Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 344 * 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 344 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 558.3028 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -29593.955 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 558.3028

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 -29593.955

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 344 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 210937,6649.029,-5743.089,70,1.3,70,-37.5 TGT_NAME TARGET_E_IN

_CALLS 5 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.116,0.192

_SM_DEPTHo 1.51 KALMAN_X -57823.9,-1208.8,624.6,44962.5,1705.5

_SM_ANGLEo -54.3 KALMAN_Y -28991.3,-33.7,-810.0,18423.3,-1063.0

GPS2 213309,6648.699,-5743.046,107,1.9,115,-37.5 MHEAD_RNG_PITCHd_Wd 68.6,47767,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 666

Post-dive calculations and measurements:

FINISH 0.8,1.013781 TCM_TEMP 15.30

SM_CCo 17522,227.10,0.882,0,0,144,558.30 XPDR_PINGS 3

SM_GC 1.28,0.00,0.00,227.10,0.000,0.000,0.882,167,2343,144,-10.43,0.06,558.30 _24V_AH 20.2,64.207

RAFOS_CLK 1040 _10V_AH 10.5,28.344

RAFOS 0,1227485055,0.083333,0.070833,69,59,57,56,51,51,207,175,189,224,132,166 DATA_FILE_SIZE 34683,962

RAFOS_FIX 6652.359375,-5748.571289,241108,000020,2,82,0.78 CAP_FILE_SIZE 147359,0

IRIDIUM_FIX 6620.33,-5746.38,170298,212109 CFSIZE 260165632,225353728

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,0

HUMID 1844 SOUNDSPEED 1451.5

INTERNAL_PRESSURE 8.39876 GPS 241108,023201,6649.578,-5739.531,65,1.5,70,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 267 114.90 SBE_CT 753 24 365.15

Roll_motor 151 73 225.26 SBE_O2 658 19 252.86

VBD_pump_during_apogee 430 1293 11239.59 nil 0 0 0.00

VBD_pump_during_surface 227 882 4046.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 130 103 271.13 nil 0 0 0.00

Iridium_during_connect 292 160 945.59 nil 0 0 0.00

Iridium_during_xfer 466 223 2100.58

Transponder_ping 0 420 6.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 117 50 61.65

TT8 1769 19 370.13

LPSleep 13286 2 322.25

TT8_Active 846 19 177.05

TT8_Sampling 2015 39 844.98

TT8_CF8 1250 45 602.84

TT8_Kalman 33 81 28.71

Analog_circuits 1921 12 242.05

GPS_charging 0 0 0.00

Compass 1878 8 157.81

RAFOS 1800 1 28.35

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.08 -146.0 0.0 0.0 0 185 0.00 0.00 -162.88 0.000 6 0.000 0.000 160 2334 3017

188 -1.08 -146.0 3.6 -3.1 30 202 9.00 2.33 0.00 0.000 4 0.268 0.061 2198 927 3019

346 -0.52 -146.0 33.2 -21.8 57 353 0.45 2.28 0.00 0.000 6 0.173 0.053 2325 2345 3022

691 -0.52 -146.0 60.7 -8.4 118 696 0.00 0.00 0.00 0.000 6 0.000 0.000 2325 2345 3023

1034 -0.59 -146.0 84.8 -6.2 179 1040 0.00 2.28 0.00 0.000 4 0.000 0.057 2325 935 3023

1081 -0.59 -146.0 88.1 -7.2 187 1087 0.00 2.28 0.00 0.000 6 0.000 0.054 2325 2350 3024

1435 -0.70 -146.0 106.6 -6.4 236 1439 0.15 2.33 0.00 0.000 4 0.087 0.071 2269 3745 3024

1641 -0.70 -146.0 127.6 -10.9 245 1645 0.00 2.20 0.00 0.000 6 0.000 0.042 2269 2337 3023

1963 -0.70 -146.0 160.1 -9.3 261 1964 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2337 3023

2272 -0.70 -146.0 187.9 -8.2 276 2277 0.00 2.38 0.00 0.000 4 0.000 0.071 2269 3750 3023

2335 -0.75 -146.0 192.6 -7.2 279 2339 0.00 2.20 0.00 0.000 6 0.000 0.041 2269 2334 3023

2667 -0.75 -146.0 217.1 -6.9 295 2668 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2334 3022

2977 -0.75 -146.0 236.4 -6.1 310 2978 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2334 3022

3286 -0.79 -146.0 256.8 -7.0 325 3287 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2334 3022

3595 -0.84 -146.0 279.4 -7.4 340 3599 0.00 2.38 0.00 0.000 4 0.000 0.070 2269 3749 3021

3646 -0.94 -146.0 283.4 -8.1 342 3650 0.15 2.20 0.00 0.000 6 0.095 0.040 2217 2337 3021

3966 -0.84 -146.0 314.4 -10.0 358 3968 0.15 0.00 0.00 0.000 6 0.156 0.000 2257 2337 3021

4276 -0.84 -146.0 341.1 -8.6 373 4280 0.00 2.38 0.00 0.000 4 0.000 0.069 2257 3754 3022

4331 -0.92 -146.0 346.2 -9.4 375 4338 0.00 2.22 0.00 0.000 6 0.000 0.041 2257 2327 3022

4647 -0.98 -146.0 374.6 -8.8 391 4649 0.12 0.00 0.00 0.000 6 0.100 0.000 2211 2327 3022

4976 -0.88 -146.0 408.3 -10.2 405 4981 0.12 2.40 0.00 0.000 4 0.162 0.068 2243 3753 3023

5049 -0.94 -146.0 415.0 -8.7 406 5053 0.00 2.22 0.00 0.000 6 0.000 0.040 2243 2326 3023

5385 -0.94 -146.0 441.2 -7.3 415 5387 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2326 3023

5711 -0.94 -146.0 461.3 -5.9 423 5715 0.00 2.38 0.00 0.000 4 0.000 0.067 2243 3745 3023

5768 -0.99 -146.0 464.7 -5.6 424 5772 0.10 2.20 0.00 0.000 6 0.105 0.039 2207 2330 3024

6086 -0.90 -146.0 485.3 -6.4 432 6091 0.12 2.38 0.00 0.000 4 0.157 0.067 2241 3748 3024

6143 -0.95 -146.0 488.6 -5.8 433 6147 0.00 2.20 0.00 0.000 6 0.000 0.039 2241 2335 3024

6461 -0.95 -146.0 506.0 -5.5 441 6463 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2335 3025

6786 -0.95 -146.0 524.9 -6.0 449 6790 0.00 2.38 0.00 0.000 4 0.000 0.067 2241 3754 3025

6849 -1.01 -146.0 529.0 -6.8 450 6853 0.10 2.22 0.00 0.000 6 0.104 0.039 2205 2324 3025

7197 -0.92 -146.0 554.8 -7.5 459 7201 0.12 2.40 0.00 0.000 4 0.157 0.067 2239 3747 3025

7252 -0.98 -146.0 558.4 -6.3 460 7256 0.00 2.20 0.00 0.000 6 0.000 0.040 2240 2336 3025

7566 -0.98 -146.0 576.2 -5.7 468 7570 0.00 2.22 0.00 0.000 4 0.000 0.053 2240 930 3025

7605 -0.98 -146.0 578.7 -6.7 468 7611 0.00 2.28 0.00 0.000 6 0.000 0.051 2239 2351 3026

7937 -0.98 -146.0 597.6 -5.7 477 7940 0.00 2.33 0.00 0.000 4 0.000 0.068 2240 3754 3026

8028 -1.05 -146.0 603.0 -6.0 479 8033 0.12 2.20 0.00 0.000 6 0.098 0.039 2196 2335 3026

8358 -0.95 -146.0 626.5 -7.2 487 8363 0.12 2.38 0.00 0.000 4 0.159 0.067 2229 3755 3026

8397 -0.95 -146.0 629.1 -6.4 487 8403 0.00 2.20 0.00 0.000 6 0.000 0.039 2229 2335 3026

8729 -0.95 -146.0 649.1 -5.9 496 8730 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2335 3026

9012 end dive: TARGET_DEPTH_EXCEEDED

state 9012 begin apogee

9018 -0.34 0.0 666.3 6.1 503 9157 0.45 0.00 135.62 1.293 6 0.141 0.000 2367 2522 2420

9158 end apogee: CONTROL_FINISHED_OK

state 9158 begin climb

9160 1.08 146.0 668.9 0.0 506 9356 1.02 2.72 153.48 1.129 4 0.104 0.051 2665 1124 1824

9384 1.01 146.0 653.9 8.4 511 9389 0.00 2.55 0.00 0.000 6 0.000 0.048 2665 2518 1824

9732 0.89 146.0 624.9 8.3 520 9737 0.15 2.35 0.00 0.000 4 0.140 0.065 2623 3934 1823

9776 0.82 146.0 621.4 7.1 521 9780 0.00 2.22 0.00 0.000 6 0.000 0.040 2623 2517 1823

10101 0.85 167.3 601.0 6.3 529 10125 0.00 2.42 18.80 1.204 4 0.000 0.067 2623 3930 1737

10154 0.85 167.3 597.3 7.6 530 10158 0.00 2.22 0.00 0.000 6 0.000 0.040 2623 2516 1737

10473 0.94 195.4 577.4 6.1 538 10503 0.00 2.42 24.55 1.215 4 0.000 0.068 2623 3941 1623

10532 0.94 197.2 573.5 7.0 539 10535 0.00 2.25 0.00 0.000 6 0.000 0.040 2623 2515 1623

10846 1.07 234.2 555.0 5.8 547 10888 0.15 2.33 33.55 1.215 4 0.077 0.054 2689 1126 1465

10905 0.99 234.2 550.2 7.5 548 10910 0.15 2.30 0.00 0.000 6 0.136 0.049 2648 2535 1464

11254 0.99 237.5 525.8 6.9 557 11260 0.00 0.00 4.35 0.815 6 0.000 0.000 2648 2535 1451

11578 0.99 237.5 502.6 7.3 565 11579 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2535 1452

11903 0.99 237.5 477.5 7.9 573 11907 0.00 2.28 0.00 0.000 4 0.000 0.053 2648 1111 1452

11930 1.07 237.5 475.3 7.6 573 11934 0.00 2.25 0.00 0.000 6 0.000 0.048 2648 2533 1452

12274 1.12 237.5 448.1 7.9 582 12278 0.12 2.28 0.00 0.000 4 0.081 0.051 2703 1109 1452

12289 1.12 237.5 446.5 8.0 582 12294 0.10 2.25 0.00 0.000 6 0.144 0.049 2677 2529 1452

12602 1.07 237.5 416.0 9.8 590 12606 0.00 2.25 0.00 0.000 4 0.000 0.053 2677 1115 1451

12624 1.07 237.5 413.7 9.6 590 12629 0.00 2.22 0.00 0.000 6 0.000 0.050 2676 2517 1451

12955 1.02 237.5 382.9 8.9 603 12959 0.00 2.25 0.00 0.000 4 0.000 0.053 2677 1108 1451

12983 1.02 237.5 380.5 8.3 604 12987 0.00 2.25 0.00 0.000 6 0.000 0.049 2676 2529 1451

13310 1.02 237.5 353.8 8.0 620 13314 0.00 2.25 0.00 0.000 4 0.000 0.052 2676 1116 1451

13334 1.02 237.5 351.9 8.6 621 13338 0.00 2.22 0.00 0.000 6 0.000 0.049 2677 2520 1451

13667 1.02 237.5 324.1 8.6 637 13670 0.00 2.25 0.00 0.000 4 0.000 0.053 2677 1110 1451

13689 1.02 237.5 322.2 8.1 638 13693 0.00 2.25 0.00 0.000 6 0.000 0.048 2676 2529 1450

14022 1.02 237.5 292.0 8.9 654 14026 0.00 2.25 0.00 0.000 4 0.000 0.052 2677 1117 1451

14044 1.02 237.5 290.1 8.6 655 14048 0.00 2.22 0.00 0.000 6 0.000 0.048 2677 2522 1451

14377 1.02 237.5 262.9 7.8 671 14378 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2522 1451

14686 1.02 237.5 240.5 7.2 686 14690 0.00 2.25 0.00 0.000 4 0.000 0.054 2677 1117 1451

14725 1.02 237.5 237.8 7.0 687 14731 0.00 2.22 0.00 0.000 6 0.000 0.048 2677 2523 1451

15041 1.04 248.4 215.9 6.6 703 15056 0.00 2.28 10.70 0.964 4 0.000 0.051 2677 1112 1406

15068 1.05 258.4 213.9 6.7 703 15083 0.00 2.25 9.95 0.931 6 0.000 0.048 2676 2525 1366

15411 1.11 269.6 191.4 6.6 720 15427 0.00 2.28 11.10 0.948 4 0.000 0.051 2677 1112 1320

15439 1.21 285.2 189.6 6.5 720 15460 0.10 2.25 13.95 0.953 6 0.087 0.048 2718 2527 1257

15784 1.15 285.2 156.5 10.3 737 15788 0.12 2.28 0.00 0.000 4 0.132 0.052 2681 1109 1257

15845 1.25 285.2 150.6 8.7 739 15852 0.10 2.25 0.00 0.000 6 0.084 0.049 2721 2527 1257

16161 1.19 285.2 119.0 9.6 755 16163 0.10 0.00 0.00 0.000 6 0.133 0.000 2693 2528 1257

16479 1.26 285.2 91.7 8.4 782 16485 0.00 2.25 0.00 0.000 4 0.000 0.053 2693 1119 1257

16555 1.37 285.2 85.5 8.2 795 16562 0.15 2.22 0.00 0.000 6 0.076 0.049 2753 2518 1257

16900 1.25 285.2 49.4 11.6 856 16907 0.17 2.33 0.00 0.000 4 0.134 0.066 2699 3935 1257

16941 1.25 285.2 45.2 9.5 863 16948 0.00 2.20 0.00 0.000 6 0.000 0.041 2699 2517 1257

17286 1.36 285.2 22.0 7.4 924 17293 0.12 2.25 0.00 0.000 4 0.079 0.055 2749 1109 1256

17333 1.38 300.9 19.2 6.5 932 17352 0.00 2.28 14.23 0.953 6 0.000 0.052 2749 2532 1193

17494 end climb: SURFACE_DEPTH_REACHED

state 17494 begin surface coast

17504 end surface coast: CONTROL_FINISHED_OK

state 17504 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	344	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	558.3028	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-29593.955	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	210937,6649.029,-5743.089,70,1.3,70,-37.5	TGT_NAME	TARGET_E_IN
_CALLS	5	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.116,0.192
_SM_DEPTHo	1.51	KALMAN_X	-57823.9,-1208.8,624.6,44962.5,1705.5
_SM_ANGLEo	-54.3	KALMAN_Y	-28991.3,-33.7,-810.0,18423.3,-1063.0
GPS2	213309,6648.699,-5743.046,107,1.9,115,-37.5	MHEAD_RNG_PITCHd_Wd	68.6,47767,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	666

FINISH	0.8,1.013781	TCM_TEMP	15.30
SM_CCo	17522,227.10,0.882,0,0,144,558.30	XPDR_PINGS	3
SM_GC	1.28,0.00,0.00,227.10,0.000,0.000,0.882,167,2343,144,-10.43,0.06,558.30	_24V_AH	20.2,64.207
RAFOS_CLK	1040	_10V_AH	10.5,28.344
RAFOS	0,1227485055,0.083333,0.070833,69,59,57,56,51,51,207,175,189,224,132,166	DATA_FILE_SIZE	34683,962
RAFOS_FIX	6652.359375,-5748.571289,241108,000020,2,82,0.78	CAP_FILE_SIZE	147359,0
IRIDIUM_FIX	6620.33,-5746.38,170298,212109	CFSIZE	260165632,225353728
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
HUMID	1844	SOUNDSPEED	1451.5
INTERNAL_PRESSURE	8.39876	GPS	241108,023201,6649.578,-5739.531,65,1.5,70,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	267	114.90	SBE_CT	753	24	365.15
Roll_motor	151	73	225.26	SBE_O2	658	19	252.86
VBD_pump_during_apogee	430	1293	11239.59	nil	0	0	0.00
VBD_pump_during_surface	227	882	4046.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	130	103	271.13	nil	0	0	0.00
Iridium_during_connect	292	160	945.59	nil	0	0	0.00
Iridium_during_xfer	466	223	2100.58
Transponder_ping	0	420	6.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	117	50	61.65
TT8	1769	19	370.13
LPSleep	13286	2	322.25
TT8_Active	846	19	177.05
TT8_Sampling	2015	39	844.98
TT8_CF8	1250	45	602.84
TT8_Kalman	33	81	28.71
Analog_circuits	1921	12	242.05
GPS_charging	0	0	0.00
Compass	1878	8	157.81
RAFOS	1800	1	28.35
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.08	-146.0	0.0	0.0	0	185	0.00	0.00	-162.88	0.000	6	0.000	0.000	160	2334	3017
188	-1.08	-146.0	3.6	-3.1	30	202	9.00	2.33	0.00	0.000	4	0.268	0.061	2198	927	3019
346	-0.52	-146.0	33.2	-21.8	57	353	0.45	2.28	0.00	0.000	6	0.173	0.053	2325	2345	3022
691	-0.52	-146.0	60.7	-8.4	118	696	0.00	0.00	0.00	0.000	6	0.000	0.000	2325	2345	3023
1034	-0.59	-146.0	84.8	-6.2	179	1040	0.00	2.28	0.00	0.000	4	0.000	0.057	2325	935	3023
1081	-0.59	-146.0	88.1	-7.2	187	1087	0.00	2.28	0.00	0.000	6	0.000	0.054	2325	2350	3024
1435	-0.70	-146.0	106.6	-6.4	236	1439	0.15	2.33	0.00	0.000	4	0.087	0.071	2269	3745	3024
1641	-0.70	-146.0	127.6	-10.9	245	1645	0.00	2.20	0.00	0.000	6	0.000	0.042	2269	2337	3023
1963	-0.70	-146.0	160.1	-9.3	261	1964	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2337	3023
2272	-0.70	-146.0	187.9	-8.2	276	2277	0.00	2.38	0.00	0.000	4	0.000	0.071	2269	3750	3023
2335	-0.75	-146.0	192.6	-7.2	279	2339	0.00	2.20	0.00	0.000	6	0.000	0.041	2269	2334	3023
2667	-0.75	-146.0	217.1	-6.9	295	2668	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2334	3022
2977	-0.75	-146.0	236.4	-6.1	310	2978	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2334	3022
3286	-0.79	-146.0	256.8	-7.0	325	3287	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2334	3022
3595	-0.84	-146.0	279.4	-7.4	340	3599	0.00	2.38	0.00	0.000	4	0.000	0.070	2269	3749	3021
3646	-0.94	-146.0	283.4	-8.1	342	3650	0.15	2.20	0.00	0.000	6	0.095	0.040	2217	2337	3021
3966	-0.84	-146.0	314.4	-10.0	358	3968	0.15	0.00	0.00	0.000	6	0.156	0.000	2257	2337	3021
4276	-0.84	-146.0	341.1	-8.6	373	4280	0.00	2.38	0.00	0.000	4	0.000	0.069	2257	3754	3022
4331	-0.92	-146.0	346.2	-9.4	375	4338	0.00	2.22	0.00	0.000	6	0.000	0.041	2257	2327	3022
4647	-0.98	-146.0	374.6	-8.8	391	4649	0.12	0.00	0.00	0.000	6	0.100	0.000	2211	2327	3022
4976	-0.88	-146.0	408.3	-10.2	405	4981	0.12	2.40	0.00	0.000	4	0.162	0.068	2243	3753	3023
5049	-0.94	-146.0	415.0	-8.7	406	5053	0.00	2.22	0.00	0.000	6	0.000	0.040	2243	2326	3023
5385	-0.94	-146.0	441.2	-7.3	415	5387	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2326	3023
5711	-0.94	-146.0	461.3	-5.9	423	5715	0.00	2.38	0.00	0.000	4	0.000	0.067	2243	3745	3023
5768	-0.99	-146.0	464.7	-5.6	424	5772	0.10	2.20	0.00	0.000	6	0.105	0.039	2207	2330	3024
6086	-0.90	-146.0	485.3	-6.4	432	6091	0.12	2.38	0.00	0.000	4	0.157	0.067	2241	3748	3024
6143	-0.95	-146.0	488.6	-5.8	433	6147	0.00	2.20	0.00	0.000	6	0.000	0.039	2241	2335	3024
6461	-0.95	-146.0	506.0	-5.5	441	6463	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2335	3025
6786	-0.95	-146.0	524.9	-6.0	449	6790	0.00	2.38	0.00	0.000	4	0.000	0.067	2241	3754	3025
6849	-1.01	-146.0	529.0	-6.8	450	6853	0.10	2.22	0.00	0.000	6	0.104	0.039	2205	2324	3025
7197	-0.92	-146.0	554.8	-7.5	459	7201	0.12	2.40	0.00	0.000	4	0.157	0.067	2239	3747	3025
7252	-0.98	-146.0	558.4	-6.3	460	7256	0.00	2.20	0.00	0.000	6	0.000	0.040	2240	2336	3025
7566	-0.98	-146.0	576.2	-5.7	468	7570	0.00	2.22	0.00	0.000	4	0.000	0.053	2240	930	3025
7605	-0.98	-146.0	578.7	-6.7	468	7611	0.00	2.28	0.00	0.000	6	0.000	0.051	2239	2351	3026
7937	-0.98	-146.0	597.6	-5.7	477	7940	0.00	2.33	0.00	0.000	4	0.000	0.068	2240	3754	3026
8028	-1.05	-146.0	603.0	-6.0	479	8033	0.12	2.20	0.00	0.000	6	0.098	0.039	2196	2335	3026
8358	-0.95	-146.0	626.5	-7.2	487	8363	0.12	2.38	0.00	0.000	4	0.159	0.067	2229	3755	3026
8397	-0.95	-146.0	629.1	-6.4	487	8403	0.00	2.20	0.00	0.000	6	0.000	0.039	2229	2335	3026
8729	-0.95	-146.0	649.1	-5.9	496	8730	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2335	3026
9012	end dive: TARGET_DEPTH_EXCEEDED
state	9012	begin apogee
9018	-0.34	0.0	666.3	6.1	503	9157	0.45	0.00	135.62	1.293	6	0.141	0.000	2367	2522	2420
9158	end apogee: CONTROL_FINISHED_OK
state	9158	begin climb
9160	1.08	146.0	668.9	0.0	506	9356	1.02	2.72	153.48	1.129	4	0.104	0.051	2665	1124	1824
9384	1.01	146.0	653.9	8.4	511	9389	0.00	2.55	0.00	0.000	6	0.000	0.048	2665	2518	1824
9732	0.89	146.0	624.9	8.3	520	9737	0.15	2.35	0.00	0.000	4	0.140	0.065	2623	3934	1823
9776	0.82	146.0	621.4	7.1	521	9780	0.00	2.22	0.00	0.000	6	0.000	0.040	2623	2517	1823
10101	0.85	167.3	601.0	6.3	529	10125	0.00	2.42	18.80	1.204	4	0.000	0.067	2623	3930	1737
10154	0.85	167.3	597.3	7.6	530	10158	0.00	2.22	0.00	0.000	6	0.000	0.040	2623	2516	1737
10473	0.94	195.4	577.4	6.1	538	10503	0.00	2.42	24.55	1.215	4	0.000	0.068	2623	3941	1623
10532	0.94	197.2	573.5	7.0	539	10535	0.00	2.25	0.00	0.000	6	0.000	0.040	2623	2515	1623
10846	1.07	234.2	555.0	5.8	547	10888	0.15	2.33	33.55	1.215	4	0.077	0.054	2689	1126	1465
10905	0.99	234.2	550.2	7.5	548	10910	0.15	2.30	0.00	0.000	6	0.136	0.049	2648	2535	1464
11254	0.99	237.5	525.8	6.9	557	11260	0.00	0.00	4.35	0.815	6	0.000	0.000	2648	2535	1451
11578	0.99	237.5	502.6	7.3	565	11579	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2535	1452
11903	0.99	237.5	477.5	7.9	573	11907	0.00	2.28	0.00	0.000	4	0.000	0.053	2648	1111	1452
11930	1.07	237.5	475.3	7.6	573	11934	0.00	2.25	0.00	0.000	6	0.000	0.048	2648	2533	1452
12274	1.12	237.5	448.1	7.9	582	12278	0.12	2.28	0.00	0.000	4	0.081	0.051	2703	1109	1452
12289	1.12	237.5	446.5	8.0	582	12294	0.10	2.25	0.00	0.000	6	0.144	0.049	2677	2529	1452
12602	1.07	237.5	416.0	9.8	590	12606	0.00	2.25	0.00	0.000	4	0.000	0.053	2677	1115	1451
12624	1.07	237.5	413.7	9.6	590	12629	0.00	2.22	0.00	0.000	6	0.000	0.050	2676	2517	1451
12955	1.02	237.5	382.9	8.9	603	12959	0.00	2.25	0.00	0.000	4	0.000	0.053	2677	1108	1451
12983	1.02	237.5	380.5	8.3	604	12987	0.00	2.25	0.00	0.000	6	0.000	0.049	2676	2529	1451
13310	1.02	237.5	353.8	8.0	620	13314	0.00	2.25	0.00	0.000	4	0.000	0.052	2676	1116	1451
13334	1.02	237.5	351.9	8.6	621	13338	0.00	2.22	0.00	0.000	6	0.000	0.049	2677	2520	1451
13667	1.02	237.5	324.1	8.6	637	13670	0.00	2.25	0.00	0.000	4	0.000	0.053	2677	1110	1451
13689	1.02	237.5	322.2	8.1	638	13693	0.00	2.25	0.00	0.000	6	0.000	0.048	2676	2529	1450
14022	1.02	237.5	292.0	8.9	654	14026	0.00	2.25	0.00	0.000	4	0.000	0.052	2677	1117	1451
14044	1.02	237.5	290.1	8.6	655	14048	0.00	2.22	0.00	0.000	6	0.000	0.048	2677	2522	1451
14377	1.02	237.5	262.9	7.8	671	14378	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2522	1451
14686	1.02	237.5	240.5	7.2	686	14690	0.00	2.25	0.00	0.000	4	0.000	0.054	2677	1117	1451
14725	1.02	237.5	237.8	7.0	687	14731	0.00	2.22	0.00	0.000	6	0.000	0.048	2677	2523	1451
15041	1.04	248.4	215.9	6.6	703	15056	0.00	2.28	10.70	0.964	4	0.000	0.051	2677	1112	1406
15068	1.05	258.4	213.9	6.7	703	15083	0.00	2.25	9.95	0.931	6	0.000	0.048	2676	2525	1366
15411	1.11	269.6	191.4	6.6	720	15427	0.00	2.28	11.10	0.948	4	0.000	0.051	2677	1112	1320
15439	1.21	285.2	189.6	6.5	720	15460	0.10	2.25	13.95	0.953	6	0.087	0.048	2718	2527	1257
15784	1.15	285.2	156.5	10.3	737	15788	0.12	2.28	0.00	0.000	4	0.132	0.052	2681	1109	1257
15845	1.25	285.2	150.6	8.7	739	15852	0.10	2.25	0.00	0.000	6	0.084	0.049	2721	2527	1257
16161	1.19	285.2	119.0	9.6	755	16163	0.10	0.00	0.00	0.000	6	0.133	0.000	2693	2528	1257
16479	1.26	285.2	91.7	8.4	782	16485	0.00	2.25	0.00	0.000	4	0.000	0.053	2693	1119	1257
16555	1.37	285.2	85.5	8.2	795	16562	0.15	2.22	0.00	0.000	6	0.076	0.049	2753	2518	1257
16900	1.25	285.2	49.4	11.6	856	16907	0.17	2.33	0.00	0.000	4	0.134	0.066	2699	3935	1257
16941	1.25	285.2	45.2	9.5	863	16948	0.00	2.20	0.00	0.000	6	0.000	0.041	2699	2517	1257
17286	1.36	285.2	22.0	7.4	924	17293	0.12	2.25	0.00	0.000	4	0.079	0.055	2749	1109	1256
17333	1.38	300.9	19.2	6.5	932	17352	0.00	2.28	14.23	0.953	6	0.000	0.052	2749	2532	1193
17494	end climb: SURFACE_DEPTH_REACHED
state	17494	begin surface coast
17504	end surface coast: CONTROL_FINISHED_OK
state	17504	begin surface