Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 248 * 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 248 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -26541.195 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 -26541.195

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 33 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 248 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 200807,6648.685,-5753.428,25,1.2,26,-37.5 TGT_NAME TARGET_ADD4_EB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.013,0.224

_SM_DEPTHo 1.62 KALMAN_X 23292.0,-246.9,478.4,-44509.3,298.4

_SM_ANGLEo -66.2 KALMAN_Y -64368.8,963.0,-90.0,51936.9,-4501.4

GPS2 201339,6648.619,-5753.410,12,1.2,12,-37.5 MHEAD_RNG_PITCHd_Wd 34.2,23396,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 713

Post-dive calculations and measurements:

FINISH 0.9,1.012636 TCM_TEMP 15.30

SM_CCo 19924,0.00,0.000,0,0,1199,299.27 XPDR_PINGS 0

SM_GC 1.77,7.22,0.00,0.00,0.071,0.000,0.000,157,2341,1199,-10.39,0.03,299.27 _24V_AH 20.9,48.601

RAFOS_CLK 1119 _10V_AH 10.6,20.730

RAFOS 0,1225483445,20.083334,20.068056,60,59,56,55,52,52,214,177,142,168,196,224 DATA_FILE_SIZE 37806,998

RAFOS_FIX 6655.387207,-5826.440918,311008,000028,3,83,1.31 CAP_FILE_SIZE 151356,0

IRIDIUM_FIX 6620.33,-5800.26,250198,141439 CFSIZE 260165632,232443904

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1884 SOUNDSPEED 1452.5

INTERNAL_PRESSURE 8.50619 GPS 011108,014801,6648.099,-5750.616,37,0.9,37,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 276 127.60 SBE_CT 787 24 394.90

Roll_motor 150 84 265.21 SBE_O2 685 19 272.12

VBD_pump_during_apogee 408 1323 11301.81 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 22 103 49.19 nil 0 0 0.00

Iridium_during_connect 30 160 100.68 nil 0 0 0.00

Iridium_during_xfer 150 223 699.29

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.56

TT8 1891 19 399.38

LPSleep 15212 2 372.50

TT8_Active 566 19 119.71

TT8_Sampling 2110 39 892.92

TT8_CF8 468 45 228.28

TT8_Kalman 33 81 28.98

Analog_circuits 1709 12 217.46

GPS_charging 0 0 0.00

Compass 2076 8 176.12

RAFOS 3240 1 51.52

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

15 -1.08 -146.0 0.0 0.0 0 138 0.00 0.00 -119.55 0.000 2 0.000 0.000 160 2333 2791

141 -1.08 -146.0 3.3 -2.6 21 166 9.18 2.40 -8.15 0.000 4 0.277 0.084 2192 3754 3019

386 -0.73 -146.0 44.6 -13.2 64 393 0.30 2.22 0.00 0.000 6 0.164 0.044 2275 2340 3022

730 -0.66 -146.0 76.0 -10.0 125 735 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2340 3023

1075 -0.66 -146.0 106.9 -8.2 176 1076 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2340 3023

1385 -0.66 -146.0 131.3 -7.8 191 1388 0.00 2.25 0.00 0.000 4 0.000 0.060 2275 926 3023

1462 -0.66 -146.0 138.0 -8.1 194 1466 0.00 2.28 0.00 0.000 6 0.000 0.055 2276 2345 3023

1785 -0.66 -146.0 162.2 -7.2 210 1786 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2345 3022

2093 -0.72 -146.0 184.0 -7.2 225 2097 0.00 2.33 0.00 0.000 4 0.000 0.073 2275 3751 3022

2161 -0.81 -146.0 189.1 -7.9 228 2165 0.00 2.22 0.00 0.000 6 0.000 0.044 2276 2325 3021

2488 -0.88 -146.0 211.8 -6.4 244 2493 0.12 2.22 0.00 0.000 4 0.107 0.059 2231 934 3021

2629 -0.77 -146.0 223.9 -8.4 250 2633 0.15 2.25 0.00 0.000 6 0.169 0.055 2269 2343 3021

2950 -0.84 -146.0 244.1 -6.2 266 2954 0.00 2.30 0.00 0.000 4 0.000 0.072 2269 3743 3021

3095 -0.96 -146.0 253.2 -6.1 272 3100 0.15 2.20 0.00 0.000 6 0.089 0.044 2217 2338 3020

3411 -0.86 -146.0 276.8 -7.7 287 3413 0.12 0.00 0.00 0.000 6 0.156 0.000 2250 2337 3020

3719 -0.86 -146.0 299.0 -7.2 302 3723 0.00 2.35 0.00 0.000 4 0.000 0.070 2250 3751 3020

3788 -0.92 -146.0 304.0 -7.3 305 3792 0.00 2.20 0.00 0.000 6 0.000 0.042 2250 2339 3020

4120 -0.92 -146.0 325.9 -6.3 321 4124 0.00 2.22 0.00 0.000 4 0.000 0.056 2250 931 3020

4181 -0.92 -146.0 330.2 -7.0 323 4187 0.00 2.25 0.00 0.000 6 0.000 0.053 2250 2341 3021

4497 -0.92 -146.0 349.6 -6.2 339 4501 0.00 2.30 0.00 0.000 4 0.000 0.068 2250 3745 3021

4633 -0.99 -146.0 358.4 -6.9 345 4637 0.12 2.20 0.00 0.000 6 0.106 0.041 2205 2327 3022

4959 -0.88 -146.0 382.1 -7.1 361 4961 0.15 0.00 0.00 0.000 6 0.150 0.000 2246 2327 3022

5268 -0.88 -146.0 399.3 -5.6 376 5272 0.00 2.35 0.00 0.000 4 0.000 0.069 2246 3749 3022

5385 -0.96 -146.0 406.2 -6.2 379 5389 0.00 2.20 0.00 0.000 6 0.000 0.041 2246 2333 3022

5728 -1.01 -146.0 426.1 -5.9 388 5733 0.12 2.22 0.00 0.000 4 0.110 0.054 2202 929 3023

5800 -0.86 -146.0 431.7 -7.7 389 5805 0.17 2.28 0.00 0.000 6 0.163 0.052 2248 2356 3023

6131 -0.91 -146.0 450.8 -5.6 397 6135 0.00 2.28 0.00 0.000 4 0.000 0.067 2248 3745 3023

6205 -1.01 -146.0 454.9 -5.5 398 6209 0.12 2.17 0.00 0.000 6 0.100 0.041 2204 2339 3023

6547 -0.92 -146.0 478.0 -6.9 407 6552 0.12 2.22 0.00 0.000 4 0.154 0.053 2238 935 3024

6647 -0.92 -146.0 484.6 -6.0 409 6651 0.00 2.25 0.00 0.000 6 0.000 0.051 2238 2346 3024

6960 -0.92 -146.0 501.7 -5.4 417 6964 0.00 2.30 0.00 0.000 4 0.000 0.067 2238 3747 3023

7089 -0.98 -146.0 508.8 -5.3 419 7095 0.00 2.20 0.00 0.000 6 0.000 0.040 2238 2324 3024

7420 -0.98 -146.0 525.8 -5.1 428 7424 0.00 2.38 0.00 0.000 4 0.000 0.068 2238 3754 3024

7481 -1.05 -146.0 529.2 -5.5 429 7486 0.12 2.17 0.00 0.000 6 0.097 0.041 2193 2341 3025

7829 -0.93 -146.0 551.7 -6.7 438 7834 0.15 2.22 0.00 0.000 4 0.152 0.053 2234 937 3024

7929 -0.93 -146.0 558.0 -6.2 440 7933 0.00 2.25 0.00 0.000 6 0.000 0.051 2234 2351 3025

8242 -0.93 -146.0 575.2 -5.6 448 8246 0.00 2.30 0.00 0.000 4 0.000 0.068 2234 3752 3025

8343 -0.99 -146.0 581.2 -5.9 450 8347 0.00 2.20 0.00 0.000 6 0.000 0.040 2234 2330 3025

8662 -0.99 -146.0 598.8 -5.6 458 8663 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2330 3025

8987 -0.99 -146.0 617.3 -5.7 466 8988 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2330 3025

9312 -0.99 -146.0 636.1 -5.9 474 9313 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2330 3025

9636 -0.99 -146.0 655.0 -5.8 482 9641 0.00 2.35 0.00 0.000 4 0.000 0.067 2234 3749 3025

9709 -1.06 -146.0 659.1 -5.8 483 9714 0.12 2.20 0.00 0.000 6 0.100 0.041 2191 2332 3024

10052 -0.95 -146.0 684.6 -7.6 492 10054 0.15 0.00 0.00 0.000 6 0.150 0.000 2231 2330 3025

10376 -0.95 -146.0 704.5 -6.3 500 10380 0.00 2.35 0.00 0.000 4 0.000 0.069 2232 3742 3025

10471 -0.95 -146.0 710.0 -6.4 502 10475 0.00 2.17 0.00 0.000 6 0.000 0.041 2232 2338 3025

10549 end dive: TARGET_DEPTH_EXCEEDED

state 10549 begin apogee

10556 -0.34 0.0 713.6 4.1 504 10694 0.40 0.00 135.27 1.324 6 0.114 0.000 2365 2525 2420

10694 end apogee: CONTROL_FINISHED_OK

state 10694 begin climb

10697 1.08 146.0 713.2 0.0 507 10851 1.05 2.65 139.90 1.228 4 0.116 0.053 2665 1117 1824

10908 1.01 146.0 700.6 7.8 512 10913 0.00 2.45 0.00 0.000 6 0.000 0.049 2665 2517 1821

11238 0.89 146.0 672.3 9.1 520 11243 0.15 2.38 0.00 0.000 4 0.139 0.066 2624 3936 1820

11265 0.79 146.0 669.9 8.1 520 11269 0.00 2.25 0.00 0.000 6 0.000 0.041 2623 2519 1820

11603 0.79 147.3 646.1 7.0 529 11607 0.00 2.35 0.00 0.000 4 0.000 0.067 2623 3943 1820

11652 0.69 147.3 641.9 8.1 530 11657 0.15 2.22 0.00 0.000 6 0.145 0.041 2581 2512 1819

11971 0.96 190.0 623.4 5.6 538 12014 0.20 2.35 37.17 1.272 4 0.076 0.053 2657 1119 1645

12106 0.96 190.0 613.2 8.2 541 12110 0.00 2.30 0.00 0.000 6 0.000 0.051 2657 2533 1643

12430 1.05 190.0 586.9 8.2 549 12434 0.00 2.25 0.00 0.000 4 0.000 0.052 2657 1115 1642

12464 1.16 190.0 584.1 7.5 549 12469 0.12 2.25 0.00 0.000 6 0.091 0.050 2705 2527 1642

12795 0.97 190.0 548.4 11.1 557 12800 0.20 2.28 0.00 0.000 4 0.136 0.066 2640 3926 1641

12834 0.88 190.0 544.5 10.0 558 12838 0.00 2.17 0.00 0.000 6 0.000 0.041 2640 2518 1642

13164 0.88 190.0 517.7 8.1 566 13165 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2518 1641

13488 0.88 190.0 491.7 7.9 574 13492 0.00 2.33 0.00 0.000 4 0.000 0.067 2641 3933 1641

13521 0.79 190.0 488.7 9.4 574 13526 0.12 2.20 0.00 0.000 6 0.150 0.041 2605 2505 1641

13858 0.95 212.0 466.7 6.3 583 13880 0.12 0.00 19.40 1.177 6 0.083 0.000 2655 2505 1555

14182 0.95 212.0 440.2 8.1 591 14183 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2505 1553

14507 0.95 212.0 414.1 8.0 599 14508 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2505 1552

14813 0.95 212.0 390.0 7.7 609 14817 0.00 2.20 0.00 0.000 4 0.000 0.054 2656 1112 1552

14829 0.95 212.0 388.7 7.9 609 14836 0.00 2.22 0.00 0.000 6 0.000 0.049 2656 2522 1552

15144 0.95 212.0 363.8 7.9 625 15148 0.00 2.25 0.00 0.000 4 0.000 0.054 2656 1110 1552

15154 0.95 212.0 362.8 8.0 625 15159 0.00 2.22 0.00 0.000 6 0.000 0.048 2656 2522 1552

15476 0.95 212.0 337.0 8.2 641 15477 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2521 1552

15786 0.95 212.0 311.7 8.0 656 15787 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2522 1552

16094 0.95 213.0 289.1 7.0 671 16096 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2522 1552

16404 0.96 223.4 267.6 6.7 686 16420 0.00 2.25 10.70 1.008 4 0.000 0.054 2656 1122 1509

16430 0.96 223.4 265.8 7.2 686 16434 0.00 2.22 0.00 0.000 6 0.000 0.049 2656 2526 1509

16752 0.99 242.8 245.6 6.4 702 16774 0.00 2.35 17.15 1.034 4 0.000 0.053 2656 1110 1430

16791 1.08 249.8 242.9 6.8 703 16806 0.00 2.28 7.57 0.894 6 0.000 0.048 2656 2533 1401

17128 1.14 249.8 217.8 7.7 720 17133 0.10 2.25 0.00 0.000 4 0.085 0.052 2702 1121 1400

17151 1.14 249.8 215.8 7.6 721 17155 0.00 2.22 0.00 0.000 6 0.000 0.048 2701 2523 1400

17483 1.08 249.8 184.9 9.2 737 17485 0.12 0.00 0.00 0.000 6 0.133 0.000 2666 2523 1401

17793 1.15 256.8 162.8 6.8 752 17802 0.00 0.00 7.60 0.903 6 0.000 0.000 2666 2523 1373

18102 1.29 296.7 144.7 5.7 767 18145 0.17 2.35 33.70 1.015 4 0.071 0.055 2735 1125 1209

18162 1.23 296.7 139.5 9.3 769 18169 0.12 2.28 0.00 0.000 6 0.133 0.048 2700 2529 1207

18477 1.23 296.7 115.5 7.0 785 18478 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2529 1204

18795 1.29 296.7 93.2 7.6 812 18801 0.00 2.28 0.00 0.000 4 0.000 0.056 2700 1111 1204

18831 1.37 296.7 90.5 7.5 818 18838 0.12 2.25 0.00 0.000 6 0.081 0.051 2749 2527 1204

19177 1.27 296.7 58.2 9.6 879 19183 0.15 2.28 0.00 0.000 4 0.135 0.057 2705 1116 1203

19224 1.35 296.7 54.2 8.1 887 19231 0.10 2.22 0.00 0.000 6 0.090 0.051 2747 2518 1203

19568 1.35 296.7 21.9 7.7 948 19573 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2518 1202

19824 end climb: SURFACE_DEPTH_REACHED

state 19824 begin surface coast

19847 end surface coast: CONTROL_FINISHED_OK

state 19848 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	248	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-26541.195	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	200807,6648.685,-5753.428,25,1.2,26,-37.5	TGT_NAME	TARGET_ADD4_EB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.013,0.224
_SM_DEPTHo	1.62	KALMAN_X	23292.0,-246.9,478.4,-44509.3,298.4
_SM_ANGLEo	-66.2	KALMAN_Y	-64368.8,963.0,-90.0,51936.9,-4501.4
GPS2	201339,6648.619,-5753.410,12,1.2,12,-37.5	MHEAD_RNG_PITCHd_Wd	34.2,23396,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	713

FINISH	0.9,1.012636	TCM_TEMP	15.30
SM_CCo	19924,0.00,0.000,0,0,1199,299.27	XPDR_PINGS	0
SM_GC	1.77,7.22,0.00,0.00,0.071,0.000,0.000,157,2341,1199,-10.39,0.03,299.27	_24V_AH	20.9,48.601
RAFOS_CLK	1119	_10V_AH	10.6,20.730
RAFOS	0,1225483445,20.083334,20.068056,60,59,56,55,52,52,214,177,142,168,196,224	DATA_FILE_SIZE	37806,998
RAFOS_FIX	6655.387207,-5826.440918,311008,000028,3,83,1.31	CAP_FILE_SIZE	151356,0
IRIDIUM_FIX	6620.33,-5800.26,250198,141439	CFSIZE	260165632,232443904
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1884	SOUNDSPEED	1452.5
INTERNAL_PRESSURE	8.50619	GPS	011108,014801,6648.099,-5750.616,37,0.9,37,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	276	127.60	SBE_CT	787	24	394.90
Roll_motor	150	84	265.21	SBE_O2	685	19	272.12
VBD_pump_during_apogee	408	1323	11301.81	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	22	103	49.19	nil	0	0	0.00
Iridium_during_connect	30	160	100.68	nil	0	0	0.00
Iridium_during_xfer	150	223	699.29
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.56
TT8	1891	19	399.38
LPSleep	15212	2	372.50
TT8_Active	566	19	119.71
TT8_Sampling	2110	39	892.92
TT8_CF8	468	45	228.28
TT8_Kalman	33	81	28.98
Analog_circuits	1709	12	217.46
GPS_charging	0	0	0.00
Compass	2076	8	176.12
RAFOS	3240	1	51.52
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
15	-1.08	-146.0	0.0	0.0	0	138	0.00	0.00	-119.55	0.000	2	0.000	0.000	160	2333	2791
141	-1.08	-146.0	3.3	-2.6	21	166	9.18	2.40	-8.15	0.000	4	0.277	0.084	2192	3754	3019
386	-0.73	-146.0	44.6	-13.2	64	393	0.30	2.22	0.00	0.000	6	0.164	0.044	2275	2340	3022
730	-0.66	-146.0	76.0	-10.0	125	735	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2340	3023
1075	-0.66	-146.0	106.9	-8.2	176	1076	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2340	3023
1385	-0.66	-146.0	131.3	-7.8	191	1388	0.00	2.25	0.00	0.000	4	0.000	0.060	2275	926	3023
1462	-0.66	-146.0	138.0	-8.1	194	1466	0.00	2.28	0.00	0.000	6	0.000	0.055	2276	2345	3023
1785	-0.66	-146.0	162.2	-7.2	210	1786	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2345	3022
2093	-0.72	-146.0	184.0	-7.2	225	2097	0.00	2.33	0.00	0.000	4	0.000	0.073	2275	3751	3022
2161	-0.81	-146.0	189.1	-7.9	228	2165	0.00	2.22	0.00	0.000	6	0.000	0.044	2276	2325	3021
2488	-0.88	-146.0	211.8	-6.4	244	2493	0.12	2.22	0.00	0.000	4	0.107	0.059	2231	934	3021
2629	-0.77	-146.0	223.9	-8.4	250	2633	0.15	2.25	0.00	0.000	6	0.169	0.055	2269	2343	3021
2950	-0.84	-146.0	244.1	-6.2	266	2954	0.00	2.30	0.00	0.000	4	0.000	0.072	2269	3743	3021
3095	-0.96	-146.0	253.2	-6.1	272	3100	0.15	2.20	0.00	0.000	6	0.089	0.044	2217	2338	3020
3411	-0.86	-146.0	276.8	-7.7	287	3413	0.12	0.00	0.00	0.000	6	0.156	0.000	2250	2337	3020
3719	-0.86	-146.0	299.0	-7.2	302	3723	0.00	2.35	0.00	0.000	4	0.000	0.070	2250	3751	3020
3788	-0.92	-146.0	304.0	-7.3	305	3792	0.00	2.20	0.00	0.000	6	0.000	0.042	2250	2339	3020
4120	-0.92	-146.0	325.9	-6.3	321	4124	0.00	2.22	0.00	0.000	4	0.000	0.056	2250	931	3020
4181	-0.92	-146.0	330.2	-7.0	323	4187	0.00	2.25	0.00	0.000	6	0.000	0.053	2250	2341	3021
4497	-0.92	-146.0	349.6	-6.2	339	4501	0.00	2.30	0.00	0.000	4	0.000	0.068	2250	3745	3021
4633	-0.99	-146.0	358.4	-6.9	345	4637	0.12	2.20	0.00	0.000	6	0.106	0.041	2205	2327	3022
4959	-0.88	-146.0	382.1	-7.1	361	4961	0.15	0.00	0.00	0.000	6	0.150	0.000	2246	2327	3022
5268	-0.88	-146.0	399.3	-5.6	376	5272	0.00	2.35	0.00	0.000	4	0.000	0.069	2246	3749	3022
5385	-0.96	-146.0	406.2	-6.2	379	5389	0.00	2.20	0.00	0.000	6	0.000	0.041	2246	2333	3022
5728	-1.01	-146.0	426.1	-5.9	388	5733	0.12	2.22	0.00	0.000	4	0.110	0.054	2202	929	3023
5800	-0.86	-146.0	431.7	-7.7	389	5805	0.17	2.28	0.00	0.000	6	0.163	0.052	2248	2356	3023
6131	-0.91	-146.0	450.8	-5.6	397	6135	0.00	2.28	0.00	0.000	4	0.000	0.067	2248	3745	3023
6205	-1.01	-146.0	454.9	-5.5	398	6209	0.12	2.17	0.00	0.000	6	0.100	0.041	2204	2339	3023
6547	-0.92	-146.0	478.0	-6.9	407	6552	0.12	2.22	0.00	0.000	4	0.154	0.053	2238	935	3024
6647	-0.92	-146.0	484.6	-6.0	409	6651	0.00	2.25	0.00	0.000	6	0.000	0.051	2238	2346	3024
6960	-0.92	-146.0	501.7	-5.4	417	6964	0.00	2.30	0.00	0.000	4	0.000	0.067	2238	3747	3023
7089	-0.98	-146.0	508.8	-5.3	419	7095	0.00	2.20	0.00	0.000	6	0.000	0.040	2238	2324	3024
7420	-0.98	-146.0	525.8	-5.1	428	7424	0.00	2.38	0.00	0.000	4	0.000	0.068	2238	3754	3024
7481	-1.05	-146.0	529.2	-5.5	429	7486	0.12	2.17	0.00	0.000	6	0.097	0.041	2193	2341	3025
7829	-0.93	-146.0	551.7	-6.7	438	7834	0.15	2.22	0.00	0.000	4	0.152	0.053	2234	937	3024
7929	-0.93	-146.0	558.0	-6.2	440	7933	0.00	2.25	0.00	0.000	6	0.000	0.051	2234	2351	3025
8242	-0.93	-146.0	575.2	-5.6	448	8246	0.00	2.30	0.00	0.000	4	0.000	0.068	2234	3752	3025
8343	-0.99	-146.0	581.2	-5.9	450	8347	0.00	2.20	0.00	0.000	6	0.000	0.040	2234	2330	3025
8662	-0.99	-146.0	598.8	-5.6	458	8663	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2330	3025
8987	-0.99	-146.0	617.3	-5.7	466	8988	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2330	3025
9312	-0.99	-146.0	636.1	-5.9	474	9313	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2330	3025
9636	-0.99	-146.0	655.0	-5.8	482	9641	0.00	2.35	0.00	0.000	4	0.000	0.067	2234	3749	3025
9709	-1.06	-146.0	659.1	-5.8	483	9714	0.12	2.20	0.00	0.000	6	0.100	0.041	2191	2332	3024
10052	-0.95	-146.0	684.6	-7.6	492	10054	0.15	0.00	0.00	0.000	6	0.150	0.000	2231	2330	3025
10376	-0.95	-146.0	704.5	-6.3	500	10380	0.00	2.35	0.00	0.000	4	0.000	0.069	2232	3742	3025
10471	-0.95	-146.0	710.0	-6.4	502	10475	0.00	2.17	0.00	0.000	6	0.000	0.041	2232	2338	3025
10549	end dive: TARGET_DEPTH_EXCEEDED
state	10549	begin apogee
10556	-0.34	0.0	713.6	4.1	504	10694	0.40	0.00	135.27	1.324	6	0.114	0.000	2365	2525	2420
10694	end apogee: CONTROL_FINISHED_OK
state	10694	begin climb
10697	1.08	146.0	713.2	0.0	507	10851	1.05	2.65	139.90	1.228	4	0.116	0.053	2665	1117	1824
10908	1.01	146.0	700.6	7.8	512	10913	0.00	2.45	0.00	0.000	6	0.000	0.049	2665	2517	1821
11238	0.89	146.0	672.3	9.1	520	11243	0.15	2.38	0.00	0.000	4	0.139	0.066	2624	3936	1820
11265	0.79	146.0	669.9	8.1	520	11269	0.00	2.25	0.00	0.000	6	0.000	0.041	2623	2519	1820
11603	0.79	147.3	646.1	7.0	529	11607	0.00	2.35	0.00	0.000	4	0.000	0.067	2623	3943	1820
11652	0.69	147.3	641.9	8.1	530	11657	0.15	2.22	0.00	0.000	6	0.145	0.041	2581	2512	1819
11971	0.96	190.0	623.4	5.6	538	12014	0.20	2.35	37.17	1.272	4	0.076	0.053	2657	1119	1645
12106	0.96	190.0	613.2	8.2	541	12110	0.00	2.30	0.00	0.000	6	0.000	0.051	2657	2533	1643
12430	1.05	190.0	586.9	8.2	549	12434	0.00	2.25	0.00	0.000	4	0.000	0.052	2657	1115	1642
12464	1.16	190.0	584.1	7.5	549	12469	0.12	2.25	0.00	0.000	6	0.091	0.050	2705	2527	1642
12795	0.97	190.0	548.4	11.1	557	12800	0.20	2.28	0.00	0.000	4	0.136	0.066	2640	3926	1641
12834	0.88	190.0	544.5	10.0	558	12838	0.00	2.17	0.00	0.000	6	0.000	0.041	2640	2518	1642
13164	0.88	190.0	517.7	8.1	566	13165	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2518	1641
13488	0.88	190.0	491.7	7.9	574	13492	0.00	2.33	0.00	0.000	4	0.000	0.067	2641	3933	1641
13521	0.79	190.0	488.7	9.4	574	13526	0.12	2.20	0.00	0.000	6	0.150	0.041	2605	2505	1641
13858	0.95	212.0	466.7	6.3	583	13880	0.12	0.00	19.40	1.177	6	0.083	0.000	2655	2505	1555
14182	0.95	212.0	440.2	8.1	591	14183	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2505	1553
14507	0.95	212.0	414.1	8.0	599	14508	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2505	1552
14813	0.95	212.0	390.0	7.7	609	14817	0.00	2.20	0.00	0.000	4	0.000	0.054	2656	1112	1552
14829	0.95	212.0	388.7	7.9	609	14836	0.00	2.22	0.00	0.000	6	0.000	0.049	2656	2522	1552
15144	0.95	212.0	363.8	7.9	625	15148	0.00	2.25	0.00	0.000	4	0.000	0.054	2656	1110	1552
15154	0.95	212.0	362.8	8.0	625	15159	0.00	2.22	0.00	0.000	6	0.000	0.048	2656	2522	1552
15476	0.95	212.0	337.0	8.2	641	15477	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2521	1552
15786	0.95	212.0	311.7	8.0	656	15787	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2522	1552
16094	0.95	213.0	289.1	7.0	671	16096	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2522	1552
16404	0.96	223.4	267.6	6.7	686	16420	0.00	2.25	10.70	1.008	4	0.000	0.054	2656	1122	1509
16430	0.96	223.4	265.8	7.2	686	16434	0.00	2.22	0.00	0.000	6	0.000	0.049	2656	2526	1509
16752	0.99	242.8	245.6	6.4	702	16774	0.00	2.35	17.15	1.034	4	0.000	0.053	2656	1110	1430
16791	1.08	249.8	242.9	6.8	703	16806	0.00	2.28	7.57	0.894	6	0.000	0.048	2656	2533	1401
17128	1.14	249.8	217.8	7.7	720	17133	0.10	2.25	0.00	0.000	4	0.085	0.052	2702	1121	1400
17151	1.14	249.8	215.8	7.6	721	17155	0.00	2.22	0.00	0.000	6	0.000	0.048	2701	2523	1400
17483	1.08	249.8	184.9	9.2	737	17485	0.12	0.00	0.00	0.000	6	0.133	0.000	2666	2523	1401
17793	1.15	256.8	162.8	6.8	752	17802	0.00	0.00	7.60	0.903	6	0.000	0.000	2666	2523	1373
18102	1.29	296.7	144.7	5.7	767	18145	0.17	2.35	33.70	1.015	4	0.071	0.055	2735	1125	1209
18162	1.23	296.7	139.5	9.3	769	18169	0.12	2.28	0.00	0.000	6	0.133	0.048	2700	2529	1207
18477	1.23	296.7	115.5	7.0	785	18478	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2529	1204
18795	1.29	296.7	93.2	7.6	812	18801	0.00	2.28	0.00	0.000	4	0.000	0.056	2700	1111	1204
18831	1.37	296.7	90.5	7.5	818	18838	0.12	2.25	0.00	0.000	6	0.081	0.051	2749	2527	1204
19177	1.27	296.7	58.2	9.6	879	19183	0.15	2.28	0.00	0.000	4	0.135	0.057	2705	1116	1203
19224	1.35	296.7	54.2	8.1	887	19231	0.10	2.22	0.00	0.000	6	0.090	0.051	2747	2518	1203
19568	1.35	296.7	21.9	7.7	948	19573	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2518	1202
19824	end climb: SURFACE_DEPTH_REACHED
state	19824	begin surface coast
19847	end surface coast: CONTROL_FINISHED_OK
state	19848	begin surface