Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 213 * 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 213 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 23 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 900 T_GPS_CHARGE -114801.07 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 -114801.07

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 23 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 213 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 031708,6638.817,-6013.730,31,1.3,31,-37.9 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 -0.176,0.154

_SM_DEPTHo 2.49 KALMAN_X 59628.7,169.1,-79.8,-173817.0,787.1

_SM_ANGLEo -66.6 KALMAN_Y -89639.9,-637.2,-1070.8,62757.5,-1812.5

GPS2 032139,6638.708,-6013.644,10,1.3,10,-37.9 MHEAD_RNG_PITCHd_Wd 349.1,22352,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 539

Post-dive calculations and measurements:

FINISH 1.8,1.013041 TCM_TEMP 15.10

SM_CCo 14154,0.00,0.000,0,0,1578,286.27 XPDR_PINGS 61

SM_GC 2.51,7.07,0.00,0.00,0.060,0.000,0.000,338,2235,1578,-10.57,0.14,286.27 _24V_AH 22.7,39.381

RAFOS_CLK 601 _10V_AH 10.6,18.165

RAFOS 0,1224734642,4.083333,4.067222,82,67,60,59,52,51,588,211,190,154,121,165 DATA_FILE_SIZE 28410,864

RAFOS_FIX 6620.255371,-5855.395996,231008,040404,4,75,17.74 CAP_FILE_SIZE 128489,0

IRIDIUM_FIX 6614.97,-6013.96,160198,232319 CFSIZE 260165632,237322240

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

HUMID 1807 SOUNDSPEED 1448.6

INTERNAL_PRESSURE 9.86366 GPS 231008,072049,6638.745,-6016.521,41,1.5,51,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 252 147.36 SBE_CT 604 24 329.25

Roll_motor 140 98 312.34 SBE_O2 0 0 0.00

VBD_pump_during_apogee 365 1214 10071.11 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 53.67 nil 0 0 0.00

Iridium_during_connect 32 160 119.81 nil 0 0 0.00

Iridium_during_xfer 104 223 527.52

Transponder_ping 15 420 145.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.15

TT8 1697 19 358.43

LPSleep 10116 2 247.72

TT8_Active 489 19 103.37

TT8_Sampling 1808 39 765.18

TT8_CF8 360 45 175.64

TT8_Kalman 33 81 28.98

Analog_circuits 1465 12 186.42

GPS_charging 0 0 0.00

Compass 1778 8 150.81

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.00 -146.0 0.0 0.0 0 69 0.00 0.00 -51.92 0.000 2 0.000 0.000 334 2238 2543

72 -1.00 -146.0 3.2 -1.6 9 116 8.62 2.33 -29.90 0.000 4 0.252 0.095 2427 3605 3342

296 -0.61 -146.0 36.0 -15.1 48 303 0.32 2.22 0.00 0.000 6 0.153 0.057 2527 2218 3346

641 -0.66 -146.0 64.6 -7.6 109 646 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2218 3348

984 -0.73 -146.0 88.1 -6.9 170 990 0.12 0.00 0.00 0.000 6 0.090 0.000 2477 2218 3348

1328 -0.62 -146.0 119.1 -8.9 204 1333 0.17 2.33 0.00 0.000 4 0.150 0.086 2517 3602 3348

1405 -0.70 -146.0 125.1 -7.9 207 1412 0.00 2.20 0.00 0.000 6 0.000 0.056 2517 2217 3348

1722 -0.76 -146.0 145.0 -5.8 223 1726 0.10 2.25 0.00 0.000 4 0.095 0.070 2475 815 3348

1816 -0.61 -146.0 152.3 -8.1 227 1821 0.20 2.35 0.00 0.000 6 0.144 0.069 2522 2240 3347

2137 -0.70 -146.0 170.0 -5.7 243 2141 0.00 2.22 0.00 0.000 4 0.000 0.098 2513 3603 3347

2192 -0.81 -146.0 173.8 -7.0 245 2197 0.12 2.20 0.00 0.000 6 0.089 0.058 2462 2217 3347

2513 -0.67 -146.0 204.1 -9.4 261 2518 0.17 2.25 0.00 0.000 4 0.145 0.071 2513 817 3347

2624 -0.67 -146.0 212.6 -7.1 266 2628 0.00 2.35 0.00 0.000 6 0.000 0.070 2506 2244 3347

2951 -0.73 -146.0 232.5 -6.0 282 2955 0.00 2.22 0.00 0.000 4 0.000 0.094 2495 3595 3347

3037 -0.79 -146.0 238.7 -7.4 285 3043 0.00 2.17 0.00 0.000 6 0.000 0.058 2495 2223 3346

3352 -0.79 -146.0 258.8 -5.9 301 3355 0.00 2.25 0.00 0.000 4 0.000 0.072 2495 823 3346

3452 -0.79 -146.0 265.5 -6.7 305 3456 0.00 2.33 0.00 0.000 6 0.000 0.071 2487 2234 3347

3767 -0.79 -146.0 287.4 -6.9 320 3771 0.00 2.25 0.00 0.000 4 0.000 0.084 2477 3605 3346

3862 -0.79 -146.0 294.2 -6.9 324 3866 0.00 2.20 0.00 0.000 6 0.000 0.058 2477 2216 3347

4189 -0.79 -146.0 315.4 -6.8 340 4193 0.00 2.25 0.00 0.000 4 0.000 0.071 2477 809 3346

4312 -0.72 -146.0 324.8 -7.3 345 4317 0.12 2.35 0.00 0.000 6 0.140 0.070 2500 2240 3346

4628 -0.80 -146.0 343.9 -5.9 360 4630 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2240 3346

4937 -0.89 -146.0 361.6 -5.7 375 4942 0.12 2.33 0.00 0.000 4 0.087 0.069 2450 816 3347

5014 -0.74 -146.0 367.8 -8.6 378 5021 0.20 2.33 0.00 0.000 6 0.145 0.070 2496 2232 3347

5331 -0.81 -146.0 386.4 -5.8 394 5332 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2232 3347

5659 -0.89 -146.0 405.8 -5.8 408 5664 0.12 2.33 0.00 0.000 4 0.087 0.067 2446 817 3346

5782 -0.74 -146.0 415.2 -7.7 410 5789 0.22 2.35 0.00 0.000 6 0.141 0.067 2501 2233 3346

6113 -0.84 -146.0 432.3 -5.1 419 6115 0.12 0.00 0.00 0.000 6 0.088 0.000 2451 2233 3347

6438 -0.75 -146.0 454.2 -6.8 427 6443 0.17 2.25 0.00 0.000 4 0.151 0.079 2491 3597 3348

6505 -0.85 -146.0 458.5 -6.4 428 6510 0.00 2.17 0.00 0.000 6 0.000 0.054 2491 2222 3348

6853 -0.91 -146.0 478.7 -6.0 437 6858 0.12 2.28 0.00 0.000 4 0.087 0.067 2439 813 3348

6993 -0.74 -146.0 490.5 -9.1 440 6998 0.22 2.38 0.00 0.000 6 0.141 0.066 2494 2235 3348

7312 -0.81 -146.0 504.4 -3.9 448 7316 0.00 2.25 0.00 0.000 4 0.000 0.079 2487 3600 3348

7396 -0.88 -146.0 509.2 -5.1 449 7402 0.00 2.17 0.00 0.000 6 0.000 0.054 2487 2223 3349

7728 -0.96 -146.0 527.1 -5.1 458 7732 0.12 2.25 0.00 0.000 4 0.087 0.066 2434 819 3348

7839 -0.77 -146.0 535.4 -7.7 460 7843 0.22 2.30 0.00 0.000 6 0.142 0.066 2489 2232 3348

7940 end dive: TARGET_DEPTH_EXCEEDED

state 7940 begin apogee

7946 -0.31 0.0 541.2 5.4 463 8072 0.32 0.00 123.22 1.215 6 0.126 0.000 2593 1736 2745

8073 end apogee: CONTROL_FINISHED_OK

state 8073 begin climb

8075 1.00 146.0 543.6 0.0 466 8209 0.88 2.62 126.53 1.141 4 0.104 0.071 2884 324 2148

8244 0.76 146.0 530.6 10.2 470 8249 0.25 2.53 0.00 0.000 6 0.132 0.056 2818 1739 2145

8562 0.76 146.0 507.6 7.3 478 8565 0.00 2.40 0.00 0.000 4 0.000 0.071 2818 3160 2141

8589 0.69 146.0 505.7 7.2 478 8593 0.00 2.40 0.00 0.000 6 0.000 0.056 2825 1727 2141

8931 0.69 146.0 480.3 7.8 487 8935 0.00 2.42 0.00 0.000 4 0.000 0.071 2826 3158 2140

8970 0.54 146.0 477.0 8.2 487 8977 0.22 2.33 0.00 0.000 6 0.133 0.056 2773 1736 2140

9301 0.92 167.6 457.8 6.3 496 9326 0.25 2.42 17.88 1.108 4 0.072 0.071 2871 3150 2061

9354 0.66 167.6 453.2 9.9 497 9359 0.30 2.30 0.00 0.000 6 0.143 0.056 2796 1739 2059

9667 0.86 215.2 435.2 5.5 505 9714 0.17 2.42 41.17 1.127 4 0.067 0.071 2869 3162 1866

9831 0.59 215.2 416.9 12.5 508 9838 0.32 2.33 0.00 0.000 6 0.136 0.058 2785 1740 1859

10143 1.27 215.2 392.5 9.0 518 10148 0.43 2.30 0.00 0.000 4 0.100 0.070 2931 331 1856

10170 1.49 215.2 389.7 10.4 519 10174 0.17 2.33 0.00 0.000 6 0.077 0.058 2999 1753 1857

10496 0.87 215.2 322.7 21.3 535 10501 0.50 2.28 0.00 0.000 4 0.157 0.071 2848 3155 1857

10536 0.71 215.2 316.7 12.4 537 10541 0.17 2.28 0.00 0.000 6 0.129 0.058 2806 1737 1855

10868 1.07 234.9 295.5 6.4 553 10891 0.22 2.35 15.75 1.024 4 0.081 0.071 2892 3150 1786

10930 0.88 234.9 289.9 9.1 555 10937 0.20 2.28 0.00 0.000 6 0.141 0.057 2848 1736 1784

11245 0.88 234.9 266.0 7.3 571 11249 0.00 2.30 0.00 0.000 4 0.000 0.071 2855 333 1783

11267 0.88 234.9 264.4 7.6 572 11271 0.00 2.30 0.00 0.000 6 0.000 0.058 2855 1746 1783

11598 0.88 234.9 239.9 7.2 588 11602 0.00 2.28 0.00 0.000 4 0.000 0.072 2855 3152 1782

11643 0.77 234.9 236.2 8.8 590 11647 0.15 2.28 0.00 0.000 6 0.131 0.057 2821 1726 1781

11975 1.00 281.8 217.3 5.5 606 12022 0.17 2.42 40.62 1.028 4 0.069 0.072 2895 3163 1596

12044 0.82 281.8 210.9 11.3 609 12049 0.25 2.35 0.00 0.000 6 0.134 0.058 2834 1729 1592

12365 1.44 281.8 188.8 7.9 625 12370 0.40 2.30 0.00 0.000 4 0.097 0.071 2973 332 1586

12386 1.80 281.8 186.7 9.1 626 12391 0.25 2.33 0.00 0.000 6 0.067 0.058 3070 1753 1586

12713 1.11 281.8 112.6 23.0 642 12715 0.60 0.00 0.00 0.000 6 0.163 0.000 2897 1753 1585

13038 1.11 281.8 83.5 8.4 681 13044 0.00 2.40 0.00 0.000 4 0.000 0.074 2904 323 1583

13068 1.11 281.8 80.9 8.3 686 13075 0.00 2.33 0.00 0.000 6 0.000 0.061 2904 1741 1583

13411 1.11 281.8 54.1 7.4 747 13418 0.00 2.30 0.00 0.000 4 0.000 0.076 2904 3156 1582

13452 1.01 281.8 50.8 8.3 754 13459 0.15 2.28 0.00 0.000 6 0.138 0.061 2871 1737 1582

13796 1.57 281.8 28.0 7.9 815 13803 0.38 2.33 0.00 0.000 4 0.094 0.074 3002 327 1580

13929 1.32 281.8 13.2 12.0 838 13937 0.22 2.33 0.00 0.000 6 0.150 0.065 2939 1745 1580

14036 end climb: SURFACE_DEPTH_REACHED

state 14036 begin surface coast

14077 end surface coast: CONTROL_FINISHED_OK

state 14078 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	213	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	23	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	900	T_GPS_CHARGE	-114801.07	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	031708,6638.817,-6013.730,31,1.3,31,-37.9	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	-0.176,0.154
_SM_DEPTHo	2.49	KALMAN_X	59628.7,169.1,-79.8,-173817.0,787.1
_SM_ANGLEo	-66.6	KALMAN_Y	-89639.9,-637.2,-1070.8,62757.5,-1812.5
GPS2	032139,6638.708,-6013.644,10,1.3,10,-37.9	MHEAD_RNG_PITCHd_Wd	349.1,22352,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	539

FINISH	1.8,1.013041	TCM_TEMP	15.10
SM_CCo	14154,0.00,0.000,0,0,1578,286.27	XPDR_PINGS	61
SM_GC	2.51,7.07,0.00,0.00,0.060,0.000,0.000,338,2235,1578,-10.57,0.14,286.27	_24V_AH	22.7,39.381
RAFOS_CLK	601	_10V_AH	10.6,18.165
RAFOS	0,1224734642,4.083333,4.067222,82,67,60,59,52,51,588,211,190,154,121,165	DATA_FILE_SIZE	28410,864
RAFOS_FIX	6620.255371,-5855.395996,231008,040404,4,75,17.74	CAP_FILE_SIZE	128489,0
IRIDIUM_FIX	6614.97,-6013.96,160198,232319	CFSIZE	260165632,237322240
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1807	SOUNDSPEED	1448.6
INTERNAL_PRESSURE	9.86366	GPS	231008,072049,6638.745,-6016.521,41,1.5,51,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	252	147.36	SBE_CT	604	24	329.25
Roll_motor	140	98	312.34	SBE_O2	0	0	0.00
VBD_pump_during_apogee	365	1214	10071.11	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	53.67	nil	0	0	0.00
Iridium_during_connect	32	160	119.81	nil	0	0	0.00
Iridium_during_xfer	104	223	527.52
Transponder_ping	15	420	145.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.15
TT8	1697	19	358.43
LPSleep	10116	2	247.72
TT8_Active	489	19	103.37
TT8_Sampling	1808	39	765.18
TT8_CF8	360	45	175.64
TT8_Kalman	33	81	28.98
Analog_circuits	1465	12	186.42
GPS_charging	0	0	0.00
Compass	1778	8	150.81
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.00	-146.0	0.0	0.0	0	69	0.00	0.00	-51.92	0.000	2	0.000	0.000	334	2238	2543
72	-1.00	-146.0	3.2	-1.6	9	116	8.62	2.33	-29.90	0.000	4	0.252	0.095	2427	3605	3342
296	-0.61	-146.0	36.0	-15.1	48	303	0.32	2.22	0.00	0.000	6	0.153	0.057	2527	2218	3346
641	-0.66	-146.0	64.6	-7.6	109	646	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2218	3348
984	-0.73	-146.0	88.1	-6.9	170	990	0.12	0.00	0.00	0.000	6	0.090	0.000	2477	2218	3348
1328	-0.62	-146.0	119.1	-8.9	204	1333	0.17	2.33	0.00	0.000	4	0.150	0.086	2517	3602	3348
1405	-0.70	-146.0	125.1	-7.9	207	1412	0.00	2.20	0.00	0.000	6	0.000	0.056	2517	2217	3348
1722	-0.76	-146.0	145.0	-5.8	223	1726	0.10	2.25	0.00	0.000	4	0.095	0.070	2475	815	3348
1816	-0.61	-146.0	152.3	-8.1	227	1821	0.20	2.35	0.00	0.000	6	0.144	0.069	2522	2240	3347
2137	-0.70	-146.0	170.0	-5.7	243	2141	0.00	2.22	0.00	0.000	4	0.000	0.098	2513	3603	3347
2192	-0.81	-146.0	173.8	-7.0	245	2197	0.12	2.20	0.00	0.000	6	0.089	0.058	2462	2217	3347
2513	-0.67	-146.0	204.1	-9.4	261	2518	0.17	2.25	0.00	0.000	4	0.145	0.071	2513	817	3347
2624	-0.67	-146.0	212.6	-7.1	266	2628	0.00	2.35	0.00	0.000	6	0.000	0.070	2506	2244	3347
2951	-0.73	-146.0	232.5	-6.0	282	2955	0.00	2.22	0.00	0.000	4	0.000	0.094	2495	3595	3347
3037	-0.79	-146.0	238.7	-7.4	285	3043	0.00	2.17	0.00	0.000	6	0.000	0.058	2495	2223	3346
3352	-0.79	-146.0	258.8	-5.9	301	3355	0.00	2.25	0.00	0.000	4	0.000	0.072	2495	823	3346
3452	-0.79	-146.0	265.5	-6.7	305	3456	0.00	2.33	0.00	0.000	6	0.000	0.071	2487	2234	3347
3767	-0.79	-146.0	287.4	-6.9	320	3771	0.00	2.25	0.00	0.000	4	0.000	0.084	2477	3605	3346
3862	-0.79	-146.0	294.2	-6.9	324	3866	0.00	2.20	0.00	0.000	6	0.000	0.058	2477	2216	3347
4189	-0.79	-146.0	315.4	-6.8	340	4193	0.00	2.25	0.00	0.000	4	0.000	0.071	2477	809	3346
4312	-0.72	-146.0	324.8	-7.3	345	4317	0.12	2.35	0.00	0.000	6	0.140	0.070	2500	2240	3346
4628	-0.80	-146.0	343.9	-5.9	360	4630	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2240	3346
4937	-0.89	-146.0	361.6	-5.7	375	4942	0.12	2.33	0.00	0.000	4	0.087	0.069	2450	816	3347
5014	-0.74	-146.0	367.8	-8.6	378	5021	0.20	2.33	0.00	0.000	6	0.145	0.070	2496	2232	3347
5331	-0.81	-146.0	386.4	-5.8	394	5332	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2232	3347
5659	-0.89	-146.0	405.8	-5.8	408	5664	0.12	2.33	0.00	0.000	4	0.087	0.067	2446	817	3346
5782	-0.74	-146.0	415.2	-7.7	410	5789	0.22	2.35	0.00	0.000	6	0.141	0.067	2501	2233	3346
6113	-0.84	-146.0	432.3	-5.1	419	6115	0.12	0.00	0.00	0.000	6	0.088	0.000	2451	2233	3347
6438	-0.75	-146.0	454.2	-6.8	427	6443	0.17	2.25	0.00	0.000	4	0.151	0.079	2491	3597	3348
6505	-0.85	-146.0	458.5	-6.4	428	6510	0.00	2.17	0.00	0.000	6	0.000	0.054	2491	2222	3348
6853	-0.91	-146.0	478.7	-6.0	437	6858	0.12	2.28	0.00	0.000	4	0.087	0.067	2439	813	3348
6993	-0.74	-146.0	490.5	-9.1	440	6998	0.22	2.38	0.00	0.000	6	0.141	0.066	2494	2235	3348
7312	-0.81	-146.0	504.4	-3.9	448	7316	0.00	2.25	0.00	0.000	4	0.000	0.079	2487	3600	3348
7396	-0.88	-146.0	509.2	-5.1	449	7402	0.00	2.17	0.00	0.000	6	0.000	0.054	2487	2223	3349
7728	-0.96	-146.0	527.1	-5.1	458	7732	0.12	2.25	0.00	0.000	4	0.087	0.066	2434	819	3348
7839	-0.77	-146.0	535.4	-7.7	460	7843	0.22	2.30	0.00	0.000	6	0.142	0.066	2489	2232	3348
7940	end dive: TARGET_DEPTH_EXCEEDED
state	7940	begin apogee
7946	-0.31	0.0	541.2	5.4	463	8072	0.32	0.00	123.22	1.215	6	0.126	0.000	2593	1736	2745
8073	end apogee: CONTROL_FINISHED_OK
state	8073	begin climb
8075	1.00	146.0	543.6	0.0	466	8209	0.88	2.62	126.53	1.141	4	0.104	0.071	2884	324	2148
8244	0.76	146.0	530.6	10.2	470	8249	0.25	2.53	0.00	0.000	6	0.132	0.056	2818	1739	2145
8562	0.76	146.0	507.6	7.3	478	8565	0.00	2.40	0.00	0.000	4	0.000	0.071	2818	3160	2141
8589	0.69	146.0	505.7	7.2	478	8593	0.00	2.40	0.00	0.000	6	0.000	0.056	2825	1727	2141
8931	0.69	146.0	480.3	7.8	487	8935	0.00	2.42	0.00	0.000	4	0.000	0.071	2826	3158	2140
8970	0.54	146.0	477.0	8.2	487	8977	0.22	2.33	0.00	0.000	6	0.133	0.056	2773	1736	2140
9301	0.92	167.6	457.8	6.3	496	9326	0.25	2.42	17.88	1.108	4	0.072	0.071	2871	3150	2061
9354	0.66	167.6	453.2	9.9	497	9359	0.30	2.30	0.00	0.000	6	0.143	0.056	2796	1739	2059
9667	0.86	215.2	435.2	5.5	505	9714	0.17	2.42	41.17	1.127	4	0.067	0.071	2869	3162	1866
9831	0.59	215.2	416.9	12.5	508	9838	0.32	2.33	0.00	0.000	6	0.136	0.058	2785	1740	1859
10143	1.27	215.2	392.5	9.0	518	10148	0.43	2.30	0.00	0.000	4	0.100	0.070	2931	331	1856
10170	1.49	215.2	389.7	10.4	519	10174	0.17	2.33	0.00	0.000	6	0.077	0.058	2999	1753	1857
10496	0.87	215.2	322.7	21.3	535	10501	0.50	2.28	0.00	0.000	4	0.157	0.071	2848	3155	1857
10536	0.71	215.2	316.7	12.4	537	10541	0.17	2.28	0.00	0.000	6	0.129	0.058	2806	1737	1855
10868	1.07	234.9	295.5	6.4	553	10891	0.22	2.35	15.75	1.024	4	0.081	0.071	2892	3150	1786
10930	0.88	234.9	289.9	9.1	555	10937	0.20	2.28	0.00	0.000	6	0.141	0.057	2848	1736	1784
11245	0.88	234.9	266.0	7.3	571	11249	0.00	2.30	0.00	0.000	4	0.000	0.071	2855	333	1783
11267	0.88	234.9	264.4	7.6	572	11271	0.00	2.30	0.00	0.000	6	0.000	0.058	2855	1746	1783
11598	0.88	234.9	239.9	7.2	588	11602	0.00	2.28	0.00	0.000	4	0.000	0.072	2855	3152	1782
11643	0.77	234.9	236.2	8.8	590	11647	0.15	2.28	0.00	0.000	6	0.131	0.057	2821	1726	1781
11975	1.00	281.8	217.3	5.5	606	12022	0.17	2.42	40.62	1.028	4	0.069	0.072	2895	3163	1596
12044	0.82	281.8	210.9	11.3	609	12049	0.25	2.35	0.00	0.000	6	0.134	0.058	2834	1729	1592
12365	1.44	281.8	188.8	7.9	625	12370	0.40	2.30	0.00	0.000	4	0.097	0.071	2973	332	1586
12386	1.80	281.8	186.7	9.1	626	12391	0.25	2.33	0.00	0.000	6	0.067	0.058	3070	1753	1586
12713	1.11	281.8	112.6	23.0	642	12715	0.60	0.00	0.00	0.000	6	0.163	0.000	2897	1753	1585
13038	1.11	281.8	83.5	8.4	681	13044	0.00	2.40	0.00	0.000	4	0.000	0.074	2904	323	1583
13068	1.11	281.8	80.9	8.3	686	13075	0.00	2.33	0.00	0.000	6	0.000	0.061	2904	1741	1583
13411	1.11	281.8	54.1	7.4	747	13418	0.00	2.30	0.00	0.000	4	0.000	0.076	2904	3156	1582
13452	1.01	281.8	50.8	8.3	754	13459	0.15	2.28	0.00	0.000	6	0.138	0.061	2871	1737	1582
13796	1.57	281.8	28.0	7.9	815	13803	0.38	2.33	0.00	0.000	4	0.094	0.074	3002	327	1580
13929	1.32	281.8	13.2	12.0	838	13937	0.22	2.33	0.00	0.000	6	0.150	0.065	2939	1745	1580
14036	end climb: SURFACE_DEPTH_REACHED
state	14036	begin surface coast
14077	end surface coast: CONTROL_FINISHED_OK
state	14078	begin surface