Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 532 * 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 532 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 26 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 26 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 532 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 202120,6633.087,-6012.624,0,2098.0,0,-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 1.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 202120,6633.087,-6012.624,0,2098.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 343.9,27705,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 516

Post-dive calculations and measurements:

FREEZE 6.26,-1.795,-1.772 TCM_TEMP 14.80

FINISH1 6.3,1.025975,82 XPDR_PINGS 125

FINISH2 3.5 _24V_AH 21.6,85.990

RAFOS_CLK 609 _10V_AH 10.4,39.451

RAFOS 0,1230595462,0.083333,0.072778,83,65,64,58,54,50,540,197,211,164,187,231 DATA_FILE_SIZE 28421,841

RAFOS_FIX 6633.087402,-6012.624023,291208,202020,2,98,0.15 CAP_FILE_SIZE 110290,0

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 CFSIZE 260165632,216817664

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

HUMID 1829 SOUNDSPEED 1445.0

INTERNAL_PRESSURE 9.90272 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 8 175 32.82 SBE_CT 588 24 305.01

Roll_motor 105 80 183.04 SBE_O2 0 0 0.00

VBD_pump_during_apogee 470 1159 11787.72 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 31 420 283.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1523 19 315.60

LPSleep 9489 2 227.97

TT8_Active 544 19 112.77

TT8_Sampling 1651 39 685.73

TT8_CF8 249 45 119.18

TT8_Kalman 0 0 0.00

Analog_circuits 1447 12 180.64

GPS_charging 0 0 0.00

Compass 1636 8 136.13

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

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 -48.40 0.000 6 0.000 0.000 2699 1737 3246

71 -0.99 -146.0 3.1 -2.9 9 78 0.68 3.10 0.00 0.000 4 0.083 0.074 2453 3597 3248

230 -0.71 -146.0 23.2 -12.0 36 237 0.25 2.20 0.00 0.000 6 0.149 0.054 2523 2211 3251

576 -0.71 -146.0 56.4 -8.9 97 581 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2211 3252

920 -0.71 -146.0 85.9 -8.9 158 925 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2211 3252

1267 -0.71 -146.0 115.5 -8.2 195 1269 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2211 3252

1574 -0.71 -146.0 137.8 -6.5 210 1578 0.00 2.25 0.00 0.000 4 0.000 0.067 2526 820 3252

1669 -0.71 -146.0 145.1 -8.3 214 1673 0.00 2.38 0.00 0.000 6 0.000 0.066 2518 2234 3252

1992 -0.71 -146.0 172.5 -8.3 230 1996 0.00 2.33 0.00 0.000 4 0.000 0.065 2517 818 3251

2054 -0.71 -146.0 178.0 -8.3 232 2060 0.00 2.38 0.00 0.000 6 0.000 0.065 2508 2243 3251

2370 -0.71 -146.0 199.7 -7.0 248 2372 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2243 3251

2680 -0.77 -146.0 222.8 -8.0 263 2684 0.00 2.35 0.00 0.000 4 0.000 0.066 2507 812 3251

2782 -0.77 -146.0 231.2 -8.3 267 2786 0.00 2.38 0.00 0.000 6 0.000 0.066 2498 2241 3251

3099 -0.77 -146.0 256.9 -7.9 282 3103 0.00 2.25 0.00 0.000 4 0.000 0.080 2488 3598 3251

3183 -0.77 -146.0 263.6 -7.3 285 3190 0.10 2.17 0.00 0.000 6 0.151 0.053 2512 2224 3251

3500 -0.88 -146.0 282.3 -5.8 301 3502 0.10 0.00 0.00 0.000 6 0.097 0.000 2470 2224 3251

3811 -0.83 -146.0 305.0 -7.9 316 3813 0.12 0.00 0.00 0.000 6 0.150 0.000 2503 2224 3250

4119 -0.93 -146.0 323.0 -5.1 331 4123 0.10 2.28 0.00 0.000 4 0.097 0.065 2463 815 3250

4243 -0.84 -146.0 332.3 -7.6 336 4250 0.17 2.38 0.00 0.000 6 0.134 0.066 2501 2243 3250

4560 -0.93 -146.0 352.4 -6.8 352 4564 0.10 2.25 0.00 0.000 4 0.098 0.079 2450 3601 3250

4638 -0.84 -146.0 359.6 -9.0 355 4645 0.17 2.17 0.00 0.000 6 0.150 0.052 2497 2224 3250

4955 -0.94 -146.0 382.7 -6.9 371 4959 0.00 2.25 0.00 0.000 4 0.000 0.065 2497 816 3251

5052 -0.99 -146.0 389.3 -6.9 375 5056 0.10 2.35 0.00 0.000 6 0.089 0.064 2447 2245 3251

5372 -0.90 -146.0 410.8 -6.4 387 5376 0.15 2.25 0.00 0.000 4 0.153 0.076 2479 3607 3251

5532 -0.97 -146.0 420.1 -5.8 390 5536 0.00 2.17 0.00 0.000 6 0.000 0.051 2479 2216 3251

5881 -0.97 -146.0 440.1 -5.8 399 5885 0.00 2.22 0.00 0.000 4 0.000 0.063 2479 819 3251

5983 -0.97 -146.0 447.3 -7.2 401 5987 0.00 2.35 0.00 0.000 6 0.000 0.063 2469 2245 3251

6296 -0.97 -146.0 466.9 -5.9 409 6300 0.00 2.22 0.00 0.000 4 0.000 0.076 2459 3597 3252

6491 -0.97 -146.0 482.2 -9.0 413 6495 0.00 2.17 0.00 0.000 6 0.000 0.050 2459 2215 3252

6811 -1.24 -146.0 495.1 -0.7 421 6812 0.15 0.00 0.00 0.000 6 0.071 0.000 2391 2214 3253

6928 end dive: NO_VERTICAL_VELOCITY

state 6929 begin apogee

6938 -0.31 0.0 495.1 0.0 424 7068 0.68 0.00 127.07 1.160 6 0.100 0.000 2615 1733 2650

7068 end apogee: CONTROL_FINISHED_OK

state 7068 begin climb

7072 0.99 146.0 494.8 0.0 427 7211 0.88 2.60 132.05 1.085 4 0.103 0.065 2903 329 2054

7300 0.78 146.0 475.8 10.3 432 7305 0.20 2.50 0.00 0.000 6 0.138 0.054 2850 1747 2051

7648 0.78 146.0 448.3 7.8 441 7652 0.00 2.33 0.00 0.000 4 0.000 0.068 2850 3162 2048

7695 0.64 146.0 444.2 9.2 442 7699 0.15 2.30 0.00 0.000 6 0.137 0.051 2817 1729 2047

8023 0.80 180.5 424.2 5.9 450 8058 0.12 2.40 29.30 1.074 4 0.074 0.066 2872 3162 1914

8087 0.61 180.5 418.6 10.6 451 8092 0.25 2.30 0.00 0.000 6 0.134 0.051 2811 1731 1913

8411 0.79 190.9 397.2 6.7 460 8424 0.15 0.00 10.20 0.972 6 0.068 0.000 2878 1731 1871

8720 0.71 190.9 369.3 8.3 475 8722 0.17 0.00 0.00 0.000 6 0.123 0.000 2826 1731 1870

9029 0.86 190.9 349.8 7.6 490 9034 0.15 2.33 0.00 0.000 4 0.070 0.065 2893 3155 1870

9058 0.71 190.9 346.6 12.3 491 9063 0.25 2.22 0.00 0.000 6 0.135 0.051 2830 1735 1869

9380 0.88 209.8 321.2 6.4 507 9400 0.15 0.00 17.23 1.011 6 0.069 0.000 2899 1735 1795

9710 0.79 209.8 294.2 9.1 523 9711 0.17 0.00 0.00 0.000 6 0.128 0.000 2847 1735 1793

10018 0.92 209.8 270.7 7.2 538 10023 0.12 2.35 0.00 0.000 4 0.077 0.067 2904 3167 1792

10040 0.85 209.8 268.6 8.9 539 10045 0.20 2.25 0.00 0.000 6 0.140 0.051 2858 1730 1791

10369 0.97 219.7 246.5 6.7 555 10381 0.12 0.00 9.45 0.924 6 0.077 0.000 2917 1730 1755

10677 0.87 219.7 216.3 9.4 570 10682 0.17 2.28 0.00 0.000 4 0.133 0.066 2875 330 1754

10689 0.80 219.7 215.2 9.2 570 10695 0.00 2.28 0.00 0.000 6 0.000 0.053 2874 1745 1754

11006 0.91 248.1 196.3 6.1 586 11037 0.00 2.30 26.75 0.983 4 0.000 0.068 2875 3160 1638

11050 1.03 268.4 193.4 6.4 588 11075 0.00 2.28 19.85 0.937 6 0.000 0.052 2884 1738 1556

11398 1.18 268.4 167.3 8.3 605 11403 0.17 2.35 0.00 0.000 4 0.070 0.067 2959 3163 1550

11427 1.01 268.4 164.1 12.0 606 11432 0.25 2.28 0.00 0.000 6 0.143 0.054 2898 1739 1549

11746 1.17 309.3 143.2 5.7 621 11790 0.12 2.35 36.38 0.956 4 0.076 0.068 2966 324 1389

11824 1.11 309.3 136.1 9.2 624 11829 0.17 2.35 0.00 0.000 6 0.130 0.055 2917 1751 1388

12142 1.23 309.3 111.7 7.5 639 12146 0.12 2.28 0.00 0.000 4 0.075 0.071 2971 3150 1383

12153 1.31 309.3 110.7 7.4 639 12157 0.00 2.28 0.00 0.000 6 0.000 0.054 2981 1725 1382

12490 1.13 309.3 75.3 12.3 684 12496 0.20 0.00 0.00 0.000 6 0.140 0.000 2919 1725 1382

12836 1.25 334.0 50.1 6.2 745 12860 0.12 0.00 21.40 0.912 6 0.077 0.000 2969 1725 1288

13200 1.12 334.0 16.8 9.4 809 13207 0.17 2.40 0.00 0.000 4 0.137 0.072 2919 3162 1284

13293 1.32 503.8 10.5 1.6 825 13340 0.15 2.30 40.90 0.895 2 0.075 0.058 2987 1729 1101

13340 end climb: FINISH_DEPTH_REACHED

state 13341 begin subsurface finish

13349 0.10 82.3 6.3 -10.0 832 13403 1.00 2.38 -45.97 0.000 4 0.176 0.081 2702 3153 2316

13404 end subsurface finish: CONTROL_FINISHED_OK

state 13404 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	532	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	26	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	202120,6633.087,-6012.624,0,2098.0,0,-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	1.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	202120,6633.087,-6012.624,0,2098.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	343.9,27705,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	516

FREEZE	6.26,-1.795,-1.772	TCM_TEMP	14.80
FINISH1	6.3,1.025975,82	XPDR_PINGS	125
FINISH2	3.5	_24V_AH	21.6,85.990
RAFOS_CLK	609	_10V_AH	10.4,39.451
RAFOS	0,1230595462,0.083333,0.072778,83,65,64,58,54,50,540,197,211,164,187,231	DATA_FILE_SIZE	28421,841
RAFOS_FIX	6633.087402,-6012.624023,291208,202020,2,98,0.15	CAP_FILE_SIZE	110290,0
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	CFSIZE	260165632,216817664
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1829	SOUNDSPEED	1445.0
INTERNAL_PRESSURE	9.90272	GPS	291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	175	32.82	SBE_CT	588	24	305.01
Roll_motor	105	80	183.04	SBE_O2	0	0	0.00
VBD_pump_during_apogee	470	1159	11787.72	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	31	420	283.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1523	19	315.60
LPSleep	9489	2	227.97
TT8_Active	544	19	112.77
TT8_Sampling	1651	39	685.73
TT8_CF8	249	45	119.18
TT8_Kalman	0	0	0.00
Analog_circuits	1447	12	180.64
GPS_charging	0	0	0.00
Compass	1636	8	136.13
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
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	-48.40	0.000	6	0.000	0.000	2699	1737	3246
71	-0.99	-146.0	3.1	-2.9	9	78	0.68	3.10	0.00	0.000	4	0.083	0.074	2453	3597	3248
230	-0.71	-146.0	23.2	-12.0	36	237	0.25	2.20	0.00	0.000	6	0.149	0.054	2523	2211	3251
576	-0.71	-146.0	56.4	-8.9	97	581	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2211	3252
920	-0.71	-146.0	85.9	-8.9	158	925	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2211	3252
1267	-0.71	-146.0	115.5	-8.2	195	1269	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2211	3252
1574	-0.71	-146.0	137.8	-6.5	210	1578	0.00	2.25	0.00	0.000	4	0.000	0.067	2526	820	3252
1669	-0.71	-146.0	145.1	-8.3	214	1673	0.00	2.38	0.00	0.000	6	0.000	0.066	2518	2234	3252
1992	-0.71	-146.0	172.5	-8.3	230	1996	0.00	2.33	0.00	0.000	4	0.000	0.065	2517	818	3251
2054	-0.71	-146.0	178.0	-8.3	232	2060	0.00	2.38	0.00	0.000	6	0.000	0.065	2508	2243	3251
2370	-0.71	-146.0	199.7	-7.0	248	2372	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2243	3251
2680	-0.77	-146.0	222.8	-8.0	263	2684	0.00	2.35	0.00	0.000	4	0.000	0.066	2507	812	3251
2782	-0.77	-146.0	231.2	-8.3	267	2786	0.00	2.38	0.00	0.000	6	0.000	0.066	2498	2241	3251
3099	-0.77	-146.0	256.9	-7.9	282	3103	0.00	2.25	0.00	0.000	4	0.000	0.080	2488	3598	3251
3183	-0.77	-146.0	263.6	-7.3	285	3190	0.10	2.17	0.00	0.000	6	0.151	0.053	2512	2224	3251
3500	-0.88	-146.0	282.3	-5.8	301	3502	0.10	0.00	0.00	0.000	6	0.097	0.000	2470	2224	3251
3811	-0.83	-146.0	305.0	-7.9	316	3813	0.12	0.00	0.00	0.000	6	0.150	0.000	2503	2224	3250
4119	-0.93	-146.0	323.0	-5.1	331	4123	0.10	2.28	0.00	0.000	4	0.097	0.065	2463	815	3250
4243	-0.84	-146.0	332.3	-7.6	336	4250	0.17	2.38	0.00	0.000	6	0.134	0.066	2501	2243	3250
4560	-0.93	-146.0	352.4	-6.8	352	4564	0.10	2.25	0.00	0.000	4	0.098	0.079	2450	3601	3250
4638	-0.84	-146.0	359.6	-9.0	355	4645	0.17	2.17	0.00	0.000	6	0.150	0.052	2497	2224	3250
4955	-0.94	-146.0	382.7	-6.9	371	4959	0.00	2.25	0.00	0.000	4	0.000	0.065	2497	816	3251
5052	-0.99	-146.0	389.3	-6.9	375	5056	0.10	2.35	0.00	0.000	6	0.089	0.064	2447	2245	3251
5372	-0.90	-146.0	410.8	-6.4	387	5376	0.15	2.25	0.00	0.000	4	0.153	0.076	2479	3607	3251
5532	-0.97	-146.0	420.1	-5.8	390	5536	0.00	2.17	0.00	0.000	6	0.000	0.051	2479	2216	3251
5881	-0.97	-146.0	440.1	-5.8	399	5885	0.00	2.22	0.00	0.000	4	0.000	0.063	2479	819	3251
5983	-0.97	-146.0	447.3	-7.2	401	5987	0.00	2.35	0.00	0.000	6	0.000	0.063	2469	2245	3251
6296	-0.97	-146.0	466.9	-5.9	409	6300	0.00	2.22	0.00	0.000	4	0.000	0.076	2459	3597	3252
6491	-0.97	-146.0	482.2	-9.0	413	6495	0.00	2.17	0.00	0.000	6	0.000	0.050	2459	2215	3252
6811	-1.24	-146.0	495.1	-0.7	421	6812	0.15	0.00	0.00	0.000	6	0.071	0.000	2391	2214	3253
6928	end dive: NO_VERTICAL_VELOCITY
state	6929	begin apogee
6938	-0.31	0.0	495.1	0.0	424	7068	0.68	0.00	127.07	1.160	6	0.100	0.000	2615	1733	2650
7068	end apogee: CONTROL_FINISHED_OK
state	7068	begin climb
7072	0.99	146.0	494.8	0.0	427	7211	0.88	2.60	132.05	1.085	4	0.103	0.065	2903	329	2054
7300	0.78	146.0	475.8	10.3	432	7305	0.20	2.50	0.00	0.000	6	0.138	0.054	2850	1747	2051
7648	0.78	146.0	448.3	7.8	441	7652	0.00	2.33	0.00	0.000	4	0.000	0.068	2850	3162	2048
7695	0.64	146.0	444.2	9.2	442	7699	0.15	2.30	0.00	0.000	6	0.137	0.051	2817	1729	2047
8023	0.80	180.5	424.2	5.9	450	8058	0.12	2.40	29.30	1.074	4	0.074	0.066	2872	3162	1914
8087	0.61	180.5	418.6	10.6	451	8092	0.25	2.30	0.00	0.000	6	0.134	0.051	2811	1731	1913
8411	0.79	190.9	397.2	6.7	460	8424	0.15	0.00	10.20	0.972	6	0.068	0.000	2878	1731	1871
8720	0.71	190.9	369.3	8.3	475	8722	0.17	0.00	0.00	0.000	6	0.123	0.000	2826	1731	1870
9029	0.86	190.9	349.8	7.6	490	9034	0.15	2.33	0.00	0.000	4	0.070	0.065	2893	3155	1870
9058	0.71	190.9	346.6	12.3	491	9063	0.25	2.22	0.00	0.000	6	0.135	0.051	2830	1735	1869
9380	0.88	209.8	321.2	6.4	507	9400	0.15	0.00	17.23	1.011	6	0.069	0.000	2899	1735	1795
9710	0.79	209.8	294.2	9.1	523	9711	0.17	0.00	0.00	0.000	6	0.128	0.000	2847	1735	1793
10018	0.92	209.8	270.7	7.2	538	10023	0.12	2.35	0.00	0.000	4	0.077	0.067	2904	3167	1792
10040	0.85	209.8	268.6	8.9	539	10045	0.20	2.25	0.00	0.000	6	0.140	0.051	2858	1730	1791
10369	0.97	219.7	246.5	6.7	555	10381	0.12	0.00	9.45	0.924	6	0.077	0.000	2917	1730	1755
10677	0.87	219.7	216.3	9.4	570	10682	0.17	2.28	0.00	0.000	4	0.133	0.066	2875	330	1754
10689	0.80	219.7	215.2	9.2	570	10695	0.00	2.28	0.00	0.000	6	0.000	0.053	2874	1745	1754
11006	0.91	248.1	196.3	6.1	586	11037	0.00	2.30	26.75	0.983	4	0.000	0.068	2875	3160	1638
11050	1.03	268.4	193.4	6.4	588	11075	0.00	2.28	19.85	0.937	6	0.000	0.052	2884	1738	1556
11398	1.18	268.4	167.3	8.3	605	11403	0.17	2.35	0.00	0.000	4	0.070	0.067	2959	3163	1550
11427	1.01	268.4	164.1	12.0	606	11432	0.25	2.28	0.00	0.000	6	0.143	0.054	2898	1739	1549
11746	1.17	309.3	143.2	5.7	621	11790	0.12	2.35	36.38	0.956	4	0.076	0.068	2966	324	1389
11824	1.11	309.3	136.1	9.2	624	11829	0.17	2.35	0.00	0.000	6	0.130	0.055	2917	1751	1388
12142	1.23	309.3	111.7	7.5	639	12146	0.12	2.28	0.00	0.000	4	0.075	0.071	2971	3150	1383
12153	1.31	309.3	110.7	7.4	639	12157	0.00	2.28	0.00	0.000	6	0.000	0.054	2981	1725	1382
12490	1.13	309.3	75.3	12.3	684	12496	0.20	0.00	0.00	0.000	6	0.140	0.000	2919	1725	1382
12836	1.25	334.0	50.1	6.2	745	12860	0.12	0.00	21.40	0.912	6	0.077	0.000	2969	1725	1288
13200	1.12	334.0	16.8	9.4	809	13207	0.17	2.40	0.00	0.000	4	0.137	0.072	2919	3162	1284
13293	1.32	503.8	10.5	1.6	825	13340	0.15	2.30	40.90	0.895	2	0.075	0.058	2987	1729	1101
13340	end climb: FINISH_DEPTH_REACHED
state	13341	begin subsurface finish
13349	0.10	82.3	6.3	-10.0	832	13403	1.00	2.38	-45.97	0.000	4	0.176	0.081	2702	3153	2316
13404	end subsurface finish: CONTROL_FINISHED_OK
state	13404	begin surface