Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 346 * 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 346 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 33 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 -31403.947 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 -31403.947

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 33 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 346 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 082807,6648.160,-5733.863,42,2.0,42,-37.4 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 0.177,0.138

_SM_DEPTHo 1.40 KALMAN_X -54065.6,1217.3,954.3,50404.1,-890.4

_SM_ANGLEo -46.9 KALMAN_Y -34059.6,-102.5,-970.4,24985.7,-391.3

GPS2 082807,6648.160,-5733.863,42,2.0,42,-37.4 MHEAD_RNG_PITCHd_Wd 89.4,43038,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 683

Post-dive calculations and measurements:

FINISH 1.0,1.021380 TCM_TEMP 15.40

SM_CCo 17585,183.02,0.892,1,0,144,558.30 XPDR_PINGS 2

SM_GC 1.55,0.00,0.00,183.02,0.000,0.000,0.892,155,2342,144,-10.49,0.06,558.30 _24V_AH 20.2,64.681

RAFOS_CLK 1062 _10V_AH 10.5,28.550

RAFOS 0,1227528267,12.083333,12.074166,66,61,59,55,53,53,806,164,206,186,124,137 DATA_FILE_SIZE 34734,910

RAFOS_FIX 7250.552246,-7243.747559,241108,121256,2,92,57.34 CAP_FILE_SIZE 149961,0

IRIDIUM_FIX 6620.33,-5735.92,180298,080834 CFSIZE 260165632,225169408

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,9,0

HUMID 1853 SOUNDSPEED 1453.0

INTERNAL_PRESSURE 8.40853 GPS 241108,140007,6649.765,-5731.383,33,1.3,33,-37.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 263 119.57 SBE_CT 715 24 346.87

Roll_motor 169 71 244.19 SBE_O2 621 19 238.59

VBD_pump_during_apogee 484 1246 12200.04 nil 0 0 0.00

VBD_pump_during_surface 183 892 3297.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 127 103 264.29 nil 0 0 0.00

Iridium_during_connect 267 160 864.49 nil 0 0 0.00

Iridium_during_xfer 287 223 1295.59

Transponder_ping 0 420 4.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 903 50 474.18

TT8 1722 19 360.28

LPSleep 13371 2 324.33

TT8_Active 893 19 186.88

TT8_Sampling 2752 39 1153.58

TT8_CF8 1042 45 502.53

TT8_Kalman 33 81 28.70

Analog_circuits 1970 12 248.28

GPS_charging 0 0 0.00

Compass 1828 8 153.62

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 0 216 0.00 0.00 -196.30 0.000 6 0.000 0.000 156 2358 3016

220 -1.08 -146.0 3.5 -2.3 35 234 9.00 2.35 0.00 0.000 4 0.263 0.058 2198 936 3020

489 -0.57 -146.0 52.7 -15.0 82 496 0.40 2.25 0.00 0.000 6 0.177 0.054 2314 2334 3024

834 -0.57 -146.0 82.3 -8.2 143 840 0.00 2.33 0.00 0.000 4 0.000 0.067 2314 3751 3025

920 -0.67 -146.0 89.5 -8.4 158 927 0.10 2.20 0.00 0.000 6 0.103 0.040 2276 2334 3025

1264 -0.67 -146.0 120.2 -8.5 189 1265 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2334 3026

1571 -0.67 -146.0 145.4 -8.3 204 1575 0.00 2.25 0.00 0.000 4 0.000 0.057 2276 926 3026

1621 -0.61 -146.0 149.8 -9.0 206 1626 0.12 2.28 0.00 0.000 6 0.166 0.053 2308 2343 3026

1942 -0.73 -146.0 171.8 -6.7 222 1947 0.12 2.33 0.00 0.000 4 0.096 0.068 2260 3743 3026

2027 -0.73 -146.0 178.6 -8.3 226 2031 0.00 2.20 0.00 0.000 6 0.000 0.041 2260 2337 3026

2359 -0.73 -146.0 205.5 -9.2 242 2363 0.00 2.33 0.00 0.000 4 0.000 0.067 2260 3743 3025

2386 -0.73 -146.0 208.2 -9.8 243 2390 0.00 2.20 0.00 0.000 6 0.000 0.041 2260 2335 3025

2714 -0.73 -146.0 235.3 -7.9 259 2717 0.00 2.25 0.00 0.000 4 0.000 0.058 2260 926 3025

2747 -0.68 -146.0 238.3 -8.4 260 2752 0.12 2.28 0.00 0.000 6 0.170 0.052 2292 2340 3025

3063 -0.81 -146.0 257.5 -6.0 275 3068 0.12 2.33 0.00 0.000 4 0.097 0.067 2247 3745 3025

3126 -0.81 -146.0 262.1 -7.7 278 3129 0.00 2.20 0.00 0.000 6 0.000 0.040 2247 2330 3025

3458 -0.81 -146.0 289.4 -8.3 294 3461 0.00 2.22 0.00 0.000 4 0.000 0.055 2247 929 3025

3508 -0.74 -146.0 293.7 -8.4 296 3513 0.12 2.28 0.00 0.000 6 0.176 0.051 2279 2347 3025

3830 -0.84 -146.0 315.1 -6.7 312 3835 0.10 2.33 0.00 0.000 4 0.107 0.066 2243 3750 3025

3874 -0.84 -146.0 318.6 -7.5 314 3878 0.00 2.20 0.00 0.000 6 0.000 0.039 2243 2331 3025

4201 -0.84 -146.0 341.7 -7.0 330 4203 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2331 3025

4510 -0.84 -146.0 364.1 -7.4 345 4514 0.00 2.35 0.00 0.000 4 0.000 0.067 2243 3745 3026

4537 -0.84 -146.0 366.3 -7.6 346 4541 0.00 2.20 0.00 0.000 6 0.000 0.039 2243 2330 3026

4865 -0.84 -146.0 389.9 -6.7 362 4869 0.00 2.35 0.00 0.000 4 0.000 0.065 2243 3747 3027

4914 -0.84 -146.0 393.5 -7.1 364 4918 0.00 2.20 0.00 0.000 6 0.000 0.039 2243 2329 3027

5238 -0.84 -146.0 415.2 -6.9 375 5242 0.00 2.38 0.00 0.000 4 0.000 0.066 2243 3753 3027

5289 -0.84 -146.0 418.8 -7.0 376 5292 0.00 2.20 0.00 0.000 6 0.000 0.038 2243 2335 3028

5614 -0.84 -146.0 441.4 -6.8 384 5615 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2335 3028

5938 -0.84 -146.0 462.7 -6.5 392 5942 0.00 2.35 0.00 0.000 4 0.000 0.066 2243 3748 3028

5988 -0.89 -146.0 466.0 -6.5 393 5992 0.00 2.20 0.00 0.000 6 0.000 0.039 2243 2331 3028

6313 -0.89 -146.0 485.4 -5.9 401 6317 0.00 2.35 0.00 0.000 4 0.000 0.066 2243 3748 3029

6335 -0.89 -146.0 486.8 -6.3 401 6338 0.00 2.20 0.00 0.000 6 0.000 0.038 2243 2328 3028

6683 -0.89 -146.0 506.8 -5.7 410 6687 0.00 2.38 0.00 0.000 4 0.000 0.066 2243 3756 3029

6722 -0.89 -146.0 509.3 -6.3 410 6728 0.00 2.20 0.00 0.000 6 0.000 0.039 2243 2340 3029

7053 -0.89 -146.0 528.6 -5.7 419 7055 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2340 3029

7378 -0.89 -146.0 548.5 -6.3 427 7382 0.00 2.35 0.00 0.000 4 0.000 0.066 2243 3750 3029

7418 -0.94 -146.0 551.1 -6.8 427 7424 0.00 2.20 0.00 0.000 6 0.000 0.038 2243 2331 3029

7750 -0.94 -146.0 572.7 -6.5 436 7754 0.00 2.38 0.00 0.000 4 0.000 0.067 2243 3754 3029

7795 -1.00 -146.0 575.9 -7.5 437 7800 0.10 2.20 0.00 0.000 6 0.098 0.039 2206 2336 3029

8126 -0.90 -146.0 601.2 -7.6 445 8130 0.12 2.35 0.00 0.000 4 0.158 0.067 2239 3750 3029

8153 -0.90 -146.0 603.2 -7.7 445 8157 0.00 2.20 0.00 0.000 6 0.000 0.038 2239 2334 3029

8496 -0.90 -146.0 625.5 -6.4 454 8500 0.00 2.38 0.00 0.000 4 0.000 0.067 2240 3751 3029

8535 -0.95 -146.0 628.1 -6.4 454 8541 0.00 2.20 0.00 0.000 6 0.000 0.038 2239 2333 3029

8867 -0.95 -146.0 649.8 -6.5 463 8871 0.00 2.38 0.00 0.000 4 0.000 0.067 2239 3752 3029

8901 -1.01 -146.0 652.2 -7.1 463 8905 0.10 2.20 0.00 0.000 6 0.104 0.038 2205 2335 3029

9237 -0.91 -146.0 678.0 -7.5 472 9242 0.12 2.38 0.00 0.000 4 0.154 0.066 2238 3748 3029

9288 -0.97 -146.0 681.3 -6.8 473 9292 0.00 2.20 0.00 0.000 6 0.000 0.038 2238 2333 3029

9313 end dive: TARGET_DEPTH_EXCEEDED

state 9313 begin apogee

9320 -0.34 0.0 683.2 6.4 473 9468 0.38 0.00 140.90 1.246 6 0.148 0.000 2357 2520 2421

9469 end apogee: CONTROL_FINISHED_OK

state 9469 begin climb

9472 1.08 146.0 686.3 0.0 477 9680 1.08 2.83 157.68 1.126 4 0.112 0.064 2663 3927 1825

9731 0.84 146.0 668.5 10.2 483 9736 0.20 2.47 0.00 0.000 6 0.137 0.039 2613 2516 1825

10050 0.86 159.5 646.9 6.6 491 10065 0.00 0.00 12.68 1.143 6 0.000 0.000 2613 2516 1770

10377 0.94 183.7 626.7 6.2 499 10406 0.10 2.47 21.75 1.215 4 0.086 0.067 2655 3941 1671

10434 0.79 183.7 621.8 9.6 500 10439 0.20 2.25 0.00 0.000 6 0.140 0.039 2599 2514 1672

10783 0.94 204.2 599.3 6.3 509 10804 0.15 0.00 18.45 1.201 6 0.074 0.000 2662 2512 1587

11107 0.87 204.2 573.0 8.0 517 11109 0.15 0.00 0.00 0.000 6 0.125 0.000 2618 2512 1590

11433 1.02 245.9 554.3 5.6 525 11476 0.15 2.30 36.08 1.226 4 0.075 0.054 2680 1120 1416

11498 1.02 245.9 549.0 8.3 526 11502 0.00 2.30 0.00 0.000 6 0.000 0.049 2679 2528 1417

11847 0.95 245.9 519.3 8.4 535 11849 0.15 0.00 0.00 0.000 6 0.136 0.000 2635 2529 1419

12172 1.07 277.7 499.4 5.9 543 12207 0.12 2.38 27.62 1.189 4 0.081 0.054 2691 1114 1287

12242 1.07 277.7 493.7 8.1 544 12246 0.10 2.28 0.00 0.000 6 0.141 0.049 2664 2525 1287

12578 1.07 277.7 468.7 7.5 553 12581 0.00 2.25 0.00 0.000 4 0.000 0.054 2664 1118 1289

12624 1.14 289.1 465.4 6.6 554 12640 0.00 2.22 10.57 1.075 6 0.000 0.049 2664 2524 1241

12947 1.14 289.1 441.7 7.3 562 12951 0.00 2.25 0.00 0.000 4 0.000 0.053 2664 1108 1244

13003 1.22 289.1 437.6 7.3 563 13008 0.12 2.25 0.00 0.000 6 0.083 0.048 2715 2530 1244

13317 1.09 289.1 407.2 9.7 571 13323 0.15 2.28 0.00 0.000 4 0.134 0.053 2669 1108 1244

13351 1.14 289.1 404.4 7.6 571 13355 0.00 2.25 0.00 0.000 6 0.000 0.049 2669 2532 1244

13671 1.14 289.1 379.0 8.6 585 13674 0.00 2.25 0.00 0.000 4 0.000 0.052 2669 1115 1244

13722 1.21 289.1 374.8 8.0 587 13726 0.10 2.22 0.00 0.000 6 0.083 0.048 2709 2524 1243

14048 1.10 289.1 337.5 12.1 603 14052 0.12 2.25 0.00 0.000 4 0.132 0.052 2671 1117 1244

14094 1.17 289.1 333.0 9.7 605 14098 0.00 2.22 0.00 0.000 6 0.000 0.048 2671 2524 1244

14426 1.17 289.1 302.8 8.7 621 14430 0.00 2.25 0.00 0.000 4 0.000 0.051 2671 1110 1244

14487 1.24 289.1 297.9 8.1 623 14494 0.12 2.25 0.00 0.000 6 0.081 0.048 2719 2534 1243

14804 1.12 289.1 263.2 11.4 639 14805 0.15 0.00 0.00 0.000 6 0.129 0.000 2674 2534 1244

15112 1.12 289.1 233.3 10.0 654 15115 0.00 2.28 0.00 0.000 4 0.000 0.052 2674 1107 1244

15159 1.22 289.1 228.9 10.2 656 15163 0.10 2.25 0.00 0.000 6 0.087 0.048 2717 2532 1244

15491 1.13 289.1 190.6 11.5 672 15496 0.15 2.28 0.00 0.000 4 0.124 0.051 2671 1112 1244

15537 1.25 289.1 186.3 8.3 674 15542 0.12 2.22 0.00 0.000 6 0.077 0.048 2719 2519 1245

15870 1.18 289.1 151.1 10.0 690 15874 0.12 2.25 0.00 0.000 4 0.123 0.052 2681 1117 1245

15920 1.30 297.1 147.0 6.8 692 15937 0.12 2.22 8.60 0.907 6 0.076 0.048 2732 2522 1209

16246 1.21 297.1 117.2 9.4 708 16248 0.12 0.00 0.00 0.000 6 0.130 0.000 2694 2523 1212

16565 1.29 318.8 93.5 6.3 735 16590 0.00 2.35 19.08 0.983 4 0.000 0.054 2694 1117 1120

16620 1.43 353.8 90.0 5.8 744 16657 0.17 2.25 31.17 0.965 6 0.070 0.049 2763 2521 977

16997 1.36 353.8 51.6 10.5 810 17004 0.12 2.28 0.00 0.000 4 0.141 0.054 2726 1110 972

17118 1.44 353.8 41.3 8.5 831 17125 0.08 2.25 0.00 0.000 6 0.099 0.050 2761 2525 972

17463 1.35 353.8 9.1 10.6 892 17470 0.12 2.28 0.00 0.000 4 0.135 0.054 2725 1112 970

17488 1.35 353.8 6.6 10.2 896 17494 0.00 2.25 0.00 0.000 6 0.000 0.050 2725 2525 969

17543 end climb: SURFACE_DEPTH_REACHED

state 17543 begin surface coast

17567 end surface coast: CONTROL_FINISHED_OK

state 17567 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	346	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	33	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	-31403.947	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	082807,6648.160,-5733.863,42,2.0,42,-37.4	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	0.177,0.138
_SM_DEPTHo	1.40	KALMAN_X	-54065.6,1217.3,954.3,50404.1,-890.4
_SM_ANGLEo	-46.9	KALMAN_Y	-34059.6,-102.5,-970.4,24985.7,-391.3
GPS2	082807,6648.160,-5733.863,42,2.0,42,-37.4	MHEAD_RNG_PITCHd_Wd	89.4,43038,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	683

FINISH	1.0,1.021380	TCM_TEMP	15.40
SM_CCo	17585,183.02,0.892,1,0,144,558.30	XPDR_PINGS	2
SM_GC	1.55,0.00,0.00,183.02,0.000,0.000,0.892,155,2342,144,-10.49,0.06,558.30	_24V_AH	20.2,64.681
RAFOS_CLK	1062	_10V_AH	10.5,28.550
RAFOS	0,1227528267,12.083333,12.074166,66,61,59,55,53,53,806,164,206,186,124,137	DATA_FILE_SIZE	34734,910
RAFOS_FIX	7250.552246,-7243.747559,241108,121256,2,92,57.34	CAP_FILE_SIZE	149961,0
IRIDIUM_FIX	6620.33,-5735.92,180298,080834	CFSIZE	260165632,225169408
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
HUMID	1853	SOUNDSPEED	1453.0
INTERNAL_PRESSURE	8.40853	GPS	241108,140007,6649.765,-5731.383,33,1.3,33,-37.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	263	119.57	SBE_CT	715	24	346.87
Roll_motor	169	71	244.19	SBE_O2	621	19	238.59
VBD_pump_during_apogee	484	1246	12200.04	nil	0	0	0.00
VBD_pump_during_surface	183	892	3297.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	127	103	264.29	nil	0	0	0.00
Iridium_during_connect	267	160	864.49	nil	0	0	0.00
Iridium_during_xfer	287	223	1295.59
Transponder_ping	0	420	4.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	903	50	474.18
TT8	1722	19	360.28
LPSleep	13371	2	324.33
TT8_Active	893	19	186.88
TT8_Sampling	2752	39	1153.58
TT8_CF8	1042	45	502.53
TT8_Kalman	33	81	28.70
Analog_circuits	1970	12	248.28
GPS_charging	0	0	0.00
Compass	1828	8	153.62
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	216	0.00	0.00	-196.30	0.000	6	0.000	0.000	156	2358	3016
220	-1.08	-146.0	3.5	-2.3	35	234	9.00	2.35	0.00	0.000	4	0.263	0.058	2198	936	3020
489	-0.57	-146.0	52.7	-15.0	82	496	0.40	2.25	0.00	0.000	6	0.177	0.054	2314	2334	3024
834	-0.57	-146.0	82.3	-8.2	143	840	0.00	2.33	0.00	0.000	4	0.000	0.067	2314	3751	3025
920	-0.67	-146.0	89.5	-8.4	158	927	0.10	2.20	0.00	0.000	6	0.103	0.040	2276	2334	3025
1264	-0.67	-146.0	120.2	-8.5	189	1265	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2334	3026
1571	-0.67	-146.0	145.4	-8.3	204	1575	0.00	2.25	0.00	0.000	4	0.000	0.057	2276	926	3026
1621	-0.61	-146.0	149.8	-9.0	206	1626	0.12	2.28	0.00	0.000	6	0.166	0.053	2308	2343	3026
1942	-0.73	-146.0	171.8	-6.7	222	1947	0.12	2.33	0.00	0.000	4	0.096	0.068	2260	3743	3026
2027	-0.73	-146.0	178.6	-8.3	226	2031	0.00	2.20	0.00	0.000	6	0.000	0.041	2260	2337	3026
2359	-0.73	-146.0	205.5	-9.2	242	2363	0.00	2.33	0.00	0.000	4	0.000	0.067	2260	3743	3025
2386	-0.73	-146.0	208.2	-9.8	243	2390	0.00	2.20	0.00	0.000	6	0.000	0.041	2260	2335	3025
2714	-0.73	-146.0	235.3	-7.9	259	2717	0.00	2.25	0.00	0.000	4	0.000	0.058	2260	926	3025
2747	-0.68	-146.0	238.3	-8.4	260	2752	0.12	2.28	0.00	0.000	6	0.170	0.052	2292	2340	3025
3063	-0.81	-146.0	257.5	-6.0	275	3068	0.12	2.33	0.00	0.000	4	0.097	0.067	2247	3745	3025
3126	-0.81	-146.0	262.1	-7.7	278	3129	0.00	2.20	0.00	0.000	6	0.000	0.040	2247	2330	3025
3458	-0.81	-146.0	289.4	-8.3	294	3461	0.00	2.22	0.00	0.000	4	0.000	0.055	2247	929	3025
3508	-0.74	-146.0	293.7	-8.4	296	3513	0.12	2.28	0.00	0.000	6	0.176	0.051	2279	2347	3025
3830	-0.84	-146.0	315.1	-6.7	312	3835	0.10	2.33	0.00	0.000	4	0.107	0.066	2243	3750	3025
3874	-0.84	-146.0	318.6	-7.5	314	3878	0.00	2.20	0.00	0.000	6	0.000	0.039	2243	2331	3025
4201	-0.84	-146.0	341.7	-7.0	330	4203	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2331	3025
4510	-0.84	-146.0	364.1	-7.4	345	4514	0.00	2.35	0.00	0.000	4	0.000	0.067	2243	3745	3026
4537	-0.84	-146.0	366.3	-7.6	346	4541	0.00	2.20	0.00	0.000	6	0.000	0.039	2243	2330	3026
4865	-0.84	-146.0	389.9	-6.7	362	4869	0.00	2.35	0.00	0.000	4	0.000	0.065	2243	3747	3027
4914	-0.84	-146.0	393.5	-7.1	364	4918	0.00	2.20	0.00	0.000	6	0.000	0.039	2243	2329	3027
5238	-0.84	-146.0	415.2	-6.9	375	5242	0.00	2.38	0.00	0.000	4	0.000	0.066	2243	3753	3027
5289	-0.84	-146.0	418.8	-7.0	376	5292	0.00	2.20	0.00	0.000	6	0.000	0.038	2243	2335	3028
5614	-0.84	-146.0	441.4	-6.8	384	5615	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2335	3028
5938	-0.84	-146.0	462.7	-6.5	392	5942	0.00	2.35	0.00	0.000	4	0.000	0.066	2243	3748	3028
5988	-0.89	-146.0	466.0	-6.5	393	5992	0.00	2.20	0.00	0.000	6	0.000	0.039	2243	2331	3028
6313	-0.89	-146.0	485.4	-5.9	401	6317	0.00	2.35	0.00	0.000	4	0.000	0.066	2243	3748	3029
6335	-0.89	-146.0	486.8	-6.3	401	6338	0.00	2.20	0.00	0.000	6	0.000	0.038	2243	2328	3028
6683	-0.89	-146.0	506.8	-5.7	410	6687	0.00	2.38	0.00	0.000	4	0.000	0.066	2243	3756	3029
6722	-0.89	-146.0	509.3	-6.3	410	6728	0.00	2.20	0.00	0.000	6	0.000	0.039	2243	2340	3029
7053	-0.89	-146.0	528.6	-5.7	419	7055	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2340	3029
7378	-0.89	-146.0	548.5	-6.3	427	7382	0.00	2.35	0.00	0.000	4	0.000	0.066	2243	3750	3029
7418	-0.94	-146.0	551.1	-6.8	427	7424	0.00	2.20	0.00	0.000	6	0.000	0.038	2243	2331	3029
7750	-0.94	-146.0	572.7	-6.5	436	7754	0.00	2.38	0.00	0.000	4	0.000	0.067	2243	3754	3029
7795	-1.00	-146.0	575.9	-7.5	437	7800	0.10	2.20	0.00	0.000	6	0.098	0.039	2206	2336	3029
8126	-0.90	-146.0	601.2	-7.6	445	8130	0.12	2.35	0.00	0.000	4	0.158	0.067	2239	3750	3029
8153	-0.90	-146.0	603.2	-7.7	445	8157	0.00	2.20	0.00	0.000	6	0.000	0.038	2239	2334	3029
8496	-0.90	-146.0	625.5	-6.4	454	8500	0.00	2.38	0.00	0.000	4	0.000	0.067	2240	3751	3029
8535	-0.95	-146.0	628.1	-6.4	454	8541	0.00	2.20	0.00	0.000	6	0.000	0.038	2239	2333	3029
8867	-0.95	-146.0	649.8	-6.5	463	8871	0.00	2.38	0.00	0.000	4	0.000	0.067	2239	3752	3029
8901	-1.01	-146.0	652.2	-7.1	463	8905	0.10	2.20	0.00	0.000	6	0.104	0.038	2205	2335	3029
9237	-0.91	-146.0	678.0	-7.5	472	9242	0.12	2.38	0.00	0.000	4	0.154	0.066	2238	3748	3029
9288	-0.97	-146.0	681.3	-6.8	473	9292	0.00	2.20	0.00	0.000	6	0.000	0.038	2238	2333	3029
9313	end dive: TARGET_DEPTH_EXCEEDED
state	9313	begin apogee
9320	-0.34	0.0	683.2	6.4	473	9468	0.38	0.00	140.90	1.246	6	0.148	0.000	2357	2520	2421
9469	end apogee: CONTROL_FINISHED_OK
state	9469	begin climb
9472	1.08	146.0	686.3	0.0	477	9680	1.08	2.83	157.68	1.126	4	0.112	0.064	2663	3927	1825
9731	0.84	146.0	668.5	10.2	483	9736	0.20	2.47	0.00	0.000	6	0.137	0.039	2613	2516	1825
10050	0.86	159.5	646.9	6.6	491	10065	0.00	0.00	12.68	1.143	6	0.000	0.000	2613	2516	1770
10377	0.94	183.7	626.7	6.2	499	10406	0.10	2.47	21.75	1.215	4	0.086	0.067	2655	3941	1671
10434	0.79	183.7	621.8	9.6	500	10439	0.20	2.25	0.00	0.000	6	0.140	0.039	2599	2514	1672
10783	0.94	204.2	599.3	6.3	509	10804	0.15	0.00	18.45	1.201	6	0.074	0.000	2662	2512	1587
11107	0.87	204.2	573.0	8.0	517	11109	0.15	0.00	0.00	0.000	6	0.125	0.000	2618	2512	1590
11433	1.02	245.9	554.3	5.6	525	11476	0.15	2.30	36.08	1.226	4	0.075	0.054	2680	1120	1416
11498	1.02	245.9	549.0	8.3	526	11502	0.00	2.30	0.00	0.000	6	0.000	0.049	2679	2528	1417
11847	0.95	245.9	519.3	8.4	535	11849	0.15	0.00	0.00	0.000	6	0.136	0.000	2635	2529	1419
12172	1.07	277.7	499.4	5.9	543	12207	0.12	2.38	27.62	1.189	4	0.081	0.054	2691	1114	1287
12242	1.07	277.7	493.7	8.1	544	12246	0.10	2.28	0.00	0.000	6	0.141	0.049	2664	2525	1287
12578	1.07	277.7	468.7	7.5	553	12581	0.00	2.25	0.00	0.000	4	0.000	0.054	2664	1118	1289
12624	1.14	289.1	465.4	6.6	554	12640	0.00	2.22	10.57	1.075	6	0.000	0.049	2664	2524	1241
12947	1.14	289.1	441.7	7.3	562	12951	0.00	2.25	0.00	0.000	4	0.000	0.053	2664	1108	1244
13003	1.22	289.1	437.6	7.3	563	13008	0.12	2.25	0.00	0.000	6	0.083	0.048	2715	2530	1244
13317	1.09	289.1	407.2	9.7	571	13323	0.15	2.28	0.00	0.000	4	0.134	0.053	2669	1108	1244
13351	1.14	289.1	404.4	7.6	571	13355	0.00	2.25	0.00	0.000	6	0.000	0.049	2669	2532	1244
13671	1.14	289.1	379.0	8.6	585	13674	0.00	2.25	0.00	0.000	4	0.000	0.052	2669	1115	1244
13722	1.21	289.1	374.8	8.0	587	13726	0.10	2.22	0.00	0.000	6	0.083	0.048	2709	2524	1243
14048	1.10	289.1	337.5	12.1	603	14052	0.12	2.25	0.00	0.000	4	0.132	0.052	2671	1117	1244
14094	1.17	289.1	333.0	9.7	605	14098	0.00	2.22	0.00	0.000	6	0.000	0.048	2671	2524	1244
14426	1.17	289.1	302.8	8.7	621	14430	0.00	2.25	0.00	0.000	4	0.000	0.051	2671	1110	1244
14487	1.24	289.1	297.9	8.1	623	14494	0.12	2.25	0.00	0.000	6	0.081	0.048	2719	2534	1243
14804	1.12	289.1	263.2	11.4	639	14805	0.15	0.00	0.00	0.000	6	0.129	0.000	2674	2534	1244
15112	1.12	289.1	233.3	10.0	654	15115	0.00	2.28	0.00	0.000	4	0.000	0.052	2674	1107	1244
15159	1.22	289.1	228.9	10.2	656	15163	0.10	2.25	0.00	0.000	6	0.087	0.048	2717	2532	1244
15491	1.13	289.1	190.6	11.5	672	15496	0.15	2.28	0.00	0.000	4	0.124	0.051	2671	1112	1244
15537	1.25	289.1	186.3	8.3	674	15542	0.12	2.22	0.00	0.000	6	0.077	0.048	2719	2519	1245
15870	1.18	289.1	151.1	10.0	690	15874	0.12	2.25	0.00	0.000	4	0.123	0.052	2681	1117	1245
15920	1.30	297.1	147.0	6.8	692	15937	0.12	2.22	8.60	0.907	6	0.076	0.048	2732	2522	1209
16246	1.21	297.1	117.2	9.4	708	16248	0.12	0.00	0.00	0.000	6	0.130	0.000	2694	2523	1212
16565	1.29	318.8	93.5	6.3	735	16590	0.00	2.35	19.08	0.983	4	0.000	0.054	2694	1117	1120
16620	1.43	353.8	90.0	5.8	744	16657	0.17	2.25	31.17	0.965	6	0.070	0.049	2763	2521	977
16997	1.36	353.8	51.6	10.5	810	17004	0.12	2.28	0.00	0.000	4	0.141	0.054	2726	1110	972
17118	1.44	353.8	41.3	8.5	831	17125	0.08	2.25	0.00	0.000	6	0.099	0.050	2761	2525	972
17463	1.35	353.8	9.1	10.6	892	17470	0.12	2.28	0.00	0.000	4	0.135	0.054	2725	1112	970
17488	1.35	353.8	6.6	10.2	896	17494	0.00	2.25	0.00	0.000	6	0.000	0.050	2725	2525	969
17543	end climb: SURFACE_DEPTH_REACHED
state	17543	begin surface coast
17567	end surface coast: CONTROL_FINISHED_OK
state	17567	begin surface