Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 253 * 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 253 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 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 -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 -26612.178 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 -26612.178

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 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 253 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 235538,6650.934,-5740.261,51,1.3,51,-37.5 TGT_NAME TARGET_ADD4_EB

_CALLS 2 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.022,0.223

_SM_DEPTHo 1.43 KALMAN_X 29497.5,-177.6,440.9,-41358.4,674.5

_SM_ANGLEo -61.3 KALMAN_Y -81421.4,1075.4,-620.3,73475.7,-3654.2

GPS2 000539,6650.838,-5740.518,12,1.3,12,-37.5 MHEAD_RNG_PITCHd_Wd 32.0,15634,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 715

Post-dive calculations and measurements:

FINISH 0.7,1.025954 TCM_TEMP 15.70

SM_CCo 19100,0.00,0.000,0,0,1136,314.97 XPDR_PINGS 0

SM_GC 1.63,7.03,0.00,0.00,0.067,0.000,0.000,165,2330,1136,-10.37,-0.28,314.97 _24V_AH 20.9,49.387

RAFOS_CLK 1064 _10V_AH 10.6,21.109

RAFOS 1,1225584844,0.250000,0.234444,58,56,55,55,54,54,220,745,229,207,150,174 DATA_FILE_SIZE 37855,991

RAFOS_FIX 6652.694336,-5743.538086,021108,000016,2,78,2.22 CAP_FILE_SIZE 155077,0

IRIDIUM_FIX 6625.71,-5745.17,270198,000020 CFSIZE 260165632,232075264

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

HUMID 1884 SOUNDSPEED 1455.4

INTERNAL_PRESSURE 8.51595 GPS 021108,052628,6653.400,-5740.111,40,1.6,40,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 266 125.85 SBE_CT 777 24 389.93

Roll_motor 167 73 257.31 SBE_O2 678 19 269.53

VBD_pump_during_apogee 424 1331 11825.76 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 48 103 104.76 nil 0 0 0.00

Iridium_during_connect 66 160 221.67 nil 0 0 0.00

Iridium_during_xfer 289 223 1348.72

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.63

TT8 1914 19 404.32

LPSleep 14437 2 353.52

TT8_Active 613 19 129.57

TT8_Sampling 2052 39 868.42

TT8_CF8 685 45 333.78

TT8_Kalman 33 81 28.98

Analog_circuits 1723 12 219.22

GPS_charging 0 0 0.00

Compass 2022 8 171.53

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.08 -146.0 0.0 0.0 0 133 0.00 0.00 -114.70 0.000 2 0.000 0.000 164 2333 2861

136 -1.08 -146.0 3.3 -3.2 20 156 8.90 2.33 -5.30 0.000 4 0.266 0.070 2199 928 3018

213 -0.47 -146.0 21.3 -20.5 33 220 0.47 2.28 0.00 0.000 6 0.175 0.054 2333 2338 3021

558 -0.55 -146.0 51.0 -5.8 94 564 0.00 2.30 0.00 0.000 4 0.000 0.068 2333 3743 3022

752 -0.70 -146.0 62.8 -6.1 128 759 0.17 2.20 0.00 0.000 6 0.090 0.041 2271 2329 3022

1096 -0.70 -146.0 92.8 -8.4 189 1102 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2329 3022

1435 -0.70 -146.0 118.5 -7.1 217 1439 0.00 2.35 0.00 0.000 4 0.000 0.068 2271 3756 3022

1490 -0.70 -146.0 122.6 -7.5 219 1494 0.00 2.20 0.00 0.000 6 0.000 0.042 2271 2341 3022

1810 -0.70 -146.0 145.9 -7.6 235 1814 0.00 2.22 0.00 0.000 4 0.000 0.056 2271 932 3021

1893 -0.70 -146.0 153.2 -9.0 238 1900 0.00 2.25 0.00 0.000 6 0.000 0.052 2271 2345 3021

2209 -0.70 -146.0 177.8 -7.5 254 2213 0.00 2.30 0.00 0.000 4 0.000 0.069 2271 3747 3021

2281 -0.78 -146.0 183.3 -7.7 257 2285 0.00 2.20 0.00 0.000 6 0.000 0.041 2271 2327 3021

2608 -0.84 -146.0 204.7 -6.7 273 2609 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2327 3021

2918 -0.91 -146.0 225.6 -6.8 288 2922 0.12 2.35 0.00 0.000 4 0.093 0.067 2223 3745 3020

3002 -0.86 -146.0 232.7 -8.7 292 3006 0.10 2.20 0.00 0.000 6 0.169 0.042 2246 2326 3021

3334 -0.86 -146.0 257.0 -6.9 308 3338 0.00 2.20 0.00 0.000 4 0.000 0.056 2247 935 3020

3474 -0.86 -146.0 267.3 -7.2 314 3478 0.00 2.25 0.00 0.000 6 0.000 0.051 2246 2350 3020

3801 -0.86 -146.0 288.6 -6.2 330 3805 0.00 2.30 0.00 0.000 4 0.000 0.067 2246 3754 3020

3961 -0.92 -146.0 298.8 -6.3 337 3965 0.00 2.20 0.00 0.000 6 0.000 0.041 2246 2332 3021

4293 -0.92 -146.0 320.2 -6.5 353 4297 0.00 2.20 0.00 0.000 4 0.000 0.054 2246 934 3021

4371 -0.92 -146.0 325.7 -6.8 356 4376 0.00 2.25 0.00 0.000 6 0.000 0.051 2246 2352 3021

4692 -0.92 -146.0 345.7 -6.0 372 4696 0.00 2.28 0.00 0.000 4 0.000 0.066 2247 3750 3022

4839 -0.98 -146.0 354.6 -6.4 378 4843 0.10 2.20 0.00 0.000 6 0.115 0.039 2214 2323 3022

5159 -0.90 -146.0 377.1 -7.2 394 5163 0.10 2.20 0.00 0.000 4 0.166 0.053 2239 931 3022

5214 -0.90 -146.0 380.9 -6.9 396 5218 0.00 2.25 0.00 0.000 6 0.000 0.049 2239 2354 3022

5536 -0.90 -146.0 400.5 -6.1 412 5539 0.00 2.28 0.00 0.000 4 0.000 0.065 2239 3754 3022

5597 -0.95 -146.0 404.5 -6.3 413 5601 0.00 2.20 0.00 0.000 6 0.000 0.039 2240 2326 3022

5909 -0.95 -146.0 423.4 -6.1 421 5911 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2326 3023

6235 -0.95 -146.0 443.2 -6.1 429 6236 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2326 3023

6559 -0.95 -146.0 462.9 -6.0 437 6563 0.00 2.35 0.00 0.000 4 0.000 0.067 2239 3750 3023

6626 -1.01 -146.0 467.2 -6.8 438 6631 0.10 2.17 0.00 0.000 6 0.105 0.040 2204 2340 3023

6975 -0.93 -146.0 491.9 -7.1 447 6977 0.12 0.00 0.00 0.000 6 0.154 0.000 2238 2339 3023

7299 -0.93 -146.0 511.7 -6.0 455 7300 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 2339 3024

7624 -0.93 -146.0 531.2 -6.0 463 7625 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 2338 3024

7949 -0.93 -146.0 550.3 -5.9 471 7953 0.00 2.33 0.00 0.000 4 0.000 0.067 2238 3742 3024

8040 -1.00 -146.0 555.8 -6.2 473 8044 0.00 2.15 0.00 0.000 6 0.000 0.040 2239 2339 3024

8369 -1.00 -146.0 574.7 -5.7 481 8370 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2339 3023

8694 -1.00 -146.0 594.2 -6.1 489 8695 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2339 3024

9020 -1.04 -146.0 613.8 -6.1 497 9024 0.12 2.35 0.00 0.000 4 0.100 0.066 2193 3752 3023

9086 -0.96 -146.0 619.0 -7.9 498 9090 0.12 2.17 0.00 0.000 6 0.153 0.040 2226 2340 3023

9434 -0.96 -146.0 641.3 -6.3 507 9438 0.00 2.22 0.00 0.000 4 0.000 0.054 2226 929 3023

9501 -0.96 -146.0 646.0 -6.7 508 9505 0.00 2.25 0.00 0.000 6 0.000 0.049 2226 2348 3023

9849 -0.96 -146.0 667.9 -6.1 517 9852 0.00 2.30 0.00 0.000 4 0.000 0.067 2226 3754 3023

9972 -0.96 -146.0 675.9 -6.3 519 9976 0.00 2.20 0.00 0.000 6 0.000 0.039 2226 2330 3023

10309 -0.96 -146.0 697.6 -6.6 528 10310 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2330 3023

10590 end dive: TARGET_DEPTH_EXCEEDED

state 10590 begin apogee

10596 -0.34 0.0 715.4 6.1 535 10734 0.45 0.00 134.70 1.332 6 0.143 0.000 2364 2517 2420

10735 end apogee: CONTROL_FINISHED_OK

state 10735 begin climb

10738 1.08 146.0 718.0 0.0 538 10888 1.08 0.00 141.10 1.227 6 0.107 0.000 2674 2517 1824

11199 0.91 146.0 681.4 8.7 550 11204 0.15 2.40 0.00 0.000 4 0.138 0.066 2633 3929 1820

11243 0.79 146.0 677.5 8.3 551 11247 0.10 2.25 0.00 0.000 6 0.155 0.040 2608 2518 1819

11567 0.89 177.3 658.0 6.0 559 11596 0.00 0.00 27.10 1.257 6 0.000 0.000 2608 2519 1697

11891 1.00 200.2 637.9 6.2 567 11915 0.15 0.00 20.70 1.234 6 0.077 0.000 2665 2518 1603

12216 0.92 200.2 610.4 8.4 575 12221 0.12 2.25 0.00 0.000 4 0.139 0.054 2630 1108 1600

12233 0.92 200.2 609.0 8.2 575 12237 0.00 2.25 0.00 0.000 6 0.000 0.049 2629 2523 1600

12546 0.97 233.5 590.2 5.9 583 12580 0.00 2.38 28.62 1.249 4 0.000 0.054 2629 1116 1468

12597 1.14 278.8 587.0 5.5 584 12643 0.17 2.30 40.30 1.219 6 0.074 0.048 2694 2533 1283

12958 1.06 278.8 552.3 10.0 593 12963 0.12 2.30 0.00 0.000 4 0.131 0.054 2659 1115 1277

13003 1.14 278.8 548.3 8.1 594 13008 0.10 2.25 0.00 0.000 6 0.091 0.049 2698 2522 1277

13333 1.04 278.8 515.5 9.9 602 13337 0.15 2.28 0.00 0.000 4 0.133 0.055 2654 1110 1277

13365 1.12 278.8 512.6 7.7 602 13370 0.10 2.25 0.00 0.000 6 0.094 0.049 2692 2534 1277

13702 1.06 278.8 480.0 9.7 611 13706 0.10 2.28 0.00 0.000 4 0.140 0.055 2665 1109 1276

13740 1.13 278.8 476.7 9.0 611 13747 0.00 2.22 0.00 0.000 6 0.000 0.048 2664 2520 1275

14071 1.13 278.8 449.4 8.3 620 14075 0.00 2.25 0.00 0.000 4 0.000 0.054 2664 1109 1276

14110 1.19 278.8 446.0 8.6 620 14117 0.12 2.22 0.00 0.000 6 0.086 0.048 2716 2526 1275

14441 1.05 278.8 409.5 11.3 629 14446 0.17 2.28 0.00 0.000 4 0.130 0.055 2663 1109 1275

14491 1.13 278.8 405.3 7.8 630 14494 0.00 2.22 0.00 0.000 6 0.000 0.048 2662 2524 1275

14813 1.13 278.8 380.8 7.2 644 14816 0.00 2.25 0.00 0.000 4 0.000 0.054 2662 1111 1275

14863 1.21 286.4 377.4 6.8 646 14879 0.12 2.22 6.53 0.952 6 0.085 0.048 2711 2529 1252

15189 1.10 286.4 346.8 9.6 662 15194 0.15 2.28 0.00 0.000 4 0.130 0.054 2666 1110 1253

15239 1.18 291.8 342.9 6.8 664 15252 0.10 2.22 6.65 0.937 6 0.093 0.048 2706 2522 1230

15561 1.09 291.8 312.3 10.0 680 15566 0.12 2.25 0.00 0.000 4 0.135 0.054 2669 1112 1229

15612 1.16 291.8 307.9 8.0 682 15615 0.00 2.22 0.00 0.000 6 0.000 0.048 2669 2525 1229

15938 1.21 291.8 279.5 9.0 698 15942 0.12 2.25 0.00 0.000 4 0.075 0.052 2720 1114 1228

16005 1.13 291.8 272.1 11.8 701 16010 0.15 2.22 0.00 0.000 6 0.130 0.048 2677 2532 1228

16337 1.13 291.8 240.7 9.1 717 16341 0.00 2.25 0.00 0.000 4 0.000 0.053 2677 1112 1229

16404 1.19 291.8 234.8 8.8 720 16408 0.00 2.22 0.00 0.000 6 0.000 0.048 2676 2531 1229

16737 1.19 291.8 206.3 8.1 736 16740 0.00 2.25 0.00 0.000 4 0.000 0.052 2677 1109 1229

16760 1.25 291.8 204.3 8.6 737 16764 0.12 2.20 0.00 0.000 6 0.081 0.048 2726 2522 1230

17093 1.15 291.8 168.8 10.8 753 17098 0.15 2.25 0.00 0.000 4 0.132 0.053 2681 1106 1230

17108 1.15 291.8 167.0 10.4 753 17115 0.00 2.22 0.00 0.000 6 0.000 0.047 2681 2528 1230

17424 1.22 291.8 141.9 7.6 769 17428 0.00 2.25 0.00 0.000 4 0.000 0.052 2681 1109 1230

17473 1.31 291.8 138.1 8.0 771 17478 0.15 2.22 0.00 0.000 6 0.076 0.048 2743 2530 1230

17800 1.20 291.8 105.2 9.8 787 17804 0.17 2.25 0.00 0.000 4 0.130 0.052 2689 1117 1231

17827 1.25 291.8 103.0 7.2 788 17831 0.00 2.20 0.00 0.000 6 0.000 0.048 2689 2521 1231

18167 1.36 313.0 80.2 6.3 841 18192 0.15 2.33 19.25 0.961 4 0.071 0.054 2757 1119 1142

18227 1.26 313.0 74.7 9.6 851 18234 0.17 2.25 0.00 0.000 6 0.136 0.048 2708 2529 1141

18571 1.32 313.0 46.9 8.3 912 18577 0.00 2.28 0.00 0.000 4 0.000 0.054 2708 1107 1140

18629 1.44 313.0 42.4 7.4 922 18636 0.15 2.25 0.00 0.000 6 0.074 0.048 2770 2529 1139

18974 1.28 313.0 5.6 10.8 983 18981 0.20 2.28 0.00 0.000 4 0.123 0.064 2703 3930 1138

18994 1.17 313.0 3.5 11.1 986 19001 0.00 2.17 0.00 0.000 6 0.000 0.040 2703 2518 1138

19005 end climb: SURFACE_DEPTH_REACHED

state 19005 begin surface coast

19023 end surface coast: CONTROL_FINISHED_OK

state 19023 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	253	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	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	-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	-26612.178	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	235538,6650.934,-5740.261,51,1.3,51,-37.5	TGT_NAME	TARGET_ADD4_EB
_CALLS	2	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.022,0.223
_SM_DEPTHo	1.43	KALMAN_X	29497.5,-177.6,440.9,-41358.4,674.5
_SM_ANGLEo	-61.3	KALMAN_Y	-81421.4,1075.4,-620.3,73475.7,-3654.2
GPS2	000539,6650.838,-5740.518,12,1.3,12,-37.5	MHEAD_RNG_PITCHd_Wd	32.0,15634,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	715

FINISH	0.7,1.025954	TCM_TEMP	15.70
SM_CCo	19100,0.00,0.000,0,0,1136,314.97	XPDR_PINGS	0
SM_GC	1.63,7.03,0.00,0.00,0.067,0.000,0.000,165,2330,1136,-10.37,-0.28,314.97	_24V_AH	20.9,49.387
RAFOS_CLK	1064	_10V_AH	10.6,21.109
RAFOS	1,1225584844,0.250000,0.234444,58,56,55,55,54,54,220,745,229,207,150,174	DATA_FILE_SIZE	37855,991
RAFOS_FIX	6652.694336,-5743.538086,021108,000016,2,78,2.22	CAP_FILE_SIZE	155077,0
IRIDIUM_FIX	6625.71,-5745.17,270198,000020	CFSIZE	260165632,232075264
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1884	SOUNDSPEED	1455.4
INTERNAL_PRESSURE	8.51595	GPS	021108,052628,6653.400,-5740.111,40,1.6,40,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	266	125.85	SBE_CT	777	24	389.93
Roll_motor	167	73	257.31	SBE_O2	678	19	269.53
VBD_pump_during_apogee	424	1331	11825.76	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	48	103	104.76	nil	0	0	0.00
Iridium_during_connect	66	160	221.67	nil	0	0	0.00
Iridium_during_xfer	289	223	1348.72
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.63
TT8	1914	19	404.32
LPSleep	14437	2	353.52
TT8_Active	613	19	129.57
TT8_Sampling	2052	39	868.42
TT8_CF8	685	45	333.78
TT8_Kalman	33	81	28.98
Analog_circuits	1723	12	219.22
GPS_charging	0	0	0.00
Compass	2022	8	171.53
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.08	-146.0	0.0	0.0	0	133	0.00	0.00	-114.70	0.000	2	0.000	0.000	164	2333	2861
136	-1.08	-146.0	3.3	-3.2	20	156	8.90	2.33	-5.30	0.000	4	0.266	0.070	2199	928	3018
213	-0.47	-146.0	21.3	-20.5	33	220	0.47	2.28	0.00	0.000	6	0.175	0.054	2333	2338	3021
558	-0.55	-146.0	51.0	-5.8	94	564	0.00	2.30	0.00	0.000	4	0.000	0.068	2333	3743	3022
752	-0.70	-146.0	62.8	-6.1	128	759	0.17	2.20	0.00	0.000	6	0.090	0.041	2271	2329	3022
1096	-0.70	-146.0	92.8	-8.4	189	1102	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2329	3022
1435	-0.70	-146.0	118.5	-7.1	217	1439	0.00	2.35	0.00	0.000	4	0.000	0.068	2271	3756	3022
1490	-0.70	-146.0	122.6	-7.5	219	1494	0.00	2.20	0.00	0.000	6	0.000	0.042	2271	2341	3022
1810	-0.70	-146.0	145.9	-7.6	235	1814	0.00	2.22	0.00	0.000	4	0.000	0.056	2271	932	3021
1893	-0.70	-146.0	153.2	-9.0	238	1900	0.00	2.25	0.00	0.000	6	0.000	0.052	2271	2345	3021
2209	-0.70	-146.0	177.8	-7.5	254	2213	0.00	2.30	0.00	0.000	4	0.000	0.069	2271	3747	3021
2281	-0.78	-146.0	183.3	-7.7	257	2285	0.00	2.20	0.00	0.000	6	0.000	0.041	2271	2327	3021
2608	-0.84	-146.0	204.7	-6.7	273	2609	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2327	3021
2918	-0.91	-146.0	225.6	-6.8	288	2922	0.12	2.35	0.00	0.000	4	0.093	0.067	2223	3745	3020
3002	-0.86	-146.0	232.7	-8.7	292	3006	0.10	2.20	0.00	0.000	6	0.169	0.042	2246	2326	3021
3334	-0.86	-146.0	257.0	-6.9	308	3338	0.00	2.20	0.00	0.000	4	0.000	0.056	2247	935	3020
3474	-0.86	-146.0	267.3	-7.2	314	3478	0.00	2.25	0.00	0.000	6	0.000	0.051	2246	2350	3020
3801	-0.86	-146.0	288.6	-6.2	330	3805	0.00	2.30	0.00	0.000	4	0.000	0.067	2246	3754	3020
3961	-0.92	-146.0	298.8	-6.3	337	3965	0.00	2.20	0.00	0.000	6	0.000	0.041	2246	2332	3021
4293	-0.92	-146.0	320.2	-6.5	353	4297	0.00	2.20	0.00	0.000	4	0.000	0.054	2246	934	3021
4371	-0.92	-146.0	325.7	-6.8	356	4376	0.00	2.25	0.00	0.000	6	0.000	0.051	2246	2352	3021
4692	-0.92	-146.0	345.7	-6.0	372	4696	0.00	2.28	0.00	0.000	4	0.000	0.066	2247	3750	3022
4839	-0.98	-146.0	354.6	-6.4	378	4843	0.10	2.20	0.00	0.000	6	0.115	0.039	2214	2323	3022
5159	-0.90	-146.0	377.1	-7.2	394	5163	0.10	2.20	0.00	0.000	4	0.166	0.053	2239	931	3022
5214	-0.90	-146.0	380.9	-6.9	396	5218	0.00	2.25	0.00	0.000	6	0.000	0.049	2239	2354	3022
5536	-0.90	-146.0	400.5	-6.1	412	5539	0.00	2.28	0.00	0.000	4	0.000	0.065	2239	3754	3022
5597	-0.95	-146.0	404.5	-6.3	413	5601	0.00	2.20	0.00	0.000	6	0.000	0.039	2240	2326	3022
5909	-0.95	-146.0	423.4	-6.1	421	5911	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2326	3023
6235	-0.95	-146.0	443.2	-6.1	429	6236	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2326	3023
6559	-0.95	-146.0	462.9	-6.0	437	6563	0.00	2.35	0.00	0.000	4	0.000	0.067	2239	3750	3023
6626	-1.01	-146.0	467.2	-6.8	438	6631	0.10	2.17	0.00	0.000	6	0.105	0.040	2204	2340	3023
6975	-0.93	-146.0	491.9	-7.1	447	6977	0.12	0.00	0.00	0.000	6	0.154	0.000	2238	2339	3023
7299	-0.93	-146.0	511.7	-6.0	455	7300	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	2339	3024
7624	-0.93	-146.0	531.2	-6.0	463	7625	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	2338	3024
7949	-0.93	-146.0	550.3	-5.9	471	7953	0.00	2.33	0.00	0.000	4	0.000	0.067	2238	3742	3024
8040	-1.00	-146.0	555.8	-6.2	473	8044	0.00	2.15	0.00	0.000	6	0.000	0.040	2239	2339	3024
8369	-1.00	-146.0	574.7	-5.7	481	8370	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2339	3023
8694	-1.00	-146.0	594.2	-6.1	489	8695	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2339	3024
9020	-1.04	-146.0	613.8	-6.1	497	9024	0.12	2.35	0.00	0.000	4	0.100	0.066	2193	3752	3023
9086	-0.96	-146.0	619.0	-7.9	498	9090	0.12	2.17	0.00	0.000	6	0.153	0.040	2226	2340	3023
9434	-0.96	-146.0	641.3	-6.3	507	9438	0.00	2.22	0.00	0.000	4	0.000	0.054	2226	929	3023
9501	-0.96	-146.0	646.0	-6.7	508	9505	0.00	2.25	0.00	0.000	6	0.000	0.049	2226	2348	3023
9849	-0.96	-146.0	667.9	-6.1	517	9852	0.00	2.30	0.00	0.000	4	0.000	0.067	2226	3754	3023
9972	-0.96	-146.0	675.9	-6.3	519	9976	0.00	2.20	0.00	0.000	6	0.000	0.039	2226	2330	3023
10309	-0.96	-146.0	697.6	-6.6	528	10310	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2330	3023
10590	end dive: TARGET_DEPTH_EXCEEDED
state	10590	begin apogee
10596	-0.34	0.0	715.4	6.1	535	10734	0.45	0.00	134.70	1.332	6	0.143	0.000	2364	2517	2420
10735	end apogee: CONTROL_FINISHED_OK
state	10735	begin climb
10738	1.08	146.0	718.0	0.0	538	10888	1.08	0.00	141.10	1.227	6	0.107	0.000	2674	2517	1824
11199	0.91	146.0	681.4	8.7	550	11204	0.15	2.40	0.00	0.000	4	0.138	0.066	2633	3929	1820
11243	0.79	146.0	677.5	8.3	551	11247	0.10	2.25	0.00	0.000	6	0.155	0.040	2608	2518	1819
11567	0.89	177.3	658.0	6.0	559	11596	0.00	0.00	27.10	1.257	6	0.000	0.000	2608	2519	1697
11891	1.00	200.2	637.9	6.2	567	11915	0.15	0.00	20.70	1.234	6	0.077	0.000	2665	2518	1603
12216	0.92	200.2	610.4	8.4	575	12221	0.12	2.25	0.00	0.000	4	0.139	0.054	2630	1108	1600
12233	0.92	200.2	609.0	8.2	575	12237	0.00	2.25	0.00	0.000	6	0.000	0.049	2629	2523	1600
12546	0.97	233.5	590.2	5.9	583	12580	0.00	2.38	28.62	1.249	4	0.000	0.054	2629	1116	1468
12597	1.14	278.8	587.0	5.5	584	12643	0.17	2.30	40.30	1.219	6	0.074	0.048	2694	2533	1283
12958	1.06	278.8	552.3	10.0	593	12963	0.12	2.30	0.00	0.000	4	0.131	0.054	2659	1115	1277
13003	1.14	278.8	548.3	8.1	594	13008	0.10	2.25	0.00	0.000	6	0.091	0.049	2698	2522	1277
13333	1.04	278.8	515.5	9.9	602	13337	0.15	2.28	0.00	0.000	4	0.133	0.055	2654	1110	1277
13365	1.12	278.8	512.6	7.7	602	13370	0.10	2.25	0.00	0.000	6	0.094	0.049	2692	2534	1277
13702	1.06	278.8	480.0	9.7	611	13706	0.10	2.28	0.00	0.000	4	0.140	0.055	2665	1109	1276
13740	1.13	278.8	476.7	9.0	611	13747	0.00	2.22	0.00	0.000	6	0.000	0.048	2664	2520	1275
14071	1.13	278.8	449.4	8.3	620	14075	0.00	2.25	0.00	0.000	4	0.000	0.054	2664	1109	1276
14110	1.19	278.8	446.0	8.6	620	14117	0.12	2.22	0.00	0.000	6	0.086	0.048	2716	2526	1275
14441	1.05	278.8	409.5	11.3	629	14446	0.17	2.28	0.00	0.000	4	0.130	0.055	2663	1109	1275
14491	1.13	278.8	405.3	7.8	630	14494	0.00	2.22	0.00	0.000	6	0.000	0.048	2662	2524	1275
14813	1.13	278.8	380.8	7.2	644	14816	0.00	2.25	0.00	0.000	4	0.000	0.054	2662	1111	1275
14863	1.21	286.4	377.4	6.8	646	14879	0.12	2.22	6.53	0.952	6	0.085	0.048	2711	2529	1252
15189	1.10	286.4	346.8	9.6	662	15194	0.15	2.28	0.00	0.000	4	0.130	0.054	2666	1110	1253
15239	1.18	291.8	342.9	6.8	664	15252	0.10	2.22	6.65	0.937	6	0.093	0.048	2706	2522	1230
15561	1.09	291.8	312.3	10.0	680	15566	0.12	2.25	0.00	0.000	4	0.135	0.054	2669	1112	1229
15612	1.16	291.8	307.9	8.0	682	15615	0.00	2.22	0.00	0.000	6	0.000	0.048	2669	2525	1229
15938	1.21	291.8	279.5	9.0	698	15942	0.12	2.25	0.00	0.000	4	0.075	0.052	2720	1114	1228
16005	1.13	291.8	272.1	11.8	701	16010	0.15	2.22	0.00	0.000	6	0.130	0.048	2677	2532	1228
16337	1.13	291.8	240.7	9.1	717	16341	0.00	2.25	0.00	0.000	4	0.000	0.053	2677	1112	1229
16404	1.19	291.8	234.8	8.8	720	16408	0.00	2.22	0.00	0.000	6	0.000	0.048	2676	2531	1229
16737	1.19	291.8	206.3	8.1	736	16740	0.00	2.25	0.00	0.000	4	0.000	0.052	2677	1109	1229
16760	1.25	291.8	204.3	8.6	737	16764	0.12	2.20	0.00	0.000	6	0.081	0.048	2726	2522	1230
17093	1.15	291.8	168.8	10.8	753	17098	0.15	2.25	0.00	0.000	4	0.132	0.053	2681	1106	1230
17108	1.15	291.8	167.0	10.4	753	17115	0.00	2.22	0.00	0.000	6	0.000	0.047	2681	2528	1230
17424	1.22	291.8	141.9	7.6	769	17428	0.00	2.25	0.00	0.000	4	0.000	0.052	2681	1109	1230
17473	1.31	291.8	138.1	8.0	771	17478	0.15	2.22	0.00	0.000	6	0.076	0.048	2743	2530	1230
17800	1.20	291.8	105.2	9.8	787	17804	0.17	2.25	0.00	0.000	4	0.130	0.052	2689	1117	1231
17827	1.25	291.8	103.0	7.2	788	17831	0.00	2.20	0.00	0.000	6	0.000	0.048	2689	2521	1231
18167	1.36	313.0	80.2	6.3	841	18192	0.15	2.33	19.25	0.961	4	0.071	0.054	2757	1119	1142
18227	1.26	313.0	74.7	9.6	851	18234	0.17	2.25	0.00	0.000	6	0.136	0.048	2708	2529	1141
18571	1.32	313.0	46.9	8.3	912	18577	0.00	2.28	0.00	0.000	4	0.000	0.054	2708	1107	1140
18629	1.44	313.0	42.4	7.4	922	18636	0.15	2.25	0.00	0.000	6	0.074	0.048	2770	2529	1139
18974	1.28	313.0	5.6	10.8	983	18981	0.20	2.28	0.00	0.000	4	0.123	0.064	2703	3930	1138
18994	1.17	313.0	3.5	11.1	986	19001	0.00	2.17	0.00	0.000	6	0.000	0.040	2703	2518	1138
19005	end climb: SURFACE_DEPTH_REACHED
state	19005	begin surface coast
19023	end surface coast: CONTROL_FINISHED_OK
state	19023	begin surface