Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 406 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 20 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 406 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 21 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -3 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -119935.02 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 -119935.02

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 20 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 2 ROLL_MIN 294 USE_BATHY -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 406 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 234002,6537.686,-5753.125,56,1.1,56,-35.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6547.832,-5744.009

_XMS_NAKs 12 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 1.90 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -57.4 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 235057,6537.684,-5753.019,12,1.1,12,-35.9 MHEAD_RNG_PITCHd_Wd 55.9,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 537

Post-dive calculations and measurements:

FREEZE 1.31,0.386,-1.787 TCM_TEMP 16.00

FINISH 1.3,1.026167 XPDR_PINGS 65

SM_CCo 15840,0.00,0.000,0,0,1548,270.32 _24V_AH 22.2,67.494

SM_GC 2.09,6.90,0.00,0.00,0.057,0.000,0.000,339,2240,1548,-10.67,0.28,270.32 _10V_AH 10.5,30.616

RAFOS_CLK 645 DATA_FILE_SIZE 31573,958

RAFOS 0,1228176246,0.083333,0.068333,56,55,53,53,51,51,213,177,139,224,163,125 CAP_FILE_SIZE 123380,0

RAFOS_FIX -31200.181641,336923.250000,301108,080856,2,74,15226.59 CFSIZE 260165632,224911360

IRIDIUM_FIX 6512.01,-5756.91,250298,191955 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1457.4

HUMID 1799 GPS 021208,041706,6538.697,-5751.327,55,1.3,60,-36.0

INTERNAL_PRESSURE 9.90272

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 117.72 SBE_CT 666 24 355.32

Roll_motor 88 86 169.95 SBE_O2 0 0 0.00

VBD_pump_during_apogee 361 1167 9364.64 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 23 103 54.56 nil 0 0 0.00

Iridium_during_connect 32 160 116.13 nil 0 0 0.00

Iridium_during_xfer 415 223 2058.03

Transponder_ping 16 420 151.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.20

TT8 1716 19 359.10

LPSleep 11781 2 285.77

TT8_Active 522 19 109.22

TT8_Sampling 1671 39 700.44

TT8_CF8 797 45 384.76

TT8_Kalman 0 81 0.00

Analog_circuits 1394 12 175.77

GPS_charging 0 0 0.00

Compass 1653 8 138.90

RAFOS 2160 1 34.02

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

18 -0.99 -146.0 0.0 0.0 0 121 0.00 0.00 -100.00 0.000 2 0.000 0.000 338 2250 2963

124 -0.99 -146.0 3.0 -1.6 18 150 8.95 2.28 -9.25 0.000 4 0.253 0.087 2453 3603 3247

404 -0.78 -146.0 37.9 -11.7 67 411 0.20 2.17 0.00 0.000 6 0.143 0.048 2509 2211 3251

749 -0.78 -146.0 67.9 -9.9 128 754 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2211 3251

1093 -0.84 -146.0 90.3 -4.2 189 1099 0.00 2.22 0.00 0.000 4 0.000 0.060 2510 819 3251

1277 -0.84 -146.0 100.2 -5.5 221 1281 0.00 2.38 0.00 0.000 6 0.000 0.061 2502 2242 3251

1609 -0.84 -146.0 120.4 -6.3 237 1613 0.00 2.22 0.00 0.000 4 0.000 0.075 2491 3596 3251

1682 -0.84 -146.0 125.4 -6.3 240 1686 0.00 2.15 0.00 0.000 6 0.000 0.048 2491 2223 3251

2009 -0.84 -146.0 145.3 -5.8 256 2013 0.00 2.22 0.00 0.000 4 0.000 0.061 2491 821 3251

2150 -0.84 -146.0 154.5 -6.9 262 2154 0.00 2.35 0.00 0.000 6 0.000 0.063 2482 2244 3250

2477 -0.84 -146.0 176.4 -7.0 278 2479 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2244 3250

2787 -0.84 -146.0 196.5 -6.2 293 2788 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2244 3250

3097 -0.84 -146.0 214.2 -5.6 308 3098 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2244 3250

3405 -0.84 -146.0 231.2 -5.5 323 3406 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2244 3250

3715 -0.84 -146.0 248.8 -5.9 338 3719 0.00 2.30 0.00 0.000 4 0.000 0.060 2482 818 3250

3806 -0.84 -146.0 254.3 -6.3 342 3811 0.10 2.33 0.00 0.000 6 0.141 0.061 2497 2236 3250

4133 -0.93 -146.0 270.2 -4.6 358 4137 0.00 2.30 0.00 0.000 4 0.000 0.058 2497 813 3251

4202 -0.93 -146.0 273.7 -5.1 361 4206 0.00 2.35 0.00 0.000 6 0.000 0.058 2490 2244 3251

4535 -0.98 -146.0 289.9 -4.7 377 4537 0.10 0.00 0.00 0.000 6 0.084 0.000 2442 2244 3251

4845 -0.87 -146.0 309.2 -6.4 392 4847 0.17 0.00 0.00 0.000 6 0.146 0.000 2492 2244 3251

5155 -0.94 -146.0 324.2 -4.7 407 5158 0.00 2.30 0.00 0.000 4 0.000 0.058 2492 813 3252

5216 -0.94 -146.0 327.4 -5.4 409 5223 0.00 2.33 0.00 0.000 6 0.000 0.058 2484 2237 3252

5533 -0.94 -146.0 342.7 -4.7 425 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2237 3252

5842 -0.94 -146.0 356.9 -4.5 440 5846 0.00 2.28 0.00 0.000 4 0.000 0.057 2484 820 3252

5926 -0.94 -146.0 360.9 -4.9 443 5932 0.00 2.28 0.00 0.000 6 0.000 0.059 2474 2236 3252

6242 -0.94 -146.0 375.9 -4.7 459 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2236 3252

6551 -0.94 -146.0 390.9 -5.0 474 6552 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2236 3252

6858 -0.94 -146.0 406.9 -5.2 486 6862 0.00 2.28 0.00 0.000 4 0.000 0.058 2474 817 3252

6960 -0.94 -146.0 412.8 -6.0 488 6964 0.00 2.33 0.00 0.000 6 0.000 0.058 2464 2235 3252

7279 -0.94 -146.0 430.9 -5.8 496 7280 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2235 3252

7604 -0.94 -146.0 449.9 -5.8 504 7607 0.00 2.22 0.00 0.000 4 0.000 0.071 2454 3606 3252

7688 -0.94 -146.0 455.7 -6.6 505 7694 0.00 2.15 0.00 0.000 6 0.000 0.045 2454 2218 3252

8021 -0.89 -146.0 476.2 -6.1 514 8025 0.12 2.20 0.00 0.000 4 0.148 0.057 2488 821 3253

8121 -0.89 -146.0 481.8 -5.4 516 8125 0.00 2.30 0.00 0.000 6 0.000 0.058 2480 2242 3253

8441 -0.89 -146.0 498.7 -5.3 524 8442 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2242 3253

8765 -0.89 -146.0 515.0 -5.0 532 8766 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2242 3253

9090 -0.89 -146.0 530.9 -5.0 540 9091 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2242 3253

9209 end dive: TARGET_DEPTH_EXCEEDED

state 9209 begin apogee

9216 -0.31 0.0 538.0 5.8 543 9345 0.43 0.00 126.43 1.167 6 0.114 0.000 2617 1739 2650

9346 end apogee: CONTROL_FINISHED_OK

state 9346 begin climb

9350 0.99 146.0 540.2 0.0 546 9484 0.88 0.00 130.90 1.092 6 0.089 0.000 2900 1739 2054

9777 0.74 146.0 496.1 11.4 557 9782 0.22 2.42 0.00 0.000 4 0.127 0.064 2830 3152 2047

9805 0.62 146.0 493.2 9.3 557 9810 0.10 2.33 0.00 0.000 6 0.138 0.048 2812 1734 2045

10138 0.74 160.0 471.1 6.6 565 10152 0.10 0.00 11.80 1.005 6 0.078 0.000 2860 1734 1997

10462 0.64 160.0 440.4 9.7 573 10466 0.15 2.35 0.00 0.000 4 0.119 0.064 2816 3161 1995

10483 0.64 160.0 438.2 9.5 573 10487 0.00 2.25 0.00 0.000 6 0.000 0.048 2823 1736 1994

10826 0.69 160.0 412.0 7.5 582 10830 0.00 2.30 0.00 0.000 4 0.000 0.064 2823 3151 1994

10849 0.69 160.0 410.1 7.9 582 10853 0.00 2.22 0.00 0.000 6 0.000 0.048 2832 1731 1994

11180 0.69 160.0 383.5 8.0 595 11184 0.00 2.30 0.00 0.000 4 0.000 0.064 2833 3153 1994

11197 0.69 160.0 382.1 8.1 595 11203 0.00 2.22 0.00 0.000 6 0.000 0.048 2842 1727 1993

11512 0.69 160.0 355.1 8.5 611 11513 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 1728 1993

11822 0.69 160.0 329.1 8.7 626 11825 0.00 2.33 0.00 0.000 4 0.000 0.064 2842 3158 1993

11849 0.62 160.0 326.6 9.6 627 11854 0.15 2.22 0.00 0.000 6 0.128 0.048 2810 1733 1993

12176 0.76 160.0 303.0 7.1 643 12178 0.12 0.00 0.00 0.000 6 0.071 0.000 2870 1733 1993

12485 0.65 160.0 271.9 10.3 658 12487 0.17 0.00 0.00 0.000 6 0.120 0.000 2817 1733 1993

12795 0.77 160.0 248.0 7.4 673 12797 0.12 0.00 0.00 0.000 6 0.073 0.000 2875 1733 1993

13105 0.65 160.0 217.1 9.9 688 13107 0.20 0.00 0.00 0.000 6 0.119 0.000 2814 1733 1993

13414 0.84 184.3 197.0 6.2 703 13438 0.17 0.00 21.62 0.943 6 0.064 0.000 2891 1733 1899

13742 0.69 184.3 166.0 9.4 719 13744 0.22 0.00 0.00 0.000 6 0.120 0.000 2822 1733 1895

14052 0.93 258.4 150.7 4.6 734 14121 0.20 2.42 62.75 0.921 4 0.061 0.064 2912 3152 1596

14128 0.76 258.4 143.3 10.5 737 14135 0.28 2.33 0.00 0.000 6 0.129 0.048 2842 1730 1593

14444 0.93 267.9 120.8 6.7 753 14455 0.15 0.00 7.85 0.781 6 0.067 0.000 2911 1730 1557

14763 0.84 267.9 86.0 10.9 783 14769 0.17 0.00 0.00 0.000 6 0.124 0.000 2858 1729 1555

15108 0.98 267.9 59.9 7.9 844 15115 0.12 2.28 0.00 0.000 4 0.074 0.063 2920 333 1553

15150 0.98 267.9 55.9 9.2 851 15157 0.12 2.30 0.00 0.000 6 0.133 0.053 2885 1754 1553

15495 1.06 267.9 24.8 9.7 912 15502 0.10 2.25 0.00 0.000 4 0.082 0.067 2933 3156 1552

15531 0.97 267.9 19.9 13.1 918 15539 0.20 2.25 0.00 0.000 6 0.133 0.051 2885 1733 1551

15725 end climb: SURFACE_DEPTH_REACHED

state 15725 begin surface coast

15760 end surface coast: CONTROL_FINISHED_OK

state 15760 begin surface

ID	108	HEADING	20	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	406	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	21	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-3	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-119935.02	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	234002,6537.686,-5753.125,56,1.1,56,-35.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6547.832,-5744.009
_XMS_NAKs	12	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	1.90	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-57.4	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	235057,6537.684,-5753.019,12,1.1,12,-35.9	MHEAD_RNG_PITCHd_Wd	55.9,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	537

FREEZE	1.31,0.386,-1.787	TCM_TEMP	16.00
FINISH	1.3,1.026167	XPDR_PINGS	65
SM_CCo	15840,0.00,0.000,0,0,1548,270.32	_24V_AH	22.2,67.494
SM_GC	2.09,6.90,0.00,0.00,0.057,0.000,0.000,339,2240,1548,-10.67,0.28,270.32	_10V_AH	10.5,30.616
RAFOS_CLK	645	DATA_FILE_SIZE	31573,958
RAFOS	0,1228176246,0.083333,0.068333,56,55,53,53,51,51,213,177,139,224,163,125	CAP_FILE_SIZE	123380,0
RAFOS_FIX	-31200.181641,336923.250000,301108,080856,2,74,15226.59	CFSIZE	260165632,224911360
IRIDIUM_FIX	6512.01,-5756.91,250298,191955	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1457.4
HUMID	1799	GPS	021208,041706,6538.697,-5751.327,55,1.3,60,-36.0
INTERNAL_PRESSURE	9.90272

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	117.72	SBE_CT	666	24	355.32
Roll_motor	88	86	169.95	SBE_O2	0	0	0.00
VBD_pump_during_apogee	361	1167	9364.64	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	23	103	54.56	nil	0	0	0.00
Iridium_during_connect	32	160	116.13	nil	0	0	0.00
Iridium_during_xfer	415	223	2058.03
Transponder_ping	16	420	151.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.20
TT8	1716	19	359.10
LPSleep	11781	2	285.77
TT8_Active	522	19	109.22
TT8_Sampling	1671	39	700.44
TT8_CF8	797	45	384.76
TT8_Kalman	0	81	0.00
Analog_circuits	1394	12	175.77
GPS_charging	0	0	0.00
Compass	1653	8	138.90
RAFOS	2160	1	34.02
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
18	-0.99	-146.0	0.0	0.0	0	121	0.00	0.00	-100.00	0.000	2	0.000	0.000	338	2250	2963
124	-0.99	-146.0	3.0	-1.6	18	150	8.95	2.28	-9.25	0.000	4	0.253	0.087	2453	3603	3247
404	-0.78	-146.0	37.9	-11.7	67	411	0.20	2.17	0.00	0.000	6	0.143	0.048	2509	2211	3251
749	-0.78	-146.0	67.9	-9.9	128	754	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2211	3251
1093	-0.84	-146.0	90.3	-4.2	189	1099	0.00	2.22	0.00	0.000	4	0.000	0.060	2510	819	3251
1277	-0.84	-146.0	100.2	-5.5	221	1281	0.00	2.38	0.00	0.000	6	0.000	0.061	2502	2242	3251
1609	-0.84	-146.0	120.4	-6.3	237	1613	0.00	2.22	0.00	0.000	4	0.000	0.075	2491	3596	3251
1682	-0.84	-146.0	125.4	-6.3	240	1686	0.00	2.15	0.00	0.000	6	0.000	0.048	2491	2223	3251
2009	-0.84	-146.0	145.3	-5.8	256	2013	0.00	2.22	0.00	0.000	4	0.000	0.061	2491	821	3251
2150	-0.84	-146.0	154.5	-6.9	262	2154	0.00	2.35	0.00	0.000	6	0.000	0.063	2482	2244	3250
2477	-0.84	-146.0	176.4	-7.0	278	2479	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2244	3250
2787	-0.84	-146.0	196.5	-6.2	293	2788	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2244	3250
3097	-0.84	-146.0	214.2	-5.6	308	3098	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2244	3250
3405	-0.84	-146.0	231.2	-5.5	323	3406	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2244	3250
3715	-0.84	-146.0	248.8	-5.9	338	3719	0.00	2.30	0.00	0.000	4	0.000	0.060	2482	818	3250
3806	-0.84	-146.0	254.3	-6.3	342	3811	0.10	2.33	0.00	0.000	6	0.141	0.061	2497	2236	3250
4133	-0.93	-146.0	270.2	-4.6	358	4137	0.00	2.30	0.00	0.000	4	0.000	0.058	2497	813	3251
4202	-0.93	-146.0	273.7	-5.1	361	4206	0.00	2.35	0.00	0.000	6	0.000	0.058	2490	2244	3251
4535	-0.98	-146.0	289.9	-4.7	377	4537	0.10	0.00	0.00	0.000	6	0.084	0.000	2442	2244	3251
4845	-0.87	-146.0	309.2	-6.4	392	4847	0.17	0.00	0.00	0.000	6	0.146	0.000	2492	2244	3251
5155	-0.94	-146.0	324.2	-4.7	407	5158	0.00	2.30	0.00	0.000	4	0.000	0.058	2492	813	3252
5216	-0.94	-146.0	327.4	-5.4	409	5223	0.00	2.33	0.00	0.000	6	0.000	0.058	2484	2237	3252
5533	-0.94	-146.0	342.7	-4.7	425	5534	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2237	3252
5842	-0.94	-146.0	356.9	-4.5	440	5846	0.00	2.28	0.00	0.000	4	0.000	0.057	2484	820	3252
5926	-0.94	-146.0	360.9	-4.9	443	5932	0.00	2.28	0.00	0.000	6	0.000	0.059	2474	2236	3252
6242	-0.94	-146.0	375.9	-4.7	459	6243	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2236	3252
6551	-0.94	-146.0	390.9	-5.0	474	6552	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2236	3252
6858	-0.94	-146.0	406.9	-5.2	486	6862	0.00	2.28	0.00	0.000	4	0.000	0.058	2474	817	3252
6960	-0.94	-146.0	412.8	-6.0	488	6964	0.00	2.33	0.00	0.000	6	0.000	0.058	2464	2235	3252
7279	-0.94	-146.0	430.9	-5.8	496	7280	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2235	3252
7604	-0.94	-146.0	449.9	-5.8	504	7607	0.00	2.22	0.00	0.000	4	0.000	0.071	2454	3606	3252
7688	-0.94	-146.0	455.7	-6.6	505	7694	0.00	2.15	0.00	0.000	6	0.000	0.045	2454	2218	3252
8021	-0.89	-146.0	476.2	-6.1	514	8025	0.12	2.20	0.00	0.000	4	0.148	0.057	2488	821	3253
8121	-0.89	-146.0	481.8	-5.4	516	8125	0.00	2.30	0.00	0.000	6	0.000	0.058	2480	2242	3253
8441	-0.89	-146.0	498.7	-5.3	524	8442	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2242	3253
8765	-0.89	-146.0	515.0	-5.0	532	8766	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2242	3253
9090	-0.89	-146.0	530.9	-5.0	540	9091	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2242	3253
9209	end dive: TARGET_DEPTH_EXCEEDED
state	9209	begin apogee
9216	-0.31	0.0	538.0	5.8	543	9345	0.43	0.00	126.43	1.167	6	0.114	0.000	2617	1739	2650
9346	end apogee: CONTROL_FINISHED_OK
state	9346	begin climb
9350	0.99	146.0	540.2	0.0	546	9484	0.88	0.00	130.90	1.092	6	0.089	0.000	2900	1739	2054
9777	0.74	146.0	496.1	11.4	557	9782	0.22	2.42	0.00	0.000	4	0.127	0.064	2830	3152	2047
9805	0.62	146.0	493.2	9.3	557	9810	0.10	2.33	0.00	0.000	6	0.138	0.048	2812	1734	2045
10138	0.74	160.0	471.1	6.6	565	10152	0.10	0.00	11.80	1.005	6	0.078	0.000	2860	1734	1997
10462	0.64	160.0	440.4	9.7	573	10466	0.15	2.35	0.00	0.000	4	0.119	0.064	2816	3161	1995
10483	0.64	160.0	438.2	9.5	573	10487	0.00	2.25	0.00	0.000	6	0.000	0.048	2823	1736	1994
10826	0.69	160.0	412.0	7.5	582	10830	0.00	2.30	0.00	0.000	4	0.000	0.064	2823	3151	1994
10849	0.69	160.0	410.1	7.9	582	10853	0.00	2.22	0.00	0.000	6	0.000	0.048	2832	1731	1994
11180	0.69	160.0	383.5	8.0	595	11184	0.00	2.30	0.00	0.000	4	0.000	0.064	2833	3153	1994
11197	0.69	160.0	382.1	8.1	595	11203	0.00	2.22	0.00	0.000	6	0.000	0.048	2842	1727	1993
11512	0.69	160.0	355.1	8.5	611	11513	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	1728	1993
11822	0.69	160.0	329.1	8.7	626	11825	0.00	2.33	0.00	0.000	4	0.000	0.064	2842	3158	1993
11849	0.62	160.0	326.6	9.6	627	11854	0.15	2.22	0.00	0.000	6	0.128	0.048	2810	1733	1993
12176	0.76	160.0	303.0	7.1	643	12178	0.12	0.00	0.00	0.000	6	0.071	0.000	2870	1733	1993
12485	0.65	160.0	271.9	10.3	658	12487	0.17	0.00	0.00	0.000	6	0.120	0.000	2817	1733	1993
12795	0.77	160.0	248.0	7.4	673	12797	0.12	0.00	0.00	0.000	6	0.073	0.000	2875	1733	1993
13105	0.65	160.0	217.1	9.9	688	13107	0.20	0.00	0.00	0.000	6	0.119	0.000	2814	1733	1993
13414	0.84	184.3	197.0	6.2	703	13438	0.17	0.00	21.62	0.943	6	0.064	0.000	2891	1733	1899
13742	0.69	184.3	166.0	9.4	719	13744	0.22	0.00	0.00	0.000	6	0.120	0.000	2822	1733	1895
14052	0.93	258.4	150.7	4.6	734	14121	0.20	2.42	62.75	0.921	4	0.061	0.064	2912	3152	1596
14128	0.76	258.4	143.3	10.5	737	14135	0.28	2.33	0.00	0.000	6	0.129	0.048	2842	1730	1593
14444	0.93	267.9	120.8	6.7	753	14455	0.15	0.00	7.85	0.781	6	0.067	0.000	2911	1730	1557
14763	0.84	267.9	86.0	10.9	783	14769	0.17	0.00	0.00	0.000	6	0.124	0.000	2858	1729	1555
15108	0.98	267.9	59.9	7.9	844	15115	0.12	2.28	0.00	0.000	4	0.074	0.063	2920	333	1553
15150	0.98	267.9	55.9	9.2	851	15157	0.12	2.30	0.00	0.000	6	0.133	0.053	2885	1754	1553
15495	1.06	267.9	24.8	9.7	912	15502	0.10	2.25	0.00	0.000	4	0.082	0.067	2933	3156	1552
15531	0.97	267.9	19.9	13.1	918	15539	0.20	2.25	0.00	0.000	6	0.133	0.051	2885	1733	1551
15725	end climb: SURFACE_DEPTH_REACHED
state	15725	begin surface coast
15760	end surface coast: CONTROL_FINISHED_OK
state	15760	begin surface