Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 396 * 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 396 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -3 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 -119628.05 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 -119628.05

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 -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 396 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 032931,6541.732,-5826.231,33,1.0,39,-36.2 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6545.312,-5801.750

_XMS_NAKs 16 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.38 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -64.5 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 034809,6541.618,-5826.462,11,1.0,11,-36.2 MHEAD_RNG_PITCHd_Wd 106.2,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 472

Post-dive calculations and measurements:

FREEZE 1.66,-0.374,-0.197 TCM_TEMP 15.20

FINISH 1.7,1.002727 XPDR_PINGS 64

SM_CCo 14196,6.70,0.790,0,0,1732,225.19 _24V_AH 22.1,66.050

SM_GC 3.18,0.00,0.00,6.70,0.000,0.000,0.790,330,2240,1732,-10.81,0.28,225.19 _10V_AH 10.5,29.949

RAFOS_CLK 611 DATA_FILE_SIZE 31546,954

RAFOS 0,1228017844,4.083333,4.067778,62,56,56,55,51,51,219,177,159,200,117,141 CAP_FILE_SIZE 134346,0

RAFOS_FIX 6549.236328,-5929.427246,271108,202040,2,119,0.73 CFSIZE 260165632,225484800

IRIDIUM_FIX 6512.01,-5831.75,240298,030345 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.027612 SOUNDSPEED 1450.9

HUMID 1804 GPS 301108,034809,6541.618,-5826.462,11,1.0,11,-36.2

INTERNAL_PRESSURE 9.87343

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 243 123.30 SBE_CT 667 24 354.25

Roll_motor 111 79 194.58 SBE_O2 0 0 0.00

VBD_pump_during_apogee 315 1138 7947.04 nil 0 0 0.00

VBD_pump_during_surface 6 790 116.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 57 103 130.74 nil 0 0 0.00

Iridium_during_connect 178 160 632.83 nil 0 0 0.00

Iridium_during_xfer 551 223 2720.17

Transponder_ping 16 420 148.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.60

TT8 1751 19 366.42

LPSleep 10188 2 247.13

TT8_Active 476 19 99.58

TT8_Sampling 1695 39 710.70

TT8_CF8 1261 45 608.06

TT8_Kalman 0 81 0.00

Analog_circuits 1363 12 171.75

GPS_charging 0 0 0.00

Compass 1675 8 140.74

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

15 -0.99 -146.0 0.0 0.0 0 80 0.00 0.00 -62.75 0.000 2 0.000 0.000 332 2249 2732

84 -0.99 -146.0 3.1 -1.5 11 121 8.77 2.38 -20.55 0.000 4 0.244 0.077 2464 808 3248

308 -0.80 -146.0 26.2 -10.8 50 315 0.17 2.35 0.00 0.000 6 0.137 0.065 2505 2229 3252

653 -0.80 -146.0 54.7 -8.0 111 659 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2229 3252

997 -0.80 -146.0 81.5 -7.5 172 1004 0.00 2.22 0.00 0.000 4 0.000 0.079 2497 3595 3252

1067 -0.80 -146.0 87.0 -8.1 184 1073 0.00 2.17 0.00 0.000 6 0.000 0.051 2496 2209 3252

1415 -0.80 -146.0 111.8 -6.9 224 1419 0.00 2.22 0.00 0.000 4 0.000 0.064 2497 817 3252

1551 -0.80 -146.0 121.7 -7.9 230 1555 0.00 2.35 0.00 0.000 6 0.000 0.066 2487 2239 3252

1879 -0.80 -146.0 145.7 -7.3 246 1883 0.00 2.33 0.00 0.000 4 0.000 0.065 2487 813 3252

1929 -0.74 -146.0 149.7 -7.3 248 1934 0.15 2.35 0.00 0.000 6 0.137 0.066 2518 2241 3252

2251 -0.85 -146.0 167.2 -5.5 264 2256 0.10 2.33 0.00 0.000 4 0.091 0.065 2476 816 3252

2296 -0.76 -146.0 170.6 -7.9 266 2301 0.17 2.35 0.00 0.000 6 0.139 0.067 2515 2243 3252

2619 -0.86 -146.0 190.3 -6.3 282 2624 0.10 2.33 0.00 0.000 4 0.091 0.065 2474 817 3251

2682 -0.76 -146.0 195.3 -8.5 285 2688 0.17 2.33 0.00 0.000 6 0.139 0.067 2517 2233 3251

3016 -0.87 -146.0 213.4 -4.9 301 3021 0.12 2.30 0.00 0.000 4 0.086 0.064 2466 818 3250

3050 -0.74 -146.0 215.5 -6.7 302 3057 0.22 2.33 0.00 0.000 6 0.139 0.067 2520 2235 3250

3366 -0.89 -146.0 228.9 -4.3 318 3371 0.12 2.22 0.00 0.000 4 0.084 0.078 2458 3599 3250

3389 -0.89 -146.0 230.1 -5.1 319 3393 0.12 2.17 0.00 0.000 6 0.154 0.052 2490 2213 3250

3711 -0.89 -146.0 247.6 -5.6 335 3713 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2212 3250

4020 -0.94 -146.0 264.7 -5.6 350 4021 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2212 3250

4329 -0.99 -146.0 282.4 -5.8 365 4333 0.10 2.22 0.00 0.000 4 0.096 0.064 2448 813 3250

4362 -0.81 -146.0 284.8 -7.4 366 4367 0.22 2.33 0.00 0.000 6 0.139 0.065 2502 2235 3250

4679 -0.92 -146.0 301.6 -5.2 381 4680 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2235 3251

4988 -1.02 -146.0 317.4 -4.8 396 4990 0.15 0.00 0.00 0.000 6 0.081 0.000 2441 2235 3250

5298 -0.91 -146.0 337.7 -6.5 411 5302 0.15 2.22 0.00 0.000 4 0.150 0.075 2474 3604 3251

5309 -0.82 -146.0 338.3 -6.2 411 5313 0.12 2.15 0.00 0.000 6 0.142 0.049 2507 2222 3251

5630 -0.96 -146.0 350.7 -3.7 427 5634 0.12 2.22 0.00 0.000 4 0.085 0.061 2453 817 3252

5670 -0.81 -146.0 352.9 -5.6 428 5677 0.22 2.33 0.00 0.000 6 0.134 0.063 2508 2245 3252

5988 -0.96 -146.0 364.3 -3.6 444 5993 0.15 2.30 0.00 0.000 4 0.079 0.061 2447 824 3252

6062 -0.82 -146.0 368.8 -6.3 447 6067 0.22 2.30 0.00 0.000 6 0.134 0.062 2502 2242 3253

6378 -0.93 -146.0 381.9 -4.2 462 6383 0.10 2.30 0.00 0.000 4 0.091 0.061 2459 817 3253

6406 -0.86 -146.0 383.5 -5.9 463 6411 0.17 2.33 0.00 0.000 6 0.135 0.061 2497 2243 3253

6728 -0.95 -146.0 398.5 -4.6 479 6733 0.10 2.30 0.00 0.000 4 0.091 0.060 2455 819 3254

6761 -0.83 -146.0 400.8 -7.1 480 6768 0.20 2.33 0.00 0.000 6 0.135 0.061 2501 2245 3254

7093 -0.94 -146.0 417.0 -5.0 489 7098 0.10 2.30 0.00 0.000 4 0.090 0.061 2458 820 3254

7111 -0.94 -146.0 418.1 -5.1 489 7116 0.12 2.30 0.00 0.000 6 0.138 0.061 2482 2234 3254

7425 -0.99 -146.0 435.8 -5.4 497 7426 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2233 3254

7751 -1.04 -146.0 452.8 -5.2 505 7753 0.12 0.00 0.00 0.000 6 0.081 0.000 2431 2233 3254

8072 end dive: TARGET_DEPTH_EXCEEDED

state 8072 begin apogee

8080 -0.31 0.0 474.6 6.8 513 8208 0.57 0.00 125.68 1.138 6 0.130 0.000 2612 1745 2650

8209 end apogee: CONTROL_FINISHED_OK

state 8209 begin climb

8212 0.99 146.0 476.5 0.0 516 8346 0.88 0.00 130.12 1.064 6 0.094 0.000 2896 1745 2054

8660 0.78 146.0 431.6 10.7 527 8662 0.17 0.00 0.00 0.000 6 0.130 0.000 2848 1745 2046

8984 0.78 146.0 405.3 7.9 535 8988 0.00 2.35 0.00 0.000 4 0.000 0.067 2848 3158 2045

9030 0.63 146.0 401.5 8.8 536 9035 0.15 2.28 0.00 0.000 6 0.133 0.052 2814 1733 2044

9362 0.78 178.0 381.5 6.0 551 9392 0.12 0.00 26.88 1.055 6 0.075 0.000 2871 1732 1924

9688 0.68 178.0 350.7 10.1 567 9692 0.15 2.30 0.00 0.000 4 0.124 0.067 2836 323 1920

9715 0.74 178.0 348.0 9.1 568 9719 0.00 2.33 0.00 0.000 6 0.000 0.055 2836 1748 1920

10042 0.74 178.0 322.7 7.6 584 10046 0.00 2.28 0.00 0.000 4 0.000 0.069 2836 3164 1919

10112 0.67 178.0 316.9 8.6 587 10116 0.00 2.28 0.00 0.000 6 0.000 0.052 2846 1724 1918

10446 0.67 178.0 290.8 7.8 603 10448 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 1724 1918

10754 0.67 178.0 268.2 7.0 618 10758 0.00 2.35 0.00 0.000 4 0.000 0.066 2846 3163 1918

10815 0.56 178.0 263.3 8.1 620 10822 0.20 2.25 0.00 0.000 6 0.127 0.051 2796 1738 1917

11131 1.04 198.5 245.4 6.4 636 11155 0.30 2.40 17.88 0.973 4 0.073 0.067 2914 3162 1840

11291 0.74 198.5 226.6 14.1 643 11296 0.30 2.28 0.00 0.000 6 0.136 0.051 2836 1729 1836

11619 0.89 215.5 204.4 6.5 659 11638 0.12 0.00 15.38 0.934 6 0.071 0.000 2895 1729 1771

11947 0.80 215.5 173.2 9.6 675 11952 0.15 2.28 0.00 0.000 4 0.126 0.064 2858 331 1769

11998 0.93 215.5 168.9 7.1 677 12003 0.08 2.28 0.00 0.000 6 0.097 0.053 2900 1747 1769

12327 0.87 215.5 138.7 9.0 693 12331 0.12 2.25 0.00 0.000 4 0.133 0.067 2864 3153 1768

12417 0.87 215.5 131.0 7.9 697 12421 0.00 2.25 0.00 0.000 6 0.000 0.052 2871 1733 1768

12750 0.93 215.5 106.4 7.5 713 12754 0.00 2.28 0.00 0.000 4 0.000 0.067 2881 331 1767

12789 1.01 215.5 103.1 8.4 714 12795 0.00 2.28 0.00 0.000 6 0.000 0.055 2881 1745 1768

13129 1.01 215.5 76.6 7.8 769 13135 0.00 2.25 0.00 0.000 4 0.000 0.071 2881 3148 1767

13193 0.92 215.5 71.4 8.4 780 13200 0.00 2.25 0.00 0.000 6 0.000 0.054 2890 1727 1766

13538 0.92 216.3 46.4 7.0 841 13544 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 1727 1766

13882 0.92 216.3 21.9 8.3 902 13887 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 1727 1765

14150 end climb: SURFACE_DEPTH_REACHED

state 14150 begin surface coast

14177 end surface coast: FINISH_DEPTH_REACHED

state 14177 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	396	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-3	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	-119628.05	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	032931,6541.732,-5826.231,33,1.0,39,-36.2	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6545.312,-5801.750
_XMS_NAKs	16	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.38	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-64.5	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	034809,6541.618,-5826.462,11,1.0,11,-36.2	MHEAD_RNG_PITCHd_Wd	106.2,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	472

FREEZE	1.66,-0.374,-0.197	TCM_TEMP	15.20
FINISH	1.7,1.002727	XPDR_PINGS	64
SM_CCo	14196,6.70,0.790,0,0,1732,225.19	_24V_AH	22.1,66.050
SM_GC	3.18,0.00,0.00,6.70,0.000,0.000,0.790,330,2240,1732,-10.81,0.28,225.19	_10V_AH	10.5,29.949
RAFOS_CLK	611	DATA_FILE_SIZE	31546,954
RAFOS	0,1228017844,4.083333,4.067778,62,56,56,55,51,51,219,177,159,200,117,141	CAP_FILE_SIZE	134346,0
RAFOS_FIX	6549.236328,-5929.427246,271108,202040,2,119,0.73	CFSIZE	260165632,225484800
IRIDIUM_FIX	6512.01,-5831.75,240298,030345	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.027612	SOUNDSPEED	1450.9
HUMID	1804	GPS	301108,034809,6541.618,-5826.462,11,1.0,11,-36.2
INTERNAL_PRESSURE	9.87343

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	243	123.30	SBE_CT	667	24	354.25
Roll_motor	111	79	194.58	SBE_O2	0	0	0.00
VBD_pump_during_apogee	315	1138	7947.04	nil	0	0	0.00
VBD_pump_during_surface	6	790	116.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	57	103	130.74	nil	0	0	0.00
Iridium_during_connect	178	160	632.83	nil	0	0	0.00
Iridium_during_xfer	551	223	2720.17
Transponder_ping	16	420	148.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.60
TT8	1751	19	366.42
LPSleep	10188	2	247.13
TT8_Active	476	19	99.58
TT8_Sampling	1695	39	710.70
TT8_CF8	1261	45	608.06
TT8_Kalman	0	81	0.00
Analog_circuits	1363	12	171.75
GPS_charging	0	0	0.00
Compass	1675	8	140.74
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
15	-0.99	-146.0	0.0	0.0	0	80	0.00	0.00	-62.75	0.000	2	0.000	0.000	332	2249	2732
84	-0.99	-146.0	3.1	-1.5	11	121	8.77	2.38	-20.55	0.000	4	0.244	0.077	2464	808	3248
308	-0.80	-146.0	26.2	-10.8	50	315	0.17	2.35	0.00	0.000	6	0.137	0.065	2505	2229	3252
653	-0.80	-146.0	54.7	-8.0	111	659	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2229	3252
997	-0.80	-146.0	81.5	-7.5	172	1004	0.00	2.22	0.00	0.000	4	0.000	0.079	2497	3595	3252
1067	-0.80	-146.0	87.0	-8.1	184	1073	0.00	2.17	0.00	0.000	6	0.000	0.051	2496	2209	3252
1415	-0.80	-146.0	111.8	-6.9	224	1419	0.00	2.22	0.00	0.000	4	0.000	0.064	2497	817	3252
1551	-0.80	-146.0	121.7	-7.9	230	1555	0.00	2.35	0.00	0.000	6	0.000	0.066	2487	2239	3252
1879	-0.80	-146.0	145.7	-7.3	246	1883	0.00	2.33	0.00	0.000	4	0.000	0.065	2487	813	3252
1929	-0.74	-146.0	149.7	-7.3	248	1934	0.15	2.35	0.00	0.000	6	0.137	0.066	2518	2241	3252
2251	-0.85	-146.0	167.2	-5.5	264	2256	0.10	2.33	0.00	0.000	4	0.091	0.065	2476	816	3252
2296	-0.76	-146.0	170.6	-7.9	266	2301	0.17	2.35	0.00	0.000	6	0.139	0.067	2515	2243	3252
2619	-0.86	-146.0	190.3	-6.3	282	2624	0.10	2.33	0.00	0.000	4	0.091	0.065	2474	817	3251
2682	-0.76	-146.0	195.3	-8.5	285	2688	0.17	2.33	0.00	0.000	6	0.139	0.067	2517	2233	3251
3016	-0.87	-146.0	213.4	-4.9	301	3021	0.12	2.30	0.00	0.000	4	0.086	0.064	2466	818	3250
3050	-0.74	-146.0	215.5	-6.7	302	3057	0.22	2.33	0.00	0.000	6	0.139	0.067	2520	2235	3250
3366	-0.89	-146.0	228.9	-4.3	318	3371	0.12	2.22	0.00	0.000	4	0.084	0.078	2458	3599	3250
3389	-0.89	-146.0	230.1	-5.1	319	3393	0.12	2.17	0.00	0.000	6	0.154	0.052	2490	2213	3250
3711	-0.89	-146.0	247.6	-5.6	335	3713	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2212	3250
4020	-0.94	-146.0	264.7	-5.6	350	4021	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2212	3250
4329	-0.99	-146.0	282.4	-5.8	365	4333	0.10	2.22	0.00	0.000	4	0.096	0.064	2448	813	3250
4362	-0.81	-146.0	284.8	-7.4	366	4367	0.22	2.33	0.00	0.000	6	0.139	0.065	2502	2235	3250
4679	-0.92	-146.0	301.6	-5.2	381	4680	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2235	3251
4988	-1.02	-146.0	317.4	-4.8	396	4990	0.15	0.00	0.00	0.000	6	0.081	0.000	2441	2235	3250
5298	-0.91	-146.0	337.7	-6.5	411	5302	0.15	2.22	0.00	0.000	4	0.150	0.075	2474	3604	3251
5309	-0.82	-146.0	338.3	-6.2	411	5313	0.12	2.15	0.00	0.000	6	0.142	0.049	2507	2222	3251
5630	-0.96	-146.0	350.7	-3.7	427	5634	0.12	2.22	0.00	0.000	4	0.085	0.061	2453	817	3252
5670	-0.81	-146.0	352.9	-5.6	428	5677	0.22	2.33	0.00	0.000	6	0.134	0.063	2508	2245	3252
5988	-0.96	-146.0	364.3	-3.6	444	5993	0.15	2.30	0.00	0.000	4	0.079	0.061	2447	824	3252
6062	-0.82	-146.0	368.8	-6.3	447	6067	0.22	2.30	0.00	0.000	6	0.134	0.062	2502	2242	3253
6378	-0.93	-146.0	381.9	-4.2	462	6383	0.10	2.30	0.00	0.000	4	0.091	0.061	2459	817	3253
6406	-0.86	-146.0	383.5	-5.9	463	6411	0.17	2.33	0.00	0.000	6	0.135	0.061	2497	2243	3253
6728	-0.95	-146.0	398.5	-4.6	479	6733	0.10	2.30	0.00	0.000	4	0.091	0.060	2455	819	3254
6761	-0.83	-146.0	400.8	-7.1	480	6768	0.20	2.33	0.00	0.000	6	0.135	0.061	2501	2245	3254
7093	-0.94	-146.0	417.0	-5.0	489	7098	0.10	2.30	0.00	0.000	4	0.090	0.061	2458	820	3254
7111	-0.94	-146.0	418.1	-5.1	489	7116	0.12	2.30	0.00	0.000	6	0.138	0.061	2482	2234	3254
7425	-0.99	-146.0	435.8	-5.4	497	7426	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2233	3254
7751	-1.04	-146.0	452.8	-5.2	505	7753	0.12	0.00	0.00	0.000	6	0.081	0.000	2431	2233	3254
8072	end dive: TARGET_DEPTH_EXCEEDED
state	8072	begin apogee
8080	-0.31	0.0	474.6	6.8	513	8208	0.57	0.00	125.68	1.138	6	0.130	0.000	2612	1745	2650
8209	end apogee: CONTROL_FINISHED_OK
state	8209	begin climb
8212	0.99	146.0	476.5	0.0	516	8346	0.88	0.00	130.12	1.064	6	0.094	0.000	2896	1745	2054
8660	0.78	146.0	431.6	10.7	527	8662	0.17	0.00	0.00	0.000	6	0.130	0.000	2848	1745	2046
8984	0.78	146.0	405.3	7.9	535	8988	0.00	2.35	0.00	0.000	4	0.000	0.067	2848	3158	2045
9030	0.63	146.0	401.5	8.8	536	9035	0.15	2.28	0.00	0.000	6	0.133	0.052	2814	1733	2044
9362	0.78	178.0	381.5	6.0	551	9392	0.12	0.00	26.88	1.055	6	0.075	0.000	2871	1732	1924
9688	0.68	178.0	350.7	10.1	567	9692	0.15	2.30	0.00	0.000	4	0.124	0.067	2836	323	1920
9715	0.74	178.0	348.0	9.1	568	9719	0.00	2.33	0.00	0.000	6	0.000	0.055	2836	1748	1920
10042	0.74	178.0	322.7	7.6	584	10046	0.00	2.28	0.00	0.000	4	0.000	0.069	2836	3164	1919
10112	0.67	178.0	316.9	8.6	587	10116	0.00	2.28	0.00	0.000	6	0.000	0.052	2846	1724	1918
10446	0.67	178.0	290.8	7.8	603	10448	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	1724	1918
10754	0.67	178.0	268.2	7.0	618	10758	0.00	2.35	0.00	0.000	4	0.000	0.066	2846	3163	1918
10815	0.56	178.0	263.3	8.1	620	10822	0.20	2.25	0.00	0.000	6	0.127	0.051	2796	1738	1917
11131	1.04	198.5	245.4	6.4	636	11155	0.30	2.40	17.88	0.973	4	0.073	0.067	2914	3162	1840
11291	0.74	198.5	226.6	14.1	643	11296	0.30	2.28	0.00	0.000	6	0.136	0.051	2836	1729	1836
11619	0.89	215.5	204.4	6.5	659	11638	0.12	0.00	15.38	0.934	6	0.071	0.000	2895	1729	1771
11947	0.80	215.5	173.2	9.6	675	11952	0.15	2.28	0.00	0.000	4	0.126	0.064	2858	331	1769
11998	0.93	215.5	168.9	7.1	677	12003	0.08	2.28	0.00	0.000	6	0.097	0.053	2900	1747	1769
12327	0.87	215.5	138.7	9.0	693	12331	0.12	2.25	0.00	0.000	4	0.133	0.067	2864	3153	1768
12417	0.87	215.5	131.0	7.9	697	12421	0.00	2.25	0.00	0.000	6	0.000	0.052	2871	1733	1768
12750	0.93	215.5	106.4	7.5	713	12754	0.00	2.28	0.00	0.000	4	0.000	0.067	2881	331	1767
12789	1.01	215.5	103.1	8.4	714	12795	0.00	2.28	0.00	0.000	6	0.000	0.055	2881	1745	1768
13129	1.01	215.5	76.6	7.8	769	13135	0.00	2.25	0.00	0.000	4	0.000	0.071	2881	3148	1767
13193	0.92	215.5	71.4	8.4	780	13200	0.00	2.25	0.00	0.000	6	0.000	0.054	2890	1727	1766
13538	0.92	216.3	46.4	7.0	841	13544	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	1727	1766
13882	0.92	216.3	21.9	8.3	902	13887	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	1727	1765
14150	end climb: SURFACE_DEPTH_REACHED
state	14150	begin surface coast
14177	end surface coast: FINISH_DEPTH_REACHED
state	14177	begin surface