Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 134 * 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 134 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -2 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 -24407.414 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 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 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 -24407.414

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 -2

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 134 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 202558,6642.460,-6002.980,47,5.8,66,-38.0 TGT_NAME TARGET_ADD2_EB

_CALLS 3 TGT_LATLONG 6651.000,-5910.000

_XMS_NAKs 9 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.197,0.106

_SM_DEPTHo 1.62 KALMAN_X 13723.5,-133.6,24.6,-93192.2,550.9

_SM_ANGLEo -61.9 KALMAN_Y -26742.7,863.8,277.6,2699.6,-4617.1

GPS2 203515,6642.420,-6003.109,14,1.1,14,-38.0 MHEAD_RNG_PITCHd_Wd 99.7,41806,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 624

Post-dive calculations and measurements:

FINISH 0.8,1.025060 TCM_TEMP 15.30

SM_CCo 17858,14.88,1.006,0,0,1298,275.23 XPDR_PINGS 1

SM_GC 1.50,0.00,0.00,14.88,0.000,0.000,1.006,162,2334,1298,-10.46,-0.17,275.23 _24V_AH 22.0,29.662

RAFOS_CLK 1027 _10V_AH 10.6,11.579

RAFOS 4,1222980245,20.750000,20.734722,57,56,53,53,52,51,135,149,160,204,194,222 DATA_FILE_SIZE 37829,1037

RAFOS_FIX 6642.138672,-5952.303711,031008,000025,3,109,0.56 CAP_FILE_SIZE 140763,0

IRIDIUM_FIX 6614.97,-6006.54,271297,202002 CFSIZE 260165632,241782784

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

HUMID 1906 SOUNDSPEED 1449.5

INTERNAL_PRESSURE 8.52572 GPS 031008,013656,6641.362,-5957.681,114,1.2,114,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 270 124.79 SBE_CT 812 24 429.00

Roll_motor 132 74 217.16 SBE_O2 709 19 296.51

VBD_pump_during_apogee 366 1298 10458.63 nil 0 0 0.00

VBD_pump_during_surface 14 1005 329.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 175.97 nil 0 0 0.00

Iridium_during_connect 71 160 250.70 nil 0 0 0.00

Iridium_during_xfer 174 223 856.94

Transponder_ping 0 420 2.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.32

TT8 1882 19 397.59

LPSleep 13643 2 334.09

TT8_Active 535 19 113.03

TT8_Sampling 1869 39 791.01

TT8_CF8 514 45 250.68

TT8_Kalman 33 81 28.98

Analog_circuits 1554 12 197.74

GPS_charging 0 0 0.00

Compass 1843 8 156.37

RAFOS 2160 1 34.34

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.08 -146.0 0.0 0.0 0 121 0.00 0.00 -101.70 0.000 2 0.000 0.000 165 2338 2783

124 -1.08 -146.0 3.5 -3.3 18 148 8.85 2.33 -7.62 0.000 4 0.271 0.071 2196 938 3020

182 -0.33 -146.0 17.4 -21.0 28 190 0.62 2.28 0.00 0.000 6 0.191 0.052 2362 2338 3022

527 -0.50 -146.0 42.7 -6.1 89 534 0.15 2.33 0.00 0.000 4 0.094 0.069 2310 3743 3024

631 -0.56 -146.0 50.5 -7.6 107 638 0.00 2.22 0.00 0.000 6 0.000 0.043 2310 2327 3025

975 -0.63 -146.0 75.3 -7.8 168 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 2327 3026

1318 -0.72 -146.0 96.7 -5.6 229 1325 0.12 2.35 0.00 0.000 4 0.096 0.071 2262 3745 3026

1337 -0.79 -146.0 98.0 -6.0 232 1343 0.00 2.20 0.00 0.000 6 0.000 0.043 2262 2340 3026

1654 -0.79 -146.0 122.5 -7.8 251 1658 0.00 2.22 0.00 0.000 4 0.000 0.058 2262 937 3026

1676 -0.72 -146.0 124.2 -7.7 252 1680 0.00 2.25 0.00 0.000 6 0.000 0.054 2261 2343 3026

2008 -0.72 -146.0 148.9 -7.5 268 2012 0.00 2.33 0.00 0.000 4 0.000 0.072 2262 3754 3026

2101 -0.72 -146.0 156.1 -7.4 272 2106 0.00 2.25 0.00 0.000 6 0.000 0.044 2262 2336 3025

2429 -0.72 -146.0 178.9 -6.8 288 2432 0.00 2.22 0.00 0.000 4 0.000 0.059 2262 935 3025

2446 -0.72 -146.0 180.1 -7.0 288 2452 0.00 2.25 0.00 0.000 6 0.000 0.054 2262 2343 3025

2760 -0.72 -146.0 202.3 -7.3 304 2765 0.00 2.25 0.00 0.000 4 0.000 0.060 2262 932 3025

2782 -0.72 -146.0 204.1 -8.1 305 2786 0.00 2.25 0.00 0.000 6 0.000 0.052 2261 2345 3025

3114 -0.72 -146.0 227.7 -7.0 321 3116 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2345 3024

3424 -0.77 -146.0 248.0 -6.2 336 3425 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2345 3024

3733 -0.83 -146.0 266.6 -6.1 351 3734 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2345 3024

4043 -0.90 -146.0 286.2 -6.3 366 4046 0.00 2.30 0.00 0.000 4 0.000 0.073 2262 3743 3024

4065 -1.00 -146.0 287.5 -5.8 367 4070 0.15 2.20 0.00 0.000 6 0.108 0.044 2209 2331 3024

4391 -0.91 -146.0 311.5 -7.4 383 4396 0.12 2.38 0.00 0.000 4 0.163 0.073 2241 3755 3023

4503 -0.96 -146.0 318.8 -6.2 388 4507 0.00 2.22 0.00 0.000 6 0.000 0.044 2241 2331 3023

4829 -0.96 -146.0 338.5 -6.0 404 4830 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2331 3023

5139 -0.96 -146.0 356.5 -5.6 419 5142 0.00 2.20 0.00 0.000 4 0.000 0.058 2242 938 3023

5177 -0.96 -146.0 358.9 -5.8 420 5183 0.00 2.25 0.00 0.000 6 0.000 0.054 2242 2350 3023

5493 -1.00 -146.0 376.4 -5.4 436 5494 0.10 0.00 0.00 0.000 6 0.106 0.000 2205 2351 3022

5802 -0.92 -146.0 398.7 -7.5 451 5806 0.12 2.30 0.00 0.000 4 0.158 0.071 2238 3750 3023

5828 -0.92 -146.0 400.8 -7.6 452 5832 0.00 2.22 0.00 0.000 6 0.000 0.043 2238 2341 3023

6165 -0.92 -146.0 423.3 -6.8 461 6168 0.00 2.33 0.00 0.000 4 0.000 0.071 2239 3744 3023

6181 -0.98 -146.0 424.4 -6.9 461 6185 0.00 2.20 0.00 0.000 6 0.000 0.043 2238 2327 3023

6494 -1.04 -146.0 444.8 -6.4 469 6499 0.12 2.35 0.00 0.000 4 0.104 0.071 2193 3747 3024

6520 -0.98 -146.0 446.9 -7.9 469 6525 0.12 2.20 0.00 0.000 6 0.160 0.042 2226 2329 3024

6863 -0.98 -146.0 467.6 -5.9 478 6866 0.00 2.35 0.00 0.000 4 0.000 0.071 2226 3746 3024

6884 -0.98 -146.0 469.0 -6.4 478 6888 0.00 2.22 0.00 0.000 6 0.000 0.042 2226 2336 3024

7232 -0.98 -146.0 488.9 -5.8 487 7236 0.00 2.33 0.00 0.000 4 0.000 0.070 2226 3744 3024

7253 -0.98 -146.0 490.2 -6.5 487 7257 0.00 2.22 0.00 0.000 6 0.000 0.042 2226 2331 3024

7602 -0.98 -146.0 511.3 -6.1 496 7603 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2331 3024

7926 -0.98 -146.0 531.9 -6.4 504 7930 0.00 2.35 0.00 0.000 4 0.000 0.071 2226 3750 3024

7972 -1.04 -146.0 534.8 -6.1 505 7976 0.00 2.20 0.00 0.000 6 0.000 0.041 2226 2332 3024

8302 -1.04 -146.0 555.9 -6.2 513 8303 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2331 3024

8626 -1.04 -146.0 574.2 -5.5 521 8628 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2331 3024

8951 -1.04 -146.0 592.7 -5.7 529 8953 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2332 3025

9276 -1.04 -146.0 611.2 -5.7 537 9281 0.00 2.35 0.00 0.000 4 0.000 0.071 2226 3755 3025

9292 -1.04 -146.0 612.2 -5.7 537 9296 0.00 2.20 0.00 0.000 6 0.000 0.041 2226 2337 3024

9522 end dive: TARGET_DEPTH_EXCEEDED

state 9522 begin apogee

9527 -0.34 0.0 624.9 5.6 543 9659 0.45 0.00 129.00 1.299 6 0.143 0.000 2365 2522 2420

9659 end apogee: CONTROL_FINISHED_OK

state 9659 begin climb

9661 1.08 146.0 627.7 0.0 546 9800 1.02 2.65 130.70 1.212 4 0.107 0.069 2669 3926 1823

9857 0.75 146.0 611.8 11.9 550 9862 0.22 2.42 0.00 0.000 6 0.141 0.041 2598 2527 1821

10193 0.76 158.0 589.0 6.6 559 10206 0.00 0.00 11.27 1.113 6 0.000 0.000 2598 2526 1775

10519 0.77 166.3 567.2 6.7 567 10529 0.00 0.00 8.45 1.075 6 0.000 0.000 2598 2526 1742

10843 0.80 183.5 545.6 6.4 575 10861 0.00 0.00 15.95 1.181 6 0.000 0.000 2598 2526 1672

11169 0.90 207.0 525.3 6.2 583 11195 0.12 2.35 20.62 1.195 4 0.082 0.055 2649 1106 1576

11239 0.90 207.0 519.4 8.7 584 11243 0.00 2.33 0.00 0.000 6 0.000 0.049 2650 2528 1575

11576 0.83 207.0 490.0 8.8 593 11581 0.12 2.30 0.00 0.000 4 0.144 0.065 2614 3929 1574

11614 0.83 207.0 486.8 8.4 594 11618 0.00 2.22 0.00 0.000 6 0.000 0.041 2614 2512 1573

11944 0.90 216.8 464.2 6.7 602 11958 0.00 2.25 9.50 1.094 4 0.000 0.055 2614 1114 1536

11998 1.02 229.2 460.5 6.6 603 12018 0.15 2.28 11.93 1.113 6 0.081 0.048 2673 2533 1485

12355 0.91 229.2 426.7 9.5 612 12356 0.15 0.00 0.00 0.000 6 0.134 0.000 2629 2533 1483

12679 0.91 229.2 402.9 7.3 620 12680 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2533 1483

12987 0.91 229.2 379.2 7.8 634 12991 0.00 2.28 0.00 0.000 4 0.000 0.055 2629 1111 1483

13015 0.99 229.2 377.2 7.1 635 13020 0.08 2.25 0.00 0.000 6 0.104 0.050 2663 2528 1483

13341 0.93 229.2 348.5 9.2 651 13343 0.10 0.00 0.00 0.000 6 0.136 0.000 2636 2528 1483

13650 0.93 229.2 323.4 8.1 666 13652 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2528 1483

13960 0.93 229.2 299.2 7.6 681 13961 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2528 1482

14269 0.94 241.9 277.4 6.6 696 14290 0.00 2.35 11.43 1.056 4 0.000 0.055 2636 1107 1432

14323 1.06 244.5 273.7 6.9 698 14335 0.12 2.28 3.88 0.719 6 0.084 0.049 2687 2531 1423

14645 0.97 244.5 244.4 9.1 714 14647 0.15 0.00 0.00 0.000 6 0.133 0.000 2642 2532 1422

14952 1.03 244.5 222.5 7.2 729 14953 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2532 1422

15263 1.11 244.5 200.6 7.1 744 15267 0.12 2.28 0.00 0.000 4 0.081 0.054 2692 1111 1422

15317 1.06 244.5 195.6 9.2 746 15322 0.10 2.22 0.00 0.000 6 0.147 0.050 2666 2519 1422

15638 1.06 244.5 169.5 7.8 762 15642 0.00 2.30 0.00 0.000 4 0.000 0.069 2666 3934 1422

15676 1.00 244.5 166.0 10.0 763 15682 0.00 2.20 0.00 0.000 6 0.000 0.043 2666 2516 1423

15991 1.01 253.8 143.6 6.7 779 16005 0.00 2.25 9.25 0.996 4 0.000 0.058 2666 1111 1385

16035 1.10 256.6 140.6 6.9 781 16044 0.00 2.25 4.12 0.739 6 0.000 0.051 2666 2520 1374

16366 1.15 256.6 115.3 8.2 797 16370 0.00 2.28 0.00 0.000 4 0.000 0.057 2665 1112 1372

16398 1.26 256.6 112.6 8.2 798 16403 0.15 2.25 0.00 0.000 6 0.084 0.051 2721 2523 1372

16730 1.15 256.6 79.7 8.8 840 16736 0.15 0.00 0.00 0.000 6 0.135 0.000 2678 2523 1372

17073 1.21 256.6 55.8 7.2 901 17080 0.00 2.28 0.00 0.000 4 0.000 0.058 2678 1109 1372

17119 1.32 256.6 52.5 7.0 909 17126 0.15 2.25 0.00 0.000 6 0.081 0.051 2733 2523 1372

17463 1.32 256.6 21.8 7.1 970 17469 0.00 2.30 0.00 0.000 4 0.000 0.073 2733 3925 1371

17610 1.18 256.6 8.7 11.1 996 17617 0.15 2.20 0.00 0.000 6 0.150 0.046 2692 2520 1369

17801 end climb: SURFACE_DEPTH_REACHED

state 17801 begin surface coast

17842 end surface coast: CONTROL_FINISHED_OK

state 17842 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	134	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-2	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	-24407.414	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	202558,6642.460,-6002.980,47,5.8,66,-38.0	TGT_NAME	TARGET_ADD2_EB
_CALLS	3	TGT_LATLONG	6651.000,-5910.000
_XMS_NAKs	9	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.197,0.106
_SM_DEPTHo	1.62	KALMAN_X	13723.5,-133.6,24.6,-93192.2,550.9
_SM_ANGLEo	-61.9	KALMAN_Y	-26742.7,863.8,277.6,2699.6,-4617.1
GPS2	203515,6642.420,-6003.109,14,1.1,14,-38.0	MHEAD_RNG_PITCHd_Wd	99.7,41806,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	624

FINISH	0.8,1.025060	TCM_TEMP	15.30
SM_CCo	17858,14.88,1.006,0,0,1298,275.23	XPDR_PINGS	1
SM_GC	1.50,0.00,0.00,14.88,0.000,0.000,1.006,162,2334,1298,-10.46,-0.17,275.23	_24V_AH	22.0,29.662
RAFOS_CLK	1027	_10V_AH	10.6,11.579
RAFOS	4,1222980245,20.750000,20.734722,57,56,53,53,52,51,135,149,160,204,194,222	DATA_FILE_SIZE	37829,1037
RAFOS_FIX	6642.138672,-5952.303711,031008,000025,3,109,0.56	CAP_FILE_SIZE	140763,0
IRIDIUM_FIX	6614.97,-6006.54,271297,202002	CFSIZE	260165632,241782784
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1906	SOUNDSPEED	1449.5
INTERNAL_PRESSURE	8.52572	GPS	031008,013656,6641.362,-5957.681,114,1.2,114,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	270	124.79	SBE_CT	812	24	429.00
Roll_motor	132	74	217.16	SBE_O2	709	19	296.51
VBD_pump_during_apogee	366	1298	10458.63	nil	0	0	0.00
VBD_pump_during_surface	14	1005	329.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	175.97	nil	0	0	0.00
Iridium_during_connect	71	160	250.70	nil	0	0	0.00
Iridium_during_xfer	174	223	856.94
Transponder_ping	0	420	2.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.32
TT8	1882	19	397.59
LPSleep	13643	2	334.09
TT8_Active	535	19	113.03
TT8_Sampling	1869	39	791.01
TT8_CF8	514	45	250.68
TT8_Kalman	33	81	28.98
Analog_circuits	1554	12	197.74
GPS_charging	0	0	0.00
Compass	1843	8	156.37
RAFOS	2160	1	34.34
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.08	-146.0	0.0	0.0	0	121	0.00	0.00	-101.70	0.000	2	0.000	0.000	165	2338	2783
124	-1.08	-146.0	3.5	-3.3	18	148	8.85	2.33	-7.62	0.000	4	0.271	0.071	2196	938	3020
182	-0.33	-146.0	17.4	-21.0	28	190	0.62	2.28	0.00	0.000	6	0.191	0.052	2362	2338	3022
527	-0.50	-146.0	42.7	-6.1	89	534	0.15	2.33	0.00	0.000	4	0.094	0.069	2310	3743	3024
631	-0.56	-146.0	50.5	-7.6	107	638	0.00	2.22	0.00	0.000	6	0.000	0.043	2310	2327	3025
975	-0.63	-146.0	75.3	-7.8	168	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	2327	3026
1318	-0.72	-146.0	96.7	-5.6	229	1325	0.12	2.35	0.00	0.000	4	0.096	0.071	2262	3745	3026
1337	-0.79	-146.0	98.0	-6.0	232	1343	0.00	2.20	0.00	0.000	6	0.000	0.043	2262	2340	3026
1654	-0.79	-146.0	122.5	-7.8	251	1658	0.00	2.22	0.00	0.000	4	0.000	0.058	2262	937	3026
1676	-0.72	-146.0	124.2	-7.7	252	1680	0.00	2.25	0.00	0.000	6	0.000	0.054	2261	2343	3026
2008	-0.72	-146.0	148.9	-7.5	268	2012	0.00	2.33	0.00	0.000	4	0.000	0.072	2262	3754	3026
2101	-0.72	-146.0	156.1	-7.4	272	2106	0.00	2.25	0.00	0.000	6	0.000	0.044	2262	2336	3025
2429	-0.72	-146.0	178.9	-6.8	288	2432	0.00	2.22	0.00	0.000	4	0.000	0.059	2262	935	3025
2446	-0.72	-146.0	180.1	-7.0	288	2452	0.00	2.25	0.00	0.000	6	0.000	0.054	2262	2343	3025
2760	-0.72	-146.0	202.3	-7.3	304	2765	0.00	2.25	0.00	0.000	4	0.000	0.060	2262	932	3025
2782	-0.72	-146.0	204.1	-8.1	305	2786	0.00	2.25	0.00	0.000	6	0.000	0.052	2261	2345	3025
3114	-0.72	-146.0	227.7	-7.0	321	3116	0.00	0.00	0.00	0.000	6	0.000	0.000	2262	2345	3024
3424	-0.77	-146.0	248.0	-6.2	336	3425	0.00	0.00	0.00	0.000	6	0.000	0.000	2262	2345	3024
3733	-0.83	-146.0	266.6	-6.1	351	3734	0.00	0.00	0.00	0.000	6	0.000	0.000	2262	2345	3024
4043	-0.90	-146.0	286.2	-6.3	366	4046	0.00	2.30	0.00	0.000	4	0.000	0.073	2262	3743	3024
4065	-1.00	-146.0	287.5	-5.8	367	4070	0.15	2.20	0.00	0.000	6	0.108	0.044	2209	2331	3024
4391	-0.91	-146.0	311.5	-7.4	383	4396	0.12	2.38	0.00	0.000	4	0.163	0.073	2241	3755	3023
4503	-0.96	-146.0	318.8	-6.2	388	4507	0.00	2.22	0.00	0.000	6	0.000	0.044	2241	2331	3023
4829	-0.96	-146.0	338.5	-6.0	404	4830	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2331	3023
5139	-0.96	-146.0	356.5	-5.6	419	5142	0.00	2.20	0.00	0.000	4	0.000	0.058	2242	938	3023
5177	-0.96	-146.0	358.9	-5.8	420	5183	0.00	2.25	0.00	0.000	6	0.000	0.054	2242	2350	3023
5493	-1.00	-146.0	376.4	-5.4	436	5494	0.10	0.00	0.00	0.000	6	0.106	0.000	2205	2351	3022
5802	-0.92	-146.0	398.7	-7.5	451	5806	0.12	2.30	0.00	0.000	4	0.158	0.071	2238	3750	3023
5828	-0.92	-146.0	400.8	-7.6	452	5832	0.00	2.22	0.00	0.000	6	0.000	0.043	2238	2341	3023
6165	-0.92	-146.0	423.3	-6.8	461	6168	0.00	2.33	0.00	0.000	4	0.000	0.071	2239	3744	3023
6181	-0.98	-146.0	424.4	-6.9	461	6185	0.00	2.20	0.00	0.000	6	0.000	0.043	2238	2327	3023
6494	-1.04	-146.0	444.8	-6.4	469	6499	0.12	2.35	0.00	0.000	4	0.104	0.071	2193	3747	3024
6520	-0.98	-146.0	446.9	-7.9	469	6525	0.12	2.20	0.00	0.000	6	0.160	0.042	2226	2329	3024
6863	-0.98	-146.0	467.6	-5.9	478	6866	0.00	2.35	0.00	0.000	4	0.000	0.071	2226	3746	3024
6884	-0.98	-146.0	469.0	-6.4	478	6888	0.00	2.22	0.00	0.000	6	0.000	0.042	2226	2336	3024
7232	-0.98	-146.0	488.9	-5.8	487	7236	0.00	2.33	0.00	0.000	4	0.000	0.070	2226	3744	3024
7253	-0.98	-146.0	490.2	-6.5	487	7257	0.00	2.22	0.00	0.000	6	0.000	0.042	2226	2331	3024
7602	-0.98	-146.0	511.3	-6.1	496	7603	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2331	3024
7926	-0.98	-146.0	531.9	-6.4	504	7930	0.00	2.35	0.00	0.000	4	0.000	0.071	2226	3750	3024
7972	-1.04	-146.0	534.8	-6.1	505	7976	0.00	2.20	0.00	0.000	6	0.000	0.041	2226	2332	3024
8302	-1.04	-146.0	555.9	-6.2	513	8303	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2331	3024
8626	-1.04	-146.0	574.2	-5.5	521	8628	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2331	3024
8951	-1.04	-146.0	592.7	-5.7	529	8953	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2332	3025
9276	-1.04	-146.0	611.2	-5.7	537	9281	0.00	2.35	0.00	0.000	4	0.000	0.071	2226	3755	3025
9292	-1.04	-146.0	612.2	-5.7	537	9296	0.00	2.20	0.00	0.000	6	0.000	0.041	2226	2337	3024
9522	end dive: TARGET_DEPTH_EXCEEDED
state	9522	begin apogee
9527	-0.34	0.0	624.9	5.6	543	9659	0.45	0.00	129.00	1.299	6	0.143	0.000	2365	2522	2420
9659	end apogee: CONTROL_FINISHED_OK
state	9659	begin climb
9661	1.08	146.0	627.7	0.0	546	9800	1.02	2.65	130.70	1.212	4	0.107	0.069	2669	3926	1823
9857	0.75	146.0	611.8	11.9	550	9862	0.22	2.42	0.00	0.000	6	0.141	0.041	2598	2527	1821
10193	0.76	158.0	589.0	6.6	559	10206	0.00	0.00	11.27	1.113	6	0.000	0.000	2598	2526	1775
10519	0.77	166.3	567.2	6.7	567	10529	0.00	0.00	8.45	1.075	6	0.000	0.000	2598	2526	1742
10843	0.80	183.5	545.6	6.4	575	10861	0.00	0.00	15.95	1.181	6	0.000	0.000	2598	2526	1672
11169	0.90	207.0	525.3	6.2	583	11195	0.12	2.35	20.62	1.195	4	0.082	0.055	2649	1106	1576
11239	0.90	207.0	519.4	8.7	584	11243	0.00	2.33	0.00	0.000	6	0.000	0.049	2650	2528	1575
11576	0.83	207.0	490.0	8.8	593	11581	0.12	2.30	0.00	0.000	4	0.144	0.065	2614	3929	1574
11614	0.83	207.0	486.8	8.4	594	11618	0.00	2.22	0.00	0.000	6	0.000	0.041	2614	2512	1573
11944	0.90	216.8	464.2	6.7	602	11958	0.00	2.25	9.50	1.094	4	0.000	0.055	2614	1114	1536
11998	1.02	229.2	460.5	6.6	603	12018	0.15	2.28	11.93	1.113	6	0.081	0.048	2673	2533	1485
12355	0.91	229.2	426.7	9.5	612	12356	0.15	0.00	0.00	0.000	6	0.134	0.000	2629	2533	1483
12679	0.91	229.2	402.9	7.3	620	12680	0.00	0.00	0.00	0.000	6	0.000	0.000	2629	2533	1483
12987	0.91	229.2	379.2	7.8	634	12991	0.00	2.28	0.00	0.000	4	0.000	0.055	2629	1111	1483
13015	0.99	229.2	377.2	7.1	635	13020	0.08	2.25	0.00	0.000	6	0.104	0.050	2663	2528	1483
13341	0.93	229.2	348.5	9.2	651	13343	0.10	0.00	0.00	0.000	6	0.136	0.000	2636	2528	1483
13650	0.93	229.2	323.4	8.1	666	13652	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2528	1483
13960	0.93	229.2	299.2	7.6	681	13961	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2528	1482
14269	0.94	241.9	277.4	6.6	696	14290	0.00	2.35	11.43	1.056	4	0.000	0.055	2636	1107	1432
14323	1.06	244.5	273.7	6.9	698	14335	0.12	2.28	3.88	0.719	6	0.084	0.049	2687	2531	1423
14645	0.97	244.5	244.4	9.1	714	14647	0.15	0.00	0.00	0.000	6	0.133	0.000	2642	2532	1422
14952	1.03	244.5	222.5	7.2	729	14953	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2532	1422
15263	1.11	244.5	200.6	7.1	744	15267	0.12	2.28	0.00	0.000	4	0.081	0.054	2692	1111	1422
15317	1.06	244.5	195.6	9.2	746	15322	0.10	2.22	0.00	0.000	6	0.147	0.050	2666	2519	1422
15638	1.06	244.5	169.5	7.8	762	15642	0.00	2.30	0.00	0.000	4	0.000	0.069	2666	3934	1422
15676	1.00	244.5	166.0	10.0	763	15682	0.00	2.20	0.00	0.000	6	0.000	0.043	2666	2516	1423
15991	1.01	253.8	143.6	6.7	779	16005	0.00	2.25	9.25	0.996	4	0.000	0.058	2666	1111	1385
16035	1.10	256.6	140.6	6.9	781	16044	0.00	2.25	4.12	0.739	6	0.000	0.051	2666	2520	1374
16366	1.15	256.6	115.3	8.2	797	16370	0.00	2.28	0.00	0.000	4	0.000	0.057	2665	1112	1372
16398	1.26	256.6	112.6	8.2	798	16403	0.15	2.25	0.00	0.000	6	0.084	0.051	2721	2523	1372
16730	1.15	256.6	79.7	8.8	840	16736	0.15	0.00	0.00	0.000	6	0.135	0.000	2678	2523	1372
17073	1.21	256.6	55.8	7.2	901	17080	0.00	2.28	0.00	0.000	4	0.000	0.058	2678	1109	1372
17119	1.32	256.6	52.5	7.0	909	17126	0.15	2.25	0.00	0.000	6	0.081	0.051	2733	2523	1372
17463	1.32	256.6	21.8	7.1	970	17469	0.00	2.30	0.00	0.000	4	0.000	0.073	2733	3925	1371
17610	1.18	256.6	8.7	11.1	996	17617	0.15	2.20	0.00	0.000	6	0.150	0.046	2692	2520	1369
17801	end climb: SURFACE_DEPTH_REACHED
state	17801	begin surface coast
17842	end surface coast: CONTROL_FINISHED_OK
state	17842	begin surface