Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 217 * 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 217 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -25979.652 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 -25979.652

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 217 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 015902,6640.192,-6033.935,49,1.2,49,-38.0 TGT_NAME TARGET_ADD1_EB

_CALLS 3 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 19 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.188,0.122

_SM_DEPTHo 1.49 KALMAN_X 16454.0,214.6,245.4,-154215.9,-775.5

_SM_ANGLEo -60.0 KALMAN_Y -14152.5,-20.3,309.0,-13713.3,-5278.8

GPS2 021026,6639.988,-6033.613,9,1.6,13,-38.0 MHEAD_RNG_PITCHd_Wd 95.0,30376,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 506

Post-dive calculations and measurements:

FINISH 0.8,1.005695 TCM_TEMP 15.20

SM_CCo 13487,0.00,0.000,0,0,1116,319.87 XPDR_PINGS 0

SM_GC 1.54,7.35,0.00,0.00,0.073,0.000,0.000,166,2337,1116,-10.38,-0.08,319.87 _24V_AH 21.2,43.425

RAFOS_CLK 791 _10V_AH 10.5,18.292

RAFOS 0,1224821063,4.083333,4.073056,62,59,57,56,54,53,214,185,169,150,200,130 DATA_FILE_SIZE 31565,841

RAFOS_FIX 5454.719727,-2947.647705,241008,000002,3,73,311.23 CAP_FILE_SIZE 115349,0

IRIDIUM_FIX 6609.62,-6036.17,180198,020233 CFSIZE 260165632,234696704

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

HUMID 1899 SOUNDSPEED 1446.6

INTERNAL_PRESSURE 8.48665 GPS 241008,055733,6638.159,-6030.135,38,2.0,39,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 268 121.79 SBE_CT 660 24 335.86

Roll_motor 124 82 216.57 SBE_O2 572 19 230.68

VBD_pump_during_apogee 413 1233 10818.86 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 88 103 193.62 nil 0 0 0.00

Iridium_during_connect 93 160 316.61 nil 0 0 0.00

Iridium_during_xfer 256 223 1211.99

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.04

TT8 1511 19 316.19

LPSleep 9893 2 239.98

TT8_Active 591 19 123.68

TT8_Sampling 1529 39 641.31

TT8_CF8 649 45 313.28

TT8_Kalman 33 81 28.70

Analog_circuits 1434 12 180.69

GPS_charging 0 0 0.00

Compass 1511 8 126.93

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 -146.0 0.0 0.0 0 144 0.00 0.00 -126.07 0.000 2 0.000 0.000 165 2333 2869

147 -1.08 -146.0 3.5 -2.6 22 167 8.90 2.33 -4.70 0.000 4 0.268 0.077 2197 928 3018

420 -0.63 -146.0 55.7 -14.2 70 427 0.35 2.30 0.00 0.000 6 0.177 0.058 2296 2344 3022

765 -0.63 -146.0 85.7 -8.1 131 771 0.00 2.30 0.00 0.000 4 0.000 0.061 2296 925 3023

811 -0.63 -146.0 89.6 -8.7 139 817 0.00 2.30 0.00 0.000 6 0.000 0.056 2296 2354 3023

1154 -0.63 -146.0 116.4 -7.8 173 1158 0.00 2.30 0.00 0.000 4 0.000 0.072 2296 3752 3023

1193 -0.71 -146.0 119.6 -7.7 174 1200 0.00 2.25 0.00 0.000 6 0.000 0.045 2296 2319 3023

1508 -0.77 -146.0 143.8 -7.5 190 1510 0.12 0.00 0.00 0.000 6 0.097 0.000 2249 2318 3022

1818 -0.69 -146.0 171.8 -9.2 205 1820 0.15 0.00 0.00 0.000 6 0.165 0.000 2288 2318 3022

2127 -0.75 -146.0 194.9 -7.3 220 2131 0.00 2.22 0.00 0.000 4 0.000 0.061 2289 926 3022

2171 -0.75 -146.0 198.4 -8.4 222 2175 0.00 2.28 0.00 0.000 6 0.000 0.056 2288 2342 3022

2504 -0.82 -146.0 222.8 -7.6 238 2506 0.12 0.00 0.00 0.000 6 0.107 0.000 2245 2342 3022

2813 -0.77 -146.0 247.6 -7.7 253 2815 0.10 0.00 0.00 0.000 6 0.175 0.000 2270 2343 3022

3122 -0.77 -146.0 268.8 -7.1 268 3126 0.00 2.28 0.00 0.000 4 0.000 0.062 2270 933 3021

3172 -0.77 -146.0 272.7 -7.8 270 3176 0.00 2.28 0.00 0.000 6 0.000 0.057 2270 2346 3022

3498 -0.82 -146.0 297.7 -7.6 286 3500 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2346 3022

3808 -0.88 -146.0 320.5 -7.0 301 3812 0.10 2.33 0.00 0.000 4 0.107 0.074 2233 3746 3022

3863 -0.88 -146.0 325.1 -8.5 303 3867 0.00 2.20 0.00 0.000 6 0.000 0.045 2233 2336 3021

4184 -0.84 -146.0 350.5 -7.4 319 4187 0.00 2.35 0.00 0.000 4 0.000 0.074 2233 3745 3021

4222 -0.84 -146.0 353.7 -7.8 320 4229 0.08 2.22 0.00 0.000 6 0.186 0.045 2252 2344 3021

4539 -0.84 -146.0 373.2 -5.9 336 4542 0.00 2.25 0.00 0.000 4 0.000 0.061 2252 932 3021

4577 -0.84 -146.0 375.8 -6.4 337 4583 0.00 2.28 0.00 0.000 6 0.000 0.057 2252 2347 3021

4893 -0.84 -146.0 394.9 -6.2 353 4896 0.00 2.33 0.00 0.000 4 0.000 0.074 2252 3752 3021

4926 -0.90 -146.0 397.0 -6.3 354 4930 0.00 2.22 0.00 0.000 6 0.000 0.044 2252 2329 3021

5263 -0.90 -146.0 417.8 -6.1 364 5267 0.00 2.38 0.00 0.000 4 0.000 0.073 2252 3753 3021

5337 -0.98 -146.0 422.3 -6.5 365 5341 0.12 2.22 0.00 0.000 6 0.104 0.045 2210 2333 3021

5679 -0.89 -146.0 446.5 -7.0 374 5684 0.12 2.35 0.00 0.000 4 0.163 0.073 2242 3747 3021

5706 -0.89 -146.0 448.3 -6.9 374 5710 0.00 2.20 0.00 0.000 6 0.000 0.044 2242 2340 3021

6048 -0.89 -146.0 468.9 -6.1 383 6051 0.00 2.22 0.00 0.000 4 0.000 0.058 2242 935 3022

6087 -0.89 -146.0 471.6 -6.9 383 6093 0.00 2.25 0.00 0.000 6 0.000 0.054 2242 2341 3021

6418 -0.89 -146.0 491.4 -6.0 392 6419 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2341 3021

6699 end dive: TARGET_DEPTH_EXCEEDED

state 6700 begin apogee

6705 -0.34 0.0 507.9 5.7 399 6838 0.40 0.00 129.88 1.233 6 0.146 0.000 2365 2519 2420

6839 end apogee: CONTROL_FINISHED_OK

state 6839 begin climb

6841 1.08 146.0 510.9 0.0 402 6991 1.08 2.75 136.88 1.131 4 0.113 0.070 2674 3926 1823

7019 0.85 146.0 498.3 10.6 406 7026 0.22 2.47 0.00 0.000 6 0.146 0.042 2618 2517 1822

7350 0.90 146.0 474.3 7.2 415 7354 0.00 2.35 0.00 0.000 4 0.000 0.056 2618 1098 1820

7401 1.00 146.0 470.8 7.3 416 7406 0.15 2.38 0.00 0.000 6 0.079 0.054 2674 2530 1820

7719 0.88 146.0 442.5 8.8 424 7723 0.17 2.33 0.00 0.000 4 0.132 0.071 2623 3934 1820

7756 0.88 146.0 439.5 8.0 424 7763 0.00 2.25 0.00 0.000 6 0.000 0.043 2624 2503 1820

8088 0.95 158.3 417.4 6.6 433 8101 0.00 0.00 11.20 1.083 6 0.000 0.000 2624 2503 1774

8393 1.05 180.5 397.8 6.3 441 8418 0.15 2.45 19.75 1.133 4 0.080 0.071 2685 3939 1684

8441 0.86 180.5 393.6 9.9 443 8446 0.25 2.28 0.00 0.000 6 0.143 0.043 2617 2514 1682

8762 1.03 228.5 375.2 5.4 459 8808 0.15 2.33 40.38 1.142 4 0.077 0.058 2677 1115 1488

8836 1.03 228.5 369.6 7.9 462 8840 0.00 2.35 0.00 0.000 6 0.000 0.052 2677 2528 1486

9157 1.03 228.5 342.7 8.4 478 9162 0.00 2.30 0.00 0.000 4 0.000 0.058 2677 1111 1485

9218 1.03 228.5 337.7 8.3 480 9224 0.00 2.28 0.00 0.000 6 0.000 0.052 2677 2526 1485

9534 1.03 228.5 311.9 7.9 496 9538 0.00 2.28 0.00 0.000 4 0.000 0.067 2677 3929 1485

9573 0.93 228.5 308.3 9.5 497 9580 0.15 2.20 0.00 0.000 6 0.146 0.043 2635 2516 1484

9889 1.09 259.8 289.3 6.0 513 9921 0.12 2.30 26.62 1.107 4 0.088 0.057 2688 1110 1359

9960 1.09 259.8 283.6 8.4 516 9964 0.00 2.30 0.00 0.000 6 0.000 0.052 2688 2525 1358

10281 1.09 259.8 255.7 8.8 532 10284 0.00 2.28 0.00 0.000 4 0.000 0.057 2688 1117 1356

10352 1.09 259.8 249.8 8.1 535 10356 0.00 2.28 0.00 0.000 6 0.000 0.051 2688 2539 1356

10679 1.09 259.8 223.1 8.2 551 10683 0.00 2.30 0.00 0.000 4 0.000 0.058 2688 1109 1357

10728 1.14 259.8 219.3 7.7 553 10732 0.00 2.25 0.00 0.000 6 0.000 0.054 2688 2518 1357

11055 1.14 259.8 194.8 7.4 569 11058 0.00 2.25 0.00 0.000 4 0.000 0.058 2688 1115 1356

11094 1.24 273.7 192.2 6.5 570 11111 0.00 2.25 12.27 1.037 6 0.000 0.053 2688 2529 1304

11426 1.24 273.7 168.3 7.3 587 11430 0.00 2.28 0.00 0.000 4 0.000 0.059 2688 1117 1302

11475 1.32 273.7 164.6 7.1 589 11480 0.12 2.25 0.00 0.000 6 0.088 0.051 2735 2525 1302

11802 1.21 273.7 133.3 9.6 605 11806 0.15 2.28 0.00 0.000 4 0.132 0.059 2691 1118 1301

11840 1.31 273.7 130.3 7.1 606 11847 0.12 2.25 0.00 0.000 6 0.086 0.054 2738 2527 1301

12156 1.22 273.7 100.7 9.2 622 12158 0.15 0.00 0.00 0.000 6 0.135 0.000 2694 2528 1300

12490 1.27 273.7 75.9 7.2 679 12496 0.00 2.28 0.00 0.000 4 0.000 0.059 2694 1114 1300

12548 1.38 273.7 71.8 7.3 689 12555 0.15 2.25 0.00 0.000 6 0.080 0.054 2755 2524 1300

12893 1.28 273.7 39.9 8.4 750 12900 0.15 2.28 0.00 0.000 4 0.146 0.059 2711 1117 1300

13032 1.52 317.3 31.7 5.5 774 13074 0.17 2.25 36.80 1.028 6 0.074 0.054 2778 2525 1126

13387 end climb: SURFACE_DEPTH_REACHED

state 13387 begin surface coast

13410 end surface coast: CONTROL_FINISHED_OK

state 13410 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	217	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-25979.652	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	015902,6640.192,-6033.935,49,1.2,49,-38.0	TGT_NAME	TARGET_ADD1_EB
_CALLS	3	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	19	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.188,0.122
_SM_DEPTHo	1.49	KALMAN_X	16454.0,214.6,245.4,-154215.9,-775.5
_SM_ANGLEo	-60.0	KALMAN_Y	-14152.5,-20.3,309.0,-13713.3,-5278.8
GPS2	021026,6639.988,-6033.613,9,1.6,13,-38.0	MHEAD_RNG_PITCHd_Wd	95.0,30376,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	506

FINISH	0.8,1.005695	TCM_TEMP	15.20
SM_CCo	13487,0.00,0.000,0,0,1116,319.87	XPDR_PINGS	0
SM_GC	1.54,7.35,0.00,0.00,0.073,0.000,0.000,166,2337,1116,-10.38,-0.08,319.87	_24V_AH	21.2,43.425
RAFOS_CLK	791	_10V_AH	10.5,18.292
RAFOS	0,1224821063,4.083333,4.073056,62,59,57,56,54,53,214,185,169,150,200,130	DATA_FILE_SIZE	31565,841
RAFOS_FIX	5454.719727,-2947.647705,241008,000002,3,73,311.23	CAP_FILE_SIZE	115349,0
IRIDIUM_FIX	6609.62,-6036.17,180198,020233	CFSIZE	260165632,234696704
TT8_MAMPS	0.027612	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1899	SOUNDSPEED	1446.6
INTERNAL_PRESSURE	8.48665	GPS	241008,055733,6638.159,-6030.135,38,2.0,39,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	268	121.79	SBE_CT	660	24	335.86
Roll_motor	124	82	216.57	SBE_O2	572	19	230.68
VBD_pump_during_apogee	413	1233	10818.86	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	88	103	193.62	nil	0	0	0.00
Iridium_during_connect	93	160	316.61	nil	0	0	0.00
Iridium_during_xfer	256	223	1211.99
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.04
TT8	1511	19	316.19
LPSleep	9893	2	239.98
TT8_Active	591	19	123.68
TT8_Sampling	1529	39	641.31
TT8_CF8	649	45	313.28
TT8_Kalman	33	81	28.70
Analog_circuits	1434	12	180.69
GPS_charging	0	0	0.00
Compass	1511	8	126.93
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	-146.0	0.0	0.0	0	144	0.00	0.00	-126.07	0.000	2	0.000	0.000	165	2333	2869
147	-1.08	-146.0	3.5	-2.6	22	167	8.90	2.33	-4.70	0.000	4	0.268	0.077	2197	928	3018
420	-0.63	-146.0	55.7	-14.2	70	427	0.35	2.30	0.00	0.000	6	0.177	0.058	2296	2344	3022
765	-0.63	-146.0	85.7	-8.1	131	771	0.00	2.30	0.00	0.000	4	0.000	0.061	2296	925	3023
811	-0.63	-146.0	89.6	-8.7	139	817	0.00	2.30	0.00	0.000	6	0.000	0.056	2296	2354	3023
1154	-0.63	-146.0	116.4	-7.8	173	1158	0.00	2.30	0.00	0.000	4	0.000	0.072	2296	3752	3023
1193	-0.71	-146.0	119.6	-7.7	174	1200	0.00	2.25	0.00	0.000	6	0.000	0.045	2296	2319	3023
1508	-0.77	-146.0	143.8	-7.5	190	1510	0.12	0.00	0.00	0.000	6	0.097	0.000	2249	2318	3022
1818	-0.69	-146.0	171.8	-9.2	205	1820	0.15	0.00	0.00	0.000	6	0.165	0.000	2288	2318	3022
2127	-0.75	-146.0	194.9	-7.3	220	2131	0.00	2.22	0.00	0.000	4	0.000	0.061	2289	926	3022
2171	-0.75	-146.0	198.4	-8.4	222	2175	0.00	2.28	0.00	0.000	6	0.000	0.056	2288	2342	3022
2504	-0.82	-146.0	222.8	-7.6	238	2506	0.12	0.00	0.00	0.000	6	0.107	0.000	2245	2342	3022
2813	-0.77	-146.0	247.6	-7.7	253	2815	0.10	0.00	0.00	0.000	6	0.175	0.000	2270	2343	3022
3122	-0.77	-146.0	268.8	-7.1	268	3126	0.00	2.28	0.00	0.000	4	0.000	0.062	2270	933	3021
3172	-0.77	-146.0	272.7	-7.8	270	3176	0.00	2.28	0.00	0.000	6	0.000	0.057	2270	2346	3022
3498	-0.82	-146.0	297.7	-7.6	286	3500	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2346	3022
3808	-0.88	-146.0	320.5	-7.0	301	3812	0.10	2.33	0.00	0.000	4	0.107	0.074	2233	3746	3022
3863	-0.88	-146.0	325.1	-8.5	303	3867	0.00	2.20	0.00	0.000	6	0.000	0.045	2233	2336	3021
4184	-0.84	-146.0	350.5	-7.4	319	4187	0.00	2.35	0.00	0.000	4	0.000	0.074	2233	3745	3021
4222	-0.84	-146.0	353.7	-7.8	320	4229	0.08	2.22	0.00	0.000	6	0.186	0.045	2252	2344	3021
4539	-0.84	-146.0	373.2	-5.9	336	4542	0.00	2.25	0.00	0.000	4	0.000	0.061	2252	932	3021
4577	-0.84	-146.0	375.8	-6.4	337	4583	0.00	2.28	0.00	0.000	6	0.000	0.057	2252	2347	3021
4893	-0.84	-146.0	394.9	-6.2	353	4896	0.00	2.33	0.00	0.000	4	0.000	0.074	2252	3752	3021
4926	-0.90	-146.0	397.0	-6.3	354	4930	0.00	2.22	0.00	0.000	6	0.000	0.044	2252	2329	3021
5263	-0.90	-146.0	417.8	-6.1	364	5267	0.00	2.38	0.00	0.000	4	0.000	0.073	2252	3753	3021
5337	-0.98	-146.0	422.3	-6.5	365	5341	0.12	2.22	0.00	0.000	6	0.104	0.045	2210	2333	3021
5679	-0.89	-146.0	446.5	-7.0	374	5684	0.12	2.35	0.00	0.000	4	0.163	0.073	2242	3747	3021
5706	-0.89	-146.0	448.3	-6.9	374	5710	0.00	2.20	0.00	0.000	6	0.000	0.044	2242	2340	3021
6048	-0.89	-146.0	468.9	-6.1	383	6051	0.00	2.22	0.00	0.000	4	0.000	0.058	2242	935	3022
6087	-0.89	-146.0	471.6	-6.9	383	6093	0.00	2.25	0.00	0.000	6	0.000	0.054	2242	2341	3021
6418	-0.89	-146.0	491.4	-6.0	392	6419	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2341	3021
6699	end dive: TARGET_DEPTH_EXCEEDED
state	6700	begin apogee
6705	-0.34	0.0	507.9	5.7	399	6838	0.40	0.00	129.88	1.233	6	0.146	0.000	2365	2519	2420
6839	end apogee: CONTROL_FINISHED_OK
state	6839	begin climb
6841	1.08	146.0	510.9	0.0	402	6991	1.08	2.75	136.88	1.131	4	0.113	0.070	2674	3926	1823
7019	0.85	146.0	498.3	10.6	406	7026	0.22	2.47	0.00	0.000	6	0.146	0.042	2618	2517	1822
7350	0.90	146.0	474.3	7.2	415	7354	0.00	2.35	0.00	0.000	4	0.000	0.056	2618	1098	1820
7401	1.00	146.0	470.8	7.3	416	7406	0.15	2.38	0.00	0.000	6	0.079	0.054	2674	2530	1820
7719	0.88	146.0	442.5	8.8	424	7723	0.17	2.33	0.00	0.000	4	0.132	0.071	2623	3934	1820
7756	0.88	146.0	439.5	8.0	424	7763	0.00	2.25	0.00	0.000	6	0.000	0.043	2624	2503	1820
8088	0.95	158.3	417.4	6.6	433	8101	0.00	0.00	11.20	1.083	6	0.000	0.000	2624	2503	1774
8393	1.05	180.5	397.8	6.3	441	8418	0.15	2.45	19.75	1.133	4	0.080	0.071	2685	3939	1684
8441	0.86	180.5	393.6	9.9	443	8446	0.25	2.28	0.00	0.000	6	0.143	0.043	2617	2514	1682
8762	1.03	228.5	375.2	5.4	459	8808	0.15	2.33	40.38	1.142	4	0.077	0.058	2677	1115	1488
8836	1.03	228.5	369.6	7.9	462	8840	0.00	2.35	0.00	0.000	6	0.000	0.052	2677	2528	1486
9157	1.03	228.5	342.7	8.4	478	9162	0.00	2.30	0.00	0.000	4	0.000	0.058	2677	1111	1485
9218	1.03	228.5	337.7	8.3	480	9224	0.00	2.28	0.00	0.000	6	0.000	0.052	2677	2526	1485
9534	1.03	228.5	311.9	7.9	496	9538	0.00	2.28	0.00	0.000	4	0.000	0.067	2677	3929	1485
9573	0.93	228.5	308.3	9.5	497	9580	0.15	2.20	0.00	0.000	6	0.146	0.043	2635	2516	1484
9889	1.09	259.8	289.3	6.0	513	9921	0.12	2.30	26.62	1.107	4	0.088	0.057	2688	1110	1359
9960	1.09	259.8	283.6	8.4	516	9964	0.00	2.30	0.00	0.000	6	0.000	0.052	2688	2525	1358
10281	1.09	259.8	255.7	8.8	532	10284	0.00	2.28	0.00	0.000	4	0.000	0.057	2688	1117	1356
10352	1.09	259.8	249.8	8.1	535	10356	0.00	2.28	0.00	0.000	6	0.000	0.051	2688	2539	1356
10679	1.09	259.8	223.1	8.2	551	10683	0.00	2.30	0.00	0.000	4	0.000	0.058	2688	1109	1357
10728	1.14	259.8	219.3	7.7	553	10732	0.00	2.25	0.00	0.000	6	0.000	0.054	2688	2518	1357
11055	1.14	259.8	194.8	7.4	569	11058	0.00	2.25	0.00	0.000	4	0.000	0.058	2688	1115	1356
11094	1.24	273.7	192.2	6.5	570	11111	0.00	2.25	12.27	1.037	6	0.000	0.053	2688	2529	1304
11426	1.24	273.7	168.3	7.3	587	11430	0.00	2.28	0.00	0.000	4	0.000	0.059	2688	1117	1302
11475	1.32	273.7	164.6	7.1	589	11480	0.12	2.25	0.00	0.000	6	0.088	0.051	2735	2525	1302
11802	1.21	273.7	133.3	9.6	605	11806	0.15	2.28	0.00	0.000	4	0.132	0.059	2691	1118	1301
11840	1.31	273.7	130.3	7.1	606	11847	0.12	2.25	0.00	0.000	6	0.086	0.054	2738	2527	1301
12156	1.22	273.7	100.7	9.2	622	12158	0.15	0.00	0.00	0.000	6	0.135	0.000	2694	2528	1300
12490	1.27	273.7	75.9	7.2	679	12496	0.00	2.28	0.00	0.000	4	0.000	0.059	2694	1114	1300
12548	1.38	273.7	71.8	7.3	689	12555	0.15	2.25	0.00	0.000	6	0.080	0.054	2755	2524	1300
12893	1.28	273.7	39.9	8.4	750	12900	0.15	2.28	0.00	0.000	4	0.146	0.059	2711	1117	1300
13032	1.52	317.3	31.7	5.5	774	13074	0.17	2.25	36.80	1.028	6	0.074	0.054	2778	2525	1126
13387	end climb: SURFACE_DEPTH_REACHED
state	13387	begin surface coast
13410	end surface coast: CONTROL_FINISHED_OK
state	13410	begin surface