Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 366 * 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 366 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 42 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -31871.65 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 -31871.65

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 42 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 366 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 215607,6705.407,-5705.797,36,1.2,41,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.174,-0.142

_SM_DEPTHo 1.75 KALMAN_X -96731.8,235.7,697.4,109406.4,-4253.1

_SM_ANGLEo -59.7 KALMAN_Y -15194.3,695.6,-970.4,34943.8,2907.8

GPS2 220309,6705.392,-5705.799,14,1.2,14,-37.7 MHEAD_RNG_PITCHd_Wd 167.0,13595,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 616

Post-dive calculations and measurements:

FINISH 1.1,1.026307 TCM_TEMP 16.70

SM_CCo 17337,0.00,0.000,0,0,1395,251.43 XPDR_PINGS 0

SM_GC 1.89,7.12,0.00,0.00,0.062,0.000,0.000,162,2360,1395,-10.38,0.57,251.43 _24V_AH 20.7,67.909

RAFOS_CLK 883 _10V_AH 10.6,30.078

RAFOS 0,1227917079,0.083333,0.077500,59,59,59,59,54,49,154,185,210,227,133,167 DATA_FILE_SIZE 37837,990

RAFOS_FIX 6704.449707,-5710.710938,291108,000016,2,110,0.43 CAP_FILE_SIZE 141546,0

IRIDIUM_FIX 6636.54,-5719.87,220298,161652 CFSIZE 260165632,223825920

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

HUMID 1862 SOUNDSPEED 1468.2

INTERNAL_PRESSURE 8.58431 GPS 291108,025456,6705.359,-5705.645,61,1.1,61,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 253 114.43 SBE_CT 761 24 378.38

Roll_motor 147 64 196.95 SBE_O2 670 19 263.83

VBD_pump_during_apogee 362 1185 8907.02 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 64.82 nil 0 0 0.00

Iridium_during_connect 34 160 115.73 nil 0 0 0.00

Iridium_during_xfer 211 223 977.23

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.40

TT8 1821 19 384.68

LPSleep 12960 2 317.35

TT8_Active 539 19 114.02

TT8_Sampling 1837 39 777.58

TT8_CF8 600 45 292.35

TT8_Kalman 33 81 28.99

Analog_circuits 1541 12 196.11

GPS_charging 0 0 0.00

Compass 1809 8 153.44

RAFOS 1800 1 28.62

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 0 136 0.00 0.00 -117.50 0.000 2 0.000 0.000 160 2335 2885

140 -1.08 -146.0 3.0 -2.0 21 160 8.57 2.28 -5.05 0.000 4 0.254 0.064 2197 936 3017

306 -0.57 -146.0 29.4 -15.5 50 313 0.40 2.22 0.00 0.000 6 0.167 0.047 2312 2351 3019

652 -0.57 -146.0 57.8 -7.8 111 658 0.00 2.25 0.00 0.000 4 0.000 0.063 2312 3743 3020

664 -0.57 -146.0 58.7 -7.8 113 670 0.00 2.15 0.00 0.000 6 0.000 0.035 2312 2331 3020

1008 -0.70 -146.0 85.4 -7.8 174 1014 0.10 0.00 0.00 0.000 6 0.095 0.000 2273 2331 3017

1348 -0.70 -146.0 113.4 -8.0 213 1353 0.00 2.30 0.00 0.000 4 0.000 0.061 2273 3748 3016

1371 -0.70 -146.0 115.3 -8.9 214 1374 0.00 2.17 0.00 0.000 6 0.000 0.036 2273 2326 3017

1703 -0.70 -146.0 139.3 -7.1 230 1707 0.00 2.35 0.00 0.000 4 0.000 0.061 2273 3757 3016

1715 -0.74 -146.0 140.0 -6.9 230 1718 0.00 2.17 0.00 0.000 6 0.000 0.035 2273 2337 3016

2037 -0.80 -146.0 161.8 -6.5 246 2041 0.00 2.33 0.00 0.000 4 0.000 0.061 2273 3756 3016

2048 -0.86 -146.0 162.7 -6.6 246 2052 0.10 2.17 0.00 0.000 6 0.090 0.035 2232 2333 3016

2369 -0.80 -146.0 186.2 -7.1 262 2374 0.12 2.33 0.00 0.000 4 0.160 0.060 2261 3745 3016

2436 -0.87 -146.0 191.2 -7.5 265 2440 0.00 2.15 0.00 0.000 6 0.000 0.035 2262 2329 3016

2763 -0.92 -146.0 212.5 -6.5 281 2765 0.10 0.00 0.00 0.000 6 0.110 0.000 2223 2328 3017

3073 -0.86 -146.0 234.3 -6.8 296 3078 0.12 2.35 0.00 0.000 4 0.156 0.059 2257 3756 3017

3106 -0.93 -146.0 236.3 -5.8 297 3113 0.10 2.17 0.00 0.000 6 0.094 0.035 2219 2333 3017

3423 -0.86 -146.0 257.9 -7.1 313 3428 0.12 2.33 0.00 0.000 4 0.154 0.061 2254 3745 3017

3530 -0.96 -146.0 265.3 -7.2 318 3535 0.10 2.15 0.00 0.000 6 0.095 0.035 2217 2332 3018

3862 -0.90 -146.0 292.1 -8.0 334 3867 0.10 2.33 0.00 0.000 4 0.152 0.060 2244 3753 3018

3907 -0.96 -146.0 295.6 -7.3 336 3910 0.00 2.15 0.00 0.000 6 0.000 0.034 2244 2341 3019

4234 -0.96 -146.0 317.5 -6.3 352 4237 0.00 2.30 0.00 0.000 4 0.000 0.061 2244 3747 3019

4246 -0.96 -146.0 318.3 -6.1 352 4250 0.00 2.15 0.00 0.000 6 0.000 0.034 2244 2332 3019

4567 -0.96 -146.0 336.0 -5.3 368 4569 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2333 3020

4877 -0.96 -146.0 353.1 -5.9 383 4880 0.00 2.30 0.00 0.000 4 0.000 0.059 2244 3745 3021

4888 -1.00 -146.0 353.8 -5.7 383 4893 0.10 2.15 0.00 0.000 6 0.094 0.033 2205 2330 3021

5211 -0.92 -146.0 377.1 -7.5 399 5212 0.12 0.00 0.00 0.000 6 0.150 0.000 2240 2327 3021

5519 -0.92 -146.0 397.2 -6.4 414 5523 0.00 2.33 0.00 0.000 4 0.000 0.059 2241 3747 3022

5530 -0.92 -146.0 397.9 -6.4 414 5534 0.00 2.15 0.00 0.000 6 0.000 0.033 2241 2333 3022

5848 -0.96 -146.0 418.4 -6.4 423 5852 0.00 2.33 0.00 0.000 4 0.000 0.059 2241 3756 3022

5865 -1.02 -146.0 419.6 -6.6 423 5869 0.10 2.15 0.00 0.000 6 0.096 0.033 2204 2340 3021

6178 -0.93 -146.0 443.5 -7.9 431 6183 0.12 2.28 0.00 0.000 4 0.144 0.060 2239 3745 3022

6194 -0.93 -146.0 444.7 -7.7 431 6198 0.00 2.15 0.00 0.000 6 0.000 0.034 2240 2330 3022

6543 -0.98 -146.0 466.4 -6.0 440 6547 0.00 2.33 0.00 0.000 4 0.000 0.059 2240 3754 3022

6577 -1.06 -146.0 468.6 -6.6 440 6581 0.12 2.15 0.00 0.000 6 0.090 0.032 2192 2337 3022

6914 -0.95 -146.0 493.0 -7.2 449 6919 0.15 2.33 0.00 0.000 4 0.144 0.058 2234 3754 3022

6942 -0.95 -146.0 494.9 -6.7 449 6945 0.00 2.15 0.00 0.000 6 0.000 0.033 2234 2340 3022

7279 -0.95 -146.0 513.8 -5.4 458 7282 0.00 2.30 0.00 0.000 4 0.000 0.059 2234 3746 3022

7290 -0.95 -146.0 514.4 -5.4 458 7294 0.00 2.15 0.00 0.000 6 0.000 0.033 2234 2335 3022

7610 -0.95 -146.0 531.5 -5.4 466 7614 0.00 2.33 0.00 0.000 4 0.000 0.058 2234 3756 3022

7637 -1.00 -146.0 533.1 -6.0 466 7641 0.00 2.17 0.00 0.000 6 0.000 0.033 2234 2327 3022

7981 -1.04 -146.0 552.2 -5.8 475 7986 0.10 2.33 0.00 0.000 4 0.107 0.058 2196 3759 3022

8042 -0.98 -146.0 556.6 -7.4 476 8047 0.10 2.15 0.00 0.000 6 0.155 0.034 2221 2331 3023

8390 -0.98 -146.0 578.0 -6.0 485 8394 0.00 2.33 0.00 0.000 4 0.000 0.059 2221 3756 3023

8475 -0.98 -146.0 583.2 -6.0 486 8481 0.00 2.17 0.00 0.000 6 0.000 0.034 2221 2331 3023

8807 -0.98 -146.0 602.9 -5.7 495 8811 0.00 2.33 0.00 0.000 4 0.000 0.059 2221 3753 3023

8858 -0.98 -146.0 606.2 -6.5 496 8862 0.00 2.17 0.00 0.000 6 0.000 0.033 2221 2325 3023

9020 end dive: TARGET_DEPTH_EXCEEDED

state 9020 begin apogee

9027 -0.34 0.0 616.0 6.1 500 9160 0.45 0.00 129.77 1.186 6 0.133 0.000 2362 2519 2420

9161 end apogee: CONTROL_FINISHED_OK

state 9161 begin climb

9164 1.08 146.0 619.1 0.0 503 9305 1.00 0.00 136.02 1.111 6 0.104 0.000 2666 2519 1824

9617 0.95 146.0 583.5 8.6 514 9622 0.10 2.30 0.00 0.000 4 0.146 0.059 2639 3929 1823

9695 0.82 146.0 576.0 9.4 515 9702 0.10 2.17 0.00 0.000 6 0.150 0.035 2612 2513 1824

10028 0.88 152.7 553.4 6.8 524 10036 0.00 0.00 6.50 0.917 6 0.000 0.000 2611 2513 1798

10352 0.94 162.3 531.6 6.7 532 10364 0.10 0.00 9.77 1.017 6 0.084 0.000 2655 2513 1758

10677 0.86 162.3 503.2 9.0 540 10679 0.12 0.00 0.00 0.000 6 0.137 0.000 2619 2513 1758

11002 0.86 162.3 479.8 7.2 548 11003 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2513 1758

11326 0.86 162.3 455.3 7.6 556 11327 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2512 1757

11651 0.86 162.3 431.2 7.2 564 11652 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2512 1757

11977 0.92 174.8 409.2 6.6 572 11990 0.00 0.00 11.65 0.996 6 0.000 0.000 2619 2512 1707

12284 0.99 184.8 389.1 6.7 583 12297 0.12 0.00 9.98 0.956 6 0.082 0.000 2671 2511 1666

12592 0.90 184.8 361.4 9.3 598 12597 0.15 2.33 0.00 0.000 4 0.130 0.058 2626 3937 1667

12642 0.90 184.8 356.8 8.4 600 12646 0.00 2.17 0.00 0.000 6 0.000 0.035 2626 2513 1668

12970 0.96 184.8 333.7 7.0 616 12974 0.00 2.17 0.00 0.000 4 0.000 0.046 2626 1112 1668

13043 1.08 198.7 328.8 6.5 619 13061 0.15 2.20 12.82 0.960 6 0.071 0.042 2691 2528 1609

13371 0.95 198.7 297.4 10.0 635 13376 0.17 2.25 0.00 0.000 4 0.119 0.059 2637 3923 1610

13456 0.89 198.7 289.5 9.0 638 13462 0.00 2.15 0.00 0.000 6 0.000 0.035 2637 2508 1611

13772 0.89 198.7 267.0 7.1 654 13776 0.00 2.15 0.00 0.000 4 0.000 0.047 2637 1120 1611

13841 0.98 198.7 262.0 7.5 657 13844 0.00 2.20 0.00 0.000 6 0.000 0.044 2637 2530 1611

14174 1.04 202.8 238.9 6.9 673 14184 0.10 2.25 4.85 0.708 4 0.081 0.059 2682 3930 1594

14235 0.84 202.8 232.9 10.3 675 14242 0.22 2.15 0.00 0.000 6 0.129 0.035 2613 2519 1594

14551 1.00 220.5 213.7 6.4 691 14574 0.15 2.20 15.90 0.911 4 0.068 0.045 2680 1119 1521

14648 1.00 220.5 205.1 9.8 695 14652 0.10 2.20 0.00 0.000 6 0.140 0.043 2653 2526 1522

14974 1.00 220.5 180.1 7.3 711 14975 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2526 1522

15283 1.00 220.5 155.6 8.2 726 15284 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2526 1522

15593 1.06 220.5 131.5 7.6 741 15597 0.00 2.20 0.00 0.000 4 0.000 0.045 2653 1121 1522

15649 1.16 220.5 127.1 8.3 743 15654 0.12 2.20 0.00 0.000 6 0.074 0.044 2707 2531 1523

15969 1.06 220.5 94.7 9.8 764 15976 0.15 2.25 0.00 0.000 4 0.123 0.059 2660 3926 1523

16016 1.06 220.5 90.8 8.1 772 16023 0.00 2.15 0.00 0.000 6 0.000 0.035 2661 2508 1523

16362 1.16 250.9 70.0 6.0 833 16393 0.10 2.28 25.60 0.858 4 0.081 0.047 2707 1112 1396

16456 1.16 250.9 62.6 8.0 849 16462 0.00 2.22 0.00 0.000 6 0.000 0.043 2708 2533 1397

16800 1.16 250.9 35.3 7.8 910 16806 0.00 2.22 0.00 0.000 4 0.000 0.059 2708 3927 1397

16870 1.07 250.9 29.0 9.4 922 16876 0.15 2.15 0.00 0.000 6 0.126 0.035 2662 2514 1397

17215 1.37 250.9 3.8 7.9 983 17222 0.20 2.33 0.00 0.000 4 0.061 0.059 2750 3936 1397

17231 end climb: SURFACE_DEPTH_REACHED

state 17232 begin surface coast

17256 end surface coast: CONTROL_FINISHED_OK

state 17256 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	366	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	42	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-31871.65	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	215607,6705.407,-5705.797,36,1.2,41,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.174,-0.142
_SM_DEPTHo	1.75	KALMAN_X	-96731.8,235.7,697.4,109406.4,-4253.1
_SM_ANGLEo	-59.7	KALMAN_Y	-15194.3,695.6,-970.4,34943.8,2907.8
GPS2	220309,6705.392,-5705.799,14,1.2,14,-37.7	MHEAD_RNG_PITCHd_Wd	167.0,13595,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	616

FINISH	1.1,1.026307	TCM_TEMP	16.70
SM_CCo	17337,0.00,0.000,0,0,1395,251.43	XPDR_PINGS	0
SM_GC	1.89,7.12,0.00,0.00,0.062,0.000,0.000,162,2360,1395,-10.38,0.57,251.43	_24V_AH	20.7,67.909
RAFOS_CLK	883	_10V_AH	10.6,30.078
RAFOS	0,1227917079,0.083333,0.077500,59,59,59,59,54,49,154,185,210,227,133,167	DATA_FILE_SIZE	37837,990
RAFOS_FIX	6704.449707,-5710.710938,291108,000016,2,110,0.43	CAP_FILE_SIZE	141546,0
IRIDIUM_FIX	6636.54,-5719.87,220298,161652	CFSIZE	260165632,223825920
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1862	SOUNDSPEED	1468.2
INTERNAL_PRESSURE	8.58431	GPS	291108,025456,6705.359,-5705.645,61,1.1,61,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	253	114.43	SBE_CT	761	24	378.38
Roll_motor	147	64	196.95	SBE_O2	670	19	263.83
VBD_pump_during_apogee	362	1185	8907.02	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	64.82	nil	0	0	0.00
Iridium_during_connect	34	160	115.73	nil	0	0	0.00
Iridium_during_xfer	211	223	977.23
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.40
TT8	1821	19	384.68
LPSleep	12960	2	317.35
TT8_Active	539	19	114.02
TT8_Sampling	1837	39	777.58
TT8_CF8	600	45	292.35
TT8_Kalman	33	81	28.99
Analog_circuits	1541	12	196.11
GPS_charging	0	0	0.00
Compass	1809	8	153.44
RAFOS	1800	1	28.62
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	136	0.00	0.00	-117.50	0.000	2	0.000	0.000	160	2335	2885
140	-1.08	-146.0	3.0	-2.0	21	160	8.57	2.28	-5.05	0.000	4	0.254	0.064	2197	936	3017
306	-0.57	-146.0	29.4	-15.5	50	313	0.40	2.22	0.00	0.000	6	0.167	0.047	2312	2351	3019
652	-0.57	-146.0	57.8	-7.8	111	658	0.00	2.25	0.00	0.000	4	0.000	0.063	2312	3743	3020
664	-0.57	-146.0	58.7	-7.8	113	670	0.00	2.15	0.00	0.000	6	0.000	0.035	2312	2331	3020
1008	-0.70	-146.0	85.4	-7.8	174	1014	0.10	0.00	0.00	0.000	6	0.095	0.000	2273	2331	3017
1348	-0.70	-146.0	113.4	-8.0	213	1353	0.00	2.30	0.00	0.000	4	0.000	0.061	2273	3748	3016
1371	-0.70	-146.0	115.3	-8.9	214	1374	0.00	2.17	0.00	0.000	6	0.000	0.036	2273	2326	3017
1703	-0.70	-146.0	139.3	-7.1	230	1707	0.00	2.35	0.00	0.000	4	0.000	0.061	2273	3757	3016
1715	-0.74	-146.0	140.0	-6.9	230	1718	0.00	2.17	0.00	0.000	6	0.000	0.035	2273	2337	3016
2037	-0.80	-146.0	161.8	-6.5	246	2041	0.00	2.33	0.00	0.000	4	0.000	0.061	2273	3756	3016
2048	-0.86	-146.0	162.7	-6.6	246	2052	0.10	2.17	0.00	0.000	6	0.090	0.035	2232	2333	3016
2369	-0.80	-146.0	186.2	-7.1	262	2374	0.12	2.33	0.00	0.000	4	0.160	0.060	2261	3745	3016
2436	-0.87	-146.0	191.2	-7.5	265	2440	0.00	2.15	0.00	0.000	6	0.000	0.035	2262	2329	3016
2763	-0.92	-146.0	212.5	-6.5	281	2765	0.10	0.00	0.00	0.000	6	0.110	0.000	2223	2328	3017
3073	-0.86	-146.0	234.3	-6.8	296	3078	0.12	2.35	0.00	0.000	4	0.156	0.059	2257	3756	3017
3106	-0.93	-146.0	236.3	-5.8	297	3113	0.10	2.17	0.00	0.000	6	0.094	0.035	2219	2333	3017
3423	-0.86	-146.0	257.9	-7.1	313	3428	0.12	2.33	0.00	0.000	4	0.154	0.061	2254	3745	3017
3530	-0.96	-146.0	265.3	-7.2	318	3535	0.10	2.15	0.00	0.000	6	0.095	0.035	2217	2332	3018
3862	-0.90	-146.0	292.1	-8.0	334	3867	0.10	2.33	0.00	0.000	4	0.152	0.060	2244	3753	3018
3907	-0.96	-146.0	295.6	-7.3	336	3910	0.00	2.15	0.00	0.000	6	0.000	0.034	2244	2341	3019
4234	-0.96	-146.0	317.5	-6.3	352	4237	0.00	2.30	0.00	0.000	4	0.000	0.061	2244	3747	3019
4246	-0.96	-146.0	318.3	-6.1	352	4250	0.00	2.15	0.00	0.000	6	0.000	0.034	2244	2332	3019
4567	-0.96	-146.0	336.0	-5.3	368	4569	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2333	3020
4877	-0.96	-146.0	353.1	-5.9	383	4880	0.00	2.30	0.00	0.000	4	0.000	0.059	2244	3745	3021
4888	-1.00	-146.0	353.8	-5.7	383	4893	0.10	2.15	0.00	0.000	6	0.094	0.033	2205	2330	3021
5211	-0.92	-146.0	377.1	-7.5	399	5212	0.12	0.00	0.00	0.000	6	0.150	0.000	2240	2327	3021
5519	-0.92	-146.0	397.2	-6.4	414	5523	0.00	2.33	0.00	0.000	4	0.000	0.059	2241	3747	3022
5530	-0.92	-146.0	397.9	-6.4	414	5534	0.00	2.15	0.00	0.000	6	0.000	0.033	2241	2333	3022
5848	-0.96	-146.0	418.4	-6.4	423	5852	0.00	2.33	0.00	0.000	4	0.000	0.059	2241	3756	3022
5865	-1.02	-146.0	419.6	-6.6	423	5869	0.10	2.15	0.00	0.000	6	0.096	0.033	2204	2340	3021
6178	-0.93	-146.0	443.5	-7.9	431	6183	0.12	2.28	0.00	0.000	4	0.144	0.060	2239	3745	3022
6194	-0.93	-146.0	444.7	-7.7	431	6198	0.00	2.15	0.00	0.000	6	0.000	0.034	2240	2330	3022
6543	-0.98	-146.0	466.4	-6.0	440	6547	0.00	2.33	0.00	0.000	4	0.000	0.059	2240	3754	3022
6577	-1.06	-146.0	468.6	-6.6	440	6581	0.12	2.15	0.00	0.000	6	0.090	0.032	2192	2337	3022
6914	-0.95	-146.0	493.0	-7.2	449	6919	0.15	2.33	0.00	0.000	4	0.144	0.058	2234	3754	3022
6942	-0.95	-146.0	494.9	-6.7	449	6945	0.00	2.15	0.00	0.000	6	0.000	0.033	2234	2340	3022
7279	-0.95	-146.0	513.8	-5.4	458	7282	0.00	2.30	0.00	0.000	4	0.000	0.059	2234	3746	3022
7290	-0.95	-146.0	514.4	-5.4	458	7294	0.00	2.15	0.00	0.000	6	0.000	0.033	2234	2335	3022
7610	-0.95	-146.0	531.5	-5.4	466	7614	0.00	2.33	0.00	0.000	4	0.000	0.058	2234	3756	3022
7637	-1.00	-146.0	533.1	-6.0	466	7641	0.00	2.17	0.00	0.000	6	0.000	0.033	2234	2327	3022
7981	-1.04	-146.0	552.2	-5.8	475	7986	0.10	2.33	0.00	0.000	4	0.107	0.058	2196	3759	3022
8042	-0.98	-146.0	556.6	-7.4	476	8047	0.10	2.15	0.00	0.000	6	0.155	0.034	2221	2331	3023
8390	-0.98	-146.0	578.0	-6.0	485	8394	0.00	2.33	0.00	0.000	4	0.000	0.059	2221	3756	3023
8475	-0.98	-146.0	583.2	-6.0	486	8481	0.00	2.17	0.00	0.000	6	0.000	0.034	2221	2331	3023
8807	-0.98	-146.0	602.9	-5.7	495	8811	0.00	2.33	0.00	0.000	4	0.000	0.059	2221	3753	3023
8858	-0.98	-146.0	606.2	-6.5	496	8862	0.00	2.17	0.00	0.000	6	0.000	0.033	2221	2325	3023
9020	end dive: TARGET_DEPTH_EXCEEDED
state	9020	begin apogee
9027	-0.34	0.0	616.0	6.1	500	9160	0.45	0.00	129.77	1.186	6	0.133	0.000	2362	2519	2420
9161	end apogee: CONTROL_FINISHED_OK
state	9161	begin climb
9164	1.08	146.0	619.1	0.0	503	9305	1.00	0.00	136.02	1.111	6	0.104	0.000	2666	2519	1824
9617	0.95	146.0	583.5	8.6	514	9622	0.10	2.30	0.00	0.000	4	0.146	0.059	2639	3929	1823
9695	0.82	146.0	576.0	9.4	515	9702	0.10	2.17	0.00	0.000	6	0.150	0.035	2612	2513	1824
10028	0.88	152.7	553.4	6.8	524	10036	0.00	0.00	6.50	0.917	6	0.000	0.000	2611	2513	1798
10352	0.94	162.3	531.6	6.7	532	10364	0.10	0.00	9.77	1.017	6	0.084	0.000	2655	2513	1758
10677	0.86	162.3	503.2	9.0	540	10679	0.12	0.00	0.00	0.000	6	0.137	0.000	2619	2513	1758
11002	0.86	162.3	479.8	7.2	548	11003	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2513	1758
11326	0.86	162.3	455.3	7.6	556	11327	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2512	1757
11651	0.86	162.3	431.2	7.2	564	11652	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2512	1757
11977	0.92	174.8	409.2	6.6	572	11990	0.00	0.00	11.65	0.996	6	0.000	0.000	2619	2512	1707
12284	0.99	184.8	389.1	6.7	583	12297	0.12	0.00	9.98	0.956	6	0.082	0.000	2671	2511	1666
12592	0.90	184.8	361.4	9.3	598	12597	0.15	2.33	0.00	0.000	4	0.130	0.058	2626	3937	1667
12642	0.90	184.8	356.8	8.4	600	12646	0.00	2.17	0.00	0.000	6	0.000	0.035	2626	2513	1668
12970	0.96	184.8	333.7	7.0	616	12974	0.00	2.17	0.00	0.000	4	0.000	0.046	2626	1112	1668
13043	1.08	198.7	328.8	6.5	619	13061	0.15	2.20	12.82	0.960	6	0.071	0.042	2691	2528	1609
13371	0.95	198.7	297.4	10.0	635	13376	0.17	2.25	0.00	0.000	4	0.119	0.059	2637	3923	1610
13456	0.89	198.7	289.5	9.0	638	13462	0.00	2.15	0.00	0.000	6	0.000	0.035	2637	2508	1611
13772	0.89	198.7	267.0	7.1	654	13776	0.00	2.15	0.00	0.000	4	0.000	0.047	2637	1120	1611
13841	0.98	198.7	262.0	7.5	657	13844	0.00	2.20	0.00	0.000	6	0.000	0.044	2637	2530	1611
14174	1.04	202.8	238.9	6.9	673	14184	0.10	2.25	4.85	0.708	4	0.081	0.059	2682	3930	1594
14235	0.84	202.8	232.9	10.3	675	14242	0.22	2.15	0.00	0.000	6	0.129	0.035	2613	2519	1594
14551	1.00	220.5	213.7	6.4	691	14574	0.15	2.20	15.90	0.911	4	0.068	0.045	2680	1119	1521
14648	1.00	220.5	205.1	9.8	695	14652	0.10	2.20	0.00	0.000	6	0.140	0.043	2653	2526	1522
14974	1.00	220.5	180.1	7.3	711	14975	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2526	1522
15283	1.00	220.5	155.6	8.2	726	15284	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2526	1522
15593	1.06	220.5	131.5	7.6	741	15597	0.00	2.20	0.00	0.000	4	0.000	0.045	2653	1121	1522
15649	1.16	220.5	127.1	8.3	743	15654	0.12	2.20	0.00	0.000	6	0.074	0.044	2707	2531	1523
15969	1.06	220.5	94.7	9.8	764	15976	0.15	2.25	0.00	0.000	4	0.123	0.059	2660	3926	1523
16016	1.06	220.5	90.8	8.1	772	16023	0.00	2.15	0.00	0.000	6	0.000	0.035	2661	2508	1523
16362	1.16	250.9	70.0	6.0	833	16393	0.10	2.28	25.60	0.858	4	0.081	0.047	2707	1112	1396
16456	1.16	250.9	62.6	8.0	849	16462	0.00	2.22	0.00	0.000	6	0.000	0.043	2708	2533	1397
16800	1.16	250.9	35.3	7.8	910	16806	0.00	2.22	0.00	0.000	4	0.000	0.059	2708	3927	1397
16870	1.07	250.9	29.0	9.4	922	16876	0.15	2.15	0.00	0.000	6	0.126	0.035	2662	2514	1397
17215	1.37	250.9	3.8	7.9	983	17222	0.20	2.33	0.00	0.000	4	0.061	0.059	2750	3936	1397
17231	end climb: SURFACE_DEPTH_REACHED
state	17232	begin surface coast
17256	end surface coast: CONTROL_FINISHED_OK
state	17256	begin surface