Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 376 * 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 376 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2340 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2520 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 558.3028 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 49 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 -32047.188 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2436 PRESSURE_YINT -25.705193 SEABIRD_T_G 0.004371644

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51576 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 14.7 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.00342 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0096000005 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 558.3028

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 14.7 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -25.705193 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00342 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0096000005 RELAUNCH 1 T_GPS_CHARGE -32047.188

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 49 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 376 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 214038,6707.270,-5712.211,28,1.0,28,-37.7 TGT_NAME TARGET_E_IN

_CALLS 5 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.177,-0.137

_SM_DEPTHo 1.62 KALMAN_X -129712.0,-816.1,-37.2,139278.8,-2087.4

_SM_ANGLEo -60.4 KALMAN_Y 7496.6,872.0,-512.8,14966.4,2011.9

GPS2 215538,6707.195,-5712.545,9,1.1,14,-37.7 MHEAD_RNG_PITCHd_Wd 165.5,19353,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 644

Post-dive calculations and measurements:

FINISH 0.8,1.024208 TCM_TEMP 16.70

SM_CCo 17829,213.18,0.795,1,0,144,558.30 XPDR_PINGS 0

SM_GC 1.24,0.00,0.00,213.18,0.000,0.000,0.795,157,2342,144,-10.48,0.03,558.30 _24V_AH 20.6,69.301

RAFOS_CLK 928 _10V_AH 10.5,30.795

RAFOS 0,1228089877,0.083333,0.076944,68,65,53,52,52,51,214,195,989,159,136,114 DATA_FILE_SIZE 34658,971

RAFOS_FIX 6712.993652,-5708.468262,301108,161620,2,84,0.00 CAP_FILE_SIZE 151083,0

IRIDIUM_FIX 6641.98,-5709.24,240298,222247 CFSIZE 260165632,223121408

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

HUMID 1829 SOUNDSPEED 1468.5

INTERNAL_PRESSURE 8.47689 GPS 011208,025838,6706.904,-5711.678,27,1.1,27,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 253 112.83 SBE_CT 751 24 371.38

Roll_motor 169 62 219.70 SBE_O2 657 19 257.26

VBD_pump_during_apogee 416 1204 10335.31 nil 0 0 0.00

VBD_pump_during_surface 213 795 3492.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 134 103 284.41 nil 0 0 0.00

Iridium_during_connect 375 160 1238.62 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.84

TT8 1839 19 384.71

LPSleep 13461 2 326.51

TT8_Active 793 19 166.05

TT8_Sampling 1976 39 828.52

TT8_CF8 873 45 420.97

TT8_Kalman 33 81 28.71

Analog_circuits 1888 12 237.98

GPS_charging 0 0 0.00

Compass 1944 8 163.37

RAFOS 1800 1 28.35

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.08 -146.0 0.0 0.0 0 136 0.00 0.00 -117.45 0.000 2 0.000 0.000 156 2325 2978

139 -1.08 -146.0 3.3 -2.8 21 159 8.60 2.22 -1.25 0.000 4 0.254 0.062 2196 949 3018

413 -0.66 -146.0 48.7 -14.3 69 419 0.35 2.20 0.00 0.000 6 0.166 0.047 2293 2344 3019

757 -0.66 -146.0 79.0 -7.9 130 764 0.00 2.20 0.00 0.000 4 0.000 0.049 2293 948 3019

770 -0.66 -146.0 80.0 -7.9 132 776 0.00 2.20 0.00 0.000 6 0.000 0.044 2293 2350 3018

1120 -0.66 -146.0 103.9 -6.3 186 1121 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2350 3019

1429 -0.73 -146.0 125.5 -6.9 201 1430 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2349 3018

1738 -0.82 -146.0 145.1 -6.0 216 1740 0.15 0.00 0.00 0.000 6 0.085 0.000 2235 2350 3017

2048 -0.76 -146.0 170.4 -8.4 231 2053 0.15 2.28 0.00 0.000 4 0.156 0.060 2276 3742 3017

2098 -0.87 -146.0 174.1 -6.5 233 2103 0.12 2.15 0.00 0.000 6 0.091 0.035 2231 2336 3017

2421 -0.80 -146.0 198.7 -7.8 249 2425 0.12 2.20 0.00 0.000 4 0.156 0.046 2264 932 3017

2447 -0.80 -146.0 201.1 -7.9 250 2451 0.00 2.22 0.00 0.000 6 0.000 0.044 2265 2347 3017

2769 -0.86 -146.0 222.1 -6.0 266 2773 0.00 2.28 0.00 0.000 4 0.000 0.061 2264 3750 3017

2861 -0.96 -146.0 227.6 -6.0 270 2866 0.12 2.15 0.00 0.000 6 0.093 0.035 2218 2340 3018

3194 -0.88 -146.0 252.0 -7.3 286 3199 0.10 2.33 0.00 0.000 4 0.157 0.061 2244 3753 3018

3245 -0.93 -146.0 255.1 -5.7 288 3249 0.00 2.17 0.00 0.000 6 0.000 0.034 2245 2328 3019

3566 -0.93 -146.0 276.1 -6.4 304 3567 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2328 3019

3876 -0.93 -146.0 294.8 -6.0 319 3879 0.00 2.33 0.00 0.000 4 0.000 0.059 2245 3749 3019

3893 -0.93 -146.0 295.9 -6.0 319 3899 0.00 2.15 0.00 0.000 6 0.000 0.035 2245 2341 3020

4209 -0.93 -146.0 315.0 -6.1 335 4212 0.00 2.30 0.00 0.000 4 0.000 0.060 2245 3742 3020

4242 -0.98 -146.0 317.1 -6.4 336 4246 0.00 2.15 0.00 0.000 6 0.000 0.034 2244 2329 3021

4565 -0.98 -146.0 334.7 -5.4 352 4568 0.00 2.33 0.00 0.000 4 0.000 0.060 2245 3750 3021

4577 -0.98 -146.0 335.4 -4.9 352 4581 0.00 2.15 0.00 0.000 6 0.000 0.034 2244 2338 3021

4899 -0.98 -146.0 352.9 -5.6 368 4900 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2338 3022

5208 -0.98 -146.0 371.7 -6.2 383 5210 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2338 3023

5517 -1.03 -146.0 391.5 -6.5 398 5522 0.12 2.33 0.00 0.000 4 0.092 0.058 2193 3748 3023

5528 -1.03 -146.0 392.4 -6.8 398 5534 0.00 2.15 0.00 0.000 6 0.000 0.033 2193 2336 3023

5841 -0.91 -146.0 418.3 -8.2 409 5846 0.17 2.33 0.00 0.000 4 0.143 0.059 2244 3743 3023

5852 -0.83 -146.0 419.4 -8.0 409 5856 0.00 2.15 0.00 0.000 6 0.000 0.033 2243 2330 3023

6166 -0.88 -146.0 439.7 -6.5 417 6167 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2330 3024

6491 -0.93 -146.0 459.7 -6.1 425 6495 0.00 2.30 0.00 0.000 4 0.000 0.058 2243 3743 3024

6503 -0.98 -146.0 460.5 -6.0 425 6506 0.00 2.15 0.00 0.000 6 0.000 0.033 2244 2329 3024

6822 -1.03 -146.0 479.7 -6.1 433 6827 0.12 2.33 0.00 0.000 4 0.091 0.058 2192 3754 3024

6833 -1.03 -146.0 480.5 -6.2 433 6837 0.00 2.15 0.00 0.000 6 0.000 0.033 2192 2340 3024

7147 -0.92 -146.0 503.5 -7.3 441 7152 0.15 2.33 0.00 0.000 4 0.146 0.058 2233 3752 3025

7203 -0.97 -146.0 507.2 -6.5 442 7207 0.00 2.15 0.00 0.000 6 0.000 0.033 2234 2340 3024

7516 -0.97 -146.0 526.0 -6.0 450 7520 0.00 2.30 0.00 0.000 4 0.000 0.058 2233 3746 3024

7529 -0.97 -146.0 526.7 -6.0 450 7532 0.00 2.15 0.00 0.000 6 0.000 0.033 2233 2331 3024

7847 -0.97 -146.0 546.4 -6.2 458 7851 0.00 2.30 0.00 0.000 4 0.000 0.058 2234 3742 3024

7864 -0.97 -146.0 547.4 -6.0 458 7868 0.00 2.15 0.00 0.000 6 0.000 0.033 2234 2328 3024

8178 -0.97 -146.0 565.2 -5.9 466 8182 0.00 2.33 0.00 0.000 4 0.000 0.058 2233 3749 3025

8188 -0.97 -146.0 566.0 -6.0 466 8193 0.00 2.12 0.00 0.000 6 0.000 0.033 2233 2341 3024

8507 -0.97 -146.0 583.9 -5.5 474 8511 0.00 2.30 0.00 0.000 4 0.000 0.059 2234 3746 3024

8518 -0.97 -146.0 584.6 -5.6 474 8522 0.00 2.15 0.00 0.000 6 0.000 0.033 2233 2333 3024

8838 -0.97 -146.0 603.1 -5.8 482 8842 0.00 2.30 0.00 0.000 4 0.000 0.058 2234 3749 3025

8871 -1.03 -146.0 605.2 -6.3 482 8875 0.00 2.15 0.00 0.000 6 0.000 0.034 2233 2337 3025

9209 -1.08 -146.0 624.3 -5.6 491 9214 0.12 2.30 0.00 0.000 4 0.099 0.058 2188 3747 3025

9245 -0.98 -146.0 626.7 -7.4 491 9249 0.15 2.15 0.00 0.000 6 0.144 0.033 2229 2334 3024

9578 end dive: TARGET_DEPTH_EXCEEDED

state 9578 begin apogee

9585 -0.34 0.0 646.3 5.8 500 9718 0.43 0.00 130.52 1.205 6 0.136 0.000 2362 2516 2420

9719 end apogee: CONTROL_FINISHED_OK

state 9719 begin climb

9722 1.08 146.0 648.4 0.0 503 9874 1.02 2.70 138.90 1.113 4 0.100 0.057 2669 3931 1824

9949 0.82 146.0 629.1 10.6 509 9954 0.22 2.35 0.00 0.000 6 0.134 0.035 2609 2525 1824

10273 0.85 168.4 608.4 6.3 517 10298 0.00 2.25 19.52 1.105 4 0.000 0.047 2610 1114 1733

10355 0.97 178.0 603.2 6.7 518 10371 0.12 2.22 9.75 1.002 6 0.074 0.044 2663 2530 1694

10693 0.88 178.0 574.3 8.7 527 10698 0.15 2.22 0.00 0.000 4 0.129 0.058 2618 3930 1694

10788 0.88 178.0 566.4 7.7 529 10792 0.00 2.17 0.00 0.000 6 0.000 0.036 2618 2502 1693

11113 0.96 198.5 545.8 6.3 537 11137 0.10 2.22 18.08 1.102 4 0.092 0.048 2663 1123 1610

11206 0.96 198.5 538.1 9.5 539 11210 0.00 2.20 0.00 0.000 6 0.000 0.043 2663 2525 1611

11530 0.89 198.5 510.6 8.5 547 11534 0.12 2.25 0.00 0.000 4 0.134 0.059 2626 3930 1609

11585 0.89 198.5 505.9 8.4 548 11589 0.00 2.15 0.00 0.000 6 0.000 0.035 2626 2516 1610

11904 0.95 198.5 483.2 7.3 556 11908 0.00 2.17 0.00 0.000 4 0.000 0.047 2626 1109 1610

11973 1.04 198.5 477.8 7.7 557 11978 0.12 2.20 0.00 0.000 6 0.077 0.042 2678 2524 1610

12322 0.94 198.5 443.2 9.9 566 12326 0.15 2.25 0.00 0.000 4 0.127 0.058 2632 3929 1609

12394 0.88 198.5 436.3 9.3 567 12398 0.00 2.15 0.00 0.000 6 0.000 0.035 2632 2517 1609

12739 0.88 198.5 411.1 7.2 576 12742 0.00 2.17 0.00 0.000 4 0.000 0.046 2632 1110 1609

12830 0.96 199.0 404.7 7.0 578 12834 0.00 2.17 0.00 0.000 6 0.000 0.043 2632 2520 1609

13164 0.96 200.9 381.5 7.0 592 13173 0.00 2.30 3.25 0.558 4 0.000 0.059 2632 3921 1600

13214 0.96 200.9 377.4 8.3 594 13218 0.00 2.15 0.00 0.000 6 0.000 0.035 2632 2509 1601

13542 1.01 200.9 353.9 7.3 610 13546 0.08 2.17 0.00 0.000 4 0.099 0.045 2671 1110 1602

13625 1.01 200.9 346.4 9.3 613 13631 0.00 2.20 0.00 0.000 6 0.000 0.043 2671 2520 1602

13941 0.94 200.9 317.3 9.2 629 13946 0.12 2.25 0.00 0.000 4 0.137 0.057 2635 3927 1602

14009 0.89 200.9 311.2 8.7 632 14013 0.00 2.15 0.00 0.000 6 0.000 0.035 2635 2508 1602

14342 0.96 207.3 287.6 6.8 648 14356 0.00 2.22 6.75 0.824 4 0.000 0.046 2635 1120 1575

14425 1.06 214.5 281.7 6.8 651 14441 0.12 2.20 7.95 0.852 6 0.079 0.043 2689 2533 1545

14764 0.97 214.5 251.4 9.1 668 14769 0.15 2.25 0.00 0.000 4 0.124 0.058 2642 3931 1547

14820 0.97 214.5 246.7 8.0 670 14824 0.00 2.15 0.00 0.000 6 0.000 0.035 2642 2518 1546

15141 1.04 230.2 226.4 6.5 686 15163 0.00 2.22 14.18 0.905 4 0.000 0.046 2642 1124 1481

15243 1.18 248.3 220.0 6.4 690 15264 0.17 2.17 16.02 0.898 6 0.067 0.042 2714 2520 1408

15583 1.05 248.3 186.7 10.1 707 15585 0.17 0.00 0.00 0.000 6 0.123 0.000 2660 2520 1408

15891 1.11 248.3 163.6 7.4 722 15894 0.00 2.20 0.00 0.000 4 0.000 0.046 2659 1113 1408

15959 1.22 252.4 158.6 6.9 725 15970 0.15 2.17 5.10 0.684 6 0.071 0.042 2719 2520 1390

16288 1.09 252.4 122.9 11.3 741 16290 0.17 0.00 0.00 0.000 6 0.117 0.000 2665 2521 1392

16598 1.18 259.4 98.1 6.8 759 16612 0.10 2.28 7.35 0.750 4 0.084 0.045 2710 1114 1362

16699 1.18 259.4 89.5 9.0 776 16705 0.00 2.20 0.00 0.000 6 0.000 0.042 2710 2532 1364

17043 1.18 259.4 59.7 8.7 837 17049 0.00 2.22 0.00 0.000 4 0.000 0.059 2711 3926 1364

17124 1.09 259.4 52.4 8.8 851 17131 0.15 2.15 0.00 0.000 6 0.123 0.035 2664 2513 1365

17470 1.24 271.7 30.3 6.6 912 17489 0.15 2.20 11.77 0.808 4 0.071 0.047 2731 1110 1312

17611 1.29 304.2 17.9 5.9 936 17646 0.00 2.22 27.23 0.844 6 0.000 0.044 2732 2532 1178

17785 end climb: SURFACE_DEPTH_REACHED

state 17785 begin surface coast

17811 end surface coast: CONTROL_FINISHED_OK

state 17811 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	376	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2340	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2520	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	558.3028	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	49	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	-32047.188	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	214038,6707.270,-5712.211,28,1.0,28,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	5	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.177,-0.137
_SM_DEPTHo	1.62	KALMAN_X	-129712.0,-816.1,-37.2,139278.8,-2087.4
_SM_ANGLEo	-60.4	KALMAN_Y	7496.6,872.0,-512.8,14966.4,2011.9
GPS2	215538,6707.195,-5712.545,9,1.1,14,-37.7	MHEAD_RNG_PITCHd_Wd	165.5,19353,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	644

FINISH	0.8,1.024208	TCM_TEMP	16.70
SM_CCo	17829,213.18,0.795,1,0,144,558.30	XPDR_PINGS	0
SM_GC	1.24,0.00,0.00,213.18,0.000,0.000,0.795,157,2342,144,-10.48,0.03,558.30	_24V_AH	20.6,69.301
RAFOS_CLK	928	_10V_AH	10.5,30.795
RAFOS	0,1228089877,0.083333,0.076944,68,65,53,52,52,51,214,195,989,159,136,114	DATA_FILE_SIZE	34658,971
RAFOS_FIX	6712.993652,-5708.468262,301108,161620,2,84,0.00	CAP_FILE_SIZE	151083,0
IRIDIUM_FIX	6641.98,-5709.24,240298,222247	CFSIZE	260165632,223121408
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
HUMID	1829	SOUNDSPEED	1468.5
INTERNAL_PRESSURE	8.47689	GPS	011208,025838,6706.904,-5711.678,27,1.1,27,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	253	112.83	SBE_CT	751	24	371.38
Roll_motor	169	62	219.70	SBE_O2	657	19	257.26
VBD_pump_during_apogee	416	1204	10335.31	nil	0	0	0.00
VBD_pump_during_surface	213	795	3492.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	134	103	284.41	nil	0	0	0.00
Iridium_during_connect	375	160	1238.62	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.84
TT8	1839	19	384.71
LPSleep	13461	2	326.51
TT8_Active	793	19	166.05
TT8_Sampling	1976	39	828.52
TT8_CF8	873	45	420.97
TT8_Kalman	33	81	28.71
Analog_circuits	1888	12	237.98
GPS_charging	0	0	0.00
Compass	1944	8	163.37
RAFOS	1800	1	28.35
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.08	-146.0	0.0	0.0	0	136	0.00	0.00	-117.45	0.000	2	0.000	0.000	156	2325	2978
139	-1.08	-146.0	3.3	-2.8	21	159	8.60	2.22	-1.25	0.000	4	0.254	0.062	2196	949	3018
413	-0.66	-146.0	48.7	-14.3	69	419	0.35	2.20	0.00	0.000	6	0.166	0.047	2293	2344	3019
757	-0.66	-146.0	79.0	-7.9	130	764	0.00	2.20	0.00	0.000	4	0.000	0.049	2293	948	3019
770	-0.66	-146.0	80.0	-7.9	132	776	0.00	2.20	0.00	0.000	6	0.000	0.044	2293	2350	3018
1120	-0.66	-146.0	103.9	-6.3	186	1121	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2350	3019
1429	-0.73	-146.0	125.5	-6.9	201	1430	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2349	3018
1738	-0.82	-146.0	145.1	-6.0	216	1740	0.15	0.00	0.00	0.000	6	0.085	0.000	2235	2350	3017
2048	-0.76	-146.0	170.4	-8.4	231	2053	0.15	2.28	0.00	0.000	4	0.156	0.060	2276	3742	3017
2098	-0.87	-146.0	174.1	-6.5	233	2103	0.12	2.15	0.00	0.000	6	0.091	0.035	2231	2336	3017
2421	-0.80	-146.0	198.7	-7.8	249	2425	0.12	2.20	0.00	0.000	4	0.156	0.046	2264	932	3017
2447	-0.80	-146.0	201.1	-7.9	250	2451	0.00	2.22	0.00	0.000	6	0.000	0.044	2265	2347	3017
2769	-0.86	-146.0	222.1	-6.0	266	2773	0.00	2.28	0.00	0.000	4	0.000	0.061	2264	3750	3017
2861	-0.96	-146.0	227.6	-6.0	270	2866	0.12	2.15	0.00	0.000	6	0.093	0.035	2218	2340	3018
3194	-0.88	-146.0	252.0	-7.3	286	3199	0.10	2.33	0.00	0.000	4	0.157	0.061	2244	3753	3018
3245	-0.93	-146.0	255.1	-5.7	288	3249	0.00	2.17	0.00	0.000	6	0.000	0.034	2245	2328	3019
3566	-0.93	-146.0	276.1	-6.4	304	3567	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2328	3019
3876	-0.93	-146.0	294.8	-6.0	319	3879	0.00	2.33	0.00	0.000	4	0.000	0.059	2245	3749	3019
3893	-0.93	-146.0	295.9	-6.0	319	3899	0.00	2.15	0.00	0.000	6	0.000	0.035	2245	2341	3020
4209	-0.93	-146.0	315.0	-6.1	335	4212	0.00	2.30	0.00	0.000	4	0.000	0.060	2245	3742	3020
4242	-0.98	-146.0	317.1	-6.4	336	4246	0.00	2.15	0.00	0.000	6	0.000	0.034	2244	2329	3021
4565	-0.98	-146.0	334.7	-5.4	352	4568	0.00	2.33	0.00	0.000	4	0.000	0.060	2245	3750	3021
4577	-0.98	-146.0	335.4	-4.9	352	4581	0.00	2.15	0.00	0.000	6	0.000	0.034	2244	2338	3021
4899	-0.98	-146.0	352.9	-5.6	368	4900	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2338	3022
5208	-0.98	-146.0	371.7	-6.2	383	5210	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2338	3023
5517	-1.03	-146.0	391.5	-6.5	398	5522	0.12	2.33	0.00	0.000	4	0.092	0.058	2193	3748	3023
5528	-1.03	-146.0	392.4	-6.8	398	5534	0.00	2.15	0.00	0.000	6	0.000	0.033	2193	2336	3023
5841	-0.91	-146.0	418.3	-8.2	409	5846	0.17	2.33	0.00	0.000	4	0.143	0.059	2244	3743	3023
5852	-0.83	-146.0	419.4	-8.0	409	5856	0.00	2.15	0.00	0.000	6	0.000	0.033	2243	2330	3023
6166	-0.88	-146.0	439.7	-6.5	417	6167	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2330	3024
6491	-0.93	-146.0	459.7	-6.1	425	6495	0.00	2.30	0.00	0.000	4	0.000	0.058	2243	3743	3024
6503	-0.98	-146.0	460.5	-6.0	425	6506	0.00	2.15	0.00	0.000	6	0.000	0.033	2244	2329	3024
6822	-1.03	-146.0	479.7	-6.1	433	6827	0.12	2.33	0.00	0.000	4	0.091	0.058	2192	3754	3024
6833	-1.03	-146.0	480.5	-6.2	433	6837	0.00	2.15	0.00	0.000	6	0.000	0.033	2192	2340	3024
7147	-0.92	-146.0	503.5	-7.3	441	7152	0.15	2.33	0.00	0.000	4	0.146	0.058	2233	3752	3025
7203	-0.97	-146.0	507.2	-6.5	442	7207	0.00	2.15	0.00	0.000	6	0.000	0.033	2234	2340	3024
7516	-0.97	-146.0	526.0	-6.0	450	7520	0.00	2.30	0.00	0.000	4	0.000	0.058	2233	3746	3024
7529	-0.97	-146.0	526.7	-6.0	450	7532	0.00	2.15	0.00	0.000	6	0.000	0.033	2233	2331	3024
7847	-0.97	-146.0	546.4	-6.2	458	7851	0.00	2.30	0.00	0.000	4	0.000	0.058	2234	3742	3024
7864	-0.97	-146.0	547.4	-6.0	458	7868	0.00	2.15	0.00	0.000	6	0.000	0.033	2234	2328	3024
8178	-0.97	-146.0	565.2	-5.9	466	8182	0.00	2.33	0.00	0.000	4	0.000	0.058	2233	3749	3025
8188	-0.97	-146.0	566.0	-6.0	466	8193	0.00	2.12	0.00	0.000	6	0.000	0.033	2233	2341	3024
8507	-0.97	-146.0	583.9	-5.5	474	8511	0.00	2.30	0.00	0.000	4	0.000	0.059	2234	3746	3024
8518	-0.97	-146.0	584.6	-5.6	474	8522	0.00	2.15	0.00	0.000	6	0.000	0.033	2233	2333	3024
8838	-0.97	-146.0	603.1	-5.8	482	8842	0.00	2.30	0.00	0.000	4	0.000	0.058	2234	3749	3025
8871	-1.03	-146.0	605.2	-6.3	482	8875	0.00	2.15	0.00	0.000	6	0.000	0.034	2233	2337	3025
9209	-1.08	-146.0	624.3	-5.6	491	9214	0.12	2.30	0.00	0.000	4	0.099	0.058	2188	3747	3025
9245	-0.98	-146.0	626.7	-7.4	491	9249	0.15	2.15	0.00	0.000	6	0.144	0.033	2229	2334	3024
9578	end dive: TARGET_DEPTH_EXCEEDED
state	9578	begin apogee
9585	-0.34	0.0	646.3	5.8	500	9718	0.43	0.00	130.52	1.205	6	0.136	0.000	2362	2516	2420
9719	end apogee: CONTROL_FINISHED_OK
state	9719	begin climb
9722	1.08	146.0	648.4	0.0	503	9874	1.02	2.70	138.90	1.113	4	0.100	0.057	2669	3931	1824
9949	0.82	146.0	629.1	10.6	509	9954	0.22	2.35	0.00	0.000	6	0.134	0.035	2609	2525	1824
10273	0.85	168.4	608.4	6.3	517	10298	0.00	2.25	19.52	1.105	4	0.000	0.047	2610	1114	1733
10355	0.97	178.0	603.2	6.7	518	10371	0.12	2.22	9.75	1.002	6	0.074	0.044	2663	2530	1694
10693	0.88	178.0	574.3	8.7	527	10698	0.15	2.22	0.00	0.000	4	0.129	0.058	2618	3930	1694
10788	0.88	178.0	566.4	7.7	529	10792	0.00	2.17	0.00	0.000	6	0.000	0.036	2618	2502	1693
11113	0.96	198.5	545.8	6.3	537	11137	0.10	2.22	18.08	1.102	4	0.092	0.048	2663	1123	1610
11206	0.96	198.5	538.1	9.5	539	11210	0.00	2.20	0.00	0.000	6	0.000	0.043	2663	2525	1611
11530	0.89	198.5	510.6	8.5	547	11534	0.12	2.25	0.00	0.000	4	0.134	0.059	2626	3930	1609
11585	0.89	198.5	505.9	8.4	548	11589	0.00	2.15	0.00	0.000	6	0.000	0.035	2626	2516	1610
11904	0.95	198.5	483.2	7.3	556	11908	0.00	2.17	0.00	0.000	4	0.000	0.047	2626	1109	1610
11973	1.04	198.5	477.8	7.7	557	11978	0.12	2.20	0.00	0.000	6	0.077	0.042	2678	2524	1610
12322	0.94	198.5	443.2	9.9	566	12326	0.15	2.25	0.00	0.000	4	0.127	0.058	2632	3929	1609
12394	0.88	198.5	436.3	9.3	567	12398	0.00	2.15	0.00	0.000	6	0.000	0.035	2632	2517	1609
12739	0.88	198.5	411.1	7.2	576	12742	0.00	2.17	0.00	0.000	4	0.000	0.046	2632	1110	1609
12830	0.96	199.0	404.7	7.0	578	12834	0.00	2.17	0.00	0.000	6	0.000	0.043	2632	2520	1609
13164	0.96	200.9	381.5	7.0	592	13173	0.00	2.30	3.25	0.558	4	0.000	0.059	2632	3921	1600
13214	0.96	200.9	377.4	8.3	594	13218	0.00	2.15	0.00	0.000	6	0.000	0.035	2632	2509	1601
13542	1.01	200.9	353.9	7.3	610	13546	0.08	2.17	0.00	0.000	4	0.099	0.045	2671	1110	1602
13625	1.01	200.9	346.4	9.3	613	13631	0.00	2.20	0.00	0.000	6	0.000	0.043	2671	2520	1602
13941	0.94	200.9	317.3	9.2	629	13946	0.12	2.25	0.00	0.000	4	0.137	0.057	2635	3927	1602
14009	0.89	200.9	311.2	8.7	632	14013	0.00	2.15	0.00	0.000	6	0.000	0.035	2635	2508	1602
14342	0.96	207.3	287.6	6.8	648	14356	0.00	2.22	6.75	0.824	4	0.000	0.046	2635	1120	1575
14425	1.06	214.5	281.7	6.8	651	14441	0.12	2.20	7.95	0.852	6	0.079	0.043	2689	2533	1545
14764	0.97	214.5	251.4	9.1	668	14769	0.15	2.25	0.00	0.000	4	0.124	0.058	2642	3931	1547
14820	0.97	214.5	246.7	8.0	670	14824	0.00	2.15	0.00	0.000	6	0.000	0.035	2642	2518	1546
15141	1.04	230.2	226.4	6.5	686	15163	0.00	2.22	14.18	0.905	4	0.000	0.046	2642	1124	1481
15243	1.18	248.3	220.0	6.4	690	15264	0.17	2.17	16.02	0.898	6	0.067	0.042	2714	2520	1408
15583	1.05	248.3	186.7	10.1	707	15585	0.17	0.00	0.00	0.000	6	0.123	0.000	2660	2520	1408
15891	1.11	248.3	163.6	7.4	722	15894	0.00	2.20	0.00	0.000	4	0.000	0.046	2659	1113	1408
15959	1.22	252.4	158.6	6.9	725	15970	0.15	2.17	5.10	0.684	6	0.071	0.042	2719	2520	1390
16288	1.09	252.4	122.9	11.3	741	16290	0.17	0.00	0.00	0.000	6	0.117	0.000	2665	2521	1392
16598	1.18	259.4	98.1	6.8	759	16612	0.10	2.28	7.35	0.750	4	0.084	0.045	2710	1114	1362
16699	1.18	259.4	89.5	9.0	776	16705	0.00	2.20	0.00	0.000	6	0.000	0.042	2710	2532	1364
17043	1.18	259.4	59.7	8.7	837	17049	0.00	2.22	0.00	0.000	4	0.000	0.059	2711	3926	1364
17124	1.09	259.4	52.4	8.8	851	17131	0.15	2.15	0.00	0.000	6	0.123	0.035	2664	2513	1365
17470	1.24	271.7	30.3	6.6	912	17489	0.15	2.20	11.77	0.808	4	0.071	0.047	2731	1110	1312
17611	1.29	304.2	17.9	5.9	936	17646	0.00	2.22	27.23	0.844	6	0.000	0.044	2732	2532	1178
17785	end climb: SURFACE_DEPTH_REACHED
state	17785	begin surface coast
17811	end surface coast: CONTROL_FINISHED_OK
state	17811	begin surface