Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 394 * 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 394 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 21 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 -119614.86 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 -119614.86

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 21 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 394 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 085509,6541.520,-5844.323,13,1.3,13,-36.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6545.213,-5819.612

_XMS_NAKs 14 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 3.20 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -4.3 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 085509,6541.520,-5844.323,13,1.3,13,-36.2 MHEAD_RNG_PITCHd_Wd 106.2,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 474

Post-dive calculations and measurements:

FREEZE 6.68,-1.794,-1.809 TCM_TEMP 14.90

FINISH1 6.7,1.026501,56 XPDR_PINGS 29

FINISH2 5.3 _24V_AH 22.1,65.783

RAFOS_CLK 616 _10V_AH 10.5,29.827

RAFOS 0,1227989042,20.083334,20.067223,69,57,56,50,48,48,200,171,226,180,117,158 DATA_FILE_SIZE 28445,855

RAFOS_FIX 6549.236328,-5929.427246,271108,202040,2,119,0.73 CAP_FILE_SIZE 111932,0

IRIDIUM_FIX 6517.16,-5931.80,210298,090954 CFSIZE 260165632,225607680

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

HUMID 1796 SOUNDSPEED 1448.6

INTERNAL_PRESSURE 9.91249 GPS 291108,085509,6541.520,-5844.323,13,1.3,13,-36.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 178 36.93 SBE_CT 597 24 317.16

Roll_motor 119 82 217.15 SBE_O2 0 0 0.00

VBD_pump_during_apogee 361 1149 9178.40 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 7 420 67.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1526 19 319.33

LPSleep 9955 2 241.47

TT8_Active 500 19 104.79

TT8_Sampling 1474 39 618.01

TT8_CF8 229 45 110.77

TT8_Kalman 0 81 0.00

Analog_circuits 1302 12 164.15

GPS_charging 0 0 0.00

Compass 1475 8 123.98

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 67 0.00 0.00 -46.55 0.000 6 0.000 0.000 2693 1734 3247

70 -0.99 -146.0 1.5 0.9 9 77 0.65 3.10 0.00 0.000 4 0.084 0.074 2458 3596 3249

90 -1.64 -146.0 1.5 -0.1 12 97 0.40 2.17 0.00 0.000 6 0.063 0.050 2304 2208 3250

436 -0.94 -146.0 57.9 -19.1 73 443 0.57 2.22 0.00 0.000 4 0.179 0.064 2478 816 3250

495 -0.84 -146.0 65.0 -10.3 83 502 0.12 2.35 0.00 0.000 6 0.145 0.067 2503 2237 3250

839 -0.84 -146.0 92.7 -7.4 144 845 0.00 2.30 0.00 0.000 4 0.000 0.066 2503 821 3249

863 -0.84 -146.0 94.6 -7.7 148 870 0.00 2.33 0.00 0.000 6 0.000 0.067 2495 2233 3249

1186 -0.84 -146.0 117.2 -6.6 173 1190 0.00 2.30 0.00 0.000 4 0.000 0.065 2495 816 3249

1265 -0.84 -146.0 122.8 -7.4 176 1269 0.00 2.35 0.00 0.000 6 0.000 0.068 2486 2243 3249

1581 -0.84 -146.0 143.4 -6.4 191 1585 0.00 2.33 0.00 0.000 4 0.000 0.067 2486 814 3249

1599 -0.79 -146.0 144.5 -6.1 192 1603 0.12 2.35 0.00 0.000 6 0.142 0.067 2509 2244 3249

1931 -0.87 -146.0 161.1 -4.9 208 1933 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2243 3248

2235 -0.96 -146.0 178.2 -5.9 223 2237 0.15 0.00 0.00 0.000 6 0.081 0.000 2450 2243 3248

2544 -0.83 -146.0 203.0 -7.9 238 2549 0.17 2.35 0.00 0.000 4 0.155 0.067 2500 810 3248

2578 -0.83 -146.0 205.4 -6.4 239 2584 0.00 2.35 0.00 0.000 6 0.000 0.067 2492 2240 3247

2895 -0.83 -146.0 227.3 -6.8 255 2899 0.00 2.22 0.00 0.000 4 0.000 0.082 2482 3596 3248

2923 -0.83 -146.0 229.4 -7.0 256 2927 0.00 2.17 0.00 0.000 6 0.000 0.054 2482 2212 3247

3251 -0.83 -146.0 251.9 -6.7 272 3252 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2212 3247

3559 -0.83 -146.0 273.0 -6.6 287 3563 0.00 2.22 0.00 0.000 4 0.000 0.066 2483 816 3247

3599 -0.83 -146.0 275.6 -7.0 288 3606 0.10 2.33 0.00 0.000 6 0.142 0.067 2501 2233 3247

3916 -0.93 -146.0 292.1 -4.7 304 3921 0.10 2.30 0.00 0.000 4 0.091 0.064 2459 814 3247

4006 -0.82 -146.0 297.8 -6.5 308 4011 0.20 2.35 0.00 0.000 6 0.137 0.067 2505 2245 3247

4328 -0.94 -146.0 311.7 -4.2 324 4333 0.12 2.33 0.00 0.000 4 0.084 0.070 2455 824 3247

4384 -0.82 -146.0 315.2 -6.5 326 4391 0.20 2.33 0.00 0.000 6 0.139 0.067 2502 2236 3247

4701 -0.94 -146.0 329.9 -4.7 342 4703 0.10 0.00 0.00 0.000 6 0.094 0.000 2461 2236 3248

5010 -0.89 -146.0 347.3 -5.6 357 5014 0.10 2.30 0.00 0.000 4 0.153 0.063 2487 818 3248

5054 -0.89 -146.0 350.0 -5.2 359 5058 0.00 2.33 0.00 0.000 6 0.000 0.066 2479 2236 3248

5375 -0.89 -146.0 366.9 -5.1 375 5377 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2236 3248

5684 -0.89 -146.0 382.1 -5.1 390 5688 0.00 2.30 0.00 0.000 4 0.000 0.062 2479 821 3249

5712 -0.89 -146.0 383.8 -6.0 391 5716 0.00 2.35 0.00 0.000 6 0.000 0.065 2469 2241 3249

6054 -0.89 -146.0 403.1 -5.6 407 6057 0.00 2.30 0.00 0.000 4 0.000 0.064 2469 823 3250

6065 -0.89 -146.0 403.9 -5.6 407 6069 0.12 2.33 0.00 0.000 6 0.135 0.064 2493 2232 3249

6378 -0.98 -146.0 417.7 -4.3 415 6383 0.10 2.30 0.00 0.000 4 0.088 0.062 2450 808 3250

6429 -0.86 -146.0 420.6 -5.9 416 6434 0.20 2.35 0.00 0.000 6 0.133 0.064 2497 2237 3250

6743 -0.97 -146.0 433.6 -4.0 424 6747 0.12 2.33 0.00 0.000 4 0.083 0.061 2446 811 3250

6777 -0.82 -146.0 435.5 -6.2 424 6784 0.22 2.35 0.00 0.000 6 0.134 0.063 2501 2236 3250

7109 -0.93 -146.0 449.5 -4.1 433 7113 0.10 2.30 0.00 0.000 4 0.092 0.061 2458 820 3250

7153 -0.82 -146.0 452.0 -5.3 434 7158 0.20 2.35 0.00 0.000 6 0.133 0.064 2506 2245 3250

7473 -0.97 -146.0 466.0 -4.3 442 7478 0.15 2.33 0.00 0.000 4 0.077 0.061 2444 812 3251

7501 -0.87 -146.0 467.7 -6.6 442 7506 0.20 2.35 0.00 0.000 6 0.140 0.063 2490 2245 3251

7626 end dive: TARGET_DEPTH_EXCEEDED

state 7626 begin apogee

7635 -0.31 0.0 474.0 4.9 445 7763 0.40 0.00 124.88 1.150 6 0.121 0.000 2619 1729 2650

7763 end apogee: CONTROL_FINISHED_OK

state 7763 begin climb

7766 0.99 146.0 476.1 0.0 448 7900 0.85 0.00 130.25 1.071 6 0.094 0.000 2894 1729 2054

8213 0.78 146.0 431.0 11.1 459 8218 0.17 2.38 0.00 0.000 4 0.129 0.066 2855 330 2047

8247 0.78 146.0 427.7 9.6 459 8253 0.00 2.40 0.00 0.000 6 0.000 0.056 2855 1743 2047

8578 0.73 146.0 400.1 8.3 468 8582 0.00 2.33 0.00 0.000 4 0.000 0.070 2855 3162 2045

8629 0.53 146.0 395.3 9.2 469 8634 0.25 2.30 0.00 0.000 6 0.130 0.053 2793 1725 2044

8951 0.76 192.6 377.2 5.5 485 8993 0.17 0.00 39.53 1.068 6 0.063 0.000 2870 1725 1864

9300 0.67 192.6 344.8 9.5 502 9304 0.17 2.40 0.00 0.000 4 0.121 0.067 2818 3152 1857

9349 0.67 192.6 340.5 8.3 504 9353 0.00 2.28 0.00 0.000 6 0.000 0.051 2825 1735 1856

9674 0.78 204.6 318.9 6.6 520 9691 0.08 0.00 10.38 0.956 6 0.094 0.000 2867 1735 1815

10000 0.72 204.6 289.1 8.9 536 10002 0.12 0.00 0.00 0.000 6 0.127 0.000 2831 1735 1813

10311 0.83 205.8 267.0 7.0 551 10312 0.10 0.00 0.00 0.000 6 0.082 0.000 2878 1735 1813

10620 0.76 205.8 239.2 8.7 566 10625 0.12 2.35 0.00 0.000 4 0.124 0.068 2842 3156 1812

10665 0.76 205.8 235.7 7.2 568 10668 0.00 2.25 0.00 0.000 6 0.000 0.051 2849 1738 1811

10994 0.82 214.1 214.8 6.8 584 11005 0.00 0.00 9.12 0.904 6 0.000 0.000 2849 1738 1777

11301 0.91 214.1 191.4 7.6 599 11303 0.10 0.00 0.00 0.000 6 0.084 0.000 2898 1738 1776

11611 0.82 214.1 162.2 9.7 614 11616 0.15 2.35 0.00 0.000 4 0.126 0.069 2853 3157 1776

11644 0.82 214.1 159.0 8.8 615 11650 0.00 2.25 0.00 0.000 6 0.000 0.054 2859 1737 1775

11960 0.90 216.9 136.8 6.9 631 11966 0.00 0.00 3.95 0.656 6 0.000 0.000 2860 1737 1765

12270 1.01 223.9 115.3 6.8 646 12285 0.12 2.35 8.15 0.859 4 0.083 0.071 2916 3150 1737

12319 0.76 223.9 110.3 11.0 648 12324 0.28 2.25 0.00 0.000 6 0.133 0.054 2845 1732 1735

12648 1.16 223.9 86.9 7.7 684 12655 0.25 2.35 0.00 0.000 4 0.075 0.071 2946 3159 1734

12788 0.83 223.9 71.3 12.8 708 12795 0.35 2.28 0.00 0.000 6 0.137 0.056 2852 1730 1734

13134 1.23 262.9 48.1 5.8 769 13176 0.25 2.47 34.97 0.926 4 0.071 0.071 2955 3162 1577

13340 0.96 262.9 25.4 12.5 805 13347 0.28 2.30 0.00 0.000 6 0.137 0.057 2886 1735 1571

13588 end climb: FINISH_DEPTH_REACHED

state 13588 begin subsurface finish

13596 0.07 56.4 6.7 -7.4 849 13632 0.57 2.33 -27.45 0.000 4 0.111 0.082 2693 333 2425

13633 end subsurface finish: CONTROL_FINISHED_OK

state 13633 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	394	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	21	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	-119614.86	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	085509,6541.520,-5844.323,13,1.3,13,-36.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6545.213,-5819.612
_XMS_NAKs	14	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	3.20	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-4.3	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	085509,6541.520,-5844.323,13,1.3,13,-36.2	MHEAD_RNG_PITCHd_Wd	106.2,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	474

FREEZE	6.68,-1.794,-1.809	TCM_TEMP	14.90
FINISH1	6.7,1.026501,56	XPDR_PINGS	29
FINISH2	5.3	_24V_AH	22.1,65.783
RAFOS_CLK	616	_10V_AH	10.5,29.827
RAFOS	0,1227989042,20.083334,20.067223,69,57,56,50,48,48,200,171,226,180,117,158	DATA_FILE_SIZE	28445,855
RAFOS_FIX	6549.236328,-5929.427246,271108,202040,2,119,0.73	CAP_FILE_SIZE	111932,0
IRIDIUM_FIX	6517.16,-5931.80,210298,090954	CFSIZE	260165632,225607680
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1796	SOUNDSPEED	1448.6
INTERNAL_PRESSURE	9.91249	GPS	291108,085509,6541.520,-5844.323,13,1.3,13,-36.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	178	36.93	SBE_CT	597	24	317.16
Roll_motor	119	82	217.15	SBE_O2	0	0	0.00
VBD_pump_during_apogee	361	1149	9178.40	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	7	420	67.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1526	19	319.33
LPSleep	9955	2	241.47
TT8_Active	500	19	104.79
TT8_Sampling	1474	39	618.01
TT8_CF8	229	45	110.77
TT8_Kalman	0	81	0.00
Analog_circuits	1302	12	164.15
GPS_charging	0	0	0.00
Compass	1475	8	123.98
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	67	0.00	0.00	-46.55	0.000	6	0.000	0.000	2693	1734	3247
70	-0.99	-146.0	1.5	0.9	9	77	0.65	3.10	0.00	0.000	4	0.084	0.074	2458	3596	3249
90	-1.64	-146.0	1.5	-0.1	12	97	0.40	2.17	0.00	0.000	6	0.063	0.050	2304	2208	3250
436	-0.94	-146.0	57.9	-19.1	73	443	0.57	2.22	0.00	0.000	4	0.179	0.064	2478	816	3250
495	-0.84	-146.0	65.0	-10.3	83	502	0.12	2.35	0.00	0.000	6	0.145	0.067	2503	2237	3250
839	-0.84	-146.0	92.7	-7.4	144	845	0.00	2.30	0.00	0.000	4	0.000	0.066	2503	821	3249
863	-0.84	-146.0	94.6	-7.7	148	870	0.00	2.33	0.00	0.000	6	0.000	0.067	2495	2233	3249
1186	-0.84	-146.0	117.2	-6.6	173	1190	0.00	2.30	0.00	0.000	4	0.000	0.065	2495	816	3249
1265	-0.84	-146.0	122.8	-7.4	176	1269	0.00	2.35	0.00	0.000	6	0.000	0.068	2486	2243	3249
1581	-0.84	-146.0	143.4	-6.4	191	1585	0.00	2.33	0.00	0.000	4	0.000	0.067	2486	814	3249
1599	-0.79	-146.0	144.5	-6.1	192	1603	0.12	2.35	0.00	0.000	6	0.142	0.067	2509	2244	3249
1931	-0.87	-146.0	161.1	-4.9	208	1933	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2243	3248
2235	-0.96	-146.0	178.2	-5.9	223	2237	0.15	0.00	0.00	0.000	6	0.081	0.000	2450	2243	3248
2544	-0.83	-146.0	203.0	-7.9	238	2549	0.17	2.35	0.00	0.000	4	0.155	0.067	2500	810	3248
2578	-0.83	-146.0	205.4	-6.4	239	2584	0.00	2.35	0.00	0.000	6	0.000	0.067	2492	2240	3247
2895	-0.83	-146.0	227.3	-6.8	255	2899	0.00	2.22	0.00	0.000	4	0.000	0.082	2482	3596	3248
2923	-0.83	-146.0	229.4	-7.0	256	2927	0.00	2.17	0.00	0.000	6	0.000	0.054	2482	2212	3247
3251	-0.83	-146.0	251.9	-6.7	272	3252	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2212	3247
3559	-0.83	-146.0	273.0	-6.6	287	3563	0.00	2.22	0.00	0.000	4	0.000	0.066	2483	816	3247
3599	-0.83	-146.0	275.6	-7.0	288	3606	0.10	2.33	0.00	0.000	6	0.142	0.067	2501	2233	3247
3916	-0.93	-146.0	292.1	-4.7	304	3921	0.10	2.30	0.00	0.000	4	0.091	0.064	2459	814	3247
4006	-0.82	-146.0	297.8	-6.5	308	4011	0.20	2.35	0.00	0.000	6	0.137	0.067	2505	2245	3247
4328	-0.94	-146.0	311.7	-4.2	324	4333	0.12	2.33	0.00	0.000	4	0.084	0.070	2455	824	3247
4384	-0.82	-146.0	315.2	-6.5	326	4391	0.20	2.33	0.00	0.000	6	0.139	0.067	2502	2236	3247
4701	-0.94	-146.0	329.9	-4.7	342	4703	0.10	0.00	0.00	0.000	6	0.094	0.000	2461	2236	3248
5010	-0.89	-146.0	347.3	-5.6	357	5014	0.10	2.30	0.00	0.000	4	0.153	0.063	2487	818	3248
5054	-0.89	-146.0	350.0	-5.2	359	5058	0.00	2.33	0.00	0.000	6	0.000	0.066	2479	2236	3248
5375	-0.89	-146.0	366.9	-5.1	375	5377	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2236	3248
5684	-0.89	-146.0	382.1	-5.1	390	5688	0.00	2.30	0.00	0.000	4	0.000	0.062	2479	821	3249
5712	-0.89	-146.0	383.8	-6.0	391	5716	0.00	2.35	0.00	0.000	6	0.000	0.065	2469	2241	3249
6054	-0.89	-146.0	403.1	-5.6	407	6057	0.00	2.30	0.00	0.000	4	0.000	0.064	2469	823	3250
6065	-0.89	-146.0	403.9	-5.6	407	6069	0.12	2.33	0.00	0.000	6	0.135	0.064	2493	2232	3249
6378	-0.98	-146.0	417.7	-4.3	415	6383	0.10	2.30	0.00	0.000	4	0.088	0.062	2450	808	3250
6429	-0.86	-146.0	420.6	-5.9	416	6434	0.20	2.35	0.00	0.000	6	0.133	0.064	2497	2237	3250
6743	-0.97	-146.0	433.6	-4.0	424	6747	0.12	2.33	0.00	0.000	4	0.083	0.061	2446	811	3250
6777	-0.82	-146.0	435.5	-6.2	424	6784	0.22	2.35	0.00	0.000	6	0.134	0.063	2501	2236	3250
7109	-0.93	-146.0	449.5	-4.1	433	7113	0.10	2.30	0.00	0.000	4	0.092	0.061	2458	820	3250
7153	-0.82	-146.0	452.0	-5.3	434	7158	0.20	2.35	0.00	0.000	6	0.133	0.064	2506	2245	3250
7473	-0.97	-146.0	466.0	-4.3	442	7478	0.15	2.33	0.00	0.000	4	0.077	0.061	2444	812	3251
7501	-0.87	-146.0	467.7	-6.6	442	7506	0.20	2.35	0.00	0.000	6	0.140	0.063	2490	2245	3251
7626	end dive: TARGET_DEPTH_EXCEEDED
state	7626	begin apogee
7635	-0.31	0.0	474.0	4.9	445	7763	0.40	0.00	124.88	1.150	6	0.121	0.000	2619	1729	2650
7763	end apogee: CONTROL_FINISHED_OK
state	7763	begin climb
7766	0.99	146.0	476.1	0.0	448	7900	0.85	0.00	130.25	1.071	6	0.094	0.000	2894	1729	2054
8213	0.78	146.0	431.0	11.1	459	8218	0.17	2.38	0.00	0.000	4	0.129	0.066	2855	330	2047
8247	0.78	146.0	427.7	9.6	459	8253	0.00	2.40	0.00	0.000	6	0.000	0.056	2855	1743	2047
8578	0.73	146.0	400.1	8.3	468	8582	0.00	2.33	0.00	0.000	4	0.000	0.070	2855	3162	2045
8629	0.53	146.0	395.3	9.2	469	8634	0.25	2.30	0.00	0.000	6	0.130	0.053	2793	1725	2044
8951	0.76	192.6	377.2	5.5	485	8993	0.17	0.00	39.53	1.068	6	0.063	0.000	2870	1725	1864
9300	0.67	192.6	344.8	9.5	502	9304	0.17	2.40	0.00	0.000	4	0.121	0.067	2818	3152	1857
9349	0.67	192.6	340.5	8.3	504	9353	0.00	2.28	0.00	0.000	6	0.000	0.051	2825	1735	1856
9674	0.78	204.6	318.9	6.6	520	9691	0.08	0.00	10.38	0.956	6	0.094	0.000	2867	1735	1815
10000	0.72	204.6	289.1	8.9	536	10002	0.12	0.00	0.00	0.000	6	0.127	0.000	2831	1735	1813
10311	0.83	205.8	267.0	7.0	551	10312	0.10	0.00	0.00	0.000	6	0.082	0.000	2878	1735	1813
10620	0.76	205.8	239.2	8.7	566	10625	0.12	2.35	0.00	0.000	4	0.124	0.068	2842	3156	1812
10665	0.76	205.8	235.7	7.2	568	10668	0.00	2.25	0.00	0.000	6	0.000	0.051	2849	1738	1811
10994	0.82	214.1	214.8	6.8	584	11005	0.00	0.00	9.12	0.904	6	0.000	0.000	2849	1738	1777
11301	0.91	214.1	191.4	7.6	599	11303	0.10	0.00	0.00	0.000	6	0.084	0.000	2898	1738	1776
11611	0.82	214.1	162.2	9.7	614	11616	0.15	2.35	0.00	0.000	4	0.126	0.069	2853	3157	1776
11644	0.82	214.1	159.0	8.8	615	11650	0.00	2.25	0.00	0.000	6	0.000	0.054	2859	1737	1775
11960	0.90	216.9	136.8	6.9	631	11966	0.00	0.00	3.95	0.656	6	0.000	0.000	2860	1737	1765
12270	1.01	223.9	115.3	6.8	646	12285	0.12	2.35	8.15	0.859	4	0.083	0.071	2916	3150	1737
12319	0.76	223.9	110.3	11.0	648	12324	0.28	2.25	0.00	0.000	6	0.133	0.054	2845	1732	1735
12648	1.16	223.9	86.9	7.7	684	12655	0.25	2.35	0.00	0.000	4	0.075	0.071	2946	3159	1734
12788	0.83	223.9	71.3	12.8	708	12795	0.35	2.28	0.00	0.000	6	0.137	0.056	2852	1730	1734
13134	1.23	262.9	48.1	5.8	769	13176	0.25	2.47	34.97	0.926	4	0.071	0.071	2955	3162	1577
13340	0.96	262.9	25.4	12.5	805	13347	0.28	2.30	0.00	0.000	6	0.137	0.057	2886	1735	1571
13588	end climb: FINISH_DEPTH_REACHED
state	13588	begin subsurface finish
13596	0.07	56.4	6.7	-7.4	849	13632	0.57	2.33	-27.45	0.000	4	0.111	0.082	2693	333	2425
13633	end subsurface finish: CONTROL_FINISHED_OK
state	13633	begin surface