Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 117 * 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 117 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 33 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 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 -24136.561 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 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 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 0.00342 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0096000005 RELAUNCH 1 T_GPS_CHARGE -24136.561

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 33 VBD_BLEED_AD_RATE 8

C_VBD 2420 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 117 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 000608,6639.424,-6035.122,34,1.0,34,-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 -0.224,0.012

_SM_DEPTHo 1.64 KALMAN_X 16327.8,-5.5,196.3,-119342.9,198.2

_SM_ANGLEo -63.8 KALMAN_Y -11088.9,231.2,-1004.4,-16501.5,2256.1

GPS2 001250,6639.470,-6035.124,9,1.0,14,-38.0 MHEAD_RNG_PITCHd_Wd 311.0,7432,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 494

Post-dive calculations and measurements:

FINISH 0.9,1.012780 TCM_TEMP 15.40

SM_CCo 12859,0.00,0.000,0,0,846,385.86 XPDR_PINGS 1

SM_GC 1.52,7.40,0.00,0.00,0.077,0.000,0.000,161,2331,846,-10.39,-0.25,385.86 _24V_AH 22.1,27.231

RAFOS_CLK 740 _10V_AH 10.6,10.531

RAFOS 1,1222733647,0.250000,0.235278,62,56,55,54,53,52,172,203,214,153,185,121 DATA_FILE_SIZE 31530,838

RAFOS_FIX 6639.721680,-6031.706543,300908,000016,3,85,1.82 CAP_FILE_SIZE 119126,0

IRIDIUM_FIX 6609.62,-6036.17,251297,000027 CFSIZE 260165632,242798592

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1890 SOUNDSPEED 1447.1

INTERNAL_PRESSURE 8.47689 GPS 300908,034938,6640.978,-6038.356,41,0.8,41,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 266 131.54 SBE_CT 656 24 348.01

Roll_motor 125 80 223.06 SBE_O2 569 19 238.95

VBD_pump_during_apogee 463 1252 12827.14 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 51 103 117.26 nil 0 0 0.00

Iridium_during_connect 53 160 189.26 nil 0 0 0.00

Iridium_during_xfer 131 223 648.35

Transponder_ping 0 420 2.32

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.38

TT8 1537 19 324.68

LPSleep 9163 2 224.37

TT8_Active 589 19 124.54

TT8_Sampling 1593 39 674.20

TT8_CF8 391 45 190.75

TT8_Kalman 33 81 28.98

Analog_circuits 1487 12 189.15

GPS_charging 0 0 0.00

Compass 1568 8 133.01

RAFOS 1440 1 22.90

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 -145.9 0.0 0.0 0 121 0.00 0.00 -102.60 0.000 2 0.000 0.000 159 2327 2705

123 -1.08 -146.0 3.1 -2.1 18 149 8.73 2.33 -11.82 0.000 4 0.267 0.073 2199 938 3018

301 -0.65 -146.0 39.6 -19.4 49 308 0.35 2.30 0.00 0.000 6 0.173 0.056 2298 2350 3023

644 -0.65 -146.0 67.2 -6.1 110 650 0.00 2.33 0.00 0.000 4 0.000 0.074 2298 3750 3025

707 -0.73 -146.0 71.4 -7.0 121 713 0.00 2.22 0.00 0.000 6 0.000 0.043 2298 2334 3025

1050 -0.80 -146.0 96.5 -7.9 182 1056 0.12 2.25 0.00 0.000 4 0.096 0.058 2251 926 3025

1090 -0.67 -146.0 100.7 -10.6 188 1097 0.15 2.28 0.00 0.000 6 0.175 0.054 2288 2343 3026

1405 -0.73 -146.0 126.0 -7.0 204 1409 0.00 2.33 0.00 0.000 4 0.000 0.074 2288 3750 3026

1477 -0.85 -146.0 130.5 -6.3 207 1482 0.15 2.22 0.00 0.000 6 0.096 0.044 2234 2327 3026

1792 -0.75 -146.0 153.6 -7.8 222 1794 0.15 0.00 0.00 0.000 6 0.170 0.000 2273 2327 3026

2100 -0.75 -146.0 175.3 -7.8 237 2104 0.00 2.38 0.00 0.000 4 0.000 0.075 2273 3750 3025

2202 -0.85 -146.0 184.2 -9.5 241 2206 0.00 2.20 0.00 0.000 6 0.000 0.044 2274 2341 3025

2522 -0.91 -146.0 210.5 -8.0 257 2526 0.15 2.25 0.00 0.000 4 0.106 0.058 2222 927 3025

2593 -0.76 -146.0 217.7 -10.5 260 2598 0.17 2.28 0.00 0.000 6 0.173 0.054 2268 2353 3024

2919 -0.82 -146.0 241.9 -6.9 276 2923 0.00 2.30 0.00 0.000 4 0.000 0.074 2268 3747 3024

3004 -0.93 -146.0 247.9 -6.9 279 3011 0.12 2.20 0.00 0.000 6 0.096 0.044 2224 2338 3024

3320 -0.85 -146.0 274.9 -8.6 295 3324 0.12 2.22 0.00 0.000 4 0.167 0.058 2256 932 3024

3369 -0.85 -146.0 278.8 -8.0 297 3373 0.00 2.25 0.00 0.000 6 0.000 0.054 2256 2343 3024

3695 -0.85 -146.0 301.1 -6.6 313 3699 0.00 2.30 0.00 0.000 4 0.000 0.071 2256 3745 3024

3773 -0.94 -146.0 306.4 -6.7 316 3778 0.10 2.20 0.00 0.000 6 0.107 0.044 2221 2336 3024

4094 -0.86 -146.0 330.8 -7.8 332 4098 0.12 2.22 0.00 0.000 4 0.170 0.058 2253 936 3024

4148 -0.86 -146.0 335.0 -7.7 334 4153 0.00 2.30 0.00 0.000 6 0.000 0.058 2253 2345 3024

4469 -0.91 -146.0 357.0 -7.0 350 4473 0.00 2.33 0.00 0.000 4 0.000 0.076 2253 3746 3024

4569 -1.03 -146.0 364.9 -7.8 354 4574 0.15 2.20 0.00 0.000 6 0.100 0.044 2203 2336 3024

4890 -0.92 -146.0 393.9 -9.4 370 4892 0.12 0.00 0.00 0.000 6 0.163 0.000 2235 2336 3024

5215 -0.92 -146.0 419.9 -7.9 380 5217 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2336 3024

5541 -0.92 -146.0 443.4 -6.9 388 5545 0.00 2.38 0.00 0.000 4 0.000 0.074 2235 3758 3023

5680 -0.99 -146.0 452.6 -7.1 391 5684 0.00 2.22 0.00 0.000 6 0.000 0.043 2235 2324 3023

6003 -0.99 -146.0 473.2 -6.2 399 6007 0.00 2.20 0.00 0.000 4 0.000 0.059 2236 935 3023

6125 -0.99 -146.0 481.5 -6.2 401 6130 0.00 2.25 0.00 0.000 6 0.000 0.054 2236 2347 3023

6338 end dive: TARGET_DEPTH_EXCEEDED

state 6338 begin apogee

6343 -0.34 0.0 495.5 6.6 407 6472 0.43 0.00 126.25 1.253 6 0.151 0.000 2365 2525 2420

6472 end apogee: CONTROL_FINISHED_OK

state 6473 begin climb

6474 1.08 146.0 498.0 0.0 410 6618 1.05 2.62 130.45 1.144 4 0.113 0.056 2669 1125 1824

6625 0.90 146.0 487.6 9.5 414 6630 0.15 2.53 0.00 0.000 6 0.150 0.051 2633 2526 1823

6949 0.84 146.0 462.9 7.7 422 6950 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2526 1821

7274 0.77 146.3 439.7 7.0 430 7279 0.12 2.38 0.00 0.000 4 0.149 0.070 2598 3941 1820

7313 0.79 163.2 437.2 6.4 431 7332 0.00 2.28 15.02 1.127 6 0.000 0.041 2598 2512 1754

7640 0.89 182.8 417.2 6.4 439 7665 0.12 2.50 17.67 1.141 4 0.083 0.072 2649 3931 1673

7670 0.79 182.8 414.5 8.9 439 7675 0.17 2.30 0.00 0.000 6 0.150 0.042 2601 2515 1673

7982 0.92 206.9 393.5 6.2 449 8009 0.12 2.45 20.83 1.144 4 0.081 0.072 2651 3927 1575

8014 0.86 206.9 391.2 8.0 450 8021 0.12 2.30 0.00 0.000 6 0.154 0.042 2619 2514 1574

8329 0.98 246.8 372.2 5.7 466 8372 0.12 2.53 33.62 1.150 4 0.091 0.072 2665 3922 1412

8378 0.91 246.8 368.7 7.6 468 8382 0.12 2.30 0.00 0.000 6 0.150 0.042 2634 2522 1411

8704 0.99 259.8 347.7 6.6 484 8725 0.00 2.38 11.90 1.070 4 0.000 0.056 2634 1111 1360

8730 1.11 275.9 345.9 6.5 485 8751 0.15 2.33 14.82 1.068 6 0.080 0.051 2691 2529 1295

9079 1.02 275.9 312.8 9.9 502 9083 0.12 2.33 0.00 0.000 4 0.134 0.056 2658 1111 1292

9116 1.08 275.9 309.3 8.1 503 9123 0.00 2.28 0.00 0.000 6 0.000 0.051 2659 2520 1292

9431 1.08 275.9 282.1 9.0 519 9435 0.00 2.28 0.00 0.000 4 0.000 0.057 2658 1112 1292

9449 1.13 275.9 280.8 9.3 519 9456 0.10 2.28 0.00 0.000 6 0.098 0.051 2695 2531 1291

9764 1.04 275.9 245.7 11.0 535 9765 0.12 0.00 0.00 0.000 6 0.147 0.000 2662 2531 1291

10072 1.04 275.9 218.8 8.2 550 10076 0.00 2.28 0.00 0.000 4 0.000 0.057 2662 1114 1291

10082 1.09 275.9 218.0 8.1 550 10087 0.00 2.28 0.00 0.000 6 0.000 0.051 2662 2523 1291

10403 1.15 275.9 191.8 8.8 566 10407 0.10 2.28 0.00 0.000 4 0.088 0.056 2704 1110 1291

10412 1.15 275.9 190.9 8.9 566 10417 0.00 2.28 0.00 0.000 6 0.000 0.051 2704 2520 1291

10734 1.06 275.9 156.9 10.2 582 10739 0.15 2.28 0.00 0.000 4 0.140 0.058 2661 1109 1291

10743 1.02 275.9 155.9 10.0 582 10748 0.00 2.25 0.00 0.000 6 0.000 0.052 2661 2521 1291

11065 1.11 279.3 132.5 6.9 598 11070 0.00 0.00 3.72 0.719 6 0.000 0.000 2661 2520 1281

11374 1.24 304.9 113.3 6.1 613 11404 0.15 2.40 22.40 1.075 4 0.077 0.058 2720 1109 1176

11410 1.17 304.9 110.4 8.7 614 11417 0.12 2.33 0.00 0.000 6 0.143 0.051 2687 2532 1175

11739 1.23 308.1 86.6 6.9 654 11745 0.00 2.33 0.00 0.000 4 0.000 0.058 2687 1104 1172

11757 1.31 316.8 85.4 6.7 657 11776 0.12 2.30 11.05 1.003 6 0.088 0.053 2732 2529 1127

12114 1.24 316.8 52.3 9.1 720 12120 0.12 0.00 0.00 0.000 6 0.141 0.000 2697 2529 1125

12457 1.49 382.2 27.3 4.8 781 12522 0.20 2.47 55.65 1.026 4 0.071 0.059 2785 1116 860

12569 1.44 382.2 17.0 10.2 800 12576 0.15 2.35 0.00 0.000 6 0.146 0.052 2747 2523 856

12754 end climb: SURFACE_DEPTH_REACHED

state 12754 begin surface coast

12784 end surface coast: CONTROL_FINISHED_OK

state 12784 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	117	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	33	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	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	-24136.561	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	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	000608,6639.424,-6035.122,34,1.0,34,-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	-0.224,0.012
_SM_DEPTHo	1.64	KALMAN_X	16327.8,-5.5,196.3,-119342.9,198.2
_SM_ANGLEo	-63.8	KALMAN_Y	-11088.9,231.2,-1004.4,-16501.5,2256.1
GPS2	001250,6639.470,-6035.124,9,1.0,14,-38.0	MHEAD_RNG_PITCHd_Wd	311.0,7432,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	494

FINISH	0.9,1.012780	TCM_TEMP	15.40
SM_CCo	12859,0.00,0.000,0,0,846,385.86	XPDR_PINGS	1
SM_GC	1.52,7.40,0.00,0.00,0.077,0.000,0.000,161,2331,846,-10.39,-0.25,385.86	_24V_AH	22.1,27.231
RAFOS_CLK	740	_10V_AH	10.6,10.531
RAFOS	1,1222733647,0.250000,0.235278,62,56,55,54,53,52,172,203,214,153,185,121	DATA_FILE_SIZE	31530,838
RAFOS_FIX	6639.721680,-6031.706543,300908,000016,3,85,1.82	CAP_FILE_SIZE	119126,0
IRIDIUM_FIX	6609.62,-6036.17,251297,000027	CFSIZE	260165632,242798592
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1890	SOUNDSPEED	1447.1
INTERNAL_PRESSURE	8.47689	GPS	300908,034938,6640.978,-6038.356,41,0.8,41,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	266	131.54	SBE_CT	656	24	348.01
Roll_motor	125	80	223.06	SBE_O2	569	19	238.95
VBD_pump_during_apogee	463	1252	12827.14	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	117.26	nil	0	0	0.00
Iridium_during_connect	53	160	189.26	nil	0	0	0.00
Iridium_during_xfer	131	223	648.35
Transponder_ping	0	420	2.32
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.38
TT8	1537	19	324.68
LPSleep	9163	2	224.37
TT8_Active	589	19	124.54
TT8_Sampling	1593	39	674.20
TT8_CF8	391	45	190.75
TT8_Kalman	33	81	28.98
Analog_circuits	1487	12	189.15
GPS_charging	0	0	0.00
Compass	1568	8	133.01
RAFOS	1440	1	22.90
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	-145.9	0.0	0.0	0	121	0.00	0.00	-102.60	0.000	2	0.000	0.000	159	2327	2705
123	-1.08	-146.0	3.1	-2.1	18	149	8.73	2.33	-11.82	0.000	4	0.267	0.073	2199	938	3018
301	-0.65	-146.0	39.6	-19.4	49	308	0.35	2.30	0.00	0.000	6	0.173	0.056	2298	2350	3023
644	-0.65	-146.0	67.2	-6.1	110	650	0.00	2.33	0.00	0.000	4	0.000	0.074	2298	3750	3025
707	-0.73	-146.0	71.4	-7.0	121	713	0.00	2.22	0.00	0.000	6	0.000	0.043	2298	2334	3025
1050	-0.80	-146.0	96.5	-7.9	182	1056	0.12	2.25	0.00	0.000	4	0.096	0.058	2251	926	3025
1090	-0.67	-146.0	100.7	-10.6	188	1097	0.15	2.28	0.00	0.000	6	0.175	0.054	2288	2343	3026
1405	-0.73	-146.0	126.0	-7.0	204	1409	0.00	2.33	0.00	0.000	4	0.000	0.074	2288	3750	3026
1477	-0.85	-146.0	130.5	-6.3	207	1482	0.15	2.22	0.00	0.000	6	0.096	0.044	2234	2327	3026
1792	-0.75	-146.0	153.6	-7.8	222	1794	0.15	0.00	0.00	0.000	6	0.170	0.000	2273	2327	3026
2100	-0.75	-146.0	175.3	-7.8	237	2104	0.00	2.38	0.00	0.000	4	0.000	0.075	2273	3750	3025
2202	-0.85	-146.0	184.2	-9.5	241	2206	0.00	2.20	0.00	0.000	6	0.000	0.044	2274	2341	3025
2522	-0.91	-146.0	210.5	-8.0	257	2526	0.15	2.25	0.00	0.000	4	0.106	0.058	2222	927	3025
2593	-0.76	-146.0	217.7	-10.5	260	2598	0.17	2.28	0.00	0.000	6	0.173	0.054	2268	2353	3024
2919	-0.82	-146.0	241.9	-6.9	276	2923	0.00	2.30	0.00	0.000	4	0.000	0.074	2268	3747	3024
3004	-0.93	-146.0	247.9	-6.9	279	3011	0.12	2.20	0.00	0.000	6	0.096	0.044	2224	2338	3024
3320	-0.85	-146.0	274.9	-8.6	295	3324	0.12	2.22	0.00	0.000	4	0.167	0.058	2256	932	3024
3369	-0.85	-146.0	278.8	-8.0	297	3373	0.00	2.25	0.00	0.000	6	0.000	0.054	2256	2343	3024
3695	-0.85	-146.0	301.1	-6.6	313	3699	0.00	2.30	0.00	0.000	4	0.000	0.071	2256	3745	3024
3773	-0.94	-146.0	306.4	-6.7	316	3778	0.10	2.20	0.00	0.000	6	0.107	0.044	2221	2336	3024
4094	-0.86	-146.0	330.8	-7.8	332	4098	0.12	2.22	0.00	0.000	4	0.170	0.058	2253	936	3024
4148	-0.86	-146.0	335.0	-7.7	334	4153	0.00	2.30	0.00	0.000	6	0.000	0.058	2253	2345	3024
4469	-0.91	-146.0	357.0	-7.0	350	4473	0.00	2.33	0.00	0.000	4	0.000	0.076	2253	3746	3024
4569	-1.03	-146.0	364.9	-7.8	354	4574	0.15	2.20	0.00	0.000	6	0.100	0.044	2203	2336	3024
4890	-0.92	-146.0	393.9	-9.4	370	4892	0.12	0.00	0.00	0.000	6	0.163	0.000	2235	2336	3024
5215	-0.92	-146.0	419.9	-7.9	380	5217	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2336	3024
5541	-0.92	-146.0	443.4	-6.9	388	5545	0.00	2.38	0.00	0.000	4	0.000	0.074	2235	3758	3023
5680	-0.99	-146.0	452.6	-7.1	391	5684	0.00	2.22	0.00	0.000	6	0.000	0.043	2235	2324	3023
6003	-0.99	-146.0	473.2	-6.2	399	6007	0.00	2.20	0.00	0.000	4	0.000	0.059	2236	935	3023
6125	-0.99	-146.0	481.5	-6.2	401	6130	0.00	2.25	0.00	0.000	6	0.000	0.054	2236	2347	3023
6338	end dive: TARGET_DEPTH_EXCEEDED
state	6338	begin apogee
6343	-0.34	0.0	495.5	6.6	407	6472	0.43	0.00	126.25	1.253	6	0.151	0.000	2365	2525	2420
6472	end apogee: CONTROL_FINISHED_OK
state	6473	begin climb
6474	1.08	146.0	498.0	0.0	410	6618	1.05	2.62	130.45	1.144	4	0.113	0.056	2669	1125	1824
6625	0.90	146.0	487.6	9.5	414	6630	0.15	2.53	0.00	0.000	6	0.150	0.051	2633	2526	1823
6949	0.84	146.0	462.9	7.7	422	6950	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2526	1821
7274	0.77	146.3	439.7	7.0	430	7279	0.12	2.38	0.00	0.000	4	0.149	0.070	2598	3941	1820
7313	0.79	163.2	437.2	6.4	431	7332	0.00	2.28	15.02	1.127	6	0.000	0.041	2598	2512	1754
7640	0.89	182.8	417.2	6.4	439	7665	0.12	2.50	17.67	1.141	4	0.083	0.072	2649	3931	1673
7670	0.79	182.8	414.5	8.9	439	7675	0.17	2.30	0.00	0.000	6	0.150	0.042	2601	2515	1673
7982	0.92	206.9	393.5	6.2	449	8009	0.12	2.45	20.83	1.144	4	0.081	0.072	2651	3927	1575
8014	0.86	206.9	391.2	8.0	450	8021	0.12	2.30	0.00	0.000	6	0.154	0.042	2619	2514	1574
8329	0.98	246.8	372.2	5.7	466	8372	0.12	2.53	33.62	1.150	4	0.091	0.072	2665	3922	1412
8378	0.91	246.8	368.7	7.6	468	8382	0.12	2.30	0.00	0.000	6	0.150	0.042	2634	2522	1411
8704	0.99	259.8	347.7	6.6	484	8725	0.00	2.38	11.90	1.070	4	0.000	0.056	2634	1111	1360
8730	1.11	275.9	345.9	6.5	485	8751	0.15	2.33	14.82	1.068	6	0.080	0.051	2691	2529	1295
9079	1.02	275.9	312.8	9.9	502	9083	0.12	2.33	0.00	0.000	4	0.134	0.056	2658	1111	1292
9116	1.08	275.9	309.3	8.1	503	9123	0.00	2.28	0.00	0.000	6	0.000	0.051	2659	2520	1292
9431	1.08	275.9	282.1	9.0	519	9435	0.00	2.28	0.00	0.000	4	0.000	0.057	2658	1112	1292
9449	1.13	275.9	280.8	9.3	519	9456	0.10	2.28	0.00	0.000	6	0.098	0.051	2695	2531	1291
9764	1.04	275.9	245.7	11.0	535	9765	0.12	0.00	0.00	0.000	6	0.147	0.000	2662	2531	1291
10072	1.04	275.9	218.8	8.2	550	10076	0.00	2.28	0.00	0.000	4	0.000	0.057	2662	1114	1291
10082	1.09	275.9	218.0	8.1	550	10087	0.00	2.28	0.00	0.000	6	0.000	0.051	2662	2523	1291
10403	1.15	275.9	191.8	8.8	566	10407	0.10	2.28	0.00	0.000	4	0.088	0.056	2704	1110	1291
10412	1.15	275.9	190.9	8.9	566	10417	0.00	2.28	0.00	0.000	6	0.000	0.051	2704	2520	1291
10734	1.06	275.9	156.9	10.2	582	10739	0.15	2.28	0.00	0.000	4	0.140	0.058	2661	1109	1291
10743	1.02	275.9	155.9	10.0	582	10748	0.00	2.25	0.00	0.000	6	0.000	0.052	2661	2521	1291
11065	1.11	279.3	132.5	6.9	598	11070	0.00	0.00	3.72	0.719	6	0.000	0.000	2661	2520	1281
11374	1.24	304.9	113.3	6.1	613	11404	0.15	2.40	22.40	1.075	4	0.077	0.058	2720	1109	1176
11410	1.17	304.9	110.4	8.7	614	11417	0.12	2.33	0.00	0.000	6	0.143	0.051	2687	2532	1175
11739	1.23	308.1	86.6	6.9	654	11745	0.00	2.33	0.00	0.000	4	0.000	0.058	2687	1104	1172
11757	1.31	316.8	85.4	6.7	657	11776	0.12	2.30	11.05	1.003	6	0.088	0.053	2732	2529	1127
12114	1.24	316.8	52.3	9.1	720	12120	0.12	0.00	0.00	0.000	6	0.141	0.000	2697	2529	1125
12457	1.49	382.2	27.3	4.8	781	12522	0.20	2.47	55.65	1.026	4	0.071	0.059	2785	1116	860
12569	1.44	382.2	17.0	10.2	800	12576	0.15	2.35	0.00	0.000	6	0.146	0.052	2747	2523	856
12754	end climb: SURFACE_DEPTH_REACHED
state	12754	begin surface coast
12784	end surface coast: CONTROL_FINISHED_OK
state	12784	begin surface