Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 440 * 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 440 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 225 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 41 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -3 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 -40799.996 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 225

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 -40799.996

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 -3

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 41 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 440 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 021455,6702.996,-5653.479,42,1.7,42,-37.6 TGT_NAME TARGET_W_MID

_CALLS 1 TGT_LATLONG 6656.000,-5805.000

_XMS_NAKs 3 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.222,0.030

_SM_DEPTHo 1.64 KALMAN_X -128223.5,834.1,839.4,149085.2,-250.8

_SM_ANGLEo -57.6 KALMAN_Y -9100.5,247.0,-283.9,24229.5,-1477.3

GPS2 022156,6703.030,-5653.503,36,1.4,45,-37.6 MHEAD_RNG_PITCHd_Wd 315.4,53488,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 577

Post-dive calculations and measurements:

FINISH 0.8,1.015188 TCM_TEMP 16.30

SM_CCo 15342,0.00,0.000,0,0,899,373.10 XPDR_PINGS 0

SM_GC 1.58,7.03,0.00,0.00,0.054,0.000,0.000,157,2330,899,-10.40,-0.28,373.10 _24V_AH 20.4,80.774

RAFOS_CLK 796 _10V_AH 10.5,36.321

RAFOS 0,1229486662,4.083333,4.072778,59,57,56,55,55,52,208,182,125,150,163,137 DATA_FILE_SIZE 31559,879

RAFOS_FIX 6705.856445,-5701.021973,171208,040420,2,87,1.05 CAP_FILE_SIZE 131543,0

IRIDIUM_FIX 6636.54,-5655.33,120398,212125 CFSIZE 260165632,218382336

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

HUMID 1914 SOUNDSPEED 1463.7

INTERNAL_PRESSURE 8.53548 GPS 171208,064015,6703.982,-5657.644,36,1.4,49,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 255 109.42 SBE_CT 680 24 333.29

Roll_motor 139 62 178.57 SBE_O2 596 19 231.30

VBD_pump_during_apogee 467 1178 11234.45 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 24 103 51.95 nil 0 0 0.00

Iridium_during_connect 31 160 102.96 nil 0 0 0.00

Iridium_during_xfer 185 223 842.98

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 46 50 24.64

TT8 1677 19 350.80

LPSleep 11028 2 267.50

TT8_Active 617 19 129.08

TT8_Sampling 1870 39 783.86

TT8_CF8 570 45 275.26

TT8_Kalman 33 81 28.71

Analog_circuits 1609 12 202.81

GPS_charging 0 0 0.00

Compass 1810 8 152.05

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

16 -1.08 -146.0 0.0 0.0 0 139 0.00 0.00 -119.97 0.000 3 0.000 0.000 162 2324 3016

143 -1.08 -146.0 3.1 -2.1 21 157 8.60 2.38 0.00 0.000 4 0.255 0.062 2199 3747 3020

331 -0.67 -146.0 34.9 -16.2 53 338 0.32 2.17 0.00 0.000 6 0.161 0.037 2294 2338 3022

676 -0.67 -146.0 71.2 -8.9 114 682 0.00 2.22 0.00 0.000 4 0.000 0.050 2293 929 3022

791 -0.62 -146.0 82.2 -9.8 134 797 0.00 2.25 0.00 0.000 6 0.000 0.047 2293 2341 3022

1128 -0.69 -146.0 111.6 -7.4 175 1132 0.00 2.25 0.00 0.000 4 0.000 0.048 2293 929 3022

1207 -0.69 -146.0 117.6 -6.7 178 1211 0.00 2.25 0.00 0.000 6 0.000 0.046 2293 2340 3022

1529 -0.77 -146.0 138.6 -6.9 194 1534 0.10 2.33 0.00 0.000 4 0.103 0.061 2256 3750 3022

1646 -0.77 -146.0 148.9 -8.8 199 1650 0.00 2.20 0.00 0.000 6 0.000 0.036 2256 2333 3022

1968 -0.77 -146.0 176.2 -8.3 215 1972 0.00 2.20 0.00 0.000 4 0.000 0.049 2256 940 3022

2042 -0.72 -146.0 182.6 -8.6 218 2046 0.10 2.25 0.00 0.000 6 0.176 0.045 2280 2352 3022

2369 -0.82 -146.0 206.3 -7.3 234 2372 0.00 2.30 0.00 0.000 4 0.000 0.063 2280 3744 3020

2487 -0.96 -146.0 215.5 -8.0 239 2492 0.17 2.20 0.00 0.000 6 0.084 0.037 2217 2327 3021

2814 -0.86 -146.0 244.7 -8.7 255 2819 0.12 2.22 0.00 0.000 4 0.152 0.048 2251 932 3020

2969 -0.86 -146.0 255.9 -6.8 261 2975 0.00 2.25 0.00 0.000 6 0.000 0.045 2251 2345 3021

3285 -0.86 -146.0 275.9 -5.7 277 3289 0.00 2.30 0.00 0.000 4 0.000 0.060 2251 3745 3021

3377 -0.92 -146.0 281.4 -6.6 281 3381 0.00 2.20 0.00 0.000 6 0.000 0.036 2251 2325 3021

3710 -0.92 -146.0 302.2 -6.5 297 3714 0.00 2.20 0.00 0.000 4 0.000 0.048 2251 930 3020

3811 -0.92 -146.0 309.3 -7.1 301 3814 0.00 2.25 0.00 0.000 6 0.000 0.044 2251 2344 3021

4133 -0.92 -146.0 329.7 -6.5 317 4137 0.00 2.30 0.00 0.000 4 0.000 0.061 2251 3742 3021

4252 -1.00 -146.0 337.8 -7.2 322 4257 0.12 2.17 0.00 0.000 6 0.095 0.035 2207 2334 3021

4580 -0.90 -146.0 363.9 -7.8 338 4584 0.12 2.38 0.00 0.000 4 0.155 0.060 2241 3753 3022

4652 -0.96 -146.0 369.4 -7.3 341 4656 0.00 2.17 0.00 0.000 6 0.000 0.034 2241 2340 3022

4974 -0.96 -146.0 391.1 -6.6 357 4978 0.00 2.20 0.00 0.000 4 0.000 0.046 2241 937 3023

5052 -0.96 -146.0 397.0 -7.7 360 5056 0.00 2.25 0.00 0.000 6 0.000 0.046 2241 2345 3023

5390 -0.96 -146.0 419.5 -6.7 370 5394 0.00 2.30 0.00 0.000 4 0.000 0.060 2241 3748 3024

5487 -1.03 -146.0 425.8 -6.0 372 5491 0.12 2.17 0.00 0.000 6 0.091 0.035 2195 2337 3024

5812 -0.91 -146.0 450.1 -7.6 380 5814 0.15 0.00 0.00 0.000 6 0.148 0.000 2237 2334 3024

6136 -0.91 -146.0 471.1 -6.7 388 6140 0.00 2.35 0.00 0.000 4 0.000 0.061 2236 3748 3025

6226 -0.97 -146.0 477.4 -7.2 390 6230 0.00 2.17 0.00 0.000 6 0.000 0.035 2237 2330 3025

6550 -0.97 -146.0 500.3 -7.4 398 6554 0.00 2.17 0.00 0.000 4 0.000 0.046 2237 942 3026

6622 -0.97 -146.0 505.8 -7.4 399 6626 0.00 2.22 0.00 0.000 6 0.000 0.044 2237 2345 3026

6966 -0.97 -146.0 529.4 -6.6 408 6970 0.00 2.33 0.00 0.000 4 0.000 0.061 2236 3754 3026

7090 -1.03 -146.0 538.3 -8.2 410 7094 0.10 2.20 0.00 0.000 6 0.108 0.035 2201 2327 3026

7427 -0.95 -146.0 563.7 -7.6 419 7432 0.12 2.38 0.00 0.000 4 0.153 0.059 2234 3747 3026

7579 end dive: NO_VERTICAL_VELOCITY

state 7579 begin apogee

7587 -0.34 0.0 564.3 0.0 422 7719 0.38 0.00 128.73 1.178 6 0.100 0.000 2366 2514 2420

7720 end apogee: CONTROL_FINISHED_OK

state 7720 begin climb

7723 1.08 146.0 564.2 0.0 425 7865 1.02 0.00 138.43 1.091 6 0.104 0.000 2668 2514 1824

8171 0.94 146.0 529.4 8.2 436 8175 0.12 2.33 0.00 0.000 4 0.146 0.060 2634 3927 1824

8226 0.82 146.0 524.7 8.0 437 8230 0.00 2.20 0.00 0.000 6 0.000 0.037 2634 2500 1824

8541 0.83 148.4 503.1 6.9 445 8550 0.00 2.38 3.38 0.619 4 0.000 0.061 2634 3927 1814

8586 0.71 148.4 499.4 8.9 446 8591 0.17 2.17 0.00 0.000 6 0.136 0.038 2584 2510 1816

8911 1.00 165.9 479.9 6.4 454 8932 0.20 2.22 15.90 1.088 4 0.069 0.048 2665 1110 1743

9067 0.92 165.9 467.0 9.6 457 9071 0.12 2.22 0.00 0.000 6 0.138 0.046 2630 2526 1744

9409 0.93 170.7 443.2 6.9 466 9419 0.00 2.28 5.30 0.848 4 0.000 0.061 2630 3930 1723

9426 0.93 170.7 442.0 7.1 466 9430 0.00 2.17 0.00 0.000 6 0.000 0.037 2630 2515 1724

9774 0.93 170.7 417.1 7.2 475 9775 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2515 1725

10079 0.93 171.6 395.7 7.0 483 10083 0.00 2.33 0.00 0.000 4 0.000 0.061 2630 3929 1724

10090 0.93 171.6 394.9 7.1 483 10094 0.00 2.17 0.00 0.000 6 0.000 0.036 2630 2516 1725

10412 0.94 181.3 372.5 6.7 499 10424 0.00 0.00 10.30 0.981 6 0.000 0.000 2630 2515 1680

10720 0.95 184.3 350.9 6.9 514 10726 0.00 0.00 4.10 0.693 6 0.000 0.000 2630 2515 1668

11030 1.01 192.6 330.2 6.7 529 11041 0.10 0.00 8.73 0.919 6 0.087 0.000 2675 2515 1634

11338 0.92 192.6 303.8 8.8 544 11343 0.15 2.33 0.00 0.000 4 0.123 0.060 2629 3926 1636

11351 0.86 192.6 302.8 8.7 544 11357 0.00 2.17 0.00 0.000 6 0.000 0.036 2630 2510 1636

11668 0.94 201.3 282.5 6.7 560 11679 0.00 0.00 8.68 0.891 6 0.000 0.000 2629 2510 1599

11977 1.07 236.1 262.5 5.8 575 12008 0.12 0.00 29.23 0.988 6 0.076 0.000 2682 2509 1457

12306 1.02 236.1 236.3 7.8 591 12311 0.10 2.17 0.00 0.000 4 0.131 0.047 2654 1120 1457

12319 1.02 236.1 235.2 7.8 591 12323 0.00 2.20 0.00 0.000 6 0.000 0.044 2653 2522 1457

12640 1.06 264.7 215.6 6.0 607 12670 0.00 2.30 24.20 0.950 4 0.000 0.048 2653 1121 1340

12701 1.20 286.3 211.8 6.3 609 12729 0.15 2.22 18.60 0.913 6 0.071 0.044 2718 2534 1252

13041 1.11 286.3 181.1 8.9 626 13045 0.15 2.25 0.00 0.000 4 0.124 0.048 2671 1115 1253

13074 1.21 287.4 178.5 7.0 627 13079 0.10 2.20 0.00 0.000 6 0.088 0.043 2716 2522 1253

13396 1.14 287.4 151.3 8.5 643 13400 0.12 2.25 0.00 0.000 4 0.124 0.048 2679 1110 1253

13419 1.14 292.1 149.6 6.9 644 13430 0.00 2.22 6.22 0.766 6 0.000 0.043 2678 2530 1229

13747 1.27 330.0 128.7 5.7 660 13789 0.12 2.35 32.17 0.933 4 0.073 0.048 2734 1119 1072

13835 1.27 330.0 121.6 8.3 664 13839 0.00 2.22 0.00 0.000 6 0.000 0.044 2733 2532 1072

14158 1.21 330.0 95.1 8.0 686 14165 0.12 2.25 0.00 0.000 4 0.131 0.048 2696 1118 1069

14217 1.37 370.3 91.6 5.6 696 14259 0.12 2.20 33.50 0.929 6 0.077 0.044 2746 2517 910

14601 1.32 370.3 56.8 8.9 763 14607 0.10 2.25 0.00 0.000 4 0.136 0.050 2719 1110 904

14682 1.40 370.3 49.3 9.2 777 14688 0.00 2.22 0.00 0.000 6 0.000 0.045 2719 2521 903

15027 1.46 370.3 21.7 7.2 838 15034 0.12 2.25 0.00 0.000 4 0.074 0.049 2774 1118 902

15098 1.36 370.3 15.0 10.4 850 15105 0.17 2.22 0.00 0.000 6 0.133 0.045 2724 2523 901

15238 end climb: SURFACE_DEPTH_REACHED

state 15238 begin surface coast

15262 end surface coast: CONTROL_FINISHED_OK

state 15262 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	440	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	225	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	41	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-3	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	-40799.996	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	021455,6702.996,-5653.479,42,1.7,42,-37.6	TGT_NAME	TARGET_W_MID
_CALLS	1	TGT_LATLONG	6656.000,-5805.000
_XMS_NAKs	3	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.222,0.030
_SM_DEPTHo	1.64	KALMAN_X	-128223.5,834.1,839.4,149085.2,-250.8
_SM_ANGLEo	-57.6	KALMAN_Y	-9100.5,247.0,-283.9,24229.5,-1477.3
GPS2	022156,6703.030,-5653.503,36,1.4,45,-37.6	MHEAD_RNG_PITCHd_Wd	315.4,53488,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	577

FINISH	0.8,1.015188	TCM_TEMP	16.30
SM_CCo	15342,0.00,0.000,0,0,899,373.10	XPDR_PINGS	0
SM_GC	1.58,7.03,0.00,0.00,0.054,0.000,0.000,157,2330,899,-10.40,-0.28,373.10	_24V_AH	20.4,80.774
RAFOS_CLK	796	_10V_AH	10.5,36.321
RAFOS	0,1229486662,4.083333,4.072778,59,57,56,55,55,52,208,182,125,150,163,137	DATA_FILE_SIZE	31559,879
RAFOS_FIX	6705.856445,-5701.021973,171208,040420,2,87,1.05	CAP_FILE_SIZE	131543,0
IRIDIUM_FIX	6636.54,-5655.33,120398,212125	CFSIZE	260165632,218382336
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1914	SOUNDSPEED	1463.7
INTERNAL_PRESSURE	8.53548	GPS	171208,064015,6703.982,-5657.644,36,1.4,49,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	255	109.42	SBE_CT	680	24	333.29
Roll_motor	139	62	178.57	SBE_O2	596	19	231.30
VBD_pump_during_apogee	467	1178	11234.45	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	24	103	51.95	nil	0	0	0.00
Iridium_during_connect	31	160	102.96	nil	0	0	0.00
Iridium_during_xfer	185	223	842.98
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	46	50	24.64
TT8	1677	19	350.80
LPSleep	11028	2	267.50
TT8_Active	617	19	129.08
TT8_Sampling	1870	39	783.86
TT8_CF8	570	45	275.26
TT8_Kalman	33	81	28.71
Analog_circuits	1609	12	202.81
GPS_charging	0	0	0.00
Compass	1810	8	152.05
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
16	-1.08	-146.0	0.0	0.0	0	139	0.00	0.00	-119.97	0.000	3	0.000	0.000	162	2324	3016
143	-1.08	-146.0	3.1	-2.1	21	157	8.60	2.38	0.00	0.000	4	0.255	0.062	2199	3747	3020
331	-0.67	-146.0	34.9	-16.2	53	338	0.32	2.17	0.00	0.000	6	0.161	0.037	2294	2338	3022
676	-0.67	-146.0	71.2	-8.9	114	682	0.00	2.22	0.00	0.000	4	0.000	0.050	2293	929	3022
791	-0.62	-146.0	82.2	-9.8	134	797	0.00	2.25	0.00	0.000	6	0.000	0.047	2293	2341	3022
1128	-0.69	-146.0	111.6	-7.4	175	1132	0.00	2.25	0.00	0.000	4	0.000	0.048	2293	929	3022
1207	-0.69	-146.0	117.6	-6.7	178	1211	0.00	2.25	0.00	0.000	6	0.000	0.046	2293	2340	3022
1529	-0.77	-146.0	138.6	-6.9	194	1534	0.10	2.33	0.00	0.000	4	0.103	0.061	2256	3750	3022
1646	-0.77	-146.0	148.9	-8.8	199	1650	0.00	2.20	0.00	0.000	6	0.000	0.036	2256	2333	3022
1968	-0.77	-146.0	176.2	-8.3	215	1972	0.00	2.20	0.00	0.000	4	0.000	0.049	2256	940	3022
2042	-0.72	-146.0	182.6	-8.6	218	2046	0.10	2.25	0.00	0.000	6	0.176	0.045	2280	2352	3022
2369	-0.82	-146.0	206.3	-7.3	234	2372	0.00	2.30	0.00	0.000	4	0.000	0.063	2280	3744	3020
2487	-0.96	-146.0	215.5	-8.0	239	2492	0.17	2.20	0.00	0.000	6	0.084	0.037	2217	2327	3021
2814	-0.86	-146.0	244.7	-8.7	255	2819	0.12	2.22	0.00	0.000	4	0.152	0.048	2251	932	3020
2969	-0.86	-146.0	255.9	-6.8	261	2975	0.00	2.25	0.00	0.000	6	0.000	0.045	2251	2345	3021
3285	-0.86	-146.0	275.9	-5.7	277	3289	0.00	2.30	0.00	0.000	4	0.000	0.060	2251	3745	3021
3377	-0.92	-146.0	281.4	-6.6	281	3381	0.00	2.20	0.00	0.000	6	0.000	0.036	2251	2325	3021
3710	-0.92	-146.0	302.2	-6.5	297	3714	0.00	2.20	0.00	0.000	4	0.000	0.048	2251	930	3020
3811	-0.92	-146.0	309.3	-7.1	301	3814	0.00	2.25	0.00	0.000	6	0.000	0.044	2251	2344	3021
4133	-0.92	-146.0	329.7	-6.5	317	4137	0.00	2.30	0.00	0.000	4	0.000	0.061	2251	3742	3021
4252	-1.00	-146.0	337.8	-7.2	322	4257	0.12	2.17	0.00	0.000	6	0.095	0.035	2207	2334	3021
4580	-0.90	-146.0	363.9	-7.8	338	4584	0.12	2.38	0.00	0.000	4	0.155	0.060	2241	3753	3022
4652	-0.96	-146.0	369.4	-7.3	341	4656	0.00	2.17	0.00	0.000	6	0.000	0.034	2241	2340	3022
4974	-0.96	-146.0	391.1	-6.6	357	4978	0.00	2.20	0.00	0.000	4	0.000	0.046	2241	937	3023
5052	-0.96	-146.0	397.0	-7.7	360	5056	0.00	2.25	0.00	0.000	6	0.000	0.046	2241	2345	3023
5390	-0.96	-146.0	419.5	-6.7	370	5394	0.00	2.30	0.00	0.000	4	0.000	0.060	2241	3748	3024
5487	-1.03	-146.0	425.8	-6.0	372	5491	0.12	2.17	0.00	0.000	6	0.091	0.035	2195	2337	3024
5812	-0.91	-146.0	450.1	-7.6	380	5814	0.15	0.00	0.00	0.000	6	0.148	0.000	2237	2334	3024
6136	-0.91	-146.0	471.1	-6.7	388	6140	0.00	2.35	0.00	0.000	4	0.000	0.061	2236	3748	3025
6226	-0.97	-146.0	477.4	-7.2	390	6230	0.00	2.17	0.00	0.000	6	0.000	0.035	2237	2330	3025
6550	-0.97	-146.0	500.3	-7.4	398	6554	0.00	2.17	0.00	0.000	4	0.000	0.046	2237	942	3026
6622	-0.97	-146.0	505.8	-7.4	399	6626	0.00	2.22	0.00	0.000	6	0.000	0.044	2237	2345	3026
6966	-0.97	-146.0	529.4	-6.6	408	6970	0.00	2.33	0.00	0.000	4	0.000	0.061	2236	3754	3026
7090	-1.03	-146.0	538.3	-8.2	410	7094	0.10	2.20	0.00	0.000	6	0.108	0.035	2201	2327	3026
7427	-0.95	-146.0	563.7	-7.6	419	7432	0.12	2.38	0.00	0.000	4	0.153	0.059	2234	3747	3026
7579	end dive: NO_VERTICAL_VELOCITY
state	7579	begin apogee
7587	-0.34	0.0	564.3	0.0	422	7719	0.38	0.00	128.73	1.178	6	0.100	0.000	2366	2514	2420
7720	end apogee: CONTROL_FINISHED_OK
state	7720	begin climb
7723	1.08	146.0	564.2	0.0	425	7865	1.02	0.00	138.43	1.091	6	0.104	0.000	2668	2514	1824
8171	0.94	146.0	529.4	8.2	436	8175	0.12	2.33	0.00	0.000	4	0.146	0.060	2634	3927	1824
8226	0.82	146.0	524.7	8.0	437	8230	0.00	2.20	0.00	0.000	6	0.000	0.037	2634	2500	1824
8541	0.83	148.4	503.1	6.9	445	8550	0.00	2.38	3.38	0.619	4	0.000	0.061	2634	3927	1814
8586	0.71	148.4	499.4	8.9	446	8591	0.17	2.17	0.00	0.000	6	0.136	0.038	2584	2510	1816
8911	1.00	165.9	479.9	6.4	454	8932	0.20	2.22	15.90	1.088	4	0.069	0.048	2665	1110	1743
9067	0.92	165.9	467.0	9.6	457	9071	0.12	2.22	0.00	0.000	6	0.138	0.046	2630	2526	1744
9409	0.93	170.7	443.2	6.9	466	9419	0.00	2.28	5.30	0.848	4	0.000	0.061	2630	3930	1723
9426	0.93	170.7	442.0	7.1	466	9430	0.00	2.17	0.00	0.000	6	0.000	0.037	2630	2515	1724
9774	0.93	170.7	417.1	7.2	475	9775	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2515	1725
10079	0.93	171.6	395.7	7.0	483	10083	0.00	2.33	0.00	0.000	4	0.000	0.061	2630	3929	1724
10090	0.93	171.6	394.9	7.1	483	10094	0.00	2.17	0.00	0.000	6	0.000	0.036	2630	2516	1725
10412	0.94	181.3	372.5	6.7	499	10424	0.00	0.00	10.30	0.981	6	0.000	0.000	2630	2515	1680
10720	0.95	184.3	350.9	6.9	514	10726	0.00	0.00	4.10	0.693	6	0.000	0.000	2630	2515	1668
11030	1.01	192.6	330.2	6.7	529	11041	0.10	0.00	8.73	0.919	6	0.087	0.000	2675	2515	1634
11338	0.92	192.6	303.8	8.8	544	11343	0.15	2.33	0.00	0.000	4	0.123	0.060	2629	3926	1636
11351	0.86	192.6	302.8	8.7	544	11357	0.00	2.17	0.00	0.000	6	0.000	0.036	2630	2510	1636
11668	0.94	201.3	282.5	6.7	560	11679	0.00	0.00	8.68	0.891	6	0.000	0.000	2629	2510	1599
11977	1.07	236.1	262.5	5.8	575	12008	0.12	0.00	29.23	0.988	6	0.076	0.000	2682	2509	1457
12306	1.02	236.1	236.3	7.8	591	12311	0.10	2.17	0.00	0.000	4	0.131	0.047	2654	1120	1457
12319	1.02	236.1	235.2	7.8	591	12323	0.00	2.20	0.00	0.000	6	0.000	0.044	2653	2522	1457
12640	1.06	264.7	215.6	6.0	607	12670	0.00	2.30	24.20	0.950	4	0.000	0.048	2653	1121	1340
12701	1.20	286.3	211.8	6.3	609	12729	0.15	2.22	18.60	0.913	6	0.071	0.044	2718	2534	1252
13041	1.11	286.3	181.1	8.9	626	13045	0.15	2.25	0.00	0.000	4	0.124	0.048	2671	1115	1253
13074	1.21	287.4	178.5	7.0	627	13079	0.10	2.20	0.00	0.000	6	0.088	0.043	2716	2522	1253
13396	1.14	287.4	151.3	8.5	643	13400	0.12	2.25	0.00	0.000	4	0.124	0.048	2679	1110	1253
13419	1.14	292.1	149.6	6.9	644	13430	0.00	2.22	6.22	0.766	6	0.000	0.043	2678	2530	1229
13747	1.27	330.0	128.7	5.7	660	13789	0.12	2.35	32.17	0.933	4	0.073	0.048	2734	1119	1072
13835	1.27	330.0	121.6	8.3	664	13839	0.00	2.22	0.00	0.000	6	0.000	0.044	2733	2532	1072
14158	1.21	330.0	95.1	8.0	686	14165	0.12	2.25	0.00	0.000	4	0.131	0.048	2696	1118	1069
14217	1.37	370.3	91.6	5.6	696	14259	0.12	2.20	33.50	0.929	6	0.077	0.044	2746	2517	910
14601	1.32	370.3	56.8	8.9	763	14607	0.10	2.25	0.00	0.000	4	0.136	0.050	2719	1110	904
14682	1.40	370.3	49.3	9.2	777	14688	0.00	2.22	0.00	0.000	6	0.000	0.045	2719	2521	903
15027	1.46	370.3	21.7	7.2	838	15034	0.12	2.25	0.00	0.000	4	0.074	0.049	2774	1118	902
15098	1.36	370.3	15.0	10.4	850	15105	0.17	2.22	0.00	0.000	6	0.133	0.045	2724	2523	901
15238	end climb: SURFACE_DEPTH_REACHED
state	15238	begin surface coast
15262	end surface coast: CONTROL_FINISHED_OK
state	15262	begin surface