Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 61 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 0 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 61 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 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 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 275 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 588 DEVICE2 20

T_MISSION 530 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2895 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 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -112195.05 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 2657 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 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 15.9 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0035999999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.014 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 6.1000001e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 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 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15.9 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3700 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 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 15

CALL_TRIES 5 HD_A 0.0035999999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.014 RELAUNCH 1 T_GPS_CHARGE -112195.05

CAPMAXSIZE 100000 HD_C 6.1000001e-06 RHO 1.02765 T_MISSION 530

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 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 -1

C_PITCH 2657 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2895 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 2 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 1 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 61 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 205708,6659.873,-5706.705,40,1.0,40,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.157,-0.123

_SM_DEPTHo 2.30 KALMAN_X -4673.5,-216.0,569.5,61098.4,-1584.9

_SM_ANGLEo -71.8 KALMAN_Y 7202.0,714.3,-2753.0,8187.5,3266.7

GPS2 210208,6659.846,-5706.588,13,1.4,13,-37.6 MHEAD_RNG_PITCHd_Wd 59.1,14640,-14.2,-7.021

SPEED_LIMITS 0.122,0.200 D_GRID 726

Post-dive calculations and measurements:

FINISH 1.4,1.021321 XPDR_PINGS 44

SM_CCo 17936,0.00,0.000,0,0,1279,396.40 _24V_AH 23.2,15.460

SM_GC 2.28,7.30,0.00,0.00,0.056,0.000,0.000,340,2231,1279,-10.58,0.03,396.40 _10V_AH 10.6,7.540

RAFOS_CLK 729 DATA_FILE_SIZE 31565,947

RAFOS 0,1221609853,0.083333,0.070278,70,56,55,55,51,50,206,152,187,220,170,118 CAP_FILE_SIZE 128724,0

RAFOS_FIX -21558.052734,-642015.937500,170908,000009,3,102,46149.68 CFSIZE 260165632,249118720

IRIDIUM_FIX 6631.12,-5713.57,111297,151539 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1457.5

HUMID 1817 CURRENT 0.151, 88.5,1

INTERNAL_PRESSURE 9.89296 GPS 170908,020421,6701.988,-5700.722,37,2.5,56,-37.6

TCM_TEMP 15.40

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 272 148.45 SBE_CT 659 24 367.18

Roll_motor 115 76 206.33 SBE_O2 0 19 0.00

VBD_pump_during_apogee 453 1290 13594.88 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 30 103 72.17 nil 0 0 0.00

Iridium_during_connect 35 160 131.84 nil 0 0 0.00

Iridium_during_xfer 125 223 649.02

Transponder_ping 11 420 107.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.97

TT8 1876 19 396.16

LPSleep 13775 2 337.31

TT8_Active 612 19 129.31

TT8_Sampling 1682 39 712.05

TT8_CF8 330 45 160.86

TT8_Kalman 33 81 28.96

Analog_circuits 1525 12 194.04

GPS_charging 0 0 0.00

Compass 1667 8 141.42

RAFOS 1800 1 28.62

Transponder 0 30 0.17

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.07 -146.0 0.0 0.0 0 75 0.00 0.00 -56.20 0.000 2 0.000 0.000 337 2240 2837

77 -1.07 -146.0 3.0 -1.7 9 115 8.70 2.40 -20.30 0.000 4 0.272 0.076 2428 816 3495

155 -0.70 -146.0 14.7 -16.4 22 162 0.30 2.35 0.00 0.000 6 0.156 0.061 2505 2246 3497

499 -0.79 -146.0 50.6 -9.1 83 505 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2246 3500

843 -0.86 -146.0 79.0 -7.7 144 849 0.12 2.35 0.00 0.000 4 0.084 0.061 2454 811 3502

889 -0.75 -146.0 83.9 -10.7 152 896 0.20 2.33 0.00 0.000 6 0.147 0.059 2499 2237 3502

1222 -0.83 -146.0 111.6 -7.6 192 1227 0.10 2.17 0.00 0.000 4 0.092 0.074 2447 3593 3502

1299 -0.74 -146.0 119.3 -10.1 195 1308 0.15 2.17 0.00 0.000 6 0.150 0.050 2506 2217 3502

1615 -0.87 -146.0 140.0 -6.8 211 1617 0.15 0.00 0.00 0.000 6 0.084 0.000 2446 2218 3502

1924 -0.79 -146.0 173.7 -10.8 226 1926 0.15 0.00 0.00 0.000 6 0.156 0.000 2486 2218 3501

2233 -0.88 -146.0 199.2 -7.9 241 2237 0.00 2.28 0.00 0.000 4 0.000 0.077 2478 3602 3500

2302 -0.99 -146.0 204.7 -8.4 244 2307 0.12 2.15 0.00 0.000 6 0.090 0.052 2429 2218 3500

2634 -0.87 -146.0 235.2 -9.0 260 2638 0.15 2.25 0.00 0.000 4 0.153 0.075 2461 3608 3500

2716 -0.87 -146.0 242.1 -8.6 263 2724 0.00 2.17 0.00 0.000 6 0.000 0.052 2460 2226 3500

3031 -0.87 -146.0 270.4 -9.2 279 3033 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 2226 3499

3340 -0.87 -146.0 298.9 -9.5 294 3344 0.00 2.25 0.00 0.000 4 0.000 0.065 2461 813 3499

3423 -0.87 -146.0 306.7 -9.0 297 3430 0.00 2.33 0.00 0.000 6 0.000 0.062 2450 2233 3499

3739 -0.87 -146.0 334.1 -8.0 313 3742 0.00 2.17 0.00 0.000 4 0.000 0.076 2439 3610 3498

3807 -0.87 -146.0 339.5 -7.8 316 3812 0.12 2.15 0.00 0.000 6 0.157 0.051 2472 2216 3498

4140 -0.97 -146.0 361.8 -6.9 332 4142 0.12 0.00 0.00 0.000 6 0.085 0.000 2422 2216 3498

4448 -0.88 -146.0 389.5 -9.0 347 4453 0.17 2.25 0.00 0.000 4 0.150 0.074 2463 3602 3498

4503 -0.98 -146.0 393.9 -7.8 349 4509 0.00 2.15 0.00 0.000 6 0.000 0.050 2463 2224 3498

4836 -1.05 -146.0 416.9 -6.9 360 4838 0.12 0.00 0.00 0.000 6 0.088 0.000 2412 2224 3498

5161 -0.93 -146.0 446.8 -9.4 368 5163 0.17 0.00 0.00 0.000 6 0.153 0.000 2462 2224 3498

5486 -0.99 -146.0 469.9 -7.1 376 5487 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2224 3499

5810 -1.08 -146.0 493.2 -7.3 384 5815 0.15 2.25 0.00 0.000 4 0.081 0.071 2392 3602 3500

5865 -0.90 -146.0 498.6 -9.9 385 5870 0.17 2.15 0.00 0.000 6 0.148 0.048 2460 2218 3500

6178 -0.97 -146.0 522.0 -7.4 393 6179 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 2218 3500

6503 -1.04 -146.0 544.9 -6.9 401 6505 0.12 0.00 0.00 0.000 6 0.082 0.000 2409 2218 3501

6828 -0.91 -146.0 573.8 -9.0 409 6832 0.17 2.22 0.00 0.000 4 0.148 0.070 2451 3599 3502

6910 -0.96 -146.0 580.6 -8.0 410 6917 0.00 2.12 0.00 0.000 6 0.000 0.047 2451 2224 3502

7241 -0.96 -146.0 605.5 -7.5 419 7242 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2224 3503

7566 -0.96 -146.0 629.8 -7.5 427 7567 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2224 3503

7891 -0.96 -146.0 653.8 -7.4 435 7892 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2224 3503

8216 -0.96 -146.0 677.5 -7.2 443 8217 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2224 3503

8540 -0.96 -146.0 701.0 -7.2 451 8545 0.00 2.25 0.00 0.000 4 0.000 0.072 2440 3612 3503

8591 -0.96 -146.0 704.9 -8.4 452 8595 0.00 2.12 0.00 0.000 6 0.000 0.047 2441 2219 3503

8872 end dive: TARGET_DEPTH_EXCEEDED

state 8872 begin apogee

8876 -0.31 0.0 726.1 7.4 459 9004 0.47 0.00 124.60 1.291 6 0.130 0.000 2593 1742 2895

9004 end apogee: CONTROL_FINISHED_OK

state 9005 begin climb

9006 1.07 146.0 726.7 0.0 462 9140 0.90 2.62 124.43 1.223 4 0.094 0.063 2889 3156 2298

9145 0.70 146.0 717.6 12.3 465 9150 0.35 2.47 0.00 0.000 6 0.144 0.050 2806 1736 2296

9492 0.70 146.0 691.1 7.2 474 9493 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1736 2293

9816 0.70 146.0 667.1 7.4 482 9821 0.00 2.38 0.00 0.000 4 0.000 0.064 2807 3153 2292

9849 0.59 146.0 664.3 9.1 482 9854 0.12 2.33 0.00 0.000 6 0.146 0.051 2782 1721 2292

10185 0.71 162.1 642.3 6.5 491 10201 0.10 0.00 13.52 1.153 6 0.091 0.000 2822 1721 2234

10510 0.66 162.1 615.6 8.3 499 10515 0.10 2.38 0.00 0.000 4 0.139 0.064 2796 3164 2232

10537 0.60 162.1 613.3 8.6 499 10541 0.00 2.30 0.00 0.000 6 0.000 0.051 2805 1733 2231

10875 0.60 162.1 586.7 8.2 508 10876 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 1733 2231

11198 0.60 162.1 560.4 8.2 516 11202 0.00 2.30 0.00 0.000 4 0.000 0.064 2805 3159 2231

11219 0.55 162.1 558.6 8.2 516 11224 0.15 2.25 0.00 0.000 6 0.141 0.051 2773 1736 2230

11567 0.74 196.0 537.6 5.9 525 11598 0.15 0.00 28.80 1.168 6 0.079 0.000 2833 1735 2096

11891 0.65 196.0 506.2 10.0 533 11896 0.15 2.38 0.00 0.000 4 0.133 0.064 2791 3163 2092

11930 0.65 196.0 502.6 8.4 534 11934 0.00 2.30 0.00 0.000 6 0.000 0.051 2799 1729 2091

12259 0.70 196.0 478.6 7.1 542 12260 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1729 2091

12584 0.77 196.0 454.7 7.5 550 12588 0.10 2.35 0.00 0.000 4 0.088 0.064 2843 3163 2091

12621 0.54 196.0 450.9 10.7 550 12629 0.28 2.28 0.00 0.000 6 0.140 0.051 2772 1728 2091

12952 0.80 233.3 431.1 5.8 559 12986 0.20 0.00 31.45 1.089 6 0.068 0.000 2853 1727 1943

13257 0.67 233.3 396.8 11.9 567 13259 0.20 0.00 0.00 0.000 6 0.127 0.000 2795 1727 1938

13568 0.81 233.3 372.6 7.7 582 13573 0.15 2.35 0.00 0.000 4 0.075 0.063 2855 3167 1937

13607 0.58 233.3 368.1 12.5 584 13612 0.28 2.28 0.00 0.000 6 0.136 0.051 2785 1734 1936

13934 0.84 269.3 346.4 5.9 600 13967 0.17 0.00 30.12 1.025 6 0.071 0.000 2857 1734 1797

14262 0.74 269.3 312.8 10.7 616 14264 0.15 0.00 0.00 0.000 6 0.127 0.000 2814 1734 1790

14571 0.84 269.3 287.5 8.1 631 14575 0.10 2.30 0.00 0.000 4 0.085 0.063 2855 3157 1789

14585 0.84 269.3 286.0 8.3 631 14595 0.08 2.28 0.00 0.000 6 0.133 0.049 2838 1739 1788

14901 0.84 269.3 255.6 9.7 647 14902 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 1738 1788

15210 0.84 269.3 223.7 10.0 662 15214 0.00 2.33 0.00 0.000 4 0.000 0.065 2846 324 1788

15226 0.91 269.3 222.1 10.1 662 15233 0.00 2.33 0.00 0.000 6 0.000 0.049 2846 1739 1788

15541 0.91 269.3 192.1 9.0 678 15545 0.00 2.28 0.00 0.000 4 0.000 0.065 2846 3157 1788

15567 0.91 269.3 189.4 9.8 679 15572 0.00 2.25 0.00 0.000 6 0.000 0.050 2856 1742 1787

15894 0.91 269.3 159.6 8.7 695 15898 0.00 2.33 0.00 0.000 4 0.000 0.066 2866 323 1788

15932 0.91 269.3 156.1 8.7 696 15939 0.00 2.35 0.00 0.000 6 0.000 0.051 2866 1746 1788

16250 0.91 269.3 127.6 9.1 712 16254 0.00 2.28 0.00 0.000 4 0.000 0.066 2866 3163 1788

16276 0.84 269.3 124.6 10.0 713 16281 0.08 2.28 0.00 0.000 6 0.113 0.051 2836 1734 1787

16603 1.00 272.5 101.7 6.9 729 16605 0.12 0.00 0.00 0.000 6 0.084 0.000 2887 1734 1788

16937 1.00 272.5 72.0 8.0 786 16943 0.00 0.00 0.00 0.000 6 0.000 0.000 2887 1734 1788

17280 1.00 272.5 42.5 8.2 847 17287 0.00 2.30 0.00 0.000 4 0.000 0.070 2897 328 1787

17298 1.00 272.5 40.9 8.2 850 17305 0.10 2.28 0.00 0.000 6 0.143 0.054 2869 1748 1788

17643 1.31 392.3 21.6 3.1 911 17753 0.20 2.50 101.03 0.881 4 0.075 0.069 2961 335 1293

17830 end climb: SURFACE_DEPTH_REACHED

state 17830 begin surface coast

17859 end surface coast: CONTROL_FINISHED_OK

state 17859 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	0	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	61	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	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	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	275	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	588	DEVICE2	20
T_MISSION	530	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2895	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	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-112195.05	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	2657	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	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	15.9	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0035999999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.014	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	6.1000001e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	205708,6659.873,-5706.705,40,1.0,40,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.157,-0.123
_SM_DEPTHo	2.30	KALMAN_X	-4673.5,-216.0,569.5,61098.4,-1584.9
_SM_ANGLEo	-71.8	KALMAN_Y	7202.0,714.3,-2753.0,8187.5,3266.7
GPS2	210208,6659.846,-5706.588,13,1.4,13,-37.6	MHEAD_RNG_PITCHd_Wd	59.1,14640,-14.2,-7.021
SPEED_LIMITS	0.122,0.200	D_GRID	726

FINISH	1.4,1.021321	XPDR_PINGS	44
SM_CCo	17936,0.00,0.000,0,0,1279,396.40	_24V_AH	23.2,15.460
SM_GC	2.28,7.30,0.00,0.00,0.056,0.000,0.000,340,2231,1279,-10.58,0.03,396.40	_10V_AH	10.6,7.540
RAFOS_CLK	729	DATA_FILE_SIZE	31565,947
RAFOS	0,1221609853,0.083333,0.070278,70,56,55,55,51,50,206,152,187,220,170,118	CAP_FILE_SIZE	128724,0
RAFOS_FIX	-21558.052734,-642015.937500,170908,000009,3,102,46149.68	CFSIZE	260165632,249118720
IRIDIUM_FIX	6631.12,-5713.57,111297,151539	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1457.5
HUMID	1817	CURRENT	0.151, 88.5,1
INTERNAL_PRESSURE	9.89296	GPS	170908,020421,6701.988,-5700.722,37,2.5,56,-37.6
TCM_TEMP	15.40

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	272	148.45	SBE_CT	659	24	367.18
Roll_motor	115	76	206.33	SBE_O2	0	19	0.00
VBD_pump_during_apogee	453	1290	13594.88	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	30	103	72.17	nil	0	0	0.00
Iridium_during_connect	35	160	131.84	nil	0	0	0.00
Iridium_during_xfer	125	223	649.02
Transponder_ping	11	420	107.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.97
TT8	1876	19	396.16
LPSleep	13775	2	337.31
TT8_Active	612	19	129.31
TT8_Sampling	1682	39	712.05
TT8_CF8	330	45	160.86
TT8_Kalman	33	81	28.96
Analog_circuits	1525	12	194.04
GPS_charging	0	0	0.00
Compass	1667	8	141.42
RAFOS	1800	1	28.62
Transponder	0	30	0.17

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.07	-146.0	0.0	0.0	0	75	0.00	0.00	-56.20	0.000	2	0.000	0.000	337	2240	2837
77	-1.07	-146.0	3.0	-1.7	9	115	8.70	2.40	-20.30	0.000	4	0.272	0.076	2428	816	3495
155	-0.70	-146.0	14.7	-16.4	22	162	0.30	2.35	0.00	0.000	6	0.156	0.061	2505	2246	3497
499	-0.79	-146.0	50.6	-9.1	83	505	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2246	3500
843	-0.86	-146.0	79.0	-7.7	144	849	0.12	2.35	0.00	0.000	4	0.084	0.061	2454	811	3502
889	-0.75	-146.0	83.9	-10.7	152	896	0.20	2.33	0.00	0.000	6	0.147	0.059	2499	2237	3502
1222	-0.83	-146.0	111.6	-7.6	192	1227	0.10	2.17	0.00	0.000	4	0.092	0.074	2447	3593	3502
1299	-0.74	-146.0	119.3	-10.1	195	1308	0.15	2.17	0.00	0.000	6	0.150	0.050	2506	2217	3502
1615	-0.87	-146.0	140.0	-6.8	211	1617	0.15	0.00	0.00	0.000	6	0.084	0.000	2446	2218	3502
1924	-0.79	-146.0	173.7	-10.8	226	1926	0.15	0.00	0.00	0.000	6	0.156	0.000	2486	2218	3501
2233	-0.88	-146.0	199.2	-7.9	241	2237	0.00	2.28	0.00	0.000	4	0.000	0.077	2478	3602	3500
2302	-0.99	-146.0	204.7	-8.4	244	2307	0.12	2.15	0.00	0.000	6	0.090	0.052	2429	2218	3500
2634	-0.87	-146.0	235.2	-9.0	260	2638	0.15	2.25	0.00	0.000	4	0.153	0.075	2461	3608	3500
2716	-0.87	-146.0	242.1	-8.6	263	2724	0.00	2.17	0.00	0.000	6	0.000	0.052	2460	2226	3500
3031	-0.87	-146.0	270.4	-9.2	279	3033	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	2226	3499
3340	-0.87	-146.0	298.9	-9.5	294	3344	0.00	2.25	0.00	0.000	4	0.000	0.065	2461	813	3499
3423	-0.87	-146.0	306.7	-9.0	297	3430	0.00	2.33	0.00	0.000	6	0.000	0.062	2450	2233	3499
3739	-0.87	-146.0	334.1	-8.0	313	3742	0.00	2.17	0.00	0.000	4	0.000	0.076	2439	3610	3498
3807	-0.87	-146.0	339.5	-7.8	316	3812	0.12	2.15	0.00	0.000	6	0.157	0.051	2472	2216	3498
4140	-0.97	-146.0	361.8	-6.9	332	4142	0.12	0.00	0.00	0.000	6	0.085	0.000	2422	2216	3498
4448	-0.88	-146.0	389.5	-9.0	347	4453	0.17	2.25	0.00	0.000	4	0.150	0.074	2463	3602	3498
4503	-0.98	-146.0	393.9	-7.8	349	4509	0.00	2.15	0.00	0.000	6	0.000	0.050	2463	2224	3498
4836	-1.05	-146.0	416.9	-6.9	360	4838	0.12	0.00	0.00	0.000	6	0.088	0.000	2412	2224	3498
5161	-0.93	-146.0	446.8	-9.4	368	5163	0.17	0.00	0.00	0.000	6	0.153	0.000	2462	2224	3498
5486	-0.99	-146.0	469.9	-7.1	376	5487	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2224	3499
5810	-1.08	-146.0	493.2	-7.3	384	5815	0.15	2.25	0.00	0.000	4	0.081	0.071	2392	3602	3500
5865	-0.90	-146.0	498.6	-9.9	385	5870	0.17	2.15	0.00	0.000	6	0.148	0.048	2460	2218	3500
6178	-0.97	-146.0	522.0	-7.4	393	6179	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	2218	3500
6503	-1.04	-146.0	544.9	-6.9	401	6505	0.12	0.00	0.00	0.000	6	0.082	0.000	2409	2218	3501
6828	-0.91	-146.0	573.8	-9.0	409	6832	0.17	2.22	0.00	0.000	4	0.148	0.070	2451	3599	3502
6910	-0.96	-146.0	580.6	-8.0	410	6917	0.00	2.12	0.00	0.000	6	0.000	0.047	2451	2224	3502
7241	-0.96	-146.0	605.5	-7.5	419	7242	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2224	3503
7566	-0.96	-146.0	629.8	-7.5	427	7567	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2224	3503
7891	-0.96	-146.0	653.8	-7.4	435	7892	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2224	3503
8216	-0.96	-146.0	677.5	-7.2	443	8217	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2224	3503
8540	-0.96	-146.0	701.0	-7.2	451	8545	0.00	2.25	0.00	0.000	4	0.000	0.072	2440	3612	3503
8591	-0.96	-146.0	704.9	-8.4	452	8595	0.00	2.12	0.00	0.000	6	0.000	0.047	2441	2219	3503
8872	end dive: TARGET_DEPTH_EXCEEDED
state	8872	begin apogee
8876	-0.31	0.0	726.1	7.4	459	9004	0.47	0.00	124.60	1.291	6	0.130	0.000	2593	1742	2895
9004	end apogee: CONTROL_FINISHED_OK
state	9005	begin climb
9006	1.07	146.0	726.7	0.0	462	9140	0.90	2.62	124.43	1.223	4	0.094	0.063	2889	3156	2298
9145	0.70	146.0	717.6	12.3	465	9150	0.35	2.47	0.00	0.000	6	0.144	0.050	2806	1736	2296
9492	0.70	146.0	691.1	7.2	474	9493	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	1736	2293
9816	0.70	146.0	667.1	7.4	482	9821	0.00	2.38	0.00	0.000	4	0.000	0.064	2807	3153	2292
9849	0.59	146.0	664.3	9.1	482	9854	0.12	2.33	0.00	0.000	6	0.146	0.051	2782	1721	2292
10185	0.71	162.1	642.3	6.5	491	10201	0.10	0.00	13.52	1.153	6	0.091	0.000	2822	1721	2234
10510	0.66	162.1	615.6	8.3	499	10515	0.10	2.38	0.00	0.000	4	0.139	0.064	2796	3164	2232
10537	0.60	162.1	613.3	8.6	499	10541	0.00	2.30	0.00	0.000	6	0.000	0.051	2805	1733	2231
10875	0.60	162.1	586.7	8.2	508	10876	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	1733	2231
11198	0.60	162.1	560.4	8.2	516	11202	0.00	2.30	0.00	0.000	4	0.000	0.064	2805	3159	2231
11219	0.55	162.1	558.6	8.2	516	11224	0.15	2.25	0.00	0.000	6	0.141	0.051	2773	1736	2230
11567	0.74	196.0	537.6	5.9	525	11598	0.15	0.00	28.80	1.168	6	0.079	0.000	2833	1735	2096
11891	0.65	196.0	506.2	10.0	533	11896	0.15	2.38	0.00	0.000	4	0.133	0.064	2791	3163	2092
11930	0.65	196.0	502.6	8.4	534	11934	0.00	2.30	0.00	0.000	6	0.000	0.051	2799	1729	2091
12259	0.70	196.0	478.6	7.1	542	12260	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	1729	2091
12584	0.77	196.0	454.7	7.5	550	12588	0.10	2.35	0.00	0.000	4	0.088	0.064	2843	3163	2091
12621	0.54	196.0	450.9	10.7	550	12629	0.28	2.28	0.00	0.000	6	0.140	0.051	2772	1728	2091
12952	0.80	233.3	431.1	5.8	559	12986	0.20	0.00	31.45	1.089	6	0.068	0.000	2853	1727	1943
13257	0.67	233.3	396.8	11.9	567	13259	0.20	0.00	0.00	0.000	6	0.127	0.000	2795	1727	1938
13568	0.81	233.3	372.6	7.7	582	13573	0.15	2.35	0.00	0.000	4	0.075	0.063	2855	3167	1937
13607	0.58	233.3	368.1	12.5	584	13612	0.28	2.28	0.00	0.000	6	0.136	0.051	2785	1734	1936
13934	0.84	269.3	346.4	5.9	600	13967	0.17	0.00	30.12	1.025	6	0.071	0.000	2857	1734	1797
14262	0.74	269.3	312.8	10.7	616	14264	0.15	0.00	0.00	0.000	6	0.127	0.000	2814	1734	1790
14571	0.84	269.3	287.5	8.1	631	14575	0.10	2.30	0.00	0.000	4	0.085	0.063	2855	3157	1789
14585	0.84	269.3	286.0	8.3	631	14595	0.08	2.28	0.00	0.000	6	0.133	0.049	2838	1739	1788
14901	0.84	269.3	255.6	9.7	647	14902	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	1738	1788
15210	0.84	269.3	223.7	10.0	662	15214	0.00	2.33	0.00	0.000	4	0.000	0.065	2846	324	1788
15226	0.91	269.3	222.1	10.1	662	15233	0.00	2.33	0.00	0.000	6	0.000	0.049	2846	1739	1788
15541	0.91	269.3	192.1	9.0	678	15545	0.00	2.28	0.00	0.000	4	0.000	0.065	2846	3157	1788
15567	0.91	269.3	189.4	9.8	679	15572	0.00	2.25	0.00	0.000	6	0.000	0.050	2856	1742	1787
15894	0.91	269.3	159.6	8.7	695	15898	0.00	2.33	0.00	0.000	4	0.000	0.066	2866	323	1788
15932	0.91	269.3	156.1	8.7	696	15939	0.00	2.35	0.00	0.000	6	0.000	0.051	2866	1746	1788
16250	0.91	269.3	127.6	9.1	712	16254	0.00	2.28	0.00	0.000	4	0.000	0.066	2866	3163	1788
16276	0.84	269.3	124.6	10.0	713	16281	0.08	2.28	0.00	0.000	6	0.113	0.051	2836	1734	1787
16603	1.00	272.5	101.7	6.9	729	16605	0.12	0.00	0.00	0.000	6	0.084	0.000	2887	1734	1788
16937	1.00	272.5	72.0	8.0	786	16943	0.00	0.00	0.00	0.000	6	0.000	0.000	2887	1734	1788
17280	1.00	272.5	42.5	8.2	847	17287	0.00	2.30	0.00	0.000	4	0.000	0.070	2897	328	1787
17298	1.00	272.5	40.9	8.2	850	17305	0.10	2.28	0.00	0.000	6	0.143	0.054	2869	1748	1788
17643	1.31	392.3	21.6	3.1	911	17753	0.20	2.50	101.03	0.881	4	0.075	0.069	2961	335	1293
17830	end climb: SURFACE_DEPTH_REACHED
state	17830	begin surface coast
17859	end surface coast: CONTROL_FINISHED_OK
state	17859	begin surface