Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 441 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 355 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 441 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -120608.7 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 -120608.7

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 355 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 35 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 441 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 211837,6635.786,-5649.369,41,1.0,51,-36.9 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6646.547,-5651.792

_XMS_NAKs 16 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 1.87 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -62.5 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 212914,6635.789,-5649.405,9,1.2,13,-36.9 MHEAD_RNG_PITCHd_Wd 31.9,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 589

Post-dive calculations and measurements:

FREEZE 1.18,2.011,-1.840 TCM_TEMP 16.70

FINISH 1.2,1.026801 XPDR_PINGS 237

SM_CCo 18670,0.00,0.000,0,0,1477,287.74 _24V_AH 22.4,72.578

SM_GC 1.97,6.70,0.00,0.00,0.041,0.000,0.000,331,2233,1477,-10.68,0.08,287.74 _10V_AH 10.6,33.117

RAFOS_CLK 695 DATA_FILE_SIZE 34681,1052

RAFOS 0,1228867445,0.083333,0.068056,64,63,54,53,51,51,192,217,136,167,110,1859 CAP_FILE_SIZE 143698,0

RAFOS_FIX 6623.784668,-5659.131836,081208,161628,4,88,0.49 CFSIZE 260165632,222711808

IRIDIUM_FIX 6609.62,-5642.66,050398,212143 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026078 SOUNDSPEED 1471.0

HUMID 1781 GPS 101208,024256,6638.674,-5650.359,86,1.2,86,-37.0

INTERNAL_PRESSURE 9.96132

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 236 121.31 SBE_CT 726 24 390.66

Roll_motor 111 75 190.33 SBE_O2 0 0 0.00

VBD_pump_during_apogee 376 1142 9634.33 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 60 103 139.60 nil 0 0 0.00

Iridium_during_connect 69 160 248.10 nil 0 0 0.00

Iridium_during_xfer 293 223 1466.47

Transponder_ping 59 420 557.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.08

TT8 1904 19 402.08

LPSleep 14192 2 347.52

TT8_Active 472 19 99.68

TT8_Sampling 1955 39 827.66

TT8_CF8 770 45 375.13

TT8_Kalman 0 81 0.00

Analog_circuits 1509 12 191.97

GPS_charging 0 0 0.00

Compass 1925 8 163.31

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.99 -146.0 0.0 0.0 0 66 0.00 0.00 -44.88 0.000 2 0.000 0.000 330 2259 2818

70 -0.99 -146.0 3.1 -3.2 8 101 8.62 2.17 -14.77 0.000 4 0.236 0.076 2456 3601 3248

136 -0.84 -146.0 9.8 -13.0 19 143 0.15 2.12 0.00 0.000 6 0.142 0.041 2497 2214 3250

481 -0.84 -146.0 40.3 -6.9 80 487 0.00 2.15 0.00 0.000 4 0.000 0.051 2497 820 3251

741 -0.84 -146.0 61.6 -8.6 126 748 0.00 2.25 0.00 0.000 6 0.000 0.052 2489 2234 3251

1086 -0.84 -146.0 86.3 -6.2 187 1091 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2234 3250

1426 -0.84 -146.0 106.6 -6.2 234 1427 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2234 3249

1737 -0.84 -146.0 123.4 -4.6 249 1741 0.00 2.22 0.00 0.000 4 0.000 0.051 2489 821 3248

1816 -0.84 -146.0 127.7 -5.0 252 1820 0.00 2.28 0.00 0.000 6 0.000 0.051 2479 2246 3248

2138 -0.84 -146.0 142.8 -4.8 268 2141 0.00 2.25 0.00 0.000 4 0.000 0.051 2480 818 3248

2212 -0.79 -146.0 146.7 -5.6 271 2216 0.15 2.25 0.00 0.000 6 0.123 0.051 2513 2237 3248

2539 -0.93 -146.0 159.2 -4.3 287 2544 0.12 2.15 0.00 0.000 4 0.074 0.061 2446 3605 3248

2700 -0.83 -146.0 170.9 -7.3 294 2704 0.20 2.10 0.00 0.000 6 0.133 0.039 2504 2215 3248

3033 -0.94 -146.0 188.9 -5.3 310 3035 0.12 0.00 0.00 0.000 6 0.078 0.000 2446 2214 3249

3342 -0.83 -146.0 211.4 -7.4 325 3344 0.20 0.00 0.00 0.000 6 0.131 0.000 2505 2214 3249

3651 -0.95 -146.0 228.4 -5.2 340 3655 0.12 2.12 0.00 0.000 4 0.077 0.048 2446 830 3249

3752 -0.80 -146.0 236.0 -8.4 344 3757 0.25 2.20 0.00 0.000 6 0.126 0.049 2511 2235 3249

4069 -0.94 -146.0 252.0 -4.8 359 4071 0.12 0.00 0.00 0.000 6 0.075 0.000 2453 2235 3250

4378 -0.88 -146.0 271.9 -6.4 374 4379 0.15 0.00 0.00 0.000 6 0.137 0.000 2495 2235 3250

4689 -0.97 -146.0 287.3 -4.8 389 4691 0.10 0.00 0.00 0.000 6 0.087 0.000 2447 2235 3251

4996 -0.88 -146.0 305.8 -6.1 404 4998 0.15 0.00 0.00 0.000 6 0.137 0.000 2489 2235 3251

5306 -0.96 -146.0 321.2 -4.8 419 5310 0.00 2.15 0.00 0.000 4 0.000 0.061 2481 3604 3251

5363 -1.04 -146.0 324.0 -5.2 421 5368 0.10 2.10 0.00 0.000 6 0.078 0.038 2430 2214 3252

5685 -0.89 -146.0 342.6 -5.9 437 5690 0.20 2.15 0.00 0.000 4 0.130 0.048 2497 821 3252

5765 -0.95 -146.0 346.5 -4.5 440 5769 0.00 2.25 0.00 0.000 6 0.000 0.048 2490 2245 3251

6087 -1.03 -146.0 361.1 -4.9 456 6092 0.12 2.12 0.00 0.000 4 0.071 0.060 2419 3598 3252

6236 -0.85 -146.0 371.8 -7.8 462 6241 0.25 2.08 0.00 0.000 6 0.132 0.038 2494 2222 3252

6553 -0.95 -146.0 389.1 -5.2 477 6556 0.00 2.12 0.00 0.000 4 0.000 0.049 2495 837 3253

6672 -1.02 -146.0 395.6 -5.7 482 6676 0.10 2.20 0.00 0.000 6 0.075 0.048 2438 2234 3253

6995 -0.91 -146.0 415.9 -6.1 492 6997 0.17 0.00 0.00 0.000 6 0.137 0.000 2488 2234 3253

7320 -0.99 -146.0 431.3 -4.6 500 7324 0.10 2.20 0.00 0.000 4 0.086 0.048 2440 824 3253

7433 -0.84 -146.0 438.4 -6.3 502 7438 0.22 2.22 0.00 0.000 6 0.126 0.048 2497 2235 3252

7776 -0.96 -146.0 453.5 -4.3 511 7778 0.10 0.00 0.00 0.000 6 0.080 0.000 2450 2235 3253

8102 -0.90 -146.0 470.5 -5.3 519 8103 0.12 0.00 0.00 0.000 6 0.139 0.000 2485 2235 3253

8426 -0.98 -146.0 484.7 -4.3 527 8427 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2235 3253

8751 -1.06 -146.0 497.3 -3.7 535 8756 0.12 2.20 0.00 0.000 4 0.077 0.047 2430 828 3253

8870 -0.88 -146.0 503.7 -5.1 537 8874 0.25 2.22 0.00 0.000 6 0.127 0.049 2495 2241 3253

9202 -0.99 -146.0 515.3 -3.4 545 9206 0.12 2.12 0.00 0.000 4 0.076 0.059 2428 3594 3253

9258 -0.87 -146.0 518.0 -5.3 546 9263 0.22 2.08 0.00 0.000 6 0.131 0.037 2496 2217 3253

9578 -1.00 -146.0 529.8 -3.7 554 9582 0.12 2.10 0.00 0.000 4 0.076 0.048 2439 839 3253

9720 -0.85 -146.0 537.4 -5.5 557 9725 0.22 2.17 0.00 0.000 6 0.125 0.048 2496 2234 3253

10046 -0.98 -146.0 550.2 -3.9 565 10048 0.12 0.00 0.00 0.000 6 0.074 0.000 2440 2234 3253

10370 -0.89 -146.0 567.3 -5.2 573 10374 0.17 2.20 0.00 0.000 4 0.137 0.047 2494 836 3253

10444 -0.97 -146.0 570.5 -4.1 574 10448 0.00 2.20 0.00 0.000 6 0.000 0.048 2487 2237 3253

10787 -1.05 -146.0 584.4 -4.1 583 10789 0.12 0.00 0.00 0.000 6 0.071 0.000 2429 2237 3253

10905 end dive: TARGET_DEPTH_EXCEEDED

state 10905 begin apogee

10913 -0.31 0.0 590.7 5.0 586 11042 0.60 0.00 126.50 1.143 6 0.123 0.000 2618 1741 2650

11043 end apogee: CONTROL_FINISHED_OK

state 11043 begin climb

11047 0.99 146.0 591.2 0.0 589 11184 0.82 2.53 128.23 1.076 4 0.087 0.053 2894 3138 2053

11193 0.71 146.0 577.4 11.3 592 11198 0.28 2.40 0.00 0.000 6 0.123 0.039 2828 1736 2051

11536 0.71 146.0 550.2 7.7 601 11537 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 1736 2047

11860 0.71 146.0 523.9 8.3 609 11861 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 1736 2046

12185 0.71 146.0 496.4 8.5 617 12186 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1736 2045

12510 0.71 146.0 470.3 7.8 625 12511 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1736 2045

12836 0.71 146.0 445.3 7.7 633 12837 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 1736 2045

13160 0.71 146.0 419.6 7.9 641 13161 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 1736 2045

13465 0.71 146.0 395.4 7.9 649 13469 0.00 2.28 0.00 0.000 4 0.000 0.054 2829 3153 2045

13481 0.71 146.0 393.9 8.0 649 13487 0.00 2.22 0.00 0.000 6 0.000 0.041 2837 1724 2044

13799 0.71 146.0 369.3 7.5 665 13800 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 1724 2044

14106 0.71 146.0 346.8 7.3 680 14110 0.00 2.30 0.00 0.000 4 0.000 0.055 2837 3147 2044

14124 0.66 146.0 345.4 7.5 680 14130 0.00 2.20 0.00 0.000 6 0.000 0.041 2846 1733 2044

14441 0.61 146.0 320.4 8.0 696 14445 0.12 2.22 0.00 0.000 4 0.127 0.052 2817 336 2044

14457 0.61 146.0 319.0 7.7 696 14463 0.00 2.20 0.00 0.000 6 0.000 0.041 2817 1755 2045

14773 0.69 158.4 298.4 6.6 712 14788 0.00 2.22 10.25 0.881 4 0.000 0.054 2817 3159 2003

14828 0.69 158.4 294.1 8.1 713 14834 0.00 2.22 0.00 0.000 6 0.000 0.041 2827 1725 2002

15144 0.69 158.4 270.7 7.4 729 15148 0.00 2.30 0.00 0.000 4 0.000 0.054 2827 3156 2002

15160 0.69 158.4 269.5 7.2 729 15167 0.00 2.20 0.00 0.000 6 0.000 0.040 2836 1735 2001

15476 0.69 158.4 245.6 7.7 745 15478 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 1735 2001

15785 0.69 158.4 221.8 7.5 760 15789 0.00 2.25 0.00 0.000 4 0.000 0.054 2836 3145 2000

15801 0.69 158.4 220.4 7.6 760 15807 0.00 2.17 0.00 0.000 6 0.000 0.041 2845 1737 2001

16117 0.69 158.4 194.3 8.4 776 16118 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 1737 2001

16428 0.69 158.4 169.1 7.7 791 16432 0.00 2.25 0.00 0.000 4 0.000 0.055 2845 3155 2002

16444 0.69 158.4 167.7 8.0 791 16451 0.10 2.20 0.00 0.000 6 0.130 0.041 2826 1730 2001

16760 0.79 179.3 147.6 6.3 807 16782 0.10 0.00 18.95 0.851 6 0.077 0.000 2878 1729 1919

17090 0.69 179.3 116.4 8.8 823 17092 0.17 0.00 0.00 0.000 6 0.114 0.000 2823 1729 1916

17403 0.85 190.1 96.6 6.7 844 17416 0.15 0.00 10.25 0.772 6 0.064 0.000 2895 1729 1874

17755 0.78 207.2 68.4 6.5 906 17780 0.17 2.33 15.10 0.787 4 0.116 0.054 2840 3145 1805

17810 0.88 235.3 64.9 6.1 915 17841 0.10 2.22 25.30 0.797 6 0.079 0.041 2898 1725 1690

18180 0.88 235.3 31.4 7.1 980 18186 0.12 2.25 0.00 0.000 4 0.123 0.054 2869 325 1683

18210 0.94 284.4 29.6 5.4 985 18258 0.00 2.25 41.78 0.788 6 0.000 0.044 2869 1741 1490

18563 end climb: SURFACE_DEPTH_REACHED

state 18563 begin surface coast

18591 end surface coast: CONTROL_FINISHED_OK

state 18591 begin surface

ID	108	HEADING	355	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	441	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-120608.7	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	211837,6635.786,-5649.369,41,1.0,51,-36.9	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6646.547,-5651.792
_XMS_NAKs	16	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	1.87	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-62.5	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	212914,6635.789,-5649.405,9,1.2,13,-36.9	MHEAD_RNG_PITCHd_Wd	31.9,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	589

FREEZE	1.18,2.011,-1.840	TCM_TEMP	16.70
FINISH	1.2,1.026801	XPDR_PINGS	237
SM_CCo	18670,0.00,0.000,0,0,1477,287.74	_24V_AH	22.4,72.578
SM_GC	1.97,6.70,0.00,0.00,0.041,0.000,0.000,331,2233,1477,-10.68,0.08,287.74	_10V_AH	10.6,33.117
RAFOS_CLK	695	DATA_FILE_SIZE	34681,1052
RAFOS	0,1228867445,0.083333,0.068056,64,63,54,53,51,51,192,217,136,167,110,1859	CAP_FILE_SIZE	143698,0
RAFOS_FIX	6623.784668,-5659.131836,081208,161628,4,88,0.49	CFSIZE	260165632,222711808
IRIDIUM_FIX	6609.62,-5642.66,050398,212143	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026078	SOUNDSPEED	1471.0
HUMID	1781	GPS	101208,024256,6638.674,-5650.359,86,1.2,86,-37.0
INTERNAL_PRESSURE	9.96132

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	236	121.31	SBE_CT	726	24	390.66
Roll_motor	111	75	190.33	SBE_O2	0	0	0.00
VBD_pump_during_apogee	376	1142	9634.33	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	60	103	139.60	nil	0	0	0.00
Iridium_during_connect	69	160	248.10	nil	0	0	0.00
Iridium_during_xfer	293	223	1466.47
Transponder_ping	59	420	557.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.08
TT8	1904	19	402.08
LPSleep	14192	2	347.52
TT8_Active	472	19	99.68
TT8_Sampling	1955	39	827.66
TT8_CF8	770	45	375.13
TT8_Kalman	0	81	0.00
Analog_circuits	1509	12	191.97
GPS_charging	0	0	0.00
Compass	1925	8	163.31
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.99	-146.0	0.0	0.0	0	66	0.00	0.00	-44.88	0.000	2	0.000	0.000	330	2259	2818
70	-0.99	-146.0	3.1	-3.2	8	101	8.62	2.17	-14.77	0.000	4	0.236	0.076	2456	3601	3248
136	-0.84	-146.0	9.8	-13.0	19	143	0.15	2.12	0.00	0.000	6	0.142	0.041	2497	2214	3250
481	-0.84	-146.0	40.3	-6.9	80	487	0.00	2.15	0.00	0.000	4	0.000	0.051	2497	820	3251
741	-0.84	-146.0	61.6	-8.6	126	748	0.00	2.25	0.00	0.000	6	0.000	0.052	2489	2234	3251
1086	-0.84	-146.0	86.3	-6.2	187	1091	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2234	3250
1426	-0.84	-146.0	106.6	-6.2	234	1427	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2234	3249
1737	-0.84	-146.0	123.4	-4.6	249	1741	0.00	2.22	0.00	0.000	4	0.000	0.051	2489	821	3248
1816	-0.84	-146.0	127.7	-5.0	252	1820	0.00	2.28	0.00	0.000	6	0.000	0.051	2479	2246	3248
2138	-0.84	-146.0	142.8	-4.8	268	2141	0.00	2.25	0.00	0.000	4	0.000	0.051	2480	818	3248
2212	-0.79	-146.0	146.7	-5.6	271	2216	0.15	2.25	0.00	0.000	6	0.123	0.051	2513	2237	3248
2539	-0.93	-146.0	159.2	-4.3	287	2544	0.12	2.15	0.00	0.000	4	0.074	0.061	2446	3605	3248
2700	-0.83	-146.0	170.9	-7.3	294	2704	0.20	2.10	0.00	0.000	6	0.133	0.039	2504	2215	3248
3033	-0.94	-146.0	188.9	-5.3	310	3035	0.12	0.00	0.00	0.000	6	0.078	0.000	2446	2214	3249
3342	-0.83	-146.0	211.4	-7.4	325	3344	0.20	0.00	0.00	0.000	6	0.131	0.000	2505	2214	3249
3651	-0.95	-146.0	228.4	-5.2	340	3655	0.12	2.12	0.00	0.000	4	0.077	0.048	2446	830	3249
3752	-0.80	-146.0	236.0	-8.4	344	3757	0.25	2.20	0.00	0.000	6	0.126	0.049	2511	2235	3249
4069	-0.94	-146.0	252.0	-4.8	359	4071	0.12	0.00	0.00	0.000	6	0.075	0.000	2453	2235	3250
4378	-0.88	-146.0	271.9	-6.4	374	4379	0.15	0.00	0.00	0.000	6	0.137	0.000	2495	2235	3250
4689	-0.97	-146.0	287.3	-4.8	389	4691	0.10	0.00	0.00	0.000	6	0.087	0.000	2447	2235	3251
4996	-0.88	-146.0	305.8	-6.1	404	4998	0.15	0.00	0.00	0.000	6	0.137	0.000	2489	2235	3251
5306	-0.96	-146.0	321.2	-4.8	419	5310	0.00	2.15	0.00	0.000	4	0.000	0.061	2481	3604	3251
5363	-1.04	-146.0	324.0	-5.2	421	5368	0.10	2.10	0.00	0.000	6	0.078	0.038	2430	2214	3252
5685	-0.89	-146.0	342.6	-5.9	437	5690	0.20	2.15	0.00	0.000	4	0.130	0.048	2497	821	3252
5765	-0.95	-146.0	346.5	-4.5	440	5769	0.00	2.25	0.00	0.000	6	0.000	0.048	2490	2245	3251
6087	-1.03	-146.0	361.1	-4.9	456	6092	0.12	2.12	0.00	0.000	4	0.071	0.060	2419	3598	3252
6236	-0.85	-146.0	371.8	-7.8	462	6241	0.25	2.08	0.00	0.000	6	0.132	0.038	2494	2222	3252
6553	-0.95	-146.0	389.1	-5.2	477	6556	0.00	2.12	0.00	0.000	4	0.000	0.049	2495	837	3253
6672	-1.02	-146.0	395.6	-5.7	482	6676	0.10	2.20	0.00	0.000	6	0.075	0.048	2438	2234	3253
6995	-0.91	-146.0	415.9	-6.1	492	6997	0.17	0.00	0.00	0.000	6	0.137	0.000	2488	2234	3253
7320	-0.99	-146.0	431.3	-4.6	500	7324	0.10	2.20	0.00	0.000	4	0.086	0.048	2440	824	3253
7433	-0.84	-146.0	438.4	-6.3	502	7438	0.22	2.22	0.00	0.000	6	0.126	0.048	2497	2235	3252
7776	-0.96	-146.0	453.5	-4.3	511	7778	0.10	0.00	0.00	0.000	6	0.080	0.000	2450	2235	3253
8102	-0.90	-146.0	470.5	-5.3	519	8103	0.12	0.00	0.00	0.000	6	0.139	0.000	2485	2235	3253
8426	-0.98	-146.0	484.7	-4.3	527	8427	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2235	3253
8751	-1.06	-146.0	497.3	-3.7	535	8756	0.12	2.20	0.00	0.000	4	0.077	0.047	2430	828	3253
8870	-0.88	-146.0	503.7	-5.1	537	8874	0.25	2.22	0.00	0.000	6	0.127	0.049	2495	2241	3253
9202	-0.99	-146.0	515.3	-3.4	545	9206	0.12	2.12	0.00	0.000	4	0.076	0.059	2428	3594	3253
9258	-0.87	-146.0	518.0	-5.3	546	9263	0.22	2.08	0.00	0.000	6	0.131	0.037	2496	2217	3253
9578	-1.00	-146.0	529.8	-3.7	554	9582	0.12	2.10	0.00	0.000	4	0.076	0.048	2439	839	3253
9720	-0.85	-146.0	537.4	-5.5	557	9725	0.22	2.17	0.00	0.000	6	0.125	0.048	2496	2234	3253
10046	-0.98	-146.0	550.2	-3.9	565	10048	0.12	0.00	0.00	0.000	6	0.074	0.000	2440	2234	3253
10370	-0.89	-146.0	567.3	-5.2	573	10374	0.17	2.20	0.00	0.000	4	0.137	0.047	2494	836	3253
10444	-0.97	-146.0	570.5	-4.1	574	10448	0.00	2.20	0.00	0.000	6	0.000	0.048	2487	2237	3253
10787	-1.05	-146.0	584.4	-4.1	583	10789	0.12	0.00	0.00	0.000	6	0.071	0.000	2429	2237	3253
10905	end dive: TARGET_DEPTH_EXCEEDED
state	10905	begin apogee
10913	-0.31	0.0	590.7	5.0	586	11042	0.60	0.00	126.50	1.143	6	0.123	0.000	2618	1741	2650
11043	end apogee: CONTROL_FINISHED_OK
state	11043	begin climb
11047	0.99	146.0	591.2	0.0	589	11184	0.82	2.53	128.23	1.076	4	0.087	0.053	2894	3138	2053
11193	0.71	146.0	577.4	11.3	592	11198	0.28	2.40	0.00	0.000	6	0.123	0.039	2828	1736	2051
11536	0.71	146.0	550.2	7.7	601	11537	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	1736	2047
11860	0.71	146.0	523.9	8.3	609	11861	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	1736	2046
12185	0.71	146.0	496.4	8.5	617	12186	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1736	2045
12510	0.71	146.0	470.3	7.8	625	12511	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1736	2045
12836	0.71	146.0	445.3	7.7	633	12837	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	1736	2045
13160	0.71	146.0	419.6	7.9	641	13161	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	1736	2045
13465	0.71	146.0	395.4	7.9	649	13469	0.00	2.28	0.00	0.000	4	0.000	0.054	2829	3153	2045
13481	0.71	146.0	393.9	8.0	649	13487	0.00	2.22	0.00	0.000	6	0.000	0.041	2837	1724	2044
13799	0.71	146.0	369.3	7.5	665	13800	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	1724	2044
14106	0.71	146.0	346.8	7.3	680	14110	0.00	2.30	0.00	0.000	4	0.000	0.055	2837	3147	2044
14124	0.66	146.0	345.4	7.5	680	14130	0.00	2.20	0.00	0.000	6	0.000	0.041	2846	1733	2044
14441	0.61	146.0	320.4	8.0	696	14445	0.12	2.22	0.00	0.000	4	0.127	0.052	2817	336	2044
14457	0.61	146.0	319.0	7.7	696	14463	0.00	2.20	0.00	0.000	6	0.000	0.041	2817	1755	2045
14773	0.69	158.4	298.4	6.6	712	14788	0.00	2.22	10.25	0.881	4	0.000	0.054	2817	3159	2003
14828	0.69	158.4	294.1	8.1	713	14834	0.00	2.22	0.00	0.000	6	0.000	0.041	2827	1725	2002
15144	0.69	158.4	270.7	7.4	729	15148	0.00	2.30	0.00	0.000	4	0.000	0.054	2827	3156	2002
15160	0.69	158.4	269.5	7.2	729	15167	0.00	2.20	0.00	0.000	6	0.000	0.040	2836	1735	2001
15476	0.69	158.4	245.6	7.7	745	15478	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	1735	2001
15785	0.69	158.4	221.8	7.5	760	15789	0.00	2.25	0.00	0.000	4	0.000	0.054	2836	3145	2000
15801	0.69	158.4	220.4	7.6	760	15807	0.00	2.17	0.00	0.000	6	0.000	0.041	2845	1737	2001
16117	0.69	158.4	194.3	8.4	776	16118	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	1737	2001
16428	0.69	158.4	169.1	7.7	791	16432	0.00	2.25	0.00	0.000	4	0.000	0.055	2845	3155	2002
16444	0.69	158.4	167.7	8.0	791	16451	0.10	2.20	0.00	0.000	6	0.130	0.041	2826	1730	2001
16760	0.79	179.3	147.6	6.3	807	16782	0.10	0.00	18.95	0.851	6	0.077	0.000	2878	1729	1919
17090	0.69	179.3	116.4	8.8	823	17092	0.17	0.00	0.00	0.000	6	0.114	0.000	2823	1729	1916
17403	0.85	190.1	96.6	6.7	844	17416	0.15	0.00	10.25	0.772	6	0.064	0.000	2895	1729	1874
17755	0.78	207.2	68.4	6.5	906	17780	0.17	2.33	15.10	0.787	4	0.116	0.054	2840	3145	1805
17810	0.88	235.3	64.9	6.1	915	17841	0.10	2.22	25.30	0.797	6	0.079	0.041	2898	1725	1690
18180	0.88	235.3	31.4	7.1	980	18186	0.12	2.25	0.00	0.000	4	0.123	0.054	2869	325	1683
18210	0.94	284.4	29.6	5.4	985	18258	0.00	2.25	41.78	0.788	6	0.000	0.044	2869	1741	1490
18563	end climb: SURFACE_DEPTH_REACHED
state	18563	begin surface coast
18591	end surface coast: CONTROL_FINISHED_OK
state	18591	begin surface