Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 272 * 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 272 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 41 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -26971.561 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 -26971.561

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 41 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 272 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 064725,6705.439,-5659.135,24,1.0,41,-37.6 TGT_NAME TARGET_E_IN

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,-0.076

_SM_DEPTHo 1.50 KALMAN_X -303.0,894.8,2.6,17651.5,-3621.3

_SM_ANGLEo -64.4 KALMAN_Y -66253.9,-94.2,152.3,85897.5,1388.8

GPS2 065838,6705.516,-5659.427,11,1.0,11,-37.6 MHEAD_RNG_PITCHd_Wd 147.3,9476,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 529

Post-dive calculations and measurements:

FINISH 0.7,1.014278 TCM_TEMP 16.40

SM_CCo 14706,0.00,0.000,0,0,1313,271.55 XPDR_PINGS 2

SM_GC 1.65,6.95,0.00,0.00,0.062,0.000,0.000,164,2337,1313,-10.37,-0.08,271.55 _24V_AH 21.5,52.223

RAFOS_CLK 768 _10V_AH 10.6,22.545

RAFOS 0,1225958644,8.083333,8.067778,67,62,61,54,53,53,1037,230,219,148,194,123 DATA_FILE_SIZE 31579,897

RAFOS_FIX 6705.825195,-5704.603027,061108,080828,4,97,0.68 CAP_FILE_SIZE 132236,0

IRIDIUM_FIX 6636.54,-5652.31,310198,070757 CFSIZE 260165632,230760448

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

HUMID 1873 SOUNDSPEED 1464.0

INTERNAL_PRESSURE 8.56478 GPS 061108,110611,6705.272,-5659.921,32,1.6,35,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 262 116.60 SBE_CT 686 24 354.39

Roll_motor 143 65 200.83 SBE_O2 607 19 248.32

VBD_pump_during_apogee 364 1145 8987.51 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 84 103 188.01 nil 0 0 0.00

Iridium_during_connect 83 160 288.41 nil 0 0 0.00

Iridium_during_xfer 253 223 1214.49

Transponder_ping 0 420 4.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.91

TT8 1679 19 354.73

LPSleep 10778 2 263.92

TT8_Active 518 19 109.57

TT8_Sampling 1741 39 736.95

TT8_CF8 669 45 326.07

TT8_Kalman 33 81 28.98

Analog_circuits 1476 12 187.79

GPS_charging 0 0 0.00

Compass 1711 8 145.13

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.08 -146.0 0.0 0.0 0 140 0.00 0.00 -119.82 0.000 2 0.000 0.000 161 2331 3012

143 -1.08 -146.0 3.5 -3.3 21 155 8.80 0.00 0.00 0.000 6 0.262 0.000 2197 2331 3015

493 -0.74 -146.0 56.5 -10.7 83 499 0.25 0.00 0.00 0.000 6 0.171 0.000 2272 2331 3017

836 -0.74 -146.0 84.2 -7.8 144 842 0.00 2.33 0.00 0.000 4 0.000 0.065 2272 3749 3017

893 -0.74 -146.0 88.8 -8.2 154 899 0.00 2.17 0.00 0.000 6 0.000 0.039 2272 2335 3017

1233 -0.74 -146.0 113.9 -7.4 190 1237 0.00 2.30 0.00 0.000 4 0.000 0.062 2272 3744 3016

1244 -0.74 -146.0 114.8 -7.2 190 1248 0.00 2.15 0.00 0.000 6 0.000 0.038 2272 2340 3016

1564 -0.74 -146.0 137.4 -6.9 206 1568 0.00 2.30 0.00 0.000 4 0.000 0.063 2272 3749 3015

1592 -0.80 -146.0 139.3 -7.2 207 1596 0.00 2.17 0.00 0.000 6 0.000 0.039 2272 2333 3016

1919 -0.87 -146.0 160.6 -6.3 223 1924 0.10 2.30 0.00 0.000 4 0.102 0.062 2233 3751 3014

1968 -0.87 -146.0 164.4 -8.0 225 1973 0.00 2.17 0.00 0.000 6 0.000 0.038 2233 2328 3014

2290 -0.87 -146.0 188.8 -7.4 241 2294 0.00 2.33 0.00 0.000 4 0.000 0.064 2233 3750 3014

2305 -0.87 -146.0 190.1 -7.8 241 2312 0.00 2.17 0.00 0.000 6 0.000 0.038 2233 2329 3014

2621 -0.82 -146.0 213.3 -7.2 257 2626 0.10 2.33 0.00 0.000 4 0.170 0.062 2258 3753 3014

2643 -0.82 -146.0 214.9 -7.1 258 2647 0.00 2.15 0.00 0.000 6 0.000 0.037 2258 2337 3014

2969 -0.88 -146.0 236.6 -6.7 274 2971 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2337 3014

3279 -0.94 -146.0 257.0 -6.5 289 3283 0.12 2.30 0.00 0.000 4 0.093 0.061 2210 3749 3015

3289 -0.94 -146.0 257.8 -6.5 289 3295 0.00 2.15 0.00 0.000 6 0.000 0.036 2210 2337 3014

3605 -0.86 -146.0 283.2 -7.8 305 3609 0.15 2.30 0.00 0.000 4 0.156 0.061 2250 3748 3015

3615 -0.80 -146.0 284.0 -7.8 305 3619 0.00 2.15 0.00 0.000 6 0.000 0.037 2249 2338 3015

3936 -0.85 -146.0 305.0 -6.2 321 3940 0.00 2.30 0.00 0.000 4 0.000 0.061 2250 3756 3015

3970 -0.91 -146.0 307.3 -6.5 322 3974 0.00 2.17 0.00 0.000 6 0.000 0.037 2249 2329 3016

4291 -0.91 -146.0 327.6 -6.3 338 4295 0.00 2.30 0.00 0.000 4 0.000 0.062 2249 3742 3017

4303 -0.96 -146.0 328.2 -6.3 338 4307 0.10 2.15 0.00 0.000 6 0.107 0.035 2213 2330 3017

4624 -0.89 -146.0 350.6 -6.8 354 4628 0.12 2.33 0.00 0.000 4 0.154 0.060 2246 3755 3017

4657 -0.97 -146.0 352.7 -6.2 355 4664 0.00 2.15 0.00 0.000 6 0.000 0.035 2246 2340 3018

4973 -1.01 -146.0 370.2 -5.5 371 4978 0.12 2.30 0.00 0.000 4 0.104 0.061 2200 3750 3018

4996 -1.01 -146.0 371.6 -6.4 372 5000 0.00 2.15 0.00 0.000 6 0.000 0.035 2200 2333 3018

5329 -0.91 -146.0 394.5 -6.9 388 5334 0.15 2.30 0.00 0.000 4 0.148 0.060 2243 3745 3019

5374 -0.99 -146.0 397.3 -6.2 390 5378 0.00 2.12 0.00 0.000 6 0.000 0.035 2243 2336 3019

5723 -1.03 -146.0 417.2 -5.6 400 5727 0.12 2.30 0.00 0.000 4 0.092 0.061 2193 3745 3020

5784 -0.93 -146.0 421.8 -7.2 401 5788 0.15 2.15 0.00 0.000 6 0.146 0.035 2233 2330 3020

6131 -0.93 -146.0 444.5 -6.7 410 6135 0.00 2.30 0.00 0.000 4 0.000 0.061 2234 3747 3021

6158 -0.93 -146.0 446.4 -7.1 410 6162 0.00 2.15 0.00 0.000 6 0.000 0.035 2234 2331 3020

6502 -0.93 -146.0 468.4 -6.3 419 6506 0.00 2.30 0.00 0.000 4 0.000 0.061 2234 3756 3021

6529 -0.98 -146.0 470.3 -7.1 419 6533 0.00 2.15 0.00 0.000 6 0.000 0.035 2234 2340 3021

6872 -0.98 -146.0 491.5 -6.3 428 6875 0.00 2.30 0.00 0.000 4 0.000 0.060 2234 3757 3021

6928 -1.03 -146.0 494.9 -6.3 429 6933 0.10 2.15 0.00 0.000 6 0.105 0.035 2199 2336 3021

7247 -0.95 -146.0 517.2 -7.1 437 7252 0.12 2.30 0.00 0.000 4 0.154 0.060 2231 3747 3021

7257 -0.89 -146.0 517.9 -6.9 437 7261 0.00 2.15 0.00 0.000 6 0.000 0.035 2232 2330 3021

7453 end dive: TARGET_DEPTH_EXCEEDED

state 7453 begin apogee

7460 -0.34 0.0 530.0 6.1 442 7590 0.43 0.00 127.72 1.146 6 0.140 0.000 2364 2523 2420

7591 end apogee: CONTROL_FINISHED_OK

state 7591 begin climb

7594 1.08 146.0 532.4 0.0 445 7736 1.02 2.53 131.25 1.075 4 0.102 0.045 2671 1123 1823

7792 0.97 146.0 518.2 8.8 450 7796 0.12 2.38 0.00 0.000 6 0.140 0.043 2640 2521 1821

8110 0.92 146.0 495.0 7.2 458 8114 0.00 2.28 0.00 0.000 4 0.000 0.061 2640 3929 1820

8171 0.78 146.0 489.8 9.2 459 8176 0.15 2.17 0.00 0.000 6 0.140 0.037 2597 2518 1821

8484 0.94 190.2 472.3 5.5 467 8527 0.15 2.33 36.55 1.087 4 0.069 0.048 2662 1111 1644

8573 0.94 190.2 465.1 8.6 469 8577 0.10 2.25 0.00 0.000 6 0.135 0.044 2636 2524 1642

8902 0.94 190.2 440.3 7.5 477 8906 0.00 2.25 0.00 0.000 4 0.000 0.061 2636 3939 1641

8957 0.86 190.2 435.3 9.1 478 8961 0.00 2.17 0.00 0.000 6 0.000 0.036 2636 2512 1640

9275 0.86 190.2 411.0 7.6 486 9279 0.00 2.15 0.00 0.000 4 0.000 0.048 2636 1118 1640

9337 0.92 190.2 406.2 7.8 487 9341 0.00 2.20 0.00 0.000 6 0.000 0.044 2636 2534 1640

9653 0.92 191.2 383.0 7.0 500 9654 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2535 1640

9962 0.92 191.2 360.9 7.2 515 9963 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2535 1640

10272 0.92 191.2 338.6 7.2 530 10275 0.00 2.22 0.00 0.000 4 0.000 0.048 2636 1109 1640

10322 1.00 191.2 335.1 7.3 532 10325 0.00 2.20 0.00 0.000 6 0.000 0.043 2636 2528 1640

10648 1.00 192.1 312.5 7.0 548 10652 0.00 2.22 0.00 0.000 4 0.000 0.059 2636 3929 1640

10682 0.95 192.1 309.8 8.5 549 10686 0.00 2.15 0.00 0.000 6 0.000 0.035 2636 2510 1640

11003 0.98 211.8 288.8 6.4 565 11026 0.00 2.25 18.23 0.975 4 0.000 0.048 2636 1114 1556

11089 1.11 230.3 283.5 6.4 568 11111 0.15 2.20 16.50 0.948 6 0.073 0.043 2695 2521 1481

11423 0.99 230.3 250.9 10.8 584 11427 0.15 2.25 0.00 0.000 4 0.123 0.058 2652 3929 1479

11478 0.94 230.3 245.0 9.8 586 11481 0.00 2.15 0.00 0.000 6 0.000 0.036 2651 2520 1479

11799 0.94 230.3 217.4 8.7 602 11803 0.00 2.17 0.00 0.000 4 0.000 0.048 2651 1110 1479

11889 1.02 230.3 209.8 8.2 606 11893 0.00 2.20 0.00 0.000 6 0.000 0.044 2651 2532 1479

12222 1.08 230.3 182.6 8.0 622 12223 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2532 1479

12532 1.17 241.9 160.9 6.6 637 12548 0.12 2.22 10.98 0.863 4 0.074 0.046 2708 1119 1433

12616 1.09 241.9 153.4 8.4 640 12621 0.15 2.17 0.00 0.000 6 0.129 0.043 2664 2518 1432

12949 1.14 241.9 130.0 7.1 656 12951 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2518 1432

13258 1.25 270.0 110.6 6.1 671 13289 0.15 2.28 23.58 0.900 4 0.070 0.048 2730 1120 1319

13328 1.17 270.0 104.3 9.1 674 13333 0.15 2.22 0.00 0.000 6 0.130 0.043 2687 2534 1318

13667 1.17 270.0 79.0 7.5 727 13672 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2534 1317

14010 1.24 270.0 55.4 8.1 788 14016 0.00 2.22 0.00 0.000 4 0.000 0.048 2687 1115 1316

14063 1.38 270.0 51.2 7.9 797 14070 0.17 2.20 0.00 0.000 6 0.071 0.044 2760 2528 1317

14408 1.26 270.0 16.6 9.5 858 14415 0.17 2.25 0.00 0.000 4 0.130 0.061 2707 3929 1316

14505 1.26 270.0 8.0 8.7 875 14512 0.00 2.15 0.00 0.000 6 0.000 0.038 2707 2517 1315

14594 end climb: SURFACE_DEPTH_REACHED

state 14594 begin surface coast

14629 end surface coast: CONTROL_FINISHED_OK

state 14629 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	272	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	41	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-26971.561	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	064725,6705.439,-5659.135,24,1.0,41,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,-0.076
_SM_DEPTHo	1.50	KALMAN_X	-303.0,894.8,2.6,17651.5,-3621.3
_SM_ANGLEo	-64.4	KALMAN_Y	-66253.9,-94.2,152.3,85897.5,1388.8
GPS2	065838,6705.516,-5659.427,11,1.0,11,-37.6	MHEAD_RNG_PITCHd_Wd	147.3,9476,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	529

FINISH	0.7,1.014278	TCM_TEMP	16.40
SM_CCo	14706,0.00,0.000,0,0,1313,271.55	XPDR_PINGS	2
SM_GC	1.65,6.95,0.00,0.00,0.062,0.000,0.000,164,2337,1313,-10.37,-0.08,271.55	_24V_AH	21.5,52.223
RAFOS_CLK	768	_10V_AH	10.6,22.545
RAFOS	0,1225958644,8.083333,8.067778,67,62,61,54,53,53,1037,230,219,148,194,123	DATA_FILE_SIZE	31579,897
RAFOS_FIX	6705.825195,-5704.603027,061108,080828,4,97,0.68	CAP_FILE_SIZE	132236,0
IRIDIUM_FIX	6636.54,-5652.31,310198,070757	CFSIZE	260165632,230760448
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1873	SOUNDSPEED	1464.0
INTERNAL_PRESSURE	8.56478	GPS	061108,110611,6705.272,-5659.921,32,1.6,35,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	262	116.60	SBE_CT	686	24	354.39
Roll_motor	143	65	200.83	SBE_O2	607	19	248.32
VBD_pump_during_apogee	364	1145	8987.51	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	84	103	188.01	nil	0	0	0.00
Iridium_during_connect	83	160	288.41	nil	0	0	0.00
Iridium_during_xfer	253	223	1214.49
Transponder_ping	0	420	4.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.91
TT8	1679	19	354.73
LPSleep	10778	2	263.92
TT8_Active	518	19	109.57
TT8_Sampling	1741	39	736.95
TT8_CF8	669	45	326.07
TT8_Kalman	33	81	28.98
Analog_circuits	1476	12	187.79
GPS_charging	0	0	0.00
Compass	1711	8	145.13
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.08	-146.0	0.0	0.0	0	140	0.00	0.00	-119.82	0.000	2	0.000	0.000	161	2331	3012
143	-1.08	-146.0	3.5	-3.3	21	155	8.80	0.00	0.00	0.000	6	0.262	0.000	2197	2331	3015
493	-0.74	-146.0	56.5	-10.7	83	499	0.25	0.00	0.00	0.000	6	0.171	0.000	2272	2331	3017
836	-0.74	-146.0	84.2	-7.8	144	842	0.00	2.33	0.00	0.000	4	0.000	0.065	2272	3749	3017
893	-0.74	-146.0	88.8	-8.2	154	899	0.00	2.17	0.00	0.000	6	0.000	0.039	2272	2335	3017
1233	-0.74	-146.0	113.9	-7.4	190	1237	0.00	2.30	0.00	0.000	4	0.000	0.062	2272	3744	3016
1244	-0.74	-146.0	114.8	-7.2	190	1248	0.00	2.15	0.00	0.000	6	0.000	0.038	2272	2340	3016
1564	-0.74	-146.0	137.4	-6.9	206	1568	0.00	2.30	0.00	0.000	4	0.000	0.063	2272	3749	3015
1592	-0.80	-146.0	139.3	-7.2	207	1596	0.00	2.17	0.00	0.000	6	0.000	0.039	2272	2333	3016
1919	-0.87	-146.0	160.6	-6.3	223	1924	0.10	2.30	0.00	0.000	4	0.102	0.062	2233	3751	3014
1968	-0.87	-146.0	164.4	-8.0	225	1973	0.00	2.17	0.00	0.000	6	0.000	0.038	2233	2328	3014
2290	-0.87	-146.0	188.8	-7.4	241	2294	0.00	2.33	0.00	0.000	4	0.000	0.064	2233	3750	3014
2305	-0.87	-146.0	190.1	-7.8	241	2312	0.00	2.17	0.00	0.000	6	0.000	0.038	2233	2329	3014
2621	-0.82	-146.0	213.3	-7.2	257	2626	0.10	2.33	0.00	0.000	4	0.170	0.062	2258	3753	3014
2643	-0.82	-146.0	214.9	-7.1	258	2647	0.00	2.15	0.00	0.000	6	0.000	0.037	2258	2337	3014
2969	-0.88	-146.0	236.6	-6.7	274	2971	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2337	3014
3279	-0.94	-146.0	257.0	-6.5	289	3283	0.12	2.30	0.00	0.000	4	0.093	0.061	2210	3749	3015
3289	-0.94	-146.0	257.8	-6.5	289	3295	0.00	2.15	0.00	0.000	6	0.000	0.036	2210	2337	3014
3605	-0.86	-146.0	283.2	-7.8	305	3609	0.15	2.30	0.00	0.000	4	0.156	0.061	2250	3748	3015
3615	-0.80	-146.0	284.0	-7.8	305	3619	0.00	2.15	0.00	0.000	6	0.000	0.037	2249	2338	3015
3936	-0.85	-146.0	305.0	-6.2	321	3940	0.00	2.30	0.00	0.000	4	0.000	0.061	2250	3756	3015
3970	-0.91	-146.0	307.3	-6.5	322	3974	0.00	2.17	0.00	0.000	6	0.000	0.037	2249	2329	3016
4291	-0.91	-146.0	327.6	-6.3	338	4295	0.00	2.30	0.00	0.000	4	0.000	0.062	2249	3742	3017
4303	-0.96	-146.0	328.2	-6.3	338	4307	0.10	2.15	0.00	0.000	6	0.107	0.035	2213	2330	3017
4624	-0.89	-146.0	350.6	-6.8	354	4628	0.12	2.33	0.00	0.000	4	0.154	0.060	2246	3755	3017
4657	-0.97	-146.0	352.7	-6.2	355	4664	0.00	2.15	0.00	0.000	6	0.000	0.035	2246	2340	3018
4973	-1.01	-146.0	370.2	-5.5	371	4978	0.12	2.30	0.00	0.000	4	0.104	0.061	2200	3750	3018
4996	-1.01	-146.0	371.6	-6.4	372	5000	0.00	2.15	0.00	0.000	6	0.000	0.035	2200	2333	3018
5329	-0.91	-146.0	394.5	-6.9	388	5334	0.15	2.30	0.00	0.000	4	0.148	0.060	2243	3745	3019
5374	-0.99	-146.0	397.3	-6.2	390	5378	0.00	2.12	0.00	0.000	6	0.000	0.035	2243	2336	3019
5723	-1.03	-146.0	417.2	-5.6	400	5727	0.12	2.30	0.00	0.000	4	0.092	0.061	2193	3745	3020
5784	-0.93	-146.0	421.8	-7.2	401	5788	0.15	2.15	0.00	0.000	6	0.146	0.035	2233	2330	3020
6131	-0.93	-146.0	444.5	-6.7	410	6135	0.00	2.30	0.00	0.000	4	0.000	0.061	2234	3747	3021
6158	-0.93	-146.0	446.4	-7.1	410	6162	0.00	2.15	0.00	0.000	6	0.000	0.035	2234	2331	3020
6502	-0.93	-146.0	468.4	-6.3	419	6506	0.00	2.30	0.00	0.000	4	0.000	0.061	2234	3756	3021
6529	-0.98	-146.0	470.3	-7.1	419	6533	0.00	2.15	0.00	0.000	6	0.000	0.035	2234	2340	3021
6872	-0.98	-146.0	491.5	-6.3	428	6875	0.00	2.30	0.00	0.000	4	0.000	0.060	2234	3757	3021
6928	-1.03	-146.0	494.9	-6.3	429	6933	0.10	2.15	0.00	0.000	6	0.105	0.035	2199	2336	3021
7247	-0.95	-146.0	517.2	-7.1	437	7252	0.12	2.30	0.00	0.000	4	0.154	0.060	2231	3747	3021
7257	-0.89	-146.0	517.9	-6.9	437	7261	0.00	2.15	0.00	0.000	6	0.000	0.035	2232	2330	3021
7453	end dive: TARGET_DEPTH_EXCEEDED
state	7453	begin apogee
7460	-0.34	0.0	530.0	6.1	442	7590	0.43	0.00	127.72	1.146	6	0.140	0.000	2364	2523	2420
7591	end apogee: CONTROL_FINISHED_OK
state	7591	begin climb
7594	1.08	146.0	532.4	0.0	445	7736	1.02	2.53	131.25	1.075	4	0.102	0.045	2671	1123	1823
7792	0.97	146.0	518.2	8.8	450	7796	0.12	2.38	0.00	0.000	6	0.140	0.043	2640	2521	1821
8110	0.92	146.0	495.0	7.2	458	8114	0.00	2.28	0.00	0.000	4	0.000	0.061	2640	3929	1820
8171	0.78	146.0	489.8	9.2	459	8176	0.15	2.17	0.00	0.000	6	0.140	0.037	2597	2518	1821
8484	0.94	190.2	472.3	5.5	467	8527	0.15	2.33	36.55	1.087	4	0.069	0.048	2662	1111	1644
8573	0.94	190.2	465.1	8.6	469	8577	0.10	2.25	0.00	0.000	6	0.135	0.044	2636	2524	1642
8902	0.94	190.2	440.3	7.5	477	8906	0.00	2.25	0.00	0.000	4	0.000	0.061	2636	3939	1641
8957	0.86	190.2	435.3	9.1	478	8961	0.00	2.17	0.00	0.000	6	0.000	0.036	2636	2512	1640
9275	0.86	190.2	411.0	7.6	486	9279	0.00	2.15	0.00	0.000	4	0.000	0.048	2636	1118	1640
9337	0.92	190.2	406.2	7.8	487	9341	0.00	2.20	0.00	0.000	6	0.000	0.044	2636	2534	1640
9653	0.92	191.2	383.0	7.0	500	9654	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2535	1640
9962	0.92	191.2	360.9	7.2	515	9963	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2535	1640
10272	0.92	191.2	338.6	7.2	530	10275	0.00	2.22	0.00	0.000	4	0.000	0.048	2636	1109	1640
10322	1.00	191.2	335.1	7.3	532	10325	0.00	2.20	0.00	0.000	6	0.000	0.043	2636	2528	1640
10648	1.00	192.1	312.5	7.0	548	10652	0.00	2.22	0.00	0.000	4	0.000	0.059	2636	3929	1640
10682	0.95	192.1	309.8	8.5	549	10686	0.00	2.15	0.00	0.000	6	0.000	0.035	2636	2510	1640
11003	0.98	211.8	288.8	6.4	565	11026	0.00	2.25	18.23	0.975	4	0.000	0.048	2636	1114	1556
11089	1.11	230.3	283.5	6.4	568	11111	0.15	2.20	16.50	0.948	6	0.073	0.043	2695	2521	1481
11423	0.99	230.3	250.9	10.8	584	11427	0.15	2.25	0.00	0.000	4	0.123	0.058	2652	3929	1479
11478	0.94	230.3	245.0	9.8	586	11481	0.00	2.15	0.00	0.000	6	0.000	0.036	2651	2520	1479
11799	0.94	230.3	217.4	8.7	602	11803	0.00	2.17	0.00	0.000	4	0.000	0.048	2651	1110	1479
11889	1.02	230.3	209.8	8.2	606	11893	0.00	2.20	0.00	0.000	6	0.000	0.044	2651	2532	1479
12222	1.08	230.3	182.6	8.0	622	12223	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2532	1479
12532	1.17	241.9	160.9	6.6	637	12548	0.12	2.22	10.98	0.863	4	0.074	0.046	2708	1119	1433
12616	1.09	241.9	153.4	8.4	640	12621	0.15	2.17	0.00	0.000	6	0.129	0.043	2664	2518	1432
12949	1.14	241.9	130.0	7.1	656	12951	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2518	1432
13258	1.25	270.0	110.6	6.1	671	13289	0.15	2.28	23.58	0.900	4	0.070	0.048	2730	1120	1319
13328	1.17	270.0	104.3	9.1	674	13333	0.15	2.22	0.00	0.000	6	0.130	0.043	2687	2534	1318
13667	1.17	270.0	79.0	7.5	727	13672	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2534	1317
14010	1.24	270.0	55.4	8.1	788	14016	0.00	2.22	0.00	0.000	4	0.000	0.048	2687	1115	1316
14063	1.38	270.0	51.2	7.9	797	14070	0.17	2.20	0.00	0.000	6	0.071	0.044	2760	2528	1317
14408	1.26	270.0	16.6	9.5	858	14415	0.17	2.25	0.00	0.000	4	0.130	0.061	2707	3929	1316
14505	1.26	270.0	8.0	8.7	875	14512	0.00	2.15	0.00	0.000	6	0.000	0.038	2707	2517	1315
14594	end climb: SURFACE_DEPTH_REACHED
state	14594	begin surface coast
14629	end surface coast: CONTROL_FINISHED_OK
state	14629	begin surface