Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 317 * 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 317 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 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -28718.336 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 -28718.336

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 36 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 317 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 125208,6705.993,-5708.609,30,1.4,30,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 10 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.096,-0.203

_SM_DEPTHo 1.64 KALMAN_X -25824.2,-80.9,755.6,36592.3,-4902.9

_SM_ANGLEo -58.9 KALMAN_Y -39287.8,-570.7,-1251.4,61704.4,4781.2

GPS2 125856,6705.996,-5708.792,14,1.6,14,-37.7 MHEAD_RNG_PITCHd_Wd 192.2,16007,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 626

Post-dive calculations and measurements:

FINISH 0.8,1.022704 TCM_TEMP 15.60

SM_CCo 17442,0.00,0.000,0,0,1193,301.23 XPDR_PINGS 1

SM_GC 1.53,7.18,0.00,0.00,0.068,0.000,0.000,157,2342,1193,-10.41,0.06,301.23 _24V_AH 20.7,59.687

RAFOS_CLK 934 _10V_AH 10.5,26.197

RAFOS 4,1226925845,12.750000,12.734722,64,59,55,54,52,51,776,203,162,151,216,120 DATA_FILE_SIZE 37858,976

RAFOS_FIX 7544.612793,-8455.451172,171108,161633,3,77,94.26 CAP_FILE_SIZE 146271,0

IRIDIUM_FIX 6636.54,-5707.59,110298,080846 CFSIZE 260165632,227344384

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1900 SOUNDSPEED 1458.1

INTERNAL_PRESSURE 8.53548 GPS 171108,175328,6706.531,-5712.841,70,2.1,89,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 260 112.42 SBE_CT 759 24 377.44

Roll_motor 170 68 241.45 SBE_O2 663 19 261.15

VBD_pump_during_apogee 409 1221 10350.08 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 24 103 51.21 nil 0 0 0.00

Iridium_during_connect 48 160 162.00 nil 0 0 0.00

Iridium_during_xfer 200 223 925.42

Transponder_ping 0 420 2.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.38

TT8 1854 19 387.98

LPSleep 12919 2 313.35

TT8_Active 588 19 123.03

TT8_Sampling 1951 39 818.00

TT8_CF8 570 45 275.29

TT8_Kalman 33 81 28.70

Analog_circuits 1652 12 208.21

GPS_charging 0 0 0.00

Compass 1916 8 160.97

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 0 131 0.00 0.00 -112.80 0.000 6 0.000 0.000 161 2326 3016

135 -1.08 -146.0 3.2 -2.3 20 149 8.80 2.28 0.00 0.000 4 0.261 0.058 2198 939 3020

346 -0.61 -146.0 42.7 -15.1 57 353 0.38 2.25 0.00 0.000 6 0.170 0.051 2305 2350 3022

691 -0.67 -146.0 69.5 -6.9 118 697 0.00 2.25 0.00 0.000 4 0.000 0.054 2305 936 3023

777 -0.67 -146.0 75.7 -6.9 133 784 0.00 2.25 0.00 0.000 6 0.000 0.050 2305 2352 3023

1122 -0.77 -146.0 97.2 -7.1 194 1129 0.12 2.28 0.00 0.000 4 0.094 0.064 2258 3746 3022

1136 -0.85 -146.0 98.3 -7.1 196 1142 0.00 2.17 0.00 0.000 6 0.000 0.038 2259 2330 3022

1464 -0.80 -146.0 125.9 -7.7 214 1468 0.00 2.33 0.00 0.000 4 0.000 0.065 2258 3743 3022

1487 -0.80 -146.0 127.8 -7.9 215 1491 0.00 2.17 0.00 0.000 6 0.000 0.038 2258 2330 3023

1820 -0.80 -146.0 155.8 -8.6 231 1823 0.00 2.35 0.00 0.000 4 0.000 0.066 2259 3755 3023

1858 -0.80 -146.0 159.4 -8.8 232 1865 0.00 2.20 0.00 0.000 6 0.000 0.039 2258 2330 3022

2174 -0.80 -146.0 184.5 -8.0 248 2177 0.00 2.35 0.00 0.000 4 0.000 0.067 2258 3750 3022

2230 -0.80 -146.0 189.1 -8.2 250 2233 0.00 2.20 0.00 0.000 6 0.000 0.039 2258 2328 3022

2551 -0.80 -146.0 211.8 -6.5 266 2552 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2329 3021

2860 -0.80 -146.0 229.5 -5.8 281 2864 0.00 2.35 0.00 0.000 4 0.000 0.066 2258 3749 3020

2888 -0.84 -146.0 231.1 -6.0 282 2892 0.00 2.17 0.00 0.000 6 0.000 0.038 2258 2331 3021

3215 -0.84 -146.0 251.9 -6.8 298 3216 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2331 3021

3525 -0.89 -146.0 272.7 -6.4 313 3529 0.00 2.20 0.00 0.000 4 0.000 0.052 2259 930 3020

3536 -0.89 -146.0 273.5 -6.4 313 3540 0.00 2.25 0.00 0.000 6 0.000 0.048 2259 2350 3020

3858 -0.94 -146.0 294.7 -6.4 329 3860 0.10 0.00 0.00 0.000 6 0.104 0.000 2220 2349 3020

4166 -0.88 -146.0 317.1 -7.3 344 4168 0.10 0.00 0.00 0.000 6 0.168 0.000 2245 2350 3020

4476 -0.88 -146.0 336.9 -6.2 359 4480 0.00 2.28 0.00 0.000 4 0.000 0.066 2245 3741 3021

4486 -0.88 -146.0 337.7 -6.3 359 4490 0.00 2.17 0.00 0.000 6 0.000 0.038 2245 2327 3021

4807 -0.88 -146.0 357.0 -6.0 375 4810 0.00 2.35 0.00 0.000 4 0.000 0.064 2245 3753 3021

4858 -0.94 -146.0 360.1 -6.3 377 4862 0.00 2.17 0.00 0.000 6 0.000 0.038 2245 2341 3021

5185 -0.94 -146.0 379.2 -5.7 393 5189 0.00 2.33 0.00 0.000 4 0.000 0.064 2245 3753 3021

5224 -1.00 -146.0 381.6 -5.8 394 5231 0.10 2.17 0.00 0.000 6 0.100 0.038 2209 2340 3021

5540 -0.92 -146.0 404.0 -7.4 409 5542 0.12 0.00 0.00 0.000 6 0.153 0.000 2242 2338 3021

5864 -0.92 -146.0 424.4 -6.3 417 5868 0.00 2.33 0.00 0.000 4 0.000 0.064 2242 3752 3021

5903 -0.98 -146.0 426.9 -6.4 417 5910 0.00 2.17 0.00 0.000 6 0.000 0.038 2242 2338 3021

6235 -0.98 -146.0 446.6 -5.8 426 6239 0.00 2.33 0.00 0.000 4 0.000 0.063 2242 3754 3022

6246 -0.98 -146.0 447.4 -5.7 426 6250 0.00 2.17 0.00 0.000 6 0.000 0.037 2242 2338 3022

6565 -0.98 -146.0 466.5 -6.0 434 6569 0.00 2.33 0.00 0.000 4 0.000 0.063 2242 3753 3022

6575 -1.04 -146.0 467.2 -5.9 434 6580 0.12 2.17 0.00 0.000 6 0.091 0.036 2195 2336 3022

6895 -0.92 -146.0 491.3 -7.8 442 6899 0.15 2.33 0.00 0.000 4 0.152 0.061 2237 3743 3023

6939 -0.97 -146.0 494.5 -7.0 443 6943 0.00 2.17 0.00 0.000 6 0.000 0.036 2238 2326 3023

7263 -0.97 -146.0 514.8 -6.1 451 7267 0.00 2.33 0.00 0.000 4 0.000 0.064 2237 3742 3024

7275 -0.97 -146.0 515.7 -6.1 451 7278 0.00 2.15 0.00 0.000 6 0.000 0.037 2237 2340 3024

7593 -0.97 -146.0 534.8 -5.8 459 7597 0.00 2.33 0.00 0.000 4 0.000 0.063 2237 3753 3024

7621 -1.03 -146.0 536.4 -6.3 459 7626 0.10 2.17 0.00 0.000 6 0.106 0.036 2203 2334 3024

7965 -0.95 -146.0 560.1 -7.0 468 7969 0.10 2.33 0.00 0.000 4 0.158 0.064 2229 3742 3024

8059 -0.95 -146.0 566.2 -6.3 470 8063 0.00 2.15 0.00 0.000 6 0.000 0.037 2229 2340 3024

8384 -0.95 -146.0 586.3 -6.2 478 8385 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2340 3025

8709 -0.95 -146.0 606.7 -6.2 486 8711 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2340 3025

9031 end dive: TARGET_DEPTH_EXCEEDED

state 9031 begin apogee

9038 -0.34 0.0 626.6 6.2 494 9173 0.43 0.00 132.73 1.222 6 0.136 0.000 2362 2516 2420

9174 end apogee: CONTROL_FINISHED_OK

state 9174 begin climb

9177 1.08 146.0 628.6 0.0 497 9329 1.05 2.72 140.05 1.130 4 0.104 0.062 2669 3929 1824

9380 0.83 146.0 613.1 10.5 502 9385 0.22 2.40 0.00 0.000 6 0.137 0.037 2615 2527 1823

9716 0.86 169.5 591.7 6.2 511 9742 0.00 2.30 20.73 1.127 4 0.000 0.050 2615 1109 1729

9821 0.99 179.7 584.9 6.7 513 9837 0.12 2.28 10.30 1.034 6 0.077 0.045 2664 2538 1687

10163 0.90 179.7 555.2 8.8 521 10167 0.12 2.22 0.00 0.000 4 0.135 0.062 2628 3929 1685

10230 0.83 179.7 549.4 8.3 522 10234 0.00 2.17 0.00 0.000 6 0.000 0.038 2628 2512 1685

10577 0.83 179.7 524.6 7.1 531 10581 0.00 2.17 0.00 0.000 4 0.000 0.050 2628 1114 1685

10644 0.90 181.8 519.8 6.9 532 10648 0.00 2.20 0.00 0.000 6 0.000 0.045 2628 2522 1684

10992 0.90 181.8 494.5 7.4 541 10996 0.00 2.25 0.00 0.000 4 0.000 0.062 2628 3929 1684

11048 0.84 181.8 489.5 9.5 542 11053 0.00 2.17 0.00 0.000 6 0.000 0.038 2628 2508 1683

11366 0.84 182.0 466.7 7.0 550 11370 0.00 2.17 0.00 0.000 4 0.000 0.049 2628 1107 1683

11424 0.92 182.0 462.8 7.4 551 11428 0.00 2.22 0.00 0.000 6 0.000 0.044 2628 2532 1683

11742 0.97 182.0 440.1 7.2 559 11746 0.00 2.25 0.00 0.000 4 0.000 0.062 2628 3934 1683

11792 0.97 182.0 435.8 8.3 560 11796 0.00 2.17 0.00 0.000 6 0.000 0.038 2627 2509 1684

12117 1.02 182.0 412.4 7.2 568 12121 0.10 2.17 0.00 0.000 4 0.087 0.048 2673 1112 1684

12178 0.96 182.0 407.3 8.8 569 12182 0.12 2.20 0.00 0.000 6 0.142 0.045 2639 2524 1683

12493 0.96 182.0 384.3 7.2 582 12497 0.00 2.25 0.00 0.000 4 0.000 0.062 2639 3929 1683

12562 0.87 182.0 378.6 8.2 585 12565 0.00 2.15 0.00 0.000 6 0.000 0.038 2639 2521 1684

12894 0.87 182.0 354.4 7.2 601 12897 0.00 2.17 0.00 0.000 4 0.000 0.049 2639 1120 1684

12963 0.93 184.9 349.6 6.9 604 12973 0.00 2.20 5.57 0.828 6 0.000 0.045 2639 2527 1666

13289 0.95 197.1 327.0 6.6 620 13310 0.00 2.33 11.82 0.979 4 0.000 0.062 2639 3926 1615

13355 0.95 197.1 322.0 7.6 623 13359 0.00 2.17 0.00 0.000 6 0.000 0.037 2639 2508 1614

13688 0.98 224.0 301.4 6.1 639 13718 0.00 2.28 23.23 1.009 4 0.000 0.049 2639 1109 1506

13764 1.13 247.8 296.8 6.2 642 13790 0.15 2.25 21.15 0.980 6 0.073 0.044 2702 2532 1409

14102 1.03 247.8 266.1 9.4 658 14107 0.15 2.25 0.00 0.000 4 0.127 0.061 2657 3926 1406

14151 1.03 247.8 261.2 8.7 660 14155 0.00 2.15 0.00 0.000 6 0.000 0.037 2656 2516 1407

14474 1.10 247.8 236.7 7.5 676 14477 0.00 2.17 0.00 0.000 4 0.000 0.049 2657 1117 1407

14546 1.19 247.8 231.2 7.6 679 14551 0.12 2.20 0.00 0.000 6 0.077 0.044 2707 2526 1406

14872 1.11 247.8 200.5 9.5 695 14877 0.12 2.28 0.00 0.000 4 0.133 0.063 2668 3936 1406

14952 1.11 247.8 193.4 9.4 698 14958 0.00 2.17 0.00 0.000 6 0.000 0.038 2668 2515 1406

15268 1.16 247.8 169.3 7.3 714 15272 0.00 2.17 0.00 0.000 4 0.000 0.051 2668 1116 1406

15341 1.26 256.8 164.3 6.7 717 15358 0.15 2.20 8.70 0.888 6 0.072 0.046 2730 2520 1373

15667 1.14 256.8 134.3 9.6 733 15672 0.17 2.28 0.00 0.000 4 0.128 0.061 2677 3927 1372

15711 1.14 256.8 130.1 9.4 735 15715 0.00 2.17 0.00 0.000 6 0.000 0.039 2677 2510 1372

16038 1.20 256.8 104.9 7.9 751 16042 0.00 2.17 0.00 0.000 4 0.000 0.051 2677 1120 1372

16112 1.31 256.8 99.3 7.9 755 16119 0.15 2.20 0.00 0.000 6 0.074 0.047 2734 2519 1371

16457 1.20 256.8 66.5 10.3 816 16464 0.15 2.30 0.00 0.000 4 0.129 0.063 2689 3936 1371

16499 1.14 256.8 63.0 8.2 823 16505 0.00 2.20 0.00 0.000 6 0.000 0.040 2690 2508 1371

16843 1.28 298.9 44.2 5.6 884 16886 0.10 2.28 34.95 0.965 4 0.087 0.051 2734 1110 1201

17027 1.28 298.9 30.6 7.5 916 17033 0.00 2.25 0.00 0.000 6 0.000 0.047 2734 2529 1196

17341 end climb: SURFACE_DEPTH_REACHED

state 17341 begin surface coast

17364 end surface coast: CONTROL_FINISHED_OK

state 17364 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	317	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	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-28718.336	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	125208,6705.993,-5708.609,30,1.4,30,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	10	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.096,-0.203
_SM_DEPTHo	1.64	KALMAN_X	-25824.2,-80.9,755.6,36592.3,-4902.9
_SM_ANGLEo	-58.9	KALMAN_Y	-39287.8,-570.7,-1251.4,61704.4,4781.2
GPS2	125856,6705.996,-5708.792,14,1.6,14,-37.7	MHEAD_RNG_PITCHd_Wd	192.2,16007,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	626

FINISH	0.8,1.022704	TCM_TEMP	15.60
SM_CCo	17442,0.00,0.000,0,0,1193,301.23	XPDR_PINGS	1
SM_GC	1.53,7.18,0.00,0.00,0.068,0.000,0.000,157,2342,1193,-10.41,0.06,301.23	_24V_AH	20.7,59.687
RAFOS_CLK	934	_10V_AH	10.5,26.197
RAFOS	4,1226925845,12.750000,12.734722,64,59,55,54,52,51,776,203,162,151,216,120	DATA_FILE_SIZE	37858,976
RAFOS_FIX	7544.612793,-8455.451172,171108,161633,3,77,94.26	CAP_FILE_SIZE	146271,0
IRIDIUM_FIX	6636.54,-5707.59,110298,080846	CFSIZE	260165632,227344384
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1900	SOUNDSPEED	1458.1
INTERNAL_PRESSURE	8.53548	GPS	171108,175328,6706.531,-5712.841,70,2.1,89,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	260	112.42	SBE_CT	759	24	377.44
Roll_motor	170	68	241.45	SBE_O2	663	19	261.15
VBD_pump_during_apogee	409	1221	10350.08	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	24	103	51.21	nil	0	0	0.00
Iridium_during_connect	48	160	162.00	nil	0	0	0.00
Iridium_during_xfer	200	223	925.42
Transponder_ping	0	420	2.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.38
TT8	1854	19	387.98
LPSleep	12919	2	313.35
TT8_Active	588	19	123.03
TT8_Sampling	1951	39	818.00
TT8_CF8	570	45	275.29
TT8_Kalman	33	81	28.70
Analog_circuits	1652	12	208.21
GPS_charging	0	0	0.00
Compass	1916	8	160.97
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	131	0.00	0.00	-112.80	0.000	6	0.000	0.000	161	2326	3016
135	-1.08	-146.0	3.2	-2.3	20	149	8.80	2.28	0.00	0.000	4	0.261	0.058	2198	939	3020
346	-0.61	-146.0	42.7	-15.1	57	353	0.38	2.25	0.00	0.000	6	0.170	0.051	2305	2350	3022
691	-0.67	-146.0	69.5	-6.9	118	697	0.00	2.25	0.00	0.000	4	0.000	0.054	2305	936	3023
777	-0.67	-146.0	75.7	-6.9	133	784	0.00	2.25	0.00	0.000	6	0.000	0.050	2305	2352	3023
1122	-0.77	-146.0	97.2	-7.1	194	1129	0.12	2.28	0.00	0.000	4	0.094	0.064	2258	3746	3022
1136	-0.85	-146.0	98.3	-7.1	196	1142	0.00	2.17	0.00	0.000	6	0.000	0.038	2259	2330	3022
1464	-0.80	-146.0	125.9	-7.7	214	1468	0.00	2.33	0.00	0.000	4	0.000	0.065	2258	3743	3022
1487	-0.80	-146.0	127.8	-7.9	215	1491	0.00	2.17	0.00	0.000	6	0.000	0.038	2258	2330	3023
1820	-0.80	-146.0	155.8	-8.6	231	1823	0.00	2.35	0.00	0.000	4	0.000	0.066	2259	3755	3023
1858	-0.80	-146.0	159.4	-8.8	232	1865	0.00	2.20	0.00	0.000	6	0.000	0.039	2258	2330	3022
2174	-0.80	-146.0	184.5	-8.0	248	2177	0.00	2.35	0.00	0.000	4	0.000	0.067	2258	3750	3022
2230	-0.80	-146.0	189.1	-8.2	250	2233	0.00	2.20	0.00	0.000	6	0.000	0.039	2258	2328	3022
2551	-0.80	-146.0	211.8	-6.5	266	2552	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2329	3021
2860	-0.80	-146.0	229.5	-5.8	281	2864	0.00	2.35	0.00	0.000	4	0.000	0.066	2258	3749	3020
2888	-0.84	-146.0	231.1	-6.0	282	2892	0.00	2.17	0.00	0.000	6	0.000	0.038	2258	2331	3021
3215	-0.84	-146.0	251.9	-6.8	298	3216	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2331	3021
3525	-0.89	-146.0	272.7	-6.4	313	3529	0.00	2.20	0.00	0.000	4	0.000	0.052	2259	930	3020
3536	-0.89	-146.0	273.5	-6.4	313	3540	0.00	2.25	0.00	0.000	6	0.000	0.048	2259	2350	3020
3858	-0.94	-146.0	294.7	-6.4	329	3860	0.10	0.00	0.00	0.000	6	0.104	0.000	2220	2349	3020
4166	-0.88	-146.0	317.1	-7.3	344	4168	0.10	0.00	0.00	0.000	6	0.168	0.000	2245	2350	3020
4476	-0.88	-146.0	336.9	-6.2	359	4480	0.00	2.28	0.00	0.000	4	0.000	0.066	2245	3741	3021
4486	-0.88	-146.0	337.7	-6.3	359	4490	0.00	2.17	0.00	0.000	6	0.000	0.038	2245	2327	3021
4807	-0.88	-146.0	357.0	-6.0	375	4810	0.00	2.35	0.00	0.000	4	0.000	0.064	2245	3753	3021
4858	-0.94	-146.0	360.1	-6.3	377	4862	0.00	2.17	0.00	0.000	6	0.000	0.038	2245	2341	3021
5185	-0.94	-146.0	379.2	-5.7	393	5189	0.00	2.33	0.00	0.000	4	0.000	0.064	2245	3753	3021
5224	-1.00	-146.0	381.6	-5.8	394	5231	0.10	2.17	0.00	0.000	6	0.100	0.038	2209	2340	3021
5540	-0.92	-146.0	404.0	-7.4	409	5542	0.12	0.00	0.00	0.000	6	0.153	0.000	2242	2338	3021
5864	-0.92	-146.0	424.4	-6.3	417	5868	0.00	2.33	0.00	0.000	4	0.000	0.064	2242	3752	3021
5903	-0.98	-146.0	426.9	-6.4	417	5910	0.00	2.17	0.00	0.000	6	0.000	0.038	2242	2338	3021
6235	-0.98	-146.0	446.6	-5.8	426	6239	0.00	2.33	0.00	0.000	4	0.000	0.063	2242	3754	3022
6246	-0.98	-146.0	447.4	-5.7	426	6250	0.00	2.17	0.00	0.000	6	0.000	0.037	2242	2338	3022
6565	-0.98	-146.0	466.5	-6.0	434	6569	0.00	2.33	0.00	0.000	4	0.000	0.063	2242	3753	3022
6575	-1.04	-146.0	467.2	-5.9	434	6580	0.12	2.17	0.00	0.000	6	0.091	0.036	2195	2336	3022
6895	-0.92	-146.0	491.3	-7.8	442	6899	0.15	2.33	0.00	0.000	4	0.152	0.061	2237	3743	3023
6939	-0.97	-146.0	494.5	-7.0	443	6943	0.00	2.17	0.00	0.000	6	0.000	0.036	2238	2326	3023
7263	-0.97	-146.0	514.8	-6.1	451	7267	0.00	2.33	0.00	0.000	4	0.000	0.064	2237	3742	3024
7275	-0.97	-146.0	515.7	-6.1	451	7278	0.00	2.15	0.00	0.000	6	0.000	0.037	2237	2340	3024
7593	-0.97	-146.0	534.8	-5.8	459	7597	0.00	2.33	0.00	0.000	4	0.000	0.063	2237	3753	3024
7621	-1.03	-146.0	536.4	-6.3	459	7626	0.10	2.17	0.00	0.000	6	0.106	0.036	2203	2334	3024
7965	-0.95	-146.0	560.1	-7.0	468	7969	0.10	2.33	0.00	0.000	4	0.158	0.064	2229	3742	3024
8059	-0.95	-146.0	566.2	-6.3	470	8063	0.00	2.15	0.00	0.000	6	0.000	0.037	2229	2340	3024
8384	-0.95	-146.0	586.3	-6.2	478	8385	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2340	3025
8709	-0.95	-146.0	606.7	-6.2	486	8711	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2340	3025
9031	end dive: TARGET_DEPTH_EXCEEDED
state	9031	begin apogee
9038	-0.34	0.0	626.6	6.2	494	9173	0.43	0.00	132.73	1.222	6	0.136	0.000	2362	2516	2420
9174	end apogee: CONTROL_FINISHED_OK
state	9174	begin climb
9177	1.08	146.0	628.6	0.0	497	9329	1.05	2.72	140.05	1.130	4	0.104	0.062	2669	3929	1824
9380	0.83	146.0	613.1	10.5	502	9385	0.22	2.40	0.00	0.000	6	0.137	0.037	2615	2527	1823
9716	0.86	169.5	591.7	6.2	511	9742	0.00	2.30	20.73	1.127	4	0.000	0.050	2615	1109	1729
9821	0.99	179.7	584.9	6.7	513	9837	0.12	2.28	10.30	1.034	6	0.077	0.045	2664	2538	1687
10163	0.90	179.7	555.2	8.8	521	10167	0.12	2.22	0.00	0.000	4	0.135	0.062	2628	3929	1685
10230	0.83	179.7	549.4	8.3	522	10234	0.00	2.17	0.00	0.000	6	0.000	0.038	2628	2512	1685
10577	0.83	179.7	524.6	7.1	531	10581	0.00	2.17	0.00	0.000	4	0.000	0.050	2628	1114	1685
10644	0.90	181.8	519.8	6.9	532	10648	0.00	2.20	0.00	0.000	6	0.000	0.045	2628	2522	1684
10992	0.90	181.8	494.5	7.4	541	10996	0.00	2.25	0.00	0.000	4	0.000	0.062	2628	3929	1684
11048	0.84	181.8	489.5	9.5	542	11053	0.00	2.17	0.00	0.000	6	0.000	0.038	2628	2508	1683
11366	0.84	182.0	466.7	7.0	550	11370	0.00	2.17	0.00	0.000	4	0.000	0.049	2628	1107	1683
11424	0.92	182.0	462.8	7.4	551	11428	0.00	2.22	0.00	0.000	6	0.000	0.044	2628	2532	1683
11742	0.97	182.0	440.1	7.2	559	11746	0.00	2.25	0.00	0.000	4	0.000	0.062	2628	3934	1683
11792	0.97	182.0	435.8	8.3	560	11796	0.00	2.17	0.00	0.000	6	0.000	0.038	2627	2509	1684
12117	1.02	182.0	412.4	7.2	568	12121	0.10	2.17	0.00	0.000	4	0.087	0.048	2673	1112	1684
12178	0.96	182.0	407.3	8.8	569	12182	0.12	2.20	0.00	0.000	6	0.142	0.045	2639	2524	1683
12493	0.96	182.0	384.3	7.2	582	12497	0.00	2.25	0.00	0.000	4	0.000	0.062	2639	3929	1683
12562	0.87	182.0	378.6	8.2	585	12565	0.00	2.15	0.00	0.000	6	0.000	0.038	2639	2521	1684
12894	0.87	182.0	354.4	7.2	601	12897	0.00	2.17	0.00	0.000	4	0.000	0.049	2639	1120	1684
12963	0.93	184.9	349.6	6.9	604	12973	0.00	2.20	5.57	0.828	6	0.000	0.045	2639	2527	1666
13289	0.95	197.1	327.0	6.6	620	13310	0.00	2.33	11.82	0.979	4	0.000	0.062	2639	3926	1615
13355	0.95	197.1	322.0	7.6	623	13359	0.00	2.17	0.00	0.000	6	0.000	0.037	2639	2508	1614
13688	0.98	224.0	301.4	6.1	639	13718	0.00	2.28	23.23	1.009	4	0.000	0.049	2639	1109	1506
13764	1.13	247.8	296.8	6.2	642	13790	0.15	2.25	21.15	0.980	6	0.073	0.044	2702	2532	1409
14102	1.03	247.8	266.1	9.4	658	14107	0.15	2.25	0.00	0.000	4	0.127	0.061	2657	3926	1406
14151	1.03	247.8	261.2	8.7	660	14155	0.00	2.15	0.00	0.000	6	0.000	0.037	2656	2516	1407
14474	1.10	247.8	236.7	7.5	676	14477	0.00	2.17	0.00	0.000	4	0.000	0.049	2657	1117	1407
14546	1.19	247.8	231.2	7.6	679	14551	0.12	2.20	0.00	0.000	6	0.077	0.044	2707	2526	1406
14872	1.11	247.8	200.5	9.5	695	14877	0.12	2.28	0.00	0.000	4	0.133	0.063	2668	3936	1406
14952	1.11	247.8	193.4	9.4	698	14958	0.00	2.17	0.00	0.000	6	0.000	0.038	2668	2515	1406
15268	1.16	247.8	169.3	7.3	714	15272	0.00	2.17	0.00	0.000	4	0.000	0.051	2668	1116	1406
15341	1.26	256.8	164.3	6.7	717	15358	0.15	2.20	8.70	0.888	6	0.072	0.046	2730	2520	1373
15667	1.14	256.8	134.3	9.6	733	15672	0.17	2.28	0.00	0.000	4	0.128	0.061	2677	3927	1372
15711	1.14	256.8	130.1	9.4	735	15715	0.00	2.17	0.00	0.000	6	0.000	0.039	2677	2510	1372
16038	1.20	256.8	104.9	7.9	751	16042	0.00	2.17	0.00	0.000	4	0.000	0.051	2677	1120	1372
16112	1.31	256.8	99.3	7.9	755	16119	0.15	2.20	0.00	0.000	6	0.074	0.047	2734	2519	1371
16457	1.20	256.8	66.5	10.3	816	16464	0.15	2.30	0.00	0.000	4	0.129	0.063	2689	3936	1371
16499	1.14	256.8	63.0	8.2	823	16505	0.00	2.20	0.00	0.000	6	0.000	0.040	2690	2508	1371
16843	1.28	298.9	44.2	5.6	884	16886	0.10	2.28	34.95	0.965	4	0.087	0.051	2734	1110	1201
17027	1.28	298.9	30.6	7.5	916	17033	0.00	2.25	0.00	0.000	6	0.000	0.047	2734	2529	1196
17341	end climb: SURFACE_DEPTH_REACHED
state	17341	begin surface coast
17364	end surface coast: CONTROL_FINISHED_OK
state	17364	begin surface