Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 348 * 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 348 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 558.3028 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -31581.008 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 558.3028

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 -31581.008

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 37 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 348 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 201737,6649.992,-5725.190,29,0.9,30,-37.4 TGT_NAME TARGET_E_IN

_CALLS 5 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 12 TGT_RADIUS 10000.000

_XMS_TOUTs 3 KALMAN_CONTROL 0.152,0.165

_SM_DEPTHo 1.45 KALMAN_X -56960.9,-2143.2,1860.7,56931.5,-1740.8

_SM_ANGLEo -51.5 KALMAN_Y -40058.6,94.1,-111.1,31055.7,-2142.5

GPS2 204916,6650.007,-5725.002,65,1.9,66,-37.4 MHEAD_RNG_PITCHd_Wd 80.2,35959,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 732

Post-dive calculations and measurements:

FINISH 1.0,1.014103 TCM_TEMP 15.60

SM_CCo 19160,207.65,0.873,1,0,145,558.30 XPDR_PINGS 3

SM_GC 1.46,0.00,0.00,207.65,0.000,0.000,0.873,161,2335,145,-10.46,-0.14,558.30 _24V_AH 20.1,65.246

RAFOS_CLK 1139 _10V_AH 10.5,28.738

RAFOS 0,1227571444,0.083333,0.067778,60,59,56,52,52,51,202,217,155,176,234,957 DATA_FILE_SIZE 37890,1007

RAFOS_FIX 6651.890625,-5729.743164,251108,000052,3,85,0.37 CAP_FILE_SIZE 165527,0

IRIDIUM_FIX 6620.33,-5720.82,180298,202038 CFSIZE 260165632,225054720

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

HUMID 1828 SOUNDSPEED 1454.0

INTERNAL_PRESSURE 8.41829 GPS 251108,021438,6652.117,-5721.819,33,1.4,33,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 266 119.43 SBE_CT 790 24 381.23

Roll_motor 150 72 220.05 SBE_O2 688 19 262.86

VBD_pump_during_apogee 439 1325 11698.98 nil 0 0 0.00

VBD_pump_during_surface 207 872 3643.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 130 103 270.01 nil 0 0 0.00

Iridium_during_connect 259 160 834.97 nil 0 0 0.00

Iridium_during_xfer 1036 223 4643.69

Transponder_ping 0 420 6.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 69 50 36.72

TT8 1817 19 380.12

LPSleep 14868 2 360.65

TT8_Active 859 19 179.81

TT8_Sampling 1944 39 815.01

TT8_CF8 1789 45 863.05

TT8_Kalman 33 81 28.71

Analog_circuits 1928 12 242.95

GPS_charging 0 0 0.00

Compass 1860 8 156.29

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.08 -146.0 0.0 0.0 0 209 0.00 0.00 -190.18 0.000 2 0.000 0.000 158 2335 2943

213 -1.08 -146.0 3.0 -2.0 34 232 8.98 2.28 -2.62 0.000 4 0.266 0.072 2200 934 3019

295 -0.48 -146.0 22.5 -22.5 48 302 0.45 2.28 0.00 0.000 6 0.174 0.054 2328 2352 3021

641 -0.56 -146.0 55.8 -8.4 109 647 0.00 2.28 0.00 0.000 4 0.000 0.055 2328 933 3023

687 -0.60 -146.0 59.7 -8.2 117 694 0.10 2.25 0.00 0.000 6 0.101 0.051 2291 2348 3023

1032 -0.60 -146.0 86.3 -7.2 178 1038 0.00 2.28 0.00 0.000 4 0.000 0.055 2291 929 3023

1067 -0.60 -146.0 89.0 -7.5 184 1073 0.00 2.28 0.00 0.000 6 0.000 0.053 2290 2351 3023

1406 -0.60 -146.0 113.4 -7.2 220 1407 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2351 3023

1716 -0.66 -146.0 137.5 -8.0 235 1719 0.00 2.28 0.00 0.000 4 0.000 0.055 2290 933 3023

1777 -0.66 -146.0 142.9 -8.7 237 1783 0.00 2.25 0.00 0.000 6 0.000 0.052 2290 2341 3023

2093 -0.74 -146.0 168.2 -7.4 253 2097 0.00 2.33 0.00 0.000 4 0.000 0.070 2291 3750 3023

2184 -0.87 -146.0 174.8 -7.1 257 2189 0.15 2.20 0.00 0.000 6 0.091 0.041 2234 2339 3023

2511 -0.79 -146.0 204.9 -9.5 273 2516 0.12 2.38 0.00 0.000 4 0.170 0.068 2267 3756 3023

2538 -0.79 -146.0 207.6 -8.8 274 2542 0.00 2.22 0.00 0.000 6 0.000 0.041 2267 2327 3023

2860 -0.84 -146.0 234.6 -8.1 290 2864 0.00 2.22 0.00 0.000 4 0.000 0.055 2267 927 3022

2910 -0.84 -146.0 239.0 -9.2 292 2914 0.00 2.28 0.00 0.000 6 0.000 0.053 2267 2344 3022

3238 -0.90 -146.0 262.3 -6.5 308 3242 0.12 2.33 0.00 0.000 4 0.097 0.068 2222 3746 3022

3282 -0.85 -146.0 265.9 -8.4 310 3287 0.12 2.20 0.00 0.000 6 0.168 0.039 2254 2328 3022

3603 -0.85 -146.0 288.6 -6.8 326 3607 0.00 2.38 0.00 0.000 4 0.000 0.068 2254 3753 3022

3648 -0.92 -146.0 291.9 -7.0 328 3652 0.00 2.20 0.00 0.000 6 0.000 0.040 2254 2340 3022

3976 -0.92 -146.0 313.9 -6.9 344 3980 0.00 2.35 0.00 0.000 4 0.000 0.067 2254 3750 3022

4026 -0.99 -146.0 317.6 -7.3 346 4030 0.12 2.20 0.00 0.000 6 0.097 0.039 2211 2337 3022

4341 -0.89 -146.0 344.8 -8.5 361 4346 0.12 2.38 0.00 0.000 4 0.161 0.066 2243 3758 3022

4375 -0.89 -146.0 347.5 -8.0 362 4381 0.00 2.20 0.00 0.000 6 0.000 0.039 2244 2338 3022

4690 -0.89 -146.0 369.4 -6.9 378 4694 0.00 2.22 0.00 0.000 4 0.000 0.054 2244 934 3023

4723 -0.89 -146.0 372.1 -8.2 379 4727 0.00 2.25 0.00 0.000 6 0.000 0.051 2243 2345 3023

5045 -0.89 -146.0 395.8 -7.4 395 5049 0.00 2.33 0.00 0.000 4 0.000 0.067 2244 3756 3023

5084 -0.94 -146.0 398.7 -7.8 396 5090 0.00 2.20 0.00 0.000 6 0.000 0.039 2244 2338 3023

5395 -0.94 -146.0 421.0 -7.1 405 5396 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2338 3024

5720 -0.94 -146.0 444.7 -7.4 413 5724 0.00 2.35 0.00 0.000 4 0.000 0.067 2244 3749 3025

5753 -1.00 -146.0 447.3 -8.0 413 5758 0.10 2.20 0.00 0.000 6 0.102 0.038 2207 2329 3025

6090 -0.91 -146.0 476.2 -8.7 422 6095 0.12 2.38 0.00 0.000 4 0.156 0.065 2241 3750 3025

6140 -0.98 -146.0 480.4 -8.2 423 6144 0.00 2.20 0.00 0.000 6 0.000 0.037 2241 2325 3025

6459 -0.98 -146.0 505.1 -7.9 431 6461 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2325 3026

6784 -0.98 -146.0 530.0 -7.7 439 6785 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2325 3025

7109 -0.98 -146.0 555.5 -7.9 447 7110 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2325 3026

7434 -0.98 -146.0 580.8 -7.6 455 7437 0.00 2.38 0.00 0.000 4 0.000 0.067 2241 3746 3026

7507 -1.05 -146.0 586.3 -7.8 456 7511 0.12 2.17 0.00 0.000 6 0.094 0.038 2196 2340 3026

7849 -0.94 -146.0 616.0 -8.8 465 7851 0.15 0.00 0.00 0.000 6 0.155 0.000 2237 2339 3026

8174 -0.94 -146.0 639.6 -7.1 473 8177 0.00 2.35 0.00 0.000 4 0.000 0.067 2237 3745 3026

8213 -0.99 -146.0 642.6 -7.6 473 8220 0.00 2.17 0.00 0.000 6 0.000 0.038 2237 2341 3026

8544 -0.99 -146.0 666.1 -7.1 482 8546 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2341 3026

8870 -0.99 -146.0 687.5 -6.5 490 8874 0.00 2.35 0.00 0.000 4 0.000 0.066 2235 3751 3026

8903 -1.04 -146.0 689.7 -6.4 490 8910 0.10 2.20 0.00 0.000 6 0.113 0.038 2200 2335 3026

9235 -0.95 -146.0 713.9 -7.3 499 9237 0.12 0.00 0.00 0.000 6 0.156 0.000 2232 2334 3026

9556 end dive: TARGET_DEPTH_EXCEEDED

state 9557 begin apogee

9563 -0.34 0.0 734.3 6.3 507 9698 0.43 0.00 131.52 1.325 6 0.145 0.000 2362 2520 2421

9698 end apogee: CONTROL_FINISHED_OK

state 9698 begin climb

9702 1.08 146.0 737.4 0.0 510 9859 1.05 0.00 147.15 1.224 6 0.107 0.000 2665 2520 1824

10191 0.93 146.0 699.9 8.9 522 10193 0.12 0.00 0.00 0.000 6 0.146 0.000 2631 2520 1826

10516 0.93 146.0 674.8 7.7 530 10520 0.00 2.33 0.00 0.000 4 0.000 0.067 2632 3937 1826

10567 0.81 146.0 670.4 8.6 531 10571 0.00 2.20 0.00 0.000 6 0.000 0.041 2632 2521 1826

10890 0.81 146.0 646.1 7.4 539 10892 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2520 1825

11216 0.81 146.4 622.6 7.0 547 11219 0.00 2.35 0.00 0.000 4 0.000 0.067 2632 3944 1825

11267 0.68 146.4 618.7 8.4 548 11271 0.20 2.22 0.00 0.000 6 0.143 0.040 2576 2506 1825

11585 0.99 168.3 599.5 6.3 556 11610 0.20 2.42 19.48 1.230 4 0.076 0.067 2660 3933 1734

11662 0.75 168.3 593.3 9.6 557 11666 0.22 2.22 0.00 0.000 6 0.143 0.040 2596 2513 1736

11993 0.92 209.9 574.5 5.6 565 12036 0.15 2.30 35.85 1.236 4 0.073 0.052 2660 1116 1565

12059 0.92 209.9 569.5 7.3 566 12063 0.10 2.30 0.00 0.000 6 0.138 0.048 2634 2529 1565

12407 0.92 209.9 544.3 7.4 575 12408 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2529 1566

12731 0.92 209.9 520.7 7.2 583 12735 0.00 2.30 0.00 0.000 4 0.000 0.068 2634 3939 1566

12758 0.92 209.9 518.4 7.8 583 12762 0.00 2.20 0.00 0.000 6 0.000 0.040 2634 2512 1566

13101 0.92 209.9 493.9 7.2 592 13102 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2512 1566

13425 0.92 209.9 470.6 7.1 600 13431 0.00 2.33 0.00 0.000 4 0.000 0.067 2634 3927 1566

13458 0.92 209.9 467.9 7.9 600 13462 0.00 2.17 0.00 0.000 6 0.000 0.040 2634 2518 1566

13796 0.92 211.7 444.5 7.0 609 13800 0.00 0.00 2.92 0.545 6 0.000 0.000 2634 2517 1557

14121 0.97 211.7 420.8 7.2 617 14125 0.00 2.35 0.00 0.000 4 0.000 0.067 2634 3940 1560

14148 0.97 211.7 418.5 7.7 617 14153 0.00 2.20 0.00 0.000 6 0.000 0.039 2634 2515 1560

14472 1.05 222.6 396.7 6.7 626 14485 0.10 0.00 10.88 1.057 6 0.091 0.000 2678 2515 1512

14781 0.97 222.6 370.9 8.4 641 14783 0.12 0.00 0.00 0.000 6 0.126 0.000 2641 2515 1516

15090 1.03 234.7 350.0 6.6 656 15106 0.00 2.35 11.43 1.032 4 0.000 0.065 2641 3926 1464

15140 1.03 234.7 346.5 8.0 657 15144 0.00 2.20 0.00 0.000 6 0.000 0.040 2641 2509 1465

15462 1.14 266.7 326.7 5.9 673 15493 0.15 0.00 28.10 1.078 6 0.074 0.000 2705 2510 1333

15791 1.03 266.7 297.1 9.1 689 15793 0.17 0.00 0.00 0.000 6 0.128 0.000 2653 2509 1335

16101 1.11 274.7 275.9 6.7 704 16116 0.10 2.25 8.15 0.930 4 0.093 0.052 2694 1116 1299

16167 1.11 274.7 270.3 8.6 707 16171 0.00 2.22 0.00 0.000 6 0.000 0.048 2694 2532 1300

16500 1.06 274.7 239.8 9.9 723 16504 0.12 2.25 0.00 0.000 4 0.140 0.051 2658 1112 1303

16538 1.18 274.7 236.3 8.9 724 16545 0.12 2.22 0.00 0.000 6 0.081 0.047 2708 2526 1303

16854 1.11 274.7 202.9 10.7 740 16858 0.12 2.28 0.00 0.000 4 0.134 0.064 2670 3926 1303

16881 1.11 274.7 199.7 9.8 741 16885 0.00 2.17 0.00 0.000 6 0.000 0.040 2669 2516 1303

17208 1.17 274.7 170.2 9.3 757 17212 0.00 2.20 0.00 0.000 4 0.000 0.052 2670 1116 1303

17242 1.28 274.7 167.0 9.6 758 17246 0.15 2.22 0.00 0.000 6 0.075 0.048 2727 2524 1303

17563 1.17 274.7 131.6 10.8 774 17565 0.15 0.00 0.00 0.000 6 0.129 0.000 2682 2525 1303

17872 1.21 274.7 103.8 8.7 789 17876 0.00 2.25 0.00 0.000 4 0.000 0.053 2682 1112 1303

17895 1.30 274.7 101.9 7.9 790 17899 0.12 2.25 0.00 0.000 6 0.078 0.048 2731 2531 1303

18238 1.19 274.7 67.4 9.5 848 18244 0.15 0.00 0.00 0.000 6 0.125 0.000 2685 2532 1303

18582 1.37 326.6 46.8 5.3 909 18636 0.15 2.40 43.67 0.973 4 0.073 0.054 2749 1124 1087

18666 1.37 326.6 40.1 8.3 923 18672 0.00 2.28 0.00 0.000 6 0.000 0.050 2749 2524 1086

19010 1.30 326.6 10.2 8.0 984 19017 0.12 2.30 0.00 0.000 4 0.140 0.067 2712 3927 1084

19046 1.30 326.6 6.8 9.3 990 19053 0.00 2.20 0.00 0.000 6 0.000 0.042 2712 2516 1084

19107 end climb: SURFACE_DEPTH_REACHED

state 19107 begin surface coast

19142 end surface coast: CONTROL_FINISHED_OK

state 19142 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	348	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	558.3028	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-31581.008	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	201737,6649.992,-5725.190,29,0.9,30,-37.4	TGT_NAME	TARGET_E_IN
_CALLS	5	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	12	TGT_RADIUS	10000.000
_XMS_TOUTs	3	KALMAN_CONTROL	0.152,0.165
_SM_DEPTHo	1.45	KALMAN_X	-56960.9,-2143.2,1860.7,56931.5,-1740.8
_SM_ANGLEo	-51.5	KALMAN_Y	-40058.6,94.1,-111.1,31055.7,-2142.5
GPS2	204916,6650.007,-5725.002,65,1.9,66,-37.4	MHEAD_RNG_PITCHd_Wd	80.2,35959,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	732

FINISH	1.0,1.014103	TCM_TEMP	15.60
SM_CCo	19160,207.65,0.873,1,0,145,558.30	XPDR_PINGS	3
SM_GC	1.46,0.00,0.00,207.65,0.000,0.000,0.873,161,2335,145,-10.46,-0.14,558.30	_24V_AH	20.1,65.246
RAFOS_CLK	1139	_10V_AH	10.5,28.738
RAFOS	0,1227571444,0.083333,0.067778,60,59,56,52,52,51,202,217,155,176,234,957	DATA_FILE_SIZE	37890,1007
RAFOS_FIX	6651.890625,-5729.743164,251108,000052,3,85,0.37	CAP_FILE_SIZE	165527,0
IRIDIUM_FIX	6620.33,-5720.82,180298,202038	CFSIZE	260165632,225054720
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
HUMID	1828	SOUNDSPEED	1454.0
INTERNAL_PRESSURE	8.41829	GPS	251108,021438,6652.117,-5721.819,33,1.4,33,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	266	119.43	SBE_CT	790	24	381.23
Roll_motor	150	72	220.05	SBE_O2	688	19	262.86
VBD_pump_during_apogee	439	1325	11698.98	nil	0	0	0.00
VBD_pump_during_surface	207	872	3643.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	130	103	270.01	nil	0	0	0.00
Iridium_during_connect	259	160	834.97	nil	0	0	0.00
Iridium_during_xfer	1036	223	4643.69
Transponder_ping	0	420	6.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	69	50	36.72
TT8	1817	19	380.12
LPSleep	14868	2	360.65
TT8_Active	859	19	179.81
TT8_Sampling	1944	39	815.01
TT8_CF8	1789	45	863.05
TT8_Kalman	33	81	28.71
Analog_circuits	1928	12	242.95
GPS_charging	0	0	0.00
Compass	1860	8	156.29
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.08	-146.0	0.0	0.0	0	209	0.00	0.00	-190.18	0.000	2	0.000	0.000	158	2335	2943
213	-1.08	-146.0	3.0	-2.0	34	232	8.98	2.28	-2.62	0.000	4	0.266	0.072	2200	934	3019
295	-0.48	-146.0	22.5	-22.5	48	302	0.45	2.28	0.00	0.000	6	0.174	0.054	2328	2352	3021
641	-0.56	-146.0	55.8	-8.4	109	647	0.00	2.28	0.00	0.000	4	0.000	0.055	2328	933	3023
687	-0.60	-146.0	59.7	-8.2	117	694	0.10	2.25	0.00	0.000	6	0.101	0.051	2291	2348	3023
1032	-0.60	-146.0	86.3	-7.2	178	1038	0.00	2.28	0.00	0.000	4	0.000	0.055	2291	929	3023
1067	-0.60	-146.0	89.0	-7.5	184	1073	0.00	2.28	0.00	0.000	6	0.000	0.053	2290	2351	3023
1406	-0.60	-146.0	113.4	-7.2	220	1407	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2351	3023
1716	-0.66	-146.0	137.5	-8.0	235	1719	0.00	2.28	0.00	0.000	4	0.000	0.055	2290	933	3023
1777	-0.66	-146.0	142.9	-8.7	237	1783	0.00	2.25	0.00	0.000	6	0.000	0.052	2290	2341	3023
2093	-0.74	-146.0	168.2	-7.4	253	2097	0.00	2.33	0.00	0.000	4	0.000	0.070	2291	3750	3023
2184	-0.87	-146.0	174.8	-7.1	257	2189	0.15	2.20	0.00	0.000	6	0.091	0.041	2234	2339	3023
2511	-0.79	-146.0	204.9	-9.5	273	2516	0.12	2.38	0.00	0.000	4	0.170	0.068	2267	3756	3023
2538	-0.79	-146.0	207.6	-8.8	274	2542	0.00	2.22	0.00	0.000	6	0.000	0.041	2267	2327	3023
2860	-0.84	-146.0	234.6	-8.1	290	2864	0.00	2.22	0.00	0.000	4	0.000	0.055	2267	927	3022
2910	-0.84	-146.0	239.0	-9.2	292	2914	0.00	2.28	0.00	0.000	6	0.000	0.053	2267	2344	3022
3238	-0.90	-146.0	262.3	-6.5	308	3242	0.12	2.33	0.00	0.000	4	0.097	0.068	2222	3746	3022
3282	-0.85	-146.0	265.9	-8.4	310	3287	0.12	2.20	0.00	0.000	6	0.168	0.039	2254	2328	3022
3603	-0.85	-146.0	288.6	-6.8	326	3607	0.00	2.38	0.00	0.000	4	0.000	0.068	2254	3753	3022
3648	-0.92	-146.0	291.9	-7.0	328	3652	0.00	2.20	0.00	0.000	6	0.000	0.040	2254	2340	3022
3976	-0.92	-146.0	313.9	-6.9	344	3980	0.00	2.35	0.00	0.000	4	0.000	0.067	2254	3750	3022
4026	-0.99	-146.0	317.6	-7.3	346	4030	0.12	2.20	0.00	0.000	6	0.097	0.039	2211	2337	3022
4341	-0.89	-146.0	344.8	-8.5	361	4346	0.12	2.38	0.00	0.000	4	0.161	0.066	2243	3758	3022
4375	-0.89	-146.0	347.5	-8.0	362	4381	0.00	2.20	0.00	0.000	6	0.000	0.039	2244	2338	3022
4690	-0.89	-146.0	369.4	-6.9	378	4694	0.00	2.22	0.00	0.000	4	0.000	0.054	2244	934	3023
4723	-0.89	-146.0	372.1	-8.2	379	4727	0.00	2.25	0.00	0.000	6	0.000	0.051	2243	2345	3023
5045	-0.89	-146.0	395.8	-7.4	395	5049	0.00	2.33	0.00	0.000	4	0.000	0.067	2244	3756	3023
5084	-0.94	-146.0	398.7	-7.8	396	5090	0.00	2.20	0.00	0.000	6	0.000	0.039	2244	2338	3023
5395	-0.94	-146.0	421.0	-7.1	405	5396	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2338	3024
5720	-0.94	-146.0	444.7	-7.4	413	5724	0.00	2.35	0.00	0.000	4	0.000	0.067	2244	3749	3025
5753	-1.00	-146.0	447.3	-8.0	413	5758	0.10	2.20	0.00	0.000	6	0.102	0.038	2207	2329	3025
6090	-0.91	-146.0	476.2	-8.7	422	6095	0.12	2.38	0.00	0.000	4	0.156	0.065	2241	3750	3025
6140	-0.98	-146.0	480.4	-8.2	423	6144	0.00	2.20	0.00	0.000	6	0.000	0.037	2241	2325	3025
6459	-0.98	-146.0	505.1	-7.9	431	6461	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2325	3026
6784	-0.98	-146.0	530.0	-7.7	439	6785	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2325	3025
7109	-0.98	-146.0	555.5	-7.9	447	7110	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2325	3026
7434	-0.98	-146.0	580.8	-7.6	455	7437	0.00	2.38	0.00	0.000	4	0.000	0.067	2241	3746	3026
7507	-1.05	-146.0	586.3	-7.8	456	7511	0.12	2.17	0.00	0.000	6	0.094	0.038	2196	2340	3026
7849	-0.94	-146.0	616.0	-8.8	465	7851	0.15	0.00	0.00	0.000	6	0.155	0.000	2237	2339	3026
8174	-0.94	-146.0	639.6	-7.1	473	8177	0.00	2.35	0.00	0.000	4	0.000	0.067	2237	3745	3026
8213	-0.99	-146.0	642.6	-7.6	473	8220	0.00	2.17	0.00	0.000	6	0.000	0.038	2237	2341	3026
8544	-0.99	-146.0	666.1	-7.1	482	8546	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	2341	3026
8870	-0.99	-146.0	687.5	-6.5	490	8874	0.00	2.35	0.00	0.000	4	0.000	0.066	2235	3751	3026
8903	-1.04	-146.0	689.7	-6.4	490	8910	0.10	2.20	0.00	0.000	6	0.113	0.038	2200	2335	3026
9235	-0.95	-146.0	713.9	-7.3	499	9237	0.12	0.00	0.00	0.000	6	0.156	0.000	2232	2334	3026
9556	end dive: TARGET_DEPTH_EXCEEDED
state	9557	begin apogee
9563	-0.34	0.0	734.3	6.3	507	9698	0.43	0.00	131.52	1.325	6	0.145	0.000	2362	2520	2421
9698	end apogee: CONTROL_FINISHED_OK
state	9698	begin climb
9702	1.08	146.0	737.4	0.0	510	9859	1.05	0.00	147.15	1.224	6	0.107	0.000	2665	2520	1824
10191	0.93	146.0	699.9	8.9	522	10193	0.12	0.00	0.00	0.000	6	0.146	0.000	2631	2520	1826
10516	0.93	146.0	674.8	7.7	530	10520	0.00	2.33	0.00	0.000	4	0.000	0.067	2632	3937	1826
10567	0.81	146.0	670.4	8.6	531	10571	0.00	2.20	0.00	0.000	6	0.000	0.041	2632	2521	1826
10890	0.81	146.0	646.1	7.4	539	10892	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2520	1825
11216	0.81	146.4	622.6	7.0	547	11219	0.00	2.35	0.00	0.000	4	0.000	0.067	2632	3944	1825
11267	0.68	146.4	618.7	8.4	548	11271	0.20	2.22	0.00	0.000	6	0.143	0.040	2576	2506	1825
11585	0.99	168.3	599.5	6.3	556	11610	0.20	2.42	19.48	1.230	4	0.076	0.067	2660	3933	1734
11662	0.75	168.3	593.3	9.6	557	11666	0.22	2.22	0.00	0.000	6	0.143	0.040	2596	2513	1736
11993	0.92	209.9	574.5	5.6	565	12036	0.15	2.30	35.85	1.236	4	0.073	0.052	2660	1116	1565
12059	0.92	209.9	569.5	7.3	566	12063	0.10	2.30	0.00	0.000	6	0.138	0.048	2634	2529	1565
12407	0.92	209.9	544.3	7.4	575	12408	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2529	1566
12731	0.92	209.9	520.7	7.2	583	12735	0.00	2.30	0.00	0.000	4	0.000	0.068	2634	3939	1566
12758	0.92	209.9	518.4	7.8	583	12762	0.00	2.20	0.00	0.000	6	0.000	0.040	2634	2512	1566
13101	0.92	209.9	493.9	7.2	592	13102	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2512	1566
13425	0.92	209.9	470.6	7.1	600	13431	0.00	2.33	0.00	0.000	4	0.000	0.067	2634	3927	1566
13458	0.92	209.9	467.9	7.9	600	13462	0.00	2.17	0.00	0.000	6	0.000	0.040	2634	2518	1566
13796	0.92	211.7	444.5	7.0	609	13800	0.00	0.00	2.92	0.545	6	0.000	0.000	2634	2517	1557
14121	0.97	211.7	420.8	7.2	617	14125	0.00	2.35	0.00	0.000	4	0.000	0.067	2634	3940	1560
14148	0.97	211.7	418.5	7.7	617	14153	0.00	2.20	0.00	0.000	6	0.000	0.039	2634	2515	1560
14472	1.05	222.6	396.7	6.7	626	14485	0.10	0.00	10.88	1.057	6	0.091	0.000	2678	2515	1512
14781	0.97	222.6	370.9	8.4	641	14783	0.12	0.00	0.00	0.000	6	0.126	0.000	2641	2515	1516
15090	1.03	234.7	350.0	6.6	656	15106	0.00	2.35	11.43	1.032	4	0.000	0.065	2641	3926	1464
15140	1.03	234.7	346.5	8.0	657	15144	0.00	2.20	0.00	0.000	6	0.000	0.040	2641	2509	1465
15462	1.14	266.7	326.7	5.9	673	15493	0.15	0.00	28.10	1.078	6	0.074	0.000	2705	2510	1333
15791	1.03	266.7	297.1	9.1	689	15793	0.17	0.00	0.00	0.000	6	0.128	0.000	2653	2509	1335
16101	1.11	274.7	275.9	6.7	704	16116	0.10	2.25	8.15	0.930	4	0.093	0.052	2694	1116	1299
16167	1.11	274.7	270.3	8.6	707	16171	0.00	2.22	0.00	0.000	6	0.000	0.048	2694	2532	1300
16500	1.06	274.7	239.8	9.9	723	16504	0.12	2.25	0.00	0.000	4	0.140	0.051	2658	1112	1303
16538	1.18	274.7	236.3	8.9	724	16545	0.12	2.22	0.00	0.000	6	0.081	0.047	2708	2526	1303
16854	1.11	274.7	202.9	10.7	740	16858	0.12	2.28	0.00	0.000	4	0.134	0.064	2670	3926	1303
16881	1.11	274.7	199.7	9.8	741	16885	0.00	2.17	0.00	0.000	6	0.000	0.040	2669	2516	1303
17208	1.17	274.7	170.2	9.3	757	17212	0.00	2.20	0.00	0.000	4	0.000	0.052	2670	1116	1303
17242	1.28	274.7	167.0	9.6	758	17246	0.15	2.22	0.00	0.000	6	0.075	0.048	2727	2524	1303
17563	1.17	274.7	131.6	10.8	774	17565	0.15	0.00	0.00	0.000	6	0.129	0.000	2682	2525	1303
17872	1.21	274.7	103.8	8.7	789	17876	0.00	2.25	0.00	0.000	4	0.000	0.053	2682	1112	1303
17895	1.30	274.7	101.9	7.9	790	17899	0.12	2.25	0.00	0.000	6	0.078	0.048	2731	2531	1303
18238	1.19	274.7	67.4	9.5	848	18244	0.15	0.00	0.00	0.000	6	0.125	0.000	2685	2532	1303
18582	1.37	326.6	46.8	5.3	909	18636	0.15	2.40	43.67	0.973	4	0.073	0.054	2749	1124	1087
18666	1.37	326.6	40.1	8.3	923	18672	0.00	2.28	0.00	0.000	6	0.000	0.050	2749	2524	1086
19010	1.30	326.6	10.2	8.0	984	19017	0.12	2.30	0.00	0.000	4	0.140	0.067	2712	3927	1084
19046	1.30	326.6	6.8	9.3	990	19053	0.00	2.20	0.00	0.000	6	0.000	0.042	2712	2516	1084
19107	end climb: SURFACE_DEPTH_REACHED
state	19107	begin surface coast
19142	end surface coast: CONTROL_FINISHED_OK
state	19142	begin surface