Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 73 * 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 73 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 2500 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 -3 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 100 T_GPS_CHARGE -23370.439 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 0.0031999999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.014 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 100 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 0.0031999999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.014 RELAUNCH 1 T_GPS_CHARGE -23370.439

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 -3

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 2500 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 73 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 012407,6702.995,-5647.743,26,1.0,26,-37.5 TGT_NAME TARGET_ADD4_WB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.162,-0.091

_SM_DEPTHo 1.41 KALMAN_X 7566.7,313.5,927.7,74937.9,-1031.4

_SM_ANGLEo -64.4 KALMAN_Y -14484.0,408.6,-438.4,32905.4,600.6

GPS2 012915,6703.001,-5647.727,8,2.0,8,-37.5 MHEAD_RNG_PITCHd_Wd 278.1,35025,-14.2,-7.021

SPEED_LIMITS 0.122,0.186 D_GRID 515

Post-dive calculations and measurements:

FINISH 0.6,1.007755 TCM_TEMP 15.90

SM_CCo 12883,0.00,0.000,0,0,1350,281.85 XPDR_PINGS 0

SM_GC 1.27,7.12,0.00,0.00,0.067,0.000,0.000,164,2338,1350,-10.38,-0.06,281.85 _24V_AH 22.4,19.937

RAFOS_CLK 688 _10V_AH 10.6,7.089

RAFOS 0,1221797053,4.083333,4.070278,64,61,56,54,53,51,162,195,1002,204,114,235 DATA_FILE_SIZE 31558,843

RAFOS_FIX 6635.725098,-6053.662109,190908,040448,5,86,17.73 CAP_FILE_SIZE 120062,0

IRIDIUM_FIX 6631.12,-5646.10,131297,212112 CFSIZE 260165632,246951936

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1932 SOUNDSPEED 1457.0

INTERNAL_PRESSURE 8.58431 GPS 190908,050738,6703.261,-5650.512,66,0.9,66,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 265 124.09 SBE_CT 650 24 349.69

Roll_motor 134 69 210.28 SBE_O2 570 19 242.67

VBD_pump_during_apogee 358 1198 9614.81 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 28 103 64.62 nil 0 0 0.00

Iridium_during_connect 29 160 105.90 nil 0 0 0.00

Iridium_during_xfer 148 223 740.33

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.39

TT8 1623 19 342.74

LPSleep 9111 2 223.11

TT8_Active 506 19 107.05

TT8_Sampling 1666 39 705.09

TT8_CF8 342 45 166.70

TT8_Kalman 33 81 28.98

Analog_circuits 1425 12 181.34

GPS_charging 0 0 0.00

Compass 1643 8 139.41

RAFOS 1800 1 28.62

Transponder 0 30 0.17

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.16 -146.0 0.0 0.0 0 129 0.00 0.00 -109.65 0.000 2 0.000 0.000 159 2336 2900

132 -1.16 -146.0 3.1 -3.1 19 152 8.45 2.30 -6.50 0.000 4 0.265 0.066 2180 934 3098

405 -0.83 -146.0 51.3 -12.8 67 412 0.28 2.25 0.00 0.000 6 0.171 0.050 2256 2347 3103

749 -0.83 -146.0 80.1 -7.9 128 755 0.00 2.25 0.00 0.000 4 0.000 0.052 2257 923 3106

801 -0.78 -146.0 84.3 -8.6 137 807 0.00 2.25 0.00 0.000 6 0.000 0.048 2257 2351 3106

1132 -0.78 -146.0 109.0 -7.2 180 1136 0.00 2.25 0.00 0.000 4 0.000 0.067 2257 3745 3107

1171 -0.85 -146.0 111.7 -7.2 181 1178 0.00 2.20 0.00 0.000 6 0.000 0.039 2257 2337 3107

1486 -0.91 -146.0 136.6 -8.4 197 1488 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2337 3106

1795 -1.00 -146.0 160.1 -7.3 212 1800 0.15 2.20 0.00 0.000 4 0.097 0.052 2204 927 3105

1833 -0.85 -146.0 163.7 -9.8 213 1840 0.15 2.25 0.00 0.000 6 0.163 0.051 2251 2338 3105

2149 -0.92 -146.0 186.6 -7.2 229 2153 0.00 2.28 0.00 0.000 4 0.000 0.070 2250 3746 3105

2187 -1.04 -146.0 189.5 -7.5 230 2194 0.10 2.20 0.00 0.000 6 0.099 0.041 2204 2336 3104

2502 -0.98 -146.0 219.0 -9.6 246 2506 0.00 2.30 0.00 0.000 4 0.000 0.069 2204 3747 3104

2579 -0.98 -146.0 226.8 -10.3 249 2584 0.00 2.20 0.00 0.000 6 0.000 0.041 2204 2337 3103

2900 -0.98 -146.0 257.6 -9.5 265 2904 0.00 2.17 0.00 0.000 4 0.000 0.054 2204 932 3102

2956 -0.90 -146.0 263.2 -10.4 267 2960 0.15 2.22 0.00 0.000 6 0.170 0.049 2244 2355 3102

3276 -1.02 -146.0 287.8 -7.6 283 3280 0.12 2.22 0.00 0.000 4 0.102 0.064 2199 3746 3101

3369 -1.02 -146.0 295.9 -9.0 287 3374 0.00 2.17 0.00 0.000 6 0.000 0.039 2199 2341 3101

3696 -1.02 -146.0 323.7 -8.3 303 3700 0.00 2.17 0.00 0.000 4 0.000 0.052 2199 932 3101

3741 -0.94 -146.0 327.7 -8.7 305 3745 0.12 2.20 0.00 0.000 6 0.179 0.048 2230 2346 3100

4072 -1.03 -146.0 348.6 -5.9 321 4076 0.00 2.22 0.00 0.000 4 0.000 0.065 2230 3742 3101

4162 -1.15 -146.0 354.1 -6.2 325 4167 0.15 2.15 0.00 0.000 6 0.093 0.038 2177 2326 3101

4493 -1.06 -146.0 379.7 -7.8 341 4498 0.12 2.30 0.00 0.000 4 0.161 0.067 2207 3744 3101

4526 -1.06 -146.0 382.1 -6.6 342 4530 0.00 2.15 0.00 0.000 6 0.000 0.038 2207 2333 3101

4846 -1.06 -146.0 403.5 -6.6 357 4850 0.00 2.15 0.00 0.000 4 0.000 0.051 2207 934 3102

4890 -1.06 -146.0 406.6 -7.5 358 4894 0.00 2.20 0.00 0.000 6 0.000 0.048 2207 2351 3102

5219 -1.06 -146.0 429.4 -7.2 366 5223 0.00 2.22 0.00 0.000 4 0.000 0.065 2207 3746 3103

5324 -1.11 -146.0 437.0 -7.3 368 5328 0.00 2.17 0.00 0.000 6 0.000 0.038 2207 2334 3103

5637 -1.11 -146.0 457.4 -6.5 376 5638 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2334 3103

5962 -1.11 -146.0 478.4 -6.4 384 5966 0.00 2.28 0.00 0.000 4 0.000 0.067 2207 3744 3104

6011 -1.18 -146.0 481.7 -6.5 385 6016 0.10 2.12 0.00 0.000 6 0.110 0.037 2172 2336 3104

6335 -1.39 -146.0 498.3 -2.7 393 6340 0.15 2.15 0.00 0.000 4 0.091 0.049 2114 929 3104

6461 end dive: NO_VERTICAL_VELOCITY

state 6461 begin apogee

6468 -0.34 0.0 498.4 0.0 395 6595 0.73 0.00 122.82 1.198 6 0.121 0.000 2358 2533 2500

6596 end apogee: CONTROL_FINISHED_OK

state 6596 begin climb

6597 1.16 146.0 498.1 0.0 399 6730 1.05 2.58 124.78 1.114 4 0.105 0.063 2684 3916 1904

6859 0.82 146.0 470.7 13.0 405 6864 0.28 2.28 0.00 0.000 6 0.147 0.037 2613 2527 1903

7182 0.82 146.0 444.7 7.9 413 7186 0.00 2.35 0.00 0.000 4 0.000 0.065 2613 3927 1902

7203 0.76 146.0 442.8 8.7 413 7207 0.00 2.25 0.00 0.000 6 0.000 0.037 2613 2518 1902

7550 0.76 146.0 414.3 8.3 422 7554 0.00 2.33 0.00 0.000 4 0.000 0.065 2613 3929 1902

7577 0.68 146.0 411.8 9.5 422 7582 0.08 2.22 0.00 0.000 6 0.146 0.038 2586 2517 1902

7901 0.81 166.0 390.2 6.3 434 7924 0.10 2.42 16.88 1.096 4 0.087 0.065 2625 3929 1823

7935 0.75 166.0 387.4 7.9 435 7940 0.08 2.25 0.00 0.000 6 0.149 0.038 2601 2517 1823

8256 0.83 172.6 364.9 6.8 451 8270 0.00 2.28 6.85 0.934 4 0.000 0.049 2600 1116 1796

8287 0.97 198.3 362.9 6.1 452 8314 0.15 2.22 22.20 1.081 6 0.078 0.044 2660 2521 1691

8624 0.88 198.3 330.1 10.1 468 8628 0.12 2.28 0.00 0.000 4 0.145 0.061 2626 3927 1689

8661 0.81 198.3 326.2 9.8 469 8668 0.00 2.20 0.00 0.000 6 0.000 0.037 2626 2523 1689

8976 0.81 198.3 300.3 8.2 485 8980 0.00 2.20 0.00 0.000 4 0.000 0.050 2626 1113 1689

9005 0.88 198.3 298.2 7.5 486 9009 0.00 2.22 0.00 0.000 6 0.000 0.045 2626 2531 1689

9330 0.88 198.3 273.0 7.8 502 9334 0.00 2.22 0.00 0.000 4 0.000 0.049 2626 1114 1689

9346 0.94 198.3 271.7 7.8 502 9352 0.00 2.22 0.00 0.000 6 0.000 0.044 2626 2522 1688

9661 0.94 198.3 246.4 8.1 518 9665 0.00 2.20 0.00 0.000 4 0.000 0.049 2626 1117 1688

9705 1.02 198.3 242.9 8.5 520 9710 0.12 2.20 0.00 0.000 6 0.086 0.044 2676 2533 1688

10037 0.92 198.3 209.3 10.0 536 10041 0.15 2.22 0.00 0.000 4 0.137 0.061 2632 3937 1689

10091 0.86 198.3 204.2 9.5 538 10098 0.00 2.17 0.00 0.000 6 0.000 0.037 2632 2506 1690

10407 0.90 198.3 180.8 7.0 554 10410 0.00 2.15 0.00 0.000 4 0.000 0.049 2632 1110 1690

10433 1.00 198.3 178.7 7.4 555 10439 0.00 2.22 0.00 0.000 6 0.000 0.045 2632 2523 1690

10760 1.07 198.3 156.2 7.2 571 10764 0.12 2.20 0.00 0.000 4 0.084 0.049 2686 1114 1690

10775 1.07 198.3 155.1 7.4 572 10779 0.00 2.20 0.00 0.000 6 0.000 0.044 2686 2534 1690

11107 0.98 198.3 123.7 9.4 588 11112 0.15 2.22 0.00 0.000 4 0.147 0.061 2641 3940 1690

11172 0.98 198.3 117.7 8.6 591 11177 0.00 2.17 0.00 0.000 6 0.000 0.038 2641 2524 1690

11493 1.11 233.9 96.9 5.8 611 11528 0.12 0.00 28.65 1.030 6 0.087 0.000 2691 2523 1545

11865 1.11 233.9 66.3 8.7 677 11871 0.00 2.30 0.00 0.000 4 0.000 0.066 2691 3926 1543

11918 0.98 233.9 61.2 10.3 686 11925 0.17 2.17 0.00 0.000 6 0.149 0.040 2641 2524 1543

12263 1.18 279.6 39.7 5.4 747 12305 0.17 0.00 36.10 1.017 6 0.084 0.000 2706 2522 1359

12643 1.26 280.5 13.2 7.0 814 12650 0.00 2.25 0.00 0.000 4 0.000 0.054 2706 1109 1353

12672 1.36 283.2 11.1 6.9 819 12679 0.10 2.25 0.00 0.000 6 0.094 0.049 2748 2517 1353

12780 end climb: SURFACE_DEPTH_REACHED

state 12780 begin surface coast

12809 end surface coast: CONTROL_FINISHED_OK

state 12809 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	73	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	2500	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	-3	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	100	T_GPS_CHARGE	-23370.439	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	0.0031999999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.014	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	012407,6702.995,-5647.743,26,1.0,26,-37.5	TGT_NAME	TARGET_ADD4_WB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.162,-0.091
_SM_DEPTHo	1.41	KALMAN_X	7566.7,313.5,927.7,74937.9,-1031.4
_SM_ANGLEo	-64.4	KALMAN_Y	-14484.0,408.6,-438.4,32905.4,600.6
GPS2	012915,6703.001,-5647.727,8,2.0,8,-37.5	MHEAD_RNG_PITCHd_Wd	278.1,35025,-14.2,-7.021
SPEED_LIMITS	0.122,0.186	D_GRID	515

FINISH	0.6,1.007755	TCM_TEMP	15.90
SM_CCo	12883,0.00,0.000,0,0,1350,281.85	XPDR_PINGS	0
SM_GC	1.27,7.12,0.00,0.00,0.067,0.000,0.000,164,2338,1350,-10.38,-0.06,281.85	_24V_AH	22.4,19.937
RAFOS_CLK	688	_10V_AH	10.6,7.089
RAFOS	0,1221797053,4.083333,4.070278,64,61,56,54,53,51,162,195,1002,204,114,235	DATA_FILE_SIZE	31558,843
RAFOS_FIX	6635.725098,-6053.662109,190908,040448,5,86,17.73	CAP_FILE_SIZE	120062,0
IRIDIUM_FIX	6631.12,-5646.10,131297,212112	CFSIZE	260165632,246951936
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1932	SOUNDSPEED	1457.0
INTERNAL_PRESSURE	8.58431	GPS	190908,050738,6703.261,-5650.512,66,0.9,66,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	265	124.09	SBE_CT	650	24	349.69
Roll_motor	134	69	210.28	SBE_O2	570	19	242.67
VBD_pump_during_apogee	358	1198	9614.81	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	28	103	64.62	nil	0	0	0.00
Iridium_during_connect	29	160	105.90	nil	0	0	0.00
Iridium_during_xfer	148	223	740.33
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.39
TT8	1623	19	342.74
LPSleep	9111	2	223.11
TT8_Active	506	19	107.05
TT8_Sampling	1666	39	705.09
TT8_CF8	342	45	166.70
TT8_Kalman	33	81	28.98
Analog_circuits	1425	12	181.34
GPS_charging	0	0	0.00
Compass	1643	8	139.41
RAFOS	1800	1	28.62
Transponder	0	30	0.17

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.16	-146.0	0.0	0.0	0	129	0.00	0.00	-109.65	0.000	2	0.000	0.000	159	2336	2900
132	-1.16	-146.0	3.1	-3.1	19	152	8.45	2.30	-6.50	0.000	4	0.265	0.066	2180	934	3098
405	-0.83	-146.0	51.3	-12.8	67	412	0.28	2.25	0.00	0.000	6	0.171	0.050	2256	2347	3103
749	-0.83	-146.0	80.1	-7.9	128	755	0.00	2.25	0.00	0.000	4	0.000	0.052	2257	923	3106
801	-0.78	-146.0	84.3	-8.6	137	807	0.00	2.25	0.00	0.000	6	0.000	0.048	2257	2351	3106
1132	-0.78	-146.0	109.0	-7.2	180	1136	0.00	2.25	0.00	0.000	4	0.000	0.067	2257	3745	3107
1171	-0.85	-146.0	111.7	-7.2	181	1178	0.00	2.20	0.00	0.000	6	0.000	0.039	2257	2337	3107
1486	-0.91	-146.0	136.6	-8.4	197	1488	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2337	3106
1795	-1.00	-146.0	160.1	-7.3	212	1800	0.15	2.20	0.00	0.000	4	0.097	0.052	2204	927	3105
1833	-0.85	-146.0	163.7	-9.8	213	1840	0.15	2.25	0.00	0.000	6	0.163	0.051	2251	2338	3105
2149	-0.92	-146.0	186.6	-7.2	229	2153	0.00	2.28	0.00	0.000	4	0.000	0.070	2250	3746	3105
2187	-1.04	-146.0	189.5	-7.5	230	2194	0.10	2.20	0.00	0.000	6	0.099	0.041	2204	2336	3104
2502	-0.98	-146.0	219.0	-9.6	246	2506	0.00	2.30	0.00	0.000	4	0.000	0.069	2204	3747	3104
2579	-0.98	-146.0	226.8	-10.3	249	2584	0.00	2.20	0.00	0.000	6	0.000	0.041	2204	2337	3103
2900	-0.98	-146.0	257.6	-9.5	265	2904	0.00	2.17	0.00	0.000	4	0.000	0.054	2204	932	3102
2956	-0.90	-146.0	263.2	-10.4	267	2960	0.15	2.22	0.00	0.000	6	0.170	0.049	2244	2355	3102
3276	-1.02	-146.0	287.8	-7.6	283	3280	0.12	2.22	0.00	0.000	4	0.102	0.064	2199	3746	3101
3369	-1.02	-146.0	295.9	-9.0	287	3374	0.00	2.17	0.00	0.000	6	0.000	0.039	2199	2341	3101
3696	-1.02	-146.0	323.7	-8.3	303	3700	0.00	2.17	0.00	0.000	4	0.000	0.052	2199	932	3101
3741	-0.94	-146.0	327.7	-8.7	305	3745	0.12	2.20	0.00	0.000	6	0.179	0.048	2230	2346	3100
4072	-1.03	-146.0	348.6	-5.9	321	4076	0.00	2.22	0.00	0.000	4	0.000	0.065	2230	3742	3101
4162	-1.15	-146.0	354.1	-6.2	325	4167	0.15	2.15	0.00	0.000	6	0.093	0.038	2177	2326	3101
4493	-1.06	-146.0	379.7	-7.8	341	4498	0.12	2.30	0.00	0.000	4	0.161	0.067	2207	3744	3101
4526	-1.06	-146.0	382.1	-6.6	342	4530	0.00	2.15	0.00	0.000	6	0.000	0.038	2207	2333	3101
4846	-1.06	-146.0	403.5	-6.6	357	4850	0.00	2.15	0.00	0.000	4	0.000	0.051	2207	934	3102
4890	-1.06	-146.0	406.6	-7.5	358	4894	0.00	2.20	0.00	0.000	6	0.000	0.048	2207	2351	3102
5219	-1.06	-146.0	429.4	-7.2	366	5223	0.00	2.22	0.00	0.000	4	0.000	0.065	2207	3746	3103
5324	-1.11	-146.0	437.0	-7.3	368	5328	0.00	2.17	0.00	0.000	6	0.000	0.038	2207	2334	3103
5637	-1.11	-146.0	457.4	-6.5	376	5638	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2334	3103
5962	-1.11	-146.0	478.4	-6.4	384	5966	0.00	2.28	0.00	0.000	4	0.000	0.067	2207	3744	3104
6011	-1.18	-146.0	481.7	-6.5	385	6016	0.10	2.12	0.00	0.000	6	0.110	0.037	2172	2336	3104
6335	-1.39	-146.0	498.3	-2.7	393	6340	0.15	2.15	0.00	0.000	4	0.091	0.049	2114	929	3104
6461	end dive: NO_VERTICAL_VELOCITY
state	6461	begin apogee
6468	-0.34	0.0	498.4	0.0	395	6595	0.73	0.00	122.82	1.198	6	0.121	0.000	2358	2533	2500
6596	end apogee: CONTROL_FINISHED_OK
state	6596	begin climb
6597	1.16	146.0	498.1	0.0	399	6730	1.05	2.58	124.78	1.114	4	0.105	0.063	2684	3916	1904
6859	0.82	146.0	470.7	13.0	405	6864	0.28	2.28	0.00	0.000	6	0.147	0.037	2613	2527	1903
7182	0.82	146.0	444.7	7.9	413	7186	0.00	2.35	0.00	0.000	4	0.000	0.065	2613	3927	1902
7203	0.76	146.0	442.8	8.7	413	7207	0.00	2.25	0.00	0.000	6	0.000	0.037	2613	2518	1902
7550	0.76	146.0	414.3	8.3	422	7554	0.00	2.33	0.00	0.000	4	0.000	0.065	2613	3929	1902
7577	0.68	146.0	411.8	9.5	422	7582	0.08	2.22	0.00	0.000	6	0.146	0.038	2586	2517	1902
7901	0.81	166.0	390.2	6.3	434	7924	0.10	2.42	16.88	1.096	4	0.087	0.065	2625	3929	1823
7935	0.75	166.0	387.4	7.9	435	7940	0.08	2.25	0.00	0.000	6	0.149	0.038	2601	2517	1823
8256	0.83	172.6	364.9	6.8	451	8270	0.00	2.28	6.85	0.934	4	0.000	0.049	2600	1116	1796
8287	0.97	198.3	362.9	6.1	452	8314	0.15	2.22	22.20	1.081	6	0.078	0.044	2660	2521	1691
8624	0.88	198.3	330.1	10.1	468	8628	0.12	2.28	0.00	0.000	4	0.145	0.061	2626	3927	1689
8661	0.81	198.3	326.2	9.8	469	8668	0.00	2.20	0.00	0.000	6	0.000	0.037	2626	2523	1689
8976	0.81	198.3	300.3	8.2	485	8980	0.00	2.20	0.00	0.000	4	0.000	0.050	2626	1113	1689
9005	0.88	198.3	298.2	7.5	486	9009	0.00	2.22	0.00	0.000	6	0.000	0.045	2626	2531	1689
9330	0.88	198.3	273.0	7.8	502	9334	0.00	2.22	0.00	0.000	4	0.000	0.049	2626	1114	1689
9346	0.94	198.3	271.7	7.8	502	9352	0.00	2.22	0.00	0.000	6	0.000	0.044	2626	2522	1688
9661	0.94	198.3	246.4	8.1	518	9665	0.00	2.20	0.00	0.000	4	0.000	0.049	2626	1117	1688
9705	1.02	198.3	242.9	8.5	520	9710	0.12	2.20	0.00	0.000	6	0.086	0.044	2676	2533	1688
10037	0.92	198.3	209.3	10.0	536	10041	0.15	2.22	0.00	0.000	4	0.137	0.061	2632	3937	1689
10091	0.86	198.3	204.2	9.5	538	10098	0.00	2.17	0.00	0.000	6	0.000	0.037	2632	2506	1690
10407	0.90	198.3	180.8	7.0	554	10410	0.00	2.15	0.00	0.000	4	0.000	0.049	2632	1110	1690
10433	1.00	198.3	178.7	7.4	555	10439	0.00	2.22	0.00	0.000	6	0.000	0.045	2632	2523	1690
10760	1.07	198.3	156.2	7.2	571	10764	0.12	2.20	0.00	0.000	4	0.084	0.049	2686	1114	1690
10775	1.07	198.3	155.1	7.4	572	10779	0.00	2.20	0.00	0.000	6	0.000	0.044	2686	2534	1690
11107	0.98	198.3	123.7	9.4	588	11112	0.15	2.22	0.00	0.000	4	0.147	0.061	2641	3940	1690
11172	0.98	198.3	117.7	8.6	591	11177	0.00	2.17	0.00	0.000	6	0.000	0.038	2641	2524	1690
11493	1.11	233.9	96.9	5.8	611	11528	0.12	0.00	28.65	1.030	6	0.087	0.000	2691	2523	1545
11865	1.11	233.9	66.3	8.7	677	11871	0.00	2.30	0.00	0.000	4	0.000	0.066	2691	3926	1543
11918	0.98	233.9	61.2	10.3	686	11925	0.17	2.17	0.00	0.000	6	0.149	0.040	2641	2524	1543
12263	1.18	279.6	39.7	5.4	747	12305	0.17	0.00	36.10	1.017	6	0.084	0.000	2706	2522	1359
12643	1.26	280.5	13.2	7.0	814	12650	0.00	2.25	0.00	0.000	4	0.000	0.054	2706	1109	1353
12672	1.36	283.2	11.1	6.9	819	12679	0.10	2.25	0.00	0.000	6	0.094	0.049	2748	2517	1353
12780	end climb: SURFACE_DEPTH_REACHED
state	12780	begin surface coast
12809	end surface coast: CONTROL_FINISHED_OK
state	12809	begin surface