Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 387 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 70 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 387 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 26 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 -119599.05 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 2 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 -119599.05

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 70 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 2 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 26 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 387 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 202640,6549.236,-5929.427,0,2119.0,0,-36.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6552.930,-5904.592

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 9.73 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -1.8 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 202640,6549.236,-5929.427,0,2119.0,0,-36.5 MHEAD_RNG_PITCHd_Wd 106.5,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 573

Post-dive calculations and measurements:

FREEZE 6.61,-1.820,-1.804 TCM_TEMP 15.00

FINISH1 6.6,1.026427,60 XPDR_PINGS 7

FINISH2 5.6 _24V_AH 22.1,64.923

RAFOS_CLK 582 _10V_AH 10.5,29.464

RAFOS 0,1227902661,20.083334,20.072500,60,58,54,51,50,49,152,194,218,182,170,206 DATA_FILE_SIZE 28400,864

RAFOS_FIX 6549.236328,-5929.427246,271108,202040,2,119,0.73 CAP_FILE_SIZE 106961,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151550 CFSIZE 260165632,226004992

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1805 SOUNDSPEED 1446.7

INTERNAL_PRESSURE 9.91249 GPS 271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 155 24.17 SBE_CT 604 24 320.83

Roll_motor 118 92 242.89 SBE_O2 0 0 0.00

VBD_pump_during_apogee 358 1152 9138.85 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 1 420 16.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1535 19 321.09

LPSleep 9118 2 221.18

TT8_Active 438 19 91.74

TT8_Sampling 1600 39 670.72

TT8_CF8 205 45 99.06

TT8_Kalman 0 81 0.00

Analog_circuits 1303 12 164.26

GPS_charging 0 0 0.00

Compass 1587 8 133.35

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

17 -0.99 -146.0 0.0 0.0 0 24 0.00 0.00 -5.93 0.000 2 0.000 0.000 2685 3164 2652

28 -0.99 -146.0 9.8 -0.0 1 52 0.62 3.85 -15.00 0.000 4 0.079 0.068 2458 809 3251

98 -0.70 -146.0 15.3 -9.8 13 105 0.28 2.35 0.00 0.000 6 0.143 0.066 2527 2235 3254

444 -0.77 -146.0 42.6 -8.1 74 450 0.00 2.22 0.00 0.000 4 0.000 0.081 2519 3597 3255

462 -0.84 -146.0 44.0 -7.5 77 469 0.00 2.17 0.00 0.000 6 0.000 0.053 2518 2212 3255

807 -0.84 -146.0 69.3 -7.7 138 813 0.00 2.22 0.00 0.000 4 0.000 0.066 2518 814 3255

830 -0.84 -146.0 71.3 -7.7 142 837 0.00 2.33 0.00 0.000 6 0.000 0.067 2509 2232 3255

1175 -0.84 -146.0 97.6 -7.2 203 1181 0.00 2.30 0.00 0.000 4 0.000 0.065 2509 816 3255

1277 -0.84 -146.0 105.5 -7.7 212 1282 0.00 2.35 0.00 0.000 6 0.000 0.068 2499 2243 3254

1593 -0.84 -146.0 128.3 -7.2 227 1597 0.00 2.22 0.00 0.000 4 0.000 0.082 2489 3604 3254

1632 -0.84 -146.0 131.4 -8.0 228 1638 0.00 2.17 0.00 0.000 6 0.000 0.054 2489 2220 3254

1948 -0.84 -146.0 153.8 -7.0 244 1949 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2220 3254

2256 -0.84 -146.0 176.9 -7.5 259 2260 0.00 2.25 0.00 0.000 4 0.000 0.067 2488 819 3254

2318 -0.84 -146.0 182.1 -8.4 261 2324 0.00 2.35 0.00 0.000 6 0.000 0.068 2479 2243 3253

2634 -0.84 -146.0 205.5 -7.0 277 2637 0.00 2.35 0.00 0.000 4 0.000 0.067 2478 810 3253

2658 -0.78 -146.0 207.1 -6.8 278 2662 0.15 2.35 0.00 0.000 6 0.140 0.067 2509 2239 3253

2990 -0.89 -146.0 224.4 -5.0 294 2994 0.00 2.33 0.00 0.000 4 0.000 0.067 2509 817 3253

3059 -0.96 -146.0 228.2 -5.7 297 3064 0.12 2.35 0.00 0.000 6 0.083 0.067 2451 2233 3253

3386 -0.87 -146.0 251.1 -7.2 313 3390 0.15 2.28 0.00 0.000 4 0.156 0.093 2483 3607 3253

3426 -0.91 -146.0 253.9 -6.9 315 3430 0.00 2.20 0.00 0.000 6 0.000 0.054 2483 2213 3253

3760 -0.91 -146.0 276.8 -7.2 331 3761 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2213 3253

4068 -0.91 -146.0 299.3 -7.2 346 4072 0.00 2.22 0.00 0.000 4 0.000 0.066 2483 817 3252

4091 -0.91 -146.0 301.0 -7.7 347 4095 0.00 2.33 0.00 0.000 6 0.000 0.067 2474 2233 3252

4417 -0.91 -146.0 324.7 -7.2 363 4421 0.00 2.30 0.00 0.000 4 0.000 0.065 2474 812 3253

4440 -0.91 -146.0 326.5 -7.5 364 4444 0.00 2.35 0.00 0.000 6 0.000 0.066 2463 2245 3253

4773 -0.91 -146.0 349.9 -6.8 380 4774 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2245 3253

5083 -0.91 -146.0 368.1 -5.6 395 5084 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2245 3253

5392 -0.91 -146.0 386.0 -5.9 410 5395 0.00 2.33 0.00 0.000 4 0.000 0.064 2463 814 3254

5409 -0.86 -146.0 387.2 -6.1 410 5416 0.15 2.33 0.00 0.000 6 0.135 0.065 2495 2234 3254

5745 -0.96 -146.0 404.0 -4.9 425 5747 0.10 0.00 0.00 0.000 6 0.096 0.000 2454 2234 3254

6069 -0.91 -146.0 424.4 -6.4 433 6071 0.12 0.00 0.00 0.000 6 0.153 0.000 2486 2234 3254

6394 -0.98 -146.0 441.9 -5.3 441 6398 0.00 2.28 0.00 0.000 4 0.000 0.064 2486 818 3255

6468 -0.98 -146.0 446.1 -5.8 442 6472 0.00 2.33 0.00 0.000 6 0.000 0.065 2478 2240 3255

6811 -1.11 -146.0 464.0 -5.0 451 6816 0.15 2.33 0.00 0.000 4 0.077 0.063 2414 810 3255

6953 end dive: NO_VERTICAL_VELOCITY

state 6956 begin apogee

6964 -0.31 0.0 464.0 0.0 454 7093 0.57 0.00 125.40 1.152 6 0.093 0.000 2613 1756 2651

7094 end apogee: CONTROL_FINISHED_OK

state 7094 begin climb

7097 0.99 146.0 463.8 0.0 457 7234 0.88 2.58 129.73 1.071 4 0.092 0.070 2898 3143 2053

7344 0.65 146.0 438.8 12.7 462 7349 0.32 2.40 0.00 0.000 6 0.137 0.053 2820 1747 2047

7676 0.71 147.6 415.1 7.0 470 7680 0.00 2.38 0.00 0.000 4 0.000 0.067 2829 328 2046

7716 0.81 149.2 412.2 7.0 470 7723 0.10 2.38 0.00 0.000 6 0.084 0.057 2875 1752 2046

8029 0.69 149.2 383.2 9.3 482 8034 0.17 2.28 0.00 0.000 4 0.132 0.070 2823 3151 2046

8124 0.64 149.2 375.2 8.0 486 8128 0.00 2.28 0.00 0.000 6 0.000 0.053 2831 1724 2045

8445 0.67 175.3 353.4 6.2 502 8472 0.00 0.00 24.38 1.050 6 0.000 0.000 2831 1724 1936

8774 0.75 199.2 333.6 6.3 518 8801 0.00 2.38 21.58 1.030 4 0.000 0.068 2831 3152 1838

8829 0.75 199.2 329.8 7.8 520 8836 0.00 2.28 0.00 0.000 6 0.000 0.051 2840 1733 1835

9145 0.80 199.2 306.0 7.6 536 9146 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 1733 1832

9455 0.86 199.2 280.8 8.3 551 9459 0.10 2.33 0.00 0.000 4 0.087 0.069 2888 3153 1832

9495 0.64 199.2 276.5 11.2 553 9500 0.28 2.25 0.00 0.000 6 0.133 0.053 2816 1729 1831

9822 0.86 230.2 254.8 6.0 569 9854 0.17 0.00 27.35 1.010 6 0.065 0.000 2892 1729 1711

10172 0.77 230.2 221.6 9.6 586 10177 0.17 2.35 0.00 0.000 4 0.123 0.069 2841 3156 1705

10205 0.77 230.2 218.7 8.0 587 10211 0.00 2.25 0.00 0.000 6 0.000 0.053 2847 1737 1705

10520 0.89 230.2 196.4 7.1 603 10525 0.10 2.30 0.00 0.000 4 0.084 0.067 2907 323 1704

10577 0.83 230.2 191.1 9.8 605 10583 0.17 2.33 0.00 0.000 6 0.130 0.058 2856 1752 1704

10893 0.94 230.2 167.5 7.4 621 10897 0.10 2.28 0.00 0.000 4 0.084 0.071 2901 3162 1704

10943 0.73 230.2 162.1 11.6 623 10948 0.28 2.28 0.00 0.000 6 0.132 0.054 2830 1728 1703

11259 1.20 230.2 138.4 8.0 638 11264 0.30 2.38 0.00 0.000 4 0.080 0.070 2944 3163 1702

11392 0.86 230.2 122.0 13.5 644 11397 0.30 2.28 0.00 0.000 6 0.140 0.056 2867 1733 1702

11715 0.96 230.2 95.5 7.9 667 11721 0.00 2.30 0.00 0.000 4 0.000 0.071 2874 324 1702

11756 1.07 230.2 92.0 7.8 674 11763 0.12 2.30 0.00 0.000 6 0.078 0.058 2933 1741 1702

12102 0.97 230.2 60.0 8.0 735 12108 0.17 2.30 0.00 0.000 4 0.134 0.074 2880 3158 1701

12150 0.97 236.5 56.6 6.8 743 12162 0.00 2.28 5.38 0.763 6 0.000 0.057 2888 1729 1686

12501 1.07 263.2 33.2 6.2 805 12530 0.10 0.00 25.15 0.922 6 0.085 0.000 2937 1728 1576

12799 end climb: FINISH_DEPTH_REACHED

state 12799 begin subsurface finish

12807 0.07 60.0 6.6 -7.7 858 12843 0.75 2.33 -26.95 0.000 4 0.121 0.085 2695 330 2410

12844 end subsurface finish: CONTROL_FINISHED_OK

state 12844 begin surface

ID	108	HEADING	70	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	387	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	26	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	-119599.05	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	2	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	202640,6549.236,-5929.427,0,2119.0,0,-36.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6552.930,-5904.592
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	9.73	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-1.8	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	202640,6549.236,-5929.427,0,2119.0,0,-36.5	MHEAD_RNG_PITCHd_Wd	106.5,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	573

FREEZE	6.61,-1.820,-1.804	TCM_TEMP	15.00
FINISH1	6.6,1.026427,60	XPDR_PINGS	7
FINISH2	5.6	_24V_AH	22.1,64.923
RAFOS_CLK	582	_10V_AH	10.5,29.464
RAFOS	0,1227902661,20.083334,20.072500,60,58,54,51,50,49,152,194,218,182,170,206	DATA_FILE_SIZE	28400,864
RAFOS_FIX	6549.236328,-5929.427246,271108,202040,2,119,0.73	CAP_FILE_SIZE	106961,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151550	CFSIZE	260165632,226004992
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1805	SOUNDSPEED	1446.7
INTERNAL_PRESSURE	9.91249	GPS	271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	155	24.17	SBE_CT	604	24	320.83
Roll_motor	118	92	242.89	SBE_O2	0	0	0.00
VBD_pump_during_apogee	358	1152	9138.85	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	1	420	16.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1535	19	321.09
LPSleep	9118	2	221.18
TT8_Active	438	19	91.74
TT8_Sampling	1600	39	670.72
TT8_CF8	205	45	99.06
TT8_Kalman	0	81	0.00
Analog_circuits	1303	12	164.26
GPS_charging	0	0	0.00
Compass	1587	8	133.35
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
17	-0.99	-146.0	0.0	0.0	0	24	0.00	0.00	-5.93	0.000	2	0.000	0.000	2685	3164	2652
28	-0.99	-146.0	9.8	-0.0	1	52	0.62	3.85	-15.00	0.000	4	0.079	0.068	2458	809	3251
98	-0.70	-146.0	15.3	-9.8	13	105	0.28	2.35	0.00	0.000	6	0.143	0.066	2527	2235	3254
444	-0.77	-146.0	42.6	-8.1	74	450	0.00	2.22	0.00	0.000	4	0.000	0.081	2519	3597	3255
462	-0.84	-146.0	44.0	-7.5	77	469	0.00	2.17	0.00	0.000	6	0.000	0.053	2518	2212	3255
807	-0.84	-146.0	69.3	-7.7	138	813	0.00	2.22	0.00	0.000	4	0.000	0.066	2518	814	3255
830	-0.84	-146.0	71.3	-7.7	142	837	0.00	2.33	0.00	0.000	6	0.000	0.067	2509	2232	3255
1175	-0.84	-146.0	97.6	-7.2	203	1181	0.00	2.30	0.00	0.000	4	0.000	0.065	2509	816	3255
1277	-0.84	-146.0	105.5	-7.7	212	1282	0.00	2.35	0.00	0.000	6	0.000	0.068	2499	2243	3254
1593	-0.84	-146.0	128.3	-7.2	227	1597	0.00	2.22	0.00	0.000	4	0.000	0.082	2489	3604	3254
1632	-0.84	-146.0	131.4	-8.0	228	1638	0.00	2.17	0.00	0.000	6	0.000	0.054	2489	2220	3254
1948	-0.84	-146.0	153.8	-7.0	244	1949	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2220	3254
2256	-0.84	-146.0	176.9	-7.5	259	2260	0.00	2.25	0.00	0.000	4	0.000	0.067	2488	819	3254
2318	-0.84	-146.0	182.1	-8.4	261	2324	0.00	2.35	0.00	0.000	6	0.000	0.068	2479	2243	3253
2634	-0.84	-146.0	205.5	-7.0	277	2637	0.00	2.35	0.00	0.000	4	0.000	0.067	2478	810	3253
2658	-0.78	-146.0	207.1	-6.8	278	2662	0.15	2.35	0.00	0.000	6	0.140	0.067	2509	2239	3253
2990	-0.89	-146.0	224.4	-5.0	294	2994	0.00	2.33	0.00	0.000	4	0.000	0.067	2509	817	3253
3059	-0.96	-146.0	228.2	-5.7	297	3064	0.12	2.35	0.00	0.000	6	0.083	0.067	2451	2233	3253
3386	-0.87	-146.0	251.1	-7.2	313	3390	0.15	2.28	0.00	0.000	4	0.156	0.093	2483	3607	3253
3426	-0.91	-146.0	253.9	-6.9	315	3430	0.00	2.20	0.00	0.000	6	0.000	0.054	2483	2213	3253
3760	-0.91	-146.0	276.8	-7.2	331	3761	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2213	3253
4068	-0.91	-146.0	299.3	-7.2	346	4072	0.00	2.22	0.00	0.000	4	0.000	0.066	2483	817	3252
4091	-0.91	-146.0	301.0	-7.7	347	4095	0.00	2.33	0.00	0.000	6	0.000	0.067	2474	2233	3252
4417	-0.91	-146.0	324.7	-7.2	363	4421	0.00	2.30	0.00	0.000	4	0.000	0.065	2474	812	3253
4440	-0.91	-146.0	326.5	-7.5	364	4444	0.00	2.35	0.00	0.000	6	0.000	0.066	2463	2245	3253
4773	-0.91	-146.0	349.9	-6.8	380	4774	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2245	3253
5083	-0.91	-146.0	368.1	-5.6	395	5084	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2245	3253
5392	-0.91	-146.0	386.0	-5.9	410	5395	0.00	2.33	0.00	0.000	4	0.000	0.064	2463	814	3254
5409	-0.86	-146.0	387.2	-6.1	410	5416	0.15	2.33	0.00	0.000	6	0.135	0.065	2495	2234	3254
5745	-0.96	-146.0	404.0	-4.9	425	5747	0.10	0.00	0.00	0.000	6	0.096	0.000	2454	2234	3254
6069	-0.91	-146.0	424.4	-6.4	433	6071	0.12	0.00	0.00	0.000	6	0.153	0.000	2486	2234	3254
6394	-0.98	-146.0	441.9	-5.3	441	6398	0.00	2.28	0.00	0.000	4	0.000	0.064	2486	818	3255
6468	-0.98	-146.0	446.1	-5.8	442	6472	0.00	2.33	0.00	0.000	6	0.000	0.065	2478	2240	3255
6811	-1.11	-146.0	464.0	-5.0	451	6816	0.15	2.33	0.00	0.000	4	0.077	0.063	2414	810	3255
6953	end dive: NO_VERTICAL_VELOCITY
state	6956	begin apogee
6964	-0.31	0.0	464.0	0.0	454	7093	0.57	0.00	125.40	1.152	6	0.093	0.000	2613	1756	2651
7094	end apogee: CONTROL_FINISHED_OK
state	7094	begin climb
7097	0.99	146.0	463.8	0.0	457	7234	0.88	2.58	129.73	1.071	4	0.092	0.070	2898	3143	2053
7344	0.65	146.0	438.8	12.7	462	7349	0.32	2.40	0.00	0.000	6	0.137	0.053	2820	1747	2047
7676	0.71	147.6	415.1	7.0	470	7680	0.00	2.38	0.00	0.000	4	0.000	0.067	2829	328	2046
7716	0.81	149.2	412.2	7.0	470	7723	0.10	2.38	0.00	0.000	6	0.084	0.057	2875	1752	2046
8029	0.69	149.2	383.2	9.3	482	8034	0.17	2.28	0.00	0.000	4	0.132	0.070	2823	3151	2046
8124	0.64	149.2	375.2	8.0	486	8128	0.00	2.28	0.00	0.000	6	0.000	0.053	2831	1724	2045
8445	0.67	175.3	353.4	6.2	502	8472	0.00	0.00	24.38	1.050	6	0.000	0.000	2831	1724	1936
8774	0.75	199.2	333.6	6.3	518	8801	0.00	2.38	21.58	1.030	4	0.000	0.068	2831	3152	1838
8829	0.75	199.2	329.8	7.8	520	8836	0.00	2.28	0.00	0.000	6	0.000	0.051	2840	1733	1835
9145	0.80	199.2	306.0	7.6	536	9146	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	1733	1832
9455	0.86	199.2	280.8	8.3	551	9459	0.10	2.33	0.00	0.000	4	0.087	0.069	2888	3153	1832
9495	0.64	199.2	276.5	11.2	553	9500	0.28	2.25	0.00	0.000	6	0.133	0.053	2816	1729	1831
9822	0.86	230.2	254.8	6.0	569	9854	0.17	0.00	27.35	1.010	6	0.065	0.000	2892	1729	1711
10172	0.77	230.2	221.6	9.6	586	10177	0.17	2.35	0.00	0.000	4	0.123	0.069	2841	3156	1705
10205	0.77	230.2	218.7	8.0	587	10211	0.00	2.25	0.00	0.000	6	0.000	0.053	2847	1737	1705
10520	0.89	230.2	196.4	7.1	603	10525	0.10	2.30	0.00	0.000	4	0.084	0.067	2907	323	1704
10577	0.83	230.2	191.1	9.8	605	10583	0.17	2.33	0.00	0.000	6	0.130	0.058	2856	1752	1704
10893	0.94	230.2	167.5	7.4	621	10897	0.10	2.28	0.00	0.000	4	0.084	0.071	2901	3162	1704
10943	0.73	230.2	162.1	11.6	623	10948	0.28	2.28	0.00	0.000	6	0.132	0.054	2830	1728	1703
11259	1.20	230.2	138.4	8.0	638	11264	0.30	2.38	0.00	0.000	4	0.080	0.070	2944	3163	1702
11392	0.86	230.2	122.0	13.5	644	11397	0.30	2.28	0.00	0.000	6	0.140	0.056	2867	1733	1702
11715	0.96	230.2	95.5	7.9	667	11721	0.00	2.30	0.00	0.000	4	0.000	0.071	2874	324	1702
11756	1.07	230.2	92.0	7.8	674	11763	0.12	2.30	0.00	0.000	6	0.078	0.058	2933	1741	1702
12102	0.97	230.2	60.0	8.0	735	12108	0.17	2.30	0.00	0.000	4	0.134	0.074	2880	3158	1701
12150	0.97	236.5	56.6	6.8	743	12162	0.00	2.28	5.38	0.763	6	0.000	0.057	2888	1729	1686
12501	1.07	263.2	33.2	6.2	805	12530	0.10	0.00	25.15	0.922	6	0.085	0.000	2937	1728	1576
12799	end climb: FINISH_DEPTH_REACHED
state	12799	begin subsurface finish
12807	0.07	60.0	6.6	-7.7	858	12843	0.75	2.33	-26.95	0.000	4	0.121	0.085	2695	330	2410
12844	end subsurface finish: CONTROL_FINISHED_OK
state	12844	begin surface