Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 325 * 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 325 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 47 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -29102.102 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 -29102.102

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 47 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 325 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 063907,6705.171,-5706.303,32,1.7,32,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 2 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.223,-0.027

_SM_DEPTHo 1.67 KALMAN_X -49799.0,631.2,-91.4,62442.5,-3444.5

_SM_ANGLEo -60.7 KALMAN_Y -26914.5,-237.5,616.6,45699.1,317.3

GPS2 064502,6705.222,-5706.389,12,1.0,12,-37.7 MHEAD_RNG_PITCHd_Wd 134.6,13902,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 627

Post-dive calculations and measurements:

FINISH 0.9,1.013341 TCM_TEMP 16.30

SM_CCo 17105,0.00,0.000,0,0,1158,309.57 XPDR_PINGS 3

SM_GC 1.82,7.07,0.00,0.00,0.065,0.000,0.000,160,2330,1158,-10.37,-0.28,309.57 _24V_AH 20.9,61.024

RAFOS_CLK 878 _10V_AH 10.6,26.820

RAFOS 0,1227081861,8.083333,8.072500,63,56,55,51,50,47,204,160,122,186,217,134 DATA_FILE_SIZE 34750,931

RAFOS_FIX 7544.612793,-8455.451172,171108,161633,3,77,94.26 CAP_FILE_SIZE 144793,0

IRIDIUM_FIX 6636.54,-5707.59,130298,010113 CFSIZE 260165632,226779136

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

HUMID 1870 SOUNDSPEED 1464.8

INTERNAL_PRESSURE 8.55502 GPS 191108,113226,6705.045,-5705.780,37,1.0,37,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 260 119.28 SBE_CT 721 24 362.08

Roll_motor 165 67 233.68 SBE_O2 630 19 250.40

VBD_pump_during_apogee 411 1199 10325.02 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 29 103 64.21 nil 0 0 0.00

Iridium_during_connect 33 160 113.34 nil 0 0 0.00

Iridium_during_xfer 157 223 733.92

Transponder_ping 0 420 6.58

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.44

TT8 1760 19 371.77

LPSleep 12775 2 312.82

TT8_Active 565 19 119.33

TT8_Sampling 1826 39 772.83

TT8_CF8 529 45 257.64

TT8_Kalman 33 81 28.99

Analog_circuits 1603 12 204.00

GPS_charging 0 0 0.00

Compass 1799 8 152.58

RAFOS 1800 1 28.62

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

16 -1.08 -146.0 0.0 0.0 0 138 0.00 0.00 -119.62 0.000 2 0.000 0.000 162 2323 2998

142 -1.08 -146.0 3.1 -2.2 21 156 8.75 2.25 -0.62 0.000 4 0.260 0.067 2198 949 3019

382 -0.63 -146.0 46.6 -16.3 63 389 0.35 2.20 0.00 0.000 6 0.169 0.048 2298 2345 3021

727 -0.63 -146.0 78.3 -8.2 124 733 0.00 2.28 0.00 0.000 4 0.000 0.064 2298 3748 3020

739 -0.63 -146.0 79.4 -8.3 126 746 0.00 2.15 0.00 0.000 6 0.000 0.037 2299 2340 3021

1093 -0.70 -146.0 106.7 -7.6 178 1094 0.00 0.00 0.00 0.000 6 0.000 0.000 2298 2340 3020

1403 -0.80 -146.0 129.4 -6.7 193 1407 0.15 2.30 0.00 0.000 4 0.084 0.063 2241 3744 3019

1415 -0.87 -146.0 130.3 -6.6 193 1421 0.00 2.17 0.00 0.000 6 0.000 0.038 2241 2325 3019

1730 -0.80 -146.0 157.7 -8.7 209 1735 0.10 2.33 0.00 0.000 4 0.179 0.063 2262 3746 3019

1741 -0.74 -146.0 158.5 -8.1 209 1745 0.00 2.17 0.00 0.000 6 0.000 0.038 2262 2328 3019

2063 -0.74 -146.0 180.9 -6.9 225 2064 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2328 3018

2371 -0.74 -146.0 199.3 -5.9 240 2375 0.00 2.33 0.00 0.000 4 0.000 0.062 2262 3752 3018

2395 -0.79 -146.0 200.5 -5.3 241 2399 0.00 2.17 0.00 0.000 6 0.000 0.037 2262 2331 3018

2728 -0.83 -146.0 218.2 -4.9 257 2732 0.00 2.33 0.00 0.000 4 0.000 0.063 2261 3754 3018

2745 -0.89 -146.0 219.1 -4.9 257 2751 0.00 2.17 0.00 0.000 6 0.000 0.037 2262 2331 3018

3061 -0.94 -146.0 236.0 -5.7 273 3066 0.12 2.30 0.00 0.000 4 0.106 0.061 2216 3746 3019

3072 -0.94 -146.0 236.6 -5.7 273 3078 0.00 2.15 0.00 0.000 6 0.000 0.036 2216 2340 3019

3387 -0.84 -146.0 259.6 -7.3 289 3392 0.15 2.30 0.00 0.000 4 0.153 0.061 2257 3745 3020

3399 -0.78 -146.0 260.3 -7.1 289 3406 0.00 2.15 0.00 0.000 6 0.000 0.036 2258 2337 3020

3716 -0.86 -146.0 279.7 -6.1 305 3720 0.00 2.30 0.00 0.000 4 0.000 0.061 2258 3753 3020

3732 -0.93 -146.0 280.7 -6.1 305 3739 0.10 2.17 0.00 0.000 6 0.094 0.036 2220 2327 3020

4048 -0.87 -146.0 302.2 -6.6 321 4053 0.10 2.33 0.00 0.000 4 0.159 0.061 2245 3746 3020

4059 -0.87 -146.0 302.8 -6.5 321 4066 0.00 2.15 0.00 0.000 6 0.000 0.035 2245 2337 3020

4375 -0.87 -146.0 320.7 -5.6 337 4379 0.00 2.30 0.00 0.000 4 0.000 0.061 2245 3749 3021

4386 -0.87 -146.0 321.5 -5.6 337 4390 0.00 2.15 0.00 0.000 6 0.000 0.035 2245 2338 3021

4710 -0.87 -146.0 342.0 -6.6 353 4714 0.00 2.30 0.00 0.000 4 0.000 0.059 2245 3754 3021

4739 -0.93 -146.0 344.2 -6.4 354 4743 0.00 2.15 0.00 0.000 6 0.000 0.035 2245 2336 3021

5065 -0.93 -146.0 365.3 -6.4 370 5070 0.00 2.28 0.00 0.000 4 0.000 0.060 2245 3748 3021

5094 -0.99 -146.0 367.2 -6.8 371 5098 0.10 2.15 0.00 0.000 6 0.103 0.035 2208 2334 3021

5420 -0.91 -146.0 390.9 -7.1 387 5425 0.12 2.33 0.00 0.000 4 0.149 0.061 2242 3755 3022

5471 -0.98 -146.0 393.9 -5.7 389 5475 0.00 2.17 0.00 0.000 6 0.000 0.035 2242 2328 3022

5795 -0.98 -146.0 411.7 -5.6 400 5799 0.00 2.33 0.00 0.000 4 0.000 0.060 2242 3753 3023

5812 -1.03 -146.0 412.7 -5.5 400 5817 0.12 2.15 0.00 0.000 6 0.090 0.035 2194 2340 3023

6126 -0.91 -146.0 435.6 -7.5 408 6131 0.15 2.30 0.00 0.000 4 0.146 0.059 2235 3755 3024

6187 -0.91 -146.0 439.5 -6.4 409 6191 0.00 2.15 0.00 0.000 6 0.000 0.035 2235 2337 3024

6535 -0.91 -146.0 461.3 -6.3 418 6538 0.00 2.30 0.00 0.000 4 0.000 0.060 2236 3749 3024

6581 -0.96 -146.0 464.3 -6.7 419 6585 0.00 2.15 0.00 0.000 6 0.000 0.035 2235 2337 3024

6911 -0.96 -146.0 484.0 -5.9 427 6915 0.00 2.30 0.00 0.000 4 0.000 0.060 2235 3747 3024

6939 -1.01 -146.0 485.7 -6.9 427 6943 0.00 2.15 0.00 0.000 6 0.000 0.035 2235 2334 3024

7283 -1.01 -146.0 504.6 -5.4 436 7286 0.00 2.30 0.00 0.000 4 0.000 0.059 2236 3745 3025

7316 -1.01 -146.0 506.5 -6.0 436 7319 0.00 2.15 0.00 0.000 6 0.000 0.035 2235 2334 3025

7653 -1.01 -146.0 525.0 -5.6 445 7657 0.00 2.33 0.00 0.000 4 0.000 0.060 2235 3757 3025

7692 -1.06 -146.0 527.5 -6.6 445 7699 0.12 2.17 0.00 0.000 6 0.097 0.035 2190 2330 3025

8024 -0.94 -146.0 551.1 -7.0 454 8029 0.15 2.33 0.00 0.000 4 0.146 0.060 2231 3749 3025

8035 -0.85 -146.0 551.9 -6.9 454 8039 0.00 2.15 0.00 0.000 6 0.000 0.035 2231 2337 3025

8349 -0.85 -146.0 571.7 -6.4 462 8352 0.00 2.30 0.00 0.000 4 0.000 0.060 2231 3748 3025

8372 -0.90 -146.0 573.3 -6.8 462 8375 0.00 2.15 0.00 0.000 6 0.000 0.035 2231 2335 3025

8720 -0.90 -146.0 595.4 -6.2 471 8724 0.00 2.30 0.00 0.000 4 0.000 0.060 2231 3754 3025

8730 -0.90 -146.0 596.2 -6.2 471 8734 0.00 2.15 0.00 0.000 6 0.000 0.035 2231 2340 3025

9049 -0.90 -146.0 616.3 -6.2 479 9053 0.00 2.30 0.00 0.000 4 0.000 0.061 2231 3753 3025

9083 -0.95 -146.0 618.6 -6.7 479 9087 0.00 2.15 0.00 0.000 6 0.000 0.035 2231 2340 3025

9213 end dive: TARGET_DEPTH_EXCEEDED

state 9214 begin apogee

9220 -0.34 0.0 627.4 6.6 483 9353 0.43 0.00 130.35 1.200 6 0.133 0.000 2365 2517 2421

9354 end apogee: CONTROL_FINISHED_OK

state 9354 begin climb

9357 1.08 146.0 630.7 0.0 486 9508 1.02 2.60 137.27 1.113 4 0.100 0.046 2674 1124 1825

9560 0.96 146.0 617.3 9.2 491 9565 0.12 2.42 0.00 0.000 6 0.138 0.044 2643 2532 1825

9909 0.90 146.0 591.2 7.7 500 9913 0.00 2.22 0.00 0.000 4 0.000 0.061 2643 3927 1825

10022 0.74 146.0 580.6 9.6 502 10027 0.17 2.15 0.00 0.000 6 0.142 0.036 2594 2517 1826

10370 0.90 179.6 559.7 5.9 511 10405 0.12 2.28 28.77 1.130 4 0.077 0.048 2650 1120 1687

10450 0.90 179.6 553.6 7.8 512 10457 0.00 2.22 0.00 0.000 6 0.000 0.044 2650 2525 1688

10782 0.84 179.6 526.2 8.2 521 10786 0.12 2.25 0.00 0.000 4 0.136 0.061 2613 3928 1688

10843 0.88 205.9 521.7 6.1 522 10871 0.00 2.15 22.40 1.103 6 0.000 0.036 2613 2505 1580

11195 1.02 234.5 500.7 6.0 531 11225 0.15 2.22 24.52 1.098 4 0.072 0.048 2678 1115 1464

11282 0.97 234.5 493.3 8.8 533 11287 0.12 2.22 0.00 0.000 6 0.132 0.043 2642 2532 1466

11612 0.97 234.5 469.7 7.2 541 11613 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2532 1466

11936 0.97 234.5 446.1 7.2 549 11940 0.00 2.20 0.00 0.000 4 0.000 0.047 2642 1120 1466

11998 1.06 244.0 442.2 6.7 550 12013 0.10 2.17 9.32 0.969 6 0.084 0.043 2684 2523 1425

12351 0.98 244.0 409.6 9.6 559 12353 0.15 0.00 0.00 0.000 6 0.125 0.000 2639 2523 1428

12657 1.07 263.2 388.3 6.4 570 12681 0.12 2.22 17.30 1.020 4 0.078 0.047 2693 1122 1347

12733 1.03 263.2 382.0 9.3 573 12738 0.15 2.17 0.00 0.000 6 0.131 0.044 2649 2518 1348

13059 1.07 263.2 358.3 7.4 589 13063 0.00 2.20 0.00 0.000 4 0.000 0.048 2650 1110 1348

13105 1.17 263.2 354.9 7.4 591 13110 0.15 2.20 0.00 0.000 6 0.071 0.043 2713 2530 1348

13438 1.02 263.2 318.3 11.4 607 13440 0.20 0.00 0.00 0.000 6 0.126 0.000 2651 2530 1348

13746 1.07 263.2 292.7 8.6 622 13750 0.00 2.20 0.00 0.000 4 0.000 0.047 2651 1122 1349

13848 1.17 263.2 283.9 8.8 626 13852 0.15 2.17 0.00 0.000 6 0.070 0.043 2716 2524 1348

14169 1.02 263.2 246.7 11.1 642 14171 0.20 0.00 0.00 0.000 6 0.120 0.000 2654 2524 1349

14479 1.09 263.2 223.4 7.3 657 14482 0.00 2.20 0.00 0.000 4 0.000 0.048 2654 1119 1349

14540 1.20 263.2 218.9 7.3 659 14547 0.15 2.17 0.00 0.000 6 0.071 0.042 2718 2521 1349

14856 1.07 263.2 185.7 10.4 675 14858 0.17 0.00 0.00 0.000 6 0.120 0.000 2664 2522 1349

15166 1.14 267.9 162.6 6.9 690 15176 0.00 2.22 5.90 0.742 4 0.000 0.047 2664 1115 1327

15234 1.28 294.8 158.1 6.1 693 15265 0.17 2.20 22.85 0.903 6 0.065 0.042 2734 2533 1218

15583 1.15 294.8 120.0 11.4 710 15585 0.17 0.00 0.00 0.000 6 0.123 0.000 2680 2534 1219

15894 1.26 309.7 96.0 6.5 731 15914 0.10 2.30 13.12 0.841 4 0.081 0.048 2730 1119 1157

15988 1.26 309.7 87.5 9.6 747 15994 0.00 2.20 0.00 0.000 6 0.000 0.043 2730 2529 1159

16332 1.26 309.7 56.1 7.3 808 16338 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2529 1159

16675 1.26 309.7 27.2 7.6 869 16681 0.00 2.20 0.00 0.000 4 0.000 0.048 2730 1123 1160

16773 1.31 309.7 19.6 7.7 886 16779 0.00 2.17 0.00 0.000 6 0.000 0.044 2730 2523 1160

16997 end climb: SURFACE_DEPTH_REACHED

state 16997 begin surface coast

17026 end surface coast: CONTROL_FINISHED_OK

state 17026 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	325	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	47	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-29102.102	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	063907,6705.171,-5706.303,32,1.7,32,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	2	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.223,-0.027
_SM_DEPTHo	1.67	KALMAN_X	-49799.0,631.2,-91.4,62442.5,-3444.5
_SM_ANGLEo	-60.7	KALMAN_Y	-26914.5,-237.5,616.6,45699.1,317.3
GPS2	064502,6705.222,-5706.389,12,1.0,12,-37.7	MHEAD_RNG_PITCHd_Wd	134.6,13902,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	627

FINISH	0.9,1.013341	TCM_TEMP	16.30
SM_CCo	17105,0.00,0.000,0,0,1158,309.57	XPDR_PINGS	3
SM_GC	1.82,7.07,0.00,0.00,0.065,0.000,0.000,160,2330,1158,-10.37,-0.28,309.57	_24V_AH	20.9,61.024
RAFOS_CLK	878	_10V_AH	10.6,26.820
RAFOS	0,1227081861,8.083333,8.072500,63,56,55,51,50,47,204,160,122,186,217,134	DATA_FILE_SIZE	34750,931
RAFOS_FIX	7544.612793,-8455.451172,171108,161633,3,77,94.26	CAP_FILE_SIZE	144793,0
IRIDIUM_FIX	6636.54,-5707.59,130298,010113	CFSIZE	260165632,226779136
TT8_MAMPS	0.027612	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1870	SOUNDSPEED	1464.8
INTERNAL_PRESSURE	8.55502	GPS	191108,113226,6705.045,-5705.780,37,1.0,37,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	260	119.28	SBE_CT	721	24	362.08
Roll_motor	165	67	233.68	SBE_O2	630	19	250.40
VBD_pump_during_apogee	411	1199	10325.02	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	29	103	64.21	nil	0	0	0.00
Iridium_during_connect	33	160	113.34	nil	0	0	0.00
Iridium_during_xfer	157	223	733.92
Transponder_ping	0	420	6.58
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.44
TT8	1760	19	371.77
LPSleep	12775	2	312.82
TT8_Active	565	19	119.33
TT8_Sampling	1826	39	772.83
TT8_CF8	529	45	257.64
TT8_Kalman	33	81	28.99
Analog_circuits	1603	12	204.00
GPS_charging	0	0	0.00
Compass	1799	8	152.58
RAFOS	1800	1	28.62
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
16	-1.08	-146.0	0.0	0.0	0	138	0.00	0.00	-119.62	0.000	2	0.000	0.000	162	2323	2998
142	-1.08	-146.0	3.1	-2.2	21	156	8.75	2.25	-0.62	0.000	4	0.260	0.067	2198	949	3019
382	-0.63	-146.0	46.6	-16.3	63	389	0.35	2.20	0.00	0.000	6	0.169	0.048	2298	2345	3021
727	-0.63	-146.0	78.3	-8.2	124	733	0.00	2.28	0.00	0.000	4	0.000	0.064	2298	3748	3020
739	-0.63	-146.0	79.4	-8.3	126	746	0.00	2.15	0.00	0.000	6	0.000	0.037	2299	2340	3021
1093	-0.70	-146.0	106.7	-7.6	178	1094	0.00	0.00	0.00	0.000	6	0.000	0.000	2298	2340	3020
1403	-0.80	-146.0	129.4	-6.7	193	1407	0.15	2.30	0.00	0.000	4	0.084	0.063	2241	3744	3019
1415	-0.87	-146.0	130.3	-6.6	193	1421	0.00	2.17	0.00	0.000	6	0.000	0.038	2241	2325	3019
1730	-0.80	-146.0	157.7	-8.7	209	1735	0.10	2.33	0.00	0.000	4	0.179	0.063	2262	3746	3019
1741	-0.74	-146.0	158.5	-8.1	209	1745	0.00	2.17	0.00	0.000	6	0.000	0.038	2262	2328	3019
2063	-0.74	-146.0	180.9	-6.9	225	2064	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2328	3018
2371	-0.74	-146.0	199.3	-5.9	240	2375	0.00	2.33	0.00	0.000	4	0.000	0.062	2262	3752	3018
2395	-0.79	-146.0	200.5	-5.3	241	2399	0.00	2.17	0.00	0.000	6	0.000	0.037	2262	2331	3018
2728	-0.83	-146.0	218.2	-4.9	257	2732	0.00	2.33	0.00	0.000	4	0.000	0.063	2261	3754	3018
2745	-0.89	-146.0	219.1	-4.9	257	2751	0.00	2.17	0.00	0.000	6	0.000	0.037	2262	2331	3018
3061	-0.94	-146.0	236.0	-5.7	273	3066	0.12	2.30	0.00	0.000	4	0.106	0.061	2216	3746	3019
3072	-0.94	-146.0	236.6	-5.7	273	3078	0.00	2.15	0.00	0.000	6	0.000	0.036	2216	2340	3019
3387	-0.84	-146.0	259.6	-7.3	289	3392	0.15	2.30	0.00	0.000	4	0.153	0.061	2257	3745	3020
3399	-0.78	-146.0	260.3	-7.1	289	3406	0.00	2.15	0.00	0.000	6	0.000	0.036	2258	2337	3020
3716	-0.86	-146.0	279.7	-6.1	305	3720	0.00	2.30	0.00	0.000	4	0.000	0.061	2258	3753	3020
3732	-0.93	-146.0	280.7	-6.1	305	3739	0.10	2.17	0.00	0.000	6	0.094	0.036	2220	2327	3020
4048	-0.87	-146.0	302.2	-6.6	321	4053	0.10	2.33	0.00	0.000	4	0.159	0.061	2245	3746	3020
4059	-0.87	-146.0	302.8	-6.5	321	4066	0.00	2.15	0.00	0.000	6	0.000	0.035	2245	2337	3020
4375	-0.87	-146.0	320.7	-5.6	337	4379	0.00	2.30	0.00	0.000	4	0.000	0.061	2245	3749	3021
4386	-0.87	-146.0	321.5	-5.6	337	4390	0.00	2.15	0.00	0.000	6	0.000	0.035	2245	2338	3021
4710	-0.87	-146.0	342.0	-6.6	353	4714	0.00	2.30	0.00	0.000	4	0.000	0.059	2245	3754	3021
4739	-0.93	-146.0	344.2	-6.4	354	4743	0.00	2.15	0.00	0.000	6	0.000	0.035	2245	2336	3021
5065	-0.93	-146.0	365.3	-6.4	370	5070	0.00	2.28	0.00	0.000	4	0.000	0.060	2245	3748	3021
5094	-0.99	-146.0	367.2	-6.8	371	5098	0.10	2.15	0.00	0.000	6	0.103	0.035	2208	2334	3021
5420	-0.91	-146.0	390.9	-7.1	387	5425	0.12	2.33	0.00	0.000	4	0.149	0.061	2242	3755	3022
5471	-0.98	-146.0	393.9	-5.7	389	5475	0.00	2.17	0.00	0.000	6	0.000	0.035	2242	2328	3022
5795	-0.98	-146.0	411.7	-5.6	400	5799	0.00	2.33	0.00	0.000	4	0.000	0.060	2242	3753	3023
5812	-1.03	-146.0	412.7	-5.5	400	5817	0.12	2.15	0.00	0.000	6	0.090	0.035	2194	2340	3023
6126	-0.91	-146.0	435.6	-7.5	408	6131	0.15	2.30	0.00	0.000	4	0.146	0.059	2235	3755	3024
6187	-0.91	-146.0	439.5	-6.4	409	6191	0.00	2.15	0.00	0.000	6	0.000	0.035	2235	2337	3024
6535	-0.91	-146.0	461.3	-6.3	418	6538	0.00	2.30	0.00	0.000	4	0.000	0.060	2236	3749	3024
6581	-0.96	-146.0	464.3	-6.7	419	6585	0.00	2.15	0.00	0.000	6	0.000	0.035	2235	2337	3024
6911	-0.96	-146.0	484.0	-5.9	427	6915	0.00	2.30	0.00	0.000	4	0.000	0.060	2235	3747	3024
6939	-1.01	-146.0	485.7	-6.9	427	6943	0.00	2.15	0.00	0.000	6	0.000	0.035	2235	2334	3024
7283	-1.01	-146.0	504.6	-5.4	436	7286	0.00	2.30	0.00	0.000	4	0.000	0.059	2236	3745	3025
7316	-1.01	-146.0	506.5	-6.0	436	7319	0.00	2.15	0.00	0.000	6	0.000	0.035	2235	2334	3025
7653	-1.01	-146.0	525.0	-5.6	445	7657	0.00	2.33	0.00	0.000	4	0.000	0.060	2235	3757	3025
7692	-1.06	-146.0	527.5	-6.6	445	7699	0.12	2.17	0.00	0.000	6	0.097	0.035	2190	2330	3025
8024	-0.94	-146.0	551.1	-7.0	454	8029	0.15	2.33	0.00	0.000	4	0.146	0.060	2231	3749	3025
8035	-0.85	-146.0	551.9	-6.9	454	8039	0.00	2.15	0.00	0.000	6	0.000	0.035	2231	2337	3025
8349	-0.85	-146.0	571.7	-6.4	462	8352	0.00	2.30	0.00	0.000	4	0.000	0.060	2231	3748	3025
8372	-0.90	-146.0	573.3	-6.8	462	8375	0.00	2.15	0.00	0.000	6	0.000	0.035	2231	2335	3025
8720	-0.90	-146.0	595.4	-6.2	471	8724	0.00	2.30	0.00	0.000	4	0.000	0.060	2231	3754	3025
8730	-0.90	-146.0	596.2	-6.2	471	8734	0.00	2.15	0.00	0.000	6	0.000	0.035	2231	2340	3025
9049	-0.90	-146.0	616.3	-6.2	479	9053	0.00	2.30	0.00	0.000	4	0.000	0.061	2231	3753	3025
9083	-0.95	-146.0	618.6	-6.7	479	9087	0.00	2.15	0.00	0.000	6	0.000	0.035	2231	2340	3025
9213	end dive: TARGET_DEPTH_EXCEEDED
state	9214	begin apogee
9220	-0.34	0.0	627.4	6.6	483	9353	0.43	0.00	130.35	1.200	6	0.133	0.000	2365	2517	2421
9354	end apogee: CONTROL_FINISHED_OK
state	9354	begin climb
9357	1.08	146.0	630.7	0.0	486	9508	1.02	2.60	137.27	1.113	4	0.100	0.046	2674	1124	1825
9560	0.96	146.0	617.3	9.2	491	9565	0.12	2.42	0.00	0.000	6	0.138	0.044	2643	2532	1825
9909	0.90	146.0	591.2	7.7	500	9913	0.00	2.22	0.00	0.000	4	0.000	0.061	2643	3927	1825
10022	0.74	146.0	580.6	9.6	502	10027	0.17	2.15	0.00	0.000	6	0.142	0.036	2594	2517	1826
10370	0.90	179.6	559.7	5.9	511	10405	0.12	2.28	28.77	1.130	4	0.077	0.048	2650	1120	1687
10450	0.90	179.6	553.6	7.8	512	10457	0.00	2.22	0.00	0.000	6	0.000	0.044	2650	2525	1688
10782	0.84	179.6	526.2	8.2	521	10786	0.12	2.25	0.00	0.000	4	0.136	0.061	2613	3928	1688
10843	0.88	205.9	521.7	6.1	522	10871	0.00	2.15	22.40	1.103	6	0.000	0.036	2613	2505	1580
11195	1.02	234.5	500.7	6.0	531	11225	0.15	2.22	24.52	1.098	4	0.072	0.048	2678	1115	1464
11282	0.97	234.5	493.3	8.8	533	11287	0.12	2.22	0.00	0.000	6	0.132	0.043	2642	2532	1466
11612	0.97	234.5	469.7	7.2	541	11613	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2532	1466
11936	0.97	234.5	446.1	7.2	549	11940	0.00	2.20	0.00	0.000	4	0.000	0.047	2642	1120	1466
11998	1.06	244.0	442.2	6.7	550	12013	0.10	2.17	9.32	0.969	6	0.084	0.043	2684	2523	1425
12351	0.98	244.0	409.6	9.6	559	12353	0.15	0.00	0.00	0.000	6	0.125	0.000	2639	2523	1428
12657	1.07	263.2	388.3	6.4	570	12681	0.12	2.22	17.30	1.020	4	0.078	0.047	2693	1122	1347
12733	1.03	263.2	382.0	9.3	573	12738	0.15	2.17	0.00	0.000	6	0.131	0.044	2649	2518	1348
13059	1.07	263.2	358.3	7.4	589	13063	0.00	2.20	0.00	0.000	4	0.000	0.048	2650	1110	1348
13105	1.17	263.2	354.9	7.4	591	13110	0.15	2.20	0.00	0.000	6	0.071	0.043	2713	2530	1348
13438	1.02	263.2	318.3	11.4	607	13440	0.20	0.00	0.00	0.000	6	0.126	0.000	2651	2530	1348
13746	1.07	263.2	292.7	8.6	622	13750	0.00	2.20	0.00	0.000	4	0.000	0.047	2651	1122	1349
13848	1.17	263.2	283.9	8.8	626	13852	0.15	2.17	0.00	0.000	6	0.070	0.043	2716	2524	1348
14169	1.02	263.2	246.7	11.1	642	14171	0.20	0.00	0.00	0.000	6	0.120	0.000	2654	2524	1349
14479	1.09	263.2	223.4	7.3	657	14482	0.00	2.20	0.00	0.000	4	0.000	0.048	2654	1119	1349
14540	1.20	263.2	218.9	7.3	659	14547	0.15	2.17	0.00	0.000	6	0.071	0.042	2718	2521	1349
14856	1.07	263.2	185.7	10.4	675	14858	0.17	0.00	0.00	0.000	6	0.120	0.000	2664	2522	1349
15166	1.14	267.9	162.6	6.9	690	15176	0.00	2.22	5.90	0.742	4	0.000	0.047	2664	1115	1327
15234	1.28	294.8	158.1	6.1	693	15265	0.17	2.20	22.85	0.903	6	0.065	0.042	2734	2533	1218
15583	1.15	294.8	120.0	11.4	710	15585	0.17	0.00	0.00	0.000	6	0.123	0.000	2680	2534	1219
15894	1.26	309.7	96.0	6.5	731	15914	0.10	2.30	13.12	0.841	4	0.081	0.048	2730	1119	1157
15988	1.26	309.7	87.5	9.6	747	15994	0.00	2.20	0.00	0.000	6	0.000	0.043	2730	2529	1159
16332	1.26	309.7	56.1	7.3	808	16338	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2529	1159
16675	1.26	309.7	27.2	7.6	869	16681	0.00	2.20	0.00	0.000	4	0.000	0.048	2730	1123	1160
16773	1.31	309.7	19.6	7.7	886	16779	0.00	2.17	0.00	0.000	6	0.000	0.044	2730	2523	1160
16997	end climb: SURFACE_DEPTH_REACHED
state	16997	begin surface coast
17026	end surface coast: CONTROL_FINISHED_OK
state	17026	begin surface