Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 652 * 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 652 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 30 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 -3 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 -130085.25 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 -130085.25

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 -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 30 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 652 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 073938,6603.016,-5838.565,25,1.1,25,-36.7 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6603.958,-5812.047

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -36.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 073938,6603.016,-5838.565,25,1.1,25,-36.7 MHEAD_RNG_PITCHd_Wd 121.7,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 516

Post-dive calculations and measurements:

FREEZE 1.19,-2.079,-0.221 XPDR_PINGS 236

FINISH 1.2,1.002957 _24V_AH 21.9,99.167

SM_CCo 13923,0.00,0.000,0,0,1468,289.70 _10V_AH 10.4,43.931

SM_GC 2.17,7.00,0.00,0.00,0.049,0.000,0.000,330,2251,1468,-10.70,0.59,289.70 DATA_FILE_SIZE 28415,843

RAFOS_CLK 607 CAP_FILE_SIZE 117406,0

RAFOS 0,1231589041,12.083333,12.066944,57,54,54,54,53,52,123,147,157,215,179,190 CFSIZE 260165632,212017152

RAFOS_FIX 6617.756348,-5909.147949,080109,000040,2,99,0.64 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

IRIDIUM_FIX 6537.93,-5836.74,050498,070722 SOUNDSPEED 1458.8

TT8_MAMPS 0.026078 GPS 100109,132938,6600.388,-5810.513,34,2.0,34,-36.5

HUMID 1798 ESCAPE_REASON NO_RECENT_FIX

INTERNAL_PRESSURE 9.89296 ESCAPE_STARTED_DIVE 581

TCM_TEMP 16.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 248 132.52 SBE_CT 586 24 308.44

Roll_motor 111 70 171.69 SBE_O2 0 0 0.00

VBD_pump_during_apogee 381 1112 9295.50 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 99 103 223.79 nil 0 0 0.00

Iridium_during_connect 85 160 298.71 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 59 420 542.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 183 50 95.27

TT8 1551 19 321.37

LPSleep 10176 2 244.47

TT8_Active 514 19 106.51

TT8_Sampling 1727 39 717.39

TT8_CF8 894 45 427.13

TT8_Kalman 0 0 0.00

Analog_circuits 1367 12 170.69

GPS_charging 0 0 0.00

Compass 1540 8 128.13

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 15 begin dive

19 -0.99 -146.0 0.0 0.0 0 105 0.00 0.00 -83.60 0.000 2 0.000 0.000 327 2248 2995

110 -0.99 -146.0 3.3 -1.8 15 135 9.12 2.38 -7.12 0.000 4 0.249 0.071 2469 820 3249

386 -0.78 -146.0 37.1 -13.1 63 393 0.17 2.33 0.00 0.000 6 0.131 0.059 2511 2241 3252

733 -0.78 -146.0 65.3 -6.2 124 739 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2241 3252

1080 -0.78 -146.0 86.5 -6.6 185 1085 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2241 3252

1417 -0.84 -146.0 109.5 -6.1 226 1421 0.00 2.33 0.00 0.000 4 0.000 0.060 2511 806 3251

1492 -0.84 -146.0 116.0 -9.5 229 1496 0.00 2.33 0.00 0.000 6 0.000 0.059 2504 2234 3251

1820 -0.89 -146.0 146.8 -8.6 245 1821 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2234 3250

2129 -0.97 -146.0 169.6 -5.9 260 2134 0.12 2.30 0.00 0.000 4 0.080 0.058 2445 810 3250

2222 -0.78 -146.0 174.3 -6.1 264 2227 0.25 2.30 0.00 0.000 6 0.126 0.058 2509 2235 3249

2551 -0.89 -146.0 187.6 -5.3 280 2552 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2234 3250

2861 -1.00 -146.0 204.7 -5.2 295 2863 0.17 0.00 0.00 0.000 6 0.070 0.000 2435 2234 3250

3169 -0.86 -146.0 227.8 -8.0 310 3173 0.20 2.30 0.00 0.000 4 0.139 0.054 2500 816 3251

3271 -0.91 -146.0 235.4 -7.2 314 3278 0.00 2.30 0.00 0.000 6 0.000 0.054 2493 2235 3251

3590 -0.96 -146.0 260.5 -8.3 330 3594 0.00 2.28 0.00 0.000 4 0.000 0.053 2492 813 3252

3641 -0.96 -146.0 265.2 -8.9 332 3645 0.00 2.30 0.00 0.000 6 0.000 0.052 2483 2238 3252

3970 -0.96 -146.0 289.4 -6.6 348 3971 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2238 3253

4278 -0.96 -146.0 308.8 -5.7 363 4282 0.00 2.28 0.00 0.000 4 0.000 0.052 2483 814 3254

4347 -0.96 -146.0 313.2 -6.5 366 4351 0.00 2.28 0.00 0.000 6 0.000 0.051 2473 2233 3255

4684 -0.96 -146.0 334.5 -6.6 382 4685 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2233 3256

4991 -0.96 -146.0 354.8 -6.2 397 4994 0.00 2.28 0.00 0.000 4 0.000 0.051 2473 802 3257

5031 -0.91 -146.0 357.4 -6.4 398 5038 0.00 2.30 0.00 0.000 6 0.000 0.051 2463 2235 3256

5349 -0.91 -146.0 374.0 -4.9 414 5353 0.00 2.28 0.00 0.000 4 0.000 0.051 2462 802 3257

5361 -0.91 -146.0 374.7 -4.8 414 5365 0.12 2.30 0.00 0.000 6 0.127 0.050 2487 2238 3257

5678 -0.97 -146.0 388.3 -4.9 429 5679 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2238 3257

6008 -1.05 -146.0 403.8 -4.6 443 6010 0.12 0.00 0.00 0.000 6 0.077 0.000 2433 2238 3258

6332 -0.92 -146.0 424.8 -6.6 451 6334 0.17 0.00 0.00 0.000 6 0.139 0.000 2483 2239 3258

6657 -0.98 -146.0 442.3 -5.4 459 6661 0.00 2.30 0.00 0.000 4 0.000 0.052 2483 809 3258

6670 -0.98 -146.0 443.0 -5.5 459 6674 0.00 2.30 0.00 0.000 6 0.000 0.050 2475 2237 3258

6990 -0.98 -146.0 461.8 -5.9 467 6994 0.00 2.28 0.00 0.000 4 0.000 0.051 2475 812 3258

7019 -0.98 -146.0 463.6 -6.3 467 7023 0.00 2.30 0.00 0.000 6 0.000 0.050 2465 2242 3258

7364 -0.98 -146.0 485.4 -6.4 476 7367 0.00 2.28 0.00 0.000 4 0.000 0.051 2465 814 3258

7376 -0.98 -146.0 486.4 -6.3 476 7380 0.00 2.28 0.00 0.000 6 0.000 0.050 2455 2231 3258

7696 -0.93 -146.0 507.8 -6.7 484 7701 0.10 2.28 0.00 0.000 4 0.139 0.051 2483 802 3258

7721 -0.93 -146.0 509.3 -5.8 484 7724 0.00 2.30 0.00 0.000 6 0.000 0.051 2476 2232 3258

7863 end dive: TARGET_DEPTH_EXCEEDED

state 7863 begin apogee

7873 -0.31 0.0 517.7 5.7 488 8004 0.45 0.00 127.93 1.112 6 0.111 0.000 2620 1729 2650

8005 end apogee: CONTROL_FINISHED_OK

state 8005 begin climb

8009 0.99 146.0 519.6 0.0 491 8146 0.82 2.58 129.95 1.048 4 0.084 0.056 2896 3148 2054

8185 0.70 146.0 505.1 10.7 495 8190 0.28 2.40 0.00 0.000 6 0.126 0.041 2832 1729 2050

8506 0.77 160.3 483.3 6.6 503 8520 0.00 0.00 12.30 0.961 6 0.000 0.000 2832 1729 1996

8830 0.83 160.3 460.5 7.1 511 8835 0.10 2.33 0.00 0.000 4 0.078 0.058 2884 3160 1994

8866 0.59 160.3 457.0 11.2 511 8872 0.30 2.22 0.00 0.000 6 0.126 0.044 2799 1734 1993

9205 0.82 197.4 436.2 5.8 520 9244 0.20 0.00 33.00 1.045 6 0.055 0.000 2893 1734 1844

9572 0.67 197.4 397.3 10.9 529 9574 0.22 0.00 0.00 0.000 6 0.120 0.000 2825 1734 1839

9880 0.78 197.4 374.8 7.4 544 9885 0.10 2.30 0.00 0.000 4 0.075 0.058 2877 3149 1838

9926 0.56 197.4 369.8 11.8 546 9931 0.30 2.20 0.00 0.000 6 0.123 0.044 2796 1737 1836

10249 1.20 197.4 343.0 9.6 562 10253 0.40 2.25 0.00 0.000 4 0.087 0.056 2941 323 1836

10288 1.16 197.4 338.5 11.2 563 10295 0.00 2.28 0.00 0.000 6 0.000 0.046 2941 1748 1837

10606 0.85 197.4 292.5 15.1 579 10610 0.25 2.25 0.00 0.000 4 0.132 0.058 2861 3151 1836

10663 0.74 197.4 285.1 12.4 581 10670 0.12 2.22 0.00 0.000 6 0.131 0.044 2833 1726 1835

10982 0.81 197.4 258.2 7.5 597 10986 0.10 2.22 0.00 0.000 4 0.075 0.055 2897 335 1835

11011 0.76 197.4 255.3 9.6 598 11016 0.20 2.22 0.00 0.000 6 0.121 0.044 2837 1754 1836

11334 0.86 230.5 235.1 6.0 614 11369 0.12 2.30 27.95 0.917 4 0.068 0.058 2898 3153 1709

11464 0.66 230.5 220.9 12.7 619 11471 0.30 2.22 0.00 0.000 6 0.123 0.043 2817 1731 1705

11782 0.91 251.7 198.2 6.3 635 11807 0.20 2.30 18.67 0.861 4 0.055 0.056 2930 330 1624

11850 0.80 251.7 191.3 10.6 638 11855 0.28 2.28 0.00 0.000 6 0.120 0.045 2846 1749 1624

12179 0.99 287.0 168.3 5.9 654 12216 0.17 2.33 31.85 0.858 4 0.058 0.058 2930 3162 1480

12319 0.78 287.0 151.8 12.2 659 12324 0.30 2.22 0.00 0.000 6 0.125 0.043 2849 1731 1475

12641 1.00 287.0 129.0 7.2 675 12645 0.17 2.22 0.00 0.000 4 0.059 0.055 2943 334 1473

12682 0.90 287.0 124.3 12.4 676 12689 0.25 2.22 0.00 0.000 6 0.121 0.044 2867 1752 1473

13006 1.08 287.0 96.2 8.0 698 13013 0.15 2.20 0.00 0.000 4 0.059 0.057 2942 3158 1471

13078 0.84 287.0 87.0 13.2 710 13084 0.30 2.20 0.00 0.000 6 0.123 0.044 2861 1736 1470

13426 1.52 287.0 59.8 9.4 771 13432 0.43 2.25 0.00 0.000 4 0.088 0.056 3012 327 1470

13475 1.52 287.0 55.1 9.8 779 13481 0.00 2.22 0.00 0.000 6 0.000 0.045 3012 1739 1470

13823 1.16 287.0 3.6 14.4 840 13829 0.25 0.00 0.00 0.000 6 0.148 0.000 2936 1738 1470

13834 end climb: SURFACE_DEPTH_REACHED

state 13834 begin surface coast

13841 end surface coast: FINISH_DEPTH_REACHED

state 13841 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	652	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	30	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	-3	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	-130085.25	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	073938,6603.016,-5838.565,25,1.1,25,-36.7	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6603.958,-5812.047
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-36.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	073938,6603.016,-5838.565,25,1.1,25,-36.7	MHEAD_RNG_PITCHd_Wd	121.7,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	516

FREEZE	1.19,-2.079,-0.221	XPDR_PINGS	236
FINISH	1.2,1.002957	_24V_AH	21.9,99.167
SM_CCo	13923,0.00,0.000,0,0,1468,289.70	_10V_AH	10.4,43.931
SM_GC	2.17,7.00,0.00,0.00,0.049,0.000,0.000,330,2251,1468,-10.70,0.59,289.70	DATA_FILE_SIZE	28415,843
RAFOS_CLK	607	CAP_FILE_SIZE	117406,0
RAFOS	0,1231589041,12.083333,12.066944,57,54,54,54,53,52,123,147,157,215,179,190	CFSIZE	260165632,212017152
RAFOS_FIX	6617.756348,-5909.147949,080109,000040,2,99,0.64	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
IRIDIUM_FIX	6537.93,-5836.74,050498,070722	SOUNDSPEED	1458.8
TT8_MAMPS	0.026078	GPS	100109,132938,6600.388,-5810.513,34,2.0,34,-36.5
HUMID	1798	ESCAPE_REASON	NO_RECENT_FIX
INTERNAL_PRESSURE	9.89296	ESCAPE_STARTED_DIVE	581
TCM_TEMP	16.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	248	132.52	SBE_CT	586	24	308.44
Roll_motor	111	70	171.69	SBE_O2	0	0	0.00
VBD_pump_during_apogee	381	1112	9295.50	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	99	103	223.79	nil	0	0	0.00
Iridium_during_connect	85	160	298.71	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	59	420	542.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	183	50	95.27
TT8	1551	19	321.37
LPSleep	10176	2	244.47
TT8_Active	514	19	106.51
TT8_Sampling	1727	39	717.39
TT8_CF8	894	45	427.13
TT8_Kalman	0	0	0.00
Analog_circuits	1367	12	170.69
GPS_charging	0	0	0.00
Compass	1540	8	128.13
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	15	begin dive
19	-0.99	-146.0	0.0	0.0	0	105	0.00	0.00	-83.60	0.000	2	0.000	0.000	327	2248	2995
110	-0.99	-146.0	3.3	-1.8	15	135	9.12	2.38	-7.12	0.000	4	0.249	0.071	2469	820	3249
386	-0.78	-146.0	37.1	-13.1	63	393	0.17	2.33	0.00	0.000	6	0.131	0.059	2511	2241	3252
733	-0.78	-146.0	65.3	-6.2	124	739	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2241	3252
1080	-0.78	-146.0	86.5	-6.6	185	1085	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2241	3252
1417	-0.84	-146.0	109.5	-6.1	226	1421	0.00	2.33	0.00	0.000	4	0.000	0.060	2511	806	3251
1492	-0.84	-146.0	116.0	-9.5	229	1496	0.00	2.33	0.00	0.000	6	0.000	0.059	2504	2234	3251
1820	-0.89	-146.0	146.8	-8.6	245	1821	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2234	3250
2129	-0.97	-146.0	169.6	-5.9	260	2134	0.12	2.30	0.00	0.000	4	0.080	0.058	2445	810	3250
2222	-0.78	-146.0	174.3	-6.1	264	2227	0.25	2.30	0.00	0.000	6	0.126	0.058	2509	2235	3249
2551	-0.89	-146.0	187.6	-5.3	280	2552	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2234	3250
2861	-1.00	-146.0	204.7	-5.2	295	2863	0.17	0.00	0.00	0.000	6	0.070	0.000	2435	2234	3250
3169	-0.86	-146.0	227.8	-8.0	310	3173	0.20	2.30	0.00	0.000	4	0.139	0.054	2500	816	3251
3271	-0.91	-146.0	235.4	-7.2	314	3278	0.00	2.30	0.00	0.000	6	0.000	0.054	2493	2235	3251
3590	-0.96	-146.0	260.5	-8.3	330	3594	0.00	2.28	0.00	0.000	4	0.000	0.053	2492	813	3252
3641	-0.96	-146.0	265.2	-8.9	332	3645	0.00	2.30	0.00	0.000	6	0.000	0.052	2483	2238	3252
3970	-0.96	-146.0	289.4	-6.6	348	3971	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2238	3253
4278	-0.96	-146.0	308.8	-5.7	363	4282	0.00	2.28	0.00	0.000	4	0.000	0.052	2483	814	3254
4347	-0.96	-146.0	313.2	-6.5	366	4351	0.00	2.28	0.00	0.000	6	0.000	0.051	2473	2233	3255
4684	-0.96	-146.0	334.5	-6.6	382	4685	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2233	3256
4991	-0.96	-146.0	354.8	-6.2	397	4994	0.00	2.28	0.00	0.000	4	0.000	0.051	2473	802	3257
5031	-0.91	-146.0	357.4	-6.4	398	5038	0.00	2.30	0.00	0.000	6	0.000	0.051	2463	2235	3256
5349	-0.91	-146.0	374.0	-4.9	414	5353	0.00	2.28	0.00	0.000	4	0.000	0.051	2462	802	3257
5361	-0.91	-146.0	374.7	-4.8	414	5365	0.12	2.30	0.00	0.000	6	0.127	0.050	2487	2238	3257
5678	-0.97	-146.0	388.3	-4.9	429	5679	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2238	3257
6008	-1.05	-146.0	403.8	-4.6	443	6010	0.12	0.00	0.00	0.000	6	0.077	0.000	2433	2238	3258
6332	-0.92	-146.0	424.8	-6.6	451	6334	0.17	0.00	0.00	0.000	6	0.139	0.000	2483	2239	3258
6657	-0.98	-146.0	442.3	-5.4	459	6661	0.00	2.30	0.00	0.000	4	0.000	0.052	2483	809	3258
6670	-0.98	-146.0	443.0	-5.5	459	6674	0.00	2.30	0.00	0.000	6	0.000	0.050	2475	2237	3258
6990	-0.98	-146.0	461.8	-5.9	467	6994	0.00	2.28	0.00	0.000	4	0.000	0.051	2475	812	3258
7019	-0.98	-146.0	463.6	-6.3	467	7023	0.00	2.30	0.00	0.000	6	0.000	0.050	2465	2242	3258
7364	-0.98	-146.0	485.4	-6.4	476	7367	0.00	2.28	0.00	0.000	4	0.000	0.051	2465	814	3258
7376	-0.98	-146.0	486.4	-6.3	476	7380	0.00	2.28	0.00	0.000	6	0.000	0.050	2455	2231	3258
7696	-0.93	-146.0	507.8	-6.7	484	7701	0.10	2.28	0.00	0.000	4	0.139	0.051	2483	802	3258
7721	-0.93	-146.0	509.3	-5.8	484	7724	0.00	2.30	0.00	0.000	6	0.000	0.051	2476	2232	3258
7863	end dive: TARGET_DEPTH_EXCEEDED
state	7863	begin apogee
7873	-0.31	0.0	517.7	5.7	488	8004	0.45	0.00	127.93	1.112	6	0.111	0.000	2620	1729	2650
8005	end apogee: CONTROL_FINISHED_OK
state	8005	begin climb
8009	0.99	146.0	519.6	0.0	491	8146	0.82	2.58	129.95	1.048	4	0.084	0.056	2896	3148	2054
8185	0.70	146.0	505.1	10.7	495	8190	0.28	2.40	0.00	0.000	6	0.126	0.041	2832	1729	2050
8506	0.77	160.3	483.3	6.6	503	8520	0.00	0.00	12.30	0.961	6	0.000	0.000	2832	1729	1996
8830	0.83	160.3	460.5	7.1	511	8835	0.10	2.33	0.00	0.000	4	0.078	0.058	2884	3160	1994
8866	0.59	160.3	457.0	11.2	511	8872	0.30	2.22	0.00	0.000	6	0.126	0.044	2799	1734	1993
9205	0.82	197.4	436.2	5.8	520	9244	0.20	0.00	33.00	1.045	6	0.055	0.000	2893	1734	1844
9572	0.67	197.4	397.3	10.9	529	9574	0.22	0.00	0.00	0.000	6	0.120	0.000	2825	1734	1839
9880	0.78	197.4	374.8	7.4	544	9885	0.10	2.30	0.00	0.000	4	0.075	0.058	2877	3149	1838
9926	0.56	197.4	369.8	11.8	546	9931	0.30	2.20	0.00	0.000	6	0.123	0.044	2796	1737	1836
10249	1.20	197.4	343.0	9.6	562	10253	0.40	2.25	0.00	0.000	4	0.087	0.056	2941	323	1836
10288	1.16	197.4	338.5	11.2	563	10295	0.00	2.28	0.00	0.000	6	0.000	0.046	2941	1748	1837
10606	0.85	197.4	292.5	15.1	579	10610	0.25	2.25	0.00	0.000	4	0.132	0.058	2861	3151	1836
10663	0.74	197.4	285.1	12.4	581	10670	0.12	2.22	0.00	0.000	6	0.131	0.044	2833	1726	1835
10982	0.81	197.4	258.2	7.5	597	10986	0.10	2.22	0.00	0.000	4	0.075	0.055	2897	335	1835
11011	0.76	197.4	255.3	9.6	598	11016	0.20	2.22	0.00	0.000	6	0.121	0.044	2837	1754	1836
11334	0.86	230.5	235.1	6.0	614	11369	0.12	2.30	27.95	0.917	4	0.068	0.058	2898	3153	1709
11464	0.66	230.5	220.9	12.7	619	11471	0.30	2.22	0.00	0.000	6	0.123	0.043	2817	1731	1705
11782	0.91	251.7	198.2	6.3	635	11807	0.20	2.30	18.67	0.861	4	0.055	0.056	2930	330	1624
11850	0.80	251.7	191.3	10.6	638	11855	0.28	2.28	0.00	0.000	6	0.120	0.045	2846	1749	1624
12179	0.99	287.0	168.3	5.9	654	12216	0.17	2.33	31.85	0.858	4	0.058	0.058	2930	3162	1480
12319	0.78	287.0	151.8	12.2	659	12324	0.30	2.22	0.00	0.000	6	0.125	0.043	2849	1731	1475
12641	1.00	287.0	129.0	7.2	675	12645	0.17	2.22	0.00	0.000	4	0.059	0.055	2943	334	1473
12682	0.90	287.0	124.3	12.4	676	12689	0.25	2.22	0.00	0.000	6	0.121	0.044	2867	1752	1473
13006	1.08	287.0	96.2	8.0	698	13013	0.15	2.20	0.00	0.000	4	0.059	0.057	2942	3158	1471
13078	0.84	287.0	87.0	13.2	710	13084	0.30	2.20	0.00	0.000	6	0.123	0.044	2861	1736	1470
13426	1.52	287.0	59.8	9.4	771	13432	0.43	2.25	0.00	0.000	4	0.088	0.056	3012	327	1470
13475	1.52	287.0	55.1	9.8	779	13481	0.00	2.22	0.00	0.000	6	0.000	0.045	3012	1739	1470
13823	1.16	287.0	3.6	14.4	840	13829	0.25	0.00	0.00	0.000	6	0.148	0.000	2936	1738	1470
13834	end climb: SURFACE_DEPTH_REACHED
state	13834	begin surface coast
13841	end surface coast: FINISH_DEPTH_REACHED
state	13841	begin surface