Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 201 * 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 201 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 26 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 -2 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 -25711.645 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 -25711.645

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 -2

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 26 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 201 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 075837,6644.735,-5957.458,40,1.3,40,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.205,0.092

_SM_DEPTHo 1.64 KALMAN_X 18832.3,390.7,-214.0,-130201.0,297.9

_SM_ANGLEo -64.5 KALMAN_Y 8980.1,-1854.9,1623.1,-27465.8,-2293.1

GPS2 080350,6644.760,-5957.661,13,1.2,13,-38.0 MHEAD_RNG_PITCHd_Wd 332.2,33604,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 663

Post-dive calculations and measurements:

FINISH 0.8,1.012711 TCM_TEMP 15.20

SM_CCo 18221,0.00,0.000,0,0,1068,331.65 XPDR_PINGS 1

SM_GC 1.79,7.50,0.00,0.00,0.080,0.000,0.000,167,2334,1068,-10.37,-0.17,331.65 _24V_AH 21.3,41.028

RAFOS_CLK 1029 _10V_AH 10.5,17.292

RAFOS 1,1224576844,8.250000,8.234445,130,65,59,57,54,52,680,137,118,166,217,155 DATA_FILE_SIZE 34752,954

RAFOS_FIX 6644.555176,-5952.786133,211008,080828,4,125,2.16 CAP_FILE_SIZE 146399,0

IRIDIUM_FIX 6620.33,-6001.10,150198,020249 CFSIZE 260165632,235610112

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1876 SOUNDSPEED 1450.3

INTERNAL_PRESSURE 8.49642 GPS 211008,131037,6644.202,-6001.951,35,0.9,35,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 274 126.48 SBE_CT 753 24 385.36

Roll_motor 168 83 300.19 SBE_O2 652 19 264.26

VBD_pump_during_apogee 428 1310 11947.00 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 29 103 64.30 nil 0 0 0.00

Iridium_during_connect 36 160 123.50 nil 0 0 0.00

Iridium_during_xfer 125 223 597.16

Transponder_ping 0 420 2.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.86

TT8 1866 19 390.48

LPSleep 13685 2 331.95

TT8_Active 600 19 125.52

TT8_Sampling 1992 39 835.27

TT8_CF8 435 45 210.19

TT8_Kalman 33 81 28.71

Analog_circuits 1684 12 212.21

GPS_charging 0 0 0.00

Compass 1962 8 164.87

RAFOS 3240 1 51.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.08 -146.0 0.0 0.0 0 127 0.00 0.00 -108.65 0.000 2 0.000 0.000 165 2333 2819

129 -1.08 -146.0 3.4 -3.2 19 155 9.02 2.42 -7.00 0.000 4 0.275 0.084 2192 3748 3019

408 -0.73 -146.0 55.5 -14.8 68 415 0.30 2.22 0.00 0.000 6 0.171 0.043 2274 2336 3022

752 -0.67 -146.0 89.2 -9.2 129 758 0.00 2.25 0.00 0.000 4 0.000 0.058 2274 928 3023

892 -0.59 -146.0 102.3 -9.3 151 897 0.12 2.28 0.00 0.000 6 0.164 0.054 2308 2346 3023

1219 -0.69 -146.0 125.3 -7.3 167 1224 0.10 2.28 0.00 0.000 4 0.104 0.057 2273 936 3023

1285 -0.63 -146.0 131.3 -8.6 170 1290 0.12 2.28 0.00 0.000 6 0.167 0.057 2305 2344 3023

1612 -0.75 -146.0 154.6 -7.1 186 1616 0.12 2.33 0.00 0.000 4 0.098 0.072 2260 3745 3023

1695 -0.75 -146.0 162.2 -9.6 190 1699 0.00 2.20 0.00 0.000 6 0.000 0.044 2260 2341 3023

2027 -0.75 -146.0 188.9 -7.5 206 2028 0.00 0.00 0.00 0.000 6 0.000 0.000 2260 2341 3023

2336 -0.75 -146.0 210.4 -6.4 221 2340 0.00 2.35 0.00 0.000 4 0.000 0.071 2260 3749 3022

2403 -0.75 -146.0 214.7 -6.7 224 2407 0.00 2.22 0.00 0.000 6 0.000 0.044 2260 2329 3022

2736 -0.75 -146.0 236.8 -7.1 240 2740 0.00 2.22 0.00 0.000 4 0.000 0.060 2260 934 3022

2875 -0.75 -146.0 247.6 -7.8 246 2880 0.00 2.30 0.00 0.000 6 0.000 0.054 2260 2346 3021

3202 -0.75 -146.0 271.4 -7.4 262 3206 0.00 2.33 0.00 0.000 4 0.000 0.072 2260 3751 3021

3286 -0.81 -146.0 277.6 -7.2 265 3292 0.00 2.22 0.00 0.000 6 0.000 0.044 2260 2333 3021

3600 -0.81 -146.0 300.7 -7.6 281 3604 0.00 2.25 0.00 0.000 4 0.000 0.061 2260 926 3021

3701 -0.81 -146.0 308.8 -8.3 285 3705 0.00 2.28 0.00 0.000 6 0.000 0.054 2260 2341 3021

4022 -0.86 -146.0 330.4 -6.4 301 4026 0.00 2.33 0.00 0.000 4 0.000 0.070 2260 3755 3021

4230 -0.95 -146.0 343.3 -5.9 310 4235 0.12 2.22 0.00 0.000 6 0.097 0.044 2215 2334 3021

4556 -0.87 -146.0 365.3 -6.7 326 4561 0.12 2.25 0.00 0.000 4 0.159 0.058 2248 931 3021

4651 -0.87 -146.0 371.4 -6.1 330 4655 0.00 2.28 0.00 0.000 6 0.000 0.055 2248 2347 3021

4978 -0.87 -146.0 390.4 -5.9 346 4982 0.00 2.33 0.00 0.000 4 0.000 0.072 2248 3747 3021

5056 -0.93 -146.0 395.3 -6.4 349 5059 0.00 2.20 0.00 0.000 6 0.000 0.043 2248 2340 3021

5394 -0.93 -146.0 415.5 -6.0 360 5398 0.00 2.22 0.00 0.000 4 0.000 0.057 2248 930 3021

5522 -0.93 -146.0 424.0 -6.8 362 5529 0.00 2.28 0.00 0.000 6 0.000 0.052 2248 2353 3021

5853 -0.93 -146.0 443.8 -6.0 371 5857 0.00 2.30 0.00 0.000 4 0.000 0.068 2248 3753 3022

6040 -1.01 -146.0 455.9 -6.8 375 6045 0.12 2.22 0.00 0.000 6 0.104 0.042 2205 2324 3022

6363 -0.92 -146.0 480.7 -7.7 383 6365 0.12 0.00 0.00 0.000 6 0.156 0.000 2238 2323 3022

6689 -0.92 -146.0 502.7 -6.8 391 6692 0.00 2.38 0.00 0.000 4 0.000 0.071 2239 3747 3023

6812 -0.98 -146.0 511.3 -7.0 393 6816 0.00 2.20 0.00 0.000 6 0.000 0.042 2239 2333 3023

7148 -0.98 -146.0 532.9 -6.2 402 7149 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2333 3024

7473 -0.98 -146.0 553.3 -6.3 410 7474 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2333 3024

7797 -0.98 -146.0 573.2 -6.0 418 7799 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2333 3024

8123 -1.03 -146.0 592.3 -5.8 426 8128 0.10 2.38 0.00 0.000 4 0.107 0.068 2203 3756 3024

8212 -1.03 -146.0 598.3 -6.9 428 8216 0.00 2.20 0.00 0.000 6 0.000 0.042 2203 2334 3024

8536 -0.96 -146.0 619.8 -6.8 436 8540 0.10 2.22 0.00 0.000 4 0.163 0.054 2228 934 3024

8607 -0.96 -146.0 624.4 -6.0 437 8611 0.00 2.28 0.00 0.000 6 0.000 0.052 2229 2356 3024

8950 -0.96 -146.0 644.9 -6.0 446 8954 0.00 2.30 0.00 0.000 4 0.000 0.069 2229 3750 3024

9119 -1.01 -146.0 656.0 -6.8 449 9122 0.00 2.20 0.00 0.000 6 0.000 0.041 2228 2337 3024

9250 end dive: TARGET_DEPTH_EXCEEDED

state 9250 begin apogee

9256 -0.34 0.0 664.0 6.0 453 9391 0.45 0.00 132.25 1.310 6 0.145 0.000 2365 2523 2420

9391 end apogee: CONTROL_FINISHED_OK

state 9392 begin climb

9394 1.08 146.0 666.9 0.0 456 9533 1.02 0.00 135.48 1.221 6 0.106 0.000 2668 2523 1824

9842 0.94 146.0 631.9 8.5 467 9847 0.12 2.40 0.00 0.000 4 0.150 0.068 2636 3926 1821

9875 0.81 146.0 629.0 8.2 467 9882 0.10 2.30 0.00 0.000 6 0.156 0.041 2611 2513 1820

10206 0.90 173.3 608.5 6.1 476 10236 0.00 2.47 23.65 1.230 4 0.000 0.068 2611 3924 1713

10253 0.90 174.4 605.3 7.0 477 10257 0.00 2.28 0.00 0.000 6 0.000 0.041 2611 2512 1712

10578 1.02 199.4 584.9 6.2 485 10604 0.15 0.00 22.92 1.223 6 0.078 0.000 2669 2512 1607

10902 0.94 199.4 556.2 9.0 493 10904 0.12 0.00 0.00 0.000 6 0.141 0.000 2635 2512 1605

11227 0.94 199.4 531.6 7.6 501 11231 0.00 2.22 0.00 0.000 4 0.000 0.056 2635 1111 1605

11237 0.94 199.4 530.7 7.6 501 11242 0.00 2.25 0.00 0.000 6 0.000 0.051 2635 2526 1605

11555 0.94 199.4 507.6 7.2 509 11559 0.00 2.25 0.00 0.000 4 0.000 0.054 2635 1111 1605

11565 0.99 199.4 506.9 7.3 509 11569 0.00 2.25 0.00 0.000 6 0.000 0.050 2635 2534 1604

11884 0.99 199.4 484.5 7.1 517 11885 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2535 1604

12208 0.99 199.4 461.3 7.1 525 12212 0.00 2.28 0.00 0.000 4 0.000 0.054 2634 1105 1604

12219 1.04 200.0 460.5 7.0 525 12223 0.10 2.25 0.00 0.000 6 0.091 0.050 2677 2529 1604

12537 0.95 200.0 434.1 8.3 533 12541 0.15 2.28 0.00 0.000 4 0.126 0.067 2632 3929 1604

12547 0.87 200.0 433.1 8.3 533 12551 0.00 2.20 0.00 0.000 6 0.000 0.041 2632 2505 1604

12865 0.97 229.0 413.7 6.0 541 12892 0.00 0.00 25.35 1.174 6 0.000 0.000 2632 2505 1486

13171 1.10 255.4 395.3 6.1 550 13201 0.15 2.33 23.15 1.139 4 0.079 0.056 2692 1120 1377

13207 1.03 255.4 392.1 8.7 551 13214 0.12 2.30 0.00 0.000 6 0.136 0.049 2657 2531 1377

13522 1.03 255.4 368.3 7.4 567 13526 0.00 2.28 0.00 0.000 4 0.000 0.054 2657 1116 1376

13532 1.08 255.4 367.5 7.5 567 13536 0.00 2.25 0.00 0.000 6 0.000 0.049 2657 2529 1376

13853 1.08 255.4 343.9 7.4 583 13857 0.00 2.28 0.00 0.000 4 0.000 0.054 2657 1106 1375

13880 1.18 264.7 342.0 6.7 584 13897 0.12 2.25 8.98 1.015 6 0.084 0.049 2705 2525 1340

14206 1.09 264.7 312.0 9.0 600 14210 0.12 2.28 0.00 0.000 4 0.138 0.054 2668 1109 1339

14221 1.09 264.7 310.7 8.5 600 14228 0.00 2.25 0.00 0.000 6 0.000 0.050 2668 2529 1339

14537 1.09 264.7 288.6 7.3 616 14540 0.00 2.25 0.00 0.000 4 0.000 0.054 2668 1119 1338

14546 1.09 264.7 287.9 7.3 616 14551 0.00 2.25 0.00 0.000 6 0.000 0.049 2668 2522 1338

14868 1.09 264.7 263.8 7.8 632 14872 0.00 2.25 0.00 0.000 4 0.000 0.055 2668 1116 1338

14895 1.17 264.7 261.6 7.8 633 14899 0.00 2.22 0.00 0.000 6 0.000 0.050 2668 2525 1338

15222 1.22 264.7 236.5 7.7 649 15227 0.12 2.25 0.00 0.000 4 0.078 0.054 2720 1109 1338

15267 1.14 264.7 232.5 9.8 651 15272 0.15 2.22 0.00 0.000 6 0.134 0.050 2677 2527 1338

15598 1.14 264.7 208.0 7.2 667 15602 0.00 2.25 0.00 0.000 4 0.000 0.055 2677 1118 1339

15614 1.20 264.7 206.7 7.7 667 15621 0.00 2.22 0.00 0.000 6 0.000 0.050 2677 2525 1339

15929 1.26 264.7 181.7 7.9 683 15934 0.12 2.25 0.00 0.000 4 0.076 0.054 2731 1117 1339

15956 1.21 264.7 179.1 10.1 684 15960 0.12 2.22 0.00 0.000 6 0.140 0.051 2695 2528 1338

16276 1.21 264.7 150.4 8.9 700 16280 0.00 2.25 0.00 0.000 4 0.000 0.056 2696 1119 1339

16286 1.21 264.7 149.4 9.1 700 16291 0.00 2.22 0.00 0.000 6 0.000 0.051 2695 2525 1338

16607 1.21 264.7 120.5 8.9 716 16611 0.00 2.25 0.00 0.000 4 0.000 0.056 2695 1108 1338

16617 1.21 264.7 119.5 8.9 716 16621 0.00 2.28 0.00 0.000 6 0.000 0.051 2695 2520 1338

16942 1.27 264.7 92.7 7.7 743 16948 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2520 1338

17286 1.33 273.7 68.4 6.7 804 17300 0.10 2.35 8.73 0.956 4 0.087 0.071 2737 3926 1304

17306 1.33 273.7 66.7 7.3 807 17312 0.00 2.20 0.00 0.000 6 0.000 0.044 2739 2519 1303

17650 1.25 273.7 35.2 7.8 868 17657 0.12 2.25 0.00 0.000 4 0.153 0.058 2705 1112 1302

17715 1.41 294.7 31.1 6.3 879 17740 0.12 2.25 18.73 1.009 6 0.085 0.054 2756 2519 1217

18079 1.45 329.5 4.9 5.8 943 18115 0.00 2.40 28.92 0.995 4 0.000 0.071 2756 3935 1074

18124 end climb: SURFACE_DEPTH_REACHED

state 18125 begin surface coast

18142 end surface coast: CONTROL_FINISHED_OK

state 18143 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	201	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	26	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	-2	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	-25711.645	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	075837,6644.735,-5957.458,40,1.3,40,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.205,0.092
_SM_DEPTHo	1.64	KALMAN_X	18832.3,390.7,-214.0,-130201.0,297.9
_SM_ANGLEo	-64.5	KALMAN_Y	8980.1,-1854.9,1623.1,-27465.8,-2293.1
GPS2	080350,6644.760,-5957.661,13,1.2,13,-38.0	MHEAD_RNG_PITCHd_Wd	332.2,33604,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	663

FINISH	0.8,1.012711	TCM_TEMP	15.20
SM_CCo	18221,0.00,0.000,0,0,1068,331.65	XPDR_PINGS	1
SM_GC	1.79,7.50,0.00,0.00,0.080,0.000,0.000,167,2334,1068,-10.37,-0.17,331.65	_24V_AH	21.3,41.028
RAFOS_CLK	1029	_10V_AH	10.5,17.292
RAFOS	1,1224576844,8.250000,8.234445,130,65,59,57,54,52,680,137,118,166,217,155	DATA_FILE_SIZE	34752,954
RAFOS_FIX	6644.555176,-5952.786133,211008,080828,4,125,2.16	CAP_FILE_SIZE	146399,0
IRIDIUM_FIX	6620.33,-6001.10,150198,020249	CFSIZE	260165632,235610112
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1876	SOUNDSPEED	1450.3
INTERNAL_PRESSURE	8.49642	GPS	211008,131037,6644.202,-6001.951,35,0.9,35,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	274	126.48	SBE_CT	753	24	385.36
Roll_motor	168	83	300.19	SBE_O2	652	19	264.26
VBD_pump_during_apogee	428	1310	11947.00	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	29	103	64.30	nil	0	0	0.00
Iridium_during_connect	36	160	123.50	nil	0	0	0.00
Iridium_during_xfer	125	223	597.16
Transponder_ping	0	420	2.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.86
TT8	1866	19	390.48
LPSleep	13685	2	331.95
TT8_Active	600	19	125.52
TT8_Sampling	1992	39	835.27
TT8_CF8	435	45	210.19
TT8_Kalman	33	81	28.71
Analog_circuits	1684	12	212.21
GPS_charging	0	0	0.00
Compass	1962	8	164.87
RAFOS	3240	1	51.03
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.08	-146.0	0.0	0.0	0	127	0.00	0.00	-108.65	0.000	2	0.000	0.000	165	2333	2819
129	-1.08	-146.0	3.4	-3.2	19	155	9.02	2.42	-7.00	0.000	4	0.275	0.084	2192	3748	3019
408	-0.73	-146.0	55.5	-14.8	68	415	0.30	2.22	0.00	0.000	6	0.171	0.043	2274	2336	3022
752	-0.67	-146.0	89.2	-9.2	129	758	0.00	2.25	0.00	0.000	4	0.000	0.058	2274	928	3023
892	-0.59	-146.0	102.3	-9.3	151	897	0.12	2.28	0.00	0.000	6	0.164	0.054	2308	2346	3023
1219	-0.69	-146.0	125.3	-7.3	167	1224	0.10	2.28	0.00	0.000	4	0.104	0.057	2273	936	3023
1285	-0.63	-146.0	131.3	-8.6	170	1290	0.12	2.28	0.00	0.000	6	0.167	0.057	2305	2344	3023
1612	-0.75	-146.0	154.6	-7.1	186	1616	0.12	2.33	0.00	0.000	4	0.098	0.072	2260	3745	3023
1695	-0.75	-146.0	162.2	-9.6	190	1699	0.00	2.20	0.00	0.000	6	0.000	0.044	2260	2341	3023
2027	-0.75	-146.0	188.9	-7.5	206	2028	0.00	0.00	0.00	0.000	6	0.000	0.000	2260	2341	3023
2336	-0.75	-146.0	210.4	-6.4	221	2340	0.00	2.35	0.00	0.000	4	0.000	0.071	2260	3749	3022
2403	-0.75	-146.0	214.7	-6.7	224	2407	0.00	2.22	0.00	0.000	6	0.000	0.044	2260	2329	3022
2736	-0.75	-146.0	236.8	-7.1	240	2740	0.00	2.22	0.00	0.000	4	0.000	0.060	2260	934	3022
2875	-0.75	-146.0	247.6	-7.8	246	2880	0.00	2.30	0.00	0.000	6	0.000	0.054	2260	2346	3021
3202	-0.75	-146.0	271.4	-7.4	262	3206	0.00	2.33	0.00	0.000	4	0.000	0.072	2260	3751	3021
3286	-0.81	-146.0	277.6	-7.2	265	3292	0.00	2.22	0.00	0.000	6	0.000	0.044	2260	2333	3021
3600	-0.81	-146.0	300.7	-7.6	281	3604	0.00	2.25	0.00	0.000	4	0.000	0.061	2260	926	3021
3701	-0.81	-146.0	308.8	-8.3	285	3705	0.00	2.28	0.00	0.000	6	0.000	0.054	2260	2341	3021
4022	-0.86	-146.0	330.4	-6.4	301	4026	0.00	2.33	0.00	0.000	4	0.000	0.070	2260	3755	3021
4230	-0.95	-146.0	343.3	-5.9	310	4235	0.12	2.22	0.00	0.000	6	0.097	0.044	2215	2334	3021
4556	-0.87	-146.0	365.3	-6.7	326	4561	0.12	2.25	0.00	0.000	4	0.159	0.058	2248	931	3021
4651	-0.87	-146.0	371.4	-6.1	330	4655	0.00	2.28	0.00	0.000	6	0.000	0.055	2248	2347	3021
4978	-0.87	-146.0	390.4	-5.9	346	4982	0.00	2.33	0.00	0.000	4	0.000	0.072	2248	3747	3021
5056	-0.93	-146.0	395.3	-6.4	349	5059	0.00	2.20	0.00	0.000	6	0.000	0.043	2248	2340	3021
5394	-0.93	-146.0	415.5	-6.0	360	5398	0.00	2.22	0.00	0.000	4	0.000	0.057	2248	930	3021
5522	-0.93	-146.0	424.0	-6.8	362	5529	0.00	2.28	0.00	0.000	6	0.000	0.052	2248	2353	3021
5853	-0.93	-146.0	443.8	-6.0	371	5857	0.00	2.30	0.00	0.000	4	0.000	0.068	2248	3753	3022
6040	-1.01	-146.0	455.9	-6.8	375	6045	0.12	2.22	0.00	0.000	6	0.104	0.042	2205	2324	3022
6363	-0.92	-146.0	480.7	-7.7	383	6365	0.12	0.00	0.00	0.000	6	0.156	0.000	2238	2323	3022
6689	-0.92	-146.0	502.7	-6.8	391	6692	0.00	2.38	0.00	0.000	4	0.000	0.071	2239	3747	3023
6812	-0.98	-146.0	511.3	-7.0	393	6816	0.00	2.20	0.00	0.000	6	0.000	0.042	2239	2333	3023
7148	-0.98	-146.0	532.9	-6.2	402	7149	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2333	3024
7473	-0.98	-146.0	553.3	-6.3	410	7474	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2333	3024
7797	-0.98	-146.0	573.2	-6.0	418	7799	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2333	3024
8123	-1.03	-146.0	592.3	-5.8	426	8128	0.10	2.38	0.00	0.000	4	0.107	0.068	2203	3756	3024
8212	-1.03	-146.0	598.3	-6.9	428	8216	0.00	2.20	0.00	0.000	6	0.000	0.042	2203	2334	3024
8536	-0.96	-146.0	619.8	-6.8	436	8540	0.10	2.22	0.00	0.000	4	0.163	0.054	2228	934	3024
8607	-0.96	-146.0	624.4	-6.0	437	8611	0.00	2.28	0.00	0.000	6	0.000	0.052	2229	2356	3024
8950	-0.96	-146.0	644.9	-6.0	446	8954	0.00	2.30	0.00	0.000	4	0.000	0.069	2229	3750	3024
9119	-1.01	-146.0	656.0	-6.8	449	9122	0.00	2.20	0.00	0.000	6	0.000	0.041	2228	2337	3024
9250	end dive: TARGET_DEPTH_EXCEEDED
state	9250	begin apogee
9256	-0.34	0.0	664.0	6.0	453	9391	0.45	0.00	132.25	1.310	6	0.145	0.000	2365	2523	2420
9391	end apogee: CONTROL_FINISHED_OK
state	9392	begin climb
9394	1.08	146.0	666.9	0.0	456	9533	1.02	0.00	135.48	1.221	6	0.106	0.000	2668	2523	1824
9842	0.94	146.0	631.9	8.5	467	9847	0.12	2.40	0.00	0.000	4	0.150	0.068	2636	3926	1821
9875	0.81	146.0	629.0	8.2	467	9882	0.10	2.30	0.00	0.000	6	0.156	0.041	2611	2513	1820
10206	0.90	173.3	608.5	6.1	476	10236	0.00	2.47	23.65	1.230	4	0.000	0.068	2611	3924	1713
10253	0.90	174.4	605.3	7.0	477	10257	0.00	2.28	0.00	0.000	6	0.000	0.041	2611	2512	1712
10578	1.02	199.4	584.9	6.2	485	10604	0.15	0.00	22.92	1.223	6	0.078	0.000	2669	2512	1607
10902	0.94	199.4	556.2	9.0	493	10904	0.12	0.00	0.00	0.000	6	0.141	0.000	2635	2512	1605
11227	0.94	199.4	531.6	7.6	501	11231	0.00	2.22	0.00	0.000	4	0.000	0.056	2635	1111	1605
11237	0.94	199.4	530.7	7.6	501	11242	0.00	2.25	0.00	0.000	6	0.000	0.051	2635	2526	1605
11555	0.94	199.4	507.6	7.2	509	11559	0.00	2.25	0.00	0.000	4	0.000	0.054	2635	1111	1605
11565	0.99	199.4	506.9	7.3	509	11569	0.00	2.25	0.00	0.000	6	0.000	0.050	2635	2534	1604
11884	0.99	199.4	484.5	7.1	517	11885	0.00	0.00	0.00	0.000	6	0.000	0.000	2635	2535	1604
12208	0.99	199.4	461.3	7.1	525	12212	0.00	2.28	0.00	0.000	4	0.000	0.054	2634	1105	1604
12219	1.04	200.0	460.5	7.0	525	12223	0.10	2.25	0.00	0.000	6	0.091	0.050	2677	2529	1604
12537	0.95	200.0	434.1	8.3	533	12541	0.15	2.28	0.00	0.000	4	0.126	0.067	2632	3929	1604
12547	0.87	200.0	433.1	8.3	533	12551	0.00	2.20	0.00	0.000	6	0.000	0.041	2632	2505	1604
12865	0.97	229.0	413.7	6.0	541	12892	0.00	0.00	25.35	1.174	6	0.000	0.000	2632	2505	1486
13171	1.10	255.4	395.3	6.1	550	13201	0.15	2.33	23.15	1.139	4	0.079	0.056	2692	1120	1377
13207	1.03	255.4	392.1	8.7	551	13214	0.12	2.30	0.00	0.000	6	0.136	0.049	2657	2531	1377
13522	1.03	255.4	368.3	7.4	567	13526	0.00	2.28	0.00	0.000	4	0.000	0.054	2657	1116	1376
13532	1.08	255.4	367.5	7.5	567	13536	0.00	2.25	0.00	0.000	6	0.000	0.049	2657	2529	1376
13853	1.08	255.4	343.9	7.4	583	13857	0.00	2.28	0.00	0.000	4	0.000	0.054	2657	1106	1375
13880	1.18	264.7	342.0	6.7	584	13897	0.12	2.25	8.98	1.015	6	0.084	0.049	2705	2525	1340
14206	1.09	264.7	312.0	9.0	600	14210	0.12	2.28	0.00	0.000	4	0.138	0.054	2668	1109	1339
14221	1.09	264.7	310.7	8.5	600	14228	0.00	2.25	0.00	0.000	6	0.000	0.050	2668	2529	1339
14537	1.09	264.7	288.6	7.3	616	14540	0.00	2.25	0.00	0.000	4	0.000	0.054	2668	1119	1338
14546	1.09	264.7	287.9	7.3	616	14551	0.00	2.25	0.00	0.000	6	0.000	0.049	2668	2522	1338
14868	1.09	264.7	263.8	7.8	632	14872	0.00	2.25	0.00	0.000	4	0.000	0.055	2668	1116	1338
14895	1.17	264.7	261.6	7.8	633	14899	0.00	2.22	0.00	0.000	6	0.000	0.050	2668	2525	1338
15222	1.22	264.7	236.5	7.7	649	15227	0.12	2.25	0.00	0.000	4	0.078	0.054	2720	1109	1338
15267	1.14	264.7	232.5	9.8	651	15272	0.15	2.22	0.00	0.000	6	0.134	0.050	2677	2527	1338
15598	1.14	264.7	208.0	7.2	667	15602	0.00	2.25	0.00	0.000	4	0.000	0.055	2677	1118	1339
15614	1.20	264.7	206.7	7.7	667	15621	0.00	2.22	0.00	0.000	6	0.000	0.050	2677	2525	1339
15929	1.26	264.7	181.7	7.9	683	15934	0.12	2.25	0.00	0.000	4	0.076	0.054	2731	1117	1339
15956	1.21	264.7	179.1	10.1	684	15960	0.12	2.22	0.00	0.000	6	0.140	0.051	2695	2528	1338
16276	1.21	264.7	150.4	8.9	700	16280	0.00	2.25	0.00	0.000	4	0.000	0.056	2696	1119	1339
16286	1.21	264.7	149.4	9.1	700	16291	0.00	2.22	0.00	0.000	6	0.000	0.051	2695	2525	1338
16607	1.21	264.7	120.5	8.9	716	16611	0.00	2.25	0.00	0.000	4	0.000	0.056	2695	1108	1338
16617	1.21	264.7	119.5	8.9	716	16621	0.00	2.28	0.00	0.000	6	0.000	0.051	2695	2520	1338
16942	1.27	264.7	92.7	7.7	743	16948	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2520	1338
17286	1.33	273.7	68.4	6.7	804	17300	0.10	2.35	8.73	0.956	4	0.087	0.071	2737	3926	1304
17306	1.33	273.7	66.7	7.3	807	17312	0.00	2.20	0.00	0.000	6	0.000	0.044	2739	2519	1303
17650	1.25	273.7	35.2	7.8	868	17657	0.12	2.25	0.00	0.000	4	0.153	0.058	2705	1112	1302
17715	1.41	294.7	31.1	6.3	879	17740	0.12	2.25	18.73	1.009	6	0.085	0.054	2756	2519	1217
18079	1.45	329.5	4.9	5.8	943	18115	0.00	2.40	28.92	0.995	4	0.000	0.071	2756	3935	1074
18124	end climb: SURFACE_DEPTH_REACHED
state	18125	begin surface coast
18142	end surface coast: CONTROL_FINISHED_OK
state	18143	begin surface