Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 370 * 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 370 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 23 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 -31950.061 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 -31950.061

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 23 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 370 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 173738,6706.461,-5708.078,31,1.2,31,-37.7 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.212,-0.073

_SM_DEPTHo 1.74 KALMAN_X -108166.6,-825.7,-901.5,121736.0,-858.6

_SM_ANGLEo -59.1 KALMAN_Y -7475.1,769.7,1175.4,27020.7,24.6

GPS2 174620,6706.484,-5708.243,11,1.2,16,-37.7 MHEAD_RNG_PITCHd_Wd 146.6,15979,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 611

Post-dive calculations and measurements:

FINISH 0.9,1.015014 TCM_TEMP 16.40

SM_CCo 17253,0.00,0.000,0,0,1250,287.00 XPDR_PINGS 2

SM_GC 1.99,7.05,0.00,0.00,0.061,0.000,0.000,159,2330,1250,-10.39,-0.28,287.00 _24V_AH 20.7,68.451

RAFOS_CLK 874 _10V_AH 10.6,30.370

RAFOS 0,1227989050,20.083334,20.069445,73,63,62,59,57,54,220,207,125,194,176,137 DATA_FILE_SIZE 34716,980

RAFOS_FIX 6700.551758,-5704.857910,291108,121220,2,90,0.54 CAP_FILE_SIZE 149613,0

IRIDIUM_FIX 6636.54,-5707.59,230298,171737 CFSIZE 260165632,223543296

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

HUMID 1874 SOUNDSPEED 1467.0

INTERNAL_PRESSURE 8.56478 GPS 291108,223628,6706.426,-5705.205,34,3.2,53,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 253 114.30 SBE_CT 750 24 372.65

Roll_motor 160 64 214.65 SBE_O2 663 19 261.02

VBD_pump_during_apogee 389 1175 9482.48 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 60 103 129.44 nil 0 0 0.00

Iridium_during_connect 57 160 190.77 nil 0 0 0.00

Iridium_during_xfer 200 223 925.46

Transponder_ping 0 420 4.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.36

TT8 1818 19 383.90

LPSleep 12805 2 313.56

TT8_Active 532 19 112.37

TT8_Sampling 1966 39 832.05

TT8_CF8 648 45 315.61

TT8_Kalman 33 81 28.99

Analog_circuits 1614 12 205.39

GPS_charging 0 0 0.00

Compass 1919 8 162.78

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 0 132 0.00 0.00 -112.95 0.000 2 0.000 0.000 160 2344 2982

135 -1.08 -146.0 3.5 -3.0 20 150 8.57 2.30 -1.12 0.000 4 0.254 0.064 2197 932 3018

294 -0.61 -146.0 31.7 -15.0 47 301 0.40 2.25 0.00 0.000 6 0.167 0.048 2306 2359 3020

639 -0.61 -146.0 65.8 -9.6 108 644 0.00 0.00 0.00 0.000 6 0.000 0.000 2306 2359 3019

983 -0.70 -146.0 93.5 -6.7 169 989 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2359 3018

1322 -0.82 -146.0 117.2 -6.2 197 1324 0.17 0.00 0.00 0.000 6 0.086 0.000 2241 2360 3017

1632 -0.76 -146.0 140.2 -6.9 212 1637 0.12 2.28 0.00 0.000 4 0.164 0.061 2273 3756 3016

1673 -0.84 -146.0 142.7 -5.7 214 1676 0.00 2.17 0.00 0.000 6 0.000 0.036 2273 2337 3016

2006 -0.91 -146.0 162.2 -6.3 230 2008 0.12 0.00 0.00 0.000 6 0.102 0.000 2228 2337 3016

2315 -0.85 -146.0 186.7 -8.3 245 2319 0.10 2.33 0.00 0.000 4 0.166 0.060 2254 3743 3015

2325 -0.80 -146.0 187.5 -7.7 245 2331 0.00 2.15 0.00 0.000 6 0.000 0.035 2255 2331 3016

2642 -0.80 -146.0 207.7 -5.8 261 2645 0.00 2.33 0.00 0.000 4 0.000 0.060 2255 3749 3016

2653 -0.80 -146.0 208.4 -5.5 261 2657 0.00 2.17 0.00 0.000 6 0.000 0.035 2254 2327 3016

2974 -0.80 -146.0 227.4 -5.9 277 2975 0.00 0.00 0.00 0.000 6 0.000 0.000 2254 2327 3017

3284 -0.85 -146.0 246.0 -6.1 292 3288 0.00 2.33 0.00 0.000 4 0.000 0.059 2255 3748 3018

3296 -0.90 -146.0 246.7 -5.8 292 3300 0.00 2.15 0.00 0.000 6 0.000 0.034 2255 2327 3018

3617 -0.96 -146.0 266.0 -6.3 308 3622 0.10 2.33 0.00 0.000 4 0.097 0.058 2217 3745 3019

3629 -0.96 -146.0 266.8 -6.1 308 3635 0.00 2.15 0.00 0.000 6 0.000 0.034 2217 2331 3018

3945 -0.89 -146.0 290.1 -7.4 324 3949 0.10 2.33 0.00 0.000 4 0.156 0.059 2243 3750 3019

4013 -0.95 -146.0 294.4 -6.2 327 4017 0.00 2.15 0.00 0.000 6 0.000 0.034 2243 2335 3019

4346 -0.95 -146.0 314.8 -6.3 343 4350 0.00 2.30 0.00 0.000 4 0.000 0.058 2243 3746 3020

4369 -0.99 -146.0 316.4 -6.7 344 4374 0.10 2.15 0.00 0.000 6 0.097 0.033 2206 2327 3020

4702 -0.89 -146.0 341.6 -7.5 360 4707 0.15 2.35 0.00 0.000 4 0.144 0.058 2248 3757 3020

4713 -0.84 -146.0 342.5 -7.6 360 4720 0.00 2.15 0.00 0.000 6 0.000 0.034 2247 2343 3020

5030 -0.89 -146.0 360.9 -5.6 376 5031 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2343 3021

5340 -0.94 -146.0 376.4 -4.9 391 5343 0.00 2.30 0.00 0.000 4 0.000 0.059 2247 3749 3022

5353 -1.00 -146.0 377.2 -5.1 391 5357 0.12 2.15 0.00 0.000 6 0.099 0.035 2202 2336 3022

5673 -0.91 -146.0 399.9 -7.8 407 5678 0.15 2.33 0.00 0.000 4 0.143 0.058 2245 3754 3022

5696 -0.91 -146.0 401.5 -6.9 408 5700 0.00 2.15 0.00 0.000 6 0.000 0.034 2245 2331 3022

6038 -0.96 -146.0 423.1 -6.3 417 6043 0.00 2.33 0.00 0.000 4 0.000 0.058 2245 3757 3023

6055 -1.02 -146.0 424.2 -6.1 417 6060 0.12 2.15 0.00 0.000 6 0.091 0.033 2199 2341 3022

6369 -0.93 -146.0 446.1 -6.9 425 6374 0.15 2.33 0.00 0.000 4 0.146 0.059 2241 3755 3023

6391 -0.93 -146.0 447.6 -6.3 425 6395 0.00 2.15 0.00 0.000 6 0.000 0.033 2242 2339 3023

6734 -0.98 -146.0 465.3 -5.0 434 6738 0.00 2.30 0.00 0.000 4 0.000 0.059 2242 3750 3023

6746 -1.03 -146.0 465.9 -4.8 434 6750 0.12 2.12 0.00 0.000 6 0.086 0.033 2193 2341 3023

7065 -0.93 -146.0 485.9 -6.2 442 7070 0.15 2.33 0.00 0.000 4 0.143 0.060 2235 3751 3023

7076 -0.85 -146.0 486.6 -6.2 442 7080 0.00 2.15 0.00 0.000 6 0.000 0.033 2234 2333 3024

7390 -0.85 -146.0 502.9 -5.2 450 7391 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2333 3024

7714 -0.85 -146.0 521.3 -5.9 458 7718 0.00 2.33 0.00 0.000 4 0.000 0.060 2235 3752 3024

7760 -0.91 -146.0 524.0 -5.9 459 7764 0.00 2.15 0.00 0.000 6 0.000 0.034 2234 2335 3024

8091 -0.91 -146.0 543.0 -5.5 467 8095 0.00 2.30 0.00 0.000 4 0.000 0.060 2235 3745 3024

8102 -0.91 -146.0 543.7 -5.4 467 8106 0.00 2.15 0.00 0.000 6 0.000 0.033 2234 2331 3024

8421 -0.91 -146.0 561.8 -5.7 475 8425 0.00 2.33 0.00 0.000 4 0.000 0.060 2235 3753 3024

8438 -0.96 -146.0 562.8 -5.5 475 8441 0.00 2.15 0.00 0.000 6 0.000 0.033 2235 2338 3024

8751 -0.96 -146.0 579.5 -5.2 483 8755 0.00 2.33 0.00 0.000 4 0.000 0.060 2235 3757 3024

8774 -1.02 -146.0 580.9 -5.6 483 8778 0.00 2.15 0.00 0.000 6 0.000 0.034 2235 2341 3024

9122 -1.02 -146.0 598.5 -5.1 492 9126 0.00 2.30 0.00 0.000 4 0.000 0.061 2235 3744 3024

9179 -1.09 -146.0 601.7 -6.5 493 9184 0.12 2.15 0.00 0.000 6 0.096 0.034 2189 2330 3024

9374 end dive: NO_VERTICAL_VELOCITY

state 9374 begin apogee

9380 -0.34 0.0 603.3 0.0 498 9513 0.52 0.00 129.27 1.175 6 0.097 0.000 2367 2524 2420

9513 end apogee: CONTROL_FINISHED_OK

state 9514 begin climb

9516 1.08 146.0 603.0 0.0 501 9659 0.98 2.58 134.80 1.098 4 0.099 0.044 2665 1131 1824

9820 0.98 146.0 578.5 9.7 508 9824 0.00 2.28 0.00 0.000 6 0.000 0.043 2665 2530 1824

10150 0.85 146.0 548.8 9.1 516 10155 0.17 2.25 0.00 0.000 4 0.131 0.059 2612 3932 1824

10268 0.79 146.0 538.8 8.6 518 10271 0.00 2.15 0.00 0.000 6 0.000 0.036 2612 2519 1823

10605 0.81 158.9 516.4 6.6 527 10621 0.00 2.25 11.45 1.022 4 0.000 0.045 2612 1118 1772

10678 0.93 175.0 511.7 6.5 528 10699 0.10 2.20 15.10 1.045 6 0.082 0.042 2656 2534 1706

11020 0.86 175.0 482.8 8.9 537 11024 0.12 2.22 0.00 0.000 4 0.134 0.058 2620 3930 1707

11081 0.86 175.0 477.2 9.0 538 11085 0.00 2.15 0.00 0.000 6 0.000 0.035 2620 2515 1706

11395 0.92 176.8 455.2 7.0 546 11398 0.00 2.15 0.00 0.000 4 0.000 0.046 2620 1121 1706

11468 1.02 176.8 450.1 7.1 547 11473 0.12 2.17 0.00 0.000 6 0.076 0.043 2674 2519 1706

11810 0.90 176.8 417.9 9.8 556 11815 0.15 2.28 0.00 0.000 4 0.129 0.058 2628 3940 1705

11905 0.84 176.8 408.9 9.1 558 11909 0.00 2.17 0.00 0.000 6 0.000 0.035 2628 2508 1706

12227 0.84 176.8 384.0 7.8 570 12230 0.00 2.15 0.00 0.000 4 0.000 0.046 2628 1120 1705

12277 0.92 176.8 380.1 8.4 572 12281 0.00 2.20 0.00 0.000 6 0.000 0.044 2628 2530 1705

12604 0.92 176.8 356.4 7.2 588 12605 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2530 1705

12914 0.92 176.8 333.5 7.3 603 12915 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2530 1705

13222 0.92 176.8 310.5 7.3 618 13226 0.00 2.20 0.00 0.000 4 0.000 0.044 2628 1121 1705

13268 1.01 176.8 307.2 7.0 620 13273 0.10 2.20 0.00 0.000 6 0.084 0.043 2670 2533 1705

13601 0.93 176.8 278.8 8.6 636 13606 0.12 2.25 0.00 0.000 4 0.126 0.058 2634 3936 1705

13702 0.86 176.8 270.4 7.9 640 13708 0.00 2.15 0.00 0.000 6 0.000 0.035 2634 2520 1706

14018 0.88 189.7 249.6 6.6 656 14040 0.00 2.25 13.07 0.910 4 0.000 0.046 2634 1118 1646

14097 0.99 209.1 244.5 6.4 659 14118 0.00 2.17 16.90 0.916 6 0.000 0.042 2634 2518 1567

14437 1.08 219.5 222.6 6.7 676 14454 0.12 0.00 10.18 0.854 6 0.073 0.000 2692 2518 1525

14764 0.98 219.5 190.9 9.8 692 14768 0.17 2.20 0.00 0.000 4 0.119 0.045 2638 1117 1525

14814 1.12 236.3 187.1 6.4 694 14834 0.15 2.20 14.70 0.877 6 0.071 0.041 2704 2536 1456

15164 1.00 236.3 150.8 10.9 711 15169 0.17 2.22 0.00 0.000 4 0.120 0.057 2650 3929 1457

15203 1.00 236.3 146.5 9.0 712 15209 0.00 2.15 0.00 0.000 6 0.000 0.033 2650 2509 1457

15519 1.11 252.9 123.7 6.5 728 15542 0.10 2.17 15.27 0.849 4 0.078 0.045 2697 1120 1388

15598 1.11 252.9 117.1 8.5 731 15602 0.00 2.17 0.00 0.000 6 0.000 0.042 2697 2518 1388

15925 1.11 252.9 90.7 7.5 761 15931 0.00 2.25 0.00 0.000 4 0.000 0.058 2697 3934 1390

15994 1.02 252.9 84.2 9.3 773 16001 0.15 2.15 0.00 0.000 6 0.131 0.035 2653 2515 1389

16341 1.35 270.4 63.4 6.4 834 16365 0.20 2.35 15.30 0.849 4 0.068 0.060 2736 3927 1317

16423 1.13 270.4 55.9 9.8 848 16430 0.20 2.15 0.00 0.000 6 0.128 0.036 2676 2522 1318

16770 1.27 286.6 33.8 6.5 909 16789 0.12 2.28 13.80 0.851 4 0.075 0.048 2731 1114 1251

16900 1.27 286.6 22.9 8.6 931 16906 0.00 2.20 0.00 0.000 6 0.000 0.044 2732 2520 1251

17145 end climb: SURFACE_DEPTH_REACHED

state 17145 begin surface coast

17174 end surface coast: CONTROL_FINISHED_OK

state 17175 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	370	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	23	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	-31950.061	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	173738,6706.461,-5708.078,31,1.2,31,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.212,-0.073
_SM_DEPTHo	1.74	KALMAN_X	-108166.6,-825.7,-901.5,121736.0,-858.6
_SM_ANGLEo	-59.1	KALMAN_Y	-7475.1,769.7,1175.4,27020.7,24.6
GPS2	174620,6706.484,-5708.243,11,1.2,16,-37.7	MHEAD_RNG_PITCHd_Wd	146.6,15979,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	611

FINISH	0.9,1.015014	TCM_TEMP	16.40
SM_CCo	17253,0.00,0.000,0,0,1250,287.00	XPDR_PINGS	2
SM_GC	1.99,7.05,0.00,0.00,0.061,0.000,0.000,159,2330,1250,-10.39,-0.28,287.00	_24V_AH	20.7,68.451
RAFOS_CLK	874	_10V_AH	10.6,30.370
RAFOS	0,1227989050,20.083334,20.069445,73,63,62,59,57,54,220,207,125,194,176,137	DATA_FILE_SIZE	34716,980
RAFOS_FIX	6700.551758,-5704.857910,291108,121220,2,90,0.54	CAP_FILE_SIZE	149613,0
IRIDIUM_FIX	6636.54,-5707.59,230298,171737	CFSIZE	260165632,223543296
TT8_MAMPS	0.028379	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1874	SOUNDSPEED	1467.0
INTERNAL_PRESSURE	8.56478	GPS	291108,223628,6706.426,-5705.205,34,3.2,53,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	253	114.30	SBE_CT	750	24	372.65
Roll_motor	160	64	214.65	SBE_O2	663	19	261.02
VBD_pump_during_apogee	389	1175	9482.48	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	60	103	129.44	nil	0	0	0.00
Iridium_during_connect	57	160	190.77	nil	0	0	0.00
Iridium_during_xfer	200	223	925.46
Transponder_ping	0	420	4.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.36
TT8	1818	19	383.90
LPSleep	12805	2	313.56
TT8_Active	532	19	112.37
TT8_Sampling	1966	39	832.05
TT8_CF8	648	45	315.61
TT8_Kalman	33	81	28.99
Analog_circuits	1614	12	205.39
GPS_charging	0	0	0.00
Compass	1919	8	162.78
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	132	0.00	0.00	-112.95	0.000	2	0.000	0.000	160	2344	2982
135	-1.08	-146.0	3.5	-3.0	20	150	8.57	2.30	-1.12	0.000	4	0.254	0.064	2197	932	3018
294	-0.61	-146.0	31.7	-15.0	47	301	0.40	2.25	0.00	0.000	6	0.167	0.048	2306	2359	3020
639	-0.61	-146.0	65.8	-9.6	108	644	0.00	0.00	0.00	0.000	6	0.000	0.000	2306	2359	3019
983	-0.70	-146.0	93.5	-6.7	169	989	0.00	0.00	0.00	0.000	6	0.000	0.000	2305	2359	3018
1322	-0.82	-146.0	117.2	-6.2	197	1324	0.17	0.00	0.00	0.000	6	0.086	0.000	2241	2360	3017
1632	-0.76	-146.0	140.2	-6.9	212	1637	0.12	2.28	0.00	0.000	4	0.164	0.061	2273	3756	3016
1673	-0.84	-146.0	142.7	-5.7	214	1676	0.00	2.17	0.00	0.000	6	0.000	0.036	2273	2337	3016
2006	-0.91	-146.0	162.2	-6.3	230	2008	0.12	0.00	0.00	0.000	6	0.102	0.000	2228	2337	3016
2315	-0.85	-146.0	186.7	-8.3	245	2319	0.10	2.33	0.00	0.000	4	0.166	0.060	2254	3743	3015
2325	-0.80	-146.0	187.5	-7.7	245	2331	0.00	2.15	0.00	0.000	6	0.000	0.035	2255	2331	3016
2642	-0.80	-146.0	207.7	-5.8	261	2645	0.00	2.33	0.00	0.000	4	0.000	0.060	2255	3749	3016
2653	-0.80	-146.0	208.4	-5.5	261	2657	0.00	2.17	0.00	0.000	6	0.000	0.035	2254	2327	3016
2974	-0.80	-146.0	227.4	-5.9	277	2975	0.00	0.00	0.00	0.000	6	0.000	0.000	2254	2327	3017
3284	-0.85	-146.0	246.0	-6.1	292	3288	0.00	2.33	0.00	0.000	4	0.000	0.059	2255	3748	3018
3296	-0.90	-146.0	246.7	-5.8	292	3300	0.00	2.15	0.00	0.000	6	0.000	0.034	2255	2327	3018
3617	-0.96	-146.0	266.0	-6.3	308	3622	0.10	2.33	0.00	0.000	4	0.097	0.058	2217	3745	3019
3629	-0.96	-146.0	266.8	-6.1	308	3635	0.00	2.15	0.00	0.000	6	0.000	0.034	2217	2331	3018
3945	-0.89	-146.0	290.1	-7.4	324	3949	0.10	2.33	0.00	0.000	4	0.156	0.059	2243	3750	3019
4013	-0.95	-146.0	294.4	-6.2	327	4017	0.00	2.15	0.00	0.000	6	0.000	0.034	2243	2335	3019
4346	-0.95	-146.0	314.8	-6.3	343	4350	0.00	2.30	0.00	0.000	4	0.000	0.058	2243	3746	3020
4369	-0.99	-146.0	316.4	-6.7	344	4374	0.10	2.15	0.00	0.000	6	0.097	0.033	2206	2327	3020
4702	-0.89	-146.0	341.6	-7.5	360	4707	0.15	2.35	0.00	0.000	4	0.144	0.058	2248	3757	3020
4713	-0.84	-146.0	342.5	-7.6	360	4720	0.00	2.15	0.00	0.000	6	0.000	0.034	2247	2343	3020
5030	-0.89	-146.0	360.9	-5.6	376	5031	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2343	3021
5340	-0.94	-146.0	376.4	-4.9	391	5343	0.00	2.30	0.00	0.000	4	0.000	0.059	2247	3749	3022
5353	-1.00	-146.0	377.2	-5.1	391	5357	0.12	2.15	0.00	0.000	6	0.099	0.035	2202	2336	3022
5673	-0.91	-146.0	399.9	-7.8	407	5678	0.15	2.33	0.00	0.000	4	0.143	0.058	2245	3754	3022
5696	-0.91	-146.0	401.5	-6.9	408	5700	0.00	2.15	0.00	0.000	6	0.000	0.034	2245	2331	3022
6038	-0.96	-146.0	423.1	-6.3	417	6043	0.00	2.33	0.00	0.000	4	0.000	0.058	2245	3757	3023
6055	-1.02	-146.0	424.2	-6.1	417	6060	0.12	2.15	0.00	0.000	6	0.091	0.033	2199	2341	3022
6369	-0.93	-146.0	446.1	-6.9	425	6374	0.15	2.33	0.00	0.000	4	0.146	0.059	2241	3755	3023
6391	-0.93	-146.0	447.6	-6.3	425	6395	0.00	2.15	0.00	0.000	6	0.000	0.033	2242	2339	3023
6734	-0.98	-146.0	465.3	-5.0	434	6738	0.00	2.30	0.00	0.000	4	0.000	0.059	2242	3750	3023
6746	-1.03	-146.0	465.9	-4.8	434	6750	0.12	2.12	0.00	0.000	6	0.086	0.033	2193	2341	3023
7065	-0.93	-146.0	485.9	-6.2	442	7070	0.15	2.33	0.00	0.000	4	0.143	0.060	2235	3751	3023
7076	-0.85	-146.0	486.6	-6.2	442	7080	0.00	2.15	0.00	0.000	6	0.000	0.033	2234	2333	3024
7390	-0.85	-146.0	502.9	-5.2	450	7391	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2333	3024
7714	-0.85	-146.0	521.3	-5.9	458	7718	0.00	2.33	0.00	0.000	4	0.000	0.060	2235	3752	3024
7760	-0.91	-146.0	524.0	-5.9	459	7764	0.00	2.15	0.00	0.000	6	0.000	0.034	2234	2335	3024
8091	-0.91	-146.0	543.0	-5.5	467	8095	0.00	2.30	0.00	0.000	4	0.000	0.060	2235	3745	3024
8102	-0.91	-146.0	543.7	-5.4	467	8106	0.00	2.15	0.00	0.000	6	0.000	0.033	2234	2331	3024
8421	-0.91	-146.0	561.8	-5.7	475	8425	0.00	2.33	0.00	0.000	4	0.000	0.060	2235	3753	3024
8438	-0.96	-146.0	562.8	-5.5	475	8441	0.00	2.15	0.00	0.000	6	0.000	0.033	2235	2338	3024
8751	-0.96	-146.0	579.5	-5.2	483	8755	0.00	2.33	0.00	0.000	4	0.000	0.060	2235	3757	3024
8774	-1.02	-146.0	580.9	-5.6	483	8778	0.00	2.15	0.00	0.000	6	0.000	0.034	2235	2341	3024
9122	-1.02	-146.0	598.5	-5.1	492	9126	0.00	2.30	0.00	0.000	4	0.000	0.061	2235	3744	3024
9179	-1.09	-146.0	601.7	-6.5	493	9184	0.12	2.15	0.00	0.000	6	0.096	0.034	2189	2330	3024
9374	end dive: NO_VERTICAL_VELOCITY
state	9374	begin apogee
9380	-0.34	0.0	603.3	0.0	498	9513	0.52	0.00	129.27	1.175	6	0.097	0.000	2367	2524	2420
9513	end apogee: CONTROL_FINISHED_OK
state	9514	begin climb
9516	1.08	146.0	603.0	0.0	501	9659	0.98	2.58	134.80	1.098	4	0.099	0.044	2665	1131	1824
9820	0.98	146.0	578.5	9.7	508	9824	0.00	2.28	0.00	0.000	6	0.000	0.043	2665	2530	1824
10150	0.85	146.0	548.8	9.1	516	10155	0.17	2.25	0.00	0.000	4	0.131	0.059	2612	3932	1824
10268	0.79	146.0	538.8	8.6	518	10271	0.00	2.15	0.00	0.000	6	0.000	0.036	2612	2519	1823
10605	0.81	158.9	516.4	6.6	527	10621	0.00	2.25	11.45	1.022	4	0.000	0.045	2612	1118	1772
10678	0.93	175.0	511.7	6.5	528	10699	0.10	2.20	15.10	1.045	6	0.082	0.042	2656	2534	1706
11020	0.86	175.0	482.8	8.9	537	11024	0.12	2.22	0.00	0.000	4	0.134	0.058	2620	3930	1707
11081	0.86	175.0	477.2	9.0	538	11085	0.00	2.15	0.00	0.000	6	0.000	0.035	2620	2515	1706
11395	0.92	176.8	455.2	7.0	546	11398	0.00	2.15	0.00	0.000	4	0.000	0.046	2620	1121	1706
11468	1.02	176.8	450.1	7.1	547	11473	0.12	2.17	0.00	0.000	6	0.076	0.043	2674	2519	1706
11810	0.90	176.8	417.9	9.8	556	11815	0.15	2.28	0.00	0.000	4	0.129	0.058	2628	3940	1705
11905	0.84	176.8	408.9	9.1	558	11909	0.00	2.17	0.00	0.000	6	0.000	0.035	2628	2508	1706
12227	0.84	176.8	384.0	7.8	570	12230	0.00	2.15	0.00	0.000	4	0.000	0.046	2628	1120	1705
12277	0.92	176.8	380.1	8.4	572	12281	0.00	2.20	0.00	0.000	6	0.000	0.044	2628	2530	1705
12604	0.92	176.8	356.4	7.2	588	12605	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2530	1705
12914	0.92	176.8	333.5	7.3	603	12915	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2530	1705
13222	0.92	176.8	310.5	7.3	618	13226	0.00	2.20	0.00	0.000	4	0.000	0.044	2628	1121	1705
13268	1.01	176.8	307.2	7.0	620	13273	0.10	2.20	0.00	0.000	6	0.084	0.043	2670	2533	1705
13601	0.93	176.8	278.8	8.6	636	13606	0.12	2.25	0.00	0.000	4	0.126	0.058	2634	3936	1705
13702	0.86	176.8	270.4	7.9	640	13708	0.00	2.15	0.00	0.000	6	0.000	0.035	2634	2520	1706
14018	0.88	189.7	249.6	6.6	656	14040	0.00	2.25	13.07	0.910	4	0.000	0.046	2634	1118	1646
14097	0.99	209.1	244.5	6.4	659	14118	0.00	2.17	16.90	0.916	6	0.000	0.042	2634	2518	1567
14437	1.08	219.5	222.6	6.7	676	14454	0.12	0.00	10.18	0.854	6	0.073	0.000	2692	2518	1525
14764	0.98	219.5	190.9	9.8	692	14768	0.17	2.20	0.00	0.000	4	0.119	0.045	2638	1117	1525
14814	1.12	236.3	187.1	6.4	694	14834	0.15	2.20	14.70	0.877	6	0.071	0.041	2704	2536	1456
15164	1.00	236.3	150.8	10.9	711	15169	0.17	2.22	0.00	0.000	4	0.120	0.057	2650	3929	1457
15203	1.00	236.3	146.5	9.0	712	15209	0.00	2.15	0.00	0.000	6	0.000	0.033	2650	2509	1457
15519	1.11	252.9	123.7	6.5	728	15542	0.10	2.17	15.27	0.849	4	0.078	0.045	2697	1120	1388
15598	1.11	252.9	117.1	8.5	731	15602	0.00	2.17	0.00	0.000	6	0.000	0.042	2697	2518	1388
15925	1.11	252.9	90.7	7.5	761	15931	0.00	2.25	0.00	0.000	4	0.000	0.058	2697	3934	1390
15994	1.02	252.9	84.2	9.3	773	16001	0.15	2.15	0.00	0.000	6	0.131	0.035	2653	2515	1389
16341	1.35	270.4	63.4	6.4	834	16365	0.20	2.35	15.30	0.849	4	0.068	0.060	2736	3927	1317
16423	1.13	270.4	55.9	9.8	848	16430	0.20	2.15	0.00	0.000	6	0.128	0.036	2676	2522	1318
16770	1.27	286.6	33.8	6.5	909	16789	0.12	2.28	13.80	0.851	4	0.075	0.048	2731	1114	1251
16900	1.27	286.6	22.9	8.6	931	16906	0.00	2.20	0.00	0.000	6	0.000	0.044	2732	2520	1251
17145	end climb: SURFACE_DEPTH_REACHED
state	17145	begin surface coast
17174	end surface coast: CONTROL_FINISHED_OK
state	17175	begin surface