Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 315 * 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 315 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 225 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -28687.75 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 225

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 -28687.75

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 28 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 315 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 024507,6706.224,-5709.693,32,1.2,32,-37.7 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 3 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.205,-0.091

_SM_DEPTHo 1.58 KALMAN_X -18913.7,321.5,340.5,28915.6,-2306.1

_SM_ANGLEo -61.4 KALMAN_Y -43180.0,331.2,-44.9,63959.8,1104.3

GPS2 025320,6706.255,-5709.874,14,1.4,31,-37.7 MHEAD_RNG_PITCHd_Wd 151.5,16907,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 631

Post-dive calculations and measurements:

FINISH 0.9,1.014004 TCM_TEMP 15.90

SM_CCo 17536,0.00,0.000,0,0,1225,293.38 XPDR_PINGS 0

SM_GC 1.69,7.15,0.00,0.00,0.067,0.000,0.000,163,2334,1225,-10.38,-0.17,293.38 _24V_AH 20.6,59.407

RAFOS_CLK 962 _10V_AH 10.5,26.051

RAFOS 0,1226894655,4.083333,4.070833,58,55,55,54,52,48,204,153,232,170,214,128 DATA_FILE_SIZE 37827,1013

RAFOS_FIX 6536.750488,-5832.361816,171108,000052,2,74,15.00 CAP_FILE_SIZE 144947,0

IRIDIUM_FIX 6641.98,-5709.24,110298,020214 CFSIZE 260165632,227483648

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1891 SOUNDSPEED 1456.9

INTERNAL_PRESSURE 8.53548 GPS 171108,074857,6706.689,-5711.001,99,1.6,101,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 261 133.75 SBE_CT 782 24 386.82

Roll_motor 153 68 215.68 SBE_O2 690 19 270.08

VBD_pump_during_apogee 404 1234 10286.59 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 55 103 118.61 nil 0 0 0.00

Iridium_during_connect 62 160 207.59 nil 0 0 0.00

Iridium_during_xfer 159 223 731.02

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.19

TT8 1863 19 389.72

LPSleep 13097 2 317.67

TT8_Active 582 19 121.92

TT8_Sampling 1920 39 804.98

TT8_CF8 560 45 270.16

TT8_Kalman 33 81 28.71

Analog_circuits 1625 12 204.78

GPS_charging 0 0 0.00

Compass 1869 8 157.01

RAFOS 1800 1 28.35

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.08 -146.0 0.0 0.0 0 144 0.00 0.00 -126.00 0.000 2 0.000 0.000 164 2339 3011

147 -1.08 -146.0 3.6 -2.7 22 161 8.77 2.33 0.00 0.000 4 0.262 0.058 2200 921 3015

168 1.18 -146.0 10.3 -16.9 25 176 1.75 2.28 0.00 0.000 6 0.181 0.051 2691 2345 3017

515 0.08 -146.0 29.9 -5.9 86 522 0.70 2.33 0.00 0.000 4 0.104 0.068 2454 3752 3019

702 -0.77 -146.0 42.3 -6.4 119 709 0.57 2.22 0.00 0.000 6 0.100 0.041 2260 2318 3019

1047 -0.77 -146.0 68.6 -7.6 180 1053 0.00 2.17 0.00 0.000 4 0.000 0.054 2259 939 3019

1059 -0.77 -146.0 69.8 -7.9 182 1066 0.00 2.25 0.00 0.000 6 0.000 0.051 2259 2353 3019

1413 -0.77 -146.0 101.3 -6.8 242 1414 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2353 3018

1723 -0.77 -146.0 123.6 -7.5 257 1727 0.00 2.28 0.00 0.000 4 0.000 0.067 2260 3743 3019

1762 -0.83 -146.0 126.7 -7.9 258 1768 0.00 2.17 0.00 0.000 6 0.000 0.040 2259 2340 3019

2077 -0.83 -146.0 150.2 -7.1 274 2078 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2340 3019

2387 -0.83 -146.0 171.7 -7.4 289 2391 0.00 2.22 0.00 0.000 4 0.000 0.054 2259 931 3018

2448 -0.83 -146.0 177.0 -8.7 291 2454 0.00 2.25 0.00 0.000 6 0.000 0.051 2259 2340 3019

2764 -0.87 -146.0 201.4 -7.4 307 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2340 3018

3074 -0.93 -146.0 222.0 -6.1 322 3078 0.10 2.30 0.00 0.000 4 0.106 0.068 2221 3742 3018

3123 -0.93 -146.0 225.6 -7.9 324 3127 0.00 2.20 0.00 0.000 6 0.000 0.041 2221 2326 3017

3450 -0.87 -146.0 247.4 -6.8 340 3455 0.10 2.38 0.00 0.000 4 0.167 0.067 2245 3748 3017

3540 -0.93 -146.0 253.3 -5.9 344 3544 0.00 2.20 0.00 0.000 6 0.000 0.041 2245 2331 3017

3867 -0.93 -146.0 272.9 -6.1 360 3871 0.00 2.35 0.00 0.000 4 0.000 0.067 2245 3745 3017

3895 -0.99 -146.0 274.7 -7.0 361 3900 0.10 2.20 0.00 0.000 6 0.107 0.040 2210 2330 3017

4223 -0.91 -146.0 299.3 -7.7 377 4227 0.12 2.35 0.00 0.000 4 0.158 0.066 2243 3750 3017

4256 -0.97 -146.0 301.8 -7.3 378 4259 0.00 2.20 0.00 0.000 6 0.000 0.040 2243 2333 3017

4579 -1.02 -146.0 323.4 -6.7 394 4584 0.12 2.35 0.00 0.000 4 0.098 0.065 2194 3746 3017

4589 -1.02 -146.0 324.3 -6.7 394 4596 0.00 2.17 0.00 0.000 6 0.000 0.039 2193 2340 3017

4905 -0.90 -146.0 349.5 -8.0 410 4907 0.17 0.00 0.00 0.000 6 0.150 0.000 2243 2340 3017

5215 -0.96 -146.0 367.8 -5.8 425 5219 0.00 2.33 0.00 0.000 4 0.000 0.066 2243 3743 3017

5226 -1.01 -146.0 368.4 -5.5 425 5231 0.10 2.17 0.00 0.000 6 0.102 0.039 2206 2338 3017

5548 -0.94 -146.0 389.8 -6.9 441 5553 0.10 2.35 0.00 0.000 4 0.157 0.064 2231 3752 3017

5610 -0.99 -146.0 393.9 -6.4 444 5614 0.00 2.20 0.00 0.000 6 0.000 0.039 2231 2329 3017

5960 -0.99 -146.0 415.9 -6.3 455 5964 0.00 2.35 0.00 0.000 4 0.000 0.064 2231 3753 3017

5994 -1.04 -146.0 418.0 -6.3 455 5998 0.00 2.20 0.00 0.000 6 0.000 0.038 2231 2330 3017

6330 -1.04 -146.0 437.2 -5.6 464 6334 0.00 2.35 0.00 0.000 4 0.000 0.064 2231 3753 3018

6352 -1.04 -146.0 438.5 -5.8 464 6357 0.00 2.20 0.00 0.000 6 0.000 0.038 2231 2327 3018

6695 -1.04 -146.0 457.4 -5.5 473 6699 0.00 2.35 0.00 0.000 4 0.000 0.063 2231 3753 3018

6729 -1.10 -146.0 459.5 -5.8 473 6736 0.12 2.20 0.00 0.000 6 0.095 0.038 2187 2326 3019

7060 -0.98 -146.0 483.5 -7.5 482 7065 0.15 2.38 0.00 0.000 4 0.149 0.064 2229 3755 3019

7096 -1.03 -146.0 485.9 -6.9 482 7102 0.00 2.20 0.00 0.000 6 0.000 0.038 2229 2328 3019

7427 -1.03 -146.0 507.2 -6.4 491 7431 0.00 2.35 0.00 0.000 4 0.000 0.062 2229 3756 3020

7449 -1.03 -146.0 508.7 -6.5 491 7453 0.00 2.20 0.00 0.000 6 0.000 0.037 2229 2327 3020

7797 -1.03 -146.0 530.9 -6.3 500 7801 0.00 2.33 0.00 0.000 4 0.000 0.063 2229 3745 3021

7853 -1.09 -146.0 534.5 -6.7 501 7858 0.12 2.17 0.00 0.000 6 0.093 0.038 2184 2330 3021

8172 -0.96 -146.0 558.8 -7.7 509 8177 0.17 2.35 0.00 0.000 4 0.151 0.063 2232 3747 3022

8194 -0.96 -146.0 560.3 -7.2 509 8198 0.00 2.17 0.00 0.000 6 0.000 0.038 2232 2333 3022

8537 -0.96 -146.0 580.5 -5.8 518 8541 0.00 2.33 0.00 0.000 4 0.000 0.064 2232 3745 3022

8576 -1.02 -146.0 582.9 -5.6 518 8583 0.00 2.17 0.00 0.000 6 0.000 0.038 2232 2336 3022

8908 -1.07 -146.0 603.2 -6.3 527 8912 0.12 2.33 0.00 0.000 4 0.105 0.064 2188 3749 3022

8936 -1.01 -146.0 605.3 -8.4 527 8940 0.12 2.17 0.00 0.000 6 0.151 0.038 2220 2333 3022

9277 -1.01 -146.0 630.4 -7.6 536 9281 0.00 2.35 0.00 0.000 4 0.000 0.064 2220 3756 3022

9285 end dive: TARGET_DEPTH_EXCEEDED

state 9285 begin apogee

9293 -0.34 0.0 631.1 7.2 536 9429 0.43 0.00 132.48 1.234 6 0.138 0.000 2356 2515 2420

9429 end apogee: CONTROL_FINISHED_OK

state 9429 begin climb

9432 1.08 146.0 634.8 0.0 539 9583 1.05 0.00 140.62 1.144 6 0.110 0.000 2665 2515 1824

9881 0.95 146.0 602.7 8.2 550 9886 0.10 2.40 0.00 0.000 4 0.150 0.063 2639 3931 1822

9937 0.79 146.0 597.9 9.1 551 9942 0.12 2.25 0.00 0.000 6 0.145 0.039 2603 2506 1822

10250 0.92 198.3 580.3 5.2 559 10297 0.12 0.00 44.47 1.182 6 0.078 0.000 2653 2505 1611

10614 0.92 198.3 552.0 8.0 568 10615 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2506 1610

10940 0.92 198.3 526.4 7.9 576 10941 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2505 1610

11264 0.92 198.3 501.0 7.9 584 11268 0.00 2.17 0.00 0.000 4 0.000 0.051 2653 1116 1609

11309 0.92 198.3 497.4 7.3 585 11313 0.00 2.22 0.00 0.000 6 0.000 0.046 2653 2535 1608

11639 0.92 198.3 469.6 8.6 593 11643 0.00 2.25 0.00 0.000 4 0.000 0.061 2653 3930 1608

11690 0.78 198.3 464.6 11.3 594 11694 0.17 2.17 0.00 0.000 6 0.145 0.039 2602 2517 1608

12014 0.94 215.6 443.4 6.4 602 12034 0.12 2.22 15.27 1.089 4 0.076 0.050 2653 1116 1541

12107 0.94 215.6 435.7 8.5 604 12111 0.00 2.22 0.00 0.000 6 0.000 0.046 2653 2521 1540

12426 0.94 215.6 408.3 8.6 612 12430 0.00 2.28 0.00 0.000 4 0.000 0.062 2654 3936 1540

12465 0.83 215.6 404.5 9.5 612 12472 0.15 2.17 0.00 0.000 6 0.145 0.038 2611 2518 1540

12780 0.99 237.7 384.3 6.3 626 12806 0.15 2.28 19.58 1.066 4 0.071 0.051 2678 1119 1450

12878 0.99 237.7 375.5 9.1 630 12883 0.12 2.22 0.00 0.000 6 0.135 0.045 2642 2528 1449

13200 1.05 237.7 351.8 7.5 646 13202 0.08 0.00 0.00 0.000 6 0.098 0.000 2679 2528 1449

13509 0.98 237.7 323.6 9.0 661 13513 0.12 2.22 0.00 0.000 4 0.127 0.049 2641 1122 1449

13576 1.08 237.7 318.7 7.3 664 13581 0.10 2.20 0.00 0.000 6 0.089 0.045 2682 2529 1449

13909 1.01 237.7 289.1 9.2 680 13910 0.12 0.00 0.00 0.000 6 0.127 0.000 2645 2529 1450

14217 1.06 237.7 266.1 7.3 695 14219 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2529 1450

14527 1.15 248.8 244.9 6.6 710 14541 0.15 0.00 10.95 0.940 6 0.074 0.000 2707 2529 1405

14836 1.03 248.8 212.8 11.0 725 14838 0.17 0.00 0.00 0.000 6 0.128 0.000 2654 2529 1404

15146 1.11 248.8 187.7 7.8 740 15150 0.08 2.25 0.00 0.000 4 0.098 0.050 2692 1116 1404

15195 1.11 248.8 183.2 9.1 742 15199 0.00 2.22 0.00 0.000 6 0.000 0.046 2693 2534 1404

15522 1.05 248.8 152.8 9.1 758 15524 0.12 0.00 0.00 0.000 6 0.137 0.000 2655 2534 1404

15832 1.17 260.9 131.2 6.6 773 15854 0.12 2.33 11.52 0.923 4 0.074 0.051 2709 1120 1356

15881 1.17 260.9 126.9 9.2 775 15885 0.00 2.22 0.00 0.000 6 0.000 0.047 2709 2525 1356

16199 1.10 260.9 98.4 9.2 792 16206 0.12 2.25 0.00 0.000 4 0.133 0.051 2671 1116 1355

16258 1.22 260.9 93.8 7.6 802 16265 0.12 2.22 0.00 0.000 6 0.079 0.047 2721 2532 1355

16604 1.18 270.6 62.5 6.7 863 16622 0.12 2.30 9.48 0.889 4 0.129 0.066 2683 3917 1315

16691 1.18 270.6 55.9 7.0 878 16697 0.00 2.17 0.00 0.000 6 0.000 0.040 2683 2512 1315

17035 1.32 287.2 34.6 6.5 939 17055 0.12 2.28 14.40 0.923 4 0.074 0.053 2735 1117 1249

17113 1.32 292.1 29.0 6.9 952 17126 0.00 2.22 5.85 0.766 6 0.000 0.048 2735 2520 1229

17433 end climb: SURFACE_DEPTH_REACHED

state 17433 begin surface coast

17458 end surface coast: CONTROL_FINISHED_OK

state 17458 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	315	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	225	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-28687.75	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	024507,6706.224,-5709.693,32,1.2,32,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	3	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.205,-0.091
_SM_DEPTHo	1.58	KALMAN_X	-18913.7,321.5,340.5,28915.6,-2306.1
_SM_ANGLEo	-61.4	KALMAN_Y	-43180.0,331.2,-44.9,63959.8,1104.3
GPS2	025320,6706.255,-5709.874,14,1.4,31,-37.7	MHEAD_RNG_PITCHd_Wd	151.5,16907,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	631

FINISH	0.9,1.014004	TCM_TEMP	15.90
SM_CCo	17536,0.00,0.000,0,0,1225,293.38	XPDR_PINGS	0
SM_GC	1.69,7.15,0.00,0.00,0.067,0.000,0.000,163,2334,1225,-10.38,-0.17,293.38	_24V_AH	20.6,59.407
RAFOS_CLK	962	_10V_AH	10.5,26.051
RAFOS	0,1226894655,4.083333,4.070833,58,55,55,54,52,48,204,153,232,170,214,128	DATA_FILE_SIZE	37827,1013
RAFOS_FIX	6536.750488,-5832.361816,171108,000052,2,74,15.00	CAP_FILE_SIZE	144947,0
IRIDIUM_FIX	6641.98,-5709.24,110298,020214	CFSIZE	260165632,227483648
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1891	SOUNDSPEED	1456.9
INTERNAL_PRESSURE	8.53548	GPS	171108,074857,6706.689,-5711.001,99,1.6,101,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	261	133.75	SBE_CT	782	24	386.82
Roll_motor	153	68	215.68	SBE_O2	690	19	270.08
VBD_pump_during_apogee	404	1234	10286.59	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	55	103	118.61	nil	0	0	0.00
Iridium_during_connect	62	160	207.59	nil	0	0	0.00
Iridium_during_xfer	159	223	731.02
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.19
TT8	1863	19	389.72
LPSleep	13097	2	317.67
TT8_Active	582	19	121.92
TT8_Sampling	1920	39	804.98
TT8_CF8	560	45	270.16
TT8_Kalman	33	81	28.71
Analog_circuits	1625	12	204.78
GPS_charging	0	0	0.00
Compass	1869	8	157.01
RAFOS	1800	1	28.35
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.08	-146.0	0.0	0.0	0	144	0.00	0.00	-126.00	0.000	2	0.000	0.000	164	2339	3011
147	-1.08	-146.0	3.6	-2.7	22	161	8.77	2.33	0.00	0.000	4	0.262	0.058	2200	921	3015
168	1.18	-146.0	10.3	-16.9	25	176	1.75	2.28	0.00	0.000	6	0.181	0.051	2691	2345	3017
515	0.08	-146.0	29.9	-5.9	86	522	0.70	2.33	0.00	0.000	4	0.104	0.068	2454	3752	3019
702	-0.77	-146.0	42.3	-6.4	119	709	0.57	2.22	0.00	0.000	6	0.100	0.041	2260	2318	3019
1047	-0.77	-146.0	68.6	-7.6	180	1053	0.00	2.17	0.00	0.000	4	0.000	0.054	2259	939	3019
1059	-0.77	-146.0	69.8	-7.9	182	1066	0.00	2.25	0.00	0.000	6	0.000	0.051	2259	2353	3019
1413	-0.77	-146.0	101.3	-6.8	242	1414	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2353	3018
1723	-0.77	-146.0	123.6	-7.5	257	1727	0.00	2.28	0.00	0.000	4	0.000	0.067	2260	3743	3019
1762	-0.83	-146.0	126.7	-7.9	258	1768	0.00	2.17	0.00	0.000	6	0.000	0.040	2259	2340	3019
2077	-0.83	-146.0	150.2	-7.1	274	2078	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2340	3019
2387	-0.83	-146.0	171.7	-7.4	289	2391	0.00	2.22	0.00	0.000	4	0.000	0.054	2259	931	3018
2448	-0.83	-146.0	177.0	-8.7	291	2454	0.00	2.25	0.00	0.000	6	0.000	0.051	2259	2340	3019
2764	-0.87	-146.0	201.4	-7.4	307	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2340	3018
3074	-0.93	-146.0	222.0	-6.1	322	3078	0.10	2.30	0.00	0.000	4	0.106	0.068	2221	3742	3018
3123	-0.93	-146.0	225.6	-7.9	324	3127	0.00	2.20	0.00	0.000	6	0.000	0.041	2221	2326	3017
3450	-0.87	-146.0	247.4	-6.8	340	3455	0.10	2.38	0.00	0.000	4	0.167	0.067	2245	3748	3017
3540	-0.93	-146.0	253.3	-5.9	344	3544	0.00	2.20	0.00	0.000	6	0.000	0.041	2245	2331	3017
3867	-0.93	-146.0	272.9	-6.1	360	3871	0.00	2.35	0.00	0.000	4	0.000	0.067	2245	3745	3017
3895	-0.99	-146.0	274.7	-7.0	361	3900	0.10	2.20	0.00	0.000	6	0.107	0.040	2210	2330	3017
4223	-0.91	-146.0	299.3	-7.7	377	4227	0.12	2.35	0.00	0.000	4	0.158	0.066	2243	3750	3017
4256	-0.97	-146.0	301.8	-7.3	378	4259	0.00	2.20	0.00	0.000	6	0.000	0.040	2243	2333	3017
4579	-1.02	-146.0	323.4	-6.7	394	4584	0.12	2.35	0.00	0.000	4	0.098	0.065	2194	3746	3017
4589	-1.02	-146.0	324.3	-6.7	394	4596	0.00	2.17	0.00	0.000	6	0.000	0.039	2193	2340	3017
4905	-0.90	-146.0	349.5	-8.0	410	4907	0.17	0.00	0.00	0.000	6	0.150	0.000	2243	2340	3017
5215	-0.96	-146.0	367.8	-5.8	425	5219	0.00	2.33	0.00	0.000	4	0.000	0.066	2243	3743	3017
5226	-1.01	-146.0	368.4	-5.5	425	5231	0.10	2.17	0.00	0.000	6	0.102	0.039	2206	2338	3017
5548	-0.94	-146.0	389.8	-6.9	441	5553	0.10	2.35	0.00	0.000	4	0.157	0.064	2231	3752	3017
5610	-0.99	-146.0	393.9	-6.4	444	5614	0.00	2.20	0.00	0.000	6	0.000	0.039	2231	2329	3017
5960	-0.99	-146.0	415.9	-6.3	455	5964	0.00	2.35	0.00	0.000	4	0.000	0.064	2231	3753	3017
5994	-1.04	-146.0	418.0	-6.3	455	5998	0.00	2.20	0.00	0.000	6	0.000	0.038	2231	2330	3017
6330	-1.04	-146.0	437.2	-5.6	464	6334	0.00	2.35	0.00	0.000	4	0.000	0.064	2231	3753	3018
6352	-1.04	-146.0	438.5	-5.8	464	6357	0.00	2.20	0.00	0.000	6	0.000	0.038	2231	2327	3018
6695	-1.04	-146.0	457.4	-5.5	473	6699	0.00	2.35	0.00	0.000	4	0.000	0.063	2231	3753	3018
6729	-1.10	-146.0	459.5	-5.8	473	6736	0.12	2.20	0.00	0.000	6	0.095	0.038	2187	2326	3019
7060	-0.98	-146.0	483.5	-7.5	482	7065	0.15	2.38	0.00	0.000	4	0.149	0.064	2229	3755	3019
7096	-1.03	-146.0	485.9	-6.9	482	7102	0.00	2.20	0.00	0.000	6	0.000	0.038	2229	2328	3019
7427	-1.03	-146.0	507.2	-6.4	491	7431	0.00	2.35	0.00	0.000	4	0.000	0.062	2229	3756	3020
7449	-1.03	-146.0	508.7	-6.5	491	7453	0.00	2.20	0.00	0.000	6	0.000	0.037	2229	2327	3020
7797	-1.03	-146.0	530.9	-6.3	500	7801	0.00	2.33	0.00	0.000	4	0.000	0.063	2229	3745	3021
7853	-1.09	-146.0	534.5	-6.7	501	7858	0.12	2.17	0.00	0.000	6	0.093	0.038	2184	2330	3021
8172	-0.96	-146.0	558.8	-7.7	509	8177	0.17	2.35	0.00	0.000	4	0.151	0.063	2232	3747	3022
8194	-0.96	-146.0	560.3	-7.2	509	8198	0.00	2.17	0.00	0.000	6	0.000	0.038	2232	2333	3022
8537	-0.96	-146.0	580.5	-5.8	518	8541	0.00	2.33	0.00	0.000	4	0.000	0.064	2232	3745	3022
8576	-1.02	-146.0	582.9	-5.6	518	8583	0.00	2.17	0.00	0.000	6	0.000	0.038	2232	2336	3022
8908	-1.07	-146.0	603.2	-6.3	527	8912	0.12	2.33	0.00	0.000	4	0.105	0.064	2188	3749	3022
8936	-1.01	-146.0	605.3	-8.4	527	8940	0.12	2.17	0.00	0.000	6	0.151	0.038	2220	2333	3022
9277	-1.01	-146.0	630.4	-7.6	536	9281	0.00	2.35	0.00	0.000	4	0.000	0.064	2220	3756	3022
9285	end dive: TARGET_DEPTH_EXCEEDED
state	9285	begin apogee
9293	-0.34	0.0	631.1	7.2	536	9429	0.43	0.00	132.48	1.234	6	0.138	0.000	2356	2515	2420
9429	end apogee: CONTROL_FINISHED_OK
state	9429	begin climb
9432	1.08	146.0	634.8	0.0	539	9583	1.05	0.00	140.62	1.144	6	0.110	0.000	2665	2515	1824
9881	0.95	146.0	602.7	8.2	550	9886	0.10	2.40	0.00	0.000	4	0.150	0.063	2639	3931	1822
9937	0.79	146.0	597.9	9.1	551	9942	0.12	2.25	0.00	0.000	6	0.145	0.039	2603	2506	1822
10250	0.92	198.3	580.3	5.2	559	10297	0.12	0.00	44.47	1.182	6	0.078	0.000	2653	2505	1611
10614	0.92	198.3	552.0	8.0	568	10615	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2506	1610
10940	0.92	198.3	526.4	7.9	576	10941	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2505	1610
11264	0.92	198.3	501.0	7.9	584	11268	0.00	2.17	0.00	0.000	4	0.000	0.051	2653	1116	1609
11309	0.92	198.3	497.4	7.3	585	11313	0.00	2.22	0.00	0.000	6	0.000	0.046	2653	2535	1608
11639	0.92	198.3	469.6	8.6	593	11643	0.00	2.25	0.00	0.000	4	0.000	0.061	2653	3930	1608
11690	0.78	198.3	464.6	11.3	594	11694	0.17	2.17	0.00	0.000	6	0.145	0.039	2602	2517	1608
12014	0.94	215.6	443.4	6.4	602	12034	0.12	2.22	15.27	1.089	4	0.076	0.050	2653	1116	1541
12107	0.94	215.6	435.7	8.5	604	12111	0.00	2.22	0.00	0.000	6	0.000	0.046	2653	2521	1540
12426	0.94	215.6	408.3	8.6	612	12430	0.00	2.28	0.00	0.000	4	0.000	0.062	2654	3936	1540
12465	0.83	215.6	404.5	9.5	612	12472	0.15	2.17	0.00	0.000	6	0.145	0.038	2611	2518	1540
12780	0.99	237.7	384.3	6.3	626	12806	0.15	2.28	19.58	1.066	4	0.071	0.051	2678	1119	1450
12878	0.99	237.7	375.5	9.1	630	12883	0.12	2.22	0.00	0.000	6	0.135	0.045	2642	2528	1449
13200	1.05	237.7	351.8	7.5	646	13202	0.08	0.00	0.00	0.000	6	0.098	0.000	2679	2528	1449
13509	0.98	237.7	323.6	9.0	661	13513	0.12	2.22	0.00	0.000	4	0.127	0.049	2641	1122	1449
13576	1.08	237.7	318.7	7.3	664	13581	0.10	2.20	0.00	0.000	6	0.089	0.045	2682	2529	1449
13909	1.01	237.7	289.1	9.2	680	13910	0.12	0.00	0.00	0.000	6	0.127	0.000	2645	2529	1450
14217	1.06	237.7	266.1	7.3	695	14219	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2529	1450
14527	1.15	248.8	244.9	6.6	710	14541	0.15	0.00	10.95	0.940	6	0.074	0.000	2707	2529	1405
14836	1.03	248.8	212.8	11.0	725	14838	0.17	0.00	0.00	0.000	6	0.128	0.000	2654	2529	1404
15146	1.11	248.8	187.7	7.8	740	15150	0.08	2.25	0.00	0.000	4	0.098	0.050	2692	1116	1404
15195	1.11	248.8	183.2	9.1	742	15199	0.00	2.22	0.00	0.000	6	0.000	0.046	2693	2534	1404
15522	1.05	248.8	152.8	9.1	758	15524	0.12	0.00	0.00	0.000	6	0.137	0.000	2655	2534	1404
15832	1.17	260.9	131.2	6.6	773	15854	0.12	2.33	11.52	0.923	4	0.074	0.051	2709	1120	1356
15881	1.17	260.9	126.9	9.2	775	15885	0.00	2.22	0.00	0.000	6	0.000	0.047	2709	2525	1356
16199	1.10	260.9	98.4	9.2	792	16206	0.12	2.25	0.00	0.000	4	0.133	0.051	2671	1116	1355
16258	1.22	260.9	93.8	7.6	802	16265	0.12	2.22	0.00	0.000	6	0.079	0.047	2721	2532	1355
16604	1.18	270.6	62.5	6.7	863	16622	0.12	2.30	9.48	0.889	4	0.129	0.066	2683	3917	1315
16691	1.18	270.6	55.9	7.0	878	16697	0.00	2.17	0.00	0.000	6	0.000	0.040	2683	2512	1315
17035	1.32	287.2	34.6	6.5	939	17055	0.12	2.28	14.40	0.923	4	0.074	0.053	2735	1117	1249
17113	1.32	292.1	29.0	6.9	952	17126	0.00	2.22	5.85	0.766	6	0.000	0.048	2735	2520	1229
17433	end climb: SURFACE_DEPTH_REACHED
state	17433	begin surface coast
17458	end surface coast: CONTROL_FINISHED_OK
state	17458	begin surface