Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 351 * 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 351 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 46 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -31640.424 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 -31640.424

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 46 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 351 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 132019,6654.856,-5713.667,39,2.0,51,-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 0.160,0.158

_SM_DEPTHo 1.71 KALMAN_X -59775.1,-240.1,499.5,67368.9,-3873.6

_SM_ANGLEo -64.6 KALMAN_Y -41582.2,146.2,1285.0,40020.4,-3743.9

GPS2 132656,6654.815,-5713.712,9,1.6,9,-37.5 MHEAD_RNG_PITCHd_Wd 82.8,23970,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 745

Post-dive calculations and measurements:

FINISH 0.8,1.013636 TCM_TEMP 16.30

SM_CCo 19691,0.00,0.000,0,0,1160,309.08 XPDR_PINGS 2

SM_GC 1.89,7.03,0.00,0.00,0.055,0.000,0.000,157,2330,1160,-10.39,-0.28,309.08 _24V_AH 20.2,65.760

RAFOS_CLK 1067 _10V_AH 10.5,28.962

RAFOS 0,1227629071,16.083334,16.075277,65,63,62,59,57,57,849,216,198,156,137,147 DATA_FILE_SIZE 37856,1017

RAFOS_FIX 6655.930664,-5717.909668,251108,161628,4,83,0.33 CAP_FILE_SIZE 148724,0

IRIDIUM_FIX 6625.71,-5730.05,190298,080802 CFSIZE 260165632,224874496

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1844 SOUNDSPEED 1461.5

INTERNAL_PRESSURE 8.54525 GPS 251108,185758,6656.924,-5709.109,37,2.5,56,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 264 125.61 SBE_CT 794 24 385.10

Roll_motor 144 71 207.96 SBE_O2 693 19 266.14

VBD_pump_during_apogee 428 1326 11482.04 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 25 103 52.30 nil 0 0 0.00

Iridium_during_connect 42 160 136.21 nil 0 0 0.00

Iridium_during_xfer 194 223 876.20

Transponder_ping 0 420 4.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.77

TT8 1879 19 393.02

LPSleep 15130 2 367.00

TT8_Active 602 19 125.93

TT8_Sampling 1894 39 794.01

TT8_CF8 589 45 284.07

TT8_Kalman 33 81 28.71

Analog_circuits 1648 12 207.74

GPS_charging 0 0 0.00

Compass 1871 8 157.17

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 0 137 0.00 0.00 -118.72 0.000 2 0.000 0.000 160 2333 2952

141 -1.08 -146.0 3.3 -2.7 21 160 8.90 2.28 -2.22 0.000 4 0.265 0.071 2196 949 3019

293 -0.60 -146.0 32.1 -16.9 47 300 0.40 2.22 0.00 0.000 6 0.176 0.051 2303 2339 3021

638 -0.60 -146.0 66.5 -9.8 108 644 0.00 2.25 0.00 0.000 4 0.000 0.056 2304 936 3022

667 -0.60 -146.0 69.3 -9.8 113 673 0.00 2.25 0.00 0.000 6 0.000 0.051 2303 2348 3022

1011 -0.70 -146.0 97.3 -8.2 174 1017 0.00 0.00 0.00 0.000 6 0.000 0.000 2303 2348 3021

1335 -0.81 -146.0 121.6 -7.0 194 1340 0.15 2.30 0.00 0.000 4 0.088 0.066 2247 3744 3021

1376 -0.75 -146.0 124.9 -8.9 196 1380 0.10 2.17 0.00 0.000 6 0.172 0.038 2270 2335 3021

1708 -0.75 -146.0 149.4 -6.7 212 1709 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2335 3022

2017 -0.75 -146.0 170.5 -6.7 227 2021 0.00 2.35 0.00 0.000 4 0.000 0.067 2270 3745 3022

2046 -0.83 -146.0 172.5 -7.4 228 2050 0.00 2.20 0.00 0.000 6 0.000 0.039 2270 2327 3022

2373 -0.89 -146.0 194.1 -6.1 244 2377 0.12 2.22 0.00 0.000 4 0.092 0.052 2224 927 3022

2401 -0.79 -146.0 196.3 -9.0 245 2406 0.15 2.25 0.00 0.000 6 0.167 0.050 2263 2341 3021

2728 -0.84 -146.0 219.2 -7.1 261 2732 0.00 2.30 0.00 0.000 4 0.000 0.066 2263 3750 3021

2778 -0.93 -146.0 223.0 -7.7 263 2782 0.12 2.20 0.00 0.000 6 0.101 0.038 2218 2331 3020

3105 -0.85 -146.0 252.6 -9.4 279 3109 0.12 2.22 0.00 0.000 4 0.159 0.052 2251 934 3020

3143 -0.85 -146.0 256.1 -8.3 280 3149 0.00 2.25 0.00 0.000 6 0.000 0.049 2252 2348 3020

3459 -0.90 -146.0 280.4 -7.7 296 3460 0.00 0.00 0.00 0.000 6 0.000 0.000 2252 2348 3020

3769 -0.94 -146.0 304.9 -7.7 311 3770 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2348 3020

4078 -1.01 -146.0 327.5 -7.1 326 4080 0.12 0.00 0.00 0.000 6 0.100 0.000 2206 2348 3021

4387 -0.92 -146.0 354.7 -8.8 341 4392 0.12 2.33 0.00 0.000 4 0.154 0.064 2240 3755 3021

4421 -0.98 -146.0 357.6 -8.3 342 4427 0.00 2.20 0.00 0.000 6 0.000 0.036 2240 2325 3021

4736 -0.98 -146.0 380.9 -7.5 358 4737 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2325 3022

5045 -0.98 -146.0 403.4 -7.2 372 5049 0.00 2.35 0.00 0.000 4 0.000 0.063 2240 3750 3023

5107 -1.06 -146.0 407.9 -7.4 373 5112 0.12 2.17 0.00 0.000 6 0.091 0.035 2194 2330 3023

5420 -0.94 -146.0 434.5 -8.3 381 5422 0.15 0.00 0.00 0.000 6 0.150 0.000 2235 2327 3024

5745 -0.94 -146.0 456.9 -6.8 389 5749 0.00 2.35 0.00 0.000 4 0.000 0.062 2235 3753 3024

5813 -1.01 -146.0 461.8 -7.3 390 5817 0.00 2.17 0.00 0.000 6 0.000 0.035 2235 2331 3024

6161 -1.01 -146.0 484.8 -6.5 399 6162 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2331 3026

6486 -1.01 -146.0 507.5 -7.0 407 6490 0.00 2.33 0.00 0.000 4 0.000 0.061 2235 3746 3026

6543 -1.09 -146.0 511.6 -7.4 408 6547 0.15 2.17 0.00 0.000 6 0.091 0.035 2182 2323 3025

6861 -0.94 -146.0 539.2 -8.5 416 6866 0.17 2.38 0.00 0.000 4 0.153 0.061 2230 3756 3026

6894 -0.98 -146.0 541.8 -6.9 416 6901 0.00 2.17 0.00 0.000 6 0.000 0.035 2230 2339 3026

7226 -0.98 -146.0 564.9 -7.0 425 7228 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2339 3027

7551 -0.98 -146.0 587.6 -7.0 433 7554 0.00 2.33 0.00 0.000 4 0.000 0.061 2230 3755 3027

7584 -1.03 -146.0 590.0 -7.4 433 7588 0.00 2.17 0.00 0.000 6 0.000 0.036 2230 2337 3028

7921 -1.03 -146.0 611.8 -6.4 442 7922 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2337 3027

8246 -1.03 -146.0 632.9 -6.5 450 8250 0.00 2.33 0.00 0.000 4 0.000 0.062 2230 3747 3027

8315 -1.09 -146.0 637.4 -6.5 451 8319 0.12 2.17 0.00 0.000 6 0.096 0.037 2187 2333 3027

8662 -0.97 -146.0 664.5 -7.9 460 8664 0.15 0.00 0.00 0.000 6 0.151 0.000 2228 2330 3027

8988 -0.97 -146.0 686.9 -7.0 468 8992 0.00 2.35 0.00 0.000 4 0.000 0.065 2228 3745 3027

9055 -1.03 -146.0 691.6 -7.1 469 9059 0.00 2.17 0.00 0.000 6 0.000 0.038 2228 2341 3027

9406 -1.03 -146.0 714.4 -6.4 478 9410 0.00 2.35 0.00 0.000 4 0.000 0.064 2228 3750 3027

9440 -1.08 -146.0 716.7 -7.1 478 9446 0.12 2.20 0.00 0.000 6 0.087 0.038 2183 2327 3027

9772 -0.95 -146.0 743.5 -8.5 487 9777 0.17 2.20 0.00 0.000 4 0.153 0.051 2231 939 3027

9785 end dive: TARGET_DEPTH_EXCEEDED

state 9785 begin apogee

9794 -0.34 0.0 745.1 8.7 487 9933 0.40 0.00 135.35 1.326 6 0.140 0.000 2359 2520 2420

9934 end apogee: CONTROL_FINISHED_OK

state 9934 begin climb

9937 1.08 146.0 748.2 0.0 490 10092 1.05 0.00 145.40 1.219 6 0.105 0.000 2664 2520 1824

10391 0.94 146.0 716.1 7.8 502 10396 0.10 2.33 0.00 0.000 4 0.150 0.064 2638 3931 1824

10447 0.78 146.0 711.3 8.5 503 10452 0.12 2.20 0.00 0.000 6 0.148 0.038 2603 2522 1824

10761 0.89 178.8 692.5 5.9 511 10792 0.10 0.00 28.55 1.260 6 0.087 0.000 2649 2521 1691

11086 0.84 178.8 667.4 7.7 519 11088 0.12 0.00 0.00 0.000 6 0.141 0.000 2613 2521 1692

11411 0.92 194.9 646.4 6.5 527 11428 0.10 0.00 14.65 1.206 6 0.089 0.000 2655 2520 1625

11735 0.87 194.9 620.7 7.9 535 11737 0.12 0.00 0.00 0.000 6 0.140 0.000 2619 2520 1627

12061 0.95 215.9 600.4 6.3 543 12083 0.08 0.00 19.15 1.223 6 0.107 0.000 2653 2520 1539

12385 0.95 215.9 575.8 7.5 551 12389 0.00 2.33 0.00 0.000 4 0.000 0.067 2652 3929 1541

12413 0.85 215.9 573.5 8.4 551 12417 0.12 2.20 0.00 0.000 6 0.150 0.040 2618 2507 1541

12756 1.00 257.6 553.5 5.6 560 12799 0.12 2.28 35.92 1.225 4 0.083 0.051 2673 1119 1369

12827 1.00 257.6 547.9 7.5 561 12831 0.00 2.28 0.00 0.000 6 0.000 0.047 2673 2528 1370

13169 0.95 257.6 519.3 8.4 570 13174 0.12 2.25 0.00 0.000 4 0.140 0.050 2638 1116 1370

13191 0.95 257.6 517.6 7.7 570 13195 0.00 2.22 0.00 0.000 6 0.000 0.046 2638 2528 1370

13533 1.02 257.6 493.0 7.2 579 13537 0.00 2.25 0.00 0.000 4 0.000 0.050 2638 1106 1370

13572 1.12 257.6 490.3 7.4 579 13579 0.15 2.22 0.00 0.000 6 0.078 0.046 2699 2520 1369

13904 0.99 257.6 457.2 9.9 588 13906 0.17 0.00 0.00 0.000 6 0.130 0.000 2646 2520 1369

14228 0.99 260.9 434.5 6.9 596 14238 0.00 2.28 3.80 0.712 4 0.000 0.051 2646 1117 1356

14289 1.07 260.9 430.2 7.4 597 14293 0.00 2.22 0.00 0.000 6 0.000 0.045 2646 2534 1357

14603 1.07 260.9 408.2 7.2 605 14607 0.00 2.25 0.00 0.000 4 0.000 0.049 2646 1111 1359

14648 1.15 260.9 404.8 7.5 606 14653 0.15 2.22 0.00 0.000 6 0.078 0.045 2705 2530 1359

14976 1.00 260.9 369.0 11.1 620 14978 0.20 0.00 0.00 0.000 6 0.129 0.000 2643 2531 1359

15286 1.06 260.9 346.0 7.2 635 15290 0.00 2.25 0.00 0.000 4 0.000 0.049 2644 1107 1360

15331 1.16 260.9 342.6 7.2 637 15336 0.15 2.22 0.00 0.000 6 0.073 0.044 2705 2528 1360

15659 1.03 260.9 310.5 9.9 653 15660 0.17 0.00 0.00 0.000 6 0.125 0.000 2652 2529 1361

15967 1.03 260.9 288.0 7.1 668 15971 0.00 2.25 0.00 0.000 4 0.000 0.049 2652 1108 1361

16013 1.11 262.1 285.0 7.0 670 16022 0.10 2.22 3.53 0.606 6 0.088 0.044 2693 2528 1351

16347 1.02 262.1 254.7 9.0 686 16351 0.15 2.25 0.00 0.000 4 0.130 0.048 2649 1111 1353

16368 1.02 262.1 252.7 7.6 687 16372 0.00 2.22 0.00 0.000 6 0.000 0.044 2649 2534 1353

16695 1.11 266.1 231.6 6.9 703 16706 0.10 2.25 5.25 0.762 4 0.078 0.048 2696 1118 1335

16729 1.11 266.1 228.8 9.6 704 16735 0.00 2.22 0.00 0.000 6 0.000 0.044 2695 2535 1336

17045 1.03 266.1 200.6 8.8 720 17049 0.15 2.25 0.00 0.000 4 0.130 0.048 2651 1117 1337

17067 1.03 266.1 198.8 7.9 721 17071 0.00 2.20 0.00 0.000 6 0.000 0.044 2651 2523 1337

17395 1.12 266.1 175.5 7.5 737 17399 0.10 2.22 0.00 0.000 4 0.081 0.047 2701 1118 1337

17429 1.12 266.1 172.4 9.5 738 17433 0.00 2.20 0.00 0.000 6 0.000 0.044 2701 2521 1338

17751 1.06 266.1 143.0 8.6 754 17752 0.12 0.00 0.00 0.000 6 0.133 0.000 2664 2521 1338

18059 1.12 266.1 119.5 8.1 769 18063 0.00 2.22 0.00 0.000 4 0.000 0.049 2664 1116 1338

18110 1.24 266.1 115.3 8.6 771 18115 0.15 2.22 0.00 0.000 6 0.071 0.044 2722 2535 1338

18440 1.15 266.1 83.5 8.9 810 18447 0.15 2.25 0.00 0.000 4 0.122 0.060 2677 3927 1339

18481 1.15 266.1 80.3 7.6 817 18487 0.00 2.17 0.00 0.000 6 0.000 0.037 2676 2508 1339

18826 1.29 294.6 60.1 6.1 878 18856 0.12 0.00 24.50 0.903 6 0.075 0.000 2732 2507 1219

19194 1.23 294.6 28.3 7.8 943 19200 0.12 0.00 0.00 0.000 6 0.130 0.000 2694 2507 1219

19538 1.36 308.6 6.4 6.5 1004 19556 0.12 0.00 12.52 0.854 6 0.075 0.000 2749 2506 1161

19588 end climb: SURFACE_DEPTH_REACHED

state 19588 begin surface coast

19612 end surface coast: CONTROL_FINISHED_OK

state 19612 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	351	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	46	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-31640.424	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	132019,6654.856,-5713.667,39,2.0,51,-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	0.160,0.158
_SM_DEPTHo	1.71	KALMAN_X	-59775.1,-240.1,499.5,67368.9,-3873.6
_SM_ANGLEo	-64.6	KALMAN_Y	-41582.2,146.2,1285.0,40020.4,-3743.9
GPS2	132656,6654.815,-5713.712,9,1.6,9,-37.5	MHEAD_RNG_PITCHd_Wd	82.8,23970,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	745

FINISH	0.8,1.013636	TCM_TEMP	16.30
SM_CCo	19691,0.00,0.000,0,0,1160,309.08	XPDR_PINGS	2
SM_GC	1.89,7.03,0.00,0.00,0.055,0.000,0.000,157,2330,1160,-10.39,-0.28,309.08	_24V_AH	20.2,65.760
RAFOS_CLK	1067	_10V_AH	10.5,28.962
RAFOS	0,1227629071,16.083334,16.075277,65,63,62,59,57,57,849,216,198,156,137,147	DATA_FILE_SIZE	37856,1017
RAFOS_FIX	6655.930664,-5717.909668,251108,161628,4,83,0.33	CAP_FILE_SIZE	148724,0
IRIDIUM_FIX	6625.71,-5730.05,190298,080802	CFSIZE	260165632,224874496
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1844	SOUNDSPEED	1461.5
INTERNAL_PRESSURE	8.54525	GPS	251108,185758,6656.924,-5709.109,37,2.5,56,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	264	125.61	SBE_CT	794	24	385.10
Roll_motor	144	71	207.96	SBE_O2	693	19	266.14
VBD_pump_during_apogee	428	1326	11482.04	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	25	103	52.30	nil	0	0	0.00
Iridium_during_connect	42	160	136.21	nil	0	0	0.00
Iridium_during_xfer	194	223	876.20
Transponder_ping	0	420	4.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.77
TT8	1879	19	393.02
LPSleep	15130	2	367.00
TT8_Active	602	19	125.93
TT8_Sampling	1894	39	794.01
TT8_CF8	589	45	284.07
TT8_Kalman	33	81	28.71
Analog_circuits	1648	12	207.74
GPS_charging	0	0	0.00
Compass	1871	8	157.17
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	137	0.00	0.00	-118.72	0.000	2	0.000	0.000	160	2333	2952
141	-1.08	-146.0	3.3	-2.7	21	160	8.90	2.28	-2.22	0.000	4	0.265	0.071	2196	949	3019
293	-0.60	-146.0	32.1	-16.9	47	300	0.40	2.22	0.00	0.000	6	0.176	0.051	2303	2339	3021
638	-0.60	-146.0	66.5	-9.8	108	644	0.00	2.25	0.00	0.000	4	0.000	0.056	2304	936	3022
667	-0.60	-146.0	69.3	-9.8	113	673	0.00	2.25	0.00	0.000	6	0.000	0.051	2303	2348	3022
1011	-0.70	-146.0	97.3	-8.2	174	1017	0.00	0.00	0.00	0.000	6	0.000	0.000	2303	2348	3021
1335	-0.81	-146.0	121.6	-7.0	194	1340	0.15	2.30	0.00	0.000	4	0.088	0.066	2247	3744	3021
1376	-0.75	-146.0	124.9	-8.9	196	1380	0.10	2.17	0.00	0.000	6	0.172	0.038	2270	2335	3021
1708	-0.75	-146.0	149.4	-6.7	212	1709	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2335	3022
2017	-0.75	-146.0	170.5	-6.7	227	2021	0.00	2.35	0.00	0.000	4	0.000	0.067	2270	3745	3022
2046	-0.83	-146.0	172.5	-7.4	228	2050	0.00	2.20	0.00	0.000	6	0.000	0.039	2270	2327	3022
2373	-0.89	-146.0	194.1	-6.1	244	2377	0.12	2.22	0.00	0.000	4	0.092	0.052	2224	927	3022
2401	-0.79	-146.0	196.3	-9.0	245	2406	0.15	2.25	0.00	0.000	6	0.167	0.050	2263	2341	3021
2728	-0.84	-146.0	219.2	-7.1	261	2732	0.00	2.30	0.00	0.000	4	0.000	0.066	2263	3750	3021
2778	-0.93	-146.0	223.0	-7.7	263	2782	0.12	2.20	0.00	0.000	6	0.101	0.038	2218	2331	3020
3105	-0.85	-146.0	252.6	-9.4	279	3109	0.12	2.22	0.00	0.000	4	0.159	0.052	2251	934	3020
3143	-0.85	-146.0	256.1	-8.3	280	3149	0.00	2.25	0.00	0.000	6	0.000	0.049	2252	2348	3020
3459	-0.90	-146.0	280.4	-7.7	296	3460	0.00	0.00	0.00	0.000	6	0.000	0.000	2252	2348	3020
3769	-0.94	-146.0	304.9	-7.7	311	3770	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2348	3020
4078	-1.01	-146.0	327.5	-7.1	326	4080	0.12	0.00	0.00	0.000	6	0.100	0.000	2206	2348	3021
4387	-0.92	-146.0	354.7	-8.8	341	4392	0.12	2.33	0.00	0.000	4	0.154	0.064	2240	3755	3021
4421	-0.98	-146.0	357.6	-8.3	342	4427	0.00	2.20	0.00	0.000	6	0.000	0.036	2240	2325	3021
4736	-0.98	-146.0	380.9	-7.5	358	4737	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2325	3022
5045	-0.98	-146.0	403.4	-7.2	372	5049	0.00	2.35	0.00	0.000	4	0.000	0.063	2240	3750	3023
5107	-1.06	-146.0	407.9	-7.4	373	5112	0.12	2.17	0.00	0.000	6	0.091	0.035	2194	2330	3023
5420	-0.94	-146.0	434.5	-8.3	381	5422	0.15	0.00	0.00	0.000	6	0.150	0.000	2235	2327	3024
5745	-0.94	-146.0	456.9	-6.8	389	5749	0.00	2.35	0.00	0.000	4	0.000	0.062	2235	3753	3024
5813	-1.01	-146.0	461.8	-7.3	390	5817	0.00	2.17	0.00	0.000	6	0.000	0.035	2235	2331	3024
6161	-1.01	-146.0	484.8	-6.5	399	6162	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2331	3026
6486	-1.01	-146.0	507.5	-7.0	407	6490	0.00	2.33	0.00	0.000	4	0.000	0.061	2235	3746	3026
6543	-1.09	-146.0	511.6	-7.4	408	6547	0.15	2.17	0.00	0.000	6	0.091	0.035	2182	2323	3025
6861	-0.94	-146.0	539.2	-8.5	416	6866	0.17	2.38	0.00	0.000	4	0.153	0.061	2230	3756	3026
6894	-0.98	-146.0	541.8	-6.9	416	6901	0.00	2.17	0.00	0.000	6	0.000	0.035	2230	2339	3026
7226	-0.98	-146.0	564.9	-7.0	425	7228	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2339	3027
7551	-0.98	-146.0	587.6	-7.0	433	7554	0.00	2.33	0.00	0.000	4	0.000	0.061	2230	3755	3027
7584	-1.03	-146.0	590.0	-7.4	433	7588	0.00	2.17	0.00	0.000	6	0.000	0.036	2230	2337	3028
7921	-1.03	-146.0	611.8	-6.4	442	7922	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2337	3027
8246	-1.03	-146.0	632.9	-6.5	450	8250	0.00	2.33	0.00	0.000	4	0.000	0.062	2230	3747	3027
8315	-1.09	-146.0	637.4	-6.5	451	8319	0.12	2.17	0.00	0.000	6	0.096	0.037	2187	2333	3027
8662	-0.97	-146.0	664.5	-7.9	460	8664	0.15	0.00	0.00	0.000	6	0.151	0.000	2228	2330	3027
8988	-0.97	-146.0	686.9	-7.0	468	8992	0.00	2.35	0.00	0.000	4	0.000	0.065	2228	3745	3027
9055	-1.03	-146.0	691.6	-7.1	469	9059	0.00	2.17	0.00	0.000	6	0.000	0.038	2228	2341	3027
9406	-1.03	-146.0	714.4	-6.4	478	9410	0.00	2.35	0.00	0.000	4	0.000	0.064	2228	3750	3027
9440	-1.08	-146.0	716.7	-7.1	478	9446	0.12	2.20	0.00	0.000	6	0.087	0.038	2183	2327	3027
9772	-0.95	-146.0	743.5	-8.5	487	9777	0.17	2.20	0.00	0.000	4	0.153	0.051	2231	939	3027
9785	end dive: TARGET_DEPTH_EXCEEDED
state	9785	begin apogee
9794	-0.34	0.0	745.1	8.7	487	9933	0.40	0.00	135.35	1.326	6	0.140	0.000	2359	2520	2420
9934	end apogee: CONTROL_FINISHED_OK
state	9934	begin climb
9937	1.08	146.0	748.2	0.0	490	10092	1.05	0.00	145.40	1.219	6	0.105	0.000	2664	2520	1824
10391	0.94	146.0	716.1	7.8	502	10396	0.10	2.33	0.00	0.000	4	0.150	0.064	2638	3931	1824
10447	0.78	146.0	711.3	8.5	503	10452	0.12	2.20	0.00	0.000	6	0.148	0.038	2603	2522	1824
10761	0.89	178.8	692.5	5.9	511	10792	0.10	0.00	28.55	1.260	6	0.087	0.000	2649	2521	1691
11086	0.84	178.8	667.4	7.7	519	11088	0.12	0.00	0.00	0.000	6	0.141	0.000	2613	2521	1692
11411	0.92	194.9	646.4	6.5	527	11428	0.10	0.00	14.65	1.206	6	0.089	0.000	2655	2520	1625
11735	0.87	194.9	620.7	7.9	535	11737	0.12	0.00	0.00	0.000	6	0.140	0.000	2619	2520	1627
12061	0.95	215.9	600.4	6.3	543	12083	0.08	0.00	19.15	1.223	6	0.107	0.000	2653	2520	1539
12385	0.95	215.9	575.8	7.5	551	12389	0.00	2.33	0.00	0.000	4	0.000	0.067	2652	3929	1541
12413	0.85	215.9	573.5	8.4	551	12417	0.12	2.20	0.00	0.000	6	0.150	0.040	2618	2507	1541
12756	1.00	257.6	553.5	5.6	560	12799	0.12	2.28	35.92	1.225	4	0.083	0.051	2673	1119	1369
12827	1.00	257.6	547.9	7.5	561	12831	0.00	2.28	0.00	0.000	6	0.000	0.047	2673	2528	1370
13169	0.95	257.6	519.3	8.4	570	13174	0.12	2.25	0.00	0.000	4	0.140	0.050	2638	1116	1370
13191	0.95	257.6	517.6	7.7	570	13195	0.00	2.22	0.00	0.000	6	0.000	0.046	2638	2528	1370
13533	1.02	257.6	493.0	7.2	579	13537	0.00	2.25	0.00	0.000	4	0.000	0.050	2638	1106	1370
13572	1.12	257.6	490.3	7.4	579	13579	0.15	2.22	0.00	0.000	6	0.078	0.046	2699	2520	1369
13904	0.99	257.6	457.2	9.9	588	13906	0.17	0.00	0.00	0.000	6	0.130	0.000	2646	2520	1369
14228	0.99	260.9	434.5	6.9	596	14238	0.00	2.28	3.80	0.712	4	0.000	0.051	2646	1117	1356
14289	1.07	260.9	430.2	7.4	597	14293	0.00	2.22	0.00	0.000	6	0.000	0.045	2646	2534	1357
14603	1.07	260.9	408.2	7.2	605	14607	0.00	2.25	0.00	0.000	4	0.000	0.049	2646	1111	1359
14648	1.15	260.9	404.8	7.5	606	14653	0.15	2.22	0.00	0.000	6	0.078	0.045	2705	2530	1359
14976	1.00	260.9	369.0	11.1	620	14978	0.20	0.00	0.00	0.000	6	0.129	0.000	2643	2531	1359
15286	1.06	260.9	346.0	7.2	635	15290	0.00	2.25	0.00	0.000	4	0.000	0.049	2644	1107	1360
15331	1.16	260.9	342.6	7.2	637	15336	0.15	2.22	0.00	0.000	6	0.073	0.044	2705	2528	1360
15659	1.03	260.9	310.5	9.9	653	15660	0.17	0.00	0.00	0.000	6	0.125	0.000	2652	2529	1361
15967	1.03	260.9	288.0	7.1	668	15971	0.00	2.25	0.00	0.000	4	0.000	0.049	2652	1108	1361
16013	1.11	262.1	285.0	7.0	670	16022	0.10	2.22	3.53	0.606	6	0.088	0.044	2693	2528	1351
16347	1.02	262.1	254.7	9.0	686	16351	0.15	2.25	0.00	0.000	4	0.130	0.048	2649	1111	1353
16368	1.02	262.1	252.7	7.6	687	16372	0.00	2.22	0.00	0.000	6	0.000	0.044	2649	2534	1353
16695	1.11	266.1	231.6	6.9	703	16706	0.10	2.25	5.25	0.762	4	0.078	0.048	2696	1118	1335
16729	1.11	266.1	228.8	9.6	704	16735	0.00	2.22	0.00	0.000	6	0.000	0.044	2695	2535	1336
17045	1.03	266.1	200.6	8.8	720	17049	0.15	2.25	0.00	0.000	4	0.130	0.048	2651	1117	1337
17067	1.03	266.1	198.8	7.9	721	17071	0.00	2.20	0.00	0.000	6	0.000	0.044	2651	2523	1337
17395	1.12	266.1	175.5	7.5	737	17399	0.10	2.22	0.00	0.000	4	0.081	0.047	2701	1118	1337
17429	1.12	266.1	172.4	9.5	738	17433	0.00	2.20	0.00	0.000	6	0.000	0.044	2701	2521	1338
17751	1.06	266.1	143.0	8.6	754	17752	0.12	0.00	0.00	0.000	6	0.133	0.000	2664	2521	1338
18059	1.12	266.1	119.5	8.1	769	18063	0.00	2.22	0.00	0.000	4	0.000	0.049	2664	1116	1338
18110	1.24	266.1	115.3	8.6	771	18115	0.15	2.22	0.00	0.000	6	0.071	0.044	2722	2535	1338
18440	1.15	266.1	83.5	8.9	810	18447	0.15	2.25	0.00	0.000	4	0.122	0.060	2677	3927	1339
18481	1.15	266.1	80.3	7.6	817	18487	0.00	2.17	0.00	0.000	6	0.000	0.037	2676	2508	1339
18826	1.29	294.6	60.1	6.1	878	18856	0.12	0.00	24.50	0.903	6	0.075	0.000	2732	2507	1219
19194	1.23	294.6	28.3	7.8	943	19200	0.12	0.00	0.00	0.000	6	0.130	0.000	2694	2507	1219
19538	1.36	308.6	6.4	6.5	1004	19556	0.12	0.00	12.52	0.854	6	0.075	0.000	2749	2506	1161
19588	end climb: SURFACE_DEPTH_REACHED
state	19588	begin surface coast
19612	end surface coast: CONTROL_FINISHED_OK
state	19612	begin surface