Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 431 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 431 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -3 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 -120400.71 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 2 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 -120400.71

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 0 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 2 ROLL_MIN 294 USE_BATHY -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 431 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 132037,6611.595,-5700.320,99,1.4,99,-36.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6622.422,-5700.261

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.15 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -64.2 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 132645,6611.623,-5700.261,14,1.5,14,-36.5 MHEAD_RNG_PITCHd_Wd 36.5,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 626

Post-dive calculations and measurements:

FREEZE 1.44,0.569,-1.791 TCM_TEMP 16.60

FINISH 1.4,1.026207 XPDR_PINGS 125

SM_CCo 19245,0.00,0.000,0,0,1522,276.70 _24V_AH 22.2,71.232

SM_GC 2.16,6.95,0.00,0.00,0.048,0.000,0.000,333,2236,1522,-10.69,0.20,276.70 _10V_AH 10.5,32.398

RAFOS_CLK 742 DATA_FILE_SIZE 34644,1044

RAFOS 0,1228665845,16.083334,16.068056,70,61,60,55,51,51,200,171,210,130,159,229 CAP_FILE_SIZE 146958,0

RAFOS_FIX -30536.822266,-740539.000000,071208,040412,2,75,67634.90 CFSIZE 260165632,223391744

IRIDIUM_FIX 6543.17,-5657.00,030398,080856 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TT8_MAMPS 0.026078 SOUNDSPEED 1466.0

HUMID 1788 GPS 071208,184907,6613.841,-5659.267,29,1.0,29,-36.5

INTERNAL_PRESSURE 9.93202

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 237 124.70 SBE_CT 726 24 386.85

Roll_motor 135 79 237.56 SBE_O2 0 0 0.00

VBD_pump_during_apogee 373 1171 9704.16 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 24 103 56.64 nil 0 0 0.00

Iridium_during_connect 33 160 117.41 nil 0 0 0.00

Iridium_during_xfer 170 223 846.23

Transponder_ping 31 420 291.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.14

TT8 1936 19 404.94

LPSleep 14580 2 353.65

TT8_Active 529 19 110.82

TT8_Sampling 1991 39 834.77

TT8_CF8 570 45 275.26

TT8_Kalman 0 81 0.00

Analog_circuits 1578 12 198.92

GPS_charging 0 0 0.00

Compass 1964 8 165.02

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

15 -0.99 -146.0 0.0 0.0 0 80 0.00 0.00 -62.03 0.000 2 0.000 0.000 333 2250 2918

84 -0.99 -146.0 3.2 -2.5 11 109 8.62 2.28 -10.85 0.000 4 0.237 0.079 2454 3592 3247

363 -0.83 -146.0 30.9 -10.9 60 370 0.17 2.15 0.00 0.000 6 0.152 0.044 2501 2215 3251

709 -0.83 -146.0 57.0 -7.1 121 715 0.00 2.28 0.00 0.000 4 0.000 0.067 2493 3603 3251

800 -0.83 -146.0 63.8 -7.4 137 807 0.00 2.12 0.00 0.000 6 0.000 0.044 2493 2219 3251

1145 -0.83 -146.0 86.2 -5.7 198 1152 0.00 2.17 0.00 0.000 4 0.000 0.055 2493 825 3250

1372 -0.83 -146.0 101.0 -5.9 237 1376 0.00 2.25 0.00 0.000 6 0.000 0.057 2484 2230 3250

1706 -0.83 -146.0 119.4 -5.7 253 1710 0.00 2.17 0.00 0.000 4 0.000 0.068 2473 3592 3249

1802 -0.83 -146.0 125.4 -6.1 257 1806 0.10 2.10 0.00 0.000 6 0.143 0.043 2499 2221 3249

2129 -0.88 -146.0 141.9 -5.4 273 2133 0.00 2.17 0.00 0.000 4 0.000 0.054 2500 817 3250

2230 -0.88 -146.0 148.3 -6.4 277 2234 0.00 2.28 0.00 0.000 6 0.000 0.055 2492 2234 3250

2552 -0.88 -146.0 166.1 -4.8 293 2556 0.00 2.17 0.00 0.000 4 0.000 0.068 2481 3593 3250

2676 -0.88 -146.0 173.2 -5.9 298 2680 0.00 2.10 0.00 0.000 6 0.000 0.043 2482 2221 3250

2997 -0.88 -146.0 190.8 -5.6 314 3001 0.00 2.17 0.00 0.000 4 0.000 0.054 2481 817 3250

3115 -0.88 -146.0 198.0 -6.0 319 3119 0.00 2.28 0.00 0.000 6 0.000 0.055 2471 2234 3250

3442 -0.88 -146.0 218.3 -6.8 335 3446 0.00 2.20 0.00 0.000 4 0.000 0.067 2461 3602 3249

3529 -0.84 -146.0 224.7 -7.7 338 3536 0.15 2.12 0.00 0.000 6 0.137 0.043 2503 2217 3250

3845 -0.93 -146.0 242.5 -5.4 354 3850 0.10 2.17 0.00 0.000 4 0.088 0.053 2457 818 3250

4031 -0.82 -146.0 254.7 -6.8 362 4036 0.20 2.28 0.00 0.000 6 0.129 0.055 2505 2245 3250

4358 -0.94 -146.0 268.8 -3.8 378 4360 0.12 0.00 0.00 0.000 6 0.077 0.000 2451 2245 3249

4668 -0.86 -146.0 285.3 -5.4 393 4673 0.15 2.28 0.00 0.000 4 0.142 0.053 2497 818 3249

4753 -0.86 -146.0 289.2 -4.2 397 4757 0.00 2.28 0.00 0.000 6 0.000 0.054 2489 2237 3249

5086 -0.93 -146.0 303.8 -4.5 413 5090 0.00 2.17 0.00 0.000 4 0.000 0.067 2479 3598 3250

5137 -0.98 -146.0 306.4 -5.0 415 5141 0.00 2.10 0.00 0.000 6 0.000 0.042 2479 2224 3250

5465 -0.98 -146.0 322.3 -4.9 431 5468 0.00 2.17 0.00 0.000 4 0.000 0.054 2479 819 3250

5556 -0.98 -146.0 327.3 -5.4 435 5559 0.00 2.28 0.00 0.000 6 0.000 0.054 2469 2243 3250

5889 -0.98 -146.0 344.2 -5.1 451 5890 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2242 3251

6198 -0.98 -146.0 359.3 -4.5 466 6199 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2243 3251

6508 -0.98 -146.0 373.9 -4.6 481 6509 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2242 3251

6816 -0.98 -146.0 389.2 -5.3 496 6820 0.00 2.25 0.00 0.000 4 0.000 0.053 2469 828 3252

6918 -0.93 -146.0 395.0 -6.5 500 6922 0.00 2.25 0.00 0.000 6 0.000 0.053 2459 2235 3252

7257 -0.93 -146.0 413.6 -5.5 511 7258 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2235 3252

7581 -0.93 -146.0 430.1 -4.9 519 7582 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2235 3252

7906 -0.93 -146.0 445.6 -4.8 527 7910 0.00 2.25 0.00 0.000 4 0.000 0.052 2459 820 3253

8025 -0.84 -146.0 451.4 -5.0 529 8029 0.17 2.28 0.00 0.000 6 0.126 0.053 2499 2244 3253

8363 -0.97 -146.0 463.6 -3.7 538 8365 0.12 0.00 0.00 0.000 6 0.077 0.000 2445 2243 3253

8687 -0.89 -146.0 480.3 -5.2 546 8689 0.15 0.00 0.00 0.000 6 0.140 0.000 2487 2243 3253

9012 -0.98 -146.0 495.0 -4.6 554 9014 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2243 3253

9337 -1.06 -146.0 509.8 -4.4 562 9341 0.15 2.28 0.00 0.000 4 0.074 0.051 2424 825 3253

9415 -0.85 -146.0 514.7 -6.4 563 9424 0.28 2.28 0.00 0.000 6 0.129 0.053 2496 2239 3253

9748 -0.97 -146.0 527.8 -3.9 572 9750 0.10 0.00 0.00 0.000 6 0.082 0.000 2450 2239 3253

10072 -0.91 -146.0 543.3 -4.7 580 10077 0.12 2.25 0.00 0.000 4 0.140 0.051 2484 826 3253

10151 -0.91 -146.0 546.8 -4.5 581 10155 0.00 2.28 0.00 0.000 6 0.000 0.052 2476 2245 3253

10483 -0.91 -146.0 561.3 -4.4 589 10487 0.00 2.17 0.00 0.000 4 0.000 0.064 2465 3605 3253

10550 -0.91 -146.0 564.6 -4.8 590 10554 0.00 2.12 0.00 0.000 6 0.000 0.040 2465 2217 3253

10899 -0.91 -146.0 580.7 -4.6 599 10903 0.00 2.17 0.00 0.000 4 0.000 0.051 2465 816 3253

11001 -0.91 -146.0 585.9 -5.3 601 11006 0.12 2.28 0.00 0.000 6 0.129 0.051 2490 2243 3253

11314 -1.01 -146.0 598.5 -4.0 609 11316 0.12 0.00 0.00 0.000 6 0.074 0.000 2435 2243 3253

11640 -0.90 -146.0 615.0 -5.0 617 11642 0.17 0.00 0.00 0.000 6 0.141 0.000 2485 2243 3253

11961 end dive: TARGET_DEPTH_EXCEEDED

state 11961 begin apogee

11968 -0.31 0.0 626.8 3.5 625 12105 0.40 0.00 129.30 1.171 6 0.111 0.000 2617 1741 2650

12106 end apogee: CONTROL_FINISHED_OK

state 12106 begin climb

12109 0.99 146.0 626.8 0.0 628 12246 0.88 0.00 131.05 1.113 6 0.089 0.000 2900 1741 2054

12570 0.72 146.0 571.7 12.8 640 12575 0.22 2.33 0.00 0.000 4 0.126 0.057 2838 324 2047

12586 0.53 146.0 569.6 12.4 640 12591 0.17 2.30 0.00 0.000 6 0.114 0.045 2787 1752 2047

12930 0.76 186.2 549.6 5.7 649 12972 0.20 2.28 34.25 1.098 4 0.059 0.059 2880 3155 1890

13001 0.49 186.2 541.8 12.0 650 13006 0.35 2.28 0.00 0.000 6 0.128 0.044 2787 1733 1887

13339 0.75 214.5 520.6 6.1 659 13366 0.17 0.00 24.67 1.075 6 0.060 0.000 2870 1732 1775

13663 0.61 214.5 484.8 11.7 667 13665 0.20 0.00 0.00 0.000 6 0.120 0.000 2809 1732 1770

13988 0.75 214.5 459.8 7.5 675 13993 0.12 2.30 0.00 0.000 4 0.070 0.057 2868 3146 1768

14017 0.64 214.5 456.8 11.2 675 14022 0.22 2.22 0.00 0.000 6 0.124 0.043 2811 1723 1768

14348 0.78 214.5 430.4 7.7 683 14350 0.12 0.00 0.00 0.000 6 0.068 0.000 2873 1723 1767

14653 0.63 214.5 394.1 12.2 691 14655 0.20 0.00 0.00 0.000 6 0.117 0.000 2812 1723 1767

14963 0.78 214.5 370.7 7.4 706 14968 0.12 2.33 0.00 0.000 4 0.069 0.057 2871 3148 1766

14991 0.68 214.5 367.8 11.0 707 14995 0.20 2.20 0.00 0.000 6 0.126 0.043 2821 1731 1766

15312 0.77 214.5 342.6 7.4 723 15314 0.10 0.00 0.00 0.000 6 0.077 0.000 2874 1731 1766

15623 0.63 214.5 308.4 11.2 738 15628 0.20 2.30 0.00 0.000 4 0.119 0.057 2808 3150 1765

15641 0.57 214.5 306.4 11.1 739 15645 0.00 2.20 0.00 0.000 6 0.000 0.042 2814 1737 1765

15975 0.72 228.6 283.5 6.6 755 15993 0.08 0.00 12.30 0.915 6 0.094 0.000 2862 1736 1718

16303 0.66 228.6 251.7 9.8 771 16308 0.15 2.33 0.00 0.000 4 0.116 0.057 2816 3154 1716

16320 0.66 228.6 250.1 10.0 772 16324 0.00 2.25 0.00 0.000 6 0.000 0.042 2822 1725 1715

16654 0.81 241.0 227.3 6.6 788 16676 0.12 2.40 12.18 0.882 4 0.071 0.058 2882 3161 1667

16693 0.65 241.0 223.3 10.9 789 16700 0.25 2.25 0.00 0.000 6 0.123 0.043 2817 1732 1666

17010 0.89 273.1 203.0 6.0 805 17042 0.17 0.00 29.48 0.917 6 0.061 0.000 2897 1732 1536

17338 0.76 273.1 163.9 12.6 821 17343 0.20 2.25 0.00 0.000 4 0.119 0.055 2839 334 1530

17355 0.76 273.1 161.9 11.9 822 17359 0.00 2.22 0.00 0.000 6 0.000 0.044 2839 1746 1530

17688 0.93 273.1 136.5 7.6 838 17692 0.15 2.22 0.00 0.000 4 0.066 0.058 2911 3154 1528

17716 0.81 273.1 133.2 12.0 839 17721 0.22 2.22 0.00 0.000 6 0.129 0.044 2854 1740 1528

18037 0.90 273.1 107.0 7.5 855 18042 0.10 2.25 0.00 0.000 4 0.077 0.058 2915 326 1527

18065 0.90 273.1 104.3 9.6 856 18069 0.15 2.25 0.00 0.000 6 0.127 0.048 2871 1752 1527

18404 0.90 273.1 74.7 8.9 910 18410 0.00 2.22 0.00 0.000 4 0.000 0.061 2871 3160 1526

18439 0.90 273.1 71.2 10.2 916 18445 0.00 2.22 0.00 0.000 6 0.000 0.045 2878 1735 1525

18784 0.98 273.1 41.5 9.0 977 18792 0.00 2.25 0.00 0.000 4 0.000 0.058 2888 332 1525

18821 1.08 273.1 38.3 8.7 983 18828 0.10 2.25 0.00 0.000 6 0.078 0.046 2940 1748 1525

19136 end climb: SURFACE_DEPTH_REACHED

state 19136 begin surface coast

19166 end surface coast: CONTROL_FINISHED_OK

state 19166 begin surface

ID	108	HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	431	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-3	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	-120400.71	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	2	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	132037,6611.595,-5700.320,99,1.4,99,-36.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6622.422,-5700.261
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.15	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-64.2	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	132645,6611.623,-5700.261,14,1.5,14,-36.5	MHEAD_RNG_PITCHd_Wd	36.5,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	626

FREEZE	1.44,0.569,-1.791	TCM_TEMP	16.60
FINISH	1.4,1.026207	XPDR_PINGS	125
SM_CCo	19245,0.00,0.000,0,0,1522,276.70	_24V_AH	22.2,71.232
SM_GC	2.16,6.95,0.00,0.00,0.048,0.000,0.000,333,2236,1522,-10.69,0.20,276.70	_10V_AH	10.5,32.398
RAFOS_CLK	742	DATA_FILE_SIZE	34644,1044
RAFOS	0,1228665845,16.083334,16.068056,70,61,60,55,51,51,200,171,210,130,159,229	CAP_FILE_SIZE	146958,0
RAFOS_FIX	-30536.822266,-740539.000000,071208,040412,2,75,67634.90	CFSIZE	260165632,223391744
IRIDIUM_FIX	6543.17,-5657.00,030398,080856	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TT8_MAMPS	0.026078	SOUNDSPEED	1466.0
HUMID	1788	GPS	071208,184907,6613.841,-5659.267,29,1.0,29,-36.5
INTERNAL_PRESSURE	9.93202

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	237	124.70	SBE_CT	726	24	386.85
Roll_motor	135	79	237.56	SBE_O2	0	0	0.00
VBD_pump_during_apogee	373	1171	9704.16	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	24	103	56.64	nil	0	0	0.00
Iridium_during_connect	33	160	117.41	nil	0	0	0.00
Iridium_during_xfer	170	223	846.23
Transponder_ping	31	420	291.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.14
TT8	1936	19	404.94
LPSleep	14580	2	353.65
TT8_Active	529	19	110.82
TT8_Sampling	1991	39	834.77
TT8_CF8	570	45	275.26
TT8_Kalman	0	81	0.00
Analog_circuits	1578	12	198.92
GPS_charging	0	0	0.00
Compass	1964	8	165.02
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
15	-0.99	-146.0	0.0	0.0	0	80	0.00	0.00	-62.03	0.000	2	0.000	0.000	333	2250	2918
84	-0.99	-146.0	3.2	-2.5	11	109	8.62	2.28	-10.85	0.000	4	0.237	0.079	2454	3592	3247
363	-0.83	-146.0	30.9	-10.9	60	370	0.17	2.15	0.00	0.000	6	0.152	0.044	2501	2215	3251
709	-0.83	-146.0	57.0	-7.1	121	715	0.00	2.28	0.00	0.000	4	0.000	0.067	2493	3603	3251
800	-0.83	-146.0	63.8	-7.4	137	807	0.00	2.12	0.00	0.000	6	0.000	0.044	2493	2219	3251
1145	-0.83	-146.0	86.2	-5.7	198	1152	0.00	2.17	0.00	0.000	4	0.000	0.055	2493	825	3250
1372	-0.83	-146.0	101.0	-5.9	237	1376	0.00	2.25	0.00	0.000	6	0.000	0.057	2484	2230	3250
1706	-0.83	-146.0	119.4	-5.7	253	1710	0.00	2.17	0.00	0.000	4	0.000	0.068	2473	3592	3249
1802	-0.83	-146.0	125.4	-6.1	257	1806	0.10	2.10	0.00	0.000	6	0.143	0.043	2499	2221	3249
2129	-0.88	-146.0	141.9	-5.4	273	2133	0.00	2.17	0.00	0.000	4	0.000	0.054	2500	817	3250
2230	-0.88	-146.0	148.3	-6.4	277	2234	0.00	2.28	0.00	0.000	6	0.000	0.055	2492	2234	3250
2552	-0.88	-146.0	166.1	-4.8	293	2556	0.00	2.17	0.00	0.000	4	0.000	0.068	2481	3593	3250
2676	-0.88	-146.0	173.2	-5.9	298	2680	0.00	2.10	0.00	0.000	6	0.000	0.043	2482	2221	3250
2997	-0.88	-146.0	190.8	-5.6	314	3001	0.00	2.17	0.00	0.000	4	0.000	0.054	2481	817	3250
3115	-0.88	-146.0	198.0	-6.0	319	3119	0.00	2.28	0.00	0.000	6	0.000	0.055	2471	2234	3250
3442	-0.88	-146.0	218.3	-6.8	335	3446	0.00	2.20	0.00	0.000	4	0.000	0.067	2461	3602	3249
3529	-0.84	-146.0	224.7	-7.7	338	3536	0.15	2.12	0.00	0.000	6	0.137	0.043	2503	2217	3250
3845	-0.93	-146.0	242.5	-5.4	354	3850	0.10	2.17	0.00	0.000	4	0.088	0.053	2457	818	3250
4031	-0.82	-146.0	254.7	-6.8	362	4036	0.20	2.28	0.00	0.000	6	0.129	0.055	2505	2245	3250
4358	-0.94	-146.0	268.8	-3.8	378	4360	0.12	0.00	0.00	0.000	6	0.077	0.000	2451	2245	3249
4668	-0.86	-146.0	285.3	-5.4	393	4673	0.15	2.28	0.00	0.000	4	0.142	0.053	2497	818	3249
4753	-0.86	-146.0	289.2	-4.2	397	4757	0.00	2.28	0.00	0.000	6	0.000	0.054	2489	2237	3249
5086	-0.93	-146.0	303.8	-4.5	413	5090	0.00	2.17	0.00	0.000	4	0.000	0.067	2479	3598	3250
5137	-0.98	-146.0	306.4	-5.0	415	5141	0.00	2.10	0.00	0.000	6	0.000	0.042	2479	2224	3250
5465	-0.98	-146.0	322.3	-4.9	431	5468	0.00	2.17	0.00	0.000	4	0.000	0.054	2479	819	3250
5556	-0.98	-146.0	327.3	-5.4	435	5559	0.00	2.28	0.00	0.000	6	0.000	0.054	2469	2243	3250
5889	-0.98	-146.0	344.2	-5.1	451	5890	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2242	3251
6198	-0.98	-146.0	359.3	-4.5	466	6199	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2243	3251
6508	-0.98	-146.0	373.9	-4.6	481	6509	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2242	3251
6816	-0.98	-146.0	389.2	-5.3	496	6820	0.00	2.25	0.00	0.000	4	0.000	0.053	2469	828	3252
6918	-0.93	-146.0	395.0	-6.5	500	6922	0.00	2.25	0.00	0.000	6	0.000	0.053	2459	2235	3252
7257	-0.93	-146.0	413.6	-5.5	511	7258	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	2235	3252
7581	-0.93	-146.0	430.1	-4.9	519	7582	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	2235	3252
7906	-0.93	-146.0	445.6	-4.8	527	7910	0.00	2.25	0.00	0.000	4	0.000	0.052	2459	820	3253
8025	-0.84	-146.0	451.4	-5.0	529	8029	0.17	2.28	0.00	0.000	6	0.126	0.053	2499	2244	3253
8363	-0.97	-146.0	463.6	-3.7	538	8365	0.12	0.00	0.00	0.000	6	0.077	0.000	2445	2243	3253
8687	-0.89	-146.0	480.3	-5.2	546	8689	0.15	0.00	0.00	0.000	6	0.140	0.000	2487	2243	3253
9012	-0.98	-146.0	495.0	-4.6	554	9014	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2243	3253
9337	-1.06	-146.0	509.8	-4.4	562	9341	0.15	2.28	0.00	0.000	4	0.074	0.051	2424	825	3253
9415	-0.85	-146.0	514.7	-6.4	563	9424	0.28	2.28	0.00	0.000	6	0.129	0.053	2496	2239	3253
9748	-0.97	-146.0	527.8	-3.9	572	9750	0.10	0.00	0.00	0.000	6	0.082	0.000	2450	2239	3253
10072	-0.91	-146.0	543.3	-4.7	580	10077	0.12	2.25	0.00	0.000	4	0.140	0.051	2484	826	3253
10151	-0.91	-146.0	546.8	-4.5	581	10155	0.00	2.28	0.00	0.000	6	0.000	0.052	2476	2245	3253
10483	-0.91	-146.0	561.3	-4.4	589	10487	0.00	2.17	0.00	0.000	4	0.000	0.064	2465	3605	3253
10550	-0.91	-146.0	564.6	-4.8	590	10554	0.00	2.12	0.00	0.000	6	0.000	0.040	2465	2217	3253
10899	-0.91	-146.0	580.7	-4.6	599	10903	0.00	2.17	0.00	0.000	4	0.000	0.051	2465	816	3253
11001	-0.91	-146.0	585.9	-5.3	601	11006	0.12	2.28	0.00	0.000	6	0.129	0.051	2490	2243	3253
11314	-1.01	-146.0	598.5	-4.0	609	11316	0.12	0.00	0.00	0.000	6	0.074	0.000	2435	2243	3253
11640	-0.90	-146.0	615.0	-5.0	617	11642	0.17	0.00	0.00	0.000	6	0.141	0.000	2485	2243	3253
11961	end dive: TARGET_DEPTH_EXCEEDED
state	11961	begin apogee
11968	-0.31	0.0	626.8	3.5	625	12105	0.40	0.00	129.30	1.171	6	0.111	0.000	2617	1741	2650
12106	end apogee: CONTROL_FINISHED_OK
state	12106	begin climb
12109	0.99	146.0	626.8	0.0	628	12246	0.88	0.00	131.05	1.113	6	0.089	0.000	2900	1741	2054
12570	0.72	146.0	571.7	12.8	640	12575	0.22	2.33	0.00	0.000	4	0.126	0.057	2838	324	2047
12586	0.53	146.0	569.6	12.4	640	12591	0.17	2.30	0.00	0.000	6	0.114	0.045	2787	1752	2047
12930	0.76	186.2	549.6	5.7	649	12972	0.20	2.28	34.25	1.098	4	0.059	0.059	2880	3155	1890
13001	0.49	186.2	541.8	12.0	650	13006	0.35	2.28	0.00	0.000	6	0.128	0.044	2787	1733	1887
13339	0.75	214.5	520.6	6.1	659	13366	0.17	0.00	24.67	1.075	6	0.060	0.000	2870	1732	1775
13663	0.61	214.5	484.8	11.7	667	13665	0.20	0.00	0.00	0.000	6	0.120	0.000	2809	1732	1770
13988	0.75	214.5	459.8	7.5	675	13993	0.12	2.30	0.00	0.000	4	0.070	0.057	2868	3146	1768
14017	0.64	214.5	456.8	11.2	675	14022	0.22	2.22	0.00	0.000	6	0.124	0.043	2811	1723	1768
14348	0.78	214.5	430.4	7.7	683	14350	0.12	0.00	0.00	0.000	6	0.068	0.000	2873	1723	1767
14653	0.63	214.5	394.1	12.2	691	14655	0.20	0.00	0.00	0.000	6	0.117	0.000	2812	1723	1767
14963	0.78	214.5	370.7	7.4	706	14968	0.12	2.33	0.00	0.000	4	0.069	0.057	2871	3148	1766
14991	0.68	214.5	367.8	11.0	707	14995	0.20	2.20	0.00	0.000	6	0.126	0.043	2821	1731	1766
15312	0.77	214.5	342.6	7.4	723	15314	0.10	0.00	0.00	0.000	6	0.077	0.000	2874	1731	1766
15623	0.63	214.5	308.4	11.2	738	15628	0.20	2.30	0.00	0.000	4	0.119	0.057	2808	3150	1765
15641	0.57	214.5	306.4	11.1	739	15645	0.00	2.20	0.00	0.000	6	0.000	0.042	2814	1737	1765
15975	0.72	228.6	283.5	6.6	755	15993	0.08	0.00	12.30	0.915	6	0.094	0.000	2862	1736	1718
16303	0.66	228.6	251.7	9.8	771	16308	0.15	2.33	0.00	0.000	4	0.116	0.057	2816	3154	1716
16320	0.66	228.6	250.1	10.0	772	16324	0.00	2.25	0.00	0.000	6	0.000	0.042	2822	1725	1715
16654	0.81	241.0	227.3	6.6	788	16676	0.12	2.40	12.18	0.882	4	0.071	0.058	2882	3161	1667
16693	0.65	241.0	223.3	10.9	789	16700	0.25	2.25	0.00	0.000	6	0.123	0.043	2817	1732	1666
17010	0.89	273.1	203.0	6.0	805	17042	0.17	0.00	29.48	0.917	6	0.061	0.000	2897	1732	1536
17338	0.76	273.1	163.9	12.6	821	17343	0.20	2.25	0.00	0.000	4	0.119	0.055	2839	334	1530
17355	0.76	273.1	161.9	11.9	822	17359	0.00	2.22	0.00	0.000	6	0.000	0.044	2839	1746	1530
17688	0.93	273.1	136.5	7.6	838	17692	0.15	2.22	0.00	0.000	4	0.066	0.058	2911	3154	1528
17716	0.81	273.1	133.2	12.0	839	17721	0.22	2.22	0.00	0.000	6	0.129	0.044	2854	1740	1528
18037	0.90	273.1	107.0	7.5	855	18042	0.10	2.25	0.00	0.000	4	0.077	0.058	2915	326	1527
18065	0.90	273.1	104.3	9.6	856	18069	0.15	2.25	0.00	0.000	6	0.127	0.048	2871	1752	1527
18404	0.90	273.1	74.7	8.9	910	18410	0.00	2.22	0.00	0.000	4	0.000	0.061	2871	3160	1526
18439	0.90	273.1	71.2	10.2	916	18445	0.00	2.22	0.00	0.000	6	0.000	0.045	2878	1735	1525
18784	0.98	273.1	41.5	9.0	977	18792	0.00	2.25	0.00	0.000	4	0.000	0.058	2888	332	1525
18821	1.08	273.1	38.3	8.7	983	18828	0.10	2.25	0.00	0.000	6	0.078	0.046	2940	1748	1525
19136	end climb: SURFACE_DEPTH_REACHED
state	19136	begin surface coast
19166	end surface coast: CONTROL_FINISHED_OK
state	19166	begin surface