Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 77 * 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 77 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 275 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 26 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 2500 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 100 T_GPS_CHARGE -23429.93 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 60 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 0.0031999999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.014 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 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 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 60 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 0.0031999999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.014 RELAUNCH 1 T_GPS_CHARGE -23429.93

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 2500 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 77 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 175807,6702.654,-5703.098,38,1.5,38,-37.6 TGT_NAME TARGET_ADD4_WB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.164,0.087

_SM_DEPTHo 1.40 KALMAN_X 9525.1,-793.2,-735.0,64459.8,2027.6

_SM_ANGLEo -61.2 KALMAN_Y -14630.4,-152.1,1321.9,31239.0,-2091.7

GPS2 180326,6702.673,-5703.273,12,1.5,12,-37.6 MHEAD_RNG_PITCHd_Wd 335.5,23960,-14.2,-7.021

SPEED_LIMITS 0.122,0.186 D_GRID 698

Post-dive calculations and measurements:

FINISH 0.6,1.024857 TCM_TEMP 15.90

SM_CCo 17536,7.68,0.903,0,0,1378,275.23 XPDR_PINGS 0

SM_GC 2.37,0.00,0.00,7.68,0.000,0.000,0.903,159,2332,1378,-10.47,-0.20,275.23 _24V_AH 22.2,20.499

RAFOS_CLK 961 _10V_AH 10.6,7.348

RAFOS 0,1221854641,20.083334,20.066944,64,59,58,55,55,51,199,217,1027,178,153,142 DATA_FILE_SIZE 34743,940

RAFOS_FIX 6637.331543,-6033.633301,190908,202048,5,86,18.92 CAP_FILE_SIZE 141861,0

IRIDIUM_FIX 6631.12,-5701.34,141297,131304 CFSIZE 260165632,246685696

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

HUMID 1936 SOUNDSPEED 1456.6

INTERNAL_PRESSURE 8.58431 GPS 190908,225908,6703.001,-5706.762,40,1.4,40,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 266 122.95 SBE_CT 735 24 391.82

Roll_motor 153 78 266.90 SBE_O2 641 19 270.78

VBD_pump_during_apogee 365 1358 11024.86 nil 0 0 0.00

VBD_pump_during_surface 7 902 153.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 65.73 nil 0 0 0.00

Iridium_during_connect 40 160 142.66 nil 0 0 0.00

Iridium_during_xfer 140 223 696.99

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.42

TT8 1840 19 388.64

LPSleep 13170 2 322.49

TT8_Active 520 19 109.98

TT8_Sampling 2013 39 852.20

TT8_CF8 378 45 184.07

TT8_Kalman 33 81 28.96

Analog_circuits 1612 12 205.13

GPS_charging 0 0 0.00

Compass 1981 8 168.00

RAFOS 1800 1 28.62

Transponder 0 30 0.17

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.16 -146.0 0.0 0.0 0 127 0.00 0.00 -107.68 0.000 2 0.000 0.000 166 2330 2966

130 -1.16 -146.0 3.1 -3.1 19 149 8.48 2.35 -4.28 0.000 4 0.267 0.078 2178 3745 3097

403 -0.87 -146.0 52.7 -11.7 67 410 0.25 2.20 0.00 0.000 6 0.169 0.041 2247 2337 3102

747 -0.87 -146.0 82.1 -8.5 128 753 0.00 2.33 0.00 0.000 4 0.000 0.066 2246 3753 3106

871 -0.87 -146.0 92.8 -9.1 150 877 0.00 2.20 0.00 0.000 6 0.000 0.040 2247 2330 3106

1209 -0.87 -146.0 122.5 -9.4 178 1213 0.00 2.17 0.00 0.000 4 0.000 0.054 2247 935 3106

1291 -0.87 -146.0 130.7 -9.8 181 1298 0.00 2.25 0.00 0.000 6 0.000 0.050 2247 2342 3106

1608 -0.91 -146.0 159.1 -9.0 197 1611 0.00 2.28 0.00 0.000 4 0.000 0.067 2247 3750 3105

1702 -0.99 -146.0 167.7 -8.8 201 1706 0.08 2.20 0.00 0.000 6 0.106 0.041 2216 2341 3105

2028 -0.99 -146.0 196.5 -8.0 217 2032 0.00 2.20 0.00 0.000 4 0.000 0.055 2216 931 3105

2150 -0.91 -146.0 206.9 -8.1 222 2155 0.08 2.25 0.00 0.000 6 0.180 0.049 2239 2343 3104

2472 -0.96 -146.0 228.1 -6.5 238 2476 0.00 2.28 0.00 0.000 4 0.000 0.069 2239 3750 3104

2566 -1.06 -146.0 234.8 -6.9 242 2571 0.12 2.17 0.00 0.000 6 0.102 0.041 2196 2334 3103

2892 -1.00 -146.0 263.9 -9.2 258 2894 0.10 0.00 0.00 0.000 6 0.173 0.000 2219 2333 3103

3202 -1.00 -146.0 288.0 -7.2 273 3205 0.00 2.30 0.00 0.000 4 0.000 0.069 2219 3748 3102

3324 -1.07 -146.0 296.6 -6.8 278 3328 0.00 2.17 0.00 0.000 6 0.000 0.041 2219 2332 3102

3645 -1.07 -146.0 318.2 -6.8 294 3649 0.00 2.17 0.00 0.000 4 0.000 0.054 2219 929 3102

3762 -1.07 -146.0 327.1 -7.6 299 3766 0.00 2.22 0.00 0.000 6 0.000 0.051 2219 2349 3101

4087 -1.12 -146.0 350.5 -7.2 315 4089 0.10 0.00 0.00 0.000 6 0.114 0.000 2186 2350 3102

4397 -1.05 -146.0 375.5 -8.1 330 4401 0.00 2.22 0.00 0.000 4 0.000 0.066 2185 3743 3102

4468 -1.05 -146.0 381.6 -8.6 333 4472 0.00 2.17 0.00 0.000 6 0.000 0.039 2185 2338 3102

4795 -0.99 -146.0 408.0 -8.2 347 4797 0.15 0.00 0.00 0.000 6 0.166 0.000 2225 2336 3103

5119 -1.06 -146.0 429.7 -6.6 355 5123 0.00 2.28 0.00 0.000 4 0.000 0.067 2226 3743 3104

5202 -1.17 -146.0 435.5 -6.8 356 5210 0.15 2.15 0.00 0.000 6 0.097 0.040 2174 2334 3104

5533 -1.07 -146.0 462.9 -8.5 365 5537 0.12 2.17 0.00 0.000 4 0.164 0.052 2205 932 3104

5599 -1.07 -146.0 468.1 -8.3 366 5604 0.00 2.22 0.00 0.000 6 0.000 0.048 2205 2342 3104

5947 -1.07 -146.0 493.2 -7.3 375 5951 0.00 2.25 0.00 0.000 4 0.000 0.067 2205 3753 3103

6115 -1.13 -146.0 506.5 -7.9 378 6119 0.00 2.15 0.00 0.000 6 0.000 0.039 2205 2334 3104

6450 -1.13 -146.0 531.8 -7.5 387 6451 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2334 3103

6775 -1.13 -146.0 555.6 -7.3 395 6776 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2334 3104

7100 -1.13 -146.0 579.7 -7.5 403 7103 0.00 2.30 0.00 0.000 4 0.000 0.067 2205 3754 3104

7211 -1.19 -146.0 588.3 -7.3 405 7216 0.12 2.17 0.00 0.000 6 0.106 0.039 2163 2327 3103

7560 -1.08 -146.0 619.3 -9.0 414 7562 0.15 0.00 0.00 0.000 6 0.167 0.000 2202 2326 3103

7883 -1.08 -146.0 643.7 -7.3 422 7887 0.00 2.30 0.00 0.000 4 0.000 0.068 2202 3746 3103

7995 -1.13 -146.0 652.5 -7.9 424 7999 0.00 2.15 0.00 0.000 6 0.000 0.040 2202 2337 3103

8342 -1.13 -146.0 678.7 -7.6 433 8346 0.00 2.17 0.00 0.000 4 0.000 0.054 2202 930 3103

8432 -1.13 -146.0 686.1 -8.3 435 8435 0.00 2.20 0.00 0.000 6 0.000 0.050 2202 2339 3103

8596 end dive: TARGET_DEPTH_EXCEEDED

state 8596 begin apogee

8601 -0.34 0.0 698.1 7.1 439 8731 0.52 0.00 126.88 1.358 6 0.149 0.000 2365 2522 2500

8731 end apogee: CONTROL_FINISHED_OK

state 8731 begin climb

8733 1.16 146.0 700.5 0.0 442 8870 1.05 2.55 129.52 1.263 4 0.104 0.053 2690 1128 1903

8877 0.91 146.0 690.5 9.5 445 8881 0.22 2.50 0.00 0.000 6 0.147 0.048 2632 2529 1903

9224 0.83 146.0 661.9 8.5 454 9226 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2530 1900

9550 0.75 146.0 635.8 7.9 462 9554 0.12 2.33 0.00 0.000 4 0.150 0.066 2598 3940 1901

9591 0.69 146.0 632.7 7.5 463 9595 0.00 2.22 0.00 0.000 6 0.000 0.039 2598 2524 1900

9919 0.71 161.6 611.1 6.5 471 9939 0.00 2.42 13.70 1.223 4 0.000 0.069 2598 3930 1841

9972 0.71 161.6 607.1 8.2 472 9976 0.00 2.28 0.00 0.000 6 0.000 0.040 2598 2515 1840

10291 0.82 187.5 587.0 6.1 480 10320 0.00 2.47 22.55 1.262 4 0.000 0.068 2597 3927 1735

10347 0.82 187.5 583.1 7.3 481 10352 0.00 2.28 0.00 0.000 6 0.000 0.039 2597 2523 1735

10661 0.94 214.5 563.7 6.1 489 10691 0.15 2.47 23.40 1.246 4 0.081 0.070 2654 3926 1625

10696 0.85 214.5 560.8 9.0 489 10703 0.15 2.28 0.00 0.000 6 0.155 0.041 2617 2519 1623

11027 0.91 222.3 538.3 6.7 498 11041 0.00 2.30 7.72 1.083 4 0.000 0.054 2617 1123 1594

11222 1.02 229.7 525.2 6.8 502 11236 0.10 2.28 7.70 1.077 6 0.073 0.050 2664 2520 1563

11573 0.94 229.7 492.5 9.5 511 11578 0.10 2.25 0.00 0.000 4 0.150 0.054 2638 1117 1562

11763 0.94 229.7 476.5 8.6 515 11767 0.00 2.28 0.00 0.000 6 0.000 0.050 2638 2523 1562

12081 0.94 229.7 448.8 8.8 523 12085 0.00 2.25 0.00 0.000 4 0.000 0.055 2638 1111 1562

12110 1.00 229.7 446.5 8.6 523 12114 0.00 2.25 0.00 0.000 6 0.000 0.050 2637 2529 1561

12451 1.00 229.7 417.0 8.6 532 12455 0.00 2.25 0.00 0.000 4 0.000 0.054 2638 1113 1561

12472 1.05 229.7 415.1 8.0 532 12477 0.08 2.25 0.00 0.000 6 0.084 0.049 2675 2520 1562

12803 0.95 229.7 378.9 11.1 545 12804 0.15 0.00 0.00 0.000 6 0.145 0.000 2633 2520 1561

13111 0.95 229.7 352.3 8.5 560 13112 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2520 1561

13420 0.95 229.7 328.1 7.4 575 13424 0.00 2.22 0.00 0.000 4 0.000 0.055 2632 1108 1561

13465 1.03 229.7 324.8 7.2 577 13470 0.10 2.22 0.00 0.000 6 0.098 0.049 2670 2533 1561

13797 0.96 229.7 293.9 10.0 593 13801 0.10 2.22 0.00 0.000 4 0.150 0.054 2642 1112 1561

13818 0.96 229.7 291.8 9.3 594 13822 0.00 2.20 0.00 0.000 6 0.000 0.048 2642 2521 1561

14149 0.96 229.7 261.9 9.1 610 14153 0.00 2.22 0.00 0.000 4 0.000 0.054 2642 1109 1561

14159 0.96 229.7 261.1 8.9 610 14163 0.00 2.22 0.00 0.000 6 0.000 0.046 2642 2515 1561

14480 0.96 229.7 235.1 7.6 626 14484 0.00 2.20 0.00 0.000 4 0.000 0.054 2642 1109 1561

14489 0.96 229.7 234.2 7.8 626 14494 0.00 2.22 0.00 0.000 6 0.000 0.046 2642 2518 1562

14810 1.00 229.7 211.6 7.4 642 14812 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2519 1562

15120 1.07 229.7 188.3 7.1 657 15124 0.10 2.22 0.00 0.000 4 0.094 0.065 2684 3924 1563

15129 1.07 229.7 187.4 7.1 657 15133 0.00 2.17 0.00 0.000 6 0.000 0.039 2688 2519 1563

15450 0.99 229.7 158.8 8.8 673 15455 0.15 2.28 0.00 0.000 4 0.153 0.067 2644 3924 1563

15466 0.94 229.7 157.7 8.1 674 15470 0.00 2.15 0.00 0.000 6 0.000 0.041 2644 2511 1563

15798 1.03 234.4 135.9 6.9 690 15809 0.00 2.33 5.70 0.862 4 0.000 0.068 2644 3937 1543

15819 1.09 234.4 134.3 7.6 691 15824 0.08 2.20 0.00 0.000 6 0.087 0.040 2680 2525 1543

16145 1.09 234.4 106.5 8.3 707 16148 0.00 2.28 0.00 0.000 4 0.000 0.069 2681 3923 1543

16161 1.04 234.4 105.0 8.3 707 16167 0.00 2.17 0.00 0.000 6 0.000 0.041 2681 2508 1543

16498 1.06 248.8 79.4 6.5 759 16516 0.00 0.00 12.82 1.012 6 0.000 0.000 2681 2508 1485

16853 1.06 248.8 52.6 7.7 822 16859 0.00 2.20 0.00 0.000 4 0.000 0.056 2681 1114 1483

16864 1.06 248.8 51.6 7.6 824 16871 0.00 2.22 0.00 0.000 6 0.000 0.049 2681 2521 1483

17209 1.17 259.5 25.0 6.6 885 17227 0.00 2.30 9.90 0.974 4 0.000 0.054 2681 1116 1441

17261 1.39 264.8 21.4 6.8 894 17274 0.17 2.25 5.70 0.837 6 0.080 0.049 2748 2527 1420

17496 end climb: SURFACE_DEPTH_REACHED

state 17497 begin surface coast

17520 end surface coast: CONTROL_FINISHED_OK

state 17520 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	77	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	275	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	26	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	2500	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	100	T_GPS_CHARGE	-23429.93	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	60	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	0.0031999999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.014	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	175807,6702.654,-5703.098,38,1.5,38,-37.6	TGT_NAME	TARGET_ADD4_WB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.164,0.087
_SM_DEPTHo	1.40	KALMAN_X	9525.1,-793.2,-735.0,64459.8,2027.6
_SM_ANGLEo	-61.2	KALMAN_Y	-14630.4,-152.1,1321.9,31239.0,-2091.7
GPS2	180326,6702.673,-5703.273,12,1.5,12,-37.6	MHEAD_RNG_PITCHd_Wd	335.5,23960,-14.2,-7.021
SPEED_LIMITS	0.122,0.186	D_GRID	698

FINISH	0.6,1.024857	TCM_TEMP	15.90
SM_CCo	17536,7.68,0.903,0,0,1378,275.23	XPDR_PINGS	0
SM_GC	2.37,0.00,0.00,7.68,0.000,0.000,0.903,159,2332,1378,-10.47,-0.20,275.23	_24V_AH	22.2,20.499
RAFOS_CLK	961	_10V_AH	10.6,7.348
RAFOS	0,1221854641,20.083334,20.066944,64,59,58,55,55,51,199,217,1027,178,153,142	DATA_FILE_SIZE	34743,940
RAFOS_FIX	6637.331543,-6033.633301,190908,202048,5,86,18.92	CAP_FILE_SIZE	141861,0
IRIDIUM_FIX	6631.12,-5701.34,141297,131304	CFSIZE	260165632,246685696
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1936	SOUNDSPEED	1456.6
INTERNAL_PRESSURE	8.58431	GPS	190908,225908,6703.001,-5706.762,40,1.4,40,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	266	122.95	SBE_CT	735	24	391.82
Roll_motor	153	78	266.90	SBE_O2	641	19	270.78
VBD_pump_during_apogee	365	1358	11024.86	nil	0	0	0.00
VBD_pump_during_surface	7	902	153.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	65.73	nil	0	0	0.00
Iridium_during_connect	40	160	142.66	nil	0	0	0.00
Iridium_during_xfer	140	223	696.99
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.42
TT8	1840	19	388.64
LPSleep	13170	2	322.49
TT8_Active	520	19	109.98
TT8_Sampling	2013	39	852.20
TT8_CF8	378	45	184.07
TT8_Kalman	33	81	28.96
Analog_circuits	1612	12	205.13
GPS_charging	0	0	0.00
Compass	1981	8	168.00
RAFOS	1800	1	28.62
Transponder	0	30	0.17

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.16	-146.0	0.0	0.0	0	127	0.00	0.00	-107.68	0.000	2	0.000	0.000	166	2330	2966
130	-1.16	-146.0	3.1	-3.1	19	149	8.48	2.35	-4.28	0.000	4	0.267	0.078	2178	3745	3097
403	-0.87	-146.0	52.7	-11.7	67	410	0.25	2.20	0.00	0.000	6	0.169	0.041	2247	2337	3102
747	-0.87	-146.0	82.1	-8.5	128	753	0.00	2.33	0.00	0.000	4	0.000	0.066	2246	3753	3106
871	-0.87	-146.0	92.8	-9.1	150	877	0.00	2.20	0.00	0.000	6	0.000	0.040	2247	2330	3106
1209	-0.87	-146.0	122.5	-9.4	178	1213	0.00	2.17	0.00	0.000	4	0.000	0.054	2247	935	3106
1291	-0.87	-146.0	130.7	-9.8	181	1298	0.00	2.25	0.00	0.000	6	0.000	0.050	2247	2342	3106
1608	-0.91	-146.0	159.1	-9.0	197	1611	0.00	2.28	0.00	0.000	4	0.000	0.067	2247	3750	3105
1702	-0.99	-146.0	167.7	-8.8	201	1706	0.08	2.20	0.00	0.000	6	0.106	0.041	2216	2341	3105
2028	-0.99	-146.0	196.5	-8.0	217	2032	0.00	2.20	0.00	0.000	4	0.000	0.055	2216	931	3105
2150	-0.91	-146.0	206.9	-8.1	222	2155	0.08	2.25	0.00	0.000	6	0.180	0.049	2239	2343	3104
2472	-0.96	-146.0	228.1	-6.5	238	2476	0.00	2.28	0.00	0.000	4	0.000	0.069	2239	3750	3104
2566	-1.06	-146.0	234.8	-6.9	242	2571	0.12	2.17	0.00	0.000	6	0.102	0.041	2196	2334	3103
2892	-1.00	-146.0	263.9	-9.2	258	2894	0.10	0.00	0.00	0.000	6	0.173	0.000	2219	2333	3103
3202	-1.00	-146.0	288.0	-7.2	273	3205	0.00	2.30	0.00	0.000	4	0.000	0.069	2219	3748	3102
3324	-1.07	-146.0	296.6	-6.8	278	3328	0.00	2.17	0.00	0.000	6	0.000	0.041	2219	2332	3102
3645	-1.07	-146.0	318.2	-6.8	294	3649	0.00	2.17	0.00	0.000	4	0.000	0.054	2219	929	3102
3762	-1.07	-146.0	327.1	-7.6	299	3766	0.00	2.22	0.00	0.000	6	0.000	0.051	2219	2349	3101
4087	-1.12	-146.0	350.5	-7.2	315	4089	0.10	0.00	0.00	0.000	6	0.114	0.000	2186	2350	3102
4397	-1.05	-146.0	375.5	-8.1	330	4401	0.00	2.22	0.00	0.000	4	0.000	0.066	2185	3743	3102
4468	-1.05	-146.0	381.6	-8.6	333	4472	0.00	2.17	0.00	0.000	6	0.000	0.039	2185	2338	3102
4795	-0.99	-146.0	408.0	-8.2	347	4797	0.15	0.00	0.00	0.000	6	0.166	0.000	2225	2336	3103
5119	-1.06	-146.0	429.7	-6.6	355	5123	0.00	2.28	0.00	0.000	4	0.000	0.067	2226	3743	3104
5202	-1.17	-146.0	435.5	-6.8	356	5210	0.15	2.15	0.00	0.000	6	0.097	0.040	2174	2334	3104
5533	-1.07	-146.0	462.9	-8.5	365	5537	0.12	2.17	0.00	0.000	4	0.164	0.052	2205	932	3104
5599	-1.07	-146.0	468.1	-8.3	366	5604	0.00	2.22	0.00	0.000	6	0.000	0.048	2205	2342	3104
5947	-1.07	-146.0	493.2	-7.3	375	5951	0.00	2.25	0.00	0.000	4	0.000	0.067	2205	3753	3103
6115	-1.13	-146.0	506.5	-7.9	378	6119	0.00	2.15	0.00	0.000	6	0.000	0.039	2205	2334	3104
6450	-1.13	-146.0	531.8	-7.5	387	6451	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2334	3103
6775	-1.13	-146.0	555.6	-7.3	395	6776	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2334	3104
7100	-1.13	-146.0	579.7	-7.5	403	7103	0.00	2.30	0.00	0.000	4	0.000	0.067	2205	3754	3104
7211	-1.19	-146.0	588.3	-7.3	405	7216	0.12	2.17	0.00	0.000	6	0.106	0.039	2163	2327	3103
7560	-1.08	-146.0	619.3	-9.0	414	7562	0.15	0.00	0.00	0.000	6	0.167	0.000	2202	2326	3103
7883	-1.08	-146.0	643.7	-7.3	422	7887	0.00	2.30	0.00	0.000	4	0.000	0.068	2202	3746	3103
7995	-1.13	-146.0	652.5	-7.9	424	7999	0.00	2.15	0.00	0.000	6	0.000	0.040	2202	2337	3103
8342	-1.13	-146.0	678.7	-7.6	433	8346	0.00	2.17	0.00	0.000	4	0.000	0.054	2202	930	3103
8432	-1.13	-146.0	686.1	-8.3	435	8435	0.00	2.20	0.00	0.000	6	0.000	0.050	2202	2339	3103
8596	end dive: TARGET_DEPTH_EXCEEDED
state	8596	begin apogee
8601	-0.34	0.0	698.1	7.1	439	8731	0.52	0.00	126.88	1.358	6	0.149	0.000	2365	2522	2500
8731	end apogee: CONTROL_FINISHED_OK
state	8731	begin climb
8733	1.16	146.0	700.5	0.0	442	8870	1.05	2.55	129.52	1.263	4	0.104	0.053	2690	1128	1903
8877	0.91	146.0	690.5	9.5	445	8881	0.22	2.50	0.00	0.000	6	0.147	0.048	2632	2529	1903
9224	0.83	146.0	661.9	8.5	454	9226	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2530	1900
9550	0.75	146.0	635.8	7.9	462	9554	0.12	2.33	0.00	0.000	4	0.150	0.066	2598	3940	1901
9591	0.69	146.0	632.7	7.5	463	9595	0.00	2.22	0.00	0.000	6	0.000	0.039	2598	2524	1900
9919	0.71	161.6	611.1	6.5	471	9939	0.00	2.42	13.70	1.223	4	0.000	0.069	2598	3930	1841
9972	0.71	161.6	607.1	8.2	472	9976	0.00	2.28	0.00	0.000	6	0.000	0.040	2598	2515	1840
10291	0.82	187.5	587.0	6.1	480	10320	0.00	2.47	22.55	1.262	4	0.000	0.068	2597	3927	1735
10347	0.82	187.5	583.1	7.3	481	10352	0.00	2.28	0.00	0.000	6	0.000	0.039	2597	2523	1735
10661	0.94	214.5	563.7	6.1	489	10691	0.15	2.47	23.40	1.246	4	0.081	0.070	2654	3926	1625
10696	0.85	214.5	560.8	9.0	489	10703	0.15	2.28	0.00	0.000	6	0.155	0.041	2617	2519	1623
11027	0.91	222.3	538.3	6.7	498	11041	0.00	2.30	7.72	1.083	4	0.000	0.054	2617	1123	1594
11222	1.02	229.7	525.2	6.8	502	11236	0.10	2.28	7.70	1.077	6	0.073	0.050	2664	2520	1563
11573	0.94	229.7	492.5	9.5	511	11578	0.10	2.25	0.00	0.000	4	0.150	0.054	2638	1117	1562
11763	0.94	229.7	476.5	8.6	515	11767	0.00	2.28	0.00	0.000	6	0.000	0.050	2638	2523	1562
12081	0.94	229.7	448.8	8.8	523	12085	0.00	2.25	0.00	0.000	4	0.000	0.055	2638	1111	1562
12110	1.00	229.7	446.5	8.6	523	12114	0.00	2.25	0.00	0.000	6	0.000	0.050	2637	2529	1561
12451	1.00	229.7	417.0	8.6	532	12455	0.00	2.25	0.00	0.000	4	0.000	0.054	2638	1113	1561
12472	1.05	229.7	415.1	8.0	532	12477	0.08	2.25	0.00	0.000	6	0.084	0.049	2675	2520	1562
12803	0.95	229.7	378.9	11.1	545	12804	0.15	0.00	0.00	0.000	6	0.145	0.000	2633	2520	1561
13111	0.95	229.7	352.3	8.5	560	13112	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2520	1561
13420	0.95	229.7	328.1	7.4	575	13424	0.00	2.22	0.00	0.000	4	0.000	0.055	2632	1108	1561
13465	1.03	229.7	324.8	7.2	577	13470	0.10	2.22	0.00	0.000	6	0.098	0.049	2670	2533	1561
13797	0.96	229.7	293.9	10.0	593	13801	0.10	2.22	0.00	0.000	4	0.150	0.054	2642	1112	1561
13818	0.96	229.7	291.8	9.3	594	13822	0.00	2.20	0.00	0.000	6	0.000	0.048	2642	2521	1561
14149	0.96	229.7	261.9	9.1	610	14153	0.00	2.22	0.00	0.000	4	0.000	0.054	2642	1109	1561
14159	0.96	229.7	261.1	8.9	610	14163	0.00	2.22	0.00	0.000	6	0.000	0.046	2642	2515	1561
14480	0.96	229.7	235.1	7.6	626	14484	0.00	2.20	0.00	0.000	4	0.000	0.054	2642	1109	1561
14489	0.96	229.7	234.2	7.8	626	14494	0.00	2.22	0.00	0.000	6	0.000	0.046	2642	2518	1562
14810	1.00	229.7	211.6	7.4	642	14812	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2519	1562
15120	1.07	229.7	188.3	7.1	657	15124	0.10	2.22	0.00	0.000	4	0.094	0.065	2684	3924	1563
15129	1.07	229.7	187.4	7.1	657	15133	0.00	2.17	0.00	0.000	6	0.000	0.039	2688	2519	1563
15450	0.99	229.7	158.8	8.8	673	15455	0.15	2.28	0.00	0.000	4	0.153	0.067	2644	3924	1563
15466	0.94	229.7	157.7	8.1	674	15470	0.00	2.15	0.00	0.000	6	0.000	0.041	2644	2511	1563
15798	1.03	234.4	135.9	6.9	690	15809	0.00	2.33	5.70	0.862	4	0.000	0.068	2644	3937	1543
15819	1.09	234.4	134.3	7.6	691	15824	0.08	2.20	0.00	0.000	6	0.087	0.040	2680	2525	1543
16145	1.09	234.4	106.5	8.3	707	16148	0.00	2.28	0.00	0.000	4	0.000	0.069	2681	3923	1543
16161	1.04	234.4	105.0	8.3	707	16167	0.00	2.17	0.00	0.000	6	0.000	0.041	2681	2508	1543
16498	1.06	248.8	79.4	6.5	759	16516	0.00	0.00	12.82	1.012	6	0.000	0.000	2681	2508	1485
16853	1.06	248.8	52.6	7.7	822	16859	0.00	2.20	0.00	0.000	4	0.000	0.056	2681	1114	1483
16864	1.06	248.8	51.6	7.6	824	16871	0.00	2.22	0.00	0.000	6	0.000	0.049	2681	2521	1483
17209	1.17	259.5	25.0	6.6	885	17227	0.00	2.30	9.90	0.974	4	0.000	0.054	2681	1116	1441
17261	1.39	264.8	21.4	6.8	894	17274	0.17	2.25	5.70	0.837	6	0.080	0.049	2748	2527	1420
17496	end climb: SURFACE_DEPTH_REACHED
state	17497	begin surface coast
17520	end surface coast: CONTROL_FINISHED_OK
state	17520	begin surface