Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 114 * 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 114 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 275 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 30 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 100 T_GPS_CHARGE -24089.334 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 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 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 -24089.334

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 30 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 114 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 121432,6640.320,-6026.804,40,1.5,40,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.182,-0.131

_SM_DEPTHo 1.63 KALMAN_X 15003.8,163.4,-10.5,-111981.3,-249.8

_SM_ANGLEo -64.1 KALMAN_Y -6828.5,-586.9,-499.5,-18872.1,2687.7

GPS2 122003,6640.321,-6026.867,14,0.9,14,-38.0 MHEAD_RNG_PITCHd_Wd 272.2,12220,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 513

Post-dive calculations and measurements:

FINISH 0.9,1.010156 TCM_TEMP 15.30

SM_CCo 13527,0.00,0.000,0,0,885,376.54 XPDR_PINGS 0

SM_GC 1.68,7.38,0.00,0.00,0.073,0.000,0.000,166,2340,885,-10.37,0.00,376.54 _24V_AH 22.1,26.775

RAFOS_CLK 770 _10V_AH 10.5,10.345

RAFOS 2,1222691045,12.416667,12.401389,83,70,62,58,57,51,985,218,176,190,131,122 DATA_FILE_SIZE 31587,846

RAFOS_FIX 4343.821777,-11605.441406,290908,121244,4,90,11206.95 CAP_FILE_SIZE 112286,0

IRIDIUM_FIX 6609.62,-6016.65,241297,080827 CFSIZE 260165632,242982912

TT8_MAMPS 0.029913 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1913 SOUNDSPEED 1447.6

INTERNAL_PRESSURE 8.49642 GPS 290908,160832,6640.336,-6030.793,35,1.8,35,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 273 122.20 SBE_CT 661 24 350.88

Roll_motor 120 85 225.78 SBE_O2 575 19 241.59

VBD_pump_during_apogee 451 1255 12523.50 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 30 103 69.10 nil 0 0 0.00

Iridium_during_connect 35 160 123.96 nil 0 0 0.00

Iridium_during_xfer 156 223 770.19

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.35

TT8 1555 19 325.33

LPSleep 9805 2 237.84

TT8_Active 585 19 122.42

TT8_Sampling 1587 39 665.47

TT8_CF8 376 45 181.31

TT8_Kalman 33 81 28.70

Analog_circuits 1466 12 184.81

GPS_charging 0 0 0.00

Compass 1564 8 131.38

RAFOS 1440 1 22.68

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.08 -146.0 0.0 0.0 0 128 0.00 0.00 -108.78 0.000 2 0.000 0.000 159 2340 2744

130 -1.08 -146.0 3.2 -2.6 19 156 8.88 2.40 -9.40 0.000 4 0.273 0.085 2200 3752 3017

408 -0.77 -146.0 51.0 -13.2 68 415 0.25 2.25 0.00 0.000 6 0.163 0.045 2271 2336 3022

752 -0.71 -146.0 83.4 -8.7 129 758 0.00 2.38 0.00 0.000 4 0.000 0.073 2271 3753 3023

791 -0.71 -146.0 87.0 -9.1 136 797 0.00 2.22 0.00 0.000 6 0.000 0.043 2271 2336 3023

1130 -0.71 -146.0 117.8 -9.6 172 1131 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2336 3024

1438 -0.71 -146.0 144.1 -7.4 187 1439 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2336 3023

1748 -0.71 -146.0 163.0 -5.8 202 1752 0.00 2.22 0.00 0.000 4 0.000 0.060 2271 925 3023

1792 -0.71 -146.0 165.9 -6.5 204 1796 0.00 2.28 0.00 0.000 6 0.000 0.054 2271 2353 3023

2123 -0.71 -146.0 189.8 -7.3 220 2127 0.00 2.30 0.00 0.000 4 0.000 0.074 2271 3748 3022

2190 -0.81 -146.0 195.0 -7.9 223 2194 0.00 2.20 0.00 0.000 6 0.000 0.043 2271 2339 3022

2522 -0.87 -146.0 217.3 -6.2 239 2524 0.10 0.00 0.00 0.000 6 0.104 0.000 2236 2339 3022

2832 -0.82 -146.0 242.3 -8.4 254 2837 0.10 2.35 0.00 0.000 4 0.173 0.074 2259 3743 3022

2875 -0.90 -146.0 245.8 -8.1 256 2879 0.00 2.20 0.00 0.000 6 0.000 0.045 2259 2336 3022

3201 -0.90 -146.0 272.2 -8.0 272 3205 0.00 2.22 0.00 0.000 4 0.000 0.061 2259 935 3022

3239 -0.90 -146.0 275.6 -8.8 273 3246 0.00 2.28 0.00 0.000 6 0.000 0.055 2259 2336 3022

3555 -0.96 -146.0 299.5 -7.1 289 3560 0.12 2.33 0.00 0.000 4 0.107 0.073 2216 3746 3021

3655 -0.91 -146.0 308.4 -8.8 293 3661 0.00 2.22 0.00 0.000 6 0.000 0.045 2216 2324 3021

3971 -0.84 -146.0 333.5 -7.7 309 3972 0.15 0.00 0.00 0.000 6 0.160 0.000 2256 2324 3021

4280 -0.91 -146.0 352.7 -6.1 324 4283 0.00 2.38 0.00 0.000 4 0.000 0.075 2257 3750 3021

4375 -1.03 -146.0 358.6 -6.2 328 4379 0.15 2.20 0.00 0.000 6 0.095 0.044 2204 2341 3021

4700 -0.93 -146.0 383.7 -8.2 344 4705 0.12 2.35 0.00 0.000 4 0.159 0.073 2234 3751 3020

4739 -0.93 -146.0 386.6 -7.3 346 4743 0.00 2.20 0.00 0.000 6 0.000 0.044 2234 2341 3020

5088 -0.93 -146.0 412.5 -7.5 359 5092 0.00 2.35 0.00 0.000 4 0.000 0.074 2234 3752 3020

5178 -0.93 -146.0 419.3 -7.6 361 5181 0.00 2.20 0.00 0.000 6 0.000 0.044 2234 2337 3020

5507 -0.93 -146.0 440.8 -6.3 369 5511 0.00 2.35 0.00 0.000 4 0.000 0.074 2234 3748 3020

5579 -0.99 -146.0 445.5 -6.6 370 5584 0.00 2.20 0.00 0.000 6 0.000 0.043 2234 2324 3020

5921 -0.99 -146.0 466.4 -6.1 379 5922 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2324 3021

6246 -0.99 -146.0 484.9 -5.4 387 6250 0.00 2.20 0.00 0.000 4 0.000 0.058 2234 932 3021

6291 -0.99 -146.0 487.3 -5.6 388 6295 0.00 2.22 0.00 0.000 6 0.000 0.053 2234 2345 3022

6620 -0.99 -146.0 507.9 -6.3 396 6624 0.00 2.30 0.00 0.000 4 0.000 0.071 2234 3753 3022

6653 -1.07 -146.0 510.0 -5.9 396 6657 0.12 2.20 0.00 0.000 6 0.110 0.041 2190 2330 3022

6702 end dive: TARGET_DEPTH_EXCEEDED

state 6702 begin apogee

6707 -0.34 0.0 513.1 6.1 398 6836 0.57 0.00 125.82 1.256 6 0.156 0.000 2362 2531 2420

6837 end apogee: CONTROL_FINISHED_OK

state 6837 begin climb

6839 1.08 146.0 515.4 0.0 401 6982 1.05 2.65 130.40 1.149 4 0.111 0.071 2667 3930 1824

7003 0.81 146.0 503.4 10.0 405 7009 0.22 2.45 0.00 0.000 6 0.150 0.041 2611 2524 1822

7317 0.82 152.0 481.4 6.8 413 7325 0.00 0.00 6.28 0.937 6 0.000 0.000 2611 2524 1800

7641 0.82 154.1 458.9 6.9 421 7643 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2524 1799

7966 0.82 154.1 434.8 7.6 429 7970 0.00 2.30 0.00 0.000 4 0.000 0.057 2611 1097 1799

7994 0.87 154.1 432.7 7.2 429 7998 0.00 2.33 0.00 0.000 6 0.000 0.052 2611 2531 1798

8335 0.89 170.2 409.5 6.5 438 8353 0.00 0.00 16.25 1.150 6 0.000 0.000 2611 2531 1726

8642 0.95 209.8 390.9 5.7 449 8685 0.12 2.45 33.17 1.164 4 0.084 0.071 2662 3924 1563

8718 0.76 209.8 384.4 9.8 452 8723 0.22 2.30 0.00 0.000 6 0.143 0.041 2600 2508 1562

9039 0.95 252.4 365.5 5.6 468 9080 0.15 0.00 36.12 1.143 6 0.077 0.000 2660 2505 1390

9388 0.95 252.4 338.4 7.5 485 9392 0.00 2.28 0.00 0.000 4 0.000 0.056 2660 1104 1388

9414 0.95 252.4 336.3 7.7 486 9419 0.00 2.35 0.00 0.000 6 0.000 0.051 2660 2528 1388

9741 0.95 252.4 309.9 8.1 502 9745 0.00 2.33 0.00 0.000 4 0.000 0.071 2661 3940 1387

9763 0.87 252.4 308.0 9.0 503 9768 0.15 2.22 0.00 0.000 6 0.147 0.042 2619 2516 1386

10095 1.07 302.7 289.2 5.3 519 10142 0.17 2.35 41.62 1.130 4 0.077 0.056 2690 1115 1184

10176 1.07 302.7 282.5 8.8 523 10180 0.00 2.33 0.00 0.000 6 0.000 0.051 2690 2521 1181

10507 1.07 302.7 250.4 10.3 539 10511 0.00 2.30 0.00 0.000 4 0.000 0.058 2690 1112 1179

10544 1.07 302.7 246.4 9.9 540 10551 0.00 2.30 0.00 0.000 6 0.000 0.050 2690 2520 1179

10860 1.07 302.7 216.1 8.8 556 10863 0.00 2.28 0.00 0.000 4 0.000 0.057 2690 1112 1178

10892 1.07 302.7 213.3 9.0 557 10896 0.00 2.28 0.00 0.000 6 0.000 0.050 2690 2518 1178

11213 1.07 302.7 186.0 8.9 573 11217 0.00 2.28 0.00 0.000 4 0.000 0.058 2690 1109 1177

11239 1.07 302.7 183.7 8.3 574 11244 0.00 2.28 0.00 0.000 6 0.000 0.050 2690 2518 1177

11566 1.07 302.7 152.6 9.8 590 11570 0.00 2.28 0.00 0.000 4 0.000 0.058 2690 1109 1177

11581 1.07 302.7 151.0 9.7 590 11589 0.00 2.28 0.00 0.000 6 0.000 0.050 2690 2518 1177

11897 1.07 302.7 122.2 8.3 606 11901 0.00 2.28 0.00 0.000 4 0.000 0.058 2690 1106 1177

11934 1.07 302.7 119.0 8.2 607 11941 0.00 2.28 0.00 0.000 6 0.000 0.051 2690 2516 1176

12258 1.07 302.7 90.1 9.2 635 12263 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2516 1176

12600 1.07 302.7 62.0 7.2 696 12606 0.00 2.25 0.00 0.000 4 0.000 0.058 2690 1118 1176

12646 1.16 310.2 58.8 6.8 704 12659 0.00 2.25 6.15 0.910 6 0.000 0.051 2690 2535 1155

12996 1.27 338.7 36.1 6.0 766 13027 0.00 2.42 24.95 1.046 4 0.000 0.058 2690 1110 1038

13078 1.45 373.0 31.1 5.9 780 13115 0.20 2.33 30.55 1.002 6 0.077 0.052 2764 2530 898

13422 end climb: SURFACE_DEPTH_REACHED

state 13422 begin surface coast

13451 end surface coast: CONTROL_FINISHED_OK

state 13451 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	114	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	275	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	30	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	100	T_GPS_CHARGE	-24089.334	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	121432,6640.320,-6026.804,40,1.5,40,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.182,-0.131
_SM_DEPTHo	1.63	KALMAN_X	15003.8,163.4,-10.5,-111981.3,-249.8
_SM_ANGLEo	-64.1	KALMAN_Y	-6828.5,-586.9,-499.5,-18872.1,2687.7
GPS2	122003,6640.321,-6026.867,14,0.9,14,-38.0	MHEAD_RNG_PITCHd_Wd	272.2,12220,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	513

FINISH	0.9,1.010156	TCM_TEMP	15.30
SM_CCo	13527,0.00,0.000,0,0,885,376.54	XPDR_PINGS	0
SM_GC	1.68,7.38,0.00,0.00,0.073,0.000,0.000,166,2340,885,-10.37,0.00,376.54	_24V_AH	22.1,26.775
RAFOS_CLK	770	_10V_AH	10.5,10.345
RAFOS	2,1222691045,12.416667,12.401389,83,70,62,58,57,51,985,218,176,190,131,122	DATA_FILE_SIZE	31587,846
RAFOS_FIX	4343.821777,-11605.441406,290908,121244,4,90,11206.95	CAP_FILE_SIZE	112286,0
IRIDIUM_FIX	6609.62,-6016.65,241297,080827	CFSIZE	260165632,242982912
TT8_MAMPS	0.029913	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1913	SOUNDSPEED	1447.6
INTERNAL_PRESSURE	8.49642	GPS	290908,160832,6640.336,-6030.793,35,1.8,35,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	273	122.20	SBE_CT	661	24	350.88
Roll_motor	120	85	225.78	SBE_O2	575	19	241.59
VBD_pump_during_apogee	451	1255	12523.50	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	30	103	69.10	nil	0	0	0.00
Iridium_during_connect	35	160	123.96	nil	0	0	0.00
Iridium_during_xfer	156	223	770.19
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.35
TT8	1555	19	325.33
LPSleep	9805	2	237.84
TT8_Active	585	19	122.42
TT8_Sampling	1587	39	665.47
TT8_CF8	376	45	181.31
TT8_Kalman	33	81	28.70
Analog_circuits	1466	12	184.81
GPS_charging	0	0	0.00
Compass	1564	8	131.38
RAFOS	1440	1	22.68
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.08	-146.0	0.0	0.0	0	128	0.00	0.00	-108.78	0.000	2	0.000	0.000	159	2340	2744
130	-1.08	-146.0	3.2	-2.6	19	156	8.88	2.40	-9.40	0.000	4	0.273	0.085	2200	3752	3017
408	-0.77	-146.0	51.0	-13.2	68	415	0.25	2.25	0.00	0.000	6	0.163	0.045	2271	2336	3022
752	-0.71	-146.0	83.4	-8.7	129	758	0.00	2.38	0.00	0.000	4	0.000	0.073	2271	3753	3023
791	-0.71	-146.0	87.0	-9.1	136	797	0.00	2.22	0.00	0.000	6	0.000	0.043	2271	2336	3023
1130	-0.71	-146.0	117.8	-9.6	172	1131	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2336	3024
1438	-0.71	-146.0	144.1	-7.4	187	1439	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2336	3023
1748	-0.71	-146.0	163.0	-5.8	202	1752	0.00	2.22	0.00	0.000	4	0.000	0.060	2271	925	3023
1792	-0.71	-146.0	165.9	-6.5	204	1796	0.00	2.28	0.00	0.000	6	0.000	0.054	2271	2353	3023
2123	-0.71	-146.0	189.8	-7.3	220	2127	0.00	2.30	0.00	0.000	4	0.000	0.074	2271	3748	3022
2190	-0.81	-146.0	195.0	-7.9	223	2194	0.00	2.20	0.00	0.000	6	0.000	0.043	2271	2339	3022
2522	-0.87	-146.0	217.3	-6.2	239	2524	0.10	0.00	0.00	0.000	6	0.104	0.000	2236	2339	3022
2832	-0.82	-146.0	242.3	-8.4	254	2837	0.10	2.35	0.00	0.000	4	0.173	0.074	2259	3743	3022
2875	-0.90	-146.0	245.8	-8.1	256	2879	0.00	2.20	0.00	0.000	6	0.000	0.045	2259	2336	3022
3201	-0.90	-146.0	272.2	-8.0	272	3205	0.00	2.22	0.00	0.000	4	0.000	0.061	2259	935	3022
3239	-0.90	-146.0	275.6	-8.8	273	3246	0.00	2.28	0.00	0.000	6	0.000	0.055	2259	2336	3022
3555	-0.96	-146.0	299.5	-7.1	289	3560	0.12	2.33	0.00	0.000	4	0.107	0.073	2216	3746	3021
3655	-0.91	-146.0	308.4	-8.8	293	3661	0.00	2.22	0.00	0.000	6	0.000	0.045	2216	2324	3021
3971	-0.84	-146.0	333.5	-7.7	309	3972	0.15	0.00	0.00	0.000	6	0.160	0.000	2256	2324	3021
4280	-0.91	-146.0	352.7	-6.1	324	4283	0.00	2.38	0.00	0.000	4	0.000	0.075	2257	3750	3021
4375	-1.03	-146.0	358.6	-6.2	328	4379	0.15	2.20	0.00	0.000	6	0.095	0.044	2204	2341	3021
4700	-0.93	-146.0	383.7	-8.2	344	4705	0.12	2.35	0.00	0.000	4	0.159	0.073	2234	3751	3020
4739	-0.93	-146.0	386.6	-7.3	346	4743	0.00	2.20	0.00	0.000	6	0.000	0.044	2234	2341	3020
5088	-0.93	-146.0	412.5	-7.5	359	5092	0.00	2.35	0.00	0.000	4	0.000	0.074	2234	3752	3020
5178	-0.93	-146.0	419.3	-7.6	361	5181	0.00	2.20	0.00	0.000	6	0.000	0.044	2234	2337	3020
5507	-0.93	-146.0	440.8	-6.3	369	5511	0.00	2.35	0.00	0.000	4	0.000	0.074	2234	3748	3020
5579	-0.99	-146.0	445.5	-6.6	370	5584	0.00	2.20	0.00	0.000	6	0.000	0.043	2234	2324	3020
5921	-0.99	-146.0	466.4	-6.1	379	5922	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2324	3021
6246	-0.99	-146.0	484.9	-5.4	387	6250	0.00	2.20	0.00	0.000	4	0.000	0.058	2234	932	3021
6291	-0.99	-146.0	487.3	-5.6	388	6295	0.00	2.22	0.00	0.000	6	0.000	0.053	2234	2345	3022
6620	-0.99	-146.0	507.9	-6.3	396	6624	0.00	2.30	0.00	0.000	4	0.000	0.071	2234	3753	3022
6653	-1.07	-146.0	510.0	-5.9	396	6657	0.12	2.20	0.00	0.000	6	0.110	0.041	2190	2330	3022
6702	end dive: TARGET_DEPTH_EXCEEDED
state	6702	begin apogee
6707	-0.34	0.0	513.1	6.1	398	6836	0.57	0.00	125.82	1.256	6	0.156	0.000	2362	2531	2420
6837	end apogee: CONTROL_FINISHED_OK
state	6837	begin climb
6839	1.08	146.0	515.4	0.0	401	6982	1.05	2.65	130.40	1.149	4	0.111	0.071	2667	3930	1824
7003	0.81	146.0	503.4	10.0	405	7009	0.22	2.45	0.00	0.000	6	0.150	0.041	2611	2524	1822
7317	0.82	152.0	481.4	6.8	413	7325	0.00	0.00	6.28	0.937	6	0.000	0.000	2611	2524	1800
7641	0.82	154.1	458.9	6.9	421	7643	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2524	1799
7966	0.82	154.1	434.8	7.6	429	7970	0.00	2.30	0.00	0.000	4	0.000	0.057	2611	1097	1799
7994	0.87	154.1	432.7	7.2	429	7998	0.00	2.33	0.00	0.000	6	0.000	0.052	2611	2531	1798
8335	0.89	170.2	409.5	6.5	438	8353	0.00	0.00	16.25	1.150	6	0.000	0.000	2611	2531	1726
8642	0.95	209.8	390.9	5.7	449	8685	0.12	2.45	33.17	1.164	4	0.084	0.071	2662	3924	1563
8718	0.76	209.8	384.4	9.8	452	8723	0.22	2.30	0.00	0.000	6	0.143	0.041	2600	2508	1562
9039	0.95	252.4	365.5	5.6	468	9080	0.15	0.00	36.12	1.143	6	0.077	0.000	2660	2505	1390
9388	0.95	252.4	338.4	7.5	485	9392	0.00	2.28	0.00	0.000	4	0.000	0.056	2660	1104	1388
9414	0.95	252.4	336.3	7.7	486	9419	0.00	2.35	0.00	0.000	6	0.000	0.051	2660	2528	1388
9741	0.95	252.4	309.9	8.1	502	9745	0.00	2.33	0.00	0.000	4	0.000	0.071	2661	3940	1387
9763	0.87	252.4	308.0	9.0	503	9768	0.15	2.22	0.00	0.000	6	0.147	0.042	2619	2516	1386
10095	1.07	302.7	289.2	5.3	519	10142	0.17	2.35	41.62	1.130	4	0.077	0.056	2690	1115	1184
10176	1.07	302.7	282.5	8.8	523	10180	0.00	2.33	0.00	0.000	6	0.000	0.051	2690	2521	1181
10507	1.07	302.7	250.4	10.3	539	10511	0.00	2.30	0.00	0.000	4	0.000	0.058	2690	1112	1179
10544	1.07	302.7	246.4	9.9	540	10551	0.00	2.30	0.00	0.000	6	0.000	0.050	2690	2520	1179
10860	1.07	302.7	216.1	8.8	556	10863	0.00	2.28	0.00	0.000	4	0.000	0.057	2690	1112	1178
10892	1.07	302.7	213.3	9.0	557	10896	0.00	2.28	0.00	0.000	6	0.000	0.050	2690	2518	1178
11213	1.07	302.7	186.0	8.9	573	11217	0.00	2.28	0.00	0.000	4	0.000	0.058	2690	1109	1177
11239	1.07	302.7	183.7	8.3	574	11244	0.00	2.28	0.00	0.000	6	0.000	0.050	2690	2518	1177
11566	1.07	302.7	152.6	9.8	590	11570	0.00	2.28	0.00	0.000	4	0.000	0.058	2690	1109	1177
11581	1.07	302.7	151.0	9.7	590	11589	0.00	2.28	0.00	0.000	6	0.000	0.050	2690	2518	1177
11897	1.07	302.7	122.2	8.3	606	11901	0.00	2.28	0.00	0.000	4	0.000	0.058	2690	1106	1177
11934	1.07	302.7	119.0	8.2	607	11941	0.00	2.28	0.00	0.000	6	0.000	0.051	2690	2516	1176
12258	1.07	302.7	90.1	9.2	635	12263	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2516	1176
12600	1.07	302.7	62.0	7.2	696	12606	0.00	2.25	0.00	0.000	4	0.000	0.058	2690	1118	1176
12646	1.16	310.2	58.8	6.8	704	12659	0.00	2.25	6.15	0.910	6	0.000	0.051	2690	2535	1155
12996	1.27	338.7	36.1	6.0	766	13027	0.00	2.42	24.95	1.046	4	0.000	0.058	2690	1110	1038
13078	1.45	373.0	31.1	5.9	780	13115	0.20	2.33	30.55	1.002	6	0.077	0.052	2764	2530	898
13422	end climb: SURFACE_DEPTH_REACHED
state	13422	begin surface coast
13451	end surface coast: CONTROL_FINISHED_OK
state	13451	begin surface