Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 689 * 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 15 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 689 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 1 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 -134229.34 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 15 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 -134229.34

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 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 689 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 204016,6610.731,-5716.824,37,0.9,47,-36.5 TGT_NAME TARGET_E_IN

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 35 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210556,6610.369,-5717.293,34,1.5,34,-36.5 MHEAD_RNG_PITCHd_Wd 48.7,99741,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 639

Post-dive calculations and measurements:

FREEZE 1.64,-0.722,-1.747 TCM_TEMP 15.80

FINISH 1.6,1.025640 XPDR_PINGS 224

SM_CCo 19678,0.00,0.000,0,0,876,434.92 _24V_AH 21.9,104.607

SM_GC 2.57,6.97,0.00,0.00,0.048,0.000,0.000,333,2253,876,-10.67,0.65,434.92 _10V_AH 10.4,46.595

RAFOS_CLK 784 DATA_FILE_SIZE 34677,1044

RAFOS 3,1232224445,20.583334,20.568056,63,60,58,55,54,50,164,117,220,199,177,146 CAP_FILE_SIZE 167958,0

RAFOS_FIX 6613.218750,-5733.207031,160109,202056,2,73,0.51 CFSIZE 260165632,209330176

IRIDIUM_FIX 6543.17,-5719.08,130498,212148 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

TT8_MAMPS 0.026078 SOUNDSPEED 1463.3

HUMID 1797 GPS 170109,210556,6610.369,-5717.293,34,1.5,34,-36.5

INTERNAL_PRESSURE 9.86366

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 240 121.57 SBE_CT 724 24 380.75

Roll_motor 159 69 241.01 SBE_O2 0 0 0.00

VBD_pump_during_apogee 512 1155 12955.09 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 86 103 195.99 nil 0 0 0.00

Iridium_during_connect 151 160 529.77 nil 0 0 0.00

Iridium_during_xfer 645 223 3150.18

Transponder_ping 56 420 515.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.60

TT8 1965 19 407.12

LPSleep 14636 2 351.63

TT8_Active 617 19 127.84

TT8_Sampling 2237 39 928.78

TT8_CF8 1748 45 835.25

TT8_Kalman 0 0 0.00

Analog_circuits 1818 12 226.99

GPS_charging 0 0 0.00

Compass 2174 8 180.93

RAFOS 1800 1 28.08

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

20 -0.99 -146.0 0.0 0.0 0 112 0.00 0.00 -88.95 0.000 2 0.000 0.000 329 2250 3117

118 -0.99 -146.0 3.3 -1.7 16 137 8.85 2.33 -3.85 0.000 4 0.241 0.069 2471 813 3249

309 -0.66 -146.0 32.0 -9.9 49 316 0.25 2.30 0.00 0.000 6 0.142 0.057 2534 2228 3252

657 -0.66 -146.0 60.7 -7.3 110 663 0.00 2.22 0.00 0.000 4 0.000 0.067 2525 3607 3253

767 -0.66 -146.0 69.4 -7.9 129 773 0.00 2.17 0.00 0.000 6 0.000 0.044 2526 2208 3252

1115 -0.75 -146.0 91.1 -5.0 190 1121 0.00 2.20 0.00 0.000 4 0.000 0.058 2526 816 3252

1295 -0.75 -146.0 100.6 -5.7 220 1301 0.00 2.30 0.00 0.000 6 0.000 0.057 2516 2235 3251

1612 -0.81 -146.0 116.9 -5.2 236 1616 0.00 2.28 0.00 0.000 4 0.000 0.056 2516 819 3251

1732 -0.81 -146.0 124.3 -6.4 241 1736 0.00 2.30 0.00 0.000 6 0.000 0.057 2506 2245 3251

2061 -0.86 -146.0 144.3 -6.0 257 2065 0.00 2.30 0.00 0.000 4 0.000 0.057 2506 816 3251

2141 -0.86 -146.0 149.5 -6.1 260 2145 0.00 2.30 0.00 0.000 6 0.000 0.056 2496 2238 3251

2464 -0.86 -146.0 167.8 -5.8 276 2465 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2238 3250

2773 -0.86 -146.0 188.1 -6.6 291 2776 0.00 2.28 0.00 0.000 4 0.000 0.055 2496 820 3251

2943 -0.86 -146.0 199.1 -6.6 298 2947 0.00 2.30 0.00 0.000 6 0.000 0.054 2486 2246 3251

3260 -0.86 -146.0 216.1 -5.0 313 3264 0.00 2.15 0.00 0.000 4 0.000 0.067 2476 3597 3251

3385 -0.86 -146.0 223.2 -5.7 318 3389 0.00 2.12 0.00 0.000 6 0.000 0.043 2476 2220 3251

3709 -0.86 -146.0 238.8 -4.7 334 3713 0.00 2.17 0.00 0.000 4 0.000 0.053 2476 827 3252

3825 -0.81 -146.0 244.3 -5.1 339 3830 0.15 2.28 0.00 0.000 6 0.124 0.053 2508 2246 3253

4156 -0.93 -146.0 256.3 -3.8 355 4158 0.12 0.00 0.00 0.000 6 0.074 0.000 2451 2246 3254

4463 -0.84 -146.0 274.6 -6.5 370 4465 0.17 0.00 0.00 0.000 6 0.134 0.000 2501 2246 3255

4772 -0.95 -146.0 291.3 -5.6 385 4777 0.10 2.28 0.00 0.000 4 0.085 0.051 2453 817 3256

4998 -0.81 -146.0 308.0 -7.4 395 5003 0.22 2.28 0.00 0.000 6 0.123 0.051 2509 2245 3256

5322 -0.95 -146.0 324.8 -4.9 411 5324 0.12 0.00 0.00 0.000 6 0.074 0.000 2450 2245 3257

5630 -0.87 -146.0 344.2 -6.1 426 5635 0.15 2.28 0.00 0.000 4 0.134 0.050 2497 822 3258

5792 -0.87 -146.0 352.3 -4.8 433 5796 0.00 2.25 0.00 0.000 6 0.000 0.049 2489 2238 3258

6121 -0.93 -146.0 367.8 -4.8 449 6125 0.00 2.25 0.00 0.000 4 0.000 0.050 2489 816 3259

6229 -0.93 -146.0 373.5 -5.0 453 6236 0.00 2.28 0.00 0.000 6 0.000 0.049 2479 2245 3259

6548 -0.93 -146.0 390.4 -5.3 469 6549 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2244 3259

6854 -0.93 -146.0 406.0 -4.9 481 6858 0.00 2.28 0.00 0.000 4 0.000 0.050 2479 813 3260

6979 -0.93 -146.0 412.8 -5.5 483 6983 0.00 2.28 0.00 0.000 6 0.000 0.048 2469 2243 3260

7318 -0.93 -146.0 430.7 -5.2 492 7319 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2243 3260

7642 -0.93 -146.0 447.9 -5.3 500 7646 0.00 2.25 0.00 0.000 4 0.000 0.050 2469 817 3261

7745 -0.88 -146.0 453.6 -5.5 502 7750 0.12 2.25 0.00 0.000 6 0.127 0.048 2494 2234 3261

8061 -0.97 -146.0 466.8 -4.1 510 8063 0.10 0.00 0.00 0.000 6 0.079 0.000 2445 2233 3261

8385 -0.88 -146.0 484.3 -5.5 518 8390 0.15 2.25 0.00 0.000 4 0.135 0.048 2488 819 3261

8465 -0.88 -146.0 488.5 -5.3 519 8471 0.00 2.25 0.00 0.000 6 0.000 0.048 2480 2238 3261

8798 -0.88 -146.0 505.1 -5.1 528 8799 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2238 3261

9123 -0.88 -146.0 521.2 -4.9 536 9127 0.00 2.25 0.00 0.000 4 0.000 0.048 2480 815 3262

9237 -0.88 -146.0 527.2 -5.1 538 9241 0.00 2.25 0.00 0.000 6 0.000 0.048 2470 2237 3261

9587 -0.88 -146.0 544.4 -5.0 547 9591 0.00 2.22 0.00 0.000 4 0.000 0.048 2470 825 3262

9667 -0.88 -146.0 548.7 -5.5 548 9671 0.12 2.25 0.00 0.000 6 0.124 0.048 2495 2240 3262

10001 -0.99 -146.0 563.3 -4.5 556 10003 0.12 0.00 0.00 0.000 6 0.074 0.000 2437 2241 3262

10325 -0.88 -146.0 582.0 -5.7 564 10330 0.17 2.25 0.00 0.000 4 0.137 0.048 2487 823 3263

10427 -0.88 -146.0 587.1 -5.5 566 10431 0.00 2.25 0.00 0.000 6 0.000 0.048 2480 2236 3262

10748 -0.93 -146.0 602.5 -4.7 574 10749 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2236 3262

11073 -0.97 -146.0 618.4 -5.0 582 11077 0.00 2.22 0.00 0.000 4 0.000 0.048 2480 823 3263

11170 -0.97 -146.0 623.3 -6.0 584 11174 0.00 2.25 0.00 0.000 6 0.000 0.048 2470 2235 3263

11492 end dive: TARGET_DEPTH_EXCEEDED

state 11492 begin apogee

11502 -0.31 0.0 639.3 5.6 592 11643 0.45 0.00 133.07 1.155 6 0.108 0.000 2616 1731 2650

11644 end apogee: CONTROL_FINISHED_OK

state 11644 begin climb

11649 0.99 146.0 643.0 0.0 595 11793 0.82 2.50 132.10 1.104 4 0.076 0.054 2908 333 2053

11850 0.82 146.0 623.3 9.9 600 11855 0.20 2.38 0.00 0.000 6 0.128 0.041 2854 1742 2051

12195 0.82 146.0 596.4 7.5 609 12198 0.00 2.25 0.00 0.000 4 0.000 0.056 2855 3159 2046

12247 0.67 146.0 592.1 8.3 610 12252 0.15 2.22 0.00 0.000 6 0.127 0.041 2819 1724 2046

12568 0.79 180.2 573.1 5.9 618 12603 0.12 2.35 29.23 1.096 4 0.068 0.054 2882 3155 1915

12612 0.60 180.2 569.4 9.2 619 12617 0.28 2.22 0.00 0.000 6 0.123 0.041 2811 1730 1913

12939 0.80 233.3 550.8 5.3 627 12989 0.15 0.00 47.08 1.101 6 0.061 0.000 2885 1730 1698

13306 0.71 233.3 515.0 10.1 636 13310 0.17 2.30 0.00 0.000 4 0.116 0.054 2832 3153 1690

13346 0.71 233.3 511.3 8.3 636 13352 0.00 2.20 0.00 0.000 6 0.000 0.041 2840 1735 1687

13679 0.71 233.3 486.1 7.6 645 13680 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1735 1687

14004 0.76 233.3 461.0 7.7 653 14008 0.00 2.30 0.00 0.000 4 0.000 0.054 2840 3160 1686

14039 0.76 233.3 457.9 8.4 653 14043 0.00 2.22 0.00 0.000 6 0.000 0.041 2849 1724 1685

14377 0.76 233.3 429.3 8.4 662 14378 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 1724 1685

14702 0.76 233.3 401.9 8.4 670 14703 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 1724 1685

15011 0.76 233.3 375.4 8.9 684 15015 0.00 2.30 0.00 0.000 4 0.000 0.054 2849 3155 1685

15036 0.76 233.3 373.1 9.0 685 15040 0.00 2.20 0.00 0.000 6 0.000 0.040 2858 1730 1684

15370 0.76 233.3 341.1 9.8 701 15374 0.00 2.22 0.00 0.000 4 0.000 0.053 2869 327 1684

15399 0.76 233.3 338.1 9.5 702 15404 0.10 2.25 0.00 0.000 6 0.116 0.042 2840 1756 1684

15728 0.84 233.3 311.2 8.0 718 15732 0.00 2.22 0.00 0.000 4 0.000 0.054 2840 3159 1684

15799 0.84 233.3 305.3 8.3 721 15802 0.00 2.20 0.00 0.000 6 0.000 0.040 2847 1735 1684

16134 0.88 233.3 278.8 7.6 737 16139 0.08 2.22 0.00 0.000 4 0.090 0.052 2905 335 1684

16165 0.83 233.3 275.9 9.8 738 16169 0.17 2.20 0.00 0.000 6 0.121 0.041 2854 1742 1685

16492 0.83 233.3 249.6 7.9 754 16496 0.00 2.22 0.00 0.000 4 0.000 0.054 2854 3152 1685

16550 0.78 233.3 244.2 9.1 756 16554 0.00 2.20 0.00 0.000 6 0.000 0.040 2860 1726 1683

16873 0.78 233.3 214.0 9.3 772 16877 0.00 2.22 0.00 0.000 4 0.000 0.053 2871 337 1684

16902 0.83 233.3 211.2 8.0 773 16906 0.00 2.22 0.00 0.000 6 0.000 0.041 2871 1740 1684

17230 0.83 233.3 182.3 8.2 789 17234 0.00 2.25 0.00 0.000 4 0.000 0.054 2871 3152 1684

17289 0.72 233.3 176.5 10.8 791 17293 0.17 2.20 0.00 0.000 6 0.120 0.040 2828 1738 1684

17612 0.98 262.1 156.8 6.1 807 17642 0.20 2.33 23.95 0.844 4 0.054 0.053 2946 338 1581

17657 0.80 262.1 152.3 11.3 809 17662 0.32 2.22 0.00 0.000 6 0.118 0.041 2846 1755 1581

17986 1.11 337.0 133.3 4.6 825 18058 0.20 2.28 66.30 0.831 4 0.057 0.054 2953 3152 1276

18109 0.94 337.0 120.0 13.2 830 18114 0.28 2.22 0.00 0.000 6 0.120 0.041 2881 1732 1271

18432 1.21 392.3 101.0 5.2 846 18489 0.20 2.33 47.10 0.803 4 0.053 0.054 2993 338 1050

18521 1.07 392.3 90.8 13.3 858 18528 0.28 2.25 0.00 0.000 6 0.119 0.042 2910 1736 1047

18870 1.16 392.3 62.1 8.7 919 18877 0.08 2.28 0.00 0.000 4 0.084 0.057 2959 3161 1041

18925 1.00 392.3 55.0 14.3 928 18932 0.25 2.22 0.00 0.000 6 0.122 0.043 2893 1740 1039

19274 1.29 432.6 31.6 5.7 989 19315 0.20 2.33 33.30 0.798 4 0.055 0.056 3007 340 885

19346 1.17 432.6 22.4 14.5 1001 19354 0.25 2.25 0.00 0.000 6 0.120 0.044 2931 1746 884

19557 end climb: SURFACE_DEPTH_REACHED

state 19557 begin surface coast

19595 end surface coast: CONTROL_FINISHED_OK

state 19595 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	15	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	689	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	1	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	-134229.34	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	204016,6610.731,-5716.824,37,0.9,47,-36.5	TGT_NAME	TARGET_E_IN
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	35	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210556,6610.369,-5717.293,34,1.5,34,-36.5	MHEAD_RNG_PITCHd_Wd	48.7,99741,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	639

FREEZE	1.64,-0.722,-1.747	TCM_TEMP	15.80
FINISH	1.6,1.025640	XPDR_PINGS	224
SM_CCo	19678,0.00,0.000,0,0,876,434.92	_24V_AH	21.9,104.607
SM_GC	2.57,6.97,0.00,0.00,0.048,0.000,0.000,333,2253,876,-10.67,0.65,434.92	_10V_AH	10.4,46.595
RAFOS_CLK	784	DATA_FILE_SIZE	34677,1044
RAFOS	3,1232224445,20.583334,20.568056,63,60,58,55,54,50,164,117,220,199,177,146	CAP_FILE_SIZE	167958,0
RAFOS_FIX	6613.218750,-5733.207031,160109,202056,2,73,0.51	CFSIZE	260165632,209330176
IRIDIUM_FIX	6543.17,-5719.08,130498,212148	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
TT8_MAMPS	0.026078	SOUNDSPEED	1463.3
HUMID	1797	GPS	170109,210556,6610.369,-5717.293,34,1.5,34,-36.5
INTERNAL_PRESSURE	9.86366

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	240	121.57	SBE_CT	724	24	380.75
Roll_motor	159	69	241.01	SBE_O2	0	0	0.00
VBD_pump_during_apogee	512	1155	12955.09	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	86	103	195.99	nil	0	0	0.00
Iridium_during_connect	151	160	529.77	nil	0	0	0.00
Iridium_during_xfer	645	223	3150.18
Transponder_ping	56	420	515.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.60
TT8	1965	19	407.12
LPSleep	14636	2	351.63
TT8_Active	617	19	127.84
TT8_Sampling	2237	39	928.78
TT8_CF8	1748	45	835.25
TT8_Kalman	0	0	0.00
Analog_circuits	1818	12	226.99
GPS_charging	0	0	0.00
Compass	2174	8	180.93
RAFOS	1800	1	28.08
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
20	-0.99	-146.0	0.0	0.0	0	112	0.00	0.00	-88.95	0.000	2	0.000	0.000	329	2250	3117
118	-0.99	-146.0	3.3	-1.7	16	137	8.85	2.33	-3.85	0.000	4	0.241	0.069	2471	813	3249
309	-0.66	-146.0	32.0	-9.9	49	316	0.25	2.30	0.00	0.000	6	0.142	0.057	2534	2228	3252
657	-0.66	-146.0	60.7	-7.3	110	663	0.00	2.22	0.00	0.000	4	0.000	0.067	2525	3607	3253
767	-0.66	-146.0	69.4	-7.9	129	773	0.00	2.17	0.00	0.000	6	0.000	0.044	2526	2208	3252
1115	-0.75	-146.0	91.1	-5.0	190	1121	0.00	2.20	0.00	0.000	4	0.000	0.058	2526	816	3252
1295	-0.75	-146.0	100.6	-5.7	220	1301	0.00	2.30	0.00	0.000	6	0.000	0.057	2516	2235	3251
1612	-0.81	-146.0	116.9	-5.2	236	1616	0.00	2.28	0.00	0.000	4	0.000	0.056	2516	819	3251
1732	-0.81	-146.0	124.3	-6.4	241	1736	0.00	2.30	0.00	0.000	6	0.000	0.057	2506	2245	3251
2061	-0.86	-146.0	144.3	-6.0	257	2065	0.00	2.30	0.00	0.000	4	0.000	0.057	2506	816	3251
2141	-0.86	-146.0	149.5	-6.1	260	2145	0.00	2.30	0.00	0.000	6	0.000	0.056	2496	2238	3251
2464	-0.86	-146.0	167.8	-5.8	276	2465	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2238	3250
2773	-0.86	-146.0	188.1	-6.6	291	2776	0.00	2.28	0.00	0.000	4	0.000	0.055	2496	820	3251
2943	-0.86	-146.0	199.1	-6.6	298	2947	0.00	2.30	0.00	0.000	6	0.000	0.054	2486	2246	3251
3260	-0.86	-146.0	216.1	-5.0	313	3264	0.00	2.15	0.00	0.000	4	0.000	0.067	2476	3597	3251
3385	-0.86	-146.0	223.2	-5.7	318	3389	0.00	2.12	0.00	0.000	6	0.000	0.043	2476	2220	3251
3709	-0.86	-146.0	238.8	-4.7	334	3713	0.00	2.17	0.00	0.000	4	0.000	0.053	2476	827	3252
3825	-0.81	-146.0	244.3	-5.1	339	3830	0.15	2.28	0.00	0.000	6	0.124	0.053	2508	2246	3253
4156	-0.93	-146.0	256.3	-3.8	355	4158	0.12	0.00	0.00	0.000	6	0.074	0.000	2451	2246	3254
4463	-0.84	-146.0	274.6	-6.5	370	4465	0.17	0.00	0.00	0.000	6	0.134	0.000	2501	2246	3255
4772	-0.95	-146.0	291.3	-5.6	385	4777	0.10	2.28	0.00	0.000	4	0.085	0.051	2453	817	3256
4998	-0.81	-146.0	308.0	-7.4	395	5003	0.22	2.28	0.00	0.000	6	0.123	0.051	2509	2245	3256
5322	-0.95	-146.0	324.8	-4.9	411	5324	0.12	0.00	0.00	0.000	6	0.074	0.000	2450	2245	3257
5630	-0.87	-146.0	344.2	-6.1	426	5635	0.15	2.28	0.00	0.000	4	0.134	0.050	2497	822	3258
5792	-0.87	-146.0	352.3	-4.8	433	5796	0.00	2.25	0.00	0.000	6	0.000	0.049	2489	2238	3258
6121	-0.93	-146.0	367.8	-4.8	449	6125	0.00	2.25	0.00	0.000	4	0.000	0.050	2489	816	3259
6229	-0.93	-146.0	373.5	-5.0	453	6236	0.00	2.28	0.00	0.000	6	0.000	0.049	2479	2245	3259
6548	-0.93	-146.0	390.4	-5.3	469	6549	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2244	3259
6854	-0.93	-146.0	406.0	-4.9	481	6858	0.00	2.28	0.00	0.000	4	0.000	0.050	2479	813	3260
6979	-0.93	-146.0	412.8	-5.5	483	6983	0.00	2.28	0.00	0.000	6	0.000	0.048	2469	2243	3260
7318	-0.93	-146.0	430.7	-5.2	492	7319	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2243	3260
7642	-0.93	-146.0	447.9	-5.3	500	7646	0.00	2.25	0.00	0.000	4	0.000	0.050	2469	817	3261
7745	-0.88	-146.0	453.6	-5.5	502	7750	0.12	2.25	0.00	0.000	6	0.127	0.048	2494	2234	3261
8061	-0.97	-146.0	466.8	-4.1	510	8063	0.10	0.00	0.00	0.000	6	0.079	0.000	2445	2233	3261
8385	-0.88	-146.0	484.3	-5.5	518	8390	0.15	2.25	0.00	0.000	4	0.135	0.048	2488	819	3261
8465	-0.88	-146.0	488.5	-5.3	519	8471	0.00	2.25	0.00	0.000	6	0.000	0.048	2480	2238	3261
8798	-0.88	-146.0	505.1	-5.1	528	8799	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2238	3261
9123	-0.88	-146.0	521.2	-4.9	536	9127	0.00	2.25	0.00	0.000	4	0.000	0.048	2480	815	3262
9237	-0.88	-146.0	527.2	-5.1	538	9241	0.00	2.25	0.00	0.000	6	0.000	0.048	2470	2237	3261
9587	-0.88	-146.0	544.4	-5.0	547	9591	0.00	2.22	0.00	0.000	4	0.000	0.048	2470	825	3262
9667	-0.88	-146.0	548.7	-5.5	548	9671	0.12	2.25	0.00	0.000	6	0.124	0.048	2495	2240	3262
10001	-0.99	-146.0	563.3	-4.5	556	10003	0.12	0.00	0.00	0.000	6	0.074	0.000	2437	2241	3262
10325	-0.88	-146.0	582.0	-5.7	564	10330	0.17	2.25	0.00	0.000	4	0.137	0.048	2487	823	3263
10427	-0.88	-146.0	587.1	-5.5	566	10431	0.00	2.25	0.00	0.000	6	0.000	0.048	2480	2236	3262
10748	-0.93	-146.0	602.5	-4.7	574	10749	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2236	3262
11073	-0.97	-146.0	618.4	-5.0	582	11077	0.00	2.22	0.00	0.000	4	0.000	0.048	2480	823	3263
11170	-0.97	-146.0	623.3	-6.0	584	11174	0.00	2.25	0.00	0.000	6	0.000	0.048	2470	2235	3263
11492	end dive: TARGET_DEPTH_EXCEEDED
state	11492	begin apogee
11502	-0.31	0.0	639.3	5.6	592	11643	0.45	0.00	133.07	1.155	6	0.108	0.000	2616	1731	2650
11644	end apogee: CONTROL_FINISHED_OK
state	11644	begin climb
11649	0.99	146.0	643.0	0.0	595	11793	0.82	2.50	132.10	1.104	4	0.076	0.054	2908	333	2053
11850	0.82	146.0	623.3	9.9	600	11855	0.20	2.38	0.00	0.000	6	0.128	0.041	2854	1742	2051
12195	0.82	146.0	596.4	7.5	609	12198	0.00	2.25	0.00	0.000	4	0.000	0.056	2855	3159	2046
12247	0.67	146.0	592.1	8.3	610	12252	0.15	2.22	0.00	0.000	6	0.127	0.041	2819	1724	2046
12568	0.79	180.2	573.1	5.9	618	12603	0.12	2.35	29.23	1.096	4	0.068	0.054	2882	3155	1915
12612	0.60	180.2	569.4	9.2	619	12617	0.28	2.22	0.00	0.000	6	0.123	0.041	2811	1730	1913
12939	0.80	233.3	550.8	5.3	627	12989	0.15	0.00	47.08	1.101	6	0.061	0.000	2885	1730	1698
13306	0.71	233.3	515.0	10.1	636	13310	0.17	2.30	0.00	0.000	4	0.116	0.054	2832	3153	1690
13346	0.71	233.3	511.3	8.3	636	13352	0.00	2.20	0.00	0.000	6	0.000	0.041	2840	1735	1687
13679	0.71	233.3	486.1	7.6	645	13680	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1735	1687
14004	0.76	233.3	461.0	7.7	653	14008	0.00	2.30	0.00	0.000	4	0.000	0.054	2840	3160	1686
14039	0.76	233.3	457.9	8.4	653	14043	0.00	2.22	0.00	0.000	6	0.000	0.041	2849	1724	1685
14377	0.76	233.3	429.3	8.4	662	14378	0.00	0.00	0.00	0.000	6	0.000	0.000	2849	1724	1685
14702	0.76	233.3	401.9	8.4	670	14703	0.00	0.00	0.00	0.000	6	0.000	0.000	2849	1724	1685
15011	0.76	233.3	375.4	8.9	684	15015	0.00	2.30	0.00	0.000	4	0.000	0.054	2849	3155	1685
15036	0.76	233.3	373.1	9.0	685	15040	0.00	2.20	0.00	0.000	6	0.000	0.040	2858	1730	1684
15370	0.76	233.3	341.1	9.8	701	15374	0.00	2.22	0.00	0.000	4	0.000	0.053	2869	327	1684
15399	0.76	233.3	338.1	9.5	702	15404	0.10	2.25	0.00	0.000	6	0.116	0.042	2840	1756	1684
15728	0.84	233.3	311.2	8.0	718	15732	0.00	2.22	0.00	0.000	4	0.000	0.054	2840	3159	1684
15799	0.84	233.3	305.3	8.3	721	15802	0.00	2.20	0.00	0.000	6	0.000	0.040	2847	1735	1684
16134	0.88	233.3	278.8	7.6	737	16139	0.08	2.22	0.00	0.000	4	0.090	0.052	2905	335	1684
16165	0.83	233.3	275.9	9.8	738	16169	0.17	2.20	0.00	0.000	6	0.121	0.041	2854	1742	1685
16492	0.83	233.3	249.6	7.9	754	16496	0.00	2.22	0.00	0.000	4	0.000	0.054	2854	3152	1685
16550	0.78	233.3	244.2	9.1	756	16554	0.00	2.20	0.00	0.000	6	0.000	0.040	2860	1726	1683
16873	0.78	233.3	214.0	9.3	772	16877	0.00	2.22	0.00	0.000	4	0.000	0.053	2871	337	1684
16902	0.83	233.3	211.2	8.0	773	16906	0.00	2.22	0.00	0.000	6	0.000	0.041	2871	1740	1684
17230	0.83	233.3	182.3	8.2	789	17234	0.00	2.25	0.00	0.000	4	0.000	0.054	2871	3152	1684
17289	0.72	233.3	176.5	10.8	791	17293	0.17	2.20	0.00	0.000	6	0.120	0.040	2828	1738	1684
17612	0.98	262.1	156.8	6.1	807	17642	0.20	2.33	23.95	0.844	4	0.054	0.053	2946	338	1581
17657	0.80	262.1	152.3	11.3	809	17662	0.32	2.22	0.00	0.000	6	0.118	0.041	2846	1755	1581
17986	1.11	337.0	133.3	4.6	825	18058	0.20	2.28	66.30	0.831	4	0.057	0.054	2953	3152	1276
18109	0.94	337.0	120.0	13.2	830	18114	0.28	2.22	0.00	0.000	6	0.120	0.041	2881	1732	1271
18432	1.21	392.3	101.0	5.2	846	18489	0.20	2.33	47.10	0.803	4	0.053	0.054	2993	338	1050
18521	1.07	392.3	90.8	13.3	858	18528	0.28	2.25	0.00	0.000	6	0.119	0.042	2910	1736	1047
18870	1.16	392.3	62.1	8.7	919	18877	0.08	2.28	0.00	0.000	4	0.084	0.057	2959	3161	1041
18925	1.00	392.3	55.0	14.3	928	18932	0.25	2.22	0.00	0.000	6	0.122	0.043	2893	1740	1039
19274	1.29	432.6	31.6	5.7	989	19315	0.20	2.33	33.30	0.798	4	0.055	0.056	3007	340	885
19346	1.17	432.6	22.4	14.5	1001	19354	0.25	2.25	0.00	0.000	6	0.120	0.044	2931	1746	884
19557	end climb: SURFACE_DEPTH_REACHED
state	19557	begin surface coast
19595	end surface coast: CONTROL_FINISHED_OK
state	19595	begin surface