Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 501 * 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 501 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -126013.3 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 60 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 0 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 60 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 -126013.3

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 0 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 501 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 163056,6638.432,-5809.463,0,4098.0,0,-37.3 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 0.000,0.000

_SM_DEPTHo 2.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 163056,6638.432,-5809.463,0,4098.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 310.7,112667,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 643

Post-dive calculations and measurements:

FREEZE 6.95,-1.796,-1.817 TCM_TEMP 15.00

FINISH1 6.9,1.026616,51 XPDR_PINGS 152

FINISH2 5.9 _24V_AH 21.8,81.594

RAFOS_CLK 796 _10V_AH 10.5,37.620

RAFOS 1,1230063246,20.250000,20.235001,59,59,55,54,54,52,126,217,136,192,177,201 DATA_FILE_SIZE 34609,1013

RAFOS_FIX 6638.727051,-5816.121094,241208,000028,4,102,0.17 CAP_FILE_SIZE 145618,0

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 CFSIZE 260165632,218632192

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1817 SOUNDSPEED 1452.9

INTERNAL_PRESSURE 9.92226 GPS 241208,003128,6638.727,-5816.121,0,4102.0,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 147 30.42 SBE_CT 708 24 370.69

Roll_motor 155 80 273.53 SBE_O2 0 0 0.00

VBD_pump_during_apogee 344 1221 9170.98 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 38 420 347.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1957 19 409.45

LPSleep 13802 2 334.78

TT8_Active 476 19 99.58

TT8_Sampling 2065 39 865.78

TT8_CF8 317 45 152.95

TT8_Kalman 0 0 0.00

Analog_circuits 1572 12 198.15

GPS_charging 0 0 0.00

Compass 2045 8 171.84

RAFOS 2880 1 45.36

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

17 -0.99 -146.0 0.0 0.0 0 57 0.00 0.00 -37.95 0.000 6 0.000 0.000 2692 1731 3247

61 -0.99 -146.0 2.6 -1.8 7 68 0.62 3.05 0.00 0.000 4 0.069 0.064 2453 3585 3248

306 -0.82 -146.0 26.1 -10.6 50 313 0.17 2.15 0.00 0.000 6 0.143 0.047 2502 2205 3251

654 -0.82 -146.0 50.9 -6.6 111 660 0.00 2.17 0.00 0.000 4 0.000 0.060 2508 822 3251

762 -0.82 -146.0 58.6 -7.1 130 768 0.00 2.28 0.00 0.000 6 0.000 0.059 2501 2232 3250

1107 -0.82 -146.0 83.9 -7.5 191 1113 0.00 2.20 0.00 0.000 4 0.000 0.071 2490 3600 3250

1255 -0.82 -146.0 97.6 -9.9 217 1261 0.00 2.15 0.00 0.000 6 0.000 0.048 2490 2219 3250

1590 -0.82 -146.0 125.3 -7.4 236 1594 0.00 2.28 0.00 0.000 4 0.000 0.071 2481 3602 3249

1636 -0.82 -146.0 128.7 -7.2 238 1640 0.00 2.15 0.00 0.000 6 0.000 0.048 2480 2220 3249

1969 -0.77 -146.0 151.9 -7.0 254 1974 0.12 2.22 0.00 0.000 4 0.147 0.059 2514 816 3248

2049 -0.81 -146.0 157.0 -6.2 257 2055 0.00 2.30 0.00 0.000 6 0.000 0.059 2507 2236 3248

2365 -0.87 -146.0 178.6 -6.7 273 2369 0.00 2.17 0.00 0.000 4 0.000 0.073 2496 3595 3248

2462 -0.96 -146.0 186.0 -8.1 277 2466 0.10 2.15 0.00 0.000 6 0.090 0.048 2450 2215 3248

2789 -0.85 -146.0 213.2 -7.7 293 2794 0.17 2.30 0.00 0.000 4 0.137 0.070 2492 3604 3246

2875 -0.94 -146.0 218.6 -5.8 297 2879 0.00 2.15 0.00 0.000 6 0.000 0.048 2492 2224 3246

3209 -1.00 -146.0 239.1 -6.3 313 3213 0.12 2.22 0.00 0.000 4 0.084 0.058 2437 817 3246

3327 -0.83 -146.0 249.0 -8.3 318 3332 0.25 2.30 0.00 0.000 6 0.133 0.059 2500 2238 3245

3644 -0.92 -146.0 265.5 -5.0 333 3647 0.00 2.17 0.00 0.000 4 0.000 0.070 2492 3592 3245

3729 -1.03 -146.0 270.0 -5.3 336 3736 0.12 2.12 0.00 0.000 6 0.078 0.046 2435 2221 3245

4046 -0.89 -146.0 289.5 -6.2 352 4050 0.17 2.20 0.00 0.000 4 0.139 0.055 2487 827 3245

4207 -0.89 -146.0 297.9 -5.3 359 4210 0.00 2.30 0.00 0.000 6 0.000 0.056 2480 2246 3245

4540 -0.89 -146.0 312.7 -4.1 375 4544 0.00 2.20 0.00 0.000 4 0.000 0.067 2469 3606 3245

4602 -0.89 -146.0 315.6 -4.6 377 4609 0.00 2.15 0.00 0.000 6 0.000 0.044 2469 2212 3246

4919 -0.89 -146.0 330.2 -5.0 393 4923 0.00 2.17 0.00 0.000 4 0.000 0.054 2469 815 3247

5004 -0.83 -146.0 334.8 -5.1 396 5011 0.15 2.30 0.00 0.000 6 0.128 0.053 2501 2246 3247

5323 -0.95 -146.0 348.4 -4.3 412 5327 0.12 2.17 0.00 0.000 4 0.080 0.064 2435 3601 3248

5425 -0.84 -146.0 354.9 -6.5 416 5430 0.22 2.12 0.00 0.000 6 0.137 0.042 2500 2215 3249

5742 -0.96 -146.0 370.7 -5.2 431 5746 0.12 2.17 0.00 0.000 4 0.079 0.051 2443 818 3250

5849 -0.81 -146.0 378.5 -7.4 435 5856 0.25 2.28 0.00 0.000 6 0.129 0.052 2507 2237 3250

6165 -0.96 -146.0 394.7 -5.1 451 6170 0.12 2.20 0.00 0.000 4 0.078 0.062 2441 3606 3251

6239 -0.86 -146.0 400.1 -7.6 454 6244 0.20 2.12 0.00 0.000 6 0.137 0.041 2498 2216 3251

6571 -0.97 -146.0 418.9 -5.5 462 6576 0.12 2.17 0.00 0.000 4 0.079 0.051 2441 821 3252

6678 -0.82 -146.0 426.8 -7.1 464 6683 0.25 2.28 0.00 0.000 6 0.127 0.052 2505 2233 3252

7028 -0.96 -146.0 443.6 -4.6 473 7032 0.12 2.20 0.00 0.000 4 0.077 0.063 2438 3608 3252

7095 -0.86 -146.0 448.0 -6.5 474 7100 0.20 2.10 0.00 0.000 6 0.138 0.041 2495 2223 3253

7445 -0.96 -146.0 463.9 -4.4 483 7449 0.10 2.17 0.00 0.000 4 0.086 0.052 2446 828 3253

7557 -0.84 -146.0 470.8 -6.6 485 7562 0.22 2.28 0.00 0.000 6 0.128 0.053 2502 2246 3253

7901 -0.96 -146.0 484.9 -4.0 494 7906 0.12 2.15 0.00 0.000 4 0.079 0.064 2436 3594 3253

7969 -0.85 -146.0 489.2 -6.2 495 7974 0.20 2.10 0.00 0.000 6 0.138 0.041 2493 2217 3253

8318 -0.95 -146.0 506.2 -4.9 504 8322 0.00 2.12 0.00 0.000 4 0.000 0.051 2493 829 3253

8381 -1.00 -146.0 509.7 -6.0 505 8386 0.10 2.25 0.00 0.000 6 0.079 0.051 2438 2240 3253

8695 -0.89 -146.0 531.0 -6.9 513 8699 0.17 2.17 0.00 0.000 4 0.143 0.064 2479 3597 3253

8797 -0.97 -146.0 537.7 -6.8 515 8801 0.00 2.10 0.00 0.000 6 0.000 0.041 2479 2219 3254

9117 -0.97 -146.0 556.4 -5.8 523 9120 0.00 2.17 0.00 0.000 4 0.000 0.052 2479 821 3253

9208 -0.97 -146.0 561.9 -6.4 525 9212 0.00 2.28 0.00 0.000 6 0.000 0.053 2469 2233 3253

9539 -0.97 -146.0 581.1 -5.8 533 9543 0.00 2.20 0.00 0.000 4 0.000 0.064 2459 3602 3254

9668 -0.97 -146.0 589.4 -6.9 535 9674 0.00 2.12 0.00 0.000 6 0.000 0.041 2458 2217 3253

10001 -0.97 -146.0 608.3 -5.6 544 10005 0.00 2.15 0.00 0.000 4 0.000 0.054 2458 828 3253

10070 -0.88 -146.0 612.4 -6.4 545 10074 0.15 2.28 0.00 0.000 6 0.130 0.054 2490 2242 3253

10413 -0.98 -146.0 628.4 -4.6 554 10414 0.10 0.00 0.00 0.000 6 0.085 0.000 2446 2241 3253

10693 end dive: TARGET_DEPTH_EXCEEDED

state 10693 begin apogee

10702 -0.31 0.0 645.0 5.9 561 10834 0.55 0.00 129.45 1.221 6 0.127 0.000 2617 1742 2650

10836 end apogee: CONTROL_FINISHED_OK

state 10836 begin climb

10839 0.99 146.0 646.1 0.0 564 10980 0.88 2.62 133.62 1.143 4 0.082 0.058 2913 335 2054

10990 0.71 146.0 632.8 10.9 568 10995 0.30 2.50 0.00 0.000 6 0.130 0.044 2834 1735 2052

11309 0.71 146.0 608.3 7.3 576 11313 0.00 2.33 0.00 0.000 4 0.000 0.059 2834 3162 2046

11343 0.63 146.0 605.5 7.9 576 11348 0.12 2.28 0.00 0.000 6 0.133 0.045 2808 1732 2045

11676 0.78 176.6 585.4 6.0 584 11710 0.15 2.42 26.52 1.130 4 0.066 0.059 2877 3166 1929

11728 0.57 176.6 580.7 10.1 585 11733 0.30 2.28 0.00 0.000 6 0.130 0.045 2800 1737 1926

12042 0.80 210.3 561.5 5.9 593 12075 0.17 0.00 30.27 1.134 6 0.061 0.000 2881 1737 1792

12367 0.67 210.3 528.3 10.4 601 12369 0.20 0.00 0.00 0.000 6 0.120 0.000 2820 1737 1785

12692 0.84 237.4 507.0 6.1 609 12719 0.15 0.00 24.65 1.110 6 0.067 0.000 2890 1737 1682

13016 0.69 237.4 471.6 11.3 617 13018 0.20 0.00 0.00 0.000 6 0.123 0.000 2829 1737 1675

13342 0.80 237.4 447.3 7.2 625 13347 0.10 2.33 0.00 0.000 4 0.079 0.061 2878 3162 1674

13364 0.80 237.4 445.1 8.8 625 13369 0.15 2.25 0.00 0.000 6 0.133 0.047 2846 1728 1673

13706 0.80 237.4 417.2 7.9 634 13707 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 1728 1673

14013 0.85 237.4 394.0 7.5 643 14014 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 1728 1672

14323 0.90 237.4 369.9 7.9 658 14327 0.12 2.25 0.00 0.000 4 0.072 0.060 2914 326 1672

14351 0.81 237.4 366.8 10.1 659 14356 0.20 2.25 0.00 0.000 6 0.132 0.048 2857 1754 1672

14678 0.81 237.4 337.4 8.9 675 14682 0.00 2.25 0.00 0.000 4 0.000 0.063 2856 3158 1672

14706 0.81 237.4 334.4 10.1 676 14710 0.00 2.25 0.00 0.000 6 0.000 0.047 2864 1727 1671

15033 0.81 237.4 301.1 10.2 692 15035 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1727 1671

15343 0.81 237.4 270.6 9.9 707 15344 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1727 1670

15653 0.81 237.4 239.5 10.0 722 15655 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1727 1669

15961 0.81 237.4 209.0 9.4 737 15962 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1727 1670

16273 0.88 237.4 184.1 7.5 752 16277 0.00 2.30 0.00 0.000 4 0.000 0.060 2874 324 1670

16290 0.96 237.4 182.5 7.8 752 16296 0.00 2.25 0.00 0.000 6 0.000 0.048 2874 1744 1670

16606 0.96 237.4 157.0 7.8 768 16609 0.00 2.28 0.00 0.000 4 0.000 0.062 2874 3148 1670

16646 0.90 237.4 153.4 9.3 769 16653 0.00 2.25 0.00 0.000 6 0.000 0.047 2883 1726 1670

16962 0.90 237.4 125.6 8.8 785 16964 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 1726 1670

17274 0.96 237.4 101.5 7.3 800 17275 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 1726 1670

17606 1.05 241.4 78.2 6.9 854 17613 0.10 2.40 0.00 0.000 4 0.083 0.063 2934 3159 1670

17633 1.05 241.4 76.0 7.5 858 17640 0.15 2.30 0.00 0.000 6 0.140 0.049 2902 1732 1670

17979 1.05 241.4 48.6 7.4 919 17986 0.00 2.33 0.00 0.000 4 0.000 0.064 2911 323 1670

18004 1.05 241.4 46.5 7.4 923 18011 0.00 2.28 0.00 0.000 6 0.000 0.051 2911 1742 1670

18350 1.05 241.4 18.9 8.4 984 18356 0.00 0.00 0.00 0.000 6 0.000 0.000 2911 1742 1670

18484 end climb: FINISH_DEPTH_REACHED

state 18484 begin subsurface finish

18493 0.06 50.8 6.9 -8.4 1008 18524 0.68 2.40 -23.95 0.000 4 0.118 0.081 2682 3154 2447

18525 end subsurface finish: CONTROL_FINISHED_OK

state 18525 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	501	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-126013.3	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	60	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	0	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	163056,6638.432,-5809.463,0,4098.0,0,-37.3	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	0.000,0.000
_SM_DEPTHo	2.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	163056,6638.432,-5809.463,0,4098.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	310.7,112667,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	643

FREEZE	6.95,-1.796,-1.817	TCM_TEMP	15.00
FINISH1	6.9,1.026616,51	XPDR_PINGS	152
FINISH2	5.9	_24V_AH	21.8,81.594
RAFOS_CLK	796	_10V_AH	10.5,37.620
RAFOS	1,1230063246,20.250000,20.235001,59,59,55,54,54,52,126,217,136,192,177,201	DATA_FILE_SIZE	34609,1013
RAFOS_FIX	6638.727051,-5816.121094,241208,000028,4,102,0.17	CAP_FILE_SIZE	145618,0
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	CFSIZE	260165632,218632192
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1817	SOUNDSPEED	1452.9
INTERNAL_PRESSURE	9.92226	GPS	241208,003128,6638.727,-5816.121,0,4102.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	147	30.42	SBE_CT	708	24	370.69
Roll_motor	155	80	273.53	SBE_O2	0	0	0.00
VBD_pump_during_apogee	344	1221	9170.98	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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	38	420	347.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1957	19	409.45
LPSleep	13802	2	334.78
TT8_Active	476	19	99.58
TT8_Sampling	2065	39	865.78
TT8_CF8	317	45	152.95
TT8_Kalman	0	0	0.00
Analog_circuits	1572	12	198.15
GPS_charging	0	0	0.00
Compass	2045	8	171.84
RAFOS	2880	1	45.36
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
17	-0.99	-146.0	0.0	0.0	0	57	0.00	0.00	-37.95	0.000	6	0.000	0.000	2692	1731	3247
61	-0.99	-146.0	2.6	-1.8	7	68	0.62	3.05	0.00	0.000	4	0.069	0.064	2453	3585	3248
306	-0.82	-146.0	26.1	-10.6	50	313	0.17	2.15	0.00	0.000	6	0.143	0.047	2502	2205	3251
654	-0.82	-146.0	50.9	-6.6	111	660	0.00	2.17	0.00	0.000	4	0.000	0.060	2508	822	3251
762	-0.82	-146.0	58.6	-7.1	130	768	0.00	2.28	0.00	0.000	6	0.000	0.059	2501	2232	3250
1107	-0.82	-146.0	83.9	-7.5	191	1113	0.00	2.20	0.00	0.000	4	0.000	0.071	2490	3600	3250
1255	-0.82	-146.0	97.6	-9.9	217	1261	0.00	2.15	0.00	0.000	6	0.000	0.048	2490	2219	3250
1590	-0.82	-146.0	125.3	-7.4	236	1594	0.00	2.28	0.00	0.000	4	0.000	0.071	2481	3602	3249
1636	-0.82	-146.0	128.7	-7.2	238	1640	0.00	2.15	0.00	0.000	6	0.000	0.048	2480	2220	3249
1969	-0.77	-146.0	151.9	-7.0	254	1974	0.12	2.22	0.00	0.000	4	0.147	0.059	2514	816	3248
2049	-0.81	-146.0	157.0	-6.2	257	2055	0.00	2.30	0.00	0.000	6	0.000	0.059	2507	2236	3248
2365	-0.87	-146.0	178.6	-6.7	273	2369	0.00	2.17	0.00	0.000	4	0.000	0.073	2496	3595	3248
2462	-0.96	-146.0	186.0	-8.1	277	2466	0.10	2.15	0.00	0.000	6	0.090	0.048	2450	2215	3248
2789	-0.85	-146.0	213.2	-7.7	293	2794	0.17	2.30	0.00	0.000	4	0.137	0.070	2492	3604	3246
2875	-0.94	-146.0	218.6	-5.8	297	2879	0.00	2.15	0.00	0.000	6	0.000	0.048	2492	2224	3246
3209	-1.00	-146.0	239.1	-6.3	313	3213	0.12	2.22	0.00	0.000	4	0.084	0.058	2437	817	3246
3327	-0.83	-146.0	249.0	-8.3	318	3332	0.25	2.30	0.00	0.000	6	0.133	0.059	2500	2238	3245
3644	-0.92	-146.0	265.5	-5.0	333	3647	0.00	2.17	0.00	0.000	4	0.000	0.070	2492	3592	3245
3729	-1.03	-146.0	270.0	-5.3	336	3736	0.12	2.12	0.00	0.000	6	0.078	0.046	2435	2221	3245
4046	-0.89	-146.0	289.5	-6.2	352	4050	0.17	2.20	0.00	0.000	4	0.139	0.055	2487	827	3245
4207	-0.89	-146.0	297.9	-5.3	359	4210	0.00	2.30	0.00	0.000	6	0.000	0.056	2480	2246	3245
4540	-0.89	-146.0	312.7	-4.1	375	4544	0.00	2.20	0.00	0.000	4	0.000	0.067	2469	3606	3245
4602	-0.89	-146.0	315.6	-4.6	377	4609	0.00	2.15	0.00	0.000	6	0.000	0.044	2469	2212	3246
4919	-0.89	-146.0	330.2	-5.0	393	4923	0.00	2.17	0.00	0.000	4	0.000	0.054	2469	815	3247
5004	-0.83	-146.0	334.8	-5.1	396	5011	0.15	2.30	0.00	0.000	6	0.128	0.053	2501	2246	3247
5323	-0.95	-146.0	348.4	-4.3	412	5327	0.12	2.17	0.00	0.000	4	0.080	0.064	2435	3601	3248
5425	-0.84	-146.0	354.9	-6.5	416	5430	0.22	2.12	0.00	0.000	6	0.137	0.042	2500	2215	3249
5742	-0.96	-146.0	370.7	-5.2	431	5746	0.12	2.17	0.00	0.000	4	0.079	0.051	2443	818	3250
5849	-0.81	-146.0	378.5	-7.4	435	5856	0.25	2.28	0.00	0.000	6	0.129	0.052	2507	2237	3250
6165	-0.96	-146.0	394.7	-5.1	451	6170	0.12	2.20	0.00	0.000	4	0.078	0.062	2441	3606	3251
6239	-0.86	-146.0	400.1	-7.6	454	6244	0.20	2.12	0.00	0.000	6	0.137	0.041	2498	2216	3251
6571	-0.97	-146.0	418.9	-5.5	462	6576	0.12	2.17	0.00	0.000	4	0.079	0.051	2441	821	3252
6678	-0.82	-146.0	426.8	-7.1	464	6683	0.25	2.28	0.00	0.000	6	0.127	0.052	2505	2233	3252
7028	-0.96	-146.0	443.6	-4.6	473	7032	0.12	2.20	0.00	0.000	4	0.077	0.063	2438	3608	3252
7095	-0.86	-146.0	448.0	-6.5	474	7100	0.20	2.10	0.00	0.000	6	0.138	0.041	2495	2223	3253
7445	-0.96	-146.0	463.9	-4.4	483	7449	0.10	2.17	0.00	0.000	4	0.086	0.052	2446	828	3253
7557	-0.84	-146.0	470.8	-6.6	485	7562	0.22	2.28	0.00	0.000	6	0.128	0.053	2502	2246	3253
7901	-0.96	-146.0	484.9	-4.0	494	7906	0.12	2.15	0.00	0.000	4	0.079	0.064	2436	3594	3253
7969	-0.85	-146.0	489.2	-6.2	495	7974	0.20	2.10	0.00	0.000	6	0.138	0.041	2493	2217	3253
8318	-0.95	-146.0	506.2	-4.9	504	8322	0.00	2.12	0.00	0.000	4	0.000	0.051	2493	829	3253
8381	-1.00	-146.0	509.7	-6.0	505	8386	0.10	2.25	0.00	0.000	6	0.079	0.051	2438	2240	3253
8695	-0.89	-146.0	531.0	-6.9	513	8699	0.17	2.17	0.00	0.000	4	0.143	0.064	2479	3597	3253
8797	-0.97	-146.0	537.7	-6.8	515	8801	0.00	2.10	0.00	0.000	6	0.000	0.041	2479	2219	3254
9117	-0.97	-146.0	556.4	-5.8	523	9120	0.00	2.17	0.00	0.000	4	0.000	0.052	2479	821	3253
9208	-0.97	-146.0	561.9	-6.4	525	9212	0.00	2.28	0.00	0.000	6	0.000	0.053	2469	2233	3253
9539	-0.97	-146.0	581.1	-5.8	533	9543	0.00	2.20	0.00	0.000	4	0.000	0.064	2459	3602	3254
9668	-0.97	-146.0	589.4	-6.9	535	9674	0.00	2.12	0.00	0.000	6	0.000	0.041	2458	2217	3253
10001	-0.97	-146.0	608.3	-5.6	544	10005	0.00	2.15	0.00	0.000	4	0.000	0.054	2458	828	3253
10070	-0.88	-146.0	612.4	-6.4	545	10074	0.15	2.28	0.00	0.000	6	0.130	0.054	2490	2242	3253
10413	-0.98	-146.0	628.4	-4.6	554	10414	0.10	0.00	0.00	0.000	6	0.085	0.000	2446	2241	3253
10693	end dive: TARGET_DEPTH_EXCEEDED
state	10693	begin apogee
10702	-0.31	0.0	645.0	5.9	561	10834	0.55	0.00	129.45	1.221	6	0.127	0.000	2617	1742	2650
10836	end apogee: CONTROL_FINISHED_OK
state	10836	begin climb
10839	0.99	146.0	646.1	0.0	564	10980	0.88	2.62	133.62	1.143	4	0.082	0.058	2913	335	2054
10990	0.71	146.0	632.8	10.9	568	10995	0.30	2.50	0.00	0.000	6	0.130	0.044	2834	1735	2052
11309	0.71	146.0	608.3	7.3	576	11313	0.00	2.33	0.00	0.000	4	0.000	0.059	2834	3162	2046
11343	0.63	146.0	605.5	7.9	576	11348	0.12	2.28	0.00	0.000	6	0.133	0.045	2808	1732	2045
11676	0.78	176.6	585.4	6.0	584	11710	0.15	2.42	26.52	1.130	4	0.066	0.059	2877	3166	1929
11728	0.57	176.6	580.7	10.1	585	11733	0.30	2.28	0.00	0.000	6	0.130	0.045	2800	1737	1926
12042	0.80	210.3	561.5	5.9	593	12075	0.17	0.00	30.27	1.134	6	0.061	0.000	2881	1737	1792
12367	0.67	210.3	528.3	10.4	601	12369	0.20	0.00	0.00	0.000	6	0.120	0.000	2820	1737	1785
12692	0.84	237.4	507.0	6.1	609	12719	0.15	0.00	24.65	1.110	6	0.067	0.000	2890	1737	1682
13016	0.69	237.4	471.6	11.3	617	13018	0.20	0.00	0.00	0.000	6	0.123	0.000	2829	1737	1675
13342	0.80	237.4	447.3	7.2	625	13347	0.10	2.33	0.00	0.000	4	0.079	0.061	2878	3162	1674
13364	0.80	237.4	445.1	8.8	625	13369	0.15	2.25	0.00	0.000	6	0.133	0.047	2846	1728	1673
13706	0.80	237.4	417.2	7.9	634	13707	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	1728	1673
14013	0.85	237.4	394.0	7.5	643	14014	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	1728	1672
14323	0.90	237.4	369.9	7.9	658	14327	0.12	2.25	0.00	0.000	4	0.072	0.060	2914	326	1672
14351	0.81	237.4	366.8	10.1	659	14356	0.20	2.25	0.00	0.000	6	0.132	0.048	2857	1754	1672
14678	0.81	237.4	337.4	8.9	675	14682	0.00	2.25	0.00	0.000	4	0.000	0.063	2856	3158	1672
14706	0.81	237.4	334.4	10.1	676	14710	0.00	2.25	0.00	0.000	6	0.000	0.047	2864	1727	1671
15033	0.81	237.4	301.1	10.2	692	15035	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1727	1671
15343	0.81	237.4	270.6	9.9	707	15344	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1727	1670
15653	0.81	237.4	239.5	10.0	722	15655	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1727	1669
15961	0.81	237.4	209.0	9.4	737	15962	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1727	1670
16273	0.88	237.4	184.1	7.5	752	16277	0.00	2.30	0.00	0.000	4	0.000	0.060	2874	324	1670
16290	0.96	237.4	182.5	7.8	752	16296	0.00	2.25	0.00	0.000	6	0.000	0.048	2874	1744	1670
16606	0.96	237.4	157.0	7.8	768	16609	0.00	2.28	0.00	0.000	4	0.000	0.062	2874	3148	1670
16646	0.90	237.4	153.4	9.3	769	16653	0.00	2.25	0.00	0.000	6	0.000	0.047	2883	1726	1670
16962	0.90	237.4	125.6	8.8	785	16964	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	1726	1670
17274	0.96	237.4	101.5	7.3	800	17275	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	1726	1670
17606	1.05	241.4	78.2	6.9	854	17613	0.10	2.40	0.00	0.000	4	0.083	0.063	2934	3159	1670
17633	1.05	241.4	76.0	7.5	858	17640	0.15	2.30	0.00	0.000	6	0.140	0.049	2902	1732	1670
17979	1.05	241.4	48.6	7.4	919	17986	0.00	2.33	0.00	0.000	4	0.000	0.064	2911	323	1670
18004	1.05	241.4	46.5	7.4	923	18011	0.00	2.28	0.00	0.000	6	0.000	0.051	2911	1742	1670
18350	1.05	241.4	18.9	8.4	984	18356	0.00	0.00	0.00	0.000	6	0.000	0.000	2911	1742	1670
18484	end climb: FINISH_DEPTH_REACHED
state	18484	begin subsurface finish
18493	0.06	50.8	6.9	-8.4	1008	18524	0.68	2.40	-23.95	0.000	4	0.118	0.081	2682	3154	2447
18525	end subsurface finish: CONTROL_FINISHED_OK
state	18525	begin surface