Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 462 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 462 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -121706.25 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 -121706.25

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 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 29 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 462 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 224758,6648.443,-5729.914,40,2.3,59,-37.4 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 15000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.40 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -61.8 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 224758,6648.443,-5729.914,40,2.3,59,-37.4 MHEAD_RNG_PITCHd_Wd 302.6,141948,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 699

Post-dive calculations and measurements:

FREEZE 1.57,-1.874,-0.885 TCM_TEMP 15.10

FINISH 1.6,1.013022 XPDR_PINGS 74

SM_CCo 19626,0.00,0.000,0,0,1462,291.17 _24V_AH 21.7,75.802

SM_GC 2.41,7.12,0.00,0.00,0.062,0.000,0.000,337,2211,1462,-10.69,-0.54,291.17 _10V_AH 10.4,34.704

RAFOS_CLK 845 DATA_FILE_SIZE 31553,1004

RAFOS 0,1229299442,0.083333,0.067222,65,58,53,51,51,50,206,166,193,127,111,230 CAP_FILE_SIZE 155596,0

RAFOS_FIX 6650.770508,-5730.492188,151208,000052,3,78,0.71 CFSIZE 260165632,221167616

IRIDIUM_FIX 6620.33,-5728.37,100398,232303 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TT8_MAMPS 0.026845 SOUNDSPEED 1451.1

HUMID 1812 GPS 151208,043428,6648.124,-5734.941,39,3.3,58,-37.4

INTERNAL_PRESSURE 9.84413

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 243 136.95 SBE_CT 702 24 366.08

Roll_motor 155 89 302.81 SBE_O2 0 0 0.00

VBD_pump_during_apogee 400 1259 10954.94 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 83 103 185.66 nil 0 0 0.00

Iridium_during_connect 180 160 627.69 nil 0 0 0.00

Iridium_during_xfer 185 223 897.28

Transponder_ping 18 420 168.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 183 50 95.29

TT8 1940 19 402.03

LPSleep 14998 2 360.32

TT8_Active 571 19 118.43

TT8_Sampling 2188 39 908.69

TT8_CF8 954 45 455.66

TT8_Kalman 0 81 0.00

Analog_circuits 1649 12 205.80

GPS_charging 0 0 0.00

Compass 1980 8 164.79

RAFOS 2880 1 44.93

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -0.99 -146.0 0.0 0.0 0 88 0.00 0.00 -66.53 0.000 2 0.000 0.000 329 2246 2929

91 -0.99 -146.0 3.1 -1.1 12 122 8.82 2.28 -12.65 0.000 4 0.244 0.090 2453 3593 3248

360 -0.62 -146.0 41.6 -13.0 59 367 0.32 2.17 0.00 0.000 6 0.160 0.051 2545 2215 3252

705 -0.62 -146.0 70.8 -8.0 120 711 0.00 2.22 0.00 0.000 4 0.000 0.063 2547 821 3253

803 -0.62 -146.0 79.6 -8.7 137 809 0.00 2.33 0.00 0.000 6 0.000 0.065 2539 2235 3253

1146 -0.62 -146.0 106.0 -7.2 187 1147 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2234 3253

1456 -0.67 -146.0 126.3 -6.2 202 1459 0.00 2.30 0.00 0.000 4 0.000 0.064 2538 821 3253

1557 -0.67 -146.0 132.2 -5.6 206 1562 0.00 2.33 0.00 0.000 6 0.000 0.066 2529 2231 3253

1874 -0.73 -146.0 147.4 -4.4 221 1878 0.00 2.25 0.00 0.000 4 0.000 0.080 2518 3601 3253

1976 -0.84 -146.0 152.3 -4.4 225 1980 0.00 2.17 0.00 0.000 6 0.000 0.051 2518 2218 3252

2298 -0.92 -146.0 168.7 -5.9 241 2300 0.12 0.00 0.00 0.000 6 0.088 0.000 2465 2218 3252

2607 -0.81 -146.0 191.9 -7.5 256 2612 0.15 2.25 0.00 0.000 4 0.150 0.064 2510 818 3252

2703 -0.81 -146.0 198.4 -6.1 260 2707 0.00 2.35 0.00 0.000 6 0.000 0.067 2503 2241 3252

3019 -0.81 -146.0 217.3 -5.9 275 3023 0.00 2.25 0.00 0.000 4 0.000 0.081 2492 3604 3251

3081 -0.81 -146.0 221.1 -6.0 277 3087 0.00 2.17 0.00 0.000 6 0.000 0.053 2492 2228 3251

3397 -0.81 -146.0 238.8 -5.2 293 3401 0.00 2.25 0.00 0.000 4 0.000 0.064 2492 824 3251

3556 -0.81 -146.0 247.9 -6.3 300 3560 0.00 2.35 0.00 0.000 6 0.000 0.067 2482 2245 3251

3883 -0.81 -146.0 265.4 -5.3 316 3886 0.00 2.22 0.00 0.000 4 0.000 0.080 2472 3597 3251

4019 -0.81 -146.0 273.5 -5.9 322 4023 0.12 2.17 0.00 0.000 6 0.147 0.052 2504 2215 3251

4352 -0.90 -146.0 289.4 -4.9 338 4356 0.00 2.22 0.00 0.000 4 0.000 0.063 2505 819 3251

4459 -0.96 -146.0 295.4 -5.4 342 4466 0.10 2.33 0.00 0.000 6 0.085 0.064 2454 2233 3251

4777 -0.88 -146.0 315.6 -6.5 358 4781 0.15 2.25 0.00 0.000 4 0.149 0.076 2487 3601 3252

4857 -0.94 -146.0 320.1 -5.3 361 4863 0.00 2.17 0.00 0.000 6 0.000 0.050 2487 2211 3252

5174 -0.94 -146.0 336.0 -5.0 377 5177 0.00 2.22 0.00 0.000 4 0.000 0.062 2487 815 3252

5297 -0.94 -146.0 342.9 -5.6 382 5301 0.00 2.33 0.00 0.000 6 0.000 0.062 2478 2236 3252

5621 -0.94 -146.0 360.4 -5.4 398 5625 0.00 2.30 0.00 0.000 4 0.000 0.061 2476 814 3252

5690 -0.94 -146.0 364.3 -5.6 401 5694 0.00 2.33 0.00 0.000 6 0.000 0.062 2467 2236 3253

6022 -0.94 -146.0 381.7 -5.0 417 6026 0.00 2.30 0.00 0.000 4 0.000 0.061 2466 814 3253

6107 -0.86 -146.0 386.5 -5.6 420 6114 0.15 2.33 0.00 0.000 6 0.134 0.061 2498 2235 3254

6425 -0.94 -146.0 400.0 -4.3 436 6427 0.10 0.00 0.00 0.000 6 0.091 0.000 2456 2236 3255

6749 -0.87 -146.0 419.1 -6.0 444 6751 0.15 0.00 0.00 0.000 6 0.147 0.000 2496 2235 3255

7074 -0.96 -146.0 435.6 -5.0 452 7076 0.10 0.00 0.00 0.000 6 0.093 0.000 2454 2236 3255

7399 -0.88 -146.0 456.0 -6.3 460 7403 0.12 2.30 0.00 0.000 4 0.150 0.059 2487 822 3255

7460 -0.88 -146.0 459.8 -5.7 461 7464 0.00 2.33 0.00 0.000 6 0.000 0.061 2480 2245 3255

7774 -0.88 -146.0 477.2 -5.5 469 7775 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2245 3256

8098 -0.88 -146.0 495.9 -5.8 477 8099 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2245 3256

8423 -0.88 -146.0 515.2 -6.1 485 8427 0.00 2.33 0.00 0.000 4 0.000 0.061 2479 813 3255

8491 -0.88 -146.0 519.5 -6.1 486 8495 0.00 2.33 0.00 0.000 6 0.000 0.061 2470 2232 3256

8839 -0.88 -146.0 540.5 -5.8 495 8841 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2231 3255

9164 -0.88 -146.0 559.2 -5.8 503 9165 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2232 3255

9489 -0.88 -146.0 578.2 -5.8 511 9493 0.00 2.28 0.00 0.000 4 0.000 0.059 2470 825 3256

9552 -0.83 -146.0 582.2 -6.6 512 9557 0.15 2.33 0.00 0.000 6 0.132 0.061 2501 2243 3256

9901 -0.96 -146.0 598.9 -4.6 521 9903 0.12 0.00 0.00 0.000 6 0.083 0.000 2449 2243 3256

10226 -0.88 -146.0 617.8 -5.8 529 10228 0.15 0.00 0.00 0.000 6 0.148 0.000 2491 2243 3256

10551 -0.97 -146.0 633.2 -4.6 537 10552 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2243 3256

10876 -1.06 -146.0 647.7 -4.5 545 10881 0.15 2.33 0.00 0.000 4 0.081 0.059 2429 812 3257

10978 -0.87 -146.0 654.3 -6.5 547 10983 0.25 2.33 0.00 0.000 6 0.134 0.061 2492 2231 3257

11327 -0.97 -146.0 670.3 -4.5 556 11329 0.10 0.00 0.00 0.000 6 0.089 0.000 2449 2231 3256

11652 -0.90 -146.0 689.3 -6.1 564 11656 0.12 2.30 0.00 0.000 4 0.150 0.058 2484 826 3256

11743 -0.90 -146.0 694.2 -5.8 566 11747 0.00 2.35 0.00 0.000 6 0.000 0.063 2477 2230 3257

11826 end dive: TARGET_DEPTH_EXCEEDED

state 11826 begin apogee

11834 -0.31 0.0 699.1 5.7 568 11976 0.45 0.00 133.95 1.259 6 0.121 0.000 2618 1740 2650

11977 end apogee: CONTROL_FINISHED_OK

state 11977 begin climb

11981 0.99 146.0 701.1 0.0 571 12121 0.88 0.00 136.65 1.193 6 0.097 0.000 2895 1740 2055

12433 0.78 146.0 653.6 11.5 582 12438 0.17 2.40 0.00 0.000 4 0.130 0.064 2855 330 2045

12461 0.72 146.0 650.4 10.3 582 12465 0.00 2.40 0.00 0.000 6 0.000 0.054 2855 1739 2045

12799 0.66 146.0 619.1 8.9 591 12803 0.12 2.33 0.00 0.000 4 0.134 0.067 2819 3161 2044

12837 0.66 146.0 615.8 8.0 591 12844 0.00 2.28 0.00 0.000 6 0.000 0.050 2827 1731 2044

13169 0.67 156.2 592.6 6.7 600 13184 0.00 2.40 8.32 1.034 4 0.000 0.066 2827 3159 2013

13214 0.61 156.2 589.5 7.6 601 13219 0.10 2.28 0.00 0.000 6 0.143 0.051 2812 1727 2012

13545 0.77 186.5 569.7 6.0 609 13580 0.12 2.42 28.08 1.171 4 0.075 0.066 2868 3151 1889

13588 0.63 186.5 566.4 8.2 610 13593 0.22 2.28 0.00 0.000 6 0.133 0.050 2814 1736 1887

13913 0.80 210.0 545.5 6.3 618 13937 0.15 0.00 21.12 1.136 6 0.069 0.000 2881 1736 1794

14238 0.65 210.0 511.4 10.7 626 14240 0.22 0.00 0.00 0.000 6 0.125 0.000 2813 1735 1789

14563 0.83 220.3 489.3 6.7 634 14578 0.17 0.00 10.12 1.037 6 0.067 0.000 2890 1736 1751

14893 0.67 220.3 453.7 11.0 642 14898 0.20 2.35 0.00 0.000 4 0.127 0.067 2825 3156 1748

14909 0.56 220.3 451.9 11.1 642 14914 0.12 2.25 0.00 0.000 6 0.132 0.050 2797 1734 1747

15223 1.27 220.3 428.0 9.0 650 15228 0.45 2.28 0.00 0.000 4 0.094 0.064 2956 333 1746

15251 1.51 220.3 425.2 9.8 650 15256 0.17 2.30 0.00 0.000 6 0.077 0.053 3025 1752 1747

15565 0.90 220.3 359.0 22.6 661 15570 0.50 2.28 0.00 0.000 4 0.157 0.067 2875 3158 1747

15577 0.34 220.3 356.2 22.2 661 15584 0.43 2.25 0.00 0.000 6 0.129 0.051 2754 1731 1746

15894 1.00 220.3 323.3 12.2 677 15898 0.40 2.33 0.00 0.000 4 0.094 0.066 2890 3154 1744

15928 1.19 220.3 319.2 10.9 678 15932 0.15 2.22 0.00 0.000 6 0.073 0.050 2962 1737 1745

16249 0.81 220.3 267.0 16.9 694 16254 0.32 2.28 0.00 0.000 4 0.140 0.064 2867 330 1745

16316 0.81 220.3 259.5 9.7 697 16320 0.00 2.28 0.00 0.000 6 0.000 0.052 2867 1752 1745

16643 0.81 220.3 231.1 8.4 713 16647 0.00 2.25 0.00 0.000 4 0.000 0.069 2866 3158 1745

16677 0.72 220.3 227.9 9.8 714 16682 0.15 2.25 0.00 0.000 6 0.130 0.051 2833 1726 1745

16999 0.94 262.6 208.9 5.7 730 17039 0.17 0.00 37.97 0.973 6 0.066 0.000 2913 1726 1579

17348 0.82 262.6 172.5 10.7 747 17353 0.20 2.28 0.00 0.000 4 0.126 0.064 2856 323 1572

17365 0.82 262.6 170.7 10.0 747 17371 0.00 2.30 0.00 0.000 6 0.000 0.053 2857 1746 1571

17682 1.00 279.9 149.8 6.5 763 17705 0.15 2.28 15.90 0.905 4 0.072 0.067 2927 3160 1507

17722 0.82 279.9 145.6 11.4 764 17729 0.28 2.28 0.00 0.000 6 0.133 0.051 2857 1727 1506

18039 1.02 288.8 123.9 6.7 780 18054 0.15 2.30 8.73 0.834 4 0.073 0.066 2937 331 1472

18078 0.94 288.8 120.2 9.5 781 18085 0.20 2.30 0.00 0.000 6 0.131 0.055 2879 1748 1472

18400 1.05 288.8 95.4 7.4 803 18407 0.12 2.28 0.00 0.000 4 0.077 0.070 2936 3154 1469

18439 0.95 288.8 91.5 9.7 809 18446 0.22 2.25 0.00 0.000 6 0.137 0.053 2881 1734 1468

18785 1.06 288.8 66.7 7.8 870 18792 0.12 2.28 0.00 0.000 4 0.077 0.067 2950 334 1467

18810 1.11 288.8 64.4 8.0 874 18817 0.12 2.28 0.00 0.000 6 0.140 0.055 2916 1746 1467

19155 1.11 288.8 33.3 9.2 935 19160 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 1746 1467

19499 1.11 288.8 5.0 7.8 996 19506 0.00 2.30 0.00 0.000 4 0.000 0.075 2917 3157 1466

19516 end climb: SURFACE_DEPTH_REACHED

state 19516 begin surface coast

19545 end surface coast: CONTROL_FINISHED_OK

state 19545 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	462	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-121706.25	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	224758,6648.443,-5729.914,40,2.3,59,-37.4	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	15000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.40	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-61.8	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	224758,6648.443,-5729.914,40,2.3,59,-37.4	MHEAD_RNG_PITCHd_Wd	302.6,141948,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	699

FREEZE	1.57,-1.874,-0.885	TCM_TEMP	15.10
FINISH	1.6,1.013022	XPDR_PINGS	74
SM_CCo	19626,0.00,0.000,0,0,1462,291.17	_24V_AH	21.7,75.802
SM_GC	2.41,7.12,0.00,0.00,0.062,0.000,0.000,337,2211,1462,-10.69,-0.54,291.17	_10V_AH	10.4,34.704
RAFOS_CLK	845	DATA_FILE_SIZE	31553,1004
RAFOS	0,1229299442,0.083333,0.067222,65,58,53,51,51,50,206,166,193,127,111,230	CAP_FILE_SIZE	155596,0
RAFOS_FIX	6650.770508,-5730.492188,151208,000052,3,78,0.71	CFSIZE	260165632,221167616
IRIDIUM_FIX	6620.33,-5728.37,100398,232303	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TT8_MAMPS	0.026845	SOUNDSPEED	1451.1
HUMID	1812	GPS	151208,043428,6648.124,-5734.941,39,3.3,58,-37.4
INTERNAL_PRESSURE	9.84413

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	243	136.95	SBE_CT	702	24	366.08
Roll_motor	155	89	302.81	SBE_O2	0	0	0.00
VBD_pump_during_apogee	400	1259	10954.94	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	83	103	185.66	nil	0	0	0.00
Iridium_during_connect	180	160	627.69	nil	0	0	0.00
Iridium_during_xfer	185	223	897.28
Transponder_ping	18	420	168.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	183	50	95.29
TT8	1940	19	402.03
LPSleep	14998	2	360.32
TT8_Active	571	19	118.43
TT8_Sampling	2188	39	908.69
TT8_CF8	954	45	455.66
TT8_Kalman	0	81	0.00
Analog_circuits	1649	12	205.80
GPS_charging	0	0	0.00
Compass	1980	8	164.79
RAFOS	2880	1	44.93
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-0.99	-146.0	0.0	0.0	0	88	0.00	0.00	-66.53	0.000	2	0.000	0.000	329	2246	2929
91	-0.99	-146.0	3.1	-1.1	12	122	8.82	2.28	-12.65	0.000	4	0.244	0.090	2453	3593	3248
360	-0.62	-146.0	41.6	-13.0	59	367	0.32	2.17	0.00	0.000	6	0.160	0.051	2545	2215	3252
705	-0.62	-146.0	70.8	-8.0	120	711	0.00	2.22	0.00	0.000	4	0.000	0.063	2547	821	3253
803	-0.62	-146.0	79.6	-8.7	137	809	0.00	2.33	0.00	0.000	6	0.000	0.065	2539	2235	3253
1146	-0.62	-146.0	106.0	-7.2	187	1147	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2234	3253
1456	-0.67	-146.0	126.3	-6.2	202	1459	0.00	2.30	0.00	0.000	4	0.000	0.064	2538	821	3253
1557	-0.67	-146.0	132.2	-5.6	206	1562	0.00	2.33	0.00	0.000	6	0.000	0.066	2529	2231	3253
1874	-0.73	-146.0	147.4	-4.4	221	1878	0.00	2.25	0.00	0.000	4	0.000	0.080	2518	3601	3253
1976	-0.84	-146.0	152.3	-4.4	225	1980	0.00	2.17	0.00	0.000	6	0.000	0.051	2518	2218	3252
2298	-0.92	-146.0	168.7	-5.9	241	2300	0.12	0.00	0.00	0.000	6	0.088	0.000	2465	2218	3252
2607	-0.81	-146.0	191.9	-7.5	256	2612	0.15	2.25	0.00	0.000	4	0.150	0.064	2510	818	3252
2703	-0.81	-146.0	198.4	-6.1	260	2707	0.00	2.35	0.00	0.000	6	0.000	0.067	2503	2241	3252
3019	-0.81	-146.0	217.3	-5.9	275	3023	0.00	2.25	0.00	0.000	4	0.000	0.081	2492	3604	3251
3081	-0.81	-146.0	221.1	-6.0	277	3087	0.00	2.17	0.00	0.000	6	0.000	0.053	2492	2228	3251
3397	-0.81	-146.0	238.8	-5.2	293	3401	0.00	2.25	0.00	0.000	4	0.000	0.064	2492	824	3251
3556	-0.81	-146.0	247.9	-6.3	300	3560	0.00	2.35	0.00	0.000	6	0.000	0.067	2482	2245	3251
3883	-0.81	-146.0	265.4	-5.3	316	3886	0.00	2.22	0.00	0.000	4	0.000	0.080	2472	3597	3251
4019	-0.81	-146.0	273.5	-5.9	322	4023	0.12	2.17	0.00	0.000	6	0.147	0.052	2504	2215	3251
4352	-0.90	-146.0	289.4	-4.9	338	4356	0.00	2.22	0.00	0.000	4	0.000	0.063	2505	819	3251
4459	-0.96	-146.0	295.4	-5.4	342	4466	0.10	2.33	0.00	0.000	6	0.085	0.064	2454	2233	3251
4777	-0.88	-146.0	315.6	-6.5	358	4781	0.15	2.25	0.00	0.000	4	0.149	0.076	2487	3601	3252
4857	-0.94	-146.0	320.1	-5.3	361	4863	0.00	2.17	0.00	0.000	6	0.000	0.050	2487	2211	3252
5174	-0.94	-146.0	336.0	-5.0	377	5177	0.00	2.22	0.00	0.000	4	0.000	0.062	2487	815	3252
5297	-0.94	-146.0	342.9	-5.6	382	5301	0.00	2.33	0.00	0.000	6	0.000	0.062	2478	2236	3252
5621	-0.94	-146.0	360.4	-5.4	398	5625	0.00	2.30	0.00	0.000	4	0.000	0.061	2476	814	3252
5690	-0.94	-146.0	364.3	-5.6	401	5694	0.00	2.33	0.00	0.000	6	0.000	0.062	2467	2236	3253
6022	-0.94	-146.0	381.7	-5.0	417	6026	0.00	2.30	0.00	0.000	4	0.000	0.061	2466	814	3253
6107	-0.86	-146.0	386.5	-5.6	420	6114	0.15	2.33	0.00	0.000	6	0.134	0.061	2498	2235	3254
6425	-0.94	-146.0	400.0	-4.3	436	6427	0.10	0.00	0.00	0.000	6	0.091	0.000	2456	2236	3255
6749	-0.87	-146.0	419.1	-6.0	444	6751	0.15	0.00	0.00	0.000	6	0.147	0.000	2496	2235	3255
7074	-0.96	-146.0	435.6	-5.0	452	7076	0.10	0.00	0.00	0.000	6	0.093	0.000	2454	2236	3255
7399	-0.88	-146.0	456.0	-6.3	460	7403	0.12	2.30	0.00	0.000	4	0.150	0.059	2487	822	3255
7460	-0.88	-146.0	459.8	-5.7	461	7464	0.00	2.33	0.00	0.000	6	0.000	0.061	2480	2245	3255
7774	-0.88	-146.0	477.2	-5.5	469	7775	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2245	3256
8098	-0.88	-146.0	495.9	-5.8	477	8099	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2245	3256
8423	-0.88	-146.0	515.2	-6.1	485	8427	0.00	2.33	0.00	0.000	4	0.000	0.061	2479	813	3255
8491	-0.88	-146.0	519.5	-6.1	486	8495	0.00	2.33	0.00	0.000	6	0.000	0.061	2470	2232	3256
8839	-0.88	-146.0	540.5	-5.8	495	8841	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2231	3255
9164	-0.88	-146.0	559.2	-5.8	503	9165	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2232	3255
9489	-0.88	-146.0	578.2	-5.8	511	9493	0.00	2.28	0.00	0.000	4	0.000	0.059	2470	825	3256
9552	-0.83	-146.0	582.2	-6.6	512	9557	0.15	2.33	0.00	0.000	6	0.132	0.061	2501	2243	3256
9901	-0.96	-146.0	598.9	-4.6	521	9903	0.12	0.00	0.00	0.000	6	0.083	0.000	2449	2243	3256
10226	-0.88	-146.0	617.8	-5.8	529	10228	0.15	0.00	0.00	0.000	6	0.148	0.000	2491	2243	3256
10551	-0.97	-146.0	633.2	-4.6	537	10552	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2243	3256
10876	-1.06	-146.0	647.7	-4.5	545	10881	0.15	2.33	0.00	0.000	4	0.081	0.059	2429	812	3257
10978	-0.87	-146.0	654.3	-6.5	547	10983	0.25	2.33	0.00	0.000	6	0.134	0.061	2492	2231	3257
11327	-0.97	-146.0	670.3	-4.5	556	11329	0.10	0.00	0.00	0.000	6	0.089	0.000	2449	2231	3256
11652	-0.90	-146.0	689.3	-6.1	564	11656	0.12	2.30	0.00	0.000	4	0.150	0.058	2484	826	3256
11743	-0.90	-146.0	694.2	-5.8	566	11747	0.00	2.35	0.00	0.000	6	0.000	0.063	2477	2230	3257
11826	end dive: TARGET_DEPTH_EXCEEDED
state	11826	begin apogee
11834	-0.31	0.0	699.1	5.7	568	11976	0.45	0.00	133.95	1.259	6	0.121	0.000	2618	1740	2650
11977	end apogee: CONTROL_FINISHED_OK
state	11977	begin climb
11981	0.99	146.0	701.1	0.0	571	12121	0.88	0.00	136.65	1.193	6	0.097	0.000	2895	1740	2055
12433	0.78	146.0	653.6	11.5	582	12438	0.17	2.40	0.00	0.000	4	0.130	0.064	2855	330	2045
12461	0.72	146.0	650.4	10.3	582	12465	0.00	2.40	0.00	0.000	6	0.000	0.054	2855	1739	2045
12799	0.66	146.0	619.1	8.9	591	12803	0.12	2.33	0.00	0.000	4	0.134	0.067	2819	3161	2044
12837	0.66	146.0	615.8	8.0	591	12844	0.00	2.28	0.00	0.000	6	0.000	0.050	2827	1731	2044
13169	0.67	156.2	592.6	6.7	600	13184	0.00	2.40	8.32	1.034	4	0.000	0.066	2827	3159	2013
13214	0.61	156.2	589.5	7.6	601	13219	0.10	2.28	0.00	0.000	6	0.143	0.051	2812	1727	2012
13545	0.77	186.5	569.7	6.0	609	13580	0.12	2.42	28.08	1.171	4	0.075	0.066	2868	3151	1889
13588	0.63	186.5	566.4	8.2	610	13593	0.22	2.28	0.00	0.000	6	0.133	0.050	2814	1736	1887
13913	0.80	210.0	545.5	6.3	618	13937	0.15	0.00	21.12	1.136	6	0.069	0.000	2881	1736	1794
14238	0.65	210.0	511.4	10.7	626	14240	0.22	0.00	0.00	0.000	6	0.125	0.000	2813	1735	1789
14563	0.83	220.3	489.3	6.7	634	14578	0.17	0.00	10.12	1.037	6	0.067	0.000	2890	1736	1751
14893	0.67	220.3	453.7	11.0	642	14898	0.20	2.35	0.00	0.000	4	0.127	0.067	2825	3156	1748
14909	0.56	220.3	451.9	11.1	642	14914	0.12	2.25	0.00	0.000	6	0.132	0.050	2797	1734	1747
15223	1.27	220.3	428.0	9.0	650	15228	0.45	2.28	0.00	0.000	4	0.094	0.064	2956	333	1746
15251	1.51	220.3	425.2	9.8	650	15256	0.17	2.30	0.00	0.000	6	0.077	0.053	3025	1752	1747
15565	0.90	220.3	359.0	22.6	661	15570	0.50	2.28	0.00	0.000	4	0.157	0.067	2875	3158	1747
15577	0.34	220.3	356.2	22.2	661	15584	0.43	2.25	0.00	0.000	6	0.129	0.051	2754	1731	1746
15894	1.00	220.3	323.3	12.2	677	15898	0.40	2.33	0.00	0.000	4	0.094	0.066	2890	3154	1744
15928	1.19	220.3	319.2	10.9	678	15932	0.15	2.22	0.00	0.000	6	0.073	0.050	2962	1737	1745
16249	0.81	220.3	267.0	16.9	694	16254	0.32	2.28	0.00	0.000	4	0.140	0.064	2867	330	1745
16316	0.81	220.3	259.5	9.7	697	16320	0.00	2.28	0.00	0.000	6	0.000	0.052	2867	1752	1745
16643	0.81	220.3	231.1	8.4	713	16647	0.00	2.25	0.00	0.000	4	0.000	0.069	2866	3158	1745
16677	0.72	220.3	227.9	9.8	714	16682	0.15	2.25	0.00	0.000	6	0.130	0.051	2833	1726	1745
16999	0.94	262.6	208.9	5.7	730	17039	0.17	0.00	37.97	0.973	6	0.066	0.000	2913	1726	1579
17348	0.82	262.6	172.5	10.7	747	17353	0.20	2.28	0.00	0.000	4	0.126	0.064	2856	323	1572
17365	0.82	262.6	170.7	10.0	747	17371	0.00	2.30	0.00	0.000	6	0.000	0.053	2857	1746	1571
17682	1.00	279.9	149.8	6.5	763	17705	0.15	2.28	15.90	0.905	4	0.072	0.067	2927	3160	1507
17722	0.82	279.9	145.6	11.4	764	17729	0.28	2.28	0.00	0.000	6	0.133	0.051	2857	1727	1506
18039	1.02	288.8	123.9	6.7	780	18054	0.15	2.30	8.73	0.834	4	0.073	0.066	2937	331	1472
18078	0.94	288.8	120.2	9.5	781	18085	0.20	2.30	0.00	0.000	6	0.131	0.055	2879	1748	1472
18400	1.05	288.8	95.4	7.4	803	18407	0.12	2.28	0.00	0.000	4	0.077	0.070	2936	3154	1469
18439	0.95	288.8	91.5	9.7	809	18446	0.22	2.25	0.00	0.000	6	0.137	0.053	2881	1734	1468
18785	1.06	288.8	66.7	7.8	870	18792	0.12	2.28	0.00	0.000	4	0.077	0.067	2950	334	1467
18810	1.11	288.8	64.4	8.0	874	18817	0.12	2.28	0.00	0.000	6	0.140	0.055	2916	1746	1467
19155	1.11	288.8	33.3	9.2	935	19160	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	1746	1467
19499	1.11	288.8	5.0	7.8	996	19506	0.00	2.30	0.00	0.000	4	0.000	0.075	2917	3157	1466
19516	end climb: SURFACE_DEPTH_REACHED
state	19516	begin surface coast
19545	end surface coast: CONTROL_FINISHED_OK
state	19545	begin surface