Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 392 * 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 392 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 26 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 -119614.86 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 -119614.86

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 26 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 392 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 085509,6541.520,-5844.323,13,1.3,13,-36.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6545.213,-5819.612

_XMS_NAKs 14 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 1.65 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -3.1 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 085509,6541.520,-5844.323,13,1.3,13,-36.2 MHEAD_RNG_PITCHd_Wd 106.2,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 474

Post-dive calculations and measurements:

FREEZE 6.85,-1.823,-1.810 TCM_TEMP 15.00

FINISH1 6.8,1.026514,56 XPDR_PINGS 23

FINISH2 5.0 _24V_AH 22.1,65.552

RAFOS_CLK 614 _10V_AH 10.5,29.729

RAFOS 2,1227961444,12.416667,12.401111,61,60,58,55,53,53,201,132,191,217,171,151 DATA_FILE_SIZE 28401,891

RAFOS_FIX 6549.236328,-5929.427246,271108,202040,2,119,0.73 CAP_FILE_SIZE 108932,0

IRIDIUM_FIX 6517.16,-5931.80,210298,090954 CFSIZE 260165632,225726464

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

HUMID 1810 SOUNDSPEED 1447.2

INTERNAL_PRESSURE 9.91249 GPS 291108,085509,6541.520,-5844.323,13,1.3,13,-36.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 161 30.76 SBE_CT 622 24 330.21

Roll_motor 110 82 201.23 SBE_O2 0 0 0.00

VBD_pump_during_apogee 425 1155 10867.36 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 5 420 53.37

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1549 19 324.19

LPSleep 9599 2 232.84

TT8_Active 529 19 110.67

TT8_Sampling 1528 39 640.82

TT8_CF8 219 45 105.68

TT8_Kalman 0 81 0.00

Analog_circuits 1379 12 173.84

GPS_charging 0 0 0.00

Compass 1524 8 128.10

RAFOS 1080 1 17.01

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 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 66 0.00 0.00 -45.90 0.000 6 0.000 0.000 2689 3162 3248

70 -0.99 -146.0 2.3 -1.4 9 77 0.73 3.83 0.00 0.000 4 0.162 0.061 2484 805 3248

186 -0.82 -146.0 14.0 -9.8 29 193 0.10 2.35 0.00 0.000 6 0.144 0.067 2503 2242 3250

531 -0.82 -146.0 42.4 -7.8 90 537 0.00 2.33 0.00 0.000 4 0.000 0.066 2503 810 3251

544 -0.82 -146.0 43.4 -8.4 92 550 0.00 2.35 0.00 0.000 6 0.000 0.066 2495 2245 3251

887 -0.82 -146.0 72.0 -8.6 153 894 0.00 2.22 0.00 0.000 4 0.000 0.081 2485 3609 3250

901 -0.82 -146.0 73.2 -8.9 155 907 0.00 2.20 0.00 0.000 6 0.000 0.053 2485 2208 3250

1256 -0.82 -146.0 105.9 -8.9 210 1258 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2208 3250

1567 -0.82 -146.0 126.9 -6.4 225 1568 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2208 3249

1875 -0.82 -146.0 148.9 -7.5 240 1879 0.00 2.22 0.00 0.000 4 0.000 0.067 2485 812 3249

1970 -0.76 -146.0 156.3 -7.7 244 1975 0.15 2.35 0.00 0.000 6 0.137 0.068 2516 2240 3249

2293 -0.86 -146.0 176.3 -6.0 260 2297 0.10 2.22 0.00 0.000 4 0.095 0.081 2464 3597 3249

2309 -0.86 -146.0 177.6 -6.2 260 2315 0.12 2.17 0.00 0.000 6 0.157 0.054 2496 2216 3248

2626 -0.91 -146.0 197.2 -6.0 276 2629 0.00 2.22 0.00 0.000 4 0.000 0.067 2496 819 3248

2642 -0.91 -146.0 198.5 -6.2 276 2649 0.00 2.33 0.00 0.000 6 0.000 0.067 2488 2233 3248

2958 -0.91 -146.0 219.9 -6.9 292 2959 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2233 3248

3268 -0.91 -146.0 241.6 -6.8 307 3272 0.00 2.28 0.00 0.000 4 0.000 0.065 2488 821 3247

3352 -0.91 -146.0 247.8 -7.4 310 3358 0.00 2.33 0.00 0.000 6 0.000 0.067 2479 2236 3247

3668 -0.91 -146.0 267.9 -6.2 326 3672 0.00 2.33 0.00 0.000 4 0.000 0.066 2479 810 3247

3724 -0.91 -146.0 271.5 -6.4 328 3728 0.00 2.35 0.00 0.000 6 0.000 0.067 2469 2235 3247

4046 -0.91 -146.0 290.4 -5.6 344 4047 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2235 3247

4355 -0.91 -146.0 309.1 -6.4 359 4359 0.00 2.30 0.00 0.000 4 0.000 0.065 2468 818 3247

4402 -0.84 -146.0 312.2 -6.6 361 4407 0.15 2.33 0.00 0.000 6 0.136 0.067 2500 2234 3247

4729 -0.94 -146.0 330.5 -5.4 377 4731 0.10 0.00 0.00 0.000 6 0.096 0.000 2459 2234 3247

5039 -0.89 -146.0 349.7 -5.8 392 5041 0.12 0.00 0.00 0.000 6 0.151 0.000 2492 2234 3247

5350 -0.96 -146.0 364.3 -4.5 407 5354 0.00 2.30 0.00 0.000 4 0.000 0.064 2491 813 3248

5378 -0.96 -146.0 365.8 -5.2 408 5382 0.00 2.33 0.00 0.000 6 0.000 0.065 2484 2236 3248

5706 -1.01 -146.0 381.5 -5.0 424 5710 0.10 2.30 0.00 0.000 4 0.089 0.063 2438 818 3248

5746 -0.82 -146.0 384.2 -7.2 426 5751 0.25 2.35 0.00 0.000 6 0.137 0.068 2500 2243 3248

6073 -0.94 -146.0 401.1 -5.3 442 6078 0.10 2.33 0.00 0.000 4 0.094 0.064 2458 809 3249

6107 -0.83 -146.0 403.2 -6.6 442 6114 0.20 2.35 0.00 0.000 6 0.135 0.064 2505 2245 3249

6439 -0.97 -146.0 419.8 -4.8 451 6441 0.12 0.00 0.00 0.000 6 0.087 0.000 2454 2245 3249

6765 -0.91 -146.0 438.5 -5.8 459 6769 0.12 2.33 0.00 0.000 4 0.152 0.063 2487 813 3249

6798 -0.91 -146.0 440.4 -5.2 459 6805 0.00 2.35 0.00 0.000 6 0.000 0.064 2479 2236 3249

7130 -0.91 -146.0 457.9 -5.4 468 7131 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2236 3250

7452 end dive: TARGET_DEPTH_EXCEEDED

state 7452 begin apogee

7459 -0.31 0.0 474.8 5.1 476 7587 0.43 0.00 124.85 1.156 6 0.122 0.000 2613 1734 2650

7588 end apogee: CONTROL_FINISHED_OK

state 7588 begin climb

7591 0.99 146.0 476.6 0.0 479 7727 0.88 0.00 129.68 1.078 6 0.091 0.000 2899 1734 2054

8042 0.77 146.0 431.4 10.8 490 8047 0.20 2.45 0.00 0.000 4 0.127 0.069 2842 3158 2046

8082 0.66 146.0 427.6 9.5 490 8089 0.12 2.35 0.00 0.000 6 0.135 0.053 2818 1736 2046

8414 0.76 164.8 406.1 6.4 499 8432 0.10 0.00 15.80 1.031 6 0.081 0.000 2864 1735 1978

8723 0.68 164.8 379.5 8.9 512 8725 0.15 0.00 0.00 0.000 6 0.125 0.000 2821 1735 1976

9032 0.82 198.4 359.9 5.9 527 9064 0.15 0.00 29.88 1.063 6 0.071 0.000 2884 1735 1841

9363 0.69 198.4 328.8 9.8 543 9365 0.20 0.00 0.00 0.000 6 0.120 0.000 2824 1735 1835

9673 0.84 207.0 308.5 6.7 558 9688 0.15 2.40 7.85 0.913 4 0.071 0.070 2888 3157 1806

9711 0.63 207.0 304.5 10.8 559 9718 0.28 2.28 0.00 0.000 6 0.130 0.053 2816 1733 1805

10029 0.84 226.5 283.1 6.4 575 10050 0.15 0.00 18.48 1.010 6 0.069 0.000 2884 1734 1726

10356 0.76 226.5 252.4 9.0 591 10361 0.15 2.30 0.00 0.000 4 0.122 0.066 2848 324 1722

10390 0.89 234.3 249.9 6.8 592 10405 0.10 2.33 8.05 0.899 6 0.086 0.056 2896 1743 1694

10730 0.79 234.3 218.8 9.2 609 10735 0.17 2.30 0.00 0.000 4 0.127 0.070 2844 3162 1692

10774 0.79 234.3 214.9 7.9 611 10778 0.00 2.28 0.00 0.000 6 0.000 0.052 2850 1727 1691

11102 0.91 259.9 195.3 6.2 627 11132 0.10 2.33 23.38 0.980 4 0.085 0.067 2908 335 1590

11149 0.85 259.9 191.1 9.3 629 11154 0.17 2.30 0.00 0.000 6 0.131 0.055 2858 1743 1589

11471 0.99 273.8 169.3 6.6 645 11493 0.12 2.33 13.43 0.925 4 0.075 0.071 2913 3152 1533

11528 0.77 273.8 163.4 12.0 647 11533 0.28 2.28 0.00 0.000 6 0.130 0.053 2842 1730 1532

11844 1.42 273.8 140.8 8.2 662 11849 0.43 2.28 0.00 0.000 4 0.101 0.067 2987 330 1528

11878 1.50 273.8 137.2 10.5 663 11885 0.00 2.30 0.00 0.000 6 0.000 0.058 2987 1743 1529

12200 1.18 273.8 89.1 14.4 688 12207 0.20 2.30 0.00 0.000 4 0.150 0.073 2927 3162 1528

12254 0.97 273.8 82.5 11.7 697 12261 0.17 2.28 0.00 0.000 6 0.136 0.055 2884 1731 1527

12599 1.17 335.2 61.1 5.0 758 12659 0.17 2.40 54.05 0.929 4 0.067 0.069 2970 329 1283

12701 1.04 335.2 51.0 11.1 775 12708 0.25 2.35 0.00 0.000 6 0.130 0.060 2898 1739 1280

13047 1.18 335.2 24.7 7.6 836 13053 0.15 2.35 0.00 0.000 4 0.073 0.074 2961 3160 1273

13100 0.92 335.2 19.5 11.5 845 13107 0.32 2.30 0.00 0.000 6 0.139 0.058 2875 1740 1271

13314 end climb: FINISH_DEPTH_REACHED

state 13314 begin subsurface finish

13322 0.07 55.8 6.8 -7.1 883 13369 0.52 2.38 -37.60 0.000 4 0.100 0.082 2693 327 2426

13370 end subsurface finish: CONTROL_FINISHED_OK

state 13370 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	392	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	26	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	-119614.86	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	085509,6541.520,-5844.323,13,1.3,13,-36.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6545.213,-5819.612
_XMS_NAKs	14	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	1.65	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-3.1	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	085509,6541.520,-5844.323,13,1.3,13,-36.2	MHEAD_RNG_PITCHd_Wd	106.2,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	474

FREEZE	6.85,-1.823,-1.810	TCM_TEMP	15.00
FINISH1	6.8,1.026514,56	XPDR_PINGS	23
FINISH2	5.0	_24V_AH	22.1,65.552
RAFOS_CLK	614	_10V_AH	10.5,29.729
RAFOS	2,1227961444,12.416667,12.401111,61,60,58,55,53,53,201,132,191,217,171,151	DATA_FILE_SIZE	28401,891
RAFOS_FIX	6549.236328,-5929.427246,271108,202040,2,119,0.73	CAP_FILE_SIZE	108932,0
IRIDIUM_FIX	6517.16,-5931.80,210298,090954	CFSIZE	260165632,225726464
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1810	SOUNDSPEED	1447.2
INTERNAL_PRESSURE	9.91249	GPS	291108,085509,6541.520,-5844.323,13,1.3,13,-36.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	161	30.76	SBE_CT	622	24	330.21
Roll_motor	110	82	201.23	SBE_O2	0	0	0.00
VBD_pump_during_apogee	425	1155	10867.36	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	5	420	53.37
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1549	19	324.19
LPSleep	9599	2	232.84
TT8_Active	529	19	110.67
TT8_Sampling	1528	39	640.82
TT8_CF8	219	45	105.68
TT8_Kalman	0	81	0.00
Analog_circuits	1379	12	173.84
GPS_charging	0	0	0.00
Compass	1524	8	128.10
RAFOS	1080	1	17.01
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	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	66	0.00	0.00	-45.90	0.000	6	0.000	0.000	2689	3162	3248
70	-0.99	-146.0	2.3	-1.4	9	77	0.73	3.83	0.00	0.000	4	0.162	0.061	2484	805	3248
186	-0.82	-146.0	14.0	-9.8	29	193	0.10	2.35	0.00	0.000	6	0.144	0.067	2503	2242	3250
531	-0.82	-146.0	42.4	-7.8	90	537	0.00	2.33	0.00	0.000	4	0.000	0.066	2503	810	3251
544	-0.82	-146.0	43.4	-8.4	92	550	0.00	2.35	0.00	0.000	6	0.000	0.066	2495	2245	3251
887	-0.82	-146.0	72.0	-8.6	153	894	0.00	2.22	0.00	0.000	4	0.000	0.081	2485	3609	3250
901	-0.82	-146.0	73.2	-8.9	155	907	0.00	2.20	0.00	0.000	6	0.000	0.053	2485	2208	3250
1256	-0.82	-146.0	105.9	-8.9	210	1258	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2208	3250
1567	-0.82	-146.0	126.9	-6.4	225	1568	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2208	3249
1875	-0.82	-146.0	148.9	-7.5	240	1879	0.00	2.22	0.00	0.000	4	0.000	0.067	2485	812	3249
1970	-0.76	-146.0	156.3	-7.7	244	1975	0.15	2.35	0.00	0.000	6	0.137	0.068	2516	2240	3249
2293	-0.86	-146.0	176.3	-6.0	260	2297	0.10	2.22	0.00	0.000	4	0.095	0.081	2464	3597	3249
2309	-0.86	-146.0	177.6	-6.2	260	2315	0.12	2.17	0.00	0.000	6	0.157	0.054	2496	2216	3248
2626	-0.91	-146.0	197.2	-6.0	276	2629	0.00	2.22	0.00	0.000	4	0.000	0.067	2496	819	3248
2642	-0.91	-146.0	198.5	-6.2	276	2649	0.00	2.33	0.00	0.000	6	0.000	0.067	2488	2233	3248
2958	-0.91	-146.0	219.9	-6.9	292	2959	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2233	3248
3268	-0.91	-146.0	241.6	-6.8	307	3272	0.00	2.28	0.00	0.000	4	0.000	0.065	2488	821	3247
3352	-0.91	-146.0	247.8	-7.4	310	3358	0.00	2.33	0.00	0.000	6	0.000	0.067	2479	2236	3247
3668	-0.91	-146.0	267.9	-6.2	326	3672	0.00	2.33	0.00	0.000	4	0.000	0.066	2479	810	3247
3724	-0.91	-146.0	271.5	-6.4	328	3728	0.00	2.35	0.00	0.000	6	0.000	0.067	2469	2235	3247
4046	-0.91	-146.0	290.4	-5.6	344	4047	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2235	3247
4355	-0.91	-146.0	309.1	-6.4	359	4359	0.00	2.30	0.00	0.000	4	0.000	0.065	2468	818	3247
4402	-0.84	-146.0	312.2	-6.6	361	4407	0.15	2.33	0.00	0.000	6	0.136	0.067	2500	2234	3247
4729	-0.94	-146.0	330.5	-5.4	377	4731	0.10	0.00	0.00	0.000	6	0.096	0.000	2459	2234	3247
5039	-0.89	-146.0	349.7	-5.8	392	5041	0.12	0.00	0.00	0.000	6	0.151	0.000	2492	2234	3247
5350	-0.96	-146.0	364.3	-4.5	407	5354	0.00	2.30	0.00	0.000	4	0.000	0.064	2491	813	3248
5378	-0.96	-146.0	365.8	-5.2	408	5382	0.00	2.33	0.00	0.000	6	0.000	0.065	2484	2236	3248
5706	-1.01	-146.0	381.5	-5.0	424	5710	0.10	2.30	0.00	0.000	4	0.089	0.063	2438	818	3248
5746	-0.82	-146.0	384.2	-7.2	426	5751	0.25	2.35	0.00	0.000	6	0.137	0.068	2500	2243	3248
6073	-0.94	-146.0	401.1	-5.3	442	6078	0.10	2.33	0.00	0.000	4	0.094	0.064	2458	809	3249
6107	-0.83	-146.0	403.2	-6.6	442	6114	0.20	2.35	0.00	0.000	6	0.135	0.064	2505	2245	3249
6439	-0.97	-146.0	419.8	-4.8	451	6441	0.12	0.00	0.00	0.000	6	0.087	0.000	2454	2245	3249
6765	-0.91	-146.0	438.5	-5.8	459	6769	0.12	2.33	0.00	0.000	4	0.152	0.063	2487	813	3249
6798	-0.91	-146.0	440.4	-5.2	459	6805	0.00	2.35	0.00	0.000	6	0.000	0.064	2479	2236	3249
7130	-0.91	-146.0	457.9	-5.4	468	7131	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2236	3250
7452	end dive: TARGET_DEPTH_EXCEEDED
state	7452	begin apogee
7459	-0.31	0.0	474.8	5.1	476	7587	0.43	0.00	124.85	1.156	6	0.122	0.000	2613	1734	2650
7588	end apogee: CONTROL_FINISHED_OK
state	7588	begin climb
7591	0.99	146.0	476.6	0.0	479	7727	0.88	0.00	129.68	1.078	6	0.091	0.000	2899	1734	2054
8042	0.77	146.0	431.4	10.8	490	8047	0.20	2.45	0.00	0.000	4	0.127	0.069	2842	3158	2046
8082	0.66	146.0	427.6	9.5	490	8089	0.12	2.35	0.00	0.000	6	0.135	0.053	2818	1736	2046
8414	0.76	164.8	406.1	6.4	499	8432	0.10	0.00	15.80	1.031	6	0.081	0.000	2864	1735	1978
8723	0.68	164.8	379.5	8.9	512	8725	0.15	0.00	0.00	0.000	6	0.125	0.000	2821	1735	1976
9032	0.82	198.4	359.9	5.9	527	9064	0.15	0.00	29.88	1.063	6	0.071	0.000	2884	1735	1841
9363	0.69	198.4	328.8	9.8	543	9365	0.20	0.00	0.00	0.000	6	0.120	0.000	2824	1735	1835
9673	0.84	207.0	308.5	6.7	558	9688	0.15	2.40	7.85	0.913	4	0.071	0.070	2888	3157	1806
9711	0.63	207.0	304.5	10.8	559	9718	0.28	2.28	0.00	0.000	6	0.130	0.053	2816	1733	1805
10029	0.84	226.5	283.1	6.4	575	10050	0.15	0.00	18.48	1.010	6	0.069	0.000	2884	1734	1726
10356	0.76	226.5	252.4	9.0	591	10361	0.15	2.30	0.00	0.000	4	0.122	0.066	2848	324	1722
10390	0.89	234.3	249.9	6.8	592	10405	0.10	2.33	8.05	0.899	6	0.086	0.056	2896	1743	1694
10730	0.79	234.3	218.8	9.2	609	10735	0.17	2.30	0.00	0.000	4	0.127	0.070	2844	3162	1692
10774	0.79	234.3	214.9	7.9	611	10778	0.00	2.28	0.00	0.000	6	0.000	0.052	2850	1727	1691
11102	0.91	259.9	195.3	6.2	627	11132	0.10	2.33	23.38	0.980	4	0.085	0.067	2908	335	1590
11149	0.85	259.9	191.1	9.3	629	11154	0.17	2.30	0.00	0.000	6	0.131	0.055	2858	1743	1589
11471	0.99	273.8	169.3	6.6	645	11493	0.12	2.33	13.43	0.925	4	0.075	0.071	2913	3152	1533
11528	0.77	273.8	163.4	12.0	647	11533	0.28	2.28	0.00	0.000	6	0.130	0.053	2842	1730	1532
11844	1.42	273.8	140.8	8.2	662	11849	0.43	2.28	0.00	0.000	4	0.101	0.067	2987	330	1528
11878	1.50	273.8	137.2	10.5	663	11885	0.00	2.30	0.00	0.000	6	0.000	0.058	2987	1743	1529
12200	1.18	273.8	89.1	14.4	688	12207	0.20	2.30	0.00	0.000	4	0.150	0.073	2927	3162	1528
12254	0.97	273.8	82.5	11.7	697	12261	0.17	2.28	0.00	0.000	6	0.136	0.055	2884	1731	1527
12599	1.17	335.2	61.1	5.0	758	12659	0.17	2.40	54.05	0.929	4	0.067	0.069	2970	329	1283
12701	1.04	335.2	51.0	11.1	775	12708	0.25	2.35	0.00	0.000	6	0.130	0.060	2898	1739	1280
13047	1.18	335.2	24.7	7.6	836	13053	0.15	2.35	0.00	0.000	4	0.073	0.074	2961	3160	1273
13100	0.92	335.2	19.5	11.5	845	13107	0.32	2.30	0.00	0.000	6	0.139	0.058	2875	1740	1271
13314	end climb: FINISH_DEPTH_REACHED
state	13314	begin subsurface finish
13322	0.07	55.8	6.8	-7.1	883	13369	0.52	2.38	-37.60	0.000	4	0.100	0.082	2693	327	2426
13370	end subsurface finish: CONTROL_FINISHED_OK
state	13370	begin surface