Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 115 * 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 115 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 -24105.828 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 -24105.828

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 115 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 160832,6640.336,-6030.793,35,1.8,35,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.178,0.136

_SM_DEPTHo 1.57 KALMAN_X 15203.2,-49.5,-230.9,-114641.2,502.3

_SM_ANGLEo -63.7 KALMAN_Y -7957.5,-212.9,2195.4,-20790.1,-4047.2

GPS2 161356,6640.330,-6030.854,9,1.0,14,-38.0 MHEAD_RNG_PITCHd_Wd 345.4,9420,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 507

Post-dive calculations and measurements:

FINISH 0.8,1.022841 TCM_TEMP 15.30

SM_CCo 13983,0.00,0.000,0,0,1015,344.65 XPDR_PINGS 0

SM_GC 1.72,7.50,0.00,0.00,0.081,0.000,0.000,165,2342,1015,-10.38,0.06,344.65 _24V_AH 22.1,26.925

RAFOS_CLK 803 _10V_AH 10.5,10.408

RAFOS 0,1222704241,16.083334,16.066944,61,56,56,52,51,51,217,201,159,188,139,1677 DATA_FILE_SIZE 31607,895

RAFOS_FIX 5623.210449,-7505.003906,290908,161616,4,99,1692.76 CAP_FILE_SIZE 117279,0

IRIDIUM_FIX 6614.97,-6026.10,241297,121254 CFSIZE 260165632,242921472

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

HUMID 1902 SOUNDSPEED 1447.5

INTERNAL_PRESSURE 8.49642 GPS 290908,201002,6638.391,-6033.488,36,1.9,36,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 270 124.46 SBE_CT 701 24 372.16

Roll_motor 119 83 220.33 SBE_O2 608 19 255.56

VBD_pump_during_apogee 422 1254 11696.86 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 29 103 67.40 nil 0 0 0.00

Iridium_during_connect 32 160 114.05 nil 0 0 0.00

Iridium_during_xfer 155 223 766.36

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.33

TT8 1637 19 342.53

LPSleep 10042 2 243.58

TT8_Active 572 19 119.68

TT8_Sampling 1728 39 724.48

TT8_CF8 379 45 183.22

TT8_Kalman 33 81 28.70

Analog_circuits 1508 12 190.06

GPS_charging 0 0 0.00

Compass 1701 8 142.91

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 0 145 0.00 0.00 -125.53 0.000 2 0.000 0.000 166 2337 2762

147 -1.08 -146.0 3.5 -3.1 22 172 8.77 2.40 -8.57 0.000 4 0.271 0.084 2192 3750 3019

268 -0.66 -146.0 29.3 -17.2 43 275 0.35 2.28 0.00 0.000 6 0.179 0.046 2286 2326 3022

612 -0.66 -146.0 61.4 -8.4 104 618 0.00 2.22 0.00 0.000 4 0.000 0.058 2287 932 3023

871 -0.66 -146.0 81.2 -7.8 150 877 0.00 2.28 0.00 0.000 6 0.000 0.053 2287 2352 3025

1221 -0.66 -146.0 108.3 -7.8 199 1225 0.00 2.30 0.00 0.000 4 0.000 0.071 2286 3753 3025

1293 -0.76 -146.0 113.9 -7.7 202 1297 0.00 2.22 0.00 0.000 6 0.000 0.043 2287 2327 3025

1613 -0.84 -146.0 136.5 -7.2 218 1617 0.12 2.20 0.00 0.000 4 0.112 0.058 2244 939 3025

1775 -0.73 -146.0 151.8 -9.0 225 1780 0.15 2.25 0.00 0.000 6 0.173 0.055 2283 2341 3025

2095 -0.80 -146.0 173.2 -6.1 241 2099 0.00 2.33 0.00 0.000 4 0.000 0.073 2283 3750 3025

2212 -0.94 -146.0 179.9 -5.7 246 2217 0.17 2.20 0.00 0.000 6 0.087 0.044 2221 2341 3024

2532 -0.82 -146.0 206.6 -8.8 262 2537 0.15 2.25 0.00 0.000 4 0.168 0.058 2259 926 3024

2593 -0.82 -146.0 211.8 -8.6 265 2597 0.00 2.28 0.00 0.000 6 0.000 0.055 2259 2351 3024

2924 -0.82 -146.0 237.1 -7.5 281 2928 0.00 2.30 0.00 0.000 4 0.000 0.072 2259 3747 3024

3019 -0.91 -146.0 244.5 -7.8 285 3023 0.00 2.20 0.00 0.000 6 0.000 0.043 2259 2334 3024

3346 -0.95 -146.0 265.2 -5.7 301 3351 0.12 2.22 0.00 0.000 4 0.118 0.058 2217 932 3024

3412 -0.81 -146.0 270.4 -7.9 304 3417 0.17 2.25 0.00 0.000 6 0.169 0.053 2264 2344 3023

3739 -0.88 -146.0 290.1 -6.3 320 3743 0.00 2.33 0.00 0.000 4 0.000 0.076 2264 3748 3023

3823 -0.98 -146.0 295.9 -6.9 323 3830 0.15 2.20 0.00 0.000 6 0.100 0.044 2213 2339 3024

4137 -0.89 -146.0 323.4 -8.9 339 4142 0.12 2.22 0.00 0.000 4 0.166 0.058 2244 937 3023

4237 -0.89 -146.0 331.9 -8.3 343 4243 0.00 2.25 0.00 0.000 6 0.000 0.054 2245 2347 3023

4552 -0.89 -146.0 353.5 -6.5 359 4556 0.00 2.30 0.00 0.000 4 0.000 0.071 2244 3750 3023

4738 -0.96 -146.0 365.7 -6.3 367 4742 0.00 2.20 0.00 0.000 6 0.000 0.044 2244 2335 3023

5064 -0.96 -146.0 384.6 -5.9 383 5065 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2335 3023

5373 -1.01 -146.0 403.3 -6.2 397 5378 0.12 2.35 0.00 0.000 4 0.105 0.073 2201 3747 3023

5547 -0.93 -146.0 416.9 -7.9 401 5551 0.12 2.20 0.00 0.000 6 0.163 0.043 2232 2333 3022

5876 -0.93 -146.0 438.6 -6.4 409 5880 0.00 2.20 0.00 0.000 4 0.000 0.058 2232 934 3022

5993 -0.93 -146.0 447.2 -7.4 411 5997 0.00 2.25 0.00 0.000 6 0.000 0.054 2232 2344 3023

6335 -0.93 -146.0 467.7 -5.8 420 6336 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2345 3023

6660 -0.93 -146.0 486.5 -5.8 428 6661 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2345 3023

6985 -0.93 -146.0 505.5 -6.0 436 6989 0.00 2.30 0.00 0.000 4 0.000 0.072 2232 3748 3023

7009 end dive: TARGET_DEPTH_EXCEEDED

state 7009 begin apogee

7016 -0.34 0.0 507.3 6.6 436 7145 0.40 0.00 126.05 1.254 6 0.150 0.000 2358 2514 2420

7146 end apogee: CONTROL_FINISHED_OK

state 7146 begin climb

7147 1.08 146.0 509.9 0.0 439 7285 1.05 2.58 128.38 1.164 4 0.114 0.055 2665 1127 1824

7291 0.92 146.0 499.5 8.6 442 7296 0.12 2.53 0.00 0.000 6 0.146 0.052 2637 2524 1823

7638 0.84 146.0 471.6 7.9 451 7643 0.00 2.42 0.00 0.000 4 0.000 0.069 2636 3940 1821

7724 0.66 146.0 464.1 9.4 453 7730 0.22 2.30 0.00 0.000 6 0.148 0.042 2574 2524 1821

8048 0.87 198.6 446.2 5.2 461 8095 0.17 0.00 43.95 1.182 6 0.072 0.000 2638 2523 1610

8412 0.87 198.6 415.0 8.4 470 8414 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2523 1608

8719 0.87 198.6 389.2 8.5 480 8723 0.00 2.38 0.00 0.000 4 0.000 0.073 2639 3930 1607

8734 0.82 198.6 387.8 8.7 480 8742 0.10 2.28 0.00 0.000 6 0.159 0.042 2612 2514 1608

9050 0.90 207.4 365.1 6.7 496 9064 0.00 2.42 8.32 1.036 4 0.000 0.073 2613 3926 1574

9076 0.96 207.4 363.2 7.3 497 9081 0.12 2.22 0.00 0.000 6 0.087 0.041 2661 2520 1574

9402 0.89 207.4 335.7 8.1 513 9407 0.12 2.38 0.00 0.000 4 0.140 0.070 2627 3943 1573

9412 0.83 207.4 334.9 8.0 513 9418 0.00 2.28 0.00 0.000 6 0.000 0.041 2627 2496 1573

9728 0.91 222.7 314.8 6.5 529 9748 0.00 0.00 14.18 1.109 6 0.000 0.000 2627 2495 1511

10057 1.01 234.9 292.2 6.6 545 10070 0.10 0.00 11.20 1.065 6 0.094 0.000 2665 2495 1462

10365 1.01 234.9 267.7 7.8 560 10369 0.00 2.40 0.00 0.000 4 0.000 0.071 2665 3930 1461

10374 1.01 234.9 266.9 8.2 560 10381 0.00 2.25 0.00 0.000 6 0.000 0.042 2665 2523 1461

10690 1.01 234.9 242.6 7.4 576 10691 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2523 1460

10999 1.01 234.9 219.0 7.9 591 11000 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2523 1460

11309 1.01 234.9 194.4 8.1 606 11310 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2524 1460

11617 1.01 234.9 171.8 7.1 621 11619 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2523 1459

11927 1.01 234.9 148.2 7.9 636 11931 0.00 2.25 0.00 0.000 4 0.000 0.059 2665 1111 1459

11937 1.01 234.9 147.4 7.8 636 11941 0.00 2.28 0.00 0.000 6 0.000 0.052 2665 2522 1459

12257 1.01 234.9 122.8 7.4 652 12261 0.00 2.25 0.00 0.000 4 0.000 0.058 2665 1118 1459

12267 1.01 234.9 121.9 7.3 652 12272 0.00 2.28 0.00 0.000 6 0.000 0.052 2665 2546 1459

12589 1.06 276.6 101.3 5.6 668 12631 0.00 2.42 34.28 1.081 4 0.000 0.058 2666 1121 1291

12637 1.22 333.3 98.9 5.1 671 12691 0.12 2.33 48.30 1.016 6 0.084 0.052 2715 2529 1060

13030 1.22 333.3 69.6 7.6 740 13036 0.00 2.35 0.00 0.000 4 0.000 0.058 2715 1116 1049

13070 1.22 333.3 66.5 7.4 747 13076 0.00 2.30 0.00 0.000 6 0.000 0.052 2715 2520 1049

13412 1.22 333.3 37.9 7.3 808 13419 0.00 2.30 0.00 0.000 4 0.000 0.059 2715 1117 1047

13481 1.32 343.1 33.1 6.7 820 13494 0.00 2.28 7.40 0.916 6 0.000 0.053 2715 2523 1021

13831 1.62 343.1 8.5 7.6 882 13838 0.20 2.35 0.00 0.000 4 0.080 0.074 2798 3929 1017

13892 end climb: SURFACE_DEPTH_REACHED

state 13892 begin surface coast

13904 end surface coast: CONTROL_FINISHED_OK

state 13905 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	115	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	-24105.828	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	160832,6640.336,-6030.793,35,1.8,35,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.178,0.136
_SM_DEPTHo	1.57	KALMAN_X	15203.2,-49.5,-230.9,-114641.2,502.3
_SM_ANGLEo	-63.7	KALMAN_Y	-7957.5,-212.9,2195.4,-20790.1,-4047.2
GPS2	161356,6640.330,-6030.854,9,1.0,14,-38.0	MHEAD_RNG_PITCHd_Wd	345.4,9420,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	507

FINISH	0.8,1.022841	TCM_TEMP	15.30
SM_CCo	13983,0.00,0.000,0,0,1015,344.65	XPDR_PINGS	0
SM_GC	1.72,7.50,0.00,0.00,0.081,0.000,0.000,165,2342,1015,-10.38,0.06,344.65	_24V_AH	22.1,26.925
RAFOS_CLK	803	_10V_AH	10.5,10.408
RAFOS	0,1222704241,16.083334,16.066944,61,56,56,52,51,51,217,201,159,188,139,1677	DATA_FILE_SIZE	31607,895
RAFOS_FIX	5623.210449,-7505.003906,290908,161616,4,99,1692.76	CAP_FILE_SIZE	117279,0
IRIDIUM_FIX	6614.97,-6026.10,241297,121254	CFSIZE	260165632,242921472
TT8_MAMPS	0.029913	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1902	SOUNDSPEED	1447.5
INTERNAL_PRESSURE	8.49642	GPS	290908,201002,6638.391,-6033.488,36,1.9,36,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	270	124.46	SBE_CT	701	24	372.16
Roll_motor	119	83	220.33	SBE_O2	608	19	255.56
VBD_pump_during_apogee	422	1254	11696.86	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	29	103	67.40	nil	0	0	0.00
Iridium_during_connect	32	160	114.05	nil	0	0	0.00
Iridium_during_xfer	155	223	766.36
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.33
TT8	1637	19	342.53
LPSleep	10042	2	243.58
TT8_Active	572	19	119.68
TT8_Sampling	1728	39	724.48
TT8_CF8	379	45	183.22
TT8_Kalman	33	81	28.70
Analog_circuits	1508	12	190.06
GPS_charging	0	0	0.00
Compass	1701	8	142.91
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	145	0.00	0.00	-125.53	0.000	2	0.000	0.000	166	2337	2762
147	-1.08	-146.0	3.5	-3.1	22	172	8.77	2.40	-8.57	0.000	4	0.271	0.084	2192	3750	3019
268	-0.66	-146.0	29.3	-17.2	43	275	0.35	2.28	0.00	0.000	6	0.179	0.046	2286	2326	3022
612	-0.66	-146.0	61.4	-8.4	104	618	0.00	2.22	0.00	0.000	4	0.000	0.058	2287	932	3023
871	-0.66	-146.0	81.2	-7.8	150	877	0.00	2.28	0.00	0.000	6	0.000	0.053	2287	2352	3025
1221	-0.66	-146.0	108.3	-7.8	199	1225	0.00	2.30	0.00	0.000	4	0.000	0.071	2286	3753	3025
1293	-0.76	-146.0	113.9	-7.7	202	1297	0.00	2.22	0.00	0.000	6	0.000	0.043	2287	2327	3025
1613	-0.84	-146.0	136.5	-7.2	218	1617	0.12	2.20	0.00	0.000	4	0.112	0.058	2244	939	3025
1775	-0.73	-146.0	151.8	-9.0	225	1780	0.15	2.25	0.00	0.000	6	0.173	0.055	2283	2341	3025
2095	-0.80	-146.0	173.2	-6.1	241	2099	0.00	2.33	0.00	0.000	4	0.000	0.073	2283	3750	3025
2212	-0.94	-146.0	179.9	-5.7	246	2217	0.17	2.20	0.00	0.000	6	0.087	0.044	2221	2341	3024
2532	-0.82	-146.0	206.6	-8.8	262	2537	0.15	2.25	0.00	0.000	4	0.168	0.058	2259	926	3024
2593	-0.82	-146.0	211.8	-8.6	265	2597	0.00	2.28	0.00	0.000	6	0.000	0.055	2259	2351	3024
2924	-0.82	-146.0	237.1	-7.5	281	2928	0.00	2.30	0.00	0.000	4	0.000	0.072	2259	3747	3024
3019	-0.91	-146.0	244.5	-7.8	285	3023	0.00	2.20	0.00	0.000	6	0.000	0.043	2259	2334	3024
3346	-0.95	-146.0	265.2	-5.7	301	3351	0.12	2.22	0.00	0.000	4	0.118	0.058	2217	932	3024
3412	-0.81	-146.0	270.4	-7.9	304	3417	0.17	2.25	0.00	0.000	6	0.169	0.053	2264	2344	3023
3739	-0.88	-146.0	290.1	-6.3	320	3743	0.00	2.33	0.00	0.000	4	0.000	0.076	2264	3748	3023
3823	-0.98	-146.0	295.9	-6.9	323	3830	0.15	2.20	0.00	0.000	6	0.100	0.044	2213	2339	3024
4137	-0.89	-146.0	323.4	-8.9	339	4142	0.12	2.22	0.00	0.000	4	0.166	0.058	2244	937	3023
4237	-0.89	-146.0	331.9	-8.3	343	4243	0.00	2.25	0.00	0.000	6	0.000	0.054	2245	2347	3023
4552	-0.89	-146.0	353.5	-6.5	359	4556	0.00	2.30	0.00	0.000	4	0.000	0.071	2244	3750	3023
4738	-0.96	-146.0	365.7	-6.3	367	4742	0.00	2.20	0.00	0.000	6	0.000	0.044	2244	2335	3023
5064	-0.96	-146.0	384.6	-5.9	383	5065	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2335	3023
5373	-1.01	-146.0	403.3	-6.2	397	5378	0.12	2.35	0.00	0.000	4	0.105	0.073	2201	3747	3023
5547	-0.93	-146.0	416.9	-7.9	401	5551	0.12	2.20	0.00	0.000	6	0.163	0.043	2232	2333	3022
5876	-0.93	-146.0	438.6	-6.4	409	5880	0.00	2.20	0.00	0.000	4	0.000	0.058	2232	934	3022
5993	-0.93	-146.0	447.2	-7.4	411	5997	0.00	2.25	0.00	0.000	6	0.000	0.054	2232	2344	3023
6335	-0.93	-146.0	467.7	-5.8	420	6336	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2345	3023
6660	-0.93	-146.0	486.5	-5.8	428	6661	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2345	3023
6985	-0.93	-146.0	505.5	-6.0	436	6989	0.00	2.30	0.00	0.000	4	0.000	0.072	2232	3748	3023
7009	end dive: TARGET_DEPTH_EXCEEDED
state	7009	begin apogee
7016	-0.34	0.0	507.3	6.6	436	7145	0.40	0.00	126.05	1.254	6	0.150	0.000	2358	2514	2420
7146	end apogee: CONTROL_FINISHED_OK
state	7146	begin climb
7147	1.08	146.0	509.9	0.0	439	7285	1.05	2.58	128.38	1.164	4	0.114	0.055	2665	1127	1824
7291	0.92	146.0	499.5	8.6	442	7296	0.12	2.53	0.00	0.000	6	0.146	0.052	2637	2524	1823
7638	0.84	146.0	471.6	7.9	451	7643	0.00	2.42	0.00	0.000	4	0.000	0.069	2636	3940	1821
7724	0.66	146.0	464.1	9.4	453	7730	0.22	2.30	0.00	0.000	6	0.148	0.042	2574	2524	1821
8048	0.87	198.6	446.2	5.2	461	8095	0.17	0.00	43.95	1.182	6	0.072	0.000	2638	2523	1610
8412	0.87	198.6	415.0	8.4	470	8414	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2523	1608
8719	0.87	198.6	389.2	8.5	480	8723	0.00	2.38	0.00	0.000	4	0.000	0.073	2639	3930	1607
8734	0.82	198.6	387.8	8.7	480	8742	0.10	2.28	0.00	0.000	6	0.159	0.042	2612	2514	1608
9050	0.90	207.4	365.1	6.7	496	9064	0.00	2.42	8.32	1.036	4	0.000	0.073	2613	3926	1574
9076	0.96	207.4	363.2	7.3	497	9081	0.12	2.22	0.00	0.000	6	0.087	0.041	2661	2520	1574
9402	0.89	207.4	335.7	8.1	513	9407	0.12	2.38	0.00	0.000	4	0.140	0.070	2627	3943	1573
9412	0.83	207.4	334.9	8.0	513	9418	0.00	2.28	0.00	0.000	6	0.000	0.041	2627	2496	1573
9728	0.91	222.7	314.8	6.5	529	9748	0.00	0.00	14.18	1.109	6	0.000	0.000	2627	2495	1511
10057	1.01	234.9	292.2	6.6	545	10070	0.10	0.00	11.20	1.065	6	0.094	0.000	2665	2495	1462
10365	1.01	234.9	267.7	7.8	560	10369	0.00	2.40	0.00	0.000	4	0.000	0.071	2665	3930	1461
10374	1.01	234.9	266.9	8.2	560	10381	0.00	2.25	0.00	0.000	6	0.000	0.042	2665	2523	1461
10690	1.01	234.9	242.6	7.4	576	10691	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2523	1460
10999	1.01	234.9	219.0	7.9	591	11000	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2523	1460
11309	1.01	234.9	194.4	8.1	606	11310	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2524	1460
11617	1.01	234.9	171.8	7.1	621	11619	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2523	1459
11927	1.01	234.9	148.2	7.9	636	11931	0.00	2.25	0.00	0.000	4	0.000	0.059	2665	1111	1459
11937	1.01	234.9	147.4	7.8	636	11941	0.00	2.28	0.00	0.000	6	0.000	0.052	2665	2522	1459
12257	1.01	234.9	122.8	7.4	652	12261	0.00	2.25	0.00	0.000	4	0.000	0.058	2665	1118	1459
12267	1.01	234.9	121.9	7.3	652	12272	0.00	2.28	0.00	0.000	6	0.000	0.052	2665	2546	1459
12589	1.06	276.6	101.3	5.6	668	12631	0.00	2.42	34.28	1.081	4	0.000	0.058	2666	1121	1291
12637	1.22	333.3	98.9	5.1	671	12691	0.12	2.33	48.30	1.016	6	0.084	0.052	2715	2529	1060
13030	1.22	333.3	69.6	7.6	740	13036	0.00	2.35	0.00	0.000	4	0.000	0.058	2715	1116	1049
13070	1.22	333.3	66.5	7.4	747	13076	0.00	2.30	0.00	0.000	6	0.000	0.052	2715	2520	1049
13412	1.22	333.3	37.9	7.3	808	13419	0.00	2.30	0.00	0.000	4	0.000	0.059	2715	1117	1047
13481	1.32	343.1	33.1	6.7	820	13494	0.00	2.28	7.40	0.916	6	0.000	0.053	2715	2523	1021
13831	1.62	343.1	8.5	7.6	882	13838	0.20	2.35	0.00	0.000	4	0.080	0.074	2798	3929	1017
13892	end climb: SURFACE_DEPTH_REACHED
state	13892	begin surface coast
13904	end surface coast: CONTROL_FINISHED_OK
state	13905	begin surface