Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 411 * 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 411 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 39 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 -32743.529 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 -32743.529

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 39 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 411 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 154755,6702.514,-5704.847,68,1.8,68,-37.6 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 6 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.191,0.118

_SM_DEPTHo 1.32 KALMAN_X -138374.8,-561.8,-768.0,153993.4,1897.8

_SM_ANGLEo -55.4 KALMAN_Y 2389.8,176.5,448.7,10968.4,-1854.7

GPS2 155753,6702.426,-5704.869,13,4.2,32,-37.6 MHEAD_RNG_PITCHd_Wd 95.8,12228,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 698

Post-dive calculations and measurements:

FINISH 0.5,1.027005 TCM_TEMP 17.10

SM_CCo 19223,0.00,0.000,0,0,1049,336.31 XPDR_PINGS 2

SM_GC 1.30,7.15,0.00,0.00,0.065,0.000,0.000,165,2339,1049,-10.39,-0.03,336.31 _24V_AH 20.2,75.217

RAFOS_CLK 994 _10V_AH 10.6,33.672

RAFOS 0,1228838644,16.083334,16.067778,59,56,56,56,52,49,176,203,221,230,147,129 DATA_FILE_SIZE 37793,1038

RAFOS_FIX 6702.995605,-5722.701172,091208,000052,3,95,0.49 CAP_FILE_SIZE 148937,0

IRIDIUM_FIX 6631.12,-5713.57,050398,161605 CFSIZE 260165632,220520448

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

HUMID 1867 SOUNDSPEED 1468.5

INTERNAL_PRESSURE 8.58431 GPS 091208,212038,6703.778,-5659.443,39,1.5,39,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 255 110.80 SBE_CT 803 24 389.48

Roll_motor 143 63 184.47 SBE_O2 704 19 270.24

VBD_pump_during_apogee 440 1232 10962.54 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 50 103 104.50 nil 0 0 0.00

Iridium_during_connect 67 160 217.20 nil 0 0 0.00

Iridium_during_xfer 244 223 1101.74

Transponder_ping 0 420 4.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.40

TT8 1879 19 396.80

LPSleep 14607 2 357.68

TT8_Active 595 19 125.68

TT8_Sampling 2006 39 849.23

TT8_CF8 724 45 352.55

TT8_Kalman 33 81 28.99

Analog_circuits 1682 12 213.99

GPS_charging 0 0 0.00

Compass 1954 8 165.73

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.08 -146.0 0.0 0.0 0 136 0.00 0.00 -116.90 0.000 6 0.000 0.000 156 2334 3016

140 -1.08 -146.0 2.9 -3.5 21 154 8.68 2.28 0.00 0.000 4 0.255 0.052 2201 931 3021

279 -0.56 -146.0 20.1 -9.5 45 286 0.40 2.25 0.00 0.000 6 0.167 0.048 2315 2350 3022

624 -0.56 -146.0 48.9 -13.4 106 629 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 2350 3023

968 -0.64 -146.0 78.2 -6.8 167 974 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 2350 3023

1313 -0.76 -146.0 99.5 -5.4 228 1319 0.15 0.00 0.00 0.000 6 0.086 0.000 2258 2350 3022

1635 -0.76 -146.0 122.9 -6.3 245 1639 0.00 2.30 0.00 0.000 4 0.000 0.064 2258 3750 3021

1674 -0.76 -146.0 125.5 -6.8 246 1681 0.00 2.17 0.00 0.000 6 0.000 0.035 2258 2337 3022

1990 -0.76 -146.0 148.1 -6.5 262 1992 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2337 3021

2300 -0.76 -146.0 166.2 -5.7 277 2303 0.00 2.33 0.00 0.000 4 0.000 0.061 2258 3745 3021

2351 -0.76 -146.0 169.3 -6.4 279 2355 0.00 2.17 0.00 0.000 6 0.000 0.035 2258 2330 3021

2678 -0.76 -146.0 188.5 -5.9 295 2682 0.00 2.17 0.00 0.000 4 0.000 0.047 2258 938 3022

2718 -0.76 -146.0 191.2 -7.2 296 2724 0.00 2.22 0.00 0.000 6 0.000 0.044 2258 2348 3022

3035 -0.76 -146.0 211.8 -6.3 312 3036 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2348 3022

3343 -0.76 -146.0 230.8 -5.9 327 3347 0.00 2.28 0.00 0.000 4 0.000 0.061 2258 3743 3022

3417 -0.82 -146.0 235.1 -5.5 330 3421 0.00 2.15 0.00 0.000 6 0.000 0.034 2258 2336 3022

3745 -0.82 -146.0 252.9 -5.8 346 3749 0.00 2.33 0.00 0.000 4 0.000 0.058 2258 3752 3023

3780 -0.89 -146.0 255.0 -5.9 347 3784 0.00 2.17 0.00 0.000 6 0.000 0.034 2258 2330 3023

4101 -0.89 -146.0 274.5 -5.9 363 4105 0.00 2.35 0.00 0.000 4 0.000 0.058 2258 3755 3025

4119 -0.94 -146.0 275.5 -5.6 363 4126 0.10 2.17 0.00 0.000 6 0.096 0.033 2220 2331 3024

4435 -0.85 -146.0 302.0 -8.6 379 4437 0.12 0.00 0.00 0.000 6 0.158 0.000 2254 2328 3025

4744 -0.85 -146.0 325.5 -7.5 394 4748 0.00 2.33 0.00 0.000 4 0.000 0.060 2254 3745 3026

4795 -0.93 -146.0 329.4 -8.3 396 4799 0.00 2.15 0.00 0.000 6 0.000 0.035 2254 2343 3025

5123 -0.98 -146.0 351.4 -6.3 412 5128 0.12 2.22 0.00 0.000 4 0.093 0.047 2207 931 3025

5147 -0.90 -146.0 353.1 -7.2 413 5152 0.15 2.25 0.00 0.000 6 0.157 0.044 2245 2355 3025

5468 -0.90 -146.0 372.9 -5.7 429 5472 0.00 2.28 0.00 0.000 4 0.000 0.059 2245 3750 3024

5519 -0.97 -146.0 376.0 -5.9 431 5523 0.00 2.17 0.00 0.000 6 0.000 0.034 2245 2331 3024

5847 -0.97 -146.0 393.4 -5.2 447 5848 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2331 3024

6173 -0.97 -146.0 411.4 -5.5 458 6177 0.00 2.35 0.00 0.000 4 0.000 0.059 2245 3752 3023

6213 -1.04 -146.0 413.7 -6.0 458 6220 0.12 2.17 0.00 0.000 6 0.093 0.035 2200 2338 3024

6545 -0.93 -146.0 438.5 -7.6 467 6550 0.12 2.35 0.00 0.000 4 0.150 0.060 2234 3746 3024

6618 -0.98 -146.0 443.7 -7.4 468 6622 0.00 2.17 0.00 0.000 6 0.000 0.035 2234 2327 3024

6955 -0.98 -146.0 464.4 -6.0 477 6959 0.00 2.33 0.00 0.000 4 0.000 0.058 2234 3743 3024

6996 -1.02 -146.0 467.0 -7.3 477 7002 0.00 2.15 0.00 0.000 6 0.000 0.035 2234 2338 3023

7327 -1.02 -146.0 487.8 -6.4 486 7331 0.00 2.33 0.00 0.000 4 0.000 0.058 2234 3749 3023

7383 -1.02 -146.0 491.7 -7.1 487 7387 0.00 2.17 0.00 0.000 6 0.000 0.035 2234 2332 3023

7702 -1.02 -146.0 512.1 -6.3 495 7705 0.00 2.33 0.00 0.000 4 0.000 0.058 2234 3743 3024

7741 -1.07 -146.0 514.7 -6.6 495 7748 0.12 2.15 0.00 0.000 6 0.097 0.035 2190 2338 3024

8073 -0.95 -146.0 539.3 -7.4 504 8078 0.15 2.33 0.00 0.000 4 0.146 0.058 2231 3743 3024

8101 -0.95 -146.0 541.3 -6.6 504 8104 0.00 2.15 0.00 0.000 6 0.000 0.034 2231 2337 3024

8439 -0.95 -146.0 559.9 -5.4 513 8442 0.00 2.33 0.00 0.000 4 0.000 0.058 2231 3750 3024

8478 -0.95 -146.0 562.3 -5.7 513 8484 0.00 2.17 0.00 0.000 6 0.000 0.034 2231 2330 3024

8810 -0.95 -146.0 580.1 -5.4 522 8811 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2330 3024

9135 -0.95 -146.0 597.9 -5.5 530 9139 0.00 2.35 0.00 0.000 4 0.000 0.058 2231 3752 3024

9181 -1.00 -146.0 600.6 -5.7 531 9184 0.00 2.17 0.00 0.000 6 0.000 0.035 2231 2330 3025

9511 -1.00 -146.0 619.1 -5.5 539 9515 0.00 2.33 0.00 0.000 4 0.000 0.058 2231 3743 3025

9545 -1.05 -146.0 621.0 -5.3 539 9550 0.10 2.15 0.00 0.000 6 0.097 0.034 2193 2336 3025

9883 -0.94 -146.0 644.1 -7.2 548 9884 0.15 0.00 0.00 0.000 6 0.145 0.000 2235 2334 3025

10208 -0.94 -146.0 663.0 -6.0 556 10209 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2334 3025

10534 -1.29 -146.0 670.3 -0.0 564 10538 0.22 2.35 0.00 0.000 4 0.074 0.059 2138 3748 3026

10609 end dive: NO_VERTICAL_VELOCITY

state 10609 begin apogee

10617 -0.34 0.0 670.3 0.0 565 10752 0.68 0.00 131.57 1.233 6 0.109 0.000 2364 2515 2420

10753 end apogee: CONTROL_FINISHED_OK

state 10753 begin climb

10756 1.08 146.0 669.7 0.0 569 10914 1.02 2.62 142.02 1.135 4 0.104 0.045 2667 1116 1824

11095 0.99 146.0 642.6 9.1 576 11101 0.00 2.30 0.00 0.000 6 0.000 0.043 2667 2524 1823

11427 0.86 146.0 613.2 8.8 585 11431 0.17 2.25 0.00 0.000 4 0.140 0.058 2615 3934 1822

11488 0.80 146.0 608.2 7.4 586 11492 0.00 2.17 0.00 0.000 6 0.000 0.036 2615 2507 1822

11801 0.82 162.2 587.9 6.5 594 11817 0.00 0.00 14.15 1.114 6 0.000 0.000 2615 2507 1758

12127 0.88 174.6 566.6 6.6 602 12140 0.00 0.00 11.73 1.081 6 0.000 0.000 2615 2507 1708

12451 0.95 174.6 544.0 7.2 610 12453 0.10 0.00 0.00 0.000 6 0.088 0.000 2660 2506 1710

12776 0.87 174.6 515.2 8.8 618 12781 0.15 2.33 0.00 0.000 4 0.136 0.059 2615 3932 1709

12826 0.87 174.6 510.9 8.1 619 12830 0.00 2.17 0.00 0.000 6 0.000 0.036 2615 2506 1709

13145 0.97 203.9 490.7 6.0 627 13173 0.12 0.00 25.45 1.118 6 0.079 0.000 2666 2505 1588

13470 0.92 203.9 463.4 8.7 635 13471 0.12 0.00 0.00 0.000 6 0.133 0.000 2629 2505 1589

13795 0.98 203.9 440.3 7.0 643 13799 0.00 2.17 0.00 0.000 4 0.000 0.048 2629 1108 1589

13829 1.10 211.8 438.0 6.8 643 13842 0.15 2.20 7.97 0.943 6 0.072 0.042 2691 2523 1556

14167 0.98 211.8 405.1 9.8 652 14172 0.15 2.25 0.00 0.000 4 0.125 0.058 2646 3926 1557

14217 0.92 211.8 400.4 8.4 653 14221 0.00 2.15 0.00 0.000 6 0.000 0.035 2645 2515 1557

14541 0.92 211.8 375.8 7.7 668 14544 0.00 2.17 0.00 0.000 4 0.000 0.047 2645 1110 1557

14592 0.98 211.8 371.6 7.9 670 14596 0.00 2.20 0.00 0.000 6 0.000 0.042 2646 2522 1557

14919 0.98 211.8 346.2 7.6 686 14920 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2522 1557

15228 0.98 211.8 322.9 7.7 701 15229 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2522 1557

15538 0.99 216.1 300.5 6.9 716 15545 0.00 0.00 5.40 0.780 6 0.000 0.000 2646 2522 1539

15847 1.01 231.4 280.6 6.5 731 15868 0.00 2.28 13.93 0.957 4 0.000 0.047 2646 1123 1476

15897 1.13 239.3 277.0 6.8 733 15914 0.12 2.20 8.38 0.867 6 0.082 0.044 2695 2527 1444

16226 1.05 239.3 246.8 9.7 749 16228 0.12 0.00 0.00 0.000 6 0.133 0.000 2659 2527 1443

16533 1.05 239.3 222.0 7.8 764 16537 0.00 2.22 0.00 0.000 4 0.000 0.048 2659 1114 1443

16562 1.12 239.3 219.7 7.4 765 16566 0.00 2.20 0.00 0.000 6 0.000 0.042 2659 2524 1443

16890 1.20 255.6 196.5 6.5 781 16912 0.12 2.25 14.23 0.907 4 0.079 0.047 2716 1115 1378

16936 1.11 255.6 192.3 9.0 783 16940 0.15 2.20 0.00 0.000 6 0.130 0.042 2671 2523 1378

17263 1.11 255.6 165.7 7.3 799 17264 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 2523 1379

17571 1.11 255.6 140.7 8.6 814 17575 0.00 2.22 0.00 0.000 4 0.000 0.047 2671 1107 1379

17610 1.21 255.6 137.5 7.9 815 17617 0.10 2.20 0.00 0.000 6 0.084 0.041 2711 2520 1379

17927 1.12 255.6 105.0 10.3 831 17932 0.12 2.28 0.00 0.000 4 0.128 0.056 2673 3937 1380

17967 1.12 255.6 101.4 8.8 833 17970 0.00 2.17 0.00 0.000 6 0.000 0.035 2673 2510 1380

18311 1.19 259.6 75.8 6.9 891 18318 0.00 0.00 5.05 0.669 6 0.000 0.000 2673 2510 1361

18657 1.35 333.9 50.2 4.5 952 18727 0.17 2.28 60.42 0.858 4 0.067 0.049 2748 1126 1056

18807 1.35 333.9 34.2 12.2 978 18813 0.00 2.20 0.00 0.000 6 0.000 0.045 2748 2528 1054

19125 end climb: SURFACE_DEPTH_REACHED

state 19125 begin surface coast

19143 end surface coast: CONTROL_FINISHED_OK

state 19143 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	411	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	39	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	-32743.529	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	154755,6702.514,-5704.847,68,1.8,68,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	6	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.191,0.118
_SM_DEPTHo	1.32	KALMAN_X	-138374.8,-561.8,-768.0,153993.4,1897.8
_SM_ANGLEo	-55.4	KALMAN_Y	2389.8,176.5,448.7,10968.4,-1854.7
GPS2	155753,6702.426,-5704.869,13,4.2,32,-37.6	MHEAD_RNG_PITCHd_Wd	95.8,12228,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	698

FINISH	0.5,1.027005	TCM_TEMP	17.10
SM_CCo	19223,0.00,0.000,0,0,1049,336.31	XPDR_PINGS	2
SM_GC	1.30,7.15,0.00,0.00,0.065,0.000,0.000,165,2339,1049,-10.39,-0.03,336.31	_24V_AH	20.2,75.217
RAFOS_CLK	994	_10V_AH	10.6,33.672
RAFOS	0,1228838644,16.083334,16.067778,59,56,56,56,52,49,176,203,221,230,147,129	DATA_FILE_SIZE	37793,1038
RAFOS_FIX	6702.995605,-5722.701172,091208,000052,3,95,0.49	CAP_FILE_SIZE	148937,0
IRIDIUM_FIX	6631.12,-5713.57,050398,161605	CFSIZE	260165632,220520448
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1867	SOUNDSPEED	1468.5
INTERNAL_PRESSURE	8.58431	GPS	091208,212038,6703.778,-5659.443,39,1.5,39,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	255	110.80	SBE_CT	803	24	389.48
Roll_motor	143	63	184.47	SBE_O2	704	19	270.24
VBD_pump_during_apogee	440	1232	10962.54	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	50	103	104.50	nil	0	0	0.00
Iridium_during_connect	67	160	217.20	nil	0	0	0.00
Iridium_during_xfer	244	223	1101.74
Transponder_ping	0	420	4.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.40
TT8	1879	19	396.80
LPSleep	14607	2	357.68
TT8_Active	595	19	125.68
TT8_Sampling	2006	39	849.23
TT8_CF8	724	45	352.55
TT8_Kalman	33	81	28.99
Analog_circuits	1682	12	213.99
GPS_charging	0	0	0.00
Compass	1954	8	165.73
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.08	-146.0	0.0	0.0	0	136	0.00	0.00	-116.90	0.000	6	0.000	0.000	156	2334	3016
140	-1.08	-146.0	2.9	-3.5	21	154	8.68	2.28	0.00	0.000	4	0.255	0.052	2201	931	3021
279	-0.56	-146.0	20.1	-9.5	45	286	0.40	2.25	0.00	0.000	6	0.167	0.048	2315	2350	3022
624	-0.56	-146.0	48.9	-13.4	106	629	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	2350	3023
968	-0.64	-146.0	78.2	-6.8	167	974	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	2350	3023
1313	-0.76	-146.0	99.5	-5.4	228	1319	0.15	0.00	0.00	0.000	6	0.086	0.000	2258	2350	3022
1635	-0.76	-146.0	122.9	-6.3	245	1639	0.00	2.30	0.00	0.000	4	0.000	0.064	2258	3750	3021
1674	-0.76	-146.0	125.5	-6.8	246	1681	0.00	2.17	0.00	0.000	6	0.000	0.035	2258	2337	3022
1990	-0.76	-146.0	148.1	-6.5	262	1992	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2337	3021
2300	-0.76	-146.0	166.2	-5.7	277	2303	0.00	2.33	0.00	0.000	4	0.000	0.061	2258	3745	3021
2351	-0.76	-146.0	169.3	-6.4	279	2355	0.00	2.17	0.00	0.000	6	0.000	0.035	2258	2330	3021
2678	-0.76	-146.0	188.5	-5.9	295	2682	0.00	2.17	0.00	0.000	4	0.000	0.047	2258	938	3022
2718	-0.76	-146.0	191.2	-7.2	296	2724	0.00	2.22	0.00	0.000	6	0.000	0.044	2258	2348	3022
3035	-0.76	-146.0	211.8	-6.3	312	3036	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2348	3022
3343	-0.76	-146.0	230.8	-5.9	327	3347	0.00	2.28	0.00	0.000	4	0.000	0.061	2258	3743	3022
3417	-0.82	-146.0	235.1	-5.5	330	3421	0.00	2.15	0.00	0.000	6	0.000	0.034	2258	2336	3022
3745	-0.82	-146.0	252.9	-5.8	346	3749	0.00	2.33	0.00	0.000	4	0.000	0.058	2258	3752	3023
3780	-0.89	-146.0	255.0	-5.9	347	3784	0.00	2.17	0.00	0.000	6	0.000	0.034	2258	2330	3023
4101	-0.89	-146.0	274.5	-5.9	363	4105	0.00	2.35	0.00	0.000	4	0.000	0.058	2258	3755	3025
4119	-0.94	-146.0	275.5	-5.6	363	4126	0.10	2.17	0.00	0.000	6	0.096	0.033	2220	2331	3024
4435	-0.85	-146.0	302.0	-8.6	379	4437	0.12	0.00	0.00	0.000	6	0.158	0.000	2254	2328	3025
4744	-0.85	-146.0	325.5	-7.5	394	4748	0.00	2.33	0.00	0.000	4	0.000	0.060	2254	3745	3026
4795	-0.93	-146.0	329.4	-8.3	396	4799	0.00	2.15	0.00	0.000	6	0.000	0.035	2254	2343	3025
5123	-0.98	-146.0	351.4	-6.3	412	5128	0.12	2.22	0.00	0.000	4	0.093	0.047	2207	931	3025
5147	-0.90	-146.0	353.1	-7.2	413	5152	0.15	2.25	0.00	0.000	6	0.157	0.044	2245	2355	3025
5468	-0.90	-146.0	372.9	-5.7	429	5472	0.00	2.28	0.00	0.000	4	0.000	0.059	2245	3750	3024
5519	-0.97	-146.0	376.0	-5.9	431	5523	0.00	2.17	0.00	0.000	6	0.000	0.034	2245	2331	3024
5847	-0.97	-146.0	393.4	-5.2	447	5848	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2331	3024
6173	-0.97	-146.0	411.4	-5.5	458	6177	0.00	2.35	0.00	0.000	4	0.000	0.059	2245	3752	3023
6213	-1.04	-146.0	413.7	-6.0	458	6220	0.12	2.17	0.00	0.000	6	0.093	0.035	2200	2338	3024
6545	-0.93	-146.0	438.5	-7.6	467	6550	0.12	2.35	0.00	0.000	4	0.150	0.060	2234	3746	3024
6618	-0.98	-146.0	443.7	-7.4	468	6622	0.00	2.17	0.00	0.000	6	0.000	0.035	2234	2327	3024
6955	-0.98	-146.0	464.4	-6.0	477	6959	0.00	2.33	0.00	0.000	4	0.000	0.058	2234	3743	3024
6996	-1.02	-146.0	467.0	-7.3	477	7002	0.00	2.15	0.00	0.000	6	0.000	0.035	2234	2338	3023
7327	-1.02	-146.0	487.8	-6.4	486	7331	0.00	2.33	0.00	0.000	4	0.000	0.058	2234	3749	3023
7383	-1.02	-146.0	491.7	-7.1	487	7387	0.00	2.17	0.00	0.000	6	0.000	0.035	2234	2332	3023
7702	-1.02	-146.0	512.1	-6.3	495	7705	0.00	2.33	0.00	0.000	4	0.000	0.058	2234	3743	3024
7741	-1.07	-146.0	514.7	-6.6	495	7748	0.12	2.15	0.00	0.000	6	0.097	0.035	2190	2338	3024
8073	-0.95	-146.0	539.3	-7.4	504	8078	0.15	2.33	0.00	0.000	4	0.146	0.058	2231	3743	3024
8101	-0.95	-146.0	541.3	-6.6	504	8104	0.00	2.15	0.00	0.000	6	0.000	0.034	2231	2337	3024
8439	-0.95	-146.0	559.9	-5.4	513	8442	0.00	2.33	0.00	0.000	4	0.000	0.058	2231	3750	3024
8478	-0.95	-146.0	562.3	-5.7	513	8484	0.00	2.17	0.00	0.000	6	0.000	0.034	2231	2330	3024
8810	-0.95	-146.0	580.1	-5.4	522	8811	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2330	3024
9135	-0.95	-146.0	597.9	-5.5	530	9139	0.00	2.35	0.00	0.000	4	0.000	0.058	2231	3752	3024
9181	-1.00	-146.0	600.6	-5.7	531	9184	0.00	2.17	0.00	0.000	6	0.000	0.035	2231	2330	3025
9511	-1.00	-146.0	619.1	-5.5	539	9515	0.00	2.33	0.00	0.000	4	0.000	0.058	2231	3743	3025
9545	-1.05	-146.0	621.0	-5.3	539	9550	0.10	2.15	0.00	0.000	6	0.097	0.034	2193	2336	3025
9883	-0.94	-146.0	644.1	-7.2	548	9884	0.15	0.00	0.00	0.000	6	0.145	0.000	2235	2334	3025
10208	-0.94	-146.0	663.0	-6.0	556	10209	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2334	3025
10534	-1.29	-146.0	670.3	-0.0	564	10538	0.22	2.35	0.00	0.000	4	0.074	0.059	2138	3748	3026
10609	end dive: NO_VERTICAL_VELOCITY
state	10609	begin apogee
10617	-0.34	0.0	670.3	0.0	565	10752	0.68	0.00	131.57	1.233	6	0.109	0.000	2364	2515	2420
10753	end apogee: CONTROL_FINISHED_OK
state	10753	begin climb
10756	1.08	146.0	669.7	0.0	569	10914	1.02	2.62	142.02	1.135	4	0.104	0.045	2667	1116	1824
11095	0.99	146.0	642.6	9.1	576	11101	0.00	2.30	0.00	0.000	6	0.000	0.043	2667	2524	1823
11427	0.86	146.0	613.2	8.8	585	11431	0.17	2.25	0.00	0.000	4	0.140	0.058	2615	3934	1822
11488	0.80	146.0	608.2	7.4	586	11492	0.00	2.17	0.00	0.000	6	0.000	0.036	2615	2507	1822
11801	0.82	162.2	587.9	6.5	594	11817	0.00	0.00	14.15	1.114	6	0.000	0.000	2615	2507	1758
12127	0.88	174.6	566.6	6.6	602	12140	0.00	0.00	11.73	1.081	6	0.000	0.000	2615	2507	1708
12451	0.95	174.6	544.0	7.2	610	12453	0.10	0.00	0.00	0.000	6	0.088	0.000	2660	2506	1710
12776	0.87	174.6	515.2	8.8	618	12781	0.15	2.33	0.00	0.000	4	0.136	0.059	2615	3932	1709
12826	0.87	174.6	510.9	8.1	619	12830	0.00	2.17	0.00	0.000	6	0.000	0.036	2615	2506	1709
13145	0.97	203.9	490.7	6.0	627	13173	0.12	0.00	25.45	1.118	6	0.079	0.000	2666	2505	1588
13470	0.92	203.9	463.4	8.7	635	13471	0.12	0.00	0.00	0.000	6	0.133	0.000	2629	2505	1589
13795	0.98	203.9	440.3	7.0	643	13799	0.00	2.17	0.00	0.000	4	0.000	0.048	2629	1108	1589
13829	1.10	211.8	438.0	6.8	643	13842	0.15	2.20	7.97	0.943	6	0.072	0.042	2691	2523	1556
14167	0.98	211.8	405.1	9.8	652	14172	0.15	2.25	0.00	0.000	4	0.125	0.058	2646	3926	1557
14217	0.92	211.8	400.4	8.4	653	14221	0.00	2.15	0.00	0.000	6	0.000	0.035	2645	2515	1557
14541	0.92	211.8	375.8	7.7	668	14544	0.00	2.17	0.00	0.000	4	0.000	0.047	2645	1110	1557
14592	0.98	211.8	371.6	7.9	670	14596	0.00	2.20	0.00	0.000	6	0.000	0.042	2646	2522	1557
14919	0.98	211.8	346.2	7.6	686	14920	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2522	1557
15228	0.98	211.8	322.9	7.7	701	15229	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2522	1557
15538	0.99	216.1	300.5	6.9	716	15545	0.00	0.00	5.40	0.780	6	0.000	0.000	2646	2522	1539
15847	1.01	231.4	280.6	6.5	731	15868	0.00	2.28	13.93	0.957	4	0.000	0.047	2646	1123	1476
15897	1.13	239.3	277.0	6.8	733	15914	0.12	2.20	8.38	0.867	6	0.082	0.044	2695	2527	1444
16226	1.05	239.3	246.8	9.7	749	16228	0.12	0.00	0.00	0.000	6	0.133	0.000	2659	2527	1443
16533	1.05	239.3	222.0	7.8	764	16537	0.00	2.22	0.00	0.000	4	0.000	0.048	2659	1114	1443
16562	1.12	239.3	219.7	7.4	765	16566	0.00	2.20	0.00	0.000	6	0.000	0.042	2659	2524	1443
16890	1.20	255.6	196.5	6.5	781	16912	0.12	2.25	14.23	0.907	4	0.079	0.047	2716	1115	1378
16936	1.11	255.6	192.3	9.0	783	16940	0.15	2.20	0.00	0.000	6	0.130	0.042	2671	2523	1378
17263	1.11	255.6	165.7	7.3	799	17264	0.00	0.00	0.00	0.000	6	0.000	0.000	2671	2523	1379
17571	1.11	255.6	140.7	8.6	814	17575	0.00	2.22	0.00	0.000	4	0.000	0.047	2671	1107	1379
17610	1.21	255.6	137.5	7.9	815	17617	0.10	2.20	0.00	0.000	6	0.084	0.041	2711	2520	1379
17927	1.12	255.6	105.0	10.3	831	17932	0.12	2.28	0.00	0.000	4	0.128	0.056	2673	3937	1380
17967	1.12	255.6	101.4	8.8	833	17970	0.00	2.17	0.00	0.000	6	0.000	0.035	2673	2510	1380
18311	1.19	259.6	75.8	6.9	891	18318	0.00	0.00	5.05	0.669	6	0.000	0.000	2673	2510	1361
18657	1.35	333.9	50.2	4.5	952	18727	0.17	2.28	60.42	0.858	4	0.067	0.049	2748	1126	1056
18807	1.35	333.9	34.2	12.2	978	18813	0.00	2.20	0.00	0.000	6	0.000	0.045	2748	2528	1054
19125	end climb: SURFACE_DEPTH_REACHED
state	19125	begin surface coast
19143	end surface coast: CONTROL_FINISHED_OK
state	19143	begin surface