Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 281 * 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 281 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 46 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 -27173.928 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 -27173.928

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 46 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 281 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 225218,6703.932,-5657.818,54,4.5,73,-37.6 TGT_NAME TARGET_ADD4_WB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 19 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.204,-0.094

_SM_DEPTHo 1.55 KALMAN_X -23070.6,-291.6,-226.1,42904.9,-1134.0

_SM_ANGLEo -53.6 KALMAN_Y -56137.7,637.7,691.0,71575.4,42.9

GPS2 230014,6703.931,-5657.940,34,1.6,45,-37.6 MHEAD_RNG_PITCHd_Wd 282.9,28348,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 612

Post-dive calculations and measurements:

FINISH 0.8,1.026186 TCM_TEMP 16.40

SM_CCo 16735,0.00,0.000,0,0,228,537.70 XPDR_PINGS 1

SM_GC 1.41,7.90,0.00,0.00,0.059,0.000,0.000,157,2335,228,-10.40,-0.14,537.70 _24V_AH 21.3,53.451

RAFOS_CLK 865 _10V_AH 10.6,23.169

RAFOS 0,1226102652,0.083333,0.070000,55,54,53,53,51,51,215,230,137,151,190,110 DATA_FILE_SIZE 34719,943

RAFOS_FIX -22612.656250,3250.732910,071108,161652,2,76,3420.54 CAP_FILE_SIZE 138299,0

IRIDIUM_FIX 6636.54,-5702.96,010298,181828 CFSIZE 260165632,230158336

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

HUMID 1842 SOUNDSPEED 1465.2

INTERNAL_PRESSURE 8.47689 GPS 081108,034126,6703.436,-5701.527,38,1.5,38,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 263 130.38 SBE_CT 732 24 374.61

Roll_motor 129 76 210.95 SBE_O2 635 19 257.02

VBD_pump_during_apogee 587 1189 14877.70 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 54.24 nil 0 0 0.00

Iridium_during_connect 37 160 126.75 nil 0 0 0.00

Iridium_during_xfer 251 223 1192.91

Transponder_ping 0 420 2.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 47 50 25.05

TT8 1701 19 359.22

LPSleep 12376 2 303.04

TT8_Active 701 19 148.13

TT8_Sampling 1846 39 781.15

TT8_CF8 581 45 283.13

TT8_Kalman 33 81 28.99

Analog_circuits 1711 12 217.71

GPS_charging 0 0 0.00

Compass 1791 8 151.93

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.08 -146.0 0.0 0.0 0 136 0.00 0.00 -117.62 0.000 2 0.000 0.000 159 2323 2936

139 -1.08 -146.0 3.6 -4.0 21 158 8.85 2.35 -2.40 0.000 4 0.264 0.077 2201 3752 3018

344 -0.73 -146.0 45.7 -14.5 57 351 0.28 2.17 0.00 0.000 6 0.158 0.038 2281 2338 3020

688 -0.73 -146.0 80.4 -8.4 118 694 0.00 2.17 0.00 0.000 4 0.000 0.051 2282 939 3020

819 -0.73 -146.0 91.2 -8.2 141 825 0.00 2.20 0.00 0.000 6 0.000 0.048 2281 2343 3020

1157 -0.73 -146.0 113.0 -6.1 174 1161 0.00 2.25 0.00 0.000 4 0.000 0.062 2281 3745 3019

1203 -0.82 -146.0 115.9 -7.0 176 1207 0.10 2.17 0.00 0.000 6 0.095 0.038 2245 2323 3019

1535 -0.77 -146.0 139.5 -6.9 192 1540 0.10 2.33 0.00 0.000 4 0.168 0.063 2270 3743 3019

1614 -0.83 -146.0 144.4 -5.9 195 1620 0.00 2.15 0.00 0.000 6 0.000 0.038 2271 2338 3019

1930 -0.88 -146.0 162.9 -5.9 211 1931 0.10 0.00 0.00 0.000 6 0.094 0.000 2232 2338 3019

2239 -0.82 -146.0 187.5 -8.0 226 2240 0.10 0.00 0.00 0.000 6 0.164 0.000 2258 2337 3019

2548 -0.82 -146.0 208.3 -6.5 241 2552 0.00 2.17 0.00 0.000 4 0.000 0.049 2258 938 3019

2604 -0.82 -146.0 212.3 -7.2 243 2608 0.00 2.20 0.00 0.000 6 0.000 0.046 2258 2343 3019

2926 -0.87 -146.0 231.2 -5.7 259 2929 0.00 2.28 0.00 0.000 4 0.000 0.063 2258 3755 3019

3027 -0.95 -146.0 237.1 -5.6 263 3032 0.12 2.17 0.00 0.000 6 0.091 0.036 2213 2330 3018

3348 -0.86 -146.0 258.2 -6.4 279 3350 0.15 0.00 0.00 0.000 6 0.152 0.000 2255 2327 3019

3658 -0.92 -146.0 274.9 -5.5 294 3662 0.00 2.33 0.00 0.000 4 0.000 0.063 2255 3749 3019

3714 -1.00 -146.0 278.4 -5.9 296 3719 0.12 2.15 0.00 0.000 6 0.088 0.037 2207 2342 3019

4035 -0.90 -146.0 299.5 -6.4 312 4037 0.12 0.00 0.00 0.000 6 0.150 0.000 2241 2340 3019

4344 -0.90 -146.0 316.1 -5.1 327 4348 0.00 2.30 0.00 0.000 4 0.000 0.061 2242 3750 3020

4400 -0.96 -146.0 319.1 -5.0 329 4403 0.00 2.15 0.00 0.000 6 0.000 0.036 2242 2338 3020

4721 -0.96 -146.0 335.6 -5.4 345 4725 0.00 2.17 0.00 0.000 4 0.000 0.048 2242 932 3021

4755 -0.96 -146.0 337.6 -6.1 346 4759 0.00 2.20 0.00 0.000 6 0.000 0.044 2242 2342 3021

5077 -0.96 -146.0 355.1 -5.4 362 5080 0.00 2.25 0.00 0.000 4 0.000 0.060 2241 3749 3021

5195 -1.01 -146.0 361.8 -5.9 367 5200 0.10 2.12 0.00 0.000 6 0.094 0.035 2204 2336 3021

5523 -0.91 -146.0 383.5 -6.7 383 5525 0.12 0.00 0.00 0.000 6 0.148 0.000 2239 2334 3022

5852 -0.91 -146.0 402.4 -5.7 398 5856 0.00 2.30 0.00 0.000 4 0.000 0.060 2239 3753 3023

5949 -0.97 -146.0 408.2 -6.1 400 5953 0.00 2.15 0.00 0.000 6 0.000 0.035 2240 2327 3022

6273 -0.97 -146.0 427.3 -6.0 408 6274 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2327 3023

6597 -0.97 -146.0 445.8 -5.7 416 6601 0.00 2.30 0.00 0.000 4 0.000 0.059 2240 3742 3024

6665 -1.03 -146.0 449.9 -5.9 417 6669 0.12 2.15 0.00 0.000 6 0.091 0.035 2193 2328 3024

7013 -0.91 -146.0 475.0 -7.5 426 7017 0.17 2.33 0.00 0.000 4 0.143 0.060 2243 3750 3024

7074 -0.98 -146.0 478.9 -6.2 427 7078 0.00 2.15 0.00 0.000 6 0.000 0.035 2243 2330 3024

7387 -1.03 -146.0 496.2 -5.4 435 7389 0.12 0.00 0.00 0.000 6 0.093 0.000 2194 2330 3024

7712 -0.92 -146.0 517.6 -6.6 443 7717 0.15 2.33 0.00 0.000 4 0.146 0.060 2236 3748 3024

7813 -0.99 -146.0 524.0 -6.3 445 7817 0.00 2.15 0.00 0.000 6 0.000 0.035 2236 2335 3024

8132 -0.99 -146.0 542.0 -5.7 453 8136 0.00 2.17 0.00 0.000 4 0.000 0.047 2236 932 3025

8210 -0.99 -146.0 546.9 -6.3 454 8214 0.00 2.20 0.00 0.000 6 0.000 0.044 2236 2343 3024

8547 -0.99 -146.0 565.8 -5.6 463 8551 0.00 2.25 0.00 0.000 4 0.000 0.061 2236 3746 3024

8648 -1.06 -146.0 571.7 -5.9 465 8652 0.12 2.15 0.00 0.000 6 0.097 0.035 2191 2331 3024

8967 -0.93 -146.0 593.3 -7.0 473 8972 0.15 2.33 0.00 0.000 4 0.142 0.060 2233 3751 3025

9035 -1.15 -146.0 597.0 -3.8 474 9039 0.17 2.15 0.00 0.000 6 0.076 0.035 2164 2338 3025

9171 end dive: NO_VERTICAL_VELOCITY

state 9171 begin apogee

9178 -0.34 0.0 597.1 0.0 478 9311 0.60 0.00 130.05 1.190 6 0.100 0.000 2367 2515 2420

9312 end apogee: CONTROL_FINISHED_OK

state 9312 begin climb

9314 1.08 146.0 596.8 0.0 481 9455 1.02 0.00 133.23 1.116 6 0.097 0.000 2677 2515 1823

9780 0.92 146.0 555.4 9.6 493 9785 0.15 2.33 0.00 0.000 4 0.134 0.061 2634 3929 1821

9849 0.80 146.0 549.3 9.3 494 9853 0.10 2.17 0.00 0.000 6 0.151 0.037 2608 2524 1820

10191 0.91 170.7 527.3 6.2 503 10215 0.10 0.00 21.17 1.108 6 0.086 0.000 2652 2523 1724

10516 0.86 170.7 500.0 8.5 511 10520 0.12 2.20 0.00 0.000 4 0.137 0.048 2615 1114 1722

10531 0.86 170.7 498.8 8.4 511 10536 0.00 2.20 0.00 0.000 6 0.000 0.044 2615 2525 1722

10845 0.93 170.7 476.7 7.1 519 10847 0.08 0.00 0.00 0.000 6 0.097 0.000 2653 2525 1721

11170 0.88 170.7 447.6 9.2 527 11172 0.10 0.00 0.00 0.000 6 0.133 0.000 2624 2525 1721

11494 0.88 170.7 422.3 7.8 535 11499 0.00 2.20 0.00 0.000 4 0.000 0.048 2624 1118 1721

11516 0.95 170.7 420.5 7.9 535 11520 0.00 2.20 0.00 0.000 6 0.000 0.044 2624 2534 1721

11845 0.95 170.7 395.4 7.6 545 11848 0.00 2.22 0.00 0.000 4 0.000 0.048 2624 1109 1720

11868 1.02 173.3 393.7 6.9 546 11873 0.12 2.20 0.00 0.000 6 0.081 0.044 2676 2526 1720

12200 0.91 173.3 362.6 9.5 562 12205 0.15 2.25 0.00 0.000 4 0.125 0.059 2631 3940 1720

12239 0.85 173.3 359.1 8.8 563 12245 0.00 2.17 0.00 0.000 6 0.000 0.036 2630 2508 1720

12555 0.86 185.3 337.0 6.6 579 12577 0.00 2.22 13.10 0.987 4 0.000 0.048 2631 1113 1664

12583 0.94 196.6 335.0 6.6 580 12600 0.00 2.22 10.88 0.941 6 0.000 0.043 2631 2534 1617

12910 1.02 210.3 313.5 6.6 596 12932 0.10 2.30 12.45 0.956 4 0.085 0.047 2677 1120 1561

12955 1.02 210.3 309.7 7.8 598 12959 0.00 2.20 0.00 0.000 6 0.000 0.043 2677 2520 1561

13287 0.95 210.3 280.2 9.0 614 13289 0.15 0.00 0.00 0.000 6 0.128 0.000 2632 2520 1560

13597 1.02 210.3 258.0 7.3 629 13602 0.10 2.20 0.00 0.000 4 0.087 0.046 2677 1117 1561

13646 1.02 210.3 253.6 9.2 631 13650 0.00 2.17 0.00 0.000 6 0.000 0.043 2677 2521 1561

13974 0.96 210.3 222.6 9.3 647 13976 0.12 0.00 0.00 0.000 6 0.133 0.000 2640 2522 1561

14283 1.03 210.3 198.2 8.2 662 14287 0.00 2.17 0.00 0.000 4 0.000 0.048 2640 1116 1561

14310 1.13 210.3 196.1 7.7 663 14315 0.15 2.17 0.00 0.000 6 0.073 0.043 2704 2520 1561

14638 1.01 210.3 161.7 11.0 679 14640 0.17 0.00 0.00 0.000 6 0.124 0.000 2651 2520 1562

14946 1.06 210.3 137.4 7.8 694 14950 0.00 2.20 0.00 0.000 4 0.000 0.048 2651 1114 1562

14974 1.15 210.3 135.3 7.9 695 14979 0.12 2.20 0.00 0.000 6 0.077 0.042 2704 2533 1562

15301 1.06 210.3 103.2 10.0 711 15306 0.15 2.22 0.00 0.000 4 0.124 0.047 2661 1118 1563

15316 1.06 210.3 101.6 9.8 711 15323 0.00 2.17 0.00 0.000 6 0.000 0.044 2661 2518 1563

15658 1.18 246.8 79.2 5.8 769 15694 0.10 0.00 30.73 0.900 6 0.079 0.000 2708 2518 1412

16032 1.22 282.5 54.1 5.8 835 16068 0.00 2.28 28.90 0.888 4 0.000 0.048 2708 1110 1267

16086 1.33 323.9 50.9 5.6 844 16128 0.00 2.25 34.85 0.858 6 0.000 0.044 2708 2521 1098

16467 1.71 541.3 25.5 -0.4 911 16643 0.28 0.00 171.80 0.831 2 0.060 0.000 2824 2523 232

16646 end climb: SURFACE_DEPTH_REACHED

state 16647 begin surface coast

16657 end surface coast: CONTROL_FINISHED_OK

state 16657 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	281	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	46	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	-27173.928	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	225218,6703.932,-5657.818,54,4.5,73,-37.6	TGT_NAME	TARGET_ADD4_WB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	19	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.204,-0.094
_SM_DEPTHo	1.55	KALMAN_X	-23070.6,-291.6,-226.1,42904.9,-1134.0
_SM_ANGLEo	-53.6	KALMAN_Y	-56137.7,637.7,691.0,71575.4,42.9
GPS2	230014,6703.931,-5657.940,34,1.6,45,-37.6	MHEAD_RNG_PITCHd_Wd	282.9,28348,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	612

FINISH	0.8,1.026186	TCM_TEMP	16.40
SM_CCo	16735,0.00,0.000,0,0,228,537.70	XPDR_PINGS	1
SM_GC	1.41,7.90,0.00,0.00,0.059,0.000,0.000,157,2335,228,-10.40,-0.14,537.70	_24V_AH	21.3,53.451
RAFOS_CLK	865	_10V_AH	10.6,23.169
RAFOS	0,1226102652,0.083333,0.070000,55,54,53,53,51,51,215,230,137,151,190,110	DATA_FILE_SIZE	34719,943
RAFOS_FIX	-22612.656250,3250.732910,071108,161652,2,76,3420.54	CAP_FILE_SIZE	138299,0
IRIDIUM_FIX	6636.54,-5702.96,010298,181828	CFSIZE	260165632,230158336
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1842	SOUNDSPEED	1465.2
INTERNAL_PRESSURE	8.47689	GPS	081108,034126,6703.436,-5701.527,38,1.5,38,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	263	130.38	SBE_CT	732	24	374.61
Roll_motor	129	76	210.95	SBE_O2	635	19	257.02
VBD_pump_during_apogee	587	1189	14877.70	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	54.24	nil	0	0	0.00
Iridium_during_connect	37	160	126.75	nil	0	0	0.00
Iridium_during_xfer	251	223	1192.91
Transponder_ping	0	420	2.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	47	50	25.05
TT8	1701	19	359.22
LPSleep	12376	2	303.04
TT8_Active	701	19	148.13
TT8_Sampling	1846	39	781.15
TT8_CF8	581	45	283.13
TT8_Kalman	33	81	28.99
Analog_circuits	1711	12	217.71
GPS_charging	0	0	0.00
Compass	1791	8	151.93
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.08	-146.0	0.0	0.0	0	136	0.00	0.00	-117.62	0.000	2	0.000	0.000	159	2323	2936
139	-1.08	-146.0	3.6	-4.0	21	158	8.85	2.35	-2.40	0.000	4	0.264	0.077	2201	3752	3018
344	-0.73	-146.0	45.7	-14.5	57	351	0.28	2.17	0.00	0.000	6	0.158	0.038	2281	2338	3020
688	-0.73	-146.0	80.4	-8.4	118	694	0.00	2.17	0.00	0.000	4	0.000	0.051	2282	939	3020
819	-0.73	-146.0	91.2	-8.2	141	825	0.00	2.20	0.00	0.000	6	0.000	0.048	2281	2343	3020
1157	-0.73	-146.0	113.0	-6.1	174	1161	0.00	2.25	0.00	0.000	4	0.000	0.062	2281	3745	3019
1203	-0.82	-146.0	115.9	-7.0	176	1207	0.10	2.17	0.00	0.000	6	0.095	0.038	2245	2323	3019
1535	-0.77	-146.0	139.5	-6.9	192	1540	0.10	2.33	0.00	0.000	4	0.168	0.063	2270	3743	3019
1614	-0.83	-146.0	144.4	-5.9	195	1620	0.00	2.15	0.00	0.000	6	0.000	0.038	2271	2338	3019
1930	-0.88	-146.0	162.9	-5.9	211	1931	0.10	0.00	0.00	0.000	6	0.094	0.000	2232	2338	3019
2239	-0.82	-146.0	187.5	-8.0	226	2240	0.10	0.00	0.00	0.000	6	0.164	0.000	2258	2337	3019
2548	-0.82	-146.0	208.3	-6.5	241	2552	0.00	2.17	0.00	0.000	4	0.000	0.049	2258	938	3019
2604	-0.82	-146.0	212.3	-7.2	243	2608	0.00	2.20	0.00	0.000	6	0.000	0.046	2258	2343	3019
2926	-0.87	-146.0	231.2	-5.7	259	2929	0.00	2.28	0.00	0.000	4	0.000	0.063	2258	3755	3019
3027	-0.95	-146.0	237.1	-5.6	263	3032	0.12	2.17	0.00	0.000	6	0.091	0.036	2213	2330	3018
3348	-0.86	-146.0	258.2	-6.4	279	3350	0.15	0.00	0.00	0.000	6	0.152	0.000	2255	2327	3019
3658	-0.92	-146.0	274.9	-5.5	294	3662	0.00	2.33	0.00	0.000	4	0.000	0.063	2255	3749	3019
3714	-1.00	-146.0	278.4	-5.9	296	3719	0.12	2.15	0.00	0.000	6	0.088	0.037	2207	2342	3019
4035	-0.90	-146.0	299.5	-6.4	312	4037	0.12	0.00	0.00	0.000	6	0.150	0.000	2241	2340	3019
4344	-0.90	-146.0	316.1	-5.1	327	4348	0.00	2.30	0.00	0.000	4	0.000	0.061	2242	3750	3020
4400	-0.96	-146.0	319.1	-5.0	329	4403	0.00	2.15	0.00	0.000	6	0.000	0.036	2242	2338	3020
4721	-0.96	-146.0	335.6	-5.4	345	4725	0.00	2.17	0.00	0.000	4	0.000	0.048	2242	932	3021
4755	-0.96	-146.0	337.6	-6.1	346	4759	0.00	2.20	0.00	0.000	6	0.000	0.044	2242	2342	3021
5077	-0.96	-146.0	355.1	-5.4	362	5080	0.00	2.25	0.00	0.000	4	0.000	0.060	2241	3749	3021
5195	-1.01	-146.0	361.8	-5.9	367	5200	0.10	2.12	0.00	0.000	6	0.094	0.035	2204	2336	3021
5523	-0.91	-146.0	383.5	-6.7	383	5525	0.12	0.00	0.00	0.000	6	0.148	0.000	2239	2334	3022
5852	-0.91	-146.0	402.4	-5.7	398	5856	0.00	2.30	0.00	0.000	4	0.000	0.060	2239	3753	3023
5949	-0.97	-146.0	408.2	-6.1	400	5953	0.00	2.15	0.00	0.000	6	0.000	0.035	2240	2327	3022
6273	-0.97	-146.0	427.3	-6.0	408	6274	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2327	3023
6597	-0.97	-146.0	445.8	-5.7	416	6601	0.00	2.30	0.00	0.000	4	0.000	0.059	2240	3742	3024
6665	-1.03	-146.0	449.9	-5.9	417	6669	0.12	2.15	0.00	0.000	6	0.091	0.035	2193	2328	3024
7013	-0.91	-146.0	475.0	-7.5	426	7017	0.17	2.33	0.00	0.000	4	0.143	0.060	2243	3750	3024
7074	-0.98	-146.0	478.9	-6.2	427	7078	0.00	2.15	0.00	0.000	6	0.000	0.035	2243	2330	3024
7387	-1.03	-146.0	496.2	-5.4	435	7389	0.12	0.00	0.00	0.000	6	0.093	0.000	2194	2330	3024
7712	-0.92	-146.0	517.6	-6.6	443	7717	0.15	2.33	0.00	0.000	4	0.146	0.060	2236	3748	3024
7813	-0.99	-146.0	524.0	-6.3	445	7817	0.00	2.15	0.00	0.000	6	0.000	0.035	2236	2335	3024
8132	-0.99	-146.0	542.0	-5.7	453	8136	0.00	2.17	0.00	0.000	4	0.000	0.047	2236	932	3025
8210	-0.99	-146.0	546.9	-6.3	454	8214	0.00	2.20	0.00	0.000	6	0.000	0.044	2236	2343	3024
8547	-0.99	-146.0	565.8	-5.6	463	8551	0.00	2.25	0.00	0.000	4	0.000	0.061	2236	3746	3024
8648	-1.06	-146.0	571.7	-5.9	465	8652	0.12	2.15	0.00	0.000	6	0.097	0.035	2191	2331	3024
8967	-0.93	-146.0	593.3	-7.0	473	8972	0.15	2.33	0.00	0.000	4	0.142	0.060	2233	3751	3025
9035	-1.15	-146.0	597.0	-3.8	474	9039	0.17	2.15	0.00	0.000	6	0.076	0.035	2164	2338	3025
9171	end dive: NO_VERTICAL_VELOCITY
state	9171	begin apogee
9178	-0.34	0.0	597.1	0.0	478	9311	0.60	0.00	130.05	1.190	6	0.100	0.000	2367	2515	2420
9312	end apogee: CONTROL_FINISHED_OK
state	9312	begin climb
9314	1.08	146.0	596.8	0.0	481	9455	1.02	0.00	133.23	1.116	6	0.097	0.000	2677	2515	1823
9780	0.92	146.0	555.4	9.6	493	9785	0.15	2.33	0.00	0.000	4	0.134	0.061	2634	3929	1821
9849	0.80	146.0	549.3	9.3	494	9853	0.10	2.17	0.00	0.000	6	0.151	0.037	2608	2524	1820
10191	0.91	170.7	527.3	6.2	503	10215	0.10	0.00	21.17	1.108	6	0.086	0.000	2652	2523	1724
10516	0.86	170.7	500.0	8.5	511	10520	0.12	2.20	0.00	0.000	4	0.137	0.048	2615	1114	1722
10531	0.86	170.7	498.8	8.4	511	10536	0.00	2.20	0.00	0.000	6	0.000	0.044	2615	2525	1722
10845	0.93	170.7	476.7	7.1	519	10847	0.08	0.00	0.00	0.000	6	0.097	0.000	2653	2525	1721
11170	0.88	170.7	447.6	9.2	527	11172	0.10	0.00	0.00	0.000	6	0.133	0.000	2624	2525	1721
11494	0.88	170.7	422.3	7.8	535	11499	0.00	2.20	0.00	0.000	4	0.000	0.048	2624	1118	1721
11516	0.95	170.7	420.5	7.9	535	11520	0.00	2.20	0.00	0.000	6	0.000	0.044	2624	2534	1721
11845	0.95	170.7	395.4	7.6	545	11848	0.00	2.22	0.00	0.000	4	0.000	0.048	2624	1109	1720
11868	1.02	173.3	393.7	6.9	546	11873	0.12	2.20	0.00	0.000	6	0.081	0.044	2676	2526	1720
12200	0.91	173.3	362.6	9.5	562	12205	0.15	2.25	0.00	0.000	4	0.125	0.059	2631	3940	1720
12239	0.85	173.3	359.1	8.8	563	12245	0.00	2.17	0.00	0.000	6	0.000	0.036	2630	2508	1720
12555	0.86	185.3	337.0	6.6	579	12577	0.00	2.22	13.10	0.987	4	0.000	0.048	2631	1113	1664
12583	0.94	196.6	335.0	6.6	580	12600	0.00	2.22	10.88	0.941	6	0.000	0.043	2631	2534	1617
12910	1.02	210.3	313.5	6.6	596	12932	0.10	2.30	12.45	0.956	4	0.085	0.047	2677	1120	1561
12955	1.02	210.3	309.7	7.8	598	12959	0.00	2.20	0.00	0.000	6	0.000	0.043	2677	2520	1561
13287	0.95	210.3	280.2	9.0	614	13289	0.15	0.00	0.00	0.000	6	0.128	0.000	2632	2520	1560
13597	1.02	210.3	258.0	7.3	629	13602	0.10	2.20	0.00	0.000	4	0.087	0.046	2677	1117	1561
13646	1.02	210.3	253.6	9.2	631	13650	0.00	2.17	0.00	0.000	6	0.000	0.043	2677	2521	1561
13974	0.96	210.3	222.6	9.3	647	13976	0.12	0.00	0.00	0.000	6	0.133	0.000	2640	2522	1561
14283	1.03	210.3	198.2	8.2	662	14287	0.00	2.17	0.00	0.000	4	0.000	0.048	2640	1116	1561
14310	1.13	210.3	196.1	7.7	663	14315	0.15	2.17	0.00	0.000	6	0.073	0.043	2704	2520	1561
14638	1.01	210.3	161.7	11.0	679	14640	0.17	0.00	0.00	0.000	6	0.124	0.000	2651	2520	1562
14946	1.06	210.3	137.4	7.8	694	14950	0.00	2.20	0.00	0.000	4	0.000	0.048	2651	1114	1562
14974	1.15	210.3	135.3	7.9	695	14979	0.12	2.20	0.00	0.000	6	0.077	0.042	2704	2533	1562
15301	1.06	210.3	103.2	10.0	711	15306	0.15	2.22	0.00	0.000	4	0.124	0.047	2661	1118	1563
15316	1.06	210.3	101.6	9.8	711	15323	0.00	2.17	0.00	0.000	6	0.000	0.044	2661	2518	1563
15658	1.18	246.8	79.2	5.8	769	15694	0.10	0.00	30.73	0.900	6	0.079	0.000	2708	2518	1412
16032	1.22	282.5	54.1	5.8	835	16068	0.00	2.28	28.90	0.888	4	0.000	0.048	2708	1110	1267
16086	1.33	323.9	50.9	5.6	844	16128	0.00	2.25	34.85	0.858	6	0.000	0.044	2708	2521	1098
16467	1.71	541.3	25.5	-0.4	911	16643	0.28	0.00	171.80	0.831	2	0.060	0.000	2824	2523	232
16646	end climb: SURFACE_DEPTH_REACHED
state	16647	begin surface coast
16657	end surface coast: CONTROL_FINISHED_OK
state	16657	begin surface