Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 333 * 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 333 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 23 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 23 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 333 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 -0.226,0.060

_SM_DEPTHo 4.53 KALMAN_X 168717.3,11586.0,-6564.6,-238907.4,12603.5

_SM_ANGLEo -3.9 KALMAN_Y -252140.2,-18290.2,58.0,224125.9,1749.1

GPS2 042504,6629.271,-5906.320,0,4085.8,0,-37.9 MHEAD_RNG_PITCHd_Wd 322.8,74643,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 754

Post-dive calculations and measurements:

FREEZE 2.00,-1.757,-1.774 TCM_TEMP 15.10

FINISH 2.0,1.026052 XPDR_PINGS 28

SM_CCo 16181,0.00,0.000,0,0,1512,279.15 _24V_AH 22.1,58.098

SM_GC 2.83,7.20,0.00,0.00,0.072,0.000,0.000,319,2237,1512,-10.70,0.23,279.15 _10V_AH 10.5,26.619

RAFOS_CLK 737 DATA_FILE_SIZE 31562,952

RAFOS 0,1227182643,12.083333,12.067500,136,58,58,57,56,52,575,221,191,158,206,145 CAP_FILE_SIZE 135612,0

RAFOS_FIX 6639.488281,-5958.256348,201108,121220,4,108,1.49 CFSIZE 260165632,229101568

IRIDIUM_FIX 6614.97,-5912.45,100298,030321 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1446.1

HUMID 1810 GPS 201108,122120,6639.488,-5958.256,0,4108.0,0,-37.9

INTERNAL_PRESSURE 9.83436

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 168 59.20 SBE_CT 667 24 354.20

Roll_motor 135 131 394.98 SBE_O2 0 0 0.00

VBD_pump_during_apogee 376 1232 10261.90 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 7 420 64.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1832 19 383.34

LPSleep 11796 2 286.13

TT8_Active 478 19 100.19

TT8_Sampling 1912 39 801.79

TT8_CF8 235 45 113.45

TT8_Kalman 33 81 28.68

Analog_circuits 1510 12 190.33

GPS_charging 0 0 0.00

Compass 1899 8 159.52

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 63 0.00 0.00 -44.95 0.000 2 0.000 0.000 2687 3157 3214

66 -0.99 -146.0 3.0 -1.7 8 73 0.62 0.75 -1.35 0.000 4 0.078 0.132 2457 3599 3247

271 -0.77 -146.0 26.4 -12.0 44 278 0.20 2.17 0.00 0.000 6 0.156 0.055 2511 2220 3250

615 -0.77 -146.0 55.1 -7.4 105 622 0.00 2.25 0.00 0.000 4 0.000 0.068 2512 810 3251

690 -0.72 -146.0 60.8 -7.5 118 697 0.00 2.35 0.00 0.000 6 0.000 0.068 2504 2240 3251

1035 -0.72 -146.0 88.2 -8.0 179 1040 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2240 3251

1375 -0.72 -146.0 115.2 -8.3 215 1379 0.00 2.22 0.00 0.000 4 0.000 0.084 2494 3598 3250

1448 -0.72 -146.0 121.8 -9.2 218 1452 0.12 2.15 0.00 0.000 6 0.153 0.055 2526 2227 3250

1774 -0.81 -146.0 146.7 -7.7 234 1778 0.10 2.25 0.00 0.000 4 0.097 0.067 2484 823 3251

1891 -0.71 -146.0 157.8 -9.7 239 1896 0.17 2.33 0.00 0.000 6 0.143 0.070 2523 2232 3251

2213 -0.81 -146.0 179.2 -6.1 255 2217 0.00 2.25 0.00 0.000 4 0.000 0.096 2515 3595 3251

2269 -0.91 -146.0 183.0 -6.7 257 2273 0.12 2.17 0.00 0.000 6 0.088 0.054 2462 2214 3250

2590 -0.76 -146.0 209.5 -7.7 273 2595 0.20 2.25 0.00 0.000 4 0.145 0.067 2526 815 3251

2687 -0.86 -146.0 215.2 -5.5 277 2691 0.10 2.35 0.00 0.000 6 0.089 0.069 2476 2240 3250

3003 -0.80 -146.0 236.7 -7.3 292 3007 0.12 2.25 0.00 0.000 4 0.155 0.088 2500 3596 3250

3098 -0.87 -146.0 243.1 -6.6 296 3102 0.00 2.17 0.00 0.000 6 0.000 0.055 2500 2221 3250

3420 -0.87 -146.0 263.2 -6.4 312 3423 0.00 2.25 0.00 0.000 4 0.000 0.069 2499 816 3250

3503 -0.87 -146.0 269.2 -6.8 315 3510 0.00 2.35 0.00 0.000 6 0.000 0.070 2490 2238 3250

3819 -0.87 -146.0 292.0 -7.0 331 3820 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2238 3250

4129 -0.87 -146.0 310.3 -5.4 346 4133 0.00 2.33 0.00 0.000 4 0.000 0.068 2490 817 3250

4197 -0.87 -146.0 314.1 -5.9 349 4201 0.00 2.35 0.00 0.000 6 0.000 0.071 2480 2238 3250

4519 -0.87 -146.0 329.7 -5.0 365 4522 0.00 2.25 0.00 0.000 4 0.000 0.084 2470 3606 3250

4625 -0.87 -146.0 335.8 -5.8 369 4632 0.08 2.20 0.00 0.000 6 0.169 0.056 2488 2219 3250

4943 -0.87 -146.0 350.4 -4.8 385 4946 0.00 2.25 0.00 0.000 4 0.000 0.069 2488 815 3250

5056 -0.87 -146.0 356.9 -6.0 390 5060 0.00 2.35 0.00 0.000 6 0.000 0.070 2481 2240 3249

5389 -0.87 -146.0 377.4 -6.7 406 5393 0.00 2.33 0.00 0.000 4 0.000 0.068 2480 818 3250

5451 -0.87 -146.0 382.2 -8.1 409 5455 0.00 2.35 0.00 0.000 6 0.000 0.071 2470 2240 3250

5782 -0.87 -146.0 408.1 -8.0 423 5785 0.00 2.25 0.00 0.000 4 0.000 0.082 2460 3610 3250

5860 -0.82 -146.0 415.0 -9.3 424 5864 0.15 2.20 0.00 0.000 6 0.154 0.054 2499 2219 3250

6197 -0.93 -146.0 436.0 -5.6 433 6199 0.10 0.00 0.00 0.000 6 0.097 0.000 2458 2219 3250

6522 -0.88 -146.0 454.7 -5.7 441 6527 0.12 2.33 0.00 0.000 4 0.154 0.079 2483 3606 3250

6629 -0.97 -146.0 460.5 -5.0 443 6633 0.00 2.17 0.00 0.000 6 0.000 0.054 2483 2226 3250

6978 -1.02 -146.0 478.9 -5.5 452 6982 0.10 2.25 0.00 0.000 4 0.096 0.066 2440 821 3251

7055 -0.86 -146.0 484.8 -7.5 453 7062 0.22 2.33 0.00 0.000 6 0.137 0.067 2492 2236 3250

7387 -0.95 -146.0 501.9 -4.9 462 7391 0.00 2.22 0.00 0.000 4 0.000 0.079 2484 3597 3251

7466 -1.04 -146.0 506.2 -5.5 463 7471 0.12 2.15 0.00 0.000 6 0.084 0.051 2431 2226 3251

7803 -0.89 -146.0 528.8 -6.9 472 7808 0.20 2.25 0.00 0.000 4 0.140 0.065 2501 820 3251

7910 -0.97 -146.0 534.6 -5.4 474 7915 0.10 2.30 0.00 0.000 6 0.086 0.065 2450 2234 3252

8223 -0.91 -146.0 552.8 -5.7 482 8228 0.12 2.22 0.00 0.000 4 0.153 0.077 2473 3606 3252

8354 -0.96 -146.0 559.9 -6.8 484 8360 0.00 2.17 0.00 0.000 6 0.000 0.051 2473 2219 3252

8685 -0.96 -146.0 579.3 -5.1 493 8689 0.00 2.22 0.00 0.000 4 0.000 0.064 2473 816 3253

8918 end dive: NO_VERTICAL_VELOCITY

state 8919 begin apogee

8927 -0.31 0.0 584.6 0.0 498 9056 0.43 0.00 126.28 1.233 6 0.112 0.000 2610 1747 2650

9057 end apogee: CONTROL_FINISHED_OK

state 9057 begin climb

9060 0.99 146.0 584.1 0.0 501 9200 0.90 0.00 132.15 1.151 6 0.087 0.000 2899 1747 2053

9527 0.73 146.0 537.1 10.5 513 9532 0.20 2.38 0.00 0.000 4 0.131 0.071 2839 3151 2047

9543 0.53 146.0 535.2 10.6 513 9548 0.20 2.35 0.00 0.000 6 0.127 0.052 2791 1734 2046

9886 0.76 201.3 518.0 5.2 522 9941 0.17 2.50 47.33 1.145 4 0.066 0.070 2865 3154 1828

9948 0.64 201.3 512.8 8.7 523 9953 0.22 2.35 0.00 0.000 6 0.128 0.052 2812 1734 1826

10290 0.82 224.7 490.9 6.3 532 10313 0.15 0.00 20.77 1.101 6 0.068 0.000 2876 1734 1734

10615 0.69 224.7 457.1 10.6 540 10620 0.17 2.35 0.00 0.000 4 0.125 0.070 2825 3155 1730

10626 0.57 224.7 455.9 10.6 540 10631 0.12 2.28 0.00 0.000 6 0.133 0.053 2798 1730 1729

10975 1.19 224.7 426.6 9.9 549 10979 0.40 2.28 0.00 0.000 4 0.091 0.067 2940 330 1727

11002 1.43 224.7 423.6 10.4 549 11007 0.17 2.30 0.00 0.000 6 0.076 0.058 3009 1748 1728

11317 0.84 224.7 361.1 20.9 561 11322 0.50 2.28 0.00 0.000 4 0.157 0.071 2860 3155 1728

11395 0.71 224.7 350.8 10.8 564 11402 0.12 2.25 0.00 0.000 6 0.134 0.054 2832 1738 1726

11711 0.85 224.7 329.1 7.1 580 11713 0.12 0.00 0.00 0.000 6 0.074 0.000 2888 1737 1727

12020 0.77 224.7 297.3 10.0 595 12025 0.15 2.35 0.00 0.000 4 0.126 0.070 2844 3158 1727

12041 0.77 224.7 295.1 9.1 596 12046 0.00 2.25 0.00 0.000 6 0.000 0.054 2851 1733 1726

12369 0.88 224.7 271.4 7.1 612 12370 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 1733 1727

12680 1.01 239.7 251.1 6.5 627 12702 0.15 2.38 13.65 0.993 4 0.074 0.072 2918 3146 1672

12709 0.92 239.7 248.5 8.7 628 12713 0.17 2.25 0.00 0.000 6 0.143 0.054 2879 1734 1671

13031 0.92 239.7 223.5 7.3 644 13032 0.00 0.00 0.00 0.000 6 0.000 0.000 2879 1734 1670

13338 0.93 247.5 202.2 6.8 659 13348 0.00 0.00 7.72 0.909 6 0.000 0.000 2878 1734 1641

13649 0.98 247.5 180.1 7.2 674 13652 0.00 2.30 0.00 0.000 4 0.000 0.072 2885 327 1640

13676 1.06 247.5 178.0 7.4 675 13681 0.10 2.33 0.00 0.000 6 0.084 0.061 2934 1750 1640

14003 0.91 247.5 148.0 8.8 691 14008 0.20 2.30 0.00 0.000 4 0.136 0.076 2871 3154 1639

14058 0.91 247.5 143.6 7.2 693 14065 0.00 2.28 0.00 0.000 6 0.000 0.058 2878 1733 1638

14374 1.00 247.5 120.6 7.6 709 14375 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 1733 1638

14684 1.11 263.9 99.8 6.5 724 14705 0.15 2.38 15.57 0.951 4 0.075 0.074 2954 319 1575

14729 1.03 263.9 95.6 8.5 731 14736 0.20 2.35 0.00 0.000 6 0.135 0.062 2897 1743 1574

15074 1.10 263.9 70.1 7.3 792 15081 0.10 2.33 0.00 0.000 4 0.084 0.077 2941 3153 1571

15110 1.00 263.9 66.7 9.0 798 15117 0.20 2.30 0.00 0.000 6 0.140 0.059 2895 1728 1571

15456 1.12 277.6 42.9 6.6 859 15474 0.10 0.00 13.25 0.911 6 0.087 0.000 2941 1728 1518

15812 1.02 277.6 12.4 9.0 922 15818 0.15 0.00 0.00 0.000 6 0.137 0.000 2898 1728 1514

15943 end climb: SURFACE_DEPTH_REACHED

state 15943 begin surface coast

15982 end surface coast: CONTROL_FINISHED_OK

state 15982 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	333	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	23	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	-0.226,0.060
_SM_DEPTHo	4.53	KALMAN_X	168717.3,11586.0,-6564.6,-238907.4,12603.5
_SM_ANGLEo	-3.9	KALMAN_Y	-252140.2,-18290.2,58.0,224125.9,1749.1
GPS2	042504,6629.271,-5906.320,0,4085.8,0,-37.9	MHEAD_RNG_PITCHd_Wd	322.8,74643,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	754

FREEZE	2.00,-1.757,-1.774	TCM_TEMP	15.10
FINISH	2.0,1.026052	XPDR_PINGS	28
SM_CCo	16181,0.00,0.000,0,0,1512,279.15	_24V_AH	22.1,58.098
SM_GC	2.83,7.20,0.00,0.00,0.072,0.000,0.000,319,2237,1512,-10.70,0.23,279.15	_10V_AH	10.5,26.619
RAFOS_CLK	737	DATA_FILE_SIZE	31562,952
RAFOS	0,1227182643,12.083333,12.067500,136,58,58,57,56,52,575,221,191,158,206,145	CAP_FILE_SIZE	135612,0
RAFOS_FIX	6639.488281,-5958.256348,201108,121220,4,108,1.49	CFSIZE	260165632,229101568
IRIDIUM_FIX	6614.97,-5912.45,100298,030321	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1446.1
HUMID	1810	GPS	201108,122120,6639.488,-5958.256,0,4108.0,0,-37.9
INTERNAL_PRESSURE	9.83436

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	168	59.20	SBE_CT	667	24	354.20
Roll_motor	135	131	394.98	SBE_O2	0	0	0.00
VBD_pump_during_apogee	376	1232	10261.90	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	7	420	64.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1832	19	383.34
LPSleep	11796	2	286.13
TT8_Active	478	19	100.19
TT8_Sampling	1912	39	801.79
TT8_CF8	235	45	113.45
TT8_Kalman	33	81	28.68
Analog_circuits	1510	12	190.33
GPS_charging	0	0	0.00
Compass	1899	8	159.52
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	63	0.00	0.00	-44.95	0.000	2	0.000	0.000	2687	3157	3214
66	-0.99	-146.0	3.0	-1.7	8	73	0.62	0.75	-1.35	0.000	4	0.078	0.132	2457	3599	3247
271	-0.77	-146.0	26.4	-12.0	44	278	0.20	2.17	0.00	0.000	6	0.156	0.055	2511	2220	3250
615	-0.77	-146.0	55.1	-7.4	105	622	0.00	2.25	0.00	0.000	4	0.000	0.068	2512	810	3251
690	-0.72	-146.0	60.8	-7.5	118	697	0.00	2.35	0.00	0.000	6	0.000	0.068	2504	2240	3251
1035	-0.72	-146.0	88.2	-8.0	179	1040	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2240	3251
1375	-0.72	-146.0	115.2	-8.3	215	1379	0.00	2.22	0.00	0.000	4	0.000	0.084	2494	3598	3250
1448	-0.72	-146.0	121.8	-9.2	218	1452	0.12	2.15	0.00	0.000	6	0.153	0.055	2526	2227	3250
1774	-0.81	-146.0	146.7	-7.7	234	1778	0.10	2.25	0.00	0.000	4	0.097	0.067	2484	823	3251
1891	-0.71	-146.0	157.8	-9.7	239	1896	0.17	2.33	0.00	0.000	6	0.143	0.070	2523	2232	3251
2213	-0.81	-146.0	179.2	-6.1	255	2217	0.00	2.25	0.00	0.000	4	0.000	0.096	2515	3595	3251
2269	-0.91	-146.0	183.0	-6.7	257	2273	0.12	2.17	0.00	0.000	6	0.088	0.054	2462	2214	3250
2590	-0.76	-146.0	209.5	-7.7	273	2595	0.20	2.25	0.00	0.000	4	0.145	0.067	2526	815	3251
2687	-0.86	-146.0	215.2	-5.5	277	2691	0.10	2.35	0.00	0.000	6	0.089	0.069	2476	2240	3250
3003	-0.80	-146.0	236.7	-7.3	292	3007	0.12	2.25	0.00	0.000	4	0.155	0.088	2500	3596	3250
3098	-0.87	-146.0	243.1	-6.6	296	3102	0.00	2.17	0.00	0.000	6	0.000	0.055	2500	2221	3250
3420	-0.87	-146.0	263.2	-6.4	312	3423	0.00	2.25	0.00	0.000	4	0.000	0.069	2499	816	3250
3503	-0.87	-146.0	269.2	-6.8	315	3510	0.00	2.35	0.00	0.000	6	0.000	0.070	2490	2238	3250
3819	-0.87	-146.0	292.0	-7.0	331	3820	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2238	3250
4129	-0.87	-146.0	310.3	-5.4	346	4133	0.00	2.33	0.00	0.000	4	0.000	0.068	2490	817	3250
4197	-0.87	-146.0	314.1	-5.9	349	4201	0.00	2.35	0.00	0.000	6	0.000	0.071	2480	2238	3250
4519	-0.87	-146.0	329.7	-5.0	365	4522	0.00	2.25	0.00	0.000	4	0.000	0.084	2470	3606	3250
4625	-0.87	-146.0	335.8	-5.8	369	4632	0.08	2.20	0.00	0.000	6	0.169	0.056	2488	2219	3250
4943	-0.87	-146.0	350.4	-4.8	385	4946	0.00	2.25	0.00	0.000	4	0.000	0.069	2488	815	3250
5056	-0.87	-146.0	356.9	-6.0	390	5060	0.00	2.35	0.00	0.000	6	0.000	0.070	2481	2240	3249
5389	-0.87	-146.0	377.4	-6.7	406	5393	0.00	2.33	0.00	0.000	4	0.000	0.068	2480	818	3250
5451	-0.87	-146.0	382.2	-8.1	409	5455	0.00	2.35	0.00	0.000	6	0.000	0.071	2470	2240	3250
5782	-0.87	-146.0	408.1	-8.0	423	5785	0.00	2.25	0.00	0.000	4	0.000	0.082	2460	3610	3250
5860	-0.82	-146.0	415.0	-9.3	424	5864	0.15	2.20	0.00	0.000	6	0.154	0.054	2499	2219	3250
6197	-0.93	-146.0	436.0	-5.6	433	6199	0.10	0.00	0.00	0.000	6	0.097	0.000	2458	2219	3250
6522	-0.88	-146.0	454.7	-5.7	441	6527	0.12	2.33	0.00	0.000	4	0.154	0.079	2483	3606	3250
6629	-0.97	-146.0	460.5	-5.0	443	6633	0.00	2.17	0.00	0.000	6	0.000	0.054	2483	2226	3250
6978	-1.02	-146.0	478.9	-5.5	452	6982	0.10	2.25	0.00	0.000	4	0.096	0.066	2440	821	3251
7055	-0.86	-146.0	484.8	-7.5	453	7062	0.22	2.33	0.00	0.000	6	0.137	0.067	2492	2236	3250
7387	-0.95	-146.0	501.9	-4.9	462	7391	0.00	2.22	0.00	0.000	4	0.000	0.079	2484	3597	3251
7466	-1.04	-146.0	506.2	-5.5	463	7471	0.12	2.15	0.00	0.000	6	0.084	0.051	2431	2226	3251
7803	-0.89	-146.0	528.8	-6.9	472	7808	0.20	2.25	0.00	0.000	4	0.140	0.065	2501	820	3251
7910	-0.97	-146.0	534.6	-5.4	474	7915	0.10	2.30	0.00	0.000	6	0.086	0.065	2450	2234	3252
8223	-0.91	-146.0	552.8	-5.7	482	8228	0.12	2.22	0.00	0.000	4	0.153	0.077	2473	3606	3252
8354	-0.96	-146.0	559.9	-6.8	484	8360	0.00	2.17	0.00	0.000	6	0.000	0.051	2473	2219	3252
8685	-0.96	-146.0	579.3	-5.1	493	8689	0.00	2.22	0.00	0.000	4	0.000	0.064	2473	816	3253
8918	end dive: NO_VERTICAL_VELOCITY
state	8919	begin apogee
8927	-0.31	0.0	584.6	0.0	498	9056	0.43	0.00	126.28	1.233	6	0.112	0.000	2610	1747	2650
9057	end apogee: CONTROL_FINISHED_OK
state	9057	begin climb
9060	0.99	146.0	584.1	0.0	501	9200	0.90	0.00	132.15	1.151	6	0.087	0.000	2899	1747	2053
9527	0.73	146.0	537.1	10.5	513	9532	0.20	2.38	0.00	0.000	4	0.131	0.071	2839	3151	2047
9543	0.53	146.0	535.2	10.6	513	9548	0.20	2.35	0.00	0.000	6	0.127	0.052	2791	1734	2046
9886	0.76	201.3	518.0	5.2	522	9941	0.17	2.50	47.33	1.145	4	0.066	0.070	2865	3154	1828
9948	0.64	201.3	512.8	8.7	523	9953	0.22	2.35	0.00	0.000	6	0.128	0.052	2812	1734	1826
10290	0.82	224.7	490.9	6.3	532	10313	0.15	0.00	20.77	1.101	6	0.068	0.000	2876	1734	1734
10615	0.69	224.7	457.1	10.6	540	10620	0.17	2.35	0.00	0.000	4	0.125	0.070	2825	3155	1730
10626	0.57	224.7	455.9	10.6	540	10631	0.12	2.28	0.00	0.000	6	0.133	0.053	2798	1730	1729
10975	1.19	224.7	426.6	9.9	549	10979	0.40	2.28	0.00	0.000	4	0.091	0.067	2940	330	1727
11002	1.43	224.7	423.6	10.4	549	11007	0.17	2.30	0.00	0.000	6	0.076	0.058	3009	1748	1728
11317	0.84	224.7	361.1	20.9	561	11322	0.50	2.28	0.00	0.000	4	0.157	0.071	2860	3155	1728
11395	0.71	224.7	350.8	10.8	564	11402	0.12	2.25	0.00	0.000	6	0.134	0.054	2832	1738	1726
11711	0.85	224.7	329.1	7.1	580	11713	0.12	0.00	0.00	0.000	6	0.074	0.000	2888	1737	1727
12020	0.77	224.7	297.3	10.0	595	12025	0.15	2.35	0.00	0.000	4	0.126	0.070	2844	3158	1727
12041	0.77	224.7	295.1	9.1	596	12046	0.00	2.25	0.00	0.000	6	0.000	0.054	2851	1733	1726
12369	0.88	224.7	271.4	7.1	612	12370	0.00	0.00	0.00	0.000	6	0.000	0.000	2851	1733	1727
12680	1.01	239.7	251.1	6.5	627	12702	0.15	2.38	13.65	0.993	4	0.074	0.072	2918	3146	1672
12709	0.92	239.7	248.5	8.7	628	12713	0.17	2.25	0.00	0.000	6	0.143	0.054	2879	1734	1671
13031	0.92	239.7	223.5	7.3	644	13032	0.00	0.00	0.00	0.000	6	0.000	0.000	2879	1734	1670
13338	0.93	247.5	202.2	6.8	659	13348	0.00	0.00	7.72	0.909	6	0.000	0.000	2878	1734	1641
13649	0.98	247.5	180.1	7.2	674	13652	0.00	2.30	0.00	0.000	4	0.000	0.072	2885	327	1640
13676	1.06	247.5	178.0	7.4	675	13681	0.10	2.33	0.00	0.000	6	0.084	0.061	2934	1750	1640
14003	0.91	247.5	148.0	8.8	691	14008	0.20	2.30	0.00	0.000	4	0.136	0.076	2871	3154	1639
14058	0.91	247.5	143.6	7.2	693	14065	0.00	2.28	0.00	0.000	6	0.000	0.058	2878	1733	1638
14374	1.00	247.5	120.6	7.6	709	14375	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	1733	1638
14684	1.11	263.9	99.8	6.5	724	14705	0.15	2.38	15.57	0.951	4	0.075	0.074	2954	319	1575
14729	1.03	263.9	95.6	8.5	731	14736	0.20	2.35	0.00	0.000	6	0.135	0.062	2897	1743	1574
15074	1.10	263.9	70.1	7.3	792	15081	0.10	2.33	0.00	0.000	4	0.084	0.077	2941	3153	1571
15110	1.00	263.9	66.7	9.0	798	15117	0.20	2.30	0.00	0.000	6	0.140	0.059	2895	1728	1571
15456	1.12	277.6	42.9	6.6	859	15474	0.10	0.00	13.25	0.911	6	0.087	0.000	2941	1728	1518
15812	1.02	277.6	12.4	9.0	922	15818	0.15	0.00	0.00	0.000	6	0.137	0.000	2898	1728	1514
15943	end climb: SURFACE_DEPTH_REACHED
state	15943	begin surface coast
15982	end surface coast: CONTROL_FINISHED_OK
state	15982	begin surface