Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 164 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 164 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2340 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2520 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 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 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 0.00135 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 900 T_GPS_CHARGE -25045.223 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 171 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2436 PRESSURE_YINT -25.705193 SEABIRD_T_G 0.004371644

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51576 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 14.7 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.00342 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0096000005 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 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 900 PITCH_GAIN 14.7 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 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 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -25.705193 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

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 0.00342 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0096000005 RELAUNCH 1 T_GPS_CHARGE -25045.223

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 500

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 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2436 KALMAN_USE 1 ROLL_MIN 280 USE_BATHY -3

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 38 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 29 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 164 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 064601,6657.083,-5657.322,35,1.7,35,-37.4 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.159,0.159

_SM_DEPTHo 1.51 KALMAN_X 3098.4,481.2,537.6,15705.2,-1410.1

_SM_ANGLEo -59.3 KALMAN_Y -7647.0,316.6,-642.4,11946.1,-344.2

GPS2 065133,6657.026,-5657.251,13,1.5,13,-37.4 MHEAD_RNG_PITCHd_Wd 82.4,12924,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 674

Post-dive calculations and measurements:

FINISH 0.9,1.026048 TCM_TEMP 16.20

SM_CCo 19337,8.60,0.854,0,0,1298,275.23 XPDR_PINGS 3

SM_GC 1.84,0.00,0.00,8.60,0.000,0.000,0.854,161,2325,1298,-10.47,-0.40,275.23 _24V_AH 21.9,34.795

RAFOS_CLK 1033 _10V_AH 10.6,14.191

RAFOS 0,1223712253,8.083333,8.070278,75,61,56,54,52,48,190,213,157,122,200,229 DATA_FILE_SIZE 40943,1073

RAFOS_FIX 6629.548828,-5847.625000,111008,040456,4,75,8.96 CAP_FILE_SIZE 147920,0

IRIDIUM_FIX 6625.71,-5655.12,050198,010105 CFSIZE 260165632,238469120

TT8_MAMPS 0.03068 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1901 SOUNDSPEED 1461.1

INTERNAL_PRESSURE 8.57455 GPS 111008,121701,6658.541,-5653.146,81,0.9,81,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 260 127.98 SBE_CT 837 24 440.36

Roll_motor 135 68 201.89 SBE_O2 730 19 303.77

VBD_pump_during_apogee 360 1287 10165.23 nil 0 0 0.00

VBD_pump_during_surface 8 853 160.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 62.52 nil 0 0 0.00

Iridium_during_connect 35 160 125.70 nil 0 0 0.00

Iridium_during_xfer 153 223 750.61

Transponder_ping 0 420 6.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.86

TT8 1953 19 412.51

LPSleep 14781 2 361.93

TT8_Active 559 19 118.08

TT8_Sampling 1940 39 821.10

TT8_CF8 444 45 216.34

TT8_Kalman 33 81 28.96

Analog_circuits 1599 12 203.49

GPS_charging 0 0 0.00

Compass 1924 8 163.20

RAFOS 2520 1 40.07

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.08 -146.0 0.0 0.0 0 133 0.00 0.00 -113.55 0.000 6 0.000 0.000 160 2326 3015

136 -1.08 -146.0 3.5 -3.4 20 150 8.68 2.28 0.00 0.000 4 0.260 0.053 2200 932 3020

280 -0.63 -146.0 31.3 -16.4 45 287 0.35 2.25 0.00 0.000 6 0.167 0.049 2299 2339 3022

625 -0.69 -146.0 60.6 -6.9 106 631 0.00 2.25 0.00 0.000 4 0.000 0.051 2300 928 3023

665 -0.69 -146.0 63.5 -7.2 113 671 0.00 2.25 0.00 0.000 6 0.000 0.048 2300 2348 3023

1009 -0.80 -146.0 82.2 -4.9 174 1015 0.15 2.28 0.00 0.000 4 0.091 0.063 2245 3749 3024

1061 -0.75 -146.0 85.8 -7.0 183 1068 0.12 2.17 0.00 0.000 6 0.162 0.038 2276 2336 3024

1413 -0.80 -146.0 107.2 -6.7 232 1417 0.00 2.33 0.00 0.000 4 0.000 0.066 2276 3752 3024

1504 -0.90 -146.0 113.3 -6.5 236 1508 0.15 2.17 0.00 0.000 6 0.087 0.039 2223 2341 3024

1835 -0.81 -146.0 141.3 -8.3 252 1837 0.15 0.00 0.00 0.000 6 0.159 0.000 2263 2340 3024

2145 -0.88 -146.0 163.1 -7.0 267 2148 0.00 2.20 0.00 0.000 4 0.000 0.053 2263 938 3024

2235 -0.88 -146.0 170.0 -8.0 271 2238 0.00 2.22 0.00 0.000 6 0.000 0.051 2263 2343 3023

2567 -0.97 -146.0 193.9 -7.2 287 2571 0.15 2.30 0.00 0.000 4 0.095 0.065 2209 3753 3023

2673 -0.90 -146.0 203.0 -8.7 292 2678 0.12 2.20 0.00 0.000 6 0.159 0.040 2241 2327 3023

3005 -0.90 -146.0 223.6 -5.4 308 3006 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2327 3022

3315 -0.90 -146.0 240.3 -5.3 323 3316 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2326 3023

3624 -0.90 -146.0 258.4 -6.1 338 3625 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2326 3022

3933 -0.90 -146.0 277.5 -6.2 353 3937 0.00 2.33 0.00 0.000 4 0.000 0.066 2241 3743 3023

3960 -0.98 -146.0 279.2 -6.6 354 3964 0.00 2.17 0.00 0.000 6 0.000 0.039 2242 2329 3022

4287 -1.04 -146.0 300.0 -6.7 370 4289 0.12 0.00 0.00 0.000 6 0.093 0.000 2195 2329 3022

4596 -0.95 -146.0 324.3 -7.9 385 4600 0.12 2.33 0.00 0.000 4 0.151 0.064 2228 3743 3022

4635 -1.00 -146.0 327.2 -7.1 387 4638 0.00 2.17 0.00 0.000 6 0.000 0.039 2228 2331 3022

4967 -1.00 -146.0 348.2 -6.0 403 4971 0.00 2.33 0.00 0.000 4 0.000 0.064 2228 3750 3022

5010 -1.06 -146.0 351.0 -6.1 405 5015 0.10 2.17 0.00 0.000 6 0.095 0.038 2191 2337 3022

5337 -0.96 -146.0 373.8 -7.2 421 5339 0.12 0.00 0.00 0.000 6 0.150 0.000 2225 2334 3022

5645 -0.96 -146.0 391.6 -5.3 436 5650 0.00 2.33 0.00 0.000 4 0.000 0.064 2226 3754 3023

5695 -1.02 -146.0 394.4 -5.5 438 5699 0.00 2.17 0.00 0.000 6 0.000 0.038 2225 2334 3022

6013 -1.02 -146.0 410.6 -5.1 449 6018 0.00 2.33 0.00 0.000 4 0.000 0.064 2225 3754 3022

6052 -1.08 -146.0 412.8 -5.2 449 6059 0.10 2.17 0.00 0.000 6 0.099 0.038 2190 2331 3023

6383 -0.99 -146.0 432.6 -5.9 458 6388 0.12 2.33 0.00 0.000 4 0.150 0.064 2225 3746 3023

6445 -1.06 -146.0 436.1 -6.0 459 6448 0.00 2.15 0.00 0.000 6 0.000 0.038 2224 2341 3023

6792 -1.06 -146.0 453.3 -5.0 468 6796 0.00 2.17 0.00 0.000 4 0.000 0.049 2225 940 3024

6830 -1.06 -146.0 455.5 -5.5 468 6837 0.00 2.20 0.00 0.000 6 0.000 0.047 2225 2345 3024

7162 -1.06 -146.0 475.1 -6.3 477 7166 0.00 2.28 0.00 0.000 4 0.000 0.063 2225 3752 3024

7223 -1.13 -146.0 479.2 -6.9 478 7227 0.12 2.17 0.00 0.000 6 0.094 0.037 2179 2328 3024

7536 -1.01 -146.0 502.7 -7.6 486 7540 0.15 2.33 0.00 0.000 4 0.146 0.062 2220 3745 3025

7568 -1.06 -146.0 505.0 -6.9 486 7574 0.00 2.15 0.00 0.000 6 0.000 0.036 2220 2337 3025

7899 -1.06 -146.0 523.5 -5.4 495 7900 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2337 3025

8224 -1.06 -146.0 540.1 -5.0 503 8228 0.00 2.30 0.00 0.000 4 0.000 0.062 2220 3743 3025

8274 -1.11 -146.0 542.7 -5.6 504 8279 0.10 2.15 0.00 0.000 6 0.107 0.037 2186 2340 3025

8598 -1.02 -146.0 562.4 -6.2 512 8603 0.12 2.30 0.00 0.000 4 0.153 0.063 2218 3749 3026

8638 -1.07 -146.0 564.7 -5.4 513 8642 0.00 2.17 0.00 0.000 6 0.000 0.038 2218 2329 3026

8967 -1.07 -146.0 582.4 -5.3 521 8968 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2329 3026

9292 -1.07 -146.0 600.4 -5.7 529 9296 0.00 2.33 0.00 0.000 4 0.000 0.064 2218 3745 3025

9347 -1.13 -146.0 603.7 -5.7 530 9352 0.12 2.17 0.00 0.000 6 0.097 0.037 2176 2326 3025

9667 -1.01 -146.0 625.0 -6.8 538 9668 0.15 0.00 0.00 0.000 6 0.153 0.000 2216 2323 3025

9990 -1.01 -146.0 643.1 -5.4 546 9994 0.00 2.33 0.00 0.000 4 0.000 0.064 2216 3743 3026

10058 -1.07 -146.0 647.1 -6.4 547 10062 0.00 2.15 0.00 0.000 6 0.000 0.039 2216 2336 3025

10405 -1.07 -146.0 666.1 -5.5 556 10409 0.00 2.33 0.00 0.000 4 0.000 0.064 2216 3748 3025

10438 -1.12 -146.0 667.9 -6.1 556 10443 0.10 2.17 0.00 0.000 6 0.102 0.038 2179 2333 3025

10528 end dive: TARGET_DEPTH_EXCEEDED

state 10528 begin apogee

10533 -0.34 0.0 674.2 6.9 559 10666 0.60 0.00 129.57 1.287 6 0.147 0.000 2360 2524 2420

10667 end apogee: CONTROL_FINISHED_OK

state 10667 begin climb

10669 1.08 146.0 676.3 0.0 562 10805 1.02 0.00 131.90 1.205 6 0.106 0.000 2666 2524 1824

11116 0.88 146.0 635.5 9.9 573 11120 0.15 2.38 0.00 0.000 4 0.140 0.063 2625 3927 1820

11200 0.71 146.0 627.4 10.0 575 11205 0.15 2.25 0.00 0.000 6 0.139 0.039 2584 2516 1820

11524 0.81 164.8 606.5 6.4 583 11543 0.10 0.00 16.48 1.175 6 0.086 0.000 2625 2515 1748

11849 0.76 164.8 580.3 8.3 591 11851 0.10 0.00 0.00 0.000 6 0.133 0.000 2598 2515 1745

12173 0.76 164.8 557.0 7.1 599 12174 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2515 1745

12498 0.76 165.3 533.9 7.0 607 12499 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2515 1745

12824 0.81 166.7 511.0 7.0 615 12825 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2515 1744

13149 0.87 176.1 489.3 6.7 623 13162 0.10 0.00 10.35 1.098 6 0.087 0.000 2638 2514 1702

13473 0.79 176.1 460.9 8.9 631 13475 0.12 0.00 0.00 0.000 6 0.140 0.000 2602 2514 1701

13798 0.79 176.1 436.7 7.5 639 13799 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2514 1700

14123 0.79 176.1 412.4 7.4 647 14124 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2514 1700

14429 0.84 176.1 389.6 7.3 657 14430 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2514 1701

14739 0.89 177.2 367.8 7.0 672 14743 0.10 2.20 0.00 0.000 4 0.087 0.050 2646 1115 1701

14771 0.89 177.2 365.2 8.3 673 14775 0.00 2.22 0.00 0.000 6 0.000 0.047 2647 2534 1701

15092 0.80 177.2 335.4 9.5 689 15094 0.15 0.00 0.00 0.000 6 0.138 0.000 2602 2535 1701

15401 0.86 177.2 312.9 7.1 704 15403 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2535 1701

15711 0.95 192.3 292.2 6.5 719 15733 0.15 0.00 14.32 1.014 6 0.073 0.000 2664 2535 1636

16041 0.83 192.3 261.3 9.5 735 16046 0.17 2.28 0.00 0.000 4 0.127 0.051 2611 1111 1635

16080 0.96 207.2 258.4 6.5 736 16101 0.12 2.22 13.38 0.979 6 0.080 0.045 2663 2524 1575

16418 0.87 207.2 225.3 10.0 753 16423 0.15 2.28 0.00 0.000 4 0.127 0.061 2618 3931 1574

16450 0.87 207.2 222.0 10.3 754 16457 0.00 2.22 0.00 0.000 6 0.000 0.038 2618 2514 1573

16766 0.95 207.2 198.4 7.3 770 16770 0.10 2.20 0.00 0.000 4 0.091 0.050 2662 1113 1574

16793 0.95 207.2 196.0 9.4 771 16797 0.00 2.22 0.00 0.000 6 0.000 0.045 2662 2533 1574

17120 0.88 207.2 164.5 9.4 787 17125 0.15 2.25 0.00 0.000 4 0.134 0.061 2617 3929 1574

17147 0.88 207.2 162.0 8.7 788 17151 0.00 2.20 0.00 0.000 6 0.000 0.038 2617 2518 1574

17467 0.99 207.2 137.6 7.6 804 17472 0.12 2.20 0.00 0.000 4 0.081 0.050 2668 1113 1575

17505 0.99 207.2 134.0 8.7 805 17512 0.00 2.22 0.00 0.000 6 0.000 0.045 2668 2516 1575

17821 0.99 207.2 107.0 8.0 821 17822 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2516 1575

18148 0.99 207.2 81.2 8.4 866 18155 0.00 2.28 0.00 0.000 4 0.000 0.064 2668 3929 1575

18185 0.91 207.2 78.1 9.0 872 18192 0.15 2.17 0.00 0.000 6 0.143 0.039 2625 2513 1574

18531 1.21 262.5 57.8 5.1 933 18584 0.20 2.33 44.65 0.964 4 0.075 0.053 2708 1115 1348

18652 1.21 262.5 49.0 7.4 954 18658 0.00 2.28 0.00 0.000 6 0.000 0.047 2708 2522 1345

18994 1.21 262.5 22.6 7.7 1015 19001 0.00 2.30 0.00 0.000 4 0.000 0.064 2708 3937 1343

19040 1.10 262.5 18.5 9.1 1023 19047 0.12 2.22 0.00 0.000 6 0.146 0.041 2674 2511 1343

19281 end climb: SURFACE_DEPTH_REACHED

state 19281 begin surface coast

19322 end surface coast: CONTROL_FINISHED_OK

state 19322 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	164	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2340	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2520	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	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	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	0.00135	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	900	T_GPS_CHARGE	-25045.223	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	171	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2436	PRESSURE_YINT	-25.705193	SEABIRD_T_G	0.004371644
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51576	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	14.7	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.00342	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0096000005	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	064601,6657.083,-5657.322,35,1.7,35,-37.4	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.159,0.159
_SM_DEPTHo	1.51	KALMAN_X	3098.4,481.2,537.6,15705.2,-1410.1
_SM_ANGLEo	-59.3	KALMAN_Y	-7647.0,316.6,-642.4,11946.1,-344.2
GPS2	065133,6657.026,-5657.251,13,1.5,13,-37.4	MHEAD_RNG_PITCHd_Wd	82.4,12924,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	674

FINISH	0.9,1.026048	TCM_TEMP	16.20
SM_CCo	19337,8.60,0.854,0,0,1298,275.23	XPDR_PINGS	3
SM_GC	1.84,0.00,0.00,8.60,0.000,0.000,0.854,161,2325,1298,-10.47,-0.40,275.23	_24V_AH	21.9,34.795
RAFOS_CLK	1033	_10V_AH	10.6,14.191
RAFOS	0,1223712253,8.083333,8.070278,75,61,56,54,52,48,190,213,157,122,200,229	DATA_FILE_SIZE	40943,1073
RAFOS_FIX	6629.548828,-5847.625000,111008,040456,4,75,8.96	CAP_FILE_SIZE	147920,0
IRIDIUM_FIX	6625.71,-5655.12,050198,010105	CFSIZE	260165632,238469120
TT8_MAMPS	0.03068	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1901	SOUNDSPEED	1461.1
INTERNAL_PRESSURE	8.57455	GPS	111008,121701,6658.541,-5653.146,81,0.9,81,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	260	127.98	SBE_CT	837	24	440.36
Roll_motor	135	68	201.89	SBE_O2	730	19	303.77
VBD_pump_during_apogee	360	1287	10165.23	nil	0	0	0.00
VBD_pump_during_surface	8	853	160.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	62.52	nil	0	0	0.00
Iridium_during_connect	35	160	125.70	nil	0	0	0.00
Iridium_during_xfer	153	223	750.61
Transponder_ping	0	420	6.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.86
TT8	1953	19	412.51
LPSleep	14781	2	361.93
TT8_Active	559	19	118.08
TT8_Sampling	1940	39	821.10
TT8_CF8	444	45	216.34
TT8_Kalman	33	81	28.96
Analog_circuits	1599	12	203.49
GPS_charging	0	0	0.00
Compass	1924	8	163.20
RAFOS	2520	1	40.07
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.08	-146.0	0.0	0.0	0	133	0.00	0.00	-113.55	0.000	6	0.000	0.000	160	2326	3015
136	-1.08	-146.0	3.5	-3.4	20	150	8.68	2.28	0.00	0.000	4	0.260	0.053	2200	932	3020
280	-0.63	-146.0	31.3	-16.4	45	287	0.35	2.25	0.00	0.000	6	0.167	0.049	2299	2339	3022
625	-0.69	-146.0	60.6	-6.9	106	631	0.00	2.25	0.00	0.000	4	0.000	0.051	2300	928	3023
665	-0.69	-146.0	63.5	-7.2	113	671	0.00	2.25	0.00	0.000	6	0.000	0.048	2300	2348	3023
1009	-0.80	-146.0	82.2	-4.9	174	1015	0.15	2.28	0.00	0.000	4	0.091	0.063	2245	3749	3024
1061	-0.75	-146.0	85.8	-7.0	183	1068	0.12	2.17	0.00	0.000	6	0.162	0.038	2276	2336	3024
1413	-0.80	-146.0	107.2	-6.7	232	1417	0.00	2.33	0.00	0.000	4	0.000	0.066	2276	3752	3024
1504	-0.90	-146.0	113.3	-6.5	236	1508	0.15	2.17	0.00	0.000	6	0.087	0.039	2223	2341	3024
1835	-0.81	-146.0	141.3	-8.3	252	1837	0.15	0.00	0.00	0.000	6	0.159	0.000	2263	2340	3024
2145	-0.88	-146.0	163.1	-7.0	267	2148	0.00	2.20	0.00	0.000	4	0.000	0.053	2263	938	3024
2235	-0.88	-146.0	170.0	-8.0	271	2238	0.00	2.22	0.00	0.000	6	0.000	0.051	2263	2343	3023
2567	-0.97	-146.0	193.9	-7.2	287	2571	0.15	2.30	0.00	0.000	4	0.095	0.065	2209	3753	3023
2673	-0.90	-146.0	203.0	-8.7	292	2678	0.12	2.20	0.00	0.000	6	0.159	0.040	2241	2327	3023
3005	-0.90	-146.0	223.6	-5.4	308	3006	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2327	3022
3315	-0.90	-146.0	240.3	-5.3	323	3316	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2326	3023
3624	-0.90	-146.0	258.4	-6.1	338	3625	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2326	3022
3933	-0.90	-146.0	277.5	-6.2	353	3937	0.00	2.33	0.00	0.000	4	0.000	0.066	2241	3743	3023
3960	-0.98	-146.0	279.2	-6.6	354	3964	0.00	2.17	0.00	0.000	6	0.000	0.039	2242	2329	3022
4287	-1.04	-146.0	300.0	-6.7	370	4289	0.12	0.00	0.00	0.000	6	0.093	0.000	2195	2329	3022
4596	-0.95	-146.0	324.3	-7.9	385	4600	0.12	2.33	0.00	0.000	4	0.151	0.064	2228	3743	3022
4635	-1.00	-146.0	327.2	-7.1	387	4638	0.00	2.17	0.00	0.000	6	0.000	0.039	2228	2331	3022
4967	-1.00	-146.0	348.2	-6.0	403	4971	0.00	2.33	0.00	0.000	4	0.000	0.064	2228	3750	3022
5010	-1.06	-146.0	351.0	-6.1	405	5015	0.10	2.17	0.00	0.000	6	0.095	0.038	2191	2337	3022
5337	-0.96	-146.0	373.8	-7.2	421	5339	0.12	0.00	0.00	0.000	6	0.150	0.000	2225	2334	3022
5645	-0.96	-146.0	391.6	-5.3	436	5650	0.00	2.33	0.00	0.000	4	0.000	0.064	2226	3754	3023
5695	-1.02	-146.0	394.4	-5.5	438	5699	0.00	2.17	0.00	0.000	6	0.000	0.038	2225	2334	3022
6013	-1.02	-146.0	410.6	-5.1	449	6018	0.00	2.33	0.00	0.000	4	0.000	0.064	2225	3754	3022
6052	-1.08	-146.0	412.8	-5.2	449	6059	0.10	2.17	0.00	0.000	6	0.099	0.038	2190	2331	3023
6383	-0.99	-146.0	432.6	-5.9	458	6388	0.12	2.33	0.00	0.000	4	0.150	0.064	2225	3746	3023
6445	-1.06	-146.0	436.1	-6.0	459	6448	0.00	2.15	0.00	0.000	6	0.000	0.038	2224	2341	3023
6792	-1.06	-146.0	453.3	-5.0	468	6796	0.00	2.17	0.00	0.000	4	0.000	0.049	2225	940	3024
6830	-1.06	-146.0	455.5	-5.5	468	6837	0.00	2.20	0.00	0.000	6	0.000	0.047	2225	2345	3024
7162	-1.06	-146.0	475.1	-6.3	477	7166	0.00	2.28	0.00	0.000	4	0.000	0.063	2225	3752	3024
7223	-1.13	-146.0	479.2	-6.9	478	7227	0.12	2.17	0.00	0.000	6	0.094	0.037	2179	2328	3024
7536	-1.01	-146.0	502.7	-7.6	486	7540	0.15	2.33	0.00	0.000	4	0.146	0.062	2220	3745	3025
7568	-1.06	-146.0	505.0	-6.9	486	7574	0.00	2.15	0.00	0.000	6	0.000	0.036	2220	2337	3025
7899	-1.06	-146.0	523.5	-5.4	495	7900	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2337	3025
8224	-1.06	-146.0	540.1	-5.0	503	8228	0.00	2.30	0.00	0.000	4	0.000	0.062	2220	3743	3025
8274	-1.11	-146.0	542.7	-5.6	504	8279	0.10	2.15	0.00	0.000	6	0.107	0.037	2186	2340	3025
8598	-1.02	-146.0	562.4	-6.2	512	8603	0.12	2.30	0.00	0.000	4	0.153	0.063	2218	3749	3026
8638	-1.07	-146.0	564.7	-5.4	513	8642	0.00	2.17	0.00	0.000	6	0.000	0.038	2218	2329	3026
8967	-1.07	-146.0	582.4	-5.3	521	8968	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2329	3026
9292	-1.07	-146.0	600.4	-5.7	529	9296	0.00	2.33	0.00	0.000	4	0.000	0.064	2218	3745	3025
9347	-1.13	-146.0	603.7	-5.7	530	9352	0.12	2.17	0.00	0.000	6	0.097	0.037	2176	2326	3025
9667	-1.01	-146.0	625.0	-6.8	538	9668	0.15	0.00	0.00	0.000	6	0.153	0.000	2216	2323	3025
9990	-1.01	-146.0	643.1	-5.4	546	9994	0.00	2.33	0.00	0.000	4	0.000	0.064	2216	3743	3026
10058	-1.07	-146.0	647.1	-6.4	547	10062	0.00	2.15	0.00	0.000	6	0.000	0.039	2216	2336	3025
10405	-1.07	-146.0	666.1	-5.5	556	10409	0.00	2.33	0.00	0.000	4	0.000	0.064	2216	3748	3025
10438	-1.12	-146.0	667.9	-6.1	556	10443	0.10	2.17	0.00	0.000	6	0.102	0.038	2179	2333	3025
10528	end dive: TARGET_DEPTH_EXCEEDED
state	10528	begin apogee
10533	-0.34	0.0	674.2	6.9	559	10666	0.60	0.00	129.57	1.287	6	0.147	0.000	2360	2524	2420
10667	end apogee: CONTROL_FINISHED_OK
state	10667	begin climb
10669	1.08	146.0	676.3	0.0	562	10805	1.02	0.00	131.90	1.205	6	0.106	0.000	2666	2524	1824
11116	0.88	146.0	635.5	9.9	573	11120	0.15	2.38	0.00	0.000	4	0.140	0.063	2625	3927	1820
11200	0.71	146.0	627.4	10.0	575	11205	0.15	2.25	0.00	0.000	6	0.139	0.039	2584	2516	1820
11524	0.81	164.8	606.5	6.4	583	11543	0.10	0.00	16.48	1.175	6	0.086	0.000	2625	2515	1748
11849	0.76	164.8	580.3	8.3	591	11851	0.10	0.00	0.00	0.000	6	0.133	0.000	2598	2515	1745
12173	0.76	164.8	557.0	7.1	599	12174	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2515	1745
12498	0.76	165.3	533.9	7.0	607	12499	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2515	1745
12824	0.81	166.7	511.0	7.0	615	12825	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2515	1744
13149	0.87	176.1	489.3	6.7	623	13162	0.10	0.00	10.35	1.098	6	0.087	0.000	2638	2514	1702
13473	0.79	176.1	460.9	8.9	631	13475	0.12	0.00	0.00	0.000	6	0.140	0.000	2602	2514	1701
13798	0.79	176.1	436.7	7.5	639	13799	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2514	1700
14123	0.79	176.1	412.4	7.4	647	14124	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2514	1700
14429	0.84	176.1	389.6	7.3	657	14430	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2514	1701
14739	0.89	177.2	367.8	7.0	672	14743	0.10	2.20	0.00	0.000	4	0.087	0.050	2646	1115	1701
14771	0.89	177.2	365.2	8.3	673	14775	0.00	2.22	0.00	0.000	6	0.000	0.047	2647	2534	1701
15092	0.80	177.2	335.4	9.5	689	15094	0.15	0.00	0.00	0.000	6	0.138	0.000	2602	2535	1701
15401	0.86	177.2	312.9	7.1	704	15403	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2535	1701
15711	0.95	192.3	292.2	6.5	719	15733	0.15	0.00	14.32	1.014	6	0.073	0.000	2664	2535	1636
16041	0.83	192.3	261.3	9.5	735	16046	0.17	2.28	0.00	0.000	4	0.127	0.051	2611	1111	1635
16080	0.96	207.2	258.4	6.5	736	16101	0.12	2.22	13.38	0.979	6	0.080	0.045	2663	2524	1575
16418	0.87	207.2	225.3	10.0	753	16423	0.15	2.28	0.00	0.000	4	0.127	0.061	2618	3931	1574
16450	0.87	207.2	222.0	10.3	754	16457	0.00	2.22	0.00	0.000	6	0.000	0.038	2618	2514	1573
16766	0.95	207.2	198.4	7.3	770	16770	0.10	2.20	0.00	0.000	4	0.091	0.050	2662	1113	1574
16793	0.95	207.2	196.0	9.4	771	16797	0.00	2.22	0.00	0.000	6	0.000	0.045	2662	2533	1574
17120	0.88	207.2	164.5	9.4	787	17125	0.15	2.25	0.00	0.000	4	0.134	0.061	2617	3929	1574
17147	0.88	207.2	162.0	8.7	788	17151	0.00	2.20	0.00	0.000	6	0.000	0.038	2617	2518	1574
17467	0.99	207.2	137.6	7.6	804	17472	0.12	2.20	0.00	0.000	4	0.081	0.050	2668	1113	1575
17505	0.99	207.2	134.0	8.7	805	17512	0.00	2.22	0.00	0.000	6	0.000	0.045	2668	2516	1575
17821	0.99	207.2	107.0	8.0	821	17822	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2516	1575
18148	0.99	207.2	81.2	8.4	866	18155	0.00	2.28	0.00	0.000	4	0.000	0.064	2668	3929	1575
18185	0.91	207.2	78.1	9.0	872	18192	0.15	2.17	0.00	0.000	6	0.143	0.039	2625	2513	1574
18531	1.21	262.5	57.8	5.1	933	18584	0.20	2.33	44.65	0.964	4	0.075	0.053	2708	1115	1348
18652	1.21	262.5	49.0	7.4	954	18658	0.00	2.28	0.00	0.000	6	0.000	0.047	2708	2522	1345
18994	1.21	262.5	22.6	7.7	1015	19001	0.00	2.30	0.00	0.000	4	0.000	0.064	2708	3937	1343
19040	1.10	262.5	18.5	9.1	1023	19047	0.12	2.22	0.00	0.000	6	0.146	0.041	2674	2511	1343
19281	end climb: SURFACE_DEPTH_REACHED
state	19281	begin surface coast
19322	end surface coast: CONTROL_FINISHED_OK
state	19322	begin surface