Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 122 * 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 122 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -2 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -24204.383 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 -24204.383

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 31 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

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

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

DIVE 122 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 180456,6643.255,-6040.272,39,1.6,39,-38.1 TGT_NAME TARGET_ADD1_EB

_CALLS 2 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,0.077

_SM_DEPTHo 1.55 KALMAN_X 18404.2,-467.2,-176.1,-124315.7,850.5

_SM_ANGLEo -65.8 KALMAN_Y -12866.9,384.7,1278.4,-10309.6,-4398.0

GPS2 181157,6643.171,-6040.274,13,1.0,13,-38.1 MHEAD_RNG_PITCHd_Wd 107.9,33092,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 500

Post-dive calculations and measurements:

FINISH 0.7,1.025072 TCM_TEMP 15.30

SM_CCo 13324,0.00,0.000,0,0,1095,325.02 XPDR_PINGS 0

SM_GC 1.71,7.20,0.00,0.00,0.069,0.000,0.000,158,2332,1095,-10.40,-0.23,325.02 _24V_AH 22.1,27.930

RAFOS_CLK 771 _10V_AH 10.6,10.818

RAFOS 0,1222805068,20.083334,20.074444,64,61,60,55,52,51,204,195,161,172,220,148 DATA_FILE_SIZE 31570,850

RAFOS_FIX 6641.533691,-6033.435059,300908,202021,3,89,0.70 CAP_FILE_SIZE 113193,0

IRIDIUM_FIX 6614.97,-6038.24,251297,141417 CFSIZE 260165632,242524160

TT8_MAMPS 0.027612 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1914 SOUNDSPEED 1447.8

INTERNAL_PRESSURE 8.50619 GPS 300908,215626,6641.422,-6035.688,36,1.5,36,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 276 129.06 SBE_CT 665 24 353.00

Roll_motor 115 80 204.72 SBE_O2 578 19 242.96

VBD_pump_during_apogee 409 1247 11292.77 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 57 103 130.56 nil 0 0 0.00

Iridium_during_connect 64 160 227.06 nil 0 0 0.00

Iridium_during_xfer 133 223 658.79

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.83

TT8 1519 19 320.83

LPSleep 9727 2 238.19

TT8_Active 559 19 118.06

TT8_Sampling 1543 39 653.02

TT8_CF8 410 45 200.05

TT8_Kalman 33 81 28.99

Analog_circuits 1401 12 178.26

GPS_charging 0 0 0.00

Compass 1520 8 128.94

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

16 -1.08 -146.0 0.0 0.0 0 132 0.00 0.00 -113.22 0.000 2 0.000 0.000 160 2343 2829

134 -1.08 -146.0 3.5 -3.3 20 155 8.95 2.38 -5.97 0.000 4 0.276 0.073 2197 932 3018

380 -0.70 -146.0 48.0 -13.7 63 387 0.30 2.30 0.00 0.000 6 0.180 0.054 2281 2353 3023

723 -0.70 -146.0 80.7 -9.6 124 729 0.00 2.30 0.00 0.000 4 0.000 0.071 2281 3747 3024

824 -0.70 -146.0 90.4 -9.0 142 831 0.00 2.22 0.00 0.000 6 0.000 0.043 2281 2326 3024

1166 -0.70 -146.0 117.0 -6.7 173 1169 0.00 2.22 0.00 0.000 4 0.000 0.058 2281 928 3025

1193 -0.70 -146.0 118.8 -6.6 174 1197 0.00 2.28 0.00 0.000 6 0.000 0.052 2281 2352 3025

1520 -0.70 -146.0 137.0 -5.7 190 1521 0.00 0.00 0.00 0.000 6 0.000 0.000 2281 2352 3025

1829 -0.76 -146.0 157.3 -7.3 205 1832 0.00 2.30 0.00 0.000 4 0.000 0.071 2281 3753 3025

1878 -0.88 -146.0 161.2 -7.7 207 1883 0.12 2.20 0.00 0.000 6 0.098 0.042 2237 2340 3024

2205 -0.81 -146.0 190.2 -8.6 223 2210 0.10 2.25 0.00 0.000 4 0.174 0.058 2260 927 3024

2243 -0.81 -146.0 193.4 -8.5 225 2247 0.00 2.28 0.00 0.000 6 0.000 0.054 2260 2350 3024

2574 -0.81 -146.0 218.4 -7.4 241 2578 0.00 2.30 0.00 0.000 4 0.000 0.072 2260 3751 3023

2624 -0.86 -146.0 222.1 -7.1 243 2628 0.00 2.20 0.00 0.000 6 0.000 0.043 2260 2337 3023

2951 -0.86 -146.0 243.3 -6.0 259 2952 0.00 0.00 0.00 0.000 6 0.000 0.000 2260 2337 3023

3260 -0.86 -146.0 260.7 -5.8 274 3264 0.00 2.35 0.00 0.000 4 0.000 0.074 2260 3752 3023

3299 -0.96 -146.0 263.0 -6.2 275 3306 0.12 2.22 0.00 0.000 6 0.118 0.044 2218 2328 3023

3614 -0.87 -146.0 286.9 -7.8 291 3618 0.12 2.38 0.00 0.000 4 0.163 0.073 2248 3753 3023

3653 -0.94 -146.0 289.9 -7.8 293 3657 0.00 2.22 0.00 0.000 6 0.000 0.044 2249 2329 3023

3984 -0.94 -146.0 314.0 -7.1 309 3985 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2329 3023

4294 -0.94 -146.0 335.3 -6.7 324 4298 0.00 2.38 0.00 0.000 4 0.000 0.074 2248 3758 3022

4321 -1.00 -146.0 337.2 -6.5 325 4325 0.12 2.22 0.00 0.000 6 0.114 0.044 2204 2333 3022

4646 -0.90 -146.0 363.2 -8.1 341 4648 0.15 0.00 0.00 0.000 6 0.157 0.000 2244 2333 3022

4956 -0.95 -146.0 384.0 -6.6 356 4960 0.00 2.35 0.00 0.000 4 0.000 0.072 2245 3752 3022

5017 -1.05 -146.0 387.9 -5.8 358 5024 0.15 2.22 0.00 0.000 6 0.095 0.044 2192 2324 3022

5350 -0.92 -146.0 413.7 -7.8 371 5352 0.17 0.00 0.00 0.000 6 0.156 0.000 2240 2324 3022

5676 -0.97 -146.0 434.9 -6.5 379 5680 0.00 2.35 0.00 0.000 4 0.000 0.074 2240 3747 3022

5703 -1.04 -146.0 436.7 -7.0 379 5708 0.12 2.20 0.00 0.000 6 0.098 0.044 2196 2336 3022

6045 -0.94 -146.0 463.1 -7.6 388 6050 0.15 2.22 0.00 0.000 4 0.162 0.057 2236 932 3022

6065 -0.94 -146.0 464.7 -7.4 388 6070 0.00 2.28 0.00 0.000 6 0.000 0.052 2236 2343 3022

6409 -1.01 -146.0 485.9 -6.0 397 6413 0.00 2.25 0.00 0.000 4 0.000 0.057 2237 936 3022

6441 -1.01 -146.0 488.3 -7.2 397 6446 0.00 2.28 0.00 0.000 6 0.000 0.052 2237 2348 3022

6698 end dive: TARGET_DEPTH_EXCEEDED

state 6698 begin apogee

6703 -0.34 0.0 502.0 5.2 404 6832 0.43 0.00 126.15 1.247 6 0.148 0.000 2366 2527 2420

6833 end apogee: CONTROL_FINISHED_OK

state 6833 begin climb

6835 1.08 146.0 504.3 0.0 407 6968 1.05 0.00 129.77 1.154 6 0.110 0.000 2673 2527 1824

7262 0.87 146.0 465.4 10.0 418 7267 0.20 2.42 0.00 0.000 4 0.146 0.067 2615 3934 1821

7322 0.76 146.0 460.1 9.2 419 7327 0.00 2.33 0.00 0.000 6 0.000 0.041 2615 2514 1821

7671 0.76 146.0 433.8 7.5 428 7675 0.00 2.25 0.00 0.000 4 0.000 0.056 2615 1114 1820

7709 0.78 155.6 431.1 6.7 428 7725 0.00 2.33 8.85 1.045 6 0.000 0.051 2615 2522 1785

8044 0.78 160.9 408.8 6.8 437 8057 0.00 2.40 6.47 0.969 4 0.000 0.067 2615 3936 1762

8102 0.71 160.9 403.9 8.3 438 8107 0.10 2.28 0.00 0.000 6 0.161 0.041 2590 2522 1761

8418 0.92 233.9 387.1 4.5 451 8485 0.15 2.45 59.83 1.164 4 0.081 0.056 2649 1116 1465

8525 0.93 240.1 380.3 6.8 456 8538 0.00 2.38 6.47 0.904 6 0.000 0.048 2649 2526 1441

8855 0.93 240.1 354.4 8.7 472 8859 0.00 2.35 0.00 0.000 4 0.000 0.067 2649 3930 1440

8910 0.82 240.1 348.6 10.0 474 8917 0.15 2.28 0.00 0.000 6 0.146 0.041 2608 2508 1440

9225 1.14 240.1 323.7 8.3 490 9230 0.20 2.25 0.00 0.000 4 0.081 0.053 2690 1105 1439

9336 1.03 240.1 312.5 10.1 495 9341 0.12 2.28 0.00 0.000 6 0.149 0.051 2656 2521 1440

9662 1.03 240.1 284.0 8.6 511 9663 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2522 1440

9972 1.03 240.1 256.6 8.6 526 9975 0.00 2.28 0.00 0.000 4 0.000 0.057 2656 1111 1440

10004 1.09 240.1 253.8 8.2 527 10009 0.00 2.25 0.00 0.000 6 0.000 0.050 2655 2535 1439

10325 1.09 240.1 229.0 7.5 543 10326 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2535 1439

10634 1.09 242.2 206.8 6.9 558 10638 0.00 2.28 0.00 0.000 4 0.000 0.057 2656 1115 1439

10667 1.20 263.2 204.7 6.3 559 10693 0.15 2.25 19.80 1.095 6 0.085 0.051 2711 2531 1347

11009 1.09 263.2 173.8 9.4 576 11011 0.15 0.00 0.00 0.000 6 0.146 0.000 2668 2531 1344

11317 1.09 263.2 151.6 7.4 591 11320 0.00 2.30 0.00 0.000 4 0.000 0.057 2669 1108 1344

11367 1.18 266.5 147.9 6.9 593 11377 0.10 2.28 4.25 0.776 6 0.096 0.051 2705 2526 1333

11693 1.10 266.5 119.3 9.0 609 11697 0.12 2.30 0.00 0.000 4 0.147 0.069 2670 3927 1332

11725 1.10 266.5 116.2 8.9 610 11731 0.00 2.25 0.00 0.000 6 0.000 0.044 2670 2494 1332

12048 1.16 266.5 93.6 7.1 638 12055 0.00 2.20 0.00 0.000 4 0.000 0.059 2670 1111 1332

12100 1.28 274.0 90.1 6.8 647 12114 0.15 2.25 7.70 0.963 6 0.083 0.052 2725 2522 1302

12451 1.17 274.0 58.0 8.8 709 12457 0.15 0.00 0.00 0.000 6 0.142 0.000 2682 2522 1300

12795 1.31 322.2 36.8 5.4 770 12843 0.12 2.38 40.42 1.044 4 0.087 0.058 2731 1119 1105

12900 1.38 322.2 27.6 9.3 788 12906 0.00 2.33 0.00 0.000 6 0.000 0.052 2731 2525 1101

13219 end climb: SURFACE_DEPTH_REACHED

state 13219 begin surface coast

13248 end surface coast: CONTROL_FINISHED_OK

state 13249 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	122	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-2	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-24204.383	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	180456,6643.255,-6040.272,39,1.6,39,-38.1	TGT_NAME	TARGET_ADD1_EB
_CALLS	2	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,0.077
_SM_DEPTHo	1.55	KALMAN_X	18404.2,-467.2,-176.1,-124315.7,850.5
_SM_ANGLEo	-65.8	KALMAN_Y	-12866.9,384.7,1278.4,-10309.6,-4398.0
GPS2	181157,6643.171,-6040.274,13,1.0,13,-38.1	MHEAD_RNG_PITCHd_Wd	107.9,33092,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	500

FINISH	0.7,1.025072	TCM_TEMP	15.30
SM_CCo	13324,0.00,0.000,0,0,1095,325.02	XPDR_PINGS	0
SM_GC	1.71,7.20,0.00,0.00,0.069,0.000,0.000,158,2332,1095,-10.40,-0.23,325.02	_24V_AH	22.1,27.930
RAFOS_CLK	771	_10V_AH	10.6,10.818
RAFOS	0,1222805068,20.083334,20.074444,64,61,60,55,52,51,204,195,161,172,220,148	DATA_FILE_SIZE	31570,850
RAFOS_FIX	6641.533691,-6033.435059,300908,202021,3,89,0.70	CAP_FILE_SIZE	113193,0
IRIDIUM_FIX	6614.97,-6038.24,251297,141417	CFSIZE	260165632,242524160
TT8_MAMPS	0.027612	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1914	SOUNDSPEED	1447.8
INTERNAL_PRESSURE	8.50619	GPS	300908,215626,6641.422,-6035.688,36,1.5,36,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	276	129.06	SBE_CT	665	24	353.00
Roll_motor	115	80	204.72	SBE_O2	578	19	242.96
VBD_pump_during_apogee	409	1247	11292.77	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	57	103	130.56	nil	0	0	0.00
Iridium_during_connect	64	160	227.06	nil	0	0	0.00
Iridium_during_xfer	133	223	658.79
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.83
TT8	1519	19	320.83
LPSleep	9727	2	238.19
TT8_Active	559	19	118.06
TT8_Sampling	1543	39	653.02
TT8_CF8	410	45	200.05
TT8_Kalman	33	81	28.99
Analog_circuits	1401	12	178.26
GPS_charging	0	0	0.00
Compass	1520	8	128.94
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
16	-1.08	-146.0	0.0	0.0	0	132	0.00	0.00	-113.22	0.000	2	0.000	0.000	160	2343	2829
134	-1.08	-146.0	3.5	-3.3	20	155	8.95	2.38	-5.97	0.000	4	0.276	0.073	2197	932	3018
380	-0.70	-146.0	48.0	-13.7	63	387	0.30	2.30	0.00	0.000	6	0.180	0.054	2281	2353	3023
723	-0.70	-146.0	80.7	-9.6	124	729	0.00	2.30	0.00	0.000	4	0.000	0.071	2281	3747	3024
824	-0.70	-146.0	90.4	-9.0	142	831	0.00	2.22	0.00	0.000	6	0.000	0.043	2281	2326	3024
1166	-0.70	-146.0	117.0	-6.7	173	1169	0.00	2.22	0.00	0.000	4	0.000	0.058	2281	928	3025
1193	-0.70	-146.0	118.8	-6.6	174	1197	0.00	2.28	0.00	0.000	6	0.000	0.052	2281	2352	3025
1520	-0.70	-146.0	137.0	-5.7	190	1521	0.00	0.00	0.00	0.000	6	0.000	0.000	2281	2352	3025
1829	-0.76	-146.0	157.3	-7.3	205	1832	0.00	2.30	0.00	0.000	4	0.000	0.071	2281	3753	3025
1878	-0.88	-146.0	161.2	-7.7	207	1883	0.12	2.20	0.00	0.000	6	0.098	0.042	2237	2340	3024
2205	-0.81	-146.0	190.2	-8.6	223	2210	0.10	2.25	0.00	0.000	4	0.174	0.058	2260	927	3024
2243	-0.81	-146.0	193.4	-8.5	225	2247	0.00	2.28	0.00	0.000	6	0.000	0.054	2260	2350	3024
2574	-0.81	-146.0	218.4	-7.4	241	2578	0.00	2.30	0.00	0.000	4	0.000	0.072	2260	3751	3023
2624	-0.86	-146.0	222.1	-7.1	243	2628	0.00	2.20	0.00	0.000	6	0.000	0.043	2260	2337	3023
2951	-0.86	-146.0	243.3	-6.0	259	2952	0.00	0.00	0.00	0.000	6	0.000	0.000	2260	2337	3023
3260	-0.86	-146.0	260.7	-5.8	274	3264	0.00	2.35	0.00	0.000	4	0.000	0.074	2260	3752	3023
3299	-0.96	-146.0	263.0	-6.2	275	3306	0.12	2.22	0.00	0.000	6	0.118	0.044	2218	2328	3023
3614	-0.87	-146.0	286.9	-7.8	291	3618	0.12	2.38	0.00	0.000	4	0.163	0.073	2248	3753	3023
3653	-0.94	-146.0	289.9	-7.8	293	3657	0.00	2.22	0.00	0.000	6	0.000	0.044	2249	2329	3023
3984	-0.94	-146.0	314.0	-7.1	309	3985	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2329	3023
4294	-0.94	-146.0	335.3	-6.7	324	4298	0.00	2.38	0.00	0.000	4	0.000	0.074	2248	3758	3022
4321	-1.00	-146.0	337.2	-6.5	325	4325	0.12	2.22	0.00	0.000	6	0.114	0.044	2204	2333	3022
4646	-0.90	-146.0	363.2	-8.1	341	4648	0.15	0.00	0.00	0.000	6	0.157	0.000	2244	2333	3022
4956	-0.95	-146.0	384.0	-6.6	356	4960	0.00	2.35	0.00	0.000	4	0.000	0.072	2245	3752	3022
5017	-1.05	-146.0	387.9	-5.8	358	5024	0.15	2.22	0.00	0.000	6	0.095	0.044	2192	2324	3022
5350	-0.92	-146.0	413.7	-7.8	371	5352	0.17	0.00	0.00	0.000	6	0.156	0.000	2240	2324	3022
5676	-0.97	-146.0	434.9	-6.5	379	5680	0.00	2.35	0.00	0.000	4	0.000	0.074	2240	3747	3022
5703	-1.04	-146.0	436.7	-7.0	379	5708	0.12	2.20	0.00	0.000	6	0.098	0.044	2196	2336	3022
6045	-0.94	-146.0	463.1	-7.6	388	6050	0.15	2.22	0.00	0.000	4	0.162	0.057	2236	932	3022
6065	-0.94	-146.0	464.7	-7.4	388	6070	0.00	2.28	0.00	0.000	6	0.000	0.052	2236	2343	3022
6409	-1.01	-146.0	485.9	-6.0	397	6413	0.00	2.25	0.00	0.000	4	0.000	0.057	2237	936	3022
6441	-1.01	-146.0	488.3	-7.2	397	6446	0.00	2.28	0.00	0.000	6	0.000	0.052	2237	2348	3022
6698	end dive: TARGET_DEPTH_EXCEEDED
state	6698	begin apogee
6703	-0.34	0.0	502.0	5.2	404	6832	0.43	0.00	126.15	1.247	6	0.148	0.000	2366	2527	2420
6833	end apogee: CONTROL_FINISHED_OK
state	6833	begin climb
6835	1.08	146.0	504.3	0.0	407	6968	1.05	0.00	129.77	1.154	6	0.110	0.000	2673	2527	1824
7262	0.87	146.0	465.4	10.0	418	7267	0.20	2.42	0.00	0.000	4	0.146	0.067	2615	3934	1821
7322	0.76	146.0	460.1	9.2	419	7327	0.00	2.33	0.00	0.000	6	0.000	0.041	2615	2514	1821
7671	0.76	146.0	433.8	7.5	428	7675	0.00	2.25	0.00	0.000	4	0.000	0.056	2615	1114	1820
7709	0.78	155.6	431.1	6.7	428	7725	0.00	2.33	8.85	1.045	6	0.000	0.051	2615	2522	1785
8044	0.78	160.9	408.8	6.8	437	8057	0.00	2.40	6.47	0.969	4	0.000	0.067	2615	3936	1762
8102	0.71	160.9	403.9	8.3	438	8107	0.10	2.28	0.00	0.000	6	0.161	0.041	2590	2522	1761
8418	0.92	233.9	387.1	4.5	451	8485	0.15	2.45	59.83	1.164	4	0.081	0.056	2649	1116	1465
8525	0.93	240.1	380.3	6.8	456	8538	0.00	2.38	6.47	0.904	6	0.000	0.048	2649	2526	1441
8855	0.93	240.1	354.4	8.7	472	8859	0.00	2.35	0.00	0.000	4	0.000	0.067	2649	3930	1440
8910	0.82	240.1	348.6	10.0	474	8917	0.15	2.28	0.00	0.000	6	0.146	0.041	2608	2508	1440
9225	1.14	240.1	323.7	8.3	490	9230	0.20	2.25	0.00	0.000	4	0.081	0.053	2690	1105	1439
9336	1.03	240.1	312.5	10.1	495	9341	0.12	2.28	0.00	0.000	6	0.149	0.051	2656	2521	1440
9662	1.03	240.1	284.0	8.6	511	9663	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2522	1440
9972	1.03	240.1	256.6	8.6	526	9975	0.00	2.28	0.00	0.000	4	0.000	0.057	2656	1111	1440
10004	1.09	240.1	253.8	8.2	527	10009	0.00	2.25	0.00	0.000	6	0.000	0.050	2655	2535	1439
10325	1.09	240.1	229.0	7.5	543	10326	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2535	1439
10634	1.09	242.2	206.8	6.9	558	10638	0.00	2.28	0.00	0.000	4	0.000	0.057	2656	1115	1439
10667	1.20	263.2	204.7	6.3	559	10693	0.15	2.25	19.80	1.095	6	0.085	0.051	2711	2531	1347
11009	1.09	263.2	173.8	9.4	576	11011	0.15	0.00	0.00	0.000	6	0.146	0.000	2668	2531	1344
11317	1.09	263.2	151.6	7.4	591	11320	0.00	2.30	0.00	0.000	4	0.000	0.057	2669	1108	1344
11367	1.18	266.5	147.9	6.9	593	11377	0.10	2.28	4.25	0.776	6	0.096	0.051	2705	2526	1333
11693	1.10	266.5	119.3	9.0	609	11697	0.12	2.30	0.00	0.000	4	0.147	0.069	2670	3927	1332
11725	1.10	266.5	116.2	8.9	610	11731	0.00	2.25	0.00	0.000	6	0.000	0.044	2670	2494	1332
12048	1.16	266.5	93.6	7.1	638	12055	0.00	2.20	0.00	0.000	4	0.000	0.059	2670	1111	1332
12100	1.28	274.0	90.1	6.8	647	12114	0.15	2.25	7.70	0.963	6	0.083	0.052	2725	2522	1302
12451	1.17	274.0	58.0	8.8	709	12457	0.15	0.00	0.00	0.000	6	0.142	0.000	2682	2522	1300
12795	1.31	322.2	36.8	5.4	770	12843	0.12	2.38	40.42	1.044	4	0.087	0.058	2731	1119	1105
12900	1.38	322.2	27.6	9.3	788	12906	0.00	2.33	0.00	0.000	6	0.000	0.052	2731	2525	1101
13219	end climb: SURFACE_DEPTH_REACHED
state	13219	begin surface coast
13248	end surface coast: CONTROL_FINISHED_OK
state	13249	begin surface