Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 126 * 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 126 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 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -24263.25 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 -24263.25

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 30 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 126 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 095707,6640.771,-6025.104,31,1.0,31,-38.0 TGT_NAME TARGET_ADD1_EB

_CALLS 1 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.191,-0.118

_SM_DEPTHo 1.61 KALMAN_X 16783.2,39.3,249.5,-112572.7,-603.5

_SM_ANGLEo -64.6 KALMAN_Y -15149.9,-261.0,-2210.3,-8333.2,2959.3

GPS2 100209,6640.773,-6025.045,14,1.0,14,-38.0 MHEAD_RNG_PITCHd_Wd 159.6,24138,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 520

Post-dive calculations and measurements:

FINISH 0.8,1.013707 TCM_TEMP 15.20

SM_CCo 14204,0.00,0.000,0,0,1294,276.21 XPDR_PINGS 0

SM_GC 1.58,7.07,0.00,0.00,0.077,0.000,0.000,166,2324,1294,-10.37,-0.45,276.21 _24V_AH 22.0,28.512

RAFOS_CLK 811 _10V_AH 10.6,11.062

RAFOS 0,1222862660,12.083333,12.072222,61,59,57,56,55,54,194,147,207,217,171,137 DATA_FILE_SIZE 31521,901

RAFOS_FIX 6641.353027,-6016.564453,011008,121221,3,82,0.70 CAP_FILE_SIZE 121052,0

IRIDIUM_FIX 6614.97,-6030.83,261297,050546 CFSIZE 260165632,242286592

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

HUMID 1920 SOUNDSPEED 1447.7

INTERNAL_PRESSURE 8.52572 GPS 011008,140108,6641.263,-6023.076,27,2.0,27,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 272 121.45 SBE_CT 703 24 371.69

Roll_motor 119 77 203.75 SBE_O2 615 19 257.23

VBD_pump_during_apogee 374 1251 10302.10 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 27 103 63.24 nil 0 0 0.00

Iridium_during_connect 31 160 112.34 nil 0 0 0.00

Iridium_during_xfer 134 223 657.61

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.59

TT8 1641 19 346.56

LPSleep 10312 2 252.52

TT8_Active 503 19 106.29

TT8_Sampling 1696 39 717.92

TT8_CF8 366 45 178.37

TT8_Kalman 33 81 28.97

Analog_circuits 1438 12 182.92

GPS_charging 0 0 0.00

Compass 1671 8 141.70

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.08 -146.0 0.0 0.0 0 133 0.00 0.00 -112.93 0.000 2 0.000 0.000 164 2341 2724

135 -1.08 -146.0 3.1 -2.3 20 161 8.82 2.30 -10.20 0.000 4 0.272 0.071 2201 927 3018

402 -0.70 -146.0 50.5 -14.0 67 409 0.30 2.28 0.00 0.000 6 0.171 0.053 2285 2339 3022

747 -0.70 -146.0 79.1 -7.7 128 752 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2339 3023

1081 -0.70 -146.0 106.6 -7.7 177 1085 0.00 2.33 0.00 0.000 4 0.000 0.073 2285 3748 3024

1176 -0.80 -146.0 112.7 -5.9 181 1181 0.10 2.22 0.00 0.000 6 0.100 0.043 2248 2322 3024

1503 -0.75 -146.0 138.6 -8.6 197 1508 0.10 2.38 0.00 0.000 4 0.180 0.074 2271 3742 3023

1529 -0.75 -146.0 140.9 -8.2 198 1534 0.00 2.22 0.00 0.000 6 0.000 0.044 2271 2341 3023

1851 -0.80 -146.0 164.3 -6.4 214 1852 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2341 3023

2161 -0.86 -146.0 182.2 -6.0 229 2166 0.10 2.35 0.00 0.000 4 0.105 0.074 2234 3753 3023

2171 -0.91 -146.0 182.9 -6.1 229 2175 0.00 2.22 0.00 0.000 6 0.000 0.043 2234 2328 3023

2492 -0.85 -146.0 207.4 -7.4 245 2496 0.00 2.35 0.00 0.000 4 0.000 0.074 2234 3742 3022

2524 -0.85 -146.0 210.0 -7.8 246 2528 0.00 2.22 0.00 0.000 6 0.000 0.044 2234 2341 3022

2845 -0.80 -146.0 233.6 -7.5 262 2850 0.12 2.33 0.00 0.000 4 0.179 0.071 2267 3751 3022

2855 -0.80 -146.0 234.3 -7.3 262 2862 0.00 2.22 0.00 0.000 6 0.000 0.044 2267 2341 3023

3171 -0.87 -146.0 255.1 -6.8 278 3175 0.00 2.33 0.00 0.000 4 0.000 0.071 2267 3743 3023

3204 -0.97 -146.0 257.4 -7.3 279 3209 0.15 2.20 0.00 0.000 6 0.100 0.044 2217 2332 3022

3525 -0.88 -146.0 286.0 -9.1 295 3527 0.12 0.00 0.00 0.000 6 0.165 0.000 2249 2332 3022

3834 -0.88 -146.0 309.4 -7.3 310 3838 0.00 2.20 0.00 0.000 4 0.000 0.059 2249 932 3022

3844 -0.88 -146.0 310.2 -7.3 310 3848 0.00 2.28 0.00 0.000 6 0.000 0.053 2249 2344 3022

4165 -0.88 -146.0 331.2 -6.1 326 4167 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2344 3022

4475 -0.88 -146.0 347.7 -5.3 341 4476 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2343 3022

4784 -0.93 -146.0 364.5 -5.7 356 4788 0.00 2.30 0.00 0.000 4 0.000 0.073 2249 3743 3021

4807 -1.00 -146.0 365.7 -5.8 357 4812 0.12 2.20 0.00 0.000 6 0.107 0.043 2206 2327 3021

5140 -0.92 -146.0 391.3 -7.8 373 5144 0.12 2.38 0.00 0.000 4 0.165 0.073 2237 3753 3021

5149 -0.86 -146.0 392.2 -7.8 373 5156 0.00 2.20 0.00 0.000 6 0.000 0.044 2237 2338 3021

5482 -0.86 -146.0 414.7 -6.6 385 5486 0.00 2.33 0.00 0.000 4 0.000 0.072 2237 3749 3021

5497 -0.86 -146.0 415.8 -6.4 385 5501 0.00 2.20 0.00 0.000 6 0.000 0.043 2237 2334 3021

5810 -0.86 -146.0 434.9 -6.0 393 5811 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2333 3021

6135 -0.86 -146.0 453.6 -5.9 401 6139 0.00 2.22 0.00 0.000 4 0.000 0.058 2237 927 3021

6145 -0.86 -146.0 454.5 -5.8 401 6149 0.00 2.25 0.00 0.000 6 0.000 0.053 2237 2341 3021

6465 -0.91 -146.0 475.0 -6.5 409 6469 0.00 2.30 0.00 0.000 4 0.000 0.070 2237 3754 3021

6481 -0.97 -146.0 476.1 -6.1 409 6485 0.00 2.20 0.00 0.000 6 0.000 0.042 2237 2333 3021

6794 -1.03 -146.0 494.9 -6.0 417 6799 0.10 2.33 0.00 0.000 4 0.116 0.072 2202 3747 3022

6805 -1.03 -146.0 495.5 -5.9 417 6808 0.00 2.20 0.00 0.000 6 0.000 0.041 2201 2327 3022

7117 -0.98 -146.0 517.7 -7.0 425 7119 0.10 0.00 0.00 0.000 6 0.172 0.000 2227 2327 3022

7155 end dive: TARGET_DEPTH_EXCEEDED

state 7156 begin apogee

7160 -0.34 0.0 520.5 6.9 426 7290 0.45 0.00 126.55 1.252 6 0.146 0.000 2365 2525 2420

7291 end apogee: CONTROL_FINISHED_OK

state 7291 begin climb

7293 1.08 146.0 522.3 0.0 429 7430 1.02 2.67 129.07 1.160 4 0.111 0.069 2667 3923 1823

7505 0.77 146.0 505.9 10.6 434 7510 0.25 2.40 0.00 0.000 6 0.149 0.042 2602 2515 1821

7828 0.79 160.3 484.7 6.5 442 7848 0.00 2.40 13.05 1.093 4 0.000 0.055 2602 1115 1766

7904 0.90 181.6 479.8 6.3 443 7930 0.12 2.38 19.60 1.122 6 0.084 0.051 2649 2535 1679

8246 0.82 181.6 450.3 8.7 452 8250 0.15 2.35 0.00 0.000 4 0.141 0.067 2609 3927 1677

8290 0.77 181.6 446.4 8.0 453 8294 0.00 2.28 0.00 0.000 6 0.000 0.041 2609 2505 1677

8619 0.83 186.4 423.7 6.9 461 8629 0.00 2.25 5.55 0.919 4 0.000 0.055 2609 1114 1659

8697 0.94 197.4 418.6 6.6 462 8713 0.12 2.28 10.57 1.077 6 0.087 0.051 2656 2520 1615

9027 0.86 197.4 389.9 8.7 473 9032 0.12 2.33 0.00 0.000 4 0.143 0.067 2623 3930 1613

9099 0.81 197.4 383.7 8.1 476 9103 0.00 2.22 0.00 0.000 6 0.000 0.041 2622 2518 1613

9420 0.83 215.8 362.8 6.4 492 9442 0.00 2.28 16.25 1.121 4 0.000 0.054 2622 1116 1540

9498 0.96 232.9 357.7 6.4 495 9519 0.10 2.28 15.43 1.091 6 0.090 0.049 2663 2532 1470

9840 0.96 232.9 329.7 8.2 512 9844 0.00 2.30 0.00 0.000 4 0.000 0.069 2663 3926 1468

9878 0.83 232.9 326.0 9.9 513 9885 0.17 2.25 0.00 0.000 6 0.144 0.041 2613 2519 1468

10194 1.01 266.2 307.7 5.9 529 10229 0.15 2.35 28.20 1.124 4 0.078 0.055 2675 1119 1335

10319 1.01 266.2 297.0 8.7 534 10326 0.00 2.30 0.00 0.000 6 0.000 0.051 2675 2529 1332

10634 1.01 266.2 269.5 8.6 550 10635 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2529 1331

10943 1.01 266.2 242.8 8.7 565 10947 0.00 2.28 0.00 0.000 4 0.000 0.056 2675 1116 1330

11003 1.01 266.2 237.7 7.9 567 11010 0.00 2.28 0.00 0.000 6 0.000 0.051 2675 2522 1331

11319 1.01 266.2 211.8 8.3 583 11320 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2522 1331

11628 1.01 266.2 185.1 9.1 598 11629 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2522 1330

11937 1.01 266.2 157.3 8.5 613 11941 0.00 2.25 0.00 0.000 4 0.000 0.058 2675 1117 1330

11987 1.01 266.2 153.4 7.4 615 11991 0.00 2.25 0.00 0.000 6 0.000 0.051 2675 2535 1330

12313 1.01 266.2 128.8 7.4 631 12314 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2535 1330

12622 1.01 266.2 106.0 7.4 646 12626 0.00 2.28 0.00 0.000 4 0.000 0.058 2675 1114 1329

12672 1.06 266.4 102.3 7.0 648 12676 0.00 2.25 0.00 0.000 6 0.000 0.051 2675 2532 1329

13013 1.06 266.4 76.9 7.0 704 13019 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2532 1329

13358 1.13 272.6 54.3 6.8 765 13370 0.00 2.28 6.05 0.900 4 0.000 0.058 2675 1114 1308

13422 1.24 272.6 49.6 7.4 776 13429 0.12 2.25 0.00 0.000 6 0.089 0.053 2722 2524 1308

13767 1.16 275.3 19.3 6.9 837 13774 0.12 0.00 3.78 0.706 6 0.140 0.000 2687 2524 1297

14087 end climb: SURFACE_DEPTH_REACHED

state 14087 begin surface coast

14129 end surface coast: CONTROL_FINISHED_OK

state 14129 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	126	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	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-24263.25	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	095707,6640.771,-6025.104,31,1.0,31,-38.0	TGT_NAME	TARGET_ADD1_EB
_CALLS	1	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.191,-0.118
_SM_DEPTHo	1.61	KALMAN_X	16783.2,39.3,249.5,-112572.7,-603.5
_SM_ANGLEo	-64.6	KALMAN_Y	-15149.9,-261.0,-2210.3,-8333.2,2959.3
GPS2	100209,6640.773,-6025.045,14,1.0,14,-38.0	MHEAD_RNG_PITCHd_Wd	159.6,24138,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	520

FINISH	0.8,1.013707	TCM_TEMP	15.20
SM_CCo	14204,0.00,0.000,0,0,1294,276.21	XPDR_PINGS	0
SM_GC	1.58,7.07,0.00,0.00,0.077,0.000,0.000,166,2324,1294,-10.37,-0.45,276.21	_24V_AH	22.0,28.512
RAFOS_CLK	811	_10V_AH	10.6,11.062
RAFOS	0,1222862660,12.083333,12.072222,61,59,57,56,55,54,194,147,207,217,171,137	DATA_FILE_SIZE	31521,901
RAFOS_FIX	6641.353027,-6016.564453,011008,121221,3,82,0.70	CAP_FILE_SIZE	121052,0
IRIDIUM_FIX	6614.97,-6030.83,261297,050546	CFSIZE	260165632,242286592
TT8_MAMPS	0.027612	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1920	SOUNDSPEED	1447.7
INTERNAL_PRESSURE	8.52572	GPS	011008,140108,6641.263,-6023.076,27,2.0,27,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	272	121.45	SBE_CT	703	24	371.69
Roll_motor	119	77	203.75	SBE_O2	615	19	257.23
VBD_pump_during_apogee	374	1251	10302.10	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	27	103	63.24	nil	0	0	0.00
Iridium_during_connect	31	160	112.34	nil	0	0	0.00
Iridium_during_xfer	134	223	657.61
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.59
TT8	1641	19	346.56
LPSleep	10312	2	252.52
TT8_Active	503	19	106.29
TT8_Sampling	1696	39	717.92
TT8_CF8	366	45	178.37
TT8_Kalman	33	81	28.97
Analog_circuits	1438	12	182.92
GPS_charging	0	0	0.00
Compass	1671	8	141.70
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.08	-146.0	0.0	0.0	0	133	0.00	0.00	-112.93	0.000	2	0.000	0.000	164	2341	2724
135	-1.08	-146.0	3.1	-2.3	20	161	8.82	2.30	-10.20	0.000	4	0.272	0.071	2201	927	3018
402	-0.70	-146.0	50.5	-14.0	67	409	0.30	2.28	0.00	0.000	6	0.171	0.053	2285	2339	3022
747	-0.70	-146.0	79.1	-7.7	128	752	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2339	3023
1081	-0.70	-146.0	106.6	-7.7	177	1085	0.00	2.33	0.00	0.000	4	0.000	0.073	2285	3748	3024
1176	-0.80	-146.0	112.7	-5.9	181	1181	0.10	2.22	0.00	0.000	6	0.100	0.043	2248	2322	3024
1503	-0.75	-146.0	138.6	-8.6	197	1508	0.10	2.38	0.00	0.000	4	0.180	0.074	2271	3742	3023
1529	-0.75	-146.0	140.9	-8.2	198	1534	0.00	2.22	0.00	0.000	6	0.000	0.044	2271	2341	3023
1851	-0.80	-146.0	164.3	-6.4	214	1852	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2341	3023
2161	-0.86	-146.0	182.2	-6.0	229	2166	0.10	2.35	0.00	0.000	4	0.105	0.074	2234	3753	3023
2171	-0.91	-146.0	182.9	-6.1	229	2175	0.00	2.22	0.00	0.000	6	0.000	0.043	2234	2328	3023
2492	-0.85	-146.0	207.4	-7.4	245	2496	0.00	2.35	0.00	0.000	4	0.000	0.074	2234	3742	3022
2524	-0.85	-146.0	210.0	-7.8	246	2528	0.00	2.22	0.00	0.000	6	0.000	0.044	2234	2341	3022
2845	-0.80	-146.0	233.6	-7.5	262	2850	0.12	2.33	0.00	0.000	4	0.179	0.071	2267	3751	3022
2855	-0.80	-146.0	234.3	-7.3	262	2862	0.00	2.22	0.00	0.000	6	0.000	0.044	2267	2341	3023
3171	-0.87	-146.0	255.1	-6.8	278	3175	0.00	2.33	0.00	0.000	4	0.000	0.071	2267	3743	3023
3204	-0.97	-146.0	257.4	-7.3	279	3209	0.15	2.20	0.00	0.000	6	0.100	0.044	2217	2332	3022
3525	-0.88	-146.0	286.0	-9.1	295	3527	0.12	0.00	0.00	0.000	6	0.165	0.000	2249	2332	3022
3834	-0.88	-146.0	309.4	-7.3	310	3838	0.00	2.20	0.00	0.000	4	0.000	0.059	2249	932	3022
3844	-0.88	-146.0	310.2	-7.3	310	3848	0.00	2.28	0.00	0.000	6	0.000	0.053	2249	2344	3022
4165	-0.88	-146.0	331.2	-6.1	326	4167	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2344	3022
4475	-0.88	-146.0	347.7	-5.3	341	4476	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2343	3022
4784	-0.93	-146.0	364.5	-5.7	356	4788	0.00	2.30	0.00	0.000	4	0.000	0.073	2249	3743	3021
4807	-1.00	-146.0	365.7	-5.8	357	4812	0.12	2.20	0.00	0.000	6	0.107	0.043	2206	2327	3021
5140	-0.92	-146.0	391.3	-7.8	373	5144	0.12	2.38	0.00	0.000	4	0.165	0.073	2237	3753	3021
5149	-0.86	-146.0	392.2	-7.8	373	5156	0.00	2.20	0.00	0.000	6	0.000	0.044	2237	2338	3021
5482	-0.86	-146.0	414.7	-6.6	385	5486	0.00	2.33	0.00	0.000	4	0.000	0.072	2237	3749	3021
5497	-0.86	-146.0	415.8	-6.4	385	5501	0.00	2.20	0.00	0.000	6	0.000	0.043	2237	2334	3021
5810	-0.86	-146.0	434.9	-6.0	393	5811	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	2333	3021
6135	-0.86	-146.0	453.6	-5.9	401	6139	0.00	2.22	0.00	0.000	4	0.000	0.058	2237	927	3021
6145	-0.86	-146.0	454.5	-5.8	401	6149	0.00	2.25	0.00	0.000	6	0.000	0.053	2237	2341	3021
6465	-0.91	-146.0	475.0	-6.5	409	6469	0.00	2.30	0.00	0.000	4	0.000	0.070	2237	3754	3021
6481	-0.97	-146.0	476.1	-6.1	409	6485	0.00	2.20	0.00	0.000	6	0.000	0.042	2237	2333	3021
6794	-1.03	-146.0	494.9	-6.0	417	6799	0.10	2.33	0.00	0.000	4	0.116	0.072	2202	3747	3022
6805	-1.03	-146.0	495.5	-5.9	417	6808	0.00	2.20	0.00	0.000	6	0.000	0.041	2201	2327	3022
7117	-0.98	-146.0	517.7	-7.0	425	7119	0.10	0.00	0.00	0.000	6	0.172	0.000	2227	2327	3022
7155	end dive: TARGET_DEPTH_EXCEEDED
state	7156	begin apogee
7160	-0.34	0.0	520.5	6.9	426	7290	0.45	0.00	126.55	1.252	6	0.146	0.000	2365	2525	2420
7291	end apogee: CONTROL_FINISHED_OK
state	7291	begin climb
7293	1.08	146.0	522.3	0.0	429	7430	1.02	2.67	129.07	1.160	4	0.111	0.069	2667	3923	1823
7505	0.77	146.0	505.9	10.6	434	7510	0.25	2.40	0.00	0.000	6	0.149	0.042	2602	2515	1821
7828	0.79	160.3	484.7	6.5	442	7848	0.00	2.40	13.05	1.093	4	0.000	0.055	2602	1115	1766
7904	0.90	181.6	479.8	6.3	443	7930	0.12	2.38	19.60	1.122	6	0.084	0.051	2649	2535	1679
8246	0.82	181.6	450.3	8.7	452	8250	0.15	2.35	0.00	0.000	4	0.141	0.067	2609	3927	1677
8290	0.77	181.6	446.4	8.0	453	8294	0.00	2.28	0.00	0.000	6	0.000	0.041	2609	2505	1677
8619	0.83	186.4	423.7	6.9	461	8629	0.00	2.25	5.55	0.919	4	0.000	0.055	2609	1114	1659
8697	0.94	197.4	418.6	6.6	462	8713	0.12	2.28	10.57	1.077	6	0.087	0.051	2656	2520	1615
9027	0.86	197.4	389.9	8.7	473	9032	0.12	2.33	0.00	0.000	4	0.143	0.067	2623	3930	1613
9099	0.81	197.4	383.7	8.1	476	9103	0.00	2.22	0.00	0.000	6	0.000	0.041	2622	2518	1613
9420	0.83	215.8	362.8	6.4	492	9442	0.00	2.28	16.25	1.121	4	0.000	0.054	2622	1116	1540
9498	0.96	232.9	357.7	6.4	495	9519	0.10	2.28	15.43	1.091	6	0.090	0.049	2663	2532	1470
9840	0.96	232.9	329.7	8.2	512	9844	0.00	2.30	0.00	0.000	4	0.000	0.069	2663	3926	1468
9878	0.83	232.9	326.0	9.9	513	9885	0.17	2.25	0.00	0.000	6	0.144	0.041	2613	2519	1468
10194	1.01	266.2	307.7	5.9	529	10229	0.15	2.35	28.20	1.124	4	0.078	0.055	2675	1119	1335
10319	1.01	266.2	297.0	8.7	534	10326	0.00	2.30	0.00	0.000	6	0.000	0.051	2675	2529	1332
10634	1.01	266.2	269.5	8.6	550	10635	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2529	1331
10943	1.01	266.2	242.8	8.7	565	10947	0.00	2.28	0.00	0.000	4	0.000	0.056	2675	1116	1330
11003	1.01	266.2	237.7	7.9	567	11010	0.00	2.28	0.00	0.000	6	0.000	0.051	2675	2522	1331
11319	1.01	266.2	211.8	8.3	583	11320	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2522	1331
11628	1.01	266.2	185.1	9.1	598	11629	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2522	1330
11937	1.01	266.2	157.3	8.5	613	11941	0.00	2.25	0.00	0.000	4	0.000	0.058	2675	1117	1330
11987	1.01	266.2	153.4	7.4	615	11991	0.00	2.25	0.00	0.000	6	0.000	0.051	2675	2535	1330
12313	1.01	266.2	128.8	7.4	631	12314	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2535	1330
12622	1.01	266.2	106.0	7.4	646	12626	0.00	2.28	0.00	0.000	4	0.000	0.058	2675	1114	1329
12672	1.06	266.4	102.3	7.0	648	12676	0.00	2.25	0.00	0.000	6	0.000	0.051	2675	2532	1329
13013	1.06	266.4	76.9	7.0	704	13019	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2532	1329
13358	1.13	272.6	54.3	6.8	765	13370	0.00	2.28	6.05	0.900	4	0.000	0.058	2675	1114	1308
13422	1.24	272.6	49.6	7.4	776	13429	0.12	2.25	0.00	0.000	6	0.089	0.053	2722	2524	1308
13767	1.16	275.3	19.3	6.9	837	13774	0.12	0.00	3.78	0.706	6	0.140	0.000	2687	2524	1297
14087	end climb: SURFACE_DEPTH_REACHED
state	14087	begin surface coast
14129	end surface coast: CONTROL_FINISHED_OK
state	14129	begin surface