Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 115 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 0 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 115 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 275 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 588 DEVICE2 20

T_MISSION 530 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2745 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 0.0012300001 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 -113164.17 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 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2657 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 15.9 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 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 15.9 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3700 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 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 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 70 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 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -113164.17

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 530

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 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2657 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 20 VBD_BLEED_AD_RATE 8

C_VBD 2745 MAX_BUOY 150 R_STBD_OVSHOOT 21 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 115 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 071346,6640.372,-6008.833,36,3.4,55,-37.9 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 -0.212,0.098

_SM_DEPTHo 2.50 KALMAN_X 33616.7,16.8,280.2,-103580.3,142.9

_SM_ANGLEo -70.2 KALMAN_Y -39118.9,-434.3,-1183.1,19437.2,-1171.7

GPS2 072103,6640.323,-6008.789,10,1.0,10,-37.9 MHEAD_RNG_PITCHd_Wd 332.8,25253,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 564

Post-dive calculations and measurements:

FINISH 1.8,1.024943 TCM_TEMP 15.20

SM_CCo 15769,0.00,0.000,0,0,1429,322.81 XPDR_PINGS 38

SM_GC 2.54,6.97,0.00,0.00,0.054,0.000,0.000,336,2239,1429,-10.58,0.25,322.81 _24V_AH 22.9,23.906

RAFOS_CLK 674 _10V_AH 10.6,11.164

RAFOS 0,1222675443,8.083333,8.067500,168,67,64,56,55,54,568,213,162,136,193,118 DATA_FILE_SIZE 31525,923

RAFOS_FIX 6641.001953,-6003.815918,290908,080840,4,106,0.98 CAP_FILE_SIZE 122934,0

IRIDIUM_FIX 6614.97,-6011.26,241297,070708 CFSIZE 260165632,244957184

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

HUMID 1836 SOUNDSPEED 1449.3

INTERNAL_PRESSURE 9.85389 GPS 290908,114607,6640.404,-6013.495,28,1.2,28,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 254 125.37 SBE_CT 645 24 354.81

Roll_motor 94 93 203.14 SBE_O2 0 0 0.00

VBD_pump_during_apogee 402 1221 11267.44 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 51 103 121.13 nil 0 0 0.00

Iridium_during_connect 94 160 344.72 nil 0 0 0.00

Iridium_during_xfer 128 223 658.42

Transponder_ping 9 420 91.37

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.43

TT8 1685 19 355.80

LPSleep 11867 2 290.58

TT8_Active 525 19 110.94

TT8_Sampling 1716 39 726.20

TT8_CF8 425 45 206.94

TT8_Kalman 33 81 28.98

Analog_circuits 1440 12 183.30

GPS_charging 0 0 0.00

Compass 1697 8 143.91

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 14 begin dive

16 -1.00 -146.0 0.0 0.0 0 70 0.00 0.00 -51.90 0.000 2 0.000 0.000 338 2239 2518

72 -1.00 -146.0 3.1 -1.4 9 120 8.52 2.30 -30.73 0.000 4 0.255 0.094 2429 3592 3343

239 -0.63 -146.0 27.2 -15.4 38 246 0.30 2.22 0.00 0.000 6 0.149 0.055 2519 2218 3348

583 -0.63 -146.0 56.8 -7.9 99 589 0.00 2.28 0.00 0.000 4 0.000 0.068 2520 817 3350

751 -0.63 -146.0 69.4 -7.7 129 758 0.00 2.33 0.00 0.000 6 0.000 0.066 2512 2238 3350

1095 -0.63 -146.0 96.7 -8.3 190 1100 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2237 3351

1428 -0.63 -146.0 121.6 -7.1 212 1432 0.00 2.20 0.00 0.000 4 0.000 0.081 2501 3600 3351

1522 -0.63 -146.0 128.8 -7.9 216 1527 0.00 2.22 0.00 0.000 6 0.000 0.057 2501 2220 3350

1849 -0.63 -146.0 153.1 -7.5 232 1850 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2220 3350

2158 -0.63 -146.0 175.7 -7.2 247 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2219 3350

2467 -0.63 -146.0 198.4 -7.5 262 2468 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2220 3349

2776 -0.63 -146.0 221.8 -7.6 277 2780 0.00 2.28 0.00 0.000 4 0.000 0.072 2501 816 3349

2894 -0.63 -146.0 231.3 -8.0 282 2899 0.12 2.33 0.00 0.000 6 0.144 0.069 2525 2242 3349

3215 -0.77 -146.0 250.4 -5.6 298 3216 0.12 0.00 0.00 0.000 6 0.087 0.000 2476 2241 3348

3524 -0.72 -146.0 271.5 -6.6 313 3526 0.10 0.00 0.00 0.000 6 0.160 0.000 2501 2242 3348

3833 -0.78 -146.0 288.2 -5.2 328 3837 0.00 2.38 0.00 0.000 4 0.000 0.071 2500 812 3348

3933 -0.78 -146.0 294.5 -6.1 332 3937 0.00 2.33 0.00 0.000 6 0.000 0.068 2493 2237 3348

4254 -0.78 -146.0 315.4 -6.6 348 4258 0.00 2.17 0.00 0.000 4 0.000 0.081 2482 3594 3348

4337 -0.78 -146.0 321.7 -7.8 351 4344 0.00 2.20 0.00 0.000 6 0.000 0.058 2482 2231 3348

4653 -0.78 -146.0 342.1 -6.3 367 4657 0.00 2.28 0.00 0.000 4 0.000 0.071 2482 812 3348

4759 -0.72 -146.0 349.1 -6.8 371 4766 0.12 2.30 0.00 0.000 6 0.149 0.067 2506 2234 3348

5074 -0.82 -146.0 366.4 -5.7 387 5076 0.10 0.00 0.00 0.000 6 0.093 0.000 2465 2234 3348

5385 -0.76 -146.0 388.6 -7.0 402 5387 0.12 0.00 0.00 0.000 6 0.154 0.000 2498 2234 3348

5712 -0.84 -146.0 407.4 -5.6 415 5716 0.10 2.33 0.00 0.000 4 0.095 0.068 2457 809 3348

5817 -0.71 -146.0 415.6 -8.0 417 5822 0.20 2.33 0.00 0.000 6 0.148 0.067 2504 2242 3348

6165 -0.82 -146.0 435.3 -5.6 426 6169 0.10 2.17 0.00 0.000 4 0.094 0.079 2453 3609 3348

6236 -0.74 -146.0 440.9 -8.1 427 6242 0.12 2.20 0.00 0.000 6 0.151 0.055 2493 2228 3348

6579 -0.81 -146.0 461.7 -6.0 436 6583 0.00 2.28 0.00 0.000 4 0.000 0.068 2495 810 3348

6723 -0.81 -146.0 470.8 -6.5 439 6727 0.00 2.30 0.00 0.000 6 0.000 0.065 2487 2236 3348

7042 -0.81 -146.0 487.4 -5.1 447 7046 0.00 2.17 0.00 0.000 4 0.000 0.078 2476 3607 3349

7114 -0.81 -146.0 491.9 -6.8 448 7118 0.00 2.17 0.00 0.000 6 0.000 0.054 2476 2220 3348

7456 -0.81 -146.0 516.2 -6.5 457 7457 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2220 3349

7781 -0.81 -146.0 537.7 -6.6 465 7785 0.00 2.25 0.00 0.000 4 0.000 0.068 2476 816 3349

7881 -0.75 -146.0 543.9 -6.5 467 7886 0.12 2.30 0.00 0.000 6 0.145 0.065 2499 2246 3349

8200 -0.86 -146.0 563.4 -6.5 475 8202 0.12 0.00 0.00 0.000 6 0.084 0.000 2449 2246 3349

8240 end dive: TARGET_DEPTH_EXCEEDED

state 8240 begin apogee

8245 -0.31 0.0 566.3 6.8 476 8370 0.45 0.00 122.20 1.221 6 0.137 0.000 2589 1730 2745

8371 end apogee: CONTROL_FINISHED_OK

state 8371 begin climb

8373 1.00 146.0 569.0 0.0 479 8505 0.88 2.65 124.07 1.151 4 0.100 0.071 2885 338 2148

8533 0.79 146.0 556.1 10.8 482 8540 0.22 2.53 0.00 0.000 6 0.128 0.056 2824 1750 2146

8864 0.75 146.0 528.4 9.9 491 8865 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 1750 2141

9189 0.71 185.3 508.5 5.8 499 9231 0.00 2.45 32.58 1.134 4 0.000 0.071 2823 3159 1988

9264 0.60 195.1 504.2 6.7 500 9280 0.17 2.40 9.70 1.001 6 0.132 0.056 2784 1740 1949

9605 0.75 198.5 483.3 6.9 509 9611 0.12 0.00 4.00 0.739 6 0.078 0.000 2836 1740 1935

9929 0.68 198.5 456.0 8.9 517 9934 0.12 2.40 0.00 0.000 4 0.126 0.071 2801 3157 1934

9956 0.68 200.0 454.1 7.0 517 9960 0.00 2.40 0.00 0.000 6 0.000 0.056 2808 1733 1933

10293 0.77 203.7 432.2 6.9 526 10301 0.00 0.00 6.07 0.920 6 0.000 0.000 2809 1732 1914

10618 0.86 212.2 409.7 6.7 534 10630 0.12 0.00 9.00 1.009 6 0.081 0.000 2861 1732 1879

10925 0.73 212.2 380.4 9.8 546 10927 0.17 0.00 0.00 0.000 6 0.126 0.000 2809 1732 1877

11235 0.86 224.5 359.3 6.6 561 11249 0.12 0.00 11.55 1.030 6 0.079 0.000 2861 1732 1829

11544 0.76 224.5 330.5 9.4 576 11548 0.15 2.40 0.00 0.000 4 0.125 0.071 2817 3164 1826

11553 0.68 224.5 329.5 9.4 576 11560 0.00 2.35 0.00 0.000 6 0.000 0.055 2824 1731 1825

11869 0.75 224.5 306.7 7.3 592 11870 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 1731 1825

12179 0.84 231.8 285.0 6.8 607 12187 0.00 0.00 7.03 0.913 6 0.000 0.000 2824 1731 1800

12487 0.94 231.8 263.0 7.1 622 12489 0.12 0.00 0.00 0.000 6 0.080 0.000 2877 1731 1799

12797 0.85 231.8 232.4 9.8 637 12802 0.15 2.40 0.00 0.000 4 0.127 0.072 2832 3155 1798

12806 0.78 231.8 231.3 9.9 637 12813 0.00 2.35 0.00 0.000 6 0.000 0.056 2841 1733 1798

13122 0.84 231.8 207.9 7.0 653 13123 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 1733 1798

13432 0.96 266.3 188.5 5.9 668 13468 0.10 2.45 30.77 1.002 4 0.091 0.072 2884 3153 1658

13484 0.84 266.3 184.1 9.2 669 13492 0.20 2.40 0.00 0.000 6 0.135 0.057 2837 1741 1654

13800 1.03 300.8 164.3 5.9 685 13833 0.15 0.00 30.15 0.973 6 0.074 0.000 2897 1741 1518

14129 0.96 300.8 132.6 10.0 701 14131 0.12 0.00 0.00 0.000 6 0.132 0.000 2862 1741 1509

14439 1.09 302.7 109.8 7.0 716 14444 0.12 2.45 0.00 0.000 4 0.083 0.074 2918 327 1506

14471 1.09 302.7 106.6 10.1 717 14478 0.10 2.40 0.00 0.000 6 0.142 0.061 2891 1747 1506

14807 1.09 302.7 77.2 8.6 766 14812 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 1747 1505

15149 1.09 302.7 46.1 8.8 827 15155 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 1747 1504

15492 1.55 320.8 22.2 6.4 888 15517 0.28 2.40 15.82 0.920 4 0.077 0.077 2999 3152 1437

15636 1.21 320.8 5.6 13.2 913 15643 0.32 2.38 0.00 0.000 6 0.146 0.063 2915 1728 1432

15664 end climb: SURFACE_DEPTH_REACHED

state 15664 begin surface coast

15693 end surface coast: CONTROL_FINISHED_OK

state 15693 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	0	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	115	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	275	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	588	DEVICE2	20
T_MISSION	530	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2745	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	0.0012300001	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	-113164.17	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	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2657	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	15.9	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	071346,6640.372,-6008.833,36,3.4,55,-37.9	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	-0.212,0.098
_SM_DEPTHo	2.50	KALMAN_X	33616.7,16.8,280.2,-103580.3,142.9
_SM_ANGLEo	-70.2	KALMAN_Y	-39118.9,-434.3,-1183.1,19437.2,-1171.7
GPS2	072103,6640.323,-6008.789,10,1.0,10,-37.9	MHEAD_RNG_PITCHd_Wd	332.8,25253,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	564

FINISH	1.8,1.024943	TCM_TEMP	15.20
SM_CCo	15769,0.00,0.000,0,0,1429,322.81	XPDR_PINGS	38
SM_GC	2.54,6.97,0.00,0.00,0.054,0.000,0.000,336,2239,1429,-10.58,0.25,322.81	_24V_AH	22.9,23.906
RAFOS_CLK	674	_10V_AH	10.6,11.164
RAFOS	0,1222675443,8.083333,8.067500,168,67,64,56,55,54,568,213,162,136,193,118	DATA_FILE_SIZE	31525,923
RAFOS_FIX	6641.001953,-6003.815918,290908,080840,4,106,0.98	CAP_FILE_SIZE	122934,0
IRIDIUM_FIX	6614.97,-6011.26,241297,070708	CFSIZE	260165632,244957184
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1836	SOUNDSPEED	1449.3
INTERNAL_PRESSURE	9.85389	GPS	290908,114607,6640.404,-6013.495,28,1.2,28,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	254	125.37	SBE_CT	645	24	354.81
Roll_motor	94	93	203.14	SBE_O2	0	0	0.00
VBD_pump_during_apogee	402	1221	11267.44	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	51	103	121.13	nil	0	0	0.00
Iridium_during_connect	94	160	344.72	nil	0	0	0.00
Iridium_during_xfer	128	223	658.42
Transponder_ping	9	420	91.37
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.43
TT8	1685	19	355.80
LPSleep	11867	2	290.58
TT8_Active	525	19	110.94
TT8_Sampling	1716	39	726.20
TT8_CF8	425	45	206.94
TT8_Kalman	33	81	28.98
Analog_circuits	1440	12	183.30
GPS_charging	0	0	0.00
Compass	1697	8	143.91
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	14	begin dive
16	-1.00	-146.0	0.0	0.0	0	70	0.00	0.00	-51.90	0.000	2	0.000	0.000	338	2239	2518
72	-1.00	-146.0	3.1	-1.4	9	120	8.52	2.30	-30.73	0.000	4	0.255	0.094	2429	3592	3343
239	-0.63	-146.0	27.2	-15.4	38	246	0.30	2.22	0.00	0.000	6	0.149	0.055	2519	2218	3348
583	-0.63	-146.0	56.8	-7.9	99	589	0.00	2.28	0.00	0.000	4	0.000	0.068	2520	817	3350
751	-0.63	-146.0	69.4	-7.7	129	758	0.00	2.33	0.00	0.000	6	0.000	0.066	2512	2238	3350
1095	-0.63	-146.0	96.7	-8.3	190	1100	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2237	3351
1428	-0.63	-146.0	121.6	-7.1	212	1432	0.00	2.20	0.00	0.000	4	0.000	0.081	2501	3600	3351
1522	-0.63	-146.0	128.8	-7.9	216	1527	0.00	2.22	0.00	0.000	6	0.000	0.057	2501	2220	3350
1849	-0.63	-146.0	153.1	-7.5	232	1850	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2220	3350
2158	-0.63	-146.0	175.7	-7.2	247	2160	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2219	3350
2467	-0.63	-146.0	198.4	-7.5	262	2468	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2220	3349
2776	-0.63	-146.0	221.8	-7.6	277	2780	0.00	2.28	0.00	0.000	4	0.000	0.072	2501	816	3349
2894	-0.63	-146.0	231.3	-8.0	282	2899	0.12	2.33	0.00	0.000	6	0.144	0.069	2525	2242	3349
3215	-0.77	-146.0	250.4	-5.6	298	3216	0.12	0.00	0.00	0.000	6	0.087	0.000	2476	2241	3348
3524	-0.72	-146.0	271.5	-6.6	313	3526	0.10	0.00	0.00	0.000	6	0.160	0.000	2501	2242	3348
3833	-0.78	-146.0	288.2	-5.2	328	3837	0.00	2.38	0.00	0.000	4	0.000	0.071	2500	812	3348
3933	-0.78	-146.0	294.5	-6.1	332	3937	0.00	2.33	0.00	0.000	6	0.000	0.068	2493	2237	3348
4254	-0.78	-146.0	315.4	-6.6	348	4258	0.00	2.17	0.00	0.000	4	0.000	0.081	2482	3594	3348
4337	-0.78	-146.0	321.7	-7.8	351	4344	0.00	2.20	0.00	0.000	6	0.000	0.058	2482	2231	3348
4653	-0.78	-146.0	342.1	-6.3	367	4657	0.00	2.28	0.00	0.000	4	0.000	0.071	2482	812	3348
4759	-0.72	-146.0	349.1	-6.8	371	4766	0.12	2.30	0.00	0.000	6	0.149	0.067	2506	2234	3348
5074	-0.82	-146.0	366.4	-5.7	387	5076	0.10	0.00	0.00	0.000	6	0.093	0.000	2465	2234	3348
5385	-0.76	-146.0	388.6	-7.0	402	5387	0.12	0.00	0.00	0.000	6	0.154	0.000	2498	2234	3348
5712	-0.84	-146.0	407.4	-5.6	415	5716	0.10	2.33	0.00	0.000	4	0.095	0.068	2457	809	3348
5817	-0.71	-146.0	415.6	-8.0	417	5822	0.20	2.33	0.00	0.000	6	0.148	0.067	2504	2242	3348
6165	-0.82	-146.0	435.3	-5.6	426	6169	0.10	2.17	0.00	0.000	4	0.094	0.079	2453	3609	3348
6236	-0.74	-146.0	440.9	-8.1	427	6242	0.12	2.20	0.00	0.000	6	0.151	0.055	2493	2228	3348
6579	-0.81	-146.0	461.7	-6.0	436	6583	0.00	2.28	0.00	0.000	4	0.000	0.068	2495	810	3348
6723	-0.81	-146.0	470.8	-6.5	439	6727	0.00	2.30	0.00	0.000	6	0.000	0.065	2487	2236	3348
7042	-0.81	-146.0	487.4	-5.1	447	7046	0.00	2.17	0.00	0.000	4	0.000	0.078	2476	3607	3349
7114	-0.81	-146.0	491.9	-6.8	448	7118	0.00	2.17	0.00	0.000	6	0.000	0.054	2476	2220	3348
7456	-0.81	-146.0	516.2	-6.5	457	7457	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2220	3349
7781	-0.81	-146.0	537.7	-6.6	465	7785	0.00	2.25	0.00	0.000	4	0.000	0.068	2476	816	3349
7881	-0.75	-146.0	543.9	-6.5	467	7886	0.12	2.30	0.00	0.000	6	0.145	0.065	2499	2246	3349
8200	-0.86	-146.0	563.4	-6.5	475	8202	0.12	0.00	0.00	0.000	6	0.084	0.000	2449	2246	3349
8240	end dive: TARGET_DEPTH_EXCEEDED
state	8240	begin apogee
8245	-0.31	0.0	566.3	6.8	476	8370	0.45	0.00	122.20	1.221	6	0.137	0.000	2589	1730	2745
8371	end apogee: CONTROL_FINISHED_OK
state	8371	begin climb
8373	1.00	146.0	569.0	0.0	479	8505	0.88	2.65	124.07	1.151	4	0.100	0.071	2885	338	2148
8533	0.79	146.0	556.1	10.8	482	8540	0.22	2.53	0.00	0.000	6	0.128	0.056	2824	1750	2146
8864	0.75	146.0	528.4	9.9	491	8865	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	1750	2141
9189	0.71	185.3	508.5	5.8	499	9231	0.00	2.45	32.58	1.134	4	0.000	0.071	2823	3159	1988
9264	0.60	195.1	504.2	6.7	500	9280	0.17	2.40	9.70	1.001	6	0.132	0.056	2784	1740	1949
9605	0.75	198.5	483.3	6.9	509	9611	0.12	0.00	4.00	0.739	6	0.078	0.000	2836	1740	1935
9929	0.68	198.5	456.0	8.9	517	9934	0.12	2.40	0.00	0.000	4	0.126	0.071	2801	3157	1934
9956	0.68	200.0	454.1	7.0	517	9960	0.00	2.40	0.00	0.000	6	0.000	0.056	2808	1733	1933
10293	0.77	203.7	432.2	6.9	526	10301	0.00	0.00	6.07	0.920	6	0.000	0.000	2809	1732	1914
10618	0.86	212.2	409.7	6.7	534	10630	0.12	0.00	9.00	1.009	6	0.081	0.000	2861	1732	1879
10925	0.73	212.2	380.4	9.8	546	10927	0.17	0.00	0.00	0.000	6	0.126	0.000	2809	1732	1877
11235	0.86	224.5	359.3	6.6	561	11249	0.12	0.00	11.55	1.030	6	0.079	0.000	2861	1732	1829
11544	0.76	224.5	330.5	9.4	576	11548	0.15	2.40	0.00	0.000	4	0.125	0.071	2817	3164	1826
11553	0.68	224.5	329.5	9.4	576	11560	0.00	2.35	0.00	0.000	6	0.000	0.055	2824	1731	1825
11869	0.75	224.5	306.7	7.3	592	11870	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	1731	1825
12179	0.84	231.8	285.0	6.8	607	12187	0.00	0.00	7.03	0.913	6	0.000	0.000	2824	1731	1800
12487	0.94	231.8	263.0	7.1	622	12489	0.12	0.00	0.00	0.000	6	0.080	0.000	2877	1731	1799
12797	0.85	231.8	232.4	9.8	637	12802	0.15	2.40	0.00	0.000	4	0.127	0.072	2832	3155	1798
12806	0.78	231.8	231.3	9.9	637	12813	0.00	2.35	0.00	0.000	6	0.000	0.056	2841	1733	1798
13122	0.84	231.8	207.9	7.0	653	13123	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	1733	1798
13432	0.96	266.3	188.5	5.9	668	13468	0.10	2.45	30.77	1.002	4	0.091	0.072	2884	3153	1658
13484	0.84	266.3	184.1	9.2	669	13492	0.20	2.40	0.00	0.000	6	0.135	0.057	2837	1741	1654
13800	1.03	300.8	164.3	5.9	685	13833	0.15	0.00	30.15	0.973	6	0.074	0.000	2897	1741	1518
14129	0.96	300.8	132.6	10.0	701	14131	0.12	0.00	0.00	0.000	6	0.132	0.000	2862	1741	1509
14439	1.09	302.7	109.8	7.0	716	14444	0.12	2.45	0.00	0.000	4	0.083	0.074	2918	327	1506
14471	1.09	302.7	106.6	10.1	717	14478	0.10	2.40	0.00	0.000	6	0.142	0.061	2891	1747	1506
14807	1.09	302.7	77.2	8.6	766	14812	0.00	0.00	0.00	0.000	6	0.000	0.000	2891	1747	1505
15149	1.09	302.7	46.1	8.8	827	15155	0.00	0.00	0.00	0.000	6	0.000	0.000	2891	1747	1504
15492	1.55	320.8	22.2	6.4	888	15517	0.28	2.40	15.82	0.920	4	0.077	0.077	2999	3152	1437
15636	1.21	320.8	5.6	13.2	913	15643	0.32	2.38	0.00	0.000	6	0.146	0.063	2915	1728	1432
15664	end climb: SURFACE_DEPTH_REACHED
state	15664	begin surface coast
15693	end surface coast: CONTROL_FINISHED_OK
state	15693	begin surface