Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 388 * 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 388 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 388 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 5.88 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -5.3 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 6.81,-1.763,-1.809 TCM_TEMP 14.80

FINISH1 6.8,1.026497,57 XPDR_PINGS 71

FINISH2 4.6 _24V_AH 22.1,65.038

RAFOS_CLK 594 _10V_AH 10.5,29.515

RAFOS 0,1227917044,0.083333,0.067778,62,57,53,50,49,43,216,199,162,141,120,1819 DATA_FILE_SIZE 28406,868

RAFOS_FIX 6549.236328,-5929.427246,271108,202040,2,119,0.73 CAP_FILE_SIZE 114054,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151550 CFSIZE 260165632,225943552

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

HUMID 1826 SOUNDSPEED 1447.0

INTERNAL_PRESSURE 9.90272 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 6 161 21.64 SBE_CT 608 24 322.59

Roll_motor 143 99 315.66 SBE_O2 0 0 0.00

VBD_pump_during_apogee 370 1149 9408.99 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 17 420 164.76

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1586 19 331.82

LPSleep 9161 2 222.20

TT8_Active 447 19 93.60

TT8_Sampling 1669 39 699.85

TT8_CF8 213 45 102.90

TT8_Kalman 0 81 0.00

Analog_circuits 1371 12 172.85

GPS_charging 0 0 0.00

Compass 1650 8 138.68

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 23 0.00 0.00 -5.45 0.000 2 0.000 0.000 2695 330 2577

27 -0.99 -146.0 5.8 -0.0 1 56 0.62 0.80 -22.55 0.000 4 0.064 0.100 2450 826 3249

102 -0.66 -146.0 11.3 -10.0 14 109 0.35 2.30 0.00 0.000 6 0.146 0.071 2539 2238 3253

448 -0.76 -146.0 36.5 -7.0 75 455 0.10 2.22 0.00 0.000 4 0.088 0.081 2486 3600 3254

463 -0.85 -146.0 37.4 -6.2 77 469 0.00 2.17 0.00 0.000 6 0.000 0.053 2486 2217 3254

807 -0.78 -146.0 68.9 -10.0 138 813 0.10 0.00 0.00 0.000 6 0.162 0.000 2512 2217 3254

1151 -0.84 -146.0 96.6 -7.8 199 1157 0.00 2.22 0.00 0.000 4 0.000 0.067 2513 823 3253

1176 -0.88 -146.0 98.7 -8.1 203 1182 0.00 2.33 0.00 0.000 6 0.000 0.068 2505 2235 3253

1504 -0.88 -146.0 123.8 -7.5 221 1507 0.00 2.30 0.00 0.000 4 0.000 0.067 2504 824 3253

1554 -0.88 -146.0 127.7 -8.1 223 1558 0.00 2.33 0.00 0.000 6 0.000 0.070 2495 2232 3253

1875 -0.88 -146.0 152.1 -8.1 239 1879 0.00 2.30 0.00 0.000 4 0.000 0.067 2495 824 3253

1886 -0.88 -146.0 153.2 -8.2 239 1890 0.00 2.33 0.00 0.000 6 0.000 0.067 2487 2241 3252

2207 -0.88 -146.0 178.0 -7.3 255 2211 0.00 2.33 0.00 0.000 4 0.000 0.067 2487 821 3252

2235 -0.88 -146.0 180.1 -7.6 256 2239 0.00 2.35 0.00 0.000 6 0.000 0.069 2477 2243 3252

2556 -0.88 -146.0 203.6 -7.5 272 2560 0.00 2.33 0.00 0.000 4 0.000 0.068 2477 814 3252

2612 -0.82 -146.0 208.2 -8.7 274 2617 0.15 2.35 0.00 0.000 6 0.138 0.068 2508 2238 3252

2928 -0.92 -146.0 228.0 -5.8 289 2930 0.10 0.00 0.00 0.000 6 0.095 0.000 2466 2238 3252

3239 -0.92 -146.0 250.2 -7.0 304 3243 0.00 2.22 0.00 0.000 4 0.000 0.082 2456 3597 3252

3295 -0.86 -146.0 254.6 -7.5 306 3299 0.15 2.17 0.00 0.000 6 0.154 0.054 2496 2218 3251

3618 -0.93 -146.0 272.3 -5.7 322 3622 0.00 2.25 0.00 0.000 4 0.000 0.067 2496 818 3251

3641 -0.93 -146.0 274.0 -6.6 323 3645 0.00 2.35 0.00 0.000 6 0.000 0.067 2488 2245 3251

3969 -0.98 -146.0 295.2 -6.6 339 3972 0.00 2.33 0.00 0.000 4 0.000 0.066 2487 820 3251

3997 -0.98 -146.0 297.1 -6.4 340 4001 0.00 2.33 0.00 0.000 6 0.000 0.067 2478 2233 3251

4319 -0.98 -146.0 316.6 -5.5 356 4323 0.00 2.22 0.00 0.000 4 0.000 0.080 2467 3597 3251

4365 -0.98 -146.0 319.5 -6.3 358 4368 0.00 2.15 0.00 0.000 6 0.000 0.052 2467 2226 3251

4698 -0.98 -146.0 338.4 -5.6 374 4701 0.00 2.25 0.00 0.000 4 0.000 0.071 2467 824 3251

4768 -0.91 -146.0 342.5 -5.7 377 4773 0.10 2.33 0.00 0.000 6 0.143 0.067 2483 2234 3251

5095 -0.96 -146.0 358.9 -4.8 393 5099 0.00 2.30 0.00 0.000 4 0.000 0.064 2485 817 3251

5118 -0.96 -146.0 360.2 -5.5 394 5122 0.00 2.33 0.00 0.000 6 0.000 0.066 2477 2236 3251

5445 -0.96 -146.0 379.4 -6.1 410 5449 0.00 2.30 0.00 0.000 4 0.000 0.064 2477 818 3252

5491 -0.96 -146.0 382.3 -6.4 412 5496 0.00 2.33 0.00 0.000 6 0.000 0.065 2467 2237 3252

5818 -0.96 -146.0 403.9 -6.7 427 5822 0.00 2.22 0.00 0.000 4 0.000 0.078 2457 3604 3252

5853 -0.96 -146.0 406.3 -7.4 427 5857 0.00 2.17 0.00 0.000 6 0.000 0.051 2457 2211 3252

6190 -0.91 -146.0 429.5 -6.7 436 6192 0.10 0.00 0.00 0.000 6 0.154 0.000 2483 2211 3253

6516 -0.96 -146.0 446.0 -5.2 444 6520 0.00 2.20 0.00 0.000 4 0.000 0.064 2483 823 3254

6566 -0.96 -146.0 449.2 -6.6 445 6570 0.00 2.33 0.00 0.000 6 0.000 0.064 2475 2244 3253

6891 -1.13 -146.0 464.7 -3.8 453 6895 0.15 2.33 0.00 0.000 4 0.074 0.062 2408 813 3254

7030 end dive: NO_VERTICAL_VELOCITY

state 7030 begin apogee

7039 -0.31 0.0 464.7 0.0 456 7167 0.62 0.00 125.18 1.150 6 0.107 0.000 2614 1746 2650

7168 end apogee: CONTROL_FINISHED_OK

state 7168 begin climb

7171 0.99 146.0 464.3 0.0 459 7308 0.85 2.60 129.52 1.074 4 0.089 0.068 2894 3143 2053

7395 0.66 146.0 442.3 13.0 464 7401 0.30 2.42 0.00 0.000 6 0.133 0.051 2823 1738 2048

7709 0.67 150.9 420.4 6.9 472 7718 0.00 2.40 4.18 0.706 4 0.000 0.067 2832 327 2034

7755 0.76 164.1 417.5 6.6 473 7774 0.00 2.40 13.45 0.993 6 0.000 0.056 2832 1741 1980

8083 0.76 164.1 394.9 7.1 482 8087 0.00 2.35 0.00 0.000 4 0.000 0.070 2831 3160 1978

8156 0.67 164.1 388.8 8.6 485 8160 0.00 2.30 0.00 0.000 6 0.000 0.053 2842 1731 1977

8472 0.67 164.1 365.7 7.1 500 8475 0.00 2.30 0.00 0.000 4 0.000 0.067 2852 327 1977

8499 0.67 164.1 363.7 7.3 501 8504 0.12 2.35 0.00 0.000 6 0.122 0.058 2817 1752 1977

8823 0.85 206.3 344.6 5.7 517 8867 0.15 2.42 36.92 1.064 4 0.071 0.071 2882 3158 1808

8931 0.62 206.3 333.9 11.8 521 8937 0.28 2.30 0.00 0.000 6 0.129 0.053 2813 1739 1804

9248 0.83 224.7 313.7 6.4 537 9270 0.15 2.40 16.30 1.003 4 0.067 0.067 2890 324 1734

9294 0.75 224.7 309.1 11.1 539 9299 0.17 2.33 0.00 0.000 6 0.127 0.056 2840 1740 1733

9622 0.84 224.7 283.5 7.6 555 9626 0.00 2.28 0.00 0.000 4 0.000 0.071 2840 3158 1729

9701 0.84 224.7 276.4 8.7 558 9705 0.00 2.28 0.00 0.000 6 0.000 0.053 2846 1730 1728

10023 0.90 224.7 248.7 8.6 574 10025 0.10 0.00 0.00 0.000 6 0.085 0.000 2894 1729 1728

10333 0.81 224.7 217.2 9.5 589 10338 0.15 2.38 0.00 0.000 4 0.126 0.069 2850 3158 1728

10371 0.81 224.7 213.7 8.4 590 10378 0.00 2.28 0.00 0.000 6 0.000 0.054 2856 1728 1727

10689 0.90 232.5 192.1 6.8 606 10703 0.00 2.33 7.18 0.864 4 0.000 0.068 2866 333 1702

10727 1.00 232.5 189.2 7.8 607 10734 0.12 2.30 0.00 0.000 6 0.080 0.057 2923 1743 1702

11045 0.85 232.5 155.6 10.5 623 11049 0.20 2.30 0.00 0.000 4 0.130 0.072 2858 3157 1702

11089 0.85 232.5 151.5 7.7 625 11093 0.00 2.28 0.00 0.000 6 0.000 0.055 2865 1728 1701

11417 0.99 273.3 130.6 5.7 641 11460 0.10 2.38 37.58 0.964 4 0.087 0.070 2922 332 1535

11494 0.99 273.3 124.1 9.4 644 11499 0.12 2.35 0.00 0.000 6 0.136 0.058 2888 1746 1533

11810 0.99 273.3 101.0 8.0 659 11814 0.00 2.30 0.00 0.000 4 0.000 0.074 2889 3155 1528

11873 0.94 273.3 95.3 9.3 667 11879 0.00 2.28 0.00 0.000 6 0.000 0.056 2896 1734 1526

12217 0.94 273.3 68.3 7.8 728 12223 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 1734 1525

12561 0.98 273.3 41.6 7.4 789 12567 0.00 2.35 0.00 0.000 4 0.000 0.074 2896 3152 1524

12596 0.98 273.3 38.4 8.6 795 12603 0.00 2.28 0.00 0.000 6 0.000 0.058 2906 1728 1523

12941 0.98 273.3 9.3 8.5 856 12947 0.00 2.30 0.00 0.000 4 0.000 0.074 2916 327 1523

12975 end climb: FINISH_DEPTH_REACHED

state 12975 begin subsurface finish

12985 0.07 56.6 6.8 -6.5 862 13022 0.68 2.40 -31.02 0.000 4 0.111 0.091 2683 3162 2423

13023 end subsurface finish: CONTROL_FINISHED_OK

state 13023 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	388	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	5.88	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-5.3	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	6.81,-1.763,-1.809	TCM_TEMP	14.80
FINISH1	6.8,1.026497,57	XPDR_PINGS	71
FINISH2	4.6	_24V_AH	22.1,65.038
RAFOS_CLK	594	_10V_AH	10.5,29.515
RAFOS	0,1227917044,0.083333,0.067778,62,57,53,50,49,43,216,199,162,141,120,1819	DATA_FILE_SIZE	28406,868
RAFOS_FIX	6549.236328,-5929.427246,271108,202040,2,119,0.73	CAP_FILE_SIZE	114054,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151550	CFSIZE	260165632,225943552
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1826	SOUNDSPEED	1447.0
INTERNAL_PRESSURE	9.90272	GPS	271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	161	21.64	SBE_CT	608	24	322.59
Roll_motor	143	99	315.66	SBE_O2	0	0	0.00
VBD_pump_during_apogee	370	1149	9408.99	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	17	420	164.76
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1586	19	331.82
LPSleep	9161	2	222.20
TT8_Active	447	19	93.60
TT8_Sampling	1669	39	699.85
TT8_CF8	213	45	102.90
TT8_Kalman	0	81	0.00
Analog_circuits	1371	12	172.85
GPS_charging	0	0	0.00
Compass	1650	8	138.68
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	23	0.00	0.00	-5.45	0.000	2	0.000	0.000	2695	330	2577
27	-0.99	-146.0	5.8	-0.0	1	56	0.62	0.80	-22.55	0.000	4	0.064	0.100	2450	826	3249
102	-0.66	-146.0	11.3	-10.0	14	109	0.35	2.30	0.00	0.000	6	0.146	0.071	2539	2238	3253
448	-0.76	-146.0	36.5	-7.0	75	455	0.10	2.22	0.00	0.000	4	0.088	0.081	2486	3600	3254
463	-0.85	-146.0	37.4	-6.2	77	469	0.00	2.17	0.00	0.000	6	0.000	0.053	2486	2217	3254
807	-0.78	-146.0	68.9	-10.0	138	813	0.10	0.00	0.00	0.000	6	0.162	0.000	2512	2217	3254
1151	-0.84	-146.0	96.6	-7.8	199	1157	0.00	2.22	0.00	0.000	4	0.000	0.067	2513	823	3253
1176	-0.88	-146.0	98.7	-8.1	203	1182	0.00	2.33	0.00	0.000	6	0.000	0.068	2505	2235	3253
1504	-0.88	-146.0	123.8	-7.5	221	1507	0.00	2.30	0.00	0.000	4	0.000	0.067	2504	824	3253
1554	-0.88	-146.0	127.7	-8.1	223	1558	0.00	2.33	0.00	0.000	6	0.000	0.070	2495	2232	3253
1875	-0.88	-146.0	152.1	-8.1	239	1879	0.00	2.30	0.00	0.000	4	0.000	0.067	2495	824	3253
1886	-0.88	-146.0	153.2	-8.2	239	1890	0.00	2.33	0.00	0.000	6	0.000	0.067	2487	2241	3252
2207	-0.88	-146.0	178.0	-7.3	255	2211	0.00	2.33	0.00	0.000	4	0.000	0.067	2487	821	3252
2235	-0.88	-146.0	180.1	-7.6	256	2239	0.00	2.35	0.00	0.000	6	0.000	0.069	2477	2243	3252
2556	-0.88	-146.0	203.6	-7.5	272	2560	0.00	2.33	0.00	0.000	4	0.000	0.068	2477	814	3252
2612	-0.82	-146.0	208.2	-8.7	274	2617	0.15	2.35	0.00	0.000	6	0.138	0.068	2508	2238	3252
2928	-0.92	-146.0	228.0	-5.8	289	2930	0.10	0.00	0.00	0.000	6	0.095	0.000	2466	2238	3252
3239	-0.92	-146.0	250.2	-7.0	304	3243	0.00	2.22	0.00	0.000	4	0.000	0.082	2456	3597	3252
3295	-0.86	-146.0	254.6	-7.5	306	3299	0.15	2.17	0.00	0.000	6	0.154	0.054	2496	2218	3251
3618	-0.93	-146.0	272.3	-5.7	322	3622	0.00	2.25	0.00	0.000	4	0.000	0.067	2496	818	3251
3641	-0.93	-146.0	274.0	-6.6	323	3645	0.00	2.35	0.00	0.000	6	0.000	0.067	2488	2245	3251
3969	-0.98	-146.0	295.2	-6.6	339	3972	0.00	2.33	0.00	0.000	4	0.000	0.066	2487	820	3251
3997	-0.98	-146.0	297.1	-6.4	340	4001	0.00	2.33	0.00	0.000	6	0.000	0.067	2478	2233	3251
4319	-0.98	-146.0	316.6	-5.5	356	4323	0.00	2.22	0.00	0.000	4	0.000	0.080	2467	3597	3251
4365	-0.98	-146.0	319.5	-6.3	358	4368	0.00	2.15	0.00	0.000	6	0.000	0.052	2467	2226	3251
4698	-0.98	-146.0	338.4	-5.6	374	4701	0.00	2.25	0.00	0.000	4	0.000	0.071	2467	824	3251
4768	-0.91	-146.0	342.5	-5.7	377	4773	0.10	2.33	0.00	0.000	6	0.143	0.067	2483	2234	3251
5095	-0.96	-146.0	358.9	-4.8	393	5099	0.00	2.30	0.00	0.000	4	0.000	0.064	2485	817	3251
5118	-0.96	-146.0	360.2	-5.5	394	5122	0.00	2.33	0.00	0.000	6	0.000	0.066	2477	2236	3251
5445	-0.96	-146.0	379.4	-6.1	410	5449	0.00	2.30	0.00	0.000	4	0.000	0.064	2477	818	3252
5491	-0.96	-146.0	382.3	-6.4	412	5496	0.00	2.33	0.00	0.000	6	0.000	0.065	2467	2237	3252
5818	-0.96	-146.0	403.9	-6.7	427	5822	0.00	2.22	0.00	0.000	4	0.000	0.078	2457	3604	3252
5853	-0.96	-146.0	406.3	-7.4	427	5857	0.00	2.17	0.00	0.000	6	0.000	0.051	2457	2211	3252
6190	-0.91	-146.0	429.5	-6.7	436	6192	0.10	0.00	0.00	0.000	6	0.154	0.000	2483	2211	3253
6516	-0.96	-146.0	446.0	-5.2	444	6520	0.00	2.20	0.00	0.000	4	0.000	0.064	2483	823	3254
6566	-0.96	-146.0	449.2	-6.6	445	6570	0.00	2.33	0.00	0.000	6	0.000	0.064	2475	2244	3253
6891	-1.13	-146.0	464.7	-3.8	453	6895	0.15	2.33	0.00	0.000	4	0.074	0.062	2408	813	3254
7030	end dive: NO_VERTICAL_VELOCITY
state	7030	begin apogee
7039	-0.31	0.0	464.7	0.0	456	7167	0.62	0.00	125.18	1.150	6	0.107	0.000	2614	1746	2650
7168	end apogee: CONTROL_FINISHED_OK
state	7168	begin climb
7171	0.99	146.0	464.3	0.0	459	7308	0.85	2.60	129.52	1.074	4	0.089	0.068	2894	3143	2053
7395	0.66	146.0	442.3	13.0	464	7401	0.30	2.42	0.00	0.000	6	0.133	0.051	2823	1738	2048
7709	0.67	150.9	420.4	6.9	472	7718	0.00	2.40	4.18	0.706	4	0.000	0.067	2832	327	2034
7755	0.76	164.1	417.5	6.6	473	7774	0.00	2.40	13.45	0.993	6	0.000	0.056	2832	1741	1980
8083	0.76	164.1	394.9	7.1	482	8087	0.00	2.35	0.00	0.000	4	0.000	0.070	2831	3160	1978
8156	0.67	164.1	388.8	8.6	485	8160	0.00	2.30	0.00	0.000	6	0.000	0.053	2842	1731	1977
8472	0.67	164.1	365.7	7.1	500	8475	0.00	2.30	0.00	0.000	4	0.000	0.067	2852	327	1977
8499	0.67	164.1	363.7	7.3	501	8504	0.12	2.35	0.00	0.000	6	0.122	0.058	2817	1752	1977
8823	0.85	206.3	344.6	5.7	517	8867	0.15	2.42	36.92	1.064	4	0.071	0.071	2882	3158	1808
8931	0.62	206.3	333.9	11.8	521	8937	0.28	2.30	0.00	0.000	6	0.129	0.053	2813	1739	1804
9248	0.83	224.7	313.7	6.4	537	9270	0.15	2.40	16.30	1.003	4	0.067	0.067	2890	324	1734
9294	0.75	224.7	309.1	11.1	539	9299	0.17	2.33	0.00	0.000	6	0.127	0.056	2840	1740	1733
9622	0.84	224.7	283.5	7.6	555	9626	0.00	2.28	0.00	0.000	4	0.000	0.071	2840	3158	1729
9701	0.84	224.7	276.4	8.7	558	9705	0.00	2.28	0.00	0.000	6	0.000	0.053	2846	1730	1728
10023	0.90	224.7	248.7	8.6	574	10025	0.10	0.00	0.00	0.000	6	0.085	0.000	2894	1729	1728
10333	0.81	224.7	217.2	9.5	589	10338	0.15	2.38	0.00	0.000	4	0.126	0.069	2850	3158	1728
10371	0.81	224.7	213.7	8.4	590	10378	0.00	2.28	0.00	0.000	6	0.000	0.054	2856	1728	1727
10689	0.90	232.5	192.1	6.8	606	10703	0.00	2.33	7.18	0.864	4	0.000	0.068	2866	333	1702
10727	1.00	232.5	189.2	7.8	607	10734	0.12	2.30	0.00	0.000	6	0.080	0.057	2923	1743	1702
11045	0.85	232.5	155.6	10.5	623	11049	0.20	2.30	0.00	0.000	4	0.130	0.072	2858	3157	1702
11089	0.85	232.5	151.5	7.7	625	11093	0.00	2.28	0.00	0.000	6	0.000	0.055	2865	1728	1701
11417	0.99	273.3	130.6	5.7	641	11460	0.10	2.38	37.58	0.964	4	0.087	0.070	2922	332	1535
11494	0.99	273.3	124.1	9.4	644	11499	0.12	2.35	0.00	0.000	6	0.136	0.058	2888	1746	1533
11810	0.99	273.3	101.0	8.0	659	11814	0.00	2.30	0.00	0.000	4	0.000	0.074	2889	3155	1528
11873	0.94	273.3	95.3	9.3	667	11879	0.00	2.28	0.00	0.000	6	0.000	0.056	2896	1734	1526
12217	0.94	273.3	68.3	7.8	728	12223	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	1734	1525
12561	0.98	273.3	41.6	7.4	789	12567	0.00	2.35	0.00	0.000	4	0.000	0.074	2896	3152	1524
12596	0.98	273.3	38.4	8.6	795	12603	0.00	2.28	0.00	0.000	6	0.000	0.058	2906	1728	1523
12941	0.98	273.3	9.3	8.5	856	12947	0.00	2.30	0.00	0.000	4	0.000	0.074	2916	327	1523
12975	end climb: FINISH_DEPTH_REACHED
state	12975	begin subsurface finish
12985	0.07	56.6	6.8	-6.5	862	13022	0.68	2.40	-31.02	0.000	4	0.111	0.091	2683	3162	2423
13023	end subsurface finish: CONTROL_FINISHED_OK
state	13023	begin surface