Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 485 * 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 485 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 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 -97712.203 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 -97712.203

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 34 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 485 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 122224,6634.240,-6013.151,0,2105.5,0,-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 -0.168,0.148

_SM_DEPTHo 3.46 KALMAN_X 72611.2,-2703.0,-655.5,-149464.9,11499.6

_SM_ANGLEo -43.6 KALMAN_Y -67101.8,2497.9,605.8,-16277.6,-10627.0

GPS2 122224,6634.240,-6013.151,0,2105.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 349.1,26165,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 521

Post-dive calculations and measurements:

FINISH 1.6,1.025974 TCM_TEMP 14.90

SM_CCo 13116,216.35,0.900,2,0,144,558.30 XPDR_PINGS 0

SM_GC 2.54,0.00,0.00,216.35,0.000,0.000,0.900,160,2329,144,-10.47,-0.31,558.30 _24V_AH 20.2,90.169

RAFOS_CLK 871 _10V_AH 10.4,41.349

RAFOS 0,1230480243,16.083334,16.067499,139,59,59,59,57,51,607,195,213,176,136,120 DATA_FILE_SIZE 28407,829

RAFOS_FIX 6636.185547,-6017.841309,281208,161654,3,93,0.35 CAP_FILE_SIZE 118222,0

IRIDIUM_FIX 6558.99,-6001.28,230398,030306 CFSIZE 260165632,214515712

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

HUMID 1889 SOUNDSPEED 1444.2

INTERNAL_PRESSURE 8.37923 GPS 281208,161954,6636.186,-6017.841,0,3093.0,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 226 93.24 SBE_CT 643 24 312.07

Roll_motor 125 87 221.35 SBE_O2 563 19 216.16

VBD_pump_during_apogee 443 1211 10846.90 nil 0 0 0.00

VBD_pump_during_surface 216 900 3935.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 168 103 349.91 nil 0 0 0.00

Iridium_during_connect 144 160 466.72 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 906 50 471.41

TT8 1528 19 316.61

LPSleep 9332 2 224.19

TT8_Active 829 19 171.92

TT8_Sampling 2603 39 1080.71

TT8_CF8 662 45 316.19

TT8_Kalman 33 81 28.42

Analog_circuits 1770 12 220.90

GPS_charging 0 0 0.00

Compass 1676 8 139.44

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.08 -146.0 0.0 0.0 0 23 0.00 0.00 -5.43 0.000 2 0.000 0.000 165 2342 222

28 -1.08 -146.0 3.4 -0.0 1 201 7.97 2.50 -158.62 0.000 4 0.226 0.087 2200 3749 3017

263 -0.84 -146.0 14.7 -15.0 41 270 0.20 2.30 0.00 0.000 6 0.163 0.044 2254 2333 3019

609 -0.71 -146.0 58.4 -12.5 102 616 0.12 2.38 0.00 0.000 4 0.176 0.058 2286 926 3020

687 -0.71 -146.0 67.3 -11.4 115 693 0.00 2.40 0.00 0.000 6 0.000 0.057 2286 2346 3020

1040 -0.71 -146.0 104.9 -11.1 172 1044 0.00 2.45 0.00 0.000 4 0.000 0.073 2286 3748 3020

1120 -0.78 -146.0 113.0 -9.3 175 1126 0.00 2.30 0.00 0.000 6 0.000 0.043 2287 2341 3020

1437 -0.78 -146.0 143.3 -11.1 191 1441 0.00 2.38 0.00 0.000 4 0.000 0.058 2287 925 3020

1561 -0.78 -146.0 156.8 -10.1 196 1565 0.00 2.40 0.00 0.000 6 0.000 0.055 2286 2343 3020

1877 -0.85 -146.0 182.1 -8.7 211 1882 0.12 2.47 0.00 0.000 4 0.109 0.071 2243 3746 3020

1934 -0.85 -146.0 188.8 -12.4 213 1940 0.00 2.30 0.00 0.000 6 0.000 0.043 2243 2335 3021

2250 -0.80 -146.0 221.3 -8.1 229 2254 0.00 2.38 0.00 0.000 4 0.000 0.059 2243 929 3021

2357 -0.72 -146.0 232.8 -11.0 233 2364 0.15 2.40 0.00 0.000 6 0.172 0.056 2279 2340 3021

2675 -0.82 -146.0 261.8 -8.0 249 2679 0.00 2.47 0.00 0.000 4 0.000 0.073 2278 3746 3021

2840 -0.97 -146.0 274.4 -7.6 256 2845 0.17 2.30 0.00 0.000 6 0.089 0.042 2218 2333 3021

3162 -0.89 -146.0 309.1 -10.6 272 3167 0.10 2.38 0.00 0.000 4 0.163 0.057 2243 930 3021

3286 -0.89 -146.0 321.2 -9.4 277 3290 0.00 2.40 0.00 0.000 6 0.000 0.055 2243 2340 3021

3602 -0.89 -146.0 346.3 -8.1 292 3606 0.00 2.47 0.00 0.000 4 0.000 0.073 2243 3746 3021

3688 -0.95 -146.0 353.4 -9.3 296 3692 0.00 2.30 0.00 0.000 6 0.000 0.043 2243 2341 3021

4015 -0.95 -146.0 381.1 -8.0 312 4019 0.00 2.38 0.00 0.000 4 0.000 0.058 2243 927 3021

4181 -0.95 -146.0 395.4 -8.6 319 4185 0.00 2.42 0.00 0.000 6 0.000 0.055 2243 2352 3021

4494 -0.99 -146.0 418.6 -7.2 328 4498 0.10 2.47 0.00 0.000 4 0.107 0.071 2206 3750 3021

4607 -0.99 -146.0 429.1 -10.0 330 4611 0.00 2.33 0.00 0.000 6 0.000 0.042 2206 2327 3021

4944 -0.93 -146.0 459.5 -8.9 339 4948 0.12 2.35 0.00 0.000 4 0.161 0.056 2238 939 3021

5011 -0.93 -146.0 465.1 -8.0 340 5015 0.00 2.40 0.00 0.000 6 0.000 0.055 2239 2349 3021

5355 -0.98 -146.0 489.2 -6.9 349 5356 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2350 3022

5679 -1.04 -146.0 512.5 -7.5 357 5684 0.12 2.42 0.00 0.000 4 0.097 0.056 2193 933 3022

5713 -1.27 -146.0 514.5 -3.5 357 5718 0.12 2.40 0.00 0.000 6 0.091 0.054 2151 2347 3023

5879 end dive: NO_VERTICAL_VELOCITY

state 5879 begin apogee

5888 -0.34 0.0 514.4 0.0 361 6023 0.65 0.00 131.93 1.212 6 0.097 0.000 2363 2522 2420

6024 end apogee: CONTROL_FINISHED_OK

state 6024 begin climb

6027 1.08 146.0 514.3 0.0 364 6173 1.08 2.72 137.85 1.122 4 0.099 0.053 2667 1120 1824

6184 0.96 156.2 506.5 6.7 367 6201 0.10 2.67 11.15 0.965 6 0.150 0.050 2646 2525 1783

6523 0.99 175.9 485.2 6.4 376 6544 0.00 0.00 19.15 1.076 6 0.000 0.000 2646 2525 1702

6846 0.99 180.9 463.0 6.9 384 6857 0.00 2.58 6.20 0.888 4 0.000 0.068 2646 3930 1683

6864 1.00 183.1 461.7 6.9 384 6873 0.00 2.45 4.07 0.709 6 0.000 0.039 2646 2518 1673

7212 1.00 184.7 437.8 7.0 393 7216 0.00 2.58 0.00 0.000 4 0.000 0.067 2645 3939 1676

7263 0.91 184.7 433.5 8.2 394 7267 0.00 2.40 0.00 0.000 6 0.000 0.040 2646 2513 1675

7576 0.92 194.3 411.8 6.7 402 7592 0.00 2.50 11.05 1.043 4 0.000 0.067 2646 3929 1627

7627 0.83 194.3 408.3 7.8 403 7632 0.12 2.35 0.00 0.000 6 0.148 0.040 2614 2512 1629

7944 1.09 245.1 391.4 5.3 415 7995 0.20 2.45 43.62 1.127 4 0.077 0.052 2694 1117 1420

8066 1.02 245.1 382.3 8.1 420 8071 0.15 2.45 0.00 0.000 6 0.137 0.051 2656 2528 1420

8383 1.08 245.1 358.4 8.0 435 8384 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2528 1420

8692 1.16 250.9 335.7 6.8 450 8704 0.12 2.35 6.25 0.902 4 0.079 0.070 2705 3933 1397

8750 0.97 250.9 330.2 10.4 452 8757 0.22 2.28 0.00 0.000 6 0.133 0.042 2641 2513 1399

9067 1.12 257.0 309.0 6.8 468 9081 0.15 2.33 6.68 0.920 4 0.075 0.054 2705 1110 1372

9290 1.12 257.0 288.5 8.2 478 9295 0.10 2.33 0.00 0.000 6 0.139 0.051 2679 2528 1375

9617 1.14 272.5 265.4 6.5 494 9639 0.00 2.38 13.95 1.050 4 0.000 0.054 2679 1112 1309

9767 1.27 300.6 256.4 6.1 500 9800 0.12 2.30 24.55 1.072 6 0.082 0.051 2725 2522 1194

10112 1.22 300.6 230.9 9.0 517 10117 0.10 2.38 0.00 0.000 4 0.141 0.069 2696 3933 1192

10141 1.22 300.6 227.6 10.8 518 10145 0.00 2.25 0.00 0.000 6 0.000 0.043 2696 2518 1192

10463 1.30 310.6 201.2 6.7 534 10475 0.10 0.00 9.12 0.969 6 0.090 0.000 2735 2518 1153

10771 1.30 310.6 177.1 8.4 549 10775 0.00 2.42 0.00 0.000 4 0.000 0.071 2735 3929 1153

10785 1.26 310.6 175.9 9.0 549 10792 0.12 2.25 0.00 0.000 6 0.144 0.042 2701 2522 1154

11102 1.36 330.0 151.3 6.4 565 11122 0.12 0.00 17.52 1.031 6 0.083 0.000 2750 2521 1074

11431 1.36 330.0 126.2 7.2 581 11432 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2521 1073

11741 1.36 330.0 101.7 8.2 596 11744 0.00 2.35 0.00 0.000 4 0.000 0.058 2750 1108 1072

11752 1.36 330.0 100.7 8.0 596 11756 0.00 2.35 0.00 0.000 6 0.000 0.052 2750 2531 1072

12095 1.36 330.0 74.2 7.4 653 12100 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2531 1071

12439 1.36 330.0 50.7 7.5 714 12446 0.00 2.42 0.00 0.000 4 0.000 0.071 2750 3929 1071

12464 1.36 330.0 48.5 8.1 718 12470 0.00 2.30 0.00 0.000 6 0.000 0.043 2750 2513 1070

12809 1.36 330.0 21.8 8.1 779 12816 0.00 2.50 0.00 0.000 4 0.000 0.071 2750 3930 1071

12823 1.36 330.0 20.6 8.3 781 12829 0.00 2.30 0.00 0.000 6 0.000 0.044 2749 2520 1070

13063 end climb: SURFACE_DEPTH_REACHED

state 13063 begin surface coast

13094 end surface coast: CONTROL_FINISHED_OK

state 13094 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	485	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	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	-97712.203	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	122224,6634.240,-6013.151,0,2105.5,0,-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	-0.168,0.148
_SM_DEPTHo	3.46	KALMAN_X	72611.2,-2703.0,-655.5,-149464.9,11499.6
_SM_ANGLEo	-43.6	KALMAN_Y	-67101.8,2497.9,605.8,-16277.6,-10627.0
GPS2	122224,6634.240,-6013.151,0,2105.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	349.1,26165,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	521

FINISH	1.6,1.025974	TCM_TEMP	14.90
SM_CCo	13116,216.35,0.900,2,0,144,558.30	XPDR_PINGS	0
SM_GC	2.54,0.00,0.00,216.35,0.000,0.000,0.900,160,2329,144,-10.47,-0.31,558.30	_24V_AH	20.2,90.169
RAFOS_CLK	871	_10V_AH	10.4,41.349
RAFOS	0,1230480243,16.083334,16.067499,139,59,59,59,57,51,607,195,213,176,136,120	DATA_FILE_SIZE	28407,829
RAFOS_FIX	6636.185547,-6017.841309,281208,161654,3,93,0.35	CAP_FILE_SIZE	118222,0
IRIDIUM_FIX	6558.99,-6001.28,230398,030306	CFSIZE	260165632,214515712
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
HUMID	1889	SOUNDSPEED	1444.2
INTERNAL_PRESSURE	8.37923	GPS	281208,161954,6636.186,-6017.841,0,3093.0,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	226	93.24	SBE_CT	643	24	312.07
Roll_motor	125	87	221.35	SBE_O2	563	19	216.16
VBD_pump_during_apogee	443	1211	10846.90	nil	0	0	0.00
VBD_pump_during_surface	216	900	3935.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	168	103	349.91	nil	0	0	0.00
Iridium_during_connect	144	160	466.72	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	906	50	471.41
TT8	1528	19	316.61
LPSleep	9332	2	224.19
TT8_Active	829	19	171.92
TT8_Sampling	2603	39	1080.71
TT8_CF8	662	45	316.19
TT8_Kalman	33	81	28.42
Analog_circuits	1770	12	220.90
GPS_charging	0	0	0.00
Compass	1676	8	139.44
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.08	-146.0	0.0	0.0	0	23	0.00	0.00	-5.43	0.000	2	0.000	0.000	165	2342	222
28	-1.08	-146.0	3.4	-0.0	1	201	7.97	2.50	-158.62	0.000	4	0.226	0.087	2200	3749	3017
263	-0.84	-146.0	14.7	-15.0	41	270	0.20	2.30	0.00	0.000	6	0.163	0.044	2254	2333	3019
609	-0.71	-146.0	58.4	-12.5	102	616	0.12	2.38	0.00	0.000	4	0.176	0.058	2286	926	3020
687	-0.71	-146.0	67.3	-11.4	115	693	0.00	2.40	0.00	0.000	6	0.000	0.057	2286	2346	3020
1040	-0.71	-146.0	104.9	-11.1	172	1044	0.00	2.45	0.00	0.000	4	0.000	0.073	2286	3748	3020
1120	-0.78	-146.0	113.0	-9.3	175	1126	0.00	2.30	0.00	0.000	6	0.000	0.043	2287	2341	3020
1437	-0.78	-146.0	143.3	-11.1	191	1441	0.00	2.38	0.00	0.000	4	0.000	0.058	2287	925	3020
1561	-0.78	-146.0	156.8	-10.1	196	1565	0.00	2.40	0.00	0.000	6	0.000	0.055	2286	2343	3020
1877	-0.85	-146.0	182.1	-8.7	211	1882	0.12	2.47	0.00	0.000	4	0.109	0.071	2243	3746	3020
1934	-0.85	-146.0	188.8	-12.4	213	1940	0.00	2.30	0.00	0.000	6	0.000	0.043	2243	2335	3021
2250	-0.80	-146.0	221.3	-8.1	229	2254	0.00	2.38	0.00	0.000	4	0.000	0.059	2243	929	3021
2357	-0.72	-146.0	232.8	-11.0	233	2364	0.15	2.40	0.00	0.000	6	0.172	0.056	2279	2340	3021
2675	-0.82	-146.0	261.8	-8.0	249	2679	0.00	2.47	0.00	0.000	4	0.000	0.073	2278	3746	3021
2840	-0.97	-146.0	274.4	-7.6	256	2845	0.17	2.30	0.00	0.000	6	0.089	0.042	2218	2333	3021
3162	-0.89	-146.0	309.1	-10.6	272	3167	0.10	2.38	0.00	0.000	4	0.163	0.057	2243	930	3021
3286	-0.89	-146.0	321.2	-9.4	277	3290	0.00	2.40	0.00	0.000	6	0.000	0.055	2243	2340	3021
3602	-0.89	-146.0	346.3	-8.1	292	3606	0.00	2.47	0.00	0.000	4	0.000	0.073	2243	3746	3021
3688	-0.95	-146.0	353.4	-9.3	296	3692	0.00	2.30	0.00	0.000	6	0.000	0.043	2243	2341	3021
4015	-0.95	-146.0	381.1	-8.0	312	4019	0.00	2.38	0.00	0.000	4	0.000	0.058	2243	927	3021
4181	-0.95	-146.0	395.4	-8.6	319	4185	0.00	2.42	0.00	0.000	6	0.000	0.055	2243	2352	3021
4494	-0.99	-146.0	418.6	-7.2	328	4498	0.10	2.47	0.00	0.000	4	0.107	0.071	2206	3750	3021
4607	-0.99	-146.0	429.1	-10.0	330	4611	0.00	2.33	0.00	0.000	6	0.000	0.042	2206	2327	3021
4944	-0.93	-146.0	459.5	-8.9	339	4948	0.12	2.35	0.00	0.000	4	0.161	0.056	2238	939	3021
5011	-0.93	-146.0	465.1	-8.0	340	5015	0.00	2.40	0.00	0.000	6	0.000	0.055	2239	2349	3021
5355	-0.98	-146.0	489.2	-6.9	349	5356	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2350	3022
5679	-1.04	-146.0	512.5	-7.5	357	5684	0.12	2.42	0.00	0.000	4	0.097	0.056	2193	933	3022
5713	-1.27	-146.0	514.5	-3.5	357	5718	0.12	2.40	0.00	0.000	6	0.091	0.054	2151	2347	3023
5879	end dive: NO_VERTICAL_VELOCITY
state	5879	begin apogee
5888	-0.34	0.0	514.4	0.0	361	6023	0.65	0.00	131.93	1.212	6	0.097	0.000	2363	2522	2420
6024	end apogee: CONTROL_FINISHED_OK
state	6024	begin climb
6027	1.08	146.0	514.3	0.0	364	6173	1.08	2.72	137.85	1.122	4	0.099	0.053	2667	1120	1824
6184	0.96	156.2	506.5	6.7	367	6201	0.10	2.67	11.15	0.965	6	0.150	0.050	2646	2525	1783
6523	0.99	175.9	485.2	6.4	376	6544	0.00	0.00	19.15	1.076	6	0.000	0.000	2646	2525	1702
6846	0.99	180.9	463.0	6.9	384	6857	0.00	2.58	6.20	0.888	4	0.000	0.068	2646	3930	1683
6864	1.00	183.1	461.7	6.9	384	6873	0.00	2.45	4.07	0.709	6	0.000	0.039	2646	2518	1673
7212	1.00	184.7	437.8	7.0	393	7216	0.00	2.58	0.00	0.000	4	0.000	0.067	2645	3939	1676
7263	0.91	184.7	433.5	8.2	394	7267	0.00	2.40	0.00	0.000	6	0.000	0.040	2646	2513	1675
7576	0.92	194.3	411.8	6.7	402	7592	0.00	2.50	11.05	1.043	4	0.000	0.067	2646	3929	1627
7627	0.83	194.3	408.3	7.8	403	7632	0.12	2.35	0.00	0.000	6	0.148	0.040	2614	2512	1629
7944	1.09	245.1	391.4	5.3	415	7995	0.20	2.45	43.62	1.127	4	0.077	0.052	2694	1117	1420
8066	1.02	245.1	382.3	8.1	420	8071	0.15	2.45	0.00	0.000	6	0.137	0.051	2656	2528	1420
8383	1.08	245.1	358.4	8.0	435	8384	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2528	1420
8692	1.16	250.9	335.7	6.8	450	8704	0.12	2.35	6.25	0.902	4	0.079	0.070	2705	3933	1397
8750	0.97	250.9	330.2	10.4	452	8757	0.22	2.28	0.00	0.000	6	0.133	0.042	2641	2513	1399
9067	1.12	257.0	309.0	6.8	468	9081	0.15	2.33	6.68	0.920	4	0.075	0.054	2705	1110	1372
9290	1.12	257.0	288.5	8.2	478	9295	0.10	2.33	0.00	0.000	6	0.139	0.051	2679	2528	1375
9617	1.14	272.5	265.4	6.5	494	9639	0.00	2.38	13.95	1.050	4	0.000	0.054	2679	1112	1309
9767	1.27	300.6	256.4	6.1	500	9800	0.12	2.30	24.55	1.072	6	0.082	0.051	2725	2522	1194
10112	1.22	300.6	230.9	9.0	517	10117	0.10	2.38	0.00	0.000	4	0.141	0.069	2696	3933	1192
10141	1.22	300.6	227.6	10.8	518	10145	0.00	2.25	0.00	0.000	6	0.000	0.043	2696	2518	1192
10463	1.30	310.6	201.2	6.7	534	10475	0.10	0.00	9.12	0.969	6	0.090	0.000	2735	2518	1153
10771	1.30	310.6	177.1	8.4	549	10775	0.00	2.42	0.00	0.000	4	0.000	0.071	2735	3929	1153
10785	1.26	310.6	175.9	9.0	549	10792	0.12	2.25	0.00	0.000	6	0.144	0.042	2701	2522	1154
11102	1.36	330.0	151.3	6.4	565	11122	0.12	0.00	17.52	1.031	6	0.083	0.000	2750	2521	1074
11431	1.36	330.0	126.2	7.2	581	11432	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2521	1073
11741	1.36	330.0	101.7	8.2	596	11744	0.00	2.35	0.00	0.000	4	0.000	0.058	2750	1108	1072
11752	1.36	330.0	100.7	8.0	596	11756	0.00	2.35	0.00	0.000	6	0.000	0.052	2750	2531	1072
12095	1.36	330.0	74.2	7.4	653	12100	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2531	1071
12439	1.36	330.0	50.7	7.5	714	12446	0.00	2.42	0.00	0.000	4	0.000	0.071	2750	3929	1071
12464	1.36	330.0	48.5	8.1	718	12470	0.00	2.30	0.00	0.000	6	0.000	0.043	2750	2513	1070
12809	1.36	330.0	21.8	8.1	779	12816	0.00	2.50	0.00	0.000	4	0.000	0.071	2750	3930	1071
12823	1.36	330.0	20.6	8.3	781	12829	0.00	2.30	0.00	0.000	6	0.000	0.044	2749	2520	1070
13063	end climb: SURFACE_DEPTH_REACHED
state	13063	begin surface coast
13094	end surface coast: CONTROL_FINISHED_OK
state	13094	begin surface