Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 221 * 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 221 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 31 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 900 T_GPS_CHARGE -26075.789 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 900 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 -26075.789

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 31 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 221 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 175108,6639.172,-6021.154,26,1.3,26,-37.9 TGT_NAME TARGET_ADD1_EB

_CALLS 1 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.183,0.129

_SM_DEPTHo 1.53 KALMAN_X 16484.4,-122.6,305.5,-144863.7,-686.5

_SM_ANGLEo -64.1 KALMAN_Y -23116.0,1437.4,-1591.6,-5972.5,-281.9

GPS2 175629,6639.084,-6021.068,9,2.3,28,-37.9 MHEAD_RNG_PITCHd_Wd 92.7,23449,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 526

Post-dive calculations and measurements:

FINISH 0.6,1.011441 TCM_TEMP 15.10

SM_CCo 14527,0.00,0.000,0,0,1230,291.91 XPDR_PINGS 0

SM_GC 1.48,7.22,0.00,0.00,0.071,0.000,0.000,156,2347,1230,-10.40,0.17,291.91 _24V_AH 21.2,43.999

RAFOS_CLK 834 _10V_AH 10.5,18.535

RAFOS 0,1224878667,20.083334,20.074167,75,65,61,57,55,54,435,235,162,213,128,144 DATA_FILE_SIZE 31641,906

RAFOS_FIX 6640.699707,-6008.913574,241008,202006,3,89,1.07 CAP_FILE_SIZE 114952,0

IRIDIUM_FIX 6609.62,-6019.34,180198,141436 CFSIZE 260165632,234463232

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1906 SOUNDSPEED 1447.0

INTERNAL_PRESSURE 8.49642 GPS 241008,220102,6640.122,-6017.058,36,2.0,36,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 271 120.59 SBE_CT 705 24 359.08

Roll_motor 105 78 174.60 SBE_O2 617 19 248.80

VBD_pump_during_apogee 391 1235 10243.75 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 30 103 65.98 nil 0 0 0.00

Iridium_during_connect 29 160 99.69 nil 0 0 0.00

Iridium_during_xfer 128 223 608.68

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.28

TT8 1594 19 333.56

LPSleep 10655 2 258.46

TT8_Active 574 19 120.15

TT8_Sampling 1653 39 692.95

TT8_CF8 381 45 184.11

TT8_Kalman 33 81 28.70

Analog_circuits 1448 12 182.54

GPS_charging 0 0 0.00

Compass 1608 8 135.15

RAFOS 1800 1 28.35

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 -1.08 -146.0 0.0 0.0 0 142 0.00 0.00 -124.07 0.000 2 0.000 0.000 156 2331 2798

145 -1.08 -146.0 3.1 -2.3 22 170 8.98 2.33 -7.65 0.000 4 0.272 0.074 2198 936 3019

307 -0.59 -146.0 36.0 -18.5 50 314 0.38 2.30 0.00 0.000 6 0.183 0.058 2302 2353 3022

652 -0.59 -146.0 67.8 -8.4 111 658 0.00 2.30 0.00 0.000 4 0.000 0.059 2302 926 3023

827 -0.59 -146.0 82.0 -7.5 142 833 0.00 2.28 0.00 0.000 6 0.000 0.056 2302 2343 3023

1174 -0.65 -146.0 105.5 -6.6 193 1178 0.00 2.30 0.00 0.000 4 0.000 0.071 2302 3746 3023

1213 -0.75 -146.0 108.3 -7.0 194 1220 0.12 2.20 0.00 0.000 6 0.103 0.043 2258 2336 3023

1529 -0.68 -146.0 136.9 -9.7 210 1534 0.12 2.35 0.00 0.000 4 0.167 0.071 2289 3750 3023

1573 -0.75 -146.0 140.8 -9.0 212 1576 0.00 2.20 0.00 0.000 6 0.000 0.044 2289 2335 3023

1899 -0.80 -146.0 167.6 -8.2 228 1904 0.10 2.22 0.00 0.000 4 0.119 0.058 2249 936 3023

1961 -0.69 -146.0 173.6 -10.2 231 1966 0.15 2.25 0.00 0.000 6 0.176 0.056 2287 2351 3023

2293 -0.76 -146.0 198.0 -6.7 247 2294 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 2350 3023

2603 -0.84 -146.0 218.0 -6.5 262 2608 0.12 2.30 0.00 0.000 4 0.110 0.059 2244 929 3022

2680 -0.74 -146.0 224.5 -8.5 265 2687 0.12 2.28 0.00 0.000 6 0.179 0.057 2274 2343 3022

2996 -0.78 -146.0 246.1 -6.9 281 3000 0.00 2.33 0.00 0.000 4 0.000 0.074 2274 3749 3022

3036 -0.87 -146.0 248.8 -7.0 282 3042 0.12 2.22 0.00 0.000 6 0.110 0.045 2231 2327 3022

3351 -0.79 -146.0 274.4 -8.0 298 3353 0.12 0.00 0.00 0.000 6 0.167 0.000 2263 2327 3022

3661 -0.79 -146.0 293.6 -6.0 313 3662 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2327 3022

3969 -0.79 -146.0 312.0 -5.9 328 3973 0.00 2.22 0.00 0.000 4 0.000 0.061 2263 931 3021

4030 -0.79 -146.0 316.0 -6.1 330 4037 0.00 2.28 0.00 0.000 6 0.000 0.055 2263 2352 3021

4347 -0.85 -146.0 334.2 -5.6 346 4351 0.00 2.30 0.00 0.000 4 0.000 0.072 2263 3749 3021

4370 -0.93 -146.0 335.5 -5.5 347 4374 0.12 2.20 0.00 0.000 6 0.104 0.044 2221 2339 3021

4702 -0.86 -146.0 358.6 -6.7 363 4707 0.12 2.35 0.00 0.000 4 0.164 0.071 2254 3754 3021

4724 -0.86 -146.0 360.1 -6.3 364 4728 0.00 2.22 0.00 0.000 6 0.000 0.044 2254 2330 3021

5050 -0.86 -146.0 379.0 -6.0 380 5054 0.00 2.38 0.00 0.000 4 0.000 0.073 2254 3755 3021

5146 -0.94 -146.0 385.2 -6.6 384 5149 0.00 2.22 0.00 0.000 6 0.000 0.044 2254 2330 3020

5472 -0.99 -146.0 405.5 -6.3 398 5474 0.12 0.00 0.00 0.000 6 0.104 0.000 2210 2330 3021

5796 -0.90 -146.0 431.4 -7.9 406 5798 0.12 0.00 0.00 0.000 6 0.161 0.000 2242 2330 3021

6121 -0.90 -146.0 453.3 -6.7 414 6124 0.00 2.38 0.00 0.000 4 0.000 0.071 2242 3757 3022

6160 -0.96 -146.0 456.0 -6.9 414 6166 0.00 2.22 0.00 0.000 6 0.000 0.043 2243 2330 3023

6491 -0.96 -146.0 476.5 -6.1 423 6492 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2330 3022

6816 -1.01 -146.0 497.2 -6.4 431 6821 0.12 2.38 0.00 0.000 4 0.102 0.071 2193 3754 3023

6934 -0.91 -146.0 506.7 -7.4 433 6938 0.17 2.20 0.00 0.000 6 0.156 0.042 2240 2340 3023

7262 end dive: TARGET_DEPTH_EXCEEDED

state 7262 begin apogee

7268 -0.34 0.0 528.3 6.3 441 7401 0.40 0.00 130.65 1.236 6 0.145 0.000 2363 2521 2420

7402 end apogee: CONTROL_FINISHED_OK

state 7402 begin climb

7405 1.08 146.0 530.8 0.0 444 7551 1.08 0.00 136.95 1.137 6 0.110 0.000 2674 2520 1824

7871 0.95 146.0 494.7 8.2 456 7875 0.12 2.42 0.00 0.000 4 0.150 0.068 2641 3942 1820

7988 0.82 146.0 484.6 8.3 458 7993 0.10 2.30 0.00 0.000 6 0.163 0.042 2615 2513 1820

8324 0.94 188.4 465.1 5.6 467 8366 0.10 2.40 35.75 1.170 4 0.091 0.056 2653 1110 1652

8383 0.96 199.6 461.2 6.6 468 8399 0.00 2.35 11.15 1.040 6 0.000 0.051 2653 2524 1606

8730 0.96 199.6 435.2 7.6 477 8731 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2524 1604

9054 0.96 199.6 410.2 7.8 485 9056 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2524 1604

9361 0.96 199.6 387.2 7.2 496 9365 0.00 2.28 0.00 0.000 4 0.000 0.056 2653 1105 1604

9401 0.96 199.6 384.4 7.5 497 9408 0.00 2.25 0.00 0.000 6 0.000 0.051 2653 2522 1603

9716 0.96 199.6 359.7 8.0 513 9720 0.00 2.28 0.00 0.000 4 0.000 0.069 2654 3927 1603

9777 0.88 199.6 354.0 9.2 515 9784 0.10 2.20 0.00 0.000 6 0.161 0.043 2627 2507 1603

10093 1.00 210.3 332.8 6.7 531 10109 0.10 2.22 10.27 1.050 4 0.093 0.056 2666 1111 1561

10147 1.00 210.3 328.1 8.8 532 10154 0.00 2.25 0.00 0.000 6 0.000 0.051 2667 2525 1561

10463 1.00 210.3 302.2 7.9 548 10464 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2525 1560

10772 1.00 210.3 278.2 7.6 563 10776 0.00 2.25 0.00 0.000 4 0.000 0.056 2667 1117 1560

10795 1.00 210.3 276.6 7.3 564 10798 0.00 2.22 0.00 0.000 6 0.000 0.051 2667 2524 1560

11126 1.00 210.3 252.5 7.1 580 11130 0.00 2.28 0.00 0.000 4 0.000 0.068 2667 3929 1560

11187 0.95 210.3 247.6 8.3 582 11194 0.10 2.20 0.00 0.000 6 0.162 0.042 2640 2508 1560

11503 1.12 263.4 230.3 5.2 598 11554 0.12 2.35 44.00 1.093 4 0.084 0.057 2691 1116 1345

11604 1.12 263.4 222.7 8.0 602 11610 0.00 2.30 0.00 0.000 6 0.000 0.051 2691 2521 1343

11919 1.12 263.4 196.1 8.6 618 11920 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2520 1342

12228 1.12 263.4 170.2 8.1 633 12230 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2520 1342

12538 1.12 263.4 146.6 7.6 648 12539 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2520 1341

12847 1.12 263.4 124.0 7.2 663 12851 0.00 2.25 0.00 0.000 4 0.000 0.058 2691 1119 1340

12892 1.20 263.4 120.7 7.5 665 12896 0.00 2.22 0.00 0.000 6 0.000 0.051 2691 2523 1340

13213 1.26 263.4 96.1 7.4 687 13219 0.00 2.25 0.00 0.000 4 0.000 0.058 2691 1119 1340

13242 1.34 263.4 94.0 7.1 692 13249 0.12 2.22 0.00 0.000 6 0.089 0.052 2742 2521 1340

13587 1.26 263.4 61.7 9.7 753 13593 0.12 0.00 0.00 0.000 6 0.144 0.000 2708 2521 1340

13932 1.36 290.0 37.3 6.1 814 13961 0.10 0.00 22.27 1.025 6 0.088 0.000 2748 2521 1236

14299 1.36 290.0 10.0 7.7 879 14304 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2521 1232

14420 end climb: SURFACE_DEPTH_REACHED

state 14420 begin surface coast

14449 end surface coast: CONTROL_FINISHED_OK

state 14451 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	221	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	31	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	900	T_GPS_CHARGE	-26075.789	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	175108,6639.172,-6021.154,26,1.3,26,-37.9	TGT_NAME	TARGET_ADD1_EB
_CALLS	1	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.183,0.129
_SM_DEPTHo	1.53	KALMAN_X	16484.4,-122.6,305.5,-144863.7,-686.5
_SM_ANGLEo	-64.1	KALMAN_Y	-23116.0,1437.4,-1591.6,-5972.5,-281.9
GPS2	175629,6639.084,-6021.068,9,2.3,28,-37.9	MHEAD_RNG_PITCHd_Wd	92.7,23449,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	526

FINISH	0.6,1.011441	TCM_TEMP	15.10
SM_CCo	14527,0.00,0.000,0,0,1230,291.91	XPDR_PINGS	0
SM_GC	1.48,7.22,0.00,0.00,0.071,0.000,0.000,156,2347,1230,-10.40,0.17,291.91	_24V_AH	21.2,43.999
RAFOS_CLK	834	_10V_AH	10.5,18.535
RAFOS	0,1224878667,20.083334,20.074167,75,65,61,57,55,54,435,235,162,213,128,144	DATA_FILE_SIZE	31641,906
RAFOS_FIX	6640.699707,-6008.913574,241008,202006,3,89,1.07	CAP_FILE_SIZE	114952,0
IRIDIUM_FIX	6609.62,-6019.34,180198,141436	CFSIZE	260165632,234463232
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1906	SOUNDSPEED	1447.0
INTERNAL_PRESSURE	8.49642	GPS	241008,220102,6640.122,-6017.058,36,2.0,36,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	271	120.59	SBE_CT	705	24	359.08
Roll_motor	105	78	174.60	SBE_O2	617	19	248.80
VBD_pump_during_apogee	391	1235	10243.75	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	30	103	65.98	nil	0	0	0.00
Iridium_during_connect	29	160	99.69	nil	0	0	0.00
Iridium_during_xfer	128	223	608.68
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.28
TT8	1594	19	333.56
LPSleep	10655	2	258.46
TT8_Active	574	19	120.15
TT8_Sampling	1653	39	692.95
TT8_CF8	381	45	184.11
TT8_Kalman	33	81	28.70
Analog_circuits	1448	12	182.54
GPS_charging	0	0	0.00
Compass	1608	8	135.15
RAFOS	1800	1	28.35
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	-1.08	-146.0	0.0	0.0	0	142	0.00	0.00	-124.07	0.000	2	0.000	0.000	156	2331	2798
145	-1.08	-146.0	3.1	-2.3	22	170	8.98	2.33	-7.65	0.000	4	0.272	0.074	2198	936	3019
307	-0.59	-146.0	36.0	-18.5	50	314	0.38	2.30	0.00	0.000	6	0.183	0.058	2302	2353	3022
652	-0.59	-146.0	67.8	-8.4	111	658	0.00	2.30	0.00	0.000	4	0.000	0.059	2302	926	3023
827	-0.59	-146.0	82.0	-7.5	142	833	0.00	2.28	0.00	0.000	6	0.000	0.056	2302	2343	3023
1174	-0.65	-146.0	105.5	-6.6	193	1178	0.00	2.30	0.00	0.000	4	0.000	0.071	2302	3746	3023
1213	-0.75	-146.0	108.3	-7.0	194	1220	0.12	2.20	0.00	0.000	6	0.103	0.043	2258	2336	3023
1529	-0.68	-146.0	136.9	-9.7	210	1534	0.12	2.35	0.00	0.000	4	0.167	0.071	2289	3750	3023
1573	-0.75	-146.0	140.8	-9.0	212	1576	0.00	2.20	0.00	0.000	6	0.000	0.044	2289	2335	3023
1899	-0.80	-146.0	167.6	-8.2	228	1904	0.10	2.22	0.00	0.000	4	0.119	0.058	2249	936	3023
1961	-0.69	-146.0	173.6	-10.2	231	1966	0.15	2.25	0.00	0.000	6	0.176	0.056	2287	2351	3023
2293	-0.76	-146.0	198.0	-6.7	247	2294	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	2350	3023
2603	-0.84	-146.0	218.0	-6.5	262	2608	0.12	2.30	0.00	0.000	4	0.110	0.059	2244	929	3022
2680	-0.74	-146.0	224.5	-8.5	265	2687	0.12	2.28	0.00	0.000	6	0.179	0.057	2274	2343	3022
2996	-0.78	-146.0	246.1	-6.9	281	3000	0.00	2.33	0.00	0.000	4	0.000	0.074	2274	3749	3022
3036	-0.87	-146.0	248.8	-7.0	282	3042	0.12	2.22	0.00	0.000	6	0.110	0.045	2231	2327	3022
3351	-0.79	-146.0	274.4	-8.0	298	3353	0.12	0.00	0.00	0.000	6	0.167	0.000	2263	2327	3022
3661	-0.79	-146.0	293.6	-6.0	313	3662	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2327	3022
3969	-0.79	-146.0	312.0	-5.9	328	3973	0.00	2.22	0.00	0.000	4	0.000	0.061	2263	931	3021
4030	-0.79	-146.0	316.0	-6.1	330	4037	0.00	2.28	0.00	0.000	6	0.000	0.055	2263	2352	3021
4347	-0.85	-146.0	334.2	-5.6	346	4351	0.00	2.30	0.00	0.000	4	0.000	0.072	2263	3749	3021
4370	-0.93	-146.0	335.5	-5.5	347	4374	0.12	2.20	0.00	0.000	6	0.104	0.044	2221	2339	3021
4702	-0.86	-146.0	358.6	-6.7	363	4707	0.12	2.35	0.00	0.000	4	0.164	0.071	2254	3754	3021
4724	-0.86	-146.0	360.1	-6.3	364	4728	0.00	2.22	0.00	0.000	6	0.000	0.044	2254	2330	3021
5050	-0.86	-146.0	379.0	-6.0	380	5054	0.00	2.38	0.00	0.000	4	0.000	0.073	2254	3755	3021
5146	-0.94	-146.0	385.2	-6.6	384	5149	0.00	2.22	0.00	0.000	6	0.000	0.044	2254	2330	3020
5472	-0.99	-146.0	405.5	-6.3	398	5474	0.12	0.00	0.00	0.000	6	0.104	0.000	2210	2330	3021
5796	-0.90	-146.0	431.4	-7.9	406	5798	0.12	0.00	0.00	0.000	6	0.161	0.000	2242	2330	3021
6121	-0.90	-146.0	453.3	-6.7	414	6124	0.00	2.38	0.00	0.000	4	0.000	0.071	2242	3757	3022
6160	-0.96	-146.0	456.0	-6.9	414	6166	0.00	2.22	0.00	0.000	6	0.000	0.043	2243	2330	3023
6491	-0.96	-146.0	476.5	-6.1	423	6492	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2330	3022
6816	-1.01	-146.0	497.2	-6.4	431	6821	0.12	2.38	0.00	0.000	4	0.102	0.071	2193	3754	3023
6934	-0.91	-146.0	506.7	-7.4	433	6938	0.17	2.20	0.00	0.000	6	0.156	0.042	2240	2340	3023
7262	end dive: TARGET_DEPTH_EXCEEDED
state	7262	begin apogee
7268	-0.34	0.0	528.3	6.3	441	7401	0.40	0.00	130.65	1.236	6	0.145	0.000	2363	2521	2420
7402	end apogee: CONTROL_FINISHED_OK
state	7402	begin climb
7405	1.08	146.0	530.8	0.0	444	7551	1.08	0.00	136.95	1.137	6	0.110	0.000	2674	2520	1824
7871	0.95	146.0	494.7	8.2	456	7875	0.12	2.42	0.00	0.000	4	0.150	0.068	2641	3942	1820
7988	0.82	146.0	484.6	8.3	458	7993	0.10	2.30	0.00	0.000	6	0.163	0.042	2615	2513	1820
8324	0.94	188.4	465.1	5.6	467	8366	0.10	2.40	35.75	1.170	4	0.091	0.056	2653	1110	1652
8383	0.96	199.6	461.2	6.6	468	8399	0.00	2.35	11.15	1.040	6	0.000	0.051	2653	2524	1606
8730	0.96	199.6	435.2	7.6	477	8731	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2524	1604
9054	0.96	199.6	410.2	7.8	485	9056	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2524	1604
9361	0.96	199.6	387.2	7.2	496	9365	0.00	2.28	0.00	0.000	4	0.000	0.056	2653	1105	1604
9401	0.96	199.6	384.4	7.5	497	9408	0.00	2.25	0.00	0.000	6	0.000	0.051	2653	2522	1603
9716	0.96	199.6	359.7	8.0	513	9720	0.00	2.28	0.00	0.000	4	0.000	0.069	2654	3927	1603
9777	0.88	199.6	354.0	9.2	515	9784	0.10	2.20	0.00	0.000	6	0.161	0.043	2627	2507	1603
10093	1.00	210.3	332.8	6.7	531	10109	0.10	2.22	10.27	1.050	4	0.093	0.056	2666	1111	1561
10147	1.00	210.3	328.1	8.8	532	10154	0.00	2.25	0.00	0.000	6	0.000	0.051	2667	2525	1561
10463	1.00	210.3	302.2	7.9	548	10464	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2525	1560
10772	1.00	210.3	278.2	7.6	563	10776	0.00	2.25	0.00	0.000	4	0.000	0.056	2667	1117	1560
10795	1.00	210.3	276.6	7.3	564	10798	0.00	2.22	0.00	0.000	6	0.000	0.051	2667	2524	1560
11126	1.00	210.3	252.5	7.1	580	11130	0.00	2.28	0.00	0.000	4	0.000	0.068	2667	3929	1560
11187	0.95	210.3	247.6	8.3	582	11194	0.10	2.20	0.00	0.000	6	0.162	0.042	2640	2508	1560
11503	1.12	263.4	230.3	5.2	598	11554	0.12	2.35	44.00	1.093	4	0.084	0.057	2691	1116	1345
11604	1.12	263.4	222.7	8.0	602	11610	0.00	2.30	0.00	0.000	6	0.000	0.051	2691	2521	1343
11919	1.12	263.4	196.1	8.6	618	11920	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2520	1342
12228	1.12	263.4	170.2	8.1	633	12230	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2520	1342
12538	1.12	263.4	146.6	7.6	648	12539	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2520	1341
12847	1.12	263.4	124.0	7.2	663	12851	0.00	2.25	0.00	0.000	4	0.000	0.058	2691	1119	1340
12892	1.20	263.4	120.7	7.5	665	12896	0.00	2.22	0.00	0.000	6	0.000	0.051	2691	2523	1340
13213	1.26	263.4	96.1	7.4	687	13219	0.00	2.25	0.00	0.000	4	0.000	0.058	2691	1119	1340
13242	1.34	263.4	94.0	7.1	692	13249	0.12	2.22	0.00	0.000	6	0.089	0.052	2742	2521	1340
13587	1.26	263.4	61.7	9.7	753	13593	0.12	0.00	0.00	0.000	6	0.144	0.000	2708	2521	1340
13932	1.36	290.0	37.3	6.1	814	13961	0.10	0.00	22.27	1.025	6	0.088	0.000	2748	2521	1236
14299	1.36	290.0	10.0	7.7	879	14304	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2521	1232
14420	end climb: SURFACE_DEPTH_REACHED
state	14420	begin surface coast
14449	end surface coast: CONTROL_FINISHED_OK
state	14451	begin surface