Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 112 * 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 112 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 23 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 -24061.617 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 -24061.617

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 23 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 112 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 040408,6642.092,-6018.722,34,1.0,34,-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 -0.215,0.064

_SM_DEPTHo 1.65 KALMAN_X 14621.7,79.9,-233.0,-105453.8,825.8

_SM_ANGLEo -65.9 KALMAN_Y -5705.6,193.4,2231.6,-20271.8,-5574.2

GPS2 041115,6642.068,-6018.828,12,1.0,12,-38.0 MHEAD_RNG_PITCHd_Wd 324.5,17708,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 530

Post-dive calculations and measurements:

FINISH 0.8,1.013144 TCM_TEMP 15.40

SM_CCo 14056,0.00,0.000,0,0,1096,324.78 XPDR_PINGS 1

SM_GC 1.85,7.55,0.00,0.00,0.080,0.000,0.000,164,2333,1096,-10.39,-0.23,324.78 _24V_AH 22.1,26.472

RAFOS_CLK 807 _10V_AH 10.5,10.225

RAFOS 1,1222661644,4.250000,4.234445,91,61,61,58,57,56,745,208,116,195,169,218 DATA_FILE_SIZE 31587,868

RAFOS_FIX 6641.548828,-6015.521973,290908,040428,4,103,2.15 CAP_FILE_SIZE 124328,0

IRIDIUM_FIX 6614.97,-6021.37,241297,040424 CFSIZE 260165632,243089408

TT8_MAMPS 0.03068 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1901 SOUNDSPEED 1448.0

INTERNAL_PRESSURE 8.50619 GPS 290908,080802,6639.795,-6022.359,40,1.4,40,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 271 131.26 SBE_CT 681 24 361.63

Roll_motor 133 87 258.02 SBE_O2 591 19 248.19

VBD_pump_during_apogee 406 1260 11315.46 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 56 103 129.46 nil 0 0 0.00

Iridium_during_connect 68 160 241.52 nil 0 0 0.00

Iridium_during_xfer 135 223 669.98

Transponder_ping 0 420 2.32

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.17

TT8 1614 19 337.60

LPSleep 10205 2 247.53

TT8_Active 537 19 112.36

TT8_Sampling 1715 39 719.02

TT8_CF8 426 45 205.80

TT8_Kalman 33 81 28.70

Analog_circuits 1489 12 187.73

GPS_charging 0 0 0.00

Compass 1691 8 142.09

RAFOS 1800 1 28.35

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 0 123 0.00 0.00 -104.72 0.000 2 0.000 0.000 161 2328 2729

125 -1.08 -146.0 3.2 -2.5 18 150 8.85 2.42 -9.77 0.000 4 0.272 0.087 2200 3748 3017

325 -0.76 -146.0 40.3 -14.1 53 332 0.25 2.25 0.00 0.000 6 0.170 0.044 2270 2334 3022

669 -0.69 -146.0 72.7 -8.1 114 675 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2334 3024

1026 -0.69 -146.0 102.1 -8.7 175 1030 0.00 2.25 0.00 0.000 4 0.000 0.059 2270 925 3025

1087 -0.63 -146.0 107.9 -9.3 177 1094 0.12 2.28 0.00 0.000 6 0.170 0.054 2303 2344 3024

1403 -0.74 -146.0 131.1 -6.7 193 1408 0.12 2.33 0.00 0.000 4 0.100 0.073 2259 3748 3025

1486 -0.74 -146.0 137.6 -7.7 197 1490 0.00 2.22 0.00 0.000 6 0.000 0.044 2259 2327 3025

1818 -0.74 -146.0 161.9 -7.1 213 1822 0.00 2.38 0.00 0.000 4 0.000 0.076 2260 3747 3024

1884 -0.74 -146.0 167.0 -7.5 216 1888 0.00 2.22 0.00 0.000 6 0.000 0.044 2260 2328 3024

2216 -0.74 -146.0 191.8 -7.4 232 2219 0.00 2.22 0.00 0.000 4 0.000 0.059 2259 926 3024

2305 -0.74 -146.0 198.6 -7.3 236 2309 0.00 2.28 0.00 0.000 6 0.000 0.054 2259 2347 3024

2637 -0.74 -146.0 219.2 -6.0 252 2641 0.00 2.30 0.00 0.000 4 0.000 0.073 2260 3746 3023

2721 -0.80 -146.0 224.6 -6.7 255 2727 0.00 2.20 0.00 0.000 6 0.000 0.044 2259 2341 3023

3036 -0.80 -146.0 246.2 -7.3 271 3040 0.00 2.25 0.00 0.000 4 0.000 0.059 2259 927 3022

3129 -0.80 -146.0 253.7 -8.3 275 3134 0.00 2.30 0.00 0.000 6 0.000 0.054 2259 2346 3022

3456 -0.85 -146.0 277.5 -7.4 291 3460 0.00 2.30 0.00 0.000 4 0.000 0.074 2259 3742 3023

3602 -0.95 -146.0 288.3 -7.2 297 3606 0.12 2.20 0.00 0.000 6 0.104 0.045 2216 2333 3022

3922 -0.87 -146.0 313.6 -7.6 313 3926 0.12 2.25 0.00 0.000 4 0.162 0.060 2248 925 3022

3995 -0.87 -146.0 318.7 -6.7 316 3999 0.00 2.28 0.00 0.000 6 0.000 0.056 2248 2340 3022

4321 -0.87 -146.0 338.6 -6.0 332 4325 0.00 2.33 0.00 0.000 4 0.000 0.074 2248 3750 3022

4456 -0.95 -146.0 347.1 -6.0 338 4460 0.00 2.22 0.00 0.000 6 0.000 0.045 2248 2324 3022

4788 -1.01 -146.0 368.4 -6.7 354 4790 0.12 0.00 0.00 0.000 6 0.110 0.000 2205 2324 3022

5097 -0.92 -146.0 393.8 -8.3 369 5098 0.12 0.00 0.00 0.000 6 0.159 0.000 2238 2324 3022

5403 -0.92 -146.0 413.8 -6.4 379 5407 0.00 2.38 0.00 0.000 4 0.000 0.075 2238 3748 3022

5486 -1.00 -146.0 419.3 -6.8 380 5492 0.00 2.20 0.00 0.000 6 0.000 0.044 2238 2336 3022

5817 -1.00 -146.0 440.2 -6.3 389 5821 0.00 2.35 0.00 0.000 4 0.000 0.074 2238 3750 3022

5889 -1.08 -146.0 444.7 -6.4 390 5893 0.15 2.20 0.00 0.000 6 0.097 0.043 2187 2335 3022

6230 -0.96 -146.0 470.0 -7.6 399 6232 0.15 0.00 0.00 0.000 6 0.157 0.000 2227 2334 3022

6555 -0.96 -146.0 489.3 -5.9 407 6559 0.00 2.35 0.00 0.000 4 0.000 0.074 2227 3746 3022

6633 -1.01 -146.0 494.1 -6.1 408 6637 0.00 2.20 0.00 0.000 6 0.000 0.043 2227 2327 3022

6970 -1.01 -146.0 514.5 -6.2 417 6973 0.00 2.38 0.00 0.000 4 0.000 0.073 2228 3759 3023

7053 -1.07 -146.0 520.1 -6.8 418 7060 0.10 2.20 0.00 0.000 6 0.100 0.041 2192 2340 3023

7219 end dive: TARGET_DEPTH_EXCEEDED

state 7219 begin apogee

7224 -0.34 0.0 532.5 7.5 423 7353 0.57 0.00 126.25 1.260 6 0.154 0.000 2364 2522 2420

7354 end apogee: CONTROL_FINISHED_OK

state 7354 begin climb

7356 1.08 146.0 535.6 0.0 426 7489 1.02 0.00 128.38 1.171 6 0.109 0.000 2667 2522 1824

7801 0.88 146.0 497.1 9.1 437 7806 0.15 2.45 0.00 0.000 4 0.154 0.069 2628 3931 1821

7878 0.72 146.0 489.9 9.4 438 7883 0.15 2.30 0.00 0.000 6 0.153 0.042 2588 2523 1820

8215 0.82 167.4 468.9 6.3 447 8240 0.10 2.47 18.35 1.159 4 0.088 0.071 2625 3926 1737

8251 0.75 167.4 466.0 8.8 447 8258 0.12 2.30 0.00 0.000 6 0.152 0.041 2593 2508 1737

8582 0.86 180.5 444.1 6.6 456 8602 0.12 2.50 12.38 1.116 4 0.084 0.072 2641 3932 1683

8607 0.80 180.5 442.0 8.4 456 8612 0.15 2.28 0.00 0.000 6 0.152 0.041 2605 2518 1682

8943 0.86 181.0 418.0 7.0 465 8947 0.00 2.38 0.00 0.000 4 0.000 0.072 2605 3929 1681

8953 0.92 185.2 417.0 6.9 465 8963 0.12 2.22 5.20 0.903 6 0.087 0.041 2653 2515 1666

9273 0.83 185.2 389.4 8.2 476 9277 0.15 2.38 0.00 0.000 4 0.142 0.071 2611 3933 1665

9282 0.77 185.2 388.6 8.1 476 9289 0.00 2.22 0.00 0.000 6 0.000 0.041 2610 2516 1665

9598 0.88 224.2 370.3 5.7 492 9636 0.00 2.33 32.58 1.167 4 0.000 0.054 2610 1115 1505

9641 1.04 268.4 367.8 5.5 493 9687 0.17 2.35 38.03 1.114 6 0.072 0.049 2677 2535 1325

10008 0.97 268.4 334.1 9.7 511 10013 0.12 2.35 0.00 0.000 4 0.126 0.055 2641 1115 1320

10029 0.97 268.4 332.2 8.5 512 10033 0.00 2.33 0.00 0.000 6 0.000 0.049 2641 2518 1320

10356 1.03 268.4 305.4 8.5 528 10360 0.00 2.30 0.00 0.000 4 0.000 0.056 2641 1107 1319

10394 1.13 268.4 302.1 8.8 529 10401 0.15 2.28 0.00 0.000 6 0.082 0.050 2700 2522 1320

10709 1.00 268.4 266.3 11.1 545 10711 0.17 0.00 0.00 0.000 6 0.139 0.000 2650 2522 1320

11018 1.05 268.4 241.5 7.5 560 11022 0.00 2.28 0.00 0.000 4 0.000 0.057 2650 1109 1320

11029 1.12 268.4 240.8 7.4 560 11034 0.12 2.25 0.00 0.000 6 0.084 0.050 2699 2523 1320

11349 1.03 268.4 212.4 8.8 576 11353 0.15 2.28 0.00 0.000 4 0.143 0.057 2656 1111 1321

11370 1.03 268.4 210.8 7.4 577 11374 0.00 2.25 0.00 0.000 6 0.000 0.051 2656 2524 1320

11702 1.10 268.4 188.4 7.2 593 11706 0.00 2.25 0.00 0.000 4 0.000 0.056 2656 1116 1320

11718 1.19 268.4 187.2 7.4 593 11725 0.12 2.25 0.00 0.000 6 0.084 0.050 2705 2515 1320

12033 1.09 268.4 156.3 9.9 609 12035 0.12 0.00 0.00 0.000 6 0.146 0.000 2669 2516 1320

12343 1.09 268.4 131.1 8.2 624 12346 0.00 2.25 0.00 0.000 4 0.000 0.058 2669 1112 1319

12365 1.18 268.4 129.5 7.3 625 12369 0.08 2.25 0.00 0.000 6 0.103 0.052 2702 2529 1319

12696 1.18 268.4 99.3 8.7 641 12701 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2529 1319

13038 1.18 268.4 67.0 9.1 702 13044 0.00 2.28 0.00 0.000 4 0.000 0.059 2702 1115 1318

13061 1.18 268.4 65.2 8.8 706 13068 0.00 2.25 0.00 0.000 6 0.000 0.052 2702 2528 1318

13405 1.18 268.4 38.0 8.0 767 13411 0.00 2.28 0.00 0.000 4 0.000 0.058 2702 1112 1317

13462 1.18 268.4 33.7 7.3 777 13468 0.00 2.25 0.00 0.000 6 0.000 0.053 2702 2524 1317

13806 1.31 300.8 14.4 5.9 838 13837 0.00 2.38 25.92 1.048 4 0.000 0.058 2702 1118 1193

13843 1.45 322.1 12.0 6.3 844 13869 0.17 2.30 19.23 0.976 6 0.075 0.052 2773 2525 1106

13957 end climb: SURFACE_DEPTH_REACHED

state 13958 begin surface coast

13980 end surface coast: CONTROL_FINISHED_OK

state 13980 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	112	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	23	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	-24061.617	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	040408,6642.092,-6018.722,34,1.0,34,-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	-0.215,0.064
_SM_DEPTHo	1.65	KALMAN_X	14621.7,79.9,-233.0,-105453.8,825.8
_SM_ANGLEo	-65.9	KALMAN_Y	-5705.6,193.4,2231.6,-20271.8,-5574.2
GPS2	041115,6642.068,-6018.828,12,1.0,12,-38.0	MHEAD_RNG_PITCHd_Wd	324.5,17708,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	530

FINISH	0.8,1.013144	TCM_TEMP	15.40
SM_CCo	14056,0.00,0.000,0,0,1096,324.78	XPDR_PINGS	1
SM_GC	1.85,7.55,0.00,0.00,0.080,0.000,0.000,164,2333,1096,-10.39,-0.23,324.78	_24V_AH	22.1,26.472
RAFOS_CLK	807	_10V_AH	10.5,10.225
RAFOS	1,1222661644,4.250000,4.234445,91,61,61,58,57,56,745,208,116,195,169,218	DATA_FILE_SIZE	31587,868
RAFOS_FIX	6641.548828,-6015.521973,290908,040428,4,103,2.15	CAP_FILE_SIZE	124328,0
IRIDIUM_FIX	6614.97,-6021.37,241297,040424	CFSIZE	260165632,243089408
TT8_MAMPS	0.03068	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1901	SOUNDSPEED	1448.0
INTERNAL_PRESSURE	8.50619	GPS	290908,080802,6639.795,-6022.359,40,1.4,40,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	271	131.26	SBE_CT	681	24	361.63
Roll_motor	133	87	258.02	SBE_O2	591	19	248.19
VBD_pump_during_apogee	406	1260	11315.46	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	56	103	129.46	nil	0	0	0.00
Iridium_during_connect	68	160	241.52	nil	0	0	0.00
Iridium_during_xfer	135	223	669.98
Transponder_ping	0	420	2.32
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.17
TT8	1614	19	337.60
LPSleep	10205	2	247.53
TT8_Active	537	19	112.36
TT8_Sampling	1715	39	719.02
TT8_CF8	426	45	205.80
TT8_Kalman	33	81	28.70
Analog_circuits	1489	12	187.73
GPS_charging	0	0	0.00
Compass	1691	8	142.09
RAFOS	1800	1	28.35
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	123	0.00	0.00	-104.72	0.000	2	0.000	0.000	161	2328	2729
125	-1.08	-146.0	3.2	-2.5	18	150	8.85	2.42	-9.77	0.000	4	0.272	0.087	2200	3748	3017
325	-0.76	-146.0	40.3	-14.1	53	332	0.25	2.25	0.00	0.000	6	0.170	0.044	2270	2334	3022
669	-0.69	-146.0	72.7	-8.1	114	675	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2334	3024
1026	-0.69	-146.0	102.1	-8.7	175	1030	0.00	2.25	0.00	0.000	4	0.000	0.059	2270	925	3025
1087	-0.63	-146.0	107.9	-9.3	177	1094	0.12	2.28	0.00	0.000	6	0.170	0.054	2303	2344	3024
1403	-0.74	-146.0	131.1	-6.7	193	1408	0.12	2.33	0.00	0.000	4	0.100	0.073	2259	3748	3025
1486	-0.74	-146.0	137.6	-7.7	197	1490	0.00	2.22	0.00	0.000	6	0.000	0.044	2259	2327	3025
1818	-0.74	-146.0	161.9	-7.1	213	1822	0.00	2.38	0.00	0.000	4	0.000	0.076	2260	3747	3024
1884	-0.74	-146.0	167.0	-7.5	216	1888	0.00	2.22	0.00	0.000	6	0.000	0.044	2260	2328	3024
2216	-0.74	-146.0	191.8	-7.4	232	2219	0.00	2.22	0.00	0.000	4	0.000	0.059	2259	926	3024
2305	-0.74	-146.0	198.6	-7.3	236	2309	0.00	2.28	0.00	0.000	6	0.000	0.054	2259	2347	3024
2637	-0.74	-146.0	219.2	-6.0	252	2641	0.00	2.30	0.00	0.000	4	0.000	0.073	2260	3746	3023
2721	-0.80	-146.0	224.6	-6.7	255	2727	0.00	2.20	0.00	0.000	6	0.000	0.044	2259	2341	3023
3036	-0.80	-146.0	246.2	-7.3	271	3040	0.00	2.25	0.00	0.000	4	0.000	0.059	2259	927	3022
3129	-0.80	-146.0	253.7	-8.3	275	3134	0.00	2.30	0.00	0.000	6	0.000	0.054	2259	2346	3022
3456	-0.85	-146.0	277.5	-7.4	291	3460	0.00	2.30	0.00	0.000	4	0.000	0.074	2259	3742	3023
3602	-0.95	-146.0	288.3	-7.2	297	3606	0.12	2.20	0.00	0.000	6	0.104	0.045	2216	2333	3022
3922	-0.87	-146.0	313.6	-7.6	313	3926	0.12	2.25	0.00	0.000	4	0.162	0.060	2248	925	3022
3995	-0.87	-146.0	318.7	-6.7	316	3999	0.00	2.28	0.00	0.000	6	0.000	0.056	2248	2340	3022
4321	-0.87	-146.0	338.6	-6.0	332	4325	0.00	2.33	0.00	0.000	4	0.000	0.074	2248	3750	3022
4456	-0.95	-146.0	347.1	-6.0	338	4460	0.00	2.22	0.00	0.000	6	0.000	0.045	2248	2324	3022
4788	-1.01	-146.0	368.4	-6.7	354	4790	0.12	0.00	0.00	0.000	6	0.110	0.000	2205	2324	3022
5097	-0.92	-146.0	393.8	-8.3	369	5098	0.12	0.00	0.00	0.000	6	0.159	0.000	2238	2324	3022
5403	-0.92	-146.0	413.8	-6.4	379	5407	0.00	2.38	0.00	0.000	4	0.000	0.075	2238	3748	3022
5486	-1.00	-146.0	419.3	-6.8	380	5492	0.00	2.20	0.00	0.000	6	0.000	0.044	2238	2336	3022
5817	-1.00	-146.0	440.2	-6.3	389	5821	0.00	2.35	0.00	0.000	4	0.000	0.074	2238	3750	3022
5889	-1.08	-146.0	444.7	-6.4	390	5893	0.15	2.20	0.00	0.000	6	0.097	0.043	2187	2335	3022
6230	-0.96	-146.0	470.0	-7.6	399	6232	0.15	0.00	0.00	0.000	6	0.157	0.000	2227	2334	3022
6555	-0.96	-146.0	489.3	-5.9	407	6559	0.00	2.35	0.00	0.000	4	0.000	0.074	2227	3746	3022
6633	-1.01	-146.0	494.1	-6.1	408	6637	0.00	2.20	0.00	0.000	6	0.000	0.043	2227	2327	3022
6970	-1.01	-146.0	514.5	-6.2	417	6973	0.00	2.38	0.00	0.000	4	0.000	0.073	2228	3759	3023
7053	-1.07	-146.0	520.1	-6.8	418	7060	0.10	2.20	0.00	0.000	6	0.100	0.041	2192	2340	3023
7219	end dive: TARGET_DEPTH_EXCEEDED
state	7219	begin apogee
7224	-0.34	0.0	532.5	7.5	423	7353	0.57	0.00	126.25	1.260	6	0.154	0.000	2364	2522	2420
7354	end apogee: CONTROL_FINISHED_OK
state	7354	begin climb
7356	1.08	146.0	535.6	0.0	426	7489	1.02	0.00	128.38	1.171	6	0.109	0.000	2667	2522	1824
7801	0.88	146.0	497.1	9.1	437	7806	0.15	2.45	0.00	0.000	4	0.154	0.069	2628	3931	1821
7878	0.72	146.0	489.9	9.4	438	7883	0.15	2.30	0.00	0.000	6	0.153	0.042	2588	2523	1820
8215	0.82	167.4	468.9	6.3	447	8240	0.10	2.47	18.35	1.159	4	0.088	0.071	2625	3926	1737
8251	0.75	167.4	466.0	8.8	447	8258	0.12	2.30	0.00	0.000	6	0.152	0.041	2593	2508	1737
8582	0.86	180.5	444.1	6.6	456	8602	0.12	2.50	12.38	1.116	4	0.084	0.072	2641	3932	1683
8607	0.80	180.5	442.0	8.4	456	8612	0.15	2.28	0.00	0.000	6	0.152	0.041	2605	2518	1682
8943	0.86	181.0	418.0	7.0	465	8947	0.00	2.38	0.00	0.000	4	0.000	0.072	2605	3929	1681
8953	0.92	185.2	417.0	6.9	465	8963	0.12	2.22	5.20	0.903	6	0.087	0.041	2653	2515	1666
9273	0.83	185.2	389.4	8.2	476	9277	0.15	2.38	0.00	0.000	4	0.142	0.071	2611	3933	1665
9282	0.77	185.2	388.6	8.1	476	9289	0.00	2.22	0.00	0.000	6	0.000	0.041	2610	2516	1665
9598	0.88	224.2	370.3	5.7	492	9636	0.00	2.33	32.58	1.167	4	0.000	0.054	2610	1115	1505
9641	1.04	268.4	367.8	5.5	493	9687	0.17	2.35	38.03	1.114	6	0.072	0.049	2677	2535	1325
10008	0.97	268.4	334.1	9.7	511	10013	0.12	2.35	0.00	0.000	4	0.126	0.055	2641	1115	1320
10029	0.97	268.4	332.2	8.5	512	10033	0.00	2.33	0.00	0.000	6	0.000	0.049	2641	2518	1320
10356	1.03	268.4	305.4	8.5	528	10360	0.00	2.30	0.00	0.000	4	0.000	0.056	2641	1107	1319
10394	1.13	268.4	302.1	8.8	529	10401	0.15	2.28	0.00	0.000	6	0.082	0.050	2700	2522	1320
10709	1.00	268.4	266.3	11.1	545	10711	0.17	0.00	0.00	0.000	6	0.139	0.000	2650	2522	1320
11018	1.05	268.4	241.5	7.5	560	11022	0.00	2.28	0.00	0.000	4	0.000	0.057	2650	1109	1320
11029	1.12	268.4	240.8	7.4	560	11034	0.12	2.25	0.00	0.000	6	0.084	0.050	2699	2523	1320
11349	1.03	268.4	212.4	8.8	576	11353	0.15	2.28	0.00	0.000	4	0.143	0.057	2656	1111	1321
11370	1.03	268.4	210.8	7.4	577	11374	0.00	2.25	0.00	0.000	6	0.000	0.051	2656	2524	1320
11702	1.10	268.4	188.4	7.2	593	11706	0.00	2.25	0.00	0.000	4	0.000	0.056	2656	1116	1320
11718	1.19	268.4	187.2	7.4	593	11725	0.12	2.25	0.00	0.000	6	0.084	0.050	2705	2515	1320
12033	1.09	268.4	156.3	9.9	609	12035	0.12	0.00	0.00	0.000	6	0.146	0.000	2669	2516	1320
12343	1.09	268.4	131.1	8.2	624	12346	0.00	2.25	0.00	0.000	4	0.000	0.058	2669	1112	1319
12365	1.18	268.4	129.5	7.3	625	12369	0.08	2.25	0.00	0.000	6	0.103	0.052	2702	2529	1319
12696	1.18	268.4	99.3	8.7	641	12701	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2529	1319
13038	1.18	268.4	67.0	9.1	702	13044	0.00	2.28	0.00	0.000	4	0.000	0.059	2702	1115	1318
13061	1.18	268.4	65.2	8.8	706	13068	0.00	2.25	0.00	0.000	6	0.000	0.052	2702	2528	1318
13405	1.18	268.4	38.0	8.0	767	13411	0.00	2.28	0.00	0.000	4	0.000	0.058	2702	1112	1317
13462	1.18	268.4	33.7	7.3	777	13468	0.00	2.25	0.00	0.000	6	0.000	0.053	2702	2524	1317
13806	1.31	300.8	14.4	5.9	838	13837	0.00	2.38	25.92	1.048	4	0.000	0.058	2702	1118	1193
13843	1.45	322.1	12.0	6.3	844	13869	0.17	2.30	19.23	0.976	6	0.075	0.052	2773	2525	1106
13957	end climb: SURFACE_DEPTH_REACHED
state	13958	begin surface coast
13980	end surface coast: CONTROL_FINISHED_OK
state	13980	begin surface