Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 345 * 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 345 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 25 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 -30500.127 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 -30500.127

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 25 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 345 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 023201,6649.578,-5739.531,65,1.5,70,-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 0.167,0.150

_SM_DEPTHo 1.44 KALMAN_X -55969.8,94.9,-827.9,47158.7,4808.7

_SM_ANGLEo -42.9 KALMAN_Y -31491.6,-223.5,817.3,22068.2,-4234.6

GPS2 023201,6649.578,-5739.531,65,1.5,70,-37.5 MHEAD_RNG_PITCHd_Wd 85.5,44752,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 683

Post-dive calculations and measurements:

FINISH 1.0,1.026476 TCM_TEMP 15.40

SM_CCo 19057,188.35,0.870,1,0,144,558.30 XPDR_PINGS 1

SM_GC 1.55,0.00,0.00,188.35,0.000,0.000,0.870,156,2356,144,-10.48,0.45,558.30 _24V_AH 20.2,64.443

RAFOS_CLK 1151 _10V_AH 10.5,28.448

RAFOS 0,1227499447,4.083333,4.068611,60,58,58,50,48,47,203,160,221,955,120,94 DATA_FILE_SIZE 37916,999

RAFOS_FIX 6650.493164,-5744.527344,241108,040420,2,95,0.61 CAP_FILE_SIZE 148338,0

IRIDIUM_FIX 6620.33,-5743.46,180298,020201 CFSIZE 260165632,225255424

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,10,0

HUMID 1859 SOUNDSPEED 1452.8

INTERNAL_PRESSURE 8.40853 GPS 241108,082807,6648.160,-5733.863,42,2.0,42,-37.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 254 111.23 SBE_CT 791 24 383.67

Roll_motor 151 72 222.55 SBE_O2 684 19 262.53

VBD_pump_during_apogee 508 1192 12256.32 nil 0 0 0.00

VBD_pump_during_surface 188 869 3309.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 131 103 274.24 nil 0 0 0.00

Iridium_during_connect 217 160 702.98 nil 0 0 0.00

Iridium_during_xfer 292 223 1319.51

Transponder_ping 0 420 2.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 905 50 475.41

TT8 1820 19 380.77

LPSleep 14671 2 355.85

TT8_Active 945 19 197.84

TT8_Sampling 2763 39 1158.37

TT8_CF8 1017 45 490.46

TT8_Kalman 33 81 28.70

Analog_circuits 2014 12 253.84

GPS_charging 0 0 0.00

Compass 1852 8 155.58

RAFOS 2520 1 39.69

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 0 212 0.00 0.00 -193.45 0.000 2 0.000 0.000 168 2340 2922

216 -1.08 -146.0 3.1 -2.3 34 235 8.75 2.30 -3.45 0.000 4 0.255 0.069 2199 918 3017

393 -0.57 -146.0 39.6 -15.8 65 401 0.43 2.30 0.00 0.000 6 0.175 0.054 2310 2345 3023

738 -0.57 -146.0 72.5 -9.5 126 745 0.00 2.33 0.00 0.000 4 0.000 0.071 2310 3750 3023

863 -0.57 -146.0 83.5 -8.3 148 870 0.00 2.22 0.00 0.000 6 0.000 0.042 2311 2324 3023

1212 -0.62 -146.0 112.0 -7.8 191 1216 0.00 2.22 0.00 0.000 4 0.000 0.058 2311 932 3024

1239 -0.62 -146.0 114.2 -8.1 192 1243 0.00 2.28 0.00 0.000 6 0.000 0.053 2310 2348 3024

1567 -0.72 -146.0 135.0 -5.8 208 1571 0.12 2.33 0.00 0.000 4 0.091 0.071 2261 3745 3024

1667 -0.72 -146.0 143.6 -9.0 212 1673 0.00 2.20 0.00 0.000 6 0.000 0.041 2261 2337 3023

1982 -0.72 -146.0 168.9 -8.0 228 1986 0.00 2.25 0.00 0.000 4 0.000 0.058 2261 932 3023

2039 -0.64 -146.0 173.9 -8.6 230 2044 0.15 2.28 0.00 0.000 6 0.166 0.054 2299 2342 3023

2360 -0.76 -146.0 193.6 -5.6 246 2364 0.12 2.35 0.00 0.000 4 0.101 0.069 2252 3754 3023

2437 -0.76 -146.0 199.5 -7.9 249 2441 0.00 2.22 0.00 0.000 6 0.000 0.041 2251 2328 3023

2759 -0.76 -146.0 223.4 -7.4 265 2763 0.00 2.38 0.00 0.000 4 0.000 0.071 2251 3745 3023

2820 -0.76 -146.0 228.4 -7.8 267 2827 0.00 2.20 0.00 0.000 6 0.000 0.042 2251 2337 3023

3136 -0.76 -146.0 251.7 -7.1 283 3140 0.00 2.38 0.00 0.000 4 0.000 0.070 2252 3754 3023

3192 -0.76 -146.0 256.1 -8.0 285 3196 0.00 2.22 0.00 0.000 6 0.000 0.041 2251 2328 3023

3516 -0.76 -146.0 279.7 -7.3 301 3520 0.00 2.38 0.00 0.000 4 0.000 0.068 2251 3750 3023

3559 -0.76 -146.0 283.2 -7.6 303 3563 0.00 2.20 0.00 0.000 6 0.000 0.040 2251 2336 3023

3888 -0.76 -146.0 304.6 -6.4 319 3889 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2336 3023

4196 -0.76 -146.0 324.2 -6.4 334 4200 0.00 2.35 0.00 0.000 4 0.000 0.067 2251 3745 3023

4223 -0.76 -146.0 326.0 -6.8 335 4227 0.00 2.20 0.00 0.000 6 0.000 0.040 2251 2330 3024

4545 -0.76 -146.0 347.8 -7.1 351 4548 0.00 2.38 0.00 0.000 4 0.000 0.067 2252 3753 3024

4572 -0.76 -146.0 349.8 -7.1 352 4576 0.00 2.20 0.00 0.000 6 0.000 0.039 2251 2335 3025

4899 -0.76 -146.0 372.9 -7.1 368 4903 0.00 2.35 0.00 0.000 4 0.000 0.067 2251 3746 3025

4943 -0.81 -146.0 376.1 -7.1 370 4947 0.00 2.20 0.00 0.000 6 0.000 0.039 2251 2331 3025

5270 -0.81 -146.0 398.4 -6.5 386 5274 0.00 2.35 0.00 0.000 4 0.000 0.067 2251 3744 3026

5293 -0.81 -146.0 400.0 -6.9 387 5297 0.00 2.20 0.00 0.000 6 0.000 0.040 2251 2326 3026

5642 -0.81 -146.0 422.3 -6.3 396 5644 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2326 3026

5967 -0.81 -146.0 442.6 -6.1 404 5971 0.00 2.38 0.00 0.000 4 0.000 0.067 2251 3749 3026

6045 -0.87 -146.0 447.6 -6.0 405 6052 0.00 2.20 0.00 0.000 6 0.000 0.040 2251 2334 3027

6377 -0.87 -146.0 467.3 -5.7 414 6378 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2334 3027

6702 -0.87 -146.0 485.9 -5.6 422 6703 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2334 3027

7027 -0.87 -146.0 504.3 -5.5 430 7031 0.00 2.38 0.00 0.000 4 0.000 0.067 2251 3757 3027

7073 -0.93 -146.0 506.9 -5.6 431 7077 0.00 2.20 0.00 0.000 6 0.000 0.040 2251 2339 3027

7404 -0.93 -146.0 525.4 -5.6 439 7405 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2338 3027

7728 -0.93 -146.0 544.2 -5.8 447 7732 0.00 2.35 0.00 0.000 4 0.000 0.067 2251 3744 3027

7756 -0.99 -146.0 546.0 -6.4 447 7761 0.12 2.20 0.00 0.000 6 0.102 0.039 2207 2330 3027

8099 -0.90 -146.0 570.3 -7.2 456 8101 0.12 0.00 0.00 0.000 6 0.158 0.000 2240 2328 3027

8423 -0.90 -146.0 589.9 -6.0 464 8427 0.00 2.38 0.00 0.000 4 0.000 0.067 2241 3749 3028

8502 -0.94 -146.0 595.0 -6.4 465 8506 0.00 2.20 0.00 0.000 6 0.000 0.040 2240 2338 3027

8839 -0.94 -146.0 615.7 -6.1 474 8843 0.00 2.35 0.00 0.000 4 0.000 0.067 2240 3743 3027

8877 -0.94 -146.0 618.1 -6.2 474 8884 0.00 2.20 0.00 0.000 6 0.000 0.040 2240 2330 3027

9209 -0.94 -146.0 638.0 -6.0 483 9213 0.00 2.38 0.00 0.000 4 0.000 0.067 2240 3751 3027

9248 -0.99 -146.0 640.5 -7.0 483 9255 0.00 2.20 0.00 0.000 6 0.000 0.039 2240 2334 3027

9580 -0.99 -146.0 660.9 -6.1 492 9584 0.00 2.38 0.00 0.000 4 0.000 0.067 2240 3757 3027

9608 -1.05 -146.0 662.8 -6.8 492 9612 0.12 2.20 0.00 0.000 6 0.097 0.038 2198 2336 3027

9906 end dive: TARGET_DEPTH_EXCEEDED

state 9906 begin apogee

9914 -0.34 0.0 685.5 7.9 500 10084 0.55 0.00 157.23 1.193 6 0.150 0.000 2360 2523 2421

10085 end apogee: CONTROL_FINISHED_OK

state 10085 begin climb

10088 1.08 146.0 689.8 0.0 504 10295 1.08 2.83 157.27 1.124 4 0.107 0.065 2666 3927 1825

10335 0.83 146.0 669.5 9.6 509 10342 0.20 2.47 0.00 0.000 6 0.138 0.040 2616 2528 1826

10666 0.83 150.4 646.7 6.9 518 10673 0.00 0.00 5.03 0.888 6 0.000 0.000 2616 2528 1807

10991 0.85 163.5 625.5 6.6 526 11010 0.00 2.40 12.93 1.167 4 0.000 0.068 2616 3935 1754

11035 0.86 170.7 622.4 6.8 527 11049 0.00 2.22 7.72 1.046 6 0.000 0.041 2616 2514 1725

11363 0.95 184.3 600.4 6.6 535 11379 0.10 0.00 13.02 1.167 6 0.092 0.000 2657 2512 1669

11688 0.88 184.3 573.9 8.2 543 11693 0.12 2.35 0.00 0.000 4 0.143 0.067 2623 3930 1672

11716 0.88 184.3 571.6 8.1 543 11719 0.00 2.20 0.00 0.000 6 0.000 0.041 2623 2511 1673

12053 0.95 194.3 549.1 6.7 552 12064 0.00 0.00 9.68 1.114 6 0.000 0.000 2623 2510 1629

12378 1.03 197.0 526.7 6.9 560 12388 0.12 2.38 4.20 0.807 4 0.084 0.068 2675 3941 1618

12411 0.85 197.0 523.4 10.3 560 12415 0.20 2.22 0.00 0.000 6 0.143 0.041 2617 2506 1619

12748 0.95 200.3 499.8 6.9 569 12755 0.10 0.00 4.80 0.875 6 0.091 0.000 2663 2505 1604

13072 0.90 200.3 471.8 8.7 577 13074 0.12 0.00 0.00 0.000 6 0.137 0.000 2627 2505 1607

13398 0.97 200.3 447.6 7.3 585 13402 0.00 2.38 0.00 0.000 4 0.000 0.068 2626 3943 1607

13420 0.97 200.3 445.7 8.3 585 13424 0.00 2.20 0.00 0.000 6 0.000 0.040 2626 2518 1608

13768 1.05 204.7 421.2 6.9 594 13776 0.12 0.00 5.30 0.894 6 0.082 0.000 2678 2517 1586

14074 0.96 204.7 394.1 9.0 603 14076 0.12 0.00 0.00 0.000 6 0.131 0.000 2641 2518 1589

14382 0.97 210.1 372.5 6.8 618 14391 0.00 0.00 6.40 0.940 6 0.000 0.000 2641 2517 1564

14693 1.02 218.2 351.8 6.7 633 14707 0.00 2.40 8.52 0.997 4 0.000 0.068 2641 3930 1531

14736 1.02 218.2 348.4 7.8 635 14740 0.00 2.20 0.00 0.000 6 0.000 0.041 2641 2515 1532

15069 1.08 218.2 324.7 7.3 651 15071 0.10 0.00 0.00 0.000 6 0.091 0.000 2685 2515 1534

15379 1.00 218.2 294.8 9.9 666 15381 0.12 0.00 0.00 0.000 6 0.132 0.000 2649 2515 1534

15687 1.00 218.2 271.4 7.1 681 15688 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2515 1534

15997 1.03 240.2 251.2 6.3 696 16022 0.00 2.30 19.45 1.041 4 0.000 0.054 2649 1112 1440

16057 1.16 254.1 247.3 6.5 698 16077 0.15 2.28 12.93 0.976 6 0.074 0.048 2708 2538 1385

16395 1.06 254.1 216.3 9.4 715 16397 0.15 0.00 0.00 0.000 6 0.127 0.000 2663 2539 1387

16704 1.13 263.5 194.6 6.7 730 16718 0.00 2.30 9.30 0.927 4 0.000 0.053 2663 1112 1346

16736 1.26 285.4 192.4 6.3 731 16761 0.15 2.22 19.50 0.982 6 0.072 0.048 2721 2518 1256

17080 1.18 285.4 159.8 9.5 748 17082 0.12 0.00 0.00 0.000 6 0.132 0.000 2684 2519 1257

17387 1.20 296.9 138.3 6.6 763 17402 0.00 2.28 10.88 0.930 4 0.000 0.054 2685 1109 1209

17436 1.29 296.9 134.9 7.2 764 17440 0.12 2.25 0.00 0.000 6 0.078 0.048 2732 2523 1210

17757 1.21 296.9 104.0 10.4 780 17762 0.12 2.25 0.00 0.000 4 0.131 0.053 2695 1120 1212

17831 1.29 296.9 97.7 8.1 787 17838 0.00 2.22 0.00 0.000 6 0.000 0.049 2695 2524 1212

18176 1.38 309.1 71.5 6.6 848 18195 0.15 2.30 11.38 0.933 4 0.072 0.067 2760 3926 1159

18224 1.20 309.1 66.8 10.6 856 18231 0.22 2.20 0.00 0.000 6 0.140 0.042 2694 2519 1160

18569 1.32 309.1 41.1 7.8 917 18576 0.10 2.22 0.00 0.000 4 0.085 0.054 2737 1114 1162

18633 1.32 309.1 36.3 7.2 928 18640 0.00 2.25 0.00 0.000 6 0.000 0.051 2737 2523 1161

18980 1.32 347.8 6.7 5.7 989 19021 0.00 2.35 33.20 0.969 4 0.000 0.052 2741 1117 1001

19026 end climb: SURFACE_DEPTH_REACHED

state 19026 begin surface coast

19037 end surface coast: CONTROL_FINISHED_OK

state 19037 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	345	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	25	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	-30500.127	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	023201,6649.578,-5739.531,65,1.5,70,-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	0.167,0.150
_SM_DEPTHo	1.44	KALMAN_X	-55969.8,94.9,-827.9,47158.7,4808.7
_SM_ANGLEo	-42.9	KALMAN_Y	-31491.6,-223.5,817.3,22068.2,-4234.6
GPS2	023201,6649.578,-5739.531,65,1.5,70,-37.5	MHEAD_RNG_PITCHd_Wd	85.5,44752,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	683

FINISH	1.0,1.026476	TCM_TEMP	15.40
SM_CCo	19057,188.35,0.870,1,0,144,558.30	XPDR_PINGS	1
SM_GC	1.55,0.00,0.00,188.35,0.000,0.000,0.870,156,2356,144,-10.48,0.45,558.30	_24V_AH	20.2,64.443
RAFOS_CLK	1151	_10V_AH	10.5,28.448
RAFOS	0,1227499447,4.083333,4.068611,60,58,58,50,48,47,203,160,221,955,120,94	DATA_FILE_SIZE	37916,999
RAFOS_FIX	6650.493164,-5744.527344,241108,040420,2,95,0.61	CAP_FILE_SIZE	148338,0
IRIDIUM_FIX	6620.33,-5743.46,180298,020201	CFSIZE	260165632,225255424
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
HUMID	1859	SOUNDSPEED	1452.8
INTERNAL_PRESSURE	8.40853	GPS	241108,082807,6648.160,-5733.863,42,2.0,42,-37.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	254	111.23	SBE_CT	791	24	383.67
Roll_motor	151	72	222.55	SBE_O2	684	19	262.53
VBD_pump_during_apogee	508	1192	12256.32	nil	0	0	0.00
VBD_pump_during_surface	188	869	3309.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	131	103	274.24	nil	0	0	0.00
Iridium_during_connect	217	160	702.98	nil	0	0	0.00
Iridium_during_xfer	292	223	1319.51
Transponder_ping	0	420	2.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	905	50	475.41
TT8	1820	19	380.77
LPSleep	14671	2	355.85
TT8_Active	945	19	197.84
TT8_Sampling	2763	39	1158.37
TT8_CF8	1017	45	490.46
TT8_Kalman	33	81	28.70
Analog_circuits	2014	12	253.84
GPS_charging	0	0	0.00
Compass	1852	8	155.58
RAFOS	2520	1	39.69
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	212	0.00	0.00	-193.45	0.000	2	0.000	0.000	168	2340	2922
216	-1.08	-146.0	3.1	-2.3	34	235	8.75	2.30	-3.45	0.000	4	0.255	0.069	2199	918	3017
393	-0.57	-146.0	39.6	-15.8	65	401	0.43	2.30	0.00	0.000	6	0.175	0.054	2310	2345	3023
738	-0.57	-146.0	72.5	-9.5	126	745	0.00	2.33	0.00	0.000	4	0.000	0.071	2310	3750	3023
863	-0.57	-146.0	83.5	-8.3	148	870	0.00	2.22	0.00	0.000	6	0.000	0.042	2311	2324	3023
1212	-0.62	-146.0	112.0	-7.8	191	1216	0.00	2.22	0.00	0.000	4	0.000	0.058	2311	932	3024
1239	-0.62	-146.0	114.2	-8.1	192	1243	0.00	2.28	0.00	0.000	6	0.000	0.053	2310	2348	3024
1567	-0.72	-146.0	135.0	-5.8	208	1571	0.12	2.33	0.00	0.000	4	0.091	0.071	2261	3745	3024
1667	-0.72	-146.0	143.6	-9.0	212	1673	0.00	2.20	0.00	0.000	6	0.000	0.041	2261	2337	3023
1982	-0.72	-146.0	168.9	-8.0	228	1986	0.00	2.25	0.00	0.000	4	0.000	0.058	2261	932	3023
2039	-0.64	-146.0	173.9	-8.6	230	2044	0.15	2.28	0.00	0.000	6	0.166	0.054	2299	2342	3023
2360	-0.76	-146.0	193.6	-5.6	246	2364	0.12	2.35	0.00	0.000	4	0.101	0.069	2252	3754	3023
2437	-0.76	-146.0	199.5	-7.9	249	2441	0.00	2.22	0.00	0.000	6	0.000	0.041	2251	2328	3023
2759	-0.76	-146.0	223.4	-7.4	265	2763	0.00	2.38	0.00	0.000	4	0.000	0.071	2251	3745	3023
2820	-0.76	-146.0	228.4	-7.8	267	2827	0.00	2.20	0.00	0.000	6	0.000	0.042	2251	2337	3023
3136	-0.76	-146.0	251.7	-7.1	283	3140	0.00	2.38	0.00	0.000	4	0.000	0.070	2252	3754	3023
3192	-0.76	-146.0	256.1	-8.0	285	3196	0.00	2.22	0.00	0.000	6	0.000	0.041	2251	2328	3023
3516	-0.76	-146.0	279.7	-7.3	301	3520	0.00	2.38	0.00	0.000	4	0.000	0.068	2251	3750	3023
3559	-0.76	-146.0	283.2	-7.6	303	3563	0.00	2.20	0.00	0.000	6	0.000	0.040	2251	2336	3023
3888	-0.76	-146.0	304.6	-6.4	319	3889	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2336	3023
4196	-0.76	-146.0	324.2	-6.4	334	4200	0.00	2.35	0.00	0.000	4	0.000	0.067	2251	3745	3023
4223	-0.76	-146.0	326.0	-6.8	335	4227	0.00	2.20	0.00	0.000	6	0.000	0.040	2251	2330	3024
4545	-0.76	-146.0	347.8	-7.1	351	4548	0.00	2.38	0.00	0.000	4	0.000	0.067	2252	3753	3024
4572	-0.76	-146.0	349.8	-7.1	352	4576	0.00	2.20	0.00	0.000	6	0.000	0.039	2251	2335	3025
4899	-0.76	-146.0	372.9	-7.1	368	4903	0.00	2.35	0.00	0.000	4	0.000	0.067	2251	3746	3025
4943	-0.81	-146.0	376.1	-7.1	370	4947	0.00	2.20	0.00	0.000	6	0.000	0.039	2251	2331	3025
5270	-0.81	-146.0	398.4	-6.5	386	5274	0.00	2.35	0.00	0.000	4	0.000	0.067	2251	3744	3026
5293	-0.81	-146.0	400.0	-6.9	387	5297	0.00	2.20	0.00	0.000	6	0.000	0.040	2251	2326	3026
5642	-0.81	-146.0	422.3	-6.3	396	5644	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2326	3026
5967	-0.81	-146.0	442.6	-6.1	404	5971	0.00	2.38	0.00	0.000	4	0.000	0.067	2251	3749	3026
6045	-0.87	-146.0	447.6	-6.0	405	6052	0.00	2.20	0.00	0.000	6	0.000	0.040	2251	2334	3027
6377	-0.87	-146.0	467.3	-5.7	414	6378	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2334	3027
6702	-0.87	-146.0	485.9	-5.6	422	6703	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2334	3027
7027	-0.87	-146.0	504.3	-5.5	430	7031	0.00	2.38	0.00	0.000	4	0.000	0.067	2251	3757	3027
7073	-0.93	-146.0	506.9	-5.6	431	7077	0.00	2.20	0.00	0.000	6	0.000	0.040	2251	2339	3027
7404	-0.93	-146.0	525.4	-5.6	439	7405	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2338	3027
7728	-0.93	-146.0	544.2	-5.8	447	7732	0.00	2.35	0.00	0.000	4	0.000	0.067	2251	3744	3027
7756	-0.99	-146.0	546.0	-6.4	447	7761	0.12	2.20	0.00	0.000	6	0.102	0.039	2207	2330	3027
8099	-0.90	-146.0	570.3	-7.2	456	8101	0.12	0.00	0.00	0.000	6	0.158	0.000	2240	2328	3027
8423	-0.90	-146.0	589.9	-6.0	464	8427	0.00	2.38	0.00	0.000	4	0.000	0.067	2241	3749	3028
8502	-0.94	-146.0	595.0	-6.4	465	8506	0.00	2.20	0.00	0.000	6	0.000	0.040	2240	2338	3027
8839	-0.94	-146.0	615.7	-6.1	474	8843	0.00	2.35	0.00	0.000	4	0.000	0.067	2240	3743	3027
8877	-0.94	-146.0	618.1	-6.2	474	8884	0.00	2.20	0.00	0.000	6	0.000	0.040	2240	2330	3027
9209	-0.94	-146.0	638.0	-6.0	483	9213	0.00	2.38	0.00	0.000	4	0.000	0.067	2240	3751	3027
9248	-0.99	-146.0	640.5	-7.0	483	9255	0.00	2.20	0.00	0.000	6	0.000	0.039	2240	2334	3027
9580	-0.99	-146.0	660.9	-6.1	492	9584	0.00	2.38	0.00	0.000	4	0.000	0.067	2240	3757	3027
9608	-1.05	-146.0	662.8	-6.8	492	9612	0.12	2.20	0.00	0.000	6	0.097	0.038	2198	2336	3027
9906	end dive: TARGET_DEPTH_EXCEEDED
state	9906	begin apogee
9914	-0.34	0.0	685.5	7.9	500	10084	0.55	0.00	157.23	1.193	6	0.150	0.000	2360	2523	2421
10085	end apogee: CONTROL_FINISHED_OK
state	10085	begin climb
10088	1.08	146.0	689.8	0.0	504	10295	1.08	2.83	157.27	1.124	4	0.107	0.065	2666	3927	1825
10335	0.83	146.0	669.5	9.6	509	10342	0.20	2.47	0.00	0.000	6	0.138	0.040	2616	2528	1826
10666	0.83	150.4	646.7	6.9	518	10673	0.00	0.00	5.03	0.888	6	0.000	0.000	2616	2528	1807
10991	0.85	163.5	625.5	6.6	526	11010	0.00	2.40	12.93	1.167	4	0.000	0.068	2616	3935	1754
11035	0.86	170.7	622.4	6.8	527	11049	0.00	2.22	7.72	1.046	6	0.000	0.041	2616	2514	1725
11363	0.95	184.3	600.4	6.6	535	11379	0.10	0.00	13.02	1.167	6	0.092	0.000	2657	2512	1669
11688	0.88	184.3	573.9	8.2	543	11693	0.12	2.35	0.00	0.000	4	0.143	0.067	2623	3930	1672
11716	0.88	184.3	571.6	8.1	543	11719	0.00	2.20	0.00	0.000	6	0.000	0.041	2623	2511	1673
12053	0.95	194.3	549.1	6.7	552	12064	0.00	0.00	9.68	1.114	6	0.000	0.000	2623	2510	1629
12378	1.03	197.0	526.7	6.9	560	12388	0.12	2.38	4.20	0.807	4	0.084	0.068	2675	3941	1618
12411	0.85	197.0	523.4	10.3	560	12415	0.20	2.22	0.00	0.000	6	0.143	0.041	2617	2506	1619
12748	0.95	200.3	499.8	6.9	569	12755	0.10	0.00	4.80	0.875	6	0.091	0.000	2663	2505	1604
13072	0.90	200.3	471.8	8.7	577	13074	0.12	0.00	0.00	0.000	6	0.137	0.000	2627	2505	1607
13398	0.97	200.3	447.6	7.3	585	13402	0.00	2.38	0.00	0.000	4	0.000	0.068	2626	3943	1607
13420	0.97	200.3	445.7	8.3	585	13424	0.00	2.20	0.00	0.000	6	0.000	0.040	2626	2518	1608
13768	1.05	204.7	421.2	6.9	594	13776	0.12	0.00	5.30	0.894	6	0.082	0.000	2678	2517	1586
14074	0.96	204.7	394.1	9.0	603	14076	0.12	0.00	0.00	0.000	6	0.131	0.000	2641	2518	1589
14382	0.97	210.1	372.5	6.8	618	14391	0.00	0.00	6.40	0.940	6	0.000	0.000	2641	2517	1564
14693	1.02	218.2	351.8	6.7	633	14707	0.00	2.40	8.52	0.997	4	0.000	0.068	2641	3930	1531
14736	1.02	218.2	348.4	7.8	635	14740	0.00	2.20	0.00	0.000	6	0.000	0.041	2641	2515	1532
15069	1.08	218.2	324.7	7.3	651	15071	0.10	0.00	0.00	0.000	6	0.091	0.000	2685	2515	1534
15379	1.00	218.2	294.8	9.9	666	15381	0.12	0.00	0.00	0.000	6	0.132	0.000	2649	2515	1534
15687	1.00	218.2	271.4	7.1	681	15688	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2515	1534
15997	1.03	240.2	251.2	6.3	696	16022	0.00	2.30	19.45	1.041	4	0.000	0.054	2649	1112	1440
16057	1.16	254.1	247.3	6.5	698	16077	0.15	2.28	12.93	0.976	6	0.074	0.048	2708	2538	1385
16395	1.06	254.1	216.3	9.4	715	16397	0.15	0.00	0.00	0.000	6	0.127	0.000	2663	2539	1387
16704	1.13	263.5	194.6	6.7	730	16718	0.00	2.30	9.30	0.927	4	0.000	0.053	2663	1112	1346
16736	1.26	285.4	192.4	6.3	731	16761	0.15	2.22	19.50	0.982	6	0.072	0.048	2721	2518	1256
17080	1.18	285.4	159.8	9.5	748	17082	0.12	0.00	0.00	0.000	6	0.132	0.000	2684	2519	1257
17387	1.20	296.9	138.3	6.6	763	17402	0.00	2.28	10.88	0.930	4	0.000	0.054	2685	1109	1209
17436	1.29	296.9	134.9	7.2	764	17440	0.12	2.25	0.00	0.000	6	0.078	0.048	2732	2523	1210
17757	1.21	296.9	104.0	10.4	780	17762	0.12	2.25	0.00	0.000	4	0.131	0.053	2695	1120	1212
17831	1.29	296.9	97.7	8.1	787	17838	0.00	2.22	0.00	0.000	6	0.000	0.049	2695	2524	1212
18176	1.38	309.1	71.5	6.6	848	18195	0.15	2.30	11.38	0.933	4	0.072	0.067	2760	3926	1159
18224	1.20	309.1	66.8	10.6	856	18231	0.22	2.20	0.00	0.000	6	0.140	0.042	2694	2519	1160
18569	1.32	309.1	41.1	7.8	917	18576	0.10	2.22	0.00	0.000	4	0.085	0.054	2737	1114	1162
18633	1.32	309.1	36.3	7.2	928	18640	0.00	2.25	0.00	0.000	6	0.000	0.051	2737	2523	1161
18980	1.32	347.8	6.7	5.7	989	19021	0.00	2.35	33.20	0.969	4	0.000	0.052	2741	1117	1001
19026	end climb: SURFACE_DEPTH_REACHED
state	19026	begin surface coast
19037	end surface coast: CONTROL_FINISHED_OK
state	19037	begin surface