Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 336 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 336 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 3 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 ALTIM_PULSE 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 7 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 1.75 FILEMGR 2 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 21 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 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 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -118637.09 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 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 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2680 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 7 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 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 80 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 70 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 3

CALL_TRIES 3 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -118637.09

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 21 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 0 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 336 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1070 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 3 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 202536,6636.716,-6005.753,0,4096.0,0,-37.9 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.227,-0.055

_SM_DEPTHo 6.90 KALMAN_X 198091.4,-6274.2,6028.3,-252107.5,4973.1

_SM_ANGLEo -4.4 KALMAN_Y -243835.2,17898.5,-13114.7,224202.2,13060.2

GPS2 202536,6636.716,-6005.753,0,4096.0,0,-37.9 MHEAD_RNG_PITCHd_Wd 294.4,28987,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 552

Post-dive calculations and measurements:

FREEZE 6.52,-1.773,-1.776 TCM_TEMP 15.00

FINISH1 6.5,1.026034,79 XPDR_PINGS 33

FINISH2 4.9 _24V_AH 22.1,58.485

RAFOS_CLK 667 _10V_AH 10.5,26.805

RAFOS 4,1227228291,0.750000,0.747500,73,67,60,59,54,54,220,638,143,184,164,200 DATA_FILE_SIZE 28388,880

RAFOS_FIX 6232.697266,-5331.492188,211108,000026,3,81,38.68 CAP_FILE_SIZE 115819,0

IRIDIUM_FIX 6620.33,-5917.14,100298,030337 CFSIZE 260165632,228941824

TT8_MAMPS 0.026078 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1798 SOUNDSPEED 1444.8

INTERNAL_PRESSURE 9.89296 GPS 201108,202536,6636.716,-6005.753,0,4096.0,0,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 157 24.06 SBE_CT 617 24 327.35

Roll_motor 119 128 339.31 SBE_O2 0 0 0.00

VBD_pump_during_apogee 394 1198 10445.84 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 8 420 76.58

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1664 19 348.13

LPSleep 10356 2 251.19

TT8_Active 470 19 98.40

TT8_Sampling 1717 39 719.98

TT8_CF8 198 45 95.82

TT8_Kalman 33 81 28.70

Analog_circuits 1400 12 176.48

GPS_charging 0 0 0.00

Compass 1699 8 142.79

RAFOS 1800 1 28.35

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 -0.99 -146.0 0.0 0.0 0 26 0.00 0.00 -7.78 0.000 2 0.000 0.000 2689 3154 2534

29 -0.99 -146.0 4.4 -0.0 1 64 0.62 0.75 -28.67 0.000 4 0.083 0.129 2458 3596 3248

318 -0.72 -146.0 33.1 -10.5 52 325 0.22 2.17 0.00 0.000 6 0.143 0.056 2526 2221 3253

663 -0.72 -146.0 65.2 -9.6 113 669 0.00 2.30 0.00 0.000 4 0.000 0.082 2518 3596 3254

742 -0.72 -146.0 72.3 -8.7 127 749 0.00 2.17 0.00 0.000 6 0.000 0.056 2518 2223 3254

1087 -0.72 -146.0 96.7 -6.3 188 1093 0.00 2.25 0.00 0.000 4 0.000 0.070 2518 820 3254

1217 -0.72 -146.0 105.6 -6.7 200 1224 0.00 2.35 0.00 0.000 6 0.000 0.071 2508 2242 3253

1533 -0.72 -146.0 129.1 -7.9 216 1537 0.00 2.33 0.00 0.000 4 0.000 0.070 2508 818 3253

1605 -0.72 -146.0 135.1 -8.4 219 1609 0.10 2.35 0.00 0.000 6 0.149 0.070 2524 2244 3253

1932 -0.80 -146.0 157.0 -6.8 235 1933 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2244 3254

2242 -0.90 -146.0 176.5 -6.3 250 2243 0.15 0.00 0.00 0.000 6 0.086 0.000 2464 2244 3254

2550 -0.79 -146.0 203.5 -9.0 265 2552 0.17 0.00 0.00 0.000 6 0.154 0.000 2512 2244 3253

2860 -0.86 -146.0 225.5 -6.7 280 2861 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2244 3254

3169 -0.93 -146.0 244.2 -6.1 295 3171 0.12 0.00 0.00 0.000 6 0.092 0.000 2461 2244 3253

3478 -0.82 -146.0 269.7 -8.4 310 3482 0.15 2.22 0.00 0.000 4 0.157 0.084 2493 3595 3253

3637 -0.82 -146.0 281.3 -7.3 317 3641 0.00 2.17 0.00 0.000 6 0.000 0.057 2493 2224 3253

3969 -0.82 -146.0 303.8 -6.4 333 3970 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2223 3253

4280 -0.82 -146.0 323.5 -6.1 348 4284 0.00 2.33 0.00 0.000 4 0.000 0.084 2484 3602 3253

4349 -0.82 -146.0 328.2 -6.5 351 4352 0.00 2.20 0.00 0.000 6 0.000 0.056 2484 2215 3253

4681 -0.82 -146.0 350.1 -6.7 367 4682 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2214 3253

4991 -0.82 -146.0 371.0 -6.8 382 4995 0.00 2.30 0.00 0.000 4 0.000 0.081 2474 3596 3253

5074 -0.82 -146.0 377.5 -8.0 385 5081 0.12 2.17 0.00 0.000 6 0.153 0.056 2506 2225 3252

5390 -0.92 -146.0 398.6 -6.4 401 5394 0.10 2.28 0.00 0.000 4 0.098 0.069 2462 814 3252

5544 -0.82 -146.0 411.3 -8.7 405 5549 0.17 2.35 0.00 0.000 6 0.141 0.069 2501 2240 3252

5857 -0.92 -146.0 430.6 -6.1 413 5861 0.00 2.25 0.00 0.000 4 0.000 0.083 2492 3605 3253

5893 -1.01 -146.0 432.9 -6.5 413 5897 0.12 2.20 0.00 0.000 6 0.087 0.055 2442 2218 3253

6229 -0.88 -146.0 457.4 -7.0 422 6234 0.17 2.25 0.00 0.000 4 0.146 0.067 2500 821 3252

6389 -0.96 -146.0 465.5 -4.7 425 6393 0.00 2.33 0.00 0.000 6 0.000 0.069 2492 2237 3253

6737 -1.03 -146.0 482.4 -5.3 434 6742 0.12 2.25 0.00 0.000 4 0.084 0.083 2428 3599 3252

6838 -0.90 -146.0 490.5 -8.5 436 6842 0.20 2.17 0.00 0.000 6 0.150 0.054 2486 2221 3252

7157 -0.95 -146.0 507.6 -5.2 444 7161 0.00 2.25 0.00 0.000 4 0.000 0.067 2486 816 3253

7274 -0.95 -146.0 514.2 -5.1 446 7278 0.00 2.35 0.00 0.000 6 0.000 0.067 2478 2242 3253

7614 end dive: NO_VERTICAL_VELOCITY

state 7615 begin apogee

7622 -0.31 0.0 518.7 0.0 455 7751 0.43 0.00 126.07 1.198 6 0.092 0.000 2625 1732 2651

7752 end apogee: CONTROL_FINISHED_OK

state 7752 begin climb

7755 0.99 146.0 518.6 0.0 458 7893 0.82 2.62 131.02 1.119 4 0.095 0.071 2902 326 2054

7952 0.76 146.0 501.9 10.7 462 7957 0.22 2.55 0.00 0.000 6 0.137 0.059 2843 1749 2050

8288 0.76 146.0 476.2 7.2 471 8289 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1749 2046

8613 0.77 152.7 452.7 6.8 479 8623 0.00 2.33 5.65 0.875 4 0.000 0.071 2843 3163 2027

8663 0.64 152.7 449.0 8.3 480 8668 0.12 2.33 0.00 0.000 6 0.138 0.055 2818 1729 2027

8976 0.76 164.9 428.9 6.6 488 8996 0.10 2.42 12.20 1.044 4 0.083 0.070 2864 3154 1977

9007 0.64 164.9 426.3 9.2 488 9012 0.20 2.30 0.00 0.000 6 0.133 0.054 2817 1725 1976

9339 0.80 193.5 405.5 6.1 496 9369 0.15 0.00 25.95 1.091 6 0.073 0.000 2882 1724 1861

9691 0.69 193.5 371.9 9.5 511 9696 0.20 2.38 0.00 0.000 4 0.127 0.070 2818 3158 1856

9708 0.69 193.5 370.4 9.5 512 9712 0.00 2.28 0.00 0.000 6 0.000 0.054 2824 1726 1856

10041 0.88 234.1 350.6 5.7 528 10085 0.15 2.42 35.92 1.078 4 0.074 0.070 2890 3166 1694

10102 0.74 234.1 345.3 9.5 530 10108 0.22 2.33 0.00 0.000 6 0.132 0.054 2836 1737 1692

10418 0.91 245.6 324.5 6.6 546 10430 0.15 0.00 10.32 0.974 6 0.070 0.000 2900 1737 1648

10726 0.82 245.6 294.3 9.5 561 10731 0.15 2.35 0.00 0.000 4 0.130 0.071 2857 3157 1645

10766 0.82 245.6 290.9 8.0 563 10769 0.00 2.28 0.00 0.000 6 0.000 0.056 2864 1735 1644

11100 0.91 245.6 267.1 7.1 579 11104 0.00 2.35 0.00 0.000 4 0.000 0.074 2864 3160 1643

11127 0.91 245.6 264.7 8.5 580 11131 0.00 2.28 0.00 0.000 6 0.000 0.057 2873 1729 1643

11455 0.98 245.6 240.0 7.3 596 11459 0.00 2.35 0.00 0.000 4 0.000 0.072 2873 3159 1642

11478 0.98 245.6 238.1 7.8 597 11482 0.00 2.28 0.00 0.000 6 0.000 0.058 2883 1734 1642

11810 0.98 245.6 212.2 8.1 613 11814 0.00 2.30 0.00 0.000 4 0.000 0.073 2894 323 1642

11837 0.98 245.6 209.5 8.5 614 11842 0.00 2.33 0.00 0.000 6 0.000 0.061 2894 1748 1641

12164 0.98 245.6 179.3 9.3 630 12168 0.00 2.28 0.00 0.000 4 0.000 0.075 2894 3155 1641

12210 0.85 245.6 174.6 10.3 632 12215 0.15 2.28 0.00 0.000 6 0.137 0.059 2861 1733 1640

12539 1.03 265.4 152.1 6.4 648 12559 0.15 0.00 17.70 0.986 6 0.074 0.000 2926 1733 1568

12866 0.93 265.4 121.3 9.4 664 12871 0.17 2.38 0.00 0.000 4 0.133 0.075 2874 3157 1565

12893 0.93 265.4 118.7 8.6 665 12896 0.00 2.30 0.00 0.000 6 0.000 0.059 2882 1727 1564

13216 1.02 265.4 95.4 7.2 689 13222 0.00 2.30 0.00 0.000 4 0.000 0.075 2892 325 1563

13241 1.16 276.8 93.7 6.7 693 13259 0.12 2.33 11.18 0.922 6 0.081 0.062 2947 1746 1521

13599 1.04 276.8 59.2 9.8 756 13606 0.15 2.33 0.00 0.000 4 0.140 0.078 2904 3159 1518

13641 0.99 276.8 55.0 9.5 763 13648 0.00 2.30 0.00 0.000 6 0.000 0.061 2911 1738 1518

13986 1.06 276.8 26.5 8.2 824 13992 0.00 2.33 0.00 0.000 4 0.000 0.077 2920 330 1517

13999 1.17 296.4 26.0 6.4 826 14023 0.00 2.33 18.50 0.921 6 0.000 0.062 2919 1747 1441

14270 end climb: FINISH_DEPTH_REACHED

state 14270 begin subsurface finish

14278 0.10 79.3 6.5 -9.7 874 14313 0.68 0.00 -30.95 0.000 6 0.124 0.000 2702 1747 2329

14314 end subsurface finish: CONTROL_FINISHED_OK

state 14314 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	336	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	3	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	ALTIM_PULSE	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	7	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	1.75	FILEMGR	2	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	21	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	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	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-118637.09	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	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	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2680	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	202536,6636.716,-6005.753,0,4096.0,0,-37.9	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.227,-0.055
_SM_DEPTHo	6.90	KALMAN_X	198091.4,-6274.2,6028.3,-252107.5,4973.1
_SM_ANGLEo	-4.4	KALMAN_Y	-243835.2,17898.5,-13114.7,224202.2,13060.2
GPS2	202536,6636.716,-6005.753,0,4096.0,0,-37.9	MHEAD_RNG_PITCHd_Wd	294.4,28987,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	552

FREEZE	6.52,-1.773,-1.776	TCM_TEMP	15.00
FINISH1	6.5,1.026034,79	XPDR_PINGS	33
FINISH2	4.9	_24V_AH	22.1,58.485
RAFOS_CLK	667	_10V_AH	10.5,26.805
RAFOS	4,1227228291,0.750000,0.747500,73,67,60,59,54,54,220,638,143,184,164,200	DATA_FILE_SIZE	28388,880
RAFOS_FIX	6232.697266,-5331.492188,211108,000026,3,81,38.68	CAP_FILE_SIZE	115819,0
IRIDIUM_FIX	6620.33,-5917.14,100298,030337	CFSIZE	260165632,228941824
TT8_MAMPS	0.026078	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1798	SOUNDSPEED	1444.8
INTERNAL_PRESSURE	9.89296	GPS	201108,202536,6636.716,-6005.753,0,4096.0,0,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	157	24.06	SBE_CT	617	24	327.35
Roll_motor	119	128	339.31	SBE_O2	0	0	0.00
VBD_pump_during_apogee	394	1198	10445.84	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	8	420	76.58
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1664	19	348.13
LPSleep	10356	2	251.19
TT8_Active	470	19	98.40
TT8_Sampling	1717	39	719.98
TT8_CF8	198	45	95.82
TT8_Kalman	33	81	28.70
Analog_circuits	1400	12	176.48
GPS_charging	0	0	0.00
Compass	1699	8	142.79
RAFOS	1800	1	28.35
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	-0.99	-146.0	0.0	0.0	0	26	0.00	0.00	-7.78	0.000	2	0.000	0.000	2689	3154	2534
29	-0.99	-146.0	4.4	-0.0	1	64	0.62	0.75	-28.67	0.000	4	0.083	0.129	2458	3596	3248
318	-0.72	-146.0	33.1	-10.5	52	325	0.22	2.17	0.00	0.000	6	0.143	0.056	2526	2221	3253
663	-0.72	-146.0	65.2	-9.6	113	669	0.00	2.30	0.00	0.000	4	0.000	0.082	2518	3596	3254
742	-0.72	-146.0	72.3	-8.7	127	749	0.00	2.17	0.00	0.000	6	0.000	0.056	2518	2223	3254
1087	-0.72	-146.0	96.7	-6.3	188	1093	0.00	2.25	0.00	0.000	4	0.000	0.070	2518	820	3254
1217	-0.72	-146.0	105.6	-6.7	200	1224	0.00	2.35	0.00	0.000	6	0.000	0.071	2508	2242	3253
1533	-0.72	-146.0	129.1	-7.9	216	1537	0.00	2.33	0.00	0.000	4	0.000	0.070	2508	818	3253
1605	-0.72	-146.0	135.1	-8.4	219	1609	0.10	2.35	0.00	0.000	6	0.149	0.070	2524	2244	3253
1932	-0.80	-146.0	157.0	-6.8	235	1933	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2244	3254
2242	-0.90	-146.0	176.5	-6.3	250	2243	0.15	0.00	0.00	0.000	6	0.086	0.000	2464	2244	3254
2550	-0.79	-146.0	203.5	-9.0	265	2552	0.17	0.00	0.00	0.000	6	0.154	0.000	2512	2244	3253
2860	-0.86	-146.0	225.5	-6.7	280	2861	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2244	3254
3169	-0.93	-146.0	244.2	-6.1	295	3171	0.12	0.00	0.00	0.000	6	0.092	0.000	2461	2244	3253
3478	-0.82	-146.0	269.7	-8.4	310	3482	0.15	2.22	0.00	0.000	4	0.157	0.084	2493	3595	3253
3637	-0.82	-146.0	281.3	-7.3	317	3641	0.00	2.17	0.00	0.000	6	0.000	0.057	2493	2224	3253
3969	-0.82	-146.0	303.8	-6.4	333	3970	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2223	3253
4280	-0.82	-146.0	323.5	-6.1	348	4284	0.00	2.33	0.00	0.000	4	0.000	0.084	2484	3602	3253
4349	-0.82	-146.0	328.2	-6.5	351	4352	0.00	2.20	0.00	0.000	6	0.000	0.056	2484	2215	3253
4681	-0.82	-146.0	350.1	-6.7	367	4682	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2214	3253
4991	-0.82	-146.0	371.0	-6.8	382	4995	0.00	2.30	0.00	0.000	4	0.000	0.081	2474	3596	3253
5074	-0.82	-146.0	377.5	-8.0	385	5081	0.12	2.17	0.00	0.000	6	0.153	0.056	2506	2225	3252
5390	-0.92	-146.0	398.6	-6.4	401	5394	0.10	2.28	0.00	0.000	4	0.098	0.069	2462	814	3252
5544	-0.82	-146.0	411.3	-8.7	405	5549	0.17	2.35	0.00	0.000	6	0.141	0.069	2501	2240	3252
5857	-0.92	-146.0	430.6	-6.1	413	5861	0.00	2.25	0.00	0.000	4	0.000	0.083	2492	3605	3253
5893	-1.01	-146.0	432.9	-6.5	413	5897	0.12	2.20	0.00	0.000	6	0.087	0.055	2442	2218	3253
6229	-0.88	-146.0	457.4	-7.0	422	6234	0.17	2.25	0.00	0.000	4	0.146	0.067	2500	821	3252
6389	-0.96	-146.0	465.5	-4.7	425	6393	0.00	2.33	0.00	0.000	6	0.000	0.069	2492	2237	3253
6737	-1.03	-146.0	482.4	-5.3	434	6742	0.12	2.25	0.00	0.000	4	0.084	0.083	2428	3599	3252
6838	-0.90	-146.0	490.5	-8.5	436	6842	0.20	2.17	0.00	0.000	6	0.150	0.054	2486	2221	3252
7157	-0.95	-146.0	507.6	-5.2	444	7161	0.00	2.25	0.00	0.000	4	0.000	0.067	2486	816	3253
7274	-0.95	-146.0	514.2	-5.1	446	7278	0.00	2.35	0.00	0.000	6	0.000	0.067	2478	2242	3253
7614	end dive: NO_VERTICAL_VELOCITY
state	7615	begin apogee
7622	-0.31	0.0	518.7	0.0	455	7751	0.43	0.00	126.07	1.198	6	0.092	0.000	2625	1732	2651
7752	end apogee: CONTROL_FINISHED_OK
state	7752	begin climb
7755	0.99	146.0	518.6	0.0	458	7893	0.82	2.62	131.02	1.119	4	0.095	0.071	2902	326	2054
7952	0.76	146.0	501.9	10.7	462	7957	0.22	2.55	0.00	0.000	6	0.137	0.059	2843	1749	2050
8288	0.76	146.0	476.2	7.2	471	8289	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1749	2046
8613	0.77	152.7	452.7	6.8	479	8623	0.00	2.33	5.65	0.875	4	0.000	0.071	2843	3163	2027
8663	0.64	152.7	449.0	8.3	480	8668	0.12	2.33	0.00	0.000	6	0.138	0.055	2818	1729	2027
8976	0.76	164.9	428.9	6.6	488	8996	0.10	2.42	12.20	1.044	4	0.083	0.070	2864	3154	1977
9007	0.64	164.9	426.3	9.2	488	9012	0.20	2.30	0.00	0.000	6	0.133	0.054	2817	1725	1976
9339	0.80	193.5	405.5	6.1	496	9369	0.15	0.00	25.95	1.091	6	0.073	0.000	2882	1724	1861
9691	0.69	193.5	371.9	9.5	511	9696	0.20	2.38	0.00	0.000	4	0.127	0.070	2818	3158	1856
9708	0.69	193.5	370.4	9.5	512	9712	0.00	2.28	0.00	0.000	6	0.000	0.054	2824	1726	1856
10041	0.88	234.1	350.6	5.7	528	10085	0.15	2.42	35.92	1.078	4	0.074	0.070	2890	3166	1694
10102	0.74	234.1	345.3	9.5	530	10108	0.22	2.33	0.00	0.000	6	0.132	0.054	2836	1737	1692
10418	0.91	245.6	324.5	6.6	546	10430	0.15	0.00	10.32	0.974	6	0.070	0.000	2900	1737	1648
10726	0.82	245.6	294.3	9.5	561	10731	0.15	2.35	0.00	0.000	4	0.130	0.071	2857	3157	1645
10766	0.82	245.6	290.9	8.0	563	10769	0.00	2.28	0.00	0.000	6	0.000	0.056	2864	1735	1644
11100	0.91	245.6	267.1	7.1	579	11104	0.00	2.35	0.00	0.000	4	0.000	0.074	2864	3160	1643
11127	0.91	245.6	264.7	8.5	580	11131	0.00	2.28	0.00	0.000	6	0.000	0.057	2873	1729	1643
11455	0.98	245.6	240.0	7.3	596	11459	0.00	2.35	0.00	0.000	4	0.000	0.072	2873	3159	1642
11478	0.98	245.6	238.1	7.8	597	11482	0.00	2.28	0.00	0.000	6	0.000	0.058	2883	1734	1642
11810	0.98	245.6	212.2	8.1	613	11814	0.00	2.30	0.00	0.000	4	0.000	0.073	2894	323	1642
11837	0.98	245.6	209.5	8.5	614	11842	0.00	2.33	0.00	0.000	6	0.000	0.061	2894	1748	1641
12164	0.98	245.6	179.3	9.3	630	12168	0.00	2.28	0.00	0.000	4	0.000	0.075	2894	3155	1641
12210	0.85	245.6	174.6	10.3	632	12215	0.15	2.28	0.00	0.000	6	0.137	0.059	2861	1733	1640
12539	1.03	265.4	152.1	6.4	648	12559	0.15	0.00	17.70	0.986	6	0.074	0.000	2926	1733	1568
12866	0.93	265.4	121.3	9.4	664	12871	0.17	2.38	0.00	0.000	4	0.133	0.075	2874	3157	1565
12893	0.93	265.4	118.7	8.6	665	12896	0.00	2.30	0.00	0.000	6	0.000	0.059	2882	1727	1564
13216	1.02	265.4	95.4	7.2	689	13222	0.00	2.30	0.00	0.000	4	0.000	0.075	2892	325	1563
13241	1.16	276.8	93.7	6.7	693	13259	0.12	2.33	11.18	0.922	6	0.081	0.062	2947	1746	1521
13599	1.04	276.8	59.2	9.8	756	13606	0.15	2.33	0.00	0.000	4	0.140	0.078	2904	3159	1518
13641	0.99	276.8	55.0	9.5	763	13648	0.00	2.30	0.00	0.000	6	0.000	0.061	2911	1738	1518
13986	1.06	276.8	26.5	8.2	824	13992	0.00	2.33	0.00	0.000	4	0.000	0.077	2920	330	1517
13999	1.17	296.4	26.0	6.4	826	14023	0.00	2.33	18.50	0.921	6	0.000	0.062	2919	1747	1441
14270	end climb: FINISH_DEPTH_REACHED
state	14270	begin subsurface finish
14278	0.10	79.3	6.5	-9.7	874	14313	0.68	0.00	-30.95	0.000	6	0.124	0.000	2702	1747	2329
14314	end subsurface finish: CONTROL_FINISHED_OK
state	14314	begin surface