Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 225 * 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 225 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -2 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -26132.764 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 -26132.764

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 29 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 225 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 104037,6640.540,-6010.933,29,1.0,29,-38.0 TGT_NAME TARGET_ADD1_EB

_CALLS 1 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.122,0.188

_SM_DEPTHo 1.50 KALMAN_X 18031.5,139.6,-173.5,-138893.8,341.0

_SM_ANGLEo -64.5 KALMAN_Y -30169.7,-932.8,724.9,3851.4,-485.7

GPS2 104539,6640.554,-6011.024,11,1.5,11,-38.0 MHEAD_RNG_PITCHd_Wd 71.1,16212,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 559

Post-dive calculations and measurements:

FINISH 0.6,1.013200 TCM_TEMP 15.20

SM_CCo 14895,0.00,0.000,0,0,1028,340.97 XPDR_PINGS 0

SM_GC 1.44,7.55,0.00,0.00,0.077,0.000,0.000,165,2349,1028,-10.38,0.25,340.97 _24V_AH 21.1,44.594

RAFOS_CLK 852 _10V_AH 10.5,18.784

RAFOS 0,1224936243,12.083333,12.067500,90,65,56,56,53,51,551,217,143,205,179,129 DATA_FILE_SIZE 31540,898

RAFOS_FIX 6642.228516,-6004.144043,251008,121200,3,82,1.09 CAP_FILE_SIZE 112419,0

IRIDIUM_FIX 6614.97,-5858.45,190198,060657 CFSIZE 260165632,234237952

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1863 SOUNDSPEED 1447.1

INTERNAL_PRESSURE 8.47689 GPS 251008,145625,6641.900,-6008.139,24,1.0,41,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 269 117.35 SBE_CT 706 24 357.74

Roll_motor 95 82 167.40 SBE_O2 612 19 245.49

VBD_pump_during_apogee 437 1251 11551.20 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 65.29 nil 0 0 0.00

Iridium_during_connect 31 160 107.40 nil 0 0 0.00

Iridium_during_xfer 124 223 587.71

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.87

TT8 1585 19 331.63

LPSleep 11056 2 268.18

TT8_Active 580 19 121.38

TT8_Sampling 1592 39 667.51

TT8_CF8 394 45 190.00

TT8_Kalman 33 81 28.70

Analog_circuits 1449 12 182.63

GPS_charging 0 0 0.00

Compass 1578 8 132.57

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 13 begin dive

15 -1.08 -146.0 0.0 0.0 0 126 0.00 0.00 -108.30 0.000 2 0.000 0.000 163 2333 2759

129 -1.08 -146.0 3.0 -2.6 19 154 8.93 2.38 -9.12 0.000 4 0.270 0.083 2192 3745 3017

403 -0.75 -146.0 52.9 -13.5 67 410 0.30 2.22 0.00 0.000 6 0.173 0.045 2274 2336 3021

748 -0.67 -146.0 83.8 -8.7 128 753 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2336 3022

1089 -0.67 -146.0 111.4 -7.7 170 1090 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2337 3022

1399 -0.67 -146.0 136.3 -8.1 185 1400 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2336 3022

1707 -0.67 -146.0 163.5 -9.4 200 1711 0.00 2.22 0.00 0.000 4 0.000 0.061 2274 932 3021

1734 -0.67 -146.0 166.2 -10.3 201 1738 0.00 2.30 0.00 0.000 6 0.000 0.056 2274 2363 3021

2061 -0.67 -146.0 194.3 -7.9 217 2065 0.00 2.28 0.00 0.000 4 0.000 0.072 2274 3746 3021

2139 -0.75 -146.0 200.2 -7.1 220 2143 0.00 2.20 0.00 0.000 6 0.000 0.044 2274 2336 3021

2460 -0.75 -146.0 220.8 -6.1 236 2461 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2336 3020

2770 -0.80 -146.0 239.9 -6.1 251 2771 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2335 3021

3079 -0.86 -146.0 260.0 -6.5 266 3084 0.10 2.38 0.00 0.000 4 0.123 0.072 2240 3757 3021

3128 -0.86 -146.0 264.1 -7.9 268 3132 0.00 2.22 0.00 0.000 6 0.000 0.044 2240 2335 3020

3449 -0.86 -146.0 291.1 -8.7 284 3450 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2334 3021

3758 -0.86 -146.0 318.6 -8.4 299 3759 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2334 3020

4067 -0.86 -146.0 344.1 -8.1 314 4071 0.00 2.22 0.00 0.000 4 0.000 0.060 2240 929 3020

4140 -0.80 -146.0 350.4 -9.0 317 4144 0.00 2.28 0.00 0.000 6 0.000 0.057 2240 2344 3020

4466 -0.80 -146.0 376.0 -7.8 333 4467 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2344 3020

4775 -0.80 -146.0 398.8 -7.2 348 4778 0.00 2.33 0.00 0.000 4 0.000 0.073 2240 3750 3020

4825 -0.80 -146.0 402.5 -7.5 350 4829 0.00 2.22 0.00 0.000 6 0.000 0.044 2240 2323 3020

5149 -0.80 -146.0 424.6 -6.7 358 5150 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2323 3020

5474 -0.80 -146.0 447.3 -6.9 366 5478 0.00 2.17 0.00 0.000 4 0.000 0.058 2240 938 3020

5535 -0.80 -146.0 451.9 -7.4 367 5539 0.00 2.25 0.00 0.000 6 0.000 0.054 2240 2344 3020

5848 -0.80 -146.0 473.4 -6.8 375 5853 0.00 2.33 0.00 0.000 4 0.000 0.072 2240 3753 3020

5926 -0.86 -146.0 479.1 -7.0 376 5930 0.00 2.20 0.00 0.000 6 0.000 0.043 2240 2340 3020

6263 -0.86 -146.0 501.7 -6.8 385 6267 0.00 2.22 0.00 0.000 4 0.000 0.056 2240 929 3021

6312 -0.86 -146.0 505.3 -7.3 386 6316 0.00 2.28 0.00 0.000 6 0.000 0.053 2240 2356 3021

6637 -0.86 -146.0 526.2 -6.4 394 6641 0.00 2.30 0.00 0.000 4 0.000 0.071 2240 3754 3021

6687 -0.91 -146.0 529.2 -5.9 395 6691 0.00 2.20 0.00 0.000 6 0.000 0.041 2240 2336 3021

7011 -0.91 -146.0 549.9 -6.2 403 7015 0.00 2.22 0.00 0.000 4 0.000 0.057 2240 928 3022

7057 -0.91 -146.0 552.7 -6.4 404 7061 0.00 2.28 0.00 0.000 6 0.000 0.054 2240 2350 3022

7175 end dive: TARGET_DEPTH_EXCEEDED

state 7175 begin apogee

7181 -0.34 0.0 559.9 6.0 407 7315 0.43 0.00 131.18 1.252 6 0.151 0.000 2366 2516 2420

7316 end apogee: CONTROL_FINISHED_OK

state 7316 begin climb

7318 1.08 146.0 561.9 0.0 410 7465 1.05 0.00 137.40 1.152 6 0.109 0.000 2667 2516 1824

7787 0.96 146.0 523.6 8.5 422 7791 0.10 2.42 0.00 0.000 4 0.161 0.069 2642 3927 1820

7826 0.82 146.0 519.9 9.6 423 7831 0.12 2.28 0.00 0.000 6 0.155 0.042 2611 2521 1821

8150 0.95 184.0 500.0 5.7 431 8189 0.12 0.00 32.58 1.183 6 0.082 0.000 2662 2520 1669

8514 0.90 184.0 472.7 7.7 440 8516 0.12 0.00 0.00 0.000 6 0.131 0.000 2627 2520 1668

8839 0.98 198.3 451.6 6.5 448 8859 0.08 2.40 13.23 1.116 4 0.107 0.070 2662 3927 1611

8875 0.89 198.3 448.4 8.9 448 8882 0.12 2.22 0.00 0.000 6 0.155 0.043 2628 2518 1610

9207 0.97 203.6 426.1 6.8 457 9215 0.00 0.00 5.97 0.937 6 0.000 0.000 2629 2518 1590

9531 1.05 203.6 402.9 7.4 465 9533 0.12 0.00 0.00 0.000 6 0.087 0.000 2678 2518 1589

9840 0.98 203.6 375.0 9.1 479 9845 0.12 2.33 0.00 0.000 4 0.134 0.067 2641 3930 1588

9873 0.98 203.6 372.2 8.4 480 9879 0.00 2.20 0.00 0.000 6 0.000 0.043 2641 2511 1589

10190 1.08 227.3 351.3 6.2 496 10214 0.12 0.00 21.02 1.124 6 0.086 0.000 2691 2510 1493

10518 1.02 227.3 323.6 8.6 512 10520 0.12 0.00 0.00 0.000 6 0.136 0.000 2656 2511 1491

10827 1.08 227.3 301.8 7.1 527 10828 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2511 1491

11136 1.15 227.3 279.7 7.3 542 11138 0.12 0.00 0.00 0.000 6 0.083 0.000 2705 2510 1491

11446 1.06 227.3 249.4 10.0 557 11448 0.15 0.00 0.00 0.000 6 0.135 0.000 2662 2510 1491

11755 1.12 227.3 226.2 7.1 572 11756 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2510 1491

12064 1.19 228.9 203.8 7.0 587 12068 0.12 2.20 0.00 0.000 4 0.087 0.057 2715 1119 1491

12086 1.19 228.9 202.1 7.6 588 12090 0.00 2.22 0.00 0.000 6 0.000 0.052 2714 2525 1491

12419 1.10 228.9 172.9 8.6 604 12423 0.15 2.30 0.00 0.000 4 0.135 0.070 2668 3937 1490

12451 1.10 228.9 170.3 8.5 605 12457 0.00 2.20 0.00 0.000 6 0.000 0.044 2668 2516 1489

12767 1.21 254.3 149.7 6.2 621 12798 0.12 2.33 23.00 1.068 4 0.081 0.058 2720 1117 1382

12825 1.21 254.3 145.2 8.0 623 12832 0.00 2.28 0.00 0.000 6 0.000 0.052 2719 2523 1382

13141 1.15 254.3 118.9 8.1 639 13146 0.12 2.30 0.00 0.000 4 0.134 0.068 2682 3927 1380

13180 1.15 254.3 115.6 8.2 641 13184 0.00 2.20 0.00 0.000 6 0.000 0.044 2682 2518 1380

13504 1.27 283.8 94.8 6.0 666 13533 0.10 0.00 24.95 1.044 6 0.088 0.000 2722 2518 1261

13870 1.27 283.8 66.9 7.8 731 13876 0.00 2.25 0.00 0.000 4 0.000 0.060 2722 1114 1259

13894 1.27 283.8 65.1 7.4 735 13900 0.00 2.25 0.00 0.000 6 0.000 0.053 2722 2520 1259

14238 1.27 283.8 39.0 7.6 796 14244 0.00 2.30 0.00 0.000 4 0.000 0.071 2722 3927 1257

14267 1.27 283.8 36.6 8.1 801 14273 0.00 2.20 0.00 0.000 6 0.000 0.046 2722 2522 1257

14611 1.38 305.7 15.2 6.3 862 14636 0.00 2.35 18.80 1.006 4 0.000 0.060 2722 1108 1173

14693 1.54 338.8 10.5 5.9 876 14729 0.17 2.30 29.23 0.984 6 0.078 0.054 2788 2528 1037

14795 end climb: SURFACE_DEPTH_REACHED

state 14795 begin surface coast

14818 end surface coast: CONTROL_FINISHED_OK

state 14818 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	225	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-2	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-26132.764	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	104037,6640.540,-6010.933,29,1.0,29,-38.0	TGT_NAME	TARGET_ADD1_EB
_CALLS	1	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.122,0.188
_SM_DEPTHo	1.50	KALMAN_X	18031.5,139.6,-173.5,-138893.8,341.0
_SM_ANGLEo	-64.5	KALMAN_Y	-30169.7,-932.8,724.9,3851.4,-485.7
GPS2	104539,6640.554,-6011.024,11,1.5,11,-38.0	MHEAD_RNG_PITCHd_Wd	71.1,16212,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	559

FINISH	0.6,1.013200	TCM_TEMP	15.20
SM_CCo	14895,0.00,0.000,0,0,1028,340.97	XPDR_PINGS	0
SM_GC	1.44,7.55,0.00,0.00,0.077,0.000,0.000,165,2349,1028,-10.38,0.25,340.97	_24V_AH	21.1,44.594
RAFOS_CLK	852	_10V_AH	10.5,18.784
RAFOS	0,1224936243,12.083333,12.067500,90,65,56,56,53,51,551,217,143,205,179,129	DATA_FILE_SIZE	31540,898
RAFOS_FIX	6642.228516,-6004.144043,251008,121200,3,82,1.09	CAP_FILE_SIZE	112419,0
IRIDIUM_FIX	6614.97,-5858.45,190198,060657	CFSIZE	260165632,234237952
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1863	SOUNDSPEED	1447.1
INTERNAL_PRESSURE	8.47689	GPS	251008,145625,6641.900,-6008.139,24,1.0,41,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	269	117.35	SBE_CT	706	24	357.74
Roll_motor	95	82	167.40	SBE_O2	612	19	245.49
VBD_pump_during_apogee	437	1251	11551.20	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	65.29	nil	0	0	0.00
Iridium_during_connect	31	160	107.40	nil	0	0	0.00
Iridium_during_xfer	124	223	587.71
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.87
TT8	1585	19	331.63
LPSleep	11056	2	268.18
TT8_Active	580	19	121.38
TT8_Sampling	1592	39	667.51
TT8_CF8	394	45	190.00
TT8_Kalman	33	81	28.70
Analog_circuits	1449	12	182.63
GPS_charging	0	0	0.00
Compass	1578	8	132.57
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	13	begin dive
15	-1.08	-146.0	0.0	0.0	0	126	0.00	0.00	-108.30	0.000	2	0.000	0.000	163	2333	2759
129	-1.08	-146.0	3.0	-2.6	19	154	8.93	2.38	-9.12	0.000	4	0.270	0.083	2192	3745	3017
403	-0.75	-146.0	52.9	-13.5	67	410	0.30	2.22	0.00	0.000	6	0.173	0.045	2274	2336	3021
748	-0.67	-146.0	83.8	-8.7	128	753	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2336	3022
1089	-0.67	-146.0	111.4	-7.7	170	1090	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2337	3022
1399	-0.67	-146.0	136.3	-8.1	185	1400	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2336	3022
1707	-0.67	-146.0	163.5	-9.4	200	1711	0.00	2.22	0.00	0.000	4	0.000	0.061	2274	932	3021
1734	-0.67	-146.0	166.2	-10.3	201	1738	0.00	2.30	0.00	0.000	6	0.000	0.056	2274	2363	3021
2061	-0.67	-146.0	194.3	-7.9	217	2065	0.00	2.28	0.00	0.000	4	0.000	0.072	2274	3746	3021
2139	-0.75	-146.0	200.2	-7.1	220	2143	0.00	2.20	0.00	0.000	6	0.000	0.044	2274	2336	3021
2460	-0.75	-146.0	220.8	-6.1	236	2461	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2336	3020
2770	-0.80	-146.0	239.9	-6.1	251	2771	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2335	3021
3079	-0.86	-146.0	260.0	-6.5	266	3084	0.10	2.38	0.00	0.000	4	0.123	0.072	2240	3757	3021
3128	-0.86	-146.0	264.1	-7.9	268	3132	0.00	2.22	0.00	0.000	6	0.000	0.044	2240	2335	3020
3449	-0.86	-146.0	291.1	-8.7	284	3450	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2334	3021
3758	-0.86	-146.0	318.6	-8.4	299	3759	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2334	3020
4067	-0.86	-146.0	344.1	-8.1	314	4071	0.00	2.22	0.00	0.000	4	0.000	0.060	2240	929	3020
4140	-0.80	-146.0	350.4	-9.0	317	4144	0.00	2.28	0.00	0.000	6	0.000	0.057	2240	2344	3020
4466	-0.80	-146.0	376.0	-7.8	333	4467	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2344	3020
4775	-0.80	-146.0	398.8	-7.2	348	4778	0.00	2.33	0.00	0.000	4	0.000	0.073	2240	3750	3020
4825	-0.80	-146.0	402.5	-7.5	350	4829	0.00	2.22	0.00	0.000	6	0.000	0.044	2240	2323	3020
5149	-0.80	-146.0	424.6	-6.7	358	5150	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2323	3020
5474	-0.80	-146.0	447.3	-6.9	366	5478	0.00	2.17	0.00	0.000	4	0.000	0.058	2240	938	3020
5535	-0.80	-146.0	451.9	-7.4	367	5539	0.00	2.25	0.00	0.000	6	0.000	0.054	2240	2344	3020
5848	-0.80	-146.0	473.4	-6.8	375	5853	0.00	2.33	0.00	0.000	4	0.000	0.072	2240	3753	3020
5926	-0.86	-146.0	479.1	-7.0	376	5930	0.00	2.20	0.00	0.000	6	0.000	0.043	2240	2340	3020
6263	-0.86	-146.0	501.7	-6.8	385	6267	0.00	2.22	0.00	0.000	4	0.000	0.056	2240	929	3021
6312	-0.86	-146.0	505.3	-7.3	386	6316	0.00	2.28	0.00	0.000	6	0.000	0.053	2240	2356	3021
6637	-0.86	-146.0	526.2	-6.4	394	6641	0.00	2.30	0.00	0.000	4	0.000	0.071	2240	3754	3021
6687	-0.91	-146.0	529.2	-5.9	395	6691	0.00	2.20	0.00	0.000	6	0.000	0.041	2240	2336	3021
7011	-0.91	-146.0	549.9	-6.2	403	7015	0.00	2.22	0.00	0.000	4	0.000	0.057	2240	928	3022
7057	-0.91	-146.0	552.7	-6.4	404	7061	0.00	2.28	0.00	0.000	6	0.000	0.054	2240	2350	3022
7175	end dive: TARGET_DEPTH_EXCEEDED
state	7175	begin apogee
7181	-0.34	0.0	559.9	6.0	407	7315	0.43	0.00	131.18	1.252	6	0.151	0.000	2366	2516	2420
7316	end apogee: CONTROL_FINISHED_OK
state	7316	begin climb
7318	1.08	146.0	561.9	0.0	410	7465	1.05	0.00	137.40	1.152	6	0.109	0.000	2667	2516	1824
7787	0.96	146.0	523.6	8.5	422	7791	0.10	2.42	0.00	0.000	4	0.161	0.069	2642	3927	1820
7826	0.82	146.0	519.9	9.6	423	7831	0.12	2.28	0.00	0.000	6	0.155	0.042	2611	2521	1821
8150	0.95	184.0	500.0	5.7	431	8189	0.12	0.00	32.58	1.183	6	0.082	0.000	2662	2520	1669
8514	0.90	184.0	472.7	7.7	440	8516	0.12	0.00	0.00	0.000	6	0.131	0.000	2627	2520	1668
8839	0.98	198.3	451.6	6.5	448	8859	0.08	2.40	13.23	1.116	4	0.107	0.070	2662	3927	1611
8875	0.89	198.3	448.4	8.9	448	8882	0.12	2.22	0.00	0.000	6	0.155	0.043	2628	2518	1610
9207	0.97	203.6	426.1	6.8	457	9215	0.00	0.00	5.97	0.937	6	0.000	0.000	2629	2518	1590
9531	1.05	203.6	402.9	7.4	465	9533	0.12	0.00	0.00	0.000	6	0.087	0.000	2678	2518	1589
9840	0.98	203.6	375.0	9.1	479	9845	0.12	2.33	0.00	0.000	4	0.134	0.067	2641	3930	1588
9873	0.98	203.6	372.2	8.4	480	9879	0.00	2.20	0.00	0.000	6	0.000	0.043	2641	2511	1589
10190	1.08	227.3	351.3	6.2	496	10214	0.12	0.00	21.02	1.124	6	0.086	0.000	2691	2510	1493
10518	1.02	227.3	323.6	8.6	512	10520	0.12	0.00	0.00	0.000	6	0.136	0.000	2656	2511	1491
10827	1.08	227.3	301.8	7.1	527	10828	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2511	1491
11136	1.15	227.3	279.7	7.3	542	11138	0.12	0.00	0.00	0.000	6	0.083	0.000	2705	2510	1491
11446	1.06	227.3	249.4	10.0	557	11448	0.15	0.00	0.00	0.000	6	0.135	0.000	2662	2510	1491
11755	1.12	227.3	226.2	7.1	572	11756	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2510	1491
12064	1.19	228.9	203.8	7.0	587	12068	0.12	2.20	0.00	0.000	4	0.087	0.057	2715	1119	1491
12086	1.19	228.9	202.1	7.6	588	12090	0.00	2.22	0.00	0.000	6	0.000	0.052	2714	2525	1491
12419	1.10	228.9	172.9	8.6	604	12423	0.15	2.30	0.00	0.000	4	0.135	0.070	2668	3937	1490
12451	1.10	228.9	170.3	8.5	605	12457	0.00	2.20	0.00	0.000	6	0.000	0.044	2668	2516	1489
12767	1.21	254.3	149.7	6.2	621	12798	0.12	2.33	23.00	1.068	4	0.081	0.058	2720	1117	1382
12825	1.21	254.3	145.2	8.0	623	12832	0.00	2.28	0.00	0.000	6	0.000	0.052	2719	2523	1382
13141	1.15	254.3	118.9	8.1	639	13146	0.12	2.30	0.00	0.000	4	0.134	0.068	2682	3927	1380
13180	1.15	254.3	115.6	8.2	641	13184	0.00	2.20	0.00	0.000	6	0.000	0.044	2682	2518	1380
13504	1.27	283.8	94.8	6.0	666	13533	0.10	0.00	24.95	1.044	6	0.088	0.000	2722	2518	1261
13870	1.27	283.8	66.9	7.8	731	13876	0.00	2.25	0.00	0.000	4	0.000	0.060	2722	1114	1259
13894	1.27	283.8	65.1	7.4	735	13900	0.00	2.25	0.00	0.000	6	0.000	0.053	2722	2520	1259
14238	1.27	283.8	39.0	7.6	796	14244	0.00	2.30	0.00	0.000	4	0.000	0.071	2722	3927	1257
14267	1.27	283.8	36.6	8.1	801	14273	0.00	2.20	0.00	0.000	6	0.000	0.046	2722	2522	1257
14611	1.38	305.7	15.2	6.3	862	14636	0.00	2.35	18.80	1.006	4	0.000	0.060	2722	1108	1173
14693	1.54	338.8	10.5	5.9	876	14729	0.17	2.30	29.23	0.984	6	0.078	0.054	2788	2528	1037
14795	end climb: SURFACE_DEPTH_REACHED
state	14795	begin surface coast
14818	end surface coast: CONTROL_FINISHED_OK
state	14818	begin surface