Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 205 * 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 205 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 33 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 900 T_GPS_CHARGE -25772.426 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 -25772.426

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 33 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 205 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 030939,6642.609,-6014.298,35,1.5,43,-38.0 TGT_NAME TARGET_W_IN

_CALLS 2 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 6 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.210,-0.079

_SM_DEPTHo 1.59 KALMAN_X 21512.9,187.3,214.0,-145156.3,74.5

_SM_ANGLEo -64.4 KALMAN_Y 6005.6,-221.9,-1792.1,-27057.3,1095.5

GPS2 031821,6642.420,-6014.251,8,1.9,8,-38.0 MHEAD_RNG_PITCHd_Wd 287.4,21075,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 539

Post-dive calculations and measurements:

FINISH 0.9,1.015270 TCM_TEMP 15.30

SM_CCo 14326,13.77,0.980,0,0,1298,275.23 XPDR_PINGS 2

SM_GC 1.58,0.00,0.00,13.77,0.000,0.000,0.980,167,2327,1298,-10.44,-0.37,275.23 _24V_AH 21.3,41.636

RAFOS_CLK 823 _10V_AH 10.5,17.559

RAFOS 0,1224648253,4.083333,4.070278,72,64,53,53,53,51,212,162,182,127,234,514 DATA_FILE_SIZE 31666,850

RAFOS_FIX 3808.059570,41801.730469,221008,040441,3,93,11035.11 CAP_FILE_SIZE 120193,0

IRIDIUM_FIX 6614.97,-6011.26,160198,030327 CFSIZE 260165632,235380736

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1900 SOUNDSPEED 1449.4

INTERNAL_PRESSURE 8.51595 GPS 221008,072029,6641.811,-6017.815,40,1.7,44,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 264 117.09 SBE_CT 668 24 341.78

Roll_motor 132 84 238.61 SBE_O2 580 19 235.02

VBD_pump_during_apogee 360 1249 9604.02 nil 0 0 0.00

VBD_pump_during_surface 13 980 287.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 129.16 nil 0 0 0.00

Iridium_during_connect 78 160 268.03 nil 0 0 0.00

Iridium_during_xfer 209 223 995.38

Transponder_ping 0 420 4.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.32

TT8 1610 19 336.76

LPSleep 10589 2 256.85

TT8_Active 533 19 111.63

TT8_Sampling 1613 39 676.21

TT8_CF8 560 45 270.43

TT8_Kalman 33 81 28.71

Analog_circuits 1427 12 179.81

GPS_charging 0 0 0.00

Compass 1598 8 134.24

RAFOS 1800 1 28.35

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 -145.9 0.0 0.0 0 129 0.00 0.00 -109.93 0.000 2 0.000 0.000 165 2338 2756

132 -1.08 -146.0 3.4 -3.2 19 158 8.80 2.40 -9.05 0.000 4 0.265 0.084 2199 3752 3018

411 -0.76 -146.0 50.6 -13.4 68 418 0.25 2.22 0.00 0.000 6 0.166 0.044 2270 2340 3022

755 -0.67 -146.0 82.3 -9.5 129 761 0.00 2.35 0.00 0.000 4 0.000 0.070 2270 3757 3023

947 -0.67 -146.0 101.1 -9.4 161 951 0.00 2.22 0.00 0.000 6 0.000 0.044 2270 2337 3023

1267 -0.67 -146.0 130.3 -8.7 177 1268 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2336 3023

1577 -0.67 -146.0 154.1 -7.0 192 1581 0.00 2.35 0.00 0.000 4 0.000 0.071 2270 3748 3023

1615 -0.67 -146.0 156.7 -6.8 193 1621 0.00 2.20 0.00 0.000 6 0.000 0.044 2270 2340 3022

1930 -0.67 -146.0 179.6 -7.5 209 1931 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2340 3023

2239 -0.67 -146.0 203.6 -7.4 224 2243 0.00 2.35 0.00 0.000 4 0.000 0.071 2270 3753 3022

2318 -0.75 -146.0 209.2 -7.1 227 2321 0.00 2.22 0.00 0.000 6 0.000 0.044 2269 2330 3022

2638 -0.80 -146.0 231.7 -7.1 243 2640 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2329 3022

2948 -0.86 -146.0 252.5 -6.4 258 2953 0.00 2.35 0.00 0.000 4 0.000 0.072 2270 3753 3022

3017 -0.96 -146.0 256.8 -6.4 261 3021 0.15 2.22 0.00 0.000 6 0.092 0.044 2217 2330 3021

3344 -0.86 -146.0 282.7 -8.0 277 3348 0.12 2.22 0.00 0.000 4 0.159 0.058 2251 926 3021

3421 -0.86 -146.0 289.2 -8.1 280 3425 0.00 2.28 0.00 0.000 6 0.000 0.054 2251 2347 3021

3742 -0.86 -146.0 313.0 -7.4 296 3746 0.00 2.30 0.00 0.000 4 0.000 0.071 2251 3745 3021

3837 -0.92 -146.0 320.2 -7.3 300 3841 0.00 2.20 0.00 0.000 6 0.000 0.044 2251 2336 3021

4163 -0.92 -146.0 342.4 -6.6 316 4164 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2336 3020

4473 -0.92 -146.0 362.3 -6.8 331 4477 0.00 2.35 0.00 0.000 4 0.000 0.070 2251 3753 3021

4609 -1.00 -146.0 371.4 -6.8 337 4613 0.12 2.20 0.00 0.000 6 0.103 0.042 2207 2340 3021

4934 -0.89 -146.0 397.2 -8.1 353 4936 0.12 0.00 0.00 0.000 6 0.162 0.000 2240 2340 3021

5260 -0.89 -146.0 419.2 -6.6 362 5262 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2340 3022

5585 -0.89 -146.0 438.4 -5.6 370 5589 0.00 2.35 0.00 0.000 4 0.000 0.069 2240 3756 3022

5641 -0.95 -146.0 441.6 -6.3 371 5644 0.00 2.22 0.00 0.000 6 0.000 0.042 2241 2329 3022

5959 -0.95 -146.0 460.4 -6.2 379 5963 0.00 2.20 0.00 0.000 4 0.000 0.056 2241 935 3022

6004 -0.95 -146.0 463.5 -7.2 380 6008 0.00 2.25 0.00 0.000 6 0.000 0.052 2240 2349 3022

6333 -0.95 -146.0 483.9 -6.3 388 6337 0.00 2.30 0.00 0.000 4 0.000 0.069 2241 3752 3023

6424 -1.03 -146.0 490.5 -8.0 390 6428 0.12 2.20 0.00 0.000 6 0.097 0.041 2197 2334 3023

6753 -0.92 -146.0 517.2 -8.4 398 6757 0.15 2.22 0.00 0.000 4 0.160 0.055 2237 934 3023

6802 -0.92 -146.0 520.7 -7.3 399 6806 0.00 2.25 0.00 0.000 6 0.000 0.052 2237 2345 3023

7083 end dive: TARGET_DEPTH_EXCEEDED

state 7083 begin apogee

7089 -0.34 0.0 539.7 6.7 406 7222 0.40 0.00 129.50 1.249 6 0.142 0.000 2362 2525 2420

7222 end apogee: CONTROL_FINISHED_OK

state 7222 begin climb

7225 1.08 146.0 542.7 0.0 409 7374 1.08 2.65 135.02 1.140 4 0.110 0.054 2674 1124 1824

7398 0.98 146.0 531.0 8.2 413 7403 0.12 2.50 0.00 0.000 6 0.144 0.048 2644 2531 1821

7740 0.98 146.0 505.1 7.3 422 7741 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2532 1820

8065 0.92 146.0 480.8 7.5 430 8069 0.00 2.33 0.00 0.000 4 0.000 0.070 2644 3941 1821

8104 0.77 146.0 477.4 9.2 430 8111 0.15 2.25 0.00 0.000 6 0.153 0.041 2602 2508 1819

8436 0.92 182.9 458.0 5.8 439 8469 0.12 0.00 31.25 1.181 6 0.081 0.000 2652 2508 1674

8759 0.92 182.9 434.6 7.2 447 8763 0.00 2.38 0.00 0.000 4 0.000 0.068 2652 3931 1671

8771 0.92 182.9 433.7 7.1 447 8775 0.00 2.22 0.00 0.000 6 0.000 0.041 2652 2518 1671

9089 0.92 182.9 410.6 7.2 455 9093 0.00 2.35 0.00 0.000 4 0.000 0.069 2652 3941 1671

9099 0.92 182.9 409.6 7.2 455 9103 0.00 2.25 0.00 0.000 6 0.000 0.041 2652 2513 1670

9420 0.92 182.9 384.7 8.2 467 9424 0.00 2.22 0.00 0.000 4 0.000 0.056 2652 1108 1671

9431 0.92 182.9 383.9 8.0 467 9435 0.00 2.28 0.00 0.000 6 0.000 0.051 2652 2543 1670

9751 0.92 182.9 358.5 7.9 483 9755 0.00 2.25 0.00 0.000 4 0.000 0.067 2652 3937 1671

9761 0.92 182.9 357.6 7.9 483 9765 0.00 2.20 0.00 0.000 6 0.000 0.041 2652 2510 1670

10082 0.92 182.9 333.3 7.2 499 10086 0.00 2.33 0.00 0.000 4 0.000 0.068 2652 3936 1670

10097 0.92 182.9 332.1 7.5 499 10104 0.00 2.20 0.00 0.000 6 0.000 0.041 2652 2507 1670

10413 0.93 189.0 310.4 6.8 515 10424 0.00 2.35 6.30 0.935 4 0.000 0.067 2651 3939 1649

10446 0.87 189.0 307.7 8.0 516 10453 0.12 2.20 0.00 0.000 6 0.150 0.041 2617 2521 1648

10762 1.05 224.9 289.4 5.8 532 10798 0.15 2.33 30.23 1.111 4 0.077 0.055 2678 1109 1503

10808 1.05 224.9 285.9 7.3 534 10813 0.00 2.30 0.00 0.000 6 0.000 0.048 2678 2522 1502

11136 1.05 224.9 259.1 8.1 550 11139 0.00 2.30 0.00 0.000 4 0.000 0.067 2678 3929 1501

11185 0.93 224.9 254.2 10.1 552 11190 0.15 2.20 0.00 0.000 6 0.143 0.042 2636 2522 1501

11512 1.18 224.9 231.2 7.2 568 11516 0.17 2.33 0.00 0.000 4 0.074 0.067 2706 3927 1501

11545 1.04 224.9 228.3 8.5 569 11551 0.17 2.20 0.00 0.000 6 0.140 0.042 2655 2514 1501

11860 1.14 249.8 207.7 6.2 585 11887 0.10 2.28 21.33 1.070 4 0.097 0.056 2694 1109 1400

11926 1.14 249.8 202.7 7.7 588 11930 0.00 2.28 0.00 0.000 6 0.000 0.051 2694 2520 1398

12252 1.14 249.8 174.0 9.3 604 12253 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2520 1398

12561 1.14 249.8 146.7 8.7 619 12565 0.00 2.30 0.00 0.000 4 0.000 0.069 2694 3928 1398

12595 1.05 249.8 143.4 9.7 620 12599 0.12 2.20 0.00 0.000 6 0.147 0.043 2660 2520 1398

12915 1.36 249.8 119.5 7.9 636 12919 0.20 2.22 0.00 0.000 4 0.081 0.055 2740 1108 1397

12930 1.50 249.8 118.2 7.5 636 12937 0.00 2.25 0.00 0.000 6 0.000 0.053 2740 2520 1398

13255 1.56 249.8 91.3 7.8 664 13262 0.12 2.25 0.00 0.000 4 0.087 0.055 2789 1116 1397

13279 1.56 249.8 89.1 8.4 668 13286 0.00 2.25 0.00 0.000 6 0.000 0.052 2790 2532 1397

13623 1.32 249.8 52.2 11.2 729 13630 0.22 2.30 0.00 0.000 4 0.149 0.070 2720 3933 1397

13692 1.19 249.8 45.3 10.0 741 13699 0.10 2.22 0.00 0.000 6 0.152 0.045 2692 2508 1397

14037 1.44 257.3 20.5 6.8 802 14050 0.17 2.42 7.25 0.911 4 0.077 0.072 2761 3936 1369

14057 1.59 257.3 18.8 7.2 805 14064 0.00 2.22 0.00 0.000 6 0.000 0.043 2760 2508 1369

14280 end climb: SURFACE_DEPTH_REACHED

state 14280 begin surface coast

14310 end surface coast: CONTROL_FINISHED_OK

state 14310 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	205	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	33	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	900	T_GPS_CHARGE	-25772.426	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	030939,6642.609,-6014.298,35,1.5,43,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	2	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	6	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.210,-0.079
_SM_DEPTHo	1.59	KALMAN_X	21512.9,187.3,214.0,-145156.3,74.5
_SM_ANGLEo	-64.4	KALMAN_Y	6005.6,-221.9,-1792.1,-27057.3,1095.5
GPS2	031821,6642.420,-6014.251,8,1.9,8,-38.0	MHEAD_RNG_PITCHd_Wd	287.4,21075,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	539

FINISH	0.9,1.015270	TCM_TEMP	15.30
SM_CCo	14326,13.77,0.980,0,0,1298,275.23	XPDR_PINGS	2
SM_GC	1.58,0.00,0.00,13.77,0.000,0.000,0.980,167,2327,1298,-10.44,-0.37,275.23	_24V_AH	21.3,41.636
RAFOS_CLK	823	_10V_AH	10.5,17.559
RAFOS	0,1224648253,4.083333,4.070278,72,64,53,53,53,51,212,162,182,127,234,514	DATA_FILE_SIZE	31666,850
RAFOS_FIX	3808.059570,41801.730469,221008,040441,3,93,11035.11	CAP_FILE_SIZE	120193,0
IRIDIUM_FIX	6614.97,-6011.26,160198,030327	CFSIZE	260165632,235380736
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1900	SOUNDSPEED	1449.4
INTERNAL_PRESSURE	8.51595	GPS	221008,072029,6641.811,-6017.815,40,1.7,44,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	264	117.09	SBE_CT	668	24	341.78
Roll_motor	132	84	238.61	SBE_O2	580	19	235.02
VBD_pump_during_apogee	360	1249	9604.02	nil	0	0	0.00
VBD_pump_during_surface	13	980	287.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	129.16	nil	0	0	0.00
Iridium_during_connect	78	160	268.03	nil	0	0	0.00
Iridium_during_xfer	209	223	995.38
Transponder_ping	0	420	4.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.32
TT8	1610	19	336.76
LPSleep	10589	2	256.85
TT8_Active	533	19	111.63
TT8_Sampling	1613	39	676.21
TT8_CF8	560	45	270.43
TT8_Kalman	33	81	28.71
Analog_circuits	1427	12	179.81
GPS_charging	0	0	0.00
Compass	1598	8	134.24
RAFOS	1800	1	28.35
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	-145.9	0.0	0.0	0	129	0.00	0.00	-109.93	0.000	2	0.000	0.000	165	2338	2756
132	-1.08	-146.0	3.4	-3.2	19	158	8.80	2.40	-9.05	0.000	4	0.265	0.084	2199	3752	3018
411	-0.76	-146.0	50.6	-13.4	68	418	0.25	2.22	0.00	0.000	6	0.166	0.044	2270	2340	3022
755	-0.67	-146.0	82.3	-9.5	129	761	0.00	2.35	0.00	0.000	4	0.000	0.070	2270	3757	3023
947	-0.67	-146.0	101.1	-9.4	161	951	0.00	2.22	0.00	0.000	6	0.000	0.044	2270	2337	3023
1267	-0.67	-146.0	130.3	-8.7	177	1268	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2336	3023
1577	-0.67	-146.0	154.1	-7.0	192	1581	0.00	2.35	0.00	0.000	4	0.000	0.071	2270	3748	3023
1615	-0.67	-146.0	156.7	-6.8	193	1621	0.00	2.20	0.00	0.000	6	0.000	0.044	2270	2340	3022
1930	-0.67	-146.0	179.6	-7.5	209	1931	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2340	3023
2239	-0.67	-146.0	203.6	-7.4	224	2243	0.00	2.35	0.00	0.000	4	0.000	0.071	2270	3753	3022
2318	-0.75	-146.0	209.2	-7.1	227	2321	0.00	2.22	0.00	0.000	6	0.000	0.044	2269	2330	3022
2638	-0.80	-146.0	231.7	-7.1	243	2640	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2329	3022
2948	-0.86	-146.0	252.5	-6.4	258	2953	0.00	2.35	0.00	0.000	4	0.000	0.072	2270	3753	3022
3017	-0.96	-146.0	256.8	-6.4	261	3021	0.15	2.22	0.00	0.000	6	0.092	0.044	2217	2330	3021
3344	-0.86	-146.0	282.7	-8.0	277	3348	0.12	2.22	0.00	0.000	4	0.159	0.058	2251	926	3021
3421	-0.86	-146.0	289.2	-8.1	280	3425	0.00	2.28	0.00	0.000	6	0.000	0.054	2251	2347	3021
3742	-0.86	-146.0	313.0	-7.4	296	3746	0.00	2.30	0.00	0.000	4	0.000	0.071	2251	3745	3021
3837	-0.92	-146.0	320.2	-7.3	300	3841	0.00	2.20	0.00	0.000	6	0.000	0.044	2251	2336	3021
4163	-0.92	-146.0	342.4	-6.6	316	4164	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2336	3020
4473	-0.92	-146.0	362.3	-6.8	331	4477	0.00	2.35	0.00	0.000	4	0.000	0.070	2251	3753	3021
4609	-1.00	-146.0	371.4	-6.8	337	4613	0.12	2.20	0.00	0.000	6	0.103	0.042	2207	2340	3021
4934	-0.89	-146.0	397.2	-8.1	353	4936	0.12	0.00	0.00	0.000	6	0.162	0.000	2240	2340	3021
5260	-0.89	-146.0	419.2	-6.6	362	5262	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2340	3022
5585	-0.89	-146.0	438.4	-5.6	370	5589	0.00	2.35	0.00	0.000	4	0.000	0.069	2240	3756	3022
5641	-0.95	-146.0	441.6	-6.3	371	5644	0.00	2.22	0.00	0.000	6	0.000	0.042	2241	2329	3022
5959	-0.95	-146.0	460.4	-6.2	379	5963	0.00	2.20	0.00	0.000	4	0.000	0.056	2241	935	3022
6004	-0.95	-146.0	463.5	-7.2	380	6008	0.00	2.25	0.00	0.000	6	0.000	0.052	2240	2349	3022
6333	-0.95	-146.0	483.9	-6.3	388	6337	0.00	2.30	0.00	0.000	4	0.000	0.069	2241	3752	3023
6424	-1.03	-146.0	490.5	-8.0	390	6428	0.12	2.20	0.00	0.000	6	0.097	0.041	2197	2334	3023
6753	-0.92	-146.0	517.2	-8.4	398	6757	0.15	2.22	0.00	0.000	4	0.160	0.055	2237	934	3023
6802	-0.92	-146.0	520.7	-7.3	399	6806	0.00	2.25	0.00	0.000	6	0.000	0.052	2237	2345	3023
7083	end dive: TARGET_DEPTH_EXCEEDED
state	7083	begin apogee
7089	-0.34	0.0	539.7	6.7	406	7222	0.40	0.00	129.50	1.249	6	0.142	0.000	2362	2525	2420
7222	end apogee: CONTROL_FINISHED_OK
state	7222	begin climb
7225	1.08	146.0	542.7	0.0	409	7374	1.08	2.65	135.02	1.140	4	0.110	0.054	2674	1124	1824
7398	0.98	146.0	531.0	8.2	413	7403	0.12	2.50	0.00	0.000	6	0.144	0.048	2644	2531	1821
7740	0.98	146.0	505.1	7.3	422	7741	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2532	1820
8065	0.92	146.0	480.8	7.5	430	8069	0.00	2.33	0.00	0.000	4	0.000	0.070	2644	3941	1821
8104	0.77	146.0	477.4	9.2	430	8111	0.15	2.25	0.00	0.000	6	0.153	0.041	2602	2508	1819
8436	0.92	182.9	458.0	5.8	439	8469	0.12	0.00	31.25	1.181	6	0.081	0.000	2652	2508	1674
8759	0.92	182.9	434.6	7.2	447	8763	0.00	2.38	0.00	0.000	4	0.000	0.068	2652	3931	1671
8771	0.92	182.9	433.7	7.1	447	8775	0.00	2.22	0.00	0.000	6	0.000	0.041	2652	2518	1671
9089	0.92	182.9	410.6	7.2	455	9093	0.00	2.35	0.00	0.000	4	0.000	0.069	2652	3941	1671
9099	0.92	182.9	409.6	7.2	455	9103	0.00	2.25	0.00	0.000	6	0.000	0.041	2652	2513	1670
9420	0.92	182.9	384.7	8.2	467	9424	0.00	2.22	0.00	0.000	4	0.000	0.056	2652	1108	1671
9431	0.92	182.9	383.9	8.0	467	9435	0.00	2.28	0.00	0.000	6	0.000	0.051	2652	2543	1670
9751	0.92	182.9	358.5	7.9	483	9755	0.00	2.25	0.00	0.000	4	0.000	0.067	2652	3937	1671
9761	0.92	182.9	357.6	7.9	483	9765	0.00	2.20	0.00	0.000	6	0.000	0.041	2652	2510	1670
10082	0.92	182.9	333.3	7.2	499	10086	0.00	2.33	0.00	0.000	4	0.000	0.068	2652	3936	1670
10097	0.92	182.9	332.1	7.5	499	10104	0.00	2.20	0.00	0.000	6	0.000	0.041	2652	2507	1670
10413	0.93	189.0	310.4	6.8	515	10424	0.00	2.35	6.30	0.935	4	0.000	0.067	2651	3939	1649
10446	0.87	189.0	307.7	8.0	516	10453	0.12	2.20	0.00	0.000	6	0.150	0.041	2617	2521	1648
10762	1.05	224.9	289.4	5.8	532	10798	0.15	2.33	30.23	1.111	4	0.077	0.055	2678	1109	1503
10808	1.05	224.9	285.9	7.3	534	10813	0.00	2.30	0.00	0.000	6	0.000	0.048	2678	2522	1502
11136	1.05	224.9	259.1	8.1	550	11139	0.00	2.30	0.00	0.000	4	0.000	0.067	2678	3929	1501
11185	0.93	224.9	254.2	10.1	552	11190	0.15	2.20	0.00	0.000	6	0.143	0.042	2636	2522	1501
11512	1.18	224.9	231.2	7.2	568	11516	0.17	2.33	0.00	0.000	4	0.074	0.067	2706	3927	1501
11545	1.04	224.9	228.3	8.5	569	11551	0.17	2.20	0.00	0.000	6	0.140	0.042	2655	2514	1501
11860	1.14	249.8	207.7	6.2	585	11887	0.10	2.28	21.33	1.070	4	0.097	0.056	2694	1109	1400
11926	1.14	249.8	202.7	7.7	588	11930	0.00	2.28	0.00	0.000	6	0.000	0.051	2694	2520	1398
12252	1.14	249.8	174.0	9.3	604	12253	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2520	1398
12561	1.14	249.8	146.7	8.7	619	12565	0.00	2.30	0.00	0.000	4	0.000	0.069	2694	3928	1398
12595	1.05	249.8	143.4	9.7	620	12599	0.12	2.20	0.00	0.000	6	0.147	0.043	2660	2520	1398
12915	1.36	249.8	119.5	7.9	636	12919	0.20	2.22	0.00	0.000	4	0.081	0.055	2740	1108	1397
12930	1.50	249.8	118.2	7.5	636	12937	0.00	2.25	0.00	0.000	6	0.000	0.053	2740	2520	1398
13255	1.56	249.8	91.3	7.8	664	13262	0.12	2.25	0.00	0.000	4	0.087	0.055	2789	1116	1397
13279	1.56	249.8	89.1	8.4	668	13286	0.00	2.25	0.00	0.000	6	0.000	0.052	2790	2532	1397
13623	1.32	249.8	52.2	11.2	729	13630	0.22	2.30	0.00	0.000	4	0.149	0.070	2720	3933	1397
13692	1.19	249.8	45.3	10.0	741	13699	0.10	2.22	0.00	0.000	6	0.152	0.045	2692	2508	1397
14037	1.44	257.3	20.5	6.8	802	14050	0.17	2.42	7.25	0.911	4	0.077	0.072	2761	3936	1369
14057	1.59	257.3	18.8	7.2	805	14064	0.00	2.22	0.00	0.000	6	0.000	0.043	2760	2508	1369
14280	end climb: SURFACE_DEPTH_REACHED
state	14280	begin surface coast
14310	end surface coast: CONTROL_FINISHED_OK
state	14310	begin surface