Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 322 * 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 322 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -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 -28885.57 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 -28885.57

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 33 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 322 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 145707,6705.666,-5707.352,42,0.9,42,-37.7 TGT_NAME TARGET_E_IN

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 25 TGT_RADIUS 8000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.094,-0.204

_SM_DEPTHo 1.54 KALMAN_X -41704.8,-404.8,838.9,53596.0,-4676.1

_SM_ANGLEo -64.3 KALMAN_Y -30874.1,-327.2,-1044.6,52179.0,4667.8

GPS2 151408,6705.639,-5707.568,23,0.9,28,-37.7 MHEAD_RNG_PITCHd_Wd 192.9,14953,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 627

Post-dive calculations and measurements:

FINISH 1.3,1.026271 TCM_TEMP 15.80

SM_CCo 17165,0.00,0.000,0,0,1266,283.08 XPDR_PINGS 2

SM_GC 1.65,7.12,0.00,0.00,0.062,0.000,0.000,156,2349,1266,-10.41,0.25,283.08 _24V_AH 20.7,60.494

RAFOS_CLK 935 _10V_AH 10.6,26.587

RAFOS 0,1227024251,16.083334,16.069723,64,56,55,55,54,52,214,161,173,225,149,124 DATA_FILE_SIZE 34736,941

RAFOS_FIX 7544.612793,-8455.451172,171108,161633,3,77,94.26 CAP_FILE_SIZE 151806,0

IRIDIUM_FIX 6636.54,-5707.59,120298,151511 CFSIZE 260165632,226983936

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

HUMID 1892 SOUNDSPEED 1459.5

INTERNAL_PRESSURE 8.54525 GPS 181108,200231,6705.902,-5711.236,37,1.9,37,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 254 114.65 SBE_CT 731 24 363.17

Roll_motor 169 68 239.79 SBE_O2 639 19 251.53

VBD_pump_during_apogee 388 1211 9732.03 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 75 103 160.39 nil 0 0 0.00

Iridium_during_connect 105 160 349.71 nil 0 0 0.00

Iridium_during_xfer 556 223 2569.00

Transponder_ping 0 420 4.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.09

TT8 1762 19 372.20

LPSleep 12915 2 316.26

TT8_Active 556 19 117.59

TT8_Sampling 1896 39 802.69

TT8_CF8 1049 45 511.04

TT8_Kalman 33 81 28.98

Analog_circuits 1600 12 203.55

GPS_charging 0 0 0.00

Compass 1849 8 156.81

RAFOS 1800 1 28.62

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 13 begin dive

16 -1.08 -146.0 0.0 0.0 0 132 0.00 0.00 -113.30 0.000 2 0.000 0.000 155 2338 2917

135 -1.08 -146.0 3.1 -2.1 20 154 8.65 2.28 -3.30 0.000 4 0.255 0.068 2200 926 3018

385 -0.65 -146.0 50.4 -15.7 64 392 0.32 2.28 0.00 0.000 6 0.167 0.051 2293 2355 3021

730 -0.65 -146.0 78.8 -6.4 125 737 0.00 2.28 0.00 0.000 4 0.000 0.054 2293 926 3022

810 -0.65 -146.0 84.4 -7.3 139 817 0.00 2.25 0.00 0.000 6 0.000 0.049 2293 2348 3021

1154 -0.69 -146.0 110.0 -8.1 184 1158 0.00 2.25 0.00 0.000 4 0.000 0.053 2293 931 3022

1165 -0.69 -146.0 110.9 -8.1 184 1169 0.00 2.22 0.00 0.000 6 0.000 0.047 2293 2343 3022

1487 -0.76 -146.0 132.1 -5.7 200 1488 0.10 0.00 0.00 0.000 6 0.106 0.000 2256 2343 3021

1795 -0.76 -146.0 157.0 -8.9 215 1796 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2344 3021

2104 -0.76 -146.0 185.2 -8.8 230 2105 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2344 3020

2414 -0.76 -146.0 209.5 -7.4 245 2415 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2344 3020

2723 -0.76 -146.0 231.3 -6.9 260 2726 0.00 2.30 0.00 0.000 4 0.000 0.066 2256 3746 3020

2734 -0.76 -146.0 232.1 -6.6 260 2738 0.00 2.20 0.00 0.000 6 0.000 0.038 2256 2326 3019

3055 -0.76 -146.0 252.8 -6.6 276 3059 0.00 2.35 0.00 0.000 4 0.000 0.066 2256 3743 3019

3083 -0.82 -146.0 254.8 -7.1 277 3086 0.00 2.17 0.00 0.000 6 0.000 0.040 2256 2340 3019

3404 -0.82 -146.0 276.7 -6.7 293 3407 0.00 2.33 0.00 0.000 4 0.000 0.065 2256 3747 3019

3415 -0.86 -146.0 277.4 -6.7 293 3419 0.00 2.17 0.00 0.000 6 0.000 0.038 2256 2340 3019

3737 -0.91 -146.0 297.7 -6.1 309 3741 0.00 2.33 0.00 0.000 4 0.000 0.064 2256 3750 3019

3748 -0.96 -146.0 298.5 -6.0 309 3753 0.12 2.20 0.00 0.000 6 0.096 0.038 2211 2324 3019

4067 -0.87 -146.0 320.9 -6.8 324 4071 0.15 2.38 0.00 0.000 4 0.156 0.064 2250 3757 3020

4122 -0.94 -146.0 324.5 -5.8 326 4129 0.00 2.20 0.00 0.000 6 0.000 0.038 2251 2330 3020

4438 -0.94 -146.0 343.5 -6.5 342 4442 0.00 2.33 0.00 0.000 4 0.000 0.063 2250 3743 3020

4467 -1.00 -146.0 345.4 -6.8 343 4472 0.12 2.17 0.00 0.000 6 0.100 0.037 2204 2327 3020

4789 -0.89 -146.0 370.8 -7.9 359 4794 0.15 2.35 0.00 0.000 4 0.146 0.062 2245 3750 3020

4830 -0.95 -146.0 373.7 -7.0 361 4834 0.00 2.17 0.00 0.000 6 0.000 0.038 2246 2333 3021

5162 -0.95 -146.0 394.5 -6.0 377 5166 0.00 2.33 0.00 0.000 4 0.000 0.063 2246 3746 3022

5202 -1.01 -146.0 397.0 -6.6 378 5209 0.12 2.17 0.00 0.000 6 0.101 0.036 2202 2327 3022

5534 -0.91 -146.0 420.7 -7.1 388 5539 0.15 2.35 0.00 0.000 4 0.150 0.061 2243 3748 3022

5567 -0.96 -146.0 423.0 -6.6 388 5574 0.00 2.17 0.00 0.000 6 0.000 0.036 2244 2329 3022

5899 -0.96 -146.0 441.8 -5.7 397 5902 0.00 2.33 0.00 0.000 4 0.000 0.062 2244 3743 3023

5910 -1.01 -146.0 442.5 -5.7 397 5915 0.12 2.15 0.00 0.000 6 0.093 0.036 2197 2337 3023

6229 -0.90 -146.0 464.3 -6.8 405 6234 0.17 2.33 0.00 0.000 4 0.148 0.061 2245 3743 3024

6264 -0.98 -146.0 466.5 -6.4 405 6270 0.00 2.15 0.00 0.000 6 0.000 0.037 2245 2340 3024

6596 -1.04 -146.0 485.3 -5.7 414 6601 0.12 2.33 0.00 0.000 4 0.100 0.061 2199 3753 3024

6636 -0.95 -146.0 487.8 -6.4 415 6640 0.12 2.17 0.00 0.000 6 0.152 0.036 2230 2329 3024

6965 -0.95 -146.0 506.3 -5.4 423 6969 0.00 2.33 0.00 0.000 4 0.000 0.061 2231 3743 3025

7005 -0.95 -146.0 508.6 -6.1 423 7011 0.00 2.15 0.00 0.000 6 0.000 0.036 2231 2341 3025

7336 -0.95 -146.0 526.2 -5.3 432 7340 0.00 2.33 0.00 0.000 4 0.000 0.062 2231 3753 3025

7375 -0.95 -146.0 528.4 -5.6 432 7381 0.00 2.17 0.00 0.000 6 0.000 0.035 2231 2332 3025

7707 -0.95 -146.0 547.0 -5.7 441 7711 0.00 2.33 0.00 0.000 4 0.000 0.062 2231 3747 3025

7753 -1.00 -146.0 549.7 -6.0 442 7757 0.00 2.15 0.00 0.000 6 0.000 0.036 2231 2339 3025

8083 -1.00 -146.0 568.8 -5.8 450 8087 0.00 2.30 0.00 0.000 4 0.000 0.061 2231 3743 3025

8116 -1.00 -146.0 570.9 -6.4 450 8120 0.00 2.15 0.00 0.000 6 0.000 0.036 2231 2338 3025

8454 -1.00 -146.0 589.1 -5.3 459 8457 0.00 2.33 0.00 0.000 4 0.000 0.061 2231 3755 3026

8465 -1.00 -146.0 589.7 -5.3 459 8469 0.00 2.17 0.00 0.000 6 0.000 0.035 2231 2333 3026

8784 -1.00 -146.0 607.7 -5.7 467 8788 0.00 2.33 0.00 0.000 4 0.000 0.061 2231 3750 3026

8795 -1.00 -146.0 608.4 -5.7 467 8799 0.00 2.17 0.00 0.000 6 0.000 0.035 2231 2328 3027

9114 -1.00 -146.0 627.0 -5.9 475 9118 0.00 2.33 0.00 0.000 4 0.000 0.061 2231 3748 3027

9122 end dive: TARGET_DEPTH_EXCEEDED

state 9122 begin apogee

9129 -0.34 0.0 627.5 5.7 475 9265 0.40 0.00 132.52 1.211 6 0.139 0.000 2359 2510 2420

9266 end apogee: CONTROL_FINISHED_OK

state 9266 begin climb

9269 1.08 146.0 629.4 0.0 478 9417 1.02 0.00 139.10 1.122 6 0.105 0.000 2665 2510 1824

9718 0.96 146.0 593.9 8.5 489 9722 0.00 2.38 0.00 0.000 4 0.000 0.061 2665 3938 1823

9809 0.72 146.0 584.9 9.9 491 9814 0.25 2.20 0.00 0.000 6 0.137 0.038 2591 2518 1822

10134 0.90 187.2 566.3 5.6 499 10177 0.15 2.28 34.83 1.150 4 0.071 0.048 2653 1113 1656

10232 0.90 187.2 558.4 8.5 501 10237 0.00 2.25 0.00 0.000 6 0.000 0.044 2653 2535 1655

10552 0.90 187.2 531.5 8.6 509 10555 0.00 2.25 0.00 0.000 4 0.000 0.061 2653 3937 1654

10602 0.76 187.2 526.7 9.9 510 10606 0.20 2.17 0.00 0.000 6 0.135 0.037 2593 2517 1654

10926 0.96 215.3 507.4 6.1 518 10956 0.17 2.28 24.00 1.122 4 0.069 0.049 2665 1098 1542

11035 0.96 215.3 498.1 8.7 520 11038 0.00 2.25 0.00 0.000 6 0.000 0.045 2665 2520 1541

11383 0.91 215.3 465.7 9.5 529 11388 0.12 2.28 0.00 0.000 4 0.137 0.059 2628 3934 1540

11416 0.91 215.3 462.5 8.7 529 11422 0.00 2.17 0.00 0.000 6 0.000 0.037 2628 2515 1540

11747 0.99 219.1 438.6 6.9 538 11757 0.10 2.20 4.75 0.788 4 0.087 0.048 2673 1114 1526

11837 0.99 219.1 431.1 8.7 540 11841 0.00 2.20 0.00 0.000 6 0.000 0.044 2673 2525 1526

12167 0.91 219.1 402.4 8.8 548 12172 0.15 2.25 0.00 0.000 4 0.137 0.060 2628 3925 1526

12223 0.91 219.1 397.6 8.3 549 12227 0.00 2.15 0.00 0.000 6 0.000 0.037 2628 2510 1527

12544 1.05 250.2 377.2 6.0 565 12577 0.12 2.22 26.70 1.055 4 0.078 0.048 2679 1116 1400

12644 1.05 250.2 368.8 8.7 569 12651 0.00 2.22 0.00 0.000 6 0.000 0.044 2679 2526 1399

12960 1.00 250.2 339.8 9.4 585 12962 0.10 0.00 0.00 0.000 6 0.143 0.000 2652 2526 1398

13270 1.05 250.2 316.4 7.4 600 13274 0.00 2.22 0.00 0.000 4 0.000 0.048 2651 1109 1398

13348 1.14 250.2 310.6 8.0 603 13353 0.12 2.20 0.00 0.000 6 0.078 0.044 2705 2523 1398

13670 1.03 250.2 279.1 9.8 619 13672 0.17 0.00 0.00 0.000 6 0.123 0.000 2651 2523 1399

13979 1.10 250.2 257.0 7.1 634 13983 0.10 2.20 0.00 0.000 4 0.088 0.048 2695 1114 1399

14046 1.10 250.2 251.1 9.1 637 14050 0.00 2.20 0.00 0.000 6 0.000 0.044 2695 2525 1400

14379 1.03 250.2 219.1 9.5 653 14384 0.15 2.28 0.00 0.000 4 0.131 0.061 2650 3934 1399

14428 1.03 250.2 214.2 9.0 655 14432 0.00 2.15 0.00 0.000 6 0.000 0.036 2650 2518 1400

14750 1.13 250.2 189.0 7.4 671 14754 0.12 2.17 0.00 0.000 4 0.075 0.047 2707 1119 1400

14840 1.13 250.2 180.5 9.5 675 14845 0.10 2.20 0.00 0.000 6 0.135 0.044 2679 2531 1400

15172 1.13 250.2 152.7 8.0 691 15174 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2531 1401

15482 1.13 250.2 129.4 7.1 706 15486 0.00 2.22 0.00 0.000 4 0.000 0.048 2679 1117 1401

15528 1.26 280.7 126.5 6.0 708 15560 0.12 2.20 26.30 0.943 6 0.079 0.045 2731 2525 1275

15875 1.18 280.7 97.8 8.4 727 15881 0.15 0.00 0.00 0.000 6 0.126 0.000 2685 2525 1272

16218 1.29 280.7 74.3 7.1 788 16225 0.12 2.25 0.00 0.000 4 0.076 0.050 2737 1109 1271

16322 1.29 280.7 65.0 8.8 806 16328 0.00 2.22 0.00 0.000 6 0.000 0.048 2737 2520 1271

16666 1.29 280.7 35.9 9.3 867 16673 0.10 2.28 0.00 0.000 4 0.147 0.061 2709 3928 1269

16719 1.29 280.7 30.5 10.8 876 16725 0.00 2.17 0.00 0.000 6 0.000 0.040 2709 2516 1268

17063 1.38 280.7 2.9 9.7 937 17070 0.10 2.20 0.00 0.000 4 0.090 0.051 2750 1119 1268

17079 end climb: SURFACE_DEPTH_REACHED

state 17079 begin surface coast

17086 end surface coast: CONTROL_FINISHED_OK

state 17086 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	322	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-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	-28885.57	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	145707,6705.666,-5707.352,42,0.9,42,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	25	TGT_RADIUS	8000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.094,-0.204
_SM_DEPTHo	1.54	KALMAN_X	-41704.8,-404.8,838.9,53596.0,-4676.1
_SM_ANGLEo	-64.3	KALMAN_Y	-30874.1,-327.2,-1044.6,52179.0,4667.8
GPS2	151408,6705.639,-5707.568,23,0.9,28,-37.7	MHEAD_RNG_PITCHd_Wd	192.9,14953,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	627

FINISH	1.3,1.026271	TCM_TEMP	15.80
SM_CCo	17165,0.00,0.000,0,0,1266,283.08	XPDR_PINGS	2
SM_GC	1.65,7.12,0.00,0.00,0.062,0.000,0.000,156,2349,1266,-10.41,0.25,283.08	_24V_AH	20.7,60.494
RAFOS_CLK	935	_10V_AH	10.6,26.587
RAFOS	0,1227024251,16.083334,16.069723,64,56,55,55,54,52,214,161,173,225,149,124	DATA_FILE_SIZE	34736,941
RAFOS_FIX	7544.612793,-8455.451172,171108,161633,3,77,94.26	CAP_FILE_SIZE	151806,0
IRIDIUM_FIX	6636.54,-5707.59,120298,151511	CFSIZE	260165632,226983936
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1892	SOUNDSPEED	1459.5
INTERNAL_PRESSURE	8.54525	GPS	181108,200231,6705.902,-5711.236,37,1.9,37,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	254	114.65	SBE_CT	731	24	363.17
Roll_motor	169	68	239.79	SBE_O2	639	19	251.53
VBD_pump_during_apogee	388	1211	9732.03	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	75	103	160.39	nil	0	0	0.00
Iridium_during_connect	105	160	349.71	nil	0	0	0.00
Iridium_during_xfer	556	223	2569.00
Transponder_ping	0	420	4.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.09
TT8	1762	19	372.20
LPSleep	12915	2	316.26
TT8_Active	556	19	117.59
TT8_Sampling	1896	39	802.69
TT8_CF8	1049	45	511.04
TT8_Kalman	33	81	28.98
Analog_circuits	1600	12	203.55
GPS_charging	0	0	0.00
Compass	1849	8	156.81
RAFOS	1800	1	28.62
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	13	begin dive
16	-1.08	-146.0	0.0	0.0	0	132	0.00	0.00	-113.30	0.000	2	0.000	0.000	155	2338	2917
135	-1.08	-146.0	3.1	-2.1	20	154	8.65	2.28	-3.30	0.000	4	0.255	0.068	2200	926	3018
385	-0.65	-146.0	50.4	-15.7	64	392	0.32	2.28	0.00	0.000	6	0.167	0.051	2293	2355	3021
730	-0.65	-146.0	78.8	-6.4	125	737	0.00	2.28	0.00	0.000	4	0.000	0.054	2293	926	3022
810	-0.65	-146.0	84.4	-7.3	139	817	0.00	2.25	0.00	0.000	6	0.000	0.049	2293	2348	3021
1154	-0.69	-146.0	110.0	-8.1	184	1158	0.00	2.25	0.00	0.000	4	0.000	0.053	2293	931	3022
1165	-0.69	-146.0	110.9	-8.1	184	1169	0.00	2.22	0.00	0.000	6	0.000	0.047	2293	2343	3022
1487	-0.76	-146.0	132.1	-5.7	200	1488	0.10	0.00	0.00	0.000	6	0.106	0.000	2256	2343	3021
1795	-0.76	-146.0	157.0	-8.9	215	1796	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2344	3021
2104	-0.76	-146.0	185.2	-8.8	230	2105	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2344	3020
2414	-0.76	-146.0	209.5	-7.4	245	2415	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2344	3020
2723	-0.76	-146.0	231.3	-6.9	260	2726	0.00	2.30	0.00	0.000	4	0.000	0.066	2256	3746	3020
2734	-0.76	-146.0	232.1	-6.6	260	2738	0.00	2.20	0.00	0.000	6	0.000	0.038	2256	2326	3019
3055	-0.76	-146.0	252.8	-6.6	276	3059	0.00	2.35	0.00	0.000	4	0.000	0.066	2256	3743	3019
3083	-0.82	-146.0	254.8	-7.1	277	3086	0.00	2.17	0.00	0.000	6	0.000	0.040	2256	2340	3019
3404	-0.82	-146.0	276.7	-6.7	293	3407	0.00	2.33	0.00	0.000	4	0.000	0.065	2256	3747	3019
3415	-0.86	-146.0	277.4	-6.7	293	3419	0.00	2.17	0.00	0.000	6	0.000	0.038	2256	2340	3019
3737	-0.91	-146.0	297.7	-6.1	309	3741	0.00	2.33	0.00	0.000	4	0.000	0.064	2256	3750	3019
3748	-0.96	-146.0	298.5	-6.0	309	3753	0.12	2.20	0.00	0.000	6	0.096	0.038	2211	2324	3019
4067	-0.87	-146.0	320.9	-6.8	324	4071	0.15	2.38	0.00	0.000	4	0.156	0.064	2250	3757	3020
4122	-0.94	-146.0	324.5	-5.8	326	4129	0.00	2.20	0.00	0.000	6	0.000	0.038	2251	2330	3020
4438	-0.94	-146.0	343.5	-6.5	342	4442	0.00	2.33	0.00	0.000	4	0.000	0.063	2250	3743	3020
4467	-1.00	-146.0	345.4	-6.8	343	4472	0.12	2.17	0.00	0.000	6	0.100	0.037	2204	2327	3020
4789	-0.89	-146.0	370.8	-7.9	359	4794	0.15	2.35	0.00	0.000	4	0.146	0.062	2245	3750	3020
4830	-0.95	-146.0	373.7	-7.0	361	4834	0.00	2.17	0.00	0.000	6	0.000	0.038	2246	2333	3021
5162	-0.95	-146.0	394.5	-6.0	377	5166	0.00	2.33	0.00	0.000	4	0.000	0.063	2246	3746	3022
5202	-1.01	-146.0	397.0	-6.6	378	5209	0.12	2.17	0.00	0.000	6	0.101	0.036	2202	2327	3022
5534	-0.91	-146.0	420.7	-7.1	388	5539	0.15	2.35	0.00	0.000	4	0.150	0.061	2243	3748	3022
5567	-0.96	-146.0	423.0	-6.6	388	5574	0.00	2.17	0.00	0.000	6	0.000	0.036	2244	2329	3022
5899	-0.96	-146.0	441.8	-5.7	397	5902	0.00	2.33	0.00	0.000	4	0.000	0.062	2244	3743	3023
5910	-1.01	-146.0	442.5	-5.7	397	5915	0.12	2.15	0.00	0.000	6	0.093	0.036	2197	2337	3023
6229	-0.90	-146.0	464.3	-6.8	405	6234	0.17	2.33	0.00	0.000	4	0.148	0.061	2245	3743	3024
6264	-0.98	-146.0	466.5	-6.4	405	6270	0.00	2.15	0.00	0.000	6	0.000	0.037	2245	2340	3024
6596	-1.04	-146.0	485.3	-5.7	414	6601	0.12	2.33	0.00	0.000	4	0.100	0.061	2199	3753	3024
6636	-0.95	-146.0	487.8	-6.4	415	6640	0.12	2.17	0.00	0.000	6	0.152	0.036	2230	2329	3024
6965	-0.95	-146.0	506.3	-5.4	423	6969	0.00	2.33	0.00	0.000	4	0.000	0.061	2231	3743	3025
7005	-0.95	-146.0	508.6	-6.1	423	7011	0.00	2.15	0.00	0.000	6	0.000	0.036	2231	2341	3025
7336	-0.95	-146.0	526.2	-5.3	432	7340	0.00	2.33	0.00	0.000	4	0.000	0.062	2231	3753	3025
7375	-0.95	-146.0	528.4	-5.6	432	7381	0.00	2.17	0.00	0.000	6	0.000	0.035	2231	2332	3025
7707	-0.95	-146.0	547.0	-5.7	441	7711	0.00	2.33	0.00	0.000	4	0.000	0.062	2231	3747	3025
7753	-1.00	-146.0	549.7	-6.0	442	7757	0.00	2.15	0.00	0.000	6	0.000	0.036	2231	2339	3025
8083	-1.00	-146.0	568.8	-5.8	450	8087	0.00	2.30	0.00	0.000	4	0.000	0.061	2231	3743	3025
8116	-1.00	-146.0	570.9	-6.4	450	8120	0.00	2.15	0.00	0.000	6	0.000	0.036	2231	2338	3025
8454	-1.00	-146.0	589.1	-5.3	459	8457	0.00	2.33	0.00	0.000	4	0.000	0.061	2231	3755	3026
8465	-1.00	-146.0	589.7	-5.3	459	8469	0.00	2.17	0.00	0.000	6	0.000	0.035	2231	2333	3026
8784	-1.00	-146.0	607.7	-5.7	467	8788	0.00	2.33	0.00	0.000	4	0.000	0.061	2231	3750	3026
8795	-1.00	-146.0	608.4	-5.7	467	8799	0.00	2.17	0.00	0.000	6	0.000	0.035	2231	2328	3027
9114	-1.00	-146.0	627.0	-5.9	475	9118	0.00	2.33	0.00	0.000	4	0.000	0.061	2231	3748	3027
9122	end dive: TARGET_DEPTH_EXCEEDED
state	9122	begin apogee
9129	-0.34	0.0	627.5	5.7	475	9265	0.40	0.00	132.52	1.211	6	0.139	0.000	2359	2510	2420
9266	end apogee: CONTROL_FINISHED_OK
state	9266	begin climb
9269	1.08	146.0	629.4	0.0	478	9417	1.02	0.00	139.10	1.122	6	0.105	0.000	2665	2510	1824
9718	0.96	146.0	593.9	8.5	489	9722	0.00	2.38	0.00	0.000	4	0.000	0.061	2665	3938	1823
9809	0.72	146.0	584.9	9.9	491	9814	0.25	2.20	0.00	0.000	6	0.137	0.038	2591	2518	1822
10134	0.90	187.2	566.3	5.6	499	10177	0.15	2.28	34.83	1.150	4	0.071	0.048	2653	1113	1656
10232	0.90	187.2	558.4	8.5	501	10237	0.00	2.25	0.00	0.000	6	0.000	0.044	2653	2535	1655
10552	0.90	187.2	531.5	8.6	509	10555	0.00	2.25	0.00	0.000	4	0.000	0.061	2653	3937	1654
10602	0.76	187.2	526.7	9.9	510	10606	0.20	2.17	0.00	0.000	6	0.135	0.037	2593	2517	1654
10926	0.96	215.3	507.4	6.1	518	10956	0.17	2.28	24.00	1.122	4	0.069	0.049	2665	1098	1542
11035	0.96	215.3	498.1	8.7	520	11038	0.00	2.25	0.00	0.000	6	0.000	0.045	2665	2520	1541
11383	0.91	215.3	465.7	9.5	529	11388	0.12	2.28	0.00	0.000	4	0.137	0.059	2628	3934	1540
11416	0.91	215.3	462.5	8.7	529	11422	0.00	2.17	0.00	0.000	6	0.000	0.037	2628	2515	1540
11747	0.99	219.1	438.6	6.9	538	11757	0.10	2.20	4.75	0.788	4	0.087	0.048	2673	1114	1526
11837	0.99	219.1	431.1	8.7	540	11841	0.00	2.20	0.00	0.000	6	0.000	0.044	2673	2525	1526
12167	0.91	219.1	402.4	8.8	548	12172	0.15	2.25	0.00	0.000	4	0.137	0.060	2628	3925	1526
12223	0.91	219.1	397.6	8.3	549	12227	0.00	2.15	0.00	0.000	6	0.000	0.037	2628	2510	1527
12544	1.05	250.2	377.2	6.0	565	12577	0.12	2.22	26.70	1.055	4	0.078	0.048	2679	1116	1400
12644	1.05	250.2	368.8	8.7	569	12651	0.00	2.22	0.00	0.000	6	0.000	0.044	2679	2526	1399
12960	1.00	250.2	339.8	9.4	585	12962	0.10	0.00	0.00	0.000	6	0.143	0.000	2652	2526	1398
13270	1.05	250.2	316.4	7.4	600	13274	0.00	2.22	0.00	0.000	4	0.000	0.048	2651	1109	1398
13348	1.14	250.2	310.6	8.0	603	13353	0.12	2.20	0.00	0.000	6	0.078	0.044	2705	2523	1398
13670	1.03	250.2	279.1	9.8	619	13672	0.17	0.00	0.00	0.000	6	0.123	0.000	2651	2523	1399
13979	1.10	250.2	257.0	7.1	634	13983	0.10	2.20	0.00	0.000	4	0.088	0.048	2695	1114	1399
14046	1.10	250.2	251.1	9.1	637	14050	0.00	2.20	0.00	0.000	6	0.000	0.044	2695	2525	1400
14379	1.03	250.2	219.1	9.5	653	14384	0.15	2.28	0.00	0.000	4	0.131	0.061	2650	3934	1399
14428	1.03	250.2	214.2	9.0	655	14432	0.00	2.15	0.00	0.000	6	0.000	0.036	2650	2518	1400
14750	1.13	250.2	189.0	7.4	671	14754	0.12	2.17	0.00	0.000	4	0.075	0.047	2707	1119	1400
14840	1.13	250.2	180.5	9.5	675	14845	0.10	2.20	0.00	0.000	6	0.135	0.044	2679	2531	1400
15172	1.13	250.2	152.7	8.0	691	15174	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2531	1401
15482	1.13	250.2	129.4	7.1	706	15486	0.00	2.22	0.00	0.000	4	0.000	0.048	2679	1117	1401
15528	1.26	280.7	126.5	6.0	708	15560	0.12	2.20	26.30	0.943	6	0.079	0.045	2731	2525	1275
15875	1.18	280.7	97.8	8.4	727	15881	0.15	0.00	0.00	0.000	6	0.126	0.000	2685	2525	1272
16218	1.29	280.7	74.3	7.1	788	16225	0.12	2.25	0.00	0.000	4	0.076	0.050	2737	1109	1271
16322	1.29	280.7	65.0	8.8	806	16328	0.00	2.22	0.00	0.000	6	0.000	0.048	2737	2520	1271
16666	1.29	280.7	35.9	9.3	867	16673	0.10	2.28	0.00	0.000	4	0.147	0.061	2709	3928	1269
16719	1.29	280.7	30.5	10.8	876	16725	0.00	2.17	0.00	0.000	6	0.000	0.040	2709	2516	1268
17063	1.38	280.7	2.9	9.7	937	17070	0.10	2.20	0.00	0.000	4	0.090	0.051	2750	1119	1268
17079	end climb: SURFACE_DEPTH_REACHED
state	17079	begin surface coast
17086	end surface coast: CONTROL_FINISHED_OK
state	17086	begin surface