Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 274 * 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 274 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 47 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 -27001.285 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 -27001.285

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 47 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 274 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 154239,6705.024,-5659.454,38,1.2,39,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.164,-0.153

_SM_DEPTHo 1.55 KALMAN_X -5999.3,-438.5,289.0,24232.0,-3478.0

_SM_ANGLEo -64.2 KALMAN_Y -63990.3,-487.7,-557.3,83869.8,2791.5

GPS2 154927,6705.043,-5659.633,14,1.4,14,-37.6 MHEAD_RNG_PITCHd_Wd 170.4,9214,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 549

Post-dive calculations and measurements:

FINISH 0.8,1.025046 TCM_TEMP 16.40

SM_CCo 15545,0.00,0.000,0,0,1457,236.22 XPDR_PINGS 1

SM_GC 1.80,6.95,0.00,0.00,0.064,0.000,0.000,155,2324,1457,-10.41,-0.48,236.22 _24V_AH 21.5,52.481

RAFOS_CLK 794 _10V_AH 10.6,22.685

RAFOS 0,1225987445,16.083334,16.068056,72,61,57,57,56,56,216,155,195,1032,125,113 DATA_FILE_SIZE 34727,970

RAFOS_FIX 6614.548340,-6018.893066,061108,161628,4,88,86.14 CAP_FILE_SIZE 135241,0

IRIDIUM_FIX 6636.54,-5659.96,310198,111155 CFSIZE 260165632,230617088

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1877 SOUNDSPEED 1464.8

INTERNAL_PRESSURE 8.58431 GPS 061108,201138,6705.311,-5700.103,34,1.2,34,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 259 112.17 SBE_CT 752 24 388.27

Roll_motor 159 62 215.75 SBE_O2 657 19 268.55

VBD_pump_during_apogee 335 1152 8320.40 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 53.15 nil 0 0 0.00

Iridium_during_connect 37 160 130.44 nil 0 0 0.00

Iridium_during_xfer 216 223 1038.45

Transponder_ping 0 420 2.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.34

TT8 1820 19 384.32

LPSleep 11254 2 275.57

TT8_Active 488 19 103.22

TT8_Sampling 1886 39 798.15

TT8_CF8 551 45 268.43

TT8_Kalman 33 81 29.00

Analog_circuits 1517 12 193.00

GPS_charging 0 0 0.00

Compass 1858 8 157.62

RAFOS 2160 1 34.34

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.08 -146.0 0.0 0.0 0 126 0.00 0.00 -108.05 0.000 2 0.000 0.000 165 2329 3012

129 -1.08 -146.0 3.0 -2.2 19 143 8.75 2.22 0.00 0.000 4 0.259 0.051 2201 946 3015

256 -0.58 -146.0 26.2 -14.9 41 263 0.38 2.20 0.00 0.000 6 0.164 0.047 2310 2345 3018

600 -0.58 -146.0 55.5 -7.2 102 606 0.00 2.20 0.00 0.000 4 0.000 0.051 2310 945 3017

755 -0.58 -146.0 66.3 -6.7 129 761 0.00 2.20 0.00 0.000 6 0.000 0.047 2310 2351 3017

1099 -0.68 -146.0 87.9 -6.6 190 1106 0.10 2.25 0.00 0.000 4 0.093 0.062 2272 3746 3017

1119 -0.76 -146.0 89.3 -6.7 193 1125 0.00 2.15 0.00 0.000 6 0.000 0.037 2272 2336 3017

1462 -0.76 -146.0 117.2 -7.7 227 1465 0.00 2.17 0.00 0.000 4 0.000 0.050 2272 934 3016

1472 -0.76 -146.0 118.1 -7.7 227 1476 0.00 2.20 0.00 0.000 6 0.000 0.046 2271 2341 3016

1795 -0.76 -146.0 140.0 -6.3 243 1799 0.00 2.20 0.00 0.000 4 0.000 0.049 2272 938 3015

1805 -0.76 -146.0 140.8 -6.2 243 1809 0.00 2.20 0.00 0.000 6 0.000 0.045 2271 2346 3015

2127 -0.82 -146.0 159.2 -5.7 259 2128 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2346 3015

2437 -0.88 -146.0 177.0 -5.7 274 2439 0.10 0.00 0.00 0.000 6 0.098 0.000 2233 2347 3014

2745 -0.88 -146.0 197.9 -7.1 289 2746 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2347 3015

3055 -0.88 -146.0 218.5 -6.2 304 3059 0.00 2.25 0.00 0.000 4 0.000 0.063 2232 3743 3015

3065 -0.88 -146.0 219.2 -5.7 304 3069 0.00 2.15 0.00 0.000 6 0.000 0.036 2232 2331 3015

3386 -0.88 -146.0 238.0 -5.7 320 3390 0.00 2.30 0.00 0.000 4 0.000 0.062 2232 3747 3016

3442 -0.88 -146.0 241.3 -6.2 322 3446 0.00 2.15 0.00 0.000 6 0.000 0.036 2232 2335 3016

3764 -0.88 -146.0 261.1 -6.6 338 3767 0.00 2.30 0.00 0.000 4 0.000 0.061 2232 3752 3016

3802 -0.88 -146.0 263.9 -6.9 339 3808 0.00 2.15 0.00 0.000 6 0.000 0.036 2232 2338 3015

4118 -0.88 -146.0 285.5 -6.6 355 4119 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2338 3016

4427 -0.88 -146.0 306.4 -6.7 370 4431 0.00 2.30 0.00 0.000 4 0.000 0.061 2232 3755 3017

4437 -0.88 -146.0 307.1 -6.5 370 4441 0.00 2.17 0.00 0.000 6 0.000 0.035 2232 2327 3017

4759 -0.88 -146.0 326.5 -5.7 386 4763 0.00 2.30 0.00 0.000 4 0.000 0.061 2232 3753 3017

4810 -0.88 -146.0 329.5 -5.9 388 4813 0.00 2.15 0.00 0.000 6 0.000 0.035 2232 2338 3017

5136 -0.88 -146.0 347.3 -5.2 404 5140 0.00 2.28 0.00 0.000 4 0.000 0.060 2232 3745 3018

5192 -0.88 -146.0 350.4 -5.3 406 5196 0.00 2.15 0.00 0.000 6 0.000 0.035 2232 2328 3018

5514 -0.88 -146.0 368.1 -6.1 422 5517 0.00 2.30 0.00 0.000 4 0.000 0.060 2232 3749 3018

5559 -0.88 -146.0 371.2 -6.1 424 5563 0.00 2.15 0.00 0.000 6 0.000 0.035 2232 2330 3018

5891 -0.88 -146.0 393.7 -7.2 440 5895 0.00 2.30 0.00 0.000 4 0.000 0.059 2231 3753 3019

5901 -0.88 -146.0 394.6 -7.4 440 5905 0.00 2.17 0.00 0.000 6 0.000 0.035 2232 2338 3019

6239 -0.88 -146.0 419.7 -7.5 451 6243 0.00 2.30 0.00 0.000 4 0.000 0.060 2232 3756 3019

6249 -0.88 -146.0 420.5 -7.5 451 6253 0.00 2.15 0.00 0.000 6 0.000 0.035 2232 2333 3019

6568 -0.88 -146.0 444.6 -7.5 459 6572 0.00 2.30 0.00 0.000 4 0.000 0.060 2232 3753 3020

6601 -0.88 -146.0 447.1 -7.4 459 6605 0.00 2.15 0.00 0.000 6 0.000 0.035 2232 2331 3020

6938 -0.88 -146.0 469.0 -6.2 468 6939 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2331 3020

7263 -0.88 -146.0 488.6 -5.8 476 7267 0.00 2.30 0.00 0.000 4 0.000 0.060 2232 3750 3020

7319 -0.88 -146.0 491.7 -5.4 477 7323 0.00 2.15 0.00 0.000 6 0.000 0.035 2232 2335 3020

7638 -0.88 -146.0 507.8 -5.1 485 7642 0.00 2.30 0.00 0.000 4 0.000 0.060 2232 3752 3021

7648 -0.88 -146.0 508.5 -5.5 485 7652 0.00 2.15 0.00 0.000 6 0.000 0.035 2232 2336 3020

7968 -0.88 -146.0 526.4 -5.7 493 7971 0.00 2.30 0.00 0.000 4 0.000 0.060 2232 3756 3021

8001 -0.88 -146.0 528.5 -6.4 493 8005 0.00 2.15 0.00 0.000 6 0.000 0.035 2232 2334 3021

8338 -0.88 -146.0 547.7 -5.7 502 8341 0.00 2.30 0.00 0.000 4 0.000 0.061 2232 3752 3021

8357 end dive: TARGET_DEPTH_EXCEEDED

state 8357 begin apogee

8364 -0.34 0.0 549.1 6.2 502 8495 0.40 0.00 127.53 1.153 6 0.133 0.000 2361 2504 2420

8496 end apogee: CONTROL_FINISHED_OK

state 8496 begin climb

8499 1.08 146.0 551.2 0.0 505 8637 1.02 2.47 130.93 1.081 4 0.098 0.046 2677 1122 1824

8681 0.96 146.0 536.1 9.1 510 8687 0.15 2.40 0.00 0.000 6 0.135 0.043 2639 2528 1822

8995 0.91 146.0 512.0 7.8 518 8999 0.00 2.28 0.00 0.000 4 0.000 0.060 2639 3937 1820

9095 0.76 146.0 502.7 9.2 520 9100 0.15 2.20 0.00 0.000 6 0.139 0.036 2596 2502 1821

9415 0.93 197.9 484.6 5.2 528 9465 0.15 2.30 42.62 1.093 4 0.069 0.048 2660 1114 1613

9515 0.93 197.9 476.9 7.9 530 9519 0.00 2.25 0.00 0.000 6 0.000 0.043 2660 2527 1611

9828 0.87 197.9 451.3 8.4 538 9833 0.15 2.25 0.00 0.000 4 0.132 0.058 2615 3941 1610

9895 0.87 197.9 445.3 8.5 539 9899 0.00 2.17 0.00 0.000 6 0.000 0.035 2615 2508 1610

10237 0.98 197.9 420.8 7.3 548 10242 0.12 2.15 0.00 0.000 4 0.076 0.047 2666 1111 1610

10314 0.98 197.9 413.8 9.0 549 10318 0.00 2.20 0.00 0.000 6 0.000 0.044 2666 2534 1610

10634 0.91 197.9 385.4 9.4 561 10638 0.12 2.20 0.00 0.000 4 0.136 0.058 2628 3930 1609

10694 0.91 197.9 379.9 8.8 563 10700 0.00 2.15 0.00 0.000 6 0.000 0.036 2628 2510 1609

11011 1.00 218.6 358.6 6.3 579 11035 0.10 2.17 17.67 1.007 4 0.084 0.047 2674 1112 1529

11113 1.00 218.6 349.4 9.4 583 11117 0.00 2.20 0.00 0.000 6 0.000 0.043 2674 2522 1528

11434 0.92 218.6 320.1 9.0 599 11439 0.15 2.25 0.00 0.000 4 0.133 0.058 2628 3936 1527

11484 0.92 218.6 315.7 8.8 601 11488 0.00 2.15 0.00 0.000 6 0.000 0.036 2628 2518 1527

11805 1.02 218.6 293.1 7.4 617 11809 0.10 2.17 0.00 0.000 4 0.085 0.047 2672 1108 1527

11899 1.02 218.6 284.4 9.2 621 11903 0.00 2.20 0.00 0.000 6 0.000 0.043 2672 2531 1527

12226 0.96 218.6 253.6 9.5 637 12231 0.12 2.22 0.00 0.000 4 0.139 0.059 2636 3930 1527

12275 0.96 218.6 248.9 9.1 639 12279 0.00 2.15 0.00 0.000 6 0.000 0.036 2636 2507 1527

12597 1.06 231.7 225.8 6.6 655 12619 0.10 2.22 12.00 0.904 4 0.083 0.048 2680 1112 1475

12697 1.06 231.7 216.4 9.5 659 12701 0.00 2.20 0.00 0.000 6 0.000 0.043 2680 2525 1474

13019 1.00 231.7 186.5 8.9 675 13024 0.10 2.25 0.00 0.000 4 0.142 0.060 2652 3938 1474

13062 1.00 231.7 182.3 9.5 677 13066 0.00 2.15 0.00 0.000 6 0.000 0.035 2652 2520 1473

13390 1.06 231.7 158.6 7.1 693 13393 0.00 2.15 0.00 0.000 4 0.000 0.048 2652 1122 1474

13481 1.16 231.9 152.3 7.0 697 13485 0.12 2.17 0.00 0.000 6 0.079 0.044 2706 2526 1474

13813 1.06 231.9 120.4 9.2 713 13817 0.15 2.25 0.00 0.000 4 0.127 0.060 2660 3938 1474

13897 1.06 231.9 113.2 7.9 717 13901 0.00 2.15 0.00 0.000 6 0.000 0.036 2660 2515 1473

14225 1.14 231.9 89.3 7.2 751 14232 0.08 2.15 0.00 0.000 4 0.096 0.047 2702 1123 1474

14311 1.14 231.9 81.8 9.0 766 14317 0.00 2.17 0.00 0.000 6 0.000 0.044 2702 2525 1474

14655 1.14 231.9 53.3 7.1 827 14661 0.00 2.25 0.00 0.000 4 0.000 0.061 2702 3939 1475

14718 1.05 231.9 48.3 8.2 838 14725 0.15 2.15 0.00 0.000 6 0.133 0.037 2658 2520 1475

15063 1.37 235.4 27.9 6.9 899 15076 0.20 2.30 4.95 0.681 4 0.072 0.061 2744 3931 1459

15116 1.18 235.4 23.5 8.2 908 15123 0.20 2.15 0.00 0.000 6 0.135 0.038 2684 2523 1459

15436 end climb: SURFACE_DEPTH_REACHED

state 15436 begin surface coast

15468 end surface coast: CONTROL_FINISHED_OK

state 15468 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	274	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	47	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	-27001.285	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	154239,6705.024,-5659.454,38,1.2,39,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.164,-0.153
_SM_DEPTHo	1.55	KALMAN_X	-5999.3,-438.5,289.0,24232.0,-3478.0
_SM_ANGLEo	-64.2	KALMAN_Y	-63990.3,-487.7,-557.3,83869.8,2791.5
GPS2	154927,6705.043,-5659.633,14,1.4,14,-37.6	MHEAD_RNG_PITCHd_Wd	170.4,9214,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	549

FINISH	0.8,1.025046	TCM_TEMP	16.40
SM_CCo	15545,0.00,0.000,0,0,1457,236.22	XPDR_PINGS	1
SM_GC	1.80,6.95,0.00,0.00,0.064,0.000,0.000,155,2324,1457,-10.41,-0.48,236.22	_24V_AH	21.5,52.481
RAFOS_CLK	794	_10V_AH	10.6,22.685
RAFOS	0,1225987445,16.083334,16.068056,72,61,57,57,56,56,216,155,195,1032,125,113	DATA_FILE_SIZE	34727,970
RAFOS_FIX	6614.548340,-6018.893066,061108,161628,4,88,86.14	CAP_FILE_SIZE	135241,0
IRIDIUM_FIX	6636.54,-5659.96,310198,111155	CFSIZE	260165632,230617088
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1877	SOUNDSPEED	1464.8
INTERNAL_PRESSURE	8.58431	GPS	061108,201138,6705.311,-5700.103,34,1.2,34,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	259	112.17	SBE_CT	752	24	388.27
Roll_motor	159	62	215.75	SBE_O2	657	19	268.55
VBD_pump_during_apogee	335	1152	8320.40	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	53.15	nil	0	0	0.00
Iridium_during_connect	37	160	130.44	nil	0	0	0.00
Iridium_during_xfer	216	223	1038.45
Transponder_ping	0	420	2.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.34
TT8	1820	19	384.32
LPSleep	11254	2	275.57
TT8_Active	488	19	103.22
TT8_Sampling	1886	39	798.15
TT8_CF8	551	45	268.43
TT8_Kalman	33	81	29.00
Analog_circuits	1517	12	193.00
GPS_charging	0	0	0.00
Compass	1858	8	157.62
RAFOS	2160	1	34.34
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.08	-146.0	0.0	0.0	0	126	0.00	0.00	-108.05	0.000	2	0.000	0.000	165	2329	3012
129	-1.08	-146.0	3.0	-2.2	19	143	8.75	2.22	0.00	0.000	4	0.259	0.051	2201	946	3015
256	-0.58	-146.0	26.2	-14.9	41	263	0.38	2.20	0.00	0.000	6	0.164	0.047	2310	2345	3018
600	-0.58	-146.0	55.5	-7.2	102	606	0.00	2.20	0.00	0.000	4	0.000	0.051	2310	945	3017
755	-0.58	-146.0	66.3	-6.7	129	761	0.00	2.20	0.00	0.000	6	0.000	0.047	2310	2351	3017
1099	-0.68	-146.0	87.9	-6.6	190	1106	0.10	2.25	0.00	0.000	4	0.093	0.062	2272	3746	3017
1119	-0.76	-146.0	89.3	-6.7	193	1125	0.00	2.15	0.00	0.000	6	0.000	0.037	2272	2336	3017
1462	-0.76	-146.0	117.2	-7.7	227	1465	0.00	2.17	0.00	0.000	4	0.000	0.050	2272	934	3016
1472	-0.76	-146.0	118.1	-7.7	227	1476	0.00	2.20	0.00	0.000	6	0.000	0.046	2271	2341	3016
1795	-0.76	-146.0	140.0	-6.3	243	1799	0.00	2.20	0.00	0.000	4	0.000	0.049	2272	938	3015
1805	-0.76	-146.0	140.8	-6.2	243	1809	0.00	2.20	0.00	0.000	6	0.000	0.045	2271	2346	3015
2127	-0.82	-146.0	159.2	-5.7	259	2128	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2346	3015
2437	-0.88	-146.0	177.0	-5.7	274	2439	0.10	0.00	0.00	0.000	6	0.098	0.000	2233	2347	3014
2745	-0.88	-146.0	197.9	-7.1	289	2746	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2347	3015
3055	-0.88	-146.0	218.5	-6.2	304	3059	0.00	2.25	0.00	0.000	4	0.000	0.063	2232	3743	3015
3065	-0.88	-146.0	219.2	-5.7	304	3069	0.00	2.15	0.00	0.000	6	0.000	0.036	2232	2331	3015
3386	-0.88	-146.0	238.0	-5.7	320	3390	0.00	2.30	0.00	0.000	4	0.000	0.062	2232	3747	3016
3442	-0.88	-146.0	241.3	-6.2	322	3446	0.00	2.15	0.00	0.000	6	0.000	0.036	2232	2335	3016
3764	-0.88	-146.0	261.1	-6.6	338	3767	0.00	2.30	0.00	0.000	4	0.000	0.061	2232	3752	3016
3802	-0.88	-146.0	263.9	-6.9	339	3808	0.00	2.15	0.00	0.000	6	0.000	0.036	2232	2338	3015
4118	-0.88	-146.0	285.5	-6.6	355	4119	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2338	3016
4427	-0.88	-146.0	306.4	-6.7	370	4431	0.00	2.30	0.00	0.000	4	0.000	0.061	2232	3755	3017
4437	-0.88	-146.0	307.1	-6.5	370	4441	0.00	2.17	0.00	0.000	6	0.000	0.035	2232	2327	3017
4759	-0.88	-146.0	326.5	-5.7	386	4763	0.00	2.30	0.00	0.000	4	0.000	0.061	2232	3753	3017
4810	-0.88	-146.0	329.5	-5.9	388	4813	0.00	2.15	0.00	0.000	6	0.000	0.035	2232	2338	3017
5136	-0.88	-146.0	347.3	-5.2	404	5140	0.00	2.28	0.00	0.000	4	0.000	0.060	2232	3745	3018
5192	-0.88	-146.0	350.4	-5.3	406	5196	0.00	2.15	0.00	0.000	6	0.000	0.035	2232	2328	3018
5514	-0.88	-146.0	368.1	-6.1	422	5517	0.00	2.30	0.00	0.000	4	0.000	0.060	2232	3749	3018
5559	-0.88	-146.0	371.2	-6.1	424	5563	0.00	2.15	0.00	0.000	6	0.000	0.035	2232	2330	3018
5891	-0.88	-146.0	393.7	-7.2	440	5895	0.00	2.30	0.00	0.000	4	0.000	0.059	2231	3753	3019
5901	-0.88	-146.0	394.6	-7.4	440	5905	0.00	2.17	0.00	0.000	6	0.000	0.035	2232	2338	3019
6239	-0.88	-146.0	419.7	-7.5	451	6243	0.00	2.30	0.00	0.000	4	0.000	0.060	2232	3756	3019
6249	-0.88	-146.0	420.5	-7.5	451	6253	0.00	2.15	0.00	0.000	6	0.000	0.035	2232	2333	3019
6568	-0.88	-146.0	444.6	-7.5	459	6572	0.00	2.30	0.00	0.000	4	0.000	0.060	2232	3753	3020
6601	-0.88	-146.0	447.1	-7.4	459	6605	0.00	2.15	0.00	0.000	6	0.000	0.035	2232	2331	3020
6938	-0.88	-146.0	469.0	-6.2	468	6939	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2331	3020
7263	-0.88	-146.0	488.6	-5.8	476	7267	0.00	2.30	0.00	0.000	4	0.000	0.060	2232	3750	3020
7319	-0.88	-146.0	491.7	-5.4	477	7323	0.00	2.15	0.00	0.000	6	0.000	0.035	2232	2335	3020
7638	-0.88	-146.0	507.8	-5.1	485	7642	0.00	2.30	0.00	0.000	4	0.000	0.060	2232	3752	3021
7648	-0.88	-146.0	508.5	-5.5	485	7652	0.00	2.15	0.00	0.000	6	0.000	0.035	2232	2336	3020
7968	-0.88	-146.0	526.4	-5.7	493	7971	0.00	2.30	0.00	0.000	4	0.000	0.060	2232	3756	3021
8001	-0.88	-146.0	528.5	-6.4	493	8005	0.00	2.15	0.00	0.000	6	0.000	0.035	2232	2334	3021
8338	-0.88	-146.0	547.7	-5.7	502	8341	0.00	2.30	0.00	0.000	4	0.000	0.061	2232	3752	3021
8357	end dive: TARGET_DEPTH_EXCEEDED
state	8357	begin apogee
8364	-0.34	0.0	549.1	6.2	502	8495	0.40	0.00	127.53	1.153	6	0.133	0.000	2361	2504	2420
8496	end apogee: CONTROL_FINISHED_OK
state	8496	begin climb
8499	1.08	146.0	551.2	0.0	505	8637	1.02	2.47	130.93	1.081	4	0.098	0.046	2677	1122	1824
8681	0.96	146.0	536.1	9.1	510	8687	0.15	2.40	0.00	0.000	6	0.135	0.043	2639	2528	1822
8995	0.91	146.0	512.0	7.8	518	8999	0.00	2.28	0.00	0.000	4	0.000	0.060	2639	3937	1820
9095	0.76	146.0	502.7	9.2	520	9100	0.15	2.20	0.00	0.000	6	0.139	0.036	2596	2502	1821
9415	0.93	197.9	484.6	5.2	528	9465	0.15	2.30	42.62	1.093	4	0.069	0.048	2660	1114	1613
9515	0.93	197.9	476.9	7.9	530	9519	0.00	2.25	0.00	0.000	6	0.000	0.043	2660	2527	1611
9828	0.87	197.9	451.3	8.4	538	9833	0.15	2.25	0.00	0.000	4	0.132	0.058	2615	3941	1610
9895	0.87	197.9	445.3	8.5	539	9899	0.00	2.17	0.00	0.000	6	0.000	0.035	2615	2508	1610
10237	0.98	197.9	420.8	7.3	548	10242	0.12	2.15	0.00	0.000	4	0.076	0.047	2666	1111	1610
10314	0.98	197.9	413.8	9.0	549	10318	0.00	2.20	0.00	0.000	6	0.000	0.044	2666	2534	1610
10634	0.91	197.9	385.4	9.4	561	10638	0.12	2.20	0.00	0.000	4	0.136	0.058	2628	3930	1609
10694	0.91	197.9	379.9	8.8	563	10700	0.00	2.15	0.00	0.000	6	0.000	0.036	2628	2510	1609
11011	1.00	218.6	358.6	6.3	579	11035	0.10	2.17	17.67	1.007	4	0.084	0.047	2674	1112	1529
11113	1.00	218.6	349.4	9.4	583	11117	0.00	2.20	0.00	0.000	6	0.000	0.043	2674	2522	1528
11434	0.92	218.6	320.1	9.0	599	11439	0.15	2.25	0.00	0.000	4	0.133	0.058	2628	3936	1527
11484	0.92	218.6	315.7	8.8	601	11488	0.00	2.15	0.00	0.000	6	0.000	0.036	2628	2518	1527
11805	1.02	218.6	293.1	7.4	617	11809	0.10	2.17	0.00	0.000	4	0.085	0.047	2672	1108	1527
11899	1.02	218.6	284.4	9.2	621	11903	0.00	2.20	0.00	0.000	6	0.000	0.043	2672	2531	1527
12226	0.96	218.6	253.6	9.5	637	12231	0.12	2.22	0.00	0.000	4	0.139	0.059	2636	3930	1527
12275	0.96	218.6	248.9	9.1	639	12279	0.00	2.15	0.00	0.000	6	0.000	0.036	2636	2507	1527
12597	1.06	231.7	225.8	6.6	655	12619	0.10	2.22	12.00	0.904	4	0.083	0.048	2680	1112	1475
12697	1.06	231.7	216.4	9.5	659	12701	0.00	2.20	0.00	0.000	6	0.000	0.043	2680	2525	1474
13019	1.00	231.7	186.5	8.9	675	13024	0.10	2.25	0.00	0.000	4	0.142	0.060	2652	3938	1474
13062	1.00	231.7	182.3	9.5	677	13066	0.00	2.15	0.00	0.000	6	0.000	0.035	2652	2520	1473
13390	1.06	231.7	158.6	7.1	693	13393	0.00	2.15	0.00	0.000	4	0.000	0.048	2652	1122	1474
13481	1.16	231.9	152.3	7.0	697	13485	0.12	2.17	0.00	0.000	6	0.079	0.044	2706	2526	1474
13813	1.06	231.9	120.4	9.2	713	13817	0.15	2.25	0.00	0.000	4	0.127	0.060	2660	3938	1474
13897	1.06	231.9	113.2	7.9	717	13901	0.00	2.15	0.00	0.000	6	0.000	0.036	2660	2515	1473
14225	1.14	231.9	89.3	7.2	751	14232	0.08	2.15	0.00	0.000	4	0.096	0.047	2702	1123	1474
14311	1.14	231.9	81.8	9.0	766	14317	0.00	2.17	0.00	0.000	6	0.000	0.044	2702	2525	1474
14655	1.14	231.9	53.3	7.1	827	14661	0.00	2.25	0.00	0.000	4	0.000	0.061	2702	3939	1475
14718	1.05	231.9	48.3	8.2	838	14725	0.15	2.15	0.00	0.000	6	0.133	0.037	2658	2520	1475
15063	1.37	235.4	27.9	6.9	899	15076	0.20	2.30	4.95	0.681	4	0.072	0.061	2744	3931	1459
15116	1.18	235.4	23.5	8.2	908	15123	0.20	2.15	0.00	0.000	6	0.135	0.038	2684	2523	1459
15436	end climb: SURFACE_DEPTH_REACHED
state	15436	begin surface coast
15468	end surface coast: CONTROL_FINISHED_OK
state	15468	begin surface