Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 230 * 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 230 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 36 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 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 900 T_GPS_CHARGE -26248.9 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 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 -26248.9

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 36 VBD_BLEED_AD_RATE 8

C_VBD 2420 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 230 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 095632,6643.709,-5954.845,37,1.5,37,-38.0 TGT_NAME TARGET_ADD2_EB

_CALLS 2 TGT_LATLONG 6651.000,-5910.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,0.041

_SM_DEPTHo 1.57 KALMAN_X 19181.9,265.9,61.5,-128612.0,-24.2

_SM_ANGLEo -61.9 KALMAN_Y -37964.5,-758.0,-522.2,18529.5,1021.4

GPS2 100410,6643.692,-5954.779,11,2.4,30,-38.0 MHEAD_RNG_PITCHd_Wd 117.6,35301,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 706

Post-dive calculations and measurements:

FINISH 0.9,1.024929 TCM_TEMP 15.20

SM_CCo 18768,0.00,0.000,0,0,1003,347.34 XPDR_PINGS 2

SM_GC 1.67,7.50,0.00,0.00,0.077,0.000,0.000,165,2330,1003,-10.38,-0.28,347.34 _24V_AH 21.0,45.379

RAFOS_CLK 1068 _10V_AH 10.5,19.123

RAFOS 0,1225022678,12.083333,12.077222,83,63,58,57,52,51,365,213,140,123,161,193 DATA_FILE_SIZE 34763,963

RAFOS_FIX 6643.702148,-5957.321289,261008,040433,3,98,0.00 CAP_FILE_SIZE 147454,0

IRIDIUM_FIX 6614.97,-5959.11,200198,101003 CFSIZE 260165632,233893888

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

HUMID 1900 SOUNDSPEED 1450.3

INTERNAL_PRESSURE 8.48665 GPS 261008,151938,6644.666,-5948.158,62,1.0,62,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 272 127.65 SBE_CT 755 24 380.76

Roll_motor 164 84 290.88 SBE_O2 658 19 262.81

VBD_pump_during_apogee 451 1329 12596.63 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 54 103 118.48 nil 0 0 0.00

Iridium_during_connect 52 160 175.98 nil 0 0 0.00

Iridium_during_xfer 151 223 707.24

Transponder_ping 0 420 4.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.23

TT8 1794 19 375.41

LPSleep 14391 2 349.05

TT8_Active 607 19 127.06

TT8_Sampling 1922 39 805.95

TT8_CF8 508 45 245.22

TT8_Kalman 33 81 28.71

Analog_circuits 1682 12 211.96

GPS_charging 0 0 0.00

Compass 1871 8 157.18

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.08 -146.0 0.0 0.0 0 138 0.00 0.00 -118.72 0.000 2 0.000 0.000 164 2328 2799

141 -1.08 -146.0 3.4 -3.3 21 166 9.00 2.42 -7.50 0.000 4 0.272 0.084 2200 3745 3019

391 -0.75 -146.0 51.3 -15.6 65 398 0.25 2.20 0.00 0.000 6 0.170 0.044 2270 2342 3023

736 -0.67 -146.0 86.2 -9.6 126 742 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2342 3023

1072 -0.62 -146.0 115.3 -9.0 164 1077 0.12 2.35 0.00 0.000 4 0.170 0.070 2303 3753 3023

1088 -0.62 -146.0 116.7 -8.6 165 1092 0.00 2.22 0.00 0.000 6 0.000 0.044 2304 2327 3023

1421 -0.72 -146.0 139.2 -6.5 181 1425 0.10 2.22 0.00 0.000 4 0.110 0.058 2265 932 3023

1466 -0.63 -146.0 142.9 -8.3 183 1470 0.12 2.25 0.00 0.000 6 0.170 0.054 2297 2341 3023

1798 -0.73 -146.0 166.8 -7.2 199 1801 0.00 2.30 0.00 0.000 4 0.000 0.071 2297 3743 3023

1808 -0.84 -146.0 167.6 -7.1 199 1813 0.15 2.20 0.00 0.000 6 0.087 0.043 2243 2333 3023

2130 -0.78 -146.0 198.0 -9.6 215 2134 0.10 2.35 0.00 0.000 4 0.173 0.070 2268 3746 3023

2139 -0.78 -146.0 199.1 -9.5 215 2143 0.00 2.20 0.00 0.000 6 0.000 0.043 2268 2333 3023

2460 -0.78 -146.0 225.1 -7.8 231 2461 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2333 3022

2771 -0.83 -146.0 246.4 -6.5 246 2772 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2333 3022

3080 -0.88 -146.0 266.4 -6.6 261 3084 0.10 2.22 0.00 0.000 4 0.104 0.058 2232 939 3021

3140 -0.77 -146.0 271.7 -8.6 263 3147 0.15 2.25 0.00 0.000 6 0.166 0.055 2271 2346 3021

3456 -0.85 -146.0 293.3 -6.8 279 3460 0.00 2.28 0.00 0.000 4 0.000 0.058 2271 929 3021

3483 -0.85 -146.0 295.5 -8.0 280 3487 0.00 2.28 0.00 0.000 6 0.000 0.055 2271 2348 3021

3811 -0.94 -146.0 317.5 -6.6 296 3813 0.15 0.00 0.00 0.000 6 0.092 0.000 2217 2348 3021

4120 -0.85 -146.0 342.0 -8.1 311 4124 0.12 2.33 0.00 0.000 4 0.158 0.071 2248 3755 3021

4169 -0.90 -146.0 346.1 -8.3 313 4173 0.00 2.22 0.00 0.000 6 0.000 0.043 2248 2325 3021

4496 -0.90 -146.0 370.8 -7.6 329 4500 0.00 2.38 0.00 0.000 4 0.000 0.070 2248 3757 3021

4542 -0.96 -146.0 374.3 -7.8 331 4546 0.00 2.20 0.00 0.000 6 0.000 0.043 2248 2342 3021

4874 -0.96 -146.0 397.4 -6.5 347 4875 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2342 3022

5200 -0.96 -146.0 418.3 -6.4 356 5204 0.00 2.33 0.00 0.000 4 0.000 0.069 2248 3746 3022

5246 -1.03 -146.0 421.3 -6.8 357 5250 0.12 2.20 0.00 0.000 6 0.110 0.042 2203 2330 3022

5575 -0.93 -146.0 446.9 -7.9 365 5579 0.12 2.35 0.00 0.000 4 0.156 0.068 2234 3755 3022

5608 -0.93 -146.0 449.3 -6.7 365 5614 0.00 2.20 0.00 0.000 6 0.000 0.041 2234 2340 3022

5939 -0.93 -146.0 471.6 -6.7 374 5942 0.00 2.35 0.00 0.000 4 0.000 0.068 2234 3759 3023

5965 -0.93 -146.0 473.5 -7.1 374 5970 0.00 2.22 0.00 0.000 6 0.000 0.041 2234 2342 3022

6308 -0.93 -146.0 497.0 -7.0 383 6312 0.00 2.33 0.00 0.000 4 0.000 0.067 2234 3747 3023

6324 -0.93 -146.0 498.2 -7.1 383 6328 0.00 2.17 0.00 0.000 6 0.000 0.041 2234 2338 3023

6637 -0.93 -146.0 518.7 -6.5 391 6641 0.00 2.33 0.00 0.000 4 0.000 0.067 2234 3749 3023

6669 -0.93 -146.0 521.0 -7.1 391 6673 0.00 2.22 0.00 0.000 6 0.000 0.041 2234 2313 3023

7007 -0.93 -146.0 542.4 -6.5 400 7010 0.00 2.38 0.00 0.000 4 0.000 0.067 2234 3759 3023

7079 -0.93 -146.0 547.0 -6.5 401 7083 0.00 2.20 0.00 0.000 6 0.000 0.040 2234 2336 3024

7421 -0.93 -146.0 567.3 -5.9 410 7424 0.00 2.35 0.00 0.000 4 0.000 0.067 2234 3753 3024

7460 -0.98 -146.0 569.8 -6.0 410 7466 0.00 2.20 0.00 0.000 6 0.000 0.041 2234 2333 3024

7791 -0.98 -146.0 589.9 -6.1 419 7792 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2333 3024

8117 -0.98 -146.0 610.8 -6.6 427 8121 0.00 2.35 0.00 0.000 4 0.000 0.068 2234 3750 3024

8128 -0.98 -146.0 611.6 -6.5 427 8132 0.00 2.20 0.00 0.000 6 0.000 0.041 2234 2331 3024

8447 -0.98 -146.0 631.3 -6.2 435 8451 0.00 2.35 0.00 0.000 4 0.000 0.067 2234 3754 3025

8474 -1.03 -146.0 633.2 -6.8 435 8479 0.10 2.20 0.00 0.000 6 0.114 0.041 2199 2327 3024

8810 -0.95 -146.0 657.8 -7.4 444 8815 0.12 2.38 0.00 0.000 4 0.160 0.069 2231 3750 3024

8831 -0.95 -146.0 659.5 -7.6 444 8835 0.00 2.20 0.00 0.000 6 0.000 0.041 2232 2329 3024

9179 -0.95 -146.0 681.9 -6.4 453 9183 0.00 2.35 0.00 0.000 4 0.000 0.069 2232 3749 3025

9213 -1.00 -146.0 684.0 -6.4 453 9216 0.00 2.20 0.00 0.000 6 0.000 0.041 2232 2331 3024

9553 -1.00 -146.0 704.2 -5.8 462 9557 0.00 2.35 0.00 0.000 4 0.000 0.069 2232 3749 3025

9577 end dive: TARGET_DEPTH_EXCEEDED

state 9578 begin apogee

9585 -0.34 0.0 706.3 6.7 462 9722 0.40 0.00 134.57 1.329 6 0.146 0.000 2358 2515 2420

9723 end apogee: CONTROL_FINISHED_OK

state 9723 begin climb

9725 1.08 146.0 709.0 0.0 466 9878 1.08 2.60 139.52 1.230 4 0.113 0.052 2666 1119 1823

9908 0.97 146.0 697.2 8.0 470 9913 0.00 2.50 0.00 0.000 6 0.000 0.051 2666 2518 1821

10221 0.84 146.0 672.1 8.0 478 10226 0.17 2.40 0.00 0.000 4 0.142 0.066 2618 3940 1820

10310 0.78 146.0 665.3 7.9 480 10314 0.00 2.28 0.00 0.000 6 0.000 0.041 2618 2515 1820

10634 0.83 181.6 646.4 5.8 488 10667 0.00 0.00 30.83 1.263 6 0.000 0.000 2618 2514 1679

10961 0.91 202.4 625.7 6.3 496 10985 0.00 2.33 18.70 1.221 4 0.000 0.054 2618 1118 1594

11025 1.06 218.1 621.2 6.5 497 11048 0.17 2.30 14.98 1.177 6 0.075 0.050 2683 2533 1530

11371 0.97 218.1 589.2 9.1 506 11376 0.15 2.30 0.00 0.000 4 0.130 0.067 2639 3936 1528

11415 0.92 218.1 585.1 9.5 507 11419 0.00 2.22 0.00 0.000 6 0.000 0.041 2639 2512 1528

11739 0.92 218.1 561.5 7.2 515 11743 0.00 2.20 0.00 0.000 4 0.000 0.055 2639 1112 1527

11805 1.00 218.9 556.8 7.0 516 11809 0.00 2.22 0.00 0.000 6 0.000 0.050 2639 2520 1527

12153 1.00 218.9 530.9 7.5 525 12154 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2520 1527

12478 1.00 218.9 505.3 7.9 533 12479 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2520 1527

12803 1.04 218.9 481.5 7.1 541 12807 0.08 2.25 0.00 0.000 4 0.101 0.055 2678 1107 1526

12853 1.00 218.9 477.4 8.6 542 12857 0.10 2.25 0.00 0.000 6 0.146 0.050 2652 2530 1526

13176 1.00 218.9 454.1 7.2 550 13177 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2530 1526

13501 1.00 218.9 430.7 7.2 558 13505 0.00 2.25 0.00 0.000 4 0.000 0.054 2652 1115 1526

13557 1.06 226.2 426.8 6.8 559 13571 0.00 2.22 8.12 1.042 6 0.000 0.049 2652 2526 1496

13914 1.06 226.9 401.3 7.0 568 13915 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2527 1495

14222 1.09 252.0 381.6 6.2 582 14252 0.00 2.38 22.55 1.141 4 0.000 0.054 2652 1113 1392

14288 1.22 276.5 377.7 6.2 585 14315 0.17 2.28 21.73 1.105 6 0.075 0.049 2719 2527 1292

14638 1.10 276.5 342.2 10.8 602 14640 0.17 0.00 0.00 0.000 6 0.127 0.000 2667 2528 1289

14947 1.15 276.5 315.4 8.9 617 14950 0.00 2.28 0.00 0.000 4 0.000 0.054 2667 1108 1289

15024 1.25 276.5 308.3 8.7 620 15029 0.15 2.25 0.00 0.000 6 0.079 0.049 2725 2535 1288

15345 1.13 276.5 271.3 11.8 636 15350 0.15 2.28 0.00 0.000 4 0.134 0.055 2681 1116 1288

15385 1.19 276.5 267.5 8.8 638 15389 0.00 2.22 0.00 0.000 6 0.000 0.050 2681 2525 1289

15716 1.19 276.5 240.7 7.4 654 15718 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2525 1288

16026 1.19 276.5 218.2 7.2 669 16030 0.00 2.28 0.00 0.000 4 0.000 0.055 2681 1107 1289

16082 1.30 290.3 214.4 6.6 671 16102 0.12 2.25 12.55 1.025 6 0.083 0.050 2731 2529 1236

16424 1.21 290.3 182.6 9.5 688 16426 0.12 0.00 0.00 0.000 6 0.135 0.000 2695 2529 1234

16732 1.21 290.3 159.6 7.2 703 16736 0.00 2.28 0.00 0.000 4 0.000 0.056 2694 1110 1234

16771 1.28 290.3 156.7 7.5 704 16777 0.00 2.25 0.00 0.000 6 0.000 0.051 2695 2531 1234

17086 1.33 290.3 131.6 8.3 720 17088 0.12 0.00 0.00 0.000 6 0.078 0.000 2748 2531 1233

17396 1.24 290.3 99.9 10.2 735 17403 0.15 2.28 0.00 0.000 4 0.135 0.057 2703 1118 1234

17438 1.30 290.3 96.3 8.5 742 17444 0.00 2.22 0.00 0.000 6 0.000 0.052 2703 2517 1233

17781 1.39 315.1 72.9 6.2 803 17811 0.12 2.33 21.38 1.029 4 0.081 0.058 2759 1120 1134

17858 1.33 315.1 66.7 8.4 816 17865 0.15 2.28 0.00 0.000 6 0.138 0.052 2718 2528 1133

18202 1.41 315.1 42.3 7.8 877 18208 0.10 0.00 0.00 0.000 6 0.087 0.000 2761 2528 1131

18546 1.37 315.1 10.9 9.3 938 18553 0.12 2.28 0.00 0.000 4 0.140 0.056 2725 1116 1130

18622 1.52 345.8 6.3 6.0 951 18657 0.15 2.25 26.35 0.999 6 0.080 0.053 2784 2526 1010

18667 end climb: SURFACE_DEPTH_REACHED

state 18667 begin surface coast

18691 end surface coast: CONTROL_FINISHED_OK

state 18691 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	230	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	36	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	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	900	T_GPS_CHARGE	-26248.9	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	095632,6643.709,-5954.845,37,1.5,37,-38.0	TGT_NAME	TARGET_ADD2_EB
_CALLS	2	TGT_LATLONG	6651.000,-5910.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,0.041
_SM_DEPTHo	1.57	KALMAN_X	19181.9,265.9,61.5,-128612.0,-24.2
_SM_ANGLEo	-61.9	KALMAN_Y	-37964.5,-758.0,-522.2,18529.5,1021.4
GPS2	100410,6643.692,-5954.779,11,2.4,30,-38.0	MHEAD_RNG_PITCHd_Wd	117.6,35301,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	706

FINISH	0.9,1.024929	TCM_TEMP	15.20
SM_CCo	18768,0.00,0.000,0,0,1003,347.34	XPDR_PINGS	2
SM_GC	1.67,7.50,0.00,0.00,0.077,0.000,0.000,165,2330,1003,-10.38,-0.28,347.34	_24V_AH	21.0,45.379
RAFOS_CLK	1068	_10V_AH	10.5,19.123
RAFOS	0,1225022678,12.083333,12.077222,83,63,58,57,52,51,365,213,140,123,161,193	DATA_FILE_SIZE	34763,963
RAFOS_FIX	6643.702148,-5957.321289,261008,040433,3,98,0.00	CAP_FILE_SIZE	147454,0
IRIDIUM_FIX	6614.97,-5959.11,200198,101003	CFSIZE	260165632,233893888
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1900	SOUNDSPEED	1450.3
INTERNAL_PRESSURE	8.48665	GPS	261008,151938,6644.666,-5948.158,62,1.0,62,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	272	127.65	SBE_CT	755	24	380.76
Roll_motor	164	84	290.88	SBE_O2	658	19	262.81
VBD_pump_during_apogee	451	1329	12596.63	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	54	103	118.48	nil	0	0	0.00
Iridium_during_connect	52	160	175.98	nil	0	0	0.00
Iridium_during_xfer	151	223	707.24
Transponder_ping	0	420	4.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.23
TT8	1794	19	375.41
LPSleep	14391	2	349.05
TT8_Active	607	19	127.06
TT8_Sampling	1922	39	805.95
TT8_CF8	508	45	245.22
TT8_Kalman	33	81	28.71
Analog_circuits	1682	12	211.96
GPS_charging	0	0	0.00
Compass	1871	8	157.18
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.08	-146.0	0.0	0.0	0	138	0.00	0.00	-118.72	0.000	2	0.000	0.000	164	2328	2799
141	-1.08	-146.0	3.4	-3.3	21	166	9.00	2.42	-7.50	0.000	4	0.272	0.084	2200	3745	3019
391	-0.75	-146.0	51.3	-15.6	65	398	0.25	2.20	0.00	0.000	6	0.170	0.044	2270	2342	3023
736	-0.67	-146.0	86.2	-9.6	126	742	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2342	3023
1072	-0.62	-146.0	115.3	-9.0	164	1077	0.12	2.35	0.00	0.000	4	0.170	0.070	2303	3753	3023
1088	-0.62	-146.0	116.7	-8.6	165	1092	0.00	2.22	0.00	0.000	6	0.000	0.044	2304	2327	3023
1421	-0.72	-146.0	139.2	-6.5	181	1425	0.10	2.22	0.00	0.000	4	0.110	0.058	2265	932	3023
1466	-0.63	-146.0	142.9	-8.3	183	1470	0.12	2.25	0.00	0.000	6	0.170	0.054	2297	2341	3023
1798	-0.73	-146.0	166.8	-7.2	199	1801	0.00	2.30	0.00	0.000	4	0.000	0.071	2297	3743	3023
1808	-0.84	-146.0	167.6	-7.1	199	1813	0.15	2.20	0.00	0.000	6	0.087	0.043	2243	2333	3023
2130	-0.78	-146.0	198.0	-9.6	215	2134	0.10	2.35	0.00	0.000	4	0.173	0.070	2268	3746	3023
2139	-0.78	-146.0	199.1	-9.5	215	2143	0.00	2.20	0.00	0.000	6	0.000	0.043	2268	2333	3023
2460	-0.78	-146.0	225.1	-7.8	231	2461	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2333	3022
2771	-0.83	-146.0	246.4	-6.5	246	2772	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2333	3022
3080	-0.88	-146.0	266.4	-6.6	261	3084	0.10	2.22	0.00	0.000	4	0.104	0.058	2232	939	3021
3140	-0.77	-146.0	271.7	-8.6	263	3147	0.15	2.25	0.00	0.000	6	0.166	0.055	2271	2346	3021
3456	-0.85	-146.0	293.3	-6.8	279	3460	0.00	2.28	0.00	0.000	4	0.000	0.058	2271	929	3021
3483	-0.85	-146.0	295.5	-8.0	280	3487	0.00	2.28	0.00	0.000	6	0.000	0.055	2271	2348	3021
3811	-0.94	-146.0	317.5	-6.6	296	3813	0.15	0.00	0.00	0.000	6	0.092	0.000	2217	2348	3021
4120	-0.85	-146.0	342.0	-8.1	311	4124	0.12	2.33	0.00	0.000	4	0.158	0.071	2248	3755	3021
4169	-0.90	-146.0	346.1	-8.3	313	4173	0.00	2.22	0.00	0.000	6	0.000	0.043	2248	2325	3021
4496	-0.90	-146.0	370.8	-7.6	329	4500	0.00	2.38	0.00	0.000	4	0.000	0.070	2248	3757	3021
4542	-0.96	-146.0	374.3	-7.8	331	4546	0.00	2.20	0.00	0.000	6	0.000	0.043	2248	2342	3021
4874	-0.96	-146.0	397.4	-6.5	347	4875	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2342	3022
5200	-0.96	-146.0	418.3	-6.4	356	5204	0.00	2.33	0.00	0.000	4	0.000	0.069	2248	3746	3022
5246	-1.03	-146.0	421.3	-6.8	357	5250	0.12	2.20	0.00	0.000	6	0.110	0.042	2203	2330	3022
5575	-0.93	-146.0	446.9	-7.9	365	5579	0.12	2.35	0.00	0.000	4	0.156	0.068	2234	3755	3022
5608	-0.93	-146.0	449.3	-6.7	365	5614	0.00	2.20	0.00	0.000	6	0.000	0.041	2234	2340	3022
5939	-0.93	-146.0	471.6	-6.7	374	5942	0.00	2.35	0.00	0.000	4	0.000	0.068	2234	3759	3023
5965	-0.93	-146.0	473.5	-7.1	374	5970	0.00	2.22	0.00	0.000	6	0.000	0.041	2234	2342	3022
6308	-0.93	-146.0	497.0	-7.0	383	6312	0.00	2.33	0.00	0.000	4	0.000	0.067	2234	3747	3023
6324	-0.93	-146.0	498.2	-7.1	383	6328	0.00	2.17	0.00	0.000	6	0.000	0.041	2234	2338	3023
6637	-0.93	-146.0	518.7	-6.5	391	6641	0.00	2.33	0.00	0.000	4	0.000	0.067	2234	3749	3023
6669	-0.93	-146.0	521.0	-7.1	391	6673	0.00	2.22	0.00	0.000	6	0.000	0.041	2234	2313	3023
7007	-0.93	-146.0	542.4	-6.5	400	7010	0.00	2.38	0.00	0.000	4	0.000	0.067	2234	3759	3023
7079	-0.93	-146.0	547.0	-6.5	401	7083	0.00	2.20	0.00	0.000	6	0.000	0.040	2234	2336	3024
7421	-0.93	-146.0	567.3	-5.9	410	7424	0.00	2.35	0.00	0.000	4	0.000	0.067	2234	3753	3024
7460	-0.98	-146.0	569.8	-6.0	410	7466	0.00	2.20	0.00	0.000	6	0.000	0.041	2234	2333	3024
7791	-0.98	-146.0	589.9	-6.1	419	7792	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2333	3024
8117	-0.98	-146.0	610.8	-6.6	427	8121	0.00	2.35	0.00	0.000	4	0.000	0.068	2234	3750	3024
8128	-0.98	-146.0	611.6	-6.5	427	8132	0.00	2.20	0.00	0.000	6	0.000	0.041	2234	2331	3024
8447	-0.98	-146.0	631.3	-6.2	435	8451	0.00	2.35	0.00	0.000	4	0.000	0.067	2234	3754	3025
8474	-1.03	-146.0	633.2	-6.8	435	8479	0.10	2.20	0.00	0.000	6	0.114	0.041	2199	2327	3024
8810	-0.95	-146.0	657.8	-7.4	444	8815	0.12	2.38	0.00	0.000	4	0.160	0.069	2231	3750	3024
8831	-0.95	-146.0	659.5	-7.6	444	8835	0.00	2.20	0.00	0.000	6	0.000	0.041	2232	2329	3024
9179	-0.95	-146.0	681.9	-6.4	453	9183	0.00	2.35	0.00	0.000	4	0.000	0.069	2232	3749	3025
9213	-1.00	-146.0	684.0	-6.4	453	9216	0.00	2.20	0.00	0.000	6	0.000	0.041	2232	2331	3024
9553	-1.00	-146.0	704.2	-5.8	462	9557	0.00	2.35	0.00	0.000	4	0.000	0.069	2232	3749	3025
9577	end dive: TARGET_DEPTH_EXCEEDED
state	9578	begin apogee
9585	-0.34	0.0	706.3	6.7	462	9722	0.40	0.00	134.57	1.329	6	0.146	0.000	2358	2515	2420
9723	end apogee: CONTROL_FINISHED_OK
state	9723	begin climb
9725	1.08	146.0	709.0	0.0	466	9878	1.08	2.60	139.52	1.230	4	0.113	0.052	2666	1119	1823
9908	0.97	146.0	697.2	8.0	470	9913	0.00	2.50	0.00	0.000	6	0.000	0.051	2666	2518	1821
10221	0.84	146.0	672.1	8.0	478	10226	0.17	2.40	0.00	0.000	4	0.142	0.066	2618	3940	1820
10310	0.78	146.0	665.3	7.9	480	10314	0.00	2.28	0.00	0.000	6	0.000	0.041	2618	2515	1820
10634	0.83	181.6	646.4	5.8	488	10667	0.00	0.00	30.83	1.263	6	0.000	0.000	2618	2514	1679
10961	0.91	202.4	625.7	6.3	496	10985	0.00	2.33	18.70	1.221	4	0.000	0.054	2618	1118	1594
11025	1.06	218.1	621.2	6.5	497	11048	0.17	2.30	14.98	1.177	6	0.075	0.050	2683	2533	1530
11371	0.97	218.1	589.2	9.1	506	11376	0.15	2.30	0.00	0.000	4	0.130	0.067	2639	3936	1528
11415	0.92	218.1	585.1	9.5	507	11419	0.00	2.22	0.00	0.000	6	0.000	0.041	2639	2512	1528
11739	0.92	218.1	561.5	7.2	515	11743	0.00	2.20	0.00	0.000	4	0.000	0.055	2639	1112	1527
11805	1.00	218.9	556.8	7.0	516	11809	0.00	2.22	0.00	0.000	6	0.000	0.050	2639	2520	1527
12153	1.00	218.9	530.9	7.5	525	12154	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2520	1527
12478	1.00	218.9	505.3	7.9	533	12479	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2520	1527
12803	1.04	218.9	481.5	7.1	541	12807	0.08	2.25	0.00	0.000	4	0.101	0.055	2678	1107	1526
12853	1.00	218.9	477.4	8.6	542	12857	0.10	2.25	0.00	0.000	6	0.146	0.050	2652	2530	1526
13176	1.00	218.9	454.1	7.2	550	13177	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2530	1526
13501	1.00	218.9	430.7	7.2	558	13505	0.00	2.25	0.00	0.000	4	0.000	0.054	2652	1115	1526
13557	1.06	226.2	426.8	6.8	559	13571	0.00	2.22	8.12	1.042	6	0.000	0.049	2652	2526	1496
13914	1.06	226.9	401.3	7.0	568	13915	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2527	1495
14222	1.09	252.0	381.6	6.2	582	14252	0.00	2.38	22.55	1.141	4	0.000	0.054	2652	1113	1392
14288	1.22	276.5	377.7	6.2	585	14315	0.17	2.28	21.73	1.105	6	0.075	0.049	2719	2527	1292
14638	1.10	276.5	342.2	10.8	602	14640	0.17	0.00	0.00	0.000	6	0.127	0.000	2667	2528	1289
14947	1.15	276.5	315.4	8.9	617	14950	0.00	2.28	0.00	0.000	4	0.000	0.054	2667	1108	1289
15024	1.25	276.5	308.3	8.7	620	15029	0.15	2.25	0.00	0.000	6	0.079	0.049	2725	2535	1288
15345	1.13	276.5	271.3	11.8	636	15350	0.15	2.28	0.00	0.000	4	0.134	0.055	2681	1116	1288
15385	1.19	276.5	267.5	8.8	638	15389	0.00	2.22	0.00	0.000	6	0.000	0.050	2681	2525	1289
15716	1.19	276.5	240.7	7.4	654	15718	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2525	1288
16026	1.19	276.5	218.2	7.2	669	16030	0.00	2.28	0.00	0.000	4	0.000	0.055	2681	1107	1289
16082	1.30	290.3	214.4	6.6	671	16102	0.12	2.25	12.55	1.025	6	0.083	0.050	2731	2529	1236
16424	1.21	290.3	182.6	9.5	688	16426	0.12	0.00	0.00	0.000	6	0.135	0.000	2695	2529	1234
16732	1.21	290.3	159.6	7.2	703	16736	0.00	2.28	0.00	0.000	4	0.000	0.056	2694	1110	1234
16771	1.28	290.3	156.7	7.5	704	16777	0.00	2.25	0.00	0.000	6	0.000	0.051	2695	2531	1234
17086	1.33	290.3	131.6	8.3	720	17088	0.12	0.00	0.00	0.000	6	0.078	0.000	2748	2531	1233
17396	1.24	290.3	99.9	10.2	735	17403	0.15	2.28	0.00	0.000	4	0.135	0.057	2703	1118	1234
17438	1.30	290.3	96.3	8.5	742	17444	0.00	2.22	0.00	0.000	6	0.000	0.052	2703	2517	1233
17781	1.39	315.1	72.9	6.2	803	17811	0.12	2.33	21.38	1.029	4	0.081	0.058	2759	1120	1134
17858	1.33	315.1	66.7	8.4	816	17865	0.15	2.28	0.00	0.000	6	0.138	0.052	2718	2528	1133
18202	1.41	315.1	42.3	7.8	877	18208	0.10	0.00	0.00	0.000	6	0.087	0.000	2761	2528	1131
18546	1.37	315.1	10.9	9.3	938	18553	0.12	2.28	0.00	0.000	4	0.140	0.056	2725	1116	1130
18622	1.52	345.8	6.3	6.0	951	18657	0.15	2.25	26.35	0.999	6	0.080	0.053	2784	2526	1010
18667	end climb: SURFACE_DEPTH_REACHED
state	18667	begin surface coast
18691	end surface coast: CONTROL_FINISHED_OK
state	18691	begin surface