Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 479 * 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 479 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 31 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 -86841.492 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 -86841.492

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 31 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 479 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 042120,6631.249,-5957.230,0,2085.5,0,-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 -0.169,0.148

_SM_DEPTHo 1.75 KALMAN_X 29887.6,731.7,-5614.9,-133654.1,14845.6

_SM_ANGLEo -15.6 KALMAN_Y -27619.8,-676.2,5188.9,-30562.5,-13719.2

GPS2 042120,6631.249,-5957.230,0,2085.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 348.9,38994,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 578

Post-dive calculations and measurements:

FINISH 2.1,1.026029 TCM_TEMP 15.00

SM_CCo 13541,163.18,0.922,1,0,145,558.30 XPDR_PINGS 8

SM_GC 2.41,8.25,0.00,0.00,0.070,0.000,0.000,164,2343,142,-10.37,0.08,558.79 _24V_AH 20.2,88.924

RAFOS_CLK 901 _10V_AH 10.4,40.695

RAFOS 3,1230381244,12.583333,12.567778,65,64,58,52,51,50,213,195,119,169,152,183 DATA_FILE_SIZE 31604,847

RAFOS_FIX 6631.249023,-5957.230469,271208,040420,2,86,2.35 CAP_FILE_SIZE 114924,0

IRIDIUM_FIX 6558.99,-6001.28,230398,030306 CFSIZE 260165632,214978560

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,0

HUMID 1898 SOUNDSPEED 1443.6

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 22 255 113.50 SBE_CT 662 24 320.99

Roll_motor 115 73 171.31 SBE_O2 574 19 220.32

VBD_pump_during_apogee 488 1224 12086.32 nil 0 0 0.00

VBD_pump_during_surface 163 921 3038.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 168 103 349.69 nil 0 0 0.00

Iridium_during_connect 144 160 466.47 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 2 420 16.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 906 50 471.37

TT8 1496 19 309.97

LPSleep 9927 2 238.50

TT8_Active 839 19 173.83

TT8_Sampling 2541 39 1055.24

TT8_CF8 643 45 307.36

TT8_Kalman 33 81 28.42

Analog_circuits 1761 12 219.88

GPS_charging 0 0 0.00

Compass 1621 8 134.94

RAFOS 1080 1 16.85

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 0 160 0.00 0.00 -140.32 0.000 2 0.000 0.000 158 2330 2275

164 -1.08 -146.0 3.0 -0.5 25 223 8.57 0.00 -43.45 0.000 6 0.255 0.000 2197 2330 3015

563 -0.77 -146.0 58.5 -17.6 95 569 0.22 2.53 0.00 0.000 4 0.183 0.073 2261 3752 3019

611 -0.68 -146.0 65.9 -14.9 103 618 0.12 2.30 0.00 0.000 6 0.167 0.044 2292 2336 3019

960 -0.73 -146.0 104.3 -10.4 159 964 0.00 2.33 0.00 0.000 4 0.000 0.060 2292 932 3020

1028 -0.73 -146.0 111.1 -9.6 162 1031 0.00 2.38 0.00 0.000 6 0.000 0.055 2292 2349 3020

1361 -0.80 -146.0 140.4 -8.7 178 1366 0.12 2.45 0.00 0.000 4 0.100 0.074 2248 3744 3020

1447 -0.80 -146.0 148.9 -10.3 182 1451 0.00 2.30 0.00 0.000 6 0.000 0.044 2248 2329 3020

1775 -0.75 -146.0 185.3 -11.3 198 1777 0.12 0.00 0.00 0.000 6 0.184 0.000 2278 2329 3020

2084 -0.81 -146.0 211.8 -7.9 213 2086 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2329 3020

2395 -0.89 -146.0 234.3 -6.7 228 2397 0.15 0.00 0.00 0.000 6 0.100 0.000 2229 2329 3020

2703 -0.79 -146.0 264.6 -10.8 243 2708 0.15 2.55 0.00 0.000 4 0.173 0.071 2267 3745 3020

2799 -0.88 -146.0 274.0 -9.4 247 2804 0.10 2.30 0.00 0.000 6 0.098 0.044 2234 2341 3020

3116 -0.82 -146.0 309.6 -11.1 262 3121 0.10 2.40 0.00 0.000 4 0.182 0.058 2257 923 3020

3195 -0.82 -146.0 317.7 -9.4 265 3201 0.00 2.40 0.00 0.000 6 0.000 0.056 2257 2343 3020

3511 -0.82 -146.0 341.3 -6.4 281 3515 0.00 2.40 0.00 0.000 4 0.000 0.058 2257 923 3020

3580 -0.82 -146.0 346.3 -7.6 284 3584 0.00 2.40 0.00 0.000 6 0.000 0.057 2257 2340 3020

3908 -0.82 -146.0 369.4 -7.7 300 3912 0.00 2.47 0.00 0.000 4 0.000 0.072 2257 3755 3020

3997 -0.92 -146.0 376.5 -7.4 304 4002 0.00 2.33 0.00 0.000 6 0.000 0.042 2257 2323 3020

4325 -0.98 -146.0 399.6 -7.1 320 4330 0.12 2.35 0.00 0.000 4 0.103 0.057 2214 928 3020

4460 -0.87 -146.0 411.6 -9.3 324 4465 0.15 2.40 0.00 0.000 6 0.167 0.056 2249 2343 3020

4785 -0.87 -146.0 435.4 -7.2 332 4789 0.00 2.47 0.00 0.000 4 0.000 0.074 2249 3749 3020

4887 -0.96 -146.0 442.9 -7.8 334 4890 0.00 2.30 0.00 0.000 6 0.000 0.042 2248 2335 3020

5201 -1.01 -146.0 465.0 -6.9 342 5206 0.12 2.35 0.00 0.000 4 0.111 0.056 2203 939 3020

5291 -0.91 -146.0 473.7 -9.4 344 5296 0.15 2.40 0.00 0.000 6 0.160 0.056 2240 2354 3020

5611 -0.91 -146.0 499.3 -8.1 352 5615 0.00 2.45 0.00 0.000 4 0.000 0.071 2240 3752 3020

5690 -0.99 -146.0 505.9 -8.4 353 5696 0.00 2.30 0.00 0.000 6 0.000 0.041 2240 2335 3020

6023 -1.34 -146.0 520.1 -0.1 362 6028 0.28 2.38 0.00 0.000 4 0.077 0.056 2136 931 3021

6138 end dive: NO_VERTICAL_VELOCITY

state 6138 begin apogee

6148 -0.34 0.0 520.1 0.0 364 6282 0.70 0.00 130.65 1.225 6 0.107 0.000 2363 2520 2420

6283 end apogee: CONTROL_FINISHED_OK

state 6283 begin climb

6286 1.08 146.0 520.0 0.0 368 6473 1.10 2.72 149.48 1.073 4 0.111 0.054 2667 1117 1825

6529 0.98 146.0 512.7 7.5 373 6534 0.00 2.62 0.00 0.000 6 0.000 0.052 2667 2528 1825

6868 0.85 146.0 487.9 7.9 382 6870 0.17 0.00 0.00 0.000 6 0.142 0.000 2622 2528 1825

7192 0.90 182.7 468.1 5.8 390 7231 0.00 0.00 32.80 1.144 6 0.000 0.000 2623 2528 1675

7557 0.96 183.8 445.0 7.0 399 7559 0.10 0.00 0.00 0.000 6 0.091 0.000 2662 2528 1678

7882 0.91 183.8 420.9 7.2 407 7887 0.12 2.38 0.00 0.000 4 0.137 0.069 2626 3936 1678

7923 0.91 184.4 418.2 7.0 408 7932 0.00 2.25 3.35 0.635 6 0.000 0.041 2627 2516 1668

8253 1.00 201.0 397.7 6.5 416 8276 0.10 2.42 15.25 1.104 4 0.090 0.070 2667 3938 1599

8283 1.00 201.0 395.4 8.1 417 8287 0.00 2.28 0.00 0.000 6 0.000 0.041 2667 2514 1599

8610 1.00 201.0 368.0 8.4 433 8614 0.00 2.42 0.00 0.000 4 0.000 0.070 2667 3941 1601

8621 1.00 201.0 366.9 8.3 433 8625 0.00 2.25 0.00 0.000 6 0.000 0.041 2667 2515 1601

8943 1.01 207.1 343.1 6.8 449 8951 0.00 0.00 6.57 0.941 6 0.000 0.000 2667 2515 1575

9253 1.01 207.1 320.4 7.7 464 9254 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2515 1576

9561 1.01 207.1 297.0 7.7 479 9565 0.00 2.45 0.00 0.000 4 0.000 0.071 2667 3937 1576

9572 1.01 207.1 296.1 7.6 479 9579 0.00 2.28 0.00 0.000 6 0.000 0.041 2667 2508 1576

9889 1.02 211.4 273.2 6.9 495 9899 0.00 2.45 4.95 0.839 4 0.000 0.073 2667 3941 1559

9906 1.02 211.4 271.8 7.1 496 9910 0.00 2.28 0.00 0.000 6 0.000 0.041 2667 2512 1559

10239 1.05 237.3 249.5 6.1 512 10263 0.00 0.00 22.67 1.098 6 0.000 0.000 2667 2512 1452

10569 1.15 267.6 229.6 6.0 528 10601 0.00 2.50 25.62 1.090 4 0.000 0.071 2667 3929 1329

10609 1.26 303.7 227.1 5.8 530 10647 0.15 2.28 31.62 1.049 6 0.076 0.041 2723 2521 1181

10960 1.26 303.7 197.1 8.8 546 10961 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2521 1176

11265 1.26 303.7 169.2 8.9 561 11267 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2521 1175

11576 1.26 303.7 144.3 8.0 576 11581 0.00 2.42 0.00 0.000 4 0.000 0.072 2723 3937 1174

11588 1.26 303.7 143.2 8.1 576 11595 0.00 2.28 0.00 0.000 6 0.000 0.043 2725 2511 1174

11904 1.26 303.7 116.9 8.3 592 11909 0.00 2.45 0.00 0.000 4 0.000 0.072 2725 3932 1173

11995 1.17 303.7 109.1 9.4 596 12000 0.15 2.28 0.00 0.000 6 0.145 0.043 2684 2513 1173

12326 1.41 303.7 86.7 8.1 635 12333 0.20 2.30 0.00 0.000 4 0.078 0.055 2762 1116 1173

12414 1.29 303.7 79.4 8.6 650 12421 0.17 2.33 0.00 0.000 6 0.137 0.053 2714 2523 1173

12761 1.46 381.5 60.4 4.4 711 12832 0.15 2.53 65.50 1.015 4 0.081 0.058 2772 1112 864

12863 1.46 381.5 52.0 9.0 728 12869 0.00 2.42 0.00 0.000 6 0.000 0.053 2772 2518 860

13208 1.40 381.5 17.1 9.3 789 13215 0.12 2.33 0.00 0.000 4 0.142 0.059 2738 1108 855

13239 1.40 381.5 14.4 8.3 794 13245 0.00 2.30 0.00 0.000 6 0.000 0.054 2737 2522 854

13435 end climb: SURFACE_DEPTH_REACHED

state 13435 begin surface coast

13537 end surface coast: NO_VERTICAL_VELOCITY

state 13537 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	479	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	31	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	-86841.492	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	042120,6631.249,-5957.230,0,2085.5,0,-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	-0.169,0.148
_SM_DEPTHo	1.75	KALMAN_X	29887.6,731.7,-5614.9,-133654.1,14845.6
_SM_ANGLEo	-15.6	KALMAN_Y	-27619.8,-676.2,5188.9,-30562.5,-13719.2
GPS2	042120,6631.249,-5957.230,0,2085.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	348.9,38994,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	578

FINISH	2.1,1.026029	TCM_TEMP	15.00
SM_CCo	13541,163.18,0.922,1,0,145,558.30	XPDR_PINGS	8
SM_GC	2.41,8.25,0.00,0.00,0.070,0.000,0.000,164,2343,142,-10.37,0.08,558.79	_24V_AH	20.2,88.924
RAFOS_CLK	901	_10V_AH	10.4,40.695
RAFOS	3,1230381244,12.583333,12.567778,65,64,58,52,51,50,213,195,119,169,152,183	DATA_FILE_SIZE	31604,847
RAFOS_FIX	6631.249023,-5957.230469,271208,040420,2,86,2.35	CAP_FILE_SIZE	114924,0
IRIDIUM_FIX	6558.99,-6001.28,230398,030306	CFSIZE	260165632,214978560
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
HUMID	1898	SOUNDSPEED	1443.6
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	22	255	113.50	SBE_CT	662	24	320.99
Roll_motor	115	73	171.31	SBE_O2	574	19	220.32
VBD_pump_during_apogee	488	1224	12086.32	nil	0	0	0.00
VBD_pump_during_surface	163	921	3038.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	168	103	349.69	nil	0	0	0.00
Iridium_during_connect	144	160	466.47	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	2	420	16.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	906	50	471.37
TT8	1496	19	309.97
LPSleep	9927	2	238.50
TT8_Active	839	19	173.83
TT8_Sampling	2541	39	1055.24
TT8_CF8	643	45	307.36
TT8_Kalman	33	81	28.42
Analog_circuits	1761	12	219.88
GPS_charging	0	0	0.00
Compass	1621	8	134.94
RAFOS	1080	1	16.85
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	160	0.00	0.00	-140.32	0.000	2	0.000	0.000	158	2330	2275
164	-1.08	-146.0	3.0	-0.5	25	223	8.57	0.00	-43.45	0.000	6	0.255	0.000	2197	2330	3015
563	-0.77	-146.0	58.5	-17.6	95	569	0.22	2.53	0.00	0.000	4	0.183	0.073	2261	3752	3019
611	-0.68	-146.0	65.9	-14.9	103	618	0.12	2.30	0.00	0.000	6	0.167	0.044	2292	2336	3019
960	-0.73	-146.0	104.3	-10.4	159	964	0.00	2.33	0.00	0.000	4	0.000	0.060	2292	932	3020
1028	-0.73	-146.0	111.1	-9.6	162	1031	0.00	2.38	0.00	0.000	6	0.000	0.055	2292	2349	3020
1361	-0.80	-146.0	140.4	-8.7	178	1366	0.12	2.45	0.00	0.000	4	0.100	0.074	2248	3744	3020
1447	-0.80	-146.0	148.9	-10.3	182	1451	0.00	2.30	0.00	0.000	6	0.000	0.044	2248	2329	3020
1775	-0.75	-146.0	185.3	-11.3	198	1777	0.12	0.00	0.00	0.000	6	0.184	0.000	2278	2329	3020
2084	-0.81	-146.0	211.8	-7.9	213	2086	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2329	3020
2395	-0.89	-146.0	234.3	-6.7	228	2397	0.15	0.00	0.00	0.000	6	0.100	0.000	2229	2329	3020
2703	-0.79	-146.0	264.6	-10.8	243	2708	0.15	2.55	0.00	0.000	4	0.173	0.071	2267	3745	3020
2799	-0.88	-146.0	274.0	-9.4	247	2804	0.10	2.30	0.00	0.000	6	0.098	0.044	2234	2341	3020
3116	-0.82	-146.0	309.6	-11.1	262	3121	0.10	2.40	0.00	0.000	4	0.182	0.058	2257	923	3020
3195	-0.82	-146.0	317.7	-9.4	265	3201	0.00	2.40	0.00	0.000	6	0.000	0.056	2257	2343	3020
3511	-0.82	-146.0	341.3	-6.4	281	3515	0.00	2.40	0.00	0.000	4	0.000	0.058	2257	923	3020
3580	-0.82	-146.0	346.3	-7.6	284	3584	0.00	2.40	0.00	0.000	6	0.000	0.057	2257	2340	3020
3908	-0.82	-146.0	369.4	-7.7	300	3912	0.00	2.47	0.00	0.000	4	0.000	0.072	2257	3755	3020
3997	-0.92	-146.0	376.5	-7.4	304	4002	0.00	2.33	0.00	0.000	6	0.000	0.042	2257	2323	3020
4325	-0.98	-146.0	399.6	-7.1	320	4330	0.12	2.35	0.00	0.000	4	0.103	0.057	2214	928	3020
4460	-0.87	-146.0	411.6	-9.3	324	4465	0.15	2.40	0.00	0.000	6	0.167	0.056	2249	2343	3020
4785	-0.87	-146.0	435.4	-7.2	332	4789	0.00	2.47	0.00	0.000	4	0.000	0.074	2249	3749	3020
4887	-0.96	-146.0	442.9	-7.8	334	4890	0.00	2.30	0.00	0.000	6	0.000	0.042	2248	2335	3020
5201	-1.01	-146.0	465.0	-6.9	342	5206	0.12	2.35	0.00	0.000	4	0.111	0.056	2203	939	3020
5291	-0.91	-146.0	473.7	-9.4	344	5296	0.15	2.40	0.00	0.000	6	0.160	0.056	2240	2354	3020
5611	-0.91	-146.0	499.3	-8.1	352	5615	0.00	2.45	0.00	0.000	4	0.000	0.071	2240	3752	3020
5690	-0.99	-146.0	505.9	-8.4	353	5696	0.00	2.30	0.00	0.000	6	0.000	0.041	2240	2335	3020
6023	-1.34	-146.0	520.1	-0.1	362	6028	0.28	2.38	0.00	0.000	4	0.077	0.056	2136	931	3021
6138	end dive: NO_VERTICAL_VELOCITY
state	6138	begin apogee
6148	-0.34	0.0	520.1	0.0	364	6282	0.70	0.00	130.65	1.225	6	0.107	0.000	2363	2520	2420
6283	end apogee: CONTROL_FINISHED_OK
state	6283	begin climb
6286	1.08	146.0	520.0	0.0	368	6473	1.10	2.72	149.48	1.073	4	0.111	0.054	2667	1117	1825
6529	0.98	146.0	512.7	7.5	373	6534	0.00	2.62	0.00	0.000	6	0.000	0.052	2667	2528	1825
6868	0.85	146.0	487.9	7.9	382	6870	0.17	0.00	0.00	0.000	6	0.142	0.000	2622	2528	1825
7192	0.90	182.7	468.1	5.8	390	7231	0.00	0.00	32.80	1.144	6	0.000	0.000	2623	2528	1675
7557	0.96	183.8	445.0	7.0	399	7559	0.10	0.00	0.00	0.000	6	0.091	0.000	2662	2528	1678
7882	0.91	183.8	420.9	7.2	407	7887	0.12	2.38	0.00	0.000	4	0.137	0.069	2626	3936	1678
7923	0.91	184.4	418.2	7.0	408	7932	0.00	2.25	3.35	0.635	6	0.000	0.041	2627	2516	1668
8253	1.00	201.0	397.7	6.5	416	8276	0.10	2.42	15.25	1.104	4	0.090	0.070	2667	3938	1599
8283	1.00	201.0	395.4	8.1	417	8287	0.00	2.28	0.00	0.000	6	0.000	0.041	2667	2514	1599
8610	1.00	201.0	368.0	8.4	433	8614	0.00	2.42	0.00	0.000	4	0.000	0.070	2667	3941	1601
8621	1.00	201.0	366.9	8.3	433	8625	0.00	2.25	0.00	0.000	6	0.000	0.041	2667	2515	1601
8943	1.01	207.1	343.1	6.8	449	8951	0.00	0.00	6.57	0.941	6	0.000	0.000	2667	2515	1575
9253	1.01	207.1	320.4	7.7	464	9254	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2515	1576
9561	1.01	207.1	297.0	7.7	479	9565	0.00	2.45	0.00	0.000	4	0.000	0.071	2667	3937	1576
9572	1.01	207.1	296.1	7.6	479	9579	0.00	2.28	0.00	0.000	6	0.000	0.041	2667	2508	1576
9889	1.02	211.4	273.2	6.9	495	9899	0.00	2.45	4.95	0.839	4	0.000	0.073	2667	3941	1559
9906	1.02	211.4	271.8	7.1	496	9910	0.00	2.28	0.00	0.000	6	0.000	0.041	2667	2512	1559
10239	1.05	237.3	249.5	6.1	512	10263	0.00	0.00	22.67	1.098	6	0.000	0.000	2667	2512	1452
10569	1.15	267.6	229.6	6.0	528	10601	0.00	2.50	25.62	1.090	4	0.000	0.071	2667	3929	1329
10609	1.26	303.7	227.1	5.8	530	10647	0.15	2.28	31.62	1.049	6	0.076	0.041	2723	2521	1181
10960	1.26	303.7	197.1	8.8	546	10961	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2521	1176
11265	1.26	303.7	169.2	8.9	561	11267	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2521	1175
11576	1.26	303.7	144.3	8.0	576	11581	0.00	2.42	0.00	0.000	4	0.000	0.072	2723	3937	1174
11588	1.26	303.7	143.2	8.1	576	11595	0.00	2.28	0.00	0.000	6	0.000	0.043	2725	2511	1174
11904	1.26	303.7	116.9	8.3	592	11909	0.00	2.45	0.00	0.000	4	0.000	0.072	2725	3932	1173
11995	1.17	303.7	109.1	9.4	596	12000	0.15	2.28	0.00	0.000	6	0.145	0.043	2684	2513	1173
12326	1.41	303.7	86.7	8.1	635	12333	0.20	2.30	0.00	0.000	4	0.078	0.055	2762	1116	1173
12414	1.29	303.7	79.4	8.6	650	12421	0.17	2.33	0.00	0.000	6	0.137	0.053	2714	2523	1173
12761	1.46	381.5	60.4	4.4	711	12832	0.15	2.53	65.50	1.015	4	0.081	0.058	2772	1112	864
12863	1.46	381.5	52.0	9.0	728	12869	0.00	2.42	0.00	0.000	6	0.000	0.053	2772	2518	860
13208	1.40	381.5	17.1	9.3	789	13215	0.12	2.33	0.00	0.000	4	0.142	0.059	2738	1108	855
13239	1.40	381.5	14.4	8.3	794	13245	0.00	2.30	0.00	0.000	6	0.000	0.054	2737	2522	854
13435	end climb: SURFACE_DEPTH_REACHED
state	13435	begin surface coast
13537	end surface coast: NO_VERTICAL_VELOCITY
state	13537	begin surface