Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 332 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 332 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 3 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 1070 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 7 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 1.75 FILEMGR 2 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 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 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -118268.59 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 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 2680 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 16 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 7 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 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 80 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 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 3

CALL_TRIES 3 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 -118268.59

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 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 5

C_PITCH 2680 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 0 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 332 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1070 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 3 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 042504,6629.271,-5906.320,0,4085.8,0,-37.9 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.179,0.149

_SM_DEPTHo 3.45 KALMAN_X 159436.4,-13282.3,23315.9,-235033.5,8707.6

_SM_ANGLEo -2.9 KALMAN_Y -269375.2,15752.2,-12750.7,220691.1,-42367.5

GPS2 042504,6629.271,-5906.320,0,4085.8,0,-37.9 MHEAD_RNG_PITCHd_Wd 347.7,74643,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 754

Post-dive calculations and measurements:

FREEZE 6.63,-1.786,-1.774 TCM_TEMP 14.90

FINISH1 6.6,1.025995,81 XPDR_PINGS 32

FINISH2 5.4 _24V_AH 22.1,57.975

RAFOS_CLK 773 _10V_AH 10.5,26.559

RAFOS 0,1227168276,8.083333,8.076667,91,65,60,58,54,50,382,198,155,213,170,138 DATA_FILE_SIZE 31582,937

RAFOS_FIX 6640.460449,-5954.385742,201108,080827,5,100,2.82 CAP_FILE_SIZE 131567,0

IRIDIUM_FIX 6614.97,-5912.45,100298,030321 CFSIZE 260165632,229167104

TT8_MAMPS 0.026078 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1812 SOUNDSPEED 1447.2

INTERNAL_PRESSURE 9.89296 GPS 201108,042504,6629.271,-5906.320,0,4085.8,0,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 160 32.68 SBE_CT 656 24 348.05

Roll_motor 137 91 276.95 SBE_O2 0 0 0.00

VBD_pump_during_apogee 421 1255 11699.38 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 8 420 74.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1783 19 372.99

LPSleep 12710 2 308.29

TT8_Active 533 19 111.58

TT8_Sampling 1933 39 810.48

TT8_CF8 221 45 106.78

TT8_Kalman 33 81 28.70

Analog_circuits 1573 12 198.27

GPS_charging 0 0 0.00

Compass 1915 8 160.88

RAFOS 1800 1 28.35

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 -0.99 -146.0 0.0 0.0 0 64 0.00 0.00 -45.42 0.000 2 0.000 0.000 2692 3165 3241

67 -0.99 -146.0 3.2 -2.3 8 75 0.65 3.83 0.00 0.000 4 0.081 0.060 2455 809 3244

177 -0.71 -146.0 15.8 -12.4 27 184 0.30 2.35 0.00 0.000 6 0.151 0.068 2530 2240 3246

521 -0.71 -146.0 46.0 -9.0 88 527 0.00 2.22 0.00 0.000 4 0.000 0.082 2521 3599 3247

641 -0.71 -146.0 56.9 -9.3 109 647 0.00 2.17 0.00 0.000 6 0.000 0.054 2521 2218 3247

984 -0.71 -146.0 85.4 -8.0 170 991 0.00 2.22 0.00 0.000 4 0.000 0.067 2521 821 3247

1054 -0.71 -146.0 91.2 -8.8 182 1060 0.00 2.33 0.00 0.000 6 0.000 0.070 2512 2233 3247

1396 -0.71 -146.0 117.3 -7.1 213 1400 0.00 2.25 0.00 0.000 4 0.000 0.086 2501 3597 3247

1503 -0.71 -146.0 125.9 -8.1 217 1510 0.10 2.17 0.00 0.000 6 0.157 0.054 2526 2217 3247

1819 -0.79 -146.0 146.6 -6.2 233 1823 0.00 2.22 0.00 0.000 4 0.000 0.067 2527 822 3247

1887 -0.84 -146.0 151.6 -7.8 236 1892 0.10 2.33 0.00 0.000 6 0.090 0.069 2478 2235 3246

2220 -0.76 -146.0 181.8 -9.4 252 2222 0.15 0.00 0.00 0.000 6 0.156 0.000 2518 2235 3246

2529 -0.84 -146.0 204.5 -6.9 267 2533 0.00 2.22 0.00 0.000 4 0.000 0.084 2509 3597 3246

2658 -0.95 -146.0 213.9 -6.8 272 2665 0.12 2.17 0.00 0.000 6 0.087 0.054 2455 2217 3246

2976 -0.81 -146.0 241.1 -8.4 288 2981 0.17 2.35 0.00 0.000 4 0.146 0.086 2496 3609 3246

3055 -0.86 -146.0 246.9 -6.9 291 3061 0.00 2.20 0.00 0.000 6 0.000 0.055 2497 2219 3246

3371 -0.86 -146.0 266.5 -5.8 307 3374 0.00 2.25 0.00 0.000 4 0.000 0.068 2497 813 3246

3471 -0.86 -146.0 273.0 -6.0 311 3475 0.00 2.35 0.00 0.000 6 0.000 0.070 2489 2236 3246

3793 -0.86 -146.0 293.9 -6.6 327 3797 0.00 2.25 0.00 0.000 4 0.000 0.083 2478 3604 3245

3950 -0.86 -146.0 305.0 -6.7 334 3954 0.00 2.17 0.00 0.000 6 0.000 0.055 2479 2228 3246

4284 -0.86 -146.0 328.2 -6.9 350 4285 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2228 3245

4592 -0.86 -146.0 348.5 -6.4 365 4596 0.00 2.30 0.00 0.000 4 0.000 0.082 2468 3597 3245

4732 -0.86 -146.0 358.4 -7.3 371 4737 0.10 2.17 0.00 0.000 6 0.157 0.054 2493 2221 3245

5062 -0.92 -146.0 378.3 -6.2 387 5066 0.00 2.25 0.00 0.000 4 0.000 0.068 2494 814 3245

5135 -0.92 -146.0 383.1 -6.2 390 5138 0.00 2.35 0.00 0.000 6 0.000 0.069 2486 2239 3245

5461 -0.92 -146.0 402.8 -5.8 405 5465 0.00 2.22 0.00 0.000 4 0.000 0.081 2476 3596 3245

5545 -0.92 -146.0 408.5 -7.2 406 5551 0.00 2.17 0.00 0.000 6 0.000 0.053 2475 2215 3245

5876 -0.92 -146.0 430.5 -6.7 415 5880 0.00 2.22 0.00 0.000 4 0.000 0.066 2476 818 3245

6012 -0.92 -146.0 440.2 -7.1 418 6016 0.00 2.33 0.00 0.000 6 0.000 0.068 2466 2242 3245

6342 -0.92 -146.0 461.5 -6.3 426 6346 0.00 2.22 0.00 0.000 4 0.000 0.081 2455 3601 3245

6443 -0.92 -146.0 468.3 -6.6 428 6447 0.10 2.17 0.00 0.000 6 0.160 0.052 2480 2216 3246

6765 -0.92 -146.0 484.4 -5.0 436 6769 0.00 2.22 0.00 0.000 4 0.000 0.065 2481 820 3246

6916 -0.92 -146.0 493.1 -5.3 439 6920 0.00 2.33 0.00 0.000 6 0.000 0.066 2473 2235 3246

7264 -0.92 -146.0 512.3 -5.6 448 7265 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2235 3246

7588 -0.92 -146.0 529.3 -5.2 456 7592 0.00 2.30 0.00 0.000 4 0.000 0.064 2473 813 3247

7679 -0.88 -146.0 534.1 -5.4 458 7684 0.10 2.33 0.00 0.000 6 0.142 0.066 2489 2234 3246

8004 -0.96 -146.0 547.7 -4.3 466 8008 0.00 2.22 0.00 0.000 4 0.000 0.078 2481 3597 3247

8072 -1.04 -146.0 551.2 -5.3 467 8076 0.12 2.15 0.00 0.000 6 0.084 0.051 2431 2225 3247

8421 -0.89 -146.0 572.5 -6.4 476 8422 0.20 0.00 0.00 0.000 6 0.138 0.000 2489 2225 3247

8745 -0.98 -146.0 586.9 -4.4 484 8747 0.10 0.00 0.00 0.000 6 0.094 0.000 2448 2225 3248

9070 -0.91 -146.0 605.4 -5.7 492 9072 0.12 0.00 0.00 0.000 6 0.156 0.000 2481 2225 3248

9395 -0.98 -146.0 621.2 -4.8 500 9400 0.00 2.22 0.00 0.000 4 0.000 0.064 2481 820 3249

9491 -1.43 -146.0 624.8 0.5 502 9496 0.32 2.33 0.00 0.000 6 0.060 0.064 2345 2242 3249

9604 end dive: NO_VERTICAL_VELOCITY

state 9604 begin apogee

9611 -0.31 0.0 624.7 0.0 505 9740 0.82 0.00 126.05 1.256 6 0.112 0.000 2613 1740 2650

9741 end apogee: CONTROL_FINISHED_OK

state 9741 begin climb

9744 0.99 146.0 624.3 0.0 508 9886 0.88 2.65 132.50 1.175 4 0.100 0.067 2902 334 2054

10006 0.76 146.0 597.7 12.4 514 10011 0.22 2.47 0.00 0.000 6 0.133 0.057 2841 1750 2050

10330 0.76 146.0 571.5 7.8 522 10333 0.00 2.35 0.00 0.000 4 0.000 0.071 2841 3162 2047

10369 0.62 146.0 568.1 8.2 522 10376 0.15 2.35 0.00 0.000 6 0.133 0.053 2808 1724 2046

10701 0.78 187.2 548.2 5.7 531 10744 0.15 2.42 35.65 1.167 4 0.071 0.069 2873 3155 1885

10778 0.52 187.2 541.2 10.8 532 10783 0.32 2.33 0.00 0.000 6 0.133 0.052 2789 1730 1883

11109 1.04 187.2 519.8 7.1 540 11114 0.32 2.38 0.00 0.000 4 0.078 0.068 2909 3158 1879

11187 0.63 187.2 511.1 14.1 541 11194 0.35 2.28 0.00 0.000 6 0.141 0.053 2817 1736 1879

11520 0.75 187.2 486.2 7.4 550 11521 0.10 0.00 0.00 0.000 6 0.081 0.000 2865 1735 1878

11844 0.66 187.2 451.7 10.7 558 11846 0.15 0.00 0.00 0.000 6 0.126 0.000 2821 1735 1878

12169 0.76 187.2 427.0 7.4 566 12173 0.10 2.30 0.00 0.000 4 0.082 0.067 2876 326 1878

12179 0.83 187.2 426.2 7.4 566 12183 0.00 2.30 0.00 0.000 6 0.000 0.056 2876 1750 1879

12498 0.72 187.2 393.0 10.5 575 12500 0.15 0.00 0.00 0.000 6 0.134 0.000 2832 1749 1878

12809 0.82 187.2 367.8 7.9 590 12813 0.10 2.28 0.00 0.000 4 0.083 0.071 2878 3157 1877

12819 0.86 187.2 366.9 7.6 590 12823 0.00 2.28 0.00 0.000 6 0.000 0.052 2888 1727 1877

13141 0.72 187.2 333.7 10.0 606 13145 0.20 2.35 0.00 0.000 4 0.131 0.069 2823 3151 1877

13158 0.65 187.2 332.3 8.8 607 13162 0.00 2.22 0.00 0.000 6 0.000 0.053 2830 1736 1878

13491 0.83 233.5 312.4 5.5 623 13537 0.10 2.42 39.08 1.065 4 0.084 0.071 2882 3154 1698

13543 0.75 233.5 308.6 7.1 625 13548 0.17 2.30 0.00 0.000 6 0.130 0.053 2842 1731 1697

13859 0.95 277.7 290.6 5.6 640 13902 0.15 0.00 40.25 1.034 6 0.072 0.000 2906 1731 1517

14209 0.84 277.7 255.9 9.7 657 14211 0.17 0.00 0.00 0.000 6 0.129 0.000 2855 1731 1509

14518 1.04 316.6 238.9 5.8 672 14558 0.17 0.00 34.05 1.014 6 0.071 0.000 2927 1731 1359

14868 0.90 316.6 199.2 11.5 689 14870 0.20 0.00 0.00 0.000 6 0.131 0.000 2869 1731 1351

15176 1.05 316.6 174.4 7.3 704 15178 0.15 0.00 0.00 0.000 6 0.073 0.000 2933 1731 1347

15486 0.91 316.6 137.6 11.7 719 15490 0.20 2.30 0.00 0.000 4 0.130 0.071 2877 322 1346

15496 0.81 316.6 136.4 11.6 719 15501 0.00 2.33 0.00 0.000 6 0.000 0.058 2877 1750 1346

15818 0.97 316.6 112.5 7.8 735 15819 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 1749 1345

16141 1.18 334.1 89.0 6.5 768 16160 0.20 2.35 14.05 0.938 4 0.067 0.076 2965 3159 1288

16178 1.11 334.1 84.9 9.8 774 16186 0.20 2.30 0.00 0.000 6 0.150 0.058 2920 1729 1288

16523 1.11 334.1 53.6 9.7 835 16529 0.00 2.30 0.00 0.000 4 0.000 0.073 2928 326 1285

16570 1.18 334.1 49.2 9.8 843 16576 0.00 2.33 0.00 0.000 6 0.000 0.062 2929 1744 1285

16913 1.18 334.1 19.1 7.8 904 16919 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 1744 1284

17059 end climb: FINISH_DEPTH_REACHED

state 17059 begin subsurface finish

17066 0.10 81.3 6.6 -9.1 930 17108 0.70 2.33 -34.10 0.000 4 0.115 0.091 2687 3157 2320

17108 end subsurface finish: CONTROL_FINISHED_OK

state 17109 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	332	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	3	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	1070	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	7	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	1.75	FILEMGR	2	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	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	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-118268.59	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	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	2680	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	16	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	042504,6629.271,-5906.320,0,4085.8,0,-37.9	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.179,0.149
_SM_DEPTHo	3.45	KALMAN_X	159436.4,-13282.3,23315.9,-235033.5,8707.6
_SM_ANGLEo	-2.9	KALMAN_Y	-269375.2,15752.2,-12750.7,220691.1,-42367.5
GPS2	042504,6629.271,-5906.320,0,4085.8,0,-37.9	MHEAD_RNG_PITCHd_Wd	347.7,74643,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	754

FREEZE	6.63,-1.786,-1.774	TCM_TEMP	14.90
FINISH1	6.6,1.025995,81	XPDR_PINGS	32
FINISH2	5.4	_24V_AH	22.1,57.975
RAFOS_CLK	773	_10V_AH	10.5,26.559
RAFOS	0,1227168276,8.083333,8.076667,91,65,60,58,54,50,382,198,155,213,170,138	DATA_FILE_SIZE	31582,937
RAFOS_FIX	6640.460449,-5954.385742,201108,080827,5,100,2.82	CAP_FILE_SIZE	131567,0
IRIDIUM_FIX	6614.97,-5912.45,100298,030321	CFSIZE	260165632,229167104
TT8_MAMPS	0.026078	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1812	SOUNDSPEED	1447.2
INTERNAL_PRESSURE	9.89296	GPS	201108,042504,6629.271,-5906.320,0,4085.8,0,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	160	32.68	SBE_CT	656	24	348.05
Roll_motor	137	91	276.95	SBE_O2	0	0	0.00
VBD_pump_during_apogee	421	1255	11699.38	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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	8	420	74.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1783	19	372.99
LPSleep	12710	2	308.29
TT8_Active	533	19	111.58
TT8_Sampling	1933	39	810.48
TT8_CF8	221	45	106.78
TT8_Kalman	33	81	28.70
Analog_circuits	1573	12	198.27
GPS_charging	0	0	0.00
Compass	1915	8	160.88
RAFOS	1800	1	28.35
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	-0.99	-146.0	0.0	0.0	0	64	0.00	0.00	-45.42	0.000	2	0.000	0.000	2692	3165	3241
67	-0.99	-146.0	3.2	-2.3	8	75	0.65	3.83	0.00	0.000	4	0.081	0.060	2455	809	3244
177	-0.71	-146.0	15.8	-12.4	27	184	0.30	2.35	0.00	0.000	6	0.151	0.068	2530	2240	3246
521	-0.71	-146.0	46.0	-9.0	88	527	0.00	2.22	0.00	0.000	4	0.000	0.082	2521	3599	3247
641	-0.71	-146.0	56.9	-9.3	109	647	0.00	2.17	0.00	0.000	6	0.000	0.054	2521	2218	3247
984	-0.71	-146.0	85.4	-8.0	170	991	0.00	2.22	0.00	0.000	4	0.000	0.067	2521	821	3247
1054	-0.71	-146.0	91.2	-8.8	182	1060	0.00	2.33	0.00	0.000	6	0.000	0.070	2512	2233	3247
1396	-0.71	-146.0	117.3	-7.1	213	1400	0.00	2.25	0.00	0.000	4	0.000	0.086	2501	3597	3247
1503	-0.71	-146.0	125.9	-8.1	217	1510	0.10	2.17	0.00	0.000	6	0.157	0.054	2526	2217	3247
1819	-0.79	-146.0	146.6	-6.2	233	1823	0.00	2.22	0.00	0.000	4	0.000	0.067	2527	822	3247
1887	-0.84	-146.0	151.6	-7.8	236	1892	0.10	2.33	0.00	0.000	6	0.090	0.069	2478	2235	3246
2220	-0.76	-146.0	181.8	-9.4	252	2222	0.15	0.00	0.00	0.000	6	0.156	0.000	2518	2235	3246
2529	-0.84	-146.0	204.5	-6.9	267	2533	0.00	2.22	0.00	0.000	4	0.000	0.084	2509	3597	3246
2658	-0.95	-146.0	213.9	-6.8	272	2665	0.12	2.17	0.00	0.000	6	0.087	0.054	2455	2217	3246
2976	-0.81	-146.0	241.1	-8.4	288	2981	0.17	2.35	0.00	0.000	4	0.146	0.086	2496	3609	3246
3055	-0.86	-146.0	246.9	-6.9	291	3061	0.00	2.20	0.00	0.000	6	0.000	0.055	2497	2219	3246
3371	-0.86	-146.0	266.5	-5.8	307	3374	0.00	2.25	0.00	0.000	4	0.000	0.068	2497	813	3246
3471	-0.86	-146.0	273.0	-6.0	311	3475	0.00	2.35	0.00	0.000	6	0.000	0.070	2489	2236	3246
3793	-0.86	-146.0	293.9	-6.6	327	3797	0.00	2.25	0.00	0.000	4	0.000	0.083	2478	3604	3245
3950	-0.86	-146.0	305.0	-6.7	334	3954	0.00	2.17	0.00	0.000	6	0.000	0.055	2479	2228	3246
4284	-0.86	-146.0	328.2	-6.9	350	4285	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2228	3245
4592	-0.86	-146.0	348.5	-6.4	365	4596	0.00	2.30	0.00	0.000	4	0.000	0.082	2468	3597	3245
4732	-0.86	-146.0	358.4	-7.3	371	4737	0.10	2.17	0.00	0.000	6	0.157	0.054	2493	2221	3245
5062	-0.92	-146.0	378.3	-6.2	387	5066	0.00	2.25	0.00	0.000	4	0.000	0.068	2494	814	3245
5135	-0.92	-146.0	383.1	-6.2	390	5138	0.00	2.35	0.00	0.000	6	0.000	0.069	2486	2239	3245
5461	-0.92	-146.0	402.8	-5.8	405	5465	0.00	2.22	0.00	0.000	4	0.000	0.081	2476	3596	3245
5545	-0.92	-146.0	408.5	-7.2	406	5551	0.00	2.17	0.00	0.000	6	0.000	0.053	2475	2215	3245
5876	-0.92	-146.0	430.5	-6.7	415	5880	0.00	2.22	0.00	0.000	4	0.000	0.066	2476	818	3245
6012	-0.92	-146.0	440.2	-7.1	418	6016	0.00	2.33	0.00	0.000	6	0.000	0.068	2466	2242	3245
6342	-0.92	-146.0	461.5	-6.3	426	6346	0.00	2.22	0.00	0.000	4	0.000	0.081	2455	3601	3245
6443	-0.92	-146.0	468.3	-6.6	428	6447	0.10	2.17	0.00	0.000	6	0.160	0.052	2480	2216	3246
6765	-0.92	-146.0	484.4	-5.0	436	6769	0.00	2.22	0.00	0.000	4	0.000	0.065	2481	820	3246
6916	-0.92	-146.0	493.1	-5.3	439	6920	0.00	2.33	0.00	0.000	6	0.000	0.066	2473	2235	3246
7264	-0.92	-146.0	512.3	-5.6	448	7265	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2235	3246
7588	-0.92	-146.0	529.3	-5.2	456	7592	0.00	2.30	0.00	0.000	4	0.000	0.064	2473	813	3247
7679	-0.88	-146.0	534.1	-5.4	458	7684	0.10	2.33	0.00	0.000	6	0.142	0.066	2489	2234	3246
8004	-0.96	-146.0	547.7	-4.3	466	8008	0.00	2.22	0.00	0.000	4	0.000	0.078	2481	3597	3247
8072	-1.04	-146.0	551.2	-5.3	467	8076	0.12	2.15	0.00	0.000	6	0.084	0.051	2431	2225	3247
8421	-0.89	-146.0	572.5	-6.4	476	8422	0.20	0.00	0.00	0.000	6	0.138	0.000	2489	2225	3247
8745	-0.98	-146.0	586.9	-4.4	484	8747	0.10	0.00	0.00	0.000	6	0.094	0.000	2448	2225	3248
9070	-0.91	-146.0	605.4	-5.7	492	9072	0.12	0.00	0.00	0.000	6	0.156	0.000	2481	2225	3248
9395	-0.98	-146.0	621.2	-4.8	500	9400	0.00	2.22	0.00	0.000	4	0.000	0.064	2481	820	3249
9491	-1.43	-146.0	624.8	0.5	502	9496	0.32	2.33	0.00	0.000	6	0.060	0.064	2345	2242	3249
9604	end dive: NO_VERTICAL_VELOCITY
state	9604	begin apogee
9611	-0.31	0.0	624.7	0.0	505	9740	0.82	0.00	126.05	1.256	6	0.112	0.000	2613	1740	2650
9741	end apogee: CONTROL_FINISHED_OK
state	9741	begin climb
9744	0.99	146.0	624.3	0.0	508	9886	0.88	2.65	132.50	1.175	4	0.100	0.067	2902	334	2054
10006	0.76	146.0	597.7	12.4	514	10011	0.22	2.47	0.00	0.000	6	0.133	0.057	2841	1750	2050
10330	0.76	146.0	571.5	7.8	522	10333	0.00	2.35	0.00	0.000	4	0.000	0.071	2841	3162	2047
10369	0.62	146.0	568.1	8.2	522	10376	0.15	2.35	0.00	0.000	6	0.133	0.053	2808	1724	2046
10701	0.78	187.2	548.2	5.7	531	10744	0.15	2.42	35.65	1.167	4	0.071	0.069	2873	3155	1885
10778	0.52	187.2	541.2	10.8	532	10783	0.32	2.33	0.00	0.000	6	0.133	0.052	2789	1730	1883
11109	1.04	187.2	519.8	7.1	540	11114	0.32	2.38	0.00	0.000	4	0.078	0.068	2909	3158	1879
11187	0.63	187.2	511.1	14.1	541	11194	0.35	2.28	0.00	0.000	6	0.141	0.053	2817	1736	1879
11520	0.75	187.2	486.2	7.4	550	11521	0.10	0.00	0.00	0.000	6	0.081	0.000	2865	1735	1878
11844	0.66	187.2	451.7	10.7	558	11846	0.15	0.00	0.00	0.000	6	0.126	0.000	2821	1735	1878
12169	0.76	187.2	427.0	7.4	566	12173	0.10	2.30	0.00	0.000	4	0.082	0.067	2876	326	1878
12179	0.83	187.2	426.2	7.4	566	12183	0.00	2.30	0.00	0.000	6	0.000	0.056	2876	1750	1879
12498	0.72	187.2	393.0	10.5	575	12500	0.15	0.00	0.00	0.000	6	0.134	0.000	2832	1749	1878
12809	0.82	187.2	367.8	7.9	590	12813	0.10	2.28	0.00	0.000	4	0.083	0.071	2878	3157	1877
12819	0.86	187.2	366.9	7.6	590	12823	0.00	2.28	0.00	0.000	6	0.000	0.052	2888	1727	1877
13141	0.72	187.2	333.7	10.0	606	13145	0.20	2.35	0.00	0.000	4	0.131	0.069	2823	3151	1877
13158	0.65	187.2	332.3	8.8	607	13162	0.00	2.22	0.00	0.000	6	0.000	0.053	2830	1736	1878
13491	0.83	233.5	312.4	5.5	623	13537	0.10	2.42	39.08	1.065	4	0.084	0.071	2882	3154	1698
13543	0.75	233.5	308.6	7.1	625	13548	0.17	2.30	0.00	0.000	6	0.130	0.053	2842	1731	1697
13859	0.95	277.7	290.6	5.6	640	13902	0.15	0.00	40.25	1.034	6	0.072	0.000	2906	1731	1517
14209	0.84	277.7	255.9	9.7	657	14211	0.17	0.00	0.00	0.000	6	0.129	0.000	2855	1731	1509
14518	1.04	316.6	238.9	5.8	672	14558	0.17	0.00	34.05	1.014	6	0.071	0.000	2927	1731	1359
14868	0.90	316.6	199.2	11.5	689	14870	0.20	0.00	0.00	0.000	6	0.131	0.000	2869	1731	1351
15176	1.05	316.6	174.4	7.3	704	15178	0.15	0.00	0.00	0.000	6	0.073	0.000	2933	1731	1347
15486	0.91	316.6	137.6	11.7	719	15490	0.20	2.30	0.00	0.000	4	0.130	0.071	2877	322	1346
15496	0.81	316.6	136.4	11.6	719	15501	0.00	2.33	0.00	0.000	6	0.000	0.058	2877	1750	1346
15818	0.97	316.6	112.5	7.8	735	15819	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	1749	1345
16141	1.18	334.1	89.0	6.5	768	16160	0.20	2.35	14.05	0.938	4	0.067	0.076	2965	3159	1288
16178	1.11	334.1	84.9	9.8	774	16186	0.20	2.30	0.00	0.000	6	0.150	0.058	2920	1729	1288
16523	1.11	334.1	53.6	9.7	835	16529	0.00	2.30	0.00	0.000	4	0.000	0.073	2928	326	1285
16570	1.18	334.1	49.2	9.8	843	16576	0.00	2.33	0.00	0.000	6	0.000	0.062	2929	1744	1285
16913	1.18	334.1	19.1	7.8	904	16919	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	1744	1284
17059	end climb: FINISH_DEPTH_REACHED
state	17059	begin subsurface finish
17066	0.10	81.3	6.6	-9.1	930	17108	0.70	2.33	-34.10	0.000	4	0.115	0.091	2687	3157	2320
17108	end subsurface finish: CONTROL_FINISHED_OK
state	17109	begin surface