Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 87 * 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 87 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 21 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 -112660.77 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 1 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 0.0038000001 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 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 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -112660.77

CAPMAXSIZE 100000 HD_C 2.7999999e-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 21 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 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 87 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 174208,6651.620,-5822.302,35,1.2,35,-37.7 TGT_NAME TARGET_ADD2_WB

_CALLS 2 TGT_LATLONG 6651.000,-5910.000

_XMS_NAKs 19 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.231,0.035

_SM_DEPTHo 2.43 KALMAN_X 17570.5,303.5,39.2,-16456.7,1293.2

_SM_ANGLEo -69.2 KALMAN_Y -18451.1,-261.6,-25.1,16825.3,-990.3

GPS2 175821,6651.604,-5822.626,15,2.0,15,-37.7 MHEAD_RNG_PITCHd_Wd 316.4,34511,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 845

Post-dive calculations and measurements:

FINISH 1.6,1.006245 TCM_TEMP 15.50

SM_CCo 21872,0.00,0.000,0,0,1267,399.10 XPDR_PINGS 40

SM_GC 2.47,7.10,0.00,0.00,0.063,0.000,0.000,340,2237,1267,-10.57,0.20,399.10 _24V_AH 22.8,19.412

RAFOS_CLK 924 _10V_AH 10.6,9.257

RAFOS 0,1222113859,20.083334,20.071945,96,67,63,52,51,51,703,201,218,162,176,115 DATA_FILE_SIZE 34713,1043

RAFOS_FIX 6654.165039,-5827.480469,220908,202000,4,114,0.68 CAP_FILE_SIZE 166945,2

IRIDIUM_FIX 6620.33,-5822.83,171297,171707 CFSIZE 260165632,247070720

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

HUMID 1862 SOUNDSPEED 1456.1

INTERNAL_PRESSURE 9.89296 GPS 230908,000508,6651.565,-5828.142,27,0.9,27,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 256 146.61 SBE_CT 728 24 398.58

Roll_motor 113 85 219.98 SBE_O2 0 19 0.00

VBD_pump_during_apogee 476 1383 15021.40 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 53 103 126.31 nil 0 0 0.00

Iridium_during_connect 65 160 239.98 nil 0 0 0.00

Iridium_during_xfer 634 223 3225.82

Transponder_ping 10 420 95.76

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.04

TT8 1927 19 406.89

LPSleep 17430 2 426.80

TT8_Active 585 19 123.58

TT8_Sampling 1932 39 817.87

TT8_CF8 981 45 477.93

TT8_Kalman 33 81 28.96

Analog_circuits 1632 12 207.71

GPS_charging 0 0 0.00

Compass 1911 8 162.09

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.00 -146.0 0.0 0.0 0 65 0.00 0.00 -45.78 0.000 2 0.000 0.000 338 2241 2776

68 -1.00 -146.0 3.2 -1.9 8 105 8.62 2.35 -23.35 0.000 4 0.256 0.085 2429 3597 3494

219 -0.68 -146.0 25.7 -17.9 34 226 0.28 2.25 0.00 0.000 6 0.139 0.050 2509 2205 3498

563 -0.68 -146.0 53.0 -7.6 95 569 0.00 2.28 0.00 0.000 4 0.000 0.061 2509 810 3501

630 -0.68 -146.0 58.5 -8.3 107 637 0.00 2.33 0.00 0.000 6 0.000 0.058 2501 2237 3501

974 -0.68 -146.0 90.3 -8.7 168 980 0.00 2.20 0.00 0.000 4 0.000 0.074 2491 3600 3502

1064 -0.68 -146.0 98.4 -9.2 184 1070 0.00 2.17 0.00 0.000 6 0.000 0.051 2491 2226 3502

1396 -0.68 -146.0 123.3 -7.8 203 1398 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2226 3502

1705 -0.68 -146.0 146.7 -7.1 218 1707 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2226 3501

2015 -0.68 -146.0 170.0 -7.6 233 2018 0.00 2.30 0.00 0.000 4 0.000 0.076 2481 3602 3500

2109 -0.68 -146.0 178.1 -9.1 237 2114 0.08 2.22 0.00 0.000 6 0.143 0.052 2506 2220 3500

2436 -0.79 -146.0 202.3 -7.6 253 2437 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2220 3499

2745 -0.91 -146.0 225.1 -7.3 268 2747 0.17 0.00 0.00 0.000 6 0.081 0.000 2437 2220 3498

3054 -0.77 -146.0 256.0 -10.1 283 3059 0.20 2.28 0.00 0.000 4 0.150 0.067 2500 817 3498

3109 -0.83 -146.0 260.4 -7.0 285 3115 0.00 2.30 0.00 0.000 6 0.000 0.064 2492 2236 3498

3425 -0.90 -146.0 283.2 -7.0 301 3429 0.12 2.17 0.00 0.000 4 0.084 0.076 2429 3595 3497

3507 -0.75 -146.0 291.2 -9.9 304 3514 0.17 2.17 0.00 0.000 6 0.140 0.053 2497 2232 3497

3823 -0.86 -146.0 309.1 -5.4 320 3825 0.12 0.00 0.00 0.000 6 0.088 0.000 2446 2232 3497

4132 -0.77 -146.0 332.9 -7.8 335 4134 0.17 0.00 0.00 0.000 6 0.151 0.000 2495 2232 3497

4442 -0.88 -146.0 350.7 -6.0 350 4443 0.12 0.00 0.00 0.000 6 0.086 0.000 2446 2232 3496

4752 -0.79 -146.0 375.8 -8.2 365 4754 0.15 0.00 0.00 0.000 6 0.153 0.000 2487 2232 3496

5060 -0.89 -146.0 395.1 -5.9 380 5062 0.10 0.00 0.00 0.000 6 0.092 0.000 2446 2232 3496

5386 -0.82 -146.0 418.2 -7.1 390 5388 0.12 0.00 0.00 0.000 6 0.158 0.000 2479 2232 3496

5711 -0.89 -146.0 437.2 -5.8 398 5712 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2232 3496

6036 -0.96 -146.0 455.7 -5.6 406 6038 0.12 0.00 0.00 0.000 6 0.086 0.000 2428 2232 3496

6361 -0.83 -146.0 481.4 -8.1 414 6363 0.17 0.00 0.00 0.000 6 0.150 0.000 2478 2232 3497

6686 -0.91 -146.0 501.9 -6.3 422 6690 0.00 2.28 0.00 0.000 4 0.000 0.072 2470 3600 3497

6764 -0.99 -146.0 507.3 -6.9 423 6769 0.10 2.15 0.00 0.000 6 0.094 0.049 2427 2225 3496

7100 -0.85 -146.0 535.7 -8.6 432 7105 0.17 2.25 0.00 0.000 4 0.147 0.062 2483 825 3497

7160 -0.85 -146.0 540.2 -7.3 433 7164 0.00 2.30 0.00 0.000 6 0.000 0.060 2475 2235 3496

7512 -0.91 -146.0 563.2 -6.5 442 7515 0.00 2.17 0.00 0.000 4 0.000 0.072 2464 3605 3497

7589 -0.91 -146.0 569.1 -7.3 443 7593 0.00 2.17 0.00 0.000 6 0.000 0.049 2464 2230 3497

7926 -0.91 -146.0 592.8 -7.0 452 7927 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2230 3497

8251 -0.91 -146.0 615.6 -7.0 460 8252 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2230 3497

8576 -0.91 -146.0 637.8 -6.6 468 8577 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2230 3497

8901 -0.91 -146.0 659.4 -6.8 476 8902 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2230 3497

9225 -0.91 -146.0 680.8 -6.7 484 9227 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2230 3498

9550 -0.91 -146.0 703.2 -7.0 492 9552 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2230 3497

9876 -0.91 -146.0 724.3 -6.6 500 9877 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2230 3497

10200 -0.91 -146.0 745.7 -6.6 508 10202 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2230 3497

10525 -0.91 -146.0 767.6 -6.8 516 10526 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2230 3497

10850 -0.91 -146.0 790.1 -7.0 524 10854 0.00 2.25 0.00 0.000 4 0.000 0.074 2454 3595 3497

10899 -0.91 -146.0 793.8 -7.4 525 10904 0.00 2.15 0.00 0.000 6 0.000 0.049 2454 2233 3497

11224 -0.91 -146.0 816.4 -6.6 533 11228 0.00 2.25 0.00 0.000 4 0.000 0.064 2454 817 3497

11329 -0.91 -146.0 823.7 -6.7 535 11333 0.00 2.30 0.00 0.000 6 0.000 0.062 2444 2231 3497

11640 end dive: TARGET_DEPTH_EXCEEDED

state 11640 begin apogee

11645 -0.31 0.0 846.0 7.2 543 11773 0.47 0.00 125.72 1.384 6 0.133 0.000 2594 1743 2895

11774 end apogee: CONTROL_FINISHED_OK

state 11774 begin climb

11776 1.00 146.0 849.3 0.0 546 11913 0.85 2.70 128.05 1.312 4 0.091 0.068 2885 338 2298

11964 0.70 146.0 834.7 11.4 550 11969 0.28 2.53 0.00 0.000 6 0.133 0.054 2811 1745 2296

12312 0.62 146.0 808.3 7.5 559 12316 0.00 2.40 0.00 0.000 4 0.000 0.069 2811 3161 2293

12356 0.41 146.0 804.6 8.6 560 12361 0.28 2.38 0.00 0.000 6 0.135 0.054 2741 1741 2292

12686 0.84 189.8 787.3 5.6 568 12729 0.28 2.55 37.12 1.301 4 0.065 0.070 2863 332 2121

12785 0.65 189.8 779.2 10.1 570 12790 0.25 2.40 0.00 0.000 6 0.130 0.055 2792 1745 2119

13102 0.65 197.1 757.4 6.8 578 13116 0.00 2.40 7.43 1.098 4 0.000 0.069 2792 3156 2091

13185 0.59 197.1 750.8 8.3 579 13191 0.00 2.35 0.00 0.000 6 0.000 0.055 2801 1729 2089

13515 0.59 200.1 727.5 6.9 588 13525 0.00 2.40 4.03 0.838 4 0.000 0.069 2801 3151 2079

13560 0.48 200.1 723.9 8.4 589 13564 0.20 2.30 0.00 0.000 6 0.133 0.055 2753 1733 2079

13883 0.98 202.3 703.3 7.0 597 13893 0.32 2.42 3.60 0.765 4 0.077 0.069 2874 3157 2070

14023 0.61 202.3 687.3 13.3 600 14028 0.32 2.30 0.00 0.000 6 0.139 0.056 2787 1741 2069

14341 0.73 231.0 667.0 6.1 608 14372 0.10 2.42 25.92 1.259 4 0.089 0.068 2831 3160 1952

14379 0.63 231.0 664.1 7.8 609 14384 0.20 2.35 0.00 0.000 6 0.130 0.054 2785 1738 1950

14702 0.81 270.3 644.7 5.8 617 14745 0.17 2.47 34.60 1.241 4 0.070 0.069 2855 3159 1793

14755 0.61 270.3 639.9 10.2 618 14760 0.28 2.40 0.00 0.000 6 0.134 0.054 2787 1726 1790

15068 0.83 300.7 620.7 6.0 626 15098 0.17 0.00 27.38 1.206 6 0.071 0.000 2856 1726 1669

15393 0.69 300.7 585.1 11.4 634 15395 0.20 0.00 0.00 0.000 6 0.124 0.000 2797 1726 1661

15718 0.84 300.7 560.6 7.3 642 15720 0.15 0.00 0.00 0.000 6 0.074 0.000 2857 1726 1658

16042 0.69 300.7 520.7 12.7 650 16044 0.20 0.00 0.00 0.000 6 0.127 0.000 2797 1726 1658

16367 0.84 300.7 495.6 7.3 658 16369 0.15 0.00 0.00 0.000 6 0.074 0.000 2858 1726 1657

16693 0.69 300.7 456.6 12.3 666 16695 0.20 0.00 0.00 0.000 6 0.127 0.000 2797 1726 1657

17017 0.84 300.7 430.1 7.9 674 17019 0.15 0.00 0.00 0.000 6 0.074 0.000 2858 1726 1656

17322 0.69 300.7 392.6 12.7 682 17324 0.20 0.00 0.00 0.000 6 0.125 0.000 2798 1726 1656

17632 0.85 300.7 368.4 7.2 697 17634 0.15 0.00 0.00 0.000 6 0.074 0.000 2859 1726 1655

17941 0.71 300.7 333.2 11.6 712 17946 0.17 2.38 0.00 0.000 4 0.126 0.067 2806 3154 1656

17961 0.65 300.7 330.9 10.4 713 17966 0.00 2.30 0.00 0.000 6 0.000 0.053 2813 1721 1655

18289 0.74 300.7 306.1 7.3 729 18290 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1721 1655

18598 0.85 300.7 282.4 8.0 744 18599 0.10 0.00 0.00 0.000 6 0.086 0.000 2859 1721 1655

18909 0.77 300.7 249.2 10.3 759 18914 0.15 2.30 0.00 0.000 4 0.127 0.066 2814 3151 1655

18929 0.77 300.7 246.9 9.9 760 18934 0.00 2.30 0.00 0.000 6 0.000 0.053 2820 1728 1655

19257 0.92 306.7 224.6 6.8 776 19263 0.12 0.00 4.30 0.710 6 0.080 0.000 2873 1727 1645

19566 0.83 306.7 193.0 10.0 791 19568 0.15 0.00 0.00 0.000 6 0.127 0.000 2828 1727 1644

19875 1.02 323.9 172.7 6.5 806 19896 0.17 0.00 16.62 0.946 6 0.073 0.000 2898 1728 1574

20204 0.87 323.9 135.0 11.6 822 20206 0.20 0.00 0.00 0.000 6 0.127 0.000 2837 1728 1570

20514 1.09 366.4 115.4 5.7 837 20556 0.20 2.47 37.08 0.940 4 0.071 0.071 2926 327 1401

20561 1.09 366.4 111.0 8.0 839 20566 0.12 2.38 0.00 0.000 6 0.140 0.054 2892 1752 1399

20894 1.09 366.4 79.7 9.3 883 20900 0.00 2.42 0.00 0.000 4 0.000 0.071 2900 324 1392

20917 1.09 366.4 77.6 9.2 887 20923 0.00 2.33 0.00 0.000 6 0.000 0.055 2900 1742 1392

21260 1.09 366.4 41.7 9.4 948 21265 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 1741 1390

21602 1.20 396.3 15.1 6.1 1009 21632 0.00 2.40 24.30 0.895 4 0.000 0.071 2900 3156 1279

21683 1.20 396.3 8.5 8.6 1023 21689 0.00 2.35 0.00 0.000 6 0.000 0.059 2907 1735 1274

21755 end climb: SURFACE_DEPTH_REACHED

state 21755 begin surface coast

21795 end surface coast: CONTROL_FINISHED_OK

state 21796 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	87	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	21	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	-112660.77	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	1	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	0.0038000001	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	174208,6651.620,-5822.302,35,1.2,35,-37.7	TGT_NAME	TARGET_ADD2_WB
_CALLS	2	TGT_LATLONG	6651.000,-5910.000
_XMS_NAKs	19	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.231,0.035
_SM_DEPTHo	2.43	KALMAN_X	17570.5,303.5,39.2,-16456.7,1293.2
_SM_ANGLEo	-69.2	KALMAN_Y	-18451.1,-261.6,-25.1,16825.3,-990.3
GPS2	175821,6651.604,-5822.626,15,2.0,15,-37.7	MHEAD_RNG_PITCHd_Wd	316.4,34511,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	845

FINISH	1.6,1.006245	TCM_TEMP	15.50
SM_CCo	21872,0.00,0.000,0,0,1267,399.10	XPDR_PINGS	40
SM_GC	2.47,7.10,0.00,0.00,0.063,0.000,0.000,340,2237,1267,-10.57,0.20,399.10	_24V_AH	22.8,19.412
RAFOS_CLK	924	_10V_AH	10.6,9.257
RAFOS	0,1222113859,20.083334,20.071945,96,67,63,52,51,51,703,201,218,162,176,115	DATA_FILE_SIZE	34713,1043
RAFOS_FIX	6654.165039,-5827.480469,220908,202000,4,114,0.68	CAP_FILE_SIZE	166945,2
IRIDIUM_FIX	6620.33,-5822.83,171297,171707	CFSIZE	260165632,247070720
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1862	SOUNDSPEED	1456.1
INTERNAL_PRESSURE	9.89296	GPS	230908,000508,6651.565,-5828.142,27,0.9,27,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	256	146.61	SBE_CT	728	24	398.58
Roll_motor	113	85	219.98	SBE_O2	0	19	0.00
VBD_pump_during_apogee	476	1383	15021.40	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	53	103	126.31	nil	0	0	0.00
Iridium_during_connect	65	160	239.98	nil	0	0	0.00
Iridium_during_xfer	634	223	3225.82
Transponder_ping	10	420	95.76
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.04
TT8	1927	19	406.89
LPSleep	17430	2	426.80
TT8_Active	585	19	123.58
TT8_Sampling	1932	39	817.87
TT8_CF8	981	45	477.93
TT8_Kalman	33	81	28.96
Analog_circuits	1632	12	207.71
GPS_charging	0	0	0.00
Compass	1911	8	162.09
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.00	-146.0	0.0	0.0	0	65	0.00	0.00	-45.78	0.000	2	0.000	0.000	338	2241	2776
68	-1.00	-146.0	3.2	-1.9	8	105	8.62	2.35	-23.35	0.000	4	0.256	0.085	2429	3597	3494
219	-0.68	-146.0	25.7	-17.9	34	226	0.28	2.25	0.00	0.000	6	0.139	0.050	2509	2205	3498
563	-0.68	-146.0	53.0	-7.6	95	569	0.00	2.28	0.00	0.000	4	0.000	0.061	2509	810	3501
630	-0.68	-146.0	58.5	-8.3	107	637	0.00	2.33	0.00	0.000	6	0.000	0.058	2501	2237	3501
974	-0.68	-146.0	90.3	-8.7	168	980	0.00	2.20	0.00	0.000	4	0.000	0.074	2491	3600	3502
1064	-0.68	-146.0	98.4	-9.2	184	1070	0.00	2.17	0.00	0.000	6	0.000	0.051	2491	2226	3502
1396	-0.68	-146.0	123.3	-7.8	203	1398	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2226	3502
1705	-0.68	-146.0	146.7	-7.1	218	1707	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2226	3501
2015	-0.68	-146.0	170.0	-7.6	233	2018	0.00	2.30	0.00	0.000	4	0.000	0.076	2481	3602	3500
2109	-0.68	-146.0	178.1	-9.1	237	2114	0.08	2.22	0.00	0.000	6	0.143	0.052	2506	2220	3500
2436	-0.79	-146.0	202.3	-7.6	253	2437	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2220	3499
2745	-0.91	-146.0	225.1	-7.3	268	2747	0.17	0.00	0.00	0.000	6	0.081	0.000	2437	2220	3498
3054	-0.77	-146.0	256.0	-10.1	283	3059	0.20	2.28	0.00	0.000	4	0.150	0.067	2500	817	3498
3109	-0.83	-146.0	260.4	-7.0	285	3115	0.00	2.30	0.00	0.000	6	0.000	0.064	2492	2236	3498
3425	-0.90	-146.0	283.2	-7.0	301	3429	0.12	2.17	0.00	0.000	4	0.084	0.076	2429	3595	3497
3507	-0.75	-146.0	291.2	-9.9	304	3514	0.17	2.17	0.00	0.000	6	0.140	0.053	2497	2232	3497
3823	-0.86	-146.0	309.1	-5.4	320	3825	0.12	0.00	0.00	0.000	6	0.088	0.000	2446	2232	3497
4132	-0.77	-146.0	332.9	-7.8	335	4134	0.17	0.00	0.00	0.000	6	0.151	0.000	2495	2232	3497
4442	-0.88	-146.0	350.7	-6.0	350	4443	0.12	0.00	0.00	0.000	6	0.086	0.000	2446	2232	3496
4752	-0.79	-146.0	375.8	-8.2	365	4754	0.15	0.00	0.00	0.000	6	0.153	0.000	2487	2232	3496
5060	-0.89	-146.0	395.1	-5.9	380	5062	0.10	0.00	0.00	0.000	6	0.092	0.000	2446	2232	3496
5386	-0.82	-146.0	418.2	-7.1	390	5388	0.12	0.00	0.00	0.000	6	0.158	0.000	2479	2232	3496
5711	-0.89	-146.0	437.2	-5.8	398	5712	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2232	3496
6036	-0.96	-146.0	455.7	-5.6	406	6038	0.12	0.00	0.00	0.000	6	0.086	0.000	2428	2232	3496
6361	-0.83	-146.0	481.4	-8.1	414	6363	0.17	0.00	0.00	0.000	6	0.150	0.000	2478	2232	3497
6686	-0.91	-146.0	501.9	-6.3	422	6690	0.00	2.28	0.00	0.000	4	0.000	0.072	2470	3600	3497
6764	-0.99	-146.0	507.3	-6.9	423	6769	0.10	2.15	0.00	0.000	6	0.094	0.049	2427	2225	3496
7100	-0.85	-146.0	535.7	-8.6	432	7105	0.17	2.25	0.00	0.000	4	0.147	0.062	2483	825	3497
7160	-0.85	-146.0	540.2	-7.3	433	7164	0.00	2.30	0.00	0.000	6	0.000	0.060	2475	2235	3496
7512	-0.91	-146.0	563.2	-6.5	442	7515	0.00	2.17	0.00	0.000	4	0.000	0.072	2464	3605	3497
7589	-0.91	-146.0	569.1	-7.3	443	7593	0.00	2.17	0.00	0.000	6	0.000	0.049	2464	2230	3497
7926	-0.91	-146.0	592.8	-7.0	452	7927	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2230	3497
8251	-0.91	-146.0	615.6	-7.0	460	8252	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2230	3497
8576	-0.91	-146.0	637.8	-6.6	468	8577	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2230	3497
8901	-0.91	-146.0	659.4	-6.8	476	8902	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2230	3497
9225	-0.91	-146.0	680.8	-6.7	484	9227	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2230	3498
9550	-0.91	-146.0	703.2	-7.0	492	9552	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2230	3497
9876	-0.91	-146.0	724.3	-6.6	500	9877	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2230	3497
10200	-0.91	-146.0	745.7	-6.6	508	10202	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2230	3497
10525	-0.91	-146.0	767.6	-6.8	516	10526	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2230	3497
10850	-0.91	-146.0	790.1	-7.0	524	10854	0.00	2.25	0.00	0.000	4	0.000	0.074	2454	3595	3497
10899	-0.91	-146.0	793.8	-7.4	525	10904	0.00	2.15	0.00	0.000	6	0.000	0.049	2454	2233	3497
11224	-0.91	-146.0	816.4	-6.6	533	11228	0.00	2.25	0.00	0.000	4	0.000	0.064	2454	817	3497
11329	-0.91	-146.0	823.7	-6.7	535	11333	0.00	2.30	0.00	0.000	6	0.000	0.062	2444	2231	3497
11640	end dive: TARGET_DEPTH_EXCEEDED
state	11640	begin apogee
11645	-0.31	0.0	846.0	7.2	543	11773	0.47	0.00	125.72	1.384	6	0.133	0.000	2594	1743	2895
11774	end apogee: CONTROL_FINISHED_OK
state	11774	begin climb
11776	1.00	146.0	849.3	0.0	546	11913	0.85	2.70	128.05	1.312	4	0.091	0.068	2885	338	2298
11964	0.70	146.0	834.7	11.4	550	11969	0.28	2.53	0.00	0.000	6	0.133	0.054	2811	1745	2296
12312	0.62	146.0	808.3	7.5	559	12316	0.00	2.40	0.00	0.000	4	0.000	0.069	2811	3161	2293
12356	0.41	146.0	804.6	8.6	560	12361	0.28	2.38	0.00	0.000	6	0.135	0.054	2741	1741	2292
12686	0.84	189.8	787.3	5.6	568	12729	0.28	2.55	37.12	1.301	4	0.065	0.070	2863	332	2121
12785	0.65	189.8	779.2	10.1	570	12790	0.25	2.40	0.00	0.000	6	0.130	0.055	2792	1745	2119
13102	0.65	197.1	757.4	6.8	578	13116	0.00	2.40	7.43	1.098	4	0.000	0.069	2792	3156	2091
13185	0.59	197.1	750.8	8.3	579	13191	0.00	2.35	0.00	0.000	6	0.000	0.055	2801	1729	2089
13515	0.59	200.1	727.5	6.9	588	13525	0.00	2.40	4.03	0.838	4	0.000	0.069	2801	3151	2079
13560	0.48	200.1	723.9	8.4	589	13564	0.20	2.30	0.00	0.000	6	0.133	0.055	2753	1733	2079
13883	0.98	202.3	703.3	7.0	597	13893	0.32	2.42	3.60	0.765	4	0.077	0.069	2874	3157	2070
14023	0.61	202.3	687.3	13.3	600	14028	0.32	2.30	0.00	0.000	6	0.139	0.056	2787	1741	2069
14341	0.73	231.0	667.0	6.1	608	14372	0.10	2.42	25.92	1.259	4	0.089	0.068	2831	3160	1952
14379	0.63	231.0	664.1	7.8	609	14384	0.20	2.35	0.00	0.000	6	0.130	0.054	2785	1738	1950
14702	0.81	270.3	644.7	5.8	617	14745	0.17	2.47	34.60	1.241	4	0.070	0.069	2855	3159	1793
14755	0.61	270.3	639.9	10.2	618	14760	0.28	2.40	0.00	0.000	6	0.134	0.054	2787	1726	1790
15068	0.83	300.7	620.7	6.0	626	15098	0.17	0.00	27.38	1.206	6	0.071	0.000	2856	1726	1669
15393	0.69	300.7	585.1	11.4	634	15395	0.20	0.00	0.00	0.000	6	0.124	0.000	2797	1726	1661
15718	0.84	300.7	560.6	7.3	642	15720	0.15	0.00	0.00	0.000	6	0.074	0.000	2857	1726	1658
16042	0.69	300.7	520.7	12.7	650	16044	0.20	0.00	0.00	0.000	6	0.127	0.000	2797	1726	1658
16367	0.84	300.7	495.6	7.3	658	16369	0.15	0.00	0.00	0.000	6	0.074	0.000	2858	1726	1657
16693	0.69	300.7	456.6	12.3	666	16695	0.20	0.00	0.00	0.000	6	0.127	0.000	2797	1726	1657
17017	0.84	300.7	430.1	7.9	674	17019	0.15	0.00	0.00	0.000	6	0.074	0.000	2858	1726	1656
17322	0.69	300.7	392.6	12.7	682	17324	0.20	0.00	0.00	0.000	6	0.125	0.000	2798	1726	1656
17632	0.85	300.7	368.4	7.2	697	17634	0.15	0.00	0.00	0.000	6	0.074	0.000	2859	1726	1655
17941	0.71	300.7	333.2	11.6	712	17946	0.17	2.38	0.00	0.000	4	0.126	0.067	2806	3154	1656
17961	0.65	300.7	330.9	10.4	713	17966	0.00	2.30	0.00	0.000	6	0.000	0.053	2813	1721	1655
18289	0.74	300.7	306.1	7.3	729	18290	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	1721	1655
18598	0.85	300.7	282.4	8.0	744	18599	0.10	0.00	0.00	0.000	6	0.086	0.000	2859	1721	1655
18909	0.77	300.7	249.2	10.3	759	18914	0.15	2.30	0.00	0.000	4	0.127	0.066	2814	3151	1655
18929	0.77	300.7	246.9	9.9	760	18934	0.00	2.30	0.00	0.000	6	0.000	0.053	2820	1728	1655
19257	0.92	306.7	224.6	6.8	776	19263	0.12	0.00	4.30	0.710	6	0.080	0.000	2873	1727	1645
19566	0.83	306.7	193.0	10.0	791	19568	0.15	0.00	0.00	0.000	6	0.127	0.000	2828	1727	1644
19875	1.02	323.9	172.7	6.5	806	19896	0.17	0.00	16.62	0.946	6	0.073	0.000	2898	1728	1574
20204	0.87	323.9	135.0	11.6	822	20206	0.20	0.00	0.00	0.000	6	0.127	0.000	2837	1728	1570
20514	1.09	366.4	115.4	5.7	837	20556	0.20	2.47	37.08	0.940	4	0.071	0.071	2926	327	1401
20561	1.09	366.4	111.0	8.0	839	20566	0.12	2.38	0.00	0.000	6	0.140	0.054	2892	1752	1399
20894	1.09	366.4	79.7	9.3	883	20900	0.00	2.42	0.00	0.000	4	0.000	0.071	2900	324	1392
20917	1.09	366.4	77.6	9.2	887	20923	0.00	2.33	0.00	0.000	6	0.000	0.055	2900	1742	1392
21260	1.09	366.4	41.7	9.4	948	21265	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	1741	1390
21602	1.20	396.3	15.1	6.1	1009	21632	0.00	2.40	24.30	0.895	4	0.000	0.071	2900	3156	1279
21683	1.20	396.3	8.5	8.6	1023	21689	0.00	2.35	0.00	0.000	6	0.000	0.059	2907	1735	1274
21755	end climb: SURFACE_DEPTH_REACHED
state	21755	begin surface coast
21795	end surface coast: CONTROL_FINISHED_OK
state	21796	begin surface