Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 330 * 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 330 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -29171.09 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 -29171.09

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 33 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 330 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 075937,6702.268,-5659.430,38,1.8,38,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.224,0.019

_SM_DEPTHo 1.81 KALMAN_X -63110.0,1237.3,-11.2,80089.2,-3760.2

_SM_ANGLEo -65.1 KALMAN_Y -24930.1,-674.7,390.5,38960.0,-284.8

GPS2 080527,6702.291,-5659.455,8,1.9,8,-37.6 MHEAD_RNG_PITCHd_Wd 122.8,8376,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 653

Post-dive calculations and measurements:

FINISH 1.1,1.017649 TCM_TEMP 16.40

SM_CCo 17495,0.00,0.000,0,0,1356,260.75 XPDR_PINGS 1

SM_GC 2.01,7.03,0.00,0.00,0.059,0.000,0.000,164,2349,1356,-10.37,0.25,260.75 _24V_AH 20.9,61.714

RAFOS_CLK 891 _10V_AH 10.6,27.183

RAFOS 1,1227168845,8.250000,8.234722,82,60,57,56,56,54,857,215,201,224,190,136 DATA_FILE_SIZE 34710,984

RAFOS_FIX 6702.486328,-5700.903809,201108,121228,4,98,0.07 CAP_FILE_SIZE 151039,0

IRIDIUM_FIX 6631.12,-5658.34,140298,030300 CFSIZE 260165632,226422784

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

HUMID 1876 SOUNDSPEED 1465.3

INTERNAL_PRESSURE 8.57455 GPS 201108,125938,6702.150,-5656.524,35,1.3,35,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 255 120.64 SBE_CT 759 24 380.85

Roll_motor 173 72 261.51 SBE_O2 666 19 264.61

VBD_pump_during_apogee 371 1195 9283.62 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 31 103 67.61 nil 0 0 0.00

Iridium_during_connect 34 160 115.05 nil 0 0 0.00

Iridium_during_xfer 150 223 699.76

Transponder_ping 0 420 2.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.34

TT8 1880 19 397.15

LPSleep 12934 2 316.72

TT8_Active 553 19 116.97

TT8_Sampling 1963 39 831.02

TT8_CF8 524 45 255.50

TT8_Kalman 33 81 28.98

Analog_circuits 1633 12 207.79

GPS_charging 0 0 0.00

Compass 1932 8 163.86

RAFOS 3240 1 51.52

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 0 132 0.00 0.00 -113.45 0.000 2 0.000 0.000 157 2335 2968

136 -1.08 -146.0 3.1 -1.7 20 155 8.70 2.33 -1.75 0.000 4 0.255 0.072 2201 3736 3018

207 -0.52 -146.0 16.2 -16.8 32 214 0.40 2.17 0.00 0.000 6 0.161 0.037 2318 2321 3019

553 -0.52 -146.0 47.3 -8.1 93 559 0.00 2.17 0.00 0.000 4 0.000 0.051 2319 929 3020

565 -0.52 -146.0 48.6 -8.3 95 571 0.00 2.22 0.00 0.000 6 0.000 0.046 2319 2347 3020

910 -0.61 -146.0 78.5 -9.0 156 916 0.00 2.25 0.00 0.000 4 0.000 0.061 2318 3746 3019

945 -0.74 -146.0 81.8 -9.1 162 952 0.15 2.17 0.00 0.000 6 0.088 0.037 2261 2325 3019

1280 -0.69 -146.0 108.5 -6.5 205 1282 0.10 0.00 0.00 0.000 6 0.161 0.000 2286 2324 3018

1588 -0.77 -146.0 132.3 -8.1 220 1592 0.00 2.35 0.00 0.000 4 0.000 0.063 2286 3754 3017

1661 -0.90 -146.0 137.8 -7.1 223 1667 0.17 2.17 0.00 0.000 6 0.081 0.037 2221 2335 3017

1989 -0.80 -146.0 165.3 -8.3 239 1991 0.15 0.00 0.00 0.000 6 0.156 0.000 2261 2333 3016

2298 -0.80 -146.0 186.0 -6.5 254 2302 0.00 2.30 0.00 0.000 4 0.000 0.062 2261 3746 3016

2354 -0.88 -146.0 189.7 -6.8 256 2358 0.00 2.15 0.00 0.000 6 0.000 0.036 2261 2341 3016

2676 -0.94 -146.0 210.4 -6.2 272 2681 0.12 2.33 0.00 0.000 4 0.100 0.061 2217 3756 3016

2709 -0.86 -146.0 212.9 -7.8 273 2716 0.12 2.17 0.00 0.000 6 0.153 0.036 2250 2333 3016

3026 -0.86 -146.0 232.1 -5.8 289 3030 0.00 2.30 0.00 0.000 4 0.000 0.062 2250 3743 3017

3036 -0.86 -146.0 232.9 -5.9 289 3040 0.00 2.15 0.00 0.000 6 0.000 0.035 2250 2334 3017

3358 -0.86 -146.0 252.0 -5.8 305 3362 0.00 2.30 0.00 0.000 4 0.000 0.060 2249 3743 3018

3383 -0.91 -146.0 253.4 -6.7 306 3387 0.00 2.15 0.00 0.000 6 0.000 0.035 2250 2333 3017

3716 -0.91 -146.0 274.3 -5.8 322 3720 0.00 2.33 0.00 0.000 4 0.000 0.061 2250 3756 3018

3727 -0.91 -146.0 274.9 -5.7 322 3730 0.00 2.17 0.00 0.000 6 0.000 0.035 2250 2330 3018

4048 -0.95 -146.0 293.8 -5.8 338 4052 0.00 2.33 0.00 0.000 4 0.000 0.060 2250 3756 3018

4065 -1.02 -146.0 294.8 -5.4 338 4072 0.12 2.17 0.00 0.000 6 0.095 0.035 2204 2330 3018

4382 -0.92 -146.0 316.9 -6.9 354 4383 0.12 0.00 0.00 0.000 6 0.150 0.000 2239 2327 3018

4691 -0.92 -146.0 335.3 -6.2 369 4692 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2327 3019

5000 -0.92 -146.0 355.8 -6.8 384 5003 0.00 2.30 0.00 0.000 4 0.000 0.059 2239 3747 3020

5023 -0.92 -146.0 357.3 -6.9 385 5026 0.00 2.15 0.00 0.000 6 0.000 0.035 2240 2336 3020

5356 -0.92 -146.0 379.7 -6.7 401 5360 0.00 2.30 0.00 0.000 4 0.000 0.058 2240 3752 3020

5395 -0.98 -146.0 382.4 -6.9 402 5401 0.00 2.17 0.00 0.000 6 0.000 0.035 2240 2326 3020

5712 -0.98 -146.0 403.4 -6.7 417 5715 0.00 2.33 0.00 0.000 4 0.000 0.060 2240 3755 3021

5780 -1.06 -146.0 408.1 -6.4 418 5784 0.12 2.15 0.00 0.000 6 0.090 0.034 2192 2338 3021

6127 -0.94 -146.0 436.0 -8.0 427 6132 0.15 2.30 0.00 0.000 4 0.147 0.058 2234 3746 3021

6168 -1.00 -146.0 438.9 -7.0 428 6172 0.00 2.15 0.00 0.000 6 0.000 0.034 2234 2327 3021

6498 -1.00 -146.0 460.5 -6.3 436 6499 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2327 3021

6823 -1.00 -146.0 481.4 -6.7 444 6827 0.00 2.30 0.00 0.000 4 0.000 0.058 2234 3745 3022

6870 -1.05 -146.0 484.5 -7.0 445 6874 0.10 2.15 0.00 0.000 6 0.104 0.035 2197 2327 3022

7199 -0.96 -146.0 509.4 -7.4 453 7204 0.12 2.33 0.00 0.000 4 0.153 0.058 2230 3754 3022

7271 -0.96 -146.0 514.5 -7.5 454 7275 0.00 2.15 0.00 0.000 6 0.000 0.034 2231 2335 3022

7614 -0.96 -146.0 536.5 -6.4 463 7618 0.00 2.30 0.00 0.000 4 0.000 0.059 2231 3752 3022

7647 -1.01 -146.0 538.7 -6.7 463 7651 0.00 2.15 0.00 0.000 6 0.000 0.034 2231 2333 3022

7984 -1.01 -146.0 559.9 -6.3 472 7988 0.00 2.33 0.00 0.000 4 0.000 0.061 2231 3753 3022

8052 -1.07 -146.0 564.3 -6.5 473 8056 0.12 2.15 0.00 0.000 6 0.089 0.035 2184 2329 3022

8399 -0.94 -146.0 590.1 -7.4 482 8404 0.17 2.33 0.00 0.000 4 0.147 0.060 2234 3743 3022

8450 -1.01 -146.0 593.3 -6.1 483 8453 0.00 2.15 0.00 0.000 6 0.000 0.034 2233 2327 3022

8769 -1.01 -146.0 611.7 -5.8 491 8770 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2327 3023

9093 -1.01 -146.0 630.2 -5.7 499 9097 0.00 2.33 0.00 0.000 4 0.000 0.061 2233 3749 3022

9117 -1.07 -146.0 631.6 -6.1 499 9122 0.12 2.15 0.00 0.000 6 0.096 0.035 2188 2337 3023

9381 end dive: NO_VERTICAL_VELOCITY

state 9381 begin apogee

9388 -0.34 0.0 633.9 0.0 506 9522 0.52 0.00 130.40 1.196 6 0.102 0.000 2365 2517 2420

9522 end apogee: CONTROL_FINISHED_OK

state 9522 begin climb

9525 1.08 146.0 633.6 0.0 509 9668 1.02 2.72 135.65 1.123 4 0.096 0.058 2677 3934 1824

9710 0.80 146.0 618.4 12.1 513 9717 0.25 2.40 0.00 0.000 6 0.133 0.035 2610 2519 1824

10041 0.87 164.9 596.7 6.4 522 10065 0.00 2.30 16.77 1.081 4 0.000 0.046 2611 1109 1747

10122 1.00 182.8 591.4 6.4 523 10144 0.15 2.25 16.40 1.071 6 0.068 0.043 2674 2539 1674

10453 0.89 182.8 561.2 9.2 532 10457 0.17 2.22 0.00 0.000 4 0.129 0.059 2622 3930 1675

10514 0.89 182.8 555.7 8.2 533 10518 0.00 2.15 0.00 0.000 6 0.000 0.036 2622 2505 1674

10828 0.97 198.1 535.1 6.5 541 10848 0.10 2.22 13.90 1.065 4 0.085 0.048 2665 1116 1612

10898 0.97 198.1 529.4 8.7 542 10902 0.00 2.20 0.00 0.000 6 0.000 0.043 2665 2520 1613

11241 0.90 198.1 500.9 8.4 551 11245 0.12 2.25 0.00 0.000 4 0.137 0.058 2628 3930 1613

11286 0.90 198.1 497.3 8.1 552 11290 0.00 2.15 0.00 0.000 6 0.000 0.036 2627 2515 1613

11616 0.95 198.1 473.7 7.2 560 11620 0.00 2.17 0.00 0.000 4 0.000 0.047 2627 1109 1613

11682 1.05 198.1 468.8 7.3 561 11687 0.12 2.20 0.00 0.000 6 0.076 0.042 2679 2528 1612

12031 0.95 198.1 437.1 9.2 570 12035 0.15 2.25 0.00 0.000 4 0.125 0.058 2634 3936 1612

12086 0.90 198.1 432.2 8.5 571 12090 0.00 2.15 0.00 0.000 6 0.000 0.035 2633 2522 1613

12406 0.91 203.3 410.0 6.8 579 12416 0.00 2.20 5.62 0.831 4 0.000 0.046 2633 1109 1591

12468 1.01 207.8 405.6 6.9 580 12478 0.00 2.20 5.45 0.809 6 0.000 0.042 2633 2525 1572

12792 1.07 207.8 382.8 7.1 594 12794 0.12 0.00 0.00 0.000 6 0.077 0.000 2691 2525 1574

13102 0.95 207.8 351.4 10.1 609 13104 0.17 0.00 0.00 0.000 6 0.120 0.000 2637 2525 1574

13411 1.00 207.8 328.1 7.0 624 13415 0.00 2.20 0.00 0.000 4 0.000 0.046 2637 1116 1574

13485 1.11 224.2 323.2 6.5 627 13505 0.15 2.20 14.90 0.971 6 0.074 0.042 2700 2534 1507

13835 0.99 224.2 288.9 10.1 644 13840 0.17 2.22 0.00 0.000 4 0.125 0.058 2646 3930 1508

13896 0.99 224.2 282.9 9.3 646 13902 0.00 2.15 0.00 0.000 6 0.000 0.035 2646 2512 1508

14212 1.03 224.2 258.8 7.7 662 14216 0.00 2.15 0.00 0.000 4 0.000 0.047 2646 1117 1508

14284 1.13 224.2 253.3 7.8 665 14289 0.12 2.17 0.00 0.000 6 0.077 0.042 2701 2522 1508

14612 1.01 224.2 221.0 9.8 681 14616 0.17 2.25 0.00 0.000 4 0.123 0.058 2647 3927 1508

14651 1.01 224.2 217.5 8.1 683 14655 0.00 2.15 0.00 0.000 6 0.000 0.035 2647 2508 1508

14983 1.07 224.2 193.8 7.3 699 14988 0.08 2.15 0.00 0.000 4 0.097 0.045 2689 1119 1509

15068 1.07 224.2 186.1 10.0 702 15074 0.00 2.17 0.00 0.000 6 0.000 0.042 2689 2522 1508

15383 1.01 224.2 155.5 9.5 718 15388 0.12 2.25 0.00 0.000 4 0.131 0.058 2653 3930 1508

15422 1.01 224.2 151.8 8.9 719 15428 0.00 2.15 0.00 0.000 6 0.000 0.035 2652 2511 1508

15739 1.10 240.3 131.6 6.5 735 15761 0.08 2.20 14.62 0.864 4 0.097 0.046 2693 1112 1441

15817 1.10 240.3 124.7 9.3 738 15821 0.00 2.20 0.00 0.000 6 0.000 0.041 2693 2529 1441

16137 1.10 240.3 94.5 9.3 759 16143 0.00 2.22 0.00 0.000 4 0.000 0.059 2693 3924 1442

16178 1.02 240.3 90.5 9.6 766 16184 0.15 2.15 0.00 0.000 6 0.129 0.035 2649 2507 1442

16523 1.34 240.3 64.8 7.3 827 16530 0.20 2.15 0.00 0.000 4 0.070 0.044 2732 1116 1442

16592 1.41 240.3 59.2 7.9 839 16599 0.00 2.20 0.00 0.000 6 0.000 0.044 2732 2532 1443

16936 1.34 240.3 31.9 8.0 900 16942 0.00 2.22 0.00 0.000 4 0.000 0.061 2732 3925 1442

17011 1.17 240.3 24.9 9.3 913 17018 0.17 2.15 0.00 0.000 6 0.133 0.036 2680 2508 1442

17357 1.31 260.5 3.6 6.3 974 17382 0.12 2.20 17.75 0.864 4 0.074 0.048 2735 1117 1358

17386 end climb: SURFACE_DEPTH_REACHED

state 17386 begin surface coast

17415 end surface coast: CONTROL_FINISHED_OK

state 17415 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	330	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-29171.09	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	075937,6702.268,-5659.430,38,1.8,38,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.224,0.019
_SM_DEPTHo	1.81	KALMAN_X	-63110.0,1237.3,-11.2,80089.2,-3760.2
_SM_ANGLEo	-65.1	KALMAN_Y	-24930.1,-674.7,390.5,38960.0,-284.8
GPS2	080527,6702.291,-5659.455,8,1.9,8,-37.6	MHEAD_RNG_PITCHd_Wd	122.8,8376,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	653

FINISH	1.1,1.017649	TCM_TEMP	16.40
SM_CCo	17495,0.00,0.000,0,0,1356,260.75	XPDR_PINGS	1
SM_GC	2.01,7.03,0.00,0.00,0.059,0.000,0.000,164,2349,1356,-10.37,0.25,260.75	_24V_AH	20.9,61.714
RAFOS_CLK	891	_10V_AH	10.6,27.183
RAFOS	1,1227168845,8.250000,8.234722,82,60,57,56,56,54,857,215,201,224,190,136	DATA_FILE_SIZE	34710,984
RAFOS_FIX	6702.486328,-5700.903809,201108,121228,4,98,0.07	CAP_FILE_SIZE	151039,0
IRIDIUM_FIX	6631.12,-5658.34,140298,030300	CFSIZE	260165632,226422784
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1876	SOUNDSPEED	1465.3
INTERNAL_PRESSURE	8.57455	GPS	201108,125938,6702.150,-5656.524,35,1.3,35,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	255	120.64	SBE_CT	759	24	380.85
Roll_motor	173	72	261.51	SBE_O2	666	19	264.61
VBD_pump_during_apogee	371	1195	9283.62	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	31	103	67.61	nil	0	0	0.00
Iridium_during_connect	34	160	115.05	nil	0	0	0.00
Iridium_during_xfer	150	223	699.76
Transponder_ping	0	420	2.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.34
TT8	1880	19	397.15
LPSleep	12934	2	316.72
TT8_Active	553	19	116.97
TT8_Sampling	1963	39	831.02
TT8_CF8	524	45	255.50
TT8_Kalman	33	81	28.98
Analog_circuits	1633	12	207.79
GPS_charging	0	0	0.00
Compass	1932	8	163.86
RAFOS	3240	1	51.52
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	132	0.00	0.00	-113.45	0.000	2	0.000	0.000	157	2335	2968
136	-1.08	-146.0	3.1	-1.7	20	155	8.70	2.33	-1.75	0.000	4	0.255	0.072	2201	3736	3018
207	-0.52	-146.0	16.2	-16.8	32	214	0.40	2.17	0.00	0.000	6	0.161	0.037	2318	2321	3019
553	-0.52	-146.0	47.3	-8.1	93	559	0.00	2.17	0.00	0.000	4	0.000	0.051	2319	929	3020
565	-0.52	-146.0	48.6	-8.3	95	571	0.00	2.22	0.00	0.000	6	0.000	0.046	2319	2347	3020
910	-0.61	-146.0	78.5	-9.0	156	916	0.00	2.25	0.00	0.000	4	0.000	0.061	2318	3746	3019
945	-0.74	-146.0	81.8	-9.1	162	952	0.15	2.17	0.00	0.000	6	0.088	0.037	2261	2325	3019
1280	-0.69	-146.0	108.5	-6.5	205	1282	0.10	0.00	0.00	0.000	6	0.161	0.000	2286	2324	3018
1588	-0.77	-146.0	132.3	-8.1	220	1592	0.00	2.35	0.00	0.000	4	0.000	0.063	2286	3754	3017
1661	-0.90	-146.0	137.8	-7.1	223	1667	0.17	2.17	0.00	0.000	6	0.081	0.037	2221	2335	3017
1989	-0.80	-146.0	165.3	-8.3	239	1991	0.15	0.00	0.00	0.000	6	0.156	0.000	2261	2333	3016
2298	-0.80	-146.0	186.0	-6.5	254	2302	0.00	2.30	0.00	0.000	4	0.000	0.062	2261	3746	3016
2354	-0.88	-146.0	189.7	-6.8	256	2358	0.00	2.15	0.00	0.000	6	0.000	0.036	2261	2341	3016
2676	-0.94	-146.0	210.4	-6.2	272	2681	0.12	2.33	0.00	0.000	4	0.100	0.061	2217	3756	3016
2709	-0.86	-146.0	212.9	-7.8	273	2716	0.12	2.17	0.00	0.000	6	0.153	0.036	2250	2333	3016
3026	-0.86	-146.0	232.1	-5.8	289	3030	0.00	2.30	0.00	0.000	4	0.000	0.062	2250	3743	3017
3036	-0.86	-146.0	232.9	-5.9	289	3040	0.00	2.15	0.00	0.000	6	0.000	0.035	2250	2334	3017
3358	-0.86	-146.0	252.0	-5.8	305	3362	0.00	2.30	0.00	0.000	4	0.000	0.060	2249	3743	3018
3383	-0.91	-146.0	253.4	-6.7	306	3387	0.00	2.15	0.00	0.000	6	0.000	0.035	2250	2333	3017
3716	-0.91	-146.0	274.3	-5.8	322	3720	0.00	2.33	0.00	0.000	4	0.000	0.061	2250	3756	3018
3727	-0.91	-146.0	274.9	-5.7	322	3730	0.00	2.17	0.00	0.000	6	0.000	0.035	2250	2330	3018
4048	-0.95	-146.0	293.8	-5.8	338	4052	0.00	2.33	0.00	0.000	4	0.000	0.060	2250	3756	3018
4065	-1.02	-146.0	294.8	-5.4	338	4072	0.12	2.17	0.00	0.000	6	0.095	0.035	2204	2330	3018
4382	-0.92	-146.0	316.9	-6.9	354	4383	0.12	0.00	0.00	0.000	6	0.150	0.000	2239	2327	3018
4691	-0.92	-146.0	335.3	-6.2	369	4692	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2327	3019
5000	-0.92	-146.0	355.8	-6.8	384	5003	0.00	2.30	0.00	0.000	4	0.000	0.059	2239	3747	3020
5023	-0.92	-146.0	357.3	-6.9	385	5026	0.00	2.15	0.00	0.000	6	0.000	0.035	2240	2336	3020
5356	-0.92	-146.0	379.7	-6.7	401	5360	0.00	2.30	0.00	0.000	4	0.000	0.058	2240	3752	3020
5395	-0.98	-146.0	382.4	-6.9	402	5401	0.00	2.17	0.00	0.000	6	0.000	0.035	2240	2326	3020
5712	-0.98	-146.0	403.4	-6.7	417	5715	0.00	2.33	0.00	0.000	4	0.000	0.060	2240	3755	3021
5780	-1.06	-146.0	408.1	-6.4	418	5784	0.12	2.15	0.00	0.000	6	0.090	0.034	2192	2338	3021
6127	-0.94	-146.0	436.0	-8.0	427	6132	0.15	2.30	0.00	0.000	4	0.147	0.058	2234	3746	3021
6168	-1.00	-146.0	438.9	-7.0	428	6172	0.00	2.15	0.00	0.000	6	0.000	0.034	2234	2327	3021
6498	-1.00	-146.0	460.5	-6.3	436	6499	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2327	3021
6823	-1.00	-146.0	481.4	-6.7	444	6827	0.00	2.30	0.00	0.000	4	0.000	0.058	2234	3745	3022
6870	-1.05	-146.0	484.5	-7.0	445	6874	0.10	2.15	0.00	0.000	6	0.104	0.035	2197	2327	3022
7199	-0.96	-146.0	509.4	-7.4	453	7204	0.12	2.33	0.00	0.000	4	0.153	0.058	2230	3754	3022
7271	-0.96	-146.0	514.5	-7.5	454	7275	0.00	2.15	0.00	0.000	6	0.000	0.034	2231	2335	3022
7614	-0.96	-146.0	536.5	-6.4	463	7618	0.00	2.30	0.00	0.000	4	0.000	0.059	2231	3752	3022
7647	-1.01	-146.0	538.7	-6.7	463	7651	0.00	2.15	0.00	0.000	6	0.000	0.034	2231	2333	3022
7984	-1.01	-146.0	559.9	-6.3	472	7988	0.00	2.33	0.00	0.000	4	0.000	0.061	2231	3753	3022
8052	-1.07	-146.0	564.3	-6.5	473	8056	0.12	2.15	0.00	0.000	6	0.089	0.035	2184	2329	3022
8399	-0.94	-146.0	590.1	-7.4	482	8404	0.17	2.33	0.00	0.000	4	0.147	0.060	2234	3743	3022
8450	-1.01	-146.0	593.3	-6.1	483	8453	0.00	2.15	0.00	0.000	6	0.000	0.034	2233	2327	3022
8769	-1.01	-146.0	611.7	-5.8	491	8770	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2327	3023
9093	-1.01	-146.0	630.2	-5.7	499	9097	0.00	2.33	0.00	0.000	4	0.000	0.061	2233	3749	3022
9117	-1.07	-146.0	631.6	-6.1	499	9122	0.12	2.15	0.00	0.000	6	0.096	0.035	2188	2337	3023
9381	end dive: NO_VERTICAL_VELOCITY
state	9381	begin apogee
9388	-0.34	0.0	633.9	0.0	506	9522	0.52	0.00	130.40	1.196	6	0.102	0.000	2365	2517	2420
9522	end apogee: CONTROL_FINISHED_OK
state	9522	begin climb
9525	1.08	146.0	633.6	0.0	509	9668	1.02	2.72	135.65	1.123	4	0.096	0.058	2677	3934	1824
9710	0.80	146.0	618.4	12.1	513	9717	0.25	2.40	0.00	0.000	6	0.133	0.035	2610	2519	1824
10041	0.87	164.9	596.7	6.4	522	10065	0.00	2.30	16.77	1.081	4	0.000	0.046	2611	1109	1747
10122	1.00	182.8	591.4	6.4	523	10144	0.15	2.25	16.40	1.071	6	0.068	0.043	2674	2539	1674
10453	0.89	182.8	561.2	9.2	532	10457	0.17	2.22	0.00	0.000	4	0.129	0.059	2622	3930	1675
10514	0.89	182.8	555.7	8.2	533	10518	0.00	2.15	0.00	0.000	6	0.000	0.036	2622	2505	1674
10828	0.97	198.1	535.1	6.5	541	10848	0.10	2.22	13.90	1.065	4	0.085	0.048	2665	1116	1612
10898	0.97	198.1	529.4	8.7	542	10902	0.00	2.20	0.00	0.000	6	0.000	0.043	2665	2520	1613
11241	0.90	198.1	500.9	8.4	551	11245	0.12	2.25	0.00	0.000	4	0.137	0.058	2628	3930	1613
11286	0.90	198.1	497.3	8.1	552	11290	0.00	2.15	0.00	0.000	6	0.000	0.036	2627	2515	1613
11616	0.95	198.1	473.7	7.2	560	11620	0.00	2.17	0.00	0.000	4	0.000	0.047	2627	1109	1613
11682	1.05	198.1	468.8	7.3	561	11687	0.12	2.20	0.00	0.000	6	0.076	0.042	2679	2528	1612
12031	0.95	198.1	437.1	9.2	570	12035	0.15	2.25	0.00	0.000	4	0.125	0.058	2634	3936	1612
12086	0.90	198.1	432.2	8.5	571	12090	0.00	2.15	0.00	0.000	6	0.000	0.035	2633	2522	1613
12406	0.91	203.3	410.0	6.8	579	12416	0.00	2.20	5.62	0.831	4	0.000	0.046	2633	1109	1591
12468	1.01	207.8	405.6	6.9	580	12478	0.00	2.20	5.45	0.809	6	0.000	0.042	2633	2525	1572
12792	1.07	207.8	382.8	7.1	594	12794	0.12	0.00	0.00	0.000	6	0.077	0.000	2691	2525	1574
13102	0.95	207.8	351.4	10.1	609	13104	0.17	0.00	0.00	0.000	6	0.120	0.000	2637	2525	1574
13411	1.00	207.8	328.1	7.0	624	13415	0.00	2.20	0.00	0.000	4	0.000	0.046	2637	1116	1574
13485	1.11	224.2	323.2	6.5	627	13505	0.15	2.20	14.90	0.971	6	0.074	0.042	2700	2534	1507
13835	0.99	224.2	288.9	10.1	644	13840	0.17	2.22	0.00	0.000	4	0.125	0.058	2646	3930	1508
13896	0.99	224.2	282.9	9.3	646	13902	0.00	2.15	0.00	0.000	6	0.000	0.035	2646	2512	1508
14212	1.03	224.2	258.8	7.7	662	14216	0.00	2.15	0.00	0.000	4	0.000	0.047	2646	1117	1508
14284	1.13	224.2	253.3	7.8	665	14289	0.12	2.17	0.00	0.000	6	0.077	0.042	2701	2522	1508
14612	1.01	224.2	221.0	9.8	681	14616	0.17	2.25	0.00	0.000	4	0.123	0.058	2647	3927	1508
14651	1.01	224.2	217.5	8.1	683	14655	0.00	2.15	0.00	0.000	6	0.000	0.035	2647	2508	1508
14983	1.07	224.2	193.8	7.3	699	14988	0.08	2.15	0.00	0.000	4	0.097	0.045	2689	1119	1509
15068	1.07	224.2	186.1	10.0	702	15074	0.00	2.17	0.00	0.000	6	0.000	0.042	2689	2522	1508
15383	1.01	224.2	155.5	9.5	718	15388	0.12	2.25	0.00	0.000	4	0.131	0.058	2653	3930	1508
15422	1.01	224.2	151.8	8.9	719	15428	0.00	2.15	0.00	0.000	6	0.000	0.035	2652	2511	1508
15739	1.10	240.3	131.6	6.5	735	15761	0.08	2.20	14.62	0.864	4	0.097	0.046	2693	1112	1441
15817	1.10	240.3	124.7	9.3	738	15821	0.00	2.20	0.00	0.000	6	0.000	0.041	2693	2529	1441
16137	1.10	240.3	94.5	9.3	759	16143	0.00	2.22	0.00	0.000	4	0.000	0.059	2693	3924	1442
16178	1.02	240.3	90.5	9.6	766	16184	0.15	2.15	0.00	0.000	6	0.129	0.035	2649	2507	1442
16523	1.34	240.3	64.8	7.3	827	16530	0.20	2.15	0.00	0.000	4	0.070	0.044	2732	1116	1442
16592	1.41	240.3	59.2	7.9	839	16599	0.00	2.20	0.00	0.000	6	0.000	0.044	2732	2532	1443
16936	1.34	240.3	31.9	8.0	900	16942	0.00	2.22	0.00	0.000	4	0.000	0.061	2732	3925	1442
17011	1.17	240.3	24.9	9.3	913	17018	0.17	2.15	0.00	0.000	6	0.133	0.036	2680	2508	1442
17357	1.31	260.5	3.6	6.3	974	17382	0.12	2.20	17.75	0.864	4	0.074	0.048	2735	1117	1358
17386	end climb: SURFACE_DEPTH_REACHED
state	17386	begin surface coast
17415	end surface coast: CONTROL_FINISHED_OK
state	17415	begin surface