Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 206 * 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 206 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 27 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 -25787.453 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 -25787.453

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 27 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 206 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 072029,6641.811,-6017.815,40,1.7,44,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.218,0.053

_SM_DEPTHo 1.64 KALMAN_X 22434.4,332.7,-289.6,-148372.4,1068.6

_SM_ANGLEo -66.7 KALMAN_Y 4765.3,-1644.8,921.1,-28285.0,-752.4

GPS2 072527,6641.781,-6017.903,12,1.2,12,-38.0 MHEAD_RNG_PITCHd_Wd 321.6,18389,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 532

Post-dive calculations and measurements:

FINISH 0.9,1.018641 TCM_TEMP 15.40

SM_CCo 14267,0.00,0.000,0,0,1183,303.19 XPDR_PINGS 0

SM_GC 1.77,7.32,0.00,0.00,0.073,0.000,0.000,166,2335,1183,-10.37,-0.14,303.19 _24V_AH 21.3,41.778

RAFOS_CLK 809 _10V_AH 10.5,17.621

RAFOS 0,1224662656,8.083333,8.071111,83,59,59,58,53,53,506,496,208,195,142,171 DATA_FILE_SIZE 31541,876

RAFOS_FIX 6642.272461,-6014.232422,221008,080820,4,88,0.85 CAP_FILE_SIZE 121088,0

IRIDIUM_FIX 6543.17,-6809.92,160198,030329 CFSIZE 260165632,235323392

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

HUMID 1884 SOUNDSPEED 1448.3

INTERNAL_PRESSURE 8.50619 GPS 221008,112558,6641.869,-6022.071,32,2.9,51,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 269 123.29 SBE_CT 686 24 351.18

Roll_motor 123 83 219.92 SBE_O2 597 19 241.75

VBD_pump_during_apogee 406 1241 10739.24 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 60.83 nil 0 0 0.00

Iridium_during_connect 38 160 132.07 nil 0 0 0.00

Iridium_during_xfer 115 223 547.15

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.56

TT8 1626 19 340.17

LPSleep 10291 2 249.63

TT8_Active 598 19 125.13

TT8_Sampling 1679 39 703.82

TT8_CF8 383 45 185.08

TT8_Kalman 33 81 28.71

Analog_circuits 1493 12 188.22

GPS_charging 0 0 0.00

Compass 1659 8 139.39

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.08 -146.0 0.0 0.0 0 121 0.00 0.00 -104.15 0.000 2 0.000 0.000 167 2323 2771

124 -1.08 -146.0 3.2 -2.7 18 149 8.88 2.40 -8.70 0.000 4 0.269 0.084 2192 3742 3019

259 -0.63 -146.0 31.2 -18.7 41 266 0.38 2.22 0.00 0.000 6 0.176 0.047 2295 2344 3022

604 -0.63 -146.0 65.2 -8.1 102 610 0.00 2.25 0.00 0.000 4 0.000 0.059 2295 933 3023

835 -0.59 -146.0 85.6 -8.4 143 841 0.00 2.28 0.00 0.000 6 0.000 0.054 2295 2350 3023

1166 -0.59 -146.0 110.9 -7.4 183 1167 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 2350 3023

1476 -0.66 -146.0 131.9 -6.6 198 1480 0.00 2.33 0.00 0.000 4 0.000 0.074 2295 3753 3023

1635 -0.79 -146.0 143.1 -6.8 205 1639 0.12 2.22 0.00 0.000 6 0.092 0.044 2249 2325 3023

1966 -0.72 -146.0 172.0 -8.8 221 1968 0.12 0.00 0.00 0.000 6 0.171 0.000 2281 2324 3023

2277 -0.77 -146.0 194.2 -7.1 236 2281 0.00 2.35 0.00 0.000 4 0.000 0.072 2281 3749 3023

2333 -0.87 -146.0 198.5 -7.4 238 2337 0.15 2.20 0.00 0.000 6 0.093 0.044 2230 2344 3023

2654 -0.77 -146.0 228.5 -9.6 254 2659 0.15 2.25 0.00 0.000 4 0.162 0.058 2269 934 3022

2794 -0.77 -146.0 240.4 -8.0 260 2798 0.00 2.25 0.00 0.000 6 0.000 0.055 2270 2339 3022

3121 -0.83 -146.0 262.6 -6.7 276 3125 0.00 2.33 0.00 0.000 4 0.000 0.073 2270 3752 3022

3268 -0.93 -146.0 272.4 -6.2 282 3273 0.15 2.22 0.00 0.000 6 0.092 0.044 2217 2330 3022

3588 -0.83 -146.0 296.9 -7.6 298 3593 0.15 2.35 0.00 0.000 4 0.156 0.071 2258 3745 3021

3656 -0.91 -146.0 301.3 -6.5 301 3660 0.00 2.20 0.00 0.000 6 0.000 0.044 2258 2340 3021

3988 -0.96 -146.0 322.2 -6.5 317 3990 0.12 0.00 0.00 0.000 6 0.100 0.000 2213 2340 3021

4298 -0.86 -146.0 348.6 -8.6 332 4303 0.15 2.35 0.00 0.000 4 0.162 0.070 2254 3747 3021

4375 -0.94 -146.0 354.6 -7.3 335 4382 0.10 2.20 0.00 0.000 6 0.103 0.043 2219 2339 3021

4691 -0.86 -146.0 379.1 -7.5 351 4695 0.12 2.25 0.00 0.000 4 0.163 0.057 2253 929 3021

4768 -0.86 -146.0 384.9 -7.4 354 4774 0.00 2.28 0.00 0.000 6 0.000 0.053 2253 2353 3021

5103 -0.92 -146.0 406.0 -6.5 369 5107 0.00 2.30 0.00 0.000 4 0.000 0.070 2253 3751 3021

5204 -1.01 -146.0 412.8 -7.0 371 5209 0.15 2.22 0.00 0.000 6 0.099 0.043 2201 2325 3022

5522 -0.89 -146.0 438.9 -8.2 379 5527 0.15 2.38 0.00 0.000 4 0.156 0.069 2242 3749 3021

5600 -0.95 -146.0 444.5 -7.2 380 5606 0.00 2.20 0.00 0.000 6 0.000 0.043 2242 2341 3021

5931 -0.95 -146.0 465.8 -6.3 389 5935 0.00 2.25 0.00 0.000 4 0.000 0.057 2242 925 3022

5985 -0.95 -146.0 469.7 -7.4 390 5990 0.00 2.30 0.00 0.000 6 0.000 0.053 2242 2344 3022

6305 -0.95 -146.0 489.5 -6.1 398 6308 0.00 2.33 0.00 0.000 4 0.000 0.070 2242 3754 3023

6451 -1.02 -146.0 499.0 -6.5 401 6455 0.12 2.22 0.00 0.000 6 0.096 0.042 2198 2323 3023

6768 -0.91 -146.0 522.4 -7.4 409 6773 0.15 2.20 0.00 0.000 4 0.160 0.055 2239 942 3023

6863 -0.91 -146.0 529.1 -7.1 411 6867 0.00 2.25 0.00 0.000 6 0.000 0.053 2239 2347 3023

6941 end dive: TARGET_DEPTH_EXCEEDED

state 6941 begin apogee

6946 -0.34 0.0 534.0 6.0 413 7079 0.40 0.00 129.90 1.241 6 0.145 0.000 2362 2528 2420

7080 end apogee: CONTROL_FINISHED_OK

state 7080 begin climb

7082 1.08 146.0 537.2 0.0 416 7227 1.08 0.00 136.35 1.140 6 0.114 0.000 2670 2528 1824

7549 0.95 146.0 500.9 8.4 428 7554 0.12 2.40 0.00 0.000 4 0.151 0.068 2638 3929 1820

7559 0.83 146.0 499.9 8.6 428 7564 0.10 2.30 0.00 0.000 6 0.152 0.041 2612 2516 1821

7871 0.92 165.9 480.2 6.3 436 7892 0.10 0.00 17.70 1.137 6 0.089 0.000 2652 2516 1743

8197 0.87 165.9 453.9 8.3 444 8201 0.12 2.38 0.00 0.000 4 0.142 0.067 2616 3939 1742

8223 0.87 165.9 451.6 7.9 444 8227 0.00 2.28 0.00 0.000 6 0.000 0.041 2616 2515 1742

8560 0.97 184.6 429.6 6.4 453 8585 0.12 2.45 16.70 1.136 4 0.085 0.069 2664 3931 1666

8603 0.83 184.6 426.4 8.3 454 8607 0.17 2.25 0.00 0.000 6 0.146 0.042 2615 2515 1666

8926 0.98 224.4 406.7 5.7 462 8967 0.12 0.00 33.78 1.155 6 0.082 0.000 2665 2513 1505

9274 0.98 224.4 380.1 7.7 476 9278 0.00 2.35 0.00 0.000 4 0.000 0.067 2665 3929 1503

9283 0.98 224.4 379.1 7.9 476 9288 0.00 2.25 0.00 0.000 6 0.000 0.041 2665 2521 1503

9605 0.98 224.4 352.6 9.0 492 9606 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2520 1503

9914 0.98 224.4 325.5 8.3 507 9918 0.00 2.22 0.00 0.000 4 0.000 0.057 2665 1115 1503

9930 0.98 224.4 324.1 8.2 507 9937 0.00 2.28 0.00 0.000 6 0.000 0.051 2665 2555 1503

10245 0.98 224.4 299.4 7.5 523 10246 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2555 1503

10554 0.98 224.4 277.1 7.1 538 10558 0.00 2.30 0.00 0.000 4 0.000 0.054 2665 1111 1503

10564 0.98 224.4 276.3 7.1 538 10569 0.00 2.25 0.00 0.000 6 0.000 0.050 2665 2515 1502

10885 0.98 224.4 253.2 7.5 554 10889 0.00 2.25 0.00 0.000 4 0.000 0.055 2665 1109 1502

10913 1.05 231.8 251.1 6.8 555 10929 0.00 2.25 7.20 0.950 6 0.000 0.051 2665 2529 1475

11238 1.05 231.8 226.7 7.5 571 11242 0.00 2.28 0.00 0.000 4 0.000 0.054 2665 1110 1475

11255 1.11 231.8 225.4 7.5 571 11261 0.00 2.25 0.00 0.000 6 0.000 0.051 2665 2525 1474

11571 1.18 242.5 203.1 6.7 587 11587 0.10 2.28 10.55 1.013 4 0.086 0.055 2709 1114 1431

11620 1.18 242.5 199.0 8.5 588 11624 0.00 2.25 0.00 0.000 6 0.000 0.051 2709 2520 1431

11941 1.11 242.5 170.0 9.0 604 11945 0.12 2.30 0.00 0.000 4 0.139 0.067 2672 3926 1430

11967 1.11 242.5 167.4 8.8 605 11971 0.00 2.20 0.00 0.000 6 0.000 0.042 2672 2518 1430

12295 1.18 243.5 143.5 7.0 621 12296 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2518 1430

12604 1.29 270.9 125.1 6.1 636 12631 0.15 0.00 24.55 1.063 6 0.077 0.000 2732 2517 1316

12935 1.23 270.9 96.7 8.3 655 12941 0.12 0.00 0.00 0.000 6 0.140 0.000 2696 2517 1311

13279 1.30 270.9 69.4 7.7 716 13285 0.08 2.35 0.00 0.000 4 0.107 0.071 2731 3924 1310

13297 1.30 270.9 67.8 8.0 719 13304 0.00 2.22 0.00 0.000 6 0.000 0.045 2731 2505 1311

13641 1.31 277.0 39.3 6.8 780 13654 0.00 2.22 5.90 0.868 4 0.000 0.059 2731 1115 1289

13677 1.33 293.5 36.9 6.5 786 13700 0.00 2.25 15.38 0.996 6 0.000 0.054 2731 2520 1222

14039 1.38 296.3 11.3 6.9 850 14045 0.00 2.28 0.00 0.000 4 0.000 0.058 2731 1115 1218

14074 1.46 302.3 8.8 6.8 856 14088 0.08 2.28 8.27 0.916 6 0.101 0.053 2765 2530 1187

14159 end climb: SURFACE_DEPTH_REACHED

state 14159 begin surface coast

14191 end surface coast: CONTROL_FINISHED_OK

state 14191 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	206	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	27	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	-25787.453	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	072029,6641.811,-6017.815,40,1.7,44,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.218,0.053
_SM_DEPTHo	1.64	KALMAN_X	22434.4,332.7,-289.6,-148372.4,1068.6
_SM_ANGLEo	-66.7	KALMAN_Y	4765.3,-1644.8,921.1,-28285.0,-752.4
GPS2	072527,6641.781,-6017.903,12,1.2,12,-38.0	MHEAD_RNG_PITCHd_Wd	321.6,18389,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	532

FINISH	0.9,1.018641	TCM_TEMP	15.40
SM_CCo	14267,0.00,0.000,0,0,1183,303.19	XPDR_PINGS	0
SM_GC	1.77,7.32,0.00,0.00,0.073,0.000,0.000,166,2335,1183,-10.37,-0.14,303.19	_24V_AH	21.3,41.778
RAFOS_CLK	809	_10V_AH	10.5,17.621
RAFOS	0,1224662656,8.083333,8.071111,83,59,59,58,53,53,506,496,208,195,142,171	DATA_FILE_SIZE	31541,876
RAFOS_FIX	6642.272461,-6014.232422,221008,080820,4,88,0.85	CAP_FILE_SIZE	121088,0
IRIDIUM_FIX	6543.17,-6809.92,160198,030329	CFSIZE	260165632,235323392
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1884	SOUNDSPEED	1448.3
INTERNAL_PRESSURE	8.50619	GPS	221008,112558,6641.869,-6022.071,32,2.9,51,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	269	123.29	SBE_CT	686	24	351.18
Roll_motor	123	83	219.92	SBE_O2	597	19	241.75
VBD_pump_during_apogee	406	1241	10739.24	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	60.83	nil	0	0	0.00
Iridium_during_connect	38	160	132.07	nil	0	0	0.00
Iridium_during_xfer	115	223	547.15
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.56
TT8	1626	19	340.17
LPSleep	10291	2	249.63
TT8_Active	598	19	125.13
TT8_Sampling	1679	39	703.82
TT8_CF8	383	45	185.08
TT8_Kalman	33	81	28.71
Analog_circuits	1493	12	188.22
GPS_charging	0	0	0.00
Compass	1659	8	139.39
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.08	-146.0	0.0	0.0	0	121	0.00	0.00	-104.15	0.000	2	0.000	0.000	167	2323	2771
124	-1.08	-146.0	3.2	-2.7	18	149	8.88	2.40	-8.70	0.000	4	0.269	0.084	2192	3742	3019
259	-0.63	-146.0	31.2	-18.7	41	266	0.38	2.22	0.00	0.000	6	0.176	0.047	2295	2344	3022
604	-0.63	-146.0	65.2	-8.1	102	610	0.00	2.25	0.00	0.000	4	0.000	0.059	2295	933	3023
835	-0.59	-146.0	85.6	-8.4	143	841	0.00	2.28	0.00	0.000	6	0.000	0.054	2295	2350	3023
1166	-0.59	-146.0	110.9	-7.4	183	1167	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	2350	3023
1476	-0.66	-146.0	131.9	-6.6	198	1480	0.00	2.33	0.00	0.000	4	0.000	0.074	2295	3753	3023
1635	-0.79	-146.0	143.1	-6.8	205	1639	0.12	2.22	0.00	0.000	6	0.092	0.044	2249	2325	3023
1966	-0.72	-146.0	172.0	-8.8	221	1968	0.12	0.00	0.00	0.000	6	0.171	0.000	2281	2324	3023
2277	-0.77	-146.0	194.2	-7.1	236	2281	0.00	2.35	0.00	0.000	4	0.000	0.072	2281	3749	3023
2333	-0.87	-146.0	198.5	-7.4	238	2337	0.15	2.20	0.00	0.000	6	0.093	0.044	2230	2344	3023
2654	-0.77	-146.0	228.5	-9.6	254	2659	0.15	2.25	0.00	0.000	4	0.162	0.058	2269	934	3022
2794	-0.77	-146.0	240.4	-8.0	260	2798	0.00	2.25	0.00	0.000	6	0.000	0.055	2270	2339	3022
3121	-0.83	-146.0	262.6	-6.7	276	3125	0.00	2.33	0.00	0.000	4	0.000	0.073	2270	3752	3022
3268	-0.93	-146.0	272.4	-6.2	282	3273	0.15	2.22	0.00	0.000	6	0.092	0.044	2217	2330	3022
3588	-0.83	-146.0	296.9	-7.6	298	3593	0.15	2.35	0.00	0.000	4	0.156	0.071	2258	3745	3021
3656	-0.91	-146.0	301.3	-6.5	301	3660	0.00	2.20	0.00	0.000	6	0.000	0.044	2258	2340	3021
3988	-0.96	-146.0	322.2	-6.5	317	3990	0.12	0.00	0.00	0.000	6	0.100	0.000	2213	2340	3021
4298	-0.86	-146.0	348.6	-8.6	332	4303	0.15	2.35	0.00	0.000	4	0.162	0.070	2254	3747	3021
4375	-0.94	-146.0	354.6	-7.3	335	4382	0.10	2.20	0.00	0.000	6	0.103	0.043	2219	2339	3021
4691	-0.86	-146.0	379.1	-7.5	351	4695	0.12	2.25	0.00	0.000	4	0.163	0.057	2253	929	3021
4768	-0.86	-146.0	384.9	-7.4	354	4774	0.00	2.28	0.00	0.000	6	0.000	0.053	2253	2353	3021
5103	-0.92	-146.0	406.0	-6.5	369	5107	0.00	2.30	0.00	0.000	4	0.000	0.070	2253	3751	3021
5204	-1.01	-146.0	412.8	-7.0	371	5209	0.15	2.22	0.00	0.000	6	0.099	0.043	2201	2325	3022
5522	-0.89	-146.0	438.9	-8.2	379	5527	0.15	2.38	0.00	0.000	4	0.156	0.069	2242	3749	3021
5600	-0.95	-146.0	444.5	-7.2	380	5606	0.00	2.20	0.00	0.000	6	0.000	0.043	2242	2341	3021
5931	-0.95	-146.0	465.8	-6.3	389	5935	0.00	2.25	0.00	0.000	4	0.000	0.057	2242	925	3022
5985	-0.95	-146.0	469.7	-7.4	390	5990	0.00	2.30	0.00	0.000	6	0.000	0.053	2242	2344	3022
6305	-0.95	-146.0	489.5	-6.1	398	6308	0.00	2.33	0.00	0.000	4	0.000	0.070	2242	3754	3023
6451	-1.02	-146.0	499.0	-6.5	401	6455	0.12	2.22	0.00	0.000	6	0.096	0.042	2198	2323	3023
6768	-0.91	-146.0	522.4	-7.4	409	6773	0.15	2.20	0.00	0.000	4	0.160	0.055	2239	942	3023
6863	-0.91	-146.0	529.1	-7.1	411	6867	0.00	2.25	0.00	0.000	6	0.000	0.053	2239	2347	3023
6941	end dive: TARGET_DEPTH_EXCEEDED
state	6941	begin apogee
6946	-0.34	0.0	534.0	6.0	413	7079	0.40	0.00	129.90	1.241	6	0.145	0.000	2362	2528	2420
7080	end apogee: CONTROL_FINISHED_OK
state	7080	begin climb
7082	1.08	146.0	537.2	0.0	416	7227	1.08	0.00	136.35	1.140	6	0.114	0.000	2670	2528	1824
7549	0.95	146.0	500.9	8.4	428	7554	0.12	2.40	0.00	0.000	4	0.151	0.068	2638	3929	1820
7559	0.83	146.0	499.9	8.6	428	7564	0.10	2.30	0.00	0.000	6	0.152	0.041	2612	2516	1821
7871	0.92	165.9	480.2	6.3	436	7892	0.10	0.00	17.70	1.137	6	0.089	0.000	2652	2516	1743
8197	0.87	165.9	453.9	8.3	444	8201	0.12	2.38	0.00	0.000	4	0.142	0.067	2616	3939	1742
8223	0.87	165.9	451.6	7.9	444	8227	0.00	2.28	0.00	0.000	6	0.000	0.041	2616	2515	1742
8560	0.97	184.6	429.6	6.4	453	8585	0.12	2.45	16.70	1.136	4	0.085	0.069	2664	3931	1666
8603	0.83	184.6	426.4	8.3	454	8607	0.17	2.25	0.00	0.000	6	0.146	0.042	2615	2515	1666
8926	0.98	224.4	406.7	5.7	462	8967	0.12	0.00	33.78	1.155	6	0.082	0.000	2665	2513	1505
9274	0.98	224.4	380.1	7.7	476	9278	0.00	2.35	0.00	0.000	4	0.000	0.067	2665	3929	1503
9283	0.98	224.4	379.1	7.9	476	9288	0.00	2.25	0.00	0.000	6	0.000	0.041	2665	2521	1503
9605	0.98	224.4	352.6	9.0	492	9606	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2520	1503
9914	0.98	224.4	325.5	8.3	507	9918	0.00	2.22	0.00	0.000	4	0.000	0.057	2665	1115	1503
9930	0.98	224.4	324.1	8.2	507	9937	0.00	2.28	0.00	0.000	6	0.000	0.051	2665	2555	1503
10245	0.98	224.4	299.4	7.5	523	10246	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2555	1503
10554	0.98	224.4	277.1	7.1	538	10558	0.00	2.30	0.00	0.000	4	0.000	0.054	2665	1111	1503
10564	0.98	224.4	276.3	7.1	538	10569	0.00	2.25	0.00	0.000	6	0.000	0.050	2665	2515	1502
10885	0.98	224.4	253.2	7.5	554	10889	0.00	2.25	0.00	0.000	4	0.000	0.055	2665	1109	1502
10913	1.05	231.8	251.1	6.8	555	10929	0.00	2.25	7.20	0.950	6	0.000	0.051	2665	2529	1475
11238	1.05	231.8	226.7	7.5	571	11242	0.00	2.28	0.00	0.000	4	0.000	0.054	2665	1110	1475
11255	1.11	231.8	225.4	7.5	571	11261	0.00	2.25	0.00	0.000	6	0.000	0.051	2665	2525	1474
11571	1.18	242.5	203.1	6.7	587	11587	0.10	2.28	10.55	1.013	4	0.086	0.055	2709	1114	1431
11620	1.18	242.5	199.0	8.5	588	11624	0.00	2.25	0.00	0.000	6	0.000	0.051	2709	2520	1431
11941	1.11	242.5	170.0	9.0	604	11945	0.12	2.30	0.00	0.000	4	0.139	0.067	2672	3926	1430
11967	1.11	242.5	167.4	8.8	605	11971	0.00	2.20	0.00	0.000	6	0.000	0.042	2672	2518	1430
12295	1.18	243.5	143.5	7.0	621	12296	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2518	1430
12604	1.29	270.9	125.1	6.1	636	12631	0.15	0.00	24.55	1.063	6	0.077	0.000	2732	2517	1316
12935	1.23	270.9	96.7	8.3	655	12941	0.12	0.00	0.00	0.000	6	0.140	0.000	2696	2517	1311
13279	1.30	270.9	69.4	7.7	716	13285	0.08	2.35	0.00	0.000	4	0.107	0.071	2731	3924	1310
13297	1.30	270.9	67.8	8.0	719	13304	0.00	2.22	0.00	0.000	6	0.000	0.045	2731	2505	1311
13641	1.31	277.0	39.3	6.8	780	13654	0.00	2.22	5.90	0.868	4	0.000	0.059	2731	1115	1289
13677	1.33	293.5	36.9	6.5	786	13700	0.00	2.25	15.38	0.996	6	0.000	0.054	2731	2520	1222
14039	1.38	296.3	11.3	6.9	850	14045	0.00	2.28	0.00	0.000	4	0.000	0.058	2731	1115	1218
14074	1.46	302.3	8.8	6.8	856	14088	0.08	2.28	8.27	0.916	6	0.101	0.053	2765	2530	1187
14159	end climb: SURFACE_DEPTH_REACHED
state	14159	begin surface coast
14191	end surface coast: CONTROL_FINISHED_OK
state	14191	begin surface