Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 637 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 85 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 637 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -2 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 1 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 -128243.59 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 60 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 0 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 60 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 -128243.59

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 85 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 -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 0 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 637 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 081954,6621.220,-5917.740,0,3082.7,0,-38.0 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6622.161,-5850.901

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 3.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081954,6621.220,-5917.740,0,3082.7,0,-38.0 MHEAD_RNG_PITCHd_Wd 123.0,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 701

Post-dive calculations and measurements:

FREEZE 6.77,-1.823,-1.796 XPDR_PINGS 172

FINISH1 6.8,1.026305,66 _24V_AH 21.1,96.903

FINISH2 5.2 _10V_AH 10.4,42.977

RAFOS_CLK 823 DATA_FILE_SIZE 28400,865

RAFOS 0,1231329843,12.083333,12.067500,60,59,55,52,52,51,224,169,196,155,113,212 CAP_FILE_SIZE 136758,0

RAFOS_FIX 6620.143555,-5910.897949,070109,121240,2,96,0.37 CFSIZE 260165632,213020672

IRIDIUM_FIX 6609.62,-6043.56,300398,121218 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1450.0

HUMID 1831 GPS 070109,122640,6620.144,-5910.898,0,2095.5,0,-38.0

INTERNAL_PRESSURE 9.92226 ESCAPE_REASON NO_RECENT_FIX

TCM_TEMP 15.40 ESCAPE_STARTED_DIVE 581

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 158 30.50 SBE_CT 605 24 306.86

Roll_motor 157 78 259.99 SBE_O2 0 0 0.00

VBD_pump_during_apogee 456 1266 12208.71 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 43 420 381.07

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1702 19 352.79

LPSleep 14122 2 339.27

TT8_Active 537 19 111.37

TT8_Sampling 1743 39 723.90

TT8_CF8 362 45 173.24

TT8_Kalman 0 0 0.00

Analog_circuits 1534 12 191.48

GPS_charging 0 0 0.00

Compass 1721 8 143.19

RAFOS 3600 1 56.16

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

17 -0.99 -146.0 0.0 0.0 0 24 0.00 0.00 -5.40 0.000 2 0.000 0.000 2694 3161 2513

29 -0.99 -146.0 3.5 -0.0 1 71 0.62 3.90 -34.83 0.000 4 0.055 0.066 2452 817 3248

327 -0.77 -146.0 39.9 -15.7 53 334 0.25 2.33 0.00 0.000 6 0.132 0.064 2517 2231 3252

674 -0.77 -146.0 67.5 -5.9 114 680 0.00 2.30 0.00 0.000 4 0.000 0.063 2520 818 3252

688 -0.77 -146.0 68.7 -6.8 116 694 0.00 2.33 0.00 0.000 6 0.000 0.061 2512 2243 3253

1034 -0.77 -146.0 97.7 -8.5 177 1040 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2243 3253

1368 -0.77 -146.0 127.6 -8.4 196 1371 0.00 2.22 0.00 0.000 4 0.000 0.077 2501 3605 3252

1407 -0.77 -146.0 131.3 -9.7 197 1413 0.00 2.20 0.00 0.000 6 0.000 0.051 2501 2209 3252

1724 -0.77 -146.0 156.6 -7.8 213 1728 0.00 2.22 0.00 0.000 4 0.000 0.066 2501 820 3252

1735 -0.77 -146.0 157.5 -7.4 213 1739 0.00 2.33 0.00 0.000 6 0.000 0.063 2492 2234 3252

2057 -0.77 -146.0 181.5 -8.1 229 2061 0.00 2.22 0.00 0.000 4 0.000 0.076 2481 3600 3252

2069 -0.77 -146.0 182.5 -8.1 229 2073 0.12 2.17 0.00 0.000 6 0.149 0.051 2514 2218 3252

2387 -0.86 -146.0 204.2 -6.8 244 2391 0.00 2.25 0.00 0.000 4 0.000 0.065 2514 815 3252

2400 -0.94 -146.0 205.1 -6.7 244 2405 0.12 2.35 0.00 0.000 6 0.079 0.063 2454 2243 3251

2719 -0.81 -146.0 231.5 -7.8 259 2723 0.17 2.35 0.00 0.000 4 0.150 0.064 2509 818 3251

2737 -0.75 -146.0 232.9 -7.7 260 2741 0.00 2.33 0.00 0.000 6 0.000 0.064 2501 2232 3251

3071 -0.80 -146.0 253.4 -6.4 276 3072 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2232 3251

3381 -0.86 -146.0 273.6 -6.4 291 3382 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2232 3251

3690 -0.92 -146.0 292.2 -6.0 306 3693 0.00 2.25 0.00 0.000 4 0.000 0.078 2491 3604 3251

3714 -0.97 -146.0 293.7 -6.0 307 3718 0.00 2.17 0.00 0.000 6 0.000 0.052 2490 2225 3251

4049 -0.97 -146.0 315.1 -6.7 323 4052 0.00 2.28 0.00 0.000 4 0.000 0.065 2490 816 3251

4073 -0.97 -146.0 316.8 -7.0 324 4077 0.00 2.38 0.00 0.000 6 0.000 0.062 2481 2246 3251

4401 -0.97 -146.0 339.2 -6.7 340 4405 0.00 2.22 0.00 0.000 4 0.000 0.074 2470 3602 3251

4475 -0.97 -146.0 344.6 -7.6 343 4479 0.00 2.20 0.00 0.000 6 0.000 0.050 2470 2213 3251

4803 -0.97 -146.0 367.7 -7.0 359 4807 0.00 2.25 0.00 0.000 4 0.000 0.064 2470 810 3251

4815 -0.97 -146.0 368.5 -6.8 359 4819 0.00 2.35 0.00 0.000 6 0.000 0.061 2460 2243 3251

5137 -0.92 -146.0 391.9 -7.7 375 5139 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 2242 3251

5463 -0.86 -146.0 415.7 -7.1 386 5465 0.12 0.00 0.00 0.000 6 0.145 0.000 2494 2242 3252

5789 -0.95 -146.0 435.5 -6.2 394 5793 0.00 2.33 0.00 0.000 4 0.000 0.061 2495 818 3252

5802 -1.02 -146.0 436.4 -6.3 394 5807 0.12 2.35 0.00 0.000 6 0.076 0.061 2434 2241 3252

6116 -0.89 -146.0 461.4 -7.9 402 6118 0.20 0.00 0.00 0.000 6 0.145 0.000 2491 2241 3252

6442 -0.96 -146.0 479.6 -5.3 410 6445 0.00 2.22 0.00 0.000 4 0.000 0.074 2483 3598 3253

6455 -1.04 -146.0 480.3 -5.0 410 6459 0.12 2.15 0.00 0.000 6 0.078 0.047 2429 2221 3253

6775 -0.89 -146.0 502.2 -6.9 418 6776 0.20 0.00 0.00 0.000 6 0.135 0.000 2487 2221 3253

7100 -0.96 -146.0 517.8 -4.6 426 7101 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2221 3254

7425 -1.03 -146.0 530.6 -3.9 434 7427 0.12 0.00 0.00 0.000 6 0.083 0.000 2435 2220 3254

7749 -0.91 -146.0 550.8 -6.5 442 7754 0.17 2.33 0.00 0.000 4 0.147 0.071 2475 3597 3254

7761 -0.82 -146.0 551.7 -6.6 442 7766 0.10 2.15 0.00 0.000 6 0.141 0.046 2501 2216 3254

8077 -0.95 -146.0 566.5 -4.7 450 8079 0.12 0.00 0.00 0.000 6 0.084 0.000 2449 2216 3255

8401 -0.88 -146.0 587.7 -6.7 458 8403 0.15 0.00 0.00 0.000 6 0.147 0.000 2489 2216 3255

8726 -0.97 -146.0 604.7 -5.2 466 8730 0.00 2.22 0.00 0.000 4 0.000 0.058 2489 815 3255

8739 -1.04 -146.0 605.2 -5.1 466 8743 0.10 2.33 0.00 0.000 6 0.079 0.058 2436 2233 3255

9059 -0.93 -146.0 626.8 -6.8 474 9063 0.15 2.30 0.00 0.000 4 0.143 0.056 2483 815 3255

9081 -0.93 -146.0 628.3 -6.2 474 9085 0.00 2.33 0.00 0.000 6 0.000 0.057 2475 2235 3255

9426 -0.93 -146.0 645.3 -5.0 483 9430 0.00 2.22 0.00 0.000 4 0.000 0.071 2464 3606 3255

9449 -0.93 -146.0 646.7 -5.9 483 9453 0.00 2.15 0.00 0.000 6 0.000 0.044 2464 2221 3255

9798 -0.93 -146.0 666.8 -5.7 492 9799 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2221 3256

10124 -0.93 -146.0 687.3 -6.4 500 10128 0.00 2.20 0.00 0.000 4 0.000 0.059 2464 829 3256

10142 -0.93 -146.0 688.6 -6.5 500 10146 0.10 2.30 0.00 0.000 6 0.137 0.057 2481 2239 3256

10405 end dive: TARGET_DEPTH_EXCEEDED

state 10405 begin apogee

10414 -0.31 0.0 701.1 4.4 507 10549 0.40 0.00 131.88 1.266 6 0.090 0.000 2621 1732 2650

10549 end apogee: CONTROL_FINISHED_OK

state 10550 begin climb

10554 0.99 146.0 700.8 0.0 510 10701 0.85 2.75 137.62 1.188 4 0.091 0.062 2894 3153 2053

10814 0.68 146.0 676.3 11.8 516 10819 0.30 2.40 0.00 0.000 6 0.132 0.047 2824 1738 2048

11140 0.68 150.4 653.1 6.9 524 11149 0.00 2.35 3.95 0.734 4 0.000 0.063 2832 330 2036

11175 0.79 175.5 650.9 6.2 524 11205 0.00 2.30 24.02 1.155 6 0.000 0.050 2832 1753 1933

11515 0.79 175.5 628.2 7.1 533 11519 0.00 2.22 0.00 0.000 4 0.000 0.064 2832 3150 1930

11595 0.73 175.5 621.8 7.4 534 11599 0.00 2.22 0.00 0.000 6 0.000 0.048 2842 1733 1928

11932 0.73 175.5 596.1 7.6 543 11934 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 1733 1928

12258 0.73 175.5 570.1 8.0 551 12262 0.00 2.30 0.00 0.000 4 0.000 0.065 2842 3147 1928

12327 0.62 175.5 564.0 8.7 552 12332 0.15 2.22 0.00 0.000 6 0.129 0.048 2810 1727 1927

12677 0.83 217.2 543.6 5.7 561 12716 0.17 0.00 36.75 1.160 6 0.061 0.000 2892 1727 1764

13042 0.69 217.2 505.9 10.5 570 13044 0.22 0.00 0.00 0.000 6 0.125 0.000 2824 1727 1758

13366 0.89 260.6 486.2 5.6 578 13412 0.17 2.42 39.28 1.120 4 0.061 0.064 2905 3152 1587

13442 0.67 260.6 478.6 10.7 579 13447 0.32 2.28 0.00 0.000 6 0.129 0.048 2819 1730 1584

13775 0.96 310.6 459.6 5.4 587 13827 0.20 2.35 45.75 1.092 4 0.061 0.062 2931 327 1383

13862 0.87 310.6 450.5 11.4 589 13867 0.22 2.33 0.00 0.000 6 0.128 0.051 2866 1746 1381

14183 0.92 310.6 423.4 8.5 597 14186 0.00 2.25 0.00 0.000 4 0.000 0.064 2866 3152 1375

14256 0.92 310.6 416.6 9.5 598 14260 0.00 2.25 0.00 0.000 6 0.000 0.048 2873 1725 1373

14581 0.92 310.6 388.8 8.8 609 14585 0.00 2.25 0.00 0.000 4 0.000 0.062 2883 330 1371

14616 1.01 310.6 385.7 8.5 610 14620 0.00 2.28 0.00 0.000 6 0.000 0.050 2883 1754 1371

14939 1.01 310.6 355.6 9.4 626 14943 0.00 2.22 0.00 0.000 4 0.000 0.065 2883 3150 1370

15013 0.94 310.6 347.6 11.4 629 15019 0.00 2.25 0.00 0.000 6 0.000 0.048 2892 1723 1369

15342 0.94 310.6 314.3 9.7 645 15346 0.00 2.25 0.00 0.000 4 0.000 0.062 2903 327 1368

15382 0.99 310.6 310.3 9.2 646 15389 0.00 2.28 0.00 0.000 6 0.000 0.051 2903 1744 1368

15699 0.94 310.6 278.3 10.6 662 15702 0.00 2.25 0.00 0.000 4 0.000 0.064 2903 3154 1368

15791 0.82 310.6 267.8 11.9 666 15796 0.20 2.25 0.00 0.000 6 0.124 0.049 2853 1728 1367

16122 1.08 347.8 246.0 5.8 682 16160 0.20 2.33 31.67 0.986 4 0.061 0.061 2964 325 1232

16213 0.99 347.8 235.4 12.2 685 16219 0.25 2.30 0.00 0.000 6 0.127 0.052 2891 1751 1231

16542 1.06 347.8 204.7 8.8 701 16545 0.00 2.25 0.00 0.000 4 0.000 0.065 2890 3159 1227

16621 1.06 347.8 197.2 8.6 704 16625 0.00 2.28 0.00 0.000 6 0.000 0.049 2897 1729 1226

16944 1.13 354.2 172.9 6.8 720 16956 0.10 2.28 6.00 0.794 4 0.081 0.063 2960 327 1205

16986 1.05 354.2 168.8 10.1 722 16991 0.20 2.30 0.00 0.000 6 0.127 0.053 2901 1752 1206

17315 1.14 354.2 146.2 7.8 738 17319 0.10 2.25 0.00 0.000 4 0.077 0.066 2953 3154 1205

17394 0.94 354.2 135.6 14.5 741 17400 0.28 2.25 0.00 0.000 6 0.127 0.051 2882 1733 1204

17713 1.62 354.2 105.8 10.5 757 17718 0.43 2.30 0.00 0.000 4 0.089 0.063 3034 326 1202

17754 1.75 354.2 100.9 11.9 759 17759 0.10 2.33 0.00 0.000 6 0.091 0.053 3075 1748 1203

18099 1.25 354.2 32.1 21.2 818 18105 0.40 0.00 0.00 0.000 6 0.158 0.000 2955 1748 1203

18325 end climb: FINISH_DEPTH_REACHED

state 18325 begin subsurface finish

18335 0.08 66.0 6.8 -9.1 858 18377 0.77 0.00 -38.88 0.000 6 0.118 0.000 2700 1749 2381

18377 end subsurface finish: CONTROL_FINISHED_OK

state 18377 begin surface

ID	108	HEADING	85	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	637	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-2	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	1	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	-128243.59	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	60	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	0	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	081954,6621.220,-5917.740,0,3082.7,0,-38.0	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6622.161,-5850.901
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	3.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081954,6621.220,-5917.740,0,3082.7,0,-38.0	MHEAD_RNG_PITCHd_Wd	123.0,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	701

FREEZE	6.77,-1.823,-1.796	XPDR_PINGS	172
FINISH1	6.8,1.026305,66	_24V_AH	21.1,96.903
FINISH2	5.2	_10V_AH	10.4,42.977
RAFOS_CLK	823	DATA_FILE_SIZE	28400,865
RAFOS	0,1231329843,12.083333,12.067500,60,59,55,52,52,51,224,169,196,155,113,212	CAP_FILE_SIZE	136758,0
RAFOS_FIX	6620.143555,-5910.897949,070109,121240,2,96,0.37	CFSIZE	260165632,213020672
IRIDIUM_FIX	6609.62,-6043.56,300398,121218	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1450.0
HUMID	1831	GPS	070109,122640,6620.144,-5910.898,0,2095.5,0,-38.0
INTERNAL_PRESSURE	9.92226	ESCAPE_REASON	NO_RECENT_FIX
TCM_TEMP	15.40	ESCAPE_STARTED_DIVE	581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	158	30.50	SBE_CT	605	24	306.86
Roll_motor	157	78	259.99	SBE_O2	0	0	0.00
VBD_pump_during_apogee	456	1266	12208.71	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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	43	420	381.07
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1702	19	352.79
LPSleep	14122	2	339.27
TT8_Active	537	19	111.37
TT8_Sampling	1743	39	723.90
TT8_CF8	362	45	173.24
TT8_Kalman	0	0	0.00
Analog_circuits	1534	12	191.48
GPS_charging	0	0	0.00
Compass	1721	8	143.19
RAFOS	3600	1	56.16
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
17	-0.99	-146.0	0.0	0.0	0	24	0.00	0.00	-5.40	0.000	2	0.000	0.000	2694	3161	2513
29	-0.99	-146.0	3.5	-0.0	1	71	0.62	3.90	-34.83	0.000	4	0.055	0.066	2452	817	3248
327	-0.77	-146.0	39.9	-15.7	53	334	0.25	2.33	0.00	0.000	6	0.132	0.064	2517	2231	3252
674	-0.77	-146.0	67.5	-5.9	114	680	0.00	2.30	0.00	0.000	4	0.000	0.063	2520	818	3252
688	-0.77	-146.0	68.7	-6.8	116	694	0.00	2.33	0.00	0.000	6	0.000	0.061	2512	2243	3253
1034	-0.77	-146.0	97.7	-8.5	177	1040	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2243	3253
1368	-0.77	-146.0	127.6	-8.4	196	1371	0.00	2.22	0.00	0.000	4	0.000	0.077	2501	3605	3252
1407	-0.77	-146.0	131.3	-9.7	197	1413	0.00	2.20	0.00	0.000	6	0.000	0.051	2501	2209	3252
1724	-0.77	-146.0	156.6	-7.8	213	1728	0.00	2.22	0.00	0.000	4	0.000	0.066	2501	820	3252
1735	-0.77	-146.0	157.5	-7.4	213	1739	0.00	2.33	0.00	0.000	6	0.000	0.063	2492	2234	3252
2057	-0.77	-146.0	181.5	-8.1	229	2061	0.00	2.22	0.00	0.000	4	0.000	0.076	2481	3600	3252
2069	-0.77	-146.0	182.5	-8.1	229	2073	0.12	2.17	0.00	0.000	6	0.149	0.051	2514	2218	3252
2387	-0.86	-146.0	204.2	-6.8	244	2391	0.00	2.25	0.00	0.000	4	0.000	0.065	2514	815	3252
2400	-0.94	-146.0	205.1	-6.7	244	2405	0.12	2.35	0.00	0.000	6	0.079	0.063	2454	2243	3251
2719	-0.81	-146.0	231.5	-7.8	259	2723	0.17	2.35	0.00	0.000	4	0.150	0.064	2509	818	3251
2737	-0.75	-146.0	232.9	-7.7	260	2741	0.00	2.33	0.00	0.000	6	0.000	0.064	2501	2232	3251
3071	-0.80	-146.0	253.4	-6.4	276	3072	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2232	3251
3381	-0.86	-146.0	273.6	-6.4	291	3382	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2232	3251
3690	-0.92	-146.0	292.2	-6.0	306	3693	0.00	2.25	0.00	0.000	4	0.000	0.078	2491	3604	3251
3714	-0.97	-146.0	293.7	-6.0	307	3718	0.00	2.17	0.00	0.000	6	0.000	0.052	2490	2225	3251
4049	-0.97	-146.0	315.1	-6.7	323	4052	0.00	2.28	0.00	0.000	4	0.000	0.065	2490	816	3251
4073	-0.97	-146.0	316.8	-7.0	324	4077	0.00	2.38	0.00	0.000	6	0.000	0.062	2481	2246	3251
4401	-0.97	-146.0	339.2	-6.7	340	4405	0.00	2.22	0.00	0.000	4	0.000	0.074	2470	3602	3251
4475	-0.97	-146.0	344.6	-7.6	343	4479	0.00	2.20	0.00	0.000	6	0.000	0.050	2470	2213	3251
4803	-0.97	-146.0	367.7	-7.0	359	4807	0.00	2.25	0.00	0.000	4	0.000	0.064	2470	810	3251
4815	-0.97	-146.0	368.5	-6.8	359	4819	0.00	2.35	0.00	0.000	6	0.000	0.061	2460	2243	3251
5137	-0.92	-146.0	391.9	-7.7	375	5139	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	2242	3251
5463	-0.86	-146.0	415.7	-7.1	386	5465	0.12	0.00	0.00	0.000	6	0.145	0.000	2494	2242	3252
5789	-0.95	-146.0	435.5	-6.2	394	5793	0.00	2.33	0.00	0.000	4	0.000	0.061	2495	818	3252
5802	-1.02	-146.0	436.4	-6.3	394	5807	0.12	2.35	0.00	0.000	6	0.076	0.061	2434	2241	3252
6116	-0.89	-146.0	461.4	-7.9	402	6118	0.20	0.00	0.00	0.000	6	0.145	0.000	2491	2241	3252
6442	-0.96	-146.0	479.6	-5.3	410	6445	0.00	2.22	0.00	0.000	4	0.000	0.074	2483	3598	3253
6455	-1.04	-146.0	480.3	-5.0	410	6459	0.12	2.15	0.00	0.000	6	0.078	0.047	2429	2221	3253
6775	-0.89	-146.0	502.2	-6.9	418	6776	0.20	0.00	0.00	0.000	6	0.135	0.000	2487	2221	3253
7100	-0.96	-146.0	517.8	-4.6	426	7101	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2221	3254
7425	-1.03	-146.0	530.6	-3.9	434	7427	0.12	0.00	0.00	0.000	6	0.083	0.000	2435	2220	3254
7749	-0.91	-146.0	550.8	-6.5	442	7754	0.17	2.33	0.00	0.000	4	0.147	0.071	2475	3597	3254
7761	-0.82	-146.0	551.7	-6.6	442	7766	0.10	2.15	0.00	0.000	6	0.141	0.046	2501	2216	3254
8077	-0.95	-146.0	566.5	-4.7	450	8079	0.12	0.00	0.00	0.000	6	0.084	0.000	2449	2216	3255
8401	-0.88	-146.0	587.7	-6.7	458	8403	0.15	0.00	0.00	0.000	6	0.147	0.000	2489	2216	3255
8726	-0.97	-146.0	604.7	-5.2	466	8730	0.00	2.22	0.00	0.000	4	0.000	0.058	2489	815	3255
8739	-1.04	-146.0	605.2	-5.1	466	8743	0.10	2.33	0.00	0.000	6	0.079	0.058	2436	2233	3255
9059	-0.93	-146.0	626.8	-6.8	474	9063	0.15	2.30	0.00	0.000	4	0.143	0.056	2483	815	3255
9081	-0.93	-146.0	628.3	-6.2	474	9085	0.00	2.33	0.00	0.000	6	0.000	0.057	2475	2235	3255
9426	-0.93	-146.0	645.3	-5.0	483	9430	0.00	2.22	0.00	0.000	4	0.000	0.071	2464	3606	3255
9449	-0.93	-146.0	646.7	-5.9	483	9453	0.00	2.15	0.00	0.000	6	0.000	0.044	2464	2221	3255
9798	-0.93	-146.0	666.8	-5.7	492	9799	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2221	3256
10124	-0.93	-146.0	687.3	-6.4	500	10128	0.00	2.20	0.00	0.000	4	0.000	0.059	2464	829	3256
10142	-0.93	-146.0	688.6	-6.5	500	10146	0.10	2.30	0.00	0.000	6	0.137	0.057	2481	2239	3256
10405	end dive: TARGET_DEPTH_EXCEEDED
state	10405	begin apogee
10414	-0.31	0.0	701.1	4.4	507	10549	0.40	0.00	131.88	1.266	6	0.090	0.000	2621	1732	2650
10549	end apogee: CONTROL_FINISHED_OK
state	10550	begin climb
10554	0.99	146.0	700.8	0.0	510	10701	0.85	2.75	137.62	1.188	4	0.091	0.062	2894	3153	2053
10814	0.68	146.0	676.3	11.8	516	10819	0.30	2.40	0.00	0.000	6	0.132	0.047	2824	1738	2048
11140	0.68	150.4	653.1	6.9	524	11149	0.00	2.35	3.95	0.734	4	0.000	0.063	2832	330	2036
11175	0.79	175.5	650.9	6.2	524	11205	0.00	2.30	24.02	1.155	6	0.000	0.050	2832	1753	1933
11515	0.79	175.5	628.2	7.1	533	11519	0.00	2.22	0.00	0.000	4	0.000	0.064	2832	3150	1930
11595	0.73	175.5	621.8	7.4	534	11599	0.00	2.22	0.00	0.000	6	0.000	0.048	2842	1733	1928
11932	0.73	175.5	596.1	7.6	543	11934	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	1733	1928
12258	0.73	175.5	570.1	8.0	551	12262	0.00	2.30	0.00	0.000	4	0.000	0.065	2842	3147	1928
12327	0.62	175.5	564.0	8.7	552	12332	0.15	2.22	0.00	0.000	6	0.129	0.048	2810	1727	1927
12677	0.83	217.2	543.6	5.7	561	12716	0.17	0.00	36.75	1.160	6	0.061	0.000	2892	1727	1764
13042	0.69	217.2	505.9	10.5	570	13044	0.22	0.00	0.00	0.000	6	0.125	0.000	2824	1727	1758
13366	0.89	260.6	486.2	5.6	578	13412	0.17	2.42	39.28	1.120	4	0.061	0.064	2905	3152	1587
13442	0.67	260.6	478.6	10.7	579	13447	0.32	2.28	0.00	0.000	6	0.129	0.048	2819	1730	1584
13775	0.96	310.6	459.6	5.4	587	13827	0.20	2.35	45.75	1.092	4	0.061	0.062	2931	327	1383
13862	0.87	310.6	450.5	11.4	589	13867	0.22	2.33	0.00	0.000	6	0.128	0.051	2866	1746	1381
14183	0.92	310.6	423.4	8.5	597	14186	0.00	2.25	0.00	0.000	4	0.000	0.064	2866	3152	1375
14256	0.92	310.6	416.6	9.5	598	14260	0.00	2.25	0.00	0.000	6	0.000	0.048	2873	1725	1373
14581	0.92	310.6	388.8	8.8	609	14585	0.00	2.25	0.00	0.000	4	0.000	0.062	2883	330	1371
14616	1.01	310.6	385.7	8.5	610	14620	0.00	2.28	0.00	0.000	6	0.000	0.050	2883	1754	1371
14939	1.01	310.6	355.6	9.4	626	14943	0.00	2.22	0.00	0.000	4	0.000	0.065	2883	3150	1370
15013	0.94	310.6	347.6	11.4	629	15019	0.00	2.25	0.00	0.000	6	0.000	0.048	2892	1723	1369
15342	0.94	310.6	314.3	9.7	645	15346	0.00	2.25	0.00	0.000	4	0.000	0.062	2903	327	1368
15382	0.99	310.6	310.3	9.2	646	15389	0.00	2.28	0.00	0.000	6	0.000	0.051	2903	1744	1368
15699	0.94	310.6	278.3	10.6	662	15702	0.00	2.25	0.00	0.000	4	0.000	0.064	2903	3154	1368
15791	0.82	310.6	267.8	11.9	666	15796	0.20	2.25	0.00	0.000	6	0.124	0.049	2853	1728	1367
16122	1.08	347.8	246.0	5.8	682	16160	0.20	2.33	31.67	0.986	4	0.061	0.061	2964	325	1232
16213	0.99	347.8	235.4	12.2	685	16219	0.25	2.30	0.00	0.000	6	0.127	0.052	2891	1751	1231
16542	1.06	347.8	204.7	8.8	701	16545	0.00	2.25	0.00	0.000	4	0.000	0.065	2890	3159	1227
16621	1.06	347.8	197.2	8.6	704	16625	0.00	2.28	0.00	0.000	6	0.000	0.049	2897	1729	1226
16944	1.13	354.2	172.9	6.8	720	16956	0.10	2.28	6.00	0.794	4	0.081	0.063	2960	327	1205
16986	1.05	354.2	168.8	10.1	722	16991	0.20	2.30	0.00	0.000	6	0.127	0.053	2901	1752	1206
17315	1.14	354.2	146.2	7.8	738	17319	0.10	2.25	0.00	0.000	4	0.077	0.066	2953	3154	1205
17394	0.94	354.2	135.6	14.5	741	17400	0.28	2.25	0.00	0.000	6	0.127	0.051	2882	1733	1204
17713	1.62	354.2	105.8	10.5	757	17718	0.43	2.30	0.00	0.000	4	0.089	0.063	3034	326	1202
17754	1.75	354.2	100.9	11.9	759	17759	0.10	2.33	0.00	0.000	6	0.091	0.053	3075	1748	1203
18099	1.25	354.2	32.1	21.2	818	18105	0.40	0.00	0.00	0.000	6	0.158	0.000	2955	1748	1203
18325	end climb: FINISH_DEPTH_REACHED
state	18325	begin subsurface finish
18335	0.08	66.0	6.8	-9.1	858	18377	0.77	0.00	-38.88	0.000	6	0.118	0.000	2700	1749	2381
18377	end subsurface finish: CONTROL_FINISHED_OK
state	18377	begin surface