Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 373 * 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 373 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 373 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 162640,6549.961,-5953.022,0,2106.0,0,-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 -0.046,0.229

_SM_DEPTHo 2.33 KALMAN_X 170863.5,-384.8,-1089.6,-268512.4,1433.1

_SM_ANGLEo 1.3 KALMAN_Y -338615.0,1651.9,-2123.7,220214.6,-2777.9

GPS2 162640,6549.961,-5953.022,0,2106.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 26.0,190132,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 539

Post-dive calculations and measurements:

FREEZE 2.20,-1.808,-1.797 TCM_TEMP 14.90

FINISH 2.2,1.026374 XPDR_PINGS 40

SM_CCo 15256,0.00,0.000,0,0,1565,266.15 _24V_AH 22.1,63.181

SM_GC 3.38,8.02,0.00,0.00,0.128,0.000,0.000,340,2236,1565,-10.69,0.17,266.15 _10V_AH 10.5,28.688

RAFOS_CLK 696 DATA_FILE_SIZE 28475,936

RAFOS 0,1227686649,8.083333,8.069167,64,63,61,59,56,55,1622,217,203,185,163,137 CAP_FILE_SIZE 114820,0

RAFOS_FIX 48417.492188,-99720.539062,261108,000036,2,72,2605.71 CFSIZE 260165632,226795520

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1446.4

HUMID 1825 GPS 251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3

INTERNAL_PRESSURE 9.83436

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 156 50.92 SBE_CT 656 24 348.23

Roll_motor 88 82 160.70 SBE_O2 0 0 0.00

VBD_pump_during_apogee 371 1198 9831.24 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 10 420 92.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1719 19 359.75

LPSleep 11243 2 272.72

TT8_Active 482 19 101.01

TT8_Sampling 1660 39 696.09

TT8_CF8 211 45 102.20

TT8_Kalman 33 81 28.45

Analog_circuits 1352 12 170.45

GPS_charging 0 0 0.00

Compass 1658 8 139.34

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 -40.55 0.000 6 0.000 0.000 2700 1748 3247

65 -0.99 -146.0 3.3 -2.2 8 71 0.65 0.00 0.00 0.000 6 0.075 0.000 2459 1747 3248

409 -0.81 -146.0 37.7 -10.4 69 416 0.17 3.05 0.00 0.000 4 0.144 0.079 2496 3599 3251

670 -0.81 -146.0 62.1 -9.4 115 676 0.00 2.17 0.00 0.000 6 0.000 0.054 2500 2214 3251

1014 -0.81 -146.0 92.7 -8.6 176 1019 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2215 3251

1352 -0.81 -146.0 121.4 -8.6 204 1356 0.00 2.30 0.00 0.000 4 0.000 0.080 2493 3599 3250

1437 -0.81 -146.0 128.2 -8.2 207 1444 0.00 2.17 0.00 0.000 6 0.000 0.054 2493 2215 3250

1753 -0.81 -146.0 151.5 -7.9 223 1757 0.00 2.22 0.00 0.000 4 0.000 0.067 2493 816 3250

1884 -0.76 -146.0 162.0 -7.5 228 1890 0.12 2.33 0.00 0.000 6 0.141 0.070 2516 2231 3249

2200 -0.85 -146.0 180.2 -5.4 244 2201 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2230 3249

2510 -0.95 -146.0 198.8 -6.1 259 2512 0.15 0.00 0.00 0.000 6 0.082 0.000 2456 2230 3249

2818 -0.84 -146.0 224.1 -7.8 274 2822 0.17 2.25 0.00 0.000 4 0.156 0.082 2496 3602 3249

2891 -0.91 -146.0 228.8 -6.2 277 2895 0.00 2.17 0.00 0.000 6 0.000 0.054 2496 2217 3249

3221 -0.91 -146.0 246.0 -5.2 293 3222 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2217 3249

3528 -0.96 -146.0 263.4 -5.8 308 3530 0.10 0.00 0.00 0.000 6 0.096 0.000 2453 2217 3248

3839 -0.86 -146.0 286.9 -7.8 323 3841 0.15 0.00 0.00 0.000 6 0.156 0.000 2493 2217 3247

4147 -0.92 -146.0 307.3 -6.4 338 4150 0.00 2.22 0.00 0.000 4 0.000 0.067 2493 817 3248

4299 -0.92 -146.0 317.3 -6.5 344 4305 0.00 2.33 0.00 0.000 6 0.000 0.068 2486 2233 3248

4616 -0.92 -146.0 335.3 -5.7 360 4617 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2232 3248

4924 -0.92 -146.0 354.9 -6.5 375 4928 0.00 2.22 0.00 0.000 4 0.000 0.081 2475 3605 3248

4997 -0.92 -146.0 360.0 -7.5 378 5000 0.00 2.17 0.00 0.000 6 0.000 0.053 2475 2219 3248

5323 -0.92 -146.0 383.4 -7.2 394 5327 0.00 2.22 0.00 0.000 4 0.000 0.066 2475 820 3249

5453 -0.87 -146.0 392.9 -6.8 399 5460 0.10 2.33 0.00 0.000 6 0.140 0.067 2491 2241 3248

5787 -0.95 -146.0 413.0 -5.9 411 5788 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2241 3249

6112 -1.04 -146.0 429.3 -4.7 419 6117 0.15 2.30 0.00 0.000 4 0.080 0.063 2431 821 3249

6168 -0.86 -146.0 433.2 -7.9 420 6173 0.25 2.33 0.00 0.000 6 0.138 0.066 2495 2241 3249

6517 -0.95 -146.0 451.7 -5.4 429 6521 0.10 2.22 0.00 0.000 4 0.091 0.081 2442 3604 3250

6566 -0.88 -146.0 455.5 -8.0 430 6571 0.17 2.17 0.00 0.000 6 0.147 0.051 2493 2210 3251

6891 -0.97 -146.0 474.8 -5.8 438 6896 0.10 2.20 0.00 0.000 4 0.094 0.062 2450 815 3251

7003 -0.85 -146.0 483.4 -8.0 440 7008 0.20 2.33 0.00 0.000 6 0.134 0.064 2497 2242 3251

7352 -0.96 -146.0 501.9 -4.9 449 7354 0.10 0.00 0.00 0.000 6 0.088 0.000 2455 2242 3251

7676 -0.96 -146.0 520.8 -5.9 457 7680 0.00 2.20 0.00 0.000 4 0.000 0.077 2445 3594 3251

7754 -0.90 -146.0 526.1 -6.7 458 7759 0.15 2.15 0.00 0.000 6 0.149 0.049 2485 2211 3251

8047 end dive: TARGET_DEPTH_EXCEEDED

state 8047 begin apogee

8055 -0.31 0.0 540.5 4.5 466 8183 0.40 0.00 125.97 1.199 6 0.119 0.000 2615 1741 2651

8184 end apogee: CONTROL_FINISHED_OK

state 8184 begin climb

8187 0.99 146.0 541.3 0.0 469 8323 0.90 0.00 132.40 1.120 6 0.090 0.000 2902 1741 2054

8615 0.74 146.0 495.6 11.4 480 8620 0.20 2.45 0.00 0.000 4 0.130 0.071 2842 3156 2047

8672 0.58 146.0 489.8 9.6 481 8677 0.17 2.35 0.00 0.000 6 0.128 0.052 2802 1730 2046

9020 0.73 158.1 466.3 6.6 490 9033 0.12 0.00 10.38 1.013 6 0.074 0.000 2859 1730 2005

9345 0.65 158.1 435.5 9.7 498 9350 0.15 2.35 0.00 0.000 4 0.123 0.069 2816 3153 2004

9367 0.65 158.1 433.3 9.6 498 9371 0.00 2.25 0.00 0.000 6 0.000 0.052 2822 1733 2004

9710 0.71 158.1 406.4 7.7 507 9711 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 1733 2003

10018 0.80 159.5 384.0 7.0 519 10023 0.10 2.30 0.00 0.000 4 0.083 0.068 2870 3153 2004

10046 0.65 159.5 381.4 9.8 520 10050 0.20 2.25 0.00 0.000 6 0.133 0.052 2822 1725 2003

10362 0.78 185.4 361.4 6.2 535 10389 0.10 0.00 24.73 1.077 6 0.081 0.000 2870 1725 1894

10691 0.71 185.4 333.3 8.6 551 10693 0.15 0.00 0.00 0.000 6 0.122 0.000 2826 1724 1891

11000 0.86 208.9 312.9 6.3 566 11024 0.15 0.00 20.88 1.034 6 0.071 0.000 2890 1724 1798

11330 0.75 208.9 282.3 9.2 582 11335 0.17 2.38 0.00 0.000 4 0.121 0.069 2838 3163 1794

11380 0.75 208.9 278.1 7.7 584 11383 0.00 2.28 0.00 0.000 6 0.000 0.053 2845 1729 1793

11703 0.84 217.8 256.4 6.7 600 11717 0.00 2.38 8.40 0.914 4 0.000 0.070 2845 3151 1762

11731 0.91 223.3 254.3 6.8 601 11747 0.08 2.25 6.70 0.851 6 0.096 0.052 2894 1728 1739

12056 0.83 223.3 226.4 8.1 617 12058 0.12 0.00 0.00 0.000 6 0.134 0.000 2859 1728 1738

12366 0.92 228.6 205.7 6.8 632 12374 0.00 0.00 6.18 0.838 6 0.000 0.000 2859 1728 1717

12676 1.03 231.7 184.0 6.9 647 12683 0.15 0.00 4.18 0.703 6 0.074 0.000 2922 1728 1705

12984 0.90 231.7 151.5 10.4 662 12989 0.17 2.35 0.00 0.000 4 0.130 0.071 2870 3159 1705

13012 0.85 231.7 148.9 8.0 663 13016 0.00 2.25 0.00 0.000 6 0.000 0.054 2877 1731 1704

13333 0.92 231.7 126.3 7.2 679 13334 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 1732 1704

13643 1.03 245.6 105.0 6.6 694 13665 0.10 2.33 13.70 0.934 4 0.086 0.071 2934 329 1648

13689 0.96 245.6 100.9 9.0 696 13694 0.17 2.33 0.00 0.000 6 0.131 0.060 2884 1752 1648

14033 1.06 245.6 77.6 7.1 755 14039 0.10 2.28 0.00 0.000 4 0.084 0.075 2929 3152 1645

14057 1.06 245.6 75.5 7.6 759 14064 0.12 2.25 0.00 0.000 6 0.147 0.056 2906 1738 1645

14402 1.08 264.3 49.3 6.4 820 14426 0.00 0.00 17.58 0.927 6 0.000 0.000 2906 1738 1572

14764 1.08 264.3 21.5 7.3 884 14769 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 1738 1567

15015 end climb: SURFACE_DEPTH_REACHED

state 15016 begin surface coast

15056 end surface coast: CONTROL_FINISHED_OK

state 15056 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	373	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	162640,6549.961,-5953.022,0,2106.0,0,-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	-0.046,0.229
_SM_DEPTHo	2.33	KALMAN_X	170863.5,-384.8,-1089.6,-268512.4,1433.1
_SM_ANGLEo	1.3	KALMAN_Y	-338615.0,1651.9,-2123.7,220214.6,-2777.9
GPS2	162640,6549.961,-5953.022,0,2106.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	26.0,190132,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	539

FREEZE	2.20,-1.808,-1.797	TCM_TEMP	14.90
FINISH	2.2,1.026374	XPDR_PINGS	40
SM_CCo	15256,0.00,0.000,0,0,1565,266.15	_24V_AH	22.1,63.181
SM_GC	3.38,8.02,0.00,0.00,0.128,0.000,0.000,340,2236,1565,-10.69,0.17,266.15	_10V_AH	10.5,28.688
RAFOS_CLK	696	DATA_FILE_SIZE	28475,936
RAFOS	0,1227686649,8.083333,8.069167,64,63,61,59,56,55,1622,217,203,185,163,137	CAP_FILE_SIZE	114820,0
RAFOS_FIX	48417.492188,-99720.539062,261108,000036,2,72,2605.71	CFSIZE	260165632,226795520
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1446.4
HUMID	1825	GPS	251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3
INTERNAL_PRESSURE	9.83436

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	156	50.92	SBE_CT	656	24	348.23
Roll_motor	88	82	160.70	SBE_O2	0	0	0.00
VBD_pump_during_apogee	371	1198	9831.24	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	10	420	92.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1719	19	359.75
LPSleep	11243	2	272.72
TT8_Active	482	19	101.01
TT8_Sampling	1660	39	696.09
TT8_CF8	211	45	102.20
TT8_Kalman	33	81	28.45
Analog_circuits	1352	12	170.45
GPS_charging	0	0	0.00
Compass	1658	8	139.34
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	-40.55	0.000	6	0.000	0.000	2700	1748	3247
65	-0.99	-146.0	3.3	-2.2	8	71	0.65	0.00	0.00	0.000	6	0.075	0.000	2459	1747	3248
409	-0.81	-146.0	37.7	-10.4	69	416	0.17	3.05	0.00	0.000	4	0.144	0.079	2496	3599	3251
670	-0.81	-146.0	62.1	-9.4	115	676	0.00	2.17	0.00	0.000	6	0.000	0.054	2500	2214	3251
1014	-0.81	-146.0	92.7	-8.6	176	1019	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2215	3251
1352	-0.81	-146.0	121.4	-8.6	204	1356	0.00	2.30	0.00	0.000	4	0.000	0.080	2493	3599	3250
1437	-0.81	-146.0	128.2	-8.2	207	1444	0.00	2.17	0.00	0.000	6	0.000	0.054	2493	2215	3250
1753	-0.81	-146.0	151.5	-7.9	223	1757	0.00	2.22	0.00	0.000	4	0.000	0.067	2493	816	3250
1884	-0.76	-146.0	162.0	-7.5	228	1890	0.12	2.33	0.00	0.000	6	0.141	0.070	2516	2231	3249
2200	-0.85	-146.0	180.2	-5.4	244	2201	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2230	3249
2510	-0.95	-146.0	198.8	-6.1	259	2512	0.15	0.00	0.00	0.000	6	0.082	0.000	2456	2230	3249
2818	-0.84	-146.0	224.1	-7.8	274	2822	0.17	2.25	0.00	0.000	4	0.156	0.082	2496	3602	3249
2891	-0.91	-146.0	228.8	-6.2	277	2895	0.00	2.17	0.00	0.000	6	0.000	0.054	2496	2217	3249
3221	-0.91	-146.0	246.0	-5.2	293	3222	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2217	3249
3528	-0.96	-146.0	263.4	-5.8	308	3530	0.10	0.00	0.00	0.000	6	0.096	0.000	2453	2217	3248
3839	-0.86	-146.0	286.9	-7.8	323	3841	0.15	0.00	0.00	0.000	6	0.156	0.000	2493	2217	3247
4147	-0.92	-146.0	307.3	-6.4	338	4150	0.00	2.22	0.00	0.000	4	0.000	0.067	2493	817	3248
4299	-0.92	-146.0	317.3	-6.5	344	4305	0.00	2.33	0.00	0.000	6	0.000	0.068	2486	2233	3248
4616	-0.92	-146.0	335.3	-5.7	360	4617	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2232	3248
4924	-0.92	-146.0	354.9	-6.5	375	4928	0.00	2.22	0.00	0.000	4	0.000	0.081	2475	3605	3248
4997	-0.92	-146.0	360.0	-7.5	378	5000	0.00	2.17	0.00	0.000	6	0.000	0.053	2475	2219	3248
5323	-0.92	-146.0	383.4	-7.2	394	5327	0.00	2.22	0.00	0.000	4	0.000	0.066	2475	820	3249
5453	-0.87	-146.0	392.9	-6.8	399	5460	0.10	2.33	0.00	0.000	6	0.140	0.067	2491	2241	3248
5787	-0.95	-146.0	413.0	-5.9	411	5788	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2241	3249
6112	-1.04	-146.0	429.3	-4.7	419	6117	0.15	2.30	0.00	0.000	4	0.080	0.063	2431	821	3249
6168	-0.86	-146.0	433.2	-7.9	420	6173	0.25	2.33	0.00	0.000	6	0.138	0.066	2495	2241	3249
6517	-0.95	-146.0	451.7	-5.4	429	6521	0.10	2.22	0.00	0.000	4	0.091	0.081	2442	3604	3250
6566	-0.88	-146.0	455.5	-8.0	430	6571	0.17	2.17	0.00	0.000	6	0.147	0.051	2493	2210	3251
6891	-0.97	-146.0	474.8	-5.8	438	6896	0.10	2.20	0.00	0.000	4	0.094	0.062	2450	815	3251
7003	-0.85	-146.0	483.4	-8.0	440	7008	0.20	2.33	0.00	0.000	6	0.134	0.064	2497	2242	3251
7352	-0.96	-146.0	501.9	-4.9	449	7354	0.10	0.00	0.00	0.000	6	0.088	0.000	2455	2242	3251
7676	-0.96	-146.0	520.8	-5.9	457	7680	0.00	2.20	0.00	0.000	4	0.000	0.077	2445	3594	3251
7754	-0.90	-146.0	526.1	-6.7	458	7759	0.15	2.15	0.00	0.000	6	0.149	0.049	2485	2211	3251
8047	end dive: TARGET_DEPTH_EXCEEDED
state	8047	begin apogee
8055	-0.31	0.0	540.5	4.5	466	8183	0.40	0.00	125.97	1.199	6	0.119	0.000	2615	1741	2651
8184	end apogee: CONTROL_FINISHED_OK
state	8184	begin climb
8187	0.99	146.0	541.3	0.0	469	8323	0.90	0.00	132.40	1.120	6	0.090	0.000	2902	1741	2054
8615	0.74	146.0	495.6	11.4	480	8620	0.20	2.45	0.00	0.000	4	0.130	0.071	2842	3156	2047
8672	0.58	146.0	489.8	9.6	481	8677	0.17	2.35	0.00	0.000	6	0.128	0.052	2802	1730	2046
9020	0.73	158.1	466.3	6.6	490	9033	0.12	0.00	10.38	1.013	6	0.074	0.000	2859	1730	2005
9345	0.65	158.1	435.5	9.7	498	9350	0.15	2.35	0.00	0.000	4	0.123	0.069	2816	3153	2004
9367	0.65	158.1	433.3	9.6	498	9371	0.00	2.25	0.00	0.000	6	0.000	0.052	2822	1733	2004
9710	0.71	158.1	406.4	7.7	507	9711	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	1733	2003
10018	0.80	159.5	384.0	7.0	519	10023	0.10	2.30	0.00	0.000	4	0.083	0.068	2870	3153	2004
10046	0.65	159.5	381.4	9.8	520	10050	0.20	2.25	0.00	0.000	6	0.133	0.052	2822	1725	2003
10362	0.78	185.4	361.4	6.2	535	10389	0.10	0.00	24.73	1.077	6	0.081	0.000	2870	1725	1894
10691	0.71	185.4	333.3	8.6	551	10693	0.15	0.00	0.00	0.000	6	0.122	0.000	2826	1724	1891
11000	0.86	208.9	312.9	6.3	566	11024	0.15	0.00	20.88	1.034	6	0.071	0.000	2890	1724	1798
11330	0.75	208.9	282.3	9.2	582	11335	0.17	2.38	0.00	0.000	4	0.121	0.069	2838	3163	1794
11380	0.75	208.9	278.1	7.7	584	11383	0.00	2.28	0.00	0.000	6	0.000	0.053	2845	1729	1793
11703	0.84	217.8	256.4	6.7	600	11717	0.00	2.38	8.40	0.914	4	0.000	0.070	2845	3151	1762
11731	0.91	223.3	254.3	6.8	601	11747	0.08	2.25	6.70	0.851	6	0.096	0.052	2894	1728	1739
12056	0.83	223.3	226.4	8.1	617	12058	0.12	0.00	0.00	0.000	6	0.134	0.000	2859	1728	1738
12366	0.92	228.6	205.7	6.8	632	12374	0.00	0.00	6.18	0.838	6	0.000	0.000	2859	1728	1717
12676	1.03	231.7	184.0	6.9	647	12683	0.15	0.00	4.18	0.703	6	0.074	0.000	2922	1728	1705
12984	0.90	231.7	151.5	10.4	662	12989	0.17	2.35	0.00	0.000	4	0.130	0.071	2870	3159	1705
13012	0.85	231.7	148.9	8.0	663	13016	0.00	2.25	0.00	0.000	6	0.000	0.054	2877	1731	1704
13333	0.92	231.7	126.3	7.2	679	13334	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	1732	1704
13643	1.03	245.6	105.0	6.6	694	13665	0.10	2.33	13.70	0.934	4	0.086	0.071	2934	329	1648
13689	0.96	245.6	100.9	9.0	696	13694	0.17	2.33	0.00	0.000	6	0.131	0.060	2884	1752	1648
14033	1.06	245.6	77.6	7.1	755	14039	0.10	2.28	0.00	0.000	4	0.084	0.075	2929	3152	1645
14057	1.06	245.6	75.5	7.6	759	14064	0.12	2.25	0.00	0.000	6	0.147	0.056	2906	1738	1645
14402	1.08	264.3	49.3	6.4	820	14426	0.00	0.00	17.58	0.927	6	0.000	0.000	2906	1738	1572
14764	1.08	264.3	21.5	7.3	884	14769	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	1738	1567
15015	end climb: SURFACE_DEPTH_REACHED
state	15016	begin surface coast
15056	end surface coast: CONTROL_FINISHED_OK
state	15056	begin surface