Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 475 * 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 475 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 558.3028 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 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 -80889.578 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 60 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 558.3028

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 60 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 -80889.578

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2436 KALMAN_USE 1 ROLL_MIN 280 USE_BATHY -2

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 34 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 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 475 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 161144,6638.925,-6001.025,0,2094.5,0,-37.8 TGT_NAME TARGET_W_IN

_CALLS 5 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.216,-0.059

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,-123272.9,0.0

_SM_ANGLEo -14.2 KALMAN_Y 0.0,0.0,0.0,-33404.0,0.0

GPS2 161144,6638.925,-6001.025,0,2094.5,0,-37.8 MHEAD_RNG_PITCHd_Wd 292.6,31272,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 601

Post-dive calculations and measurements:

SM_CCo 14017,133.68,0.918,1,0,145,558.30 XPDR_PINGS 1

SM_GC 6.39,9.07,0.00,0.00,0.139,0.000,0.000,169,2344,142,-10.39,0.11,558.79 _24V_AH 20.1,88.117

RAFOS_CLK 933 _10V_AH 10.4,40.292

RAFOS 0,1230321856,20.083334,20.071112,136,67,66,65,64,60,554,192,153,114,217,168 DATA_FILE_SIZE 31624,852

RAFOS_FIX 6638.924805,-6001.024902,261208,161644,2,94,0.42 CAP_FILE_SIZE 125302,0

IRIDIUM_FIX 6631.12,-5745.67,160398,040408 CFSIZE 260165632,215298048

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,8,0

HUMID 1921 SOUNDSPEED 1444.4

INTERNAL_PRESSURE 8.38899 GPS 261208,161144,6638.925,-6001.025,0,2094.5,0,-37.8

TCM_TEMP 14.80

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 266 123.31 SBE_CT 662 24 319.75

Roll_motor 141 85 245.06 SBE_O2 577 19 220.44

VBD_pump_during_apogee 519 1233 12869.76 nil 0 0 0.00

VBD_pump_during_surface 133 918 2466.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 168 103 348.05 nil 0 0 0.00

Iridium_during_connect 143 160 461.69 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 2.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 906 50 471.34

TT8 1546 19 320.42

LPSleep 10217 2 245.46

TT8_Active 846 19 175.47

TT8_Sampling 2720 39 1129.64

TT8_CF8 654 45 312.71

TT8_Kalman 33 81 28.43

Analog_circuits 1873 12 233.79

GPS_charging 0 0 0.00

Compass 1788 8 148.83

RAFOS 1800 1 28.08

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

16 -1.08 -145.9 0.0 0.0 0 180 0.00 0.00 -161.05 0.000 2 0.000 0.000 159 2319 2395

184 -1.08 -145.9 3.3 -8.1 29 221 8.82 2.58 -22.17 0.000 4 0.266 0.086 2197 3753 3017

448 -0.82 -145.9 49.9 -16.8 75 455 0.22 2.30 0.00 0.000 6 0.166 0.045 2257 2336 3021

795 -0.73 -145.9 89.7 -10.5 136 801 0.00 2.33 0.00 0.000 4 0.000 0.059 2258 934 3022

974 -0.64 -145.9 108.4 -10.0 156 981 0.15 2.35 0.00 0.000 6 0.162 0.056 2296 2339 3022

1290 -0.74 -145.9 134.2 -8.1 172 1291 0.00 0.00 0.00 0.000 6 0.000 0.000 2296 2339 3022

1600 -0.84 -146.0 156.2 -6.8 187 1604 0.15 2.45 0.00 0.000 4 0.091 0.071 2243 3745 3022

1662 -0.84 -146.0 162.3 -9.9 189 1668 0.00 2.30 0.00 0.000 6 0.000 0.043 2243 2328 3022

1978 -0.77 -146.0 194.6 -10.6 205 1983 0.10 2.35 0.00 0.000 4 0.181 0.058 2267 929 3022

2088 -0.77 -146.0 205.5 -10.1 210 2092 0.00 2.38 0.00 0.000 6 0.000 0.054 2267 2345 3022

2415 -0.77 -146.0 236.0 -9.1 226 2419 0.00 2.45 0.00 0.000 4 0.000 0.071 2267 3755 3022

2455 -0.85 -146.0 239.8 -9.2 228 2459 0.00 2.30 0.00 0.000 6 0.000 0.042 2267 2335 3022

2789 -0.85 -146.0 269.3 -8.5 244 2793 0.00 2.35 0.00 0.000 4 0.000 0.058 2267 925 3023

2872 -0.85 -146.0 277.0 -9.2 247 2879 0.00 2.38 0.00 0.000 6 0.000 0.054 2267 2340 3023

3189 -0.91 -146.0 302.3 -7.6 263 3194 0.12 2.47 0.00 0.000 4 0.098 0.069 2221 3753 3023

3308 -0.85 -146.0 313.7 -9.5 268 3312 0.12 2.30 0.00 0.000 6 0.167 0.042 2251 2338 3023

3624 -0.85 -146.0 340.1 -8.3 283 3628 0.00 2.35 0.00 0.000 4 0.000 0.058 2251 931 3023

3663 -0.85 -146.0 343.6 -8.9 284 3669 0.00 2.38 0.00 0.000 6 0.000 0.054 2251 2342 3023

3979 -0.85 -146.0 370.2 -8.4 300 3983 0.00 2.45 0.00 0.000 4 0.000 0.070 2249 3750 3023

4080 -0.91 -146.0 379.0 -8.5 304 4086 0.00 2.30 0.00 0.000 6 0.000 0.043 2249 2335 3023

4396 -0.91 -146.0 403.4 -7.3 319 4400 0.00 2.35 0.00 0.000 4 0.000 0.058 2248 931 3023

4475 -0.91 -146.0 409.5 -7.3 320 4479 0.00 2.38 0.00 0.000 6 0.000 0.054 2249 2343 3023

4814 -0.91 -146.0 433.1 -7.0 329 4818 0.00 2.45 0.00 0.000 4 0.000 0.071 2249 3746 3023

4921 -1.00 -146.0 440.9 -7.4 331 4926 0.12 2.30 0.00 0.000 6 0.108 0.042 2206 2334 3023

5264 -0.90 -146.0 472.3 -9.2 340 5269 0.12 2.53 0.00 0.000 4 0.157 0.069 2235 3753 3023

5305 -0.95 -146.0 475.8 -7.9 341 5309 0.00 2.30 0.00 0.000 6 0.000 0.042 2235 2337 3023

5635 -0.95 -146.0 501.0 -7.2 349 5639 0.00 2.35 0.00 0.000 4 0.000 0.056 2235 926 3023

5765 -0.95 -146.0 510.8 -7.5 351 5771 0.00 2.40 0.00 0.000 6 0.000 0.054 2235 2354 3024

6097 -0.95 -146.0 535.7 -7.8 360 6101 0.00 2.42 0.00 0.000 4 0.000 0.069 2235 3745 3024

6352 end dive: NO_VERTICAL_VELOCITY

state 6352 begin apogee

6362 -0.34 0.0 545.2 0.0 365 6496 0.38 0.00 130.77 1.233 6 0.104 0.000 2362 2513 2421

6496 end apogee: CONTROL_FINISHED_OK

state 6496 begin climb

6500 1.08 146.0 545.1 0.0 369 6701 1.10 2.70 154.73 1.059 4 0.103 0.054 2666 1118 1825

6713 0.95 146.0 535.5 7.3 374 6719 0.10 2.65 0.00 0.000 6 0.146 0.049 2646 2515 1825

7033 0.90 146.0 511.8 7.7 382 7038 0.00 2.58 0.00 0.000 4 0.000 0.067 2645 3940 1827

7101 0.73 146.0 505.4 9.3 383 7106 0.22 2.42 0.00 0.000 6 0.143 0.040 2589 2514 1827

7440 0.95 146.0 482.5 7.3 392 7444 0.17 2.47 0.00 0.000 4 0.073 0.068 2654 3934 1826

7546 0.77 146.0 473.7 8.7 394 7551 0.20 2.28 0.00 0.000 6 0.145 0.041 2598 2512 1826

7860 1.03 213.1 458.4 4.7 402 7921 0.20 2.40 55.85 1.176 4 0.067 0.053 2679 1115 1551

7929 1.05 228.5 454.3 6.5 403 7949 0.00 2.42 14.80 1.041 6 0.000 0.050 2679 2525 1488

8270 1.12 228.5 428.8 7.7 412 8274 0.00 2.28 0.00 0.000 4 0.000 0.053 2679 1112 1490

8372 1.08 228.5 420.5 8.0 414 8376 0.00 2.28 0.00 0.000 6 0.000 0.051 2678 2530 1490

8692 1.02 228.5 392.6 8.9 424 8696 0.00 2.33 0.00 0.000 4 0.000 0.069 2679 3931 1491

8726 0.87 228.5 389.1 10.4 425 8731 0.20 2.22 0.00 0.000 6 0.142 0.042 2622 2522 1491

9044 1.17 248.5 368.5 6.3 440 9067 0.20 2.47 17.58 1.101 4 0.071 0.070 2705 3940 1407

9219 0.95 248.5 352.6 9.8 447 9225 0.22 2.25 0.00 0.000 6 0.137 0.042 2639 2510 1409

9536 1.14 307.5 335.6 5.0 463 9589 0.15 0.00 49.97 1.118 6 0.075 0.000 2704 2508 1166

9884 1.15 312.7 311.0 6.8 480 9894 0.00 2.40 5.12 0.823 4 0.000 0.070 2704 3939 1145

9907 1.15 312.7 309.2 7.3 481 9910 0.00 2.25 0.00 0.000 6 0.000 0.042 2704 2511 1147

10234 1.15 312.7 283.0 8.6 497 10238 0.00 2.25 0.00 0.000 4 0.000 0.056 2704 1112 1148

10251 1.15 312.7 281.6 8.7 497 10257 0.00 2.28 0.00 0.000 6 0.000 0.051 2704 2521 1147

10567 1.15 312.7 257.5 7.1 513 10570 0.00 2.35 0.00 0.000 4 0.000 0.067 2705 3930 1147

10591 1.09 312.7 255.8 7.5 514 10596 0.12 2.25 0.00 0.000 6 0.146 0.042 2669 2511 1147

10919 1.26 353.5 236.9 5.6 530 10962 0.15 2.35 35.85 1.091 4 0.074 0.057 2732 1108 977

10975 1.26 353.5 232.6 7.9 532 10979 0.10 2.35 0.00 0.000 6 0.144 0.051 2707 2522 975

11291 1.26 353.5 207.9 8.1 547 11294 0.00 2.30 0.00 0.000 4 0.000 0.058 2707 1110 973

11308 1.32 353.5 206.5 8.2 547 11314 0.00 2.28 0.00 0.000 6 0.000 0.051 2707 2520 973

11625 1.38 353.5 182.0 7.1 563 11630 0.12 2.30 0.00 0.000 4 0.079 0.055 2760 1117 972

11637 1.43 353.5 181.0 7.3 563 11644 0.00 2.30 0.00 0.000 6 0.000 0.051 2760 2534 971

11954 1.31 353.5 150.0 10.6 579 11959 0.15 2.35 0.00 0.000 4 0.137 0.056 2718 1114 971

11984 1.31 353.5 147.3 8.7 580 11988 0.00 2.30 0.00 0.000 6 0.000 0.052 2717 2521 971

12305 1.31 359.8 120.8 6.8 596 12312 0.00 0.00 5.05 0.806 6 0.000 0.000 2717 2521 953

12615 1.36 359.8 103.8 7.3 611 12616 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2521 954

12949 1.44 359.8 71.9 8.0 665 12956 0.12 2.35 0.00 0.000 4 0.083 0.056 2772 1118 954

12969 1.44 359.8 70.2 7.7 668 12975 0.10 2.33 0.00 0.000 6 0.145 0.053 2748 2527 954

13315 1.44 359.8 47.1 7.5 729 13320 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2527 954

13661 1.48 395.6 22.4 5.8 790 13702 0.00 2.45 31.80 1.002 4 0.000 0.071 2748 3922 807

13738 1.46 414.2 13.6 6.4 803 13762 0.00 2.28 17.62 0.937 6 0.000 0.042 2748 2507 731

14013 end climb: NO_VERTICAL_VELOCITY

state 14013 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	475	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	558.3028	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	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	-80889.578	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	60	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	161144,6638.925,-6001.025,0,2094.5,0,-37.8	TGT_NAME	TARGET_W_IN
_CALLS	5	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.216,-0.059
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,-123272.9,0.0
_SM_ANGLEo	-14.2	KALMAN_Y	0.0,0.0,0.0,-33404.0,0.0
GPS2	161144,6638.925,-6001.025,0,2094.5,0,-37.8	MHEAD_RNG_PITCHd_Wd	292.6,31272,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	601

SM_CCo	14017,133.68,0.918,1,0,145,558.30	XPDR_PINGS	1
SM_GC	6.39,9.07,0.00,0.00,0.139,0.000,0.000,169,2344,142,-10.39,0.11,558.79	_24V_AH	20.1,88.117
RAFOS_CLK	933	_10V_AH	10.4,40.292
RAFOS	0,1230321856,20.083334,20.071112,136,67,66,65,64,60,554,192,153,114,217,168	DATA_FILE_SIZE	31624,852
RAFOS_FIX	6638.924805,-6001.024902,261208,161644,2,94,0.42	CAP_FILE_SIZE	125302,0
IRIDIUM_FIX	6631.12,-5745.67,160398,040408	CFSIZE	260165632,215298048
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
HUMID	1921	SOUNDSPEED	1444.4
INTERNAL_PRESSURE	8.38899	GPS	261208,161144,6638.925,-6001.025,0,2094.5,0,-37.8
TCM_TEMP	14.80

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	266	123.31	SBE_CT	662	24	319.75
Roll_motor	141	85	245.06	SBE_O2	577	19	220.44
VBD_pump_during_apogee	519	1233	12869.76	nil	0	0	0.00
VBD_pump_during_surface	133	918	2466.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	168	103	348.05	nil	0	0	0.00
Iridium_during_connect	143	160	461.69	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	2.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	906	50	471.34
TT8	1546	19	320.42
LPSleep	10217	2	245.46
TT8_Active	846	19	175.47
TT8_Sampling	2720	39	1129.64
TT8_CF8	654	45	312.71
TT8_Kalman	33	81	28.43
Analog_circuits	1873	12	233.79
GPS_charging	0	0	0.00
Compass	1788	8	148.83
RAFOS	1800	1	28.08
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
16	-1.08	-145.9	0.0	0.0	0	180	0.00	0.00	-161.05	0.000	2	0.000	0.000	159	2319	2395
184	-1.08	-145.9	3.3	-8.1	29	221	8.82	2.58	-22.17	0.000	4	0.266	0.086	2197	3753	3017
448	-0.82	-145.9	49.9	-16.8	75	455	0.22	2.30	0.00	0.000	6	0.166	0.045	2257	2336	3021
795	-0.73	-145.9	89.7	-10.5	136	801	0.00	2.33	0.00	0.000	4	0.000	0.059	2258	934	3022
974	-0.64	-145.9	108.4	-10.0	156	981	0.15	2.35	0.00	0.000	6	0.162	0.056	2296	2339	3022
1290	-0.74	-145.9	134.2	-8.1	172	1291	0.00	0.00	0.00	0.000	6	0.000	0.000	2296	2339	3022
1600	-0.84	-146.0	156.2	-6.8	187	1604	0.15	2.45	0.00	0.000	4	0.091	0.071	2243	3745	3022
1662	-0.84	-146.0	162.3	-9.9	189	1668	0.00	2.30	0.00	0.000	6	0.000	0.043	2243	2328	3022
1978	-0.77	-146.0	194.6	-10.6	205	1983	0.10	2.35	0.00	0.000	4	0.181	0.058	2267	929	3022
2088	-0.77	-146.0	205.5	-10.1	210	2092	0.00	2.38	0.00	0.000	6	0.000	0.054	2267	2345	3022
2415	-0.77	-146.0	236.0	-9.1	226	2419	0.00	2.45	0.00	0.000	4	0.000	0.071	2267	3755	3022
2455	-0.85	-146.0	239.8	-9.2	228	2459	0.00	2.30	0.00	0.000	6	0.000	0.042	2267	2335	3022
2789	-0.85	-146.0	269.3	-8.5	244	2793	0.00	2.35	0.00	0.000	4	0.000	0.058	2267	925	3023
2872	-0.85	-146.0	277.0	-9.2	247	2879	0.00	2.38	0.00	0.000	6	0.000	0.054	2267	2340	3023
3189	-0.91	-146.0	302.3	-7.6	263	3194	0.12	2.47	0.00	0.000	4	0.098	0.069	2221	3753	3023
3308	-0.85	-146.0	313.7	-9.5	268	3312	0.12	2.30	0.00	0.000	6	0.167	0.042	2251	2338	3023
3624	-0.85	-146.0	340.1	-8.3	283	3628	0.00	2.35	0.00	0.000	4	0.000	0.058	2251	931	3023
3663	-0.85	-146.0	343.6	-8.9	284	3669	0.00	2.38	0.00	0.000	6	0.000	0.054	2251	2342	3023
3979	-0.85	-146.0	370.2	-8.4	300	3983	0.00	2.45	0.00	0.000	4	0.000	0.070	2249	3750	3023
4080	-0.91	-146.0	379.0	-8.5	304	4086	0.00	2.30	0.00	0.000	6	0.000	0.043	2249	2335	3023
4396	-0.91	-146.0	403.4	-7.3	319	4400	0.00	2.35	0.00	0.000	4	0.000	0.058	2248	931	3023
4475	-0.91	-146.0	409.5	-7.3	320	4479	0.00	2.38	0.00	0.000	6	0.000	0.054	2249	2343	3023
4814	-0.91	-146.0	433.1	-7.0	329	4818	0.00	2.45	0.00	0.000	4	0.000	0.071	2249	3746	3023
4921	-1.00	-146.0	440.9	-7.4	331	4926	0.12	2.30	0.00	0.000	6	0.108	0.042	2206	2334	3023
5264	-0.90	-146.0	472.3	-9.2	340	5269	0.12	2.53	0.00	0.000	4	0.157	0.069	2235	3753	3023
5305	-0.95	-146.0	475.8	-7.9	341	5309	0.00	2.30	0.00	0.000	6	0.000	0.042	2235	2337	3023
5635	-0.95	-146.0	501.0	-7.2	349	5639	0.00	2.35	0.00	0.000	4	0.000	0.056	2235	926	3023
5765	-0.95	-146.0	510.8	-7.5	351	5771	0.00	2.40	0.00	0.000	6	0.000	0.054	2235	2354	3024
6097	-0.95	-146.0	535.7	-7.8	360	6101	0.00	2.42	0.00	0.000	4	0.000	0.069	2235	3745	3024
6352	end dive: NO_VERTICAL_VELOCITY
state	6352	begin apogee
6362	-0.34	0.0	545.2	0.0	365	6496	0.38	0.00	130.77	1.233	6	0.104	0.000	2362	2513	2421
6496	end apogee: CONTROL_FINISHED_OK
state	6496	begin climb
6500	1.08	146.0	545.1	0.0	369	6701	1.10	2.70	154.73	1.059	4	0.103	0.054	2666	1118	1825
6713	0.95	146.0	535.5	7.3	374	6719	0.10	2.65	0.00	0.000	6	0.146	0.049	2646	2515	1825
7033	0.90	146.0	511.8	7.7	382	7038	0.00	2.58	0.00	0.000	4	0.000	0.067	2645	3940	1827
7101	0.73	146.0	505.4	9.3	383	7106	0.22	2.42	0.00	0.000	6	0.143	0.040	2589	2514	1827
7440	0.95	146.0	482.5	7.3	392	7444	0.17	2.47	0.00	0.000	4	0.073	0.068	2654	3934	1826
7546	0.77	146.0	473.7	8.7	394	7551	0.20	2.28	0.00	0.000	6	0.145	0.041	2598	2512	1826
7860	1.03	213.1	458.4	4.7	402	7921	0.20	2.40	55.85	1.176	4	0.067	0.053	2679	1115	1551
7929	1.05	228.5	454.3	6.5	403	7949	0.00	2.42	14.80	1.041	6	0.000	0.050	2679	2525	1488
8270	1.12	228.5	428.8	7.7	412	8274	0.00	2.28	0.00	0.000	4	0.000	0.053	2679	1112	1490
8372	1.08	228.5	420.5	8.0	414	8376	0.00	2.28	0.00	0.000	6	0.000	0.051	2678	2530	1490
8692	1.02	228.5	392.6	8.9	424	8696	0.00	2.33	0.00	0.000	4	0.000	0.069	2679	3931	1491
8726	0.87	228.5	389.1	10.4	425	8731	0.20	2.22	0.00	0.000	6	0.142	0.042	2622	2522	1491
9044	1.17	248.5	368.5	6.3	440	9067	0.20	2.47	17.58	1.101	4	0.071	0.070	2705	3940	1407
9219	0.95	248.5	352.6	9.8	447	9225	0.22	2.25	0.00	0.000	6	0.137	0.042	2639	2510	1409
9536	1.14	307.5	335.6	5.0	463	9589	0.15	0.00	49.97	1.118	6	0.075	0.000	2704	2508	1166
9884	1.15	312.7	311.0	6.8	480	9894	0.00	2.40	5.12	0.823	4	0.000	0.070	2704	3939	1145
9907	1.15	312.7	309.2	7.3	481	9910	0.00	2.25	0.00	0.000	6	0.000	0.042	2704	2511	1147
10234	1.15	312.7	283.0	8.6	497	10238	0.00	2.25	0.00	0.000	4	0.000	0.056	2704	1112	1148
10251	1.15	312.7	281.6	8.7	497	10257	0.00	2.28	0.00	0.000	6	0.000	0.051	2704	2521	1147
10567	1.15	312.7	257.5	7.1	513	10570	0.00	2.35	0.00	0.000	4	0.000	0.067	2705	3930	1147
10591	1.09	312.7	255.8	7.5	514	10596	0.12	2.25	0.00	0.000	6	0.146	0.042	2669	2511	1147
10919	1.26	353.5	236.9	5.6	530	10962	0.15	2.35	35.85	1.091	4	0.074	0.057	2732	1108	977
10975	1.26	353.5	232.6	7.9	532	10979	0.10	2.35	0.00	0.000	6	0.144	0.051	2707	2522	975
11291	1.26	353.5	207.9	8.1	547	11294	0.00	2.30	0.00	0.000	4	0.000	0.058	2707	1110	973
11308	1.32	353.5	206.5	8.2	547	11314	0.00	2.28	0.00	0.000	6	0.000	0.051	2707	2520	973
11625	1.38	353.5	182.0	7.1	563	11630	0.12	2.30	0.00	0.000	4	0.079	0.055	2760	1117	972
11637	1.43	353.5	181.0	7.3	563	11644	0.00	2.30	0.00	0.000	6	0.000	0.051	2760	2534	971
11954	1.31	353.5	150.0	10.6	579	11959	0.15	2.35	0.00	0.000	4	0.137	0.056	2718	1114	971
11984	1.31	353.5	147.3	8.7	580	11988	0.00	2.30	0.00	0.000	6	0.000	0.052	2717	2521	971
12305	1.31	359.8	120.8	6.8	596	12312	0.00	0.00	5.05	0.806	6	0.000	0.000	2717	2521	953
12615	1.36	359.8	103.8	7.3	611	12616	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2521	954
12949	1.44	359.8	71.9	8.0	665	12956	0.12	2.35	0.00	0.000	4	0.083	0.056	2772	1118	954
12969	1.44	359.8	70.2	7.7	668	12975	0.10	2.33	0.00	0.000	6	0.145	0.053	2748	2527	954
13315	1.44	359.8	47.1	7.5	729	13320	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2527	954
13661	1.48	395.6	22.4	5.8	790	13702	0.00	2.45	31.80	1.002	4	0.000	0.071	2748	3922	807
13738	1.46	414.2	13.6	6.4	803	13762	0.00	2.28	17.62	0.937	6	0.000	0.042	2748	2507	731
14013	end climb: NO_VERTICAL_VELOCITY
state	14013	begin surface