Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 381 * 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 381 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 49 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -32140.037 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 -32140.037

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 49 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 381 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 005939,6708.170,-5713.890,44,1.3,45,-37.8 TGT_NAME TARGET_E_IN

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 31 TGT_RADIUS 10000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.180,-0.134

_SM_DEPTHo 1.53 KALMAN_X -149257.3,-355.6,405.0,156710.1,-3082.3

_SM_ANGLEo -59.5 KALMAN_Y 19225.9,1121.9,-735.8,5375.2,2354.6

GPS2 011603,6708.376,-5714.223,12,1.6,12,-37.8 MHEAD_RNG_PITCHd_Wd 164.5,21395,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 654

Post-dive calculations and measurements:

FINISH 0.8,1.026667 TCM_TEMP 17.00

SM_CCo 17713,0.00,0.000,0,0,1174,305.64 XPDR_PINGS 2

SM_GC 1.55,7.15,0.00,0.00,0.067,0.000,0.000,158,2323,1174,-10.40,-0.48,305.64 _24V_AH 20.6,70.227

RAFOS_CLK 910 _10V_AH 10.6,31.203

RAFOS 0,1228190645,4.083333,4.068056,64,59,55,55,54,54,202,193,176,218,149,162 DATA_FILE_SIZE 34704,958

RAFOS_FIX 6610.283691,-5944.430664,011208,161653,3,83,18.89 CAP_FILE_SIZE 152174,0

IRIDIUM_FIX 6641.98,-5709.24,260298,010102 CFSIZE 260165632,222777344

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

HUMID 1887 SOUNDSPEED 1470.4

INTERNAL_PRESSURE 8.59408 GPS 021208,061426,6709.092,-5716.979,89,1.2,89,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 109.30 SBE_CT 740 24 366.14

Roll_motor 159 60 198.97 SBE_O2 649 19 254.20

VBD_pump_during_apogee 406 1207 10106.35 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 79 103 169.02 nil 0 0 0.00

Iridium_during_connect 95 160 313.83 nil 0 0 0.00

Iridium_during_xfer 517 223 2378.82

Transponder_ping 0 420 4.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.36

TT8 1815 19 383.28

LPSleep 13345 2 326.77

TT8_Active 544 19 114.89

TT8_Sampling 1915 39 810.44

TT8_CF8 1068 45 520.15

TT8_Kalman 33 81 28.98

Analog_circuits 1597 12 203.23

GPS_charging 0 0 0.00

Compass 1887 8 160.02

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 15 begin dive

18 -1.08 -146.0 0.0 0.0 0 117 0.00 0.00 -95.95 0.000 2 0.000 0.000 167 2329 2853

120 -1.08 -146.0 3.2 -3.0 17 141 8.60 2.25 -6.05 0.000 4 0.254 0.060 2201 934 3016

333 -0.67 -146.0 36.3 -12.1 54 340 0.32 2.20 0.00 0.000 6 0.164 0.045 2294 2340 3020

678 -0.67 -146.0 71.0 -9.1 115 684 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2340 3020

1032 -0.72 -146.0 101.6 -7.5 175 1033 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2340 3020

1340 -0.81 -146.0 124.0 -7.7 190 1345 0.12 2.28 0.00 0.000 4 0.089 0.059 2247 3741 3018

1363 -0.81 -146.0 126.1 -9.1 191 1367 0.00 2.12 0.00 0.000 6 0.000 0.035 2246 2348 3018

1696 -0.81 -146.0 156.8 -8.5 207 1697 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2347 3018

2004 -0.81 -146.0 181.1 -7.9 222 2008 0.00 2.30 0.00 0.000 4 0.000 0.061 2246 3750 3018

2043 -0.81 -146.0 184.4 -8.4 223 2049 0.00 2.17 0.00 0.000 6 0.000 0.035 2246 2328 3018

2359 -0.81 -146.0 209.3 -7.7 239 2363 0.00 2.30 0.00 0.000 4 0.000 0.060 2247 3744 3018

2387 -0.81 -146.0 211.6 -8.3 240 2391 0.00 2.15 0.00 0.000 6 0.000 0.035 2246 2336 3018

2713 -0.81 -146.0 235.5 -7.0 256 2717 0.00 2.30 0.00 0.000 4 0.000 0.060 2246 3741 3018

2723 -0.81 -146.0 236.3 -7.0 256 2727 0.00 2.15 0.00 0.000 6 0.000 0.034 2246 2328 3018

3046 -0.81 -146.0 258.7 -6.9 272 3049 0.00 2.33 0.00 0.000 4 0.000 0.060 2246 3746 3019

3092 -0.86 -146.0 261.8 -6.9 274 3096 0.00 2.15 0.00 0.000 6 0.000 0.034 2246 2333 3019

3425 -0.86 -146.0 282.5 -6.3 290 3429 0.00 2.33 0.00 0.000 4 0.000 0.059 2246 3752 3019

3459 -0.91 -146.0 284.6 -6.2 291 3463 0.00 2.17 0.00 0.000 6 0.000 0.034 2246 2326 3020

3781 -0.91 -146.0 305.1 -6.4 307 3785 0.00 2.33 0.00 0.000 4 0.000 0.058 2246 3743 3021

3832 -0.98 -146.0 308.4 -6.5 309 3837 0.10 2.15 0.00 0.000 6 0.097 0.034 2206 2331 3021

4159 -0.88 -146.0 332.6 -7.3 325 4161 0.15 0.00 0.00 0.000 6 0.144 0.000 2248 2329 3021

4469 -0.92 -146.0 351.6 -6.4 340 4473 0.00 2.33 0.00 0.000 4 0.000 0.059 2248 3754 3021

4481 -0.97 -146.0 352.4 -6.3 340 4486 0.10 2.15 0.00 0.000 6 0.106 0.033 2211 2336 3021

4802 -0.90 -146.0 376.8 -7.6 356 4807 0.12 2.33 0.00 0.000 4 0.150 0.058 2245 3753 3022

4830 -0.90 -146.0 378.8 -7.0 357 4834 0.00 2.15 0.00 0.000 6 0.000 0.034 2245 2341 3022

5153 -0.95 -146.0 399.2 -6.7 373 5154 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2341 3022

5456 -0.95 -146.0 418.4 -6.3 381 5460 0.00 2.30 0.00 0.000 4 0.000 0.060 2245 3741 3022

5490 -1.03 -146.0 420.7 -6.6 381 5495 0.12 2.12 0.00 0.000 6 0.089 0.034 2197 2333 3022

5828 -0.92 -146.0 447.7 -8.1 390 5833 0.15 2.33 0.00 0.000 4 0.149 0.058 2240 3752 3022

5849 -0.92 -146.0 449.4 -7.2 390 5853 0.00 2.15 0.00 0.000 6 0.000 0.033 2240 2338 3022

6198 -0.92 -146.0 472.9 -6.7 399 6202 0.00 2.30 0.00 0.000 4 0.000 0.058 2240 3752 3023

6210 -0.97 -146.0 473.7 -6.7 399 6214 0.00 2.15 0.00 0.000 6 0.000 0.033 2240 2333 3022

6530 -1.02 -146.0 494.6 -6.4 407 6535 0.10 2.33 0.00 0.000 4 0.098 0.059 2203 3754 3023

6540 -1.02 -146.0 495.4 -6.3 407 6545 0.00 2.15 0.00 0.000 6 0.000 0.033 2203 2325 3023

6855 -0.93 -146.0 519.5 -7.6 415 6856 0.12 0.00 0.00 0.000 6 0.149 0.000 2238 2323 3023

7179 -0.93 -146.0 539.7 -6.0 423 7183 0.00 2.33 0.00 0.000 4 0.000 0.059 2238 3755 3023

7207 -0.99 -146.0 541.4 -6.2 423 7211 0.00 2.15 0.00 0.000 6 0.000 0.034 2238 2338 3023

7550 -0.99 -146.0 560.7 -5.5 432 7554 0.00 2.30 0.00 0.000 4 0.000 0.059 2238 3750 3023

7597 -1.06 -146.0 563.3 -5.3 433 7602 0.12 2.15 0.00 0.000 6 0.091 0.034 2191 2333 3023

7928 -0.95 -146.0 587.1 -7.3 441 7932 0.15 2.30 0.00 0.000 4 0.142 0.058 2233 3741 3023

7938 -0.88 -146.0 588.0 -7.2 441 7942 0.00 2.12 0.00 0.000 6 0.000 0.033 2233 2340 3023

8253 -0.88 -146.0 606.9 -6.1 449 8256 0.00 2.30 0.00 0.000 4 0.000 0.059 2233 3749 3023

8270 -0.92 -146.0 608.0 -6.0 449 8274 0.00 2.15 0.00 0.000 6 0.000 0.034 2233 2335 3023

8583 -0.92 -146.0 627.5 -6.1 457 8587 0.00 2.30 0.00 0.000 4 0.000 0.058 2233 3746 3023

8617 -0.98 -146.0 629.5 -6.3 457 8621 0.00 2.15 0.00 0.000 6 0.000 0.033 2233 2329 3023

8955 -1.03 -146.0 650.7 -6.4 466 8959 0.00 2.30 0.00 0.000 4 0.000 0.059 2233 3741 3023

9002 end dive: TARGET_DEPTH_EXCEEDED

state 9002 begin apogee

9011 -0.34 0.0 654.1 6.9 467 9143 0.40 0.00 129.27 1.207 6 0.133 0.000 2363 2514 2420

9144 end apogee: CONTROL_FINISHED_OK

state 9144 begin climb

9147 1.08 146.0 656.7 0.0 470 9289 1.00 0.00 137.48 1.130 6 0.100 0.000 2666 2513 1825

9598 0.93 146.0 621.7 8.7 481 9602 0.12 2.30 0.00 0.000 4 0.140 0.058 2630 3929 1826

9704 0.81 146.0 612.5 9.1 483 9708 0.00 2.17 0.00 0.000 6 0.000 0.036 2631 2505 1825

10017 0.81 147.8 590.6 7.0 491 10021 0.00 2.15 0.00 0.000 4 0.000 0.046 2631 1109 1825

10073 0.81 147.8 586.6 7.5 492 10077 0.00 2.20 0.00 0.000 6 0.000 0.043 2631 2523 1824

10392 0.81 147.8 564.0 7.1 500 10396 0.00 2.25 0.00 0.000 4 0.000 0.060 2631 3938 1824

10486 0.68 147.8 555.9 8.8 502 10491 0.17 2.17 0.00 0.000 6 0.137 0.035 2582 2503 1825

10812 0.86 181.6 537.0 5.9 510 10847 0.15 2.20 30.17 1.127 4 0.070 0.046 2648 1124 1679

10903 0.86 181.6 529.4 8.6 511 10908 0.10 2.20 0.00 0.000 6 0.138 0.043 2622 2529 1680

11222 0.86 181.6 505.2 7.5 519 11227 0.00 2.22 0.00 0.000 4 0.000 0.060 2622 3929 1680

11273 0.82 181.6 500.9 8.6 520 11276 0.00 2.15 0.00 0.000 6 0.000 0.035 2622 2509 1680

11598 0.82 181.6 475.6 7.9 528 11602 0.00 2.12 0.00 0.000 4 0.000 0.046 2622 1121 1680

11670 0.90 181.6 469.8 7.9 529 11674 0.00 2.17 0.00 0.000 6 0.000 0.043 2622 2522 1680

12014 0.95 181.6 442.9 7.8 538 12018 0.00 2.25 0.00 0.000 4 0.000 0.060 2622 3929 1680

12063 0.95 181.6 438.3 8.9 539 12067 0.00 2.15 0.00 0.000 6 0.000 0.035 2622 2513 1680

12388 1.01 181.6 413.2 7.7 547 12393 0.12 2.15 0.00 0.000 4 0.078 0.045 2678 1119 1680

12456 0.92 181.6 407.1 9.2 548 12460 0.15 2.20 0.00 0.000 6 0.132 0.043 2635 2534 1680

12781 0.92 181.6 382.0 7.6 562 12784 0.00 2.22 0.00 0.000 4 0.000 0.059 2635 3929 1680

12843 0.85 181.6 376.6 8.7 564 12849 0.00 2.15 0.00 0.000 6 0.000 0.035 2635 2512 1679

13158 0.85 181.6 353.9 7.1 580 13162 0.00 2.15 0.00 0.000 4 0.000 0.046 2635 1116 1680

13238 0.92 183.7 348.4 6.9 583 13242 0.00 2.20 0.00 0.000 6 0.000 0.042 2635 2531 1679

13560 0.92 183.7 325.3 7.1 599 13569 0.00 2.28 3.08 0.504 4 0.000 0.059 2635 3917 1672

13615 0.85 183.7 320.9 8.4 601 13618 0.00 2.12 0.00 0.000 6 0.000 0.035 2635 2517 1673

13936 0.87 192.5 298.7 6.7 617 13951 0.00 2.22 8.82 0.884 4 0.000 0.046 2635 1118 1635

13997 0.93 192.5 294.5 7.3 619 14003 0.00 2.17 0.00 0.000 6 0.000 0.041 2635 2525 1637

14313 1.02 224.7 274.6 5.9 635 14343 0.10 0.00 27.40 0.968 6 0.080 0.000 2681 2525 1504

14643 0.95 224.7 247.3 8.1 651 14645 0.15 0.00 0.00 0.000 6 0.120 0.000 2637 2525 1507

14952 1.06 259.1 229.6 5.8 666 14983 0.12 0.00 28.88 0.937 6 0.074 0.000 2693 2525 1363

15281 0.99 259.1 201.4 8.8 682 15286 0.15 2.20 0.00 0.000 4 0.118 0.046 2647 1123 1365

15372 1.12 264.8 195.1 6.8 686 15383 0.12 2.17 6.18 0.743 6 0.075 0.042 2704 2524 1341

15703 1.03 264.8 160.6 11.0 702 15705 0.17 0.00 0.00 0.000 6 0.119 0.000 2650 2524 1343

16009 1.12 264.8 134.4 8.3 717 16011 0.10 0.00 0.00 0.000 6 0.083 0.000 2695 2524 1343

16318 1.12 264.8 101.9 9.4 732 16322 0.00 2.20 0.00 0.000 4 0.000 0.046 2695 1118 1343

16403 1.12 264.8 95.2 7.9 741 16409 0.00 2.17 0.00 0.000 6 0.000 0.042 2695 2520 1344

16748 1.15 283.4 71.5 6.4 802 16772 0.00 2.30 16.27 0.833 4 0.000 0.059 2695 3924 1264

16824 1.07 283.4 65.8 8.4 815 16831 0.12 2.15 0.00 0.000 6 0.127 0.035 2658 2508 1265

17170 1.29 305.3 45.4 6.3 876 17195 0.17 2.25 18.83 0.831 4 0.067 0.048 2732 1112 1175

17325 1.29 305.3 32.1 9.3 903 17331 0.00 2.20 0.00 0.000 6 0.000 0.043 2732 2527 1176

17616 end climb: SURFACE_DEPTH_REACHED

state 17616 begin surface coast

17634 end surface coast: CONTROL_FINISHED_OK

state 17634 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	381	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	49	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-32140.037	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	005939,6708.170,-5713.890,44,1.3,45,-37.8	TGT_NAME	TARGET_E_IN
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	31	TGT_RADIUS	10000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.180,-0.134
_SM_DEPTHo	1.53	KALMAN_X	-149257.3,-355.6,405.0,156710.1,-3082.3
_SM_ANGLEo	-59.5	KALMAN_Y	19225.9,1121.9,-735.8,5375.2,2354.6
GPS2	011603,6708.376,-5714.223,12,1.6,12,-37.8	MHEAD_RNG_PITCHd_Wd	164.5,21395,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	654

FINISH	0.8,1.026667	TCM_TEMP	17.00
SM_CCo	17713,0.00,0.000,0,0,1174,305.64	XPDR_PINGS	2
SM_GC	1.55,7.15,0.00,0.00,0.067,0.000,0.000,158,2323,1174,-10.40,-0.48,305.64	_24V_AH	20.6,70.227
RAFOS_CLK	910	_10V_AH	10.6,31.203
RAFOS	0,1228190645,4.083333,4.068056,64,59,55,55,54,54,202,193,176,218,149,162	DATA_FILE_SIZE	34704,958
RAFOS_FIX	6610.283691,-5944.430664,011208,161653,3,83,18.89	CAP_FILE_SIZE	152174,0
IRIDIUM_FIX	6641.98,-5709.24,260298,010102	CFSIZE	260165632,222777344
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1887	SOUNDSPEED	1470.4
INTERNAL_PRESSURE	8.59408	GPS	021208,061426,6709.092,-5716.979,89,1.2,89,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	109.30	SBE_CT	740	24	366.14
Roll_motor	159	60	198.97	SBE_O2	649	19	254.20
VBD_pump_during_apogee	406	1207	10106.35	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	79	103	169.02	nil	0	0	0.00
Iridium_during_connect	95	160	313.83	nil	0	0	0.00
Iridium_during_xfer	517	223	2378.82
Transponder_ping	0	420	4.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.36
TT8	1815	19	383.28
LPSleep	13345	2	326.77
TT8_Active	544	19	114.89
TT8_Sampling	1915	39	810.44
TT8_CF8	1068	45	520.15
TT8_Kalman	33	81	28.98
Analog_circuits	1597	12	203.23
GPS_charging	0	0	0.00
Compass	1887	8	160.02
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	15	begin dive
18	-1.08	-146.0	0.0	0.0	0	117	0.00	0.00	-95.95	0.000	2	0.000	0.000	167	2329	2853
120	-1.08	-146.0	3.2	-3.0	17	141	8.60	2.25	-6.05	0.000	4	0.254	0.060	2201	934	3016
333	-0.67	-146.0	36.3	-12.1	54	340	0.32	2.20	0.00	0.000	6	0.164	0.045	2294	2340	3020
678	-0.67	-146.0	71.0	-9.1	115	684	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2340	3020
1032	-0.72	-146.0	101.6	-7.5	175	1033	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2340	3020
1340	-0.81	-146.0	124.0	-7.7	190	1345	0.12	2.28	0.00	0.000	4	0.089	0.059	2247	3741	3018
1363	-0.81	-146.0	126.1	-9.1	191	1367	0.00	2.12	0.00	0.000	6	0.000	0.035	2246	2348	3018
1696	-0.81	-146.0	156.8	-8.5	207	1697	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2347	3018
2004	-0.81	-146.0	181.1	-7.9	222	2008	0.00	2.30	0.00	0.000	4	0.000	0.061	2246	3750	3018
2043	-0.81	-146.0	184.4	-8.4	223	2049	0.00	2.17	0.00	0.000	6	0.000	0.035	2246	2328	3018
2359	-0.81	-146.0	209.3	-7.7	239	2363	0.00	2.30	0.00	0.000	4	0.000	0.060	2247	3744	3018
2387	-0.81	-146.0	211.6	-8.3	240	2391	0.00	2.15	0.00	0.000	6	0.000	0.035	2246	2336	3018
2713	-0.81	-146.0	235.5	-7.0	256	2717	0.00	2.30	0.00	0.000	4	0.000	0.060	2246	3741	3018
2723	-0.81	-146.0	236.3	-7.0	256	2727	0.00	2.15	0.00	0.000	6	0.000	0.034	2246	2328	3018
3046	-0.81	-146.0	258.7	-6.9	272	3049	0.00	2.33	0.00	0.000	4	0.000	0.060	2246	3746	3019
3092	-0.86	-146.0	261.8	-6.9	274	3096	0.00	2.15	0.00	0.000	6	0.000	0.034	2246	2333	3019
3425	-0.86	-146.0	282.5	-6.3	290	3429	0.00	2.33	0.00	0.000	4	0.000	0.059	2246	3752	3019
3459	-0.91	-146.0	284.6	-6.2	291	3463	0.00	2.17	0.00	0.000	6	0.000	0.034	2246	2326	3020
3781	-0.91	-146.0	305.1	-6.4	307	3785	0.00	2.33	0.00	0.000	4	0.000	0.058	2246	3743	3021
3832	-0.98	-146.0	308.4	-6.5	309	3837	0.10	2.15	0.00	0.000	6	0.097	0.034	2206	2331	3021
4159	-0.88	-146.0	332.6	-7.3	325	4161	0.15	0.00	0.00	0.000	6	0.144	0.000	2248	2329	3021
4469	-0.92	-146.0	351.6	-6.4	340	4473	0.00	2.33	0.00	0.000	4	0.000	0.059	2248	3754	3021
4481	-0.97	-146.0	352.4	-6.3	340	4486	0.10	2.15	0.00	0.000	6	0.106	0.033	2211	2336	3021
4802	-0.90	-146.0	376.8	-7.6	356	4807	0.12	2.33	0.00	0.000	4	0.150	0.058	2245	3753	3022
4830	-0.90	-146.0	378.8	-7.0	357	4834	0.00	2.15	0.00	0.000	6	0.000	0.034	2245	2341	3022
5153	-0.95	-146.0	399.2	-6.7	373	5154	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2341	3022
5456	-0.95	-146.0	418.4	-6.3	381	5460	0.00	2.30	0.00	0.000	4	0.000	0.060	2245	3741	3022
5490	-1.03	-146.0	420.7	-6.6	381	5495	0.12	2.12	0.00	0.000	6	0.089	0.034	2197	2333	3022
5828	-0.92	-146.0	447.7	-8.1	390	5833	0.15	2.33	0.00	0.000	4	0.149	0.058	2240	3752	3022
5849	-0.92	-146.0	449.4	-7.2	390	5853	0.00	2.15	0.00	0.000	6	0.000	0.033	2240	2338	3022
6198	-0.92	-146.0	472.9	-6.7	399	6202	0.00	2.30	0.00	0.000	4	0.000	0.058	2240	3752	3023
6210	-0.97	-146.0	473.7	-6.7	399	6214	0.00	2.15	0.00	0.000	6	0.000	0.033	2240	2333	3022
6530	-1.02	-146.0	494.6	-6.4	407	6535	0.10	2.33	0.00	0.000	4	0.098	0.059	2203	3754	3023
6540	-1.02	-146.0	495.4	-6.3	407	6545	0.00	2.15	0.00	0.000	6	0.000	0.033	2203	2325	3023
6855	-0.93	-146.0	519.5	-7.6	415	6856	0.12	0.00	0.00	0.000	6	0.149	0.000	2238	2323	3023
7179	-0.93	-146.0	539.7	-6.0	423	7183	0.00	2.33	0.00	0.000	4	0.000	0.059	2238	3755	3023
7207	-0.99	-146.0	541.4	-6.2	423	7211	0.00	2.15	0.00	0.000	6	0.000	0.034	2238	2338	3023
7550	-0.99	-146.0	560.7	-5.5	432	7554	0.00	2.30	0.00	0.000	4	0.000	0.059	2238	3750	3023
7597	-1.06	-146.0	563.3	-5.3	433	7602	0.12	2.15	0.00	0.000	6	0.091	0.034	2191	2333	3023
7928	-0.95	-146.0	587.1	-7.3	441	7932	0.15	2.30	0.00	0.000	4	0.142	0.058	2233	3741	3023
7938	-0.88	-146.0	588.0	-7.2	441	7942	0.00	2.12	0.00	0.000	6	0.000	0.033	2233	2340	3023
8253	-0.88	-146.0	606.9	-6.1	449	8256	0.00	2.30	0.00	0.000	4	0.000	0.059	2233	3749	3023
8270	-0.92	-146.0	608.0	-6.0	449	8274	0.00	2.15	0.00	0.000	6	0.000	0.034	2233	2335	3023
8583	-0.92	-146.0	627.5	-6.1	457	8587	0.00	2.30	0.00	0.000	4	0.000	0.058	2233	3746	3023
8617	-0.98	-146.0	629.5	-6.3	457	8621	0.00	2.15	0.00	0.000	6	0.000	0.033	2233	2329	3023
8955	-1.03	-146.0	650.7	-6.4	466	8959	0.00	2.30	0.00	0.000	4	0.000	0.059	2233	3741	3023
9002	end dive: TARGET_DEPTH_EXCEEDED
state	9002	begin apogee
9011	-0.34	0.0	654.1	6.9	467	9143	0.40	0.00	129.27	1.207	6	0.133	0.000	2363	2514	2420
9144	end apogee: CONTROL_FINISHED_OK
state	9144	begin climb
9147	1.08	146.0	656.7	0.0	470	9289	1.00	0.00	137.48	1.130	6	0.100	0.000	2666	2513	1825
9598	0.93	146.0	621.7	8.7	481	9602	0.12	2.30	0.00	0.000	4	0.140	0.058	2630	3929	1826
9704	0.81	146.0	612.5	9.1	483	9708	0.00	2.17	0.00	0.000	6	0.000	0.036	2631	2505	1825
10017	0.81	147.8	590.6	7.0	491	10021	0.00	2.15	0.00	0.000	4	0.000	0.046	2631	1109	1825
10073	0.81	147.8	586.6	7.5	492	10077	0.00	2.20	0.00	0.000	6	0.000	0.043	2631	2523	1824
10392	0.81	147.8	564.0	7.1	500	10396	0.00	2.25	0.00	0.000	4	0.000	0.060	2631	3938	1824
10486	0.68	147.8	555.9	8.8	502	10491	0.17	2.17	0.00	0.000	6	0.137	0.035	2582	2503	1825
10812	0.86	181.6	537.0	5.9	510	10847	0.15	2.20	30.17	1.127	4	0.070	0.046	2648	1124	1679
10903	0.86	181.6	529.4	8.6	511	10908	0.10	2.20	0.00	0.000	6	0.138	0.043	2622	2529	1680
11222	0.86	181.6	505.2	7.5	519	11227	0.00	2.22	0.00	0.000	4	0.000	0.060	2622	3929	1680
11273	0.82	181.6	500.9	8.6	520	11276	0.00	2.15	0.00	0.000	6	0.000	0.035	2622	2509	1680
11598	0.82	181.6	475.6	7.9	528	11602	0.00	2.12	0.00	0.000	4	0.000	0.046	2622	1121	1680
11670	0.90	181.6	469.8	7.9	529	11674	0.00	2.17	0.00	0.000	6	0.000	0.043	2622	2522	1680
12014	0.95	181.6	442.9	7.8	538	12018	0.00	2.25	0.00	0.000	4	0.000	0.060	2622	3929	1680
12063	0.95	181.6	438.3	8.9	539	12067	0.00	2.15	0.00	0.000	6	0.000	0.035	2622	2513	1680
12388	1.01	181.6	413.2	7.7	547	12393	0.12	2.15	0.00	0.000	4	0.078	0.045	2678	1119	1680
12456	0.92	181.6	407.1	9.2	548	12460	0.15	2.20	0.00	0.000	6	0.132	0.043	2635	2534	1680
12781	0.92	181.6	382.0	7.6	562	12784	0.00	2.22	0.00	0.000	4	0.000	0.059	2635	3929	1680
12843	0.85	181.6	376.6	8.7	564	12849	0.00	2.15	0.00	0.000	6	0.000	0.035	2635	2512	1679
13158	0.85	181.6	353.9	7.1	580	13162	0.00	2.15	0.00	0.000	4	0.000	0.046	2635	1116	1680
13238	0.92	183.7	348.4	6.9	583	13242	0.00	2.20	0.00	0.000	6	0.000	0.042	2635	2531	1679
13560	0.92	183.7	325.3	7.1	599	13569	0.00	2.28	3.08	0.504	4	0.000	0.059	2635	3917	1672
13615	0.85	183.7	320.9	8.4	601	13618	0.00	2.12	0.00	0.000	6	0.000	0.035	2635	2517	1673
13936	0.87	192.5	298.7	6.7	617	13951	0.00	2.22	8.82	0.884	4	0.000	0.046	2635	1118	1635
13997	0.93	192.5	294.5	7.3	619	14003	0.00	2.17	0.00	0.000	6	0.000	0.041	2635	2525	1637
14313	1.02	224.7	274.6	5.9	635	14343	0.10	0.00	27.40	0.968	6	0.080	0.000	2681	2525	1504
14643	0.95	224.7	247.3	8.1	651	14645	0.15	0.00	0.00	0.000	6	0.120	0.000	2637	2525	1507
14952	1.06	259.1	229.6	5.8	666	14983	0.12	0.00	28.88	0.937	6	0.074	0.000	2693	2525	1363
15281	0.99	259.1	201.4	8.8	682	15286	0.15	2.20	0.00	0.000	4	0.118	0.046	2647	1123	1365
15372	1.12	264.8	195.1	6.8	686	15383	0.12	2.17	6.18	0.743	6	0.075	0.042	2704	2524	1341
15703	1.03	264.8	160.6	11.0	702	15705	0.17	0.00	0.00	0.000	6	0.119	0.000	2650	2524	1343
16009	1.12	264.8	134.4	8.3	717	16011	0.10	0.00	0.00	0.000	6	0.083	0.000	2695	2524	1343
16318	1.12	264.8	101.9	9.4	732	16322	0.00	2.20	0.00	0.000	4	0.000	0.046	2695	1118	1343
16403	1.12	264.8	95.2	7.9	741	16409	0.00	2.17	0.00	0.000	6	0.000	0.042	2695	2520	1344
16748	1.15	283.4	71.5	6.4	802	16772	0.00	2.30	16.27	0.833	4	0.000	0.059	2695	3924	1264
16824	1.07	283.4	65.8	8.4	815	16831	0.12	2.15	0.00	0.000	6	0.127	0.035	2658	2508	1265
17170	1.29	305.3	45.4	6.3	876	17195	0.17	2.25	18.83	0.831	4	0.067	0.048	2732	1112	1175
17325	1.29	305.3	32.1	9.3	903	17331	0.00	2.20	0.00	0.000	6	0.000	0.043	2732	2527	1176
17616	end climb: SURFACE_DEPTH_REACHED
state	17616	begin surface coast
17634	end surface coast: CONTROL_FINISHED_OK
state	17634	begin surface