Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 128 * 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 128 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -24314.881 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2436 PRESSURE_YINT -25.705193 SEABIRD_T_G 0.004371644

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51576 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 14.7 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.00342 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0096000005 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 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 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00342 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0096000005 RELAUNCH 1 T_GPS_CHARGE -24314.881

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 27 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 128 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 180431,6641.755,-6020.494,39,1.3,39,-38.0 TGT_NAME TARGET_ADD1_EB

_CALLS 1 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.173,0.143

_SM_DEPTHo 1.63 KALMAN_X 14833.5,-315.8,-414.9,-106406.3,62.0

_SM_ANGLEo -64.4 KALMAN_Y -16769.2,551.6,1632.4,-9578.7,-4995.9

GPS2 180927,6641.735,-6020.653,13,1.8,13,-38.0 MHEAD_RNG_PITCHd_Wd 88.4,20470,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 530

Post-dive calculations and measurements:

FINISH 0.8,1.016091 TCM_TEMP 15.20

SM_CCo 14589,0.00,0.000,0,0,1156,310.30 XPDR_PINGS 1

SM_GC 1.65,7.25,0.00,0.00,0.073,0.000,0.000,159,2338,1156,-10.39,-0.06,310.30 _24V_AH 22.0,28.796

RAFOS_CLK 832 _10V_AH 10.6,11.183

RAFOS 0,1222891443,20.083334,20.067499,91,62,59,59,58,56,574,193,215,206,226,172 DATA_FILE_SIZE 34689,930

RAFOS_FIX 6641.159668,-6011.710449,011008,202016,4,98,0.80 CAP_FILE_SIZE 116843,0

IRIDIUM_FIX 6609.62,-6016.65,261297,141451 CFSIZE 260165632,242171904

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

HUMID 1901 SOUNDSPEED 1447.7

INTERNAL_PRESSURE 8.50619 GPS 011008,221507,6640.015,-6017.048,39,1.0,39,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 272 124.00 SBE_CT 728 24 384.80

Roll_motor 105 79 185.67 SBE_O2 633 19 265.01

VBD_pump_during_apogee 400 1253 11039.19 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 23 103 52.57 nil 0 0 0.00

Iridium_during_connect 32 160 114.57 nil 0 0 0.00

Iridium_during_xfer 133 223 653.58

Transponder_ping 0 420 2.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.01

TT8 1643 19 346.97

LPSleep 10712 2 262.30

TT8_Active 535 19 113.07

TT8_Sampling 1652 39 699.12

TT8_CF8 359 45 175.23

TT8_Kalman 33 81 28.97

Analog_circuits 1435 12 182.58

GPS_charging 0 0 0.00

Compass 1631 8 138.35

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.08 -146.0 0.0 0.0 0 127 0.00 0.00 -106.90 0.000 2 0.000 0.000 164 2345 2743

129 -1.08 -146.0 3.2 -2.4 19 154 8.85 2.30 -9.57 0.000 4 0.272 0.071 2200 932 3018

200 -0.43 -146.0 18.9 -21.1 31 207 0.50 2.30 0.00 0.000 6 0.178 0.054 2341 2347 3020

545 -0.54 -146.0 44.6 -6.1 92 552 0.10 2.33 0.00 0.000 4 0.100 0.071 2303 3747 3023

586 -0.60 -146.0 47.6 -7.5 99 592 0.00 2.22 0.00 0.000 6 0.000 0.042 2303 2327 3023

930 -0.65 -146.0 71.6 -6.7 160 936 0.00 2.38 0.00 0.000 4 0.000 0.071 2303 3753 3025

976 -0.73 -146.0 74.8 -6.8 168 983 0.10 2.22 0.00 0.000 6 0.110 0.043 2266 2332 3025

1331 -0.73 -146.0 105.6 -8.9 223 1335 0.00 2.35 0.00 0.000 4 0.000 0.071 2266 3745 3025

1363 -0.73 -146.0 108.7 -9.9 224 1368 0.00 2.22 0.00 0.000 6 0.000 0.043 2266 2343 3025

1685 -0.73 -146.0 137.8 -8.9 240 1688 0.00 2.33 0.00 0.000 4 0.000 0.071 2266 3745 3025

1707 -0.73 -146.0 139.9 -9.2 241 1711 0.00 2.20 0.00 0.000 6 0.000 0.044 2266 2334 3024

2038 -0.73 -146.0 167.2 -8.1 257 2042 0.00 2.35 0.00 0.000 4 0.000 0.072 2266 3753 3024

2064 -0.79 -146.0 169.3 -8.0 258 2068 0.00 2.22 0.00 0.000 6 0.000 0.043 2266 2328 3024

2391 -0.79 -146.0 195.1 -7.7 274 2392 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2329 3024

2701 -0.83 -146.0 218.1 -6.9 289 2702 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2329 3024

3010 -0.89 -146.0 237.9 -6.2 304 3012 0.10 0.00 0.00 0.000 6 0.117 0.000 2231 2329 3024

3319 -0.84 -146.0 259.3 -7.0 319 3321 0.10 0.00 0.00 0.000 6 0.173 0.000 2256 2329 3024

3628 -0.84 -146.0 278.9 -6.3 334 3632 0.00 2.38 0.00 0.000 4 0.000 0.074 2256 3751 3023

3684 -0.93 -146.0 282.5 -5.9 336 3688 0.00 2.22 0.00 0.000 6 0.000 0.044 2255 2330 3023

4005 -0.98 -146.0 302.7 -6.3 352 4006 0.12 0.00 0.00 0.000 6 0.099 0.000 2212 2330 3023

4314 -0.90 -146.0 327.5 -8.2 367 4318 0.12 2.38 0.00 0.000 4 0.166 0.073 2243 3752 3023

4346 -0.96 -146.0 330.1 -7.1 368 4352 0.00 2.20 0.00 0.000 6 0.000 0.044 2243 2341 3023

4661 -0.96 -146.0 354.0 -7.6 384 4664 0.00 2.22 0.00 0.000 4 0.000 0.059 2243 935 3022

4705 -0.96 -146.0 357.6 -8.2 386 4709 0.00 2.25 0.00 0.000 6 0.000 0.054 2243 2345 3022

5037 -1.01 -146.0 381.6 -7.1 402 5039 0.10 0.00 0.00 0.000 6 0.108 0.000 2207 2345 3021

5365 -0.94 -146.0 407.4 -7.8 416 5367 0.10 0.00 0.00 0.000 6 0.168 0.000 2230 2345 3021

5690 -0.94 -146.0 428.1 -6.2 424 5694 0.00 2.30 0.00 0.000 4 0.000 0.072 2230 3747 3021

5740 -0.99 -146.0 431.3 -6.3 425 5744 0.00 2.20 0.00 0.000 6 0.000 0.042 2231 2331 3021

6063 -0.99 -146.0 449.6 -5.6 433 6064 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2331 3021

6388 -0.99 -146.0 468.8 -5.8 441 6392 0.00 2.20 0.00 0.000 4 0.000 0.058 2230 938 3022

6433 -0.99 -146.0 471.7 -6.7 442 6437 0.00 2.25 0.00 0.000 6 0.000 0.054 2231 2351 3022

6762 -0.99 -146.0 489.5 -5.3 450 6766 0.00 2.28 0.00 0.000 4 0.000 0.071 2231 3753 3022

6824 -1.07 -146.0 492.9 -5.8 451 6828 0.12 2.20 0.00 0.000 6 0.099 0.042 2188 2336 3023

7171 -0.97 -146.0 517.0 -7.3 460 7176 0.15 2.22 0.00 0.000 4 0.156 0.056 2228 927 3023

7203 -0.97 -146.0 519.2 -6.7 460 7207 0.00 2.25 0.00 0.000 6 0.000 0.052 2228 2344 3023

7375 end dive: TARGET_DEPTH_EXCEEDED

state 7375 begin apogee

7380 -0.34 0.0 530.2 6.2 465 7510 0.45 0.00 126.95 1.253 6 0.146 0.000 2366 2524 2420

7511 end apogee: CONTROL_FINISHED_OK

state 7511 begin climb

7513 1.08 146.0 531.8 0.0 468 7651 1.00 2.67 129.23 1.163 4 0.108 0.069 2665 3928 1824

7735 0.79 146.0 512.0 11.8 473 7740 0.22 2.40 0.00 0.000 6 0.141 0.041 2605 2516 1821

8057 0.80 150.3 489.8 6.9 481 8063 0.00 0.00 4.75 0.837 6 0.000 0.000 2605 2516 1807

8378 0.82 166.0 468.4 6.5 489 8395 0.00 0.00 14.80 1.131 6 0.000 0.000 2605 2516 1743

8703 0.84 184.5 447.3 6.4 497 8722 0.00 0.00 16.73 1.140 6 0.000 0.000 2605 2516 1667

9028 0.94 206.7 426.8 6.3 505 9050 0.12 0.00 19.50 1.144 6 0.084 0.000 2652 2514 1577

9353 0.88 206.7 400.1 8.3 513 9355 0.10 0.00 0.00 0.000 6 0.145 0.000 2626 2514 1575

9662 0.88 209.1 378.4 6.9 527 9663 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2514 1575

9971 0.90 222.0 357.6 6.6 542 9992 0.00 2.42 13.82 1.104 4 0.000 0.070 2626 3931 1514

10015 0.90 222.0 354.5 7.2 544 10019 0.00 2.25 0.00 0.000 6 0.000 0.041 2626 2513 1513

10347 0.99 231.8 333.0 6.7 560 10362 0.10 2.28 9.60 1.040 4 0.091 0.056 2666 1106 1474

10406 0.99 231.8 328.1 8.2 562 10413 0.00 2.33 0.00 0.000 6 0.000 0.049 2666 2528 1473

10721 0.99 231.8 301.3 8.4 578 10723 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2529 1473

11031 0.99 231.8 274.3 9.1 593 11035 0.00 2.28 0.00 0.000 4 0.000 0.055 2666 1112 1473

11069 0.99 231.8 270.9 9.0 594 11075 0.00 2.25 0.00 0.000 6 0.000 0.050 2666 2528 1473

11384 0.99 231.8 243.1 8.5 610 11385 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2528 1473

11693 0.99 231.8 217.5 8.3 625 11695 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2528 1473

12002 0.99 231.8 192.9 7.8 640 12006 0.00 2.28 0.00 0.000 4 0.000 0.057 2666 1106 1472

12047 0.99 231.8 189.5 7.5 642 12050 0.00 2.25 0.00 0.000 6 0.000 0.051 2666 2522 1473

12378 0.99 231.8 162.2 8.2 658 12382 0.00 2.28 0.00 0.000 4 0.000 0.070 2666 3923 1472

12416 0.88 231.8 158.5 9.7 659 12424 0.15 2.20 0.00 0.000 6 0.143 0.044 2624 2510 1472

12732 1.06 256.7 138.6 6.2 675 12759 0.15 2.25 21.30 1.078 4 0.079 0.057 2686 1112 1372

12794 1.17 256.7 133.7 7.8 678 12798 0.00 2.30 0.00 0.000 6 0.000 0.052 2686 2528 1371

13120 1.26 256.7 105.7 8.7 694 13124 0.10 2.30 0.00 0.000 4 0.093 0.055 2730 1110 1369

13181 1.13 256.7 100.0 9.8 697 13186 0.17 2.28 0.00 0.000 6 0.148 0.053 2682 2529 1369

13523 1.13 256.7 73.1 7.5 755 13530 0.00 2.30 0.00 0.000 4 0.000 0.071 2681 3930 1369

13563 1.13 256.7 69.6 8.7 762 13569 0.00 2.22 0.00 0.000 6 0.000 0.044 2681 2514 1369

13907 1.13 256.7 40.4 8.6 823 13912 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2514 1368

14250 1.39 304.6 15.7 5.4 884 14297 0.20 2.47 39.12 1.033 4 0.077 0.074 2762 3933 1177

14343 1.26 308.9 9.2 6.9 900 14356 0.20 2.30 4.57 0.729 6 0.148 0.044 2707 2513 1160

14481 end climb: SURFACE_DEPTH_REACHED

state 14481 begin surface coast

14514 end surface coast: CONTROL_FINISHED_OK

state 14514 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	128	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-24314.881	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2436	PRESSURE_YINT	-25.705193	SEABIRD_T_G	0.004371644
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51576	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	14.7	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.00342	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0096000005	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	180431,6641.755,-6020.494,39,1.3,39,-38.0	TGT_NAME	TARGET_ADD1_EB
_CALLS	1	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.173,0.143
_SM_DEPTHo	1.63	KALMAN_X	14833.5,-315.8,-414.9,-106406.3,62.0
_SM_ANGLEo	-64.4	KALMAN_Y	-16769.2,551.6,1632.4,-9578.7,-4995.9
GPS2	180927,6641.735,-6020.653,13,1.8,13,-38.0	MHEAD_RNG_PITCHd_Wd	88.4,20470,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	530

FINISH	0.8,1.016091	TCM_TEMP	15.20
SM_CCo	14589,0.00,0.000,0,0,1156,310.30	XPDR_PINGS	1
SM_GC	1.65,7.25,0.00,0.00,0.073,0.000,0.000,159,2338,1156,-10.39,-0.06,310.30	_24V_AH	22.0,28.796
RAFOS_CLK	832	_10V_AH	10.6,11.183
RAFOS	0,1222891443,20.083334,20.067499,91,62,59,59,58,56,574,193,215,206,226,172	DATA_FILE_SIZE	34689,930
RAFOS_FIX	6641.159668,-6011.710449,011008,202016,4,98,0.80	CAP_FILE_SIZE	116843,0
IRIDIUM_FIX	6609.62,-6016.65,261297,141451	CFSIZE	260165632,242171904
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1901	SOUNDSPEED	1447.7
INTERNAL_PRESSURE	8.50619	GPS	011008,221507,6640.015,-6017.048,39,1.0,39,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	272	124.00	SBE_CT	728	24	384.80
Roll_motor	105	79	185.67	SBE_O2	633	19	265.01
VBD_pump_during_apogee	400	1253	11039.19	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	23	103	52.57	nil	0	0	0.00
Iridium_during_connect	32	160	114.57	nil	0	0	0.00
Iridium_during_xfer	133	223	653.58
Transponder_ping	0	420	2.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.01
TT8	1643	19	346.97
LPSleep	10712	2	262.30
TT8_Active	535	19	113.07
TT8_Sampling	1652	39	699.12
TT8_CF8	359	45	175.23
TT8_Kalman	33	81	28.97
Analog_circuits	1435	12	182.58
GPS_charging	0	0	0.00
Compass	1631	8	138.35
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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.08	-146.0	0.0	0.0	0	127	0.00	0.00	-106.90	0.000	2	0.000	0.000	164	2345	2743
129	-1.08	-146.0	3.2	-2.4	19	154	8.85	2.30	-9.57	0.000	4	0.272	0.071	2200	932	3018
200	-0.43	-146.0	18.9	-21.1	31	207	0.50	2.30	0.00	0.000	6	0.178	0.054	2341	2347	3020
545	-0.54	-146.0	44.6	-6.1	92	552	0.10	2.33	0.00	0.000	4	0.100	0.071	2303	3747	3023
586	-0.60	-146.0	47.6	-7.5	99	592	0.00	2.22	0.00	0.000	6	0.000	0.042	2303	2327	3023
930	-0.65	-146.0	71.6	-6.7	160	936	0.00	2.38	0.00	0.000	4	0.000	0.071	2303	3753	3025
976	-0.73	-146.0	74.8	-6.8	168	983	0.10	2.22	0.00	0.000	6	0.110	0.043	2266	2332	3025
1331	-0.73	-146.0	105.6	-8.9	223	1335	0.00	2.35	0.00	0.000	4	0.000	0.071	2266	3745	3025
1363	-0.73	-146.0	108.7	-9.9	224	1368	0.00	2.22	0.00	0.000	6	0.000	0.043	2266	2343	3025
1685	-0.73	-146.0	137.8	-8.9	240	1688	0.00	2.33	0.00	0.000	4	0.000	0.071	2266	3745	3025
1707	-0.73	-146.0	139.9	-9.2	241	1711	0.00	2.20	0.00	0.000	6	0.000	0.044	2266	2334	3024
2038	-0.73	-146.0	167.2	-8.1	257	2042	0.00	2.35	0.00	0.000	4	0.000	0.072	2266	3753	3024
2064	-0.79	-146.0	169.3	-8.0	258	2068	0.00	2.22	0.00	0.000	6	0.000	0.043	2266	2328	3024
2391	-0.79	-146.0	195.1	-7.7	274	2392	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2329	3024
2701	-0.83	-146.0	218.1	-6.9	289	2702	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2329	3024
3010	-0.89	-146.0	237.9	-6.2	304	3012	0.10	0.00	0.00	0.000	6	0.117	0.000	2231	2329	3024
3319	-0.84	-146.0	259.3	-7.0	319	3321	0.10	0.00	0.00	0.000	6	0.173	0.000	2256	2329	3024
3628	-0.84	-146.0	278.9	-6.3	334	3632	0.00	2.38	0.00	0.000	4	0.000	0.074	2256	3751	3023
3684	-0.93	-146.0	282.5	-5.9	336	3688	0.00	2.22	0.00	0.000	6	0.000	0.044	2255	2330	3023
4005	-0.98	-146.0	302.7	-6.3	352	4006	0.12	0.00	0.00	0.000	6	0.099	0.000	2212	2330	3023
4314	-0.90	-146.0	327.5	-8.2	367	4318	0.12	2.38	0.00	0.000	4	0.166	0.073	2243	3752	3023
4346	-0.96	-146.0	330.1	-7.1	368	4352	0.00	2.20	0.00	0.000	6	0.000	0.044	2243	2341	3023
4661	-0.96	-146.0	354.0	-7.6	384	4664	0.00	2.22	0.00	0.000	4	0.000	0.059	2243	935	3022
4705	-0.96	-146.0	357.6	-8.2	386	4709	0.00	2.25	0.00	0.000	6	0.000	0.054	2243	2345	3022
5037	-1.01	-146.0	381.6	-7.1	402	5039	0.10	0.00	0.00	0.000	6	0.108	0.000	2207	2345	3021
5365	-0.94	-146.0	407.4	-7.8	416	5367	0.10	0.00	0.00	0.000	6	0.168	0.000	2230	2345	3021
5690	-0.94	-146.0	428.1	-6.2	424	5694	0.00	2.30	0.00	0.000	4	0.000	0.072	2230	3747	3021
5740	-0.99	-146.0	431.3	-6.3	425	5744	0.00	2.20	0.00	0.000	6	0.000	0.042	2231	2331	3021
6063	-0.99	-146.0	449.6	-5.6	433	6064	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2331	3021
6388	-0.99	-146.0	468.8	-5.8	441	6392	0.00	2.20	0.00	0.000	4	0.000	0.058	2230	938	3022
6433	-0.99	-146.0	471.7	-6.7	442	6437	0.00	2.25	0.00	0.000	6	0.000	0.054	2231	2351	3022
6762	-0.99	-146.0	489.5	-5.3	450	6766	0.00	2.28	0.00	0.000	4	0.000	0.071	2231	3753	3022
6824	-1.07	-146.0	492.9	-5.8	451	6828	0.12	2.20	0.00	0.000	6	0.099	0.042	2188	2336	3023
7171	-0.97	-146.0	517.0	-7.3	460	7176	0.15	2.22	0.00	0.000	4	0.156	0.056	2228	927	3023
7203	-0.97	-146.0	519.2	-6.7	460	7207	0.00	2.25	0.00	0.000	6	0.000	0.052	2228	2344	3023
7375	end dive: TARGET_DEPTH_EXCEEDED
state	7375	begin apogee
7380	-0.34	0.0	530.2	6.2	465	7510	0.45	0.00	126.95	1.253	6	0.146	0.000	2366	2524	2420
7511	end apogee: CONTROL_FINISHED_OK
state	7511	begin climb
7513	1.08	146.0	531.8	0.0	468	7651	1.00	2.67	129.23	1.163	4	0.108	0.069	2665	3928	1824
7735	0.79	146.0	512.0	11.8	473	7740	0.22	2.40	0.00	0.000	6	0.141	0.041	2605	2516	1821
8057	0.80	150.3	489.8	6.9	481	8063	0.00	0.00	4.75	0.837	6	0.000	0.000	2605	2516	1807
8378	0.82	166.0	468.4	6.5	489	8395	0.00	0.00	14.80	1.131	6	0.000	0.000	2605	2516	1743
8703	0.84	184.5	447.3	6.4	497	8722	0.00	0.00	16.73	1.140	6	0.000	0.000	2605	2516	1667
9028	0.94	206.7	426.8	6.3	505	9050	0.12	0.00	19.50	1.144	6	0.084	0.000	2652	2514	1577
9353	0.88	206.7	400.1	8.3	513	9355	0.10	0.00	0.00	0.000	6	0.145	0.000	2626	2514	1575
9662	0.88	209.1	378.4	6.9	527	9663	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2514	1575
9971	0.90	222.0	357.6	6.6	542	9992	0.00	2.42	13.82	1.104	4	0.000	0.070	2626	3931	1514
10015	0.90	222.0	354.5	7.2	544	10019	0.00	2.25	0.00	0.000	6	0.000	0.041	2626	2513	1513
10347	0.99	231.8	333.0	6.7	560	10362	0.10	2.28	9.60	1.040	4	0.091	0.056	2666	1106	1474
10406	0.99	231.8	328.1	8.2	562	10413	0.00	2.33	0.00	0.000	6	0.000	0.049	2666	2528	1473
10721	0.99	231.8	301.3	8.4	578	10723	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2529	1473
11031	0.99	231.8	274.3	9.1	593	11035	0.00	2.28	0.00	0.000	4	0.000	0.055	2666	1112	1473
11069	0.99	231.8	270.9	9.0	594	11075	0.00	2.25	0.00	0.000	6	0.000	0.050	2666	2528	1473
11384	0.99	231.8	243.1	8.5	610	11385	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2528	1473
11693	0.99	231.8	217.5	8.3	625	11695	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2528	1473
12002	0.99	231.8	192.9	7.8	640	12006	0.00	2.28	0.00	0.000	4	0.000	0.057	2666	1106	1472
12047	0.99	231.8	189.5	7.5	642	12050	0.00	2.25	0.00	0.000	6	0.000	0.051	2666	2522	1473
12378	0.99	231.8	162.2	8.2	658	12382	0.00	2.28	0.00	0.000	4	0.000	0.070	2666	3923	1472
12416	0.88	231.8	158.5	9.7	659	12424	0.15	2.20	0.00	0.000	6	0.143	0.044	2624	2510	1472
12732	1.06	256.7	138.6	6.2	675	12759	0.15	2.25	21.30	1.078	4	0.079	0.057	2686	1112	1372
12794	1.17	256.7	133.7	7.8	678	12798	0.00	2.30	0.00	0.000	6	0.000	0.052	2686	2528	1371
13120	1.26	256.7	105.7	8.7	694	13124	0.10	2.30	0.00	0.000	4	0.093	0.055	2730	1110	1369
13181	1.13	256.7	100.0	9.8	697	13186	0.17	2.28	0.00	0.000	6	0.148	0.053	2682	2529	1369
13523	1.13	256.7	73.1	7.5	755	13530	0.00	2.30	0.00	0.000	4	0.000	0.071	2681	3930	1369
13563	1.13	256.7	69.6	8.7	762	13569	0.00	2.22	0.00	0.000	6	0.000	0.044	2681	2514	1369
13907	1.13	256.7	40.4	8.6	823	13912	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2514	1368
14250	1.39	304.6	15.7	5.4	884	14297	0.20	2.47	39.12	1.033	4	0.077	0.074	2762	3933	1177
14343	1.26	308.9	9.2	6.9	900	14356	0.20	2.30	4.57	0.729	6	0.148	0.044	2707	2513	1160
14481	end climb: SURFACE_DEPTH_REACHED
state	14481	begin surface coast
14514	end surface coast: CONTROL_FINISHED_OK
state	14514	begin surface