Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 391 * 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 391 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 29 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 -119614.86 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2680 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 7 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 80 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 3

CALL_TRIES 3 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -119614.86

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 70 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 2 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 29 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 391 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 083956,6541.609,-5844.096,40,0.9,40,-36.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6545.213,-5819.612

_XMS_NAKs 14 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.38 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -64.9 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

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

SPEED_LIMITS 0.122,0.233 D_GRID 474

Post-dive calculations and measurements:

FREEZE 6.08,-1.774,-1.810 TCM_TEMP 15.10

FINISH1 6.1,1.026518,56 XPDR_PINGS 49

FINISH2 1.6 _24V_AH 22.1,65.424

RAFOS_CLK 554 _10V_AH 10.5,29.678

RAFOS 3,1227947641,8.583333,8.566944,66,59,58,55,53,53,188,173,158,204,118,217 DATA_FILE_SIZE 25304,784

RAFOS_FIX 6549.236328,-5929.427246,271108,202040,2,119,0.73 CAP_FILE_SIZE 118122,0

IRIDIUM_FIX 6517.16,-5931.80,210298,090954 CFSIZE 260165632,225771520

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1789 SOUNDSPEED 1448.4

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

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 250 98.22 SBE_CT 547 24 290.44

Roll_motor 114 88 222.37 SBE_O2 0 0 0.00

VBD_pump_during_apogee 374 1157 9588.78 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 24 103 56.48 nil 0 0 0.00

Iridium_during_connect 32 160 113.71 nil 0 0 0.00

Iridium_during_xfer 533 223 2627.48

Transponder_ping 12 420 113.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.97

TT8 1415 19 296.02

LPSleep 9098 2 220.68

TT8_Active 524 19 109.63

TT8_Sampling 1442 39 604.55

TT8_CF8 1033 45 498.12

TT8_Kalman 0 81 0.00

Analog_circuits 1330 12 167.64

GPS_charging 0 0 0.00

Compass 1420 8 119.33

RAFOS 1080 1 17.01

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -0.99 -146.0 0.0 0.0 0 89 0.00 0.00 -67.95 0.000 2 0.000 0.000 332 2212 2876

93 -0.99 -146.0 3.1 -1.4 12 123 8.90 2.33 -13.75 0.000 4 0.250 0.083 2460 812 3249

198 -0.75 -146.0 15.7 -11.8 30 205 0.22 2.38 0.00 0.000 6 0.137 0.068 2516 2238 3252

543 -0.75 -146.0 46.3 -7.4 91 548 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2238 3253

886 -0.75 -146.0 71.6 -7.7 152 891 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2238 3253

1230 -0.81 -146.0 92.2 -6.4 213 1236 0.00 2.33 0.00 0.000 4 0.000 0.067 2516 813 3253

1305 -0.81 -146.0 97.5 -7.3 226 1311 0.00 2.35 0.00 0.000 6 0.000 0.069 2509 2238 3253

1636 -0.81 -146.0 117.2 -5.4 247 1640 0.00 2.33 0.00 0.000 4 0.000 0.067 2508 814 3253

1664 -0.81 -146.0 119.1 -6.3 248 1668 0.00 2.35 0.00 0.000 6 0.000 0.069 2498 2240 3253

1992 -0.81 -146.0 143.8 -7.1 264 1996 0.00 2.22 0.00 0.000 4 0.000 0.083 2488 3596 3253

2031 -0.81 -146.0 146.9 -7.6 265 2037 0.00 2.17 0.00 0.000 6 0.000 0.054 2488 2218 3253

2347 -0.81 -146.0 170.7 -7.3 281 2350 0.00 2.25 0.00 0.000 4 0.000 0.067 2489 814 3252

2363 -0.81 -146.0 172.0 -7.2 281 2370 0.10 2.35 0.00 0.000 6 0.143 0.081 2502 2233 3252

2681 -0.87 -146.0 192.2 -6.2 297 2682 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2232 3252

2989 -0.94 -146.0 211.2 -6.0 312 2991 0.10 0.00 0.00 0.000 6 0.093 0.000 2461 2232 3252

3298 -0.86 -146.0 234.2 -7.8 327 3302 0.12 2.30 0.00 0.000 4 0.154 0.066 2498 816 3251

3331 -0.86 -146.0 236.6 -6.9 328 3335 0.00 2.35 0.00 0.000 6 0.000 0.069 2490 2241 3251

3653 -0.86 -146.0 256.8 -6.0 344 3654 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2241 3251

3962 -0.86 -146.0 273.7 -5.4 359 3963 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2241 3252

4272 -0.86 -146.0 291.7 -6.1 374 4273 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2241 3252

4581 -0.90 -146.0 310.8 -6.2 389 4582 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2241 3252

4891 -0.95 -146.0 329.1 -5.8 404 4894 0.00 2.35 0.00 0.000 4 0.000 0.065 2489 812 3252

4982 -0.95 -146.0 334.8 -6.1 408 4986 0.00 2.35 0.00 0.000 6 0.000 0.067 2480 2234 3252

5315 -0.95 -146.0 354.6 -5.8 424 5319 0.00 2.33 0.00 0.000 4 0.000 0.064 2480 809 3253

5343 -0.95 -146.0 356.4 -6.2 425 5347 0.00 2.33 0.00 0.000 6 0.000 0.065 2470 2233 3253

5670 -0.95 -146.0 376.2 -6.0 441 5674 0.00 2.30 0.00 0.000 4 0.000 0.063 2470 818 3253

5687 -0.95 -146.0 377.3 -5.9 441 5693 0.00 2.33 0.00 0.000 6 0.000 0.065 2460 2239 3253

6003 -0.95 -146.0 396.4 -6.0 457 6007 0.00 2.25 0.00 0.000 4 0.000 0.079 2450 3602 3253

6043 -0.88 -146.0 398.9 -6.4 458 6050 0.15 2.17 0.00 0.000 6 0.146 0.051 2490 2214 3254

6355 -0.96 -146.0 415.8 -5.5 467 6356 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2214 3255

6680 -1.04 -146.0 434.0 -5.7 475 6684 0.12 2.22 0.00 0.000 4 0.085 0.062 2438 816 3255

6764 -0.87 -146.0 440.4 -7.9 476 6771 0.22 2.35 0.00 0.000 6 0.135 0.065 2495 2244 3254

7096 -0.98 -146.0 457.7 -5.1 485 7101 0.12 2.33 0.00 0.000 4 0.085 0.062 2444 810 3255

7120 -0.92 -146.0 459.2 -6.2 485 7125 0.17 2.35 0.00 0.000 6 0.138 0.064 2482 2241 3255

7414 end dive: TARGET_DEPTH_EXCEEDED

state 7414 begin apogee

7422 -0.31 0.0 475.2 5.4 493 7551 0.43 0.00 126.05 1.157 6 0.122 0.000 2619 1737 2650

7551 end apogee: CONTROL_FINISHED_OK

state 7551 begin climb

7554 0.99 146.0 477.4 0.0 496 7689 0.85 0.00 130.35 1.078 6 0.094 0.000 2894 1738 2054

8005 0.79 146.0 433.9 10.6 507 8010 0.17 2.45 0.00 0.000 4 0.130 0.070 2845 3153 2047

8049 0.65 146.0 429.2 9.6 508 8054 0.12 2.35 0.00 0.000 6 0.134 0.053 2820 1732 2046

8368 0.79 187.9 409.8 5.7 516 8411 0.12 2.35 36.00 1.072 4 0.075 0.067 2886 333 1883

8440 0.69 187.9 403.9 9.0 517 8446 0.20 2.38 0.00 0.000 6 0.124 0.056 2828 1749 1881

8762 0.82 221.6 384.4 5.9 531 8798 0.10 2.38 29.25 1.055 4 0.082 0.070 2874 3160 1746

8855 0.61 221.6 376.1 10.1 535 8860 0.25 2.30 0.00 0.000 6 0.130 0.052 2812 1734 1742

9183 0.88 281.3 359.0 5.1 551 9246 0.20 2.42 53.22 1.055 4 0.061 0.067 2914 327 1503

9276 0.78 281.3 349.5 11.8 555 9281 0.25 2.40 0.00 0.000 6 0.127 0.057 2841 1755 1500

9597 0.90 281.3 325.3 7.2 571 9602 0.12 2.30 0.00 0.000 4 0.074 0.071 2897 3165 1492

9676 0.68 281.3 315.8 12.6 574 9683 0.28 2.28 0.00 0.000 6 0.130 0.054 2825 1738 1490

9992 0.90 283.9 293.6 6.9 590 9997 0.17 2.30 0.00 0.000 4 0.065 0.067 2912 323 1489

10025 0.84 283.9 290.2 10.8 591 10032 0.20 2.33 0.00 0.000 6 0.130 0.056 2853 1752 1489

10342 0.92 283.9 264.7 7.9 607 10346 0.10 2.28 0.00 0.000 4 0.082 0.071 2900 3160 1488

10414 0.71 283.9 256.1 13.0 610 10419 0.28 2.28 0.00 0.000 6 0.131 0.054 2827 1726 1487

10737 1.31 283.9 230.9 9.9 626 10742 0.38 2.25 0.00 0.000 4 0.078 0.067 2968 332 1486

10781 1.31 283.9 226.2 10.4 628 10785 0.00 2.30 0.00 0.000 6 0.000 0.057 2968 1752 1485

11108 1.03 283.9 177.8 15.0 644 11113 0.20 2.28 0.00 0.000 4 0.146 0.072 2904 3158 1485

11142 0.87 283.9 173.4 11.8 645 11149 0.17 2.25 0.00 0.000 6 0.132 0.054 2861 1734 1485

11458 1.01 283.9 149.5 7.2 661 11462 0.15 2.30 0.00 0.000 4 0.071 0.068 2940 321 1485

11491 0.91 283.9 146.1 11.0 662 11498 0.22 2.30 0.00 0.000 6 0.132 0.058 2873 1745 1485

11808 1.02 283.9 120.2 7.9 678 11812 0.10 2.28 0.00 0.000 4 0.083 0.071 2921 3158 1485

11852 0.79 283.9 115.3 12.0 680 11857 0.28 2.28 0.00 0.000 6 0.131 0.055 2849 1726 1485

12177 1.48 283.9 88.0 10.0 710 12184 0.43 2.28 0.00 0.000 4 0.086 0.068 3004 324 1484

12202 1.95 283.9 85.2 10.8 714 12209 0.30 2.33 0.00 0.000 6 0.072 0.059 3119 1748 1484

12545 end climb: FINISH_DEPTH_REACHED

state 12545 begin subsurface finish

12555 0.07 55.6 6.1 -22.8 775 12607 1.45 2.33 -43.03 0.000 4 0.173 0.088 2689 3162 2426

12608 end subsurface finish: CONTROL_FINISHED_OK

state 12608 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	391	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	29	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	-119614.86	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2680	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	083956,6541.609,-5844.096,40,0.9,40,-36.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6545.213,-5819.612
_XMS_NAKs	14	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.38	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-64.9	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	085509,6541.520,-5844.323,13,1.3,13,-36.2	MHEAD_RNG_PITCHd_Wd	106.2,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	474

FREEZE	6.08,-1.774,-1.810	TCM_TEMP	15.10
FINISH1	6.1,1.026518,56	XPDR_PINGS	49
FINISH2	1.6	_24V_AH	22.1,65.424
RAFOS_CLK	554	_10V_AH	10.5,29.678
RAFOS	3,1227947641,8.583333,8.566944,66,59,58,55,53,53,188,173,158,204,118,217	DATA_FILE_SIZE	25304,784
RAFOS_FIX	6549.236328,-5929.427246,271108,202040,2,119,0.73	CAP_FILE_SIZE	118122,0
IRIDIUM_FIX	6517.16,-5931.80,210298,090954	CFSIZE	260165632,225771520
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1789	SOUNDSPEED	1448.4
INTERNAL_PRESSURE	9.91249	GPS	291108,085509,6541.520,-5844.323,13,1.3,13,-36.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	250	98.22	SBE_CT	547	24	290.44
Roll_motor	114	88	222.37	SBE_O2	0	0	0.00
VBD_pump_during_apogee	374	1157	9588.78	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	24	103	56.48	nil	0	0	0.00
Iridium_during_connect	32	160	113.71	nil	0	0	0.00
Iridium_during_xfer	533	223	2627.48
Transponder_ping	12	420	113.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.97
TT8	1415	19	296.02
LPSleep	9098	2	220.68
TT8_Active	524	19	109.63
TT8_Sampling	1442	39	604.55
TT8_CF8	1033	45	498.12
TT8_Kalman	0	81	0.00
Analog_circuits	1330	12	167.64
GPS_charging	0	0	0.00
Compass	1420	8	119.33
RAFOS	1080	1	17.01
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-0.99	-146.0	0.0	0.0	0	89	0.00	0.00	-67.95	0.000	2	0.000	0.000	332	2212	2876
93	-0.99	-146.0	3.1	-1.4	12	123	8.90	2.33	-13.75	0.000	4	0.250	0.083	2460	812	3249
198	-0.75	-146.0	15.7	-11.8	30	205	0.22	2.38	0.00	0.000	6	0.137	0.068	2516	2238	3252
543	-0.75	-146.0	46.3	-7.4	91	548	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2238	3253
886	-0.75	-146.0	71.6	-7.7	152	891	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2238	3253
1230	-0.81	-146.0	92.2	-6.4	213	1236	0.00	2.33	0.00	0.000	4	0.000	0.067	2516	813	3253
1305	-0.81	-146.0	97.5	-7.3	226	1311	0.00	2.35	0.00	0.000	6	0.000	0.069	2509	2238	3253
1636	-0.81	-146.0	117.2	-5.4	247	1640	0.00	2.33	0.00	0.000	4	0.000	0.067	2508	814	3253
1664	-0.81	-146.0	119.1	-6.3	248	1668	0.00	2.35	0.00	0.000	6	0.000	0.069	2498	2240	3253
1992	-0.81	-146.0	143.8	-7.1	264	1996	0.00	2.22	0.00	0.000	4	0.000	0.083	2488	3596	3253
2031	-0.81	-146.0	146.9	-7.6	265	2037	0.00	2.17	0.00	0.000	6	0.000	0.054	2488	2218	3253
2347	-0.81	-146.0	170.7	-7.3	281	2350	0.00	2.25	0.00	0.000	4	0.000	0.067	2489	814	3252
2363	-0.81	-146.0	172.0	-7.2	281	2370	0.10	2.35	0.00	0.000	6	0.143	0.081	2502	2233	3252
2681	-0.87	-146.0	192.2	-6.2	297	2682	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2232	3252
2989	-0.94	-146.0	211.2	-6.0	312	2991	0.10	0.00	0.00	0.000	6	0.093	0.000	2461	2232	3252
3298	-0.86	-146.0	234.2	-7.8	327	3302	0.12	2.30	0.00	0.000	4	0.154	0.066	2498	816	3251
3331	-0.86	-146.0	236.6	-6.9	328	3335	0.00	2.35	0.00	0.000	6	0.000	0.069	2490	2241	3251
3653	-0.86	-146.0	256.8	-6.0	344	3654	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2241	3251
3962	-0.86	-146.0	273.7	-5.4	359	3963	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2241	3252
4272	-0.86	-146.0	291.7	-6.1	374	4273	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2241	3252
4581	-0.90	-146.0	310.8	-6.2	389	4582	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2241	3252
4891	-0.95	-146.0	329.1	-5.8	404	4894	0.00	2.35	0.00	0.000	4	0.000	0.065	2489	812	3252
4982	-0.95	-146.0	334.8	-6.1	408	4986	0.00	2.35	0.00	0.000	6	0.000	0.067	2480	2234	3252
5315	-0.95	-146.0	354.6	-5.8	424	5319	0.00	2.33	0.00	0.000	4	0.000	0.064	2480	809	3253
5343	-0.95	-146.0	356.4	-6.2	425	5347	0.00	2.33	0.00	0.000	6	0.000	0.065	2470	2233	3253
5670	-0.95	-146.0	376.2	-6.0	441	5674	0.00	2.30	0.00	0.000	4	0.000	0.063	2470	818	3253
5687	-0.95	-146.0	377.3	-5.9	441	5693	0.00	2.33	0.00	0.000	6	0.000	0.065	2460	2239	3253
6003	-0.95	-146.0	396.4	-6.0	457	6007	0.00	2.25	0.00	0.000	4	0.000	0.079	2450	3602	3253
6043	-0.88	-146.0	398.9	-6.4	458	6050	0.15	2.17	0.00	0.000	6	0.146	0.051	2490	2214	3254
6355	-0.96	-146.0	415.8	-5.5	467	6356	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2214	3255
6680	-1.04	-146.0	434.0	-5.7	475	6684	0.12	2.22	0.00	0.000	4	0.085	0.062	2438	816	3255
6764	-0.87	-146.0	440.4	-7.9	476	6771	0.22	2.35	0.00	0.000	6	0.135	0.065	2495	2244	3254
7096	-0.98	-146.0	457.7	-5.1	485	7101	0.12	2.33	0.00	0.000	4	0.085	0.062	2444	810	3255
7120	-0.92	-146.0	459.2	-6.2	485	7125	0.17	2.35	0.00	0.000	6	0.138	0.064	2482	2241	3255
7414	end dive: TARGET_DEPTH_EXCEEDED
state	7414	begin apogee
7422	-0.31	0.0	475.2	5.4	493	7551	0.43	0.00	126.05	1.157	6	0.122	0.000	2619	1737	2650
7551	end apogee: CONTROL_FINISHED_OK
state	7551	begin climb
7554	0.99	146.0	477.4	0.0	496	7689	0.85	0.00	130.35	1.078	6	0.094	0.000	2894	1738	2054
8005	0.79	146.0	433.9	10.6	507	8010	0.17	2.45	0.00	0.000	4	0.130	0.070	2845	3153	2047
8049	0.65	146.0	429.2	9.6	508	8054	0.12	2.35	0.00	0.000	6	0.134	0.053	2820	1732	2046
8368	0.79	187.9	409.8	5.7	516	8411	0.12	2.35	36.00	1.072	4	0.075	0.067	2886	333	1883
8440	0.69	187.9	403.9	9.0	517	8446	0.20	2.38	0.00	0.000	6	0.124	0.056	2828	1749	1881
8762	0.82	221.6	384.4	5.9	531	8798	0.10	2.38	29.25	1.055	4	0.082	0.070	2874	3160	1746
8855	0.61	221.6	376.1	10.1	535	8860	0.25	2.30	0.00	0.000	6	0.130	0.052	2812	1734	1742
9183	0.88	281.3	359.0	5.1	551	9246	0.20	2.42	53.22	1.055	4	0.061	0.067	2914	327	1503
9276	0.78	281.3	349.5	11.8	555	9281	0.25	2.40	0.00	0.000	6	0.127	0.057	2841	1755	1500
9597	0.90	281.3	325.3	7.2	571	9602	0.12	2.30	0.00	0.000	4	0.074	0.071	2897	3165	1492
9676	0.68	281.3	315.8	12.6	574	9683	0.28	2.28	0.00	0.000	6	0.130	0.054	2825	1738	1490
9992	0.90	283.9	293.6	6.9	590	9997	0.17	2.30	0.00	0.000	4	0.065	0.067	2912	323	1489
10025	0.84	283.9	290.2	10.8	591	10032	0.20	2.33	0.00	0.000	6	0.130	0.056	2853	1752	1489
10342	0.92	283.9	264.7	7.9	607	10346	0.10	2.28	0.00	0.000	4	0.082	0.071	2900	3160	1488
10414	0.71	283.9	256.1	13.0	610	10419	0.28	2.28	0.00	0.000	6	0.131	0.054	2827	1726	1487
10737	1.31	283.9	230.9	9.9	626	10742	0.38	2.25	0.00	0.000	4	0.078	0.067	2968	332	1486
10781	1.31	283.9	226.2	10.4	628	10785	0.00	2.30	0.00	0.000	6	0.000	0.057	2968	1752	1485
11108	1.03	283.9	177.8	15.0	644	11113	0.20	2.28	0.00	0.000	4	0.146	0.072	2904	3158	1485
11142	0.87	283.9	173.4	11.8	645	11149	0.17	2.25	0.00	0.000	6	0.132	0.054	2861	1734	1485
11458	1.01	283.9	149.5	7.2	661	11462	0.15	2.30	0.00	0.000	4	0.071	0.068	2940	321	1485
11491	0.91	283.9	146.1	11.0	662	11498	0.22	2.30	0.00	0.000	6	0.132	0.058	2873	1745	1485
11808	1.02	283.9	120.2	7.9	678	11812	0.10	2.28	0.00	0.000	4	0.083	0.071	2921	3158	1485
11852	0.79	283.9	115.3	12.0	680	11857	0.28	2.28	0.00	0.000	6	0.131	0.055	2849	1726	1485
12177	1.48	283.9	88.0	10.0	710	12184	0.43	2.28	0.00	0.000	4	0.086	0.068	3004	324	1484
12202	1.95	283.9	85.2	10.8	714	12209	0.30	2.33	0.00	0.000	6	0.072	0.059	3119	1748	1484
12545	end climb: FINISH_DEPTH_REACHED
state	12545	begin subsurface finish
12555	0.07	55.6	6.1	-22.8	775	12607	1.45	2.33	-43.03	0.000	4	0.173	0.088	2689	3162	2426
12608	end subsurface finish: CONTROL_FINISHED_OK
state	12608	begin surface