Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 139 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 0 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 139 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 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 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 275 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 588 DEVICE2 20

T_MISSION 530 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2745 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 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -113542.74 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 2657 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 15.9 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 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 0 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 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15.9 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3700 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 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 15

CALL_TRIES 5 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 -113542.74

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 530

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 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 -1

C_PITCH 2657 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 20 VBD_BLEED_AD_RATE 8

C_VBD 2745 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 1 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 139 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 102408,6640.747,-5953.824,98,0.9,98,-37.9 TGT_NAME TARGET_ADD2_EB

_CALLS 2 TGT_LATLONG 6651.000,-5910.000

_XMS_NAKs 4 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.212,0.098

_SM_DEPTHo 2.52 KALMAN_X 43649.1,-23.8,339.6,-102817.0,-525.0

_SM_ANGLEo -68.7 KALMAN_Y -77646.2,-609.9,-1346.4,58892.9,258.4

GPS2 103445,6640.643,-5953.932,14,0.9,14,-37.9 MHEAD_RNG_PITCHd_Wd 103.0,37297,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 703

Post-dive calculations and measurements:

FINISH 1.7,1.025227 TCM_TEMP 15.30

SM_CCo 18638,0.00,0.000,0,0,1417,325.76 XPDR_PINGS 27

SM_GC 2.26,7.12,0.00,0.00,0.055,0.000,0.000,338,2242,1417,-10.57,0.34,325.76 _24V_AH 22.7,27.256

RAFOS_CLK 797 _10V_AH 10.6,12.549

RAFOS 0,1223035455,12.083333,12.070833,98,62,56,56,55,51,505,170,196,179,114,138 DATA_FILE_SIZE 31549,959

RAFOS_FIX 6642.305664,-5953.307617,031008,040404,3,94,0.52 CAP_FILE_SIZE 156320,0

IRIDIUM_FIX 6614.97,-5949.70,281297,101029 CFSIZE 260165632,243499008

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1802 SOUNDSPEED 1451.8

INTERNAL_PRESSURE 9.85389 GPS 031008,154801,6641.964,-5949.421,56,2.0,61,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 257 155.47 SBE_CT 671 24 365.88

Roll_motor 164 82 305.62 SBE_O2 0 0 0.00

VBD_pump_during_apogee 406 1313 12122.69 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 55 103 130.87 nil 0 0 0.00

Iridium_during_connect 70 160 255.26 nil 0 0 0.00

Iridium_during_xfer 335 223 1698.10

Transponder_ping 6 420 64.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.36

TT8 1831 19 386.77

LPSleep 14400 2 352.60

TT8_Active 539 19 113.82

TT8_Sampling 1842 39 779.61

TT8_CF8 661 45 321.99

TT8_Kalman 33 81 28.98

Analog_circuits 1560 12 198.49

GPS_charging 0 0 0.00

Compass 1814 8 153.89

RAFOS 1800 1 28.62

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

13 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.00 -146.0 0.0 0.0 0 64 0.00 0.00 -44.50 0.000 2 0.000 0.000 338 2244 2567

66 -1.00 -146.0 3.2 -1.7 8 108 8.65 2.45 -24.88 0.000 4 0.258 0.080 2448 819 3345

233 -0.61 -146.0 27.8 -11.6 37 240 0.30 2.35 0.00 0.000 6 0.143 0.066 2526 2238 3348

577 -0.61 -146.0 52.6 -6.8 98 582 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2238 3350

919 -0.66 -146.0 78.2 -8.1 159 925 0.00 2.38 0.00 0.000 4 0.000 0.067 2526 810 3352

943 -0.66 -146.0 80.1 -8.1 163 949 0.00 2.35 0.00 0.000 6 0.000 0.064 2518 2244 3352

1290 -0.66 -146.0 106.5 -7.4 214 1294 0.00 2.22 0.00 0.000 4 0.000 0.080 2508 3599 3352

1358 -0.66 -146.0 111.7 -7.7 217 1362 0.00 2.25 0.00 0.000 6 0.000 0.054 2508 2215 3352

1690 -0.66 -146.0 137.5 -7.7 233 1694 0.00 2.30 0.00 0.000 4 0.000 0.069 2508 809 3351

1699 -0.66 -146.0 138.3 -7.4 233 1704 0.00 2.38 0.00 0.000 6 0.000 0.065 2498 2233 3351

2022 -0.66 -146.0 163.9 -8.2 249 2026 0.00 2.22 0.00 0.000 4 0.000 0.081 2488 3598 3350

2031 -0.66 -146.0 164.8 -8.0 249 2036 0.08 2.22 0.00 0.000 6 0.146 0.054 2513 2230 3351

2353 -0.71 -146.0 188.9 -7.2 265 2357 0.00 2.30 0.00 0.000 4 0.000 0.071 2513 811 3350

2369 -0.71 -146.0 190.1 -7.0 265 2376 0.00 2.33 0.00 0.000 6 0.000 0.066 2505 2239 3351

2684 -0.71 -146.0 211.7 -6.7 281 2688 0.00 2.22 0.00 0.000 4 0.000 0.082 2494 3599 3350

2723 -0.71 -146.0 214.8 -7.5 282 2729 0.00 2.17 0.00 0.000 6 0.000 0.052 2494 2222 3350

3038 -0.71 -146.0 238.0 -7.2 298 3042 0.00 2.28 0.00 0.000 4 0.000 0.079 2484 3604 3350

3048 -0.71 -146.0 238.7 -7.3 298 3052 0.00 2.17 0.00 0.000 6 0.000 0.052 2484 2228 3349

3369 -0.71 -146.0 263.4 -7.4 314 3373 0.00 2.28 0.00 0.000 4 0.000 0.067 2484 820 3348

3414 -0.64 -146.0 267.0 -7.8 316 3419 0.17 2.30 0.00 0.000 6 0.142 0.068 2524 2241 3348

3740 -0.79 -146.0 284.7 -5.3 332 3744 0.15 2.20 0.00 0.000 4 0.084 0.081 2455 3602 3348

3767 -0.73 -146.0 286.7 -7.9 333 3771 0.17 2.20 0.00 0.000 6 0.157 0.057 2504 2228 3348

4094 -0.80 -146.0 305.6 -5.5 349 4096 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2228 3348

4402 -0.89 -146.0 323.1 -5.5 364 4407 0.15 2.28 0.00 0.000 4 0.085 0.071 2443 815 3347

4464 -0.69 -146.0 328.0 -8.3 367 4469 0.25 2.30 0.00 0.000 6 0.144 0.068 2507 2236 3347

4790 -0.80 -146.0 346.7 -5.5 383 4795 0.10 2.30 0.00 0.000 4 0.095 0.069 2465 819 3347

4833 -0.68 -146.0 349.8 -7.3 385 4838 0.20 2.30 0.00 0.000 6 0.145 0.067 2513 2246 3347

5154 -0.81 -146.0 366.9 -5.2 401 5159 0.12 2.33 0.00 0.000 4 0.086 0.068 2462 815 3347

5226 -0.70 -146.0 371.9 -7.7 404 5230 0.20 2.30 0.00 0.000 6 0.143 0.067 2510 2240 3348

5546 -0.82 -146.0 389.0 -5.4 420 5548 0.12 0.00 0.00 0.000 6 0.087 0.000 2460 2239 3347

5873 -0.75 -146.0 411.9 -7.1 432 5878 0.12 2.22 0.00 0.000 4 0.162 0.079 2485 3602 3348

5924 -0.80 -146.0 415.3 -6.5 433 5927 0.00 2.22 0.00 0.000 6 0.000 0.054 2484 2214 3347

6247 -0.80 -146.0 434.6 -5.8 441 6251 0.00 2.25 0.00 0.000 4 0.000 0.067 2484 809 3348

6302 -0.80 -146.0 438.2 -6.7 442 6306 0.00 2.30 0.00 0.000 6 0.000 0.065 2474 2237 3348

6621 -0.80 -146.0 457.3 -6.0 450 6622 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2237 3348

6946 -0.80 -146.0 478.4 -6.6 458 6947 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2237 3348

7271 -0.80 -146.0 499.7 -6.5 466 7275 0.00 2.35 0.00 0.000 4 0.000 0.066 2474 819 3349

7310 -0.75 -146.0 502.5 -7.0 467 7315 0.12 2.33 0.00 0.000 6 0.143 0.064 2499 2234 3349

7634 -0.85 -146.0 520.1 -5.4 475 7636 0.10 0.00 0.00 0.000 6 0.093 0.000 2458 2233 3349

7959 -0.79 -146.0 541.2 -6.5 483 7961 0.12 0.00 0.00 0.000 6 0.155 0.000 2491 2233 3349

8284 -0.86 -146.0 557.5 -4.9 491 8285 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2233 3349

8609 -0.94 -146.0 574.0 -5.2 499 8613 0.15 2.40 0.00 0.000 4 0.084 0.064 2432 813 3350

8624 -0.94 -146.0 575.0 -5.5 499 8629 0.12 2.30 0.00 0.000 6 0.151 0.063 2455 2236 3350

8973 -0.88 -146.0 597.9 -6.5 508 8974 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2236 3349

9297 -0.82 -146.0 618.1 -6.3 516 9302 0.10 2.35 0.00 0.000 4 0.164 0.064 2483 818 3349

9336 -0.82 -146.0 620.7 -5.9 517 9340 0.00 2.33 0.00 0.000 6 0.000 0.064 2475 2238 3350

9665 -0.82 -146.0 639.7 -5.6 525 9669 0.00 2.33 0.00 0.000 4 0.000 0.066 2475 821 3350

9720 -0.82 -146.0 643.1 -6.1 526 9725 0.00 2.28 0.00 0.000 6 0.000 0.064 2465 2234 3350

10039 -0.82 -146.0 660.4 -5.4 534 10040 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2234 3350

10364 -0.82 -146.0 681.5 -6.6 542 10366 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2234 3350

10689 -0.82 -146.0 701.4 -6.5 550 10693 0.00 2.17 0.00 0.000 4 0.000 0.078 2454 3601 3350

10704 -0.82 -146.0 702.6 -7.2 550 10709 0.08 2.22 0.00 0.000 6 0.155 0.051 2478 2214 3350

10713 end dive: TARGET_DEPTH_EXCEEDED

state 10713 begin apogee

10718 -0.31 0.0 703.5 7.6 550 10845 0.32 0.00 124.35 1.313 6 0.127 0.000 2588 1739 2745

10846 end apogee: CONTROL_FINISHED_OK

state 10846 begin climb

10848 1.00 146.0 706.4 0.0 553 10983 0.88 2.67 127.25 1.238 4 0.104 0.068 2880 333 2148

11013 0.76 146.0 694.0 11.0 557 11018 0.22 2.53 0.00 0.000 6 0.130 0.055 2821 1741 2146

11336 0.71 146.0 665.9 9.0 565 11340 0.00 2.40 0.00 0.000 4 0.000 0.069 2821 3164 2141

11408 0.54 146.0 659.1 9.1 566 11413 0.20 2.40 0.00 0.000 6 0.134 0.055 2775 1741 2140

11751 0.72 177.8 639.2 6.0 575 11780 0.15 0.00 26.73 1.216 6 0.077 0.000 2836 1741 2020

12075 0.63 177.8 610.5 8.7 583 12077 0.17 0.00 0.00 0.000 6 0.125 0.000 2786 1741 2015

12400 0.81 207.5 590.6 6.1 591 12434 0.17 2.47 26.48 1.205 4 0.073 0.070 2857 3165 1897

12451 0.60 207.5 585.8 10.9 592 12456 0.28 2.42 0.00 0.000 6 0.136 0.054 2788 1731 1895

12763 0.78 218.7 564.8 6.7 600 12776 0.15 0.00 10.05 1.095 6 0.073 0.000 2851 1731 1853

13088 0.66 218.7 531.8 10.3 608 13093 0.20 2.40 0.00 0.000 4 0.123 0.070 2787 3158 1850

13114 0.66 218.7 529.3 8.2 608 13119 0.00 2.38 0.00 0.000 6 0.000 0.055 2793 1734 1849

13452 0.86 249.2 508.6 6.0 617 13482 0.17 0.00 27.60 1.169 6 0.071 0.000 2866 1734 1728

13777 0.70 249.2 474.5 10.8 625 13779 0.20 0.00 0.00 0.000 6 0.125 0.000 2806 1734 1721

14102 0.87 275.9 453.8 6.2 633 14128 0.15 0.00 23.20 1.130 6 0.074 0.000 2866 1734 1620

14465 0.74 275.9 416.6 10.3 642 14467 0.17 0.00 0.00 0.000 6 0.127 0.000 2815 1734 1613

14770 0.90 298.7 397.1 6.3 650 14796 0.12 2.45 20.25 1.093 4 0.077 0.071 2866 3155 1527

14817 0.74 298.7 392.4 10.3 652 14822 0.22 2.38 0.00 0.000 6 0.131 0.055 2810 1741 1525

15144 0.97 321.1 370.3 6.3 668 15171 0.20 2.42 20.80 1.069 4 0.067 0.071 2904 326 1434

15198 0.81 321.1 364.3 13.2 670 15205 0.25 2.35 0.00 0.000 6 0.127 0.056 2829 1744 1432

15514 0.94 321.1 339.2 7.5 686 15518 0.12 2.30 0.00 0.000 4 0.077 0.069 2880 3157 1427

15580 0.73 321.1 331.0 14.5 689 15585 0.25 2.33 0.00 0.000 6 0.132 0.056 2815 1737 1426

15900 0.95 321.1 306.6 7.5 705 15905 0.17 2.35 0.00 0.000 4 0.069 0.071 2896 320 1425

15939 0.90 321.1 302.5 11.3 707 15944 0.17 2.33 0.00 0.000 6 0.126 0.057 2844 1756 1425

16266 0.99 321.1 272.9 8.7 723 16271 0.10 2.28 0.00 0.000 4 0.084 0.071 2886 3161 1425

16315 0.77 321.1 266.8 14.1 725 16320 0.25 2.35 0.00 0.000 6 0.131 0.057 2820 1726 1424

16636 1.44 321.1 238.4 11.0 741 16641 0.45 2.33 0.00 0.000 4 0.104 0.071 2975 326 1423

16675 1.66 321.1 233.8 12.7 743 16680 0.15 2.30 0.00 0.000 6 0.083 0.057 3035 1752 1423

17003 1.01 321.1 154.5 23.8 759 17008 0.52 2.38 0.00 0.000 4 0.157 0.070 2883 324 1423

17046 1.01 321.1 147.4 11.9 761 17051 0.00 2.33 0.00 0.000 6 0.000 0.058 2884 1733 1423

17374 1.01 321.1 117.1 9.4 777 17378 0.00 2.30 0.00 0.000 4 0.000 0.074 2883 3155 1423

17424 0.90 321.1 111.6 11.2 779 17429 0.15 2.30 0.00 0.000 6 0.129 0.058 2848 1726 1423

17754 1.58 321.1 84.5 9.8 817 17761 0.43 2.30 0.00 0.000 4 0.099 0.072 2999 328 1422

17824 1.36 321.1 77.1 11.5 829 17831 0.17 2.35 0.00 0.000 6 0.154 0.062 2951 1755 1422

18168 1.16 321.1 34.9 10.5 890 18175 0.15 2.30 0.00 0.000 4 0.145 0.076 2906 3163 1422

18192 0.99 321.1 31.7 12.5 894 18199 0.15 2.33 0.00 0.000 6 0.127 0.061 2869 1725 1422

18537 1.54 321.1 3.8 12.4 955 18544 0.35 2.33 0.00 0.000 4 0.084 0.074 2998 320 1420

18548 end climb: SURFACE_DEPTH_REACHED

state 18548 begin surface coast

18560 end surface coast: CONTROL_FINISHED_OK

state 18560 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	0	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	139	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	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	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	275	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	588	DEVICE2	20
T_MISSION	530	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2745	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	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-113542.74	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	2657	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	15.9	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	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	102408,6640.747,-5953.824,98,0.9,98,-37.9	TGT_NAME	TARGET_ADD2_EB
_CALLS	2	TGT_LATLONG	6651.000,-5910.000
_XMS_NAKs	4	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.212,0.098
_SM_DEPTHo	2.52	KALMAN_X	43649.1,-23.8,339.6,-102817.0,-525.0
_SM_ANGLEo	-68.7	KALMAN_Y	-77646.2,-609.9,-1346.4,58892.9,258.4
GPS2	103445,6640.643,-5953.932,14,0.9,14,-37.9	MHEAD_RNG_PITCHd_Wd	103.0,37297,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	703

FINISH	1.7,1.025227	TCM_TEMP	15.30
SM_CCo	18638,0.00,0.000,0,0,1417,325.76	XPDR_PINGS	27
SM_GC	2.26,7.12,0.00,0.00,0.055,0.000,0.000,338,2242,1417,-10.57,0.34,325.76	_24V_AH	22.7,27.256
RAFOS_CLK	797	_10V_AH	10.6,12.549
RAFOS	0,1223035455,12.083333,12.070833,98,62,56,56,55,51,505,170,196,179,114,138	DATA_FILE_SIZE	31549,959
RAFOS_FIX	6642.305664,-5953.307617,031008,040404,3,94,0.52	CAP_FILE_SIZE	156320,0
IRIDIUM_FIX	6614.97,-5949.70,281297,101029	CFSIZE	260165632,243499008
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1802	SOUNDSPEED	1451.8
INTERNAL_PRESSURE	9.85389	GPS	031008,154801,6641.964,-5949.421,56,2.0,61,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	257	155.47	SBE_CT	671	24	365.88
Roll_motor	164	82	305.62	SBE_O2	0	0	0.00
VBD_pump_during_apogee	406	1313	12122.69	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	55	103	130.87	nil	0	0	0.00
Iridium_during_connect	70	160	255.26	nil	0	0	0.00
Iridium_during_xfer	335	223	1698.10
Transponder_ping	6	420	64.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.36
TT8	1831	19	386.77
LPSleep	14400	2	352.60
TT8_Active	539	19	113.82
TT8_Sampling	1842	39	779.61
TT8_CF8	661	45	321.99
TT8_Kalman	33	81	28.98
Analog_circuits	1560	12	198.49
GPS_charging	0	0	0.00
Compass	1814	8	153.89
RAFOS	1800	1	28.62
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
13	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.00	-146.0	0.0	0.0	0	64	0.00	0.00	-44.50	0.000	2	0.000	0.000	338	2244	2567
66	-1.00	-146.0	3.2	-1.7	8	108	8.65	2.45	-24.88	0.000	4	0.258	0.080	2448	819	3345
233	-0.61	-146.0	27.8	-11.6	37	240	0.30	2.35	0.00	0.000	6	0.143	0.066	2526	2238	3348
577	-0.61	-146.0	52.6	-6.8	98	582	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2238	3350
919	-0.66	-146.0	78.2	-8.1	159	925	0.00	2.38	0.00	0.000	4	0.000	0.067	2526	810	3352
943	-0.66	-146.0	80.1	-8.1	163	949	0.00	2.35	0.00	0.000	6	0.000	0.064	2518	2244	3352
1290	-0.66	-146.0	106.5	-7.4	214	1294	0.00	2.22	0.00	0.000	4	0.000	0.080	2508	3599	3352
1358	-0.66	-146.0	111.7	-7.7	217	1362	0.00	2.25	0.00	0.000	6	0.000	0.054	2508	2215	3352
1690	-0.66	-146.0	137.5	-7.7	233	1694	0.00	2.30	0.00	0.000	4	0.000	0.069	2508	809	3351
1699	-0.66	-146.0	138.3	-7.4	233	1704	0.00	2.38	0.00	0.000	6	0.000	0.065	2498	2233	3351
2022	-0.66	-146.0	163.9	-8.2	249	2026	0.00	2.22	0.00	0.000	4	0.000	0.081	2488	3598	3350
2031	-0.66	-146.0	164.8	-8.0	249	2036	0.08	2.22	0.00	0.000	6	0.146	0.054	2513	2230	3351
2353	-0.71	-146.0	188.9	-7.2	265	2357	0.00	2.30	0.00	0.000	4	0.000	0.071	2513	811	3350
2369	-0.71	-146.0	190.1	-7.0	265	2376	0.00	2.33	0.00	0.000	6	0.000	0.066	2505	2239	3351
2684	-0.71	-146.0	211.7	-6.7	281	2688	0.00	2.22	0.00	0.000	4	0.000	0.082	2494	3599	3350
2723	-0.71	-146.0	214.8	-7.5	282	2729	0.00	2.17	0.00	0.000	6	0.000	0.052	2494	2222	3350
3038	-0.71	-146.0	238.0	-7.2	298	3042	0.00	2.28	0.00	0.000	4	0.000	0.079	2484	3604	3350
3048	-0.71	-146.0	238.7	-7.3	298	3052	0.00	2.17	0.00	0.000	6	0.000	0.052	2484	2228	3349
3369	-0.71	-146.0	263.4	-7.4	314	3373	0.00	2.28	0.00	0.000	4	0.000	0.067	2484	820	3348
3414	-0.64	-146.0	267.0	-7.8	316	3419	0.17	2.30	0.00	0.000	6	0.142	0.068	2524	2241	3348
3740	-0.79	-146.0	284.7	-5.3	332	3744	0.15	2.20	0.00	0.000	4	0.084	0.081	2455	3602	3348
3767	-0.73	-146.0	286.7	-7.9	333	3771	0.17	2.20	0.00	0.000	6	0.157	0.057	2504	2228	3348
4094	-0.80	-146.0	305.6	-5.5	349	4096	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2228	3348
4402	-0.89	-146.0	323.1	-5.5	364	4407	0.15	2.28	0.00	0.000	4	0.085	0.071	2443	815	3347
4464	-0.69	-146.0	328.0	-8.3	367	4469	0.25	2.30	0.00	0.000	6	0.144	0.068	2507	2236	3347
4790	-0.80	-146.0	346.7	-5.5	383	4795	0.10	2.30	0.00	0.000	4	0.095	0.069	2465	819	3347
4833	-0.68	-146.0	349.8	-7.3	385	4838	0.20	2.30	0.00	0.000	6	0.145	0.067	2513	2246	3347
5154	-0.81	-146.0	366.9	-5.2	401	5159	0.12	2.33	0.00	0.000	4	0.086	0.068	2462	815	3347
5226	-0.70	-146.0	371.9	-7.7	404	5230	0.20	2.30	0.00	0.000	6	0.143	0.067	2510	2240	3348
5546	-0.82	-146.0	389.0	-5.4	420	5548	0.12	0.00	0.00	0.000	6	0.087	0.000	2460	2239	3347
5873	-0.75	-146.0	411.9	-7.1	432	5878	0.12	2.22	0.00	0.000	4	0.162	0.079	2485	3602	3348
5924	-0.80	-146.0	415.3	-6.5	433	5927	0.00	2.22	0.00	0.000	6	0.000	0.054	2484	2214	3347
6247	-0.80	-146.0	434.6	-5.8	441	6251	0.00	2.25	0.00	0.000	4	0.000	0.067	2484	809	3348
6302	-0.80	-146.0	438.2	-6.7	442	6306	0.00	2.30	0.00	0.000	6	0.000	0.065	2474	2237	3348
6621	-0.80	-146.0	457.3	-6.0	450	6622	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2237	3348
6946	-0.80	-146.0	478.4	-6.6	458	6947	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2237	3348
7271	-0.80	-146.0	499.7	-6.5	466	7275	0.00	2.35	0.00	0.000	4	0.000	0.066	2474	819	3349
7310	-0.75	-146.0	502.5	-7.0	467	7315	0.12	2.33	0.00	0.000	6	0.143	0.064	2499	2234	3349
7634	-0.85	-146.0	520.1	-5.4	475	7636	0.10	0.00	0.00	0.000	6	0.093	0.000	2458	2233	3349
7959	-0.79	-146.0	541.2	-6.5	483	7961	0.12	0.00	0.00	0.000	6	0.155	0.000	2491	2233	3349
8284	-0.86	-146.0	557.5	-4.9	491	8285	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2233	3349
8609	-0.94	-146.0	574.0	-5.2	499	8613	0.15	2.40	0.00	0.000	4	0.084	0.064	2432	813	3350
8624	-0.94	-146.0	575.0	-5.5	499	8629	0.12	2.30	0.00	0.000	6	0.151	0.063	2455	2236	3350
8973	-0.88	-146.0	597.9	-6.5	508	8974	0.00	0.00	0.00	0.000	6	0.000	0.000	2455	2236	3349
9297	-0.82	-146.0	618.1	-6.3	516	9302	0.10	2.35	0.00	0.000	4	0.164	0.064	2483	818	3349
9336	-0.82	-146.0	620.7	-5.9	517	9340	0.00	2.33	0.00	0.000	6	0.000	0.064	2475	2238	3350
9665	-0.82	-146.0	639.7	-5.6	525	9669	0.00	2.33	0.00	0.000	4	0.000	0.066	2475	821	3350
9720	-0.82	-146.0	643.1	-6.1	526	9725	0.00	2.28	0.00	0.000	6	0.000	0.064	2465	2234	3350
10039	-0.82	-146.0	660.4	-5.4	534	10040	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2234	3350
10364	-0.82	-146.0	681.5	-6.6	542	10366	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2234	3350
10689	-0.82	-146.0	701.4	-6.5	550	10693	0.00	2.17	0.00	0.000	4	0.000	0.078	2454	3601	3350
10704	-0.82	-146.0	702.6	-7.2	550	10709	0.08	2.22	0.00	0.000	6	0.155	0.051	2478	2214	3350
10713	end dive: TARGET_DEPTH_EXCEEDED
state	10713	begin apogee
10718	-0.31	0.0	703.5	7.6	550	10845	0.32	0.00	124.35	1.313	6	0.127	0.000	2588	1739	2745
10846	end apogee: CONTROL_FINISHED_OK
state	10846	begin climb
10848	1.00	146.0	706.4	0.0	553	10983	0.88	2.67	127.25	1.238	4	0.104	0.068	2880	333	2148
11013	0.76	146.0	694.0	11.0	557	11018	0.22	2.53	0.00	0.000	6	0.130	0.055	2821	1741	2146
11336	0.71	146.0	665.9	9.0	565	11340	0.00	2.40	0.00	0.000	4	0.000	0.069	2821	3164	2141
11408	0.54	146.0	659.1	9.1	566	11413	0.20	2.40	0.00	0.000	6	0.134	0.055	2775	1741	2140
11751	0.72	177.8	639.2	6.0	575	11780	0.15	0.00	26.73	1.216	6	0.077	0.000	2836	1741	2020
12075	0.63	177.8	610.5	8.7	583	12077	0.17	0.00	0.00	0.000	6	0.125	0.000	2786	1741	2015
12400	0.81	207.5	590.6	6.1	591	12434	0.17	2.47	26.48	1.205	4	0.073	0.070	2857	3165	1897
12451	0.60	207.5	585.8	10.9	592	12456	0.28	2.42	0.00	0.000	6	0.136	0.054	2788	1731	1895
12763	0.78	218.7	564.8	6.7	600	12776	0.15	0.00	10.05	1.095	6	0.073	0.000	2851	1731	1853
13088	0.66	218.7	531.8	10.3	608	13093	0.20	2.40	0.00	0.000	4	0.123	0.070	2787	3158	1850
13114	0.66	218.7	529.3	8.2	608	13119	0.00	2.38	0.00	0.000	6	0.000	0.055	2793	1734	1849
13452	0.86	249.2	508.6	6.0	617	13482	0.17	0.00	27.60	1.169	6	0.071	0.000	2866	1734	1728
13777	0.70	249.2	474.5	10.8	625	13779	0.20	0.00	0.00	0.000	6	0.125	0.000	2806	1734	1721
14102	0.87	275.9	453.8	6.2	633	14128	0.15	0.00	23.20	1.130	6	0.074	0.000	2866	1734	1620
14465	0.74	275.9	416.6	10.3	642	14467	0.17	0.00	0.00	0.000	6	0.127	0.000	2815	1734	1613
14770	0.90	298.7	397.1	6.3	650	14796	0.12	2.45	20.25	1.093	4	0.077	0.071	2866	3155	1527
14817	0.74	298.7	392.4	10.3	652	14822	0.22	2.38	0.00	0.000	6	0.131	0.055	2810	1741	1525
15144	0.97	321.1	370.3	6.3	668	15171	0.20	2.42	20.80	1.069	4	0.067	0.071	2904	326	1434
15198	0.81	321.1	364.3	13.2	670	15205	0.25	2.35	0.00	0.000	6	0.127	0.056	2829	1744	1432
15514	0.94	321.1	339.2	7.5	686	15518	0.12	2.30	0.00	0.000	4	0.077	0.069	2880	3157	1427
15580	0.73	321.1	331.0	14.5	689	15585	0.25	2.33	0.00	0.000	6	0.132	0.056	2815	1737	1426
15900	0.95	321.1	306.6	7.5	705	15905	0.17	2.35	0.00	0.000	4	0.069	0.071	2896	320	1425
15939	0.90	321.1	302.5	11.3	707	15944	0.17	2.33	0.00	0.000	6	0.126	0.057	2844	1756	1425
16266	0.99	321.1	272.9	8.7	723	16271	0.10	2.28	0.00	0.000	4	0.084	0.071	2886	3161	1425
16315	0.77	321.1	266.8	14.1	725	16320	0.25	2.35	0.00	0.000	6	0.131	0.057	2820	1726	1424
16636	1.44	321.1	238.4	11.0	741	16641	0.45	2.33	0.00	0.000	4	0.104	0.071	2975	326	1423
16675	1.66	321.1	233.8	12.7	743	16680	0.15	2.30	0.00	0.000	6	0.083	0.057	3035	1752	1423
17003	1.01	321.1	154.5	23.8	759	17008	0.52	2.38	0.00	0.000	4	0.157	0.070	2883	324	1423
17046	1.01	321.1	147.4	11.9	761	17051	0.00	2.33	0.00	0.000	6	0.000	0.058	2884	1733	1423
17374	1.01	321.1	117.1	9.4	777	17378	0.00	2.30	0.00	0.000	4	0.000	0.074	2883	3155	1423
17424	0.90	321.1	111.6	11.2	779	17429	0.15	2.30	0.00	0.000	6	0.129	0.058	2848	1726	1423
17754	1.58	321.1	84.5	9.8	817	17761	0.43	2.30	0.00	0.000	4	0.099	0.072	2999	328	1422
17824	1.36	321.1	77.1	11.5	829	17831	0.17	2.35	0.00	0.000	6	0.154	0.062	2951	1755	1422
18168	1.16	321.1	34.9	10.5	890	18175	0.15	2.30	0.00	0.000	4	0.145	0.076	2906	3163	1422
18192	0.99	321.1	31.7	12.5	894	18199	0.15	2.33	0.00	0.000	6	0.127	0.061	2869	1725	1422
18537	1.54	321.1	3.8	12.4	955	18544	0.35	2.33	0.00	0.000	4	0.084	0.074	2998	320	1420
18548	end climb: SURFACE_DEPTH_REACHED
state	18548	begin surface coast
18560	end surface coast: CONTROL_FINISHED_OK
state	18560	begin surface