Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 397 * 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 397 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 28 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 -3 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 -119628.05 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 -119628.05

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 -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 28 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 397 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 034809,6541.618,-5826.462,11,1.0,11,-36.2 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6545.312,-5801.750

_XMS_NAKs 16 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.56 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -69.3 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 034809,6541.618,-5826.462,11,1.0,11,-36.2 MHEAD_RNG_PITCHd_Wd 106.2,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 472

Post-dive calculations and measurements:

FREEZE 1.70,-0.366,-1.810 TCM_TEMP 15.20

FINISH 1.7,1.026515 XPDR_PINGS 44

SM_CCo 13812,0.00,0.000,0,0,1286,334.59 _24V_AH 22.1,66.176

SM_GC 2.56,7.15,0.00,0.00,0.048,0.000,0.000,329,2240,1286,-10.70,0.28,334.59 _10V_AH 10.5,30.003

RAFOS_CLK 610 DATA_FILE_SIZE 31583,938

RAFOS 0,1228032241,8.083333,8.066944,66,56,54,54,53,50,165,182,194,214,153,1260 CAP_FILE_SIZE 113830,0

RAFOS_FIX -31200.181641,336923.250000,301108,080856,2,74,15226.59 CFSIZE 260165632,225443840

IRIDIUM_FIX 6512.01,-5831.75,240298,030345 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1450.9

HUMID 1809 GPS 301108,114038,6539.845,-5820.662,60,0.8,60,-36.1

INTERNAL_PRESSURE 9.84413

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 256 122.43 SBE_CT 655 24 347.71

Roll_motor 116 79 205.99 SBE_O2 0 0 0.00

VBD_pump_during_apogee 421 1136 10577.80 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 11 420 102.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1698 19 355.29

LPSleep 9824 2 238.30

TT8_Active 509 19 106.65

TT8_Sampling 1640 39 687.46

TT8_CF8 232 45 112.03

TT8_Kalman 0 81 0.00

Analog_circuits 1410 12 177.69

GPS_charging 0 0 0.00

Compass 1631 8 137.06

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

17 -0.99 -146.0 0.0 0.0 0 58 0.00 0.00 -39.42 0.000 2 0.000 0.000 330 2241 2625

62 -0.99 -146.0 3.1 -1.8 7 104 8.95 2.35 -25.15 0.000 4 0.256 0.077 2463 806 3249

287 -0.79 -146.0 24.2 -10.9 46 294 0.20 2.33 0.00 0.000 6 0.139 0.064 2512 2234 3252

632 -0.79 -146.0 51.7 -8.0 107 637 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2234 3253

976 -0.86 -146.0 76.4 -6.7 168 982 0.00 2.22 0.00 0.000 4 0.000 0.078 2504 3603 3253

1085 -0.91 -146.0 84.0 -7.2 187 1091 0.00 2.17 0.00 0.000 6 0.000 0.051 2504 2214 3252

1426 -0.91 -146.0 106.7 -6.4 234 1429 0.00 2.22 0.00 0.000 4 0.000 0.064 2504 813 3253

1459 -0.91 -146.0 109.0 -6.8 235 1463 0.00 2.33 0.00 0.000 6 0.000 0.064 2494 2235 3253

1780 -0.91 -146.0 131.4 -6.9 251 1781 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2235 3253

2090 -0.91 -146.0 153.3 -7.1 266 2091 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2235 3253

2398 -0.91 -146.0 175.7 -7.3 281 2402 0.00 2.33 0.00 0.000 4 0.000 0.065 2494 820 3251

2416 -0.91 -146.0 177.0 -7.0 282 2420 0.00 2.33 0.00 0.000 6 0.000 0.066 2485 2237 3251

2743 -0.91 -146.0 199.9 -6.1 298 2745 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2237 3251

3054 -0.91 -146.0 217.8 -5.8 313 3058 0.00 2.33 0.00 0.000 4 0.000 0.064 2485 811 3251

3139 -0.86 -146.0 223.3 -6.3 317 3143 0.00 2.35 0.00 0.000 6 0.000 0.066 2474 2242 3251

3472 -0.86 -146.0 245.8 -7.0 333 3473 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2242 3251

3782 -0.86 -146.0 268.2 -7.4 348 3786 0.00 2.22 0.00 0.000 4 0.000 0.080 2464 3598 3250

3809 -0.86 -146.0 270.4 -7.5 349 3814 0.12 2.15 0.00 0.000 6 0.147 0.051 2497 2224 3250

4137 -0.95 -146.0 289.9 -5.6 365 4139 0.10 0.00 0.00 0.000 6 0.094 0.000 2454 2223 3250

4446 -0.89 -146.0 310.8 -6.7 380 4450 0.12 2.25 0.00 0.000 4 0.150 0.063 2489 811 3250

4514 -0.89 -146.0 315.1 -6.0 383 4518 0.00 2.33 0.00 0.000 6 0.000 0.064 2481 2240 3250

4846 -0.89 -146.0 333.0 -5.6 399 4848 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2240 3250

5156 -0.89 -146.0 350.2 -5.6 414 5157 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2239 3251

5467 -0.89 -146.0 366.7 -5.1 429 5471 0.00 2.30 0.00 0.000 4 0.000 0.061 2481 811 3252

5494 -0.89 -146.0 368.4 -5.7 430 5499 0.00 2.33 0.00 0.000 6 0.000 0.061 2471 2239 3252

5822 -0.89 -146.0 386.0 -5.5 446 5826 0.00 2.30 0.00 0.000 4 0.000 0.061 2471 810 3252

5838 -0.89 -146.0 387.1 -5.7 446 5845 0.10 2.33 0.00 0.000 6 0.140 0.061 2487 2237 3252

6175 -0.95 -146.0 404.7 -5.4 461 6179 0.00 2.28 0.00 0.000 4 0.000 0.060 2487 819 3253

6202 -0.95 -146.0 406.3 -5.5 461 6206 0.00 2.30 0.00 0.000 6 0.000 0.061 2480 2236 3253

6545 -0.95 -146.0 425.1 -5.5 470 6546 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2236 3254

6871 -0.95 -146.0 443.1 -5.6 478 6875 0.00 2.30 0.00 0.000 4 0.000 0.060 2480 818 3254

6910 -0.95 -146.0 445.4 -6.3 478 6916 0.00 2.30 0.00 0.000 6 0.000 0.061 2469 2234 3254

7242 -0.95 -146.0 464.2 -5.7 487 7246 0.00 2.30 0.00 0.000 4 0.000 0.059 2470 811 3254

7282 -0.90 -146.0 466.5 -5.6 487 7289 0.10 2.33 0.00 0.000 6 0.141 0.061 2486 2233 3254

7407 end dive: TARGET_DEPTH_EXCEEDED

state 7407 begin apogee

7415 -0.31 0.0 473.4 5.4 491 7543 0.40 0.00 125.88 1.137 6 0.118 0.000 2616 1728 2650

7544 end apogee: CONTROL_FINISHED_OK

state 7544 begin climb

7547 0.99 146.0 475.9 0.0 494 7685 0.85 2.67 129.55 1.065 4 0.090 0.064 2894 3148 2053

7710 0.68 146.0 461.2 13.0 497 7717 0.30 2.47 0.00 0.000 6 0.133 0.049 2825 1733 2049

8042 0.73 146.0 436.7 7.1 506 8046 0.00 2.35 0.00 0.000 4 0.000 0.066 2834 329 2046

8065 0.79 146.0 435.0 7.4 506 8069 0.00 2.35 0.00 0.000 6 0.000 0.054 2833 1741 2046

8414 0.79 146.0 409.7 7.2 515 8418 0.00 2.30 0.00 0.000 4 0.000 0.068 2833 3158 2044

8481 0.67 146.0 404.2 8.2 516 8485 0.00 2.28 0.00 0.000 6 0.000 0.051 2844 1727 2044

8813 0.67 146.0 380.2 7.1 531 8817 0.00 2.28 0.00 0.000 4 0.000 0.065 2855 327 2044

8841 0.67 146.0 378.1 7.5 532 8846 0.12 2.30 0.00 0.000 6 0.123 0.054 2820 1749 2045

9164 0.79 169.3 358.0 6.3 548 9190 0.12 2.30 19.23 1.042 4 0.075 0.068 2874 3144 1959

9246 0.53 169.3 349.7 11.7 551 9253 0.30 2.28 0.00 0.000 6 0.132 0.051 2796 1727 1957

9563 0.76 196.8 330.1 6.1 567 9590 0.17 0.00 24.75 1.033 6 0.064 0.000 2874 1727 1847

9892 0.65 196.8 296.6 10.2 583 9894 0.20 0.00 0.00 0.000 6 0.120 0.000 2814 1727 1842

10202 0.83 220.0 276.1 6.3 598 10228 0.15 2.40 20.15 0.996 4 0.070 0.066 2881 3150 1753

10246 0.67 220.0 271.9 11.0 600 10251 0.25 2.28 0.00 0.000 6 0.128 0.051 2817 1731 1752

10574 0.89 246.5 250.0 6.2 616 10605 0.17 2.35 24.08 0.977 4 0.064 0.064 2906 333 1645

10628 0.78 246.5 244.9 10.6 618 10633 0.20 2.30 0.00 0.000 6 0.129 0.053 2847 1741 1644

10947 0.87 246.5 220.6 7.4 633 10950 0.00 2.25 0.00 0.000 4 0.000 0.067 2847 3158 1639

11002 0.87 246.5 215.7 8.4 635 11006 0.00 2.25 0.00 0.000 6 0.000 0.050 2855 1736 1638

11325 0.94 246.5 192.2 7.5 651 11330 0.10 2.28 0.00 0.000 4 0.084 0.064 2912 334 1638

11370 0.84 246.5 187.7 11.2 653 11375 0.17 2.28 0.00 0.000 6 0.131 0.053 2862 1748 1638

11693 0.92 246.5 161.5 7.8 669 11697 0.00 2.25 0.00 0.000 4 0.000 0.067 2862 3156 1637

11765 0.92 246.5 154.7 9.1 672 11769 0.00 2.22 0.00 0.000 6 0.000 0.051 2869 1738 1637

12092 0.99 246.5 127.3 8.3 688 12094 0.10 0.00 0.00 0.000 6 0.084 0.000 2916 1738 1637

12405 0.88 246.5 94.7 10.1 709 12412 0.17 2.33 0.00 0.000 4 0.127 0.068 2863 3159 1637

12447 0.88 246.5 91.2 7.9 716 12454 0.00 2.25 0.00 0.000 6 0.000 0.054 2870 1732 1636

12792 1.03 275.4 69.1 6.1 777 12824 0.12 2.35 25.62 0.918 4 0.080 0.069 2937 333 1527

12893 0.95 275.4 60.0 10.0 794 12900 0.20 2.33 0.00 0.000 6 0.128 0.056 2878 1743 1525

13239 1.10 279.2 36.0 6.9 855 13252 0.15 2.33 3.65 0.598 4 0.070 0.072 2944 3152 1511

13298 0.85 279.2 29.3 12.5 865 13305 0.30 2.25 0.00 0.000 6 0.131 0.054 2865 1738 1511

13644 1.12 337.2 7.4 5.2 926 13696 0.20 0.00 48.17 0.889 2 0.065 0.000 2953 1737 1293

13696 end climb: SURFACE_DEPTH_REACHED

state 13696 begin surface coast

13733 end surface coast: CONTROL_FINISHED_OK

state 13733 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	397	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	28	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	-3	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	-119628.05	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	034809,6541.618,-5826.462,11,1.0,11,-36.2	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6545.312,-5801.750
_XMS_NAKs	16	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.56	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-69.3	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	034809,6541.618,-5826.462,11,1.0,11,-36.2	MHEAD_RNG_PITCHd_Wd	106.2,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	472

FREEZE	1.70,-0.366,-1.810	TCM_TEMP	15.20
FINISH	1.7,1.026515	XPDR_PINGS	44
SM_CCo	13812,0.00,0.000,0,0,1286,334.59	_24V_AH	22.1,66.176
SM_GC	2.56,7.15,0.00,0.00,0.048,0.000,0.000,329,2240,1286,-10.70,0.28,334.59	_10V_AH	10.5,30.003
RAFOS_CLK	610	DATA_FILE_SIZE	31583,938
RAFOS	0,1228032241,8.083333,8.066944,66,56,54,54,53,50,165,182,194,214,153,1260	CAP_FILE_SIZE	113830,0
RAFOS_FIX	-31200.181641,336923.250000,301108,080856,2,74,15226.59	CFSIZE	260165632,225443840
IRIDIUM_FIX	6512.01,-5831.75,240298,030345	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1450.9
HUMID	1809	GPS	301108,114038,6539.845,-5820.662,60,0.8,60,-36.1
INTERNAL_PRESSURE	9.84413

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	256	122.43	SBE_CT	655	24	347.71
Roll_motor	116	79	205.99	SBE_O2	0	0	0.00
VBD_pump_during_apogee	421	1136	10577.80	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	11	420	102.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1698	19	355.29
LPSleep	9824	2	238.30
TT8_Active	509	19	106.65
TT8_Sampling	1640	39	687.46
TT8_CF8	232	45	112.03
TT8_Kalman	0	81	0.00
Analog_circuits	1410	12	177.69
GPS_charging	0	0	0.00
Compass	1631	8	137.06
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
17	-0.99	-146.0	0.0	0.0	0	58	0.00	0.00	-39.42	0.000	2	0.000	0.000	330	2241	2625
62	-0.99	-146.0	3.1	-1.8	7	104	8.95	2.35	-25.15	0.000	4	0.256	0.077	2463	806	3249
287	-0.79	-146.0	24.2	-10.9	46	294	0.20	2.33	0.00	0.000	6	0.139	0.064	2512	2234	3252
632	-0.79	-146.0	51.7	-8.0	107	637	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2234	3253
976	-0.86	-146.0	76.4	-6.7	168	982	0.00	2.22	0.00	0.000	4	0.000	0.078	2504	3603	3253
1085	-0.91	-146.0	84.0	-7.2	187	1091	0.00	2.17	0.00	0.000	6	0.000	0.051	2504	2214	3252
1426	-0.91	-146.0	106.7	-6.4	234	1429	0.00	2.22	0.00	0.000	4	0.000	0.064	2504	813	3253
1459	-0.91	-146.0	109.0	-6.8	235	1463	0.00	2.33	0.00	0.000	6	0.000	0.064	2494	2235	3253
1780	-0.91	-146.0	131.4	-6.9	251	1781	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2235	3253
2090	-0.91	-146.0	153.3	-7.1	266	2091	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2235	3253
2398	-0.91	-146.0	175.7	-7.3	281	2402	0.00	2.33	0.00	0.000	4	0.000	0.065	2494	820	3251
2416	-0.91	-146.0	177.0	-7.0	282	2420	0.00	2.33	0.00	0.000	6	0.000	0.066	2485	2237	3251
2743	-0.91	-146.0	199.9	-6.1	298	2745	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2237	3251
3054	-0.91	-146.0	217.8	-5.8	313	3058	0.00	2.33	0.00	0.000	4	0.000	0.064	2485	811	3251
3139	-0.86	-146.0	223.3	-6.3	317	3143	0.00	2.35	0.00	0.000	6	0.000	0.066	2474	2242	3251
3472	-0.86	-146.0	245.8	-7.0	333	3473	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2242	3251
3782	-0.86	-146.0	268.2	-7.4	348	3786	0.00	2.22	0.00	0.000	4	0.000	0.080	2464	3598	3250
3809	-0.86	-146.0	270.4	-7.5	349	3814	0.12	2.15	0.00	0.000	6	0.147	0.051	2497	2224	3250
4137	-0.95	-146.0	289.9	-5.6	365	4139	0.10	0.00	0.00	0.000	6	0.094	0.000	2454	2223	3250
4446	-0.89	-146.0	310.8	-6.7	380	4450	0.12	2.25	0.00	0.000	4	0.150	0.063	2489	811	3250
4514	-0.89	-146.0	315.1	-6.0	383	4518	0.00	2.33	0.00	0.000	6	0.000	0.064	2481	2240	3250
4846	-0.89	-146.0	333.0	-5.6	399	4848	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2240	3250
5156	-0.89	-146.0	350.2	-5.6	414	5157	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2239	3251
5467	-0.89	-146.0	366.7	-5.1	429	5471	0.00	2.30	0.00	0.000	4	0.000	0.061	2481	811	3252
5494	-0.89	-146.0	368.4	-5.7	430	5499	0.00	2.33	0.00	0.000	6	0.000	0.061	2471	2239	3252
5822	-0.89	-146.0	386.0	-5.5	446	5826	0.00	2.30	0.00	0.000	4	0.000	0.061	2471	810	3252
5838	-0.89	-146.0	387.1	-5.7	446	5845	0.10	2.33	0.00	0.000	6	0.140	0.061	2487	2237	3252
6175	-0.95	-146.0	404.7	-5.4	461	6179	0.00	2.28	0.00	0.000	4	0.000	0.060	2487	819	3253
6202	-0.95	-146.0	406.3	-5.5	461	6206	0.00	2.30	0.00	0.000	6	0.000	0.061	2480	2236	3253
6545	-0.95	-146.0	425.1	-5.5	470	6546	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2236	3254
6871	-0.95	-146.0	443.1	-5.6	478	6875	0.00	2.30	0.00	0.000	4	0.000	0.060	2480	818	3254
6910	-0.95	-146.0	445.4	-6.3	478	6916	0.00	2.30	0.00	0.000	6	0.000	0.061	2469	2234	3254
7242	-0.95	-146.0	464.2	-5.7	487	7246	0.00	2.30	0.00	0.000	4	0.000	0.059	2470	811	3254
7282	-0.90	-146.0	466.5	-5.6	487	7289	0.10	2.33	0.00	0.000	6	0.141	0.061	2486	2233	3254
7407	end dive: TARGET_DEPTH_EXCEEDED
state	7407	begin apogee
7415	-0.31	0.0	473.4	5.4	491	7543	0.40	0.00	125.88	1.137	6	0.118	0.000	2616	1728	2650
7544	end apogee: CONTROL_FINISHED_OK
state	7544	begin climb
7547	0.99	146.0	475.9	0.0	494	7685	0.85	2.67	129.55	1.065	4	0.090	0.064	2894	3148	2053
7710	0.68	146.0	461.2	13.0	497	7717	0.30	2.47	0.00	0.000	6	0.133	0.049	2825	1733	2049
8042	0.73	146.0	436.7	7.1	506	8046	0.00	2.35	0.00	0.000	4	0.000	0.066	2834	329	2046
8065	0.79	146.0	435.0	7.4	506	8069	0.00	2.35	0.00	0.000	6	0.000	0.054	2833	1741	2046
8414	0.79	146.0	409.7	7.2	515	8418	0.00	2.30	0.00	0.000	4	0.000	0.068	2833	3158	2044
8481	0.67	146.0	404.2	8.2	516	8485	0.00	2.28	0.00	0.000	6	0.000	0.051	2844	1727	2044
8813	0.67	146.0	380.2	7.1	531	8817	0.00	2.28	0.00	0.000	4	0.000	0.065	2855	327	2044
8841	0.67	146.0	378.1	7.5	532	8846	0.12	2.30	0.00	0.000	6	0.123	0.054	2820	1749	2045
9164	0.79	169.3	358.0	6.3	548	9190	0.12	2.30	19.23	1.042	4	0.075	0.068	2874	3144	1959
9246	0.53	169.3	349.7	11.7	551	9253	0.30	2.28	0.00	0.000	6	0.132	0.051	2796	1727	1957
9563	0.76	196.8	330.1	6.1	567	9590	0.17	0.00	24.75	1.033	6	0.064	0.000	2874	1727	1847
9892	0.65	196.8	296.6	10.2	583	9894	0.20	0.00	0.00	0.000	6	0.120	0.000	2814	1727	1842
10202	0.83	220.0	276.1	6.3	598	10228	0.15	2.40	20.15	0.996	4	0.070	0.066	2881	3150	1753
10246	0.67	220.0	271.9	11.0	600	10251	0.25	2.28	0.00	0.000	6	0.128	0.051	2817	1731	1752
10574	0.89	246.5	250.0	6.2	616	10605	0.17	2.35	24.08	0.977	4	0.064	0.064	2906	333	1645
10628	0.78	246.5	244.9	10.6	618	10633	0.20	2.30	0.00	0.000	6	0.129	0.053	2847	1741	1644
10947	0.87	246.5	220.6	7.4	633	10950	0.00	2.25	0.00	0.000	4	0.000	0.067	2847	3158	1639
11002	0.87	246.5	215.7	8.4	635	11006	0.00	2.25	0.00	0.000	6	0.000	0.050	2855	1736	1638
11325	0.94	246.5	192.2	7.5	651	11330	0.10	2.28	0.00	0.000	4	0.084	0.064	2912	334	1638
11370	0.84	246.5	187.7	11.2	653	11375	0.17	2.28	0.00	0.000	6	0.131	0.053	2862	1748	1638
11693	0.92	246.5	161.5	7.8	669	11697	0.00	2.25	0.00	0.000	4	0.000	0.067	2862	3156	1637
11765	0.92	246.5	154.7	9.1	672	11769	0.00	2.22	0.00	0.000	6	0.000	0.051	2869	1738	1637
12092	0.99	246.5	127.3	8.3	688	12094	0.10	0.00	0.00	0.000	6	0.084	0.000	2916	1738	1637
12405	0.88	246.5	94.7	10.1	709	12412	0.17	2.33	0.00	0.000	4	0.127	0.068	2863	3159	1637
12447	0.88	246.5	91.2	7.9	716	12454	0.00	2.25	0.00	0.000	6	0.000	0.054	2870	1732	1636
12792	1.03	275.4	69.1	6.1	777	12824	0.12	2.35	25.62	0.918	4	0.080	0.069	2937	333	1527
12893	0.95	275.4	60.0	10.0	794	12900	0.20	2.33	0.00	0.000	6	0.128	0.056	2878	1743	1525
13239	1.10	279.2	36.0	6.9	855	13252	0.15	2.33	3.65	0.598	4	0.070	0.072	2944	3152	1511
13298	0.85	279.2	29.3	12.5	865	13305	0.30	2.25	0.00	0.000	6	0.131	0.054	2865	1738	1511
13644	1.12	337.2	7.4	5.2	926	13696	0.20	0.00	48.17	0.889	2	0.065	0.000	2953	1737	1293
13696	end climb: SURFACE_DEPTH_REACHED
state	13696	begin surface coast
13733	end surface coast: CONTROL_FINISHED_OK
state	13733	begin surface