Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 438 * 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 438 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 42 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -40740.891 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 -40740.891

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 42 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 438 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 160502,6701.462,-5702.360,37,1.7,43,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.199,0.103

_SM_DEPTHo 1.68 KALMAN_X -130049.5,-977.8,357.5,146709.5,610.9

_SM_ANGLEo -62.2 KALMAN_Y -6661.0,462.5,191.9,18316.7,-845.9

GPS2 161121,6701.507,-5702.438,11,1.5,11,-37.6 MHEAD_RNG_PITCHd_Wd 100.3,10787,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 693

Post-dive calculations and measurements:

FINISH 0.8,1.013240 TCM_TEMP 16.20

SM_CCo 18690,0.00,0.000,0,0,1180,304.17 XPDR_PINGS 1

SM_GC 1.62,7.15,0.00,0.00,0.064,0.000,0.000,158,2337,1180,-10.38,-0.08,304.17 _24V_AH 20.1,80.476

RAFOS_CLK 996 _10V_AH 10.5,36.180

RAFOS 1,1229444041,16.250000,16.233612,67,62,57,55,52,52,874,210,221,155,171,136 DATA_FILE_SIZE 37856,1030

RAFOS_FIX 6707.435547,-5935.538086,161208,202048,3,99,7.17 CAP_FILE_SIZE 150114,0

IRIDIUM_FIX 6631.12,-5653.72,120398,111112 CFSIZE 260165632,218488832

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,0

HUMID 1919 SOUNDSPEED 1461.5

INTERNAL_PRESSURE 8.56478 GPS 161208,212601,6702.043,-5656.464,36,1.4,42,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 260 117.68 SBE_CT 797 24 384.49

Roll_motor 150 65 197.09 SBE_O2 702 19 268.18

VBD_pump_during_apogee 430 1287 11145.93 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 22 103 47.03 nil 0 0 0.00

Iridium_during_connect 31 160 102.26 nil 0 0 0.00

Iridium_during_xfer 180 223 807.10

Transponder_ping 0 420 2.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.58

TT8 1944 19 406.68

LPSleep 13909 2 337.36

TT8_Active 588 19 123.03

TT8_Sampling 2067 39 866.46

TT8_CF8 600 45 289.36

TT8_Kalman 33 81 28.71

Analog_circuits 1722 12 217.02

GPS_charging 0 0 0.00

Compass 2026 8 170.22

RAFOS 3240 1 51.03

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.08 -146.0 0.0 0.0 0 136 0.00 0.00 -113.47 0.000 6 0.000 0.000 162 2323 3016

140 -1.08 -146.0 3.5 -3.1 21 154 8.73 2.25 0.00 0.000 4 0.261 0.054 2198 936 3019

273 -0.54 -146.0 27.5 -15.2 44 280 0.43 2.25 0.00 0.000 6 0.170 0.048 2318 2350 3022

619 -0.54 -146.0 56.3 -8.7 105 624 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2350 3022

963 -0.64 -146.0 85.3 -6.8 166 968 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2349 3021

1326 -0.78 -146.0 101.3 -4.8 227 1328 0.17 0.00 0.00 0.000 6 0.086 0.000 2250 2350 3021

1631 -0.71 -146.0 129.2 -9.1 242 1633 0.12 0.00 0.00 0.000 6 0.163 0.000 2283 2351 3021

1940 -0.76 -146.0 155.2 -7.9 257 1944 0.00 2.33 0.00 0.000 4 0.000 0.065 2283 3750 3021

1996 -0.87 -146.0 159.8 -8.3 259 2001 0.15 2.20 0.00 0.000 6 0.079 0.037 2229 2333 3021

2313 -0.77 -146.0 188.9 -8.7 274 2317 0.15 2.40 0.00 0.000 4 0.156 0.063 2270 3752 3021

2347 -0.85 -146.0 191.3 -6.7 275 2353 0.00 2.20 0.00 0.000 6 0.000 0.038 2270 2340 3021

2664 -0.91 -146.0 209.8 -5.8 291 2666 0.12 0.00 0.00 0.000 6 0.089 0.000 2223 2340 3020

2973 -0.83 -146.0 232.8 -7.0 306 2977 0.12 2.38 0.00 0.000 4 0.158 0.063 2256 3743 3019

3081 -0.91 -146.0 239.7 -6.5 311 3085 0.00 2.20 0.00 0.000 6 0.000 0.037 2256 2329 3019

3414 -0.96 -146.0 262.7 -7.2 327 3418 0.12 2.38 0.00 0.000 4 0.091 0.061 2208 3745 3019

3487 -0.88 -146.0 269.2 -8.8 330 3491 0.15 2.20 0.00 0.000 6 0.152 0.036 2247 2327 3019

3808 -0.88 -146.0 293.8 -7.2 346 3811 0.00 2.38 0.00 0.000 4 0.000 0.061 2248 3750 3020

3836 -0.94 -146.0 296.0 -7.8 347 3840 0.00 2.20 0.00 0.000 6 0.000 0.036 2248 2333 3020

4164 -0.94 -146.0 319.3 -6.9 363 4168 0.00 2.35 0.00 0.000 4 0.000 0.060 2248 3750 3021

4216 -1.01 -146.0 323.0 -7.0 365 4220 0.12 2.20 0.00 0.000 6 0.100 0.036 2204 2328 3021

4543 -0.89 -146.0 349.1 -7.9 381 4548 0.15 2.38 0.00 0.000 4 0.146 0.059 2245 3747 3021

4565 -0.89 -146.0 350.8 -6.8 382 4570 0.00 2.17 0.00 0.000 6 0.000 0.035 2246 2335 3021

4893 -0.89 -146.0 372.2 -6.6 398 4897 0.00 2.35 0.00 0.000 4 0.000 0.060 2246 3756 3023

4932 -0.95 -146.0 375.0 -7.1 399 4938 0.00 2.20 0.00 0.000 6 0.000 0.035 2246 2330 3023

5248 -0.95 -146.0 396.7 -6.7 415 5250 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2330 3024

5553 -0.95 -146.0 415.7 -6.0 424 5557 0.00 2.38 0.00 0.000 4 0.000 0.061 2246 3756 3024

5582 -1.02 -146.0 417.7 -6.9 424 5586 0.12 2.20 0.00 0.000 6 0.100 0.036 2203 2333 3024

5925 -0.92 -146.0 444.0 -7.7 433 5927 0.12 0.00 0.00 0.000 6 0.153 0.000 2237 2331 3024

6249 -0.92 -146.0 465.4 -6.7 441 6253 0.00 2.38 0.00 0.000 4 0.000 0.062 2236 3756 3024

6300 -0.97 -146.0 469.1 -6.8 442 6304 0.00 2.20 0.00 0.000 6 0.000 0.036 2236 2335 3024

6626 -0.97 -146.0 491.1 -6.6 450 6629 0.00 2.35 0.00 0.000 4 0.000 0.062 2236 3744 3024

6648 -0.97 -146.0 492.7 -6.9 450 6652 0.00 2.17 0.00 0.000 6 0.000 0.036 2236 2340 3024

6997 -0.97 -146.0 516.8 -7.0 459 7001 0.00 2.35 0.00 0.000 4 0.000 0.062 2236 3745 3024

7036 -1.02 -146.0 519.9 -7.8 459 7043 0.00 2.17 0.00 0.000 6 0.000 0.036 2236 2339 3024

7369 -1.02 -146.0 542.2 -6.6 468 7373 0.00 2.35 0.00 0.000 4 0.000 0.062 2236 3743 3024

7403 -1.06 -146.0 544.5 -6.6 468 7408 0.12 2.17 0.00 0.000 6 0.097 0.036 2191 2338 3024

7740 -0.93 -146.0 571.9 -8.2 477 7742 0.15 0.00 0.00 0.000 6 0.146 0.000 2232 2336 3024

8065 -0.93 -146.0 592.9 -6.1 485 8069 0.00 2.38 0.00 0.000 4 0.000 0.063 2232 3754 3024

8112 -0.99 -146.0 595.8 -6.1 486 8116 0.00 2.20 0.00 0.000 6 0.000 0.036 2232 2336 3024

8442 -0.99 -146.0 616.5 -6.3 494 8447 0.00 2.35 0.00 0.000 4 0.000 0.062 2232 3745 3024

8483 -1.04 -146.0 619.5 -7.8 494 8490 0.10 2.17 0.00 0.000 6 0.107 0.036 2199 2333 3024

8816 -0.95 -146.0 645.7 -7.8 503 8818 0.12 0.00 0.00 0.000 6 0.155 0.000 2231 2330 3024

9139 -0.95 -146.0 667.4 -6.7 511 9143 0.00 2.38 0.00 0.000 4 0.000 0.063 2231 3753 3024

9247 -1.02 -146.0 674.9 -7.3 513 9251 0.00 2.20 0.00 0.000 6 0.000 0.037 2231 2330 3024

9561 -1.33 -146.0 687.1 -1.1 521 9565 0.22 2.22 0.00 0.000 4 0.071 0.049 2137 937 3024

9686 end dive: NO_VERTICAL_VELOCITY

state 9686 begin apogee

9697 -0.34 0.0 687.1 0.0 523 9832 0.68 0.00 132.27 1.288 6 0.104 0.000 2363 2528 2420

9833 end apogee: CONTROL_FINISHED_OK

state 9833 begin climb

9836 1.08 146.0 687.0 0.0 527 10032 1.05 2.75 154.73 1.115 4 0.100 0.061 2667 3927 1825

10209 0.82 146.0 658.8 9.0 535 10214 0.22 2.35 0.00 0.000 6 0.140 0.038 2608 2515 1824

10552 0.90 168.5 638.1 6.3 544 10577 0.10 2.25 19.55 1.193 4 0.086 0.051 2653 1110 1734

10606 0.90 168.5 634.0 7.8 545 10611 0.10 2.25 0.00 0.000 6 0.143 0.046 2625 2532 1734

10925 0.91 174.5 612.2 6.8 553 10934 0.00 0.00 6.47 0.993 6 0.000 0.000 2625 2533 1708

11251 0.93 190.2 591.2 6.5 561 11268 0.00 0.00 14.60 1.168 6 0.000 0.000 2626 2533 1644

11575 0.94 202.4 569.8 6.6 569 11594 0.00 2.28 11.70 1.128 4 0.000 0.050 2625 1113 1594

11624 1.09 229.0 566.6 6.1 570 11653 0.17 2.22 23.65 1.185 6 0.071 0.046 2694 2522 1486

11986 0.96 229.0 533.2 9.2 579 11991 0.17 2.28 0.00 0.000 4 0.130 0.061 2641 3929 1485

12036 0.92 229.0 529.1 7.9 580 12040 0.00 2.20 0.00 0.000 6 0.000 0.039 2641 2503 1485

12355 0.93 235.1 507.6 6.8 588 12365 0.00 2.20 6.20 0.961 4 0.000 0.051 2641 1115 1461

12423 1.02 235.1 502.9 7.0 589 12427 0.00 2.22 0.00 0.000 6 0.000 0.047 2641 2532 1462

12765 1.02 235.1 476.3 8.0 598 12767 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2532 1462

13090 1.02 235.1 450.7 7.8 606 13094 0.00 2.25 0.00 0.000 4 0.000 0.049 2641 1111 1461

13137 1.11 242.2 447.3 6.8 607 13152 0.12 2.22 7.45 0.990 6 0.079 0.046 2692 2521 1432

13466 0.99 242.2 414.7 10.0 615 13471 0.15 2.30 0.00 0.000 4 0.127 0.061 2647 3937 1433

13511 0.99 242.2 410.3 9.5 616 13515 0.00 2.17 0.00 0.000 6 0.000 0.038 2647 2515 1434

13844 1.04 242.2 383.6 8.0 628 13848 0.00 2.20 0.00 0.000 4 0.000 0.050 2647 1117 1434

13917 1.13 242.2 377.6 8.2 631 13921 0.12 2.22 0.00 0.000 6 0.079 0.044 2697 2528 1434

14244 1.01 242.2 343.4 11.0 647 14249 0.15 2.28 0.00 0.000 4 0.128 0.061 2653 3928 1434

14300 0.94 242.2 337.2 10.6 649 14304 0.00 2.17 0.00 0.000 6 0.000 0.038 2653 2520 1434

14621 0.94 242.2 308.3 8.4 665 14625 0.00 2.22 0.00 0.000 4 0.000 0.049 2653 1108 1434

14673 1.02 242.2 304.0 8.5 667 14677 0.00 2.25 0.00 0.000 6 0.000 0.044 2653 2534 1434

15000 1.02 242.2 277.4 8.1 683 15001 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2534 1434

15309 1.02 242.2 251.2 8.4 698 15313 0.00 2.25 0.00 0.000 4 0.000 0.048 2653 1118 1435

15366 1.09 242.2 246.9 7.6 700 15370 0.00 2.22 0.00 0.000 6 0.000 0.043 2653 2529 1434

15688 1.17 263.6 227.2 6.3 716 15710 0.12 0.00 19.25 0.958 6 0.073 0.000 2708 2529 1345

16018 1.09 263.6 195.4 8.8 732 16020 0.12 0.00 0.00 0.000 6 0.133 0.000 2670 2529 1347

16328 1.15 263.6 174.7 7.5 747 16329 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2529 1347

16636 1.22 263.6 150.3 7.4 762 16640 0.12 2.28 0.00 0.000 4 0.074 0.048 2721 1109 1348

16693 1.17 263.6 145.2 9.8 764 16700 0.12 2.25 0.00 0.000 6 0.130 0.045 2686 2528 1348

17009 1.17 263.6 115.2 9.6 780 17010 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2528 1347

17325 1.22 300.3 95.5 5.8 804 17361 0.00 2.40 30.83 0.956 4 0.000 0.064 2686 3934 1195

17407 1.22 300.3 89.7 7.8 818 17413 0.00 2.20 0.00 0.000 6 0.000 0.038 2686 2520 1194

17752 1.31 304.0 65.3 6.9 879 17765 0.12 2.25 3.90 0.622 4 0.077 0.051 2736 1120 1180

17812 1.27 304.0 60.2 8.8 889 17819 0.10 2.22 0.00 0.000 6 0.140 0.047 2709 2529 1181

18158 1.27 304.0 34.8 7.3 950 18163 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2529 1181

18501 1.27 304.0 8.1 7.4 1011 18507 0.00 2.28 0.00 0.000 4 0.000 0.050 2709 1109 1181

18543 1.32 304.0 5.0 7.8 1018 18549 0.00 2.25 0.00 0.000 6 0.000 0.046 2709 2524 1180

18581 end climb: SURFACE_DEPTH_REACHED

state 18581 begin surface coast

18610 end surface coast: CONTROL_FINISHED_OK

state 18610 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	438	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	42	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-40740.891	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	160502,6701.462,-5702.360,37,1.7,43,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.199,0.103
_SM_DEPTHo	1.68	KALMAN_X	-130049.5,-977.8,357.5,146709.5,610.9
_SM_ANGLEo	-62.2	KALMAN_Y	-6661.0,462.5,191.9,18316.7,-845.9
GPS2	161121,6701.507,-5702.438,11,1.5,11,-37.6	MHEAD_RNG_PITCHd_Wd	100.3,10787,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	693

FINISH	0.8,1.013240	TCM_TEMP	16.20
SM_CCo	18690,0.00,0.000,0,0,1180,304.17	XPDR_PINGS	1
SM_GC	1.62,7.15,0.00,0.00,0.064,0.000,0.000,158,2337,1180,-10.38,-0.08,304.17	_24V_AH	20.1,80.476
RAFOS_CLK	996	_10V_AH	10.5,36.180
RAFOS	1,1229444041,16.250000,16.233612,67,62,57,55,52,52,874,210,221,155,171,136	DATA_FILE_SIZE	37856,1030
RAFOS_FIX	6707.435547,-5935.538086,161208,202048,3,99,7.17	CAP_FILE_SIZE	150114,0
IRIDIUM_FIX	6631.12,-5653.72,120398,111112	CFSIZE	260165632,218488832
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
HUMID	1919	SOUNDSPEED	1461.5
INTERNAL_PRESSURE	8.56478	GPS	161208,212601,6702.043,-5656.464,36,1.4,42,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	260	117.68	SBE_CT	797	24	384.49
Roll_motor	150	65	197.09	SBE_O2	702	19	268.18
VBD_pump_during_apogee	430	1287	11145.93	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	22	103	47.03	nil	0	0	0.00
Iridium_during_connect	31	160	102.26	nil	0	0	0.00
Iridium_during_xfer	180	223	807.10
Transponder_ping	0	420	2.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.58
TT8	1944	19	406.68
LPSleep	13909	2	337.36
TT8_Active	588	19	123.03
TT8_Sampling	2067	39	866.46
TT8_CF8	600	45	289.36
TT8_Kalman	33	81	28.71
Analog_circuits	1722	12	217.02
GPS_charging	0	0	0.00
Compass	2026	8	170.22
RAFOS	3240	1	51.03
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.08	-146.0	0.0	0.0	0	136	0.00	0.00	-113.47	0.000	6	0.000	0.000	162	2323	3016
140	-1.08	-146.0	3.5	-3.1	21	154	8.73	2.25	0.00	0.000	4	0.261	0.054	2198	936	3019
273	-0.54	-146.0	27.5	-15.2	44	280	0.43	2.25	0.00	0.000	6	0.170	0.048	2318	2350	3022
619	-0.54	-146.0	56.3	-8.7	105	624	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2350	3022
963	-0.64	-146.0	85.3	-6.8	166	968	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	2349	3021
1326	-0.78	-146.0	101.3	-4.8	227	1328	0.17	0.00	0.00	0.000	6	0.086	0.000	2250	2350	3021
1631	-0.71	-146.0	129.2	-9.1	242	1633	0.12	0.00	0.00	0.000	6	0.163	0.000	2283	2351	3021
1940	-0.76	-146.0	155.2	-7.9	257	1944	0.00	2.33	0.00	0.000	4	0.000	0.065	2283	3750	3021
1996	-0.87	-146.0	159.8	-8.3	259	2001	0.15	2.20	0.00	0.000	6	0.079	0.037	2229	2333	3021
2313	-0.77	-146.0	188.9	-8.7	274	2317	0.15	2.40	0.00	0.000	4	0.156	0.063	2270	3752	3021
2347	-0.85	-146.0	191.3	-6.7	275	2353	0.00	2.20	0.00	0.000	6	0.000	0.038	2270	2340	3021
2664	-0.91	-146.0	209.8	-5.8	291	2666	0.12	0.00	0.00	0.000	6	0.089	0.000	2223	2340	3020
2973	-0.83	-146.0	232.8	-7.0	306	2977	0.12	2.38	0.00	0.000	4	0.158	0.063	2256	3743	3019
3081	-0.91	-146.0	239.7	-6.5	311	3085	0.00	2.20	0.00	0.000	6	0.000	0.037	2256	2329	3019
3414	-0.96	-146.0	262.7	-7.2	327	3418	0.12	2.38	0.00	0.000	4	0.091	0.061	2208	3745	3019
3487	-0.88	-146.0	269.2	-8.8	330	3491	0.15	2.20	0.00	0.000	6	0.152	0.036	2247	2327	3019
3808	-0.88	-146.0	293.8	-7.2	346	3811	0.00	2.38	0.00	0.000	4	0.000	0.061	2248	3750	3020
3836	-0.94	-146.0	296.0	-7.8	347	3840	0.00	2.20	0.00	0.000	6	0.000	0.036	2248	2333	3020
4164	-0.94	-146.0	319.3	-6.9	363	4168	0.00	2.35	0.00	0.000	4	0.000	0.060	2248	3750	3021
4216	-1.01	-146.0	323.0	-7.0	365	4220	0.12	2.20	0.00	0.000	6	0.100	0.036	2204	2328	3021
4543	-0.89	-146.0	349.1	-7.9	381	4548	0.15	2.38	0.00	0.000	4	0.146	0.059	2245	3747	3021
4565	-0.89	-146.0	350.8	-6.8	382	4570	0.00	2.17	0.00	0.000	6	0.000	0.035	2246	2335	3021
4893	-0.89	-146.0	372.2	-6.6	398	4897	0.00	2.35	0.00	0.000	4	0.000	0.060	2246	3756	3023
4932	-0.95	-146.0	375.0	-7.1	399	4938	0.00	2.20	0.00	0.000	6	0.000	0.035	2246	2330	3023
5248	-0.95	-146.0	396.7	-6.7	415	5250	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2330	3024
5553	-0.95	-146.0	415.7	-6.0	424	5557	0.00	2.38	0.00	0.000	4	0.000	0.061	2246	3756	3024
5582	-1.02	-146.0	417.7	-6.9	424	5586	0.12	2.20	0.00	0.000	6	0.100	0.036	2203	2333	3024
5925	-0.92	-146.0	444.0	-7.7	433	5927	0.12	0.00	0.00	0.000	6	0.153	0.000	2237	2331	3024
6249	-0.92	-146.0	465.4	-6.7	441	6253	0.00	2.38	0.00	0.000	4	0.000	0.062	2236	3756	3024
6300	-0.97	-146.0	469.1	-6.8	442	6304	0.00	2.20	0.00	0.000	6	0.000	0.036	2236	2335	3024
6626	-0.97	-146.0	491.1	-6.6	450	6629	0.00	2.35	0.00	0.000	4	0.000	0.062	2236	3744	3024
6648	-0.97	-146.0	492.7	-6.9	450	6652	0.00	2.17	0.00	0.000	6	0.000	0.036	2236	2340	3024
6997	-0.97	-146.0	516.8	-7.0	459	7001	0.00	2.35	0.00	0.000	4	0.000	0.062	2236	3745	3024
7036	-1.02	-146.0	519.9	-7.8	459	7043	0.00	2.17	0.00	0.000	6	0.000	0.036	2236	2339	3024
7369	-1.02	-146.0	542.2	-6.6	468	7373	0.00	2.35	0.00	0.000	4	0.000	0.062	2236	3743	3024
7403	-1.06	-146.0	544.5	-6.6	468	7408	0.12	2.17	0.00	0.000	6	0.097	0.036	2191	2338	3024
7740	-0.93	-146.0	571.9	-8.2	477	7742	0.15	0.00	0.00	0.000	6	0.146	0.000	2232	2336	3024
8065	-0.93	-146.0	592.9	-6.1	485	8069	0.00	2.38	0.00	0.000	4	0.000	0.063	2232	3754	3024
8112	-0.99	-146.0	595.8	-6.1	486	8116	0.00	2.20	0.00	0.000	6	0.000	0.036	2232	2336	3024
8442	-0.99	-146.0	616.5	-6.3	494	8447	0.00	2.35	0.00	0.000	4	0.000	0.062	2232	3745	3024
8483	-1.04	-146.0	619.5	-7.8	494	8490	0.10	2.17	0.00	0.000	6	0.107	0.036	2199	2333	3024
8816	-0.95	-146.0	645.7	-7.8	503	8818	0.12	0.00	0.00	0.000	6	0.155	0.000	2231	2330	3024
9139	-0.95	-146.0	667.4	-6.7	511	9143	0.00	2.38	0.00	0.000	4	0.000	0.063	2231	3753	3024
9247	-1.02	-146.0	674.9	-7.3	513	9251	0.00	2.20	0.00	0.000	6	0.000	0.037	2231	2330	3024
9561	-1.33	-146.0	687.1	-1.1	521	9565	0.22	2.22	0.00	0.000	4	0.071	0.049	2137	937	3024
9686	end dive: NO_VERTICAL_VELOCITY
state	9686	begin apogee
9697	-0.34	0.0	687.1	0.0	523	9832	0.68	0.00	132.27	1.288	6	0.104	0.000	2363	2528	2420
9833	end apogee: CONTROL_FINISHED_OK
state	9833	begin climb
9836	1.08	146.0	687.0	0.0	527	10032	1.05	2.75	154.73	1.115	4	0.100	0.061	2667	3927	1825
10209	0.82	146.0	658.8	9.0	535	10214	0.22	2.35	0.00	0.000	6	0.140	0.038	2608	2515	1824
10552	0.90	168.5	638.1	6.3	544	10577	0.10	2.25	19.55	1.193	4	0.086	0.051	2653	1110	1734
10606	0.90	168.5	634.0	7.8	545	10611	0.10	2.25	0.00	0.000	6	0.143	0.046	2625	2532	1734
10925	0.91	174.5	612.2	6.8	553	10934	0.00	0.00	6.47	0.993	6	0.000	0.000	2625	2533	1708
11251	0.93	190.2	591.2	6.5	561	11268	0.00	0.00	14.60	1.168	6	0.000	0.000	2626	2533	1644
11575	0.94	202.4	569.8	6.6	569	11594	0.00	2.28	11.70	1.128	4	0.000	0.050	2625	1113	1594
11624	1.09	229.0	566.6	6.1	570	11653	0.17	2.22	23.65	1.185	6	0.071	0.046	2694	2522	1486
11986	0.96	229.0	533.2	9.2	579	11991	0.17	2.28	0.00	0.000	4	0.130	0.061	2641	3929	1485
12036	0.92	229.0	529.1	7.9	580	12040	0.00	2.20	0.00	0.000	6	0.000	0.039	2641	2503	1485
12355	0.93	235.1	507.6	6.8	588	12365	0.00	2.20	6.20	0.961	4	0.000	0.051	2641	1115	1461
12423	1.02	235.1	502.9	7.0	589	12427	0.00	2.22	0.00	0.000	6	0.000	0.047	2641	2532	1462
12765	1.02	235.1	476.3	8.0	598	12767	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2532	1462
13090	1.02	235.1	450.7	7.8	606	13094	0.00	2.25	0.00	0.000	4	0.000	0.049	2641	1111	1461
13137	1.11	242.2	447.3	6.8	607	13152	0.12	2.22	7.45	0.990	6	0.079	0.046	2692	2521	1432
13466	0.99	242.2	414.7	10.0	615	13471	0.15	2.30	0.00	0.000	4	0.127	0.061	2647	3937	1433
13511	0.99	242.2	410.3	9.5	616	13515	0.00	2.17	0.00	0.000	6	0.000	0.038	2647	2515	1434
13844	1.04	242.2	383.6	8.0	628	13848	0.00	2.20	0.00	0.000	4	0.000	0.050	2647	1117	1434
13917	1.13	242.2	377.6	8.2	631	13921	0.12	2.22	0.00	0.000	6	0.079	0.044	2697	2528	1434
14244	1.01	242.2	343.4	11.0	647	14249	0.15	2.28	0.00	0.000	4	0.128	0.061	2653	3928	1434
14300	0.94	242.2	337.2	10.6	649	14304	0.00	2.17	0.00	0.000	6	0.000	0.038	2653	2520	1434
14621	0.94	242.2	308.3	8.4	665	14625	0.00	2.22	0.00	0.000	4	0.000	0.049	2653	1108	1434
14673	1.02	242.2	304.0	8.5	667	14677	0.00	2.25	0.00	0.000	6	0.000	0.044	2653	2534	1434
15000	1.02	242.2	277.4	8.1	683	15001	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2534	1434
15309	1.02	242.2	251.2	8.4	698	15313	0.00	2.25	0.00	0.000	4	0.000	0.048	2653	1118	1435
15366	1.09	242.2	246.9	7.6	700	15370	0.00	2.22	0.00	0.000	6	0.000	0.043	2653	2529	1434
15688	1.17	263.6	227.2	6.3	716	15710	0.12	0.00	19.25	0.958	6	0.073	0.000	2708	2529	1345
16018	1.09	263.6	195.4	8.8	732	16020	0.12	0.00	0.00	0.000	6	0.133	0.000	2670	2529	1347
16328	1.15	263.6	174.7	7.5	747	16329	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2529	1347
16636	1.22	263.6	150.3	7.4	762	16640	0.12	2.28	0.00	0.000	4	0.074	0.048	2721	1109	1348
16693	1.17	263.6	145.2	9.8	764	16700	0.12	2.25	0.00	0.000	6	0.130	0.045	2686	2528	1348
17009	1.17	263.6	115.2	9.6	780	17010	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2528	1347
17325	1.22	300.3	95.5	5.8	804	17361	0.00	2.40	30.83	0.956	4	0.000	0.064	2686	3934	1195
17407	1.22	300.3	89.7	7.8	818	17413	0.00	2.20	0.00	0.000	6	0.000	0.038	2686	2520	1194
17752	1.31	304.0	65.3	6.9	879	17765	0.12	2.25	3.90	0.622	4	0.077	0.051	2736	1120	1180
17812	1.27	304.0	60.2	8.8	889	17819	0.10	2.22	0.00	0.000	6	0.140	0.047	2709	2529	1181
18158	1.27	304.0	34.8	7.3	950	18163	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2529	1181
18501	1.27	304.0	8.1	7.4	1011	18507	0.00	2.28	0.00	0.000	4	0.000	0.050	2709	1109	1181
18543	1.32	304.0	5.0	7.8	1018	18549	0.00	2.25	0.00	0.000	6	0.000	0.046	2709	2524	1180
18581	end climb: SURFACE_DEPTH_REACHED
state	18581	begin surface coast
18610	end surface coast: CONTROL_FINISHED_OK
state	18610	begin surface