Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 436 * 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 436 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 34 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 -40713.57 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 -40713.57

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 34 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 436 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 055807,6702.614,-5703.070,36,0.8,41,-37.6 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 0.198,0.105

_SM_DEPTHo 1.70 KALMAN_X -132246.2,1281.8,-373.9,146855.6,-909.0

_SM_ANGLEo -60.6 KALMAN_Y -2694.6,-1810.0,1190.8,17652.5,-1841.9

GPS2 060457,6702.639,-5703.172,15,1.7,15,-37.6 MHEAD_RNG_PITCHd_Wd 99.6,10977,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 677

Post-dive calculations and measurements:

FINISH 0.9,1.024949 TCM_TEMP 16.30

SM_CCo 17639,0.00,0.000,0,0,1068,331.65 XPDR_PINGS 0

SM_GC 1.79,7.12,0.00,0.00,0.059,0.000,0.000,155,2336,1068,-10.41,-0.11,331.65 _24V_AH 20.2,80.183

RAFOS_CLK 940 _10V_AH 10.5,36.033

RAFOS 0,1229414673,8.083333,8.075833,62,60,59,59,58,58,206,192,150,225,241,870 DATA_FILE_SIZE 34661,946

RAFOS_FIX 6705.274902,-5708.893066,161208,080820,2,126,0.78 CAP_FILE_SIZE 137841,0

IRIDIUM_FIX 6631.12,-5713.57,120398,000003 CFSIZE 260165632,218640384

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

HUMID 1912 SOUNDSPEED 1462.7

INTERNAL_PRESSURE 8.54525 GPS 161208,110107,6701.896,-5657.177,23,1.4,23,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 257 109.32 SBE_CT 733 24 355.57

Roll_motor 155 67 211.64 SBE_O2 643 19 246.90

VBD_pump_during_apogee 437 1274 11267.57 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 23 103 48.03 nil 0 0 0.00

Iridium_during_connect 32 160 106.25 nil 0 0 0.00

Iridium_during_xfer 200 223 903.16

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.77

TT8 1748 19 365.66

LPSleep 13255 2 321.51

TT8_Active 607 19 127.13

TT8_Sampling 1828 39 766.58

TT8_CF8 608 45 293.40

TT8_Kalman 33 81 28.71

Analog_circuits 1629 12 205.33

GPS_charging 0 0 0.00

Compass 1794 8 150.77

RAFOS 1800 1 28.35

Transponder 0 5 0.03

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.08 -146.0 0.0 0.0 0 149 0.00 0.00 -130.25 0.000 2 0.000 0.000 157 2340 2986

153 -1.08 -146.0 3.1 -2.2 23 168 8.68 2.30 -1.08 0.000 4 0.258 0.067 2200 934 3019

326 -0.63 -146.0 33.2 -15.2 53 333 0.35 2.25 0.00 0.000 6 0.162 0.051 2300 2341 3021

672 -0.63 -146.0 64.4 -8.3 114 678 0.00 2.33 0.00 0.000 4 0.000 0.064 2300 3753 3021

775 -0.68 -146.0 73.0 -8.6 132 782 0.00 2.22 0.00 0.000 6 0.000 0.038 2300 2322 3021

1130 -0.76 -146.0 102.0 -7.9 192 1132 0.12 0.00 0.00 0.000 6 0.100 0.000 2251 2322 3020

1440 -0.68 -146.0 129.9 -8.0 207 1442 0.15 0.00 0.00 0.000 6 0.159 0.000 2291 2322 3021

1749 -0.77 -146.0 149.8 -6.7 222 1754 0.10 2.40 0.00 0.000 4 0.107 0.064 2255 3746 3021

1767 -0.82 -146.0 151.1 -6.9 223 1771 0.00 2.20 0.00 0.000 6 0.000 0.038 2255 2334 3021

2100 -0.82 -146.0 175.1 -6.9 239 2102 0.00 0.00 0.00 0.000 6 0.000 0.000 2255 2334 3021

2409 -0.82 -146.0 194.1 -5.5 254 2413 0.00 2.38 0.00 0.000 4 0.000 0.064 2255 3745 3020

2436 -0.82 -146.0 195.8 -6.6 255 2440 0.00 2.20 0.00 0.000 6 0.000 0.038 2255 2340 3020

2764 -0.82 -146.0 219.6 -7.6 271 2768 0.00 2.25 0.00 0.000 4 0.000 0.051 2255 926 3019

2797 -0.82 -146.0 222.4 -8.2 272 2801 0.00 2.28 0.00 0.000 6 0.000 0.048 2255 2339 3019

3118 -0.82 -146.0 250.2 -9.8 288 3122 0.00 2.33 0.00 0.000 4 0.000 0.063 2255 3745 3019

3202 -0.89 -146.0 257.8 -9.2 291 3209 0.00 2.20 0.00 0.000 6 0.000 0.038 2255 2331 3019

3519 -0.89 -146.0 281.9 -6.5 307 3522 0.00 2.38 0.00 0.000 4 0.000 0.062 2255 3753 3019

3543 -0.94 -146.0 283.4 -6.3 308 3547 0.10 2.20 0.00 0.000 6 0.101 0.036 2219 2333 3020

3876 -0.87 -146.0 306.1 -7.0 324 3881 0.12 2.35 0.00 0.000 4 0.159 0.061 2249 3743 3021

3927 -0.94 -146.0 309.7 -6.9 326 3930 0.00 2.20 0.00 0.000 6 0.000 0.036 2249 2327 3021

4249 -0.94 -146.0 331.4 -7.0 342 4253 0.00 2.35 0.00 0.000 4 0.000 0.061 2249 3750 3021

4288 -1.02 -146.0 334.5 -7.1 343 4295 0.12 2.20 0.00 0.000 6 0.102 0.035 2204 2328 3021

4604 -0.91 -146.0 362.8 -9.2 359 4609 0.12 2.38 0.00 0.000 4 0.151 0.058 2234 3752 3022

4645 -0.91 -146.0 366.3 -8.8 361 4649 0.00 2.20 0.00 0.000 6 0.000 0.035 2234 2329 3022

4977 -0.91 -146.0 394.1 -8.4 377 4978 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2328 3023

5304 -0.91 -146.0 417.4 -6.6 387 5308 0.00 2.38 0.00 0.000 4 0.000 0.060 2234 3750 3024

5343 -0.91 -146.0 420.2 -7.0 387 5349 0.00 2.20 0.00 0.000 6 0.000 0.035 2234 2330 3023

5675 -0.91 -146.0 442.2 -6.6 396 5679 0.00 2.38 0.00 0.000 4 0.000 0.060 2234 3753 3024

5709 -0.91 -146.0 444.6 -6.8 396 5713 0.00 2.20 0.00 0.000 6 0.000 0.035 2234 2331 3024

6046 -0.91 -146.0 468.2 -7.1 405 6050 0.00 2.35 0.00 0.000 4 0.000 0.060 2234 3744 3024

6074 -0.95 -146.0 470.3 -7.8 405 6078 0.00 2.17 0.00 0.000 6 0.000 0.035 2234 2337 3024

6417 -0.95 -146.0 493.9 -7.0 414 6421 0.00 2.35 0.00 0.000 4 0.000 0.060 2234 3750 3025

6464 -1.01 -146.0 497.2 -7.6 415 6467 0.00 2.20 0.00 0.000 6 0.000 0.035 2234 2327 3025

6795 -1.01 -146.0 519.4 -6.6 423 6799 0.00 2.35 0.00 0.000 4 0.000 0.060 2234 3745 3025

6822 -1.01 -146.0 521.5 -7.4 423 6826 0.00 2.17 0.00 0.000 6 0.000 0.035 2234 2337 3026

7164 -1.01 -146.0 545.7 -7.4 432 7168 0.00 2.35 0.00 0.000 4 0.000 0.060 2234 3749 3026

7204 -1.06 -146.0 548.7 -7.6 432 7211 0.10 2.20 0.00 0.000 6 0.109 0.035 2199 2330 3026

7537 -0.96 -146.0 575.8 -8.5 441 7541 0.12 2.38 0.00 0.000 4 0.155 0.060 2232 3745 3026

7558 -0.96 -146.0 577.8 -8.1 441 7562 0.00 2.17 0.00 0.000 6 0.000 0.035 2231 2340 3026

7901 -0.96 -146.0 604.2 -7.9 450 7905 0.00 2.35 0.00 0.000 4 0.000 0.061 2232 3748 3026

7940 -1.01 -146.0 607.2 -8.0 450 7947 0.00 2.20 0.00 0.000 6 0.000 0.036 2231 2332 3026

8272 -1.01 -146.0 632.2 -7.5 459 8273 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2332 3026

8597 -1.01 -146.0 655.7 -7.1 467 8601 0.00 2.38 0.00 0.000 4 0.000 0.062 2231 3748 3026

8659 -1.07 -146.0 660.4 -7.3 468 8663 0.12 2.20 0.00 0.000 6 0.097 0.036 2189 2334 3025

8876 end dive: TARGET_DEPTH_EXCEEDED

state 8876 begin apogee

8884 -0.34 0.0 678.1 7.8 474 9019 0.57 0.00 132.10 1.275 6 0.136 0.000 2364 2523 2420

9020 end apogee: CONTROL_FINISHED_OK

state 9020 begin climb

9023 1.08 146.0 680.4 0.0 477 9184 1.02 2.80 144.05 1.164 4 0.096 0.061 2665 3921 1824

9291 0.83 146.0 660.6 9.0 483 9296 0.20 2.42 0.00 0.000 6 0.139 0.037 2615 2520 1823

9604 0.88 185.1 643.0 5.7 491 9643 0.00 0.00 33.33 1.208 6 0.000 0.000 2615 2520 1666

9970 1.00 217.2 621.1 5.9 500 10001 0.12 0.00 27.83 1.203 6 0.077 0.000 2665 2518 1534

10294 0.94 217.2 594.7 8.1 508 10296 0.10 0.00 0.00 0.000 6 0.142 0.000 2638 2518 1535

10619 0.94 217.2 570.4 7.7 516 10620 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2518 1534

10944 0.94 217.2 546.8 7.2 524 10948 0.00 2.22 0.00 0.000 4 0.000 0.051 2639 1111 1534

10984 1.04 232.4 544.1 6.5 524 11005 0.10 2.25 13.77 1.140 6 0.091 0.046 2679 2531 1472

11319 0.96 232.4 517.3 7.7 533 11321 0.12 0.00 0.00 0.000 6 0.125 0.000 2641 2531 1472

11645 0.96 232.4 496.0 7.1 541 11648 0.00 2.28 0.00 0.000 4 0.000 0.050 2641 1105 1471

11684 1.05 236.7 493.3 6.9 541 11695 0.08 2.25 4.85 0.853 6 0.104 0.046 2677 2526 1455

12021 0.95 236.7 461.3 9.9 550 12023 0.12 0.00 0.00 0.000 6 0.124 0.000 2640 2527 1456

12345 0.95 236.7 436.7 7.4 558 12349 0.00 2.28 0.00 0.000 4 0.000 0.050 2640 1103 1455

12396 1.06 240.5 432.9 6.9 559 12406 0.10 2.25 5.03 0.842 6 0.087 0.045 2680 2523 1439

12723 0.99 240.5 401.0 10.3 567 12728 0.12 2.30 0.00 0.000 4 0.128 0.061 2642 3933 1441

12758 0.99 240.5 397.0 11.0 567 12764 0.00 2.20 0.00 0.000 6 0.000 0.037 2642 2511 1440

13073 0.99 240.5 370.5 7.7 583 13077 0.00 2.20 0.00 0.000 4 0.000 0.048 2642 1118 1441

13126 1.08 240.5 366.7 7.3 585 13131 0.10 2.22 0.00 0.000 6 0.087 0.043 2686 2528 1441

13454 1.00 240.5 338.7 8.6 601 13458 0.12 2.30 0.00 0.000 4 0.128 0.060 2650 3932 1441

13493 1.00 240.5 335.3 8.9 603 13497 0.00 2.20 0.00 0.000 6 0.000 0.037 2650 2510 1442

13826 1.00 240.5 312.0 7.2 619 13830 0.00 2.20 0.00 0.000 4 0.000 0.048 2650 1116 1442

13882 1.07 240.5 307.5 7.9 621 13886 0.00 2.22 0.00 0.000 6 0.000 0.044 2650 2523 1442

14203 1.07 240.5 282.3 7.8 637 14207 0.00 2.25 0.00 0.000 4 0.000 0.047 2650 1108 1442

14242 1.16 240.5 279.2 7.7 638 14249 0.15 2.25 0.00 0.000 6 0.071 0.043 2709 2534 1442

14559 1.01 240.5 245.0 10.9 654 14561 0.20 0.00 0.00 0.000 6 0.123 0.000 2648 2534 1443

14869 1.11 267.7 225.0 6.1 669 14899 0.10 2.35 23.88 0.953 4 0.087 0.048 2692 1113 1328

14928 1.11 267.7 220.2 7.3 671 14934 0.00 2.22 0.00 0.000 6 0.000 0.043 2692 2520 1328

15243 1.11 267.7 196.1 8.2 687 15247 0.00 2.22 0.00 0.000 4 0.000 0.048 2692 1112 1330

15283 1.11 267.7 192.5 8.7 688 15289 0.00 2.22 0.00 0.000 6 0.000 0.042 2693 2536 1331

15599 1.11 267.7 163.9 9.2 704 15600 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2536 1331

15908 1.11 267.7 136.7 7.7 719 15912 0.00 2.25 0.00 0.000 4 0.000 0.048 2692 1120 1331

15954 1.11 272.3 133.5 6.9 721 15965 0.00 2.22 5.60 0.744 6 0.000 0.044 2692 2532 1310

16281 1.11 272.3 110.1 8.1 737 16285 0.00 2.28 0.00 0.000 4 0.000 0.061 2692 3930 1311

16314 1.03 272.3 106.7 10.2 738 16319 0.12 2.17 0.00 0.000 6 0.137 0.037 2656 2519 1311

16651 1.26 329.6 83.0 5.1 786 16705 0.17 2.35 47.15 0.940 4 0.066 0.050 2730 1112 1076

16768 1.26 329.6 73.1 9.3 806 16774 0.00 2.22 0.00 0.000 6 0.000 0.044 2730 2520 1074

17112 1.26 329.6 40.6 8.8 867 17118 0.00 2.22 0.00 0.000 4 0.000 0.050 2730 1120 1071

17142 1.26 329.6 37.9 8.8 872 17149 0.00 2.22 0.00 0.000 6 0.000 0.045 2730 2530 1071

17487 1.26 329.6 6.6 8.7 933 17493 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2529 1070

17536 end climb: SURFACE_DEPTH_REACHED

state 17536 begin surface coast

17560 end surface coast: CONTROL_FINISHED_OK

state 17560 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	436	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	34	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	-40713.57	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	055807,6702.614,-5703.070,36,0.8,41,-37.6	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	0.198,0.105
_SM_DEPTHo	1.70	KALMAN_X	-132246.2,1281.8,-373.9,146855.6,-909.0
_SM_ANGLEo	-60.6	KALMAN_Y	-2694.6,-1810.0,1190.8,17652.5,-1841.9
GPS2	060457,6702.639,-5703.172,15,1.7,15,-37.6	MHEAD_RNG_PITCHd_Wd	99.6,10977,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	677

FINISH	0.9,1.024949	TCM_TEMP	16.30
SM_CCo	17639,0.00,0.000,0,0,1068,331.65	XPDR_PINGS	0
SM_GC	1.79,7.12,0.00,0.00,0.059,0.000,0.000,155,2336,1068,-10.41,-0.11,331.65	_24V_AH	20.2,80.183
RAFOS_CLK	940	_10V_AH	10.5,36.033
RAFOS	0,1229414673,8.083333,8.075833,62,60,59,59,58,58,206,192,150,225,241,870	DATA_FILE_SIZE	34661,946
RAFOS_FIX	6705.274902,-5708.893066,161208,080820,2,126,0.78	CAP_FILE_SIZE	137841,0
IRIDIUM_FIX	6631.12,-5713.57,120398,000003	CFSIZE	260165632,218640384
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1912	SOUNDSPEED	1462.7
INTERNAL_PRESSURE	8.54525	GPS	161208,110107,6701.896,-5657.177,23,1.4,23,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	257	109.32	SBE_CT	733	24	355.57
Roll_motor	155	67	211.64	SBE_O2	643	19	246.90
VBD_pump_during_apogee	437	1274	11267.57	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	23	103	48.03	nil	0	0	0.00
Iridium_during_connect	32	160	106.25	nil	0	0	0.00
Iridium_during_xfer	200	223	903.16
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.77
TT8	1748	19	365.66
LPSleep	13255	2	321.51
TT8_Active	607	19	127.13
TT8_Sampling	1828	39	766.58
TT8_CF8	608	45	293.40
TT8_Kalman	33	81	28.71
Analog_circuits	1629	12	205.33
GPS_charging	0	0	0.00
Compass	1794	8	150.77
RAFOS	1800	1	28.35
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.08	-146.0	0.0	0.0	0	149	0.00	0.00	-130.25	0.000	2	0.000	0.000	157	2340	2986
153	-1.08	-146.0	3.1	-2.2	23	168	8.68	2.30	-1.08	0.000	4	0.258	0.067	2200	934	3019
326	-0.63	-146.0	33.2	-15.2	53	333	0.35	2.25	0.00	0.000	6	0.162	0.051	2300	2341	3021
672	-0.63	-146.0	64.4	-8.3	114	678	0.00	2.33	0.00	0.000	4	0.000	0.064	2300	3753	3021
775	-0.68	-146.0	73.0	-8.6	132	782	0.00	2.22	0.00	0.000	6	0.000	0.038	2300	2322	3021
1130	-0.76	-146.0	102.0	-7.9	192	1132	0.12	0.00	0.00	0.000	6	0.100	0.000	2251	2322	3020
1440	-0.68	-146.0	129.9	-8.0	207	1442	0.15	0.00	0.00	0.000	6	0.159	0.000	2291	2322	3021
1749	-0.77	-146.0	149.8	-6.7	222	1754	0.10	2.40	0.00	0.000	4	0.107	0.064	2255	3746	3021
1767	-0.82	-146.0	151.1	-6.9	223	1771	0.00	2.20	0.00	0.000	6	0.000	0.038	2255	2334	3021
2100	-0.82	-146.0	175.1	-6.9	239	2102	0.00	0.00	0.00	0.000	6	0.000	0.000	2255	2334	3021
2409	-0.82	-146.0	194.1	-5.5	254	2413	0.00	2.38	0.00	0.000	4	0.000	0.064	2255	3745	3020
2436	-0.82	-146.0	195.8	-6.6	255	2440	0.00	2.20	0.00	0.000	6	0.000	0.038	2255	2340	3020
2764	-0.82	-146.0	219.6	-7.6	271	2768	0.00	2.25	0.00	0.000	4	0.000	0.051	2255	926	3019
2797	-0.82	-146.0	222.4	-8.2	272	2801	0.00	2.28	0.00	0.000	6	0.000	0.048	2255	2339	3019
3118	-0.82	-146.0	250.2	-9.8	288	3122	0.00	2.33	0.00	0.000	4	0.000	0.063	2255	3745	3019
3202	-0.89	-146.0	257.8	-9.2	291	3209	0.00	2.20	0.00	0.000	6	0.000	0.038	2255	2331	3019
3519	-0.89	-146.0	281.9	-6.5	307	3522	0.00	2.38	0.00	0.000	4	0.000	0.062	2255	3753	3019
3543	-0.94	-146.0	283.4	-6.3	308	3547	0.10	2.20	0.00	0.000	6	0.101	0.036	2219	2333	3020
3876	-0.87	-146.0	306.1	-7.0	324	3881	0.12	2.35	0.00	0.000	4	0.159	0.061	2249	3743	3021
3927	-0.94	-146.0	309.7	-6.9	326	3930	0.00	2.20	0.00	0.000	6	0.000	0.036	2249	2327	3021
4249	-0.94	-146.0	331.4	-7.0	342	4253	0.00	2.35	0.00	0.000	4	0.000	0.061	2249	3750	3021
4288	-1.02	-146.0	334.5	-7.1	343	4295	0.12	2.20	0.00	0.000	6	0.102	0.035	2204	2328	3021
4604	-0.91	-146.0	362.8	-9.2	359	4609	0.12	2.38	0.00	0.000	4	0.151	0.058	2234	3752	3022
4645	-0.91	-146.0	366.3	-8.8	361	4649	0.00	2.20	0.00	0.000	6	0.000	0.035	2234	2329	3022
4977	-0.91	-146.0	394.1	-8.4	377	4978	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2328	3023
5304	-0.91	-146.0	417.4	-6.6	387	5308	0.00	2.38	0.00	0.000	4	0.000	0.060	2234	3750	3024
5343	-0.91	-146.0	420.2	-7.0	387	5349	0.00	2.20	0.00	0.000	6	0.000	0.035	2234	2330	3023
5675	-0.91	-146.0	442.2	-6.6	396	5679	0.00	2.38	0.00	0.000	4	0.000	0.060	2234	3753	3024
5709	-0.91	-146.0	444.6	-6.8	396	5713	0.00	2.20	0.00	0.000	6	0.000	0.035	2234	2331	3024
6046	-0.91	-146.0	468.2	-7.1	405	6050	0.00	2.35	0.00	0.000	4	0.000	0.060	2234	3744	3024
6074	-0.95	-146.0	470.3	-7.8	405	6078	0.00	2.17	0.00	0.000	6	0.000	0.035	2234	2337	3024
6417	-0.95	-146.0	493.9	-7.0	414	6421	0.00	2.35	0.00	0.000	4	0.000	0.060	2234	3750	3025
6464	-1.01	-146.0	497.2	-7.6	415	6467	0.00	2.20	0.00	0.000	6	0.000	0.035	2234	2327	3025
6795	-1.01	-146.0	519.4	-6.6	423	6799	0.00	2.35	0.00	0.000	4	0.000	0.060	2234	3745	3025
6822	-1.01	-146.0	521.5	-7.4	423	6826	0.00	2.17	0.00	0.000	6	0.000	0.035	2234	2337	3026
7164	-1.01	-146.0	545.7	-7.4	432	7168	0.00	2.35	0.00	0.000	4	0.000	0.060	2234	3749	3026
7204	-1.06	-146.0	548.7	-7.6	432	7211	0.10	2.20	0.00	0.000	6	0.109	0.035	2199	2330	3026
7537	-0.96	-146.0	575.8	-8.5	441	7541	0.12	2.38	0.00	0.000	4	0.155	0.060	2232	3745	3026
7558	-0.96	-146.0	577.8	-8.1	441	7562	0.00	2.17	0.00	0.000	6	0.000	0.035	2231	2340	3026
7901	-0.96	-146.0	604.2	-7.9	450	7905	0.00	2.35	0.00	0.000	4	0.000	0.061	2232	3748	3026
7940	-1.01	-146.0	607.2	-8.0	450	7947	0.00	2.20	0.00	0.000	6	0.000	0.036	2231	2332	3026
8272	-1.01	-146.0	632.2	-7.5	459	8273	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2332	3026
8597	-1.01	-146.0	655.7	-7.1	467	8601	0.00	2.38	0.00	0.000	4	0.000	0.062	2231	3748	3026
8659	-1.07	-146.0	660.4	-7.3	468	8663	0.12	2.20	0.00	0.000	6	0.097	0.036	2189	2334	3025
8876	end dive: TARGET_DEPTH_EXCEEDED
state	8876	begin apogee
8884	-0.34	0.0	678.1	7.8	474	9019	0.57	0.00	132.10	1.275	6	0.136	0.000	2364	2523	2420
9020	end apogee: CONTROL_FINISHED_OK
state	9020	begin climb
9023	1.08	146.0	680.4	0.0	477	9184	1.02	2.80	144.05	1.164	4	0.096	0.061	2665	3921	1824
9291	0.83	146.0	660.6	9.0	483	9296	0.20	2.42	0.00	0.000	6	0.139	0.037	2615	2520	1823
9604	0.88	185.1	643.0	5.7	491	9643	0.00	0.00	33.33	1.208	6	0.000	0.000	2615	2520	1666
9970	1.00	217.2	621.1	5.9	500	10001	0.12	0.00	27.83	1.203	6	0.077	0.000	2665	2518	1534
10294	0.94	217.2	594.7	8.1	508	10296	0.10	0.00	0.00	0.000	6	0.142	0.000	2638	2518	1535
10619	0.94	217.2	570.4	7.7	516	10620	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2518	1534
10944	0.94	217.2	546.8	7.2	524	10948	0.00	2.22	0.00	0.000	4	0.000	0.051	2639	1111	1534
10984	1.04	232.4	544.1	6.5	524	11005	0.10	2.25	13.77	1.140	6	0.091	0.046	2679	2531	1472
11319	0.96	232.4	517.3	7.7	533	11321	0.12	0.00	0.00	0.000	6	0.125	0.000	2641	2531	1472
11645	0.96	232.4	496.0	7.1	541	11648	0.00	2.28	0.00	0.000	4	0.000	0.050	2641	1105	1471
11684	1.05	236.7	493.3	6.9	541	11695	0.08	2.25	4.85	0.853	6	0.104	0.046	2677	2526	1455
12021	0.95	236.7	461.3	9.9	550	12023	0.12	0.00	0.00	0.000	6	0.124	0.000	2640	2527	1456
12345	0.95	236.7	436.7	7.4	558	12349	0.00	2.28	0.00	0.000	4	0.000	0.050	2640	1103	1455
12396	1.06	240.5	432.9	6.9	559	12406	0.10	2.25	5.03	0.842	6	0.087	0.045	2680	2523	1439
12723	0.99	240.5	401.0	10.3	567	12728	0.12	2.30	0.00	0.000	4	0.128	0.061	2642	3933	1441
12758	0.99	240.5	397.0	11.0	567	12764	0.00	2.20	0.00	0.000	6	0.000	0.037	2642	2511	1440
13073	0.99	240.5	370.5	7.7	583	13077	0.00	2.20	0.00	0.000	4	0.000	0.048	2642	1118	1441
13126	1.08	240.5	366.7	7.3	585	13131	0.10	2.22	0.00	0.000	6	0.087	0.043	2686	2528	1441
13454	1.00	240.5	338.7	8.6	601	13458	0.12	2.30	0.00	0.000	4	0.128	0.060	2650	3932	1441
13493	1.00	240.5	335.3	8.9	603	13497	0.00	2.20	0.00	0.000	6	0.000	0.037	2650	2510	1442
13826	1.00	240.5	312.0	7.2	619	13830	0.00	2.20	0.00	0.000	4	0.000	0.048	2650	1116	1442
13882	1.07	240.5	307.5	7.9	621	13886	0.00	2.22	0.00	0.000	6	0.000	0.044	2650	2523	1442
14203	1.07	240.5	282.3	7.8	637	14207	0.00	2.25	0.00	0.000	4	0.000	0.047	2650	1108	1442
14242	1.16	240.5	279.2	7.7	638	14249	0.15	2.25	0.00	0.000	6	0.071	0.043	2709	2534	1442
14559	1.01	240.5	245.0	10.9	654	14561	0.20	0.00	0.00	0.000	6	0.123	0.000	2648	2534	1443
14869	1.11	267.7	225.0	6.1	669	14899	0.10	2.35	23.88	0.953	4	0.087	0.048	2692	1113	1328
14928	1.11	267.7	220.2	7.3	671	14934	0.00	2.22	0.00	0.000	6	0.000	0.043	2692	2520	1328
15243	1.11	267.7	196.1	8.2	687	15247	0.00	2.22	0.00	0.000	4	0.000	0.048	2692	1112	1330
15283	1.11	267.7	192.5	8.7	688	15289	0.00	2.22	0.00	0.000	6	0.000	0.042	2693	2536	1331
15599	1.11	267.7	163.9	9.2	704	15600	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2536	1331
15908	1.11	267.7	136.7	7.7	719	15912	0.00	2.25	0.00	0.000	4	0.000	0.048	2692	1120	1331
15954	1.11	272.3	133.5	6.9	721	15965	0.00	2.22	5.60	0.744	6	0.000	0.044	2692	2532	1310
16281	1.11	272.3	110.1	8.1	737	16285	0.00	2.28	0.00	0.000	4	0.000	0.061	2692	3930	1311
16314	1.03	272.3	106.7	10.2	738	16319	0.12	2.17	0.00	0.000	6	0.137	0.037	2656	2519	1311
16651	1.26	329.6	83.0	5.1	786	16705	0.17	2.35	47.15	0.940	4	0.066	0.050	2730	1112	1076
16768	1.26	329.6	73.1	9.3	806	16774	0.00	2.22	0.00	0.000	6	0.000	0.044	2730	2520	1074
17112	1.26	329.6	40.6	8.8	867	17118	0.00	2.22	0.00	0.000	4	0.000	0.050	2730	1120	1071
17142	1.26	329.6	37.9	8.8	872	17149	0.00	2.22	0.00	0.000	6	0.000	0.045	2730	2530	1071
17487	1.26	329.6	6.6	8.7	933	17493	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2529	1070
17536	end climb: SURFACE_DEPTH_REACHED
state	17536	begin surface coast
17560	end surface coast: CONTROL_FINISHED_OK
state	17560	begin surface