Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 209 * 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 209 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -25820.109 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 -25820.109

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 35 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 209 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 193137,6641.212,-6029.897,36,1.8,41,-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 -0.200,0.101

_SM_DEPTHo 1.54 KALMAN_X 22767.2,-579.4,-344.3,-156494.2,932.0

_SM_ANGLEo -65.7 KALMAN_Y 1147.2,1446.0,672.6,-28562.7,-1154.5

GPS2 193633,6641.214,-6029.976,7,1.8,7,-38.0 MHEAD_RNG_PITCHd_Wd 334.7,9651,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 508

Post-dive calculations and measurements:

FINISH 0.9,1.025224 TCM_TEMP 15.20

SM_CCo 13866,0.00,0.000,0,0,837,388.31 XPDR_PINGS 1

SM_GC 1.71,7.32,0.00,0.00,0.066,0.000,0.000,166,2335,837,-10.37,-0.14,388.31 _24V_AH 21.3,42.232

RAFOS_CLK 786 _10V_AH 10.5,17.809

RAFOS 0,1224705846,20.083334,20.068333,91,59,56,54,53,51,588,213,195,224,172,131 DATA_FILE_SIZE 31608,895

RAFOS_FIX 6641.528320,-6026.603027,221008,202036,4,92,0.86 CAP_FILE_SIZE 122635,0

IRIDIUM_FIX 6614.97,-6040.90,160198,151559 CFSIZE 260165632,235147264

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

HUMID 1885 SOUNDSPEED 1446.4

INTERNAL_PRESSURE 8.46712 GPS 221008,233008,6641.078,-6033.625,40,1.0,40,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 271 119.43 SBE_CT 700 24 358.05

Roll_motor 124 84 223.65 SBE_O2 607 19 246.03

VBD_pump_during_apogee 479 1231 12588.70 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 23 103 51.01 nil 0 0 0.00

Iridium_during_connect 36 160 124.08 nil 0 0 0.00

Iridium_during_xfer 120 223 573.61

Transponder_ping 0 420 2.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 9 50 4.91

TT8 1625 19 340.09

LPSleep 9627 2 233.51

TT8_Active 615 19 128.78

TT8_Sampling 1917 39 803.86

TT8_CF8 387 45 186.60

TT8_Kalman 33 81 28.70

Analog_circuits 1652 12 208.24

GPS_charging 0 0 0.00

Compass 1886 8 158.46

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

15 -1.08 -145.9 0.0 0.0 0 143 0.00 0.00 -125.07 0.000 2 0.000 0.000 160 2329 2769

146 -1.08 -146.0 3.2 -2.8 22 171 8.98 2.40 -8.70 0.000 4 0.272 0.084 2192 3746 3018

233 -0.50 -146.0 23.3 -21.6 37 241 0.50 2.25 0.00 0.000 6 0.189 0.048 2327 2338 3021

579 -0.55 -146.0 56.8 -8.1 98 585 0.00 2.25 0.00 0.000 4 0.000 0.060 2327 932 3022

784 -0.61 -146.0 72.0 -7.1 134 790 0.10 2.28 0.00 0.000 6 0.104 0.054 2289 2348 3022

1129 -0.61 -146.0 99.6 -8.7 195 1135 0.00 2.33 0.00 0.000 4 0.000 0.073 2289 3756 3023

1190 -0.61 -146.0 105.3 -9.1 198 1197 0.00 2.25 0.00 0.000 6 0.000 0.044 2289 2338 3023

1506 -0.61 -146.0 132.2 -8.5 214 1510 0.00 2.25 0.00 0.000 4 0.000 0.060 2289 925 3023

1611 -0.61 -146.0 141.7 -8.7 218 1618 0.00 2.28 0.00 0.000 6 0.000 0.055 2289 2342 3023

1927 -0.66 -146.0 166.5 -7.6 234 1931 0.00 2.33 0.00 0.000 4 0.000 0.073 2289 3754 3023

2022 -0.77 -146.0 173.5 -6.9 238 2026 0.00 2.22 0.00 0.000 6 0.000 0.045 2289 2329 3022

2348 -0.84 -146.0 194.8 -5.7 254 2353 0.12 2.22 0.00 0.000 4 0.110 0.060 2244 938 3022

2471 -0.73 -146.0 203.9 -7.2 259 2478 0.12 2.28 0.00 0.000 6 0.177 0.058 2274 2345 3022

2786 -0.73 -146.0 222.3 -6.2 275 2790 0.00 2.33 0.00 0.000 4 0.000 0.074 2274 3750 3022

2922 -0.82 -146.0 231.3 -6.8 281 2926 0.00 2.22 0.00 0.000 6 0.000 0.045 2274 2328 3022

3254 -0.88 -146.0 254.6 -7.1 297 3259 0.12 2.38 0.00 0.000 4 0.112 0.073 2231 3747 3021

3371 -0.84 -146.0 265.0 -8.6 302 3375 0.10 2.22 0.00 0.000 6 0.176 0.045 2255 2329 3021

3691 -0.84 -146.0 289.2 -7.0 318 3694 0.00 2.22 0.00 0.000 4 0.000 0.061 2255 932 3021

3746 -0.84 -146.0 293.8 -8.0 320 3750 0.00 2.28 0.00 0.000 6 0.000 0.055 2255 2349 3021

4068 -0.84 -146.0 316.0 -6.8 336 4072 0.00 2.33 0.00 0.000 4 0.000 0.074 2255 3753 3021

4117 -0.90 -146.0 319.6 -7.2 338 4121 0.00 2.22 0.00 0.000 6 0.000 0.044 2255 2330 3021

4438 -0.90 -146.0 341.4 -6.8 354 4440 0.00 0.00 0.00 0.000 6 0.000 0.000 2255 2330 3021

4748 -0.90 -146.0 362.9 -7.0 369 4752 0.00 2.38 0.00 0.000 4 0.000 0.073 2255 3747 3021

4859 -0.98 -146.0 371.2 -7.3 374 4864 0.12 2.20 0.00 0.000 6 0.100 0.044 2212 2341 3021

5186 -0.89 -146.0 397.8 -8.1 390 5191 0.12 2.25 0.00 0.000 4 0.161 0.058 2244 932 3021

5286 -0.89 -146.0 405.7 -7.5 393 5290 0.00 2.30 0.00 0.000 6 0.000 0.054 2244 2366 3021

5599 -0.89 -146.0 427.3 -6.8 401 5603 0.00 2.28 0.00 0.000 4 0.000 0.071 2244 3747 3021

5791 -0.96 -146.0 440.5 -7.0 405 5795 0.00 2.20 0.00 0.000 6 0.000 0.044 2244 2341 3021

6110 -0.96 -146.0 460.8 -6.3 413 6113 0.00 2.22 0.00 0.000 4 0.000 0.058 2244 936 3022

6200 -0.96 -146.0 467.2 -7.6 415 6204 0.00 2.25 0.00 0.000 6 0.000 0.054 2244 2341 3022

6530 -1.00 -146.0 488.4 -6.4 423 6532 0.10 0.00 0.00 0.000 6 0.106 0.000 2207 2342 3022

6811 end dive: TARGET_DEPTH_EXCEEDED

state 6811 begin apogee

6817 -0.34 0.0 509.3 7.5 430 6949 0.52 0.00 129.57 1.232 6 0.150 0.000 2364 2521 2420

6950 end apogee: CONTROL_FINISHED_OK

state 6950 begin climb

6953 1.08 146.0 512.3 0.0 433 7095 1.05 2.72 133.38 1.141 4 0.114 0.069 2668 3927 1824

7351 0.83 146.0 478.7 9.5 442 7356 0.20 2.33 0.00 0.000 6 0.150 0.043 2616 2522 1821

7669 0.91 165.9 458.6 6.3 450 7693 0.00 2.38 17.73 1.124 4 0.000 0.057 2616 1112 1743

7814 1.03 177.9 449.2 6.6 453 7833 0.15 2.33 11.48 1.065 6 0.080 0.052 2673 2534 1694

8170 0.93 177.9 419.1 8.4 462 8174 0.15 2.30 0.00 0.000 4 0.137 0.067 2629 3931 1694

8214 0.88 177.9 415.5 7.8 463 8218 0.00 2.22 0.00 0.000 6 0.000 0.042 2629 2515 1694

8539 0.95 185.2 393.5 6.8 473 8553 0.00 2.38 7.82 1.008 4 0.000 0.069 2629 3919 1664

8564 0.97 197.2 391.6 6.6 474 8582 0.00 2.20 11.43 1.063 6 0.000 0.042 2629 2518 1616

8891 1.07 219.1 370.7 6.3 490 8916 0.15 2.42 19.55 1.117 4 0.079 0.070 2690 3942 1525

8927 0.93 219.1 367.6 8.2 491 8934 0.20 2.28 0.00 0.000 6 0.141 0.042 2633 2520 1525

9243 1.04 226.6 346.4 6.8 507 9258 0.10 2.33 7.50 0.979 4 0.097 0.056 2675 1109 1496

9459 1.04 226.6 327.8 8.7 516 9466 0.00 2.28 0.00 0.000 6 0.000 0.051 2675 2514 1495

9775 1.04 226.6 301.9 8.2 532 9779 0.00 2.25 0.00 0.000 4 0.000 0.057 2675 1115 1495

9972 1.04 226.6 286.4 7.9 540 9978 0.00 2.25 0.00 0.000 6 0.000 0.051 2675 2531 1495

10287 1.04 226.6 261.4 7.9 556 10291 0.00 2.28 0.00 0.000 4 0.000 0.071 2675 3927 1495

10297 1.04 226.6 260.3 8.1 556 10301 0.00 2.22 0.00 0.000 6 0.000 0.042 2675 2514 1496

10618 1.04 226.6 233.2 8.5 572 10619 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2513 1496

10928 1.05 239.2 211.1 6.6 587 10949 0.00 2.42 11.90 1.045 4 0.000 0.071 2675 3933 1444

10960 1.07 247.3 208.8 6.7 588 10975 0.00 2.22 8.52 0.966 6 0.000 0.043 2675 2516 1410

11305 1.14 262.2 186.0 6.5 605 11323 0.00 0.00 13.43 1.036 6 0.000 0.000 2676 2516 1351

11633 1.21 267.9 164.4 6.8 621 11645 0.08 2.38 6.28 0.900 4 0.103 0.071 2709 3937 1327

11655 1.21 267.9 162.6 7.6 622 11660 0.00 2.28 0.00 0.000 6 0.000 0.044 2709 2515 1327

11982 1.21 267.9 135.3 8.3 638 11986 0.00 2.35 0.00 0.000 4 0.000 0.072 2710 3928 1327

12009 1.13 267.9 132.9 8.9 639 12014 0.12 2.22 0.00 0.000 6 0.146 0.045 2675 2512 1327

12330 1.26 288.7 111.6 6.3 655 12352 0.12 0.00 18.25 1.048 6 0.087 0.000 2723 2512 1243

12675 1.26 288.7 83.4 8.1 698 12681 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2512 1241

13018 1.26 288.7 55.6 7.4 759 13025 0.00 2.25 0.00 0.000 4 0.000 0.061 2723 1110 1240

13030 1.26 288.7 54.6 7.3 761 13036 0.00 2.28 0.00 0.000 6 0.000 0.054 2723 2529 1240

13375 1.42 342.2 32.3 5.2 822 13429 0.08 2.40 45.33 1.025 4 0.109 0.060 2761 1116 1023

13485 1.48 384.6 25.2 5.6 841 13532 0.00 2.33 37.65 0.966 6 0.000 0.053 2761 2526 850

13766 end climb: SURFACE_DEPTH_REACHED

state 13767 begin surface coast

13790 end surface coast: CONTROL_FINISHED_OK

state 13790 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	209	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-25820.109	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	193137,6641.212,-6029.897,36,1.8,41,-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	-0.200,0.101
_SM_DEPTHo	1.54	KALMAN_X	22767.2,-579.4,-344.3,-156494.2,932.0
_SM_ANGLEo	-65.7	KALMAN_Y	1147.2,1446.0,672.6,-28562.7,-1154.5
GPS2	193633,6641.214,-6029.976,7,1.8,7,-38.0	MHEAD_RNG_PITCHd_Wd	334.7,9651,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	508

FINISH	0.9,1.025224	TCM_TEMP	15.20
SM_CCo	13866,0.00,0.000,0,0,837,388.31	XPDR_PINGS	1
SM_GC	1.71,7.32,0.00,0.00,0.066,0.000,0.000,166,2335,837,-10.37,-0.14,388.31	_24V_AH	21.3,42.232
RAFOS_CLK	786	_10V_AH	10.5,17.809
RAFOS	0,1224705846,20.083334,20.068333,91,59,56,54,53,51,588,213,195,224,172,131	DATA_FILE_SIZE	31608,895
RAFOS_FIX	6641.528320,-6026.603027,221008,202036,4,92,0.86	CAP_FILE_SIZE	122635,0
IRIDIUM_FIX	6614.97,-6040.90,160198,151559	CFSIZE	260165632,235147264
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1885	SOUNDSPEED	1446.4
INTERNAL_PRESSURE	8.46712	GPS	221008,233008,6641.078,-6033.625,40,1.0,40,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	271	119.43	SBE_CT	700	24	358.05
Roll_motor	124	84	223.65	SBE_O2	607	19	246.03
VBD_pump_during_apogee	479	1231	12588.70	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	23	103	51.01	nil	0	0	0.00
Iridium_during_connect	36	160	124.08	nil	0	0	0.00
Iridium_during_xfer	120	223	573.61
Transponder_ping	0	420	2.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	9	50	4.91
TT8	1625	19	340.09
LPSleep	9627	2	233.51
TT8_Active	615	19	128.78
TT8_Sampling	1917	39	803.86
TT8_CF8	387	45	186.60
TT8_Kalman	33	81	28.70
Analog_circuits	1652	12	208.24
GPS_charging	0	0	0.00
Compass	1886	8	158.46
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
15	-1.08	-145.9	0.0	0.0	0	143	0.00	0.00	-125.07	0.000	2	0.000	0.000	160	2329	2769
146	-1.08	-146.0	3.2	-2.8	22	171	8.98	2.40	-8.70	0.000	4	0.272	0.084	2192	3746	3018
233	-0.50	-146.0	23.3	-21.6	37	241	0.50	2.25	0.00	0.000	6	0.189	0.048	2327	2338	3021
579	-0.55	-146.0	56.8	-8.1	98	585	0.00	2.25	0.00	0.000	4	0.000	0.060	2327	932	3022
784	-0.61	-146.0	72.0	-7.1	134	790	0.10	2.28	0.00	0.000	6	0.104	0.054	2289	2348	3022
1129	-0.61	-146.0	99.6	-8.7	195	1135	0.00	2.33	0.00	0.000	4	0.000	0.073	2289	3756	3023
1190	-0.61	-146.0	105.3	-9.1	198	1197	0.00	2.25	0.00	0.000	6	0.000	0.044	2289	2338	3023
1506	-0.61	-146.0	132.2	-8.5	214	1510	0.00	2.25	0.00	0.000	4	0.000	0.060	2289	925	3023
1611	-0.61	-146.0	141.7	-8.7	218	1618	0.00	2.28	0.00	0.000	6	0.000	0.055	2289	2342	3023
1927	-0.66	-146.0	166.5	-7.6	234	1931	0.00	2.33	0.00	0.000	4	0.000	0.073	2289	3754	3023
2022	-0.77	-146.0	173.5	-6.9	238	2026	0.00	2.22	0.00	0.000	6	0.000	0.045	2289	2329	3022
2348	-0.84	-146.0	194.8	-5.7	254	2353	0.12	2.22	0.00	0.000	4	0.110	0.060	2244	938	3022
2471	-0.73	-146.0	203.9	-7.2	259	2478	0.12	2.28	0.00	0.000	6	0.177	0.058	2274	2345	3022
2786	-0.73	-146.0	222.3	-6.2	275	2790	0.00	2.33	0.00	0.000	4	0.000	0.074	2274	3750	3022
2922	-0.82	-146.0	231.3	-6.8	281	2926	0.00	2.22	0.00	0.000	6	0.000	0.045	2274	2328	3022
3254	-0.88	-146.0	254.6	-7.1	297	3259	0.12	2.38	0.00	0.000	4	0.112	0.073	2231	3747	3021
3371	-0.84	-146.0	265.0	-8.6	302	3375	0.10	2.22	0.00	0.000	6	0.176	0.045	2255	2329	3021
3691	-0.84	-146.0	289.2	-7.0	318	3694	0.00	2.22	0.00	0.000	4	0.000	0.061	2255	932	3021
3746	-0.84	-146.0	293.8	-8.0	320	3750	0.00	2.28	0.00	0.000	6	0.000	0.055	2255	2349	3021
4068	-0.84	-146.0	316.0	-6.8	336	4072	0.00	2.33	0.00	0.000	4	0.000	0.074	2255	3753	3021
4117	-0.90	-146.0	319.6	-7.2	338	4121	0.00	2.22	0.00	0.000	6	0.000	0.044	2255	2330	3021
4438	-0.90	-146.0	341.4	-6.8	354	4440	0.00	0.00	0.00	0.000	6	0.000	0.000	2255	2330	3021
4748	-0.90	-146.0	362.9	-7.0	369	4752	0.00	2.38	0.00	0.000	4	0.000	0.073	2255	3747	3021
4859	-0.98	-146.0	371.2	-7.3	374	4864	0.12	2.20	0.00	0.000	6	0.100	0.044	2212	2341	3021
5186	-0.89	-146.0	397.8	-8.1	390	5191	0.12	2.25	0.00	0.000	4	0.161	0.058	2244	932	3021
5286	-0.89	-146.0	405.7	-7.5	393	5290	0.00	2.30	0.00	0.000	6	0.000	0.054	2244	2366	3021
5599	-0.89	-146.0	427.3	-6.8	401	5603	0.00	2.28	0.00	0.000	4	0.000	0.071	2244	3747	3021
5791	-0.96	-146.0	440.5	-7.0	405	5795	0.00	2.20	0.00	0.000	6	0.000	0.044	2244	2341	3021
6110	-0.96	-146.0	460.8	-6.3	413	6113	0.00	2.22	0.00	0.000	4	0.000	0.058	2244	936	3022
6200	-0.96	-146.0	467.2	-7.6	415	6204	0.00	2.25	0.00	0.000	6	0.000	0.054	2244	2341	3022
6530	-1.00	-146.0	488.4	-6.4	423	6532	0.10	0.00	0.00	0.000	6	0.106	0.000	2207	2342	3022
6811	end dive: TARGET_DEPTH_EXCEEDED
state	6811	begin apogee
6817	-0.34	0.0	509.3	7.5	430	6949	0.52	0.00	129.57	1.232	6	0.150	0.000	2364	2521	2420
6950	end apogee: CONTROL_FINISHED_OK
state	6950	begin climb
6953	1.08	146.0	512.3	0.0	433	7095	1.05	2.72	133.38	1.141	4	0.114	0.069	2668	3927	1824
7351	0.83	146.0	478.7	9.5	442	7356	0.20	2.33	0.00	0.000	6	0.150	0.043	2616	2522	1821
7669	0.91	165.9	458.6	6.3	450	7693	0.00	2.38	17.73	1.124	4	0.000	0.057	2616	1112	1743
7814	1.03	177.9	449.2	6.6	453	7833	0.15	2.33	11.48	1.065	6	0.080	0.052	2673	2534	1694
8170	0.93	177.9	419.1	8.4	462	8174	0.15	2.30	0.00	0.000	4	0.137	0.067	2629	3931	1694
8214	0.88	177.9	415.5	7.8	463	8218	0.00	2.22	0.00	0.000	6	0.000	0.042	2629	2515	1694
8539	0.95	185.2	393.5	6.8	473	8553	0.00	2.38	7.82	1.008	4	0.000	0.069	2629	3919	1664
8564	0.97	197.2	391.6	6.6	474	8582	0.00	2.20	11.43	1.063	6	0.000	0.042	2629	2518	1616
8891	1.07	219.1	370.7	6.3	490	8916	0.15	2.42	19.55	1.117	4	0.079	0.070	2690	3942	1525
8927	0.93	219.1	367.6	8.2	491	8934	0.20	2.28	0.00	0.000	6	0.141	0.042	2633	2520	1525
9243	1.04	226.6	346.4	6.8	507	9258	0.10	2.33	7.50	0.979	4	0.097	0.056	2675	1109	1496
9459	1.04	226.6	327.8	8.7	516	9466	0.00	2.28	0.00	0.000	6	0.000	0.051	2675	2514	1495
9775	1.04	226.6	301.9	8.2	532	9779	0.00	2.25	0.00	0.000	4	0.000	0.057	2675	1115	1495
9972	1.04	226.6	286.4	7.9	540	9978	0.00	2.25	0.00	0.000	6	0.000	0.051	2675	2531	1495
10287	1.04	226.6	261.4	7.9	556	10291	0.00	2.28	0.00	0.000	4	0.000	0.071	2675	3927	1495
10297	1.04	226.6	260.3	8.1	556	10301	0.00	2.22	0.00	0.000	6	0.000	0.042	2675	2514	1496
10618	1.04	226.6	233.2	8.5	572	10619	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2513	1496
10928	1.05	239.2	211.1	6.6	587	10949	0.00	2.42	11.90	1.045	4	0.000	0.071	2675	3933	1444
10960	1.07	247.3	208.8	6.7	588	10975	0.00	2.22	8.52	0.966	6	0.000	0.043	2675	2516	1410
11305	1.14	262.2	186.0	6.5	605	11323	0.00	0.00	13.43	1.036	6	0.000	0.000	2676	2516	1351
11633	1.21	267.9	164.4	6.8	621	11645	0.08	2.38	6.28	0.900	4	0.103	0.071	2709	3937	1327
11655	1.21	267.9	162.6	7.6	622	11660	0.00	2.28	0.00	0.000	6	0.000	0.044	2709	2515	1327
11982	1.21	267.9	135.3	8.3	638	11986	0.00	2.35	0.00	0.000	4	0.000	0.072	2710	3928	1327
12009	1.13	267.9	132.9	8.9	639	12014	0.12	2.22	0.00	0.000	6	0.146	0.045	2675	2512	1327
12330	1.26	288.7	111.6	6.3	655	12352	0.12	0.00	18.25	1.048	6	0.087	0.000	2723	2512	1243
12675	1.26	288.7	83.4	8.1	698	12681	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2512	1241
13018	1.26	288.7	55.6	7.4	759	13025	0.00	2.25	0.00	0.000	4	0.000	0.061	2723	1110	1240
13030	1.26	288.7	54.6	7.3	761	13036	0.00	2.28	0.00	0.000	6	0.000	0.054	2723	2529	1240
13375	1.42	342.2	32.3	5.2	822	13429	0.08	2.40	45.33	1.025	4	0.109	0.060	2761	1116	1023
13485	1.48	384.6	25.2	5.6	841	13532	0.00	2.33	37.65	0.966	6	0.000	0.053	2761	2526	850
13766	end climb: SURFACE_DEPTH_REACHED
state	13767	begin surface coast
13790	end surface coast: CONTROL_FINISHED_OK
state	13790	begin surface