Glider dive log

Monterey Jul07 * SG111 * Dive index * Mission links * Dive 20 * 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 20 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 2300 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -91061.266 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 -91061.266

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 2300 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2320 MASS 51939 R_PORT_OVSHOOT 15 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 160 R_STBD_OVSHOOT 31 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 20 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 095125,3640.561,-12209.369,25,1.1,42,14.8 TGT_NAME TWO

_CALLS 1 TGT_LATLONG 3646.000,-12212.000

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.190,0.188

_SM_DEPTHo 0.91 KALMAN_X 18715.6,-1165.0,-529.4,-31656.4,4333.3

_SM_ANGLEo -53.0 KALMAN_Y -63432.4,-256.4,-166.2,52582.8,-5167.0

GPS2 095732,3640.527,-12209.360,11,1.6,16,14.8 MHEAD_RNG_PITCHd_Wd 279.1,10866,-16.9,-10.000

SPEED_LIMITS 0.173,0.267 D_GRID 1267

Post-dive calculations and measurements:

FINISH 0.3,1.021480 XPDR_PINGS 390

SM_CCo 18137,13.18,0.691,0,0,599,422.16 _24V_AH 23.1,9.368

SM_GC 1.74,0.00,0.00,13.18,0.000,0.000,0.691,719,2292,599,-6.39,-0.23,422.16 _10V_AH 10.1,3.116

RAFOS_CLK 824 DATA_FILE_SIZE 53523,1509

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,256811008

IRIDIUM_FIX 3629.60,-12206.02,230707,080814 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1498.8

HUMID 3226 CURRENT 0.105,111.4,1

INTERNAL_PRESSURE 7.90069 GPS 230707,150237,3641.163,-12211.309,37,1.2,42,14.8

TCM_TEMP 19.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 249 121.36 SBE_CT 1032 24 572.65

Roll_motor 181 77 324.70 SBE_O2 1248 19 547.85

VBD_pump_during_apogee 476 1393 15348.04 nil 0 0 0.00

VBD_pump_during_surface 13 691 210.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 97.32 nil 0 0 0.00

Iridium_during_connect 42 160 158.43 nil 0 0 0.00

Iridium_during_xfer 160 223 827.54

Transponder_ping 97 420 945.95

GPS 16 50 8.19

TT8 3183 19 640.40

LPSleep 11576 2 270.10

TT8_Active 662 19 133.37

TT8_Sampling 2602 39 1049.50

TT8_CF8 501 45 232.49

TT8_Kalman 33 81 27.60

Analog_circuits 2014 12 244.16

GPS_charging 0 0 0.00

Compass 2567 8 207.45

RAFOS 0 1 0.00

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

23 end surface: CONTROL_FINISHED_OK

state 24 begin dive

26 -1.44 -155.7 0.0 0.0 0 89 0.00 0.00 -61.15 0.000 2 0.000 0.000 724 2718 2226

92 -1.44 -155.7 3.4 -7.7 9 121 7.53 1.77 -16.12 0.000 4 0.249 0.058 1786 3702 2958

212 -0.95 -155.7 37.6 -31.4 29 220 0.65 2.53 0.00 0.000 6 0.159 0.047 1897 2292 2961

558 -0.87 -155.7 93.3 -14.1 90 565 0.12 2.50 0.00 0.000 4 0.165 0.050 1915 889 2962

639 -0.87 -155.7 104.0 -12.2 104 646 0.00 2.38 0.00 0.000 6 0.000 0.026 1916 2313 2962

983 -0.87 -155.7 144.9 -12.4 165 990 0.00 2.55 0.00 0.000 4 0.000 0.048 1916 884 2963

1058 -0.87 -155.7 154.7 -13.4 178 1065 0.00 2.28 0.00 0.000 6 0.000 0.027 1916 2251 2963

1402 -0.87 -155.7 197.4 -12.4 239 1408 0.00 0.00 0.00 0.000 6 0.000 0.000 1916 2251 2963

1734 -0.87 -155.7 238.2 -12.4 272 1738 0.00 2.42 0.00 0.000 4 0.000 0.050 1916 887 2963

1800 -0.87 -155.7 246.8 -12.2 277 1807 0.00 2.25 0.00 0.000 6 0.000 0.027 1916 2236 2963

2126 -0.87 -155.7 285.5 -11.7 308 2130 0.00 2.40 0.00 0.000 4 0.000 0.051 1916 887 2963

2164 -0.87 -155.7 290.6 -12.7 311 2172 0.00 2.25 0.00 0.000 6 0.000 0.027 1916 2220 2963

2491 -0.87 -155.7 328.8 -11.9 342 2495 0.00 2.38 0.00 0.000 4 0.000 0.051 1916 889 2963

2523 -0.87 -155.7 333.2 -12.8 344 2530 0.00 2.17 0.00 0.000 6 0.000 0.027 1916 2196 2962

2849 -0.87 -155.7 373.3 -12.4 375 2850 0.00 0.00 0.00 0.000 6 0.000 0.000 1916 2196 2963

3167 -0.87 -155.7 412.9 -12.2 405 3171 0.00 2.35 0.00 0.000 4 0.000 0.057 1916 892 2963

3210 -0.87 -155.7 418.7 -12.6 408 3217 0.00 2.17 0.00 0.000 6 0.000 0.027 1916 2172 2962

3536 -0.87 -155.7 456.6 -11.8 439 3538 0.00 0.00 0.00 0.000 6 0.000 0.000 1916 2172 2962

3854 -0.87 -155.7 491.9 -11.1 469 3858 0.00 2.33 0.00 0.000 4 0.000 0.061 1916 889 2962

3903 -0.87 -155.7 497.6 -11.5 473 3910 0.00 2.20 0.00 0.000 6 0.000 0.028 1916 2166 2962

4220 -0.87 -155.7 532.2 -11.1 490 4224 0.00 2.33 0.00 0.000 4 0.000 0.061 1916 892 2961

4242 -0.87 -155.7 534.8 -11.7 491 4246 0.00 2.15 0.00 0.000 6 0.000 0.028 1916 2159 2961

4563 -0.87 -155.7 569.7 -10.6 507 4567 0.00 2.33 0.00 0.000 4 0.000 0.061 1916 886 2961

4589 -0.87 -155.7 572.7 -10.9 508 4593 0.00 2.15 0.00 0.000 6 0.000 0.029 1916 2132 2960

4917 -0.87 -155.7 605.6 -10.2 524 4921 0.00 2.78 0.00 0.000 4 0.000 0.061 1916 3661 2961

4943 -0.98 -155.7 608.5 -10.4 525 4948 0.00 2.78 0.00 0.000 6 0.000 0.068 1916 2170 2960

5259 -0.98 -155.7 642.2 -11.1 540 5264 0.00 2.72 0.00 0.000 4 0.000 0.057 1916 3667 2959

5299 -1.10 -155.7 646.5 -11.0 542 5304 0.22 2.78 0.00 0.000 6 0.071 0.069 1867 2177 2959

5626 -0.98 -155.7 692.4 -14.0 558 5631 0.15 2.35 0.00 0.000 4 0.143 0.064 1891 890 2958

5653 -0.90 -155.7 696.2 -13.5 559 5657 0.12 2.17 0.00 0.000 6 0.162 0.028 1910 2176 2958

5973 -0.90 -155.7 730.1 -10.4 575 5977 0.00 2.35 0.00 0.000 4 0.000 0.061 1909 893 2958

6012 -0.90 -155.7 734.3 -11.0 577 6016 0.00 2.15 0.00 0.000 6 0.000 0.029 1910 2156 2958

6344 -0.90 -155.7 768.6 -10.1 593 6346 0.00 0.00 0.00 0.000 6 0.000 0.000 1910 2156 2957

6653 -0.90 -155.7 801.5 -10.8 608 6657 0.00 2.33 0.00 0.000 4 0.000 0.064 1910 890 2956

6680 -0.90 -155.7 804.7 -11.9 609 6685 0.00 2.15 0.00 0.000 6 0.000 0.029 1910 2135 2956

7002 -0.90 -155.7 839.1 -10.4 625 7006 0.00 2.83 0.00 0.000 4 0.000 0.070 1910 3666 2956

7041 -1.01 -155.7 843.1 -10.3 627 7046 0.00 2.85 0.00 0.000 6 0.000 0.077 1910 2160 2956

7368 -1.01 -155.7 875.2 -9.7 643 7369 0.00 0.00 0.00 0.000 6 0.000 0.000 1909 2157 2955

7677 -1.01 -155.7 906.0 -9.8 658 7682 0.00 2.78 0.00 0.000 4 0.000 0.062 1910 3669 2955

7704 -1.11 -155.7 908.7 -10.2 659 7709 0.20 2.80 0.00 0.000 6 0.073 0.075 1867 2174 2955

8020 -1.01 -155.7 951.2 -14.0 674 8024 0.12 2.35 0.00 0.000 4 0.153 0.066 1886 890 2954

8046 -0.92 -155.7 955.0 -14.3 675 8051 0.12 2.15 0.00 0.000 6 0.167 0.029 1904 2156 2954

8368 -0.92 -155.7 989.0 -10.4 691 8372 0.00 2.33 0.00 0.000 4 0.000 0.064 1904 891 2954

8376 end dive: TARGET_DEPTH_EXCEEDED

state 8376 begin apogee

8383 -0.33 0.0 990.1 10.2 691 8522 0.70 0.00 135.43 1.339 6 0.154 0.000 2031 2374 2320

8523 end apogee: CONTROL_FINISHED_OK

state 8523 begin climb

8525 1.44 155.7 995.5 0.0 698 8667 2.00 2.72 133.10 1.309 4 0.118 0.071 2419 3784 1685

8825 1.06 155.7 979.6 10.7 711 8830 0.45 2.62 0.00 0.000 6 0.163 0.072 2344 2401 1684

9141 1.05 223.8 956.5 7.1 726 9207 0.00 2.70 58.10 1.296 4 0.000 0.068 2344 3792 1406

9281 0.91 223.8 942.9 11.5 732 9286 0.22 2.65 0.00 0.000 6 0.215 0.074 2313 2410 1405

9602 0.95 244.4 912.8 9.1 748 9625 0.00 2.75 17.20 1.315 4 0.000 0.065 2313 988 1323

9680 0.95 244.4 904.8 10.8 751 9685 0.00 2.50 0.00 0.000 6 0.000 0.031 2314 2398 1322

10002 0.96 249.6 873.2 9.8 767 10011 0.00 2.65 4.00 1.394 4 0.000 0.067 2314 3786 1302

10039 0.96 249.6 869.1 10.4 768 10046 0.00 2.65 0.00 0.000 6 0.000 0.071 2314 2382 1302

10355 0.98 257.7 838.1 9.6 784 10364 0.00 0.00 6.85 1.342 6 0.000 0.000 2314 2382 1268

10664 0.99 262.0 808.1 9.8 799 10669 0.00 0.00 3.33 1.387 6 0.000 0.000 2313 2382 1251

10991 1.03 282.5 778.7 9.1 815 11012 0.00 0.00 17.40 1.254 6 0.000 0.000 2313 2381 1168

11320 1.03 282.5 745.7 10.1 831 11324 0.00 2.58 0.00 0.000 4 0.000 0.065 2314 985 1167

11391 1.03 282.5 737.7 11.5 834 11395 0.00 2.42 0.00 0.000 6 0.000 0.031 2314 2383 1167

11714 1.03 282.5 705.5 10.1 850 11715 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 2383 1167

12022 1.04 287.3 674.8 9.8 865 12031 0.00 2.65 3.67 1.309 4 0.000 0.063 2313 989 1148

12071 1.04 287.3 669.5 10.4 867 12075 0.00 2.40 0.00 0.000 6 0.000 0.031 2313 2372 1148

12399 1.08 309.7 638.8 9.0 883 12425 0.15 2.67 19.08 1.159 4 0.072 0.063 2344 989 1057

12492 1.00 309.7 627.8 12.1 887 12496 0.00 2.38 0.00 0.000 6 0.000 0.031 2344 2354 1055

12813 1.00 309.7 592.1 10.6 903 12818 0.00 2.60 0.00 0.000 4 0.000 0.058 2344 3782 1055

12847 1.00 309.7 588.3 11.3 904 12854 0.00 2.67 0.00 0.000 6 0.000 0.063 2344 2336 1055

13162 1.00 309.7 553.0 11.2 920 13167 0.00 2.50 0.00 0.000 4 0.000 0.069 2344 987 1055

13225 0.92 309.7 545.5 12.0 923 13230 0.20 2.33 0.00 0.000 6 0.181 0.032 2314 2333 1055

13552 1.01 317.6 513.5 9.7 939 13565 0.00 2.55 6.40 1.141 4 0.000 0.064 2314 982 1025

13609 1.01 317.6 507.2 10.3 941 13617 0.00 2.33 0.00 0.000 6 0.000 0.031 2314 2321 1024

13935 1.12 331.2 475.8 9.4 968 13952 0.15 2.53 11.62 1.067 4 0.072 0.065 2349 990 968

14031 1.04 331.2 463.4 13.4 976 14035 0.00 2.22 0.00 0.000 6 0.000 0.031 2350 2274 967

14357 1.04 331.2 424.2 11.8 1006 14362 0.00 2.67 0.00 0.000 4 0.000 0.046 2349 3784 967

14389 1.04 331.2 420.1 11.6 1008 14397 0.00 2.72 0.00 0.000 6 0.000 0.047 2349 2268 967

14717 1.04 331.2 383.1 11.4 1039 14721 0.00 2.35 0.00 0.000 4 0.000 0.065 2349 984 967

14751 1.04 331.2 378.6 12.0 1041 14758 0.00 2.17 0.00 0.000 6 0.000 0.029 2349 2269 967

15077 1.04 331.2 338.4 12.4 1072 15082 0.00 2.67 0.00 0.000 4 0.000 0.042 2349 3790 967

15131 1.04 331.2 331.3 13.1 1076 15139 0.00 2.72 0.00 0.000 6 0.000 0.042 2349 2259 967

15458 1.04 331.2 291.6 11.8 1107 15462 0.00 2.30 0.00 0.000 4 0.000 0.061 2349 986 967

15535 1.04 331.2 281.1 12.8 1113 15543 0.00 2.20 0.00 0.000 6 0.000 0.028 2350 2288 967

15862 1.04 331.2 243.1 11.0 1144 15863 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2291 967

16180 1.04 331.2 207.8 10.9 1174 16184 0.00 2.38 0.00 0.000 4 0.000 0.056 2349 977 967

16242 1.04 331.2 200.2 12.0 1179 16246 0.00 2.20 0.00 0.000 6 0.000 0.028 2350 2278 967

16585 1.04 331.2 163.3 12.3 1239 16591 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2282 967

16928 1.04 331.2 126.4 10.0 1300 16934 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2282 967

17272 1.07 346.0 89.7 9.4 1361 17292 0.00 2.38 11.82 0.775 4 0.000 0.054 2349 986 908

17315 1.07 346.0 85.1 11.8 1368 17322 0.00 2.17 0.00 0.000 6 0.000 0.028 2349 2266 908

17660 1.20 357.6 51.5 9.5 1429 17674 0.00 2.75 9.23 0.755 4 0.000 0.038 2350 3786 860

17827 1.38 404.3 36.9 8.0 1458 17874 0.28 2.60 39.53 0.675 6 0.067 0.034 2409 2297 671

18108 end climb: SURFACE_DEPTH_REACHED

state 18108 begin surface coast

18121 end surface coast: CONTROL_FINISHED_OK

state 18121 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	20	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	2300	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-91061.266	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	095125,3640.561,-12209.369,25,1.1,42,14.8	TGT_NAME	TWO
_CALLS	1	TGT_LATLONG	3646.000,-12212.000
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.190,0.188
_SM_DEPTHo	0.91	KALMAN_X	18715.6,-1165.0,-529.4,-31656.4,4333.3
_SM_ANGLEo	-53.0	KALMAN_Y	-63432.4,-256.4,-166.2,52582.8,-5167.0
GPS2	095732,3640.527,-12209.360,11,1.6,16,14.8	MHEAD_RNG_PITCHd_Wd	279.1,10866,-16.9,-10.000
SPEED_LIMITS	0.173,0.267	D_GRID	1267

FINISH	0.3,1.021480	XPDR_PINGS	390
SM_CCo	18137,13.18,0.691,0,0,599,422.16	_24V_AH	23.1,9.368
SM_GC	1.74,0.00,0.00,13.18,0.000,0.000,0.691,719,2292,599,-6.39,-0.23,422.16	_10V_AH	10.1,3.116
RAFOS_CLK	824	DATA_FILE_SIZE	53523,1509
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,256811008
IRIDIUM_FIX	3629.60,-12206.02,230707,080814	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1498.8
HUMID	3226	CURRENT	0.105,111.4,1
INTERNAL_PRESSURE	7.90069	GPS	230707,150237,3641.163,-12211.309,37,1.2,42,14.8
TCM_TEMP	19.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	249	121.36	SBE_CT	1032	24	572.65
Roll_motor	181	77	324.70	SBE_O2	1248	19	547.85
VBD_pump_during_apogee	476	1393	15348.04	nil	0	0	0.00
VBD_pump_during_surface	13	691	210.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	97.32	nil	0	0	0.00
Iridium_during_connect	42	160	158.43	nil	0	0	0.00
Iridium_during_xfer	160	223	827.54
Transponder_ping	97	420	945.95
GPS	16	50	8.19
TT8	3183	19	640.40
LPSleep	11576	2	270.10
TT8_Active	662	19	133.37
TT8_Sampling	2602	39	1049.50
TT8_CF8	501	45	232.49
TT8_Kalman	33	81	27.60
Analog_circuits	2014	12	244.16
GPS_charging	0	0	0.00
Compass	2567	8	207.45
RAFOS	0	1	0.00

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
23	end surface: CONTROL_FINISHED_OK
state	24	begin dive
26	-1.44	-155.7	0.0	0.0	0	89	0.00	0.00	-61.15	0.000	2	0.000	0.000	724	2718	2226
92	-1.44	-155.7	3.4	-7.7	9	121	7.53	1.77	-16.12	0.000	4	0.249	0.058	1786	3702	2958
212	-0.95	-155.7	37.6	-31.4	29	220	0.65	2.53	0.00	0.000	6	0.159	0.047	1897	2292	2961
558	-0.87	-155.7	93.3	-14.1	90	565	0.12	2.50	0.00	0.000	4	0.165	0.050	1915	889	2962
639	-0.87	-155.7	104.0	-12.2	104	646	0.00	2.38	0.00	0.000	6	0.000	0.026	1916	2313	2962
983	-0.87	-155.7	144.9	-12.4	165	990	0.00	2.55	0.00	0.000	4	0.000	0.048	1916	884	2963
1058	-0.87	-155.7	154.7	-13.4	178	1065	0.00	2.28	0.00	0.000	6	0.000	0.027	1916	2251	2963
1402	-0.87	-155.7	197.4	-12.4	239	1408	0.00	0.00	0.00	0.000	6	0.000	0.000	1916	2251	2963
1734	-0.87	-155.7	238.2	-12.4	272	1738	0.00	2.42	0.00	0.000	4	0.000	0.050	1916	887	2963
1800	-0.87	-155.7	246.8	-12.2	277	1807	0.00	2.25	0.00	0.000	6	0.000	0.027	1916	2236	2963
2126	-0.87	-155.7	285.5	-11.7	308	2130	0.00	2.40	0.00	0.000	4	0.000	0.051	1916	887	2963
2164	-0.87	-155.7	290.6	-12.7	311	2172	0.00	2.25	0.00	0.000	6	0.000	0.027	1916	2220	2963
2491	-0.87	-155.7	328.8	-11.9	342	2495	0.00	2.38	0.00	0.000	4	0.000	0.051	1916	889	2963
2523	-0.87	-155.7	333.2	-12.8	344	2530	0.00	2.17	0.00	0.000	6	0.000	0.027	1916	2196	2962
2849	-0.87	-155.7	373.3	-12.4	375	2850	0.00	0.00	0.00	0.000	6	0.000	0.000	1916	2196	2963
3167	-0.87	-155.7	412.9	-12.2	405	3171	0.00	2.35	0.00	0.000	4	0.000	0.057	1916	892	2963
3210	-0.87	-155.7	418.7	-12.6	408	3217	0.00	2.17	0.00	0.000	6	0.000	0.027	1916	2172	2962
3536	-0.87	-155.7	456.6	-11.8	439	3538	0.00	0.00	0.00	0.000	6	0.000	0.000	1916	2172	2962
3854	-0.87	-155.7	491.9	-11.1	469	3858	0.00	2.33	0.00	0.000	4	0.000	0.061	1916	889	2962
3903	-0.87	-155.7	497.6	-11.5	473	3910	0.00	2.20	0.00	0.000	6	0.000	0.028	1916	2166	2962
4220	-0.87	-155.7	532.2	-11.1	490	4224	0.00	2.33	0.00	0.000	4	0.000	0.061	1916	892	2961
4242	-0.87	-155.7	534.8	-11.7	491	4246	0.00	2.15	0.00	0.000	6	0.000	0.028	1916	2159	2961
4563	-0.87	-155.7	569.7	-10.6	507	4567	0.00	2.33	0.00	0.000	4	0.000	0.061	1916	886	2961
4589	-0.87	-155.7	572.7	-10.9	508	4593	0.00	2.15	0.00	0.000	6	0.000	0.029	1916	2132	2960
4917	-0.87	-155.7	605.6	-10.2	524	4921	0.00	2.78	0.00	0.000	4	0.000	0.061	1916	3661	2961
4943	-0.98	-155.7	608.5	-10.4	525	4948	0.00	2.78	0.00	0.000	6	0.000	0.068	1916	2170	2960
5259	-0.98	-155.7	642.2	-11.1	540	5264	0.00	2.72	0.00	0.000	4	0.000	0.057	1916	3667	2959
5299	-1.10	-155.7	646.5	-11.0	542	5304	0.22	2.78	0.00	0.000	6	0.071	0.069	1867	2177	2959
5626	-0.98	-155.7	692.4	-14.0	558	5631	0.15	2.35	0.00	0.000	4	0.143	0.064	1891	890	2958
5653	-0.90	-155.7	696.2	-13.5	559	5657	0.12	2.17	0.00	0.000	6	0.162	0.028	1910	2176	2958
5973	-0.90	-155.7	730.1	-10.4	575	5977	0.00	2.35	0.00	0.000	4	0.000	0.061	1909	893	2958
6012	-0.90	-155.7	734.3	-11.0	577	6016	0.00	2.15	0.00	0.000	6	0.000	0.029	1910	2156	2958
6344	-0.90	-155.7	768.6	-10.1	593	6346	0.00	0.00	0.00	0.000	6	0.000	0.000	1910	2156	2957
6653	-0.90	-155.7	801.5	-10.8	608	6657	0.00	2.33	0.00	0.000	4	0.000	0.064	1910	890	2956
6680	-0.90	-155.7	804.7	-11.9	609	6685	0.00	2.15	0.00	0.000	6	0.000	0.029	1910	2135	2956
7002	-0.90	-155.7	839.1	-10.4	625	7006	0.00	2.83	0.00	0.000	4	0.000	0.070	1910	3666	2956
7041	-1.01	-155.7	843.1	-10.3	627	7046	0.00	2.85	0.00	0.000	6	0.000	0.077	1910	2160	2956
7368	-1.01	-155.7	875.2	-9.7	643	7369	0.00	0.00	0.00	0.000	6	0.000	0.000	1909	2157	2955
7677	-1.01	-155.7	906.0	-9.8	658	7682	0.00	2.78	0.00	0.000	4	0.000	0.062	1910	3669	2955
7704	-1.11	-155.7	908.7	-10.2	659	7709	0.20	2.80	0.00	0.000	6	0.073	0.075	1867	2174	2955
8020	-1.01	-155.7	951.2	-14.0	674	8024	0.12	2.35	0.00	0.000	4	0.153	0.066	1886	890	2954
8046	-0.92	-155.7	955.0	-14.3	675	8051	0.12	2.15	0.00	0.000	6	0.167	0.029	1904	2156	2954
8368	-0.92	-155.7	989.0	-10.4	691	8372	0.00	2.33	0.00	0.000	4	0.000	0.064	1904	891	2954
8376	end dive: TARGET_DEPTH_EXCEEDED
state	8376	begin apogee
8383	-0.33	0.0	990.1	10.2	691	8522	0.70	0.00	135.43	1.339	6	0.154	0.000	2031	2374	2320
8523	end apogee: CONTROL_FINISHED_OK
state	8523	begin climb
8525	1.44	155.7	995.5	0.0	698	8667	2.00	2.72	133.10	1.309	4	0.118	0.071	2419	3784	1685
8825	1.06	155.7	979.6	10.7	711	8830	0.45	2.62	0.00	0.000	6	0.163	0.072	2344	2401	1684
9141	1.05	223.8	956.5	7.1	726	9207	0.00	2.70	58.10	1.296	4	0.000	0.068	2344	3792	1406
9281	0.91	223.8	942.9	11.5	732	9286	0.22	2.65	0.00	0.000	6	0.215	0.074	2313	2410	1405
9602	0.95	244.4	912.8	9.1	748	9625	0.00	2.75	17.20	1.315	4	0.000	0.065	2313	988	1323
9680	0.95	244.4	904.8	10.8	751	9685	0.00	2.50	0.00	0.000	6	0.000	0.031	2314	2398	1322
10002	0.96	249.6	873.2	9.8	767	10011	0.00	2.65	4.00	1.394	4	0.000	0.067	2314	3786	1302
10039	0.96	249.6	869.1	10.4	768	10046	0.00	2.65	0.00	0.000	6	0.000	0.071	2314	2382	1302
10355	0.98	257.7	838.1	9.6	784	10364	0.00	0.00	6.85	1.342	6	0.000	0.000	2314	2382	1268
10664	0.99	262.0	808.1	9.8	799	10669	0.00	0.00	3.33	1.387	6	0.000	0.000	2313	2382	1251
10991	1.03	282.5	778.7	9.1	815	11012	0.00	0.00	17.40	1.254	6	0.000	0.000	2313	2381	1168
11320	1.03	282.5	745.7	10.1	831	11324	0.00	2.58	0.00	0.000	4	0.000	0.065	2314	985	1167
11391	1.03	282.5	737.7	11.5	834	11395	0.00	2.42	0.00	0.000	6	0.000	0.031	2314	2383	1167
11714	1.03	282.5	705.5	10.1	850	11715	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	2383	1167
12022	1.04	287.3	674.8	9.8	865	12031	0.00	2.65	3.67	1.309	4	0.000	0.063	2313	989	1148
12071	1.04	287.3	669.5	10.4	867	12075	0.00	2.40	0.00	0.000	6	0.000	0.031	2313	2372	1148
12399	1.08	309.7	638.8	9.0	883	12425	0.15	2.67	19.08	1.159	4	0.072	0.063	2344	989	1057
12492	1.00	309.7	627.8	12.1	887	12496	0.00	2.38	0.00	0.000	6	0.000	0.031	2344	2354	1055
12813	1.00	309.7	592.1	10.6	903	12818	0.00	2.60	0.00	0.000	4	0.000	0.058	2344	3782	1055
12847	1.00	309.7	588.3	11.3	904	12854	0.00	2.67	0.00	0.000	6	0.000	0.063	2344	2336	1055
13162	1.00	309.7	553.0	11.2	920	13167	0.00	2.50	0.00	0.000	4	0.000	0.069	2344	987	1055
13225	0.92	309.7	545.5	12.0	923	13230	0.20	2.33	0.00	0.000	6	0.181	0.032	2314	2333	1055
13552	1.01	317.6	513.5	9.7	939	13565	0.00	2.55	6.40	1.141	4	0.000	0.064	2314	982	1025
13609	1.01	317.6	507.2	10.3	941	13617	0.00	2.33	0.00	0.000	6	0.000	0.031	2314	2321	1024
13935	1.12	331.2	475.8	9.4	968	13952	0.15	2.53	11.62	1.067	4	0.072	0.065	2349	990	968
14031	1.04	331.2	463.4	13.4	976	14035	0.00	2.22	0.00	0.000	6	0.000	0.031	2350	2274	967
14357	1.04	331.2	424.2	11.8	1006	14362	0.00	2.67	0.00	0.000	4	0.000	0.046	2349	3784	967
14389	1.04	331.2	420.1	11.6	1008	14397	0.00	2.72	0.00	0.000	6	0.000	0.047	2349	2268	967
14717	1.04	331.2	383.1	11.4	1039	14721	0.00	2.35	0.00	0.000	4	0.000	0.065	2349	984	967
14751	1.04	331.2	378.6	12.0	1041	14758	0.00	2.17	0.00	0.000	6	0.000	0.029	2349	2269	967
15077	1.04	331.2	338.4	12.4	1072	15082	0.00	2.67	0.00	0.000	4	0.000	0.042	2349	3790	967
15131	1.04	331.2	331.3	13.1	1076	15139	0.00	2.72	0.00	0.000	6	0.000	0.042	2349	2259	967
15458	1.04	331.2	291.6	11.8	1107	15462	0.00	2.30	0.00	0.000	4	0.000	0.061	2349	986	967
15535	1.04	331.2	281.1	12.8	1113	15543	0.00	2.20	0.00	0.000	6	0.000	0.028	2350	2288	967
15862	1.04	331.2	243.1	11.0	1144	15863	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2291	967
16180	1.04	331.2	207.8	10.9	1174	16184	0.00	2.38	0.00	0.000	4	0.000	0.056	2349	977	967
16242	1.04	331.2	200.2	12.0	1179	16246	0.00	2.20	0.00	0.000	6	0.000	0.028	2350	2278	967
16585	1.04	331.2	163.3	12.3	1239	16591	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2282	967
16928	1.04	331.2	126.4	10.0	1300	16934	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2282	967
17272	1.07	346.0	89.7	9.4	1361	17292	0.00	2.38	11.82	0.775	4	0.000	0.054	2349	986	908
17315	1.07	346.0	85.1	11.8	1368	17322	0.00	2.17	0.00	0.000	6	0.000	0.028	2349	2266	908
17660	1.20	357.6	51.5	9.5	1429	17674	0.00	2.75	9.23	0.755	4	0.000	0.038	2350	3786	860
17827	1.38	404.3	36.9	8.0	1458	17874	0.28	2.60	39.53	0.675	6	0.067	0.034	2409	2297	671
18108	end climb: SURFACE_DEPTH_REACHED
state	18108	begin surface coast
18121	end surface coast: CONTROL_FINISHED_OK
state	18121	begin surface