Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 452 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 452 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 35 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 -120875.54 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 -120875.54

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 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 35 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 452 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 095631,6658.713,-5654.201,39,0.8,39,-37.5 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 8 TGT_RADIUS 15000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.22 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -62.7 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 100308,6658.742,-5654.271,16,1.6,20,-37.5 MHEAD_RNG_PITCHd_Wd 297.0,170400,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 662

Post-dive calculations and measurements:

FREEZE 1.45,0.521,-1.867 TCM_TEMP 16.50

FINISH 1.4,1.027279 XPDR_PINGS 316

SM_CCo 19952,0.00,0.000,0,0,1611,254.62 _24V_AH 22.2,74.105

SM_GC 2.49,6.72,0.00,0.00,0.048,0.000,0.000,330,2232,1611,-10.67,0.06,254.62 _10V_AH 10.5,33.909

RAFOS_CLK 744 DATA_FILE_SIZE 34696,1004

RAFOS 0,1229083446,12.083333,12.068334,60,60,59,58,51,51,198,213,181,128,166,227 CAP_FILE_SIZE 157062,0

RAFOS_FIX 6701.813477,-5702.728516,121208,121230,3,77,0.95 CFSIZE 260165632,221949952

IRIDIUM_FIX 6631.12,-5704.33,080398,040413 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1469.3

HUMID 1805 GPS 121208,153732,6659.465,-5701.585,35,1.4,35,-37.5

INTERNAL_PRESSURE 9.95155

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 235 127.03 SBE_CT 696 24 370.96

Roll_motor 156 78 272.46 SBE_O2 0 0 0.00

VBD_pump_during_apogee 349 1198 9294.25 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 66.59 nil 0 0 0.00

Iridium_during_connect 31 160 111.67 nil 0 0 0.00

Iridium_during_xfer 183 223 906.64

Transponder_ping 79 420 736.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 21 50 11.28

TT8 1957 19 409.54

LPSleep 15179 2 368.17

TT8_Active 501 19 104.94

TT8_Sampling 2072 39 868.76

TT8_CF8 636 45 307.05

TT8_Kalman 0 81 0.00

Analog_circuits 1601 12 201.83

GPS_charging 0 0 0.00

Compass 2033 8 170.82

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -0.99 -146.0 0.0 0.0 0 89 0.00 0.00 -67.22 0.000 2 0.000 0.000 331 2248 3090

92 -0.99 -146.0 3.2 -2.0 12 112 8.65 2.22 -4.78 0.000 4 0.235 0.078 2455 3604 3248

361 -0.81 -146.0 27.9 -9.9 59 368 0.17 2.15 0.00 0.000 6 0.135 0.041 2505 2210 3251

707 -0.81 -146.0 52.5 -6.5 120 713 0.00 2.15 0.00 0.000 4 0.000 0.053 2506 827 3251

787 -0.81 -146.0 58.1 -6.9 134 794 0.00 2.25 0.00 0.000 6 0.000 0.054 2498 2233 3251

1132 -0.81 -146.0 84.2 -8.3 195 1138 0.00 2.17 0.00 0.000 4 0.000 0.067 2488 3600 3250

1196 -0.81 -146.0 89.9 -8.7 206 1202 0.00 2.10 0.00 0.000 6 0.000 0.042 2488 2226 3250

1525 -0.81 -146.0 116.1 -7.5 237 1526 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2226 3249

1833 -0.81 -146.0 137.5 -6.8 252 1837 0.00 2.17 0.00 0.000 4 0.000 0.054 2487 819 3248

2005 -0.81 -146.0 148.9 -6.4 259 2009 0.10 2.25 0.00 0.000 6 0.133 0.054 2505 2235 3248

2328 -0.90 -146.0 165.0 -4.9 275 2332 0.00 2.15 0.00 0.000 4 0.000 0.066 2497 3594 3248

2379 -1.00 -146.0 167.6 -4.8 277 2384 0.12 2.08 0.00 0.000 6 0.076 0.040 2439 2226 3248

2707 -0.84 -146.0 187.9 -6.2 293 2712 0.20 2.17 0.00 0.000 4 0.132 0.051 2509 830 3248

2832 -0.91 -146.0 193.7 -4.1 298 2836 0.00 2.22 0.00 0.000 6 0.000 0.051 2502 2238 3248

3154 -1.00 -146.0 204.4 -2.8 314 3158 0.15 2.15 0.00 0.000 4 0.067 0.064 2422 3592 3248

3232 -0.81 -146.0 208.7 -5.5 317 3237 0.28 2.08 0.00 0.000 6 0.133 0.040 2504 2219 3248

3555 -0.92 -146.0 219.3 -3.2 333 3559 0.10 2.15 0.00 0.000 4 0.086 0.049 2455 827 3249

3673 -0.79 -146.0 225.3 -5.1 338 3678 0.22 2.25 0.00 0.000 6 0.125 0.051 2512 2245 3249

4001 -0.92 -146.0 236.8 -3.5 354 4003 0.12 0.00 0.00 0.000 6 0.075 0.000 2455 2245 3249

4309 -0.84 -146.0 253.3 -5.5 369 4314 0.15 2.25 0.00 0.000 4 0.137 0.050 2500 822 3250

4383 -0.84 -146.0 256.7 -4.6 372 4387 0.00 2.25 0.00 0.000 6 0.000 0.051 2492 2237 3250

4711 -0.91 -146.0 270.3 -4.2 388 4715 0.00 2.15 0.00 0.000 4 0.000 0.063 2482 3601 3250

4780 -0.96 -146.0 273.6 -4.7 391 4784 0.00 2.08 0.00 0.000 6 0.000 0.038 2482 2217 3250

5113 -0.96 -146.0 288.8 -4.5 407 5117 0.00 2.12 0.00 0.000 4 0.000 0.050 2482 826 3251

5209 -0.96 -146.0 293.8 -6.2 411 5213 0.00 2.22 0.00 0.000 6 0.000 0.051 2472 2234 3251

5537 -0.96 -146.0 312.6 -6.1 427 5538 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2234 3251

5845 -0.96 -146.0 331.2 -5.7 442 5849 0.00 2.25 0.00 0.000 4 0.000 0.048 2472 818 3251

6000 -0.90 -146.0 339.2 -5.5 448 6007 0.10 2.30 0.00 0.000 6 0.130 0.050 2489 2244 3252

6317 -0.97 -146.0 352.3 -3.9 464 6321 0.00 2.25 0.00 0.000 4 0.000 0.049 2489 827 3252

6379 -0.97 -146.0 355.2 -4.2 466 6385 0.00 2.28 0.00 0.000 6 0.000 0.050 2482 2238 3252

6696 -0.97 -146.0 367.9 -3.7 482 6697 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2238 3253

7005 -0.97 -146.0 380.0 -4.2 497 7008 0.00 2.25 0.00 0.000 4 0.000 0.048 2482 823 3253

7128 -0.97 -146.0 385.8 -4.9 502 7133 0.00 2.22 0.00 0.000 6 0.000 0.049 2472 2241 3252

7451 -0.97 -146.0 402.9 -5.7 517 7454 0.00 2.17 0.00 0.000 4 0.000 0.061 2461 3596 3253

7512 -0.97 -146.0 406.9 -6.6 518 7516 0.00 2.10 0.00 0.000 6 0.000 0.037 2461 2220 3253

7826 -0.97 -146.0 426.1 -6.1 526 7830 0.00 2.17 0.00 0.000 4 0.000 0.049 2461 826 3253

7986 -0.88 -146.0 436.2 -6.8 529 7991 0.15 2.28 0.00 0.000 6 0.123 0.049 2494 2244 3253

8335 -0.99 -146.0 452.9 -4.6 538 8337 0.12 0.00 0.00 0.000 6 0.074 0.000 2437 2244 3253

8661 -0.88 -146.0 471.8 -5.8 546 8665 0.20 2.25 0.00 0.000 4 0.134 0.049 2500 828 3253

8728 -0.96 -146.0 474.9 -4.7 547 8732 0.00 2.28 0.00 0.000 6 0.000 0.048 2493 2246 3253

9072 -1.06 -146.0 488.1 -3.8 556 9074 0.15 0.00 0.00 0.000 6 0.066 0.000 2424 2246 3253

9396 -0.90 -146.0 504.8 -5.2 564 9401 0.20 2.28 0.00 0.000 4 0.132 0.048 2488 836 3253

9481 -0.90 -146.0 508.4 -4.3 566 9485 0.00 2.22 0.00 0.000 6 0.000 0.048 2480 2247 3253

9812 -0.95 -146.0 522.2 -4.4 574 9814 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2247 3253

10137 -1.00 -146.0 536.6 -4.5 582 10138 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2247 3253

10462 -1.05 -146.0 551.1 -4.5 590 10466 0.10 2.28 0.00 0.000 4 0.077 0.048 2428 833 3253

10535 -0.87 -146.0 555.6 -6.4 591 10540 0.25 2.20 0.00 0.000 6 0.126 0.049 2493 2234 3253

10879 -0.98 -146.0 571.2 -4.6 600 10883 0.10 2.22 0.00 0.000 4 0.080 0.048 2445 829 3253

10964 -0.85 -146.0 576.6 -6.2 601 10970 0.20 2.22 0.00 0.000 6 0.126 0.048 2493 2246 3253

11296 -0.96 -146.0 592.8 -4.9 610 11298 0.10 0.00 0.00 0.000 6 0.081 0.000 2445 2246 3253

11621 -0.89 -146.0 611.4 -5.7 618 11623 0.15 0.00 0.00 0.000 6 0.136 0.000 2488 2245 3253

11946 -0.98 -146.0 626.5 -4.6 626 11948 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2246 3253

12271 -1.07 -146.0 641.2 -4.5 634 12275 0.15 2.28 0.00 0.000 4 0.071 0.049 2423 827 3253

12392 -0.86 -146.0 648.5 -6.1 636 12396 0.28 2.22 0.00 0.000 6 0.128 0.050 2495 2237 3253

12720 end dive: TARGET_DEPTH_EXCEEDED

state 12720 begin apogee

12728 -0.31 0.0 662.3 3.9 644 12859 0.38 0.00 127.95 1.198 6 0.110 0.000 2619 1745 2650

12859 end apogee: CONTROL_FINISHED_OK

state 12859 begin climb

12862 0.99 146.0 662.3 0.0 647 12997 0.85 0.00 131.02 1.131 6 0.093 0.000 2897 1745 2054

13314 0.76 146.0 613.2 11.6 658 13319 0.20 2.33 0.00 0.000 4 0.127 0.055 2849 333 2047

13342 0.71 146.0 609.8 8.8 658 13345 0.00 2.28 0.00 0.000 6 0.000 0.044 2848 1753 2047

13679 0.64 146.0 579.2 9.1 667 13683 0.12 2.22 0.00 0.000 4 0.126 0.057 2811 3156 2045

13729 0.64 146.0 574.7 8.1 668 13733 0.00 2.22 0.00 0.000 6 0.000 0.042 2817 1738 2044

14054 0.64 146.0 548.7 8.0 676 14058 0.00 2.33 0.00 0.000 4 0.000 0.058 2817 3151 2044

14082 0.64 146.0 546.2 8.6 676 14086 0.00 2.22 0.00 0.000 6 0.000 0.041 2827 1732 2043

14425 0.64 146.0 516.1 9.0 685 14429 0.00 2.30 0.00 0.000 4 0.000 0.057 2827 3146 2043

14453 0.57 146.0 513.4 9.9 685 14457 0.12 2.20 0.00 0.000 6 0.131 0.042 2801 1734 2043

14795 0.69 146.0 488.5 7.2 694 14797 0.12 0.00 0.00 0.000 6 0.070 0.000 2862 1734 2042

15121 0.57 146.0 456.1 9.8 702 15123 0.20 0.00 0.00 0.000 6 0.117 0.000 2801 1734 2042

15445 0.75 192.1 436.7 5.5 710 15489 0.15 2.40 37.92 1.071 4 0.065 0.057 2871 3154 1867

15507 0.57 192.1 431.1 10.5 711 15512 0.28 2.25 0.00 0.000 6 0.122 0.041 2799 1732 1864

15856 0.80 239.8 411.4 5.5 720 15900 0.17 0.00 41.50 1.036 6 0.059 0.000 2882 1732 1672

16205 0.68 239.8 370.2 12.2 734 16209 0.20 2.25 0.00 0.000 4 0.116 0.054 2824 335 1663

16245 0.87 239.8 366.2 8.1 736 16250 0.15 2.20 0.00 0.000 6 0.064 0.043 2896 1741 1663

16579 0.74 239.8 326.5 11.1 752 16584 0.20 2.25 0.00 0.000 4 0.122 0.055 2830 3157 1663

16614 0.74 239.8 323.2 8.5 753 16620 0.00 2.22 0.00 0.000 6 0.000 0.041 2837 1724 1662

16931 0.84 252.8 300.7 6.6 769 16949 0.10 0.00 11.05 0.897 6 0.078 0.000 2889 1724 1619

17259 0.74 252.8 266.5 10.6 785 17261 0.17 0.00 0.00 0.000 6 0.117 0.000 2835 1724 1617

17569 0.83 252.8 241.6 8.0 800 17573 0.10 2.30 0.00 0.000 4 0.077 0.056 2887 3149 1614

17586 0.83 252.8 239.9 8.3 801 17590 0.15 2.20 0.00 0.000 6 0.130 0.042 2853 1727 1613

17919 0.83 252.8 209.2 8.7 817 17923 0.00 2.20 0.00 0.000 4 0.000 0.056 2861 328 1613

17961 0.91 252.8 205.6 8.6 818 17967 0.00 2.22 0.00 0.000 6 0.000 0.044 2861 1744 1613

18277 0.91 252.8 176.1 9.4 834 18281 0.00 2.22 0.00 0.000 4 0.000 0.058 2861 3155 1613

18316 0.83 252.8 171.9 10.7 835 18323 0.00 2.20 0.00 0.000 6 0.000 0.042 2870 1737 1612

18633 0.83 252.8 141.0 9.3 851 18637 0.00 2.22 0.00 0.000 4 0.000 0.056 2881 327 1612

18661 0.83 252.8 138.5 8.2 852 18665 0.00 2.25 0.00 0.000 6 0.000 0.044 2881 1754 1612

18988 0.83 252.8 109.7 8.4 868 18991 0.00 2.22 0.00 0.000 4 0.000 0.058 2881 3157 1613

19035 0.72 252.8 105.5 9.9 870 19039 0.20 2.22 0.00 0.000 6 0.114 0.043 2829 1725 1613

19371 1.37 252.8 80.6 10.6 917 19377 0.40 2.22 0.00 0.000 4 0.076 0.056 2980 333 1613

19408 1.57 252.8 76.5 11.2 923 19415 0.15 2.20 0.00 0.000 6 0.076 0.044 3042 1744 1613

19754 1.06 252.8 11.4 18.7 984 19762 0.43 2.28 0.00 0.000 4 0.146 0.055 2920 334 1614

19793 0.85 252.8 6.1 14.7 990 19800 0.20 2.20 0.00 0.000 6 0.120 0.044 2859 1743 1614

19832 end climb: SURFACE_DEPTH_REACHED

state 19832 begin surface coast

19873 end surface coast: CONTROL_FINISHED_OK

state 19873 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	452	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	35	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	-120875.54	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	095631,6658.713,-5654.201,39,0.8,39,-37.5	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	8	TGT_RADIUS	15000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.22	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-62.7	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	100308,6658.742,-5654.271,16,1.6,20,-37.5	MHEAD_RNG_PITCHd_Wd	297.0,170400,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	662

FREEZE	1.45,0.521,-1.867	TCM_TEMP	16.50
FINISH	1.4,1.027279	XPDR_PINGS	316
SM_CCo	19952,0.00,0.000,0,0,1611,254.62	_24V_AH	22.2,74.105
SM_GC	2.49,6.72,0.00,0.00,0.048,0.000,0.000,330,2232,1611,-10.67,0.06,254.62	_10V_AH	10.5,33.909
RAFOS_CLK	744	DATA_FILE_SIZE	34696,1004
RAFOS	0,1229083446,12.083333,12.068334,60,60,59,58,51,51,198,213,181,128,166,227	CAP_FILE_SIZE	157062,0
RAFOS_FIX	6701.813477,-5702.728516,121208,121230,3,77,0.95	CFSIZE	260165632,221949952
IRIDIUM_FIX	6631.12,-5704.33,080398,040413	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1469.3
HUMID	1805	GPS	121208,153732,6659.465,-5701.585,35,1.4,35,-37.5
INTERNAL_PRESSURE	9.95155

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	235	127.03	SBE_CT	696	24	370.96
Roll_motor	156	78	272.46	SBE_O2	0	0	0.00
VBD_pump_during_apogee	349	1198	9294.25	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	66.59	nil	0	0	0.00
Iridium_during_connect	31	160	111.67	nil	0	0	0.00
Iridium_during_xfer	183	223	906.64
Transponder_ping	79	420	736.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	21	50	11.28
TT8	1957	19	409.54
LPSleep	15179	2	368.17
TT8_Active	501	19	104.94
TT8_Sampling	2072	39	868.76
TT8_CF8	636	45	307.05
TT8_Kalman	0	81	0.00
Analog_circuits	1601	12	201.83
GPS_charging	0	0	0.00
Compass	2033	8	170.82
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-0.99	-146.0	0.0	0.0	0	89	0.00	0.00	-67.22	0.000	2	0.000	0.000	331	2248	3090
92	-0.99	-146.0	3.2	-2.0	12	112	8.65	2.22	-4.78	0.000	4	0.235	0.078	2455	3604	3248
361	-0.81	-146.0	27.9	-9.9	59	368	0.17	2.15	0.00	0.000	6	0.135	0.041	2505	2210	3251
707	-0.81	-146.0	52.5	-6.5	120	713	0.00	2.15	0.00	0.000	4	0.000	0.053	2506	827	3251
787	-0.81	-146.0	58.1	-6.9	134	794	0.00	2.25	0.00	0.000	6	0.000	0.054	2498	2233	3251
1132	-0.81	-146.0	84.2	-8.3	195	1138	0.00	2.17	0.00	0.000	4	0.000	0.067	2488	3600	3250
1196	-0.81	-146.0	89.9	-8.7	206	1202	0.00	2.10	0.00	0.000	6	0.000	0.042	2488	2226	3250
1525	-0.81	-146.0	116.1	-7.5	237	1526	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2226	3249
1833	-0.81	-146.0	137.5	-6.8	252	1837	0.00	2.17	0.00	0.000	4	0.000	0.054	2487	819	3248
2005	-0.81	-146.0	148.9	-6.4	259	2009	0.10	2.25	0.00	0.000	6	0.133	0.054	2505	2235	3248
2328	-0.90	-146.0	165.0	-4.9	275	2332	0.00	2.15	0.00	0.000	4	0.000	0.066	2497	3594	3248
2379	-1.00	-146.0	167.6	-4.8	277	2384	0.12	2.08	0.00	0.000	6	0.076	0.040	2439	2226	3248
2707	-0.84	-146.0	187.9	-6.2	293	2712	0.20	2.17	0.00	0.000	4	0.132	0.051	2509	830	3248
2832	-0.91	-146.0	193.7	-4.1	298	2836	0.00	2.22	0.00	0.000	6	0.000	0.051	2502	2238	3248
3154	-1.00	-146.0	204.4	-2.8	314	3158	0.15	2.15	0.00	0.000	4	0.067	0.064	2422	3592	3248
3232	-0.81	-146.0	208.7	-5.5	317	3237	0.28	2.08	0.00	0.000	6	0.133	0.040	2504	2219	3248
3555	-0.92	-146.0	219.3	-3.2	333	3559	0.10	2.15	0.00	0.000	4	0.086	0.049	2455	827	3249
3673	-0.79	-146.0	225.3	-5.1	338	3678	0.22	2.25	0.00	0.000	6	0.125	0.051	2512	2245	3249
4001	-0.92	-146.0	236.8	-3.5	354	4003	0.12	0.00	0.00	0.000	6	0.075	0.000	2455	2245	3249
4309	-0.84	-146.0	253.3	-5.5	369	4314	0.15	2.25	0.00	0.000	4	0.137	0.050	2500	822	3250
4383	-0.84	-146.0	256.7	-4.6	372	4387	0.00	2.25	0.00	0.000	6	0.000	0.051	2492	2237	3250
4711	-0.91	-146.0	270.3	-4.2	388	4715	0.00	2.15	0.00	0.000	4	0.000	0.063	2482	3601	3250
4780	-0.96	-146.0	273.6	-4.7	391	4784	0.00	2.08	0.00	0.000	6	0.000	0.038	2482	2217	3250
5113	-0.96	-146.0	288.8	-4.5	407	5117	0.00	2.12	0.00	0.000	4	0.000	0.050	2482	826	3251
5209	-0.96	-146.0	293.8	-6.2	411	5213	0.00	2.22	0.00	0.000	6	0.000	0.051	2472	2234	3251
5537	-0.96	-146.0	312.6	-6.1	427	5538	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2234	3251
5845	-0.96	-146.0	331.2	-5.7	442	5849	0.00	2.25	0.00	0.000	4	0.000	0.048	2472	818	3251
6000	-0.90	-146.0	339.2	-5.5	448	6007	0.10	2.30	0.00	0.000	6	0.130	0.050	2489	2244	3252
6317	-0.97	-146.0	352.3	-3.9	464	6321	0.00	2.25	0.00	0.000	4	0.000	0.049	2489	827	3252
6379	-0.97	-146.0	355.2	-4.2	466	6385	0.00	2.28	0.00	0.000	6	0.000	0.050	2482	2238	3252
6696	-0.97	-146.0	367.9	-3.7	482	6697	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2238	3253
7005	-0.97	-146.0	380.0	-4.2	497	7008	0.00	2.25	0.00	0.000	4	0.000	0.048	2482	823	3253
7128	-0.97	-146.0	385.8	-4.9	502	7133	0.00	2.22	0.00	0.000	6	0.000	0.049	2472	2241	3252
7451	-0.97	-146.0	402.9	-5.7	517	7454	0.00	2.17	0.00	0.000	4	0.000	0.061	2461	3596	3253
7512	-0.97	-146.0	406.9	-6.6	518	7516	0.00	2.10	0.00	0.000	6	0.000	0.037	2461	2220	3253
7826	-0.97	-146.0	426.1	-6.1	526	7830	0.00	2.17	0.00	0.000	4	0.000	0.049	2461	826	3253
7986	-0.88	-146.0	436.2	-6.8	529	7991	0.15	2.28	0.00	0.000	6	0.123	0.049	2494	2244	3253
8335	-0.99	-146.0	452.9	-4.6	538	8337	0.12	0.00	0.00	0.000	6	0.074	0.000	2437	2244	3253
8661	-0.88	-146.0	471.8	-5.8	546	8665	0.20	2.25	0.00	0.000	4	0.134	0.049	2500	828	3253
8728	-0.96	-146.0	474.9	-4.7	547	8732	0.00	2.28	0.00	0.000	6	0.000	0.048	2493	2246	3253
9072	-1.06	-146.0	488.1	-3.8	556	9074	0.15	0.00	0.00	0.000	6	0.066	0.000	2424	2246	3253
9396	-0.90	-146.0	504.8	-5.2	564	9401	0.20	2.28	0.00	0.000	4	0.132	0.048	2488	836	3253
9481	-0.90	-146.0	508.4	-4.3	566	9485	0.00	2.22	0.00	0.000	6	0.000	0.048	2480	2247	3253
9812	-0.95	-146.0	522.2	-4.4	574	9814	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2247	3253
10137	-1.00	-146.0	536.6	-4.5	582	10138	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2247	3253
10462	-1.05	-146.0	551.1	-4.5	590	10466	0.10	2.28	0.00	0.000	4	0.077	0.048	2428	833	3253
10535	-0.87	-146.0	555.6	-6.4	591	10540	0.25	2.20	0.00	0.000	6	0.126	0.049	2493	2234	3253
10879	-0.98	-146.0	571.2	-4.6	600	10883	0.10	2.22	0.00	0.000	4	0.080	0.048	2445	829	3253
10964	-0.85	-146.0	576.6	-6.2	601	10970	0.20	2.22	0.00	0.000	6	0.126	0.048	2493	2246	3253
11296	-0.96	-146.0	592.8	-4.9	610	11298	0.10	0.00	0.00	0.000	6	0.081	0.000	2445	2246	3253
11621	-0.89	-146.0	611.4	-5.7	618	11623	0.15	0.00	0.00	0.000	6	0.136	0.000	2488	2245	3253
11946	-0.98	-146.0	626.5	-4.6	626	11948	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2246	3253
12271	-1.07	-146.0	641.2	-4.5	634	12275	0.15	2.28	0.00	0.000	4	0.071	0.049	2423	827	3253
12392	-0.86	-146.0	648.5	-6.1	636	12396	0.28	2.22	0.00	0.000	6	0.128	0.050	2495	2237	3253
12720	end dive: TARGET_DEPTH_EXCEEDED
state	12720	begin apogee
12728	-0.31	0.0	662.3	3.9	644	12859	0.38	0.00	127.95	1.198	6	0.110	0.000	2619	1745	2650
12859	end apogee: CONTROL_FINISHED_OK
state	12859	begin climb
12862	0.99	146.0	662.3	0.0	647	12997	0.85	0.00	131.02	1.131	6	0.093	0.000	2897	1745	2054
13314	0.76	146.0	613.2	11.6	658	13319	0.20	2.33	0.00	0.000	4	0.127	0.055	2849	333	2047
13342	0.71	146.0	609.8	8.8	658	13345	0.00	2.28	0.00	0.000	6	0.000	0.044	2848	1753	2047
13679	0.64	146.0	579.2	9.1	667	13683	0.12	2.22	0.00	0.000	4	0.126	0.057	2811	3156	2045
13729	0.64	146.0	574.7	8.1	668	13733	0.00	2.22	0.00	0.000	6	0.000	0.042	2817	1738	2044
14054	0.64	146.0	548.7	8.0	676	14058	0.00	2.33	0.00	0.000	4	0.000	0.058	2817	3151	2044
14082	0.64	146.0	546.2	8.6	676	14086	0.00	2.22	0.00	0.000	6	0.000	0.041	2827	1732	2043
14425	0.64	146.0	516.1	9.0	685	14429	0.00	2.30	0.00	0.000	4	0.000	0.057	2827	3146	2043
14453	0.57	146.0	513.4	9.9	685	14457	0.12	2.20	0.00	0.000	6	0.131	0.042	2801	1734	2043
14795	0.69	146.0	488.5	7.2	694	14797	0.12	0.00	0.00	0.000	6	0.070	0.000	2862	1734	2042
15121	0.57	146.0	456.1	9.8	702	15123	0.20	0.00	0.00	0.000	6	0.117	0.000	2801	1734	2042
15445	0.75	192.1	436.7	5.5	710	15489	0.15	2.40	37.92	1.071	4	0.065	0.057	2871	3154	1867
15507	0.57	192.1	431.1	10.5	711	15512	0.28	2.25	0.00	0.000	6	0.122	0.041	2799	1732	1864
15856	0.80	239.8	411.4	5.5	720	15900	0.17	0.00	41.50	1.036	6	0.059	0.000	2882	1732	1672
16205	0.68	239.8	370.2	12.2	734	16209	0.20	2.25	0.00	0.000	4	0.116	0.054	2824	335	1663
16245	0.87	239.8	366.2	8.1	736	16250	0.15	2.20	0.00	0.000	6	0.064	0.043	2896	1741	1663
16579	0.74	239.8	326.5	11.1	752	16584	0.20	2.25	0.00	0.000	4	0.122	0.055	2830	3157	1663
16614	0.74	239.8	323.2	8.5	753	16620	0.00	2.22	0.00	0.000	6	0.000	0.041	2837	1724	1662
16931	0.84	252.8	300.7	6.6	769	16949	0.10	0.00	11.05	0.897	6	0.078	0.000	2889	1724	1619
17259	0.74	252.8	266.5	10.6	785	17261	0.17	0.00	0.00	0.000	6	0.117	0.000	2835	1724	1617
17569	0.83	252.8	241.6	8.0	800	17573	0.10	2.30	0.00	0.000	4	0.077	0.056	2887	3149	1614
17586	0.83	252.8	239.9	8.3	801	17590	0.15	2.20	0.00	0.000	6	0.130	0.042	2853	1727	1613
17919	0.83	252.8	209.2	8.7	817	17923	0.00	2.20	0.00	0.000	4	0.000	0.056	2861	328	1613
17961	0.91	252.8	205.6	8.6	818	17967	0.00	2.22	0.00	0.000	6	0.000	0.044	2861	1744	1613
18277	0.91	252.8	176.1	9.4	834	18281	0.00	2.22	0.00	0.000	4	0.000	0.058	2861	3155	1613
18316	0.83	252.8	171.9	10.7	835	18323	0.00	2.20	0.00	0.000	6	0.000	0.042	2870	1737	1612
18633	0.83	252.8	141.0	9.3	851	18637	0.00	2.22	0.00	0.000	4	0.000	0.056	2881	327	1612
18661	0.83	252.8	138.5	8.2	852	18665	0.00	2.25	0.00	0.000	6	0.000	0.044	2881	1754	1612
18988	0.83	252.8	109.7	8.4	868	18991	0.00	2.22	0.00	0.000	4	0.000	0.058	2881	3157	1613
19035	0.72	252.8	105.5	9.9	870	19039	0.20	2.22	0.00	0.000	6	0.114	0.043	2829	1725	1613
19371	1.37	252.8	80.6	10.6	917	19377	0.40	2.22	0.00	0.000	4	0.076	0.056	2980	333	1613
19408	1.57	252.8	76.5	11.2	923	19415	0.15	2.20	0.00	0.000	6	0.076	0.044	3042	1744	1613
19754	1.06	252.8	11.4	18.7	984	19762	0.43	2.28	0.00	0.000	4	0.146	0.055	2920	334	1614
19793	0.85	252.8	6.1	14.7	990	19800	0.20	2.20	0.00	0.000	6	0.120	0.044	2859	1743	1614
19832	end climb: SURFACE_DEPTH_REACHED
state	19832	begin surface coast
19873	end surface coast: CONTROL_FINISHED_OK
state	19873	begin surface