Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 339 * 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 339 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -118820.94 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 -118820.94

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 339 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 124109,6627.732,-6019.889,35,1.2,35,-37.7 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 -0.230,-0.041

_SM_DEPTHo 2.41 KALMAN_X 222071.5,5604.6,2349.1,-262965.2,-1861.6

_SM_ANGLEo -29.8 KALMAN_Y -237055.4,-16373.4,-8973.6,224079.9,33725.9

GPS2 124109,6627.732,-6019.889,35,1.2,35,-37.7 MHEAD_RNG_PITCHd_Wd 297.6,31382,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 481

Post-dive calculations and measurements:

FREEZE 6.75,-1.761,-1.777 TCM_TEMP 14.90

FINISH1 6.8,1.026047,79 XPDR_PINGS 32

FINISH2 5.4 _24V_AH 22.1,58.936

RAFOS_CLK 615 _10V_AH 10.5,26.986

RAFOS 3,1227270846,12.583333,12.568334,58,54,54,54,51,51,183,113,205,217,170,161 DATA_FILE_SIZE 28393,895

RAFOS_FIX 6232.697266,-5331.492188,211108,000026,3,81,38.68 CAP_FILE_SIZE 120831,0

IRIDIUM_FIX 6553.70,-5721.04,150298,121201 CFSIZE 260165632,228679680

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

HUMID 1819 SOUNDSPEED 1441.9

INTERNAL_PRESSURE 9.88319 GPS 211108,124109,6627.732,-6019.889,35,1.2,35,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 193 53.61 SBE_CT 626 24 332.44

Roll_motor 114 98 249.08 SBE_O2 0 0 0.00

VBD_pump_during_apogee 416 1193 10974.76 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 94 103 215.32 nil 0 0 0.00

Iridium_during_connect 104 160 370.53 nil 0 0 0.00

Iridium_during_xfer 262 223 1295.26

Transponder_ping 8 420 74.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 183 50 96.19

TT8 1572 19 328.94

LPSleep 9594 2 232.72

TT8_Active 569 19 119.10

TT8_Sampling 1863 39 781.04

TT8_CF8 874 45 421.42

TT8_Kalman 33 81 28.70

Analog_circuits 1493 12 188.22

GPS_charging 0 0 0.00

Compass 1665 8 139.93

RAFOS 1440 1 22.68

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 147 0.00 0.00 -128.35 0.000 6 0.000 0.000 338 2267 3246

151 -0.99 -146.0 2.5 -0.4 23 163 6.28 2.25 0.00 0.000 4 0.100 0.091 2457 3583 3249

417 -1.44 -146.0 2.4 0.2 70 424 0.30 2.15 0.00 0.000 6 0.091 0.049 2354 2205 3255

763 -0.76 -146.0 47.1 -17.1 131 770 0.57 2.35 0.00 0.000 4 0.193 0.084 2502 3593 3256

1023 -0.68 -146.0 75.1 -8.7 177 1030 0.12 2.17 0.00 0.000 6 0.159 0.057 2534 2226 3257

1367 -0.68 -146.0 100.5 -8.4 238 1371 0.00 2.28 0.00 0.000 4 0.000 0.071 2538 812 3258

1468 -0.68 -146.0 109.7 -9.1 242 1473 0.00 2.35 0.00 0.000 6 0.000 0.071 2530 2234 3258

1785 -0.68 -146.0 135.9 -8.1 257 1786 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2233 3258

2093 -0.68 -146.0 158.4 -7.1 272 2094 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2233 3258

2403 -0.68 -146.0 181.5 -7.6 287 2406 0.00 2.33 0.00 0.000 4 0.000 0.071 2530 816 3258

2448 -0.68 -146.0 185.3 -8.8 289 2452 0.00 2.35 0.00 0.000 6 0.000 0.071 2520 2238 3258

2774 -0.68 -146.0 210.3 -7.9 305 2778 0.00 2.33 0.00 0.000 4 0.000 0.071 2519 820 3258

2830 -0.68 -146.0 215.2 -8.6 307 2835 0.10 2.35 0.00 0.000 6 0.150 0.072 2535 2238 3258

3146 -0.76 -146.0 240.0 -7.8 322 3147 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2238 3258

3455 -0.84 -146.0 261.2 -6.5 337 3460 0.15 2.25 0.00 0.000 4 0.084 0.098 2467 3597 3259

3517 -0.69 -146.0 266.8 -9.4 339 3524 0.22 2.17 0.00 0.000 6 0.152 0.058 2531 2228 3257

3833 -0.77 -146.0 289.0 -7.3 355 3837 0.00 2.28 0.00 0.000 4 0.000 0.071 2538 813 3258

4069 -0.86 -146.0 305.9 -6.5 365 4074 0.12 2.35 0.00 0.000 6 0.082 0.071 2478 2242 3258

4390 -0.76 -146.0 327.9 -6.4 381 4394 0.15 2.25 0.00 0.000 4 0.157 0.084 2510 3605 3258

4497 -0.81 -146.0 334.2 -5.9 385 4503 0.00 2.20 0.00 0.000 6 0.000 0.058 2510 2222 3258

4812 -0.81 -146.0 352.5 -6.2 401 4814 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2222 3258

5123 -0.87 -146.0 370.7 -5.8 416 5127 0.00 2.28 0.00 0.000 4 0.000 0.071 2510 814 3258

5207 -0.87 -146.0 375.6 -5.7 419 5213 0.00 2.38 0.00 0.000 6 0.000 0.071 2500 2244 3258

5522 -0.87 -146.0 393.2 -5.9 435 5526 0.00 2.22 0.00 0.000 4 0.000 0.084 2490 3601 3258

5591 -0.87 -146.0 397.4 -6.4 438 5595 0.00 2.20 0.00 0.000 6 0.000 0.058 2490 2217 3258

5919 -0.87 -146.0 416.6 -5.8 447 5923 0.00 2.25 0.00 0.000 4 0.000 0.071 2490 822 3258

6026 -0.82 -146.0 423.4 -6.2 449 6030 0.00 2.35 0.00 0.000 6 0.000 0.071 2480 2237 3257

6339 -0.82 -146.0 443.3 -6.4 457 6340 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2237 3257

6664 -0.82 -146.0 464.9 -6.5 465 6665 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2237 3258

6904 end dive: TARGET_DEPTH_EXCEEDED

state 6904 begin apogee

6912 -0.31 0.0 481.2 6.7 471 7035 0.43 0.00 120.43 1.193 6 0.130 0.000 2611 1731 2650

7036 end apogee: CONTROL_FINISHED_OK

state 7036 begin climb

7039 0.99 146.0 483.9 0.0 474 7198 0.88 2.70 137.27 1.092 4 0.100 0.071 2892 3160 2053

7215 0.72 146.0 469.5 10.9 478 7221 0.28 2.55 0.00 0.000 6 0.137 0.056 2831 1734 2050

7529 0.72 152.1 447.3 6.8 486 7536 0.00 0.00 5.18 0.821 6 0.000 0.000 2831 1734 2029

7853 0.77 152.1 424.4 7.4 494 7858 0.00 2.42 0.00 0.000 4 0.000 0.074 2831 3154 2030

7870 0.77 152.1 423.1 7.6 494 7874 0.00 2.35 0.00 0.000 6 0.000 0.056 2839 1725 2030

8218 0.77 152.5 397.6 7.0 503 8220 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 1725 2030

8527 0.77 152.5 374.7 7.5 518 8531 0.00 2.38 0.00 0.000 4 0.000 0.073 2839 3155 2030

8573 0.70 152.5 370.9 8.7 520 8577 0.00 2.28 0.00 0.000 6 0.000 0.056 2849 1734 2030

8905 0.70 152.5 345.9 7.7 536 8907 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 1734 2030

9214 0.71 162.5 323.8 6.7 551 9230 0.00 2.35 10.38 1.008 4 0.000 0.073 2849 3156 1987

9281 0.64 166.0 319.4 6.9 553 9291 0.15 2.28 4.35 0.761 6 0.130 0.058 2815 1740 1974

9609 1.01 219.3 303.4 5.3 569 9662 0.22 2.40 47.03 1.075 4 0.070 0.071 2923 326 1756

9743 0.90 219.3 292.5 9.6 575 9748 0.17 2.40 0.00 0.000 6 0.138 0.063 2874 1747 1753

10064 0.90 219.3 268.5 7.7 591 10068 0.00 2.33 0.00 0.000 4 0.000 0.077 2874 3158 1748

10110 0.80 219.3 264.6 8.9 593 10115 0.12 2.30 0.00 0.000 6 0.135 0.059 2848 1736 1747

10439 0.96 240.1 243.3 6.4 609 10459 0.15 0.00 17.70 1.019 6 0.075 0.000 2912 1736 1671

10766 0.88 240.1 214.0 8.7 625 10771 0.17 2.40 0.00 0.000 4 0.130 0.077 2861 3166 1669

10805 0.88 240.1 211.0 7.5 627 10809 0.00 2.33 0.00 0.000 6 0.000 0.059 2868 1726 1668

11138 1.03 279.0 191.8 5.8 643 11181 0.12 2.45 34.83 1.020 4 0.084 0.077 2923 3162 1512

11205 0.86 279.0 185.8 10.3 646 11210 0.25 2.35 0.00 0.000 6 0.133 0.059 2862 1729 1510

11535 1.10 322.8 166.1 5.6 662 11576 0.20 0.00 38.95 0.992 6 0.067 0.000 2944 1729 1333

11881 0.98 322.8 132.0 9.2 679 11886 0.20 2.33 0.00 0.000 4 0.130 0.074 2889 330 1326

11905 0.98 322.8 130.2 7.3 680 11909 0.00 2.35 0.00 0.000 6 0.000 0.064 2889 1744 1325

12226 1.10 322.8 109.4 7.7 696 12230 0.10 2.33 0.00 0.000 4 0.084 0.079 2937 3162 1323

12248 1.10 322.8 107.0 11.0 697 12253 0.12 2.33 0.00 0.000 6 0.144 0.061 2914 1727 1322

12585 1.16 322.8 77.0 7.0 747 12592 0.00 2.30 0.00 0.000 4 0.000 0.077 2923 323 1320

12621 1.23 322.8 74.1 8.1 753 12628 0.08 2.35 0.00 0.000 6 0.102 0.064 2960 1751 1320

12966 1.09 322.8 33.7 12.1 814 12973 0.17 2.33 0.00 0.000 4 0.136 0.081 2909 3160 1319

13009 1.09 324.0 30.7 7.0 821 13015 0.00 2.30 0.00 0.000 6 0.000 0.061 2916 1733 1319

13353 1.09 324.0 9.7 8.3 882 13359 0.00 2.38 0.00 0.000 4 0.000 0.080 2916 3153 1317

13387 end climb: FINISH_DEPTH_REACHED

state 13387 begin subsurface finish

13396 0.10 78.7 6.8 -8.2 888 13438 0.70 2.33 -34.12 0.000 4 0.127 0.088 2701 324 2333

13439 end subsurface finish: CONTROL_FINISHED_OK

state 13439 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	339	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-118820.94	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	124109,6627.732,-6019.889,35,1.2,35,-37.7	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	-0.230,-0.041
_SM_DEPTHo	2.41	KALMAN_X	222071.5,5604.6,2349.1,-262965.2,-1861.6
_SM_ANGLEo	-29.8	KALMAN_Y	-237055.4,-16373.4,-8973.6,224079.9,33725.9
GPS2	124109,6627.732,-6019.889,35,1.2,35,-37.7	MHEAD_RNG_PITCHd_Wd	297.6,31382,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	481

FREEZE	6.75,-1.761,-1.777	TCM_TEMP	14.90
FINISH1	6.8,1.026047,79	XPDR_PINGS	32
FINISH2	5.4	_24V_AH	22.1,58.936
RAFOS_CLK	615	_10V_AH	10.5,26.986
RAFOS	3,1227270846,12.583333,12.568334,58,54,54,54,51,51,183,113,205,217,170,161	DATA_FILE_SIZE	28393,895
RAFOS_FIX	6232.697266,-5331.492188,211108,000026,3,81,38.68	CAP_FILE_SIZE	120831,0
IRIDIUM_FIX	6553.70,-5721.04,150298,121201	CFSIZE	260165632,228679680
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
HUMID	1819	SOUNDSPEED	1441.9
INTERNAL_PRESSURE	9.88319	GPS	211108,124109,6627.732,-6019.889,35,1.2,35,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	193	53.61	SBE_CT	626	24	332.44
Roll_motor	114	98	249.08	SBE_O2	0	0	0.00
VBD_pump_during_apogee	416	1193	10974.76	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	94	103	215.32	nil	0	0	0.00
Iridium_during_connect	104	160	370.53	nil	0	0	0.00
Iridium_during_xfer	262	223	1295.26
Transponder_ping	8	420	74.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	183	50	96.19
TT8	1572	19	328.94
LPSleep	9594	2	232.72
TT8_Active	569	19	119.10
TT8_Sampling	1863	39	781.04
TT8_CF8	874	45	421.42
TT8_Kalman	33	81	28.70
Analog_circuits	1493	12	188.22
GPS_charging	0	0	0.00
Compass	1665	8	139.93
RAFOS	1440	1	22.68
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	147	0.00	0.00	-128.35	0.000	6	0.000	0.000	338	2267	3246
151	-0.99	-146.0	2.5	-0.4	23	163	6.28	2.25	0.00	0.000	4	0.100	0.091	2457	3583	3249
417	-1.44	-146.0	2.4	0.2	70	424	0.30	2.15	0.00	0.000	6	0.091	0.049	2354	2205	3255
763	-0.76	-146.0	47.1	-17.1	131	770	0.57	2.35	0.00	0.000	4	0.193	0.084	2502	3593	3256
1023	-0.68	-146.0	75.1	-8.7	177	1030	0.12	2.17	0.00	0.000	6	0.159	0.057	2534	2226	3257
1367	-0.68	-146.0	100.5	-8.4	238	1371	0.00	2.28	0.00	0.000	4	0.000	0.071	2538	812	3258
1468	-0.68	-146.0	109.7	-9.1	242	1473	0.00	2.35	0.00	0.000	6	0.000	0.071	2530	2234	3258
1785	-0.68	-146.0	135.9	-8.1	257	1786	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2233	3258
2093	-0.68	-146.0	158.4	-7.1	272	2094	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2233	3258
2403	-0.68	-146.0	181.5	-7.6	287	2406	0.00	2.33	0.00	0.000	4	0.000	0.071	2530	816	3258
2448	-0.68	-146.0	185.3	-8.8	289	2452	0.00	2.35	0.00	0.000	6	0.000	0.071	2520	2238	3258
2774	-0.68	-146.0	210.3	-7.9	305	2778	0.00	2.33	0.00	0.000	4	0.000	0.071	2519	820	3258
2830	-0.68	-146.0	215.2	-8.6	307	2835	0.10	2.35	0.00	0.000	6	0.150	0.072	2535	2238	3258
3146	-0.76	-146.0	240.0	-7.8	322	3147	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2238	3258
3455	-0.84	-146.0	261.2	-6.5	337	3460	0.15	2.25	0.00	0.000	4	0.084	0.098	2467	3597	3259
3517	-0.69	-146.0	266.8	-9.4	339	3524	0.22	2.17	0.00	0.000	6	0.152	0.058	2531	2228	3257
3833	-0.77	-146.0	289.0	-7.3	355	3837	0.00	2.28	0.00	0.000	4	0.000	0.071	2538	813	3258
4069	-0.86	-146.0	305.9	-6.5	365	4074	0.12	2.35	0.00	0.000	6	0.082	0.071	2478	2242	3258
4390	-0.76	-146.0	327.9	-6.4	381	4394	0.15	2.25	0.00	0.000	4	0.157	0.084	2510	3605	3258
4497	-0.81	-146.0	334.2	-5.9	385	4503	0.00	2.20	0.00	0.000	6	0.000	0.058	2510	2222	3258
4812	-0.81	-146.0	352.5	-6.2	401	4814	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2222	3258
5123	-0.87	-146.0	370.7	-5.8	416	5127	0.00	2.28	0.00	0.000	4	0.000	0.071	2510	814	3258
5207	-0.87	-146.0	375.6	-5.7	419	5213	0.00	2.38	0.00	0.000	6	0.000	0.071	2500	2244	3258
5522	-0.87	-146.0	393.2	-5.9	435	5526	0.00	2.22	0.00	0.000	4	0.000	0.084	2490	3601	3258
5591	-0.87	-146.0	397.4	-6.4	438	5595	0.00	2.20	0.00	0.000	6	0.000	0.058	2490	2217	3258
5919	-0.87	-146.0	416.6	-5.8	447	5923	0.00	2.25	0.00	0.000	4	0.000	0.071	2490	822	3258
6026	-0.82	-146.0	423.4	-6.2	449	6030	0.00	2.35	0.00	0.000	6	0.000	0.071	2480	2237	3257
6339	-0.82	-146.0	443.3	-6.4	457	6340	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2237	3257
6664	-0.82	-146.0	464.9	-6.5	465	6665	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2237	3258
6904	end dive: TARGET_DEPTH_EXCEEDED
state	6904	begin apogee
6912	-0.31	0.0	481.2	6.7	471	7035	0.43	0.00	120.43	1.193	6	0.130	0.000	2611	1731	2650
7036	end apogee: CONTROL_FINISHED_OK
state	7036	begin climb
7039	0.99	146.0	483.9	0.0	474	7198	0.88	2.70	137.27	1.092	4	0.100	0.071	2892	3160	2053
7215	0.72	146.0	469.5	10.9	478	7221	0.28	2.55	0.00	0.000	6	0.137	0.056	2831	1734	2050
7529	0.72	152.1	447.3	6.8	486	7536	0.00	0.00	5.18	0.821	6	0.000	0.000	2831	1734	2029
7853	0.77	152.1	424.4	7.4	494	7858	0.00	2.42	0.00	0.000	4	0.000	0.074	2831	3154	2030
7870	0.77	152.1	423.1	7.6	494	7874	0.00	2.35	0.00	0.000	6	0.000	0.056	2839	1725	2030
8218	0.77	152.5	397.6	7.0	503	8220	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	1725	2030
8527	0.77	152.5	374.7	7.5	518	8531	0.00	2.38	0.00	0.000	4	0.000	0.073	2839	3155	2030
8573	0.70	152.5	370.9	8.7	520	8577	0.00	2.28	0.00	0.000	6	0.000	0.056	2849	1734	2030
8905	0.70	152.5	345.9	7.7	536	8907	0.00	0.00	0.00	0.000	6	0.000	0.000	2849	1734	2030
9214	0.71	162.5	323.8	6.7	551	9230	0.00	2.35	10.38	1.008	4	0.000	0.073	2849	3156	1987
9281	0.64	166.0	319.4	6.9	553	9291	0.15	2.28	4.35	0.761	6	0.130	0.058	2815	1740	1974
9609	1.01	219.3	303.4	5.3	569	9662	0.22	2.40	47.03	1.075	4	0.070	0.071	2923	326	1756
9743	0.90	219.3	292.5	9.6	575	9748	0.17	2.40	0.00	0.000	6	0.138	0.063	2874	1747	1753
10064	0.90	219.3	268.5	7.7	591	10068	0.00	2.33	0.00	0.000	4	0.000	0.077	2874	3158	1748
10110	0.80	219.3	264.6	8.9	593	10115	0.12	2.30	0.00	0.000	6	0.135	0.059	2848	1736	1747
10439	0.96	240.1	243.3	6.4	609	10459	0.15	0.00	17.70	1.019	6	0.075	0.000	2912	1736	1671
10766	0.88	240.1	214.0	8.7	625	10771	0.17	2.40	0.00	0.000	4	0.130	0.077	2861	3166	1669
10805	0.88	240.1	211.0	7.5	627	10809	0.00	2.33	0.00	0.000	6	0.000	0.059	2868	1726	1668
11138	1.03	279.0	191.8	5.8	643	11181	0.12	2.45	34.83	1.020	4	0.084	0.077	2923	3162	1512
11205	0.86	279.0	185.8	10.3	646	11210	0.25	2.35	0.00	0.000	6	0.133	0.059	2862	1729	1510
11535	1.10	322.8	166.1	5.6	662	11576	0.20	0.00	38.95	0.992	6	0.067	0.000	2944	1729	1333
11881	0.98	322.8	132.0	9.2	679	11886	0.20	2.33	0.00	0.000	4	0.130	0.074	2889	330	1326
11905	0.98	322.8	130.2	7.3	680	11909	0.00	2.35	0.00	0.000	6	0.000	0.064	2889	1744	1325
12226	1.10	322.8	109.4	7.7	696	12230	0.10	2.33	0.00	0.000	4	0.084	0.079	2937	3162	1323
12248	1.10	322.8	107.0	11.0	697	12253	0.12	2.33	0.00	0.000	6	0.144	0.061	2914	1727	1322
12585	1.16	322.8	77.0	7.0	747	12592	0.00	2.30	0.00	0.000	4	0.000	0.077	2923	323	1320
12621	1.23	322.8	74.1	8.1	753	12628	0.08	2.35	0.00	0.000	6	0.102	0.064	2960	1751	1320
12966	1.09	322.8	33.7	12.1	814	12973	0.17	2.33	0.00	0.000	4	0.136	0.081	2909	3160	1319
13009	1.09	324.0	30.7	7.0	821	13015	0.00	2.30	0.00	0.000	6	0.000	0.061	2916	1733	1319
13353	1.09	324.0	9.7	8.3	882	13359	0.00	2.38	0.00	0.000	4	0.000	0.080	2916	3153	1317
13387	end climb: FINISH_DEPTH_REACHED
state	13387	begin subsurface finish
13396	0.10	78.7	6.8	-8.2	888	13438	0.70	2.33	-34.12	0.000	4	0.127	0.088	2701	324	2333
13439	end subsurface finish: CONTROL_FINISHED_OK
state	13439	begin surface