Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 116 * 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 116 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 29 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 -24120.131 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 -24120.131

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 29 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 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 201002,6638.391,-6033.488,36,1.9,36,-38.0 TGT_NAME TARGET_W_IN

_CALLS 2 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 12 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.152,0.165

_SM_DEPTHo 1.59 KALMAN_X 15568.2,-160.9,260.7,-117213.7,115.5

_SM_ANGLEo -64.0 KALMAN_Y -9930.6,100.5,-1830.8,-18821.1,-358.1

GPS2 201733,6638.319,-6033.368,12,1.2,12,-38.0 MHEAD_RNG_PITCHd_Wd 355.4,9811,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 493

Post-dive calculations and measurements:

FINISH 0.8,1.011435 TCM_TEMP 15.30

SM_CCo 13571,0.00,0.000,0,0,1214,295.83 XPDR_PINGS 0

SM_GC 1.69,7.38,0.00,0.00,0.081,0.000,0.000,158,2328,1214,-10.40,-0.34,295.83 _24V_AH 22.1,27.069

RAFOS_CLK 777 _10V_AH 10.6,10.472

RAFOS 0,1222718641,20.083334,20.066944,75,57,57,56,55,54,626,216,175,197,121,141 DATA_FILE_SIZE 31549,892

RAFOS_FIX 6640.051758,-6028.533691,290908,202016,4,88,7.46 CAP_FILE_SIZE 122482,0

IRIDIUM_FIX 6609.62,-6038.83,241297,202025 CFSIZE 260165632,242860032

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

HUMID 1908 SOUNDSPEED 1447.2

INTERNAL_PRESSURE 8.50619 GPS 300908,000608,6639.424,-6035.122,34,1.0,34,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 269 124.70 SBE_CT 695 24 369.10

Roll_motor 124 87 241.02 SBE_O2 607 19 255.12

VBD_pump_during_apogee 387 1247 10692.30 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 56 103 128.29 nil 0 0 0.00

Iridium_during_connect 48 160 170.48 nil 0 0 0.00

Iridium_during_xfer 182 223 897.30

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.25

TT8 1619 19 342.06

LPSleep 9628 2 235.76

TT8_Active 541 19 114.35

TT8_Sampling 1804 39 763.78

TT8_CF8 442 45 215.25

TT8_Kalman 33 81 28.98

Analog_circuits 1515 12 192.73

GPS_charging 0 0 0.00

Compass 1773 8 150.39

RAFOS 1080 1 17.17

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 -145.9 0.0 0.0 0 138 0.00 0.00 -119.15 0.000 2 0.000 0.000 165 2341 2810

140 -1.08 -146.0 3.3 -2.9 21 165 8.80 2.42 -6.70 0.000 4 0.270 0.087 2200 3736 3020

222 -0.54 -146.0 23.7 -22.3 35 229 0.43 2.25 0.00 0.000 6 0.180 0.047 2318 2333 3022

566 -0.60 -146.0 52.7 -6.9 96 572 0.00 2.25 0.00 0.000 4 0.000 0.058 2318 928 3024

667 -0.60 -146.0 61.2 -8.4 114 673 0.00 2.28 0.00 0.000 6 0.000 0.053 2318 2340 3024

1010 -0.72 -146.0 83.0 -5.5 175 1016 0.15 0.00 0.00 0.000 6 0.095 0.000 2264 2341 3025

1348 -0.72 -146.0 111.1 -8.8 219 1352 0.00 2.33 0.00 0.000 4 0.000 0.071 2264 3755 3025

1454 -0.72 -146.0 120.0 -7.8 223 1460 0.00 2.22 0.00 0.000 6 0.000 0.044 2264 2336 3026

1768 -0.72 -146.0 143.5 -7.4 239 1772 0.00 2.22 0.00 0.000 4 0.000 0.059 2264 932 3025

1857 -0.72 -146.0 150.7 -8.1 243 1861 0.00 2.25 0.00 0.000 6 0.000 0.054 2264 2342 3025

2189 -0.72 -146.0 174.5 -7.3 259 2193 0.00 2.33 0.00 0.000 4 0.000 0.074 2264 3747 3024

2272 -0.78 -146.0 181.0 -7.9 262 2279 0.00 2.22 0.00 0.000 6 0.000 0.044 2264 2341 3025

2587 -0.78 -146.0 204.3 -7.4 278 2589 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2341 3025

2897 -0.78 -146.0 226.9 -6.7 293 2901 0.00 2.35 0.00 0.000 4 0.000 0.074 2264 3746 3024

2969 -0.87 -146.0 232.1 -7.1 296 2973 0.00 2.22 0.00 0.000 6 0.000 0.044 2264 2341 3024

3296 -0.93 -146.0 254.3 -6.5 312 3298 0.12 0.00 0.00 0.000 6 0.109 0.000 2220 2340 3023

3606 -0.84 -146.0 277.3 -7.3 327 3607 0.12 0.00 0.00 0.000 6 0.170 0.000 2252 2340 3024

3914 -0.84 -146.0 297.4 -6.7 342 3918 0.00 2.35 0.00 0.000 4 0.000 0.075 2252 3749 3024

4003 -0.92 -146.0 303.6 -7.1 346 4007 0.00 2.20 0.00 0.000 6 0.000 0.044 2252 2338 3023

4330 -0.92 -146.0 325.9 -6.7 362 4333 0.00 2.22 0.00 0.000 4 0.000 0.059 2252 932 3023

4390 -0.92 -146.0 330.4 -7.4 364 4397 0.00 2.28 0.00 0.000 6 0.000 0.054 2252 2338 3023

4707 -0.97 -146.0 351.3 -6.6 380 4711 0.10 2.30 0.00 0.000 4 0.117 0.070 2217 3752 3023

4778 -0.97 -146.0 357.1 -8.3 383 4782 0.00 2.25 0.00 0.000 6 0.000 0.044 2217 2331 3023

5099 -0.91 -146.0 381.7 -7.5 399 5104 0.10 2.22 0.00 0.000 4 0.170 0.058 2242 932 3023

5181 -0.91 -146.0 387.6 -7.3 402 5188 0.00 2.28 0.00 0.000 6 0.000 0.054 2242 2339 3023

5495 -0.91 -146.0 408.2 -6.6 415 5499 0.00 2.30 0.00 0.000 4 0.000 0.071 2242 3743 3023

5686 -0.99 -146.0 420.9 -6.4 419 5690 0.00 2.20 0.00 0.000 6 0.000 0.044 2242 2330 3023

6005 -1.04 -146.0 440.6 -6.3 427 6009 0.12 2.22 0.00 0.000 4 0.098 0.058 2198 927 3023

6116 -0.89 -146.0 450.0 -8.6 429 6120 0.17 2.28 0.00 0.000 6 0.168 0.054 2244 2353 3023

6457 -0.95 -146.0 470.4 -5.9 438 6461 0.00 2.30 0.00 0.000 4 0.000 0.073 2244 3751 3023

6676 -1.05 -146.0 483.3 -6.7 442 6683 0.12 2.20 0.00 0.000 6 0.100 0.043 2200 2335 3023

6842 end dive: TARGET_DEPTH_EXCEEDED

state 6842 begin apogee

6847 -0.34 0.0 495.4 7.3 447 6976 0.55 0.00 126.00 1.248 6 0.152 0.000 2365 2519 2420

6977 end apogee: CONTROL_FINISHED_OK

state 6977 begin climb

6978 1.08 146.0 498.0 0.0 450 7116 1.02 2.70 128.27 1.155 4 0.112 0.072 2667 3920 1824

7156 0.78 146.0 484.7 10.6 454 7161 0.25 2.40 0.00 0.000 6 0.152 0.042 2603 2525 1822

7474 0.78 147.6 463.0 7.0 462 7478 0.00 2.45 0.00 0.000 4 0.000 0.073 2603 3933 1821

7496 0.74 153.7 461.5 6.8 462 7511 0.00 2.33 7.70 0.994 6 0.000 0.041 2603 2508 1793

7842 0.77 178.5 440.0 6.2 471 7870 0.00 2.55 21.75 1.157 4 0.000 0.072 2603 3929 1691

7899 0.77 178.5 435.6 8.1 472 7903 0.00 2.33 0.00 0.000 6 0.000 0.041 2603 2523 1691

8213 0.85 190.0 414.1 6.6 480 8225 0.00 0.00 11.00 1.085 6 0.000 0.000 2603 2523 1645

8518 0.99 222.6 395.3 5.9 489 8553 0.17 2.40 28.00 1.157 4 0.079 0.057 2669 1119 1512

8727 0.92 222.6 377.7 9.2 498 8732 0.12 2.30 0.00 0.000 6 0.150 0.051 2636 2527 1510

9042 0.94 231.7 355.7 6.7 513 9056 0.00 2.35 8.70 1.035 4 0.000 0.056 2637 1118 1475

9203 1.05 260.2 344.9 6.0 520 9234 0.10 2.28 24.80 1.132 6 0.093 0.051 2675 2524 1359

9550 1.00 260.2 316.0 8.2 537 9554 0.10 2.30 0.00 0.000 4 0.140 0.056 2649 1116 1356

9559 1.00 260.2 315.2 8.4 537 9566 0.00 2.30 0.00 0.000 6 0.000 0.050 2649 2520 1356

9875 1.00 260.2 292.5 7.2 553 9878 0.00 2.28 0.00 0.000 4 0.000 0.056 2649 1109 1355

9901 1.06 260.2 290.6 7.2 554 9906 0.00 2.28 0.00 0.000 6 0.000 0.051 2649 2524 1355

10228 1.12 260.2 266.5 7.6 570 10233 0.12 2.28 0.00 0.000 4 0.084 0.055 2698 1112 1355

10244 1.12 260.2 265.1 8.1 571 10248 0.00 2.25 0.00 0.000 6 0.000 0.051 2698 2523 1355

10576 1.01 260.2 233.0 9.4 587 10580 0.17 2.28 0.00 0.000 4 0.140 0.057 2648 1112 1354

10585 0.94 260.2 231.9 9.3 587 10592 0.00 2.28 0.00 0.000 6 0.000 0.051 2648 2544 1354

10902 1.03 278.4 211.0 6.4 603 10924 0.00 2.35 15.70 1.094 4 0.000 0.056 2648 1109 1284

10929 1.15 290.2 209.2 6.6 604 10947 0.12 2.30 11.25 1.016 6 0.086 0.051 2695 2530 1236

11255 1.09 290.2 181.5 8.6 620 11259 0.10 2.33 0.00 0.000 4 0.146 0.057 2669 1107 1233

11263 1.09 290.2 180.6 8.5 620 11270 0.00 2.30 0.00 0.000 6 0.000 0.051 2668 2516 1233

11579 1.14 290.2 156.5 7.9 636 11581 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2516 1232

11889 1.22 290.2 133.4 7.4 651 11894 0.12 2.28 0.00 0.000 4 0.080 0.058 2719 1109 1232

11898 1.27 290.2 132.6 7.2 651 11905 0.00 2.30 0.00 0.000 6 0.000 0.051 2719 2546 1232

12214 1.19 290.2 100.1 10.9 667 12216 0.10 0.00 0.00 0.000 6 0.148 0.000 2692 2546 1231

12549 1.19 290.2 71.4 8.3 724 12555 0.00 2.30 0.00 0.000 4 0.000 0.059 2692 1116 1231

12560 1.19 290.2 70.6 8.2 726 12567 0.00 2.25 0.00 0.000 6 0.000 0.052 2692 2528 1231

12904 1.19 294.7 44.4 6.9 787 12911 0.00 0.00 4.53 0.802 6 0.000 0.000 2692 2528 1218

13248 1.51 294.7 21.3 7.1 848 13255 0.20 2.30 0.00 0.000 4 0.081 0.071 2771 3927 1217

13278 1.61 294.7 19.0 7.7 853 13284 0.00 2.22 0.00 0.000 6 0.000 0.045 2772 2508 1217

13472 end climb: SURFACE_DEPTH_REACHED

state 13473 begin surface coast

13496 end surface coast: CONTROL_FINISHED_OK

state 13496 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	116	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	29	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	-24120.131	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	201002,6638.391,-6033.488,36,1.9,36,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	2	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	12	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.152,0.165
_SM_DEPTHo	1.59	KALMAN_X	15568.2,-160.9,260.7,-117213.7,115.5
_SM_ANGLEo	-64.0	KALMAN_Y	-9930.6,100.5,-1830.8,-18821.1,-358.1
GPS2	201733,6638.319,-6033.368,12,1.2,12,-38.0	MHEAD_RNG_PITCHd_Wd	355.4,9811,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	493

FINISH	0.8,1.011435	TCM_TEMP	15.30
SM_CCo	13571,0.00,0.000,0,0,1214,295.83	XPDR_PINGS	0
SM_GC	1.69,7.38,0.00,0.00,0.081,0.000,0.000,158,2328,1214,-10.40,-0.34,295.83	_24V_AH	22.1,27.069
RAFOS_CLK	777	_10V_AH	10.6,10.472
RAFOS	0,1222718641,20.083334,20.066944,75,57,57,56,55,54,626,216,175,197,121,141	DATA_FILE_SIZE	31549,892
RAFOS_FIX	6640.051758,-6028.533691,290908,202016,4,88,7.46	CAP_FILE_SIZE	122482,0
IRIDIUM_FIX	6609.62,-6038.83,241297,202025	CFSIZE	260165632,242860032
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1908	SOUNDSPEED	1447.2
INTERNAL_PRESSURE	8.50619	GPS	300908,000608,6639.424,-6035.122,34,1.0,34,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	269	124.70	SBE_CT	695	24	369.10
Roll_motor	124	87	241.02	SBE_O2	607	19	255.12
VBD_pump_during_apogee	387	1247	10692.30	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	56	103	128.29	nil	0	0	0.00
Iridium_during_connect	48	160	170.48	nil	0	0	0.00
Iridium_during_xfer	182	223	897.30
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.25
TT8	1619	19	342.06
LPSleep	9628	2	235.76
TT8_Active	541	19	114.35
TT8_Sampling	1804	39	763.78
TT8_CF8	442	45	215.25
TT8_Kalman	33	81	28.98
Analog_circuits	1515	12	192.73
GPS_charging	0	0	0.00
Compass	1773	8	150.39
RAFOS	1080	1	17.17
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	-145.9	0.0	0.0	0	138	0.00	0.00	-119.15	0.000	2	0.000	0.000	165	2341	2810
140	-1.08	-146.0	3.3	-2.9	21	165	8.80	2.42	-6.70	0.000	4	0.270	0.087	2200	3736	3020
222	-0.54	-146.0	23.7	-22.3	35	229	0.43	2.25	0.00	0.000	6	0.180	0.047	2318	2333	3022
566	-0.60	-146.0	52.7	-6.9	96	572	0.00	2.25	0.00	0.000	4	0.000	0.058	2318	928	3024
667	-0.60	-146.0	61.2	-8.4	114	673	0.00	2.28	0.00	0.000	6	0.000	0.053	2318	2340	3024
1010	-0.72	-146.0	83.0	-5.5	175	1016	0.15	0.00	0.00	0.000	6	0.095	0.000	2264	2341	3025
1348	-0.72	-146.0	111.1	-8.8	219	1352	0.00	2.33	0.00	0.000	4	0.000	0.071	2264	3755	3025
1454	-0.72	-146.0	120.0	-7.8	223	1460	0.00	2.22	0.00	0.000	6	0.000	0.044	2264	2336	3026
1768	-0.72	-146.0	143.5	-7.4	239	1772	0.00	2.22	0.00	0.000	4	0.000	0.059	2264	932	3025
1857	-0.72	-146.0	150.7	-8.1	243	1861	0.00	2.25	0.00	0.000	6	0.000	0.054	2264	2342	3025
2189	-0.72	-146.0	174.5	-7.3	259	2193	0.00	2.33	0.00	0.000	4	0.000	0.074	2264	3747	3024
2272	-0.78	-146.0	181.0	-7.9	262	2279	0.00	2.22	0.00	0.000	6	0.000	0.044	2264	2341	3025
2587	-0.78	-146.0	204.3	-7.4	278	2589	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2341	3025
2897	-0.78	-146.0	226.9	-6.7	293	2901	0.00	2.35	0.00	0.000	4	0.000	0.074	2264	3746	3024
2969	-0.87	-146.0	232.1	-7.1	296	2973	0.00	2.22	0.00	0.000	6	0.000	0.044	2264	2341	3024
3296	-0.93	-146.0	254.3	-6.5	312	3298	0.12	0.00	0.00	0.000	6	0.109	0.000	2220	2340	3023
3606	-0.84	-146.0	277.3	-7.3	327	3607	0.12	0.00	0.00	0.000	6	0.170	0.000	2252	2340	3024
3914	-0.84	-146.0	297.4	-6.7	342	3918	0.00	2.35	0.00	0.000	4	0.000	0.075	2252	3749	3024
4003	-0.92	-146.0	303.6	-7.1	346	4007	0.00	2.20	0.00	0.000	6	0.000	0.044	2252	2338	3023
4330	-0.92	-146.0	325.9	-6.7	362	4333	0.00	2.22	0.00	0.000	4	0.000	0.059	2252	932	3023
4390	-0.92	-146.0	330.4	-7.4	364	4397	0.00	2.28	0.00	0.000	6	0.000	0.054	2252	2338	3023
4707	-0.97	-146.0	351.3	-6.6	380	4711	0.10	2.30	0.00	0.000	4	0.117	0.070	2217	3752	3023
4778	-0.97	-146.0	357.1	-8.3	383	4782	0.00	2.25	0.00	0.000	6	0.000	0.044	2217	2331	3023
5099	-0.91	-146.0	381.7	-7.5	399	5104	0.10	2.22	0.00	0.000	4	0.170	0.058	2242	932	3023
5181	-0.91	-146.0	387.6	-7.3	402	5188	0.00	2.28	0.00	0.000	6	0.000	0.054	2242	2339	3023
5495	-0.91	-146.0	408.2	-6.6	415	5499	0.00	2.30	0.00	0.000	4	0.000	0.071	2242	3743	3023
5686	-0.99	-146.0	420.9	-6.4	419	5690	0.00	2.20	0.00	0.000	6	0.000	0.044	2242	2330	3023
6005	-1.04	-146.0	440.6	-6.3	427	6009	0.12	2.22	0.00	0.000	4	0.098	0.058	2198	927	3023
6116	-0.89	-146.0	450.0	-8.6	429	6120	0.17	2.28	0.00	0.000	6	0.168	0.054	2244	2353	3023
6457	-0.95	-146.0	470.4	-5.9	438	6461	0.00	2.30	0.00	0.000	4	0.000	0.073	2244	3751	3023
6676	-1.05	-146.0	483.3	-6.7	442	6683	0.12	2.20	0.00	0.000	6	0.100	0.043	2200	2335	3023
6842	end dive: TARGET_DEPTH_EXCEEDED
state	6842	begin apogee
6847	-0.34	0.0	495.4	7.3	447	6976	0.55	0.00	126.00	1.248	6	0.152	0.000	2365	2519	2420
6977	end apogee: CONTROL_FINISHED_OK
state	6977	begin climb
6978	1.08	146.0	498.0	0.0	450	7116	1.02	2.70	128.27	1.155	4	0.112	0.072	2667	3920	1824
7156	0.78	146.0	484.7	10.6	454	7161	0.25	2.40	0.00	0.000	6	0.152	0.042	2603	2525	1822
7474	0.78	147.6	463.0	7.0	462	7478	0.00	2.45	0.00	0.000	4	0.000	0.073	2603	3933	1821
7496	0.74	153.7	461.5	6.8	462	7511	0.00	2.33	7.70	0.994	6	0.000	0.041	2603	2508	1793
7842	0.77	178.5	440.0	6.2	471	7870	0.00	2.55	21.75	1.157	4	0.000	0.072	2603	3929	1691
7899	0.77	178.5	435.6	8.1	472	7903	0.00	2.33	0.00	0.000	6	0.000	0.041	2603	2523	1691
8213	0.85	190.0	414.1	6.6	480	8225	0.00	0.00	11.00	1.085	6	0.000	0.000	2603	2523	1645
8518	0.99	222.6	395.3	5.9	489	8553	0.17	2.40	28.00	1.157	4	0.079	0.057	2669	1119	1512
8727	0.92	222.6	377.7	9.2	498	8732	0.12	2.30	0.00	0.000	6	0.150	0.051	2636	2527	1510
9042	0.94	231.7	355.7	6.7	513	9056	0.00	2.35	8.70	1.035	4	0.000	0.056	2637	1118	1475
9203	1.05	260.2	344.9	6.0	520	9234	0.10	2.28	24.80	1.132	6	0.093	0.051	2675	2524	1359
9550	1.00	260.2	316.0	8.2	537	9554	0.10	2.30	0.00	0.000	4	0.140	0.056	2649	1116	1356
9559	1.00	260.2	315.2	8.4	537	9566	0.00	2.30	0.00	0.000	6	0.000	0.050	2649	2520	1356
9875	1.00	260.2	292.5	7.2	553	9878	0.00	2.28	0.00	0.000	4	0.000	0.056	2649	1109	1355
9901	1.06	260.2	290.6	7.2	554	9906	0.00	2.28	0.00	0.000	6	0.000	0.051	2649	2524	1355
10228	1.12	260.2	266.5	7.6	570	10233	0.12	2.28	0.00	0.000	4	0.084	0.055	2698	1112	1355
10244	1.12	260.2	265.1	8.1	571	10248	0.00	2.25	0.00	0.000	6	0.000	0.051	2698	2523	1355
10576	1.01	260.2	233.0	9.4	587	10580	0.17	2.28	0.00	0.000	4	0.140	0.057	2648	1112	1354
10585	0.94	260.2	231.9	9.3	587	10592	0.00	2.28	0.00	0.000	6	0.000	0.051	2648	2544	1354
10902	1.03	278.4	211.0	6.4	603	10924	0.00	2.35	15.70	1.094	4	0.000	0.056	2648	1109	1284
10929	1.15	290.2	209.2	6.6	604	10947	0.12	2.30	11.25	1.016	6	0.086	0.051	2695	2530	1236
11255	1.09	290.2	181.5	8.6	620	11259	0.10	2.33	0.00	0.000	4	0.146	0.057	2669	1107	1233
11263	1.09	290.2	180.6	8.5	620	11270	0.00	2.30	0.00	0.000	6	0.000	0.051	2668	2516	1233
11579	1.14	290.2	156.5	7.9	636	11581	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2516	1232
11889	1.22	290.2	133.4	7.4	651	11894	0.12	2.28	0.00	0.000	4	0.080	0.058	2719	1109	1232
11898	1.27	290.2	132.6	7.2	651	11905	0.00	2.30	0.00	0.000	6	0.000	0.051	2719	2546	1232
12214	1.19	290.2	100.1	10.9	667	12216	0.10	0.00	0.00	0.000	6	0.148	0.000	2692	2546	1231
12549	1.19	290.2	71.4	8.3	724	12555	0.00	2.30	0.00	0.000	4	0.000	0.059	2692	1116	1231
12560	1.19	290.2	70.6	8.2	726	12567	0.00	2.25	0.00	0.000	6	0.000	0.052	2692	2528	1231
12904	1.19	294.7	44.4	6.9	787	12911	0.00	0.00	4.53	0.802	6	0.000	0.000	2692	2528	1218
13248	1.51	294.7	21.3	7.1	848	13255	0.20	2.30	0.00	0.000	4	0.081	0.071	2771	3927	1217
13278	1.61	294.7	19.0	7.7	853	13284	0.00	2.22	0.00	0.000	6	0.000	0.045	2772	2508	1217
13472	end climb: SURFACE_DEPTH_REACHED
state	13473	begin surface coast
13496	end surface coast: CONTROL_FINISHED_OK
state	13496	begin surface