Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 368 * 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 368 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 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 -31899.842 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 -31899.842

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 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 368 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 075458,6705.069,-5704.304,38,2.6,57,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 7 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,-0.076

_SM_DEPTHo 1.67 KALMAN_X -101883.0,491.1,-292.2,116322.4,-2372.6

_SM_ANGLEo -59.6 KALMAN_Y -12025.1,-805.6,122.8,31616.8,905.4

GPS2 080151,6705.083,-5704.368,11,1.5,11,-37.7 MHEAD_RNG_PITCHd_Wd 147.6,12433,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 604

Post-dive calculations and measurements:

FINISH 0.8,1.014512 TCM_TEMP 16.70

SM_CCo 17262,0.00,0.000,0,0,1332,266.89 XPDR_PINGS 2

SM_GC 1.86,6.85,0.00,0.00,0.058,0.000,0.000,164,2334,1332,-10.37,-0.17,266.89 _24V_AH 20.8,68.185

RAFOS_CLK 871 _10V_AH 10.6,30.227

RAFOS 0,1227945843,8.083333,8.067500,67,59,58,56,53,46,169,200,223,187,116,144 DATA_FILE_SIZE 37895,1014

RAFOS_FIX 6700.551758,-5704.857910,291108,121220,2,90,0.54 CAP_FILE_SIZE 152568,0

IRIDIUM_FIX 6636.54,-5715.22,230298,030347 CFSIZE 260165632,223674368

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1864 SOUNDSPEED 1468.0

INTERNAL_PRESSURE 8.58431 GPS 291108,125207,6705.345,-5703.400,25,1.3,25,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 256 115.97 SBE_CT 775 24 387.09

Roll_motor 168 62 218.36 SBE_O2 686 19 271.23

VBD_pump_during_apogee 377 1173 9224.77 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 22 103 48.78 nil 0 0 0.00

Iridium_during_connect 31 160 104.62 nil 0 0 0.00

Iridium_during_xfer 220 223 1023.76

Transponder_ping 0 420 4.37

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.72

TT8 1918 19 405.09

LPSleep 12631 2 309.30

TT8_Active 574 19 121.35

TT8_Sampling 1976 39 836.34

TT8_CF8 596 45 290.18

TT8_Kalman 33 81 28.98

Analog_circuits 1652 12 210.23

GPS_charging 0 0 0.00

Compass 1938 8 164.38

RAFOS 3600 1 57.24

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 0 138 0.00 0.00 -119.53 0.000 2 0.000 0.000 159 2333 2972

142 -1.08 -146.0 3.2 -2.4 21 161 8.68 2.25 -1.52 0.000 4 0.257 0.060 2201 926 3019

241 -0.55 -146.0 21.0 -16.2 38 248 0.40 2.22 0.00 0.000 6 0.163 0.045 2317 2342 3019

586 -0.55 -146.0 50.9 -7.6 99 592 0.00 2.28 0.00 0.000 4 0.000 0.062 2317 3750 3020

599 -0.55 -146.0 51.9 -7.5 101 605 0.00 2.17 0.00 0.000 6 0.000 0.035 2317 2323 3020

944 -0.64 -146.0 77.9 -6.8 162 949 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2324 3018

1287 -0.77 -146.0 96.3 -4.9 223 1294 0.17 2.35 0.00 0.000 4 0.083 0.061 2247 3752 3018

1351 -0.72 -146.0 100.9 -7.2 232 1357 0.12 2.17 0.00 0.000 6 0.162 0.036 2280 2334 3017

1668 -0.77 -146.0 122.8 -7.4 248 1672 0.00 2.30 0.00 0.000 4 0.000 0.061 2279 3746 3016

1679 -0.83 -146.0 123.7 -7.8 248 1683 0.10 2.15 0.00 0.000 6 0.101 0.035 2242 2340 3016

2000 -0.77 -146.0 149.0 -7.8 264 2005 0.10 2.33 0.00 0.000 4 0.166 0.061 2268 3756 3016

2040 -0.85 -146.0 152.0 -7.1 266 2043 0.00 2.17 0.00 0.000 6 0.000 0.035 2268 2331 3016

2373 -0.91 -146.0 174.0 -6.4 282 2378 0.12 2.30 0.00 0.000 4 0.088 0.059 2220 3746 3016

2384 -0.91 -146.0 174.9 -6.2 282 2391 0.00 2.15 0.00 0.000 6 0.000 0.034 2220 2334 3016

2700 -0.81 -146.0 199.1 -7.9 298 2705 0.15 2.33 0.00 0.000 4 0.157 0.059 2261 3750 3016

2712 -0.74 -146.0 200.1 -8.1 298 2718 0.00 2.15 0.00 0.000 6 0.000 0.035 2261 2341 3017

3029 -0.80 -146.0 219.6 -6.3 314 3033 0.00 2.30 0.00 0.000 4 0.000 0.061 2261 3754 3017

3040 -0.86 -146.0 220.4 -6.3 314 3044 0.00 2.15 0.00 0.000 6 0.000 0.033 2261 2340 3017

3362 -0.92 -146.0 240.7 -6.4 330 3364 0.10 0.00 0.00 0.000 6 0.108 0.000 2222 2340 3018

3671 -0.85 -146.0 263.5 -7.2 345 3676 0.12 2.33 0.00 0.000 4 0.152 0.060 2256 3750 3018

3681 -0.85 -146.0 264.4 -7.3 345 3685 0.00 2.15 0.00 0.000 6 0.000 0.034 2256 2340 3018

4003 -0.91 -146.0 284.8 -6.0 361 4007 0.00 2.30 0.00 0.000 4 0.000 0.060 2256 3746 3019

4021 -0.99 -146.0 285.9 -6.1 361 4028 0.12 2.15 0.00 0.000 6 0.086 0.034 2208 2331 3019

4337 -0.90 -146.0 308.2 -7.0 377 4342 0.12 2.33 0.00 0.000 4 0.149 0.059 2242 3750 3019

4400 -0.96 -146.0 312.2 -6.0 379 4406 0.00 2.15 0.00 0.000 6 0.000 0.034 2242 2338 3019

4716 -0.96 -146.0 329.1 -5.3 395 4720 0.00 2.30 0.00 0.000 4 0.000 0.060 2242 3745 3020

4727 -0.96 -146.0 329.7 -5.0 395 4731 0.00 2.15 0.00 0.000 6 0.000 0.033 2242 2328 3020

5049 -0.96 -146.0 346.5 -5.4 411 5053 0.00 2.33 0.00 0.000 4 0.000 0.058 2242 3757 3020

5060 -0.96 -146.0 347.2 -5.4 411 5063 0.00 2.15 0.00 0.000 6 0.000 0.033 2242 2340 3020

5381 -0.96 -146.0 365.2 -5.6 427 5385 0.00 2.30 0.00 0.000 4 0.000 0.058 2242 3749 3021

5420 -1.02 -146.0 367.6 -5.8 428 5427 0.12 2.15 0.00 0.000 6 0.087 0.033 2194 2336 3021

5737 -0.90 -146.0 390.7 -7.6 444 5739 0.17 0.00 0.00 0.000 6 0.142 0.000 2244 2333 3022

6064 -0.94 -146.0 411.4 -6.3 456 6065 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2333 3022

6390 -0.99 -146.0 430.6 -5.8 464 6392 0.10 0.00 0.00 0.000 6 0.097 0.000 2205 2333 3022

6714 -0.91 -146.0 452.6 -6.8 472 6719 0.12 2.33 0.00 0.000 4 0.146 0.058 2240 3752 3023

6725 -0.86 -146.0 453.2 -6.6 472 6729 0.00 2.15 0.00 0.000 6 0.000 0.033 2240 2340 3023

7045 -0.91 -146.0 471.9 -5.9 480 7049 0.00 2.30 0.00 0.000 4 0.000 0.058 2240 3745 3023

7057 -0.96 -146.0 472.7 -5.9 480 7060 0.00 2.15 0.00 0.000 6 0.000 0.033 2240 2331 3023

7376 -0.96 -146.0 491.7 -5.8 488 7379 0.00 2.33 0.00 0.000 4 0.000 0.059 2240 3753 3023

7404 -1.04 -146.0 493.4 -6.6 488 7409 0.12 2.15 0.00 0.000 6 0.090 0.033 2193 2338 3023

7748 -0.92 -146.0 517.2 -6.9 497 7753 0.15 2.33 0.00 0.000 4 0.143 0.058 2235 3749 3024

7770 -0.92 -146.0 518.8 -6.6 497 7774 0.00 2.15 0.00 0.000 6 0.000 0.034 2235 2337 3024

8113 -0.92 -146.0 538.4 -5.8 506 8117 0.00 2.30 0.00 0.000 4 0.000 0.058 2235 3748 3024

8164 -0.98 -146.0 541.6 -6.3 507 8168 0.00 2.15 0.00 0.000 6 0.000 0.033 2235 2331 3024

8488 -0.98 -146.0 561.5 -6.2 515 8492 0.00 2.30 0.00 0.000 4 0.000 0.059 2235 3743 3024

8500 -1.03 -146.0 562.3 -6.2 515 8505 0.10 2.15 0.00 0.000 6 0.105 0.033 2200 2326 3024

8820 -0.95 -146.0 585.5 -7.4 523 8825 0.12 2.33 0.00 0.000 4 0.148 0.058 2233 3745 3024

8853 -1.02 -146.0 587.8 -6.4 523 8860 0.00 2.15 0.00 0.000 6 0.000 0.033 2234 2325 3024

9141 end dive: TARGET_DEPTH_EXCEEDED

state 9141 begin apogee

9148 -0.34 0.0 604.6 5.8 531 9280 0.43 0.00 129.18 1.174 6 0.131 0.000 2367 2521 2420

9281 end apogee: CONTROL_FINISHED_OK

state 9281 begin climb

9284 1.08 146.0 606.7 0.0 534 9424 0.98 0.00 135.52 1.102 6 0.100 0.000 2666 2520 1824

9731 0.94 146.0 568.9 9.1 545 9736 0.12 2.30 0.00 0.000 4 0.145 0.058 2631 3941 1824

9821 0.83 146.0 561.1 9.0 547 9825 0.00 2.17 0.00 0.000 6 0.000 0.035 2631 2515 1824

10145 0.83 146.0 536.9 7.6 555 10148 0.00 2.17 0.00 0.000 4 0.000 0.045 2631 1107 1824

10195 0.83 146.0 533.2 7.6 556 10199 0.00 2.20 0.00 0.000 6 0.000 0.042 2631 2524 1823

10520 0.83 146.0 509.7 7.4 564 10524 0.00 2.22 0.00 0.000 4 0.000 0.058 2631 3930 1823

10598 0.72 146.0 502.5 9.3 565 10602 0.15 2.15 0.00 0.000 6 0.142 0.035 2587 2513 1822

10935 0.92 185.9 482.8 5.7 574 10977 0.17 2.25 33.35 1.095 4 0.064 0.045 2662 1125 1662

11024 0.92 185.9 475.4 8.5 576 11028 0.12 2.20 0.00 0.000 6 0.135 0.042 2627 2527 1662

11353 0.92 185.9 451.6 7.1 584 11357 0.00 2.22 0.00 0.000 4 0.000 0.059 2627 3929 1662

11398 0.92 185.9 448.0 8.4 585 11402 0.00 2.15 0.00 0.000 6 0.000 0.035 2627 2508 1662

11728 0.92 189.6 424.9 6.9 593 11737 0.00 2.17 4.38 0.726 4 0.000 0.046 2627 1111 1647

11807 1.02 202.9 419.6 6.6 594 11827 0.12 2.20 12.65 0.995 6 0.076 0.041 2679 2531 1592

12150 0.92 202.9 387.3 9.6 606 12155 0.15 2.25 0.00 0.000 4 0.123 0.058 2633 3937 1593

12234 0.92 202.9 379.4 8.5 609 12240 0.00 2.15 0.00 0.000 6 0.000 0.035 2633 2513 1593

12551 0.96 202.9 356.7 7.1 625 12554 0.00 2.15 0.00 0.000 4 0.000 0.046 2633 1120 1593

12619 1.05 202.9 351.8 7.4 628 12623 0.10 2.17 0.00 0.000 6 0.087 0.042 2678 2520 1593

12951 0.96 202.9 319.8 10.0 644 12955 0.12 2.25 0.00 0.000 4 0.122 0.057 2640 3927 1593

13035 0.89 202.9 311.7 9.1 647 13041 0.00 2.15 0.00 0.000 6 0.000 0.035 2640 2509 1593

13350 0.89 202.9 286.7 7.7 663 13354 0.00 2.15 0.00 0.000 4 0.000 0.046 2640 1119 1593

13423 0.96 202.9 281.1 8.0 666 13427 0.00 2.17 0.00 0.000 6 0.000 0.042 2640 2523 1593

13750 0.97 213.4 257.8 6.7 682 13762 0.00 0.00 9.85 0.883 6 0.000 0.000 2640 2524 1550

14059 1.04 224.6 237.1 6.6 697 14076 0.08 2.22 11.02 0.884 4 0.094 0.045 2680 1111 1504

14122 1.04 224.6 231.8 8.7 699 14126 0.00 2.20 0.00 0.000 6 0.000 0.041 2680 2528 1505

14455 0.98 224.6 201.9 8.5 715 14459 0.12 2.25 0.00 0.000 4 0.133 0.058 2642 3929 1505

14533 0.98 224.6 195.4 8.0 718 14537 0.00 2.15 0.00 0.000 6 0.000 0.035 2641 2512 1505

14856 1.06 227.3 173.1 6.9 734 14866 0.10 2.20 3.88 0.592 4 0.081 0.045 2691 1123 1493

14950 1.06 227.3 164.8 8.7 738 14954 0.10 2.17 0.00 0.000 6 0.133 0.041 2663 2525 1494

15277 1.07 230.3 141.1 6.9 754 15286 0.00 2.28 4.07 0.605 4 0.000 0.059 2663 3923 1481

15337 1.01 230.3 136.2 8.5 756 15343 0.00 2.12 0.00 0.000 6 0.000 0.035 2663 2522 1483

15653 1.01 230.3 114.4 7.1 772 15657 0.00 2.17 0.00 0.000 4 0.000 0.046 2663 1113 1483

15721 1.14 246.1 109.7 6.5 775 15743 0.00 2.20 14.40 0.848 6 0.000 0.041 2663 2533 1416

16069 1.24 249.1 86.0 6.9 818 16076 0.15 0.00 3.88 0.565 6 0.065 0.000 2727 2533 1404

16415 1.14 249.1 56.3 8.1 879 16421 0.17 2.22 0.00 0.000 4 0.122 0.044 2673 1117 1406

16462 1.27 266.5 53.2 6.4 887 16487 0.12 2.17 15.75 0.833 6 0.075 0.042 2726 2518 1333

16826 1.27 266.5 25.3 7.4 951 16832 0.00 2.25 0.00 0.000 4 0.000 0.058 2726 3933 1334

16912 1.12 266.5 16.9 10.5 966 16919 0.17 2.15 0.00 0.000 6 0.128 0.035 2677 2515 1333

17148 end climb: SURFACE_DEPTH_REACHED

state 17148 begin surface coast

17183 end surface coast: CONTROL_FINISHED_OK

state 17183 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	368	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	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	-31899.842	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	075458,6705.069,-5704.304,38,2.6,57,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	7	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,-0.076
_SM_DEPTHo	1.67	KALMAN_X	-101883.0,491.1,-292.2,116322.4,-2372.6
_SM_ANGLEo	-59.6	KALMAN_Y	-12025.1,-805.6,122.8,31616.8,905.4
GPS2	080151,6705.083,-5704.368,11,1.5,11,-37.7	MHEAD_RNG_PITCHd_Wd	147.6,12433,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	604

FINISH	0.8,1.014512	TCM_TEMP	16.70
SM_CCo	17262,0.00,0.000,0,0,1332,266.89	XPDR_PINGS	2
SM_GC	1.86,6.85,0.00,0.00,0.058,0.000,0.000,164,2334,1332,-10.37,-0.17,266.89	_24V_AH	20.8,68.185
RAFOS_CLK	871	_10V_AH	10.6,30.227
RAFOS	0,1227945843,8.083333,8.067500,67,59,58,56,53,46,169,200,223,187,116,144	DATA_FILE_SIZE	37895,1014
RAFOS_FIX	6700.551758,-5704.857910,291108,121220,2,90,0.54	CAP_FILE_SIZE	152568,0
IRIDIUM_FIX	6636.54,-5715.22,230298,030347	CFSIZE	260165632,223674368
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1864	SOUNDSPEED	1468.0
INTERNAL_PRESSURE	8.58431	GPS	291108,125207,6705.345,-5703.400,25,1.3,25,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	256	115.97	SBE_CT	775	24	387.09
Roll_motor	168	62	218.36	SBE_O2	686	19	271.23
VBD_pump_during_apogee	377	1173	9224.77	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	22	103	48.78	nil	0	0	0.00
Iridium_during_connect	31	160	104.62	nil	0	0	0.00
Iridium_during_xfer	220	223	1023.76
Transponder_ping	0	420	4.37
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.72
TT8	1918	19	405.09
LPSleep	12631	2	309.30
TT8_Active	574	19	121.35
TT8_Sampling	1976	39	836.34
TT8_CF8	596	45	290.18
TT8_Kalman	33	81	28.98
Analog_circuits	1652	12	210.23
GPS_charging	0	0	0.00
Compass	1938	8	164.38
RAFOS	3600	1	57.24
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	138	0.00	0.00	-119.53	0.000	2	0.000	0.000	159	2333	2972
142	-1.08	-146.0	3.2	-2.4	21	161	8.68	2.25	-1.52	0.000	4	0.257	0.060	2201	926	3019
241	-0.55	-146.0	21.0	-16.2	38	248	0.40	2.22	0.00	0.000	6	0.163	0.045	2317	2342	3019
586	-0.55	-146.0	50.9	-7.6	99	592	0.00	2.28	0.00	0.000	4	0.000	0.062	2317	3750	3020
599	-0.55	-146.0	51.9	-7.5	101	605	0.00	2.17	0.00	0.000	6	0.000	0.035	2317	2323	3020
944	-0.64	-146.0	77.9	-6.8	162	949	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2324	3018
1287	-0.77	-146.0	96.3	-4.9	223	1294	0.17	2.35	0.00	0.000	4	0.083	0.061	2247	3752	3018
1351	-0.72	-146.0	100.9	-7.2	232	1357	0.12	2.17	0.00	0.000	6	0.162	0.036	2280	2334	3017
1668	-0.77	-146.0	122.8	-7.4	248	1672	0.00	2.30	0.00	0.000	4	0.000	0.061	2279	3746	3016
1679	-0.83	-146.0	123.7	-7.8	248	1683	0.10	2.15	0.00	0.000	6	0.101	0.035	2242	2340	3016
2000	-0.77	-146.0	149.0	-7.8	264	2005	0.10	2.33	0.00	0.000	4	0.166	0.061	2268	3756	3016
2040	-0.85	-146.0	152.0	-7.1	266	2043	0.00	2.17	0.00	0.000	6	0.000	0.035	2268	2331	3016
2373	-0.91	-146.0	174.0	-6.4	282	2378	0.12	2.30	0.00	0.000	4	0.088	0.059	2220	3746	3016
2384	-0.91	-146.0	174.9	-6.2	282	2391	0.00	2.15	0.00	0.000	6	0.000	0.034	2220	2334	3016
2700	-0.81	-146.0	199.1	-7.9	298	2705	0.15	2.33	0.00	0.000	4	0.157	0.059	2261	3750	3016
2712	-0.74	-146.0	200.1	-8.1	298	2718	0.00	2.15	0.00	0.000	6	0.000	0.035	2261	2341	3017
3029	-0.80	-146.0	219.6	-6.3	314	3033	0.00	2.30	0.00	0.000	4	0.000	0.061	2261	3754	3017
3040	-0.86	-146.0	220.4	-6.3	314	3044	0.00	2.15	0.00	0.000	6	0.000	0.033	2261	2340	3017
3362	-0.92	-146.0	240.7	-6.4	330	3364	0.10	0.00	0.00	0.000	6	0.108	0.000	2222	2340	3018
3671	-0.85	-146.0	263.5	-7.2	345	3676	0.12	2.33	0.00	0.000	4	0.152	0.060	2256	3750	3018
3681	-0.85	-146.0	264.4	-7.3	345	3685	0.00	2.15	0.00	0.000	6	0.000	0.034	2256	2340	3018
4003	-0.91	-146.0	284.8	-6.0	361	4007	0.00	2.30	0.00	0.000	4	0.000	0.060	2256	3746	3019
4021	-0.99	-146.0	285.9	-6.1	361	4028	0.12	2.15	0.00	0.000	6	0.086	0.034	2208	2331	3019
4337	-0.90	-146.0	308.2	-7.0	377	4342	0.12	2.33	0.00	0.000	4	0.149	0.059	2242	3750	3019
4400	-0.96	-146.0	312.2	-6.0	379	4406	0.00	2.15	0.00	0.000	6	0.000	0.034	2242	2338	3019
4716	-0.96	-146.0	329.1	-5.3	395	4720	0.00	2.30	0.00	0.000	4	0.000	0.060	2242	3745	3020
4727	-0.96	-146.0	329.7	-5.0	395	4731	0.00	2.15	0.00	0.000	6	0.000	0.033	2242	2328	3020
5049	-0.96	-146.0	346.5	-5.4	411	5053	0.00	2.33	0.00	0.000	4	0.000	0.058	2242	3757	3020
5060	-0.96	-146.0	347.2	-5.4	411	5063	0.00	2.15	0.00	0.000	6	0.000	0.033	2242	2340	3020
5381	-0.96	-146.0	365.2	-5.6	427	5385	0.00	2.30	0.00	0.000	4	0.000	0.058	2242	3749	3021
5420	-1.02	-146.0	367.6	-5.8	428	5427	0.12	2.15	0.00	0.000	6	0.087	0.033	2194	2336	3021
5737	-0.90	-146.0	390.7	-7.6	444	5739	0.17	0.00	0.00	0.000	6	0.142	0.000	2244	2333	3022
6064	-0.94	-146.0	411.4	-6.3	456	6065	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2333	3022
6390	-0.99	-146.0	430.6	-5.8	464	6392	0.10	0.00	0.00	0.000	6	0.097	0.000	2205	2333	3022
6714	-0.91	-146.0	452.6	-6.8	472	6719	0.12	2.33	0.00	0.000	4	0.146	0.058	2240	3752	3023
6725	-0.86	-146.0	453.2	-6.6	472	6729	0.00	2.15	0.00	0.000	6	0.000	0.033	2240	2340	3023
7045	-0.91	-146.0	471.9	-5.9	480	7049	0.00	2.30	0.00	0.000	4	0.000	0.058	2240	3745	3023
7057	-0.96	-146.0	472.7	-5.9	480	7060	0.00	2.15	0.00	0.000	6	0.000	0.033	2240	2331	3023
7376	-0.96	-146.0	491.7	-5.8	488	7379	0.00	2.33	0.00	0.000	4	0.000	0.059	2240	3753	3023
7404	-1.04	-146.0	493.4	-6.6	488	7409	0.12	2.15	0.00	0.000	6	0.090	0.033	2193	2338	3023
7748	-0.92	-146.0	517.2	-6.9	497	7753	0.15	2.33	0.00	0.000	4	0.143	0.058	2235	3749	3024
7770	-0.92	-146.0	518.8	-6.6	497	7774	0.00	2.15	0.00	0.000	6	0.000	0.034	2235	2337	3024
8113	-0.92	-146.0	538.4	-5.8	506	8117	0.00	2.30	0.00	0.000	4	0.000	0.058	2235	3748	3024
8164	-0.98	-146.0	541.6	-6.3	507	8168	0.00	2.15	0.00	0.000	6	0.000	0.033	2235	2331	3024
8488	-0.98	-146.0	561.5	-6.2	515	8492	0.00	2.30	0.00	0.000	4	0.000	0.059	2235	3743	3024
8500	-1.03	-146.0	562.3	-6.2	515	8505	0.10	2.15	0.00	0.000	6	0.105	0.033	2200	2326	3024
8820	-0.95	-146.0	585.5	-7.4	523	8825	0.12	2.33	0.00	0.000	4	0.148	0.058	2233	3745	3024
8853	-1.02	-146.0	587.8	-6.4	523	8860	0.00	2.15	0.00	0.000	6	0.000	0.033	2234	2325	3024
9141	end dive: TARGET_DEPTH_EXCEEDED
state	9141	begin apogee
9148	-0.34	0.0	604.6	5.8	531	9280	0.43	0.00	129.18	1.174	6	0.131	0.000	2367	2521	2420
9281	end apogee: CONTROL_FINISHED_OK
state	9281	begin climb
9284	1.08	146.0	606.7	0.0	534	9424	0.98	0.00	135.52	1.102	6	0.100	0.000	2666	2520	1824
9731	0.94	146.0	568.9	9.1	545	9736	0.12	2.30	0.00	0.000	4	0.145	0.058	2631	3941	1824
9821	0.83	146.0	561.1	9.0	547	9825	0.00	2.17	0.00	0.000	6	0.000	0.035	2631	2515	1824
10145	0.83	146.0	536.9	7.6	555	10148	0.00	2.17	0.00	0.000	4	0.000	0.045	2631	1107	1824
10195	0.83	146.0	533.2	7.6	556	10199	0.00	2.20	0.00	0.000	6	0.000	0.042	2631	2524	1823
10520	0.83	146.0	509.7	7.4	564	10524	0.00	2.22	0.00	0.000	4	0.000	0.058	2631	3930	1823
10598	0.72	146.0	502.5	9.3	565	10602	0.15	2.15	0.00	0.000	6	0.142	0.035	2587	2513	1822
10935	0.92	185.9	482.8	5.7	574	10977	0.17	2.25	33.35	1.095	4	0.064	0.045	2662	1125	1662
11024	0.92	185.9	475.4	8.5	576	11028	0.12	2.20	0.00	0.000	6	0.135	0.042	2627	2527	1662
11353	0.92	185.9	451.6	7.1	584	11357	0.00	2.22	0.00	0.000	4	0.000	0.059	2627	3929	1662
11398	0.92	185.9	448.0	8.4	585	11402	0.00	2.15	0.00	0.000	6	0.000	0.035	2627	2508	1662
11728	0.92	189.6	424.9	6.9	593	11737	0.00	2.17	4.38	0.726	4	0.000	0.046	2627	1111	1647
11807	1.02	202.9	419.6	6.6	594	11827	0.12	2.20	12.65	0.995	6	0.076	0.041	2679	2531	1592
12150	0.92	202.9	387.3	9.6	606	12155	0.15	2.25	0.00	0.000	4	0.123	0.058	2633	3937	1593
12234	0.92	202.9	379.4	8.5	609	12240	0.00	2.15	0.00	0.000	6	0.000	0.035	2633	2513	1593
12551	0.96	202.9	356.7	7.1	625	12554	0.00	2.15	0.00	0.000	4	0.000	0.046	2633	1120	1593
12619	1.05	202.9	351.8	7.4	628	12623	0.10	2.17	0.00	0.000	6	0.087	0.042	2678	2520	1593
12951	0.96	202.9	319.8	10.0	644	12955	0.12	2.25	0.00	0.000	4	0.122	0.057	2640	3927	1593
13035	0.89	202.9	311.7	9.1	647	13041	0.00	2.15	0.00	0.000	6	0.000	0.035	2640	2509	1593
13350	0.89	202.9	286.7	7.7	663	13354	0.00	2.15	0.00	0.000	4	0.000	0.046	2640	1119	1593
13423	0.96	202.9	281.1	8.0	666	13427	0.00	2.17	0.00	0.000	6	0.000	0.042	2640	2523	1593
13750	0.97	213.4	257.8	6.7	682	13762	0.00	0.00	9.85	0.883	6	0.000	0.000	2640	2524	1550
14059	1.04	224.6	237.1	6.6	697	14076	0.08	2.22	11.02	0.884	4	0.094	0.045	2680	1111	1504
14122	1.04	224.6	231.8	8.7	699	14126	0.00	2.20	0.00	0.000	6	0.000	0.041	2680	2528	1505
14455	0.98	224.6	201.9	8.5	715	14459	0.12	2.25	0.00	0.000	4	0.133	0.058	2642	3929	1505
14533	0.98	224.6	195.4	8.0	718	14537	0.00	2.15	0.00	0.000	6	0.000	0.035	2641	2512	1505
14856	1.06	227.3	173.1	6.9	734	14866	0.10	2.20	3.88	0.592	4	0.081	0.045	2691	1123	1493
14950	1.06	227.3	164.8	8.7	738	14954	0.10	2.17	0.00	0.000	6	0.133	0.041	2663	2525	1494
15277	1.07	230.3	141.1	6.9	754	15286	0.00	2.28	4.07	0.605	4	0.000	0.059	2663	3923	1481
15337	1.01	230.3	136.2	8.5	756	15343	0.00	2.12	0.00	0.000	6	0.000	0.035	2663	2522	1483
15653	1.01	230.3	114.4	7.1	772	15657	0.00	2.17	0.00	0.000	4	0.000	0.046	2663	1113	1483
15721	1.14	246.1	109.7	6.5	775	15743	0.00	2.20	14.40	0.848	6	0.000	0.041	2663	2533	1416
16069	1.24	249.1	86.0	6.9	818	16076	0.15	0.00	3.88	0.565	6	0.065	0.000	2727	2533	1404
16415	1.14	249.1	56.3	8.1	879	16421	0.17	2.22	0.00	0.000	4	0.122	0.044	2673	1117	1406
16462	1.27	266.5	53.2	6.4	887	16487	0.12	2.17	15.75	0.833	6	0.075	0.042	2726	2518	1333
16826	1.27	266.5	25.3	7.4	951	16832	0.00	2.25	0.00	0.000	4	0.000	0.058	2726	3933	1334
16912	1.12	266.5	16.9	10.5	966	16919	0.17	2.15	0.00	0.000	6	0.128	0.035	2677	2515	1333
17148	end climb: SURFACE_DEPTH_REACHED
state	17148	begin surface coast
17183	end surface coast: CONTROL_FINISHED_OK
state	17183	begin surface