Glider dive log

DavisStrait Oct06 * SG109 * Dive index * Mission links * Dive 346 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 109 HD_C 5.5615201e-06 PITCH_AD_RATE 80 ALTIM_TOP_MIN_OBSTACLE 1.8

MISSION 1 HEADING -1 PITCH_MAXERRORS 1 ALTIM_PING_DEPTH 400

DIVE 346 ESCAPE_HEADING 80 ROLL_MIN 187 ALTIM_PING_DELTA 50

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3859 ALTIM_FREQUENCY 13

D_FLARE 3 FIX_MISSING_TIMEOUT 3 C_ROLL_DIVE 2045 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LAT 64 C_ROLL_CLIMB 1835 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_DEFAULT_LON -54 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_FINISH 7 SM_CC 350 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_PITCH 1.75 N_FILEKB 4 R_PORT_OVSHOOT 16 DEEPGLIDERMB 0

D_SAFE 500 FILEMGR 2 R_STBD_OVSHOOT 36 MOTHERBOARD 4

D_CALL 3 CALL_NDIVES 1 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY 20 COMM_SEQ 0 ROLL_MAXERRORS 0 DEVICE2 20

SURFACE_URGENCY_TRY 10 N_NOCOMM 0 VBD_MIN 536 DEVICE3 -1

SURFACE_URGENCY_FORCE 20 N_NOSURFACE 0 VBD_MAX 3894 DEVICE4 -1

T_DIVE 510 UPLOAD_DIVES_MAX 5 C_VBD 2793 DEVICE5 -1

T_MISSION 612 CALL_TRIES 3 VBD_DBAND 2 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 SMARTS 0

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 540 SMARTDEVICE1 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00167 SMARTDEVICE2 -1

T_NO_W 180 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 COMPASS_DEVICE 1

USE_BATHY -3 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 PHONE_DEVICE 48

USE_ICE 3 N_GPS 20 VBD_BLEED_AD_RATE 10 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 UNCOM_BLEED 20 RAFOS_DEVICE 32

D_OFFGRID 500 T_GPS_CHARGE -90816.438 VBD_MAXERRORS 1 XPDR_DEVICE 24

T_WATCHDOG 10 T_RSLEEP 60 CF8_MAXERRORS 0 SIM_W 0

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.1 AH0_24V 150 SIM_PITCH 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 74 AH0_10V 80 SEABIRD_T_G 0.0043437472

MAX_BUOY 150 RAFOS_HIT_WINDOW 5400 PRESSURE_YINT -2.0081213 SEABIRD_T_H 0.00064449053

COURSE_BIAS 0 PITCH_MIN 1288 PRESSURE_SLOPE 9.0991351e-05 SEABIRD_T_I 2.611474e-05

GLIDE_SLOPE 30 PITCH_MAX 3325 AD7714Ch0Gain 64 SEABIRD_T_J 2.7048188e-06

SPEED_FACTOR 0.89999998 C_PITCH 2743 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.199226

RHO 1.02764 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1361156

MASS 51762 PITCH_CNV 0.0046000001 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00066892913

KALMAN_USE 2 P_OVSHOOT 0.039999999 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00015921363

HD_A 0.0047432599 PITCH_GAIN 27.5 ALTIM_BOTTOM_TURN_MARGIN 0

HD_B 0.0148416 PITCH_TIMEOUT 20 ALTIM_TOP_TURN_MARGIN 5

AD7714Ch0Gain 64 D_CALL 3 PITCH_DBAND 0.1 SM_CC 350

AH0_10V 80 D_FINISH 7 PITCH_GAIN 27.5 SPEED_FACTOR 0.89999998

AH0_24V 150 D_FLARE 3 PITCH_MAX 3325 SURFACE_URGENCY 20

ALTIM_BOTTOM_PING_RANGE 0 D_NO_BLEED 50 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 20

ALTIM_BOTTOM_TURN_MARGIN 0 D_OFFGRID 500 PITCH_MIN 1288 SURFACE_URGENCY_TRY 10

ALTIM_FREQUENCY 13 D_PITCH 1.75 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 50 D_SAFE 500 PITCH_VBD_SHIFT 0.00167 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 400 D_SURF 2 PRESSURE_SLOPE 9.0991351e-05 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 3 D_TGT 990 PRESSURE_YINT -2.0081213 TGT_DEFAULT_LAT 64

ALTIM_SENSITIVITY 3 ESCAPE_HEADING 80 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -54

ALTIM_TOP_MIN_OBSTACLE 1.8 ESCAPE_HEADING_DELTA 5 RAFOS_CORR_THRESH 74 T_ABORT 1440

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 RAFOS_DEVICE 32 T_DIVE 510

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 RAFOS_HIT_WINDOW 5400 T_GPS 3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_PEAK_OFFSET 1.1 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 32 RELAUNCH 1 T_GPS_CHARGE -90816.438

CALL_TRIES 3 HD_A 0.0047432599 RHO 1.02764 T_MISSION 612

CALL_WAIT 60 HD_B 0.0148416 ROLL_AD_RATE 350 T_NO_W 180

CAPMAXSIZE 100000 HD_C 5.5615201e-06 ROLL_CNV 0.028270001 T_RSLEEP 60

CAPUPLOAD 0 HEADING -1 ROLL_MAX 3859 T_TURN 225

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_MAXERRORS 0 T_TURN_SAMPINT 5

COMM_SEQ 0 HEAPDBG 0 ROLL_MIN 187 T_WATCHDOG 10

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN 0.1 ROLL_TIMEOUT 15 UNCOM_BLEED 20

COURSE_BIAS 0 ID 109 R_PORT_OVSHOOT 16 UPLOAD_DIVES_MAX 5

C_PITCH 2743 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 36 USE_BATHY -3

C_ROLL_CLIMB 1835 INT_PRESSURE_YINT 0 SEABIRD_C_G -10.199226 USE_ICE 3

C_ROLL_DIVE 2045 KALMAN_USE 2 SEABIRD_C_H 1.1361156 VBD_BLEED_AD_RATE 10

C_VBD 2793 MASS 51762 SEABIRD_C_I -0.00066892913 VBD_CNV -0.24529999

DEEPGLIDER 0 MAX_BUOY 150 SEABIRD_C_J 0.00015921363 VBD_DBAND 2

DEEPGLIDERMB 0 MISSION 1 SEABIRD_T_G 0.0043437472 VBD_MAX 3894

DEVICE1 2 MOTHERBOARD 4 SEABIRD_T_H 0.00064449053 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_T_I 2.611474e-05 VBD_MIN 536

DEVICE3 -1 N_GPS 20 SEABIRD_T_J 2.7048188e-06 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 0 SIM_PITCH 0 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SIM_W 0 VBD_TIMEOUT 540

DEVICE6 -1 PHONE_DEVICE 48 SMARTDEVICE1 -1 XPDR_DEVICE 24

DIVE 346 PITCH_AD_RATE 80 SMARTDEVICE2 -1

D_ABORT 1070 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 042920,6703.134,-5707.845,0,4103.2,0,-37.5 TGT_NAME TARGET_ADD4_WB

_CALLS 3 TGT_LATLONG 6659.000,-5735.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -30.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090527,6704.027,-5714.291,33,4.1,53,-37.7 MHEAD_RNG_PITCHd_Wd 275.9,17652,-14.4,-6.471

SPEED_LIMITS 0.112,0.190 D_GRID 755

Post-dive calculations and measurements:

FREEZE 0.64,-1.592,-1.486 TCM_TEMP -1.60

FINISH 0.1,1.021909 XPDR_PINGS 253

SM_PING 0,0.000,0.000000 ALTIM_TOP_PING 19.6,19.9

SM_CCo 21423,137.88,0.778,0,0,1366,350.04 ALTIM_BOTTOM_PING 750.2,28.8

SM_GC 0.70,0.00,0.00,137.88,0.000,0.000,0.778,1289,2049,1366,-6.68,0.11,350.04 _24V_AH 19.0,61.582

RAFOS_CLK 1258 _10V_AH 9.7,27.859

RAFOS 3,1167381242,8.583333,8.567223,64,58,57,54,52,49,216,187,117,153,172,132 DATA_FILE_SIZE 45292,1188

RAFOS_FIX 6703.792969,-5724.838379,291206,121248 CFSIZE 260165632,232120320

IRIDIUM_FIX 6636.54,-5715.22,291206,121211 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.025311 GPS 291206,150738,6704.072,-5724.603,38,1.4,38,-37.7

HUMID 1854 FINISH1 0.6,1.021909,0

INTERNAL_PRESSURE 8.40853 RESTART_TIME Fri Dec 29 16:14:04 2006

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 218 88.26 SBE_CT 1068 24 487.07

Roll_motor 181 82 285.23 SBE_O2 1075 19 388.11

VBD_pump_during_apogee 364 1252 8685.57 nil 0 0 0.00

VBD_pump_during_surface 137 777 2037.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 97 103 190.94 nil 0 0 0.00

Iridium_during_connect 166 160 506.48 nil 0 0 0.00

Iridium_during_xfer 438 223 1856.75

Transponder_ping 67 420 534.66

GPS 242 50 117.85

TT8 1303 19 251.81

LPSleep 17330 2 388.33

TT8_Active 1479 19 285.80

TT8_Sampling 1651 39 639.49

TT8_CF8 1227 45 546.92

TT8_Kalman 0 0 0.00

Analog_circuits 2621 12 305.10

GPS_charging 0 0 0.00

Compass 1319 26 332.86

RAFOS 2160 1 31.43

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

30 -0.77 -146.0 0.0 0.0 0 151 0.00 0.00 -115.43 0.000 6 0.000 0.000 1281 2050 3390

154 -0.77 -146.0 0.9 -0.1 24 169 10.07 2.85 0.00 0.000 4 0.219 0.060 2570 3436 3392

422 -0.77 -146.0 12.4 -11.3 72 426 0.00 2.78 0.00 0.000 6 0.000 0.051 2570 2045 3393

764 -0.77 -146.0 49.0 -10.8 133 768 0.00 2.80 0.00 0.000 4 0.000 0.054 2570 3433 3393

988 -0.77 -146.0 74.5 -10.9 173 992 0.00 2.78 0.00 0.000 6 0.000 0.051 2570 2038 3393

1331 -0.77 -146.0 112.1 -11.1 221 1340 0.00 2.80 0.00 0.000 4 0.000 0.053 2570 3434 3393

1465 -0.77 -146.0 126.8 -10.8 227 1473 0.00 2.75 0.00 0.000 6 0.000 0.048 2570 2038 3393

1796 -0.77 -146.0 157.7 -8.1 243 1804 0.00 2.78 0.00 0.000 4 0.000 0.049 2569 3442 3391

1851 -0.77 -146.0 162.0 -7.4 245 1861 0.00 2.72 0.00 0.000 6 0.000 0.044 2570 2042 3391

2170 -0.77 -146.0 183.6 -7.0 261 2189 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2042 3391

2500 -0.77 -146.0 208.6 -7.5 277 2519 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2042 3392

2829 -0.77 -146.0 233.3 -7.4 293 2837 0.00 2.72 0.00 0.000 4 0.000 0.045 2570 3436 3392

2884 -0.77 -146.0 237.5 -7.6 295 2894 0.00 2.70 0.00 0.000 6 0.000 0.041 2569 2037 3392

3204 -0.77 -146.0 258.2 -6.3 311 3223 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2037 3391

3533 -0.77 -146.0 280.9 -7.1 327 3541 0.00 2.72 0.00 0.000 4 0.000 0.045 2570 3436 3392

3593 -0.77 -146.0 285.5 -7.5 329 3598 0.00 2.70 0.00 0.000 6 0.000 0.040 2570 2041 3392

3908 -0.77 -146.0 309.1 -7.5 345 3927 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2041 3393

4239 -0.77 -146.0 334.1 -7.7 361 4256 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2041 3394

4569 -0.77 -146.0 358.4 -7.4 377 4585 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2041 3395

4898 -0.77 -146.0 382.1 -7.2 393 4906 0.00 2.72 0.00 0.000 4 0.000 0.044 2570 3442 3396

4970 -0.77 -146.0 387.4 -7.4 396 4978 0.00 2.70 0.00 0.000 6 0.000 0.039 2570 2037 3396

5294 -0.77 -146.0 409.1 -6.8 412 5313 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2037 3397

5624 -0.77 -146.0 431.9 -6.8 428 5643 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2037 3398

5954 -0.77 -146.0 454.4 -7.1 444 5962 0.00 2.88 0.00 0.000 4 0.000 0.072 2570 638 3399

6008 -0.77 -146.0 458.7 -8.1 446 6018 0.00 2.62 0.00 0.000 6 0.000 0.033 2570 2058 3399

6328 -0.77 -146.0 480.8 -6.5 462 6336 0.00 2.92 0.00 0.000 4 0.000 0.071 2569 643 3400

6360 -0.77 -146.0 483.2 -8.3 463 6370 0.00 2.60 0.00 0.000 6 0.000 0.034 2569 2043 3400

6680 -0.77 -146.0 506.3 -7.4 477 6718 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2043 3400

7044 -0.77 -146.0 533.0 -7.2 486 7083 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2043 3401

7409 -0.77 -146.0 557.0 -6.5 495 7417 0.00 2.90 0.00 0.000 4 0.000 0.072 2570 641 3400

7447 -0.77 -146.0 559.6 -7.5 495 7452 0.00 2.62 0.00 0.000 6 0.000 0.035 2570 2039 3401

7778 -0.77 -146.0 580.8 -6.3 504 7816 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2046 3401

8143 -0.77 -146.0 602.6 -6.0 513 8181 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2046 3401

8508 -0.77 -146.0 624.8 -6.3 522 8546 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2046 3400

8873 -0.77 -146.0 647.1 -5.7 531 8882 0.00 2.90 0.00 0.000 4 0.000 0.071 2569 641 3401

8899 -0.77 -146.0 648.8 -6.6 531 8908 0.00 2.65 0.00 0.000 6 0.000 0.036 2570 2051 3401

9241 -0.77 -146.0 669.9 -6.7 540 9279 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2053 3401

9606 -0.77 -146.0 697.0 -7.3 549 9614 0.00 2.72 0.00 0.000 4 0.000 0.051 2570 3433 3401

9700 -0.77 -146.0 704.4 -7.8 551 9709 0.00 2.70 0.00 0.000 6 0.000 0.044 2570 2045 3401

10023 -0.77 -146.0 727.6 -7.4 559 10062 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2045 3401

10388 -0.77 -146.0 753.2 -6.7 568 10396 0.00 2.88 0.00 0.000 4 0.000 0.071 2569 642 3401

10415 -0.18 0.0 755.1 8.8 568 10596 0.80 0.00 156.62 1.253 6 0.147 0.000 2695 1845 2793

10599 0.77 146.0 760.7 0.0 573 10761 1.27 0.00 156.07 1.194 6 0.113 0.000 2902 1845 2197

11087 0.77 146.0 728.3 7.7 585 11095 0.00 3.08 0.00 0.000 4 0.000 0.083 2902 434 2197

11136 0.77 146.0 724.3 7.9 586 11144 0.00 2.70 0.00 0.000 6 0.000 0.037 2902 1837 2197

11458 0.77 146.0 699.8 7.4 594 11467 0.00 3.03 0.00 0.000 4 0.000 0.083 2902 432 2197

11491 0.77 146.0 697.4 6.7 594 11501 0.00 2.67 0.00 0.000 6 0.000 0.038 2902 1836 2196

11827 0.77 146.0 672.7 7.5 603 11865 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1838 2196

12191 0.77 146.0 645.5 7.4 612 12200 0.00 3.00 0.00 0.000 4 0.000 0.081 2902 434 2197

12224 0.77 146.0 642.9 7.6 612 12233 0.00 2.65 0.00 0.000 6 0.000 0.038 2902 1835 2196

12559 0.77 146.0 618.8 7.5 621 12598 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1839 2197

12925 0.77 146.0 592.8 7.1 630 12933 0.00 2.97 0.00 0.000 4 0.000 0.081 2902 428 2196

12973 0.77 146.0 589.0 7.8 631 12978 0.00 2.67 0.00 0.000 6 0.000 0.038 2902 1836 2196

13297 0.77 146.0 565.6 7.3 639 13306 0.00 2.97 0.00 0.000 4 0.000 0.081 2902 433 2196

13369 0.77 146.0 559.8 8.0 640 13377 0.00 2.65 0.00 0.000 6 0.000 0.038 2902 1836 2196

13712 0.77 146.0 536.4 6.7 649 13748 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1837 2196

14076 0.77 146.0 510.6 7.3 658 14084 0.00 3.00 0.00 0.000 4 0.000 0.081 2902 431 2196

14148 0.77 146.0 505.0 8.1 659 14156 0.00 2.65 0.00 0.000 6 0.000 0.038 2902 1835 2196

14473 0.77 146.0 482.4 7.2 673 14481 0.00 2.97 0.00 0.000 4 0.000 0.081 2902 434 2195

14505 0.77 146.0 479.8 7.9 674 14514 0.00 2.65 0.00 0.000 6 0.000 0.038 2902 1836 2195

14825 0.77 146.0 457.7 6.9 690 14833 0.00 2.97 0.00 0.000 4 0.000 0.081 2902 430 2195

14869 0.77 146.0 454.2 7.8 692 14878 0.00 2.65 0.00 0.000 6 0.000 0.036 2902 1834 2195

15201 0.77 146.0 432.0 6.7 708 15209 0.00 2.97 0.00 0.000 4 0.000 0.079 2902 433 2194

15245 0.77 146.0 428.6 7.7 710 15253 0.00 2.65 0.00 0.000 6 0.000 0.036 2902 1842 2194

15576 0.77 148.0 407.1 6.4 726 15585 0.00 2.97 0.00 0.000 4 0.000 0.077 2902 435 2194

15614 0.77 148.0 404.3 7.4 727 15619 0.00 2.62 0.00 0.000 6 0.000 0.036 2902 1838 2194

15929 0.77 148.0 383.4 6.7 743 15948 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1839 2194

16259 0.77 148.0 360.4 7.0 759 16267 0.00 2.92 0.00 0.000 4 0.000 0.075 2902 434 2194

16313 0.77 148.0 356.2 7.9 761 16323 0.00 2.62 0.00 0.000 6 0.000 0.036 2902 1838 2194

16633 0.77 148.0 333.7 7.0 777 16636 0.00 1.40 0.00 0.000 4 0.000 0.065 2902 1144 2194

16711 0.77 148.0 327.8 7.5 780 16715 0.00 1.30 0.00 0.000 6 0.000 0.033 2902 1836 2194

17031 0.77 148.0 303.9 7.1 796 17050 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1842 2195

17360 0.77 148.0 279.7 7.2 812 17369 0.00 2.92 0.00 0.000 4 0.000 0.075 2902 434 2195

17438 0.77 148.0 273.7 8.3 815 17448 0.00 2.62 0.00 0.000 6 0.000 0.036 2902 1838 2195

17758 0.77 160.0 253.1 6.1 831 17778 0.00 2.97 14.15 0.982 4 0.000 0.077 2902 431 2140

17816 0.79 160.0 249.3 6.9 833 17821 0.00 2.65 0.00 0.000 6 0.000 0.037 2902 1835 2140

18132 0.79 160.0 230.2 6.5 849 18140 0.00 2.95 0.00 0.000 4 0.000 0.076 2902 430 2140

18181 0.79 160.0 226.2 8.3 851 18190 0.00 2.65 0.00 0.000 6 0.000 0.037 2902 1836 2140

18506 0.79 160.0 199.6 8.5 867 18525 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1838 2140

18836 0.79 160.0 173.5 7.6 883 18854 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1838 2140

19165 0.79 160.0 150.3 6.6 899 19173 0.00 2.95 0.00 0.000 4 0.000 0.077 2902 431 2140

19209 0.79 160.0 147.0 6.8 901 19217 0.00 2.65 0.00 0.000 6 0.000 0.037 2902 1836 2140

19540 0.79 187.1 127.7 5.7 917 19579 0.00 0.00 25.60 0.894 6 0.000 0.000 2902 1837 2030

19889 0.84 187.1 108.7 6.6 934 19898 0.12 2.97 0.00 0.000 4 0.086 0.077 2925 434 2029

19989 0.84 187.1 98.9 10.3 938 19998 0.00 2.65 0.00 0.000 6 0.000 0.036 2925 1832 2030

20336 0.84 187.1 71.4 6.7 999 20341 0.00 2.97 0.00 0.000 4 0.000 0.077 2925 431 2029

20381 0.84 200.3 68.7 6.1 1007 20401 0.00 2.65 12.52 0.885 6 0.000 0.036 2925 1836 1976

20739 0.86 200.3 46.6 7.2 1071 20748 0.00 3.00 0.00 0.000 4 0.000 0.080 2925 433 1976

20771 0.86 200.3 44.3 7.0 1077 20776 0.00 2.67 0.00 0.000 6 0.000 0.038 2925 1835 1976

21114 0.86 200.3 20.1 8.9 1138 21119 0.00 2.75 0.00 0.000 4 0.000 0.050 2925 3227 1976

21203 0.86 200.3 9.6 11.8 1154 21207 0.00 2.78 0.00 0.000 6 0.000 0.049 2925 1840 1976

22449 0.00 0.0 0.6 0.0 1188 22546 10.75 3.12 -78.80 0.000 4 0.200 0.100 2737 424 2796

ID	109	HD_C	5.5615201e-06	PITCH_AD_RATE	80	ALTIM_TOP_MIN_OBSTACLE	1.8
MISSION	1	HEADING	-1	PITCH_MAXERRORS	1	ALTIM_PING_DEPTH	400
DIVE	346	ESCAPE_HEADING	80	ROLL_MIN	187	ALTIM_PING_DELTA	50
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3859	ALTIM_FREQUENCY	13
D_FLARE	3	FIX_MISSING_TIMEOUT	3	C_ROLL_DIVE	2045	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LAT	64	C_ROLL_CLIMB	1835	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_DEFAULT_LON	-54	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_FINISH	7	SM_CC	350	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_PITCH	1.75	N_FILEKB	4	R_PORT_OVSHOOT	16	DEEPGLIDERMB	0
D_SAFE	500	FILEMGR	2	R_STBD_OVSHOOT	36	MOTHERBOARD	4
D_CALL	3	CALL_NDIVES	1	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY	20	COMM_SEQ	0	ROLL_MAXERRORS	0	DEVICE2	20
SURFACE_URGENCY_TRY	10	N_NOCOMM	0	VBD_MIN	536	DEVICE3	-1
SURFACE_URGENCY_FORCE	20	N_NOSURFACE	0	VBD_MAX	3894	DEVICE4	-1
T_DIVE	510	UPLOAD_DIVES_MAX	5	C_VBD	2793	DEVICE5	-1
T_MISSION	612	CALL_TRIES	3	VBD_DBAND	2	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	SMARTS	0
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	540	SMARTDEVICE1	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00167	SMARTDEVICE2	-1
T_NO_W	180	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	COMPASS_DEVICE	1
USE_BATHY	-3	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	PHONE_DEVICE	48
USE_ICE	3	N_GPS	20	VBD_BLEED_AD_RATE	10	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	UNCOM_BLEED	20	RAFOS_DEVICE	32
D_OFFGRID	500	T_GPS_CHARGE	-90816.438	VBD_MAXERRORS	1	XPDR_DEVICE	24
T_WATCHDOG	10	T_RSLEEP	60	CF8_MAXERRORS	0	SIM_W	0
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.1	AH0_24V	150	SIM_PITCH	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	74	AH0_10V	80	SEABIRD_T_G	0.0043437472
MAX_BUOY	150	RAFOS_HIT_WINDOW	5400	PRESSURE_YINT	-2.0081213	SEABIRD_T_H	0.00064449053
COURSE_BIAS	0	PITCH_MIN	1288	PRESSURE_SLOPE	9.0991351e-05	SEABIRD_T_I	2.611474e-05
GLIDE_SLOPE	30	PITCH_MAX	3325	AD7714Ch0Gain	64	SEABIRD_T_J	2.7048188e-06
SPEED_FACTOR	0.89999998	C_PITCH	2743	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.199226
RHO	1.02764	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1361156
MASS	51762	PITCH_CNV	0.0046000001	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00066892913
KALMAN_USE	2	P_OVSHOOT	0.039999999	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00015921363
HD_A	0.0047432599	PITCH_GAIN	27.5	ALTIM_BOTTOM_TURN_MARGIN	0
HD_B	0.0148416	PITCH_TIMEOUT	20	ALTIM_TOP_TURN_MARGIN	5

GPS1	042920,6703.134,-5707.845,0,4103.2,0,-37.5	TGT_NAME	TARGET_ADD4_WB
_CALLS	3	TGT_LATLONG	6659.000,-5735.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-30.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090527,6704.027,-5714.291,33,4.1,53,-37.7	MHEAD_RNG_PITCHd_Wd	275.9,17652,-14.4,-6.471
SPEED_LIMITS	0.112,0.190	D_GRID	755

FREEZE	0.64,-1.592,-1.486	TCM_TEMP	-1.60
FINISH	0.1,1.021909	XPDR_PINGS	253
SM_PING	0,0.000,0.000000	ALTIM_TOP_PING	19.6,19.9
SM_CCo	21423,137.88,0.778,0,0,1366,350.04	ALTIM_BOTTOM_PING	750.2,28.8
SM_GC	0.70,0.00,0.00,137.88,0.000,0.000,0.778,1289,2049,1366,-6.68,0.11,350.04	_24V_AH	19.0,61.582
RAFOS_CLK	1258	_10V_AH	9.7,27.859
RAFOS	3,1167381242,8.583333,8.567223,64,58,57,54,52,49,216,187,117,153,172,132	DATA_FILE_SIZE	45292,1188
RAFOS_FIX	6703.792969,-5724.838379,291206,121248	CFSIZE	260165632,232120320
IRIDIUM_FIX	6636.54,-5715.22,291206,121211	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.025311	GPS	291206,150738,6704.072,-5724.603,38,1.4,38,-37.7
HUMID	1854	FINISH1	0.6,1.021909,0
INTERNAL_PRESSURE	8.40853	RESTART_TIME	Fri Dec 29 16:14:04 2006

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	218	88.26	SBE_CT	1068	24	487.07
Roll_motor	181	82	285.23	SBE_O2	1075	19	388.11
VBD_pump_during_apogee	364	1252	8685.57	nil	0	0	0.00
VBD_pump_during_surface	137	777	2037.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	97	103	190.94	nil	0	0	0.00
Iridium_during_connect	166	160	506.48	nil	0	0	0.00
Iridium_during_xfer	438	223	1856.75
Transponder_ping	67	420	534.66
GPS	242	50	117.85
TT8	1303	19	251.81
LPSleep	17330	2	388.33
TT8_Active	1479	19	285.80
TT8_Sampling	1651	39	639.49
TT8_CF8	1227	45	546.92
TT8_Kalman	0	0	0.00
Analog_circuits	2621	12	305.10
GPS_charging	0	0	0.00
Compass	1319	26	332.86
RAFOS	2160	1	31.43

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
30	-0.77	-146.0	0.0	0.0	0	151	0.00	0.00	-115.43	0.000	6	0.000	0.000	1281	2050	3390
154	-0.77	-146.0	0.9	-0.1	24	169	10.07	2.85	0.00	0.000	4	0.219	0.060	2570	3436	3392
422	-0.77	-146.0	12.4	-11.3	72	426	0.00	2.78	0.00	0.000	6	0.000	0.051	2570	2045	3393
764	-0.77	-146.0	49.0	-10.8	133	768	0.00	2.80	0.00	0.000	4	0.000	0.054	2570	3433	3393
988	-0.77	-146.0	74.5	-10.9	173	992	0.00	2.78	0.00	0.000	6	0.000	0.051	2570	2038	3393
1331	-0.77	-146.0	112.1	-11.1	221	1340	0.00	2.80	0.00	0.000	4	0.000	0.053	2570	3434	3393
1465	-0.77	-146.0	126.8	-10.8	227	1473	0.00	2.75	0.00	0.000	6	0.000	0.048	2570	2038	3393
1796	-0.77	-146.0	157.7	-8.1	243	1804	0.00	2.78	0.00	0.000	4	0.000	0.049	2569	3442	3391
1851	-0.77	-146.0	162.0	-7.4	245	1861	0.00	2.72	0.00	0.000	6	0.000	0.044	2570	2042	3391
2170	-0.77	-146.0	183.6	-7.0	261	2189	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2042	3391
2500	-0.77	-146.0	208.6	-7.5	277	2519	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2042	3392
2829	-0.77	-146.0	233.3	-7.4	293	2837	0.00	2.72	0.00	0.000	4	0.000	0.045	2570	3436	3392
2884	-0.77	-146.0	237.5	-7.6	295	2894	0.00	2.70	0.00	0.000	6	0.000	0.041	2569	2037	3392
3204	-0.77	-146.0	258.2	-6.3	311	3223	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2037	3391
3533	-0.77	-146.0	280.9	-7.1	327	3541	0.00	2.72	0.00	0.000	4	0.000	0.045	2570	3436	3392
3593	-0.77	-146.0	285.5	-7.5	329	3598	0.00	2.70	0.00	0.000	6	0.000	0.040	2570	2041	3392
3908	-0.77	-146.0	309.1	-7.5	345	3927	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2041	3393
4239	-0.77	-146.0	334.1	-7.7	361	4256	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2041	3394
4569	-0.77	-146.0	358.4	-7.4	377	4585	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2041	3395
4898	-0.77	-146.0	382.1	-7.2	393	4906	0.00	2.72	0.00	0.000	4	0.000	0.044	2570	3442	3396
4970	-0.77	-146.0	387.4	-7.4	396	4978	0.00	2.70	0.00	0.000	6	0.000	0.039	2570	2037	3396
5294	-0.77	-146.0	409.1	-6.8	412	5313	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2037	3397
5624	-0.77	-146.0	431.9	-6.8	428	5643	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2037	3398
5954	-0.77	-146.0	454.4	-7.1	444	5962	0.00	2.88	0.00	0.000	4	0.000	0.072	2570	638	3399
6008	-0.77	-146.0	458.7	-8.1	446	6018	0.00	2.62	0.00	0.000	6	0.000	0.033	2570	2058	3399
6328	-0.77	-146.0	480.8	-6.5	462	6336	0.00	2.92	0.00	0.000	4	0.000	0.071	2569	643	3400
6360	-0.77	-146.0	483.2	-8.3	463	6370	0.00	2.60	0.00	0.000	6	0.000	0.034	2569	2043	3400
6680	-0.77	-146.0	506.3	-7.4	477	6718	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2043	3400
7044	-0.77	-146.0	533.0	-7.2	486	7083	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2043	3401
7409	-0.77	-146.0	557.0	-6.5	495	7417	0.00	2.90	0.00	0.000	4	0.000	0.072	2570	641	3400
7447	-0.77	-146.0	559.6	-7.5	495	7452	0.00	2.62	0.00	0.000	6	0.000	0.035	2570	2039	3401
7778	-0.77	-146.0	580.8	-6.3	504	7816	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2046	3401
8143	-0.77	-146.0	602.6	-6.0	513	8181	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2046	3401
8508	-0.77	-146.0	624.8	-6.3	522	8546	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2046	3400
8873	-0.77	-146.0	647.1	-5.7	531	8882	0.00	2.90	0.00	0.000	4	0.000	0.071	2569	641	3401
8899	-0.77	-146.0	648.8	-6.6	531	8908	0.00	2.65	0.00	0.000	6	0.000	0.036	2570	2051	3401
9241	-0.77	-146.0	669.9	-6.7	540	9279	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2053	3401
9606	-0.77	-146.0	697.0	-7.3	549	9614	0.00	2.72	0.00	0.000	4	0.000	0.051	2570	3433	3401
9700	-0.77	-146.0	704.4	-7.8	551	9709	0.00	2.70	0.00	0.000	6	0.000	0.044	2570	2045	3401
10023	-0.77	-146.0	727.6	-7.4	559	10062	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2045	3401
10388	-0.77	-146.0	753.2	-6.7	568	10396	0.00	2.88	0.00	0.000	4	0.000	0.071	2569	642	3401
10415	-0.18	0.0	755.1	8.8	568	10596	0.80	0.00	156.62	1.253	6	0.147	0.000	2695	1845	2793
10599	0.77	146.0	760.7	0.0	573	10761	1.27	0.00	156.07	1.194	6	0.113	0.000	2902	1845	2197
11087	0.77	146.0	728.3	7.7	585	11095	0.00	3.08	0.00	0.000	4	0.000	0.083	2902	434	2197
11136	0.77	146.0	724.3	7.9	586	11144	0.00	2.70	0.00	0.000	6	0.000	0.037	2902	1837	2197
11458	0.77	146.0	699.8	7.4	594	11467	0.00	3.03	0.00	0.000	4	0.000	0.083	2902	432	2197
11491	0.77	146.0	697.4	6.7	594	11501	0.00	2.67	0.00	0.000	6	0.000	0.038	2902	1836	2196
11827	0.77	146.0	672.7	7.5	603	11865	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1838	2196
12191	0.77	146.0	645.5	7.4	612	12200	0.00	3.00	0.00	0.000	4	0.000	0.081	2902	434	2197
12224	0.77	146.0	642.9	7.6	612	12233	0.00	2.65	0.00	0.000	6	0.000	0.038	2902	1835	2196
12559	0.77	146.0	618.8	7.5	621	12598	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1839	2197
12925	0.77	146.0	592.8	7.1	630	12933	0.00	2.97	0.00	0.000	4	0.000	0.081	2902	428	2196
12973	0.77	146.0	589.0	7.8	631	12978	0.00	2.67	0.00	0.000	6	0.000	0.038	2902	1836	2196
13297	0.77	146.0	565.6	7.3	639	13306	0.00	2.97	0.00	0.000	4	0.000	0.081	2902	433	2196
13369	0.77	146.0	559.8	8.0	640	13377	0.00	2.65	0.00	0.000	6	0.000	0.038	2902	1836	2196
13712	0.77	146.0	536.4	6.7	649	13748	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1837	2196
14076	0.77	146.0	510.6	7.3	658	14084	0.00	3.00	0.00	0.000	4	0.000	0.081	2902	431	2196
14148	0.77	146.0	505.0	8.1	659	14156	0.00	2.65	0.00	0.000	6	0.000	0.038	2902	1835	2196
14473	0.77	146.0	482.4	7.2	673	14481	0.00	2.97	0.00	0.000	4	0.000	0.081	2902	434	2195
14505	0.77	146.0	479.8	7.9	674	14514	0.00	2.65	0.00	0.000	6	0.000	0.038	2902	1836	2195
14825	0.77	146.0	457.7	6.9	690	14833	0.00	2.97	0.00	0.000	4	0.000	0.081	2902	430	2195
14869	0.77	146.0	454.2	7.8	692	14878	0.00	2.65	0.00	0.000	6	0.000	0.036	2902	1834	2195
15201	0.77	146.0	432.0	6.7	708	15209	0.00	2.97	0.00	0.000	4	0.000	0.079	2902	433	2194
15245	0.77	146.0	428.6	7.7	710	15253	0.00	2.65	0.00	0.000	6	0.000	0.036	2902	1842	2194
15576	0.77	148.0	407.1	6.4	726	15585	0.00	2.97	0.00	0.000	4	0.000	0.077	2902	435	2194
15614	0.77	148.0	404.3	7.4	727	15619	0.00	2.62	0.00	0.000	6	0.000	0.036	2902	1838	2194
15929	0.77	148.0	383.4	6.7	743	15948	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1839	2194
16259	0.77	148.0	360.4	7.0	759	16267	0.00	2.92	0.00	0.000	4	0.000	0.075	2902	434	2194
16313	0.77	148.0	356.2	7.9	761	16323	0.00	2.62	0.00	0.000	6	0.000	0.036	2902	1838	2194
16633	0.77	148.0	333.7	7.0	777	16636	0.00	1.40	0.00	0.000	4	0.000	0.065	2902	1144	2194
16711	0.77	148.0	327.8	7.5	780	16715	0.00	1.30	0.00	0.000	6	0.000	0.033	2902	1836	2194
17031	0.77	148.0	303.9	7.1	796	17050	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1842	2195
17360	0.77	148.0	279.7	7.2	812	17369	0.00	2.92	0.00	0.000	4	0.000	0.075	2902	434	2195
17438	0.77	148.0	273.7	8.3	815	17448	0.00	2.62	0.00	0.000	6	0.000	0.036	2902	1838	2195
17758	0.77	160.0	253.1	6.1	831	17778	0.00	2.97	14.15	0.982	4	0.000	0.077	2902	431	2140
17816	0.79	160.0	249.3	6.9	833	17821	0.00	2.65	0.00	0.000	6	0.000	0.037	2902	1835	2140
18132	0.79	160.0	230.2	6.5	849	18140	0.00	2.95	0.00	0.000	4	0.000	0.076	2902	430	2140
18181	0.79	160.0	226.2	8.3	851	18190	0.00	2.65	0.00	0.000	6	0.000	0.037	2902	1836	2140
18506	0.79	160.0	199.6	8.5	867	18525	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1838	2140
18836	0.79	160.0	173.5	7.6	883	18854	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1838	2140
19165	0.79	160.0	150.3	6.6	899	19173	0.00	2.95	0.00	0.000	4	0.000	0.077	2902	431	2140
19209	0.79	160.0	147.0	6.8	901	19217	0.00	2.65	0.00	0.000	6	0.000	0.037	2902	1836	2140
19540	0.79	187.1	127.7	5.7	917	19579	0.00	0.00	25.60	0.894	6	0.000	0.000	2902	1837	2030
19889	0.84	187.1	108.7	6.6	934	19898	0.12	2.97	0.00	0.000	4	0.086	0.077	2925	434	2029
19989	0.84	187.1	98.9	10.3	938	19998	0.00	2.65	0.00	0.000	6	0.000	0.036	2925	1832	2030
20336	0.84	187.1	71.4	6.7	999	20341	0.00	2.97	0.00	0.000	4	0.000	0.077	2925	431	2029
20381	0.84	200.3	68.7	6.1	1007	20401	0.00	2.65	12.52	0.885	6	0.000	0.036	2925	1836	1976
20739	0.86	200.3	46.6	7.2	1071	20748	0.00	3.00	0.00	0.000	4	0.000	0.080	2925	433	1976
20771	0.86	200.3	44.3	7.0	1077	20776	0.00	2.67	0.00	0.000	6	0.000	0.038	2925	1835	1976
21114	0.86	200.3	20.1	8.9	1138	21119	0.00	2.75	0.00	0.000	4	0.000	0.050	2925	3227	1976
21203	0.86	200.3	9.6	11.8	1154	21207	0.00	2.78	0.00	0.000	6	0.000	0.049	2925	1840	1976
22449	0.00	0.0	0.6	0.0	1188	22546	10.75	3.12	-78.80	0.000	4	0.200	0.100	2737	424	2796