Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 382 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 70 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 382 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -119599.05 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 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 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 -119599.05

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 70 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 2 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 382 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 202640,6549.236,-5929.427,0,2119.0,0,-36.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6552.930,-5904.592

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 4.01 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -6.6 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 202640,6549.236,-5929.427,0,2119.0,0,-36.5 MHEAD_RNG_PITCHd_Wd 106.5,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 573

Post-dive calculations and measurements:

FREEZE 6.63,-1.807,-1.805 TCM_TEMP 14.80

FINISH1 6.6,1.026443,59 XPDR_PINGS 118

FINISH2 5.8 _24V_AH 22.0,64.331

RAFOS_CLK 610 _10V_AH 10.5,29.205

RAFOS 0,1227830660,0.083333,0.072222,59,57,57,54,54,54,174,183,871,165,198,219 DATA_FILE_SIZE 28403,838

RAFOS_FIX 6549.236328,-5929.427246,271108,202040,2,119,0.73 CAP_FILE_SIZE 111337,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151550 CFSIZE 260165632,226287616

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

HUMID 1797 SOUNDSPEED 1446.7

INTERNAL_PRESSURE 9.90272 GPS 271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 161 35.16 SBE_CT 587 24 310.01

Roll_motor 117 104 269.07 SBE_O2 0 0 0.00

VBD_pump_during_apogee 355 1168 9126.39 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 29 420 272.58

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1533 19 320.85

LPSleep 9813 2 238.02

TT8_Active 442 19 92.54

TT8_Sampling 1494 39 626.53

TT8_CF8 225 45 108.84

TT8_Kalman 0 81 0.00

Analog_circuits 1277 12 160.96

GPS_charging 0 0 0.00

Compass 1492 8 125.33

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 24 0.00 0.00 -5.35 0.000 2 0.000 0.000 2693 327 2547

27 -0.99 -146.0 3.5 -0.0 1 67 0.65 0.82 -33.00 0.000 4 0.077 0.100 2450 819 3247

243 -0.74 -146.0 20.7 -11.1 39 250 0.28 2.28 0.00 0.000 6 0.145 0.068 2517 2231 3252

587 -0.74 -146.0 49.0 -7.8 100 594 0.00 2.22 0.00 0.000 4 0.000 0.081 2509 3598 3252

618 -0.74 -146.0 51.4 -7.9 105 624 0.00 2.17 0.00 0.000 6 0.000 0.053 2509 2215 3252

962 -0.74 -146.0 78.1 -7.2 166 968 0.00 2.22 0.00 0.000 4 0.000 0.067 2509 818 3252

986 -0.74 -146.0 80.1 -7.8 170 992 0.00 2.35 0.00 0.000 6 0.000 0.068 2499 2244 3252

1338 -0.74 -146.0 107.7 -7.3 219 1342 0.00 2.22 0.00 0.000 4 0.000 0.084 2488 3611 3251

1366 -0.74 -146.0 109.9 -8.0 220 1370 0.12 2.20 0.00 0.000 6 0.147 0.054 2521 2216 3251

1687 -0.84 -146.0 130.4 -6.9 236 1692 0.10 2.25 0.00 0.000 4 0.097 0.066 2479 810 3251

1737 -0.73 -146.0 134.7 -8.7 238 1742 0.20 2.35 0.00 0.000 6 0.140 0.068 2525 2238 3251

2054 -0.85 -146.0 154.9 -6.3 253 2059 0.12 2.33 0.00 0.000 4 0.088 0.067 2475 815 3251

2087 -0.71 -146.0 157.6 -8.6 254 2094 0.22 2.35 0.00 0.000 6 0.140 0.068 2528 2243 3251

2404 -0.86 -146.0 175.0 -5.0 270 2409 0.12 2.33 0.00 0.000 4 0.087 0.067 2478 823 3251

2437 -0.76 -146.0 177.3 -7.3 271 2442 0.17 2.33 0.00 0.000 6 0.140 0.068 2516 2237 3251

2755 -0.86 -146.0 191.8 -4.5 286 2760 0.10 2.33 0.00 0.000 4 0.097 0.067 2475 814 3250

2800 -0.77 -146.0 194.8 -6.8 288 2804 0.17 2.35 0.00 0.000 6 0.140 0.068 2514 2241 3250

3123 -0.87 -146.0 211.6 -5.5 304 3127 0.10 2.33 0.00 0.000 4 0.098 0.067 2473 820 3250

3158 -0.75 -146.0 214.1 -7.2 305 3165 0.20 2.33 0.00 0.000 6 0.139 0.068 2519 2232 3250

3474 -0.88 -146.0 232.9 -6.2 321 3479 0.12 2.22 0.00 0.000 4 0.089 0.081 2458 3601 3250

3531 -0.79 -146.0 237.5 -8.6 323 3535 0.20 2.17 0.00 0.000 6 0.148 0.054 2513 2221 3249

3847 -0.91 -146.0 259.6 -6.9 338 3851 0.12 2.25 0.00 0.000 4 0.090 0.067 2461 811 3249

3897 -0.78 -146.0 264.0 -8.8 340 3902 0.22 2.35 0.00 0.000 6 0.139 0.068 2514 2239 3249

4219 -0.91 -146.0 284.7 -6.2 356 4224 0.12 2.33 0.00 0.000 4 0.090 0.067 2463 811 3249

4253 -0.79 -146.0 287.4 -8.2 357 4257 0.20 2.35 0.00 0.000 6 0.139 0.068 2509 2238 3249

4569 -0.91 -146.0 305.8 -5.2 372 4571 0.10 0.00 0.00 0.000 6 0.097 0.000 2468 2237 3249

4878 -0.91 -146.0 324.7 -6.1 387 4879 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2237 3249

5187 -0.91 -146.0 345.3 -6.9 402 5188 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2237 3249

5497 -0.91 -146.0 366.9 -6.9 417 5498 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2237 3249

5806 -0.91 -146.0 387.6 -6.8 432 5807 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2237 3250

6134 -0.91 -146.0 408.5 -6.2 445 6135 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2237 3250

6459 -0.91 -146.0 428.1 -5.9 453 6463 0.00 2.30 0.00 0.000 4 0.000 0.066 2469 813 3250

6476 -0.91 -146.0 429.2 -5.9 453 6481 0.10 2.33 0.00 0.000 6 0.140 0.064 2485 2236 3250

6824 -0.97 -146.0 446.4 -4.9 462 6825 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2236 3250

7151 -1.03 -146.0 462.6 -4.9 470 7155 0.12 2.22 0.00 0.000 4 0.085 0.077 2424 3603 3251

7162 -1.03 -146.0 463.4 -4.9 470 7166 0.10 2.17 0.00 0.000 6 0.162 0.051 2455 2213 3251

7480 -1.03 -146.0 482.8 -6.2 478 7484 0.00 2.22 0.00 0.000 4 0.000 0.064 2457 814 3251

7492 -0.98 -146.0 483.5 -6.1 478 7496 0.00 2.33 0.00 0.000 6 0.000 0.064 2449 2237 3251

7808 end dive: NO_VERTICAL_VELOCITY

state 7808 begin apogee

7815 -0.31 0.0 487.5 0.0 486 7943 0.50 0.00 125.22 1.168 6 0.090 0.000 2621 1737 2650

7944 end apogee: CONTROL_FINISHED_OK

state 7944 begin climb

7947 0.99 146.0 487.1 0.0 489 8085 0.82 2.65 130.38 1.086 4 0.086 0.069 2894 3157 2053

8173 0.66 146.0 465.8 12.6 494 8178 0.30 2.45 0.00 0.000 6 0.135 0.053 2824 1736 2048

8486 0.72 153.0 444.1 6.8 502 8494 0.00 0.00 5.95 0.849 6 0.000 0.000 2824 1736 2026

8811 0.77 153.0 421.0 7.2 510 8813 0.10 0.00 0.00 0.000 6 0.084 0.000 2869 1736 2026

9116 0.66 153.0 391.5 9.7 519 9118 0.17 0.00 0.00 0.000 6 0.128 0.000 2818 1736 2026

9426 0.79 175.2 370.8 6.3 534 9452 0.12 2.42 20.73 1.058 4 0.076 0.069 2873 3161 1934

9476 0.59 175.2 366.6 9.7 536 9481 0.28 2.33 0.00 0.000 6 0.133 0.052 2803 1731 1933

9794 0.85 240.4 349.9 4.9 551 9859 0.20 2.40 56.67 1.066 4 0.063 0.068 2897 327 1670

9871 1.03 240.4 343.9 7.6 554 9875 0.00 2.42 0.00 0.000 6 0.000 0.055 2897 1744 1669

10187 0.88 240.4 309.8 11.4 569 10192 0.12 2.33 0.00 0.000 4 0.138 0.069 2863 3152 1660

10266 0.75 240.4 301.2 11.6 572 10273 0.12 2.28 0.00 0.000 6 0.136 0.052 2835 1733 1659

10584 0.91 240.4 277.6 7.2 588 10588 0.15 2.30 0.00 0.000 4 0.070 0.067 2910 324 1657

10618 0.85 240.4 274.3 10.2 589 10623 0.17 2.35 0.00 0.000 6 0.134 0.057 2860 1752 1657

10935 0.85 240.4 247.5 8.3 604 10939 0.00 2.33 0.00 0.000 4 0.000 0.072 2860 3165 1657

10991 0.76 240.4 242.2 9.5 606 10995 0.10 2.28 0.00 0.000 6 0.143 0.053 2842 1735 1656

11313 0.94 259.8 220.7 6.4 622 11332 0.15 0.00 16.17 0.977 6 0.074 0.000 2907 1735 1590

11641 0.83 259.8 188.9 9.7 638 11646 0.17 2.30 0.00 0.000 4 0.130 0.067 2864 335 1588

11671 0.91 259.8 186.4 8.0 639 11675 0.00 2.30 0.00 0.000 6 0.000 0.056 2864 1752 1588

11998 1.02 259.8 162.3 7.3 655 12003 0.12 2.28 0.00 0.000 4 0.076 0.071 2921 3157 1587

12060 0.74 259.8 155.3 12.5 657 12067 0.32 2.28 0.00 0.000 6 0.133 0.055 2834 1738 1585

12378 1.39 259.8 130.8 9.0 673 12383 0.43 2.33 0.00 0.000 4 0.094 0.069 2983 320 1584

12400 1.75 259.8 128.3 9.3 674 12405 0.25 2.35 0.00 0.000 6 0.068 0.060 3081 1744 1584

12731 1.16 259.8 64.8 18.2 712 12737 0.50 0.00 0.00 0.000 6 0.160 0.000 2932 1744 1584

13075 1.06 259.8 32.8 8.7 773 13082 0.00 2.35 0.00 0.000 4 0.000 0.071 2941 328 1584

13106 0.97 259.8 29.9 9.4 778 13113 0.17 2.35 0.00 0.000 6 0.127 0.061 2889 1750 1584

13410 end climb: FINISH_DEPTH_REACHED

state 13410 begin subsurface finish

13418 0.07 59.3 6.6 -6.9 832 13454 0.57 2.40 -26.62 0.000 4 0.108 0.104 2684 3160 2413

13455 end subsurface finish: CONTROL_FINISHED_OK

state 13455 begin surface

ID	108	HEADING	70	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	382	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-119599.05	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	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	202640,6549.236,-5929.427,0,2119.0,0,-36.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6552.930,-5904.592
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	4.01	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-6.6	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	202640,6549.236,-5929.427,0,2119.0,0,-36.5	MHEAD_RNG_PITCHd_Wd	106.5,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	573

FREEZE	6.63,-1.807,-1.805	TCM_TEMP	14.80
FINISH1	6.6,1.026443,59	XPDR_PINGS	118
FINISH2	5.8	_24V_AH	22.0,64.331
RAFOS_CLK	610	_10V_AH	10.5,29.205
RAFOS	0,1227830660,0.083333,0.072222,59,57,57,54,54,54,174,183,871,165,198,219	DATA_FILE_SIZE	28403,838
RAFOS_FIX	6549.236328,-5929.427246,271108,202040,2,119,0.73	CAP_FILE_SIZE	111337,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151550	CFSIZE	260165632,226287616
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1797	SOUNDSPEED	1446.7
INTERNAL_PRESSURE	9.90272	GPS	271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	161	35.16	SBE_CT	587	24	310.01
Roll_motor	117	104	269.07	SBE_O2	0	0	0.00
VBD_pump_during_apogee	355	1168	9126.39	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	29	420	272.58
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1533	19	320.85
LPSleep	9813	2	238.02
TT8_Active	442	19	92.54
TT8_Sampling	1494	39	626.53
TT8_CF8	225	45	108.84
TT8_Kalman	0	81	0.00
Analog_circuits	1277	12	160.96
GPS_charging	0	0	0.00
Compass	1492	8	125.33
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	24	0.00	0.00	-5.35	0.000	2	0.000	0.000	2693	327	2547
27	-0.99	-146.0	3.5	-0.0	1	67	0.65	0.82	-33.00	0.000	4	0.077	0.100	2450	819	3247
243	-0.74	-146.0	20.7	-11.1	39	250	0.28	2.28	0.00	0.000	6	0.145	0.068	2517	2231	3252
587	-0.74	-146.0	49.0	-7.8	100	594	0.00	2.22	0.00	0.000	4	0.000	0.081	2509	3598	3252
618	-0.74	-146.0	51.4	-7.9	105	624	0.00	2.17	0.00	0.000	6	0.000	0.053	2509	2215	3252
962	-0.74	-146.0	78.1	-7.2	166	968	0.00	2.22	0.00	0.000	4	0.000	0.067	2509	818	3252
986	-0.74	-146.0	80.1	-7.8	170	992	0.00	2.35	0.00	0.000	6	0.000	0.068	2499	2244	3252
1338	-0.74	-146.0	107.7	-7.3	219	1342	0.00	2.22	0.00	0.000	4	0.000	0.084	2488	3611	3251
1366	-0.74	-146.0	109.9	-8.0	220	1370	0.12	2.20	0.00	0.000	6	0.147	0.054	2521	2216	3251
1687	-0.84	-146.0	130.4	-6.9	236	1692	0.10	2.25	0.00	0.000	4	0.097	0.066	2479	810	3251
1737	-0.73	-146.0	134.7	-8.7	238	1742	0.20	2.35	0.00	0.000	6	0.140	0.068	2525	2238	3251
2054	-0.85	-146.0	154.9	-6.3	253	2059	0.12	2.33	0.00	0.000	4	0.088	0.067	2475	815	3251
2087	-0.71	-146.0	157.6	-8.6	254	2094	0.22	2.35	0.00	0.000	6	0.140	0.068	2528	2243	3251
2404	-0.86	-146.0	175.0	-5.0	270	2409	0.12	2.33	0.00	0.000	4	0.087	0.067	2478	823	3251
2437	-0.76	-146.0	177.3	-7.3	271	2442	0.17	2.33	0.00	0.000	6	0.140	0.068	2516	2237	3251
2755	-0.86	-146.0	191.8	-4.5	286	2760	0.10	2.33	0.00	0.000	4	0.097	0.067	2475	814	3250
2800	-0.77	-146.0	194.8	-6.8	288	2804	0.17	2.35	0.00	0.000	6	0.140	0.068	2514	2241	3250
3123	-0.87	-146.0	211.6	-5.5	304	3127	0.10	2.33	0.00	0.000	4	0.098	0.067	2473	820	3250
3158	-0.75	-146.0	214.1	-7.2	305	3165	0.20	2.33	0.00	0.000	6	0.139	0.068	2519	2232	3250
3474	-0.88	-146.0	232.9	-6.2	321	3479	0.12	2.22	0.00	0.000	4	0.089	0.081	2458	3601	3250
3531	-0.79	-146.0	237.5	-8.6	323	3535	0.20	2.17	0.00	0.000	6	0.148	0.054	2513	2221	3249
3847	-0.91	-146.0	259.6	-6.9	338	3851	0.12	2.25	0.00	0.000	4	0.090	0.067	2461	811	3249
3897	-0.78	-146.0	264.0	-8.8	340	3902	0.22	2.35	0.00	0.000	6	0.139	0.068	2514	2239	3249
4219	-0.91	-146.0	284.7	-6.2	356	4224	0.12	2.33	0.00	0.000	4	0.090	0.067	2463	811	3249
4253	-0.79	-146.0	287.4	-8.2	357	4257	0.20	2.35	0.00	0.000	6	0.139	0.068	2509	2238	3249
4569	-0.91	-146.0	305.8	-5.2	372	4571	0.10	0.00	0.00	0.000	6	0.097	0.000	2468	2237	3249
4878	-0.91	-146.0	324.7	-6.1	387	4879	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2237	3249
5187	-0.91	-146.0	345.3	-6.9	402	5188	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2237	3249
5497	-0.91	-146.0	366.9	-6.9	417	5498	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2237	3249
5806	-0.91	-146.0	387.6	-6.8	432	5807	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2237	3250
6134	-0.91	-146.0	408.5	-6.2	445	6135	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2237	3250
6459	-0.91	-146.0	428.1	-5.9	453	6463	0.00	2.30	0.00	0.000	4	0.000	0.066	2469	813	3250
6476	-0.91	-146.0	429.2	-5.9	453	6481	0.10	2.33	0.00	0.000	6	0.140	0.064	2485	2236	3250
6824	-0.97	-146.0	446.4	-4.9	462	6825	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2236	3250
7151	-1.03	-146.0	462.6	-4.9	470	7155	0.12	2.22	0.00	0.000	4	0.085	0.077	2424	3603	3251
7162	-1.03	-146.0	463.4	-4.9	470	7166	0.10	2.17	0.00	0.000	6	0.162	0.051	2455	2213	3251
7480	-1.03	-146.0	482.8	-6.2	478	7484	0.00	2.22	0.00	0.000	4	0.000	0.064	2457	814	3251
7492	-0.98	-146.0	483.5	-6.1	478	7496	0.00	2.33	0.00	0.000	6	0.000	0.064	2449	2237	3251
7808	end dive: NO_VERTICAL_VELOCITY
state	7808	begin apogee
7815	-0.31	0.0	487.5	0.0	486	7943	0.50	0.00	125.22	1.168	6	0.090	0.000	2621	1737	2650
7944	end apogee: CONTROL_FINISHED_OK
state	7944	begin climb
7947	0.99	146.0	487.1	0.0	489	8085	0.82	2.65	130.38	1.086	4	0.086	0.069	2894	3157	2053
8173	0.66	146.0	465.8	12.6	494	8178	0.30	2.45	0.00	0.000	6	0.135	0.053	2824	1736	2048
8486	0.72	153.0	444.1	6.8	502	8494	0.00	0.00	5.95	0.849	6	0.000	0.000	2824	1736	2026
8811	0.77	153.0	421.0	7.2	510	8813	0.10	0.00	0.00	0.000	6	0.084	0.000	2869	1736	2026
9116	0.66	153.0	391.5	9.7	519	9118	0.17	0.00	0.00	0.000	6	0.128	0.000	2818	1736	2026
9426	0.79	175.2	370.8	6.3	534	9452	0.12	2.42	20.73	1.058	4	0.076	0.069	2873	3161	1934
9476	0.59	175.2	366.6	9.7	536	9481	0.28	2.33	0.00	0.000	6	0.133	0.052	2803	1731	1933
9794	0.85	240.4	349.9	4.9	551	9859	0.20	2.40	56.67	1.066	4	0.063	0.068	2897	327	1670
9871	1.03	240.4	343.9	7.6	554	9875	0.00	2.42	0.00	0.000	6	0.000	0.055	2897	1744	1669
10187	0.88	240.4	309.8	11.4	569	10192	0.12	2.33	0.00	0.000	4	0.138	0.069	2863	3152	1660
10266	0.75	240.4	301.2	11.6	572	10273	0.12	2.28	0.00	0.000	6	0.136	0.052	2835	1733	1659
10584	0.91	240.4	277.6	7.2	588	10588	0.15	2.30	0.00	0.000	4	0.070	0.067	2910	324	1657
10618	0.85	240.4	274.3	10.2	589	10623	0.17	2.35	0.00	0.000	6	0.134	0.057	2860	1752	1657
10935	0.85	240.4	247.5	8.3	604	10939	0.00	2.33	0.00	0.000	4	0.000	0.072	2860	3165	1657
10991	0.76	240.4	242.2	9.5	606	10995	0.10	2.28	0.00	0.000	6	0.143	0.053	2842	1735	1656
11313	0.94	259.8	220.7	6.4	622	11332	0.15	0.00	16.17	0.977	6	0.074	0.000	2907	1735	1590
11641	0.83	259.8	188.9	9.7	638	11646	0.17	2.30	0.00	0.000	4	0.130	0.067	2864	335	1588
11671	0.91	259.8	186.4	8.0	639	11675	0.00	2.30	0.00	0.000	6	0.000	0.056	2864	1752	1588
11998	1.02	259.8	162.3	7.3	655	12003	0.12	2.28	0.00	0.000	4	0.076	0.071	2921	3157	1587
12060	0.74	259.8	155.3	12.5	657	12067	0.32	2.28	0.00	0.000	6	0.133	0.055	2834	1738	1585
12378	1.39	259.8	130.8	9.0	673	12383	0.43	2.33	0.00	0.000	4	0.094	0.069	2983	320	1584
12400	1.75	259.8	128.3	9.3	674	12405	0.25	2.35	0.00	0.000	6	0.068	0.060	3081	1744	1584
12731	1.16	259.8	64.8	18.2	712	12737	0.50	0.00	0.00	0.000	6	0.160	0.000	2932	1744	1584
13075	1.06	259.8	32.8	8.7	773	13082	0.00	2.35	0.00	0.000	4	0.000	0.071	2941	328	1584
13106	0.97	259.8	29.9	9.4	778	13113	0.17	2.35	0.00	0.000	6	0.127	0.061	2889	1750	1584
13410	end climb: FINISH_DEPTH_REACHED
state	13410	begin subsurface finish
13418	0.07	59.3	6.6	-6.9	832	13454	0.57	2.40	-26.62	0.000	4	0.108	0.104	2684	3160	2413
13455	end subsurface finish: CONTROL_FINISHED_OK
state	13455	begin surface