Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 362 * 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 362 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 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -31807.646 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 -31807.646

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 43 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 362 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 012001,6704.568,-5702.230,67,1.2,67,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.186,-0.125

_SM_DEPTHo 1.86 KALMAN_X -79378.4,-149.1,-272.5,95830.2,-2390.5

_SM_ANGLEo -63.0 KALMAN_Y -23852.5,482.2,-15.9,41359.2,1930.7

GPS2 012638,6704.583,-5702.482,13,1.1,13,-37.6 MHEAD_RNG_PITCHd_Wd 161.4,10861,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 608

Post-dive calculations and measurements:

FINISH 1.1,1.026456 TCM_TEMP 16.70

SM_CCo 17180,0.00,0.000,0,0,1232,291.42 XPDR_PINGS 1

SM_GC 2.05,7.03,0.00,0.00,0.058,0.000,0.000,155,2333,1232,-10.41,-0.20,291.42 _24V_AH 20.7,67.367

RAFOS_CLK 868 _10V_AH 10.6,29.786

RAFOS 0,1227845062,4.083333,4.072778,66,65,61,57,51,49,167,145,205,221,234,180 DATA_FILE_SIZE 37899,1011

RAFOS_FIX 6704.132324,-5707.433594,271108,202016,2,99,0.00 CAP_FILE_SIZE 150731,0

IRIDIUM_FIX 6636.54,-5704.59,210298,202029 CFSIZE 260165632,224100352

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1874 SOUNDSPEED 1466.9

INTERNAL_PRESSURE 8.57455 GPS 281108,061508,6704.205,-5705.257,29,1.0,29,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 255 128.34 SBE_CT 782 24 388.71

Roll_motor 178 73 271.53 SBE_O2 684 19 269.17

VBD_pump_during_apogee 397 1182 9721.87 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 58.46 nil 0 0 0.00

Iridium_during_connect 32 160 106.28 nil 0 0 0.00

Iridium_during_xfer 198 223 917.72

Transponder_ping 0 420 2.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.95

TT8 1908 19 402.97

LPSleep 12428 2 304.33

TT8_Active 586 19 123.87

TT8_Sampling 2048 39 866.67

TT8_CF8 599 45 291.79

TT8_Kalman 33 81 28.98

Analog_circuits 1703 12 216.65

GPS_charging 0 0 0.00

Compass 2020 8 171.32

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 0 127 0.00 0.00 -108.60 0.000 2 0.000 0.000 155 2319 2918

131 -1.08 -146.0 3.2 -2.2 19 150 8.62 2.35 -3.53 0.000 4 0.255 0.074 2191 3750 3017

157 1.02 -146.0 8.6 -13.3 23 165 1.65 2.17 0.00 0.000 6 0.176 0.036 2660 2331 3019

503 -0.05 -146.0 30.0 -5.8 84 509 0.70 0.00 0.00 0.000 6 0.110 0.000 2425 2331 3020

848 -0.90 -146.0 51.0 -6.4 145 855 0.52 2.20 0.00 0.000 4 0.090 0.048 2234 934 3020

974 -0.74 -146.0 62.9 -10.3 167 981 0.15 2.22 0.00 0.000 6 0.167 0.046 2272 2348 3020

1320 -0.80 -146.0 89.2 -7.7 228 1326 0.00 2.22 0.00 0.000 4 0.000 0.048 2272 936 3018

1333 -0.86 -146.0 90.4 -7.7 230 1340 0.10 2.22 0.00 0.000 6 0.104 0.046 2235 2350 3018

1666 -0.86 -146.0 120.6 -8.5 259 1667 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2350 3017

1973 -0.86 -146.0 145.0 -7.6 274 1977 0.00 2.22 0.00 0.000 4 0.000 0.048 2235 936 3017

2063 -0.79 -146.0 152.7 -8.7 278 2068 0.12 2.22 0.00 0.000 6 0.165 0.046 2267 2348 3017

2397 -0.89 -146.0 173.3 -5.6 294 2401 0.10 2.22 0.00 0.000 4 0.097 0.046 2231 935 3017

2408 -0.96 -146.0 174.1 -5.8 294 2412 0.00 2.22 0.00 0.000 6 0.000 0.045 2231 2349 3017

2730 -0.96 -146.0 195.6 -6.3 310 2734 0.00 2.22 0.00 0.000 4 0.000 0.048 2231 932 3017

2746 -0.96 -146.0 196.8 -6.4 310 2752 0.00 2.22 0.00 0.000 6 0.000 0.044 2231 2348 3017

3062 -0.96 -146.0 216.1 -6.2 326 3066 0.00 2.28 0.00 0.000 4 0.000 0.061 2231 3757 3017

3130 -0.96 -146.0 220.5 -6.5 329 3134 0.00 2.17 0.00 0.000 6 0.000 0.035 2231 2331 3018

3463 -0.96 -146.0 242.7 -6.8 345 3467 0.00 2.33 0.00 0.000 4 0.000 0.061 2231 3753 3018

3501 -0.96 -146.0 245.5 -7.2 346 3508 0.00 2.15 0.00 0.000 6 0.000 0.034 2231 2336 3018

3818 -0.96 -146.0 266.2 -6.8 362 3822 0.00 2.30 0.00 0.000 4 0.000 0.059 2231 3747 3019

3841 -0.96 -146.0 268.1 -7.7 363 3845 0.00 2.15 0.00 0.000 6 0.000 0.034 2231 2330 3019

4173 -0.96 -146.0 291.4 -7.2 379 4177 0.00 2.30 0.00 0.000 4 0.000 0.058 2231 3745 3019

4189 -0.96 -146.0 292.6 -6.9 379 4196 0.00 2.15 0.00 0.000 6 0.000 0.033 2231 2328 3019

4506 -0.96 -146.0 313.8 -6.8 395 4510 0.00 2.33 0.00 0.000 4 0.000 0.058 2231 3759 3020

4539 -0.96 -146.0 316.2 -7.1 396 4543 0.00 2.15 0.00 0.000 6 0.000 0.033 2231 2338 3020

4860 -0.96 -146.0 338.8 -7.3 412 4864 0.00 2.30 0.00 0.000 4 0.000 0.060 2231 3745 3021

4884 -0.96 -146.0 340.4 -7.2 413 4888 0.00 2.15 0.00 0.000 6 0.000 0.034 2231 2329 3021

5216 -0.96 -146.0 364.2 -7.1 429 5220 0.00 2.33 0.00 0.000 4 0.000 0.058 2231 3757 3021

5284 -1.01 -146.0 369.1 -7.3 432 5288 0.00 2.17 0.00 0.000 6 0.000 0.035 2231 2327 3021

5617 -1.01 -146.0 392.0 -6.8 448 5621 0.00 2.33 0.00 0.000 4 0.000 0.059 2231 3753 3022

5628 -1.01 -146.0 392.9 -6.8 448 5632 0.00 2.15 0.00 0.000 6 0.000 0.033 2231 2337 3022

5947 -1.01 -146.0 414.1 -6.7 459 5951 0.00 2.30 0.00 0.000 4 0.000 0.058 2230 3747 3022

5958 -1.01 -146.0 414.7 -6.4 459 5962 0.00 2.15 0.00 0.000 6 0.000 0.032 2231 2330 3022

6277 -1.01 -146.0 434.7 -6.1 467 6282 0.00 2.30 0.00 0.000 4 0.000 0.058 2231 3753 3023

6330 -1.08 -146.0 437.9 -6.4 468 6334 0.10 2.15 0.00 0.000 6 0.098 0.032 2191 2333 3023

6655 -0.98 -146.0 460.8 -7.0 476 6659 0.12 2.33 0.00 0.000 4 0.145 0.060 2226 3757 3023

6677 -0.98 -146.0 462.2 -6.7 476 6680 0.00 2.15 0.00 0.000 6 0.000 0.032 2226 2340 3022

7025 -0.98 -146.0 484.3 -6.5 485 7029 0.00 2.30 0.00 0.000 4 0.000 0.059 2226 3748 3023

7071 -1.04 -146.0 487.3 -6.7 486 7075 0.00 2.15 0.00 0.000 6 0.000 0.034 2226 2334 3023

7401 -1.04 -146.0 509.6 -6.8 494 7405 0.00 2.30 0.00 0.000 4 0.000 0.058 2226 3745 3023

7423 -1.09 -146.0 511.2 -7.2 494 7428 0.12 2.15 0.00 0.000 6 0.087 0.034 2180 2332 3023

7771 -0.97 -146.0 539.1 -7.8 503 7776 0.17 2.33 0.00 0.000 4 0.143 0.058 2229 3747 3023

7857 -1.05 -146.0 544.8 -6.8 505 7861 0.10 2.15 0.00 0.000 6 0.096 0.034 2191 2332 3023

8186 -0.97 -146.0 568.7 -7.3 513 8191 0.12 2.33 0.00 0.000 4 0.145 0.060 2226 3749 3024

8226 -1.04 -146.0 571.3 -6.7 513 8232 0.00 2.15 0.00 0.000 6 0.000 0.035 2226 2341 3024

8558 -1.04 -146.0 592.8 -6.4 522 8561 0.00 2.30 0.00 0.000 4 0.000 0.058 2226 3750 3024

8585 -1.11 -146.0 594.9 -7.8 522 8590 0.12 2.15 0.00 0.000 6 0.087 0.033 2180 2334 3024

8803 end dive: TARGET_DEPTH_EXCEEDED

state 8803 begin apogee

8810 -0.34 0.0 611.7 7.5 528 8943 0.60 0.00 129.60 1.183 6 0.143 0.000 2362 2530 2420

8943 end apogee: CONTROL_FINISHED_OK

state 8944 begin climb

8946 1.08 146.0 616.0 0.0 531 9093 1.05 0.00 137.75 1.096 6 0.108 0.000 2671 2530 1824

9415 0.91 146.0 580.6 8.8 543 9420 0.15 2.28 0.00 0.000 4 0.140 0.058 2628 3933 1824

9522 0.79 146.0 571.6 8.0 545 9526 0.00 2.15 0.00 0.000 6 0.000 0.035 2628 2526 1824

9871 0.79 152.4 548.3 6.8 554 9882 0.00 2.28 6.55 0.911 4 0.000 0.047 2628 1109 1798

9933 0.79 152.4 543.9 7.4 555 9937 0.00 2.20 0.00 0.000 6 0.000 0.042 2628 2524 1799

10281 0.79 152.4 519.2 7.1 564 10284 0.00 2.22 0.00 0.000 4 0.000 0.058 2628 3926 1800

10348 0.68 152.4 513.6 8.6 565 10353 0.17 2.15 0.00 0.000 6 0.137 0.035 2575 2510 1799

10691 0.97 152.4 491.8 7.0 574 10696 0.20 2.33 0.00 0.000 4 0.069 0.059 2661 3936 1799

10808 0.75 152.4 480.0 11.0 576 10813 0.22 2.17 0.00 0.000 6 0.134 0.035 2594 2509 1799

11141 0.87 161.8 457.2 6.7 584 11156 0.12 2.22 9.25 0.978 4 0.074 0.046 2651 1118 1760

11206 0.87 161.8 451.5 8.5 585 11211 0.12 2.20 0.00 0.000 6 0.134 0.042 2614 2531 1760

11554 0.87 161.8 425.7 7.4 594 11559 0.00 2.22 0.00 0.000 4 0.000 0.060 2614 3924 1761

11604 0.87 161.8 421.3 9.3 595 11608 0.00 2.15 0.00 0.000 6 0.000 0.035 2614 2506 1761

11929 0.92 163.5 398.2 7.0 603 11933 0.00 2.15 0.00 0.000 4 0.000 0.046 2614 1116 1761

11980 1.01 163.5 394.6 7.1 605 11984 0.15 2.20 0.00 0.000 6 0.072 0.043 2678 2530 1761

12301 0.85 163.5 366.8 8.7 621 12306 0.20 2.25 0.00 0.000 4 0.120 0.059 2611 3926 1761

12407 0.86 169.4 358.9 6.8 625 12422 0.00 2.15 7.90 0.900 6 0.000 0.035 2610 2509 1730

12746 0.99 204.9 339.6 5.8 642 12781 0.15 2.22 29.88 1.019 4 0.071 0.047 2677 1120 1584

12827 0.93 204.9 332.7 8.2 645 12833 0.15 2.20 0.00 0.000 6 0.127 0.043 2633 2520 1584

13143 0.96 223.2 311.2 6.4 661 13165 0.00 2.28 16.17 0.960 4 0.000 0.058 2633 3926 1510

13199 0.96 223.2 307.1 8.4 663 13203 0.00 2.15 0.00 0.000 6 0.000 0.035 2633 2520 1510

13521 1.02 230.0 286.4 6.8 679 13535 0.10 2.25 7.00 0.822 4 0.087 0.046 2679 1112 1482

13614 1.02 230.0 278.3 8.7 683 13618 0.00 2.20 0.00 0.000 6 0.000 0.042 2679 2529 1484

13941 0.95 230.0 250.1 8.9 699 13945 0.15 2.25 0.00 0.000 4 0.129 0.058 2633 3937 1483

13986 0.95 230.0 246.5 7.4 701 13990 0.00 2.15 0.00 0.000 6 0.000 0.035 2633 2516 1484

14319 1.04 237.8 225.4 6.8 717 14334 0.10 2.20 7.85 0.825 4 0.086 0.045 2679 1126 1450

14424 1.04 237.8 216.1 8.8 721 14430 0.00 2.17 0.00 0.000 6 0.000 0.042 2679 2524 1452

14740 0.99 237.8 187.4 8.9 737 14744 0.12 2.25 0.00 0.000 4 0.131 0.058 2640 3925 1452

14818 0.99 237.8 180.6 8.0 740 14821 0.00 2.15 0.00 0.000 6 0.000 0.034 2640 2506 1452

15140 1.10 252.0 158.5 6.5 756 15162 0.12 2.20 13.18 0.864 4 0.074 0.046 2696 1123 1392

15241 1.10 252.0 149.5 9.3 760 15245 0.00 2.17 0.00 0.000 6 0.000 0.042 2696 2518 1393

15563 1.03 252.0 118.8 9.5 776 15567 0.15 2.25 0.00 0.000 4 0.124 0.057 2650 3927 1393

15624 1.03 252.0 113.5 8.1 778 15630 0.00 2.15 0.00 0.000 6 0.000 0.035 2650 2511 1393

15952 1.18 290.7 92.0 5.7 809 15990 0.15 2.28 31.98 0.871 4 0.068 0.046 2718 1114 1234

16083 1.18 290.7 80.7 9.0 831 16090 0.10 2.20 0.00 0.000 6 0.133 0.042 2690 2523 1233

16428 1.23 290.7 54.6 7.2 892 16434 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2523 1234

16772 1.30 290.7 30.1 7.5 953 16779 0.10 2.20 0.00 0.000 4 0.082 0.045 2735 1123 1234

16830 1.30 290.7 24.9 8.6 963 16837 0.00 2.17 0.00 0.000 6 0.000 0.043 2735 2522 1234

17076 end climb: SURFACE_DEPTH_REACHED

state 17077 begin surface coast

17102 end surface coast: CONTROL_FINISHED_OK

state 17102 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	362	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	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-31807.646	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	012001,6704.568,-5702.230,67,1.2,67,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.186,-0.125
_SM_DEPTHo	1.86	KALMAN_X	-79378.4,-149.1,-272.5,95830.2,-2390.5
_SM_ANGLEo	-63.0	KALMAN_Y	-23852.5,482.2,-15.9,41359.2,1930.7
GPS2	012638,6704.583,-5702.482,13,1.1,13,-37.6	MHEAD_RNG_PITCHd_Wd	161.4,10861,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	608

FINISH	1.1,1.026456	TCM_TEMP	16.70
SM_CCo	17180,0.00,0.000,0,0,1232,291.42	XPDR_PINGS	1
SM_GC	2.05,7.03,0.00,0.00,0.058,0.000,0.000,155,2333,1232,-10.41,-0.20,291.42	_24V_AH	20.7,67.367
RAFOS_CLK	868	_10V_AH	10.6,29.786
RAFOS	0,1227845062,4.083333,4.072778,66,65,61,57,51,49,167,145,205,221,234,180	DATA_FILE_SIZE	37899,1011
RAFOS_FIX	6704.132324,-5707.433594,271108,202016,2,99,0.00	CAP_FILE_SIZE	150731,0
IRIDIUM_FIX	6636.54,-5704.59,210298,202029	CFSIZE	260165632,224100352
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1874	SOUNDSPEED	1466.9
INTERNAL_PRESSURE	8.57455	GPS	281108,061508,6704.205,-5705.257,29,1.0,29,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	255	128.34	SBE_CT	782	24	388.71
Roll_motor	178	73	271.53	SBE_O2	684	19	269.17
VBD_pump_during_apogee	397	1182	9721.87	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	58.46	nil	0	0	0.00
Iridium_during_connect	32	160	106.28	nil	0	0	0.00
Iridium_during_xfer	198	223	917.72
Transponder_ping	0	420	2.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.95
TT8	1908	19	402.97
LPSleep	12428	2	304.33
TT8_Active	586	19	123.87
TT8_Sampling	2048	39	866.67
TT8_CF8	599	45	291.79
TT8_Kalman	33	81	28.98
Analog_circuits	1703	12	216.65
GPS_charging	0	0	0.00
Compass	2020	8	171.32
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	127	0.00	0.00	-108.60	0.000	2	0.000	0.000	155	2319	2918
131	-1.08	-146.0	3.2	-2.2	19	150	8.62	2.35	-3.53	0.000	4	0.255	0.074	2191	3750	3017
157	1.02	-146.0	8.6	-13.3	23	165	1.65	2.17	0.00	0.000	6	0.176	0.036	2660	2331	3019
503	-0.05	-146.0	30.0	-5.8	84	509	0.70	0.00	0.00	0.000	6	0.110	0.000	2425	2331	3020
848	-0.90	-146.0	51.0	-6.4	145	855	0.52	2.20	0.00	0.000	4	0.090	0.048	2234	934	3020
974	-0.74	-146.0	62.9	-10.3	167	981	0.15	2.22	0.00	0.000	6	0.167	0.046	2272	2348	3020
1320	-0.80	-146.0	89.2	-7.7	228	1326	0.00	2.22	0.00	0.000	4	0.000	0.048	2272	936	3018
1333	-0.86	-146.0	90.4	-7.7	230	1340	0.10	2.22	0.00	0.000	6	0.104	0.046	2235	2350	3018
1666	-0.86	-146.0	120.6	-8.5	259	1667	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2350	3017
1973	-0.86	-146.0	145.0	-7.6	274	1977	0.00	2.22	0.00	0.000	4	0.000	0.048	2235	936	3017
2063	-0.79	-146.0	152.7	-8.7	278	2068	0.12	2.22	0.00	0.000	6	0.165	0.046	2267	2348	3017
2397	-0.89	-146.0	173.3	-5.6	294	2401	0.10	2.22	0.00	0.000	4	0.097	0.046	2231	935	3017
2408	-0.96	-146.0	174.1	-5.8	294	2412	0.00	2.22	0.00	0.000	6	0.000	0.045	2231	2349	3017
2730	-0.96	-146.0	195.6	-6.3	310	2734	0.00	2.22	0.00	0.000	4	0.000	0.048	2231	932	3017
2746	-0.96	-146.0	196.8	-6.4	310	2752	0.00	2.22	0.00	0.000	6	0.000	0.044	2231	2348	3017
3062	-0.96	-146.0	216.1	-6.2	326	3066	0.00	2.28	0.00	0.000	4	0.000	0.061	2231	3757	3017
3130	-0.96	-146.0	220.5	-6.5	329	3134	0.00	2.17	0.00	0.000	6	0.000	0.035	2231	2331	3018
3463	-0.96	-146.0	242.7	-6.8	345	3467	0.00	2.33	0.00	0.000	4	0.000	0.061	2231	3753	3018
3501	-0.96	-146.0	245.5	-7.2	346	3508	0.00	2.15	0.00	0.000	6	0.000	0.034	2231	2336	3018
3818	-0.96	-146.0	266.2	-6.8	362	3822	0.00	2.30	0.00	0.000	4	0.000	0.059	2231	3747	3019
3841	-0.96	-146.0	268.1	-7.7	363	3845	0.00	2.15	0.00	0.000	6	0.000	0.034	2231	2330	3019
4173	-0.96	-146.0	291.4	-7.2	379	4177	0.00	2.30	0.00	0.000	4	0.000	0.058	2231	3745	3019
4189	-0.96	-146.0	292.6	-6.9	379	4196	0.00	2.15	0.00	0.000	6	0.000	0.033	2231	2328	3019
4506	-0.96	-146.0	313.8	-6.8	395	4510	0.00	2.33	0.00	0.000	4	0.000	0.058	2231	3759	3020
4539	-0.96	-146.0	316.2	-7.1	396	4543	0.00	2.15	0.00	0.000	6	0.000	0.033	2231	2338	3020
4860	-0.96	-146.0	338.8	-7.3	412	4864	0.00	2.30	0.00	0.000	4	0.000	0.060	2231	3745	3021
4884	-0.96	-146.0	340.4	-7.2	413	4888	0.00	2.15	0.00	0.000	6	0.000	0.034	2231	2329	3021
5216	-0.96	-146.0	364.2	-7.1	429	5220	0.00	2.33	0.00	0.000	4	0.000	0.058	2231	3757	3021
5284	-1.01	-146.0	369.1	-7.3	432	5288	0.00	2.17	0.00	0.000	6	0.000	0.035	2231	2327	3021
5617	-1.01	-146.0	392.0	-6.8	448	5621	0.00	2.33	0.00	0.000	4	0.000	0.059	2231	3753	3022
5628	-1.01	-146.0	392.9	-6.8	448	5632	0.00	2.15	0.00	0.000	6	0.000	0.033	2231	2337	3022
5947	-1.01	-146.0	414.1	-6.7	459	5951	0.00	2.30	0.00	0.000	4	0.000	0.058	2230	3747	3022
5958	-1.01	-146.0	414.7	-6.4	459	5962	0.00	2.15	0.00	0.000	6	0.000	0.032	2231	2330	3022
6277	-1.01	-146.0	434.7	-6.1	467	6282	0.00	2.30	0.00	0.000	4	0.000	0.058	2231	3753	3023
6330	-1.08	-146.0	437.9	-6.4	468	6334	0.10	2.15	0.00	0.000	6	0.098	0.032	2191	2333	3023
6655	-0.98	-146.0	460.8	-7.0	476	6659	0.12	2.33	0.00	0.000	4	0.145	0.060	2226	3757	3023
6677	-0.98	-146.0	462.2	-6.7	476	6680	0.00	2.15	0.00	0.000	6	0.000	0.032	2226	2340	3022
7025	-0.98	-146.0	484.3	-6.5	485	7029	0.00	2.30	0.00	0.000	4	0.000	0.059	2226	3748	3023
7071	-1.04	-146.0	487.3	-6.7	486	7075	0.00	2.15	0.00	0.000	6	0.000	0.034	2226	2334	3023
7401	-1.04	-146.0	509.6	-6.8	494	7405	0.00	2.30	0.00	0.000	4	0.000	0.058	2226	3745	3023
7423	-1.09	-146.0	511.2	-7.2	494	7428	0.12	2.15	0.00	0.000	6	0.087	0.034	2180	2332	3023
7771	-0.97	-146.0	539.1	-7.8	503	7776	0.17	2.33	0.00	0.000	4	0.143	0.058	2229	3747	3023
7857	-1.05	-146.0	544.8	-6.8	505	7861	0.10	2.15	0.00	0.000	6	0.096	0.034	2191	2332	3023
8186	-0.97	-146.0	568.7	-7.3	513	8191	0.12	2.33	0.00	0.000	4	0.145	0.060	2226	3749	3024
8226	-1.04	-146.0	571.3	-6.7	513	8232	0.00	2.15	0.00	0.000	6	0.000	0.035	2226	2341	3024
8558	-1.04	-146.0	592.8	-6.4	522	8561	0.00	2.30	0.00	0.000	4	0.000	0.058	2226	3750	3024
8585	-1.11	-146.0	594.9	-7.8	522	8590	0.12	2.15	0.00	0.000	6	0.087	0.033	2180	2334	3024
8803	end dive: TARGET_DEPTH_EXCEEDED
state	8803	begin apogee
8810	-0.34	0.0	611.7	7.5	528	8943	0.60	0.00	129.60	1.183	6	0.143	0.000	2362	2530	2420
8943	end apogee: CONTROL_FINISHED_OK
state	8944	begin climb
8946	1.08	146.0	616.0	0.0	531	9093	1.05	0.00	137.75	1.096	6	0.108	0.000	2671	2530	1824
9415	0.91	146.0	580.6	8.8	543	9420	0.15	2.28	0.00	0.000	4	0.140	0.058	2628	3933	1824
9522	0.79	146.0	571.6	8.0	545	9526	0.00	2.15	0.00	0.000	6	0.000	0.035	2628	2526	1824
9871	0.79	152.4	548.3	6.8	554	9882	0.00	2.28	6.55	0.911	4	0.000	0.047	2628	1109	1798
9933	0.79	152.4	543.9	7.4	555	9937	0.00	2.20	0.00	0.000	6	0.000	0.042	2628	2524	1799
10281	0.79	152.4	519.2	7.1	564	10284	0.00	2.22	0.00	0.000	4	0.000	0.058	2628	3926	1800
10348	0.68	152.4	513.6	8.6	565	10353	0.17	2.15	0.00	0.000	6	0.137	0.035	2575	2510	1799
10691	0.97	152.4	491.8	7.0	574	10696	0.20	2.33	0.00	0.000	4	0.069	0.059	2661	3936	1799
10808	0.75	152.4	480.0	11.0	576	10813	0.22	2.17	0.00	0.000	6	0.134	0.035	2594	2509	1799
11141	0.87	161.8	457.2	6.7	584	11156	0.12	2.22	9.25	0.978	4	0.074	0.046	2651	1118	1760
11206	0.87	161.8	451.5	8.5	585	11211	0.12	2.20	0.00	0.000	6	0.134	0.042	2614	2531	1760
11554	0.87	161.8	425.7	7.4	594	11559	0.00	2.22	0.00	0.000	4	0.000	0.060	2614	3924	1761
11604	0.87	161.8	421.3	9.3	595	11608	0.00	2.15	0.00	0.000	6	0.000	0.035	2614	2506	1761
11929	0.92	163.5	398.2	7.0	603	11933	0.00	2.15	0.00	0.000	4	0.000	0.046	2614	1116	1761
11980	1.01	163.5	394.6	7.1	605	11984	0.15	2.20	0.00	0.000	6	0.072	0.043	2678	2530	1761
12301	0.85	163.5	366.8	8.7	621	12306	0.20	2.25	0.00	0.000	4	0.120	0.059	2611	3926	1761
12407	0.86	169.4	358.9	6.8	625	12422	0.00	2.15	7.90	0.900	6	0.000	0.035	2610	2509	1730
12746	0.99	204.9	339.6	5.8	642	12781	0.15	2.22	29.88	1.019	4	0.071	0.047	2677	1120	1584
12827	0.93	204.9	332.7	8.2	645	12833	0.15	2.20	0.00	0.000	6	0.127	0.043	2633	2520	1584
13143	0.96	223.2	311.2	6.4	661	13165	0.00	2.28	16.17	0.960	4	0.000	0.058	2633	3926	1510
13199	0.96	223.2	307.1	8.4	663	13203	0.00	2.15	0.00	0.000	6	0.000	0.035	2633	2520	1510
13521	1.02	230.0	286.4	6.8	679	13535	0.10	2.25	7.00	0.822	4	0.087	0.046	2679	1112	1482
13614	1.02	230.0	278.3	8.7	683	13618	0.00	2.20	0.00	0.000	6	0.000	0.042	2679	2529	1484
13941	0.95	230.0	250.1	8.9	699	13945	0.15	2.25	0.00	0.000	4	0.129	0.058	2633	3937	1483
13986	0.95	230.0	246.5	7.4	701	13990	0.00	2.15	0.00	0.000	6	0.000	0.035	2633	2516	1484
14319	1.04	237.8	225.4	6.8	717	14334	0.10	2.20	7.85	0.825	4	0.086	0.045	2679	1126	1450
14424	1.04	237.8	216.1	8.8	721	14430	0.00	2.17	0.00	0.000	6	0.000	0.042	2679	2524	1452
14740	0.99	237.8	187.4	8.9	737	14744	0.12	2.25	0.00	0.000	4	0.131	0.058	2640	3925	1452
14818	0.99	237.8	180.6	8.0	740	14821	0.00	2.15	0.00	0.000	6	0.000	0.034	2640	2506	1452
15140	1.10	252.0	158.5	6.5	756	15162	0.12	2.20	13.18	0.864	4	0.074	0.046	2696	1123	1392
15241	1.10	252.0	149.5	9.3	760	15245	0.00	2.17	0.00	0.000	6	0.000	0.042	2696	2518	1393
15563	1.03	252.0	118.8	9.5	776	15567	0.15	2.25	0.00	0.000	4	0.124	0.057	2650	3927	1393
15624	1.03	252.0	113.5	8.1	778	15630	0.00	2.15	0.00	0.000	6	0.000	0.035	2650	2511	1393
15952	1.18	290.7	92.0	5.7	809	15990	0.15	2.28	31.98	0.871	4	0.068	0.046	2718	1114	1234
16083	1.18	290.7	80.7	9.0	831	16090	0.10	2.20	0.00	0.000	6	0.133	0.042	2690	2523	1233
16428	1.23	290.7	54.6	7.2	892	16434	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2523	1234
16772	1.30	290.7	30.1	7.5	953	16779	0.10	2.20	0.00	0.000	4	0.082	0.045	2735	1123	1234
16830	1.30	290.7	24.9	8.6	963	16837	0.00	2.17	0.00	0.000	6	0.000	0.043	2735	2522	1234
17076	end climb: SURFACE_DEPTH_REACHED
state	17077	begin surface coast
17102	end surface coast: CONTROL_FINISHED_OK
state	17102	begin surface