Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 111 * 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 111 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -2 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -24047.34 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 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 0.00342 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0096000005 RELAUNCH 1 T_GPS_CHARGE -24047.34

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

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

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

DIVE 111 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 234556,6641.991,-6014.790,39,1.2,39,-38.0 TGT_NAME TARGET_W_IN

_CALLS 2 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.205,-0.092

_SM_DEPTHo 1.65 KALMAN_X 14432.1,-145.2,-46.6,-102314.4,106.3

_SM_ANGLEo -65.7 KALMAN_Y -5018.0,675.1,-489.7,-18861.8,1414.4

GPS2 235302,6641.988,-6014.819,8,1.1,8,-38.0 MHEAD_RNG_PITCHd_Wd 283.8,20644,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 539

Post-dive calculations and measurements:

FINISH 0.7,1.013043 TCM_TEMP 15.30

SM_CCo 14920,0.00,0.000,0,0,1195,300.49 XPDR_PINGS 0

SM_GC 1.73,7.45,0.00,0.00,0.083,0.000,0.000,161,2330,1195,-10.39,-0.28,300.49 _24V_AH 22.1,26.324

RAFOS_CLK 852 _10V_AH 10.6,10.162

RAFOS 0,1222646646,0.083333,0.068333,115,65,62,57,56,56,546,216,203,171,187,143 DATA_FILE_SIZE 34697,920

RAFOS_FIX 6642.017578,-6010.283203,290908,000027,5,108,1.66 CAP_FILE_SIZE 121384,0

IRIDIUM_FIX 6614.97,-6013.96,231297,232312 CFSIZE 260165632,243154944

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

HUMID 1908 SOUNDSPEED 1448.4

INTERNAL_PRESSURE 8.50619 GPS 290908,040408,6642.092,-6018.722,34,1.0,34,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 267 124.97 SBE_CT 722 24 383.15

Roll_motor 119 83 220.70 SBE_O2 627 19 263.40

VBD_pump_during_apogee 386 1263 10791.63 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 54 103 123.78 nil 0 0 0.00

Iridium_during_connect 53 160 188.31 nil 0 0 0.00

Iridium_during_xfer 156 223 770.39

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 9 50 5.29

TT8 1680 19 354.88

LPSleep 11013 2 269.66

TT8_Active 562 19 118.79

TT8_Sampling 1675 39 709.13

TT8_CF8 430 45 209.48

TT8_Kalman 33 81 28.97

Analog_circuits 1464 12 186.27

GPS_charging 0 0 0.00

Compass 1666 8 141.30

RAFOS 1800 1 28.62

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

15 -1.08 -146.0 0.0 0.0 0 125 0.00 0.00 -107.53 0.000 2 0.000 0.000 159 2341 2801

128 -1.08 -146.0 3.6 -3.4 19 153 8.75 2.42 -6.93 0.000 4 0.268 0.084 2191 3746 3021

407 -0.74 -146.0 50.6 -13.2 68 414 0.30 2.25 0.00 0.000 6 0.165 0.044 2276 2324 3024

751 -0.74 -146.0 83.0 -9.3 129 757 0.00 2.38 0.00 0.000 4 0.000 0.071 2276 3746 3026

791 -0.74 -146.0 86.4 -8.7 136 797 0.00 2.20 0.00 0.000 6 0.000 0.042 2276 2343 3026

1120 -0.74 -146.0 113.1 -8.0 173 1124 0.00 2.25 0.00 0.000 4 0.000 0.058 2276 926 3027

1165 -0.74 -146.0 116.9 -8.6 175 1169 0.00 2.28 0.00 0.000 6 0.000 0.052 2277 2350 3026

1496 -0.74 -146.0 140.5 -7.2 191 1499 0.00 2.30 0.00 0.000 4 0.000 0.071 2276 3751 3027

1556 -0.82 -146.0 145.0 -7.4 193 1563 0.00 2.22 0.00 0.000 6 0.000 0.043 2276 2344 3026

1872 -0.87 -146.0 167.1 -6.9 209 1877 0.12 2.25 0.00 0.000 4 0.107 0.058 2233 929 3026

1979 -0.74 -146.0 176.6 -9.0 214 1984 0.17 2.28 0.00 0.000 6 0.173 0.055 2279 2347 3026

2306 -0.83 -146.0 197.6 -6.7 230 2310 0.10 2.33 0.00 0.000 4 0.117 0.074 2245 3751 3025

2417 -0.83 -146.0 206.7 -8.4 235 2421 0.00 2.22 0.00 0.000 6 0.000 0.044 2246 2327 3025

2748 -0.83 -146.0 232.6 -7.4 251 2751 0.00 2.22 0.00 0.000 4 0.000 0.060 2245 927 3024

2803 -0.76 -146.0 237.0 -7.4 253 2808 0.10 2.28 0.00 0.000 6 0.184 0.054 2269 2353 3025

3124 -0.84 -146.0 256.2 -5.8 269 3128 0.00 2.30 0.00 0.000 4 0.000 0.072 2269 3753 3024

3225 -0.97 -146.0 262.5 -6.3 273 3229 0.15 2.20 0.00 0.000 6 0.095 0.043 2217 2340 3023

3540 -0.89 -146.0 286.8 -7.8 288 3541 0.10 0.00 0.00 0.000 6 0.167 0.000 2242 2340 3024

3849 -0.89 -146.0 308.5 -7.0 303 3853 0.00 2.35 0.00 0.000 4 0.000 0.074 2242 3751 3024

3916 -0.95 -146.0 313.3 -7.1 306 3920 0.00 2.22 0.00 0.000 6 0.000 0.044 2242 2329 3024

4248 -0.95 -146.0 336.2 -6.9 322 4249 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2329 3023

4557 -0.95 -146.0 358.1 -7.0 337 4561 0.00 2.38 0.00 0.000 4 0.000 0.075 2242 3755 3023

4618 -1.02 -146.0 362.4 -7.2 339 4625 0.12 2.20 0.00 0.000 6 0.098 0.044 2199 2341 3023

4933 -0.93 -146.0 387.0 -7.7 355 4935 0.15 0.00 0.00 0.000 6 0.161 0.000 2240 2340 3023

5242 -0.93 -146.0 406.0 -6.0 368 5246 0.00 2.33 0.00 0.000 4 0.000 0.074 2240 3743 3023

5297 -1.00 -146.0 409.5 -6.5 369 5301 0.00 2.20 0.00 0.000 6 0.000 0.043 2240 2331 3023

5615 -1.05 -146.0 428.7 -6.1 377 5617 0.12 0.00 0.00 0.000 6 0.101 0.000 2197 2331 3024

5940 -0.95 -146.0 452.8 -7.4 385 5945 0.12 2.35 0.00 0.000 4 0.164 0.073 2229 3753 3024

6000 -1.00 -146.0 457.1 -7.1 386 6005 0.00 2.20 0.00 0.000 6 0.000 0.042 2229 2331 3024

6313 -1.00 -146.0 478.1 -6.7 394 6317 0.00 2.20 0.00 0.000 4 0.000 0.056 2229 932 3024

6363 -1.00 -146.0 481.5 -6.8 395 6367 0.00 2.25 0.00 0.000 6 0.000 0.052 2229 2349 3024

6687 -1.00 -146.0 500.8 -5.6 403 6691 0.00 2.28 0.00 0.000 4 0.000 0.069 2229 3756 3024

6742 -1.05 -146.0 504.2 -7.1 404 6746 0.00 2.20 0.00 0.000 6 0.000 0.041 2229 2334 3024

7060 -1.05 -146.0 524.3 -6.3 412 7061 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2333 3024

7301 end dive: TARGET_DEPTH_EXCEEDED

state 7302 begin apogee

7306 -0.34 0.0 540.0 6.4 418 7436 0.45 0.00 126.47 1.263 6 0.148 0.000 2366 2518 2420

7436 end apogee: CONTROL_FINISHED_OK

state 7436 begin climb

7438 1.08 146.0 541.7 0.0 421 7574 1.05 2.58 129.12 1.172 4 0.109 0.054 2674 1118 1824

7580 0.87 146.0 529.7 9.3 424 7587 0.20 2.53 0.00 0.000 6 0.143 0.049 2625 2524 1823

7910 0.82 146.0 504.2 7.5 433 7914 0.00 2.42 0.00 0.000 4 0.000 0.067 2624 3942 1821

7949 0.66 146.0 500.9 9.2 433 7956 0.17 2.33 0.00 0.000 6 0.141 0.041 2576 2514 1820

8280 0.83 180.2 482.2 5.9 442 8312 0.15 0.00 29.12 1.188 6 0.078 0.000 2635 2514 1685

8604 0.83 180.2 456.1 7.9 450 8608 0.00 2.28 0.00 0.000 4 0.000 0.056 2634 1112 1682

8619 0.83 180.2 454.9 7.8 450 8623 0.00 2.30 0.00 0.000 6 0.000 0.049 2634 2528 1682

8932 0.83 180.2 431.1 7.6 458 8936 0.00 2.30 0.00 0.000 4 0.000 0.067 2634 3926 1681

8953 0.75 180.2 429.2 8.5 458 8958 0.15 2.22 0.00 0.000 6 0.149 0.041 2594 2511 1681

9301 0.89 209.1 408.0 6.0 467 9327 0.12 0.00 24.12 1.174 6 0.084 0.000 2644 2510 1567

9607 0.89 209.1 384.0 7.6 479 9609 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2510 1565

9917 0.89 209.1 360.1 7.9 494 9921 0.00 2.22 0.00 0.000 4 0.000 0.056 2644 1113 1565

9926 0.89 209.1 359.5 7.9 494 9931 0.00 2.28 0.00 0.000 6 0.000 0.049 2644 2519 1565

10248 0.89 209.1 334.1 8.0 510 10249 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2519 1565

10557 0.89 209.1 309.7 7.7 525 10558 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2520 1565

10866 0.89 209.1 285.8 7.8 540 10867 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2520 1565

11175 0.89 209.1 263.5 7.0 555 11179 0.00 2.28 0.00 0.000 4 0.000 0.067 2644 3924 1565

11203 0.81 209.1 261.3 8.4 556 11207 0.12 2.20 0.00 0.000 6 0.153 0.041 2612 2504 1565

11529 0.96 226.1 240.7 6.4 572 11552 0.12 2.22 14.95 1.086 4 0.086 0.055 2663 1116 1498

11562 0.96 226.1 238.2 7.2 573 11566 0.00 2.28 0.00 0.000 6 0.000 0.050 2663 2515 1498

11883 0.96 226.1 211.4 8.2 589 11887 0.00 2.25 0.00 0.000 4 0.000 0.056 2662 1119 1497

11893 0.96 226.1 210.6 8.2 589 11898 0.00 2.28 0.00 0.000 6 0.000 0.050 2663 2519 1497

12214 0.96 226.1 186.7 7.1 605 12215 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2518 1497

12524 0.96 226.1 164.7 7.2 620 12525 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2518 1497

12833 0.96 226.1 142.2 7.1 635 12837 0.00 2.30 0.00 0.000 4 0.000 0.071 2663 3933 1496

12893 0.91 226.1 137.0 8.2 637 12901 0.12 2.22 0.00 0.000 6 0.151 0.044 2628 2509 1496

13209 1.20 226.1 115.4 7.8 653 13214 0.20 2.38 0.00 0.000 4 0.081 0.074 2708 3930 1496

13315 0.97 226.1 104.4 10.9 658 13320 0.22 2.20 0.00 0.000 6 0.146 0.044 2641 2522 1496

13654 1.13 261.7 83.4 5.8 710 13691 0.15 2.33 29.55 1.075 4 0.087 0.058 2701 1109 1352

13713 1.13 261.7 79.1 7.5 720 13720 0.00 2.33 0.00 0.000 6 0.000 0.052 2701 2523 1351

14057 1.13 261.7 51.6 8.2 781 14062 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2523 1349

14399 1.14 274.3 24.7 6.6 842 14417 0.00 2.33 11.20 0.996 4 0.000 0.060 2701 1111 1301

14434 1.17 291.6 22.4 6.4 848 14458 0.00 2.30 15.73 0.994 6 0.000 0.054 2701 2524 1230

14796 1.36 345.8 2.2 5.2 912 14805 0.10 0.00 6.28 0.867 2 0.094 0.000 2745 2524 1198

14806 end climb: SURFACE_DEPTH_REACHED

state 14806 begin surface coast

14844 end surface coast: CONTROL_FINISHED_OK

state 14844 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	111	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-2	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-24047.34	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	234556,6641.991,-6014.790,39,1.2,39,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	2	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.205,-0.092
_SM_DEPTHo	1.65	KALMAN_X	14432.1,-145.2,-46.6,-102314.4,106.3
_SM_ANGLEo	-65.7	KALMAN_Y	-5018.0,675.1,-489.7,-18861.8,1414.4
GPS2	235302,6641.988,-6014.819,8,1.1,8,-38.0	MHEAD_RNG_PITCHd_Wd	283.8,20644,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	539

FINISH	0.7,1.013043	TCM_TEMP	15.30
SM_CCo	14920,0.00,0.000,0,0,1195,300.49	XPDR_PINGS	0
SM_GC	1.73,7.45,0.00,0.00,0.083,0.000,0.000,161,2330,1195,-10.39,-0.28,300.49	_24V_AH	22.1,26.324
RAFOS_CLK	852	_10V_AH	10.6,10.162
RAFOS	0,1222646646,0.083333,0.068333,115,65,62,57,56,56,546,216,203,171,187,143	DATA_FILE_SIZE	34697,920
RAFOS_FIX	6642.017578,-6010.283203,290908,000027,5,108,1.66	CAP_FILE_SIZE	121384,0
IRIDIUM_FIX	6614.97,-6013.96,231297,232312	CFSIZE	260165632,243154944
TT8_MAMPS	0.028379	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1908	SOUNDSPEED	1448.4
INTERNAL_PRESSURE	8.50619	GPS	290908,040408,6642.092,-6018.722,34,1.0,34,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	267	124.97	SBE_CT	722	24	383.15
Roll_motor	119	83	220.70	SBE_O2	627	19	263.40
VBD_pump_during_apogee	386	1263	10791.63	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	54	103	123.78	nil	0	0	0.00
Iridium_during_connect	53	160	188.31	nil	0	0	0.00
Iridium_during_xfer	156	223	770.39
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	9	50	5.29
TT8	1680	19	354.88
LPSleep	11013	2	269.66
TT8_Active	562	19	118.79
TT8_Sampling	1675	39	709.13
TT8_CF8	430	45	209.48
TT8_Kalman	33	81	28.97
Analog_circuits	1464	12	186.27
GPS_charging	0	0	0.00
Compass	1666	8	141.30
RAFOS	1800	1	28.62
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
15	-1.08	-146.0	0.0	0.0	0	125	0.00	0.00	-107.53	0.000	2	0.000	0.000	159	2341	2801
128	-1.08	-146.0	3.6	-3.4	19	153	8.75	2.42	-6.93	0.000	4	0.268	0.084	2191	3746	3021
407	-0.74	-146.0	50.6	-13.2	68	414	0.30	2.25	0.00	0.000	6	0.165	0.044	2276	2324	3024
751	-0.74	-146.0	83.0	-9.3	129	757	0.00	2.38	0.00	0.000	4	0.000	0.071	2276	3746	3026
791	-0.74	-146.0	86.4	-8.7	136	797	0.00	2.20	0.00	0.000	6	0.000	0.042	2276	2343	3026
1120	-0.74	-146.0	113.1	-8.0	173	1124	0.00	2.25	0.00	0.000	4	0.000	0.058	2276	926	3027
1165	-0.74	-146.0	116.9	-8.6	175	1169	0.00	2.28	0.00	0.000	6	0.000	0.052	2277	2350	3026
1496	-0.74	-146.0	140.5	-7.2	191	1499	0.00	2.30	0.00	0.000	4	0.000	0.071	2276	3751	3027
1556	-0.82	-146.0	145.0	-7.4	193	1563	0.00	2.22	0.00	0.000	6	0.000	0.043	2276	2344	3026
1872	-0.87	-146.0	167.1	-6.9	209	1877	0.12	2.25	0.00	0.000	4	0.107	0.058	2233	929	3026
1979	-0.74	-146.0	176.6	-9.0	214	1984	0.17	2.28	0.00	0.000	6	0.173	0.055	2279	2347	3026
2306	-0.83	-146.0	197.6	-6.7	230	2310	0.10	2.33	0.00	0.000	4	0.117	0.074	2245	3751	3025
2417	-0.83	-146.0	206.7	-8.4	235	2421	0.00	2.22	0.00	0.000	6	0.000	0.044	2246	2327	3025
2748	-0.83	-146.0	232.6	-7.4	251	2751	0.00	2.22	0.00	0.000	4	0.000	0.060	2245	927	3024
2803	-0.76	-146.0	237.0	-7.4	253	2808	0.10	2.28	0.00	0.000	6	0.184	0.054	2269	2353	3025
3124	-0.84	-146.0	256.2	-5.8	269	3128	0.00	2.30	0.00	0.000	4	0.000	0.072	2269	3753	3024
3225	-0.97	-146.0	262.5	-6.3	273	3229	0.15	2.20	0.00	0.000	6	0.095	0.043	2217	2340	3023
3540	-0.89	-146.0	286.8	-7.8	288	3541	0.10	0.00	0.00	0.000	6	0.167	0.000	2242	2340	3024
3849	-0.89	-146.0	308.5	-7.0	303	3853	0.00	2.35	0.00	0.000	4	0.000	0.074	2242	3751	3024
3916	-0.95	-146.0	313.3	-7.1	306	3920	0.00	2.22	0.00	0.000	6	0.000	0.044	2242	2329	3024
4248	-0.95	-146.0	336.2	-6.9	322	4249	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2329	3023
4557	-0.95	-146.0	358.1	-7.0	337	4561	0.00	2.38	0.00	0.000	4	0.000	0.075	2242	3755	3023
4618	-1.02	-146.0	362.4	-7.2	339	4625	0.12	2.20	0.00	0.000	6	0.098	0.044	2199	2341	3023
4933	-0.93	-146.0	387.0	-7.7	355	4935	0.15	0.00	0.00	0.000	6	0.161	0.000	2240	2340	3023
5242	-0.93	-146.0	406.0	-6.0	368	5246	0.00	2.33	0.00	0.000	4	0.000	0.074	2240	3743	3023
5297	-1.00	-146.0	409.5	-6.5	369	5301	0.00	2.20	0.00	0.000	6	0.000	0.043	2240	2331	3023
5615	-1.05	-146.0	428.7	-6.1	377	5617	0.12	0.00	0.00	0.000	6	0.101	0.000	2197	2331	3024
5940	-0.95	-146.0	452.8	-7.4	385	5945	0.12	2.35	0.00	0.000	4	0.164	0.073	2229	3753	3024
6000	-1.00	-146.0	457.1	-7.1	386	6005	0.00	2.20	0.00	0.000	6	0.000	0.042	2229	2331	3024
6313	-1.00	-146.0	478.1	-6.7	394	6317	0.00	2.20	0.00	0.000	4	0.000	0.056	2229	932	3024
6363	-1.00	-146.0	481.5	-6.8	395	6367	0.00	2.25	0.00	0.000	6	0.000	0.052	2229	2349	3024
6687	-1.00	-146.0	500.8	-5.6	403	6691	0.00	2.28	0.00	0.000	4	0.000	0.069	2229	3756	3024
6742	-1.05	-146.0	504.2	-7.1	404	6746	0.00	2.20	0.00	0.000	6	0.000	0.041	2229	2334	3024
7060	-1.05	-146.0	524.3	-6.3	412	7061	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2333	3024
7301	end dive: TARGET_DEPTH_EXCEEDED
state	7302	begin apogee
7306	-0.34	0.0	540.0	6.4	418	7436	0.45	0.00	126.47	1.263	6	0.148	0.000	2366	2518	2420
7436	end apogee: CONTROL_FINISHED_OK
state	7436	begin climb
7438	1.08	146.0	541.7	0.0	421	7574	1.05	2.58	129.12	1.172	4	0.109	0.054	2674	1118	1824
7580	0.87	146.0	529.7	9.3	424	7587	0.20	2.53	0.00	0.000	6	0.143	0.049	2625	2524	1823
7910	0.82	146.0	504.2	7.5	433	7914	0.00	2.42	0.00	0.000	4	0.000	0.067	2624	3942	1821
7949	0.66	146.0	500.9	9.2	433	7956	0.17	2.33	0.00	0.000	6	0.141	0.041	2576	2514	1820
8280	0.83	180.2	482.2	5.9	442	8312	0.15	0.00	29.12	1.188	6	0.078	0.000	2635	2514	1685
8604	0.83	180.2	456.1	7.9	450	8608	0.00	2.28	0.00	0.000	4	0.000	0.056	2634	1112	1682
8619	0.83	180.2	454.9	7.8	450	8623	0.00	2.30	0.00	0.000	6	0.000	0.049	2634	2528	1682
8932	0.83	180.2	431.1	7.6	458	8936	0.00	2.30	0.00	0.000	4	0.000	0.067	2634	3926	1681
8953	0.75	180.2	429.2	8.5	458	8958	0.15	2.22	0.00	0.000	6	0.149	0.041	2594	2511	1681
9301	0.89	209.1	408.0	6.0	467	9327	0.12	0.00	24.12	1.174	6	0.084	0.000	2644	2510	1567
9607	0.89	209.1	384.0	7.6	479	9609	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2510	1565
9917	0.89	209.1	360.1	7.9	494	9921	0.00	2.22	0.00	0.000	4	0.000	0.056	2644	1113	1565
9926	0.89	209.1	359.5	7.9	494	9931	0.00	2.28	0.00	0.000	6	0.000	0.049	2644	2519	1565
10248	0.89	209.1	334.1	8.0	510	10249	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2519	1565
10557	0.89	209.1	309.7	7.7	525	10558	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2520	1565
10866	0.89	209.1	285.8	7.8	540	10867	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2520	1565
11175	0.89	209.1	263.5	7.0	555	11179	0.00	2.28	0.00	0.000	4	0.000	0.067	2644	3924	1565
11203	0.81	209.1	261.3	8.4	556	11207	0.12	2.20	0.00	0.000	6	0.153	0.041	2612	2504	1565
11529	0.96	226.1	240.7	6.4	572	11552	0.12	2.22	14.95	1.086	4	0.086	0.055	2663	1116	1498
11562	0.96	226.1	238.2	7.2	573	11566	0.00	2.28	0.00	0.000	6	0.000	0.050	2663	2515	1498
11883	0.96	226.1	211.4	8.2	589	11887	0.00	2.25	0.00	0.000	4	0.000	0.056	2662	1119	1497
11893	0.96	226.1	210.6	8.2	589	11898	0.00	2.28	0.00	0.000	6	0.000	0.050	2663	2519	1497
12214	0.96	226.1	186.7	7.1	605	12215	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2518	1497
12524	0.96	226.1	164.7	7.2	620	12525	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2518	1497
12833	0.96	226.1	142.2	7.1	635	12837	0.00	2.30	0.00	0.000	4	0.000	0.071	2663	3933	1496
12893	0.91	226.1	137.0	8.2	637	12901	0.12	2.22	0.00	0.000	6	0.151	0.044	2628	2509	1496
13209	1.20	226.1	115.4	7.8	653	13214	0.20	2.38	0.00	0.000	4	0.081	0.074	2708	3930	1496
13315	0.97	226.1	104.4	10.9	658	13320	0.22	2.20	0.00	0.000	6	0.146	0.044	2641	2522	1496
13654	1.13	261.7	83.4	5.8	710	13691	0.15	2.33	29.55	1.075	4	0.087	0.058	2701	1109	1352
13713	1.13	261.7	79.1	7.5	720	13720	0.00	2.33	0.00	0.000	6	0.000	0.052	2701	2523	1351
14057	1.13	261.7	51.6	8.2	781	14062	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2523	1349
14399	1.14	274.3	24.7	6.6	842	14417	0.00	2.33	11.20	0.996	4	0.000	0.060	2701	1111	1301
14434	1.17	291.6	22.4	6.4	848	14458	0.00	2.30	15.73	0.994	6	0.000	0.054	2701	2524	1230
14796	1.36	345.8	2.2	5.2	912	14805	0.10	0.00	6.28	0.867	2	0.094	0.000	2745	2524	1198
14806	end climb: SURFACE_DEPTH_REACHED
state	14806	begin surface coast
14844	end surface coast: CONTROL_FINISHED_OK
state	14844	begin surface