Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 477 * 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 477 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 30 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 -83217.023 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 -83217.023

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 30 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 477 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 025847,6628.867,-6005.736,60,2.9,79,-37.7 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 -0.164,0.153

_SM_DEPTHo 1.48 KALMAN_X 15857.2,4005.6,6879.8,-128555.3,1496.4

_SM_ANGLEo -41.1 KALMAN_Y -14654.0,-3701.7,-6357.7,-35352.9,-1382.9

GPS2 032305,6628.323,-6005.562,493,3.8,512,-37.7 MHEAD_RNG_PITCHd_Wd 350.6,37333,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 517

Post-dive calculations and measurements:

FINISH 1.1,1.025155 TCM_TEMP 14.90

SM_CCo 13776,203.20,0.905,1,0,145,558.30 XPDR_PINGS 0

SM_GC 1.38,0.00,0.00,203.20,0.000,0.000,0.905,164,2343,145,-10.45,0.08,558.30 _24V_AH 20.1,88.509

RAFOS_CLK 859 _10V_AH 10.4,40.475

RAFOS 0,1230350646,4.083333,4.068333,96,64,56,54,53,53,623,211,151,198,168,134 DATA_FILE_SIZE 31646,895

RAFOS_FIX 6631.249023,-5957.230469,271208,040420,2,86,2.35 CAP_FILE_SIZE 121198,0

IRIDIUM_FIX 6558.99,-6001.28,230398,030342 CFSIZE 260165632,215130112

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,16,0

HUMID 1881 SOUNDSPEED 1441.6

INTERNAL_PRESSURE 8.38899 GPS 271208,042120,6631.249,-5957.230,0,2085.5,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 89.68 SBE_CT 700 24 337.93

Roll_motor 129 80 209.26 SBE_O2 606 19 231.63

VBD_pump_during_apogee 475 1220 11656.92 nil 0 0 0.00

VBD_pump_during_surface 203 905 3696.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 148 103 308.28 nil 0 0 0.00

Iridium_during_connect 365 160 1175.92 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 515 50 267.84

TT8 1605 19 332.53

LPSleep 9713 2 233.37

TT8_Active 961 19 199.17

TT8_Sampling 2266 39 940.83

TT8_CF8 910 45 434.67

TT8_Kalman 33 81 28.42

Analog_circuits 1948 12 243.18

GPS_charging 0 0 0.00

Compass 1737 8 144.56

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -1.08 -145.9 0.0 0.0 0 253 0.00 0.00 -228.88 0.000 6 0.000 0.000 166 2332 3015

261 -1.08 -146.0 1.6 -0.1 41 274 7.72 2.47 0.00 0.000 4 0.214 0.072 2200 3755 3017

529 -0.19 -146.0 15.4 -19.8 88 536 0.75 2.28 0.00 0.000 6 0.198 0.044 2394 2340 3018

875 -0.19 -146.0 48.7 -8.4 149 881 0.00 2.45 0.00 0.000 4 0.000 0.073 2394 3746 3020

1019 -0.31 -146.0 62.6 -9.5 174 1026 0.10 2.28 0.00 0.000 6 0.097 0.044 2357 2341 3021

1366 -0.36 -146.0 95.3 -8.3 235 1372 0.00 2.35 0.00 0.000 4 0.000 0.060 2357 926 3020

1473 -0.36 -146.0 104.7 -8.7 246 1480 0.00 2.38 0.00 0.000 6 0.000 0.057 2357 2341 3020

1790 -0.46 -146.0 130.1 -8.1 262 1794 0.00 2.45 0.00 0.000 4 0.000 0.072 2357 3750 3020

1927 -0.63 -146.0 141.6 -8.3 268 1932 0.20 2.30 0.00 0.000 6 0.083 0.044 2287 2328 3020

2260 -0.55 -146.0 171.8 -8.7 284 2264 0.12 2.35 0.00 0.000 4 0.162 0.058 2318 929 3019

2322 -0.55 -146.0 177.0 -7.7 286 2328 0.00 2.38 0.00 0.000 6 0.000 0.056 2318 2341 3019

2638 -0.60 -146.0 201.2 -7.4 302 2642 0.00 2.45 0.00 0.000 4 0.000 0.072 2318 3748 3019

2711 -0.69 -146.0 206.5 -7.4 305 2716 0.12 2.30 0.00 0.000 6 0.096 0.044 2274 2330 3019

3028 -0.61 -146.0 236.0 -9.7 320 3033 0.12 2.35 0.00 0.000 4 0.156 0.057 2307 931 3019

3106 -0.61 -146.0 242.9 -7.9 323 3112 0.00 2.38 0.00 0.000 6 0.000 0.055 2307 2343 3019

3424 -0.66 -146.0 263.4 -6.1 339 3428 0.00 2.45 0.00 0.000 4 0.000 0.072 2307 3755 3019

3571 -0.77 -146.0 272.9 -6.6 345 3575 0.15 2.30 0.00 0.000 6 0.087 0.042 2257 2337 3019

3893 -0.68 -146.0 300.7 -9.0 361 3898 0.12 2.38 0.00 0.000 4 0.163 0.058 2288 930 3019

3965 -0.68 -146.0 307.4 -9.5 364 3970 0.00 2.40 0.00 0.000 6 0.000 0.056 2288 2350 3020

4281 -0.68 -146.0 334.2 -8.5 379 4286 0.00 2.47 0.00 0.000 4 0.000 0.074 2288 3756 3020

4378 -0.77 -146.0 342.4 -8.5 383 4382 0.00 2.30 0.00 0.000 6 0.000 0.043 2288 2340 3020

4694 -0.84 -146.0 365.7 -7.1 398 4699 0.12 2.38 0.00 0.000 4 0.105 0.057 2244 929 3020

4751 -0.72 -146.0 370.6 -8.8 400 4758 0.15 2.40 0.00 0.000 6 0.172 0.056 2280 2346 3020

5068 -0.78 -146.0 396.2 -8.3 416 5072 0.00 2.45 0.00 0.000 4 0.000 0.072 2278 3747 3020

5245 -0.89 -146.0 410.7 -8.0 420 5252 0.15 2.30 0.00 0.000 6 0.090 0.042 2229 2331 3019

5578 -0.82 -146.0 439.3 -8.4 429 5582 0.12 2.35 0.00 0.000 4 0.162 0.055 2260 935 3019

5678 -0.82 -146.0 447.6 -7.9 431 5682 0.00 2.38 0.00 0.000 6 0.000 0.054 2260 2341 3020

5993 -0.88 -146.0 472.2 -8.0 439 5997 0.00 2.47 0.00 0.000 4 0.000 0.071 2260 3756 3020

6049 -1.00 -146.0 476.6 -8.0 440 6054 0.15 2.30 0.00 0.000 6 0.099 0.041 2213 2332 3020

6363 -0.94 -146.0 503.9 -8.4 448 6366 0.00 2.33 0.00 0.000 4 0.000 0.056 2213 935 3020

6433 -0.83 -146.0 510.3 -8.5 449 6438 0.17 2.40 0.00 0.000 6 0.160 0.056 2256 2352 3020

6772 end dive: NO_VERTICAL_VELOCITY

state 6772 begin apogee

6780 -0.34 0.0 515.2 0.0 458 6915 0.35 0.00 131.52 1.220 6 0.105 0.000 2369 2528 2420

6915 end apogee: CONTROL_FINISHED_OK

state 6915 begin climb

6919 1.08 146.0 515.2 0.0 461 7176 1.05 2.78 170.40 0.972 4 0.104 0.068 2664 3929 1824

7194 0.89 146.0 499.7 7.6 467 7199 0.15 2.58 0.00 0.000 6 0.143 0.039 2630 2520 1824

7527 0.96 195.7 481.3 5.3 475 7578 0.00 2.78 45.78 1.124 4 0.000 0.067 2630 3930 1622

7623 0.96 195.7 474.8 7.4 477 7628 0.00 2.55 0.00 0.000 6 0.000 0.040 2630 2512 1622

7972 1.06 227.5 453.6 5.9 486 8004 0.12 0.00 29.73 1.113 6 0.080 0.000 2677 2512 1492

8296 1.06 227.5 427.2 8.4 494 8297 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2512 1492

8620 1.06 227.5 399.6 8.6 502 8624 0.00 2.45 0.00 0.000 4 0.000 0.067 2677 3929 1492

8632 1.01 227.5 398.5 8.3 502 8636 0.00 2.30 0.00 0.000 6 0.000 0.041 2677 2505 1491

8954 0.96 227.5 372.6 7.9 518 8955 0.12 0.00 0.00 0.000 6 0.145 0.000 2641 2505 1492

9264 1.07 227.5 350.2 7.2 533 9268 0.10 2.42 0.00 0.000 4 0.092 0.067 2681 3931 1492

9281 1.07 227.5 348.8 7.4 534 9285 0.00 2.25 0.00 0.000 6 0.000 0.041 2681 2509 1492

9614 1.07 227.5 320.0 8.9 550 9618 0.00 2.42 0.00 0.000 4 0.000 0.069 2682 3937 1492

9670 0.95 227.5 314.4 10.4 552 9675 0.15 2.25 0.00 0.000 6 0.140 0.041 2640 2517 1492

9992 1.20 227.5 290.7 7.7 568 9996 0.17 2.28 0.00 0.000 4 0.077 0.053 2708 1116 1491

10082 1.12 227.5 283.0 8.4 572 10087 0.12 2.30 0.00 0.000 6 0.136 0.051 2676 2523 1492

10415 1.12 227.5 256.9 8.1 588 10416 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2523 1492

10724 1.12 227.5 230.2 8.8 603 10725 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2523 1491

11034 1.13 232.9 207.5 6.8 618 11045 0.00 2.35 5.85 0.888 4 0.000 0.070 2675 3926 1470

11053 1.14 239.7 206.1 6.8 619 11067 0.00 2.25 7.45 0.937 6 0.000 0.042 2675 2518 1442

11385 1.14 239.7 182.6 7.8 635 11386 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2518 1442

11694 1.20 240.4 158.8 7.0 650 11699 0.08 2.45 0.00 0.000 4 0.101 0.069 2709 3937 1442

11705 1.20 240.4 157.9 7.0 650 11711 0.00 2.28 0.00 0.000 6 0.000 0.042 2709 2515 1442

12022 1.18 268.8 137.2 6.1 666 12052 0.00 2.47 24.92 1.055 4 0.000 0.071 2709 3934 1324

12076 1.12 294.0 133.9 6.2 668 12108 0.12 2.30 22.08 1.006 6 0.142 0.043 2676 2509 1220

12420 1.30 338.4 118.8 5.5 685 12464 0.15 2.40 37.53 1.027 4 0.078 0.056 2735 1107 1039

12483 1.46 338.4 113.1 9.4 687 12489 0.00 2.38 0.00 0.000 6 0.000 0.053 2735 2532 1038

12816 1.56 338.4 75.6 10.9 730 12823 0.15 2.33 0.00 0.000 4 0.076 0.054 2799 1106 1033

12943 1.43 338.4 62.0 10.1 752 12950 0.20 2.30 0.00 0.000 6 0.140 0.054 2743 2520 1033

13290 1.43 338.4 37.7 9.1 813 13295 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2520 1031

13634 1.43 338.4 8.5 9.4 874 13640 0.00 2.35 0.00 0.000 4 0.000 0.058 2744 1108 1030

13647 1.43 338.4 8.0 7.7 876 13654 0.00 2.33 0.00 0.000 6 0.000 0.054 2744 2516 1030

13731 end climb: SURFACE_DEPTH_REACHED

state 13731 begin surface coast

13754 end surface coast: CONTROL_FINISHED_OK

state 13755 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	477	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	30	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	-83217.023	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	025847,6628.867,-6005.736,60,2.9,79,-37.7	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	-0.164,0.153
_SM_DEPTHo	1.48	KALMAN_X	15857.2,4005.6,6879.8,-128555.3,1496.4
_SM_ANGLEo	-41.1	KALMAN_Y	-14654.0,-3701.7,-6357.7,-35352.9,-1382.9
GPS2	032305,6628.323,-6005.562,493,3.8,512,-37.7	MHEAD_RNG_PITCHd_Wd	350.6,37333,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	517

FINISH	1.1,1.025155	TCM_TEMP	14.90
SM_CCo	13776,203.20,0.905,1,0,145,558.30	XPDR_PINGS	0
SM_GC	1.38,0.00,0.00,203.20,0.000,0.000,0.905,164,2343,145,-10.45,0.08,558.30	_24V_AH	20.1,88.509
RAFOS_CLK	859	_10V_AH	10.4,40.475
RAFOS	0,1230350646,4.083333,4.068333,96,64,56,54,53,53,623,211,151,198,168,134	DATA_FILE_SIZE	31646,895
RAFOS_FIX	6631.249023,-5957.230469,271208,040420,2,86,2.35	CAP_FILE_SIZE	121198,0
IRIDIUM_FIX	6558.99,-6001.28,230398,030342	CFSIZE	260165632,215130112
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,16,0
HUMID	1881	SOUNDSPEED	1441.6
INTERNAL_PRESSURE	8.38899	GPS	271208,042120,6631.249,-5957.230,0,2085.5,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	89.68	SBE_CT	700	24	337.93
Roll_motor	129	80	209.26	SBE_O2	606	19	231.63
VBD_pump_during_apogee	475	1220	11656.92	nil	0	0	0.00
VBD_pump_during_surface	203	905	3696.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	148	103	308.28	nil	0	0	0.00
Iridium_during_connect	365	160	1175.92	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	515	50	267.84
TT8	1605	19	332.53
LPSleep	9713	2	233.37
TT8_Active	961	19	199.17
TT8_Sampling	2266	39	940.83
TT8_CF8	910	45	434.67
TT8_Kalman	33	81	28.42
Analog_circuits	1948	12	243.18
GPS_charging	0	0	0.00
Compass	1737	8	144.56
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-1.08	-145.9	0.0	0.0	0	253	0.00	0.00	-228.88	0.000	6	0.000	0.000	166	2332	3015
261	-1.08	-146.0	1.6	-0.1	41	274	7.72	2.47	0.00	0.000	4	0.214	0.072	2200	3755	3017
529	-0.19	-146.0	15.4	-19.8	88	536	0.75	2.28	0.00	0.000	6	0.198	0.044	2394	2340	3018
875	-0.19	-146.0	48.7	-8.4	149	881	0.00	2.45	0.00	0.000	4	0.000	0.073	2394	3746	3020
1019	-0.31	-146.0	62.6	-9.5	174	1026	0.10	2.28	0.00	0.000	6	0.097	0.044	2357	2341	3021
1366	-0.36	-146.0	95.3	-8.3	235	1372	0.00	2.35	0.00	0.000	4	0.000	0.060	2357	926	3020
1473	-0.36	-146.0	104.7	-8.7	246	1480	0.00	2.38	0.00	0.000	6	0.000	0.057	2357	2341	3020
1790	-0.46	-146.0	130.1	-8.1	262	1794	0.00	2.45	0.00	0.000	4	0.000	0.072	2357	3750	3020
1927	-0.63	-146.0	141.6	-8.3	268	1932	0.20	2.30	0.00	0.000	6	0.083	0.044	2287	2328	3020
2260	-0.55	-146.0	171.8	-8.7	284	2264	0.12	2.35	0.00	0.000	4	0.162	0.058	2318	929	3019
2322	-0.55	-146.0	177.0	-7.7	286	2328	0.00	2.38	0.00	0.000	6	0.000	0.056	2318	2341	3019
2638	-0.60	-146.0	201.2	-7.4	302	2642	0.00	2.45	0.00	0.000	4	0.000	0.072	2318	3748	3019
2711	-0.69	-146.0	206.5	-7.4	305	2716	0.12	2.30	0.00	0.000	6	0.096	0.044	2274	2330	3019
3028	-0.61	-146.0	236.0	-9.7	320	3033	0.12	2.35	0.00	0.000	4	0.156	0.057	2307	931	3019
3106	-0.61	-146.0	242.9	-7.9	323	3112	0.00	2.38	0.00	0.000	6	0.000	0.055	2307	2343	3019
3424	-0.66	-146.0	263.4	-6.1	339	3428	0.00	2.45	0.00	0.000	4	0.000	0.072	2307	3755	3019
3571	-0.77	-146.0	272.9	-6.6	345	3575	0.15	2.30	0.00	0.000	6	0.087	0.042	2257	2337	3019
3893	-0.68	-146.0	300.7	-9.0	361	3898	0.12	2.38	0.00	0.000	4	0.163	0.058	2288	930	3019
3965	-0.68	-146.0	307.4	-9.5	364	3970	0.00	2.40	0.00	0.000	6	0.000	0.056	2288	2350	3020
4281	-0.68	-146.0	334.2	-8.5	379	4286	0.00	2.47	0.00	0.000	4	0.000	0.074	2288	3756	3020
4378	-0.77	-146.0	342.4	-8.5	383	4382	0.00	2.30	0.00	0.000	6	0.000	0.043	2288	2340	3020
4694	-0.84	-146.0	365.7	-7.1	398	4699	0.12	2.38	0.00	0.000	4	0.105	0.057	2244	929	3020
4751	-0.72	-146.0	370.6	-8.8	400	4758	0.15	2.40	0.00	0.000	6	0.172	0.056	2280	2346	3020
5068	-0.78	-146.0	396.2	-8.3	416	5072	0.00	2.45	0.00	0.000	4	0.000	0.072	2278	3747	3020
5245	-0.89	-146.0	410.7	-8.0	420	5252	0.15	2.30	0.00	0.000	6	0.090	0.042	2229	2331	3019
5578	-0.82	-146.0	439.3	-8.4	429	5582	0.12	2.35	0.00	0.000	4	0.162	0.055	2260	935	3019
5678	-0.82	-146.0	447.6	-7.9	431	5682	0.00	2.38	0.00	0.000	6	0.000	0.054	2260	2341	3020
5993	-0.88	-146.0	472.2	-8.0	439	5997	0.00	2.47	0.00	0.000	4	0.000	0.071	2260	3756	3020
6049	-1.00	-146.0	476.6	-8.0	440	6054	0.15	2.30	0.00	0.000	6	0.099	0.041	2213	2332	3020
6363	-0.94	-146.0	503.9	-8.4	448	6366	0.00	2.33	0.00	0.000	4	0.000	0.056	2213	935	3020
6433	-0.83	-146.0	510.3	-8.5	449	6438	0.17	2.40	0.00	0.000	6	0.160	0.056	2256	2352	3020
6772	end dive: NO_VERTICAL_VELOCITY
state	6772	begin apogee
6780	-0.34	0.0	515.2	0.0	458	6915	0.35	0.00	131.52	1.220	6	0.105	0.000	2369	2528	2420
6915	end apogee: CONTROL_FINISHED_OK
state	6915	begin climb
6919	1.08	146.0	515.2	0.0	461	7176	1.05	2.78	170.40	0.972	4	0.104	0.068	2664	3929	1824
7194	0.89	146.0	499.7	7.6	467	7199	0.15	2.58	0.00	0.000	6	0.143	0.039	2630	2520	1824
7527	0.96	195.7	481.3	5.3	475	7578	0.00	2.78	45.78	1.124	4	0.000	0.067	2630	3930	1622
7623	0.96	195.7	474.8	7.4	477	7628	0.00	2.55	0.00	0.000	6	0.000	0.040	2630	2512	1622
7972	1.06	227.5	453.6	5.9	486	8004	0.12	0.00	29.73	1.113	6	0.080	0.000	2677	2512	1492
8296	1.06	227.5	427.2	8.4	494	8297	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2512	1492
8620	1.06	227.5	399.6	8.6	502	8624	0.00	2.45	0.00	0.000	4	0.000	0.067	2677	3929	1492
8632	1.01	227.5	398.5	8.3	502	8636	0.00	2.30	0.00	0.000	6	0.000	0.041	2677	2505	1491
8954	0.96	227.5	372.6	7.9	518	8955	0.12	0.00	0.00	0.000	6	0.145	0.000	2641	2505	1492
9264	1.07	227.5	350.2	7.2	533	9268	0.10	2.42	0.00	0.000	4	0.092	0.067	2681	3931	1492
9281	1.07	227.5	348.8	7.4	534	9285	0.00	2.25	0.00	0.000	6	0.000	0.041	2681	2509	1492
9614	1.07	227.5	320.0	8.9	550	9618	0.00	2.42	0.00	0.000	4	0.000	0.069	2682	3937	1492
9670	0.95	227.5	314.4	10.4	552	9675	0.15	2.25	0.00	0.000	6	0.140	0.041	2640	2517	1492
9992	1.20	227.5	290.7	7.7	568	9996	0.17	2.28	0.00	0.000	4	0.077	0.053	2708	1116	1491
10082	1.12	227.5	283.0	8.4	572	10087	0.12	2.30	0.00	0.000	6	0.136	0.051	2676	2523	1492
10415	1.12	227.5	256.9	8.1	588	10416	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2523	1492
10724	1.12	227.5	230.2	8.8	603	10725	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2523	1491
11034	1.13	232.9	207.5	6.8	618	11045	0.00	2.35	5.85	0.888	4	0.000	0.070	2675	3926	1470
11053	1.14	239.7	206.1	6.8	619	11067	0.00	2.25	7.45	0.937	6	0.000	0.042	2675	2518	1442
11385	1.14	239.7	182.6	7.8	635	11386	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2518	1442
11694	1.20	240.4	158.8	7.0	650	11699	0.08	2.45	0.00	0.000	4	0.101	0.069	2709	3937	1442
11705	1.20	240.4	157.9	7.0	650	11711	0.00	2.28	0.00	0.000	6	0.000	0.042	2709	2515	1442
12022	1.18	268.8	137.2	6.1	666	12052	0.00	2.47	24.92	1.055	4	0.000	0.071	2709	3934	1324
12076	1.12	294.0	133.9	6.2	668	12108	0.12	2.30	22.08	1.006	6	0.142	0.043	2676	2509	1220
12420	1.30	338.4	118.8	5.5	685	12464	0.15	2.40	37.53	1.027	4	0.078	0.056	2735	1107	1039
12483	1.46	338.4	113.1	9.4	687	12489	0.00	2.38	0.00	0.000	6	0.000	0.053	2735	2532	1038
12816	1.56	338.4	75.6	10.9	730	12823	0.15	2.33	0.00	0.000	4	0.076	0.054	2799	1106	1033
12943	1.43	338.4	62.0	10.1	752	12950	0.20	2.30	0.00	0.000	6	0.140	0.054	2743	2520	1033
13290	1.43	338.4	37.7	9.1	813	13295	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2520	1031
13634	1.43	338.4	8.5	9.4	874	13640	0.00	2.35	0.00	0.000	4	0.000	0.058	2744	1108	1030
13647	1.43	338.4	8.0	7.7	876	13654	0.00	2.33	0.00	0.000	6	0.000	0.054	2744	2516	1030
13731	end climb: SURFACE_DEPTH_REACHED
state	13731	begin surface coast
13754	end surface coast: CONTROL_FINISHED_OK
state	13755	begin surface