Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 474 * 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 474 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 -122038.24 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 -122038.24

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 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 474 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 193613,6655.155,-5650.659,39,1.0,50,-37.4 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 1 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.27 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -68.6 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 195150,6655.226,-5650.769,9,1.3,14,-37.4 MHEAD_RNG_PITCHd_Wd 45.3,14536,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 625

Post-dive calculations and measurements:

FREEZE 1.39,-1.142,-0.953 TCM_TEMP 16.20

FINISH 1.4,1.014059 XPDR_PINGS 279

SM_CCo 18187,0.00,0.000,0,0,1521,276.94 _24V_AH 22.0,77.678

SM_GC 2.38,6.90,0.00,0.00,0.054,0.000,0.000,329,2246,1521,-10.70,0.45,276.94 _10V_AH 10.5,35.602

RAFOS_CLK 716 DATA_FILE_SIZE 34666,1024

RAFOS 0,1229544246,20.083334,20.068333,60,59,59,58,56,54,199,181,146,1248,168,224 CAP_FILE_SIZE 153851,0

RAFOS_FIX -25908.130859,-4013866.500000,171208,161612,2,78,65053.33 CFSIZE 260165632,220798976

IRIDIUM_FIX 6625.71,-5645.94,130398,141405 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TT8_MAMPS 0.026845 SOUNDSPEED 1463.0

HUMID 1805 GPS 181208,005637,6654.942,-5646.005,32,1.0,32,-37.3

INTERNAL_PRESSURE 9.92226

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 240 124.12 SBE_CT 712 24 375.97

Roll_motor 152 67 225.93 SBE_O2 0 0 0.00

VBD_pump_during_apogee 373 1188 9755.29 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 29 103 67.60 nil 0 0 0.00

Iridium_during_connect 30 160 105.90 nil 0 0 0.00

Iridium_during_xfer 726 223 3563.65

Transponder_ping 69 420 644.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.53

TT8 1954 19 408.80

LPSleep 13321 2 323.12

TT8_Active 507 19 106.15

TT8_Sampling 2176 39 912.50

TT8_CF8 1153 45 556.15

TT8_Kalman 0 81 0.00

Analog_circuits 1655 12 208.57

GPS_charging 0 0 0.00

Compass 2135 8 179.37

RAFOS 3600 1 56.70

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 95 0.00 0.00 -73.18 0.000 6 0.000 0.000 333 2242 3247

99 -0.99 -146.0 3.2 -1.3 14 113 8.75 2.35 0.00 0.000 4 0.240 0.052 2473 810 3251

356 -0.70 -146.0 30.6 -11.1 59 363 0.22 2.28 0.00 0.000 6 0.135 0.054 2529 2232 3253

701 -0.70 -146.0 53.0 -6.4 120 708 0.00 2.20 0.00 0.000 4 0.000 0.066 2521 3598 3254

771 -0.70 -146.0 58.1 -7.7 132 777 0.00 2.12 0.00 0.000 6 0.000 0.042 2521 2213 3254

1116 -0.70 -146.0 84.8 -7.3 193 1121 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2213 3253

1460 -0.75 -146.0 99.9 -2.0 254 1466 0.00 2.28 0.00 0.000 4 0.000 0.066 2511 3601 3252

1518 -0.81 -146.0 102.5 -5.4 257 1522 0.00 2.12 0.00 0.000 6 0.000 0.043 2511 2214 3252

1841 -0.85 -146.0 125.2 -7.5 273 1845 0.00 2.15 0.00 0.000 4 0.000 0.054 2511 813 3252

2017 -0.85 -146.0 139.4 -7.9 280 2023 0.00 2.28 0.00 0.000 6 0.000 0.054 2501 2242 3251

2334 -0.85 -146.0 161.9 -5.6 296 2337 0.00 2.17 0.00 0.000 4 0.000 0.067 2490 3604 3251

2448 -0.90 -146.0 167.7 -4.7 301 2451 0.00 2.12 0.00 0.000 6 0.000 0.042 2491 2213 3251

2781 -0.90 -146.0 181.9 -4.5 317 2784 0.00 2.15 0.00 0.000 4 0.000 0.053 2490 819 3251

2888 -0.90 -146.0 187.3 -5.1 321 2894 0.00 2.28 0.00 0.000 6 0.000 0.053 2481 2243 3251

3204 -0.90 -146.0 203.7 -5.4 337 3205 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2243 3252

3514 -0.90 -146.0 222.7 -6.5 352 3518 0.00 2.15 0.00 0.000 4 0.000 0.065 2470 3600 3253

3586 -0.90 -146.0 228.3 -8.0 355 3590 0.00 2.10 0.00 0.000 6 0.000 0.041 2470 2217 3253

3914 -0.86 -146.0 251.7 -7.3 371 3918 0.10 2.15 0.00 0.000 4 0.146 0.050 2497 823 3253

4098 -0.86 -146.0 264.3 -7.0 379 4102 0.00 2.25 0.00 0.000 6 0.000 0.051 2490 2237 3254

4420 -0.86 -146.0 283.0 -5.9 395 4424 0.00 2.17 0.00 0.000 4 0.000 0.063 2480 3604 3255

4534 -0.86 -146.0 290.1 -6.1 400 4538 0.00 2.10 0.00 0.000 6 0.000 0.039 2479 2216 3254

4867 -0.86 -146.0 308.3 -5.3 416 4871 0.00 2.12 0.00 0.000 4 0.000 0.050 2480 829 3255

5014 -0.86 -146.0 316.6 -6.3 422 5019 0.10 2.22 0.00 0.000 6 0.134 0.050 2496 2234 3255

5331 -0.93 -146.0 331.2 -4.6 437 5335 0.00 2.20 0.00 0.000 4 0.000 0.050 2497 832 3256

5399 -0.93 -146.0 334.6 -4.5 440 5403 0.00 2.22 0.00 0.000 6 0.000 0.049 2489 2247 3256

5733 -0.93 -146.0 351.7 -5.2 456 5736 0.00 2.15 0.00 0.000 4 0.000 0.063 2479 3600 3256

5795 -0.93 -146.0 355.4 -5.8 458 5801 0.00 2.10 0.00 0.000 6 0.000 0.039 2479 2214 3257

6113 -0.93 -146.0 373.0 -5.7 474 6117 0.00 2.15 0.00 0.000 4 0.000 0.050 2479 816 3258

6254 -0.88 -146.0 381.4 -6.2 480 6258 0.00 2.28 0.00 0.000 6 0.000 0.051 2469 2245 3257

6582 -0.88 -146.0 399.2 -5.1 496 6583 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2244 3258

6887 -0.88 -146.0 414.6 -5.0 504 6891 0.00 2.22 0.00 0.000 4 0.000 0.051 2469 828 3257

6985 -0.81 -146.0 420.0 -5.9 506 6989 0.17 2.25 0.00 0.000 6 0.127 0.051 2509 2244 3258

7304 -0.94 -146.0 433.4 -4.2 514 7306 0.12 0.00 0.00 0.000 6 0.077 0.000 2454 2243 3257

7629 -0.86 -146.0 452.8 -5.9 522 7631 0.15 0.00 0.00 0.000 6 0.142 0.000 2495 2244 3257

7954 -0.96 -146.0 467.5 -4.4 530 7958 0.10 2.25 0.00 0.000 4 0.089 0.051 2450 821 3257

8045 -0.83 -146.0 472.6 -6.0 532 8050 0.20 2.25 0.00 0.000 6 0.127 0.052 2498 2230 3257

8370 -0.93 -146.0 486.1 -4.2 540 8374 0.00 2.20 0.00 0.000 4 0.000 0.064 2489 3600 3257

8427 -1.03 -146.0 488.5 -5.1 541 8431 0.12 2.10 0.00 0.000 6 0.077 0.039 2434 2218 3257

8747 -0.89 -146.0 506.5 -5.8 549 8751 0.20 2.15 0.00 0.000 4 0.140 0.050 2497 838 3257

8854 -0.94 -146.0 511.7 -4.7 551 8857 0.00 2.25 0.00 0.000 6 0.000 0.051 2490 2238 3257

9168 -1.01 -146.0 526.1 -4.8 559 9173 0.10 2.17 0.00 0.000 4 0.081 0.064 2429 3600 3257

9225 -0.86 -146.0 529.9 -7.0 560 9230 0.22 2.10 0.00 0.000 6 0.140 0.039 2498 2217 3257

9539 -0.97 -146.0 544.4 -4.6 568 9543 0.12 2.15 0.00 0.000 4 0.081 0.051 2442 830 3257

9646 -0.82 -146.0 551.1 -6.5 570 9651 0.25 2.22 0.00 0.000 6 0.130 0.051 2506 2236 3257

9995 -0.96 -146.0 565.7 -4.1 579 9997 0.12 0.00 0.00 0.000 6 0.079 0.000 2451 2236 3257

10320 -0.89 -146.0 584.0 -5.8 587 10325 0.15 2.25 0.00 0.000 4 0.142 0.050 2494 827 3257

10376 -0.94 -146.0 586.9 -4.9 588 10380 0.00 2.30 0.00 0.000 6 0.000 0.052 2487 2236 3257

10691 -1.00 -146.0 601.2 -4.5 596 10695 0.10 2.20 0.00 0.000 4 0.081 0.065 2426 3600 3256

10747 -0.85 -146.0 604.9 -7.0 597 10752 0.22 2.10 0.00 0.000 6 0.141 0.040 2497 2228 3256

11067 -0.98 -146.0 618.5 -3.7 605 11071 0.12 2.20 0.00 0.000 4 0.080 0.052 2442 821 3256

11179 -0.82 -146.0 624.9 -5.9 607 11184 0.12 2.28 0.00 0.000 1 0.132 0.053 2470 2232 3256

11185 end dive: TARGET_DEPTH_EXCEEDED

state 11185 begin apogee

11193 -0.31 0.0 625.1 5.2 607 11333 0.43 0.00 131.62 1.188 6 0.130 0.000 2608 1746 2650

11334 end apogee: CONTROL_FINISHED_OK

state 11334 begin climb

11337 0.99 146.0 625.9 0.0 611 11479 0.88 2.53 132.50 1.131 4 0.089 0.056 2905 337 2053

11566 0.78 146.0 603.6 12.9 616 11571 0.22 2.40 0.00 0.000 6 0.130 0.045 2843 1749 2048

11914 0.78 146.0 574.1 7.9 625 11918 0.00 2.25 0.00 0.000 4 0.000 0.060 2843 3157 2044

11966 0.63 146.0 569.7 8.8 626 11970 0.15 2.22 0.00 0.000 6 0.132 0.045 2809 1737 2043

12285 0.77 165.6 548.9 6.4 634 12304 0.15 0.00 16.45 1.088 6 0.067 0.000 2877 1737 1974

12610 0.63 165.6 516.3 10.3 642 12612 0.20 0.00 0.00 0.000 6 0.121 0.000 2816 1737 1970

12934 0.74 165.6 492.7 7.2 650 12939 0.10 2.33 0.00 0.000 4 0.079 0.060 2865 3162 1969

12958 0.69 165.6 490.6 9.4 650 12963 0.17 2.22 0.00 0.000 6 0.132 0.046 2824 1731 1969

13296 0.76 165.6 464.4 7.7 659 13297 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 1731 1969

13620 0.82 165.6 438.8 7.9 667 13622 0.12 0.00 0.00 0.000 6 0.071 0.000 2883 1731 1968

13945 0.62 165.6 401.6 11.6 675 13950 0.20 2.30 0.00 0.000 4 0.127 0.059 2817 3153 1968

13978 0.62 165.6 398.3 9.0 675 13984 0.00 2.20 0.00 0.000 6 0.000 0.045 2825 1731 1967

14296 0.69 165.6 374.7 7.6 691 14300 0.00 2.30 0.00 0.000 4 0.000 0.060 2825 3163 1967

14319 0.69 165.6 372.6 8.2 692 14323 0.00 2.22 0.00 0.000 6 0.000 0.045 2835 1724 1966

14652 0.69 165.6 347.0 7.3 708 14656 0.00 2.30 0.00 0.000 4 0.000 0.058 2835 3163 1967

14686 0.62 165.6 344.1 8.6 709 14691 0.12 2.22 0.00 0.000 6 0.131 0.044 2810 1723 1967

15003 0.82 216.3 325.9 5.4 724 15049 0.17 0.00 43.22 1.035 6 0.064 0.000 2889 1723 1768

15358 0.67 216.3 287.3 11.4 741 15360 0.22 0.00 0.00 0.000 6 0.120 0.000 2820 1723 1762

15666 0.94 272.3 268.6 5.2 756 15718 0.20 0.00 49.42 0.983 6 0.060 0.000 2910 1723 1539

16015 0.75 272.3 229.0 11.9 773 16019 0.20 2.22 0.00 0.000 4 0.128 0.057 2853 326 1528

16032 0.66 272.3 227.0 11.6 774 16037 0.12 2.25 0.00 0.000 6 0.109 0.046 2816 1745 1528

16362 1.31 272.3 199.2 10.9 790 16366 0.43 2.22 0.00 0.000 4 0.092 0.060 2958 3153 1524

16395 1.45 272.3 195.1 11.0 791 16402 0.12 2.20 0.00 0.000 6 0.084 0.044 3016 1731 1524

16712 0.89 272.3 122.2 22.9 807 16716 0.47 2.22 0.00 0.000 4 0.152 0.056 2882 327 1524

16803 0.97 272.3 110.2 9.0 811 16807 0.00 2.25 0.00 0.000 6 0.000 0.046 2882 1756 1523

17137 0.97 272.3 82.3 7.7 854 17143 0.00 2.20 0.00 0.000 4 0.000 0.060 2882 3152 1523

17172 0.97 272.3 79.2 8.9 860 17179 0.00 2.20 0.00 0.000 6 0.000 0.044 2892 1726 1523

17520 0.97 272.3 50.6 8.4 921 17526 0.00 2.20 0.00 0.000 4 0.000 0.057 2902 330 1523

17538 0.97 272.3 48.9 7.8 924 17545 0.00 2.22 0.00 0.000 6 0.000 0.044 2903 1752 1523

17884 0.97 272.3 18.7 8.9 985 17891 0.00 2.20 0.00 0.000 4 0.000 0.061 2903 3146 1523

17909 0.97 272.3 16.0 9.5 989 17915 0.10 2.17 0.00 0.000 6 0.137 0.044 2885 1738 1523

18067 end climb: SURFACE_DEPTH_REACHED

state 18067 begin surface coast

18107 end surface coast: CONTROL_FINISHED_OK

state 18108 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	474	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	-122038.24	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	193613,6655.155,-5650.659,39,1.0,50,-37.4	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	1	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.27	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-68.6	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	195150,6655.226,-5650.769,9,1.3,14,-37.4	MHEAD_RNG_PITCHd_Wd	45.3,14536,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	625

FREEZE	1.39,-1.142,-0.953	TCM_TEMP	16.20
FINISH	1.4,1.014059	XPDR_PINGS	279
SM_CCo	18187,0.00,0.000,0,0,1521,276.94	_24V_AH	22.0,77.678
SM_GC	2.38,6.90,0.00,0.00,0.054,0.000,0.000,329,2246,1521,-10.70,0.45,276.94	_10V_AH	10.5,35.602
RAFOS_CLK	716	DATA_FILE_SIZE	34666,1024
RAFOS	0,1229544246,20.083334,20.068333,60,59,59,58,56,54,199,181,146,1248,168,224	CAP_FILE_SIZE	153851,0
RAFOS_FIX	-25908.130859,-4013866.500000,171208,161612,2,78,65053.33	CFSIZE	260165632,220798976
IRIDIUM_FIX	6625.71,-5645.94,130398,141405	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TT8_MAMPS	0.026845	SOUNDSPEED	1463.0
HUMID	1805	GPS	181208,005637,6654.942,-5646.005,32,1.0,32,-37.3
INTERNAL_PRESSURE	9.92226

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	240	124.12	SBE_CT	712	24	375.97
Roll_motor	152	67	225.93	SBE_O2	0	0	0.00
VBD_pump_during_apogee	373	1188	9755.29	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	29	103	67.60	nil	0	0	0.00
Iridium_during_connect	30	160	105.90	nil	0	0	0.00
Iridium_during_xfer	726	223	3563.65
Transponder_ping	69	420	644.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.53
TT8	1954	19	408.80
LPSleep	13321	2	323.12
TT8_Active	507	19	106.15
TT8_Sampling	2176	39	912.50
TT8_CF8	1153	45	556.15
TT8_Kalman	0	81	0.00
Analog_circuits	1655	12	208.57
GPS_charging	0	0	0.00
Compass	2135	8	179.37
RAFOS	3600	1	56.70
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	95	0.00	0.00	-73.18	0.000	6	0.000	0.000	333	2242	3247
99	-0.99	-146.0	3.2	-1.3	14	113	8.75	2.35	0.00	0.000	4	0.240	0.052	2473	810	3251
356	-0.70	-146.0	30.6	-11.1	59	363	0.22	2.28	0.00	0.000	6	0.135	0.054	2529	2232	3253
701	-0.70	-146.0	53.0	-6.4	120	708	0.00	2.20	0.00	0.000	4	0.000	0.066	2521	3598	3254
771	-0.70	-146.0	58.1	-7.7	132	777	0.00	2.12	0.00	0.000	6	0.000	0.042	2521	2213	3254
1116	-0.70	-146.0	84.8	-7.3	193	1121	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2213	3253
1460	-0.75	-146.0	99.9	-2.0	254	1466	0.00	2.28	0.00	0.000	4	0.000	0.066	2511	3601	3252
1518	-0.81	-146.0	102.5	-5.4	257	1522	0.00	2.12	0.00	0.000	6	0.000	0.043	2511	2214	3252
1841	-0.85	-146.0	125.2	-7.5	273	1845	0.00	2.15	0.00	0.000	4	0.000	0.054	2511	813	3252
2017	-0.85	-146.0	139.4	-7.9	280	2023	0.00	2.28	0.00	0.000	6	0.000	0.054	2501	2242	3251
2334	-0.85	-146.0	161.9	-5.6	296	2337	0.00	2.17	0.00	0.000	4	0.000	0.067	2490	3604	3251
2448	-0.90	-146.0	167.7	-4.7	301	2451	0.00	2.12	0.00	0.000	6	0.000	0.042	2491	2213	3251
2781	-0.90	-146.0	181.9	-4.5	317	2784	0.00	2.15	0.00	0.000	4	0.000	0.053	2490	819	3251
2888	-0.90	-146.0	187.3	-5.1	321	2894	0.00	2.28	0.00	0.000	6	0.000	0.053	2481	2243	3251
3204	-0.90	-146.0	203.7	-5.4	337	3205	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2243	3252
3514	-0.90	-146.0	222.7	-6.5	352	3518	0.00	2.15	0.00	0.000	4	0.000	0.065	2470	3600	3253
3586	-0.90	-146.0	228.3	-8.0	355	3590	0.00	2.10	0.00	0.000	6	0.000	0.041	2470	2217	3253
3914	-0.86	-146.0	251.7	-7.3	371	3918	0.10	2.15	0.00	0.000	4	0.146	0.050	2497	823	3253
4098	-0.86	-146.0	264.3	-7.0	379	4102	0.00	2.25	0.00	0.000	6	0.000	0.051	2490	2237	3254
4420	-0.86	-146.0	283.0	-5.9	395	4424	0.00	2.17	0.00	0.000	4	0.000	0.063	2480	3604	3255
4534	-0.86	-146.0	290.1	-6.1	400	4538	0.00	2.10	0.00	0.000	6	0.000	0.039	2479	2216	3254
4867	-0.86	-146.0	308.3	-5.3	416	4871	0.00	2.12	0.00	0.000	4	0.000	0.050	2480	829	3255
5014	-0.86	-146.0	316.6	-6.3	422	5019	0.10	2.22	0.00	0.000	6	0.134	0.050	2496	2234	3255
5331	-0.93	-146.0	331.2	-4.6	437	5335	0.00	2.20	0.00	0.000	4	0.000	0.050	2497	832	3256
5399	-0.93	-146.0	334.6	-4.5	440	5403	0.00	2.22	0.00	0.000	6	0.000	0.049	2489	2247	3256
5733	-0.93	-146.0	351.7	-5.2	456	5736	0.00	2.15	0.00	0.000	4	0.000	0.063	2479	3600	3256
5795	-0.93	-146.0	355.4	-5.8	458	5801	0.00	2.10	0.00	0.000	6	0.000	0.039	2479	2214	3257
6113	-0.93	-146.0	373.0	-5.7	474	6117	0.00	2.15	0.00	0.000	4	0.000	0.050	2479	816	3258
6254	-0.88	-146.0	381.4	-6.2	480	6258	0.00	2.28	0.00	0.000	6	0.000	0.051	2469	2245	3257
6582	-0.88	-146.0	399.2	-5.1	496	6583	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2244	3258
6887	-0.88	-146.0	414.6	-5.0	504	6891	0.00	2.22	0.00	0.000	4	0.000	0.051	2469	828	3257
6985	-0.81	-146.0	420.0	-5.9	506	6989	0.17	2.25	0.00	0.000	6	0.127	0.051	2509	2244	3258
7304	-0.94	-146.0	433.4	-4.2	514	7306	0.12	0.00	0.00	0.000	6	0.077	0.000	2454	2243	3257
7629	-0.86	-146.0	452.8	-5.9	522	7631	0.15	0.00	0.00	0.000	6	0.142	0.000	2495	2244	3257
7954	-0.96	-146.0	467.5	-4.4	530	7958	0.10	2.25	0.00	0.000	4	0.089	0.051	2450	821	3257
8045	-0.83	-146.0	472.6	-6.0	532	8050	0.20	2.25	0.00	0.000	6	0.127	0.052	2498	2230	3257
8370	-0.93	-146.0	486.1	-4.2	540	8374	0.00	2.20	0.00	0.000	4	0.000	0.064	2489	3600	3257
8427	-1.03	-146.0	488.5	-5.1	541	8431	0.12	2.10	0.00	0.000	6	0.077	0.039	2434	2218	3257
8747	-0.89	-146.0	506.5	-5.8	549	8751	0.20	2.15	0.00	0.000	4	0.140	0.050	2497	838	3257
8854	-0.94	-146.0	511.7	-4.7	551	8857	0.00	2.25	0.00	0.000	6	0.000	0.051	2490	2238	3257
9168	-1.01	-146.0	526.1	-4.8	559	9173	0.10	2.17	0.00	0.000	4	0.081	0.064	2429	3600	3257
9225	-0.86	-146.0	529.9	-7.0	560	9230	0.22	2.10	0.00	0.000	6	0.140	0.039	2498	2217	3257
9539	-0.97	-146.0	544.4	-4.6	568	9543	0.12	2.15	0.00	0.000	4	0.081	0.051	2442	830	3257
9646	-0.82	-146.0	551.1	-6.5	570	9651	0.25	2.22	0.00	0.000	6	0.130	0.051	2506	2236	3257
9995	-0.96	-146.0	565.7	-4.1	579	9997	0.12	0.00	0.00	0.000	6	0.079	0.000	2451	2236	3257
10320	-0.89	-146.0	584.0	-5.8	587	10325	0.15	2.25	0.00	0.000	4	0.142	0.050	2494	827	3257
10376	-0.94	-146.0	586.9	-4.9	588	10380	0.00	2.30	0.00	0.000	6	0.000	0.052	2487	2236	3257
10691	-1.00	-146.0	601.2	-4.5	596	10695	0.10	2.20	0.00	0.000	4	0.081	0.065	2426	3600	3256
10747	-0.85	-146.0	604.9	-7.0	597	10752	0.22	2.10	0.00	0.000	6	0.141	0.040	2497	2228	3256
11067	-0.98	-146.0	618.5	-3.7	605	11071	0.12	2.20	0.00	0.000	4	0.080	0.052	2442	821	3256
11179	-0.82	-146.0	624.9	-5.9	607	11184	0.12	2.28	0.00	0.000	1	0.132	0.053	2470	2232	3256
11185	end dive: TARGET_DEPTH_EXCEEDED
state	11185	begin apogee
11193	-0.31	0.0	625.1	5.2	607	11333	0.43	0.00	131.62	1.188	6	0.130	0.000	2608	1746	2650
11334	end apogee: CONTROL_FINISHED_OK
state	11334	begin climb
11337	0.99	146.0	625.9	0.0	611	11479	0.88	2.53	132.50	1.131	4	0.089	0.056	2905	337	2053
11566	0.78	146.0	603.6	12.9	616	11571	0.22	2.40	0.00	0.000	6	0.130	0.045	2843	1749	2048
11914	0.78	146.0	574.1	7.9	625	11918	0.00	2.25	0.00	0.000	4	0.000	0.060	2843	3157	2044
11966	0.63	146.0	569.7	8.8	626	11970	0.15	2.22	0.00	0.000	6	0.132	0.045	2809	1737	2043
12285	0.77	165.6	548.9	6.4	634	12304	0.15	0.00	16.45	1.088	6	0.067	0.000	2877	1737	1974
12610	0.63	165.6	516.3	10.3	642	12612	0.20	0.00	0.00	0.000	6	0.121	0.000	2816	1737	1970
12934	0.74	165.6	492.7	7.2	650	12939	0.10	2.33	0.00	0.000	4	0.079	0.060	2865	3162	1969
12958	0.69	165.6	490.6	9.4	650	12963	0.17	2.22	0.00	0.000	6	0.132	0.046	2824	1731	1969
13296	0.76	165.6	464.4	7.7	659	13297	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	1731	1969
13620	0.82	165.6	438.8	7.9	667	13622	0.12	0.00	0.00	0.000	6	0.071	0.000	2883	1731	1968
13945	0.62	165.6	401.6	11.6	675	13950	0.20	2.30	0.00	0.000	4	0.127	0.059	2817	3153	1968
13978	0.62	165.6	398.3	9.0	675	13984	0.00	2.20	0.00	0.000	6	0.000	0.045	2825	1731	1967
14296	0.69	165.6	374.7	7.6	691	14300	0.00	2.30	0.00	0.000	4	0.000	0.060	2825	3163	1967
14319	0.69	165.6	372.6	8.2	692	14323	0.00	2.22	0.00	0.000	6	0.000	0.045	2835	1724	1966
14652	0.69	165.6	347.0	7.3	708	14656	0.00	2.30	0.00	0.000	4	0.000	0.058	2835	3163	1967
14686	0.62	165.6	344.1	8.6	709	14691	0.12	2.22	0.00	0.000	6	0.131	0.044	2810	1723	1967
15003	0.82	216.3	325.9	5.4	724	15049	0.17	0.00	43.22	1.035	6	0.064	0.000	2889	1723	1768
15358	0.67	216.3	287.3	11.4	741	15360	0.22	0.00	0.00	0.000	6	0.120	0.000	2820	1723	1762
15666	0.94	272.3	268.6	5.2	756	15718	0.20	0.00	49.42	0.983	6	0.060	0.000	2910	1723	1539
16015	0.75	272.3	229.0	11.9	773	16019	0.20	2.22	0.00	0.000	4	0.128	0.057	2853	326	1528
16032	0.66	272.3	227.0	11.6	774	16037	0.12	2.25	0.00	0.000	6	0.109	0.046	2816	1745	1528
16362	1.31	272.3	199.2	10.9	790	16366	0.43	2.22	0.00	0.000	4	0.092	0.060	2958	3153	1524
16395	1.45	272.3	195.1	11.0	791	16402	0.12	2.20	0.00	0.000	6	0.084	0.044	3016	1731	1524
16712	0.89	272.3	122.2	22.9	807	16716	0.47	2.22	0.00	0.000	4	0.152	0.056	2882	327	1524
16803	0.97	272.3	110.2	9.0	811	16807	0.00	2.25	0.00	0.000	6	0.000	0.046	2882	1756	1523
17137	0.97	272.3	82.3	7.7	854	17143	0.00	2.20	0.00	0.000	4	0.000	0.060	2882	3152	1523
17172	0.97	272.3	79.2	8.9	860	17179	0.00	2.20	0.00	0.000	6	0.000	0.044	2892	1726	1523
17520	0.97	272.3	50.6	8.4	921	17526	0.00	2.20	0.00	0.000	4	0.000	0.057	2902	330	1523
17538	0.97	272.3	48.9	7.8	924	17545	0.00	2.22	0.00	0.000	6	0.000	0.044	2903	1752	1523
17884	0.97	272.3	18.7	8.9	985	17891	0.00	2.20	0.00	0.000	4	0.000	0.061	2903	3146	1523
17909	0.97	272.3	16.0	9.5	989	17915	0.10	2.17	0.00	0.000	6	0.137	0.044	2885	1738	1523
18067	end climb: SURFACE_DEPTH_REACHED
state	18067	begin surface coast
18107	end surface coast: CONTROL_FINISHED_OK
state	18108	begin surface