0.00
Iridium_during_connect	37	160	134.50	nil	0	0	0.00
Iridium_during_xfer	173	223	872.12
Transponder_ping	8	420	78.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.81
TT8	1701	19	359.18
LPSleep	12186	2	298.40
TT8_Active	528	19	111.57
TT8_Sampling	1702	39	720.43
TT8_CF8	480	45	233.85
TT8_Kalman	33	81	28.97
Analog_circuits	1470	12	187.10
GPS_charging	0	0	0.00
Compass	1686	8	143.04
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
13	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.00	-146.0	0.0	0.0	0	58	0.00	0.00	-39.40	0.000	2	0.000	0.000	339	2239	2439
61	-1.00	-146.0	3.0	-1.4	7	114	8.68	2.35	-38.25	0.000	4	0.253	0.096	2429	3607	3345
255	-0.62	-146.0	28.8	-17.3	41	262	0.32	2.22	0.00	0.000	6	0.160	0.055	2525	2214	3348
599	-0.62	-146.0	59.4	-8.3	102	605	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2214	3350
942	-0.67	-146.0	86.7	-7.6	163	949	0.00	2.22	0.00	0.000	4	0.000	0.067	2525	812	3350
984	-0.67	-146.0	90.1	-8.2	170	991	0.00	2.35	0.00	0.000	6	0.000	0.068	2517	2239	3350
1316	-0.67	-146.0	116.2	-7.4	202	1320	0.00	2.33	0.00	0.000	4	0.000	0.067	2516	810	3350
1378	-0.67	-146.0	121.1	-8.0	204	1384	0.00	2.35	0.00	0.000	6	0.000	0.069	2506	2239	3350
1693	-0.67	-146.0	144.7	-7.6	220	1694	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2239	3350
2002	-0.67	-146.0	168.4	-7.7	235	2006	0.00	2.22	0.00	0.000	4	0.000	0.085	2496	3607	3349
2034	-0.67	-146.0	171.2	-8.7	236	2038	0.00	2.20	0.00	0.000	6	0.000	0.055	2496	2230	3349
2356	-0.67	-146.0	196.3	-7.7	252	2359	0.00	2.25	0.00	0.000	4	0.000	0.068	2496	819	3349
2440	-0.67	-146.0	203.2	-8.4	255	2447	0.10	2.33	0.00	0.000	6	0.148	0.070	2512	2232	3348
2756	-0.75	-146.0	224.5	-6.7	271	2760	0.00	2.30	0.00	0.000	4	0.000	0.067	2512	816	3348
2789	-0.75	-146.0	226.9	-7.1	272	2793	0.00	2.35	0.00	0.000	6	0.000	0.071	2504	2244	3349
3111	-0.80	-146.0	247.7	-6.3	288	3112	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2244	3349
3421	-0.85	-146.0	265.4	-5.5	303	3425	0.12	2.33	0.00	0.000	4	0.087	0.067	2453	817	3348
3464	-0.65	-146.0	268.9	-8.3	305	3469	0.25	2.33	0.00	0.000	6	0.146	0.071	2514	2233	3348
3785	-0.77	-146.0	285.0	-4.9	321	3790	0.10	2.30	0.00	0.000	4	0.095	0.067	2474	819	3348
3880	-0.67	-146.0	291.4	-6.8	325	3885	0.17	2.35	0.00	0.000	6	0.143	0.071	2512	2245	3348
4196	-0.79	-146.0	309.8	-6.1	340	4200	0.10	2.22	0.00	0.000	4	0.091	0.084	2461	3609	3348
4234	-0.71	-146.0	312.8	-8.2	341	4241	0.17	2.17	0.00	0.000	6	0.154	0.055	2508	2224	3347
4550	-0.82	-146.0	333.3	-6.3	357	4555	0.12	2.25	0.00	0.000	4	0.091	0.067	2458	819	3347
4589	-0.67	-146.0	336.6	-8.8	359	4594	0.22	2.33	0.00	0.000	6	0.143	0.069	2512	2234	3347
4916	-0.79	-146.0	357.2	-6.1	375	4918	0.10	0.00	0.00	0.000	6	0.092	0.000	2471	2234	3348
5225	-0.79	-146.0	379.1	-6.7	390	5229	0.00	2.30	0.00	0.000	4	0.000	0.066	2470	816	3348
5258	-0.71	-146.0	381.6	-7.7	391	5263	0.15	2.33	0.00	0.000	6	0.143	0.069	2501	2233	3348
5574	-0.81	-146.0	398.2	-4.9	406	5575	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2233	3348
5899	-0.91	-146.0	413.4	-4.4	415	5901	0.15	0.00	0.00	0.000	6	0.082	0.000	2442	2233	3349
6224	-0.78	-146.0	436.1	-7.3	423	6226	0.17	0.00	0.00	0.000	6	0.156	0.000	2490	2232	3348
6549	-0.84	-146.0	454.1	-5.4	431	6550	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2233	3349
6874	-0.91	-146.0	473.0	-6.0	439	6879	0.12	2.30	0.00	0.000	4	0.089	0.064	2440	812	3349
6907	-0.73	-146.0	475.5	-8.0	439	6912	0.25	2.35	0.00	0.000	6	0.143	0.067	2501	2243	3349
7238	-0.84	-146.0	494.8	-5.7	447	7240	0.12	0.00	0.00	0.000	6	0.086	0.000	2452	2243	3350
7563	-0.76	-146.0	518.4	-7.3	455	7568	0.15	2.38	0.00	0.000	4	0.152	0.063	2498	824	3350
7603	-0.84	-146.0	520.8	-5.7	456	7607	0.00	2.35	0.00	0.000	6	0.000	0.067	2490	2232	3350
7927	-0.90	-146.0	537.1	-5.0	464	7932	0.10	2.25	0.00	0.000	4	0.091	0.078	2435	3597	3350
7976	-0.77	-146.0	540.6	-7.4	465	7981	0.17	2.17	0.00	0.000	6	0.154	0.050	2488	2226	3350
8301	-0.85	-146.0	558.4	-5.8	473	8302	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2226	3351
8624	end dive: TARGET_DEPTH_EXCEEDED
state	8624	begin apogee
8630	-0.31	0.0	576.5	5.9	481	8757	0.32	0.00	124.35	1.246	6	0.128	0.000	2591	1740	2745
8758	end apogee: CONTROL_FINISHED_OK
state	8758	begin climb
8761	1.00	146.0	580.9	0.0	484	8892	0.88	0.00	127.97	1.176	6	0.106	0.000	2870	1740	2149
9212	0.80	146.0	543.0	9.7	495	9217	0.15	2.50	0.00	0.000	4	0.133	0.071	2829	3160	2143
9245	0.65	146.0	539.4	9.9	495	9252	0.17	2.42	0.00	0.000	6	0.135	0.053	2791	1733	2142
9578	0.82	182.4	520.2	5.8	504	9615	0.15	2.47	30.75	1.154	4	0.074	0.070	2854	3157	1999
9637	0.63	182.4	514.8	10.2	504	9642	0.25	2.38	0.00	0.000	6	0.137	0.052	2795	1735	1998
9979	0.81	201.6	492.2	6.4	513	9999	0.15	0.00	17.55	1.113	6	0.071	0.000	2858	1735	1922
10304	0.72	201.6	461.1	9.6	521	10308	0.17	2.33	0.00	0.000	4	0.125	0.067	2816	330	1918
10325	0.72	201.6	459.1	8.8	521	10329	0.00	2.33	0.00	0.000	6	0.000	0.057	2816	1748	1918
10668	0.80	201.6	434.6	7.0	530	10671	0.00	2.28	0.00	0.000	4	0.000	0.071	2816	3154	1917
10713	0.80	201.6	430.8	9.0	531	10717	0.00	2.28	0.00	0.000	6	0.000	0.053	2826	1729	1916
11036	0.80	201.6	406.3	7.5	539	11037	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	1729	1916
11344	0.80	201.6	382.6	8.0	551	11348	0.00	2.38	0.00	0.000	4	0.000	0.070	2826	3160	1917
11365	0.80	201.6	380.7	8.7	552	11369	0.00	2.28	0.00	0.000	6	0.000	0.053	2835	1737	1916
11697	0.80	201.6	354.4	7.6	568	11698	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	1737	1916
12007	0.80	201.6	331.7	7.3	583	12008	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	1737	1916
12318	0.84	201.6	309.3	7.3	598	12322	0.00	2.35	0.00	0.000	4	0.000	0.071	2835	3151	1916
12357	0.78	201.6	305.9	8.3	599	12363	0.00	2.28	0.00	0.000	6	0.000	0.053	2845	1735	1916
12672	0.78	201.6	283.1	7.3	615	12676	0.00	2.30	0.00	0.000	4	0.000	0.068	2855	323	1915
12699	0.78	201.6	280.9	8.1	616	12704	0.12	2.30	0.00	0.000	6	0.124	0.058	2820	1746	1916
13026	0.96	236.7	261.6	5.9	632	13062	0.15	2.33	29.60	1.050	4	0.075	0.071	2883	3146	1779
13124	0.73	236.7	251.7	11.8	636	13129	0.28	2.30	0.00	0.000	6	0.133	0.054	2813	1727	1773
13440	1.31	238.7	230.6	7.0	651	13445	0.38	2.35	0.00	0.000	4	0.095	0.067	2945	318	1771
13490	1.10	238.7	226.1	9.2	653	13495	0.20	2.35	0.00	0.000	6	0.149	0.058	2889	1748	1771
13806	1.03	238.7	198.9	8.6	668	13810	0.00	2.30	0.00	0.000	4	0.000	0.074	2889	3163	1771
13833	0.89	238.7	196.1	10.6	669	13838	0.17	2.28	0.00	0.000	6	0.137	0.055	2847	1734	1770
14160	1.03	266.3	173.6	6.1	685	14191	0.12	2.35	25.55	1.006	4	0.079	0.070	2913	330	1658
14208	0.93	266.3	169.5	8.7	687	14213	0.20	2.35	0.00	0.000	6	0.131	0.059	2855	1747	1657
14524	1.10	306.2	151.3	5.7	702	14568	0.15	2.38	35.25	0.984	4	0.074	0.073	2919	3159	1496
14613	0.88	306.2	142.0	12.8	706	14618	0.30	2.35	0.00	0.000	6	0.135	0.056	2842	1730	1491
14940	1.55	306.2	112.1	11.3	722	14945	0.45	2.33	0.00	0.000	4	0.094	0.070	2998	333	1485
14990	1.38	306.2	106.0	12.5	724	14994	0.17	2.33	0.00	0.000	6	0.161	0.061	2954	1741	1485
15329	1.19	306.2	61.0	13.1	778	15336	0.15	2.33	0.00	0.000	4	0.147	0.074	2909	3163	1483
15359	1.04	306.2	57.4	12.1	783	15366	0.15	2.30	0.00	0.000	6	0.139	0.058	2875	1732	1482
15704	1.23	321.0	31.1	6.5	844	15723	0.17	2.33	11.82	0.900	4	0.074	0.073	2958	319	1436
15746	1.23	321.0	27.2	9.3	851	15753	0.15	2.35	0.00	0.000	6	0.137	0.062	2916	1746	1435
16091	1.34	370.1	3.2	5.4	912	16099	0.12	0.00	5.53	0.771	2	0.084	0.000	2965	1746	1414
16100	end climb: SURFACE_DEPTH_REACHED
state	16100	begin surface coast
16166	end surface coast: CONTROL_FINISHED_OK
state	16167	begin surface