Glider dive log

Monterey Jul07 * SG111 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 111 HD_B 0.0099999998 PITCH_AD_RATE 120 ALTIM_TOP_PING_RANGE 0

MISSION 1 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 19 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1.5 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 171 ALTIM_PING_DEPTH 0

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3808 ALTIM_PING_DELTA 0

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2700 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2400 ALTIM_PULSE 8

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 422.16129 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 35 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 4 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 599 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3942 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2320 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0020000001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -91044.422 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 0

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 160 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 722 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3310 AH0_10V 61.200001 SEABIRD_T_H 0.0006414231

RHO 1.0275 C_PITCH 2110 PRESSURE_YINT -2.5243471 SEABIRD_T_I 2.3931538e-05

MASS 51939 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0714857e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00031207138

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 120 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 422.16129

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3310 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 722 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 8 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0020000001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.0714857e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.5243471 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 0 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_GPS_CHARGE -91044.422

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 4 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 111 ROLL_MAX 3808 T_TURN_SAMPINT 5

C_PITCH 2110 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2400 INT_PRESSURE_YINT 0 ROLL_MIN 171 UNCOM_BLEED 20

C_ROLL_DIVE 2700 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2320 MASS 51939 R_PORT_OVSHOOT 35 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 160 R_STBD_OVSHOOT 11 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.258962 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0037964056 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAX 3942

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_MIN 599

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 19 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 1.5 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 044427,3641.379,-12207.292,31,2.6,50,14.8 TGT_NAME TWO

_CALLS 2 TGT_LATLONG 3646.000,-12212.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.143,0.226

_SM_DEPTHo 0.90 KALMAN_X 17999.8,-773.7,55.7,-28858.2,2373.3

_SM_ANGLEo -48.7 KALMAN_Y -56728.4,-1081.0,-317.0,48088.6,-3874.9

GPS2 045359,3641.201,-12207.273,14,3.2,33,14.8 MHEAD_RNG_PITCHd_Wd 261.9,11320,-16.9,-10.000

SPEED_LIMITS 0.173,0.267 D_GRID 1729

Post-dive calculations and measurements:

FINISH 0.4,1.021743 TCM_TEMP 19.20

SM_CCo 17693,0.20,1.477,0,0,599,422.16 XPDR_PINGS 157

SM_GC 1.61,0.00,0.00,0.20,0.000,0.000,1.477,724,2716,599,-6.38,0.42,422.16 _24V_AH 23.1,9.175

RAFOS_CLK 805 _10V_AH 10.1,3.023

RAFOS 0,1185167143,5.111111,5.095278,53,46,45,0,0,0,309,413,109,0,0,0 DATA_FILE_SIZE 53463,1463

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,256892928

IRIDIUM_FIX 3629.60,-12208.29,230707,080844 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1498.7

HUMID 3144 CURRENT 0.101,118.1,1

INTERNAL_PRESSURE 7.89093 GPS 230707,095125,3640.561,-12209.369,25,1.1,42,14.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 248 118.40 SBE_CT 1001 24 555.11

Roll_motor 165 84 323.09 SBE_O2 1210 19 531.23

VBD_pump_during_apogee 491 1341 15236.93 nil 0 0 0.00

VBD_pump_during_surface 0 1477 6.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 78 103 187.86 nil 0 0 0.00

Iridium_during_connect 64 160 237.12 nil 0 0 0.00

Iridium_during_xfer 217 223 1120.79

Transponder_ping 39 420 380.80

GPS 34 50 17.47

TT8 3127 19 629.19

LPSleep 11120 2 259.45

TT8_Active 644 19 129.62

TT8_Sampling 2754 39 1110.77

TT8_CF8 624 45 289.54

TT8_Kalman 33 81 27.60

Analog_circuits 2046 12 248.02

GPS_charging 0 0 0.00

Compass 2697 8 217.94

RAFOS 1080 1 16.36

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.44 -155.7 0.0 0.0 0 92 0.00 0.00 -62.42 0.000 2 0.000 0.000 724 2663 2269

94 -1.44 -155.7 3.5 -7.7 9 123 7.53 2.08 -15.25 0.000 4 0.249 0.054 1789 3813 2958

304 -1.05 -155.7 56.8 -24.4 45 311 0.50 1.92 0.00 0.000 6 0.160 0.038 1874 2700 2961

649 -0.95 -155.7 112.3 -14.5 106 656 0.15 2.47 0.00 0.000 4 0.177 0.043 1900 1287 2962

848 -0.88 -155.7 138.5 -13.8 141 855 0.00 2.38 0.00 0.000 6 0.000 0.026 1900 2697 2962

1192 -0.88 -155.7 181.8 -12.1 202 1199 0.00 2.47 0.00 0.000 4 0.000 0.044 1899 1292 2962

1396 -0.88 -155.7 208.4 -12.2 233 1400 0.00 2.20 0.00 0.000 6 0.000 0.026 1900 2607 2962

1722 -0.88 -155.7 249.3 -13.1 263 1726 0.00 2.33 0.00 0.000 4 0.000 0.045 1899 1288 2962

1852 -0.88 -155.7 266.3 -12.8 274 1855 0.00 2.15 0.00 0.000 6 0.000 0.027 1900 2570 2962

2183 -0.88 -155.7 305.3 -11.4 305 2187 0.00 2.28 0.00 0.000 4 0.000 0.048 1900 1285 2963

2334 -0.88 -155.7 324.1 -12.4 318 2338 0.00 2.10 0.00 0.000 6 0.000 0.027 1899 2540 2962

2666 -0.88 -155.7 364.2 -12.5 349 2670 0.00 2.22 0.00 0.000 4 0.000 0.049 1899 1287 2962

2799 -0.88 -155.7 381.9 -12.3 360 2806 0.00 2.05 0.00 0.000 6 0.000 0.027 1899 2492 2961

3125 -0.88 -155.7 420.2 -11.7 391 3129 0.00 2.15 0.00 0.000 4 0.000 0.051 1899 1287 2962

3253 -0.88 -155.7 435.9 -11.8 402 3261 0.00 1.98 0.00 0.000 6 0.000 0.028 1899 2443 2961

3580 -0.88 -155.7 474.6 -11.9 433 3584 0.00 2.05 0.00 0.000 4 0.000 0.054 1899 1296 2961

3704 -0.88 -155.7 490.4 -13.1 444 3708 0.00 1.88 0.00 0.000 6 0.000 0.028 1900 2411 2961

4037 -0.88 -155.7 531.2 -11.9 464 4041 0.00 2.00 0.00 0.000 4 0.000 0.055 1899 1296 2959

4165 -0.88 -155.7 546.6 -11.7 469 4173 0.00 1.85 0.00 0.000 6 0.000 0.029 1900 2380 2960

4481 -0.88 -155.7 581.8 -11.6 485 4485 0.00 1.95 0.00 0.000 4 0.000 0.055 1899 1292 2959

4581 -0.88 -155.7 594.1 -11.8 489 4585 0.00 1.83 0.00 0.000 6 0.000 0.029 1900 2358 2958

4902 -0.88 -155.7 630.6 -11.0 505 4906 0.00 1.90 0.00 0.000 4 0.000 0.054 1899 1296 2958

4970 -0.88 -155.7 638.0 -11.1 508 4974 0.00 1.77 0.00 0.000 6 0.000 0.029 1900 2350 2958

5302 -0.88 -155.7 672.5 -10.2 524 5306 0.00 1.90 0.00 0.000 4 0.000 0.056 1899 1293 2957

5402 -0.88 -155.7 683.1 -10.5 528 5406 0.00 1.77 0.00 0.000 6 0.000 0.029 1899 2332 2956

5724 -0.88 -155.7 713.9 -9.3 544 5727 0.00 1.88 0.00 0.000 4 0.000 0.055 1899 1286 2956

5796 -0.88 -155.7 721.2 -9.9 547 5800 0.00 1.80 0.00 0.000 6 0.000 0.029 1900 2334 2956

6123 -0.88 -155.7 754.7 -10.5 563 6126 0.00 1.88 0.00 0.000 4 0.000 0.056 1899 1289 2955

6213 -0.88 -155.7 764.5 -11.3 567 6217 0.00 1.77 0.00 0.000 6 0.000 0.030 1900 2336 2954

6545 -0.88 -155.7 800.3 -10.9 583 6549 0.00 1.88 0.00 0.000 4 0.000 0.057 1899 1294 2955

6645 -0.88 -155.7 811.5 -11.4 587 6649 0.00 1.80 0.00 0.000 6 0.000 0.030 1900 2333 2954

6967 -0.88 -155.7 845.6 -10.8 603 6971 0.00 1.88 0.00 0.000 4 0.000 0.058 1899 1292 2954

7045 -0.88 -155.7 854.2 -10.5 606 7049 0.00 1.80 0.00 0.000 6 0.000 0.030 1899 2332 2954

7366 -0.88 -155.7 886.4 -10.1 622 7370 0.00 1.88 0.00 0.000 4 0.000 0.057 1899 1288 2953

7427 -0.88 -155.7 892.7 -9.9 624 7434 0.00 1.80 0.00 0.000 6 0.000 0.031 1899 2331 2953

7743 -0.88 -155.7 923.5 -10.0 640 7747 0.00 1.88 0.00 0.000 4 0.000 0.058 1900 1289 2952

7821 -0.88 -155.7 931.6 -10.2 643 7825 0.00 1.80 0.00 0.000 6 0.000 0.031 1899 2329 2952

8143 -0.88 -155.7 963.4 -9.8 659 8146 0.00 1.88 0.00 0.000 4 0.000 0.059 1899 1291 2952

8203 -0.88 -155.7 969.8 -10.4 661 8211 0.00 1.80 0.00 0.000 6 0.000 0.031 1900 2331 2952

8414 end dive: TARGET_DEPTH_EXCEEDED

state 8414 begin apogee

8419 -0.33 0.0 991.6 10.5 672 8558 0.73 0.00 135.20 1.341 6 0.150 0.000 2030 2385 2320

8559 end apogee: CONTROL_FINISHED_OK

state 8559 begin climb

8561 1.44 155.7 998.0 0.0 679 8703 2.00 2.72 133.38 1.312 4 0.115 0.068 2419 3789 1685

8957 1.05 155.7 974.9 11.2 696 8962 0.45 2.62 0.00 0.000 6 0.167 0.071 2345 2406 1684

9273 1.00 212.1 949.9 7.6 711 9326 0.00 2.67 47.78 1.302 4 0.000 0.066 2345 3785 1454

9428 0.82 212.1 934.8 10.9 718 9433 0.35 2.60 0.00 0.000 6 0.212 0.073 2294 2424 1454

9749 0.93 267.2 909.2 7.6 734 9802 0.00 2.75 47.35 1.282 4 0.000 0.066 2294 985 1229

9824 1.03 313.7 903.1 8.0 737 9875 0.17 2.55 40.65 1.266 6 0.065 0.031 2330 2425 1040

10184 1.03 313.7 860.0 12.3 755 10189 0.00 2.70 0.00 0.000 4 0.000 0.064 2330 981 1036

10268 0.94 313.7 848.6 13.8 759 10273 0.00 2.45 0.00 0.000 6 0.000 0.031 2330 2383 1034

10595 0.94 313.7 809.3 12.1 775 10599 0.00 2.60 0.00 0.000 4 0.000 0.064 2330 987 1034

10635 0.85 313.7 804.3 13.1 777 10640 0.20 2.40 0.00 0.000 6 0.186 0.031 2301 2368 1034

10963 0.96 331.3 772.6 9.2 793 10985 0.00 2.65 13.82 1.256 4 0.000 0.064 2300 987 968

11069 0.96 331.3 761.6 10.2 797 11076 0.00 2.33 0.00 0.000 6 0.000 0.031 2301 2321 967

11386 1.06 336.8 731.0 9.8 813 11395 0.15 2.53 4.20 1.312 4 0.071 0.064 2335 987 946

11468 0.98 336.8 720.4 13.8 816 11475 0.00 2.25 0.00 0.000 6 0.000 0.031 2335 2284 946

11784 0.98 336.8 679.7 13.2 832 11788 0.00 2.42 0.00 0.000 4 0.000 0.065 2336 984 946

11824 0.90 336.8 674.1 13.9 834 11829 0.17 2.22 0.00 0.000 6 0.183 0.031 2310 2269 946

12150 0.97 336.8 637.6 11.0 850 12154 0.00 2.40 0.00 0.000 4 0.000 0.066 2310 981 946

12205 0.97 336.8 631.0 11.6 852 12212 0.00 2.20 0.00 0.000 6 0.000 0.031 2310 2237 945

12522 1.04 336.8 596.7 11.0 868 12524 0.12 0.00 0.00 0.000 6 0.078 0.000 2335 2238 945

12830 1.04 336.8 556.8 12.6 883 12834 0.00 2.33 0.00 0.000 4 0.000 0.066 2335 988 945

12896 1.04 336.8 547.9 13.8 886 12901 0.00 2.17 0.00 0.000 6 0.000 0.031 2335 2246 946

13224 1.04 336.8 507.4 12.3 902 13228 0.00 2.78 0.00 0.000 4 0.000 0.053 2335 3784 946

13250 1.04 336.8 503.9 12.5 903 13254 0.00 2.88 0.00 0.000 6 0.000 0.058 2335 2220 945

13575 1.04 336.8 465.2 11.7 931 13579 0.00 2.28 0.00 0.000 4 0.000 0.067 2335 984 945

13631 1.04 336.8 457.9 13.3 936 13635 0.00 2.15 0.00 0.000 6 0.000 0.031 2335 2237 946

13962 1.04 336.8 417.6 12.1 967 13964 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2238 946

14279 1.04 336.8 378.2 11.8 997 14281 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2239 945

14598 1.04 336.8 340.2 12.0 1027 14602 0.00 2.30 0.00 0.000 4 0.000 0.060 2335 980 945

14648 1.04 336.8 333.9 12.3 1031 14652 0.00 2.10 0.00 0.000 6 0.000 0.029 2335 2217 945

14980 1.04 336.8 293.9 11.6 1062 14981 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2221 946

15298 1.04 336.8 258.2 10.9 1092 15303 0.00 2.75 0.00 0.000 4 0.000 0.041 2335 3785 945

15319 1.04 336.8 255.6 10.2 1093 15327 0.00 2.83 0.00 0.000 6 0.000 0.039 2335 2183 946

15647 1.04 336.8 221.1 10.4 1124 15648 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2184 946

15969 1.04 336.8 188.7 10.0 1164 15975 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2184 946

16313 1.10 363.8 156.2 8.8 1225 16345 0.00 2.92 22.55 0.796 4 0.000 0.038 2335 3784 837

16363 1.17 363.8 151.2 10.0 1233 16370 0.15 2.83 0.00 0.000 6 0.086 0.038 2365 2196 836

16708 1.17 363.8 108.2 14.3 1294 16715 0.00 2.17 0.00 0.000 4 0.000 0.057 2365 984 834

16732 1.17 363.8 104.8 12.6 1298 16739 0.00 2.10 0.00 0.000 6 0.000 0.028 2365 2234 834

17077 1.17 363.8 62.7 10.3 1359 17083 0.00 2.72 0.00 0.000 4 0.000 0.038 2365 3792 834

17096 1.17 365.2 60.6 9.9 1362 17103 0.00 2.75 0.00 0.000 6 0.000 0.036 2365 2219 834

17440 1.27 413.6 28.2 7.9 1423 17492 0.00 2.30 41.72 0.671 4 0.000 0.053 2365 988 632

17510 1.35 420.1 22.5 9.7 1434 17525 0.17 2.17 5.05 0.742 6 0.059 0.027 2405 2273 606

17663 end climb: SURFACE_DEPTH_REACHED

state 17663 begin surface coast

17676 end surface coast: CONTROL_FINISHED_OK

state 17676 begin surface

ID	111	HD_B	0.0099999998	PITCH_AD_RATE	120	ALTIM_TOP_PING_RANGE	0
MISSION	1	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	19	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1.5	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	171	ALTIM_PING_DEPTH	0
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3808	ALTIM_PING_DELTA	0
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2700	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2400	ALTIM_PULSE	8
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	422.16129	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	35	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	4	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	599	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3942	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2320	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0020000001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-91044.422	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	0
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	160	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	722	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3310	AH0_10V	61.200001	SEABIRD_T_H	0.0006414231
RHO	1.0275	C_PITCH	2110	PRESSURE_YINT	-2.5243471	SEABIRD_T_I	2.3931538e-05
MASS	51939	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0714857e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00031207138

GPS1	044427,3641.379,-12207.292,31,2.6,50,14.8	TGT_NAME	TWO
_CALLS	2	TGT_LATLONG	3646.000,-12212.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.143,0.226
_SM_DEPTHo	0.90	KALMAN_X	17999.8,-773.7,55.7,-28858.2,2373.3
_SM_ANGLEo	-48.7	KALMAN_Y	-56728.4,-1081.0,-317.0,48088.6,-3874.9
GPS2	045359,3641.201,-12207.273,14,3.2,33,14.8	MHEAD_RNG_PITCHd_Wd	261.9,11320,-16.9,-10.000
SPEED_LIMITS	0.173,0.267	D_GRID	1729

FINISH	0.4,1.021743	TCM_TEMP	19.20
SM_CCo	17693,0.20,1.477,0,0,599,422.16	XPDR_PINGS	157
SM_GC	1.61,0.00,0.00,0.20,0.000,0.000,1.477,724,2716,599,-6.38,0.42,422.16	_24V_AH	23.1,9.175
RAFOS_CLK	805	_10V_AH	10.1,3.023
RAFOS	0,1185167143,5.111111,5.095278,53,46,45,0,0,0,309,413,109,0,0,0	DATA_FILE_SIZE	53463,1463
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,256892928
IRIDIUM_FIX	3629.60,-12208.29,230707,080844	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1498.7
HUMID	3144	CURRENT	0.101,118.1,1
INTERNAL_PRESSURE	7.89093	GPS	230707,095125,3640.561,-12209.369,25,1.1,42,14.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	248	118.40	SBE_CT	1001	24	555.11
Roll_motor	165	84	323.09	SBE_O2	1210	19	531.23
VBD_pump_during_apogee	491	1341	15236.93	nil	0	0	0.00
VBD_pump_during_surface	0	1477	6.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	78	103	187.86	nil	0	0	0.00
Iridium_during_connect	64	160	237.12	nil	0	0	0.00
Iridium_during_xfer	217	223	1120.79
Transponder_ping	39	420	380.80
GPS	34	50	17.47
TT8	3127	19	629.19
LPSleep	11120	2	259.45
TT8_Active	644	19	129.62
TT8_Sampling	2754	39	1110.77
TT8_CF8	624	45	289.54
TT8_Kalman	33	81	27.60
Analog_circuits	2046	12	248.02
GPS_charging	0	0	0.00
Compass	2697	8	217.94
RAFOS	1080	1	16.36

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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.44	-155.7	0.0	0.0	0	92	0.00	0.00	-62.42	0.000	2	0.000	0.000	724	2663	2269
94	-1.44	-155.7	3.5	-7.7	9	123	7.53	2.08	-15.25	0.000	4	0.249	0.054	1789	3813	2958
304	-1.05	-155.7	56.8	-24.4	45	311	0.50	1.92	0.00	0.000	6	0.160	0.038	1874	2700	2961
649	-0.95	-155.7	112.3	-14.5	106	656	0.15	2.47	0.00	0.000	4	0.177	0.043	1900	1287	2962
848	-0.88	-155.7	138.5	-13.8	141	855	0.00	2.38	0.00	0.000	6	0.000	0.026	1900	2697	2962
1192	-0.88	-155.7	181.8	-12.1	202	1199	0.00	2.47	0.00	0.000	4	0.000	0.044	1899	1292	2962
1396	-0.88	-155.7	208.4	-12.2	233	1400	0.00	2.20	0.00	0.000	6	0.000	0.026	1900	2607	2962
1722	-0.88	-155.7	249.3	-13.1	263	1726	0.00	2.33	0.00	0.000	4	0.000	0.045	1899	1288	2962
1852	-0.88	-155.7	266.3	-12.8	274	1855	0.00	2.15	0.00	0.000	6	0.000	0.027	1900	2570	2962
2183	-0.88	-155.7	305.3	-11.4	305	2187	0.00	2.28	0.00	0.000	4	0.000	0.048	1900	1285	2963
2334	-0.88	-155.7	324.1	-12.4	318	2338	0.00	2.10	0.00	0.000	6	0.000	0.027	1899	2540	2962
2666	-0.88	-155.7	364.2	-12.5	349	2670	0.00	2.22	0.00	0.000	4	0.000	0.049	1899	1287	2962
2799	-0.88	-155.7	381.9	-12.3	360	2806	0.00	2.05	0.00	0.000	6	0.000	0.027	1899	2492	2961
3125	-0.88	-155.7	420.2	-11.7	391	3129	0.00	2.15	0.00	0.000	4	0.000	0.051	1899	1287	2962
3253	-0.88	-155.7	435.9	-11.8	402	3261	0.00	1.98	0.00	0.000	6	0.000	0.028	1899	2443	2961
3580	-0.88	-155.7	474.6	-11.9	433	3584	0.00	2.05	0.00	0.000	4	0.000	0.054	1899	1296	2961
3704	-0.88	-155.7	490.4	-13.1	444	3708	0.00	1.88	0.00	0.000	6	0.000	0.028	1900	2411	2961
4037	-0.88	-155.7	531.2	-11.9	464	4041	0.00	2.00	0.00	0.000	4	0.000	0.055	1899	1296	2959
4165	-0.88	-155.7	546.6	-11.7	469	4173	0.00	1.85	0.00	0.000	6	0.000	0.029	1900	2380	2960
4481	-0.88	-155.7	581.8	-11.6	485	4485	0.00	1.95	0.00	0.000	4	0.000	0.055	1899	1292	2959
4581	-0.88	-155.7	594.1	-11.8	489	4585	0.00	1.83	0.00	0.000	6	0.000	0.029	1900	2358	2958
4902	-0.88	-155.7	630.6	-11.0	505	4906	0.00	1.90	0.00	0.000	4	0.000	0.054	1899	1296	2958
4970	-0.88	-155.7	638.0	-11.1	508	4974	0.00	1.77	0.00	0.000	6	0.000	0.029	1900	2350	2958
5302	-0.88	-155.7	672.5	-10.2	524	5306	0.00	1.90	0.00	0.000	4	0.000	0.056	1899	1293	2957
5402	-0.88	-155.7	683.1	-10.5	528	5406	0.00	1.77	0.00	0.000	6	0.000	0.029	1899	2332	2956
5724	-0.88	-155.7	713.9	-9.3	544	5727	0.00	1.88	0.00	0.000	4	0.000	0.055	1899	1286	2956
5796	-0.88	-155.7	721.2	-9.9	547	5800	0.00	1.80	0.00	0.000	6	0.000	0.029	1900	2334	2956
6123	-0.88	-155.7	754.7	-10.5	563	6126	0.00	1.88	0.00	0.000	4	0.000	0.056	1899	1289	2955
6213	-0.88	-155.7	764.5	-11.3	567	6217	0.00	1.77	0.00	0.000	6	0.000	0.030	1900	2336	2954
6545	-0.88	-155.7	800.3	-10.9	583	6549	0.00	1.88	0.00	0.000	4	0.000	0.057	1899	1294	2955
6645	-0.88	-155.7	811.5	-11.4	587	6649	0.00	1.80	0.00	0.000	6	0.000	0.030	1900	2333	2954
6967	-0.88	-155.7	845.6	-10.8	603	6971	0.00	1.88	0.00	0.000	4	0.000	0.058	1899	1292	2954
7045	-0.88	-155.7	854.2	-10.5	606	7049	0.00	1.80	0.00	0.000	6	0.000	0.030	1899	2332	2954
7366	-0.88	-155.7	886.4	-10.1	622	7370	0.00	1.88	0.00	0.000	4	0.000	0.057	1899	1288	2953
7427	-0.88	-155.7	892.7	-9.9	624	7434	0.00	1.80	0.00	0.000	6	0.000	0.031	1899	2331	2953
7743	-0.88	-155.7	923.5	-10.0	640	7747	0.00	1.88	0.00	0.000	4	0.000	0.058	1900	1289	2952
7821	-0.88	-155.7	931.6	-10.2	643	7825	0.00	1.80	0.00	0.000	6	0.000	0.031	1899	2329	2952
8143	-0.88	-155.7	963.4	-9.8	659	8146	0.00	1.88	0.00	0.000	4	0.000	0.059	1899	1291	2952
8203	-0.88	-155.7	969.8	-10.4	661	8211	0.00	1.80	0.00	0.000	6	0.000	0.031	1900	2331	2952
8414	end dive: TARGET_DEPTH_EXCEEDED
state	8414	begin apogee
8419	-0.33	0.0	991.6	10.5	672	8558	0.73	0.00	135.20	1.341	6	0.150	0.000	2030	2385	2320
8559	end apogee: CONTROL_FINISHED_OK
state	8559	begin climb
8561	1.44	155.7	998.0	0.0	679	8703	2.00	2.72	133.38	1.312	4	0.115	0.068	2419	3789	1685
8957	1.05	155.7	974.9	11.2	696	8962	0.45	2.62	0.00	0.000	6	0.167	0.071	2345	2406	1684
9273	1.00	212.1	949.9	7.6	711	9326	0.00	2.67	47.78	1.302	4	0.000	0.066	2345	3785	1454
9428	0.82	212.1	934.8	10.9	718	9433	0.35	2.60	0.00	0.000	6	0.212	0.073	2294	2424	1454
9749	0.93	267.2	909.2	7.6	734	9802	0.00	2.75	47.35	1.282	4	0.000	0.066	2294	985	1229
9824	1.03	313.7	903.1	8.0	737	9875	0.17	2.55	40.65	1.266	6	0.065	0.031	2330	2425	1040
10184	1.03	313.7	860.0	12.3	755	10189	0.00	2.70	0.00	0.000	4	0.000	0.064	2330	981	1036
10268	0.94	313.7	848.6	13.8	759	10273	0.00	2.45	0.00	0.000	6	0.000	0.031	2330	2383	1034
10595	0.94	313.7	809.3	12.1	775	10599	0.00	2.60	0.00	0.000	4	0.000	0.064	2330	987	1034
10635	0.85	313.7	804.3	13.1	777	10640	0.20	2.40	0.00	0.000	6	0.186	0.031	2301	2368	1034
10963	0.96	331.3	772.6	9.2	793	10985	0.00	2.65	13.82	1.256	4	0.000	0.064	2300	987	968
11069	0.96	331.3	761.6	10.2	797	11076	0.00	2.33	0.00	0.000	6	0.000	0.031	2301	2321	967
11386	1.06	336.8	731.0	9.8	813	11395	0.15	2.53	4.20	1.312	4	0.071	0.064	2335	987	946
11468	0.98	336.8	720.4	13.8	816	11475	0.00	2.25	0.00	0.000	6	0.000	0.031	2335	2284	946
11784	0.98	336.8	679.7	13.2	832	11788	0.00	2.42	0.00	0.000	4	0.000	0.065	2336	984	946
11824	0.90	336.8	674.1	13.9	834	11829	0.17	2.22	0.00	0.000	6	0.183	0.031	2310	2269	946
12150	0.97	336.8	637.6	11.0	850	12154	0.00	2.40	0.00	0.000	4	0.000	0.066	2310	981	946
12205	0.97	336.8	631.0	11.6	852	12212	0.00	2.20	0.00	0.000	6	0.000	0.031	2310	2237	945
12522	1.04	336.8	596.7	11.0	868	12524	0.12	0.00	0.00	0.000	6	0.078	0.000	2335	2238	945
12830	1.04	336.8	556.8	12.6	883	12834	0.00	2.33	0.00	0.000	4	0.000	0.066	2335	988	945
12896	1.04	336.8	547.9	13.8	886	12901	0.00	2.17	0.00	0.000	6	0.000	0.031	2335	2246	946
13224	1.04	336.8	507.4	12.3	902	13228	0.00	2.78	0.00	0.000	4	0.000	0.053	2335	3784	946
13250	1.04	336.8	503.9	12.5	903	13254	0.00	2.88	0.00	0.000	6	0.000	0.058	2335	2220	945
13575	1.04	336.8	465.2	11.7	931	13579	0.00	2.28	0.00	0.000	4	0.000	0.067	2335	984	945
13631	1.04	336.8	457.9	13.3	936	13635	0.00	2.15	0.00	0.000	6	0.000	0.031	2335	2237	946
13962	1.04	336.8	417.6	12.1	967	13964	0.00	0.00	0.00	0.000	6	0.000	0.000	2335	2238	946
14279	1.04	336.8	378.2	11.8	997	14281	0.00	0.00	0.00	0.000	6	0.000	0.000	2335	2239	945
14598	1.04	336.8	340.2	12.0	1027	14602	0.00	2.30	0.00	0.000	4	0.000	0.060	2335	980	945
14648	1.04	336.8	333.9	12.3	1031	14652	0.00	2.10	0.00	0.000	6	0.000	0.029	2335	2217	945
14980	1.04	336.8	293.9	11.6	1062	14981	0.00	0.00	0.00	0.000	6	0.000	0.000	2335	2221	946
15298	1.04	336.8	258.2	10.9	1092	15303	0.00	2.75	0.00	0.000	4	0.000	0.041	2335	3785	945
15319	1.04	336.8	255.6	10.2	1093	15327	0.00	2.83	0.00	0.000	6	0.000	0.039	2335	2183	946
15647	1.04	336.8	221.1	10.4	1124	15648	0.00	0.00	0.00	0.000	6	0.000	0.000	2335	2184	946
15969	1.04	336.8	188.7	10.0	1164	15975	0.00	0.00	0.00	0.000	6	0.000	0.000	2335	2184	946
16313	1.10	363.8	156.2	8.8	1225	16345	0.00	2.92	22.55	0.796	4	0.000	0.038	2335	3784	837
16363	1.17	363.8	151.2	10.0	1233	16370	0.15	2.83	0.00	0.000	6	0.086	0.038	2365	2196	836
16708	1.17	363.8	108.2	14.3	1294	16715	0.00	2.17	0.00	0.000	4	0.000	0.057	2365	984	834
16732	1.17	363.8	104.8	12.6	1298	16739	0.00	2.10	0.00	0.000	6	0.000	0.028	2365	2234	834
17077	1.17	363.8	62.7	10.3	1359	17083	0.00	2.72	0.00	0.000	4	0.000	0.038	2365	3792	834
17096	1.17	365.2	60.6	9.9	1362	17103	0.00	2.75	0.00	0.000	6	0.000	0.036	2365	2219	834
17440	1.27	413.6	28.2	7.9	1423	17492	0.00	2.30	41.72	0.671	4	0.000	0.053	2365	988	632
17510	1.35	420.1	22.5	9.7	1434	17525	0.17	2.17	5.05	0.742	6	0.059	0.027	2405	2273	606
17663	end climb: SURFACE_DEPTH_REACHED
state	17663	begin surface coast
17676	end surface coast: CONTROL_FINISHED_OK
state	17676	begin surface