Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 436 * 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 436 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 34 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 -120475.35 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 -120475.35

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 34 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 436 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 171908,6621.884,-5653.834,25,1.7,25,-36.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6632.672,-5653.815

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.23 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 172509,6621.874,-5653.815,12,1.7,12,-36.7 MHEAD_RNG_PITCHd_Wd 36.7,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 616

Post-dive calculations and measurements:

FREEZE 1.31,1.236,-1.032 TCM_TEMP 17.10

FINISH 1.3,1.015223 XPDR_PINGS 329

SM_CCo 20036,0.00,0.000,0,0,1594,259.04 _24V_AH 22.4,71.888

SM_GC 2.16,6.80,0.00,0.00,0.051,0.000,0.000,337,2234,1594,-10.69,0.14,259.04 _10V_AH 10.6,32.751

RAFOS_CLK 742 DATA_FILE_SIZE 34700,1100

RAFOS 0,1228766675,20.083334,20.076389,67,58,51,50,49,48,219,201,167,122,132,77 CAP_FILE_SIZE 161480,0

RAFOS_FIX 6623.784668,-5659.131836,081208,161628,4,88,0.49 CFSIZE 260165632,223043584

IRIDIUM_FIX 6548.42,-5700.14,040398,111103 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1470.5

HUMID 1783 GPS 081208,230128,6625.559,-5653.246,54,3.4,73,-36.7

INTERNAL_PRESSURE 9.96132

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 233 134.62 SBE_CT 762 24 410.07

Roll_motor 142 75 239.97 SBE_O2 0 0 0.00

VBD_pump_during_apogee 354 1164 9247.48 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 23 103 55.16 nil 0 0 0.00

Iridium_during_connect 31 160 114.39 nil 0 0 0.00

Iridium_during_xfer 161 223 805.81

Transponder_ping 82 420 773.81

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.52

TT8 2074 19 438.02

LPSleep 15072 2 369.07

TT8_Active 475 19 100.47

TT8_Sampling 2182 39 923.64

TT8_CF8 585 45 284.88

TT8_Kalman 0 81 0.00

Analog_circuits 1627 12 207.01

GPS_charging 0 0 0.00

Compass 2146 8 182.06

RAFOS 1800 1 28.62

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 85 0.00 0.00 -67.25 0.000 2 0.000 0.000 332 2242 3107

89 -0.99 -146.0 3.1 -1.9 12 108 8.57 2.20 -4.25 0.000 4 0.233 0.075 2456 3604 3247

301 -0.82 -146.0 25.4 -9.5 49 308 0.17 2.15 0.00 0.000 6 0.140 0.041 2505 2204 3249

647 -0.82 -146.0 49.4 -6.8 110 653 0.00 2.12 0.00 0.000 4 0.000 0.053 2505 832 3249

721 -0.82 -146.0 54.8 -6.9 123 728 0.00 2.25 0.00 0.000 6 0.000 0.052 2497 2243 3250

1066 -0.82 -146.0 77.3 -6.2 184 1072 0.00 2.25 0.00 0.000 4 0.000 0.053 2497 826 3249

1152 -0.82 -146.0 82.8 -6.7 199 1159 0.00 2.25 0.00 0.000 6 0.000 0.054 2488 2234 3249

1494 -0.82 -146.0 102.2 -4.8 254 1495 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2234 3247

1805 -0.82 -146.0 114.9 -4.2 269 1806 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2234 3247

2113 -0.82 -146.0 130.4 -5.2 284 2117 0.00 2.22 0.00 0.000 4 0.000 0.052 2487 824 3246

2254 -0.82 -146.0 138.5 -6.4 290 2258 0.10 2.22 0.00 0.000 6 0.133 0.051 2505 2234 3246

2582 -0.93 -146.0 154.1 -4.8 306 2586 0.10 2.15 0.00 0.000 4 0.081 0.063 2447 3604 3246

2673 -0.82 -146.0 159.9 -6.7 310 2677 0.20 2.10 0.00 0.000 6 0.135 0.040 2505 2217 3246

3005 -0.94 -146.0 175.6 -4.5 326 3010 0.12 2.15 0.00 0.000 4 0.078 0.049 2448 817 3247

3155 -0.78 -146.0 185.0 -6.5 332 3160 0.25 2.25 0.00 0.000 6 0.126 0.051 2512 2241 3247

3471 -0.93 -146.0 198.7 -4.0 347 3473 0.12 0.00 0.00 0.000 6 0.074 0.000 2454 2240 3248

3781 -0.85 -146.0 215.5 -5.5 362 3783 0.15 0.00 0.00 0.000 6 0.137 0.000 2496 2240 3248

4090 -0.93 -146.0 229.9 -4.9 377 4094 0.00 2.20 0.00 0.000 4 0.000 0.050 2496 832 3248

4169 -0.93 -146.0 234.3 -5.9 380 4173 0.00 2.22 0.00 0.000 6 0.000 0.049 2489 2248 3248

4492 -0.99 -146.0 252.1 -5.7 396 4497 0.10 2.12 0.00 0.000 4 0.078 0.060 2426 3607 3249

4571 -0.83 -146.0 257.9 -7.2 399 4576 0.25 2.10 0.00 0.000 6 0.132 0.038 2502 2211 3249

4888 -0.95 -146.0 272.0 -4.0 414 4892 0.12 2.12 0.00 0.000 4 0.077 0.048 2443 830 3250

5002 -0.80 -146.0 278.7 -6.0 419 5007 0.25 2.22 0.00 0.000 6 0.126 0.049 2509 2247 3250

5330 -0.94 -146.0 290.0 -3.2 435 5332 0.12 0.00 0.00 0.000 6 0.074 0.000 2451 2247 3250

5639 -0.86 -146.0 304.4 -5.1 450 5643 0.15 2.22 0.00 0.000 4 0.138 0.048 2497 831 3250

5709 -0.93 -146.0 307.6 -5.1 453 5713 0.00 2.20 0.00 0.000 6 0.000 0.048 2490 2238 3250

6044 -1.01 -146.0 322.5 -4.7 469 6049 0.10 2.12 0.00 0.000 4 0.079 0.060 2427 3596 3250

6141 -0.85 -146.0 328.8 -6.8 473 6146 0.22 2.08 0.00 0.000 6 0.133 0.037 2494 2219 3251

6468 -0.95 -146.0 342.4 -3.9 489 6472 0.00 2.12 0.00 0.000 4 0.000 0.048 2494 834 3251

6570 -1.00 -146.0 346.5 -3.8 493 6575 0.10 2.20 0.00 0.000 6 0.076 0.048 2437 2238 3251

6892 -0.87 -146.0 361.1 -4.4 509 6896 0.20 2.12 0.00 0.000 4 0.138 0.059 2492 3590 3251

6963 -0.98 -146.0 363.4 -3.1 512 6967 0.10 2.05 0.00 0.000 6 0.081 0.038 2441 2230 3252

7298 -0.88 -146.0 376.5 -4.0 528 7300 0.17 0.00 0.00 0.000 6 0.135 0.000 2491 2230 3252

7605 -0.97 -146.0 385.5 -2.8 543 7607 0.10 0.00 0.00 0.000 6 0.084 0.000 2445 2230 3252

7916 -0.88 -146.0 400.4 -5.3 558 7918 0.15 0.00 0.00 0.000 6 0.139 0.000 2487 2230 3252

8240 -0.96 -146.0 415.4 -4.7 566 8244 0.00 2.15 0.00 0.000 4 0.000 0.049 2487 832 3252

8307 -0.96 -146.0 418.8 -5.1 567 8311 0.00 2.20 0.00 0.000 6 0.000 0.048 2480 2237 3252

8657 -1.01 -146.0 434.3 -4.4 576 8658 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2237 3252

8980 -1.01 -146.0 449.3 -4.7 584 8982 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2236 3251

9306 -1.06 -146.0 464.1 -4.5 592 9308 0.12 0.00 0.00 0.000 6 0.073 0.000 2422 2236 3252

9633 -0.90 -146.0 483.5 -6.1 600 9638 0.20 2.17 0.00 0.000 4 0.132 0.060 2478 3600 3251

9723 -0.98 -146.0 488.6 -5.8 602 9727 0.00 2.08 0.00 0.000 6 0.000 0.038 2478 2226 3252

10048 -1.04 -146.0 504.9 -5.1 610 10052 0.10 2.17 0.00 0.000 4 0.083 0.049 2431 824 3252

10233 -0.87 -146.0 517.1 -7.1 614 10237 0.25 2.22 0.00 0.000 6 0.129 0.048 2496 2243 3251

10552 -1.00 -146.0 530.7 -4.1 622 10554 0.12 0.00 0.00 0.000 6 0.074 0.000 2439 2243 3251

10877 -0.91 -146.0 546.8 -5.0 630 10882 0.15 2.25 0.00 0.000 4 0.139 0.048 2483 833 3251

10967 -0.91 -146.0 550.8 -3.7 632 10971 0.00 2.25 0.00 0.000 6 0.000 0.048 2475 2245 3252

11292 -0.91 -146.0 564.2 -4.2 640 11296 0.00 2.15 0.00 0.000 4 0.000 0.061 2465 3598 3251

11360 -0.91 -146.0 567.5 -5.0 641 11363 0.00 2.10 0.00 0.000 6 0.000 0.038 2465 2219 3251

11709 -0.91 -146.0 583.8 -4.6 650 11713 0.00 2.15 0.00 0.000 4 0.000 0.048 2465 830 3251

11834 -0.86 -146.0 590.3 -4.9 652 11839 0.15 2.20 0.00 0.000 6 0.124 0.048 2498 2241 3251

12172 -1.00 -146.0 604.2 -4.1 661 12176 0.12 2.15 0.00 0.000 4 0.075 0.060 2432 3590 3251

12229 -0.90 -146.0 607.4 -5.9 662 12234 0.20 2.10 0.00 0.000 6 0.133 0.038 2490 2215 3252

12457 end dive: TARGET_DEPTH_EXCEEDED

state 12457 begin apogee

12465 -0.31 0.0 617.7 4.3 668 12594 0.38 0.00 126.25 1.164 6 0.110 0.000 2614 1743 2650

12595 end apogee: CONTROL_FINISHED_OK

state 12595 begin climb

12598 0.99 146.0 618.3 0.0 671 12735 0.85 2.55 129.23 1.097 4 0.084 0.054 2900 3141 2053

12744 0.68 146.0 604.1 11.5 674 12750 0.32 2.40 0.00 0.000 6 0.132 0.039 2823 1740 2051

13087 0.68 146.0 576.4 7.9 683 13088 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 1740 2048

13412 0.68 146.0 550.6 8.0 691 13416 0.00 2.25 0.00 0.000 4 0.000 0.057 2823 3148 2046

13434 0.68 146.0 548.5 9.0 691 13438 0.00 2.20 0.00 0.000 6 0.000 0.041 2831 1729 2045

13783 0.68 146.0 518.4 8.4 700 13784 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1729 2045

14107 0.68 146.0 491.2 8.5 708 14111 0.00 2.28 0.00 0.000 4 0.000 0.055 2831 3159 2045

14142 0.56 146.0 488.1 8.7 708 14146 0.15 2.20 0.00 0.000 6 0.128 0.041 2797 1732 2045

14474 0.71 173.7 467.5 6.1 716 14504 0.12 2.33 23.02 1.053 4 0.068 0.055 2861 3153 1941

14516 0.54 173.7 463.8 9.5 717 14521 0.25 2.22 0.00 0.000 6 0.126 0.041 2797 1725 1939

14842 0.71 195.7 442.7 6.3 725 14867 0.12 2.33 19.67 1.025 4 0.068 0.055 2861 3161 1852

14890 0.54 195.7 437.8 11.2 726 14895 0.25 2.25 0.00 0.000 6 0.122 0.041 2797 1725 1849

15209 0.73 209.9 416.9 6.6 734 15229 0.15 2.33 12.82 0.967 4 0.061 0.054 2871 3148 1794

15241 0.59 209.9 413.7 11.0 734 15246 0.25 2.20 0.00 0.000 6 0.123 0.040 2806 1737 1792

15554 0.73 209.9 390.8 7.0 744 15556 0.12 0.00 0.00 0.000 6 0.067 0.000 2870 1737 1791

15864 0.60 209.9 356.3 11.2 759 15868 0.20 2.28 0.00 0.000 4 0.118 0.055 2805 3160 1790

15904 0.65 209.9 352.6 7.7 761 15908 0.00 2.20 0.00 0.000 6 0.000 0.041 2812 1736 1789

16237 0.80 234.7 330.5 6.2 777 16267 0.15 2.33 22.35 0.973 4 0.062 0.055 2884 3146 1693

16290 0.59 234.7 325.0 12.0 779 16295 0.30 2.20 0.00 0.000 6 0.123 0.041 2804 1736 1691

16608 0.79 235.9 303.1 7.0 794 16610 0.15 0.00 0.00 0.000 6 0.064 0.000 2879 1735 1688

16916 0.65 235.9 265.8 12.3 809 16918 0.20 0.00 0.00 0.000 6 0.117 0.000 2816 1735 1687

17225 0.79 235.9 241.5 7.5 824 17227 0.12 0.00 0.00 0.000 6 0.070 0.000 2879 1735 1686

17535 0.66 235.9 206.4 11.3 839 17537 0.20 0.00 0.00 0.000 6 0.116 0.000 2816 1735 1686

17844 0.84 251.7 185.4 6.5 854 17866 0.15 2.28 15.02 0.859 4 0.064 0.056 2888 3155 1623

17872 0.78 251.7 182.6 9.9 855 17877 0.20 2.22 0.00 0.000 6 0.125 0.041 2839 1724 1621

18194 0.85 251.7 156.6 7.9 871 18196 0.10 0.00 0.00 0.000 6 0.075 0.000 2892 1724 1619

18503 0.71 251.7 121.2 10.5 886 18505 0.20 0.00 0.00 0.000 6 0.119 0.000 2829 1724 1619

18813 0.87 257.7 101.3 6.8 901 18825 0.15 2.28 6.20 0.690 4 0.064 0.054 2901 3152 1598

18843 0.87 257.7 98.2 8.8 904 18849 0.17 2.20 0.00 0.000 6 0.130 0.041 2861 1729 1598

19188 0.93 257.7 66.4 8.5 965 19194 0.00 2.20 0.00 0.000 4 0.000 0.055 2868 337 1597

19207 1.02 257.7 64.8 7.9 968 19214 0.12 2.20 0.00 0.000 6 0.069 0.042 2934 1752 1597

19553 0.85 257.7 26.9 10.4 1029 19560 0.20 2.20 0.00 0.000 4 0.127 0.058 2867 3143 1598

19589 0.79 257.7 23.7 8.8 1035 19595 0.00 2.17 0.00 0.000 6 0.000 0.042 2873 1737 1597

19921 end climb: SURFACE_DEPTH_REACHED

state 19921 begin surface coast

19956 end surface coast: CONTROL_FINISHED_OK

state 19956 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	436	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	34	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	-120475.35	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	171908,6621.884,-5653.834,25,1.7,25,-36.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6632.672,-5653.815
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.23	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	172509,6621.874,-5653.815,12,1.7,12,-36.7	MHEAD_RNG_PITCHd_Wd	36.7,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	616

FREEZE	1.31,1.236,-1.032	TCM_TEMP	17.10
FINISH	1.3,1.015223	XPDR_PINGS	329
SM_CCo	20036,0.00,0.000,0,0,1594,259.04	_24V_AH	22.4,71.888
SM_GC	2.16,6.80,0.00,0.00,0.051,0.000,0.000,337,2234,1594,-10.69,0.14,259.04	_10V_AH	10.6,32.751
RAFOS_CLK	742	DATA_FILE_SIZE	34700,1100
RAFOS	0,1228766675,20.083334,20.076389,67,58,51,50,49,48,219,201,167,122,132,77	CAP_FILE_SIZE	161480,0
RAFOS_FIX	6623.784668,-5659.131836,081208,161628,4,88,0.49	CFSIZE	260165632,223043584
IRIDIUM_FIX	6548.42,-5700.14,040398,111103	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1470.5
HUMID	1783	GPS	081208,230128,6625.559,-5653.246,54,3.4,73,-36.7
INTERNAL_PRESSURE	9.96132

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	233	134.62	SBE_CT	762	24	410.07
Roll_motor	142	75	239.97	SBE_O2	0	0	0.00
VBD_pump_during_apogee	354	1164	9247.48	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	23	103	55.16	nil	0	0	0.00
Iridium_during_connect	31	160	114.39	nil	0	0	0.00
Iridium_during_xfer	161	223	805.81
Transponder_ping	82	420	773.81
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.52
TT8	2074	19	438.02
LPSleep	15072	2	369.07
TT8_Active	475	19	100.47
TT8_Sampling	2182	39	923.64
TT8_CF8	585	45	284.88
TT8_Kalman	0	81	0.00
Analog_circuits	1627	12	207.01
GPS_charging	0	0	0.00
Compass	2146	8	182.06
RAFOS	1800	1	28.62
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	85	0.00	0.00	-67.25	0.000	2	0.000	0.000	332	2242	3107
89	-0.99	-146.0	3.1	-1.9	12	108	8.57	2.20	-4.25	0.000	4	0.233	0.075	2456	3604	3247
301	-0.82	-146.0	25.4	-9.5	49	308	0.17	2.15	0.00	0.000	6	0.140	0.041	2505	2204	3249
647	-0.82	-146.0	49.4	-6.8	110	653	0.00	2.12	0.00	0.000	4	0.000	0.053	2505	832	3249
721	-0.82	-146.0	54.8	-6.9	123	728	0.00	2.25	0.00	0.000	6	0.000	0.052	2497	2243	3250
1066	-0.82	-146.0	77.3	-6.2	184	1072	0.00	2.25	0.00	0.000	4	0.000	0.053	2497	826	3249
1152	-0.82	-146.0	82.8	-6.7	199	1159	0.00	2.25	0.00	0.000	6	0.000	0.054	2488	2234	3249
1494	-0.82	-146.0	102.2	-4.8	254	1495	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2234	3247
1805	-0.82	-146.0	114.9	-4.2	269	1806	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2234	3247
2113	-0.82	-146.0	130.4	-5.2	284	2117	0.00	2.22	0.00	0.000	4	0.000	0.052	2487	824	3246
2254	-0.82	-146.0	138.5	-6.4	290	2258	0.10	2.22	0.00	0.000	6	0.133	0.051	2505	2234	3246
2582	-0.93	-146.0	154.1	-4.8	306	2586	0.10	2.15	0.00	0.000	4	0.081	0.063	2447	3604	3246
2673	-0.82	-146.0	159.9	-6.7	310	2677	0.20	2.10	0.00	0.000	6	0.135	0.040	2505	2217	3246
3005	-0.94	-146.0	175.6	-4.5	326	3010	0.12	2.15	0.00	0.000	4	0.078	0.049	2448	817	3247
3155	-0.78	-146.0	185.0	-6.5	332	3160	0.25	2.25	0.00	0.000	6	0.126	0.051	2512	2241	3247
3471	-0.93	-146.0	198.7	-4.0	347	3473	0.12	0.00	0.00	0.000	6	0.074	0.000	2454	2240	3248
3781	-0.85	-146.0	215.5	-5.5	362	3783	0.15	0.00	0.00	0.000	6	0.137	0.000	2496	2240	3248
4090	-0.93	-146.0	229.9	-4.9	377	4094	0.00	2.20	0.00	0.000	4	0.000	0.050	2496	832	3248
4169	-0.93	-146.0	234.3	-5.9	380	4173	0.00	2.22	0.00	0.000	6	0.000	0.049	2489	2248	3248
4492	-0.99	-146.0	252.1	-5.7	396	4497	0.10	2.12	0.00	0.000	4	0.078	0.060	2426	3607	3249
4571	-0.83	-146.0	257.9	-7.2	399	4576	0.25	2.10	0.00	0.000	6	0.132	0.038	2502	2211	3249
4888	-0.95	-146.0	272.0	-4.0	414	4892	0.12	2.12	0.00	0.000	4	0.077	0.048	2443	830	3250
5002	-0.80	-146.0	278.7	-6.0	419	5007	0.25	2.22	0.00	0.000	6	0.126	0.049	2509	2247	3250
5330	-0.94	-146.0	290.0	-3.2	435	5332	0.12	0.00	0.00	0.000	6	0.074	0.000	2451	2247	3250
5639	-0.86	-146.0	304.4	-5.1	450	5643	0.15	2.22	0.00	0.000	4	0.138	0.048	2497	831	3250
5709	-0.93	-146.0	307.6	-5.1	453	5713	0.00	2.20	0.00	0.000	6	0.000	0.048	2490	2238	3250
6044	-1.01	-146.0	322.5	-4.7	469	6049	0.10	2.12	0.00	0.000	4	0.079	0.060	2427	3596	3250
6141	-0.85	-146.0	328.8	-6.8	473	6146	0.22	2.08	0.00	0.000	6	0.133	0.037	2494	2219	3251
6468	-0.95	-146.0	342.4	-3.9	489	6472	0.00	2.12	0.00	0.000	4	0.000	0.048	2494	834	3251
6570	-1.00	-146.0	346.5	-3.8	493	6575	0.10	2.20	0.00	0.000	6	0.076	0.048	2437	2238	3251
6892	-0.87	-146.0	361.1	-4.4	509	6896	0.20	2.12	0.00	0.000	4	0.138	0.059	2492	3590	3251
6963	-0.98	-146.0	363.4	-3.1	512	6967	0.10	2.05	0.00	0.000	6	0.081	0.038	2441	2230	3252
7298	-0.88	-146.0	376.5	-4.0	528	7300	0.17	0.00	0.00	0.000	6	0.135	0.000	2491	2230	3252
7605	-0.97	-146.0	385.5	-2.8	543	7607	0.10	0.00	0.00	0.000	6	0.084	0.000	2445	2230	3252
7916	-0.88	-146.0	400.4	-5.3	558	7918	0.15	0.00	0.00	0.000	6	0.139	0.000	2487	2230	3252
8240	-0.96	-146.0	415.4	-4.7	566	8244	0.00	2.15	0.00	0.000	4	0.000	0.049	2487	832	3252
8307	-0.96	-146.0	418.8	-5.1	567	8311	0.00	2.20	0.00	0.000	6	0.000	0.048	2480	2237	3252
8657	-1.01	-146.0	434.3	-4.4	576	8658	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2237	3252
8980	-1.01	-146.0	449.3	-4.7	584	8982	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2236	3251
9306	-1.06	-146.0	464.1	-4.5	592	9308	0.12	0.00	0.00	0.000	6	0.073	0.000	2422	2236	3252
9633	-0.90	-146.0	483.5	-6.1	600	9638	0.20	2.17	0.00	0.000	4	0.132	0.060	2478	3600	3251
9723	-0.98	-146.0	488.6	-5.8	602	9727	0.00	2.08	0.00	0.000	6	0.000	0.038	2478	2226	3252
10048	-1.04	-146.0	504.9	-5.1	610	10052	0.10	2.17	0.00	0.000	4	0.083	0.049	2431	824	3252
10233	-0.87	-146.0	517.1	-7.1	614	10237	0.25	2.22	0.00	0.000	6	0.129	0.048	2496	2243	3251
10552	-1.00	-146.0	530.7	-4.1	622	10554	0.12	0.00	0.00	0.000	6	0.074	0.000	2439	2243	3251
10877	-0.91	-146.0	546.8	-5.0	630	10882	0.15	2.25	0.00	0.000	4	0.139	0.048	2483	833	3251
10967	-0.91	-146.0	550.8	-3.7	632	10971	0.00	2.25	0.00	0.000	6	0.000	0.048	2475	2245	3252
11292	-0.91	-146.0	564.2	-4.2	640	11296	0.00	2.15	0.00	0.000	4	0.000	0.061	2465	3598	3251
11360	-0.91	-146.0	567.5	-5.0	641	11363	0.00	2.10	0.00	0.000	6	0.000	0.038	2465	2219	3251
11709	-0.91	-146.0	583.8	-4.6	650	11713	0.00	2.15	0.00	0.000	4	0.000	0.048	2465	830	3251
11834	-0.86	-146.0	590.3	-4.9	652	11839	0.15	2.20	0.00	0.000	6	0.124	0.048	2498	2241	3251
12172	-1.00	-146.0	604.2	-4.1	661	12176	0.12	2.15	0.00	0.000	4	0.075	0.060	2432	3590	3251
12229	-0.90	-146.0	607.4	-5.9	662	12234	0.20	2.10	0.00	0.000	6	0.133	0.038	2490	2215	3252
12457	end dive: TARGET_DEPTH_EXCEEDED
state	12457	begin apogee
12465	-0.31	0.0	617.7	4.3	668	12594	0.38	0.00	126.25	1.164	6	0.110	0.000	2614	1743	2650
12595	end apogee: CONTROL_FINISHED_OK
state	12595	begin climb
12598	0.99	146.0	618.3	0.0	671	12735	0.85	2.55	129.23	1.097	4	0.084	0.054	2900	3141	2053
12744	0.68	146.0	604.1	11.5	674	12750	0.32	2.40	0.00	0.000	6	0.132	0.039	2823	1740	2051
13087	0.68	146.0	576.4	7.9	683	13088	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	1740	2048
13412	0.68	146.0	550.6	8.0	691	13416	0.00	2.25	0.00	0.000	4	0.000	0.057	2823	3148	2046
13434	0.68	146.0	548.5	9.0	691	13438	0.00	2.20	0.00	0.000	6	0.000	0.041	2831	1729	2045
13783	0.68	146.0	518.4	8.4	700	13784	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1729	2045
14107	0.68	146.0	491.2	8.5	708	14111	0.00	2.28	0.00	0.000	4	0.000	0.055	2831	3159	2045
14142	0.56	146.0	488.1	8.7	708	14146	0.15	2.20	0.00	0.000	6	0.128	0.041	2797	1732	2045
14474	0.71	173.7	467.5	6.1	716	14504	0.12	2.33	23.02	1.053	4	0.068	0.055	2861	3153	1941
14516	0.54	173.7	463.8	9.5	717	14521	0.25	2.22	0.00	0.000	6	0.126	0.041	2797	1725	1939
14842	0.71	195.7	442.7	6.3	725	14867	0.12	2.33	19.67	1.025	4	0.068	0.055	2861	3161	1852
14890	0.54	195.7	437.8	11.2	726	14895	0.25	2.25	0.00	0.000	6	0.122	0.041	2797	1725	1849
15209	0.73	209.9	416.9	6.6	734	15229	0.15	2.33	12.82	0.967	4	0.061	0.054	2871	3148	1794
15241	0.59	209.9	413.7	11.0	734	15246	0.25	2.20	0.00	0.000	6	0.123	0.040	2806	1737	1792
15554	0.73	209.9	390.8	7.0	744	15556	0.12	0.00	0.00	0.000	6	0.067	0.000	2870	1737	1791
15864	0.60	209.9	356.3	11.2	759	15868	0.20	2.28	0.00	0.000	4	0.118	0.055	2805	3160	1790
15904	0.65	209.9	352.6	7.7	761	15908	0.00	2.20	0.00	0.000	6	0.000	0.041	2812	1736	1789
16237	0.80	234.7	330.5	6.2	777	16267	0.15	2.33	22.35	0.973	4	0.062	0.055	2884	3146	1693
16290	0.59	234.7	325.0	12.0	779	16295	0.30	2.20	0.00	0.000	6	0.123	0.041	2804	1736	1691
16608	0.79	235.9	303.1	7.0	794	16610	0.15	0.00	0.00	0.000	6	0.064	0.000	2879	1735	1688
16916	0.65	235.9	265.8	12.3	809	16918	0.20	0.00	0.00	0.000	6	0.117	0.000	2816	1735	1687
17225	0.79	235.9	241.5	7.5	824	17227	0.12	0.00	0.00	0.000	6	0.070	0.000	2879	1735	1686
17535	0.66	235.9	206.4	11.3	839	17537	0.20	0.00	0.00	0.000	6	0.116	0.000	2816	1735	1686
17844	0.84	251.7	185.4	6.5	854	17866	0.15	2.28	15.02	0.859	4	0.064	0.056	2888	3155	1623
17872	0.78	251.7	182.6	9.9	855	17877	0.20	2.22	0.00	0.000	6	0.125	0.041	2839	1724	1621
18194	0.85	251.7	156.6	7.9	871	18196	0.10	0.00	0.00	0.000	6	0.075	0.000	2892	1724	1619
18503	0.71	251.7	121.2	10.5	886	18505	0.20	0.00	0.00	0.000	6	0.119	0.000	2829	1724	1619
18813	0.87	257.7	101.3	6.8	901	18825	0.15	2.28	6.20	0.690	4	0.064	0.054	2901	3152	1598
18843	0.87	257.7	98.2	8.8	904	18849	0.17	2.20	0.00	0.000	6	0.130	0.041	2861	1729	1598
19188	0.93	257.7	66.4	8.5	965	19194	0.00	2.20	0.00	0.000	4	0.000	0.055	2868	337	1597
19207	1.02	257.7	64.8	7.9	968	19214	0.12	2.20	0.00	0.000	6	0.069	0.042	2934	1752	1597
19553	0.85	257.7	26.9	10.4	1029	19560	0.20	2.20	0.00	0.000	4	0.127	0.058	2867	3143	1598
19589	0.79	257.7	23.7	8.8	1035	19595	0.00	2.17	0.00	0.000	6	0.000	0.042	2873	1737	1597
19921	end climb: SURFACE_DEPTH_REACHED
state	19921	begin surface coast
19956	end surface coast: CONTROL_FINISHED_OK
state	19956	begin surface