Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 282 * 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 282 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -27190.129 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 -27190.129

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 282 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 034126,6703.436,-5701.527,38,1.5,38,-37.6 TGT_NAME TARGET_ADD4_WB

_CALLS 3 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.174,-0.142

_SM_DEPTHo 1.31 KALMAN_X -24007.3,947.2,470.9,39360.7,-2514.9

_SM_ANGLEo -51.0 KALMAN_Y -54792.6,914.1,-421.0,69944.5,773.4

GPS2 035416,6703.325,-5701.426,13,1.5,14,-37.6 MHEAD_RNG_PITCHd_Wd 268.3,25598,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 661

Post-dive calculations and measurements:

FINISH 0.8,1.025730 TCM_TEMP 16.10

SM_CCo 18618,0.00,0.000,0,0,832,389.54 XPDR_PINGS 1

SM_GC 1.58,7.25,0.00,0.00,0.064,0.000,0.000,162,2326,832,-10.40,-0.40,389.54 _24V_AH 21.2,53.626

RAFOS_CLK 985 _10V_AH 10.6,23.246

RAFOS 0,1226117047,4.083333,4.068611,60,59,56,56,54,54,165,204,119,220,145,192 DATA_FILE_SIZE 37855,985

RAFOS_FIX -22612.656250,3250.732910,071108,161652,2,76,3420.54 CAP_FILE_SIZE 150104,0

IRIDIUM_FIX 6636.54,-5702.96,020298,030334 CFSIZE 260165632,230080512

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

HUMID 1876 SOUNDSPEED 1463.9

INTERNAL_PRESSURE 8.51595 GPS 081108,090656,6703.018,-5706.866,41,1.6,41,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 257 112.27 SBE_CT 766 24 389.90

Roll_motor 152 75 245.45 SBE_O2 666 19 268.47

VBD_pump_during_apogee 473 1253 12580.66 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 85 103 185.82 nil 0 0 0.00

Iridium_during_connect 93 160 318.68 nil 0 0 0.00

Iridium_during_xfer 328 223 1555.27

Transponder_ping 0 420 2.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.25

TT8 1807 19 381.63

LPSleep 14180 2 347.24

TT8_Active 653 19 137.91

TT8_Sampling 1929 39 816.32

TT8_CF8 813 45 395.75

TT8_Kalman 33 81 28.99

Analog_circuits 1743 12 221.82

GPS_charging 0 0 0.00

Compass 1897 8 160.93

RAFOS 3600 1 57.24

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

17 -1.08 -146.0 0.0 0.0 0 197 0.00 0.00 -175.98 0.000 2 0.000 0.000 156 2333 2995

200 -1.08 -146.0 3.7 -3.3 31 215 8.65 2.40 -0.57 0.000 4 0.258 0.076 2191 3755 3018

468 -0.74 -146.0 58.1 -14.1 78 475 0.30 2.20 0.00 0.000 6 0.160 0.038 2278 2321 3021

812 -0.74 -146.0 87.3 -7.8 139 818 0.00 2.33 0.00 0.000 4 0.000 0.064 2278 3746 3022

863 -0.74 -146.0 91.4 -8.0 148 870 0.00 2.17 0.00 0.000 6 0.000 0.038 2278 2328 3022

1203 -0.74 -146.0 117.2 -7.1 179 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2328 3021

1514 -0.74 -146.0 137.7 -6.8 194 1518 0.00 2.33 0.00 0.000 4 0.000 0.064 2278 3753 3021

1576 -0.83 -146.0 142.5 -7.8 196 1583 0.10 2.17 0.00 0.000 6 0.104 0.038 2242 2331 3020

1891 -0.83 -146.0 167.5 -7.2 212 1892 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2331 3020

2201 -0.83 -146.0 191.5 -7.8 227 2202 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2331 3021

2511 -0.83 -146.0 214.2 -7.0 242 2515 0.00 2.33 0.00 0.000 4 0.000 0.064 2241 3753 3020

2595 -0.83 -146.0 220.3 -6.9 246 2599 0.00 2.17 0.00 0.000 6 0.000 0.038 2241 2333 3020

2928 -0.83 -146.0 241.8 -6.0 262 2930 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2333 3020

3237 -0.83 -146.0 259.6 -5.9 277 3241 0.00 2.33 0.00 0.000 4 0.000 0.063 2241 3754 3021

3292 -0.83 -146.0 263.1 -6.3 279 3298 0.00 2.17 0.00 0.000 6 0.000 0.037 2241 2328 3021

3608 -0.83 -146.0 282.3 -5.8 295 3609 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2328 3021

3917 -0.83 -146.0 299.3 -5.5 310 3921 0.00 2.33 0.00 0.000 4 0.000 0.063 2241 3753 3022

3995 -0.83 -146.0 303.8 -5.8 313 3999 0.00 2.15 0.00 0.000 6 0.000 0.036 2241 2340 3021

4316 -0.83 -146.0 322.1 -5.7 329 4317 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2340 3022

4625 -0.83 -146.0 340.7 -6.2 344 4629 0.00 2.30 0.00 0.000 4 0.000 0.062 2241 3746 3023

4663 -0.83 -146.0 343.1 -6.0 345 4670 0.00 2.15 0.00 0.000 6 0.000 0.036 2241 2337 3023

4979 -0.83 -146.0 361.8 -6.0 361 4981 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2337 3024

5288 -0.83 -146.0 380.1 -5.7 376 5292 0.00 2.33 0.00 0.000 4 0.000 0.062 2241 3755 3025

5360 -0.88 -146.0 384.7 -6.3 379 5364 0.00 2.15 0.00 0.000 6 0.000 0.035 2241 2340 3024

5707 -0.88 -146.0 405.8 -6.2 394 5708 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2341 3025

6031 -0.88 -146.0 425.7 -6.0 402 6036 0.00 2.28 0.00 0.000 4 0.000 0.062 2241 3744 3026

6088 -0.94 -146.0 429.2 -6.1 403 6092 0.00 2.15 0.00 0.000 6 0.000 0.036 2241 2331 3026

6407 -0.94 -146.0 447.9 -5.8 411 6411 0.00 2.15 0.00 0.000 4 0.000 0.047 2241 936 3025

6441 -0.94 -146.0 450.1 -5.9 411 6445 0.00 2.20 0.00 0.000 6 0.000 0.044 2242 2348 3026

6778 -0.94 -146.0 468.9 -5.5 420 6781 0.00 2.25 0.00 0.000 4 0.000 0.062 2241 3745 3026

6857 -1.00 -146.0 473.4 -5.3 421 6861 0.10 2.12 0.00 0.000 6 0.100 0.036 2204 2337 3026

7193 -0.92 -146.0 496.0 -6.9 430 7198 0.12 2.28 0.00 0.000 4 0.150 0.060 2238 3742 3026

7239 -0.99 -146.0 498.8 -6.7 431 7243 0.00 2.12 0.00 0.000 6 0.000 0.035 2239 2336 3026

7569 -0.99 -146.0 518.9 -6.2 439 7570 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2336 3027

7893 -0.99 -146.0 538.9 -5.9 447 7895 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 2336 3027

8219 -0.99 -146.0 558.7 -6.3 455 8223 0.00 2.30 0.00 0.000 4 0.000 0.062 2238 3753 3027

8315 -1.05 -146.0 564.9 -6.4 457 8319 0.12 2.15 0.00 0.000 6 0.093 0.035 2193 2340 3027

8638 -0.94 -146.0 588.9 -7.4 465 8643 0.15 2.30 0.00 0.000 4 0.149 0.061 2234 3753 3027

8677 -0.98 -146.0 591.5 -6.8 465 8683 0.00 2.17 0.00 0.000 6 0.000 0.037 2234 2329 3027

9009 -0.98 -146.0 611.9 -6.3 474 9013 0.00 2.30 0.00 0.000 4 0.000 0.061 2234 3741 3027

9070 -1.04 -146.0 615.9 -6.2 475 9075 0.10 2.12 0.00 0.000 6 0.107 0.037 2200 2337 3027

9383 -0.95 -146.0 637.3 -6.9 483 9388 0.12 2.30 0.00 0.000 4 0.153 0.061 2232 3745 3026

9429 -1.01 -146.0 640.2 -6.7 484 9433 0.00 2.15 0.00 0.000 6 0.000 0.037 2233 2327 3027

9759 -1.01 -146.0 660.0 -5.9 492 9760 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2327 3027

9797 end dive: TARGET_DEPTH_EXCEEDED

state 9797 begin apogee

9803 -0.34 0.0 662.4 5.9 493 9935 0.43 0.00 128.60 1.253 6 0.137 0.000 2365 2520 2421

9936 end apogee: CONTROL_FINISHED_OK

state 9936 begin climb

9939 1.08 146.0 664.8 0.0 496 10084 1.02 2.58 134.27 1.176 4 0.100 0.046 2670 1126 1825

10136 0.97 146.0 651.1 8.1 501 10141 0.12 2.40 0.00 0.000 6 0.140 0.044 2640 2524 1825

10454 0.97 146.0 628.0 7.3 509 10458 0.00 2.30 0.00 0.000 4 0.000 0.062 2640 3937 1826

10500 0.82 146.0 624.1 9.3 510 10505 0.10 2.20 0.00 0.000 6 0.151 0.038 2612 2516 1825

10829 0.85 165.4 602.5 6.4 518 10853 0.00 2.40 17.05 1.154 4 0.000 0.063 2612 3927 1746

10872 0.85 165.4 599.7 7.2 519 10875 0.00 2.20 0.00 0.000 6 0.000 0.037 2612 2513 1746

11202 0.94 182.2 578.0 6.4 527 11220 0.10 0.00 15.43 1.143 6 0.087 0.000 2653 2512 1677

11527 0.94 182.2 551.4 8.2 535 11528 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2512 1679

11851 0.94 182.2 524.8 8.1 543 11855 0.00 2.17 0.00 0.000 4 0.000 0.051 2653 1117 1678

11872 0.94 182.2 523.1 7.3 543 11877 0.00 2.22 0.00 0.000 6 0.000 0.045 2653 2524 1678

12221 0.94 182.2 495.1 7.9 552 12222 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2524 1677

12546 0.94 182.2 469.4 7.8 560 12547 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2524 1677

12871 0.88 182.2 442.9 8.0 568 12875 0.10 2.22 0.00 0.000 4 0.150 0.050 2626 1111 1675

12898 0.98 198.0 440.8 6.5 568 12919 0.10 2.22 14.18 1.099 6 0.088 0.045 2665 2535 1612

13246 0.91 198.0 410.4 9.1 577 13248 0.12 0.00 0.00 0.000 6 0.130 0.000 2628 2535 1613

13550 0.96 198.0 386.2 7.7 588 13554 0.00 2.22 0.00 0.000 4 0.000 0.049 2628 1119 1612

13596 1.06 198.0 382.8 7.7 590 13600 0.12 2.20 0.00 0.000 6 0.077 0.044 2679 2530 1612

13928 0.95 198.0 351.0 9.4 606 13933 0.15 2.25 0.00 0.000 4 0.123 0.060 2634 3938 1612

13951 0.90 198.0 349.0 9.1 607 13955 0.00 2.17 0.00 0.000 6 0.000 0.037 2633 2510 1612

14284 0.95 202.6 326.0 6.9 623 14293 0.00 2.17 4.85 0.778 4 0.000 0.049 2633 1120 1594

14334 1.05 207.8 322.5 6.8 625 14345 0.12 2.20 6.32 0.857 6 0.079 0.044 2687 2533 1573

14656 0.94 207.8 293.4 8.8 640 14661 0.17 2.22 0.00 0.000 4 0.123 0.059 2634 3925 1575

14694 0.94 207.8 290.1 7.7 641 14701 0.00 2.15 0.00 0.000 6 0.000 0.037 2634 2515 1575

15010 1.02 215.3 269.6 6.8 657 15025 0.10 2.22 8.00 0.886 4 0.087 0.049 2679 1115 1542

15076 1.02 215.3 264.0 8.7 660 15081 0.10 2.20 0.00 0.000 6 0.140 0.044 2652 2530 1543

15408 1.02 217.4 239.4 7.0 676 15417 0.00 2.28 3.67 0.609 4 0.000 0.048 2652 1112 1534

15441 1.09 217.4 237.0 7.2 677 15445 0.00 2.20 0.00 0.000 6 0.000 0.044 2652 2523 1534

15762 1.09 217.4 214.2 7.3 693 15766 0.00 2.25 0.00 0.000 4 0.000 0.061 2652 3936 1536

15778 1.09 217.4 212.7 7.4 693 15784 0.00 2.17 0.00 0.000 6 0.000 0.036 2652 2505 1536

16094 1.17 243.0 190.7 6.1 709 16122 0.12 2.20 22.08 0.958 4 0.078 0.049 2707 1110 1428

16152 1.11 243.0 185.9 9.0 711 16159 0.12 2.25 0.00 0.000 6 0.133 0.044 2671 2535 1429

16467 1.11 243.0 162.0 7.2 727 16470 0.00 2.25 0.00 0.000 4 0.000 0.049 2671 1109 1430

16501 1.18 243.0 159.7 7.1 728 16505 0.00 2.20 0.00 0.000 6 0.000 0.044 2670 2518 1431

16822 1.18 243.0 138.0 7.3 744 16824 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2519 1430

17132 1.23 243.0 114.9 8.0 759 17136 0.12 2.20 0.00 0.000 4 0.074 0.049 2723 1123 1430

17165 1.16 243.0 111.6 10.0 760 17169 0.12 2.20 0.00 0.000 6 0.134 0.045 2687 2530 1429

17495 1.16 243.0 83.4 8.1 802 17502 0.00 2.25 0.00 0.000 4 0.000 0.063 2687 3930 1429

17525 1.16 243.0 80.9 8.3 807 17531 0.00 2.17 0.00 0.000 6 0.000 0.038 2688 2510 1429

17869 1.16 243.0 55.8 7.7 868 17875 0.00 2.17 0.00 0.000 4 0.000 0.051 2688 1116 1428

17933 1.35 297.9 51.8 5.2 879 17986 0.15 2.20 44.75 0.938 6 0.075 0.045 2748 2522 1204

18326 1.39 331.4 17.3 5.9 948 18362 0.00 2.33 27.40 0.902 4 0.000 0.052 2748 1124 1067

18369 1.37 386.4 15.0 5.1 955 18422 0.00 2.25 46.90 0.871 6 0.000 0.044 2748 2533 843

18510 end climb: SURFACE_DEPTH_REACHED

state 18510 begin surface coast

18541 end surface coast: CONTROL_FINISHED_OK

state 18541 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	282	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-27190.129	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	034126,6703.436,-5701.527,38,1.5,38,-37.6	TGT_NAME	TARGET_ADD4_WB
_CALLS	3	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.174,-0.142
_SM_DEPTHo	1.31	KALMAN_X	-24007.3,947.2,470.9,39360.7,-2514.9
_SM_ANGLEo	-51.0	KALMAN_Y	-54792.6,914.1,-421.0,69944.5,773.4
GPS2	035416,6703.325,-5701.426,13,1.5,14,-37.6	MHEAD_RNG_PITCHd_Wd	268.3,25598,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	661

FINISH	0.8,1.025730	TCM_TEMP	16.10
SM_CCo	18618,0.00,0.000,0,0,832,389.54	XPDR_PINGS	1
SM_GC	1.58,7.25,0.00,0.00,0.064,0.000,0.000,162,2326,832,-10.40,-0.40,389.54	_24V_AH	21.2,53.626
RAFOS_CLK	985	_10V_AH	10.6,23.246
RAFOS	0,1226117047,4.083333,4.068611,60,59,56,56,54,54,165,204,119,220,145,192	DATA_FILE_SIZE	37855,985
RAFOS_FIX	-22612.656250,3250.732910,071108,161652,2,76,3420.54	CAP_FILE_SIZE	150104,0
IRIDIUM_FIX	6636.54,-5702.96,020298,030334	CFSIZE	260165632,230080512
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1876	SOUNDSPEED	1463.9
INTERNAL_PRESSURE	8.51595	GPS	081108,090656,6703.018,-5706.866,41,1.6,41,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	257	112.27	SBE_CT	766	24	389.90
Roll_motor	152	75	245.45	SBE_O2	666	19	268.47
VBD_pump_during_apogee	473	1253	12580.66	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	85	103	185.82	nil	0	0	0.00
Iridium_during_connect	93	160	318.68	nil	0	0	0.00
Iridium_during_xfer	328	223	1555.27
Transponder_ping	0	420	2.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.25
TT8	1807	19	381.63
LPSleep	14180	2	347.24
TT8_Active	653	19	137.91
TT8_Sampling	1929	39	816.32
TT8_CF8	813	45	395.75
TT8_Kalman	33	81	28.99
Analog_circuits	1743	12	221.82
GPS_charging	0	0	0.00
Compass	1897	8	160.93
RAFOS	3600	1	57.24
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
17	-1.08	-146.0	0.0	0.0	0	197	0.00	0.00	-175.98	0.000	2	0.000	0.000	156	2333	2995
200	-1.08	-146.0	3.7	-3.3	31	215	8.65	2.40	-0.57	0.000	4	0.258	0.076	2191	3755	3018
468	-0.74	-146.0	58.1	-14.1	78	475	0.30	2.20	0.00	0.000	6	0.160	0.038	2278	2321	3021
812	-0.74	-146.0	87.3	-7.8	139	818	0.00	2.33	0.00	0.000	4	0.000	0.064	2278	3746	3022
863	-0.74	-146.0	91.4	-8.0	148	870	0.00	2.17	0.00	0.000	6	0.000	0.038	2278	2328	3022
1203	-0.74	-146.0	117.2	-7.1	179	1205	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	2328	3021
1514	-0.74	-146.0	137.7	-6.8	194	1518	0.00	2.33	0.00	0.000	4	0.000	0.064	2278	3753	3021
1576	-0.83	-146.0	142.5	-7.8	196	1583	0.10	2.17	0.00	0.000	6	0.104	0.038	2242	2331	3020
1891	-0.83	-146.0	167.5	-7.2	212	1892	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2331	3020
2201	-0.83	-146.0	191.5	-7.8	227	2202	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2331	3021
2511	-0.83	-146.0	214.2	-7.0	242	2515	0.00	2.33	0.00	0.000	4	0.000	0.064	2241	3753	3020
2595	-0.83	-146.0	220.3	-6.9	246	2599	0.00	2.17	0.00	0.000	6	0.000	0.038	2241	2333	3020
2928	-0.83	-146.0	241.8	-6.0	262	2930	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2333	3020
3237	-0.83	-146.0	259.6	-5.9	277	3241	0.00	2.33	0.00	0.000	4	0.000	0.063	2241	3754	3021
3292	-0.83	-146.0	263.1	-6.3	279	3298	0.00	2.17	0.00	0.000	6	0.000	0.037	2241	2328	3021
3608	-0.83	-146.0	282.3	-5.8	295	3609	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2328	3021
3917	-0.83	-146.0	299.3	-5.5	310	3921	0.00	2.33	0.00	0.000	4	0.000	0.063	2241	3753	3022
3995	-0.83	-146.0	303.8	-5.8	313	3999	0.00	2.15	0.00	0.000	6	0.000	0.036	2241	2340	3021
4316	-0.83	-146.0	322.1	-5.7	329	4317	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2340	3022
4625	-0.83	-146.0	340.7	-6.2	344	4629	0.00	2.30	0.00	0.000	4	0.000	0.062	2241	3746	3023
4663	-0.83	-146.0	343.1	-6.0	345	4670	0.00	2.15	0.00	0.000	6	0.000	0.036	2241	2337	3023
4979	-0.83	-146.0	361.8	-6.0	361	4981	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2337	3024
5288	-0.83	-146.0	380.1	-5.7	376	5292	0.00	2.33	0.00	0.000	4	0.000	0.062	2241	3755	3025
5360	-0.88	-146.0	384.7	-6.3	379	5364	0.00	2.15	0.00	0.000	6	0.000	0.035	2241	2340	3024
5707	-0.88	-146.0	405.8	-6.2	394	5708	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2341	3025
6031	-0.88	-146.0	425.7	-6.0	402	6036	0.00	2.28	0.00	0.000	4	0.000	0.062	2241	3744	3026
6088	-0.94	-146.0	429.2	-6.1	403	6092	0.00	2.15	0.00	0.000	6	0.000	0.036	2241	2331	3026
6407	-0.94	-146.0	447.9	-5.8	411	6411	0.00	2.15	0.00	0.000	4	0.000	0.047	2241	936	3025
6441	-0.94	-146.0	450.1	-5.9	411	6445	0.00	2.20	0.00	0.000	6	0.000	0.044	2242	2348	3026
6778	-0.94	-146.0	468.9	-5.5	420	6781	0.00	2.25	0.00	0.000	4	0.000	0.062	2241	3745	3026
6857	-1.00	-146.0	473.4	-5.3	421	6861	0.10	2.12	0.00	0.000	6	0.100	0.036	2204	2337	3026
7193	-0.92	-146.0	496.0	-6.9	430	7198	0.12	2.28	0.00	0.000	4	0.150	0.060	2238	3742	3026
7239	-0.99	-146.0	498.8	-6.7	431	7243	0.00	2.12	0.00	0.000	6	0.000	0.035	2239	2336	3026
7569	-0.99	-146.0	518.9	-6.2	439	7570	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2336	3027
7893	-0.99	-146.0	538.9	-5.9	447	7895	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	2336	3027
8219	-0.99	-146.0	558.7	-6.3	455	8223	0.00	2.30	0.00	0.000	4	0.000	0.062	2238	3753	3027
8315	-1.05	-146.0	564.9	-6.4	457	8319	0.12	2.15	0.00	0.000	6	0.093	0.035	2193	2340	3027
8638	-0.94	-146.0	588.9	-7.4	465	8643	0.15	2.30	0.00	0.000	4	0.149	0.061	2234	3753	3027
8677	-0.98	-146.0	591.5	-6.8	465	8683	0.00	2.17	0.00	0.000	6	0.000	0.037	2234	2329	3027
9009	-0.98	-146.0	611.9	-6.3	474	9013	0.00	2.30	0.00	0.000	4	0.000	0.061	2234	3741	3027
9070	-1.04	-146.0	615.9	-6.2	475	9075	0.10	2.12	0.00	0.000	6	0.107	0.037	2200	2337	3027
9383	-0.95	-146.0	637.3	-6.9	483	9388	0.12	2.30	0.00	0.000	4	0.153	0.061	2232	3745	3026
9429	-1.01	-146.0	640.2	-6.7	484	9433	0.00	2.15	0.00	0.000	6	0.000	0.037	2233	2327	3027
9759	-1.01	-146.0	660.0	-5.9	492	9760	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2327	3027
9797	end dive: TARGET_DEPTH_EXCEEDED
state	9797	begin apogee
9803	-0.34	0.0	662.4	5.9	493	9935	0.43	0.00	128.60	1.253	6	0.137	0.000	2365	2520	2421
9936	end apogee: CONTROL_FINISHED_OK
state	9936	begin climb
9939	1.08	146.0	664.8	0.0	496	10084	1.02	2.58	134.27	1.176	4	0.100	0.046	2670	1126	1825
10136	0.97	146.0	651.1	8.1	501	10141	0.12	2.40	0.00	0.000	6	0.140	0.044	2640	2524	1825
10454	0.97	146.0	628.0	7.3	509	10458	0.00	2.30	0.00	0.000	4	0.000	0.062	2640	3937	1826
10500	0.82	146.0	624.1	9.3	510	10505	0.10	2.20	0.00	0.000	6	0.151	0.038	2612	2516	1825
10829	0.85	165.4	602.5	6.4	518	10853	0.00	2.40	17.05	1.154	4	0.000	0.063	2612	3927	1746
10872	0.85	165.4	599.7	7.2	519	10875	0.00	2.20	0.00	0.000	6	0.000	0.037	2612	2513	1746
11202	0.94	182.2	578.0	6.4	527	11220	0.10	0.00	15.43	1.143	6	0.087	0.000	2653	2512	1677
11527	0.94	182.2	551.4	8.2	535	11528	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2512	1679
11851	0.94	182.2	524.8	8.1	543	11855	0.00	2.17	0.00	0.000	4	0.000	0.051	2653	1117	1678
11872	0.94	182.2	523.1	7.3	543	11877	0.00	2.22	0.00	0.000	6	0.000	0.045	2653	2524	1678
12221	0.94	182.2	495.1	7.9	552	12222	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2524	1677
12546	0.94	182.2	469.4	7.8	560	12547	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2524	1677
12871	0.88	182.2	442.9	8.0	568	12875	0.10	2.22	0.00	0.000	4	0.150	0.050	2626	1111	1675
12898	0.98	198.0	440.8	6.5	568	12919	0.10	2.22	14.18	1.099	6	0.088	0.045	2665	2535	1612
13246	0.91	198.0	410.4	9.1	577	13248	0.12	0.00	0.00	0.000	6	0.130	0.000	2628	2535	1613
13550	0.96	198.0	386.2	7.7	588	13554	0.00	2.22	0.00	0.000	4	0.000	0.049	2628	1119	1612
13596	1.06	198.0	382.8	7.7	590	13600	0.12	2.20	0.00	0.000	6	0.077	0.044	2679	2530	1612
13928	0.95	198.0	351.0	9.4	606	13933	0.15	2.25	0.00	0.000	4	0.123	0.060	2634	3938	1612
13951	0.90	198.0	349.0	9.1	607	13955	0.00	2.17	0.00	0.000	6	0.000	0.037	2633	2510	1612
14284	0.95	202.6	326.0	6.9	623	14293	0.00	2.17	4.85	0.778	4	0.000	0.049	2633	1120	1594
14334	1.05	207.8	322.5	6.8	625	14345	0.12	2.20	6.32	0.857	6	0.079	0.044	2687	2533	1573
14656	0.94	207.8	293.4	8.8	640	14661	0.17	2.22	0.00	0.000	4	0.123	0.059	2634	3925	1575
14694	0.94	207.8	290.1	7.7	641	14701	0.00	2.15	0.00	0.000	6	0.000	0.037	2634	2515	1575
15010	1.02	215.3	269.6	6.8	657	15025	0.10	2.22	8.00	0.886	4	0.087	0.049	2679	1115	1542
15076	1.02	215.3	264.0	8.7	660	15081	0.10	2.20	0.00	0.000	6	0.140	0.044	2652	2530	1543
15408	1.02	217.4	239.4	7.0	676	15417	0.00	2.28	3.67	0.609	4	0.000	0.048	2652	1112	1534
15441	1.09	217.4	237.0	7.2	677	15445	0.00	2.20	0.00	0.000	6	0.000	0.044	2652	2523	1534
15762	1.09	217.4	214.2	7.3	693	15766	0.00	2.25	0.00	0.000	4	0.000	0.061	2652	3936	1536
15778	1.09	217.4	212.7	7.4	693	15784	0.00	2.17	0.00	0.000	6	0.000	0.036	2652	2505	1536
16094	1.17	243.0	190.7	6.1	709	16122	0.12	2.20	22.08	0.958	4	0.078	0.049	2707	1110	1428
16152	1.11	243.0	185.9	9.0	711	16159	0.12	2.25	0.00	0.000	6	0.133	0.044	2671	2535	1429
16467	1.11	243.0	162.0	7.2	727	16470	0.00	2.25	0.00	0.000	4	0.000	0.049	2671	1109	1430
16501	1.18	243.0	159.7	7.1	728	16505	0.00	2.20	0.00	0.000	6	0.000	0.044	2670	2518	1431
16822	1.18	243.0	138.0	7.3	744	16824	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2519	1430
17132	1.23	243.0	114.9	8.0	759	17136	0.12	2.20	0.00	0.000	4	0.074	0.049	2723	1123	1430
17165	1.16	243.0	111.6	10.0	760	17169	0.12	2.20	0.00	0.000	6	0.134	0.045	2687	2530	1429
17495	1.16	243.0	83.4	8.1	802	17502	0.00	2.25	0.00	0.000	4	0.000	0.063	2687	3930	1429
17525	1.16	243.0	80.9	8.3	807	17531	0.00	2.17	0.00	0.000	6	0.000	0.038	2688	2510	1429
17869	1.16	243.0	55.8	7.7	868	17875	0.00	2.17	0.00	0.000	4	0.000	0.051	2688	1116	1428
17933	1.35	297.9	51.8	5.2	879	17986	0.15	2.20	44.75	0.938	6	0.075	0.045	2748	2522	1204
18326	1.39	331.4	17.3	5.9	948	18362	0.00	2.33	27.40	0.902	4	0.000	0.052	2748	1124	1067
18369	1.37	386.4	15.0	5.1	955	18422	0.00	2.25	46.90	0.871	6	0.000	0.044	2748	2533	843
18510	end climb: SURFACE_DEPTH_REACHED
state	18510	begin surface coast
18541	end surface coast: CONTROL_FINISHED_OK
state	18541	begin surface