Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 207 * 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 207 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -2 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -25799.447 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 -25799.447

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 34 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 207 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 112558,6641.869,-6022.071,32,2.9,51,-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 -0.197,0.108

_SM_DEPTHo 1.61 KALMAN_X 22689.3,45.1,79.4,-151680.8,225.6

_SM_ANGLEo -66.9 KALMAN_Y 3950.4,-1347.4,742.9,-27483.5,-1564.7

GPS2 113057,6641.843,-6022.010,9,1.8,9,-38.0 MHEAD_RNG_PITCHd_Wd 336.8,15379,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 525

Post-dive calculations and measurements:

FINISH 0.9,1.024543 TCM_TEMP 15.20

SM_CCo 14449,0.00,0.000,0,0,1193,300.98 XPDR_PINGS 1

SM_GC 1.65,7.30,0.00,0.00,0.074,0.000,0.000,162,2342,1193,-10.39,0.06,300.98 _24V_AH 21.3,41.919

RAFOS_CLK 821 _10V_AH 10.5,17.683

RAFOS 0,1224677042,12.083333,12.067223,96,66,59,58,54,49,590,207,146,219,172,163 DATA_FILE_SIZE 31540,899

RAFOS_FIX 6641.522461,-6017.607910,221008,121214,5,89,0.99 CAP_FILE_SIZE 117881,0

IRIDIUM_FIX 6609.62,-6021.37,160198,070705 CFSIZE 260165632,235266048

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

HUMID 1895 SOUNDSPEED 1447.5

INTERNAL_PRESSURE 8.49642 GPS 221008,153408,6641.541,-6026.378,28,1.0,28,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 269 124.72 SBE_CT 700 24 358.18

Roll_motor 101 76 165.05 SBE_O2 613 19 248.22

VBD_pump_during_apogee 405 1238 10685.69 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 72.38 nil 0 0 0.00

Iridium_during_connect 42 160 144.15 nil 0 0 0.00

Iridium_during_xfer 112 223 535.91

Transponder_ping 0 420 2.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.97

TT8 1632 19 341.43

LPSleep 10523 2 255.25

TT8_Active 562 19 117.67

TT8_Sampling 1669 39 699.69

TT8_CF8 376 45 181.54

TT8_Kalman 33 81 28.70

Analog_circuits 1449 12 182.61

GPS_charging 0 0 0.00

Compass 1648 8 138.52

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.08 -146.0 0.0 0.0 0 132 0.00 0.00 -114.45 0.000 2 0.000 0.000 166 2333 2810

135 -1.08 -146.0 3.3 -2.5 20 155 8.90 0.00 -6.95 0.000 6 0.269 0.000 2199 2331 3018

494 -0.74 -146.0 61.1 -12.9 83 500 0.22 2.25 0.00 0.000 4 0.178 0.058 2268 939 3023

591 -0.60 -146.0 71.4 -9.4 100 598 0.15 2.28 0.00 0.000 6 0.165 0.056 2310 2347 3023

935 -0.66 -146.0 95.1 -6.7 161 942 0.00 2.33 0.00 0.000 4 0.000 0.074 2310 3752 3023

1106 -0.81 -146.0 106.8 -7.3 178 1110 0.17 2.20 0.00 0.000 6 0.084 0.044 2246 2337 3023

1426 -0.70 -146.0 135.9 -9.1 194 1430 0.15 2.25 0.00 0.000 4 0.166 0.058 2285 927 3023

1498 -0.70 -146.0 142.2 -8.4 197 1502 0.00 2.28 0.00 0.000 6 0.000 0.055 2286 2346 3023

1825 -0.76 -146.0 164.1 -6.1 213 1828 0.00 2.33 0.00 0.000 4 0.000 0.072 2286 3757 3023

1916 -0.86 -146.0 170.0 -6.3 217 1920 0.15 2.22 0.00 0.000 6 0.092 0.044 2232 2334 3023

2247 -0.75 -146.0 196.5 -7.8 233 2249 0.15 0.00 0.00 0.000 6 0.163 0.000 2272 2334 3023

2556 -0.75 -146.0 216.2 -6.5 248 2557 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2334 3023

2867 -0.81 -146.0 236.9 -6.9 263 2868 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2334 3022

3175 -0.87 -146.0 256.6 -6.1 278 3180 0.10 2.25 0.00 0.000 4 0.109 0.059 2235 928 3022

3276 -0.75 -146.0 264.4 -7.4 282 3282 0.15 2.28 0.00 0.000 6 0.172 0.057 2273 2341 3022

3591 -0.83 -146.0 281.1 -5.2 298 3595 0.00 2.33 0.00 0.000 4 0.000 0.073 2273 3746 3021

3659 -0.95 -146.0 284.6 -5.5 301 3664 0.15 2.20 0.00 0.000 6 0.100 0.044 2220 2338 3021

3992 -0.86 -146.0 310.2 -8.3 317 3996 0.12 2.25 0.00 0.000 4 0.165 0.058 2253 932 3021

4081 -0.86 -146.0 317.4 -7.7 321 4085 0.00 2.28 0.00 0.000 6 0.000 0.056 2253 2345 3021

4407 -0.86 -146.0 339.7 -6.8 337 4411 0.00 2.33 0.00 0.000 4 0.000 0.072 2253 3749 3021

4565 -0.94 -146.0 351.1 -7.2 344 4569 0.00 2.20 0.00 0.000 6 0.000 0.044 2253 2341 3021

4892 -0.99 -146.0 372.3 -6.5 360 4896 0.12 2.25 0.00 0.000 4 0.102 0.056 2209 929 3021

4986 -0.84 -146.0 380.4 -8.4 364 4990 0.17 2.28 0.00 0.000 6 0.162 0.054 2255 2350 3021

5328 -0.90 -146.0 402.7 -6.6 380 5332 0.00 2.33 0.00 0.000 4 0.000 0.073 2255 3754 3021

5440 -1.01 -146.0 410.5 -6.8 382 5444 0.15 2.22 0.00 0.000 6 0.089 0.043 2202 2327 3021

5787 -0.91 -146.0 438.3 -8.0 391 5789 0.15 0.00 0.00 0.000 6 0.155 0.000 2243 2327 3021

6112 -0.91 -146.0 457.7 -5.8 399 6116 0.00 2.38 0.00 0.000 4 0.000 0.071 2243 3752 3022

6196 -0.97 -146.0 462.6 -5.8 400 6202 0.00 2.20 0.00 0.000 6 0.000 0.042 2243 2340 3022

6528 -1.02 -146.0 480.9 -5.6 409 6530 0.12 0.00 0.00 0.000 6 0.100 0.000 2196 2340 3022

6852 -0.91 -146.0 504.6 -7.4 417 6856 0.15 2.35 0.00 0.000 4 0.156 0.068 2236 3751 3023

6957 -0.91 -146.0 511.6 -6.7 419 6961 0.00 2.20 0.00 0.000 6 0.000 0.042 2236 2336 3023

7181 end dive: TARGET_DEPTH_EXCEEDED

state 7181 begin apogee

7187 -0.34 0.0 525.9 6.3 425 7319 0.43 0.00 129.70 1.239 6 0.148 0.000 2363 2519 2420

7320 end apogee: CONTROL_FINISHED_OK

state 7320 begin climb

7322 1.08 146.0 528.8 0.0 428 7467 1.08 0.00 136.35 1.135 6 0.112 0.000 2672 2519 1824

7789 0.94 146.0 491.2 9.2 440 7793 0.15 2.45 0.00 0.000 4 0.148 0.068 2632 3943 1820

7822 0.85 146.0 488.2 8.3 440 7828 0.00 2.33 0.00 0.000 6 0.000 0.041 2632 2511 1820

8152 0.85 146.0 464.0 7.3 449 8156 0.00 2.38 0.00 0.000 4 0.000 0.069 2633 3930 1820

8207 0.76 146.0 459.3 8.8 450 8212 0.12 2.22 0.00 0.000 6 0.152 0.042 2599 2518 1820

8526 0.90 166.3 438.9 6.3 458 8546 0.12 0.00 17.50 1.141 6 0.081 0.000 2651 2518 1742

8888 0.90 166.3 410.6 7.7 467 8892 0.00 2.35 0.00 0.000 4 0.000 0.068 2651 3943 1741

8921 0.77 166.3 407.8 8.6 467 8926 0.17 2.22 0.00 0.000 6 0.145 0.042 2601 2521 1740

9240 0.97 208.8 389.7 5.6 479 9283 0.15 2.42 35.78 1.156 4 0.075 0.069 2663 3929 1567

9288 0.99 227.5 386.2 6.4 481 9310 0.00 2.28 17.15 1.068 6 0.000 0.041 2662 2519 1492

9632 0.99 227.5 358.9 8.0 498 9633 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2519 1489

9940 0.99 227.5 334.1 8.2 513 9942 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2519 1488

10250 0.99 227.5 308.2 8.5 528 10254 0.00 2.33 0.00 0.000 4 0.000 0.069 2663 3930 1488

10260 0.99 227.5 307.2 8.4 528 10264 0.00 2.22 0.00 0.000 6 0.000 0.042 2663 2520 1488

10581 0.99 227.5 281.0 7.5 544 10582 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2519 1488

10890 1.00 231.7 258.5 6.9 559 10900 0.00 2.25 4.50 0.795 4 0.000 0.057 2662 1109 1475

10906 1.06 237.8 257.5 6.8 559 10918 0.00 2.25 6.88 0.927 6 0.000 0.051 2663 2525 1450

11241 1.12 240.9 234.5 6.9 576 11247 0.00 0.00 4.53 0.790 6 0.000 0.000 2663 2525 1437

11549 1.20 252.8 213.6 6.6 591 11570 0.12 2.38 11.40 1.019 4 0.077 0.070 2718 3930 1388

11576 1.11 252.8 211.3 8.9 592 11580 0.15 2.22 0.00 0.000 6 0.147 0.042 2677 2519 1388

11901 1.11 252.8 187.2 7.3 608 11905 0.00 2.25 0.00 0.000 4 0.000 0.056 2676 1110 1388

11912 1.16 252.8 186.4 7.4 608 11916 0.00 2.28 0.00 0.000 6 0.000 0.051 2677 2532 1388

12233 1.22 252.8 162.7 7.1 624 12235 0.10 0.00 0.00 0.000 6 0.084 0.000 2720 2532 1387

12542 1.14 252.8 136.8 8.4 639 12544 0.15 0.00 0.00 0.000 6 0.131 0.000 2675 2532 1387

12852 1.24 258.1 115.8 6.8 654 12860 0.12 0.00 5.62 0.872 6 0.080 0.000 2728 2532 1368

13171 1.18 258.1 86.7 8.8 687 13177 0.15 0.00 0.00 0.000 6 0.130 0.000 2683 2532 1367

13515 1.29 279.0 64.0 6.3 748 13540 0.12 2.40 18.62 1.034 4 0.076 0.073 2735 3935 1281

13546 1.29 279.0 61.6 7.2 753 13552 0.00 2.25 0.00 0.000 6 0.000 0.044 2735 2522 1280

13889 1.34 279.0 32.5 7.7 814 13896 0.00 2.35 0.00 0.000 4 0.000 0.071 2735 3930 1278

13981 1.29 279.0 25.5 7.4 830 13988 0.00 2.22 0.00 0.000 6 0.000 0.045 2735 2515 1277

14326 1.32 303.1 3.1 6.2 891 14344 0.00 0.00 16.98 0.995 2 0.000 0.000 2735 2515 1198

14345 end climb: SURFACE_DEPTH_REACHED

state 14345 begin surface coast

14373 end surface coast: CONTROL_FINISHED_OK

state 14373 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	207	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-2	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-25799.447	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	112558,6641.869,-6022.071,32,2.9,51,-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	-0.197,0.108
_SM_DEPTHo	1.61	KALMAN_X	22689.3,45.1,79.4,-151680.8,225.6
_SM_ANGLEo	-66.9	KALMAN_Y	3950.4,-1347.4,742.9,-27483.5,-1564.7
GPS2	113057,6641.843,-6022.010,9,1.8,9,-38.0	MHEAD_RNG_PITCHd_Wd	336.8,15379,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	525

FINISH	0.9,1.024543	TCM_TEMP	15.20
SM_CCo	14449,0.00,0.000,0,0,1193,300.98	XPDR_PINGS	1
SM_GC	1.65,7.30,0.00,0.00,0.074,0.000,0.000,162,2342,1193,-10.39,0.06,300.98	_24V_AH	21.3,41.919
RAFOS_CLK	821	_10V_AH	10.5,17.683
RAFOS	0,1224677042,12.083333,12.067223,96,66,59,58,54,49,590,207,146,219,172,163	DATA_FILE_SIZE	31540,899
RAFOS_FIX	6641.522461,-6017.607910,221008,121214,5,89,0.99	CAP_FILE_SIZE	117881,0
IRIDIUM_FIX	6609.62,-6021.37,160198,070705	CFSIZE	260165632,235266048
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1895	SOUNDSPEED	1447.5
INTERNAL_PRESSURE	8.49642	GPS	221008,153408,6641.541,-6026.378,28,1.0,28,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	269	124.72	SBE_CT	700	24	358.18
Roll_motor	101	76	165.05	SBE_O2	613	19	248.22
VBD_pump_during_apogee	405	1238	10685.69	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	72.38	nil	0	0	0.00
Iridium_during_connect	42	160	144.15	nil	0	0	0.00
Iridium_during_xfer	112	223	535.91
Transponder_ping	0	420	2.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.97
TT8	1632	19	341.43
LPSleep	10523	2	255.25
TT8_Active	562	19	117.67
TT8_Sampling	1669	39	699.69
TT8_CF8	376	45	181.54
TT8_Kalman	33	81	28.70
Analog_circuits	1449	12	182.61
GPS_charging	0	0	0.00
Compass	1648	8	138.52
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.08	-146.0	0.0	0.0	0	132	0.00	0.00	-114.45	0.000	2	0.000	0.000	166	2333	2810
135	-1.08	-146.0	3.3	-2.5	20	155	8.90	0.00	-6.95	0.000	6	0.269	0.000	2199	2331	3018
494	-0.74	-146.0	61.1	-12.9	83	500	0.22	2.25	0.00	0.000	4	0.178	0.058	2268	939	3023
591	-0.60	-146.0	71.4	-9.4	100	598	0.15	2.28	0.00	0.000	6	0.165	0.056	2310	2347	3023
935	-0.66	-146.0	95.1	-6.7	161	942	0.00	2.33	0.00	0.000	4	0.000	0.074	2310	3752	3023
1106	-0.81	-146.0	106.8	-7.3	178	1110	0.17	2.20	0.00	0.000	6	0.084	0.044	2246	2337	3023
1426	-0.70	-146.0	135.9	-9.1	194	1430	0.15	2.25	0.00	0.000	4	0.166	0.058	2285	927	3023
1498	-0.70	-146.0	142.2	-8.4	197	1502	0.00	2.28	0.00	0.000	6	0.000	0.055	2286	2346	3023
1825	-0.76	-146.0	164.1	-6.1	213	1828	0.00	2.33	0.00	0.000	4	0.000	0.072	2286	3757	3023
1916	-0.86	-146.0	170.0	-6.3	217	1920	0.15	2.22	0.00	0.000	6	0.092	0.044	2232	2334	3023
2247	-0.75	-146.0	196.5	-7.8	233	2249	0.15	0.00	0.00	0.000	6	0.163	0.000	2272	2334	3023
2556	-0.75	-146.0	216.2	-6.5	248	2557	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2334	3023
2867	-0.81	-146.0	236.9	-6.9	263	2868	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2334	3022
3175	-0.87	-146.0	256.6	-6.1	278	3180	0.10	2.25	0.00	0.000	4	0.109	0.059	2235	928	3022
3276	-0.75	-146.0	264.4	-7.4	282	3282	0.15	2.28	0.00	0.000	6	0.172	0.057	2273	2341	3022
3591	-0.83	-146.0	281.1	-5.2	298	3595	0.00	2.33	0.00	0.000	4	0.000	0.073	2273	3746	3021
3659	-0.95	-146.0	284.6	-5.5	301	3664	0.15	2.20	0.00	0.000	6	0.100	0.044	2220	2338	3021
3992	-0.86	-146.0	310.2	-8.3	317	3996	0.12	2.25	0.00	0.000	4	0.165	0.058	2253	932	3021
4081	-0.86	-146.0	317.4	-7.7	321	4085	0.00	2.28	0.00	0.000	6	0.000	0.056	2253	2345	3021
4407	-0.86	-146.0	339.7	-6.8	337	4411	0.00	2.33	0.00	0.000	4	0.000	0.072	2253	3749	3021
4565	-0.94	-146.0	351.1	-7.2	344	4569	0.00	2.20	0.00	0.000	6	0.000	0.044	2253	2341	3021
4892	-0.99	-146.0	372.3	-6.5	360	4896	0.12	2.25	0.00	0.000	4	0.102	0.056	2209	929	3021
4986	-0.84	-146.0	380.4	-8.4	364	4990	0.17	2.28	0.00	0.000	6	0.162	0.054	2255	2350	3021
5328	-0.90	-146.0	402.7	-6.6	380	5332	0.00	2.33	0.00	0.000	4	0.000	0.073	2255	3754	3021
5440	-1.01	-146.0	410.5	-6.8	382	5444	0.15	2.22	0.00	0.000	6	0.089	0.043	2202	2327	3021
5787	-0.91	-146.0	438.3	-8.0	391	5789	0.15	0.00	0.00	0.000	6	0.155	0.000	2243	2327	3021
6112	-0.91	-146.0	457.7	-5.8	399	6116	0.00	2.38	0.00	0.000	4	0.000	0.071	2243	3752	3022
6196	-0.97	-146.0	462.6	-5.8	400	6202	0.00	2.20	0.00	0.000	6	0.000	0.042	2243	2340	3022
6528	-1.02	-146.0	480.9	-5.6	409	6530	0.12	0.00	0.00	0.000	6	0.100	0.000	2196	2340	3022
6852	-0.91	-146.0	504.6	-7.4	417	6856	0.15	2.35	0.00	0.000	4	0.156	0.068	2236	3751	3023
6957	-0.91	-146.0	511.6	-6.7	419	6961	0.00	2.20	0.00	0.000	6	0.000	0.042	2236	2336	3023
7181	end dive: TARGET_DEPTH_EXCEEDED
state	7181	begin apogee
7187	-0.34	0.0	525.9	6.3	425	7319	0.43	0.00	129.70	1.239	6	0.148	0.000	2363	2519	2420
7320	end apogee: CONTROL_FINISHED_OK
state	7320	begin climb
7322	1.08	146.0	528.8	0.0	428	7467	1.08	0.00	136.35	1.135	6	0.112	0.000	2672	2519	1824
7789	0.94	146.0	491.2	9.2	440	7793	0.15	2.45	0.00	0.000	4	0.148	0.068	2632	3943	1820
7822	0.85	146.0	488.2	8.3	440	7828	0.00	2.33	0.00	0.000	6	0.000	0.041	2632	2511	1820
8152	0.85	146.0	464.0	7.3	449	8156	0.00	2.38	0.00	0.000	4	0.000	0.069	2633	3930	1820
8207	0.76	146.0	459.3	8.8	450	8212	0.12	2.22	0.00	0.000	6	0.152	0.042	2599	2518	1820
8526	0.90	166.3	438.9	6.3	458	8546	0.12	0.00	17.50	1.141	6	0.081	0.000	2651	2518	1742
8888	0.90	166.3	410.6	7.7	467	8892	0.00	2.35	0.00	0.000	4	0.000	0.068	2651	3943	1741
8921	0.77	166.3	407.8	8.6	467	8926	0.17	2.22	0.00	0.000	6	0.145	0.042	2601	2521	1740
9240	0.97	208.8	389.7	5.6	479	9283	0.15	2.42	35.78	1.156	4	0.075	0.069	2663	3929	1567
9288	0.99	227.5	386.2	6.4	481	9310	0.00	2.28	17.15	1.068	6	0.000	0.041	2662	2519	1492
9632	0.99	227.5	358.9	8.0	498	9633	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2519	1489
9940	0.99	227.5	334.1	8.2	513	9942	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2519	1488
10250	0.99	227.5	308.2	8.5	528	10254	0.00	2.33	0.00	0.000	4	0.000	0.069	2663	3930	1488
10260	0.99	227.5	307.2	8.4	528	10264	0.00	2.22	0.00	0.000	6	0.000	0.042	2663	2520	1488
10581	0.99	227.5	281.0	7.5	544	10582	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2519	1488
10890	1.00	231.7	258.5	6.9	559	10900	0.00	2.25	4.50	0.795	4	0.000	0.057	2662	1109	1475
10906	1.06	237.8	257.5	6.8	559	10918	0.00	2.25	6.88	0.927	6	0.000	0.051	2663	2525	1450
11241	1.12	240.9	234.5	6.9	576	11247	0.00	0.00	4.53	0.790	6	0.000	0.000	2663	2525	1437
11549	1.20	252.8	213.6	6.6	591	11570	0.12	2.38	11.40	1.019	4	0.077	0.070	2718	3930	1388
11576	1.11	252.8	211.3	8.9	592	11580	0.15	2.22	0.00	0.000	6	0.147	0.042	2677	2519	1388
11901	1.11	252.8	187.2	7.3	608	11905	0.00	2.25	0.00	0.000	4	0.000	0.056	2676	1110	1388
11912	1.16	252.8	186.4	7.4	608	11916	0.00	2.28	0.00	0.000	6	0.000	0.051	2677	2532	1388
12233	1.22	252.8	162.7	7.1	624	12235	0.10	0.00	0.00	0.000	6	0.084	0.000	2720	2532	1387
12542	1.14	252.8	136.8	8.4	639	12544	0.15	0.00	0.00	0.000	6	0.131	0.000	2675	2532	1387
12852	1.24	258.1	115.8	6.8	654	12860	0.12	0.00	5.62	0.872	6	0.080	0.000	2728	2532	1368
13171	1.18	258.1	86.7	8.8	687	13177	0.15	0.00	0.00	0.000	6	0.130	0.000	2683	2532	1367
13515	1.29	279.0	64.0	6.3	748	13540	0.12	2.40	18.62	1.034	4	0.076	0.073	2735	3935	1281
13546	1.29	279.0	61.6	7.2	753	13552	0.00	2.25	0.00	0.000	6	0.000	0.044	2735	2522	1280
13889	1.34	279.0	32.5	7.7	814	13896	0.00	2.35	0.00	0.000	4	0.000	0.071	2735	3930	1278
13981	1.29	279.0	25.5	7.4	830	13988	0.00	2.22	0.00	0.000	6	0.000	0.045	2735	2515	1277
14326	1.32	303.1	3.1	6.2	891	14344	0.00	0.00	16.98	0.995	2	0.000	0.000	2735	2515	1198
14345	end climb: SURFACE_DEPTH_REACHED
state	14345	begin surface coast
14373	end surface coast: CONTROL_FINISHED_OK
state	14373	begin surface