Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 435 * 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 435 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 39 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 -120460.53 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 -120460.53

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 39 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 435 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 113608,6619.261,-5656.632,28,1.1,28,-36.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6630.100,-5656.570

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.25 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -67.3 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 114157,6619.301,-5656.570,14,1.1,14,-36.6 MHEAD_RNG_PITCHd_Wd 36.6,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 629

Post-dive calculations and measurements:

FREEZE 1.32,0.795,-0.795 TCM_TEMP 17.00

FINISH 1.3,1.011723 XPDR_PINGS 272

SM_CCo 20123,0.00,0.000,0,0,1488,284.79 _24V_AH 22.3,71.756

SM_GC 2.18,6.82,0.00,0.00,0.051,0.000,0.000,332,2242,1488,-10.69,0.34,284.79 _10V_AH 10.6,32.678

RAFOS_CLK 752 DATA_FILE_SIZE 34706,1047

RAFOS 0,1228737841,12.083333,12.066944,60,57,55,54,53,53,142,209,122,172,198,156 CAP_FILE_SIZE 154430,0

RAFOS_FIX 6623.784668,-5659.131836,081208,161628,4,88,0.49 CFSIZE 260165632,223113216

IRIDIUM_FIX 6548.42,-5646.71,040398,060608 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1469.8

HUMID 1778 GPS 081208,171908,6621.884,-5653.834,25,1.7,25,-36.7

INTERNAL_PRESSURE 9.96132

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 237 143.29 SBE_CT 725 24 388.46

Roll_motor 126 75 212.58 SBE_O2 0 0 0.00

VBD_pump_during_apogee 378 1185 9998.08 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 26 103 59.95 nil 0 0 0.00

Iridium_during_connect 30 160 110.01 nil 0 0 0.00

Iridium_during_xfer 150 223 750.18

Transponder_ping 68 420 636.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.37

TT8 1971 19 416.22

LPSleep 15494 2 379.40

TT8_Active 509 19 107.63

TT8_Sampling 1936 39 819.36

TT8_CF8 568 45 276.70

TT8_Kalman 0 81 0.00

Analog_circuits 1551 12 197.29

GPS_charging 0 0 0.00

Compass 1910 8 162.05

RAFOS 3600 1 57.24

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 -62.30 0.000 2 0.000 0.000 332 2253 3093

84 -0.99 -146.0 3.1 -2.1 11 103 8.68 2.20 -4.60 0.000 4 0.238 0.075 2450 3593 3248

358 -0.81 -146.0 33.6 -10.5 59 365 0.20 2.12 0.00 0.000 6 0.140 0.041 2509 2217 3251

703 -0.81 -146.0 59.2 -7.1 120 709 0.00 2.25 0.00 0.000 4 0.000 0.063 2501 3592 3250

876 -0.90 -146.0 73.1 -8.7 150 882 0.00 2.12 0.00 0.000 6 0.000 0.041 2501 2214 3250

1221 -0.95 -146.0 96.2 -5.7 211 1228 0.10 2.17 0.00 0.000 4 0.084 0.051 2451 822 3249

1352 -0.78 -146.0 106.9 -8.2 223 1359 0.25 2.25 0.00 0.000 6 0.128 0.052 2515 2243 3248

1669 -0.91 -146.0 122.9 -4.9 239 1671 0.12 0.00 0.00 0.000 6 0.074 0.000 2459 2243 3247

1979 -0.85 -146.0 143.5 -6.6 254 1981 0.15 0.00 0.00 0.000 6 0.137 0.000 2501 2243 3247

2288 -0.95 -146.0 157.6 -4.4 269 2293 0.12 2.25 0.00 0.000 4 0.080 0.051 2445 821 3247

2384 -0.77 -146.0 163.7 -6.9 273 2389 0.28 2.28 0.00 0.000 6 0.127 0.051 2517 2245 3247

2707 -0.93 -146.0 177.4 -4.1 289 2711 0.15 2.15 0.00 0.000 4 0.071 0.062 2441 3599 3248

2775 -0.81 -146.0 181.7 -6.4 292 2780 0.22 2.10 0.00 0.000 6 0.136 0.040 2506 2217 3248

3105 -0.93 -146.0 196.0 -4.0 308 3111 0.12 2.17 0.00 0.000 4 0.077 0.049 2448 817 3248

3213 -0.77 -146.0 202.4 -6.1 312 3220 0.28 2.28 0.00 0.000 6 0.126 0.050 2519 2243 3248

3530 -0.94 -146.0 213.6 -3.6 328 3532 0.15 0.00 0.00 0.000 6 0.069 0.000 2452 2243 3249

3839 -0.86 -146.0 229.7 -5.3 343 3843 0.15 2.25 0.00 0.000 4 0.137 0.050 2499 832 3249

3930 -0.86 -146.0 233.7 -4.2 347 3933 0.00 2.22 0.00 0.000 6 0.000 0.049 2491 2248 3249

4263 -0.93 -146.0 246.2 -3.4 363 4264 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2248 3250

4572 -0.99 -146.0 257.1 -3.6 378 4574 0.10 0.00 0.00 0.000 6 0.077 0.000 2440 2248 3251

4882 -0.86 -146.0 273.4 -5.5 393 4887 0.20 2.28 0.00 0.000 4 0.131 0.049 2508 821 3251

4967 -0.95 -146.0 277.2 -4.3 397 4972 0.10 2.25 0.00 0.000 6 0.075 0.049 2452 2239 3251

5301 -0.87 -146.0 294.3 -5.4 413 5303 0.15 0.00 0.00 0.000 6 0.133 0.000 2495 2239 3251

5610 -0.96 -146.0 307.9 -4.4 428 5612 0.10 0.00 0.00 0.000 6 0.087 0.000 2448 2239 3252

5920 -0.87 -146.0 326.0 -5.9 443 5921 0.15 0.00 0.00 0.000 6 0.143 0.000 2490 2239 3252

6230 -0.95 -146.0 342.1 -5.4 458 6231 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2239 3252

6538 -1.03 -146.0 358.3 -5.2 473 6542 0.12 2.22 0.00 0.000 4 0.078 0.049 2435 833 3252

6623 -0.84 -146.0 364.0 -7.4 477 6628 0.25 2.22 0.00 0.000 6 0.127 0.050 2499 2232 3252

6952 -0.96 -146.0 378.5 -4.3 493 6954 0.12 0.00 0.00 0.000 6 0.074 0.000 2444 2232 3252

7260 -0.86 -146.0 396.9 -6.1 508 7262 0.17 0.00 0.00 0.000 6 0.139 0.000 2494 2232 3252

7586 -0.96 -146.0 411.0 -4.1 518 7590 0.10 2.22 0.00 0.000 4 0.086 0.048 2447 831 3252

7673 -0.82 -146.0 415.6 -6.0 520 7678 0.22 2.25 0.00 0.000 6 0.127 0.051 2502 2239 3252

7998 -0.95 -146.0 428.3 -3.9 528 8002 0.12 2.17 0.00 0.000 4 0.077 0.061 2437 3605 3251

8066 -0.85 -146.0 432.4 -6.7 529 8071 0.20 2.10 0.00 0.000 6 0.137 0.038 2496 2214 3252

8416 -0.96 -146.0 446.9 -4.1 538 8420 0.10 2.15 0.00 0.000 4 0.086 0.048 2447 833 3252

8545 -0.84 -146.0 454.1 -6.1 540 8552 0.22 2.25 0.00 0.000 6 0.127 0.050 2503 2240 3252

8878 -0.98 -146.0 466.7 -3.8 549 8880 0.15 0.00 0.00 0.000 6 0.071 0.000 2438 2240 3251

9202 -0.87 -146.0 483.4 -5.1 557 9204 0.17 0.00 0.00 0.000 6 0.140 0.000 2488 2240 3251

9527 -0.96 -146.0 494.0 -3.1 565 9528 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2240 3251

9853 -1.05 -146.0 503.5 -3.0 573 9857 0.15 2.22 0.00 0.000 4 0.074 0.049 2426 829 3251

9937 -0.85 -146.0 507.8 -5.4 574 9944 0.28 2.25 0.00 0.000 6 0.130 0.050 2497 2244 3251

10269 -0.97 -146.0 517.8 -3.0 583 10271 0.12 0.00 0.00 0.000 6 0.074 0.000 2442 2243 3251

10595 -0.88 -146.0 532.8 -4.8 591 10597 0.17 0.00 0.00 0.000 6 0.140 0.000 2492 2243 3251

10919 -0.99 -146.0 545.8 -4.1 599 10921 0.12 0.00 0.00 0.000 6 0.077 0.000 2437 2244 3251

11244 -0.89 -146.0 563.6 -5.7 607 11246 0.17 0.00 0.00 0.000 6 0.140 0.000 2487 2244 3251

11570 -0.97 -146.0 578.2 -4.3 615 11571 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2243 3251

11894 -1.06 -146.0 592.2 -4.3 623 11896 0.15 0.00 0.00 0.000 6 0.073 0.000 2424 2243 3251

12219 -0.92 -146.0 610.3 -5.6 631 12224 0.20 2.25 0.00 0.000 4 0.140 0.050 2487 834 3251

12287 -0.97 -146.0 613.3 -4.1 632 12291 0.00 2.25 0.00 0.000 6 0.000 0.050 2480 2236 3251

12630 -1.03 -146.0 626.6 -3.9 641 12632 0.10 0.00 0.00 0.000 6 0.076 0.000 2431 2236 3251

12708 end dive: TARGET_DEPTH_EXCEEDED

state 12708 begin apogee

12716 -0.31 0.0 630.6 4.4 643 12846 0.57 0.00 126.68 1.186 6 0.123 0.000 2612 1748 2650

12847 end apogee: CONTROL_FINISHED_OK

state 12847 begin climb

12850 0.99 146.0 631.0 0.0 646 12988 0.88 2.55 130.00 1.113 4 0.094 0.054 2909 331 2054

13002 0.71 146.0 615.5 11.3 649 13007 0.28 2.45 0.00 0.000 6 0.123 0.042 2834 1742 2052

13339 0.71 146.0 585.8 8.5 658 13343 0.00 2.25 0.00 0.000 4 0.000 0.056 2834 3155 2047

13373 0.59 146.0 582.6 9.1 658 13378 0.12 2.25 0.00 0.000 6 0.130 0.041 2807 1727 2046

13711 0.68 151.1 558.7 6.9 667 13720 0.00 2.33 4.32 0.738 4 0.000 0.055 2808 3152 2034

13739 0.70 167.1 556.8 6.5 667 13759 0.00 2.22 15.62 1.047 6 0.000 0.041 2815 1724 1968

14085 0.75 167.1 532.6 7.3 676 14090 0.10 2.30 0.00 0.000 4 0.077 0.055 2866 3160 1966

14124 0.51 167.1 528.3 12.5 676 14131 0.30 2.22 0.00 0.000 6 0.126 0.042 2786 1726 1965

14456 0.75 192.0 506.5 6.2 685 14482 0.20 0.00 22.62 1.078 6 0.058 0.000 2878 1726 1867

14780 0.58 192.0 467.9 12.2 693 14785 0.22 2.30 0.00 0.000 4 0.120 0.056 2805 3162 1863

14803 0.52 192.0 465.4 10.5 693 14807 0.00 2.20 0.00 0.000 6 0.000 0.041 2813 1736 1862

15146 0.60 192.0 438.7 7.6 702 15149 0.00 2.25 0.00 0.000 4 0.000 0.056 2813 3156 1861

15174 0.60 192.0 436.2 8.6 702 15177 0.00 2.20 0.00 0.000 6 0.000 0.042 2821 1726 1860

15517 0.66 192.0 408.1 8.2 711 15520 0.00 2.28 0.00 0.000 4 0.000 0.055 2821 3165 1860

15545 0.66 192.0 405.6 8.9 711 15549 0.00 2.17 0.00 0.000 6 0.000 0.041 2831 1737 1860

15871 0.66 192.0 378.3 8.4 725 15875 0.00 2.25 0.00 0.000 4 0.000 0.057 2831 3160 1860

15888 0.66 192.0 376.8 7.9 725 15895 0.00 2.20 0.00 0.000 6 0.000 0.041 2841 1728 1860

16204 0.66 192.0 348.6 8.9 741 16205 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 1728 1860

16514 0.66 192.0 321.9 8.4 756 16515 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 1728 1860

16822 0.66 192.0 296.0 8.2 771 16826 0.00 2.28 0.00 0.000 4 0.000 0.057 2841 3166 1860

16862 0.56 192.0 292.4 9.8 772 16869 0.17 2.20 0.00 0.000 6 0.123 0.042 2800 1733 1859

17178 0.82 236.8 274.8 5.6 788 17220 0.20 0.00 38.67 0.966 6 0.057 0.000 2891 1733 1684

17532 0.66 236.8 233.1 12.6 805 17534 0.22 0.00 0.00 0.000 6 0.118 0.000 2822 1733 1676

17837 0.79 236.8 208.3 7.9 820 17838 0.12 0.00 0.00 0.000 6 0.069 0.000 2882 1733 1674

18146 0.66 236.8 171.5 12.2 835 18148 0.20 0.00 0.00 0.000 6 0.117 0.000 2820 1733 1674

18456 0.84 261.7 150.1 6.2 850 18482 0.15 2.30 20.75 0.861 4 0.064 0.055 2891 3153 1583

18496 0.69 261.7 146.3 10.7 852 18501 0.25 2.22 0.00 0.000 6 0.123 0.041 2826 1732 1581

18826 0.89 283.0 123.5 6.3 868 18852 0.15 2.30 19.42 0.831 4 0.062 0.054 2910 334 1496

18858 0.83 283.0 120.1 9.2 869 18865 0.20 2.22 0.00 0.000 6 0.122 0.042 2851 1751 1495

19185 0.94 283.0 91.0 8.7 897 19192 0.12 2.20 0.00 0.000 4 0.070 0.054 2912 3152 1491

19211 0.94 283.0 87.8 9.9 901 19218 0.15 2.22 0.00 0.000 6 0.133 0.041 2880 1731 1490

19557 1.01 283.0 55.5 7.6 962 19563 0.00 2.25 0.00 0.000 4 0.000 0.054 2888 327 1490

19598 1.12 283.0 52.3 7.4 969 19605 0.12 2.25 0.00 0.000 6 0.070 0.044 2951 1744 1490

19943 0.93 283.0 9.3 13.4 1030 19950 0.22 2.25 0.00 0.000 4 0.127 0.056 2876 3158 1490

19981 0.87 283.0 5.6 10.4 1036 19987 0.00 2.22 0.00 0.000 6 0.000 0.042 2883 1735 1490

20008 end climb: SURFACE_DEPTH_REACHED

state 20008 begin surface coast

20043 end surface coast: CONTROL_FINISHED_OK

state 20043 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	435	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	39	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	-120460.53	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	113608,6619.261,-5656.632,28,1.1,28,-36.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6630.100,-5656.570
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.25	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-67.3	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	114157,6619.301,-5656.570,14,1.1,14,-36.6	MHEAD_RNG_PITCHd_Wd	36.6,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	629

FREEZE	1.32,0.795,-0.795	TCM_TEMP	17.00
FINISH	1.3,1.011723	XPDR_PINGS	272
SM_CCo	20123,0.00,0.000,0,0,1488,284.79	_24V_AH	22.3,71.756
SM_GC	2.18,6.82,0.00,0.00,0.051,0.000,0.000,332,2242,1488,-10.69,0.34,284.79	_10V_AH	10.6,32.678
RAFOS_CLK	752	DATA_FILE_SIZE	34706,1047
RAFOS	0,1228737841,12.083333,12.066944,60,57,55,54,53,53,142,209,122,172,198,156	CAP_FILE_SIZE	154430,0
RAFOS_FIX	6623.784668,-5659.131836,081208,161628,4,88,0.49	CFSIZE	260165632,223113216
IRIDIUM_FIX	6548.42,-5646.71,040398,060608	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1469.8
HUMID	1778	GPS	081208,171908,6621.884,-5653.834,25,1.7,25,-36.7
INTERNAL_PRESSURE	9.96132

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	237	143.29	SBE_CT	725	24	388.46
Roll_motor	126	75	212.58	SBE_O2	0	0	0.00
VBD_pump_during_apogee	378	1185	9998.08	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	26	103	59.95	nil	0	0	0.00
Iridium_during_connect	30	160	110.01	nil	0	0	0.00
Iridium_during_xfer	150	223	750.18
Transponder_ping	68	420	636.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.37
TT8	1971	19	416.22
LPSleep	15494	2	379.40
TT8_Active	509	19	107.63
TT8_Sampling	1936	39	819.36
TT8_CF8	568	45	276.70
TT8_Kalman	0	81	0.00
Analog_circuits	1551	12	197.29
GPS_charging	0	0	0.00
Compass	1910	8	162.05
RAFOS	3600	1	57.24
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	-62.30	0.000	2	0.000	0.000	332	2253	3093
84	-0.99	-146.0	3.1	-2.1	11	103	8.68	2.20	-4.60	0.000	4	0.238	0.075	2450	3593	3248
358	-0.81	-146.0	33.6	-10.5	59	365	0.20	2.12	0.00	0.000	6	0.140	0.041	2509	2217	3251
703	-0.81	-146.0	59.2	-7.1	120	709	0.00	2.25	0.00	0.000	4	0.000	0.063	2501	3592	3250
876	-0.90	-146.0	73.1	-8.7	150	882	0.00	2.12	0.00	0.000	6	0.000	0.041	2501	2214	3250
1221	-0.95	-146.0	96.2	-5.7	211	1228	0.10	2.17	0.00	0.000	4	0.084	0.051	2451	822	3249
1352	-0.78	-146.0	106.9	-8.2	223	1359	0.25	2.25	0.00	0.000	6	0.128	0.052	2515	2243	3248
1669	-0.91	-146.0	122.9	-4.9	239	1671	0.12	0.00	0.00	0.000	6	0.074	0.000	2459	2243	3247
1979	-0.85	-146.0	143.5	-6.6	254	1981	0.15	0.00	0.00	0.000	6	0.137	0.000	2501	2243	3247
2288	-0.95	-146.0	157.6	-4.4	269	2293	0.12	2.25	0.00	0.000	4	0.080	0.051	2445	821	3247
2384	-0.77	-146.0	163.7	-6.9	273	2389	0.28	2.28	0.00	0.000	6	0.127	0.051	2517	2245	3247
2707	-0.93	-146.0	177.4	-4.1	289	2711	0.15	2.15	0.00	0.000	4	0.071	0.062	2441	3599	3248
2775	-0.81	-146.0	181.7	-6.4	292	2780	0.22	2.10	0.00	0.000	6	0.136	0.040	2506	2217	3248
3105	-0.93	-146.0	196.0	-4.0	308	3111	0.12	2.17	0.00	0.000	4	0.077	0.049	2448	817	3248
3213	-0.77	-146.0	202.4	-6.1	312	3220	0.28	2.28	0.00	0.000	6	0.126	0.050	2519	2243	3248
3530	-0.94	-146.0	213.6	-3.6	328	3532	0.15	0.00	0.00	0.000	6	0.069	0.000	2452	2243	3249
3839	-0.86	-146.0	229.7	-5.3	343	3843	0.15	2.25	0.00	0.000	4	0.137	0.050	2499	832	3249
3930	-0.86	-146.0	233.7	-4.2	347	3933	0.00	2.22	0.00	0.000	6	0.000	0.049	2491	2248	3249
4263	-0.93	-146.0	246.2	-3.4	363	4264	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2248	3250
4572	-0.99	-146.0	257.1	-3.6	378	4574	0.10	0.00	0.00	0.000	6	0.077	0.000	2440	2248	3251
4882	-0.86	-146.0	273.4	-5.5	393	4887	0.20	2.28	0.00	0.000	4	0.131	0.049	2508	821	3251
4967	-0.95	-146.0	277.2	-4.3	397	4972	0.10	2.25	0.00	0.000	6	0.075	0.049	2452	2239	3251
5301	-0.87	-146.0	294.3	-5.4	413	5303	0.15	0.00	0.00	0.000	6	0.133	0.000	2495	2239	3251
5610	-0.96	-146.0	307.9	-4.4	428	5612	0.10	0.00	0.00	0.000	6	0.087	0.000	2448	2239	3252
5920	-0.87	-146.0	326.0	-5.9	443	5921	0.15	0.00	0.00	0.000	6	0.143	0.000	2490	2239	3252
6230	-0.95	-146.0	342.1	-5.4	458	6231	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2239	3252
6538	-1.03	-146.0	358.3	-5.2	473	6542	0.12	2.22	0.00	0.000	4	0.078	0.049	2435	833	3252
6623	-0.84	-146.0	364.0	-7.4	477	6628	0.25	2.22	0.00	0.000	6	0.127	0.050	2499	2232	3252
6952	-0.96	-146.0	378.5	-4.3	493	6954	0.12	0.00	0.00	0.000	6	0.074	0.000	2444	2232	3252
7260	-0.86	-146.0	396.9	-6.1	508	7262	0.17	0.00	0.00	0.000	6	0.139	0.000	2494	2232	3252
7586	-0.96	-146.0	411.0	-4.1	518	7590	0.10	2.22	0.00	0.000	4	0.086	0.048	2447	831	3252
7673	-0.82	-146.0	415.6	-6.0	520	7678	0.22	2.25	0.00	0.000	6	0.127	0.051	2502	2239	3252
7998	-0.95	-146.0	428.3	-3.9	528	8002	0.12	2.17	0.00	0.000	4	0.077	0.061	2437	3605	3251
8066	-0.85	-146.0	432.4	-6.7	529	8071	0.20	2.10	0.00	0.000	6	0.137	0.038	2496	2214	3252
8416	-0.96	-146.0	446.9	-4.1	538	8420	0.10	2.15	0.00	0.000	4	0.086	0.048	2447	833	3252
8545	-0.84	-146.0	454.1	-6.1	540	8552	0.22	2.25	0.00	0.000	6	0.127	0.050	2503	2240	3252
8878	-0.98	-146.0	466.7	-3.8	549	8880	0.15	0.00	0.00	0.000	6	0.071	0.000	2438	2240	3251
9202	-0.87	-146.0	483.4	-5.1	557	9204	0.17	0.00	0.00	0.000	6	0.140	0.000	2488	2240	3251
9527	-0.96	-146.0	494.0	-3.1	565	9528	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2240	3251
9853	-1.05	-146.0	503.5	-3.0	573	9857	0.15	2.22	0.00	0.000	4	0.074	0.049	2426	829	3251
9937	-0.85	-146.0	507.8	-5.4	574	9944	0.28	2.25	0.00	0.000	6	0.130	0.050	2497	2244	3251
10269	-0.97	-146.0	517.8	-3.0	583	10271	0.12	0.00	0.00	0.000	6	0.074	0.000	2442	2243	3251
10595	-0.88	-146.0	532.8	-4.8	591	10597	0.17	0.00	0.00	0.000	6	0.140	0.000	2492	2243	3251
10919	-0.99	-146.0	545.8	-4.1	599	10921	0.12	0.00	0.00	0.000	6	0.077	0.000	2437	2244	3251
11244	-0.89	-146.0	563.6	-5.7	607	11246	0.17	0.00	0.00	0.000	6	0.140	0.000	2487	2244	3251
11570	-0.97	-146.0	578.2	-4.3	615	11571	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2243	3251
11894	-1.06	-146.0	592.2	-4.3	623	11896	0.15	0.00	0.00	0.000	6	0.073	0.000	2424	2243	3251
12219	-0.92	-146.0	610.3	-5.6	631	12224	0.20	2.25	0.00	0.000	4	0.140	0.050	2487	834	3251
12287	-0.97	-146.0	613.3	-4.1	632	12291	0.00	2.25	0.00	0.000	6	0.000	0.050	2480	2236	3251
12630	-1.03	-146.0	626.6	-3.9	641	12632	0.10	0.00	0.00	0.000	6	0.076	0.000	2431	2236	3251
12708	end dive: TARGET_DEPTH_EXCEEDED
state	12708	begin apogee
12716	-0.31	0.0	630.6	4.4	643	12846	0.57	0.00	126.68	1.186	6	0.123	0.000	2612	1748	2650
12847	end apogee: CONTROL_FINISHED_OK
state	12847	begin climb
12850	0.99	146.0	631.0	0.0	646	12988	0.88	2.55	130.00	1.113	4	0.094	0.054	2909	331	2054
13002	0.71	146.0	615.5	11.3	649	13007	0.28	2.45	0.00	0.000	6	0.123	0.042	2834	1742	2052
13339	0.71	146.0	585.8	8.5	658	13343	0.00	2.25	0.00	0.000	4	0.000	0.056	2834	3155	2047
13373	0.59	146.0	582.6	9.1	658	13378	0.12	2.25	0.00	0.000	6	0.130	0.041	2807	1727	2046
13711	0.68	151.1	558.7	6.9	667	13720	0.00	2.33	4.32	0.738	4	0.000	0.055	2808	3152	2034
13739	0.70	167.1	556.8	6.5	667	13759	0.00	2.22	15.62	1.047	6	0.000	0.041	2815	1724	1968
14085	0.75	167.1	532.6	7.3	676	14090	0.10	2.30	0.00	0.000	4	0.077	0.055	2866	3160	1966
14124	0.51	167.1	528.3	12.5	676	14131	0.30	2.22	0.00	0.000	6	0.126	0.042	2786	1726	1965
14456	0.75	192.0	506.5	6.2	685	14482	0.20	0.00	22.62	1.078	6	0.058	0.000	2878	1726	1867
14780	0.58	192.0	467.9	12.2	693	14785	0.22	2.30	0.00	0.000	4	0.120	0.056	2805	3162	1863
14803	0.52	192.0	465.4	10.5	693	14807	0.00	2.20	0.00	0.000	6	0.000	0.041	2813	1736	1862
15146	0.60	192.0	438.7	7.6	702	15149	0.00	2.25	0.00	0.000	4	0.000	0.056	2813	3156	1861
15174	0.60	192.0	436.2	8.6	702	15177	0.00	2.20	0.00	0.000	6	0.000	0.042	2821	1726	1860
15517	0.66	192.0	408.1	8.2	711	15520	0.00	2.28	0.00	0.000	4	0.000	0.055	2821	3165	1860
15545	0.66	192.0	405.6	8.9	711	15549	0.00	2.17	0.00	0.000	6	0.000	0.041	2831	1737	1860
15871	0.66	192.0	378.3	8.4	725	15875	0.00	2.25	0.00	0.000	4	0.000	0.057	2831	3160	1860
15888	0.66	192.0	376.8	7.9	725	15895	0.00	2.20	0.00	0.000	6	0.000	0.041	2841	1728	1860
16204	0.66	192.0	348.6	8.9	741	16205	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	1728	1860
16514	0.66	192.0	321.9	8.4	756	16515	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	1728	1860
16822	0.66	192.0	296.0	8.2	771	16826	0.00	2.28	0.00	0.000	4	0.000	0.057	2841	3166	1860
16862	0.56	192.0	292.4	9.8	772	16869	0.17	2.20	0.00	0.000	6	0.123	0.042	2800	1733	1859
17178	0.82	236.8	274.8	5.6	788	17220	0.20	0.00	38.67	0.966	6	0.057	0.000	2891	1733	1684
17532	0.66	236.8	233.1	12.6	805	17534	0.22	0.00	0.00	0.000	6	0.118	0.000	2822	1733	1676
17837	0.79	236.8	208.3	7.9	820	17838	0.12	0.00	0.00	0.000	6	0.069	0.000	2882	1733	1674
18146	0.66	236.8	171.5	12.2	835	18148	0.20	0.00	0.00	0.000	6	0.117	0.000	2820	1733	1674
18456	0.84	261.7	150.1	6.2	850	18482	0.15	2.30	20.75	0.861	4	0.064	0.055	2891	3153	1583
18496	0.69	261.7	146.3	10.7	852	18501	0.25	2.22	0.00	0.000	6	0.123	0.041	2826	1732	1581
18826	0.89	283.0	123.5	6.3	868	18852	0.15	2.30	19.42	0.831	4	0.062	0.054	2910	334	1496
18858	0.83	283.0	120.1	9.2	869	18865	0.20	2.22	0.00	0.000	6	0.122	0.042	2851	1751	1495
19185	0.94	283.0	91.0	8.7	897	19192	0.12	2.20	0.00	0.000	4	0.070	0.054	2912	3152	1491
19211	0.94	283.0	87.8	9.9	901	19218	0.15	2.22	0.00	0.000	6	0.133	0.041	2880	1731	1490
19557	1.01	283.0	55.5	7.6	962	19563	0.00	2.25	0.00	0.000	4	0.000	0.054	2888	327	1490
19598	1.12	283.0	52.3	7.4	969	19605	0.12	2.25	0.00	0.000	6	0.070	0.044	2951	1744	1490
19943	0.93	283.0	9.3	13.4	1030	19950	0.22	2.25	0.00	0.000	4	0.127	0.056	2876	3158	1490
19981	0.87	283.0	5.6	10.4	1036	19987	0.00	2.22	0.00	0.000	6	0.000	0.042	2883	1735	1490
20008	end climb: SURFACE_DEPTH_REACHED
state	20008	begin surface coast
20043	end surface coast: CONTROL_FINISHED_OK
state	20043	begin surface