Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 169 * 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 169 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -3 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 900 T_GPS_CHARGE -114041.46 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 900 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 -114041.46

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 -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 2745 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 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 169 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 185237,6657.178,-5701.241,38,1.8,43,-37.5 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 19 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.109,0.206

_SM_DEPTHo 2.45 KALMAN_X 11954.7,-88.6,333.5,13539.5,630.1

_SM_ANGLEo -67.1 KALMAN_Y -21746.8,-83.8,-291.2,27663.8,-917.7

GPS2 185857,6657.143,-5701.166,10,1.7,10,-37.5 MHEAD_RNG_PITCHd_Wd 65.3,14425,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 691

Post-dive calculations and measurements:

FINISH 1.6,1.021468 TCM_TEMP 16.00

SM_CCo 19379,0.00,0.000,0,0,1441,319.63 XPDR_PINGS 47

SM_GC 2.67,7.03,0.00,0.00,0.053,0.000,0.000,338,2243,1441,-10.57,0.37,319.63 _24V_AH 22.9,32.399

RAFOS_CLK 778 _10V_AH 10.6,14.911

RAFOS 0,1223755442,20.083334,20.067223,67,62,61,51,50,49,211,225,166,91,116,151 DATA_FILE_SIZE 34637,1019

RAFOS_FIX 6654.167969,-5708.797852,111008,121216,2,96,0.19 CAP_FILE_SIZE 143678,0

IRIDIUM_FIX 6625.71,-5702.71,050198,131302 CFSIZE 260165632,240398336

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

HUMID 1780 SOUNDSPEED 1461.4

INTERNAL_PRESSURE 9.92226 GPS 121008,002408,6659.377,-5656.831,35,1.6,35,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 244 144.00 SBE_CT 709 24 389.82

Roll_motor 108 75 187.32 SBE_O2 0 0 0.00

VBD_pump_during_apogee 400 1286 11810.12 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 24 103 58.87 nil 0 0 0.00

Iridium_during_connect 41 160 152.86 nil 0 0 0.00

Iridium_during_xfer 204 223 1042.40

Transponder_ping 11 420 113.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.40

TT8 1857 19 392.22

LPSleep 15096 2 369.66

TT8_Active 542 19 114.45

TT8_Sampling 1801 39 762.31

TT8_CF8 459 45 223.87

TT8_Kalman 33 81 28.98

Analog_circuits 1495 12 190.27

GPS_charging 0 0 0.00

Compass 1779 8 150.93

RAFOS 2520 1 40.07

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 13 begin dive

15 -1.00 -146.0 0.0 0.0 0 75 0.00 0.00 -57.45 0.000 2 0.000 0.000 337 2248 2857

78 -1.00 -146.0 3.1 -1.4 10 109 8.38 2.45 -16.58 0.000 4 0.245 0.075 2445 816 3342

317 -0.67 -146.0 33.8 -12.9 52 324 0.28 2.38 0.00 0.000 6 0.143 0.060 2516 2246 3346

662 -0.67 -146.0 61.1 -6.6 113 668 0.00 2.20 0.00 0.000 4 0.000 0.073 2508 3599 3348

797 -0.67 -146.0 72.2 -8.5 137 804 0.00 2.17 0.00 0.000 6 0.000 0.048 2508 2222 3348

1141 -0.67 -146.0 96.3 -6.8 198 1147 0.00 2.22 0.00 0.000 4 0.000 0.062 2508 819 3348

1220 -0.67 -146.0 102.0 -6.8 208 1224 0.00 2.30 0.00 0.000 6 0.000 0.061 2498 2237 3348

1541 -0.67 -146.0 127.7 -8.1 224 1542 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2237 3348

1849 -0.67 -146.0 149.1 -6.5 239 1851 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2237 3348

2159 -0.67 -146.0 167.5 -5.5 254 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2237 3347

2469 -0.67 -146.0 185.6 -6.1 269 2473 0.00 2.30 0.00 0.000 4 0.000 0.064 2498 814 3347

2530 -0.67 -146.0 189.8 -6.5 271 2537 0.10 2.30 0.00 0.000 6 0.144 0.061 2515 2234 3347

2848 -0.79 -146.0 208.8 -6.2 287 2850 0.12 0.00 0.00 0.000 6 0.081 0.000 2462 2234 3347

3155 -0.70 -146.0 232.5 -7.5 302 3160 0.15 2.30 0.00 0.000 4 0.143 0.063 2510 813 3346

3266 -0.76 -146.0 239.5 -5.9 307 3271 0.00 2.33 0.00 0.000 6 0.000 0.061 2502 2242 3346

3587 -0.84 -146.0 256.7 -5.3 323 3589 0.10 0.00 0.00 0.000 6 0.083 0.000 2456 2242 3346

3897 -0.75 -146.0 278.4 -7.0 338 3899 0.15 0.00 0.00 0.000 6 0.143 0.000 2498 2242 3346

4206 -0.84 -146.0 293.8 -4.7 353 4211 0.10 2.28 0.00 0.000 4 0.088 0.061 2455 823 3346

4290 -0.71 -146.0 299.4 -7.1 357 4295 0.20 2.28 0.00 0.000 6 0.137 0.061 2502 2245 3346

4619 -0.81 -146.0 314.3 -4.4 373 4620 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2245 3346

4925 -0.91 -146.0 328.1 -4.5 388 4930 0.15 2.30 0.00 0.000 4 0.075 0.061 2439 822 3347

5014 -0.73 -146.0 334.2 -7.6 392 5019 0.25 2.28 0.00 0.000 6 0.138 0.060 2503 2245 3347

5335 -0.83 -146.0 350.1 -5.0 408 5337 0.12 0.00 0.00 0.000 6 0.080 0.000 2451 2245 3347

5645 -0.74 -146.0 371.6 -7.0 423 5647 0.17 0.00 0.00 0.000 6 0.143 0.000 2501 2245 3347

5955 -0.84 -146.0 389.2 -5.7 438 5960 0.12 2.30 0.00 0.000 4 0.081 0.061 2448 817 3348

6010 -0.70 -146.0 393.7 -8.2 440 6017 0.25 2.28 0.00 0.000 6 0.137 0.059 2512 2245 3348

6325 -0.84 -146.0 410.5 -5.1 451 6327 0.15 0.00 0.00 0.000 6 0.074 0.000 2449 2244 3348

6649 -0.74 -146.0 432.6 -6.9 459 6654 0.17 2.33 0.00 0.000 4 0.143 0.061 2500 813 3348

6693 -0.81 -146.0 435.4 -6.1 460 6697 0.00 2.33 0.00 0.000 6 0.000 0.059 2492 2245 3348

7011 -0.87 -146.0 452.3 -5.2 468 7013 0.10 0.00 0.00 0.000 6 0.083 0.000 2446 2245 3348

7336 -0.77 -146.0 475.0 -7.1 476 7340 0.17 2.35 0.00 0.000 4 0.146 0.061 2497 820 3348

7380 -0.83 -146.0 477.9 -6.2 477 7384 0.00 2.35 0.00 0.000 6 0.000 0.060 2489 2244 3348

7698 -0.89 -146.0 495.7 -5.5 485 7699 0.10 0.00 0.00 0.000 6 0.084 0.000 2443 2244 3348

8023 -0.78 -146.0 517.9 -7.0 493 8024 0.15 0.00 0.00 0.000 6 0.146 0.000 2485 2244 3348

8348 -0.84 -146.0 535.3 -5.2 501 8352 0.00 2.35 0.00 0.000 4 0.000 0.061 2485 824 3348

8431 -0.84 -146.0 539.9 -5.3 502 8438 0.00 2.33 0.00 0.000 6 0.000 0.060 2478 2233 3348

8762 -0.84 -146.0 557.2 -5.1 511 8763 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2233 3348

9088 -0.84 -146.0 574.4 -5.3 519 9092 0.00 2.33 0.00 0.000 4 0.000 0.061 2477 818 3348

9148 -0.84 -146.0 578.0 -5.9 520 9152 0.00 2.35 0.00 0.000 6 0.000 0.060 2467 2243 3348

9461 -0.84 -146.0 595.7 -5.7 528 9462 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2243 3349

9786 -0.84 -146.0 614.7 -5.9 536 9790 0.00 2.33 0.00 0.000 4 0.000 0.061 2467 814 3348

9853 -0.78 -146.0 618.6 -5.8 537 9858 0.12 2.35 0.00 0.000 6 0.140 0.060 2491 2243 3348

10195 -0.87 -146.0 634.6 -4.7 546 10197 0.10 0.00 0.00 0.000 6 0.087 0.000 2448 2242 3349

10520 -0.79 -146.0 654.5 -6.3 554 10525 0.15 2.33 0.00 0.000 4 0.145 0.062 2496 816 3348

10592 -0.86 -146.0 658.5 -5.2 555 10596 0.00 2.33 0.00 0.000 6 0.000 0.060 2488 2241 3348

10929 -0.94 -146.0 675.5 -5.1 564 10931 0.12 0.00 0.00 0.000 6 0.078 0.000 2435 2241 3348

11170 end dive: TARGET_DEPTH_EXCEEDED

state 11170 begin apogee

11176 -0.31 0.0 691.6 6.6 570 11303 0.50 0.00 123.45 1.286 6 0.136 0.000 2591 1745 2745

11304 end apogee: CONTROL_FINISHED_OK

state 11304 begin climb

11306 1.00 146.0 693.3 0.0 573 11437 0.85 0.00 127.03 1.211 6 0.099 0.000 2871 1745 2149

11754 0.75 146.0 648.2 11.0 584 11759 0.20 2.47 0.00 0.000 4 0.128 0.066 2809 3157 2142

11781 0.61 146.0 645.2 8.8 584 11786 0.12 2.40 0.00 0.000 6 0.139 0.051 2784 1735 2141

12117 0.75 173.1 624.4 6.1 593 12147 0.12 2.50 22.62 1.174 4 0.075 0.065 2839 3157 2038

12159 0.59 173.1 620.9 9.3 594 12164 0.25 2.38 0.00 0.000 6 0.133 0.052 2779 1736 2037

12483 0.79 201.5 600.3 6.1 602 12511 0.17 0.00 25.35 1.177 6 0.065 0.000 2853 1736 1923

12808 0.63 201.5 566.3 10.7 610 12810 0.22 0.00 0.00 0.000 6 0.123 0.000 2786 1735 1919

13133 0.82 221.0 544.8 6.4 618 13157 0.17 2.47 16.90 1.134 4 0.068 0.067 2859 3157 1843

13179 0.59 221.0 540.0 12.1 619 13184 0.30 2.35 0.00 0.000 6 0.135 0.052 2782 1729 1841

13503 0.81 242.3 518.6 6.3 627 13525 0.17 0.00 19.20 1.131 6 0.065 0.000 2855 1729 1757

13828 0.66 242.3 482.9 11.3 635 13830 0.20 0.00 0.00 0.000 6 0.124 0.000 2796 1728 1751

14153 0.78 242.3 459.7 7.0 643 14158 0.12 2.35 0.00 0.000 4 0.074 0.065 2850 3154 1749

14185 0.60 242.3 456.2 11.6 643 14192 0.25 2.30 0.00 0.000 6 0.133 0.053 2787 1725 1749

14517 0.82 255.0 433.7 6.6 652 14530 0.17 0.00 11.32 1.039 6 0.065 0.000 2860 1725 1706

14821 0.66 255.0 397.3 12.3 660 14826 0.20 2.40 0.00 0.000 4 0.125 0.065 2795 3164 1701

14843 0.59 255.0 394.8 11.3 661 14847 0.00 2.30 0.00 0.000 6 0.000 0.051 2802 1734 1701

15170 0.70 255.0 368.8 7.8 677 15172 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 1733 1701

15478 0.82 255.0 344.7 7.7 692 15483 0.12 2.38 0.00 0.000 4 0.075 0.064 2858 3164 1701

15505 0.71 255.0 341.9 11.5 693 15510 0.20 2.30 0.00 0.000 6 0.133 0.051 2810 1733 1701

15820 0.80 255.0 316.4 7.7 708 15822 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1733 1701

16131 0.89 255.0 293.6 7.5 723 16133 0.15 0.00 0.00 0.000 6 0.069 0.000 2874 1733 1700

16439 0.70 255.0 254.3 13.0 738 16441 0.22 0.00 0.00 0.000 6 0.124 0.000 2806 1733 1701

16749 0.88 264.6 231.2 6.7 753 16760 0.15 0.00 9.38 0.895 6 0.067 0.000 2870 1733 1666

17058 0.75 264.6 196.3 11.6 768 17060 0.17 0.00 0.00 0.000 6 0.123 0.000 2817 1733 1665

17367 0.89 265.8 173.5 7.0 783 17369 0.12 0.00 0.00 0.000 6 0.072 0.000 2872 1733 1664

17677 0.80 265.8 141.0 10.2 798 17679 0.15 0.00 0.00 0.000 6 0.123 0.000 2827 1733 1664

17987 1.00 293.8 120.0 6.1 813 18016 0.15 0.00 26.10 0.922 6 0.069 0.000 2891 1733 1547

18325 0.90 293.8 84.0 10.8 847 18332 0.15 2.33 0.00 0.000 4 0.125 0.067 2855 327 1541

18360 0.95 293.8 80.8 9.4 853 18367 0.00 2.33 0.00 0.000 6 0.000 0.053 2855 1752 1540

18705 1.09 316.2 54.8 6.3 914 18730 0.12 2.38 19.60 0.883 4 0.077 0.067 2912 3152 1455

18759 0.95 316.2 49.0 11.4 923 18766 0.22 2.33 0.00 0.000 6 0.130 0.054 2856 1731 1452

19104 1.63 316.2 23.9 9.5 984 19111 0.45 2.33 0.00 0.000 4 0.103 0.068 3010 326 1446

19173 1.34 316.2 16.4 11.3 996 19180 0.22 2.30 0.00 0.000 6 0.146 0.056 2947 1748 1446

19279 end climb: SURFACE_DEPTH_REACHED

state 19279 begin surface coast

19303 end surface coast: CONTROL_FINISHED_OK

state 19303 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	169	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-3	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	900	T_GPS_CHARGE	-114041.46	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	185237,6657.178,-5701.241,38,1.8,43,-37.5	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	19	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.109,0.206
_SM_DEPTHo	2.45	KALMAN_X	11954.7,-88.6,333.5,13539.5,630.1
_SM_ANGLEo	-67.1	KALMAN_Y	-21746.8,-83.8,-291.2,27663.8,-917.7
GPS2	185857,6657.143,-5701.166,10,1.7,10,-37.5	MHEAD_RNG_PITCHd_Wd	65.3,14425,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	691

FINISH	1.6,1.021468	TCM_TEMP	16.00
SM_CCo	19379,0.00,0.000,0,0,1441,319.63	XPDR_PINGS	47
SM_GC	2.67,7.03,0.00,0.00,0.053,0.000,0.000,338,2243,1441,-10.57,0.37,319.63	_24V_AH	22.9,32.399
RAFOS_CLK	778	_10V_AH	10.6,14.911
RAFOS	0,1223755442,20.083334,20.067223,67,62,61,51,50,49,211,225,166,91,116,151	DATA_FILE_SIZE	34637,1019
RAFOS_FIX	6654.167969,-5708.797852,111008,121216,2,96,0.19	CAP_FILE_SIZE	143678,0
IRIDIUM_FIX	6625.71,-5702.71,050198,131302	CFSIZE	260165632,240398336
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1780	SOUNDSPEED	1461.4
INTERNAL_PRESSURE	9.92226	GPS	121008,002408,6659.377,-5656.831,35,1.6,35,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	244	144.00	SBE_CT	709	24	389.82
Roll_motor	108	75	187.32	SBE_O2	0	0	0.00
VBD_pump_during_apogee	400	1286	11810.12	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	24	103	58.87	nil	0	0	0.00
Iridium_during_connect	41	160	152.86	nil	0	0	0.00
Iridium_during_xfer	204	223	1042.40
Transponder_ping	11	420	113.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.40
TT8	1857	19	392.22
LPSleep	15096	2	369.66
TT8_Active	542	19	114.45
TT8_Sampling	1801	39	762.31
TT8_CF8	459	45	223.87
TT8_Kalman	33	81	28.98
Analog_circuits	1495	12	190.27
GPS_charging	0	0	0.00
Compass	1779	8	150.93
RAFOS	2520	1	40.07
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	13	begin dive
15	-1.00	-146.0	0.0	0.0	0	75	0.00	0.00	-57.45	0.000	2	0.000	0.000	337	2248	2857
78	-1.00	-146.0	3.1	-1.4	10	109	8.38	2.45	-16.58	0.000	4	0.245	0.075	2445	816	3342
317	-0.67	-146.0	33.8	-12.9	52	324	0.28	2.38	0.00	0.000	6	0.143	0.060	2516	2246	3346
662	-0.67	-146.0	61.1	-6.6	113	668	0.00	2.20	0.00	0.000	4	0.000	0.073	2508	3599	3348
797	-0.67	-146.0	72.2	-8.5	137	804	0.00	2.17	0.00	0.000	6	0.000	0.048	2508	2222	3348
1141	-0.67	-146.0	96.3	-6.8	198	1147	0.00	2.22	0.00	0.000	4	0.000	0.062	2508	819	3348
1220	-0.67	-146.0	102.0	-6.8	208	1224	0.00	2.30	0.00	0.000	6	0.000	0.061	2498	2237	3348
1541	-0.67	-146.0	127.7	-8.1	224	1542	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2237	3348
1849	-0.67	-146.0	149.1	-6.5	239	1851	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2237	3348
2159	-0.67	-146.0	167.5	-5.5	254	2160	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2237	3347
2469	-0.67	-146.0	185.6	-6.1	269	2473	0.00	2.30	0.00	0.000	4	0.000	0.064	2498	814	3347
2530	-0.67	-146.0	189.8	-6.5	271	2537	0.10	2.30	0.00	0.000	6	0.144	0.061	2515	2234	3347
2848	-0.79	-146.0	208.8	-6.2	287	2850	0.12	0.00	0.00	0.000	6	0.081	0.000	2462	2234	3347
3155	-0.70	-146.0	232.5	-7.5	302	3160	0.15	2.30	0.00	0.000	4	0.143	0.063	2510	813	3346
3266	-0.76	-146.0	239.5	-5.9	307	3271	0.00	2.33	0.00	0.000	6	0.000	0.061	2502	2242	3346
3587	-0.84	-146.0	256.7	-5.3	323	3589	0.10	0.00	0.00	0.000	6	0.083	0.000	2456	2242	3346
3897	-0.75	-146.0	278.4	-7.0	338	3899	0.15	0.00	0.00	0.000	6	0.143	0.000	2498	2242	3346
4206	-0.84	-146.0	293.8	-4.7	353	4211	0.10	2.28	0.00	0.000	4	0.088	0.061	2455	823	3346
4290	-0.71	-146.0	299.4	-7.1	357	4295	0.20	2.28	0.00	0.000	6	0.137	0.061	2502	2245	3346
4619	-0.81	-146.0	314.3	-4.4	373	4620	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2245	3346
4925	-0.91	-146.0	328.1	-4.5	388	4930	0.15	2.30	0.00	0.000	4	0.075	0.061	2439	822	3347
5014	-0.73	-146.0	334.2	-7.6	392	5019	0.25	2.28	0.00	0.000	6	0.138	0.060	2503	2245	3347
5335	-0.83	-146.0	350.1	-5.0	408	5337	0.12	0.00	0.00	0.000	6	0.080	0.000	2451	2245	3347
5645	-0.74	-146.0	371.6	-7.0	423	5647	0.17	0.00	0.00	0.000	6	0.143	0.000	2501	2245	3347
5955	-0.84	-146.0	389.2	-5.7	438	5960	0.12	2.30	0.00	0.000	4	0.081	0.061	2448	817	3348
6010	-0.70	-146.0	393.7	-8.2	440	6017	0.25	2.28	0.00	0.000	6	0.137	0.059	2512	2245	3348
6325	-0.84	-146.0	410.5	-5.1	451	6327	0.15	0.00	0.00	0.000	6	0.074	0.000	2449	2244	3348
6649	-0.74	-146.0	432.6	-6.9	459	6654	0.17	2.33	0.00	0.000	4	0.143	0.061	2500	813	3348
6693	-0.81	-146.0	435.4	-6.1	460	6697	0.00	2.33	0.00	0.000	6	0.000	0.059	2492	2245	3348
7011	-0.87	-146.0	452.3	-5.2	468	7013	0.10	0.00	0.00	0.000	6	0.083	0.000	2446	2245	3348
7336	-0.77	-146.0	475.0	-7.1	476	7340	0.17	2.35	0.00	0.000	4	0.146	0.061	2497	820	3348
7380	-0.83	-146.0	477.9	-6.2	477	7384	0.00	2.35	0.00	0.000	6	0.000	0.060	2489	2244	3348
7698	-0.89	-146.0	495.7	-5.5	485	7699	0.10	0.00	0.00	0.000	6	0.084	0.000	2443	2244	3348
8023	-0.78	-146.0	517.9	-7.0	493	8024	0.15	0.00	0.00	0.000	6	0.146	0.000	2485	2244	3348
8348	-0.84	-146.0	535.3	-5.2	501	8352	0.00	2.35	0.00	0.000	4	0.000	0.061	2485	824	3348
8431	-0.84	-146.0	539.9	-5.3	502	8438	0.00	2.33	0.00	0.000	6	0.000	0.060	2478	2233	3348
8762	-0.84	-146.0	557.2	-5.1	511	8763	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2233	3348
9088	-0.84	-146.0	574.4	-5.3	519	9092	0.00	2.33	0.00	0.000	4	0.000	0.061	2477	818	3348
9148	-0.84	-146.0	578.0	-5.9	520	9152	0.00	2.35	0.00	0.000	6	0.000	0.060	2467	2243	3348
9461	-0.84	-146.0	595.7	-5.7	528	9462	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2243	3349
9786	-0.84	-146.0	614.7	-5.9	536	9790	0.00	2.33	0.00	0.000	4	0.000	0.061	2467	814	3348
9853	-0.78	-146.0	618.6	-5.8	537	9858	0.12	2.35	0.00	0.000	6	0.140	0.060	2491	2243	3348
10195	-0.87	-146.0	634.6	-4.7	546	10197	0.10	0.00	0.00	0.000	6	0.087	0.000	2448	2242	3349
10520	-0.79	-146.0	654.5	-6.3	554	10525	0.15	2.33	0.00	0.000	4	0.145	0.062	2496	816	3348
10592	-0.86	-146.0	658.5	-5.2	555	10596	0.00	2.33	0.00	0.000	6	0.000	0.060	2488	2241	3348
10929	-0.94	-146.0	675.5	-5.1	564	10931	0.12	0.00	0.00	0.000	6	0.078	0.000	2435	2241	3348
11170	end dive: TARGET_DEPTH_EXCEEDED
state	11170	begin apogee
11176	-0.31	0.0	691.6	6.6	570	11303	0.50	0.00	123.45	1.286	6	0.136	0.000	2591	1745	2745
11304	end apogee: CONTROL_FINISHED_OK
state	11304	begin climb
11306	1.00	146.0	693.3	0.0	573	11437	0.85	0.00	127.03	1.211	6	0.099	0.000	2871	1745	2149
11754	0.75	146.0	648.2	11.0	584	11759	0.20	2.47	0.00	0.000	4	0.128	0.066	2809	3157	2142
11781	0.61	146.0	645.2	8.8	584	11786	0.12	2.40	0.00	0.000	6	0.139	0.051	2784	1735	2141
12117	0.75	173.1	624.4	6.1	593	12147	0.12	2.50	22.62	1.174	4	0.075	0.065	2839	3157	2038
12159	0.59	173.1	620.9	9.3	594	12164	0.25	2.38	0.00	0.000	6	0.133	0.052	2779	1736	2037
12483	0.79	201.5	600.3	6.1	602	12511	0.17	0.00	25.35	1.177	6	0.065	0.000	2853	1736	1923
12808	0.63	201.5	566.3	10.7	610	12810	0.22	0.00	0.00	0.000	6	0.123	0.000	2786	1735	1919
13133	0.82	221.0	544.8	6.4	618	13157	0.17	2.47	16.90	1.134	4	0.068	0.067	2859	3157	1843
13179	0.59	221.0	540.0	12.1	619	13184	0.30	2.35	0.00	0.000	6	0.135	0.052	2782	1729	1841
13503	0.81	242.3	518.6	6.3	627	13525	0.17	0.00	19.20	1.131	6	0.065	0.000	2855	1729	1757
13828	0.66	242.3	482.9	11.3	635	13830	0.20	0.00	0.00	0.000	6	0.124	0.000	2796	1728	1751
14153	0.78	242.3	459.7	7.0	643	14158	0.12	2.35	0.00	0.000	4	0.074	0.065	2850	3154	1749
14185	0.60	242.3	456.2	11.6	643	14192	0.25	2.30	0.00	0.000	6	0.133	0.053	2787	1725	1749
14517	0.82	255.0	433.7	6.6	652	14530	0.17	0.00	11.32	1.039	6	0.065	0.000	2860	1725	1706
14821	0.66	255.0	397.3	12.3	660	14826	0.20	2.40	0.00	0.000	4	0.125	0.065	2795	3164	1701
14843	0.59	255.0	394.8	11.3	661	14847	0.00	2.30	0.00	0.000	6	0.000	0.051	2802	1734	1701
15170	0.70	255.0	368.8	7.8	677	15172	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	1733	1701
15478	0.82	255.0	344.7	7.7	692	15483	0.12	2.38	0.00	0.000	4	0.075	0.064	2858	3164	1701
15505	0.71	255.0	341.9	11.5	693	15510	0.20	2.30	0.00	0.000	6	0.133	0.051	2810	1733	1701
15820	0.80	255.0	316.4	7.7	708	15822	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1733	1701
16131	0.89	255.0	293.6	7.5	723	16133	0.15	0.00	0.00	0.000	6	0.069	0.000	2874	1733	1700
16439	0.70	255.0	254.3	13.0	738	16441	0.22	0.00	0.00	0.000	6	0.124	0.000	2806	1733	1701
16749	0.88	264.6	231.2	6.7	753	16760	0.15	0.00	9.38	0.895	6	0.067	0.000	2870	1733	1666
17058	0.75	264.6	196.3	11.6	768	17060	0.17	0.00	0.00	0.000	6	0.123	0.000	2817	1733	1665
17367	0.89	265.8	173.5	7.0	783	17369	0.12	0.00	0.00	0.000	6	0.072	0.000	2872	1733	1664
17677	0.80	265.8	141.0	10.2	798	17679	0.15	0.00	0.00	0.000	6	0.123	0.000	2827	1733	1664
17987	1.00	293.8	120.0	6.1	813	18016	0.15	0.00	26.10	0.922	6	0.069	0.000	2891	1733	1547
18325	0.90	293.8	84.0	10.8	847	18332	0.15	2.33	0.00	0.000	4	0.125	0.067	2855	327	1541
18360	0.95	293.8	80.8	9.4	853	18367	0.00	2.33	0.00	0.000	6	0.000	0.053	2855	1752	1540
18705	1.09	316.2	54.8	6.3	914	18730	0.12	2.38	19.60	0.883	4	0.077	0.067	2912	3152	1455
18759	0.95	316.2	49.0	11.4	923	18766	0.22	2.33	0.00	0.000	6	0.130	0.054	2856	1731	1452
19104	1.63	316.2	23.9	9.5	984	19111	0.45	2.33	0.00	0.000	4	0.103	0.068	3010	326	1446
19173	1.34	316.2	16.4	11.3	996	19180	0.22	2.30	0.00	0.000	6	0.146	0.056	2947	1748	1446
19279	end climb: SURFACE_DEPTH_REACHED
state	19279	begin surface coast
19303	end surface coast: CONTROL_FINISHED_OK
state	19303	begin surface