Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 74 * 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 74 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -23383.504 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 -23383.504

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 31 VBD_BLEED_AD_RATE 8

C_VBD 2500 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 74 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 050738,6703.261,-5650.512,66,0.9,66,-37.5 TGT_NAME TARGET_ADD4_WB

_CALLS 4 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 2 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.153,0.105

_SM_DEPTHo 1.44 KALMAN_X 8785.3,500.2,-259.5,72562.5,423.5

_SM_ANGLEo -64.5 KALMAN_Y -14147.0,278.4,1179.8,31568.5,-2144.8

GPS2 051939,6703.270,-5650.685,10,1.1,10,-37.5 MHEAD_RNG_PITCHd_Wd 341.8,33050,-14.2,-7.021

SPEED_LIMITS 0.122,0.186 D_GRID 555

Post-dive calculations and measurements:

FINISH 0.6,1.013250 TCM_TEMP 15.70

SM_CCo 13855,12.52,0.962,0,0,1378,275.23 XPDR_PINGS 0

SM_GC 2.10,0.00,0.00,12.52,0.000,0.000,0.962,165,2335,1378,-10.45,-0.14,275.23 _24V_AH 22.4,20.074

RAFOS_CLK 759 _10V_AH 10.6,7.153

RAFOS 0,1221811451,8.083333,8.069722,75,62,61,57,56,48,1007,206,153,184,172,217 DATA_FILE_SIZE 31561,868

RAFOS_FIX 6702.435547,-5658.223145,190908,080827,5,90,0.51 CAP_FILE_SIZE 122679,0

IRIDIUM_FIX 6631.12,-5653.72,141297,050550 CFSIZE 260165632,246894592

TT8_MAMPS 0.027612 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1943 SOUNDSPEED 1456.8

INTERNAL_PRESSURE 8.57455 GPS 190908,091308,6703.093,-5653.790,27,1.8,27,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 260 121.06 SBE_CT 671 24 361.11

Roll_motor 121 69 189.53 SBE_O2 588 19 250.58

VBD_pump_during_apogee 349 1231 9627.88 nil 0 0 0.00

VBD_pump_during_surface 12 961 269.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 105 103 243.40 nil 0 0 0.00

Iridium_during_connect 183 160 658.41 nil 0 0 0.00

Iridium_during_xfer 142 223 714.13

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.59

TT8 1625 19 343.30

LPSleep 10182 2 249.33

TT8_Active 500 19 105.60

TT8_Sampling 1725 39 730.03

TT8_CF8 574 45 279.59

TT8_Kalman 33 81 28.98

Analog_circuits 1432 12 182.28

GPS_charging 0 0 0.00

Compass 1701 8 144.25

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 0 123 0.00 0.00 -103.82 0.000 2 0.000 0.000 164 2336 2985

126 -1.16 -146.0 3.4 -3.4 18 145 8.35 2.28 -3.42 0.000 4 0.261 0.066 2181 921 3100

297 -0.82 -146.0 39.1 -13.4 48 304 0.28 2.28 0.00 0.000 6 0.167 0.048 2256 2351 3104

641 -0.82 -146.0 70.2 -9.3 109 647 0.00 2.25 0.00 0.000 4 0.000 0.064 2256 3746 3107

771 -0.82 -146.0 82.4 -9.5 132 777 0.00 2.17 0.00 0.000 6 0.000 0.038 2256 2330 3108

1106 -0.82 -146.0 113.7 -9.1 173 1108 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2330 3108

1416 -0.88 -146.0 140.1 -8.4 188 1417 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2330 3107

1725 -0.95 -146.0 164.0 -7.6 203 1730 0.10 2.33 0.00 0.000 4 0.105 0.067 2220 3757 3106

1802 -0.95 -146.0 170.9 -9.0 206 1809 0.00 2.20 0.00 0.000 6 0.000 0.041 2220 2347 3106

2117 -0.95 -146.0 198.9 -8.7 222 2121 0.00 2.20 0.00 0.000 4 0.000 0.054 2220 933 3105

2291 -0.89 -146.0 215.2 -9.6 229 2298 0.10 2.22 0.00 0.000 6 0.182 0.050 2244 2353 3104

2606 -0.97 -146.0 240.0 -8.0 245 2610 0.00 2.25 0.00 0.000 4 0.000 0.067 2244 3750 3104

2733 -1.11 -146.0 250.3 -7.9 250 2741 0.10 2.20 0.00 0.000 6 0.087 0.041 2188 2338 3103

3049 -1.03 -146.0 279.1 -8.6 266 3054 0.10 2.17 0.00 0.000 4 0.170 0.052 2213 935 3102

3149 -1.03 -146.0 287.7 -8.5 270 3153 0.00 2.22 0.00 0.000 6 0.000 0.051 2213 2336 3102

3470 -1.03 -146.0 312.0 -7.6 286 3474 0.00 2.28 0.00 0.000 4 0.000 0.066 2213 3752 3101

3605 -1.08 -146.0 322.5 -7.6 292 3609 0.00 2.17 0.00 0.000 6 0.000 0.040 2213 2329 3101

3936 -1.08 -146.0 346.5 -7.2 308 3937 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2328 3102

4246 -1.08 -146.0 367.8 -7.0 323 4247 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2329 3102

4555 -1.08 -146.0 388.7 -6.6 338 4559 0.00 2.30 0.00 0.000 4 0.000 0.067 2213 3752 3102

4628 -1.15 -146.0 393.8 -7.3 341 4633 0.12 2.15 0.00 0.000 6 0.095 0.038 2168 2338 3102

4950 -1.04 -146.0 420.9 -8.5 351 4954 0.15 2.15 0.00 0.000 4 0.159 0.050 2208 939 3102

5015 -1.04 -146.0 426.1 -7.5 352 5020 0.00 2.20 0.00 0.000 6 0.000 0.047 2208 2341 3102

5363 -1.04 -146.0 451.2 -7.1 361 5367 0.00 2.22 0.00 0.000 4 0.000 0.064 2208 3750 3103

5452 -1.11 -146.0 457.8 -7.5 363 5456 0.00 2.15 0.00 0.000 6 0.000 0.038 2208 2333 3103

5781 -1.11 -146.0 480.9 -7.0 371 5786 0.00 2.12 0.00 0.000 4 0.000 0.050 2208 935 3103

5853 -1.11 -146.0 486.4 -7.3 372 5857 0.00 2.22 0.00 0.000 6 0.000 0.048 2208 2347 3103

6195 -1.11 -146.0 510.5 -7.3 381 6199 0.00 2.22 0.00 0.000 4 0.000 0.064 2208 3750 3104

6334 -1.17 -146.0 520.6 -7.2 384 6339 0.10 2.15 0.00 0.000 6 0.110 0.037 2174 2332 3104

6658 -1.73 -146.0 531.1 0.0 392 6663 0.32 2.28 0.00 0.000 4 0.076 0.061 2048 3754 3105

6742 end dive: NO_VERTICAL_VELOCITY

state 6742 begin apogee

6748 -0.34 0.0 531.0 0.0 394 6875 0.95 0.00 123.55 1.231 6 0.116 0.000 2365 2509 2500

6876 end apogee: CONTROL_FINISHED_OK

state 6876 begin climb

6878 1.16 146.0 531.0 0.0 397 7011 1.05 2.47 125.62 1.141 4 0.104 0.050 2690 1128 1904

7094 0.96 146.0 512.2 10.8 402 7099 0.12 2.40 0.00 0.000 6 0.135 0.046 2642 2518 1903

7418 0.86 146.0 484.0 8.6 410 7422 0.00 2.35 0.00 0.000 4 0.000 0.064 2641 3930 1902

7485 0.65 146.0 477.4 9.9 411 7490 0.25 2.22 0.00 0.000 6 0.144 0.038 2572 2527 1902

7826 0.84 176.2 456.5 6.0 420 7857 0.15 2.40 25.40 1.156 4 0.079 0.065 2631 3928 1780

7868 0.77 176.2 453.1 8.3 421 7873 0.12 2.28 0.00 0.000 6 0.153 0.038 2601 2514 1781

8192 0.84 176.2 429.1 7.4 429 8195 0.00 2.22 0.00 0.000 4 0.000 0.051 2601 1111 1779

8201 0.93 176.2 428.3 7.4 429 8207 0.10 2.28 0.00 0.000 6 0.069 0.046 2650 2522 1778

8520 0.84 176.2 397.6 9.8 437 8524 0.12 2.25 0.00 0.000 4 0.146 0.061 2615 3929 1778

8541 0.77 176.2 395.3 10.0 438 8545 0.00 2.20 0.00 0.000 6 0.000 0.038 2615 2505 1778

8873 0.77 176.2 369.6 7.7 454 8874 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2505 1777

9182 0.77 176.2 346.0 7.6 469 9183 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2505 1778

9491 0.77 176.2 322.7 7.7 484 9492 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2505 1778

9801 0.82 176.2 298.7 7.8 499 9802 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2505 1777

10110 0.86 176.2 274.1 7.9 514 10111 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2505 1778

10421 0.92 176.2 250.7 7.1 529 10422 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2505 1778

10729 1.02 186.4 229.2 6.7 544 10744 0.15 2.33 9.40 0.980 4 0.081 0.065 2674 3925 1740

10772 0.80 186.4 224.9 11.6 546 10777 0.22 2.17 0.00 0.000 6 0.146 0.039 2610 2511 1739

11099 0.93 205.0 202.8 6.4 562 11121 0.10 2.35 16.17 1.026 4 0.087 0.063 2651 3933 1663

11126 0.93 205.0 200.6 7.3 563 11131 0.00 2.25 0.00 0.000 6 0.000 0.038 2652 2514 1662

11453 0.93 205.0 174.8 7.8 579 11457 0.00 2.20 0.00 0.000 4 0.000 0.051 2652 1114 1662

11462 0.93 205.0 174.0 7.5 579 11467 0.00 2.25 0.00 0.000 6 0.000 0.045 2652 2523 1662

11784 0.93 205.0 149.3 7.6 595 11788 0.00 2.22 0.00 0.000 4 0.000 0.063 2652 3924 1662

11793 0.93 205.0 148.4 7.4 595 11798 0.00 2.17 0.00 0.000 6 0.000 0.038 2652 2524 1662

12115 0.94 213.3 125.4 6.7 611 12129 0.00 2.33 7.80 0.935 4 0.000 0.067 2652 3916 1630

12135 0.94 213.3 123.9 7.2 612 12139 0.00 2.17 0.00 0.000 6 0.000 0.039 2652 2513 1630

12467 1.00 215.7 101.3 6.9 628 12476 0.00 2.35 3.75 0.681 4 0.000 0.067 2652 3920 1620

12521 1.00 215.7 96.8 8.2 635 12528 0.00 2.17 0.00 0.000 6 0.000 0.040 2652 2514 1620

12865 1.07 219.9 72.4 6.9 696 12878 0.00 2.35 4.90 0.805 4 0.000 0.069 2652 3918 1602

12884 1.14 233.2 71.2 6.6 699 12903 0.12 2.17 11.98 0.985 6 0.087 0.040 2700 2510 1549

13240 1.14 233.2 41.2 7.9 762 13247 0.00 2.33 0.00 0.000 4 0.000 0.070 2700 3920 1547

13269 1.04 233.2 38.9 8.0 767 13276 0.15 2.17 0.00 0.000 6 0.149 0.041 2661 2521 1547

13614 1.30 258.3 18.7 6.1 828 13644 0.20 2.30 20.58 1.023 4 0.076 0.054 2745 1119 1446

13650 1.40 258.3 16.1 7.3 834 13656 0.00 2.28 0.00 0.000 6 0.000 0.050 2745 2520 1445

13818 end climb: SURFACE_DEPTH_REACHED

state 13818 begin surface coast

13841 end surface coast: CONTROL_FINISHED_OK

state 13841 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	74	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-23383.504	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	050738,6703.261,-5650.512,66,0.9,66,-37.5	TGT_NAME	TARGET_ADD4_WB
_CALLS	4	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	2	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.153,0.105
_SM_DEPTHo	1.44	KALMAN_X	8785.3,500.2,-259.5,72562.5,423.5
_SM_ANGLEo	-64.5	KALMAN_Y	-14147.0,278.4,1179.8,31568.5,-2144.8
GPS2	051939,6703.270,-5650.685,10,1.1,10,-37.5	MHEAD_RNG_PITCHd_Wd	341.8,33050,-14.2,-7.021
SPEED_LIMITS	0.122,0.186	D_GRID	555

FINISH	0.6,1.013250	TCM_TEMP	15.70
SM_CCo	13855,12.52,0.962,0,0,1378,275.23	XPDR_PINGS	0
SM_GC	2.10,0.00,0.00,12.52,0.000,0.000,0.962,165,2335,1378,-10.45,-0.14,275.23	_24V_AH	22.4,20.074
RAFOS_CLK	759	_10V_AH	10.6,7.153
RAFOS	0,1221811451,8.083333,8.069722,75,62,61,57,56,48,1007,206,153,184,172,217	DATA_FILE_SIZE	31561,868
RAFOS_FIX	6702.435547,-5658.223145,190908,080827,5,90,0.51	CAP_FILE_SIZE	122679,0
IRIDIUM_FIX	6631.12,-5653.72,141297,050550	CFSIZE	260165632,246894592
TT8_MAMPS	0.027612	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1943	SOUNDSPEED	1456.8
INTERNAL_PRESSURE	8.57455	GPS	190908,091308,6703.093,-5653.790,27,1.8,27,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	260	121.06	SBE_CT	671	24	361.11
Roll_motor	121	69	189.53	SBE_O2	588	19	250.58
VBD_pump_during_apogee	349	1231	9627.88	nil	0	0	0.00
VBD_pump_during_surface	12	961	269.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	105	103	243.40	nil	0	0	0.00
Iridium_during_connect	183	160	658.41	nil	0	0	0.00
Iridium_during_xfer	142	223	714.13
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.59
TT8	1625	19	343.30
LPSleep	10182	2	249.33
TT8_Active	500	19	105.60
TT8_Sampling	1725	39	730.03
TT8_CF8	574	45	279.59
TT8_Kalman	33	81	28.98
Analog_circuits	1432	12	182.28
GPS_charging	0	0	0.00
Compass	1701	8	144.25
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	123	0.00	0.00	-103.82	0.000	2	0.000	0.000	164	2336	2985
126	-1.16	-146.0	3.4	-3.4	18	145	8.35	2.28	-3.42	0.000	4	0.261	0.066	2181	921	3100
297	-0.82	-146.0	39.1	-13.4	48	304	0.28	2.28	0.00	0.000	6	0.167	0.048	2256	2351	3104
641	-0.82	-146.0	70.2	-9.3	109	647	0.00	2.25	0.00	0.000	4	0.000	0.064	2256	3746	3107
771	-0.82	-146.0	82.4	-9.5	132	777	0.00	2.17	0.00	0.000	6	0.000	0.038	2256	2330	3108
1106	-0.82	-146.0	113.7	-9.1	173	1108	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2330	3108
1416	-0.88	-146.0	140.1	-8.4	188	1417	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2330	3107
1725	-0.95	-146.0	164.0	-7.6	203	1730	0.10	2.33	0.00	0.000	4	0.105	0.067	2220	3757	3106
1802	-0.95	-146.0	170.9	-9.0	206	1809	0.00	2.20	0.00	0.000	6	0.000	0.041	2220	2347	3106
2117	-0.95	-146.0	198.9	-8.7	222	2121	0.00	2.20	0.00	0.000	4	0.000	0.054	2220	933	3105
2291	-0.89	-146.0	215.2	-9.6	229	2298	0.10	2.22	0.00	0.000	6	0.182	0.050	2244	2353	3104
2606	-0.97	-146.0	240.0	-8.0	245	2610	0.00	2.25	0.00	0.000	4	0.000	0.067	2244	3750	3104
2733	-1.11	-146.0	250.3	-7.9	250	2741	0.10	2.20	0.00	0.000	6	0.087	0.041	2188	2338	3103
3049	-1.03	-146.0	279.1	-8.6	266	3054	0.10	2.17	0.00	0.000	4	0.170	0.052	2213	935	3102
3149	-1.03	-146.0	287.7	-8.5	270	3153	0.00	2.22	0.00	0.000	6	0.000	0.051	2213	2336	3102
3470	-1.03	-146.0	312.0	-7.6	286	3474	0.00	2.28	0.00	0.000	4	0.000	0.066	2213	3752	3101
3605	-1.08	-146.0	322.5	-7.6	292	3609	0.00	2.17	0.00	0.000	6	0.000	0.040	2213	2329	3101
3936	-1.08	-146.0	346.5	-7.2	308	3937	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2328	3102
4246	-1.08	-146.0	367.8	-7.0	323	4247	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2329	3102
4555	-1.08	-146.0	388.7	-6.6	338	4559	0.00	2.30	0.00	0.000	4	0.000	0.067	2213	3752	3102
4628	-1.15	-146.0	393.8	-7.3	341	4633	0.12	2.15	0.00	0.000	6	0.095	0.038	2168	2338	3102
4950	-1.04	-146.0	420.9	-8.5	351	4954	0.15	2.15	0.00	0.000	4	0.159	0.050	2208	939	3102
5015	-1.04	-146.0	426.1	-7.5	352	5020	0.00	2.20	0.00	0.000	6	0.000	0.047	2208	2341	3102
5363	-1.04	-146.0	451.2	-7.1	361	5367	0.00	2.22	0.00	0.000	4	0.000	0.064	2208	3750	3103
5452	-1.11	-146.0	457.8	-7.5	363	5456	0.00	2.15	0.00	0.000	6	0.000	0.038	2208	2333	3103
5781	-1.11	-146.0	480.9	-7.0	371	5786	0.00	2.12	0.00	0.000	4	0.000	0.050	2208	935	3103
5853	-1.11	-146.0	486.4	-7.3	372	5857	0.00	2.22	0.00	0.000	6	0.000	0.048	2208	2347	3103
6195	-1.11	-146.0	510.5	-7.3	381	6199	0.00	2.22	0.00	0.000	4	0.000	0.064	2208	3750	3104
6334	-1.17	-146.0	520.6	-7.2	384	6339	0.10	2.15	0.00	0.000	6	0.110	0.037	2174	2332	3104
6658	-1.73	-146.0	531.1	0.0	392	6663	0.32	2.28	0.00	0.000	4	0.076	0.061	2048	3754	3105
6742	end dive: NO_VERTICAL_VELOCITY
state	6742	begin apogee
6748	-0.34	0.0	531.0	0.0	394	6875	0.95	0.00	123.55	1.231	6	0.116	0.000	2365	2509	2500
6876	end apogee: CONTROL_FINISHED_OK
state	6876	begin climb
6878	1.16	146.0	531.0	0.0	397	7011	1.05	2.47	125.62	1.141	4	0.104	0.050	2690	1128	1904
7094	0.96	146.0	512.2	10.8	402	7099	0.12	2.40	0.00	0.000	6	0.135	0.046	2642	2518	1903
7418	0.86	146.0	484.0	8.6	410	7422	0.00	2.35	0.00	0.000	4	0.000	0.064	2641	3930	1902
7485	0.65	146.0	477.4	9.9	411	7490	0.25	2.22	0.00	0.000	6	0.144	0.038	2572	2527	1902
7826	0.84	176.2	456.5	6.0	420	7857	0.15	2.40	25.40	1.156	4	0.079	0.065	2631	3928	1780
7868	0.77	176.2	453.1	8.3	421	7873	0.12	2.28	0.00	0.000	6	0.153	0.038	2601	2514	1781
8192	0.84	176.2	429.1	7.4	429	8195	0.00	2.22	0.00	0.000	4	0.000	0.051	2601	1111	1779
8201	0.93	176.2	428.3	7.4	429	8207	0.10	2.28	0.00	0.000	6	0.069	0.046	2650	2522	1778
8520	0.84	176.2	397.6	9.8	437	8524	0.12	2.25	0.00	0.000	4	0.146	0.061	2615	3929	1778
8541	0.77	176.2	395.3	10.0	438	8545	0.00	2.20	0.00	0.000	6	0.000	0.038	2615	2505	1778
8873	0.77	176.2	369.6	7.7	454	8874	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2505	1777
9182	0.77	176.2	346.0	7.6	469	9183	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2505	1778
9491	0.77	176.2	322.7	7.7	484	9492	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2505	1778
9801	0.82	176.2	298.7	7.8	499	9802	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2505	1777
10110	0.86	176.2	274.1	7.9	514	10111	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2505	1778
10421	0.92	176.2	250.7	7.1	529	10422	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2505	1778
10729	1.02	186.4	229.2	6.7	544	10744	0.15	2.33	9.40	0.980	4	0.081	0.065	2674	3925	1740
10772	0.80	186.4	224.9	11.6	546	10777	0.22	2.17	0.00	0.000	6	0.146	0.039	2610	2511	1739
11099	0.93	205.0	202.8	6.4	562	11121	0.10	2.35	16.17	1.026	4	0.087	0.063	2651	3933	1663
11126	0.93	205.0	200.6	7.3	563	11131	0.00	2.25	0.00	0.000	6	0.000	0.038	2652	2514	1662
11453	0.93	205.0	174.8	7.8	579	11457	0.00	2.20	0.00	0.000	4	0.000	0.051	2652	1114	1662
11462	0.93	205.0	174.0	7.5	579	11467	0.00	2.25	0.00	0.000	6	0.000	0.045	2652	2523	1662
11784	0.93	205.0	149.3	7.6	595	11788	0.00	2.22	0.00	0.000	4	0.000	0.063	2652	3924	1662
11793	0.93	205.0	148.4	7.4	595	11798	0.00	2.17	0.00	0.000	6	0.000	0.038	2652	2524	1662
12115	0.94	213.3	125.4	6.7	611	12129	0.00	2.33	7.80	0.935	4	0.000	0.067	2652	3916	1630
12135	0.94	213.3	123.9	7.2	612	12139	0.00	2.17	0.00	0.000	6	0.000	0.039	2652	2513	1630
12467	1.00	215.7	101.3	6.9	628	12476	0.00	2.35	3.75	0.681	4	0.000	0.067	2652	3920	1620
12521	1.00	215.7	96.8	8.2	635	12528	0.00	2.17	0.00	0.000	6	0.000	0.040	2652	2514	1620
12865	1.07	219.9	72.4	6.9	696	12878	0.00	2.35	4.90	0.805	4	0.000	0.069	2652	3918	1602
12884	1.14	233.2	71.2	6.6	699	12903	0.12	2.17	11.98	0.985	6	0.087	0.040	2700	2510	1549
13240	1.14	233.2	41.2	7.9	762	13247	0.00	2.33	0.00	0.000	4	0.000	0.070	2700	3920	1547
13269	1.04	233.2	38.9	8.0	767	13276	0.15	2.17	0.00	0.000	6	0.149	0.041	2661	2521	1547
13614	1.30	258.3	18.7	6.1	828	13644	0.20	2.30	20.58	1.023	4	0.076	0.054	2745	1119	1446
13650	1.40	258.3	16.1	7.3	834	13656	0.00	2.28	0.00	0.000	6	0.000	0.050	2745	2520	1445
13818	end climb: SURFACE_DEPTH_REACHED
state	13818	begin surface coast
13841	end surface coast: CONTROL_FINISHED_OK
state	13841	begin surface