Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 208 * 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 208 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 29 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 -25810.119 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 -25810.119

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 29 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 208 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 153408,6641.541,-6026.378,28,1.0,28,-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 -0.128,-0.184

_SM_DEPTHo 1.58 KALMAN_X 22958.6,-354.6,28.0,-154621.5,115.2

_SM_ANGLEo -66.7 KALMAN_Y 2624.6,222.8,-1754.5,-25869.6,2826.2

GPS2 153920,6641.495,-6026.306,8,1.5,8,-38.0 MHEAD_RNG_PITCHd_Wd 252.8,12265,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 513

Post-dive calculations and measurements:

FINISH 0.8,1.013452 TCM_TEMP 15.30

SM_CCo 13785,0.00,0.000,0,0,1000,348.57 XPDR_PINGS 0

SM_GC 1.69,7.32,0.00,0.00,0.075,0.000,0.000,159,2330,1000,-10.40,-0.28,348.57 _24V_AH 21.3,42.071

RAFOS_CLK 785 _10V_AH 10.5,17.743

RAFOS 0,1224691444,16.083334,16.067778,123,60,60,57,56,51,589,159,148,178,216,135 DATA_FILE_SIZE 31557,876

RAFOS_FIX 6641.365723,-6021.663086,221008,161648,4,98,1.15 CAP_FILE_SIZE 117003,0

IRIDIUM_FIX 6609.62,-5839.88,160198,111144 CFSIZE 260165632,235208704

TT8_MAMPS 0.026845 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1887 SOUNDSPEED 1447.0

INTERNAL_PRESSURE 8.47689 GPS 221008,193137,6641.212,-6029.897,36,1.8,41,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 271 123.62 SBE_CT 685 24 350.19

Roll_motor 124 75 201.00 SBE_O2 596 19 241.43

VBD_pump_during_apogee 437 1231 11471.64 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 72.37 nil 0 0 0.00

Iridium_during_connect 48 160 164.98 nil 0 0 0.00

Iridium_during_xfer 120 223 570.52

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.27

TT8 1578 19 330.09

LPSleep 9920 2 240.61

TT8_Active 567 19 118.73

TT8_Sampling 1646 39 690.18

TT8_CF8 398 45 191.91

TT8_Kalman 33 81 28.70

Analog_circuits 1484 12 187.11

GPS_charging 0 0 0.00

Compass 1628 8 136.80

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 13 begin dive

15 -1.08 -146.0 0.0 0.0 0 132 0.00 0.00 -114.05 0.000 2 0.000 0.000 162 2342 2811

135 -1.08 -146.0 3.5 -3.4 20 160 8.95 2.35 -6.80 0.000 4 0.272 0.076 2196 929 3020

223 -0.47 -146.0 24.0 -21.1 35 230 0.50 2.30 0.00 0.000 6 0.187 0.054 2328 2350 3022

568 -0.54 -146.0 56.1 -7.4 96 574 0.00 2.30 0.00 0.000 4 0.000 0.071 2328 3745 3024

704 -0.67 -146.0 66.5 -7.8 120 711 0.15 2.22 0.00 0.000 6 0.087 0.044 2274 2327 3024

1049 -0.61 -146.0 100.0 -9.6 181 1055 0.12 2.22 0.00 0.000 4 0.156 0.059 2308 935 3024

1083 -0.61 -146.0 103.3 -8.6 183 1087 0.00 2.25 0.00 0.000 6 0.000 0.054 2308 2341 3024

1405 -0.71 -146.0 127.3 -7.0 199 1409 0.10 2.33 0.00 0.000 4 0.107 0.071 2271 3753 3023

1434 -0.71 -146.0 129.6 -8.9 200 1438 0.00 2.22 0.00 0.000 6 0.000 0.044 2271 2330 3024

1754 -0.71 -146.0 156.7 -7.7 216 1758 0.00 2.22 0.00 0.000 4 0.000 0.060 2271 932 3023

1801 -0.66 -146.0 160.1 -7.5 218 1805 0.00 2.25 0.00 0.000 6 0.000 0.055 2272 2343 3024

2132 -0.66 -146.0 183.7 -7.3 234 2136 0.00 2.33 0.00 0.000 4 0.000 0.073 2272 3756 3023

2227 -0.72 -146.0 190.8 -7.5 238 2231 0.00 2.22 0.00 0.000 6 0.000 0.044 2271 2331 3023

2548 -0.72 -146.0 214.9 -7.7 254 2552 0.00 2.38 0.00 0.000 4 0.000 0.073 2272 3753 3023

2688 -0.80 -146.0 226.1 -7.9 260 2692 0.00 2.22 0.00 0.000 6 0.000 0.045 2272 2334 3023

3016 -0.85 -146.0 250.1 -7.6 276 3020 0.00 2.35 0.00 0.000 4 0.000 0.072 2272 3746 3023

3071 -0.96 -146.0 254.6 -7.5 278 3076 0.15 2.20 0.00 0.000 6 0.094 0.044 2218 2340 3022

3392 -0.84 -146.0 284.8 -9.5 294 3397 0.15 2.38 0.00 0.000 4 0.157 0.072 2258 3757 3022

3436 -0.90 -146.0 288.7 -8.5 296 3440 0.00 2.22 0.00 0.000 6 0.000 0.044 2258 2338 3022

3762 -0.90 -146.0 312.3 -7.0 312 3764 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2338 3021

4072 -0.95 -146.0 334.6 -7.1 327 4077 0.12 2.25 0.00 0.000 4 0.100 0.058 2214 927 3022

4140 -0.80 -146.0 340.4 -9.1 330 4145 0.17 2.28 0.00 0.000 6 0.164 0.056 2259 2341 3021

4462 -0.86 -146.0 361.3 -6.5 346 4465 0.00 2.33 0.00 0.000 4 0.000 0.073 2259 3750 3022

4557 -0.96 -146.0 368.2 -7.0 350 4561 0.12 2.22 0.00 0.000 6 0.104 0.044 2217 2327 3021

4883 -0.88 -146.0 392.7 -7.2 366 4888 0.12 2.38 0.00 0.000 4 0.159 0.071 2249 3747 3021

4962 -0.94 -146.0 397.8 -6.1 369 4969 0.00 2.20 0.00 0.000 6 0.000 0.044 2248 2338 3021

5294 -0.94 -146.0 417.2 -5.9 379 5297 0.00 2.35 0.00 0.000 4 0.000 0.070 2249 3754 3022

5322 -0.99 -146.0 418.9 -5.6 379 5326 0.10 2.22 0.00 0.000 6 0.118 0.044 2214 2328 3022

5664 -0.92 -146.0 443.8 -7.2 388 5669 0.10 2.38 0.00 0.000 4 0.170 0.071 2240 3750 3022

5691 -0.92 -146.0 445.7 -6.5 388 5695 0.00 2.20 0.00 0.000 6 0.000 0.044 2240 2340 3022

6027 -0.92 -146.0 466.8 -6.2 397 6029 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2340 3023

6353 -0.92 -146.0 487.3 -6.5 405 6357 0.00 2.35 0.00 0.000 4 0.000 0.071 2240 3757 3024

6380 -0.98 -146.0 489.1 -7.1 405 6384 0.00 2.22 0.00 0.000 6 0.000 0.043 2240 2330 3023

6722 -0.98 -146.0 511.0 -6.5 414 6726 0.00 2.22 0.00 0.000 4 0.000 0.057 2240 927 3024

6752 end dive: TARGET_DEPTH_EXCEEDED

state 6753 begin apogee

6760 -0.34 0.0 513.4 7.4 414 6893 0.38 0.00 129.73 1.232 6 0.151 0.000 2357 2528 2420

6894 end apogee: CONTROL_FINISHED_OK

state 6894 begin climb

6896 1.08 146.0 517.0 0.0 418 7039 1.08 2.70 133.32 1.142 4 0.116 0.068 2666 3919 1823

7051 1.01 146.0 507.5 7.7 421 7055 0.00 2.47 0.00 0.000 6 0.000 0.040 2666 2516 1823

7389 0.89 146.0 480.8 8.0 430 7393 0.15 2.35 0.00 0.000 4 0.146 0.056 2626 1103 1820

7432 0.97 155.9 477.7 6.7 431 7447 0.00 2.35 9.38 1.027 6 0.000 0.053 2626 2520 1784

7755 0.99 168.2 456.5 6.6 439 7775 0.10 2.42 12.10 1.088 4 0.088 0.070 2666 3930 1733

7825 0.79 168.2 450.0 10.2 440 7830 0.22 2.28 0.00 0.000 6 0.143 0.043 2601 2506 1733

8162 0.96 204.2 430.1 5.8 449 8196 0.15 0.00 30.77 1.160 6 0.076 0.000 2662 2505 1586

8528 0.96 204.2 400.6 8.3 458 8529 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2505 1584

8836 0.96 204.2 374.2 8.7 472 8837 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2505 1584

9145 0.96 204.2 347.5 8.3 487 9149 0.00 2.35 0.00 0.000 4 0.000 0.071 2663 3936 1583

9184 0.85 204.2 343.9 9.7 488 9191 0.17 2.22 0.00 0.000 6 0.141 0.043 2612 2505 1583

9499 1.13 204.2 322.3 7.2 504 9504 0.20 2.38 0.00 0.000 4 0.074 0.070 2694 3941 1583

9599 0.91 204.2 312.4 10.7 508 9606 0.22 2.22 0.00 0.000 6 0.142 0.043 2629 2512 1584

9916 1.04 216.4 291.3 6.6 524 9932 0.12 2.22 11.30 1.048 4 0.082 0.056 2678 1116 1537

9965 1.04 216.4 287.1 9.1 525 9969 0.00 2.28 0.00 0.000 6 0.000 0.051 2678 2520 1536

10287 1.04 216.4 260.4 7.9 541 10290 0.00 2.30 0.00 0.000 4 0.000 0.069 2679 3932 1536

10319 0.92 216.4 257.5 9.1 542 10324 0.15 2.20 0.00 0.000 6 0.144 0.043 2636 2520 1536

10640 1.12 281.7 241.2 4.8 558 10701 0.15 0.00 54.45 1.093 6 0.081 0.000 2694 2520 1270

11009 1.12 281.7 212.0 8.7 576 11010 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2520 1265

11318 1.12 281.7 186.5 8.0 591 11322 0.00 2.25 0.00 0.000 4 0.000 0.058 2695 1112 1264

11357 1.17 281.7 183.2 7.9 592 11363 0.00 2.25 0.00 0.000 6 0.000 0.051 2695 2520 1263

11672 1.17 281.7 158.7 7.2 608 11676 0.00 2.25 0.00 0.000 4 0.000 0.058 2695 1119 1263

11699 1.25 294.4 156.9 6.6 609 11716 0.00 2.25 11.07 1.006 6 0.000 0.052 2695 2528 1218

12025 1.30 294.4 132.2 8.3 625 12027 0.08 0.00 0.00 0.000 6 0.105 0.000 2731 2528 1216

12333 1.30 294.4 103.7 9.1 640 12334 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2528 1216

12665 1.30 294.4 74.5 8.6 691 12671 0.00 2.28 0.00 0.000 4 0.000 0.059 2731 1119 1215

12705 1.30 294.4 70.9 8.9 698 12711 0.00 2.25 0.00 0.000 6 0.000 0.054 2732 2528 1215

13049 1.30 294.4 40.5 8.2 759 13055 0.00 2.28 0.00 0.000 4 0.000 0.058 2731 1115 1215

13118 1.30 298.5 35.7 6.9 771 13130 0.00 2.25 4.57 0.782 6 0.000 0.054 2731 2522 1201

13468 1.43 345.8 14.6 5.4 833 13514 0.00 0.00 40.53 1.019 6 0.000 0.000 2731 2522 1009

13674 end climb: SURFACE_DEPTH_REACHED

state 13674 begin surface coast

13709 end surface coast: CONTROL_FINISHED_OK

state 13709 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	208	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	29	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	-25810.119	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	153408,6641.541,-6026.378,28,1.0,28,-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	-0.128,-0.184
_SM_DEPTHo	1.58	KALMAN_X	22958.6,-354.6,28.0,-154621.5,115.2
_SM_ANGLEo	-66.7	KALMAN_Y	2624.6,222.8,-1754.5,-25869.6,2826.2
GPS2	153920,6641.495,-6026.306,8,1.5,8,-38.0	MHEAD_RNG_PITCHd_Wd	252.8,12265,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	513

FINISH	0.8,1.013452	TCM_TEMP	15.30
SM_CCo	13785,0.00,0.000,0,0,1000,348.57	XPDR_PINGS	0
SM_GC	1.69,7.32,0.00,0.00,0.075,0.000,0.000,159,2330,1000,-10.40,-0.28,348.57	_24V_AH	21.3,42.071
RAFOS_CLK	785	_10V_AH	10.5,17.743
RAFOS	0,1224691444,16.083334,16.067778,123,60,60,57,56,51,589,159,148,178,216,135	DATA_FILE_SIZE	31557,876
RAFOS_FIX	6641.365723,-6021.663086,221008,161648,4,98,1.15	CAP_FILE_SIZE	117003,0
IRIDIUM_FIX	6609.62,-5839.88,160198,111144	CFSIZE	260165632,235208704
TT8_MAMPS	0.026845	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1887	SOUNDSPEED	1447.0
INTERNAL_PRESSURE	8.47689	GPS	221008,193137,6641.212,-6029.897,36,1.8,41,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	271	123.62	SBE_CT	685	24	350.19
Roll_motor	124	75	201.00	SBE_O2	596	19	241.43
VBD_pump_during_apogee	437	1231	11471.64	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	72.37	nil	0	0	0.00
Iridium_during_connect	48	160	164.98	nil	0	0	0.00
Iridium_during_xfer	120	223	570.52
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.27
TT8	1578	19	330.09
LPSleep	9920	2	240.61
TT8_Active	567	19	118.73
TT8_Sampling	1646	39	690.18
TT8_CF8	398	45	191.91
TT8_Kalman	33	81	28.70
Analog_circuits	1484	12	187.11
GPS_charging	0	0	0.00
Compass	1628	8	136.80
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	13	begin dive
15	-1.08	-146.0	0.0	0.0	0	132	0.00	0.00	-114.05	0.000	2	0.000	0.000	162	2342	2811
135	-1.08	-146.0	3.5	-3.4	20	160	8.95	2.35	-6.80	0.000	4	0.272	0.076	2196	929	3020
223	-0.47	-146.0	24.0	-21.1	35	230	0.50	2.30	0.00	0.000	6	0.187	0.054	2328	2350	3022
568	-0.54	-146.0	56.1	-7.4	96	574	0.00	2.30	0.00	0.000	4	0.000	0.071	2328	3745	3024
704	-0.67	-146.0	66.5	-7.8	120	711	0.15	2.22	0.00	0.000	6	0.087	0.044	2274	2327	3024
1049	-0.61	-146.0	100.0	-9.6	181	1055	0.12	2.22	0.00	0.000	4	0.156	0.059	2308	935	3024
1083	-0.61	-146.0	103.3	-8.6	183	1087	0.00	2.25	0.00	0.000	6	0.000	0.054	2308	2341	3024
1405	-0.71	-146.0	127.3	-7.0	199	1409	0.10	2.33	0.00	0.000	4	0.107	0.071	2271	3753	3023
1434	-0.71	-146.0	129.6	-8.9	200	1438	0.00	2.22	0.00	0.000	6	0.000	0.044	2271	2330	3024
1754	-0.71	-146.0	156.7	-7.7	216	1758	0.00	2.22	0.00	0.000	4	0.000	0.060	2271	932	3023
1801	-0.66	-146.0	160.1	-7.5	218	1805	0.00	2.25	0.00	0.000	6	0.000	0.055	2272	2343	3024
2132	-0.66	-146.0	183.7	-7.3	234	2136	0.00	2.33	0.00	0.000	4	0.000	0.073	2272	3756	3023
2227	-0.72	-146.0	190.8	-7.5	238	2231	0.00	2.22	0.00	0.000	6	0.000	0.044	2271	2331	3023
2548	-0.72	-146.0	214.9	-7.7	254	2552	0.00	2.38	0.00	0.000	4	0.000	0.073	2272	3753	3023
2688	-0.80	-146.0	226.1	-7.9	260	2692	0.00	2.22	0.00	0.000	6	0.000	0.045	2272	2334	3023
3016	-0.85	-146.0	250.1	-7.6	276	3020	0.00	2.35	0.00	0.000	4	0.000	0.072	2272	3746	3023
3071	-0.96	-146.0	254.6	-7.5	278	3076	0.15	2.20	0.00	0.000	6	0.094	0.044	2218	2340	3022
3392	-0.84	-146.0	284.8	-9.5	294	3397	0.15	2.38	0.00	0.000	4	0.157	0.072	2258	3757	3022
3436	-0.90	-146.0	288.7	-8.5	296	3440	0.00	2.22	0.00	0.000	6	0.000	0.044	2258	2338	3022
3762	-0.90	-146.0	312.3	-7.0	312	3764	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2338	3021
4072	-0.95	-146.0	334.6	-7.1	327	4077	0.12	2.25	0.00	0.000	4	0.100	0.058	2214	927	3022
4140	-0.80	-146.0	340.4	-9.1	330	4145	0.17	2.28	0.00	0.000	6	0.164	0.056	2259	2341	3021
4462	-0.86	-146.0	361.3	-6.5	346	4465	0.00	2.33	0.00	0.000	4	0.000	0.073	2259	3750	3022
4557	-0.96	-146.0	368.2	-7.0	350	4561	0.12	2.22	0.00	0.000	6	0.104	0.044	2217	2327	3021
4883	-0.88	-146.0	392.7	-7.2	366	4888	0.12	2.38	0.00	0.000	4	0.159	0.071	2249	3747	3021
4962	-0.94	-146.0	397.8	-6.1	369	4969	0.00	2.20	0.00	0.000	6	0.000	0.044	2248	2338	3021
5294	-0.94	-146.0	417.2	-5.9	379	5297	0.00	2.35	0.00	0.000	4	0.000	0.070	2249	3754	3022
5322	-0.99	-146.0	418.9	-5.6	379	5326	0.10	2.22	0.00	0.000	6	0.118	0.044	2214	2328	3022
5664	-0.92	-146.0	443.8	-7.2	388	5669	0.10	2.38	0.00	0.000	4	0.170	0.071	2240	3750	3022
5691	-0.92	-146.0	445.7	-6.5	388	5695	0.00	2.20	0.00	0.000	6	0.000	0.044	2240	2340	3022
6027	-0.92	-146.0	466.8	-6.2	397	6029	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2340	3023
6353	-0.92	-146.0	487.3	-6.5	405	6357	0.00	2.35	0.00	0.000	4	0.000	0.071	2240	3757	3024
6380	-0.98	-146.0	489.1	-7.1	405	6384	0.00	2.22	0.00	0.000	6	0.000	0.043	2240	2330	3023
6722	-0.98	-146.0	511.0	-6.5	414	6726	0.00	2.22	0.00	0.000	4	0.000	0.057	2240	927	3024
6752	end dive: TARGET_DEPTH_EXCEEDED
state	6753	begin apogee
6760	-0.34	0.0	513.4	7.4	414	6893	0.38	0.00	129.73	1.232	6	0.151	0.000	2357	2528	2420
6894	end apogee: CONTROL_FINISHED_OK
state	6894	begin climb
6896	1.08	146.0	517.0	0.0	418	7039	1.08	2.70	133.32	1.142	4	0.116	0.068	2666	3919	1823
7051	1.01	146.0	507.5	7.7	421	7055	0.00	2.47	0.00	0.000	6	0.000	0.040	2666	2516	1823
7389	0.89	146.0	480.8	8.0	430	7393	0.15	2.35	0.00	0.000	4	0.146	0.056	2626	1103	1820
7432	0.97	155.9	477.7	6.7	431	7447	0.00	2.35	9.38	1.027	6	0.000	0.053	2626	2520	1784
7755	0.99	168.2	456.5	6.6	439	7775	0.10	2.42	12.10	1.088	4	0.088	0.070	2666	3930	1733
7825	0.79	168.2	450.0	10.2	440	7830	0.22	2.28	0.00	0.000	6	0.143	0.043	2601	2506	1733
8162	0.96	204.2	430.1	5.8	449	8196	0.15	0.00	30.77	1.160	6	0.076	0.000	2662	2505	1586
8528	0.96	204.2	400.6	8.3	458	8529	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2505	1584
8836	0.96	204.2	374.2	8.7	472	8837	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2505	1584
9145	0.96	204.2	347.5	8.3	487	9149	0.00	2.35	0.00	0.000	4	0.000	0.071	2663	3936	1583
9184	0.85	204.2	343.9	9.7	488	9191	0.17	2.22	0.00	0.000	6	0.141	0.043	2612	2505	1583
9499	1.13	204.2	322.3	7.2	504	9504	0.20	2.38	0.00	0.000	4	0.074	0.070	2694	3941	1583
9599	0.91	204.2	312.4	10.7	508	9606	0.22	2.22	0.00	0.000	6	0.142	0.043	2629	2512	1584
9916	1.04	216.4	291.3	6.6	524	9932	0.12	2.22	11.30	1.048	4	0.082	0.056	2678	1116	1537
9965	1.04	216.4	287.1	9.1	525	9969	0.00	2.28	0.00	0.000	6	0.000	0.051	2678	2520	1536
10287	1.04	216.4	260.4	7.9	541	10290	0.00	2.30	0.00	0.000	4	0.000	0.069	2679	3932	1536
10319	0.92	216.4	257.5	9.1	542	10324	0.15	2.20	0.00	0.000	6	0.144	0.043	2636	2520	1536
10640	1.12	281.7	241.2	4.8	558	10701	0.15	0.00	54.45	1.093	6	0.081	0.000	2694	2520	1270
11009	1.12	281.7	212.0	8.7	576	11010	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2520	1265
11318	1.12	281.7	186.5	8.0	591	11322	0.00	2.25	0.00	0.000	4	0.000	0.058	2695	1112	1264
11357	1.17	281.7	183.2	7.9	592	11363	0.00	2.25	0.00	0.000	6	0.000	0.051	2695	2520	1263
11672	1.17	281.7	158.7	7.2	608	11676	0.00	2.25	0.00	0.000	4	0.000	0.058	2695	1119	1263
11699	1.25	294.4	156.9	6.6	609	11716	0.00	2.25	11.07	1.006	6	0.000	0.052	2695	2528	1218
12025	1.30	294.4	132.2	8.3	625	12027	0.08	0.00	0.00	0.000	6	0.105	0.000	2731	2528	1216
12333	1.30	294.4	103.7	9.1	640	12334	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2528	1216
12665	1.30	294.4	74.5	8.6	691	12671	0.00	2.28	0.00	0.000	4	0.000	0.059	2731	1119	1215
12705	1.30	294.4	70.9	8.9	698	12711	0.00	2.25	0.00	0.000	6	0.000	0.054	2732	2528	1215
13049	1.30	294.4	40.5	8.2	759	13055	0.00	2.28	0.00	0.000	4	0.000	0.058	2731	1115	1215
13118	1.30	298.5	35.7	6.9	771	13130	0.00	2.25	4.57	0.782	6	0.000	0.054	2731	2522	1201
13468	1.43	345.8	14.6	5.4	833	13514	0.00	0.00	40.53	1.019	6	0.000	0.000	2731	2522	1009
13674	end climb: SURFACE_DEPTH_REACHED
state	13674	begin surface coast
13709	end surface coast: CONTROL_FINISHED_OK
state	13709	begin surface