Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 208 * 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 208 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 23 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 -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 900 T_GPS_CHARGE -114728.98 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 -114728.98

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 23 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 208 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 025608,6641.688,-5952.862,40,1.0,40,-37.9 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 9 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.230,0.042

_SM_DEPTHo 2.65 KALMAN_X 55602.4,466.9,-28.8,-154971.6,1065.2

_SM_ANGLEo -66.2 KALMAN_Y -79525.1,-332.0,-1249.4,57836.8,-761.5

GPS2 030203,6641.582,-5952.747,10,1.2,10,-37.9 MHEAD_RNG_PITCHd_Wd 318.3,36821,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 700

Post-dive calculations and measurements:

FINISH 1.8,1.012888 TCM_TEMP 15.40

SM_CCo 18976,0.00,0.000,0,0,1587,283.81 XPDR_PINGS 55

SM_GC 2.73,6.90,0.00,0.00,0.056,0.000,0.000,337,2236,1587,-10.57,0.14,283.81 _24V_AH 22.6,38.670

RAFOS_CLK 805 _10V_AH 10.5,17.854

RAFOS 0,1224648251,4.083333,4.069722,83,60,59,59,54,51,519,219,148,201,166,180 DATA_FILE_SIZE 34632,1009

RAFOS_FIX 6642.459473,-5951.668457,221008,040430,3,88,0.34 CAP_FILE_SIZE 153007,0

IRIDIUM_FIX 6620.33,-5948.93,150198,212102 CFSIZE 260165632,237604864

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1806 SOUNDSPEED 1450.8

INTERNAL_PRESSURE 9.86366 GPS 221008,082038,6641.301,-5957.508,36,0.9,36,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 250 132.64 SBE_CT 705 24 382.84

Roll_motor 161 94 343.75 SBE_O2 0 0 0.00

VBD_pump_during_apogee 372 1313 11043.24 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 25 103 59.29 nil 0 0 0.00

Iridium_during_connect 55 160 200.23 nil 0 0 0.00

Iridium_during_xfer 158 223 801.08

Transponder_ping 13 420 130.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.55

TT8 1942 19 406.38

LPSleep 14248 2 345.59

TT8_Active 534 19 111.70

TT8_Sampling 2122 39 889.77

TT8_CF8 483 45 233.12

TT8_Kalman 33 81 28.71

Analog_circuits 1662 12 209.53

GPS_charging 0 0 0.00

Compass 2089 8 175.52

RAFOS 2520 1 39.69

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

16 -1.00 -146.0 0.0 0.0 0 63 0.00 0.00 -45.45 0.000 2 0.000 0.000 336 2240 2496

66 -1.00 -146.0 3.1 -1.2 8 120 8.62 2.28 -37.55 0.000 4 0.251 0.094 2428 3601 3342

300 -0.59 -146.0 35.0 -16.6 49 307 0.35 2.22 0.00 0.000 6 0.156 0.056 2533 2209 3347

645 -0.65 -146.0 64.0 -7.2 110 650 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2208 3347

989 -0.73 -146.0 85.0 -6.1 171 995 0.12 2.38 0.00 0.000 4 0.086 0.079 2471 3606 3348

1064 -0.60 -146.0 91.7 -9.3 184 1070 0.20 2.22 0.00 0.000 6 0.147 0.057 2527 2215 3348

1390 -0.68 -146.0 114.3 -6.7 215 1394 0.00 2.25 0.00 0.000 4 0.000 0.068 2527 813 3348

1473 -0.75 -146.0 120.1 -6.2 218 1480 0.10 2.35 0.00 0.000 6 0.086 0.067 2476 2241 3348

1789 -0.65 -146.0 146.9 -9.1 234 1793 0.15 2.25 0.00 0.000 4 0.146 0.085 2508 3605 3348

1905 -0.71 -146.0 156.8 -8.4 239 1909 0.00 2.20 0.00 0.000 6 0.000 0.058 2508 2216 3348

2232 -0.71 -146.0 181.7 -7.6 255 2236 0.00 2.25 0.00 0.000 4 0.000 0.071 2508 811 3348

2310 -0.71 -146.0 188.1 -8.0 258 2314 0.00 2.35 0.00 0.000 6 0.000 0.068 2498 2243 3348

2630 -0.71 -146.0 213.3 -7.5 274 2631 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2243 3347

2940 -0.71 -146.0 236.2 -7.4 289 2944 0.00 2.22 0.00 0.000 4 0.000 0.083 2488 3604 3347

3034 -0.71 -146.0 243.7 -8.0 293 3038 0.00 2.17 0.00 0.000 6 0.000 0.058 2488 2226 3347

3361 -0.71 -146.0 266.8 -7.2 309 3365 0.00 2.25 0.00 0.000 4 0.000 0.072 2488 820 3347

3444 -0.71 -146.0 273.2 -7.9 312 3451 0.10 2.33 0.00 0.000 6 0.146 0.069 2504 2242 3347

3760 -0.79 -146.0 294.9 -7.2 328 3764 0.00 2.22 0.00 0.000 4 0.000 0.084 2495 3609 3347

3843 -0.86 -146.0 301.1 -7.5 331 3850 0.10 2.20 0.00 0.000 6 0.096 0.058 2453 2218 3346

4159 -0.74 -146.0 325.6 -7.4 347 4163 0.15 2.22 0.00 0.000 4 0.148 0.070 2499 822 3346

4354 -0.74 -146.0 337.6 -5.8 355 4360 0.00 2.30 0.00 0.000 6 0.000 0.069 2491 2232 3346

4670 -0.74 -146.0 357.9 -6.7 371 4673 0.00 2.22 0.00 0.000 4 0.000 0.082 2480 3605 3346

4753 -0.79 -146.0 364.1 -7.2 374 4759 0.00 2.17 0.00 0.000 6 0.000 0.057 2480 2225 3346

5069 -0.79 -146.0 386.3 -7.0 390 5072 0.00 2.25 0.00 0.000 4 0.000 0.071 2480 812 3346

5174 -0.79 -146.0 394.4 -8.1 394 5181 0.00 2.33 0.00 0.000 6 0.000 0.067 2470 2243 3346

5508 -0.79 -146.0 417.6 -6.8 405 5512 0.00 2.17 0.00 0.000 4 0.000 0.081 2460 3595 3346

5643 -0.79 -146.0 427.6 -7.4 408 5648 0.10 2.15 0.00 0.000 6 0.159 0.055 2485 2225 3346

5973 -0.79 -146.0 446.8 -5.7 416 5977 0.00 2.22 0.00 0.000 4 0.000 0.068 2484 822 3347

6063 -0.79 -146.0 452.3 -6.4 418 6068 0.00 2.30 0.00 0.000 6 0.000 0.067 2476 2238 3347

6393 -0.79 -146.0 471.8 -6.0 426 6397 0.00 2.20 0.00 0.000 4 0.000 0.080 2466 3605 3347

6483 -0.79 -146.0 478.1 -6.6 428 6487 0.00 2.17 0.00 0.000 6 0.000 0.055 2466 2220 3347

6813 -0.79 -146.0 499.3 -6.5 436 6817 0.00 2.22 0.00 0.000 4 0.000 0.067 2466 815 3348

6941 -0.71 -146.0 508.5 -7.0 438 6948 0.17 2.33 0.00 0.000 6 0.139 0.066 2505 2243 3348

7272 -0.84 -146.0 525.7 -5.2 447 7277 0.12 2.20 0.00 0.000 4 0.082 0.078 2443 3599 3348

7363 -0.74 -146.0 532.3 -7.2 449 7367 0.20 2.15 0.00 0.000 6 0.150 0.054 2500 2223 3348

7692 -0.85 -146.0 550.7 -5.6 457 7697 0.12 2.22 0.00 0.000 4 0.087 0.067 2448 821 3349

7783 -0.71 -146.0 557.9 -8.1 459 7788 0.22 2.30 0.00 0.000 6 0.142 0.066 2502 2240 3349

8107 -0.83 -146.0 576.0 -5.3 467 8111 0.10 2.20 0.00 0.000 4 0.094 0.077 2449 3602 3349

8179 -0.77 -146.0 581.1 -7.5 468 8183 0.15 2.15 0.00 0.000 6 0.152 0.054 2489 2227 3349

8521 -0.85 -146.0 601.3 -5.9 477 8525 0.00 2.22 0.00 0.000 4 0.000 0.066 2489 826 3349

8618 -0.85 -146.0 607.4 -6.0 479 8621 0.00 2.33 0.00 0.000 6 0.000 0.065 2482 2237 3349

8942 -0.85 -146.0 627.9 -6.4 487 8946 0.00 2.22 0.00 0.000 4 0.000 0.077 2471 3603 3349

8981 -0.90 -146.0 630.4 -6.4 487 8987 0.00 2.17 0.00 0.000 6 0.000 0.053 2471 2213 3349

9312 -0.90 -146.0 651.5 -6.0 496 9316 0.00 2.20 0.00 0.000 4 0.000 0.065 2471 823 3349

9429 -0.90 -146.0 658.1 -5.7 498 9433 0.00 2.30 0.00 0.000 6 0.000 0.064 2461 2233 3349

9772 -0.85 -146.0 681.2 -6.9 507 9773 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2233 3350

10094 end dive: TARGET_DEPTH_EXCEEDED

state 10094 begin apogee

10100 -0.31 0.0 701.8 6.5 515 10228 0.43 0.00 125.78 1.313 6 0.130 0.000 2594 1733 2745

10229 end apogee: CONTROL_FINISHED_OK

state 10229 begin climb

10232 1.00 146.0 704.9 0.0 518 10370 0.88 2.62 129.45 1.237 4 0.101 0.071 2885 333 2148

10376 0.77 146.0 694.0 9.8 521 10382 0.22 2.55 0.00 0.000 6 0.130 0.054 2826 1751 2147

10719 0.77 146.0 668.2 7.6 530 10722 0.00 2.38 0.00 0.000 4 0.000 0.070 2826 3164 2142

10746 0.64 146.0 665.7 8.8 530 10751 0.15 2.38 0.00 0.000 6 0.137 0.054 2795 1736 2141

11083 0.77 189.7 646.2 5.6 539 11123 0.12 0.00 37.30 1.234 6 0.076 0.000 2849 1735 1971

11448 0.64 189.7 612.4 9.3 548 11450 0.20 0.00 0.00 0.000 6 0.125 0.000 2791 1735 1964

11772 0.84 219.7 591.2 6.1 556 11801 0.17 0.00 26.10 1.216 6 0.071 0.000 2863 1735 1849

12097 0.69 219.7 557.7 10.7 564 12102 0.20 2.38 0.00 0.000 4 0.127 0.070 2799 3160 1843

12119 0.63 219.7 555.6 9.8 564 12123 0.00 2.30 0.00 0.000 6 0.000 0.056 2807 1735 1842

12461 0.74 219.7 530.9 7.3 573 12464 0.00 2.35 0.00 0.000 4 0.000 0.069 2807 3166 1842

12488 0.74 219.7 528.5 7.5 573 12492 0.00 2.30 0.00 0.000 6 0.000 0.056 2815 1729 1841

12830 0.81 219.7 501.1 8.2 582 12834 0.00 2.35 0.00 0.000 4 0.000 0.069 2815 3163 1840

12851 0.81 219.7 499.1 9.1 582 12856 0.00 2.30 0.00 0.000 6 0.000 0.055 2825 1736 1840

13199 0.81 219.7 470.6 7.9 591 13203 0.00 2.33 0.00 0.000 4 0.000 0.070 2825 3158 1840

13245 0.74 219.7 466.6 9.8 592 13249 0.00 2.28 0.00 0.000 6 0.000 0.056 2834 1732 1840

13574 0.74 219.7 437.9 8.7 600 13578 0.00 2.35 0.00 0.000 4 0.000 0.071 2834 3164 1840

13595 0.74 219.7 435.8 9.8 600 13600 0.12 2.30 0.00 0.000 6 0.137 0.055 2809 1737 1840

13944 0.87 219.7 410.4 7.1 609 13946 0.12 0.00 0.00 0.000 6 0.076 0.000 2865 1737 1840

14252 0.74 219.7 379.1 10.2 621 14254 0.17 0.00 0.00 0.000 6 0.124 0.000 2813 1737 1840

14561 0.88 219.7 356.7 7.3 636 14563 0.12 0.00 0.00 0.000 6 0.077 0.000 2867 1737 1840

14870 0.77 219.7 323.7 11.1 651 14872 0.15 0.00 0.00 0.000 6 0.128 0.000 2822 1737 1840

15180 0.88 219.7 300.7 7.1 666 15182 0.10 0.00 0.00 0.000 6 0.081 0.000 2867 1737 1839

15490 0.81 219.7 272.5 8.9 681 15492 0.15 0.00 0.00 0.000 6 0.127 0.000 2822 1737 1840

15799 0.96 228.7 252.2 6.7 696 15813 0.15 2.35 7.57 0.927 4 0.072 0.071 2884 3152 1811

15835 0.74 228.7 248.4 11.3 697 15842 0.28 2.25 0.00 0.000 6 0.135 0.057 2812 1734 1810

16153 1.08 273.0 229.8 5.6 713 16197 0.25 2.35 38.78 1.045 4 0.079 0.072 2911 332 1631

16226 1.19 273.0 223.5 8.9 716 16232 0.00 2.35 0.00 0.000 6 0.000 0.058 2911 1751 1628

16541 1.03 273.0 186.9 12.0 732 16546 0.12 2.30 0.00 0.000 4 0.141 0.073 2876 3160 1623

16564 0.90 273.0 184.4 11.6 733 16569 0.12 2.30 0.00 0.000 6 0.136 0.058 2849 1735 1621

16890 1.03 273.0 159.5 7.2 749 16892 0.12 0.00 0.00 0.000 6 0.078 0.000 2903 1735 1620

17199 0.94 273.0 130.9 8.7 764 17204 0.15 2.35 0.00 0.000 4 0.130 0.073 2867 326 1620

17216 0.94 273.0 129.5 8.6 765 17220 0.00 2.33 0.00 0.000 6 0.000 0.060 2867 1748 1620

17548 1.05 276.4 105.7 6.9 781 17552 0.00 2.28 0.00 0.000 4 0.000 0.074 2867 3152 1619

17558 1.14 277.6 105.0 7.0 781 17563 0.10 2.28 0.00 0.000 6 0.090 0.058 2919 1734 1618

17895 1.05 277.6 75.2 8.6 832 17902 0.15 2.33 0.00 0.000 4 0.135 0.084 2884 330 1618

17925 1.05 277.6 72.8 7.7 837 17932 0.00 2.30 0.00 0.000 6 0.000 0.061 2884 1747 1618

18270 1.13 282.3 47.6 6.9 898 18281 0.00 0.00 7.15 0.861 6 0.000 0.000 2884 1747 1593

18620 1.47 282.8 23.5 7.0 960 18627 0.25 2.30 0.00 0.000 4 0.074 0.077 2988 3158 1590

18729 1.08 282.8 10.5 13.1 979 18736 0.38 2.30 0.00 0.000 6 0.146 0.063 2889 1734 1589

18835 end climb: SURFACE_DEPTH_REACHED

state 18835 begin surface coast

18898 end surface coast: CONTROL_FINISHED_OK

state 18899 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	208	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	23	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	-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	900	T_GPS_CHARGE	-114728.98	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	025608,6641.688,-5952.862,40,1.0,40,-37.9	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	9	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.230,0.042
_SM_DEPTHo	2.65	KALMAN_X	55602.4,466.9,-28.8,-154971.6,1065.2
_SM_ANGLEo	-66.2	KALMAN_Y	-79525.1,-332.0,-1249.4,57836.8,-761.5
GPS2	030203,6641.582,-5952.747,10,1.2,10,-37.9	MHEAD_RNG_PITCHd_Wd	318.3,36821,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	700

FINISH	1.8,1.012888	TCM_TEMP	15.40
SM_CCo	18976,0.00,0.000,0,0,1587,283.81	XPDR_PINGS	55
SM_GC	2.73,6.90,0.00,0.00,0.056,0.000,0.000,337,2236,1587,-10.57,0.14,283.81	_24V_AH	22.6,38.670
RAFOS_CLK	805	_10V_AH	10.5,17.854
RAFOS	0,1224648251,4.083333,4.069722,83,60,59,59,54,51,519,219,148,201,166,180	DATA_FILE_SIZE	34632,1009
RAFOS_FIX	6642.459473,-5951.668457,221008,040430,3,88,0.34	CAP_FILE_SIZE	153007,0
IRIDIUM_FIX	6620.33,-5948.93,150198,212102	CFSIZE	260165632,237604864
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1806	SOUNDSPEED	1450.8
INTERNAL_PRESSURE	9.86366	GPS	221008,082038,6641.301,-5957.508,36,0.9,36,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	250	132.64	SBE_CT	705	24	382.84
Roll_motor	161	94	343.75	SBE_O2	0	0	0.00
VBD_pump_during_apogee	372	1313	11043.24	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	25	103	59.29	nil	0	0	0.00
Iridium_during_connect	55	160	200.23	nil	0	0	0.00
Iridium_during_xfer	158	223	801.08
Transponder_ping	13	420	130.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.55
TT8	1942	19	406.38
LPSleep	14248	2	345.59
TT8_Active	534	19	111.70
TT8_Sampling	2122	39	889.77
TT8_CF8	483	45	233.12
TT8_Kalman	33	81	28.71
Analog_circuits	1662	12	209.53
GPS_charging	0	0	0.00
Compass	2089	8	175.52
RAFOS	2520	1	39.69
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
16	-1.00	-146.0	0.0	0.0	0	63	0.00	0.00	-45.45	0.000	2	0.000	0.000	336	2240	2496
66	-1.00	-146.0	3.1	-1.2	8	120	8.62	2.28	-37.55	0.000	4	0.251	0.094	2428	3601	3342
300	-0.59	-146.0	35.0	-16.6	49	307	0.35	2.22	0.00	0.000	6	0.156	0.056	2533	2209	3347
645	-0.65	-146.0	64.0	-7.2	110	650	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2208	3347
989	-0.73	-146.0	85.0	-6.1	171	995	0.12	2.38	0.00	0.000	4	0.086	0.079	2471	3606	3348
1064	-0.60	-146.0	91.7	-9.3	184	1070	0.20	2.22	0.00	0.000	6	0.147	0.057	2527	2215	3348
1390	-0.68	-146.0	114.3	-6.7	215	1394	0.00	2.25	0.00	0.000	4	0.000	0.068	2527	813	3348
1473	-0.75	-146.0	120.1	-6.2	218	1480	0.10	2.35	0.00	0.000	6	0.086	0.067	2476	2241	3348
1789	-0.65	-146.0	146.9	-9.1	234	1793	0.15	2.25	0.00	0.000	4	0.146	0.085	2508	3605	3348
1905	-0.71	-146.0	156.8	-8.4	239	1909	0.00	2.20	0.00	0.000	6	0.000	0.058	2508	2216	3348
2232	-0.71	-146.0	181.7	-7.6	255	2236	0.00	2.25	0.00	0.000	4	0.000	0.071	2508	811	3348
2310	-0.71	-146.0	188.1	-8.0	258	2314	0.00	2.35	0.00	0.000	6	0.000	0.068	2498	2243	3348
2630	-0.71	-146.0	213.3	-7.5	274	2631	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2243	3347
2940	-0.71	-146.0	236.2	-7.4	289	2944	0.00	2.22	0.00	0.000	4	0.000	0.083	2488	3604	3347
3034	-0.71	-146.0	243.7	-8.0	293	3038	0.00	2.17	0.00	0.000	6	0.000	0.058	2488	2226	3347
3361	-0.71	-146.0	266.8	-7.2	309	3365	0.00	2.25	0.00	0.000	4	0.000	0.072	2488	820	3347
3444	-0.71	-146.0	273.2	-7.9	312	3451	0.10	2.33	0.00	0.000	6	0.146	0.069	2504	2242	3347
3760	-0.79	-146.0	294.9	-7.2	328	3764	0.00	2.22	0.00	0.000	4	0.000	0.084	2495	3609	3347
3843	-0.86	-146.0	301.1	-7.5	331	3850	0.10	2.20	0.00	0.000	6	0.096	0.058	2453	2218	3346
4159	-0.74	-146.0	325.6	-7.4	347	4163	0.15	2.22	0.00	0.000	4	0.148	0.070	2499	822	3346
4354	-0.74	-146.0	337.6	-5.8	355	4360	0.00	2.30	0.00	0.000	6	0.000	0.069	2491	2232	3346
4670	-0.74	-146.0	357.9	-6.7	371	4673	0.00	2.22	0.00	0.000	4	0.000	0.082	2480	3605	3346
4753	-0.79	-146.0	364.1	-7.2	374	4759	0.00	2.17	0.00	0.000	6	0.000	0.057	2480	2225	3346
5069	-0.79	-146.0	386.3	-7.0	390	5072	0.00	2.25	0.00	0.000	4	0.000	0.071	2480	812	3346
5174	-0.79	-146.0	394.4	-8.1	394	5181	0.00	2.33	0.00	0.000	6	0.000	0.067	2470	2243	3346
5508	-0.79	-146.0	417.6	-6.8	405	5512	0.00	2.17	0.00	0.000	4	0.000	0.081	2460	3595	3346
5643	-0.79	-146.0	427.6	-7.4	408	5648	0.10	2.15	0.00	0.000	6	0.159	0.055	2485	2225	3346
5973	-0.79	-146.0	446.8	-5.7	416	5977	0.00	2.22	0.00	0.000	4	0.000	0.068	2484	822	3347
6063	-0.79	-146.0	452.3	-6.4	418	6068	0.00	2.30	0.00	0.000	6	0.000	0.067	2476	2238	3347
6393	-0.79	-146.0	471.8	-6.0	426	6397	0.00	2.20	0.00	0.000	4	0.000	0.080	2466	3605	3347
6483	-0.79	-146.0	478.1	-6.6	428	6487	0.00	2.17	0.00	0.000	6	0.000	0.055	2466	2220	3347
6813	-0.79	-146.0	499.3	-6.5	436	6817	0.00	2.22	0.00	0.000	4	0.000	0.067	2466	815	3348
6941	-0.71	-146.0	508.5	-7.0	438	6948	0.17	2.33	0.00	0.000	6	0.139	0.066	2505	2243	3348
7272	-0.84	-146.0	525.7	-5.2	447	7277	0.12	2.20	0.00	0.000	4	0.082	0.078	2443	3599	3348
7363	-0.74	-146.0	532.3	-7.2	449	7367	0.20	2.15	0.00	0.000	6	0.150	0.054	2500	2223	3348
7692	-0.85	-146.0	550.7	-5.6	457	7697	0.12	2.22	0.00	0.000	4	0.087	0.067	2448	821	3349
7783	-0.71	-146.0	557.9	-8.1	459	7788	0.22	2.30	0.00	0.000	6	0.142	0.066	2502	2240	3349
8107	-0.83	-146.0	576.0	-5.3	467	8111	0.10	2.20	0.00	0.000	4	0.094	0.077	2449	3602	3349
8179	-0.77	-146.0	581.1	-7.5	468	8183	0.15	2.15	0.00	0.000	6	0.152	0.054	2489	2227	3349
8521	-0.85	-146.0	601.3	-5.9	477	8525	0.00	2.22	0.00	0.000	4	0.000	0.066	2489	826	3349
8618	-0.85	-146.0	607.4	-6.0	479	8621	0.00	2.33	0.00	0.000	6	0.000	0.065	2482	2237	3349
8942	-0.85	-146.0	627.9	-6.4	487	8946	0.00	2.22	0.00	0.000	4	0.000	0.077	2471	3603	3349
8981	-0.90	-146.0	630.4	-6.4	487	8987	0.00	2.17	0.00	0.000	6	0.000	0.053	2471	2213	3349
9312	-0.90	-146.0	651.5	-6.0	496	9316	0.00	2.20	0.00	0.000	4	0.000	0.065	2471	823	3349
9429	-0.90	-146.0	658.1	-5.7	498	9433	0.00	2.30	0.00	0.000	6	0.000	0.064	2461	2233	3349
9772	-0.85	-146.0	681.2	-6.9	507	9773	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2233	3350
10094	end dive: TARGET_DEPTH_EXCEEDED
state	10094	begin apogee
10100	-0.31	0.0	701.8	6.5	515	10228	0.43	0.00	125.78	1.313	6	0.130	0.000	2594	1733	2745
10229	end apogee: CONTROL_FINISHED_OK
state	10229	begin climb
10232	1.00	146.0	704.9	0.0	518	10370	0.88	2.62	129.45	1.237	4	0.101	0.071	2885	333	2148
10376	0.77	146.0	694.0	9.8	521	10382	0.22	2.55	0.00	0.000	6	0.130	0.054	2826	1751	2147
10719	0.77	146.0	668.2	7.6	530	10722	0.00	2.38	0.00	0.000	4	0.000	0.070	2826	3164	2142
10746	0.64	146.0	665.7	8.8	530	10751	0.15	2.38	0.00	0.000	6	0.137	0.054	2795	1736	2141
11083	0.77	189.7	646.2	5.6	539	11123	0.12	0.00	37.30	1.234	6	0.076	0.000	2849	1735	1971
11448	0.64	189.7	612.4	9.3	548	11450	0.20	0.00	0.00	0.000	6	0.125	0.000	2791	1735	1964
11772	0.84	219.7	591.2	6.1	556	11801	0.17	0.00	26.10	1.216	6	0.071	0.000	2863	1735	1849
12097	0.69	219.7	557.7	10.7	564	12102	0.20	2.38	0.00	0.000	4	0.127	0.070	2799	3160	1843
12119	0.63	219.7	555.6	9.8	564	12123	0.00	2.30	0.00	0.000	6	0.000	0.056	2807	1735	1842
12461	0.74	219.7	530.9	7.3	573	12464	0.00	2.35	0.00	0.000	4	0.000	0.069	2807	3166	1842
12488	0.74	219.7	528.5	7.5	573	12492	0.00	2.30	0.00	0.000	6	0.000	0.056	2815	1729	1841
12830	0.81	219.7	501.1	8.2	582	12834	0.00	2.35	0.00	0.000	4	0.000	0.069	2815	3163	1840
12851	0.81	219.7	499.1	9.1	582	12856	0.00	2.30	0.00	0.000	6	0.000	0.055	2825	1736	1840
13199	0.81	219.7	470.6	7.9	591	13203	0.00	2.33	0.00	0.000	4	0.000	0.070	2825	3158	1840
13245	0.74	219.7	466.6	9.8	592	13249	0.00	2.28	0.00	0.000	6	0.000	0.056	2834	1732	1840
13574	0.74	219.7	437.9	8.7	600	13578	0.00	2.35	0.00	0.000	4	0.000	0.071	2834	3164	1840
13595	0.74	219.7	435.8	9.8	600	13600	0.12	2.30	0.00	0.000	6	0.137	0.055	2809	1737	1840
13944	0.87	219.7	410.4	7.1	609	13946	0.12	0.00	0.00	0.000	6	0.076	0.000	2865	1737	1840
14252	0.74	219.7	379.1	10.2	621	14254	0.17	0.00	0.00	0.000	6	0.124	0.000	2813	1737	1840
14561	0.88	219.7	356.7	7.3	636	14563	0.12	0.00	0.00	0.000	6	0.077	0.000	2867	1737	1840
14870	0.77	219.7	323.7	11.1	651	14872	0.15	0.00	0.00	0.000	6	0.128	0.000	2822	1737	1840
15180	0.88	219.7	300.7	7.1	666	15182	0.10	0.00	0.00	0.000	6	0.081	0.000	2867	1737	1839
15490	0.81	219.7	272.5	8.9	681	15492	0.15	0.00	0.00	0.000	6	0.127	0.000	2822	1737	1840
15799	0.96	228.7	252.2	6.7	696	15813	0.15	2.35	7.57	0.927	4	0.072	0.071	2884	3152	1811
15835	0.74	228.7	248.4	11.3	697	15842	0.28	2.25	0.00	0.000	6	0.135	0.057	2812	1734	1810
16153	1.08	273.0	229.8	5.6	713	16197	0.25	2.35	38.78	1.045	4	0.079	0.072	2911	332	1631
16226	1.19	273.0	223.5	8.9	716	16232	0.00	2.35	0.00	0.000	6	0.000	0.058	2911	1751	1628
16541	1.03	273.0	186.9	12.0	732	16546	0.12	2.30	0.00	0.000	4	0.141	0.073	2876	3160	1623
16564	0.90	273.0	184.4	11.6	733	16569	0.12	2.30	0.00	0.000	6	0.136	0.058	2849	1735	1621
16890	1.03	273.0	159.5	7.2	749	16892	0.12	0.00	0.00	0.000	6	0.078	0.000	2903	1735	1620
17199	0.94	273.0	130.9	8.7	764	17204	0.15	2.35	0.00	0.000	4	0.130	0.073	2867	326	1620
17216	0.94	273.0	129.5	8.6	765	17220	0.00	2.33	0.00	0.000	6	0.000	0.060	2867	1748	1620
17548	1.05	276.4	105.7	6.9	781	17552	0.00	2.28	0.00	0.000	4	0.000	0.074	2867	3152	1619
17558	1.14	277.6	105.0	7.0	781	17563	0.10	2.28	0.00	0.000	6	0.090	0.058	2919	1734	1618
17895	1.05	277.6	75.2	8.6	832	17902	0.15	2.33	0.00	0.000	4	0.135	0.084	2884	330	1618
17925	1.05	277.6	72.8	7.7	837	17932	0.00	2.30	0.00	0.000	6	0.000	0.061	2884	1747	1618
18270	1.13	282.3	47.6	6.9	898	18281	0.00	0.00	7.15	0.861	6	0.000	0.000	2884	1747	1593
18620	1.47	282.8	23.5	7.0	960	18627	0.25	2.30	0.00	0.000	4	0.074	0.077	2988	3158	1590
18729	1.08	282.8	10.5	13.1	979	18736	0.38	2.30	0.00	0.000	6	0.146	0.063	2889	1734	1589
18835	end climb: SURFACE_DEPTH_REACHED
state	18835	begin surface coast
18898	end surface coast: CONTROL_FINISHED_OK
state	18899	begin surface