Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 420 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 10 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 420 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -120184.91 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 -120184.91

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 10 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 29 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 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 420 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 235903,6554.089,-5717.734,40,1.3,40,-36.2 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6604.794,-5712.723

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.10 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -64.7 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 001438,6554.159,-5717.348,9,1.3,14,-36.2 MHEAD_RNG_PITCHd_Wd 46.2,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 634

Post-dive calculations and measurements:

FREEZE 1.34,0.070,-0.672 TCM_TEMP 16.00

FINISH 1.3,1.009885 XPDR_PINGS 143

SM_CCo 18926,0.00,0.000,0,0,1357,316.93 _24V_AH 22.1,69.741

SM_GC 2.12,7.00,0.00,0.00,0.049,0.000,0.000,329,2234,1357,-10.70,0.11,316.93 _10V_AH 10.5,31.631

RAFOS_CLK 761 DATA_FILE_SIZE 31569,1001

RAFOS 2,1228436646,0.416667,0.401667,60,58,55,52,51,50,201,218,187,138,170,231 CAP_FILE_SIZE 143496,0

RAFOS_FIX 6554.833984,-5724.625000,041208,161656,2,103,0.66 CFSIZE 260165632,224108544

IRIDIUM_FIX 6527.51,-5722.85,010398,000022 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1461.0

HUMID 1789 GPS 051208,053157,6555.146,-5715.458,43,1.2,43,-36.2

INTERNAL_PRESSURE 9.89296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 249 132.77 SBE_CT 697 24 369.88

Roll_motor 93 83 172.66 SBE_O2 0 0 0.00

VBD_pump_during_apogee 411 1201 10928.83 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 74 103 168.55 nil 0 0 0.00

Iridium_during_connect 107 160 380.14 nil 0 0 0.00

Iridium_during_xfer 482 223 2376.43

Transponder_ping 35 420 331.83

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 19 50 9.99

TT8 1856 19 388.27

LPSleep 14644 2 355.21

TT8_Active 531 19 111.22

TT8_Sampling 1816 39 761.61

TT8_CF8 1007 45 485.82

TT8_Kalman 0 81 0.00

Analog_circuits 1480 12 186.59

GPS_charging 0 0 0.00

Compass 1797 8 150.97

RAFOS 2880 1 45.36

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

16 -0.99 -146.0 0.0 0.0 0 75 0.00 0.00 -57.12 0.000 2 0.000 0.000 334 2245 2929

79 -0.99 -146.0 3.1 -2.1 10 105 8.93 2.33 -10.43 0.000 4 0.249 0.084 2453 3599 3247

359 -0.80 -146.0 40.0 -12.6 59 366 0.20 2.20 0.00 0.000 6 0.137 0.046 2510 2210 3251

706 -0.85 -146.0 68.3 -6.8 120 712 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2209 3252

1051 -0.91 -146.0 86.8 -5.6 181 1057 0.12 0.00 0.00 0.000 6 0.083 0.000 2456 2209 3251

1392 -0.78 -146.0 113.2 -7.6 220 1396 0.20 2.25 0.00 0.000 4 0.137 0.058 2525 815 3251

1523 -0.88 -146.0 120.3 -5.1 225 1530 0.10 2.30 0.00 0.000 6 0.080 0.060 2472 2239 3251

1840 -0.88 -146.0 139.5 -6.5 241 1843 0.00 2.22 0.00 0.000 4 0.000 0.072 2461 3602 3251

1987 -0.81 -146.0 149.9 -6.6 247 1991 0.15 2.15 0.00 0.000 6 0.142 0.048 2502 2219 3251

2305 -0.89 -146.0 165.7 -4.5 262 2309 0.00 2.20 0.00 0.000 4 0.000 0.058 2503 826 3251

2421 -0.89 -146.0 171.4 -5.7 267 2425 0.00 2.28 0.00 0.000 6 0.000 0.061 2495 2237 3250

2753 -0.89 -146.0 189.7 -6.0 283 2755 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2236 3250

3064 -0.95 -146.0 208.3 -5.7 298 3065 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2236 3251

3372 -1.01 -146.0 223.2 -4.2 313 3377 0.12 2.25 0.00 0.000 4 0.079 0.057 2438 826 3251

3451 -0.82 -146.0 227.7 -6.1 316 3456 0.25 2.28 0.00 0.000 6 0.132 0.059 2500 2237 3251

3768 -0.92 -146.0 238.9 -3.6 331 3769 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2237 3251

4077 -1.01 -146.0 252.2 -4.6 346 4079 0.15 0.00 0.00 0.000 6 0.076 0.000 2438 2237 3251

4388 -0.88 -146.0 272.7 -6.7 361 4393 0.20 2.22 0.00 0.000 4 0.143 0.070 2492 3598 3251

4462 -0.98 -146.0 277.0 -5.3 364 4466 0.10 2.12 0.00 0.000 6 0.084 0.044 2445 2224 3251

4789 -0.87 -146.0 297.2 -6.1 380 4793 0.17 2.20 0.00 0.000 4 0.136 0.057 2498 826 3251

4938 -0.93 -146.0 304.4 -4.7 386 4942 0.00 2.30 0.00 0.000 6 0.000 0.058 2491 2230 3252

5261 -0.99 -146.0 319.7 -4.7 402 5263 0.10 0.00 0.00 0.000 6 0.083 0.000 2441 2230 3252

5570 -0.88 -146.0 340.1 -6.9 417 5572 0.17 0.00 0.00 0.000 6 0.138 0.000 2492 2230 3253

5878 -0.97 -146.0 357.5 -5.7 432 5882 0.00 2.25 0.00 0.000 4 0.000 0.055 2492 818 3253

5948 -0.97 -146.0 361.6 -6.6 435 5952 0.00 2.33 0.00 0.000 6 0.000 0.056 2484 2234 3253

6281 -1.02 -146.0 380.0 -5.3 451 6283 0.10 0.00 0.00 0.000 6 0.083 0.000 2435 2235 3253

6590 -0.89 -146.0 400.1 -6.5 466 6592 0.17 0.00 0.00 0.000 6 0.138 0.000 2485 2235 3253

6916 -0.95 -146.0 415.8 -4.7 474 6917 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2235 3254

7240 -1.02 -146.0 430.2 -4.4 482 7245 0.12 2.30 0.00 0.000 4 0.081 0.053 2431 823 3255

7348 -0.84 -146.0 436.5 -6.8 484 7352 0.28 2.35 0.00 0.000 6 0.130 0.056 2503 2238 3255

7691 -0.97 -146.0 449.4 -3.7 493 7692 0.12 0.00 0.00 0.000 6 0.080 0.000 2449 2238 3255

8016 -0.90 -146.0 465.5 -5.0 501 8017 0.12 0.00 0.00 0.000 6 0.145 0.000 2483 2238 3255

8341 -0.97 -146.0 479.8 -4.4 509 8345 0.00 2.30 0.00 0.000 4 0.000 0.054 2482 828 3255

8419 -0.97 -146.0 483.7 -5.0 510 8423 0.00 2.35 0.00 0.000 6 0.000 0.054 2475 2243 3255

8757 -0.97 -146.0 500.2 -5.1 519 8758 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2243 3255

9082 -0.97 -146.0 518.0 -5.5 527 9083 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2243 3256

9406 -0.97 -146.0 535.0 -5.2 535 9410 0.00 2.30 0.00 0.000 4 0.000 0.054 2475 822 3256

9485 -0.97 -146.0 539.3 -5.5 536 9489 0.00 2.28 0.00 0.000 6 0.000 0.054 2465 2248 3256

9822 -0.97 -146.0 555.8 -4.9 545 9823 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2248 3256

10147 -0.97 -146.0 572.1 -5.1 553 10148 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2248 3256

10472 -0.97 -146.0 587.7 -4.9 561 10473 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2248 3256

10797 -0.97 -146.0 603.3 -4.8 569 10798 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2248 3256

11122 -0.97 -146.0 618.6 -4.6 577 11123 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2248 3256

11443 end dive: TARGET_DEPTH_EXCEEDED

state 11444 begin apogee

11452 -0.31 0.0 635.1 5.1 585 11583 0.47 0.00 128.40 1.202 6 0.121 0.000 2614 1738 2650

11584 end apogee: CONTROL_FINISHED_OK

state 11584 begin climb

11587 0.99 146.0 635.7 0.0 588 11728 0.90 2.67 132.20 1.130 4 0.096 0.059 2900 3148 2053

11735 0.68 146.0 621.4 12.4 592 11740 0.32 2.50 0.00 0.000 6 0.132 0.042 2824 1733 2051

12054 0.68 146.0 595.1 8.0 600 12058 0.00 2.45 0.00 0.000 4 0.000 0.060 2824 3161 2047

12070 0.68 146.0 593.7 8.0 600 12074 0.00 2.33 0.00 0.000 6 0.000 0.044 2832 1724 2046

12382 0.68 146.0 567.9 8.3 608 12387 0.00 2.38 0.00 0.000 4 0.000 0.060 2831 3158 2046

12417 0.57 146.0 564.7 9.1 608 12421 0.15 2.28 0.00 0.000 6 0.131 0.044 2800 1723 2045

12754 0.70 161.2 542.4 6.5 617 12770 0.12 0.00 12.88 1.052 6 0.071 0.000 2860 1723 1992

13079 0.58 161.2 510.9 9.6 625 13084 0.20 2.38 0.00 0.000 4 0.122 0.059 2800 3151 1991

13113 0.58 161.2 508.1 7.1 625 13119 0.00 2.25 0.00 0.000 6 0.000 0.044 2807 1723 1991

13445 0.72 191.6 487.6 6.0 634 13480 0.10 2.42 27.48 1.097 4 0.079 0.060 2858 3148 1867

13498 0.58 191.6 482.8 9.7 635 13502 0.22 2.25 0.00 0.000 6 0.126 0.044 2802 1733 1865

13812 0.78 223.5 463.4 6.0 643 13843 0.17 0.00 28.38 1.073 6 0.061 0.000 2881 1733 1738

14135 0.64 223.5 427.1 11.5 651 14137 0.22 0.00 0.00 0.000 6 0.120 0.000 2813 1733 1731

14461 0.79 235.2 404.5 6.6 659 14477 0.15 2.38 10.62 0.965 4 0.066 0.060 2881 3152 1691

14506 0.57 235.2 399.7 12.0 660 14511 0.30 2.25 0.00 0.000 6 0.127 0.046 2801 1740 1689

14832 0.84 274.1 379.9 5.8 675 14870 0.20 0.00 35.40 1.036 6 0.061 0.000 2892 1740 1532

15178 0.69 274.1 338.2 12.0 692 15180 0.22 0.00 0.00 0.000 6 0.120 0.000 2823 1740 1525

15490 0.85 279.2 316.6 6.9 707 15497 0.15 0.00 4.43 0.699 6 0.065 0.000 2892 1740 1511

15797 0.71 279.2 278.4 12.9 722 15801 0.20 2.30 0.00 0.000 4 0.120 0.058 2835 327 1510

15814 0.66 279.2 276.5 12.2 723 15818 0.00 2.25 0.00 0.000 6 0.000 0.048 2835 1753 1510

16149 0.79 279.2 250.9 7.6 739 16153 0.00 2.20 0.00 0.000 4 0.000 0.062 2834 3144 1510

16188 0.79 279.2 247.4 9.1 740 16194 0.00 2.22 0.00 0.000 6 0.000 0.044 2844 1731 1509

16504 0.88 279.2 222.6 7.9 756 16506 0.10 0.00 0.00 0.000 6 0.083 0.000 2893 1731 1509

16814 0.78 279.2 188.8 11.1 771 16816 0.17 0.00 0.00 0.000 6 0.120 0.000 2840 1731 1509

17124 0.92 279.2 166.0 7.0 786 17126 0.15 0.00 0.00 0.000 6 0.069 0.000 2907 1731 1508

17433 0.79 279.2 130.2 12.1 801 17437 0.20 2.30 0.00 0.000 4 0.121 0.060 2840 3150 1509

17466 0.79 279.2 126.7 9.0 802 17472 0.00 2.25 0.00 0.000 6 0.000 0.045 2846 1730 1508

17784 0.95 280.5 103.1 7.0 818 17785 0.12 0.00 0.00 0.000 6 0.074 0.000 2908 1730 1508

18115 0.87 280.5 64.9 11.5 872 18121 0.15 0.00 0.00 0.000 6 0.123 0.000 2862 1730 1508

18461 1.10 314.0 40.2 5.9 933 18497 0.17 0.00 31.67 0.860 6 0.066 0.000 2941 1730 1369

18822 end climb: SURFACE_DEPTH_REACHED

state 18824 begin surface coast

18847 end surface coast: CONTROL_FINISHED_OK

state 18847 begin surface

ID	108	HEADING	10	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	420	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-120184.91	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	235903,6554.089,-5717.734,40,1.3,40,-36.2	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6604.794,-5712.723
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.10	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-64.7	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	001438,6554.159,-5717.348,9,1.3,14,-36.2	MHEAD_RNG_PITCHd_Wd	46.2,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	634

FREEZE	1.34,0.070,-0.672	TCM_TEMP	16.00
FINISH	1.3,1.009885	XPDR_PINGS	143
SM_CCo	18926,0.00,0.000,0,0,1357,316.93	_24V_AH	22.1,69.741
SM_GC	2.12,7.00,0.00,0.00,0.049,0.000,0.000,329,2234,1357,-10.70,0.11,316.93	_10V_AH	10.5,31.631
RAFOS_CLK	761	DATA_FILE_SIZE	31569,1001
RAFOS	2,1228436646,0.416667,0.401667,60,58,55,52,51,50,201,218,187,138,170,231	CAP_FILE_SIZE	143496,0
RAFOS_FIX	6554.833984,-5724.625000,041208,161656,2,103,0.66	CFSIZE	260165632,224108544
IRIDIUM_FIX	6527.51,-5722.85,010398,000022	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1461.0
HUMID	1789	GPS	051208,053157,6555.146,-5715.458,43,1.2,43,-36.2
INTERNAL_PRESSURE	9.89296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	249	132.77	SBE_CT	697	24	369.88
Roll_motor	93	83	172.66	SBE_O2	0	0	0.00
VBD_pump_during_apogee	411	1201	10928.83	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	74	103	168.55	nil	0	0	0.00
Iridium_during_connect	107	160	380.14	nil	0	0	0.00
Iridium_during_xfer	482	223	2376.43
Transponder_ping	35	420	331.83
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	19	50	9.99
TT8	1856	19	388.27
LPSleep	14644	2	355.21
TT8_Active	531	19	111.22
TT8_Sampling	1816	39	761.61
TT8_CF8	1007	45	485.82
TT8_Kalman	0	81	0.00
Analog_circuits	1480	12	186.59
GPS_charging	0	0	0.00
Compass	1797	8	150.97
RAFOS	2880	1	45.36
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
16	-0.99	-146.0	0.0	0.0	0	75	0.00	0.00	-57.12	0.000	2	0.000	0.000	334	2245	2929
79	-0.99	-146.0	3.1	-2.1	10	105	8.93	2.33	-10.43	0.000	4	0.249	0.084	2453	3599	3247
359	-0.80	-146.0	40.0	-12.6	59	366	0.20	2.20	0.00	0.000	6	0.137	0.046	2510	2210	3251
706	-0.85	-146.0	68.3	-6.8	120	712	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2209	3252
1051	-0.91	-146.0	86.8	-5.6	181	1057	0.12	0.00	0.00	0.000	6	0.083	0.000	2456	2209	3251
1392	-0.78	-146.0	113.2	-7.6	220	1396	0.20	2.25	0.00	0.000	4	0.137	0.058	2525	815	3251
1523	-0.88	-146.0	120.3	-5.1	225	1530	0.10	2.30	0.00	0.000	6	0.080	0.060	2472	2239	3251
1840	-0.88	-146.0	139.5	-6.5	241	1843	0.00	2.22	0.00	0.000	4	0.000	0.072	2461	3602	3251
1987	-0.81	-146.0	149.9	-6.6	247	1991	0.15	2.15	0.00	0.000	6	0.142	0.048	2502	2219	3251
2305	-0.89	-146.0	165.7	-4.5	262	2309	0.00	2.20	0.00	0.000	4	0.000	0.058	2503	826	3251
2421	-0.89	-146.0	171.4	-5.7	267	2425	0.00	2.28	0.00	0.000	6	0.000	0.061	2495	2237	3250
2753	-0.89	-146.0	189.7	-6.0	283	2755	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2236	3250
3064	-0.95	-146.0	208.3	-5.7	298	3065	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2236	3251
3372	-1.01	-146.0	223.2	-4.2	313	3377	0.12	2.25	0.00	0.000	4	0.079	0.057	2438	826	3251
3451	-0.82	-146.0	227.7	-6.1	316	3456	0.25	2.28	0.00	0.000	6	0.132	0.059	2500	2237	3251
3768	-0.92	-146.0	238.9	-3.6	331	3769	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2237	3251
4077	-1.01	-146.0	252.2	-4.6	346	4079	0.15	0.00	0.00	0.000	6	0.076	0.000	2438	2237	3251
4388	-0.88	-146.0	272.7	-6.7	361	4393	0.20	2.22	0.00	0.000	4	0.143	0.070	2492	3598	3251
4462	-0.98	-146.0	277.0	-5.3	364	4466	0.10	2.12	0.00	0.000	6	0.084	0.044	2445	2224	3251
4789	-0.87	-146.0	297.2	-6.1	380	4793	0.17	2.20	0.00	0.000	4	0.136	0.057	2498	826	3251
4938	-0.93	-146.0	304.4	-4.7	386	4942	0.00	2.30	0.00	0.000	6	0.000	0.058	2491	2230	3252
5261	-0.99	-146.0	319.7	-4.7	402	5263	0.10	0.00	0.00	0.000	6	0.083	0.000	2441	2230	3252
5570	-0.88	-146.0	340.1	-6.9	417	5572	0.17	0.00	0.00	0.000	6	0.138	0.000	2492	2230	3253
5878	-0.97	-146.0	357.5	-5.7	432	5882	0.00	2.25	0.00	0.000	4	0.000	0.055	2492	818	3253
5948	-0.97	-146.0	361.6	-6.6	435	5952	0.00	2.33	0.00	0.000	6	0.000	0.056	2484	2234	3253
6281	-1.02	-146.0	380.0	-5.3	451	6283	0.10	0.00	0.00	0.000	6	0.083	0.000	2435	2235	3253
6590	-0.89	-146.0	400.1	-6.5	466	6592	0.17	0.00	0.00	0.000	6	0.138	0.000	2485	2235	3253
6916	-0.95	-146.0	415.8	-4.7	474	6917	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2235	3254
7240	-1.02	-146.0	430.2	-4.4	482	7245	0.12	2.30	0.00	0.000	4	0.081	0.053	2431	823	3255
7348	-0.84	-146.0	436.5	-6.8	484	7352	0.28	2.35	0.00	0.000	6	0.130	0.056	2503	2238	3255
7691	-0.97	-146.0	449.4	-3.7	493	7692	0.12	0.00	0.00	0.000	6	0.080	0.000	2449	2238	3255
8016	-0.90	-146.0	465.5	-5.0	501	8017	0.12	0.00	0.00	0.000	6	0.145	0.000	2483	2238	3255
8341	-0.97	-146.0	479.8	-4.4	509	8345	0.00	2.30	0.00	0.000	4	0.000	0.054	2482	828	3255
8419	-0.97	-146.0	483.7	-5.0	510	8423	0.00	2.35	0.00	0.000	6	0.000	0.054	2475	2243	3255
8757	-0.97	-146.0	500.2	-5.1	519	8758	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2243	3255
9082	-0.97	-146.0	518.0	-5.5	527	9083	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2243	3256
9406	-0.97	-146.0	535.0	-5.2	535	9410	0.00	2.30	0.00	0.000	4	0.000	0.054	2475	822	3256
9485	-0.97	-146.0	539.3	-5.5	536	9489	0.00	2.28	0.00	0.000	6	0.000	0.054	2465	2248	3256
9822	-0.97	-146.0	555.8	-4.9	545	9823	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2248	3256
10147	-0.97	-146.0	572.1	-5.1	553	10148	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2248	3256
10472	-0.97	-146.0	587.7	-4.9	561	10473	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2248	3256
10797	-0.97	-146.0	603.3	-4.8	569	10798	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2248	3256
11122	-0.97	-146.0	618.6	-4.6	577	11123	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2248	3256
11443	end dive: TARGET_DEPTH_EXCEEDED
state	11444	begin apogee
11452	-0.31	0.0	635.1	5.1	585	11583	0.47	0.00	128.40	1.202	6	0.121	0.000	2614	1738	2650
11584	end apogee: CONTROL_FINISHED_OK
state	11584	begin climb
11587	0.99	146.0	635.7	0.0	588	11728	0.90	2.67	132.20	1.130	4	0.096	0.059	2900	3148	2053
11735	0.68	146.0	621.4	12.4	592	11740	0.32	2.50	0.00	0.000	6	0.132	0.042	2824	1733	2051
12054	0.68	146.0	595.1	8.0	600	12058	0.00	2.45	0.00	0.000	4	0.000	0.060	2824	3161	2047
12070	0.68	146.0	593.7	8.0	600	12074	0.00	2.33	0.00	0.000	6	0.000	0.044	2832	1724	2046
12382	0.68	146.0	567.9	8.3	608	12387	0.00	2.38	0.00	0.000	4	0.000	0.060	2831	3158	2046
12417	0.57	146.0	564.7	9.1	608	12421	0.15	2.28	0.00	0.000	6	0.131	0.044	2800	1723	2045
12754	0.70	161.2	542.4	6.5	617	12770	0.12	0.00	12.88	1.052	6	0.071	0.000	2860	1723	1992
13079	0.58	161.2	510.9	9.6	625	13084	0.20	2.38	0.00	0.000	4	0.122	0.059	2800	3151	1991
13113	0.58	161.2	508.1	7.1	625	13119	0.00	2.25	0.00	0.000	6	0.000	0.044	2807	1723	1991
13445	0.72	191.6	487.6	6.0	634	13480	0.10	2.42	27.48	1.097	4	0.079	0.060	2858	3148	1867
13498	0.58	191.6	482.8	9.7	635	13502	0.22	2.25	0.00	0.000	6	0.126	0.044	2802	1733	1865
13812	0.78	223.5	463.4	6.0	643	13843	0.17	0.00	28.38	1.073	6	0.061	0.000	2881	1733	1738
14135	0.64	223.5	427.1	11.5	651	14137	0.22	0.00	0.00	0.000	6	0.120	0.000	2813	1733	1731
14461	0.79	235.2	404.5	6.6	659	14477	0.15	2.38	10.62	0.965	4	0.066	0.060	2881	3152	1691
14506	0.57	235.2	399.7	12.0	660	14511	0.30	2.25	0.00	0.000	6	0.127	0.046	2801	1740	1689
14832	0.84	274.1	379.9	5.8	675	14870	0.20	0.00	35.40	1.036	6	0.061	0.000	2892	1740	1532
15178	0.69	274.1	338.2	12.0	692	15180	0.22	0.00	0.00	0.000	6	0.120	0.000	2823	1740	1525
15490	0.85	279.2	316.6	6.9	707	15497	0.15	0.00	4.43	0.699	6	0.065	0.000	2892	1740	1511
15797	0.71	279.2	278.4	12.9	722	15801	0.20	2.30	0.00	0.000	4	0.120	0.058	2835	327	1510
15814	0.66	279.2	276.5	12.2	723	15818	0.00	2.25	0.00	0.000	6	0.000	0.048	2835	1753	1510
16149	0.79	279.2	250.9	7.6	739	16153	0.00	2.20	0.00	0.000	4	0.000	0.062	2834	3144	1510
16188	0.79	279.2	247.4	9.1	740	16194	0.00	2.22	0.00	0.000	6	0.000	0.044	2844	1731	1509
16504	0.88	279.2	222.6	7.9	756	16506	0.10	0.00	0.00	0.000	6	0.083	0.000	2893	1731	1509
16814	0.78	279.2	188.8	11.1	771	16816	0.17	0.00	0.00	0.000	6	0.120	0.000	2840	1731	1509
17124	0.92	279.2	166.0	7.0	786	17126	0.15	0.00	0.00	0.000	6	0.069	0.000	2907	1731	1508
17433	0.79	279.2	130.2	12.1	801	17437	0.20	2.30	0.00	0.000	4	0.121	0.060	2840	3150	1509
17466	0.79	279.2	126.7	9.0	802	17472	0.00	2.25	0.00	0.000	6	0.000	0.045	2846	1730	1508
17784	0.95	280.5	103.1	7.0	818	17785	0.12	0.00	0.00	0.000	6	0.074	0.000	2908	1730	1508
18115	0.87	280.5	64.9	11.5	872	18121	0.15	0.00	0.00	0.000	6	0.123	0.000	2862	1730	1508
18461	1.10	314.0	40.2	5.9	933	18497	0.17	0.00	31.67	0.860	6	0.066	0.000	2941	1730	1369
18822	end climb: SURFACE_DEPTH_REACHED
state	18824	begin surface coast
18847	end surface coast: CONTROL_FINISHED_OK
state	18847	begin surface