Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 471 * 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 471 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 558.3028 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 900 T_GPS_CHARGE -73642.969 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 60 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 558.3028

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 60 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 -73642.969

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 35 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 471 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 162627,6641.670,-5938.256,0,5105.4,0,-37.8 TGT_NAME TARGET_W_IN

_CALLS 5 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.217,-0.059

_SM_DEPTHo 1.65 KALMAN_X 0.0,0.0,0.0,-105172.7,0.0

_SM_ANGLEo -16.2 KALMAN_Y 0.0,0.0,0.0,-28499.2,0.0

GPS2 162627,6641.670,-5938.256,0,5105.4,0,-37.8 MHEAD_RNG_PITCHd_Wd 292.6,47432,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 841

Post-dive calculations and measurements:

FINISH 1.6,1.025943 TCM_TEMP 15.10

SM_CCo 18847,152.30,0.918,1,0,144,558.30 XPDR_PINGS 1

SM_GC 2.00,0.00,0.00,152.30,0.000,0.000,0.918,163,2334,144,-10.46,-0.20,558.30 _24V_AH 20.0,87.267

RAFOS_CLK 1195 _10V_AH 10.4,39.831

RAFOS 0,1230249875,0.083333,0.076389,122,59,59,54,52,51,419,212,203,164,187,147 DATA_FILE_SIZE 34736,948

RAFOS_FIX 6638.368652,-5944.780273,261208,000054,3,120,0.27 CAP_FILE_SIZE 137987,0

IRIDIUM_FIX 6631.12,-5745.67,160398,040408 CFSIZE 260165632,215605248

TT8_MAMPS 0.027612 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,16,0

HUMID 1886 SOUNDSPEED 1448.3

INTERNAL_PRESSURE 8.37923 GPS 261208,001954,6638.369,-5944.780,0,3119.7,0,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 266 111.30 SBE_CT 752 24 361.24

Roll_motor 137 84 232.27 SBE_O2 647 19 246.04

VBD_pump_during_apogee 539 1319 14243.83 nil 0 0 0.00

VBD_pump_during_surface 152 918 2796.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 165 103 340.07 nil 0 0 0.00

Iridium_during_connect 143 160 460.02 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 2.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 906 50 471.34

TT8 1736 19 359.82

LPSleep 14484 2 347.99

TT8_Active 929 19 192.51

TT8_Sampling 2743 39 1139.12

TT8_CF8 720 45 343.87

TT8_Kalman 33 81 28.41

Analog_circuits 1979 12 247.06

GPS_charging 0 0 0.00

Compass 1829 8 152.19

RAFOS 1800 1 28.08

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

16 -1.08 -146.0 0.0 0.0 0 158 0.00 0.00 -139.90 0.000 2 0.000 0.000 165 2321 2247

163 -1.08 -146.0 3.3 -1.2 25 211 8.82 2.53 -32.72 0.000 4 0.267 0.084 2201 3746 3017

294 -0.83 -146.0 19.8 -15.6 47 301 0.20 2.28 0.00 0.000 6 0.160 0.045 2256 2343 3019

641 -0.70 -146.0 63.4 -11.8 108 648 0.10 2.38 0.00 0.000 4 0.181 0.058 2282 926 3021

745 -0.65 -146.0 75.3 -11.5 126 751 0.00 2.38 0.00 0.000 6 0.000 0.056 2282 2345 3021

1096 -0.65 -146.0 111.7 -8.9 172 1100 0.00 2.45 0.00 0.000 4 0.000 0.073 2282 3755 3021

1163 -0.74 -146.0 117.6 -8.4 175 1167 0.00 2.30 0.00 0.000 6 0.000 0.043 2282 2332 3021

1491 -0.79 -146.0 143.7 -7.7 191 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2333 3021

1799 -0.85 -146.0 170.2 -9.4 206 1804 0.12 2.35 0.00 0.000 4 0.090 0.058 2235 937 3021

1856 -0.72 -146.0 177.1 -12.2 208 1862 0.17 2.38 0.00 0.000 6 0.173 0.058 2278 2343 3021

2173 -0.79 -146.0 205.0 -7.9 224 2177 0.00 2.45 0.00 0.000 4 0.000 0.074 2276 3745 3021

2251 -0.90 -146.0 211.9 -8.9 227 2258 0.12 2.30 0.00 0.000 6 0.100 0.043 2232 2328 3021

2568 -0.82 -146.0 242.6 -9.5 243 2570 0.10 0.00 0.00 0.000 6 0.170 0.000 2257 2328 3021

2878 -0.82 -146.0 267.3 -8.1 258 2879 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2328 3021

3186 -0.82 -146.0 292.9 -8.4 273 3190 0.00 2.53 0.00 0.000 4 0.000 0.071 2257 3756 3021

3276 -0.91 -146.0 300.4 -8.1 277 3280 0.00 2.30 0.00 0.000 6 0.000 0.044 2257 2343 3021

3603 -0.91 -146.0 326.5 -8.0 293 3604 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2343 3021

3913 -0.97 -146.0 351.1 -7.8 308 3914 0.12 0.00 0.00 0.000 6 0.103 0.000 2212 2343 3021

4223 -0.88 -146.0 380.5 -9.3 323 4224 0.12 0.00 0.00 0.000 6 0.161 0.000 2244 2342 3021

4530 -0.88 -146.0 403.5 -7.3 337 4534 0.00 2.38 0.00 0.000 4 0.000 0.058 2244 932 3022

4609 -0.88 -146.0 409.7 -7.5 338 4613 0.00 2.38 0.00 0.000 6 0.000 0.054 2244 2342 3022

4947 -0.88 -146.0 433.5 -7.1 347 4948 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2342 3022

5271 -0.93 -146.0 457.1 -7.3 355 5275 0.00 2.47 0.00 0.000 4 0.000 0.071 2245 3757 3022

5367 -1.02 -146.0 464.1 -6.9 357 5372 0.12 2.30 0.00 0.000 6 0.094 0.041 2203 2336 3022

5681 -0.93 -146.0 490.6 -8.5 365 5686 0.12 2.35 0.00 0.000 4 0.152 0.054 2237 935 3022

5754 -0.93 -146.0 496.5 -8.1 366 5758 0.00 2.38 0.00 0.000 6 0.000 0.054 2236 2348 3022

6086 -0.93 -146.0 519.2 -6.8 374 6090 0.00 2.45 0.00 0.000 4 0.000 0.070 2235 3756 3023

6154 -1.00 -146.0 524.1 -7.1 375 6158 0.00 2.30 0.00 0.000 6 0.000 0.041 2235 2327 3023

6497 -1.00 -146.0 547.9 -7.0 384 6498 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2327 3024

6822 -1.00 -146.0 570.0 -6.8 392 6826 0.00 2.50 0.00 0.000 4 0.000 0.069 2235 3749 3024

6873 -1.08 -146.0 573.7 -6.8 393 6878 0.12 2.28 0.00 0.000 6 0.103 0.040 2192 2335 3024

7187 -0.96 -146.0 601.8 -8.8 401 7189 0.12 0.00 0.00 0.000 6 0.153 0.000 2225 2335 3024

7511 -0.96 -146.0 625.2 -7.1 409 7515 0.00 2.30 0.00 0.000 4 0.000 0.054 2226 939 3025

7574 -0.96 -146.0 629.8 -7.5 410 7578 0.00 2.33 0.00 0.000 6 0.000 0.051 2226 2342 3025

7887 -0.96 -146.0 651.9 -7.2 418 7891 0.00 2.42 0.00 0.000 4 0.000 0.067 2226 3743 3025

7933 -1.03 -146.0 655.3 -7.8 419 7937 0.00 2.25 0.00 0.000 6 0.000 0.040 2226 2337 3025

8264 -1.03 -146.0 678.9 -6.9 427 8267 0.00 2.33 0.00 0.000 4 0.000 0.053 2225 926 3025

8314 -1.03 -146.0 682.4 -6.9 428 8319 0.00 2.38 0.00 0.000 6 0.000 0.051 2226 2353 3026

8634 -1.03 -146.0 705.4 -7.4 436 8638 0.00 2.40 0.00 0.000 4 0.000 0.067 2226 3743 3026

8680 -1.09 -146.0 708.8 -7.7 437 8685 0.12 2.28 0.00 0.000 6 0.092 0.040 2185 2323 3026

9000 -1.15 -146.0 732.3 -7.1 445 9004 0.00 2.28 0.00 0.000 4 0.000 0.053 2185 942 3027

9137 end dive: NO_VERTICAL_VELOCITY

state 9137 begin apogee

9148 -0.34 0.0 732.2 0.0 448 9287 0.52 0.00 135.62 1.319 6 0.093 0.000 2365 2518 2421

9288 end apogee: CONTROL_FINISHED_OK

state 9288 begin climb

9291 1.08 146.0 732.3 0.0 451 9555 1.08 2.85 174.80 1.062 4 0.101 0.065 2664 3930 1825

9601 0.82 146.0 713.2 10.2 458 9606 0.20 2.53 0.00 0.000 6 0.140 0.039 2616 2528 1826

9944 0.86 174.0 691.3 6.1 467 9978 0.00 2.72 26.65 1.211 4 0.000 0.067 2616 3932 1711

9996 0.86 174.0 687.6 7.1 468 10001 0.00 2.50 0.00 0.000 6 0.000 0.038 2616 2510 1712

10310 0.94 193.6 668.4 6.4 476 10331 0.10 0.00 18.80 1.197 6 0.091 0.000 2652 2510 1630

10635 0.89 193.6 642.4 8.4 484 10637 0.10 0.00 0.00 0.000 6 0.151 0.000 2626 2509 1633

10960 0.91 210.5 621.3 6.4 492 10978 0.00 0.00 15.50 1.200 6 0.000 0.000 2626 2510 1562

11285 0.97 217.9 599.3 6.8 500 11295 0.00 0.00 7.93 1.071 6 0.000 0.000 2626 2509 1531

11610 1.04 230.9 578.1 6.6 508 11625 0.12 0.00 12.35 1.154 6 0.085 0.000 2677 2509 1479

11935 0.95 230.9 550.6 8.6 516 11940 0.15 2.40 0.00 0.000 4 0.130 0.067 2633 3929 1481

11975 0.95 230.9 547.2 7.7 517 11979 0.00 2.22 0.00 0.000 6 0.000 0.040 2633 2513 1481

12306 1.01 243.1 525.0 6.6 525 12321 0.08 0.00 11.68 1.127 6 0.105 0.000 2666 2512 1429

12632 1.01 243.1 498.5 8.2 533 12633 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2512 1432

12956 1.01 243.1 471.1 8.6 541 12959 0.00 2.40 0.00 0.000 4 0.000 0.066 2666 3929 1431

12979 0.93 243.1 469.0 8.8 541 12983 0.12 2.22 0.00 0.000 6 0.150 0.039 2633 2520 1431

13328 1.04 268.6 446.6 6.2 550 13358 0.10 2.35 22.55 1.156 4 0.097 0.053 2675 1118 1324

13371 1.05 271.4 443.4 6.9 551 13381 0.00 2.30 3.97 0.722 6 0.000 0.048 2675 2529 1313

13701 1.05 271.4 417.7 7.7 559 13702 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2529 1315

14007 1.05 271.4 394.2 7.6 568 14011 0.00 2.30 0.00 0.000 4 0.000 0.052 2675 1115 1315

14035 1.05 271.4 392.0 7.2 569 14039 0.00 2.28 0.00 0.000 6 0.000 0.048 2675 2525 1315

14362 1.05 271.4 365.1 8.9 585 14366 0.00 2.35 0.00 0.000 4 0.000 0.066 2675 3930 1315

14379 1.05 271.4 363.3 9.0 585 14386 0.00 2.22 0.00 0.000 6 0.000 0.040 2675 2520 1316

14696 1.05 271.4 336.4 8.2 601 14697 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2520 1315

15005 1.05 271.4 312.6 7.8 616 15009 0.00 2.42 0.00 0.000 4 0.000 0.067 2675 3930 1315

15017 1.05 271.4 311.5 8.0 616 15021 0.00 2.25 0.00 0.000 6 0.000 0.040 2675 2518 1316

15340 1.06 279.6 288.2 6.7 632 15354 0.00 2.33 8.27 0.973 4 0.000 0.054 2675 1112 1280

15367 1.06 279.6 286.2 7.3 633 15371 0.00 2.30 0.00 0.000 6 0.000 0.048 2675 2524 1281

15694 1.06 279.6 261.0 7.9 649 15695 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2524 1282

16004 1.08 297.3 239.2 6.4 664 16026 0.00 2.35 16.12 1.048 4 0.000 0.052 2675 1109 1208

16051 1.22 332.2 236.4 5.8 666 16087 0.10 2.30 30.45 1.054 6 0.088 0.049 2717 2518 1065

16407 1.22 332.2 206.5 9.2 683 16408 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2518 1062

16713 1.22 332.2 179.8 8.7 698 16714 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2518 1061

17022 1.22 332.2 151.8 8.5 713 17023 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2518 1060

17332 1.22 332.2 125.8 8.3 728 17333 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2518 1059

17641 1.27 364.6 101.2 5.9 743 17674 0.00 2.35 27.38 1.029 4 0.000 0.056 2717 1120 933

17710 1.40 395.0 96.9 6.0 752 17746 0.10 2.30 27.77 0.987 6 0.091 0.051 2758 2525 808

18088 1.40 395.0 63.1 8.4 818 18095 0.00 2.28 0.00 0.000 4 0.000 0.056 2758 1120 803

18119 1.40 395.0 60.6 7.5 823 18126 0.00 2.28 0.00 0.000 6 0.000 0.052 2758 2531 803

18464 1.40 395.0 30.9 8.7 884 18470 0.00 2.35 0.00 0.000 4 0.000 0.071 2758 3929 801

18494 1.40 395.0 28.1 9.1 889 18501 0.00 2.22 0.00 0.000 6 0.000 0.043 2758 2523 801

18802 end climb: SURFACE_DEPTH_REACHED

state 18802 begin surface coast

18826 end surface coast: CONTROL_FINISHED_OK

state 18826 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	471	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	558.3028	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	900	T_GPS_CHARGE	-73642.969	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	60	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	162627,6641.670,-5938.256,0,5105.4,0,-37.8	TGT_NAME	TARGET_W_IN
_CALLS	5	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.217,-0.059
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,-105172.7,0.0
_SM_ANGLEo	-16.2	KALMAN_Y	0.0,0.0,0.0,-28499.2,0.0
GPS2	162627,6641.670,-5938.256,0,5105.4,0,-37.8	MHEAD_RNG_PITCHd_Wd	292.6,47432,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	841

FINISH	1.6,1.025943	TCM_TEMP	15.10
SM_CCo	18847,152.30,0.918,1,0,144,558.30	XPDR_PINGS	1
SM_GC	2.00,0.00,0.00,152.30,0.000,0.000,0.918,163,2334,144,-10.46,-0.20,558.30	_24V_AH	20.0,87.267
RAFOS_CLK	1195	_10V_AH	10.4,39.831
RAFOS	0,1230249875,0.083333,0.076389,122,59,59,54,52,51,419,212,203,164,187,147	DATA_FILE_SIZE	34736,948
RAFOS_FIX	6638.368652,-5944.780273,261208,000054,3,120,0.27	CAP_FILE_SIZE	137987,0
IRIDIUM_FIX	6631.12,-5745.67,160398,040408	CFSIZE	260165632,215605248
TT8_MAMPS	0.027612	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,16,0
HUMID	1886	SOUNDSPEED	1448.3
INTERNAL_PRESSURE	8.37923	GPS	261208,001954,6638.369,-5944.780,0,3119.7,0,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	266	111.30	SBE_CT	752	24	361.24
Roll_motor	137	84	232.27	SBE_O2	647	19	246.04
VBD_pump_during_apogee	539	1319	14243.83	nil	0	0	0.00
VBD_pump_during_surface	152	918	2796.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	165	103	340.07	nil	0	0	0.00
Iridium_during_connect	143	160	460.02	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	2.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	906	50	471.34
TT8	1736	19	359.82
LPSleep	14484	2	347.99
TT8_Active	929	19	192.51
TT8_Sampling	2743	39	1139.12
TT8_CF8	720	45	343.87
TT8_Kalman	33	81	28.41
Analog_circuits	1979	12	247.06
GPS_charging	0	0	0.00
Compass	1829	8	152.19
RAFOS	1800	1	28.08
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
16	-1.08	-146.0	0.0	0.0	0	158	0.00	0.00	-139.90	0.000	2	0.000	0.000	165	2321	2247
163	-1.08	-146.0	3.3	-1.2	25	211	8.82	2.53	-32.72	0.000	4	0.267	0.084	2201	3746	3017
294	-0.83	-146.0	19.8	-15.6	47	301	0.20	2.28	0.00	0.000	6	0.160	0.045	2256	2343	3019
641	-0.70	-146.0	63.4	-11.8	108	648	0.10	2.38	0.00	0.000	4	0.181	0.058	2282	926	3021
745	-0.65	-146.0	75.3	-11.5	126	751	0.00	2.38	0.00	0.000	6	0.000	0.056	2282	2345	3021
1096	-0.65	-146.0	111.7	-8.9	172	1100	0.00	2.45	0.00	0.000	4	0.000	0.073	2282	3755	3021
1163	-0.74	-146.0	117.6	-8.4	175	1167	0.00	2.30	0.00	0.000	6	0.000	0.043	2282	2332	3021
1491	-0.79	-146.0	143.7	-7.7	191	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	2333	3021
1799	-0.85	-146.0	170.2	-9.4	206	1804	0.12	2.35	0.00	0.000	4	0.090	0.058	2235	937	3021
1856	-0.72	-146.0	177.1	-12.2	208	1862	0.17	2.38	0.00	0.000	6	0.173	0.058	2278	2343	3021
2173	-0.79	-146.0	205.0	-7.9	224	2177	0.00	2.45	0.00	0.000	4	0.000	0.074	2276	3745	3021
2251	-0.90	-146.0	211.9	-8.9	227	2258	0.12	2.30	0.00	0.000	6	0.100	0.043	2232	2328	3021
2568	-0.82	-146.0	242.6	-9.5	243	2570	0.10	0.00	0.00	0.000	6	0.170	0.000	2257	2328	3021
2878	-0.82	-146.0	267.3	-8.1	258	2879	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2328	3021
3186	-0.82	-146.0	292.9	-8.4	273	3190	0.00	2.53	0.00	0.000	4	0.000	0.071	2257	3756	3021
3276	-0.91	-146.0	300.4	-8.1	277	3280	0.00	2.30	0.00	0.000	6	0.000	0.044	2257	2343	3021
3603	-0.91	-146.0	326.5	-8.0	293	3604	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2343	3021
3913	-0.97	-146.0	351.1	-7.8	308	3914	0.12	0.00	0.00	0.000	6	0.103	0.000	2212	2343	3021
4223	-0.88	-146.0	380.5	-9.3	323	4224	0.12	0.00	0.00	0.000	6	0.161	0.000	2244	2342	3021
4530	-0.88	-146.0	403.5	-7.3	337	4534	0.00	2.38	0.00	0.000	4	0.000	0.058	2244	932	3022
4609	-0.88	-146.0	409.7	-7.5	338	4613	0.00	2.38	0.00	0.000	6	0.000	0.054	2244	2342	3022
4947	-0.88	-146.0	433.5	-7.1	347	4948	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2342	3022
5271	-0.93	-146.0	457.1	-7.3	355	5275	0.00	2.47	0.00	0.000	4	0.000	0.071	2245	3757	3022
5367	-1.02	-146.0	464.1	-6.9	357	5372	0.12	2.30	0.00	0.000	6	0.094	0.041	2203	2336	3022
5681	-0.93	-146.0	490.6	-8.5	365	5686	0.12	2.35	0.00	0.000	4	0.152	0.054	2237	935	3022
5754	-0.93	-146.0	496.5	-8.1	366	5758	0.00	2.38	0.00	0.000	6	0.000	0.054	2236	2348	3022
6086	-0.93	-146.0	519.2	-6.8	374	6090	0.00	2.45	0.00	0.000	4	0.000	0.070	2235	3756	3023
6154	-1.00	-146.0	524.1	-7.1	375	6158	0.00	2.30	0.00	0.000	6	0.000	0.041	2235	2327	3023
6497	-1.00	-146.0	547.9	-7.0	384	6498	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2327	3024
6822	-1.00	-146.0	570.0	-6.8	392	6826	0.00	2.50	0.00	0.000	4	0.000	0.069	2235	3749	3024
6873	-1.08	-146.0	573.7	-6.8	393	6878	0.12	2.28	0.00	0.000	6	0.103	0.040	2192	2335	3024
7187	-0.96	-146.0	601.8	-8.8	401	7189	0.12	0.00	0.00	0.000	6	0.153	0.000	2225	2335	3024
7511	-0.96	-146.0	625.2	-7.1	409	7515	0.00	2.30	0.00	0.000	4	0.000	0.054	2226	939	3025
7574	-0.96	-146.0	629.8	-7.5	410	7578	0.00	2.33	0.00	0.000	6	0.000	0.051	2226	2342	3025
7887	-0.96	-146.0	651.9	-7.2	418	7891	0.00	2.42	0.00	0.000	4	0.000	0.067	2226	3743	3025
7933	-1.03	-146.0	655.3	-7.8	419	7937	0.00	2.25	0.00	0.000	6	0.000	0.040	2226	2337	3025
8264	-1.03	-146.0	678.9	-6.9	427	8267	0.00	2.33	0.00	0.000	4	0.000	0.053	2225	926	3025
8314	-1.03	-146.0	682.4	-6.9	428	8319	0.00	2.38	0.00	0.000	6	0.000	0.051	2226	2353	3026
8634	-1.03	-146.0	705.4	-7.4	436	8638	0.00	2.40	0.00	0.000	4	0.000	0.067	2226	3743	3026
8680	-1.09	-146.0	708.8	-7.7	437	8685	0.12	2.28	0.00	0.000	6	0.092	0.040	2185	2323	3026
9000	-1.15	-146.0	732.3	-7.1	445	9004	0.00	2.28	0.00	0.000	4	0.000	0.053	2185	942	3027
9137	end dive: NO_VERTICAL_VELOCITY
state	9137	begin apogee
9148	-0.34	0.0	732.2	0.0	448	9287	0.52	0.00	135.62	1.319	6	0.093	0.000	2365	2518	2421
9288	end apogee: CONTROL_FINISHED_OK
state	9288	begin climb
9291	1.08	146.0	732.3	0.0	451	9555	1.08	2.85	174.80	1.062	4	0.101	0.065	2664	3930	1825
9601	0.82	146.0	713.2	10.2	458	9606	0.20	2.53	0.00	0.000	6	0.140	0.039	2616	2528	1826
9944	0.86	174.0	691.3	6.1	467	9978	0.00	2.72	26.65	1.211	4	0.000	0.067	2616	3932	1711
9996	0.86	174.0	687.6	7.1	468	10001	0.00	2.50	0.00	0.000	6	0.000	0.038	2616	2510	1712
10310	0.94	193.6	668.4	6.4	476	10331	0.10	0.00	18.80	1.197	6	0.091	0.000	2652	2510	1630
10635	0.89	193.6	642.4	8.4	484	10637	0.10	0.00	0.00	0.000	6	0.151	0.000	2626	2509	1633
10960	0.91	210.5	621.3	6.4	492	10978	0.00	0.00	15.50	1.200	6	0.000	0.000	2626	2510	1562
11285	0.97	217.9	599.3	6.8	500	11295	0.00	0.00	7.93	1.071	6	0.000	0.000	2626	2509	1531
11610	1.04	230.9	578.1	6.6	508	11625	0.12	0.00	12.35	1.154	6	0.085	0.000	2677	2509	1479
11935	0.95	230.9	550.6	8.6	516	11940	0.15	2.40	0.00	0.000	4	0.130	0.067	2633	3929	1481
11975	0.95	230.9	547.2	7.7	517	11979	0.00	2.22	0.00	0.000	6	0.000	0.040	2633	2513	1481
12306	1.01	243.1	525.0	6.6	525	12321	0.08	0.00	11.68	1.127	6	0.105	0.000	2666	2512	1429
12632	1.01	243.1	498.5	8.2	533	12633	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2512	1432
12956	1.01	243.1	471.1	8.6	541	12959	0.00	2.40	0.00	0.000	4	0.000	0.066	2666	3929	1431
12979	0.93	243.1	469.0	8.8	541	12983	0.12	2.22	0.00	0.000	6	0.150	0.039	2633	2520	1431
13328	1.04	268.6	446.6	6.2	550	13358	0.10	2.35	22.55	1.156	4	0.097	0.053	2675	1118	1324
13371	1.05	271.4	443.4	6.9	551	13381	0.00	2.30	3.97	0.722	6	0.000	0.048	2675	2529	1313
13701	1.05	271.4	417.7	7.7	559	13702	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2529	1315
14007	1.05	271.4	394.2	7.6	568	14011	0.00	2.30	0.00	0.000	4	0.000	0.052	2675	1115	1315
14035	1.05	271.4	392.0	7.2	569	14039	0.00	2.28	0.00	0.000	6	0.000	0.048	2675	2525	1315
14362	1.05	271.4	365.1	8.9	585	14366	0.00	2.35	0.00	0.000	4	0.000	0.066	2675	3930	1315
14379	1.05	271.4	363.3	9.0	585	14386	0.00	2.22	0.00	0.000	6	0.000	0.040	2675	2520	1316
14696	1.05	271.4	336.4	8.2	601	14697	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2520	1315
15005	1.05	271.4	312.6	7.8	616	15009	0.00	2.42	0.00	0.000	4	0.000	0.067	2675	3930	1315
15017	1.05	271.4	311.5	8.0	616	15021	0.00	2.25	0.00	0.000	6	0.000	0.040	2675	2518	1316
15340	1.06	279.6	288.2	6.7	632	15354	0.00	2.33	8.27	0.973	4	0.000	0.054	2675	1112	1280
15367	1.06	279.6	286.2	7.3	633	15371	0.00	2.30	0.00	0.000	6	0.000	0.048	2675	2524	1281
15694	1.06	279.6	261.0	7.9	649	15695	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2524	1282
16004	1.08	297.3	239.2	6.4	664	16026	0.00	2.35	16.12	1.048	4	0.000	0.052	2675	1109	1208
16051	1.22	332.2	236.4	5.8	666	16087	0.10	2.30	30.45	1.054	6	0.088	0.049	2717	2518	1065
16407	1.22	332.2	206.5	9.2	683	16408	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2518	1062
16713	1.22	332.2	179.8	8.7	698	16714	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2518	1061
17022	1.22	332.2	151.8	8.5	713	17023	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2518	1060
17332	1.22	332.2	125.8	8.3	728	17333	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2518	1059
17641	1.27	364.6	101.2	5.9	743	17674	0.00	2.35	27.38	1.029	4	0.000	0.056	2717	1120	933
17710	1.40	395.0	96.9	6.0	752	17746	0.10	2.30	27.77	0.987	6	0.091	0.051	2758	2525	808
18088	1.40	395.0	63.1	8.4	818	18095	0.00	2.28	0.00	0.000	4	0.000	0.056	2758	1120	803
18119	1.40	395.0	60.6	7.5	823	18126	0.00	2.28	0.00	0.000	6	0.000	0.052	2758	2531	803
18464	1.40	395.0	30.9	8.7	884	18470	0.00	2.35	0.00	0.000	4	0.000	0.071	2758	3929	801
18494	1.40	395.0	28.1	9.1	889	18501	0.00	2.22	0.00	0.000	6	0.000	0.043	2758	2523	801
18802	end climb: SURFACE_DEPTH_REACHED
state	18802	begin surface coast
18826	end surface coast: CONTROL_FINISHED_OK
state	18826	begin surface