Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 343 * 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 343 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 31 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 -29475.895 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 -29475.895

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 31 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 343 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 153301,6649.737,-5751.086,35,0.9,41,-37.5 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.178,0.136

_SM_DEPTHo 1.71 KALMAN_X -60324.7,-241.1,-75.7,41345.5,1001.2

_SM_ANGLEo -64.8 KALMAN_Y -24737.4,-28.8,-554.9,15707.4,-272.6

GPS2 153938,6649.675,-5751.073,11,1.8,16,-37.5 MHEAD_RNG_PITCHd_Wd 90.2,51804,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 710

Post-dive calculations and measurements:

FINISH 0.9,1.014895 TCM_TEMP 15.30

SM_CCo 19593,0.00,0.000,0,0,716,417.99 XPDR_PINGS 2

SM_GC 1.67,7.20,0.00,0.00,0.060,0.000,0.000,162,2338,716,-10.39,-0.06,417.99 _24V_AH 20.2,63.963

RAFOS_CLK 1107 _10V_AH 10.5,28.258

RAFOS 0,1227456247,16.083334,16.068611,65,63,60,59,59,54,878,203,214,163,148,185 DATA_FILE_SIZE 37846,1025

RAFOS_FIX 6651.489258,-5746.455566,231108,161616,2,115,1.40 CAP_FILE_SIZE 150772,0

IRIDIUM_FIX 6620.33,-5755.62,170298,090924 CFSIZE 260165632,225435648

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,0

HUMID 1896 SOUNDSPEED 1451.8

INTERNAL_PRESSURE 8.46712 GPS 231108,210937,6649.029,-5743.089,70,1.3,70,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 268 123.50 SBE_CT 808 24 391.90

Roll_motor 156 72 227.81 SBE_O2 702 19 269.76

VBD_pump_during_apogee 528 1318 14084.28 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 30 103 63.89 nil 0 0 0.00

Iridium_during_connect 30 160 99.92 nil 0 0 0.00

Iridium_during_xfer 192 223 867.49

Transponder_ping 0 420 4.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.18

TT8 1905 19 398.64

LPSleep 14844 2 360.06

TT8_Active 700 19 146.50

TT8_Sampling 1985 39 832.05

TT8_CF8 578 45 278.91

TT8_Kalman 33 81 28.70

Analog_circuits 1806 12 227.61

GPS_charging 0 0 0.00

Compass 1950 8 163.87

RAFOS 3600 1 56.70

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.08 -146.0 0.0 0.0 0 153 0.00 0.00 -133.80 0.000 6 0.000 0.000 159 2335 3016

157 -1.08 -146.0 3.7 -3.3 24 171 8.95 2.33 0.00 0.000 4 0.268 0.061 2200 925 3020

206 0.02 -146.0 15.1 -21.4 32 213 0.85 2.30 0.00 0.000 6 0.181 0.056 2437 2348 3023

551 -0.51 -146.0 35.9 -6.3 93 558 0.32 2.33 0.00 0.000 4 0.081 0.069 2314 3749 3024

677 -0.51 -146.0 46.8 -9.2 115 683 0.00 2.20 0.00 0.000 6 0.000 0.041 2314 2338 3024

1023 -0.56 -146.0 76.2 -8.2 176 1029 0.00 2.35 0.00 0.000 4 0.000 0.070 2314 3746 3024

1103 -0.68 -146.0 82.5 -7.3 190 1110 0.10 2.20 0.00 0.000 6 0.104 0.041 2276 2336 3024

1437 -0.68 -146.0 110.9 -8.5 233 1441 0.00 2.35 0.00 0.000 4 0.000 0.070 2275 3742 3024

1514 -0.68 -146.0 117.5 -8.3 236 1520 0.00 2.20 0.00 0.000 6 0.000 0.042 2275 2338 3024

1830 -0.68 -146.0 141.6 -7.4 252 1834 0.00 2.25 0.00 0.000 4 0.000 0.057 2275 927 3024

1898 -0.68 -146.0 147.0 -7.0 255 1902 0.00 2.30 0.00 0.000 6 0.000 0.054 2275 2354 3024

2230 -0.68 -146.0 170.7 -7.1 271 2234 0.00 2.33 0.00 0.000 4 0.000 0.071 2275 3752 3023

2286 -0.76 -146.0 174.8 -7.4 273 2290 0.00 2.22 0.00 0.000 6 0.000 0.041 2275 2327 3023

2608 -0.82 -146.0 196.7 -6.5 289 2614 0.00 2.40 0.00 0.000 4 0.000 0.071 2275 3755 3023

2642 -0.91 -146.0 199.1 -7.3 290 2647 0.12 2.22 0.00 0.000 6 0.108 0.041 2231 2334 3022

2958 -0.83 -146.0 223.3 -7.7 305 2963 0.10 2.40 0.00 0.000 4 0.170 0.070 2255 3756 3022

2985 -0.83 -146.0 225.4 -7.7 306 2989 0.00 2.22 0.00 0.000 6 0.000 0.041 2256 2327 3022

3307 -0.83 -146.0 248.4 -7.3 322 3311 0.00 2.38 0.00 0.000 4 0.000 0.070 2255 3743 3022

3357 -0.90 -146.0 252.4 -7.6 324 3360 0.00 2.20 0.00 0.000 6 0.000 0.041 2255 2338 3022

3678 -0.90 -146.0 275.0 -6.8 340 3682 0.00 2.38 0.00 0.000 4 0.000 0.068 2256 3756 3022

3706 -0.95 -146.0 276.9 -7.1 341 3711 0.12 2.22 0.00 0.000 6 0.095 0.041 2213 2333 3022

4033 -0.85 -146.0 302.7 -7.7 357 4038 0.15 2.40 0.00 0.000 4 0.160 0.068 2253 3754 3022

4054 -0.85 -146.0 304.3 -6.8 358 4058 0.00 2.22 0.00 0.000 6 0.000 0.040 2254 2328 3022

4383 -0.90 -146.0 323.7 -5.6 374 4386 0.00 2.38 0.00 0.000 4 0.000 0.068 2254 3746 3022

4411 -0.97 -146.0 325.5 -6.0 375 4415 0.12 2.20 0.00 0.000 6 0.097 0.040 2210 2334 3022

4738 -0.88 -146.0 348.6 -7.5 391 4743 0.15 2.40 0.00 0.000 4 0.159 0.068 2252 3757 3022

4788 -0.95 -146.0 352.1 -6.6 393 4792 0.00 2.22 0.00 0.000 6 0.000 0.040 2252 2327 3022

5109 -0.99 -146.0 375.0 -7.6 409 5111 0.12 0.00 0.00 0.000 6 0.104 0.000 2204 2326 3023

5439 -0.89 -146.0 404.2 -8.8 424 5444 0.15 2.40 0.00 0.000 4 0.151 0.067 2245 3749 3023

5484 -0.96 -146.0 407.8 -7.3 425 5487 0.00 2.20 0.00 0.000 6 0.000 0.040 2245 2336 3023

5808 -0.96 -146.0 429.3 -6.4 433 5809 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2336 3024

6134 -1.01 -146.0 448.5 -5.7 441 6139 0.12 2.38 0.00 0.000 4 0.100 0.068 2199 3749 3024

6184 -0.92 -146.0 452.1 -7.2 442 6188 0.15 2.20 0.00 0.000 6 0.155 0.040 2239 2336 3024

6502 -0.92 -146.0 470.5 -5.7 450 6506 0.00 2.38 0.00 0.000 4 0.000 0.067 2239 3754 3025

6531 -0.96 -146.0 472.3 -6.3 450 6535 0.00 2.20 0.00 0.000 6 0.000 0.039 2239 2340 3025

6873 -0.96 -146.0 492.8 -6.2 459 6874 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2340 3025

7198 -0.96 -146.0 514.5 -6.8 467 7199 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2340 3025

7524 -0.96 -146.0 536.7 -6.5 475 7527 0.00 2.38 0.00 0.000 4 0.000 0.067 2239 3756 3026

7570 -1.04 -146.0 539.8 -6.7 476 7574 0.12 2.20 0.00 0.000 6 0.097 0.040 2195 2340 3026

7899 -0.93 -146.0 565.1 -7.7 484 7904 0.15 2.38 0.00 0.000 4 0.153 0.066 2236 3749 3026

7927 -0.93 -146.0 567.0 -7.1 484 7931 0.00 2.20 0.00 0.000 6 0.000 0.040 2236 2334 3026

8264 -0.93 -146.0 587.6 -6.0 493 8268 0.00 2.38 0.00 0.000 4 0.000 0.067 2236 3752 3026

8310 -0.99 -146.0 590.5 -6.3 494 8314 0.00 2.20 0.00 0.000 6 0.000 0.038 2236 2334 3026

8640 -0.99 -146.0 609.6 -5.6 502 8641 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2333 3026

8965 -0.99 -146.0 627.5 -5.5 510 8968 0.00 2.38 0.00 0.000 4 0.000 0.067 2236 3750 3026

9043 -1.05 -146.0 632.4 -6.1 511 9048 0.12 2.20 0.00 0.000 6 0.101 0.039 2192 2337 3026

9381 -0.94 -146.0 655.9 -7.1 520 9383 0.15 0.00 0.00 0.000 6 0.152 0.000 2232 2337 3026

9705 -0.94 -146.0 674.4 -5.9 528 9709 0.00 2.38 0.00 0.000 4 0.000 0.067 2232 3756 3026

9807 -1.00 -146.0 680.3 -5.8 530 9811 0.00 2.22 0.00 0.000 6 0.000 0.039 2232 2326 3026

10126 -1.00 -146.0 699.7 -6.3 538 10128 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2326 3026

10285 end dive: TARGET_DEPTH_EXCEEDED

state 10285 begin apogee

10292 -0.34 0.0 710.6 6.8 542 10431 0.43 0.00 136.38 1.318 6 0.143 0.000 2363 2528 2420

10432 end apogee: CONTROL_FINISHED_OK

state 10433 begin climb

10435 1.08 146.0 713.0 0.0 545 10630 1.05 2.70 154.50 1.153 4 0.110 0.051 2664 1126 1824

10681 0.98 146.0 696.2 7.9 550 10687 0.00 2.53 0.00 0.000 6 0.000 0.049 2664 2526 1823

11012 0.86 146.0 668.7 8.2 559 11017 0.15 2.35 0.00 0.000 4 0.139 0.068 2622 3932 1822

11079 0.77 146.0 663.3 8.1 560 11083 0.00 2.22 0.00 0.000 6 0.000 0.041 2622 2507 1822

11422 0.78 153.1 639.5 6.8 569 11431 0.00 0.00 7.00 1.051 6 0.000 0.000 2622 2507 1795

11747 0.80 169.8 618.5 6.5 577 11764 0.00 0.00 15.90 1.211 6 0.000 0.000 2622 2507 1727

12072 0.87 181.2 596.9 6.6 585 12088 0.00 2.38 11.02 1.150 4 0.000 0.068 2622 3929 1681

12111 0.87 181.2 594.0 7.2 586 12115 0.00 2.20 0.00 0.000 6 0.000 0.041 2622 2521 1681

12441 0.94 192.9 572.3 6.6 594 12457 0.00 2.30 11.40 1.151 4 0.000 0.054 2622 1119 1633

12492 1.07 208.6 568.9 6.5 595 12512 0.15 2.25 14.70 1.167 6 0.077 0.050 2680 2526 1569

12849 0.96 208.6 536.7 9.1 604 12854 0.15 2.30 0.00 0.000 4 0.131 0.068 2636 3927 1569

12881 0.96 208.6 533.8 8.3 604 12888 0.00 2.17 0.00 0.000 6 0.000 0.041 2636 2520 1568

13213 0.96 208.6 510.4 7.1 613 13217 0.00 2.22 0.00 0.000 4 0.000 0.054 2636 1107 1568

13252 1.04 208.6 507.5 7.9 613 13259 0.10 2.25 0.00 0.000 6 0.088 0.049 2678 2530 1568

13584 0.95 208.6 476.5 9.6 622 13588 0.15 2.30 0.00 0.000 4 0.125 0.067 2633 3934 1568

13623 0.95 208.6 473.0 8.9 623 13627 0.00 2.20 0.00 0.000 6 0.000 0.040 2633 2511 1569

13954 1.01 208.6 449.3 7.0 631 13955 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2510 1569

14278 1.07 208.6 426.4 7.1 639 14280 0.12 0.00 0.00 0.000 6 0.085 0.000 2688 2510 1568

14584 0.96 208.6 396.0 10.3 647 14586 0.15 0.00 0.00 0.000 6 0.132 0.000 2643 2510 1568

14892 0.96 208.6 370.9 7.8 662 14893 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2510 1568

15202 0.96 208.7 348.5 7.0 677 15203 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2510 1568

15512 0.99 233.5 328.1 6.2 692 15535 0.00 0.00 21.65 1.092 6 0.000 0.000 2643 2510 1468

15841 1.10 263.7 307.9 6.0 708 15870 0.12 0.00 26.70 1.074 6 0.081 0.000 2693 2510 1344

16171 1.04 263.7 279.6 8.8 724 16172 0.12 0.00 0.00 0.000 6 0.138 0.000 2658 2509 1343

16479 1.12 263.7 256.0 7.7 739 16484 0.08 2.20 0.00 0.000 4 0.100 0.052 2693 1116 1343

16523 1.12 263.7 251.9 9.1 741 16527 0.00 2.22 0.00 0.000 6 0.000 0.048 2693 2528 1343

16850 1.12 263.7 221.8 8.7 757 16851 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2528 1344

17159 1.12 263.7 194.4 9.1 772 17163 0.00 2.25 0.00 0.000 4 0.000 0.053 2693 1116 1344

17220 1.12 263.7 188.8 9.1 774 17226 0.00 2.22 0.00 0.000 6 0.000 0.048 2693 2524 1344

17536 1.12 263.7 160.1 8.5 790 17537 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2524 1344

17845 1.14 278.9 137.4 6.5 805 17866 0.00 2.33 13.48 0.970 4 0.000 0.054 2693 1115 1283

17906 1.26 326.6 133.7 5.4 807 17954 0.00 2.25 41.17 0.989 6 0.000 0.048 2693 2527 1088

18268 1.39 352.1 113.8 6.2 825 18297 0.15 2.30 21.92 0.967 4 0.074 0.054 2759 1112 982

18314 1.29 352.1 109.3 8.9 827 18319 0.17 2.28 0.00 0.000 6 0.137 0.049 2710 2525 981

18647 1.36 352.1 81.6 8.8 872 18654 0.10 2.30 0.00 0.000 4 0.086 0.067 2754 3930 979

18672 1.36 352.1 79.1 9.8 876 18679 0.12 2.17 0.00 0.000 6 0.153 0.041 2724 2521 978

19018 1.51 414.4 52.9 4.9 937 19078 0.15 2.40 53.00 0.974 4 0.077 0.057 2785 1112 730

19190 1.51 414.4 34.9 10.1 967 19196 0.00 2.28 0.00 0.000 6 0.000 0.051 2785 2520 723

19488 end climb: SURFACE_DEPTH_REACHED

state 19488 begin surface coast

19515 end surface coast: CONTROL_FINISHED_OK

state 19515 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	343	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	31	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	-29475.895	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	153301,6649.737,-5751.086,35,0.9,41,-37.5	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.178,0.136
_SM_DEPTHo	1.71	KALMAN_X	-60324.7,-241.1,-75.7,41345.5,1001.2
_SM_ANGLEo	-64.8	KALMAN_Y	-24737.4,-28.8,-554.9,15707.4,-272.6
GPS2	153938,6649.675,-5751.073,11,1.8,16,-37.5	MHEAD_RNG_PITCHd_Wd	90.2,51804,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	710

FINISH	0.9,1.014895	TCM_TEMP	15.30
SM_CCo	19593,0.00,0.000,0,0,716,417.99	XPDR_PINGS	2
SM_GC	1.67,7.20,0.00,0.00,0.060,0.000,0.000,162,2338,716,-10.39,-0.06,417.99	_24V_AH	20.2,63.963
RAFOS_CLK	1107	_10V_AH	10.5,28.258
RAFOS	0,1227456247,16.083334,16.068611,65,63,60,59,59,54,878,203,214,163,148,185	DATA_FILE_SIZE	37846,1025
RAFOS_FIX	6651.489258,-5746.455566,231108,161616,2,115,1.40	CAP_FILE_SIZE	150772,0
IRIDIUM_FIX	6620.33,-5755.62,170298,090924	CFSIZE	260165632,225435648
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
HUMID	1896	SOUNDSPEED	1451.8
INTERNAL_PRESSURE	8.46712	GPS	231108,210937,6649.029,-5743.089,70,1.3,70,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	268	123.50	SBE_CT	808	24	391.90
Roll_motor	156	72	227.81	SBE_O2	702	19	269.76
VBD_pump_during_apogee	528	1318	14084.28	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	30	103	63.89	nil	0	0	0.00
Iridium_during_connect	30	160	99.92	nil	0	0	0.00
Iridium_during_xfer	192	223	867.49
Transponder_ping	0	420	4.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.18
TT8	1905	19	398.64
LPSleep	14844	2	360.06
TT8_Active	700	19	146.50
TT8_Sampling	1985	39	832.05
TT8_CF8	578	45	278.91
TT8_Kalman	33	81	28.70
Analog_circuits	1806	12	227.61
GPS_charging	0	0	0.00
Compass	1950	8	163.87
RAFOS	3600	1	56.70
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.08	-146.0	0.0	0.0	0	153	0.00	0.00	-133.80	0.000	6	0.000	0.000	159	2335	3016
157	-1.08	-146.0	3.7	-3.3	24	171	8.95	2.33	0.00	0.000	4	0.268	0.061	2200	925	3020
206	0.02	-146.0	15.1	-21.4	32	213	0.85	2.30	0.00	0.000	6	0.181	0.056	2437	2348	3023
551	-0.51	-146.0	35.9	-6.3	93	558	0.32	2.33	0.00	0.000	4	0.081	0.069	2314	3749	3024
677	-0.51	-146.0	46.8	-9.2	115	683	0.00	2.20	0.00	0.000	6	0.000	0.041	2314	2338	3024
1023	-0.56	-146.0	76.2	-8.2	176	1029	0.00	2.35	0.00	0.000	4	0.000	0.070	2314	3746	3024
1103	-0.68	-146.0	82.5	-7.3	190	1110	0.10	2.20	0.00	0.000	6	0.104	0.041	2276	2336	3024
1437	-0.68	-146.0	110.9	-8.5	233	1441	0.00	2.35	0.00	0.000	4	0.000	0.070	2275	3742	3024
1514	-0.68	-146.0	117.5	-8.3	236	1520	0.00	2.20	0.00	0.000	6	0.000	0.042	2275	2338	3024
1830	-0.68	-146.0	141.6	-7.4	252	1834	0.00	2.25	0.00	0.000	4	0.000	0.057	2275	927	3024
1898	-0.68	-146.0	147.0	-7.0	255	1902	0.00	2.30	0.00	0.000	6	0.000	0.054	2275	2354	3024
2230	-0.68	-146.0	170.7	-7.1	271	2234	0.00	2.33	0.00	0.000	4	0.000	0.071	2275	3752	3023
2286	-0.76	-146.0	174.8	-7.4	273	2290	0.00	2.22	0.00	0.000	6	0.000	0.041	2275	2327	3023
2608	-0.82	-146.0	196.7	-6.5	289	2614	0.00	2.40	0.00	0.000	4	0.000	0.071	2275	3755	3023
2642	-0.91	-146.0	199.1	-7.3	290	2647	0.12	2.22	0.00	0.000	6	0.108	0.041	2231	2334	3022
2958	-0.83	-146.0	223.3	-7.7	305	2963	0.10	2.40	0.00	0.000	4	0.170	0.070	2255	3756	3022
2985	-0.83	-146.0	225.4	-7.7	306	2989	0.00	2.22	0.00	0.000	6	0.000	0.041	2256	2327	3022
3307	-0.83	-146.0	248.4	-7.3	322	3311	0.00	2.38	0.00	0.000	4	0.000	0.070	2255	3743	3022
3357	-0.90	-146.0	252.4	-7.6	324	3360	0.00	2.20	0.00	0.000	6	0.000	0.041	2255	2338	3022
3678	-0.90	-146.0	275.0	-6.8	340	3682	0.00	2.38	0.00	0.000	4	0.000	0.068	2256	3756	3022
3706	-0.95	-146.0	276.9	-7.1	341	3711	0.12	2.22	0.00	0.000	6	0.095	0.041	2213	2333	3022
4033	-0.85	-146.0	302.7	-7.7	357	4038	0.15	2.40	0.00	0.000	4	0.160	0.068	2253	3754	3022
4054	-0.85	-146.0	304.3	-6.8	358	4058	0.00	2.22	0.00	0.000	6	0.000	0.040	2254	2328	3022
4383	-0.90	-146.0	323.7	-5.6	374	4386	0.00	2.38	0.00	0.000	4	0.000	0.068	2254	3746	3022
4411	-0.97	-146.0	325.5	-6.0	375	4415	0.12	2.20	0.00	0.000	6	0.097	0.040	2210	2334	3022
4738	-0.88	-146.0	348.6	-7.5	391	4743	0.15	2.40	0.00	0.000	4	0.159	0.068	2252	3757	3022
4788	-0.95	-146.0	352.1	-6.6	393	4792	0.00	2.22	0.00	0.000	6	0.000	0.040	2252	2327	3022
5109	-0.99	-146.0	375.0	-7.6	409	5111	0.12	0.00	0.00	0.000	6	0.104	0.000	2204	2326	3023
5439	-0.89	-146.0	404.2	-8.8	424	5444	0.15	2.40	0.00	0.000	4	0.151	0.067	2245	3749	3023
5484	-0.96	-146.0	407.8	-7.3	425	5487	0.00	2.20	0.00	0.000	6	0.000	0.040	2245	2336	3023
5808	-0.96	-146.0	429.3	-6.4	433	5809	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2336	3024
6134	-1.01	-146.0	448.5	-5.7	441	6139	0.12	2.38	0.00	0.000	4	0.100	0.068	2199	3749	3024
6184	-0.92	-146.0	452.1	-7.2	442	6188	0.15	2.20	0.00	0.000	6	0.155	0.040	2239	2336	3024
6502	-0.92	-146.0	470.5	-5.7	450	6506	0.00	2.38	0.00	0.000	4	0.000	0.067	2239	3754	3025
6531	-0.96	-146.0	472.3	-6.3	450	6535	0.00	2.20	0.00	0.000	6	0.000	0.039	2239	2340	3025
6873	-0.96	-146.0	492.8	-6.2	459	6874	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2340	3025
7198	-0.96	-146.0	514.5	-6.8	467	7199	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2340	3025
7524	-0.96	-146.0	536.7	-6.5	475	7527	0.00	2.38	0.00	0.000	4	0.000	0.067	2239	3756	3026
7570	-1.04	-146.0	539.8	-6.7	476	7574	0.12	2.20	0.00	0.000	6	0.097	0.040	2195	2340	3026
7899	-0.93	-146.0	565.1	-7.7	484	7904	0.15	2.38	0.00	0.000	4	0.153	0.066	2236	3749	3026
7927	-0.93	-146.0	567.0	-7.1	484	7931	0.00	2.20	0.00	0.000	6	0.000	0.040	2236	2334	3026
8264	-0.93	-146.0	587.6	-6.0	493	8268	0.00	2.38	0.00	0.000	4	0.000	0.067	2236	3752	3026
8310	-0.99	-146.0	590.5	-6.3	494	8314	0.00	2.20	0.00	0.000	6	0.000	0.038	2236	2334	3026
8640	-0.99	-146.0	609.6	-5.6	502	8641	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2333	3026
8965	-0.99	-146.0	627.5	-5.5	510	8968	0.00	2.38	0.00	0.000	4	0.000	0.067	2236	3750	3026
9043	-1.05	-146.0	632.4	-6.1	511	9048	0.12	2.20	0.00	0.000	6	0.101	0.039	2192	2337	3026
9381	-0.94	-146.0	655.9	-7.1	520	9383	0.15	0.00	0.00	0.000	6	0.152	0.000	2232	2337	3026
9705	-0.94	-146.0	674.4	-5.9	528	9709	0.00	2.38	0.00	0.000	4	0.000	0.067	2232	3756	3026
9807	-1.00	-146.0	680.3	-5.8	530	9811	0.00	2.22	0.00	0.000	6	0.000	0.039	2232	2326	3026
10126	-1.00	-146.0	699.7	-6.3	538	10128	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2326	3026
10285	end dive: TARGET_DEPTH_EXCEEDED
state	10285	begin apogee
10292	-0.34	0.0	710.6	6.8	542	10431	0.43	0.00	136.38	1.318	6	0.143	0.000	2363	2528	2420
10432	end apogee: CONTROL_FINISHED_OK
state	10433	begin climb
10435	1.08	146.0	713.0	0.0	545	10630	1.05	2.70	154.50	1.153	4	0.110	0.051	2664	1126	1824
10681	0.98	146.0	696.2	7.9	550	10687	0.00	2.53	0.00	0.000	6	0.000	0.049	2664	2526	1823
11012	0.86	146.0	668.7	8.2	559	11017	0.15	2.35	0.00	0.000	4	0.139	0.068	2622	3932	1822
11079	0.77	146.0	663.3	8.1	560	11083	0.00	2.22	0.00	0.000	6	0.000	0.041	2622	2507	1822
11422	0.78	153.1	639.5	6.8	569	11431	0.00	0.00	7.00	1.051	6	0.000	0.000	2622	2507	1795
11747	0.80	169.8	618.5	6.5	577	11764	0.00	0.00	15.90	1.211	6	0.000	0.000	2622	2507	1727
12072	0.87	181.2	596.9	6.6	585	12088	0.00	2.38	11.02	1.150	4	0.000	0.068	2622	3929	1681
12111	0.87	181.2	594.0	7.2	586	12115	0.00	2.20	0.00	0.000	6	0.000	0.041	2622	2521	1681
12441	0.94	192.9	572.3	6.6	594	12457	0.00	2.30	11.40	1.151	4	0.000	0.054	2622	1119	1633
12492	1.07	208.6	568.9	6.5	595	12512	0.15	2.25	14.70	1.167	6	0.077	0.050	2680	2526	1569
12849	0.96	208.6	536.7	9.1	604	12854	0.15	2.30	0.00	0.000	4	0.131	0.068	2636	3927	1569
12881	0.96	208.6	533.8	8.3	604	12888	0.00	2.17	0.00	0.000	6	0.000	0.041	2636	2520	1568
13213	0.96	208.6	510.4	7.1	613	13217	0.00	2.22	0.00	0.000	4	0.000	0.054	2636	1107	1568
13252	1.04	208.6	507.5	7.9	613	13259	0.10	2.25	0.00	0.000	6	0.088	0.049	2678	2530	1568
13584	0.95	208.6	476.5	9.6	622	13588	0.15	2.30	0.00	0.000	4	0.125	0.067	2633	3934	1568
13623	0.95	208.6	473.0	8.9	623	13627	0.00	2.20	0.00	0.000	6	0.000	0.040	2633	2511	1569
13954	1.01	208.6	449.3	7.0	631	13955	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2510	1569
14278	1.07	208.6	426.4	7.1	639	14280	0.12	0.00	0.00	0.000	6	0.085	0.000	2688	2510	1568
14584	0.96	208.6	396.0	10.3	647	14586	0.15	0.00	0.00	0.000	6	0.132	0.000	2643	2510	1568
14892	0.96	208.6	370.9	7.8	662	14893	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2510	1568
15202	0.96	208.7	348.5	7.0	677	15203	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2510	1568
15512	0.99	233.5	328.1	6.2	692	15535	0.00	0.00	21.65	1.092	6	0.000	0.000	2643	2510	1468
15841	1.10	263.7	307.9	6.0	708	15870	0.12	0.00	26.70	1.074	6	0.081	0.000	2693	2510	1344
16171	1.04	263.7	279.6	8.8	724	16172	0.12	0.00	0.00	0.000	6	0.138	0.000	2658	2509	1343
16479	1.12	263.7	256.0	7.7	739	16484	0.08	2.20	0.00	0.000	4	0.100	0.052	2693	1116	1343
16523	1.12	263.7	251.9	9.1	741	16527	0.00	2.22	0.00	0.000	6	0.000	0.048	2693	2528	1343
16850	1.12	263.7	221.8	8.7	757	16851	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2528	1344
17159	1.12	263.7	194.4	9.1	772	17163	0.00	2.25	0.00	0.000	4	0.000	0.053	2693	1116	1344
17220	1.12	263.7	188.8	9.1	774	17226	0.00	2.22	0.00	0.000	6	0.000	0.048	2693	2524	1344
17536	1.12	263.7	160.1	8.5	790	17537	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2524	1344
17845	1.14	278.9	137.4	6.5	805	17866	0.00	2.33	13.48	0.970	4	0.000	0.054	2693	1115	1283
17906	1.26	326.6	133.7	5.4	807	17954	0.00	2.25	41.17	0.989	6	0.000	0.048	2693	2527	1088
18268	1.39	352.1	113.8	6.2	825	18297	0.15	2.30	21.92	0.967	4	0.074	0.054	2759	1112	982
18314	1.29	352.1	109.3	8.9	827	18319	0.17	2.28	0.00	0.000	6	0.137	0.049	2710	2525	981
18647	1.36	352.1	81.6	8.8	872	18654	0.10	2.30	0.00	0.000	4	0.086	0.067	2754	3930	979
18672	1.36	352.1	79.1	9.8	876	18679	0.12	2.17	0.00	0.000	6	0.153	0.041	2724	2521	978
19018	1.51	414.4	52.9	4.9	937	19078	0.15	2.40	53.00	0.974	4	0.077	0.057	2785	1112	730
19190	1.51	414.4	34.9	10.1	967	19196	0.00	2.28	0.00	0.000	6	0.000	0.051	2785	2520	723
19488	end climb: SURFACE_DEPTH_REACHED
state	19488	begin surface coast
19515	end surface coast: CONTROL_FINISHED_OK
state	19515	begin surface