Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 337 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 337 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 21 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -2 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -118637.09 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 70 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 1 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 1 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 70 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 -118637.09

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 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 1 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 337 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 202536,6636.716,-6005.753,0,4096.0,0,-37.9 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.233,0.011

_SM_DEPTHo 1.69 KALMAN_X 206084.8,-2163.2,-1103.1,-255674.7,14253.8

_SM_ANGLEo -0.0 KALMAN_Y -241575.3,5954.1,9629.9,223344.9,-24469.8

GPS2 202536,6636.716,-6005.753,0,4096.0,0,-37.9 MHEAD_RNG_PITCHd_Wd 310.6,28987,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 552

Post-dive calculations and measurements:

FREEZE 5.77,-1.770,-1.774 TCM_TEMP 14.70

FINISH1 5.8,1.026003,81 XPDR_PINGS 30

FINISH2 4.2 _24V_AH 22.1,58.614

RAFOS_CLK 639 _10V_AH 10.5,26.858

RAFOS 0,1227254652,8.083333,8.070000,112,60,58,56,54,53,585,212,201,223,152,177 DATA_FILE_SIZE 28425,855

RAFOS_FIX 6232.697266,-5331.492188,211108,000026,3,81,38.68 CAP_FILE_SIZE 114160,0

IRIDIUM_FIX 6620.33,-5917.14,100298,030337 CFSIZE 260165632,228888576

TT8_MAMPS 0.029913 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1810 SOUNDSPEED 1444.5

INTERNAL_PRESSURE 9.89296 GPS 201108,202536,6636.716,-6005.753,0,4096.0,0,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 158 31.67 SBE_CT 599 24 317.91

Roll_motor 121 94 252.54 SBE_O2 0 0 0.00

VBD_pump_during_apogee 401 1201 10665.21 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 7 420 69.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1573 19 329.21

LPSleep 9860 2 239.17

TT8_Active 499 19 104.57

TT8_Sampling 1648 39 691.18

TT8_CF8 202 45 97.75

TT8_Kalman 33 81 28.69

Analog_circuits 1403 12 176.90

GPS_charging 0 0 0.00

Compass 1638 8 137.66

RAFOS 1440 1 22.68

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

13 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.99 -146.0 0.0 0.0 0 68 0.00 0.00 -47.22 0.000 6 0.000 0.000 2702 1750 3246

72 -0.99 -146.0 2.8 -2.0 9 78 0.65 1.55 0.00 0.000 4 0.067 0.070 2452 813 3248

108 -1.05 -146.0 5.3 -6.0 15 114 0.00 2.35 0.00 0.000 6 0.000 0.070 2442 2232 3249

452 -0.76 -146.0 50.2 -13.9 76 459 0.22 2.25 0.00 0.000 4 0.159 0.081 2500 3605 3251

714 -0.76 -146.0 74.8 -9.4 122 721 0.00 2.20 0.00 0.000 6 0.000 0.057 2501 2221 3251

1062 -0.76 -146.0 101.9 -7.9 181 1063 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2221 3251

1371 -0.76 -146.0 124.9 -7.1 196 1375 0.00 2.33 0.00 0.000 4 0.000 0.087 2492 3601 3251

1471 -0.76 -146.0 132.6 -7.9 200 1475 0.10 2.20 0.00 0.000 6 0.155 0.056 2517 2212 3250

1794 -0.83 -146.0 153.9 -6.7 216 1796 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2212 3250

2101 -0.89 -146.0 173.8 -6.7 231 2106 0.12 2.25 0.00 0.000 4 0.094 0.069 2466 812 3250

2152 -0.72 -146.0 178.5 -9.4 233 2157 0.25 2.35 0.00 0.000 6 0.144 0.070 2527 2238 3250

2473 -0.83 -146.0 201.7 -7.3 249 2477 0.12 2.25 0.00 0.000 4 0.091 0.084 2467 3605 3250

2579 -0.73 -146.0 212.3 -10.2 253 2585 0.20 2.20 0.00 0.000 6 0.152 0.058 2522 2220 3250

2897 -0.83 -146.0 234.3 -6.3 269 2898 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2221 3250

3204 -0.94 -146.0 253.8 -6.3 284 3209 0.17 2.35 0.00 0.000 4 0.083 0.081 2444 3604 3250

3294 -0.80 -146.0 262.6 -10.9 288 3298 0.22 2.20 0.00 0.000 6 0.150 0.056 2507 2224 3250

3615 -0.87 -146.0 287.3 -7.5 304 3616 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2223 3250

3924 -0.94 -146.0 308.2 -6.2 319 3929 0.12 2.33 0.00 0.000 4 0.094 0.081 2446 3602 3250

3991 -0.78 -146.0 313.6 -8.1 322 3996 0.22 2.20 0.00 0.000 6 0.151 0.057 2509 2214 3250

4318 -0.87 -146.0 331.7 -5.4 338 4322 0.00 2.33 0.00 0.000 4 0.000 0.094 2501 3593 3250

4374 -0.98 -146.0 335.2 -6.5 340 4379 0.12 2.15 0.00 0.000 6 0.089 0.055 2450 2223 3250

4695 -0.84 -146.0 360.6 -8.1 356 4700 0.17 2.28 0.00 0.000 4 0.147 0.069 2500 813 3250

4826 -0.84 -146.0 369.7 -6.7 361 4833 0.00 2.35 0.00 0.000 6 0.000 0.070 2492 2235 3250

5142 -0.84 -146.0 390.4 -6.2 377 5146 0.00 2.22 0.00 0.000 4 0.000 0.083 2482 3601 3250

5197 -0.84 -146.0 394.0 -6.0 379 5201 0.00 2.20 0.00 0.000 6 0.000 0.055 2482 2213 3250

5536 -0.84 -146.0 416.5 -6.8 390 5540 0.00 2.25 0.00 0.000 4 0.000 0.070 2482 811 3249

5608 -0.84 -146.0 421.9 -7.7 391 5612 0.10 2.35 0.00 0.000 6 0.147 0.068 2498 2240 3250

5951 -0.94 -146.0 443.4 -6.3 400 5952 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2240 3250

6276 -1.02 -146.0 462.7 -5.9 408 6281 0.15 2.33 0.00 0.000 4 0.086 0.067 2439 821 3250

6399 -0.85 -146.0 472.5 -8.5 410 6406 0.22 2.35 0.00 0.000 6 0.140 0.070 2494 2244 3249

6731 -0.94 -146.0 491.5 -5.3 419 6734 0.00 2.33 0.00 0.000 4 0.000 0.067 2494 817 3250

6810 -0.94 -146.0 496.0 -6.5 420 6814 0.00 2.35 0.00 0.000 6 0.000 0.068 2487 2244 3250

7147 -1.22 -146.0 510.4 -2.8 429 7152 0.20 2.35 0.00 0.000 4 0.068 0.066 2395 810 3251

7281 end dive: NO_VERTICAL_VELOCITY

state 7281 begin apogee

7289 -0.31 0.0 510.4 0.0 432 7417 0.65 0.00 124.85 1.202 6 0.100 0.000 2615 1754 2650

7418 end apogee: CONTROL_FINISHED_OK

state 7418 begin climb

7421 0.99 146.0 509.9 0.0 435 7561 0.90 2.58 131.20 1.116 4 0.096 0.072 2899 3152 2053

7609 0.63 146.0 492.1 12.9 439 7616 0.35 2.47 0.00 0.000 6 0.139 0.054 2817 1746 2049

7940 0.78 194.8 472.4 5.4 448 7991 0.12 2.53 43.35 1.106 4 0.077 0.068 2879 330 1855

8020 0.71 194.8 465.8 9.6 449 8027 0.17 2.47 0.00 0.000 6 0.123 0.058 2832 1748 1852

8352 0.82 215.2 444.2 6.4 458 8376 0.10 2.40 17.90 1.061 4 0.081 0.084 2875 3150 1772

8399 0.64 215.2 440.1 9.6 459 8404 0.25 2.35 0.00 0.000 6 0.130 0.054 2815 1727 1771

8718 0.90 276.3 422.9 5.1 467 8778 0.20 0.00 56.65 1.100 6 0.065 0.000 2897 1727 1523

9064 0.78 276.3 389.5 9.2 478 9069 0.17 2.33 0.00 0.000 4 0.129 0.068 2856 326 1513

9081 0.78 276.3 388.2 8.4 479 9085 0.00 2.35 0.00 0.000 6 0.000 0.058 2856 1747 1514

9415 0.87 276.3 365.3 7.5 495 9419 0.00 2.30 0.00 0.000 4 0.000 0.072 2856 3156 1511

9438 0.87 276.3 363.2 8.1 496 9442 0.00 2.28 0.00 0.000 6 0.000 0.054 2865 1732 1510

9770 0.93 276.3 335.7 8.0 512 9772 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1733 1510

10079 1.01 276.3 311.6 7.5 527 10084 0.12 2.35 0.00 0.000 4 0.082 0.072 2919 3155 1509

10101 0.92 276.3 309.5 9.0 528 10106 0.20 2.28 0.00 0.000 6 0.142 0.056 2872 1728 1509

10423 0.99 276.3 285.2 7.8 544 10425 0.10 0.00 0.00 0.000 6 0.085 0.000 2918 1729 1508

10731 0.87 276.3 249.8 11.7 559 10736 0.17 2.30 0.00 0.000 4 0.134 0.071 2875 321 1507

10747 0.87 276.3 248.1 11.1 559 10754 0.00 2.35 0.00 0.000 6 0.000 0.060 2876 1752 1508

11064 0.97 276.3 222.3 7.7 575 11067 0.00 2.28 0.00 0.000 4 0.000 0.075 2875 3153 1507

11096 0.97 276.3 219.4 8.9 576 11100 0.00 2.25 0.00 0.000 6 0.000 0.057 2884 1740 1507

11418 1.03 278.5 196.2 6.9 592 11420 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 1740 1506

11728 1.10 287.3 174.9 6.7 607 11739 0.12 0.00 8.07 0.924 6 0.084 0.000 2938 1740 1478

12055 0.96 287.3 140.4 10.9 623 12059 0.17 2.33 0.00 0.000 4 0.136 0.072 2896 332 1478

12071 0.89 287.3 138.7 10.7 623 12078 0.10 2.35 0.00 0.000 6 0.126 0.061 2868 1752 1478

12387 1.42 287.3 115.9 7.4 639 12392 0.35 2.30 0.00 0.000 4 0.081 0.076 2998 3156 1476

12472 0.96 287.3 105.1 15.5 643 12478 0.43 2.28 0.00 0.000 6 0.151 0.061 2885 1736 1476

12812 1.10 287.3 79.2 7.7 695 12819 0.12 2.33 0.00 0.000 4 0.078 0.074 2951 323 1476

12832 1.19 287.3 77.4 8.2 698 12838 0.00 2.35 0.00 0.000 6 0.000 0.064 2951 1753 1476

13176 1.09 287.3 42.3 7.7 759 13182 0.15 0.00 0.00 0.000 6 0.141 0.000 2908 1753 1476

13520 1.09 287.3 17.5 14.0 820 13526 0.00 2.33 0.00 0.000 4 0.000 0.084 2908 3160 1475

13652 1.05 308.3 9.4 6.3 843 13677 0.00 2.30 19.50 0.919 6 0.000 0.061 2916 1731 1393

13683 end climb: FINISH_DEPTH_REACHED

state 13683 begin subsurface finish

13691 0.10 80.9 5.8 -9.5 848 13732 0.65 2.33 -33.12 0.000 4 0.101 0.087 2694 327 2323

13732 end subsurface finish: CONTROL_FINISHED_OK

state 13732 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	337	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	21	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-2	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-118637.09	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	70	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	1	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	1	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	202536,6636.716,-6005.753,0,4096.0,0,-37.9	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.233,0.011
_SM_DEPTHo	1.69	KALMAN_X	206084.8,-2163.2,-1103.1,-255674.7,14253.8
_SM_ANGLEo	-0.0	KALMAN_Y	-241575.3,5954.1,9629.9,223344.9,-24469.8
GPS2	202536,6636.716,-6005.753,0,4096.0,0,-37.9	MHEAD_RNG_PITCHd_Wd	310.6,28987,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	552

FREEZE	5.77,-1.770,-1.774	TCM_TEMP	14.70
FINISH1	5.8,1.026003,81	XPDR_PINGS	30
FINISH2	4.2	_24V_AH	22.1,58.614
RAFOS_CLK	639	_10V_AH	10.5,26.858
RAFOS	0,1227254652,8.083333,8.070000,112,60,58,56,54,53,585,212,201,223,152,177	DATA_FILE_SIZE	28425,855
RAFOS_FIX	6232.697266,-5331.492188,211108,000026,3,81,38.68	CAP_FILE_SIZE	114160,0
IRIDIUM_FIX	6620.33,-5917.14,100298,030337	CFSIZE	260165632,228888576
TT8_MAMPS	0.029913	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1810	SOUNDSPEED	1444.5
INTERNAL_PRESSURE	9.89296	GPS	201108,202536,6636.716,-6005.753,0,4096.0,0,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	158	31.67	SBE_CT	599	24	317.91
Roll_motor	121	94	252.54	SBE_O2	0	0	0.00
VBD_pump_during_apogee	401	1201	10665.21	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	7	420	69.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1573	19	329.21
LPSleep	9860	2	239.17
TT8_Active	499	19	104.57
TT8_Sampling	1648	39	691.18
TT8_CF8	202	45	97.75
TT8_Kalman	33	81	28.69
Analog_circuits	1403	12	176.90
GPS_charging	0	0	0.00
Compass	1638	8	137.66
RAFOS	1440	1	22.68
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
13	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.99	-146.0	0.0	0.0	0	68	0.00	0.00	-47.22	0.000	6	0.000	0.000	2702	1750	3246
72	-0.99	-146.0	2.8	-2.0	9	78	0.65	1.55	0.00	0.000	4	0.067	0.070	2452	813	3248
108	-1.05	-146.0	5.3	-6.0	15	114	0.00	2.35	0.00	0.000	6	0.000	0.070	2442	2232	3249
452	-0.76	-146.0	50.2	-13.9	76	459	0.22	2.25	0.00	0.000	4	0.159	0.081	2500	3605	3251
714	-0.76	-146.0	74.8	-9.4	122	721	0.00	2.20	0.00	0.000	6	0.000	0.057	2501	2221	3251
1062	-0.76	-146.0	101.9	-7.9	181	1063	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2221	3251
1371	-0.76	-146.0	124.9	-7.1	196	1375	0.00	2.33	0.00	0.000	4	0.000	0.087	2492	3601	3251
1471	-0.76	-146.0	132.6	-7.9	200	1475	0.10	2.20	0.00	0.000	6	0.155	0.056	2517	2212	3250
1794	-0.83	-146.0	153.9	-6.7	216	1796	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2212	3250
2101	-0.89	-146.0	173.8	-6.7	231	2106	0.12	2.25	0.00	0.000	4	0.094	0.069	2466	812	3250
2152	-0.72	-146.0	178.5	-9.4	233	2157	0.25	2.35	0.00	0.000	6	0.144	0.070	2527	2238	3250
2473	-0.83	-146.0	201.7	-7.3	249	2477	0.12	2.25	0.00	0.000	4	0.091	0.084	2467	3605	3250
2579	-0.73	-146.0	212.3	-10.2	253	2585	0.20	2.20	0.00	0.000	6	0.152	0.058	2522	2220	3250
2897	-0.83	-146.0	234.3	-6.3	269	2898	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2221	3250
3204	-0.94	-146.0	253.8	-6.3	284	3209	0.17	2.35	0.00	0.000	4	0.083	0.081	2444	3604	3250
3294	-0.80	-146.0	262.6	-10.9	288	3298	0.22	2.20	0.00	0.000	6	0.150	0.056	2507	2224	3250
3615	-0.87	-146.0	287.3	-7.5	304	3616	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2223	3250
3924	-0.94	-146.0	308.2	-6.2	319	3929	0.12	2.33	0.00	0.000	4	0.094	0.081	2446	3602	3250
3991	-0.78	-146.0	313.6	-8.1	322	3996	0.22	2.20	0.00	0.000	6	0.151	0.057	2509	2214	3250
4318	-0.87	-146.0	331.7	-5.4	338	4322	0.00	2.33	0.00	0.000	4	0.000	0.094	2501	3593	3250
4374	-0.98	-146.0	335.2	-6.5	340	4379	0.12	2.15	0.00	0.000	6	0.089	0.055	2450	2223	3250
4695	-0.84	-146.0	360.6	-8.1	356	4700	0.17	2.28	0.00	0.000	4	0.147	0.069	2500	813	3250
4826	-0.84	-146.0	369.7	-6.7	361	4833	0.00	2.35	0.00	0.000	6	0.000	0.070	2492	2235	3250
5142	-0.84	-146.0	390.4	-6.2	377	5146	0.00	2.22	0.00	0.000	4	0.000	0.083	2482	3601	3250
5197	-0.84	-146.0	394.0	-6.0	379	5201	0.00	2.20	0.00	0.000	6	0.000	0.055	2482	2213	3250
5536	-0.84	-146.0	416.5	-6.8	390	5540	0.00	2.25	0.00	0.000	4	0.000	0.070	2482	811	3249
5608	-0.84	-146.0	421.9	-7.7	391	5612	0.10	2.35	0.00	0.000	6	0.147	0.068	2498	2240	3250
5951	-0.94	-146.0	443.4	-6.3	400	5952	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2240	3250
6276	-1.02	-146.0	462.7	-5.9	408	6281	0.15	2.33	0.00	0.000	4	0.086	0.067	2439	821	3250
6399	-0.85	-146.0	472.5	-8.5	410	6406	0.22	2.35	0.00	0.000	6	0.140	0.070	2494	2244	3249
6731	-0.94	-146.0	491.5	-5.3	419	6734	0.00	2.33	0.00	0.000	4	0.000	0.067	2494	817	3250
6810	-0.94	-146.0	496.0	-6.5	420	6814	0.00	2.35	0.00	0.000	6	0.000	0.068	2487	2244	3250
7147	-1.22	-146.0	510.4	-2.8	429	7152	0.20	2.35	0.00	0.000	4	0.068	0.066	2395	810	3251
7281	end dive: NO_VERTICAL_VELOCITY
state	7281	begin apogee
7289	-0.31	0.0	510.4	0.0	432	7417	0.65	0.00	124.85	1.202	6	0.100	0.000	2615	1754	2650
7418	end apogee: CONTROL_FINISHED_OK
state	7418	begin climb
7421	0.99	146.0	509.9	0.0	435	7561	0.90	2.58	131.20	1.116	4	0.096	0.072	2899	3152	2053
7609	0.63	146.0	492.1	12.9	439	7616	0.35	2.47	0.00	0.000	6	0.139	0.054	2817	1746	2049
7940	0.78	194.8	472.4	5.4	448	7991	0.12	2.53	43.35	1.106	4	0.077	0.068	2879	330	1855
8020	0.71	194.8	465.8	9.6	449	8027	0.17	2.47	0.00	0.000	6	0.123	0.058	2832	1748	1852
8352	0.82	215.2	444.2	6.4	458	8376	0.10	2.40	17.90	1.061	4	0.081	0.084	2875	3150	1772
8399	0.64	215.2	440.1	9.6	459	8404	0.25	2.35	0.00	0.000	6	0.130	0.054	2815	1727	1771
8718	0.90	276.3	422.9	5.1	467	8778	0.20	0.00	56.65	1.100	6	0.065	0.000	2897	1727	1523
9064	0.78	276.3	389.5	9.2	478	9069	0.17	2.33	0.00	0.000	4	0.129	0.068	2856	326	1513
9081	0.78	276.3	388.2	8.4	479	9085	0.00	2.35	0.00	0.000	6	0.000	0.058	2856	1747	1514
9415	0.87	276.3	365.3	7.5	495	9419	0.00	2.30	0.00	0.000	4	0.000	0.072	2856	3156	1511
9438	0.87	276.3	363.2	8.1	496	9442	0.00	2.28	0.00	0.000	6	0.000	0.054	2865	1732	1510
9770	0.93	276.3	335.7	8.0	512	9772	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1733	1510
10079	1.01	276.3	311.6	7.5	527	10084	0.12	2.35	0.00	0.000	4	0.082	0.072	2919	3155	1509
10101	0.92	276.3	309.5	9.0	528	10106	0.20	2.28	0.00	0.000	6	0.142	0.056	2872	1728	1509
10423	0.99	276.3	285.2	7.8	544	10425	0.10	0.00	0.00	0.000	6	0.085	0.000	2918	1729	1508
10731	0.87	276.3	249.8	11.7	559	10736	0.17	2.30	0.00	0.000	4	0.134	0.071	2875	321	1507
10747	0.87	276.3	248.1	11.1	559	10754	0.00	2.35	0.00	0.000	6	0.000	0.060	2876	1752	1508
11064	0.97	276.3	222.3	7.7	575	11067	0.00	2.28	0.00	0.000	4	0.000	0.075	2875	3153	1507
11096	0.97	276.3	219.4	8.9	576	11100	0.00	2.25	0.00	0.000	6	0.000	0.057	2884	1740	1507
11418	1.03	278.5	196.2	6.9	592	11420	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	1740	1506
11728	1.10	287.3	174.9	6.7	607	11739	0.12	0.00	8.07	0.924	6	0.084	0.000	2938	1740	1478
12055	0.96	287.3	140.4	10.9	623	12059	0.17	2.33	0.00	0.000	4	0.136	0.072	2896	332	1478
12071	0.89	287.3	138.7	10.7	623	12078	0.10	2.35	0.00	0.000	6	0.126	0.061	2868	1752	1478
12387	1.42	287.3	115.9	7.4	639	12392	0.35	2.30	0.00	0.000	4	0.081	0.076	2998	3156	1476
12472	0.96	287.3	105.1	15.5	643	12478	0.43	2.28	0.00	0.000	6	0.151	0.061	2885	1736	1476
12812	1.10	287.3	79.2	7.7	695	12819	0.12	2.33	0.00	0.000	4	0.078	0.074	2951	323	1476
12832	1.19	287.3	77.4	8.2	698	12838	0.00	2.35	0.00	0.000	6	0.000	0.064	2951	1753	1476
13176	1.09	287.3	42.3	7.7	759	13182	0.15	0.00	0.00	0.000	6	0.141	0.000	2908	1753	1476
13520	1.09	287.3	17.5	14.0	820	13526	0.00	2.33	0.00	0.000	4	0.000	0.084	2908	3160	1475
13652	1.05	308.3	9.4	6.3	843	13677	0.00	2.30	19.50	0.919	6	0.000	0.061	2916	1731	1393
13683	end climb: FINISH_DEPTH_REACHED
state	13683	begin subsurface finish
13691	0.10	80.9	5.8	-9.5	848	13732	0.65	2.33	-33.12	0.000	4	0.101	0.087	2694	327	2323
13732	end subsurface finish: CONTROL_FINISHED_OK
state	13732	begin surface