Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 116 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 0 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 116 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 275 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 588 DEVICE2 20

T_MISSION 530 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2745 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 0.0012300001 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 -113179.77 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 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2657 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 15.9 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 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 15.9 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3700 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 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 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -113179.77

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 530

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 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2657 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2745 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 116 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 114607,6640.404,-6013.495,28,1.2,28,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.217,-0.086

_SM_DEPTHo 2.56 KALMAN_X 34290.1,-202.8,-210.8,-106984.2,857.6

_SM_ANGLEo -70.4 KALMAN_Y -40999.7,-405.5,-767.4,21009.6,1678.0

GPS2 115050,6640.398,-6013.515,13,1.2,13,-38.0 MHEAD_RNG_PITCHd_Wd 286.3,21802,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 543

Post-dive calculations and measurements:

FINISH 1.8,1.012179 TCM_TEMP 15.20

SM_CCo 14833,0.00,0.000,0,0,1479,310.55 XPDR_PINGS 60

SM_GC 2.55,7.10,0.00,0.00,0.061,0.000,0.000,331,2236,1479,-10.59,0.17,310.55 _24V_AH 22.9,24.040

RAFOS_CLK 633 _10V_AH 10.6,11.222

RAFOS 0,1222689842,12.083333,12.067223,60,59,57,56,53,52,157,572,183,201,222,147 DATA_FILE_SIZE 28441,903

RAFOS_FIX 6639.233398,-6008.353027,290908,121240,2,98,2.03 CAP_FILE_SIZE 121974,0

IRIDIUM_FIX 6609.62,-6011.94,241297,070728 CFSIZE 260165632,244903936

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1821 SOUNDSPEED 1448.6

INTERNAL_PRESSURE 9.86366 GPS 290908,160026,6640.935,-6016.830,39,1.2,39,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 254 131.06 SBE_CT 632 24 347.42

Roll_motor 113 92 240.53 SBE_O2 0 0 0.00

VBD_pump_during_apogee 385 1211 10693.55 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 57.44 nil 0 0 0.00

Iridium_during_connect 30 160 110.55 nil 0 0 0.00

Iridium_during_xfer 123 223 632.61

Transponder_ping 15 420 144.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.93

TT8 1653 19 349.16

LPSleep 10966 2 268.51

TT8_Active 492 19 103.91

TT8_Sampling 1681 39 711.61

TT8_CF8 332 45 161.69

TT8_Kalman 33 81 28.97

Analog_circuits 1398 12 177.92

GPS_charging 0 0 0.00

Compass 1660 8 140.82

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.00 -146.0 0.0 0.0 0 58 0.00 0.00 -40.10 0.000 2 0.000 0.000 336 2240 2365

60 -1.00 -146.0 3.1 -1.5 7 115 8.50 2.35 -39.25 0.000 4 0.255 0.093 2432 3606 3343

368 -0.69 -146.0 45.8 -12.3 61 375 0.28 2.28 0.00 0.000 6 0.151 0.055 2512 2218 3348

712 -0.69 -146.0 72.2 -6.9 122 718 0.00 2.35 0.00 0.000 4 0.000 0.079 2504 3604 3350

858 -0.69 -146.0 83.5 -7.9 148 865 0.00 2.25 0.00 0.000 6 0.000 0.056 2504 2228 3350

1205 -0.69 -146.0 113.6 -9.2 191 1209 0.00 2.33 0.00 0.000 4 0.000 0.080 2493 3605 3350

1243 -0.69 -146.0 117.3 -9.3 192 1250 0.00 2.28 0.00 0.000 6 0.000 0.055 2493 2230 3350

1559 -0.69 -146.0 144.3 -8.1 208 1563 0.00 2.35 0.00 0.000 4 0.000 0.069 2494 813 3350

1630 -0.60 -146.0 150.4 -8.5 211 1635 0.12 2.35 0.00 0.000 6 0.137 0.067 2525 2232 3350

1954 -0.69 -146.0 173.2 -7.6 227 1955 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2232 3350

2260 -0.79 -146.0 196.2 -7.2 242 2265 0.15 2.35 0.00 0.000 4 0.085 0.070 2465 817 3349

2331 -0.65 -146.0 203.3 -10.7 245 2337 0.17 2.35 0.00 0.000 6 0.139 0.068 2530 2233 3349

2653 -0.79 -146.0 223.8 -5.9 261 2657 0.17 2.35 0.00 0.000 4 0.081 0.070 2462 819 3348

2701 -0.63 -146.0 228.1 -9.2 263 2706 0.25 2.33 0.00 0.000 6 0.145 0.068 2524 2240 3348

3023 -0.76 -146.0 247.0 -5.7 279 3027 0.12 2.20 0.00 0.000 4 0.089 0.082 2465 3599 3348

3094 -0.68 -146.0 253.0 -8.3 282 3099 0.17 2.22 0.00 0.000 6 0.153 0.058 2515 2228 3348

3421 -0.78 -146.0 275.0 -6.7 298 3426 0.10 2.30 0.00 0.000 4 0.100 0.072 2473 812 3347

3483 -0.67 -146.0 280.0 -9.0 301 3487 0.17 2.30 0.00 0.000 6 0.147 0.068 2512 2232 3347

3815 -0.77 -146.0 299.9 -5.6 317 3819 0.10 2.20 0.00 0.000 4 0.097 0.082 2462 3610 3347

3886 -0.69 -146.0 305.2 -8.1 320 3891 0.17 2.20 0.00 0.000 6 0.153 0.058 2511 2228 3347

4213 -0.79 -146.0 321.5 -4.9 336 4217 0.10 2.30 0.00 0.000 4 0.098 0.071 2469 816 3347

4297 -0.68 -146.0 327.5 -7.5 340 4301 0.17 2.30 0.00 0.000 6 0.147 0.068 2509 2234 3347

4628 -0.79 -146.0 345.9 -5.6 356 4632 0.10 2.20 0.00 0.000 4 0.097 0.081 2459 3602 3347

4701 -0.72 -146.0 351.4 -8.2 359 4705 0.15 2.17 0.00 0.000 6 0.156 0.058 2500 2228 3346

5027 -0.79 -146.0 371.6 -6.4 375 5030 0.00 2.25 0.00 0.000 4 0.000 0.071 2500 822 3347

5096 -0.79 -146.0 376.2 -6.8 378 5099 0.00 2.30 0.00 0.000 6 0.000 0.067 2492 2244 3347

5428 -0.79 -146.0 396.3 -6.0 394 5429 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2244 3347

5754 -0.84 -146.0 415.7 -6.0 404 5757 0.00 2.35 0.00 0.000 4 0.000 0.070 2491 810 3347

5826 -0.84 -146.0 420.3 -6.5 405 5830 0.00 2.33 0.00 0.000 6 0.000 0.066 2482 2247 3347

6168 -0.84 -146.0 440.8 -6.0 414 6169 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2246 3347

6493 -0.84 -146.0 460.0 -5.7 422 6494 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2246 3348

6818 -0.84 -146.0 479.5 -6.1 430 6822 0.00 2.33 0.00 0.000 4 0.000 0.068 2482 817 3348

6873 -0.84 -146.0 483.3 -6.5 431 6877 0.00 2.30 0.00 0.000 6 0.000 0.065 2470 2247 3348

7192 -0.84 -146.0 503.1 -5.9 439 7196 0.00 2.30 0.00 0.000 4 0.000 0.067 2471 820 3348

7218 -0.84 -146.0 505.0 -6.8 439 7223 0.00 2.30 0.00 0.000 6 0.000 0.065 2461 2233 3348

7561 -0.79 -146.0 527.3 -6.8 448 7563 0.10 0.00 0.00 0.000 6 0.161 0.000 2486 2232 3348

7843 end dive: TARGET_DEPTH_EXCEEDED

state 7843 begin apogee

7849 -0.31 0.0 544.6 6.1 455 7974 0.32 0.00 121.78 1.211 6 0.125 0.000 2592 1730 2745

7974 end apogee: CONTROL_FINISHED_OK

state 7975 begin climb

7976 1.00 146.0 547.2 0.0 458 8109 0.88 2.62 123.75 1.139 4 0.104 0.072 2885 335 2148

8153 0.75 146.0 532.2 11.7 462 8158 0.25 2.50 0.00 0.000 6 0.129 0.058 2817 1742 2146

8471 0.75 146.0 508.7 7.2 470 8474 0.00 2.38 0.00 0.000 4 0.000 0.071 2817 3150 2141

8492 0.69 146.0 507.0 7.9 470 8496 0.00 2.38 0.00 0.000 6 0.000 0.057 2825 1734 2140

8840 0.69 146.0 481.0 7.6 479 8841 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 1733 2140

9165 0.64 146.0 456.9 7.4 487 9167 0.12 0.00 0.00 0.000 6 0.135 0.000 2790 1733 2140

9490 0.80 189.9 438.3 5.6 495 9533 0.15 2.45 35.70 1.128 4 0.079 0.071 2852 3159 1970

9561 0.58 189.9 432.1 10.8 496 9565 0.28 2.38 0.00 0.000 6 0.137 0.057 2783 1733 1966

9902 0.83 228.8 412.6 5.8 505 9943 0.17 0.00 33.40 1.105 6 0.071 0.000 2855 1733 1811

10249 0.75 228.8 379.5 9.8 518 10254 0.15 2.38 0.00 0.000 4 0.126 0.071 2820 331 1805

10270 0.75 228.8 377.7 8.8 519 10274 0.00 2.35 0.00 0.000 6 0.000 0.057 2820 1750 1804

10598 0.82 228.8 354.0 7.3 535 10602 0.00 2.33 0.00 0.000 4 0.000 0.071 2819 3164 1803

10625 0.82 228.8 351.6 8.3 536 10629 0.00 2.38 0.00 0.000 6 0.000 0.056 2829 1736 1802

10952 0.87 228.8 326.4 7.4 552 10953 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1736 1802

11262 0.94 243.6 305.8 6.5 567 11276 0.12 0.00 12.50 1.019 6 0.083 0.000 2882 1736 1751

11572 0.80 243.6 274.5 10.4 582 11576 0.17 2.40 0.00 0.000 4 0.127 0.071 2829 3166 1747

11581 0.68 243.6 273.2 10.5 582 11588 0.12 2.35 0.00 0.000 6 0.132 0.055 2802 1728 1747

11897 1.33 243.6 248.3 9.4 598 11902 0.40 2.38 0.00 0.000 4 0.082 0.070 2950 3155 1745

11923 1.33 243.6 245.3 11.4 599 11928 0.00 2.35 0.00 0.000 6 0.000 0.058 2961 1731 1746

12244 0.96 243.6 196.1 15.3 615 12249 0.30 2.30 0.00 0.000 4 0.146 0.072 2875 334 1746

12316 0.96 243.6 188.7 8.9 618 12320 0.00 2.33 0.00 0.000 6 0.000 0.058 2875 1744 1746

12637 0.96 243.6 161.1 8.4 634 12641 0.00 2.25 0.00 0.000 4 0.000 0.073 2875 3152 1746

12663 0.86 243.6 158.7 8.8 635 12668 0.15 2.28 0.00 0.000 6 0.135 0.059 2842 1733 1746

12990 1.02 273.4 138.0 6.1 651 13019 0.12 0.00 26.00 0.989 6 0.082 0.000 2894 1733 1630

13320 0.97 273.4 108.7 8.6 667 13322 0.12 0.00 0.00 0.000 6 0.130 0.000 2858 1733 1622

13644 1.12 282.9 87.2 6.7 706 13656 0.15 0.00 8.30 0.884 6 0.079 0.000 2918 1733 1591

13994 1.01 282.9 51.5 10.7 768 14000 0.15 0.00 0.00 0.000 6 0.136 0.000 2875 1733 1588

14338 1.13 303.2 26.5 6.4 829 14362 0.10 0.00 18.52 0.925 6 0.090 0.000 2915 1732 1509

14700 1.23 325.7 3.4 6.3 893 14707 0.00 0.00 5.62 0.775 2 0.000 0.000 2915 1732 1483

14708 end climb: SURFACE_DEPTH_REACHED

state 14708 begin surface coast

14758 end surface coast: CONTROL_FINISHED_OK

state 14758 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	0	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	116	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	275	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	588	DEVICE2	20
T_MISSION	530	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2745	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	0.0012300001	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	-113179.77	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	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2657	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	15.9	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	114607,6640.404,-6013.495,28,1.2,28,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.217,-0.086
_SM_DEPTHo	2.56	KALMAN_X	34290.1,-202.8,-210.8,-106984.2,857.6
_SM_ANGLEo	-70.4	KALMAN_Y	-40999.7,-405.5,-767.4,21009.6,1678.0
GPS2	115050,6640.398,-6013.515,13,1.2,13,-38.0	MHEAD_RNG_PITCHd_Wd	286.3,21802,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	543

FINISH	1.8,1.012179	TCM_TEMP	15.20
SM_CCo	14833,0.00,0.000,0,0,1479,310.55	XPDR_PINGS	60
SM_GC	2.55,7.10,0.00,0.00,0.061,0.000,0.000,331,2236,1479,-10.59,0.17,310.55	_24V_AH	22.9,24.040
RAFOS_CLK	633	_10V_AH	10.6,11.222
RAFOS	0,1222689842,12.083333,12.067223,60,59,57,56,53,52,157,572,183,201,222,147	DATA_FILE_SIZE	28441,903
RAFOS_FIX	6639.233398,-6008.353027,290908,121240,2,98,2.03	CAP_FILE_SIZE	121974,0
IRIDIUM_FIX	6609.62,-6011.94,241297,070728	CFSIZE	260165632,244903936
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1821	SOUNDSPEED	1448.6
INTERNAL_PRESSURE	9.86366	GPS	290908,160026,6640.935,-6016.830,39,1.2,39,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	254	131.06	SBE_CT	632	24	347.42
Roll_motor	113	92	240.53	SBE_O2	0	0	0.00
VBD_pump_during_apogee	385	1211	10693.55	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	57.44	nil	0	0	0.00
Iridium_during_connect	30	160	110.55	nil	0	0	0.00
Iridium_during_xfer	123	223	632.61
Transponder_ping	15	420	144.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.93
TT8	1653	19	349.16
LPSleep	10966	2	268.51
TT8_Active	492	19	103.91
TT8_Sampling	1681	39	711.61
TT8_CF8	332	45	161.69
TT8_Kalman	33	81	28.97
Analog_circuits	1398	12	177.92
GPS_charging	0	0	0.00
Compass	1660	8	140.82
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.00	-146.0	0.0	0.0	0	58	0.00	0.00	-40.10	0.000	2	0.000	0.000	336	2240	2365
60	-1.00	-146.0	3.1	-1.5	7	115	8.50	2.35	-39.25	0.000	4	0.255	0.093	2432	3606	3343
368	-0.69	-146.0	45.8	-12.3	61	375	0.28	2.28	0.00	0.000	6	0.151	0.055	2512	2218	3348
712	-0.69	-146.0	72.2	-6.9	122	718	0.00	2.35	0.00	0.000	4	0.000	0.079	2504	3604	3350
858	-0.69	-146.0	83.5	-7.9	148	865	0.00	2.25	0.00	0.000	6	0.000	0.056	2504	2228	3350
1205	-0.69	-146.0	113.6	-9.2	191	1209	0.00	2.33	0.00	0.000	4	0.000	0.080	2493	3605	3350
1243	-0.69	-146.0	117.3	-9.3	192	1250	0.00	2.28	0.00	0.000	6	0.000	0.055	2493	2230	3350
1559	-0.69	-146.0	144.3	-8.1	208	1563	0.00	2.35	0.00	0.000	4	0.000	0.069	2494	813	3350
1630	-0.60	-146.0	150.4	-8.5	211	1635	0.12	2.35	0.00	0.000	6	0.137	0.067	2525	2232	3350
1954	-0.69	-146.0	173.2	-7.6	227	1955	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2232	3350
2260	-0.79	-146.0	196.2	-7.2	242	2265	0.15	2.35	0.00	0.000	4	0.085	0.070	2465	817	3349
2331	-0.65	-146.0	203.3	-10.7	245	2337	0.17	2.35	0.00	0.000	6	0.139	0.068	2530	2233	3349
2653	-0.79	-146.0	223.8	-5.9	261	2657	0.17	2.35	0.00	0.000	4	0.081	0.070	2462	819	3348
2701	-0.63	-146.0	228.1	-9.2	263	2706	0.25	2.33	0.00	0.000	6	0.145	0.068	2524	2240	3348
3023	-0.76	-146.0	247.0	-5.7	279	3027	0.12	2.20	0.00	0.000	4	0.089	0.082	2465	3599	3348
3094	-0.68	-146.0	253.0	-8.3	282	3099	0.17	2.22	0.00	0.000	6	0.153	0.058	2515	2228	3348
3421	-0.78	-146.0	275.0	-6.7	298	3426	0.10	2.30	0.00	0.000	4	0.100	0.072	2473	812	3347
3483	-0.67	-146.0	280.0	-9.0	301	3487	0.17	2.30	0.00	0.000	6	0.147	0.068	2512	2232	3347
3815	-0.77	-146.0	299.9	-5.6	317	3819	0.10	2.20	0.00	0.000	4	0.097	0.082	2462	3610	3347
3886	-0.69	-146.0	305.2	-8.1	320	3891	0.17	2.20	0.00	0.000	6	0.153	0.058	2511	2228	3347
4213	-0.79	-146.0	321.5	-4.9	336	4217	0.10	2.30	0.00	0.000	4	0.098	0.071	2469	816	3347
4297	-0.68	-146.0	327.5	-7.5	340	4301	0.17	2.30	0.00	0.000	6	0.147	0.068	2509	2234	3347
4628	-0.79	-146.0	345.9	-5.6	356	4632	0.10	2.20	0.00	0.000	4	0.097	0.081	2459	3602	3347
4701	-0.72	-146.0	351.4	-8.2	359	4705	0.15	2.17	0.00	0.000	6	0.156	0.058	2500	2228	3346
5027	-0.79	-146.0	371.6	-6.4	375	5030	0.00	2.25	0.00	0.000	4	0.000	0.071	2500	822	3347
5096	-0.79	-146.0	376.2	-6.8	378	5099	0.00	2.30	0.00	0.000	6	0.000	0.067	2492	2244	3347
5428	-0.79	-146.0	396.3	-6.0	394	5429	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2244	3347
5754	-0.84	-146.0	415.7	-6.0	404	5757	0.00	2.35	0.00	0.000	4	0.000	0.070	2491	810	3347
5826	-0.84	-146.0	420.3	-6.5	405	5830	0.00	2.33	0.00	0.000	6	0.000	0.066	2482	2247	3347
6168	-0.84	-146.0	440.8	-6.0	414	6169	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2246	3347
6493	-0.84	-146.0	460.0	-5.7	422	6494	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2246	3348
6818	-0.84	-146.0	479.5	-6.1	430	6822	0.00	2.33	0.00	0.000	4	0.000	0.068	2482	817	3348
6873	-0.84	-146.0	483.3	-6.5	431	6877	0.00	2.30	0.00	0.000	6	0.000	0.065	2470	2247	3348
7192	-0.84	-146.0	503.1	-5.9	439	7196	0.00	2.30	0.00	0.000	4	0.000	0.067	2471	820	3348
7218	-0.84	-146.0	505.0	-6.8	439	7223	0.00	2.30	0.00	0.000	6	0.000	0.065	2461	2233	3348
7561	-0.79	-146.0	527.3	-6.8	448	7563	0.10	0.00	0.00	0.000	6	0.161	0.000	2486	2232	3348
7843	end dive: TARGET_DEPTH_EXCEEDED
state	7843	begin apogee
7849	-0.31	0.0	544.6	6.1	455	7974	0.32	0.00	121.78	1.211	6	0.125	0.000	2592	1730	2745
7974	end apogee: CONTROL_FINISHED_OK
state	7975	begin climb
7976	1.00	146.0	547.2	0.0	458	8109	0.88	2.62	123.75	1.139	4	0.104	0.072	2885	335	2148
8153	0.75	146.0	532.2	11.7	462	8158	0.25	2.50	0.00	0.000	6	0.129	0.058	2817	1742	2146
8471	0.75	146.0	508.7	7.2	470	8474	0.00	2.38	0.00	0.000	4	0.000	0.071	2817	3150	2141
8492	0.69	146.0	507.0	7.9	470	8496	0.00	2.38	0.00	0.000	6	0.000	0.057	2825	1734	2140
8840	0.69	146.0	481.0	7.6	479	8841	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	1733	2140
9165	0.64	146.0	456.9	7.4	487	9167	0.12	0.00	0.00	0.000	6	0.135	0.000	2790	1733	2140
9490	0.80	189.9	438.3	5.6	495	9533	0.15	2.45	35.70	1.128	4	0.079	0.071	2852	3159	1970
9561	0.58	189.9	432.1	10.8	496	9565	0.28	2.38	0.00	0.000	6	0.137	0.057	2783	1733	1966
9902	0.83	228.8	412.6	5.8	505	9943	0.17	0.00	33.40	1.105	6	0.071	0.000	2855	1733	1811
10249	0.75	228.8	379.5	9.8	518	10254	0.15	2.38	0.00	0.000	4	0.126	0.071	2820	331	1805
10270	0.75	228.8	377.7	8.8	519	10274	0.00	2.35	0.00	0.000	6	0.000	0.057	2820	1750	1804
10598	0.82	228.8	354.0	7.3	535	10602	0.00	2.33	0.00	0.000	4	0.000	0.071	2819	3164	1803
10625	0.82	228.8	351.6	8.3	536	10629	0.00	2.38	0.00	0.000	6	0.000	0.056	2829	1736	1802
10952	0.87	228.8	326.4	7.4	552	10953	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1736	1802
11262	0.94	243.6	305.8	6.5	567	11276	0.12	0.00	12.50	1.019	6	0.083	0.000	2882	1736	1751
11572	0.80	243.6	274.5	10.4	582	11576	0.17	2.40	0.00	0.000	4	0.127	0.071	2829	3166	1747
11581	0.68	243.6	273.2	10.5	582	11588	0.12	2.35	0.00	0.000	6	0.132	0.055	2802	1728	1747
11897	1.33	243.6	248.3	9.4	598	11902	0.40	2.38	0.00	0.000	4	0.082	0.070	2950	3155	1745
11923	1.33	243.6	245.3	11.4	599	11928	0.00	2.35	0.00	0.000	6	0.000	0.058	2961	1731	1746
12244	0.96	243.6	196.1	15.3	615	12249	0.30	2.30	0.00	0.000	4	0.146	0.072	2875	334	1746
12316	0.96	243.6	188.7	8.9	618	12320	0.00	2.33	0.00	0.000	6	0.000	0.058	2875	1744	1746
12637	0.96	243.6	161.1	8.4	634	12641	0.00	2.25	0.00	0.000	4	0.000	0.073	2875	3152	1746
12663	0.86	243.6	158.7	8.8	635	12668	0.15	2.28	0.00	0.000	6	0.135	0.059	2842	1733	1746
12990	1.02	273.4	138.0	6.1	651	13019	0.12	0.00	26.00	0.989	6	0.082	0.000	2894	1733	1630
13320	0.97	273.4	108.7	8.6	667	13322	0.12	0.00	0.00	0.000	6	0.130	0.000	2858	1733	1622
13644	1.12	282.9	87.2	6.7	706	13656	0.15	0.00	8.30	0.884	6	0.079	0.000	2918	1733	1591
13994	1.01	282.9	51.5	10.7	768	14000	0.15	0.00	0.00	0.000	6	0.136	0.000	2875	1733	1588
14338	1.13	303.2	26.5	6.4	829	14362	0.10	0.00	18.52	0.925	6	0.090	0.000	2915	1732	1509
14700	1.23	325.7	3.4	6.3	893	14707	0.00	0.00	5.62	0.775	2	0.000	0.000	2915	1732	1483
14708	end climb: SURFACE_DEPTH_REACHED
state	14708	begin surface coast
14758	end surface coast: CONTROL_FINISHED_OK
state	14758	begin surface