Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 127 * 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 127 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 37 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 -24299.146 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 -24299.146

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 37 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 127 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 140108,6641.263,-6023.076,27,2.0,27,-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 0.222,0.033

_SM_DEPTHo 1.65 KALMAN_X 15936.7,-123.2,-153.3,-109733.7,-698.8

_SM_ANGLEo -65.7 KALMAN_Y -15849.1,387.8,462.6,-10071.1,931.5

GPS2 140647,6641.247,-6023.089,13,2.1,32,-38.0 MHEAD_RNG_PITCHd_Wd 119.6,22465,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 526

Post-dive calculations and measurements:

FINISH 0.9,1.024996 TCM_TEMP 15.30

SM_CCo 14113,0.00,0.000,0,0,1164,308.10 XPDR_PINGS 0

SM_GC 1.75,7.32,0.00,0.00,0.081,0.000,0.000,164,2347,1164,-10.38,0.20,308.10 _24V_AH 22.0,28.654

RAFOS_CLK 811 _10V_AH 10.6,11.122

RAFOS 0,1222877042,16.083334,16.067223,87,58,58,56,55,55,579,165,147,234,176,201 DATA_FILE_SIZE 31546,870

RAFOS_FIX 6642.105957,-6014.725586,011008,161620,4,108,0.74 CAP_FILE_SIZE 113349,0

IRIDIUM_FIX 6609.62,-6024.05,261297,101026 CFSIZE 260165632,242237440

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

HUMID 1919 SOUNDSPEED 1448.2

INTERNAL_PRESSURE 8.51595 GPS 011008,180431,6641.755,-6020.494,39,1.3,39,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 271 127.68 SBE_CT 677 24 357.63

Roll_motor 101 76 170.76 SBE_O2 594 19 248.36

VBD_pump_during_apogee 389 1249 10709.23 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 32 103 74.76 nil 0 0 0.00

Iridium_during_connect 46 160 163.53 nil 0 0 0.00

Iridium_during_xfer 131 223 643.99

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.69

TT8 1569 19 331.45

LPSleep 10432 2 255.44

TT8_Active 510 19 107.84

TT8_Sampling 1600 39 677.05

TT8_CF8 355 45 173.24

TT8_Kalman 33 81 28.96

Analog_circuits 1366 12 173.79

GPS_charging 0 0 0.00

Compass 1552 8 131.66

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 0 116 0.00 0.00 -96.43 0.000 2 0.000 0.000 167 2322 2701

118 -1.08 -146.0 3.0 -2.0 17 144 8.80 2.33 -11.50 0.000 4 0.272 0.073 2197 935 3018

397 -0.68 -146.0 48.4 -12.9 66 404 0.32 2.28 0.00 0.000 6 0.176 0.054 2288 2340 3023

742 -0.68 -146.0 73.5 -6.8 127 748 0.00 2.28 0.00 0.000 4 0.000 0.058 2288 932 3024

753 -0.68 -146.0 74.2 -6.5 129 760 0.00 2.28 0.00 0.000 6 0.000 0.051 2288 2355 3024

1097 -0.73 -146.0 98.6 -7.4 190 1103 0.00 2.28 0.00 0.000 4 0.000 0.058 2288 939 3025

1215 -0.73 -146.0 108.2 -8.2 198 1219 0.00 2.28 0.00 0.000 6 0.000 0.053 2288 2343 3025

1542 -0.81 -146.0 132.9 -7.8 214 1546 0.12 2.30 0.00 0.000 4 0.107 0.071 2245 3744 3024

1568 -0.81 -146.0 135.3 -9.7 215 1573 0.00 2.22 0.00 0.000 6 0.000 0.044 2245 2341 3024

1890 -0.76 -146.0 164.6 -8.9 231 1891 0.12 0.00 0.00 0.000 6 0.172 0.000 2277 2341 3024

2198 -0.83 -146.0 187.9 -7.4 246 2200 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 2341 3025

2508 -0.91 -146.0 210.5 -7.1 261 2512 0.15 2.35 0.00 0.000 4 0.100 0.072 2226 3752 3023

2524 -0.91 -146.0 211.8 -7.3 262 2528 0.00 2.22 0.00 0.000 6 0.000 0.044 2226 2330 3023

2856 -0.83 -146.0 238.6 -7.9 278 2860 0.12 2.38 0.00 0.000 4 0.177 0.074 2257 3750 3023

2866 -0.78 -146.0 239.5 -7.8 278 2872 0.00 2.20 0.00 0.000 6 0.000 0.044 2257 2340 3023

3181 -0.83 -146.0 257.9 -5.4 294 3183 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2340 3023

3490 -0.88 -146.0 274.4 -5.3 309 3491 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2340 3023

3800 -0.93 -146.0 291.1 -5.6 324 3801 0.10 0.00 0.00 0.000 6 0.107 0.000 2221 2340 3023

4108 -0.87 -146.0 313.3 -7.4 339 4110 0.10 0.00 0.00 0.000 6 0.172 0.000 2245 2340 3022

4417 -0.87 -146.0 334.6 -7.1 354 4421 0.00 2.35 0.00 0.000 4 0.000 0.072 2245 3756 3022

4450 -0.93 -146.0 337.1 -7.6 355 4454 0.00 2.22 0.00 0.000 6 0.000 0.044 2245 2331 3022

4771 -0.93 -146.0 360.7 -7.4 371 4772 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2331 3022

5081 -0.98 -146.0 382.8 -6.8 386 5085 0.10 2.35 0.00 0.000 4 0.109 0.072 2209 3753 3022

5102 -0.98 -146.0 384.5 -8.0 387 5106 0.00 2.22 0.00 0.000 6 0.000 0.044 2208 2326 3022

5432 -0.91 -146.0 410.1 -7.6 400 5434 0.12 0.00 0.00 0.000 6 0.166 0.000 2241 2326 3022

5757 -0.96 -146.0 430.0 -5.9 408 5761 0.00 2.35 0.00 0.000 4 0.000 0.074 2241 3744 3022

5785 -1.04 -146.0 431.7 -6.5 408 5789 0.12 2.20 0.00 0.000 6 0.097 0.043 2196 2327 3022

6126 -0.94 -146.0 456.2 -7.1 417 6131 0.15 2.38 0.00 0.000 4 0.160 0.072 2237 3755 3022

6181 -1.01 -146.0 459.6 -5.8 418 6185 0.00 2.20 0.00 0.000 6 0.000 0.042 2237 2338 3022

6495 -1.06 -146.0 476.9 -5.6 426 6497 0.12 0.00 0.00 0.000 6 0.106 0.000 2192 2339 3022

6819 -0.97 -146.0 500.4 -7.1 434 6824 0.12 2.35 0.00 0.000 4 0.160 0.071 2225 3755 3023

6863 -1.03 -146.0 503.3 -6.4 435 6867 0.00 2.20 0.00 0.000 6 0.000 0.042 2225 2335 3022

7187 -1.03 -146.0 522.6 -5.6 443 7191 0.00 2.33 0.00 0.000 4 0.000 0.071 2226 3747 3024

7219 -1.07 -146.0 524.8 -6.5 443 7223 0.10 2.17 0.00 0.000 6 0.105 0.042 2191 2340 3023

7269 end dive: TARGET_DEPTH_EXCEEDED

state 7269 begin apogee

7274 -0.34 0.0 528.4 7.1 445 7404 0.57 0.00 127.35 1.249 6 0.153 0.000 2363 2523 2420

7405 end apogee: CONTROL_FINISHED_OK

state 7405 begin climb

7407 1.08 146.0 531.5 0.0 448 7541 1.02 0.00 129.48 1.161 6 0.110 0.000 2667 2523 1824

7855 0.89 146.0 493.0 9.2 459 7860 0.15 2.42 0.00 0.000 4 0.140 0.067 2626 3927 1821

7927 0.73 146.0 486.4 9.0 460 7931 0.12 2.30 0.00 0.000 6 0.145 0.041 2593 2516 1820

8263 0.87 195.8 467.8 5.3 469 8307 0.12 0.00 41.75 1.180 6 0.084 0.000 2639 2515 1621

8628 0.87 195.8 441.2 7.4 478 8629 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2515 1620

8952 0.87 195.8 417.6 7.3 486 8953 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2515 1618

9257 0.87 195.8 395.6 7.3 494 9261 0.00 2.25 0.00 0.000 4 0.000 0.056 2639 1105 1618

9289 0.87 195.8 393.2 7.7 495 9294 0.00 2.30 0.00 0.000 6 0.000 0.050 2639 2521 1619

9610 0.87 196.5 370.2 7.0 511 9614 0.00 2.30 0.00 0.000 4 0.000 0.067 2640 3936 1619

9643 0.76 196.5 367.3 8.6 512 9648 0.15 2.22 0.00 0.000 6 0.140 0.042 2597 2511 1619

9964 0.94 233.8 349.0 5.8 528 10001 0.15 2.30 31.40 1.154 4 0.077 0.054 2658 1116 1466

10050 0.94 233.8 342.1 8.1 531 10055 0.00 2.33 0.00 0.000 6 0.000 0.049 2658 2543 1464

10377 0.94 233.8 314.9 8.6 547 10378 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2543 1463

10686 0.94 233.8 287.9 9.0 562 10690 0.00 2.30 0.00 0.000 4 0.000 0.055 2658 1111 1463

10735 0.94 233.8 283.4 9.4 564 10740 0.00 2.28 0.00 0.000 6 0.000 0.050 2658 2520 1463

11062 0.94 233.8 255.4 8.2 580 11066 0.00 2.30 0.00 0.000 4 0.000 0.068 2658 3934 1463

11094 0.86 233.8 252.4 9.2 581 11099 0.15 2.22 0.00 0.000 6 0.147 0.043 2614 2506 1463

11416 1.13 297.9 235.1 4.8 597 11478 0.20 2.40 52.50 1.108 4 0.082 0.054 2694 1108 1204

11556 1.19 297.9 225.1 7.3 603 11560 0.00 2.33 0.00 0.000 6 0.000 0.050 2694 2519 1200

11878 1.32 297.9 201.6 7.7 619 11882 0.10 2.30 0.00 0.000 4 0.091 0.054 2735 1107 1198

12018 1.18 297.9 187.5 11.6 625 12022 0.17 2.28 0.00 0.000 6 0.143 0.051 2685 2520 1198

12332 1.18 297.9 156.4 10.2 640 12333 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2520 1197

12641 1.18 297.9 123.4 10.5 655 12642 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2520 1196

12956 1.18 297.9 93.6 8.8 679 12963 0.00 2.28 0.00 0.000 4 0.000 0.058 2685 1112 1196

13013 1.28 297.9 88.7 8.7 689 13020 0.12 2.25 0.00 0.000 6 0.087 0.052 2731 2522 1196

13358 1.20 297.9 50.4 10.7 750 13364 0.15 0.00 0.00 0.000 6 0.140 0.000 2688 2523 1195

13702 1.34 306.6 24.5 6.7 811 13716 0.15 2.33 7.12 0.929 4 0.076 0.059 2749 1119 1168

13778 1.34 306.6 18.7 7.4 824 13784 0.00 2.25 0.00 0.000 6 0.000 0.053 2749 2520 1168

14007 end climb: SURFACE_DEPTH_REACHED

state 14007 begin surface coast

14037 end surface coast: CONTROL_FINISHED_OK

state 14038 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	127	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	37	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	-24299.146	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	140108,6641.263,-6023.076,27,2.0,27,-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	0.222,0.033
_SM_DEPTHo	1.65	KALMAN_X	15936.7,-123.2,-153.3,-109733.7,-698.8
_SM_ANGLEo	-65.7	KALMAN_Y	-15849.1,387.8,462.6,-10071.1,931.5
GPS2	140647,6641.247,-6023.089,13,2.1,32,-38.0	MHEAD_RNG_PITCHd_Wd	119.6,22465,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	526

FINISH	0.9,1.024996	TCM_TEMP	15.30
SM_CCo	14113,0.00,0.000,0,0,1164,308.10	XPDR_PINGS	0
SM_GC	1.75,7.32,0.00,0.00,0.081,0.000,0.000,164,2347,1164,-10.38,0.20,308.10	_24V_AH	22.0,28.654
RAFOS_CLK	811	_10V_AH	10.6,11.122
RAFOS	0,1222877042,16.083334,16.067223,87,58,58,56,55,55,579,165,147,234,176,201	DATA_FILE_SIZE	31546,870
RAFOS_FIX	6642.105957,-6014.725586,011008,161620,4,108,0.74	CAP_FILE_SIZE	113349,0
IRIDIUM_FIX	6609.62,-6024.05,261297,101026	CFSIZE	260165632,242237440
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1919	SOUNDSPEED	1448.2
INTERNAL_PRESSURE	8.51595	GPS	011008,180431,6641.755,-6020.494,39,1.3,39,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	271	127.68	SBE_CT	677	24	357.63
Roll_motor	101	76	170.76	SBE_O2	594	19	248.36
VBD_pump_during_apogee	389	1249	10709.23	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	32	103	74.76	nil	0	0	0.00
Iridium_during_connect	46	160	163.53	nil	0	0	0.00
Iridium_during_xfer	131	223	643.99
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.69
TT8	1569	19	331.45
LPSleep	10432	2	255.44
TT8_Active	510	19	107.84
TT8_Sampling	1600	39	677.05
TT8_CF8	355	45	173.24
TT8_Kalman	33	81	28.96
Analog_circuits	1366	12	173.79
GPS_charging	0	0	0.00
Compass	1552	8	131.66
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	116	0.00	0.00	-96.43	0.000	2	0.000	0.000	167	2322	2701
118	-1.08	-146.0	3.0	-2.0	17	144	8.80	2.33	-11.50	0.000	4	0.272	0.073	2197	935	3018
397	-0.68	-146.0	48.4	-12.9	66	404	0.32	2.28	0.00	0.000	6	0.176	0.054	2288	2340	3023
742	-0.68	-146.0	73.5	-6.8	127	748	0.00	2.28	0.00	0.000	4	0.000	0.058	2288	932	3024
753	-0.68	-146.0	74.2	-6.5	129	760	0.00	2.28	0.00	0.000	6	0.000	0.051	2288	2355	3024
1097	-0.73	-146.0	98.6	-7.4	190	1103	0.00	2.28	0.00	0.000	4	0.000	0.058	2288	939	3025
1215	-0.73	-146.0	108.2	-8.2	198	1219	0.00	2.28	0.00	0.000	6	0.000	0.053	2288	2343	3025
1542	-0.81	-146.0	132.9	-7.8	214	1546	0.12	2.30	0.00	0.000	4	0.107	0.071	2245	3744	3024
1568	-0.81	-146.0	135.3	-9.7	215	1573	0.00	2.22	0.00	0.000	6	0.000	0.044	2245	2341	3024
1890	-0.76	-146.0	164.6	-8.9	231	1891	0.12	0.00	0.00	0.000	6	0.172	0.000	2277	2341	3024
2198	-0.83	-146.0	187.9	-7.4	246	2200	0.00	0.00	0.00	0.000	6	0.000	0.000	2277	2341	3025
2508	-0.91	-146.0	210.5	-7.1	261	2512	0.15	2.35	0.00	0.000	4	0.100	0.072	2226	3752	3023
2524	-0.91	-146.0	211.8	-7.3	262	2528	0.00	2.22	0.00	0.000	6	0.000	0.044	2226	2330	3023
2856	-0.83	-146.0	238.6	-7.9	278	2860	0.12	2.38	0.00	0.000	4	0.177	0.074	2257	3750	3023
2866	-0.78	-146.0	239.5	-7.8	278	2872	0.00	2.20	0.00	0.000	6	0.000	0.044	2257	2340	3023
3181	-0.83	-146.0	257.9	-5.4	294	3183	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2340	3023
3490	-0.88	-146.0	274.4	-5.3	309	3491	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2340	3023
3800	-0.93	-146.0	291.1	-5.6	324	3801	0.10	0.00	0.00	0.000	6	0.107	0.000	2221	2340	3023
4108	-0.87	-146.0	313.3	-7.4	339	4110	0.10	0.00	0.00	0.000	6	0.172	0.000	2245	2340	3022
4417	-0.87	-146.0	334.6	-7.1	354	4421	0.00	2.35	0.00	0.000	4	0.000	0.072	2245	3756	3022
4450	-0.93	-146.0	337.1	-7.6	355	4454	0.00	2.22	0.00	0.000	6	0.000	0.044	2245	2331	3022
4771	-0.93	-146.0	360.7	-7.4	371	4772	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2331	3022
5081	-0.98	-146.0	382.8	-6.8	386	5085	0.10	2.35	0.00	0.000	4	0.109	0.072	2209	3753	3022
5102	-0.98	-146.0	384.5	-8.0	387	5106	0.00	2.22	0.00	0.000	6	0.000	0.044	2208	2326	3022
5432	-0.91	-146.0	410.1	-7.6	400	5434	0.12	0.00	0.00	0.000	6	0.166	0.000	2241	2326	3022
5757	-0.96	-146.0	430.0	-5.9	408	5761	0.00	2.35	0.00	0.000	4	0.000	0.074	2241	3744	3022
5785	-1.04	-146.0	431.7	-6.5	408	5789	0.12	2.20	0.00	0.000	6	0.097	0.043	2196	2327	3022
6126	-0.94	-146.0	456.2	-7.1	417	6131	0.15	2.38	0.00	0.000	4	0.160	0.072	2237	3755	3022
6181	-1.01	-146.0	459.6	-5.8	418	6185	0.00	2.20	0.00	0.000	6	0.000	0.042	2237	2338	3022
6495	-1.06	-146.0	476.9	-5.6	426	6497	0.12	0.00	0.00	0.000	6	0.106	0.000	2192	2339	3022
6819	-0.97	-146.0	500.4	-7.1	434	6824	0.12	2.35	0.00	0.000	4	0.160	0.071	2225	3755	3023
6863	-1.03	-146.0	503.3	-6.4	435	6867	0.00	2.20	0.00	0.000	6	0.000	0.042	2225	2335	3022
7187	-1.03	-146.0	522.6	-5.6	443	7191	0.00	2.33	0.00	0.000	4	0.000	0.071	2226	3747	3024
7219	-1.07	-146.0	524.8	-6.5	443	7223	0.10	2.17	0.00	0.000	6	0.105	0.042	2191	2340	3023
7269	end dive: TARGET_DEPTH_EXCEEDED
state	7269	begin apogee
7274	-0.34	0.0	528.4	7.1	445	7404	0.57	0.00	127.35	1.249	6	0.153	0.000	2363	2523	2420
7405	end apogee: CONTROL_FINISHED_OK
state	7405	begin climb
7407	1.08	146.0	531.5	0.0	448	7541	1.02	0.00	129.48	1.161	6	0.110	0.000	2667	2523	1824
7855	0.89	146.0	493.0	9.2	459	7860	0.15	2.42	0.00	0.000	4	0.140	0.067	2626	3927	1821
7927	0.73	146.0	486.4	9.0	460	7931	0.12	2.30	0.00	0.000	6	0.145	0.041	2593	2516	1820
8263	0.87	195.8	467.8	5.3	469	8307	0.12	0.00	41.75	1.180	6	0.084	0.000	2639	2515	1621
8628	0.87	195.8	441.2	7.4	478	8629	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2515	1620
8952	0.87	195.8	417.6	7.3	486	8953	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2515	1618
9257	0.87	195.8	395.6	7.3	494	9261	0.00	2.25	0.00	0.000	4	0.000	0.056	2639	1105	1618
9289	0.87	195.8	393.2	7.7	495	9294	0.00	2.30	0.00	0.000	6	0.000	0.050	2639	2521	1619
9610	0.87	196.5	370.2	7.0	511	9614	0.00	2.30	0.00	0.000	4	0.000	0.067	2640	3936	1619
9643	0.76	196.5	367.3	8.6	512	9648	0.15	2.22	0.00	0.000	6	0.140	0.042	2597	2511	1619
9964	0.94	233.8	349.0	5.8	528	10001	0.15	2.30	31.40	1.154	4	0.077	0.054	2658	1116	1466
10050	0.94	233.8	342.1	8.1	531	10055	0.00	2.33	0.00	0.000	6	0.000	0.049	2658	2543	1464
10377	0.94	233.8	314.9	8.6	547	10378	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2543	1463
10686	0.94	233.8	287.9	9.0	562	10690	0.00	2.30	0.00	0.000	4	0.000	0.055	2658	1111	1463
10735	0.94	233.8	283.4	9.4	564	10740	0.00	2.28	0.00	0.000	6	0.000	0.050	2658	2520	1463
11062	0.94	233.8	255.4	8.2	580	11066	0.00	2.30	0.00	0.000	4	0.000	0.068	2658	3934	1463
11094	0.86	233.8	252.4	9.2	581	11099	0.15	2.22	0.00	0.000	6	0.147	0.043	2614	2506	1463
11416	1.13	297.9	235.1	4.8	597	11478	0.20	2.40	52.50	1.108	4	0.082	0.054	2694	1108	1204
11556	1.19	297.9	225.1	7.3	603	11560	0.00	2.33	0.00	0.000	6	0.000	0.050	2694	2519	1200
11878	1.32	297.9	201.6	7.7	619	11882	0.10	2.30	0.00	0.000	4	0.091	0.054	2735	1107	1198
12018	1.18	297.9	187.5	11.6	625	12022	0.17	2.28	0.00	0.000	6	0.143	0.051	2685	2520	1198
12332	1.18	297.9	156.4	10.2	640	12333	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2520	1197
12641	1.18	297.9	123.4	10.5	655	12642	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2520	1196
12956	1.18	297.9	93.6	8.8	679	12963	0.00	2.28	0.00	0.000	4	0.000	0.058	2685	1112	1196
13013	1.28	297.9	88.7	8.7	689	13020	0.12	2.25	0.00	0.000	6	0.087	0.052	2731	2522	1196
13358	1.20	297.9	50.4	10.7	750	13364	0.15	0.00	0.00	0.000	6	0.140	0.000	2688	2523	1195
13702	1.34	306.6	24.5	6.7	811	13716	0.15	2.33	7.12	0.929	4	0.076	0.059	2749	1119	1168
13778	1.34	306.6	18.7	7.4	824	13784	0.00	2.25	0.00	0.000	6	0.000	0.053	2749	2520	1168
14007	end climb: SURFACE_DEPTH_REACHED
state	14007	begin surface coast
14037	end surface coast: CONTROL_FINISHED_OK
state	14038	begin surface