Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 326 * 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 326 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 40 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -29118.404 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 -29118.404

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 40 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 326 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 113226,6705.045,-5705.780,37,1.0,37,-37.7 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.208,-0.084

_SM_DEPTHo 1.69 KALMAN_X -52516.9,80.9,-429.1,66418.4,-2216.8

_SM_ANGLEo -64.0 KALMAN_Y -25768.4,-669.3,17.5,45216.1,1061.9

GPS2 114056,6705.024,-5705.879,12,1.0,12,-37.7 MHEAD_RNG_PITCHd_Wd 149.6,13444,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 632

Post-dive calculations and measurements:

FINISH 1.0,1.013915 TCM_TEMP 16.30

SM_CCo 16652,0.00,0.000,0,0,1189,301.96 XPDR_PINGS 2

SM_GC 1.84,6.97,0.00,0.00,0.059,0.000,0.000,163,2349,1189,-10.38,0.25,301.96 _24V_AH 20.9,61.167

RAFOS_CLK 854 _10V_AH 10.6,26.890

RAFOS 0,1227096248,12.083333,12.068889,64,60,60,56,56,51,1010,224,214,994,200,171 DATA_FILE_SIZE 34701,937

RAFOS_FIX 2776506.500000,-1082104.625000,191108,121212,2,75,981086.44 CAP_FILE_SIZE 143604,0

IRIDIUM_FIX 6636.54,-5702.96,130298,111111 CFSIZE 260165632,226709504

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

HUMID 1876 SOUNDSPEED 1464.7

INTERNAL_PRESSURE 8.55502 GPS 191108,162125,6704.257,-5704.837,24,1.0,42,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 259 116.09 SBE_CT 721 24 361.90

Roll_motor 169 65 233.33 SBE_O2 634 19 251.90

VBD_pump_during_apogee 403 1198 10103.57 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 47 103 102.11 nil 0 0 0.00

Iridium_during_connect 62 160 210.44 nil 0 0 0.00

Iridium_during_xfer 195 223 911.82

Transponder_ping 0 420 4.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.31

TT8 1787 19 377.53

LPSleep 12374 2 303.01

TT8_Active 545 19 115.16

TT8_Sampling 1874 39 793.07

TT8_CF8 610 45 297.27

TT8_Kalman 33 81 28.99

Analog_circuits 1596 12 203.13

GPS_charging 0 0 0.00

Compass 1838 8 155.89

RAFOS 2520 1 40.07

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 0 138 0.00 0.00 -119.82 0.000 2 0.000 0.000 160 2328 2962

141 -1.08 -146.0 3.1 -2.1 21 161 8.75 2.25 -1.92 0.000 4 0.259 0.066 2200 937 3019

358 -0.61 -146.0 40.0 -14.9 59 365 0.35 2.22 0.00 0.000 6 0.170 0.048 2299 2351 3021

702 -0.61 -146.0 71.4 -8.1 120 708 0.00 2.22 0.00 0.000 4 0.000 0.051 2300 940 3021

754 -0.61 -146.0 76.3 -9.6 129 760 0.00 2.20 0.00 0.000 6 0.000 0.048 2300 2341 3021

1110 -0.69 -146.0 104.3 -6.7 184 1113 0.00 2.28 0.00 0.000 4 0.000 0.062 2300 3752 3020

1121 -0.77 -146.0 105.1 -6.9 184 1126 0.12 2.17 0.00 0.000 6 0.094 0.037 2251 2331 3019

1443 -0.72 -146.0 134.2 -8.5 200 1445 0.12 0.00 0.00 0.000 6 0.160 0.000 2283 2330 3019

1752 -0.81 -146.0 154.3 -6.1 215 1757 0.10 2.33 0.00 0.000 4 0.094 0.062 2245 3749 3018

1770 -0.85 -146.0 155.3 -6.3 216 1774 0.00 2.17 0.00 0.000 6 0.000 0.037 2245 2329 3018

2102 -0.85 -146.0 179.3 -7.1 232 2105 0.00 2.33 0.00 0.000 4 0.000 0.063 2246 3750 3018

2140 -0.85 -146.0 182.0 -7.1 233 2147 0.00 2.17 0.00 0.000 6 0.000 0.036 2245 2328 3018

2457 -0.85 -146.0 204.7 -7.0 249 2461 0.00 2.33 0.00 0.000 4 0.000 0.061 2245 3754 3018

2484 -0.85 -146.0 206.7 -6.9 250 2488 0.00 2.17 0.00 0.000 6 0.000 0.036 2245 2327 3018

2810 -0.85 -146.0 228.9 -7.0 266 2811 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2327 3018

3120 -0.85 -146.0 252.7 -8.2 281 3124 0.00 2.30 0.00 0.000 4 0.000 0.060 2246 3745 3019

3132 -0.85 -146.0 253.7 -8.5 281 3135 0.00 2.15 0.00 0.000 6 0.000 0.036 2245 2336 3019

3453 -0.85 -146.0 278.5 -7.2 297 3456 0.00 2.30 0.00 0.000 4 0.000 0.060 2246 3753 3020

3464 -0.85 -146.0 279.2 -7.1 297 3468 0.00 2.15 0.00 0.000 6 0.000 0.035 2245 2331 3020

3785 -0.85 -146.0 299.5 -5.8 313 3788 0.00 2.30 0.00 0.000 4 0.000 0.060 2246 3749 3020

3847 -0.91 -146.0 303.4 -6.0 315 3853 0.00 2.15 0.00 0.000 6 0.000 0.035 2245 2337 3020

4163 -0.91 -146.0 322.2 -6.1 331 4167 0.00 2.30 0.00 0.000 4 0.000 0.059 2245 3756 3021

4203 -0.96 -146.0 324.8 -6.7 332 4209 0.00 2.17 0.00 0.000 6 0.000 0.035 2245 2328 3021

4518 -0.96 -146.0 344.2 -6.1 348 4522 0.00 2.30 0.00 0.000 4 0.000 0.060 2246 3745 3022

4542 -1.01 -146.0 345.7 -6.7 349 4547 0.10 2.15 0.00 0.000 6 0.099 0.035 2206 2327 3022

4874 -0.92 -146.0 371.3 -7.8 365 4879 0.12 2.30 0.00 0.000 4 0.153 0.058 2240 3747 3023

4884 -0.86 -146.0 372.1 -7.5 365 4891 0.00 2.15 0.00 0.000 6 0.000 0.035 2241 2334 3023

5201 -0.86 -146.0 392.9 -6.7 381 5205 0.00 2.30 0.00 0.000 4 0.000 0.060 2240 3749 3023

5211 -0.86 -146.0 393.7 -6.4 381 5216 0.00 2.15 0.00 0.000 6 0.000 0.035 2241 2331 3023

5530 -0.86 -146.0 414.0 -6.3 392 5533 0.00 2.30 0.00 0.000 4 0.000 0.059 2240 3746 3024

5541 -0.86 -146.0 414.8 -6.4 392 5545 0.00 2.15 0.00 0.000 6 0.000 0.035 2240 2330 3023

5860 -0.90 -146.0 435.7 -6.8 400 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2330 3024

6185 -0.90 -146.0 457.6 -7.0 408 6186 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2330 3024

6510 -0.90 -146.0 480.4 -6.9 416 6513 0.00 2.30 0.00 0.000 4 0.000 0.059 2241 3746 3024

6521 -0.95 -146.0 481.2 -6.8 416 6525 0.00 2.15 0.00 0.000 6 0.000 0.035 2241 2327 3024

6840 -1.00 -146.0 501.7 -6.3 424 6845 0.10 2.30 0.00 0.000 4 0.099 0.058 2203 3745 3025

6851 -1.00 -146.0 502.5 -6.3 424 6855 0.00 2.15 0.00 0.000 6 0.000 0.034 2203 2329 3024

7171 -0.93 -146.0 526.6 -7.7 432 7175 0.12 2.30 0.00 0.000 4 0.150 0.059 2234 3748 3025

7232 -0.99 -146.0 531.1 -7.4 433 7235 0.00 2.15 0.00 0.000 6 0.000 0.035 2234 2333 3025

7545 -0.99 -146.0 552.4 -6.7 441 7549 0.00 2.30 0.00 0.000 4 0.000 0.060 2234 3745 3025

7556 -0.99 -146.0 553.2 -6.6 441 7560 0.00 2.15 0.00 0.000 6 0.000 0.035 2234 2329 3025

7874 -0.99 -146.0 575.0 -6.9 449 7878 0.00 2.30 0.00 0.000 4 0.000 0.060 2234 3745 3025

7896 -1.04 -146.0 576.7 -7.3 449 7901 0.10 2.15 0.00 0.000 6 0.106 0.035 2196 2329 3025

8245 -0.95 -146.0 603.0 -7.4 458 8250 0.12 2.33 0.00 0.000 4 0.152 0.058 2229 3752 3025

8261 -0.95 -146.0 604.2 -7.1 458 8265 0.00 2.15 0.00 0.000 6 0.000 0.035 2229 2334 3025

8609 -0.95 -146.0 625.2 -6.0 467 8613 0.00 2.30 0.00 0.000 4 0.000 0.059 2229 3747 3025

8625 -0.99 -146.0 626.1 -5.7 467 8630 0.00 2.15 0.00 0.000 6 0.000 0.035 2229 2335 3025

8734 end dive: TARGET_DEPTH_EXCEEDED

state 8734 begin apogee

8741 -0.34 0.0 632.7 6.1 470 8874 0.43 0.00 130.57 1.199 6 0.131 0.000 2364 2532 2421

8875 end apogee: CONTROL_FINISHED_OK

state 8875 begin climb

8878 1.08 146.0 635.0 0.0 473 9021 1.00 2.60 135.02 1.125 4 0.100 0.044 2668 1119 1825

9074 0.98 146.0 619.8 9.5 477 9078 0.00 2.40 0.00 0.000 6 0.000 0.041 2668 2520 1825

9410 0.84 146.0 590.7 8.4 486 9415 0.17 2.28 0.00 0.000 4 0.136 0.057 2616 3933 1824

9535 0.80 163.5 582.0 6.4 488 9555 0.00 2.17 15.60 1.079 6 0.000 0.036 2616 2511 1754

9871 0.82 173.0 559.9 6.7 497 9886 0.00 2.20 9.32 1.008 4 0.000 0.048 2615 1112 1714

9937 0.91 173.0 555.2 7.6 498 9941 0.00 2.20 0.00 0.000 6 0.000 0.043 2616 2525 1716

10286 0.98 173.7 531.3 7.0 507 10291 0.12 2.22 0.00 0.000 4 0.076 0.059 2669 3923 1717

10347 0.76 173.7 525.1 10.8 508 10352 0.25 2.12 0.00 0.000 6 0.135 0.036 2594 2523 1716

10661 0.94 213.8 506.7 5.7 516 10703 0.15 2.25 34.45 1.123 4 0.069 0.048 2661 1122 1549

10759 0.94 213.8 498.9 7.9 518 10763 0.00 2.22 0.00 0.000 6 0.000 0.044 2661 2533 1550

11078 0.89 213.8 470.5 9.1 526 11080 0.12 0.00 0.00 0.000 6 0.132 0.000 2625 2533 1549

11404 0.97 223.9 447.6 6.7 534 11419 0.08 2.25 9.77 0.979 4 0.099 0.047 2665 1112 1507

11469 0.97 223.9 442.3 8.6 535 11473 0.00 2.20 0.00 0.000 6 0.000 0.042 2665 2532 1509

11817 0.97 223.9 413.2 8.4 544 11821 0.00 2.22 0.00 0.000 4 0.000 0.060 2665 3937 1509

11867 0.83 223.9 408.3 10.1 545 11872 0.17 2.17 0.00 0.000 6 0.133 0.036 2612 2505 1509

12194 1.02 251.8 388.4 6.1 557 12224 0.15 2.22 24.15 1.040 4 0.070 0.048 2679 1124 1394

12309 1.02 251.8 378.3 9.1 562 12313 0.10 2.20 0.00 0.000 6 0.135 0.043 2652 2529 1394

12635 1.02 251.8 350.6 8.5 578 12639 0.00 2.22 0.00 0.000 4 0.000 0.059 2651 3930 1394

12668 1.02 251.8 347.0 11.3 579 12672 0.00 2.15 0.00 0.000 6 0.000 0.035 2651 2512 1394

12990 1.07 251.8 317.5 9.2 595 12993 0.00 2.15 0.00 0.000 4 0.000 0.047 2651 1115 1394

13090 1.16 251.8 308.6 8.7 599 13095 0.12 2.17 0.00 0.000 6 0.079 0.042 2705 2521 1394

13412 1.03 251.8 271.4 11.6 615 13414 0.17 0.00 0.00 0.000 6 0.122 0.000 2652 2521 1393

13721 1.08 251.8 244.8 8.3 630 13725 0.00 2.20 0.00 0.000 4 0.000 0.047 2651 1109 1394

13789 1.19 251.8 239.4 8.4 633 13794 0.15 2.20 0.00 0.000 6 0.072 0.043 2717 2530 1394

14122 1.04 251.8 201.3 12.0 649 14124 0.20 0.00 0.00 0.000 6 0.119 0.000 2653 2531 1393

14430 1.10 251.8 175.4 8.4 664 14434 0.00 2.20 0.00 0.000 4 0.000 0.047 2654 1121 1394

14505 1.21 251.8 169.1 8.8 667 14510 0.15 2.17 0.00 0.000 6 0.071 0.043 2718 2520 1394

14832 1.09 251.8 133.4 10.8 683 14837 0.17 2.25 0.00 0.000 4 0.120 0.058 2664 3927 1394

14877 1.09 251.8 128.6 9.9 685 14881 0.00 2.15 0.00 0.000 6 0.000 0.035 2663 2509 1395

15211 1.17 251.8 101.6 7.7 701 15215 0.10 2.15 0.00 0.000 4 0.079 0.046 2709 1120 1395

15319 1.17 251.8 92.2 8.7 717 15325 0.00 2.17 0.00 0.000 6 0.000 0.043 2709 2524 1395

15663 1.18 257.5 66.2 6.8 778 15675 0.00 2.25 6.57 0.736 4 0.000 0.059 2709 3926 1370

15727 1.10 257.5 60.8 8.7 789 15736 0.15 2.15 0.00 0.000 6 0.126 0.036 2664 2512 1371

16074 1.45 292.1 39.0 5.8 850 16110 0.22 2.35 28.90 0.875 4 0.067 0.061 2759 3929 1229

16129 1.37 292.1 34.6 7.9 859 16136 0.12 2.20 0.00 0.000 6 0.153 0.036 2726 2509 1228

16474 1.39 302.0 8.5 6.7 920 16487 0.00 2.25 8.88 0.792 4 0.000 0.049 2726 1111 1189

16558 end climb: SURFACE_DEPTH_REACHED

state 16558 begin surface coast

16572 end surface coast: CONTROL_FINISHED_OK

state 16572 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	326	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	40	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-29118.404	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	113226,6705.045,-5705.780,37,1.0,37,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.208,-0.084
_SM_DEPTHo	1.69	KALMAN_X	-52516.9,80.9,-429.1,66418.4,-2216.8
_SM_ANGLEo	-64.0	KALMAN_Y	-25768.4,-669.3,17.5,45216.1,1061.9
GPS2	114056,6705.024,-5705.879,12,1.0,12,-37.7	MHEAD_RNG_PITCHd_Wd	149.6,13444,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	632

FINISH	1.0,1.013915	TCM_TEMP	16.30
SM_CCo	16652,0.00,0.000,0,0,1189,301.96	XPDR_PINGS	2
SM_GC	1.84,6.97,0.00,0.00,0.059,0.000,0.000,163,2349,1189,-10.38,0.25,301.96	_24V_AH	20.9,61.167
RAFOS_CLK	854	_10V_AH	10.6,26.890
RAFOS	0,1227096248,12.083333,12.068889,64,60,60,56,56,51,1010,224,214,994,200,171	DATA_FILE_SIZE	34701,937
RAFOS_FIX	2776506.500000,-1082104.625000,191108,121212,2,75,981086.44	CAP_FILE_SIZE	143604,0
IRIDIUM_FIX	6636.54,-5702.96,130298,111111	CFSIZE	260165632,226709504
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1876	SOUNDSPEED	1464.7
INTERNAL_PRESSURE	8.55502	GPS	191108,162125,6704.257,-5704.837,24,1.0,42,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	259	116.09	SBE_CT	721	24	361.90
Roll_motor	169	65	233.33	SBE_O2	634	19	251.90
VBD_pump_during_apogee	403	1198	10103.57	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	47	103	102.11	nil	0	0	0.00
Iridium_during_connect	62	160	210.44	nil	0	0	0.00
Iridium_during_xfer	195	223	911.82
Transponder_ping	0	420	4.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.31
TT8	1787	19	377.53
LPSleep	12374	2	303.01
TT8_Active	545	19	115.16
TT8_Sampling	1874	39	793.07
TT8_CF8	610	45	297.27
TT8_Kalman	33	81	28.99
Analog_circuits	1596	12	203.13
GPS_charging	0	0	0.00
Compass	1838	8	155.89
RAFOS	2520	1	40.07
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	138	0.00	0.00	-119.82	0.000	2	0.000	0.000	160	2328	2962
141	-1.08	-146.0	3.1	-2.1	21	161	8.75	2.25	-1.92	0.000	4	0.259	0.066	2200	937	3019
358	-0.61	-146.0	40.0	-14.9	59	365	0.35	2.22	0.00	0.000	6	0.170	0.048	2299	2351	3021
702	-0.61	-146.0	71.4	-8.1	120	708	0.00	2.22	0.00	0.000	4	0.000	0.051	2300	940	3021
754	-0.61	-146.0	76.3	-9.6	129	760	0.00	2.20	0.00	0.000	6	0.000	0.048	2300	2341	3021
1110	-0.69	-146.0	104.3	-6.7	184	1113	0.00	2.28	0.00	0.000	4	0.000	0.062	2300	3752	3020
1121	-0.77	-146.0	105.1	-6.9	184	1126	0.12	2.17	0.00	0.000	6	0.094	0.037	2251	2331	3019
1443	-0.72	-146.0	134.2	-8.5	200	1445	0.12	0.00	0.00	0.000	6	0.160	0.000	2283	2330	3019
1752	-0.81	-146.0	154.3	-6.1	215	1757	0.10	2.33	0.00	0.000	4	0.094	0.062	2245	3749	3018
1770	-0.85	-146.0	155.3	-6.3	216	1774	0.00	2.17	0.00	0.000	6	0.000	0.037	2245	2329	3018
2102	-0.85	-146.0	179.3	-7.1	232	2105	0.00	2.33	0.00	0.000	4	0.000	0.063	2246	3750	3018
2140	-0.85	-146.0	182.0	-7.1	233	2147	0.00	2.17	0.00	0.000	6	0.000	0.036	2245	2328	3018
2457	-0.85	-146.0	204.7	-7.0	249	2461	0.00	2.33	0.00	0.000	4	0.000	0.061	2245	3754	3018
2484	-0.85	-146.0	206.7	-6.9	250	2488	0.00	2.17	0.00	0.000	6	0.000	0.036	2245	2327	3018
2810	-0.85	-146.0	228.9	-7.0	266	2811	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2327	3018
3120	-0.85	-146.0	252.7	-8.2	281	3124	0.00	2.30	0.00	0.000	4	0.000	0.060	2246	3745	3019
3132	-0.85	-146.0	253.7	-8.5	281	3135	0.00	2.15	0.00	0.000	6	0.000	0.036	2245	2336	3019
3453	-0.85	-146.0	278.5	-7.2	297	3456	0.00	2.30	0.00	0.000	4	0.000	0.060	2246	3753	3020
3464	-0.85	-146.0	279.2	-7.1	297	3468	0.00	2.15	0.00	0.000	6	0.000	0.035	2245	2331	3020
3785	-0.85	-146.0	299.5	-5.8	313	3788	0.00	2.30	0.00	0.000	4	0.000	0.060	2246	3749	3020
3847	-0.91	-146.0	303.4	-6.0	315	3853	0.00	2.15	0.00	0.000	6	0.000	0.035	2245	2337	3020
4163	-0.91	-146.0	322.2	-6.1	331	4167	0.00	2.30	0.00	0.000	4	0.000	0.059	2245	3756	3021
4203	-0.96	-146.0	324.8	-6.7	332	4209	0.00	2.17	0.00	0.000	6	0.000	0.035	2245	2328	3021
4518	-0.96	-146.0	344.2	-6.1	348	4522	0.00	2.30	0.00	0.000	4	0.000	0.060	2246	3745	3022
4542	-1.01	-146.0	345.7	-6.7	349	4547	0.10	2.15	0.00	0.000	6	0.099	0.035	2206	2327	3022
4874	-0.92	-146.0	371.3	-7.8	365	4879	0.12	2.30	0.00	0.000	4	0.153	0.058	2240	3747	3023
4884	-0.86	-146.0	372.1	-7.5	365	4891	0.00	2.15	0.00	0.000	6	0.000	0.035	2241	2334	3023
5201	-0.86	-146.0	392.9	-6.7	381	5205	0.00	2.30	0.00	0.000	4	0.000	0.060	2240	3749	3023
5211	-0.86	-146.0	393.7	-6.4	381	5216	0.00	2.15	0.00	0.000	6	0.000	0.035	2241	2331	3023
5530	-0.86	-146.0	414.0	-6.3	392	5533	0.00	2.30	0.00	0.000	4	0.000	0.059	2240	3746	3024
5541	-0.86	-146.0	414.8	-6.4	392	5545	0.00	2.15	0.00	0.000	6	0.000	0.035	2240	2330	3023
5860	-0.90	-146.0	435.7	-6.8	400	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2330	3024
6185	-0.90	-146.0	457.6	-7.0	408	6186	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2330	3024
6510	-0.90	-146.0	480.4	-6.9	416	6513	0.00	2.30	0.00	0.000	4	0.000	0.059	2241	3746	3024
6521	-0.95	-146.0	481.2	-6.8	416	6525	0.00	2.15	0.00	0.000	6	0.000	0.035	2241	2327	3024
6840	-1.00	-146.0	501.7	-6.3	424	6845	0.10	2.30	0.00	0.000	4	0.099	0.058	2203	3745	3025
6851	-1.00	-146.0	502.5	-6.3	424	6855	0.00	2.15	0.00	0.000	6	0.000	0.034	2203	2329	3024
7171	-0.93	-146.0	526.6	-7.7	432	7175	0.12	2.30	0.00	0.000	4	0.150	0.059	2234	3748	3025
7232	-0.99	-146.0	531.1	-7.4	433	7235	0.00	2.15	0.00	0.000	6	0.000	0.035	2234	2333	3025
7545	-0.99	-146.0	552.4	-6.7	441	7549	0.00	2.30	0.00	0.000	4	0.000	0.060	2234	3745	3025
7556	-0.99	-146.0	553.2	-6.6	441	7560	0.00	2.15	0.00	0.000	6	0.000	0.035	2234	2329	3025
7874	-0.99	-146.0	575.0	-6.9	449	7878	0.00	2.30	0.00	0.000	4	0.000	0.060	2234	3745	3025
7896	-1.04	-146.0	576.7	-7.3	449	7901	0.10	2.15	0.00	0.000	6	0.106	0.035	2196	2329	3025
8245	-0.95	-146.0	603.0	-7.4	458	8250	0.12	2.33	0.00	0.000	4	0.152	0.058	2229	3752	3025
8261	-0.95	-146.0	604.2	-7.1	458	8265	0.00	2.15	0.00	0.000	6	0.000	0.035	2229	2334	3025
8609	-0.95	-146.0	625.2	-6.0	467	8613	0.00	2.30	0.00	0.000	4	0.000	0.059	2229	3747	3025
8625	-0.99	-146.0	626.1	-5.7	467	8630	0.00	2.15	0.00	0.000	6	0.000	0.035	2229	2335	3025
8734	end dive: TARGET_DEPTH_EXCEEDED
state	8734	begin apogee
8741	-0.34	0.0	632.7	6.1	470	8874	0.43	0.00	130.57	1.199	6	0.131	0.000	2364	2532	2421
8875	end apogee: CONTROL_FINISHED_OK
state	8875	begin climb
8878	1.08	146.0	635.0	0.0	473	9021	1.00	2.60	135.02	1.125	4	0.100	0.044	2668	1119	1825
9074	0.98	146.0	619.8	9.5	477	9078	0.00	2.40	0.00	0.000	6	0.000	0.041	2668	2520	1825
9410	0.84	146.0	590.7	8.4	486	9415	0.17	2.28	0.00	0.000	4	0.136	0.057	2616	3933	1824
9535	0.80	163.5	582.0	6.4	488	9555	0.00	2.17	15.60	1.079	6	0.000	0.036	2616	2511	1754
9871	0.82	173.0	559.9	6.7	497	9886	0.00	2.20	9.32	1.008	4	0.000	0.048	2615	1112	1714
9937	0.91	173.0	555.2	7.6	498	9941	0.00	2.20	0.00	0.000	6	0.000	0.043	2616	2525	1716
10286	0.98	173.7	531.3	7.0	507	10291	0.12	2.22	0.00	0.000	4	0.076	0.059	2669	3923	1717
10347	0.76	173.7	525.1	10.8	508	10352	0.25	2.12	0.00	0.000	6	0.135	0.036	2594	2523	1716
10661	0.94	213.8	506.7	5.7	516	10703	0.15	2.25	34.45	1.123	4	0.069	0.048	2661	1122	1549
10759	0.94	213.8	498.9	7.9	518	10763	0.00	2.22	0.00	0.000	6	0.000	0.044	2661	2533	1550
11078	0.89	213.8	470.5	9.1	526	11080	0.12	0.00	0.00	0.000	6	0.132	0.000	2625	2533	1549
11404	0.97	223.9	447.6	6.7	534	11419	0.08	2.25	9.77	0.979	4	0.099	0.047	2665	1112	1507
11469	0.97	223.9	442.3	8.6	535	11473	0.00	2.20	0.00	0.000	6	0.000	0.042	2665	2532	1509
11817	0.97	223.9	413.2	8.4	544	11821	0.00	2.22	0.00	0.000	4	0.000	0.060	2665	3937	1509
11867	0.83	223.9	408.3	10.1	545	11872	0.17	2.17	0.00	0.000	6	0.133	0.036	2612	2505	1509
12194	1.02	251.8	388.4	6.1	557	12224	0.15	2.22	24.15	1.040	4	0.070	0.048	2679	1124	1394
12309	1.02	251.8	378.3	9.1	562	12313	0.10	2.20	0.00	0.000	6	0.135	0.043	2652	2529	1394
12635	1.02	251.8	350.6	8.5	578	12639	0.00	2.22	0.00	0.000	4	0.000	0.059	2651	3930	1394
12668	1.02	251.8	347.0	11.3	579	12672	0.00	2.15	0.00	0.000	6	0.000	0.035	2651	2512	1394
12990	1.07	251.8	317.5	9.2	595	12993	0.00	2.15	0.00	0.000	4	0.000	0.047	2651	1115	1394
13090	1.16	251.8	308.6	8.7	599	13095	0.12	2.17	0.00	0.000	6	0.079	0.042	2705	2521	1394
13412	1.03	251.8	271.4	11.6	615	13414	0.17	0.00	0.00	0.000	6	0.122	0.000	2652	2521	1393
13721	1.08	251.8	244.8	8.3	630	13725	0.00	2.20	0.00	0.000	4	0.000	0.047	2651	1109	1394
13789	1.19	251.8	239.4	8.4	633	13794	0.15	2.20	0.00	0.000	6	0.072	0.043	2717	2530	1394
14122	1.04	251.8	201.3	12.0	649	14124	0.20	0.00	0.00	0.000	6	0.119	0.000	2653	2531	1393
14430	1.10	251.8	175.4	8.4	664	14434	0.00	2.20	0.00	0.000	4	0.000	0.047	2654	1121	1394
14505	1.21	251.8	169.1	8.8	667	14510	0.15	2.17	0.00	0.000	6	0.071	0.043	2718	2520	1394
14832	1.09	251.8	133.4	10.8	683	14837	0.17	2.25	0.00	0.000	4	0.120	0.058	2664	3927	1394
14877	1.09	251.8	128.6	9.9	685	14881	0.00	2.15	0.00	0.000	6	0.000	0.035	2663	2509	1395
15211	1.17	251.8	101.6	7.7	701	15215	0.10	2.15	0.00	0.000	4	0.079	0.046	2709	1120	1395
15319	1.17	251.8	92.2	8.7	717	15325	0.00	2.17	0.00	0.000	6	0.000	0.043	2709	2524	1395
15663	1.18	257.5	66.2	6.8	778	15675	0.00	2.25	6.57	0.736	4	0.000	0.059	2709	3926	1370
15727	1.10	257.5	60.8	8.7	789	15736	0.15	2.15	0.00	0.000	6	0.126	0.036	2664	2512	1371
16074	1.45	292.1	39.0	5.8	850	16110	0.22	2.35	28.90	0.875	4	0.067	0.061	2759	3929	1229
16129	1.37	292.1	34.6	7.9	859	16136	0.12	2.20	0.00	0.000	6	0.153	0.036	2726	2509	1228
16474	1.39	302.0	8.5	6.7	920	16487	0.00	2.25	8.88	0.792	4	0.000	0.049	2726	1111	1189
16558	end climb: SURFACE_DEPTH_REACHED
state	16558	begin surface coast
16572	end surface coast: CONTROL_FINISHED_OK
state	16572	begin surface