Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 174 * 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 174 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -3 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 900 T_GPS_CHARGE -114154.83 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 900 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 -114154.83

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 -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 2745 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 174 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 180008,6703.066,-5648.989,36,0.9,36,-37.5 TGT_NAME TARGET_ADD4_WB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.233,-0.005

_SM_DEPTHo 2.52 KALMAN_X 14557.6,-516.2,-62.4,20628.3,1072.1

_SM_ANGLEo -65.7 KALMAN_Y -24651.5,-343.5,-393.5,41919.5,-476.8

GPS2 180433,6703.069,-5648.974,14,1.8,14,-37.5 MHEAD_RNG_PITCHd_Wd 306.2,34170,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 535

Post-dive calculations and measurements:

FINISH 1.8,1.013593 TCM_TEMP 16.00

SM_CCo 14764,0.00,0.000,0,0,1366,338.27 XPDR_PINGS 49

SM_GC 2.62,6.93,0.00,0.00,0.052,0.000,0.000,335,2239,1366,-10.56,0.25,338.27 _24V_AH 23.0,33.046

RAFOS_CLK 580 _10V_AH 10.6,15.202

RAFOS 0,1223841852,20.083334,20.070000,60,58,57,56,55,52,203,187,144,221,121,175 DATA_FILE_SIZE 31565,918

RAFOS_FIX 6703.417480,-5658.791016,121008,000040,2,108,0.00 CAP_FILE_SIZE 118911,0

IRIDIUM_FIX 6636.54,-5655.33,060198,151537 CFSIZE 260165632,240140288

TT8_MAMPS 0.026845 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1801 SOUNDSPEED 1459.8

INTERNAL_PRESSURE 9.91249 GPS 121008,221238,6702.888,-5652.226,24,1.5,24,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 247 127.35 SBE_CT 638 24 352.36

Roll_motor 101 85 198.12 SBE_O2 0 0 0.00

VBD_pump_during_apogee 406 1171 10951.57 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 22 103 54.18 nil 0 0 0.00

Iridium_during_connect 49 160 183.34 nil 0 0 0.00

Iridium_during_xfer 95 223 490.60

Transponder_ping 12 420 118.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.33

TT8 1634 19 345.10

LPSleep 10890 2 266.66

TT8_Active 498 19 105.22

TT8_Sampling 1674 39 708.55

TT8_CF8 340 45 165.60

TT8_Kalman 33 81 28.97

Analog_circuits 1397 12 177.79

GPS_charging 0 0 0.00

Compass 1654 8 140.34

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

15 -1.00 -146.0 0.0 0.0 0 57 0.00 0.00 -39.67 0.000 2 0.000 0.000 336 2244 2618

59 -1.00 -146.0 3.0 -1.7 7 101 8.55 2.30 -24.90 0.000 4 0.248 0.085 2428 3595 3345

349 -0.65 -146.0 43.2 -14.8 58 356 0.30 2.20 0.00 0.000 6 0.143 0.050 2518 2214 3347

694 -0.65 -146.0 69.7 -7.0 119 700 0.00 2.22 0.00 0.000 4 0.000 0.060 2518 823 3349

840 -0.65 -146.0 81.3 -7.9 145 847 0.00 2.33 0.00 0.000 6 0.000 0.060 2510 2243 3349

1187 -0.65 -146.0 107.4 -6.7 193 1188 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2244 3349

1495 -0.65 -146.0 125.9 -5.9 208 1499 0.00 2.33 0.00 0.000 4 0.000 0.062 2510 812 3349

1565 -0.65 -146.0 130.2 -6.5 211 1569 0.00 2.33 0.00 0.000 6 0.000 0.061 2500 2246 3349

1891 -0.65 -146.0 151.8 -6.9 227 1892 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2246 3349

2200 -0.65 -146.0 173.2 -6.9 242 2201 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2246 3349

2509 -0.65 -146.0 193.9 -6.8 257 2513 0.00 2.30 0.00 0.000 4 0.000 0.062 2499 822 3348

2593 -0.65 -146.0 200.0 -7.5 260 2600 0.10 2.28 0.00 0.000 6 0.142 0.063 2517 2233 3348

2908 -0.77 -146.0 218.3 -5.3 276 2910 0.12 0.00 0.00 0.000 6 0.081 0.000 2464 2233 3348

3218 -0.68 -146.0 239.3 -6.7 291 3220 0.17 0.00 0.00 0.000 6 0.144 0.000 2513 2233 3348

3527 -0.81 -146.0 255.2 -5.0 306 3529 0.12 0.00 0.00 0.000 6 0.084 0.000 2460 2233 3348

3836 -0.72 -146.0 277.0 -7.1 321 3838 0.15 0.00 0.00 0.000 6 0.147 0.000 2502 2233 3347

4147 -0.80 -146.0 293.9 -5.4 336 4149 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2233 3347

4455 -0.88 -146.0 311.5 -5.7 351 4457 0.15 0.00 0.00 0.000 6 0.080 0.000 2438 2233 3347

4764 -0.73 -146.0 335.6 -7.8 366 4766 0.22 0.00 0.00 0.000 6 0.144 0.000 2504 2233 3347

5075 -0.83 -146.0 350.7 -5.0 381 5077 0.12 0.00 0.00 0.000 6 0.085 0.000 2451 2233 3347

5383 -0.73 -146.0 372.1 -7.0 396 5387 0.17 2.30 0.00 0.000 4 0.145 0.061 2501 813 3347

5455 -0.77 -146.0 376.4 -6.0 399 5459 0.00 2.30 0.00 0.000 6 0.000 0.061 2493 2241 3347

5775 -0.83 -146.0 393.8 -5.4 415 5779 0.00 2.17 0.00 0.000 4 0.000 0.074 2482 3603 3347

5866 -0.89 -146.0 399.3 -6.2 419 5870 0.00 2.15 0.00 0.000 6 0.000 0.050 2482 2220 3347

6213 -0.89 -146.0 420.0 -6.1 428 6214 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2220 3347

6538 -0.89 -146.0 439.6 -5.8 436 6542 0.00 2.22 0.00 0.000 4 0.000 0.062 2482 823 3347

6610 -0.89 -146.0 444.2 -6.3 437 6614 0.00 2.30 0.00 0.000 6 0.000 0.061 2472 2239 3347

6952 -0.89 -146.0 464.6 -5.9 446 6956 0.00 2.20 0.00 0.000 4 0.000 0.072 2461 3606 3347

7047 -0.89 -146.0 470.5 -6.2 448 7051 0.00 2.17 0.00 0.000 6 0.000 0.049 2461 2215 3347

7371 -0.89 -146.0 490.2 -6.1 456 7375 0.00 2.20 0.00 0.000 4 0.000 0.061 2462 823 3347

7444 -0.80 -146.0 494.8 -6.4 457 7448 0.12 2.28 0.00 0.000 6 0.136 0.059 2486 2237 3347

7786 -0.86 -146.0 511.9 -4.8 466 7790 0.00 2.20 0.00 0.000 4 0.000 0.071 2478 3602 3347

7847 -0.91 -146.0 515.3 -5.6 467 7851 0.00 2.15 0.00 0.000 6 0.000 0.047 2478 2225 3347

8160 -0.91 -146.0 531.4 -5.1 475 8164 0.00 2.22 0.00 0.000 4 0.000 0.061 2478 817 3348

8344 end dive: NO_VERTICAL_VELOCITY

state 8344 begin apogee

8350 -0.31 0.0 533.6 0.0 479 8474 0.32 0.00 120.60 1.171 6 0.100 0.000 2588 1744 2745

8474 end apogee: CONTROL_FINISHED_OK

state 8475 begin climb

8477 1.00 146.0 533.3 0.0 482 8609 0.88 2.60 123.10 1.104 4 0.098 0.062 2875 3167 2147

8659 0.65 146.0 515.1 12.9 486 8664 0.32 2.47 0.00 0.000 6 0.133 0.048 2796 1740 2143

9007 0.72 160.0 490.9 6.6 495 9021 0.00 0.00 12.25 1.006 6 0.000 0.000 2797 1739 2092

9332 0.81 175.3 469.3 6.5 503 9352 0.12 2.40 13.95 1.027 4 0.076 0.063 2853 3151 2030

9362 0.63 175.3 466.3 8.9 503 9367 0.25 2.35 0.00 0.000 6 0.130 0.049 2791 1728 2028

9699 0.79 203.5 444.7 6.1 512 9726 0.12 0.00 24.90 1.069 6 0.074 0.000 2849 1728 1915

10024 0.68 203.5 413.1 10.0 520 10026 0.17 0.00 0.00 0.000 6 0.120 0.000 2797 1728 1910

10330 0.83 225.6 393.2 6.3 530 10356 0.15 2.42 18.77 1.034 4 0.071 0.063 2862 3146 1825

10374 0.62 225.6 389.0 11.0 532 10378 0.28 2.33 0.00 0.000 6 0.130 0.050 2791 1728 1822

10701 0.86 265.2 368.6 5.7 548 10740 0.17 0.00 34.65 1.043 6 0.064 0.000 2867 1727 1663

11049 0.74 265.2 329.3 11.5 565 11054 0.17 2.33 0.00 0.000 4 0.118 0.064 2823 327 1655

11059 0.66 265.2 328.0 11.3 565 11066 0.10 2.33 0.00 0.000 6 0.123 0.050 2795 1749 1655

11375 1.32 265.2 301.5 11.1 581 11380 0.43 2.30 0.00 0.000 4 0.093 0.064 2938 3155 1652

11409 1.32 265.2 297.7 11.3 582 11415 0.00 2.30 0.00 0.000 6 0.000 0.051 2947 1737 1652

11724 0.95 265.2 244.3 17.2 598 11728 0.28 2.33 0.00 0.000 4 0.139 0.064 2869 326 1652

11778 0.95 265.2 237.1 11.3 600 11785 0.00 2.30 0.00 0.000 6 0.000 0.052 2869 1742 1652

12095 0.86 265.2 203.3 10.7 616 12099 0.12 2.25 0.00 0.000 4 0.134 0.064 2833 3157 1652

12104 0.78 265.2 202.1 10.9 616 12111 0.00 2.25 0.00 0.000 6 0.000 0.051 2840 1734 1651

12419 0.78 265.2 174.6 8.6 632 12423 0.00 2.30 0.00 0.000 4 0.000 0.065 2850 324 1650

12447 0.85 265.2 172.1 8.9 633 12451 0.00 2.30 0.00 0.000 6 0.000 0.052 2850 1748 1650

12772 0.85 265.2 143.7 8.8 649 12773 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 1748 1650

13082 0.85 265.2 117.3 8.3 664 13083 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 1748 1650

13399 0.93 265.2 92.0 7.2 691 13404 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 1748 1650

13743 1.05 270.0 67.4 6.9 752 13750 0.12 2.30 0.00 0.000 4 0.077 0.067 2909 3158 1649

13784 0.92 270.0 63.1 10.6 759 13791 0.22 2.30 0.00 0.000 6 0.133 0.054 2852 1730 1649

14129 1.18 326.2 40.0 5.2 820 14187 0.20 2.45 49.88 0.897 4 0.066 0.067 2943 3149 1414

14193 1.02 326.2 34.5 9.5 831 14200 0.28 2.35 0.00 0.000 6 0.129 0.053 2872 1733 1411

14538 1.22 336.6 14.5 6.7 892 14552 0.17 2.40 8.45 0.790 4 0.067 0.067 2958 327 1372

14586 1.14 336.6 9.2 12.0 900 14593 0.20 2.35 0.00 0.000 6 0.129 0.055 2900 1746 1370

14653 end climb: SURFACE_DEPTH_REACHED

state 14653 begin surface coast

14688 end surface coast: CONTROL_FINISHED_OK

state 14688 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	174	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-3	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	900	T_GPS_CHARGE	-114154.83	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	180008,6703.066,-5648.989,36,0.9,36,-37.5	TGT_NAME	TARGET_ADD4_WB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.233,-0.005
_SM_DEPTHo	2.52	KALMAN_X	14557.6,-516.2,-62.4,20628.3,1072.1
_SM_ANGLEo	-65.7	KALMAN_Y	-24651.5,-343.5,-393.5,41919.5,-476.8
GPS2	180433,6703.069,-5648.974,14,1.8,14,-37.5	MHEAD_RNG_PITCHd_Wd	306.2,34170,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	535

FINISH	1.8,1.013593	TCM_TEMP	16.00
SM_CCo	14764,0.00,0.000,0,0,1366,338.27	XPDR_PINGS	49
SM_GC	2.62,6.93,0.00,0.00,0.052,0.000,0.000,335,2239,1366,-10.56,0.25,338.27	_24V_AH	23.0,33.046
RAFOS_CLK	580	_10V_AH	10.6,15.202
RAFOS	0,1223841852,20.083334,20.070000,60,58,57,56,55,52,203,187,144,221,121,175	DATA_FILE_SIZE	31565,918
RAFOS_FIX	6703.417480,-5658.791016,121008,000040,2,108,0.00	CAP_FILE_SIZE	118911,0
IRIDIUM_FIX	6636.54,-5655.33,060198,151537	CFSIZE	260165632,240140288
TT8_MAMPS	0.026845	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1801	SOUNDSPEED	1459.8
INTERNAL_PRESSURE	9.91249	GPS	121008,221238,6702.888,-5652.226,24,1.5,24,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	247	127.35	SBE_CT	638	24	352.36
Roll_motor	101	85	198.12	SBE_O2	0	0	0.00
VBD_pump_during_apogee	406	1171	10951.57	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	22	103	54.18	nil	0	0	0.00
Iridium_during_connect	49	160	183.34	nil	0	0	0.00
Iridium_during_xfer	95	223	490.60
Transponder_ping	12	420	118.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.33
TT8	1634	19	345.10
LPSleep	10890	2	266.66
TT8_Active	498	19	105.22
TT8_Sampling	1674	39	708.55
TT8_CF8	340	45	165.60
TT8_Kalman	33	81	28.97
Analog_circuits	1397	12	177.79
GPS_charging	0	0	0.00
Compass	1654	8	140.34
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
15	-1.00	-146.0	0.0	0.0	0	57	0.00	0.00	-39.67	0.000	2	0.000	0.000	336	2244	2618
59	-1.00	-146.0	3.0	-1.7	7	101	8.55	2.30	-24.90	0.000	4	0.248	0.085	2428	3595	3345
349	-0.65	-146.0	43.2	-14.8	58	356	0.30	2.20	0.00	0.000	6	0.143	0.050	2518	2214	3347
694	-0.65	-146.0	69.7	-7.0	119	700	0.00	2.22	0.00	0.000	4	0.000	0.060	2518	823	3349
840	-0.65	-146.0	81.3	-7.9	145	847	0.00	2.33	0.00	0.000	6	0.000	0.060	2510	2243	3349
1187	-0.65	-146.0	107.4	-6.7	193	1188	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2244	3349
1495	-0.65	-146.0	125.9	-5.9	208	1499	0.00	2.33	0.00	0.000	4	0.000	0.062	2510	812	3349
1565	-0.65	-146.0	130.2	-6.5	211	1569	0.00	2.33	0.00	0.000	6	0.000	0.061	2500	2246	3349
1891	-0.65	-146.0	151.8	-6.9	227	1892	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2246	3349
2200	-0.65	-146.0	173.2	-6.9	242	2201	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2246	3349
2509	-0.65	-146.0	193.9	-6.8	257	2513	0.00	2.30	0.00	0.000	4	0.000	0.062	2499	822	3348
2593	-0.65	-146.0	200.0	-7.5	260	2600	0.10	2.28	0.00	0.000	6	0.142	0.063	2517	2233	3348
2908	-0.77	-146.0	218.3	-5.3	276	2910	0.12	0.00	0.00	0.000	6	0.081	0.000	2464	2233	3348
3218	-0.68	-146.0	239.3	-6.7	291	3220	0.17	0.00	0.00	0.000	6	0.144	0.000	2513	2233	3348
3527	-0.81	-146.0	255.2	-5.0	306	3529	0.12	0.00	0.00	0.000	6	0.084	0.000	2460	2233	3348
3836	-0.72	-146.0	277.0	-7.1	321	3838	0.15	0.00	0.00	0.000	6	0.147	0.000	2502	2233	3347
4147	-0.80	-146.0	293.9	-5.4	336	4149	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2233	3347
4455	-0.88	-146.0	311.5	-5.7	351	4457	0.15	0.00	0.00	0.000	6	0.080	0.000	2438	2233	3347
4764	-0.73	-146.0	335.6	-7.8	366	4766	0.22	0.00	0.00	0.000	6	0.144	0.000	2504	2233	3347
5075	-0.83	-146.0	350.7	-5.0	381	5077	0.12	0.00	0.00	0.000	6	0.085	0.000	2451	2233	3347
5383	-0.73	-146.0	372.1	-7.0	396	5387	0.17	2.30	0.00	0.000	4	0.145	0.061	2501	813	3347
5455	-0.77	-146.0	376.4	-6.0	399	5459	0.00	2.30	0.00	0.000	6	0.000	0.061	2493	2241	3347
5775	-0.83	-146.0	393.8	-5.4	415	5779	0.00	2.17	0.00	0.000	4	0.000	0.074	2482	3603	3347
5866	-0.89	-146.0	399.3	-6.2	419	5870	0.00	2.15	0.00	0.000	6	0.000	0.050	2482	2220	3347
6213	-0.89	-146.0	420.0	-6.1	428	6214	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2220	3347
6538	-0.89	-146.0	439.6	-5.8	436	6542	0.00	2.22	0.00	0.000	4	0.000	0.062	2482	823	3347
6610	-0.89	-146.0	444.2	-6.3	437	6614	0.00	2.30	0.00	0.000	6	0.000	0.061	2472	2239	3347
6952	-0.89	-146.0	464.6	-5.9	446	6956	0.00	2.20	0.00	0.000	4	0.000	0.072	2461	3606	3347
7047	-0.89	-146.0	470.5	-6.2	448	7051	0.00	2.17	0.00	0.000	6	0.000	0.049	2461	2215	3347
7371	-0.89	-146.0	490.2	-6.1	456	7375	0.00	2.20	0.00	0.000	4	0.000	0.061	2462	823	3347
7444	-0.80	-146.0	494.8	-6.4	457	7448	0.12	2.28	0.00	0.000	6	0.136	0.059	2486	2237	3347
7786	-0.86	-146.0	511.9	-4.8	466	7790	0.00	2.20	0.00	0.000	4	0.000	0.071	2478	3602	3347
7847	-0.91	-146.0	515.3	-5.6	467	7851	0.00	2.15	0.00	0.000	6	0.000	0.047	2478	2225	3347
8160	-0.91	-146.0	531.4	-5.1	475	8164	0.00	2.22	0.00	0.000	4	0.000	0.061	2478	817	3348
8344	end dive: NO_VERTICAL_VELOCITY
state	8344	begin apogee
8350	-0.31	0.0	533.6	0.0	479	8474	0.32	0.00	120.60	1.171	6	0.100	0.000	2588	1744	2745
8474	end apogee: CONTROL_FINISHED_OK
state	8475	begin climb
8477	1.00	146.0	533.3	0.0	482	8609	0.88	2.60	123.10	1.104	4	0.098	0.062	2875	3167	2147
8659	0.65	146.0	515.1	12.9	486	8664	0.32	2.47	0.00	0.000	6	0.133	0.048	2796	1740	2143
9007	0.72	160.0	490.9	6.6	495	9021	0.00	0.00	12.25	1.006	6	0.000	0.000	2797	1739	2092
9332	0.81	175.3	469.3	6.5	503	9352	0.12	2.40	13.95	1.027	4	0.076	0.063	2853	3151	2030
9362	0.63	175.3	466.3	8.9	503	9367	0.25	2.35	0.00	0.000	6	0.130	0.049	2791	1728	2028
9699	0.79	203.5	444.7	6.1	512	9726	0.12	0.00	24.90	1.069	6	0.074	0.000	2849	1728	1915
10024	0.68	203.5	413.1	10.0	520	10026	0.17	0.00	0.00	0.000	6	0.120	0.000	2797	1728	1910
10330	0.83	225.6	393.2	6.3	530	10356	0.15	2.42	18.77	1.034	4	0.071	0.063	2862	3146	1825
10374	0.62	225.6	389.0	11.0	532	10378	0.28	2.33	0.00	0.000	6	0.130	0.050	2791	1728	1822
10701	0.86	265.2	368.6	5.7	548	10740	0.17	0.00	34.65	1.043	6	0.064	0.000	2867	1727	1663
11049	0.74	265.2	329.3	11.5	565	11054	0.17	2.33	0.00	0.000	4	0.118	0.064	2823	327	1655
11059	0.66	265.2	328.0	11.3	565	11066	0.10	2.33	0.00	0.000	6	0.123	0.050	2795	1749	1655
11375	1.32	265.2	301.5	11.1	581	11380	0.43	2.30	0.00	0.000	4	0.093	0.064	2938	3155	1652
11409	1.32	265.2	297.7	11.3	582	11415	0.00	2.30	0.00	0.000	6	0.000	0.051	2947	1737	1652
11724	0.95	265.2	244.3	17.2	598	11728	0.28	2.33	0.00	0.000	4	0.139	0.064	2869	326	1652
11778	0.95	265.2	237.1	11.3	600	11785	0.00	2.30	0.00	0.000	6	0.000	0.052	2869	1742	1652
12095	0.86	265.2	203.3	10.7	616	12099	0.12	2.25	0.00	0.000	4	0.134	0.064	2833	3157	1652
12104	0.78	265.2	202.1	10.9	616	12111	0.00	2.25	0.00	0.000	6	0.000	0.051	2840	1734	1651
12419	0.78	265.2	174.6	8.6	632	12423	0.00	2.30	0.00	0.000	4	0.000	0.065	2850	324	1650
12447	0.85	265.2	172.1	8.9	633	12451	0.00	2.30	0.00	0.000	6	0.000	0.052	2850	1748	1650
12772	0.85	265.2	143.7	8.8	649	12773	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	1748	1650
13082	0.85	265.2	117.3	8.3	664	13083	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	1748	1650
13399	0.93	265.2	92.0	7.2	691	13404	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	1748	1650
13743	1.05	270.0	67.4	6.9	752	13750	0.12	2.30	0.00	0.000	4	0.077	0.067	2909	3158	1649
13784	0.92	270.0	63.1	10.6	759	13791	0.22	2.30	0.00	0.000	6	0.133	0.054	2852	1730	1649
14129	1.18	326.2	40.0	5.2	820	14187	0.20	2.45	49.88	0.897	4	0.066	0.067	2943	3149	1414
14193	1.02	326.2	34.5	9.5	831	14200	0.28	2.35	0.00	0.000	6	0.129	0.053	2872	1733	1411
14538	1.22	336.6	14.5	6.7	892	14552	0.17	2.40	8.45	0.790	4	0.067	0.067	2958	327	1372
14586	1.14	336.6	9.2	12.0	900	14593	0.20	2.35	0.00	0.000	6	0.129	0.055	2900	1746	1370
14653	end climb: SURFACE_DEPTH_REACHED
state	14653	begin surface coast
14688	end surface coast: CONTROL_FINISHED_OK
state	14688	begin surface