Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 374 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 374 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -119587.97 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2680 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 7 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 80 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 3

CALL_TRIES 3 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -119587.97

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 374 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 162640,6549.961,-5953.022,0,2106.0,0,-37.3 TGT_NAME TARGET_E_IN

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.022,0.232

_SM_DEPTHo 3.20 KALMAN_X 170822.2,0.0,0.0,-269215.2,1040.2

_SM_ANGLEo -61.0 KALMAN_Y -341864.7,0.0,0.0,223727.4,-2853.0

GPS2 162640,6549.961,-5953.022,0,2106.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 32.0,190132,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 539

Post-dive calculations and measurements:

FREEZE 6.58,-1.768,-1.792 TCM_TEMP 14.90

FINISH1 6.6,1.026262,68 XPDR_PINGS 33

FINISH2 4.6 _24V_AH 22.0,63.305

RAFOS_CLK 677 _10V_AH 10.5,28.754

RAFOS 0,1227701046,12.083333,12.068334,66,60,58,55,53,52,197,156,220,173,119,131 DATA_FILE_SIZE 25249,791

RAFOS_FIX 48417.492188,-99720.539062,261108,000036,2,72,2605.71 CAP_FILE_SIZE 119436,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151550 CFSIZE 260165632,226742272

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

HUMID 1808 SOUNDSPEED 1447.5

INTERNAL_PRESSURE 9.90272 GPS 251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 240 95.07 SBE_CT 553 24 292.39

Roll_motor 118 83 218.32 SBE_O2 0 0 0.00

VBD_pump_during_apogee 365 1200 9661.96 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 101 103 229.91 nil 0 0 0.00

Iridium_during_connect 85 160 301.08 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 8 420 76.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 183 50 96.19

TT8 1486 19 310.88

LPSleep 10689 2 259.27

TT8_Active 492 19 102.98

TT8_Sampling 1755 39 735.78

TT8_CF8 637 45 307.34

TT8_Kalman 32 81 28.07

Analog_circuits 1356 12 170.87

GPS_charging 0 0 0.00

Compass 1554 8 130.56

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.99 -146.0 0.0 0.0 0 23 0.00 0.00 -6.47 0.000 2 0.000 0.000 340 2237 1711

27 -0.99 -146.0 3.3 -0.0 1 120 8.60 2.38 -75.85 0.000 4 0.240 0.079 2463 817 3248

233 -0.77 -146.0 16.1 -11.7 37 240 0.20 2.38 0.00 0.000 6 0.144 0.068 2511 2232 3251

578 -0.77 -146.0 47.0 -8.2 98 585 0.00 2.25 0.00 0.000 4 0.000 0.081 2503 3600 3252

687 -0.77 -146.0 56.4 -9.0 117 694 0.00 2.20 0.00 0.000 6 0.000 0.054 2503 2210 3252

1031 -0.77 -146.0 87.3 -9.2 178 1037 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2210 3252

1368 -0.77 -146.0 116.1 -8.2 213 1369 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2210 3252

1675 -0.77 -146.0 138.4 -6.7 228 1678 0.00 2.25 0.00 0.000 4 0.000 0.068 2502 814 3251

1753 -0.77 -146.0 144.4 -8.0 231 1757 0.00 2.38 0.00 0.000 6 0.000 0.069 2493 2241 3251

2069 -0.77 -146.0 166.1 -7.2 246 2073 0.00 2.25 0.00 0.000 4 0.000 0.084 2482 3600 3251

2169 -0.77 -146.0 174.4 -8.1 250 2174 0.12 2.20 0.00 0.000 6 0.150 0.054 2515 2216 3251

2493 -0.87 -146.0 195.4 -6.7 266 2497 0.10 2.25 0.00 0.000 4 0.097 0.067 2473 816 3251

2611 -0.75 -146.0 205.9 -8.6 271 2615 0.20 2.35 0.00 0.000 6 0.140 0.071 2520 2235 3251

2927 -0.86 -146.0 227.1 -6.4 286 2929 0.12 0.00 0.00 0.000 6 0.088 0.000 2469 2234 3251

3237 -0.81 -146.0 250.4 -6.9 301 3241 0.15 2.33 0.00 0.000 4 0.151 0.066 2510 816 3251

3344 -0.86 -146.0 256.6 -5.1 306 3348 0.00 2.35 0.00 0.000 6 0.000 0.071 2503 2239 3251

3672 -0.93 -146.0 274.1 -5.1 322 3677 0.10 2.22 0.00 0.000 4 0.091 0.083 2448 3595 3251

3820 -0.83 -146.0 284.8 -7.5 328 3825 0.20 2.17 0.00 0.000 6 0.149 0.054 2506 2216 3250

4137 -0.93 -146.0 303.4 -6.1 343 4139 0.12 0.00 0.00 0.000 6 0.089 0.000 2454 2216 3251

4445 -0.84 -146.0 326.4 -7.2 358 4449 0.17 2.25 0.00 0.000 4 0.148 0.067 2510 813 3250

4518 -0.93 -146.0 331.0 -6.2 361 4523 0.10 2.35 0.00 0.000 6 0.088 0.068 2459 2241 3250

4840 -0.87 -146.0 355.1 -7.8 377 4845 0.12 2.33 0.00 0.000 4 0.150 0.065 2497 822 3250

4907 -0.92 -146.0 359.9 -6.9 380 4911 0.00 2.33 0.00 0.000 6 0.000 0.067 2490 2231 3250

5235 -0.98 -146.0 379.1 -5.6 396 5237 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2231 3251

5544 -1.03 -146.0 396.0 -5.7 411 5549 0.12 2.25 0.00 0.000 4 0.084 0.080 2425 3604 3251

5617 -0.87 -146.0 401.8 -8.6 414 5622 0.20 2.17 0.00 0.000 6 0.146 0.052 2490 2217 3251

5949 -0.95 -146.0 421.8 -6.0 422 5950 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2218 3252

6274 -1.02 -146.0 440.7 -5.7 430 6279 0.12 2.22 0.00 0.000 4 0.087 0.063 2439 824 3252

6359 -0.86 -146.0 446.8 -7.1 432 6364 0.22 2.33 0.00 0.000 6 0.137 0.066 2494 2245 3252

6684 -0.95 -146.0 462.9 -4.8 440 6685 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2245 3253

7009 -1.05 -146.0 478.0 -4.5 448 7011 0.15 0.00 0.00 0.000 6 0.082 0.000 2435 2244 3253

7335 -0.93 -146.0 499.7 -6.8 456 7339 0.15 2.22 0.00 0.000 4 0.156 0.080 2468 3604 3254

7447 -0.93 -146.0 506.9 -6.2 458 7450 0.00 2.17 0.00 0.000 6 0.000 0.051 2468 2211 3254

7796 -0.93 -146.0 527.3 -5.8 467 7800 0.00 2.20 0.00 0.000 4 0.000 0.063 2468 818 3254

7908 -0.93 -146.0 534.4 -6.5 469 7912 0.00 2.33 0.00 0.000 6 0.000 0.064 2459 2238 3254

8009 end dive: TARGET_DEPTH_EXCEEDED

state 8010 begin apogee

8017 -0.31 0.0 541.1 6.4 472 8146 0.50 0.00 126.88 1.200 6 0.123 0.000 2617 1734 2650

8147 end apogee: CONTROL_FINISHED_OK

state 8147 begin climb

8151 0.99 146.0 542.6 0.0 475 8290 0.85 2.60 131.60 1.124 4 0.091 0.065 2903 326 2053

8331 0.78 146.0 527.0 11.3 479 8337 0.22 2.55 0.00 0.000 6 0.130 0.056 2844 1749 2051

8680 0.78 146.0 499.3 7.7 488 8684 0.00 2.38 0.00 0.000 4 0.000 0.070 2844 3166 2046

8730 0.60 146.0 495.0 9.5 489 8735 0.17 2.35 0.00 0.000 6 0.130 0.052 2804 1731 2045

9043 0.78 188.9 477.1 5.6 497 9087 0.15 2.50 36.88 1.120 4 0.071 0.069 2869 3158 1879

9104 0.63 188.9 471.7 9.4 498 9109 0.22 2.33 0.00 0.000 6 0.130 0.052 2815 1734 1877

9453 0.77 201.5 448.1 6.6 507 9466 0.12 0.00 11.07 1.021 6 0.074 0.000 2871 1734 1829

9778 0.68 201.5 416.3 10.1 515 9783 0.17 2.38 0.00 0.000 4 0.124 0.070 2819 3165 1826

9799 0.68 201.5 414.3 8.6 515 9803 0.00 2.28 0.00 0.000 6 0.000 0.051 2827 1730 1825

10124 0.76 201.5 389.3 7.9 526 10127 0.00 2.35 0.00 0.000 4 0.000 0.069 2827 3162 1825

10157 0.76 201.5 386.2 9.9 527 10161 0.00 2.25 0.00 0.000 6 0.000 0.052 2836 1733 1824

10480 0.82 201.5 359.2 8.4 543 10482 0.08 0.00 0.00 0.000 6 0.096 0.000 2877 1733 1825

10788 0.73 201.5 325.9 10.6 558 10790 0.15 0.00 0.00 0.000 6 0.125 0.000 2831 1733 1824

11098 0.86 209.6 303.6 6.8 573 11112 0.12 2.42 8.07 0.932 4 0.077 0.069 2886 3159 1795

11130 0.70 209.6 300.5 10.0 574 11135 0.22 2.28 0.00 0.000 6 0.131 0.051 2830 1739 1795

11446 0.84 211.6 278.5 7.0 589 11448 0.12 0.00 0.00 0.000 6 0.074 0.000 2887 1739 1794

11756 0.76 211.6 249.0 9.2 604 11761 0.15 2.30 0.00 0.000 4 0.124 0.065 2851 334 1794

11778 0.81 211.6 247.2 7.4 605 11782 0.00 2.33 0.00 0.000 6 0.000 0.056 2851 1749 1794

12105 0.91 211.6 223.6 7.0 621 12110 0.10 2.33 0.00 0.000 4 0.084 0.071 2899 3163 1794

12132 0.77 211.6 220.9 10.0 622 12137 0.22 2.28 0.00 0.000 6 0.133 0.053 2843 1737 1793

12450 0.94 237.9 200.7 6.2 637 12479 0.15 0.00 26.30 1.000 6 0.073 0.000 2910 1736 1680

12778 0.83 237.9 168.2 9.9 653 12783 0.17 2.33 0.00 0.000 4 0.129 0.067 2867 327 1675

12795 0.83 237.9 166.6 9.6 654 12799 0.00 2.33 0.00 0.000 6 0.000 0.058 2867 1750 1676

13128 0.95 248.3 143.1 6.7 670 13140 0.00 0.00 9.68 0.906 6 0.000 0.000 2867 1750 1637

13438 1.09 263.8 123.4 6.5 685 13461 0.17 2.28 15.40 0.940 4 0.069 0.074 2941 3154 1573

13512 0.80 263.8 115.2 13.2 688 13517 0.35 2.30 0.00 0.000 6 0.136 0.056 2848 1727 1571

13837 1.46 263.8 90.8 8.2 718 13844 0.43 2.40 0.00 0.000 4 0.099 0.073 2990 3164 1568

13850 2.05 263.8 89.6 8.3 720 13858 0.38 2.30 0.00 0.000 6 0.066 0.054 3141 1725 1568

14196 1.28 263.8 11.2 24.0 781 14203 0.62 2.30 0.00 0.000 4 0.171 0.074 2966 332 1568

14219 end climb: FINISH_DEPTH_REACHED

state 14219 begin subsurface finish

14230 0.08 68.1 6.6 -21.2 785 14266 0.82 2.35 -28.02 0.000 4 0.123 0.081 2700 332 2376

14267 end subsurface finish: CONTROL_FINISHED_OK

state 14267 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	374	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-119587.97	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2680	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	162640,6549.961,-5953.022,0,2106.0,0,-37.3	TGT_NAME	TARGET_E_IN
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.022,0.232
_SM_DEPTHo	3.20	KALMAN_X	170822.2,0.0,0.0,-269215.2,1040.2
_SM_ANGLEo	-61.0	KALMAN_Y	-341864.7,0.0,0.0,223727.4,-2853.0
GPS2	162640,6549.961,-5953.022,0,2106.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	32.0,190132,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	539

FREEZE	6.58,-1.768,-1.792	TCM_TEMP	14.90
FINISH1	6.6,1.026262,68	XPDR_PINGS	33
FINISH2	4.6	_24V_AH	22.0,63.305
RAFOS_CLK	677	_10V_AH	10.5,28.754
RAFOS	0,1227701046,12.083333,12.068334,66,60,58,55,53,52,197,156,220,173,119,131	DATA_FILE_SIZE	25249,791
RAFOS_FIX	48417.492188,-99720.539062,261108,000036,2,72,2605.71	CAP_FILE_SIZE	119436,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151550	CFSIZE	260165632,226742272
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1808	SOUNDSPEED	1447.5
INTERNAL_PRESSURE	9.90272	GPS	251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	240	95.07	SBE_CT	553	24	292.39
Roll_motor	118	83	218.32	SBE_O2	0	0	0.00
VBD_pump_during_apogee	365	1200	9661.96	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	101	103	229.91	nil	0	0	0.00
Iridium_during_connect	85	160	301.08	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	8	420	76.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	183	50	96.19
TT8	1486	19	310.88
LPSleep	10689	2	259.27
TT8_Active	492	19	102.98
TT8_Sampling	1755	39	735.78
TT8_CF8	637	45	307.34
TT8_Kalman	32	81	28.07
Analog_circuits	1356	12	170.87
GPS_charging	0	0	0.00
Compass	1554	8	130.56
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.99	-146.0	0.0	0.0	0	23	0.00	0.00	-6.47	0.000	2	0.000	0.000	340	2237	1711
27	-0.99	-146.0	3.3	-0.0	1	120	8.60	2.38	-75.85	0.000	4	0.240	0.079	2463	817	3248
233	-0.77	-146.0	16.1	-11.7	37	240	0.20	2.38	0.00	0.000	6	0.144	0.068	2511	2232	3251
578	-0.77	-146.0	47.0	-8.2	98	585	0.00	2.25	0.00	0.000	4	0.000	0.081	2503	3600	3252
687	-0.77	-146.0	56.4	-9.0	117	694	0.00	2.20	0.00	0.000	6	0.000	0.054	2503	2210	3252
1031	-0.77	-146.0	87.3	-9.2	178	1037	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2210	3252
1368	-0.77	-146.0	116.1	-8.2	213	1369	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2210	3252
1675	-0.77	-146.0	138.4	-6.7	228	1678	0.00	2.25	0.00	0.000	4	0.000	0.068	2502	814	3251
1753	-0.77	-146.0	144.4	-8.0	231	1757	0.00	2.38	0.00	0.000	6	0.000	0.069	2493	2241	3251
2069	-0.77	-146.0	166.1	-7.2	246	2073	0.00	2.25	0.00	0.000	4	0.000	0.084	2482	3600	3251
2169	-0.77	-146.0	174.4	-8.1	250	2174	0.12	2.20	0.00	0.000	6	0.150	0.054	2515	2216	3251
2493	-0.87	-146.0	195.4	-6.7	266	2497	0.10	2.25	0.00	0.000	4	0.097	0.067	2473	816	3251
2611	-0.75	-146.0	205.9	-8.6	271	2615	0.20	2.35	0.00	0.000	6	0.140	0.071	2520	2235	3251
2927	-0.86	-146.0	227.1	-6.4	286	2929	0.12	0.00	0.00	0.000	6	0.088	0.000	2469	2234	3251
3237	-0.81	-146.0	250.4	-6.9	301	3241	0.15	2.33	0.00	0.000	4	0.151	0.066	2510	816	3251
3344	-0.86	-146.0	256.6	-5.1	306	3348	0.00	2.35	0.00	0.000	6	0.000	0.071	2503	2239	3251
3672	-0.93	-146.0	274.1	-5.1	322	3677	0.10	2.22	0.00	0.000	4	0.091	0.083	2448	3595	3251
3820	-0.83	-146.0	284.8	-7.5	328	3825	0.20	2.17	0.00	0.000	6	0.149	0.054	2506	2216	3250
4137	-0.93	-146.0	303.4	-6.1	343	4139	0.12	0.00	0.00	0.000	6	0.089	0.000	2454	2216	3251
4445	-0.84	-146.0	326.4	-7.2	358	4449	0.17	2.25	0.00	0.000	4	0.148	0.067	2510	813	3250
4518	-0.93	-146.0	331.0	-6.2	361	4523	0.10	2.35	0.00	0.000	6	0.088	0.068	2459	2241	3250
4840	-0.87	-146.0	355.1	-7.8	377	4845	0.12	2.33	0.00	0.000	4	0.150	0.065	2497	822	3250
4907	-0.92	-146.0	359.9	-6.9	380	4911	0.00	2.33	0.00	0.000	6	0.000	0.067	2490	2231	3250
5235	-0.98	-146.0	379.1	-5.6	396	5237	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2231	3251
5544	-1.03	-146.0	396.0	-5.7	411	5549	0.12	2.25	0.00	0.000	4	0.084	0.080	2425	3604	3251
5617	-0.87	-146.0	401.8	-8.6	414	5622	0.20	2.17	0.00	0.000	6	0.146	0.052	2490	2217	3251
5949	-0.95	-146.0	421.8	-6.0	422	5950	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2218	3252
6274	-1.02	-146.0	440.7	-5.7	430	6279	0.12	2.22	0.00	0.000	4	0.087	0.063	2439	824	3252
6359	-0.86	-146.0	446.8	-7.1	432	6364	0.22	2.33	0.00	0.000	6	0.137	0.066	2494	2245	3252
6684	-0.95	-146.0	462.9	-4.8	440	6685	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2245	3253
7009	-1.05	-146.0	478.0	-4.5	448	7011	0.15	0.00	0.00	0.000	6	0.082	0.000	2435	2244	3253
7335	-0.93	-146.0	499.7	-6.8	456	7339	0.15	2.22	0.00	0.000	4	0.156	0.080	2468	3604	3254
7447	-0.93	-146.0	506.9	-6.2	458	7450	0.00	2.17	0.00	0.000	6	0.000	0.051	2468	2211	3254
7796	-0.93	-146.0	527.3	-5.8	467	7800	0.00	2.20	0.00	0.000	4	0.000	0.063	2468	818	3254
7908	-0.93	-146.0	534.4	-6.5	469	7912	0.00	2.33	0.00	0.000	6	0.000	0.064	2459	2238	3254
8009	end dive: TARGET_DEPTH_EXCEEDED
state	8010	begin apogee
8017	-0.31	0.0	541.1	6.4	472	8146	0.50	0.00	126.88	1.200	6	0.123	0.000	2617	1734	2650
8147	end apogee: CONTROL_FINISHED_OK
state	8147	begin climb
8151	0.99	146.0	542.6	0.0	475	8290	0.85	2.60	131.60	1.124	4	0.091	0.065	2903	326	2053
8331	0.78	146.0	527.0	11.3	479	8337	0.22	2.55	0.00	0.000	6	0.130	0.056	2844	1749	2051
8680	0.78	146.0	499.3	7.7	488	8684	0.00	2.38	0.00	0.000	4	0.000	0.070	2844	3166	2046
8730	0.60	146.0	495.0	9.5	489	8735	0.17	2.35	0.00	0.000	6	0.130	0.052	2804	1731	2045
9043	0.78	188.9	477.1	5.6	497	9087	0.15	2.50	36.88	1.120	4	0.071	0.069	2869	3158	1879
9104	0.63	188.9	471.7	9.4	498	9109	0.22	2.33	0.00	0.000	6	0.130	0.052	2815	1734	1877
9453	0.77	201.5	448.1	6.6	507	9466	0.12	0.00	11.07	1.021	6	0.074	0.000	2871	1734	1829
9778	0.68	201.5	416.3	10.1	515	9783	0.17	2.38	0.00	0.000	4	0.124	0.070	2819	3165	1826
9799	0.68	201.5	414.3	8.6	515	9803	0.00	2.28	0.00	0.000	6	0.000	0.051	2827	1730	1825
10124	0.76	201.5	389.3	7.9	526	10127	0.00	2.35	0.00	0.000	4	0.000	0.069	2827	3162	1825
10157	0.76	201.5	386.2	9.9	527	10161	0.00	2.25	0.00	0.000	6	0.000	0.052	2836	1733	1824
10480	0.82	201.5	359.2	8.4	543	10482	0.08	0.00	0.00	0.000	6	0.096	0.000	2877	1733	1825
10788	0.73	201.5	325.9	10.6	558	10790	0.15	0.00	0.00	0.000	6	0.125	0.000	2831	1733	1824
11098	0.86	209.6	303.6	6.8	573	11112	0.12	2.42	8.07	0.932	4	0.077	0.069	2886	3159	1795
11130	0.70	209.6	300.5	10.0	574	11135	0.22	2.28	0.00	0.000	6	0.131	0.051	2830	1739	1795
11446	0.84	211.6	278.5	7.0	589	11448	0.12	0.00	0.00	0.000	6	0.074	0.000	2887	1739	1794
11756	0.76	211.6	249.0	9.2	604	11761	0.15	2.30	0.00	0.000	4	0.124	0.065	2851	334	1794
11778	0.81	211.6	247.2	7.4	605	11782	0.00	2.33	0.00	0.000	6	0.000	0.056	2851	1749	1794
12105	0.91	211.6	223.6	7.0	621	12110	0.10	2.33	0.00	0.000	4	0.084	0.071	2899	3163	1794
12132	0.77	211.6	220.9	10.0	622	12137	0.22	2.28	0.00	0.000	6	0.133	0.053	2843	1737	1793
12450	0.94	237.9	200.7	6.2	637	12479	0.15	0.00	26.30	1.000	6	0.073	0.000	2910	1736	1680
12778	0.83	237.9	168.2	9.9	653	12783	0.17	2.33	0.00	0.000	4	0.129	0.067	2867	327	1675
12795	0.83	237.9	166.6	9.6	654	12799	0.00	2.33	0.00	0.000	6	0.000	0.058	2867	1750	1676
13128	0.95	248.3	143.1	6.7	670	13140	0.00	0.00	9.68	0.906	6	0.000	0.000	2867	1750	1637
13438	1.09	263.8	123.4	6.5	685	13461	0.17	2.28	15.40	0.940	4	0.069	0.074	2941	3154	1573
13512	0.80	263.8	115.2	13.2	688	13517	0.35	2.30	0.00	0.000	6	0.136	0.056	2848	1727	1571
13837	1.46	263.8	90.8	8.2	718	13844	0.43	2.40	0.00	0.000	4	0.099	0.073	2990	3164	1568
13850	2.05	263.8	89.6	8.3	720	13858	0.38	2.30	0.00	0.000	6	0.066	0.054	3141	1725	1568
14196	1.28	263.8	11.2	24.0	781	14203	0.62	2.30	0.00	0.000	4	0.171	0.074	2966	332	1568
14219	end climb: FINISH_DEPTH_REACHED
state	14219	begin subsurface finish
14230	0.08	68.1	6.6	-21.2	785	14266	0.82	2.35	-28.02	0.000	4	0.123	0.081	2700	332	2376
14267	end subsurface finish: CONTROL_FINISHED_OK
state	14267	begin surface