Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 369 * 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 369 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -119219.47 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 -119219.47

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 369 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 083200,6551.716,-6005.131,0,2101.5,0,-37.3 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 5 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.166,0.164

_SM_DEPTHo 4.35 KALMAN_X 167625.5,648.2,-117.6,-276076.2,259.8

_SM_ANGLEo -4.0 KALMAN_Y -320568.8,-3613.5,-2319.8,211019.4,100.4

GPS2 083200,6551.716,-6005.131,0,2101.5,0,-37.3 MHEAD_RNG_PITCHd_Wd 82.8,194150,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 468

Post-dive calculations and measurements:

FREEZE 6.23,-1.805,-1.801 TCM_TEMP 14.70

FINISH1 6.2,1.026393,62 XPDR_PINGS 44

FINISH2 2.9 _24V_AH 22.0,62.715

RAFOS_CLK 598 _10V_AH 10.5,28.471

RAFOS 0,1227629048,16.083334,16.068890,64,60,54,51,51,50,206,223,166,177,194,145 DATA_FILE_SIZE 28351,888

RAFOS_FIX 6549.960938,-5953.021973,251108,161640,2,106,0.34 CAP_FILE_SIZE 106534,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,227028992

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

HUMID 1795 SOUNDSPEED 1444.9

INTERNAL_PRESSURE 9.90272 GPS 251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 158 25.29 SBE_CT 619 24 327.24

Roll_motor 118 96 251.57 SBE_O2 0 0 0.00

VBD_pump_during_apogee 492 1168 12665.12 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 11 420 101.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1541 19 322.45

LPSleep 9048 2 219.46

TT8_Active 599 19 125.39

TT8_Sampling 1590 39 666.78

TT8_CF8 206 45 99.44

TT8_Kalman 33 81 28.70

Analog_circuits 1478 12 186.25

GPS_charging 0 0 0.00

Compass 1582 8 132.90

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 61 0.00 0.00 -41.80 0.000 6 0.000 0.000 2700 1733 3247

65 -0.99 -146.0 3.2 -1.3 8 71 0.65 1.50 0.00 0.000 4 0.062 0.071 2448 806 3250

185 -0.73 -146.0 16.1 -11.4 29 192 0.30 2.38 0.00 0.000 6 0.150 0.068 2522 2244 3252

530 -0.73 -146.0 44.1 -7.6 90 536 0.00 2.22 0.00 0.000 4 0.000 0.084 2514 3602 3252

582 -0.73 -146.0 48.3 -8.4 99 589 0.00 2.20 0.00 0.000 6 0.000 0.055 2514 2209 3253

926 -0.73 -146.0 76.3 -8.0 160 932 0.00 2.33 0.00 0.000 4 0.000 0.081 2503 3604 3252

1007 -0.73 -146.0 83.0 -8.5 174 1013 0.00 2.17 0.00 0.000 6 0.000 0.056 2504 2227 3252

1340 -0.73 -146.0 111.6 -8.9 217 1343 0.00 2.25 0.00 0.000 4 0.000 0.070 2504 824 3252

1413 -0.65 -146.0 118.4 -8.8 220 1418 0.17 2.33 0.00 0.000 6 0.140 0.071 2542 2234 3252

1740 -0.82 -146.0 136.7 -5.1 236 1742 0.15 0.00 0.00 0.000 6 0.079 0.000 2482 2234 3252

2051 -0.77 -146.0 159.8 -8.0 251 2056 0.12 2.25 0.00 0.000 4 0.155 0.089 2506 3597 3252

2135 -0.84 -146.0 166.6 -7.4 255 2139 0.00 2.17 0.00 0.000 6 0.000 0.056 2506 2215 3251

2469 -0.89 -146.0 190.0 -6.6 271 2472 0.00 2.22 0.00 0.000 4 0.000 0.070 2506 823 3251

2530 -0.89 -146.0 194.7 -7.9 273 2537 0.00 2.33 0.00 0.000 6 0.000 0.071 2496 2231 3251

2846 -0.89 -146.0 218.1 -7.5 289 2849 0.00 2.33 0.00 0.000 4 0.000 0.069 2496 810 3251

2884 -0.89 -146.0 221.3 -8.3 290 2891 0.00 2.35 0.00 0.000 6 0.000 0.069 2487 2238 3251

3200 -0.89 -146.0 245.4 -7.9 306 3204 0.00 2.33 0.00 0.000 4 0.000 0.069 2487 814 3251

3233 -0.89 -146.0 248.2 -8.3 307 3240 0.00 2.35 0.00 0.000 6 0.000 0.070 2477 2238 3251

3550 -0.89 -146.0 273.3 -7.5 323 3554 0.00 2.33 0.00 0.000 4 0.000 0.068 2476 814 3251

3591 -0.82 -146.0 276.5 -8.0 325 3596 0.12 2.35 0.00 0.000 6 0.141 0.070 2500 2239 3251

3921 -0.90 -146.0 296.4 -5.6 341 3923 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2239 3251

4227 -1.00 -146.0 313.0 -5.2 356 4229 0.15 0.00 0.00 0.000 6 0.084 0.000 2441 2239 3250

4538 -0.87 -146.0 336.3 -8.2 371 4543 0.17 2.25 0.00 0.000 4 0.158 0.097 2481 3602 3250

4565 -0.87 -146.0 338.6 -7.3 372 4569 0.00 2.17 0.00 0.000 6 0.000 0.054 2481 2224 3250

4894 -0.87 -146.0 360.0 -6.7 388 4898 0.00 2.25 0.00 0.000 4 0.000 0.069 2480 817 3250

4995 -0.87 -146.0 367.3 -7.2 392 4999 0.00 2.35 0.00 0.000 6 0.000 0.068 2471 2245 3250

5311 -0.87 -146.0 388.5 -6.7 407 5312 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2245 3250

5619 -0.87 -146.0 409.0 -6.7 419 5620 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2245 3251

5943 -0.87 -146.0 429.7 -6.2 427 5947 0.00 2.33 0.00 0.000 4 0.000 0.066 2470 813 3251

5994 -0.82 -146.0 433.0 -6.7 428 5999 0.15 2.35 0.00 0.000 6 0.136 0.067 2502 2244 3251

6313 -0.95 -146.0 449.6 -5.2 436 6318 0.12 2.33 0.00 0.000 4 0.087 0.064 2451 815 3252

6375 -0.84 -146.0 454.0 -7.5 437 6379 0.20 2.33 0.00 0.000 6 0.137 0.067 2498 2240 3252

6638 end dive: TARGET_DEPTH_EXCEEDED

state 6638 begin apogee

6646 -0.31 0.0 468.4 5.3 444 6774 0.38 0.00 125.00 1.169 6 0.119 0.000 2619 1741 2650

6774 end apogee: CONTROL_FINISHED_OK

state 6774 begin climb

6778 0.99 146.0 470.6 0.0 447 6916 0.85 2.65 130.80 1.088 4 0.093 0.071 2894 3154 2053

6946 0.68 146.0 457.5 11.1 451 6951 0.30 2.50 0.00 0.000 6 0.136 0.053 2825 1737 2049

7266 0.75 163.4 435.8 6.5 459 7283 0.00 0.00 15.20 1.018 6 0.000 0.000 2825 1736 1983

7590 0.86 190.9 415.6 6.1 467 7619 0.15 0.00 25.77 1.068 6 0.073 0.000 2889 1737 1871

7896 0.71 190.9 386.4 9.8 477 7901 0.20 2.38 0.00 0.000 4 0.127 0.071 2825 3163 1867

7924 0.71 190.9 383.9 8.1 478 7928 0.00 2.30 0.00 0.000 6 0.000 0.055 2832 1734 1866

8247 0.79 200.8 362.6 6.7 494 8258 0.00 0.00 8.93 0.960 6 0.000 0.000 2832 1734 1831

8555 0.87 200.8 341.4 7.2 509 8560 0.12 2.35 0.00 0.000 4 0.078 0.071 2888 3159 1830

8577 0.78 200.8 339.2 9.5 510 8582 0.17 2.28 0.00 0.000 6 0.139 0.054 2849 1729 1829

8903 0.78 200.8 312.4 8.1 526 8904 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 1729 1829

9215 0.78 200.8 287.0 8.3 541 9218 0.00 2.33 0.00 0.000 4 0.000 0.070 2849 3157 1829

9238 0.78 200.8 284.8 8.9 542 9242 0.00 2.25 0.00 0.000 6 0.000 0.054 2856 1731 1829

9570 0.78 200.8 257.1 8.2 558 9571 0.00 0.00 0.00 0.000 6 0.000 0.000 2857 1731 1829

9880 0.84 200.8 232.7 7.9 573 9884 0.00 2.33 0.00 0.000 4 0.000 0.072 2856 3157 1829

9914 0.78 200.8 229.6 9.5 574 9918 0.00 2.25 0.00 0.000 6 0.000 0.055 2865 1734 1828

10235 0.78 200.8 201.1 8.9 590 10239 0.00 2.28 0.00 0.000 4 0.000 0.070 2875 330 1829

10281 0.83 200.8 197.0 9.5 592 10285 0.00 2.30 0.00 0.000 6 0.000 0.059 2875 1749 1829

10613 0.83 200.8 169.3 8.0 608 10617 0.00 2.28 0.00 0.000 4 0.000 0.075 2875 3156 1829

10652 0.72 200.8 166.0 8.8 609 10659 0.17 2.25 0.00 0.000 6 0.127 0.056 2833 1737 1828

10969 1.08 214.0 146.0 6.6 625 10991 0.22 2.38 12.55 0.943 4 0.073 0.074 2927 3147 1777

11210 0.82 214.0 120.0 11.7 635 11218 0.28 2.25 0.00 0.000 6 0.135 0.057 2857 1739 1775

11527 1.05 281.6 101.6 4.8 651 11596 0.17 2.40 60.55 0.960 4 0.071 0.071 2940 324 1501

11626 1.00 281.6 94.1 8.0 663 11633 0.17 2.38 0.00 0.000 6 0.130 0.060 2891 1737 1498

11971 1.15 314.7 72.9 6.0 724 12007 0.15 2.35 28.55 0.922 4 0.072 0.074 2952 3156 1366

12026 0.99 314.7 67.5 10.4 733 12034 0.25 2.33 0.00 0.000 6 0.137 0.057 2891 1732 1364

12372 1.19 349.3 45.0 5.9 794 12409 0.15 2.42 30.00 0.909 4 0.070 0.074 2966 319 1225

12433 1.11 349.3 39.0 10.7 804 12440 0.17 2.40 0.00 0.000 6 0.130 0.061 2916 1754 1224

12779 1.24 414.6 13.8 4.9 865 12842 0.12 2.40 55.15 0.892 4 0.077 0.077 2966 3149 958

12848 end climb: FINISH_DEPTH_REACHED

state 12848 begin subsurface finish

12858 0.08 61.7 6.2 -11.7 877 12922 0.90 2.42 -55.97 0.000 4 0.127 0.087 2686 3160 2401

12923 end subsurface finish: CONTROL_FINISHED_OK

state 12923 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	369	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-119219.47	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	083200,6551.716,-6005.131,0,2101.5,0,-37.3	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	5	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.166,0.164
_SM_DEPTHo	4.35	KALMAN_X	167625.5,648.2,-117.6,-276076.2,259.8
_SM_ANGLEo	-4.0	KALMAN_Y	-320568.8,-3613.5,-2319.8,211019.4,100.4
GPS2	083200,6551.716,-6005.131,0,2101.5,0,-37.3	MHEAD_RNG_PITCHd_Wd	82.8,194150,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	468

FREEZE	6.23,-1.805,-1.801	TCM_TEMP	14.70
FINISH1	6.2,1.026393,62	XPDR_PINGS	44
FINISH2	2.9	_24V_AH	22.0,62.715
RAFOS_CLK	598	_10V_AH	10.5,28.471
RAFOS	0,1227629048,16.083334,16.068890,64,60,54,51,51,50,206,223,166,177,194,145	DATA_FILE_SIZE	28351,888
RAFOS_FIX	6549.960938,-5953.021973,251108,161640,2,106,0.34	CAP_FILE_SIZE	106534,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,227028992
TT8_MAMPS	0.026078	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1795	SOUNDSPEED	1444.9
INTERNAL_PRESSURE	9.90272	GPS	251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	158	25.29	SBE_CT	619	24	327.24
Roll_motor	118	96	251.57	SBE_O2	0	0	0.00
VBD_pump_during_apogee	492	1168	12665.12	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	11	420	101.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1541	19	322.45
LPSleep	9048	2	219.46
TT8_Active	599	19	125.39
TT8_Sampling	1590	39	666.78
TT8_CF8	206	45	99.44
TT8_Kalman	33	81	28.70
Analog_circuits	1478	12	186.25
GPS_charging	0	0	0.00
Compass	1582	8	132.90
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	61	0.00	0.00	-41.80	0.000	6	0.000	0.000	2700	1733	3247
65	-0.99	-146.0	3.2	-1.3	8	71	0.65	1.50	0.00	0.000	4	0.062	0.071	2448	806	3250
185	-0.73	-146.0	16.1	-11.4	29	192	0.30	2.38	0.00	0.000	6	0.150	0.068	2522	2244	3252
530	-0.73	-146.0	44.1	-7.6	90	536	0.00	2.22	0.00	0.000	4	0.000	0.084	2514	3602	3252
582	-0.73	-146.0	48.3	-8.4	99	589	0.00	2.20	0.00	0.000	6	0.000	0.055	2514	2209	3253
926	-0.73	-146.0	76.3	-8.0	160	932	0.00	2.33	0.00	0.000	4	0.000	0.081	2503	3604	3252
1007	-0.73	-146.0	83.0	-8.5	174	1013	0.00	2.17	0.00	0.000	6	0.000	0.056	2504	2227	3252
1340	-0.73	-146.0	111.6	-8.9	217	1343	0.00	2.25	0.00	0.000	4	0.000	0.070	2504	824	3252
1413	-0.65	-146.0	118.4	-8.8	220	1418	0.17	2.33	0.00	0.000	6	0.140	0.071	2542	2234	3252
1740	-0.82	-146.0	136.7	-5.1	236	1742	0.15	0.00	0.00	0.000	6	0.079	0.000	2482	2234	3252
2051	-0.77	-146.0	159.8	-8.0	251	2056	0.12	2.25	0.00	0.000	4	0.155	0.089	2506	3597	3252
2135	-0.84	-146.0	166.6	-7.4	255	2139	0.00	2.17	0.00	0.000	6	0.000	0.056	2506	2215	3251
2469	-0.89	-146.0	190.0	-6.6	271	2472	0.00	2.22	0.00	0.000	4	0.000	0.070	2506	823	3251
2530	-0.89	-146.0	194.7	-7.9	273	2537	0.00	2.33	0.00	0.000	6	0.000	0.071	2496	2231	3251
2846	-0.89	-146.0	218.1	-7.5	289	2849	0.00	2.33	0.00	0.000	4	0.000	0.069	2496	810	3251
2884	-0.89	-146.0	221.3	-8.3	290	2891	0.00	2.35	0.00	0.000	6	0.000	0.069	2487	2238	3251
3200	-0.89	-146.0	245.4	-7.9	306	3204	0.00	2.33	0.00	0.000	4	0.000	0.069	2487	814	3251
3233	-0.89	-146.0	248.2	-8.3	307	3240	0.00	2.35	0.00	0.000	6	0.000	0.070	2477	2238	3251
3550	-0.89	-146.0	273.3	-7.5	323	3554	0.00	2.33	0.00	0.000	4	0.000	0.068	2476	814	3251
3591	-0.82	-146.0	276.5	-8.0	325	3596	0.12	2.35	0.00	0.000	6	0.141	0.070	2500	2239	3251
3921	-0.90	-146.0	296.4	-5.6	341	3923	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2239	3251
4227	-1.00	-146.0	313.0	-5.2	356	4229	0.15	0.00	0.00	0.000	6	0.084	0.000	2441	2239	3250
4538	-0.87	-146.0	336.3	-8.2	371	4543	0.17	2.25	0.00	0.000	4	0.158	0.097	2481	3602	3250
4565	-0.87	-146.0	338.6	-7.3	372	4569	0.00	2.17	0.00	0.000	6	0.000	0.054	2481	2224	3250
4894	-0.87	-146.0	360.0	-6.7	388	4898	0.00	2.25	0.00	0.000	4	0.000	0.069	2480	817	3250
4995	-0.87	-146.0	367.3	-7.2	392	4999	0.00	2.35	0.00	0.000	6	0.000	0.068	2471	2245	3250
5311	-0.87	-146.0	388.5	-6.7	407	5312	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2245	3250
5619	-0.87	-146.0	409.0	-6.7	419	5620	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2245	3251
5943	-0.87	-146.0	429.7	-6.2	427	5947	0.00	2.33	0.00	0.000	4	0.000	0.066	2470	813	3251
5994	-0.82	-146.0	433.0	-6.7	428	5999	0.15	2.35	0.00	0.000	6	0.136	0.067	2502	2244	3251
6313	-0.95	-146.0	449.6	-5.2	436	6318	0.12	2.33	0.00	0.000	4	0.087	0.064	2451	815	3252
6375	-0.84	-146.0	454.0	-7.5	437	6379	0.20	2.33	0.00	0.000	6	0.137	0.067	2498	2240	3252
6638	end dive: TARGET_DEPTH_EXCEEDED
state	6638	begin apogee
6646	-0.31	0.0	468.4	5.3	444	6774	0.38	0.00	125.00	1.169	6	0.119	0.000	2619	1741	2650
6774	end apogee: CONTROL_FINISHED_OK
state	6774	begin climb
6778	0.99	146.0	470.6	0.0	447	6916	0.85	2.65	130.80	1.088	4	0.093	0.071	2894	3154	2053
6946	0.68	146.0	457.5	11.1	451	6951	0.30	2.50	0.00	0.000	6	0.136	0.053	2825	1737	2049
7266	0.75	163.4	435.8	6.5	459	7283	0.00	0.00	15.20	1.018	6	0.000	0.000	2825	1736	1983
7590	0.86	190.9	415.6	6.1	467	7619	0.15	0.00	25.77	1.068	6	0.073	0.000	2889	1737	1871
7896	0.71	190.9	386.4	9.8	477	7901	0.20	2.38	0.00	0.000	4	0.127	0.071	2825	3163	1867
7924	0.71	190.9	383.9	8.1	478	7928	0.00	2.30	0.00	0.000	6	0.000	0.055	2832	1734	1866
8247	0.79	200.8	362.6	6.7	494	8258	0.00	0.00	8.93	0.960	6	0.000	0.000	2832	1734	1831
8555	0.87	200.8	341.4	7.2	509	8560	0.12	2.35	0.00	0.000	4	0.078	0.071	2888	3159	1830
8577	0.78	200.8	339.2	9.5	510	8582	0.17	2.28	0.00	0.000	6	0.139	0.054	2849	1729	1829
8903	0.78	200.8	312.4	8.1	526	8904	0.00	0.00	0.00	0.000	6	0.000	0.000	2849	1729	1829
9215	0.78	200.8	287.0	8.3	541	9218	0.00	2.33	0.00	0.000	4	0.000	0.070	2849	3157	1829
9238	0.78	200.8	284.8	8.9	542	9242	0.00	2.25	0.00	0.000	6	0.000	0.054	2856	1731	1829
9570	0.78	200.8	257.1	8.2	558	9571	0.00	0.00	0.00	0.000	6	0.000	0.000	2857	1731	1829
9880	0.84	200.8	232.7	7.9	573	9884	0.00	2.33	0.00	0.000	4	0.000	0.072	2856	3157	1829
9914	0.78	200.8	229.6	9.5	574	9918	0.00	2.25	0.00	0.000	6	0.000	0.055	2865	1734	1828
10235	0.78	200.8	201.1	8.9	590	10239	0.00	2.28	0.00	0.000	4	0.000	0.070	2875	330	1829
10281	0.83	200.8	197.0	9.5	592	10285	0.00	2.30	0.00	0.000	6	0.000	0.059	2875	1749	1829
10613	0.83	200.8	169.3	8.0	608	10617	0.00	2.28	0.00	0.000	4	0.000	0.075	2875	3156	1829
10652	0.72	200.8	166.0	8.8	609	10659	0.17	2.25	0.00	0.000	6	0.127	0.056	2833	1737	1828
10969	1.08	214.0	146.0	6.6	625	10991	0.22	2.38	12.55	0.943	4	0.073	0.074	2927	3147	1777
11210	0.82	214.0	120.0	11.7	635	11218	0.28	2.25	0.00	0.000	6	0.135	0.057	2857	1739	1775
11527	1.05	281.6	101.6	4.8	651	11596	0.17	2.40	60.55	0.960	4	0.071	0.071	2940	324	1501
11626	1.00	281.6	94.1	8.0	663	11633	0.17	2.38	0.00	0.000	6	0.130	0.060	2891	1737	1498
11971	1.15	314.7	72.9	6.0	724	12007	0.15	2.35	28.55	0.922	4	0.072	0.074	2952	3156	1366
12026	0.99	314.7	67.5	10.4	733	12034	0.25	2.33	0.00	0.000	6	0.137	0.057	2891	1732	1364
12372	1.19	349.3	45.0	5.9	794	12409	0.15	2.42	30.00	0.909	4	0.070	0.074	2966	319	1225
12433	1.11	349.3	39.0	10.7	804	12440	0.17	2.40	0.00	0.000	6	0.130	0.061	2916	1754	1224
12779	1.24	414.6	13.8	4.9	865	12842	0.12	2.40	55.15	0.892	4	0.077	0.077	2966	3149	958
12848	end climb: FINISH_DEPTH_REACHED
state	12848	begin subsurface finish
12858	0.08	61.7	6.2	-11.7	877	12922	0.90	2.42	-55.97	0.000	4	0.127	0.087	2686	3160	2401
12923	end subsurface finish: CONTROL_FINISHED_OK
state	12923	begin surface