Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 349 * 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 349 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 29 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 -31596.877 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 -31596.877

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 29 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 349 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 021438,6652.117,-5721.819,33,1.4,33,-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 0.140,0.176

_SM_DEPTHo 1.48 KALMAN_X -56784.2,681.6,-2055.6,60120.5,5551.3

_SM_ANGLEo -53.4 KALMAN_Y -40949.5,555.3,655.2,34518.8,-3674.5

GPS2 022220,6652.067,-5721.831,8,1.8,13,-37.5 MHEAD_RNG_PITCHd_Wd 76.0,31730,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 753

Post-dive calculations and measurements:

FINISH 0.9,1.014476 TCM_TEMP 15.70

SM_CCo 19771,0.00,0.000,0,0,1006,346.85 XPDR_PINGS 1

SM_GC 1.79,7.12,0.00,0.00,0.061,0.000,0.000,157,2335,1006,-10.40,-0.14,346.85 _24V_AH 20.2,65.428

RAFOS_CLK 1103 _10V_AH 10.5,28.813

RAFOS 0,1227585847,4.083333,4.068611,64,61,61,58,51,51,155,208,950,194,589,219 DATA_FILE_SIZE 34752,975

RAFOS_FIX 6652.771484,-5726.380371,251108,040430,3,85,0.47 CAP_FILE_SIZE 150535,0

IRIDIUM_FIX 6620.33,-5726.71,180298,202016 CFSIZE 260165632,225017856

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,10,0

HUMID 1895 SOUNDSPEED 1455.8

INTERNAL_PRESSURE 8.50619 GPS 251108,075426,6653.028,-5716.334,43,1.1,43,-37.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 269 130.75 SBE_CT 765 24 371.32

Roll_motor 151 73 224.59 SBE_O2 667 19 256.17

VBD_pump_during_apogee 479 1340 12996.87 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 63.48 nil 0 0 0.00

Iridium_during_connect 31 160 100.81 nil 0 0 0.00

Iridium_during_xfer 260 223 1175.39

Transponder_ping 0 420 2.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.00

TT8 1834 19 383.65

LPSleep 15117 2 366.69

TT8_Active 757 19 158.52

TT8_Sampling 1880 39 788.15

TT8_CF8 648 45 312.61

TT8_Kalman 33 81 28.71

Analog_circuits 1806 12 227.67

GPS_charging 0 0 0.00

Compass 1852 8 155.59

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.08 -146.0 0.0 0.0 0 207 0.00 0.00 -187.73 0.000 2 0.000 0.000 162 2334 2980

211 -1.08 -146.0 3.8 -3.7 33 230 9.02 2.30 -1.12 0.000 4 0.270 0.070 2201 933 3018

318 -0.59 -146.0 25.3 -15.8 51 325 0.38 2.28 0.00 0.000 6 0.176 0.053 2307 2353 3021

662 -0.59 -146.0 62.7 -9.7 112 669 0.00 2.30 0.00 0.000 4 0.000 0.067 2304 3757 3022

698 -0.64 -146.0 65.8 -9.0 118 705 0.00 2.22 0.00 0.000 6 0.000 0.041 2304 2323 3023

1043 -0.71 -146.0 94.3 -8.0 179 1049 0.08 0.00 0.00 0.000 6 0.118 0.000 2273 2323 3023

1374 -0.71 -146.0 124.8 -8.9 203 1378 0.00 2.38 0.00 0.000 4 0.000 0.068 2272 3750 3023

1407 -0.76 -146.0 127.8 -9.3 204 1411 0.00 2.20 0.00 0.000 6 0.000 0.040 2273 2336 3023

1728 -0.76 -146.0 155.3 -7.9 220 1729 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2336 3023

2037 -0.76 -146.0 179.6 -7.8 235 2041 0.00 2.22 0.00 0.000 4 0.000 0.055 2273 932 3023

2160 -0.76 -146.0 189.2 -7.9 240 2164 0.00 2.28 0.00 0.000 6 0.000 0.052 2272 2351 3023

2483 -0.81 -146.0 209.3 -5.9 256 2487 0.00 2.30 0.00 0.000 4 0.000 0.069 2272 3746 3022

2574 -0.90 -146.0 214.6 -6.0 260 2579 0.12 2.20 0.00 0.000 6 0.093 0.040 2227 2328 3022

2907 -0.82 -146.0 239.2 -7.6 276 2911 0.12 2.22 0.00 0.000 4 0.167 0.054 2259 932 3022

2974 -0.82 -146.0 244.1 -7.5 279 2978 0.00 2.28 0.00 0.000 6 0.000 0.051 2259 2354 3022

3307 -0.82 -146.0 265.1 -6.1 295 3308 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2354 3022

3617 -0.87 -146.0 284.8 -6.6 310 3618 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2354 3022

3925 -0.92 -146.0 306.4 -7.1 325 3927 0.10 0.00 0.00 0.000 6 0.107 0.000 2222 2354 3022

4234 -0.86 -146.0 332.0 -8.2 340 4239 0.12 2.30 0.00 0.000 4 0.163 0.066 2255 3745 3022

4303 -0.95 -146.0 337.3 -7.5 343 4308 0.10 2.20 0.00 0.000 6 0.098 0.039 2219 2325 3022

4636 -0.88 -146.0 365.9 -8.6 359 4641 0.10 2.38 0.00 0.000 4 0.162 0.066 2244 3748 3022

4681 -0.95 -146.0 369.6 -8.0 361 4685 0.00 2.20 0.00 0.000 6 0.000 0.038 2244 2328 3022

5008 -0.95 -146.0 393.7 -7.3 377 5009 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2328 3023

5314 -0.95 -146.0 416.0 -7.2 387 5318 0.00 2.35 0.00 0.000 4 0.000 0.065 2244 3745 3023

5359 -1.02 -146.0 419.2 -7.4 388 5364 0.12 2.17 0.00 0.000 6 0.099 0.039 2201 2340 3023

5690 -0.90 -146.0 446.1 -8.1 396 5691 0.15 0.00 0.00 0.000 6 0.153 0.000 2242 2339 3024

6014 -0.90 -146.0 466.4 -6.0 404 6018 0.00 2.35 0.00 0.000 4 0.000 0.066 2242 3752 3024

6048 -0.97 -146.0 468.4 -5.4 404 6053 0.00 2.20 0.00 0.000 6 0.000 0.039 2242 2335 3024

6386 -0.97 -146.0 486.9 -5.4 413 6387 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2336 3025

6710 -0.97 -146.0 504.1 -5.4 421 6714 0.00 2.35 0.00 0.000 4 0.000 0.065 2242 3746 3025

6754 -1.04 -146.0 506.7 -6.1 422 6759 0.12 2.20 0.00 0.000 6 0.093 0.038 2197 2328 3025

7074 -0.93 -146.0 530.0 -7.4 430 7076 0.15 0.00 0.00 0.000 6 0.156 0.000 2238 2328 3025

7398 -0.93 -146.0 551.3 -6.7 438 7402 0.00 2.38 0.00 0.000 4 0.000 0.065 2238 3754 3026

7431 -0.99 -146.0 553.7 -7.5 438 7437 0.00 2.20 0.00 0.000 6 0.000 0.038 2239 2336 3026

7763 -0.99 -146.0 575.6 -6.6 447 7764 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2336 3026

8087 -0.99 -146.0 596.3 -6.3 455 8091 0.00 2.35 0.00 0.000 4 0.000 0.065 2239 3749 3026

8161 -1.06 -146.0 600.9 -6.8 456 8165 0.12 2.20 0.00 0.000 6 0.095 0.038 2194 2330 3026

8498 -0.95 -146.0 627.2 -7.8 465 8499 0.15 0.00 0.00 0.000 6 0.151 0.000 2235 2328 3026

8823 -0.95 -146.0 647.6 -6.2 473 8824 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2328 3026

9147 -0.95 -146.0 668.3 -6.4 481 9151 0.00 2.38 0.00 0.000 4 0.000 0.066 2235 3753 3026

9198 -1.02 -146.0 671.8 -7.8 482 9202 0.00 2.20 0.00 0.000 6 0.000 0.038 2235 2336 3026

9522 -1.02 -146.0 692.2 -6.2 490 9524 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2335 3026

9847 -1.02 -146.0 713.4 -6.5 498 9851 0.00 2.38 0.00 0.000 4 0.000 0.066 2235 3756 3026

9894 -1.09 -146.0 716.5 -6.8 499 9899 0.15 2.20 0.00 0.000 6 0.094 0.038 2183 2338 3026

10225 -0.96 -146.0 742.5 -7.8 507 10227 0.17 0.00 0.00 0.000 6 0.155 0.000 2231 2336 3026

10425 end dive: TARGET_DEPTH_EXCEEDED

state 10425 begin apogee

10431 -0.34 0.0 754.9 6.0 512 10568 0.43 0.00 133.50 1.341 6 0.143 0.000 2361 2523 2420

10568 end apogee: CONTROL_FINISHED_OK

state 10569 begin climb

10572 1.08 146.0 757.7 0.0 515 10793 1.10 2.78 163.95 1.133 4 0.105 0.064 2675 3927 1825

10821 0.79 146.0 740.8 10.8 521 10827 0.28 2.50 0.00 0.000 6 0.140 0.038 2606 2528 1825

11154 0.89 182.3 720.5 5.8 529 11193 0.10 0.00 32.28 1.266 6 0.089 0.000 2650 2527 1676

11518 0.82 182.3 693.2 7.5 538 11520 0.15 0.00 0.00 0.000 6 0.135 0.000 2607 2526 1680

11843 0.95 220.5 674.2 5.7 546 11883 0.12 0.00 33.30 1.280 6 0.081 0.000 2661 2526 1521

12208 0.89 220.5 644.2 8.3 555 12210 0.12 0.00 0.00 0.000 6 0.130 0.000 2625 2526 1523

12533 0.98 231.3 622.4 6.7 563 12549 0.10 2.28 10.50 1.157 4 0.090 0.053 2667 1096 1477

12560 0.98 231.3 620.2 7.7 563 12564 0.00 2.28 0.00 0.000 6 0.000 0.048 2667 2527 1477

12897 0.91 231.3 593.7 7.7 572 12899 0.12 0.00 0.00 0.000 6 0.148 0.000 2632 2528 1480

13222 0.98 249.3 573.0 6.4 580 13245 0.00 2.38 16.48 1.202 4 0.000 0.051 2632 1102 1404

13264 1.12 271.8 570.3 6.3 581 13290 0.17 2.28 20.62 1.193 6 0.075 0.048 2702 2524 1312

13628 1.00 271.8 533.2 10.3 590 13630 0.17 0.00 0.00 0.000 6 0.129 0.000 2651 2524 1313

13952 1.00 271.8 507.9 7.6 598 13956 0.00 2.25 0.00 0.000 4 0.000 0.053 2651 1111 1313

14008 1.08 271.8 503.6 7.7 599 14012 0.00 2.25 0.00 0.000 6 0.000 0.048 2651 2535 1313

14327 1.13 271.8 480.1 7.4 607 14332 0.12 2.28 0.00 0.000 4 0.076 0.052 2707 1101 1313

14366 1.02 271.8 476.2 10.0 607 14373 0.17 2.25 0.00 0.000 6 0.132 0.048 2655 2523 1313

14697 1.02 271.8 450.2 7.6 616 14700 0.00 2.25 0.00 0.000 4 0.000 0.052 2655 1109 1313

14719 1.07 271.8 448.4 7.5 616 14723 0.00 2.25 0.00 0.000 6 0.000 0.048 2654 2529 1313

15067 1.07 271.8 422.6 7.5 625 15071 0.00 2.28 0.00 0.000 4 0.000 0.051 2654 1102 1313

15118 1.15 271.8 418.6 7.3 626 15122 0.12 2.25 0.00 0.000 6 0.078 0.048 2706 2519 1312

15444 1.03 271.8 385.4 10.2 637 15446 0.17 0.00 0.00 0.000 6 0.131 0.000 2653 2520 1313

15752 1.03 275.5 363.1 6.9 652 15762 0.00 2.28 4.45 0.792 4 0.000 0.053 2653 1110 1297

15808 1.13 289.9 359.3 6.5 654 15829 0.12 2.25 13.50 1.065 6 0.078 0.048 2705 2529 1238

16153 1.03 289.9 329.3 8.5 671 16158 0.17 2.28 0.00 0.000 4 0.127 0.052 2653 1110 1240

16187 1.18 325.4 326.7 5.8 672 16224 0.15 2.25 31.20 1.088 6 0.073 0.048 2717 2531 1094

16548 1.08 325.4 291.2 10.5 690 16553 0.17 2.28 0.00 0.000 4 0.124 0.052 2664 1112 1093

16604 1.18 325.4 286.5 7.4 692 16609 0.12 2.22 0.00 0.000 6 0.077 0.048 2718 2524 1092

16926 1.09 325.4 254.6 10.2 708 16930 0.17 2.28 0.00 0.000 4 0.122 0.051 2664 1100 1092

16976 1.22 329.0 250.7 6.9 710 16986 0.12 2.25 3.95 0.684 6 0.075 0.048 2718 2525 1078

17303 1.13 329.0 219.0 9.7 726 17307 0.15 2.28 0.00 0.000 4 0.124 0.051 2672 1101 1081

17325 1.13 329.0 216.9 8.8 727 17329 0.00 2.25 0.00 0.000 6 0.000 0.048 2671 2525 1081

17658 1.21 329.0 191.8 7.8 743 17662 0.10 2.25 0.00 0.000 4 0.085 0.051 2719 1111 1081

17708 1.21 329.0 187.3 8.7 745 17712 0.00 2.25 0.00 0.000 6 0.000 0.047 2719 2534 1082

18035 1.15 329.0 157.5 9.0 761 18040 0.12 2.30 0.00 0.000 4 0.130 0.051 2682 1099 1082

18068 1.28 346.5 154.9 6.4 762 18090 0.12 2.25 16.17 0.972 6 0.074 0.048 2733 2521 1008

18403 1.21 346.5 123.2 9.7 778 18407 0.15 2.28 0.00 0.000 4 0.127 0.052 2689 1105 1008

18448 1.32 346.5 119.5 7.5 780 18452 0.12 2.25 0.00 0.000 6 0.078 0.048 2744 2525 1008

18776 1.23 346.5 84.0 11.9 814 18783 0.15 2.28 0.00 0.000 4 0.131 0.052 2698 1107 1008

18812 1.23 346.5 80.6 9.8 820 18818 0.00 2.25 0.00 0.000 6 0.000 0.048 2698 2530 1007

19157 1.34 346.5 51.3 8.6 881 19163 0.10 2.28 0.00 0.000 4 0.086 0.051 2748 1104 1007

19182 1.41 346.5 49.0 8.7 885 19188 0.00 2.25 0.00 0.000 6 0.000 0.048 2748 2523 1007

19526 1.36 346.5 15.5 9.5 946 19533 0.00 2.28 0.00 0.000 4 0.000 0.053 2748 1101 1006

19567 1.36 346.5 11.4 9.9 953 19574 0.00 2.25 0.00 0.000 6 0.000 0.048 2748 2520 1006

19667 end climb: SURFACE_DEPTH_REACHED

state 19667 begin surface coast

19691 end surface coast: CONTROL_FINISHED_OK

state 19694 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	349	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	29	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	-31596.877	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	021438,6652.117,-5721.819,33,1.4,33,-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	0.140,0.176
_SM_DEPTHo	1.48	KALMAN_X	-56784.2,681.6,-2055.6,60120.5,5551.3
_SM_ANGLEo	-53.4	KALMAN_Y	-40949.5,555.3,655.2,34518.8,-3674.5
GPS2	022220,6652.067,-5721.831,8,1.8,13,-37.5	MHEAD_RNG_PITCHd_Wd	76.0,31730,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	753

FINISH	0.9,1.014476	TCM_TEMP	15.70
SM_CCo	19771,0.00,0.000,0,0,1006,346.85	XPDR_PINGS	1
SM_GC	1.79,7.12,0.00,0.00,0.061,0.000,0.000,157,2335,1006,-10.40,-0.14,346.85	_24V_AH	20.2,65.428
RAFOS_CLK	1103	_10V_AH	10.5,28.813
RAFOS	0,1227585847,4.083333,4.068611,64,61,61,58,51,51,155,208,950,194,589,219	DATA_FILE_SIZE	34752,975
RAFOS_FIX	6652.771484,-5726.380371,251108,040430,3,85,0.47	CAP_FILE_SIZE	150535,0
IRIDIUM_FIX	6620.33,-5726.71,180298,202016	CFSIZE	260165632,225017856
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
HUMID	1895	SOUNDSPEED	1455.8
INTERNAL_PRESSURE	8.50619	GPS	251108,075426,6653.028,-5716.334,43,1.1,43,-37.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	269	130.75	SBE_CT	765	24	371.32
Roll_motor	151	73	224.59	SBE_O2	667	19	256.17
VBD_pump_during_apogee	479	1340	12996.87	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	63.48	nil	0	0	0.00
Iridium_during_connect	31	160	100.81	nil	0	0	0.00
Iridium_during_xfer	260	223	1175.39
Transponder_ping	0	420	2.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.00
TT8	1834	19	383.65
LPSleep	15117	2	366.69
TT8_Active	757	19	158.52
TT8_Sampling	1880	39	788.15
TT8_CF8	648	45	312.61
TT8_Kalman	33	81	28.71
Analog_circuits	1806	12	227.67
GPS_charging	0	0	0.00
Compass	1852	8	155.59
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.08	-146.0	0.0	0.0	0	207	0.00	0.00	-187.73	0.000	2	0.000	0.000	162	2334	2980
211	-1.08	-146.0	3.8	-3.7	33	230	9.02	2.30	-1.12	0.000	4	0.270	0.070	2201	933	3018
318	-0.59	-146.0	25.3	-15.8	51	325	0.38	2.28	0.00	0.000	6	0.176	0.053	2307	2353	3021
662	-0.59	-146.0	62.7	-9.7	112	669	0.00	2.30	0.00	0.000	4	0.000	0.067	2304	3757	3022
698	-0.64	-146.0	65.8	-9.0	118	705	0.00	2.22	0.00	0.000	6	0.000	0.041	2304	2323	3023
1043	-0.71	-146.0	94.3	-8.0	179	1049	0.08	0.00	0.00	0.000	6	0.118	0.000	2273	2323	3023
1374	-0.71	-146.0	124.8	-8.9	203	1378	0.00	2.38	0.00	0.000	4	0.000	0.068	2272	3750	3023
1407	-0.76	-146.0	127.8	-9.3	204	1411	0.00	2.20	0.00	0.000	6	0.000	0.040	2273	2336	3023
1728	-0.76	-146.0	155.3	-7.9	220	1729	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2336	3023
2037	-0.76	-146.0	179.6	-7.8	235	2041	0.00	2.22	0.00	0.000	4	0.000	0.055	2273	932	3023
2160	-0.76	-146.0	189.2	-7.9	240	2164	0.00	2.28	0.00	0.000	6	0.000	0.052	2272	2351	3023
2483	-0.81	-146.0	209.3	-5.9	256	2487	0.00	2.30	0.00	0.000	4	0.000	0.069	2272	3746	3022
2574	-0.90	-146.0	214.6	-6.0	260	2579	0.12	2.20	0.00	0.000	6	0.093	0.040	2227	2328	3022
2907	-0.82	-146.0	239.2	-7.6	276	2911	0.12	2.22	0.00	0.000	4	0.167	0.054	2259	932	3022
2974	-0.82	-146.0	244.1	-7.5	279	2978	0.00	2.28	0.00	0.000	6	0.000	0.051	2259	2354	3022
3307	-0.82	-146.0	265.1	-6.1	295	3308	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2354	3022
3617	-0.87	-146.0	284.8	-6.6	310	3618	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2354	3022
3925	-0.92	-146.0	306.4	-7.1	325	3927	0.10	0.00	0.00	0.000	6	0.107	0.000	2222	2354	3022
4234	-0.86	-146.0	332.0	-8.2	340	4239	0.12	2.30	0.00	0.000	4	0.163	0.066	2255	3745	3022
4303	-0.95	-146.0	337.3	-7.5	343	4308	0.10	2.20	0.00	0.000	6	0.098	0.039	2219	2325	3022
4636	-0.88	-146.0	365.9	-8.6	359	4641	0.10	2.38	0.00	0.000	4	0.162	0.066	2244	3748	3022
4681	-0.95	-146.0	369.6	-8.0	361	4685	0.00	2.20	0.00	0.000	6	0.000	0.038	2244	2328	3022
5008	-0.95	-146.0	393.7	-7.3	377	5009	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2328	3023
5314	-0.95	-146.0	416.0	-7.2	387	5318	0.00	2.35	0.00	0.000	4	0.000	0.065	2244	3745	3023
5359	-1.02	-146.0	419.2	-7.4	388	5364	0.12	2.17	0.00	0.000	6	0.099	0.039	2201	2340	3023
5690	-0.90	-146.0	446.1	-8.1	396	5691	0.15	0.00	0.00	0.000	6	0.153	0.000	2242	2339	3024
6014	-0.90	-146.0	466.4	-6.0	404	6018	0.00	2.35	0.00	0.000	4	0.000	0.066	2242	3752	3024
6048	-0.97	-146.0	468.4	-5.4	404	6053	0.00	2.20	0.00	0.000	6	0.000	0.039	2242	2335	3024
6386	-0.97	-146.0	486.9	-5.4	413	6387	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2336	3025
6710	-0.97	-146.0	504.1	-5.4	421	6714	0.00	2.35	0.00	0.000	4	0.000	0.065	2242	3746	3025
6754	-1.04	-146.0	506.7	-6.1	422	6759	0.12	2.20	0.00	0.000	6	0.093	0.038	2197	2328	3025
7074	-0.93	-146.0	530.0	-7.4	430	7076	0.15	0.00	0.00	0.000	6	0.156	0.000	2238	2328	3025
7398	-0.93	-146.0	551.3	-6.7	438	7402	0.00	2.38	0.00	0.000	4	0.000	0.065	2238	3754	3026
7431	-0.99	-146.0	553.7	-7.5	438	7437	0.00	2.20	0.00	0.000	6	0.000	0.038	2239	2336	3026
7763	-0.99	-146.0	575.6	-6.6	447	7764	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2336	3026
8087	-0.99	-146.0	596.3	-6.3	455	8091	0.00	2.35	0.00	0.000	4	0.000	0.065	2239	3749	3026
8161	-1.06	-146.0	600.9	-6.8	456	8165	0.12	2.20	0.00	0.000	6	0.095	0.038	2194	2330	3026
8498	-0.95	-146.0	627.2	-7.8	465	8499	0.15	0.00	0.00	0.000	6	0.151	0.000	2235	2328	3026
8823	-0.95	-146.0	647.6	-6.2	473	8824	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2328	3026
9147	-0.95	-146.0	668.3	-6.4	481	9151	0.00	2.38	0.00	0.000	4	0.000	0.066	2235	3753	3026
9198	-1.02	-146.0	671.8	-7.8	482	9202	0.00	2.20	0.00	0.000	6	0.000	0.038	2235	2336	3026
9522	-1.02	-146.0	692.2	-6.2	490	9524	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2335	3026
9847	-1.02	-146.0	713.4	-6.5	498	9851	0.00	2.38	0.00	0.000	4	0.000	0.066	2235	3756	3026
9894	-1.09	-146.0	716.5	-6.8	499	9899	0.15	2.20	0.00	0.000	6	0.094	0.038	2183	2338	3026
10225	-0.96	-146.0	742.5	-7.8	507	10227	0.17	0.00	0.00	0.000	6	0.155	0.000	2231	2336	3026
10425	end dive: TARGET_DEPTH_EXCEEDED
state	10425	begin apogee
10431	-0.34	0.0	754.9	6.0	512	10568	0.43	0.00	133.50	1.341	6	0.143	0.000	2361	2523	2420
10568	end apogee: CONTROL_FINISHED_OK
state	10569	begin climb
10572	1.08	146.0	757.7	0.0	515	10793	1.10	2.78	163.95	1.133	4	0.105	0.064	2675	3927	1825
10821	0.79	146.0	740.8	10.8	521	10827	0.28	2.50	0.00	0.000	6	0.140	0.038	2606	2528	1825
11154	0.89	182.3	720.5	5.8	529	11193	0.10	0.00	32.28	1.266	6	0.089	0.000	2650	2527	1676
11518	0.82	182.3	693.2	7.5	538	11520	0.15	0.00	0.00	0.000	6	0.135	0.000	2607	2526	1680
11843	0.95	220.5	674.2	5.7	546	11883	0.12	0.00	33.30	1.280	6	0.081	0.000	2661	2526	1521
12208	0.89	220.5	644.2	8.3	555	12210	0.12	0.00	0.00	0.000	6	0.130	0.000	2625	2526	1523
12533	0.98	231.3	622.4	6.7	563	12549	0.10	2.28	10.50	1.157	4	0.090	0.053	2667	1096	1477
12560	0.98	231.3	620.2	7.7	563	12564	0.00	2.28	0.00	0.000	6	0.000	0.048	2667	2527	1477
12897	0.91	231.3	593.7	7.7	572	12899	0.12	0.00	0.00	0.000	6	0.148	0.000	2632	2528	1480
13222	0.98	249.3	573.0	6.4	580	13245	0.00	2.38	16.48	1.202	4	0.000	0.051	2632	1102	1404
13264	1.12	271.8	570.3	6.3	581	13290	0.17	2.28	20.62	1.193	6	0.075	0.048	2702	2524	1312
13628	1.00	271.8	533.2	10.3	590	13630	0.17	0.00	0.00	0.000	6	0.129	0.000	2651	2524	1313
13952	1.00	271.8	507.9	7.6	598	13956	0.00	2.25	0.00	0.000	4	0.000	0.053	2651	1111	1313
14008	1.08	271.8	503.6	7.7	599	14012	0.00	2.25	0.00	0.000	6	0.000	0.048	2651	2535	1313
14327	1.13	271.8	480.1	7.4	607	14332	0.12	2.28	0.00	0.000	4	0.076	0.052	2707	1101	1313
14366	1.02	271.8	476.2	10.0	607	14373	0.17	2.25	0.00	0.000	6	0.132	0.048	2655	2523	1313
14697	1.02	271.8	450.2	7.6	616	14700	0.00	2.25	0.00	0.000	4	0.000	0.052	2655	1109	1313
14719	1.07	271.8	448.4	7.5	616	14723	0.00	2.25	0.00	0.000	6	0.000	0.048	2654	2529	1313
15067	1.07	271.8	422.6	7.5	625	15071	0.00	2.28	0.00	0.000	4	0.000	0.051	2654	1102	1313
15118	1.15	271.8	418.6	7.3	626	15122	0.12	2.25	0.00	0.000	6	0.078	0.048	2706	2519	1312
15444	1.03	271.8	385.4	10.2	637	15446	0.17	0.00	0.00	0.000	6	0.131	0.000	2653	2520	1313
15752	1.03	275.5	363.1	6.9	652	15762	0.00	2.28	4.45	0.792	4	0.000	0.053	2653	1110	1297
15808	1.13	289.9	359.3	6.5	654	15829	0.12	2.25	13.50	1.065	6	0.078	0.048	2705	2529	1238
16153	1.03	289.9	329.3	8.5	671	16158	0.17	2.28	0.00	0.000	4	0.127	0.052	2653	1110	1240
16187	1.18	325.4	326.7	5.8	672	16224	0.15	2.25	31.20	1.088	6	0.073	0.048	2717	2531	1094
16548	1.08	325.4	291.2	10.5	690	16553	0.17	2.28	0.00	0.000	4	0.124	0.052	2664	1112	1093
16604	1.18	325.4	286.5	7.4	692	16609	0.12	2.22	0.00	0.000	6	0.077	0.048	2718	2524	1092
16926	1.09	325.4	254.6	10.2	708	16930	0.17	2.28	0.00	0.000	4	0.122	0.051	2664	1100	1092
16976	1.22	329.0	250.7	6.9	710	16986	0.12	2.25	3.95	0.684	6	0.075	0.048	2718	2525	1078
17303	1.13	329.0	219.0	9.7	726	17307	0.15	2.28	0.00	0.000	4	0.124	0.051	2672	1101	1081
17325	1.13	329.0	216.9	8.8	727	17329	0.00	2.25	0.00	0.000	6	0.000	0.048	2671	2525	1081
17658	1.21	329.0	191.8	7.8	743	17662	0.10	2.25	0.00	0.000	4	0.085	0.051	2719	1111	1081
17708	1.21	329.0	187.3	8.7	745	17712	0.00	2.25	0.00	0.000	6	0.000	0.047	2719	2534	1082
18035	1.15	329.0	157.5	9.0	761	18040	0.12	2.30	0.00	0.000	4	0.130	0.051	2682	1099	1082
18068	1.28	346.5	154.9	6.4	762	18090	0.12	2.25	16.17	0.972	6	0.074	0.048	2733	2521	1008
18403	1.21	346.5	123.2	9.7	778	18407	0.15	2.28	0.00	0.000	4	0.127	0.052	2689	1105	1008
18448	1.32	346.5	119.5	7.5	780	18452	0.12	2.25	0.00	0.000	6	0.078	0.048	2744	2525	1008
18776	1.23	346.5	84.0	11.9	814	18783	0.15	2.28	0.00	0.000	4	0.131	0.052	2698	1107	1008
18812	1.23	346.5	80.6	9.8	820	18818	0.00	2.25	0.00	0.000	6	0.000	0.048	2698	2530	1007
19157	1.34	346.5	51.3	8.6	881	19163	0.10	2.28	0.00	0.000	4	0.086	0.051	2748	1104	1007
19182	1.41	346.5	49.0	8.7	885	19188	0.00	2.25	0.00	0.000	6	0.000	0.048	2748	2523	1007
19526	1.36	346.5	15.5	9.5	946	19533	0.00	2.28	0.00	0.000	4	0.000	0.053	2748	1101	1006
19567	1.36	346.5	11.4	9.9	953	19574	0.00	2.25	0.00	0.000	6	0.000	0.048	2748	2520	1006
19667	end climb: SURFACE_DEPTH_REACHED
state	19667	begin surface coast
19691	end surface coast: CONTROL_FINISHED_OK
state	19694	begin surface