Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 389 * 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 389 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 3 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 ALTIM_PULSE 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 7 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 1.75 FILEMGR 2 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -2 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -119599.05 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2680 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 7 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 80 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 3

CALL_TRIES 3 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -119599.05

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 70 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 2 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 389 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1070 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 3 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 202640,6549.236,-5929.427,0,2119.0,0,-36.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6552.930,-5904.592

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.58 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -1.9 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

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

SPEED_LIMITS 0.122,0.233 D_GRID 573

Post-dive calculations and measurements:

FREEZE 6.94,-1.761,-1.811 TCM_TEMP 14.90

FINISH1 6.9,1.026520,55 XPDR_PINGS 59

FINISH2 4.7 _24V_AH 22.1,65.149

RAFOS_CLK 581 _10V_AH 10.5,29.564

RAFOS 0,1227931445,4.083333,4.068056,63,61,57,55,51,50,205,148,226,124,187,166 DATA_FILE_SIZE 25272,787

RAFOS_FIX 6549.236328,-5929.427246,271108,202040,2,119,0.73 CAP_FILE_SIZE 107668,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151550 CFSIZE 260165632,225890304

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

HUMID 1802 SOUNDSPEED 1447.8

INTERNAL_PRESSURE 9.91249 GPS 271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 174 30.82 SBE_CT 550 24 292.24

Roll_motor 126 84 236.43 SBE_O2 0 0 0.00

VBD_pump_during_apogee 356 1153 9087.28 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 14 420 136.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1471 19 307.83

LPSleep 9270 2 224.86

TT8_Active 454 19 95.04

TT8_Sampling 1508 39 632.38

TT8_CF8 209 45 101.03

TT8_Kalman 0 81 0.00

Analog_circuits 1292 12 162.87

GPS_charging 0 0 0.00

Compass 1496 8 125.74

RAFOS 1440 1 22.68

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 68 0.00 0.00 -47.78 0.000 6 0.000 0.000 2684 3163 3248

71 -0.99 -146.0 1.6 0.2 9 79 0.62 3.83 0.00 0.000 4 0.082 0.060 2456 809 3249

86 -1.50 -146.0 2.7 -1.6 11 93 0.30 2.35 0.00 0.000 6 0.073 0.066 2333 2242 3250

432 -0.88 -146.0 59.1 -17.1 72 439 0.52 2.35 0.00 0.000 4 0.175 0.067 2493 811 3251

491 -0.83 -146.0 65.5 -9.0 82 497 0.00 2.35 0.00 0.000 6 0.000 0.068 2485 2238 3251

835 -0.77 -146.0 95.0 -9.0 143 842 0.10 2.25 0.00 0.000 4 0.150 0.081 2503 3606 3251

894 -0.82 -146.0 100.3 -8.9 153 898 0.00 2.20 0.00 0.000 6 0.000 0.054 2504 2212 3251

1215 -0.82 -146.0 122.3 -6.2 169 1217 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2211 3251

1525 -0.82 -146.0 141.4 -6.5 184 1529 0.00 2.22 0.00 0.000 4 0.000 0.068 2503 809 3251

1596 -0.82 -146.0 146.2 -7.0 187 1599 0.00 2.38 0.00 0.000 6 0.000 0.074 2493 2242 3251

1930 -0.82 -146.0 168.4 -6.8 203 1934 0.00 2.22 0.00 0.000 4 0.000 0.082 2483 3601 3249

1946 -0.82 -146.0 169.8 -6.9 203 1953 0.00 2.17 0.00 0.000 6 0.000 0.054 2483 2220 3250

2263 -0.82 -146.0 191.8 -7.4 219 2266 0.00 2.25 0.00 0.000 4 0.000 0.067 2483 814 3250

2331 -0.76 -146.0 196.9 -7.6 222 2336 0.15 2.35 0.00 0.000 6 0.138 0.069 2514 2238 3250

2659 -0.86 -146.0 215.0 -5.0 238 2663 0.00 2.33 0.00 0.000 4 0.000 0.067 2514 811 3249

2698 -0.92 -146.0 216.9 -4.7 239 2705 0.10 2.35 0.00 0.000 6 0.088 0.068 2465 2237 3249

3015 -0.86 -146.0 234.0 -5.7 255 3019 0.12 2.25 0.00 0.000 4 0.146 0.084 2490 3595 3249

3043 -0.86 -146.0 235.6 -6.3 256 3047 0.00 2.15 0.00 0.000 6 0.000 0.054 2490 2220 3249

3370 -0.86 -146.0 255.4 -6.1 272 3374 0.00 2.25 0.00 0.000 4 0.000 0.067 2490 814 3249

3409 -0.86 -146.0 257.9 -6.4 273 3415 0.00 2.35 0.00 0.000 6 0.000 0.068 2480 2240 3249

3725 -0.86 -146.0 277.4 -6.3 289 3729 0.00 2.33 0.00 0.000 4 0.000 0.067 2480 814 3249

3736 -0.86 -146.0 278.2 -6.2 289 3741 0.10 2.35 0.00 0.000 6 0.146 0.067 2496 2242 3249

4053 -0.94 -146.0 297.7 -6.7 304 4057 0.00 2.33 0.00 0.000 4 0.000 0.067 2497 816 3249

4077 -0.94 -146.0 299.3 -6.6 305 4081 0.00 2.33 0.00 0.000 6 0.000 0.067 2489 2241 3249

4409 -0.99 -146.0 322.7 -6.8 321 4414 0.10 2.33 0.00 0.000 4 0.088 0.064 2444 816 3249

4483 -0.83 -146.0 328.8 -8.2 324 4488 0.22 2.35 0.00 0.000 6 0.138 0.067 2498 2244 3249

4805 -0.94 -146.0 345.8 -4.8 340 4809 0.00 2.33 0.00 0.000 4 0.000 0.066 2499 813 3250

4828 -1.01 -146.0 346.9 -4.8 341 4833 0.12 2.35 0.00 0.000 6 0.078 0.067 2438 2244 3250

5156 -0.89 -146.0 368.0 -6.5 357 5160 0.17 2.22 0.00 0.000 4 0.144 0.080 2479 3601 3250

5206 -0.94 -146.0 370.9 -5.6 359 5210 0.00 2.17 0.00 0.000 6 0.000 0.052 2479 2214 3250

5533 -0.94 -146.0 387.7 -5.0 375 5536 0.00 2.20 0.00 0.000 4 0.000 0.064 2479 818 3251

5612 -0.94 -146.0 392.2 -5.6 378 5616 0.00 2.33 0.00 0.000 6 0.000 0.065 2469 2233 3251

5951 -0.94 -146.0 412.0 -5.9 390 5955 0.00 2.30 0.00 0.000 4 0.000 0.063 2469 816 3251

5979 -0.89 -146.0 413.8 -5.9 390 5984 0.12 2.33 0.00 0.000 6 0.137 0.065 2493 2233 3251

6323 -0.99 -146.0 432.0 -5.4 399 6327 0.12 2.25 0.00 0.000 4 0.081 0.081 2431 3600 3252

6339 -0.99 -146.0 433.2 -5.7 399 6343 0.12 2.15 0.00 0.000 6 0.154 0.050 2465 2225 3252

6652 -0.99 -146.0 452.7 -6.0 407 6656 0.00 2.28 0.00 0.000 4 0.000 0.077 2458 3597 3252

6663 -0.99 -146.0 453.4 -5.8 407 6668 0.00 2.15 0.00 0.000 6 0.000 0.051 2458 2215 3252

6983 -1.26 -146.0 466.6 -2.2 415 6987 0.17 2.22 0.00 0.000 4 0.072 0.061 2385 812 3252

7109 end dive: NO_VERTICAL_VELOCITY

state 7109 begin apogee

7117 -0.31 0.0 466.6 0.0 417 7246 0.68 0.00 124.97 1.154 6 0.105 0.000 2609 1742 2650

7246 end apogee: CONTROL_FINISHED_OK

state 7246 begin climb

7249 0.99 146.0 465.9 0.0 421 7387 0.88 2.60 129.57 1.073 4 0.095 0.069 2893 3141 2054

7469 0.66 146.0 445.7 11.5 426 7474 0.30 2.42 0.00 0.000 6 0.136 0.052 2823 1738 2048

7788 0.74 165.3 424.2 6.4 434 7807 0.00 0.00 16.60 1.022 6 0.000 0.000 2823 1738 1976

8113 0.83 187.4 403.5 6.3 442 8136 0.12 0.00 20.75 1.044 6 0.074 0.000 2879 1738 1886

8423 0.70 187.4 373.9 10.2 455 8425 0.17 0.00 0.00 0.000 6 0.127 0.000 2828 1738 1883

8730 0.79 187.4 350.1 7.6 470 8732 0.10 0.00 0.00 0.000 6 0.083 0.000 2874 1738 1882

9039 0.70 187.4 319.9 9.4 485 9044 0.15 2.33 0.00 0.000 4 0.124 0.070 2829 3157 1881

9079 0.70 187.4 316.5 8.1 487 9083 0.00 2.25 0.00 0.000 6 0.000 0.053 2837 1730 1881

9412 0.76 187.4 292.8 7.0 503 9416 0.00 2.25 0.00 0.000 4 0.000 0.067 2847 335 1881

9436 0.84 187.4 291.1 7.1 504 9440 0.00 2.28 0.00 0.000 6 0.000 0.055 2847 1750 1881

9770 0.87 209.5 269.4 6.3 520 9796 0.00 2.30 19.40 1.009 4 0.000 0.071 2847 3147 1795

9852 0.80 209.5 263.4 7.8 523 9859 0.00 2.25 0.00 0.000 6 0.000 0.052 2856 1732 1792

10168 0.80 209.5 241.1 7.2 539 10172 0.00 2.28 0.00 0.000 4 0.000 0.067 2867 326 1791

10202 0.85 209.5 238.6 7.7 540 10206 0.00 2.33 0.00 0.000 6 0.000 0.057 2867 1751 1791

10523 0.85 209.5 213.8 7.7 556 10527 0.00 2.28 0.00 0.000 4 0.000 0.072 2867 3162 1791

10605 0.74 209.5 206.8 9.3 559 10610 0.15 2.25 0.00 0.000 6 0.132 0.054 2832 1741 1790

10921 0.96 260.7 187.7 5.4 574 10972 0.17 2.35 45.15 0.988 4 0.066 0.067 2920 334 1587

11015 0.88 260.7 179.7 9.5 578 11020 0.20 2.33 0.00 0.000 6 0.130 0.057 2863 1738 1584

11336 1.00 263.0 156.9 6.9 594 11341 0.12 2.30 0.00 0.000 4 0.077 0.071 2919 3161 1578

11392 0.77 263.0 150.7 12.1 596 11397 0.30 2.28 0.00 0.000 6 0.133 0.055 2841 1738 1577

11708 1.43 263.0 128.1 8.0 611 11711 0.47 0.00 0.00 0.000 6 0.090 0.000 3003 1738 1575

12029 1.06 263.0 83.0 14.7 641 12035 0.30 0.00 0.00 0.000 6 0.144 0.000 2912 1738 1575

12372 1.06 263.0 51.8 9.6 702 12378 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1738 1574

12715 1.06 263.0 17.1 9.8 763 12721 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1738 1573

12815 end climb: FINISH_DEPTH_REACHED

state 12816 begin subsurface finish

12824 0.07 55.5 6.9 -10.3 781 12860 0.65 2.33 -28.67 0.000 4 0.111 0.083 2693 330 2427

12861 end subsurface finish: CONTROL_FINISHED_OK

state 12861 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	389	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	3	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	ALTIM_PULSE	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	7	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	1.75	FILEMGR	2	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-2	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-119599.05	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2680	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	202640,6549.236,-5929.427,0,2119.0,0,-36.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6552.930,-5904.592
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.58	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-1.9	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	202640,6549.236,-5929.427,0,2119.0,0,-36.5	MHEAD_RNG_PITCHd_Wd	106.5,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	573

FREEZE	6.94,-1.761,-1.811	TCM_TEMP	14.90
FINISH1	6.9,1.026520,55	XPDR_PINGS	59
FINISH2	4.7	_24V_AH	22.1,65.149
RAFOS_CLK	581	_10V_AH	10.5,29.564
RAFOS	0,1227931445,4.083333,4.068056,63,61,57,55,51,50,205,148,226,124,187,166	DATA_FILE_SIZE	25272,787
RAFOS_FIX	6549.236328,-5929.427246,271108,202040,2,119,0.73	CAP_FILE_SIZE	107668,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151550	CFSIZE	260165632,225890304
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1802	SOUNDSPEED	1447.8
INTERNAL_PRESSURE	9.91249	GPS	271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	174	30.82	SBE_CT	550	24	292.24
Roll_motor	126	84	236.43	SBE_O2	0	0	0.00
VBD_pump_during_apogee	356	1153	9087.28	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	14	420	136.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1471	19	307.83
LPSleep	9270	2	224.86
TT8_Active	454	19	95.04
TT8_Sampling	1508	39	632.38
TT8_CF8	209	45	101.03
TT8_Kalman	0	81	0.00
Analog_circuits	1292	12	162.87
GPS_charging	0	0	0.00
Compass	1496	8	125.74
RAFOS	1440	1	22.68
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	68	0.00	0.00	-47.78	0.000	6	0.000	0.000	2684	3163	3248
71	-0.99	-146.0	1.6	0.2	9	79	0.62	3.83	0.00	0.000	4	0.082	0.060	2456	809	3249
86	-1.50	-146.0	2.7	-1.6	11	93	0.30	2.35	0.00	0.000	6	0.073	0.066	2333	2242	3250
432	-0.88	-146.0	59.1	-17.1	72	439	0.52	2.35	0.00	0.000	4	0.175	0.067	2493	811	3251
491	-0.83	-146.0	65.5	-9.0	82	497	0.00	2.35	0.00	0.000	6	0.000	0.068	2485	2238	3251
835	-0.77	-146.0	95.0	-9.0	143	842	0.10	2.25	0.00	0.000	4	0.150	0.081	2503	3606	3251
894	-0.82	-146.0	100.3	-8.9	153	898	0.00	2.20	0.00	0.000	6	0.000	0.054	2504	2212	3251
1215	-0.82	-146.0	122.3	-6.2	169	1217	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2211	3251
1525	-0.82	-146.0	141.4	-6.5	184	1529	0.00	2.22	0.00	0.000	4	0.000	0.068	2503	809	3251
1596	-0.82	-146.0	146.2	-7.0	187	1599	0.00	2.38	0.00	0.000	6	0.000	0.074	2493	2242	3251
1930	-0.82	-146.0	168.4	-6.8	203	1934	0.00	2.22	0.00	0.000	4	0.000	0.082	2483	3601	3249
1946	-0.82	-146.0	169.8	-6.9	203	1953	0.00	2.17	0.00	0.000	6	0.000	0.054	2483	2220	3250
2263	-0.82	-146.0	191.8	-7.4	219	2266	0.00	2.25	0.00	0.000	4	0.000	0.067	2483	814	3250
2331	-0.76	-146.0	196.9	-7.6	222	2336	0.15	2.35	0.00	0.000	6	0.138	0.069	2514	2238	3250
2659	-0.86	-146.0	215.0	-5.0	238	2663	0.00	2.33	0.00	0.000	4	0.000	0.067	2514	811	3249
2698	-0.92	-146.0	216.9	-4.7	239	2705	0.10	2.35	0.00	0.000	6	0.088	0.068	2465	2237	3249
3015	-0.86	-146.0	234.0	-5.7	255	3019	0.12	2.25	0.00	0.000	4	0.146	0.084	2490	3595	3249
3043	-0.86	-146.0	235.6	-6.3	256	3047	0.00	2.15	0.00	0.000	6	0.000	0.054	2490	2220	3249
3370	-0.86	-146.0	255.4	-6.1	272	3374	0.00	2.25	0.00	0.000	4	0.000	0.067	2490	814	3249
3409	-0.86	-146.0	257.9	-6.4	273	3415	0.00	2.35	0.00	0.000	6	0.000	0.068	2480	2240	3249
3725	-0.86	-146.0	277.4	-6.3	289	3729	0.00	2.33	0.00	0.000	4	0.000	0.067	2480	814	3249
3736	-0.86	-146.0	278.2	-6.2	289	3741	0.10	2.35	0.00	0.000	6	0.146	0.067	2496	2242	3249
4053	-0.94	-146.0	297.7	-6.7	304	4057	0.00	2.33	0.00	0.000	4	0.000	0.067	2497	816	3249
4077	-0.94	-146.0	299.3	-6.6	305	4081	0.00	2.33	0.00	0.000	6	0.000	0.067	2489	2241	3249
4409	-0.99	-146.0	322.7	-6.8	321	4414	0.10	2.33	0.00	0.000	4	0.088	0.064	2444	816	3249
4483	-0.83	-146.0	328.8	-8.2	324	4488	0.22	2.35	0.00	0.000	6	0.138	0.067	2498	2244	3249
4805	-0.94	-146.0	345.8	-4.8	340	4809	0.00	2.33	0.00	0.000	4	0.000	0.066	2499	813	3250
4828	-1.01	-146.0	346.9	-4.8	341	4833	0.12	2.35	0.00	0.000	6	0.078	0.067	2438	2244	3250
5156	-0.89	-146.0	368.0	-6.5	357	5160	0.17	2.22	0.00	0.000	4	0.144	0.080	2479	3601	3250
5206	-0.94	-146.0	370.9	-5.6	359	5210	0.00	2.17	0.00	0.000	6	0.000	0.052	2479	2214	3250
5533	-0.94	-146.0	387.7	-5.0	375	5536	0.00	2.20	0.00	0.000	4	0.000	0.064	2479	818	3251
5612	-0.94	-146.0	392.2	-5.6	378	5616	0.00	2.33	0.00	0.000	6	0.000	0.065	2469	2233	3251
5951	-0.94	-146.0	412.0	-5.9	390	5955	0.00	2.30	0.00	0.000	4	0.000	0.063	2469	816	3251
5979	-0.89	-146.0	413.8	-5.9	390	5984	0.12	2.33	0.00	0.000	6	0.137	0.065	2493	2233	3251
6323	-0.99	-146.0	432.0	-5.4	399	6327	0.12	2.25	0.00	0.000	4	0.081	0.081	2431	3600	3252
6339	-0.99	-146.0	433.2	-5.7	399	6343	0.12	2.15	0.00	0.000	6	0.154	0.050	2465	2225	3252
6652	-0.99	-146.0	452.7	-6.0	407	6656	0.00	2.28	0.00	0.000	4	0.000	0.077	2458	3597	3252
6663	-0.99	-146.0	453.4	-5.8	407	6668	0.00	2.15	0.00	0.000	6	0.000	0.051	2458	2215	3252
6983	-1.26	-146.0	466.6	-2.2	415	6987	0.17	2.22	0.00	0.000	4	0.072	0.061	2385	812	3252
7109	end dive: NO_VERTICAL_VELOCITY
state	7109	begin apogee
7117	-0.31	0.0	466.6	0.0	417	7246	0.68	0.00	124.97	1.154	6	0.105	0.000	2609	1742	2650
7246	end apogee: CONTROL_FINISHED_OK
state	7246	begin climb
7249	0.99	146.0	465.9	0.0	421	7387	0.88	2.60	129.57	1.073	4	0.095	0.069	2893	3141	2054
7469	0.66	146.0	445.7	11.5	426	7474	0.30	2.42	0.00	0.000	6	0.136	0.052	2823	1738	2048
7788	0.74	165.3	424.2	6.4	434	7807	0.00	0.00	16.60	1.022	6	0.000	0.000	2823	1738	1976
8113	0.83	187.4	403.5	6.3	442	8136	0.12	0.00	20.75	1.044	6	0.074	0.000	2879	1738	1886
8423	0.70	187.4	373.9	10.2	455	8425	0.17	0.00	0.00	0.000	6	0.127	0.000	2828	1738	1883
8730	0.79	187.4	350.1	7.6	470	8732	0.10	0.00	0.00	0.000	6	0.083	0.000	2874	1738	1882
9039	0.70	187.4	319.9	9.4	485	9044	0.15	2.33	0.00	0.000	4	0.124	0.070	2829	3157	1881
9079	0.70	187.4	316.5	8.1	487	9083	0.00	2.25	0.00	0.000	6	0.000	0.053	2837	1730	1881
9412	0.76	187.4	292.8	7.0	503	9416	0.00	2.25	0.00	0.000	4	0.000	0.067	2847	335	1881
9436	0.84	187.4	291.1	7.1	504	9440	0.00	2.28	0.00	0.000	6	0.000	0.055	2847	1750	1881
9770	0.87	209.5	269.4	6.3	520	9796	0.00	2.30	19.40	1.009	4	0.000	0.071	2847	3147	1795
9852	0.80	209.5	263.4	7.8	523	9859	0.00	2.25	0.00	0.000	6	0.000	0.052	2856	1732	1792
10168	0.80	209.5	241.1	7.2	539	10172	0.00	2.28	0.00	0.000	4	0.000	0.067	2867	326	1791
10202	0.85	209.5	238.6	7.7	540	10206	0.00	2.33	0.00	0.000	6	0.000	0.057	2867	1751	1791
10523	0.85	209.5	213.8	7.7	556	10527	0.00	2.28	0.00	0.000	4	0.000	0.072	2867	3162	1791
10605	0.74	209.5	206.8	9.3	559	10610	0.15	2.25	0.00	0.000	6	0.132	0.054	2832	1741	1790
10921	0.96	260.7	187.7	5.4	574	10972	0.17	2.35	45.15	0.988	4	0.066	0.067	2920	334	1587
11015	0.88	260.7	179.7	9.5	578	11020	0.20	2.33	0.00	0.000	6	0.130	0.057	2863	1738	1584
11336	1.00	263.0	156.9	6.9	594	11341	0.12	2.30	0.00	0.000	4	0.077	0.071	2919	3161	1578
11392	0.77	263.0	150.7	12.1	596	11397	0.30	2.28	0.00	0.000	6	0.133	0.055	2841	1738	1577
11708	1.43	263.0	128.1	8.0	611	11711	0.47	0.00	0.00	0.000	6	0.090	0.000	3003	1738	1575
12029	1.06	263.0	83.0	14.7	641	12035	0.30	0.00	0.00	0.000	6	0.144	0.000	2912	1738	1575
12372	1.06	263.0	51.8	9.6	702	12378	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1738	1574
12715	1.06	263.0	17.1	9.8	763	12721	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1738	1573
12815	end climb: FINISH_DEPTH_REACHED
state	12816	begin subsurface finish
12824	0.07	55.5	6.9	-10.3	781	12860	0.65	2.33	-28.67	0.000	4	0.111	0.083	2693	330	2427
12861	end subsurface finish: CONTROL_FINISHED_OK
state	12861	begin surface