Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 357 * 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 357 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 41 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 -31734.033 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 -31734.033

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 41 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 357 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 224908,6701.784,-5700.326,35,1.0,35,-37.6 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 15000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.163,-0.154

_SM_DEPTHo 1.90 KALMAN_X -65038.5,-431.9,332.1,82679.8,-1148.4

_SM_ANGLEo -66.1 KALMAN_Y -32445.8,229.2,-553.9,45662.8,2038.8

GPS2 225551,6701.833,-5700.404,13,1.6,13,-37.6 MHEAD_RNG_PITCHd_Wd 264.2,167148,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 689

Post-dive calculations and measurements:

FINISH 1.0,1.002382 TCM_TEMP 16.50

SM_CCo 18974,0.00,0.000,0,0,1156,310.30 XPDR_PINGS 2

SM_GC 1.82,7.10,0.00,0.00,0.061,0.000,0.000,161,2338,1156,-10.39,-0.06,310.30 _24V_AH 20.5,66.666

RAFOS_CLK 979 _10V_AH 10.6,29.418

RAFOS 0,1227744257,0.083333,0.071389,83,59,56,56,56,51,948,190,136,212,166,224 DATA_FILE_SIZE 37876,1002

RAFOS_FIX 6700.893555,-5707.036133,271108,000020,4,92,1.00 CAP_FILE_SIZE 151507,0

IRIDIUM_FIX 6631.12,-5701.34,200298,171709 CFSIZE 260165632,224448512

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

HUMID 1867 SOUNDSPEED 1465.7

INTERNAL_PRESSURE 8.55502 GPS 271108,041438,6701.943,-5709.144,37,1.1,37,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 258 115.51 SBE_CT 777 24 382.68

Roll_motor 160 63 209.92 SBE_O2 679 19 264.83

VBD_pump_during_apogee 418 1245 10676.17 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 58.56 nil 0 0 0.00

Iridium_during_connect 33 160 111.09 nil 0 0 0.00

Iridium_during_xfer 199 223 912.65

Transponder_ping 0 420 4.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.06

TT8 1901 19 401.58

LPSleep 14299 2 350.15

TT8_Active 563 19 119.08

TT8_Sampling 2016 39 853.15

TT8_CF8 603 45 293.67

TT8_Kalman 33 81 28.98

Analog_circuits 1676 12 213.30

GPS_charging 0 0 0.00

Compass 1985 8 168.36

RAFOS 2160 1 34.34

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 0 126 0.00 0.00 -107.50 0.000 2 0.000 0.000 160 2335 2943

129 -1.08 -146.0 3.1 -1.6 19 148 8.70 2.22 -2.58 0.000 4 0.258 0.062 2199 945 3018

251 -0.54 -146.0 25.9 -17.0 40 258 0.43 2.20 0.00 0.000 6 0.173 0.046 2320 2344 3019

596 -0.54 -146.0 58.7 -8.3 101 601 0.00 0.00 0.00 0.000 6 0.000 0.000 2320 2344 3019

940 -0.62 -146.0 84.5 -7.8 162 946 0.00 2.28 0.00 0.000 4 0.000 0.064 2317 3744 3018

1060 -0.77 -146.0 92.8 -6.5 183 1067 0.17 2.17 0.00 0.000 6 0.083 0.038 2248 2330 3018

1391 -0.68 -146.0 123.3 -9.3 209 1395 0.15 2.17 0.00 0.000 4 0.158 0.048 2289 936 3017

1492 -0.68 -146.0 131.3 -7.0 213 1496 0.00 2.22 0.00 0.000 6 0.000 0.047 2289 2349 3017

1814 -0.78 -146.0 152.9 -7.0 229 1817 0.00 2.28 0.00 0.000 4 0.000 0.064 2289 3749 3016

1927 -0.92 -146.0 160.4 -6.1 234 1932 0.17 2.17 0.00 0.000 6 0.084 0.037 2227 2328 3016

2262 -0.84 -146.0 186.0 -8.1 250 2266 0.10 2.33 0.00 0.000 4 0.167 0.060 2249 3745 3016

2306 -0.84 -146.0 189.7 -7.6 252 2310 0.00 2.15 0.00 0.000 6 0.000 0.035 2249 2340 3016

2633 -0.84 -146.0 212.6 -7.0 268 2637 0.00 2.17 0.00 0.000 4 0.000 0.048 2249 938 3016

2711 -0.84 -146.0 218.5 -7.4 271 2715 0.00 2.20 0.00 0.000 6 0.000 0.044 2249 2352 3016

3033 -0.84 -146.0 240.6 -6.9 287 3034 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2352 3017

3341 -0.84 -146.0 261.9 -6.8 302 3345 0.00 2.22 0.00 0.000 4 0.000 0.047 2249 932 3018

3368 -0.84 -146.0 263.8 -7.0 303 3372 0.00 2.22 0.00 0.000 6 0.000 0.044 2249 2352 3018

3696 -0.84 -146.0 286.0 -6.8 319 3699 0.00 2.25 0.00 0.000 4 0.000 0.059 2249 3750 3018

3752 -0.91 -146.0 290.0 -6.7 321 3756 0.00 2.17 0.00 0.000 6 0.000 0.035 2249 2323 3018

4074 -0.91 -146.0 310.4 -6.2 337 4075 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2323 3019

4383 -0.96 -146.0 329.4 -6.1 352 4387 0.00 2.33 0.00 0.000 4 0.000 0.060 2249 3749 3020

4424 -1.03 -146.0 331.8 -6.1 353 4430 0.12 2.15 0.00 0.000 6 0.100 0.035 2203 2338 3019

4740 -0.93 -146.0 354.4 -7.4 369 4745 0.12 2.30 0.00 0.000 4 0.150 0.058 2234 3745 3020

4795 -0.93 -146.0 358.3 -7.0 371 4801 0.00 2.15 0.00 0.000 6 0.000 0.035 2234 2328 3020

5111 -0.93 -146.0 379.0 -6.5 387 5115 0.00 2.15 0.00 0.000 4 0.000 0.046 2234 939 3021

5144 -0.93 -146.0 381.6 -7.4 388 5148 0.00 2.20 0.00 0.000 6 0.000 0.044 2234 2345 3021

5485 -0.93 -146.0 403.8 -6.3 404 5488 0.00 2.25 0.00 0.000 4 0.000 0.060 2234 3740 3022

5535 -0.93 -146.0 407.0 -6.3 405 5539 0.00 2.15 0.00 0.000 6 0.000 0.034 2234 2326 3022

5863 -0.93 -146.0 425.3 -5.4 413 5867 0.00 2.15 0.00 0.000 4 0.000 0.045 2234 939 3022

5890 -0.93 -146.0 427.2 -6.6 413 5894 0.00 2.20 0.00 0.000 6 0.000 0.043 2234 2348 3022

6234 -0.93 -146.0 444.1 -4.8 422 6235 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2348 3022

6558 -0.93 -146.0 463.2 -6.3 430 6562 0.00 2.25 0.00 0.000 4 0.000 0.060 2234 3742 3023

6605 -0.99 -146.0 466.1 -6.2 431 6608 0.00 2.12 0.00 0.000 6 0.000 0.034 2234 2340 3023

6935 -0.99 -146.0 486.2 -6.1 439 6936 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2340 3023

7260 -0.99 -146.0 507.2 -6.4 447 7262 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2341 3024

7585 -0.99 -146.0 528.1 -6.4 455 7586 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2340 3024

7910 -0.99 -146.0 548.5 -6.3 463 7914 0.00 2.28 0.00 0.000 4 0.000 0.059 2234 3742 3024

7972 -1.06 -146.0 552.6 -6.8 464 7976 0.12 2.15 0.00 0.000 6 0.100 0.035 2189 2327 3024

8285 -0.95 -146.0 577.7 -8.0 472 8287 0.15 0.00 0.00 0.000 6 0.147 0.000 2230 2324 3024

8609 -0.95 -146.0 598.4 -6.3 480 8613 0.00 2.33 0.00 0.000 4 0.000 0.058 2231 3754 3024

8711 -1.02 -146.0 604.7 -6.4 482 8715 0.00 2.15 0.00 0.000 6 0.000 0.034 2231 2341 3024

9030 -1.02 -146.0 622.6 -5.6 490 9031 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2341 3024

9354 -1.02 -146.0 640.9 -5.8 498 9356 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2341 3024

9679 -1.02 -146.0 659.6 -5.7 506 9683 0.00 2.30 0.00 0.000 4 0.000 0.060 2231 3745 3024

9834 -1.09 -146.0 668.7 -5.5 509 9838 0.12 2.15 0.00 0.000 6 0.091 0.035 2186 2333 3024

10103 end dive: TARGET_DEPTH_EXCEEDED

state 10103 begin apogee

10110 -0.34 0.0 689.3 7.6 516 10244 0.57 0.00 131.73 1.246 6 0.143 0.000 2359 2526 2420

10245 end apogee: CONTROL_FINISHED_OK

state 10245 begin climb

10249 1.08 146.0 692.4 0.0 519 10398 1.02 2.65 138.05 1.165 4 0.104 0.044 2666 1131 1824

10421 1.00 146.0 681.3 7.2 523 10426 0.00 2.47 0.00 0.000 6 0.000 0.043 2666 2521 1824

10740 0.85 146.0 654.9 8.5 531 10744 0.17 2.28 0.00 0.000 4 0.136 0.059 2614 3930 1823

10808 0.78 146.0 649.6 7.7 532 10812 0.00 2.17 0.00 0.000 6 0.000 0.036 2614 2513 1823

11156 0.81 171.2 628.1 6.2 541 11179 0.00 0.00 21.73 1.174 6 0.000 0.000 2614 2513 1723

11482 0.90 186.9 606.9 6.5 549 11501 0.00 2.35 14.45 1.134 4 0.000 0.061 2614 3930 1658

11525 0.91 194.1 604.0 6.8 550 11539 0.00 2.17 7.82 1.002 6 0.000 0.036 2614 2520 1628

11855 1.04 239.4 585.7 5.5 558 11898 0.15 2.33 38.17 1.191 4 0.075 0.048 2676 1121 1444

11950 0.99 239.4 578.0 8.9 560 11954 0.10 2.25 0.00 0.000 6 0.137 0.044 2650 2534 1444

12273 0.99 239.4 552.9 7.9 568 12277 0.00 2.22 0.00 0.000 4 0.000 0.048 2650 1118 1443

12307 0.99 239.4 550.2 7.6 568 12311 0.00 2.20 0.00 0.000 6 0.000 0.044 2650 2529 1443

12643 0.99 239.4 522.7 8.3 577 12647 0.00 2.22 0.00 0.000 4 0.000 0.048 2650 1112 1443

12676 1.05 239.4 519.9 8.3 577 12680 0.00 2.20 0.00 0.000 6 0.000 0.044 2650 2524 1443

13012 1.05 239.4 493.0 7.9 586 13016 0.00 2.22 0.00 0.000 4 0.000 0.048 2650 1109 1443

13051 1.09 239.4 489.9 7.5 586 13058 0.10 2.20 0.00 0.000 6 0.085 0.044 2692 2519 1443

13383 0.95 239.4 455.8 10.5 595 13387 0.17 2.22 0.00 0.000 4 0.127 0.048 2639 1112 1442

13404 0.95 239.4 453.9 8.9 595 13408 0.00 2.20 0.00 0.000 6 0.000 0.044 2639 2525 1442

13753 1.00 239.4 426.5 8.0 604 13757 0.00 2.20 0.00 0.000 4 0.000 0.047 2639 1120 1443

13792 1.08 239.4 423.2 7.9 604 13799 0.12 2.20 0.00 0.000 6 0.079 0.043 2692 2531 1443

14105 0.95 239.4 389.0 11.0 614 14107 0.17 0.00 0.00 0.000 6 0.118 0.000 2638 2532 1443

14415 1.00 239.4 365.2 7.3 629 14418 0.00 2.22 0.00 0.000 4 0.000 0.047 2638 1111 1443

14476 1.10 239.4 360.9 7.2 631 14483 0.12 2.20 0.00 0.000 6 0.078 0.044 2692 2522 1443

14792 0.98 239.4 331.0 9.4 647 14796 0.15 2.22 0.00 0.000 4 0.120 0.047 2647 1115 1444

14826 1.07 247.5 328.3 6.7 648 14839 0.00 2.20 8.15 0.898 6 0.000 0.043 2646 2525 1410

15146 1.07 247.5 304.3 7.8 664 15147 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2525 1412

15457 1.13 247.5 280.7 7.4 679 15461 0.12 2.22 0.00 0.000 4 0.072 0.045 2705 1111 1412

15502 1.02 247.5 276.5 10.0 681 15507 0.17 2.20 0.00 0.000 6 0.125 0.042 2653 2528 1412

15834 1.02 247.5 250.9 7.6 697 15838 0.00 2.22 0.00 0.000 4 0.000 0.046 2653 1109 1412

15863 1.10 252.7 248.8 6.8 698 15874 0.08 2.20 6.03 0.790 6 0.102 0.043 2690 2520 1389

16185 1.03 252.7 219.1 9.6 713 16187 0.12 0.00 0.00 0.000 6 0.125 0.000 2653 2521 1391

16494 1.08 252.7 195.7 7.7 728 16498 0.00 2.20 0.00 0.000 4 0.000 0.047 2653 1118 1391

16556 1.18 256.8 191.0 6.9 730 16566 0.15 2.20 5.07 0.715 6 0.071 0.042 2718 2531 1373

16896 1.04 256.8 155.0 10.8 747 16898 0.20 0.00 0.00 0.000 6 0.120 0.000 2655 2531 1375

17204 1.14 270.8 132.8 6.5 762 17226 0.12 2.28 13.10 0.862 4 0.076 0.047 2709 1123 1315

17282 1.14 270.8 126.3 8.4 765 17287 0.10 2.17 0.00 0.000 6 0.135 0.043 2681 2520 1316

17603 1.14 270.8 102.7 7.5 781 17607 0.00 2.20 0.00 0.000 4 0.000 0.047 2681 1116 1317

17637 1.24 278.1 100.2 6.8 782 17650 0.10 2.20 7.30 0.764 6 0.081 0.042 2721 2531 1286

17988 1.24 278.1 69.6 9.1 843 17995 0.00 2.22 0.00 0.000 4 0.000 0.046 2721 1110 1287

18069 1.24 278.1 62.4 8.8 857 18075 0.00 2.20 0.00 0.000 6 0.000 0.044 2722 2519 1287

18413 1.24 278.1 33.1 7.9 918 18419 0.00 2.25 0.00 0.000 4 0.000 0.060 2721 3927 1288

18454 1.17 278.1 29.5 9.2 925 18461 0.12 2.15 0.00 0.000 6 0.132 0.036 2684 2516 1288

18800 1.36 309.5 8.0 6.0 986 18832 0.15 2.30 26.50 0.866 4 0.070 0.049 2749 1110 1158

18862 1.36 309.5 3.0 8.0 996 18868 0.00 2.22 0.00 0.000 6 0.000 0.044 2749 2521 1157

18872 end climb: SURFACE_DEPTH_REACHED

state 18872 begin surface coast

18896 end surface coast: CONTROL_FINISHED_OK

state 18896 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	357	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	41	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	-31734.033	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	224908,6701.784,-5700.326,35,1.0,35,-37.6	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	15000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.163,-0.154
_SM_DEPTHo	1.90	KALMAN_X	-65038.5,-431.9,332.1,82679.8,-1148.4
_SM_ANGLEo	-66.1	KALMAN_Y	-32445.8,229.2,-553.9,45662.8,2038.8
GPS2	225551,6701.833,-5700.404,13,1.6,13,-37.6	MHEAD_RNG_PITCHd_Wd	264.2,167148,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	689

FINISH	1.0,1.002382	TCM_TEMP	16.50
SM_CCo	18974,0.00,0.000,0,0,1156,310.30	XPDR_PINGS	2
SM_GC	1.82,7.10,0.00,0.00,0.061,0.000,0.000,161,2338,1156,-10.39,-0.06,310.30	_24V_AH	20.5,66.666
RAFOS_CLK	979	_10V_AH	10.6,29.418
RAFOS	0,1227744257,0.083333,0.071389,83,59,56,56,56,51,948,190,136,212,166,224	DATA_FILE_SIZE	37876,1002
RAFOS_FIX	6700.893555,-5707.036133,271108,000020,4,92,1.00	CAP_FILE_SIZE	151507,0
IRIDIUM_FIX	6631.12,-5701.34,200298,171709	CFSIZE	260165632,224448512
TT8_MAMPS	0.027612	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1867	SOUNDSPEED	1465.7
INTERNAL_PRESSURE	8.55502	GPS	271108,041438,6701.943,-5709.144,37,1.1,37,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	258	115.51	SBE_CT	777	24	382.68
Roll_motor	160	63	209.92	SBE_O2	679	19	264.83
VBD_pump_during_apogee	418	1245	10676.17	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	58.56	nil	0	0	0.00
Iridium_during_connect	33	160	111.09	nil	0	0	0.00
Iridium_during_xfer	199	223	912.65
Transponder_ping	0	420	4.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.06
TT8	1901	19	401.58
LPSleep	14299	2	350.15
TT8_Active	563	19	119.08
TT8_Sampling	2016	39	853.15
TT8_CF8	603	45	293.67
TT8_Kalman	33	81	28.98
Analog_circuits	1676	12	213.30
GPS_charging	0	0	0.00
Compass	1985	8	168.36
RAFOS	2160	1	34.34
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	126	0.00	0.00	-107.50	0.000	2	0.000	0.000	160	2335	2943
129	-1.08	-146.0	3.1	-1.6	19	148	8.70	2.22	-2.58	0.000	4	0.258	0.062	2199	945	3018
251	-0.54	-146.0	25.9	-17.0	40	258	0.43	2.20	0.00	0.000	6	0.173	0.046	2320	2344	3019
596	-0.54	-146.0	58.7	-8.3	101	601	0.00	0.00	0.00	0.000	6	0.000	0.000	2320	2344	3019
940	-0.62	-146.0	84.5	-7.8	162	946	0.00	2.28	0.00	0.000	4	0.000	0.064	2317	3744	3018
1060	-0.77	-146.0	92.8	-6.5	183	1067	0.17	2.17	0.00	0.000	6	0.083	0.038	2248	2330	3018
1391	-0.68	-146.0	123.3	-9.3	209	1395	0.15	2.17	0.00	0.000	4	0.158	0.048	2289	936	3017
1492	-0.68	-146.0	131.3	-7.0	213	1496	0.00	2.22	0.00	0.000	6	0.000	0.047	2289	2349	3017
1814	-0.78	-146.0	152.9	-7.0	229	1817	0.00	2.28	0.00	0.000	4	0.000	0.064	2289	3749	3016
1927	-0.92	-146.0	160.4	-6.1	234	1932	0.17	2.17	0.00	0.000	6	0.084	0.037	2227	2328	3016
2262	-0.84	-146.0	186.0	-8.1	250	2266	0.10	2.33	0.00	0.000	4	0.167	0.060	2249	3745	3016
2306	-0.84	-146.0	189.7	-7.6	252	2310	0.00	2.15	0.00	0.000	6	0.000	0.035	2249	2340	3016
2633	-0.84	-146.0	212.6	-7.0	268	2637	0.00	2.17	0.00	0.000	4	0.000	0.048	2249	938	3016
2711	-0.84	-146.0	218.5	-7.4	271	2715	0.00	2.20	0.00	0.000	6	0.000	0.044	2249	2352	3016
3033	-0.84	-146.0	240.6	-6.9	287	3034	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2352	3017
3341	-0.84	-146.0	261.9	-6.8	302	3345	0.00	2.22	0.00	0.000	4	0.000	0.047	2249	932	3018
3368	-0.84	-146.0	263.8	-7.0	303	3372	0.00	2.22	0.00	0.000	6	0.000	0.044	2249	2352	3018
3696	-0.84	-146.0	286.0	-6.8	319	3699	0.00	2.25	0.00	0.000	4	0.000	0.059	2249	3750	3018
3752	-0.91	-146.0	290.0	-6.7	321	3756	0.00	2.17	0.00	0.000	6	0.000	0.035	2249	2323	3018
4074	-0.91	-146.0	310.4	-6.2	337	4075	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2323	3019
4383	-0.96	-146.0	329.4	-6.1	352	4387	0.00	2.33	0.00	0.000	4	0.000	0.060	2249	3749	3020
4424	-1.03	-146.0	331.8	-6.1	353	4430	0.12	2.15	0.00	0.000	6	0.100	0.035	2203	2338	3019
4740	-0.93	-146.0	354.4	-7.4	369	4745	0.12	2.30	0.00	0.000	4	0.150	0.058	2234	3745	3020
4795	-0.93	-146.0	358.3	-7.0	371	4801	0.00	2.15	0.00	0.000	6	0.000	0.035	2234	2328	3020
5111	-0.93	-146.0	379.0	-6.5	387	5115	0.00	2.15	0.00	0.000	4	0.000	0.046	2234	939	3021
5144	-0.93	-146.0	381.6	-7.4	388	5148	0.00	2.20	0.00	0.000	6	0.000	0.044	2234	2345	3021
5485	-0.93	-146.0	403.8	-6.3	404	5488	0.00	2.25	0.00	0.000	4	0.000	0.060	2234	3740	3022
5535	-0.93	-146.0	407.0	-6.3	405	5539	0.00	2.15	0.00	0.000	6	0.000	0.034	2234	2326	3022
5863	-0.93	-146.0	425.3	-5.4	413	5867	0.00	2.15	0.00	0.000	4	0.000	0.045	2234	939	3022
5890	-0.93	-146.0	427.2	-6.6	413	5894	0.00	2.20	0.00	0.000	6	0.000	0.043	2234	2348	3022
6234	-0.93	-146.0	444.1	-4.8	422	6235	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2348	3022
6558	-0.93	-146.0	463.2	-6.3	430	6562	0.00	2.25	0.00	0.000	4	0.000	0.060	2234	3742	3023
6605	-0.99	-146.0	466.1	-6.2	431	6608	0.00	2.12	0.00	0.000	6	0.000	0.034	2234	2340	3023
6935	-0.99	-146.0	486.2	-6.1	439	6936	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2340	3023
7260	-0.99	-146.0	507.2	-6.4	447	7262	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2341	3024
7585	-0.99	-146.0	528.1	-6.4	455	7586	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2340	3024
7910	-0.99	-146.0	548.5	-6.3	463	7914	0.00	2.28	0.00	0.000	4	0.000	0.059	2234	3742	3024
7972	-1.06	-146.0	552.6	-6.8	464	7976	0.12	2.15	0.00	0.000	6	0.100	0.035	2189	2327	3024
8285	-0.95	-146.0	577.7	-8.0	472	8287	0.15	0.00	0.00	0.000	6	0.147	0.000	2230	2324	3024
8609	-0.95	-146.0	598.4	-6.3	480	8613	0.00	2.33	0.00	0.000	4	0.000	0.058	2231	3754	3024
8711	-1.02	-146.0	604.7	-6.4	482	8715	0.00	2.15	0.00	0.000	6	0.000	0.034	2231	2341	3024
9030	-1.02	-146.0	622.6	-5.6	490	9031	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2341	3024
9354	-1.02	-146.0	640.9	-5.8	498	9356	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2341	3024
9679	-1.02	-146.0	659.6	-5.7	506	9683	0.00	2.30	0.00	0.000	4	0.000	0.060	2231	3745	3024
9834	-1.09	-146.0	668.7	-5.5	509	9838	0.12	2.15	0.00	0.000	6	0.091	0.035	2186	2333	3024
10103	end dive: TARGET_DEPTH_EXCEEDED
state	10103	begin apogee
10110	-0.34	0.0	689.3	7.6	516	10244	0.57	0.00	131.73	1.246	6	0.143	0.000	2359	2526	2420
10245	end apogee: CONTROL_FINISHED_OK
state	10245	begin climb
10249	1.08	146.0	692.4	0.0	519	10398	1.02	2.65	138.05	1.165	4	0.104	0.044	2666	1131	1824
10421	1.00	146.0	681.3	7.2	523	10426	0.00	2.47	0.00	0.000	6	0.000	0.043	2666	2521	1824
10740	0.85	146.0	654.9	8.5	531	10744	0.17	2.28	0.00	0.000	4	0.136	0.059	2614	3930	1823
10808	0.78	146.0	649.6	7.7	532	10812	0.00	2.17	0.00	0.000	6	0.000	0.036	2614	2513	1823
11156	0.81	171.2	628.1	6.2	541	11179	0.00	0.00	21.73	1.174	6	0.000	0.000	2614	2513	1723
11482	0.90	186.9	606.9	6.5	549	11501	0.00	2.35	14.45	1.134	4	0.000	0.061	2614	3930	1658
11525	0.91	194.1	604.0	6.8	550	11539	0.00	2.17	7.82	1.002	6	0.000	0.036	2614	2520	1628
11855	1.04	239.4	585.7	5.5	558	11898	0.15	2.33	38.17	1.191	4	0.075	0.048	2676	1121	1444
11950	0.99	239.4	578.0	8.9	560	11954	0.10	2.25	0.00	0.000	6	0.137	0.044	2650	2534	1444
12273	0.99	239.4	552.9	7.9	568	12277	0.00	2.22	0.00	0.000	4	0.000	0.048	2650	1118	1443
12307	0.99	239.4	550.2	7.6	568	12311	0.00	2.20	0.00	0.000	6	0.000	0.044	2650	2529	1443
12643	0.99	239.4	522.7	8.3	577	12647	0.00	2.22	0.00	0.000	4	0.000	0.048	2650	1112	1443
12676	1.05	239.4	519.9	8.3	577	12680	0.00	2.20	0.00	0.000	6	0.000	0.044	2650	2524	1443
13012	1.05	239.4	493.0	7.9	586	13016	0.00	2.22	0.00	0.000	4	0.000	0.048	2650	1109	1443
13051	1.09	239.4	489.9	7.5	586	13058	0.10	2.20	0.00	0.000	6	0.085	0.044	2692	2519	1443
13383	0.95	239.4	455.8	10.5	595	13387	0.17	2.22	0.00	0.000	4	0.127	0.048	2639	1112	1442
13404	0.95	239.4	453.9	8.9	595	13408	0.00	2.20	0.00	0.000	6	0.000	0.044	2639	2525	1442
13753	1.00	239.4	426.5	8.0	604	13757	0.00	2.20	0.00	0.000	4	0.000	0.047	2639	1120	1443
13792	1.08	239.4	423.2	7.9	604	13799	0.12	2.20	0.00	0.000	6	0.079	0.043	2692	2531	1443
14105	0.95	239.4	389.0	11.0	614	14107	0.17	0.00	0.00	0.000	6	0.118	0.000	2638	2532	1443
14415	1.00	239.4	365.2	7.3	629	14418	0.00	2.22	0.00	0.000	4	0.000	0.047	2638	1111	1443
14476	1.10	239.4	360.9	7.2	631	14483	0.12	2.20	0.00	0.000	6	0.078	0.044	2692	2522	1443
14792	0.98	239.4	331.0	9.4	647	14796	0.15	2.22	0.00	0.000	4	0.120	0.047	2647	1115	1444
14826	1.07	247.5	328.3	6.7	648	14839	0.00	2.20	8.15	0.898	6	0.000	0.043	2646	2525	1410
15146	1.07	247.5	304.3	7.8	664	15147	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2525	1412
15457	1.13	247.5	280.7	7.4	679	15461	0.12	2.22	0.00	0.000	4	0.072	0.045	2705	1111	1412
15502	1.02	247.5	276.5	10.0	681	15507	0.17	2.20	0.00	0.000	6	0.125	0.042	2653	2528	1412
15834	1.02	247.5	250.9	7.6	697	15838	0.00	2.22	0.00	0.000	4	0.000	0.046	2653	1109	1412
15863	1.10	252.7	248.8	6.8	698	15874	0.08	2.20	6.03	0.790	6	0.102	0.043	2690	2520	1389
16185	1.03	252.7	219.1	9.6	713	16187	0.12	0.00	0.00	0.000	6	0.125	0.000	2653	2521	1391
16494	1.08	252.7	195.7	7.7	728	16498	0.00	2.20	0.00	0.000	4	0.000	0.047	2653	1118	1391
16556	1.18	256.8	191.0	6.9	730	16566	0.15	2.20	5.07	0.715	6	0.071	0.042	2718	2531	1373
16896	1.04	256.8	155.0	10.8	747	16898	0.20	0.00	0.00	0.000	6	0.120	0.000	2655	2531	1375
17204	1.14	270.8	132.8	6.5	762	17226	0.12	2.28	13.10	0.862	4	0.076	0.047	2709	1123	1315
17282	1.14	270.8	126.3	8.4	765	17287	0.10	2.17	0.00	0.000	6	0.135	0.043	2681	2520	1316
17603	1.14	270.8	102.7	7.5	781	17607	0.00	2.20	0.00	0.000	4	0.000	0.047	2681	1116	1317
17637	1.24	278.1	100.2	6.8	782	17650	0.10	2.20	7.30	0.764	6	0.081	0.042	2721	2531	1286
17988	1.24	278.1	69.6	9.1	843	17995	0.00	2.22	0.00	0.000	4	0.000	0.046	2721	1110	1287
18069	1.24	278.1	62.4	8.8	857	18075	0.00	2.20	0.00	0.000	6	0.000	0.044	2722	2519	1287
18413	1.24	278.1	33.1	7.9	918	18419	0.00	2.25	0.00	0.000	4	0.000	0.060	2721	3927	1288
18454	1.17	278.1	29.5	9.2	925	18461	0.12	2.15	0.00	0.000	6	0.132	0.036	2684	2516	1288
18800	1.36	309.5	8.0	6.0	986	18832	0.15	2.30	26.50	0.866	4	0.070	0.049	2749	1110	1158
18862	1.36	309.5	3.0	8.0	996	18868	0.00	2.22	0.00	0.000	6	0.000	0.044	2749	2521	1157
18872	end climb: SURFACE_DEPTH_REACHED
state	18872	begin surface coast
18896	end surface coast: CONTROL_FINISHED_OK
state	18896	begin surface