Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 331 * 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 331 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 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -29186.971 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 -29186.971

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 43 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 331 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 125938,6702.150,-5656.524,35,1.3,35,-37.6 TGT_NAME TARGET_ADD4_WB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.199,-0.103

_SM_DEPTHo 1.84 KALMAN_X -64366.0,312.0,110.1,84245.9,-2982.2

_SM_ANGLEo -64.8 KALMAN_Y -25083.0,-732.2,-64.1,39307.2,528.9

GPS2 130514,6702.125,-5656.568,8,1.3,13,-37.6 MHEAD_RNG_PITCHd_Wd 280.3,28425,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 655

Post-dive calculations and measurements:

FINISH 1.0,1.002554 TCM_TEMP 16.50

SM_CCo 18241,0.00,0.000,0,0,1172,306.13 XPDR_PINGS 2

SM_GC 1.87,6.88,0.00,0.00,0.057,0.000,0.000,164,2334,1172,-10.37,-0.17,306.13 _24V_AH 20.9,61.853

RAFOS_CLK 933 _10V_AH 10.6,27.256

RAFOS 0,1227197054,16.083334,16.070555,70,59,55,52,51,49,214,203,184,170,224,140 DATA_FILE_SIZE 37832,994

RAFOS_FIX 6627.069336,-6009.191406,201108,161621,3,82,13.66 CAP_FILE_SIZE 153067,0

IRIDIUM_FIX 6636.54,-5702.96,140298,080835 CFSIZE 260165632,226344960

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

HUMID 1874 SOUNDSPEED 1465.9

INTERNAL_PRESSURE 8.55502 GPS 201108,181238,6701.881,-5701.650,63,0.9,63,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 260 119.15 SBE_CT 764 24 383.57

Roll_motor 168 62 221.46 SBE_O2 672 19 267.23

VBD_pump_during_apogee 410 1212 10411.91 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 52.97 nil 0 0 0.00

Iridium_during_connect 37 160 123.79 nil 0 0 0.00

Iridium_during_xfer 140 223 654.61

Transponder_ping 0 420 4.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.08

TT8 1912 19 403.87

LPSleep 13576 2 332.44

TT8_Active 550 19 116.22

TT8_Sampling 2058 39 871.18

TT8_CF8 514 45 250.32

TT8_Kalman 33 81 28.99

Analog_circuits 1676 12 213.19

GPS_charging 0 0 0.00

Compass 2017 8 171.08

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 12 begin dive

15 -1.08 -146.0 0.0 0.0 0 125 0.00 0.00 -107.30 0.000 6 0.000 0.000 164 2353 3016

129 -1.08 -146.0 3.4 -2.5 19 142 8.68 2.30 0.00 0.000 4 0.260 0.059 2201 3749 3020

373 -0.73 -146.0 43.5 -13.6 62 380 0.25 2.17 0.00 0.000 6 0.160 0.038 2273 2336 3022

718 -0.65 -146.0 75.5 -8.5 123 725 0.08 2.20 0.00 0.000 4 0.176 0.048 2296 928 3022

776 -0.65 -146.0 80.6 -8.1 133 783 0.00 2.22 0.00 0.000 6 0.000 0.046 2296 2346 3022

1132 -0.72 -146.0 105.5 -8.3 188 1136 0.00 2.28 0.00 0.000 4 0.000 0.062 2296 3754 3021

1250 -0.85 -146.0 114.5 -6.6 193 1254 0.15 2.17 0.00 0.000 6 0.082 0.037 2240 2336 3020

1577 -0.79 -146.0 143.5 -8.8 209 1582 0.10 2.20 0.00 0.000 4 0.172 0.048 2265 929 3019

1627 -0.79 -146.0 147.7 -8.0 211 1631 0.00 2.22 0.00 0.000 6 0.000 0.047 2265 2343 3019

1955 -0.84 -146.0 168.4 -5.6 227 1959 0.00 2.28 0.00 0.000 4 0.000 0.063 2265 3749 3018

2039 -0.91 -146.0 173.6 -6.0 230 2046 0.10 2.17 0.00 0.000 6 0.105 0.037 2230 2329 3018

2355 -0.85 -146.0 196.0 -7.3 246 2359 0.00 2.33 0.00 0.000 4 0.000 0.061 2230 3747 3018

2400 -0.85 -146.0 199.4 -7.7 248 2404 0.00 2.17 0.00 0.000 6 0.000 0.036 2230 2327 3018

2733 -0.80 -146.0 224.8 -8.0 264 2737 0.12 2.17 0.00 0.000 4 0.156 0.047 2263 933 3018

2807 -0.80 -146.0 230.2 -7.7 267 2810 0.00 2.22 0.00 0.000 6 0.000 0.044 2263 2355 3019

3134 -0.89 -146.0 252.1 -6.7 283 3138 0.00 2.25 0.00 0.000 4 0.000 0.060 2262 3752 3020

3218 -1.00 -146.0 258.0 -6.9 286 3225 0.15 2.17 0.00 0.000 6 0.089 0.035 2209 2324 3020

3535 -0.90 -146.0 281.4 -7.2 302 3539 0.12 2.33 0.00 0.000 4 0.153 0.060 2242 3743 3020

3607 -0.96 -146.0 286.1 -6.0 305 3611 0.00 2.15 0.00 0.000 6 0.000 0.035 2243 2333 3020

3929 -0.96 -146.0 304.8 -5.5 321 3930 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2333 3021

4238 -0.96 -146.0 321.5 -5.4 336 4241 0.00 2.30 0.00 0.000 4 0.000 0.059 2243 3748 3021

4294 -1.02 -146.0 324.9 -6.2 338 4299 0.12 2.15 0.00 0.000 6 0.091 0.035 2195 2330 3021

4616 -0.90 -146.0 346.5 -6.8 354 4620 0.17 2.15 0.00 0.000 4 0.146 0.044 2245 945 3022

4755 -0.90 -146.0 354.9 -5.9 360 4759 0.00 2.17 0.00 0.000 6 0.000 0.043 2245 2342 3023

5082 -0.94 -146.0 372.6 -5.6 376 5086 0.00 2.20 0.00 0.000 4 0.000 0.045 2245 933 3023

5132 -0.94 -146.0 376.1 -6.5 378 5136 0.00 2.20 0.00 0.000 6 0.000 0.043 2245 2344 3023

5460 -0.99 -146.0 395.3 -5.9 394 5464 0.10 2.25 0.00 0.000 4 0.097 0.058 2205 3743 3024

5533 -0.94 -146.0 400.6 -7.4 397 5537 0.10 2.15 0.00 0.000 6 0.151 0.035 2229 2327 3024

5875 -0.94 -146.0 423.2 -6.6 406 5878 0.00 2.30 0.00 0.000 4 0.000 0.059 2230 3742 3024

5941 -0.94 -146.0 427.7 -7.1 407 5945 0.00 2.12 0.00 0.000 6 0.000 0.034 2230 2339 3024

6290 -0.94 -146.0 450.2 -6.4 416 6294 0.00 2.17 0.00 0.000 4 0.000 0.045 2230 931 3024

6340 -0.94 -146.0 453.6 -6.6 417 6344 0.00 2.20 0.00 0.000 6 0.000 0.043 2230 2343 3024

6663 -0.94 -146.0 473.3 -6.1 425 6667 0.00 2.25 0.00 0.000 4 0.000 0.059 2230 3744 3025

6743 -0.99 -146.0 478.3 -6.0 426 6747 0.00 2.15 0.00 0.000 6 0.000 0.034 2230 2329 3025

7080 -0.99 -146.0 497.5 -5.7 435 7081 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2329 3025

7405 -0.99 -146.0 516.8 -6.0 443 7408 0.00 2.33 0.00 0.000 4 0.000 0.060 2230 3752 3025

7478 -1.04 -146.0 521.4 -6.4 444 7482 0.00 2.17 0.00 0.000 6 0.000 0.035 2230 2325 3025

7821 -1.04 -146.0 542.4 -6.2 453 7822 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2325 3025

8146 -1.04 -146.0 562.9 -6.1 461 8150 0.00 2.33 0.00 0.000 4 0.000 0.059 2230 3752 3025

8242 -1.10 -146.0 569.0 -6.5 463 8246 0.12 2.15 0.00 0.000 6 0.092 0.034 2185 2336 3025

8566 -0.98 -146.0 593.2 -7.6 471 8568 0.15 0.00 0.00 0.000 6 0.152 0.000 2227 2333 3025

8891 -0.98 -146.0 612.8 -5.9 479 8895 0.00 2.30 0.00 0.000 4 0.000 0.059 2227 3745 3026

8992 -0.98 -146.0 618.9 -6.1 481 8996 0.00 2.15 0.00 0.000 6 0.000 0.034 2227 2330 3025

9311 -0.98 -146.0 637.5 -5.7 489 9312 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2330 3026

9636 -1.24 -146.0 651.6 -3.2 497 9641 0.20 2.33 0.00 0.000 4 0.074 0.058 2139 3751 3026

9885 end dive: NO_VERTICAL_VELOCITY

state 9885 begin apogee

9893 -0.34 0.0 651.6 0.0 502 10028 0.65 0.00 131.25 1.213 6 0.107 0.000 2360 2509 2420

10028 end apogee: CONTROL_FINISHED_OK

state 10028 begin climb

10032 1.08 146.0 651.1 0.0 506 10172 1.02 0.00 135.68 1.136 6 0.107 0.000 2666 2509 1824

10480 0.95 146.0 613.4 9.1 517 10485 0.10 2.33 0.00 0.000 4 0.144 0.057 2639 3927 1824

10559 0.81 146.0 606.3 9.2 518 10566 0.10 2.17 0.00 0.000 6 0.149 0.036 2611 2514 1824

10890 0.89 168.5 585.2 6.3 527 10914 0.00 2.22 19.50 1.120 4 0.000 0.047 2611 1114 1732

10933 1.02 194.2 582.5 6.1 528 10963 0.15 2.22 22.75 1.110 6 0.069 0.042 2675 2528 1628

11306 0.92 194.2 548.7 9.4 537 11308 0.15 0.00 0.00 0.000 6 0.127 0.000 2630 2528 1628

11625 0.92 194.2 524.3 7.6 545 11629 0.00 2.22 0.00 0.000 4 0.000 0.047 2630 1108 1627

11647 1.00 198.5 522.8 6.9 545 11657 0.08 2.20 4.90 0.815 6 0.096 0.042 2665 2526 1610

11989 0.93 198.5 492.2 9.0 554 11994 0.12 2.22 0.00 0.000 4 0.127 0.045 2628 1109 1612

12005 0.93 198.5 490.8 8.8 554 12009 0.00 2.17 0.00 0.000 6 0.000 0.042 2627 2521 1612

12353 0.98 198.5 465.5 7.4 563 12358 0.08 2.20 0.00 0.000 4 0.095 0.046 2666 1117 1612

12381 0.98 198.5 463.0 9.0 563 12385 0.00 2.20 0.00 0.000 6 0.000 0.041 2666 2549 1611

12723 0.91 198.5 431.8 9.0 572 12727 0.12 2.25 0.00 0.000 4 0.141 0.045 2630 1112 1612

12751 0.99 210.8 429.6 6.6 572 12767 0.00 2.17 11.52 1.005 6 0.000 0.042 2630 2520 1560

13091 1.06 215.9 406.8 6.8 581 13102 0.12 2.22 5.80 0.838 4 0.072 0.046 2689 1109 1540

13125 0.99 215.9 403.3 9.3 581 13132 0.15 2.20 0.00 0.000 6 0.133 0.042 2645 2524 1541

13440 0.99 215.9 378.4 8.0 596 13444 0.00 2.20 0.00 0.000 4 0.000 0.046 2645 1114 1542

13456 1.03 215.9 377.1 7.9 596 13462 0.00 2.17 0.00 0.000 6 0.000 0.041 2644 2518 1542

13771 1.03 215.9 351.6 8.1 612 13775 0.00 2.20 0.00 0.000 4 0.000 0.046 2644 1109 1542

13805 1.11 215.9 348.8 8.1 613 13810 0.12 2.20 0.00 0.000 6 0.079 0.042 2694 2526 1542

14127 0.99 215.9 314.9 10.9 629 14131 0.15 2.22 0.00 0.000 4 0.125 0.046 2649 1109 1542

14149 0.99 215.9 312.9 8.7 630 14153 0.00 2.20 0.00 0.000 6 0.000 0.042 2649 2528 1542

14476 0.99 215.9 286.6 8.0 646 14480 0.00 2.20 0.00 0.000 4 0.000 0.045 2649 1117 1542

14499 1.05 215.9 284.7 8.1 647 14503 0.00 2.17 0.00 0.000 6 0.000 0.041 2649 2523 1543

14832 1.05 215.9 258.9 7.7 663 14836 0.00 2.20 0.00 0.000 4 0.000 0.045 2650 1116 1543

14855 1.12 215.9 257.2 7.3 664 14859 0.10 2.17 0.00 0.000 6 0.083 0.041 2692 2521 1542

15187 1.03 215.9 225.5 9.3 680 15189 0.12 0.00 0.00 0.000 6 0.125 0.000 2655 2522 1542

15497 1.03 219.4 203.9 6.9 695 15503 0.00 0.00 5.10 0.717 6 0.000 0.000 2655 2522 1525

15805 1.03 219.4 181.5 7.5 710 15809 0.00 2.20 0.00 0.000 4 0.000 0.046 2655 1119 1527

15833 1.13 228.9 179.5 6.7 711 15850 0.10 2.20 9.38 0.842 6 0.084 0.041 2699 2535 1486

16161 1.06 228.9 148.9 10.1 727 16166 0.12 2.22 0.00 0.000 4 0.133 0.045 2663 1120 1488

16178 1.06 228.9 146.9 10.4 728 16182 0.00 2.20 0.00 0.000 6 0.000 0.043 2663 2533 1488

16510 1.11 228.9 120.2 7.7 744 16511 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2532 1488

16820 1.20 255.9 99.7 6.1 759 16851 0.12 2.28 22.80 0.882 4 0.071 0.046 2719 1109 1376

16875 1.12 255.9 95.2 8.2 768 16881 0.15 2.22 0.00 0.000 6 0.126 0.042 2675 2525 1376

17220 1.26 286.5 73.8 6.0 829 17251 0.12 2.33 25.30 0.864 4 0.071 0.047 2733 1109 1252

17264 1.26 286.5 70.5 7.5 836 17271 0.10 2.22 0.00 0.000 6 0.131 0.041 2706 2524 1251

17609 1.36 305.8 47.4 6.4 897 17634 0.10 2.25 16.85 0.834 4 0.079 0.048 2750 1112 1173

17646 1.36 305.8 44.3 8.0 903 17652 0.00 2.22 0.00 0.000 6 0.000 0.042 2750 2534 1173

17990 1.29 305.8 12.8 9.1 964 17997 0.15 2.22 0.00 0.000 4 0.131 0.047 2705 1121 1173

18009 1.29 305.8 11.4 9.0 967 18016 0.00 2.20 0.00 0.000 6 0.000 0.044 2705 2530 1173

18132 end climb: SURFACE_DEPTH_REACHED

state 18132 begin surface coast

18164 end surface coast: CONTROL_FINISHED_OK

state 18164 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	331	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	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-29186.971	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	125938,6702.150,-5656.524,35,1.3,35,-37.6	TGT_NAME	TARGET_ADD4_WB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.199,-0.103
_SM_DEPTHo	1.84	KALMAN_X	-64366.0,312.0,110.1,84245.9,-2982.2
_SM_ANGLEo	-64.8	KALMAN_Y	-25083.0,-732.2,-64.1,39307.2,528.9
GPS2	130514,6702.125,-5656.568,8,1.3,13,-37.6	MHEAD_RNG_PITCHd_Wd	280.3,28425,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	655

FINISH	1.0,1.002554	TCM_TEMP	16.50
SM_CCo	18241,0.00,0.000,0,0,1172,306.13	XPDR_PINGS	2
SM_GC	1.87,6.88,0.00,0.00,0.057,0.000,0.000,164,2334,1172,-10.37,-0.17,306.13	_24V_AH	20.9,61.853
RAFOS_CLK	933	_10V_AH	10.6,27.256
RAFOS	0,1227197054,16.083334,16.070555,70,59,55,52,51,49,214,203,184,170,224,140	DATA_FILE_SIZE	37832,994
RAFOS_FIX	6627.069336,-6009.191406,201108,161621,3,82,13.66	CAP_FILE_SIZE	153067,0
IRIDIUM_FIX	6636.54,-5702.96,140298,080835	CFSIZE	260165632,226344960
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1874	SOUNDSPEED	1465.9
INTERNAL_PRESSURE	8.55502	GPS	201108,181238,6701.881,-5701.650,63,0.9,63,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	260	119.15	SBE_CT	764	24	383.57
Roll_motor	168	62	221.46	SBE_O2	672	19	267.23
VBD_pump_during_apogee	410	1212	10411.91	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	52.97	nil	0	0	0.00
Iridium_during_connect	37	160	123.79	nil	0	0	0.00
Iridium_during_xfer	140	223	654.61
Transponder_ping	0	420	4.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.08
TT8	1912	19	403.87
LPSleep	13576	2	332.44
TT8_Active	550	19	116.22
TT8_Sampling	2058	39	871.18
TT8_CF8	514	45	250.32
TT8_Kalman	33	81	28.99
Analog_circuits	1676	12	213.19
GPS_charging	0	0	0.00
Compass	2017	8	171.08
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	12	begin dive
15	-1.08	-146.0	0.0	0.0	0	125	0.00	0.00	-107.30	0.000	6	0.000	0.000	164	2353	3016
129	-1.08	-146.0	3.4	-2.5	19	142	8.68	2.30	0.00	0.000	4	0.260	0.059	2201	3749	3020
373	-0.73	-146.0	43.5	-13.6	62	380	0.25	2.17	0.00	0.000	6	0.160	0.038	2273	2336	3022
718	-0.65	-146.0	75.5	-8.5	123	725	0.08	2.20	0.00	0.000	4	0.176	0.048	2296	928	3022
776	-0.65	-146.0	80.6	-8.1	133	783	0.00	2.22	0.00	0.000	6	0.000	0.046	2296	2346	3022
1132	-0.72	-146.0	105.5	-8.3	188	1136	0.00	2.28	0.00	0.000	4	0.000	0.062	2296	3754	3021
1250	-0.85	-146.0	114.5	-6.6	193	1254	0.15	2.17	0.00	0.000	6	0.082	0.037	2240	2336	3020
1577	-0.79	-146.0	143.5	-8.8	209	1582	0.10	2.20	0.00	0.000	4	0.172	0.048	2265	929	3019
1627	-0.79	-146.0	147.7	-8.0	211	1631	0.00	2.22	0.00	0.000	6	0.000	0.047	2265	2343	3019
1955	-0.84	-146.0	168.4	-5.6	227	1959	0.00	2.28	0.00	0.000	4	0.000	0.063	2265	3749	3018
2039	-0.91	-146.0	173.6	-6.0	230	2046	0.10	2.17	0.00	0.000	6	0.105	0.037	2230	2329	3018
2355	-0.85	-146.0	196.0	-7.3	246	2359	0.00	2.33	0.00	0.000	4	0.000	0.061	2230	3747	3018
2400	-0.85	-146.0	199.4	-7.7	248	2404	0.00	2.17	0.00	0.000	6	0.000	0.036	2230	2327	3018
2733	-0.80	-146.0	224.8	-8.0	264	2737	0.12	2.17	0.00	0.000	4	0.156	0.047	2263	933	3018
2807	-0.80	-146.0	230.2	-7.7	267	2810	0.00	2.22	0.00	0.000	6	0.000	0.044	2263	2355	3019
3134	-0.89	-146.0	252.1	-6.7	283	3138	0.00	2.25	0.00	0.000	4	0.000	0.060	2262	3752	3020
3218	-1.00	-146.0	258.0	-6.9	286	3225	0.15	2.17	0.00	0.000	6	0.089	0.035	2209	2324	3020
3535	-0.90	-146.0	281.4	-7.2	302	3539	0.12	2.33	0.00	0.000	4	0.153	0.060	2242	3743	3020
3607	-0.96	-146.0	286.1	-6.0	305	3611	0.00	2.15	0.00	0.000	6	0.000	0.035	2243	2333	3020
3929	-0.96	-146.0	304.8	-5.5	321	3930	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2333	3021
4238	-0.96	-146.0	321.5	-5.4	336	4241	0.00	2.30	0.00	0.000	4	0.000	0.059	2243	3748	3021
4294	-1.02	-146.0	324.9	-6.2	338	4299	0.12	2.15	0.00	0.000	6	0.091	0.035	2195	2330	3021
4616	-0.90	-146.0	346.5	-6.8	354	4620	0.17	2.15	0.00	0.000	4	0.146	0.044	2245	945	3022
4755	-0.90	-146.0	354.9	-5.9	360	4759	0.00	2.17	0.00	0.000	6	0.000	0.043	2245	2342	3023
5082	-0.94	-146.0	372.6	-5.6	376	5086	0.00	2.20	0.00	0.000	4	0.000	0.045	2245	933	3023
5132	-0.94	-146.0	376.1	-6.5	378	5136	0.00	2.20	0.00	0.000	6	0.000	0.043	2245	2344	3023
5460	-0.99	-146.0	395.3	-5.9	394	5464	0.10	2.25	0.00	0.000	4	0.097	0.058	2205	3743	3024
5533	-0.94	-146.0	400.6	-7.4	397	5537	0.10	2.15	0.00	0.000	6	0.151	0.035	2229	2327	3024
5875	-0.94	-146.0	423.2	-6.6	406	5878	0.00	2.30	0.00	0.000	4	0.000	0.059	2230	3742	3024
5941	-0.94	-146.0	427.7	-7.1	407	5945	0.00	2.12	0.00	0.000	6	0.000	0.034	2230	2339	3024
6290	-0.94	-146.0	450.2	-6.4	416	6294	0.00	2.17	0.00	0.000	4	0.000	0.045	2230	931	3024
6340	-0.94	-146.0	453.6	-6.6	417	6344	0.00	2.20	0.00	0.000	6	0.000	0.043	2230	2343	3024
6663	-0.94	-146.0	473.3	-6.1	425	6667	0.00	2.25	0.00	0.000	4	0.000	0.059	2230	3744	3025
6743	-0.99	-146.0	478.3	-6.0	426	6747	0.00	2.15	0.00	0.000	6	0.000	0.034	2230	2329	3025
7080	-0.99	-146.0	497.5	-5.7	435	7081	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2329	3025
7405	-0.99	-146.0	516.8	-6.0	443	7408	0.00	2.33	0.00	0.000	4	0.000	0.060	2230	3752	3025
7478	-1.04	-146.0	521.4	-6.4	444	7482	0.00	2.17	0.00	0.000	6	0.000	0.035	2230	2325	3025
7821	-1.04	-146.0	542.4	-6.2	453	7822	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2325	3025
8146	-1.04	-146.0	562.9	-6.1	461	8150	0.00	2.33	0.00	0.000	4	0.000	0.059	2230	3752	3025
8242	-1.10	-146.0	569.0	-6.5	463	8246	0.12	2.15	0.00	0.000	6	0.092	0.034	2185	2336	3025
8566	-0.98	-146.0	593.2	-7.6	471	8568	0.15	0.00	0.00	0.000	6	0.152	0.000	2227	2333	3025
8891	-0.98	-146.0	612.8	-5.9	479	8895	0.00	2.30	0.00	0.000	4	0.000	0.059	2227	3745	3026
8992	-0.98	-146.0	618.9	-6.1	481	8996	0.00	2.15	0.00	0.000	6	0.000	0.034	2227	2330	3025
9311	-0.98	-146.0	637.5	-5.7	489	9312	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2330	3026
9636	-1.24	-146.0	651.6	-3.2	497	9641	0.20	2.33	0.00	0.000	4	0.074	0.058	2139	3751	3026
9885	end dive: NO_VERTICAL_VELOCITY
state	9885	begin apogee
9893	-0.34	0.0	651.6	0.0	502	10028	0.65	0.00	131.25	1.213	6	0.107	0.000	2360	2509	2420
10028	end apogee: CONTROL_FINISHED_OK
state	10028	begin climb
10032	1.08	146.0	651.1	0.0	506	10172	1.02	0.00	135.68	1.136	6	0.107	0.000	2666	2509	1824
10480	0.95	146.0	613.4	9.1	517	10485	0.10	2.33	0.00	0.000	4	0.144	0.057	2639	3927	1824
10559	0.81	146.0	606.3	9.2	518	10566	0.10	2.17	0.00	0.000	6	0.149	0.036	2611	2514	1824
10890	0.89	168.5	585.2	6.3	527	10914	0.00	2.22	19.50	1.120	4	0.000	0.047	2611	1114	1732
10933	1.02	194.2	582.5	6.1	528	10963	0.15	2.22	22.75	1.110	6	0.069	0.042	2675	2528	1628
11306	0.92	194.2	548.7	9.4	537	11308	0.15	0.00	0.00	0.000	6	0.127	0.000	2630	2528	1628
11625	0.92	194.2	524.3	7.6	545	11629	0.00	2.22	0.00	0.000	4	0.000	0.047	2630	1108	1627
11647	1.00	198.5	522.8	6.9	545	11657	0.08	2.20	4.90	0.815	6	0.096	0.042	2665	2526	1610
11989	0.93	198.5	492.2	9.0	554	11994	0.12	2.22	0.00	0.000	4	0.127	0.045	2628	1109	1612
12005	0.93	198.5	490.8	8.8	554	12009	0.00	2.17	0.00	0.000	6	0.000	0.042	2627	2521	1612
12353	0.98	198.5	465.5	7.4	563	12358	0.08	2.20	0.00	0.000	4	0.095	0.046	2666	1117	1612
12381	0.98	198.5	463.0	9.0	563	12385	0.00	2.20	0.00	0.000	6	0.000	0.041	2666	2549	1611
12723	0.91	198.5	431.8	9.0	572	12727	0.12	2.25	0.00	0.000	4	0.141	0.045	2630	1112	1612
12751	0.99	210.8	429.6	6.6	572	12767	0.00	2.17	11.52	1.005	6	0.000	0.042	2630	2520	1560
13091	1.06	215.9	406.8	6.8	581	13102	0.12	2.22	5.80	0.838	4	0.072	0.046	2689	1109	1540
13125	0.99	215.9	403.3	9.3	581	13132	0.15	2.20	0.00	0.000	6	0.133	0.042	2645	2524	1541
13440	0.99	215.9	378.4	8.0	596	13444	0.00	2.20	0.00	0.000	4	0.000	0.046	2645	1114	1542
13456	1.03	215.9	377.1	7.9	596	13462	0.00	2.17	0.00	0.000	6	0.000	0.041	2644	2518	1542
13771	1.03	215.9	351.6	8.1	612	13775	0.00	2.20	0.00	0.000	4	0.000	0.046	2644	1109	1542
13805	1.11	215.9	348.8	8.1	613	13810	0.12	2.20	0.00	0.000	6	0.079	0.042	2694	2526	1542
14127	0.99	215.9	314.9	10.9	629	14131	0.15	2.22	0.00	0.000	4	0.125	0.046	2649	1109	1542
14149	0.99	215.9	312.9	8.7	630	14153	0.00	2.20	0.00	0.000	6	0.000	0.042	2649	2528	1542
14476	0.99	215.9	286.6	8.0	646	14480	0.00	2.20	0.00	0.000	4	0.000	0.045	2649	1117	1542
14499	1.05	215.9	284.7	8.1	647	14503	0.00	2.17	0.00	0.000	6	0.000	0.041	2649	2523	1543
14832	1.05	215.9	258.9	7.7	663	14836	0.00	2.20	0.00	0.000	4	0.000	0.045	2650	1116	1543
14855	1.12	215.9	257.2	7.3	664	14859	0.10	2.17	0.00	0.000	6	0.083	0.041	2692	2521	1542
15187	1.03	215.9	225.5	9.3	680	15189	0.12	0.00	0.00	0.000	6	0.125	0.000	2655	2522	1542
15497	1.03	219.4	203.9	6.9	695	15503	0.00	0.00	5.10	0.717	6	0.000	0.000	2655	2522	1525
15805	1.03	219.4	181.5	7.5	710	15809	0.00	2.20	0.00	0.000	4	0.000	0.046	2655	1119	1527
15833	1.13	228.9	179.5	6.7	711	15850	0.10	2.20	9.38	0.842	6	0.084	0.041	2699	2535	1486
16161	1.06	228.9	148.9	10.1	727	16166	0.12	2.22	0.00	0.000	4	0.133	0.045	2663	1120	1488
16178	1.06	228.9	146.9	10.4	728	16182	0.00	2.20	0.00	0.000	6	0.000	0.043	2663	2533	1488
16510	1.11	228.9	120.2	7.7	744	16511	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2532	1488
16820	1.20	255.9	99.7	6.1	759	16851	0.12	2.28	22.80	0.882	4	0.071	0.046	2719	1109	1376
16875	1.12	255.9	95.2	8.2	768	16881	0.15	2.22	0.00	0.000	6	0.126	0.042	2675	2525	1376
17220	1.26	286.5	73.8	6.0	829	17251	0.12	2.33	25.30	0.864	4	0.071	0.047	2733	1109	1252
17264	1.26	286.5	70.5	7.5	836	17271	0.10	2.22	0.00	0.000	6	0.131	0.041	2706	2524	1251
17609	1.36	305.8	47.4	6.4	897	17634	0.10	2.25	16.85	0.834	4	0.079	0.048	2750	1112	1173
17646	1.36	305.8	44.3	8.0	903	17652	0.00	2.22	0.00	0.000	6	0.000	0.042	2750	2534	1173
17990	1.29	305.8	12.8	9.1	964	17997	0.15	2.22	0.00	0.000	4	0.131	0.047	2705	1121	1173
18009	1.29	305.8	11.4	9.0	967	18016	0.00	2.20	0.00	0.000	6	0.000	0.044	2705	2530	1173
18132	end climb: SURFACE_DEPTH_REACHED
state	18132	begin surface coast
18164	end surface coast: CONTROL_FINISHED_OK
state	18164	begin surface