Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 168 * 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 168 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 45 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -3 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 900 T_GPS_CHARGE -25134.672 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 900 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 -25134.672

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 -3

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 45 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 168 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 004703,6702.765,-5649.629,8,1.9,8,-37.5 TGT_NAME TARGET_ADD4_WB

_CALLS 3 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 9 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.203,0.095

_SM_DEPTHo 1.66 KALMAN_X 5339.9,58.1,-730.8,20609.5,873.0

_SM_ANGLEo -64.2 KALMAN_Y -10765.3,356.8,427.9,24542.4,-1999.6

GPS2 005826,6702.736,-5649.748,39,1.7,39,-37.5 MHEAD_RNG_PITCHd_Wd 332.7,33491,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 555

Post-dive calculations and measurements:

FINISH 0.7,1.015534 TCM_TEMP 16.40

SM_CCo 14603,0.00,0.000,0,0,1232,291.17 XPDR_PINGS 3

SM_GC 1.64,7.22,0.00,0.00,0.071,0.000,0.000,165,2325,1232,-10.37,-0.42,291.17 _24V_AH 22.0,35.363

RAFOS_CLK 786 _10V_AH 10.6,14.447

RAFOS 0,1223784243,4.083333,4.067500,75,60,60,58,55,49,217,194,122,208,139,171 DATA_FILE_SIZE 31537,869

RAFOS_FIX 6606.143066,-6032.984863,121008,040456,4,82,16.10 CAP_FILE_SIZE 124362,0

IRIDIUM_FIX 6636.54,-5647.69,060198,010105 CFSIZE 260165632,238260224

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

HUMID 1873 SOUNDSPEED 1460.8

INTERNAL_PRESSURE 8.56478 GPS 121008,050456,6702.874,-5652.872,41,1.2,41,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 263 116.48 SBE_CT 674 24 356.33

Roll_motor 116 64 165.52 SBE_O2 589 19 246.47

VBD_pump_during_apogee 381 1200 10072.60 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 84 103 192.48 nil 0 0 0.00

Iridium_during_connect 99 160 349.27 nil 0 0 0.00

Iridium_during_xfer 246 223 1210.81

Transponder_ping 0 420 6.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 40 50 21.57

TT8 1686 19 356.06

LPSleep 10655 2 260.92

TT8_Active 503 19 106.25

TT8_Sampling 1874 39 793.06

TT8_CF8 623 45 303.67

TT8_Kalman 33 81 28.96

Analog_circuits 1493 12 189.93

GPS_charging 0 0 0.00

Compass 1818 8 154.22

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.08 -146.0 0.0 0.0 0 126 0.00 0.00 -108.05 0.000 6 0.000 0.000 156 2316 3015

129 -1.08 -146.0 3.4 -3.0 19 141 8.77 0.00 0.00 0.000 6 0.263 0.000 2201 2316 3021

479 -0.76 -146.0 62.8 -12.0 81 486 0.20 2.38 0.00 0.000 4 0.167 0.064 2261 3752 3023

677 -0.76 -146.0 80.2 -8.2 116 683 0.00 2.17 0.00 0.000 6 0.000 0.039 2262 2345 3024

1030 -0.76 -146.0 106.6 -7.4 168 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2345 3025

1339 -0.76 -146.0 132.0 -8.3 183 1341 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2345 3025

1649 -0.76 -146.0 155.7 -7.3 198 1653 0.00 2.20 0.00 0.000 4 0.000 0.052 2261 936 3024

1720 -0.76 -146.0 161.2 -7.3 201 1724 0.00 2.22 0.00 0.000 6 0.000 0.048 2261 2334 3024

2047 -0.76 -146.0 181.8 -6.0 217 2051 0.00 2.30 0.00 0.000 4 0.000 0.064 2261 3753 3023

2199 -0.82 -146.0 191.5 -6.4 223 2205 0.00 2.20 0.00 0.000 6 0.000 0.040 2261 2329 3024

2514 -0.82 -146.0 211.1 -6.1 239 2518 0.00 2.17 0.00 0.000 4 0.000 0.052 2261 938 3023

2586 -0.82 -146.0 216.2 -6.8 242 2590 0.00 2.22 0.00 0.000 6 0.000 0.048 2261 2351 3023

2913 -0.87 -146.0 237.4 -6.6 258 2917 0.00 2.25 0.00 0.000 4 0.000 0.064 2261 3743 3023

2991 -0.95 -146.0 242.8 -6.8 261 2995 0.12 2.17 0.00 0.000 6 0.107 0.038 2217 2327 3023

3311 -0.85 -146.0 268.3 -8.2 277 3313 0.12 0.00 0.00 0.000 6 0.156 0.000 2251 2326 3023

3620 -0.85 -146.0 290.5 -6.6 292 3621 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2326 3022

3929 -0.85 -146.0 310.1 -6.1 307 3933 0.00 2.33 0.00 0.000 4 0.000 0.063 2251 3751 3022

4020 -0.91 -146.0 315.7 -5.9 311 4024 0.00 2.17 0.00 0.000 6 0.000 0.039 2251 2340 3022

4351 -0.91 -146.0 335.0 -5.8 327 4355 0.00 2.20 0.00 0.000 4 0.000 0.052 2251 933 3022

4452 -0.91 -146.0 341.5 -6.4 331 4456 0.00 2.22 0.00 0.000 6 0.000 0.048 2251 2349 3023

4773 -0.96 -146.0 361.4 -6.4 347 4778 0.10 2.25 0.00 0.000 4 0.109 0.064 2216 3742 3023

4907 -0.96 -146.0 371.6 -7.9 353 4911 0.00 2.17 0.00 0.000 6 0.000 0.038 2216 2327 3022

5239 -0.90 -146.0 395.1 -6.8 369 5244 0.10 2.17 0.00 0.000 4 0.169 0.051 2241 941 3023

5334 -0.90 -146.0 401.3 -6.5 373 5338 0.00 2.20 0.00 0.000 6 0.000 0.048 2241 2341 3023

5659 -0.90 -146.0 421.4 -6.1 381 5662 0.00 2.28 0.00 0.000 4 0.000 0.062 2241 3754 3023

5811 -0.96 -146.0 431.2 -7.0 384 5815 0.00 2.17 0.00 0.000 6 0.000 0.038 2241 2333 3023

6123 -0.96 -146.0 449.8 -6.0 392 6127 0.00 2.17 0.00 0.000 4 0.000 0.051 2241 938 3023

6196 -0.96 -146.0 454.5 -6.9 393 6200 0.00 2.22 0.00 0.000 6 0.000 0.048 2241 2352 3023

6538 -0.96 -146.0 475.1 -5.9 402 6541 0.00 2.25 0.00 0.000 4 0.000 0.063 2241 3744 3023

6696 -1.03 -146.0 484.6 -6.5 405 6700 0.12 2.15 0.00 0.000 6 0.093 0.038 2197 2340 3023

7043 -0.92 -146.0 510.2 -7.5 414 7045 0.15 0.00 0.00 0.000 6 0.154 0.000 2238 2338 3023

7368 -0.92 -146.0 531.0 -6.5 422 7372 0.00 2.30 0.00 0.000 4 0.000 0.062 2238 3752 3024

7601 end dive: NO_VERTICAL_VELOCITY

state 7601 begin apogee

7608 -0.34 0.0 537.1 0.0 427 7737 0.35 0.00 125.70 1.200 6 0.103 0.000 2363 2502 2420

7737 end apogee: CONTROL_FINISHED_OK

state 7737 begin climb

7739 1.08 146.0 536.9 0.0 430 7877 1.00 2.53 128.60 1.118 4 0.105 0.050 2665 1118 1824

7940 0.98 146.0 522.5 8.4 434 7945 0.00 2.42 0.00 0.000 6 0.000 0.047 2665 2531 1821

8277 0.84 146.0 494.3 8.2 443 8282 0.17 2.33 0.00 0.000 4 0.135 0.061 2615 3941 1820

8287 0.72 146.0 493.5 8.3 443 8291 0.00 2.25 0.00 0.000 6 0.000 0.037 2614 2515 1820

8605 0.75 166.3 473.3 6.3 451 8629 0.00 2.42 17.25 1.106 4 0.000 0.064 2614 3926 1742

8874 0.75 166.3 453.1 8.3 457 8877 0.00 2.20 0.00 0.000 6 0.000 0.038 2614 2511 1740

9203 0.81 172.4 430.8 6.8 465 9216 0.00 2.40 6.47 0.935 4 0.000 0.064 2614 3941 1716

9329 0.81 172.4 420.4 8.4 467 9336 0.00 2.20 0.00 0.000 6 0.000 0.038 2614 2517 1716

9661 0.90 181.5 397.9 6.7 476 9671 0.00 0.00 8.95 1.002 6 0.000 0.000 2614 2516 1680

9970 1.01 206.0 378.0 6.2 491 9997 0.15 2.25 21.12 1.081 4 0.079 0.051 2675 1124 1579

10002 0.92 206.0 375.2 8.9 492 10009 0.15 2.28 0.00 0.000 6 0.136 0.046 2633 2536 1579

10317 0.92 206.0 351.7 7.7 508 10321 0.00 2.28 0.00 0.000 4 0.000 0.051 2633 1111 1577

10349 1.01 206.0 349.3 7.2 509 10354 0.10 2.22 0.00 0.000 6 0.091 0.046 2675 2521 1577

10671 0.92 206.0 317.8 9.8 525 10672 0.15 0.00 0.00 0.000 6 0.126 0.000 2630 2522 1577

10979 0.97 206.0 294.7 7.6 540 10983 0.00 2.22 0.00 0.000 4 0.000 0.051 2630 1119 1578

11008 1.07 207.5 292.6 7.0 541 11012 0.15 2.20 0.00 0.000 6 0.076 0.046 2690 2522 1577

11333 0.95 207.5 259.5 10.3 557 11335 0.17 0.00 0.00 0.000 6 0.127 0.000 2638 2522 1577

11643 0.99 207.5 235.2 7.7 572 11646 0.00 2.22 0.00 0.000 4 0.000 0.051 2638 1114 1577

11659 1.06 207.5 234.0 7.3 572 11666 0.12 2.20 0.00 0.000 6 0.082 0.046 2691 2520 1577

11974 0.96 207.5 203.5 9.5 588 11978 0.17 2.28 0.00 0.000 4 0.123 0.061 2637 3936 1577

11983 0.87 207.5 202.5 9.3 588 11987 0.00 2.17 0.00 0.000 6 0.000 0.038 2637 2514 1578

12305 0.96 222.5 181.7 6.5 604 12327 0.00 2.22 14.32 0.978 4 0.000 0.051 2637 1111 1513

12332 1.07 236.6 179.9 6.5 605 12350 0.12 2.22 12.70 0.936 6 0.080 0.046 2691 2520 1455

12660 1.01 236.6 149.0 9.6 621 12665 0.15 2.25 0.00 0.000 4 0.121 0.051 2645 1113 1453

12671 1.01 236.6 147.8 9.5 621 12675 0.00 2.22 0.00 0.000 6 0.000 0.046 2645 2523 1453

12992 1.12 251.3 125.7 6.5 637 13012 0.12 0.00 13.15 0.937 6 0.076 0.000 2699 2523 1395

13323 1.12 251.3 97.3 8.2 656 13329 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2523 1394

13666 1.12 251.3 67.1 9.0 717 13671 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2523 1394

14009 1.13 255.6 37.9 6.9 778 14022 0.00 2.28 5.03 0.752 4 0.000 0.051 2700 1116 1378

14039 1.25 289.8 36.0 5.9 783 14075 0.00 2.22 28.12 0.953 6 0.000 0.047 2699 2531 1238

14413 1.34 289.8 10.3 7.4 849 14420 0.10 2.28 0.00 0.000 4 0.084 0.051 2746 1114 1234

14442 1.34 289.8 7.2 10.0 854 14449 0.00 2.22 0.00 0.000 6 0.000 0.047 2746 2518 1234

14503 end climb: SURFACE_DEPTH_REACHED

state 14503 begin surface coast

14527 end surface coast: CONTROL_FINISHED_OK

state 14527 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	168	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	45	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-3	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	900	T_GPS_CHARGE	-25134.672	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	004703,6702.765,-5649.629,8,1.9,8,-37.5	TGT_NAME	TARGET_ADD4_WB
_CALLS	3	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	9	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.203,0.095
_SM_DEPTHo	1.66	KALMAN_X	5339.9,58.1,-730.8,20609.5,873.0
_SM_ANGLEo	-64.2	KALMAN_Y	-10765.3,356.8,427.9,24542.4,-1999.6
GPS2	005826,6702.736,-5649.748,39,1.7,39,-37.5	MHEAD_RNG_PITCHd_Wd	332.7,33491,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	555

FINISH	0.7,1.015534	TCM_TEMP	16.40
SM_CCo	14603,0.00,0.000,0,0,1232,291.17	XPDR_PINGS	3
SM_GC	1.64,7.22,0.00,0.00,0.071,0.000,0.000,165,2325,1232,-10.37,-0.42,291.17	_24V_AH	22.0,35.363
RAFOS_CLK	786	_10V_AH	10.6,14.447
RAFOS	0,1223784243,4.083333,4.067500,75,60,60,58,55,49,217,194,122,208,139,171	DATA_FILE_SIZE	31537,869
RAFOS_FIX	6606.143066,-6032.984863,121008,040456,4,82,16.10	CAP_FILE_SIZE	124362,0
IRIDIUM_FIX	6636.54,-5647.69,060198,010105	CFSIZE	260165632,238260224
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1873	SOUNDSPEED	1460.8
INTERNAL_PRESSURE	8.56478	GPS	121008,050456,6702.874,-5652.872,41,1.2,41,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	263	116.48	SBE_CT	674	24	356.33
Roll_motor	116	64	165.52	SBE_O2	589	19	246.47
VBD_pump_during_apogee	381	1200	10072.60	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	84	103	192.48	nil	0	0	0.00
Iridium_during_connect	99	160	349.27	nil	0	0	0.00
Iridium_during_xfer	246	223	1210.81
Transponder_ping	0	420	6.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	40	50	21.57
TT8	1686	19	356.06
LPSleep	10655	2	260.92
TT8_Active	503	19	106.25
TT8_Sampling	1874	39	793.06
TT8_CF8	623	45	303.67
TT8_Kalman	33	81	28.96
Analog_circuits	1493	12	189.93
GPS_charging	0	0	0.00
Compass	1818	8	154.22
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.08	-146.0	0.0	0.0	0	126	0.00	0.00	-108.05	0.000	6	0.000	0.000	156	2316	3015
129	-1.08	-146.0	3.4	-3.0	19	141	8.77	0.00	0.00	0.000	6	0.263	0.000	2201	2316	3021
479	-0.76	-146.0	62.8	-12.0	81	486	0.20	2.38	0.00	0.000	4	0.167	0.064	2261	3752	3023
677	-0.76	-146.0	80.2	-8.2	116	683	0.00	2.17	0.00	0.000	6	0.000	0.039	2262	2345	3024
1030	-0.76	-146.0	106.6	-7.4	168	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2345	3025
1339	-0.76	-146.0	132.0	-8.3	183	1341	0.00	0.00	0.00	0.000	6	0.000	0.000	2261	2345	3025
1649	-0.76	-146.0	155.7	-7.3	198	1653	0.00	2.20	0.00	0.000	4	0.000	0.052	2261	936	3024
1720	-0.76	-146.0	161.2	-7.3	201	1724	0.00	2.22	0.00	0.000	6	0.000	0.048	2261	2334	3024
2047	-0.76	-146.0	181.8	-6.0	217	2051	0.00	2.30	0.00	0.000	4	0.000	0.064	2261	3753	3023
2199	-0.82	-146.0	191.5	-6.4	223	2205	0.00	2.20	0.00	0.000	6	0.000	0.040	2261	2329	3024
2514	-0.82	-146.0	211.1	-6.1	239	2518	0.00	2.17	0.00	0.000	4	0.000	0.052	2261	938	3023
2586	-0.82	-146.0	216.2	-6.8	242	2590	0.00	2.22	0.00	0.000	6	0.000	0.048	2261	2351	3023
2913	-0.87	-146.0	237.4	-6.6	258	2917	0.00	2.25	0.00	0.000	4	0.000	0.064	2261	3743	3023
2991	-0.95	-146.0	242.8	-6.8	261	2995	0.12	2.17	0.00	0.000	6	0.107	0.038	2217	2327	3023
3311	-0.85	-146.0	268.3	-8.2	277	3313	0.12	0.00	0.00	0.000	6	0.156	0.000	2251	2326	3023
3620	-0.85	-146.0	290.5	-6.6	292	3621	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2326	3022
3929	-0.85	-146.0	310.1	-6.1	307	3933	0.00	2.33	0.00	0.000	4	0.000	0.063	2251	3751	3022
4020	-0.91	-146.0	315.7	-5.9	311	4024	0.00	2.17	0.00	0.000	6	0.000	0.039	2251	2340	3022
4351	-0.91	-146.0	335.0	-5.8	327	4355	0.00	2.20	0.00	0.000	4	0.000	0.052	2251	933	3022
4452	-0.91	-146.0	341.5	-6.4	331	4456	0.00	2.22	0.00	0.000	6	0.000	0.048	2251	2349	3023
4773	-0.96	-146.0	361.4	-6.4	347	4778	0.10	2.25	0.00	0.000	4	0.109	0.064	2216	3742	3023
4907	-0.96	-146.0	371.6	-7.9	353	4911	0.00	2.17	0.00	0.000	6	0.000	0.038	2216	2327	3022
5239	-0.90	-146.0	395.1	-6.8	369	5244	0.10	2.17	0.00	0.000	4	0.169	0.051	2241	941	3023
5334	-0.90	-146.0	401.3	-6.5	373	5338	0.00	2.20	0.00	0.000	6	0.000	0.048	2241	2341	3023
5659	-0.90	-146.0	421.4	-6.1	381	5662	0.00	2.28	0.00	0.000	4	0.000	0.062	2241	3754	3023
5811	-0.96	-146.0	431.2	-7.0	384	5815	0.00	2.17	0.00	0.000	6	0.000	0.038	2241	2333	3023
6123	-0.96	-146.0	449.8	-6.0	392	6127	0.00	2.17	0.00	0.000	4	0.000	0.051	2241	938	3023
6196	-0.96	-146.0	454.5	-6.9	393	6200	0.00	2.22	0.00	0.000	6	0.000	0.048	2241	2352	3023
6538	-0.96	-146.0	475.1	-5.9	402	6541	0.00	2.25	0.00	0.000	4	0.000	0.063	2241	3744	3023
6696	-1.03	-146.0	484.6	-6.5	405	6700	0.12	2.15	0.00	0.000	6	0.093	0.038	2197	2340	3023
7043	-0.92	-146.0	510.2	-7.5	414	7045	0.15	0.00	0.00	0.000	6	0.154	0.000	2238	2338	3023
7368	-0.92	-146.0	531.0	-6.5	422	7372	0.00	2.30	0.00	0.000	4	0.000	0.062	2238	3752	3024
7601	end dive: NO_VERTICAL_VELOCITY
state	7601	begin apogee
7608	-0.34	0.0	537.1	0.0	427	7737	0.35	0.00	125.70	1.200	6	0.103	0.000	2363	2502	2420
7737	end apogee: CONTROL_FINISHED_OK
state	7737	begin climb
7739	1.08	146.0	536.9	0.0	430	7877	1.00	2.53	128.60	1.118	4	0.105	0.050	2665	1118	1824
7940	0.98	146.0	522.5	8.4	434	7945	0.00	2.42	0.00	0.000	6	0.000	0.047	2665	2531	1821
8277	0.84	146.0	494.3	8.2	443	8282	0.17	2.33	0.00	0.000	4	0.135	0.061	2615	3941	1820
8287	0.72	146.0	493.5	8.3	443	8291	0.00	2.25	0.00	0.000	6	0.000	0.037	2614	2515	1820
8605	0.75	166.3	473.3	6.3	451	8629	0.00	2.42	17.25	1.106	4	0.000	0.064	2614	3926	1742
8874	0.75	166.3	453.1	8.3	457	8877	0.00	2.20	0.00	0.000	6	0.000	0.038	2614	2511	1740
9203	0.81	172.4	430.8	6.8	465	9216	0.00	2.40	6.47	0.935	4	0.000	0.064	2614	3941	1716
9329	0.81	172.4	420.4	8.4	467	9336	0.00	2.20	0.00	0.000	6	0.000	0.038	2614	2517	1716
9661	0.90	181.5	397.9	6.7	476	9671	0.00	0.00	8.95	1.002	6	0.000	0.000	2614	2516	1680
9970	1.01	206.0	378.0	6.2	491	9997	0.15	2.25	21.12	1.081	4	0.079	0.051	2675	1124	1579
10002	0.92	206.0	375.2	8.9	492	10009	0.15	2.28	0.00	0.000	6	0.136	0.046	2633	2536	1579
10317	0.92	206.0	351.7	7.7	508	10321	0.00	2.28	0.00	0.000	4	0.000	0.051	2633	1111	1577
10349	1.01	206.0	349.3	7.2	509	10354	0.10	2.22	0.00	0.000	6	0.091	0.046	2675	2521	1577
10671	0.92	206.0	317.8	9.8	525	10672	0.15	0.00	0.00	0.000	6	0.126	0.000	2630	2522	1577
10979	0.97	206.0	294.7	7.6	540	10983	0.00	2.22	0.00	0.000	4	0.000	0.051	2630	1119	1578
11008	1.07	207.5	292.6	7.0	541	11012	0.15	2.20	0.00	0.000	6	0.076	0.046	2690	2522	1577
11333	0.95	207.5	259.5	10.3	557	11335	0.17	0.00	0.00	0.000	6	0.127	0.000	2638	2522	1577
11643	0.99	207.5	235.2	7.7	572	11646	0.00	2.22	0.00	0.000	4	0.000	0.051	2638	1114	1577
11659	1.06	207.5	234.0	7.3	572	11666	0.12	2.20	0.00	0.000	6	0.082	0.046	2691	2520	1577
11974	0.96	207.5	203.5	9.5	588	11978	0.17	2.28	0.00	0.000	4	0.123	0.061	2637	3936	1577
11983	0.87	207.5	202.5	9.3	588	11987	0.00	2.17	0.00	0.000	6	0.000	0.038	2637	2514	1578
12305	0.96	222.5	181.7	6.5	604	12327	0.00	2.22	14.32	0.978	4	0.000	0.051	2637	1111	1513
12332	1.07	236.6	179.9	6.5	605	12350	0.12	2.22	12.70	0.936	6	0.080	0.046	2691	2520	1455
12660	1.01	236.6	149.0	9.6	621	12665	0.15	2.25	0.00	0.000	4	0.121	0.051	2645	1113	1453
12671	1.01	236.6	147.8	9.5	621	12675	0.00	2.22	0.00	0.000	6	0.000	0.046	2645	2523	1453
12992	1.12	251.3	125.7	6.5	637	13012	0.12	0.00	13.15	0.937	6	0.076	0.000	2699	2523	1395
13323	1.12	251.3	97.3	8.2	656	13329	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2523	1394
13666	1.12	251.3	67.1	9.0	717	13671	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2523	1394
14009	1.13	255.6	37.9	6.9	778	14022	0.00	2.28	5.03	0.752	4	0.000	0.051	2700	1116	1378
14039	1.25	289.8	36.0	5.9	783	14075	0.00	2.22	28.12	0.953	6	0.000	0.047	2699	2531	1238
14413	1.34	289.8	10.3	7.4	849	14420	0.10	2.28	0.00	0.000	4	0.084	0.051	2746	1114	1234
14442	1.34	289.8	7.2	10.0	854	14449	0.00	2.22	0.00	0.000	6	0.000	0.047	2746	2518	1234
14503	end climb: SURFACE_DEPTH_REACHED
state	14503	begin surface coast
14527	end surface coast: CONTROL_FINISHED_OK
state	14527	begin surface