Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 618 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 85 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 618 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 16 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 1 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 -127876.09 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 -127876.09

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 85 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 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 618 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 122016,6630.263,-5955.763,0,3074.0,0,-38.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6631.205,-5928.762

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 13.12 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 122016,6630.263,-5955.763,0,3074.0,0,-38.0 MHEAD_RNG_PITCHd_Wd 123.0,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 610

Post-dive calculations and measurements:

FREEZE 6.68,-1.797,-1.788 XPDR_PINGS 206

FINISH1 6.7,1.026203,71 _24V_AH 21.4,95.284

FINISH2 5.8 _10V_AH 10.4,42.373

RAFOS_CLK 671 DATA_FILE_SIZE 28415,889

RAFOS 0,1231171460,16.083334,16.072222,139,58,57,56,56,53,551,136,181,198,161,119 CAP_FILE_SIZE 116418,0

RAFOS_FIX 6629.059082,-5953.916504,050109,161640,4,112,0.18 CFSIZE 260165632,213737472

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.027612 SOUNDSPEED 1445.5

HUMID 1845 GPS 050109,162640,6629.059,-5953.917,0,4112.2,0,-38.0

INTERNAL_PRESSURE 9.90272 ESCAPE_REASON NO_RECENT_FIX

TCM_TEMP 14.80 ESCAPE_STARTED_DIVE 581

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 158 35.16 SBE_CT 622 24 319.63

Roll_motor 121 85 221.68 SBE_O2 0 0 0.00

VBD_pump_during_apogee 451 1179 11409.22 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 51 420 462.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1597 19 330.89

LPSleep 10667 2 256.27

TT8_Active 550 19 113.99

TT8_Sampling 1583 39 657.40

TT8_CF8 297 45 142.29

TT8_Kalman 0 0 0.00

Analog_circuits 1437 12 179.39

GPS_charging 0 0 0.00

Compass 1570 8 130.66

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

17 -0.99 -146.0 0.0 0.0 0 24 0.00 0.00 -5.40 0.000 2 0.000 0.000 2698 1743 1033

28 -0.99 -146.0 13.2 -0.0 1 81 0.62 1.62 -46.58 0.000 4 0.051 0.085 2445 812 3251

113 -0.27 -146.0 19.1 -12.9 15 120 0.62 2.38 0.00 0.000 6 0.140 0.067 2623 2242 3256

461 -0.75 -146.0 31.9 -3.6 76 468 0.30 2.35 0.00 0.000 4 0.077 0.064 2510 812 3266

606 -0.69 -146.0 43.3 -10.9 101 612 0.12 2.35 0.00 0.000 6 0.145 0.065 2533 2238 3268

953 -0.69 -146.0 77.1 -7.0 162 959 0.00 2.25 0.00 0.000 4 0.000 0.077 2525 3607 3270

966 -0.69 -146.0 78.2 -7.2 164 972 0.00 2.22 0.00 0.000 6 0.000 0.053 2525 2209 3270

1311 -0.69 -146.0 108.3 -9.6 214 1312 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2209 3270

1620 -0.69 -146.0 132.9 -6.9 229 1621 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2209 3271

1930 -0.75 -146.0 152.6 -5.8 244 1931 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2209 3271

2240 -0.82 -146.0 172.5 -7.3 259 2244 0.10 2.25 0.00 0.000 4 0.093 0.065 2481 822 3271

2251 -0.82 -146.0 173.6 -7.4 259 2258 0.12 2.33 0.00 0.000 6 0.146 0.064 2505 2235 3271

2567 -0.82 -146.0 202.3 -8.5 275 2571 0.00 2.35 0.00 0.000 4 0.000 0.065 2507 810 3271

2608 -0.82 -146.0 205.9 -9.3 276 2614 0.00 2.38 0.00 0.000 6 0.000 0.064 2499 2244 3271

2924 -0.82 -146.0 234.6 -9.1 292 2928 0.00 2.22 0.00 0.000 4 0.000 0.078 2488 3599 3271

2952 -0.82 -146.0 237.2 -9.2 293 2956 0.00 2.17 0.00 0.000 6 0.000 0.052 2488 2225 3271

3280 -0.82 -146.0 264.4 -7.6 309 3281 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2225 3271

3590 -0.82 -146.0 288.5 -8.0 324 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2224 3271

3898 -0.82 -146.0 311.7 -7.2 339 3903 0.00 2.33 0.00 0.000 4 0.000 0.079 2479 3604 3270

3910 -0.82 -146.0 312.6 -7.2 339 3914 0.10 2.20 0.00 0.000 6 0.154 0.052 2503 2212 3271

4233 -0.88 -146.0 334.8 -6.8 355 4234 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2212 3270

4542 -0.96 -146.0 353.5 -5.3 370 4547 0.12 2.25 0.00 0.000 4 0.087 0.065 2450 818 3270

4555 -0.96 -146.0 354.3 -5.6 370 4560 0.12 2.35 0.00 0.000 6 0.143 0.064 2473 2237 3270

4875 -0.96 -146.0 376.0 -7.1 385 4879 0.00 2.22 0.00 0.000 4 0.000 0.078 2465 3596 3270

4892 -0.96 -146.0 377.5 -6.8 385 4899 0.00 2.17 0.00 0.000 6 0.000 0.051 2465 2215 3270

5209 -0.91 -146.0 399.5 -6.9 401 5213 0.00 2.30 0.00 0.000 4 0.000 0.075 2455 3595 3270

5273 -0.85 -146.0 404.2 -7.2 403 5277 0.15 2.15 0.00 0.000 6 0.150 0.051 2494 2225 3270

5587 -0.92 -146.0 421.1 -5.3 411 5588 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2225 3270

5913 -1.00 -146.0 437.9 -5.2 419 5917 0.12 2.25 0.00 0.000 4 0.087 0.063 2443 812 3270

5924 -1.00 -146.0 438.7 -5.3 419 5929 0.12 2.35 0.00 0.000 6 0.143 0.062 2467 2241 3270

6238 -1.00 -146.0 458.5 -6.2 427 6239 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2241 3271

6563 -1.00 -146.0 478.4 -6.0 435 6566 0.00 2.22 0.00 0.000 4 0.000 0.076 2458 3603 3271

6576 -1.00 -146.0 479.2 -6.0 435 6579 0.00 2.17 0.00 0.000 6 0.000 0.050 2459 2216 3271

6896 -0.95 -146.0 500.1 -6.5 443 6897 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2216 3272

7221 -0.90 -146.0 520.9 -6.3 451 7223 0.10 0.00 0.00 0.000 6 0.158 0.000 2484 2216 3272

7547 -0.95 -146.0 539.7 -5.8 459 7548 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2215 3273

7826 end dive: NO_VERTICAL_VELOCITY

state 7826 begin apogee

7835 -0.31 0.0 541.8 0.0 466 7966 0.40 0.00 128.15 1.180 6 0.086 0.000 2625 1732 2650

7966 end apogee: CONTROL_FINISHED_OK

state 7966 begin climb

7970 0.99 146.0 541.7 0.0 469 8113 0.85 2.70 134.38 1.104 4 0.094 0.064 2899 3147 2055

8168 0.67 146.0 525.2 11.4 473 8174 0.32 2.45 0.00 0.000 6 0.137 0.048 2824 1741 2053

8507 0.78 165.7 503.1 6.4 482 8527 0.10 0.00 17.62 1.052 6 0.079 0.000 2871 1740 1974

8832 0.70 165.7 475.6 8.6 490 8837 0.15 2.33 0.00 0.000 4 0.126 0.066 2827 3158 1976

8865 0.70 165.7 472.8 7.4 490 8872 0.00 2.28 0.00 0.000 6 0.000 0.050 2834 1720 1975

9198 0.78 167.4 449.5 7.0 499 9199 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1720 1975

9524 0.85 167.4 425.7 7.1 507 9533 0.10 2.38 2.60 0.419 4 0.082 0.064 2883 3152 1968

9591 0.62 167.4 419.2 10.7 508 9595 0.28 2.22 0.00 0.000 6 0.131 0.051 2811 1732 1970

9940 0.83 204.8 398.6 5.8 517 9980 0.17 2.38 34.03 1.083 4 0.063 0.064 2901 332 1814

10005 0.74 204.8 392.6 10.1 520 10010 0.22 2.33 0.00 0.000 6 0.132 0.052 2836 1750 1814

10333 0.89 221.9 370.1 6.5 536 10355 0.12 2.28 15.40 1.018 4 0.072 0.065 2894 3154 1745

10456 0.70 221.9 356.3 12.8 541 10461 0.25 2.25 0.00 0.000 6 0.130 0.051 2831 1736 1745

10778 0.88 221.9 328.8 7.9 557 10780 0.15 0.00 0.00 0.000 6 0.069 0.000 2904 1736 1745

11088 0.80 221.9 302.8 7.1 572 11092 0.17 2.30 0.00 0.000 4 0.129 0.065 2861 322 1745

11111 0.86 270.1 301.5 5.5 573 11162 0.00 2.30 43.65 1.030 6 0.000 0.052 2861 1747 1549

11489 1.00 270.1 282.3 7.4 591 11494 0.12 2.25 0.00 0.000 4 0.077 0.067 2923 3155 1544

11558 0.78 270.1 272.7 14.5 594 11563 0.30 2.25 0.00 0.000 6 0.131 0.051 2845 1732 1543

11881 1.36 270.1 240.7 9.4 610 11885 0.38 2.28 0.00 0.000 4 0.094 0.066 2975 330 1542

11909 1.58 270.1 237.7 10.7 611 11914 0.15 2.28 0.00 0.000 6 0.081 0.052 3034 1747 1542

12231 1.15 270.1 189.5 14.8 627 12236 0.35 2.28 0.00 0.000 4 0.151 0.067 2929 3160 1542

12266 0.95 270.1 185.4 10.3 628 12273 0.17 2.25 0.00 0.000 6 0.133 0.051 2886 1733 1541

12583 1.08 270.1 164.1 7.1 644 12587 0.12 2.28 0.00 0.000 4 0.076 0.067 2956 335 1540

12646 1.00 270.1 157.2 12.2 647 12651 0.22 2.28 0.00 0.000 6 0.132 0.055 2890 1739 1540

12974 1.11 270.1 132.1 7.3 663 12979 0.12 2.30 0.00 0.000 4 0.073 0.069 2948 3162 1540

13025 0.86 270.1 125.5 12.9 665 13030 0.32 2.28 0.00 0.000 6 0.133 0.054 2862 1728 1539

13343 1.50 344.7 107.7 4.6 680 13415 0.40 2.45 65.30 0.943 4 0.077 0.069 3009 3143 1244

13491 1.12 344.7 92.3 14.7 692 13498 0.35 2.28 0.00 0.000 6 0.144 0.052 2920 1732 1240

13838 1.21 344.7 64.0 8.5 753 13845 0.10 2.30 0.00 0.000 4 0.083 0.070 2977 328 1236

13915 1.14 344.7 56.8 9.6 766 13922 0.20 2.30 0.00 0.000 6 0.132 0.056 2920 1742 1235

14263 1.25 358.3 31.8 6.6 827 14282 0.12 2.30 10.82 0.848 4 0.080 0.073 2978 3149 1189

14312 1.10 358.3 27.0 10.2 835 14319 0.25 2.25 0.00 0.000 6 0.135 0.054 2916 1738 1189

14572 end climb: FINISH_DEPTH_REACHED

state 14572 begin subsurface finish

14582 0.09 71.0 6.7 -8.4 881 14629 0.65 2.35 -38.05 0.000 4 0.104 0.082 2694 323 2365

14629 end subsurface finish: CONTROL_FINISHED_OK

state 14629 begin surface

ID	108	HEADING	85	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	618	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	16	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	1	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	-127876.09	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	122016,6630.263,-5955.763,0,3074.0,0,-38.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6631.205,-5928.762
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	13.12	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	122016,6630.263,-5955.763,0,3074.0,0,-38.0	MHEAD_RNG_PITCHd_Wd	123.0,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	610

FREEZE	6.68,-1.797,-1.788	XPDR_PINGS	206
FINISH1	6.7,1.026203,71	_24V_AH	21.4,95.284
FINISH2	5.8	_10V_AH	10.4,42.373
RAFOS_CLK	671	DATA_FILE_SIZE	28415,889
RAFOS	0,1231171460,16.083334,16.072222,139,58,57,56,56,53,551,136,181,198,161,119	CAP_FILE_SIZE	116418,0
RAFOS_FIX	6629.059082,-5953.916504,050109,161640,4,112,0.18	CFSIZE	260165632,213737472
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.027612	SOUNDSPEED	1445.5
HUMID	1845	GPS	050109,162640,6629.059,-5953.917,0,4112.2,0,-38.0
INTERNAL_PRESSURE	9.90272	ESCAPE_REASON	NO_RECENT_FIX
TCM_TEMP	14.80	ESCAPE_STARTED_DIVE	581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	158	35.16	SBE_CT	622	24	319.63
Roll_motor	121	85	221.68	SBE_O2	0	0	0.00
VBD_pump_during_apogee	451	1179	11409.22	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	51	420	462.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1597	19	330.89
LPSleep	10667	2	256.27
TT8_Active	550	19	113.99
TT8_Sampling	1583	39	657.40
TT8_CF8	297	45	142.29
TT8_Kalman	0	0	0.00
Analog_circuits	1437	12	179.39
GPS_charging	0	0	0.00
Compass	1570	8	130.66
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
17	-0.99	-146.0	0.0	0.0	0	24	0.00	0.00	-5.40	0.000	2	0.000	0.000	2698	1743	1033
28	-0.99	-146.0	13.2	-0.0	1	81	0.62	1.62	-46.58	0.000	4	0.051	0.085	2445	812	3251
113	-0.27	-146.0	19.1	-12.9	15	120	0.62	2.38	0.00	0.000	6	0.140	0.067	2623	2242	3256
461	-0.75	-146.0	31.9	-3.6	76	468	0.30	2.35	0.00	0.000	4	0.077	0.064	2510	812	3266
606	-0.69	-146.0	43.3	-10.9	101	612	0.12	2.35	0.00	0.000	6	0.145	0.065	2533	2238	3268
953	-0.69	-146.0	77.1	-7.0	162	959	0.00	2.25	0.00	0.000	4	0.000	0.077	2525	3607	3270
966	-0.69	-146.0	78.2	-7.2	164	972	0.00	2.22	0.00	0.000	6	0.000	0.053	2525	2209	3270
1311	-0.69	-146.0	108.3	-9.6	214	1312	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2209	3270
1620	-0.69	-146.0	132.9	-6.9	229	1621	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2209	3271
1930	-0.75	-146.0	152.6	-5.8	244	1931	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2209	3271
2240	-0.82	-146.0	172.5	-7.3	259	2244	0.10	2.25	0.00	0.000	4	0.093	0.065	2481	822	3271
2251	-0.82	-146.0	173.6	-7.4	259	2258	0.12	2.33	0.00	0.000	6	0.146	0.064	2505	2235	3271
2567	-0.82	-146.0	202.3	-8.5	275	2571	0.00	2.35	0.00	0.000	4	0.000	0.065	2507	810	3271
2608	-0.82	-146.0	205.9	-9.3	276	2614	0.00	2.38	0.00	0.000	6	0.000	0.064	2499	2244	3271
2924	-0.82	-146.0	234.6	-9.1	292	2928	0.00	2.22	0.00	0.000	4	0.000	0.078	2488	3599	3271
2952	-0.82	-146.0	237.2	-9.2	293	2956	0.00	2.17	0.00	0.000	6	0.000	0.052	2488	2225	3271
3280	-0.82	-146.0	264.4	-7.6	309	3281	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2225	3271
3590	-0.82	-146.0	288.5	-8.0	324	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2224	3271
3898	-0.82	-146.0	311.7	-7.2	339	3903	0.00	2.33	0.00	0.000	4	0.000	0.079	2479	3604	3270
3910	-0.82	-146.0	312.6	-7.2	339	3914	0.10	2.20	0.00	0.000	6	0.154	0.052	2503	2212	3271
4233	-0.88	-146.0	334.8	-6.8	355	4234	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2212	3270
4542	-0.96	-146.0	353.5	-5.3	370	4547	0.12	2.25	0.00	0.000	4	0.087	0.065	2450	818	3270
4555	-0.96	-146.0	354.3	-5.6	370	4560	0.12	2.35	0.00	0.000	6	0.143	0.064	2473	2237	3270
4875	-0.96	-146.0	376.0	-7.1	385	4879	0.00	2.22	0.00	0.000	4	0.000	0.078	2465	3596	3270
4892	-0.96	-146.0	377.5	-6.8	385	4899	0.00	2.17	0.00	0.000	6	0.000	0.051	2465	2215	3270
5209	-0.91	-146.0	399.5	-6.9	401	5213	0.00	2.30	0.00	0.000	4	0.000	0.075	2455	3595	3270
5273	-0.85	-146.0	404.2	-7.2	403	5277	0.15	2.15	0.00	0.000	6	0.150	0.051	2494	2225	3270
5587	-0.92	-146.0	421.1	-5.3	411	5588	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2225	3270
5913	-1.00	-146.0	437.9	-5.2	419	5917	0.12	2.25	0.00	0.000	4	0.087	0.063	2443	812	3270
5924	-1.00	-146.0	438.7	-5.3	419	5929	0.12	2.35	0.00	0.000	6	0.143	0.062	2467	2241	3270
6238	-1.00	-146.0	458.5	-6.2	427	6239	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2241	3271
6563	-1.00	-146.0	478.4	-6.0	435	6566	0.00	2.22	0.00	0.000	4	0.000	0.076	2458	3603	3271
6576	-1.00	-146.0	479.2	-6.0	435	6579	0.00	2.17	0.00	0.000	6	0.000	0.050	2459	2216	3271
6896	-0.95	-146.0	500.1	-6.5	443	6897	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2216	3272
7221	-0.90	-146.0	520.9	-6.3	451	7223	0.10	0.00	0.00	0.000	6	0.158	0.000	2484	2216	3272
7547	-0.95	-146.0	539.7	-5.8	459	7548	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2215	3273
7826	end dive: NO_VERTICAL_VELOCITY
state	7826	begin apogee
7835	-0.31	0.0	541.8	0.0	466	7966	0.40	0.00	128.15	1.180	6	0.086	0.000	2625	1732	2650
7966	end apogee: CONTROL_FINISHED_OK
state	7966	begin climb
7970	0.99	146.0	541.7	0.0	469	8113	0.85	2.70	134.38	1.104	4	0.094	0.064	2899	3147	2055
8168	0.67	146.0	525.2	11.4	473	8174	0.32	2.45	0.00	0.000	6	0.137	0.048	2824	1741	2053
8507	0.78	165.7	503.1	6.4	482	8527	0.10	0.00	17.62	1.052	6	0.079	0.000	2871	1740	1974
8832	0.70	165.7	475.6	8.6	490	8837	0.15	2.33	0.00	0.000	4	0.126	0.066	2827	3158	1976
8865	0.70	165.7	472.8	7.4	490	8872	0.00	2.28	0.00	0.000	6	0.000	0.050	2834	1720	1975
9198	0.78	167.4	449.5	7.0	499	9199	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	1720	1975
9524	0.85	167.4	425.7	7.1	507	9533	0.10	2.38	2.60	0.419	4	0.082	0.064	2883	3152	1968
9591	0.62	167.4	419.2	10.7	508	9595	0.28	2.22	0.00	0.000	6	0.131	0.051	2811	1732	1970
9940	0.83	204.8	398.6	5.8	517	9980	0.17	2.38	34.03	1.083	4	0.063	0.064	2901	332	1814
10005	0.74	204.8	392.6	10.1	520	10010	0.22	2.33	0.00	0.000	6	0.132	0.052	2836	1750	1814
10333	0.89	221.9	370.1	6.5	536	10355	0.12	2.28	15.40	1.018	4	0.072	0.065	2894	3154	1745
10456	0.70	221.9	356.3	12.8	541	10461	0.25	2.25	0.00	0.000	6	0.130	0.051	2831	1736	1745
10778	0.88	221.9	328.8	7.9	557	10780	0.15	0.00	0.00	0.000	6	0.069	0.000	2904	1736	1745
11088	0.80	221.9	302.8	7.1	572	11092	0.17	2.30	0.00	0.000	4	0.129	0.065	2861	322	1745
11111	0.86	270.1	301.5	5.5	573	11162	0.00	2.30	43.65	1.030	6	0.000	0.052	2861	1747	1549
11489	1.00	270.1	282.3	7.4	591	11494	0.12	2.25	0.00	0.000	4	0.077	0.067	2923	3155	1544
11558	0.78	270.1	272.7	14.5	594	11563	0.30	2.25	0.00	0.000	6	0.131	0.051	2845	1732	1543
11881	1.36	270.1	240.7	9.4	610	11885	0.38	2.28	0.00	0.000	4	0.094	0.066	2975	330	1542
11909	1.58	270.1	237.7	10.7	611	11914	0.15	2.28	0.00	0.000	6	0.081	0.052	3034	1747	1542
12231	1.15	270.1	189.5	14.8	627	12236	0.35	2.28	0.00	0.000	4	0.151	0.067	2929	3160	1542
12266	0.95	270.1	185.4	10.3	628	12273	0.17	2.25	0.00	0.000	6	0.133	0.051	2886	1733	1541
12583	1.08	270.1	164.1	7.1	644	12587	0.12	2.28	0.00	0.000	4	0.076	0.067	2956	335	1540
12646	1.00	270.1	157.2	12.2	647	12651	0.22	2.28	0.00	0.000	6	0.132	0.055	2890	1739	1540
12974	1.11	270.1	132.1	7.3	663	12979	0.12	2.30	0.00	0.000	4	0.073	0.069	2948	3162	1540
13025	0.86	270.1	125.5	12.9	665	13030	0.32	2.28	0.00	0.000	6	0.133	0.054	2862	1728	1539
13343	1.50	344.7	107.7	4.6	680	13415	0.40	2.45	65.30	0.943	4	0.077	0.069	3009	3143	1244
13491	1.12	344.7	92.3	14.7	692	13498	0.35	2.28	0.00	0.000	6	0.144	0.052	2920	1732	1240
13838	1.21	344.7	64.0	8.5	753	13845	0.10	2.30	0.00	0.000	4	0.083	0.070	2977	328	1236
13915	1.14	344.7	56.8	9.6	766	13922	0.20	2.30	0.00	0.000	6	0.132	0.056	2920	1742	1235
14263	1.25	358.3	31.8	6.6	827	14282	0.12	2.30	10.82	0.848	4	0.080	0.073	2978	3149	1189
14312	1.10	358.3	27.0	10.2	835	14319	0.25	2.25	0.00	0.000	6	0.135	0.054	2916	1738	1189
14572	end climb: FINISH_DEPTH_REACHED
state	14572	begin subsurface finish
14582	0.09	71.0	6.7	-8.4	881	14629	0.65	2.35	-38.05	0.000	4	0.104	0.082	2694	323	2365
14629	end subsurface finish: CONTROL_FINISHED_OK
state	14629	begin surface