Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 429 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 429 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 31 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 -120372.5 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 -120372.5

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 0 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 31 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 429 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 023138,6608.368,-5701.395,39,0.9,39,-36.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6619.096,-5701.324

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.29 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -67.4 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 023733,6608.296,-5701.324,13,1.0,13,-36.4 MHEAD_RNG_PITCHd_Wd 36.4,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 628

Post-dive calculations and measurements:

FREEZE 1.49,0.462,-1.834 TCM_TEMP 16.40

FINISH 1.5,1.026826 XPDR_PINGS 104

SM_CCo 19492,0.00,0.000,0,0,1406,304.91 _24V_AH 22.2,70.964

SM_GC 2.32,6.85,0.00,0.00,0.041,0.000,0.000,336,2235,1406,-10.69,0.14,304.91 _10V_AH 10.5,32.263

RAFOS_CLK 755 DATA_FILE_SIZE 34690,1055

RAFOS 0,1228622644,4.083333,4.067778,59,57,57,56,55,51,214,182,164,193,138,125 CAP_FILE_SIZE 152675,0

RAFOS_FIX -30536.822266,-740539.000000,071208,040412,2,75,67634.90 CFSIZE 260165632,223506432

IRIDIUM_FIX 6537.93,-5702.80,020398,212104 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026078 SOUNDSPEED 1463.1

HUMID 1795 GPS 071208,080501,6609.760,-5701.150,56,1.6,56,-36.4

INTERNAL_PRESSURE 9.92226

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 241 125.64 SBE_CT 734 24 391.47

Roll_motor 146 70 228.91 SBE_O2 0 0 0.00

VBD_pump_during_apogee 395 1193 10491.21 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 25 103 57.84 nil 0 0 0.00

Iridium_during_connect 38 160 135.32 nil 0 0 0.00

Iridium_during_xfer 150 223 742.81

Transponder_ping 26 420 242.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.10

TT8 2033 19 425.27

LPSleep 14661 2 355.62

TT8_Active 523 19 109.60

TT8_Sampling 2086 39 874.41

TT8_CF8 569 45 274.62

TT8_Kalman 0 81 0.00

Analog_circuits 1637 12 206.36

GPS_charging 0 0 0.00

Compass 2053 8 172.49

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 86 0.00 0.00 -68.57 0.000 2 0.000 0.000 337 2247 3058

90 -0.99 -146.0 3.2 -2.0 12 111 8.73 2.40 -6.00 0.000 4 0.242 0.068 2460 807 3249

365 -0.79 -146.0 30.1 -9.6 60 372 0.20 2.30 0.00 0.000 6 0.134 0.056 2509 2239 3252

711 -0.79 -146.0 55.0 -6.9 121 717 0.00 2.28 0.00 0.000 4 0.000 0.055 2509 815 3252

785 -0.79 -146.0 60.8 -7.5 134 792 0.00 2.28 0.00 0.000 6 0.000 0.056 2501 2230 3251

1130 -0.79 -146.0 83.0 -6.9 195 1136 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2230 3251

1467 -0.79 -146.0 105.6 -6.4 244 1471 0.00 2.28 0.00 0.000 4 0.000 0.055 2501 807 3251

1567 -0.79 -146.0 112.4 -6.7 248 1571 0.00 2.30 0.00 0.000 6 0.000 0.057 2492 2239 3251

1889 -0.79 -146.0 131.9 -5.9 264 1893 0.00 2.17 0.00 0.000 4 0.000 0.071 2481 3599 3251

1946 -0.79 -146.0 135.3 -6.7 266 1950 0.12 2.12 0.00 0.000 6 0.141 0.045 2515 2219 3251

2267 -0.91 -146.0 151.7 -5.0 282 2269 0.12 0.00 0.00 0.000 6 0.084 0.000 2461 2219 3250

2577 -0.82 -146.0 172.6 -6.6 297 2582 0.15 2.20 0.00 0.000 4 0.140 0.056 2509 826 3249

2691 -0.89 -146.0 179.1 -5.9 302 2695 0.00 2.28 0.00 0.000 6 0.000 0.058 2501 2241 3249

3025 -0.97 -146.0 196.1 -5.1 318 3026 0.12 0.00 0.00 0.000 6 0.078 0.000 2445 2241 3249

3333 -0.84 -146.0 215.8 -6.3 333 3338 0.20 2.28 0.00 0.000 4 0.137 0.057 2513 824 3248

3417 -0.94 -146.0 220.1 -4.9 336 3424 0.12 2.28 0.00 0.000 6 0.076 0.057 2452 2243 3248

3735 -0.86 -146.0 240.1 -6.6 352 3739 0.15 2.17 0.00 0.000 4 0.138 0.068 2485 3596 3248

3791 -0.94 -146.0 243.6 -6.0 354 3794 0.00 2.12 0.00 0.000 6 0.000 0.044 2486 2227 3248

4113 -0.94 -146.0 260.4 -5.1 370 4117 0.00 2.22 0.00 0.000 4 0.000 0.055 2486 814 3249

4205 -0.94 -146.0 265.3 -5.1 374 4209 0.00 2.30 0.00 0.000 6 0.000 0.056 2476 2243 3249

4540 -0.94 -146.0 282.1 -4.9 390 4541 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2242 3249

4848 -0.94 -146.0 296.2 -4.5 405 4849 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2242 3249

5157 -0.94 -146.0 310.0 -4.7 420 5161 0.00 2.28 0.00 0.000 4 0.000 0.054 2476 813 3249

5257 -0.94 -146.0 315.4 -5.5 424 5262 0.00 2.28 0.00 0.000 6 0.000 0.054 2465 2234 3249

5576 -0.94 -146.0 330.2 -4.7 439 5579 0.00 2.17 0.00 0.000 4 0.000 0.067 2455 3601 3250

5638 -0.89 -146.0 333.7 -5.9 441 5645 0.12 2.12 0.00 0.000 6 0.141 0.042 2489 2211 3250

5955 -0.96 -146.0 346.9 -4.2 457 5959 0.00 2.17 0.00 0.000 4 0.000 0.054 2488 819 3251

6046 -0.96 -146.0 351.3 -4.9 461 6050 0.00 2.25 0.00 0.000 6 0.000 0.054 2481 2234 3251

6381 -0.96 -146.0 366.4 -4.7 477 6382 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2234 3251

6688 -0.96 -146.0 380.7 -4.6 492 6692 0.00 2.25 0.00 0.000 4 0.000 0.053 2481 824 3251

6761 -0.96 -146.0 384.4 -4.9 495 6765 0.00 2.22 0.00 0.000 6 0.000 0.053 2471 2231 3251

7088 -0.96 -146.0 398.5 -3.9 511 7090 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2231 3252

7413 -0.96 -146.0 411.0 -3.8 520 7417 0.00 2.25 0.00 0.000 4 0.000 0.052 2471 817 3252

7486 -0.96 -146.0 414.5 -4.7 521 7491 0.00 2.28 0.00 0.000 6 0.000 0.053 2461 2234 3252

7829 -0.96 -146.0 430.5 -4.7 530 7830 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2234 3252

8155 -0.96 -146.0 445.9 -4.9 538 8156 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2234 3252

8479 -0.96 -146.0 462.5 -5.1 546 8483 0.00 2.25 0.00 0.000 4 0.000 0.052 2461 822 3253

8603 -0.89 -146.0 469.4 -5.9 548 8607 0.12 2.28 0.00 0.000 6 0.127 0.053 2486 2236 3253

8941 -0.97 -146.0 484.4 -4.4 557 8942 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2235 3253

9265 -1.06 -146.0 498.6 -4.4 565 9267 0.15 0.00 0.00 0.000 6 0.074 0.000 2423 2235 3253

9590 -0.90 -146.0 516.7 -5.5 573 9592 0.22 0.00 0.00 0.000 6 0.139 0.000 2488 2235 3253

9915 -0.99 -146.0 529.3 -3.8 581 9920 0.10 2.28 0.00 0.000 4 0.087 0.051 2442 818 3253

10017 -0.84 -146.0 534.9 -5.5 583 10022 0.22 2.30 0.00 0.000 6 0.128 0.052 2498 2244 3254

10332 -0.98 -146.0 547.2 -3.8 591 10336 0.12 2.17 0.00 0.000 4 0.079 0.066 2433 3597 3253

10388 -0.87 -146.0 550.5 -6.2 592 10392 0.20 2.12 0.00 0.000 6 0.137 0.041 2490 2214 3253

10707 -0.97 -146.0 564.1 -4.1 600 10711 0.00 2.17 0.00 0.000 4 0.000 0.052 2490 827 3253

10799 -1.03 -146.0 568.4 -4.4 602 10803 0.10 2.25 0.00 0.000 6 0.079 0.053 2435 2243 3253

11129 -0.92 -146.0 586.8 -5.7 610 11133 0.17 2.17 0.00 0.000 4 0.142 0.064 2477 3601 3253

11214 -1.00 -146.0 591.4 -5.8 611 11220 0.00 2.10 0.00 0.000 6 0.000 0.041 2476 2224 3254

11546 -1.05 -146.0 607.5 -4.9 620 11550 0.10 2.20 0.00 0.000 4 0.084 0.052 2428 817 3253

11664 -0.88 -146.0 615.3 -7.2 622 11669 0.25 2.28 0.00 0.000 6 0.130 0.054 2494 2237 3253

11958 end dive: TARGET_DEPTH_EXCEEDED

state 11958 begin apogee

11965 -0.31 0.0 628.1 3.9 630 12096 0.38 0.00 127.57 1.193 6 0.111 0.000 2618 1736 2650

12096 end apogee: CONTROL_FINISHED_OK

state 12096 begin climb

12099 0.99 146.0 629.0 0.0 633 12238 0.85 2.55 131.10 1.120 4 0.092 0.057 2906 330 2054

12265 0.74 146.0 612.8 12.9 637 12270 0.25 2.47 0.00 0.000 6 0.129 0.045 2839 1752 2052

12589 0.67 146.0 583.3 8.8 645 12593 0.00 2.28 0.00 0.000 4 0.000 0.059 2840 3159 2047

12641 0.50 146.0 578.5 9.1 646 12646 0.22 2.28 0.00 0.000 6 0.126 0.043 2783 1731 2046

12960 0.77 209.0 561.5 5.0 654 13017 0.20 0.00 54.53 1.118 6 0.057 0.000 2872 1731 1798

13325 0.63 209.0 522.5 11.2 663 13330 0.20 2.33 0.00 0.000 4 0.120 0.058 2808 3152 1789

13347 0.58 209.0 520.0 10.3 663 13351 0.00 2.25 0.00 0.000 6 0.000 0.043 2814 1726 1787

13690 0.68 209.0 494.6 7.2 672 13694 0.00 2.33 0.00 0.000 4 0.000 0.058 2814 3157 1786

13718 0.68 209.0 492.3 7.9 672 13722 0.00 2.22 0.00 0.000 6 0.000 0.043 2823 1733 1786

14062 0.73 209.0 466.5 7.4 681 14066 0.00 2.33 0.00 0.000 4 0.000 0.058 2823 3158 1786

14089 0.73 209.0 464.2 8.1 681 14094 0.00 2.22 0.00 0.000 6 0.000 0.044 2833 1732 1785

14432 0.73 209.0 436.5 8.3 690 14433 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 1732 1785

14757 0.73 209.0 408.4 8.7 698 14761 0.00 2.30 0.00 0.000 4 0.000 0.058 2833 3151 1785

14791 0.68 209.0 404.9 9.9 698 14795 0.00 2.22 0.00 0.000 6 0.000 0.043 2843 1730 1784

15111 0.68 209.0 374.7 9.4 712 15114 0.00 2.30 0.00 0.000 4 0.000 0.058 2843 3156 1784

15122 0.68 209.0 373.4 9.5 712 15126 0.10 2.22 0.00 0.000 6 0.135 0.042 2824 1728 1784

15443 0.76 209.0 347.4 7.8 728 15447 0.00 2.30 0.00 0.000 4 0.000 0.058 2824 3151 1784

15460 0.82 209.0 346.0 7.9 728 15467 0.10 2.22 0.00 0.000 6 0.080 0.042 2880 1728 1784

15776 0.66 209.0 309.6 11.8 744 15778 0.20 0.00 0.00 0.000 6 0.122 0.000 2819 1728 1784

16086 0.78 209.0 286.6 7.2 759 16090 0.12 2.33 0.00 0.000 4 0.071 0.057 2877 3157 1784

16108 0.72 209.0 284.4 9.4 760 16112 0.20 2.22 0.00 0.000 6 0.128 0.044 2828 1737 1783

16435 0.79 209.0 259.0 7.6 776 16437 0.10 0.00 0.00 0.000 6 0.079 0.000 2878 1737 1783

16744 0.66 209.0 226.0 10.8 791 16746 0.20 0.00 0.00 0.000 6 0.120 0.000 2817 1737 1783

17053 0.83 225.6 205.3 6.5 806 17075 0.15 2.38 13.43 0.880 4 0.066 0.059 2886 3155 1730

17100 0.63 225.6 200.6 12.9 808 17105 0.28 2.25 0.00 0.000 6 0.126 0.044 2814 1737 1728

17428 0.88 261.1 179.8 5.9 824 17466 0.17 0.00 32.12 0.904 6 0.062 0.000 2895 1737 1585

17777 0.77 261.1 143.6 9.7 841 17781 0.17 2.30 0.00 0.000 4 0.120 0.057 2851 327 1579

17805 0.87 285.8 141.3 6.2 842 17833 0.00 2.28 22.15 0.861 6 0.000 0.047 2851 1742 1485

18152 0.98 285.8 117.9 8.0 859 18156 0.15 2.28 0.00 0.000 4 0.067 0.059 2922 3160 1478

18180 0.83 285.8 114.4 13.8 860 18184 0.25 2.28 0.00 0.000 6 0.130 0.046 2859 1731 1477

18508 0.96 285.8 85.6 8.2 896 18514 0.12 0.00 0.00 0.000 6 0.071 0.000 2922 1731 1476

18853 0.85 285.8 43.9 10.7 957 18860 0.20 2.33 0.00 0.000 4 0.123 0.059 2856 3160 1475

18873 0.79 285.8 42.1 10.5 960 18879 0.00 2.25 0.00 0.000 6 0.000 0.044 2861 1726 1475

19218 1.00 303.3 19.4 6.5 1021 19237 0.12 0.00 15.07 0.806 6 0.074 0.000 2927 1726 1413

19377 end climb: SURFACE_DEPTH_REACHED

state 19377 begin surface coast

19412 end surface coast: CONTROL_FINISHED_OK

state 19413 begin surface

ID	108	HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	429	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	31	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	-120372.5	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	023138,6608.368,-5701.395,39,0.9,39,-36.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6619.096,-5701.324
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.29	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-67.4	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	023733,6608.296,-5701.324,13,1.0,13,-36.4	MHEAD_RNG_PITCHd_Wd	36.4,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	628

FREEZE	1.49,0.462,-1.834	TCM_TEMP	16.40
FINISH	1.5,1.026826	XPDR_PINGS	104
SM_CCo	19492,0.00,0.000,0,0,1406,304.91	_24V_AH	22.2,70.964
SM_GC	2.32,6.85,0.00,0.00,0.041,0.000,0.000,336,2235,1406,-10.69,0.14,304.91	_10V_AH	10.5,32.263
RAFOS_CLK	755	DATA_FILE_SIZE	34690,1055
RAFOS	0,1228622644,4.083333,4.067778,59,57,57,56,55,51,214,182,164,193,138,125	CAP_FILE_SIZE	152675,0
RAFOS_FIX	-30536.822266,-740539.000000,071208,040412,2,75,67634.90	CFSIZE	260165632,223506432
IRIDIUM_FIX	6537.93,-5702.80,020398,212104	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026078	SOUNDSPEED	1463.1
HUMID	1795	GPS	071208,080501,6609.760,-5701.150,56,1.6,56,-36.4
INTERNAL_PRESSURE	9.92226

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	241	125.64	SBE_CT	734	24	391.47
Roll_motor	146	70	228.91	SBE_O2	0	0	0.00
VBD_pump_during_apogee	395	1193	10491.21	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	25	103	57.84	nil	0	0	0.00
Iridium_during_connect	38	160	135.32	nil	0	0	0.00
Iridium_during_xfer	150	223	742.81
Transponder_ping	26	420	242.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.10
TT8	2033	19	425.27
LPSleep	14661	2	355.62
TT8_Active	523	19	109.60
TT8_Sampling	2086	39	874.41
TT8_CF8	569	45	274.62
TT8_Kalman	0	81	0.00
Analog_circuits	1637	12	206.36
GPS_charging	0	0	0.00
Compass	2053	8	172.49
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	86	0.00	0.00	-68.57	0.000	2	0.000	0.000	337	2247	3058
90	-0.99	-146.0	3.2	-2.0	12	111	8.73	2.40	-6.00	0.000	4	0.242	0.068	2460	807	3249
365	-0.79	-146.0	30.1	-9.6	60	372	0.20	2.30	0.00	0.000	6	0.134	0.056	2509	2239	3252
711	-0.79	-146.0	55.0	-6.9	121	717	0.00	2.28	0.00	0.000	4	0.000	0.055	2509	815	3252
785	-0.79	-146.0	60.8	-7.5	134	792	0.00	2.28	0.00	0.000	6	0.000	0.056	2501	2230	3251
1130	-0.79	-146.0	83.0	-6.9	195	1136	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2230	3251
1467	-0.79	-146.0	105.6	-6.4	244	1471	0.00	2.28	0.00	0.000	4	0.000	0.055	2501	807	3251
1567	-0.79	-146.0	112.4	-6.7	248	1571	0.00	2.30	0.00	0.000	6	0.000	0.057	2492	2239	3251
1889	-0.79	-146.0	131.9	-5.9	264	1893	0.00	2.17	0.00	0.000	4	0.000	0.071	2481	3599	3251
1946	-0.79	-146.0	135.3	-6.7	266	1950	0.12	2.12	0.00	0.000	6	0.141	0.045	2515	2219	3251
2267	-0.91	-146.0	151.7	-5.0	282	2269	0.12	0.00	0.00	0.000	6	0.084	0.000	2461	2219	3250
2577	-0.82	-146.0	172.6	-6.6	297	2582	0.15	2.20	0.00	0.000	4	0.140	0.056	2509	826	3249
2691	-0.89	-146.0	179.1	-5.9	302	2695	0.00	2.28	0.00	0.000	6	0.000	0.058	2501	2241	3249
3025	-0.97	-146.0	196.1	-5.1	318	3026	0.12	0.00	0.00	0.000	6	0.078	0.000	2445	2241	3249
3333	-0.84	-146.0	215.8	-6.3	333	3338	0.20	2.28	0.00	0.000	4	0.137	0.057	2513	824	3248
3417	-0.94	-146.0	220.1	-4.9	336	3424	0.12	2.28	0.00	0.000	6	0.076	0.057	2452	2243	3248
3735	-0.86	-146.0	240.1	-6.6	352	3739	0.15	2.17	0.00	0.000	4	0.138	0.068	2485	3596	3248
3791	-0.94	-146.0	243.6	-6.0	354	3794	0.00	2.12	0.00	0.000	6	0.000	0.044	2486	2227	3248
4113	-0.94	-146.0	260.4	-5.1	370	4117	0.00	2.22	0.00	0.000	4	0.000	0.055	2486	814	3249
4205	-0.94	-146.0	265.3	-5.1	374	4209	0.00	2.30	0.00	0.000	6	0.000	0.056	2476	2243	3249
4540	-0.94	-146.0	282.1	-4.9	390	4541	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2242	3249
4848	-0.94	-146.0	296.2	-4.5	405	4849	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2242	3249
5157	-0.94	-146.0	310.0	-4.7	420	5161	0.00	2.28	0.00	0.000	4	0.000	0.054	2476	813	3249
5257	-0.94	-146.0	315.4	-5.5	424	5262	0.00	2.28	0.00	0.000	6	0.000	0.054	2465	2234	3249
5576	-0.94	-146.0	330.2	-4.7	439	5579	0.00	2.17	0.00	0.000	4	0.000	0.067	2455	3601	3250
5638	-0.89	-146.0	333.7	-5.9	441	5645	0.12	2.12	0.00	0.000	6	0.141	0.042	2489	2211	3250
5955	-0.96	-146.0	346.9	-4.2	457	5959	0.00	2.17	0.00	0.000	4	0.000	0.054	2488	819	3251
6046	-0.96	-146.0	351.3	-4.9	461	6050	0.00	2.25	0.00	0.000	6	0.000	0.054	2481	2234	3251
6381	-0.96	-146.0	366.4	-4.7	477	6382	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2234	3251
6688	-0.96	-146.0	380.7	-4.6	492	6692	0.00	2.25	0.00	0.000	4	0.000	0.053	2481	824	3251
6761	-0.96	-146.0	384.4	-4.9	495	6765	0.00	2.22	0.00	0.000	6	0.000	0.053	2471	2231	3251
7088	-0.96	-146.0	398.5	-3.9	511	7090	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2231	3252
7413	-0.96	-146.0	411.0	-3.8	520	7417	0.00	2.25	0.00	0.000	4	0.000	0.052	2471	817	3252
7486	-0.96	-146.0	414.5	-4.7	521	7491	0.00	2.28	0.00	0.000	6	0.000	0.053	2461	2234	3252
7829	-0.96	-146.0	430.5	-4.7	530	7830	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2234	3252
8155	-0.96	-146.0	445.9	-4.9	538	8156	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2234	3252
8479	-0.96	-146.0	462.5	-5.1	546	8483	0.00	2.25	0.00	0.000	4	0.000	0.052	2461	822	3253
8603	-0.89	-146.0	469.4	-5.9	548	8607	0.12	2.28	0.00	0.000	6	0.127	0.053	2486	2236	3253
8941	-0.97	-146.0	484.4	-4.4	557	8942	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2235	3253
9265	-1.06	-146.0	498.6	-4.4	565	9267	0.15	0.00	0.00	0.000	6	0.074	0.000	2423	2235	3253
9590	-0.90	-146.0	516.7	-5.5	573	9592	0.22	0.00	0.00	0.000	6	0.139	0.000	2488	2235	3253
9915	-0.99	-146.0	529.3	-3.8	581	9920	0.10	2.28	0.00	0.000	4	0.087	0.051	2442	818	3253
10017	-0.84	-146.0	534.9	-5.5	583	10022	0.22	2.30	0.00	0.000	6	0.128	0.052	2498	2244	3254
10332	-0.98	-146.0	547.2	-3.8	591	10336	0.12	2.17	0.00	0.000	4	0.079	0.066	2433	3597	3253
10388	-0.87	-146.0	550.5	-6.2	592	10392	0.20	2.12	0.00	0.000	6	0.137	0.041	2490	2214	3253
10707	-0.97	-146.0	564.1	-4.1	600	10711	0.00	2.17	0.00	0.000	4	0.000	0.052	2490	827	3253
10799	-1.03	-146.0	568.4	-4.4	602	10803	0.10	2.25	0.00	0.000	6	0.079	0.053	2435	2243	3253
11129	-0.92	-146.0	586.8	-5.7	610	11133	0.17	2.17	0.00	0.000	4	0.142	0.064	2477	3601	3253
11214	-1.00	-146.0	591.4	-5.8	611	11220	0.00	2.10	0.00	0.000	6	0.000	0.041	2476	2224	3254
11546	-1.05	-146.0	607.5	-4.9	620	11550	0.10	2.20	0.00	0.000	4	0.084	0.052	2428	817	3253
11664	-0.88	-146.0	615.3	-7.2	622	11669	0.25	2.28	0.00	0.000	6	0.130	0.054	2494	2237	3253
11958	end dive: TARGET_DEPTH_EXCEEDED
state	11958	begin apogee
11965	-0.31	0.0	628.1	3.9	630	12096	0.38	0.00	127.57	1.193	6	0.111	0.000	2618	1736	2650
12096	end apogee: CONTROL_FINISHED_OK
state	12096	begin climb
12099	0.99	146.0	629.0	0.0	633	12238	0.85	2.55	131.10	1.120	4	0.092	0.057	2906	330	2054
12265	0.74	146.0	612.8	12.9	637	12270	0.25	2.47	0.00	0.000	6	0.129	0.045	2839	1752	2052
12589	0.67	146.0	583.3	8.8	645	12593	0.00	2.28	0.00	0.000	4	0.000	0.059	2840	3159	2047
12641	0.50	146.0	578.5	9.1	646	12646	0.22	2.28	0.00	0.000	6	0.126	0.043	2783	1731	2046
12960	0.77	209.0	561.5	5.0	654	13017	0.20	0.00	54.53	1.118	6	0.057	0.000	2872	1731	1798
13325	0.63	209.0	522.5	11.2	663	13330	0.20	2.33	0.00	0.000	4	0.120	0.058	2808	3152	1789
13347	0.58	209.0	520.0	10.3	663	13351	0.00	2.25	0.00	0.000	6	0.000	0.043	2814	1726	1787
13690	0.68	209.0	494.6	7.2	672	13694	0.00	2.33	0.00	0.000	4	0.000	0.058	2814	3157	1786
13718	0.68	209.0	492.3	7.9	672	13722	0.00	2.22	0.00	0.000	6	0.000	0.043	2823	1733	1786
14062	0.73	209.0	466.5	7.4	681	14066	0.00	2.33	0.00	0.000	4	0.000	0.058	2823	3158	1786
14089	0.73	209.0	464.2	8.1	681	14094	0.00	2.22	0.00	0.000	6	0.000	0.044	2833	1732	1785
14432	0.73	209.0	436.5	8.3	690	14433	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	1732	1785
14757	0.73	209.0	408.4	8.7	698	14761	0.00	2.30	0.00	0.000	4	0.000	0.058	2833	3151	1785
14791	0.68	209.0	404.9	9.9	698	14795	0.00	2.22	0.00	0.000	6	0.000	0.043	2843	1730	1784
15111	0.68	209.0	374.7	9.4	712	15114	0.00	2.30	0.00	0.000	4	0.000	0.058	2843	3156	1784
15122	0.68	209.0	373.4	9.5	712	15126	0.10	2.22	0.00	0.000	6	0.135	0.042	2824	1728	1784
15443	0.76	209.0	347.4	7.8	728	15447	0.00	2.30	0.00	0.000	4	0.000	0.058	2824	3151	1784
15460	0.82	209.0	346.0	7.9	728	15467	0.10	2.22	0.00	0.000	6	0.080	0.042	2880	1728	1784
15776	0.66	209.0	309.6	11.8	744	15778	0.20	0.00	0.00	0.000	6	0.122	0.000	2819	1728	1784
16086	0.78	209.0	286.6	7.2	759	16090	0.12	2.33	0.00	0.000	4	0.071	0.057	2877	3157	1784
16108	0.72	209.0	284.4	9.4	760	16112	0.20	2.22	0.00	0.000	6	0.128	0.044	2828	1737	1783
16435	0.79	209.0	259.0	7.6	776	16437	0.10	0.00	0.00	0.000	6	0.079	0.000	2878	1737	1783
16744	0.66	209.0	226.0	10.8	791	16746	0.20	0.00	0.00	0.000	6	0.120	0.000	2817	1737	1783
17053	0.83	225.6	205.3	6.5	806	17075	0.15	2.38	13.43	0.880	4	0.066	0.059	2886	3155	1730
17100	0.63	225.6	200.6	12.9	808	17105	0.28	2.25	0.00	0.000	6	0.126	0.044	2814	1737	1728
17428	0.88	261.1	179.8	5.9	824	17466	0.17	0.00	32.12	0.904	6	0.062	0.000	2895	1737	1585
17777	0.77	261.1	143.6	9.7	841	17781	0.17	2.30	0.00	0.000	4	0.120	0.057	2851	327	1579
17805	0.87	285.8	141.3	6.2	842	17833	0.00	2.28	22.15	0.861	6	0.000	0.047	2851	1742	1485
18152	0.98	285.8	117.9	8.0	859	18156	0.15	2.28	0.00	0.000	4	0.067	0.059	2922	3160	1478
18180	0.83	285.8	114.4	13.8	860	18184	0.25	2.28	0.00	0.000	6	0.130	0.046	2859	1731	1477
18508	0.96	285.8	85.6	8.2	896	18514	0.12	0.00	0.00	0.000	6	0.071	0.000	2922	1731	1476
18853	0.85	285.8	43.9	10.7	957	18860	0.20	2.33	0.00	0.000	4	0.123	0.059	2856	3160	1475
18873	0.79	285.8	42.1	10.5	960	18879	0.00	2.25	0.00	0.000	6	0.000	0.044	2861	1726	1475
19218	1.00	303.3	19.4	6.5	1021	19237	0.12	0.00	15.07	0.806	6	0.074	0.000	2927	1726	1413
19377	end climb: SURFACE_DEPTH_REACHED
state	19377	begin surface coast
19412	end surface coast: CONTROL_FINISHED_OK
state	19413	begin surface