Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 316 * 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 316 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -28701.74 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 -28701.74

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 35 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 316 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 074857,6706.689,-5711.001,99,1.6,101,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 7 TGT_RADIUS 8000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.222,-0.035

_SM_DEPTHo 1.67 KALMAN_X -22333.0,793.3,-1301.4,32587.0,-1097.7

_SM_ANGLEo -60.7 KALMAN_Y -41057.0,-447.8,997.1,62340.8,-545.7

GPS2 075509,6706.667,-5711.130,11,1.4,11,-37.7 MHEAD_RNG_PITCHd_Wd 136.7,18031,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 637

Post-dive calculations and measurements:

FINISH 1.7,1.026177 TCM_TEMP 16.00

SM_CCo 17680,0.00,0.000,0,0,1369,257.57 XPDR_PINGS 2

SM_GC 1.45,7.07,0.00,0.00,0.073,0.000,0.000,162,2328,1369,-10.40,-0.34,257.57 _24V_AH 20.6,59.542

RAFOS_CLK 949 _10V_AH 10.5,26.125

RAFOS 0,1226909043,8.083333,8.067500,61,60,59,57,56,56,199,144,126,169,159,213 DATA_FILE_SIZE 37895,986

RAFOS_FIX 6706.640625,-5715.349121,171108,121220,2,82,0.19 CAP_FILE_SIZE 154032,0

IRIDIUM_FIX 6636.54,-5712.23,110298,020255 CFSIZE 260165632,227405824

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1874 SOUNDSPEED 1459.3

INTERNAL_PRESSURE 8.55502 GPS 171108,125208,6705.993,-5708.609,30,1.4,30,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 260 120.65 SBE_CT 767 24 379.54

Roll_motor 175 69 248.96 SBE_O2 671 19 262.76

VBD_pump_during_apogee 371 1233 9429.70 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 27 103 58.68 nil 0 0 0.00

Iridium_during_connect 33 160 111.63 nil 0 0 0.00

Iridium_during_xfer 178 223 821.55

Transponder_ping 0 420 4.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.01

TT8 1882 19 393.75

LPSleep 13098 2 317.71

TT8_Active 537 19 112.38

TT8_Sampling 1981 39 830.54

TT8_CF8 556 45 268.40

TT8_Kalman 33 81 28.71

Analog_circuits 1638 12 206.40

GPS_charging 0 0 0.00

Compass 1947 8 163.55

RAFOS 3600 1 56.70

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

17 -1.08 -146.0 0.0 0.0 0 140 0.00 0.00 -119.55 0.000 2 0.000 0.000 162 2330 2959

143 -1.08 -146.0 3.1 -2.1 21 162 8.73 2.28 -2.15 0.000 4 0.260 0.069 2197 939 3019

283 -0.57 -146.0 30.2 -19.2 45 290 0.43 2.25 0.00 0.000 6 0.173 0.051 2311 2352 3021

628 -0.57 -146.0 63.7 -8.2 106 634 0.00 2.25 0.00 0.000 4 0.000 0.054 2311 936 3021

640 -0.57 -146.0 64.6 -7.8 108 646 0.00 2.25 0.00 0.000 6 0.000 0.050 2312 2355 3021

985 -0.66 -146.0 88.8 -6.1 169 992 0.00 2.28 0.00 0.000 4 0.000 0.064 2311 3753 3021

1011 -0.76 -146.0 90.4 -6.0 173 1018 0.15 2.20 0.00 0.000 6 0.084 0.038 2256 2326 3022

1343 -0.69 -146.0 117.6 -8.7 205 1348 0.12 2.20 0.00 0.000 4 0.163 0.053 2288 935 3022

1382 -0.69 -146.0 120.8 -7.9 207 1386 0.00 2.25 0.00 0.000 6 0.000 0.050 2288 2353 3022

1715 -0.74 -146.0 144.2 -7.1 223 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2353 3022

2024 -0.82 -146.0 163.7 -6.2 238 2029 0.12 2.30 0.00 0.000 4 0.100 0.066 2242 3753 3021

2035 -0.88 -146.0 164.6 -6.3 238 2041 0.00 2.20 0.00 0.000 6 0.000 0.039 2242 2329 3021

2351 -0.82 -146.0 193.2 -9.2 254 2353 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2329 3021

2661 -0.77 -146.0 219.5 -7.8 269 2665 0.10 2.22 0.00 0.000 4 0.179 0.053 2267 927 3020

2672 -0.77 -146.0 220.6 -7.8 269 2676 0.00 2.25 0.00 0.000 6 0.000 0.050 2268 2342 3020

2994 -0.83 -146.0 243.0 -7.0 285 2998 0.00 2.30 0.00 0.000 4 0.000 0.067 2268 3745 3020

3021 -0.91 -146.0 245.0 -7.4 286 3026 0.12 2.17 0.00 0.000 6 0.092 0.039 2224 2339 3020

3342 -0.82 -146.0 271.1 -7.5 302 3347 0.12 2.35 0.00 0.000 4 0.161 0.066 2256 3749 3020

3468 -0.90 -146.0 279.0 -5.9 307 3474 0.00 2.20 0.00 0.000 6 0.000 0.040 2257 2330 3020

3784 -0.95 -146.0 297.3 -5.6 323 3788 0.10 2.35 0.00 0.000 4 0.103 0.065 2219 3754 3020

3806 -0.95 -146.0 298.8 -6.7 324 3810 0.00 2.20 0.00 0.000 6 0.000 0.039 2219 2333 3020

4133 -0.87 -146.0 321.0 -6.6 340 4138 0.12 2.35 0.00 0.000 4 0.167 0.065 2253 3745 3020

4150 -0.87 -146.0 322.1 -6.1 341 4154 0.00 2.17 0.00 0.000 6 0.000 0.039 2253 2327 3020

4483 -0.92 -146.0 341.6 -6.1 357 4487 0.00 2.35 0.00 0.000 4 0.000 0.064 2253 3749 3020

4494 -0.98 -146.0 342.3 -6.1 357 4498 0.12 2.17 0.00 0.000 6 0.096 0.038 2208 2340 3020

4815 -0.89 -146.0 366.3 -7.6 373 4820 0.15 2.33 0.00 0.000 4 0.152 0.064 2249 3750 3020

4842 -0.89 -146.0 368.2 -6.7 374 4846 0.00 2.17 0.00 0.000 6 0.000 0.038 2250 2340 3020

5164 -0.94 -146.0 386.0 -5.2 390 5168 0.00 2.33 0.00 0.000 4 0.000 0.064 2250 3749 3020

5176 -0.99 -146.0 386.6 -5.1 390 5180 0.12 2.17 0.00 0.000 6 0.100 0.038 2205 2337 3020

5515 -0.89 -146.0 408.0 -6.4 404 5520 0.15 2.35 0.00 0.000 4 0.148 0.063 2247 3757 3021

5560 -0.96 -146.0 410.6 -5.5 405 5564 0.00 2.20 0.00 0.000 6 0.000 0.038 2247 2327 3021

5886 -1.02 -146.0 428.1 -5.4 413 5890 0.12 2.35 0.00 0.000 4 0.106 0.062 2202 3750 3022

5901 -1.02 -146.0 429.2 -5.6 413 5905 0.00 2.17 0.00 0.000 6 0.000 0.036 2202 2333 3022

6250 -0.92 -146.0 452.4 -6.7 422 6255 0.15 2.33 0.00 0.000 4 0.153 0.062 2244 3750 3023

6291 -0.99 -146.0 454.8 -5.9 423 6295 0.10 2.17 0.00 0.000 6 0.098 0.038 2205 2334 3023

6620 -0.90 -146.0 475.6 -6.3 431 6625 0.12 2.35 0.00 0.000 4 0.153 0.062 2240 3755 3023

6636 -0.90 -146.0 476.7 -6.3 431 6640 0.00 2.17 0.00 0.000 6 0.000 0.036 2240 2338 3023

6985 -0.90 -146.0 495.6 -5.4 440 6989 0.00 2.33 0.00 0.000 4 0.000 0.062 2240 3750 3024

6996 -0.90 -146.0 496.4 -5.6 440 7000 0.00 2.17 0.00 0.000 6 0.000 0.037 2240 2328 3024

7314 -0.90 -146.0 515.2 -6.1 448 7318 0.00 2.35 0.00 0.000 4 0.000 0.062 2240 3754 3024

7332 -0.95 -146.0 516.3 -5.9 448 7336 0.00 2.17 0.00 0.000 6 0.000 0.036 2240 2337 3024

7645 -1.00 -146.0 535.3 -6.1 456 7649 0.00 2.33 0.00 0.000 4 0.000 0.061 2240 3754 3024

7662 -1.05 -146.0 536.3 -6.0 456 7667 0.12 2.17 0.00 0.000 6 0.093 0.036 2194 2334 3024

7976 -0.94 -146.0 559.4 -7.5 464 7981 0.15 2.35 0.00 0.000 4 0.150 0.062 2236 3754 3025

8021 -1.00 -146.0 562.5 -6.7 465 8025 0.00 2.17 0.00 0.000 6 0.000 0.036 2236 2336 3025

8345 -1.00 -146.0 581.8 -5.9 473 8349 0.00 2.33 0.00 0.000 4 0.000 0.061 2236 3754 3025

8379 -1.05 -146.0 583.9 -6.4 473 8383 0.12 2.17 0.00 0.000 6 0.099 0.037 2191 2335 3025

8715 -0.94 -146.0 608.8 -7.7 482 8720 0.15 2.35 0.00 0.000 4 0.149 0.063 2232 3756 3025

8838 -0.94 -146.0 617.2 -6.7 484 8844 0.00 2.17 0.00 0.000 6 0.000 0.037 2232 2340 3025

9168 end dive: TARGET_DEPTH_EXCEEDED

state 9168 begin apogee

9175 -0.34 0.0 637.8 6.5 493 9311 0.43 0.00 133.02 1.233 6 0.140 0.000 2364 2530 2420

9312 end apogee: CONTROL_FINISHED_OK

state 9312 begin climb

9315 1.08 146.0 641.4 0.0 496 9464 1.02 0.00 139.48 1.141 6 0.102 0.000 2669 2531 1824

9801 0.94 146.0 604.7 8.3 508 9806 0.12 2.33 0.00 0.000 4 0.148 0.063 2636 3942 1823

9857 0.80 146.0 599.9 8.4 509 9861 0.10 2.22 0.00 0.000 6 0.153 0.038 2610 2512 1822

10176 0.88 161.6 579.3 6.5 517 10195 0.00 2.25 14.15 1.115 4 0.000 0.051 2610 1123 1761

10235 1.01 161.6 575.1 7.4 518 10239 0.15 2.22 0.00 0.000 6 0.071 0.046 2668 2529 1760

10547 0.88 161.6 548.4 8.6 526 10552 0.15 2.25 0.00 0.000 4 0.133 0.061 2625 3926 1760

10604 0.83 161.6 543.7 8.3 527 10608 0.00 2.15 0.00 0.000 6 0.000 0.038 2624 2521 1760

10922 0.83 163.0 521.2 7.0 535 10926 0.00 2.17 0.00 0.000 4 0.000 0.051 2624 1112 1759

10973 0.91 176.0 517.8 6.6 536 10992 0.00 2.20 13.15 1.099 6 0.000 0.045 2624 2525 1702

11336 0.91 176.0 492.6 7.0 545 11340 0.00 2.25 0.00 0.000 4 0.000 0.064 2624 3929 1702

11381 0.86 176.0 489.0 8.7 546 11385 0.00 2.17 0.00 0.000 6 0.000 0.038 2624 2507 1702

11711 0.91 181.4 465.9 6.8 554 11722 0.00 2.17 6.10 0.913 4 0.000 0.049 2625 1119 1680

11773 0.99 181.4 461.5 7.2 555 11777 0.10 2.20 0.00 0.000 6 0.087 0.045 2665 2522 1680

12120 0.91 181.4 430.4 9.1 564 12125 0.12 2.25 0.00 0.000 4 0.131 0.061 2628 3926 1679

12182 0.86 181.4 424.9 8.9 565 12186 0.00 2.15 0.00 0.000 6 0.000 0.038 2627 2515 1680

12495 0.90 181.4 401.1 7.4 573 12499 0.00 2.17 0.00 0.000 4 0.000 0.049 2628 1110 1681

12556 0.99 181.4 396.5 7.6 574 12563 0.10 2.20 0.00 0.000 6 0.087 0.044 2668 2523 1680

12873 0.90 181.4 368.8 8.9 590 12877 0.15 2.25 0.00 0.000 4 0.126 0.061 2624 3926 1680

12922 0.90 181.4 364.5 8.4 592 12926 0.00 2.15 0.00 0.000 6 0.000 0.037 2623 2511 1680

13249 0.99 192.3 342.3 6.6 608 13265 0.10 2.17 10.68 0.970 4 0.084 0.048 2666 1117 1636

13311 0.99 192.3 337.3 8.7 610 13315 0.00 2.20 0.00 0.000 6 0.000 0.044 2667 2523 1635

13644 0.93 192.3 308.2 8.5 626 13648 0.12 2.25 0.00 0.000 4 0.141 0.061 2630 3924 1635

13699 0.93 192.3 303.8 7.1 628 13703 0.00 2.15 0.00 0.000 6 0.000 0.036 2629 2509 1636

14021 1.08 249.4 286.4 5.1 644 14074 0.15 2.25 47.55 1.019 4 0.071 0.048 2692 1124 1402

14138 1.08 249.4 276.9 8.2 649 14142 0.00 2.22 0.00 0.000 6 0.000 0.044 2692 2520 1401

14459 1.02 249.4 246.8 9.4 665 14461 0.15 0.00 0.00 0.000 6 0.129 0.000 2648 2520 1400

14769 1.12 256.2 225.5 6.8 680 14783 0.12 2.28 7.03 0.830 4 0.080 0.049 2703 1119 1375

14828 1.12 256.2 220.2 9.8 682 14835 0.10 2.20 0.00 0.000 6 0.138 0.044 2677 2528 1375

15144 1.12 256.2 194.7 8.6 698 15145 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2528 1375

15453 1.12 256.2 168.9 8.4 713 15457 0.00 2.22 0.00 0.000 4 0.000 0.050 2677 1115 1375

15509 1.20 256.2 164.2 8.1 715 15513 0.00 2.20 0.00 0.000 6 0.000 0.045 2676 2524 1375

15831 1.26 256.2 139.5 7.6 731 15832 0.12 0.00 0.00 0.000 6 0.074 0.000 2732 2524 1375

16140 1.15 256.2 111.0 9.4 746 16142 0.17 0.00 0.00 0.000 6 0.127 0.000 2678 2524 1375

16463 1.22 256.2 84.0 8.1 785 16470 0.08 0.00 0.00 0.000 6 0.097 0.000 2718 2523 1374

16807 1.22 256.2 54.6 8.5 846 16813 0.00 2.22 0.00 0.000 4 0.000 0.051 2718 1122 1373

16876 1.22 256.2 48.9 8.7 858 16883 0.00 2.20 0.00 0.000 6 0.000 0.048 2719 2518 1373

17224 1.22 256.2 24.8 8.5 919 17230 0.00 2.28 0.00 0.000 4 0.000 0.064 2718 3928 1373

17271 1.13 256.2 20.3 9.5 927 17278 0.15 2.17 0.00 0.000 6 0.129 0.040 2673 2515 1372

17578 end climb: SURFACE_DEPTH_REACHED

state 17578 begin surface coast

17602 end surface coast: CONTROL_FINISHED_OK

state 17602 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	316	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-28701.74	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	074857,6706.689,-5711.001,99,1.6,101,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	7	TGT_RADIUS	8000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.222,-0.035
_SM_DEPTHo	1.67	KALMAN_X	-22333.0,793.3,-1301.4,32587.0,-1097.7
_SM_ANGLEo	-60.7	KALMAN_Y	-41057.0,-447.8,997.1,62340.8,-545.7
GPS2	075509,6706.667,-5711.130,11,1.4,11,-37.7	MHEAD_RNG_PITCHd_Wd	136.7,18031,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	637

FINISH	1.7,1.026177	TCM_TEMP	16.00
SM_CCo	17680,0.00,0.000,0,0,1369,257.57	XPDR_PINGS	2
SM_GC	1.45,7.07,0.00,0.00,0.073,0.000,0.000,162,2328,1369,-10.40,-0.34,257.57	_24V_AH	20.6,59.542
RAFOS_CLK	949	_10V_AH	10.5,26.125
RAFOS	0,1226909043,8.083333,8.067500,61,60,59,57,56,56,199,144,126,169,159,213	DATA_FILE_SIZE	37895,986
RAFOS_FIX	6706.640625,-5715.349121,171108,121220,2,82,0.19	CAP_FILE_SIZE	154032,0
IRIDIUM_FIX	6636.54,-5712.23,110298,020255	CFSIZE	260165632,227405824
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1874	SOUNDSPEED	1459.3
INTERNAL_PRESSURE	8.55502	GPS	171108,125208,6705.993,-5708.609,30,1.4,30,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	260	120.65	SBE_CT	767	24	379.54
Roll_motor	175	69	248.96	SBE_O2	671	19	262.76
VBD_pump_during_apogee	371	1233	9429.70	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	27	103	58.68	nil	0	0	0.00
Iridium_during_connect	33	160	111.63	nil	0	0	0.00
Iridium_during_xfer	178	223	821.55
Transponder_ping	0	420	4.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.01
TT8	1882	19	393.75
LPSleep	13098	2	317.71
TT8_Active	537	19	112.38
TT8_Sampling	1981	39	830.54
TT8_CF8	556	45	268.40
TT8_Kalman	33	81	28.71
Analog_circuits	1638	12	206.40
GPS_charging	0	0	0.00
Compass	1947	8	163.55
RAFOS	3600	1	56.70
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
17	-1.08	-146.0	0.0	0.0	0	140	0.00	0.00	-119.55	0.000	2	0.000	0.000	162	2330	2959
143	-1.08	-146.0	3.1	-2.1	21	162	8.73	2.28	-2.15	0.000	4	0.260	0.069	2197	939	3019
283	-0.57	-146.0	30.2	-19.2	45	290	0.43	2.25	0.00	0.000	6	0.173	0.051	2311	2352	3021
628	-0.57	-146.0	63.7	-8.2	106	634	0.00	2.25	0.00	0.000	4	0.000	0.054	2311	936	3021
640	-0.57	-146.0	64.6	-7.8	108	646	0.00	2.25	0.00	0.000	6	0.000	0.050	2312	2355	3021
985	-0.66	-146.0	88.8	-6.1	169	992	0.00	2.28	0.00	0.000	4	0.000	0.064	2311	3753	3021
1011	-0.76	-146.0	90.4	-6.0	173	1018	0.15	2.20	0.00	0.000	6	0.084	0.038	2256	2326	3022
1343	-0.69	-146.0	117.6	-8.7	205	1348	0.12	2.20	0.00	0.000	4	0.163	0.053	2288	935	3022
1382	-0.69	-146.0	120.8	-7.9	207	1386	0.00	2.25	0.00	0.000	6	0.000	0.050	2288	2353	3022
1715	-0.74	-146.0	144.2	-7.1	223	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2353	3022
2024	-0.82	-146.0	163.7	-6.2	238	2029	0.12	2.30	0.00	0.000	4	0.100	0.066	2242	3753	3021
2035	-0.88	-146.0	164.6	-6.3	238	2041	0.00	2.20	0.00	0.000	6	0.000	0.039	2242	2329	3021
2351	-0.82	-146.0	193.2	-9.2	254	2353	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2329	3021
2661	-0.77	-146.0	219.5	-7.8	269	2665	0.10	2.22	0.00	0.000	4	0.179	0.053	2267	927	3020
2672	-0.77	-146.0	220.6	-7.8	269	2676	0.00	2.25	0.00	0.000	6	0.000	0.050	2268	2342	3020
2994	-0.83	-146.0	243.0	-7.0	285	2998	0.00	2.30	0.00	0.000	4	0.000	0.067	2268	3745	3020
3021	-0.91	-146.0	245.0	-7.4	286	3026	0.12	2.17	0.00	0.000	6	0.092	0.039	2224	2339	3020
3342	-0.82	-146.0	271.1	-7.5	302	3347	0.12	2.35	0.00	0.000	4	0.161	0.066	2256	3749	3020
3468	-0.90	-146.0	279.0	-5.9	307	3474	0.00	2.20	0.00	0.000	6	0.000	0.040	2257	2330	3020
3784	-0.95	-146.0	297.3	-5.6	323	3788	0.10	2.35	0.00	0.000	4	0.103	0.065	2219	3754	3020
3806	-0.95	-146.0	298.8	-6.7	324	3810	0.00	2.20	0.00	0.000	6	0.000	0.039	2219	2333	3020
4133	-0.87	-146.0	321.0	-6.6	340	4138	0.12	2.35	0.00	0.000	4	0.167	0.065	2253	3745	3020
4150	-0.87	-146.0	322.1	-6.1	341	4154	0.00	2.17	0.00	0.000	6	0.000	0.039	2253	2327	3020
4483	-0.92	-146.0	341.6	-6.1	357	4487	0.00	2.35	0.00	0.000	4	0.000	0.064	2253	3749	3020
4494	-0.98	-146.0	342.3	-6.1	357	4498	0.12	2.17	0.00	0.000	6	0.096	0.038	2208	2340	3020
4815	-0.89	-146.0	366.3	-7.6	373	4820	0.15	2.33	0.00	0.000	4	0.152	0.064	2249	3750	3020
4842	-0.89	-146.0	368.2	-6.7	374	4846	0.00	2.17	0.00	0.000	6	0.000	0.038	2250	2340	3020
5164	-0.94	-146.0	386.0	-5.2	390	5168	0.00	2.33	0.00	0.000	4	0.000	0.064	2250	3749	3020
5176	-0.99	-146.0	386.6	-5.1	390	5180	0.12	2.17	0.00	0.000	6	0.100	0.038	2205	2337	3020
5515	-0.89	-146.0	408.0	-6.4	404	5520	0.15	2.35	0.00	0.000	4	0.148	0.063	2247	3757	3021
5560	-0.96	-146.0	410.6	-5.5	405	5564	0.00	2.20	0.00	0.000	6	0.000	0.038	2247	2327	3021
5886	-1.02	-146.0	428.1	-5.4	413	5890	0.12	2.35	0.00	0.000	4	0.106	0.062	2202	3750	3022
5901	-1.02	-146.0	429.2	-5.6	413	5905	0.00	2.17	0.00	0.000	6	0.000	0.036	2202	2333	3022
6250	-0.92	-146.0	452.4	-6.7	422	6255	0.15	2.33	0.00	0.000	4	0.153	0.062	2244	3750	3023
6291	-0.99	-146.0	454.8	-5.9	423	6295	0.10	2.17	0.00	0.000	6	0.098	0.038	2205	2334	3023
6620	-0.90	-146.0	475.6	-6.3	431	6625	0.12	2.35	0.00	0.000	4	0.153	0.062	2240	3755	3023
6636	-0.90	-146.0	476.7	-6.3	431	6640	0.00	2.17	0.00	0.000	6	0.000	0.036	2240	2338	3023
6985	-0.90	-146.0	495.6	-5.4	440	6989	0.00	2.33	0.00	0.000	4	0.000	0.062	2240	3750	3024
6996	-0.90	-146.0	496.4	-5.6	440	7000	0.00	2.17	0.00	0.000	6	0.000	0.037	2240	2328	3024
7314	-0.90	-146.0	515.2	-6.1	448	7318	0.00	2.35	0.00	0.000	4	0.000	0.062	2240	3754	3024
7332	-0.95	-146.0	516.3	-5.9	448	7336	0.00	2.17	0.00	0.000	6	0.000	0.036	2240	2337	3024
7645	-1.00	-146.0	535.3	-6.1	456	7649	0.00	2.33	0.00	0.000	4	0.000	0.061	2240	3754	3024
7662	-1.05	-146.0	536.3	-6.0	456	7667	0.12	2.17	0.00	0.000	6	0.093	0.036	2194	2334	3024
7976	-0.94	-146.0	559.4	-7.5	464	7981	0.15	2.35	0.00	0.000	4	0.150	0.062	2236	3754	3025
8021	-1.00	-146.0	562.5	-6.7	465	8025	0.00	2.17	0.00	0.000	6	0.000	0.036	2236	2336	3025
8345	-1.00	-146.0	581.8	-5.9	473	8349	0.00	2.33	0.00	0.000	4	0.000	0.061	2236	3754	3025
8379	-1.05	-146.0	583.9	-6.4	473	8383	0.12	2.17	0.00	0.000	6	0.099	0.037	2191	2335	3025
8715	-0.94	-146.0	608.8	-7.7	482	8720	0.15	2.35	0.00	0.000	4	0.149	0.063	2232	3756	3025
8838	-0.94	-146.0	617.2	-6.7	484	8844	0.00	2.17	0.00	0.000	6	0.000	0.037	2232	2340	3025
9168	end dive: TARGET_DEPTH_EXCEEDED
state	9168	begin apogee
9175	-0.34	0.0	637.8	6.5	493	9311	0.43	0.00	133.02	1.233	6	0.140	0.000	2364	2530	2420
9312	end apogee: CONTROL_FINISHED_OK
state	9312	begin climb
9315	1.08	146.0	641.4	0.0	496	9464	1.02	0.00	139.48	1.141	6	0.102	0.000	2669	2531	1824
9801	0.94	146.0	604.7	8.3	508	9806	0.12	2.33	0.00	0.000	4	0.148	0.063	2636	3942	1823
9857	0.80	146.0	599.9	8.4	509	9861	0.10	2.22	0.00	0.000	6	0.153	0.038	2610	2512	1822
10176	0.88	161.6	579.3	6.5	517	10195	0.00	2.25	14.15	1.115	4	0.000	0.051	2610	1123	1761
10235	1.01	161.6	575.1	7.4	518	10239	0.15	2.22	0.00	0.000	6	0.071	0.046	2668	2529	1760
10547	0.88	161.6	548.4	8.6	526	10552	0.15	2.25	0.00	0.000	4	0.133	0.061	2625	3926	1760
10604	0.83	161.6	543.7	8.3	527	10608	0.00	2.15	0.00	0.000	6	0.000	0.038	2624	2521	1760
10922	0.83	163.0	521.2	7.0	535	10926	0.00	2.17	0.00	0.000	4	0.000	0.051	2624	1112	1759
10973	0.91	176.0	517.8	6.6	536	10992	0.00	2.20	13.15	1.099	6	0.000	0.045	2624	2525	1702
11336	0.91	176.0	492.6	7.0	545	11340	0.00	2.25	0.00	0.000	4	0.000	0.064	2624	3929	1702
11381	0.86	176.0	489.0	8.7	546	11385	0.00	2.17	0.00	0.000	6	0.000	0.038	2624	2507	1702
11711	0.91	181.4	465.9	6.8	554	11722	0.00	2.17	6.10	0.913	4	0.000	0.049	2625	1119	1680
11773	0.99	181.4	461.5	7.2	555	11777	0.10	2.20	0.00	0.000	6	0.087	0.045	2665	2522	1680
12120	0.91	181.4	430.4	9.1	564	12125	0.12	2.25	0.00	0.000	4	0.131	0.061	2628	3926	1679
12182	0.86	181.4	424.9	8.9	565	12186	0.00	2.15	0.00	0.000	6	0.000	0.038	2627	2515	1680
12495	0.90	181.4	401.1	7.4	573	12499	0.00	2.17	0.00	0.000	4	0.000	0.049	2628	1110	1681
12556	0.99	181.4	396.5	7.6	574	12563	0.10	2.20	0.00	0.000	6	0.087	0.044	2668	2523	1680
12873	0.90	181.4	368.8	8.9	590	12877	0.15	2.25	0.00	0.000	4	0.126	0.061	2624	3926	1680
12922	0.90	181.4	364.5	8.4	592	12926	0.00	2.15	0.00	0.000	6	0.000	0.037	2623	2511	1680
13249	0.99	192.3	342.3	6.6	608	13265	0.10	2.17	10.68	0.970	4	0.084	0.048	2666	1117	1636
13311	0.99	192.3	337.3	8.7	610	13315	0.00	2.20	0.00	0.000	6	0.000	0.044	2667	2523	1635
13644	0.93	192.3	308.2	8.5	626	13648	0.12	2.25	0.00	0.000	4	0.141	0.061	2630	3924	1635
13699	0.93	192.3	303.8	7.1	628	13703	0.00	2.15	0.00	0.000	6	0.000	0.036	2629	2509	1636
14021	1.08	249.4	286.4	5.1	644	14074	0.15	2.25	47.55	1.019	4	0.071	0.048	2692	1124	1402
14138	1.08	249.4	276.9	8.2	649	14142	0.00	2.22	0.00	0.000	6	0.000	0.044	2692	2520	1401
14459	1.02	249.4	246.8	9.4	665	14461	0.15	0.00	0.00	0.000	6	0.129	0.000	2648	2520	1400
14769	1.12	256.2	225.5	6.8	680	14783	0.12	2.28	7.03	0.830	4	0.080	0.049	2703	1119	1375
14828	1.12	256.2	220.2	9.8	682	14835	0.10	2.20	0.00	0.000	6	0.138	0.044	2677	2528	1375
15144	1.12	256.2	194.7	8.6	698	15145	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2528	1375
15453	1.12	256.2	168.9	8.4	713	15457	0.00	2.22	0.00	0.000	4	0.000	0.050	2677	1115	1375
15509	1.20	256.2	164.2	8.1	715	15513	0.00	2.20	0.00	0.000	6	0.000	0.045	2676	2524	1375
15831	1.26	256.2	139.5	7.6	731	15832	0.12	0.00	0.00	0.000	6	0.074	0.000	2732	2524	1375
16140	1.15	256.2	111.0	9.4	746	16142	0.17	0.00	0.00	0.000	6	0.127	0.000	2678	2524	1375
16463	1.22	256.2	84.0	8.1	785	16470	0.08	0.00	0.00	0.000	6	0.097	0.000	2718	2523	1374
16807	1.22	256.2	54.6	8.5	846	16813	0.00	2.22	0.00	0.000	4	0.000	0.051	2718	1122	1373
16876	1.22	256.2	48.9	8.7	858	16883	0.00	2.20	0.00	0.000	6	0.000	0.048	2719	2518	1373
17224	1.22	256.2	24.8	8.5	919	17230	0.00	2.28	0.00	0.000	4	0.000	0.064	2718	3928	1373
17271	1.13	256.2	20.3	9.5	927	17278	0.15	2.17	0.00	0.000	6	0.129	0.040	2673	2515	1372
17578	end climb: SURFACE_DEPTH_REACHED
state	17578	begin surface coast
17602	end surface coast: CONTROL_FINISHED_OK
state	17602	begin surface