Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 415 * 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 415 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -120087.06 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 -120087.06

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 415 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 213432,6549.229,-5730.975,37,1.2,37,-36.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6559.395,-5721.930

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.17 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -66.7 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 214014,6549.247,-5731.007,12,1.1,12,-36.1 MHEAD_RNG_PITCHd_Wd 56.1,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 590

Post-dive calculations and measurements:

FREEZE 1.39,-0.429,-0.735 TCM_TEMP 16.10

FINISH 1.4,1.010814 XPDR_PINGS 130

SM_CCo 18128,0.00,0.000,0,0,1495,283.32 _24V_AH 22.2,69.052

SM_GC 2.23,6.82,0.00,0.00,0.044,0.000,0.000,332,2238,1495,-10.69,0.23,283.32 _10V_AH 10.5,31.288

RAFOS_CLK 715 DATA_FILE_SIZE 34691,1025

RAFOS 0,1228349042,0.083333,0.067222,62,59,58,56,52,49,181,204,148,121,214,224 CAP_FILE_SIZE 140153,0

RAFOS_FIX 5510.566895,-40814.296875,031208,202054,3,82,1555.77 CFSIZE 260165632,224436224

IRIDIUM_FIX 6517.16,-5734.14,270298,161602 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1460.2

HUMID 1783 GPS 041208,024407,6548.887,-5729.020,37,1.0,37,-36.1

INTERNAL_PRESSURE 9.91249

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 245 130.63 SBE_CT 713 24 380.27

Roll_motor 119 71 189.19 SBE_O2 0 0 0.00

VBD_pump_during_apogee 373 1175 9734.63 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 29 103 67.31 nil 0 0 0.00

Iridium_during_connect 38 160 136.90 nil 0 0 0.00

Iridium_during_xfer 134 223 667.96

Transponder_ping 32 420 303.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.38

TT8 1887 19 394.75

LPSleep 13650 2 331.09

TT8_Active 498 19 104.23

TT8_Sampling 1892 39 793.22

TT8_CF8 537 45 259.12

TT8_Kalman 0 81 0.00

Analog_circuits 1505 12 189.70

GPS_charging 0 0 0.00

Compass 1867 8 156.89

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.99 -146.0 0.0 0.0 0 97 0.00 0.00 -78.65 0.000 2 0.000 0.000 332 2246 3174

100 -0.99 -146.0 3.4 -2.0 14 119 8.82 2.38 -2.00 0.000 4 0.245 0.071 2469 820 3250

374 -0.81 -146.0 34.1 -9.4 62 381 0.17 2.35 0.00 0.000 6 0.133 0.059 2511 2239 3253

720 -0.88 -146.0 60.0 -7.8 123 726 0.10 2.22 0.00 0.000 4 0.085 0.071 2456 3602 3252

789 -0.75 -146.0 66.5 -9.0 135 796 0.22 2.15 0.00 0.000 6 0.141 0.046 2520 2217 3252

1135 -0.86 -146.0 87.2 -6.5 196 1142 0.10 2.20 0.00 0.000 4 0.091 0.058 2476 815 3252

1234 -0.76 -146.0 95.2 -8.3 213 1241 0.17 2.33 0.00 0.000 6 0.131 0.060 2516 2243 3252

1560 -0.86 -146.0 114.9 -5.7 238 1565 0.10 2.20 0.00 0.000 4 0.087 0.071 2462 3598 3252

1787 -0.79 -146.0 130.8 -6.5 248 1791 0.17 2.12 0.00 0.000 6 0.137 0.048 2511 2225 3251

2119 -0.89 -146.0 144.1 -3.9 264 2124 0.10 2.20 0.00 0.000 4 0.091 0.059 2466 827 3250

2238 -0.78 -146.0 151.0 -6.2 269 2243 0.20 2.30 0.00 0.000 6 0.130 0.061 2514 2237 3251

2555 -0.91 -146.0 165.0 -4.7 284 2557 0.12 0.00 0.00 0.000 6 0.080 0.000 2461 2236 3250

2864 -0.85 -146.0 185.4 -6.5 299 2866 0.12 0.00 0.00 0.000 6 0.143 0.000 2495 2236 3250

3174 -0.92 -146.0 202.9 -5.6 314 3176 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2236 3250

3482 -0.99 -146.0 219.8 -5.3 329 3484 0.12 0.00 0.00 0.000 6 0.084 0.000 2442 2236 3250

3792 -0.86 -146.0 239.9 -6.6 344 3796 0.17 2.28 0.00 0.000 4 0.143 0.057 2497 814 3250

3843 -0.86 -146.0 242.7 -5.4 346 3848 0.00 2.30 0.00 0.000 6 0.000 0.058 2489 2245 3250

4166 -0.92 -146.0 257.9 -4.9 362 4167 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2245 3251

4475 -0.97 -146.0 273.8 -5.3 377 4476 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2245 3251

4784 -1.03 -146.0 291.0 -5.5 392 4786 0.12 0.00 0.00 0.000 6 0.077 0.000 2434 2245 3251

5096 -0.88 -146.0 312.9 -6.9 407 5098 0.20 0.00 0.00 0.000 6 0.137 0.000 2492 2246 3251

5403 -0.97 -146.0 326.7 -4.0 422 5404 0.10 0.00 0.00 0.000 6 0.088 0.000 2448 2246 3252

5714 -0.88 -146.0 342.3 -5.2 437 5718 0.15 2.28 0.00 0.000 4 0.142 0.056 2494 823 3252

5770 -0.94 -146.0 345.0 -4.1 439 5777 0.00 2.30 0.00 0.000 6 0.000 0.057 2487 2242 3252

6088 -1.00 -146.0 357.8 -4.0 455 6090 0.10 0.00 0.00 0.000 6 0.081 0.000 2438 2241 3252

6397 -0.89 -146.0 374.5 -5.3 470 6401 0.17 2.28 0.00 0.000 4 0.136 0.054 2494 826 3253

6486 -0.94 -146.0 378.6 -4.4 474 6490 0.00 2.33 0.00 0.000 6 0.000 0.056 2487 2244 3253

6811 -1.01 -146.0 391.5 -4.1 490 6812 0.10 0.00 0.00 0.000 6 0.080 0.000 2438 2244 3253

7136 -0.90 -146.0 409.2 -5.6 502 7141 0.17 2.30 0.00 0.000 4 0.135 0.054 2489 818 3253

7203 -0.90 -146.0 412.7 -5.3 503 7207 0.00 2.33 0.00 0.000 6 0.000 0.055 2481 2237 3253

7540 -0.90 -146.0 428.6 -4.8 512 7541 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2237 3253

7865 -0.95 -146.0 443.4 -4.6 520 7869 0.00 2.25 0.00 0.000 4 0.000 0.053 2481 824 3254

7927 -0.95 -146.0 446.5 -5.2 521 7930 0.00 2.28 0.00 0.000 6 0.000 0.055 2471 2235 3254

8241 -0.95 -146.0 461.8 -4.9 529 8242 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2235 3254

8565 -0.95 -146.0 477.5 -4.9 537 8569 0.00 2.22 0.00 0.000 4 0.000 0.053 2471 824 3254

8644 -0.95 -146.0 481.5 -5.5 538 8648 0.00 2.28 0.00 0.000 6 0.000 0.054 2461 2234 3254

8976 -0.95 -146.0 497.5 -4.8 546 8980 0.00 2.20 0.00 0.000 4 0.000 0.067 2451 3603 3255

9027 -0.90 -146.0 500.2 -5.7 547 9031 0.12 2.12 0.00 0.000 6 0.139 0.041 2485 2213 3255

9351 -0.98 -146.0 513.9 -4.1 555 9355 0.00 2.17 0.00 0.000 4 0.000 0.054 2485 816 3255

9443 -0.98 -146.0 517.9 -4.4 557 9447 0.00 2.30 0.00 0.000 6 0.000 0.054 2477 2243 3255

9767 -0.98 -146.0 532.6 -4.5 565 9771 0.00 2.17 0.00 0.000 4 0.000 0.067 2466 3602 3255

9829 -0.98 -146.0 535.7 -5.1 566 9833 0.00 2.12 0.00 0.000 6 0.000 0.042 2467 2215 3255

10143 -0.98 -146.0 550.2 -4.6 574 10146 0.00 2.17 0.00 0.000 4 0.000 0.054 2466 822 3255

10216 -0.93 -146.0 553.9 -4.8 575 10220 0.00 2.28 0.00 0.000 6 0.000 0.054 2457 2235 3255

10559 -0.93 -146.0 570.5 -4.8 584 10563 0.00 2.25 0.00 0.000 4 0.000 0.053 2456 815 3255

10622 -0.85 -146.0 573.6 -4.5 585 10627 0.17 2.30 0.00 0.000 6 0.128 0.054 2497 2244 3255

10971 -0.97 -146.0 588.2 -4.2 594 10973 0.12 0.00 0.00 0.000 6 0.075 0.000 2443 2243 3255

11009 end dive: TARGET_DEPTH_EXCEEDED

state 11009 begin apogee

11017 -0.31 0.0 590.0 4.2 595 11147 0.55 0.00 127.15 1.175 6 0.120 0.000 2618 1746 2650

11148 end apogee: CONTROL_FINISHED_OK

state 11148 begin climb

11151 0.99 146.0 591.5 0.0 598 11289 0.82 2.58 130.10 1.103 4 0.086 0.059 2893 3151 2053

11309 0.68 146.0 575.9 13.3 601 11314 0.30 2.45 0.00 0.000 6 0.131 0.043 2823 1732 2050

11640 0.68 146.0 548.6 8.0 609 11641 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 1732 2046

11965 0.68 146.0 524.2 7.2 617 11966 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 1732 2045

12290 0.68 146.0 499.9 7.6 625 12291 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 1732 2045

12615 0.68 146.0 476.6 7.3 633 12619 0.00 2.33 0.00 0.000 4 0.000 0.061 2823 3154 2045

12638 0.68 147.4 474.8 7.0 633 12642 0.00 2.22 0.00 0.000 6 0.000 0.044 2832 1732 2044

12987 0.68 147.4 448.1 7.7 642 12991 0.00 2.30 0.00 0.000 4 0.000 0.060 2832 3151 2045

13021 0.58 147.4 445.2 8.9 642 13025 0.15 2.22 0.00 0.000 6 0.130 0.045 2799 1735 2043

13358 0.78 194.8 425.9 5.5 651 13402 0.17 0.00 41.10 1.079 6 0.062 0.000 2878 1735 1855

13703 0.62 194.8 389.9 10.8 661 13705 0.22 0.00 0.00 0.000 6 0.119 0.000 2810 1735 1848

14015 0.75 196.8 368.1 7.0 676 14016 0.12 0.00 0.00 0.000 6 0.070 0.000 2869 1735 1846

14321 0.62 196.8 335.0 10.9 691 14323 0.20 0.00 0.00 0.000 6 0.121 0.000 2808 1735 1846

14631 0.81 219.5 314.0 6.3 706 14657 0.17 2.33 20.80 0.983 4 0.062 0.061 2887 3160 1754

14675 0.61 219.5 309.4 11.8 708 14680 0.30 2.28 0.00 0.000 6 0.128 0.045 2807 1735 1752

14999 0.85 251.3 288.6 6.0 724 15030 0.20 0.00 28.48 0.973 6 0.059 0.000 2896 1735 1625

15326 0.69 251.3 251.2 11.6 740 15331 0.20 2.30 0.00 0.000 4 0.123 0.058 2839 323 1619

15344 0.61 251.3 249.4 10.7 741 15349 0.10 2.25 0.00 0.000 6 0.116 0.048 2810 1747 1619

15677 1.27 251.3 225.6 9.1 757 15679 0.45 0.00 0.00 0.000 6 0.083 0.000 2968 1747 1616

15986 0.89 251.3 180.9 17.1 772 15988 0.32 0.00 0.00 0.000 6 0.132 0.000 2870 1747 1616

16294 0.89 251.3 152.4 8.9 787 16298 0.00 2.25 0.00 0.000 4 0.000 0.061 2870 3153 1616

16311 0.89 251.3 150.8 9.1 787 16317 0.00 2.25 0.00 0.000 6 0.000 0.045 2877 1729 1615

16627 0.89 251.3 120.1 9.9 803 16631 0.00 2.28 0.00 0.000 4 0.000 0.059 2888 323 1615

16683 0.89 251.3 114.3 10.3 805 16687 0.00 2.30 0.00 0.000 6 0.000 0.048 2888 1750 1615

17013 0.89 251.3 80.9 9.5 844 17020 0.00 2.25 0.00 0.000 4 0.000 0.062 2888 3153 1615

17038 0.83 251.3 78.5 9.7 848 17045 0.15 2.22 0.00 0.000 6 0.126 0.046 2854 1730 1615

17384 1.08 280.8 56.8 6.1 909 17416 0.20 2.33 25.55 0.860 4 0.062 0.061 2961 331 1505

17429 1.01 280.8 52.3 9.8 916 17436 0.22 2.30 0.00 0.000 6 0.124 0.049 2894 1748 1504

17775 1.06 280.8 22.9 8.5 977 17781 0.00 2.25 0.00 0.000 4 0.000 0.064 2895 3153 1499

17799 1.06 280.8 20.7 8.5 981 17805 0.00 2.25 0.00 0.000 6 0.000 0.048 2901 1725 1499

18002 end climb: SURFACE_DEPTH_REACHED

state 18002 begin surface coast

18048 end surface coast: CONTROL_FINISHED_OK

state 18048 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	415	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-120087.06	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	213432,6549.229,-5730.975,37,1.2,37,-36.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6559.395,-5721.930
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.17	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-66.7	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	214014,6549.247,-5731.007,12,1.1,12,-36.1	MHEAD_RNG_PITCHd_Wd	56.1,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	590

FREEZE	1.39,-0.429,-0.735	TCM_TEMP	16.10
FINISH	1.4,1.010814	XPDR_PINGS	130
SM_CCo	18128,0.00,0.000,0,0,1495,283.32	_24V_AH	22.2,69.052
SM_GC	2.23,6.82,0.00,0.00,0.044,0.000,0.000,332,2238,1495,-10.69,0.23,283.32	_10V_AH	10.5,31.288
RAFOS_CLK	715	DATA_FILE_SIZE	34691,1025
RAFOS	0,1228349042,0.083333,0.067222,62,59,58,56,52,49,181,204,148,121,214,224	CAP_FILE_SIZE	140153,0
RAFOS_FIX	5510.566895,-40814.296875,031208,202054,3,82,1555.77	CFSIZE	260165632,224436224
IRIDIUM_FIX	6517.16,-5734.14,270298,161602	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1460.2
HUMID	1783	GPS	041208,024407,6548.887,-5729.020,37,1.0,37,-36.1
INTERNAL_PRESSURE	9.91249

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	245	130.63	SBE_CT	713	24	380.27
Roll_motor	119	71	189.19	SBE_O2	0	0	0.00
VBD_pump_during_apogee	373	1175	9734.63	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	29	103	67.31	nil	0	0	0.00
Iridium_during_connect	38	160	136.90	nil	0	0	0.00
Iridium_during_xfer	134	223	667.96
Transponder_ping	32	420	303.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.38
TT8	1887	19	394.75
LPSleep	13650	2	331.09
TT8_Active	498	19	104.23
TT8_Sampling	1892	39	793.22
TT8_CF8	537	45	259.12
TT8_Kalman	0	81	0.00
Analog_circuits	1505	12	189.70
GPS_charging	0	0	0.00
Compass	1867	8	156.89
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.99	-146.0	0.0	0.0	0	97	0.00	0.00	-78.65	0.000	2	0.000	0.000	332	2246	3174
100	-0.99	-146.0	3.4	-2.0	14	119	8.82	2.38	-2.00	0.000	4	0.245	0.071	2469	820	3250
374	-0.81	-146.0	34.1	-9.4	62	381	0.17	2.35	0.00	0.000	6	0.133	0.059	2511	2239	3253
720	-0.88	-146.0	60.0	-7.8	123	726	0.10	2.22	0.00	0.000	4	0.085	0.071	2456	3602	3252
789	-0.75	-146.0	66.5	-9.0	135	796	0.22	2.15	0.00	0.000	6	0.141	0.046	2520	2217	3252
1135	-0.86	-146.0	87.2	-6.5	196	1142	0.10	2.20	0.00	0.000	4	0.091	0.058	2476	815	3252
1234	-0.76	-146.0	95.2	-8.3	213	1241	0.17	2.33	0.00	0.000	6	0.131	0.060	2516	2243	3252
1560	-0.86	-146.0	114.9	-5.7	238	1565	0.10	2.20	0.00	0.000	4	0.087	0.071	2462	3598	3252
1787	-0.79	-146.0	130.8	-6.5	248	1791	0.17	2.12	0.00	0.000	6	0.137	0.048	2511	2225	3251
2119	-0.89	-146.0	144.1	-3.9	264	2124	0.10	2.20	0.00	0.000	4	0.091	0.059	2466	827	3250
2238	-0.78	-146.0	151.0	-6.2	269	2243	0.20	2.30	0.00	0.000	6	0.130	0.061	2514	2237	3251
2555	-0.91	-146.0	165.0	-4.7	284	2557	0.12	0.00	0.00	0.000	6	0.080	0.000	2461	2236	3250
2864	-0.85	-146.0	185.4	-6.5	299	2866	0.12	0.00	0.00	0.000	6	0.143	0.000	2495	2236	3250
3174	-0.92	-146.0	202.9	-5.6	314	3176	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2236	3250
3482	-0.99	-146.0	219.8	-5.3	329	3484	0.12	0.00	0.00	0.000	6	0.084	0.000	2442	2236	3250
3792	-0.86	-146.0	239.9	-6.6	344	3796	0.17	2.28	0.00	0.000	4	0.143	0.057	2497	814	3250
3843	-0.86	-146.0	242.7	-5.4	346	3848	0.00	2.30	0.00	0.000	6	0.000	0.058	2489	2245	3250
4166	-0.92	-146.0	257.9	-4.9	362	4167	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2245	3251
4475	-0.97	-146.0	273.8	-5.3	377	4476	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2245	3251
4784	-1.03	-146.0	291.0	-5.5	392	4786	0.12	0.00	0.00	0.000	6	0.077	0.000	2434	2245	3251
5096	-0.88	-146.0	312.9	-6.9	407	5098	0.20	0.00	0.00	0.000	6	0.137	0.000	2492	2246	3251
5403	-0.97	-146.0	326.7	-4.0	422	5404	0.10	0.00	0.00	0.000	6	0.088	0.000	2448	2246	3252
5714	-0.88	-146.0	342.3	-5.2	437	5718	0.15	2.28	0.00	0.000	4	0.142	0.056	2494	823	3252
5770	-0.94	-146.0	345.0	-4.1	439	5777	0.00	2.30	0.00	0.000	6	0.000	0.057	2487	2242	3252
6088	-1.00	-146.0	357.8	-4.0	455	6090	0.10	0.00	0.00	0.000	6	0.081	0.000	2438	2241	3252
6397	-0.89	-146.0	374.5	-5.3	470	6401	0.17	2.28	0.00	0.000	4	0.136	0.054	2494	826	3253
6486	-0.94	-146.0	378.6	-4.4	474	6490	0.00	2.33	0.00	0.000	6	0.000	0.056	2487	2244	3253
6811	-1.01	-146.0	391.5	-4.1	490	6812	0.10	0.00	0.00	0.000	6	0.080	0.000	2438	2244	3253
7136	-0.90	-146.0	409.2	-5.6	502	7141	0.17	2.30	0.00	0.000	4	0.135	0.054	2489	818	3253
7203	-0.90	-146.0	412.7	-5.3	503	7207	0.00	2.33	0.00	0.000	6	0.000	0.055	2481	2237	3253
7540	-0.90	-146.0	428.6	-4.8	512	7541	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2237	3253
7865	-0.95	-146.0	443.4	-4.6	520	7869	0.00	2.25	0.00	0.000	4	0.000	0.053	2481	824	3254
7927	-0.95	-146.0	446.5	-5.2	521	7930	0.00	2.28	0.00	0.000	6	0.000	0.055	2471	2235	3254
8241	-0.95	-146.0	461.8	-4.9	529	8242	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2235	3254
8565	-0.95	-146.0	477.5	-4.9	537	8569	0.00	2.22	0.00	0.000	4	0.000	0.053	2471	824	3254
8644	-0.95	-146.0	481.5	-5.5	538	8648	0.00	2.28	0.00	0.000	6	0.000	0.054	2461	2234	3254
8976	-0.95	-146.0	497.5	-4.8	546	8980	0.00	2.20	0.00	0.000	4	0.000	0.067	2451	3603	3255
9027	-0.90	-146.0	500.2	-5.7	547	9031	0.12	2.12	0.00	0.000	6	0.139	0.041	2485	2213	3255
9351	-0.98	-146.0	513.9	-4.1	555	9355	0.00	2.17	0.00	0.000	4	0.000	0.054	2485	816	3255
9443	-0.98	-146.0	517.9	-4.4	557	9447	0.00	2.30	0.00	0.000	6	0.000	0.054	2477	2243	3255
9767	-0.98	-146.0	532.6	-4.5	565	9771	0.00	2.17	0.00	0.000	4	0.000	0.067	2466	3602	3255
9829	-0.98	-146.0	535.7	-5.1	566	9833	0.00	2.12	0.00	0.000	6	0.000	0.042	2467	2215	3255
10143	-0.98	-146.0	550.2	-4.6	574	10146	0.00	2.17	0.00	0.000	4	0.000	0.054	2466	822	3255
10216	-0.93	-146.0	553.9	-4.8	575	10220	0.00	2.28	0.00	0.000	6	0.000	0.054	2457	2235	3255
10559	-0.93	-146.0	570.5	-4.8	584	10563	0.00	2.25	0.00	0.000	4	0.000	0.053	2456	815	3255
10622	-0.85	-146.0	573.6	-4.5	585	10627	0.17	2.30	0.00	0.000	6	0.128	0.054	2497	2244	3255
10971	-0.97	-146.0	588.2	-4.2	594	10973	0.12	0.00	0.00	0.000	6	0.075	0.000	2443	2243	3255
11009	end dive: TARGET_DEPTH_EXCEEDED
state	11009	begin apogee
11017	-0.31	0.0	590.0	4.2	595	11147	0.55	0.00	127.15	1.175	6	0.120	0.000	2618	1746	2650
11148	end apogee: CONTROL_FINISHED_OK
state	11148	begin climb
11151	0.99	146.0	591.5	0.0	598	11289	0.82	2.58	130.10	1.103	4	0.086	0.059	2893	3151	2053
11309	0.68	146.0	575.9	13.3	601	11314	0.30	2.45	0.00	0.000	6	0.131	0.043	2823	1732	2050
11640	0.68	146.0	548.6	8.0	609	11641	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	1732	2046
11965	0.68	146.0	524.2	7.2	617	11966	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	1732	2045
12290	0.68	146.0	499.9	7.6	625	12291	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	1732	2045
12615	0.68	146.0	476.6	7.3	633	12619	0.00	2.33	0.00	0.000	4	0.000	0.061	2823	3154	2045
12638	0.68	147.4	474.8	7.0	633	12642	0.00	2.22	0.00	0.000	6	0.000	0.044	2832	1732	2044
12987	0.68	147.4	448.1	7.7	642	12991	0.00	2.30	0.00	0.000	4	0.000	0.060	2832	3151	2045
13021	0.58	147.4	445.2	8.9	642	13025	0.15	2.22	0.00	0.000	6	0.130	0.045	2799	1735	2043
13358	0.78	194.8	425.9	5.5	651	13402	0.17	0.00	41.10	1.079	6	0.062	0.000	2878	1735	1855
13703	0.62	194.8	389.9	10.8	661	13705	0.22	0.00	0.00	0.000	6	0.119	0.000	2810	1735	1848
14015	0.75	196.8	368.1	7.0	676	14016	0.12	0.00	0.00	0.000	6	0.070	0.000	2869	1735	1846
14321	0.62	196.8	335.0	10.9	691	14323	0.20	0.00	0.00	0.000	6	0.121	0.000	2808	1735	1846
14631	0.81	219.5	314.0	6.3	706	14657	0.17	2.33	20.80	0.983	4	0.062	0.061	2887	3160	1754
14675	0.61	219.5	309.4	11.8	708	14680	0.30	2.28	0.00	0.000	6	0.128	0.045	2807	1735	1752
14999	0.85	251.3	288.6	6.0	724	15030	0.20	0.00	28.48	0.973	6	0.059	0.000	2896	1735	1625
15326	0.69	251.3	251.2	11.6	740	15331	0.20	2.30	0.00	0.000	4	0.123	0.058	2839	323	1619
15344	0.61	251.3	249.4	10.7	741	15349	0.10	2.25	0.00	0.000	6	0.116	0.048	2810	1747	1619
15677	1.27	251.3	225.6	9.1	757	15679	0.45	0.00	0.00	0.000	6	0.083	0.000	2968	1747	1616
15986	0.89	251.3	180.9	17.1	772	15988	0.32	0.00	0.00	0.000	6	0.132	0.000	2870	1747	1616
16294	0.89	251.3	152.4	8.9	787	16298	0.00	2.25	0.00	0.000	4	0.000	0.061	2870	3153	1616
16311	0.89	251.3	150.8	9.1	787	16317	0.00	2.25	0.00	0.000	6	0.000	0.045	2877	1729	1615
16627	0.89	251.3	120.1	9.9	803	16631	0.00	2.28	0.00	0.000	4	0.000	0.059	2888	323	1615
16683	0.89	251.3	114.3	10.3	805	16687	0.00	2.30	0.00	0.000	6	0.000	0.048	2888	1750	1615
17013	0.89	251.3	80.9	9.5	844	17020	0.00	2.25	0.00	0.000	4	0.000	0.062	2888	3153	1615
17038	0.83	251.3	78.5	9.7	848	17045	0.15	2.22	0.00	0.000	6	0.126	0.046	2854	1730	1615
17384	1.08	280.8	56.8	6.1	909	17416	0.20	2.33	25.55	0.860	4	0.062	0.061	2961	331	1505
17429	1.01	280.8	52.3	9.8	916	17436	0.22	2.30	0.00	0.000	6	0.124	0.049	2894	1748	1504
17775	1.06	280.8	22.9	8.5	977	17781	0.00	2.25	0.00	0.000	4	0.000	0.064	2895	3153	1499
17799	1.06	280.8	20.7	8.5	981	17805	0.00	2.25	0.00	0.000	6	0.000	0.048	2901	1725	1499
18002	end climb: SURFACE_DEPTH_REACHED
state	18002	begin surface coast
18048	end surface coast: CONTROL_FINISHED_OK
state	18048	begin surface