Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 531 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 531 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 27 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 -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 -126752.72 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 60 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 0 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 60 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 -126752.72

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 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 27 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 0 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 531 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 161144,6634.245,-6011.660,0,2151.0,0,-37.3 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 15000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -8.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161144,6634.245,-6011.660,0,2151.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 339.3,27080,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 523

Post-dive calculations and measurements:

FREEZE 6.43,-1.770,-1.773 TCM_TEMP 14.80

FINISH1 6.4,1.025979,82 XPDR_PINGS 91

FINISH2 4.4 _24V_AH 21.6,85.847

RAFOS_CLK 617 _10V_AH 10.4,39.399

RAFOS 0,1230581046,20.083334,20.068333,131,64,60,57,53,51,618,219,204,182,170,229 DATA_FILE_SIZE 25263,819

RAFOS_FIX 6633.087402,-6012.624023,291208,202020,2,98,0.15 CAP_FILE_SIZE 115028,0

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 CFSIZE 260165632,216866816

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

HUMID 1817 SOUNDSPEED 1445.1

INTERNAL_PRESSURE 9.89296 GPS 291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 165 28.99 SBE_CT 572 24 296.99

Roll_motor 127 79 217.74 SBE_O2 0 0 0.00

VBD_pump_during_apogee 454 1168 11478.60 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 22 420 206.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1531 19 317.24

LPSleep 9537 2 229.12

TT8_Active 540 19 111.96

TT8_Sampling 1713 39 711.33

TT8_CF8 268 45 128.23

TT8_Kalman 0 0 0.00

Analog_circuits 1483 12 185.11

GPS_charging 0 0 0.00

Compass 1696 8 141.14

RAFOS 1800 1 28.08

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 67 0.00 0.00 -47.42 0.000 6 0.000 0.000 2701 325 3247

71 -0.99 -146.0 3.0 -1.5 9 83 0.65 5.45 0.00 0.000 4 0.063 0.066 2432 3605 3248

339 -0.67 -146.0 39.1 -16.2 56 346 0.32 2.20 0.00 0.000 6 0.166 0.054 2531 2220 3251

685 -0.67 -146.0 76.3 -10.8 117 690 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2220 3251

1030 -0.67 -146.0 109.0 -8.4 165 1032 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2220 3251

1340 -0.67 -146.0 132.7 -7.2 180 1342 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2221 3251

1649 -0.72 -146.0 156.7 -8.1 195 1653 0.00 2.25 0.00 0.000 4 0.000 0.067 2531 817 3251

1719 -0.72 -146.0 163.0 -10.0 198 1723 0.00 2.33 0.00 0.000 6 0.000 0.065 2523 2231 3251

2054 -0.78 -146.0 189.5 -8.0 214 2058 0.00 2.25 0.00 0.000 4 0.000 0.079 2512 3605 3251

2152 -0.88 -146.0 197.6 -7.7 218 2156 0.10 2.20 0.00 0.000 6 0.096 0.054 2468 2217 3251

2479 -0.76 -146.0 227.7 -9.9 234 2484 0.17 2.25 0.00 0.000 4 0.141 0.066 2526 814 3250

2542 -0.83 -146.0 232.8 -8.0 236 2548 0.00 2.35 0.00 0.000 6 0.000 0.066 2518 2236 3250

2860 -0.92 -146.0 253.7 -5.8 252 2865 0.12 2.25 0.00 0.000 4 0.086 0.078 2453 3598 3251

2946 -0.80 -146.0 261.1 -9.5 256 2951 0.20 2.17 0.00 0.000 6 0.149 0.054 2508 2226 3251

3279 -0.87 -146.0 287.3 -8.3 272 3282 0.00 2.28 0.00 0.000 4 0.000 0.066 2510 816 3251

3411 -0.94 -146.0 299.1 -8.4 277 3417 0.10 2.35 0.00 0.000 6 0.090 0.065 2461 2241 3250

3727 -0.86 -146.0 324.7 -7.3 293 3732 0.12 2.25 0.00 0.000 4 0.153 0.079 2485 3605 3250

3818 -0.86 -146.0 330.4 -6.1 297 3822 0.00 2.20 0.00 0.000 6 0.000 0.053 2485 2215 3250

4152 -0.86 -146.0 348.7 -5.8 313 4156 0.00 2.22 0.00 0.000 4 0.000 0.064 2485 821 3250

4243 -0.86 -146.0 355.0 -7.5 317 4247 0.00 2.35 0.00 0.000 6 0.000 0.067 2475 2240 3251

4570 -0.86 -146.0 377.6 -6.6 333 4574 0.00 2.25 0.00 0.000 4 0.000 0.079 2464 3610 3250

4655 -0.86 -146.0 383.5 -7.2 336 4662 0.12 2.20 0.00 0.000 6 0.148 0.053 2497 2218 3251

4972 -0.95 -146.0 400.3 -5.3 352 4976 0.10 2.22 0.00 0.000 4 0.095 0.064 2455 821 3251

5203 -0.85 -146.0 416.6 -7.0 357 5208 0.17 2.33 0.00 0.000 6 0.133 0.064 2496 2238 3251

5524 -0.95 -146.0 433.0 -5.1 365 5528 0.10 2.22 0.00 0.000 4 0.094 0.077 2444 3604 3251

5609 -0.86 -146.0 439.2 -7.3 366 5616 0.17 2.17 0.00 0.000 6 0.146 0.051 2492 2221 3251

5941 -0.95 -146.0 458.6 -5.7 375 5945 0.00 2.22 0.00 0.000 4 0.000 0.062 2492 820 3252

6027 -0.95 -146.0 463.7 -5.6 376 6033 0.00 2.33 0.00 0.000 6 0.000 0.062 2484 2241 3252

6359 -0.95 -146.0 481.9 -5.4 385 6363 0.00 2.22 0.00 0.000 4 0.000 0.077 2474 3602 3252

6450 -1.00 -146.0 487.5 -6.0 387 6454 0.00 2.17 0.00 0.000 6 0.000 0.050 2473 2213 3252

6781 -1.00 -146.0 507.0 -5.4 395 6785 0.00 2.28 0.00 0.000 4 0.000 0.071 2464 3596 3253

6940 end dive: NO_VERTICAL_VELOCITY

state 6941 begin apogee

6954 -0.31 0.0 507.9 0.0 398 7084 0.43 0.00 127.50 1.168 6 0.087 0.000 2615 1744 2650

7085 end apogee: CONTROL_FINISHED_OK

state 7085 begin climb

7089 0.99 146.0 507.3 0.0 401 7231 0.88 2.70 132.55 1.090 4 0.096 0.067 2896 3151 2053

7358 0.66 146.0 485.0 10.7 407 7363 0.30 2.42 0.00 0.000 6 0.135 0.050 2825 1732 2049

7673 0.78 179.8 466.0 5.9 415 7708 0.10 2.42 29.30 1.071 4 0.081 0.065 2871 3152 1917

7731 0.61 179.8 461.0 9.4 416 7736 0.25 2.33 0.00 0.000 6 0.133 0.051 2811 1725 1915

8081 0.82 213.7 440.1 5.9 425 8117 0.15 2.40 30.08 1.075 4 0.068 0.064 2877 3156 1777

8135 0.69 213.7 435.1 10.7 425 8140 0.22 2.30 0.00 0.000 6 0.133 0.050 2823 1726 1776

8487 0.90 243.8 412.2 6.1 434 8522 0.17 2.45 27.30 1.059 4 0.064 0.065 2901 3159 1655

8534 0.71 243.8 407.6 10.5 435 8539 0.28 2.30 0.00 0.000 6 0.133 0.050 2831 1726 1654

8862 0.90 254.8 386.1 6.7 448 8877 0.15 0.00 10.00 0.959 6 0.071 0.000 2900 1726 1611

9187 0.79 254.8 352.8 10.7 464 9192 0.17 2.35 0.00 0.000 4 0.130 0.064 2849 3159 1610

9215 0.79 254.8 349.9 9.5 465 9218 0.00 2.25 0.00 0.000 6 0.000 0.050 2856 1733 1609

9539 0.89 254.8 323.4 7.9 481 9543 0.00 2.33 0.00 0.000 4 0.000 0.066 2856 3157 1609

9567 0.89 254.8 320.8 8.2 482 9571 0.00 2.25 0.00 0.000 6 0.000 0.051 2866 1729 1608

9895 0.97 259.3 298.7 6.9 498 9905 0.10 2.35 5.28 0.800 4 0.087 0.065 2914 3163 1592

9913 0.97 259.3 297.2 7.5 499 9918 0.15 2.25 0.00 0.000 6 0.143 0.051 2883 1734 1592

10241 0.97 259.3 270.1 8.0 515 10242 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 1733 1592

10549 0.97 259.3 246.0 7.7 530 10550 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 1734 1592

10860 1.04 259.3 226.5 7.2 545 10864 0.10 2.35 0.00 0.000 4 0.084 0.068 2931 3161 1592

10888 0.89 259.3 223.4 11.2 546 10893 0.25 2.25 0.00 0.000 6 0.135 0.053 2869 1739 1592

11207 1.09 301.8 200.3 5.7 561 11250 0.15 0.00 40.03 0.996 6 0.073 0.000 2937 1738 1419

11554 1.02 301.8 168.0 8.6 578 11559 0.15 2.30 0.00 0.000 4 0.131 0.067 2902 333 1414

11605 1.19 301.8 164.1 7.3 580 11610 0.12 2.30 0.00 0.000 6 0.074 0.055 2958 1752 1414

11924 1.10 301.8 132.5 10.6 595 11928 0.15 2.28 0.00 0.000 4 0.138 0.071 2915 3152 1412

11957 1.10 301.8 128.7 10.3 596 11963 0.00 2.25 0.00 0.000 6 0.000 0.054 2922 1737 1411

12275 1.17 301.8 104.7 7.3 612 12276 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1737 1410

12605 1.27 328.5 81.9 6.2 660 12635 0.12 2.35 23.73 0.931 4 0.080 0.071 2975 3149 1310

12649 1.18 328.5 77.6 9.5 667 12656 0.20 2.28 0.00 0.000 6 0.140 0.054 2929 1733 1309

12995 1.26 331.6 50.0 6.9 728 13002 0.10 2.30 0.00 0.000 4 0.084 0.070 2983 330 1305

13021 1.26 331.6 47.9 7.0 732 13027 0.12 2.30 0.00 0.000 6 0.146 0.057 2951 1745 1305

13367 1.29 361.1 16.7 6.1 793 13403 0.00 2.33 29.17 0.899 4 0.000 0.073 2951 3159 1177

13444 1.21 361.1 9.3 11.5 806 13450 0.00 2.30 0.00 0.000 6 0.000 0.057 2959 1737 1175

13472 end climb: FINISH_DEPTH_REACHED

state 13472 begin subsurface finish

13482 0.10 82.0 6.4 -9.2 811 13528 0.80 0.00 -41.38 0.000 6 0.117 0.000 2700 1737 2319

13529 end subsurface finish: CONTROL_FINISHED_OK

state 13529 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	531	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	27	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	-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	-126752.72	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	60	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	0	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	161144,6634.245,-6011.660,0,2151.0,0,-37.3	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	15000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-8.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161144,6634.245,-6011.660,0,2151.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	339.3,27080,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	523

FREEZE	6.43,-1.770,-1.773	TCM_TEMP	14.80
FINISH1	6.4,1.025979,82	XPDR_PINGS	91
FINISH2	4.4	_24V_AH	21.6,85.847
RAFOS_CLK	617	_10V_AH	10.4,39.399
RAFOS	0,1230581046,20.083334,20.068333,131,64,60,57,53,51,618,219,204,182,170,229	DATA_FILE_SIZE	25263,819
RAFOS_FIX	6633.087402,-6012.624023,291208,202020,2,98,0.15	CAP_FILE_SIZE	115028,0
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	CFSIZE	260165632,216866816
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1817	SOUNDSPEED	1445.1
INTERNAL_PRESSURE	9.89296	GPS	291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	165	28.99	SBE_CT	572	24	296.99
Roll_motor	127	79	217.74	SBE_O2	0	0	0.00
VBD_pump_during_apogee	454	1168	11478.60	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	22	420	206.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1531	19	317.24
LPSleep	9537	2	229.12
TT8_Active	540	19	111.96
TT8_Sampling	1713	39	711.33
TT8_CF8	268	45	128.23
TT8_Kalman	0	0	0.00
Analog_circuits	1483	12	185.11
GPS_charging	0	0	0.00
Compass	1696	8	141.14
RAFOS	1800	1	28.08
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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	67	0.00	0.00	-47.42	0.000	6	0.000	0.000	2701	325	3247
71	-0.99	-146.0	3.0	-1.5	9	83	0.65	5.45	0.00	0.000	4	0.063	0.066	2432	3605	3248
339	-0.67	-146.0	39.1	-16.2	56	346	0.32	2.20	0.00	0.000	6	0.166	0.054	2531	2220	3251
685	-0.67	-146.0	76.3	-10.8	117	690	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2220	3251
1030	-0.67	-146.0	109.0	-8.4	165	1032	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2220	3251
1340	-0.67	-146.0	132.7	-7.2	180	1342	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2221	3251
1649	-0.72	-146.0	156.7	-8.1	195	1653	0.00	2.25	0.00	0.000	4	0.000	0.067	2531	817	3251
1719	-0.72	-146.0	163.0	-10.0	198	1723	0.00	2.33	0.00	0.000	6	0.000	0.065	2523	2231	3251
2054	-0.78	-146.0	189.5	-8.0	214	2058	0.00	2.25	0.00	0.000	4	0.000	0.079	2512	3605	3251
2152	-0.88	-146.0	197.6	-7.7	218	2156	0.10	2.20	0.00	0.000	6	0.096	0.054	2468	2217	3251
2479	-0.76	-146.0	227.7	-9.9	234	2484	0.17	2.25	0.00	0.000	4	0.141	0.066	2526	814	3250
2542	-0.83	-146.0	232.8	-8.0	236	2548	0.00	2.35	0.00	0.000	6	0.000	0.066	2518	2236	3250
2860	-0.92	-146.0	253.7	-5.8	252	2865	0.12	2.25	0.00	0.000	4	0.086	0.078	2453	3598	3251
2946	-0.80	-146.0	261.1	-9.5	256	2951	0.20	2.17	0.00	0.000	6	0.149	0.054	2508	2226	3251
3279	-0.87	-146.0	287.3	-8.3	272	3282	0.00	2.28	0.00	0.000	4	0.000	0.066	2510	816	3251
3411	-0.94	-146.0	299.1	-8.4	277	3417	0.10	2.35	0.00	0.000	6	0.090	0.065	2461	2241	3250
3727	-0.86	-146.0	324.7	-7.3	293	3732	0.12	2.25	0.00	0.000	4	0.153	0.079	2485	3605	3250
3818	-0.86	-146.0	330.4	-6.1	297	3822	0.00	2.20	0.00	0.000	6	0.000	0.053	2485	2215	3250
4152	-0.86	-146.0	348.7	-5.8	313	4156	0.00	2.22	0.00	0.000	4	0.000	0.064	2485	821	3250
4243	-0.86	-146.0	355.0	-7.5	317	4247	0.00	2.35	0.00	0.000	6	0.000	0.067	2475	2240	3251
4570	-0.86	-146.0	377.6	-6.6	333	4574	0.00	2.25	0.00	0.000	4	0.000	0.079	2464	3610	3250
4655	-0.86	-146.0	383.5	-7.2	336	4662	0.12	2.20	0.00	0.000	6	0.148	0.053	2497	2218	3251
4972	-0.95	-146.0	400.3	-5.3	352	4976	0.10	2.22	0.00	0.000	4	0.095	0.064	2455	821	3251
5203	-0.85	-146.0	416.6	-7.0	357	5208	0.17	2.33	0.00	0.000	6	0.133	0.064	2496	2238	3251
5524	-0.95	-146.0	433.0	-5.1	365	5528	0.10	2.22	0.00	0.000	4	0.094	0.077	2444	3604	3251
5609	-0.86	-146.0	439.2	-7.3	366	5616	0.17	2.17	0.00	0.000	6	0.146	0.051	2492	2221	3251
5941	-0.95	-146.0	458.6	-5.7	375	5945	0.00	2.22	0.00	0.000	4	0.000	0.062	2492	820	3252
6027	-0.95	-146.0	463.7	-5.6	376	6033	0.00	2.33	0.00	0.000	6	0.000	0.062	2484	2241	3252
6359	-0.95	-146.0	481.9	-5.4	385	6363	0.00	2.22	0.00	0.000	4	0.000	0.077	2474	3602	3252
6450	-1.00	-146.0	487.5	-6.0	387	6454	0.00	2.17	0.00	0.000	6	0.000	0.050	2473	2213	3252
6781	-1.00	-146.0	507.0	-5.4	395	6785	0.00	2.28	0.00	0.000	4	0.000	0.071	2464	3596	3253
6940	end dive: NO_VERTICAL_VELOCITY
state	6941	begin apogee
6954	-0.31	0.0	507.9	0.0	398	7084	0.43	0.00	127.50	1.168	6	0.087	0.000	2615	1744	2650
7085	end apogee: CONTROL_FINISHED_OK
state	7085	begin climb
7089	0.99	146.0	507.3	0.0	401	7231	0.88	2.70	132.55	1.090	4	0.096	0.067	2896	3151	2053
7358	0.66	146.0	485.0	10.7	407	7363	0.30	2.42	0.00	0.000	6	0.135	0.050	2825	1732	2049
7673	0.78	179.8	466.0	5.9	415	7708	0.10	2.42	29.30	1.071	4	0.081	0.065	2871	3152	1917
7731	0.61	179.8	461.0	9.4	416	7736	0.25	2.33	0.00	0.000	6	0.133	0.051	2811	1725	1915
8081	0.82	213.7	440.1	5.9	425	8117	0.15	2.40	30.08	1.075	4	0.068	0.064	2877	3156	1777
8135	0.69	213.7	435.1	10.7	425	8140	0.22	2.30	0.00	0.000	6	0.133	0.050	2823	1726	1776
8487	0.90	243.8	412.2	6.1	434	8522	0.17	2.45	27.30	1.059	4	0.064	0.065	2901	3159	1655
8534	0.71	243.8	407.6	10.5	435	8539	0.28	2.30	0.00	0.000	6	0.133	0.050	2831	1726	1654
8862	0.90	254.8	386.1	6.7	448	8877	0.15	0.00	10.00	0.959	6	0.071	0.000	2900	1726	1611
9187	0.79	254.8	352.8	10.7	464	9192	0.17	2.35	0.00	0.000	4	0.130	0.064	2849	3159	1610
9215	0.79	254.8	349.9	9.5	465	9218	0.00	2.25	0.00	0.000	6	0.000	0.050	2856	1733	1609
9539	0.89	254.8	323.4	7.9	481	9543	0.00	2.33	0.00	0.000	4	0.000	0.066	2856	3157	1609
9567	0.89	254.8	320.8	8.2	482	9571	0.00	2.25	0.00	0.000	6	0.000	0.051	2866	1729	1608
9895	0.97	259.3	298.7	6.9	498	9905	0.10	2.35	5.28	0.800	4	0.087	0.065	2914	3163	1592
9913	0.97	259.3	297.2	7.5	499	9918	0.15	2.25	0.00	0.000	6	0.143	0.051	2883	1734	1592
10241	0.97	259.3	270.1	8.0	515	10242	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	1733	1592
10549	0.97	259.3	246.0	7.7	530	10550	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	1734	1592
10860	1.04	259.3	226.5	7.2	545	10864	0.10	2.35	0.00	0.000	4	0.084	0.068	2931	3161	1592
10888	0.89	259.3	223.4	11.2	546	10893	0.25	2.25	0.00	0.000	6	0.135	0.053	2869	1739	1592
11207	1.09	301.8	200.3	5.7	561	11250	0.15	0.00	40.03	0.996	6	0.073	0.000	2937	1738	1419
11554	1.02	301.8	168.0	8.6	578	11559	0.15	2.30	0.00	0.000	4	0.131	0.067	2902	333	1414
11605	1.19	301.8	164.1	7.3	580	11610	0.12	2.30	0.00	0.000	6	0.074	0.055	2958	1752	1414
11924	1.10	301.8	132.5	10.6	595	11928	0.15	2.28	0.00	0.000	4	0.138	0.071	2915	3152	1412
11957	1.10	301.8	128.7	10.3	596	11963	0.00	2.25	0.00	0.000	6	0.000	0.054	2922	1737	1411
12275	1.17	301.8	104.7	7.3	612	12276	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1737	1410
12605	1.27	328.5	81.9	6.2	660	12635	0.12	2.35	23.73	0.931	4	0.080	0.071	2975	3149	1310
12649	1.18	328.5	77.6	9.5	667	12656	0.20	2.28	0.00	0.000	6	0.140	0.054	2929	1733	1309
12995	1.26	331.6	50.0	6.9	728	13002	0.10	2.30	0.00	0.000	4	0.084	0.070	2983	330	1305
13021	1.26	331.6	47.9	7.0	732	13027	0.12	2.30	0.00	0.000	6	0.146	0.057	2951	1745	1305
13367	1.29	361.1	16.7	6.1	793	13403	0.00	2.33	29.17	0.899	4	0.000	0.073	2951	3159	1177
13444	1.21	361.1	9.3	11.5	806	13450	0.00	2.30	0.00	0.000	6	0.000	0.057	2959	1737	1175
13472	end climb: FINISH_DEPTH_REACHED
state	13472	begin subsurface finish
13482	0.10	82.0	6.4	-9.2	811	13528	0.80	0.00	-41.38	0.000	6	0.117	0.000	2700	1737	2319
13529	end subsurface finish: CONTROL_FINISHED_OK
state	13529	begin surface