Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 665 * 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 15 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 665 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -130952.49 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 15 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 -130952.49

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 -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 37 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 665 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 110838,6548.328,-5806.021,9,1.7,9,-36.2 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191831,6552.109,-5800.799,38,1.7,38,-36.3 MHEAD_RNG_PITCHd_Wd 58.1,141424,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 528

Post-dive calculations and measurements:

FREEZE 2.82,-1.564,-1.807 XPDR_PINGS 264

FINISH 2.8,1.026510 _24V_AH 22.1,101.071

RAFOS_CLK 658 _10V_AH 10.5,44.802

RAFOS 0,1231790649,20.083334,20.069166,66,54,54,54,53,48,225,199,216,190,169,157 DATA_FILE_SIZE 31607,944

RAFOS_FIX 6617.756348,-5909.147949,080109,000040,2,99,0.64 CAP_FILE_SIZE 124851,0

IRIDIUM_FIX 6522.33,-5801.90,080498,111127 CFSIZE 260165632,211222528

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

HUMID 1806 SOUNDSPEED 1460.1

INTERNAL_PRESSURE 9.90272 GPS 120109,191831,6552.109,-5800.799,38,1.7,38,-36.3

TCM_TEMP 15.80

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 230 77.55 SBE_CT 657 24 348.58

Roll_motor 86 62 118.70 SBE_O2 0 0 0.00

VBD_pump_during_apogee 376 1103 9183.61 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 22 103 51.01 nil 0 0 0.00

Iridium_during_connect 49 160 173.95 nil 0 0 0.00

Iridium_during_xfer 344 223 1699.13

Transponder_ping 66 420 612.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 39 50 20.81

TT8 1705 19 356.66

LPSleep 11326 2 274.73

TT8_Active 499 19 104.39

TT8_Sampling 1727 39 724.12

TT8_CF8 1018 45 491.04

TT8_Kalman 0 0 0.00

Analog_circuits 1400 12 176.41

GPS_charging 0 0 0.00

Compass 1685 8 141.56

RAFOS 1800 1 28.35

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.99 -146.0 0.0 0.0 0 107 0.00 0.00 -84.88 0.000 6 0.000 0.000 324 2244 3246

112 -0.99 -146.0 2.5 -0.1 16 126 8.62 2.35 0.00 0.000 4 0.231 0.056 2472 826 3250

382 -0.81 -146.0 30.3 -10.3 63 389 0.15 2.28 0.00 0.000 6 0.134 0.057 2506 2235 3252

729 -0.81 -146.0 58.3 -8.3 124 734 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2235 3252

1075 -0.81 -146.0 83.2 -7.0 185 1080 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2234 3252

1417 -0.81 -146.0 106.9 -6.4 232 1421 0.00 2.28 0.00 0.000 4 0.000 0.058 2510 824 3250

1564 -0.81 -146.0 116.2 -6.1 238 1568 0.00 2.28 0.00 0.000 6 0.000 0.057 2503 2235 3249

1889 -0.81 -146.0 133.4 -5.3 254 1890 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2235 3249

2197 -0.85 -146.0 152.1 -6.4 269 2201 0.00 2.28 0.00 0.000 4 0.000 0.055 2502 815 3248

2254 -0.85 -146.0 156.2 -7.2 271 2258 0.00 2.28 0.00 0.000 6 0.000 0.054 2492 2232 3248

2577 -0.85 -146.0 176.5 -5.5 287 2578 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2232 3248

2887 -0.85 -146.0 191.8 -4.8 302 2890 0.00 2.25 0.00 0.000 4 0.000 0.054 2492 822 3249

3034 -0.85 -146.0 200.0 -5.7 308 3038 0.00 2.25 0.00 0.000 6 0.000 0.054 2483 2233 3249

3357 -0.85 -146.0 218.5 -6.0 324 3358 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2233 3250

3666 -0.85 -146.0 237.4 -6.1 339 3669 0.00 2.25 0.00 0.000 4 0.000 0.052 2482 815 3250

3740 -0.85 -146.0 242.5 -7.0 342 3744 0.00 2.28 0.00 0.000 6 0.000 0.052 2473 2241 3250

4070 -0.85 -146.0 263.4 -5.8 358 4074 0.00 2.28 0.00 0.000 4 0.000 0.051 2473 815 3251

4140 -0.80 -146.0 267.6 -6.2 361 4145 0.17 2.28 0.00 0.000 6 0.122 0.051 2514 2239 3252

4473 -0.94 -146.0 278.8 -2.9 377 4477 0.15 2.17 0.00 0.000 4 0.070 0.062 2436 3601 3253

4524 -0.81 -146.0 281.6 -5.9 379 4529 0.25 2.12 0.00 0.000 6 0.131 0.039 2509 2211 3253

4848 -0.95 -146.0 294.4 -4.4 395 4853 0.12 2.17 0.00 0.000 4 0.075 0.051 2449 821 3254

4976 -0.81 -146.0 303.1 -7.3 400 4983 0.22 2.30 0.00 0.000 6 0.123 0.050 2505 2242 3254

5294 -0.93 -146.0 321.4 -5.7 416 5296 0.12 0.00 0.00 0.000 6 0.072 0.000 2446 2242 3255

5604 -0.84 -146.0 343.6 -7.3 431 5606 0.20 0.00 0.00 0.000 6 0.133 0.000 2505 2242 3255

5914 -0.97 -146.0 360.2 -5.0 446 5916 0.12 0.00 0.00 0.000 6 0.074 0.000 2446 2242 3256

6223 -0.88 -146.0 379.7 -6.3 461 6227 0.15 2.28 0.00 0.000 4 0.136 0.049 2493 826 3257

6296 -0.88 -146.0 383.8 -6.0 464 6301 0.00 2.30 0.00 0.000 6 0.000 0.049 2486 2244 3257

6614 -0.94 -146.0 399.3 -4.8 479 6615 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2244 3257

6920 -1.00 -146.0 413.3 -4.5 487 6922 0.08 0.00 0.00 0.000 6 0.087 0.000 2437 2244 3258

7244 -0.88 -146.0 432.9 -6.2 495 7249 0.17 2.28 0.00 0.000 4 0.133 0.049 2493 821 3259

7323 -0.88 -146.0 437.2 -5.1 496 7329 0.00 2.30 0.00 0.000 6 0.000 0.048 2485 2245 3259

7657 -0.94 -146.0 454.0 -5.2 505 7661 0.00 2.25 0.00 0.000 4 0.000 0.049 2485 822 3259

7736 -0.94 -146.0 458.6 -5.9 506 7740 0.00 2.30 0.00 0.000 6 0.000 0.049 2475 2244 3259

8069 -0.94 -146.0 477.2 -5.5 514 8073 0.00 2.28 0.00 0.000 4 0.000 0.050 2475 816 3259

8138 -0.94 -146.0 481.3 -6.1 515 8142 0.00 2.30 0.00 0.000 6 0.000 0.048 2465 2245 3259

8488 -0.94 -146.0 500.5 -5.5 524 8491 0.00 2.25 0.00 0.000 4 0.000 0.049 2465 830 3259

8545 -0.87 -146.0 504.2 -6.8 525 8550 0.12 2.25 0.00 0.000 6 0.127 0.048 2490 2235 3259

8866 -0.95 -146.0 520.0 -4.8 533 8867 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2235 3260

9023 end dive: TARGET_DEPTH_EXCEEDED

state 9023 begin apogee

9032 -0.31 0.0 529.2 5.6 537 9163 0.38 0.00 127.93 1.104 6 0.108 0.000 2615 1745 2650

9164 end apogee: CONTROL_FINISHED_OK

state 9164 begin climb

9168 0.99 146.0 532.2 0.0 540 9301 0.82 0.00 129.30 1.042 6 0.084 0.000 2894 1745 2054

9621 0.81 146.0 489.2 11.0 551 9623 0.15 0.00 0.00 0.000 6 0.124 0.000 2850 1745 2048

9941 0.81 146.0 464.1 7.4 559 9945 0.00 2.28 0.00 0.000 4 0.000 0.058 2850 3159 2047

9989 0.68 146.0 460.4 8.2 560 9993 0.12 2.20 0.00 0.000 6 0.131 0.043 2823 1737 2046

10315 0.81 184.1 441.1 5.8 568 10352 0.12 0.00 32.45 1.039 6 0.067 0.000 2885 1737 1899

10679 0.67 184.1 405.7 10.0 577 10681 0.20 0.00 0.00 0.000 6 0.117 0.000 2823 1737 1893

10988 0.77 184.1 383.2 7.4 590 10992 0.10 2.28 0.00 0.000 4 0.075 0.055 2876 3155 1892

11016 0.65 184.1 380.3 10.5 591 11021 0.22 2.20 0.00 0.000 6 0.124 0.042 2819 1736 1891

11335 0.80 203.4 358.9 6.4 606 11354 0.12 0.00 16.58 0.973 6 0.065 0.000 2884 1736 1820

11663 0.67 203.4 325.0 10.5 622 11665 0.20 0.00 0.00 0.000 6 0.115 0.000 2823 1736 1817

11972 0.81 218.4 304.5 6.5 637 11994 0.12 2.33 13.82 0.926 4 0.067 0.057 2886 3153 1758

12014 0.64 218.4 300.4 11.3 638 12021 0.28 2.20 0.00 0.000 6 0.123 0.042 2814 1734 1757

12333 0.84 235.3 278.6 6.5 654 12352 0.17 0.00 16.02 0.913 6 0.057 0.000 2903 1734 1690

12661 0.68 235.3 240.1 11.3 670 12663 0.25 0.00 0.00 0.000 6 0.119 0.000 2825 1735 1687

12970 0.91 280.2 221.4 5.6 685 13013 0.17 0.00 40.40 0.901 6 0.058 0.000 2911 1734 1507

13319 0.75 280.2 180.8 11.7 702 13324 0.20 2.25 0.00 0.000 4 0.118 0.054 2853 327 1500

13355 0.90 280.2 177.9 7.2 703 13362 0.08 2.22 0.00 0.000 6 0.089 0.042 2905 1750 1500

13672 0.82 280.2 146.5 9.9 719 13676 0.17 2.20 0.00 0.000 4 0.118 0.054 2850 3156 1499

13713 0.89 280.2 143.3 7.7 720 13719 0.00 2.20 0.00 0.000 6 0.000 0.041 2856 1731 1497

14030 1.04 280.2 120.6 7.7 736 14032 0.15 0.00 0.00 0.000 6 0.064 0.000 2934 1731 1497

14351 0.94 280.2 83.8 10.2 769 14357 0.17 0.00 0.00 0.000 6 0.117 0.000 2880 1731 1497

14698 1.14 280.2 58.9 7.5 830 14704 0.15 2.30 0.00 0.000 4 0.063 0.054 2957 3152 1497

14730 1.14 280.2 55.4 9.8 835 14737 0.15 2.20 0.00 0.000 6 0.134 0.041 2924 1739 1497

15077 1.14 280.2 20.9 8.8 896 15083 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 1739 1497

15302 end climb: SURFACE_DEPTH_REACHED

state 15302 begin surface coast

15352 end surface coast: CONTROL_FINISHED_OK

state 15352 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	15	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	665	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-130952.49	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	110838,6548.328,-5806.021,9,1.7,9,-36.2	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191831,6552.109,-5800.799,38,1.7,38,-36.3	MHEAD_RNG_PITCHd_Wd	58.1,141424,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	528

FREEZE	2.82,-1.564,-1.807	XPDR_PINGS	264
FINISH	2.8,1.026510	_24V_AH	22.1,101.071
RAFOS_CLK	658	_10V_AH	10.5,44.802
RAFOS	0,1231790649,20.083334,20.069166,66,54,54,54,53,48,225,199,216,190,169,157	DATA_FILE_SIZE	31607,944
RAFOS_FIX	6617.756348,-5909.147949,080109,000040,2,99,0.64	CAP_FILE_SIZE	124851,0
IRIDIUM_FIX	6522.33,-5801.90,080498,111127	CFSIZE	260165632,211222528
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1806	SOUNDSPEED	1460.1
INTERNAL_PRESSURE	9.90272	GPS	120109,191831,6552.109,-5800.799,38,1.7,38,-36.3
TCM_TEMP	15.80

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	230	77.55	SBE_CT	657	24	348.58
Roll_motor	86	62	118.70	SBE_O2	0	0	0.00
VBD_pump_during_apogee	376	1103	9183.61	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	22	103	51.01	nil	0	0	0.00
Iridium_during_connect	49	160	173.95	nil	0	0	0.00
Iridium_during_xfer	344	223	1699.13
Transponder_ping	66	420	612.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	39	50	20.81
TT8	1705	19	356.66
LPSleep	11326	2	274.73
TT8_Active	499	19	104.39
TT8_Sampling	1727	39	724.12
TT8_CF8	1018	45	491.04
TT8_Kalman	0	0	0.00
Analog_circuits	1400	12	176.41
GPS_charging	0	0	0.00
Compass	1685	8	141.56
RAFOS	1800	1	28.35
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.99	-146.0	0.0	0.0	0	107	0.00	0.00	-84.88	0.000	6	0.000	0.000	324	2244	3246
112	-0.99	-146.0	2.5	-0.1	16	126	8.62	2.35	0.00	0.000	4	0.231	0.056	2472	826	3250
382	-0.81	-146.0	30.3	-10.3	63	389	0.15	2.28	0.00	0.000	6	0.134	0.057	2506	2235	3252
729	-0.81	-146.0	58.3	-8.3	124	734	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2235	3252
1075	-0.81	-146.0	83.2	-7.0	185	1080	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2234	3252
1417	-0.81	-146.0	106.9	-6.4	232	1421	0.00	2.28	0.00	0.000	4	0.000	0.058	2510	824	3250
1564	-0.81	-146.0	116.2	-6.1	238	1568	0.00	2.28	0.00	0.000	6	0.000	0.057	2503	2235	3249
1889	-0.81	-146.0	133.4	-5.3	254	1890	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2235	3249
2197	-0.85	-146.0	152.1	-6.4	269	2201	0.00	2.28	0.00	0.000	4	0.000	0.055	2502	815	3248
2254	-0.85	-146.0	156.2	-7.2	271	2258	0.00	2.28	0.00	0.000	6	0.000	0.054	2492	2232	3248
2577	-0.85	-146.0	176.5	-5.5	287	2578	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2232	3248
2887	-0.85	-146.0	191.8	-4.8	302	2890	0.00	2.25	0.00	0.000	4	0.000	0.054	2492	822	3249
3034	-0.85	-146.0	200.0	-5.7	308	3038	0.00	2.25	0.00	0.000	6	0.000	0.054	2483	2233	3249
3357	-0.85	-146.0	218.5	-6.0	324	3358	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2233	3250
3666	-0.85	-146.0	237.4	-6.1	339	3669	0.00	2.25	0.00	0.000	4	0.000	0.052	2482	815	3250
3740	-0.85	-146.0	242.5	-7.0	342	3744	0.00	2.28	0.00	0.000	6	0.000	0.052	2473	2241	3250
4070	-0.85	-146.0	263.4	-5.8	358	4074	0.00	2.28	0.00	0.000	4	0.000	0.051	2473	815	3251
4140	-0.80	-146.0	267.6	-6.2	361	4145	0.17	2.28	0.00	0.000	6	0.122	0.051	2514	2239	3252
4473	-0.94	-146.0	278.8	-2.9	377	4477	0.15	2.17	0.00	0.000	4	0.070	0.062	2436	3601	3253
4524	-0.81	-146.0	281.6	-5.9	379	4529	0.25	2.12	0.00	0.000	6	0.131	0.039	2509	2211	3253
4848	-0.95	-146.0	294.4	-4.4	395	4853	0.12	2.17	0.00	0.000	4	0.075	0.051	2449	821	3254
4976	-0.81	-146.0	303.1	-7.3	400	4983	0.22	2.30	0.00	0.000	6	0.123	0.050	2505	2242	3254
5294	-0.93	-146.0	321.4	-5.7	416	5296	0.12	0.00	0.00	0.000	6	0.072	0.000	2446	2242	3255
5604	-0.84	-146.0	343.6	-7.3	431	5606	0.20	0.00	0.00	0.000	6	0.133	0.000	2505	2242	3255
5914	-0.97	-146.0	360.2	-5.0	446	5916	0.12	0.00	0.00	0.000	6	0.074	0.000	2446	2242	3256
6223	-0.88	-146.0	379.7	-6.3	461	6227	0.15	2.28	0.00	0.000	4	0.136	0.049	2493	826	3257
6296	-0.88	-146.0	383.8	-6.0	464	6301	0.00	2.30	0.00	0.000	6	0.000	0.049	2486	2244	3257
6614	-0.94	-146.0	399.3	-4.8	479	6615	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2244	3257
6920	-1.00	-146.0	413.3	-4.5	487	6922	0.08	0.00	0.00	0.000	6	0.087	0.000	2437	2244	3258
7244	-0.88	-146.0	432.9	-6.2	495	7249	0.17	2.28	0.00	0.000	4	0.133	0.049	2493	821	3259
7323	-0.88	-146.0	437.2	-5.1	496	7329	0.00	2.30	0.00	0.000	6	0.000	0.048	2485	2245	3259
7657	-0.94	-146.0	454.0	-5.2	505	7661	0.00	2.25	0.00	0.000	4	0.000	0.049	2485	822	3259
7736	-0.94	-146.0	458.6	-5.9	506	7740	0.00	2.30	0.00	0.000	6	0.000	0.049	2475	2244	3259
8069	-0.94	-146.0	477.2	-5.5	514	8073	0.00	2.28	0.00	0.000	4	0.000	0.050	2475	816	3259
8138	-0.94	-146.0	481.3	-6.1	515	8142	0.00	2.30	0.00	0.000	6	0.000	0.048	2465	2245	3259
8488	-0.94	-146.0	500.5	-5.5	524	8491	0.00	2.25	0.00	0.000	4	0.000	0.049	2465	830	3259
8545	-0.87	-146.0	504.2	-6.8	525	8550	0.12	2.25	0.00	0.000	6	0.127	0.048	2490	2235	3259
8866	-0.95	-146.0	520.0	-4.8	533	8867	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2235	3260
9023	end dive: TARGET_DEPTH_EXCEEDED
state	9023	begin apogee
9032	-0.31	0.0	529.2	5.6	537	9163	0.38	0.00	127.93	1.104	6	0.108	0.000	2615	1745	2650
9164	end apogee: CONTROL_FINISHED_OK
state	9164	begin climb
9168	0.99	146.0	532.2	0.0	540	9301	0.82	0.00	129.30	1.042	6	0.084	0.000	2894	1745	2054
9621	0.81	146.0	489.2	11.0	551	9623	0.15	0.00	0.00	0.000	6	0.124	0.000	2850	1745	2048
9941	0.81	146.0	464.1	7.4	559	9945	0.00	2.28	0.00	0.000	4	0.000	0.058	2850	3159	2047
9989	0.68	146.0	460.4	8.2	560	9993	0.12	2.20	0.00	0.000	6	0.131	0.043	2823	1737	2046
10315	0.81	184.1	441.1	5.8	568	10352	0.12	0.00	32.45	1.039	6	0.067	0.000	2885	1737	1899
10679	0.67	184.1	405.7	10.0	577	10681	0.20	0.00	0.00	0.000	6	0.117	0.000	2823	1737	1893
10988	0.77	184.1	383.2	7.4	590	10992	0.10	2.28	0.00	0.000	4	0.075	0.055	2876	3155	1892
11016	0.65	184.1	380.3	10.5	591	11021	0.22	2.20	0.00	0.000	6	0.124	0.042	2819	1736	1891
11335	0.80	203.4	358.9	6.4	606	11354	0.12	0.00	16.58	0.973	6	0.065	0.000	2884	1736	1820
11663	0.67	203.4	325.0	10.5	622	11665	0.20	0.00	0.00	0.000	6	0.115	0.000	2823	1736	1817
11972	0.81	218.4	304.5	6.5	637	11994	0.12	2.33	13.82	0.926	4	0.067	0.057	2886	3153	1758
12014	0.64	218.4	300.4	11.3	638	12021	0.28	2.20	0.00	0.000	6	0.123	0.042	2814	1734	1757
12333	0.84	235.3	278.6	6.5	654	12352	0.17	0.00	16.02	0.913	6	0.057	0.000	2903	1734	1690
12661	0.68	235.3	240.1	11.3	670	12663	0.25	0.00	0.00	0.000	6	0.119	0.000	2825	1735	1687
12970	0.91	280.2	221.4	5.6	685	13013	0.17	0.00	40.40	0.901	6	0.058	0.000	2911	1734	1507
13319	0.75	280.2	180.8	11.7	702	13324	0.20	2.25	0.00	0.000	4	0.118	0.054	2853	327	1500
13355	0.90	280.2	177.9	7.2	703	13362	0.08	2.22	0.00	0.000	6	0.089	0.042	2905	1750	1500
13672	0.82	280.2	146.5	9.9	719	13676	0.17	2.20	0.00	0.000	4	0.118	0.054	2850	3156	1499
13713	0.89	280.2	143.3	7.7	720	13719	0.00	2.20	0.00	0.000	6	0.000	0.041	2856	1731	1497
14030	1.04	280.2	120.6	7.7	736	14032	0.15	0.00	0.00	0.000	6	0.064	0.000	2934	1731	1497
14351	0.94	280.2	83.8	10.2	769	14357	0.17	0.00	0.00	0.000	6	0.117	0.000	2880	1731	1497
14698	1.14	280.2	58.9	7.5	830	14704	0.15	2.30	0.00	0.000	4	0.063	0.054	2957	3152	1497
14730	1.14	280.2	55.4	9.8	835	14737	0.15	2.20	0.00	0.000	6	0.134	0.041	2924	1739	1497
15077	1.14	280.2	20.9	8.8	896	15083	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	1739	1497
15302	end climb: SURFACE_DEPTH_REACHED
state	15302	begin surface coast
15352	end surface coast: CONTROL_FINISHED_OK
state	15352	begin surface