Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 118 * 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 118 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 -24149.742 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 -24149.742

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 118 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 034938,6640.978,-6038.356,41,0.8,41,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.122,0.188

_SM_DEPTHo 1.57 KALMAN_X 17214.1,289.4,-158.8,-122494.5,936.2

_SM_ANGLEo -62.6 KALMAN_Y -12060.6,132.2,2690.6,-16335.7,-4798.6

GPS2 035433,6640.978,-6038.327,11,1.3,11,-38.0 MHEAD_RNG_PITCHd_Wd 5.1,3912,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 490

Post-dive calculations and measurements:

FINISH 0.8,1.025197 TCM_TEMP 15.30

SM_CCo 13219,0.00,0.000,0,0,1224,293.38 XPDR_PINGS 1

SM_GC 1.73,7.22,0.00,0.00,0.077,0.000,0.000,165,2339,1224,-10.37,-0.03,293.38 _24V_AH 22.1,27.369

RAFOS_CLK 751 _10V_AH 10.6,10.592

RAFOS 0,1222747444,4.083333,4.067778,59,59,59,51,51,49,156,193,616,218,118,132 DATA_FILE_SIZE 31531,861

RAFOS_FIX 6641.592773,-6033.628906,300908,040430,3,95,1.73 CAP_FILE_SIZE 117712,0

IRIDIUM_FIX 6609.62,-6031.45,251297,000013 CFSIZE 260165632,242745344

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

HUMID 1918 SOUNDSPEED 1447.3

INTERNAL_PRESSURE 8.50619 GPS 300908,073708,6640.112,-6040.240,29,0.9,29,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 267 122.46 SBE_CT 671 24 356.21

Roll_motor 129 79 226.01 SBE_O2 585 19 246.01

VBD_pump_during_apogee 385 1243 10586.92 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 28 103 65.94 nil 0 0 0.00

Iridium_during_connect 33 160 119.12 nil 0 0 0.00

Iridium_during_xfer 131 223 650.44

Transponder_ping 0 420 2.32

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.65

TT8 1582 19 334.24

LPSleep 9372 2 229.49

TT8_Active 541 19 114.30

TT8_Sampling 1685 39 713.25

TT8_CF8 347 45 168.97

TT8_Kalman 33 81 28.98

Analog_circuits 1470 12 187.04

GPS_charging 0 0 0.00

Compass 1664 8 141.15

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.08 -146.0 0.0 0.0 0 151 0.00 0.00 -131.48 0.000 2 0.000 0.000 161 2328 2801

153 -1.08 -146.0 3.2 -2.7 23 179 8.73 2.33 -7.30 0.000 4 0.268 0.073 2199 932 3019

432 -0.73 -146.0 49.9 -13.8 72 439 0.28 2.30 0.00 0.000 6 0.170 0.054 2277 2351 3022

776 -0.73 -146.0 79.8 -7.7 133 782 0.00 2.30 0.00 0.000 4 0.000 0.071 2276 3746 3024

855 -0.73 -146.0 86.2 -8.4 147 861 0.00 2.22 0.00 0.000 6 0.000 0.042 2276 2326 3024

1184 -0.73 -146.0 110.5 -7.2 187 1188 0.00 2.22 0.00 0.000 4 0.000 0.059 2276 932 3025

1239 -0.73 -146.0 115.0 -8.3 189 1243 0.00 2.28 0.00 0.000 6 0.000 0.053 2276 2338 3025

1560 -0.73 -146.0 139.2 -7.8 205 1564 0.00 2.33 0.00 0.000 4 0.000 0.072 2276 3752 3025

1637 -0.81 -146.0 145.2 -7.9 208 1641 0.00 2.22 0.00 0.000 6 0.000 0.043 2276 2345 3024

1958 -0.85 -146.0 167.9 -6.5 224 1960 0.10 0.00 0.00 0.000 6 0.120 0.000 2241 2345 3024

2268 -0.80 -146.0 192.4 -8.0 239 2272 0.00 2.25 0.00 0.000 4 0.000 0.059 2242 928 3024

2335 -0.70 -146.0 198.5 -8.8 242 2340 0.17 2.28 0.00 0.000 6 0.170 0.054 2288 2353 3024

2661 -0.82 -146.0 220.7 -6.7 258 2666 0.12 2.28 0.00 0.000 4 0.107 0.071 2245 3746 3023

2783 -0.82 -146.0 230.6 -8.2 263 2790 0.00 2.22 0.00 0.000 6 0.000 0.044 2245 2341 3023

3099 -0.82 -146.0 255.0 -7.8 279 3100 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2341 3023

3407 -0.82 -146.0 278.6 -7.6 294 3412 0.00 2.33 0.00 0.000 4 0.000 0.074 2245 3750 3023

3501 -0.82 -146.0 286.5 -7.9 298 3506 0.00 2.22 0.00 0.000 6 0.000 0.044 2245 2346 3023

3828 -0.82 -146.0 310.9 -7.5 314 3830 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2346 3023

4138 -0.82 -146.0 332.5 -6.7 329 4141 0.00 2.25 0.00 0.000 4 0.000 0.060 2245 928 3023

4288 -0.82 -146.0 343.7 -7.5 335 4295 0.00 2.28 0.00 0.000 6 0.000 0.054 2245 2335 3023

4604 -0.82 -146.0 363.1 -6.0 351 4608 0.00 2.33 0.00 0.000 4 0.000 0.074 2245 3750 3022

4716 -0.89 -146.0 370.2 -6.4 356 4720 0.00 2.20 0.00 0.000 6 0.000 0.044 2245 2340 3022

5049 -0.89 -146.0 391.2 -6.2 372 5052 0.00 2.22 0.00 0.000 4 0.000 0.059 2245 934 3022

5138 -0.89 -146.0 397.2 -6.7 376 5142 0.00 2.25 0.00 0.000 6 0.000 0.054 2245 2344 3021

5487 -0.93 -146.0 418.8 -6.1 386 5490 0.00 2.30 0.00 0.000 4 0.000 0.072 2245 3750 3022

5582 -1.04 -146.0 424.6 -5.9 388 5586 0.12 2.20 0.00 0.000 6 0.103 0.043 2201 2336 3022

5905 -0.95 -146.0 447.4 -7.0 396 5909 0.12 2.22 0.00 0.000 4 0.163 0.058 2232 936 3022

5981 -0.95 -146.0 452.9 -7.1 397 5986 0.00 2.25 0.00 0.000 6 0.000 0.057 2233 2341 3022

6318 -0.95 -146.0 473.3 -6.2 406 6322 0.00 2.33 0.00 0.000 4 0.000 0.074 2233 3756 3022

6468 -0.99 -146.0 483.0 -6.2 409 6472 0.00 2.20 0.00 0.000 6 0.000 0.043 2233 2340 3022

6616 end dive: TARGET_DEPTH_EXCEEDED

state 6617 begin apogee

6621 -0.34 0.0 491.5 5.8 413 6750 0.43 0.00 125.57 1.243 6 0.145 0.000 2364 2522 2420

6751 end apogee: CONTROL_FINISHED_OK

state 6751 begin climb

6753 1.08 146.0 494.5 0.0 416 6890 1.02 2.70 128.30 1.150 4 0.111 0.071 2666 3926 1824

6920 0.77 146.0 482.8 10.3 420 6925 0.25 2.42 0.00 0.000 6 0.147 0.042 2602 2525 1823

7243 0.80 162.0 461.7 6.5 428 7263 0.00 2.50 14.43 1.094 4 0.000 0.073 2601 3926 1759

7286 0.80 162.0 458.7 7.3 429 7290 0.00 2.35 0.00 0.000 6 0.000 0.041 2601 2511 1759

7615 0.90 189.8 438.2 6.1 437 7645 0.12 2.53 24.40 1.151 4 0.084 0.073 2650 3930 1646

7661 0.79 189.8 434.4 8.9 438 7666 0.17 2.33 0.00 0.000 6 0.150 0.042 2603 2520 1645

7986 0.90 213.1 413.7 6.2 446 8011 0.12 2.35 20.23 1.151 4 0.081 0.055 2651 1115 1551

8016 0.90 213.1 411.4 7.6 446 8023 0.00 2.38 0.00 0.000 6 0.000 0.051 2651 2539 1550

8329 0.86 213.1 385.5 8.0 458 8334 0.12 2.35 0.00 0.000 4 0.144 0.055 2616 1109 1549

8338 0.86 213.1 384.6 7.9 458 8345 0.00 2.33 0.00 0.000 6 0.000 0.048 2616 2521 1549

8655 0.96 233.4 364.9 6.3 474 8678 0.10 2.40 17.60 1.144 4 0.094 0.055 2660 1111 1468

8683 0.96 233.4 362.5 8.0 475 8687 0.00 2.35 0.00 0.000 6 0.000 0.051 2660 2521 1468

9010 0.91 233.4 333.5 9.0 491 9014 0.10 2.30 0.00 0.000 4 0.147 0.056 2634 1109 1466

9030 0.91 233.4 331.7 8.0 492 9035 0.00 2.30 0.00 0.000 6 0.000 0.049 2633 2521 1466

9357 0.99 242.7 309.3 6.7 508 9372 0.00 2.33 9.00 1.045 4 0.000 0.057 2633 1116 1430

9395 1.13 259.1 306.7 6.5 509 9416 0.15 2.28 15.20 1.095 6 0.080 0.050 2691 2527 1363

9731 1.03 259.1 273.6 10.3 526 9733 0.12 0.00 0.00 0.000 6 0.135 0.000 2656 2527 1360

10040 1.03 259.1 246.6 9.1 541 10044 0.00 2.28 0.00 0.000 4 0.000 0.057 2656 1114 1360

10051 1.08 259.1 245.6 9.0 541 10055 0.00 2.25 0.00 0.000 6 0.000 0.050 2656 2524 1360

10371 1.13 259.1 218.3 7.9 557 10373 0.10 0.00 0.00 0.000 6 0.085 0.000 2697 2524 1360

10680 1.04 259.1 189.1 9.1 572 10682 0.15 0.00 0.00 0.000 6 0.144 0.000 2654 2524 1359

10990 1.12 262.6 167.3 6.9 587 11000 0.10 2.30 3.85 0.742 4 0.092 0.058 2694 1118 1349

11005 1.12 262.6 166.0 7.1 587 11011 0.00 2.22 0.00 0.000 6 0.000 0.050 2694 2521 1349

11320 1.07 262.6 138.9 8.6 603 11325 0.10 2.25 0.00 0.000 4 0.154 0.057 2667 1114 1349

11335 1.07 262.6 137.6 8.3 603 11342 0.00 2.28 0.00 0.000 6 0.000 0.051 2667 2527 1349

11651 1.13 262.6 113.7 7.5 619 11655 0.00 2.28 0.00 0.000 4 0.000 0.058 2667 1111 1349

11661 1.20 262.6 113.0 7.5 619 11665 0.12 2.25 0.00 0.000 6 0.087 0.052 2716 2525 1348

11991 1.10 262.6 82.6 9.0 658 11998 0.15 2.30 0.00 0.000 4 0.140 0.071 2672 3933 1349

12004 1.01 262.6 81.4 8.9 660 12010 0.00 2.22 0.00 0.000 6 0.000 0.044 2672 2507 1348

12348 1.09 266.5 59.4 6.9 721 12354 0.00 0.00 4.97 0.850 6 0.000 0.000 2672 2506 1333

12692 1.24 291.5 37.3 6.2 782 12722 0.12 2.33 21.75 1.057 4 0.090 0.059 2719 1111 1230

12740 1.42 291.5 33.8 7.4 790 12747 0.10 2.33 0.00 0.000 6 0.094 0.054 2760 2531 1230

13085 1.33 291.5 3.9 8.1 851 13091 0.15 2.33 0.00 0.000 4 0.149 0.071 2719 3933 1227

13112 end climb: SURFACE_DEPTH_REACHED

state 13112 begin surface coast

13141 end surface coast: CONTROL_FINISHED_OK

state 13142 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	118	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	-24149.742	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	034938,6640.978,-6038.356,41,0.8,41,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.122,0.188
_SM_DEPTHo	1.57	KALMAN_X	17214.1,289.4,-158.8,-122494.5,936.2
_SM_ANGLEo	-62.6	KALMAN_Y	-12060.6,132.2,2690.6,-16335.7,-4798.6
GPS2	035433,6640.978,-6038.327,11,1.3,11,-38.0	MHEAD_RNG_PITCHd_Wd	5.1,3912,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	490

FINISH	0.8,1.025197	TCM_TEMP	15.30
SM_CCo	13219,0.00,0.000,0,0,1224,293.38	XPDR_PINGS	1
SM_GC	1.73,7.22,0.00,0.00,0.077,0.000,0.000,165,2339,1224,-10.37,-0.03,293.38	_24V_AH	22.1,27.369
RAFOS_CLK	751	_10V_AH	10.6,10.592
RAFOS	0,1222747444,4.083333,4.067778,59,59,59,51,51,49,156,193,616,218,118,132	DATA_FILE_SIZE	31531,861
RAFOS_FIX	6641.592773,-6033.628906,300908,040430,3,95,1.73	CAP_FILE_SIZE	117712,0
IRIDIUM_FIX	6609.62,-6031.45,251297,000013	CFSIZE	260165632,242745344
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1918	SOUNDSPEED	1447.3
INTERNAL_PRESSURE	8.50619	GPS	300908,073708,6640.112,-6040.240,29,0.9,29,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	267	122.46	SBE_CT	671	24	356.21
Roll_motor	129	79	226.01	SBE_O2	585	19	246.01
VBD_pump_during_apogee	385	1243	10586.92	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	28	103	65.94	nil	0	0	0.00
Iridium_during_connect	33	160	119.12	nil	0	0	0.00
Iridium_during_xfer	131	223	650.44
Transponder_ping	0	420	2.32
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.65
TT8	1582	19	334.24
LPSleep	9372	2	229.49
TT8_Active	541	19	114.30
TT8_Sampling	1685	39	713.25
TT8_CF8	347	45	168.97
TT8_Kalman	33	81	28.98
Analog_circuits	1470	12	187.04
GPS_charging	0	0	0.00
Compass	1664	8	141.15
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.08	-146.0	0.0	0.0	0	151	0.00	0.00	-131.48	0.000	2	0.000	0.000	161	2328	2801
153	-1.08	-146.0	3.2	-2.7	23	179	8.73	2.33	-7.30	0.000	4	0.268	0.073	2199	932	3019
432	-0.73	-146.0	49.9	-13.8	72	439	0.28	2.30	0.00	0.000	6	0.170	0.054	2277	2351	3022
776	-0.73	-146.0	79.8	-7.7	133	782	0.00	2.30	0.00	0.000	4	0.000	0.071	2276	3746	3024
855	-0.73	-146.0	86.2	-8.4	147	861	0.00	2.22	0.00	0.000	6	0.000	0.042	2276	2326	3024
1184	-0.73	-146.0	110.5	-7.2	187	1188	0.00	2.22	0.00	0.000	4	0.000	0.059	2276	932	3025
1239	-0.73	-146.0	115.0	-8.3	189	1243	0.00	2.28	0.00	0.000	6	0.000	0.053	2276	2338	3025
1560	-0.73	-146.0	139.2	-7.8	205	1564	0.00	2.33	0.00	0.000	4	0.000	0.072	2276	3752	3025
1637	-0.81	-146.0	145.2	-7.9	208	1641	0.00	2.22	0.00	0.000	6	0.000	0.043	2276	2345	3024
1958	-0.85	-146.0	167.9	-6.5	224	1960	0.10	0.00	0.00	0.000	6	0.120	0.000	2241	2345	3024
2268	-0.80	-146.0	192.4	-8.0	239	2272	0.00	2.25	0.00	0.000	4	0.000	0.059	2242	928	3024
2335	-0.70	-146.0	198.5	-8.8	242	2340	0.17	2.28	0.00	0.000	6	0.170	0.054	2288	2353	3024
2661	-0.82	-146.0	220.7	-6.7	258	2666	0.12	2.28	0.00	0.000	4	0.107	0.071	2245	3746	3023
2783	-0.82	-146.0	230.6	-8.2	263	2790	0.00	2.22	0.00	0.000	6	0.000	0.044	2245	2341	3023
3099	-0.82	-146.0	255.0	-7.8	279	3100	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2341	3023
3407	-0.82	-146.0	278.6	-7.6	294	3412	0.00	2.33	0.00	0.000	4	0.000	0.074	2245	3750	3023
3501	-0.82	-146.0	286.5	-7.9	298	3506	0.00	2.22	0.00	0.000	6	0.000	0.044	2245	2346	3023
3828	-0.82	-146.0	310.9	-7.5	314	3830	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2346	3023
4138	-0.82	-146.0	332.5	-6.7	329	4141	0.00	2.25	0.00	0.000	4	0.000	0.060	2245	928	3023
4288	-0.82	-146.0	343.7	-7.5	335	4295	0.00	2.28	0.00	0.000	6	0.000	0.054	2245	2335	3023
4604	-0.82	-146.0	363.1	-6.0	351	4608	0.00	2.33	0.00	0.000	4	0.000	0.074	2245	3750	3022
4716	-0.89	-146.0	370.2	-6.4	356	4720	0.00	2.20	0.00	0.000	6	0.000	0.044	2245	2340	3022
5049	-0.89	-146.0	391.2	-6.2	372	5052	0.00	2.22	0.00	0.000	4	0.000	0.059	2245	934	3022
5138	-0.89	-146.0	397.2	-6.7	376	5142	0.00	2.25	0.00	0.000	6	0.000	0.054	2245	2344	3021
5487	-0.93	-146.0	418.8	-6.1	386	5490	0.00	2.30	0.00	0.000	4	0.000	0.072	2245	3750	3022
5582	-1.04	-146.0	424.6	-5.9	388	5586	0.12	2.20	0.00	0.000	6	0.103	0.043	2201	2336	3022
5905	-0.95	-146.0	447.4	-7.0	396	5909	0.12	2.22	0.00	0.000	4	0.163	0.058	2232	936	3022
5981	-0.95	-146.0	452.9	-7.1	397	5986	0.00	2.25	0.00	0.000	6	0.000	0.057	2233	2341	3022
6318	-0.95	-146.0	473.3	-6.2	406	6322	0.00	2.33	0.00	0.000	4	0.000	0.074	2233	3756	3022
6468	-0.99	-146.0	483.0	-6.2	409	6472	0.00	2.20	0.00	0.000	6	0.000	0.043	2233	2340	3022
6616	end dive: TARGET_DEPTH_EXCEEDED
state	6617	begin apogee
6621	-0.34	0.0	491.5	5.8	413	6750	0.43	0.00	125.57	1.243	6	0.145	0.000	2364	2522	2420
6751	end apogee: CONTROL_FINISHED_OK
state	6751	begin climb
6753	1.08	146.0	494.5	0.0	416	6890	1.02	2.70	128.30	1.150	4	0.111	0.071	2666	3926	1824
6920	0.77	146.0	482.8	10.3	420	6925	0.25	2.42	0.00	0.000	6	0.147	0.042	2602	2525	1823
7243	0.80	162.0	461.7	6.5	428	7263	0.00	2.50	14.43	1.094	4	0.000	0.073	2601	3926	1759
7286	0.80	162.0	458.7	7.3	429	7290	0.00	2.35	0.00	0.000	6	0.000	0.041	2601	2511	1759
7615	0.90	189.8	438.2	6.1	437	7645	0.12	2.53	24.40	1.151	4	0.084	0.073	2650	3930	1646
7661	0.79	189.8	434.4	8.9	438	7666	0.17	2.33	0.00	0.000	6	0.150	0.042	2603	2520	1645
7986	0.90	213.1	413.7	6.2	446	8011	0.12	2.35	20.23	1.151	4	0.081	0.055	2651	1115	1551
8016	0.90	213.1	411.4	7.6	446	8023	0.00	2.38	0.00	0.000	6	0.000	0.051	2651	2539	1550
8329	0.86	213.1	385.5	8.0	458	8334	0.12	2.35	0.00	0.000	4	0.144	0.055	2616	1109	1549
8338	0.86	213.1	384.6	7.9	458	8345	0.00	2.33	0.00	0.000	6	0.000	0.048	2616	2521	1549
8655	0.96	233.4	364.9	6.3	474	8678	0.10	2.40	17.60	1.144	4	0.094	0.055	2660	1111	1468
8683	0.96	233.4	362.5	8.0	475	8687	0.00	2.35	0.00	0.000	6	0.000	0.051	2660	2521	1468
9010	0.91	233.4	333.5	9.0	491	9014	0.10	2.30	0.00	0.000	4	0.147	0.056	2634	1109	1466
9030	0.91	233.4	331.7	8.0	492	9035	0.00	2.30	0.00	0.000	6	0.000	0.049	2633	2521	1466
9357	0.99	242.7	309.3	6.7	508	9372	0.00	2.33	9.00	1.045	4	0.000	0.057	2633	1116	1430
9395	1.13	259.1	306.7	6.5	509	9416	0.15	2.28	15.20	1.095	6	0.080	0.050	2691	2527	1363
9731	1.03	259.1	273.6	10.3	526	9733	0.12	0.00	0.00	0.000	6	0.135	0.000	2656	2527	1360
10040	1.03	259.1	246.6	9.1	541	10044	0.00	2.28	0.00	0.000	4	0.000	0.057	2656	1114	1360
10051	1.08	259.1	245.6	9.0	541	10055	0.00	2.25	0.00	0.000	6	0.000	0.050	2656	2524	1360
10371	1.13	259.1	218.3	7.9	557	10373	0.10	0.00	0.00	0.000	6	0.085	0.000	2697	2524	1360
10680	1.04	259.1	189.1	9.1	572	10682	0.15	0.00	0.00	0.000	6	0.144	0.000	2654	2524	1359
10990	1.12	262.6	167.3	6.9	587	11000	0.10	2.30	3.85	0.742	4	0.092	0.058	2694	1118	1349
11005	1.12	262.6	166.0	7.1	587	11011	0.00	2.22	0.00	0.000	6	0.000	0.050	2694	2521	1349
11320	1.07	262.6	138.9	8.6	603	11325	0.10	2.25	0.00	0.000	4	0.154	0.057	2667	1114	1349
11335	1.07	262.6	137.6	8.3	603	11342	0.00	2.28	0.00	0.000	6	0.000	0.051	2667	2527	1349
11651	1.13	262.6	113.7	7.5	619	11655	0.00	2.28	0.00	0.000	4	0.000	0.058	2667	1111	1349
11661	1.20	262.6	113.0	7.5	619	11665	0.12	2.25	0.00	0.000	6	0.087	0.052	2716	2525	1348
11991	1.10	262.6	82.6	9.0	658	11998	0.15	2.30	0.00	0.000	4	0.140	0.071	2672	3933	1349
12004	1.01	262.6	81.4	8.9	660	12010	0.00	2.22	0.00	0.000	6	0.000	0.044	2672	2507	1348
12348	1.09	266.5	59.4	6.9	721	12354	0.00	0.00	4.97	0.850	6	0.000	0.000	2672	2506	1333
12692	1.24	291.5	37.3	6.2	782	12722	0.12	2.33	21.75	1.057	4	0.090	0.059	2719	1111	1230
12740	1.42	291.5	33.8	7.4	790	12747	0.10	2.33	0.00	0.000	6	0.094	0.054	2760	2531	1230
13085	1.33	291.5	3.9	8.1	851	13091	0.15	2.33	0.00	0.000	4	0.149	0.071	2719	3933	1227
13112	end climb: SURFACE_DEPTH_REACHED
state	13112	begin surface coast
13141	end surface coast: CONTROL_FINISHED_OK
state	13142	begin surface