Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 132 * 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 132 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 275 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 30 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 -2 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 100 T_GPS_CHARGE -24376.074 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 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 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 -24376.074

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 -2

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 30 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 132 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 112156,6640.569,-6009.488,38,1.3,38,-38.0 TGT_NAME TARGET_ADD1_EB

_CALLS 1 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.224,-0.005

_SM_DEPTHo 1.64 KALMAN_X 12966.7,379.5,442.0,-97938.9,-1591.2

_SM_ANGLEo -63.5 KALMAN_Y -23443.7,-86.1,-1919.6,-830.4,2536.2

GPS2 112709,6640.596,-6009.414,11,1.5,11,-38.0 MHEAD_RNG_PITCHd_Wd 129.4,15381,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 564

Post-dive calculations and measurements:

FINISH 0.8,1.024756 TCM_TEMP 15.40

SM_CCo 15491,0.00,0.000,0,0,1229,291.91 XPDR_PINGS 1

SM_GC 1.75,7.10,0.00,0.00,0.071,0.000,0.000,165,2352,1229,-10.37,0.34,291.91 _24V_AH 22.0,29.374

RAFOS_CLK 883 _10V_AH 10.6,11.441

RAFOS 0,1222949044,12.083333,12.067778,75,62,60,57,56,55,556,154,203,191,220,175 DATA_FILE_SIZE 34696,934

RAFOS_FIX 6645.852051,-5918.661621,021008,121244,4,78,10.55 CAP_FILE_SIZE 127697,0

IRIDIUM_FIX 6609.62,-6011.94,271297,070723 CFSIZE 260165632,241922048

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

HUMID 1913 SOUNDSPEED 1448.8

INTERNAL_PRESSURE 8.51595 GPS 021008,154826,6641.873,-6005.413,38,1.1,38,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 271 127.38 SBE_CT 728 24 384.80

Roll_motor 136 74 223.26 SBE_O2 637 19 266.34

VBD_pump_during_apogee 381 1270 10670.17 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 67.00 nil 0 0 0.00

Iridium_during_connect 33 160 119.21 nil 0 0 0.00

Iridium_during_xfer 143 223 702.57

Transponder_ping 0 420 2.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.92

TT8 1745 19 368.62

LPSleep 11424 2 279.74

TT8_Active 563 19 119.07

TT8_Sampling 1747 39 739.34

TT8_CF8 375 45 182.95

TT8_Kalman 33 81 28.97

Analog_circuits 1504 12 191.39

GPS_charging 0 0 0.00

Compass 1721 8 145.98

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.08 -146.0 0.0 0.0 0 128 0.00 0.00 -107.97 0.000 2 0.000 0.000 167 2335 2711

130 -1.08 -146.0 3.4 -3.1 19 156 8.82 2.38 -10.45 0.000 4 0.272 0.074 2198 925 3019

270 -0.64 -146.0 31.0 -15.3 43 277 0.35 2.30 0.00 0.000 6 0.170 0.052 2298 2345 3022

614 -0.64 -146.0 61.5 -8.6 104 620 0.00 2.33 0.00 0.000 4 0.000 0.069 2298 3757 3024

643 -0.64 -146.0 63.9 -8.6 109 649 0.00 2.25 0.00 0.000 6 0.000 0.042 2297 2322 3024

986 -0.69 -146.0 92.4 -8.4 170 992 0.00 0.00 0.00 0.000 6 0.000 0.000 2298 2322 3026

1315 -0.78 -146.0 115.7 -6.6 199 1317 0.12 0.00 0.00 0.000 6 0.095 0.000 2250 2322 3026

1624 -0.72 -146.0 140.0 -8.0 214 1629 0.12 2.38 0.00 0.000 4 0.166 0.070 2282 3751 3025

1678 -0.83 -146.0 144.1 -7.4 216 1686 0.10 2.22 0.00 0.000 6 0.101 0.044 2246 2331 3025

1994 -0.83 -146.0 170.3 -8.7 232 1998 0.00 2.35 0.00 0.000 4 0.000 0.072 2246 3746 3025

2020 -0.83 -146.0 172.6 -8.3 233 2025 0.00 2.22 0.00 0.000 6 0.000 0.044 2246 2345 3025

2347 -0.83 -146.0 198.3 -8.3 249 2348 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2345 3024

2656 -0.83 -146.0 223.1 -7.8 264 2660 0.00 2.25 0.00 0.000 4 0.000 0.059 2246 927 3024

2666 -0.83 -146.0 223.9 -7.7 264 2670 0.00 2.25 0.00 0.000 6 0.000 0.052 2246 2344 3024

2987 -0.83 -146.0 250.0 -8.0 280 2988 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2343 3024

3296 -0.83 -146.0 274.0 -7.3 295 3297 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2344 3024

3606 -0.83 -146.0 296.0 -7.1 310 3609 0.00 2.30 0.00 0.000 4 0.000 0.072 2246 3743 3023

3621 -0.83 -146.0 297.2 -7.4 310 3628 0.00 2.22 0.00 0.000 6 0.000 0.043 2246 2338 3023

3937 -0.83 -146.0 316.3 -5.7 326 3941 0.00 2.35 0.00 0.000 4 0.000 0.072 2246 3755 3023

3965 -0.88 -146.0 317.9 -6.0 327 3969 0.00 2.22 0.00 0.000 6 0.000 0.044 2246 2327 3023

4291 -0.93 -146.0 335.0 -4.9 343 4293 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2327 3023

4600 -0.93 -146.0 352.2 -5.7 358 4604 0.00 2.35 0.00 0.000 4 0.000 0.072 2246 3745 3023

4611 -0.98 -146.0 352.8 -5.6 358 4618 0.10 2.20 0.00 0.000 6 0.110 0.044 2209 2334 3023

4927 -0.91 -146.0 374.7 -7.2 374 4932 0.12 2.35 0.00 0.000 4 0.160 0.071 2242 3747 3023

4982 -1.00 -146.0 378.6 -6.8 376 4989 0.10 2.20 0.00 0.000 6 0.103 0.043 2206 2333 3023

5298 -0.92 -146.0 400.7 -6.8 392 5302 0.12 2.33 0.00 0.000 4 0.160 0.072 2240 3749 3023

5330 -0.99 -146.0 402.8 -6.0 392 5336 0.00 2.20 0.00 0.000 6 0.000 0.043 2240 2334 3023

5662 -1.04 -146.0 421.5 -5.5 401 5666 0.12 2.33 0.00 0.000 4 0.102 0.071 2195 3746 3023

5677 -1.04 -146.0 422.6 -5.3 401 5681 0.00 2.22 0.00 0.000 6 0.000 0.043 2194 2337 3023

6025 -0.94 -146.0 447.2 -7.2 410 6030 0.15 2.33 0.00 0.000 4 0.157 0.068 2235 3754 3023

6064 -1.01 -146.0 449.8 -6.5 411 6068 0.00 2.20 0.00 0.000 6 0.000 0.043 2235 2340 3023

6393 -1.01 -146.0 469.7 -6.0 419 6395 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2339 3023

6719 -1.05 -146.0 490.4 -6.5 427 6724 0.12 2.33 0.00 0.000 4 0.105 0.068 2191 3747 3023

6729 -1.05 -146.0 491.2 -6.5 427 6733 0.00 2.20 0.00 0.000 6 0.000 0.042 2191 2330 3023

7042 -0.95 -146.0 515.7 -7.8 435 7046 0.15 2.35 0.00 0.000 4 0.153 0.069 2231 3749 3024

7068 -0.95 -146.0 517.4 -6.7 435 7072 0.00 2.20 0.00 0.000 6 0.000 0.042 2232 2330 3024

7405 -1.00 -146.0 538.0 -6.0 444 7409 0.00 2.35 0.00 0.000 4 0.000 0.069 2232 3757 3024

7416 -1.05 -146.0 538.7 -6.0 444 7420 0.10 2.20 0.00 0.000 6 0.108 0.041 2197 2335 3024

7734 -0.98 -146.0 561.7 -7.2 452 7738 0.10 2.33 0.00 0.000 4 0.167 0.070 2221 3749 3024

7769 end dive: TARGET_DEPTH_EXCEEDED

state 7769 begin apogee

7776 -0.34 0.0 564.3 6.3 452 7907 0.43 0.00 127.78 1.270 6 0.147 0.000 2356 2502 2420

7908 end apogee: CONTROL_FINISHED_OK

state 7908 begin climb

7910 1.08 146.0 566.5 0.0 456 8044 1.10 0.00 130.57 1.183 6 0.114 0.000 2675 2502 1824

8347 0.87 146.0 527.0 9.7 467 8352 0.20 2.50 0.00 0.000 4 0.144 0.069 2616 3929 1821

8488 0.74 146.0 515.3 8.0 470 8492 0.00 2.30 0.00 0.000 6 0.000 0.042 2616 2512 1819

8805 0.75 150.2 493.2 6.9 478 8812 0.00 0.00 4.47 0.840 6 0.000 0.000 2616 2513 1807

9130 0.75 150.2 470.3 7.2 486 9134 0.00 2.38 0.00 0.000 4 0.000 0.069 2616 3933 1807

9208 0.64 150.2 463.6 9.3 487 9213 0.15 2.22 0.00 0.000 6 0.151 0.041 2575 2517 1807

9545 0.83 191.2 443.9 5.6 496 9587 0.15 2.35 34.58 1.197 4 0.076 0.055 2635 1111 1640

9633 0.83 191.2 437.5 7.7 498 9637 0.00 2.33 0.00 0.000 6 0.000 0.049 2635 2530 1639

9962 0.83 191.2 413.1 7.5 506 9966 0.00 2.30 0.00 0.000 4 0.000 0.067 2635 3940 1637

10006 0.71 191.2 409.4 8.7 507 10011 0.17 2.20 0.00 0.000 6 0.143 0.038 2586 2519 1637

10338 0.91 241.3 391.3 5.3 518 10385 0.17 2.33 41.40 1.167 4 0.072 0.051 2653 1119 1435

10452 0.91 241.3 383.2 7.2 523 10456 0.00 2.30 0.00 0.000 6 0.000 0.048 2653 2523 1433

10773 0.91 241.3 360.0 7.6 539 10774 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2524 1432

11082 0.91 241.3 335.8 8.6 554 11085 0.00 2.28 0.00 0.000 4 0.000 0.054 2653 1112 1432

11136 0.91 241.3 331.2 9.1 556 11141 0.00 2.28 0.00 0.000 6 0.000 0.048 2653 2520 1431

11458 0.91 241.3 303.5 8.7 572 11461 0.00 2.30 0.00 0.000 4 0.000 0.067 2653 3936 1431

11513 0.82 241.3 297.9 10.5 574 11517 0.15 2.22 0.00 0.000 6 0.148 0.041 2611 2509 1431

11833 0.97 249.8 275.7 6.7 590 11848 0.12 2.25 7.97 0.997 4 0.080 0.055 2664 1120 1401

11899 0.97 249.8 270.1 8.3 593 11904 0.00 2.25 0.00 0.000 6 0.000 0.049 2664 2529 1400

12231 0.97 249.8 241.7 8.5 609 12232 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2529 1400

12540 0.97 249.8 215.5 8.2 624 12541 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2529 1400

12849 0.97 249.8 190.8 8.0 639 12853 0.00 2.28 0.00 0.000 4 0.000 0.056 2664 1109 1400

12916 0.97 249.8 185.3 8.3 642 12920 0.00 2.25 0.00 0.000 6 0.000 0.050 2664 2528 1400

13248 0.97 249.8 157.3 8.5 658 13252 0.00 2.28 0.00 0.000 4 0.000 0.069 2664 3927 1399

13293 0.91 249.8 153.2 9.9 660 13297 0.12 2.20 0.00 0.000 6 0.148 0.043 2629 2512 1400

13624 1.18 254.4 131.7 6.9 676 13635 0.20 2.22 5.25 0.864 4 0.077 0.056 2709 1107 1383

13754 1.10 254.4 121.1 8.1 682 13759 0.15 2.25 0.00 0.000 6 0.143 0.051 2667 2520 1383

14080 1.19 289.9 99.8 5.8 698 14117 0.10 2.42 29.83 1.066 4 0.091 0.068 2707 3927 1238

14146 1.09 289.9 94.5 8.7 709 14153 0.15 2.28 0.00 0.000 6 0.141 0.044 2666 2516 1236

14490 1.21 289.9 69.8 7.1 770 14497 0.12 2.28 0.00 0.000 4 0.087 0.057 2718 1106 1234

14558 1.21 289.9 63.5 9.2 782 14565 0.00 2.28 0.00 0.000 6 0.000 0.051 2718 2520 1234

14901 1.21 289.9 33.3 8.3 843 14907 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2520 1233

15245 1.27 289.9 11.9 7.5 904 15251 0.00 2.28 0.00 0.000 4 0.000 0.058 2718 1114 1232

15378 end climb: SURFACE_DEPTH_REACHED

state 15378 begin surface coast

15413 end surface coast: CONTROL_FINISHED_OK

state 15413 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	132	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	275	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	30	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	-2	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	100	T_GPS_CHARGE	-24376.074	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	112156,6640.569,-6009.488,38,1.3,38,-38.0	TGT_NAME	TARGET_ADD1_EB
_CALLS	1	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.224,-0.005
_SM_DEPTHo	1.64	KALMAN_X	12966.7,379.5,442.0,-97938.9,-1591.2
_SM_ANGLEo	-63.5	KALMAN_Y	-23443.7,-86.1,-1919.6,-830.4,2536.2
GPS2	112709,6640.596,-6009.414,11,1.5,11,-38.0	MHEAD_RNG_PITCHd_Wd	129.4,15381,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	564

FINISH	0.8,1.024756	TCM_TEMP	15.40
SM_CCo	15491,0.00,0.000,0,0,1229,291.91	XPDR_PINGS	1
SM_GC	1.75,7.10,0.00,0.00,0.071,0.000,0.000,165,2352,1229,-10.37,0.34,291.91	_24V_AH	22.0,29.374
RAFOS_CLK	883	_10V_AH	10.6,11.441
RAFOS	0,1222949044,12.083333,12.067778,75,62,60,57,56,55,556,154,203,191,220,175	DATA_FILE_SIZE	34696,934
RAFOS_FIX	6645.852051,-5918.661621,021008,121244,4,78,10.55	CAP_FILE_SIZE	127697,0
IRIDIUM_FIX	6609.62,-6011.94,271297,070723	CFSIZE	260165632,241922048
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1913	SOUNDSPEED	1448.8
INTERNAL_PRESSURE	8.51595	GPS	021008,154826,6641.873,-6005.413,38,1.1,38,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	271	127.38	SBE_CT	728	24	384.80
Roll_motor	136	74	223.26	SBE_O2	637	19	266.34
VBD_pump_during_apogee	381	1270	10670.17	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	67.00	nil	0	0	0.00
Iridium_during_connect	33	160	119.21	nil	0	0	0.00
Iridium_during_xfer	143	223	702.57
Transponder_ping	0	420	2.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.92
TT8	1745	19	368.62
LPSleep	11424	2	279.74
TT8_Active	563	19	119.07
TT8_Sampling	1747	39	739.34
TT8_CF8	375	45	182.95
TT8_Kalman	33	81	28.97
Analog_circuits	1504	12	191.39
GPS_charging	0	0	0.00
Compass	1721	8	145.98
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.08	-146.0	0.0	0.0	0	128	0.00	0.00	-107.97	0.000	2	0.000	0.000	167	2335	2711
130	-1.08	-146.0	3.4	-3.1	19	156	8.82	2.38	-10.45	0.000	4	0.272	0.074	2198	925	3019
270	-0.64	-146.0	31.0	-15.3	43	277	0.35	2.30	0.00	0.000	6	0.170	0.052	2298	2345	3022
614	-0.64	-146.0	61.5	-8.6	104	620	0.00	2.33	0.00	0.000	4	0.000	0.069	2298	3757	3024
643	-0.64	-146.0	63.9	-8.6	109	649	0.00	2.25	0.00	0.000	6	0.000	0.042	2297	2322	3024
986	-0.69	-146.0	92.4	-8.4	170	992	0.00	0.00	0.00	0.000	6	0.000	0.000	2298	2322	3026
1315	-0.78	-146.0	115.7	-6.6	199	1317	0.12	0.00	0.00	0.000	6	0.095	0.000	2250	2322	3026
1624	-0.72	-146.0	140.0	-8.0	214	1629	0.12	2.38	0.00	0.000	4	0.166	0.070	2282	3751	3025
1678	-0.83	-146.0	144.1	-7.4	216	1686	0.10	2.22	0.00	0.000	6	0.101	0.044	2246	2331	3025
1994	-0.83	-146.0	170.3	-8.7	232	1998	0.00	2.35	0.00	0.000	4	0.000	0.072	2246	3746	3025
2020	-0.83	-146.0	172.6	-8.3	233	2025	0.00	2.22	0.00	0.000	6	0.000	0.044	2246	2345	3025
2347	-0.83	-146.0	198.3	-8.3	249	2348	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2345	3024
2656	-0.83	-146.0	223.1	-7.8	264	2660	0.00	2.25	0.00	0.000	4	0.000	0.059	2246	927	3024
2666	-0.83	-146.0	223.9	-7.7	264	2670	0.00	2.25	0.00	0.000	6	0.000	0.052	2246	2344	3024
2987	-0.83	-146.0	250.0	-8.0	280	2988	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2343	3024
3296	-0.83	-146.0	274.0	-7.3	295	3297	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2344	3024
3606	-0.83	-146.0	296.0	-7.1	310	3609	0.00	2.30	0.00	0.000	4	0.000	0.072	2246	3743	3023
3621	-0.83	-146.0	297.2	-7.4	310	3628	0.00	2.22	0.00	0.000	6	0.000	0.043	2246	2338	3023
3937	-0.83	-146.0	316.3	-5.7	326	3941	0.00	2.35	0.00	0.000	4	0.000	0.072	2246	3755	3023
3965	-0.88	-146.0	317.9	-6.0	327	3969	0.00	2.22	0.00	0.000	6	0.000	0.044	2246	2327	3023
4291	-0.93	-146.0	335.0	-4.9	343	4293	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2327	3023
4600	-0.93	-146.0	352.2	-5.7	358	4604	0.00	2.35	0.00	0.000	4	0.000	0.072	2246	3745	3023
4611	-0.98	-146.0	352.8	-5.6	358	4618	0.10	2.20	0.00	0.000	6	0.110	0.044	2209	2334	3023
4927	-0.91	-146.0	374.7	-7.2	374	4932	0.12	2.35	0.00	0.000	4	0.160	0.071	2242	3747	3023
4982	-1.00	-146.0	378.6	-6.8	376	4989	0.10	2.20	0.00	0.000	6	0.103	0.043	2206	2333	3023
5298	-0.92	-146.0	400.7	-6.8	392	5302	0.12	2.33	0.00	0.000	4	0.160	0.072	2240	3749	3023
5330	-0.99	-146.0	402.8	-6.0	392	5336	0.00	2.20	0.00	0.000	6	0.000	0.043	2240	2334	3023
5662	-1.04	-146.0	421.5	-5.5	401	5666	0.12	2.33	0.00	0.000	4	0.102	0.071	2195	3746	3023
5677	-1.04	-146.0	422.6	-5.3	401	5681	0.00	2.22	0.00	0.000	6	0.000	0.043	2194	2337	3023
6025	-0.94	-146.0	447.2	-7.2	410	6030	0.15	2.33	0.00	0.000	4	0.157	0.068	2235	3754	3023
6064	-1.01	-146.0	449.8	-6.5	411	6068	0.00	2.20	0.00	0.000	6	0.000	0.043	2235	2340	3023
6393	-1.01	-146.0	469.7	-6.0	419	6395	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2339	3023
6719	-1.05	-146.0	490.4	-6.5	427	6724	0.12	2.33	0.00	0.000	4	0.105	0.068	2191	3747	3023
6729	-1.05	-146.0	491.2	-6.5	427	6733	0.00	2.20	0.00	0.000	6	0.000	0.042	2191	2330	3023
7042	-0.95	-146.0	515.7	-7.8	435	7046	0.15	2.35	0.00	0.000	4	0.153	0.069	2231	3749	3024
7068	-0.95	-146.0	517.4	-6.7	435	7072	0.00	2.20	0.00	0.000	6	0.000	0.042	2232	2330	3024
7405	-1.00	-146.0	538.0	-6.0	444	7409	0.00	2.35	0.00	0.000	4	0.000	0.069	2232	3757	3024
7416	-1.05	-146.0	538.7	-6.0	444	7420	0.10	2.20	0.00	0.000	6	0.108	0.041	2197	2335	3024
7734	-0.98	-146.0	561.7	-7.2	452	7738	0.10	2.33	0.00	0.000	4	0.167	0.070	2221	3749	3024
7769	end dive: TARGET_DEPTH_EXCEEDED
state	7769	begin apogee
7776	-0.34	0.0	564.3	6.3	452	7907	0.43	0.00	127.78	1.270	6	0.147	0.000	2356	2502	2420
7908	end apogee: CONTROL_FINISHED_OK
state	7908	begin climb
7910	1.08	146.0	566.5	0.0	456	8044	1.10	0.00	130.57	1.183	6	0.114	0.000	2675	2502	1824
8347	0.87	146.0	527.0	9.7	467	8352	0.20	2.50	0.00	0.000	4	0.144	0.069	2616	3929	1821
8488	0.74	146.0	515.3	8.0	470	8492	0.00	2.30	0.00	0.000	6	0.000	0.042	2616	2512	1819
8805	0.75	150.2	493.2	6.9	478	8812	0.00	0.00	4.47	0.840	6	0.000	0.000	2616	2513	1807
9130	0.75	150.2	470.3	7.2	486	9134	0.00	2.38	0.00	0.000	4	0.000	0.069	2616	3933	1807
9208	0.64	150.2	463.6	9.3	487	9213	0.15	2.22	0.00	0.000	6	0.151	0.041	2575	2517	1807
9545	0.83	191.2	443.9	5.6	496	9587	0.15	2.35	34.58	1.197	4	0.076	0.055	2635	1111	1640
9633	0.83	191.2	437.5	7.7	498	9637	0.00	2.33	0.00	0.000	6	0.000	0.049	2635	2530	1639
9962	0.83	191.2	413.1	7.5	506	9966	0.00	2.30	0.00	0.000	4	0.000	0.067	2635	3940	1637
10006	0.71	191.2	409.4	8.7	507	10011	0.17	2.20	0.00	0.000	6	0.143	0.038	2586	2519	1637
10338	0.91	241.3	391.3	5.3	518	10385	0.17	2.33	41.40	1.167	4	0.072	0.051	2653	1119	1435
10452	0.91	241.3	383.2	7.2	523	10456	0.00	2.30	0.00	0.000	6	0.000	0.048	2653	2523	1433
10773	0.91	241.3	360.0	7.6	539	10774	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2524	1432
11082	0.91	241.3	335.8	8.6	554	11085	0.00	2.28	0.00	0.000	4	0.000	0.054	2653	1112	1432
11136	0.91	241.3	331.2	9.1	556	11141	0.00	2.28	0.00	0.000	6	0.000	0.048	2653	2520	1431
11458	0.91	241.3	303.5	8.7	572	11461	0.00	2.30	0.00	0.000	4	0.000	0.067	2653	3936	1431
11513	0.82	241.3	297.9	10.5	574	11517	0.15	2.22	0.00	0.000	6	0.148	0.041	2611	2509	1431
11833	0.97	249.8	275.7	6.7	590	11848	0.12	2.25	7.97	0.997	4	0.080	0.055	2664	1120	1401
11899	0.97	249.8	270.1	8.3	593	11904	0.00	2.25	0.00	0.000	6	0.000	0.049	2664	2529	1400
12231	0.97	249.8	241.7	8.5	609	12232	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2529	1400
12540	0.97	249.8	215.5	8.2	624	12541	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2529	1400
12849	0.97	249.8	190.8	8.0	639	12853	0.00	2.28	0.00	0.000	4	0.000	0.056	2664	1109	1400
12916	0.97	249.8	185.3	8.3	642	12920	0.00	2.25	0.00	0.000	6	0.000	0.050	2664	2528	1400
13248	0.97	249.8	157.3	8.5	658	13252	0.00	2.28	0.00	0.000	4	0.000	0.069	2664	3927	1399
13293	0.91	249.8	153.2	9.9	660	13297	0.12	2.20	0.00	0.000	6	0.148	0.043	2629	2512	1400
13624	1.18	254.4	131.7	6.9	676	13635	0.20	2.22	5.25	0.864	4	0.077	0.056	2709	1107	1383
13754	1.10	254.4	121.1	8.1	682	13759	0.15	2.25	0.00	0.000	6	0.143	0.051	2667	2520	1383
14080	1.19	289.9	99.8	5.8	698	14117	0.10	2.42	29.83	1.066	4	0.091	0.068	2707	3927	1238
14146	1.09	289.9	94.5	8.7	709	14153	0.15	2.28	0.00	0.000	6	0.141	0.044	2666	2516	1236
14490	1.21	289.9	69.8	7.1	770	14497	0.12	2.28	0.00	0.000	4	0.087	0.057	2718	1106	1234
14558	1.21	289.9	63.5	9.2	782	14565	0.00	2.28	0.00	0.000	6	0.000	0.051	2718	2520	1234
14901	1.21	289.9	33.3	8.3	843	14907	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2520	1233
15245	1.27	289.9	11.9	7.5	904	15251	0.00	2.28	0.00	0.000	4	0.000	0.058	2718	1114	1232
15378	end climb: SURFACE_DEPTH_REACHED
state	15378	begin surface coast
15413	end surface coast: CONTROL_FINISHED_OK
state	15413	begin surface