Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 478 * 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 478 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 558.3028 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -85028.75 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 60 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 558.3028

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 60 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 -85028.75

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 27 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 478 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 042120,6631.249,-5957.230,0,2085.5,0,-37.7 TGT_NAME TARGET_W_IN

_CALLS 5 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.163,0.154

_SM_DEPTHo 1.24 KALMAN_X 22469.9,4917.6,851.5,-130976.0,-3234.5

_SM_ANGLEo -15.0 KALMAN_Y -20765.0,-4544.4,-786.9,-33105.3,2989.1

GPS2 042120,6631.249,-5957.230,0,2085.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 351.2,38994,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 578

Post-dive calculations and measurements:

FINISH 1.4,1.026033 TCM_TEMP 15.10

SM_CCo 13091,178.57,0.908,2,0,144,558.30 XPDR_PINGS 3

SM_GC 1.87,0.00,0.00,178.57,0.000,0.000,0.908,158,2329,144,-10.47,-0.31,558.30 _24V_AH 20.4,88.718

RAFOS_CLK 865 _10V_AH 10.4,40.585

RAFOS 0,1230365042,8.083333,8.067223,123,63,59,57,50,48,658,198,219,169,131,232 DATA_FILE_SIZE 31620,831

RAFOS_FIX 6631.249023,-5957.230469,271208,040420,2,86,2.35 CAP_FILE_SIZE 115550,0

IRIDIUM_FIX 6558.99,-6001.28,230398,030306 CFSIZE 260165632,215056384

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

HUMID 1888 SOUNDSPEED 1443.7

INTERNAL_PRESSURE 8.38899 GPS 271208,042120,6631.249,-5957.230,0,2085.5,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 279 119.89 SBE_CT 651 24 318.78

Roll_motor 129 72 192.87 SBE_O2 564 19 218.69

VBD_pump_during_apogee 478 1213 11837.00 nil 0 0 0.00

VBD_pump_during_surface 178 908 3308.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 168 103 353.11 nil 0 0 0.00

Iridium_during_connect 144 160 470.38 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 6.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 906 50 471.35

TT8 1503 19 311.38

LPSleep 9295 2 223.31

TT8_Active 822 19 170.40

TT8_Sampling 2602 39 1080.37

TT8_CF8 655 45 312.92

TT8_Kalman 33 81 28.43

Analog_circuits 1785 12 222.89

GPS_charging 0 0 0.00

Compass 1682 8 139.98

RAFOS 1800 1 28.08

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

17 -1.08 -146.0 0.0 0.0 0 172 0.00 0.00 -151.95 0.000 2 0.000 0.000 164 2341 2237

175 -1.08 -146.0 3.4 -7.8 27 224 9.12 2.40 -31.65 0.000 4 0.279 0.072 2200 931 3019

261 -0.76 -146.0 12.8 -12.4 41 268 0.25 2.35 0.00 0.000 6 0.176 0.055 2266 2351 3021

607 -0.67 -146.0 51.4 -10.2 102 614 0.10 2.40 0.00 0.000 4 0.184 0.070 2289 3743 3022

717 -0.72 -146.0 62.3 -9.5 121 724 0.00 2.28 0.00 0.000 6 0.000 0.041 2289 2323 3022

1063 -0.77 -146.0 96.1 -8.1 182 1070 0.00 2.30 0.00 0.000 4 0.000 0.055 2289 926 3023

1133 -0.77 -146.0 102.1 -8.5 191 1137 0.00 2.35 0.00 0.000 6 0.000 0.054 2289 2342 3023

1466 -0.84 -146.0 130.6 -8.8 207 1471 0.12 2.45 0.00 0.000 4 0.107 0.071 2244 3748 3023

1561 -0.84 -146.0 140.8 -11.3 211 1565 0.00 2.28 0.00 0.000 6 0.000 0.042 2244 2342 3023

1884 -0.77 -146.0 174.4 -10.3 227 1889 0.10 2.50 0.00 0.000 4 0.184 0.072 2268 3750 3023

1947 -0.86 -146.0 180.3 -9.6 230 1951 0.00 2.28 0.00 0.000 6 0.000 0.043 2268 2336 3023

2280 -0.86 -146.0 210.1 -8.7 246 2284 0.00 2.35 0.00 0.000 4 0.000 0.059 2268 928 3023

2348 -0.86 -146.0 216.3 -8.9 249 2352 0.00 2.38 0.00 0.000 6 0.000 0.055 2268 2339 3023

2670 -0.90 -146.0 241.3 -7.7 265 2675 0.12 2.47 0.00 0.000 4 0.097 0.071 2221 3751 3023

2756 -0.83 -146.0 249.7 -10.1 269 2761 0.15 2.30 0.00 0.000 6 0.169 0.043 2257 2327 3023

3088 -0.83 -146.0 279.7 -8.9 285 3092 0.00 2.33 0.00 0.000 4 0.000 0.058 2257 934 3023

3184 -0.83 -146.0 289.1 -9.1 289 3188 0.00 2.38 0.00 0.000 6 0.000 0.055 2257 2341 3023

3512 -0.83 -146.0 315.6 -7.2 305 3517 0.00 2.45 0.00 0.000 4 0.000 0.071 2257 3745 3023

3716 -0.91 -146.0 329.5 -6.8 314 3720 0.00 2.30 0.00 0.000 6 0.000 0.043 2257 2334 3023

4044 -0.95 -146.0 351.9 -7.5 330 4049 0.12 2.38 0.00 0.000 4 0.102 0.057 2214 926 3023

4152 -0.81 -146.0 362.5 -10.3 335 4157 0.17 2.40 0.00 0.000 6 0.163 0.055 2257 2347 3023

4480 -0.88 -146.0 387.0 -7.2 351 4484 0.00 2.45 0.00 0.000 4 0.000 0.073 2257 3745 3023

4581 -0.99 -146.0 394.6 -7.1 355 4588 0.15 2.30 0.00 0.000 6 0.090 0.041 2205 2326 3023

4894 -0.90 -146.0 423.0 -9.1 365 4899 0.12 2.35 0.00 0.000 4 0.156 0.057 2238 937 3023

5059 -0.90 -146.0 436.6 -7.9 368 5063 0.00 2.38 0.00 0.000 6 0.000 0.055 2238 2341 3023

5397 -0.90 -146.0 461.4 -7.3 377 5401 0.00 2.47 0.00 0.000 4 0.000 0.071 2238 3755 3023

5493 -0.99 -146.0 468.8 -8.0 379 5497 0.00 2.30 0.00 0.000 6 0.000 0.041 2238 2336 3024

5812 -0.99 -146.0 492.2 -7.2 387 5816 0.00 2.35 0.00 0.000 4 0.000 0.056 2238 928 3023

5907 -0.99 -146.0 500.0 -7.8 389 5911 0.00 2.40 0.00 0.000 6 0.000 0.054 2238 2354 3023

6233 -1.46 -146.0 509.1 -0.0 397 6238 0.35 2.42 0.00 0.000 4 0.074 0.054 2106 929 3025

6308 end dive: NO_VERTICAL_VELOCITY

state 6308 begin apogee

6319 -0.34 0.0 509.1 0.0 398 6454 0.80 0.00 131.55 1.213 6 0.105 0.000 2364 2527 2420

6454 end apogee: CONTROL_FINISHED_OK

state 6454 begin climb

6459 1.08 146.0 508.9 0.0 402 6607 1.08 2.83 139.00 1.121 4 0.104 0.068 2665 3926 1824

6740 0.86 146.0 490.8 8.7 408 6745 0.17 2.50 0.00 0.000 6 0.143 0.041 2624 2516 1824

7083 0.92 192.6 472.0 5.4 417 7134 0.00 2.80 42.42 1.123 4 0.000 0.066 2624 3934 1634

7158 0.97 230.6 467.9 5.7 418 7201 0.10 2.55 36.80 1.081 6 0.090 0.039 2656 2514 1480

7534 1.01 254.6 444.0 6.2 428 7558 0.00 0.00 22.70 1.081 6 0.000 0.000 2656 2515 1382

7858 1.13 304.1 426.1 5.3 436 7910 0.10 2.60 45.90 1.106 4 0.084 0.054 2695 1116 1179

7917 1.13 304.1 422.0 7.5 437 7921 0.00 2.60 0.00 0.000 6 0.000 0.048 2695 2523 1179

8241 1.13 304.1 394.0 9.3 447 8245 0.00 2.47 0.00 0.000 4 0.000 0.054 2695 1111 1177

8274 1.13 304.1 390.7 9.1 448 8281 0.00 2.42 0.00 0.000 6 0.000 0.048 2695 2522 1176

8590 1.13 304.1 365.4 7.3 464 8594 0.00 2.35 0.00 0.000 4 0.000 0.054 2695 1114 1176

8602 1.13 304.1 364.6 7.2 464 8606 0.00 2.33 0.00 0.000 6 0.000 0.049 2695 2524 1176

8923 1.13 304.1 340.0 8.2 480 8924 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2524 1176

9232 1.13 304.1 313.9 8.4 495 9234 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2524 1175

9543 1.13 304.1 288.2 8.7 510 9546 0.00 2.33 0.00 0.000 4 0.000 0.053 2695 1106 1176

9554 1.13 304.1 287.0 8.9 510 9558 0.00 2.33 0.00 0.000 6 0.000 0.051 2695 2529 1175

9875 1.13 304.1 259.5 8.0 526 9877 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2529 1175

10185 1.13 304.1 234.8 7.9 541 10188 0.00 2.38 0.00 0.000 4 0.000 0.072 2695 3927 1176

10197 1.13 304.1 233.7 8.1 541 10201 0.00 2.25 0.00 0.000 6 0.000 0.041 2695 2504 1175

10518 1.13 304.1 208.7 7.8 557 10519 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2504 1175

10828 1.22 326.3 186.6 6.3 572 10853 0.00 2.50 18.92 1.062 4 0.000 0.071 2695 3929 1089

10868 1.31 358.7 184.3 5.9 573 10904 0.10 2.28 29.20 1.044 6 0.091 0.042 2734 2513 957

11229 1.31 358.7 156.7 10.0 591 11233 0.00 2.28 0.00 0.000 4 0.000 0.058 2734 1110 951

11252 1.31 358.7 153.8 11.5 592 11256 0.00 2.30 0.00 0.000 6 0.000 0.052 2734 2531 951

11586 1.31 361.3 124.9 6.9 608 11590 0.00 2.33 0.00 0.000 4 0.000 0.057 2734 1117 950

11599 1.31 364.9 124.0 6.9 608 11611 0.00 2.30 5.25 0.813 6 0.000 0.053 2734 2529 932

11925 1.31 364.9 94.4 9.4 630 11931 0.00 2.35 0.00 0.000 4 0.000 0.057 2734 1110 932

11945 1.37 364.9 92.8 8.7 633 11951 0.00 2.30 0.00 0.000 6 0.000 0.052 2734 2518 932

12291 1.43 364.9 69.0 7.6 694 12296 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2518 931

12636 1.52 370.7 43.1 6.8 755 12650 0.12 2.33 6.45 0.864 4 0.082 0.058 2788 1111 908

12674 1.52 370.7 39.3 9.0 761 12680 0.00 2.33 0.00 0.000 6 0.000 0.052 2787 2526 908

13020 1.45 370.7 4.4 10.6 822 13026 0.15 0.00 0.00 0.000 6 0.141 0.000 2746 2526 907

13047 end climb: SURFACE_DEPTH_REACHED

state 13047 begin surface coast

13070 end surface coast: CONTROL_FINISHED_OK

state 13071 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	478	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	558.3028	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-85028.75	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	60	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	042120,6631.249,-5957.230,0,2085.5,0,-37.7	TGT_NAME	TARGET_W_IN
_CALLS	5	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.163,0.154
_SM_DEPTHo	1.24	KALMAN_X	22469.9,4917.6,851.5,-130976.0,-3234.5
_SM_ANGLEo	-15.0	KALMAN_Y	-20765.0,-4544.4,-786.9,-33105.3,2989.1
GPS2	042120,6631.249,-5957.230,0,2085.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	351.2,38994,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	578

FINISH	1.4,1.026033	TCM_TEMP	15.10
SM_CCo	13091,178.57,0.908,2,0,144,558.30	XPDR_PINGS	3
SM_GC	1.87,0.00,0.00,178.57,0.000,0.000,0.908,158,2329,144,-10.47,-0.31,558.30	_24V_AH	20.4,88.718
RAFOS_CLK	865	_10V_AH	10.4,40.585
RAFOS	0,1230365042,8.083333,8.067223,123,63,59,57,50,48,658,198,219,169,131,232	DATA_FILE_SIZE	31620,831
RAFOS_FIX	6631.249023,-5957.230469,271208,040420,2,86,2.35	CAP_FILE_SIZE	115550,0
IRIDIUM_FIX	6558.99,-6001.28,230398,030306	CFSIZE	260165632,215056384
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
HUMID	1888	SOUNDSPEED	1443.7
INTERNAL_PRESSURE	8.38899	GPS	271208,042120,6631.249,-5957.230,0,2085.5,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	279	119.89	SBE_CT	651	24	318.78
Roll_motor	129	72	192.87	SBE_O2	564	19	218.69
VBD_pump_during_apogee	478	1213	11837.00	nil	0	0	0.00
VBD_pump_during_surface	178	908	3308.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	168	103	353.11	nil	0	0	0.00
Iridium_during_connect	144	160	470.38	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	6.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	906	50	471.35
TT8	1503	19	311.38
LPSleep	9295	2	223.31
TT8_Active	822	19	170.40
TT8_Sampling	2602	39	1080.37
TT8_CF8	655	45	312.92
TT8_Kalman	33	81	28.43
Analog_circuits	1785	12	222.89
GPS_charging	0	0	0.00
Compass	1682	8	139.98
RAFOS	1800	1	28.08
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
17	-1.08	-146.0	0.0	0.0	0	172	0.00	0.00	-151.95	0.000	2	0.000	0.000	164	2341	2237
175	-1.08	-146.0	3.4	-7.8	27	224	9.12	2.40	-31.65	0.000	4	0.279	0.072	2200	931	3019
261	-0.76	-146.0	12.8	-12.4	41	268	0.25	2.35	0.00	0.000	6	0.176	0.055	2266	2351	3021
607	-0.67	-146.0	51.4	-10.2	102	614	0.10	2.40	0.00	0.000	4	0.184	0.070	2289	3743	3022
717	-0.72	-146.0	62.3	-9.5	121	724	0.00	2.28	0.00	0.000	6	0.000	0.041	2289	2323	3022
1063	-0.77	-146.0	96.1	-8.1	182	1070	0.00	2.30	0.00	0.000	4	0.000	0.055	2289	926	3023
1133	-0.77	-146.0	102.1	-8.5	191	1137	0.00	2.35	0.00	0.000	6	0.000	0.054	2289	2342	3023
1466	-0.84	-146.0	130.6	-8.8	207	1471	0.12	2.45	0.00	0.000	4	0.107	0.071	2244	3748	3023
1561	-0.84	-146.0	140.8	-11.3	211	1565	0.00	2.28	0.00	0.000	6	0.000	0.042	2244	2342	3023
1884	-0.77	-146.0	174.4	-10.3	227	1889	0.10	2.50	0.00	0.000	4	0.184	0.072	2268	3750	3023
1947	-0.86	-146.0	180.3	-9.6	230	1951	0.00	2.28	0.00	0.000	6	0.000	0.043	2268	2336	3023
2280	-0.86	-146.0	210.1	-8.7	246	2284	0.00	2.35	0.00	0.000	4	0.000	0.059	2268	928	3023
2348	-0.86	-146.0	216.3	-8.9	249	2352	0.00	2.38	0.00	0.000	6	0.000	0.055	2268	2339	3023
2670	-0.90	-146.0	241.3	-7.7	265	2675	0.12	2.47	0.00	0.000	4	0.097	0.071	2221	3751	3023
2756	-0.83	-146.0	249.7	-10.1	269	2761	0.15	2.30	0.00	0.000	6	0.169	0.043	2257	2327	3023
3088	-0.83	-146.0	279.7	-8.9	285	3092	0.00	2.33	0.00	0.000	4	0.000	0.058	2257	934	3023
3184	-0.83	-146.0	289.1	-9.1	289	3188	0.00	2.38	0.00	0.000	6	0.000	0.055	2257	2341	3023
3512	-0.83	-146.0	315.6	-7.2	305	3517	0.00	2.45	0.00	0.000	4	0.000	0.071	2257	3745	3023
3716	-0.91	-146.0	329.5	-6.8	314	3720	0.00	2.30	0.00	0.000	6	0.000	0.043	2257	2334	3023
4044	-0.95	-146.0	351.9	-7.5	330	4049	0.12	2.38	0.00	0.000	4	0.102	0.057	2214	926	3023
4152	-0.81	-146.0	362.5	-10.3	335	4157	0.17	2.40	0.00	0.000	6	0.163	0.055	2257	2347	3023
4480	-0.88	-146.0	387.0	-7.2	351	4484	0.00	2.45	0.00	0.000	4	0.000	0.073	2257	3745	3023
4581	-0.99	-146.0	394.6	-7.1	355	4588	0.15	2.30	0.00	0.000	6	0.090	0.041	2205	2326	3023
4894	-0.90	-146.0	423.0	-9.1	365	4899	0.12	2.35	0.00	0.000	4	0.156	0.057	2238	937	3023
5059	-0.90	-146.0	436.6	-7.9	368	5063	0.00	2.38	0.00	0.000	6	0.000	0.055	2238	2341	3023
5397	-0.90	-146.0	461.4	-7.3	377	5401	0.00	2.47	0.00	0.000	4	0.000	0.071	2238	3755	3023
5493	-0.99	-146.0	468.8	-8.0	379	5497	0.00	2.30	0.00	0.000	6	0.000	0.041	2238	2336	3024
5812	-0.99	-146.0	492.2	-7.2	387	5816	0.00	2.35	0.00	0.000	4	0.000	0.056	2238	928	3023
5907	-0.99	-146.0	500.0	-7.8	389	5911	0.00	2.40	0.00	0.000	6	0.000	0.054	2238	2354	3023
6233	-1.46	-146.0	509.1	-0.0	397	6238	0.35	2.42	0.00	0.000	4	0.074	0.054	2106	929	3025
6308	end dive: NO_VERTICAL_VELOCITY
state	6308	begin apogee
6319	-0.34	0.0	509.1	0.0	398	6454	0.80	0.00	131.55	1.213	6	0.105	0.000	2364	2527	2420
6454	end apogee: CONTROL_FINISHED_OK
state	6454	begin climb
6459	1.08	146.0	508.9	0.0	402	6607	1.08	2.83	139.00	1.121	4	0.104	0.068	2665	3926	1824
6740	0.86	146.0	490.8	8.7	408	6745	0.17	2.50	0.00	0.000	6	0.143	0.041	2624	2516	1824
7083	0.92	192.6	472.0	5.4	417	7134	0.00	2.80	42.42	1.123	4	0.000	0.066	2624	3934	1634
7158	0.97	230.6	467.9	5.7	418	7201	0.10	2.55	36.80	1.081	6	0.090	0.039	2656	2514	1480
7534	1.01	254.6	444.0	6.2	428	7558	0.00	0.00	22.70	1.081	6	0.000	0.000	2656	2515	1382
7858	1.13	304.1	426.1	5.3	436	7910	0.10	2.60	45.90	1.106	4	0.084	0.054	2695	1116	1179
7917	1.13	304.1	422.0	7.5	437	7921	0.00	2.60	0.00	0.000	6	0.000	0.048	2695	2523	1179
8241	1.13	304.1	394.0	9.3	447	8245	0.00	2.47	0.00	0.000	4	0.000	0.054	2695	1111	1177
8274	1.13	304.1	390.7	9.1	448	8281	0.00	2.42	0.00	0.000	6	0.000	0.048	2695	2522	1176
8590	1.13	304.1	365.4	7.3	464	8594	0.00	2.35	0.00	0.000	4	0.000	0.054	2695	1114	1176
8602	1.13	304.1	364.6	7.2	464	8606	0.00	2.33	0.00	0.000	6	0.000	0.049	2695	2524	1176
8923	1.13	304.1	340.0	8.2	480	8924	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2524	1176
9232	1.13	304.1	313.9	8.4	495	9234	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2524	1175
9543	1.13	304.1	288.2	8.7	510	9546	0.00	2.33	0.00	0.000	4	0.000	0.053	2695	1106	1176
9554	1.13	304.1	287.0	8.9	510	9558	0.00	2.33	0.00	0.000	6	0.000	0.051	2695	2529	1175
9875	1.13	304.1	259.5	8.0	526	9877	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2529	1175
10185	1.13	304.1	234.8	7.9	541	10188	0.00	2.38	0.00	0.000	4	0.000	0.072	2695	3927	1176
10197	1.13	304.1	233.7	8.1	541	10201	0.00	2.25	0.00	0.000	6	0.000	0.041	2695	2504	1175
10518	1.13	304.1	208.7	7.8	557	10519	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2504	1175
10828	1.22	326.3	186.6	6.3	572	10853	0.00	2.50	18.92	1.062	4	0.000	0.071	2695	3929	1089
10868	1.31	358.7	184.3	5.9	573	10904	0.10	2.28	29.20	1.044	6	0.091	0.042	2734	2513	957
11229	1.31	358.7	156.7	10.0	591	11233	0.00	2.28	0.00	0.000	4	0.000	0.058	2734	1110	951
11252	1.31	358.7	153.8	11.5	592	11256	0.00	2.30	0.00	0.000	6	0.000	0.052	2734	2531	951
11586	1.31	361.3	124.9	6.9	608	11590	0.00	2.33	0.00	0.000	4	0.000	0.057	2734	1117	950
11599	1.31	364.9	124.0	6.9	608	11611	0.00	2.30	5.25	0.813	6	0.000	0.053	2734	2529	932
11925	1.31	364.9	94.4	9.4	630	11931	0.00	2.35	0.00	0.000	4	0.000	0.057	2734	1110	932
11945	1.37	364.9	92.8	8.7	633	11951	0.00	2.30	0.00	0.000	6	0.000	0.052	2734	2518	932
12291	1.43	364.9	69.0	7.6	694	12296	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2518	931
12636	1.52	370.7	43.1	6.8	755	12650	0.12	2.33	6.45	0.864	4	0.082	0.058	2788	1111	908
12674	1.52	370.7	39.3	9.0	761	12680	0.00	2.33	0.00	0.000	6	0.000	0.052	2787	2526	908
13020	1.45	370.7	4.4	10.6	822	13026	0.15	0.00	0.00	0.000	6	0.141	0.000	2746	2526	907
13047	end climb: SURFACE_DEPTH_REACHED
state	13047	begin surface coast
13070	end surface coast: CONTROL_FINISHED_OK
state	13071	begin surface