Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 75 * 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 75 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 275 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 39 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 2500 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -3 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -23397.838 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 0.0031999999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.014 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 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 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 0.0031999999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.014 RELAUNCH 1 T_GPS_CHARGE -23397.838

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2436 KALMAN_USE 1 ROLL_MIN 280 USE_BATHY -3

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 39 VBD_BLEED_AD_RATE 8

C_VBD 2500 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 75 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 091308,6703.093,-5653.790,27,1.8,27,-37.6 TGT_NAME TARGET_ADD4_WB

_CALLS 1 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.185,0.009

_SM_DEPTHo 1.37 KALMAN_X 9452.9,215.4,-435.2,70142.3,1526.5

_SM_ANGLEo -64.7 KALMAN_Y -14206.1,-33.9,-418.6,33221.2,-545.8

GPS2 091821,6703.093,-5653.746,12,1.7,12,-37.6 MHEAD_RNG_PITCHd_Wd 310.3,30820,-14.2,-7.021

SPEED_LIMITS 0.122,0.186 D_GRID 588

Post-dive calculations and measurements:

FINISH 0.9,1.025417 TCM_TEMP 15.80

SM_CCo 14429,9.57,0.928,0,0,1378,275.23 XPDR_PINGS 0

SM_GC 2.52,0.00,0.00,9.57,0.000,0.000,0.928,166,2338,1378,-10.44,-0.06,275.23 _24V_AH 22.3,20.209

RAFOS_CLK 791 _10V_AH 10.6,7.212

RAFOS 0,1221825851,12.083333,12.069722,66,63,59,56,54,53,1001,209,146,123,219,180 DATA_FILE_SIZE 31546,864

RAFOS_FIX 6702.178711,-5701.072754,190908,121248,5,91,0.49 CAP_FILE_SIZE 113018,0

IRIDIUM_FIX 6647.44,-5302.23,141297,050548 CFSIZE 260165632,246841344

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

HUMID 1915 SOUNDSPEED 1455.7

INTERNAL_PRESSURE 8.57455 GPS 190908,132152,6702.436,-5656.855,38,2.1,57,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 263 114.88 SBE_CT 673 24 360.21

Roll_motor 109 79 194.16 SBE_O2 587 19 248.95

VBD_pump_during_apogee 355 1295 10256.26 nil 0 0 0.00

VBD_pump_during_surface 9 928 198.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 71.43 nil 0 0 0.00

Iridium_during_connect 39 160 141.47 nil 0 0 0.00

Iridium_during_xfer 134 223 670.54

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.26

TT8 1570 19 331.55

LPSleep 10756 2 263.38

TT8_Active 516 19 109.16

TT8_Sampling 1581 39 669.32

TT8_CF8 345 45 168.14

TT8_Kalman 33 81 28.97

Analog_circuits 1379 12 175.43

GPS_charging 0 0 0.00

Compass 1564 8 132.71

RAFOS 1800 1 28.62

Transponder 0 30 0.17

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.16 -146.0 0.0 0.0 0 123 0.00 0.00 -103.07 0.000 2 0.000 0.000 165 2334 2890

125 -1.16 -146.0 3.0 -2.7 18 145 8.40 2.42 -6.90 0.000 4 0.264 0.080 2178 3753 3098

297 -0.78 -146.0 37.3 -16.9 48 304 0.32 2.22 0.00 0.000 6 0.169 0.041 2269 2334 3102

641 -0.78 -146.0 68.7 -9.1 109 647 0.00 2.20 0.00 0.000 4 0.000 0.053 2269 932 3105

731 -0.78 -146.0 77.2 -9.2 125 738 0.00 2.25 0.00 0.000 6 0.000 0.049 2269 2356 3105

1067 -0.85 -146.0 107.3 -8.8 174 1069 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2356 3106

1377 -0.93 -146.0 133.5 -8.5 189 1381 0.12 2.25 0.00 0.000 4 0.097 0.067 2225 3745 3106

1504 -0.93 -146.0 146.5 -10.5 194 1511 0.00 2.20 0.00 0.000 6 0.000 0.041 2225 2338 3106

1819 -0.93 -146.0 175.2 -8.8 210 1820 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2338 3106

2129 -0.93 -146.0 199.8 -7.6 225 2132 0.00 2.30 0.00 0.000 4 0.000 0.068 2225 3748 3104

2211 -0.93 -146.0 206.4 -7.5 228 2218 0.00 2.20 0.00 0.000 6 0.000 0.041 2225 2341 3104

2527 -0.93 -146.0 230.4 -7.5 244 2530 0.00 2.20 0.00 0.000 4 0.000 0.055 2225 928 3104

2587 -0.93 -146.0 235.3 -8.2 246 2594 0.00 2.25 0.00 0.000 6 0.000 0.051 2225 2339 3103

2902 -0.93 -146.0 256.9 -6.6 262 2906 0.00 2.25 0.00 0.000 4 0.000 0.067 2225 3745 3103

2986 -0.99 -146.0 262.3 -7.0 265 2992 0.00 2.17 0.00 0.000 6 0.000 0.041 2225 2326 3103

3301 -0.99 -146.0 281.9 -6.1 281 3302 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2326 3103

3610 -0.99 -146.0 302.9 -7.0 296 3614 0.00 2.30 0.00 0.000 4 0.000 0.071 2225 3745 3103

3692 -1.07 -146.0 309.1 -7.4 299 3699 0.00 2.17 0.00 0.000 6 0.000 0.041 2225 2343 3102

4008 -1.12 -146.0 332.8 -7.5 315 4010 0.12 0.00 0.00 0.000 6 0.106 0.000 2179 2344 3101

4317 -1.03 -146.0 360.8 -9.3 330 4322 0.12 2.30 0.00 0.000 4 0.163 0.069 2211 3752 3102

4407 -1.08 -146.0 368.5 -8.6 334 4411 0.00 2.17 0.00 0.000 6 0.000 0.040 2211 2332 3102

4732 -1.08 -146.0 393.2 -7.1 350 4734 0.00 0.00 0.00 0.000 6 0.000 0.000 2211 2332 3102

5039 -1.08 -146.0 415.6 -7.4 360 5042 0.00 2.30 0.00 0.000 4 0.000 0.068 2211 3745 3103

5105 -1.14 -146.0 420.8 -7.5 361 5109 0.05 2.17 0.00 0.000 6 0.104 0.040 2175 2340 3102

5453 -1.05 -146.0 451.4 -8.8 370 5455 0.12 0.00 0.00 0.000 6 0.164 0.000 2206 2338 3103

5777 -1.05 -146.0 477.8 -8.3 378 5781 0.00 2.30 0.00 0.000 4 0.000 0.068 2206 3755 3104

5900 -1.11 -146.0 488.4 -8.4 380 5904 0.00 2.17 0.00 0.000 6 0.000 0.040 2206 2328 3104

6236 -1.11 -146.0 515.1 -7.9 389 6237 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2329 3103

6561 -1.11 -146.0 539.9 -7.5 397 6565 0.00 2.30 0.00 0.000 4 0.000 0.068 2206 3745 3103

6627 -1.17 -146.0 545.1 -7.8 398 6632 0.08 2.17 0.00 0.000 6 0.104 0.040 2174 2338 3103

6975 -1.10 -146.0 574.1 -8.4 407 6977 0.10 0.00 0.00 0.000 6 0.166 0.000 2199 2337 3104

7176 end dive: TARGET_DEPTH_EXCEEDED

state 7176 begin apogee

7180 -0.34 0.0 589.1 7.3 412 7308 0.52 0.00 124.93 1.295 6 0.152 0.000 2363 2527 2500

7309 end apogee: CONTROL_FINISHED_OK

state 7309 begin climb

7311 1.16 146.0 591.4 0.0 415 7443 1.08 0.00 127.55 1.202 6 0.110 0.000 2687 2526 1904

7758 0.93 146.0 549.6 10.1 426 7763 0.20 2.40 0.00 0.000 4 0.143 0.067 2628 3934 1902

7864 0.76 146.0 539.9 9.3 428 7868 0.10 2.28 0.00 0.000 6 0.166 0.040 2602 2513 1902

8211 0.78 160.5 517.6 6.5 437 8230 0.00 2.45 13.00 1.154 4 0.000 0.067 2602 3929 1844

8241 0.79 164.9 515.4 6.9 437 8253 0.00 2.28 5.53 0.919 6 0.000 0.040 2602 2522 1827

8578 0.87 181.6 493.4 6.4 446 8595 0.10 0.00 15.25 1.172 6 0.095 0.000 2638 2522 1758

8901 0.87 181.6 466.7 8.4 454 8905 0.00 2.35 0.00 0.000 4 0.000 0.068 2638 3938 1757

8934 0.73 181.6 463.6 9.6 454 8939 0.12 2.25 0.00 0.000 6 0.142 0.041 2599 2522 1757

9271 0.86 206.7 442.1 6.1 463 9298 0.10 2.40 21.27 1.190 4 0.091 0.065 2638 3940 1656

9302 0.86 206.7 439.6 8.3 463 9309 0.00 2.30 0.00 0.000 6 0.000 0.040 2638 2521 1656

9633 0.86 206.7 413.0 8.4 472 9634 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2521 1655

9940 0.86 206.7 386.3 8.8 483 9944 0.00 2.33 0.00 0.000 4 0.000 0.066 2638 3940 1655

9973 0.76 206.7 383.1 10.3 484 9977 0.15 2.22 0.00 0.000 6 0.147 0.041 2597 2508 1654

10293 0.92 227.1 361.7 6.3 500 10314 0.15 0.00 17.17 1.140 6 0.078 0.000 2654 2507 1574

10622 0.92 227.1 330.5 9.8 516 10626 0.00 2.33 0.00 0.000 4 0.000 0.067 2654 3927 1573

10631 0.92 227.1 329.4 9.9 516 10635 0.00 2.22 0.00 0.000 6 0.000 0.039 2655 2521 1572

10952 0.92 227.1 296.7 10.2 532 10956 0.00 2.33 0.00 0.000 4 0.000 0.067 2655 3941 1572

10979 0.84 227.1 293.5 12.0 533 10984 0.15 2.20 0.00 0.000 6 0.151 0.040 2613 2518 1572

11305 0.95 227.1 267.1 7.9 549 11310 0.12 2.20 0.00 0.000 4 0.087 0.051 2663 1111 1573

11315 1.05 227.1 266.4 7.4 549 11322 0.00 2.22 0.00 0.000 6 0.000 0.048 2663 2531 1572

11630 1.05 227.1 235.9 9.6 565 11631 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2531 1572

11939 1.05 227.1 205.2 9.9 580 11940 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2531 1572

12248 1.05 227.1 175.5 9.3 595 12252 0.00 2.22 0.00 0.000 4 0.000 0.053 2663 1115 1573

12258 1.05 227.1 174.7 8.9 595 12263 0.00 2.22 0.00 0.000 6 0.000 0.047 2663 2519 1573

12578 1.05 227.1 146.7 8.5 611 12580 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2518 1573

12888 1.05 227.1 120.3 8.5 626 12892 0.00 2.25 0.00 0.000 4 0.000 0.066 2663 3936 1573

12897 1.05 227.1 119.4 8.2 626 12901 0.00 2.20 0.00 0.000 6 0.000 0.039 2663 2515 1573

13221 1.05 227.1 91.9 8.0 653 13227 0.00 2.30 0.00 0.000 4 0.000 0.068 2663 3937 1574

13232 1.05 227.1 90.9 8.2 655 13239 0.00 2.17 0.00 0.000 6 0.000 0.041 2663 2513 1574

13576 1.07 240.9 66.0 6.5 716 13593 0.00 0.00 12.57 1.007 6 0.000 0.000 2664 2513 1518

13930 1.17 240.9 38.6 8.5 779 13937 0.10 2.33 0.00 0.000 4 0.095 0.068 2705 3927 1516

13943 1.25 240.9 37.5 8.4 781 13949 0.00 2.20 0.00 0.000 6 0.000 0.041 2705 2508 1516

14286 1.28 262.3 10.6 6.3 842 14310 0.00 2.38 17.75 1.011 4 0.000 0.069 2705 3924 1429

14399 end climb: SURFACE_DEPTH_REACHED

state 14399 begin surface coast

14412 end surface coast: CONTROL_FINISHED_OK

state 14412 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	75	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	275	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	39	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	2500	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-3	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-23397.838	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	0.0031999999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.014	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	091308,6703.093,-5653.790,27,1.8,27,-37.6	TGT_NAME	TARGET_ADD4_WB
_CALLS	1	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.185,0.009
_SM_DEPTHo	1.37	KALMAN_X	9452.9,215.4,-435.2,70142.3,1526.5
_SM_ANGLEo	-64.7	KALMAN_Y	-14206.1,-33.9,-418.6,33221.2,-545.8
GPS2	091821,6703.093,-5653.746,12,1.7,12,-37.6	MHEAD_RNG_PITCHd_Wd	310.3,30820,-14.2,-7.021
SPEED_LIMITS	0.122,0.186	D_GRID	588

FINISH	0.9,1.025417	TCM_TEMP	15.80
SM_CCo	14429,9.57,0.928,0,0,1378,275.23	XPDR_PINGS	0
SM_GC	2.52,0.00,0.00,9.57,0.000,0.000,0.928,166,2338,1378,-10.44,-0.06,275.23	_24V_AH	22.3,20.209
RAFOS_CLK	791	_10V_AH	10.6,7.212
RAFOS	0,1221825851,12.083333,12.069722,66,63,59,56,54,53,1001,209,146,123,219,180	DATA_FILE_SIZE	31546,864
RAFOS_FIX	6702.178711,-5701.072754,190908,121248,5,91,0.49	CAP_FILE_SIZE	113018,0
IRIDIUM_FIX	6647.44,-5302.23,141297,050548	CFSIZE	260165632,246841344
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1915	SOUNDSPEED	1455.7
INTERNAL_PRESSURE	8.57455	GPS	190908,132152,6702.436,-5656.855,38,2.1,57,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	263	114.88	SBE_CT	673	24	360.21
Roll_motor	109	79	194.16	SBE_O2	587	19	248.95
VBD_pump_during_apogee	355	1295	10256.26	nil	0	0	0.00
VBD_pump_during_surface	9	928	198.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	71.43	nil	0	0	0.00
Iridium_during_connect	39	160	141.47	nil	0	0	0.00
Iridium_during_xfer	134	223	670.54
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.26
TT8	1570	19	331.55
LPSleep	10756	2	263.38
TT8_Active	516	19	109.16
TT8_Sampling	1581	39	669.32
TT8_CF8	345	45	168.14
TT8_Kalman	33	81	28.97
Analog_circuits	1379	12	175.43
GPS_charging	0	0	0.00
Compass	1564	8	132.71
RAFOS	1800	1	28.62
Transponder	0	30	0.17

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.16	-146.0	0.0	0.0	0	123	0.00	0.00	-103.07	0.000	2	0.000	0.000	165	2334	2890
125	-1.16	-146.0	3.0	-2.7	18	145	8.40	2.42	-6.90	0.000	4	0.264	0.080	2178	3753	3098
297	-0.78	-146.0	37.3	-16.9	48	304	0.32	2.22	0.00	0.000	6	0.169	0.041	2269	2334	3102
641	-0.78	-146.0	68.7	-9.1	109	647	0.00	2.20	0.00	0.000	4	0.000	0.053	2269	932	3105
731	-0.78	-146.0	77.2	-9.2	125	738	0.00	2.25	0.00	0.000	6	0.000	0.049	2269	2356	3105
1067	-0.85	-146.0	107.3	-8.8	174	1069	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2356	3106
1377	-0.93	-146.0	133.5	-8.5	189	1381	0.12	2.25	0.00	0.000	4	0.097	0.067	2225	3745	3106
1504	-0.93	-146.0	146.5	-10.5	194	1511	0.00	2.20	0.00	0.000	6	0.000	0.041	2225	2338	3106
1819	-0.93	-146.0	175.2	-8.8	210	1820	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	2338	3106
2129	-0.93	-146.0	199.8	-7.6	225	2132	0.00	2.30	0.00	0.000	4	0.000	0.068	2225	3748	3104
2211	-0.93	-146.0	206.4	-7.5	228	2218	0.00	2.20	0.00	0.000	6	0.000	0.041	2225	2341	3104
2527	-0.93	-146.0	230.4	-7.5	244	2530	0.00	2.20	0.00	0.000	4	0.000	0.055	2225	928	3104
2587	-0.93	-146.0	235.3	-8.2	246	2594	0.00	2.25	0.00	0.000	6	0.000	0.051	2225	2339	3103
2902	-0.93	-146.0	256.9	-6.6	262	2906	0.00	2.25	0.00	0.000	4	0.000	0.067	2225	3745	3103
2986	-0.99	-146.0	262.3	-7.0	265	2992	0.00	2.17	0.00	0.000	6	0.000	0.041	2225	2326	3103
3301	-0.99	-146.0	281.9	-6.1	281	3302	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	2326	3103
3610	-0.99	-146.0	302.9	-7.0	296	3614	0.00	2.30	0.00	0.000	4	0.000	0.071	2225	3745	3103
3692	-1.07	-146.0	309.1	-7.4	299	3699	0.00	2.17	0.00	0.000	6	0.000	0.041	2225	2343	3102
4008	-1.12	-146.0	332.8	-7.5	315	4010	0.12	0.00	0.00	0.000	6	0.106	0.000	2179	2344	3101
4317	-1.03	-146.0	360.8	-9.3	330	4322	0.12	2.30	0.00	0.000	4	0.163	0.069	2211	3752	3102
4407	-1.08	-146.0	368.5	-8.6	334	4411	0.00	2.17	0.00	0.000	6	0.000	0.040	2211	2332	3102
4732	-1.08	-146.0	393.2	-7.1	350	4734	0.00	0.00	0.00	0.000	6	0.000	0.000	2211	2332	3102
5039	-1.08	-146.0	415.6	-7.4	360	5042	0.00	2.30	0.00	0.000	4	0.000	0.068	2211	3745	3103
5105	-1.14	-146.0	420.8	-7.5	361	5109	0.05	2.17	0.00	0.000	6	0.104	0.040	2175	2340	3102
5453	-1.05	-146.0	451.4	-8.8	370	5455	0.12	0.00	0.00	0.000	6	0.164	0.000	2206	2338	3103
5777	-1.05	-146.0	477.8	-8.3	378	5781	0.00	2.30	0.00	0.000	4	0.000	0.068	2206	3755	3104
5900	-1.11	-146.0	488.4	-8.4	380	5904	0.00	2.17	0.00	0.000	6	0.000	0.040	2206	2328	3104
6236	-1.11	-146.0	515.1	-7.9	389	6237	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2329	3103
6561	-1.11	-146.0	539.9	-7.5	397	6565	0.00	2.30	0.00	0.000	4	0.000	0.068	2206	3745	3103
6627	-1.17	-146.0	545.1	-7.8	398	6632	0.08	2.17	0.00	0.000	6	0.104	0.040	2174	2338	3103
6975	-1.10	-146.0	574.1	-8.4	407	6977	0.10	0.00	0.00	0.000	6	0.166	0.000	2199	2337	3104
7176	end dive: TARGET_DEPTH_EXCEEDED
state	7176	begin apogee
7180	-0.34	0.0	589.1	7.3	412	7308	0.52	0.00	124.93	1.295	6	0.152	0.000	2363	2527	2500
7309	end apogee: CONTROL_FINISHED_OK
state	7309	begin climb
7311	1.16	146.0	591.4	0.0	415	7443	1.08	0.00	127.55	1.202	6	0.110	0.000	2687	2526	1904
7758	0.93	146.0	549.6	10.1	426	7763	0.20	2.40	0.00	0.000	4	0.143	0.067	2628	3934	1902
7864	0.76	146.0	539.9	9.3	428	7868	0.10	2.28	0.00	0.000	6	0.166	0.040	2602	2513	1902
8211	0.78	160.5	517.6	6.5	437	8230	0.00	2.45	13.00	1.154	4	0.000	0.067	2602	3929	1844
8241	0.79	164.9	515.4	6.9	437	8253	0.00	2.28	5.53	0.919	6	0.000	0.040	2602	2522	1827
8578	0.87	181.6	493.4	6.4	446	8595	0.10	0.00	15.25	1.172	6	0.095	0.000	2638	2522	1758
8901	0.87	181.6	466.7	8.4	454	8905	0.00	2.35	0.00	0.000	4	0.000	0.068	2638	3938	1757
8934	0.73	181.6	463.6	9.6	454	8939	0.12	2.25	0.00	0.000	6	0.142	0.041	2599	2522	1757
9271	0.86	206.7	442.1	6.1	463	9298	0.10	2.40	21.27	1.190	4	0.091	0.065	2638	3940	1656
9302	0.86	206.7	439.6	8.3	463	9309	0.00	2.30	0.00	0.000	6	0.000	0.040	2638	2521	1656
9633	0.86	206.7	413.0	8.4	472	9634	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2521	1655
9940	0.86	206.7	386.3	8.8	483	9944	0.00	2.33	0.00	0.000	4	0.000	0.066	2638	3940	1655
9973	0.76	206.7	383.1	10.3	484	9977	0.15	2.22	0.00	0.000	6	0.147	0.041	2597	2508	1654
10293	0.92	227.1	361.7	6.3	500	10314	0.15	0.00	17.17	1.140	6	0.078	0.000	2654	2507	1574
10622	0.92	227.1	330.5	9.8	516	10626	0.00	2.33	0.00	0.000	4	0.000	0.067	2654	3927	1573
10631	0.92	227.1	329.4	9.9	516	10635	0.00	2.22	0.00	0.000	6	0.000	0.039	2655	2521	1572
10952	0.92	227.1	296.7	10.2	532	10956	0.00	2.33	0.00	0.000	4	0.000	0.067	2655	3941	1572
10979	0.84	227.1	293.5	12.0	533	10984	0.15	2.20	0.00	0.000	6	0.151	0.040	2613	2518	1572
11305	0.95	227.1	267.1	7.9	549	11310	0.12	2.20	0.00	0.000	4	0.087	0.051	2663	1111	1573
11315	1.05	227.1	266.4	7.4	549	11322	0.00	2.22	0.00	0.000	6	0.000	0.048	2663	2531	1572
11630	1.05	227.1	235.9	9.6	565	11631	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2531	1572
11939	1.05	227.1	205.2	9.9	580	11940	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2531	1572
12248	1.05	227.1	175.5	9.3	595	12252	0.00	2.22	0.00	0.000	4	0.000	0.053	2663	1115	1573
12258	1.05	227.1	174.7	8.9	595	12263	0.00	2.22	0.00	0.000	6	0.000	0.047	2663	2519	1573
12578	1.05	227.1	146.7	8.5	611	12580	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2518	1573
12888	1.05	227.1	120.3	8.5	626	12892	0.00	2.25	0.00	0.000	4	0.000	0.066	2663	3936	1573
12897	1.05	227.1	119.4	8.2	626	12901	0.00	2.20	0.00	0.000	6	0.000	0.039	2663	2515	1573
13221	1.05	227.1	91.9	8.0	653	13227	0.00	2.30	0.00	0.000	4	0.000	0.068	2663	3937	1574
13232	1.05	227.1	90.9	8.2	655	13239	0.00	2.17	0.00	0.000	6	0.000	0.041	2663	2513	1574
13576	1.07	240.9	66.0	6.5	716	13593	0.00	0.00	12.57	1.007	6	0.000	0.000	2664	2513	1518
13930	1.17	240.9	38.6	8.5	779	13937	0.10	2.33	0.00	0.000	4	0.095	0.068	2705	3927	1516
13943	1.25	240.9	37.5	8.4	781	13949	0.00	2.20	0.00	0.000	6	0.000	0.041	2705	2508	1516
14286	1.28	262.3	10.6	6.3	842	14310	0.00	2.38	17.75	1.011	4	0.000	0.069	2705	3924	1429
14399	end climb: SURFACE_DEPTH_REACHED
state	14399	begin surface coast
14412	end surface coast: CONTROL_FINISHED_OK
state	14412	begin surface