Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 412 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 20 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 412 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 3 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 1070 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 7 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 1.75 FILEMGR 2 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 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 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -120043.45 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 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 2680 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 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 2 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 7 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 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 80 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 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 3

CALL_TRIES 3 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 -120043.45

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 20 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 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 5

C_PITCH 2680 KALMAN_USE 2 ROLL_MIN 294 USE_BATHY -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 0 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 412 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1070 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 3 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 055937,6544.829,-5737.814,36,1.4,36,-36.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6554.887,-5728.972

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.05 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -67.5 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 061438,6544.739,-5738.022,8,0.9,13,-36.0 MHEAD_RNG_PITCHd_Wd 56.0,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 576

Post-dive calculations and measurements:

FREEZE 1.24,-0.032,-1.001 TCM_TEMP 15.90

FINISH 1.2,1.014787 XPDR_PINGS 75

SM_CCo 17958,0.00,0.000,0,0,1696,234.02 _24V_AH 22.2,68.636

SM_GC 2.33,6.97,0.00,0.00,0.054,0.000,0.000,328,2237,1696,-10.70,0.23,234.02 _10V_AH 10.5,31.087

RAFOS_CLK 726 DATA_FILE_SIZE 34634,1035

RAFOS 0,1228291454,8.083333,8.070556,61,59,57,55,52,46,210,222,197,128,168,1176 CAP_FILE_SIZE 140254,0

RAFOS_FIX 83901.984375,-926378.750000,021208,121232,2,73,42846.28 CFSIZE 260165632,224624640

IRIDIUM_FIX 6517.16,-5732.53,270298,060610 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1460.4

HUMID 1785 GPS 031208,111538,6545.282,-5735.538,34,1.1,34,-36.0

INTERNAL_PRESSURE 9.91249

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 244 116.10 SBE_CT 721 24 384.39

Roll_motor 111 72 180.85 SBE_O2 0 0 0.00

VBD_pump_during_apogee 337 1171 8779.08 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 51 103 118.47 nil 0 0 0.00

Iridium_during_connect 76 160 271.21 nil 0 0 0.00

Iridium_during_xfer 460 223 2281.54

Transponder_ping 18 420 174.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.03

TT8 1873 19 391.90

LPSleep 13664 2 331.43

TT8_Active 487 19 102.04

TT8_Sampling 1788 39 749.49

TT8_CF8 1032 45 498.03

TT8_Kalman 0 81 0.00

Analog_circuits 1429 12 180.08

GPS_charging 0 0 0.00

Compass 1777 8 149.35

RAFOS 1800 1 28.35

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.99 -146.0 0.0 0.0 0 88 0.00 0.00 -67.65 0.000 2 0.000 0.000 328 2237 3106

91 -0.99 -146.0 3.0 -1.9 12 111 8.85 2.38 -4.18 0.000 4 0.245 0.070 2470 810 3249

365 -0.82 -146.0 32.9 -9.5 60 372 0.15 2.33 0.00 0.000 6 0.133 0.059 2503 2240 3253

711 -0.82 -146.0 60.1 -7.3 121 717 0.00 2.30 0.00 0.000 4 0.000 0.058 2504 818 3252

830 -0.82 -146.0 68.9 -7.3 142 837 0.00 2.35 0.00 0.000 6 0.000 0.059 2496 2233 3252

1175 -0.82 -146.0 91.1 -5.8 203 1181 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2233 3252

1507 -0.82 -146.0 108.0 -4.8 240 1508 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2233 3252

1813 -0.82 -146.0 124.4 -5.7 255 1815 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2233 3252

2123 -0.82 -146.0 144.5 -6.9 270 2124 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2233 3252

2434 -0.87 -146.0 165.4 -6.4 285 2437 0.00 2.25 0.00 0.000 4 0.000 0.073 2485 3595 3251

2473 -0.87 -146.0 168.1 -6.6 286 2479 0.00 2.15 0.00 0.000 6 0.000 0.046 2485 2215 3251

2789 -0.87 -146.0 186.3 -5.4 302 2793 0.00 2.20 0.00 0.000 4 0.000 0.058 2486 817 3251

2902 -0.87 -146.0 193.2 -6.3 307 2906 0.00 2.28 0.00 0.000 6 0.000 0.059 2475 2231 3250

3235 -0.87 -146.0 212.9 -5.8 323 3237 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2231 3250

3545 -0.87 -146.0 230.9 -5.6 338 3549 0.00 2.25 0.00 0.000 4 0.000 0.057 2475 823 3250

3624 -0.87 -146.0 235.8 -5.8 341 3628 0.10 2.28 0.00 0.000 6 0.136 0.058 2492 2239 3251

3946 -0.95 -146.0 251.5 -4.9 357 3947 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2239 3251

4255 -1.03 -146.0 267.2 -5.3 372 4260 0.12 2.28 0.00 0.000 4 0.077 0.055 2438 810 3251

4348 -0.86 -146.0 273.7 -7.5 376 4353 0.22 2.33 0.00 0.000 6 0.130 0.058 2495 2239 3251

4676 -0.95 -146.0 290.4 -4.7 392 4677 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2239 3252

4985 -1.04 -146.0 304.6 -4.4 407 4989 0.15 2.25 0.00 0.000 4 0.076 0.054 2432 821 3253

5041 -0.84 -146.0 308.2 -6.9 409 5046 0.25 2.30 0.00 0.000 6 0.130 0.056 2496 2241 3253

5360 -0.94 -146.0 322.0 -4.4 424 5361 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2241 3253

5667 -1.04 -146.0 335.4 -4.3 439 5668 0.15 0.00 0.00 0.000 6 0.073 0.000 2435 2241 3254

5976 -0.91 -146.0 354.0 -5.9 454 5978 0.17 0.00 0.00 0.000 6 0.143 0.000 2484 2241 3254

6285 -0.97 -146.0 368.1 -4.4 469 6289 0.00 2.30 0.00 0.000 4 0.000 0.054 2484 815 3255

6341 -0.97 -146.0 370.9 -5.0 471 6345 0.00 2.35 0.00 0.000 6 0.000 0.055 2476 2233 3255

6663 -0.97 -146.0 387.3 -5.3 487 6664 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2233 3255

6991 -0.97 -146.0 404.4 -5.1 501 6992 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2233 3256

7316 -0.97 -146.0 420.7 -4.9 509 7320 0.00 2.28 0.00 0.000 4 0.000 0.054 2476 822 3256

7390 -0.97 -146.0 424.3 -4.7 510 7394 0.00 2.33 0.00 0.000 6 0.000 0.055 2466 2234 3256

7727 -0.97 -146.0 440.1 -4.7 519 7728 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2234 3256

8052 -0.97 -146.0 454.9 -4.6 527 8053 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2234 3256

8379 -0.97 -146.0 470.0 -4.6 535 8382 0.00 2.25 0.00 0.000 4 0.000 0.053 2466 816 3256

8470 -0.91 -146.0 474.6 -5.3 537 8475 0.10 2.33 0.00 0.000 6 0.133 0.054 2483 2234 3256

8795 -0.98 -146.0 487.9 -4.1 545 8796 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2234 3256

9121 -1.05 -146.0 502.3 -4.6 553 9123 0.12 0.00 0.00 0.000 6 0.076 0.000 2430 2234 3257

9445 -0.92 -146.0 522.3 -6.3 561 9447 0.17 0.00 0.00 0.000 6 0.140 0.000 2480 2233 3257

9770 -0.98 -146.0 537.8 -4.6 569 9771 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2233 3257

10096 -1.04 -146.0 553.0 -4.8 577 10100 0.10 2.28 0.00 0.000 4 0.089 0.054 2437 811 3257

10193 -0.88 -146.0 559.2 -7.0 579 10198 0.22 2.35 0.00 0.000 6 0.127 0.055 2493 2245 3257

10513 -0.99 -146.0 573.0 -4.2 587 10514 0.12 0.00 0.00 0.000 6 0.081 0.000 2441 2245 3257

10589 end dive: TARGET_DEPTH_EXCEEDED

state 10589 begin apogee

10597 -0.31 0.0 577.5 4.8 589 10728 0.55 0.00 128.70 1.172 6 0.122 0.000 2616 1737 2650

10729 end apogee: CONTROL_FINISHED_OK

state 10729 begin climb

10732 0.99 146.0 578.3 0.0 592 10874 0.88 2.67 131.18 1.098 4 0.090 0.060 2898 3148 2053

10887 0.69 146.0 563.6 11.4 596 10892 0.30 2.47 0.00 0.000 6 0.134 0.044 2829 1733 2050

11200 0.69 146.0 539.2 7.5 604 11201 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1733 2046

11525 0.69 146.0 515.5 7.2 612 11526 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1732 2046

11850 0.69 146.0 492.2 7.1 620 11854 0.00 2.38 0.00 0.000 4 0.000 0.062 2829 3158 2045

11872 0.69 146.0 490.3 7.6 620 11876 0.00 2.28 0.00 0.000 6 0.000 0.046 2837 1725 2044

12221 0.69 146.0 463.6 7.7 629 12224 0.00 2.35 0.00 0.000 4 0.000 0.061 2837 3150 2044

12249 0.60 146.0 461.1 8.2 629 12253 0.15 2.22 0.00 0.000 6 0.133 0.045 2804 1731 2044

12592 0.75 177.1 440.2 6.0 638 12621 0.12 0.00 26.12 1.078 6 0.073 0.000 2864 1731 1927

12916 0.64 177.1 409.3 9.7 646 12921 0.17 2.35 0.00 0.000 4 0.120 0.061 2811 3153 1923

12938 0.64 177.1 407.2 8.5 646 12941 0.00 2.25 0.00 0.000 6 0.000 0.045 2818 1733 1922

13264 0.72 183.4 384.8 6.8 659 13275 0.00 2.30 6.20 0.858 4 0.000 0.060 2818 3151 1902

13292 0.72 190.5 382.6 6.8 660 13305 0.00 2.25 8.05 0.910 6 0.000 0.044 2827 1726 1873

13613 0.72 190.5 358.9 7.3 676 13617 0.00 2.33 0.00 0.000 4 0.000 0.060 2828 3155 1871

13641 0.72 190.5 356.6 7.8 677 13645 0.00 2.22 0.00 0.000 6 0.000 0.045 2837 1728 1870

13967 0.72 190.5 331.7 7.7 693 13971 0.00 2.30 0.00 0.000 4 0.000 0.061 2837 3151 1870

13991 0.72 190.5 329.7 8.0 694 13994 0.00 2.22 0.00 0.000 6 0.000 0.045 2847 1729 1869

14324 0.72 190.5 301.5 8.9 710 14325 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 1729 1869

14632 0.72 190.5 272.3 9.5 725 14634 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 1729 1869

14942 0.72 190.5 242.3 9.8 740 14946 0.00 2.30 0.00 0.000 4 0.000 0.061 2847 3164 1869

14965 0.66 190.5 240.1 10.0 741 14969 0.12 2.22 0.00 0.000 6 0.133 0.045 2821 1741 1869

15298 0.76 190.5 214.6 7.4 757 15300 0.10 0.00 0.00 0.000 6 0.078 0.000 2873 1740 1869

15606 0.66 190.5 183.0 10.1 772 15608 0.17 0.00 0.00 0.000 6 0.120 0.000 2820 1740 1869

15917 0.84 219.0 163.3 6.1 787 15944 0.15 0.00 24.95 0.900 6 0.067 0.000 2889 1740 1757

16245 0.73 219.0 129.0 10.5 803 16250 0.17 2.30 0.00 0.000 4 0.117 0.058 2844 323 1753

16262 0.73 219.0 127.4 10.2 804 16266 0.00 2.28 0.00 0.000 6 0.000 0.048 2844 1755 1753

16596 0.87 232.3 105.5 6.6 820 16618 0.08 2.30 12.23 0.828 4 0.091 0.061 2891 3157 1702

16624 0.87 232.3 103.0 9.1 821 16629 0.15 2.25 0.00 0.000 6 0.132 0.045 2858 1732 1702

16964 0.96 232.3 76.7 7.5 875 16971 0.12 2.35 0.00 0.000 4 0.073 0.060 2917 3158 1700

16978 1.02 232.3 75.5 7.9 877 16985 0.12 2.22 0.00 0.000 6 0.143 0.046 2894 1736 1700

17324 1.02 232.3 44.8 7.3 938 17330 0.00 2.25 0.00 0.000 4 0.000 0.061 2903 332 1699

17371 1.08 232.3 41.1 7.7 946 17378 0.00 2.28 0.00 0.000 6 0.000 0.049 2902 1752 1699

17716 1.08 232.3 13.9 8.0 1007 17722 0.00 2.25 0.00 0.000 4 0.000 0.065 2902 3150 1699

17758 0.99 232.3 10.4 8.5 1014 17764 0.00 2.22 0.00 0.000 6 0.000 0.048 2912 1726 1699

17842 end climb: SURFACE_DEPTH_REACHED

state 17842 begin surface coast

17878 end surface coast: CONTROL_FINISHED_OK

state 17878 begin surface

ID	108	HEADING	20	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	412	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	3	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	1070	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	7	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	1.75	FILEMGR	2	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	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	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-120043.45	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	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	2680	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	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	2	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	055937,6544.829,-5737.814,36,1.4,36,-36.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6554.887,-5728.972
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.05	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-67.5	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	061438,6544.739,-5738.022,8,0.9,13,-36.0	MHEAD_RNG_PITCHd_Wd	56.0,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	576

FREEZE	1.24,-0.032,-1.001	TCM_TEMP	15.90
FINISH	1.2,1.014787	XPDR_PINGS	75
SM_CCo	17958,0.00,0.000,0,0,1696,234.02	_24V_AH	22.2,68.636
SM_GC	2.33,6.97,0.00,0.00,0.054,0.000,0.000,328,2237,1696,-10.70,0.23,234.02	_10V_AH	10.5,31.087
RAFOS_CLK	726	DATA_FILE_SIZE	34634,1035
RAFOS	0,1228291454,8.083333,8.070556,61,59,57,55,52,46,210,222,197,128,168,1176	CAP_FILE_SIZE	140254,0
RAFOS_FIX	83901.984375,-926378.750000,021208,121232,2,73,42846.28	CFSIZE	260165632,224624640
IRIDIUM_FIX	6517.16,-5732.53,270298,060610	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1460.4
HUMID	1785	GPS	031208,111538,6545.282,-5735.538,34,1.1,34,-36.0
INTERNAL_PRESSURE	9.91249

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	244	116.10	SBE_CT	721	24	384.39
Roll_motor	111	72	180.85	SBE_O2	0	0	0.00
VBD_pump_during_apogee	337	1171	8779.08	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	51	103	118.47	nil	0	0	0.00
Iridium_during_connect	76	160	271.21	nil	0	0	0.00
Iridium_during_xfer	460	223	2281.54
Transponder_ping	18	420	174.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.03
TT8	1873	19	391.90
LPSleep	13664	2	331.43
TT8_Active	487	19	102.04
TT8_Sampling	1788	39	749.49
TT8_CF8	1032	45	498.03
TT8_Kalman	0	81	0.00
Analog_circuits	1429	12	180.08
GPS_charging	0	0	0.00
Compass	1777	8	149.35
RAFOS	1800	1	28.35
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.99	-146.0	0.0	0.0	0	88	0.00	0.00	-67.65	0.000	2	0.000	0.000	328	2237	3106
91	-0.99	-146.0	3.0	-1.9	12	111	8.85	2.38	-4.18	0.000	4	0.245	0.070	2470	810	3249
365	-0.82	-146.0	32.9	-9.5	60	372	0.15	2.33	0.00	0.000	6	0.133	0.059	2503	2240	3253
711	-0.82	-146.0	60.1	-7.3	121	717	0.00	2.30	0.00	0.000	4	0.000	0.058	2504	818	3252
830	-0.82	-146.0	68.9	-7.3	142	837	0.00	2.35	0.00	0.000	6	0.000	0.059	2496	2233	3252
1175	-0.82	-146.0	91.1	-5.8	203	1181	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2233	3252
1507	-0.82	-146.0	108.0	-4.8	240	1508	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2233	3252
1813	-0.82	-146.0	124.4	-5.7	255	1815	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2233	3252
2123	-0.82	-146.0	144.5	-6.9	270	2124	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2233	3252
2434	-0.87	-146.0	165.4	-6.4	285	2437	0.00	2.25	0.00	0.000	4	0.000	0.073	2485	3595	3251
2473	-0.87	-146.0	168.1	-6.6	286	2479	0.00	2.15	0.00	0.000	6	0.000	0.046	2485	2215	3251
2789	-0.87	-146.0	186.3	-5.4	302	2793	0.00	2.20	0.00	0.000	4	0.000	0.058	2486	817	3251
2902	-0.87	-146.0	193.2	-6.3	307	2906	0.00	2.28	0.00	0.000	6	0.000	0.059	2475	2231	3250
3235	-0.87	-146.0	212.9	-5.8	323	3237	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2231	3250
3545	-0.87	-146.0	230.9	-5.6	338	3549	0.00	2.25	0.00	0.000	4	0.000	0.057	2475	823	3250
3624	-0.87	-146.0	235.8	-5.8	341	3628	0.10	2.28	0.00	0.000	6	0.136	0.058	2492	2239	3251
3946	-0.95	-146.0	251.5	-4.9	357	3947	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2239	3251
4255	-1.03	-146.0	267.2	-5.3	372	4260	0.12	2.28	0.00	0.000	4	0.077	0.055	2438	810	3251
4348	-0.86	-146.0	273.7	-7.5	376	4353	0.22	2.33	0.00	0.000	6	0.130	0.058	2495	2239	3251
4676	-0.95	-146.0	290.4	-4.7	392	4677	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2239	3252
4985	-1.04	-146.0	304.6	-4.4	407	4989	0.15	2.25	0.00	0.000	4	0.076	0.054	2432	821	3253
5041	-0.84	-146.0	308.2	-6.9	409	5046	0.25	2.30	0.00	0.000	6	0.130	0.056	2496	2241	3253
5360	-0.94	-146.0	322.0	-4.4	424	5361	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2241	3253
5667	-1.04	-146.0	335.4	-4.3	439	5668	0.15	0.00	0.00	0.000	6	0.073	0.000	2435	2241	3254
5976	-0.91	-146.0	354.0	-5.9	454	5978	0.17	0.00	0.00	0.000	6	0.143	0.000	2484	2241	3254
6285	-0.97	-146.0	368.1	-4.4	469	6289	0.00	2.30	0.00	0.000	4	0.000	0.054	2484	815	3255
6341	-0.97	-146.0	370.9	-5.0	471	6345	0.00	2.35	0.00	0.000	6	0.000	0.055	2476	2233	3255
6663	-0.97	-146.0	387.3	-5.3	487	6664	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2233	3255
6991	-0.97	-146.0	404.4	-5.1	501	6992	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2233	3256
7316	-0.97	-146.0	420.7	-4.9	509	7320	0.00	2.28	0.00	0.000	4	0.000	0.054	2476	822	3256
7390	-0.97	-146.0	424.3	-4.7	510	7394	0.00	2.33	0.00	0.000	6	0.000	0.055	2466	2234	3256
7727	-0.97	-146.0	440.1	-4.7	519	7728	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2234	3256
8052	-0.97	-146.0	454.9	-4.6	527	8053	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2234	3256
8379	-0.97	-146.0	470.0	-4.6	535	8382	0.00	2.25	0.00	0.000	4	0.000	0.053	2466	816	3256
8470	-0.91	-146.0	474.6	-5.3	537	8475	0.10	2.33	0.00	0.000	6	0.133	0.054	2483	2234	3256
8795	-0.98	-146.0	487.9	-4.1	545	8796	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2234	3256
9121	-1.05	-146.0	502.3	-4.6	553	9123	0.12	0.00	0.00	0.000	6	0.076	0.000	2430	2234	3257
9445	-0.92	-146.0	522.3	-6.3	561	9447	0.17	0.00	0.00	0.000	6	0.140	0.000	2480	2233	3257
9770	-0.98	-146.0	537.8	-4.6	569	9771	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2233	3257
10096	-1.04	-146.0	553.0	-4.8	577	10100	0.10	2.28	0.00	0.000	4	0.089	0.054	2437	811	3257
10193	-0.88	-146.0	559.2	-7.0	579	10198	0.22	2.35	0.00	0.000	6	0.127	0.055	2493	2245	3257
10513	-0.99	-146.0	573.0	-4.2	587	10514	0.12	0.00	0.00	0.000	6	0.081	0.000	2441	2245	3257
10589	end dive: TARGET_DEPTH_EXCEEDED
state	10589	begin apogee
10597	-0.31	0.0	577.5	4.8	589	10728	0.55	0.00	128.70	1.172	6	0.122	0.000	2616	1737	2650
10729	end apogee: CONTROL_FINISHED_OK
state	10729	begin climb
10732	0.99	146.0	578.3	0.0	592	10874	0.88	2.67	131.18	1.098	4	0.090	0.060	2898	3148	2053
10887	0.69	146.0	563.6	11.4	596	10892	0.30	2.47	0.00	0.000	6	0.134	0.044	2829	1733	2050
11200	0.69	146.0	539.2	7.5	604	11201	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1733	2046
11525	0.69	146.0	515.5	7.2	612	11526	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1732	2046
11850	0.69	146.0	492.2	7.1	620	11854	0.00	2.38	0.00	0.000	4	0.000	0.062	2829	3158	2045
11872	0.69	146.0	490.3	7.6	620	11876	0.00	2.28	0.00	0.000	6	0.000	0.046	2837	1725	2044
12221	0.69	146.0	463.6	7.7	629	12224	0.00	2.35	0.00	0.000	4	0.000	0.061	2837	3150	2044
12249	0.60	146.0	461.1	8.2	629	12253	0.15	2.22	0.00	0.000	6	0.133	0.045	2804	1731	2044
12592	0.75	177.1	440.2	6.0	638	12621	0.12	0.00	26.12	1.078	6	0.073	0.000	2864	1731	1927
12916	0.64	177.1	409.3	9.7	646	12921	0.17	2.35	0.00	0.000	4	0.120	0.061	2811	3153	1923
12938	0.64	177.1	407.2	8.5	646	12941	0.00	2.25	0.00	0.000	6	0.000	0.045	2818	1733	1922
13264	0.72	183.4	384.8	6.8	659	13275	0.00	2.30	6.20	0.858	4	0.000	0.060	2818	3151	1902
13292	0.72	190.5	382.6	6.8	660	13305	0.00	2.25	8.05	0.910	6	0.000	0.044	2827	1726	1873
13613	0.72	190.5	358.9	7.3	676	13617	0.00	2.33	0.00	0.000	4	0.000	0.060	2828	3155	1871
13641	0.72	190.5	356.6	7.8	677	13645	0.00	2.22	0.00	0.000	6	0.000	0.045	2837	1728	1870
13967	0.72	190.5	331.7	7.7	693	13971	0.00	2.30	0.00	0.000	4	0.000	0.061	2837	3151	1870
13991	0.72	190.5	329.7	8.0	694	13994	0.00	2.22	0.00	0.000	6	0.000	0.045	2847	1729	1869
14324	0.72	190.5	301.5	8.9	710	14325	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	1729	1869
14632	0.72	190.5	272.3	9.5	725	14634	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	1729	1869
14942	0.72	190.5	242.3	9.8	740	14946	0.00	2.30	0.00	0.000	4	0.000	0.061	2847	3164	1869
14965	0.66	190.5	240.1	10.0	741	14969	0.12	2.22	0.00	0.000	6	0.133	0.045	2821	1741	1869
15298	0.76	190.5	214.6	7.4	757	15300	0.10	0.00	0.00	0.000	6	0.078	0.000	2873	1740	1869
15606	0.66	190.5	183.0	10.1	772	15608	0.17	0.00	0.00	0.000	6	0.120	0.000	2820	1740	1869
15917	0.84	219.0	163.3	6.1	787	15944	0.15	0.00	24.95	0.900	6	0.067	0.000	2889	1740	1757
16245	0.73	219.0	129.0	10.5	803	16250	0.17	2.30	0.00	0.000	4	0.117	0.058	2844	323	1753
16262	0.73	219.0	127.4	10.2	804	16266	0.00	2.28	0.00	0.000	6	0.000	0.048	2844	1755	1753
16596	0.87	232.3	105.5	6.6	820	16618	0.08	2.30	12.23	0.828	4	0.091	0.061	2891	3157	1702
16624	0.87	232.3	103.0	9.1	821	16629	0.15	2.25	0.00	0.000	6	0.132	0.045	2858	1732	1702
16964	0.96	232.3	76.7	7.5	875	16971	0.12	2.35	0.00	0.000	4	0.073	0.060	2917	3158	1700
16978	1.02	232.3	75.5	7.9	877	16985	0.12	2.22	0.00	0.000	6	0.143	0.046	2894	1736	1700
17324	1.02	232.3	44.8	7.3	938	17330	0.00	2.25	0.00	0.000	4	0.000	0.061	2903	332	1699
17371	1.08	232.3	41.1	7.7	946	17378	0.00	2.28	0.00	0.000	6	0.000	0.049	2902	1752	1699
17716	1.08	232.3	13.9	8.0	1007	17722	0.00	2.25	0.00	0.000	4	0.000	0.065	2902	3150	1699
17758	0.99	232.3	10.4	8.5	1014	17764	0.00	2.22	0.00	0.000	6	0.000	0.048	2912	1726	1699
17842	end climb: SURFACE_DEPTH_REACHED
state	17842	begin surface coast
17878	end surface coast: CONTROL_FINISHED_OK
state	17878	begin surface