Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 671 * 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 671 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -131056.41 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 -131056.41

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 33 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 671 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 173504,6554.730,-5746.450,31,2.2,50,-36.3 TGT_NAME TARGET_E_IN

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 173504,6554.730,-5746.450,31,2.2,50,-36.3 MHEAD_RNG_PITCHd_Wd 54.8,133296,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 543

Post-dive calculations and measurements:

FREEZE 1.79,-1.252,-1.812 TCM_TEMP 16.40

FINISH 1.8,1.026574 XPDR_PINGS 176

SM_CCo 14876,0.00,0.000,0,0,1409,304.42 _24V_AH 22.0,101.911

SM_GC 2.50,7.30,0.00,0.00,0.063,0.000,0.000,327,2240,1409,-10.70,0.28,304.42 _10V_AH 10.4,45.182

RAFOS_CLK 617 DATA_FILE_SIZE 28354,860

RAFOS 0,1231891479,0.083333,0.077500,63,60,58,53,53,50,214,119,185,146,174,159 CAP_FILE_SIZE 116447,0

RAFOS_FIX 6617.756348,-5909.147949,080109,000040,2,99,0.64 CFSIZE 260165632,210792448

IRIDIUM_FIX 6532.72,-5755.20,090498,171717 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1462.2

HUMID 1782 GPS 130109,173504,6554.730,-5746.450,31,2.2,50,-36.3

INTERNAL_PRESSURE 9.91249

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 151 55.46 SBE_CT 598 24 315.94

Roll_motor 108 62 150.79 SBE_O2 0 0 0.00

VBD_pump_during_apogee 393 1122 9719.14 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 44 420 406.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1586 19 328.59

LPSleep 10907 2 262.04

TT8_Active 486 19 100.87

TT8_Sampling 1639 39 680.61

TT8_CF8 318 45 152.16

TT8_Kalman 0 0 0.00

Analog_circuits 1385 12 172.96

GPS_charging 0 0 0.00

Compass 1623 8 135.07

RAFOS 1800 1 28.08

Transponder 0 5 0.03

Guidance and control:

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

17 -0.99 -146.0 0.0 0.0 0 107 0.00 0.00 -87.57 0.000 6 0.000 0.000 2902 1724 3246

111 -0.99 -146.0 2.2 -1.4 16 119 1.42 3.12 0.00 0.000 4 0.140 0.061 2462 3589 3248

161 -1.22 -146.0 3.8 -3.0 24 168 0.17 2.15 0.00 0.000 6 0.070 0.044 2392 2211 3249

509 -0.82 -146.0 51.7 -13.3 85 515 0.35 0.00 0.00 0.000 6 0.152 0.000 2498 2209 3249

855 -0.82 -146.0 78.7 -7.3 146 861 0.00 2.20 0.00 0.000 4 0.000 0.056 2499 817 3249

897 -0.82 -146.0 81.9 -7.7 153 904 0.00 2.33 0.00 0.000 6 0.000 0.056 2491 2229 3248

1240 -0.82 -146.0 106.6 -6.1 200 1244 0.00 2.28 0.00 0.000 4 0.000 0.056 2491 816 3247

1314 -0.82 -146.0 111.1 -5.9 203 1318 0.00 2.35 0.00 0.000 6 0.000 0.055 2481 2246 3246

1637 -0.82 -146.0 128.3 -5.7 219 1638 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2245 3246

1945 -0.82 -146.0 152.1 -8.3 234 1946 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2245 3246

2254 -0.82 -146.0 178.0 -8.2 249 2258 0.00 2.30 0.00 0.000 4 0.000 0.054 2481 822 3245

2369 -0.77 -146.0 187.0 -7.6 254 2374 0.15 2.33 0.00 0.000 6 0.124 0.054 2514 2232 3246

2698 -0.90 -146.0 202.6 -4.2 270 2699 0.12 0.00 0.00 0.000 6 0.074 0.000 2457 2232 3246

3008 -0.82 -146.0 221.4 -6.5 285 3012 0.17 2.30 0.00 0.000 4 0.133 0.052 2510 813 3247

3100 -0.89 -146.0 226.5 -4.8 289 3104 0.00 2.35 0.00 0.000 6 0.000 0.052 2503 2244 3247

3429 -0.97 -146.0 243.1 -5.2 305 3431 0.12 0.00 0.00 0.000 6 0.071 0.000 2440 2243 3247

3737 -0.84 -146.0 265.9 -7.5 320 3742 0.20 2.22 0.00 0.000 4 0.134 0.063 2495 3593 3247

3811 -0.95 -146.0 271.0 -7.1 323 3815 0.00 2.12 0.00 0.000 6 0.000 0.041 2495 2217 3248

4140 -1.03 -146.0 291.7 -6.3 339 4144 0.15 2.20 0.00 0.000 4 0.072 0.051 2428 818 3248

4291 -0.82 -146.0 304.6 -9.3 345 4296 0.28 2.33 0.00 0.000 6 0.127 0.052 2502 2240 3248

4610 -0.92 -146.0 323.1 -5.2 360 4611 0.10 0.00 0.00 0.000 6 0.084 0.000 2455 2240 3248

4918 -0.86 -146.0 342.4 -6.2 375 4919 0.15 0.00 0.00 0.000 6 0.139 0.000 2496 2240 3248

5228 -0.95 -146.0 358.1 -5.1 390 5232 0.10 2.28 0.00 0.000 4 0.084 0.051 2449 821 3249

5307 -0.81 -146.0 363.9 -7.2 393 5314 0.22 2.30 0.00 0.000 6 0.123 0.051 2505 2239 3249

5625 -0.93 -146.0 382.4 -5.9 409 5626 0.10 0.00 0.00 0.000 6 0.083 0.000 2456 2239 3250

5954 -0.87 -146.0 406.2 -7.1 423 5955 0.12 0.00 0.00 0.000 6 0.137 0.000 2490 2239 3250

6278 -0.95 -146.0 424.2 -5.4 431 6282 0.00 2.25 0.00 0.000 4 0.000 0.052 2490 825 3250

6370 -0.95 -146.0 429.5 -5.7 433 6374 0.00 2.30 0.00 0.000 6 0.000 0.051 2483 2246 3250

6696 -0.95 -146.0 447.1 -5.2 441 6697 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2246 3250

7021 -1.02 -146.0 462.7 -4.7 449 7023 0.10 0.00 0.00 0.000 6 0.077 0.000 2431 2246 3250

7347 -0.88 -146.0 481.4 -5.7 457 7351 0.20 2.22 0.00 0.000 4 0.131 0.063 2483 3596 3250

7415 -0.95 -146.0 484.7 -4.7 458 7419 0.00 2.12 0.00 0.000 6 0.000 0.040 2482 2211 3250

7766 -0.95 -146.0 500.6 -4.6 467 7769 0.00 2.17 0.00 0.000 4 0.000 0.051 2483 818 3250

7874 -0.95 -146.0 506.2 -5.4 469 7878 0.00 2.28 0.00 0.000 6 0.000 0.051 2473 2235 3250

8189 -0.95 -146.0 522.8 -5.2 477 8190 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2235 3250

8514 -0.95 -146.0 540.2 -5.4 485 8518 0.00 2.25 0.00 0.000 4 0.000 0.051 2473 828 3250

8561 end dive: TARGET_DEPTH_EXCEEDED

state 8561 begin apogee

8573 -0.31 0.0 543.2 6.0 486 8702 0.45 0.00 126.35 1.122 6 0.118 0.000 2613 1745 2650

8703 end apogee: CONTROL_FINISHED_OK

state 8703 begin climb

8707 0.99 146.0 544.6 0.0 489 8843 0.85 0.00 129.93 1.055 6 0.088 0.000 2896 1745 2054

9159 0.80 146.0 499.3 10.7 500 9161 0.15 0.00 0.00 0.000 6 0.126 0.000 2853 1745 2048

9484 0.80 146.0 472.1 8.2 508 9488 0.00 2.25 0.00 0.000 4 0.000 0.058 2853 3152 2046

9546 0.64 146.0 466.5 9.8 509 9551 0.15 2.20 0.00 0.000 6 0.128 0.043 2817 1736 2046

9896 0.74 154.9 443.2 6.7 518 9911 0.10 2.35 7.45 0.887 4 0.077 0.057 2870 3149 2018

9930 0.56 154.9 440.1 9.4 518 9935 0.28 2.20 0.00 0.000 6 0.125 0.043 2798 1738 2018

10264 0.82 200.9 420.7 5.5 526 10307 0.20 0.00 40.62 1.036 6 0.054 0.000 2896 1738 1831

10609 0.67 200.9 382.8 11.0 538 10611 0.25 0.00 0.00 0.000 6 0.120 0.000 2818 1738 1825

10919 0.89 247.7 364.7 5.5 553 10966 0.17 2.35 40.90 0.997 4 0.059 0.058 2904 3154 1640

10986 0.69 247.7 358.3 11.3 556 10991 0.30 2.25 0.00 0.000 6 0.123 0.043 2823 1732 1637

11314 0.93 280.0 336.9 6.0 572 11346 0.17 0.00 29.23 0.963 6 0.058 0.000 2911 1731 1508

11644 0.79 280.0 297.0 12.9 588 11648 0.20 2.25 0.00 0.000 4 0.121 0.055 2854 326 1502

11674 0.85 280.0 293.7 10.3 589 11678 0.00 2.30 0.00 0.000 6 0.000 0.044 2854 1752 1502

12002 0.93 280.0 262.1 10.0 605 12006 0.10 2.25 0.00 0.000 4 0.078 0.058 2909 3149 1499

12059 0.70 280.0 254.0 14.8 607 12064 0.30 2.22 0.00 0.000 6 0.123 0.043 2827 1727 1498

12376 0.92 280.0 227.8 7.3 622 12381 0.17 2.22 0.00 0.000 4 0.061 0.056 2917 334 1498

12394 1.05 280.0 226.1 7.8 622 12401 0.00 2.25 0.00 0.000 6 0.000 0.043 2917 1748 1498

12712 0.91 280.0 186.6 11.9 638 12716 0.15 2.25 0.00 0.000 4 0.131 0.056 2873 3147 1498

12740 0.84 280.0 183.3 10.3 639 12744 0.00 2.17 0.00 0.000 6 0.000 0.042 2881 1737 1496

13068 0.84 280.0 152.2 9.5 655 13072 0.00 2.25 0.00 0.000 4 0.000 0.057 2890 326 1496

13092 0.84 280.0 149.9 9.0 656 13097 0.12 2.28 0.00 0.000 6 0.116 0.045 2853 1747 1495

13426 0.98 302.8 127.8 6.3 672 13452 0.15 2.30 19.23 0.842 4 0.063 0.058 2926 3140 1415

13477 0.78 302.8 122.8 11.8 674 13482 0.30 2.20 0.00 0.000 6 0.123 0.043 2845 1735 1414

13799 0.98 302.8 101.3 8.4 690 13803 0.17 2.25 0.00 0.000 4 0.059 0.055 2939 326 1412

13828 0.98 302.8 97.7 12.2 692 13835 0.17 2.22 0.00 0.000 6 0.124 0.044 2888 1744 1412

14176 1.03 302.8 58.4 9.7 753 14182 0.00 2.20 0.00 0.000 4 0.000 0.058 2888 3146 1411

14224 1.03 302.8 53.2 11.1 761 14231 0.00 2.20 0.00 0.000 6 0.000 0.043 2895 1726 1410

14572 1.15 302.8 26.0 7.4 822 14579 0.12 2.30 0.00 0.000 4 0.071 0.056 2959 3160 1411

14588 1.23 302.8 24.7 7.8 824 14595 0.00 2.20 0.00 0.000 6 0.000 0.043 2968 1736 1411

14770 end climb: SURFACE_DEPTH_REACHED

state 14770 begin surface coast

14793 end surface coast: CONTROL_FINISHED_OK

state 14793 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	671	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-131056.41	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	173504,6554.730,-5746.450,31,2.2,50,-36.3	TGT_NAME	TARGET_E_IN
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	173504,6554.730,-5746.450,31,2.2,50,-36.3	MHEAD_RNG_PITCHd_Wd	54.8,133296,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	543

FREEZE	1.79,-1.252,-1.812	TCM_TEMP	16.40
FINISH	1.8,1.026574	XPDR_PINGS	176
SM_CCo	14876,0.00,0.000,0,0,1409,304.42	_24V_AH	22.0,101.911
SM_GC	2.50,7.30,0.00,0.00,0.063,0.000,0.000,327,2240,1409,-10.70,0.28,304.42	_10V_AH	10.4,45.182
RAFOS_CLK	617	DATA_FILE_SIZE	28354,860
RAFOS	0,1231891479,0.083333,0.077500,63,60,58,53,53,50,214,119,185,146,174,159	CAP_FILE_SIZE	116447,0
RAFOS_FIX	6617.756348,-5909.147949,080109,000040,2,99,0.64	CFSIZE	260165632,210792448
IRIDIUM_FIX	6532.72,-5755.20,090498,171717	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1462.2
HUMID	1782	GPS	130109,173504,6554.730,-5746.450,31,2.2,50,-36.3
INTERNAL_PRESSURE	9.91249

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	151	55.46	SBE_CT	598	24	315.94
Roll_motor	108	62	150.79	SBE_O2	0	0	0.00
VBD_pump_during_apogee	393	1122	9719.14	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	44	420	406.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1586	19	328.59
LPSleep	10907	2	262.04
TT8_Active	486	19	100.87
TT8_Sampling	1639	39	680.61
TT8_CF8	318	45	152.16
TT8_Kalman	0	0	0.00
Analog_circuits	1385	12	172.96
GPS_charging	0	0	0.00
Compass	1623	8	135.07
RAFOS	1800	1	28.08
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
17	-0.99	-146.0	0.0	0.0	0	107	0.00	0.00	-87.57	0.000	6	0.000	0.000	2902	1724	3246
111	-0.99	-146.0	2.2	-1.4	16	119	1.42	3.12	0.00	0.000	4	0.140	0.061	2462	3589	3248
161	-1.22	-146.0	3.8	-3.0	24	168	0.17	2.15	0.00	0.000	6	0.070	0.044	2392	2211	3249
509	-0.82	-146.0	51.7	-13.3	85	515	0.35	0.00	0.00	0.000	6	0.152	0.000	2498	2209	3249
855	-0.82	-146.0	78.7	-7.3	146	861	0.00	2.20	0.00	0.000	4	0.000	0.056	2499	817	3249
897	-0.82	-146.0	81.9	-7.7	153	904	0.00	2.33	0.00	0.000	6	0.000	0.056	2491	2229	3248
1240	-0.82	-146.0	106.6	-6.1	200	1244	0.00	2.28	0.00	0.000	4	0.000	0.056	2491	816	3247
1314	-0.82	-146.0	111.1	-5.9	203	1318	0.00	2.35	0.00	0.000	6	0.000	0.055	2481	2246	3246
1637	-0.82	-146.0	128.3	-5.7	219	1638	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2245	3246
1945	-0.82	-146.0	152.1	-8.3	234	1946	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2245	3246
2254	-0.82	-146.0	178.0	-8.2	249	2258	0.00	2.30	0.00	0.000	4	0.000	0.054	2481	822	3245
2369	-0.77	-146.0	187.0	-7.6	254	2374	0.15	2.33	0.00	0.000	6	0.124	0.054	2514	2232	3246
2698	-0.90	-146.0	202.6	-4.2	270	2699	0.12	0.00	0.00	0.000	6	0.074	0.000	2457	2232	3246
3008	-0.82	-146.0	221.4	-6.5	285	3012	0.17	2.30	0.00	0.000	4	0.133	0.052	2510	813	3247
3100	-0.89	-146.0	226.5	-4.8	289	3104	0.00	2.35	0.00	0.000	6	0.000	0.052	2503	2244	3247
3429	-0.97	-146.0	243.1	-5.2	305	3431	0.12	0.00	0.00	0.000	6	0.071	0.000	2440	2243	3247
3737	-0.84	-146.0	265.9	-7.5	320	3742	0.20	2.22	0.00	0.000	4	0.134	0.063	2495	3593	3247
3811	-0.95	-146.0	271.0	-7.1	323	3815	0.00	2.12	0.00	0.000	6	0.000	0.041	2495	2217	3248
4140	-1.03	-146.0	291.7	-6.3	339	4144	0.15	2.20	0.00	0.000	4	0.072	0.051	2428	818	3248
4291	-0.82	-146.0	304.6	-9.3	345	4296	0.28	2.33	0.00	0.000	6	0.127	0.052	2502	2240	3248
4610	-0.92	-146.0	323.1	-5.2	360	4611	0.10	0.00	0.00	0.000	6	0.084	0.000	2455	2240	3248
4918	-0.86	-146.0	342.4	-6.2	375	4919	0.15	0.00	0.00	0.000	6	0.139	0.000	2496	2240	3248
5228	-0.95	-146.0	358.1	-5.1	390	5232	0.10	2.28	0.00	0.000	4	0.084	0.051	2449	821	3249
5307	-0.81	-146.0	363.9	-7.2	393	5314	0.22	2.30	0.00	0.000	6	0.123	0.051	2505	2239	3249
5625	-0.93	-146.0	382.4	-5.9	409	5626	0.10	0.00	0.00	0.000	6	0.083	0.000	2456	2239	3250
5954	-0.87	-146.0	406.2	-7.1	423	5955	0.12	0.00	0.00	0.000	6	0.137	0.000	2490	2239	3250
6278	-0.95	-146.0	424.2	-5.4	431	6282	0.00	2.25	0.00	0.000	4	0.000	0.052	2490	825	3250
6370	-0.95	-146.0	429.5	-5.7	433	6374	0.00	2.30	0.00	0.000	6	0.000	0.051	2483	2246	3250
6696	-0.95	-146.0	447.1	-5.2	441	6697	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2246	3250
7021	-1.02	-146.0	462.7	-4.7	449	7023	0.10	0.00	0.00	0.000	6	0.077	0.000	2431	2246	3250
7347	-0.88	-146.0	481.4	-5.7	457	7351	0.20	2.22	0.00	0.000	4	0.131	0.063	2483	3596	3250
7415	-0.95	-146.0	484.7	-4.7	458	7419	0.00	2.12	0.00	0.000	6	0.000	0.040	2482	2211	3250
7766	-0.95	-146.0	500.6	-4.6	467	7769	0.00	2.17	0.00	0.000	4	0.000	0.051	2483	818	3250
7874	-0.95	-146.0	506.2	-5.4	469	7878	0.00	2.28	0.00	0.000	6	0.000	0.051	2473	2235	3250
8189	-0.95	-146.0	522.8	-5.2	477	8190	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2235	3250
8514	-0.95	-146.0	540.2	-5.4	485	8518	0.00	2.25	0.00	0.000	4	0.000	0.051	2473	828	3250
8561	end dive: TARGET_DEPTH_EXCEEDED
state	8561	begin apogee
8573	-0.31	0.0	543.2	6.0	486	8702	0.45	0.00	126.35	1.122	6	0.118	0.000	2613	1745	2650
8703	end apogee: CONTROL_FINISHED_OK
state	8703	begin climb
8707	0.99	146.0	544.6	0.0	489	8843	0.85	0.00	129.93	1.055	6	0.088	0.000	2896	1745	2054
9159	0.80	146.0	499.3	10.7	500	9161	0.15	0.00	0.00	0.000	6	0.126	0.000	2853	1745	2048
9484	0.80	146.0	472.1	8.2	508	9488	0.00	2.25	0.00	0.000	4	0.000	0.058	2853	3152	2046
9546	0.64	146.0	466.5	9.8	509	9551	0.15	2.20	0.00	0.000	6	0.128	0.043	2817	1736	2046
9896	0.74	154.9	443.2	6.7	518	9911	0.10	2.35	7.45	0.887	4	0.077	0.057	2870	3149	2018
9930	0.56	154.9	440.1	9.4	518	9935	0.28	2.20	0.00	0.000	6	0.125	0.043	2798	1738	2018
10264	0.82	200.9	420.7	5.5	526	10307	0.20	0.00	40.62	1.036	6	0.054	0.000	2896	1738	1831
10609	0.67	200.9	382.8	11.0	538	10611	0.25	0.00	0.00	0.000	6	0.120	0.000	2818	1738	1825
10919	0.89	247.7	364.7	5.5	553	10966	0.17	2.35	40.90	0.997	4	0.059	0.058	2904	3154	1640
10986	0.69	247.7	358.3	11.3	556	10991	0.30	2.25	0.00	0.000	6	0.123	0.043	2823	1732	1637
11314	0.93	280.0	336.9	6.0	572	11346	0.17	0.00	29.23	0.963	6	0.058	0.000	2911	1731	1508
11644	0.79	280.0	297.0	12.9	588	11648	0.20	2.25	0.00	0.000	4	0.121	0.055	2854	326	1502
11674	0.85	280.0	293.7	10.3	589	11678	0.00	2.30	0.00	0.000	6	0.000	0.044	2854	1752	1502
12002	0.93	280.0	262.1	10.0	605	12006	0.10	2.25	0.00	0.000	4	0.078	0.058	2909	3149	1499
12059	0.70	280.0	254.0	14.8	607	12064	0.30	2.22	0.00	0.000	6	0.123	0.043	2827	1727	1498
12376	0.92	280.0	227.8	7.3	622	12381	0.17	2.22	0.00	0.000	4	0.061	0.056	2917	334	1498
12394	1.05	280.0	226.1	7.8	622	12401	0.00	2.25	0.00	0.000	6	0.000	0.043	2917	1748	1498
12712	0.91	280.0	186.6	11.9	638	12716	0.15	2.25	0.00	0.000	4	0.131	0.056	2873	3147	1498
12740	0.84	280.0	183.3	10.3	639	12744	0.00	2.17	0.00	0.000	6	0.000	0.042	2881	1737	1496
13068	0.84	280.0	152.2	9.5	655	13072	0.00	2.25	0.00	0.000	4	0.000	0.057	2890	326	1496
13092	0.84	280.0	149.9	9.0	656	13097	0.12	2.28	0.00	0.000	6	0.116	0.045	2853	1747	1495
13426	0.98	302.8	127.8	6.3	672	13452	0.15	2.30	19.23	0.842	4	0.063	0.058	2926	3140	1415
13477	0.78	302.8	122.8	11.8	674	13482	0.30	2.20	0.00	0.000	6	0.123	0.043	2845	1735	1414
13799	0.98	302.8	101.3	8.4	690	13803	0.17	2.25	0.00	0.000	4	0.059	0.055	2939	326	1412
13828	0.98	302.8	97.7	12.2	692	13835	0.17	2.22	0.00	0.000	6	0.124	0.044	2888	1744	1412
14176	1.03	302.8	58.4	9.7	753	14182	0.00	2.20	0.00	0.000	4	0.000	0.058	2888	3146	1411
14224	1.03	302.8	53.2	11.1	761	14231	0.00	2.20	0.00	0.000	6	0.000	0.043	2895	1726	1410
14572	1.15	302.8	26.0	7.4	822	14579	0.12	2.30	0.00	0.000	4	0.071	0.056	2959	3160	1411
14588	1.23	302.8	24.7	7.8	824	14595	0.00	2.20	0.00	0.000	6	0.000	0.043	2968	1736	1411
14770	end climb: SURFACE_DEPTH_REACHED
state	14770	begin surface coast
14793	end surface coast: CONTROL_FINISHED_OK
state	14793	begin surface