Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 367 * 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 367 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -31886.529 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 -31886.529

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 367 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 025456,6705.359,-5705.645,61,1.1,61,-37.7 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 7 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.219,-0.047

_SM_DEPTHo 1.77 KALMAN_X -99618.3,662.1,150.0,112458.8,-4485.4

_SM_ANGLEo -62.1 KALMAN_Y -13437.0,42.1,392.7,32447.3,1040.9

GPS2 030157,6705.374,-5705.729,12,1.5,12,-37.7 MHEAD_RNG_PITCHd_Wd 139.8,13536,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 616

Post-dive calculations and measurements:

FINISH 0.7,1.013739 TCM_TEMP 16.70

SM_CCo 17422,0.00,0.000,0,0,1100,323.80 XPDR_PINGS 3

SM_GC 1.72,6.93,0.00,0.00,0.059,0.000,0.000,161,2336,1100,-10.38,-0.11,323.80 _24V_AH 20.7,68.054

RAFOS_CLK 880 _10V_AH 10.6,30.153

RAFOS 0,1227931444,4.083333,4.067778,59,55,54,53,49,48,210,135,151,197,160,178 DATA_FILE_SIZE 37845,1009

RAFOS_FIX 6704.449707,-5710.710938,291108,000016,2,110,0.43 CAP_FILE_SIZE 150365,0

IRIDIUM_FIX 6636.54,-5712.23,220298,222210 CFSIZE 260165632,223748096

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

HUMID 1858 SOUNDSPEED 1467.6

INTERNAL_PRESSURE 8.56478 GPS 291108,075458,6705.069,-5704.304,38,2.6,57,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 253 118.11 SBE_CT 773 24 384.04

Roll_motor 165 62 212.81 SBE_O2 682 19 268.57

VBD_pump_during_apogee 415 1180 10140.34 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 24 103 51.21 nil 0 0 0.00

Iridium_during_connect 30 160 100.94 nil 0 0 0.00

Iridium_during_xfer 225 223 1041.08

Transponder_ping 0 420 6.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.55

TT8 1892 19 399.68

LPSleep 12744 2 312.06

TT8_Active 550 19 116.16

TT8_Sampling 2047 39 866.35

TT8_CF8 604 45 294.02

TT8_Kalman 33 81 28.99

Analog_circuits 1672 12 212.70

GPS_charging 0 0 0.00

Compass 2006 8 170.19

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 0 117 0.00 0.00 -97.95 0.000 2 0.000 0.000 162 2356 2892

120 -1.08 -146.0 3.0 -2.0 17 140 8.55 2.25 -4.53 0.000 4 0.254 0.059 2197 921 3018

169 0.06 -146.0 12.7 -18.8 25 177 0.88 2.25 0.00 0.000 6 0.166 0.046 2450 2349 3020

515 -0.51 -146.0 31.6 -6.1 86 522 0.35 2.28 0.00 0.000 4 0.074 0.062 2316 3745 3020

569 -0.55 -146.0 35.4 -7.7 95 575 0.00 2.20 0.00 0.000 6 0.000 0.037 2316 2311 3020

914 -0.62 -146.0 62.3 -8.3 156 920 0.00 2.35 0.00 0.000 4 0.000 0.062 2316 3742 3020

966 -0.74 -146.0 66.5 -8.0 165 973 0.15 2.15 0.00 0.000 6 0.085 0.037 2259 2342 3020

1312 -0.69 -146.0 93.5 -7.5 226 1319 0.12 2.22 0.00 0.000 4 0.155 0.049 2294 929 3018

1326 -0.69 -146.0 94.6 -7.7 228 1332 0.00 2.22 0.00 0.000 6 0.000 0.047 2294 2340 3018

1656 -0.78 -146.0 116.1 -6.5 254 1658 0.10 0.00 0.00 0.000 6 0.099 0.000 2257 2340 3017

1963 -0.78 -146.0 138.9 -7.7 269 1966 0.00 2.28 0.00 0.000 4 0.000 0.061 2256 3742 3017

1974 -0.78 -146.0 139.7 -7.6 269 1978 0.00 2.15 0.00 0.000 6 0.000 0.035 2256 2328 3016

2295 -0.78 -146.0 163.6 -7.6 285 2299 0.00 2.35 0.00 0.000 4 0.000 0.062 2256 3753 3017

2306 -0.78 -146.0 164.4 -7.4 285 2310 0.00 2.17 0.00 0.000 6 0.000 0.035 2257 2334 3016

2628 -0.78 -146.0 186.9 -6.6 301 2632 0.00 2.33 0.00 0.000 4 0.000 0.061 2256 3750 3017

2644 -0.78 -146.0 188.0 -5.9 301 2650 0.00 2.17 0.00 0.000 6 0.000 0.035 2256 2328 3017

2960 -0.78 -146.0 207.4 -6.0 317 2961 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2328 3017

3270 -0.78 -146.0 226.1 -5.8 332 3274 0.00 2.33 0.00 0.000 4 0.000 0.060 2256 3753 3018

3383 -0.86 -146.0 233.0 -5.8 337 3387 0.00 2.17 0.00 0.000 6 0.000 0.035 2256 2327 3017

3716 -0.91 -146.0 251.5 -5.6 353 3720 0.00 2.15 0.00 0.000 4 0.000 0.047 2256 942 3018

3734 -0.91 -146.0 252.5 -5.4 353 3740 0.00 2.20 0.00 0.000 6 0.000 0.044 2256 2344 3018

4051 -0.97 -146.0 271.0 -5.9 369 4053 0.12 0.00 0.00 0.000 6 0.089 0.000 2206 2344 3018

4359 -0.88 -146.0 294.1 -7.3 384 4361 0.15 0.00 0.00 0.000 6 0.146 0.000 2248 2344 3019

4669 -0.88 -146.0 310.5 -5.3 399 4672 0.00 2.28 0.00 0.000 4 0.000 0.060 2248 3750 3021

4719 -0.96 -146.0 313.6 -6.4 401 4723 0.00 2.15 0.00 0.000 6 0.000 0.035 2248 2340 3020

5048 -1.02 -146.0 333.6 -6.3 417 5052 0.12 2.30 0.00 0.000 4 0.096 0.058 2202 3742 3021

5132 -0.94 -146.0 340.2 -8.1 421 5137 0.12 2.15 0.00 0.000 6 0.149 0.035 2235 2325 3021

5465 -0.94 -146.0 361.5 -6.3 437 5471 0.00 2.30 0.00 0.000 4 0.000 0.060 2235 3742 3021

5512 -0.99 -146.0 364.6 -6.3 439 5515 0.00 2.15 0.00 0.000 6 0.000 0.035 2235 2330 3021

5845 -0.99 -146.0 385.3 -6.1 455 5849 0.00 2.33 0.00 0.000 4 0.000 0.059 2235 3750 3022

5886 -1.04 -146.0 387.8 -6.3 456 5892 0.10 2.17 0.00 0.000 6 0.103 0.035 2200 2326 3022

6200 -0.95 -146.0 409.9 -7.0 469 6205 0.12 2.35 0.00 0.000 4 0.149 0.058 2233 3753 3023

6274 -1.00 -146.0 414.4 -6.2 470 6277 0.00 2.17 0.00 0.000 6 0.000 0.034 2233 2326 3023

6611 -1.00 -146.0 433.6 -5.6 479 6615 0.00 2.33 0.00 0.000 4 0.000 0.059 2233 3746 3023

6633 -1.00 -146.0 434.9 -5.8 479 6637 0.00 2.15 0.00 0.000 6 0.000 0.034 2233 2334 3023

6981 -1.00 -146.0 454.3 -5.6 488 6985 0.00 2.30 0.00 0.000 4 0.000 0.059 2233 3746 3023

7016 -1.05 -146.0 456.3 -6.1 488 7020 0.12 2.15 0.00 0.000 6 0.097 0.035 2189 2335 3023

7352 -0.93 -146.0 480.2 -7.1 497 7357 0.17 2.33 0.00 0.000 4 0.144 0.058 2240 3749 3023

7414 -1.02 -146.0 484.0 -5.6 498 7419 0.10 2.15 0.00 0.000 6 0.095 0.035 2203 2335 3023

7763 -0.95 -146.0 506.6 -6.7 507 7765 0.10 0.00 0.00 0.000 6 0.149 0.000 2230 2333 3023

8087 -0.95 -146.0 526.3 -6.1 515 8091 0.00 2.30 0.00 0.000 4 0.000 0.060 2230 3744 3024

8155 -1.01 -146.0 530.6 -6.6 516 8158 0.00 2.15 0.00 0.000 6 0.000 0.035 2231 2335 3023

8503 -1.01 -146.0 551.7 -6.0 525 8507 0.00 2.30 0.00 0.000 4 0.000 0.059 2230 3743 3024

8515 -1.01 -146.0 552.4 -6.1 525 8519 0.00 2.15 0.00 0.000 6 0.000 0.034 2231 2331 3023

8834 -1.01 -146.0 572.3 -6.4 533 8838 0.00 2.30 0.00 0.000 4 0.000 0.058 2231 3742 3024

8846 -1.01 -146.0 572.9 -6.1 533 8850 0.00 2.12 0.00 0.000 6 0.000 0.034 2231 2341 3024

9164 -1.01 -146.0 593.1 -6.5 541 9168 0.00 2.30 0.00 0.000 4 0.000 0.059 2231 3746 3024

9193 -1.07 -146.0 594.9 -6.7 541 9197 0.12 2.15 0.00 0.000 6 0.091 0.034 2185 2329 3024

9536 -1.14 -146.0 615.3 -4.2 550 9540 0.00 2.17 0.00 0.000 4 0.000 0.046 2185 932 3024

9692 end dive: NO_VERTICAL_VELOCITY

state 9692 begin apogee

9703 -0.34 0.0 615.5 0.0 553 9836 0.50 0.00 129.55 1.180 6 0.095 0.000 2360 2521 2420

9836 end apogee: CONTROL_FINISHED_OK

state 9836 begin climb

9840 1.08 146.0 615.3 0.0 556 9983 1.00 2.65 135.32 1.106 4 0.104 0.058 2665 3922 1824

10093 0.84 146.0 593.0 11.5 561 10100 0.20 2.28 0.00 0.000 6 0.134 0.035 2611 2527 1825

10424 0.84 146.0 569.3 7.3 570 10428 0.00 2.20 0.00 0.000 4 0.000 0.046 2611 1109 1824

10470 0.95 168.8 566.7 6.2 571 10496 0.12 2.20 19.90 1.086 6 0.074 0.043 2664 2522 1731

10839 0.84 168.8 535.7 8.5 580 10843 0.17 2.25 0.00 0.000 4 0.127 0.058 2611 3930 1731

10939 0.84 168.8 528.3 7.2 582 10943 0.00 2.15 0.00 0.000 6 0.000 0.035 2611 2516 1731

11258 0.97 210.1 510.0 5.6 590 11300 0.12 2.25 34.42 1.109 4 0.076 0.048 2665 1119 1563

11357 0.97 210.1 502.1 7.7 592 11361 0.00 2.20 0.00 0.000 6 0.000 0.043 2665 2522 1563

11675 0.90 210.1 475.5 8.3 600 11679 0.12 2.25 0.00 0.000 4 0.134 0.058 2628 3929 1564

11721 0.90 210.1 471.8 7.9 601 11724 0.00 2.15 0.00 0.000 6 0.000 0.035 2628 2515 1564

12052 0.99 233.0 450.9 6.2 609 12077 0.10 2.22 20.02 1.056 4 0.086 0.047 2674 1110 1470

12150 0.99 233.0 442.6 9.1 611 12154 0.00 2.22 0.00 0.000 6 0.000 0.042 2674 2535 1470

12464 0.93 233.0 415.4 8.6 619 12469 0.15 2.22 0.00 0.000 4 0.131 0.057 2628 3927 1470

12503 0.93 233.0 412.1 8.1 619 12509 0.00 2.15 0.00 0.000 6 0.000 0.035 2627 2510 1470

12816 1.05 253.1 391.9 6.3 630 12840 0.12 2.25 17.77 1.019 4 0.077 0.046 2680 1120 1388

12931 1.05 253.1 381.7 8.9 635 12935 0.00 2.20 0.00 0.000 6 0.000 0.043 2680 2525 1389

13264 0.98 253.1 351.3 9.0 651 13266 0.12 0.00 0.00 0.000 6 0.135 0.000 2642 2526 1388

13574 1.05 253.1 329.2 7.3 666 13578 0.08 2.22 0.00 0.000 4 0.099 0.045 2679 1110 1388

13651 1.05 253.1 322.1 9.8 669 13655 0.00 2.20 0.00 0.000 6 0.000 0.043 2679 2529 1389

13973 1.00 253.1 289.5 10.4 685 13975 0.12 0.00 0.00 0.000 6 0.133 0.000 2641 2529 1388

14283 1.08 253.1 264.9 7.7 700 14287 0.10 2.22 0.00 0.000 4 0.083 0.045 2690 1113 1388

14360 1.08 253.1 257.2 9.7 703 14364 0.00 2.20 0.00 0.000 6 0.000 0.042 2689 2529 1388

14682 1.01 253.1 225.5 9.7 719 14684 0.12 0.00 0.00 0.000 6 0.128 0.000 2653 2529 1388

14990 1.07 253.1 201.0 7.9 734 14994 0.00 2.22 0.00 0.000 4 0.000 0.046 2653 1110 1388

15069 1.16 253.1 194.7 8.1 737 15073 0.12 2.20 0.00 0.000 6 0.076 0.042 2707 2522 1388

15390 1.06 253.1 161.5 10.8 753 15392 0.15 0.00 0.00 0.000 6 0.123 0.000 2661 2522 1388

15699 1.11 253.1 136.3 7.8 768 15703 0.00 2.20 0.00 0.000 4 0.000 0.047 2661 1116 1388

15755 1.20 253.1 131.7 8.1 770 15759 0.12 2.20 0.00 0.000 6 0.077 0.042 2712 2530 1388

16076 1.11 253.1 98.4 10.0 786 16083 0.12 2.22 0.00 0.000 4 0.127 0.059 2674 3923 1389

16146 1.06 253.1 91.6 9.6 798 16152 0.00 2.15 0.00 0.000 6 0.000 0.035 2673 2508 1388

16490 1.16 288.2 67.0 5.8 859 16525 0.00 0.00 29.17 0.857 6 0.000 0.000 2674 2508 1245

16864 1.34 322.7 44.6 5.8 925 16900 0.17 2.20 28.83 0.842 4 0.064 0.047 2749 1123 1103

16952 1.34 322.7 37.0 9.0 940 16959 0.00 2.20 0.00 0.000 6 0.000 0.042 2749 2526 1103

17297 1.25 322.7 5.5 11.8 1001 17303 0.15 2.25 0.00 0.000 4 0.130 0.061 2704 3924 1101

17324 end climb: SURFACE_DEPTH_REACHED

state 17324 begin surface coast

17342 end surface coast: CONTROL_FINISHED_OK

state 17342 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	367	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-31886.529	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	025456,6705.359,-5705.645,61,1.1,61,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	7	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.219,-0.047
_SM_DEPTHo	1.77	KALMAN_X	-99618.3,662.1,150.0,112458.8,-4485.4
_SM_ANGLEo	-62.1	KALMAN_Y	-13437.0,42.1,392.7,32447.3,1040.9
GPS2	030157,6705.374,-5705.729,12,1.5,12,-37.7	MHEAD_RNG_PITCHd_Wd	139.8,13536,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	616

FINISH	0.7,1.013739	TCM_TEMP	16.70
SM_CCo	17422,0.00,0.000,0,0,1100,323.80	XPDR_PINGS	3
SM_GC	1.72,6.93,0.00,0.00,0.059,0.000,0.000,161,2336,1100,-10.38,-0.11,323.80	_24V_AH	20.7,68.054
RAFOS_CLK	880	_10V_AH	10.6,30.153
RAFOS	0,1227931444,4.083333,4.067778,59,55,54,53,49,48,210,135,151,197,160,178	DATA_FILE_SIZE	37845,1009
RAFOS_FIX	6704.449707,-5710.710938,291108,000016,2,110,0.43	CAP_FILE_SIZE	150365,0
IRIDIUM_FIX	6636.54,-5712.23,220298,222210	CFSIZE	260165632,223748096
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1858	SOUNDSPEED	1467.6
INTERNAL_PRESSURE	8.56478	GPS	291108,075458,6705.069,-5704.304,38,2.6,57,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	253	118.11	SBE_CT	773	24	384.04
Roll_motor	165	62	212.81	SBE_O2	682	19	268.57
VBD_pump_during_apogee	415	1180	10140.34	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	24	103	51.21	nil	0	0	0.00
Iridium_during_connect	30	160	100.94	nil	0	0	0.00
Iridium_during_xfer	225	223	1041.08
Transponder_ping	0	420	6.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.55
TT8	1892	19	399.68
LPSleep	12744	2	312.06
TT8_Active	550	19	116.16
TT8_Sampling	2047	39	866.35
TT8_CF8	604	45	294.02
TT8_Kalman	33	81	28.99
Analog_circuits	1672	12	212.70
GPS_charging	0	0	0.00
Compass	2006	8	170.19
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	117	0.00	0.00	-97.95	0.000	2	0.000	0.000	162	2356	2892
120	-1.08	-146.0	3.0	-2.0	17	140	8.55	2.25	-4.53	0.000	4	0.254	0.059	2197	921	3018
169	0.06	-146.0	12.7	-18.8	25	177	0.88	2.25	0.00	0.000	6	0.166	0.046	2450	2349	3020
515	-0.51	-146.0	31.6	-6.1	86	522	0.35	2.28	0.00	0.000	4	0.074	0.062	2316	3745	3020
569	-0.55	-146.0	35.4	-7.7	95	575	0.00	2.20	0.00	0.000	6	0.000	0.037	2316	2311	3020
914	-0.62	-146.0	62.3	-8.3	156	920	0.00	2.35	0.00	0.000	4	0.000	0.062	2316	3742	3020
966	-0.74	-146.0	66.5	-8.0	165	973	0.15	2.15	0.00	0.000	6	0.085	0.037	2259	2342	3020
1312	-0.69	-146.0	93.5	-7.5	226	1319	0.12	2.22	0.00	0.000	4	0.155	0.049	2294	929	3018
1326	-0.69	-146.0	94.6	-7.7	228	1332	0.00	2.22	0.00	0.000	6	0.000	0.047	2294	2340	3018
1656	-0.78	-146.0	116.1	-6.5	254	1658	0.10	0.00	0.00	0.000	6	0.099	0.000	2257	2340	3017
1963	-0.78	-146.0	138.9	-7.7	269	1966	0.00	2.28	0.00	0.000	4	0.000	0.061	2256	3742	3017
1974	-0.78	-146.0	139.7	-7.6	269	1978	0.00	2.15	0.00	0.000	6	0.000	0.035	2256	2328	3016
2295	-0.78	-146.0	163.6	-7.6	285	2299	0.00	2.35	0.00	0.000	4	0.000	0.062	2256	3753	3017
2306	-0.78	-146.0	164.4	-7.4	285	2310	0.00	2.17	0.00	0.000	6	0.000	0.035	2257	2334	3016
2628	-0.78	-146.0	186.9	-6.6	301	2632	0.00	2.33	0.00	0.000	4	0.000	0.061	2256	3750	3017
2644	-0.78	-146.0	188.0	-5.9	301	2650	0.00	2.17	0.00	0.000	6	0.000	0.035	2256	2328	3017
2960	-0.78	-146.0	207.4	-6.0	317	2961	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2328	3017
3270	-0.78	-146.0	226.1	-5.8	332	3274	0.00	2.33	0.00	0.000	4	0.000	0.060	2256	3753	3018
3383	-0.86	-146.0	233.0	-5.8	337	3387	0.00	2.17	0.00	0.000	6	0.000	0.035	2256	2327	3017
3716	-0.91	-146.0	251.5	-5.6	353	3720	0.00	2.15	0.00	0.000	4	0.000	0.047	2256	942	3018
3734	-0.91	-146.0	252.5	-5.4	353	3740	0.00	2.20	0.00	0.000	6	0.000	0.044	2256	2344	3018
4051	-0.97	-146.0	271.0	-5.9	369	4053	0.12	0.00	0.00	0.000	6	0.089	0.000	2206	2344	3018
4359	-0.88	-146.0	294.1	-7.3	384	4361	0.15	0.00	0.00	0.000	6	0.146	0.000	2248	2344	3019
4669	-0.88	-146.0	310.5	-5.3	399	4672	0.00	2.28	0.00	0.000	4	0.000	0.060	2248	3750	3021
4719	-0.96	-146.0	313.6	-6.4	401	4723	0.00	2.15	0.00	0.000	6	0.000	0.035	2248	2340	3020
5048	-1.02	-146.0	333.6	-6.3	417	5052	0.12	2.30	0.00	0.000	4	0.096	0.058	2202	3742	3021
5132	-0.94	-146.0	340.2	-8.1	421	5137	0.12	2.15	0.00	0.000	6	0.149	0.035	2235	2325	3021
5465	-0.94	-146.0	361.5	-6.3	437	5471	0.00	2.30	0.00	0.000	4	0.000	0.060	2235	3742	3021
5512	-0.99	-146.0	364.6	-6.3	439	5515	0.00	2.15	0.00	0.000	6	0.000	0.035	2235	2330	3021
5845	-0.99	-146.0	385.3	-6.1	455	5849	0.00	2.33	0.00	0.000	4	0.000	0.059	2235	3750	3022
5886	-1.04	-146.0	387.8	-6.3	456	5892	0.10	2.17	0.00	0.000	6	0.103	0.035	2200	2326	3022
6200	-0.95	-146.0	409.9	-7.0	469	6205	0.12	2.35	0.00	0.000	4	0.149	0.058	2233	3753	3023
6274	-1.00	-146.0	414.4	-6.2	470	6277	0.00	2.17	0.00	0.000	6	0.000	0.034	2233	2326	3023
6611	-1.00	-146.0	433.6	-5.6	479	6615	0.00	2.33	0.00	0.000	4	0.000	0.059	2233	3746	3023
6633	-1.00	-146.0	434.9	-5.8	479	6637	0.00	2.15	0.00	0.000	6	0.000	0.034	2233	2334	3023
6981	-1.00	-146.0	454.3	-5.6	488	6985	0.00	2.30	0.00	0.000	4	0.000	0.059	2233	3746	3023
7016	-1.05	-146.0	456.3	-6.1	488	7020	0.12	2.15	0.00	0.000	6	0.097	0.035	2189	2335	3023
7352	-0.93	-146.0	480.2	-7.1	497	7357	0.17	2.33	0.00	0.000	4	0.144	0.058	2240	3749	3023
7414	-1.02	-146.0	484.0	-5.6	498	7419	0.10	2.15	0.00	0.000	6	0.095	0.035	2203	2335	3023
7763	-0.95	-146.0	506.6	-6.7	507	7765	0.10	0.00	0.00	0.000	6	0.149	0.000	2230	2333	3023
8087	-0.95	-146.0	526.3	-6.1	515	8091	0.00	2.30	0.00	0.000	4	0.000	0.060	2230	3744	3024
8155	-1.01	-146.0	530.6	-6.6	516	8158	0.00	2.15	0.00	0.000	6	0.000	0.035	2231	2335	3023
8503	-1.01	-146.0	551.7	-6.0	525	8507	0.00	2.30	0.00	0.000	4	0.000	0.059	2230	3743	3024
8515	-1.01	-146.0	552.4	-6.1	525	8519	0.00	2.15	0.00	0.000	6	0.000	0.034	2231	2331	3023
8834	-1.01	-146.0	572.3	-6.4	533	8838	0.00	2.30	0.00	0.000	4	0.000	0.058	2231	3742	3024
8846	-1.01	-146.0	572.9	-6.1	533	8850	0.00	2.12	0.00	0.000	6	0.000	0.034	2231	2341	3024
9164	-1.01	-146.0	593.1	-6.5	541	9168	0.00	2.30	0.00	0.000	4	0.000	0.059	2231	3746	3024
9193	-1.07	-146.0	594.9	-6.7	541	9197	0.12	2.15	0.00	0.000	6	0.091	0.034	2185	2329	3024
9536	-1.14	-146.0	615.3	-4.2	550	9540	0.00	2.17	0.00	0.000	4	0.000	0.046	2185	932	3024
9692	end dive: NO_VERTICAL_VELOCITY
state	9692	begin apogee
9703	-0.34	0.0	615.5	0.0	553	9836	0.50	0.00	129.55	1.180	6	0.095	0.000	2360	2521	2420
9836	end apogee: CONTROL_FINISHED_OK
state	9836	begin climb
9840	1.08	146.0	615.3	0.0	556	9983	1.00	2.65	135.32	1.106	4	0.104	0.058	2665	3922	1824
10093	0.84	146.0	593.0	11.5	561	10100	0.20	2.28	0.00	0.000	6	0.134	0.035	2611	2527	1825
10424	0.84	146.0	569.3	7.3	570	10428	0.00	2.20	0.00	0.000	4	0.000	0.046	2611	1109	1824
10470	0.95	168.8	566.7	6.2	571	10496	0.12	2.20	19.90	1.086	6	0.074	0.043	2664	2522	1731
10839	0.84	168.8	535.7	8.5	580	10843	0.17	2.25	0.00	0.000	4	0.127	0.058	2611	3930	1731
10939	0.84	168.8	528.3	7.2	582	10943	0.00	2.15	0.00	0.000	6	0.000	0.035	2611	2516	1731
11258	0.97	210.1	510.0	5.6	590	11300	0.12	2.25	34.42	1.109	4	0.076	0.048	2665	1119	1563
11357	0.97	210.1	502.1	7.7	592	11361	0.00	2.20	0.00	0.000	6	0.000	0.043	2665	2522	1563
11675	0.90	210.1	475.5	8.3	600	11679	0.12	2.25	0.00	0.000	4	0.134	0.058	2628	3929	1564
11721	0.90	210.1	471.8	7.9	601	11724	0.00	2.15	0.00	0.000	6	0.000	0.035	2628	2515	1564
12052	0.99	233.0	450.9	6.2	609	12077	0.10	2.22	20.02	1.056	4	0.086	0.047	2674	1110	1470
12150	0.99	233.0	442.6	9.1	611	12154	0.00	2.22	0.00	0.000	6	0.000	0.042	2674	2535	1470
12464	0.93	233.0	415.4	8.6	619	12469	0.15	2.22	0.00	0.000	4	0.131	0.057	2628	3927	1470
12503	0.93	233.0	412.1	8.1	619	12509	0.00	2.15	0.00	0.000	6	0.000	0.035	2627	2510	1470
12816	1.05	253.1	391.9	6.3	630	12840	0.12	2.25	17.77	1.019	4	0.077	0.046	2680	1120	1388
12931	1.05	253.1	381.7	8.9	635	12935	0.00	2.20	0.00	0.000	6	0.000	0.043	2680	2525	1389
13264	0.98	253.1	351.3	9.0	651	13266	0.12	0.00	0.00	0.000	6	0.135	0.000	2642	2526	1388
13574	1.05	253.1	329.2	7.3	666	13578	0.08	2.22	0.00	0.000	4	0.099	0.045	2679	1110	1388
13651	1.05	253.1	322.1	9.8	669	13655	0.00	2.20	0.00	0.000	6	0.000	0.043	2679	2529	1389
13973	1.00	253.1	289.5	10.4	685	13975	0.12	0.00	0.00	0.000	6	0.133	0.000	2641	2529	1388
14283	1.08	253.1	264.9	7.7	700	14287	0.10	2.22	0.00	0.000	4	0.083	0.045	2690	1113	1388
14360	1.08	253.1	257.2	9.7	703	14364	0.00	2.20	0.00	0.000	6	0.000	0.042	2689	2529	1388
14682	1.01	253.1	225.5	9.7	719	14684	0.12	0.00	0.00	0.000	6	0.128	0.000	2653	2529	1388
14990	1.07	253.1	201.0	7.9	734	14994	0.00	2.22	0.00	0.000	4	0.000	0.046	2653	1110	1388
15069	1.16	253.1	194.7	8.1	737	15073	0.12	2.20	0.00	0.000	6	0.076	0.042	2707	2522	1388
15390	1.06	253.1	161.5	10.8	753	15392	0.15	0.00	0.00	0.000	6	0.123	0.000	2661	2522	1388
15699	1.11	253.1	136.3	7.8	768	15703	0.00	2.20	0.00	0.000	4	0.000	0.047	2661	1116	1388
15755	1.20	253.1	131.7	8.1	770	15759	0.12	2.20	0.00	0.000	6	0.077	0.042	2712	2530	1388
16076	1.11	253.1	98.4	10.0	786	16083	0.12	2.22	0.00	0.000	4	0.127	0.059	2674	3923	1389
16146	1.06	253.1	91.6	9.6	798	16152	0.00	2.15	0.00	0.000	6	0.000	0.035	2673	2508	1388
16490	1.16	288.2	67.0	5.8	859	16525	0.00	0.00	29.17	0.857	6	0.000	0.000	2674	2508	1245
16864	1.34	322.7	44.6	5.8	925	16900	0.17	2.20	28.83	0.842	4	0.064	0.047	2749	1123	1103
16952	1.34	322.7	37.0	9.0	940	16959	0.00	2.20	0.00	0.000	6	0.000	0.042	2749	2526	1103
17297	1.25	322.7	5.5	11.8	1001	17303	0.15	2.25	0.00	0.000	4	0.130	0.061	2704	3924	1101
17324	end climb: SURFACE_DEPTH_REACHED
state	17324	begin surface coast
17342	end surface coast: CONTROL_FINISHED_OK
state	17342	begin surface