Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 442 * 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 442 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2340 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2520 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 42 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 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 -40833.711 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 -40833.711

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2436 KALMAN_USE 1 ROLL_MIN 280 USE_BATHY -3

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 42 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 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 442 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 111702,6703.712,-5702.150,41,1.3,41,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 4 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.197,-0.107

_SM_DEPTHo 1.64 KALMAN_X -125562.9,86.1,-185.3,141926.2,873.0

_SM_ANGLEo -60.3 KALMAN_Y -8663.0,-453.7,-725.3,26150.9,1380.7

GPS2 112339,6703.684,-5702.143,9,1.6,15,-37.6 MHEAD_RNG_PITCHd_Wd 156.1,10291,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 630

Post-dive calculations and measurements:

FINISH 0.8,1.013912 TCM_TEMP 16.20

SM_CCo 17839,0.00,0.000,0,0,803,396.65 XPDR_PINGS 1

SM_GC 1.53,7.10,0.00,0.00,0.061,0.000,0.000,165,2359,803,-10.37,0.54,396.65 _24V_AH 20.3,81.073

RAFOS_CLK 934 _10V_AH 10.5,36.467

RAFOS 0,1229515442,12.083333,12.067223,61,61,58,57,51,50,119,219,208,194,177,151 DATA_FILE_SIZE 37813,1021

RAFOS_FIX 6704.075684,-5705.107910,171208,121216,2,118,0.52 CAP_FILE_SIZE 148584,0

IRIDIUM_FIX 6636.54,-5656.94,130398,060618 CFSIZE 260165632,218226688

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

HUMID 1888 SOUNDSPEED 1462.9

INTERNAL_PRESSURE 8.52572 GPS 171208,162326,6702.186,-5657.941,39,1.2,39,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 258 125.67 SBE_CT 791 24 385.71

Roll_motor 166 64 218.35 SBE_O2 693 19 267.31

VBD_pump_during_apogee 487 1229 12161.21 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 49.06 nil 0 0 0.00

Iridium_during_connect 32 160 104.50 nil 0 0 0.00

Iridium_during_xfer 191 223 865.71

Transponder_ping 0 420 2.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.11

TT8 1881 19 393.47

LPSleep 13071 2 317.04

TT8_Active 650 19 136.10

TT8_Sampling 2010 39 842.89

TT8_CF8 624 45 300.90

TT8_Kalman 33 81 28.71

Analog_circuits 1756 12 221.34

GPS_charging 0 0 0.00

Compass 1971 8 165.64

RAFOS 2520 1 39.69

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 0 137 0.00 0.00 -113.72 0.000 6 0.000 0.000 156 2330 3017

141 -1.08 -146.0 3.4 -2.7 21 155 8.73 2.38 0.00 0.000 4 0.258 0.061 2201 3748 3019

162 1.29 -146.0 8.4 -13.0 24 169 1.80 2.17 0.00 0.000 6 0.173 0.036 2713 2335 3021

509 0.10 -146.0 27.4 -5.9 85 516 0.70 2.38 0.00 0.000 4 0.057 0.063 2439 3746 3022

764 -0.73 -146.0 46.7 -7.6 130 771 0.52 2.20 0.00 0.000 6 0.094 0.038 2263 2331 3023

1110 -0.88 -146.0 72.3 -6.4 191 1117 0.00 2.38 0.00 0.000 4 0.000 0.063 2263 3752 3021

1197 -0.94 -146.0 79.0 -7.9 206 1204 0.12 2.20 0.00 0.000 6 0.097 0.038 2218 2339 3022

1538 -0.83 -146.0 113.7 -10.8 250 1543 0.15 2.38 0.00 0.000 4 0.152 0.062 2258 3743 3021

1583 -0.90 -146.0 118.1 -9.4 252 1587 0.00 2.20 0.00 0.000 6 0.000 0.037 2259 2331 3021

1911 -0.95 -146.0 147.1 -8.5 268 1915 0.12 2.38 0.00 0.000 4 0.094 0.061 2213 3746 3021

1923 -0.95 -146.0 148.1 -8.3 268 1929 0.00 2.20 0.00 0.000 6 0.000 0.037 2213 2334 3021

2239 -0.84 -146.0 172.6 -7.2 284 2244 0.15 2.25 0.00 0.000 4 0.156 0.048 2255 928 3022

2318 -0.84 -146.0 177.7 -6.5 287 2321 0.00 2.28 0.00 0.000 6 0.000 0.046 2255 2351 3022

2640 -0.88 -146.0 201.8 -8.6 303 2641 0.00 0.00 0.00 0.000 6 0.000 0.000 2255 2351 3022

2949 -0.94 -146.0 225.2 -6.8 318 2951 0.10 0.00 0.00 0.000 6 0.100 0.000 2218 2351 3021

3258 -0.88 -146.0 247.8 -7.5 333 3262 0.10 2.28 0.00 0.000 4 0.155 0.048 2244 939 3020

3285 -0.88 -146.0 250.0 -7.6 334 3289 0.00 2.25 0.00 0.000 6 0.000 0.048 2244 2340 3020

3613 -0.88 -146.0 272.6 -6.8 350 3616 0.00 2.25 0.00 0.000 4 0.000 0.048 2244 933 3020

3624 -0.88 -146.0 273.5 -6.8 350 3627 0.00 2.25 0.00 0.000 6 0.000 0.044 2243 2343 3020

3947 -0.88 -146.0 292.8 -5.6 366 3948 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2343 3020

4255 -0.93 -146.0 311.8 -6.8 381 4256 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2343 3022

4565 -0.98 -146.0 335.1 -7.4 396 4566 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2343 3023

4874 -1.04 -146.0 354.6 -5.6 411 4878 0.12 2.33 0.00 0.000 4 0.094 0.060 2192 3745 3023

4901 -0.97 -146.0 356.7 -7.4 412 4906 0.12 2.17 0.00 0.000 6 0.148 0.035 2224 2337 3023

5224 -0.97 -146.0 375.3 -5.4 428 5228 0.00 2.35 0.00 0.000 4 0.000 0.060 2224 3748 3023

5292 -0.97 -146.0 379.1 -5.5 431 5296 0.00 2.20 0.00 0.000 6 0.000 0.035 2225 2328 3023

5625 -0.97 -146.0 397.8 -5.8 447 5629 0.00 2.35 0.00 0.000 4 0.000 0.058 2224 3744 3023

5660 -0.97 -146.0 400.0 -6.3 448 5664 0.00 2.17 0.00 0.000 6 0.000 0.035 2225 2336 3024

5997 -0.97 -146.0 422.9 -7.2 457 6001 0.00 2.35 0.00 0.000 4 0.000 0.059 2224 3750 3024

6008 -0.97 -146.0 423.9 -7.2 457 6012 0.00 2.20 0.00 0.000 6 0.000 0.034 2224 2327 3024

6327 -0.97 -146.0 445.3 -6.6 465 6328 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2327 3025

6652 -0.97 -146.0 465.8 -6.2 473 6656 0.00 2.35 0.00 0.000 4 0.000 0.059 2225 3745 3025

6669 -0.97 -146.0 466.9 -6.3 473 6673 0.00 2.17 0.00 0.000 6 0.000 0.034 2225 2332 3025

6982 -0.97 -146.0 486.2 -6.2 481 6986 0.00 2.35 0.00 0.000 4 0.000 0.059 2225 3746 3025

7023 -1.03 -146.0 488.9 -7.0 481 7029 0.00 2.17 0.00 0.000 6 0.000 0.035 2225 2336 3025

7355 -1.03 -146.0 509.3 -6.0 490 7358 0.00 2.35 0.00 0.000 4 0.000 0.059 2224 3747 3025

7383 -1.03 -146.0 511.1 -6.4 490 7387 0.00 2.17 0.00 0.000 6 0.000 0.034 2224 2340 3025

7726 -1.03 -146.0 530.8 -5.8 499 7730 0.00 2.35 0.00 0.000 4 0.000 0.059 2225 3752 3026

7738 -1.03 -146.0 531.5 -5.7 499 7742 0.00 2.20 0.00 0.000 6 0.000 0.034 2224 2325 3026

8057 -1.03 -146.0 550.7 -6.0 507 8061 0.00 2.38 0.00 0.000 4 0.000 0.061 2225 3746 3026

8068 -1.03 -146.0 551.4 -5.9 507 8072 0.00 2.17 0.00 0.000 6 0.000 0.034 2224 2335 3026

8388 -1.03 -146.0 570.7 -6.3 515 8392 0.00 2.35 0.00 0.000 4 0.000 0.059 2224 3744 3027

8417 -1.08 -146.0 572.7 -6.4 515 8422 0.10 2.17 0.00 0.000 6 0.097 0.035 2190 2330 3026

8759 -0.99 -146.0 598.4 -7.5 524 8764 0.12 2.38 0.00 0.000 4 0.150 0.058 2224 3749 3027

8850 -1.05 -146.0 604.1 -5.5 526 8854 0.00 2.20 0.00 0.000 6 0.000 0.035 2224 2330 3026

9174 -1.05 -146.0 623.5 -6.3 534 9178 0.00 2.38 0.00 0.000 4 0.000 0.059 2224 3754 3027

9191 -1.05 -146.0 624.7 -6.2 534 9195 0.00 2.20 0.00 0.000 6 0.000 0.035 2224 2333 3027

9298 end dive: TARGET_DEPTH_EXCEEDED

state 9299 begin apogee

9307 -0.34 0.0 632.1 6.7 537 9441 0.45 0.00 131.02 1.230 6 0.133 0.000 2363 2526 2420

9441 end apogee: CONTROL_FINISHED_OK

state 9441 begin climb

9444 1.08 146.0 634.2 0.0 540 9611 1.05 0.00 146.75 1.101 6 0.095 0.000 2672 2526 1824

9911 0.90 146.0 597.2 8.7 552 9915 0.15 2.33 0.00 0.000 4 0.146 0.061 2629 3940 1824

9979 0.80 146.0 591.5 8.5 553 9983 0.00 2.17 0.00 0.000 6 0.000 0.038 2629 2522 1824

10321 0.82 162.1 568.5 6.5 562 10337 0.00 0.00 14.20 1.119 6 0.000 0.000 2629 2522 1760

10647 0.83 171.4 546.7 6.7 570 10662 0.00 2.38 9.18 1.051 4 0.000 0.063 2629 3927 1721

10702 0.74 171.4 542.4 8.5 571 10706 0.15 2.17 0.00 0.000 6 0.146 0.038 2588 2519 1722

11021 0.96 203.5 523.6 5.9 579 11056 0.17 2.33 27.38 1.167 4 0.074 0.048 2657 1112 1590

11162 0.96 203.5 512.6 7.8 582 11166 0.00 2.22 0.00 0.000 6 0.000 0.045 2657 2533 1590

11481 0.91 203.5 486.9 8.2 590 11485 0.10 2.25 0.00 0.000 4 0.156 0.060 2630 3925 1590

11560 0.85 203.5 480.3 8.6 591 11566 0.00 2.17 0.00 0.000 6 0.000 0.037 2630 2511 1590

11891 0.85 203.5 457.3 7.1 600 11895 0.00 2.20 0.00 0.000 4 0.000 0.048 2630 1110 1589

11952 0.94 203.5 452.6 7.3 601 11956 0.00 2.22 0.00 0.000 6 0.000 0.044 2630 2523 1589

12266 0.94 203.5 429.4 7.4 609 12270 0.00 2.28 0.00 0.000 4 0.000 0.061 2630 3926 1589

12316 0.94 203.5 425.0 9.4 610 12320 0.00 2.17 0.00 0.000 6 0.000 0.037 2630 2515 1589

12641 0.94 203.5 401.1 7.5 618 12645 0.00 2.17 0.00 0.000 4 0.000 0.048 2630 1120 1589

12720 1.03 203.5 395.3 7.5 620 12724 0.10 2.22 0.00 0.000 6 0.083 0.044 2673 2529 1589

13041 0.93 203.5 365.5 9.9 636 13046 0.12 2.30 0.00 0.000 4 0.136 0.059 2637 3935 1589

13119 0.87 203.5 358.2 9.3 639 13125 0.00 2.20 0.00 0.000 6 0.000 0.036 2637 2508 1590

13436 0.87 203.5 334.2 7.1 655 13440 0.00 2.17 0.00 0.000 4 0.000 0.048 2637 1121 1590

13492 0.97 224.1 330.3 6.3 657 13517 0.00 2.22 17.88 1.012 6 0.000 0.043 2637 2531 1506

13838 1.05 237.5 307.0 6.6 674 13854 0.10 0.00 12.55 0.956 6 0.084 0.000 2684 2531 1451

14164 0.98 237.5 277.4 9.2 690 14166 0.15 0.00 0.00 0.000 6 0.126 0.000 2639 2531 1452

14473 1.04 237.5 254.3 7.9 705 14477 0.10 2.25 0.00 0.000 4 0.084 0.046 2688 1113 1452

14546 0.99 237.5 247.3 9.4 708 14551 0.15 2.22 0.00 0.000 6 0.128 0.044 2644 2528 1451

14873 1.04 237.5 223.1 7.4 724 14874 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2528 1451

15183 1.11 237.5 197.3 8.3 739 15187 0.12 2.28 0.00 0.000 4 0.074 0.059 2700 3924 1452

15234 0.92 237.5 191.4 12.2 741 15238 0.22 2.17 0.00 0.000 6 0.127 0.036 2635 2512 1452

15561 1.13 307.3 173.0 4.6 757 15626 0.15 2.28 57.20 0.946 4 0.069 0.047 2701 1113 1166

15704 1.13 307.3 162.7 7.6 763 15708 0.00 2.22 0.00 0.000 6 0.000 0.043 2701 2530 1164

16025 1.13 307.3 137.4 7.8 779 16029 0.00 2.25 0.00 0.000 4 0.000 0.061 2700 3927 1163

16065 1.03 307.3 133.8 9.4 780 16072 0.15 2.17 0.00 0.000 6 0.131 0.037 2656 2509 1163

16381 1.19 307.3 110.1 8.0 796 16386 0.12 2.20 0.00 0.000 4 0.071 0.048 2709 1114 1162

16465 1.19 307.3 102.8 8.0 799 16472 0.00 2.22 0.00 0.000 6 0.000 0.045 2709 2520 1162

16804 1.19 307.3 74.3 8.1 854 16811 0.00 2.25 0.00 0.000 4 0.000 0.049 2709 1110 1161

16869 1.19 307.3 69.4 7.9 865 16875 0.00 2.25 0.00 0.000 6 0.000 0.044 2709 2534 1161

17214 1.19 307.3 41.6 7.5 926 17220 0.00 2.28 0.00 0.000 4 0.000 0.061 2709 3929 1161

17261 1.12 307.3 37.3 8.9 934 17268 0.12 2.20 0.00 0.000 6 0.133 0.038 2673 2509 1161

17607 1.36 394.2 14.8 4.1 995 17684 0.17 2.35 71.10 0.897 4 0.069 0.050 2748 1115 812

17739 end climb: SURFACE_DEPTH_REACHED

state 17739 begin surface coast

17757 end surface coast: CONTROL_FINISHED_OK

state 17757 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	442	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2340	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2520	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	42	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	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	-40833.711	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	111702,6703.712,-5702.150,41,1.3,41,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	4	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.197,-0.107
_SM_DEPTHo	1.64	KALMAN_X	-125562.9,86.1,-185.3,141926.2,873.0
_SM_ANGLEo	-60.3	KALMAN_Y	-8663.0,-453.7,-725.3,26150.9,1380.7
GPS2	112339,6703.684,-5702.143,9,1.6,15,-37.6	MHEAD_RNG_PITCHd_Wd	156.1,10291,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	630

FINISH	0.8,1.013912	TCM_TEMP	16.20
SM_CCo	17839,0.00,0.000,0,0,803,396.65	XPDR_PINGS	1
SM_GC	1.53,7.10,0.00,0.00,0.061,0.000,0.000,165,2359,803,-10.37,0.54,396.65	_24V_AH	20.3,81.073
RAFOS_CLK	934	_10V_AH	10.5,36.467
RAFOS	0,1229515442,12.083333,12.067223,61,61,58,57,51,50,119,219,208,194,177,151	DATA_FILE_SIZE	37813,1021
RAFOS_FIX	6704.075684,-5705.107910,171208,121216,2,118,0.52	CAP_FILE_SIZE	148584,0
IRIDIUM_FIX	6636.54,-5656.94,130398,060618	CFSIZE	260165632,218226688
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
HUMID	1888	SOUNDSPEED	1462.9
INTERNAL_PRESSURE	8.52572	GPS	171208,162326,6702.186,-5657.941,39,1.2,39,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	258	125.67	SBE_CT	791	24	385.71
Roll_motor	166	64	218.35	SBE_O2	693	19	267.31
VBD_pump_during_apogee	487	1229	12161.21	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	49.06	nil	0	0	0.00
Iridium_during_connect	32	160	104.50	nil	0	0	0.00
Iridium_during_xfer	191	223	865.71
Transponder_ping	0	420	2.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.11
TT8	1881	19	393.47
LPSleep	13071	2	317.04
TT8_Active	650	19	136.10
TT8_Sampling	2010	39	842.89
TT8_CF8	624	45	300.90
TT8_Kalman	33	81	28.71
Analog_circuits	1756	12	221.34
GPS_charging	0	0	0.00
Compass	1971	8	165.64
RAFOS	2520	1	39.69
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	137	0.00	0.00	-113.72	0.000	6	0.000	0.000	156	2330	3017
141	-1.08	-146.0	3.4	-2.7	21	155	8.73	2.38	0.00	0.000	4	0.258	0.061	2201	3748	3019
162	1.29	-146.0	8.4	-13.0	24	169	1.80	2.17	0.00	0.000	6	0.173	0.036	2713	2335	3021
509	0.10	-146.0	27.4	-5.9	85	516	0.70	2.38	0.00	0.000	4	0.057	0.063	2439	3746	3022
764	-0.73	-146.0	46.7	-7.6	130	771	0.52	2.20	0.00	0.000	6	0.094	0.038	2263	2331	3023
1110	-0.88	-146.0	72.3	-6.4	191	1117	0.00	2.38	0.00	0.000	4	0.000	0.063	2263	3752	3021
1197	-0.94	-146.0	79.0	-7.9	206	1204	0.12	2.20	0.00	0.000	6	0.097	0.038	2218	2339	3022
1538	-0.83	-146.0	113.7	-10.8	250	1543	0.15	2.38	0.00	0.000	4	0.152	0.062	2258	3743	3021
1583	-0.90	-146.0	118.1	-9.4	252	1587	0.00	2.20	0.00	0.000	6	0.000	0.037	2259	2331	3021
1911	-0.95	-146.0	147.1	-8.5	268	1915	0.12	2.38	0.00	0.000	4	0.094	0.061	2213	3746	3021
1923	-0.95	-146.0	148.1	-8.3	268	1929	0.00	2.20	0.00	0.000	6	0.000	0.037	2213	2334	3021
2239	-0.84	-146.0	172.6	-7.2	284	2244	0.15	2.25	0.00	0.000	4	0.156	0.048	2255	928	3022
2318	-0.84	-146.0	177.7	-6.5	287	2321	0.00	2.28	0.00	0.000	6	0.000	0.046	2255	2351	3022
2640	-0.88	-146.0	201.8	-8.6	303	2641	0.00	0.00	0.00	0.000	6	0.000	0.000	2255	2351	3022
2949	-0.94	-146.0	225.2	-6.8	318	2951	0.10	0.00	0.00	0.000	6	0.100	0.000	2218	2351	3021
3258	-0.88	-146.0	247.8	-7.5	333	3262	0.10	2.28	0.00	0.000	4	0.155	0.048	2244	939	3020
3285	-0.88	-146.0	250.0	-7.6	334	3289	0.00	2.25	0.00	0.000	6	0.000	0.048	2244	2340	3020
3613	-0.88	-146.0	272.6	-6.8	350	3616	0.00	2.25	0.00	0.000	4	0.000	0.048	2244	933	3020
3624	-0.88	-146.0	273.5	-6.8	350	3627	0.00	2.25	0.00	0.000	6	0.000	0.044	2243	2343	3020
3947	-0.88	-146.0	292.8	-5.6	366	3948	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2343	3020
4255	-0.93	-146.0	311.8	-6.8	381	4256	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2343	3022
4565	-0.98	-146.0	335.1	-7.4	396	4566	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2343	3023
4874	-1.04	-146.0	354.6	-5.6	411	4878	0.12	2.33	0.00	0.000	4	0.094	0.060	2192	3745	3023
4901	-0.97	-146.0	356.7	-7.4	412	4906	0.12	2.17	0.00	0.000	6	0.148	0.035	2224	2337	3023
5224	-0.97	-146.0	375.3	-5.4	428	5228	0.00	2.35	0.00	0.000	4	0.000	0.060	2224	3748	3023
5292	-0.97	-146.0	379.1	-5.5	431	5296	0.00	2.20	0.00	0.000	6	0.000	0.035	2225	2328	3023
5625	-0.97	-146.0	397.8	-5.8	447	5629	0.00	2.35	0.00	0.000	4	0.000	0.058	2224	3744	3023
5660	-0.97	-146.0	400.0	-6.3	448	5664	0.00	2.17	0.00	0.000	6	0.000	0.035	2225	2336	3024
5997	-0.97	-146.0	422.9	-7.2	457	6001	0.00	2.35	0.00	0.000	4	0.000	0.059	2224	3750	3024
6008	-0.97	-146.0	423.9	-7.2	457	6012	0.00	2.20	0.00	0.000	6	0.000	0.034	2224	2327	3024
6327	-0.97	-146.0	445.3	-6.6	465	6328	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2327	3025
6652	-0.97	-146.0	465.8	-6.2	473	6656	0.00	2.35	0.00	0.000	4	0.000	0.059	2225	3745	3025
6669	-0.97	-146.0	466.9	-6.3	473	6673	0.00	2.17	0.00	0.000	6	0.000	0.034	2225	2332	3025
6982	-0.97	-146.0	486.2	-6.2	481	6986	0.00	2.35	0.00	0.000	4	0.000	0.059	2225	3746	3025
7023	-1.03	-146.0	488.9	-7.0	481	7029	0.00	2.17	0.00	0.000	6	0.000	0.035	2225	2336	3025
7355	-1.03	-146.0	509.3	-6.0	490	7358	0.00	2.35	0.00	0.000	4	0.000	0.059	2224	3747	3025
7383	-1.03	-146.0	511.1	-6.4	490	7387	0.00	2.17	0.00	0.000	6	0.000	0.034	2224	2340	3025
7726	-1.03	-146.0	530.8	-5.8	499	7730	0.00	2.35	0.00	0.000	4	0.000	0.059	2225	3752	3026
7738	-1.03	-146.0	531.5	-5.7	499	7742	0.00	2.20	0.00	0.000	6	0.000	0.034	2224	2325	3026
8057	-1.03	-146.0	550.7	-6.0	507	8061	0.00	2.38	0.00	0.000	4	0.000	0.061	2225	3746	3026
8068	-1.03	-146.0	551.4	-5.9	507	8072	0.00	2.17	0.00	0.000	6	0.000	0.034	2224	2335	3026
8388	-1.03	-146.0	570.7	-6.3	515	8392	0.00	2.35	0.00	0.000	4	0.000	0.059	2224	3744	3027
8417	-1.08	-146.0	572.7	-6.4	515	8422	0.10	2.17	0.00	0.000	6	0.097	0.035	2190	2330	3026
8759	-0.99	-146.0	598.4	-7.5	524	8764	0.12	2.38	0.00	0.000	4	0.150	0.058	2224	3749	3027
8850	-1.05	-146.0	604.1	-5.5	526	8854	0.00	2.20	0.00	0.000	6	0.000	0.035	2224	2330	3026
9174	-1.05	-146.0	623.5	-6.3	534	9178	0.00	2.38	0.00	0.000	4	0.000	0.059	2224	3754	3027
9191	-1.05	-146.0	624.7	-6.2	534	9195	0.00	2.20	0.00	0.000	6	0.000	0.035	2224	2333	3027
9298	end dive: TARGET_DEPTH_EXCEEDED
state	9299	begin apogee
9307	-0.34	0.0	632.1	6.7	537	9441	0.45	0.00	131.02	1.230	6	0.133	0.000	2363	2526	2420
9441	end apogee: CONTROL_FINISHED_OK
state	9441	begin climb
9444	1.08	146.0	634.2	0.0	540	9611	1.05	0.00	146.75	1.101	6	0.095	0.000	2672	2526	1824
9911	0.90	146.0	597.2	8.7	552	9915	0.15	2.33	0.00	0.000	4	0.146	0.061	2629	3940	1824
9979	0.80	146.0	591.5	8.5	553	9983	0.00	2.17	0.00	0.000	6	0.000	0.038	2629	2522	1824
10321	0.82	162.1	568.5	6.5	562	10337	0.00	0.00	14.20	1.119	6	0.000	0.000	2629	2522	1760
10647	0.83	171.4	546.7	6.7	570	10662	0.00	2.38	9.18	1.051	4	0.000	0.063	2629	3927	1721
10702	0.74	171.4	542.4	8.5	571	10706	0.15	2.17	0.00	0.000	6	0.146	0.038	2588	2519	1722
11021	0.96	203.5	523.6	5.9	579	11056	0.17	2.33	27.38	1.167	4	0.074	0.048	2657	1112	1590
11162	0.96	203.5	512.6	7.8	582	11166	0.00	2.22	0.00	0.000	6	0.000	0.045	2657	2533	1590
11481	0.91	203.5	486.9	8.2	590	11485	0.10	2.25	0.00	0.000	4	0.156	0.060	2630	3925	1590
11560	0.85	203.5	480.3	8.6	591	11566	0.00	2.17	0.00	0.000	6	0.000	0.037	2630	2511	1590
11891	0.85	203.5	457.3	7.1	600	11895	0.00	2.20	0.00	0.000	4	0.000	0.048	2630	1110	1589
11952	0.94	203.5	452.6	7.3	601	11956	0.00	2.22	0.00	0.000	6	0.000	0.044	2630	2523	1589
12266	0.94	203.5	429.4	7.4	609	12270	0.00	2.28	0.00	0.000	4	0.000	0.061	2630	3926	1589
12316	0.94	203.5	425.0	9.4	610	12320	0.00	2.17	0.00	0.000	6	0.000	0.037	2630	2515	1589
12641	0.94	203.5	401.1	7.5	618	12645	0.00	2.17	0.00	0.000	4	0.000	0.048	2630	1120	1589
12720	1.03	203.5	395.3	7.5	620	12724	0.10	2.22	0.00	0.000	6	0.083	0.044	2673	2529	1589
13041	0.93	203.5	365.5	9.9	636	13046	0.12	2.30	0.00	0.000	4	0.136	0.059	2637	3935	1589
13119	0.87	203.5	358.2	9.3	639	13125	0.00	2.20	0.00	0.000	6	0.000	0.036	2637	2508	1590
13436	0.87	203.5	334.2	7.1	655	13440	0.00	2.17	0.00	0.000	4	0.000	0.048	2637	1121	1590
13492	0.97	224.1	330.3	6.3	657	13517	0.00	2.22	17.88	1.012	6	0.000	0.043	2637	2531	1506
13838	1.05	237.5	307.0	6.6	674	13854	0.10	0.00	12.55	0.956	6	0.084	0.000	2684	2531	1451
14164	0.98	237.5	277.4	9.2	690	14166	0.15	0.00	0.00	0.000	6	0.126	0.000	2639	2531	1452
14473	1.04	237.5	254.3	7.9	705	14477	0.10	2.25	0.00	0.000	4	0.084	0.046	2688	1113	1452
14546	0.99	237.5	247.3	9.4	708	14551	0.15	2.22	0.00	0.000	6	0.128	0.044	2644	2528	1451
14873	1.04	237.5	223.1	7.4	724	14874	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2528	1451
15183	1.11	237.5	197.3	8.3	739	15187	0.12	2.28	0.00	0.000	4	0.074	0.059	2700	3924	1452
15234	0.92	237.5	191.4	12.2	741	15238	0.22	2.17	0.00	0.000	6	0.127	0.036	2635	2512	1452
15561	1.13	307.3	173.0	4.6	757	15626	0.15	2.28	57.20	0.946	4	0.069	0.047	2701	1113	1166
15704	1.13	307.3	162.7	7.6	763	15708	0.00	2.22	0.00	0.000	6	0.000	0.043	2701	2530	1164
16025	1.13	307.3	137.4	7.8	779	16029	0.00	2.25	0.00	0.000	4	0.000	0.061	2700	3927	1163
16065	1.03	307.3	133.8	9.4	780	16072	0.15	2.17	0.00	0.000	6	0.131	0.037	2656	2509	1163
16381	1.19	307.3	110.1	8.0	796	16386	0.12	2.20	0.00	0.000	4	0.071	0.048	2709	1114	1162
16465	1.19	307.3	102.8	8.0	799	16472	0.00	2.22	0.00	0.000	6	0.000	0.045	2709	2520	1162
16804	1.19	307.3	74.3	8.1	854	16811	0.00	2.25	0.00	0.000	4	0.000	0.049	2709	1110	1161
16869	1.19	307.3	69.4	7.9	865	16875	0.00	2.25	0.00	0.000	6	0.000	0.044	2709	2534	1161
17214	1.19	307.3	41.6	7.5	926	17220	0.00	2.28	0.00	0.000	4	0.000	0.061	2709	3929	1161
17261	1.12	307.3	37.3	8.9	934	17268	0.12	2.20	0.00	0.000	6	0.133	0.038	2673	2509	1161
17607	1.36	394.2	14.8	4.1	995	17684	0.17	2.35	71.10	0.897	4	0.069	0.050	2748	1115	812
17739	end climb: SURFACE_DEPTH_REACHED
state	17739	begin surface coast
17757	end surface coast: CONTROL_FINISHED_OK
state	17757	begin surface