Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 320 * 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 320 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 30 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 -28837.916 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 -28837.916

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 30 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 320 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 043555,6705.871,-5709.187,87,1.3,87,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 24 TGT_RADIUS 8000.000

_XMS_TOUTs 3 KALMAN_CONTROL 0.213,-0.070

_SM_DEPTHo 1.23 KALMAN_X -35670.9,595.3,407.9,45652.9,-4458.4

_SM_ANGLEo -53.2 KALMAN_Y -34091.6,84.5,86.9,54253.5,1461.8

GPS2 044521,6705.855,-5709.424,23,1.4,23,-37.7 MHEAD_RNG_PITCHd_Wd 145.8,16350,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 641

Post-dive calculations and measurements:

FINISH 0.6,1.015339 TCM_TEMP 15.70

SM_CCo 17476,0.00,0.000,0,0,1120,319.14 XPDR_PINGS 0

SM_GC 1.43,7.20,0.00,0.00,0.066,0.000,0.000,157,2342,1120,-10.40,0.06,319.14 _24V_AH 20.7,60.172

RAFOS_CLK 935 _10V_AH 10.5,26.432

RAFOS 0,1226995442,8.083333,8.067223,58,56,56,55,55,51,235,205,161,173,191,148 DATA_FILE_SIZE 34662,969

RAFOS_FIX 7544.612793,-8455.451172,171108,161633,3,77,94.26 CAP_FILE_SIZE 150909,0

IRIDIUM_FIX 6636.54,-5712.23,110298,232358 CFSIZE 260165632,227127296

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

HUMID 1911 SOUNDSPEED 1458.1

INTERNAL_PRESSURE 8.52572 GPS 181108,093937,6705.937,-5709.684,80,0.8,80,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 255 115.79 SBE_CT 757 24 376.30

Roll_motor 175 67 245.62 SBE_O2 657 19 258.52

VBD_pump_during_apogee 419 1226 10658.80 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 62.75 nil 0 0 0.00

Iridium_during_connect 34 160 112.74 nil 0 0 0.00

Iridium_during_xfer 356 223 1644.73

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 26 50 13.89

TT8 1804 19 377.35

LPSleep 12942 2 313.93

TT8_Active 609 19 127.47

TT8_Sampling 1946 39 815.90

TT8_CF8 732 45 353.28

TT8_Kalman 33 81 28.71

Analog_circuits 1704 12 214.79

GPS_charging 0 0 0.00

Compass 1907 8 160.20

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 0 172 0.00 0.00 -152.60 0.000 6 0.000 0.000 159 2336 3017

175 -1.08 -146.0 3.8 -4.0 27 189 8.65 2.30 0.00 0.000 4 0.255 0.056 2198 929 3020

344 -0.60 -146.0 38.7 -17.2 56 351 0.38 2.25 0.00 0.000 6 0.170 0.051 2305 2339 3022

689 -0.60 -146.0 69.1 -6.1 117 695 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2339 3024

1033 -0.67 -146.0 90.6 -6.5 178 1039 0.00 2.30 0.00 0.000 4 0.000 0.067 2305 3748 3024

1046 -0.75 -146.0 91.4 -6.4 180 1053 0.12 2.20 0.00 0.000 6 0.094 0.039 2259 2319 3024

1382 -0.71 -146.0 119.5 -8.4 210 1384 0.10 0.00 0.00 0.000 6 0.167 0.000 2284 2319 3023

1692 -0.76 -146.0 144.5 -8.0 225 1696 0.00 2.17 0.00 0.000 4 0.000 0.054 2285 938 3023

1708 -0.76 -146.0 145.7 -7.6 225 1714 0.00 2.25 0.00 0.000 6 0.000 0.051 2284 2352 3023

2024 -0.83 -146.0 165.3 -6.2 241 2029 0.12 2.25 0.00 0.000 4 0.091 0.052 2237 939 3022

2035 -0.83 -146.0 166.2 -6.5 241 2039 0.00 2.25 0.00 0.000 6 0.000 0.050 2236 2353 3022

2356 -0.75 -146.0 192.3 -8.4 257 2358 0.15 0.00 0.00 0.000 6 0.166 0.000 2277 2353 3022

2666 -0.84 -146.0 212.2 -6.7 272 2670 0.10 2.28 0.00 0.000 4 0.109 0.065 2242 3742 3021

2693 -0.84 -146.0 214.5 -8.4 273 2697 0.00 2.17 0.00 0.000 6 0.000 0.040 2242 2340 3021

3019 -0.84 -146.0 240.4 -7.5 289 3023 0.00 2.33 0.00 0.000 4 0.000 0.067 2242 3744 3021

3029 -0.84 -146.0 241.2 -7.1 289 3033 0.00 2.17 0.00 0.000 6 0.000 0.039 2242 2340 3021

3350 -0.84 -146.0 262.9 -6.4 305 3355 0.00 2.33 0.00 0.000 4 0.000 0.066 2242 3753 3021

3374 -0.84 -146.0 264.5 -6.7 306 3377 0.00 2.20 0.00 0.000 6 0.000 0.039 2242 2330 3021

3706 -0.84 -146.0 285.7 -6.3 322 3710 0.00 2.35 0.00 0.000 4 0.000 0.067 2242 3746 3020

3739 -0.84 -146.0 288.0 -7.3 323 3743 0.00 2.17 0.00 0.000 6 0.000 0.039 2242 2340 3021

4060 -0.84 -146.0 308.0 -6.5 339 4064 0.00 2.33 0.00 0.000 4 0.000 0.065 2242 3747 3020

4116 -0.84 -146.0 311.8 -6.4 341 4120 0.00 2.17 0.00 0.000 6 0.000 0.039 2242 2338 3020

4437 -0.84 -146.0 332.1 -5.9 357 4441 0.00 2.33 0.00 0.000 4 0.000 0.064 2242 3748 3021

4488 -0.89 -146.0 335.3 -5.8 359 4492 0.00 2.17 0.00 0.000 6 0.000 0.038 2242 2337 3021

4814 -0.89 -146.0 354.5 -6.1 375 4818 0.00 2.33 0.00 0.000 4 0.000 0.063 2242 3752 3021

4854 -0.94 -146.0 357.0 -6.4 376 4861 0.00 2.17 0.00 0.000 6 0.000 0.038 2242 2337 3021

5170 -0.94 -146.0 376.9 -6.5 392 5174 0.00 2.33 0.00 0.000 4 0.000 0.063 2242 3753 3022

5186 -0.94 -146.0 378.1 -6.5 392 5193 0.00 2.17 0.00 0.000 6 0.000 0.037 2242 2336 3022

5503 -0.94 -146.0 398.6 -6.3 408 5504 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2336 3023

5828 -0.94 -146.0 417.9 -5.8 417 5831 0.00 2.33 0.00 0.000 4 0.000 0.062 2242 3754 3024

5839 -0.94 -146.0 418.5 -5.7 417 5843 0.00 2.17 0.00 0.000 6 0.000 0.037 2242 2336 3024

6158 -0.94 -146.0 437.9 -6.3 425 6161 0.00 2.33 0.00 0.000 4 0.000 0.062 2242 3749 3024

6169 -0.94 -146.0 438.7 -6.3 425 6173 0.00 2.17 0.00 0.000 6 0.000 0.037 2242 2323 3024

6487 -0.94 -146.0 457.9 -5.9 433 6491 0.00 2.35 0.00 0.000 4 0.000 0.063 2242 3753 3025

6515 -1.00 -146.0 459.9 -6.8 433 6520 0.10 2.17 0.00 0.000 6 0.100 0.036 2204 2326 3025

6858 -0.92 -146.0 485.4 -7.5 442 6863 0.12 2.33 0.00 0.000 4 0.150 0.061 2239 3750 3026

6908 -0.99 -146.0 488.9 -7.3 443 6912 0.00 2.17 0.00 0.000 6 0.000 0.036 2239 2329 3026

7227 -0.99 -146.0 509.6 -6.5 451 7231 0.00 2.33 0.00 0.000 4 0.000 0.063 2239 3746 3026

7250 -1.05 -146.0 511.2 -7.0 451 7254 0.12 2.15 0.00 0.000 6 0.094 0.036 2193 2338 3026

7598 -0.93 -146.0 538.4 -7.8 460 7602 0.15 2.33 0.00 0.000 4 0.149 0.061 2234 3750 3026

7619 -0.93 -146.0 539.8 -6.8 460 7623 0.00 2.17 0.00 0.000 6 0.000 0.036 2234 2328 3026

7962 -0.93 -146.0 562.3 -6.3 469 7966 0.00 2.33 0.00 0.000 4 0.000 0.061 2234 3746 3027

8002 -0.99 -146.0 564.8 -6.6 469 8008 0.00 2.15 0.00 0.000 6 0.000 0.036 2234 2340 3027

8333 -0.99 -146.0 586.0 -6.4 478 8337 0.00 2.30 0.00 0.000 4 0.000 0.061 2234 3746 3027

8384 -1.05 -146.0 589.6 -6.7 479 8388 0.12 2.17 0.00 0.000 6 0.098 0.036 2190 2326 3027

8708 -0.93 -146.0 615.9 -8.1 487 8713 0.15 2.35 0.00 0.000 4 0.144 0.061 2232 3750 3028

8741 -0.98 -146.0 618.2 -6.4 487 8747 0.00 2.17 0.00 0.000 6 0.000 0.036 2232 2331 3028

9070 end dive: TARGET_DEPTH_EXCEEDED

state 9070 begin apogee

9077 -0.34 0.0 641.9 7.7 496 9213 0.43 0.00 133.75 1.226 6 0.134 0.000 2366 2522 2420

9214 end apogee: CONTROL_FINISHED_OK

state 9214 begin climb

9217 1.08 146.0 643.8 0.0 499 9370 1.02 2.65 139.48 1.136 4 0.105 0.048 2668 1123 1824

9456 0.95 146.0 625.9 10.6 504 9461 0.12 2.40 0.00 0.000 6 0.142 0.044 2638 2529 1823

9793 0.95 146.0 601.7 7.3 513 9797 0.00 2.28 0.00 0.000 4 0.000 0.063 2638 3928 1822

9876 0.81 146.0 594.4 9.2 514 9883 0.10 2.17 0.00 0.000 6 0.153 0.038 2611 2517 1822

10209 0.91 181.4 574.3 5.8 523 10244 0.08 2.25 30.25 1.164 4 0.100 0.049 2650 1124 1680

10284 0.91 181.4 568.7 7.8 523 10290 0.00 2.25 0.00 0.000 6 0.000 0.045 2650 2536 1678

10615 0.91 181.4 543.2 7.8 532 10619 0.00 2.22 0.00 0.000 4 0.000 0.061 2650 3929 1677

10677 0.77 181.4 537.5 9.1 533 10682 0.17 2.15 0.00 0.000 6 0.137 0.038 2599 2522 1678

10990 0.97 221.5 519.9 5.7 541 11032 0.15 2.30 33.80 1.152 4 0.071 0.050 2664 1123 1516

11096 0.97 221.5 511.3 8.6 543 11100 0.00 2.22 0.00 0.000 6 0.000 0.044 2664 2522 1516

11409 0.92 221.5 484.4 8.7 551 11413 0.12 2.28 0.00 0.000 4 0.134 0.061 2627 3939 1515

11447 0.92 221.5 480.9 8.9 551 11453 0.00 2.17 0.00 0.000 6 0.000 0.038 2627 2512 1515

11779 1.02 221.5 455.7 7.8 560 11783 0.10 2.17 0.00 0.000 4 0.087 0.049 2672 1109 1514

11850 1.02 221.5 448.8 9.2 561 11854 0.00 2.20 0.00 0.000 6 0.000 0.044 2672 2522 1514

12194 0.95 221.5 415.9 9.3 570 12199 0.12 2.28 0.00 0.000 4 0.143 0.061 2637 3936 1514

12238 0.95 221.5 411.9 8.9 571 12242 0.00 2.17 0.00 0.000 6 0.000 0.038 2637 2511 1514

12565 1.01 221.5 388.4 7.3 582 12568 0.00 2.17 0.00 0.000 4 0.000 0.048 2637 1109 1514

12649 1.11 221.5 382.2 7.2 585 12656 0.15 2.20 0.00 0.000 6 0.072 0.044 2699 2522 1514

12965 0.97 221.5 350.9 9.9 601 12969 0.20 2.28 0.00 0.000 4 0.128 0.060 2634 3936 1515

13019 0.97 221.5 346.3 8.6 603 13026 0.00 2.17 0.00 0.000 6 0.000 0.038 2634 2510 1515

13336 1.08 235.2 326.3 6.6 619 13358 0.12 2.25 12.18 0.974 4 0.080 0.049 2691 1119 1461

13426 1.02 235.2 318.2 9.6 623 13431 0.12 2.20 0.00 0.000 6 0.135 0.044 2655 2522 1462

13759 1.02 235.2 292.4 7.5 639 13760 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2522 1461

14068 1.02 235.2 269.9 7.2 654 14071 0.00 2.20 0.00 0.000 4 0.000 0.048 2655 1121 1462

14123 1.10 235.2 265.6 8.1 656 14127 0.00 2.20 0.00 0.000 6 0.000 0.044 2655 2533 1462

14445 1.15 235.2 242.5 7.1 672 14447 0.12 0.00 0.00 0.000 6 0.073 0.000 2709 2533 1463

14754 1.05 235.2 211.3 10.6 687 14756 0.17 0.00 0.00 0.000 6 0.126 0.000 2654 2533 1463

15064 1.13 235.2 187.1 7.3 702 15068 0.10 2.25 0.00 0.000 4 0.085 0.048 2701 1109 1464

15113 1.13 235.2 182.9 8.4 704 15117 0.00 2.22 0.00 0.000 6 0.000 0.045 2701 2533 1464

15440 1.07 235.2 155.7 8.9 720 15445 0.12 2.25 0.00 0.000 4 0.133 0.061 2665 3926 1464

15491 1.07 235.2 150.7 9.7 722 15495 0.00 2.15 0.00 0.000 6 0.000 0.038 2664 2516 1464

15818 1.17 253.3 126.5 6.4 738 15841 0.10 2.28 16.92 0.943 4 0.084 0.051 2709 1120 1387

15914 1.17 253.3 119.8 7.2 742 15918 0.00 2.22 0.00 0.000 6 0.000 0.046 2709 2530 1386

16235 1.17 253.3 94.0 8.8 765 16241 0.00 2.25 0.00 0.000 4 0.000 0.064 2709 3922 1385

16299 1.04 253.3 87.5 10.7 776 16306 0.17 2.15 0.00 0.000 6 0.134 0.039 2656 2522 1385

16644 1.41 312.0 65.0 5.0 837 16698 0.22 2.45 48.40 0.957 4 0.071 0.066 2748 3924 1147

16745 1.29 312.0 56.9 9.7 854 16752 0.12 2.22 0.00 0.000 6 0.145 0.041 2714 2516 1143

17091 1.35 317.8 30.4 6.8 915 17104 0.00 2.25 5.07 0.726 4 0.000 0.053 2714 1118 1124

17178 1.45 317.8 24.2 7.9 930 17185 0.12 2.22 0.00 0.000 6 0.080 0.048 2761 2529 1123

17380 end climb: SURFACE_DEPTH_REACHED

state 17380 begin surface coast

17398 end surface coast: CONTROL_FINISHED_OK

state 17398 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	320	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	30	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	-28837.916	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	043555,6705.871,-5709.187,87,1.3,87,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	24	TGT_RADIUS	8000.000
_XMS_TOUTs	3	KALMAN_CONTROL	0.213,-0.070
_SM_DEPTHo	1.23	KALMAN_X	-35670.9,595.3,407.9,45652.9,-4458.4
_SM_ANGLEo	-53.2	KALMAN_Y	-34091.6,84.5,86.9,54253.5,1461.8
GPS2	044521,6705.855,-5709.424,23,1.4,23,-37.7	MHEAD_RNG_PITCHd_Wd	145.8,16350,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	641

FINISH	0.6,1.015339	TCM_TEMP	15.70
SM_CCo	17476,0.00,0.000,0,0,1120,319.14	XPDR_PINGS	0
SM_GC	1.43,7.20,0.00,0.00,0.066,0.000,0.000,157,2342,1120,-10.40,0.06,319.14	_24V_AH	20.7,60.172
RAFOS_CLK	935	_10V_AH	10.5,26.432
RAFOS	0,1226995442,8.083333,8.067223,58,56,56,55,55,51,235,205,161,173,191,148	DATA_FILE_SIZE	34662,969
RAFOS_FIX	7544.612793,-8455.451172,171108,161633,3,77,94.26	CAP_FILE_SIZE	150909,0
IRIDIUM_FIX	6636.54,-5712.23,110298,232358	CFSIZE	260165632,227127296
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1911	SOUNDSPEED	1458.1
INTERNAL_PRESSURE	8.52572	GPS	181108,093937,6705.937,-5709.684,80,0.8,80,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	255	115.79	SBE_CT	757	24	376.30
Roll_motor	175	67	245.62	SBE_O2	657	19	258.52
VBD_pump_during_apogee	419	1226	10658.80	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	62.75	nil	0	0	0.00
Iridium_during_connect	34	160	112.74	nil	0	0	0.00
Iridium_during_xfer	356	223	1644.73
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	26	50	13.89
TT8	1804	19	377.35
LPSleep	12942	2	313.93
TT8_Active	609	19	127.47
TT8_Sampling	1946	39	815.90
TT8_CF8	732	45	353.28
TT8_Kalman	33	81	28.71
Analog_circuits	1704	12	214.79
GPS_charging	0	0	0.00
Compass	1907	8	160.20
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	172	0.00	0.00	-152.60	0.000	6	0.000	0.000	159	2336	3017
175	-1.08	-146.0	3.8	-4.0	27	189	8.65	2.30	0.00	0.000	4	0.255	0.056	2198	929	3020
344	-0.60	-146.0	38.7	-17.2	56	351	0.38	2.25	0.00	0.000	6	0.170	0.051	2305	2339	3022
689	-0.60	-146.0	69.1	-6.1	117	695	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2339	3024
1033	-0.67	-146.0	90.6	-6.5	178	1039	0.00	2.30	0.00	0.000	4	0.000	0.067	2305	3748	3024
1046	-0.75	-146.0	91.4	-6.4	180	1053	0.12	2.20	0.00	0.000	6	0.094	0.039	2259	2319	3024
1382	-0.71	-146.0	119.5	-8.4	210	1384	0.10	0.00	0.00	0.000	6	0.167	0.000	2284	2319	3023
1692	-0.76	-146.0	144.5	-8.0	225	1696	0.00	2.17	0.00	0.000	4	0.000	0.054	2285	938	3023
1708	-0.76	-146.0	145.7	-7.6	225	1714	0.00	2.25	0.00	0.000	6	0.000	0.051	2284	2352	3023
2024	-0.83	-146.0	165.3	-6.2	241	2029	0.12	2.25	0.00	0.000	4	0.091	0.052	2237	939	3022
2035	-0.83	-146.0	166.2	-6.5	241	2039	0.00	2.25	0.00	0.000	6	0.000	0.050	2236	2353	3022
2356	-0.75	-146.0	192.3	-8.4	257	2358	0.15	0.00	0.00	0.000	6	0.166	0.000	2277	2353	3022
2666	-0.84	-146.0	212.2	-6.7	272	2670	0.10	2.28	0.00	0.000	4	0.109	0.065	2242	3742	3021
2693	-0.84	-146.0	214.5	-8.4	273	2697	0.00	2.17	0.00	0.000	6	0.000	0.040	2242	2340	3021
3019	-0.84	-146.0	240.4	-7.5	289	3023	0.00	2.33	0.00	0.000	4	0.000	0.067	2242	3744	3021
3029	-0.84	-146.0	241.2	-7.1	289	3033	0.00	2.17	0.00	0.000	6	0.000	0.039	2242	2340	3021
3350	-0.84	-146.0	262.9	-6.4	305	3355	0.00	2.33	0.00	0.000	4	0.000	0.066	2242	3753	3021
3374	-0.84	-146.0	264.5	-6.7	306	3377	0.00	2.20	0.00	0.000	6	0.000	0.039	2242	2330	3021
3706	-0.84	-146.0	285.7	-6.3	322	3710	0.00	2.35	0.00	0.000	4	0.000	0.067	2242	3746	3020
3739	-0.84	-146.0	288.0	-7.3	323	3743	0.00	2.17	0.00	0.000	6	0.000	0.039	2242	2340	3021
4060	-0.84	-146.0	308.0	-6.5	339	4064	0.00	2.33	0.00	0.000	4	0.000	0.065	2242	3747	3020
4116	-0.84	-146.0	311.8	-6.4	341	4120	0.00	2.17	0.00	0.000	6	0.000	0.039	2242	2338	3020
4437	-0.84	-146.0	332.1	-5.9	357	4441	0.00	2.33	0.00	0.000	4	0.000	0.064	2242	3748	3021
4488	-0.89	-146.0	335.3	-5.8	359	4492	0.00	2.17	0.00	0.000	6	0.000	0.038	2242	2337	3021
4814	-0.89	-146.0	354.5	-6.1	375	4818	0.00	2.33	0.00	0.000	4	0.000	0.063	2242	3752	3021
4854	-0.94	-146.0	357.0	-6.4	376	4861	0.00	2.17	0.00	0.000	6	0.000	0.038	2242	2337	3021
5170	-0.94	-146.0	376.9	-6.5	392	5174	0.00	2.33	0.00	0.000	4	0.000	0.063	2242	3753	3022
5186	-0.94	-146.0	378.1	-6.5	392	5193	0.00	2.17	0.00	0.000	6	0.000	0.037	2242	2336	3022
5503	-0.94	-146.0	398.6	-6.3	408	5504	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2336	3023
5828	-0.94	-146.0	417.9	-5.8	417	5831	0.00	2.33	0.00	0.000	4	0.000	0.062	2242	3754	3024
5839	-0.94	-146.0	418.5	-5.7	417	5843	0.00	2.17	0.00	0.000	6	0.000	0.037	2242	2336	3024
6158	-0.94	-146.0	437.9	-6.3	425	6161	0.00	2.33	0.00	0.000	4	0.000	0.062	2242	3749	3024
6169	-0.94	-146.0	438.7	-6.3	425	6173	0.00	2.17	0.00	0.000	6	0.000	0.037	2242	2323	3024
6487	-0.94	-146.0	457.9	-5.9	433	6491	0.00	2.35	0.00	0.000	4	0.000	0.063	2242	3753	3025
6515	-1.00	-146.0	459.9	-6.8	433	6520	0.10	2.17	0.00	0.000	6	0.100	0.036	2204	2326	3025
6858	-0.92	-146.0	485.4	-7.5	442	6863	0.12	2.33	0.00	0.000	4	0.150	0.061	2239	3750	3026
6908	-0.99	-146.0	488.9	-7.3	443	6912	0.00	2.17	0.00	0.000	6	0.000	0.036	2239	2329	3026
7227	-0.99	-146.0	509.6	-6.5	451	7231	0.00	2.33	0.00	0.000	4	0.000	0.063	2239	3746	3026
7250	-1.05	-146.0	511.2	-7.0	451	7254	0.12	2.15	0.00	0.000	6	0.094	0.036	2193	2338	3026
7598	-0.93	-146.0	538.4	-7.8	460	7602	0.15	2.33	0.00	0.000	4	0.149	0.061	2234	3750	3026
7619	-0.93	-146.0	539.8	-6.8	460	7623	0.00	2.17	0.00	0.000	6	0.000	0.036	2234	2328	3026
7962	-0.93	-146.0	562.3	-6.3	469	7966	0.00	2.33	0.00	0.000	4	0.000	0.061	2234	3746	3027
8002	-0.99	-146.0	564.8	-6.6	469	8008	0.00	2.15	0.00	0.000	6	0.000	0.036	2234	2340	3027
8333	-0.99	-146.0	586.0	-6.4	478	8337	0.00	2.30	0.00	0.000	4	0.000	0.061	2234	3746	3027
8384	-1.05	-146.0	589.6	-6.7	479	8388	0.12	2.17	0.00	0.000	6	0.098	0.036	2190	2326	3027
8708	-0.93	-146.0	615.9	-8.1	487	8713	0.15	2.35	0.00	0.000	4	0.144	0.061	2232	3750	3028
8741	-0.98	-146.0	618.2	-6.4	487	8747	0.00	2.17	0.00	0.000	6	0.000	0.036	2232	2331	3028
9070	end dive: TARGET_DEPTH_EXCEEDED
state	9070	begin apogee
9077	-0.34	0.0	641.9	7.7	496	9213	0.43	0.00	133.75	1.226	6	0.134	0.000	2366	2522	2420
9214	end apogee: CONTROL_FINISHED_OK
state	9214	begin climb
9217	1.08	146.0	643.8	0.0	499	9370	1.02	2.65	139.48	1.136	4	0.105	0.048	2668	1123	1824
9456	0.95	146.0	625.9	10.6	504	9461	0.12	2.40	0.00	0.000	6	0.142	0.044	2638	2529	1823
9793	0.95	146.0	601.7	7.3	513	9797	0.00	2.28	0.00	0.000	4	0.000	0.063	2638	3928	1822
9876	0.81	146.0	594.4	9.2	514	9883	0.10	2.17	0.00	0.000	6	0.153	0.038	2611	2517	1822
10209	0.91	181.4	574.3	5.8	523	10244	0.08	2.25	30.25	1.164	4	0.100	0.049	2650	1124	1680
10284	0.91	181.4	568.7	7.8	523	10290	0.00	2.25	0.00	0.000	6	0.000	0.045	2650	2536	1678
10615	0.91	181.4	543.2	7.8	532	10619	0.00	2.22	0.00	0.000	4	0.000	0.061	2650	3929	1677
10677	0.77	181.4	537.5	9.1	533	10682	0.17	2.15	0.00	0.000	6	0.137	0.038	2599	2522	1678
10990	0.97	221.5	519.9	5.7	541	11032	0.15	2.30	33.80	1.152	4	0.071	0.050	2664	1123	1516
11096	0.97	221.5	511.3	8.6	543	11100	0.00	2.22	0.00	0.000	6	0.000	0.044	2664	2522	1516
11409	0.92	221.5	484.4	8.7	551	11413	0.12	2.28	0.00	0.000	4	0.134	0.061	2627	3939	1515
11447	0.92	221.5	480.9	8.9	551	11453	0.00	2.17	0.00	0.000	6	0.000	0.038	2627	2512	1515
11779	1.02	221.5	455.7	7.8	560	11783	0.10	2.17	0.00	0.000	4	0.087	0.049	2672	1109	1514
11850	1.02	221.5	448.8	9.2	561	11854	0.00	2.20	0.00	0.000	6	0.000	0.044	2672	2522	1514
12194	0.95	221.5	415.9	9.3	570	12199	0.12	2.28	0.00	0.000	4	0.143	0.061	2637	3936	1514
12238	0.95	221.5	411.9	8.9	571	12242	0.00	2.17	0.00	0.000	6	0.000	0.038	2637	2511	1514
12565	1.01	221.5	388.4	7.3	582	12568	0.00	2.17	0.00	0.000	4	0.000	0.048	2637	1109	1514
12649	1.11	221.5	382.2	7.2	585	12656	0.15	2.20	0.00	0.000	6	0.072	0.044	2699	2522	1514
12965	0.97	221.5	350.9	9.9	601	12969	0.20	2.28	0.00	0.000	4	0.128	0.060	2634	3936	1515
13019	0.97	221.5	346.3	8.6	603	13026	0.00	2.17	0.00	0.000	6	0.000	0.038	2634	2510	1515
13336	1.08	235.2	326.3	6.6	619	13358	0.12	2.25	12.18	0.974	4	0.080	0.049	2691	1119	1461
13426	1.02	235.2	318.2	9.6	623	13431	0.12	2.20	0.00	0.000	6	0.135	0.044	2655	2522	1462
13759	1.02	235.2	292.4	7.5	639	13760	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2522	1461
14068	1.02	235.2	269.9	7.2	654	14071	0.00	2.20	0.00	0.000	4	0.000	0.048	2655	1121	1462
14123	1.10	235.2	265.6	8.1	656	14127	0.00	2.20	0.00	0.000	6	0.000	0.044	2655	2533	1462
14445	1.15	235.2	242.5	7.1	672	14447	0.12	0.00	0.00	0.000	6	0.073	0.000	2709	2533	1463
14754	1.05	235.2	211.3	10.6	687	14756	0.17	0.00	0.00	0.000	6	0.126	0.000	2654	2533	1463
15064	1.13	235.2	187.1	7.3	702	15068	0.10	2.25	0.00	0.000	4	0.085	0.048	2701	1109	1464
15113	1.13	235.2	182.9	8.4	704	15117	0.00	2.22	0.00	0.000	6	0.000	0.045	2701	2533	1464
15440	1.07	235.2	155.7	8.9	720	15445	0.12	2.25	0.00	0.000	4	0.133	0.061	2665	3926	1464
15491	1.07	235.2	150.7	9.7	722	15495	0.00	2.15	0.00	0.000	6	0.000	0.038	2664	2516	1464
15818	1.17	253.3	126.5	6.4	738	15841	0.10	2.28	16.92	0.943	4	0.084	0.051	2709	1120	1387
15914	1.17	253.3	119.8	7.2	742	15918	0.00	2.22	0.00	0.000	6	0.000	0.046	2709	2530	1386
16235	1.17	253.3	94.0	8.8	765	16241	0.00	2.25	0.00	0.000	4	0.000	0.064	2709	3922	1385
16299	1.04	253.3	87.5	10.7	776	16306	0.17	2.15	0.00	0.000	6	0.134	0.039	2656	2522	1385
16644	1.41	312.0	65.0	5.0	837	16698	0.22	2.45	48.40	0.957	4	0.071	0.066	2748	3924	1147
16745	1.29	312.0	56.9	9.7	854	16752	0.12	2.22	0.00	0.000	6	0.145	0.041	2714	2516	1143
17091	1.35	317.8	30.4	6.8	915	17104	0.00	2.25	5.07	0.726	4	0.000	0.053	2714	1118	1124
17178	1.45	317.8	24.2	7.9	930	17185	0.12	2.22	0.00	0.000	6	0.080	0.048	2761	2529	1123
17380	end climb: SURFACE_DEPTH_REACHED
state	17380	begin surface coast
17398	end surface coast: CONTROL_FINISHED_OK
state	17398	begin surface