Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 249 * 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 249 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 28 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 -26552.143 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 -26552.143

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 28 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 249 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 014801,6648.099,-5750.616,37,0.9,37,-37.5 TGT_NAME TARGET_ADD4_EB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 4 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.027,0.223

_SM_DEPTHo 1.70 KALMAN_X 25778.9,-91.9,221.8,-44720.9,1375.5

_SM_ANGLEo -62.5 KALMAN_Y -68408.9,116.4,-677.3,56459.5,-2872.9

GPS2 015403,6648.117,-5750.426,8,1.3,8,-37.5 MHEAD_RNG_PITCHd_Wd 30.6,23044,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 692

Post-dive calculations and measurements:

FINISH 0.8,1.009144 TCM_TEMP 15.40

SM_CCo 19124,0.00,0.000,0,0,1024,342.44 XPDR_PINGS 2

SM_GC 1.62,7.20,0.00,0.00,0.066,0.000,0.000,165,2342,1024,-10.38,0.06,342.44 _24V_AH 20.6,48.767

RAFOS_CLK 1071 _10V_AH 10.5,20.804

RAFOS 0,1225512248,4.083333,4.068889,70,64,62,60,57,55,859,205,189,214,123,225 DATA_FILE_SIZE 37838,999

RAFOS_FIX 6655.387207,-5826.440918,311008,000028,3,83,1.31 CAP_FILE_SIZE 150157,0

IRIDIUM_FIX 6620.33,-5750.99,250198,202046 CFSIZE 260165632,232366080

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,0

HUMID 1876 SOUNDSPEED 1452.2

INTERNAL_PRESSURE 8.49642 GPS 011108,071502,6648.585,-5750.110,36,1.5,36,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 264 123.19 SBE_CT 784 24 387.64

Roll_motor 149 73 227.03 SBE_O2 684 19 268.05

VBD_pump_during_apogee 458 1316 12427.99 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 27 103 58.73 nil 0 0 0.00

Iridium_during_connect 41 160 135.20 nil 0 0 0.00

Iridium_during_xfer 169 223 780.55

Transponder_ping 0 420 4.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.42

TT8 1895 19 396.38

LPSleep 14387 2 348.96

TT8_Active 643 19 134.69

TT8_Sampling 2042 39 856.25

TT8_CF8 512 45 247.10

TT8_Kalman 33 81 28.70

Analog_circuits 1752 12 220.80

GPS_charging 0 0 0.00

Compass 2017 8 169.47

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 0 129 0.00 0.00 -110.18 0.000 2 0.000 0.000 157 2338 2759

132 -1.08 -146.0 3.2 -2.4 19 158 8.90 2.30 -9.35 0.000 4 0.265 0.073 2199 928 3018

344 -0.69 -146.0 40.8 -15.6 56 351 0.30 2.30 0.00 0.000 6 0.166 0.054 2284 2350 3022

688 -0.69 -146.0 73.1 -8.5 117 694 0.00 2.30 0.00 0.000 4 0.000 0.058 2284 921 3022

773 -0.63 -146.0 80.6 -8.8 132 780 0.00 2.28 0.00 0.000 6 0.000 0.054 2284 2341 3022

1113 -0.63 -146.0 108.6 -8.0 179 1114 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2341 3022

1422 -0.63 -146.0 132.2 -7.4 194 1426 0.00 2.33 0.00 0.000 4 0.000 0.072 2284 3749 3022

1500 -0.72 -146.0 137.9 -6.9 197 1504 0.00 2.22 0.00 0.000 6 0.000 0.044 2284 2323 3022

1822 -0.78 -146.0 157.9 -5.9 213 1826 0.00 2.38 0.00 0.000 4 0.000 0.070 2284 3753 3021

1872 -0.89 -146.0 161.3 -6.9 215 1877 0.15 2.22 0.00 0.000 6 0.087 0.044 2231 2330 3021

2199 -0.79 -146.0 188.5 -8.1 231 2203 0.12 2.22 0.00 0.000 4 0.164 0.058 2263 939 3021

2382 -0.79 -146.0 203.2 -8.0 239 2386 0.00 2.25 0.00 0.000 6 0.000 0.055 2263 2341 3021

2710 -0.79 -146.0 225.4 -6.5 255 2714 0.00 2.33 0.00 0.000 4 0.000 0.071 2263 3753 3021

2856 -0.87 -146.0 234.4 -5.9 261 2859 0.00 2.22 0.00 0.000 6 0.000 0.044 2263 2327 3021

3177 -0.92 -146.0 250.4 -4.7 277 3182 0.12 2.22 0.00 0.000 4 0.103 0.057 2220 932 3020

3272 -0.79 -146.0 256.7 -7.0 281 3277 0.17 2.28 0.00 0.000 6 0.167 0.054 2266 2348 3020

3599 -0.86 -146.0 273.1 -5.2 297 3600 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2348 3020

3908 -0.95 -146.0 290.1 -5.7 312 3910 0.15 0.00 0.00 0.000 6 0.099 0.000 2213 2348 3020

4217 -0.86 -146.0 314.4 -7.8 327 4219 0.15 0.00 0.00 0.000 6 0.161 0.000 2254 2348 3020

4527 -0.91 -146.0 333.1 -5.8 342 4531 0.00 2.30 0.00 0.000 4 0.000 0.070 2254 3746 3021

4588 -1.01 -146.0 336.8 -5.8 344 4595 0.15 2.20 0.00 0.000 6 0.091 0.042 2201 2331 3021

4904 -0.90 -146.0 359.3 -7.1 360 4909 0.15 2.22 0.00 0.000 4 0.155 0.054 2243 933 3021

4965 -0.90 -146.0 363.3 -5.9 362 4972 0.00 2.25 0.00 0.000 6 0.000 0.052 2243 2346 3021

5281 -0.90 -146.0 380.5 -5.4 378 5285 0.00 2.30 0.00 0.000 4 0.000 0.068 2243 3747 3021

5404 -0.96 -146.0 387.2 -5.4 383 5408 0.00 2.20 0.00 0.000 6 0.000 0.041 2243 2330 3021

5724 -0.96 -146.0 404.5 -5.4 397 5725 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2330 3022

6049 -0.96 -146.0 422.7 -5.7 405 6050 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2330 3022

6375 -0.96 -146.0 442.0 -6.1 413 6379 0.00 2.35 0.00 0.000 4 0.000 0.067 2243 3746 3023

6447 -1.03 -146.0 446.6 -6.1 414 6452 0.12 2.20 0.00 0.000 6 0.097 0.041 2198 2327 3023

6789 -0.92 -146.0 472.0 -7.6 423 6793 0.15 2.22 0.00 0.000 4 0.157 0.054 2240 927 3023

6851 -0.92 -146.0 476.6 -7.0 424 6855 0.00 2.25 0.00 0.000 6 0.000 0.050 2240 2348 3023

7163 -0.92 -146.0 497.4 -6.8 432 7167 0.00 2.28 0.00 0.000 4 0.000 0.067 2240 3746 3023

7263 -1.00 -146.0 504.5 -7.6 434 7267 0.00 2.17 0.00 0.000 6 0.000 0.040 2240 2338 3023

7582 -1.00 -146.0 523.6 -5.8 442 7586 0.00 2.20 0.00 0.000 4 0.000 0.054 2240 935 3024

7643 -1.00 -146.0 527.5 -6.0 443 7647 0.00 2.25 0.00 0.000 6 0.000 0.050 2240 2348 3023

7956 -1.00 -146.0 546.6 -6.0 451 7960 0.00 2.30 0.00 0.000 4 0.000 0.068 2240 3746 3024

8063 -1.07 -146.0 553.4 -6.5 453 8068 0.15 2.20 0.00 0.000 6 0.093 0.041 2188 2327 3024

8377 -0.95 -146.0 576.7 -7.6 461 8379 0.15 0.00 0.00 0.000 6 0.153 0.000 2229 2327 3024

8700 -0.95 -146.0 597.7 -6.4 469 8705 0.00 2.35 0.00 0.000 4 0.000 0.067 2229 3747 3024

8802 -1.00 -146.0 604.5 -7.0 471 8806 0.00 2.17 0.00 0.000 6 0.000 0.041 2229 2343 3024

9115 -1.00 -146.0 624.8 -6.5 479 9116 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2342 3024

9440 -1.00 -146.0 644.4 -6.0 487 9444 0.00 2.33 0.00 0.000 4 0.000 0.067 2229 3745 3024

9698 -1.05 -146.0 661.9 -8.0 492 9702 0.10 2.20 0.00 0.000 6 0.104 0.041 2193 2327 3024

10035 -0.96 -146.0 687.3 -7.6 501 10037 0.12 0.00 0.00 0.000 6 0.155 0.000 2227 2326 3024

10113 end dive: TARGET_DEPTH_EXCEEDED

state 10113 begin apogee

10119 -0.34 0.0 692.6 7.0 503 10256 0.45 0.00 134.30 1.316 6 0.143 0.000 2365 2527 2420

10257 end apogee: CONTROL_FINISHED_OK

state 10257 begin climb

10259 1.08 146.0 694.3 0.0 506 10443 1.02 0.00 148.70 1.156 6 0.107 0.000 2665 2527 1824

10747 0.93 146.0 656.9 8.4 518 10749 0.12 0.00 0.00 0.000 6 0.146 0.000 2633 2527 1820

11071 0.93 146.0 632.8 7.3 526 11073 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2527 1821

11396 0.93 146.0 609.6 7.1 534 11400 0.00 2.30 0.00 0.000 4 0.000 0.068 2632 3930 1819

11430 0.82 146.0 606.9 8.7 534 11434 0.00 2.20 0.00 0.000 6 0.000 0.041 2632 2515 1819

11765 0.82 146.0 581.7 7.5 543 11769 0.00 2.35 0.00 0.000 4 0.000 0.067 2632 3943 1818

11793 0.72 146.0 579.4 8.0 543 11798 0.15 2.22 0.00 0.000 6 0.149 0.041 2591 2507 1819

12136 0.88 177.4 559.2 5.9 552 12165 0.12 0.00 26.75 1.241 6 0.081 0.000 2640 2506 1696

12459 0.88 177.4 534.6 7.5 560 12460 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2507 1696

12784 0.88 177.4 510.9 7.3 568 12785 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2506 1695

13110 0.89 184.8 487.9 6.8 576 13119 0.00 0.00 7.70 1.049 6 0.000 0.000 2640 2506 1666

13434 0.92 206.0 466.8 6.3 584 13455 0.00 0.00 18.83 1.170 6 0.000 0.000 2640 2506 1580

13759 0.95 228.5 446.5 6.3 592 13782 0.00 0.00 20.42 1.154 6 0.000 0.000 2640 2506 1488

14085 1.03 252.6 426.7 6.2 600 14111 0.00 2.28 21.33 1.143 4 0.000 0.055 2640 1109 1389

14118 1.12 261.8 424.5 6.7 600 14133 0.15 2.30 9.48 1.012 6 0.079 0.048 2700 2529 1352

14453 1.01 261.8 392.5 9.9 610 14457 0.17 2.28 0.00 0.000 4 0.130 0.055 2649 1120 1348

14488 1.11 262.2 389.8 7.0 611 14492 0.10 2.25 0.00 0.000 6 0.090 0.049 2691 2536 1348

14808 1.02 262.2 360.2 9.4 627 14813 0.12 2.28 0.00 0.000 4 0.127 0.055 2654 1116 1348

14848 1.11 262.2 357.0 7.0 629 14852 0.10 2.22 0.00 0.000 6 0.089 0.048 2693 2528 1348

15180 1.03 262.2 325.3 9.8 645 15184 0.12 2.25 0.00 0.000 4 0.133 0.054 2657 1119 1347

15252 1.12 262.2 319.4 8.5 648 15257 0.10 2.20 0.00 0.000 6 0.091 0.048 2697 2522 1347

15579 1.04 262.2 286.4 10.6 664 15583 0.15 2.22 0.00 0.000 4 0.133 0.054 2653 1119 1347

15634 1.14 262.2 281.5 7.6 666 15638 0.12 2.20 0.00 0.000 6 0.082 0.048 2705 2521 1348

15955 1.04 262.2 248.2 10.5 682 15959 0.17 2.25 0.00 0.000 4 0.128 0.054 2652 1114 1348

15970 1.04 262.2 246.6 9.9 682 15976 0.00 2.22 0.00 0.000 6 0.000 0.048 2652 2533 1347

16286 1.16 283.4 225.1 6.3 698 16312 0.12 2.35 18.27 1.028 4 0.078 0.054 2707 1112 1264

16357 1.16 283.4 219.3 8.5 701 16360 0.00 2.25 0.00 0.000 6 0.000 0.048 2708 2524 1263

16683 1.10 283.4 190.6 8.7 717 16688 0.12 2.28 0.00 0.000 4 0.134 0.054 2669 1108 1262

16727 1.21 283.4 187.3 7.6 719 16731 0.10 2.22 0.00 0.000 6 0.083 0.048 2709 2520 1263

17054 1.15 283.4 157.8 9.6 735 17058 0.10 2.25 0.00 0.000 4 0.138 0.054 2681 1115 1263

17109 1.22 283.4 152.9 8.6 737 17113 0.08 2.22 0.00 0.000 6 0.099 0.048 2718 2529 1263

17430 1.16 283.4 122.5 8.8 753 17434 0.12 2.28 0.00 0.000 4 0.132 0.054 2681 1106 1263

17479 1.27 283.4 118.9 7.0 755 17484 0.12 2.25 0.00 0.000 6 0.078 0.048 2732 2532 1263

17806 1.19 283.4 91.4 9.4 781 17813 0.15 2.28 0.00 0.000 4 0.127 0.054 2686 1111 1263

17830 1.19 283.4 89.1 8.7 785 17836 0.00 2.22 0.00 0.000 6 0.000 0.049 2686 2521 1263

18175 1.28 288.1 63.4 6.9 846 18188 0.10 2.25 5.82 0.828 4 0.087 0.056 2731 1110 1246

18211 1.28 288.1 60.4 8.0 852 18218 0.00 2.25 0.00 0.000 6 0.000 0.051 2731 2531 1245

18555 1.29 290.3 31.6 6.9 913 18561 0.00 2.28 0.00 0.000 4 0.000 0.057 2731 1115 1244

18567 1.31 305.9 30.9 6.5 915 18592 0.00 2.22 16.33 0.976 6 0.000 0.050 2731 2521 1170

18929 1.33 321.2 7.9 6.5 979 18948 0.00 2.35 13.23 0.944 4 0.000 0.057 2731 1111 1109

18961 1.41 340.9 6.0 6.3 984 18985 0.00 2.28 17.23 0.932 6 0.000 0.051 2731 2528 1029

19017 end climb: SURFACE_DEPTH_REACHED

state 19017 begin surface coast

19046 end surface coast: CONTROL_FINISHED_OK

state 19046 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	249	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	28	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	-26552.143	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	014801,6648.099,-5750.616,37,0.9,37,-37.5	TGT_NAME	TARGET_ADD4_EB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	4	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.027,0.223
_SM_DEPTHo	1.70	KALMAN_X	25778.9,-91.9,221.8,-44720.9,1375.5
_SM_ANGLEo	-62.5	KALMAN_Y	-68408.9,116.4,-677.3,56459.5,-2872.9
GPS2	015403,6648.117,-5750.426,8,1.3,8,-37.5	MHEAD_RNG_PITCHd_Wd	30.6,23044,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	692

FINISH	0.8,1.009144	TCM_TEMP	15.40
SM_CCo	19124,0.00,0.000,0,0,1024,342.44	XPDR_PINGS	2
SM_GC	1.62,7.20,0.00,0.00,0.066,0.000,0.000,165,2342,1024,-10.38,0.06,342.44	_24V_AH	20.6,48.767
RAFOS_CLK	1071	_10V_AH	10.5,20.804
RAFOS	0,1225512248,4.083333,4.068889,70,64,62,60,57,55,859,205,189,214,123,225	DATA_FILE_SIZE	37838,999
RAFOS_FIX	6655.387207,-5826.440918,311008,000028,3,83,1.31	CAP_FILE_SIZE	150157,0
IRIDIUM_FIX	6620.33,-5750.99,250198,202046	CFSIZE	260165632,232366080
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
HUMID	1876	SOUNDSPEED	1452.2
INTERNAL_PRESSURE	8.49642	GPS	011108,071502,6648.585,-5750.110,36,1.5,36,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	264	123.19	SBE_CT	784	24	387.64
Roll_motor	149	73	227.03	SBE_O2	684	19	268.05
VBD_pump_during_apogee	458	1316	12427.99	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	27	103	58.73	nil	0	0	0.00
Iridium_during_connect	41	160	135.20	nil	0	0	0.00
Iridium_during_xfer	169	223	780.55
Transponder_ping	0	420	4.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.42
TT8	1895	19	396.38
LPSleep	14387	2	348.96
TT8_Active	643	19	134.69
TT8_Sampling	2042	39	856.25
TT8_CF8	512	45	247.10
TT8_Kalman	33	81	28.70
Analog_circuits	1752	12	220.80
GPS_charging	0	0	0.00
Compass	2017	8	169.47
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	129	0.00	0.00	-110.18	0.000	2	0.000	0.000	157	2338	2759
132	-1.08	-146.0	3.2	-2.4	19	158	8.90	2.30	-9.35	0.000	4	0.265	0.073	2199	928	3018
344	-0.69	-146.0	40.8	-15.6	56	351	0.30	2.30	0.00	0.000	6	0.166	0.054	2284	2350	3022
688	-0.69	-146.0	73.1	-8.5	117	694	0.00	2.30	0.00	0.000	4	0.000	0.058	2284	921	3022
773	-0.63	-146.0	80.6	-8.8	132	780	0.00	2.28	0.00	0.000	6	0.000	0.054	2284	2341	3022
1113	-0.63	-146.0	108.6	-8.0	179	1114	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2341	3022
1422	-0.63	-146.0	132.2	-7.4	194	1426	0.00	2.33	0.00	0.000	4	0.000	0.072	2284	3749	3022
1500	-0.72	-146.0	137.9	-6.9	197	1504	0.00	2.22	0.00	0.000	6	0.000	0.044	2284	2323	3022
1822	-0.78	-146.0	157.9	-5.9	213	1826	0.00	2.38	0.00	0.000	4	0.000	0.070	2284	3753	3021
1872	-0.89	-146.0	161.3	-6.9	215	1877	0.15	2.22	0.00	0.000	6	0.087	0.044	2231	2330	3021
2199	-0.79	-146.0	188.5	-8.1	231	2203	0.12	2.22	0.00	0.000	4	0.164	0.058	2263	939	3021
2382	-0.79	-146.0	203.2	-8.0	239	2386	0.00	2.25	0.00	0.000	6	0.000	0.055	2263	2341	3021
2710	-0.79	-146.0	225.4	-6.5	255	2714	0.00	2.33	0.00	0.000	4	0.000	0.071	2263	3753	3021
2856	-0.87	-146.0	234.4	-5.9	261	2859	0.00	2.22	0.00	0.000	6	0.000	0.044	2263	2327	3021
3177	-0.92	-146.0	250.4	-4.7	277	3182	0.12	2.22	0.00	0.000	4	0.103	0.057	2220	932	3020
3272	-0.79	-146.0	256.7	-7.0	281	3277	0.17	2.28	0.00	0.000	6	0.167	0.054	2266	2348	3020
3599	-0.86	-146.0	273.1	-5.2	297	3600	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2348	3020
3908	-0.95	-146.0	290.1	-5.7	312	3910	0.15	0.00	0.00	0.000	6	0.099	0.000	2213	2348	3020
4217	-0.86	-146.0	314.4	-7.8	327	4219	0.15	0.00	0.00	0.000	6	0.161	0.000	2254	2348	3020
4527	-0.91	-146.0	333.1	-5.8	342	4531	0.00	2.30	0.00	0.000	4	0.000	0.070	2254	3746	3021
4588	-1.01	-146.0	336.8	-5.8	344	4595	0.15	2.20	0.00	0.000	6	0.091	0.042	2201	2331	3021
4904	-0.90	-146.0	359.3	-7.1	360	4909	0.15	2.22	0.00	0.000	4	0.155	0.054	2243	933	3021
4965	-0.90	-146.0	363.3	-5.9	362	4972	0.00	2.25	0.00	0.000	6	0.000	0.052	2243	2346	3021
5281	-0.90	-146.0	380.5	-5.4	378	5285	0.00	2.30	0.00	0.000	4	0.000	0.068	2243	3747	3021
5404	-0.96	-146.0	387.2	-5.4	383	5408	0.00	2.20	0.00	0.000	6	0.000	0.041	2243	2330	3021
5724	-0.96	-146.0	404.5	-5.4	397	5725	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2330	3022
6049	-0.96	-146.0	422.7	-5.7	405	6050	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2330	3022
6375	-0.96	-146.0	442.0	-6.1	413	6379	0.00	2.35	0.00	0.000	4	0.000	0.067	2243	3746	3023
6447	-1.03	-146.0	446.6	-6.1	414	6452	0.12	2.20	0.00	0.000	6	0.097	0.041	2198	2327	3023
6789	-0.92	-146.0	472.0	-7.6	423	6793	0.15	2.22	0.00	0.000	4	0.157	0.054	2240	927	3023
6851	-0.92	-146.0	476.6	-7.0	424	6855	0.00	2.25	0.00	0.000	6	0.000	0.050	2240	2348	3023
7163	-0.92	-146.0	497.4	-6.8	432	7167	0.00	2.28	0.00	0.000	4	0.000	0.067	2240	3746	3023
7263	-1.00	-146.0	504.5	-7.6	434	7267	0.00	2.17	0.00	0.000	6	0.000	0.040	2240	2338	3023
7582	-1.00	-146.0	523.6	-5.8	442	7586	0.00	2.20	0.00	0.000	4	0.000	0.054	2240	935	3024
7643	-1.00	-146.0	527.5	-6.0	443	7647	0.00	2.25	0.00	0.000	6	0.000	0.050	2240	2348	3023
7956	-1.00	-146.0	546.6	-6.0	451	7960	0.00	2.30	0.00	0.000	4	0.000	0.068	2240	3746	3024
8063	-1.07	-146.0	553.4	-6.5	453	8068	0.15	2.20	0.00	0.000	6	0.093	0.041	2188	2327	3024
8377	-0.95	-146.0	576.7	-7.6	461	8379	0.15	0.00	0.00	0.000	6	0.153	0.000	2229	2327	3024
8700	-0.95	-146.0	597.7	-6.4	469	8705	0.00	2.35	0.00	0.000	4	0.000	0.067	2229	3747	3024
8802	-1.00	-146.0	604.5	-7.0	471	8806	0.00	2.17	0.00	0.000	6	0.000	0.041	2229	2343	3024
9115	-1.00	-146.0	624.8	-6.5	479	9116	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2342	3024
9440	-1.00	-146.0	644.4	-6.0	487	9444	0.00	2.33	0.00	0.000	4	0.000	0.067	2229	3745	3024
9698	-1.05	-146.0	661.9	-8.0	492	9702	0.10	2.20	0.00	0.000	6	0.104	0.041	2193	2327	3024
10035	-0.96	-146.0	687.3	-7.6	501	10037	0.12	0.00	0.00	0.000	6	0.155	0.000	2227	2326	3024
10113	end dive: TARGET_DEPTH_EXCEEDED
state	10113	begin apogee
10119	-0.34	0.0	692.6	7.0	503	10256	0.45	0.00	134.30	1.316	6	0.143	0.000	2365	2527	2420
10257	end apogee: CONTROL_FINISHED_OK
state	10257	begin climb
10259	1.08	146.0	694.3	0.0	506	10443	1.02	0.00	148.70	1.156	6	0.107	0.000	2665	2527	1824
10747	0.93	146.0	656.9	8.4	518	10749	0.12	0.00	0.00	0.000	6	0.146	0.000	2633	2527	1820
11071	0.93	146.0	632.8	7.3	526	11073	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2527	1821
11396	0.93	146.0	609.6	7.1	534	11400	0.00	2.30	0.00	0.000	4	0.000	0.068	2632	3930	1819
11430	0.82	146.0	606.9	8.7	534	11434	0.00	2.20	0.00	0.000	6	0.000	0.041	2632	2515	1819
11765	0.82	146.0	581.7	7.5	543	11769	0.00	2.35	0.00	0.000	4	0.000	0.067	2632	3943	1818
11793	0.72	146.0	579.4	8.0	543	11798	0.15	2.22	0.00	0.000	6	0.149	0.041	2591	2507	1819
12136	0.88	177.4	559.2	5.9	552	12165	0.12	0.00	26.75	1.241	6	0.081	0.000	2640	2506	1696
12459	0.88	177.4	534.6	7.5	560	12460	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2507	1696
12784	0.88	177.4	510.9	7.3	568	12785	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2506	1695
13110	0.89	184.8	487.9	6.8	576	13119	0.00	0.00	7.70	1.049	6	0.000	0.000	2640	2506	1666
13434	0.92	206.0	466.8	6.3	584	13455	0.00	0.00	18.83	1.170	6	0.000	0.000	2640	2506	1580
13759	0.95	228.5	446.5	6.3	592	13782	0.00	0.00	20.42	1.154	6	0.000	0.000	2640	2506	1488
14085	1.03	252.6	426.7	6.2	600	14111	0.00	2.28	21.33	1.143	4	0.000	0.055	2640	1109	1389
14118	1.12	261.8	424.5	6.7	600	14133	0.15	2.30	9.48	1.012	6	0.079	0.048	2700	2529	1352
14453	1.01	261.8	392.5	9.9	610	14457	0.17	2.28	0.00	0.000	4	0.130	0.055	2649	1120	1348
14488	1.11	262.2	389.8	7.0	611	14492	0.10	2.25	0.00	0.000	6	0.090	0.049	2691	2536	1348
14808	1.02	262.2	360.2	9.4	627	14813	0.12	2.28	0.00	0.000	4	0.127	0.055	2654	1116	1348
14848	1.11	262.2	357.0	7.0	629	14852	0.10	2.22	0.00	0.000	6	0.089	0.048	2693	2528	1348
15180	1.03	262.2	325.3	9.8	645	15184	0.12	2.25	0.00	0.000	4	0.133	0.054	2657	1119	1347
15252	1.12	262.2	319.4	8.5	648	15257	0.10	2.20	0.00	0.000	6	0.091	0.048	2697	2522	1347
15579	1.04	262.2	286.4	10.6	664	15583	0.15	2.22	0.00	0.000	4	0.133	0.054	2653	1119	1347
15634	1.14	262.2	281.5	7.6	666	15638	0.12	2.20	0.00	0.000	6	0.082	0.048	2705	2521	1348
15955	1.04	262.2	248.2	10.5	682	15959	0.17	2.25	0.00	0.000	4	0.128	0.054	2652	1114	1348
15970	1.04	262.2	246.6	9.9	682	15976	0.00	2.22	0.00	0.000	6	0.000	0.048	2652	2533	1347
16286	1.16	283.4	225.1	6.3	698	16312	0.12	2.35	18.27	1.028	4	0.078	0.054	2707	1112	1264
16357	1.16	283.4	219.3	8.5	701	16360	0.00	2.25	0.00	0.000	6	0.000	0.048	2708	2524	1263
16683	1.10	283.4	190.6	8.7	717	16688	0.12	2.28	0.00	0.000	4	0.134	0.054	2669	1108	1262
16727	1.21	283.4	187.3	7.6	719	16731	0.10	2.22	0.00	0.000	6	0.083	0.048	2709	2520	1263
17054	1.15	283.4	157.8	9.6	735	17058	0.10	2.25	0.00	0.000	4	0.138	0.054	2681	1115	1263
17109	1.22	283.4	152.9	8.6	737	17113	0.08	2.22	0.00	0.000	6	0.099	0.048	2718	2529	1263
17430	1.16	283.4	122.5	8.8	753	17434	0.12	2.28	0.00	0.000	4	0.132	0.054	2681	1106	1263
17479	1.27	283.4	118.9	7.0	755	17484	0.12	2.25	0.00	0.000	6	0.078	0.048	2732	2532	1263
17806	1.19	283.4	91.4	9.4	781	17813	0.15	2.28	0.00	0.000	4	0.127	0.054	2686	1111	1263
17830	1.19	283.4	89.1	8.7	785	17836	0.00	2.22	0.00	0.000	6	0.000	0.049	2686	2521	1263
18175	1.28	288.1	63.4	6.9	846	18188	0.10	2.25	5.82	0.828	4	0.087	0.056	2731	1110	1246
18211	1.28	288.1	60.4	8.0	852	18218	0.00	2.25	0.00	0.000	6	0.000	0.051	2731	2531	1245
18555	1.29	290.3	31.6	6.9	913	18561	0.00	2.28	0.00	0.000	4	0.000	0.057	2731	1115	1244
18567	1.31	305.9	30.9	6.5	915	18592	0.00	2.22	16.33	0.976	6	0.000	0.050	2731	2521	1170
18929	1.33	321.2	7.9	6.5	979	18948	0.00	2.35	13.23	0.944	4	0.000	0.057	2731	1111	1109
18961	1.41	340.9	6.0	6.3	984	18985	0.00	2.28	17.23	0.932	6	0.000	0.051	2731	2528	1029
19017	end climb: SURFACE_DEPTH_REACHED
state	19017	begin surface coast
19046	end surface coast: CONTROL_FINISHED_OK
state	19046	begin surface