Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 480 * 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 480 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 25 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 -88653.258 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 -88653.258

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 25 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 480 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 -0.163,0.154

_SM_DEPTHo 2.72 KALMAN_X 37305.3,-4780.8,7325.6,-136434.3,-3420.5

_SM_ANGLEo -34.3 KALMAN_Y -34474.7,4418.1,-6769.8,-28131.7,3161.0

GPS2 042120,6631.249,-5957.230,0,2085.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 351.2,38994,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 578

Post-dive calculations and measurements:

FINISH 1.3,1.026020 TCM_TEMP 14.90

SM_CCo 12803,179.32,0.915,1,0,145,558.30 XPDR_PINGS 1

SM_GC 2.07,0.00,0.00,179.32,0.000,0.000,0.915,160,2343,145,-10.47,0.08,558.30 _24V_AH 20.2,89.131

RAFOS_CLK 851 _10V_AH 10.4,40.802

RAFOS 0,1230408249,20.083334,20.069166,89,67,63,54,51,50,598,202,176,185,134,115 DATA_FILE_SIZE 28414,775

RAFOS_FIX 6631.249023,-5957.230469,271208,040420,2,86,2.35 CAP_FILE_SIZE 114550,0

IRIDIUM_FIX 6558.99,-6001.28,230398,030306 CFSIZE 260165632,214908928

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

HUMID 1877 SOUNDSPEED 1444.3

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 19 227 90.77 SBE_CT 607 24 294.52

Roll_motor 142 85 245.15 SBE_O2 526 19 201.91

VBD_pump_during_apogee 467 1224 11561.15 nil 0 0 0.00

VBD_pump_during_surface 179 915 3314.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 168 103 349.70 nil 0 0 0.00

Iridium_during_connect 144 160 466.31 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 2.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 906 50 471.38

TT8 1421 19 294.45

LPSleep 9145 2 219.72

TT8_Active 807 19 167.19

TT8_Sampling 2558 39 1062.16

TT8_CF8 653 45 312.18

TT8_Kalman 33 81 28.42

Analog_circuits 1747 12 218.05

GPS_charging 0 0 0.00

Compass 1632 8 135.82

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

17 -1.08 -145.9 0.0 0.0 0 80 0.00 0.00 -61.17 0.000 2 0.000 0.000 165 2343 1193

84 -1.08 -146.0 3.0 -0.8 11 217 8.00 2.50 -116.97 0.000 4 0.228 0.085 2201 3754 3016

338 -0.85 -146.0 23.6 -14.7 55 345 0.20 2.33 0.00 0.000 6 0.161 0.044 2255 2323 3019

685 -0.71 -146.0 70.0 -14.4 116 691 0.10 2.35 0.00 0.000 4 0.183 0.059 2281 926 3020

860 -0.71 -146.0 92.2 -12.2 146 866 0.00 2.40 0.00 0.000 6 0.000 0.057 2281 2350 3020

1183 -0.71 -146.0 124.3 -8.8 171 1187 0.00 2.45 0.00 0.000 4 0.000 0.073 2281 3753 3020

1279 -0.80 -146.0 132.4 -8.0 175 1282 0.00 2.30 0.00 0.000 6 0.000 0.043 2281 2338 3020

1601 -0.85 -146.0 162.0 -10.4 191 1606 0.12 2.35 0.00 0.000 4 0.095 0.058 2236 937 3020

1668 -0.72 -146.0 170.8 -13.4 194 1673 0.17 2.38 0.00 0.000 6 0.175 0.058 2279 2340 3020

1995 -0.77 -146.0 202.8 -8.3 210 1999 0.00 2.45 0.00 0.000 4 0.000 0.074 2277 3750 3020

2137 -0.87 -146.0 212.8 -6.3 216 2142 0.12 2.33 0.00 0.000 6 0.098 0.044 2234 2329 3020

2459 -0.80 -146.0 241.6 -9.8 232 2464 0.12 2.53 0.00 0.000 4 0.178 0.072 2265 3745 3020

2533 -0.88 -146.0 248.4 -9.3 235 2537 0.00 2.30 0.00 0.000 6 0.000 0.044 2265 2337 3021

2855 -0.88 -146.0 278.1 -9.5 251 2858 0.00 2.35 0.00 0.000 4 0.000 0.058 2264 936 3020

2973 -0.88 -146.0 289.7 -9.6 256 2978 0.00 2.40 0.00 0.000 6 0.000 0.058 2265 2348 3020

3296 -0.93 -146.0 313.7 -6.5 272 3301 0.12 2.47 0.00 0.000 4 0.105 0.074 2220 3746 3020

3386 -0.88 -146.0 321.4 -8.9 276 3391 0.10 2.30 0.00 0.000 6 0.172 0.044 2241 2341 3020

3708 -0.88 -146.0 346.1 -7.7 292 3711 0.00 2.38 0.00 0.000 4 0.000 0.059 2241 926 3021

3809 -0.88 -146.0 354.9 -8.5 296 3813 0.00 2.40 0.00 0.000 6 0.000 0.056 2242 2341 3021

4126 -0.88 -146.0 382.0 -9.1 311 4130 0.00 2.47 0.00 0.000 4 0.000 0.073 2242 3749 3021

4256 -0.95 -146.0 394.5 -9.7 317 4260 0.00 2.30 0.00 0.000 6 0.000 0.043 2242 2338 3021

4606 -0.95 -146.0 425.7 -8.9 327 4609 0.00 2.35 0.00 0.000 4 0.000 0.058 2242 936 3021

4796 -0.95 -146.0 442.5 -8.0 331 4800 0.00 2.40 0.00 0.000 6 0.000 0.055 2242 2349 3021

5115 -0.99 -146.0 465.6 -6.8 339 5120 0.10 2.47 0.00 0.000 4 0.102 0.073 2204 3752 3021

5228 -0.99 -146.0 475.2 -9.5 341 5232 0.00 2.30 0.00 0.000 6 0.000 0.041 2204 2339 3021

5571 -0.91 -146.0 504.8 -8.8 350 5573 0.12 0.00 0.00 0.000 6 0.159 0.000 2237 2340 3022

5896 -1.21 -146.0 519.9 -1.7 358 5901 0.20 2.53 0.00 0.000 4 0.087 0.071 2161 3752 3022

6025 end dive: NO_VERTICAL_VELOCITY

state 6025 begin apogee

6038 -0.34 0.0 520.0 0.0 361 6171 0.62 0.00 129.90 1.225 6 0.095 0.000 2366 2515 2421

6172 end apogee: CONTROL_FINISHED_OK

state 6172 begin climb

6175 1.08 146.0 519.9 0.0 364 6333 1.10 2.85 140.77 1.119 4 0.114 0.068 2667 3933 1824

6581 0.85 146.0 491.9 8.8 373 6586 0.20 2.47 0.00 0.000 6 0.150 0.041 2618 2517 1825

6930 0.90 183.3 471.8 5.7 382 6972 0.00 2.70 33.67 1.131 4 0.000 0.069 2618 3920 1673

6995 0.95 219.8 467.9 5.8 383 7036 0.10 2.47 34.72 1.094 6 0.089 0.040 2651 2518 1524

7344 0.95 219.8 442.7 7.4 392 7345 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2518 1526

7670 0.95 219.8 416.9 8.2 400 7674 0.00 2.47 0.00 0.000 4 0.000 0.069 2651 3929 1525

7681 0.95 219.8 415.9 8.2 400 7685 0.00 2.33 0.00 0.000 6 0.000 0.040 2651 2509 1525

7996 0.98 239.8 393.5 6.3 410 8019 0.00 2.55 17.83 1.103 4 0.000 0.069 2651 3942 1442

8026 0.99 252.7 391.6 6.6 411 8044 0.00 2.33 12.82 1.035 6 0.000 0.041 2651 2513 1389

8353 1.14 315.0 373.6 4.9 427 8416 0.12 2.47 52.97 1.122 4 0.080 0.055 2705 1111 1134

8423 1.09 315.0 368.6 8.0 430 8428 0.15 2.45 0.00 0.000 6 0.125 0.050 2666 2533 1133

8745 1.18 315.0 345.1 8.1 446 8750 0.10 2.33 0.00 0.000 4 0.085 0.054 2709 1110 1131

8779 1.18 315.0 341.8 9.9 447 8785 0.00 2.30 0.00 0.000 6 0.000 0.051 2709 2529 1131

9096 1.18 315.0 310.0 10.2 463 9100 0.00 2.33 0.00 0.000 4 0.000 0.056 2709 1110 1131

9112 1.18 315.0 308.2 10.5 463 9118 0.00 2.30 0.00 0.000 6 0.000 0.050 2709 2532 1130

9428 1.18 315.0 274.6 10.3 479 9432 0.00 2.33 0.00 0.000 4 0.000 0.054 2710 1117 1130

9439 1.18 315.0 273.4 10.1 479 9443 0.00 2.30 0.00 0.000 6 0.000 0.050 2709 2531 1130

9761 1.18 315.0 248.2 7.1 495 9765 0.00 2.33 0.00 0.000 4 0.000 0.054 2709 1118 1130

9772 1.18 318.3 247.3 6.9 495 9776 0.00 2.30 0.00 0.000 6 0.000 0.051 2710 2525 1129

10093 1.18 318.3 224.0 7.9 511 10097 0.00 2.38 0.00 0.000 4 0.000 0.070 2710 3929 1129

10105 1.18 318.3 223.0 8.0 511 10109 0.00 2.25 0.00 0.000 6 0.000 0.041 2709 2509 1129

10427 1.18 318.3 195.9 8.4 527 10431 0.00 2.45 0.00 0.000 4 0.000 0.071 2709 3930 1129

10450 1.18 318.3 193.7 9.3 528 10454 0.00 2.28 0.00 0.000 6 0.000 0.043 2709 2509 1129

10782 1.18 318.3 166.7 7.6 544 10787 0.00 2.47 0.00 0.000 4 0.000 0.071 2709 3936 1128

10812 1.13 318.3 164.2 8.6 545 10816 0.12 2.28 0.00 0.000 6 0.140 0.043 2676 2521 1128

11133 1.27 318.3 142.0 7.4 561 11138 0.12 2.33 0.00 0.000 4 0.084 0.057 2730 1114 1128

11144 1.37 318.3 141.0 7.6 561 11149 0.00 2.33 0.00 0.000 6 0.000 0.052 2730 2521 1129

11462 1.40 336.3 114.8 6.4 576 11485 0.00 2.40 17.12 1.032 4 0.000 0.058 2730 1116 1049

11497 1.44 366.1 112.7 6.0 577 11530 0.00 2.35 27.42 1.014 6 0.000 0.051 2730 2534 927

11851 1.50 366.1 89.5 8.4 612 11858 0.10 2.33 0.00 0.000 4 0.087 0.056 2775 1114 922

11871 1.50 366.1 87.6 9.0 615 11877 0.00 2.30 0.00 0.000 6 0.000 0.053 2775 2529 922

12218 1.40 366.1 46.9 11.7 676 12224 0.15 2.35 0.00 0.000 4 0.134 0.056 2732 1110 921

12232 1.33 366.1 45.3 12.0 678 12238 0.00 2.30 0.00 0.000 6 0.000 0.052 2732 2520 921

12578 1.41 366.1 14.3 11.5 739 12585 0.00 2.33 0.00 0.000 4 0.000 0.058 2732 1116 920

12752 end climb: SURFACE_DEPTH_REACHED

state 12752 begin surface coast

12781 end surface coast: CONTROL_FINISHED_OK

state 12781 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	480	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	25	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	-88653.258	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	-0.163,0.154
_SM_DEPTHo	2.72	KALMAN_X	37305.3,-4780.8,7325.6,-136434.3,-3420.5
_SM_ANGLEo	-34.3	KALMAN_Y	-34474.7,4418.1,-6769.8,-28131.7,3161.0
GPS2	042120,6631.249,-5957.230,0,2085.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	351.2,38994,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	578

FINISH	1.3,1.026020	TCM_TEMP	14.90
SM_CCo	12803,179.32,0.915,1,0,145,558.30	XPDR_PINGS	1
SM_GC	2.07,0.00,0.00,179.32,0.000,0.000,0.915,160,2343,145,-10.47,0.08,558.30	_24V_AH	20.2,89.131
RAFOS_CLK	851	_10V_AH	10.4,40.802
RAFOS	0,1230408249,20.083334,20.069166,89,67,63,54,51,50,598,202,176,185,134,115	DATA_FILE_SIZE	28414,775
RAFOS_FIX	6631.249023,-5957.230469,271208,040420,2,86,2.35	CAP_FILE_SIZE	114550,0
IRIDIUM_FIX	6558.99,-6001.28,230398,030306	CFSIZE	260165632,214908928
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
HUMID	1877	SOUNDSPEED	1444.3
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	19	227	90.77	SBE_CT	607	24	294.52
Roll_motor	142	85	245.15	SBE_O2	526	19	201.91
VBD_pump_during_apogee	467	1224	11561.15	nil	0	0	0.00
VBD_pump_during_surface	179	915	3314.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	168	103	349.70	nil	0	0	0.00
Iridium_during_connect	144	160	466.31	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	2.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	906	50	471.38
TT8	1421	19	294.45
LPSleep	9145	2	219.72
TT8_Active	807	19	167.19
TT8_Sampling	2558	39	1062.16
TT8_CF8	653	45	312.18
TT8_Kalman	33	81	28.42
Analog_circuits	1747	12	218.05
GPS_charging	0	0	0.00
Compass	1632	8	135.82
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
17	-1.08	-145.9	0.0	0.0	0	80	0.00	0.00	-61.17	0.000	2	0.000	0.000	165	2343	1193
84	-1.08	-146.0	3.0	-0.8	11	217	8.00	2.50	-116.97	0.000	4	0.228	0.085	2201	3754	3016
338	-0.85	-146.0	23.6	-14.7	55	345	0.20	2.33	0.00	0.000	6	0.161	0.044	2255	2323	3019
685	-0.71	-146.0	70.0	-14.4	116	691	0.10	2.35	0.00	0.000	4	0.183	0.059	2281	926	3020
860	-0.71	-146.0	92.2	-12.2	146	866	0.00	2.40	0.00	0.000	6	0.000	0.057	2281	2350	3020
1183	-0.71	-146.0	124.3	-8.8	171	1187	0.00	2.45	0.00	0.000	4	0.000	0.073	2281	3753	3020
1279	-0.80	-146.0	132.4	-8.0	175	1282	0.00	2.30	0.00	0.000	6	0.000	0.043	2281	2338	3020
1601	-0.85	-146.0	162.0	-10.4	191	1606	0.12	2.35	0.00	0.000	4	0.095	0.058	2236	937	3020
1668	-0.72	-146.0	170.8	-13.4	194	1673	0.17	2.38	0.00	0.000	6	0.175	0.058	2279	2340	3020
1995	-0.77	-146.0	202.8	-8.3	210	1999	0.00	2.45	0.00	0.000	4	0.000	0.074	2277	3750	3020
2137	-0.87	-146.0	212.8	-6.3	216	2142	0.12	2.33	0.00	0.000	6	0.098	0.044	2234	2329	3020
2459	-0.80	-146.0	241.6	-9.8	232	2464	0.12	2.53	0.00	0.000	4	0.178	0.072	2265	3745	3020
2533	-0.88	-146.0	248.4	-9.3	235	2537	0.00	2.30	0.00	0.000	6	0.000	0.044	2265	2337	3021
2855	-0.88	-146.0	278.1	-9.5	251	2858	0.00	2.35	0.00	0.000	4	0.000	0.058	2264	936	3020
2973	-0.88	-146.0	289.7	-9.6	256	2978	0.00	2.40	0.00	0.000	6	0.000	0.058	2265	2348	3020
3296	-0.93	-146.0	313.7	-6.5	272	3301	0.12	2.47	0.00	0.000	4	0.105	0.074	2220	3746	3020
3386	-0.88	-146.0	321.4	-8.9	276	3391	0.10	2.30	0.00	0.000	6	0.172	0.044	2241	2341	3020
3708	-0.88	-146.0	346.1	-7.7	292	3711	0.00	2.38	0.00	0.000	4	0.000	0.059	2241	926	3021
3809	-0.88	-146.0	354.9	-8.5	296	3813	0.00	2.40	0.00	0.000	6	0.000	0.056	2242	2341	3021
4126	-0.88	-146.0	382.0	-9.1	311	4130	0.00	2.47	0.00	0.000	4	0.000	0.073	2242	3749	3021
4256	-0.95	-146.0	394.5	-9.7	317	4260	0.00	2.30	0.00	0.000	6	0.000	0.043	2242	2338	3021
4606	-0.95	-146.0	425.7	-8.9	327	4609	0.00	2.35	0.00	0.000	4	0.000	0.058	2242	936	3021
4796	-0.95	-146.0	442.5	-8.0	331	4800	0.00	2.40	0.00	0.000	6	0.000	0.055	2242	2349	3021
5115	-0.99	-146.0	465.6	-6.8	339	5120	0.10	2.47	0.00	0.000	4	0.102	0.073	2204	3752	3021
5228	-0.99	-146.0	475.2	-9.5	341	5232	0.00	2.30	0.00	0.000	6	0.000	0.041	2204	2339	3021
5571	-0.91	-146.0	504.8	-8.8	350	5573	0.12	0.00	0.00	0.000	6	0.159	0.000	2237	2340	3022
5896	-1.21	-146.0	519.9	-1.7	358	5901	0.20	2.53	0.00	0.000	4	0.087	0.071	2161	3752	3022
6025	end dive: NO_VERTICAL_VELOCITY
state	6025	begin apogee
6038	-0.34	0.0	520.0	0.0	361	6171	0.62	0.00	129.90	1.225	6	0.095	0.000	2366	2515	2421
6172	end apogee: CONTROL_FINISHED_OK
state	6172	begin climb
6175	1.08	146.0	519.9	0.0	364	6333	1.10	2.85	140.77	1.119	4	0.114	0.068	2667	3933	1824
6581	0.85	146.0	491.9	8.8	373	6586	0.20	2.47	0.00	0.000	6	0.150	0.041	2618	2517	1825
6930	0.90	183.3	471.8	5.7	382	6972	0.00	2.70	33.67	1.131	4	0.000	0.069	2618	3920	1673
6995	0.95	219.8	467.9	5.8	383	7036	0.10	2.47	34.72	1.094	6	0.089	0.040	2651	2518	1524
7344	0.95	219.8	442.7	7.4	392	7345	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2518	1526
7670	0.95	219.8	416.9	8.2	400	7674	0.00	2.47	0.00	0.000	4	0.000	0.069	2651	3929	1525
7681	0.95	219.8	415.9	8.2	400	7685	0.00	2.33	0.00	0.000	6	0.000	0.040	2651	2509	1525
7996	0.98	239.8	393.5	6.3	410	8019	0.00	2.55	17.83	1.103	4	0.000	0.069	2651	3942	1442
8026	0.99	252.7	391.6	6.6	411	8044	0.00	2.33	12.82	1.035	6	0.000	0.041	2651	2513	1389
8353	1.14	315.0	373.6	4.9	427	8416	0.12	2.47	52.97	1.122	4	0.080	0.055	2705	1111	1134
8423	1.09	315.0	368.6	8.0	430	8428	0.15	2.45	0.00	0.000	6	0.125	0.050	2666	2533	1133
8745	1.18	315.0	345.1	8.1	446	8750	0.10	2.33	0.00	0.000	4	0.085	0.054	2709	1110	1131
8779	1.18	315.0	341.8	9.9	447	8785	0.00	2.30	0.00	0.000	6	0.000	0.051	2709	2529	1131
9096	1.18	315.0	310.0	10.2	463	9100	0.00	2.33	0.00	0.000	4	0.000	0.056	2709	1110	1131
9112	1.18	315.0	308.2	10.5	463	9118	0.00	2.30	0.00	0.000	6	0.000	0.050	2709	2532	1130
9428	1.18	315.0	274.6	10.3	479	9432	0.00	2.33	0.00	0.000	4	0.000	0.054	2710	1117	1130
9439	1.18	315.0	273.4	10.1	479	9443	0.00	2.30	0.00	0.000	6	0.000	0.050	2709	2531	1130
9761	1.18	315.0	248.2	7.1	495	9765	0.00	2.33	0.00	0.000	4	0.000	0.054	2709	1118	1130
9772	1.18	318.3	247.3	6.9	495	9776	0.00	2.30	0.00	0.000	6	0.000	0.051	2710	2525	1129
10093	1.18	318.3	224.0	7.9	511	10097	0.00	2.38	0.00	0.000	4	0.000	0.070	2710	3929	1129
10105	1.18	318.3	223.0	8.0	511	10109	0.00	2.25	0.00	0.000	6	0.000	0.041	2709	2509	1129
10427	1.18	318.3	195.9	8.4	527	10431	0.00	2.45	0.00	0.000	4	0.000	0.071	2709	3930	1129
10450	1.18	318.3	193.7	9.3	528	10454	0.00	2.28	0.00	0.000	6	0.000	0.043	2709	2509	1129
10782	1.18	318.3	166.7	7.6	544	10787	0.00	2.47	0.00	0.000	4	0.000	0.071	2709	3936	1128
10812	1.13	318.3	164.2	8.6	545	10816	0.12	2.28	0.00	0.000	6	0.140	0.043	2676	2521	1128
11133	1.27	318.3	142.0	7.4	561	11138	0.12	2.33	0.00	0.000	4	0.084	0.057	2730	1114	1128
11144	1.37	318.3	141.0	7.6	561	11149	0.00	2.33	0.00	0.000	6	0.000	0.052	2730	2521	1129
11462	1.40	336.3	114.8	6.4	576	11485	0.00	2.40	17.12	1.032	4	0.000	0.058	2730	1116	1049
11497	1.44	366.1	112.7	6.0	577	11530	0.00	2.35	27.42	1.014	6	0.000	0.051	2730	2534	927
11851	1.50	366.1	89.5	8.4	612	11858	0.10	2.33	0.00	0.000	4	0.087	0.056	2775	1114	922
11871	1.50	366.1	87.6	9.0	615	11877	0.00	2.30	0.00	0.000	6	0.000	0.053	2775	2529	922
12218	1.40	366.1	46.9	11.7	676	12224	0.15	2.35	0.00	0.000	4	0.134	0.056	2732	1110	921
12232	1.33	366.1	45.3	12.0	678	12238	0.00	2.30	0.00	0.000	6	0.000	0.052	2732	2520	921
12578	1.41	366.1	14.3	11.5	739	12585	0.00	2.33	0.00	0.000	4	0.000	0.058	2732	1116	920
12752	end climb: SURFACE_DEPTH_REACHED
state	12752	begin surface coast
12781	end surface coast: CONTROL_FINISHED_OK
state	12781	begin surface