Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 223 * 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 223 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -26107.582 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 -26107.582

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 28 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 223 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 021608,6640.391,-6018.552,31,0.8,31,-38.0 TGT_NAME TARGET_ADD1_EB

_CALLS 2 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 3 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.146,0.170

_SM_DEPTHo 1.48 KALMAN_X 17302.4,91.0,56.3,-143722.9,459.7

_SM_ANGLEo -65.6 KALMAN_Y -27017.8,-0.1,1123.2,-1001.1,-6140.1

GPS2 022445,6640.358,-6018.430,12,1.8,12,-38.0 MHEAD_RNG_PITCHd_Wd 78.6,20481,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 532

Post-dive calculations and measurements:

FINISH 0.5,1.005549 TCM_TEMP 15.10

SM_CCo 14374,0.00,0.000,0,0,1043,337.78 XPDR_PINGS 3

SM_GC 1.61,7.38,0.00,0.00,0.074,0.000,0.000,160,2340,1043,-10.40,0.00,337.78 _24V_AH 21.1,44.304

RAFOS_CLK 831 _10V_AH 10.5,18.661

RAFOS 0,1224907450,4.083333,4.069445,65,62,57,53,53,53,209,196,149,183,132,120 DATA_FILE_SIZE 31558,861

RAFOS_FIX 6639.964844,-6011.689453,251008,000020,2,90,0.45 CAP_FILE_SIZE 114826,0

IRIDIUM_FIX 6614.97,-6013.96,190198,020243 CFSIZE 260165632,234348544

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

HUMID 1890 SOUNDSPEED 1447.3

INTERNAL_PRESSURE 8.47689 GPS 251008,062638,6638.963,-6014.715,37,1.2,37,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 274 121.23 SBE_CT 679 24 344.21

Roll_motor 106 83 187.21 SBE_O2 587 19 235.37

VBD_pump_during_apogee 439 1241 11517.57 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 57 103 125.32 nil 0 0 0.00

Iridium_during_connect 63 160 216.00 nil 0 0 0.00

Iridium_during_xfer 177 223 836.82

Transponder_ping 0 420 6.65

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.54

TT8 1554 19 325.12

LPSleep 10648 2 258.29

TT8_Active 565 19 118.30

TT8_Sampling 1576 39 660.88

TT8_CF8 549 45 264.82

TT8_Kalman 33 81 28.71

Analog_circuits 1443 12 181.91

GPS_charging 0 0 0.00

Compass 1564 8 131.43

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.08 -146.0 0.0 0.0 0 138 0.00 0.00 -120.85 0.000 2 0.000 0.000 162 2330 2804

141 -1.08 -146.0 3.6 -3.7 21 167 9.07 2.42 -6.95 0.000 4 0.275 0.084 2192 3746 3020

420 -0.75 -146.0 55.1 -14.2 70 427 0.30 2.22 0.00 0.000 6 0.176 0.046 2273 2336 3023

764 -0.70 -146.0 88.7 -9.2 131 771 0.00 2.35 0.00 0.000 4 0.000 0.071 2273 3748 3024

911 -0.70 -146.0 102.2 -9.1 154 915 0.00 2.22 0.00 0.000 6 0.000 0.044 2273 2324 3023

1232 -0.70 -146.0 129.2 -7.8 170 1235 0.00 2.38 0.00 0.000 4 0.000 0.073 2273 3750 3023

1264 -0.70 -146.0 131.8 -7.9 171 1269 0.00 2.22 0.00 0.000 6 0.000 0.045 2273 2330 3023

1585 -0.70 -146.0 155.1 -6.8 187 1589 0.00 2.38 0.00 0.000 4 0.000 0.073 2273 3757 3023

1619 -0.75 -146.0 157.5 -6.9 188 1623 0.00 2.22 0.00 0.000 6 0.000 0.044 2273 2333 3023

1940 -0.75 -146.0 178.8 -6.5 204 1944 0.00 2.22 0.00 0.000 4 0.000 0.061 2273 928 3023

1991 -0.75 -146.0 182.5 -7.5 206 1995 0.00 2.28 0.00 0.000 6 0.000 0.056 2273 2344 3023

2317 -0.75 -146.0 206.2 -7.7 222 2321 0.00 2.28 0.00 0.000 4 0.000 0.060 2273 929 3023

2351 -0.75 -146.0 209.1 -8.8 223 2355 0.00 2.28 0.00 0.000 6 0.000 0.057 2273 2344 3023

2672 -0.75 -146.0 237.0 -8.7 239 2676 0.00 2.28 0.00 0.000 4 0.000 0.060 2273 932 3023

2727 -0.75 -146.0 242.1 -9.5 241 2731 0.00 2.28 0.00 0.000 6 0.000 0.055 2273 2351 3023

3048 -0.81 -146.0 268.3 -8.1 257 3052 0.00 2.30 0.00 0.000 4 0.000 0.074 2273 3743 3022

3087 -0.92 -146.0 271.5 -8.3 258 3094 0.15 2.20 0.00 0.000 6 0.107 0.044 2222 2334 3022

3403 -0.82 -146.0 300.4 -9.0 274 3404 0.12 0.00 0.00 0.000 6 0.165 0.000 2255 2334 3022

3712 -0.82 -146.0 322.5 -6.8 289 3716 0.00 2.22 0.00 0.000 4 0.000 0.061 2255 938 3022

3780 -0.82 -146.0 327.6 -8.0 292 3784 0.00 2.28 0.00 0.000 6 0.000 0.058 2255 2348 3022

4111 -0.82 -146.0 352.1 -7.9 308 4115 0.00 2.33 0.00 0.000 4 0.000 0.075 2255 3746 3022

4197 -0.90 -146.0 357.9 -6.8 311 4203 0.00 2.20 0.00 0.000 6 0.000 0.044 2255 2338 3022

4513 -0.90 -146.0 376.6 -5.5 327 4514 0.00 0.00 0.00 0.000 6 0.000 0.000 2255 2338 3021

4822 -0.95 -146.0 393.6 -5.4 342 4826 0.10 2.33 0.00 0.000 4 0.110 0.071 2220 3745 3021

4889 -0.95 -146.0 397.9 -6.3 345 4893 0.00 2.20 0.00 0.000 6 0.000 0.045 2219 2340 3021

5212 -0.89 -146.0 416.8 -5.8 354 5214 0.10 0.00 0.00 0.000 6 0.177 0.000 2244 2340 3021

5536 -0.89 -146.0 436.5 -6.2 362 5541 0.00 2.35 0.00 0.000 4 0.000 0.072 2244 3752 3022

5615 -0.94 -146.0 441.7 -6.5 363 5619 0.00 2.20 0.00 0.000 6 0.000 0.043 2244 2340 3022

5952 -0.94 -146.0 463.2 -6.3 372 5953 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2340 3022

6277 -0.94 -146.0 482.6 -5.8 380 6278 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2340 3023

6601 -0.94 -146.0 501.8 -6.0 388 6605 0.00 2.22 0.00 0.000 4 0.000 0.058 2244 936 3023

6679 -0.94 -146.0 507.2 -7.1 389 6683 0.00 2.28 0.00 0.000 6 0.000 0.055 2244 2354 3023

7016 -1.00 -146.0 527.3 -5.6 398 7021 0.10 2.30 0.00 0.000 4 0.108 0.071 2208 3753 3023

7038 -1.00 -146.0 528.7 -6.1 398 7042 0.00 2.20 0.00 0.000 6 0.000 0.042 2208 2337 3023

7100 end dive: TARGET_DEPTH_EXCEEDED

state 7101 begin apogee

7107 -0.34 0.0 533.0 7.1 400 7241 0.52 0.00 131.05 1.241 6 0.148 0.000 2366 2523 2420

7241 end apogee: CONTROL_FINISHED_OK

state 7241 begin climb

7244 1.08 146.0 535.0 0.0 403 7386 1.02 2.70 134.62 1.151 4 0.110 0.070 2665 3922 1823

7478 0.88 146.0 515.1 10.6 408 7483 0.17 2.40 0.00 0.000 6 0.145 0.042 2620 2516 1822

7819 0.91 173.8 494.0 6.1 417 7846 0.00 0.00 24.60 1.144 6 0.000 0.000 2620 2515 1711

8145 1.00 193.3 473.7 6.4 425 8170 0.12 2.38 17.67 1.127 4 0.084 0.057 2668 1111 1631

8209 1.00 193.3 468.8 8.2 426 8213 0.00 2.33 0.00 0.000 6 0.000 0.051 2668 2524 1631

8557 0.95 193.3 440.3 8.4 435 8559 0.12 0.00 0.00 0.000 6 0.149 0.000 2634 2525 1629

8882 1.00 193.3 416.4 7.3 443 8883 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2525 1629

9188 1.07 205.2 395.4 6.6 452 9204 0.12 2.30 11.15 1.076 4 0.091 0.056 2683 1102 1583

9221 1.01 205.2 392.6 8.6 452 9228 0.12 2.28 0.00 0.000 6 0.142 0.051 2650 2521 1582

9536 1.01 205.2 370.3 7.0 468 9537 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2521 1581

9845 1.01 205.2 348.3 7.2 483 9846 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2521 1581

10154 1.01 205.2 325.2 7.5 498 10155 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2521 1581

10465 1.07 208.4 303.1 6.9 513 10471 0.00 0.00 4.30 0.783 6 0.000 0.000 2650 2521 1570

10773 1.16 231.9 283.1 6.2 528 10797 0.12 0.00 21.02 1.095 6 0.084 0.000 2703 2521 1474

11103 1.09 231.9 256.0 8.2 544 11107 0.12 2.30 0.00 0.000 4 0.136 0.057 2667 1105 1472

11148 1.19 243.1 252.8 6.6 546 11165 0.10 2.28 10.80 1.014 6 0.090 0.052 2706 2526 1428

11475 1.14 243.1 224.1 9.0 561 11477 0.10 0.00 0.00 0.000 6 0.141 0.000 2679 2526 1427

11783 1.14 243.1 197.8 8.8 576 11787 0.00 2.28 0.00 0.000 4 0.000 0.057 2679 1106 1426

11844 1.23 243.1 192.6 8.2 578 11851 0.10 2.25 0.00 0.000 6 0.091 0.052 2719 2520 1426

12160 1.16 243.1 162.9 9.0 594 12164 0.12 2.30 0.00 0.000 4 0.133 0.069 2682 3931 1426

12192 1.16 243.1 159.9 8.4 595 12196 0.00 2.20 0.00 0.000 6 0.000 0.044 2682 2516 1426

12513 1.18 261.9 138.7 6.4 611 12536 0.00 2.33 16.50 1.042 4 0.000 0.058 2682 1110 1351

12587 1.29 265.2 134.0 6.9 614 12596 0.12 2.28 4.55 0.765 6 0.081 0.052 2731 2531 1338

12912 1.22 265.2 106.6 8.5 630 12914 0.12 0.00 0.00 0.000 6 0.140 0.000 2695 2532 1336

13240 1.29 280.5 84.1 6.5 675 13259 0.00 2.38 13.73 1.006 4 0.000 0.058 2695 1111 1275

13294 1.42 301.4 80.6 6.3 684 13319 0.17 2.28 18.90 0.999 6 0.074 0.053 2762 2520 1191

13656 1.31 301.4 44.9 10.2 748 13662 0.15 0.00 0.00 0.000 6 0.142 0.000 2720 2520 1186

14000 1.47 332.8 23.3 6.0 809 14036 0.12 2.38 26.58 1.006 4 0.078 0.061 2773 1118 1062

14099 1.47 336.3 15.9 6.9 826 14113 0.00 2.30 4.38 0.708 6 0.000 0.054 2773 2531 1048

14274 end climb: SURFACE_DEPTH_REACHED

state 14274 begin surface coast

14298 end surface coast: CONTROL_FINISHED_OK

state 14298 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	223	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-26107.582	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	021608,6640.391,-6018.552,31,0.8,31,-38.0	TGT_NAME	TARGET_ADD1_EB
_CALLS	2	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	3	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.146,0.170
_SM_DEPTHo	1.48	KALMAN_X	17302.4,91.0,56.3,-143722.9,459.7
_SM_ANGLEo	-65.6	KALMAN_Y	-27017.8,-0.1,1123.2,-1001.1,-6140.1
GPS2	022445,6640.358,-6018.430,12,1.8,12,-38.0	MHEAD_RNG_PITCHd_Wd	78.6,20481,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	532

FINISH	0.5,1.005549	TCM_TEMP	15.10
SM_CCo	14374,0.00,0.000,0,0,1043,337.78	XPDR_PINGS	3
SM_GC	1.61,7.38,0.00,0.00,0.074,0.000,0.000,160,2340,1043,-10.40,0.00,337.78	_24V_AH	21.1,44.304
RAFOS_CLK	831	_10V_AH	10.5,18.661
RAFOS	0,1224907450,4.083333,4.069445,65,62,57,53,53,53,209,196,149,183,132,120	DATA_FILE_SIZE	31558,861
RAFOS_FIX	6639.964844,-6011.689453,251008,000020,2,90,0.45	CAP_FILE_SIZE	114826,0
IRIDIUM_FIX	6614.97,-6013.96,190198,020243	CFSIZE	260165632,234348544
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1890	SOUNDSPEED	1447.3
INTERNAL_PRESSURE	8.47689	GPS	251008,062638,6638.963,-6014.715,37,1.2,37,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	274	121.23	SBE_CT	679	24	344.21
Roll_motor	106	83	187.21	SBE_O2	587	19	235.37
VBD_pump_during_apogee	439	1241	11517.57	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	57	103	125.32	nil	0	0	0.00
Iridium_during_connect	63	160	216.00	nil	0	0	0.00
Iridium_during_xfer	177	223	836.82
Transponder_ping	0	420	6.65
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.54
TT8	1554	19	325.12
LPSleep	10648	2	258.29
TT8_Active	565	19	118.30
TT8_Sampling	1576	39	660.88
TT8_CF8	549	45	264.82
TT8_Kalman	33	81	28.71
Analog_circuits	1443	12	181.91
GPS_charging	0	0	0.00
Compass	1564	8	131.43
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.08	-146.0	0.0	0.0	0	138	0.00	0.00	-120.85	0.000	2	0.000	0.000	162	2330	2804
141	-1.08	-146.0	3.6	-3.7	21	167	9.07	2.42	-6.95	0.000	4	0.275	0.084	2192	3746	3020
420	-0.75	-146.0	55.1	-14.2	70	427	0.30	2.22	0.00	0.000	6	0.176	0.046	2273	2336	3023
764	-0.70	-146.0	88.7	-9.2	131	771	0.00	2.35	0.00	0.000	4	0.000	0.071	2273	3748	3024
911	-0.70	-146.0	102.2	-9.1	154	915	0.00	2.22	0.00	0.000	6	0.000	0.044	2273	2324	3023
1232	-0.70	-146.0	129.2	-7.8	170	1235	0.00	2.38	0.00	0.000	4	0.000	0.073	2273	3750	3023
1264	-0.70	-146.0	131.8	-7.9	171	1269	0.00	2.22	0.00	0.000	6	0.000	0.045	2273	2330	3023
1585	-0.70	-146.0	155.1	-6.8	187	1589	0.00	2.38	0.00	0.000	4	0.000	0.073	2273	3757	3023
1619	-0.75	-146.0	157.5	-6.9	188	1623	0.00	2.22	0.00	0.000	6	0.000	0.044	2273	2333	3023
1940	-0.75	-146.0	178.8	-6.5	204	1944	0.00	2.22	0.00	0.000	4	0.000	0.061	2273	928	3023
1991	-0.75	-146.0	182.5	-7.5	206	1995	0.00	2.28	0.00	0.000	6	0.000	0.056	2273	2344	3023
2317	-0.75	-146.0	206.2	-7.7	222	2321	0.00	2.28	0.00	0.000	4	0.000	0.060	2273	929	3023
2351	-0.75	-146.0	209.1	-8.8	223	2355	0.00	2.28	0.00	0.000	6	0.000	0.057	2273	2344	3023
2672	-0.75	-146.0	237.0	-8.7	239	2676	0.00	2.28	0.00	0.000	4	0.000	0.060	2273	932	3023
2727	-0.75	-146.0	242.1	-9.5	241	2731	0.00	2.28	0.00	0.000	6	0.000	0.055	2273	2351	3023
3048	-0.81	-146.0	268.3	-8.1	257	3052	0.00	2.30	0.00	0.000	4	0.000	0.074	2273	3743	3022
3087	-0.92	-146.0	271.5	-8.3	258	3094	0.15	2.20	0.00	0.000	6	0.107	0.044	2222	2334	3022
3403	-0.82	-146.0	300.4	-9.0	274	3404	0.12	0.00	0.00	0.000	6	0.165	0.000	2255	2334	3022
3712	-0.82	-146.0	322.5	-6.8	289	3716	0.00	2.22	0.00	0.000	4	0.000	0.061	2255	938	3022
3780	-0.82	-146.0	327.6	-8.0	292	3784	0.00	2.28	0.00	0.000	6	0.000	0.058	2255	2348	3022
4111	-0.82	-146.0	352.1	-7.9	308	4115	0.00	2.33	0.00	0.000	4	0.000	0.075	2255	3746	3022
4197	-0.90	-146.0	357.9	-6.8	311	4203	0.00	2.20	0.00	0.000	6	0.000	0.044	2255	2338	3022
4513	-0.90	-146.0	376.6	-5.5	327	4514	0.00	0.00	0.00	0.000	6	0.000	0.000	2255	2338	3021
4822	-0.95	-146.0	393.6	-5.4	342	4826	0.10	2.33	0.00	0.000	4	0.110	0.071	2220	3745	3021
4889	-0.95	-146.0	397.9	-6.3	345	4893	0.00	2.20	0.00	0.000	6	0.000	0.045	2219	2340	3021
5212	-0.89	-146.0	416.8	-5.8	354	5214	0.10	0.00	0.00	0.000	6	0.177	0.000	2244	2340	3021
5536	-0.89	-146.0	436.5	-6.2	362	5541	0.00	2.35	0.00	0.000	4	0.000	0.072	2244	3752	3022
5615	-0.94	-146.0	441.7	-6.5	363	5619	0.00	2.20	0.00	0.000	6	0.000	0.043	2244	2340	3022
5952	-0.94	-146.0	463.2	-6.3	372	5953	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2340	3022
6277	-0.94	-146.0	482.6	-5.8	380	6278	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2340	3023
6601	-0.94	-146.0	501.8	-6.0	388	6605	0.00	2.22	0.00	0.000	4	0.000	0.058	2244	936	3023
6679	-0.94	-146.0	507.2	-7.1	389	6683	0.00	2.28	0.00	0.000	6	0.000	0.055	2244	2354	3023
7016	-1.00	-146.0	527.3	-5.6	398	7021	0.10	2.30	0.00	0.000	4	0.108	0.071	2208	3753	3023
7038	-1.00	-146.0	528.7	-6.1	398	7042	0.00	2.20	0.00	0.000	6	0.000	0.042	2208	2337	3023
7100	end dive: TARGET_DEPTH_EXCEEDED
state	7101	begin apogee
7107	-0.34	0.0	533.0	7.1	400	7241	0.52	0.00	131.05	1.241	6	0.148	0.000	2366	2523	2420
7241	end apogee: CONTROL_FINISHED_OK
state	7241	begin climb
7244	1.08	146.0	535.0	0.0	403	7386	1.02	2.70	134.62	1.151	4	0.110	0.070	2665	3922	1823
7478	0.88	146.0	515.1	10.6	408	7483	0.17	2.40	0.00	0.000	6	0.145	0.042	2620	2516	1822
7819	0.91	173.8	494.0	6.1	417	7846	0.00	0.00	24.60	1.144	6	0.000	0.000	2620	2515	1711
8145	1.00	193.3	473.7	6.4	425	8170	0.12	2.38	17.67	1.127	4	0.084	0.057	2668	1111	1631
8209	1.00	193.3	468.8	8.2	426	8213	0.00	2.33	0.00	0.000	6	0.000	0.051	2668	2524	1631
8557	0.95	193.3	440.3	8.4	435	8559	0.12	0.00	0.00	0.000	6	0.149	0.000	2634	2525	1629
8882	1.00	193.3	416.4	7.3	443	8883	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2525	1629
9188	1.07	205.2	395.4	6.6	452	9204	0.12	2.30	11.15	1.076	4	0.091	0.056	2683	1102	1583
9221	1.01	205.2	392.6	8.6	452	9228	0.12	2.28	0.00	0.000	6	0.142	0.051	2650	2521	1582
9536	1.01	205.2	370.3	7.0	468	9537	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2521	1581
9845	1.01	205.2	348.3	7.2	483	9846	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2521	1581
10154	1.01	205.2	325.2	7.5	498	10155	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2521	1581
10465	1.07	208.4	303.1	6.9	513	10471	0.00	0.00	4.30	0.783	6	0.000	0.000	2650	2521	1570
10773	1.16	231.9	283.1	6.2	528	10797	0.12	0.00	21.02	1.095	6	0.084	0.000	2703	2521	1474
11103	1.09	231.9	256.0	8.2	544	11107	0.12	2.30	0.00	0.000	4	0.136	0.057	2667	1105	1472
11148	1.19	243.1	252.8	6.6	546	11165	0.10	2.28	10.80	1.014	6	0.090	0.052	2706	2526	1428
11475	1.14	243.1	224.1	9.0	561	11477	0.10	0.00	0.00	0.000	6	0.141	0.000	2679	2526	1427
11783	1.14	243.1	197.8	8.8	576	11787	0.00	2.28	0.00	0.000	4	0.000	0.057	2679	1106	1426
11844	1.23	243.1	192.6	8.2	578	11851	0.10	2.25	0.00	0.000	6	0.091	0.052	2719	2520	1426
12160	1.16	243.1	162.9	9.0	594	12164	0.12	2.30	0.00	0.000	4	0.133	0.069	2682	3931	1426
12192	1.16	243.1	159.9	8.4	595	12196	0.00	2.20	0.00	0.000	6	0.000	0.044	2682	2516	1426
12513	1.18	261.9	138.7	6.4	611	12536	0.00	2.33	16.50	1.042	4	0.000	0.058	2682	1110	1351
12587	1.29	265.2	134.0	6.9	614	12596	0.12	2.28	4.55	0.765	6	0.081	0.052	2731	2531	1338
12912	1.22	265.2	106.6	8.5	630	12914	0.12	0.00	0.00	0.000	6	0.140	0.000	2695	2532	1336
13240	1.29	280.5	84.1	6.5	675	13259	0.00	2.38	13.73	1.006	4	0.000	0.058	2695	1111	1275
13294	1.42	301.4	80.6	6.3	684	13319	0.17	2.28	18.90	0.999	6	0.074	0.053	2762	2520	1191
13656	1.31	301.4	44.9	10.2	748	13662	0.15	0.00	0.00	0.000	6	0.142	0.000	2720	2520	1186
14000	1.47	332.8	23.3	6.0	809	14036	0.12	2.38	26.58	1.006	4	0.078	0.061	2773	1118	1062
14099	1.47	336.3	15.9	6.9	826	14113	0.00	2.30	4.38	0.708	6	0.000	0.054	2773	2531	1048
14274	end climb: SURFACE_DEPTH_REACHED
state	14274	begin surface coast
14298	end surface coast: CONTROL_FINISHED_OK
state	14298	begin surface